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INSTRUCTION MANUAL
03.S4.0EB-K100
KEB COMBIVERT S4
Size D / E
POWER TRANSMISSION
11/98
This manual – is valid for the frequency inverter KEBCO COMBIVERT S4 Servo Amplifier – Part number xx.S4.DxE-xxxx or xx.S4.ExE-xxx – must be made available to all users Before working with this unit you must familiarize yourself with it.
Pay special attention to the safety and warning guides. Make sure to read the entire instruction manual before starting the unit!
The KEBCO COMBIVERT S4 has very extensive programming capabilities. To make the operation and start-up simpler for the user, a special operator level was created in which the most important parameters are found. However, if these basic parameters are not sufficient for your application an application and reference manual are available for in depth programming. Consult KEBCO for more information.
The icons used in this manual are defined as follows:
Danger Warning Caution
Attention
Information
Used when the life or health of the user is at risk or when considerable damage to property can occur.
Must be observed! Special instructions for safe and trouble-free operation.
Helpful hint. Programming tip.
Table of Contents ANTRIEBSTECHNIK
1. 1.1 1.2 1.3
Introduction KEB COMBIDYN S4 ..................................... E 4 Part Code ...................................................... E 4 Application ..................................................... E 4
2. 2.1 2.2 2.3 2.4 2.5 2.6
Operating Specifications Moving or Rotating Parts ............................... E 5 High Operating Temperatures ....................... E 5 Connection Directions ................................... E 5 Interference Protection of Servo Controller ... E 6 Interference Protection of Electrical Plants ... E 6 Operating Directions ..................................... E 6
3. 3.1 3.2 3.3 3.4 3.5
Control Cabinet Installation Ambient Conditions ....................................... E 7 Type of Protection ......................................... E 7 Installation Instructions ................................. E 7 Calculations .................................................. E 8 Installation Conditions ................................... E 8
4. 4.1 4.2 4.3 4.4
Technical Data Technical Data 230 V Class .......................... E 9 Technical Data 400 V Class ........................ E 10 Torque-Speed Characteristics .................... E 12 Technical Data 230 V / 400 V Class ........... E 16
5. 5.1 5.2
Dimensions Dimensions Servo Controller ...................... E 17 Dimensions Servo Motor ............................. E 17
6. 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.8.1 6.8.2 6.8.3 6.8.4
Connection Survey ......................................................... E 18 1-phase Connection 230 V Class ................ E 20 3-phase Connection 230 / 400 V Class ....... E 21 Connection Incremental Encoder Simulation ..... E 22 Connection Resolver ................................... E 22 Connection SIN/COS Encoder .................... E 23 Cables .......................................................... E 23 Control Terminal Strip X2 ............................ E 24 Digital Inputs / Outputs ................................ E 25 Analog Inputs / Outputs ............................... E 25 Output Relay ............................................... E 25 External Voltage Supply .............................. E 25
7. 7.1 7.2 7.3 7.4 7.5
Operation Parameter Structure .................................... E 26 Parameter Survey ....................................... E 26 Selection and Changing of Parameters ....... E 27 Storing Parameter Value ............................. E 27 Error Message ............................................ E 27
8.
Parameter Description .............................. E 28
9. 9.1 9.2 9.3 9.4 9.5 9.6
Drive Mode Setting Possibilities ..................................... E 37 Condition ..................................................... E 37 Display and Keyboard ................................. E 37 Setpoint Display / Setpoint Presetting ......... E 37 Rotation Presetting ...................................... E 38 Start / Stop / Run ......................................... E 38
10. 10.1 10.1.1 10.1.2 10.1.3 10.1.4
Accessories Braking Resistor .......................................... E 39 Part Number ................................................ E 39 Technical Data ............................................ E 39 Dimensions ................................................. E 39 Connection .................................................. E 39
10.2 10.2.1 10.2.2 10.2.3
Radio Interference Suppression Filter ......... E 40 Technical Data ............................................ E 40 Connection .................................................. E 40 Dimensions ................................................. E 40
10.3 10.3.1
Braking Motor .............................................. E 41 Technical Data ............................................ E 41
10.4
Operator ...................................................... E 42
11.
Adjustment Assistance Speed Controller ...... E 43
12.
Error Diagnosis ......................................... E 44
E3
1. Introduction
1.1 KEB COMBIVERT S4
The servo system KEB COMBIVERT S4 consists of the components: – digital servo controller KEB COMBIVERT S4 (230V- or 400V class) – synchronous servo motor KEB COMBIVERT SM The synchronous servo motor is also available with brake. Refer to "Accessories Braking Motor " (page E 41)
1.2 Part Code
Servo System
03.S4.D20–3001 Sub-assembly
Rated speed
001 002 003 004 005 006 007 008
= = = = = = = =
Resolver / Incremental encoder simulation Resolver / Inc. enc. sim. / Interference suppression ERN 1387 / Incremental encoder simulation ERN 1387 / Inc. enc. sim. / Interf. suppr. Resolver / Incremental encoder input Resolver / Inc. enc. inp. / Interf. suppr. ERN 1387 / Inc. enc. inp. ERN 1387 / Inc. enc. inp. / Interf. suppr.
1 2 3 4 6
= = = = =
1500 2000 3000 4000 6000
Mechanic construc- 0 = tion of the motor 1 = 2 = 3 = E =
U/min U/min U/min U/min U/min
without brake / with featherkey to DIN with brake / with featherkey to DIN without brake / without featherkey with brake / without featherkey replacement part
Supply voltage
2 = 200 V class 4 = 400 V class
Housing design
D or E
Unit designation
S4
Unit size
M1…M4, 01…04, 11…14, 21…24
Regarding prefabricated motor, resolver and encoder cables refer to "Accessories Cable " (page E 23).
1.3 Application
The digital servo controller KEB COMBIVERT S4 serves exclusively for the control and regulation of the supplied synchronous servo motor KEB COMBIVERT SM.
