Beckhoff AX2500 Manuale Utente

Assembly, Installation, SetupKeep all product manuals as a product componentduring the life span of the servo amplifier.Pass all product manuals to fu

2.2 Use as directedlThe servo amplifiers are components which are built into electrical equipment or ma-chines, and can only be commissioned as integr

3 Standards3.1 European Directives and StandardsServo amplifiers are components that are intended to be incorporated into electrical plantand machines

3.4 Approvals3.4.1 CE conformanceConformity with the EC Directive on EMC 89/336/EEC and the Low Voltage Directive73/23/EEC is mandatory for servoampli

4 Handling4.1 TransportlTransport only by qualified personnel in the manufacturer’s original packaginglAvoid shockslTransport temperature -25 to +70°C

5 Package5.1 Package suppliedIf you order a AX2500 series amplifier from us, you will receive:— AX250x or AX251x (master)— Mating connectors for X0, X

5.3 Part number schemeComparison (without expansion) device name -> UL part numberDevice Name UL Part NumberAX2503 S4036M-NAAX2506 S4066M-NAAX2513

6 Technical description6.1 Digital servo amplifiers in the series AX2500Minimum complexitylup to 8 axes in a single systemlonly one power supply feed

Integrated safetylsafe electrical separation to EN 50178 between the power input / motor connectionsand the signal electronics, provided by appropriat

6.2 Technical data6.2.1 Rated datamax. 230VAC max. 400VACMasterAX250MasterAX251Axis moduleAX252Rated data DIM 363636Rated supply voltage V~1 x 115V-10

6.2.2 Inputs / OutputsAnalog input, 14-bit resolution V±10common-mode voltage max. V±10Digital control inputs V low 0...7V, high 12...36V, 7mADigital

Previous editionsEdition Comments07/03 First edition07/05SSI emulation updated (Multiturn), UL/cUL information updated,typographical changes, chapter

6.2.5 Ambient conditions, ventilation, mounting positionStorage, transportð p.13Supply voltage tolerancesmain powerAX250xAX251xauxiliary supplyw/o bra

6.4 Control for motor holding brakeA motor holding brake (24V, max.1.5 A) can be controlled directly by the servo amplifier.Check voltage drop, measur

6.5 Grounding systemAGND – ground reference for analog signals, internal analog groundDGND – ground reference for digital signals and auxiliary supply

6.7 Switch-on/-off behaviorThis chapter describes the switch-on and switch-off behavior of the AX25 and the stepsrequired to achieve operational stopp

6.7.1 Behavior in standard operationThe behavior of the servo amplifier always depends on the current setting of a number ofdifferent parameters (e.g.

6.7.2 Behavior in the event of an error (with standard setting)The behavior of the servo amplifier always depends on the current setting of a number o

6.8 Stop / Emergency Stop Function to EN 602046.8.1 Stop: StandardsThe Stop function is used to shut down the machine in normal operation. The Stop fu

6.8.2 Emergency Stop: StandardsThe emergency Stop function is used for the fastest possible shut-down of the machinein a dangerous situation. The Emer

6.8.3 Implementation of the Stop Category 0Bringing the motor to a standstill by immediately switching off the amplifier power supply(STOPMODE & A

6.8.4 Implementation of the Stop Category 1Bringing the motor to a standstill by interrupting the mains supply and using controlledelectronic braking

1 General1.1 About this manual...71.2 Hints for the online edition (PDF format) ...

6.8.5 Implementation of the Stop Category 2The machine receives an operational stop (disable) command and brakes the drive usingthe set braking ramp (

6.9 Shock-hazard protection6.9.1 Leakage currentLeakage current via the PE conductor results from the combination of equipment andcable leakage curren

6.9.3 Isolating transformersIf protection against indirect contact is absolutely essential despite a higher leakage cur-rent, or if an alternative for

7 Mechanical Installation7.1 Important noteslProtect the servo amplifier from impermissible stresses. In particular, do not let anycomponents become b

7.3 MountingMaterial: 2 mounting rails to EN60715, min. length = system width + 40mm,make sure there is a conductive connection to the mounting plateM

7.4 DimensionsAX2500 Product Manual 35BECKHOFF 06/2007 Mechanical InstallationAX250x and AX251xAX252x

7.5 Add-on fanElectrical add-on fan for two axes to achieve rated power even under unfavourable ambi-ent conditions, required for AX25x6.To mount the

8 Electrical Installation8.1 Important noteslNot more than 7 axis modules can be connected to a master module.lCheck the combination of servo amplifie

