Manual Servo

635
Servo drive
Product
Manual
07-01-05-06-E-V1104.doc
Further descriptions, that relate to this document:
UL: 07-01-01-01
Product - manual Rack 3U
UL: 07-01-01-02
Product - manual EMC-Rack 3 U
UL: 07-01-02-02
Product - manual Power supply plug – in module / 3U
UL: 07-05-02-03
Product - manual SUCOnet K
UL: 07-05-03-02
Product - manual Businterface CAN for 635 637 637+
UL: 07-05-04-02
Product - manual Businterface DP for 635 637 637+
UL: 07-05-05-02
Product - manual Businterface Interbus S for 635 637 637+
________________________________________________________________________________________________________________________________________________________________________________________________________________________
2 Product Manual Type: 635 07-01-05-06-E-V1104.doc

Further descriptions, that relate to this document.
UL: 07-05-07-02
Product - manual IO Interface for 635 637 637+
UL: 07-09-04-02
Product - manual Supression aids EH
UL: 10-06-03
Product - manual Serial transfer protocol
635 637 637+ EASY-seriell
UL: 10-06-05
Product - manual BIAS Command Description
UL: 12
Product - manuals Accessories
©SSD Drives GmbH.

All rights reserved. No portion of this description may be produced or processed in any form without the
consent of the company.
Changes are subject to change without notice.
SSD Drives has registered in part trademark protection and legal protection of designs.
The handing over of the descriptions may not be construed as the transfer of any rights.
Made in Germany, 2004
________________________________________________________________________________________________________________________________________________________________________________________________________________________
07-01-05-06-E-V1104.doc Product Manual Type: 635 3

CONTENTS
page
The most important thing first .......................................................................... 6
Safety precautions ............................................................................................. 7
1 General ...................................................................................................... 9
1.1 System description ......................................................................................................................... 9
1.1.1 Digital communication................................................................................................................... 11
1.1.2 Operation configurations............................................................................................................... 11
1.1.3 Compatibility to SSD Drives- 3 U analog regulator ESR AC S..................................................... 12
1.1.4 Compatibility to series APOLLO 2G ............................................................................................. 12
1.2 Key to the models ......................................................................................................................... 13
1.2.1 Example ........................................................................................................................................ 13
1.3 Range data ................................................................................................................................... 14
1.3.1 Insulation concept......................................................................................................................... 14
1.3.2 Generally data............................................................................................................................... 14
1.3.3 Compact units 635/K DER............................................................................................................ 15
1.3.4 Plug-in modules 635/DER ............................................................................................................ 16
1.3.5 Single- and three-phase supply.................................................................................................... 17
1.3.6 Output power ................................................................................................................................ 18
1.3.7 Rated current / max. current – period.......................................................................................... 18
1.4 Dimensions and layout ................................................................................................................. 19
1.4.1 Dimensions for compact device and plug-in module.................................................................... 19
1.4.2 EMC bow (optional) ...................................................................................................................... 20
1.4.3 Layout ........................................................................................................................................... 21
2 General view of connections................................................................. 22

2.1 of the compact device 635/K DER 01...10.................................................................................... 22
2.2 Connector pin assignments and contact functions....................................................................... 22
2.2.1 Power connections for plug-in module 635/DER standard .......................................................... 23
2.2.2 Signal connections........................................................................................................................ 25
2.2.3 Resolver........................................................................................................................................ 28
2.2.4 Multifunction X40 .......................................................................................................................... 29
2.2.5 Digital interfaces ........................................................................................................................... 33
3 Operating modes .................................................................................... 39

3.1 Operating modes and pin functions.............................................................................................. 40
3.2 Configurable pin-functions (depending on the operating mode) .................................................. 41
3.3 Function diagrams from inputs and outputs ................................................................................. 42
4 Mechanical installation .......................................................................... 42

4.1 Mounting ....................................................................................................................................... 43
4.2 Control cabinet - mounting............................................................................................................ 43
4.3 Cooling.......................................................................................................................................... 43
5 Electrical installation.............................................................................. 44
5.1 Safety............................................................................................................................................ 44
5.2 The danger of electric shocks....................................................................................................... 44
5.3 Danger areas ................................................................................................................................ 44
5.4 Grounding, safety grounding ........................................................................................................ 44
5.4.1 Ground connections...................................................................................................................... 44
5.5 Short-circuit capability and discharge currents............................................................................. 44
5.6 Fuses, contactors, filters............................................................................................................... 45
5.7 Brake resistor................................................................................................................................ 46
5.7.1 Selection of the brake resistor ...................................................................................................... 46
5.7.2 Configuration of the brake resistor ............................................................................................... 47
5.7.3 Additional informations ................................................................................................................. 48
________________________________________________________________________________________________________________________________________________________________________________________________________________________

CONTENTS
page
6 Wiring instructions ................................................................................. 49

6.1 General Information ...................................................................................................................... 49
6.2 Control cabling .............................................................................................................................. 49
6.3 Power cabling ............................................................................................................................... 49
6.4 Installation of the rack................................................................................................................... 49
6.5 Analog setpoint ............................................................................................................................. 49
6.6 Safety rules ................................................................................................................................... 49
6.7 Electromagnetic compatibility (EMC)............................................................................................ 49
6.7.1 Hints for mounting......................................................................................................................... 50
6.7.2 Example for mounting................................................................................................................... 51
6.7.3 Achieveable specifications and conditions ................................................................................... 52
7.1 Jumper .......................................................................................................................................... 53
7.2 Digital communication................................................................................................................... 53
7.3 PROG-key functions ..................................................................................................................... 53
7.3.1 Description for PROG-key ............................................................................................................ 53
7.3.2 Operating via PROG-key .............................................................................................................. 54
8 Commissioning....................................................................................... 55
8.1 Preparation ................................................................................................................................... 55
8.2 Commissioning in steps................................................................................................................ 56
9 Diagnosis and trouble shooting............................................................ 59

9.1 7-Segment-display........................................................................................................................ 59
9.2 Reset of a regulator trouble .......................................................................................................... 61
9.3 Trouble shooting ........................................................................................................................... 62
10 Block diagram ......................................................................................... 63
11 General technical data ........................................................................... 64

11.1 Power circuit ................................................................................................................................. 64
11.2 Control circuit ................................................................................................................................ 64
11.3 Signal inputs and outputs, connection X10 .................................................................................. 64
11.4 Digital control ................................................................................................................................ 65
11.5 Digital communication................................................................................................................... 65
11.6 Resolver evaluation / transmitter principle.................................................................................... 65
11.7 Controllersystem........................................................................................................................... 66
11.8 Measuring sockets MP1 and MP2................................................................................................ 66
11.9 Thermal data................................................................................................................................. 66
11.10 Mechanical data............................................................................................................................ 66
12 Disposal................................................................................................... 67
13 Software................................................................................................... 68
13.1 EASYRIDER ............................................................................................................................. 68
13.2 BIAS- commands .......................................................................................................................... 69
13.3 BIAS- extended command overview ............................................................................................ 71
14 Certificates .............................................................................................. 72
15 Index ........................................................................................................ 76
16 Notes........................................................................................................ 77
17 Modification Record ............................................................................... 78
________________________________________________________________________________________________________________________________________________________________________________________________________________________

The most important thing first
Thanks for your confidence choosing our product.

These operating instructions present themselves as an overview of the technical data and
features.
Please read the operating instructions before operating the product.
If you have any questions, please contact your nearest SSD Drives representative.
Improper application of the product in combination with dangerous voltage can lead to
injuries.
In addition, damage can also occur to motors or other products.
Therefore please observe our safety precautions strictly.
Safety precautions
We assume that, as an expert, you are familiar with the relevant safety regulations,
especially in accordance with VDE 0100, VDE 0113,VDE 0160, EN 50178, the accident
prevention regulations of the employers liability insurance company and the DIN
regulations and that you are able to use and apply them.
As well, relevant European Directives must be observed.
Depending on the kind of application, additional regulations e.g. UL, DIN are subject to be
observed.
If our products are operated in connection with components from other manufacturers,
their operating instructions are also subject to be observed strictly.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Safety precautions
Attention !
The digital servo drives are in the sense of EN 50178/VDE 0160 power electronic equipments for
regulating the flow of energy in electrical power installations.
They are exclusively for supplying SSD Drives (or SSD Drives approved) servomotors.
Handling, installation, operation, and maintenance are only permitted under the conditions of and in
keeping with the effective and/or legal regulations, regulation publications and this technical document.
The operator must make sure that these regulations are strictly followed.
Concept of the galvanic separation and insulation:
Galvanically separation and insulation correspond to EN 50178/VDE 0160, amplified insulation.

In addition all digital signal inputs and outputs are galvanically separated either as a relay or via opto
coupler. In this way an increased interference security and the limitation of damages in case of external
incorrect connections is given.
The voltage level must not exceed the low safety voltage 60V DC or 25V AC, respectively in accordance
with EN 50178/VDE 0160.
The operator must make sure that these regulations are strictly followed.
Danger !
High contact voltage !
Danger of getting shocked !
Danger to your life !
Caution !
Opening the servo drive by the operator is prohibited due to reasons of safety and guarantee.
The requirement for problem-free operation of the servo drive is the expert configuring !
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Safety precautions
Please observe !
Especially to be complied with:
The class of protecton which is permitted: protective grounding; operation is only permitted when the
protective conductor is connected according to regulations.
The operation of servo drives is not allowed under the sole use of a residual current operated protective
device as protection against indirect touching.
The servo drive may only be used in the rack or in its compact enclousure. Furthermore the regulator is
designed solely for control cabinet operation.
Work on or with the servo drive may only be carried out with insulated tools.
Installation work may only be done in a deenergized state. When working on the drive, do not only block the
Aktiv-input but separate the complete drive from the mains.
CAUTION - risk of electrical shock, wait 3 minutes after switching off, for discharging the capacitors.
Screws sealed with varnish fulfill an important protection function and may not be moved or removed.
It is prohibited to penetrate the inside of the unit with objects of any kind.
Protect the unit from falling parts (pieces of wire, fley, metal parts, etc.) during installation or other work in
the control cabinet. Metal parts can lead to a short in the servo drive.
Before putting into operation, remove additional covers so that the unit does not overheat. With
measurements at the servo drive it is absolutely necessary to observe the potential separation!
Stop !
SSD Drives GmbH is not liable for damages whith occur by not following the instructions
or the applicable regulations !!
________________________________________________________________________________________________________________________________________________________________________________________________________________________

1 General
1.1 System description
The digital servo drive serves to regulate the current, speed and position of
AC servo motors with resolver.
All servo controls and functions are realized digitally.

System variants
a) Standard - variants
Rack version: 635/DER.... Compact version: 635/K DER....
optional R R optional
Supply voltage: Anschlußspannung:

NEB... Supply voltage: AC 635/K DER
DC-bus Ucc
1*oder 3*230VAC/50..60Hz AC 1*oder 3*230VAC/50..60Hz
DC DC
Us 24V DC 635/DER 635/DER Us 24VDC
M
24V DC
M M
0V 24V L1 L2 L3 Ucc RB M1 M2 M3
2 3 4 5 6 8 9 10 11 12
Netzteil
Power supply unit
o
X30
o o o o Re- Diagnose
X30 X30 X30 X30 sol-
ver
Re- Diagnose Re- Diagnose Re- Diagnose Re- Diagnose Prog.
sol- sol- sol- sol- o
ver ← → Prog. ver ← → Prog. ver ← → Prog. ver ← → Prog. GND MP2 MP1
o o o o Regler
!
GND MP2 MP1 GND MP2 MP1 GND MP2 MP1 GND MP2 MP1 o COM1
X40 RS232
Regulator
Achtung
Netzeinschub- stecken/ziehen aller
o
X40
COM1 o
X40
COM1 o
X40
COM1 o
X40
COM1
Incr.
modul RS232 RS232 RS232 RS232 I/O
Module nur wenn
Power supply Ucc (325V) aus
Incr. Incr. Incr. Incr. o o
plug-in module I/O
o
I/O
o
I/O
o
I/O
o
o o o o
o
COM2
COM2 COM2 COM2 COM2
o o o o X10
X10 X10 X10 X10
Ucc ok
Control
Control Control Control Control o o I/O
Ballast
I/O I/O I/O I/O
o o o o o o o o Lüfter
Fan
Lüfter
Rack, R3
Explanations to rack and power supply modules are documented in separate description.
If required, the returned braking energy can be drawn off into additional external brake resistors.
The AC-supply voltage is fed directly or via transformer to the associated power supply module.
The devices are designed to be operated on networks which are grounded

on centre point (TN networks) !
________________________________________________________________________________________________________________________________________________________________________________________________________________________

