Welcome to the training. Rexroth IndraDrive. Trainer: Gerald Ebert, DC-IA/SVF15
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- Kirsten Stieber
- vor 6 Jahren
- Abrufe
Transkript
1 Welcome to the training Rexroth IndraDrive Trainer: Gerald Ebert, DC-IA/SVF15
2 IndraDrive Training Targets You should be able to operate the drive system IndraDrive and use it properly. You should know the functions about the components HMV - Supply Unit HCS / HMS / HMD - Drive Controller MSK - Servo Motor To make an initial start-up and maintain the system.
3 IndraDrive Training Training contents: Hardware overview Drive components, technology and functionality Interfaces Start-up tool IndraWorks Basic functions of the drive Parameterization and parameter backup Change of components Diagnosis and troubleshooting
4 IndraDrive Training Time table: 08:30 Start ca. 12:00-13:00 Lunch ca. 16:00 End Other breaks when required!!!
5 IndraDrive Training Round of introduction: Name Company / departement Function Previous experience with Bosch Rexroth Expections for this training
6 Rexroth IndraDrive Drive system overview
7 IndraDrive Drive system overview Motors, Gears Power Sections Control Sections Firmware Auxiliary components Engineering/Operation *
8 IndraDrive Overview Converts AC-voltage from mains to an AC-voltage with variable voltage and frequency Converts DC-voltage from supply unit to an AC-voltage with variable voltage and frequency Converts AC-voltage from mains to a DC-voltage (Rectifier) Controlled or not controlled Regenerating or feeding
9 IndraDrive Combination possibilities
10 Rexroth IndraDrive The drive family FIRMWARE Scalable functionality Motion Logic Technology functions Predictive maintenance Advanced Basic open loop / closed loop open loop / closed loop Control section Scalable performance Scalable interfaces Advanced high interface flexibility and performance Safety technology Basic limited interface flexibility Power section Compact Modular Scalable power Unified design Compact 1, kW IndraDrive C Modular A IndraDrive M
11 IndraDrive Documentation Integrated Safety Technology Functional- and Application Description MLD Library Description MLD-S Application Troubleshooting Guide Parameter Description Functional Description Additional Components- Project Planning Synchronous motors MSK - Project Planning Control Sections (CSB/CSD/CSH) - Pr. Pl. Power Sections HCS Project Planning Power Sections HCS Project Planning Power Sections HMS/HMD Pr. Planning Supply Units HMV - Project Planning IndraDrive Drive System - Project Planning Firmware Hardware
12 Rexroth IndraDrive Control- and Power Sections
13 IndraDrive Principal structure 1: Power Section Includes all the power relevant components Activation of the transistors Internal measurements (U, I) Connections - 24V control voltage (external) - DC-bus - Motor power connection - Motor temperature and brake - Module bus 2: Control Section
14 IndraDrive Principal structure 1: Power Section 2: Control Section Contains the firmware Complete regulation Connections - Command interface - Serial RS232 interface - Motor encoder and optional encoder - digital and analogue I/O s - Safety Technology - Option modules - Diagnostic display Performances - Basic - Basic Universal - Advanced
15 Rexroth IndraDrive Power Sections IndraDrive C
16 Hardware Overview Power Section IndraDrive C HCS01.1: 8 sizes from 3A to 28A Power: 100W to 3,5kW Control Section integrated in the Power Section HCS02.1: 4 sizes 12A, 28A, 54A, 70A Power: 1,5kW to 11kW HCS03.1: 4 sizes 70A, 100A, 150A, 210A Power: 11kW to 75kW HCS04.2 : 8 sizes 350A, 420A, 520A, 640A, 790A, 1010A, 1240A, 1540A Power: 110kW to 630kW
