Servo Drives Indramat

Starting Lockout Function
in TDM Servo Drive Modules

DOK-ANAX**-TDM*ANL*FKT-ANW1-EN-P
Applications manual
mannesmann
Rexroth
engineering
Indramat
258241
2 TDM Starting Lockout 9.555.012.4-05 4/94
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About this Documentation
Starting Lockout Function in TDM Servo Drive Modules
Application Manual
9.555.012.4-05 EN / 4/94
File No. 4 / startinglockout TDM EN
9.555.012.4-03 DE / 3/93
This document serves:
to define possible application and operating conditions
to assist in project planning and installation
the commissioning and monitoring of the starting lockout function
Please note the guidelines outlined in Section 3 prior to
commissioning the starting lockout!
Table of Contents
Table of Contents Page
1. Possible applications of the starting lockout 7
1.1. A safe way to power down separate
working areas in machinery or plant ................................... 7
1.2. Operating individual axes during installation .................... 10
2. How the starting lockout works 11
2.1. The function of the motor control ...................................... 11
2.2. Using the starting lockout signal to safely
power down the motor ...................................................... 11
3. Installation and operating guidelines 14
3.1. Application guidelines for disconnecting the power mains,
standstills and securing against unintentional start-ups ... 14
3.1.1. Using the master switch to disconnect the mains ............. 14
3.1.2. Using the mains contactor to disconnect the mains ......... 14
3.1.3. Using the starting lockout to secure against intentional
start ups ............................................................................ 14
3.2. Connecting terminals ....................................................... 15
3.3. Sequence and procedures when using the starting
lockout ............................................................................... 16
3.4. Testing .............................................................................. 19
3.5. Examples of appliations .................................................... 19
4. Controller types and related plans 23
4.1. Summary of the types of controllers ................................ 23
4.2. Frontal view....................................................................... 24
4.3. Dimensional data .............................................................. 29
4.4. Installation dimensions...................................................... 31
4.5. Terminal interconnect diagrams ....................................... 34
1.1. A safe way to power
down separate working areas
in machinery or plant
1. Applications
Production systems, transfer lines and machine tools often consist of
spatially separated working areas, e.g., processing units, transport,
handling and storage systems (see Figure 3).
It is frequently necessary for personnel to either work or access
something in one working area while machinery is running in an
adjacent working area. This means that the drive axes within an
individuals working area must be secured against any uninten-
tional motions so that an individual is not at risk from dangerous
drive motions caused by a fault somewhere else in the facility.
If the drive axes in adjacent working areas and in the danger zone are
centrally connected to the power mains by a supply unit (e.g., supply
modules TVM, KDV, TVD, KVR), then each direct-drive motor must
be individually secured against unintentional motions. The danger
zone is the area in which the individual is working.
The starting lockout built into every INDRAMAT drive module makes
it easy to safely power down the motor of each axis with a simple
switch. This switch disconnects the output stage from the control
electronics with the use of a relay in the hardware. The user gains the
following advantages:
1. Savings in cost and space
A single power supply unit can feed the drive axes of several
working areas. Individual power supply units are not needed for
each drive axes in every spatially separated working area.
In several applications, a large three-phase motor contactor with
one or two axes is built into the motor supply lines. The motor
contactors make it possible to safely switch off these axis motors,
and to use only one supply unit to operate all drives.
This function is now easy to perform without a power contactor on
the drive module by controlling the starting lockout input. This
represents a savings in cost and space in the control cabinet.
1. Possible applications of the starting lockout
2. Increased safety and reliability:
Personnel safety and facility reliability are increased because a
mains contactor is not needed to disconnect the motor from the
drive module.
Eliminated are breakdowns caused by frequent switching, gum-
ming or burning of the contacts of this contactor due to high load
currents.
The danger of damage to the motor mains contacts from improper
handling or commissioning is eliminated.
The motors no longer brake uncontrolled with a power failure.
A motor contactor without a mechanical locking mechanism is
dropped in a power failure. This means the motor will idle and the
DC bus energy cannot be used for braking.
The existing mains contactor is presently used to secure against
unintentional motions. It is switched on and off once during every
duty cycle. With a starting lockout in an INDRAMAT drive module
the mains contactor does not need to be frequently switched, i.e.,
with every cycle. It is only used with E-stops, for maintenance and
inspection work throughout the plant, and with every total shut-
down. There is less wear and tear, and failures occur less
frequently.
If two faults occur simultaneously, then a motor can run up
uncontrolled if a motor contactor is used to secure against uninten-
tional motions .
Example:
speed command voltage at maximum due to fault in NC, and,
the motor contactor fails.
In the unlikely event that two faults occur simultaneously in the
power supply, then the motor will only jerk if an internal starting
lockout is in the INDRAMAT drive amplifier.
The internal control circuits and the output stage control are
internally locked for additional safety. An external motor contactor
does not ensure an additional internal locking of the drive electron-
ics.
1. Applications
1. Applications
The drive is secured by applying power to the starting lockout
input. This meets the following safety requirements:
I. Quickest possible standstill
The drives must be brought to a standstill as quickly as possible
in an emergency, in other words, in a dangerous situation (VDE
Guidelines 0113/EN 60204, Part 1, Para. 5.6.1).
If an external voltage failure should occur in the control circuit of the
AS starting lockout while the motor is rotating, then the drive is not
switched off and cannot continue to run. If a drive is running or
something is being processed at the time this happens, no tool or
workpiece will be damaged once the drive is cleared.
There can be a controlled electrical shutdown of the drives via the
NC and the drive module.
II. No automatic restarts
The drives cannot automatically restart when power is reapplied
to the starting lockout input (VDE 0113/EN 60204, Part 1, Para.
5.4, VDI 2853, Sec. 3.1.2.3). The drives are blocked.
III. Remaining in a safe state with a fault
A drive will remain in a safe state even with a fault, e.g., the control
voltage drops off at the lockout input. This is in accordance with the
Guidelines VDE 0113/EN 60204, Part 1, Para. 5.7.2 (Special
current circuits that serve safety purposes must take on their
secure state in the event of a failure.), and VDE 2853, Para.
3.1.2.1.1.
This condition is met because
the controller enable signal and the command input keep the drive
blocked, and,
once the fault has occurred, the mains contactor immediately
disconnects the power supply unit from the mains via the mains
contactor by the acknowledgement contact on the drive controller.
This completely switches all drives dead.
1.2. Operating individual axes
during installation
Drives are frequently run individually during installation. In this case
as well, personnel is often found within the danger zone. Generally,
the acknowledgement switch is used to switch on the mains contactor
to operate the axes. The mains contactor is then switched off again
if unwanted movement occurs, or at the end of an operation.
