BOSCH REXROTH
BR 001-D
OTHER SYMBOLS:
BR001D, BR001 D, BR001-D, BR 001D, BR 001 D, BR 001-D
biuro@rgbelektronika.pl
+48 71 325 15 05
www.rgbautomatyka.pl
www.rgbautomatyka.pl
www.rgbelektronika.pl
YOUR
PARTNER IN
MAINTENANCE
Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS ∠
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PANELS
DRIVERS
At our premises in Wrocław, we have a fully equipped servicing facility. Here we perform all the repair
works and test each later sold unit. Our trained employees, equipped with a wide variety of tools and
having several testing stands at their disposal, are a guarantee of the highest quality service.
Purpose of Documentation The present manual provides information on the installation of the
ServoDyn D stand-alone inverters.
Validity The data specified above only serve to describe the product. No
statements concerning a certain condition or suitability for a certain
application can be derived from our information. The given
information does not release the user from the obligation of own
judgement and verification. It must be remembered that our products
are subject to a natural process of wear and aging.
Contents
Contents
Page
3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–1
3.1 Layout and mounting position . . . . . . . . . . . . . . . . . . . . . . . . 3–1
3.2 Protective earth connection between the modules . . . . . . 3–2
3.3 Connection cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–2
Contents
6 Connections on supply module . . . . . . . . . 6–1
6.1 Overview of DS..K xxx2 (in set-up mode) . . . . . . . . . . . . . . 6–1
6.2 Overview of DS..K xxx1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–2
6.3 Terminal strips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–3
6.4 Start logically linked to EMERGENCY-STOP switchgear . 6–6
A Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A–1
A.1 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A–1
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 1–1
and Controls
Safety instructions
1 Safety instructions
Please read this manual before commissioning the ServoDyn D invert-
ers. Store this manual in a place to which all users have access at any
time.
Before putting the drive inverters into operation, ensure that the machine
which the inverters are to be installed in meets the stipulations of the ma-
chinery directive (98/37/EEC, 98/79/EEC) and the EMC directive
(89/336/EEC).
Safety instructions
Safety instructions
Safety instructions
DANGER
This symbol is used wherever insufficient or lacking compliance with
instructions may result in personal injury.
CAUTION
This symbol is used wherever insufficient or lacking compliance with
instructions may result in damage to equipment or data files.
Safety instructions
DANGER
Danger of life through inadequate EMERGENCY-STOP devices!
EMERGENCY-STOP devices must be active and within reach in
all system modes. Releasing an EMERGENCY-STOP device must
not result in an uncontrolled restart of the system!
First check the EMERGENCY-STOP circuit, then switch the sys-
tem on!
DANGER
Danger for persons and equipment!
Test every new program before starting up a system!
DANGER
Retrofits or modifications may adversely affect the safety of the
products described!
The consequences may include severe injury, damage to equip-
ment, or environmental hazards. Possible retrofits or modifica-
tions to the system using third-party equipment therefore have to
be approved by Rexroth.
DANGER
Health hazards through destroyed electrical components!
Do not destroy any built-in components. Dispose of destroyed
components in a proper manner.
DANGER
Do not look directly into the LEDs in the optical fiber connection.
Due to their high output, this may result in eye injuries.
When the inverter is switched on, do not look into the LED or the
open end of a short connected lead.
DANGER
Please note your local, system-specific regulations and require-
ments as well as the proper use of tools, hoisting and transport
equipment as well as the applicable standards, regulations, and
accident prevention regulations.
1–6 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Safety instructions
The drives must not be switched on unless all covers have been
fitted! When the drive has been disconnected from mains, wait for
up to 5 minutes until the system is de-energized before removing
any covers.
The drive must always be examined for safe isolation from sup-
ply!
CAUTION
Use only spare parts approved by Rexroth!
CAUTION
Danger to the module!
All ESD protection measures must be observed when using the
module! Prevent electrostatic discharges!
Safety instructions
Documentation
The present manual provides information on the installation of the Ser-
voDyn D stand-alone inverters.
Release
D The current software release number can be viewed by selecting
parameter S-0-0030 with the DSS-D Commissioning and Service
System, or in the ”Software” field of the module configuration display
(DIAGNOSTICS " MODULE CONFIGURATION).
Safety instructions
D The current VM..B,C,D,F software release can only be read from the
7-segment display during test operation. For this purpose, turn dip
switch ”T” on the VM’s personality module ”on”:
Trademarks
All trademarks of software installed on Rexroth products upon delivery
are the property of the respective manufacturer.
CAUTION
Overvoltage!
The 24 VDC must satisfy the ’safety separation’ requirements. The
requirements in accordance with the overvoltage category III
should be noted on the primary side !
The inverters are mounted in a vertical position with the terminals to the
bottom.
The cooling air flow passes through the modules from the bottom to the
top and must not be obstructed by other switch cabinet components or
parts. In addition, a minimum clearance of 100 mm should be provided
both above and below the inverter.
No minimum lateral clearance need be provided.
The air temperature inside the cabinets may be between 0...+55 _C (de-
rating above 45 _C).
+55 _C is the maximum permitted supply air temperature for the upper-
most inverter if several inverters are stacked one above the other.
Constructive measures have to be taken to ensure the appropriate air
flow direction in the switching cabinet in this case.
CAUTION
Danger for product!
The ambient air must be free from high concentrations of dust,
acids, alkalis, corrosives, salts, metal vapors etc.
Condensation on the modules is not permitted!
Control lines
Power cables
Switch cabinet
Power cables
D The mains supply cable is connected to the top side of the NV mod-
ule.
D The motors’ power cables are connected to the bottom side of the
module. They should enter the switch cabinet from the bottom.
D Control lines to the modules’ front connectors are led upward into a
cable duct on the top side of the inverter module.
D All drive components and electronic components such as CNC or
PLC components should be arranged separately
(distance > 100 mm).
2–4 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
NC PLC
Interface
EMC barrier
NV
+
mains
filter
DS..
Power cables
motors
Notes:
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 3–1
and Controls
Installation
3 Installation
R3.25 115 49 49 99
27.5
R2
7.5
50
10.5
R7.5
445
400
Depth: 270 mm
50 50 50 50 50
3–2 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Installation
CAUTION
To protect the power unit from destruction, the tightening
torque for the power connections U, V, W must not exceed
3 Nm.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 4–1
and Controls
Connection overview
4 Connection overview
4.1 NV and DS..K with analog interface
1
STA relay
Out 4
FG
1
RS232
Out 3
FG 0V
Out 2
X34
IN 1
X06
IN 2 Out 1,
IN 3 relay contact
6
X99
IN 4
24 VIn 1 8
encoder
10
1
0 VIn X13
Motor
X14
SW+
1
Setpoint
SW–
Option
OM4
A_IN2+
X21
8
DS..K analog interface
X05
A_IN2–
A_IN3+ 0 V DC
Holding
brake
A_IN3–
6
+24 V brake*
Point-to-point
simuation
A_Out1+
Encoder
1
A_Out1–
terminal
X11
not used
A_Out2+ 0 V brake
4
A_Out2–
Protective circuitry
Synchronous motor
IN5
X81
1
IN6
IN7
= LED
W2
X22
M3
IN8 V2
IN9
H1
U2
FG FGI
IN10
6
K03
Out5: n=0
1
Out6: n = nset 0 V DC
Out8
X12
Out9
PE
Out 10,
relay contact
Plug braking
module option
88
Charging relay
X312
SO
NAF relay
0 VPWR
2
MT 24 V module
X30
NH 24 VPWR
1
supply
P (24 V PWR)
8
W2
FG P
V2
FG N
U2
N (0 V PWR)
X76
D
Feedback
Safety relay C
1
Mains filter
PE L1 L2 L3
1 3 5
2 4 6
NV
K1
K1
K1
K1
Connection overview
1
STA relay
Out 4
FG
1
RS232
Out 3
FG 0V
Temperature warning
X34
20
X06
21
Block select not used
22
6
X99
23
24 VIn 1 8
encoder
10
1
0 VIn X13
Motor
X14
1
Option
OM4
DS..K with Motion Control
X21
not used
8
X05
0 V DC
Holding
brake