17 Power Section IndraDrive C electrical connections HCS02.1 X1 - Module bus not at HCS02.1E-W0012 X13 - Control voltage (+24V, 0V) external supply on devices HCS02.1E- -NNNV also required if motor holding brake and/or external mains contactor present DC-Bus (L+, L-) not at HCS02.1E-W0012 rail system PE, shield connection On the bottom of device: X3 - Mains connection X5 - Motor connection X6 - Motor temperature and -holding brake X9 - External bleeder resistor only at -W0054 and -W0070
18 Power Section IndraDrive C electrical connections HCS03.1 X1 - Module bus Control voltage (+24V, 0V) External supply required on motors with holding brake or when external mains contactor present DC-Bus (L+, L-) Connection of two converters with the same power Connection with inverters X3 - Mains connection pluggable at -W0070 from -W0100 design via ring connectors X5 - Motor connection pluggable at -W0070 from -W0100 design via ring connectors X6 - Motor temperature and motor holding brake on the bottom of device PE, shield connections
19 Power Section IndraDrive C electrical connections HCS04.2 W0350, W0420, W0520 X3 - Mains connection Control voltage (+24V, 0V) DC-Bus (PA+, PC-) X6 - Motor connection X2 - Motor holding brake X5 - Module bus X6 - Motor temperature ext. DC choke (PA+, PO) ext. Brake resistor (PA+, PB) Alternative: extal fan voltage supply (R0, S0, T0) PE, shield connections
20 Power Section IndraDrive C electrical connections HCS04.2 W0640, W0790, W1010 X3 - Mains connection Control voltage (+24V, 0V) DC-Bus (PA+, PC-) X6 - Motor connection X2 - Motor holding brake X5 - Module bus X6 - Motor temperature ext. DC choke (PA+, PO) ext. Brake chopper (BU+, BU-) Alternative: extal fan voltage supply (R0, S0, T0) PE, shield connections
21 Power Section IndraDrive C electrical connections HCS04.2 W1240, W1540 X3 - Mains connection Control voltage (+24V, 0V) DC-Bus (PA+, PC-) X6 - Motor connection X2 - Motor holding brake X5 - Module bus X6 - Motor temperature ext. DC chokes (PA+, PO.1, PO.2) ext. Brake chopper (BU+, BU-) Alternative: extal fan voltage supply (R0, S0, T0) PE, shield connections
22 IndraDrive C Power Section Type code label
23 IndraDrive C - Power Section Type code
24 Rexroth IndraDrive Power Sections IndraDrive M
25 Hardware overview Power Section IndraDrive M HMS (single axis): HMS sizes - effect. peak current: 20A to 350A HMS sizes - effect. peak current: 28 and 54A HMD (double axis): 3 sizes effect. peak current: 12A, 20A and 36A Supply Unit required
26 Power Section IndraDrive M electrical connection HMS01.1/ HMS02.1 X1 - Module bus Control voltage (+24V, 0V) external supply rail system DC-Bus (L+, L-) DC supply rail system X5 - Motor connection pluggable up to -W0070 design from -W0100 design via ring connectors X6 - Motor temperature and motor holding brake on the bottom of device X13 - external fan only at HMS01.1N-W0350 PE, shield connections
27 Power Section IndraDrive M electrical connection HMD01.1 X1 - Module bus Control voltage (+24V, 0V) external supply rail system DC-Bus (L+, L-) DC supply rail system Motor connections X5.1 - Axis 1 X5.2 - Axis 2 Motor temperature and motor holding brake X6.1 - Axis 1 X6.2 - Axis 2 PE, shield connections
28 IndraDrive M - Power Section Type code HMS
29 IndraDrive M - Power Section Type code HMD
30 Rexroth IndraDrive Power Supplies
31 IndraDrive - Power Supplies Hardware overview HMV01.1E (non regenerative) 3 Sizes - Power: 30, 75 and 120kW - without choke: 18, 45 and 72kW Non-regulated DC-Bus direct mains connection possible (3x AC V +/-10%) HMV01.1R (regenerative) 4 Sizes - Power: 18, 45, 65 and 120kW Regulated DC-Bus Choke and filter required IMPORTANT: External 24V power supply is required! HMV02.1R (regenerative) Power:15kW Regulated DC-Bus Choke and filter required