8.2 Guide to electrical installationThe following notes should assist you to carry out the electrical installation in a sensiblesequence, without over

8.3 Wiring8.3.1 Important notesOnly professional staff who are qualified in electrical engineering are allowed toinstall the servo amplifier.The insta

7 Mechanical Installation7.1 Important notes...337.2 Guide to mechanical installation...

8.3.2 Shield connection on the front panel40 AX2500 Product ManualElectrical Installation 06/2007 BECKHOFFThe pre-assembled cables forAX2500 are provi

8.3.3 Requirements to cablesFurther information on the chemical, mechanical and electrical characteristics of thecables can be obtained from our custo

8.4 Components of a servo system42 AX2500 Product ManualElectrical Installation 06/2007 BECKHOFF24V supplyfusesdrivecontactorterminalsmotorPCControl /

8.5 Block diagramThe block diagram below just provides an overview.AX2500 Product Manual 43BECKHOFF 06/2007 Electrical Installation

8.6 Connector assignments44 AX2500 Product ManualElectrical Installation 06/2007 BECKHOFF

8.7 Connection diagram AX250x and AX251x (overview)AX2500 Product Manual 45BECKHOFF 06/2007 Electrical Installationð p.47ð p.68ð p.67ð p.56ð p.48ðp.51

8.8 Connection diagram AX252x (overview)46 AX2500 Product ManualElectrical Installation 06/2007 BECKHOFFð p.68ð p.56ð p.48ðp.51ffð p.50ð p.63ð p.63ð p

8.9 Power supply, master only8.9.1 Mains supply connection (X0)Three-phase suppliesDirectly to earthed supply, filter is integrated, fusing (e.g. fusi

8.10 DC Bus link (X0)Can be connected in parallel with further, identical masters (via terminals -DC and RBext).Only servo amplifiers with mains suppl

8.13 FeedbackEvery closed servo system will normally require at least one feedback device for sendingactual values from the motor to the servo drive.

9Setup9.1 Important notes...739.2 Setup software ...

8.13.1 Resolver (X5)Connection of a Resolver (2 to 36-poles) as a feedback system. The thermostat contactin the motor is connected via the resolver ca

8.13.2 Sine encoder 5V with BISS (X2)Connection of a single- or multiturn sine-cosine encoder (5V) with BISS interface as feed-back (from firmware rev

8.13.3 Sine Encoder with EnDat 2.1 or HIPERFACE (X2)Connection of a single-turn or multiturn sine-cosine encoder. Preferred types are theECN1313 and E

8.13.4 Sine Encoder without data channel (X2)Connection of a sine-cosine encoder without data channel as feedback. Every time the24V auxiliary voltage

8.13.5 Incremental or sine encoder with hall sensors (X2)Feedback devices (incremental or sine-cosine), which don't deliver an absolute informa-t

8.13.6 Incremental Encoder (X4)An incremental encoder can be used as standard motor feedback.Every time the 24V auxiliary voltage is switched on, the

8.14 Electronic Gearing, Master-slave operationIn the case of the “electronic gearing” functionality (see setup software and description ofGEARMODE pa

8.14.1 Connection to a AX2500 master, 5 V signal level (X4)You can link several AX2500 amplifiers in master-slave operation (encoder follower).Up to 1

8.14.3 Connection to a sine-cosine encoder master (X2)You can set up the AX2500 as a slave following a sine/cosine encoder (master-slaveoperation). Th

8.14.4 Connection to a SSI encoder (X4)You can set up the AX2500 as a slave following a synchronous serial absolute-encoder(master-slave operation). T

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8.14.5.1 Step/Direction with 5 V signal level (X4)Connection of the servo amplifier to a stepper motor control witha5Vsignal level. TheSubD connector

8.15 Encoder emulations8.15.1 Incremental encoder output - A quad B (X4)The incremental-encoder interface is part of the package supplied. Select the

8.15.2 SSI output (X4)The SSI interface (synchronous serial absolute-encoder emulation) is part of the packagesupplied. Select encoder function ROD (“

8.16 Digital and analog inputs and outputs8.16.1 Analog input (X3)The servo amplifier has a programmable input for analog setpoints.AGND (X3/1) must a

8.16.2 Digital inputs (X3)All digital inputs are electrically isolated through optocouplers.Technical data— Reference ground is digital-GND (DGND, ter

8.16.3 Digital outputs (X3)Technical characteristics— Ground reference is Digital-GND (DGND, terminal X1/4,5 on the master)— Alle digital outputs are

8.16.4 Digital I/O on the Master (X1)Technical characteristics— Ground reference is Digital-GND (DGND, terminal X1/4,5)— The logic is dimensioned for