System description
System variants
b) Special - variants
Low-cost compact version: Modul with integrated power supply:
635/L DER 03.A3 635/DER 01 oder 03 ..-N
Optional
(external) C R Optional (external)
635/L DER
Supply voltage AC
1 * 230V AC/50..60Hz 635/DER...-N
DC Supply voltage
1 * 230V AC/50..60Hz
Us 24VDC
M
Us 24VDC
M
0V 24V L1 L2 L3 Ucc RB M1 M2 M3
2 3 4 5 6 8 9 10 11 12
X50
Netzteil o
Power supply unit X30
Re- Diagnose
sol-
ver
Prog.
o
o
X30 GND MP2 MP1
Re- Diagnose
sol-
ver
o COM1
Prog. X40 RS232
o
GND MP2 MP1 Incr.
I/O
Regler
o COM1 o
X40 RS232 Regulator o
Incr.
I/O
o o
o COM2
X10
o
COM2
Control
X10 o o I/O
Control
o o I/O
Without integrated fan and If required, the returned braking energy

without brake resistor ! can be drawn off into additional external
brake resistors.
Explanations to rack and power supply modules are documented in separate description.
The AC-supply voltage is fed directly or via transformer to the associated power supply module.
The devices are designed to be operated on networks which are grounded
on centre point (TN networks) !
c) Special design – variants

For example operation:
DC motors with resolver
DC motors with incremental encoder
DC motors with tacho
Information: only on request!
________________________________________________________________________________________________________________________________________________________________________________________________________________________

System description
1.1.1 Digital communication
Diagnosis
General: by 7-segment display
Comfortable: via PC by EASYRIDER
(serial interface RS232)
Setup
Low Level: by Prog.-key on the front side
Comfortable: via PC by EASYRIDER

(serial interface RS232)
Communication
The serial-communication-protocol is free documented.
(Explanation see seperate documentation)
Every user has unrestricted acces to all functions and parameters.
COM1 635/K DER+

EASYRIDER ⌧ RS232,
COM2
635/DER
current-loop
RS232,
custom-made
software ⌧ RS422,
RS485,
speed-loop
CAN-Bus,
SUCOnet K, position-loop
PLC Software ⌧ Profibus DP,
Interbus S
...... SPS
PLC, binary selection,+-10V PLC
X10
instructions diagnostics setup ⌧ programming
1.1.2 Operation configurations

The possibilities range from simple current and speed control to programmable position control processes
(PLC) supported by the 1500 BIAS- command blocks.
refer to:
Chapter 3 Operating modes
Chapter 13.2 BIAS commands
Chapter 13.3 Extended BIAS-commands
________________________________________________________________________________________________________________________________________________________________________________________________________________________

System description
1.1.3 Compatibility to SSD Drives- 3 U analog regulator ESR AC S
(Not required for new projects)
The digital servo drives are to a great extent pin- and function compatible
to the analog devices of the ESR AC S series.
The EASYRIDER software allows the adaption to your existing equipment
(refer to: Chapter 3 Operating modes)
Further adaptions can be done by solder-jumpers (refer to: Chapter 7.1 Jumper)
Compatibility restrictions:
Restriction
1 External current limiting
due to analog input at X10.19
In the PC configuration menu the function speed regulator parameter (freely scaled) can be activated. In
few cases the internal Pull-Up resistor with ESR AC S was loaded with an external Pull-Down resistor in
order to reach a current limiting. The Pull-Up resistor on the DER+K DER can be activated via the
solder strip JP101.
2 Incremental encoder output-zero offset
With ESR AC S a zero drift was possible by means of DIP switch. This function is not realized with
DER+K DER.
Incremental signal with pulse interval.
3 Temperature monitoring output T2
(only with ESR AC S with corresponding option circuit) T2 is no more signalized.
4 Reference potential
all digital in- and output signals on X10 are referred to X10.9
5 Temperature monitoring PTC
(only with ESR AC S with corresponding option circuit)
Before switching off for approx 3 seconds "WARNING" is signalized.
6 Reset
Connector X10.2 is no more assigned with reset function.
7 n/I-Switch over
Connector X10.11 is not reference potential for n/I-switch over anymore, but X10.9.
8 Warning
Connector X10.7 is not reference potential for warning output anymore, but X10.9.
9 The max. operating voltage on all signal outputs of X10 is DC 45V DC
10 Pin 26 on X50 is not assigned internally and must be free !
One cannot completely rule out the possibility that with special designs of ESR AC S devices additional
adjustments have to be made.
1.1.4 Compatibility to series APOLLO 2G

Output power supply +5V DC / 150mA for encoder via decoupling diode at X40.9.
Incremental signal with pulse interval.
Compatibility restrictions:
Furthermore, there are no compatibility restrictions.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

1.2 Key to the models
Standard optional Sonder
Marking a b c d e f g
Model: XXX/ X DER XX .A3 -X -XXX -XX
Marking Description
XXX/ = 635 ≅ SSD Drives-design (blue)
a K = Compact 1 axis servo drive system
= (is not used with model plug-in device)
L = Low-cost compact design,
only for 2,5A rated current !
b DER = Digital Europe Regulator
c Rated current:
01 = 1,0 amperes
03 = 2,5 amperes
05 = 5,0 amperes
07 = 6,5 amperes
10 = 10,0 amperes (only 3-phase)
d .A3 = Regulator 3 rd generation
e -N = with integrated power supply ≅ special, only module (rack) - design
1 phase (optional)
-E = with EMC bow unit, only compact version
-O = without integrated power supply ≅ standard
f on the drive:
additional communication via COM2
-232 = RS 232 interface
-CAN = CAN-bus
-SUC = SUCOnet K
-PDP = Profibus DP
-IBS = Interbus S (+ 2nd plug)
-EA5 = I/O interface (5 Inputs, 2 Outputs)
g -BS = moisture condensation protection
-S = special setting (for example: Ballast input power)
-X7 = Wide contact X10.7 – X10.8
-B7 = BS + X7
1.2.1 Example
Typical example of an order of a 1-axis compact device in SSD Drives design:
Model: 635/K DER 03.A3-E-CAN
635/ = SSD Drives-design (blue)
K = Compact 1 axis servo drive system
DER = Digital Europe Regulator
03 = 2,5 amperes
.A3 = Regulator 3 rd generation
-E = with EMC bow unit
-CAN = CAN bus
________________________________________________________________________________________________________________________________________________________________________________________________________________________

1.3 Range data
1.3.1 Insulation concept
COM1 Power-Terminals
COM2
dep. on RP-Mod. L1, L2, L3
Re mote IN DC-Bus
X10 M1, M2, M3
analog
X10 Break-cirquit
digital customer part
X30 1) Power-Supply L1
Us DC 24 V AC
X40 DC 24 V N
PE
double insulation (VDE 0160)
Insulation of control voltage supply
Take Care ! The insulation of control (Com1..X40) depends on the insulation
of control voltage supply
Required for safe separation (PELV): double insulation
Additional insulation via opto-coupler or relay (without Safety-Functions)
1) see additional hints, chapter 2.2.3.1 Resolver connection X30
1.3.2 Generally data

Enclosure Rating (for mounting in cubicle) IP20
operating temperature range VDE 0160, Klasse 3K3
storage temperature range -25°...+55° C
air pressure 86 kPa - 106 kPa
Humidity 5 % - 85% 40°C
Opertating Temp 0...40°C
1)
reduced operation >40°...< 50°C
derating of the output current 2% /°C
Altitude h h ≤ 1000m
1)
reduced operation h > 1000...≤ 4000m
Derating of the output current 1% / 100m
Safety VDE 0160, UL, cUL
Overvoltage-category of power circuit III, VDE 0160
Pollution degree for mounting in cubicle VDE / UL: 2
Vibration test in accordance with
DIN IEC 68-2-6, test FC Condition for testing
Frequency range 10...57Hz 57...150Hz
Amplitude 0,075 mm
Acceleration 1g
Test time per axis 10 Frequenzzyklen
Frequency sweep speed 1 Oktave/min
1) Use only fan-cooled devices. For reduced operating conditions,
no UL-Approbation are available.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Range data
1.3.3 Compact units 635/K DER
Compact Units 635/K DER 635/K DER 635/K DER 635/K DER 635/K DER
01.A3 03.A3 05.A3 07.A3 10.A3
Input
Supply Voltage min. [V] 14
Un [V] 230
50..60 Hz max. + 10 %
Phases 1/3 3
Supply-preparation Fuse ors, Filters, Contact
see: chapter 5.6 Fuses, contactors, filters
Power-on current limit Typ NTC 4 Ohm
Supply for fan Un [V] 230V,
AC f = 50/60 Hz, P = 12/10 W, 40/50 m³/h
1)
Control Voltage Us [V] 24 DC V +20% -10%,
attention: chapter 1.3.1 isolation-conzept
Control-Current Is [A] Continuous: max 1,2A Power-On-Peak: nom. 3A;
DC max 5A / 0,8 mS, 2,5A / 25mS
Output
Sinewave-Voltage at Unr [Veff] 220
Un
derating of Unr depends on load and single-or 3-phase supply.
see: chapter 1.3.5 Single-or 3-phase supply
Rated Current RMS Inr [A] 1 2,5 5 6,5 10
Max Current RMS Imax [A] 2 5 10 10 20
min. time for Imax min. 5 Sec 5 Sec 5 Sec 5 Sec 5 Sec
Min motor inductance Lmot [mH] 9,6 4,8 2,4 1,2
(between terminals)
Brake-Circuit
Setpoint DC Ub [V] 376
Max Power Pbp [kW] 5,5 7,5
Cont. Power Pbd [W] 130
Internal Resistor Rbint [Ω] 100
Pd [W] 30
Pmax [kW] 1,4
2)
Min. external Resistor [Ω] 33 20
General
2)
Fan - model L 230 / 16TE * 38 L 230 /
18TE * 25
Power-losses
Fan, Electronic [W] 30
Powerstage per A [W/A] 9
Weight [kg] 2,75 2,90 3,45
Further data see: chapter 11 General technical data
1)
suggested: transformer-based supply
2)
use only SSD Drives-released types
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Range data
1.3.4 Plug-in modules 635/DER
Plug-in modules 635/DER 635/DER 635/DER 635/DER 635/DER
01.A3 03.A3 05.A3 07.A3 10.A3
Input
DC-Bus rated min. [V] 20
Ug [V] 325
max. + 10 %
1)
Control Voltage Us [V] 24 DC V +20% -10%
attention: chapter 1.3.1 isolation-conzept
1)
Control-Current Is [A] Continuous: max 1,2A
DC Power-On-Peak: nom. 3A; max 5A / 0,8 mS, 2,5A / 25mS
2)
Fan Typ L220K
230V AC, P = 20W
Output
Sinewave-Voltage at Un Unr [Veff] 220
Derating of Unr depends on load and single-or 3-phase supply
see: chapter 1.3.5 single-or 3-phase supply
Rated Current RMS Inr [A] 1 2,5 5 6,5 10
Max Current RMS Imax [A] 2 5 10 10 20
Min. time for Imax min. 5Sec 5Sec 5Sec 5Sec 5Sec
Min motor inductance Lmot [mH] 9,6 4,8 2,4 1,2
(between terminals)
Brake-Circuit
Setpoint DC Ub [V] 376
Max Power Pbp [kW] 5,5 7,5
Cont. Power Pbd [W] 130
2)
Min. external Resistor [Ω] 24 20
General
Power-losses
Fan, Electronic [W] 20
Powerstage per A [W/A] 9
Weight [kg] 0,75 0,90 1,20
Further data see: chapter 11 General technical data
1)
suggested: transformer-based supply
2)
use only SSD Drives-released types
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Range data
1.3.5 Single- and three-phase supply
Due to the line-ripple of DC-Bus, the rate of usable output voltage is derated like follows. This deration
effects the max. reachable speed of the applied motor.
Three-phase-supply:
the unloaded output voltage will be derated to approx. 90%, maximum 85 %
Single-phase supply:
Derating of servo drive output voltage in case of single-phase supply

Output current [A RMS]
12
10
8 1-ph 50Hz
635/K DERxx
6
4
2
0
0 20 40 60 80 100 [%]
Output voltage in % of unloaded condition
Hints for setup:

To avoid unexpected tripping of undervoltage threshold (EASYRIDER ),
this value should be set to default.
Required motor-terminal-voltage for specified speed.
Approximation: (up to 3000 RPM)
Ukl = 1,2 * (EMF * n / 1000) + I * (Rph + RL) [V]
Ukl required motorvoltage [V RMS]

EMF Back-EMF of motor [V RMS] / 1000 RPM
Rph resistance of motor (between terminals) [Ω]
RL line resistance of motor cable [Ω]
I motor-current [A RMS]
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Range data
1.3.6 Output power
In case of continuous operation in the range of full-load the limits like shown in the diagram have to be
respected.Typical servo applications are not effected by this restriction.
(S3-operation: Start/Stop)
Imaxr / Inr 2,0 >5 sec Duration of pulse