The safety of personnel within a danger zone is increased, if the
starting lockout is additionally built into INDRAMATs drive modules.
It helps to secure against unwanted starts during installation. This
is possible because the internal, forcibly-connected contacts mean
that the axes not being run can be additionally blocked.
In addition, using this relay to switch the motors on and off reduces
wear and tear. In effect, it also increases reliability and safety.
1. Applications
2.1. Motor controller function
2. How the Starting
Lockout Works
2. How the Starting Lockout Works
The power for motor current and thus the torque are advanced via the
final output stage (driver) of the drive module. The extent of the
current in the three phases of the three-phase motor is transmitted by
the controller electronics to the final output stage in the form of a
switch-mode pulse-width modulated signal.
In this case, the controller electronics serve the following purpose:
The greater the width of the pulse or the switch-mode ratio, the
greater the motor current. The three currents in the three phases of
the motor must additionally be adjusted, in terms of amount and
phase position, to the rotor position given at that point in time, for
sufficient torque to be produced.
There can be no motor revolutions at the motor shaft if there is no
pulse-width modulated signal at the final output stage.
The signal at terminals AS1-AS2 of INDRAMATs drive module
activates an internal relay which has two forcibly-connected contacts
(see Fig. 1). The relay has been quality controlled.
The first contact of this relay separates the internal controller voltage
of the final output stage in the hardware.
The control and controller electronics are simultaneously and addi-
tionally blocked. This achieves double redundancy.
The second contact (acknowledgement contact) signals the activa-
tion of the first contact to the outside.
A disconnection of the output stage controller is signalled via this
additional acknowledgement contact (contact) ASQ-ASQ, to verify
whether the relay has actually been activated or not. This contact is
forcibly-connected to the primary contact.
A relay failure or a wire break in the conductors to the starting lockout
inputs AS1-AS2 is immediately recognized by this zero-potential
acknowledgement contact in the external control. The central mains
contactor is then immediately disconnected.
This means it is not possible, in the event of a fault and given all
conceivable possibilities, that a switch-mode motor current (alternat-
ing current) could be produced within the electrical facilities of the
machine which could make the motor move.
It is also not possible for a current to flow through the motor even when
a fault occurs in one of the six final output stages. The drive does not
move. This fault is immediately acknowledged
as soon as personnel has moved out of the danger zone,
when the machine or sector of the facility has been properly
reblocked.
2.2. Using the starting lock-
out signal to secure power
off
and the drive is reactivated
by disconnecting starting lockout inputs AS1-AS2,
by electronically enabling the controller amplifier, and,
by entering the speed set-point.
This fault causes an excessively high current which triggers a
response from the fuses in the drive module. Then the mains
contactor disconnects all drives from the mains. Message BS on the
defective drive module also displays the fault overccurrent.
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Figure 1: How the starting lockout works
It is not permitted in these cases to just disconnect the mains
contactor or activate the starting lockout.
3. Installation and
Operating Guidelines
3.1. Guidelines for
disconnecting the mains,
for shutdowns and securing
against unwanted starts
The NC and the drive module cannot be used to operate the
drives once the starting lockout has been activated. The
motor is torque-free. A controlled operation of the axes is no
longer possible.
During the planning stage and at that time when the machine
is commissioned it should be determined that the starting
lockout can only be activated when the motor is standing
still. This applies to those cases where a torque-free operation
of the drive can cause damage. It is therefore necessary with
hanging axes to tightly clamp the axis before activating the
mechanical brake.
3. Installation and Operating Guidelines
The master switch must be used to disconnect all of the machines
electrical equipment from the mains in the following instances:
when cleaning the machine
for maintenance and repairs
prior to long breaks in operation
3.1.1. Using the master switch
to disconnect the mains
The master switch must adhere to the guidelines outlined in EN
60204/VDE 0113, Sec. 5.6.2. It is of extreme importance that it can
be locked into an off position.
In an emergency off/emergency stop situation the mains contactor
must be disconnected directly so that all main current circuits are
switched to zero potential. Those main current circuits that serve
safety purposes must be disconnected first, but not until these
measures have been concluded.
An emergency off situation is defined as danger to either personnel
or machinery in the presence of several faults or problems.
The starting lockout exclusively serves to secure the attached motors
against unintentional starts caused by a fault. Activating it while the
motor is running does not automatically guarantee that the drives will
be safely shutdown.
3.1.2. Using the mains
contactor to disconnect the
mains
3.1.3. Using the starting
lockout to secure against
unwanted starts
3.2. Connecting Terminals
Terminal Function Connected value
designation
AS1 - AS2 Controller for activating Voltage: 2030 volts DC
the starting lockout. Current: 20 mA DC at 24 volts
The red light-emitting diode AS is lit up Power: 0,5 watts
when the starting lockout is activated:
ASQ - ASQ Acknowledgement contact at zero Contact load: 24 volts, 1 amp.
potential (make contact). It acknowledges
activation to an external
controller/monitor.
TMI - TMI (1) Motor thermostat contact
connection. Evaluated in the
servo drive module.
TMO - TMO (1) Output message Contact load: 24 volts, 1 amp.
motor excess temperature.
Relay contact opens if motor
temperature too high.
BRI+ - BRI- (1) Input for controller voltage for 24 Volt 10%
motor blocking brake.
BRO+ - BRO- (1) Motor blocking brake connection,
in acc. with connection plan.
1) Not in TDM 1.3.
It is not possible to use (only) the starting lock in the following cases:
for the purpose of electrically separating the motor from the power
voltage of the drive module, e.g., when exchanging motors;
for any other maintenance, repair or cleaning work on the machine.
A master switch is used to disconnect the mains (see Section 3.1.1).
The function and reliability of the starting lockout in its interaction with
all other system components of the machine or facility are only as
good and as safe as the extent to which the following guidelines were
taken into consideration during planning and were checked during
the commissioning of the machine.
Figure 2 outlines the chronological sequence:
1. Shutdown drives:
The drives which are to be shutdown must first be brought to rest
before the starting lockout can be activated.
The starting lockout can only be used where a torque-free slowing
down can cause damage, and can only be activated when the motor
is standing still. It is otherwise not possible to electrically shutdown a
running drive with the use of a drive module.
A starting lockout should only be activated, even when the motor is
running, if a safe slowing down without a brake via the drive module
is guaranteed.
2. Drive electronically blocked:
The speed set-point input (terminals E1-E2, E3-OVM, E4-OVM)
must be set to zero, and the controller enable input signal (terminal
RF) of the drive amplifier must be connected to OVM. This increases
both safety and redundancy.
3. Activating the starting lockout:
A voltage of 20 ... 30 volts must be placed between the input terminals
AS1-AS2 to activate the starting lockout (0.5 watts at 24 volts of
applied voltage).
The switching of the starting lockout relay in the drive amplifier is
hereby confirmed to the external controller by closing the potential-
free acknowledgement contact (output ASQ-ASQ).
The red diode AS on the front plate lights up simultaneously.
