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The clever drive MAN.HESW1D____ SW1D____ Manual for Installation, Use and Maintenance SW1D4080__61-00 Manual_SW1D____GB SW1D4080__B1-00 Release 1.9 Build 00 SW1D2142__61-x0 SW1D3142__61-10 Page 1 - 73 IMPORTANT This document is registered by EVER and may not be copied or reproduced completely or partially without a written permission of EVER. EVER have the right to modify the manual and their products to improve the reliability and performances without being obliged to update the previously released products and manuals, or to inform the user about the concerning alterations. EVER doesn't take responsibility for any product use which deviates from the instructions given in this manual. EVER Elettronica Via del Commercio 2/4, Loc. San Grato Z.I. 26900 – LODI – ITALY Phone: ++39(0)371412318 Fax: ++39(0)371412367 e-mail : [email protected] URL : www.everelettronica.it Rel. Name FA Action Date 0.0 Pavesi HD First release 13/03/2008 0.1 Pavesi HD Verification and update 17/12/2008 Sprenger 0.2 Translation HD SW1D2142 Updated 1.0 Sonzogni HD Correction of the index 1.1 Sonzogni HD Update of RMA procedure 12/09/2012 1.2 Sonzogni HD Update 04/02/2013 1.3 Sonzogni HD Update 22/02/2013 1.4 Sonzogni HD Review of power supply range 13/06/2013 1.5 Sonzogni HD Review of operating range 11/07/2013 1.6 Sonzogni HD Update of new versions 16/07/2013 1.7 Sonzogni HD Correction of CN5A pinout (no RS232) 26/03/2014 1.8 Sonzogni HD Review of logic range for SW1D4080 23/06/2014 1.9 Sonzogni HD Opening cover procedures 27/04/2015 Printed in LODI – ITALY 27/04/15 Manual_SW1D____GB Release 1.9 Build 00 Page 2 - 73 INDICE 1 INTRODUCTION.............................................................................................4 1.1 Guarantee.........................................................................................................................4 1.2 In this manual...................................................................................................................4 1.3 System components.........................................................................................................5 1.4 General description of the drive.........................................................................................7 2 SPECIFICATIONS...........................................................................................8 2.1 Mechanical and environmental..........................................................................................8 2.1.1 Dimensions SW1D4080__61-00..............................................................................9 2.1.2 Dimensions SW1D4080__B1-00............................................................................10 2.1.3 Dimensions SW1Dx142.........................................................................................11 2.2 Electronics......................................................................................................................12 2.2.1 Power supply.........................................................................................................12 2.2.2 Hi-freq digital inputs...............................................................................................15 2.2.2.1 Connection of an incremental encoder..........................................................19 2.2.3 Std Digital Inputs....................................................................................................20 2.2.4 Hi-Freq Digital Outputs...........................................................................................22 2.2.5 Std Digital Outputs.................................................................................................23 2.2.6 Analog inputs.........................................................................................................24 2.2.7 Serial interface RS232/RS485................................................................................26 2.2.8 CanBus Interface...................................................................................................28 2.3 Standards.......................................................................................................................31 3 INSTALLATION OF THE DRIVE..................................................................32 3.1 Safe installation and use of the unit.................................................................................34 3.2 Power supply of the system............................................................................................36 3.3 Choosing the stepper motor............................................................................................42 3.4 Assembling of the drive...................................................................................................42 3.5 Drive connections...........................................................................................................44 3.5.1 Connectors, Dip-Switches, Jumpers, Display of SW1D4080..................................45 3.5.1.1 Pin connectors SW1D4080...........................................................................46 3.5.1.2 mating connectors SW1D4080......................................................................49 3.5.1.3 Cables section SW1D4080...........................................................................49 3.5.2 Connectors, Dip-Switches, Jumpers, LEDs on SW1Dx142....................................50 3.5.2.1 Pin connectors SW1Dx142...........................................................................51 3.5.2.2 mating connectors SW1Dx142......................................................................53 3.5.2.3 Cables section SW1Dx142...........................................................................53 3.5.3 Guideline for wiring................................................................................................54 3.6 User configurations.........................................................................................................55 3.6.1 Dip-Switches..........................................................................................................55 3.6.2 Jumpers.................................................................................................................55 3.6.2.1 Opening the cover to modify jumpers............................................................56 3.7 First start up procedure...................................................................................................57 3.8 Operational statuses and their signals.............................................................................57 3.8.1 Operational statuses and signals of SW1D4080.....................................................57 3.8.2 Operational statuses and signals SW1Dx142.........................................................59 3.9 Analysis of not reported malfunctions..............................................................................60 4 SW1D____ Versions.....................................................................................61 Manual_SW1D____GB Release 1.9 Build 00 Page 3 - 73 APPENDICES...................................................................................................64 A.1 Manuals and applicable documentation..........................................................................64 A.2 FIRMWARE AND APPLICABLE NOTES........................................................................65 A.2.1 MODBUS® and CANbus Slave.............................................................................66 A.2.2 eePLC®.................................................................................................................68 A.3 Cables and adapters.......................................................................................................70 A.3.1 Cable RS232 point-to-point SW1-Controller...........................................................70 A.3.2 Cable RS485 Full-Duplex point-to-point SW1-Controller........................................70 A.3.3 Cable RS485 Half-Duplex point-to-point SW1-Controller........................................71 A.3.4 Cable CANbus point-to-point SW1-Controller........................................................71 A.3.5 Adapter RS232 SW1-Controller.............................................................................72 A.3.6 Adapter RS485 SW1-Controller.............................................................................72 A.3.7 Adapter CANbus SW1-Controller...........................................................................73 Manual_SW1D____GB Release 1.9 Build 00 Page 4 - 73 1 INTRODUCTION In this section are presented the main characteristics of the SW1D____ drives, as part of an integral step motor system. The available drive versions are described in chapter 4 SW1D____ Versions. 1.1 Guarantee Ever Elettronica guarantee that their motors and drives supplied to the client (end user, machine builder or distributor), are free of defects caused by materials, shipment operations and packaging and to meet the guarantee in accordance with the client's specifications who has accepted the written terms defined by Ever. The product guarantee is valid for the duration of one (1) year from the date of construction, which is indicated by the code on the label present on the system. During the guarantee period of the product, Ever is in no case responsible for damages to the product caused by improper storage or installation, negligent maintenance or unauthorized modifications or repairs to the product. The responsibility of EVER is limited to the reparation (or replacement at their insight) of any manufactured product, or part of it, which is defect due to defect materials or a manufacturing defect, in accordance with the guarantee conditions of EVER. The content of this manual is updated until the date of printing. With the continuous development and introduction of product improvements, EVER have the right to change the technical specifications of their products and to alter the content of this manual without the obligation to announce it. EVER dissuades the use of its products in applications that support vital functions where in the damaging or failure of its products can directly threaten the life or safety of persons, other living beings and things. The user that applies the EVER products to applications that support vital functions is responsible for all risks during the use and the indemnify of EVER from all caused damage. 1.2 In this manual The used symbols in this manuals have the following meaning: i Danger Warning Caution Used for circumstances in which the life or health of the user are exposed to danger or where in serious damage to materials may occur. Attention! Special instructions for a safe use and an effective installation. Information Used to stress important additional information. EMC EMC Manual_SW1D____GB An essential element to stay within the limits specified by the EMC directions is, in addition to the use of filters, the installation in accordance with the EMC requirements. Release 1.9 Build 00 Page 5 - 73 1.3 System components Components which need to be provided for a complete installation of the drive. Block diagram Master unit Stepper Drive AC/DC Power Supply Stepper motor Mechanical load Design phases of a handling system: 1. 2. 3. 4. 5. Define the requirements of the application (loaded torque, RPM, positioning precision, acceleration and velocity, etc.); Select the motor adapted to satisfy the characteristics of the previous point. Define the drive characteristics: a. Electrical performances of the motor; b. Motion control commands (Step / direction, serial communication, etc.); c. Additional features (I/O user, interface encoder, etc.); Dimension the compatible power supply with the motion profile, the characteristics of the motor and the drive; Define the dissipation characteristics; Dimensioning i Contact our support department by the e-mail address [email protected] for the dimensioning of some parts of the motion system (motor, drive and power supply). Refer to the section 3.2 Power supply of the system for information about the power supply. Manual_SW1D____GB Release 1.9 Build 00 Page 6 - 73 1.4 i General description of the drive The content of this manual can be applied in general to the drive SW1D____ . The particularities of the different versions are described in chapter 4 SW1D____ Versions . The SW1D___ drives are designed to drive with the bipolar chopper technology 2 phase stepper motors. The motor may have 4, 6 or 8 wires. Thanks to the voltage and current characteristics of the power stage, many types of stepper motors can be controlled, with winding current up to 8Arms (11.28A) The characteristics of the motor have to be compatible with the output characteristics of the drive. The drives of the series SW1D__ accept nominal DC power supply voltages from 24 to 140 Vdc and can be connected to the electric network by means of a transformer and a power supply. The differences between the systems SW1D4080, SW1D3142 and SW1D2142 are described in the chapters 2 SPECIFICATIONS and 4 SW1D____ Versions . The drive is suitable for: ● Micro-stepping for high resolutions and smooth movements; ● Sinusoidal winding currents to optimize the motor performances; ● Protection set and monitoring of the system status. ● Protections to protect the electronics against eventual damages such as: ○ over- and under- voltage; ○ overheating; ○ over current; ○ open motor phase; ● Possibility to generate operational ramps for the motor; ● The diagram shows a SW1D____ system composed by the displayed functional blocks: Serial Link Main Line AC DC Supply SW1D____ DC IN Optocouplers Analog Interface