1,8 >6,25 sec until supervising-reaktion
1,6
>10 sec
1,4
1,2 >20 sec
1,0 Cont. Operation
0,8
0,6
0,4
0,2
0
0 20 40 60 80 100 [%]
Output-Voltage [%]
1.3.7 Rated current / max. current – period
Guaranteed minimum requirements value I2T- work load

Series 631/5/7
120.00
Imax/Inenn=2
Imax/Inenn=1,75 Imax/Inenn=1,5
Imax/Inenn=1,25
100.00
Imax/Inenn=1
80.00
work load[%]
60.00
40.00
20.00
0.00
0 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30
time [sec]
________________________________________________________________________________________________________________________________________________________________________________________________________________________

1.4 Dimensions and layout
1.4.1 Dimensions for compact device and plug-in module
Einzelheit
Detail 5
A
17
B
D1 C D2
10
174
165
Einschubmodul
plug-in module
249
231
100
128 169
Lüfterplatz
space for fan
216,5
a Einzelheit
Detail 5
635/K DER 01...05 Width 635/K DER 07 Width 635/K DER 10 Width
635/L DER 01...03
A* 84,0 mm 18 TE 84,0 mm 18 HP 99,0 mm 21 HP
B 81,0 mm 81,0 mm 95,5 mm
C 44,0 mm 44,0 mm 44,0 mm
D1 18,0 mm 18,0 mm 15,0 mm
D2 18,0 mm 18,0 mm 37,0 mm
a 60,0 mm 12 TE 72,0 mm 15 HP 91,4 mm 18 HP
1 HP≈ 5,08mm
A* with enclosure in white, occurred additional measure of screw heads approx. 2 x 3mm = 6mm
Important:
Make sure you leave an additional space of approx. 70 mm on the front side
for the signal mating plugs !
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Dimensions and layout
1.4.2 EMC bow (optional)
side view front view
EMC bow for

Resolver cable 1
Mains cable 2
Motor cable 3
meaning:
1,2,3 = cage clamp terminal
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Dimensions and layout
1.4.3 Layout
1.4.3.1 Layout of controller board
Com ponent side

H15- p ower plug
*
o p tion al: D istrib utio n bo ard E xBu s
Slot for X50
dist ribut ion board
N104
A/D convert er
X500 X501
EVEN ODD
* fastening screws controller bo ard
Note:
The configuration modules can only be reached after removing the plugs.
1.4.3.2 Layout of power board
Solder side
H15- power plug
X50
JP201
1
3
2 JP100
1
3
2 JP102
2
3 JP200
1 JP101
Sold er jump er JP100, JP101, JP102 und JP 200,201 (Function see Chap ter 7.1 Jump er)
________________________________________________________________________________________________________________________________________________________________________________________________________________________

2 General view of connections
2.1 of the compact device 635/K DER 01...10
Power connection:
1 * 230V AC 635/ K DER01...07
3 * 230V AC ...01...10
PE
L3
L2
L1
N
LNF B PE
PE
PE L L L3 '
L3
N L2 I O L2 ' M6 for ground connection
L1 N A L1 '
L1 E D
grounding bar
switching cabinet
LNF S or E
PE PE
230VAC
N
L L
I O N'
24VDC L1 N A L1 ' 2 3 4 5 6 8 9 10 11 12
E D
0V 24V L1 L2 L3 Ucc RB M1 M2 M3 Eurotherm-motor-cable
KMBR
PE
X50
Connections see chapter 2.2.1
o
X30
Connections see chapter 2.2.2.2 Diagnose
Re- Eurotherm
sol- Res.
ver- ¬ ® Prog. AC-Servomotor
o 3~
GNDMP2MP1
Connector assignment see motor description
Eurotherm-Leitung
Kn PC/D
COM 1
o RS232
X40
Incr.
Connections see chapter 2.2.2.3 I/ O
o X10
Connections see chapter 2.2.2
Remote IN : Rem. IN
o (only with Interbus S connection)
COM 2
see chapter 2.2.3.9
shielding and assignment

see chapter 2.2.3.2 Control
o I/ O
o
2.2 Connector pin assignments and contact functions

________________________________________________________________________________________________________________________________________________________________________________________________________________________

2.2.1 Power connections for plug-in module 635/DER standard
at the rear of the rack (H15-multiple pin strip according to DIN 41612)
DC bus in the rack

to further regulators
H15 strip R Ballast grounding bar

1) 4) switching cabinet
X50
external brake resistor -Rbext 4
power feed-in, DC bus 6
+UCC 2) Eurotherm-motor cable
parallel p in 6 for currents >15Aeff 8 M1
M2
motor connection 10 M3 KMB R
M1 PE
parallel p in 10 12 2)
motor connection 14
M2
motor connection 18 Eurotherm
M3 AC-Servomotor Res.
3~
reference potential for +Ucc 22 2)
0VP PE
parallel p in 22 24 3) line side
not used 26
feed-in control voltage 24V DC +US 28 +24V DC
- control voltage
reference potential to +US p in 28 0VS 30 0V PELV - side
ground 0VS 32
GND PE Rack frame or enclosure
grounding screw in rack
PE
1) Faston-flat connector shoe 6,3 mm
2) parallel wires for nominal currents >15A grounding bar in switching
cabinet near rack
3) ONLY ground when operating with isolated transformer !
DO NOT ground when operating with autotransformer
or directly on mains ! PE
4) Brake-resistor, if not driven by power supply unit NE B...
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Connector pin assignments and contact functions
2.2.2.1 for plug-in module 635/DER ...-N (with integrated power supply) special
at the rear of the rack (H15-multiple pin strip according to DIN 41612)
external DC-BUS-capicator for max. currents >2,5A
+ at least 60 µF/A, voltage endurance ³ 400V DC
R Ballast
H15 strip grounding bar
1) X50 switching cabinet
external brake resistor -Rbext 4

power feed-in, DC bus +UCC 6
JP200 Eurotherm-motor cable
230V AC 8 L1230VAC M1
M2
motor connection 10 M3 KMB R
M1
parallel pin 10 12 PE
motor connection 14
M2
parallel pin 14 16
motor connection 18 Eurotherm
M3 AC-Servomotor Res.
parallel pin 18 20 3~
reference potential for +Ucc 0VP 22
PE
24 2)
JP201 line side
230V AC 26 N 230VAC
feed-in control voltage 24V DC +US 28 +24VDC

0VS - control voltage
reference potential to +US p in 28 30 0V PELV - side
ground 0VS 32
GND PE
Rack frame or enclosure
grounding screw in rack
PE
1) Faston-flat connector shoe 6,3 mm grounding bar in switching
2) ONLY ground when operating with isolated transformer ! cabinet near rack
DO NOT ground when operating with autotransformer or directly on mains !
PE
Note:
Around an interchanging to the standard module (without integrated power supply) guarantee, the coding is
broken out " D " at the H15-multiple pin strip.
In the scope delivery is a coding-pen, you can coding the "customer" H15-multiple pin strip.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

2.2.2 Signal connections
2.2.2.1 Control signal plug X10
SUB D25 socket
Complete representation
external internal
customer side X10

13 OUT
25 IN
12 OUT
24 IN
11 IN
2 Relais
23 Active OK 3
1 JP102
10 GND
22 Active
9 0V PLC
21 supply for output 24V SPS external
Relais
8 ready 1 3 2 Supply
JP100
20 warning
7 optionally
I-Limit
0..+-10V
19 can be normed
0..+-10V Analog-
6 can be normed monitor MP2 JP101 3
0..+-10V
18 can be normed
Nsetpoint +12V
5 referene potential
0..+-10V
17 can be normed Analog-monitor MP1
4 IN 0V PLC
16 +12V 80mA
3 -12V 80mA
JP1
15 IN JP2
2 0V PLC
IN
JP3
14 IN JP4
1 shield
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Signal connections
Control signal plug X10
SUB D25 socket
Connection example
regulator side
signal plug für X10
model: SUB D 25
spread out
14 1
SPS 15 2
16 3
+/- 10V
17 4
18 5
6
19
7
20
output ready
8
1) 0V-reference point, I/O-supply
21
9
input active 22
10
1) 23
24V 0V 11
+ - 24
12
spread out
25
2) 13
L1
+24 V, I/O-supply
~
N
=
PELV-
Isolation
Mecanical
Limit schwitsches
2)
L1 +24V (Br)
~
0V (Br) V1 K1
=
N Supply may be used for multiple brakes Option: brake
Brake-connection vari ants A : Eurotherm

when Isolation - Type of break-isolation is AC-Servomotors
basic (not PELV). The PELC - isolation of 3~ V1: Varistor; e.g. Siemens Q69X3431, 38V DC
control - cirquits is uneffected K1: Couple-relais min. 2A,/60VDC PELV Isolation
X10.23 X10.9
Option: brake
Bremsenanschluss Variante B :
wehn isolation - type of brake - installation is AC-Servomotors
PELV 3~
1) Security- and supervising logic, to be programmed by user !

2) IMPORTANT:
The Power-Supply for the Motor-Brake has to be adapted to the type of Brake. Voltage-Drops caused by
long cables also may effect malfunctions of the Brake
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Signal connections
Control signal plug X10
SUB D25 socket
Inputs / outputs
PIN Function Type In- /Output

1 shield connector shield
2 configurable (chapter 3) OPTO input
3 stabilized auxiliary voltage output auxiliary voltage
-12VDC; max. 80 mA
5 Reference point to X10.18 analog input
0...+-10V
Ri = 10 kOhm
6 Current monitor can be scaled in the analog output, Signal from test socket MP2
speed controller menu
7 via JP100 (solder jumper) can be optional
assigned as free and loopable
potential of the READY contact
8 ON: regulator without fault Relais output
OUT: regulator fault or supply voltage fixed: ready
off
9 Reference point for digital inputs Reference point for digital inputs
10 Reference potential for analog signals ground
12 configurable (chapter 3) OPTO output
16 stabilized auxiliary voltage +12V DC; output auxiliary voltage
max 80 mA
17 actual speed value monitor, scalable analog output signal from test socket MP1
18 nominal speed value; scalable analog input
differential referenced to X10.5 0...+-10V
Ri = 10 kOhm
19 Setting of the current limit can be analog input
activated and scaled 0..+10V
(0..+10V for 0.. Imax) Ri = 10 kOhm
21 Nominal: 24V DC Supply for outputs
22 H = output stage is active OPTO input
L = output stage inactive fixed: active
23 configurable (chapter 3) Relais output
Data of the digital inputs and outputs see chapter 11
________________________________________________________________________________________________________________________________________________________________________________________________________________________

2.2.3 Resolver
Functions of the resolver evaluation
Formation of a digital value for the rotor position within one revolution,
evaluation: 12 or 14 bit; adjustable in the config. menu EASYRIDER.
derivated from this:

commutation according to pole pair number
actual speed value
incremental position output
position value for position regulation
It is only allowed to use SSD Drives approved resolver
2.2.3.1 Resolver connections X30 SUB D 09 socket
________________________________________________________________________________________________________________________________________________________________________________________________________________________

2.2.4 Multifunction X40
Description X40
Via a programmable I/O processor, the X40 can be configured different. (EASYRIDER )
Standard functions:
- Incremental output
- Incremental input
- Stepper motor - pulse input
The different configuration creates e.g. ideal conditions for synchronous applications..
General data X40

Plug model: SUB D 09 plug
maximum input or output frequency: 200 kHz
maximum cable length connected to 25 m; for extended distances please contact our engineer
galvanical insulated terminals
(Encoder, controls)
maximum cable length connected to ground- 2 m, take care for good common grounding !
related terminals
(other drives, controls)
maximum number of signal inputs to one as
incremental-output configured device 8
output signals: driver model MC34C87 or compatible, RS422
differential logic level: L ≤ 0,5V H ≥ 2,5V
nominal range: 0,0 ... 5,0V
input signals: receiver model MC34C86 or compatible, RS422
differential input level: diff min = 0,2V
nominal range: 0,0 ... 5,0V
nominal signal difference: 1,0V
current consumption: 1...4 mA (depending on frequency)
Notice:
Master / Slave operation
1 Master maximum 8 Slaves
Condition: Devices directly side by side !
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Multi-function X40
2.2.4.1 Incremental output
Connector pin assignment X40
EASYRIDER X40 mode = 00
• Incremental encoder simulation for processing
in positioning modules
• Standard: 1024 increments
further selectable pulse numbers: 512, 256, 128
Parameter area of the input signals:
10...1000000 increments
Pin Function Designation