4. Commissioning operation:
If one or several axes are to be operated during the commissioning
operation with protective devices cancelled, then this should only be
possible if qualified personnel enable this type of operation with a key
switch.
All drives must otherwise be disconnected from the mains via the
emergency off circuit, in this case automatically. The respective
commissioning guidelines must be followed.
5. Cancelling the protective devices
The protective devices for the drives defined danger zone can now
be cancelled. Guard doors can, for example, be opened, locks and
cutoffs for the danger zone can be cancelled.
3.3. Sequence and cycle
when using the starting lock-
out
Once the protective devices have been cancelled, then the automatic
emergency stop must be immediately activated if one of the following
faults occur. All the drives connected to the central supply module are
halted and hereby disconnected from the mains via the mains
contactor:
Activation of the starting lockout is not acknowledged. The acknowl-
edgement contact (output ASQ-ASQ) remains open. The emer-
gency off circuit must open because it is necessary for the external
controller to definitely recognize this fault.
Possible causes: The controller signal does not arrive at input AS1-
AS2 of the drive amplifier, or the internal starting lockout relay is
defective.
There is a fault in the acknowledgement line between output ASQ-
ASQ and the external controller, which evaluates the acknowledge-
ment via this acknowledgement contact. Or there is a fault in the
controller itself.
6. Access ready:
Once all the preceding steps have been performed and checked, then
all the drives in the disconnected working area have been secured
against unwanted movement.
It is now possible for personnel to enter this zone and access the
equipment.
Mechanical brakes jammed
E1
E2
RF
0VM
AS1
AS2
ASQ
ASQ
Controller
Emergency off
circuit, mains
disconnect
Speed set-point
n(set-point) at
input E1 - E2
Controller
enable signal at
terminal RF
Starting
lockout input
signal at
terminal
AS1 - AS2
t
t
0.5 sec.
NC stop: end of operation
drives halted
n(set-point) = 0
Controller enable
signal RF off
Drives halted and
electronically locked
t
Starting lockout AS
activated
t
t
Doors open,
protective device cancelled
A
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Servo drive module
n(set-point)
Set-point default
(e.g. from NC)
max. 0.2 sec.
Figure 2: Chronological sequence when using the starting lockout
3.4. Test
The following tests should be performed on each drive in sequence
after each initial commissioning and at set intervals during operation.
No personnel should be within the danger zone during these tests.
1. Shutdown all drives.
2. The starting lockout is activated by supplying voltage to terminals
AS1-AS2. Check whether the motor is now torque-free.
3. Cancel all protective devices, by opening the safety doors for
example.
4. As a test, clamp off the line at input AS1.
In this case, the mains contactor must immediately disconnect the
central supply module with its attached drives from the mains.
This function is guaranteed by the control circuit foreseen in the
design.
5. All possible faults which could occur should be simulated individu-
ally:
in the acknowledgement lines between input ASQ-ASQ and the
external controller, and,
in the evaluation of this signal in this controler.
The following should be checked for each simulated fault:
All drives running within the danger zone must be halted as quickly
as possible, and the mains contact has to disconnect the central
supply module with its attached drives from the mains.
In those cases where this does not happen when there is a fault,
appropriate measures need to be taken to exclude these faults to
the greatest possible extent, or trigger a sufficient emergency off
release.
6. If it is possible to activate the starting lockout even with the drives
running (for example, at the control panel), then it needs to be
checked whether, by activating the starting lockout with running
drives, a dangerous situation can develop if the drives run out
torque-free in every operating state.
Figure 3 outlines two spatially separated working areas equipped with
two or three drive axes.
Figure 4 demonstrates the controller circuit principle with minimum
effort:
Acknowledgement contact ASQ-ASQ has been, like the door con-
tact, integrated into the control circuit for the emergency off se-
quence.
Auxiliary contact K3 signals that the drives are ready to operate and
ready for use.
3.5. Application Examples
Access door
Mains
Working area I Working area II
Enclosure and
limitations of the
danger zone
Door lock
Door lock
Supply
module
Drive
module
Mains
contactor K1
Bb 1
A
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A
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Drive 1 Drive 2 Drive 3 Drive 4 Drive 5
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Drive
module
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Drive
module
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Drive
module
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Drive
module
A
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A
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A
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Q
A
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Q
Figure 3: A sketch outlining the starting lockout applications using the example of
separated working areas.
In accordance with VDE 0113/EN 60204, auxiliary contactor K4 is
made up of a relay with multichanel design which assures that contact
K4 will open even in the presence of a fault.
It it evident that the mains contactor drops off with a fault (=door
contact and acknowledgement contact ASQ-ASQ open), and the
drive package is disconnected from the mains.
The controller enable signal of the drive module and the set-point can
hereby be simultaneously set to zero. The running drives will then
brake and their energy will be fed into the d.c. voltage link circuit.
Additionally shown is the possibility of manual operations using the
key and acknowledgement switches.
Figure 4: Examples of starting lockout applications: Controller circuitry of Fig. 3.
2
4
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K
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K
b
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Off
K
a
On
Emergency off
Off
K
b
K
c
AS/K4/A+B
K
c
K
b
K
a
K
a
K
b
K
c
K
c
K
b
K
a
Variant A:
Variant B (no contact in this design):
Figure 5: Examples of applications for the multichannel design of auxiliary relay
K4 in Fig. 4.
4. Controller types
and related plans
The following servo drive modules with starting lockout are available
in addition to standard controllers (without starting lockout).
Standard controller Controller type
(without starting lockout) with starting lockout
TDM 1 TDM 1.3 (2)
TDM 3 TDM 3.3(1) (2)
TDM 4 TDM 4.3(1) (2)
--------- TDM 6.1(1)
--------- TDM 7.1(1)
(1) It is possible with these controllers to attach a motor thermostat
contact and the controller for the blocking brake (see Chapter
3.2).
(2) The additional plug-in terminal is plugged into the unit upon
delivery and is, therefore, not a part of the connecting accessories
E...-TDM. In other words, both the standard unit and the unit
with starting lockout have the same connecting accessories.
Related plans
Plan Servo drive module with Figures
starting lockout
Front view TDM 1.3 Fig. 6
TDM 3.3 Fig. 7
TDM 4.3 Fig. 8
TDM 6.1 Fig. 9
TDM 7.1 Fig. 10
Dimension TDM 1.3 Fig. 11
sheet TDM 3.3 Fig. 12
TDM 4.3 Fig. 12
TDM 6.1 Fig. 12
TDM 7.1 Fig. 12
Mounting TDM 1.3 Fig. 13
dimensions TDM 3.3 Fig. 14
TDM 4.3 Fig. 14
TDM 6.1 Fig. 14
TDM 7.1 Fig. 14
Fan dimensions TDM 3.3 Fig. 15
for TDM 4.3 Fig. 15
TDM 6.1 Fig. 15
TDM 7.1 Fig. 15
Connection plan TDM 1.3 Fig. 16
TDM 3.3 Fig. 17
TDM 4.3 Fig. 18
TDM 6.1 Fig. 19
TDM 7.1 Fig. 20
4. Controller types and related plans
+
1
5
V
0
V
M
-
1
5
V
T
a
c
h
o
B
L
C
1
B
L
C
2
B
L
C
3
0
V
M
X5
X6
ZERO ADJ
RESET
S1
X8
L+
L-
A3
A2
A1
POSITION FOR OPERATING PARAMETER
PROGRAMMING MODULE, PLUG IN
CORRECT MODULE, BEFORE START UP
Platz fr Betriebsdaten-Programmierungs-
modul. Vor dem Einschalten korrektes
Modul einstecken.
TDM ...-100-300-W0
236226 K39/91
CONTROLLER AC SERVO
SN240060-02029 A01
X1
X2
Servo drive module
Electrical connecting accessories
and programming module
A
C

