Documente Academic
Documente Profesional
Documente Cultură
GB
A-Housing
00.F5.SEM-KA01
Installation Guideline
11/2004
This manual describes the KEB COMBIVERT F5. Particular attention is paid to the
installation, the connection as well as the basic operation. Due to the various application
and programming possibilities, the application-specific connection and/or wiring diagram,
the parameter adjustment as well as instructions to the start-up are to be taken from the
documentation of the machine manufacturer.
A list of instruction manuals and documents giving assistance for the construction,
documentation and service is provided at the end of this manual. The safety and
warning notes listed in this instruction manual as well as in other documentation must be
observed at any rate to ensure a safe operation. The safety and warning instructions
specified in this manual do not lay claim on completeness. KEB reserves the right to
change/adapt specifications and technical data without prior notice. The used pictograms
have following significance:
Danger
Warning
Caution
Attention,
observe at
all costs
Information
Aide
Tip
Inhaltsverzeichnis
1.
2.
2.1
2.2
2.3
2.4
3.
3.1
3.2
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.4
3.5
4
4.1
4.1.1
4.1.2
4.1.3
4.1.4
4.1.5
4.2
16
16
16
17
17
5.
6.
6.1
6.2
6.3
Certifications ................................................................................................ 23
CE-Marking ....................................................................................................... 23
Manufacturers Declaration ............................................................................ 23
UL / CUL - Marking ........................................................................................... 23
7.
3. Transport, storage
Product description
2.
2.1
Product description
Intended use
The digital servo controller KEB COMBIVERT F5-SERVO serves exclusively for the control
and regulation of synchronous servo motors. The operation of other electric consumers is
prohibited and can lead to the destruction of the unit.
On delivery the controllers are tuned to the servo motors supplied by KEB. Servo controllers
are components which are intended for the installation in electric systems or maschines.
2.2
Unit identification
A6.F5.S3A3420
Motor cooling
0: Self-cooling
1: External cooling
Interface type see control circuit
2: Resolver and IG-I/O
Motor speed
1: 1500 rpm
4: 4000 rpm
2: 2000 rpm
6: 6000 rpm
Input identification
2: 1/3ph 230V AC/DC
3: 3000 rpm
Housing type A
Accessories
3: Braking transistor, integrated filter
Control type
S: SERVO
Series F5
Motor design / Motor identification /-size
A0...GH: Standard systems
Others: Customer-specific / Special version
Product description
2.3
Technical data
Servo size
Housing size
Phases
Input rated voltage
Output rated power
Output rated current
Max. short time current 1)
OC-tripping current
Input rated current
Rated switching frequency
Max. switching frequency
Power loss at rated operation
Power modules losses 2)
Min. braking resistor
Typ. braking resistor
Max. braking current
Stand still current at rated operation
Mains voltage UN
Mains frequency
Output voltage
Output frequency
Max. motor line length (shielded)
Max. motor line length (unshielded)
04
A
07
A
04
A
09
A
1
3
1
3
3
[V]
230
400
[kVA]
0,8
1,6
1,0
2,8
[A]
2
4
1,4
4,1
[A]
8
8
5,6
8,2
[A]
9,6
9,6
6,7
9,8
[A] 4 2,6 8 5,6
1,8
6
[kHz]
8
8
8
4
[kHz]
8
8
8
8
[W] 43 35 55 50
45
65
[W] 25 20
28
[Ohm]
82
60
150
110
[Ohm]
82
82
330
160
[A]
5,5
7
5,5
7,5
[A]
2,3
4
1,6
4,1
[V]
180...260 0
305...500 0
[Hz]
50 / 60 +/- 2
[V]
3 x 0...UN
[Hz]
0...400
[m]
10
10
[m]
40
50
20
50
1)
Max. current before the responding of the OL function. With the regulated systems 5% are to
be subtracted as control reserve.
2)
Amount of heat to be dissipated over the mounting surface at rated operation.
Site altitude max. 2000 m. With site altitudes over 1000 m a derating of 1% per 100 m must
be taken into consideration.