1 Channel B B
2 Channel B inverted /B
3 Shield connector Shield
4 Channel A A
5 Channel A inverted /A
6 Reference potential to pin 9 0 VS
7 Channel Z inverted zero impulse /Z
8 Channel Z, zero impulse Z
9 Supply voltage output max. 150 mA + 5 VDC
Design rule:
The capability of input-frequency of any connected device must meet
at least the value of pulse outputs on X40.
n = max. speed (rpm)

x = increments e.g. 1024
f = output frequency at X40.1,2,4,5
Formula: f 1,2 * (n * x)
= = [Hz]
60
Example: n = 4000 rpm
1,2 * (4000 * 1024)
f= = 81920 Hz
60
A
/A
B
/B
Z
/Z
Incremental Outputs
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Multi-function X40
2.2.4.2 Incremental intput
Parameter area of the input signals:
10...1000000 increments

1 Channel B B
2 Channel B inverted /B
4 Channel A A
5 Channel A inverted /A
6 Reference potential for pin 9 0 VS
7 Channel Z inverted zero impulse /Z
8 Channel Z, zero impulse Z
9 Supply voltage output max. 150 mA +5 VDC
Note:
The operation of incremental encoders via long cables may cause a voltage drop of the encoder power
supply. We suggest the use of external supply if necessary.
A
/A
B
/B
Z
/Z
Incremental Inputs
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Multi-function X40
2.2.4.3 Stepper motor input
pulse / direction

1 output: drive active inverted /READY
2 output: drive active READY
4 Pulse inverted /P
5 Pulse P
6 Reference potential GND
7 Direction inverted /R
8 Direction R
pulse
direction
1 2
turn direction (-) turn direction (+)
1 set-up time 2,5 µs 2 hold time = 0
2.2.4.4 Stepper motor input

pulse positive / negative
EASYRIDER X40 Mode = 3

1 output: drive active inverted /READY
2 output: drive active READY
4 Pulse direction (-) inverted /P-
5 Pulse direction (-) P-
6 Reference potential GND
7 Pulse direction (+) inverted /P+
8 Pulse direction (+) P+
pulse direction (+)
pulse direction (-)
________________________________________________________________________________________________________________________________________________________________________________________________________________________

2.2.5 Digital interfaces
Service interface COM1 (RS232))
Standard
Functions:
Supporting all diagnosis and setup tasks
Connection to your PC is made with the SSD Drives communication cable KnPC/D
Communication is made via the SSD Drives operating program (EASYRIDER )
Communication cable model: KnPC/D

Cable shield
SnXA0 SUB D 09
Function Designation Pin
SnXA0 SUB D 09
2 1
Reference potential GND 1 5
3
Transmitted data TXD 2 3
view: solder side Received data RXD 3 2 view: solder side
Shield Metal enclosure - -
Notice:
The service interface RS232 is not galvanically separated and should not be planned
for this reason as a operating interface ("firm wiring")!
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Digital interfaces
2.2.5.1 Fieldbus interface COM2
Configuration interface
(SUB D09 socket)
Many different functions can be implemented using optional configuration interfaces
Layout, see chapter 1.4.2
Overview:
Interface designation Interface galvanic seperation design
RP 232 RS 232 - A
RP 422 RS 422/485 - A
RP 485 RS 422/485 X A
RP CAN CAN X A
RP PDP Profibus DP X B
RP SUC SUCOnet K X B
1)
RP IBS Interbus S X B
1)
additional plug Rem. IN (SUB D)
2.2.5.2 additional In-/Outputs
Interface designation Inputs Outputs Connection via design

2)
RP EA5 5 2 COM2 C
2)
no Fieldbus possibility (Interface)
Caution:
The connections COM2 and X30 are implemented via SUB D09 socket.
The costumer have to be guaranteed that an interchanging is not possible!
2.2.5.3 Interface – design

design A design B design C
coding
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Digital interfaces
2.2.5.4 Pin assignment for RS232
with configuration board RP 232
Pin assignment as RS232

1 - design A
2 RXD
3 TXD
4 -
5 GND
6 -
7 -
8 -
9 -
2.2.5.5 Pin assignment for RS422/485

with configuration board RP 422 without galvanic seperation
with configuration board RP 485 with galvanic seperation
Pin assignment as RS422/485

1 - design A
2 -
3 -
4 Data In
5 GND
6 Data In invertiert
7 Data Out invertiert
8 Data Out
9 -
Daisy-chain wiring up to 16 devices
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Digital interfaces
2.2.5.6 Pin assignment for CAN
with configuration board RP CAN, with galvanic seperation
Pin Description Designation

1 - - design A
2 CAN_L bus line CAN_L
(dominant low)
3 Ground GND
4 - -
5 - -
6 Ground GND
7 CAN_H bus line CAN_H
(dominant high)
8 - -
9 - -
2.2.5.7 Pin assignment for Profibus DP

with configuration board RP PDP, with galvanic seperation

1 - - design B
2 - -
3 Line B B
4 Request to send RTS
5 Ground GND
6 Potential +5V +5V
7 - -
8 Line A A
9 - -
2.2.5.8 Pin assignment for SUCOnet K

with configuration board RP SUC, with galvanic seperation

1 - -
design B
2 - -
3 Data line + TA/RA
4 - -
5 Signal ground SGND
6 - -
7 Data line - TB/RB
8 - -
9 - -
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Digital interfaces
2.2.5.9 Pin assignment for Interbus S
with configuration board RP IBS, with galvanic seperation
Remote OUT (COM2)

Remote OUT (SUB D09 socket)

1 Data line OUT forward DO2
(error voltage A)
design B
2 Data line IN backward DI2
(error voltage A)
3 Reference potential GND I
4 - -
5 VCCI +5V
6 Data line OUT forward /DO2
(error voltage B)
7 Data line IN backward /DI2
(error voltage B)
8 - -
9 Reporting input * RBST
* to forward Interbus-S interface
Remote IN
Remote IN (SUB D09 plug) ≅ additional plug

1 Datenleitung IN Hinweg DO1
(Differenzspanung A) design B
2 Datenleitung OUT Rückweg DI1
(Differenzspanng A)
3 Bezugspotential GND I
4 - -
5 - -
6 Datenleitung IN Hinweg /DO1
(Differenzspanung B)
7 Datenleitung OUT Rückweg /DI1
(Differenzspanung B)
8 - -
9 - -
Attention: specific front panel is required !
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Digital interfaces
2.2.5.10 Pin assignment for I/O-Interface
with configuration board RP EA5, with galvanic seperation
Digitale I/O option

COM2 SUB D09 socket (I = input; O = output)
PIN Designation Comment Statu

s
1 BIAS input 101 standard E

Bauform C
5 0VSPS ground reference B
0VSPS
7 BIAS output 109 standard A
8 BIAS output 110 standard A
9 +24VSPS ext. +24V feed-in UB
Notice !
The input´s with the internal number 107 and 108 must be connected to the pin´s
with number 3 and 4.
The output´s with the internal number 109 and 110 must be connected to the pin´s
with number 7 and 8.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

3 Operating modes
The preselection of the device functions is carried out by choosing the operating modes 0...5 according to
the following table, see chapter 3.1, (EASYRIDER ).
Each operating mode allows the assignment of different in- and output functions (F0..F5).
Operating Reference-source Hints for selecting the operating mode

mode
0, 1, 2 analog (X10.5/18) Replacement of devices series ESR AC S
3 analog (X10.5/18) simple applications with requirement of switching between

position and speed.
control position controller handling like operating mode 4
4 digital or analog in acc. general position-controlled systems. Up to 10 positions can be
to parameter set stored under identifier-numbers and activated like shown.
0 3
pos.selection (Nr 0..9) function F2 daten 2 ...2
input start function F2 X10.2
axis moves to selected positions-number.
output position reached function F0 X10.12

t1 = 3 ms min t2 = 3 ms min t1 t2 t
5 digital or analog in acc. simple to complex systems using instructions BIAS

to programming or via (up to 1500 command blocks)
digital communication PLC - functions
(e.g. fieldbus) for further informations:
see chapter 13.1 EASYRIDER
and 13.2 BIAS-commands
________________________________________________________________________________________________________________________________________________________________________________________________________________________

3.1 Operating modes and pin functions
Operating modes
0 1 2 3 4 5
available pins torque/ speed torque position/spee position position control
number speed-control control control d-control control + BIAS
functions
F0, F1 F0, F1 F0, F1 F0, F1, F2, F0, F1, F2, F0, F1, F2
Input F3 F3
X10.14
F0, F1 F0, F1 F0, F1 F0, F1, F2, F0, F1, F2, F0, F1, F2
Input F3 F3
X10.15
--- --- --- --- F2 F0, F2, F3
Input
X10.4
--- --- --- --- F2 F0, F2, F3
Input
X10.25
--- --- --- --- F2 F0, F2, F3
Input
X10.11
F0 --- --- F0 F1, F2 F1, F2, F3
Input L = torque- L = position-
X10.24 H = speed H = speed
control control
--- --- --- --- F0 F2, F3
Input
X10.2
Output F0 F0 F0, F2 F0, F1 F0, F1, F3 F0, F1, F2, F3

X10.12
Output X10.13 F0 F0 F0, F2 F0, F1 F0, F1, F3 F0, F1, F2, F3
The assignment of the functions F0..F3 is listed in the following table
________________________________________________________________________________________________________________________________________________________________________________________________________________________

3.2 Configurable pin-functions (depending on the operating mode)
Input functions (depending on the operating modes)
Input Function F0 Function F1 Function F2 Function F3 Example

number
Input limit switch + *) move limit switch +
set selection manually +
X10.14
⌧ data 20
Input limit switch - *) move limit switch -
set selection manually -
X10.15
⌧ data 2a
Input latch input 1 *) set selection
data 20
⌧
set selection
X10.4
⌧ data 2b
Input latch input 2 *) set selection
data 21
⌧
set selection
X10.25
⌧ data 2c
Input start (slope 0-->1) *)
⌧
for BIAS -move set selection set selection
X10.11
commands ⌧ data 2d data 22
Input operating mode Referenzsensor *) Referenzsensor
⌧
X10.24 selection set selection
data 2max
Input start (slope 0-->1) strobe strobe
X10.2 with position set
selection in position ⌧ (slope 0-->1)
for BIAS-set ⌧
(slope 0-->1)
for BIAS-set
control selection selection
Output X10.12 position reached reference Tracking

output ⌧ window
exceded
Output X10.13 temperature reference Tracking
monitoring output ⌧ window
exceded
Output X10.20 warning reference Tracking
output ⌧ window
exceded
Output X10.23 active ok reference Tracking
(motor brake) output ⌧ window
exceded
⌧ BIAS-function, free programmable (in operating mode 5)

*) With every row (from the top to the bottom) in which the function F2 is assigned to an input, the
binary value (2n) increases by 1. (see example)
Operating mode 4: only permissible set number 0 - 9 !
fast input for optimal timing
________________________________________________________________________________________________________________________________________________________________________________________________________________________

3.3 Function diagrams from inputs and outputs
Fa ult s ig nal / Prote ctio n mo de s witc hing off Prote ctio n mo de limiting
prote ctio n func tio n in ac c. with EAS YR ID ER acc. with E AS YR ID ER
config.- me nue config. me nue
I 2t re gulato r prote ctio n

o u tpu t W arn in g(F0) X1 0.2 0
o u tpu t Read y X10 .8 /8/ Warnin g time ap p rox. 3 sec. /3/

/3/ rated c urre nt o f
W arn in g dis play ma x. c urre nt
regulator
I-LIMIT
fau lt s ig n al d isp lay
I 2t moto r pro te ctio n
o u tpu t W arn in g(F0) X1 0.2 0
ou tput Read y X10 .8 /8/ Warnin g time ap p rox. 3 sec. /4/

/4/ ma x. c urre nt rated c urre nt o f
W arn in g dis play mo tor
I-LIMIT
fau lt s ign al d is p lay
N TC-o utput s tage prote ctio n

95 °C
o utpu t W arn ing (F0) X10.2 0
outp ut Read y X10.8 /8/ Warnin g time ap p rox. 6 sec. /5/

/5/
W arn in g disp lay 90 °C
I-LIMIT 100 °C
fa ult s ig n al d isp la y
Te mp. V2 Temp. V2
ass u me mo to r te mp eratu re V1 R_ NT C 2 V1 R_ NT C 2
cu rv e R_ NT C 1 R_ NT C 1
R_ PT C R_ PT C
t1 t2 t t1 t2 t
N TC-moto r pro te ctio n
s witch off with R_ N TC 2 d ecreas e as o f R_ N TC 1
o u tpu t Temp.(F0 ) X1 0.1 3
o u tpu t Read y X10 .8
/h/ /h/
W arnin g d is p lay /9/ /9/
curre nt limiting
I-LIMIT
fa ult s ig n al d isp la y
PT C-mo to r prote ctio n

o utpu t Temp .(F0) X10.1 3 s witch o ff with R_ P TC after warn in g time
o u tpu t Read y X10 .8 n o limitin g fu n ctio n with PT C
/h/ Warnin g time ap p rox. 6 sec.