DC/DC Converter EG Protections MEG EVER ASIC i SM 2 Analog Inputs Optocouplers Up to 8 Hi-Freq Digital Inputs Optocouplers Up to 8 std Digital Inputs Optocouplers 2 Hi-Freq Digital Outputs Optocouplers Up to 8 std Digital Outputs Dip-Switches Stepper Motor (CANbus or RS232/485) Power Bridges User settings Drive's Status monitoring (LED or Display) This manual contains the main information and the procedures for installation, start up and maintenance of the drive. Many functions of the drive depend on the drive version. Manual_SW1D____GB Release 1.9 Build 00 Page 7 - 73 2 SPECIFICATIONS 2.1 Mechanical and environmental SW1D4080__61-00 SW1D4080__B1-00 SW1Dx142 Unit Note Dimensions 165 x 97.5 x 54.3 165 x 97.5 x 62.3 142 x 74 x 37 Weight 680 750 500 IP protection class IP20 IP20 IP20 Working temperature 5°C ÷ 40°C 5°C ÷ 40°C 5°C ÷ 40°C °C Storage temperature -25°C ÷ 55°C -25°C ÷ 55°C -25°C ÷ 55°C °C Humidity 5% ÷ 85% 5% ÷ 85% 5% ÷ 85% % Manual_SW1D____GB Release 1.9 Build 00 mm Excluding the footprint of the mating connectors. (For details check the following mechanical design). gr Excluding the mating connectors. Without condensation Page 8 - 73 -2 -1 JMP700 CN5B OUT1 OUT0 VSS +24 CN2 -TX (RS485) - 8 +TX (RS485) - 7 TXD (RS232) - 6 -5 GND DTR (RS232) - 4 RXD (RS232) - 3 -RX (RS485) - 2 +RX (RS485) - 1 CN5A COM -IN3 +IN3 -IN2 +IN2 -IN1 +IN1 -IN0 +IN0 4 3 2 1 Dimensions SW1D4080__61-00 9 8 7 6 5 4 3 2 1 2.1.1 -TX (RS485) - 8 +TX (RS485) - 7 TXD (RS232) - 6 GND -5 DTR (RS232) - 4 RXD (RS232) - 3 -RX (RS485) - 2 +RX (RS485) - 1 CN3 26900 LODI - ITALY PB FREE RoHS OK COMPLIANT 2002/95/EC Power supply (nominal range) : 48 ~ 140 Vdc (not protected) Logic supply (nominal range): 24 48 ~ 140 Vdc (not protected) I phase ............................... : 8.0 Arms Max (11.28 Apk Max) Inputs ............................... : 5Vdc or 24Vdc / 16 mA each (see manual) Termination Resistor RX Termination Resistor Not Inserted RX Termination Resistor Inserted TX Termination Resistor Not Inserted TX Termination Resistor Inserted JMP600 Position 4 3 2 1 +IN_AN1 - 6 -IN_AN0 - 5 n.c. - 3 Analog Input Type IN_AN1 Potentiometer Mode IN_AN1 Differential ±10V Mode IN_AN0 Potentiometer Mode IN_AN0 Differential ±10V Mode DIP2 AGND - 2 V_POT - 1 2 1 STATUS DISPLAY JMP600 4 3 2 1 DIP1 SW1 SW2 SW3 SW4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 User's Settings +IN_AN0 - 4 JMP700 JMP700 Position 2 Open 2 Closed 1 Open 1 Closed -IN_AN1 - 7 24 Vdc / 100 mA (not protected) ± 10Vdc or Potentiometer +75 °C 0 ~ +50 °C 10% ~ 90 % not condensing CN4 Output ............................... : Analog Inputs .................... : Thermal Protection ............ : Operating Temperature ..... : Humidity Range ................. : RS485 Node Identifier Settings RS485 Baud Rate Settings CN1 Refer to User's Manual for Dip-Switches Settings detail DANGER ! HAZARDOUS VOLTAGES AND HOT SURFACE INSIDE /B 8 B 7 /A 6 A 5 VLOG 4 V+ 3 GND 2 PE 1 Manual_SW1D____GB DIP2 DIP1 SW1 SW2 SW3 SW4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 TO REMOVE THE COVER REFER TO USER'S MANUAL Release 1.9 Build 00 OFF ON Page 9 - 73 Dimensions SW1D4080__B1-00 1 2.1.2 2 JMP700 11 1 CN3 4 1 9 1 CN12 9 CN2 1 CN16 CN5B PB FREE RoHS DANGER ! OK COMPLIANT 2002/95/EC 1 CN13 Power supply (nominal range): 48 ~ 140 Vdc CN5A 8 Logic supply (nominal range):24 48 ~ 140 Vdc I phase ............................... : 8.0 Arms Max (11.28 Apk Max) Hazardous Voltages 1 Inputs ............................... : 5Vdc or 24Vdc / 16mA each (see manual) Output ............................... : 24 Vdc / 100 mA (not protected) Analog Inputs .................... : ± 10Vdc or Potentiometer Thermal Protection ............ : +75 °C Operating Temperature ..... : 0 ~ +50 °C Humidity Range ................. : 10% ~ 90% not condensing and Hot Surfaces Inside To remove the Cover refer to USER'S MANUAL 7 12 Full Digital Microstep Driver 26900 LODI - ITALY 8 1 LODI - ITALY JMP600 JMP700 Position Analog Input Type 4 IN_AN1 Potentiometer Mode 3 IN_AN1 Differential ±10V Mode 2 IN_AN0 Potentiometer Mode 1 IN_AN0 Differential ±10V Mode Position Termination Resistor 2 Open 2 1 1 Closed TX Termination Resistor Inserted CN2 CN3 CN4 CN5A/B STEP MOTOR DIGITAL INPUTS DIGITAL OUTPUTS ANALOG INPUTS RS232/RS485 1 2 3 4 1 2 3 4 5 6 7 8 1 2 3 4 1 2 3 4 5 6 7 1 2 3 4 5 6 7 8 A A/ B B/ +B0_IN0 -B0_IN0 +B0_IN1 -B0_IN1 +B0_IN2 -B0_IN2 +B0_IN3 -B0_IN3 +24Vdc VSS BO_OUT0 B0_OUT1 V_POT AGND n.c. +IN_AN0 -IN_AN0 +IN_AN1 -IN_AN1 +RX (RS485) -RX (RS485) RXD (RS232) DTR (RS232) GND TXD (RS232) +TX (RS485) -TX (RS485) 9 B0_COM_IN CN12 CN13 CN16 DIGITAL INPUTS DIGITAL OUTPUTS DIGITAL INPUTS CN1 1 2 3 4 5 6 7 8 B1_IN0 B1_IN1 B1_IN2 B1_IN3 B1_IN4 B1_IN5 B1_IN6 B1_IN7 DIP2 DIP1 SW1 SW2 SW3 SW4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 1 9 B1_COM_IN 10 B1_COM_IN 11 B1_COM_IN 1 2 3 4 5 6 7 8 9 10 11 12 Release 1.9 Build 00 B1_OUT0 B1_OUT1 B1_OUT2 B1_OUT3 B1_OUT4 B1_OUT5 B1_OUT6 B1_OUT7 +24Vdc +24Vdc VSS VSS 1 2 3 4 5 6 7 8 +B0_IN4 -B0_IN4 +B0_IN5 -B0_IN5 +B0_IN6 -B0_IN6 +B0_IN7 -B0_IN7 9 B0_COM_IN Refer to User's Manual for Dip-Switches Settings detail OFF Manual_SW1D____GB RX Termination Resistor Not Inserted 2 Closed RX Termination Resistor Inserted 1 Open TX Termination Resistor Not Inserted CN1 4 STATUS 1 CN4 4 3 2 1 ON Page 10 - 73 2.1.3 Dimensions SW1Dx142 Manual_SW1D____GB Release 1.9 Build 00 Page 11 - 73 2.2 Electronics 2.2.1 Power supply For the functioning of the SW1D____ drives a DC power supply is required. For the technical specifications, limitations and connections related to the power supply, refer to the chapters 3.2 Power supply of the system , 3.3 Choosing the stepper motor and 4 SW1D____ Versions . SW1D4080 MIN TYP SW1D2142 MAX Power Nominal Supply DC Voltage 48 140 24 Voltage limit 43 154 21 Minimal current 0.23 - Power - Voltage limit 21 154 8 0,1 0,14 21 - 80 Vdc Nominal range 88 Vdc Including the ripple and network fluctuations. ARMS @ Motor current 0.2 ARMS @ Maximal motor - 40 Vdc Nominal range 44 Vdc Including the ripple and network fluctuations. 24 - 21 44 21 0,1 4.2 4.2 6 6 Ultrasonic 33KHz (an event every 33µsec) Step angle Full step, ½, ¼, 1/8, 1/16, 1/32, 1/64, 1/128 4500 @ Maximal motor current, V+=maximal allowed, full step, maximal load to the shaft (1). 40 11.28 0,14 36 VA - PWM Frequency Drive status 4500 ARMS Configurable through APK software KHz Configurable through software 4500 RPM (2) Display 7 segments + Led POWER ON Led POWER ON dot Led FAULT Led FAULT User settings (3) 44 - 24 (2) 24 current, V+=minimal allowed, full step, maximal load to the shaft (1). 140 (1) 40 - 24 Rotation speed Unit Note absent, V+=minimal allowed, no load to the shaft. Maximal current Current 36 0.2 Logic Nominal Supply DC Voltage Motor SW1D3142 (3) MIN TYP MAX MIN TYP MAX 8+4 contacts Dip-Switches 8+4 contacts Dip-Switches 8+4 contacts Dip-Switches Functions depending on the software The current and maximal power absorption from the power supply depend on the motor, the load on the shaft and the configured movement parameters. Theoretical rotation limit controlled by the drive, depending on the physical parameters where under: power supply voltage, phase current, dynamic characteristics of the motor, load to the shaft. Beyond this limits, the drive is unable to guarantee a correct control of the sequences. SW1D3142 has different supply range for power and logic. Manual_SW1D____GB Release 1.9 Build 00 Page 12 - 73 Protections: Protection Over Current Quick electronics protection on the motor outputs against short circuits between the motor phases and between the phases and ground. Protection Open Phase Detects the missing of a connection to one or more phases of the motor. Trigger Short circuit or excessive current absorption. Effect - opening of the power stages of the drive. - Reporting on the display of the SW1D4080 Restore It's necessary to switch off the power supply to the drive to remove the cause of the protection. - Reporting with FAULT Led on SW1Dx142 Trigger It's impossible for the drive to control the current in the motor. Effect - Opening of the power stages of the drive. Restore It's necessary to switch off the power supply to the drive to - Reporting on the display remove the cause of of the SW1D4080 the protection. - Reporting with FAULT Led on SW1Dx142 Protection Over Temperature Detects an over temperature of the heat sink. Trigger Temperature of the heat sink >75°C Effect - Opening of the power stages of the drive. Restore Automatically when the temperature drops to a value - Reporting on the within the correct display of the SW1D4080 range. -Reporting with FAULT Led on SW1Dx142 Protection Over/Under Voltage Detects a power supply voltage out of the functioning range. Trigger (1) Low power supply tension, to high, extra voltage due to BEMF generated by the motor dragged by the load. Effect - Opening of the power stages of the drive. - Reporting on the display of the SW1D4080 Restore Automatically when the voltage returns to values within the correct range. -Reporting with FAULT Led on SW1Dx142 (1) Note : the voltage value is measured on base of the power supply tension The voltage value is measured on base of the power supply voltage for the motor V+. Eventual voltages out of VLOG and/or 24VDC Range are not detected. In the terms of Protection, the operativity of the drive depends on the typology of the protection and the firmware (A.2 FIRMWARE AND APPLICABLE NOTESErrore: sorgente del riferimento non trovata). When the protection accomplishes the interruption of the power supply to the motor, some maintenance torque (holding torque) will not be supplied and the load can drag the motor shaft. The user needs to foresee devices to ensure to protection of the load. Manual_SW1D____GB Release 1.9 Build 00 Page 13 - 73 A detailed description of the protections and the related visualizations is given in paragraph 3.8 Operational statuses and their signals . Functional diagram of the protections Note : Manual_SW1D____GB Release 1.9 Build 00 Page 14 - 73 2.2.2 Hi-freq digital inputs The SW1D____ drives are equipped with digital optically isolated inputs with a bandwidth of more then 200KHz, which can be used with 5VDC ± 10% PNP, NPN, Push-pull or Line Driver and 24VDC ± 25% PNP/Push-Pull by simply altering the external connection to the connector. Depending on the version (verify in chapter 4 SW1D____ Versions), there can be present one or two blocks with 4 inputs that go to the connectors CN2 and CN16 of the same type and pin-out. The Hi-Freq inputs are called B0_IN0÷B0_IN7 (B0_IN0÷B0_IN3 on CN2 and B0_IN4÷B0_IN7 on CN16). Schematic of the Hi-Freq Digital Inputs: CN2.1 (CN16.1) +B0_ INn CN# net 1 220R 4148 CN2.1 +B0_IN0 CN2.2 -B0_IN0 CN2.3 +B0_IN1 CN2.4 -B0_IN1 CN2.5 +B0_IN2 CN2.6 -B0_IN2 CN2.7 +B0_IN3 CN2.8 -B0_IN3 CN2.9 B0_COM_IN CN2.6 (CN16.6) -B 0_ IN n CN16.1 +B0_IN4 CN2.7 (CN16.7) +B0_ INn CN16.2 -B0_IN4 CN16.3 +B0_IN5 CN16.4 -B0_IN5 CN16.5 +B0_IN6 4148 2K2 CN16.6 -B0_IN6 4148 2K2 CN16.7 +B0_IN7 4148 2K2 CN16.8 -B0_IN7 4148 2K2 CN16.9 CN2.2 (CN16.2) -B 0_ IN n CN2.3 (CN16.3) +B0_ INn 220R 3 4 1 6 4148 5 3K3 CN2.4 (CN16.4) -B 0_ IN n CN2.5 (CN16.5) +B0_ INn 220R 3 4 1 6 4148 5 3K3 220R 3 4 1 6 4148 5 3K3 3 CN2.8 (CN16.8) -B 0_ IN n CN2.9 (CN16.9) B 0_ C O M_ IN B0_COM_IN 6 5 3K3 4 For inputs of 5VDC, connect between +INn vs -INn ; For inputs of 24VDC PNP or Push-Pull, connect to +INn connecting COM_IN to VSS (reference of +24V); this blocks the possibility to use other inputs of 5V NPN. For inputs with an intermediate voltage between 5VDC ÷ 24VDC or for NPN inputs, connect between +INn vs -INn insert a limited resistance in series as in the table here below: VINPUT 5VDC 12VDC 15VDC 20÷24VDC REXT 0Ω 470 Ω 0.25W 680 Ω 0.5W 1200 Ω 0.5W Use the following formulas to calculate the resistive value and power of the resistors to insert in the series on behalf of the input voltage: REXT = ((VINPUT - 1.25) / 0.017) – 220 PR_EXT = ((VINPUT – 1.25) / (REXT + 220)) ² * REXT Example for: VINPUT =36V : REXT =((36-1.25) / 0.017)–220 = 1824 Ω => approximate the commercial value of 1K8 PR_EXT = ((36 – 1.25) / (1800 + 220)) ² * 1800 = 0.533W => approximate the commercial value of 1 W. Manual_SW1D____GB Release 1.9 Build 00 Page 15 - 73 Electrical specifications Type of input CHARACTERISTICS MIN. TYP. Frequency input (1) Hi-Freq MAX. Unit 200 KHz Pulse duration (TON) 2 µs Pulse duration (TOFF) 2 µs +24Vdc PNP Hi-Freq digital inputs Power supply voltage 19 24 30 V Threshold voltage of switching logic 9,8 / 15,8 V Current 1.3 15.5 19.7 mA +5Vdc NPN/PNP Hi-Freq digital inputs Power supply voltage 4,5 5 5,5 Vdc Threshold voltage of switching logic 2,5 Current 5,5 (1) (2) Vdc 16 18 mA Depending on the installed firmware (A.2 FIRMWARE AND APPLICABLE NOTES), there may be some special requirements for the input frequencies. Refer to the software manuals (A.1 Manuals and applicable documentation) for more details. The following diagrams show the threshold voltage, in voltage and current, for the Digital Hi-Freq inputs of 5 Vdc and 24 Vdc. Manual_SW1D____GB Release 1.9 Build 00 Page 16 - 73 The following figures provide some examples of possible connections to the High-Freq Digital inputs. - Control PNP 24VDC External Control Logic SW1____ +24V +INn 220R 1 PNP +24V Connection (no external components needed) 6 5 3K3 N.C. -INn 1N4448 3 4 C OM _ IN 1N4448 1K2 1W INn=Digital Input Interface (Example) - Control Push-Pull 24VDC External Control Logic SW1____ +24V +INn 220R 1 6 5 3K3 N.C. Push-Pull +24V Connection (no external -INn 1N4448 3 4 C OM _ IN 1N4448 components needed) 1K2 1W INn=Digital Input Interface (Example) - Control NPN 24VDC External Control Logic SW1____ +24V +INn 220R 1 NPN +24V Connection (need an external Resistor) 6 5 3K3 Rext -INn 1N4448 3 4 1K2 1W N.C. C OM _ IN 