Overload function
04.F5
07...09.F5
120 s
250 s
80 s
200 s
60 s
150 s
40 s
100 s
20 s
50 s
0s
100
%
300 s
100 s
150
%
200
%
250
%
300
%
350
%
400
%
0s
100 120 140 160 180 200
%
%
%
%
%
%
Product description
2.4
400
Inc
. en
cod
230
er
sim
Re
s
ula olver
X3
tion
X3 A
B
wit
X4
A
Vc
ho
p
wit erato
hC r
ove
r
las
sX
Vc
las
sX
1A
1A
++
L3
L2
L1
PE
X2
A
N
L1
PE
a
W
/L2
-
++
L3
o
eK
D i n tla d g
e e tr e
b i n F tz s e i n a
E h u s a l a s ig
s c t a l tz m s
is c h u z u l
S ic h t
n
144
158
X1
B
PE
U
V
W
18
5
17
5
1 T2
T
PB
PA
PE
76
U, V, W
PA, PB
T1, T2
L1, N/L2, L3
L1, L2, L3
++, --
19
1(
h
wit
ter
ls
ina
trip
s)
Pay attention to the input voltage, since 230V and 400V class (3-phase) are possible!
3.2
EMC-conform Installation
6 inch
START
START
ENTER
F/R
FUNC.
ENTER
SPEED
F/R
FUNC.
SPEED
STOP
STOP
30 mm
1 inch
ANTRIEBSTECHNIK
100 mm
4 inch
150 mm
ANTRIEBSTECHNIK
-E
L1
L
L2
++
--
--
PE
PE
L1
L1
L2
L2
N/
L3
L3
++
++
3 x 1,5 mm
X1.A
4 x 1,5 mm
-N
1 x 230 V AC L1
PE
--
++
L3
N/L2
L1
PE
3 x 230 V AC
++
L3
N/L2
L1
PE
L3
L2
L1
PE
250...370 V DC
X1.A
--
420...720V DC
++
L3
N/L2
L1
PE
--
++
L3
L2
L1
PE
PE
U
V
W
PA
PB
T1
T2
10
++
L3
L2
L1
PE
2 x 1,5 mm
X1.A
PE
U, V, W
PA, PB
T1, T2
--
2 x 1,5 mm
X1.A
PE
U
V
W
PTC-Connector*)
PTC-Connector*)
7
8
Brake +
Brake
5
6
X1.B
PE
U
V
W
PA
PB
T1
T2
ext. brake supply unit
with own voltage supply
(optionally)
D
4
3
2
Connector
PIN No.
1
4
3
2
A
B
C
D
Name
U
V
W
PE
Brake +
Brake
PTC contact
PTC contact
Cable
Core No.
1
2
3
green-yellow
5
6
7
8
Terminals T1, T2
K1
12
11
Motor-PTC
T1
T2
11
PA
11
PB
K1
OH1
X1B
PA
PB
T1
T2
OH2
230 or 24 V AC/DC
drive
at 24 V AC/DC
check tripping
Braking resistors can develop very high surface temperatures, therefor install as safe-totouch as possible.
3.4
Housing
7
8
6
12
11
10
2
SIN SIN+
5 SIN 4 SIN+
Core color
red
1
blue
5
4
REF REF +
5
7
COS COS+
2
11
6 REF - yellow
3 REF + green
Servo motor
Resolver plug
12
1
10
Housing
8 COS - pink
7 COS+ gray
Socket X3A
RJ45-Connector assignment
1
2
-3
4
5
-6
7
8
1
2
3
4
5
6
7
8
free
free
REF +
SIN +
SIN REF COS +
COS -
Socket X3B
PIN No.
1
2
3
4
5
6
7
8
Signal
12V
GND
A+
B+
BAN+
N-
13
Control board
X2A
1
8 10 11 12 13 16 18 19 21 22
24 25 26
Function
+ Set value input 1
- Set value input 1
Analog output
7 +10V output
8
10
11
12
13
16
Analog ground
Progr. input 1
Progr. input 2
Progr. input 3
Progr. input 4
Voltage supply
driver stage
Name
AN1+
AN1AN
OUT1
CRF
Description
Differential voltage input
0...10 VDC ^ 0...maximum speed; Ri = 55 k
Programmable analog output 0...10 VDC / 5 mA;
Function is defined by the machine builder
Reference voltage output for set value potentiometer
(+10 VDC / max. 4 mA)
COM Ground for analog in- and output
I1
The function of the programmable inputs is defined by
I2
the machine builder.