6
+24 V brake*
Point-to-point
simuation
Encoder
1
terminal
X11
not used
0 V brake
4
Protective circuitry
Synchronous motor
Block select 24
X81
1
Start/Stop
20 W2
X22
Mode
M3
21 V2
= LED
Reference cam
H1
U2
FG FGI
Home position
6
K03
Axis has been referenced
1
Axis active 0 V DC
In position
End of program/block
X12
Charging relay
X312
SO
NAF relay
0 VPWR
2
MT 24 V module
X30
NH 24 VPWR
1
supply
P (24 V PWR)
8
FG P W2
FG N V2
N (0 V PWR) U2
X76
D
Feedback
Safety relay
1
C
Mains filter
PE L1 L2 L3
1 3 5
2 4 6
NV
K1
K1
K1
K1
Connection overview
T1MOT
1
T2MOT
I1 fi < fx
1
I3 fi = fs
SW+ n=0/f=0
X34
X23
Setpoint SW–
FGI
I 20MA relay contact
RS232
6
OUT1
Analog OUT2
DS..8001 with analog interface
10
outputs OUT0V
X99
1
STA relay
FG
FG 0V
PLA
X06
PLB
PLC
motor or high-frequency
Asynchronous standard
DCB
24 VIn
PE
10
0 VIn
W2
R
M3
D
V2
= LED
spindle
1
Temp. relay U2
X13
IGR
TEMP
4
IRED
STA
FG FGI
H1
H2
H3
8
Charging relay
X312
SO 0 VPWR
2
24 V module
X30
24 VPWR
1
W2
P (24 V PWR)
8
V2
FG P
U2
FG N
N (0 V PWR)
X76
Feedback C
Safety relay
1
Mains filter
PE L1 L2 L3
1 3 5
2 4 6
NV
K1
K1
K1
K1
4–4 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Connection overview
Out 4
1
RS232
Out 3
1
STA relay Out 2
X34
FG Out 1,
FG 0V relay contact
6
X99
IN 1
X06
IN 2
encoder
IN 3
DS..K with SERCOS interface
Motor
X55
24 VIn
OM1...4
10
Option
0 VIn X05
0 V DC
Holding
brake
+24 V brake*
Point-to-point
H1
FG FGI
= LED
terminal
0 V brake
Memory
Protective circuitry
Synchronous motor
Card
X27
W2
M3
V2
U2
K03
Optical fibre to the next
Loop
Out
drive or back to the NC X72 0 V DC
or to the PC
In
Optical fibre X71
from NC / PC
PE
Plug braking
module option
8
Charging relay
X312
SO
0 VPWR
2
24 V module
X30
MT supply
NH
1
W2
P (24 V PWR) V2
8
FG P
U2
FG N
N (0 V PWR)
X76
Feedback C
Safety relay
1
Mains filter
PE L1 L2 L3
1 3 5
2 4 6
NV
K1
K1
K1
K1
Connection overview
1
STA relay
Out 4
FG
RS232
1
Out 3
FG 0V
Out 2
X34
IN 1
X06
IN 2 Out 1,
IN 3 relay contact
6
X99
IN 4
24 VIn
1 8
10
encoder
0 VIn
1
X13
Motor
X14
Option
OM4
8
X05
0V
Holding
DS..K with CAN bus
brake
+24 V brake*
Point-to-point
CAN-Bus
terminal
0 V brake
Protective circuitry
Synchronous motor
X51
= LED
W2
M3
V2
U2
S2
S3
S4
S5
K03
0V
H1
FG FGI
PE
Plug braking
module option
8
Charging relay
X312
SO
0 VPWR
2
24 V module
X30
MT supply
NH
1
W2
P (24 V PWR)
8
FG P V2
FG N U2
N (0 V PWR)
X76
Feedback C
Safety relay
1
Mains filter
PE L1 L2 L3
1 3 5
2 4 6
NV
K1
K1
K1
K1
Connection overview
1
STA relay
Out 4
FG
RS232
1
Out 3
FG 0V
Out 2
X34
IN 1
X06
IN 2 Out 1,
IN 3 relay contact
6
X99
IN 4
24 VIn
1 8
10
encoder
0 VIn
1
X13
Motor
X14
Option
OM4
DS..K with PROFIBUS-DP
8
X05
0V
Holding
brake
+24 V brake*
PROFIBUS
Point-to-point
terminal 0 V brake
Protective circuitry
Synchronous motor
X51
W2
= LED
M3
V2
U2
S2
S3
S4
K03
0V
H1
FG FGI
PE
Plug braking
module option
8
Charging relay
X312
SO
0 VPWR
2
24 V module
X30
MT supply
NH
1
W2
P (24 V PWR)
8
V2
FG P
U2
FG N
N (0 V PWR)
X76
Feedback C
Safety relay
1
Mains filter
PE L1 L2 L3
1 3 5
2 4 6
NV
K1
K1
K1
K1
Power connection
5 Power connection
5.1 Earthing
CAUTION
Inverter modules may only be operated with an earthed neutral
system.
Systems not directly earthed (IT protective system) must not be
used for operation, as air clearances and leakage paths in the mo-
dule may be overloaded.
Operation at asymmetrical mains systems (TT protective system,
one mains phase is earthed) is not permissible!
DIN VDE 0100-300 defines mains systems subject to their type of earth
connection.
Accordingly, in an IT protective system, all active parts are separated
from earth, or one point is connected to earth via a resistor.
The exposed conductive parts of an electrical system are either
D earthed separately, or
D earthed jointly, or
D jointly connected to the system earth.
Power connection
DANGER
Dangerous shock currents through inappropriate protective
earth connections!
Do not impair protective earth connections by mechanical,
chemical or electro-chemical influences. The connection must be
firm and lasting.
0V bar, insulated
installation 4 mm2
0V Power
supply
+24V unit
4 mm2
Separable
for testing
purposes DS DS
Mains filter
one class higher
than mains feeder,
at minimum at least identical
to mains feeder
PE
PE bar
16 mm2
= Conductive connection
through housing and
Motor Motor
fastening screws
Power connection
PE bar
The cross-section of the PE bar and mounting plate earth conductor
must be selected one size bigger than the line feeder of the supply mo-
dule.
0 V bar
The 0V bar must have an insulated structure and may be earthed in a
single point only.
This measure is designed to avoid 24V operating currents in the earth
and shield connections.
Power connection
Power connection
CAUTION
Inverter modules may only be operated with an earthed neutral
system.
Systems not directly earthed (IT protective system) must not be
used for operation, as air clearances and leakage paths in the mo-
dule may be overloaded.
Operation at asymmetrical mains systems (TT protective system,
one mains phase is earthed) is not permissible!
The mains system is connected using a plug at the bottom side of the
housing, usually via a mains filter.
DS 15K
Front side
W1
Mains
V1
connection
U1
5–6 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Power connection
DS 45K
U 1 V 1 W1
Front side
Power connection
Autotransformer
If the actual mains voltage is not identical with the specified supply volt-
age, an isolating transformer or an autotransformer with the following
specifications may be used:
3-phase autotransformer to
DS 15K DS 45K
UL standard for inverter input
Inverter clock frequency max. 8 kHz
Output 5 kW 12 kW
Primary voltage actual mains voltage
Secondary voltage 3 x 400 V
Secondary current 12 A 30 A
Short circuit voltage uk 1.5 %
Protection standard IP 00
Insulation class H/40
5–8 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Power connection
If connected via the NV line wiring module with integrated mains filter,
compliance with RFI suppression limit class A to EN 55011 (VDE 0875)
is guaranteed.
CAUTION
In a discrete system, the mains filter must be installed between
the mains contactor and the inverter in order to protect the
inverter from damage.
F1 – F3,
(For spare fuses, refer
to page 11–2)
1 3 5
K1
2 4 6
K1 Mains filter
U1 V1 W1
DS..K
* According to EN 60204 Part 1/1993, Tab. 5 for installation in the cable duct at an ambient temperature of 45_C
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 5–9
and Controls
Power connection
Mains supply
L1 L2 L3 PE
1 3 5
NV line wiring
module
U < 60 V
K2 K1
U1 V1 W1
DS..K
5–10 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Power connection
5.5 24 V supply
The supply modules require a 24 V supply from an external 24 VDC load
power supply module in accordance with EN 61 131 (20.4 – 28.8 V). A
stabilized power supply unit is not required.
The input terminals are protected against polarity reversal.
The 0 VPWR connection is internally floating against ground. If the 0 V
are to be grounded, the ground connection has to be made, e.g., at the
external 24 V power supply unit.
CAUTION
Contact system destroyed!
Connector X30 may only be inserted or removed while the unit is
disconnected from power. Furthermore, the connection screws
have to be firmly tightened. Use a screw driver with a blade size
0.6 x 3.5 for this purpose.
DANGER
The drives coast to a standstill if the 24 V supply is interrupted!
This can be avoided by taking one of the following measures:
D use a buffered 24 V power supply unit (no 100% safety)
D plug braking of the motors with KSB (plug braking) module
D use motors with a holding brake.
Current consumption
DS 15K 1.4 A
DS 45K 1.6 A
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 5–11
and Controls
Power connection
CAUTION
Danger of damage to equipment!
Only link identical inverter sizes.
Do not mix DS 15K and DS 45K.
DS 15K
Front side
7
X32
D
DC link connection
C
1
DS 45K
Front side
D X32:
C DC link connec-
tion
5–12 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Power connection
Motor cables
We recommend using prefabricated Bosch motor cables for the SF and
SR servo motors. Depending on the individual case, these cables are
available as
D Standard cables, shielded
D Standard cables, unshielded
D UL power cable
CAUTION
Damage to cables due to inadmissible movements.
Please note the technical data of the cables specified in the “Con-
figuration manual”, part no. on page 1–7.
Sealing ring
Clamp
Flange
Housing/Cabinet
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 5–13
and Controls
Power connection
CAUTION
Damages at the inverter or encoder by inserting or removing
plug-in connections on live systems!