The servo system KEB COMBIVERT S4 is a highly dynamic control drive it is connected and ready for operation within a short time.
E4
2. Operating Specifications ANTRIEBSTECHNIK
2.1 Moving or Rotating Parts • Motor shaft • Feed axis and parts connected to it
Prior to any work on the machine (e.g. exchange of tools), disconnect the machine and secure against unintended restart!
Safely secure movement range of machine during operation! Danger of injury!
• Housing of servo motor • Braking resistors
2.2 High Operating Temperatures °C 100
Motor housing and braking resistor can attain very high operating temperatures! Danger of injury!
0
2.3 Connection Directions A trouble-free and safe operation of the servo system is only warranted when the following connection instructions are observed. When deviated from, malfunctions and damages may occur in isolated cases. – – – –
The servo controller KEB COMBIVERT S4 is only designed for a fixed connection. Do not interchange power cable and motor line. Lay control and power lines separately (min. 10 cm distance). Connect control lines only to switching elements and setting devices (relay, switch, potentiometer), that are suitable for extra-low voltages. – Use shielded/twisted control lines. Connect the shield only single-sided to PE of the servo controller. – Use shielded motor cables. Connect shield to the Servo controller to PE and extensively connect to motor housing. – Earth servo controller very well: star-shaped earthing, avoid earth loops, shortest connection to main earthing terminal.
The connections on the control terminal strip and the encoder inputs show a safe seperation in accordance with VDE 0100. The person who sets up the systems or machines must ensure that the existing or newly wired circuit meets the VDE requirements for safe seperation.
E5
2. Operating Specifications
2.4 Interference Protection of Servo Controller
The control and power inputs of the servo controller are protected against interferences. An increased operational reliability and additional protection against malfunctions is achieved through following measures: – Use of mains filter when the mains voltage is affected by the connection of large consumers (reactive-power compensation equipment, HF-furnaces etc.) – Protective wiring of inductive consumers (solenoid valves, relays, electromagnets) with RC elements or similar devices to absorb the energy released at switch-off. – Separate laying of power lines as described in the connection directions to avoid inductive and capacitive coupling of interference pulses. Paired-twisted cables protect against inductive parasitic voltages, shielding provides protection against capacitive parasitic voltages. Optimal protection is achieved with twisted and shielded cables when signal and power lines are layed separately.
2.5 Interference Protection of Electric Plants
The servo controller KEB COMBIVERT S4 transmits waves of high frequency. Following measures can reduce the arising interference pulses that may effect electric plants in the vicinity of the servo controller: – Installation of the servo controller in a metal housing. – Shielded motor cables. The shield must be connected to PE of the servo controller and to the housing of the motor (connect extensive shield). The shielding shall not be used as protective earthing. Only an uninterrupted shield beginning as close as possible at the servo controller or servo motor ensures a safe function of the shielding. – Good earthing (metal-powder tape or 10 mm2 earth lead) – Use of radio interference suppression filters.
2.6 Operating Directions
To avoid premature ageing or destruction of the servo system KEB COMBIVERT S4 observe the following directions!
– Install a circuit interrupter between voltage supply and servo controller to permit the independent switch-off of KEB COMBIVERT S4. – Frequent switching between mains and servo controller is not permitted! – The switching between motor and servo controller during operation is prohibited! – The servo system KEB COMBIVERT S4 is to be operated under suitable conditions (see Ambient Condition).
E6
3. Control Cabinet Installation ANTRIEBSTECHNIK
3.1 Ambient Conditions
Altitude of site max. 3000 m –– A power reduction of 1 % per 100 m must be taken into account for site altitudes of 1000 m and more above sea level, i.e. 1500mNN = 95% PNominal
Max. permissible limit values:
Servon Controller KEB COMBIVERT S4
Servo Motor KEB COMBIVERT SM
Coolant inlet temper.- / Ambient temperature during operation
-10 °C…+45 °C
-5 °C…+40 °C
Storage temperature
-25 °C…+70°C
-25 °C…+70°C
Transport temperature
-25 °C…+70°C
-25 °C…+70°C
Relative humidity
3.2 Type of Protection
max. 95 % no condensation (identification "F" DIN 40040)
Servo controller KEB COMBIVERT S4: Servo motor KEB COMBIVERT SM: Shaft gland of servo motor:
IP 20 IP 65 IP 64
The type of protections are warranted only with correct installation and connection of the components.
3.3 Installation Instructions
– Stationary installation and earthing of the servo controller KEB COMBIVERT S4. – At the installation of the servo controller observe minimum distance to adjacing elements (see Installation Instructions). – No moisture or water shall penetrate into the servo controller. – Avoid penetration of dust into the servo controller. For installation in a dustproof housing sufficient heat dissipation must be provided. – Do not operate the servo system KEB COMBIVERT S4 in explosion-protected rooms. – Ensure sufficient heat emmission of the servo motor. – Protect servo controller and servo motor against aggressive gases and liquids. – Avoid any impacts or shocks on the servo motor. – Use suitable devices for fitting or taking off drive elements on the motor shaft (toothed wheels, belt-pulleys, clutches etc.) If other consumers which produce electric or magnetic fields or which effect the power supply are located in the vicinity of the servo controller, they must be positioned as far away as possible from the servo controller and steps must be taken to suppress interferences.
E7
3. Control Cabinet Installation
3.4 Calculations
Calculation of control cabinet surface:
A=
PV ∆T • K
Rate of air flow with fan cooling:
V=
3,1 • PV [m3/h] ∆T
[m2]
A = Control cabinet surface ∆T = Temperature difference
[m2] [K]
(Standardwert = 20 K)
K = Heat transfer coefficient
W m2•K
(Standardwert = 5 W ) m2•K
PV = Heat dissipation V = Air flow rate of fan
[W] [m3/h]
For detailed informaton please refer to the catalogs of the control cabninet manufacturers.
