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力士乐HCS02.1_HCS03.1FU.PDF
Contents
Introducing the Products
Introduction
Terms, Basic Principles
Rexroth IndraDrive Hardware Platform
Drive Controllers
Motors and Measuring Systems
Master Communication
Rexroth IndraDrive Firmware Platform
Type Code
Functions Overview
Rexroth IndraDyn Motors
Housing Motors
Kit Motors
Third-Party Motors at IndraDrive Controllers
General Information on Third-Party Motors
Requirements on Third-Party Motors
Requirements on the Encoder of the Third-Party Motor
Notes on Selection and Commissioning
Approval, Listing
Conformities
C-UL-US-Listing
Important Directions for Use
Appropriate Use
Introduction
Areas of Use and Application
Inappropriate Use
Safety Instructions for Electric Drives and Controls
General Information
Using the Safety Instructions and Passing them on to Others
Instructions for Use
Explanation of Warning Symbols and Degrees of Hazard Seriousness
Hazards by Improper Use
Instructions with Regard to Specific Dangers
Protection Against Contact with Electrical Parts
Protection Against Electric Shock by Protective Low Voltage (PELV)
Protection Against Dangerous Movements
Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting
Protection Against Contact with Hot Parts
Protection During Handling and Mounting
Battery Safety
Protection Against Pressurized Systems
Identification, Transport, Storage, Installation Conditions
Identification
Type Code
Type Plates
Transport and Storage
Transport of the Devices
Storage of the Devices
Installation Conditions
Ambient and Operating Conditions
Compatibility with Foreign Matters
Electrical Data
Power Sections
Type Current and Connected Load
Control Voltage Supply
Power Voltage Supply- Mains Connection
Limited Length of Motor Power Cables
Control Sections
Relay Contact Type 1
Relay Contact Type 2
Relay Contact Type 3
Digital Inputs/Outputs
Analog Inputs/Outputs
Additional Components
Mains Filter HNF
Mains Filter (-Combination) HNK
Mains Choke HNL01.1E (feeding)
Mains Choke HNL01.1E-****-S (Current-Compensated)
Braking Resistor HLR
Motor Filter HMF
Mounting and Installation
Mounting
Dimensions – Power Sections
Dimensions – Mains Filter HNF
Dimensions – Mains Choke HNL01.1E (infeeding)
Dimensions – Standard Braking Resistors HLR01.1
Dimensions – Reinforced Braking Resistors HLR01.1
Dimensions – Motor Filter HMF
Combination of Drive Controllers of the Rexroth IndraDrive C Product Range
Multiple-Line Arrangement of Drive Controllers
Electrical Installation
Rules for Design of Installations with Drive Controllers in Compliance with EMC
EMC-Optimal Installation in Facility and Control Cabinet
Ground Connections
Installing Signal Lines and Cables
General Measures of Radio Interference Suppression for Relays, Contactors, Switches, Chokes, Inductive Loads
Installing the 24V Supply
Connection Diagram
Connections and Connectors
Accessories HAS
Commissioning and Parameterization
Basics
Control Panels
Parameters
Master Communication Interfaces
Parameterization Mode / Operating Mode
Default Settings in the Motor Encoder Data Memory ("Load Defaults Procedure")
Parameterization
Control Panels
Menu Structure
Overview of Parameters – Base Package
S-0-0000 – S-0-0100
S-0-0101 – S-0-0200
S-0-0201 – S-0-0300
S-0-0301 – S-0-0400
S-0-0401 – S-0-1000
P-0-0001 – P-0-0689 (General Functions)
P-0-0690 – P-0-0899 (Synchronization Mode)
P-0-1100 – P-0-1299 (Velocity Control)
P-0-1500 – P-0-1599 (General Device Parameters)
P-0-2000 – P-0-2999 (General Device Parameters
P-0-3600 – P-0-4095 (General Device Parameters)
Basic Functions
Serial Communication
Master Communication
Profile Types
Motor Control
Scaling of Physical Data
Voltage-Controlled Operation (Open-Loop U/f Control)
Overview
Automatic Setting of Motor Control Parameters
Closed-Loop Axis Control (Closed-Loop Operation)
Automatic Setting of Axis Control
Positioning Block Mode
Diagnostic and Service Functions
Diagnostic System
Diagnostic Status Messages
Diagnostic Command Messages
Warnings
General Description of Error Messages and Error Reactions
Recommended Actions for Operating States, Activities and Reactions of the Drive Controller
Troubleshooting
Check Drive Components
Replacing Devices
Cables
Replacing the Firmware
Firmware Release Update
Firmware Version Upgrade
Possible Problems during Firmware Replacement
Service and Maintenance
Deactivation
Dismantling
Disposal
Environmental Protection
Service & Support
Helpdesk
Service-Hotline
Internet
Vor der Kontaktaufnahme... - Before contacting us...