W arn in g d is p lay
/9/
fau lt s ig n al d is p lay
Functio n Pas sive -De lay (re comma nde d by us e of moto r brake )
in p u t A CTIVE-O K(F0 ) X 1 0.22
s etp o in t in tern ally to zero N setpo int
o u tpu t s tage A ctiv e

o u tpu t A KTI VE -O K( F0 ) X1 0 .23 (h old ing b rake ) tv ; reactio n time fo r b ra ke
________________________________________________________________________________________________________________________________________________________________________________________________________________________

4 Mechanical installation
4.1 Mounting
SSD Drives digital servo drives may be installed only in a vertical position to guarantee the best air
circulation for the cooling ribs of the heat sink. Vertical installation above other drive racks or above other
heat producing devices can lead to overheating. In addition the drives are to be operated exclusively in
SSD Drives racks or the compact enclosure respectively.
4.2 Control cabinet - mounting

Installation should be carried out only in a control cabinet in which the inside must be free from dust,
corrosive fumes, gases, and all liquids.
Make absolutely sure that the condensing of evaporating liquids including atmospheric moisture, is
avoided. Should the digital servo drive be installed in a place where condensation is likely, a suitable
anticondensation heater must be installed. The heater must be SWITCHED OFF during normal operation.
Automatic switch off is recommended.

SSD Drives-digital servo drives should not be installed in are as which have been classified as dangerous,
if they have not been installed in an approved enclosure an accordance with regulations and checked.
Make sure, there is enough cooling and space !(see sketch)

above
only horizontal !
100 mm space
on the side
no distance is required
rack
635
Servo-drives
100 mm space
below
General rule:
It is better to place heat-producing devices low in an enclosure to support internal convection and to spread
the heat. If placing such devices up high is unavoidable, enlarging the upper dimensions at the expense of
height or installing fans should be considered.
4.3 Cooling
The digital servo drives are protected against damages caused by overheating.
There is a thermal sensor installed on the heat sink. When the temperature rises to >95°C,
the drive is automatically switched off. This setting cannot be changed.
Make sure a cabinet of proper size is selected for adequate air circulation.
If the device becomes operated in a not ventilated device, the case volume of the specified control
cabinet must be calculated in accordance with the following table !
Device Volume/control cabinet

635/K DER01...DER10 0,12 m³
For more exact information, please, address to the control-cabinet manufacture
________________________________________________________________________________________________________________________________________________________________________________________________________________________

5 Electrical installation
5.1 Safety
The voltages carried by power supply cables, motor cables, connectors, and certain parts of the drive can
cause serious electric shocks and even death
5.2 The danger of electric shocks
CAUTION !
Risk of electrical shock, wait 3 minutes after switching off, for discharging the capacitors.
Disconnect SSD Drives plug-in units from mains before working on them. A period of three minutes must
pass after switching off so that the internal capacitors can discharge completely. Until the discharge time is
over, there can be dangerous voltages in the
module !
Persons, which monitoring or carrying out electrical installation and maintenance must be adequately
qualified and schooled in these activities.
5.3 Danger areas

The use of variable speed drives of all kinds can invalidate the certification for dangerous areas (apparatus
group and/or temperature class) of explosion-protected motors. Inspection and certification for the complete
installation of servo motors and electronic components must be obtained.
5.4 Grounding, safety grounding

The grounding impedance must meet the requirements of local industrial safety regulations and should be
inspected and checked at appropriate and regular intervals
5.4.1 Ground connections

It is recommended to attach a ground bus of high conductivity copper as near as possible to the servo-rack
or regulator modules in order to minimize the length of the cable connections.
The recommended dimensions are:
Thickness: d = 5 to 6 mm
Length Width d
(m) (mm)
< 0,5 20 grounding bus-bar
0,5 < 1,0 40 b
1,0 < 1,5 50
l
Ways of raised discharge currents > DC 10mA resp. > AC 3,5mA the PE-Bolt of the drive has to be
connected to PE using copper-cable minimum 10mm² !
5.5 Short-circuit capability and discharge currents

Due to the working-principle of servo drives there may discharge currents to
PE exceeding DC 10mA resp. AC 3,5mA.
Suitable for use on a circuit capable of delivery not more than 5000 RMS symmetrical
amperes 505V maximum. (Note according to UL508C)
________________________________________________________________________________________________________________________________________________________________________________________________________________________

5.6 Fuses, contactors, filters
Compact Units 635/ 635/ 635/ 635/ 635/
K DER01.A3 K DER03.A3 K DER05.A3 K DER07.A3 K DER10.A3
max. contious Input- [Aeff] 4 (1-ph) 6,5 (1-ph) 11 (1-ph) 14 (1-ph)
Current [A RMS] 2 (3-ph) 4 (3-ph) 6,5 (3-ph) 8 (3-ph) 10 (3-Ph)
Recommended Line-Fuses and Contactors
RCD-Switch not recommendet. Required setpoint: 300 mA
Mains protection 1) T10A T10A T10A T20A T20A
protector-switch 2) PKZM0-16 PKZM0-16 PKZM0-16 PKZM0-16 PKZM0-16
Mains contactor 2) DIL 00M DIL 00M DIL 00M DIL 00M DIL 00M
Line Filters
general only for use earth referenced supplies(TN). Current – drain to PE !
single-phase
industrial env. 3) model LNF S 1*230/012
Max motorcable.50m or LNF E 1*230/012
(EN55011 A)
residential env. 3) model LNF S 1*230/012
Max motorcable.20m oder LNF E 1*230/012
(EN55011 B)
3-phase
industrial env. model LNF B 3*480/008 LNF K
max motorcable.50m 3*480/018
(EN55011 A)
residential env.. 3) model LNF B 3*480/008 LNF K
max motorcable.50m 3*480/018
(EN55011 B)
3-phases, several servo-drives supplied by one common filter
industrial env. 4) model LNF B 3*480/018; LNF B 3*480/033
max motorcable.20m other models on request
(EN55011 A) (according to ref.measurements with 3 units, supplied by common line)
residential env. 3) model LNF B 3*480/018; LNF K 3*480/033
max motorcable.20m 4) other models on request
(EN55011 B) (according to ref.measurements with 3 units, supplied by common line)
1) recommended for UL-requirements: Bussmann Type FRS-R, 600V, use only UL-approved fuse-holders !
2) recommended, Klöckner Moeller for instance
3) Toroidal Ferrit, SSD Drives-model FR required at motor cable near to the drive.
4) Measurement of conducted emissions only.
Plug-in modules 635/ 635/ 635/ 635/ 635/

DER 01.A3 DER 03.A3 DER 05.A3 DER 07.A3 DER 10.A3
max. contious 1-phase [Aeff] 4 6,5 11 1
Input-Current 3-phase [A RMS] 2 4 6,5 8 10
Fuses, Contactors, Filters
general Orientation: Table for Compact-Units and the addition of rated currents of
used units on the DC-Bus. Depending on the application, energy-sharing
effects by DC-Link may reduce the required supply-current considerable
Fuses Rule of the Thumb: 1,5 to 2 times of added rated currents
Power-On-Peaks Depending on Power-Supply-Unit, Limiting equipment is requiered
(Delay-Contactor)
only for use in earth referenced supplies(TN). Current-Drain to PE !
Filter types Orientation: Table of Compact-Units. Further Types: see separate manual
________________________________________________________________________________________________________________________________________________________________________________________________________________________

5.7 Brake resistor
5.7.1 Selection of the brake resistor
The energy of a moving system flows back to the Drive. The DC-Bus capacitors are able to take a small
value. The rest has to be converted to heat by a resistor.
Switching of this brake resistor depends on the DC-Bus voltage.
The load of the resistor is simulated and supervised electronically (EASYRIDER ).
Peak power (Pmax) and continuous power (Pd) ratings have to be sufficient to meet the requirements of the
application.
RPM Movement
n1 Definition of Data Values for Example
Speed at Brake-Start n1 = 3000 RPM

Braking Time tb1 = 0,1 sec.
Cycle-Time T = 2,0 sec.
tb1 t [sec] Total Inertia J = 0,0005 kgm²
I [A] T Braking-Current Ib = 3,2 A
Motor-Resistance Rph = 3,6 Ohm
Cable-Resistance RL = 0,3 Ohm
Ib Braking-Current t [sec]
Calculation
Step 1 example
Calculation of brake-power
(Approximation. Capacitor-load, friction-and drive-
losses neglected)
Power of motion: Pkin = 0,0055 * 0,0005 * 3000²/0,1
Pkin = 0,0055 * J * n1² / tb1 [W] Pkin = 247 W
Motor-losses: Pvmot = 3,2² * (3,6 + 0,3)
Pvmot = Ib² * (Ri + RL) [W] Pvmot = 40 W
Cont. Power: Pd = 0,9 * (247 - 40) * 0,1 / 2
Pd = 0,9 * (Pkin-Pvmot) * tb1 / T Pd = 9,3 W
[W]
Peak-Power: Pmax = (1,8 * 247) - 40
Pmax = (1,8 * Pkin) - Pvmot [W] Pmax = 405 W
used units:
J total inertia [kgm²]
n1 speed at Brake-Start [RPM]
tb1 braking time [Sec]
T cykle time [Sec]
Ib brake-current [A]
Rph resistance of motor (between terminals) [Ω]
RL line resistance of motor cable [Ω]
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Brake resistor
Selection of the brake resistor
Step 2 Example-Drive model
Internal / external brake-resistor required ?
see data in chapter 1.3.3 / 1.3.4
635/K DER03.A3
In case of unsufficient capability or not included acc. to data in 1.3.3:
internal Brake-Resistor, a type may be selected from internal resistor:
the following list. Cont. Power Pd = 30W
Peak Power Pmax = 1,4kW
External and internal Brake-Resistors will be switched Required:
in parallel. The internal and external performance-Data Pd = 9,3W Pmax = 405W
may be added in this case. Result: The internal capability is sufficient
extenal Brake- Ub-Stpoint Pp ext [W] Pd ext [W] Rb ext [Ohm] Eurotherm-Type
resistor
DC 376 V 4260 100 33 B100/33-3
5.7.2 Configuration of the brake resistor

Possible ballast circuit configurations at digital devices
a) Compact design
The plug-in modules of servo-control series 635 / 637 are provided with an on board ballast
electronics. It is intended for application as compact unit KDER resp. KD6R.
These compact units contain the necessary ballast resistor incl. fuse for the ballast circuit.
Except KD6R 16..30-7 (external resistor only).
b) Rack design
While the plug-in modules are used in a rack, the NEB power supply module takes dissipation
of the braking energy (adjustment of ballast monitoring: please see NEB manual).
In this case the ballast electronics of the plug-in module will be deactivated with the
configuration parameter "Ballast aktiviert = N". All further ballast parameters are no longer relevant
then.
r.g. a) Adjustment of ballast circuit for compact units:

In this case the ballast electronics of the plug-in module will be activated."Ballast aktiviert = J".
The operating point has to be adjusted depentent on the voltage variant.
"Ucc Ballast Ein = 375 V" for 230 V AC supply
"Ucc Ballast Ein = 720 V" for 400..460 V AC supply
As resistance value, the parallel resistance from internal and external resistance
has to be adjusted.
e.g. "Ballastwiderstand = 300 Ohm" for KD6R-10 (internal resistance only)
"Ballastwiderstand = 75 Ohm" for KD6R-10 (+ external 100 Ohm / 100 W)
As ballast power (braking energy), the sum total of internal and external resistor power has to be adjusted.
e.g. "Ballastleistung = 30 Watt" for KD6R-10 (internal resistance only)
"Ballastleistung = 130 Watt" for KD6R-10 (+ external 100 Ohm / 100 W)
Precondition for correct monitoring of shunted ballast resistors is the nearly same ratio of P - cont. power to
P - pulse power. This is guarantied with the SSD Drives standard combinations.
KD6R 16..30-7 units do not contain an internal ballast resistor.