32 Rexroth IndraDrive Control Sections
33 IndraDrive Overview Control Sections BASIC OPENLOOP CSB01.1N-FC Not configurable Frequency converter Open Loop (no encoder) Analog interface Firmware: MPB
34 IndraDrive Overview Control Sections BASIC ANALOG CSB01.1N-AN Not configurable Analog interface Encoder evaluation: - ENS Optional: - Safe Torque Off Firmware: MPB
35 IndraDrive Overview Control Sections BASIC PROFIBUS CSB01.1N-PB Not configurable Fixed Master Communication: - PROFIBUS Encoder evaluation: - ENS Optional: - Safe Torque Off Firmware: MPB
36 IndraDrive Overview Control Sections BASIC SERCOS CSB01.1N-SE Not configurable Fixed Master Communication: - SERCOS Encoder evaluation: - ENS Optional: - Safe Torque Off Firmware: MPB
37 IndraDrive Overview Control Sections BASIC UNIVERSAL SINGLE AXIS CSB01.1C Configurable Master Communication optional Encoder evaluation: ENS Optional: - Safe Torque Off 1 additional optional slot Slot for Multi-Media-Card Firmware: MPB
38 IndraDrive Overview Control Sections BASIC UNIVERSAL DOUBLE AXIS CDB01.1C configurable Master Communication optional Encoder interface optional 1 additional optional slot per axis Option Safety Technology - Safe Torque Off - Safe Motion Slot for Multi-Media-Card Firmware: MPD
39 IndraDrive Overview Control Sections ADVANCED CSH01.1C, CSH01.2C, CSH01.3C configurable Master communication optional Encoder interface optional up to 2 additional optional slots Option Safety Technology - Safe Torque Off - Safe Motion Slot for Multi-Media-Card Firmware: CSH01.1 MPH CSH01.2 MPH CSH01.3 MPC
40 IndraDrive Control Sections Master Communication SE SERCOS interface (SE) - Connections - X20 TX: Optical transmitter - X21 RX: Optical receiver PB PROFIBUS interface (PB) - Connection - X30: RS485-interface (D-SUB, 9-pin, female version) PL PARALLEL interface (PL) Connection - X15: D-SUB, 37-pin, male version - DC-isolated - 16 inputs and 16 outputs Parallel: X15 X*
41 IndraDrive Control Sections Master Communication CO DeviceNet / CANopen interface - Connection - X60TX: Open-style connector, 5-pin - Selector switch for CANopen or DeviceNet S3 SERCOS III interface - Connection - X22, X23: RJ45 plug-in connection ET Multi-Ethernet interface - Connection - X22, X23: RJ45 plug-in connection for Ethernet/IP, Profinet IO, EtherCAT, SERCOS III X*
42 IndraDrive Control Sections Option Cross Communication Drives CCD Control Sections - CSH CSH01.3 Digital coupling of axes - Master for connection of up to 9 Slaves (from MPC07) - Communication: SERCOS III - Connection : X24, X25: RJ45 plug-in connection Ethernet engineering interface - Connection - X26: RJ45 plug-in connection
43 IndraDrive Control Sections Option modules encoder ENS Encoder - Hiperface, EnDat2.1 (12V supply) - 1 Vpp (12V supply) - Square-wave enc. 5V TTL (12V supply) Connection - X4, X8, X10: DSUB, 15-pin, female version EN1 Encoder - HSF (8V supply) - DSF (8V supply) - Resolver (18Vss, 4kHz) Connection - X4, X8, X10: DSUB, 15-pin, female version EN2 Encoder - EnDat2.1 (5V supply) - 1 Vpp (5V supply) - Square-wave enc. 5V TTL (5V supply) Connection - X4, X8, X10: DSUB, 15-pin, male version
44 IndraDrive Control Sections Option module encoder emulation MEM Emulation of encoders in incremental or abslolute (SSI) format - Internal power supply - DC-isolated - only one encoder can be connected and active at a time - Maximum output frequency: 1MHz Connection - X8, X10: DSUB, 15-pin - Male version