I3
Switching voltage 13...30 VDC 0 % smoothed
I4
Ri=2,1 k
ST Supply of the driver stage
This input must be supplied with an external voltage of
20...30 VDC 0 % / 0,2 A (UBR max. 3,6 Vss). When
switching off this voltage an error reset is executed.
18 Transistor output 1
19 Transistor output 2
O1
O2
21 Voltage supply
Control board
Uin
22 Digital ground
0V
24 Relay 1 / NO contact
25 Relay1 / NC contact
26 Relay1 / switching contact
14
FLA
FLB
FLC
1
2
7
8
Analog output
10 V DC /
max.5 mA
max. 30 V DC
0,01...1 A
1)
X2A
1
2
5
7
8
10
11
12
13
16
18
19
21
22
24
25
26
1) Connect potential equalizing line only if a potential difference of > 30 V exists between
the controls. The internal resistance is reduced to 30 k.
To avoid interferences a separate shielding must be provided for analog and digital control
lines. Depending on the use of the relay outputs, an extra shielding is to be used, too.
In case of inductive load on the relay outputs a protective wiring must be provided (e.g.
free-wheeling diode)!
The control board must always supply by an external voltage. This keeps the control
in operation even if the power stage is switched off. To prevent undefined conditions at
external power supply the basic procedure is to first switch on the power supply and after
that the inverter.
15
START
ENTER
FUNC.
F/R
SPEED
STOP
ANTRIEBSTECHNIK
ANTRIEBSTECHNIK
RS232/RS485
(only 00.F5.060-2000)
16
2
3
5
2
3
7
PC
F5-Operator
4.2
Keyboard Operation
FUNC.
SPEED
STOP
STOP
START
START
Principally during a change, parameter values are immediately accepted and stored nonvolatile. However, with some parameters it is not useful that the adjusted value is accepted
immediately. In these cases the adjusted value is accepted and stored non-volatile by
pressing ENTER. When this type of parameter is changed a point appears behind the last
digit.
By pressing ENTER the adjusted value
is accepted and non-volatile stored.
ENTER
F/R
17
With ENTER only the error message in the display is reset. In order to reset the error
itself, the cause must be removed or a power-on reset must be made.
mode
End customer menu (CP-Parameter) read-only
End customer menu (CP-Parameter) read/write
Service menu (like end customer menu, but with the original parameters )
Application menu (all parameter groups and parameters are visible)
Drive mode (COMBIVERT can be put into operation by the keyboard )
The menu admissible for the application is defined by the machine builder. The password
input is generally made over the parameter CP.0. The adjusted password/menu is
maintained even after switching off.
Example: Changing the CP-parameter from read-only to read/write
ENTER
Password
UP
FUNC
18
CP-Parameter
5.
Parameter description
D is pla y
CP .0
CP .1
CP .2
CP .3
CP .4
CP .5
CP .6
CP .7
CP .8
CP .9
CP .10
CP .11
CP .12
CP .13
CP .14
CP .15
CP .16
CP .17
CP .18
CP .19
CP .20
CP .21
CP .22
CP .23
CP .24
CP .25
CP .26
CP .27
CP .28
CP .29
CP .30
CP .31
CP .32
CP .33
CP .34
CP .35
CP .36
P a ra m e t e r
Passwo rd
Encoder 1speed
Set value display
Inverter state
A pparent current
P eak apparent current
A ctual torque display
A ctual DC vo ltage
P eak DC vo ltage
Output vo ltage
Speed co ntro l co nfig.
DSM rated to rque
DSM rated speed
DSM rated frequency
DSM rated current
DSM EM K vo ltage co nst.
DSM winding inductance
DSM winding resistance
DSM curr. f. zero speed
Lo ad mo t.dependent para.
A bso lute po sitio n enc.1
Enco der 1ro tatio n
max. reference fo rward
Step value 1
Step value 2
acc time fo rward
dec time fo rward
S-curve time acc fo r.