1N4448 1K2 1W INn=Digital Input Interface (Example) Manual_SW1D____GB Release 1.9 Build 00 Page 17 - 73 - Control PNP 5VDC External Control Logic SW1____ INn=Digital Input Interface (Example) PNP +5V Connection 9 +INn 8 220R 1 74HC 14 -INn N.C. 1N4448 6 5 3K3 3 4 C OM _ IN 1N4448 1K2 1W - Control NPN 5VDC External Control Logic SW1____ INn=Digital Input Interface (Example) +5 +INn 220R 1 NPN +5V Connection 9 -INn 8 74HC 14 N.C. 1N4448 6 5 3K3 3 4 C OM _ IN 1N4448 1K2 1W - Control Line Driver 5VDC External Control Logic Line Driver +5V Connection INn=Digital Input Interface (Example) +5 :1 1Y 1 SW1____ +INn 220R 2 1 1Z -INn 3 A M26LS31 N.C. 1N4448 i 3 4 C OM _ IN 1N4448 i 6 5 3K3 1A 1K2 1W For a proper use, the Hi-Freq Digital inputs must be wired using shielded cables. The connection of the screen has to be valued for every application; depending on the lay-out of the machine. Generally, it's more utile to connect the screen from both sides to the ground. It's important that the cables of the Hi-Freq Digital inputs are not exposed to disturbing sources. Therefore it's important to follow the instructions of paragraph 3.5.3 Guideline for wiring . The functions of the Hi-Freq Digital inputs depend on the firmware installed on the drive (A.2 FIRMWARE AND APPLICABLE NOTES). Refer to the Software manuals (A.1 Manuals and applicable documentation). Manual_SW1D____GB Release 1.9 Build 00 Page 18 - 73 2.2.2.1 Connection of an incremental encoder The SW1D____ systems are able to interface with an incremental quadrature encoder connecting to the first block of Hi-Freq Digital inputs (CN2). The connection of the encoder signals, depending on the user needs, must be realised as indicated in the table: SW1 (Slim Line Series Drives) Encoder Up/down Quadrature Counter Phase A Encoder #0 // Phase B Encoder #0 // Phase A Encoder #1 Encoder #1(dir) Phase B Encoder #1 Encoder #1 (clock) Input B0_In0 B0_In1 B0_In2 B0_In3 Up Counter // // // Encoder #1(clock) i The features related to the reading of the incremental encoders, depend on the Firmware installed on the drive (A.2 FIRMWARE AND APPLICABLE NOTES).Refer to software manuals (A.1 Manuals and applicable documentation). i The Zero Encoder (Index) signal is considered to be a General Purpose Input, and thus can be connected to any free Hi-Freq input. i The Encoder must be powered by an external Power Supply. Examples of encoder connections of 5V Line-Driver and 24V Push-Pull. +A CN2.1 +IN0 -A CN2.2 -IN0 +B CN2.3 +IN1 -B CN2.4 -IN1 +Z CN2.5 +IN2 1 220R 4148 Shielded Cable Quadrature Incremental Encoder 220R 3 4 1 6 4148 5 3K3 220R 3 4 1 6 4148 5 3K3 5V Line-Driver Outputs -Z CN2.6 -IN2 CN2.7 +IN3 220R 3 4 1 6 4148 5 3K3 CN2.8 +5V external power supply + - V cc 5Vdc n.c. CN2.9 -IN3 C OM _ IN V SS CN2.1 A 4148 2K2 4148 2K2 4148 2K2 4148 2K2 +IN0 220R 3 4 1 6 4148 5 3K3 n.c. B CN2.2 -IN0 CN2.3 +IN1 220R n.c. Z Quadrature Incremental Encoder 24V Push-Pull Outputs 3 4 1 6 4148 5 3K3 Shielded Cable CN2.4 -IN1 CN2.5 +IN2 CN2.6 -IN2 CN2.7 +IN3 220R 3 4 1 6 4148 5 3K3 n.c. 220R 3 4 1 6 4148 5 3K3 CN2.8 +24V external power supply + - V cc 24V dc V SS CN2.9 C OM _ IN V SS Manual_SW1D____GB 3 -IN3 Release 1.9 Build 00 4148 2K2 4148 2K2 4148 2K2 4148 2K2 6 5 3K3 Page 19 - 73 4 2.2.3 Std Digital Inputs The SW1D____ drives are equipped with digital optically isolated inputs with a bandwidth until 250 Hz, which can be used in PNP mode, Push-pull, NPN, at 5VDC and at 24VDC simply modifying the external connection to the connector. Their presence depends on the drive version: verify in chapter 4 SW1D____ Versions. The Std inputs are denominated B1_IN0÷B1_IN7 and belong to connector CN12. For the functioning of the Std digital inputs, the section of the Std digital outputs has to be powered with 24 Vdc (+24Vdc=CN13.9-10 , VSS=CN13.11-12). This power supply is also needed for the functioning of the Std outputs. It's also necessary that the reference (ground) of the generator, which is used for the commitment of the inputs, is referred to the ground of the Std Digital outputs (CN13.11 – CN13.12). Schematic of the Std Digital Inputs in Push-Pull and PNP mode: VCC (5÷24Vdc) SW1____ CN12.1 B 1_ IN 0 3K3 4K7 4V7 CN12.2 B 1_ IN 1 3K3 VSS 1N VSS 4K7 4V7 CN12.n VSS CN12.8 B 1_ IN 8 1N VSS 3K3 4K7 external power supply + V - Vcc 5÷24Vdc 4V7 CN12.9 CN12.10 VSS 1N VSS B 1_ C OM _ IN CN12.11 VSS STD OUTPUT CONNECTOR CN13.11 PNP-Push-Pull Connection Example Manual_SW1D____GB CN13.12 V SS Release 1.9 Build 00 Page 20 - 73 Schematic of the Std Digital Inputs in NPN mode: VSS SW1____ CN12.1 B 1_ IN 0 3K3 4K7 4V7 CN12.2 B 1_ IN 1 VSS 3K3 1N VSS 4K7 4V7 CN12.n VSS CN12.8 B 1_ IN 8 1N VSS 3K3 4K7 external power supply - V + 4V7 Vcc 5÷24Vdc CN12.9 CN12.10 VSS 1N VSS B 1_ C OM _ IN CN12.11 VCC (5÷24Vdc) STD OUTPUT CONNECTOR CN13.11 NPN Connection Example Electrical specifications Input type CN13.12 V SS CHARACTERISTICS MIN. Frequency input (1) STD Digital Inputs Pulse duration (TON) Pulse duration Manual_SW1D____GB MAX. Unit 250 2 4.5 Threshold voltage of switching logic. 3.3 Hz ms 2 Power supply Voltage Current (1) TYP. ms 30 V V 14 mA Depending on the installed firmware (A.2 FIRMWARE AND APPLICABLE NOTES, there may be some special requirements for the frequency input. For more details refer to the software manuals (A.1 Manuals and applicable documentation). Release 1.9 Build 00 Page 21 - 73 2.2.4 Hi-Freq Digital Outputs The SW1D____ drives are equipped with 2 Hi-Freq Digital optically isolated outputs of 24VDC 100mA (PNP source type, forcing of 24V and not forcing of 0V) which refer to the connector CN3. Schematic of Hi-Freq Digital Outputs : SW1____ +24V External Control Logic CN3.1 +24V prote c tion Fuse B CW 68 CN3.3 +24V PNP digital Input P ullD own (Optional) CN3.2 1N4004 V SS CN3.4 1N4004 6 1 3K3 5 4 1u P ullD own (Optional) 3 6K8 680p O UT 1 4 3V3 3K3 +24V PNP digital Input 1 5 1u B CW 68 i 6 680p O UT 0 External Control Logic i 3K3 3K3 3 3V3 6K8 For proper use, the Hi-Freq digital outputs must be wired using shielded cables. The connection of the screen should be evaluated for every application; depending on the lay out of the machine. Generally, it's the best to connect the screen from both sides to the ground. It's important that the cables of the Hi-Freq digital outputs are not exposed to disturbances. Therefore it is important to follow the instructions defined in paragraph 3.5.3 Guideline for wiring . The functions of the digital outputs depend on the firmware installed on the drive (A.2 FIRMWARE AND APPLICABLE NOTES). Refer to software manuals (A.1 Manuals and applicable documentation). Electrical specifications Type CHARACTERISTICS MIN. TYP. MAX. 19 24 30 V 0,3 V Power supply voltage output Voltage drop on output PNP Transistor Output current Output Output frequency Pulse duration (TON) 10 Pulse duration (TOFF) 10 Unit 100 mA 40 KHz µs µs Rise time (TRISE) 1 Fall time (TFALL) (1) µs (1) depending on the load. Attention: The Hi-Freq Digital Outputs are not protected. Foresee an external current limiting device (IOUTmax = 100mA) . The protective device can be placed on the power supply conductor +24V DC of the outputs (CN3.1) and dimensioned for the sum of the maximum current released by the 2 outputs, or in series to each of the outputs and calibrated according to the load. Manual_SW1D____GB Release 1.9 Build 00 Page 22 - 73 2.2.5 Std Digital Outputs The SW1D____ drives are equipped with digital optically isolated outputs with a band width up to 250 Hz. The outputs are of the type Open Source 24V (PNP source type, forcing of 24V and not forcing of 0V) and can be used with resistive and inductive loads. Their presence depends on the drive version: verify in chapter 4 SW1D____ Versions. The Std digital outputs are denominated B1_OUT0÷B1_OUT7 and belong to the connector CN13. For the functioning of the Std digital outputs, it's necessary to have a power supply of +24Vdc=CN13.9-10 , VSS=CN13.11-12. This power supply is also needed for the functioning of the Std digital inputs. SW1____ CN13.12 V SS V SS Schematic of the Std digital outputs: Fully prote c ted O cta l Drive r CN13.11 V SS GND VSS CN13.10 +24V +24V + 24V LO AD V SS E xternal C ontrol Logic +24V PNP digital Input FUSE + 24V CN13.9 +24V CN13.8 B 1_ O UT 7 CN13.7 B 1_ O UT 6 O UT 6 CN13.6 B 1_ O UT 5 O UT 5 CN13.5 B 1_ O UT 4 O UT 4 CN13.4 B 1_ O UT 3 O UT 3 CN13.3 B 1_ O UT 2 O UT 2 CN13.2 B 1_ O UT 1 O UT 1 CN13.1 B 1_ O UT 0 P ullD own (Optional) V cc T4A O UT 7 O UT 0 10N VSS 10N VSS 10N VSS 10N VSS 10N VSS 10N VSS 10N VSS 10N VSS 10nF capacitors for EMC immunity V SS i For proper use, the Std digital outputs have to be wired using shielded cables. The connection of the screen has to be evaluated for every application; depending on the layout of the machine. Generally, it's the best to connect the screen from both sides to the ground. It's important that the cables of the Std digital outputs are not exposed to disturbances. Therefore it is important to follow the instructions defined in paragraph 3.5.3 Guideline for wiring. i The functionality of the digital outputs depends on the firmware installed on the drive (A.2 FIRMWARE AND APPLICABLE NOTES) Refer to software manuals (A.1 Manuals and applicable documentation). Electrical specifications Type CHARACTERISTICS MIN. TYP. MAX. Unit 19 24 30 V Power supply voltage output Std Outputs Voltage drop on output 0.1 V Output current 100 mA Output frequency 250 Pulse duration (TON) 2 Pulse duration (TOFF) 2 Hz ms ms Rise time (TRISE) (1) Fall time (TFALL) (1) µs (1) depending on the load Manual_SW1D____GB Release 1.9 Build 00 Page 23 - 73 2.2.6 Analog inputs The SW1D____ drive is equipped with 2 not isolated analog inputs which refer to connector CN4. The analog inputs can be configured through the jumper JMP600, for a functioning range of ±10V or for a direct interfacing with the external potentiometers. Schematic of the analog inputs with 10V configuration: -IN_ A N 0 - 6 7 V + IN_ A N_ 0 5 :2 +IN_ A N0 J UM P ER C LO SED O N P OSIT IO N : 1 = IN _A N _0 in ±10V c onfiguration 2 = IN _A N _0 for e xte rna l pote ntiom e te r 3 =IN _A N _1 in ±10V c onfiguration 4 = IN _A N _1 for e xte rna l pote ntiom e te r AG ND 8 A GND :1 N .C. 3 V _P O T V REF2 1 JMP600 2 1 4 2 A GN D N OT E : - ne ve r c lose jum pe rs on position 1& 2 or 3& 4 at the sa me time. 3 AGND VCC 4 4 AG ND -IN_ A N 1 :1 - 2 1 V + IN_ A N_ 1 3 8 +IN_ A N1 AGND VCC A GND Schematic of the analog Inputs with potentiometer configuration: N .C. -IN_ A N0 V _P O T 6 7 IN_ A N _0 5 5K :2 +IN_ A N0 A GN D JUM P ER C LO SE D O N P O SIT ION : 1 = IN _A N _ 0 in ±10V c onfigura tion 2 = IN _A N _ 0 for exte rna l pote ntiome ter 3 =IN _A N _ 1 in ±10V c onfigura tion 4 = IN _A N _ 1 for exte rna l pote ntiome ter AGND 8 AGND :1 V _P O T 3 VREF2 1 2 JMP600 1 4 2 A GN D N OT E : - ne ve r close jumpers on position 1&2 or 3& 4 at the sa me time . 3 AGND VCC 4 V _P O T 4 AGND N .C. -IN_ A N1 :1 2 1 IN_ A N _1 3 +IN_ A N1 8 5K A GN D AGND VCC AGND Manual_SW1D____GB Release 1.9 Build 00 Page 24 - 73 i i i The position of the jumper JMP600 is indicated in paragraph 3.5.1 Connectors, DipSwitches, Jumpers, Display of SW1D4080 and 3.5.2 Connectors, Dip-Switches, Jumpers, LEDs on SW1Dx142; the detailed functions are described in paragraph 3.6.2 Jumpers. The functions of the analog inputs depend on the Firmware installed on the drive (A.2 FIRMWARE AND APPLICABLE NOTES). Refer to Software Manuals (A.1 Manuals and applicable documentation). For a proper use, the analog inputs have to be wired using shielded cables. The connection of the screen has to be evaluated for every application; depending on the layout of the machine. Generally, it's the best to connect the screen from both sides to the ground (PE), or from one drive side to pin CN4.2 (AGND). It's important that the cables of the analog inputs are not exposed to disturbances. Therefore it is important to follow the instructions defined in paragraph 3.5.3 Guideline for wiring. Attention: the reference ground of the potentiometer is the same as the power supply ground of the motor, thus potentially dangerous. Take all necessary measures to avoid possible contacts. Electrical specifications Type CHARACTERISTICS n. 2 differential analog inputs not isolated Input type SW1D4080 SW1Dx142 Unit typ. typ. Differential not isolated Nominal input voltage ±10 ±10 2Meg 2Meg Ω 5.8 5.8 mV 12 12 bit 5 5 % Maximal overload ±400V ±100V V Digital output value in case of overload (with positive input) 4095 4095 ADC value Sampling duration (T SAMPLE )(minimal) 1.12 1.12 µs Sampling period 8.96 8.96 µs Characteristics of the input filter HW : low pass 1°order F0=3.4KHz SW :settable Input impedance Read resolution (value LSB) Resolution ADC compatible CEI Maximum error over the entire EN61131-2 temperature range. Type of protection Manual_SW1D____GB V Isolation and limitation of current. Conversion method Sample & Hold Mode of functioning Auto-scan Release 1.9 Build 00 Page 25 - 73 2.2.7 Serial interface RS232/RS485 The interface RS232 allows a point-to-point connection while the RS485 interface permits a multi-point link connection conforming the standards EIA/TIA232E CCIT V.28 and RS485 CCITT V.11 X.27. The isolated interface is supplied of power through an internally isolated DC/DC converter, no external power supply is needed. The SW1D____ drives are equipped with 2 connectors RJ45 8 parallel pins (CN5A and CN5B) to simplify the connection of the nodes to the MODBUS ® network. Schematic interface RS232/RS485 : 14 +VA V CC +TX 120R 9 -TX 0V A + Tx 5 Tx 10 - Tx 4 D TR (RS232) 0V _A (RS232+RS485) TX D (RS232) + TX (RS485) CN5B RJ45_8_SHLD - TX (RS485) + RX (RS485) - RX (RS485) 14 S H LD 13 S H LD 1 2 3 4 5 6 7 8 7 0V A +VA 1K 0 0V A CN5A RJ45_8_SHLD 2 V+ 1K 0 27K 0V_A (n.c.) 6 0R0 C1+ C1V- C2+ T1out T1in C2- (RS232+RS485) (n.c.) + TX (RS485) - TX (RS485) TXD 1 3 4 0V A (n.c.) 0V _A 6 27K +RX -RX IN :2 4 +VA 120R 5 - Rx GND (RS232) Rx 11 GND RX D 2 3 2 6 1 + Rx 16 1 2 3 4 5 6 7 8 S H LD 13 (RS485) - RX RE 12 JMP700 V CC OUT S H LD 14 DE + RX (RS485) 14 DTR 7 RXD 13 T2out T2in R1in R1out R2in R2out 5 11 10 0V A 9 15 GND 8 12 0V A i Refer to section 4 SW1D____ Versions for information related to the available drive versions. Refer to software manuals (A.1 Manuals and applicable documentation) for information about the functioning of the RS232/RS485 interface. i i For a proper use, the communication interfaces must be wired using shielded cables. The connection to the screen must be evaluated for every application, following the lay-out of the machine. Generally, it's the best to connect the screen from both sides to the ground, It's important that the cables of the communication interfaces are not exposed to disturbances. Therefore it is important to follow the instructions defined in paragraph 3.5.3 Guideline for wiring. For information about the cable schematics and adapters, refer to appendix A.3 Cables and adapters. Manual_SW1D____GB Release 1.9 Build 00 Page 26 - 73 Connection to the RS485 network SISTEMA MASTER 120 FULL DUPLEX MASTER/SLAVE BUS 4 FILI AD ALTRI TERMINALI SLAVE 120 T R T T R 120 R T R 120 Nodo#1 Nodo#2 Nodo#3 Nota: il primo e l'ultimo sistema della rete devono avere la resistenza di terminazione inserita In Full-Duplex configuration, if a SW1D____ system is present in the beginning or at the end of the network, the terminal resistor can be inserted closing the jumper JMP700 in position 1 and 2. TERMINALE HALF DUPLEX BUS 2 FILI MULTIDROP T 1 20 AD ALTRI TERMINALI R T R T R T R 120 Nodo#1 Nodo#2 Nodo#3 Nota: il primo e l'ultimo sistema della rete devono avere la resistenza di terminazione inserita The Half-Duplex configuration is obtained by connecting the conductors externally: +Tx with +Rx -Tx with -Rx In Half-Duplex configuration, if a SW1D____ system is present in the beginning or at the end of the network, the terminal resistor can be inserted by closing the jumper JMP700 indifferently in position 1 or 2. In Half-Duplex, DO NOT close at the same time JMP700 in position 1 and 2, as the line would be charged excessively. i The position of the jumper JMP700 is indicated in paragraph 3.5.1 Connectors, DipSwitches, Jumpers, Display of SW1D4080 and 3.5.2 Connectors, Dip-Switches, Jumpers, LEDs on SW1Dx142; the detailed functions are described in paragraph 3.6.2 Jumpers. Manual_SW1D____GB Release 1.9 Build 00 Page 27 - 73 2.2.8 CanBus Interface The CAN bus interface allows a multi-point connection in accordance to the ISO 11898 standard. The isolated interface is supplied of power through an internally isolated DC/DC converter, no external power supply is needed. The SW1D____ drives are foreseen of 2 RJ45 connectors with 8 paralleled pins (CN5A and CN5B) to simplify the connection of the nodes to the CanBus network. S H LD (CAN_H) (CAN_L) (CAN_GND) (n.c.) (n.c.) (n.c.) (CAN_GND_O) (n.c.) CAN_H +VA 3 1 2 3 4 5 6 7 8 JMP700 V CC S H LD 14 Schematic of the CanBus interface: 1 6 0VA CANH RxD CANL TxD Vref 1 2 3 4 5 6 7 8 (CAN_H) (CAN_L) (CAN_GND) (n.c.) (n.c.) (n.c.) (CAN_GND_O) (n.c.) GND CAN_L CAN_GND 2 S H LD 120R S H LD 13 7 CN5A RJ45_8_SHLD 14 13 2 Rs 4 1 5 8 0R0 0R0 CAN_GND_O 0R0 0VA 0VA 0VA CN5B RJ45_8_SHLD i Refer to section 4 SW1D____ Versions for information about the available drive versions. Refer to the software manuals (A.1 Manuals and applicable documentation) for information about the functioning of the CANbus interface. i For a proper use, the communication interfaces must be wired using shielded cables. The connection to the screen must be evaluated for every application, following the lay-out of the machine. Generally, it's the best to connect the screen from both sides to the ground. It's important that the cables related to the communication interfaces are not exposed to disturbances. Therefore it is important to follow the instructions defined in paragraph 3.5.3 Guideline for wiring . i For information about the cable and adapter schematics, refer to appendix A.3 Cables and adapters. Manual_SW1D____GB Release 1.9 Build 00 Page 28 - 73 Connection to the CANbus network Node Node Node 2 3 n-1 Node Node I 1 n d L Parameters Bus length Deviation length Nodes distances Network parameters (from ISO 11898) Values Size Unit Min. Nom. Max. L m 0 40 I m 0 0.3 d m 0.1 40 Conditions Bit rate: 1Mbit/sec From Can In Automation (CIA) Bus length 0..40m 40..300m 300..600m 600m..1km Cabling requirements : Manual_SW1D____GB Cable Res/m 70 mΩ/m < 60 mΩ/m < 40 mΩ/m < 26 mΩ/m Section 0.25mm²..0.34mm² AWG23, AWG22 0.34mm²..0.6mm² AWG22, AWG20 0.5mm²..0.6mm² AWG20 0.75mm²..0.8mm² AWG18 Termination resistance Data rate max [kbit/s] 124Ω (1%) 1 Mbit/s at 40m 500 Kbit/s at 100m 100 Kbit/s at 500m 50 Kbit/s at 1Km 127Ω (1%) 150Ω to 300Ω 150Ω to 300Ω Used cables with braided and shielded wires. Refer to the specifications defined by Can In Automation (CiA). Release 1.9 Build 00 Page 29 - 73 Schematic of the CANopen network: C AN_H NODO #1 C AN_H 1 20 R 1 20 R C AN_L NODO #n C AN_L C AN_V+ C AN_V+ C AN_Grou n d C AN_Grou n d 1 00 R 1 00 R CA N _V + C A N _ G ro u n d NODO #2 CA N _ L CA N _ H 1 00 R Note: the first and last system connected to the network must have a termination resistance. The CAN_ground connection is optional. If a SW1D____ system is present in the beginning or at the end of the network, the termination resistance can be inserted closing jumper JMP700 in position 2. i The position of jumper JMP700 is indicated in paragraph 3.5.1 Connectors, DipSwitches, Jumpers, Display of SW1D4080 and 3.5.2 Connectors, Dip-Switches, Jumpers, LEDs on SW1Dx142; the detailed functions are described in paragraph 3.6.2 Jumpers. Manual_SW1D____GB Release 1.9 Build 00 Page 30 - 73 2.3 Standards The EVER SW1D____ drives have been designed and manufactured following the next Directives and Standards : Directives : 73/23/CE 89/392/CE 89/336/CE Standards : EN 61800-3 Low Voltage Material Machinery Electromagnetic compatibility Drives of variable speed – Electromagnetic compatibility and specific testing methods. EN 61800-5-1 Drives of variable speed – Security requirements. EN 60204-1 Safety of machinery – Electrical equipment of machines. The compliance of the EVER products with the Directives of Electromagnetic compatibility can only be checked if the complete machine, from which the drive is a device, has been designed and realized in compliance with the requirements for Electromagnetic Compatibility. The installation of the drive has to be executed in accordance with the guidelines outlined in chapter 3 INSTALLATION OF THE DRIVE. Note : Manual_SW1D____GB Release 1.9 Build 00 Page 31 - 73 3 INSTALLATION OF THE DRIVE In this section are given some guidelines for the safe installation of the SW1D____ drives and the stepper motor. SW1D4080__B1-00 CN2 CN2 CN3 CN3 Digital DigitalInputs Inputs Hi-Freq Hi-Freq CN16 CN16 Digital DigitalInputs Inputs Hi-Freq Hi-Freq CN16.1 CN16.1==+B0_IN4 +B0_IN4 CN16.2 CN16.2==-B0_IN4 -B0_IN4 CN16.3 = +B0_IN5 CN16.3 = +B0_IN5 CN16.4 = -B0_IN5 CN16.4 = -B0_IN5 CN16.5 CN16.5==+B0_IN6 +B0_IN6 CN16.6 CN16.6==-B0_IN6 -B0_IN6 CN16.7 = +B0_IN7 CN16.7 = +B0_IN7 CN16.8 CN16.8==-B0_IN7 -B0_IN7 CN16.9 CN16.9==B0_COM_IN B0_COM_IN Digital DigitalOutputs Outputs Hi-Freq Hi-Freq CN2.1 CN2.1==+B0_IN0 +B0_IN0 CN2.2 CN2.2==-B0_IN0 -B0_IN0 CN2.3 = +B0_IN1 CN2.3 = +B0_IN1 CN2.4 CN2.4==-B0_IN1 -B0_IN1 CN2.5 CN2.5==+B0_IN2 +B0_IN2 CN2.6 = -B0_IN2 CN2.6 = -B0_IN2 CN2.7 CN2.7==+B0_IN3 +B0_IN3 CN2.8 CN2.8==-B0_IN3 -B0_IN3 CN2.9 CN2.9==B0_COM_IN B0_COM_IN CN3.1 CN3.1==+24 +24 CN3.2 CN3.2==VSS VSS CN3.3 CN3.3==B0_OUT0 B0_OUT0 CN3.4 CN3.4==B0_OUT1 B0_OUT1 CN5B 1 1 1 CANbus Version CN5B.1 = CAN_H JMP700 JMP700 CN5B.2 = CAN_L = CAN_GND Jumpers Jumpers CN5B.3 CN5B.4 = CN5B.5 = CN5B.6 = CN5B.7 = CAN_GND_O CN5B.8 = CN12 CN12 Digital DigitalInputs Inputs Std Std CN12.1 CN12.1==B1_IN0 B1_IN0 CN12.2 CN12.2==B1_IN1 B1_IN1 CN12.3 = B1_IN2 CN12.3 = B1_IN2 CN12.4 = B1_IN3 CN12.4 = B1_IN3 CN12.5 CN12.5==B1_IN4 B1_IN4 CN12.6 CN12.6==B1_IN5 B1_IN5 CN12.7 = B1_IN6 CN12.7 = B1_IN6 CN12.8 CN12.8==B1_IN7 B1_IN7 CN12.9 CN12.9==B1_COM_IN B1_COM_IN CN12.10 = B1_COM_IN CN12.10 = B1_COM_IN CN12.11 CN12.11==B1_COM_IN B1_COM_IN CN5A 1 CANbus Version CN5A.1 = CAN_H CN5A.2 = CAN_L CN5A.3 = CAN_GND CN5A.4 = CN5A.5 = CN5A.6 = CN5A.7 = CAN_GND_O CN5A.8 = 2 1 1 CN12.1 CN12.1==B1_OUT0 B1_OUT0 CN12.2 CN12.2==B1_OUT1 B1_OUT1 CN12.3 CN12.3==B1_OUT2 B1_OUT2 CN12.4 CN12.4==B1_OUT3 B1_OUT3 CN12.5 = B1_OUT4 CN12.5 = B1_OUT4 CN12.6 CN12.6==B1_OUT5 B1_OUT5 CN12.7 CN12.7==B1_OUT6 B1_OUT6 CN12.8 = B1_OUT7 CN12.8 = B1_OUT7 CN12.9 = CN12.9 =+24V +24V CN12.10 CN12.10==+24V +24V CN12.11 CN12.11==VSS VSS CN12.12 = VSS CN12.12 = VSS Manual_SW1D____GB RS232/485 Version CN5A.1 = +RX (RS485) CN5A.2 = -RX (RS485) CN5A.3 = CN5A.4 = CN5A.5 = 0V_A CN5A.6 = CN5A.7 = +TX (RS485) CN5A.8 = -TX (RS485) 1 CN4 CN4 Analog AnalogInputs Inputs 1 CN13 CN13 Digital DigitalOutputs Outputs Std Std RS232/485 Version CN5B.1 = +RX (RS485) CN5B.2 = -RX (RS485) CN5B.3 = RXD (RS232) CN5B.4 = DTR (RS232) CN5B.5 = 0V_A CN5B.6 = TXD (RS232) CN5B.7 = +TX (RS485) CN5B.8 = -TX (RS485) 1 CN4.1 CN4.1==V_POT V_POT CN4.2 CN4.2==AGND AGND CN4.3 CN4.3== CN4.4 = +IN_AN0 CN4.4 = +IN_AN0 CN4.5 CN4.5==-IN_AN0 -IN_AN0 CN4.6 CN4.6==+IN_AN1 +IN_AN1 CN4.7 = -IN_AN1 CN4.7 = -IN_AN1 Status StatusDisplay Display CN1 CN1 Power PowerSupply Supply &&Step StepMotor Motor 1 Release 1.9 Build 00 CN1.1 CN1.1==PE PE CN1.2 CN1.2==GND GND CN1.3 CN1.3==V+ V+ CN1.4 CN1.4==VLOG VLOG CN1.5 = A CN1.5 = A CN1.6 CN1.6==A/A/ CN1.7 CN1.7==BB CN1.8 CN1.8==B/B/ Page 32 - 73 SW1Dx142 CN2 CN2 CN3 CN3 Digital DigitalInputs Inputs Hi-Freq Hi-Freq Digital DigitalOutputs Outputs Hi-Freq Hi-Freq CN2.1 CN2.1==+B0_IN0 +B0_IN0 CN2.2 CN2.2==-B0_IN0 -B0_IN0 CN2.3 CN2.3==+B0_IN1 +B0_IN1 CN2.4 CN2.4==-B0_IN1 -B0_IN1 CN2.5 CN2.5==+B0_IN2 +B0_IN2 CN2.6 = -B0_IN2 CN2.6 = -B0_IN2 CN2.7 CN2.7==+B0_IN3 +B0_IN3 CN2.8 CN2.8==-B0_IN3 -B0_IN3 CN2.9 = B0_COM_IN CN2.9 = B0_COM_IN CN3.1 CN3.1==+24 +24 CN3.2 CN3.2==VSS VSS CN3.3 = B0_OUT0 CN3.3 = B0_OUT0 CN3.4 CN3.4==B0_OUT1 B0_OUT1 CN5B JMP700 JMP700 1 Jumpers Jumpers 1 CANbus Version CN5B.1 = CAN_H CN5B.2 = CAN_L CN5B.3 = CAN_GND CN5B.4 = CN5B.5 = CN5B.6 = CN5B.7 = CAN_GND_O CN5B.8 = RS232/485 Version CN5B.1 = +RX (RS485) CN5B.2 = -RX (RS485) CN5B.3 = RXD (RS232) CN5B.4 = DTR (RS232) CN5B.5 = 0V_A CN5B.6 = TXD (RS232) CN5B.7 = +TX (RS485) CN5B.8 = -TX (RS485) CN5A CANbus Version CN5A.1 = CAN_H CN5A.2 = CAN_L CN5A.3 = CAN_GND CN5A.4 = CN5A.5 = CN5A.6 = CN5A.7 = CAN_GND_O CN5A.8 = 2 1 RS232/485 Version CN5A.1 = +RX (RS485) CN5A.2 = -RX (RS485) CN5A.3 = CN5A.4 = CN5A.5 = 0V_A CN5A.6 = CN5A.7 = +TX (RS485) CN5A.8 = -TX (RS485) CN4 CN4 1 Analog AnalogInputs Inputs CN4.1 CN4.1==V_POT V_POT CN4.2 CN4.2==AGND AGND CN4.3 CN4.3==+IN_AN0 +IN_AN0 CN4.4 CN4.4==-IN_AN0 -IN_AN0 CN4.5 CN4.5==+IN_AN1 +IN_AN1 CN4.6 CN4.6==-IN_AN1 -IN_AN1 1 FAULT FAULTLed Led 1 POWER POWERON ONLed Led CN1A CN1A Logic LogicSupply Supply CN1A.1 CN1A.1==GND GND CN1A.2 CN1A.2==VLOG VLOG 1 CN1 CN1 Power PowerSupply Supply &&Step StepMotor Motor 1 Manual_SW1D____GB Release 1.9 Build 00 CN1.1 CN1.1==GND GND CN1.2 CN1.2==V+ V+ CN1.3 CN1.3==AA CN1.4 = A/ CN1.4 = A/ CN1.5 CN1.5==BB CN1.6 CN1.6==B/B/ Page 33 - 73 3.1 Safe installation and use of the unit Only qualified staff can install the SW1D____ drives, after having read and understood the information in this manual. The installation instructions have to be followed and approved. Eventual doubts need to be clarified with the supplier of the equipment before using. i EVER will not take any responsibility for indirect damage due to negligence, wrong installation, modifications to the product without approval or wrong connections of the equipment to the wiring. SECURITY Specially, the user needs to: • Remove the power supply before realizing or removing a connection: • Don't work on the drive without that has been realized a ground connection for the drive and the motor. The Protective Earth connection (PE) has to comply with the local requirements in force. • Don't establish connections to the internal circuit of the drive; • Wait until the display or the green LED light of POWER_ON is not completely switched off before manipulating or executing maintenance to the drive; • Don't use a digital input with ENABLE function such as safety stop. Always remove the power supply voltage from the drive to establish a safe switching off; • Pay attention to the heat loss of some parts of the drive: using the drive in extreme applications, some surfaces reach high temperatures. • Before disconnecting the device, wait until it has cooled down; • In case of missing voltage the motor is not able to keep the load: it's thus forbidden to use the motor if the condition of missing holding torque of the motor can create a dangerous situation, unless the user provides special devices to block the load. • Don't remove the cover except in case explained in the installation section. The open operation will invalidates the warranty conditions of the product. The negative pole of the power supply is NOT connected to the ground through an internal connection to the drive. If this default connection doesn't suit the requirements of the application, the user needs to refer to [email protected] for the necessary technical information. Manual_SW1D____GB Release 1.9 Build 00 Page 34 - 73 ELECTROMAGNETIC COMPATIBILITY Take into account all precautions and requirements which are necessary for the compliance with the electromagnetic compatibility. EMC Some disturbances generated by other insufficiently filtered or shielded equipment, can cause malfunctions in the drive which can