Handbook to Map the Simel Tubular Motors on Bosch Rexroth IndraDrive C and IndraDrive Cs drives

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1 Handbook to Map the Simel Tubular Motors on Bosch Rexroth IndraDrive C and IndraDrive Cs drives Rev. 0.2 page1

2 Index INDEX PRELIMINARY OPERATIONS AND ELECTRICAL CONNECTIONS IDENTIFICATION OF THE DRIVE CONNECTING THE MOTOR CABLE TO THE INDRADRIVE C CONNECTION OF THE ENCODER CABLE AND THE THERMAL PROTECTOR TO THE INDRADRIVE C CONNECTION OF THE MOTOR CABLE TO THE INDRADRIVE CS CONNECTION OF THE ENCODER CABLE AND THE THERMAL PROTECTOR TO THE INDRADRIVE CS MAPPING THE MOTORS WITH THE INDRAWORKS ENGINEERING AND INDRAWORKS DS SOFTWARE INITIAL OPERATIONS INDRAWORKS ENGINEERING INTERFACE CONFIGURATION OF THE MOTOR WINDOW CONFIGURATION OF THE MOTOR: TEMPERATURE/BRAKE WINDOW CONFIGURATION OF THE SETTINGS OF MOTOR ENCODER WINDOW CONFIGURATION OF THE SCALING/UNITS WINDOW CONFIGURATION OF THE MECHANICAL GEAR WINDOW FIGURE REFERENCE REVISION INDEX...12 page2

3 1 Preliminary operations and electrical connections 1.1 Identification of the drive The drive s ID plate is shown in Fig. 1 and is generally located on the front; the Device type code for the IndraDrive Cs is HCS01, while for the IndraDrive C it is HCS Connecting the motor cable to the IndraDrive C The power supply cable of the tubular motors is screened and consists of a protection conducer plus three power wires; these can be distinguished from one another by their numbering or by different colouring (see the option type in Table 1). The phases of the motor cable are connected to the drive on the X5 connector, the connections must comply with the allocations of Table 1. The connection of the motor cable must comply with the installation conditions specified in the drive installation handbook; the motor cable in particular must be fixed on the accessory HAS02 as shown in Fig. 2. Table 1: connection of the motor cable to the IndraDrive C. Fig. 1 ID plate of the drive. Motor cable Option 1 Option 2 Option 3 IndraDrive C X5 connector 1 Grey Blue A1 2 Brown Brown A2 3 Black Black A3 PE (G/V) PE (G/V) PE (G/V) GND Fig. 2 Connection between the motor cable and the X5 connector of the IndraDrive C with the accessory HAS02. page3

4 1.3 Connection of the encoder cable and the thermal protector to the IndraDrive C The encoder cable of the motor consists of eight cables: six are for the encoder SinCos 1 Vpp while the remaining two are for the motor s thermal protector (PTC Thermik). The SinCos encoder cable must be terminated with a 15 pole male D-Sub connector, which will be connected to the X4 connector. The function of the pins and their allocation is stated in Table 2. The cables of the thermal protector must be connected to the X6 connector, the connections must comply with the allocations of Table 3. Table 2: connection of the encoder cable to IndraDrive C. Encoder Cable Function IndraDrive C X4 connector Red + 5 V 12 Blue GND_Encoder 10 Yellow A+ (+Sin) 7 Green A- (-Sin) 8 Grey B+ (+Cos) 6 Pink B- (-Cos) 5 Screen-cables Shield 14 Table 3: connection of the cables of the motor s thermal protector to the IndraDrive C. Encoder Cable Function IndraDrive C X6 connector Brown MotTemp+ 1 White MotTemp Connection of the motor cable to the IndraDrive Cs The power supply cable of the tubular motors is screened and consists of a protection conducer plus three power wires; these can be distinguished from one another by their numbering or by different colouring (see the option type in Table 4). The phases of the motor cable are connected to the drive on the X5 connector, the connections must comply with the allocations of Table 4. The connection of the motor cable, shown in Fig. 3, must comply with the installation conditions specified in the drive installation handbook. Fig. 3 Connection between the motor cable and the X5 connector of the IndraDrive Cs. page4