To rque reference so urce
A bs. to rque reference
KP speed
KI speed
Switching frequency
Relay o utput 1/ functio n
Relay o utput 2 / functio n
P ro h. ro t. sto pping mo de
E. EF stopping mo de
S e t t ing
R eso ra nge
lut io n
0...9999
1
4000
0,125
4000
0,125
0...255
1
0...6553,5
0,1
0...6553,5
0,1
10000,00
0,01
0...1000
1
0...1000
1
0...778
1
4...6
1
0,1...6553,5
0,1
0...32000
1
0,0...1600,0
0,1
0,0...710,0
0,1
0...1000
1
0,01...500,00
0,01
0,000...50,000
0,001
0,0...700,0
0,1
1...2
1
0...65535
1
0...19
1
0...4000
0,125
4000
0,125
4000
0,125
0,00...300,00
0,01
-0,01...300,00
0,01
0,00...5,00
0,01
0...5
1
10000,00
0,01
0...32767
1
0...32767
1
0...LTK
1
0...78
1
0...78
1
0...6
1
0...6
1
D e - Unit E n- B a s e d
f a ult
ter
on
ud.1
0
rpm
ru.9
0
rpm
ru.1
0
ru.0
0
A
ru.15
0
A
ru.16
0
Nm
ru.12
0
V
ru.18
0
V
ru.19
0
V
ru.20
4
cs.0
LTK
Nm
dr.27
LTK
rpm
dr.24
LTK
Hz
dr.25
LTK
A
dr.23
LTK
V
dr.26
LTK
mH
dr.31
LTK Ohm
dr.30
LTK
A
dr.28
1
E
fr.10
57057
ec.2
0
ec.6
2100
rpm
o p.10
100
rpm
o p.21
-100
rpm
o p.22
5
s
o p.28
5
s
o p.30
0
s
o p.32
2
E
cs.15
LTK
Nm
cs.19
50
cs.6
500
cs.9
LTK
E
uf.11
4
E
do .2
2
E
do .3 *
6
pn.7
0
pn.3
CP.3
Inverter status
In parameter inverter status the actual operating condition of the frequency inverter
is displayed. In the case of an error the current error message is displayed, even if the
display has already been reset with ENTER (error-LED on the operator is still blinking).
Status messages and information about the cause and removal are to be found in
www.keb.de => Documentation => Operating Instructions => Other => Service
informations => Error and status messages.doc.
19
CP-Parameter
CP.10 Speed Control / Configuration
This parameter activates the speed or the torque control.
Value Description
4
Speed control
5
Torque control
6
Speed / torque control
20
CP-Parameter
CP.21 Change Rotation Encoder 1
The speed display at CP.1 must be positive when the engine runs manual in clockwise
direction. The signals SIN+ and SIN- of the resolver have to be changed, if the sign is
wrong. Please ensure that the signals are not short-circuited with the internal shield.
The signals A(+) and A(-) must be changed for units with SIN/COS encoder. Should this
involve too much effort then you can achieve a rotation reversal of encoder 1 by
means of this parameter.
Value Meaning
0
tracks not exchanged
1
track exchanged
2/3 reserved for initiator input
Value
Function
No function (generally off)
31
Generally on
32
Run signal; also by DC-braking
34
Ready signal (no error)
35
Fault relay
40
Fault relay (without auto-reset)
41
Warning or error message after
47
abnormal stopping
48
Overload pre-warning
49
Overtemperature alert signal power stage
External overtemperature pre-warning
50
motor
Overtemperature pre-warning OHI
51
Actual value = set value (CP.3 = Fcon,
52
rcon; not at noP; LS; error; SSF)
53
Accelerate (CP.3=FAcc; rAcc; LAS)
63
Decelerate (CP.3 = FdEc; rdEc; LdS)
64
Real direction of rotation = set direction
65
of rotation
66
Utilization > switching level 1)
70
Active current > switching level 1)
73
Real value (CP.1) > switching level 1)
74
1)
Setpoint (CP.2) > switching level
Function
Absolute setpoint on AN1>switching level 1)
Absolute setpoint on AN2>switching level 1)
Set value on AN1 > switching level 1)
Set value on AN2 > switching level 1)
Hardware current limit activated
Modulation on-signal
Ramp output value>switching level 1)
Apparent current (CP.4) > switching level 1)
Forward running (not at nOP, LS, abnormal
stopping or error)
Reverse running (not at nOP, LS, abnormal
stopping or error)
Warning E.OL2
Current regulator limit reached
Speed regulator limit reached
Absolut value ANOUT1 > switching level 1)
Absolut value ANOUT2 > switching level 1)
ANOUT1 > switching level 1)
ANOUT2 > switching level 1)
Driver voltage activ (safety relay)
Absolut active power > switching level 1)
Active power > switching level 1)
21
CP-Parameter
CP.35 Reaction to limit switch
This parameter determines the reaction of the drive to terminal X2A.14 (F) and/or
X2A.15 (R), which are programmed as limit switches. The reaction of the drive is shown
in the table below.
