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ITEM
Controller
C 1-Series
ITEM C 1-Series User Manual
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Techn
ology mod
ules
Page
153
Element
Function
LED 1
Two
-
colour
-
LED (gree
n/red)
Run (gre
en), l
ink/act
ivity Et
herC
AT port 1
(red),
EtherCAT ac
tive (yello
w)
LED 2 (red
)
Link/
activity
EtherC
AT po
rt 2
12.
2.5
Eth
erCAT
interf
ace
Ta
ble
50
:
Sig
nal level
and diffe
rentia
l volta
ge
Signal leve
l
0 ... 2.5 VDC
Differe
ntial
voltage
1.9 ... 2.1 VDC
152
154
Table of Contents
Table of Contents
4
General
14
Documentation
14
Scope of Supply
15
Table 1: Scope of Supply
15
Table 2: Connector Set: POWER Connector
15
Table 3: Connector Set: DSUB Connector
15
Table 4: Connector Set: Shield Connector
15
Safety Notes for Electrical Drives and Controllers
16
Used Symbols
16
General Notes
17
Danger Resulting from Misuse
19
Safety Notes
20
General Safety Notes
20
Safety Notes for Assembly and Maintenance
22
Protection against Contact with Electrical Parts
24
Protection against Electrical Shock by Means of Protective Extra-Low Voltage
24
(Pelv)
24
Protection against Dangerous Movements
25
Protection against Contact with Hot Parts
26
Protection During Handling and Assembly
27
Product Description
28
General
28
Figure 1: Type Key
28
Power Supply
31
Single-Phase AC Supply with Active PFC
31
Behaviour During Switch-On
31
Behaviour During Normal Operation and Control Characteristics
32
Figure 2: Schematic Setup of PFC Stage
32
DC Bus Coupling, DC Supply
33
DC Bus Coupling
33
DC Supply
33
Mains Fuse
33
Brake Chopper
34
Communication Interfaces
34
Serial Interface [X5]
35
USB Interface [X19]
35
UDP Interface [X18]
35
CAN Interface [X4]
35
Technology Module: PROFIBUS
36
Technology Module: Ethercat
36
I/O Functions and Device Control
36
Technical Data
37
General Technical Data
37
Table 5: Technical Data: Ambient Conditions and Qualification
37
Table 6: Technical Data: Dimensions and Weight
37
Table 7: Technical Data: Cable Specifications
38
Table 8: Technical Data: Motor Temperature Monitoring
38
Operating and Display Elements
39
Table 9: Display Elements and RESET Button
39
Supply [X9]
40
Table 10: Technical Data: Performance Data [X9]
40
Table 11: Technical Data: Internal Brake Resistor [X9]
40
Table 12: Technical Data: External Brake Resistor [X9]
40
Figure 3: Performance Curve of the PFC Stage
41
Table 13: Performance Data of PFC Stage
41
Motor Connection [X6]
42
Current Derating
42
Table 14: Technical Data: Motor Connection [X6]
42
Table 15: Controller C 1-02: Rated Current for an Ambient Temperature of ≤ 40 °C
44
Table 16: Controller C 1-05: Rated Current for an Ambient Temperature of ≤ 40 °C
44
Table 17: Controller C 1-08: Rated Current for Blocked or Slowly Rotated Servo Motor
45
Table 18: Controller C 1-08: Rated Current for Rotated Servo Motor
46
Motor Feedback Connection [X2A]
47
Resolver Connection [X2A]
48
Encoder Connection [X2B]
48
Table 19: Technical Data: Resolver [X2A]
48
Table 20: Technical Data: Resolver Interface [X2A]
48
Communication Interfaces
51
Rs232 [X5]
51
Usb [X19]
51
Ethernet [X18]
51
CAN Bus [X4]
51
Table 21: Technical Data: RS232 [X5]
51
Table 22: Technical Data: USB [X19]
51
Table 23: Technical Data: Ethernet [X18]
51
Table 24: Technical Data: CAN Bus [X4]
51
SD/MMC Card
52
I/O Interface [X1]
52
Table 25: Technical Data: SD/MMC Card
52
Table 26: Technical Data: Digital Inputs and Outputs [X1]
52
Incremental Encoder Input [X10]
53