Kundenbetreuungsstellen -
Deutschland –
Europa (West) -
Europa (Ost) - Europe (East)
Asien - Asia (incl. Pacific Rim)
Nordamerika – North America
Südamerika – South America
Index
Electric Drives
and Controls
Hydraulics
Linear Motion and
Assembly Technologies
Pneumatics
Service
Rexroth IndraDrive C
Drive Controllers
HCS02.1, HCS03.1
Operating Instructions
R911314905
Edition 01
About this Documentation
Rexroth IndraDrive
Title
Type of Documentation
Rexroth IndraDrive C
Drive Controllers
HCS02.1, HCS03.1
Operating Instructions
Document Typecode
DOK-INDRV*-FU*********-IB01-EN-P
Internal File Reference
Document Number, 120-2400-B327-01/EN; Mat. No.: R911314905
Purpose of Documentation
This documentation describes the mounting, installation, commissioning,
parameterization and troubleshooting of Rexroth IndraDrive controllers on
the basis of the power sections HCS02 or HCS03 and the control sections
BASIC OPENLOOP or BASIC PROFIBUS with comfort control panel.
Record of Revisions
Description
DOK-INDRV*-FU*********-IB01-EN-P
Release
Date
06-2006
Notes
First Release
Copyright
Bosch Rexroth AG 2006
Copying this document, giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders
are liable for the payment of damages. All rights are reserved in the event
of the grant of a patent or the registration of a utility model or design
(DIN 34-1).
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.
Published by
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telephone +49 (0)93 52/40-0 • Tx 68 94 21 • Fax +49 (0)93 52/40-48 85
http://www.boschrexroth.de/
Dept. EDY1 (RR/US/BB)
Note
This document has been printed on chlorine-free bleached paper.
DOK-INDRV*-FU*********-IB01-EN-P
Rexroth IndraDrive
Contents I
Contents
1
2
Introducing the Products
1.1
1-1
Introduction ................................................................................................................................... 1-1
Terms, Basic Principles ........................................................................................................... 1-1
Rexroth IndraDrive Hardware Platform ........................................................................................ 1-6
Drive Controllers...................................................................................................................... 1-6
Motors and Measuring Systems.............................................................................................. 1-7
Master Communication............................................................................................................ 1-8
Rexroth IndraDrive Firmware Platform ......................................................................................... 1-8
Type Code ............................................................................................................................... 1-8
Functions Overview ................................................................................................................. 1-9
Rexroth IndraDyn Motors............................................................................................................ 1-12
Housing Motors...................................................................................................................... 1-12
Kit Motors............................................................................................................................... 1-12
Third-Party Motors at IndraDrive Controllers.............................................................................. 1-13
General Information on Third-Party Motors........................................................................... 1-13
Requirements on Third-Party Motors .................................................................................... 1-14
Requirements on the Encoder of the Third-Party Motor ....................................................... 1-17
Notes on Selection and Commissioning................................................................................ 1-17
Approval, Listing ......................................................................................................................... 1-18
Conformities........................................................................................................................... 1-18
C-UL-US-Listing..................................................................................................................... 1-18
1.2
1.3
1.4
1.5
1.6
Important Directions for Use
2.1
2-1
Appropriate Use............................................................................................................................ 2-1
Introduction .............................................................................................................................. 2-1
Areas of Use and Application .................................................................................................. 2-2
Inappropriate Use ......................................................................................................................... 2-2
2.2
3 Safety Instructions for Electric Drives and Controls
3-1
3.1 General Information ...................................................................................................................... 3-1
Using the Safety Instructions and Passing them on to Others................................................ 3-1
Instructions for Use.................................................................................................................. 3-1
Explanation of Warning Symbols and Degrees of Hazard Seriousness ................................. 3-3
Hazards by Improper Use........................................................................................................ 3-4
Instructions with Regard to Specific Dangers............................................................................... 3-5
Protection Against Contact with Electrical Parts ..................................................................... 3-5
Protection Against Electric Shock by Protective Low Voltage (PELV) .................................... 3-6
Protection Against Dangerous Movements ............................................................................. 3-7
3.2
DOK-INDRV*-FU*********-IB01-EN-P
II Contents
Rexroth IndraDrive
Protection Against Magnetic and Electromagnetic Fields During Operation and
Mounting .................................................................................................................................. 3-9
Protection Against Contact with Hot Parts ............................................................................ 3-10
Protection During Handling and Mounting............................................................................. 3-11
Battery Safety ........................................................................................................................ 3-11
Protection Against Pressurized Systems .............................................................................. 3-12
4
Identification, Transport, Storage, Installation Conditions
4.1
4-1