5 Table 4: connection of the motor cable to IndraDrive Cs. Motor cable Option 1 Option 2 Option 3 IndraDrive Cs X5 connector 1 Grey Blue A1 2 Brown Brown A2 3 Black Black A3 PE (G/V) PE (G/V) PE (G/V) Connect as shown in Fig Connection of the encoder cable and the thermal protector to the IndraDrive Cs The encoder cable of the motor consists of eight cables: six are for the encoder SinCos 1 Vpp while the remaining two are for the motor s thermal protector (PTC Thermik). The SinCos encoder cable must be terminated with a 15 pole male D-Sub connector, which will be connected to the X4 connector. The function of the pins and their allocation is stated in Table 5. The cables of the thermal protector must be connected to the X6 connector, the connections must comply with the allocations of Table 6. Table 5: connection of the encoder cable to the IndraDrive Cs. Encoder Cable Function IndraDrive Cs X4 connector Red + 5 V 12 Blue GND_Encoder 4 Yellow A+ (+Sin) 2 Green A- (-Sin) 3 Grey B+ (+Cos) 5 Pink B- (-Cos) 6 Screen-cables Shield 1 Table 6: connection of the cables of the motor s thermal protector to the IndraDrive Cs. Encoder Cable Function IndraDrive Cs X6 connector Brown MotTemp+ 1 White MotTemp- 2 page5

6 2 Mapping the motors with the IndraWorks Engineering and IndraWorks Ds software 2.1 Initial operations To map a motor, the IndraDrive C must be switched on and then connected to the IndraWorks Engineering or IndraWorks Ds software through the programming ports (Serial, Ethernet ). Select the PM operating mode by pressing, for example, the related button on the Engineering or IndraWorks Ds toolbar, shown respectively in Fig. 4 with a red circle. PM on the drive s display confirms that the parameter setting operating mode is active. The instructions on how to map the tubular motors on the IndraDrive C refer to the IndraWorks 08V software. 2.2 IndraWorks Engineering Interface Mapping the linear tubular motors on the IndraDrive C involves defining a set of parameters in five different windows: Motor. Motor: Temperature/Brake. Motor Encoder Setting. Scaling/Units. Mechanical Gear. The position of these windows is slightly different between the Engineering and the IndraWorks Ds program: Fig. 4 and Fig. 5 show a screenshot of the Engineering software and the IndraWorks Ds software where these windows are shown, respectively. Setting the parameters in the windows however is the same for the two programs; therefore, the paragraphs below apply to both the Engineering software and IndraWorks Ds. page6

7 2.3 Configuration of the Motor window Fig. 5 General screenshot of the IndraWorks Ds software. In the Motor window, shown in Fig. 6, ten parameters are entered to define the motor; follow the procedure below to set them correctly: From the dropdown menu Motor category select Synchronous third-party motor. Type the name of the motor to define in the field Motor type. Select the option Linear, found below the field Motor type. Enter information about the motor to be mapped by copying the data shown in Table 7. Table 7: parameter values of the Motor window for the four types of tubular motors. Parameter m.u. GM1 GM2 FM1 FM2 Number of pole pairs mm Maximum motor velocity mm/min Motor peak current A RMS Motor current at standstill A RMS Limit value of flux-generating current A RMS Torque/Force constant N/ A RMS Direct axis induct. Of motor mh Quadrature axis induct. Of motor mh Stator resistance Ω Rotor inertia kg A ( * ) B ( * ) A = slider G.Rod B = slider F.Rod (*) = the Rotor inertia parameter corresponds to the weight of the transposed part of the motor; therefore, in installations with transposed slider and still stator, it corresponds to the weight of the slider, while in installations with fixed slider and transposed stator, it corresponds to the weight of the stator. The weight of the slider can be deduced from the Slider catalogue, alternatively visit The weights of the stators of the motors are: GM1=2.3 kg, GM2=3.3 kg, FM1=4.2 kg, FM2=6.4 kg. page7

