Document Outline

• Operating Manual PMCprotego D.48, PMCprotego D.72
• Preface
• Contents
• 1 Introduction
  • Validity of documentation
    • 1.1.1 Retaining the documentation
  • Overview of documentation
  • Definition of symbols
• 2 Overview
  • Unit structure
    • 2.1.1 Unit features
      • 2.1.1.1 Power element
      • 2.1.1.2 Control element
  • Front view
  • Plan view
  • Scope of delivery
  • Type code
  • Type label
• 3 Safety
  • Intended use
    • 3.1.1 Hazard analysis
    • 3.1.2 Electrical data
    • 3.1.3 Ambient conditions
    • 3.1.4 Guidelines for UL approval
    • 3.1.5 Safety function STO
    • 3.1.6 Use of qualified personnel
    • 3.1.7 Warranty and liability
    • 3.1.8 Disposal
  • Safety during operation
  • Standards
  • Stop and E-STOP functions
    • 3.4.1 Stop functions
    • 3.4.2 E-STOP functions
• 4 Function Description
  • Overview
  • Power element
    • 4.2.1 Mains voltage
    • 4.2.2 Motor connection
    • 4.2.3 Motor holding brake
    • 4.2.4 Brake resistor
    • 4.2.5 Intermediate circuit
  • Control element
    • 4.3.1 Supply voltage 24 VDC
    • 4.3.2 Digital inputs and outputs
      • 4.3.2.1 Overview
      • 4.3.2.2 Digital inputs
      • 4.3.2.3 Digital outputs
    • 4.3.3 Safety function STO
      • 4.3.3.1 Safety information
      • 4.3.3.2 Signal states
      • 4.3.3.3 Safety function STO without a safety card
      • 4.3.3.4 Safety function STO with safety card
      • 4.3.3.5 Reaction time
      • 4.3.3.6 Connection example for STO, single-channel
      • 4.3.3.7 Connection example for STO, dual-channel
    • 4.3.4 Analogue inputs
    • 4.3.5 Encoder systems
      • 4.3.5.1 Overview
      • 4.3.5.2 Resolver
      • 4.3.5.3 SinCos encoder
      • 4.3.5.4 Incremental encoders
      • 4.3.5.5 Absolute encoder with SSI interface
    • 4.3.6 Electronic gearing
      • 4.3.6.1 Stepper motor control systems (pulse/direction)
      • 4.3.6.2 Master-Slave mode
    • 4.3.7 Encoder emulation
    • 4.3.8 Communications interfaces
      • 4.3.8.1 RS 232 interface
      • 4.3.8.2 CANopen interface
      • 4.3.8.3 Ethernet interface (in development)
    • 4.3.9 SD card
    • 4.3.10 Tools
  • Expansion cards
    • 4.4.1 Expansion card PMCprotego S1, PMCprotego S2
    • 4.4.2 Expansion card I/O-14/08
    • 4.4.3 Expansion card PosI/O, PosI/O-AO
      • 4.4.3.1 Electronic gearing, Master-Slave mode
      • 4.4.3.2 Encoder emulation
      • 4.4.3.3 Analogue inputs
      • 4.4.3.4 Analogue outputs
    • 4.4.4 Expansion card with PROFIBUS-DP interface
    • 4.4.5 Expansion card for SERCOS interface
    • 4.4.6 Expansion card with DeviceNet interface
  • Switch on/switch off behaviour
    • 4.5.1 Normal mode
    • 4.5.2 Fault condition
  • Implementation of stop categories
    • 4.6.1 Stop Category 0
    • 4.6.2 Stop Category 1
    • 4.6.3 Stop Category 2
• 5 Installation
  • General requirements
  • Dimensions
  • Installing the servo amplifier
  • Installing the shielding plate
  • Installing the expansion cards
    • 5.5.1 Expansion cards for slot 1
    • 5.5.2 Expansion cards for slot 2
    • 5.5.3 Expansion cards for slot 3
• 6 Wiring
  • Connector description
  • Block diagram
  • Notes on wiring
    • 6.3.1 Contact protection
      • 6.3.1.1 Leakage current
      • 6.3.1.2 Residual current devices FI
      • 6.3.1.3 Isolating transformer
    • 6.3.2 Connection cables
  • Wiring procedure
  • EMC-compliant wiring
    • 6.5.1 Earthing
    • 6.5.2 Shielding
      • 6.5.2.1 Shield connection on the front plate
    • 6.5.3 Filters
    • 6.5.4 Chokes
  • Power element
    • 6.6.1 Mains voltage
    • 6.6.2 Motor
    • 6.6.3 Motor holding brake
    • 6.6.4 External brake resistor
    • 6.6.5 Intermediate circuit
  • Control element
    • 6.7.1 Supply voltage 24 VDC
    • 6.7.2 Digital inputs
    • 6.7.3 Digital outputs
    • 6.7.4 Analogue inputs
    • 6.7.5 Encoder systems
      • 6.7.5.1 Resolver
      • 6.7.5.2 SinCos encoder with HIPERFACE interface
      • 6.7.5.3 SinCos encoder with EnDat 2.1 interface
      • 6.7.5.4 SinCos encoder with EnDat 2.2 interface
      • 6.7.5.5 SinCos encoder with BISS interface, analogue
      • 6.7.5.6 SinCos encoder with BISS interface, digital
      • 6.7.5.7 SinCos encoder with SSI interface
      • 6.7.5.8 SinCos encoder without data track
      • 6.7.5.9 Incremental encoder ROD (AquadB) 5 V, 350 kHz
      • 6.7.5.10 Incremental encoder ROD (AquadB) 5 V, 1.5 MHz
      • 6.7.5.11 Absolute encoder with SSI interface
      • 6.7.5.12 Electronic gearing, Master-Slave mode
      • 6.7.5.13 Encoder emulation
    • 6.7.6 Communications interfaces
      • 6.7.6.1 RS 232 interface
      • 6.7.6.2 CANopen interface
      • 6.7.6.3 Ethernet interface (in development)
  • Expansion cards
    • 6.8.1 Expansion card PMCprotego S1, PMCprotego S2
    • 6.8.2 Expansion card I/O-14/08
    • 6.8.3 Expansion card PosI/O, PosI/O-AIO
      • 6.8.3.1 Electronic gearing
      • 6.8.3.2 Encoder emulation
      • 6.8.3.3 Analogue inputs and outputs
    • 6.8.4 Expansion card with PROFIBUS-DP interface
    • 6.8.5 Expansion card for SERCOS interface
    • 6.8.6 Expansion card with DeviceNet interface
• 7 Commissioning
  • Safety guidelines
  • Commissioning the servo amplifier
    • 7.2.1 Gather the project data
    • 7.2.2 Wire components
    • 7.2.3 Preparing for commissioning
    • 7.2.4 Connect 24 VDC supply voltage
    • 7.2.5 Establish communication PMCprotego <-> PC
    • 7.2.6 Set parameters for the servo amplifier
    • 7.2.7 Perform the first test run
  • Download firmware from SD card to servo amplifier
  • LEDs and keys
    • 7.4.1 Key functions
    • 7.4.2 Standard menu
    • 7.4.3 Advanced menu
  • Messages/errors
    • 7.5.1 Status messages
    • 7.5.2 Error messages
    • 7.5.3 Warnings
• 8 Technical Details
  • PMCprotego D.48
  • PMCprotego D.72
• 9 Appendix
  • Glossary
  • Abbreviations
  • Index
• Contact address