P
O
W
E
R

O
U
T
P
U
T
D
A
N
G
E
R

H
I
G
H

V
O
L
T
A
G
E
M
o
t
o
r
a
n
s
c
h
l
u
WARNING
300 VDC INPUT
DISCHARGE TIME
Entladezeit > 1 Min.
POWER SUPPLY OUTPUT
VOLTAGE RATING, MUST
NOT EXCEED POWER
INPUT VOLTAGE DATA
Nur mit Versorgungseinheit
gleicher od. kleinerer POWER-
Spannungsangabe betreiben
+24V
15V
BLC1
BLC2
BLC3
Tacho
POWER
RF
Bb
TS
BS
Offset
adjust
E
3
E
1
E
4
E
2
B
b
B
b
R
F
+
1
5
V
-
1
5
V
I
r
e
d
M
A
T
s
e
n
s
e
0
V
M
0
V
M
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
1 2 3 4 5 6 7 8 9 10
FrontanTDM13
Busbars
Bus terminal X1
Programming module MOD with rating plate
Plug-in terminals
1 2 3 4
A
S
1
A
S
2
A
S
Q
A
S
Q
X9
1 2 3 4
Contr.: TDM 1.3-100-300-W1
Motor: MAC 112D-.-FD-.-C
Current (A): peak/cont.: 100/75
Operating rpm: 2000 MA: 0,05 V/A
MOD 1/1X077-002
Input rpm/V
E1/E2 2000/10
E3 2000/10
E4 2000/10
OPERATING PARAMETER: PROGRAMMING MODULE
ATTENTION: MOTORAND CONTROLLER-TYPE INDICATED ON THE MODULE MUSTAGREE
WITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCE
AND DANGER OF DAMAGE MAY OCCUR
Betriebsdaten-Programmierungsmodul
Achtung: Motor- und Verstrkertypenangaben mssen mit der
Installation bereinstimmen, sonst Schdigungsgefahr.
AS
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ATTENTION!
NEVER REMOVE OR INSTALL THIS
PLUG WHILE VOLTAGE IS APPLIED.
BLACK CABLE ON THE BOTTOM!
Verbindung nie unter Spannung
lsen bzw. stecken.
Schwarze Leitung immer unten!
Figure 6: Front view of TDM 1.3
ZERO ADJ
RESET
S1
X8
L+
L-
A3
A2
A1
P
O
S
I
T
I
O
N

F
O
R

O
P
E
R
A
T
I
N
G

P
A
R
A
M
E
T
E
R
P
R
O
G
R
A
M
M
I
N
G

M
O
D
U
L
E
,

P
L
U
G

I
N
C
O
R
R
E
C
T

M
O
D
U
L
E
,

B
E
F
O
R
E

S
T
A
R
T

U
P
P
la
t
z

f
r

B
e
t
r
ie
b
s
d
a
t
e
n
-
P
r
o
g
r
a
m
m
ie
r
u
n
g
s
-
m
o
d
u
l.

V
o
r

d
e
m

E
in
s
c
h
a
lt
e
n

k
o
r
r
e
k
t
e
s
M
o
d
u
l
e
in
s
t
e
c
k
e
n
.
CONTROLLER AC SERVO
X1
Servo drive module
TDM 3.3-020-300-W0
236226 K39/91
SN240060-02029 A01
D
A
N
G
E
R

H
I
G
H

V
O
L
T
A
G
E
D
O

N
O
T

O
P
E
R
A
T
E
W
I
T
H
O
U
T

P
O
W
E
R
Spannungs- und
isolationsgeprft
nach DIN VDE 0160
+24V
15V
BLC1
BLC2
BLC3
Tacho
PWR
RF
Bb
TS
BS
Offset
adjust
FrontanTDM33
Inputs and outputs
Feedback
Inputs and outputs
1 2 3 4 5 6 7 8 9
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10 11 12 13
E
1
E
2
E
3
E
4
+
1
5
V
M
+
1
5
V
M
I
r
e
d
0
V
M
F
B
M
A
I
i
s
t
T
T
s
e
n
s
e
1 2 3 4 5 6 7 8 9 10
B
b
-
1
5
V
M
0
V
M
R
F
B
b
+
2
4
V
L
0
V
L
1 2 3 4 5 6 7 8 9
+
1
5
V
M
-
1
5
V
M
0
V
M
0
V
M
B
L
C

2
B
L
C

1
B
L
C

3
T
a
c
h
o
X
4
1
X
4
2
X
4
3
Contr.: TDM 3.3-020-300-W0
Motor: MAC 090A-.-ZD-.-C
Input rpm/V: E1/E2: 2000/10
E3: 3000/10 E4: 1500/10
MOD 13/1X012-002
ATTENTION: MOTORAND CONTROLLER-TYPE INDICATED ON THE
MODULE MUSTAGREE
M
O
T
O
R