3.5 Installation Conditions 100 INPUT VOLTAGE XXXXXXXXXXX XXXXXXXXXXX CYCLE
KEB Antriebstechnik Karl E. Brinkmann GmbH D-32677 Barntrup
OUTPUT POWER XXXXXXXXXXXX VOLTAGE XXXXXXXXXX CURRENT XXXXXXXXXXXX AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ VER-NO. XXXXXXXXXXXXXXX˜ ART-NO. XX.F4.XXX-XXXX SER-NO. 95000001/XXXXXXX
Made in Germany
50
INPUT VOLTAGE XXXXXXXXXXX XXXXXXXXXXX CYCLE
KEB Antriebstechnik Karl E. Brinkmann GmbH D-32677 Barntrup
OUTPUT POWER XXXXXXXXXXXX VOLTAGE XXXXXXXXXX CURRENT XXXXXXXXXXXX AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ VER-NO. XXXXXXXXXXXXXXX˜ ART-NO. XX.F4.XXX-XXXX SER-NO. 95000001/XXXXXXX
Made in Germany
START ENTER F/R
INPUT VOLTAGE XXXXXXXXXXX XXXXXXXXXXX CYCLE
KEB Antriebstechnik Karl E. Brinkmann GmbH D-32677 Barntrup
START FUNC.
ENTER
SPEED
F/R
STOP
START FUNC.
ENTER
SPEED
F/R
STOP
ANTRIEBSTECHNIK
OUTPUT POWER XXXXXXXXXXXX VOLTAGE XXXXXXXXXX CURRENT XXXXXXXXXXXX AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ VER-NO. XXXXXXXXXXXXXXX˜ ART-NO. XX.F4.XXX-XXXX SER-NO. 95000001/XXXXXXX
Made in Germany
FUNC. SPEED STOP
ANTRIEBSTECHNIK
ANTRIEBSTECHNIK
100
Minimum distance
Warm air outlet
KEB COMBVERT S4
Cool air inlet
E8
50
Servo Controller
Servo Motor
[A]
Stall current
Line cross section
2)
Max. perm. Mains fuse
[mm ]
2
[A]
[KW]
[A]
Rated output current
Nominal power
[A]
[Hz]
Rated input current (1/3 -phase)
Line phases
Line frequency
Mains voltage
3
260
350
1,1
0,95
0,75
0,31
220
320
0,6
0,38
6000
1,4
6,6
9/20
3
140
210
0,31
0,65
0,6
0,38
6000
M3
1,8
7,8
9/20
4
140
210
0,45
1,0
0,8
0,5
6000
M4
1,8
1,4
0,59
4000
D
05
3,9
5,7
14/30
9
260
350
1/3
50 / 60 ± 2Hz
180…264 ± 0%
310
400
3,2
max. 5 x MNominal
1,5
0,47
3000
02
220
320
1,2
0,75
6000
4,2
6,8
14/30
14
310
400
5,3
2,8
2,3
0,72
3000
03
1) 2)
0,25
1,35
1,15
0,31
1,5
1,2
1,5
16 (1-phase) / 10 (3-phase)
0,3
1,5
1,7
0,38
2,4
1,5
0,38
2,0
2,3
0,47
2,4
2,0
0,59
2,6
2,2
0,75
2,7
3,0
1,5
16 (1-phase) / 10 (3-phase)
0,5
3,2
3,4
in relation to 230V nominal input voltage Recommended min. cross section of mains supply at rated power and cable length up to 30 m.
0,2
1,2
1,3
0,72
3,2
2,6
2,6 / 1,4 3,4 / 1,9 2,2 / 1,3 2,3 / 1,4 3,0 / 1,7 4,6 / 5,1 6,8 / 3,7 4,0 / 2,2 4,0 / 2,2 6,0 / 3,3 5,2 / 3,0
3,1
4,9
14/30
50 / 60 ± 2Hz 1/3
01 4000
180…264 ± 0%
D
1)
Controller housing
1,2
5,9
9/20
310
400
03
[V]
140
210
2
0,8
0,25
3000
max. 5 x MNominal 0,24
0,5
0,48
0,3
6000
M2
Size
1,0
Weight
[kg]
5,3
1
kx
[N]
FG
140
9/20
[N]
Perm. axial force FA
210
0,17
0,34
0,32
0,2
6000
M1
dk6 / l1
[N]
[kg•cm2]
Perm. radial force FR (at x=l1 /2)
Rotor moment of inertia
[Nm]
Pulse torque
[Nm]
Basic torque MN
[Nm]
[kW]
Nominal power
Stall torque Md0
[min ]
-1
Rated speed
Motor size
4.1 Technical Data 230 V Class
4. Technical Data ANTRIEBSTECHNIK
E9
Servo Controller
E 10
Servo Motor
[Nm]
Pulse torque
1)
[Nm]
Stall torque Md0
14
220
320
3,2
3,6
4,5
2,7
[Hz]
Line frequency
[A]
Stall current
Line cross section 2)
Max. perm. Mains fuse
[mm2]
[A]
[KW]
[A]
Rated output current
Nominal power
[A]
Rated input current
Line phases
[V]
Mains voltage 1)
2)
1,1
4,5
2,9
1,3
3,7
3,2
1,6
5,0
4,1
1,0
2,6
2,4
1,2
3,4
3,0
5,6
350
490
17
8,3
4,8
1,3
5,0
3,1
3,4
1,5
10
1,4
3,9
3,1
3,5
50 / 60 ± 2Hz
305…500 ± 0%
3
420
550
1,7
5,1
3,7
4,1
19/40
500
640
8,6
4,1
1,7
4000
30
500
640
14,8
9,6
6,6
2,1
3000
14
1,7
5,1
3,8
4,2
10,1
5,0
2,1
6,4
4,4
4,9
11,8
6,3
19/40 19/40
23
500
640
11,7
7,5
5,6
1,7
3000
13
8,4
17
770
1000
1,5
3,7
3,1
3,4
10,2
4,2
2,0
5,8
4,5
5,0
24/50
900
1100
6,5
2,0
3000
21
12,5
7,0
1,5
2000
in relation to 230V nominal input voltage Recommended min. cross section of mains supply at rated power and cable length up to 30 m.