45 IndraDrive Control Sections Option module analog I/O extension MA1 Performance - 2 inputs +/-10V, 14 Bit - 2 outputs +/-10V, 12 Bit Connection - X8, X10: DSUB, 15-pin - Female version
46 IndraDrive Control Sections Option module digital I/O extension MD1 Performance - DC-isolated (19 30V ext.) - 12 inputs, reverse polarity protected - 8 outputs, short-circuit proof Connection - X10, DSUB, 25-pin, male version MD2 I/O extension - DC-isolated (19 30V ext.) - 16 inputs, reverse polarity protected - 16 outputs, short-circuit proof SSI encoder evaluation - absolute position evaluation for different encoders with SSI interface Connection - X17: DSUB, 44-pin, male version (I/O extension) - X16: RJ11 plug-in connector (encoder evaluation)
47 IndraDrive Control Sections Option modules safety L2 Safe Torque Off - Protection against unintentional movements - Certificated acc. To EN 13849, 1, PL d / PL e (Cat. 3) and EN 62061, SIL 2 / SIL3 Connection - X41: DSUB, 9-pin, female version S2 Safe Motion - Universal programmable save monitoring for movement and standstill - Certificated acc. To EN , PL d (Cat. 3) anden 62061, SIL 2 Connection - X41: DSUB, 9-pin, female version
48 IndraDrive Control Sections Option modules Option modules are also displayed in IndraWorks Example:
49 IndraDrive Control Sections Control panel Standard control panel S Single-line, 8-digit display Drive address Diagnostic - Diagnostic messages - active commands and command diagnosis - Warnings and error messages 4 Keys Clear error with ESC Display of extended diagnostic messages Activation of some individual commands Display Keys
50 IndraDrive Control Sections Memory Memory card PFM02.1 to load and store data (Firmware, drive parameters, operation data) from, resp. on a standardized Multi-Media-Card (MMC) Applicable: Control Sections Basic Universal Single Axis Control Sections Basic Universal Double Axis Control Sections Advanced can be the optional as well as the permanent storage medium
51 IndraDrive Firmware BASIC (MPB / MPD) Single- and Double-Axis Current / Speed / Position 125 / 250 / 500 µs ADVANCED (MPH) Single axis Current / Speed / Position 62,5 / 125 / 250 µs IndraMotion MLD Single Axis Motion Logic, Technology functions IndraMotion MLD Single Axis Motion Logic, Technology functions Main spindle MSP Main spindle MSP Synchronization SNC Synchronization SNC Synchronization SNC Synchronization SNC Servo SRV Servo SRV Basic set Open Loop Basic set Closed Loop Basic set Open Loop Basic set Closed Loop Always included ADD ON - Alternative ADD ON - Additive
52 IndraDrive Start-up tool Rexroth IndraWorks a tool for all engineering tasks Advantages Integrated software framework for all engineering tasks Application-oriented tools Intelligent user guidance User-friendly, menu-driven operation Standardized programming according to IEC Performances IndraWorks D for drive engineering IndraWorks MLD for drive engineering with drive-plc IndraWorks Ds for service and commissioning of single drives Complete technology system for configuration, programming, parameterization, operation, visualization, diagnostics
53 IndraDrive Start-up tool
54 Rexroth IndraDrive IndraDrive Cs
55 Hardware overview IndraDrive Cs HCS01.1: 8 Sizes 3A, 6A, 9A, 13A (design V) 5A, 8A, 18A, 28A (design V) Power 100W to 3,5kW Control Section and Power Seciton in one device Control Panel with programming module function Master Communication SERCOS III or Multi-Ethernet Multi-encoder interface Hiperface, EnDat 2.1, EnDat 2.2, 1V pp, 5V TTL and Rexroth MSM motors Option Safety Safe Torque Off Safe Motion