P
O
W
E
R

M
o
t
o
r
a
n
s
c
h
l
u
3
0
0

V
D
C

I
N
P
U
T
D
I
S
C
H
A
R
G
E

T
I
M
E
E
n
t
l
a
d
e
z
e
i
t

>

1

M
i
n
.
AS
Busbars
Bus terminal X1
Plug-in terminals
1 2 3 4 5 6 7 8 9 10 11 12 13
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
A
S
Q
A
S
Q
A
S
2
A
S
1
f
r
e
i
T
M
O
T
M
O
B
R
I
+
B
R
I
-
B
R
O
-
B
R
O
+
T
M
I
T
M
I
Plug-in terminals
ATTENTION!
lsen bzw. stecken.
ZERO ADJ
RESET
S1
X8
L+
L-
A3
A2
A1
P
O
S
I
T
I
O
N

F
O
R

O
P
E
R
A
T
I
N
G

P
A
R
A
M
E
T
E
R
P
R
O
G
R
A
M
M
I
N
G

M
O
D
U
L
E
,

P
L
U
G

I
N
C
O
R
R
E
C
T

M
O
D
U
L
E
,

B
E
F
O
R
E

S
T
A
R
T

U
P
P
la
t
z

f
r

B
e
t
r
ie
b
s
d
a
t
e
n
-
P
r
o
g
r
a
m
m
ie
r
u
n
g
s
-
m
o
d
u
l.

V
o
r

d
e
m

E
in
s
c
h
a
lt
e
n

k
o
r
r
e
k
t
e
s
M
o
d
u
l
e
in
s
t
e
c
k
e
n
.
CONTROLLER AC SERVO
X1
Servo drive module
Electrical connection accessories
TDM 4.3-020-300-W0
236226 K39/91
SN241060-02030 A01
D
A
N
G
E
R

H
I
G
H

V
O
L
T
A
G
E
D
O

N
O
T

O
P
E
R
A
T
E
W
I
T
H
O
U
T

P
O
W
E
R
Spannungs- und
isolationsgeprft
nach DIN VDE 0160
+24V
15V
BLC1
BLC2
BLC3
Tacho
PWR
RF
Bb
TS
BS
Offset
adjust
FrontanTDM43
Inputs and outputs
Feedback
Inputs and outputs
1 2 3 4 5 6 7 8 9 10 11 12 13
E
1
E
2
E
3
E
4
+
1
5
V
M
+
1
5
V
M
I
r
e
d
0
V
M
F
B
M
A
I
i
s
t
T
T
s
e
n
s
e
1 2 3 4 5 6 7 8 9
B
b
-
1
5
V
M
0
V
M
R
F
B
b
2
4
V
L
0
V
L
1 2 3 4 5 6 7 8 9 10
T

0
T

2
T

1
0
V
M
H
S

2
H
S

1
H
S

3
X
4
8
X
5
0
X
4
9
M
O
T
O
R

P
O
W
E
R

M
o
t
o
r
a
n
s
c
h
l
u
3
0
0

V
D
C

I
N
P
U
T
D
I
S
C
H
A
R
G
E

T
I
M
E
E
n
t
l
a
d
e
z
e
i
t

>

1

M
i
n
.
AS
Busbars
Bus terminal X1
Plug-in terminals
T

3
+
1
5
V
M
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
A
S
Q
A
S
Q
A
S
2
A
S
1
f
r
e
i
T
M
O
T
M
O
B
R
I
+
B
R
I
-
B
R
O
-
B
R
O
+
T
M
I
T
M
I
Plug-in terminals
1 2 3 4 5 6 7 8 9
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10 11 12 13
Contr.: TDM 4.3-020-300-W0
Motor: MAC 025C-.-QS-.-E
Input rpm/V: E1/E2: 10000/10
E3: 10000/10 E4: ----------
MOD 17/1X001-193
MODULE MUSTAGREE
ATTENTION!
lsen bzw. stecken.
ZERO ADJ
RESET
S1
X8
L+
L-
A3
A2
A1
P
O
S
I
T
I
O
N

F
O
R

O
P
E
R
A
T
I
N
G

P
A
R
A
M
E
T
E
R
P
R
O
G
R
A
M
M
I
N
G

M
O
D
U
L
E
,

P
L
U
G

I
N
C
O
R
R
E
C
T

M
O
D
U
L
E
,

B
E
F
O
R
E

S
T
A
R
T

U
P
P
la
t
z

f
r

B
e
t
r
ie
b
s
d
a
t
e
n
-
P
r
o
g
r
a
m
m
ie
r
u
n
g
s
-
m
o
d
u
l.

V
o
r

d
e
m

E
in
s
c
h
a
lt
e
n

k
o
r
r
e
k
t
e
s
M
o
d
u
l
e
in
s
t
e
c
k
e
n
.
CONTROLLER AC SERVO
X1
Servo drive module
Electrical connection accessories
TDM 6.1-020-300-W0
236226 K39/91
SN240060-02029 A01
D
A
N
G
E
R

H
I
G
H

V
O
L
T
A
G
E
D
O

N
O
T

O
P
E
R
A
T
E
W
I
T
H
O
U
T

P
O
W
E
R
Spannungs- und
isolationsgeprft
nach DIN VDE 0160
+24V
15V
BLC1
BLC2
BLC3
Tacho
PWR
RF
Bb
TS
BS
Offset
adjust
FrontanTDM6
Inputs and outputs
Feedback
Inputs and outputs
1 2 3 4 5 6 7 8 9
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10 11 12 13
E
1
E
2
E
3
E
4
+
1
5
V
M
+
1
5
V
M
I
r
e
d
0
V
M
F
B
M
A
I
i
s
t
T
T
s
e
n
s
e
1 2 3 4 5 6 7 8 9 10
B
b
-
1
5
V
M
0
V
M
R
F
B
b
+
2
4
V
L
0
V
L
1 2 3 4 5 6 7 8 9
+
1
5
V
M
-
1
5
V
M
0
V
M
0
V
M
B
L
C

2
B
L
C

1
B
L
C

3
T
a
c
h
o
X
4
1
X
4
2
X
4
3
Contr.: TDM 6.1-020-300-W0
Motor: MAC 090A-.-ZD-.-C
Input rpm/V: E1/E2: 2000/10
E3: 3000/10 E4: 1500/10
MOD 19/1X012-002
MODULE MUSTAGREE
M
O
T
O
R