0,92
2,8
2,2
3,3
6,5
4,1
19/40
10
420
550
4,5
1,4
3000
12
max. 5 x MNominal
2,1
1,3
6000
D
5,3
8,0
500
640
5,6
3,4
3,0
1,2
4000
Controller housing
2,5
240
330
3,2
1,0
3000
11
10
4,2
Weight
20
7,4
4,8
3,9
1,6
4000
14/30
280
370
4,1
1,3
3000
04
Size
6,8
kx
[kg]
[N]
FG
5,3
1,8
1,1
6000
2,8
03
14/30
260
[N]
Perm. axial force FA
dk6 / l1
350
[N]
Perm. radial force FR (at x=l1 /2)
[kg•cm2]
2,2
[Nm]
Basic torque MN
Rotor moment of inertia
0,92
[kW]
Nominal power
4000
[min ]
-1
Rated speed
Motor size
4.2 Technical Data 400 V Class
2,3
4,8
4,4
4,8
12,3
4,8
24/50
30
900
1100
21,0
12,0
11,0
2,3
2000
22
4. Technical Data
Servo Motor
Servo Controller
1)
[Nm]
Pulse torque
5,4
6,1
Line cross section
2)
Max. perm. Mains fuse
Nominal power
[mm ]
2
[A]
[KW]
2)
2,0
8,2 2,1
7,2
2,6
10,1
2,4
8,9
5,3
2,2
7,7
4,8
2,5
20
3,1
7,7
6,4
3,2
10,3
6,5
7,2
2,7
7,3
6,1
7,7
900
1100
13,0
2,7
2000
3,5
10,1
7,3
8,0
15,5
5,4
24/50
40
770
1000
28,0
15,5
11,2
3,5
3000
23
3,5
12,9
7,0
7,7
650
850
8,4
3,5
4000
in relation to 230V nominal input voltage Recommended min. cross section of mains supply at rated power and cable length up to 30 m.
1,4
6,7
5,5
[A]
4,9
Stall current
4,7
[A]
Rated output current
3,3
7,0
5,3
50 / 60 ± 2Hz
[A]
5,8
12,3
4,8
305…500 ± 0%
Rated input current
5,2
30
650
24/50
770
850
21,0 1000
3
[Hz]
3,6
10,2
4,2
24/50
17
650
850
12,5
Line phases
Line frequency
Mains voltage
1)
[V]
11,8
6,3
7,6
3,2
4000
12,0
10,0
3,1
3000
22
max. 5 x MNominal
8,4
5,2
2,2
4000
21
E
10,1
5,6
19/40
30
420
550
14,8
9,6
5,7
2,4
4000
14
Controller housing
8,3
23
350
490
11,7
7,5
4,1
2,6
6000
19/40
420
550
5,1
2,1
4000
13
12
5,3
Weight
4,8
19/40
17
350
490
8,6
5,6
3,2
2,0
6000
12
Size
8,0
kx
[kg]
20
[N]
FG 14/30
200
[N]
Perm. axial force FA
dk6 / l1
260
[N]
Perm. radial force FR (at x=l1 /2)
7,4
4,8
[Nm]
Stall torque Md0
[kg•cm2]
2,3
[Nm]
Basic torque MN
Rotor moment of inertia
1,4
[kW]
Nominal power
6000
04
[min ]
-1
Rated speed
Motor size
3,5
9,0
7,5
8,3
8,3
9,1
4,1
13,1
20,4
6,3
24/50
60
770
1000
41,0 1100 900
13,0
4,1
3000
20,5
17,0
3,5
2000
24
4. Technical Data ANTRIEBSTECHNIK
E 11
E 12
M4
Size
M3
Size
M2
Size
M1
Size
Rated speedl
4.3 Torque-Speed Characteristics
MN = 0,8
Md0 = 1,0
5xMN = 4,0
MN = 0,6
Md0 = 0,65
5xMN = 3,0
MN = 0,48
Md0 = 0,5
5xMN = 2,4
MN = 0,32
Md0 = 0,34
5xMN = 1,6
M
M
M
M
8000
6000 7500 8000
continuous duty
short-time duty
6000 7000 8000
continuous duty
short-time duty
6000 6500 8000
continuous duty
short-time duty
5000 6000
continuous duty
short-time duty
6000 U/min
n
n
n
n
4. Technical Data
04
Size
03
Size
02
Size
01
Size
3000 4000
M
4000
n
MN =4,1
Md0 = 4,8
5xMN = 20,5
MN = 2,3
Md0 = 2,8
5xMN = 11,5
M
continuous duty
short-time duty
continuous duty
short-time duty
3000
3000
2750 3000
4000
4000
n
n
Md0 = 4,8 MN =3,9
5xMN = 19,5
Md0 = 2,8 MN = 2,2
5xMN = 11,5
MN = 1,4
continuous duty
Md0 = 1,8
MN =1,5
short-time duty
5xMN = 7,0
Md0 = 1,8
5xMN = 7,5
2000
M
M
M
4000 6000
5500
6000
4250 5750
continuous duty
short-time duty
4000
continuous duty
short-time duty
4000
continuous duty
short-time duty
2500
continuous duty
n
n
n
n
MN = 2,3
Md0 = 4,8
5xMN = 11,5
MN = 1,8
Md0 = 2,8
5xMN = 9,0
MN = 1,2
Md0 = 1,8
5xMN = 6,0
MN = 0,6
continuous duty
MN = 0,75
short-time duty
5xMN = 3,0
MN = 0,8
n
M
Md0 = 0,95
short-time duty
5xMN = 3,75
4000 U/min
Md0 = 0,95
M
M
3000 U/min
Md0 = 0,95
5xMN = 4,0
Rated speed
M
M
M
M
8000
6000 7250 8000
continuous duty
short-time duty
6000 7000 8000
continuous duty
short-time duty
6000 7000 8000
continuous duty
short-time duty
6000
continuous duty
short-time duty
6000 U/min
n
n
n
n
4. Technical Data ANTRIEBSTECHNIK
E 13
E 14
14
Size
13
Size
12
Size
11
Size
n
5xMN = 20,5
M
3000 4000
n
MN = 5,7
n
MN = 6,6 3000 3250 4000
continuous duty
Md0 = 9,6
short-time duty
5xMN = 28,5
Md0 = 9,6
5xMN = 33,0
MN = 5,1
continuous duty
Md0 = 7,5
MN = 5,6
short-time duty
5xMN = 25,5
Md0 = 7,5