Table 27: Technical Data: Analog Inputs and Outputs [X1]
53
Table 28: Technical Data: Incremental Encoder Input [X10]
53
Incremental Encoder Output [X11]
54
Table 29: Technical Data: Incremental Encoder Output [X11]
54
Function Overview
55
Motors
55
Synchronous Servo Motors
55
Linear Motors
55
Functions of the Item Servo Positioning Controller C 1-Series
56
Compatibility
56
Figure 4: Control Scheme of the Item C 1-Series
56
Pulse Width Modulation (PWM)
57
Setpoint Management
57
Torque-Controlled Mode
58
Speed-Controlled Mode
58
Torque-Limited Speed Control
58
Synchronization to the External Clock Signal
58
Load Torque Compensation for Vertical Axes
59
Positioning and Position Control
59
Synchronisation, Electronic Gearing
59
Brake Management
59
Positioning Control
60
Overview
60
Relative Positioning
61
Absolute Positioning
61
Driving Profile Generator
61
Figure 5: Driving Profiles of Item Servo Positioning Controller C 1-Series
61
Homing
62
Positioning Sequences
63
Optional Stop Input
63
Contouring Control with Linear Interpolation
63
Figure 6: Path Program
63
Time-Synchronized Multi-Axis Positioning
64
Figure 7: Linear Interpolation between Two Data Values
64
Functional Safety Technology
65
General
65
DIP Switch
66
Table 31: Table Overview of the DIP Switch Functionality
66
Assignment of the DIP Switch
67
Table 32: Fieldbus Specific Assignment of the DIP Switches
68
Integrated Safety Technology (Schematic Representation)
69
Figure 8: Schematic Representation of the Integrated Safety Technology
69
Module Variants
70
FBA Module
70
Figure 9: FBA Module: Front View
70
FSM 2.0 - STO (Safe Torque Off)
71
Mechanical Installation
72
Important Notes
72
Figure 10: Item Servo Positioning Controller C 1-Series: Installation Space
73
View of the Device
74
Figure 11: Item Servo Positioning Controller C 1-02: Front View
74
Figure 12: Item Servo Positioning Controller C 1-02: Top View
75
Figure 13: Item Servo Positioning Controller C 1-02: Bottom View
75
Mounting
76
Figure 14: Item Servo Positioning Controller C 1-Series: Mounting Plate
76
Electrical Installation
77
Connector Configuration
77
Figure 15: Connection to Power Supply and Motor
77
Item C 1-Series Complete System
78
Figure 16: Complete Setup of the Item C 1-Series with Motor and PC
79
Connection: Power Supply [X9]
80
Device Side [X9]
80
Counterplug [X9]
80
Pin Assignment [X9]
81
Cable Type and Design [X9]
81
Table 33: Pin Assignment: [X9]
81
Connection Notes [X9]
82
Figure 17: Supply [X9]
82
Connection: Motor [X6]
83
Device Side [X6]
83
Counterplug [X6]
83
Pin Assignment [X6]
84
Cable Type and Design [X6]
84
Table 34: Pin Assignment: [X6]
84
Connection Notes [X6]
85
Figure 18: Motor Connection [X6]
85
Figure 19: Connecting a Holding Brake with High Current Draw (> 1A) to the Device
86
Connection: I/O Communication [X1]
87
Figure 20: Basic Circuit Diagram Connector [X1]
88
Device Side [X1]
89
Counterplug [X1]
89
Pin Assignment [X1]
90
Table 35: Pin Assignment: I/O Communication [X1]
90
Cable Type and Design [X1]
91
Connection Notes [X1]
91
Connection: Resolver [X2A]
92
Device Side [X2A]
92
Counterplug [X2A]
92
Pin Assignment [X2A]
92
Table 36: Pin Assignment: [X2A]
92
Cable Type and Design [X2A]
93
Connection Notes [X2A]
93
Figure 21: Pin Assignment: Resolver Connection [X2A]
93
Connection: CAN-Bus [X4]
94
Device Side [X4]
94
Counterplug [X4]
94
Pin Assignment [X4]
94
Table 37: Pin Assignment: CAN-Bus [X4]
94
Cable Type and Design [X4]
95
Connection Notes [X4]