P
O
W
E
R

M
o
t
o
r
a
n
s
c
h
l
u
3
0
0

V
D
C

I
N
P
U
T
D
I
S
C
H
A
R
G
E

T
I
M
E
E
n
t
l
a
d
e
z
e
i
t

>

1

M
i
n
.
AS
Busbars
Bus terminal X1
Plug-in terminals
1 2 3 4 5 6 7 8 9 10 11 12 13
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
A
S
Q
A
S
Q
A
S
2
A
S
1
f
r
e
i
T
M
O
T
M
O
B
R
I
+
B
R
I
-
B
R
O
-
B
R
O
+
T
M
I
T
M
I
Plug-in terminals
ATTENTION!
lsen bzw. stecken.
ZERO ADJ
RESET
S1
X8
L+
L-
A3
A2
A1
P
O
S
I
T
I
O
N

F
O
R

O
P
E
R
A
T
I
N
G

P
A
R
A
M
E
T
E
R
P
R
O
G
R
A
M
M
I
N
G

M
O
D
U
L
E
,

P
L
U
G

I
N
C
O
R
R
E
C
T

M
O
D
U
L
E
,

B
E
F
O
R
E

S
T
A
R
T

U
P
P
la
t
z

f
r

B
e
t
r
ie
b
s
d
a
t
e
n
-
P
r
o
g
r
a
m
m
ie
r
u
n
g
s
-
m
o
d
u
l.

V
o
r

d
e
m

E
in
s
c
h
a
lt
e
n

k
o
r
r
e
k
t
e
s
M
o
d
u
l
e
in
s
t
e
c
k
e
n
.
CONTROLLER AC SERVO
X1
Servo drive module
TDM 7.1-020-300-W0
236226 K39/91
SN241060-02030 A01
D
A
N
G
E
R

H
I
G
H

V
O
L
T
A
G
E
D
O

N
O
T

O
P
E
R
A
T
E
W
I
T
H
O
U
T

P
O
W
E
R
Spannungs- und
isolationsgeprft
nach DIN VDE 0160
+24V
15V
BLC1
BLC2
BLC3
Tacho
PWR
RF
Bb
TS
BS
Offset
adjust
FrontanTDM7
Inputs and outputs
Feedback
Inputs and outputs
1 2 3 4 5 6 7 8 9 10 11 12 13
E
1
E
2
E
3
E
4
+
1
5
V
M
+
1
5
V
M
I
r
e
d
0
V
M
F
B
M
A
I
i
s
t
T
T
s
e
n
s
e
1 2 3 4 5 6 7 8 9
B
b
-
1
5
V
M
0
V
M
R
F
B
b
2
4
V
L
0
V
L
1 2 3 4 5 6 7 8 9 10
T

0
T

2
T

1
0
V
M
H
S

2
H
S

1
H
S

3
X
4
8
X
5
0
X
4
9
M
O
T
O
R

P
O
W
E
R

M
o
t
o
r
a
n
s
c
h
l
u
3
0
0

V
D
C

I
N
P
U
T
D
I
S
C
H
A
R
G
E

T
I
M
E
E
n
t
l
a
d
e
z
e
i
t

>

1

M
i
n
.
AS
Busbars
Bus terminal X1
Plug-in terminals
T

3
+
1
5
V
M
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
A
S
Q
A
S
Q
A
S
2
A
S
1
f
r
e
i
T
M
O
T
M
O
B
R
I
+
B
R
I
-
B
R
O
-
B
R
O
+
T
M
I
T
M
I
Plug-in terminals
1 2 3 4 5 6 7 8 9
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10 11 12 13
Contr.: TDM 7.1-020-300-W0
Motor: MAC 025C-.-QS-.-E
Current (A): peak/cont.: 14 / 7
Input rpm/V: E1/E2: 10000/10
E3: 10000/10 E4: ----------
MOD 21/1X005-123
MODULE MUSTAGREE
ATTENTION!
lsen bzw. stecken.
3
2
5
O
u
t
l
e
t

f
o
r

c
o
o
l
i
n
g

a
i
r
m
i
n
.

8
0

m
m

f
o
r
c
o
o
l
i
n
g

a
i
r

o
u
t
l
e
t
3 5 5
m
i
n
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cooling unit LE 5-024 (24 volt fan)
Cooling unit LE 5 (115 volt or 220 volt fan)
LE5
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TDM
Standard type:
Obsolete type:
Figure 15: Fan dimensions for TDM 3.3, TDM 4.3, TDM 6.1 and TDM 7.1
Figure 16: Connection plan for TDM 1.3
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6
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8
9
10
11
12
13
14
15
Differential input
Summing input
Summing input
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Controller enable signal
Reference potential
Shield
Controller voltage
for external
use
Ext. current peak limitation
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Programming
module
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1
2
3
4
5
6
7
8
9
10
Ready to operate
Controller voltage
for external
use
Temperature monitoring
1
2
3
4
5
6
7
8
9
10
11
12
13
Differential input
Shield
Summing input
Summing input
Reference potential
Controller voltage
ext. current peak limitation
avail.
Current set point
Current actual value
Reference potential
Tacho signal for
ext. use
E1
E2
E3
E4
0VM
+15VM
Ired
FB
MA
Iist
0VM
Tsense
M
e
x
t
.

2
4

v
o
l
t

u
n
i
t

f
a
n
C
o
n
n
e
c
t
i
o
n

f
o
r
o
p
t
i
o
n
a
l
A
C

1
1
5
/
2
2
0

v
o
l
t
u
n
i
t

f
a
n
:
(
1
)
+
2
4
V
L
0
V
L
X
4
3
/
4
X
4
3
/
5
A
1

A
2

A
3
X
8
M
3
M
A
C

S
e
r
v
o

M
o
t
o
r
G

F
H

E
A

B

C

D
>
X
3
M
o
t
o
r

p
o
w
e
r
c
o
n
n
e
c
t
i
o
n
B
l
o
c
k
i
n
g

b
r
a
k
e
s
T
h
e
r
m
o
s
t
a
t
c
o
n
t
a
c
t
X
4
1
M
o
t
o
r

f
e
e
d
b
a
c
k
A
C
2
2
0
V
M
o
t
o
r
f
a
n
M
3
2
1
8
7
6
5
9
4
3
12
11
10
9
8
7
4
2
5
6
-15VM
0VM
+15VM
BLC 3
BLC 2
BLC 1
Tacho
0VM
Supply voltage
Tacho voltage
Reference potential
Shield
TMI
TMI
BRO+
BRO-
BRI-
BRO+
TMO
TMO
frei
AS1
AS2
ASQ
ASQ
14
13
12
11
15
10
9
8
7
6
5
4
3
2
1
Controller
motor blocking brake
Evaluation
motor thermostat contact
Controller
starting lockout
Acknowledgement
starting lockout
0VL
+24VL
+24VL
0VL
O
b
s
o
l
e
t
e