5xMN = 28,0
2750 3000
continuous duty
MN = 4,1 4000
4000
n
Md0 = 3,4 MN = 3,0
Md0 = 5,6
short-time duty
2500 3000
continuous duty
short-time duty
5xMN = 15,0
MN = 4,5
M
M
M
3000 U/min
Md0 = 5,6
5xMN = 22,5
MN = 3,2
Md0 = 3,4
5xMN = 16,0
Rated speed
M
M
M
M
5750
4750 5750
continuous duty
short-time duty
4250 5500
continuous duty
short-time duty
4500 5000
continuous duty
short-time duty
3750
continuous duty
short-time duty
4000 U/min
n
n
n
n
MN = 4,1
Md0 = 7,5
5xMN = 20,5
MN = 3,2
Md0 = 5,6
5xMN = 16,0
MN = 2,1
Md0 = 3,4
5xMN = 10,5
M
M
M
6000 7000 8000
continuous duty
short-time duty
6000 7250 8000
continuous duty
short-time duty
6000 6750 8000
continuous duty
short-time duty
6000 U/min
n
n
n
4. Technical Data
24
Size
23
Size
22
Size
21
Size
5xMN = 56,0
MN = 10,0
Md0 = 12,0
5xMN = 50,0
n
MN = 13,0
1750 2500 3000
continuous duty
MN = 17,0
4,5xMN = 58,5
Md0 = 20,5
short-time duty
M
Md0 = 20,5
5xMN = 85,0
1750 2500 3000
continuous duty
MN = 11,2
n
n
M
3500 4000
n
M
M
1750
continuous duty
short-time duty
continuous duty
short-time duty
3500 4000
3500 4000
2750 3500 4000
2500
continuous duty
short-time duty
2500
n
n
n
MN = 8,4
Md0 = 15,5
5xMN = 42,0
MN = 7,6
Md0 = 12,0
5xMN = 38,0
MN = 5,2
continuous duty
MN = 6,5
short-time duty
5xMN = 26,0
Md0 = 8,4
MN = 13,0
2500 3000
2500 3000
n
M
3000 U/min
Md0 = 8,4
5xMN = 32,5
Md0 = 15,5
short-time duty
M
1250
continuous duty
short-time duty
M
1000
continuous duty
short-time duty
M
2000 U/min
Md0 = 15,5
5xMN = 65,0
MN = 11,0
Md0 = 12,0
5xMN = 55,0
MN = 7,0
Md0 = 8,4
5xMN = 35,0
Rated speed
short-time duty
4000 4500 6000
continuous duty
M
3500 4500 6000
continuous duty
short-time duty
M
3500 4500 6000
continuous duty
short-time duty
M
4000 U/min
n
n
n
4. Technical Data ANTRIEBSTECHNIK
E 15
4. Technical Data
4.4 Technical Data 230 V / 400 V Class For horizontal positioning: FA1[N] = FA – (10 • dk6)
If the radial force takes no effect at x = l1/2, it applies:
For vertical positioning: FA1 = FA – FG
kx + 0,5 FR = FR(at x=l1/2)• ––––––––– kx + (x / l1)
FR
FA
FA1
FA
dk6 FR
FA1 x
FA1
FA l1
≈0,5•FA
FA
Load capability of servo motor I / Id 5
I [A]
4 ≥3
Id = f(n)
Id0 IN
0
400
800
0
20
40
t [ms]
0,00 s ! Adjustment of parameter nmax CP.7 and CP.8 must be "forward" observed!
-10 V
+10 V
Setting range: Resolution: Factory setting: Customer setting:
nmax "reverse"
Example:
0…10 % 0,1 % 0% %
0…10 % = 0…+/- 1 V
If CP.17 is adjusted to 5 % then the drive starts only at a setpoint value of +/- 0,5 V.
This parameter defines which variable is given out at analog output 1 (terminal X2.18).
Function Output A1 Value Output variable
Setting range: 0…6 Resolution: 1 Factory setting: 2 Remarks: ENTER-Parameter Customer setting: Value range at CP.19=1
0
actual speed
-6000…+6000 U/min
=^ -10V…+10V
1
apparent motor speed
0…25 A
=^
0…+10V
2
actual torque
0…25 Nm
=^
0…+10V
3
intermediate circuit voltage
0…1000 V
=^
0…+10V
4
speed reference variable
-6000…+6000 U/min
=^ -10V…+10V
5
system deviation (speed control) -6000…+6000 U/min
=^ -10V…+10V
6
setpoint torque
=^
0…25 Nm
Parameter CP.19 defines the amplifcation of the analog output signal at output A1 (terminal X2.18).
Amplification Output A1 +10 V
2)
Setting range: Resolution: Factory setting: Customer setting:
0…+10V5
-20…+20 0,01 ^ +10 V 3 x MRated =
1) 3)
-n
+n,I,U,M
-10 V
Calculation Example:
At 2000 U/min a measurement shall be taken at analog output A1 +10 V. CP.19 =
E 34
Characteristic 1: Amplification factor 1 Characteristic 2: Amplification factor 2 Characteristic 3: Amplification factor 0,5
value at amplification 1 ( s. CP.18 ) ––––––––––––––––––––––––––––– desired value at +10V
=
6000 U/min ––––––––––– 2000 U/min
=
3
8. Parameter Description ANTRIEBSTECHNIK
The analog output A2 (terminal X2.19) outputs the current speed of the servo systems. Parameter CP.20 defines the amplification of the analog output signal.