Switch the drive off beforehand.
. Please note that unshielded motor cables may inject voltages into
other cables laid in parallel due to capacitive injection mechan-
isms.
Noticeable voltages are particularly injected in unused brake
cores. In accordance with IEC 1201, the line capacitance is not
sufficient to generate lethal voltages (at a cable length of 100 m ap-
prox. 15 nF between cores, a dangerous value would be 28 nF at
400 V). Insulate the open ends of the brake cores.
If cables are laid in parallel, injection is approx. 10 times lower.
Shielded motor cables do not produce injections.
Due to the mains pollution caused by shielded motor cables, the per-
missible length of the motor cables is limited depending on the mains
filter of the NV module used.
Power connection
DS 15K
Motor connection using plugs at the bottom side of the housing.
Front side U 2 V 2 W2
DS 45K
Motor connection using terminals at the bottom side of the housing.
U 2 V 2 W2
Front side
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 5–15
and Controls
Power connection
Motor
M3
Connector
size
Motor connector SF(R)–L0, L1, A2, A3,
1 5 6 2 4 Pin 1 (6-pin)
SF(R)–A4...015/030
SF(R)–B4.0091/0125...
SF(R)–B5.0250...
max. 0.3 A
0V
(X332)
K03
PE bar
Out4 U2 V2 W2
Inverter
Power connection
DS inverter
2ÂÂ
ÂÂ
ÎÎÎ
4
ÎÎÎ 3
1
Â
Â
Power connection
DS...K
Adapter plate
Brake connection
Power connection
DS...K
DS...K
Auxiliary contact
+
Motor holding brake
–
24 V relay supply
+, – Holding brake
Connection of motor brake line.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 5–19
and Controls
Power connection
S Key
The brake can be vented using the S key if no external control signal is
present.
5–20 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Power connection
Module end
DS..K:
Power connection using plugs at the bottom side of the housing.
2U2–2V2–2W2
option
2W1
2U1
2V1
W2 U2 V2
1
2
U1 V1 W1
24 V DC
10 %
3 x 400...415 V PE
U2 V2 W2 10 %,
50–60 Hz
DS..K
Star connection,
to be used for motors size 90
D connection,
to be used for motors size 100 ... 160
CAUTION
The contacts of the motor contactor may weld together if opened
under excessive load!
The motor contactor may only be opened when n = 0 and enabling
has been cancelled.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 6–1
and Controls
X
0
5
X
8
1 8–
X Charging relay
For other connections, 7–
9
refer to the description 9 6–
.
of the interfaces: X . 5 – SO
2 .
.. 4–
– Analog interface, 1 . NAF relay contact
. 3–
positioning function . . X312 2 – MT
X
.. X .
1 .
– frequency inverter .
3 . 1 – NH
1 1 ..
– CAN bus 2 .
. 8– P
– SERCOS interface X . .
. . 7– FG P
2 .. .
– PROFIBUS-DP 2 . X . 6– FG N
.
.
7 .. X76 5– N
. 6
.
X . 4–
.
1 . 3– Feedback
..
2
. 2– Safety relay
1–
.
.
. Measuring location:
X .
. DC link voltage
0 .
.
6 ..
.
.
X .
.
3 ..
4 .
H1
X
FG FGI 3
0 2 – 0 VPWR 24 V module
1 – 24 VPWR supply
6–2 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
X
0
5
X
8
1
X
For other connections, 9
refer to the description of . 9
the interfaces: X .
2 .
..
– Analog interface, 1 .
positioning function X .
1
..
– frequency inverter .
1
– CAN bus
.
– SERCOS interface X .
. 4–
– PROFIBUS-DP
2 .. X
NAF relay contact
2 .
. 3 .. X312 3 –
. 1
. 2 – MT
. 2
X . 1 – NH
.
1 .
..
2
. Measuring location:
DC link voltage
.
.
.
X .
.
0 .
.
6 ..
.
.
X .
.
3 ..
4 .
H1
X
FG FGI 3
0 2 – 0 VPWR 24 V module
1 – 24 VPWR supply
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 6–3
and Controls
DS..K
2 0 VPWR
X30
1 24 VPWR
DS..K
8
Feedback charg-
7
+24 V ing relay as
6 n.c.c. or n.o.c.
5
SO
X312
4
NAF
NAF 3 relay
+24 V
2
MT
1
NH
DANGER
When changing over between normal voltage and low voltage, the
proper making sequence must be ensured by an external interlock
circuitry.
Refer to proposed circuitry, page 6–7, 6–8.
CAUTION
The rectifier unit of the inverter may be destroyed!
During low-voltage operation, the charging relay of the inverter is
closed. Normal voltage may only be connected if the charging
relay is open. Therefore, one of the two feedback contacts must be
included in the making circuit.
Refer to proposed circuitry, page 6–7, 6–8.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 6–5
and Controls
DS..K xxx2
8
P (24 VPWR)
7
FGP
6
FGN
5
X76 N (0 VPWR)
4
3
Safety relay
2 feedback of the out-
put stage
1
DANGER
In case of a malfunction, the inverter should be disconnected from
the supplying mains! For this purpose, switch the STA contact into
the latching function of the K1 mains contactor.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 6–7
and Controls
Start logically linked for inverters with analog interface, Motion Control, CAN bus,
PROFIBUS-DP
24VDC
43 (NV..-D)
STA relay K1
K2
(axis 1...n)
44 (NV..-D)
Ready Control/PLC FG
EMERGENCY-
STOP Drive
OFF
FG, X06.3
(Drive enable)
Emergency-Stop
switchgear
NH, X312.1
31 (NV..-D)
K1 K2
32 (NV..-D)
13 (NV..-D)
Low-volt- Drive ON
age ON (normal
K2 K1
voltage)
X312.7 14 (NV..-D)
Feedback contact
charging relay
X312.8
SO, X312.5
A1 (NV..–D) A1 (NV..–D)
Low-voltage Mains
contactor K2 V2 contactor K1 V1 = only to be connected
(NV..-D) to DS..K xxx2
in set-up mode
A2 (NV..–D) A2 (NV..–D)
0V
24VDC
STA relay
(axis 1...n)
Ready Control/PLC FG
EMERGENCY-
STOP Drive
OFF
EMERGENCY-STOP switchgear
(Safety contact
delayed opening)
NH, X312.1
K1 K2
32 (NV..-D)
Low-volt- 13 (NV..-D)
Drive ON
age ON (normal
K2 K1
voltage)
X312.7 14 (NV..-D)
Feedback contact
charging relay
SO, X312.5 X312.8
A1 (NV..–D) A1 (NV..–D)
Low-voltage Mains
contactor K2 V2 contactor K1 V1 = only to be connected
(NV..-D) to DS..K xxx2
in set-up mode
A2 (NV..–D) A2 (NV..–D)
0V
7 DS control connections
Motor encoder
X
Encoder switch / 0
Encoder simulation 5
RS 232 interface
1– SW+
2– SW– X
3– A_IN2+ 8 RESET
4– not
A_IN2– 1
4– used
A_IN3+ X 8–
X21 Charging
6– A_IN3–
9 7–
9 relay
X .
. 6–
1– A_Out1+ 2 .
.. 5 – SO
2– not
A_Out1– 1 . 4–
. NAF
3– used
A_Out2+ X . . X312 3 –
X11 .. X .
4– A_Out2– 1 . 2 – MT
. 3 .
1 1 .. 1 – NH
1– IN5 2 . Refer to
.
2– IN6 X . . section 6.1
. . 8– P
3– IN7 X22 2 .. .
Digital inputs 2 . X . 7– FGP
4– IN8 . 6– FGN
. 7 ..
5– IN9 . 6
. X76 5 – N
X .
6– IN10 . 4–
1 .
.. 3– Feedback
2
1– Out5 . 2–
2– Out6 X12 1–
.
3– Out7 .
.
Digital outputs 4– Out8 X .
.
5– Out9 0 . 1–
. STA relay
6– 6 .. 2–
7– Out10 . 3– FG
8– relay .
X . X06 4 – FG 0V
. 5– IN1
1 – Out4 3 ..
X34 4 . 6– IN2
2 – Out3 Digital inputs
7– IN3
3 – Out2
Digital outputs H1 8– IN4
4–
Out1 9– 24VIn Supply
5–
relay X 10– 0VIn inputs/outputs
6–
FG FGI 3
H1 7-segment display for status 0
messages and error messages 2 – 0 VPWR Refer to
1 – 24 VPWR section 5.5
FG Green LED for external enable
7.1.1 Inputs
DS 1
STA STA
+24 V relay
2
3 FG
4 FG 0V
X06 5 IN 1
6 IN 2
7 IN 3
8 IN 4
9 24 VIn Supply
10 0 VIn inputs/outputs
If a high level exists at X6.3 with regard to X6.4 the controller and axis are
enabled via the internal enable FGI if:
D no errors are active in the DS (LED display ”FGI”).