t
y
p
e
1
1
2
b
l
a
c
k
X
1
L
-
L
+
L
-
L
+
X
8
1

U
D
2

B
B
3

+
1
5
V
M
4
,
5
,
6
,
7

0
V
M
8
,
9

-
1
5
V
M
1
0

0
V
L
1
1

+
2
4
V
L
1
2

X
8
X
1
Anschlpl/TDM43
B
u
s
b
a
r
s
S
u
p
p
l
y

m
o
d
u
l
e
S
i
g
n
a
l
p
r
o
c
e
s
s
i
n
g
(
1
2

p
o
l
e

b
u
s

c
a
b
l
e
)
S
u
p
p
l
y

f
o
r

a
d
d
i
t
i
o
n
a
l

d
r
i
v
e

m
o
d
u
l
e
s

v
i
a

e
l
e
c
t
r
i
c
a
l

c
o
n
n
e
c
t
i
n
g

a
c
c
e
s
s
o
r
i
e
s
P
o
w
e
r
D
C

3
0
0

v
o
l
t
s
(
b
u
s
b
a
r
s
)
S
e
r
v
o
a
n
t
r
i
e
b
s
m
o
d
u
l

T
D
M

4
.
3
B
u
s

c
o
n
n
e
c
t
i
o
n
c
a
b
l
e
D
r
i
v
e

c
o
m
p
o
n
e
n
t

f
e
e
d
i
n

v
i
a

e
l
e
c
t
r
i
c
a
l

c
o
n
n
e
c
t
i
n
g

a
c
c
e
s
s
o
r
i
e
s
Programming
module
MOD 17 / MOD 18
X
5
0
X
4
9
Bb
Bb
RF
+24VL
0VL
+15VM
0VM
-15VM
T
1
2
3
4
5
6
7
8
9
Controller voltage
for external
use
1
2
3
4
5
6
7
8
9
10
11
12
13
Differential input
Shield
Summing input
Summing input
Reference potential
Controller voltage
avail.
Current set point
Reference potential
Tacho signal for
ext. use
E1
E2
E3
E4
0VM
+15VM
Ired
FB
MA
Iist
0VM
Tsense
A
1

A
2

A
3
X
8
M
3
M
A
C

S
e
r
v
o

M
o
t
o
r
G

F
H

E
A

B

C

D
X
4
8
>
X
3
M
o
t
o
r

p
o
w
e
r
c
o
n
n
e
c
t
i
o
n
B
l
o
c
k
i
n
g

b
r
a
k
e
s
T
h
e
r
m
o
s
t
a
t

c
o
n
t
a
c
t
M
o
t
o
r

f
e
e
d
b
a
c
k
TMI
TMI
BRO+
BRO-
BRI-
BRI+
TMO
TMO
frei
AS1
AS2
ASQ
ASQ
14
13
12
11
15
10
9
8
7
6
5
4
3
2
1
Controller
Evaluation
Controller
starting lockout
Acknowledgement
starting lockout
0VL
+24VL
+24VL
0VL
2
10
9
8
7
6
5
4
11
12
3
1
10
9
8
7
6
4
3
2
1
5
0VM
+15VM
HS 3
HS 2
HS 1
T3
T2
T1
T0
Tacho signal
Shield
Supply voltage
A
C
2
2
0
V
M
o
t
o
r

f
a
n
M
Ready to operate
M
F
7
X
7
3
X
7
4
A
C

2
2
0

v
o
l
t
s
f
r
o
m

s
u
p
p
l
y
o
r

d
r
i
v
e
m
o
d
u
l
e

X
1
4
A
C

2
2
0

v
o
l
t
s
u
p
p
l
y

o
f
a
d
d
i
t
i
o
n
a
l

d
r
i
v
e
m
o
d
u
l
e
s
e
x
t
.

u
n
i
t

f
a
n
(
1
)
M
e
x
t
.