CP.35 Display Response
Restart
0
E.PRx Immediate disabling of modulation
Remove fault;
1
A.PRx Quick stopping / disabling of modulation after reaching
reset
speed 0
2
A.PRx Quick stop / holding torque at speed 0
3
A.PRx Immediate disabling of modulation
Autoreset, if no
4
A.PRx Quick stopping / disabling of modulation after reaching fault is present
speed 0
5
A.PRx Quick stop / holding torque at speed 0
6
none No effect to the drive; fault is ignored !
inapplicable
22
Certifications
6.
Certifications
6.1
CE-Marking
CE marked frequency inverter and servo drives were developed and manufactured to
comply with the regulations of the Low-Voltage Directive 73/23/EEC.
The inverter / servo drive must not be started until it is determined that the installation
complies with 89/392/EEC (machine directive) as well as the EMC-directive (89/336/
EEC)(note EN60204).
The frequency inverters / servo drives meet the requirements of the Low-Voltage Directive
73/231/EEC. The harmonized standards of the series EN 50178 in connection with EN
60439-1 and EN 60146 were used.
This is a product of limited availability in accordance with IEC 61800-3. This product may
cause radio interference in residential areas. In this case the operator may need to take
corresponding measures.
6.2
Manufacturers Declaration
A manufacturer declaration in accordance with 89/392/EEC can be provided by KEB if
needed.
6.3
UL / CUL - Marking
Inverter is suitable for use on a circuit capable of delivering not more than 10 kA rms
(symmetrical), 240 V AC or 480 V AC maximum
Maximum surrounding air temperature 45 C (113 F)
For control cabinet mounting as Open Type
For use in a pollution degree 2 environment
Motor protection by adjustment of current parameters
Not incorporated with overspeed protection
Power terminal tightening torque (see type plate)
Control terminal tightening torque (see chapter 3.4)
Overload protection at 130 % of inverter output rated current (see type plate)
Refer to this installation instructions for proper wiring
23
Additional Manuals
7.
Additional Manuals
You find supplementary manuals and instructions for the download under
www.keb.de > Documentation >Operation instruction
General instructions
Part 1 EMC-and safety instructions
Unit-specific instructions
Part 2 Power Circuit
Part 3 Control Circuit
Service notes
Up- /Download of parameter lists with KEB COMBIVERT
Error messages
Instruction and information for construction and development
Application Manual
Preparation of a user-defined parameter menu
Programming of the digital inputs
All documents are also available in printed version, however we have to charge a nominal
fee for these.
24
25
26
KEB Antriebstechnik
Herenveld 2 B-9500 Geraadsbergen
fon: +32 5443 7860 fax: +32 5443 7898
mail: vb.belgien@keb.de
KEB Nederland
Leidsevaart 126 NL2013 HD Haarlem
fon: +31 23 5320049 fax: +31 23 5322260
mail: vb.nederland@keb.de
KEB Sverige
Box 265 (Bergavgen 19)
S-4393 Hls
fon: +46 31 961520 fax: +46 31 961124
mail: thomas.crona@keb.de
KEBCO Inc.
1335 Mendota Heights Road
USA-Mendota Heights, MN 55120
fon: +1 651 4546162 fax: +1 651 4546198
net: www.kebco.com mail: info@kebco.com
11/2004
KEB Portugal
Avenida da Igreja Pavilo A n. 261 Mouquim
P-4770 - 360 MOUQUIM V.N.F.
fon: +351 252 371318 + 19 fax: +351 252 371320
mail: keb.portugal@netc.pt
00.F5.SEM-KA01
KEB Polska
ul. Budapesztaska 3/16 PL80-288 Gdask
fon: +48 58 524 0518 fax: +48 58 524 0519
mail: vb.polska@keb.de
KEB