. If the mains voltage is switched off while the enable signal is pres-
ent, the drive signals error F97.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–3
and Controls
X06.5/6/7 IN 1, IN 2, IN 3 24 V inputs
Optocoupler inputs.
Active with +24 V DC (15...30 V) with regard to X6.10.
Input current typically 17 mA.
Assignment
g Functionality
Servo function Positioning function
Default setting:
X06.5 – Block select:
(IN 1) Coded position number
20 (bit 1)
X06.8 IN 4 24 V input
Optocoupler input.
Active with +24VDC (15...30V) with respect to X6.9.
Input current typically 13 mA.
Assignment
g Functionality
Servo function Positioning function
Default setting:
X06.8 High-speed input Block select:
(IN 4) Coded position number
23 (bit 4)
1 SW+
2 SW–
3
X21
4
5
6
Assignment
g Functionality
Servo function Positioning function
1 IN 5
2 IN 6
3 IN 7
X22 24 V inputs
4 IN 8
5 IN 9
6 IN10
X22.1–6 IN 5 – IN 10 24 V inputs
Optocoupler inputs.
Active with +24 VDC (15...30V) with respect to X6.10.
Input current typically 13 mA.
Assignment
g Functionality
Servo function Positioning function
Default setting:
X22.1 – Block select:
(IN 5) Coded position number
24 (bit 5)
7.1.2 Outputs
Terminal strip X12
1 Out 5
2 Out 6
3 Out 7 24 V outputs
X12 4 Out 8
5 Out 9
6
7 Out10, relay contact
8
X12.3 – In position
(Out 7)
Motor encoder
1–
2– STA relay X
0
3 – FG 5
4 – FG 0V
5 – IN 1 RS 232 interface
Programmable
6 – IN 2 .
.
inputs 7 – IN 3 .
. RESET
8 X06 .
X .
Supply 9 – 24 VIn 0 .
.. 8–
inputs/outputs 10– 0 VIn 6
. X Charging
9 7–
. relay
. 9 6–
1 – Out 4 X .
.. 5 – SO
2 – Out 3 X34 3
4 . 4–
Programmable 3 – Out 2 .
Loop X . X312 3 –
outputs 4– .
. 2 – MT
5– Out1 relay
3 .
1 .. 1 – NH
6– X 2 . Refer to
7
. section 6.1
1 . 8– P
Loop Red LED if error occurs in
In . 7– FGP
X X .
the SERCOS interface ring . 6– FGN
7 7 ..
2 6
. X76 5 – N
X71 SERCOS interface cable input Out
4–
X72 SERCOS interface cable output 3– Feedback
2–
1–
DS 1
STA STA
+24 V relay
2
3 FG
4 FG 0V
X06 5 IN 1
6 IN 24 V inputs,
2 programmable
7 IN 3
8
9 24 VI Supply
10 n 0 VIn inputs/outputs
If a high level exists at X6.3 with regard to X6.4 the controller and axis are
enabled via the internal enable signal FGI (display via LED “FGI”). The
following conditions must first of all be fulfilled:
D Central enable has been given.
D Software enable available via the SERCOS interface (“Drive enable”
and “Drive on”).
DANGER
When the external enable signal FG is deactivated the motor al-
ways comes to a stop without setpoint control!
Activate plug braking or an integrated holding brake in this case.
You should always use the software enable functions ”Drive en-
able” and ”Drive on” (cf. Section 8.1) to switch the drives.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–9
and Controls
. If the mains voltage is switched off while the enable signal is pres-
ent, the drive signals error F97.
Assignment:
D X6.5: Reference point switch
D X6.6: Limit switch, positive traverse direction
D X6.7: Limit switch, negative traverse direction
DM X71 In
Optical
X72 Out fibre
DANGER
Do not look directly into the LEDs in the optical fiber connection.
Due to their high output, this may result in eye injuries.
When the inverter is switched on, do not look into the LED or the
open end of a short connected lead.
7–10 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Motor encoder
X
0
Green LED for CAN opera- 5
tion (off = interrupted)
CAN RS 232 interface
CAN bus
X
5 RESET
1
Axis address
X 8–
(hexadecimal) Charging
9 7–
2 9 relay
S Adr 6–
3
Baudrate: S
5 – SO
4 Baud 4–
0 = 1000 kBaud S .
Mode .
1 = 800 kBaud Mode: 5
X . X312 3 –
2 = 500 kBaud . 2 – MT
0 = CANopen
3 .
3 = 250 kBaud 1 .. 1 – NH
1 = CANrho 2 . Refer to
4 = 125 kBaud . section 6.1
5 = 100 kBaud . 8– P
. 7– FGP
6 = 50 kBaud X .
. 6– FGN
7 = 20 kBaud 7 ..
6
. X76 5 – N
8 = 10 kBaud
9 to F = 1000 kBaud 4–
3– Feedback
2–
. 1–
.
.
X .
. 1–
0 .
. 2– STA relay
6 ..
. 3– FG
1 – Out4 X
.
. X06 4 – FG 0V
2 – Out3 . 5– IN1
X34 3 ..
3 – Out2 4 . 6– IN2
Digital outputs 7– IN3 Digital inputs
4–
Out1 8– IN4
5– H1
relay 9– 24VIn
6– Supply
X 10– 0VIn inputs/outputs
H1 7-segment display for status FG FGI 3
messages and error messages 0
2 – 0 VPWR Refer to
1 – 24 VPWR section 5.5
FG Green LED for external enable
DS 1
STA STA
+24 V relay
2
3 FG
4 FG 0V
X06 5 IN 1
6 IN 2
7 IN 3
8 IN 4
9 24 VIn Supply
10 0 VIn inputs/outputs
If a high level exists at X6.3 with regard to X6.4 the controller and axis are
enabled via the internal enable signal FGI if:
D no errors are active in the DS (LED display ”FGI”).
7–12 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
X06.5/6/7 IN 1, IN 2, IN 3 24 V inputs
Optocoupler inputs.
Active with +24 VDC (15...30 V) with regard to X6.10.
Input current typically 17 mA.
Assignment
Default setting:
X06.5 –
(IN 1)
X06.6 –
(IN 2)
X06.7 –
(IN 3)
X06.8 IN 4 24 V input
Optocoupler input.
Active with +24VDC (15...30V) with respect to X6.10.
Input current typically 13 mA.
Assignment
Default setting:
X06.8 High-speed input
(IN 4)
1
2 2
CAN_L
3 3
CAN_GND
Connection to be 4
7 7
CAN_H
8
CAN cable
Both physical ends of the CAN cable must be equipped with a terminat-
ing resistor with typ. 120 W. The ready-made CAN cables from Bosch are
therefore different on the drive side:
D Through-way plug, black
(T adapter between the cable ends) and
D Terminating plug, green
(T adapter with terminating resistor)
The admissible length of the cable connecting the control unit and the
drives depends on the baudrate setting, part no. on request:
Baudrate Total cable length
1000 kbits/s 25 m
800 kbits/s 50 m
500 ... 10 kbits/s 100 m
rho3
rho4
or
CANopen
Cable length Cable length
depends on baudrate 300 mm 5 mm
7–14 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
1 1
15 2 2 2 2
CAN_Low 15 2
CAN_Low
8 3 3 3
CAN bus1
8 3
CAN_High CAN_GND
4 4
5 5 5 5
6 6 6 6
6 6
7 7 7 7 7
CAN_High
8 8
CAN_Low 14 9 9
CAN bus2
7
CAN_High
12 12
13 13
CAN cable for rho4 control or any other control unit with CANopen
1 5 Î rho4
6 9
X51, X52
rho4 or
Inverter Inverter
CANopen
X51, X52 X51 X51
1 1 1
2 2 2 2 2
2 2
CAN_Low CAN_Low
3 3 3 3 3
3 3
CAN_GND CAN_GND
4 4 4
5 5 5
6 6 6 6 6
6 6
7 7 7 7 7
CAN_High 7 7
CAN_High
8 8 8
9 9 9
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–15
and Controls
Rexroth CAN connectors have been prepared for use with jumpers or
terminating resistors, so that the cables can be connected as shown
below.
120R
5 5
6 6
7 7
8 8
9 9
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5
CAN_GND
CAN_GND
CAN_GND
CAN_GND
CAN_GND
CAN_GND
CAN_High
CAN_High
CAN_High
CAN_Low
CAN_Low
CAN_Low
CAN display
Green LED Meaning
off CAN bus is interrupted
flashing Only receiving the synchronization telegram
on CAN bus works
7–16 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Motor encoder
X
0
Green LED for PROFIBUS operation 5
(off = interrupted)
PROFIBUS
PROFIBUS-DP RS-232 interface
X
5 RESET
1
Axis address 8–
X
(hexadecimal) Charging
S 9 7–
2 relay
S 9 6–
Mode: S 3 5 – SO
0 = Normal operation 4 4–
.
F = Test mode . X312 3 –
X .
. 2 – MT
3 .
1 .. 1 – NH
2 . Refer to
. section 6.1
. 8– P
. 7– FGP
X .
. 6– FGN
7 ..
6
. X76 5 – N
4–
3– Feedback
2–
. 1–
.