Identification.................................................................................................................................. 4-1
Type Code ............................................................................................................................... 4-1
Type Plates.............................................................................................................................. 4-4
Transport and Storage.................................................................................................................. 4-6
Transport of the Devices ......................................................................................................... 4-6
Storage of the Devices ............................................................................................................ 4-6
Installation Conditions................................................................................................................... 4-7
Ambient and Operating Conditions.......................................................................................... 4-7
Compatibility with Foreign Matters .......................................................................................... 4-9
4.2
4.3
5 Electrical Data
5.1
5.2
5.3
5-1
Power Sections............................................................................................................................. 5-1
Type Current and Connected Load ......................................................................................... 5-1
Control Voltage Supply............................................................................................................ 5-2
Power Voltage Supply- Mains Connection .............................................................................. 5-3
Limited Length of Motor Power Cables ................................................................................... 5-4
Control Sections ........................................................................................................................... 5-6
Relay Contact Type 1 .............................................................................................................. 5-6
Relay Contact Type 2 .............................................................................................................. 5-6
Relay Contact Type 3 .............................................................................................................. 5-7
Digital Inputs/Outputs .............................................................................................................. 5-7
Analog Inputs/Outputs ............................................................................................................. 5-9
Additional Components............................................................................................................... 5-15
Mains Filter HNF.................................................................................................................... 5-15
Mains Filter (-Combination) HNK........................................................................................... 5-16
Mains Choke HNL01.1E (feeding)......................................................................................... 5-16
Mains Choke HNL01.1E-****-S (Current-Compensated) ...................................................... 5-17
Braking Resistor HLR ............................................................................................................ 5-17
Motor Filter HMF.................................................................................................................... 5-26
6 Mounting and Installation
6-1
6.1 Mounting ....................................................................................................................................... 6-1
Dimensions – Power Sections................................................................................................. 6-1
Dimensions – Mains Filter HNF............................................................................................... 6-7
Dimensions – Mains Choke HNL01.1E (infeeding) ................................................................. 6-9
Dimensions – Standard Braking Resistors HLR01.1............................................................. 6-12
Dimensions – Reinforced Braking Resistors HLR01.1.......................................................... 6-14
Dimensions – Motor Filter HMF............................................................................................. 6-17
Combination of Drive Controllers of the Rexroth IndraDrive C Product Range .................... 6-22
DOK-INDRV*-FU*********-IB01-EN-P
Rexroth IndraDrive
Contents III
6.2
Multiple-Line Arrangement of Drive Controllers .................................................................... 6-24
Electrical Installation ................................................................................................................... 6-25
Rules for Design of Installations with Drive Controllers in Compliance with EMC ................ 6-25
EMC-Optimal Installation in Facility and Control Cabinet...................................................... 6-26
Ground Connections.............................................................................................................. 6-32
Installing Signal Lines and Cables......................................................................................... 6-33
General Measures of Radio Interference Suppression for Relays, Contactors,
Switches, Chokes, Inductive Loads....................................................................................... 6-34
Installing the 24V Supply ....................................................................................................... 6-35
Connection Diagram.............................................................................................................. 6-36
Connections and Connectors ................................................................................................ 6-38
Accessories HAS................................................................................................................... 6-67
7 Commissioning and Parameterization
7.2
7.1
7-1
Basics ........................................................................................................................................... 7-1
Control Panels ......................................................................................................................... 7-1
Parameters .............................................................................................................................. 7-1
Master Communication Interfaces........................................................................................... 7-3
Parameterization Mode / Operating Mode .............................................................................. 7-4
Default Settings in the Motor Encoder Data Memory ("Load Defaults Procedure")................ 7-9
Parameterization......................................................................................................................... 7-12