56 IndraDrive Cs Electrical connections HCS01.1 X3 Mains connection X4 Multi-encoder interface X5 Motor connection X6 Motor temperature and motor holding brake X8 optional encoder X9 External braking resistor X13 24V supply X24, X25 Multi-Ethernet-or SERCOS III interface X31, X32 digital und analog I/O s Control Panel optional: Multi-encoder interface Profibus interface
57 IndraDrive Cs Type code HCS01.1
58 Rexroth IndraDrive Drive system IndraDrive Mi
59 IndraDrive Mi What s IndraDrive Mi? + IndraDrive Mi combines servo motor and modular inverter to one decentralized drive with high funtionality
60 IndraDrive Mi Device types and characteristics Technical characteristics 4 sizes with maximum torque from 9,4 to 35Nm Compatible to the IndraDrive family Single-Axis Motion Control acc. to IEC Hiperface Single- and Multiturn encoder Holding brakes with integrated activation (option) Up to 20 drives per hybrid cable harness
61 IndraDrive Mi System structure
62 IndraDrive Mi Connections Hybrid cable 1 X3.1 (input) MMC X7 4 Digital I/O s X27, X38 SERCOS address switch S4, S5 Hybrid cable 2 X3.2 (output) Serial interface X2
63 Rexroth IndraDrive Motor generation IndraDyn
64 Motors Housing motors Synchronous 0,1 230 Nm Basic and Advanced performance IndraDyn S Asynchron kw surface- and liquid cooling IndraDyn A Kit component motors Linear Torque High Speed up to N up to Nm up to rpm IndraDyn L IndraDyn T IndraDyn H
65 IndraDyn S Synchronous servo motor MSK More compact design and higher power density 10 percent more torque and simultaneously up to 30 less volume For standard applications Basic Hiperface encoder with128 cycles per revolution, single- and Multiturn, flange accuracy and concentricity N For high-end applications Advanced EnDat-encoder with 2048 cycles per revolution, single- and Multiturn, flange accuracy and concentricity R Digital type plate and parameter memory Degree of protection IP65, shaft seal ring is standard Plug connection, Rotation 240 Various rotor inertia, from motor size 070 Further options: Holding brakes, keyway, servo planetary gearboxes, fan units, liquid cooling, sealing air kit, ATEX, etc.
66 IndraDyn S Encoder MSK Feedback types
67 IndraDyn S Synchronous servo motor MSM Designed for IndraDrive Cs drives (230V mains connection) Absolute encoder with inkr./revolution (with ext. buffer battery) Protection IP54 Option: Motor holding brake, puffer battery for absolute encoder
68 IndraDyn A Asynchronous motors MAD 5 sizes (heiths): 100, 130, 160, 180, 225 Able for high-end applications: Endat encoder with 2048 Incr./Revolution, Single- and Multiturn performance Air- snd liquid cooling Improved service concept caused on modular structure (e.g. fan exchangement in 5 minutes also with running motor) Complete motor in IP65 (including fan motor) Electrical connection via plug or terminal box Schwingstärkestufen R, S, S1 Further Options: Holding brake, feather key groove, planetary gear ATEX, etc.
69 IndraDyn L Linear motors 6 motor sizes : MLP 040, 070, 100, 140, 200, 300 High velocity and acceleration High static and dynamic load rigidity Excellent control quality and positioning behavior Maintenance-free drive (no wearing parts on the motor)
70 IndraDyn T Torque motors Synchronous torque motor suitable for compact direct drive concepts 7 motor sizes: MST 130, 160, 210, 290, 360, 450, 530 Maximum torque up to 13,800Nm Maximum speed: 2,000rpm Extremely low residual ripple (< 1 %) High overload ability (>2)
71 Torque IndraDyn H High Speed synchronous motors permanent magnet forced highspeed synchronous motor Maximum speed up to 30,000rpm Maximum torque 4,500Nm range of field weakening 1:4...6 Integrated cooling system today new Speed Motor sizes: MSS 102, 142, 162, 182, 202, 242, 272, 312, 382, 482
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