At these versions the values of the external resistor can be feeded directly.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Brake resistor
5.7.3 Additional informations
Adjustment of load-supervision
used EASYRIDER-
brake resistor data adjustment
R intern R extern acc. to...
X R intern
X X R extern
X R extern
Paralleling of resistors:
possible in respect of the limits in accordance to chapter 1.3.3 / 1.3.4
Genral rule for resistor data:

Pmax / Pd <= 59
Caution !
Placing of external brake resistors

Brake-resistor are dissipating heat !
Make sure, that there will be no fire-danger in case of operating the resistor
in nominal- or fail-conditions
________________________________________________________________________________________________________________________________________________________________________________________________________________________

6 Wiring instructions
6.1 General Information
Digital servo drives are designed for operation in metallic grounded enclosures.
For perfect operation as well as for observance of all regulations the front board must be connected with
the enclosure electrically and fixed.
6.2 Control cabling

Recommended cross section 0,25 mm².The control signal lines must be laid seperate from the power
signal lines.(see chapter 6.7.1)
The resolver cable should contain three shielded pairs and be shielded as a whole. The shielding should
be connected to the ground spread out on the regulator side.We recommend using SSD Drives resolver
cable KIR. Cable for transmitting data are always to be laid shielded !
6.3 Power cabling

Recommended section according to rated current. Use only 75° Cu-cables.
6.4 Installation of the rack

When the rack is secured not in a hinged bay but on a mounting plate, it is recommended to do the wiring of
the connections for the power connector X50 on the rear of the rack before installing. With hinged-bay
installation, the customer must ensure that the parts sensitive to voltage such as the Ucc bus, mains supply
lines, etc., are protected against electric shock.
6.5 Analog setpoint
The setpoint input is a differential input. Therefore the poling can be done depending on the requirements.
Important: the setpoint voltage must be galvanically connected to the reference potential of the control
connections (plug X10). It is possible to connect one pole directly to GND.
6.6 Safety rules
CAUTION !
Plug / unplug all modules only when

Ucc (DC-BUS) is off, that is, the green LED on the power supply module is off and the discharge time
> 3 minutes has elapsed.
The user must ensure protection against accidental touching.
6.7 Electromagnetic compatibility (EMC)

Confirmity in accordance with the EEC Directive 89/336/EEC has been evaluated using a reference-
system, consisting of a compact type drive and a line-filter on mounting-plate,
connected to an AC-syncronous motor.
Mainly responsible for EMC-emissions is the motor cable. So this has to be installed exeptional carefully.
The layout of grounding is very important. Grounding has to be low-impedant for high frequences. That
means, all ground-connecting parts have to use area.
The measurements made are valid under the use of SSD Drives - cables, suppression aids and line filters
and by application of the following wiring instructions:
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Wiring instructions
Electromagnetic compatibility (EMC)
6.7.1 Hints for mounting
A All components are mounted inside of
a steel control cubicle on a mounting plate
(thickness min. 3mm). 3mm
Recommended: Galvanizing
B The connection between drive housing filter-

housing and mountig-plate must be blank and
not reduced by varnish. All screws must be well
fixed !
C Use only SSD Drives-filters and cables for motor
and resolver
D Place all wires and cables as close as possible
to any grounded metal planes
E Separate power- and control cables. Minimum

distance: 0,3m
Crosspoints: 90° 0,3 m 90°
F Avoid cable-loops. Especially the line between

line-filter and drive has to be as close and short
as possible (drilled)
G Maintain screen as close as possible to the
cable-end (max distance 8 cm)
8 cm max
H Connect screen-connections according to
general view of connetions, see chapter 2.1.
Ground screens on both sides, shortest way.
For long cables: Connect additional screen-area
along the way
I Connect screens area-contacted to good
grounded points
K Connect unused wires in cables to ground
L Install control cables directly close to grounded

metal-parts or screend when leaving the control-
cubicle
M Take care for good grounding of control-
transformer (DC 24V). Use transformer with
metal-socket and take care for conductive
contact to mounting-plate
N Take care for good general grounding of the
complete system. Interconnect several
mounting-plates with copper-rails or
copperband. Take care for ground connection
between conrol-cubicle and machine !
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Wiring instructions
6.7.2 Example for mounting
Mounting plate in the control cabinet
cable channel for power cables
Conductive area to screen or EMC-Clamp (accessories)

Control voltage
DC 24V Eurotherm-motor cable Type KM...
put wires into insulation-tube
Toroidal Ferrite Eurotherm-model FR if required (see chapter 5.6)
AC power input
conductive area, remove vanish
Output ground connection
Resolver
expanded view
Line-
Fiter Place cables close to metal-parts
Flat cable in case of
X40 short distance, otherwise: and separate them from power-lines
shielded cable
Input
X10
COM2
Eurotherm resolver cable model KIR
Line feed-in
Conductive area to screen
Cable channel for control lines

Control cubibcle grounding bar
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Wiring instructions
6.7.3 Achieveable specifications and conditions
conditions additional conditions
Motor- SSD Drives
Area Class Standard cable line filters mounting in additiona
length l
Emissions: Industrial A EN50081-2/ see LNF S/E closed toroidal
transmitted EN55011Klasse chapter LNF B cabinet with ferrite
by cable or A 5.6 ≥ 15 dB cores
by air attenuation see
Residential B EN50081-1/ see LNF S/E chapter
EN55011 Klasse chapter LNF B 5.6
B 5.6
Interference Industrial A EN50082-2 - - - -
immunity:
(≅ radiation)
transmitted
by
cable or by
air
Residential B - - - -
________________________________________________________________________________________________________________________________________________________________________________________________________________________

7 Setting and programming
7.1 Jumper
All jumpers are set to a standard position in production !
To setup configuration in case of replacement of units series ESR the following solder jumpers can be
adjusted. (see chapter 1.4.3)
JP100,
bridged pad...
2 and 3 (standard) READY contact with reference to common output supply voltage on X10.21
1 and 3 READY contact can be wired freely
JP101,
bridged pad...
2 and 3 (standard) Analog input X10.19 without internal Pull-up.
1 and 3 Analog input X10.19 with internal Pull-up to +12 V (ESR compatible)
JP102,
bridged pad...
2 and 3 (standard) X10.23 = active ok. output
1 and 3 X10.23 = GND internal (ESR compatible)
7.2 Digital communication

see chapter 1.1.1
7.3 PROG-key functions

7.3.1 Description for PROG-key
Simple changes of the parameters can be made without any further aids directly on the device as follows:
Conditions for activating:

a.) PROG-key function is allowed. (EASYRIDER )
b.) Local mode selected no HOST LOGIN
c.) only possible in interference-free state
Activating the programming operation:

PROG-key approx. 4 seconds to the left
Characteristic of the programming operation:

blinking display alternately:
mode-identifier / value
Change values:
press key left or right according to the following tabel
The whole range is divided in 32 steps and will be displayed as follows:
smallest value largest value
, . , , . , .......... ,
If an error occurs, the programming operation is switched off.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

PROG-key functions
7.3.2 Operating via PROG-key
PROG- Remark Function Value range Display Remark
key
normal operation 1)
or
hold for 4sec.
reserved flashes
hold for 4sec.
maximal current limit alternates blinking

...
press briefly set
...
hold for 4sec.
speed-0 adjustment Keiner flashes

adjustment: a) ok flashes
b) not possible a)
press briefly
b)
hold for 4sec.
P-gain-setting of the speed alternates blinking

controller ...
press briefly set
...
hold for 4sec.
I-gain setting of the speed alternates blinking

controller ...
press briefly set
...
hold for 4sec.
Setpoint evaluation: alternates blinking

press briefly set: -5,+5 rpm/step
,
hold for 4sec.
Axis number designation: alternates blinking

...
press briefly set: Nr./no. 1
...
Nr./no.32
hold for 4sec.
Store in EPROM? - flashes

hold for 4sec. yes - norm. operation1)
hold for 4sec.
=> normal operation 1) -
1) normal operation: Ucc and Us on, no failure
________________________________________________________________________________________________________________________________________________________________________________________________________________________

8 Commissioning
CAUTION !
Wiring errors or incompatible operation may cause unpredictable motions.
Avoid danger for men and machine !
8.1 Preparation
For PC-link use the SSD Drives communication software EASYRIDER . For the start,
we suggest exercises in simulation mode to get familiar with EASYRIDER.This chapter presumes
the knowledge how to handle EASYRIDER.Suggestions: Use testequipment to train yourself. EASYRIDER
contains interactive HELP - functions.
For security-reasons the access to several functions is blocked by password. Commissioning has
to be executed by trained stuff only.
Users may have their application-adapted commissioning methode when familiar with
the product, on their own resposibility.
The system must be in accordance with all valid safety specifications. The function of all
safety equipment (limit-switches for example) have to be checked.
To activate the power-stage of the drive, the "ACTIVE"-signal (X10.22 against X10.9)
has to be exited.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Commissioning
8.2 Commissioning in steps
Step Action Remark

1 Before switching on
Check the wirung, especially:
Filterpolarity, supply
motor wiring, motor polarity
resolver wiring, polarity (or other feedback systems)
2 with critical mechanical parts: remove motor shaft from avoid danger
application
3 Connect PC by RS232 link to the drive service port COM1 and start
EASYRIDER
4 Set up state
NOT ACTIVE (X10.22 against X10.9) 7-Segment-display
Power ON
5 Switch on control voltage Us (DC 24V)
EASYRIDER communicates 7-Segment -display
(see diagnosis F9)
6 Are parameters already evaluated ?

yes: load parameter file no: continue with 7
xxx.ASD.
Store parameters in the drive. If
existent: load BIAS-file
xxx.ESSD DRIVES and store it
in the drive.
proceed with
10 or 15 (experts)
7 Menue Comissioning: reduced torque
Select the used motor from the EASYRIDER- Library
Adjust max. current to nominal motor current or smaller
8 When leaving that menue: confirm acceptance of offered
Tuning-parameters for current loop will be calcualated and parameters
offered to the user.
Normally, these values give dynamic servo motion.
9 store data power-fail-save in the drive (F7)
10 Menue: Tuning speed loop
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Commissioning
Commissioning in steps
Step Action Remark
11 "ACTIVE" switched
7-Segment-display
12 Adjust test generator as required.

n,I
Activate test generator with "START Motor". Activate graph to
display motor current or speed. I n
can be optimized manually t
typical graph
(P- and I-gain)
13 Is the result ok?

yes: continue with 14 no: continue with U1
14 Preparation to the position controller
The commissioning of the position controller is first
recommended without linked up mechanics. In the case of
secure functions, the mechanics can then be linked up.
15 Power OFF. mecanical limits
connect motor-shaft to the application
Move application to a free area between mecanical limits.
Power ON
Menue: Tuning position loop M
Pos.1 Pos.2
16 Adjust testgenerator. Select Pos.1 and Pos .2 to uncritical mind: reaction-time to
values. Select slow speed and slow acceleration first, rise up Emergency Stop
later.
17 "ACTIVE" - switched. Every activation of "START Motor"
exites a motion from Pos. 1 to Pos.2 and,
with the next activation, from Pos 2 to Pos. 1
18 Observe the behavior of application and graph.
Optimize tuning-parameters (P-, I- andV gain)
19 Is the result ok?
yes: continue with 20 no: continue with 9
20 Basic power-up is done now.
Further functions (Interfaces, fieldbus functions, syncronizing
and so on may be done adapted to the selected equipment.
21 Select the menu File "store parameters" and store the data in data save
the regulator, protected against loss,
with the F7-key.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Commissioning
Commissioning in steps
Step Action Remark
U1.1 Menue: Tuning Speed Loop Motor-current
Stable parameters are calculated bases I
on the system data; and can be called up with F5.
Sometimes it is recommanded to make further manual tuning. t
Rated values can be sourced either digital by the internal
generator or analog by using +/-10V at X10.5/18. P-Gain too high or I-time constant
ATTENTION ! too small Motor-noise
Too hard tuning will cause current-

ripple and high power-dissipation.
U1.2 Too weak adjustment causes slow loop-reactions, that may n Speed
cause problems for
the tuning of position loops.
t
P-Gain too smal l or I-time constant

too high
U1.3 Is the result ok?

yes: continue with 9 no: continue with U2.1
U2.1 Menue: Tuning Current Loop
Stable parameters are calculated bases
on the system data and can be called up with F5.
Manual tuning may be sensfull.
Rated values can be sourced either digital by the internal
generator or analog by using +/-10V at X10.5/18.
ATTENTION !
Tuning of current loop should be only
done after consultation of SSD Drives experts.
continue with 9
________________________________________________________________________________________________________________________________________________________________________________________________________________________

9 Diagnosis and trouble shooting
9.1 7-Segment-display
Many sources of faults can be narrowed down with the diagnosis display.
Display Explanation output output 2) Comment

Ready Warning
drive ready for operation ! DC-bus within the boundaries
regulator ready not activ
no display off off any control voltage?
external fuses ok?
system ready for operate on off regulator ready not activ
drive active on off The drive is activated during the delay

BIAS-program stop time for brake in operating mode
position control.
(The BIAS-proram does not start).
from Firmware 6.11b
internal STOP with serial deactivating off off activate drive via serial interface
regulator of serial interface off off only if bus interface is integrated

(bus interface) deactivated !
Activ input is activated with switching on off off switch enable X10.22 low and then high
DC bus undervoltage off off power supply switched on?