Control Panels ....................................................................................................................... 7-12
Menu Structure ...................................................................................................................... 7-16
7.3 Overview of Parameters – Base Package.................................................................................. 7-36
S-0-0000 – S-0-0100 ............................................................................................................. 7-36
S-0-0101 – S-0-0200 ............................................................................................................. 7-41
S-0-0201 – S-0-0300 ............................................................................................................. 7-45
S-0-0301 – S-0-0400 ............................................................................................................. 7-47
S-0-0401 – S-0-1000 ............................................................................................................. 7-50
P-0-0001 – P-0-0689 (General Functions) ............................................................................ 7-51
P-0-0690 – P-0-0899 (Synchronization Mode)...................................................................... 7-85
P-0-1100 – P-0-1299 (Velocity Control) ................................................................................ 7-87
P-0-1500 – P-0-1599 (General Device Parameters)............................................................. 7-96
P-0-2000 – P-0-2999 (General Device Parameters .............................................................. 7-96
P-0-3600 – P-0-4095 (General Device Parameters)............................................................. 7-97
Basic Functions ........................................................................................................................ 7-108
Serial Communication ......................................................................................................... 7-108
Master Communication........................................................................................................ 7-110
Profile Types........................................................................................................................ 7-114
Motor Control....................................................................................................................... 7-117
Scaling of Physical Data...................................................................................................... 7-118
Voltage-Controlled Operation (Open-Loop U/f Control) ........................................................... 7-121
Overview.............................................................................................................................. 7-121
Automatic Setting of Motor Control Parameters.................................................................. 7-122
Closed-Loop Axis Control (Closed-Loop Operation) ................................................................ 7-131
Automatic Setting of Axis Control........................................................................................ 7-136
Positioning Block Mode ............................................................................................................ 7-137
7.4
7.5
7.6
7.7
DOK-INDRV*-FU*********-IB01-EN-P
IV Contents
Rexroth IndraDrive
8 Diagnostic and Service Functions
8-1
Diagnostic System ........................................................................................................................ 8-1
Diagnostic Status Messages ................................................................................................... 8-1
Diagnostic Command Messages............................................................................................. 8-1
Warnings.................................................................................................................................. 8-1
General Description of Error Messages and Error Reactions ................................................. 8-2
Recommended Actions for Operating States, Activities and Reactions of the Drive
Controller ...................................................................................................................................... 8-5
Troubleshooting .......................................................................................................................... 8-21
Check Drive Components...................................................................................................... 8-21
Replacing Devices................................................................................................................. 8-21
Cables.................................................................................................................................... 8-23
Replacing the Firmware......................................................................................................... 8-24
Firmware Release Update..................................................................................................... 8-25
Firmware Version Upgrade.................................................................................................... 8-29
Possible Problems during Firmware Replacement ............................................................... 8-35
Service and Maintenance ........................................................................................................... 8-36
Deactivation ........................................................................................................................... 8-36
Dismantling ............................................................................................................................ 8-36
Disposal ................................................................................................................................. 8-37
Environmental Protection ...................................................................................................... 8-37
8.1
8.2
8.3
8.4
9.1
9.2
9.3
9.4
9.5
9 Service & Support
9-1
Helpdesk....................................................................................................................................... 9-1
Service-Hotline ............................................................................................................................. 9-1
Internet.......................................................................................................................................... 9-1
Vor der Kontaktaufnahme... - Before contacting us... .................................................................. 9-1
Kundenbetreuungsstellen - Sales & Service Facilities ................................................................. 9-2
10 Index
10-1
DOK-INDRV*-FU*********-IB01-EN-P
Rexroth IndraDrive
Introducing the Products 1-1
1
Introducing the Products
1.1
Introduction
Terms, Basic Principles
Parameters
Communication between master and drive takes place, with a few
exceptions, by means of parameters.