result into uncontrolled movements. The implementation of the connections should take into account the requirements defined in paragraph: 3.5.3 Guideline for wiring. The drive, when functioning, generates emissions which, if not filtered adequately, can disturb the correct functioning of other devices. The final user needs to evaluate if the installation of an adequate filtering system is necessary, based on the requirements of his application (EMC line filter). Note : Manual_SW1D____GB Release 1.9 Build 00 Page 35 - 73 Protections EMI Filter Transformer Secondary AC Voltage sectioning Power Rectifier Bridges ~ Capacitors T1 ~ ~ V+ + C1 ~ Release 1.9 Build 00 ~ + C2 - + DP3 L i n e T2 PE ~ Page 36 - 73 GND CN1.2 VLOG CN1.4 PE CN1.1 +24 CN3.1 VSS CN3.2 B0_COM_IN CN2.9 +24 CN13.9 CN13.10 VSS CN13.11 CN13.12 B0_COM_IN CN16.9 - Earth Ground A C - CN1.3 Cx Twisted DP2 PE SW1D4080__ d DP1 L i n e Bleeder Resistors Note : V+ and VLOGare referred to common ground GND C3 Earth Ground Power supply of the system A C Protections 3.2 Surge Suppressors Circuit and connection diagrams from the power supply to the SW1D4080__. Manual_SW1D____GB Primary AC Voltage sectioning Protections Surge Suppressors EMI Filter Transformer Secondary AC Voltage sectioning Protections A C Power Rectifier Bridges ~ T1 ~ ~ ~ A C ~ + C2 T2 ~ GND CN1.1 VLOG CN1A.2 Note: V+ and VLOG are referred to common ground GND CN1A.1 + - CN1.2 Cx - DP3 L i n e C1 Earth Ground PE SW1D2142__ SW1Dx142_ V+ - DP2 Bleeder Resistors d + DP1 L i n e Capacitors PE Fixing Screw +24 CN3.1 VSS CN3.2 C3 CN2.9 PE Earth Ground Circuit and connection diagrams from the power supply to the SW1Dx142__. Release 1.9 Build 00 SW1D3142 has different supply range for power and logic. (see paragraph 2.2.1 Power supply) Manual_SW1D____GB Primary AC Voltage sectioning Page 37 - 73 The two diagrams indicate the differences between the systems SW1D4080 and SW1Dx142 concerning the power supply: ● different type of connector (CN1 per step 5.08mm for SW1D4080 per step 3.81mm for SW1D2141) and different pin-out; ● Absence of the CN1 pin connector on the SW1Dx142 used for the protective earth connection to be connected to a clamping screw. The SW1D____ drives need to be powered by DC power supply sources. If the power supply provided by the user isn't equipped with a double isolation or reinforcement, the user is obliged to establish a security connection between GND (power supply ground) and the protective earthing (PE). A proper connection between GND and the PE, often reduces the electromagnetic interferences due to commutations of the drive and the motor. ● PE : Environmental Protective Earth. ● GND : is the reference (ground) equal to the power suppliers V+ and VLOG ● V+ : input for the power supply of the power part (motor). It is possible to disable the power supply to the power part and leave the power supply to the logics enabled with control function. N.B. : The disconnector to the secondary V+ must be positioned before the filter capacitor (C1 in the schematic) in a way that the capacity remains always connected to the terminals of the CN1 connector. For no reason the DC power supply voltage should be sectioned; the filter capacity of the power supply needs to remain connected to the drive during the start up and shut down transients. VLOG : input to supply the logics part of power. Note: VLOG shares GND with the power supply In case it is not necessary to supply the Logics and Power separately of power, in some version it is possible to foresee a single power supply stage to which are connected V+ and VLOG (not for SW1D3142), instead in other version are necessary both V+ and VLOG connections. (see paragraph 4 SW1D____ Versions) N.B. : V+ and VLOG must be linked on the level of the filter capacity C1 (see the following figure) . For no reason a single cable should be carried from capacity C1 and executed a bridge between CN1.3-4 Connection schematic V+ and VLOG not separated: Secondary AC Voltage sectioning Protections Power Rectifier Bridges ~ + DP1 ~ Capacitors Bleeder Resistors SW1D4080__ d V+ C1 Twisted - Earth Ground Manual_SW1D____GB CN1.3 Cx Release 1.9 Build 00 GND CN1.2 VLOG CN1.4 PE CN1.1 Page 38 - 73 +24 – VSS : power supply for the digital outputs and Std inputs. For applications where in no digital outputs and Std inputs are used, this power supply section can be left out. B0_COM_IN : reference for the digital inputs. Generally associated with VSS of the digital outputs. If they are not used, inputs of 24V, BO_COM_IN have to remain disconnected. Main characteristics of the drive power supply Disconnection AC network: is a recommended safety device. Primary Protections: use fuses on AC bus or an equivalent security switch. Surge on the primary circuit they protect the drive against Surges coming from Suppressors: the primary power supply of the network. EMC Filter: EMC is generally necessary to satisfy the EMC compatibility requirements related to the emissions. An EMC filter is recommended in case of sensible circuits powered by an AC line. If a commercial EMC line filter is chosen, one needs to take into account the total RMS current of the powered system. The AC EMC line filter needs to be installed following the builder's directives. Generally, the filter needs to be inserted between the principal AC line and the transformer, if the last one is near the drive or the electrical switchboard, between the transformer and the three-phase rectifier bridge in other cases, keeping the bridge near the drive and the connection between the filter and the transformer as short as possible. Transformer: The primary circuit of the transformer needs to be dimensioned in function of the characteristics of the AC power supply line. The voltage peaks on the secondary circuit of the transformer are equal to 1.41 RMS secondary voltage. The DC power supply voltage must not exceed the Vdc power supply voltage of the drive. DON'T use an Auto-transformer to interface with the electric network. Only a transformer guarantees the galvanic isolation necessary for electrical safety. i Manual_SW1D____GB the power of the transformer depends on the power required from the motor: to define the characteristics of the movement under control (dimensioning of the power supply and the motor). It is possible to refer to the service [email protected] is also possible to use the following procedure to define approximately the characteristics of the power supply: 1. Power of the motor shaft for every axle in Watt: Wn =π*Nn[RPM]*Tn[Nm]/30 2. Power to the total load in Watt : W S = sum of the Wn of the axles that move simultaneously; 3. power of the transformer in Watt : TW = 2 * W S (efficiency = 0.5) 4. power of the transformer in VA : TVA=TW / 0,7 (single phase) o TVA= TW / 0,8 (three phase); 5. Take for the transformer a voltage drop of about 8% during the application of the load (the secondary voltage should not exceed a voltage value of 108% of the nominal value when the load is zero). 6. A simple and fast alternative method to calculate the power in VA of the transformer is: TVA(VA) = √2*VdcBUS*ImaxPHASE(RMS). . Release 1.9 Build 00 Page 39 - 73 Secondary must be positioned (before disconnecting: the rectifier bridge). For disconnected the filter has to remain connected transients. on the secondary AC power supply voltage no reason the DC power supply should be DC power; the capacity of the power supply to the drive during the start up and shut down Secondary protections: must be present before the rectifier bridge and have to be calibrated according to the set phase current. Instead of the secondary protections there can be used an automatic safety switch. Rectifier Bridge: a 15A rectifier bridge can be considered correct for a single axis and maximum load Capacitor: The dimensioning of the capacitor has to take into account the functioning parameters of the installation, the type of AC line (single-phase or threephase), the load on the shaft and the movement cycle (phase of movement and phase of motor stand still, in torque or free load). For a maximal dimensioning, in the conditions of single-phase line, maximal current supplied by the drive at minimal voltage, the following capacitors are suitable: - SW1D4080 => a capacitors of 6600µF . - SW1D3142 => a capacitors of 3300µF . - SW1D2142 => a capacitors of 2200µF . The working voltage of the capacitor has to be evaluated considering the DC voltage peaks (VdcBUS) maintaining an adequate safety margin. An additional capacitor has to be provided in proximity of the drive when the cable length of the DC power supply exceeds the length of 1 mt (d>1mt). If a power supply of the switching type is provided, insert between the drive and the power supply a capacity able to manage the impulsive currents which the drive sends to the power supply in special working circumstances and which is required for the motion control. The purpose of this capacitor is to maintain the voltage applied to the drive within acceptable values. Make sure that the switching power supply is adapted to the expected capacitive load. The dynamic performances of the motors depends on the power supply voltage: at higher tensions the performances increase. In multi-axles installations, a rectifier + capacity should be provided for every drive. Every rectifier needs to be positioned as close as possible to the concerning drive. An additional capacitor is required near each drive with a distance of more then 1 mt from the rectifier. (d>1mt). Manual_SW1D____GB Release 1.9 Build 00 Page 40 - 73 Power supply schematic of a SW1D4080 multi-axles installation. Transformer Protections Power Rectifier Bridges ~ Capacitors SW1D4080__ #1 Bleeder Resistors d V+ + C1 DP1 ~ CN1.3 Cx Twisted GND - CN1.2 VLOG PE PE CN1.1 Earth Ground Protections Power Rectifier Bridges ~ Capacitors SW1D4080__ #2 Bleeder Resistors d V+ + C2 CN1.3 Cx DP2 ~ CN1.4 Twisted GND - CN1.2 VLOG PE CN1.4 CN1.1 Power supply schematic of a SW1Dx142 multi-axles installation. (has been left out for the simplicity of the logic supply) Transformer Protections Power Rectifier Bridges ~ + Capacitors SW1Dx142__ #1 Bleeder Resistors d V+ C1 CN1.2 Cx DP1 ~ - PE GND CN1.1 PE Fixing Screw Earth Ground Protections Power Rectifier Bridges ~ + Capacitors SW1Dx142__ #2 Bleeder Resistors d V+ C2 CN1.2 Cx DP2 ~ - Manual_SW1D____GB GND CN1.1 PE Fixing Screw Release 1.9 Build 00 Page 41 - 73 3.3 Choosing the stepper motor The SW1D____ drive has been designed to function with 2 phase stepper motors with the following characteristics: nominal winding current depending on the model: • SW1D4080____ MIN. Motor Current TYP. MAX. SW1Dx142____ MIN. Unit Note TYP. MAX. 8 4.2 11.28 6 ARMS Configurable through software APK • With a connection of the Bipolar Parallel windings: the motor is powered by the drive with a winding current equal to 1.41 times the nominal unipolar current (IPHASE * 1.41). • With a connection of the Bipolar Series windings: the motor is powered by the drive with a winding current equal to 0.7 times the nominal unipolar current (IPHASE * 0.70). The choice of the stepper motor is made by considering a series of variables that depend on the application: torque required for the shaft, velocity, dimension of the motor, current, inductance etc. The dynamic performances of the motors depend on the power supply voltage: when using a higher tension the performances increase. 3.4 Assembling of the drive For wall mounting, refer to the figures displayed in paragraph 2.1 Mechanical and environmental. Use the M4 screws to fix the drive to a wall of the electric cabinet. The environment in which the drive will be installed needs to be free of impurities, corrosive vapour, gases or liquids. Avoid environments where in vapour and humidity will condensate. When installing the drive in an electrical switchboard, make sure that the opening of the air stream or the cooling system of the switchboard doesn't make the internal temperature rise above the maximum allowed working temperature. Every local security aspect concerning the installation of the drive has to be considered a project standard for the electrical switchboard. Assembling Guide The installation has to meet at least the following requirements: ● maintain the vertical orientation of the drive; ● avoid excessive vibrations or shocks; ● Foresee free space for the air stream above and under the drive; ● Respect the minimal distances indicated in the following figure; The cooling of the drives SW1D____ occurs mainly through radiation of the heat sink fins and secondary, by means of contact through the clamping surface of the electrical switchboard. An insufficient heat exchange can increase the drive temperature until the threshold of the heat protection, including a system block reported by the display. In the installation project, this two dissipation channels need to be optimized. Manual_SW1D____GB Release 1.9 Build 00 Page 42 - 73 -2 -1 OUT1 - 4 OUT0 - 3 VSS - 2 +24 - 1 CN5B -TX (RS485) - 8 +TX (RS485) - 7 TXD (RS232) - 6 -5 GND DTR (RS232) - 4 RXD (RS232) - 3 -RX (RS485) - 2 +RX (RS485) - 1 CN5A 9 8 7 6 5 4 3 2 1 COM -IN3 +IN3 -IN2 +IN2 -IN1 +IN1 -IN0 +IN0 JMP700 -TX (RS485) - 8 +TX (RS485) - 7 TXD (RS232) - 6 GND -5 DTR (RS232) - 4 RXD (RS232) - 3 -RX (RS485) - 2 +RX (RS485) - 1 CN3 26900 LODI - ITALY PB FREE OK COMPLIANT 2002/95/EC Power supply (nominal range): 48 ~ 140 Vdc (not protected) Logic supply (nominal range): I phase ............................... : Inputs ............................... : Output ............................... : Analog Inputs .................... : Thermal Protection ............ : Operating Temperature ..... : Humidity Range ................. : 48 ~ 140 Vdc (not protected) 8.0 Arms Max (11.28 Apk Max) 5Vdc or 24Vdc / 16 mA each (see manual) 24 Vdc / 100 mA (not protected) ± 10Vdc or Potentiometer +75 °C 0 ~ +50 °C 10% ~ 90 % not condensing AGND - 2 RX Termination Resistor Not Inserted TX Termination Resistor Not Inserted 1 Closed 4 3 2 1 V_POT - 1 RX Termination Resistor Inserted 2 1 TX Termination Resistor Inserted Analog Input Type IN_AN1 Potentiometer Mode 4 3 2 1 IN_AN0 Potentiometer Mode IN_AN0 Differential ±10V Mode DIP2 STATUS DISPLAY JMP600 IN_AN1 Differential ±10V Mode DIP1 SW1 SW2 SW3 SW4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 User's Settings RS485 Node Identifier Settings RS485 Baud Rate Settings Refer to User's Manual for Dip-Switches Settings detail CN1 Release 1.9 Build 00 1 Open n.c. - 3 Termination Resistor JMP600 Position -IN_AN0 - 5 +IN_AN0 - 4 JMP700 JMP700 Position 2 Open 2 Closed -IN_AN1 - 7 +IN_AN1 - 6 CN4 RoHS DANGER ! HAZARDOUS VOLTAGES AND HOT SURFACE INSIDE /B 8 B 7 /A 6 A 5 VLOG 4 V+ 3 GND 2 PE 1 DIP2 DIP1 SW1 SW2 SW3 SW4 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 TO REMOVE THE COVER REFER TO USER'S MANUAL OFF ON Page 43 - 73 The following figure displays a SW1D4080_61 system, but the indications are valid for all versions. Manual_SW1D____GB CN2 3.5 Drive connections The following connections are present in the SW1D____ systems: SW1D4080__61-00 SW1D4080__B1-00 SW1D2142__61-x0 SW1D3142__61-10 CN1 Power Supply + Step Motor CN1A Logic Supply CN2 Digital Inputs Hi-Freq CN3 Digital Outputs Hi-Freq CN4 Analog Inputs CN5A/B RS232/485 or CANbus CN12 Digital Inputs Std CN13 Digital Outputs Std CN16 Digital Inputs Hi-Freq Manual_SW1D____GB Release 1.9 Build 00 Page 44 - 73 3.5.1 Connectors, Dip-Switches, Jumpers, Display of SW1D4080 SW1D4080 : lay-out and design of the connectors, Dip-switches, jumpers and Display. 1 2 3 4 5 6 7 1 2 3 4 5 6 7 8 The SW1D4080__B1-00 systems have the same connectors as the SW1D4080__61-00 systems, with the addition of the connectors CN12, CN13, CN16. Dip-switches, Jumpers and Display maintain the same position and function. i For the position of the connectors , refer to the figure of paragraph3 INSTALLATION OF THE DRIVE. i The jumpers JMP700 have to be positioned (when required) as in the figure here below. 11 JMP700 CN12 1 9 CN16 1 1 CN3 4 1 CN2 9 1 2 correct position of JMP700 jumpers Manual_SW1D____GB Release 1.9 Build 00 Page 45 - 73 3.5.1.1 Pin connectors SW1D4080 Connectors of the drive SW1D4080 and tables of the input and output characteristics. CN1 : Power Supply & Motor 8 position, pitch 5.08mm., PCB header connector Pos 1 2 3 4 5 6 7 8 Pos 1 2 3 4 5 6 7 8 9 Name PE GND V+ VLOG A A/ B B/ EARTH Input PWR Input PWR Input PWR Input PWR Output PWR Output PWR Output PWR Output Characteristics Environmental earthing Negative power supply Motor and Logics Positive power supply Motor Positive power supply Logics Phase A motor Phase A/ motor Phase B motor Phase B/ motor CN2 : Digital Inputs Hi-Freq 9 position, pitch 2.5mm., PCB header connector Name Characteristics +B0_IN0 Digital Input Positive terminal digital input B0_IN0 -B0_IN0 Digital Input Negative terminal digital input B0_IN0 +B0_IN1 Digital Input Positive terminal digital input B0_IN1 -B0_IN1 Digital Input Negative terminal digital input B0_IN1 +B0_IN2 Digital Input Positive terminal digital input B0_IN2 -B0_IN2 Digital Input Negative terminal digital input B0_IN2 +B0_IN3 Digital Input Positive terminal digital input B0_IN3 -B0_IN3 Digital Input Negative terminal digital input B0_IN3 B0_COM_IN PWR Input Reference common inputs (for use at 24VDC) CN3 : Digital Outputs Hi-Freq 4 position, pitch 2.5mm., PCB header connector Pos 1 2 3 4 Name +24V VSS B0_OUT0 B0_OUT1 PWR Input PWR Input Digital Output Digital Output Characteristics Positive power supply digital outputs. Negative reference power supply digital outputs. Open Emitter Output (Source Current) B0_OUT0 Open Emitter Output (Source Current) B0_OUT1 CN4 : Analog Inputs 7 position, pitch 3.81mm., PCB header connector Pos 1 2 3 4 5 6 7 Name V_POT AGND n.c. +IN_AN0 -IN_AN0 +IN_AN1 -IN_AN1 Manual_SW1D____GB Characteristics PWR Output Positive power supply output for potentiometers. PWR Output Negative reference output for potentiometers. Not connected Analog Input Positive terminal analog input IN_AN_0 Analog Input Negative terminal analog input IN_AN_0 Analog Input Positive terminal analog input IN_AN_1 Analog Input Negative terminal analog input IN_AN_1 Release 1.9 Build 00 Page 46 - 73 CN5A - CN5B : RS232/RS485 version RJ45 , 8 position, PCB shielded header connector Pos CN5A CN5B (IN) (OUT) RS485 RS485 + RS232 1 +RX +RX 2 -RX -RX 3 n.c. RXD 4 n.c. DTR 5 0V_A 0V_A 6 n.c. TXD 7 +TX +TX 8 -TX -TX Characteristics Digital Input Digital Input Digital Input Digital Output PWR Output Digital Output Digital Output Digital Output Non-inverting input RS485 receiver Inverting input RS485 receiver Input RS232 receiver Output Data Transmit Ready RS232 Reference (mass) communication interface Output RS232 transmitter Non-inverting output RS485 transmitter Inverting output RS485 transmitter CN5A=CN5B : CanBus versions RJ45 , 8 position, PCB shielded header connector Pos Name 1 CAN_H 2 CAN_L 3 CAN_GND 4 n.c. 5 n.c. 6 n.c. 7 CAN_GND_O 8 n.c. Characteristics Digital I/O Bus Line Dominant HIGH Digital I/O Bus Line Dominant LOW PWR Output Signal Ground Not connected Not connected Not connected PWR Output Optional Signal Ground Not connected CN12 : Std Digital Inputs 11 position, pitch 2.5mm., PCB header connector Pos 1 2 3 4 5 6 7 8 9 10 11 Nome B1_IN0 B1_IN1 B1_IN2 B1_IN3 B1_IN4 B1_IN5 B1_IN6 B1_IN7 B1_COM_IN B1_COM_IN B1_COM_IN Manual_SW1D____GB Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input PWR Input PWR Input PWR Input Characteristics Terminal digital input B1_IN0 Terminal digital input B1_IN1 Terminal digital input B1_IN2 Terminal digital input B1_IN3 Terminal digital input B1_IN4 Terminal digital input B1_IN5 Terminal digital input B1_IN6 Terminal digital input B1_IN7 Reference common inputs B1_INn Reference common inputs B1_INn Reference common inputs B1_INn Release 1.9 Build 00 Page 47 - 73 CN13 : Std Digital Outputs 12 position, pitch 2.5mm., PCB header connector Pos 1 2 3 4 5 6 7 8 9 10 11 12 Pos 1 2 3 4 5 6 7 8 9 Name B1_OUT0 B1_OUT1 B1_OUT2 B1_OUT3 B1_OUT4 B1_OUT5 B1_OUT6 B1_OUT7 +24V +24V VSS VSS Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output PWR Input PWR Input PWR Input PWR Input Characteristics Terminal digital output B1_OUT0 Terminal digital output B1_OUT1 Terminal digital output B1_OUT2 Terminal digital output B1_OUT3 Terminal digital output B1_OUT4 Terminal digital output B1_OUT5 Terminal digital output B1_OUT6 Terminal digital output B1_OUT7 Positive power supply digital outputs Positive power supply digital outputs Negative reference power supply digital outputs. Negative reference power supply digital outputs. CN16 : Digital Inputs Hi-Freq 9 position, pitch 2.5mm., PCB header connector Name Characteristics +B0_IN4 Digital Input Positive terminal digital input B0_IN4 -B0_IN4 Digital Input Negative terminal digital input B0_IN4 +B0_IN5 Digital Input Positive terminal digital input B0_IN5 -B0_IN5 Digital Input Negative terminal digital input B0_IN5 +B0_IN6 Digital Input Positive terminal digital input B0_IN6 -B0_IN6 Digital Input Negative terminal digital input B0_IN6 +B0_IN7 Digital Input Positive terminal digital input B0_IN7 -B0_IN8 Digital Input Negative terminal digital input B0_IN7 B0_COM_IN PWR Input Reference common inputs (for use at 24VDC) Manual_SW1D____GB Release 1.9 Build 00 Page 48 - 73 3.5.1.2 mating connectors SW1D4080 The mating connectors are supplied with the drive SW1D4080. In case it is necessary to purchase more mating connectors, they can be bought from third parties with the codes: CN1 CN2 CN3 CN4 8 position, pitch 5.08mm., plug connector PHOENIX CONTACT p# MSTB 2,5/8-ST-5,08 order cod.1757077 9 position, pitch 2.5mm., plug connector PHOENIX CONTACT p# FK MC0,5/9-ST-2,5 order cod.1881396 4 position, pitch 2.5mm., plug connector PHOENIX CONTACT p# FK MC0,5/4-ST-2,5 order cod.1881341 7 position, pitch 3.81mm., plug connector PHOENIX CONTACT p# MC1,5/7-ST-3,81 order cod.1803620 CN5A/B RJ45 ,8 position, plug connector MOLEX p# FCC 68 compliants and equivalents order cod.44915-0011 order cod.44915-0021 CN12 11 position, pitch 2.5mm., plug connector PHOENIX CONTACT p# FK MC0,5/11-ST-2,5 order cod.1881419 CN13 12 position, pitch 2.5mm., plug connector PHOENIX CONTACT p# FK MC0,5/12-ST-2,5 order cod.1881422 CN16 9 position, pitch 2.5mm., plug connector PHOENIX CONTACT p# FK MC0,5/9-ST-2,5 order cod.1881396 3.5.1.3 Cables section SW1D4080 Power supply Minimum Maximum 0.5mm2 (AWG20) 2.5mm 2 (AWG12) Motor output Minimum Maximum 0.5mm2 (AWG20) 2.5mm2 (AWG12) Digital inputs Digital outputs Minimum Maximum 0.14mm2 (AWG25) 0.5mm2 (AWG20) Analog inputs Minimum Maximum 0.14mm2 (AWG25) 1.5mm2 (AWG16) Manual_SW1D____GB Release 1.9 Build 00 Page 49 - 73 3.5.2 Connectors, Dip-Switches, Jumpers, LEDs on SW1Dx142 SW1Dx142 : Layout and design of the connectors, Dip-switches, jumpers and LED's. 1 2 3 4 5 6 For the position of the connectors, refer to the figures of paragraph: 2.1.3 Dimensions SW1Dx142. i The JMP700 jumpers have to be positioned (when required) as in the figure here below. correct position of JMP700 jumpers Manual_SW1D____GB Release 1.9 Build 00 Page 50 - 73 3.5.2.1 Pin connectors SW1Dx142 Connectors of drive SW1D2142 and SW1D3142. CN1 : Power Supply & Motor 6 position, pitch 3.81mm., PCB header connector Pos 1 2 3 4 5 6 Name GND V+ A A/ B B/ PWR Input PWR Input PWR Output PWR Output PWR Output PWR Output Characteristics Negative power supply Motor Positive power supply Motor Phase A motor Phase A/ motor Phase B motor Phase B/ motor CN1A : Logic Supply 2 position, pitch 3.81mm., PCB header connector Pos 1 2 Name GND VLOG PWR Input PWR Input Characteristics Negative logic supply Positive logic supply CN2 : Digital Inputs Hi-Freq 9 position, pitch 2.5mm., PCB header connector Pos 1 2 3 4 5 6 7 8 9 Name +B0_IN0 -B0_IN0 +B0_IN1 -B0_IN1 +B0_IN2 -B0_IN2 +B0_IN3 -B0_IN3 B0_COM_IN Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input PWR Input Characteristics Positive terminal digital input B0_IN0 Negative terminal digital input B0_IN0 Positive terminal digital input B0_IN1 Negative terminal digital input B0_IN1 Positive terminal digital input B0_IN2 Negative terminal digital input B0_IN2 Positive terminal digital input B0_IN3 Negative terminal digital input B0_IN3 Reference common inputs (for use of 24VDC) CN3 : Digital Outputs Hi-Freq 4 position, pitch 2.5mm., PCB header connector Pos 1 2 3 4 Name +24V VSS B0_OUT0 B0_OUT1 Manual_SW1D____GB PWR Input PWR Input Digital Output Digital Output Characteristics Positive power supply digital outputs Negative reference power supply digital outputs Output Open Emitter (Source Current) B0_OUT0 Output Open Emitter (Source Current) B0_OUT1 Release 1.9 Build 00 Page 51 - 73 CN4 : Analog Inputs 6 position, pitch 2.5mm., PCB header connector Pos 1 2 3 4 5 6 Name V_POT AGND +IN_AN0 -IN_AN0 +IN_AN1 -IN_AN1 PWR Output PWR Output Analog Input Analog Input Analog Input Analog Input Characteristics Output positive power supply for potentiometers. Output negative references for potentiometers. Positive terminal analog input IN_AN_0 Negative terminal analog input IN_AN_0 Positive terminal analog input IN_AN_1 Positive terminal analog input IN_AN_1 CN5A - CN5B : RS232/RS485 version RJ45 , 8 position, PCB shielded header connector Pos CN5A CN5B (IN) (OUT) RS485 RS485 + RS232 1 +RX +RX 2 -RX -RX 3 n.c. RXD 4 n.c. DTR 5 0V_A 0V_A 6 n.c. TXD 7 +TX +TX 8 -TX -TX Characteristics Digital Input Digital Input Digital Input Digital Output PWR Output Digital Output Digital Output Digital Output Non-inverting input RS485 receiver Inverting input RS485 receiver Input RS232 receiver Output Data Transmit Ready RS232 Reference (mass) communication interface Output RS232 transmitter Non-inverting output RS485 transmitter Inverting output RS485 transmitter CN5A=CN5B : CanBus versions RJ45 , 8 position, PCB shielded header connector Pos Name 1 CAN_H 2 CAN_L 3 CAN_GND 4 n.c. 5 n.c. 6 n.c. 7 CAN_GND_O 8 n.c. Manual_SW1D____GB Characteristics Digital I/O Bus Line Dominant HIGH Digital I/O Bus Line Dominant LOW PWR Output Signal Ground Not connected Not connected Not connected PWR Output Optional Signal Ground Not connected Release 1.9 Build 00 Page 52 - 73 3.5.2.2 mating connectors SW1Dx142 The mating connectors are supplied with the drive SW1D2142 and SW1D3142. In case it is necessary to purchase more mating connectors, they can be bought from third parties with the codes: CN1 6 position, pitch 3.81mm., plug connector PHOENIX CONTACT p# MC 1,5/6-ST-3,81 order cod.1803617 CN1A 2 position, pitch 3.81mm., plug connector PHOENIX CONTACT p# MC 1,5/2-ST-3,81 order cod.1827703 CN2 9 position, pitch 2.5mm., plug connector PHOENIX CONTACT p# FK MC0,5/9-ST-2,5 order cod.1881396 CN3 4 position, pitch 2.5mm., plug connector PHOENIX CONTACT p# FK MC0,5/4-ST-2,5 order cod.1881341 CN4 6 position, pitch 2.5mm., plug connector PHOENIX CONTACT p# FK MC0,5/6-ST-2,5 order cod.1881367 CN5A/B RJ45 ,8 position, plug connector MOLEX p# FCC 68 compliants and equivalents order cod.44915-0011 order cod.44915-0021 3.5.2.3 Cables section SW1Dx142 Power supply Minimum Maximum 0.5mm2 (AWG20) 1.5mm 2 (AWG15) Motor output Minimum Maximum 0.5mm2 (AWG20) 1.5mm2 (AWG15) Digital inputs Digital outputs Minimum Maximum 0.14mm2 (AWG25) 0.5mm2 (AWG20) Analog inputs Minimum Maximum 0.14mm2 (AWG25) 1.5mm2 (AWG16) Manual_SW1D____GB Release 1.9 Build 00 Page 53 - 73 3.5.3 Guideline for wiring For a good installation of the drive: Guideline for wiring EMC Effects On SW1D4080 drives, connect the earthing terminal of CN1.1 to the main terminal of Protective Earthing (PE) of the installation. On the drives SW1Dx142, establish the PE connection by means of a screw for mechanical fixation which has a diameter of at least M4. Connection necessary Connection necessary for electrical safety. Increases the resistance for: irradiated disturbances and electrostatic flushes (ESD). Use shielded cables for the command signals. (digital and analog inputs and communication interfaces) Increases the resistance against disturbances and reduces the irradiated and conducted emissions. Connect the shields of the signal cables from both ends to the ground. Increases the resistance against disturbances and reduces the irradiated and conducted emissions. In some applications, depending on the lay-out of the machine, it can be more effective to connect the screen from one side. Increases the resistance against disturbances The use of shielded cables is also recommended for the connection of the motor. When a shielded cable is and reduces the irradiated and conducted used for the motor, connect the screen to terminal CN emissions. 