8.17 RS232 interface, PC connection (X8), master onlyThe setting of the operating, position control, and motion-block parameters, can be car-ried out

8.18 Fieldbus connection8.18.1 CANopen interface (X7)The interface for connection to the CAN bus (default: 500 kbps). The master is fitted witha CAN i

8.18.2 PROFIBUS interface (X7), optionThis section describes the PROFIBUS interface for AX2500.Information on the range of functions and the software

1 General1.1 About this manualThis manual describes the digital servo amplifiers of the AX2500 series.A more detailed description of the field bus int

8.18.3 SERCOS interface (X7), optionThis section describes the SERCOS interface of the AX2500. Information on the range offunctions and the software p

8.18.4 EtherCat interface (X7), optionThis section describes the EtherCat interface of the AX2500. Information on the range offunctions and the softwa

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9 Setup9.1 Important notesOnly professional personnel with extensive knowledge in the fields of electricalengineering and drive technology are allowed

9.2 Setup software9.2.1 GeneralThis chapter describes the installation of the setup software DRIVE.EXE for the AX2500digital servo amplifiers.We offer

9.2.1.3 Hardware requirementsThe PC interface (X6, RS232) of the master is connected to a serial interface on the PCby a null-modem cable (not a null-

9.3 Quickstart, drive test9.3.1 Preparation9.3.1.1 Unpacking, Mounting and Wiring the Servo Amplifier1. Unpack servo amplifier and accessories2. Obser

9.3.1.3 Minimum Wiring for Drive TestThis wiring does not fulfill any requirements to safety or functionality of yourapplication, it just shows the re

9.3.2 ConnectlConnect the interface cable to a serial interface on your PC and to the serial interfaceX8 of the servo amplifier. USB to serial convert

If communication works, the drive selection screen appears:The master and axis modules, recognized in the sys-tem, with its station address and name a

1.4 Abbreviations usedThe abbreviations used in this manual are explained in the table below.Abbrev. MeaningAGND Analog groundBTB/RTO Ready to operate

9.3.4 Basic SetupOn the start screen click "Basic Setup" button.Regen Resistor: Change only if you use an external regen resistor. Most appl

9.3.5 Motor (synchronous)Press function key F12 (disable) before changing motor parameters.Motor Type: Select Synchronous Motor. If you use a linear m

9.3.6 FeedbackPress function key F12 (disable) beforechanging feedback parameters.Feedback Type:Select the feedback type used.Leave all other fields u

9.3.7 Save Parameters and RestartYou are going to finish setup and you have changed several basic parameters. Depend-ing on the parameters you changed

9.3.8 Jogging the Motor (Speed Control)Be aware that the actual position of the load permits the subsequent movingoperations. The axis could move to t

9.3.9 StatusActual warnings and errors are listed on the Status screen, which can be accessed onthe start screen by clicking the "Status" bu

9.4 Multi-axis systemsAll the axes in a system can be parameterized through the RS232 interface in the master.To do this, there is an internal connect

9.4.2 Example of connections for multi-axis systemAX2500 Product Manual 87BECKHOFF 06/2007 SetupAX252xAX252xAX250x / AX251xMMMFollow the safety instru

9.5 Key pad controls and status displaysTwo keys are fitted in the operating panel of the master. Here you can enter the basicaddress for the system a

9.5.3 Status display on the masterAX2500 Product Manual 89BECKHOFF 06/2007 Setup

2 Safety2.1 Safety InstructionslOnly properly qualified personnel are permitted to carry out activities such astransport, installation, commissioning

9.6 Error messagesAny errors that occur are shown in coded form by an error number in the LED display onthe front panel. All error messages result in

9.7 Warning messagesFaults which occur, but which do not cause a switch-off of the amplifier output stage(BTB/RTO contact remains closed), are indicat

9.8 Trouble ShootingDepending on the conditions in your installation, there may be a wide variety of reasonsfor the fault. In multi-axis systems there

10 Appendix10.1 GlossaryC clock Clock signalcommon-mode voltage The maximum amplitude of a disturbance (on bothinputs) which a differential input can

P P-controller Control loop with purely proportional behaviourphase shift Compensation for the lag between the electro-magnetic and magnetic fields in

10.2 IndexAX2500 Product Manual 95BECKHOFF 06/2007 Appendix! 24V aux. supply, interface ...47A Abbreviations ...8Ambient conditions .

96 AX2500 Product ManualAppendix 06/2007 BECKHOFFT Technical data ...18ambient conditions ...20cables ...41conductor cr

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