.
X .
. 1–
0 .
6 .
.. 2– STA relay
. 3– FG
1 – Out4 X
.
. X06 4 – FG 0V
2 – Out3 X34 3
.
.. 5– IN1
3 – Out2 4 . 6– IN2
Digital outputs Digital inputs
4– 7– IN3
Out1
5– 8– IN4
relay H1
6– 9– 24VIn Supply
X 10– 0VIn inputs/outputs
H1 7-segment display for status FG FGI 3
messages and error messages 0
2 – 0 VPWR Refer to
FG Green LED for external enable 1 – 24 VPWR section 5.5
DS 1
STA STA
+24 V relay
2
3 FG
4 FG 0V
X06 5 IN 1
6 IN 2
7 IN 3
8 IN 4
9 24 VIn Supply
10 0 VIn inputs/outputs
If a high level exists at X6.3 with regard to X6.4 the controller and axis are
enabled via the internal enable signal FGI if:
D no errors are active in the DS (LED display ”FGI”).
7–18 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
X06.5/6/7 IN 1, IN 2, IN 3 24 V inputs
Optocoupler inputs.
Active with +24 VDC (15...30 V) with regard to X6.10.
Input current typically 17 mA.
Assignment
Default setting:
X06.5 –
(IN 1)
X06.6 –
(IN 2)
X06.7 –
(IN 3)
X06.8 IN 4 24 V input
Optocoupler input.
Active with +24VDC (15...30V) with respect to X6.10.
Input current typically 13 mA.
Assignment
Default setting:
X06.8 High-speed input
(IN 4)
DS
X51
3 3
RxD / TxD-P (B/B’) Receive-Transmit-Data-P
4 4
CNTR_P Repeater control signal
5 5
DGND (C/C’) Data reference potential –5 V
6 6
VP Supply voltage +5 V
7
8 8
RxD / TxD-P (B/B’) Receive-Transmit-Data-N
9 9
DGND (C/C’)
PROFIBUS-DP display
1– T1MOT
2– T2MOT
For measuring 3– I1
purposes only 4– I3
5– SW+
6– SW–
7– I20mA– RS 232 interface
8– OUT1
Analog
9– OUT2
outputs RESET
10– OUT0V X23
. X 8–
1– STA . Charging
. 9 7–
2– relay X . relay
. 9 6–
3– FG 2 . 5 – SO
3 .
4– FG 0V .. 4–
5– PLA . .
. X312 3 –
6– PLB . X .
. . 2 – MT
7– PLC . 3 .
X06 . 1 .. 1 – NH
8– DCB X . 2 . Refer to
. section 6.1
9– 24VIn 0 . . 8– P
Power supply 6 .. .
10– 0VIn . 7– FGP
. X .
. 6– FGN
.
.
7 ..
1 – fi < fx X . 6
. X76 5 – N
2 – fi = fs X34 3 ..
4 . 4–
3– n=0 3– Feedback
4– X .
Digital . 2–
5– FGI 1 .
outputs . 1–
6– relay 3
X13 D
1– TEMP Keyboard for
2– relay R parameterization
Dig. output 3 – IGR
Dig. input 4 – IRED H
1
H1 – H3 7-segment display for status H TEMP
messages, error messages and 2 STA
parameterization H
3
FG Green LED for external enable X
FG FGI 3
0 2 – 0 VPWR Refer to
FGI Green LED if the module has 1 – 24 VPWR section 5.5
been internally enabled
1
DS
STA STA
+24 V relay
2
3 FG
4 FG 0V
X06 5 PLA
6 PLB
7 PLC
8 DCB
9 24 VIn Supply
10 0 VIn inputs/outputs
If a high level exists at X6.3 with regard to X6.4 the controller and axis are
enabled via the internal enable FGI if :
D no errors are active in the DS (LED display ”FGI”).
The behavior of the internal enable signal FGI when FG has been
switched off can be selected with P19, P20:
D FGI is switched off immediately, the motor is halted without setpoint
control, or
7–22 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
CAUTION
A contactor in the motor lead must not be opened before the inter-
nal enable signal FGI has been switched off. Please use the FGI
contact for triggering this function (cf. page 7–27)
The parameter list selected with this function is active for motor oper-
ation and can be programmed via the keyboard.
Terminal strip Active
X6.5 (PLA) X6.6 (PLB) X6.7 (PLC) parameter list
– – – PL 1
1 – – PL 2
– 1 – PL 3
1 1 – PL4
– – 1 PL5
1 – 1 PL 6
– 1 1 PL 7
1 1 1 PL8
1 = HIGH level, – = LOW level
For as long as 24 V are active, the motor is braked with a direct current in
accordance with parameter P22 if:
D Parameter P21 is set to ’dc1’ or ’dc2’
D External enable FG available
D Output frequency < start frequency P24
1
TEMP
TEMP
+24 V
2
X13
3 IGR
4 IRED
D Limit current
The output changes to LOW level if the limit current Imax is exceeded.
At the same time, the acceleration ramp is reduced, and there is
danger that the motor may become electrically instable.
DS
1 T1MOT
2 T2MOT
3 I1
4 I3
5 SW+
X23 6 SW–
7 I 20mA–
8 Out1
9 Out2
10 Out 0V
1
2
CAUTION
Malfunctions and destroyed inputs through unshielded connec-
tion leads!
Only use shielded cables and connect shield at both ends.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–25
and Controls
5 SW 5 I 20 mA
+ +
6 SW 6 I 20 mA–
–
7 7
Programming/Default setting:
Output Assignment
(reference potential
X23.10) via parameters Setting ex works
Both outputs can be assigned the data AA0 ... AA9 listed in the following
table.
Level 0... +10 V, current and power signals can be adjusted (P41, P42).
Assignment 10 V ¢ ...
( ) = Setting ex works
DS..15K DS..45K
Actual output frequency (AA0) [Hz] max. output frequency (P02)
Total current,, rms (AA1)
( ) [A]
[ ] Scaling with P41:
Active current, rms (AA2) [A] 1.5...25 4.7...75
Reactive current, rms (AA3) [A] (15.9) (47.7)
Motor voltage (AA4) [V]
1000 V
DC link voltage (AA5) [V]
Scaling with P42:
Total output (AA6) [kVA]
Shaft output (AA7) [kW] 0.7...12.5 2.3...37.5
(12.5) (37.5)
Utilization rate (AA8) [%] 200 %
Heat sink temperature (AA9) [_C] 100 _C
1 fi fx
2 fi = fs 24 V outputs
3 n=0
X34
4
5 FGI, relay contact
6
The signal changes to LOW level if the actual output frequency falls
below a reference frequency set with P38. The STA contact remains
closed.
The signal changes to LOW level if the actual output frequency equals
the set frequency.
The signal changes to HIGH level if the motor has reached n = 0 min–1
and stands for approx. 1.5 sec. when external enable FG has been re-
moved.
The contact operates (pin 5/6 open) for as long as internal enable is pres-
ent (cf. page 7–21).
7–28 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
DS control connections
This signal is used to control the plug braking contactor K03, 0 V connec-
tion of the plug braking contactor at X332 of the VM.
Plug braking serves to brake synchronous motors as fast as possible if
the motors cannot be actively braked because of a power voltage or con-
trol failure.
Motor braking is effected by suitable plug braking modules which short-
circuit the motor winding, cf. Servo motors SF, SR manual.
The normally-closed contact of the KSB (plug braking) contactor must
be designed as a make contact.
Motor
M3
Plug braking
module (option)
Holding brake
(option)
K03
PE bar 0V
(X332)
Direct control of
contactors up to 0.3 A
Out 4 U2 V2 W2
Inverter
. In the case of contactors with a power input > 0.3 A an amplifier, e.g.
a relay, must be inserted to control the contactor.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–29
and Controls
DS control connections
In the case of holding brakes, control of the FG enable signal, the set-
point and the holding brake must be synchronized. The holding brake
may only be activated when the axes have come to a standstill.
Exception: Emergency braking operations e.g. when the supply module
breaks down.
CAUTION
The holding brake must not be operated unless the axis has come
to a stop!
If the holding brake is not controlled via module output Out 3,
proper timing as described in the Servo motors SF, SR manual
must be ensured.
7–30 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
DS control connections
Motor
M3
Connector
size
Motor connector SF(R)–L0, L1, A2, A3
1 5 6 2 4 Pin 1 (6-pin)
SF(R)–A4...015/030
SF(R)–B4.0091/0125...
SF(R)–B5.0250...
0V
(X332)
Out3 U2 V2 W2
Point-to-point terminal
from brake supply filter
Inverter
. In the case of contactors with a power input > 0.3 A an amplifier, e.g.
a relay, must be inserted to control the contactor.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–31
and Controls
DS control connections
Connection with MBC (brake connection with relay and protective circuitry)
Motor
M3
0V
(X332)
A1 A2 13 14 + –
0 V brake 0V 0V
24 V brake 24 V 24 V
(24 V 10%)
Out3 U2 V2 W2 MBC
DS..K
DS control connections
Inverter PC
X99 COM1 or COM2
max. length:
15 m
1
2 2
RX RX
3 3
TX TX
4
5 5
GND GND
6
Shield continuity
through metal housing
of the plug connection
RX Receive Data
TX Transmit data, data transmission to DSS
GND signal ground
DS control connections
CAUTION
All plug connectors to the encoder may only be plugged or un-
plugged when the drive is off so as to avoid damage to the inverter
or to the encoder!