Parameters are used for:
• determining the configuration
• parameterizing the control loop
•
•
triggering and controlling drive functions and commands
transmitting command values and actual values (according
requirements, cyclically or acyclically)
to
All operating data are mapped to parameters!
The operating data stored in parameters can be identified by means of
the IDN. They can be read and transferred, if required. The user write
access to parameters depends on the properties of the respective
parameter and the current communication phase. Specific parameter
values (operating data) are checked for validity by the drive firmware.
in the controller
in the motor encoder (depending on motor type)
Data Storage and Parameter Handling
Several non-volatile data memories are available in an IndraDrive device:
•
•
In addition, a volatile data memory (working memory) is available in the
controller.
Condition as supplied of the Rexroth drive components:
• The controller memory contains the drive firmware and the controller-
specific parameter values.
• The motor encoder memory contains the encoder-specific and,
depending on the motor type, the motor-specific parameter values.
The application-specific parameter values are stored in the controller. Due
to the limited number of writing cycles of non-volatile storage media,
application-specific parameter values can be stored in the working
memory (volatile memory), too.
Saving application-specific parameter values is required in the following
cases:
• after initial commissioning of the machine axis or the motor
• before replacing the controller for servicing (if possible)
Application-specific parameter values can be saved via:
• "IndraWorks D" commissioning tool → saving the parameter values on
external data carrier
• control master → saving the parameter values on master-side data
carrier
• comfort control panel
Data Memory
Condition As Supplied
Storing the Application-Specific
Parameter Values
Saving Parameter Values
DOK-INDRV*-FU*********-IB01-EN-P
1-2 Introducing the Products
Rexroth IndraDrive
Parameter IDN Lists
Loading Parameter Values
The drive supports master-side saving of parameter values by listing
parameter identification numbers (IDNs). Using these lists guarantees
complete storage of the application-specific parameter values. It is also
possible to determine IDN lists defined by the customer.
Loading parameter values is required in the following cases:
•
initial commissioning of the motor (loading basic parameter values and
motor-specific parameter values)
• serial commissioning of machine axes at series machines (loading the
•
•
values saved after initial commissioning)
reestablishing a defined original status (repeated loading of the values
saved after initial commissioning)
replacing the controller for servicing (loading the current parameter
values saved before servicing)
Checksum of Parameter Values
Kinds of Passwords
• Possibilities of loading parameter values to the controller:
• motor encoder data memory → loading the parameter values by
command or via the control panel during initial motor commissioning
• "IndraWorks D" commissioning tool → loading the parameter values
from external data carrier
• control master → loading the parameter values from master-side data
carrier
By means of checksum comparison, the control master can determine
whether the values of the application-specific parameter values currently
active in the drive correspond to the values saved on the master side.
Password
IndraDrive controllers provide the possibility to protect parameter values
against accidental or unauthorized change by means of a password. With
regard to write protection, there are 3 groups of parameters that can be
written:
• Parameters that are write-protected as a standard, such as motor
parameters, hardware code parameters, encoder parameters, error
memory etc. ("administration parameters"). The values of these
parameters guarantee correct function and performance of the drive.
• Parameters the customer can combine in groups and protect them
with a so-called customer password. This allows protecting parameter
values, that are used for adjusting the drive to the axis, after having
determined them.
• All other parameters that can be written and are not contained in the
above-mentioned groups. They are not write-protected.
The drive firmware allows activating and deactivating the write protection
for parameter values by means of
three hierarchically different
passwords:
• Customer password
The parameter values of a parameter group combined by the
customer can be protected.
• Control password
Parameters protected by a customer password can be written;
"administration parameters" remain write-protected.
• Master password
All parameters
"administration
parameters" and parameters protected by a customer password, can
be changed.
that can be written,
including
DOK-INDRV*-FU*********-IB01-EN-P
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