Amplification Output A2 2)
+10 V
1) 3)
-n
Setting range: -20…+20 Resolution: 0,01 Factory setting: +/– nRated ^= +/–10 V Customer setting:
+n
-10 V
Characteristic 1: Amplification factor 1 Characteristic 2: Amplification factor 2 Characteristic 3: Amplification factor 0,5
Standardization at amplification 1 (CP.20=1): 0…+/– 10 V
Calculation Example:
^
=
-6000…+6000 U/min
Rated speed of the servo system: 3000 U/min At 1000 U/min a measurement shall be taken at analog output A2 +10 V . value at amplification 1 ––––––––––––––––––––––––– desired value at +10V
CP.20 =
6000 U/min ––––––––––– 1000 U/min
CP.20 = CP.20 =
6
Defines the switching condition of digital output D1.
Switching Condition Output D1
Setting range: 0…20 Resolution: 1 Factory setting: 20 Remarks: ENTER–Parameter Customer setting:
! Refer to table Switching Conditions page E 36 !
E 35
8. Parameter Description
Defines the switching condition of digital output D2.
Switching Condition Output D2 Switching Conditions
! Refer to table below !
Setting range: 0…20 Resolution: 1 Factory setting: 18 Remarks: ENTER–Parameter Customer setting:
Digital output D1 and D2 Value 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Switching condition always active always active system switched on; no abnormal operating condition ready for operation and modulation enabled abnormal operating condition / Fault (CP.2 = A.xxx or E.xxx) inverter blocking after fault (E.xxx) prewarning level electr. protective motor relay (OH.2) exceeded after triggering of motor PTC-contact prewarning level OH.2 or dOH exceeded current controller in limitation speed controller in limitation any controller in limitation drive in acceleration phase drive in deceleration phase drive runs with constant speed drive runs with constant speed except speed 0 clockwise rotation – not at noP, LS, abnormal stopping or fault anti-clockwise rotation - not at noP, LS, abnormal stopping or fault
Only digital output D1 18 19 20
actual speed > 0,1 x rated speed apparent current > rated current torque > torque level CP.23
Only digital output D2 18 19 20
actual speed > speed level CP.24 apparent current > rated current torque > rated torque
Defines the torque level of digital output D1.
Torque Level Output D1
Defines the speed level of digital output D2.
Speed Level Output D2 E 36
Setting range: Resolution: Factory setting: Customer setting:
0…50 Nm 0,1 Nm 0,5 x MRated Nm
Setting range: Resolution: Factory setting: Customer setting:
0…16000 U/min 0,5 U/min 0,5 x nRated U/min
9. Drive Mode ANTRIEBSTECHNIK
9.
The Drive Mode is a special operating mode of the KEB COMBIVERT. It allows an easy manual startup. To activate the Drive Mode enter the corresponding password in CP.0. The passwords are listed on page E 48!
Drive Mode
9.1 Setting Possibilities
– Stop / Start / Run – Setpoint value – Direction of rotation
9.2 Condition
The control release must be activated (terminal stip X2). Control release (terminal X2.3 / X2.4) and analog torque limitation (terminal X2.16 / X2.17) are without function in the Drive Mode.
9.3
Display and Keyboard Indication of operating status / actual speed / setpoint speed.
Indication of direction of rotation Interface control Transmit "LED flickers"
START ENTER
FUNC.
F/R
SPEED STOP
Operating-/ Error display Normal "LED on" Error "LED blinks" Operator panel
e ENTER
FUNC.
F/R
SPEED STOP
alue
Decr
In c
START
eas es et
lu
et v es as re
va
9.4 Setpoint Display / Setpoint Presetting
The preset setpoint value is displayed for as long as the SPEED-key is pressed down.
START ENTER
FUNC.
F/R
SPEED STOP
Hold the SPEED-key pressed down and decrease the indicated value with the STOP-key.
Setpoint value preset : 0 – max.16000 U/min
START ENTER
FUNC.
F/R
SPEED STOP
Hold the SPEED-key pressed down and increase the indicated value with the START-key.
E 37
9. Drive Mode
9.5
Rotation Presetting
Presetting Possibilities:
F = forward (clockwise rotation) r = reverse (anti-clockwise rotation)
Every actuation of the ENTER-key causes a change of the rotation. START
START
ENTER
FUNC.
ENTER
ENTER
FUNC.
F/R
SPEED
F/R
F/R
SPEED
STOP
9.6
Start / Stop / RUN
Status "Stop" Inverter disconnected
STOP
Press key START once
Status "Start" Torque at speed "0"
START
START
START
ENTER
FUNC.
F/R
SPEED STOP
STOP
ENTER
FUNC.
F/R
SPEED STOP
Press key STOP once Press key START once
STOP START
Press key STOP once
START ENTER
FUNC.
F/R
SPEED STOP
Status "Run" The drive runs with the preset speed.
To change from Drive Mode to CP Mode press the keys "FUNC" and "ENTER" simultaneously and hold them for min. 3 s! ! Only possible in the status "Stop" !
E 38
10. Accessories ANTRIEBSTECHNIK
10.1
External Braking Resistor
The braking resistor heats up during the braking operation. If the braking resistor is installed in the control cabinet sufficient cooling of the cabinet interior must be provided and a sufficient distance to the KEB COMBIVERT S4 must be kept. Do not mount the external braking resistor below the servo controller !
10.1.1 Part No.
14.56.080 – 4008 Braking resistor 14.56.080 – 4018 Braking resistor 14.56.080 – 4028 Braking resistor
6 % c.d.f. 25 % c.d.f. 40 % c.d.f.