Switch the drive off beforehand!
Encoder cables
We recommend using prefabricated Bosch encoder cables for the SF
and SR servo motors. Depending on the individual case, these cables
are available as
D Standard cable
D Highly flexible cable
D UL-conformant cable
CAUTION
Damage to cables due to inadmissible movements.
Please note the technical data of the cables specified in the “Con-
figuration” manual, part no. on page 1–7.
7–34 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
DS control connections
* Part no. of cable lengths 7, 10, 12, 15, 20, 25, 35, 50, 100 m on request
Mounting hole
5.5
Gasket
∅40
Sealing ring
∅26.5
Clamp
Flange
Housing/Cabinet
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–35
and Controls
DS control connections
Inner shield T
4 Inner shield A 11
5 GN 0.14 gn/blk
UA+
15
UA+
6 YE 0.14 yel/blk
UA –
16
UA –
22 Inner shield B blu/blk
GND
23 BU 0.14 12 red/blk
UB+ UB+
24 RD 0.14 13
UB – UB –
8 GY 0.14
ECN 1313 (STG),
9 WH 0.14
EQN 1325 (MTG)
7 Inner shield R
RCN 1313
10 BU 0.14 4 whi
0V-sensor
18 BNBU 0.5 10 whi/gn
0V 0V
19 GY 0.14 1 blu
5V-sensor
26 BNRD 0.5 7 brn/gn
+5V +5V
13 2
14
Inner shields A, B, R to
15 be connected with in-
16 sulation to outer shield.
17
11 GY 0.14 14 grey
Data
12 PK 0.14 17 pink
Data_N
20 VT 0.14 8 vio
Timing
21 YE 0.14 9 yel
Timing_N
25
Outer shield
. The outlined pin assignment only applies to cables and motor en-
coders supplied by Rexroth.
7–36 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
DS control connections
Pin assignment for encoder cable for gear encoder and resolver
Inner shield T
X1 X2
4 Inner shield A
5 GN 0.14 15
S1 A+ S1
6 YE 0.14 16
S3 A– S3
22 Inner shield B
23 BU 0.14 12
S2 B+ S2
24 RD 0.14 13
S4 B– S4
8 GY 0.14 11
R1 R+ R1
9 WH 0.14 2
R3 R– R3
7 Inner shield R
GND
Gear encoder
10 BU 0.14 4
0V-sensor
Resolver
18 BNBU 0.5 10
0V 0V
19 GY 0.14 1
5V-sensor
26 BNRD 0.5 7
+5V +5V
14
Inner shields A, B, R to
15 be connected with in-
16 sulation to outer shield.
Electronic rating plate
17 PK 0.14 17
11 GY 0.14 14
12
13
20 VT 0.14 8
21 YE 0.14 9
25
Outer shield
. The outlined pin assignment only applies to cables and motor en-
coders supplied by Rexroth
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–37
and Controls
DS control connections
Encoder switch
If motors with integrated incremental encoders or gear encoders are
used, X81 represents an encoder switch.
Encoder simulation
If SR motors with integrated resolvers are connected, X81 provides the
resolver position data as standard incremental signals.
360_ el.
UA1
UA2
90_ el.
UA0
7–38 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
DS control connections
DS Control
Cable, 14-wire
Socket X81
1
UA1 1
UA1
2
UA1 2
UA1
3
UA2 3
UA2
4 4
UA2 UA2
5 5
+5V-sensor +5V-sensor
6 6
UA0 UA0
7
UA0 7
UA0
8
UAS 8 UAS
9
+5V 9 +5V
10
0V-sensor 10 0V-sensor
11
12 12
0V 0V
13
14
15
Shield continuity through
metal housing of the plug
connection
max. 50 m
DS control connections
CAUTION
Damages at the inverter or measuring system by inserting or re-
moving plug-in connections on live systems!
Switch the drive off beforehand!
DS control connections
Technical data
D Input for measuring system with +5 V power supply and sinusoidal cur-
rent signals 7...16 mApp
D Signal input: Difference amplifier
D Power supply: +5 V +1%/–5%
D max. permissible power input
of the measuring system: 300 mA
D EXE separation factor: 5-times interpolation
D Pulse multiplication: programmable x1, x2, x4
D max. input frequency: 50 kHz
D Measuring system monitoring: Response to input signals in channels Ie1
or Ie2 4.3 mA
D max. cable length: 20 m or shorter, cf. manufacturer’s
data
D Pin assignment: see manual ”Interface Conditions”
Signal diagram
360°el.
Ie1
90°el
.
Ie2
Ie0
DS control connections
Inverter Measuring
Cable, 8-wire system
Socket X55, (3 x (2 x 0.14 mm2) Coupling,
15-pin + 2 x 1.0 mm2) 9-pin
1 1 green 0.14 1
Ie1+
2 2 yellow 0.14 2
Ie1−
Ie2+ 3 3 blue 0.14 5
4 4 red 0.14 6
Ie2−
9 brown 1.0 3
+5V
9
+5V
10 9
Shield 10
12 12 white 1.0 4
0V
0V
Shield continuity
through metal housing
of the plug connection
max. 20 m
. Metal connector covers must be used for the 9-pin coupling (Hei-
denhain-ID-No. 228 562 01 or 237 525 04) on the measuring system
side and the 15-pin sub-D connector on the option module! Cable
shielding must have large-surface contact with the strain-relief
clamp!
For prefabricated cables, refer to page 11–1.
7–42 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
DS control connections
Technical data
D Input for measuring system with +5 V power supply and square-wave
signal output with line driver to RS422
D Signal input: Difference amplifier, Ri 120 W
D Power supply: +5 V 3 %,
regulated via sensor leads
D max. permissible power input
of the measuring system: 300 mA
D Pulse multiplication: programmable x1, x2, x4
D max. input frequency: 1 MHz
D min. edge interval a between
active counting pulses: 150 ns
D min. edge interval b in case of
sense of rotation reversal: 0 ns
D min. safety clearance c for
reference signal: 100 ns
D Measuring system monitoring: a) for cophasal state of channels
UA1, UA2 or UA0 1.2 ms
b) Evaluation of UAS
Signal diagram
Measuring direction: positive negative positive
a a a a a b a a b a
A/Ua1
A/Ua1
B/Ua2
B/Ua2
R/Ua0
R/Ua0
c c
Both circuit states are permissible
DS control connections
The cable shield must have a continuous connection from the front panel
of the option module to the measuring system.
Inverter Measuring
Cable, 14-wire
Socket X55, Coupling, system
(10 x 0.14 mm2
15-pin + 4 x 0.5 mm2) 15-pin
DS control connections
The connection between the measuring system and the EXE is effected
via a cable supplied by Heidenhain.
The cable shield must have a continuous connection from the front panel
of the option module to the measuring system.
The correct wiring of the Uas signal must be checked.
1 white/yellow 0.14
UA1 1 1
UA1 Ie1+
UA1 2 2 green 0.14 2
UA1 Ie1−
3 grey 0.14
UA2 3 3
UA2
ÍÍÍÍÍÍÍÍÍÍÍÍ
Ie2+
4 pink 0.14
UA2 4 4
UA2 Ie2−
ÍÍÍÍÍÍÍÍÍÍÍÍ
5 5 brown 0.5 5
+5V-sensor +5V-sensor
UA0 6 6 white 0.14 6 Ie0+
UA0
7 white/grey 0.14 Ie0−
UA0 7 7
UA0
ÍÍÍÍÍÍÍÍÍÍÍÍ
8 violet 0.14
UAS 8 8
UAS +5V
ÍÍÍÍÍÍÍÍÍÍÍÍ
9 9 red 0.5 +5V
+5V 9
+5V
ÍÍÍÍÍÍÍÍÍÍÍÍ
0V-sensor 10 10 black 0.5 10 0V-sensor
Shield
12 12 blue 0.5
0V 12
0V 0V
0V
Shield continuity
ÍÍÍ
through metal housing
of the plug connection
ÍÍÍ
max. 50 m
an external 230 V supply
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–45
and Controls
DS control connections
Signal diagram
360°el.
UA
90°el.
UB
UR
The external cable shield must have a continuous connection from the
front panel of the option module to the measuring system.
The inner cable shields A, B and R must be connected with insulation to
the outer shield.