95
Figure 22: Cabling Example for CAN-Bus
95
Figure 23: Integrated CAN Terminating Resistor
96
Connection: RS232/COM [X5]
97
Device Side [X5]
97
Counterplug [X5]
97
Pin Assignment [X5]
97
Table 38: Pin Assignment: RS232 Interface [X5]
97
Cable Type and Design [X5]
98
Connection Notes [X5]
98
Figure 24: Pin Assignment: RS232 Null Modem Cable [X5]
98
Connection: USB [X19]
99
Device Side [X19]
99
Counterplug [X19]
99
Pin Assignment [X19]
99
Cable Type and Design [X19]
99
Figure 25: Pin Assignment: USB Interface [X19], Front View
99
Table 39: Pin Assignment: USB Interface [X19]
99
SD/MMC Card
100
Supported Card Types
100
Supported Functions
100
Supported File Systems
100
File Names
100
Pin Assignment SD/MMC Card
101
Table 40: Pin Assignment: SD Card
101
Table 41: Pin Assignment: MMC Card
101
BOOT-DIP-Switch
102
Figure 26: Pin Assignment: SC/MMC Card
102
Notes on Safe and EMC-Compliant Installation
103
Definitions and Terms
103
General Information on EMC
103
EMC Areas: First and Second Environment
104
EMC-Compliant Cabling
104
Table 42: EMC Requirements: First and Second Environment
104
Operation with Long Motor Cables
105
ESD Protection
106
Additional Requirements for the Servo Drives Concerning the Ul Approval
107
Circuit Protection
107
Wiring and Environment Regards
107
Motor Temperature Sensor
107
Initial Operation
108
General Notes on Connection
108
Tools / Material
108
Connecting the Motor
108
Connecting the Item Servo Positioning Controller C 1-Series to the Power Supply
109
Connecting the PC (Serial Interface)
109
Connecting the PC (USB Interface, Alternative)
109
Checking Operability
109
Service Functions and Error Messages
110
Protection and Service Functions
110
Overview
110
Overcurrent and Short-Circuit Monitoring
110
Overvoltage Monitoring for the DC Bus
111
Temperature Monitoring of the Heat Sink
111
Monitoring of the Motor
111
I²T Monitoring
111
Power Monitoring for the Brake Chopper
112
I²T Monitoring for the PFC Stage
112
Initial Operation Status
112
Rapid Discharge of the DC Bus
112
Operating Hours Counter
112
Display of Operating Mode and Error Messages
113
Operating Mode and Error Display
113
Table 43: Operating Mode and Error Display
113
Error Messages
114
Table 44: Error Messages
115
Technology Modules
147
PROFIBUS-DP Interface
147
Product Description
147
Technical Data
147
Table 45: Technical Data: PROFIBUS-DP Interface: Ambient Conditions, Dimensions and Weight
147
Figure 27: PROFIBUS-DP Interface: Front View
148
Table 46: Technical Data: PROFIBUS-DP Interface: Interfaces and Communication
148
Pin Assignments and Cable Specifications
149
Pin Assignment
149
Counterplug
149
Cable Type and Configuration
149
Table 47: Pin Assignment: PROFIBUS-DP Interface
149
Termination and Bus Terminating Resistors
150
Figure 28: PROFIBUS-DP Interface: Connection with External Terminating Resistors
150
Ethercat
151
Product Description
151
Characteristics of the Ethercat Technology Module
151
Technical Data
152
Figure 29: Ethercat Module: Front View
152
Table 48: Technical Data: Ehtercat Module: Ambient Conditions, Dimensions and Weight
152
Table 49: Display Elements
152
Table 50: Signal Level and Differential Voltage
153
Figure 30: Servo Positioning Controller with Integrated Technology Module
154
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ITEM C 1-Series Specifications
General
Brand
ITEM
Model
C 1-Series
Category
Controller
Language
English
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