8 Fig. 6 Motor screenshot with the FM2 motor data. 2.4 Configuration of the Motor: Temperature/Brake window The Motor: Temperature/Brake window, shown in Fig. 7, shows the specifications of the motor s temperature probe. The configuration of this window is the same for all four motors: From the dropdown menu Temperature sensor select User-defined. Set the parameter Motor warning temperature to 105 C. Set the parameter Motor shutdown temperature to 115 C. Set the parameter Therm. Time constant of winding to 10 s. Set the parameter Therm. Time constant of motor to 0.0 s. Set the parameter Therm. Short time overl. Winding to 2.2. Deselect the option Motor holding brake available, found in the section Motor Brake (only with IndraWorks Engineering). Press the Change button next to the item Temperature sensor characteristic : the window Parameter editor will open (parameter P ) in which data must be entered for Table 8. Fig. 7- Motor Screen shot: Temperature/Brake. page8

9 Table 8: table values to be entered for the parameter P to map the temperature sensor. Elements Resistance Elements Resistance Configuration of the Settings of Motor Encoder window The Settings of Motor Encoder window, shown in Fig. 8, must be set as follows: From the dropdown menu Motor encoder, select Incremental encoder with sine signals (1 Vpp, 5V supply). From the dropdown menu Assignment motor encoder opt. Slot select X4 (Option 1) : EN2. In the section Encoder type, select the option Rotational direction inverted, deselect the option Encoder distance-coded. Select the option Linear encoder and set the parameter Resolution to 20.0 mm for the GM1 and GM2 motors or to 28.8 mm for the FM1 and FM2 motors. Set the parameters Motor side and Encoder side both to 1. Set the parameter Absolute encoder range to 0.0 mm. Deselect the option Force absolute encoder evaluation. Fig. 8 Settings of Motor Encoder screenshot. page9

2.6 Configuration of the Scaling/Units window The Scaling/Units window, shown in Fig. 9, must be set as follows: In the section Scaling type, select the option Linear.

10 2.6 Configuration of the Scaling/Units window The Scaling/Units window, shown in Fig. 9, must be set as follows: In the section Scaling type, select the option Linear. In the section Position data format, select the option absolute. In the section Negation of position, velocity and torque/force data, select the option no. In the section Data with reference to, select the option Load. Fig. 9 Scaling/Units screenshot. 2.7 Configuration of the Mechanical Gear window The Mechanical Gear window, shown in Fig. 10, must be set as follows: In the section Position data in, select the option absolute format. Set Maximum travel range depending on the admissible stroke of the slider. Set Feed constant k to 20.0 mm/rev for the GM1 and GM2 motors or to 28.8 mm/rev for the FM1 and FM2 motors. Set both Input revolutions of load gear n1 and Output revolutions of load gear n2 to 1. Enter the load mass in the field Load inertia, with reference to motor. page10

11 Fig. 10 Mechanical Gear screenshot. page11

12 3 Figure reference Figure no. Fig. 1 Fig. 2 Reference of the figure Fig. 2-2, pg. 12, Rexroth IndraDrive, Drive Controllers, Power sections HCS02, Instruction Manual, R Ed. 02. Fig. 7-3, pg. 48, Rexroth IndraDrive, Drive Controllers, Power sections HCS02, Instruction Manual, R Ed Revision Index Revision Index Date Notes Rev /07/2010 First edition. Rev /09/2010 Updating of motor peak current in Table 7. Rev /11/2010 Updating of temperature sensor (PTC) data in Table 8. page12

TPM + Bosch Rexroth IndraDrive. Quick Startup Guide D Revision: 02

4091-D012345 00 TPM + Bosch Rexroth IndraDrive Quick Startup Guide 4091-D032116 Revision: 02 Quick Startup Guide TPM + Revision history Revision Date Comment Chapter 01 27 th July 2012 First release All