7–46 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
DS control connections
1 BN 0.14 5
2 GN 0.14 6
3 RD 0.14 3
5 GN 0.14 15 gn/blk
UA+ UA+
6 YE 0.14 16 yel/blk
UA – UA−
22 Inner shield B
GND
23 BU 0.14 12 blu/blk
UB+ UB+
24 RD 0.14 13 red/blk
UB – UB−
8 GY 0.14
9 WH 0.14
7 Inner shield R
10 BU 0.14 4 whi
0V-sensor
18 BNBU 0.5 10 whi/gn
0V 0V
19 GY 0.14 1 blu
5V-sensor
26 BNRD 0.5 7 brn/gn
+5V +5V
13 2
14
Inner shields A, B, R to
15 be connected with in-
16 sulation to outer shield.
17
11 GY 0.14 14 grey
Data
12 PK 0.14 17 pink
Data
20 VT 0.14 8 vio
Timing
21 YE 0.14 9 yel
Timing
25
Outer shield
DS control connections
Pin assignment OM 03 for measuring systems without interface or with I2C interface
2 GN 0.14 6
ÍÍÍÍÍÍÍÍÍÍÍÍ
14
Inner shields A, B, R to e.g. gear encoder
be connected with in-
ÍÍÍÍÍÍÍÍÍÍÍÍ
15
ÍÍÍÍÍÍÍÍÍÍÍÍ
16 sulation to outer shield.
I2 C
ÍÍÍÍÍÍÍÍÍÍÍÍ
17 PK 0.14 17
ÍÍÍÍÍÍÍÍÍÍÍÍ
11 GY 0.14 14
ÍÍÍÍÍÍÍÍÍÍÍÍ
12
ÍÍÍÍÍÍÍÍÍÍÍÍ
13
VT 0.14 Timing
ÍÍÍÍÍÍÍÍÍÍÍÍ
20 8
21 YE 0.14 9 Timing
25
Outer shield
ÍÍÍÍÍÍÍÍÍÍÍÍ
ÍÍÍÍÍÍÍÍÍÍÍÍ
Shield continuity through metal
housing of the plug connection optionally for
I2C interface
Max. length 100 m typ. 1m
7–48 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
DS control connections
DS 1 Out1
2 Out2
3 Out3 Digital
X13
4 Out4 testing outputs
5 GND
6 GND
3 A_Out2
4 GND
X14 Analog outputs,
programmable
5 A_Out3
6 GND
7 A_Out4
8 GND
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 7–49
and Controls
DS control connections
When the module is switched on, the outputs are not defined until in-
itialization. During initialization, they are reset to zero.
DS control connections
Notes:
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 8–1
and Controls
Application instructions
8 Application instructions
24 V hardware signals:
D Enable external FG (X06.3)
Hardware enable for each axis:
D Without the FG signal the motor torque is zero and the motor
comes to a stop without setpoint control.
D Braking is effected by means of a plug braking module or
by using a holding brake integrated into the motor.
Application instructions
24 V
FG (X06.3)
0V
Drive on 1
(software enable)
0
1
KSB (X34.1)
0
24 V
FGI
0V
(inhibited)
yes
Torque
no
24 V
Holding brake
(X34.2)
0V
nset
Speed
n=0
24 V
n=0
0V
S-0-0138
P-0-0505 S-0-0206 or
S-0-0260
or
P-0-0260
S-0-0207
Application instructions
Sequence diagram with SERCOS interface: Cycle off / on upon entering a protective zone
DANGER
Do not use for suspended axes!
24 V
NH
0V
Speed nset
n=
0
400 V
Mains voltage
0V
24 V
Enable signal FG
0V
yes
FGI/Torque
no
Holding brake
24 V response time
Holding brake
0V
(inhibited)
Braking time
Relay oper- S-0-0206
ating time Delay
P-0-0505 Drive On
Cycle off
The FG enable signal must remain active during the braking time via a
time relay before the mains voltage and FG are switched off, otherwise,
the holding brake will engage immediately.
Cycle on:
The mains voltage and FG are connected simultaneously. In order to
avoid a VM error which may occur because the DC link is no longer fully
charged, there must be a delay before activating the internal enable sig-
nal. This is done with the help of parameter P-0-0505 (KSB (plug brak-
ing) enable delay).
The internal enable signal (FGI) applies a torque to the motor and re-
leases the holding brake. The response time of the holding brake is typi-
cally 80 ms with the relay connected in series. No traversing command
may be carried out during this time. For this purpose, parameter
S-0-0206 (Waiting time drive on) is set (typically 100 ms).
8–4 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Application instructions
8.1.2 EMERGENCY-STOP
The DS inverter does not interrupt the power supply unless all axes have
been halted, but not later than after the permanently set tripping delay
time of 16 s.
. The control remains active during the tripping delay, then the
power is cut off and the drives come to a stop without setpoint con-
trol.
DANGER
In the event of a supply module failure, the motors have no torque
and come to a stop without setpoint control!
Activate plug braking or an integrated holding brake in this case.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 8–5
and Controls
Application instructions
DANGER
Drive braking cannot be controlled without enable FG and “Drive
enable”.
The 24 V supply to the module must be maintained.
24 V
NH
0V
1
Status word,
bit 14 0
1
Status word,
bit 15 0
24 V
Holding brake
0V
(inhibited)
Plug braking 24 V
module
0V
yes
FGI/Torque
no
Speed nset
n=0
on
Power
off
S-0-0138
or
S-0-0260
or All drives set to n = 0,
P-0-0260 but after max. 16 sec.
8–6 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Application instructions
24 V hardware signals:
D Enable external FG (X06.3)
Hardware/software enable for each axis:
When FG is switched off, the motor is braked as specified in
P-0-0125.
Sequence diagram
24 V
FG (X06.3)
0V
1
KSB (X34.1)
0
yes
FGI/Torque
no
24 V
Holding brake (Holding brake
(X34.2) response
0V
time)
nset
Speed
n=0
24 V
n=0
0V
P-0-0505 P-0-0004
S-0-0206 S-0-0207
(Holding brake
response time) P-0-0590
Maximum time until the output stage is switched off: P-0-0590, if acti-
vated.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 8–7
and Controls
Application instructions
Function chart
DS DS Control
MTG MT
G
Motor Motor
encoder encoder
(X05) (X05)
Encoder Encoder
simula- simula- Encoder
tion tion interface
(X81) (X81)
STA STA
(X06.1/2) (X06.1/2)
24 V Ready
Out1 Out1
(X34.4/5) (X34.4/5) Com-
24 V
plete
Start
IN 2 (X06.6) IN 2 (X06.6)
D The drive signals ready status through the STA status relay.
D No enable signal is output for the drives and the control.
D The control outputs a 24V start signal for IN 2 (only 1st pulse takes
effect).
IN2 may only be output if:
D STA of the axis has been output and
D Out 1 = 0, i.e. no Complete message.
D With the start signal at IN2, the drive starts transmitting the impulses
of the absolute position to the control
(connection between encoder simulation – encoder interface).
D When transmission is complete, the drive sets the relay contact Out1,
thus generating a 24V signal as Complete message for the control
(finished). The relay contact Out1 must be used as normally-open
contact. It can only be reset by RESET or by toggling the 24 V supply
to the drive off/on.
D When the control has received the Complete message, it can enable
the drive.
8–8 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Application instructions
STA
Status 24 V
0V t
IN 2
Start 24 V
0V t
Out1
Complete 24 V
0V t
FG
External 24 V
enable
0V t
If the status relay is switched off due to an error when the counter
has started up, transmission of the absolute value is no longer af-
fected. Out1 remains high, transmission does not have to be re-
started.
Application instructions
STA contact No
closed ?
Yes
No
Out 1 = 0 ?
Yes
Transmission No
completed?
Yes
Activate position
controller
Activate software limit
switches
Application instructions
The following modes may be selected via the user interface or hardware
inputs IN 7 and IN 8:
Mode Bit pattern of hardware inputs
IN 8 IN 7
Automatic 0 0
Referencing 0 1
Jogging
gg g Jog – 1 0
Jog + 1 1
MC user interface
When the user interface is enabled, command buttons ”+”, ”–” start an
axis movement in the corresponding direction. The override value can
be set in the range 0 – 100%.
The MC user interface displays the positions traversed to.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 8–11
and Controls
Application instructions
8.4.2 Referencing
For automatic operation, the axis must have been referenced.
The output signal ”Axis has been referenced” is cleared when referenc-
ing is started, and set when referencing has been properly completed.
reference cam
Referencing movement
when axis has reached the cam opposite referencing
direction
reference cam
Signal behavior
on
(IN 7)
off
Referencing
mode
(IN 8) on
off
24V
Start/Stop
(IN 6) 0V
Application instructions
With absolute position data, the target position is indicated, with incre-
mental position data, the axis performs a relative movement by the
specified value.
Signal behavior
In automatic mode, the Start/Stop command initiates processing of the
table set selected at inputs IN 1 – IN 5. Each block is released again, so
that any block order can be selected.
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 8–13
and Controls
Application instructions
24V
Axis has been
referenced (Out 5)
0V
on
(IN 7)
off
Mode
=Automatic
(IN 8) on
off
24V
Start/Stop
(IN 6) 0V
24V
In position
(Out 7)
0V
Speed nset
n=0
Application instructions
Notes:
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 9–1
and Controls
Personality module
9 Personality module
The personality module is used in stand-alone inverters with SERCOS
interface.