2
4

v
o
l
t

u
n
i
t

f
a
n
C
o
n
n
e
c
t
i
o
n
f
o
r

o
p
t
i
o
n
a
l
A
C

1
1
5
/
2
2
0

v
o
l
t
u
n
i
t

f
a
n
:
(
1
)
+
2
4
V
L
0
V
L
X
4
9
/
4
X
4
9
/
5
O
b
s
o
l
e
t
e

t
y
p
e
A
1

A
2

A
3
X
8
M
3
M
A
C

S
e
r
v
o

M
o
t
o
r
G

F
H

E
A

B

C

D
b
l
a
c
k
X
1
L
-
L
+
L
-
L
+
X
8
>
1

U
D
2

B
B
3

+
1
5
V
M
4
,
5
,
6
,
7

0
V
M
8
,
9

-
1
5
V
M
1
0

0
V
L
1
1

+
2
4
V
L
1
2

X
8
X
4
2
Anschlpl/TDM6
X
3
B
u
s
b
a
r
s
S
u
p
p
l
y

m
o
d
u
l
e
S
u
p
p
l
y

f
o
r

a
d
d
i
t
i
o
n
a
l

d
r
i
v
e

m
o
d
u
l
e
s

v
i
a

e
l
e
c
t
r
i
c
a
l

c
o
n
n
e
c
t
i
n
g

a
c
c
e
s
s
o
r
i
e
s
P
o
w
e
r
D
C

3
0
0

v
o
l
t
s
M
o
t
o
r

p
o
w
e
r
c
o
n
n
e
c
t
i
o
n
S
e
r
v
o
a
n
t
r
i
e
b
s
m
o
d
u
l

T
D
M

6
B
l
o
c
k
i
n
g

b
r
a
k
e
s
T
h
e
r
m
o
s
t
a
t
c
o
n
t
a
c
t
B
u
s

c
o
n
n
e
c
t
i
o
n
c
a
b
l
e
Programming
module
MOD 19 / MOD 20
D
r
i
v
e

c
o
m
p
o
n
e
n
t

f
e
e
d
i
n

v
i
a

e
l
e
c
t
r
i
c
a
l

c
o
n
n
e
c
t
i
n
g

a
c
c
e
s
s
o
r
i
e
s
X
4
1
M
o
t
o
r

f
e
e
d
b
a
c
k
X
4
3
1
1
2
X
1
S
i
g
n
a
l
p
r
o
c
e
s
s
i
n
g
A
C
2
2
0
V
M
o
t
o
r
f
a
n
M
Power
DC 300 volts
Signal
processing
3
2
1
8
7
6
5
9
4
3
12
11
10
9
8
7
4
2
5
6
-15VM
0VM
+15VM
BLC 3
BLC 2
BLC 1
Tacho
0VM
Supply voltage
rotor position acknowledgement
Tacho voltage
Reference potential
Shield
TMI
TMI
BRO+
BRO-
BRI-
BRO+
TMO
TMO
frei
AS1
AS2
ASQ
ASQ
14
13
12
11
15
10
9
8
7
6
5
4
3
2
1
Controller
Evaluation
Controller
starting lockout
Acknowledgement
starting lockout
0VL
+24VL
+24VL
0VL
1
2
3
4
5
6
7
8
9
10
Controller voltage
for external
use
Bb
Bb
RF
+24VL
0VL
+15VM
0VM
-15VM
T
Shield
Summing input
Summing input
Reference potential
Controller voltage
avail.
Current set point
Reference potential
Tacho signal for
ext. use
Differential input
E1
E2
E3
E4
0VM
+15VM
I red
FB
MA
I ist
0VM
T sense
Ready to operate
1
2
3
4
5
6
7
8
9
10
11
12
13
M
F
7
X
7
3
X
7
4
A
C

2
2
0

v
o
l
t
s
f
r
o
m

s
u
p
p
l
y
o
r

d
r
i
v
e
m
o
d
u
l
e

X
1
4
A
C

2
2
0

v
o
l
t
s
u
p
p
l
y

o
f
a
d
d
i
t
i
o
n
a
l

d
r
i
v
e
m
o
d
u
l
e
s
e
x
t
.

u
n
i
t

f
a
n
(
1
)
M
e
x
t
.

2
4

v
o
l
t

u
n
i
t

f
a
n
C
o
n
n
e
c
t
i
o
n
f
o
r
o
p
t
i
o
n
a
l
A
C

1
1
5
/
2
2
0

v
o
l
t
u
n
i
t

f
a
n
:
(
1
)
+
2
4
V
L
0
V
L
X
4
3
/
4
X
4
3
/
5
O
b
s
o
l
e
t
e

t
y
p
e
1
1
2
A
1

A
2

A
3
X
8
M
3
M
A
C

S
e
r
v
o

M
o
t
o
r
G

F
H

E
A

B

C

D
b
l
a
c
k
X
1
L
-
L
+
L
-
L
+
X
8
X
4
8
>
1

U
D
2

B
B
3

+
1
5
V
M
4
,
5
,
6
,
7

0
V
M
8
,
9

-
1
5
V
M
1
0

0
V
L
1
1

+
2
4
V
L
1
2

X
8
X
1
X
5
0
X
4
9
Anschlpl/TDM7
X
3
B
u
s
b
a
r
s
S
u
p
p
l
y

m
o
d
u
l
e
S
i
g
n
a
l
p
r
o
c
e
s
s
i
n
g
(
1
2

p
o
l
e
b
u
s

c
a
b
l
e
)
S
u
p
p
l
y

f
o
r

a
d
d
i
t
i
o
n
a
l

d
r
i
v
e

m
o
d
u
l
e
s

u
s
i
n
g

t
h
e

e
l
e
c
t
r
i
c
a
l

c
o
n
n
e
c
t
i
n
g

a
c
c
e
s
s
o
r
i
e
s
P
o
w
e
r
D
C

3
0
0

v
o
l
t
s
(
b
u
s
b
a
r
s
)
M
o
t
o
r

p
o
w
e
r
c
o
n
n
e
c
t
i
o
n
S
e
r
v
o
a
n
t
r
i
e
b
s
m
o
d
u
l

T
D
M

7
B
l
o
c
k
i
n
g
b
r
a
k
e
s
T
h
e
r
m
o
s
t
a
t
c
o
n
t
a
c
t
M
o
t
o
r

f
e
e
d
b
a
c
k
B
u
s

c
o
n
n
e
c
t
i
o
n
c
a
b
l
e
Programming
module
MOD 21 / MOD 22
D
r
i
v
e

c
o
m
p
o
n
e
n
t

f
e
e
d
i
n

v
i
a

e
l
e
c
t
r
i
c
a
l

c
o
n
n
e
c
t
i
n
g

a
c
c
e
s
s
o
r
i
e
s
1
2
3
4
5
6
7
8
9
Controller voltage
for external
use
Bb
Bb
RF
+24VL
0VL
+15VM
0VM
-15VM
T
TMI
TMI
BRO+
BRO-
BRI-
BRI+
TMO
TMO
frei
AS1
AS2
ASQ
ASQ
14
13
12
11
15
10
9
8
7
6
5
4
3
2
1
Controller
Evaluation
Controller
starting lockout
Acknowledgement
starting lockout
0VL
+24VL
+24VL
0VL
Shield
Summing input
Summing input
Reference potential
Controller voltage
avail.
Current set point
Reference potential
Tacho signal for
ext. use
Differential input
E1
E2
E3
E4
0VM
+15VM
I red
FB
MA
I ist
0VM
T sense
Ready to operate
1
2
3
4
5
6
7
8
9
10
11
12
13
2
10
9
8
7
6
5
4
11
12
3
1
10
9
8
7
6
4
3
2
1
5
0VM
+15VM
HS 3
HS 2
HS 1
T3
T2
T1
T0
Tacho signal
Shield
Supply voltage
A
C
2
2
0
V
M
o
t
o
r
f
a
n
M
M
F
7
X
7
3
X
7
4
A
C

2
2
0

v
o
l
t
s

f
r
o
m

s
u
p
p
l
y
o
r

d
r
i
v
e
m
o
d
u
l
e

X
1
4
A
C

2
2
0

v
o
l
t
S
u
p
p
l
y

o
f
a
d
d
i
t
i
o
n
a
l
d
r
i
v
e
m
o
d
u
l
e
s
e
x
t
.

u
n
i
t

f
a
n
(
1
)
M
e
x
t
.

2
4

v
o
l
t

u
n
i
t

f
a
n
C
o
n
n
e
c
t
i
o
n
f
o
r

o
p
t
i
o
n
a
l
A
C

1
1
5
/
2
2
0

v
o
l
t
u
n
i
t

f
a
n
:
(
1
)
+
2
4
V
L
0
V
L
X
4
9
/
4
X
4
9
/
5
O
b
s
o
l
e
t
e

t
y
p
e
Indramat

Servo Drives Indramat

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Servo Drives Indramat

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Starting Lockout Function

in TDM Servo Drive Modules

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