<Ua low threshold power supply unit ok?
internal fuses ok?
Error signal disappears, if DC-bus
voltage over the threshold.
undervoltage in DC-bus off off Check power supply
undervoltage parameter check
fault in resolver system off off wiring to encoder system ok? encoder
system ok? encoder system supply ok?
1) 1)
I²t-overload of the drive does the control loop oscillate?
P-amplification too high
mechanics stiff?
requirements too high?
is warning /8/ evaluated?
1) 1)
overload of the motor I²t does the control loop oscillate?
P-amplification too high
mechanics stiff?
requirements too high?
is warning /8/ evaluated?
1)
Reaction to these errors see chapter 3.3
2)
With configuration corresponding chapter 3.1
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Diagnosis and trouble shooting
7-segment display
Display Explanation output output 2) Comment
Ready Warning
1) 1)
overtemperature of the output adequate cooling of the drive?
stage (> 95°C) ambient temperature too high?
1) 1)
overvoltage on DC bus ballast module ok?
adequate ballast module?
chassis shorting and short circuit due to off off motor cabling ok?
hardware digital-loops setup ok?
short circuit to chassis in the motor?
braking resistor: ohm- value too low?
try to start fresh!
send in for repair
1)
WARNING! on mechanics stiff?
* overload of the regulator I²t or motor I²t defective bearings;
or temp.-output stage too high. cold grease?
If no reaction within approx. 3sec.it reduce requirements and creep to next
switches off with signals /3/, /4/ or /5/. possible STOP
Signal /8/ clears when there is no more
danger or it is switched off
overtemperature motor (NTC/PTC) off check overload of the motor / cooling
etc.
1)
motor tempera-ture too high on check overload of the motor / cooling
* etc.
ballast active Brake vigour is removed
1)
warning I²t ballast too high on ballast resistance usage >90%
1)
switch off ballast on ballast resistance overloaded
tracking window exceeded only in operation mode position control,

* will be deleted with the next run-
command
tracking error with switch off only in operation mode "position
control"
Memory-Checksum-Error off off try new start
1)
Reaction to these errors see chapter 3.3
2)
With configuration corresponding chapter 3.1
* Only warning respect. status indicator
The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus) is switched off for safety reasons.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

9.2 Reset of a regulator trouble
The error signals 2 - 7, 9, , U, u, Y

of the drive can be reset via
1. Control voltage OFF/ON,
2. the programming switch,
3. the serial command “Drive Reset“ 0x02
or
4. the fieldbus-command “ Drive Reset“ 0x16
(22 decimal)
A general precondition for correct execution of the Reset is the elimination of the error cause
Further preconditions are:

for RESET with the programming switch
a. The active input X10.22 must be deactivated.

b. No host registration have to be occurred.
c. The progamming switch function must be activated.
c. Hold the progamming switch for 1sec. on the right side.
for RESET with the serial command “reset drive“ 0x02
The host registration must be occurred.

The drive must be deactivated via the serial command“deactivate Drive“ 0x00.
for RESET with the BUS command “reset drive“ 0x16
The host registration must be occurred via the BUS command 0x01.
The drive must be deactivated via the BUS command“deactivate Drive“ 0x14.
The fieldbus command “Drive Reset“ with constant repetition of the fieldbus command 0x16 will be
works-off only once.
For further processing, it is necessary, meanwhile to send another control word
(e.g. 0 status order).
Notice !!
After remove of the tracking error deactivation “ “, the warning message “L“ (tracking error) is active up to
the next move command.
The error signal “≡“(releasing before ready) can be reset by deactivation the drive
________________________________________________________________________________________________________________________________________________________________________________________________________________________

9.3 Trouble shooting
The following list refers to faults which can occur during operation.
Display:
Error Explanation and remedy

no motor run despite current flow motor mechanically blocked? 1)
motor brake released?
motor runs unevently check setpoint wiring
check grounding and shielding
too high P-amplification in the speed controller
reduce value (with EASYRIDER setting/speed
controller or PROG-key)
too small I-time in the speed controller?
reduce value (with EASYRIDER setting/speed
controller or PROG-key)
no reaction of setpoint progression, Limit switch functions
despite torque in standstill effective (BIAS)
no current flow; motor cables interrupted?
no torque despite activating the regulator Is input "I extern" (X10.19) activated (config. menu)
correctly and not notched up?
Are the inputs Enable N- and Enable N+ (config
menu) activated and not notched up?
Interference symptoms with power frequency Ground loops in setpoint or actual value wiring?
Shieldings laid on both sides?
Signal cables near high voltage cables?
Motor takes up preferred positions after Position encoder or motor cables with reversed 1)
activation poles? Resolver or encoder incorrectly adjusted?
Number of motor poles wrong matching? (config.
menu)
Motor runs up immediately after activation Motor cables or resolver cables reversed? 1)
although there is no setpoint Resolver incorrectly adjusted?
Motor reaches in idling cycle very different Resolver incorrectly adjusted
speed when running to the right or
to the left
1) Display /3./ or /4./ mostly short after activating; before warning /8./
________________________________________________________________________________________________________________________________________________________________________________________________________________________

10 Block circuit diagram
________________________________________________________________________________________________________________________________________________________________________________________________________________________

11 General technical data
11.1 Power circuit
galvanic separation from control circuit in acc. with VDE 0160
specification in accordance with UL 508C and cUL
short circuit and to frame proof for £ 2000 releasings
overvoltage monitoring max. 400V DC ±5V DC
undervoltage monitoring min. 15V DC; configurable
overtemperature switch off at 95 ° C +/- 5%
clock frequency 9,5 kHz
frequency of current ripple 19 kHz
Form factor of output current 1,02
11.2 Control circuit

galvanic separation from power circuit in acc. with VDE 0160
further informations: see concept of insulation chapter 1.3.1
see data compact units chapter. 1.3.3
see data plug-in modules chapter 1.3.4
11.3 Signal inputs and outputs, connection X10

additional galvanic separation from power and
control circuit
nominal voltage of the in- and outputs 24 V DC
number of outputs 5
signal outputs via OPTO coupler Umax = 45V DC;
I = 0..60 mA; short circuit proof,
resistive load
signal outputs via RELAY Umax = 45V DC;
I = 1uA...1,2A
contact protection with inductive load internal varistor
number of inputs 8
signal outputs via OPTO coupler L = 0...7 V DC or open
H = 15...30 V DC
Iin 24VDC @ 8 mA
reaction time of the intputs > 2 ms
X10.2, X10.4, X10.11, X10.14, X10.15, X10.24
reaction time of the intputs 0,2 ms
X10.4, X10.25 (configured as latch input "see chapter 3")
Effect of cycle-time ≤ 0,02 ms
________________________________________________________________________________________________________________________________________________________________________________________________________________________

General technical data
11.4 Digital control
a) current control
settings according to factory specifications or motor data
current limits speed control menu or PROG-key
externally through fixed voltage 0..10V = 0..100%; can be normed
resolution 10 bit
b) speed control
settings speed control menu or PROG key
differential setpoint input analog Usoll = 10 V, can be normed; Ri = 10k
resolution (including sign) 12 bit
digital setpoint input via interfaces
c) position control
11.5 Digital communication

RS232 - service interface COM1
optional RS232 / RS 422 / RS 485 COM2
on SUB D - socket
CAN, Profibus DP,
SUCOnet K
on SUB D - socket
Interbus S
on SUB D - socket (OUT)
Interbus S (Remote IN) additional SUB D plug
standard-protocol 19200 baud, 8 databits,1 startbit, 1 stopbit,
parity: even
11.6 Resolver evaluation / transmitter principle

General:
The specified data refer to the combination of the standard resolver interface;
operated with the SSD Drives resolver R 21-T05, R15-T05
carrier frequency ft = 5 kHz
linearity error of the actual value signal 1%
ripple of the actual value signal 2%
max. position resolution for one revolution 16384 Incr. 14 bit
absolute position accuracy +/- 0,52 °
relative position accuracy +/- 0.08 °
________________________________________________________________________________________________________________________________________________________________________________________________________________________

General technical data
11.7 Controllersystem
system run-up time after switching on max. 6 sec.
the control voltage
data memory / organization Flash Eprom 256 KB
RAM 64 KB;
EEPROM 256 Byte
11.8 Measuring sockets MP1 and MP2

signal range -10V.....0.....+10V
magnifier function can be normed
resolution 7 bit, independend of norming
internal resistance 10 k
11.9 Thermal data

Thermal data see chapter 1.3
11.10 Mechanical data

dimensions see chapter 1.4
weight see chapter 1.3
Further data you will find in chapter 1.3.3
________________________________________________________________________________________________________________________________________________________________________________________________________________________

12 Disposal
The digital servo drive consists of different materials.
The following table shows, which materials can be recycled and which have
to be disposed of in a special way.
material recycle disposal

metal yes no
plastics material yes no
printed board assembly no yes
Dispose of the appropriate materials in accordance with the valid environmental control laws.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

13 Software
13.1 EASYRIDER
EASYRIDER is an comfortable tool to use all drive functions.
Detailed Online-Help-infomations and instructons are available.
EASYRIDER Instuctions: (extract)
Autopilote-fuction as interactive tutorial
System identification
BIAS - instruction-set editor
Oszilloscope-function
start-up and comissioning-tools
Setting of parameters
Setting of configurations
Servo-diagnostics
Interface diagnostics
Fieldbus diagnostics
Motor library
save system data in file
load system data from file
send system data to servodrive
save system data in servodrive
load system data from servodrive
Important:
Edited data in EASYRIDER are transmitted to the RAM of the servodrive and active after use of the
instruction SEND. Only the instruction SAVE in EEPROM writes data into a nonvolatile memory. Data are
stored there power-fail save.
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Software
13.2 BIAS- commands
In operating mode 5 - position control with BIAS,
two user-defined programs can be processed parallel. The BIAS program (incremental) for the one and the
PLC-program (cyclic processing) for the other. Whereas the BIAS program is processed as of startblock
immediately after activating operating mode 5. The PLC-program is first started with the BIAS command,
"PLC-program".
with the SSD Drives programming language

”BIAS”
User shell for intelligent drive controls
The following command groups exist within the set parameters:
Organisation commands
- Fixing start and end of the main-programs and subroutines
- Conditional and unconditional jump commands
Commands relevant to motion

Set/delete commands for outputs and flags
Commands for variables
The user has the possibility to program his sequence himself from this set of commands.
Available program area

Set number
0000 -
... |
... | can be selected via
... | data inputs X10.xx
... | max. to block no. 63 and
... | and Strobe X10.2
... |
0063 -
1499 last block
The BIAS operation set is listed on the next page.

You can read the exact function of the individual commands in the help function of the EASYRIDER software
in the BIAS editor or in the BIAS command description (UL:10.6.5).
________________________________________________________________________________________________________________________________________________________________________________________________________________________

BIAS - commands
0 1 2 3 4 5 6 7 8
move position + position = [variable X] =
0 move position
parameter
position =
[variable X] position
NOP flag X = If input X ? [variable X] =
move incremental move incremental If [variable X]

1 position position + parameter
speed = speed = [variable X] [variable X] = speed end of program If flag X = ? If output X ?
? const.
move datum + acceleration = [variable X] = [variable X] =
2 move datum
parameter
acceleration =
[variable X] acceleration
sub-program flag X = flag Y output X =
[variable Y] + const.
move infinite positive deceleration = [variable X] = [variable X] =
3 move infinite positive
+ parameter
deceleration =
[variable X] deceleration
end of sub-program flag X = input Y output X = flag Y
[variable Y] – const.
move infinite negative gear factor = [variable X] = [variable X] =
4 move infinite negative
+ parameter
gear factor =
[variable X] gear factor
PLC-program flag X = output Y
[variable Y] * const.
move synchron + "position reached" "position reached" [variable X] = flag X = flag Y & flag [variable X] =
5 move synchron
parameter window = window = [variable X] block-number
jump
Z [variable Y] / const.
move analogue value remaining position [variable X] = [variable X] =
6 move cam-profile
+ integrator
remaining position =
=[variable X] actual position Y
jump [variable X] flag X= flag Y | flag Z
flag Y,number Z
synchronous move speed + maximal current = [variable X] = BIAS execution flag X = flag Y ^ flag
7 settings 1 integrator
ramp filter =
[variable X] analogue input Y pointer Z
synchronous actual position X = [variable X] = wait for ”position [variable X] =

8 settings 2
actual position X =
[variable Y] latchposition Y reached”
flag X = !flag Y IBT-masknumber =
[variable Y]
If actual position X ? analogue output = [variable X] = IBT-notification If [variable X] ?
9 move PID ; speed
const. [variable X] (*) actual speed Y
wait time flag X = status Y
number = [variable Y]
If actual position X ? [variable X] = CAN-command = [variable X]=
A move PID ; torque cycle length =
[var.Y]
PID scaling
latchstatus Y
wait time [variable X] If status X ?
[variable X] [var.Y] + [var. Z]
cycle length = sensor window = [variable X] = BIAS execution [variable X]=
B [variable X]
sensor window
[variable X] position Y pointer = [var. X]
mode X =
[var. Y] - [var. Z]
sensor position = [variable X] = flag X =[variable Y], [variable X]=
C sensor position
[variable X] value Y number Z [var. Y] * [var. Z]
sensor adjustment 1 [variable X]=
D sensor adjustment 1
= [variable X] [var. Y] / [variable Z]
sensor adjustment 2 [teachvar. X] =
E start axis sensor adjustment 2
= [variable X] [variable Y]
[variable X] =
F stop axis stop axis + parameter update parameter PID parameter virtual program
[teachvar. Y]
only defined in defined in BIAS- BIAS-execution defined in PLC- and defined in BIAS- , PLC-
start axis BIAS-program stop axis and PLC-program Math.-program
flag X = and Math.-program
pointer
________________________________________________________________________________________________________________________________________________________________________________________________________________________