1.1 and not to the body of the motor. Connect the body of the motor to the ground with a special cable. The body of the motor and the shield of the cable have to be connected to the ground terminal with 2 separated cables. Necessary connection for the electric security. Reduce the conducted emissions. Reduces the disturbances due to pulse Powering different drives with a single power supply, create a star connection to each drive to the terminals current. of the capacitor of the power supply filter (in the centre of the star). Maintain the connections (cables) as short as possible and avoid ground loops. Increases the resistance against disturbances and reduces irradiated and conducted emissions. The paths of the signal cables and controls must be separated and/or shielded from motor cables and power supply to avoid that the inductive coupling can cause incorrect operations. Increases the resistance against disturbances. Manual_SW1D____GB Release 1.9 Build 00 Page 54 - 73 3.6 User configurations Some internal parts of the SW1D____ unit can be potential sources of electric shocks, also for a certain period after shutting down the system, remove the CN1 connector and wait until the 7 segments display or the LED's are switched off. 3.6.1 Dip-Switches The SW1D_____ drives are equipped with a series of Dip-Switches with 8 contacts (DIP1) and a series of Dip-Switches with 4 contacts (DIP2). i The functionality of the Dip-Switches depend on the Firmware installed on the drive (A.2 FIRMWARE AND APPLICABLE NOTES). Refer to Software Manuals (A.1 Manuals and applicable documentation). The functionality of the Dip-Switches depend on the Firmware installed on the drive (A.2 FIRMWARE AND APPLICABLE NOTES). Refer to Software Manuals (A.1 Manuals and applicable documentation). At delivery, the Default configuration of the drive is as follows: DIP1.5=ON DIP1.8 = ON other contacts DIP1 = OFF DIP2 = all OFF i The position of the Dip-Switches is indicated in paragraph 3.5.1 Connectors, DipSwitches, Jumpers, Display of SW1D4080 and 3.5.2 Connectors, Dip-Switches, Jumpers, LEDs on SW1Dx142. NOTE: the Dip-Switches are only read by the system when it starts up. If it is necessary to change the configuration, the user needs to shut down the system, modify the configuration and start up to make the new configuration operational. 3.6.2 i Jumpers The position of the Jumpers is indicated in paragraph 3.5.1 Connectors, Dip-Switches, Jumpers, Display of SW1D4080 and 3.5.2 Connectors, Dip-Switches, Jumpers, LEDs on SW1Dx142. JMP600 : configuration of operational mode of the analog Inputs. NOTE: to access JMP600 it's necessary to remove the cover from the drive. NOTE: there are displayed different tables for JMP600 on SW1D4080 and SW1Dx142 because the pin-out of CN4 is different; the features are identical. SW1D4080 Analog Input IN_AN_0 JMP600 Analog position Input type 1 2 IN_AN_1 3 4 Manual_SW1D____GB Factory Connections Default Differential ±10V potentiometer Differential ±10V potentiometer Release 1.9 Build 00 +IN_AN0 CN4.4 -IN_AN0 CN4.5 V_POT CN4.1 AGND CN4.2 +IN_AN0 CN4.4 +IN_AN1 CN4.6 -IN_AN1 CN4.7 V_POT CN4.1 AGND CN4.2 +IN_AN1 CN4.6 Page 55 - 73 SW1Dx142 Analog Input JMP600 position IN_AN_0 1 2 IN_AN_1 3 4 Analog Input type Factory Connections Default Differential ±10V potentiometer Differential ±10V potentiometer +IN_AN0 CN4.3 -IN_AN0 CN4.4 V_POT CN4.1 AGND CN4.2 +IN_AN0 CN4.3 +IN_AN1 CN4.5 -IN_AN1 CN4.6 V_POT CN4.1 AGND CN4.2 +IN_AN1 CN4.5 Attention: the jumper JMP600 must not be closed in position 1 and 2 and position 3 and 4 at the same time. All other combinations are allowed. JMP700 : insertion termination resistances on the communication interfaces. JMP700 is accessible from the outside. JMP700 position RS232/RS485 Versions CanBus Versions 1 free Resistance 120Ω on the transmission Not connected line RS485 not inserted 1 inserted Resistance 120Ω on the Not connected transmission line RS485 inserted 2 free Factory Default Resistance 120Ω on the receiving Resistance 120Ω on line RS485 not inserted CanBus not inserted 2 inserted Resistance 120Ω on the receiving Resistance 120Ω line RS485 inserted CanBus inserted on Attention : with a RS485 Half-Duplex connection, insert only 1 jumper indifferently in position 1 or 2. 3.6.2.1 Opening the cover to modify jumpers All operation of changes in jumpers configuration must be done by qualified personnel. To proceed with the removal of the cover of the drive and the next change of the jumper configuration, you must follow the following guidelines : • make sure that there are no voltage applied to the drive; • disconnect all connectors from the drive; • unscrew the screws; • lift the cover accurately; • unscrew the 4 fixing screws of the board; • lift the board carefully; • change the jumpers configuration paying attention to not damage the connectors; For closing, follow the indications in revers order. Manual_SW1D____GB Release 1.9 Build 00 Page 56 - 73 3.7 First start up procedure Check all connections: power supply, motor and control logic. Make sure that all settings are correct for the application. Make sure that the characteristics of the DC power supply are adapted to the drive. If possible, remove the load from the motor shaft to avoid that incorrect movements cause damage. Supply of power and make sure that the display is switched on. If the display remains switched off, shut the system immediately down and verify if all connections are made correctly. Enable the current to the motor and verify if it is in torque. Execute a movement of some steps and verify if the rotation direction is the desired one. • • • • • • • 3.8 i If the rotation direction of the motor shaft has to be reversed, after having removed the power supply, reverse the connection of only one of the motor phases, for example A with A/ • Remove the power supply, fix the motor to the load and check the full functionality. Operational statuses and their signals The systems SW1D4080 and SW1Dx142 have different signalling systems of the operational statuses. The following paragraphs describe the different modes. 3.8.1 Operational statuses and signals of SW1D4080 Status The working conditions of drive SW1D4080 are displayed by means of signalling the 7 segments display. The following statuses can be displayed: “ ” Execution of the Boot program: as soon as it is powered it indicates that the boot program has been executed correctly. “ ” Initialization: the drive executes the start-up procedure (a few seconds after the start-up procedure has begun). “ ” Firmware execution statuses: -“ ” Correct functioning; - “ ”+“ ” Alternated characters: Attention: Inominal not allocated Limits : see the limits in the currents table. Action: configure the motor current; Restart: automatically after the configuration of the current; - “ ”+“ ” Alternated characters: Attention: Voltage of the DC bus near the maximal value (1); Limits: nnnVdc ≤ Vbus ≤ nnnVdc; Action: correct the DC power supply voltage to guarantee nnnVdc ≤ Vbus ≤ nnnVdc; Restart: automatically if nnnVdc ≤ Vbus ≤ nnnVdc; Note : nnn depends on the version; Manual_SW1D____GB Release 1.9 Build 00 Page 57 - 73 - “ ”+“ ” Alternated characters: Attention: drive temperature is near to the maximum value; Limits: 70°C ≤ Tsink ≤ 76°C Action: establish the cooling of the drive; Restart: automatically if Tsink ≤ 70°C; -“ ” flashing: Enable OFF, current zero; “ ” Missing Operating System: no software application stored on drive; “ ” Firmware update: Updating of new software in progress. “ ” Protection statuses: the drive has detected a protection; - “ ”+“ “ alternated characters: Protection: open motor phases; Limits: not significant; Action: check the connection of the motor; Restart: shut down to exit the memorized protection status; - “ ”+“ ”alternated characters: Alarm: over/under voltage (1); Limits: DC bus<nnnVdc and DC bus>nnnVdc; Note : nnn depends on the version: - “ ”+“ ”alternated characters: Protection: over current on the motor output; Limits: ; Action: check the cable and the motor on short circuits between the connection wires or to the motor body. Verify that the motor cable hasn't been disconnected from the active current in the phases. Restart: shut down to exit the memorized protection status or activate the RESET input; - “ ”+“ ” alternated characters: Protection: over temperature of the drive; Limits: heat sink temperature >75°C; Action: establish the cooling of the drive; Restart: automatically when the drive temperature is ≤ 75°C; “ ” error: an internal Software Error occurred in the drive; - “ ”+ “ ” alternated characters: Error: Security intervention of watchdog; Action: shut down to exit the memorized protection status or activate the RESET input; - “ ”+ “ ” alternated characters: Error: Internal Software Error; Action: contact EVER; -“ Manual_SW1D____GB ”+ “ ” alternated characters: Release 1.9 Build 00 Page 58 - 73 Error: missing calibration values; Action: contact EVER; - “ ”+ “ ” alternated characters: Error: management EEPROM; Action: contact EVER; The following start up sequences are displayed by the 7 segments display: “ ”→“ ”→“ →“ “ ” → “ ” → “ intervention “ ”→“ error. “ ”→“ ”→“ ” : correct start up sequence. “+“ ”+ “ ”+“ ”“ ”“ ”“ ” “ ”“ ”“ ” “ ”“ ”: alarm condition. ” “ ”: start up followed by a protection ”: start up as a result of an internal software ” : start up with missing operating system. (1) Note : the voltage value is measured on base of the power supply voltage for the motor V+. Any voltages out of Range of VLOG and/or 24 VDC are not detected. i The details of the type FAULT are send as an error message through the communication interface. Consult the software manual for more information (A.1 Manuals and applicable documentation). 3.8.2 Operational statuses and signals SW1Dx142 Status The working conditions of the drive SW1Dx142 are displayed signalling by means of the green FAULT LED light.. The statuses which can be visualized are: ● ● ● i Slow flashing (0.5 Hz) => normal functioning ; Quick flashing (10Hz) => FAULT condition; Slow flashing (10Hz) alternating Quick flashing (5 Hz) => Warning condition The details about the FAULT type are sent as an error message through the communication interface. Consult the software manual for more information Manual_SW1D____GB Release 1.9 Build 00 Page 59 - 73 3.9 Analysis of not reported malfunctions When one of the situations occur as mentioned here below, the drive doesn't function correctly and some error codes will not be shown on the display or by the LED's. DEFECT CAUSE ACTION The external fuse to the drive burns. It may be caused as a result of a wrong connection to the power supply. Correct the connection and substitute the fuse. Use exclusively fuses with characteristics described in paragraph 3.2 Power supply of the system. DEFECT CAUSE ACTION Noisy motor movement with vibrations. Can be caused due to a state of resonance. Increase the step angle resolution and/or change the velocity of the motor to exit from the resonance region. DEFECT CAUSE ACTION At high speed, the motor hasn't sufficient torque May be caused due to the automatic limitation of the motor currents. Try to reduce the fractionation of the step angle, increase the current in the motor (always remaining into the specifications of the drive and the motor), increase the power supply voltage, change the connection of the motor from “series” to “parallel”. In case it's not possible to solve the problem, and thinking that the system isn't damaged, contact the EVER technical support dpt providing the following information: The system version (SW1D___) and serial number printed on the system label. The complete problem description and the conditions where in the problem occurs. The description of the drive configuration in the application (Current, step type, functioning type, etc.) The value of the power supply voltage and the characteristics (single phase, three phase,ripple....). The description of the power feeding and the control signals cabling and the presence of other components in the installation. The description of the application (motor movements, loads, velocity, etc.). Return procedure To return a damaged drive to EVER please fill the RMA form available at www.everelettronica.it or through this direct link : http://www.support-everelettronica.com/en/rma.asp i An email including the RMA number and the return procedure will be send by EVER to the customer. Manual_SW1D____GB Release 1.9 Build 00 Page 60 - 73 4 SW1D____ Versions The code of the SW1D____ system is composed as follows: S W 1 D n nn n x x y n - 0 0 Customizations Number of axis : 1 = 1 axis I/O Configuration : 6 = 4 dig_in, 2 dig_out, 2 analog_in B = 16 dig_in, 10 dig_out, 2 analog_in Serial Interface : 0 = No Interface 3 = RS232/RS485 Field Bus : N = No Field Bus C = CANbus Max Motor current RMS : 080 = 8ARMS max 142 = 4.2ARMS max Voltage Supply range : 4 = 48÷140Vdc 3 = 24÷80Vdc 2 = 24÷40Vdc Voltage Supply tipe : D = DC 1 : product line identifier Drive position : W = Wall Mounting Control type : S = Software Controlled Example : 1. SW1D4080C0B1-00 : wall mounting drive, power supply 48÷140Vdc, motor current till 8ARMS, CANbus, no serial interface, 4+4 digital IN Hi-Freq, 2 analog IN, 2 digital out HiFreq, 8 Digital Input Std, 8 Digital Output Std, no customization. 