CAUTION
Damages possible by improper handling!
The Personality Module must not be inserted or removed unless
the drive is switched off.
FEPROM
This plug-in board for the computer motherboard contains the FEPROM
memory for the operating software and parameters and the dip switches
for the basic setting for the SERCOS interface.
The personality module determines the drive inverter’s behavior and
can take control of the drive characteristics following a module exchange
when simply plugged into the new module.
on on
DIP switch on PM..A
off off
ML T B D 7 6 5 4 3 2 1 0 Address
9–2 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Personality module
DIP switches
These switches must be set and tested before commissioning:
DIP switch Function
M Select master function:
on SERCOS interface is master (default)
off DSS-D is master
Length of the optical fibre at the SERCOS interface trans-
mitter:
L Cable up to a length of 10 m,
on limited transmission performance (default)
off Cable exceeding the length of 10 m, high transmission per-
formance
T Test SERCOS interface:
on Test mode
off Normal operation (default)
B Data transmission rate::
on 2 Mbaud (default)
off 4 Mbaud
D Combination with RSU modules:
on Operation together with RSU modules (cf. RSU manual)
off Operation together with
standard modules (default)
Dimensioned drawings
10 Dimensioned drawings
R2
7.5
50
10.5
R7.5
445
400
Depth: 270 mm
50 50 50 50 50
10–2 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Dimensioned drawings
42 Circuit diagram
35
100
2.5mm
Rx Rx Rx
58
tie-bar U V W PE
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG 11–1
and Controls
Part numbers
11 Part numbers
11.1 Accessories
Part numbers
11.2 Options
Option module
OM 04 –D 1070 078 832
analog outputs:
Appendix
A Appendix
A.1 Index
Numbers D
24 V load power supply unit, 2–1 D–Sub connector
24 V supply, 5–10 CAN bus, 7–13
7–segment display DS. See Manual ”Diagnostics Ser- Direct measuring system, 7–39
vodyn–D” Encoder switch/encoder simulation, 7–38
Motor encoder, 7–33
A OM 01, 7–41
Absolute encoder position, Transmission via X81, 8–7 OM 02, 7–43
Ambient air, 2–2 OM 02 for pulse–shape electronics (EXE), 7–44
Autotransformer, 5–7 OM 03 for measuring systems with EnDat inter-
face, 7–46
B OM 03 for measuring systems with I2C interface,
Brake connection 7–47
Brake supply filter with/without point–to–point ter- PROFIBUS–DP, 7–19
minal, 5–17 RS 232, 7–32
with relay and protective circuitry, 5–18 DC link connection, 5–11
Dimensions
C DS..K, 3–1, 10–1
Cable bushing Line wiring module, 10–1
Encoder cable, 7–34 Plug braking modules, 10–2
Power connection to the motor, 5–12 DIP switches, 9–2
Cables, Direct measuring system, 11–2 Direct current brake, 7–22
CAN bus Direct measuring system, 7–39
Baudrate, 7–15 absolute, with EnDat interface, 7–45
Connection, 7–13 with sinusoidal current signals , 7–40
LED display, 7–15 with sinusoidal voltage signals, 7–45
CAN connectors, 7–15 with square–wave signals, 7–42
Charging relay, feedback, 6–4 Documentation, 1–7
Connection overview, 4–1 Drive components, 2–1
Connection X05, 7–33 Layout, 2–3
Connection X51, 7–13, 7–19 Drive operation signals
Connections overview Drive enable (software), 8–1
Analog interface, 7–1 Drive hold (software), 8–1
CAN bus, 7–10 Drive on (software), 8–1
DS..8001 (ASM), 7–20 Enable FG (hardware), 8–1, 8–6
Positioning function (MC), 7–1
PROFIBUS–DP, 7–16 E
SERCOS interface, 7–7 Earth–leakage circuit–breaker, 5–4
Supply module, 6–1 Earthing, 5–1
Current reduction, 7–23 24 V power supply unit, 5–3
Cycle off / on upon entering a protective zone, Se- Connection between the modules, 3–2
quence diagram with SERCOS interface, 8–3 Protective earthing of inverters, 5–1
Cycle on / off, Sequence diagram with SERCOS in- Protective earthing of motors, 5–2
terface, 8–2 Electrical connection, Block diagram, 4–1
EMC, 5–3
EMC Directive, 1–1
EMC product standard, 1–1
A–2 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Appendix
EMERGENCY–STOP, 6–3 Mains connection
Behavior with SERCOS interface, 8–4 Autotransformer, 5–7
Sequence diagram with SERCOS interface, 8–5 Line cross section, 5–8
Tripping delay, 8–4 Low–voltage supply, 5–9
EMERGENCY–STOP devices, 1–5 NV line wiring module, 5–8
EMERGENCY–STOP switchgear Mains filter, 5–8
Connection with other interfaces, 6–7 Function, 2–1
Connection with SERCOS interface, 6–8 Mains supply, 5–5
Encoder cable Measuring probe input, 6–4
Pin assignment gear encoder, 7–36 Message, Mains failure, 6–4
Pin assignment resolver, 7–36 Modules sensitive to electrostatic discharge. See
Pin assignment STG/MTG, 7–35 ESD–sensitive components
Encoder simulation Motor cables, 5–12
Pin assignment, 7–38 Motor connection
Technical data, 7–37 Asynchronous motors, 5–20
Transmission of the absolute encoder position, Servo motors, 5–12
8–7 Motor encoder
Encoder switch, 7–37 Connection, 7–33
Pin assignment, 7–38 Pin assignment gear encoder, 7–36
ESD Pin assignment resolver, 7–36
Electrostatic discharge, 1–6 Pin assignment STG/MTG, 7–35
grounding, 1–6
workplace, 1–6 O
ESD–sensitive components, 1–6 Option module
External enable, 7–2, 7–8, 7–11, 7–17, 7–21, 8–1, OM 01, 7–40
8–6 OM 02, 7–42
OM 04, 7–48
F
Frequency warning, 7–27 P
Fuses, 11–2 Parameter list, 7–22
Personality module, 9–1
G Plug braking contactor, Control, 7–28
Gear encoders, Permitted types, 7–33 Plug braking modules, Dimensions, 10–2
Grounding bracelet, 1–6 Plug–in connection X71/72, 7–9
PROFIBUS–DP
H Address, 7–19
High–speed analog outputs, 7–48 Connection, 7–19
Holding brake, Control, 7–29 LED display, 7–19
Protective earth conductor cross–section, 5–2
I Protective earthing, 5–1
Installation, DS..K, 3–1
Intended use, 1–1 Q
Inverter, Function, 2–1 Qualified personnel, 1–2
IT protective system, 5–1
R
L Reference point switch, 7–9
Limit current, 7–23 Release, 1–7
Limit switches, 7–9 Rotary switches S2...S4, 7–19
Line cross section, Supply, 5–8 Rotary switches S2...S5, 7–15
Line wiring module, 2–1
Block diagram, 5–8 S
Low–Voltage Directive, 1–1 Safety instructions, 1–4
Low–voltage supply, 5–9 Safety markings, 1–3
Safety relay, feedback, 6–5
M Safety separation, 2–1, 5–10
Machinery directive, 1–1 SERCOS interface, Connection, 7–9
1070066036 / 03 ServoDyn D Electric Drives Bosch Rexroth AG A–3
and Controls
Appendix
Set–up mode
Wiring with other interfaces, 6–7
Wiring with SERCOS interface, 6–8
Spare parts, 1–6
Special mode, 6–4
Stability warning, 7–23
Standstill monitoring, 7–27
Start logically linked
Inverters with other interfaces, 6–7
Inverters with SERCOS interface, 6–8
Status message, 7–2, 7–8, 7–11, 7–17, 7–21
Switch cabinet structure, 2–1
Example of a possible layout, 2–4
T
Temperature warning
all inverters without ASM, 7–31
ASM, 7–23
Terminal box, 5–20
Terminal strip X06
Analog interface, 7–2
CAN bus, 7–11
Frequency inverter, 7–21
Motion Control, 7–2
PROFIBUS–DP, 7–17
SERCOS interface, 7–8
Terminal strip X12, 7–6
Terminal strip X13, 7–23
Terminal strip X14, OM 04, 7–48
Terminal strip X21, 7–4
Terminal strip X22, 7–5
Terminal strip X23, 7–24
Terminal strip X30, 6–3
Terminal strip X312, 6–3
Terminal strip X34, 7–28
Terminal strip X34 (ASM), 7–27
Terminal strip X76, 6–5
Test activities, 1–6
Trademarks, 1–8
U
UL/CSA certification, Installation and operation, 2–5
A–4 Bosch Rexroth AG Electric Drives ServoDyn D 1070066036 / 03
and Controls
Appendix
Notes:
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 (0)93 52-40-50 60
Fax +49 (0)93 52-40-49 41
service.svc@boschrexroth.de
www.boschrexroth.com
Printed in Germany
1070066036 DOK-SERV*D-STAND*ALONE-MA03-EN-P