13.3 BIAS- extended command overview
9 10 11
[ D_Variable X] =
Mathematics-
0 table[Variable X] = [ D_Variable Y] +
program
[ D_Variable Z]
[ D_Variable X] =
Profil- table[Variable X] =
1 [D_Variable Y] -
initialization [ y Variable Z]
[D_Variable Z]
[D_Variable X] =
Profil- [ x_Variable Y] =
2 [D_Variable Y] *
cycle lenght table[Variable Z]
[D_Variable Z]
[D_Variable X] =
[ w_Variable X] =
3 [D_Variable Y] /
[ y_Variable Z]
[D_Variable Z]
[ x_ Variable Y] =
4 Wenn [D_Variable X] ? [D_Variable Y]
const.
[D_Variable X] =
5
SIN [D_Variable Y]
[D_Variable X] =
6
COS [D_Variable Y]
[D_Variable X] =
7
SQRT [D_Variable Y]
8
9
A
B
C
D
E
F
only defined
Mathematics- defined in BIAS and Tabelle
program [Variable X] = mathematics-
PLC-program
program
from EASYRIDER and Firmware Version V5.10 !
________________________________________________________________________________________________________________________________________________________________________________________________________________________

14 Certificates
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Certificates
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Certificates
________________________________________________________________________________________________________________________________________________________________________________________________________________________

Certificates
________________________________________________________________________________________________________________________________________________________________________________________________________________________

15 Index
7 L
7- Segment-display........................................59,60 Layout ................................................................ 21
A M
Analog setpoint ...................................................49 Mechanical data................................................. 66
B Mechanical installation....................................... 43
Mounting ............................................................ 43
BIAS- commands................................................69
BIAS- extended command overview ..................71 O
Brake resistor......................................................46 Operating modes ............................................... 39
C Operating via PROG-key ................................... 54
Operation configurations.................................... 11
Commissioning ................................ 55, 56, 57, 58 Output power ..................................................... 18
Commissioning in steps..........................56, 57, 58
Communication...................................................11 P
Compact units 635/K DER..................................15 Pin assignment for CAN .................................... 36
Control cabinet - mounting .................................43 Pin assignment for I/O-Interface ........................ 38
Control cabling....................................................49 Pin assignment for Interbus S............................ 37
Control circuit......................................................64 Pin assignment for Profibus DP......................... 36
Control signal plug X10 ......................................25 Pin assignment for RS232 ................................. 35
Controllersystem.................................................66 Pin assignment for RS422/485 .......................... 35
Cooling................................................................43 Pin assignment for SUCOnet K ......................... 36
D Plug-in modules 635/DER ................................. 16
Power cabling .................................................... 49
Danger areas ......................................................44 Power circuit ...................................................... 64
Description X40 ..................................................29 Power connections ............................................ 23
Diagnosis ............................................................11 Preparation ........................................................ 55
Diagnosis and trouble shooting ....... 59, 60, 61, 62 PROG-key functions .......................................... 53
Digital communication ..................................11, 65
Digital control ......................................................65 R
Dimensions and layout .......................................19 Range data ........................................................ 14
Disposal ..............................................................67 Remote IN.......................................................... 37
E Remote OUT...................................................... 37
Reset of a regulator trouble ............................... 61
EASYRIDER .......................................................68 Resolver evaluation ........................................... 65
Electrical installation ...........................................44
Electromagnetic compatibility (EMC) .................49 S
Example for mounting.........................................51 Safety................................................................. 44
F Safety precautions ............................................... 7
Safety rules ........................................................ 49
Fieldbus interface COM2....................................34 Selection of the brake resistor ........................... 46
Fuses, contactors, filters.....................................45 Setting and programming .................................. 53
G Signal connections............................................. 25
General .................................................................9 Signal inputs and outputs .................................. 64
General technical data........................................64 Single- and three-phase supply......................... 17
Generally data ....................................................14 Software....................................................... 68, 69
Ground connections ...........................................44 Stepper motor input ........................................... 32
Grounding, safety grounding ..............................44 System description ........................................ 9, 10
System variants ................................................... 9
H
T
Hints for mounting...............................................50
The danger of electric shocks............................ 44
I Thermal data...................................................... 66
Installation of the rack.........................................49 Trouble shooting ................................................ 62
Insulation concept...............................................14 W
J Wiring instructions ............................................. 49
Jumper................................................................53
K
Key to the models ...............................................13
________________________________________________________________________________________________________________________________________________________________________________________________________________________

16 Notes
________________________________________________________________________________________________________________________________________________________________________________________________________________________

17 Modification Record
Version Modification Chapte Date Name Comment
V07.44STPL98 Documentation Eurotherm-Format
scheduled like
637 drive and technical
data updated 02.11.1998 K. Stadler
V08.19STPL99 System variants 1.1
updated
text addition 1.2
text addition 1.4.2
new chapter 2.2.1.2
text addition 2.2.2.2.2
current consumption X40 2.2.2.3
inserted
text addition 2.2.3.1
text addition 2.2.3.2
text addition 4.2
BIAS commands 13.2
updated
new chapter 15 11.05.1999 K. Stadler
V09.21STPL99 RESET function addition 9.2
BIAS commands 13.2
updated 17.06.1999 SA/ST
V1001 complete modification Eurotherm-Format
seperation
German / English all 11.01.2002 N.Dreilich
V1104 SSD Drives 26.10.2004 N. Dreilich Logos
________________________________________________________________________________________________________________________________________________________________________________________________________________________

AUSTRALIEN CHINA DÄNEMARK DEUTSCHLAND
Eurotherm Pty Ltd Eurotherm Pty Ltd Eurotherm GmbH SSD DRIVES GmbH
Unit 1 Apt. 1805, 8 Building Hua Wei Li Enghavevej 11 Von-Humboldt-Straße 10
20-22 Foundry Road Chao Yang District, DK-7100 Vejle 64646 Heppenheim
Seven Hills Beijing 100021 Tel: +45 70 201311 Tel: +49 6252 7982-00
New South Wales 2147 Tel: +86 10 87785520 Fax: +45 70 201312 Fax: +49 6252 7982-05
Tel: +61 2 9838 0099 Fax: +86 10 87790272
Fax: +61 2 9838 9288
ENGLAND FRANKREICH HONG KONG INDIEN

SSD Drives Ltd SSD Drives SAS Eurotherm Ltd Eurotherm DEL India Ltd
New Courtwick Lane 15 Avenue de Norvège Unit D 152, Developed Plots Estate
Littlehampton Villebon sur Yvette 18/F Gee Chang Hong Centre Perungudi
West Sussex BN17 7RZ 91953 Courtaboeuf Cedex / Paris 65 Wong Chuk Hang Road Chennai 600 096, India
Tel: +44 1903 737000 Tel: +33 1 69 185151 Aberdeen Tel: +91 44 2496 1129
Fax: +44 1903 737100 Fax: +33 1 69 185159 Tel: +852 2873 3826 Fax: +91 44 2496 1831
Fax: +852 2870 0148
IRLAND ITALIEN JAPAN KANADA

SSD Drives SSD Drives SpA PTI Japan Ltd SSD Drives Inc
2004/4 Orchard Ave Via Gran Sasso 9 7F, Yurakucho Building 880 Laurentian Drive
Citywest Business Park 20030 Lentate Sul Seveso 10-1, Yuakucho 1-Chome Burlington
Naas Rd, Dublin 24 Milano Chiyoda-ku, Tokyo 100-0006 Ontario
Tel: +353 1 4691800 Tel: +39 0362 557308 Tel: +81 3 32132111 Canada, L7N 3V6
Fax: +353 1 4691300 Fax: +39 0362 557312 Fax: +81 3 32131900 Tel: +1 905 333-7787
Fax: +1 905 632-0107
KOREA NIEDERLANDE POLEN RUMÄNIEN

Myungshin Drives Co. Ltd. Eurotherm BV OBR-USN Servosisteme SRL
1308, Daeryung Techno Town Genielaan 4 ul. Batorego 107 Sibiu 17
8th Bldg., 481-11 Gasan-Dong, 2404CH PL 87-100 Torun 061535 Bukarest
Geumcheon-Gu, Alphen aan den Rijn Tel: +48 56 62340-21 Tel: +40 723348999
Seoul 153-803 Tel: +31 172 411 752 Fax: +48 56 62344-25 Fax: +40 214131290
Tel: +82 2 2163 6677 Fax: +31 172 417 260
Fax: +82 2 2163 8982
SPANIEN SCHWEDEN SCHWEIZ U.S.A

Eurotherm Espana S.A. SSD Drives AB Indur Antriebstechnik AG SSD Drives Inc.
Pol. Ind. Alcobendas Montörgatan 7 Margarethenstraße 87 9225 Forsyth Park Drive
C/ La Granja, 74 S-30260 Halmstad CH 4008 Basel Charlotte
28108 Madrid Tel: +46 35 177300 Tel: +41 61 27929-00 North Carolina 28273-3884
Tel: +34 91 661 60 01 Fax: +46 35 108407 Fax: +41 61 27929-10 Tel: +1 704 588 3246
Fax: +34 91 661 90 93 Fax: +1 704 588 3249
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SSD Drives GmbH

Im Sand 14 76669 Bad Schönborn Tel.: +49 7253 9404-0, Fax: +49 7253 9404-99
www.ssddrives.com · [email protected]

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635

2 Product Manual Type: 635 07-01-05-06-E-V1104.doc

©SSD Drives GmbH.

Changes are subject to change without notice.

Made in Germany, 2004

07-01-05-06-E-V1104.doc Product Manual Type: 635 3

The most important thing first .......................................................................... 6

Safety precautions ............................................................................................. 7

2 General view of connections................................................................. 22

3 Operating modes .................................................................................... 39

4 Mechanical installation .......................................................................... 42

4 Product Manual Type: 635 07-01-05-06-E-V1104.doc

6 Wiring instructions ................................................................................. 49

9 Diagnosis and trouble shooting............................................................ 59

10 Block diagram ......................................................................................... 63

11 General technical data ........................................................................... 64

17 Modification Record ............................................................................... 78

07-01-05-06-E-V1104.doc Product Manual Type: 635 5

Thanks for your confidence choosing our product.

6 Product Manual Type: 635 07-01-05-06-E-V1104.doc

Concept of the galvanic separation and insulation:

Galvanically separation and insulation correspond to EN 50178/VDE 0160, amplified insulation.

07-01-05-06-E-V1104.doc Product Manual Type: 635 7

8 Product Manual Type: 635 07-01-05-06-E-V1104.doc

All servo controls and functions are realized digitally.

Supply voltage: Anschlußspannung:

The devices are designed to be operated on networks which are grounded

07-01-05-06-E-V1104.doc Product Manual Type: 635 9

Without integrated fan and If required, the returned braking energy

c) Special design – variants

Information: only on request!

10 Product Manual Type: 635 07-01-05-06-E-V1104.doc

Comfortable: via PC by EASYRIDER

COM1 635/K DER+

instructions diagnostics setup ⌧ programming

1.1.2 Operation configurations

07-01-05-06-E-V1104.doc Product Manual Type: 635 11

1.1.4 Compatibility to series APOLLO 2G

12 Product Manual Type: 635 07-01-05-06-E-V1104.doc

07-01-05-06-E-V1104.doc Product Manual Type: 635 13

Additional insulation via opto-coupler or relay (without Safety-Functions)

1) see additional hints, chapter 2.2.3.1 Resolver connection X30

1.3.2 Generally data

14 Product Manual Type: 635 07-01-05-06-E-V1104.doc

07-01-05-06-E-V1104.doc Product Manual Type: 635 15

16 Product Manual Type: 635 07-01-05-06-E-V1104.doc

Derating of servo drive output voltage in case of single-phase supply

Hints for setup:

Required motor-terminal-voltage for specified speed.

Approximation: (up to 3000 RPM)

Ukl = 1,2 * (EMF * n / 1000) + I * (Rph + RL) [V]

Ukl required motorvoltage [V RMS]

07-01-05-06-E-V1104.doc Product Manual Type: 635 17

Imaxr / Inr 2,0 >5 sec Duration of pulse

1.3.7 Rated current / max. current – period

Guaranteed minimum requirements value I2T- work load

18 Product Manual Type: 635 07-01-05-06-E-V1104.doc

07-01-05-06-E-V1104.doc Product Manual Type: 635 19

side view front view