15.56.080 – 4008 Braking resistor 15.56.080 – 4018 Braking resistor 15.56.080 – 4028 Braking resistor
6 % c.d.f. 25 % c.d.f. 40 % c.d.f.
10.1.2 Technical Data Part No.
RB [Ohm]
PR 2) [kW]
Controller size
82 56
7,0 10,3
03…10 12
14.56.080 – 4xx8 15.56.080 – 4xx8
PN 1) [W] 6% 25% 40% 800 1200
2700 3700
3700 5500
1) Rated resistor value PN depends on the peak braking power and the cyclic duration factor c.d.f. [%] 2) Short-time taken up peak braking power PR Dimensioning servo controller : motor = 1 : 1 Marked value = Standard resistor (Other resistors on request!)
C
10.1.3 Dimensions
D A E
5,8 x12
B
Part No.
A
B
C
D
E
13.56.080-4008 13.56.080-4018 13.56.080-4028
426 430 630
64 190 190
92 230 230
120 145 145
466 468 668
14.56.080-4008 14.56.080-4018 14.56.080-4028
526 630 830
64 190 190
92 230 230
120 145 145
550 650 850
10.1.4 Connection PA
PA
PB
The external braking resistor is connected with the shortest possible line (twisted) to the terminals PA and PB.
PB
KEB COMBIVERT S4
E 39
10. Accessories
10.2
Radio Interference Suppression Filter
10.2.1 Technical Data
The servo controller KEB COMBIVERT S4 can be supplied ex factory with internal radio interference suppression filter. Base filters are available for the unit sizes 03, 05 and 10. Unit size 10 can only be delivered with an external filter.
Servo controller
Part.No.: Filter-kit
03 (D-Housing) 1)
07.U4.00D-B600
2)
12
250
05 (D-Housing) 1)
07.U4.00D-B600
2)
12
250
10 (D-Housing) 1)
10.U4.00D-BM00
8
500
12 (E-Housing)
12.U4.00E-CM00
22
500
1) 2)
IN [A] UN [V] Rated current Rated voltage
Dimensions Servo controller with base filter see Page E 17 only for 1-phase Servo controller
Radio Interference Suppression Filter
10.2.2 Connection
Connection 1-phase
Servo Controller
L
L1
N
L2
PE
PE
Radio Interference Suppression Filter
U V W PE
Servo Controller
L1
L1
L2
L2
L3
L3
PE
PE
Connection 3-phase
U V W PE
Ø6
10.2.3 Dimensions
275
290
12.U4.00E-CM00
200
40 80
E 40
M 3~
M 3~
10. Accessories ANTRIEBSTECHNIK
10.3
Braking Motor
The synchronous servo motor is alternatively available with permanent-magnet brake. Application:
10.3.1 Technical Data
– permanent-magnet single-disc holding brake – fail-safe brake to switch around standstill – breakdown-emergency braking (permissible on request)
Servo motor
Size
Holding brake
M1…M4
Type
Voltage DC
01…04 06.15.620-0477
[V]
24
24
[Nm]
1,2
6
[W]
8,4
13
0,07 • 10-4
0,6 • 10-4
[kg]
0,2
0,55
Servo motor
Size
11…14
21…24
Holding brake
Type 7D.05.100-4000
Holding torque Rating Moment of inertia Ground
Voltage DC Holding torque Rating Moment of inertia Ground
[kg•m2]
[V]
24
24
[Nm]
11
25
[W]
20
24
2,3 • 10-4
4,5 • 10-4
0,85
1,2
[kg•m2] [kg]
Regarding dimensions of braking motor refer to "Dimensions Servo Motor" (page E 17)
E 41
10. Accessories
10.4
Operator
As an accessory to the local operation an operator is necessary. To prevent malfunctions, the Servo Controller must be brought into nOP status before connecting/disconnecting the operator (open control release terminal X2.1). When starting the Servo controller whitout an operator, it is started with the last stored values or factory setting. The operator is obtainable in different versions:
Digital-Operator Part.-No. 00.F4.010-2009 5-digit LED-Display
Operating-/Error display Normal "LED on" Error "LED blinks"
Interface control Transmit "LED flickers"
Double function keyboard
Interface-Operator Part.-No. 00.F4.010-1009 In the Interface operator there is an additionally isolated RS232/RS485-Interface integrated. The RS232/485-parameterizing interface expands the KEB COMBIVERT S4 for communication with data communications equipment. Suitable wiring permits the physically isolated data transmission.
RS232/RS485
PE-Connection
! Connection see page E 23 !
Servo controller Parameterizing interface 5 4 3 2 1
9 8 7 6
E 42
PIN No. RS485 Norm 1 – 2 – 3 – 4 A' 5 B' 6 – 7 8 9
C/C' A B
Signal
Meaning
– TxD RxD RxD-A RxD-B VP
reserved Transmit signal / RS232 Receive signal / RS232 Receive signal A / RS485 Receive signal B / RS485 Supply voltage +5 V, Imax = 10 mA Data reference potential Transmit signal A / RS485 Transmit signal B / RS485
COM TxD-A TxD-B
11. Adjustment Assistance Speed Controller ANTRIEBSTECHNIK
Problem: very long transient
Problem: Speed overshoot too high
Assistance:Increase P-component (CP.12); eventually reduce I-component (CP.13)
Assistance:Increase P-component (CP.12); eventually reduce I-component (CP.13)
Problem: Maintained vibration Assistance:Increase P-component (CP.12)
Problem: Transient too slow/ remaining control deviation Assistance:Increase I-component (CP.13)
Problem: Overshoot too long
Problem: Maintained vibration with high amplitude
Assistance:Increase I-component (CP.13)
Assistance: Reduce I-component (CP.13)
E 43
12. Error Diagnosis
Display
E 44
Fault
Description
Underpotential
Occurs when the intermediate circuit voltage drops below the permissible value.
Overpotential
Occurs when the intermediate circuit voltage rises above the permissible value.
Overcurrent
Occurs when the output voltage exceeds the permissible value.