2. SW1D2142N361-00 : wall mounting drive, power supply 24÷40Vdc, motor current till 4.2ARMS, no CANbus, 1 serial interface RS232/RS485, 4 digital Hi-Freq IN, 2 analog IN, 2 digital out Hi-Freq, no customization. The following table presents the characteristics of the available hardware versions. Manual_SW1D____GB Release 1.9 Build 00 Page 61 - 73 SW1D4080C061-00 SW1D4080N361-00 SW1D4080C0B1-00 SW1D4080N3B1-00 Base Base Base + expansion Base + expansion DC Power supply Motor (Nominal) 48 ÷ 140Vdc 48 ÷ 140Vdc 48 ÷ 140Vdc 48 ÷ 140Vdc DC Power supply Logics (Nominal) 24 ÷ 140Vdc (required) 24 ÷ 140Vdc (required) 24 ÷ 140Vdc (required) 24 ÷ 140Vdc (required) Motor current Max 8ARMS (max 11.28APK) Max 8ARMS (max 11.28APK) Max 8ARMS (max 11.28APK) Max 8ARMS (max 11.28APK) Hi-Freq Digital Inputs (1) 4 optoisolated 4 optoisolated 4+4 optoisolated 4+4 optoisolated 0 0 8 optoisolated 8 optoisolated Drive type Std Digital Inputs (2) Analog Inputs 2 2 2 2 Hi-Freq Digital Outputs (3) 2 optoisolated 2 optoisolated 2 optoisolated 2 optoisolated 0 0 8 optoisolated 8 optoisolated RS232/RS485 Interface No Yes No Yes CANbus Yes No Yes No EEprom Yes Yes Yes Yes 8+4 Dip-Switches 8+4 Dip-Switches 8+4 Dip-Switches 8+4 Dip-Switches 7 segm. + Dot Display 7 segm. + Dot Display 7 segm. + Dot Display 7 segm. + Dot Display IP20 IP20 IP20 IP20 165 x 97,5 x 54,3 mm (L x D x H) 165 x 97,5 x 54,3 mm (L x D x H) 165 x 97.5 x 62.3 mm (L x D x H) 165 x 97.5 x 62.3 mm (L x D x H) Std Digital Outputs Std (4) User configurations Display Protection degree Dimensions Weigth Working temperature Note : 680gr 680gr 750gr 750gr 5°C ÷ 40°C 5°C ÷ 40°C 5°C ÷ 40°C 5°C ÷ 40°C (1) = Hi-Freq digital inputs 5V / 24V 200KHz (real-time inputs) (2) = Std digital statuses inputs 5V / 24V 250Hz (statuses inputs) (3) = Hi-Freq 24V 40KHz (4) = Std digital statuses outputs 24V 250Hz (statuses outputs) SW1D2142C061-00 SW1D2142N361-00 SW1D2142C061-10 SW1D2142N361-10 SW1D3142C061-10 SW1D3142N361-10 Drive type Base Base Base Base Base Base DC Power supply Motor (Nominal) 24 ÷ 40Vdc 24 ÷ 40Vdc 24 ÷ 40Vdc 24 ÷ 40Vdc 24 ÷ 80Vdc 24 ÷ 80Vdc DC Power supply Logics (Nominal) 24 ÷ 40Vdc 24 ÷ 40Vdc 24 ÷ 40Vdc (required) 24 ÷ 40Vdc (required) 24 ÷ 40Vdc (required) 24 ÷ 40Vdc (required) Motor current Max 4.2ARMS (max 6APK) Max 4.2ARMS (max 6APK) Max 4.2ARMS (max 6APK) Max 4.2ARMS (max 6APK) Max 4.2ARMS (max 6APK) Max 4.2ARMS (max 6APK) Hi-Freq Digital Inputs (1) 4 optoisolated 4 optoisolated 4 optoisolated 4 optoisolated 4 optoisolated 4 optoisolated 0 0 0 0 0 0 Std Digital Inputs (2) Analog Inputs 2 2 2 2 2 2 Hi-Freq Digital Outputs (3) 2 optoisolated 2 optoisolated 2 optoisolated 2 optoisolated 2 optoisolated 2 optoisolated 0 0 0 0 0 0 RS232/RS485 Interface No Yes No Yes No Yes CANbus Yes No Yes No Yes No EEprom Yes Yes Yes Yes Yes Yes 8+4 Dip-Switches 8+4 Dip-Switches 8+4 Dip-Switches 8+4 Dip-Switches 8+4 Dip-Switches 8+4 Dip-Switches Led “POWER ON” Led “FAULT” Led “POWER ON” Led “FAULT” Led “POWER ON” Led “FAULT” Led “POWER ON” Led “FAULT” Led “POWER ON” Led “FAULT” Led “POWER ON” Led “FAULT” Std Digital Outputs Std (4) User configurations Display Protection degree Dimensions Weigth Working temperature Note : IP20 IP20 IP20 IP20 IP20 IP20 142 x 74 x 37 mm (L x D x H) 142 x 74 x 37 mm (L x D x H) 142 x 74 x 37 mm (L x D x H) 142 x 74 x 37 mm (L x D x H) 142 x 74 x 37 mm (L x D x H) 142 x 74 x 37 mm (L x D x H) 500gr 500gr 500gr 500gr 500gr 500gr 5°C ÷ 40°C 5°C ÷ 40°C 5°C ÷ 40°C 5°C ÷ 40°C 5°C ÷ 40°C 5°C ÷ 40°C (1) = Hi-Freq digital inputs 5V / 24V 200KHz (real-time inputs) (2) = Std digital statuses inputs 5V / 24V 250Hz (statuses inputs) (3) = Hi-Freq 24V 40KHz (4) = Std digital statuses outputs 24V 250Hz (statuses outputs) APPENDICES A.1 Manuals and applicable documentation Hardware Manuals SW1 : Manual code Name file (.pdf) Manual description MAN.HISW1D____ Manual_SW1D____IT SW1D____ Manual for Installation, Use and Maintenance. Software Manuals SW1 Standard MODBUS® (C0400) : Manual code Name file (.pdf) Manual description MAN.SESW1MODBUS Manual_SW1_Modbus_EN MODBUS® RTU Protocol Specification for SW1 (Slim Line Series Drives) Software Manuals SW1 Standard CANopen (C0300) : Manual code Name file (.pdf) Manual description MAN.SESW1CANOPEN Manual_SW1_CANopen_EN CANopen Protocol Specification for SW1(Slim Line Series Drives) Software manuals SW1 eePLC® (C0490) : Manual code Name file (.pdf) Manual description MAN.SESW1EEPLC Manual_SW1_eePLC_Studio_EN eePLC Studio Software Manual for SW1 (Slim Line Series Drives) MAN.SESW1LABRTM Manual_SW1_Labelling_Realtime Labelling Realtime Module Manual for eePLC® _Module_EN Manual_SW1D____GB ® Release 1.9 Build 00 Page 64 - 73 A.2 FIRMWARE AND APPLICABLE NOTES In this appendix are presented the available firmware versions and some practical examples of possible applications of the SW1D____ systems. The differences between the SW1D____ systems are present in the hardware and software configurations. On all hardware configurations it is possible to obtain different functionalities on base of the firmware programmed on the system. The principal firmware families can be summarized: Hardware Firmware Description Note SW1D____ C0300 CANbus Slave The Stepper Drive Module with CANbus communication protocol (CANopen) can be integrated as a slave in a system where in a master controller is present. SW1D____ C0400 MODBUS® Slave Stepper Drive Module with communication protocol MODBUS ® RTU (serial interfaces RS232 and RS485) can be integrated as a slave in a system where in a master controller is present. SW1D____ C0490 eePLC® Stepper Drive Module with communication protocol MODBUS ® RTU (serial interfaces RS232 and RS485) can be integrated as a slave in a system where in a master controller is present. For the operational details, refer to the related software manuals for each version. Follow examples of applications. The images are purely indicative and might display drives which are not described in this manual. Manual_SW1D____GB Release 1.9 Build 00 Page 65 - 73 A.2.1 MODBUS® and CANbus Slave The software configurations CANbus C0300 and MODBUS® Slave C0400 differ because of the different type of implemented communication bus and the relative software protocol. All other characteristics are identical. The “Slave” software configurations are developed to allow the controlling of the drive by a “Master” which normally is represented by a PC or PLC. All functionalities of the drive (parameters motor, digital inputs/outputs, motor inputs etc.) are parameterized through control strings and commands send by the Master. This type of software configuration is in particular suitable for applications with a machine master and for multi-axles systems. For details about the application, consult the relative software manuals. C0300 : CANbus (CANOpen) C0400 : RS232/RS485 (MODBUS® RTU) Manual_SW1D____GB Release 1.9 Build 00 Page 66 - 73 Manual_SW1D____GB Release 1.9 Build 00 Page 67 - 73 A.2.2 eePLC® The eePLC® technology patented by EVER, integrates the following functionalities in a unique device: ● ● ● Motion Controller PLC Real-time modules dedicated to specific applications The SW1D____ eePLC® (C0490) systems allow to realize a stand-alone motion control device able to manage autonomously all necessary processes in a machine without the need for a (PLC or PC) supervising controller. eePLC® Studio is a programming environment based on MS Windows® ,which allows users to develop and personalize autonomously in an easy way their motion control application. eePLC® Studio supplies an extremely simple interface to compile, execute, test and debug with one single software tool. The eePLC® Studio environment is composed of: ● ● ● user interface for a quick configuration of the specific application programming environment for Microsoft Windows® programming cable The parameters of the applications are inserted by answering a series of questions in specific dialog boxes: drive type, axles, programming of digital inputs and outputs, programming of analog inputs, configuration of motion criteria, criteria for the motor performances. For each of these aspects a specific dialog box appears with a special on-line help menu. The programming can be done quickly without the possibility to make syntax or compile errors. The communication interface can be used, besides for the programming of the functional parameters, to realize a control panel and to display data available for the user. In the following 2 figures, the typical LABELLING application is shown in the versions with PC connection and with a HMI. Manual_SW1D____GB Release 1.9 Build 00 Page 68 - 73 The figure presents a hypothetical stand-alone application based on the eePLC technology. For the details about the application, consult the eePLC® software manual. Manual_SW1D____GB Release 1.9 Build 00 Page 69 - 73 A.3 Cables and adapters A.3.1 Cable RS232 point-to-point SW1-Controller Description: cable for the direct point-to-point connection through RS232 of a SW1 drive to a controller (PC, PLC, GWC etc.) provided with a SUBD-9M connector with a compatible pin-out scheme. Controller SUB-D 9 Fem ale RS232 Cable SW1 RJ45-8_PLUG shielded cable SHLD 1 6 8 8 7 6 5 4 3 2 1 RXD_232 TXD_232 0V_RS RXD_232 3 8 4 9 1 0V_RS SW1 Controller RJ45-8 Plug pin # SUB-D 9 F pin # 1 2 3 4 5 6 7 8 Shield A.3.2 2 7 TXD_232 5 3 5 2 Shell Cable RS485 Full-Duplex point-to-point SW1-Controller Description: cable for the direct point-to-point connection through RS485 Full-Duplex (4 wires + GND) of a SW1 drive to a controller (PC, PLC, GWC etc.) provided with a SUBD-9M connector with a compatible pin-out scheme. Controller SUB-D 9 Fem ale RS485 Full-Dupplex Cable SW1 RJ45-8_PLUG 8 shielded twisted pairs cable SHLD 8 7 6 5 4 3 2 1 120R 1 120R + RX_485 -TX_485 + TX_485 6 2 + TX_485 7 0V_RS 3 -RX_485 -RX_485 + RX_485 8 4 -TX_485 1 0V_RS 120R 9 5 120R SW1 Controller RJ45-8 Plug pin # SUB-D 9 F pin # 1 2 3 4 5 6 7 8 Shield Manual_SW1D____GB 7 9 5 6 8 Shell Release 1.9 Build 00 Page 70 - 73 A.3.3 Cable RS485 Half-Duplex point-to-point SW1-Controller Description : cable for the direct point-to-point connection through RS485 Half-Duplex (2 wires + GND) of a SW1 drive to a controller (PC, PLC, GWC etc.) provided with a SUBD-9M connector with a compatible pin-out scheme. Controller SUB-D 9 Fem ale RS485 Half-Dupplex Cable SW1 RJ45-8_PLUG shielded twisted pairs cable SHLD 1 + RX_485 8 8 7 6 5 4 3 2 1 -TX_485 + TX_485 2 + TX_485 0V_RS 120R -RX_485 -RX_485 + RX_485 7 3 8 4 -TX_485 1 9 0V_RS 120R A.3.4 6 SW1 Controller RJ45-8 Plug pin # SUB-D 9 F pin # 1 -7 2 -8 3 4 5 6 7 -1 8 -2 Shield 6 -7 8 -9 5 5 Shell Cable CANbus point-to-point SW1-Controller Description: cable for the direct point-to-point connection through CANbus (CANOpen) of a SW1 drive to a controller (PC, PLC, GWC etc.) provided with a SUBD-9M connector with a compatible pin-out scheme. CANbus Cable SW1 RJ45-8_PLUG 8 Controller SUB-D 9 Fem ale shielded twisted pairs cable SHLD 8 7 6 5 4 3 2 1 1 120R 6 CAN_L CAN_H CAN_GND CAN_L CAN_H 2 7 CAN_GND 3 8 1 4 120R 9 5 SW1 Controller RJ45-8 Plug pin # SUB-D 9 F pin # 1 2 3 4 5 6 7 8 Shield Manual_SW1D____GB 7 2 3 Shell Release 1.9 Build 00 Page 71 - 73 A.3.5 Adapter RS232 SW1-Controller Description : adapter to use cables such as Ethernet Standard 8 wires, for the connection through RS232 of a SW1 drive to a controller (PC, PLC, GWC etc.) provided with a SUBD-9M connector with a compatible pin-out scheme. The adaptor has to be positioned on the Controller side. The colour of the cables is related to the commercial adapter: brand MH CONNECTORS type MHDA9-SMJ8-K. RS232 - ADAPTER 14 RJ45 ---> SUB-D SH LD CN5A 1 SH LD 1 2 3 4 5 6 7 8 6 BLACK YELLOW ORANGE RED GREEN BROWN GREY BLUE BROWN RXD_232 ORANGE TXD_232 RXD_232 2 7 0V_RS TXD_232 3 8 4 9 0V_RS 5 13 GREEN A.3.6 Adapter RS485 SW1-Controller Description : adaptor to use cables of the type Ethernet Standard 8 wires, for the connection through RS485 Full-duplex (4 wires + GND) of a SW1 drive to a controller (PC, PLC, GWC etc.) foreseen of SUBD-9M connector with compatible pin-out scheme. The adaptor has to be placed on the side of the Controller. The colour of the cables is referred to the commercial adaptor: brand MH CONNECTORS type MHDA9-SMJ8-K. RS485 - ADAPTER 14 RJ45 ---> SUB-D 1 1 2 3 4 5 6 7 8 BLACK YELLOW ORANGE RED GREEN BROW N GREY BLUE GREY +RX_485 BLACK +TX_485 BLUE -RX_485 YELLOW -TX_485 GREEN 0V_RS + RX_485 -RX_485 6 2 7 0V_RS 3 + TX_485 -TX_485 8 4 9 5 13 SH LD SH LD CN5A Manual_SW1D____GB Release 1.9 Build 00 Page 72 - 73 A.3.7 Adapter CANbus SW1-Controller Description : adapter to use cables of the type Ethernet Standard 8 wires, for the connection through CANbus (CANopen) of a SW1 drive to a controller (PC, PLC, GWC etc.) foreseen of a SUBD-9M connector with a pin-out compatible scheme. The adaptor has to be placed on the side of the Controller. The colour of the cables is referred to the commercial adaptor: brand MH CONNECTORS type MHDA9-SMJ8-K. CANBUS - ADAPTER 14 RJ45 ---> SUB-D SH LD SH LD CN5A 1 1 2 3 4 5 6 7 8 BLACK YELLOW ORANGE RED GREEN BROW N GREY BLUE CAN_H CAN_L CAN_GND CAN_GND GREY CAN_GND YELLOW CAN_L BLACK CAN_H ORANGE CAN_GND 6 2 7 3 8 4 9 13 5 Manual_SW1D____GB Release 1.9 Build 00 Page 73 - 73