Overload
Occurs when the servo controller is overloaded.
Drive Overheat
Occurs when the servo motor exceeds the permissible operating temperature.
Overheat 2
Is triggered by the internal motor current surveillance. Function of an electronic protective motor relay.
External Fault
Occurs when the digital input I3 is activated at CP.15 = 0.
Encoder
Is indicated in case of missing supply voltage to the resolver.
Power Unit Code
Occurs when no defined power cicuit is recognized
Hybrid
Hybrid error
digital signal processor
Processor error
12. Error Diagnosis ANTRIEBSTECHNIK
Possible Cause
Fault Remedy
- Input voltage too low or unstable - Voltage losses due to incorrect cabling
- Check voltage suppply - Check input line
- Input voltage too high - Retarding torque too high
- Check voltage suppply - Connect braking resistor
- Short-circuit or ground fault at the output
- Determine exact cause and remove, next re-start
- middle torque too large - wrong cabling
- Reduce torque - Control cabling from the motor to the encoder system
-
-
PTC - triggering PTC - line defective Heat dissipation too low Ambient temperature too high
- Motor is overloaded
Let motor cool down Check PTC - line Observe correct installation See also ambient conditions page E 7
- Discharge motor - Reduce torque limit (Parameter CP.9)
- External error presetting - Remove external error and actuate RESET
! Only if parameter CP.15 = 0 !
- Short-circuit of reference voltage of the resolver
- Check resolver line
- Fault correction only ex works!
- Fault correction only ex works!
- Fault correction only ex works!
E 45
E 46
ANTRIEBSTECHNIK
E 47
Passwords
-----------------------------------------------------------------------------------
Passwords
E 48
# -----------------------------------------------------------------------------------
Customer "read only" Password Customer "on" Password Drive Password
100 200 500
POWER TRANSMISSION
Argentina
SILGE ELECTRONICA · Av. Mitre 950
RA-1602 Florida-Prov. BS.AS. Tel.: (54) 1/7610675
FAX: (54) 1/7604950
Belgium
S.A. Vermeire Belting N.V. · Rue de la Filature, 41 ·
B - 4800 Ensival (Verviers)
Tel.: (32) 87/322360
FAX : (32) 87/315071
Denmark
REGAL-Maskin Elektro A.S. · Industrievej 4 ·
DK - 4000 Roskilde
Tel.: (45) 46755544
FAX : (45) 46757620
Finnland
Advancetec Oy · Malminkaari 10 B · PL 149 ·
FIN 00701 Helsinki
Tel.: (358) 9/70029270
FAX : (358) 9/70029279
Israel
OMEGA ENGINEERING Ltd. · P.O. Box 1092
IL - 44110 Kfar- Saba
Tel.: (972) 9/7673240
FAX: (972) 9/7673398
Tel.: (31) 546/812121
FAX : (31) 546/810655
Netherlands Marsman Elektronica · En Aandrijvingen BV · Zeearend 16
NL - 7609 PT Almelo
Sweden
REVA-drivteknik AB · Slussgatan 13 ·
S - 211 30 Malmö
Tel.: (46) 40/771 10
FAX : (46) 40/79994
Switzerland
Stamm Industrieprodukte AG · Hofstraße 106 ·
CH - 8620 Wetzikon
Tel.: (41) 1/9325980
FAX : (41) 1/9325986
Spain
ELION, S.A · Farell 9 ·
E - 08014 Barcelona
Tel.: (34) 3/2982030
FAX: (34) 3/2965632
New Zealnd
Pneumatic Elec. Contr. Syst. (PTY) Ltd. · P.O. Box 47396
ZA - Durban / Greyville 4023
Tel.: (27) 31/23-2353
FAX : (27) 31/23-7421
Tunesia
H 2 M · 13, Rue El Moutanabi
TN - 1004, El Menzah
Tel.: (216) 1/238518
FAX : (216) 1/752599
India
Amtech Electronics PVT. LTD. · E-6, Gidc Electronics Zone
IND - Gandhinagar - 382044
Tel.: (91) 2712/25324
FAX : (91) 2712/24611
Ges. m.b.H.
UK
KEB (UK) Ltd. 6 Chieftain Buisiness Park, Morris Close Park Farm, Wellingborough Great Britain - Northants, NN8 6 XF Tel.: 0044 / 1933 / 402220 FAX: 0044 / 1933 / 400724
KEB - YAMAKYU Ltd. 711 Fukudayama, Fukuda Japan - Shinjo City, Yamagata (996) Tel.: 0081 / 233 / 29 / 2800 KEB YAMAKYU LTD FAX: 0081 / 233 / 29 / 2802
I TA L I A
s.r.l.
SOCIÉTÉ FRANÇAISE
Z.I. de la Croix St Nicolas 14, rue Gustave Eiffel France - 94510 LA QUEUE EN BRIE Tél.: 0033 / 1 / 49620101 FAX: 0033 / 1 / 45767495
Karl E. Brinkmann GmbH Postfach 11 09 D - 32677 Barntrup, Germany Tel.: 05263 / 401 - 0 ANTRIEBSTECHNIK FAX 05263 / 401 - 116
POWER TRANSMISSION KEBCO Inc. • USA Headquarters 1335 Mendota Heights Road St. Paul, MN 55120 PH:800-899-3226 / 651-454-6162 FAX:651-454-6198 WEB:www.kebco.com
Via Newton, 2 • I - 20019 SETTIMO MILANESE (Milano), Italy Tel.: 0039 / 2 / 33500782 FAX: 0039 / 2 / 33500790
With Sales Offices in: Atlanta, Georgia Columbus, Ohio Dallas, Texas
© KEBCO 03.S4.0EB-K100 11/98
ANTRIEBSTECHNIK
KEB-Antriebstechnik Ges.m.b.H. Ritzstraße 8 • A - 4614 Marchtrenk • Austria Tel.: 0043 / 7243 / 53586 - 0 FAX: 0043 / 7243 / 53586-21
