Els04 Inf1

engineering
mannesmann
Rexroth
DIAX 03
ELS-04VRS
DKR DDS
DIAX03
Drive With Electric
Gear Functions
Drive Configuration: ELS 04VRS
DOK-DIAX03-ELS-04VRS**-INF1-EN-P
273440 Indramat
DIAX03 Drive With Electric Gear Functions
Title DIAX03 Drive With Electric Gear Functions
Type of Documentation Drive Configuration
Documentation Type DOK-DIAX03-ELS-04VRS**-INF1-EN-P
Internal • Map 50-04V-EN / Register 7

File Mark
• 209-0072-4303-00
What is the purpose of this This documentation serves

documentation? to identify the designation for a configured drive of the DIAX03 drive
family, based on:
• Determining the motor type

• Choosing the motor - motor feedback combination
• Choosing the desired function of the drive control device
In addition, an overview is provided of the available basic functions and

possible additional functions.
Course of Modifications Document identification of Release date Remarks

previous issues
DOK-DIAX03-ELS-04VRS**-INF1-EN-P 07/96 first edition
Copyright  INDRAMAT GmbH, 1996

Transmission as well as reproduction of this documentation, commercial
use or communication of its contents will not be permitted without express
written permission. Violation of these stipulations will require
compensation. All rights reserved for the issuance of the patent or
registered design. (DIN 34-1)
Publisher INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885
Abt. END (HP)
Liability Changes in the contents of the documentation and the delivery rights for
the products are reserved.
DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96
Contents
1 Determination of the Drive Configuration 1-1
1.1 Term explanation ................................................................................................................................. 1-1
1.2 Procedure............................................................................................................................................. 1-3
Schematic: Determining the Motor/Drive combination .................................................................. 1-3
Schematic: Determining the Hardware Configuration Number ..................................................... 1-4
2 Determining the Motor/Drive combination 2-1

2.1 Selection list ......................................................................................................................................... 2-1
3 Selecting the motor and feedback combination 3-1

3.1 Possible motor / encoder feedback combinations ............................................................................... 3-1
3.2 Connection examples .......................................................................................................................... 3-1
DSF/RSF ....................................................................................................................................... 3-1
Sinusoidal encoder (Linear Scale) ................................................................................................ 3-1
Geartooth encoder ........................................................................................................................ 3-2
EnDat encoder .............................................................................................................................. 3-2
4 Functionality Selection - Determining the configuration number 4-1

4.1 Basic functionality ................................................................................................................................ 4-1
4.2 Selection of additional features ............................................................................................................ 4-2
Motor Feedback Interface - DSF / RSF......................................................................................... 4-3
Sinusoidal Encoder Interface (Linear Scale)................................................................................. 4-5
Motor Feedback Interface - Geartooth encoder............................................................................ 4-6
Motor Feedback Interface - EnDat encoder .................................................................................. 4-8
DOK-DIAX03-ELS-04VRS**-INF1-EN-P •07.96 Contents I

DOK-DIAX03-ELS-04VRS**-INF1-EN-P •07.96 Contents II

1 Determination of the Drive Configuration
1.1 Term explanation

DIAX03 Digital drives are configured according to customer requirements
through the installation of varies plug-in cards designed by Indramat. For
this reason, the digital drives have card slots.
Basic units Digital drives with no plug-in cards installed are defined as basic units.
The DDS03.2 basic unit has two slots for additional cards (U1, U2). All
other drives are equipped with 4 slots for additional cards (U1, U2, U3,
U4). All drives are equipped with one specific slot (U5), which is used for
the DSM02.3 Parameter/Software module.
Additional plug-in cards The following plug-in cards can be provided:

• Command communication interface card
• Modules for position measurement system evaluation
• Input/Output cards to exchange binary signals with a programmable
controller
• Software modules
• Analog interface cards
• Encoder position interface cards
Command communication The DSS is used for command communications. This card must always
interface card be installed in slot U1 of the digital drive.
configured drive A basic unit with installed plug-in cards is called a configured drive.
Hardware configuration Every Hardware configuration has to be labeled with a letter-number

combination, i.e., BE04-01-FW. The digital drive will be delivered
according to the selected configuration.
DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Determination of the Drive Configuration 1-1

The following image displays the components of a Hardware

configuration.
Digital Drive Basic Unit

with Protective faceplate 1
U5
Soft-
ware
SYSTEM CONFIGURATION
Module
DDS02.2-W050-BE12-01-FW
DDS02.2-W050-B
U
1 DSS02.1M
U
2 COVER
U
DDS 2
3 COVER
U
4 COVER
U DSM02.3-FW
5
2 3
1 4
0 5
9 6
8 7
ATTENTION A chtung 1
2 3
4
0 5
H ier m uß d as kor r ek te H i er m u ß da sk or r ekt e

Typ ens chi ld g em äß
9 8 7
6
Command 1
T ypen sch il d gem ä ß
Ko nf ig ur at io nsbl at t
K on if gur a it ons bl at t
Interface
auf ge kle bt s ein a uf gekl eb t sei n
Card U1
11
U2 X4
Configuration U3
Label U4
Auxiliary
Plug-in
Card
PZ5 001 f1 .fh3
Figure 1-1: Components of a Hardware configuration
1-2 Determination of the Drive Configuration DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

1.2 Procedure
In order to determine the correct configuration for both the DIAX03 drive
and the configuration number, we recommend the following procedure:
1. Determine the Motor/Drive combination:
- RPM / Torque requirements for your application
- use a selection list to choose the Motor/Drive combination.
2. Determining the Hardware configuration number:
- Motor: select a Motor feedback combination
- select desired features
- The configuration number is determined based on the selected

auxiliary plug-in cards.
The following two diagrams demonstrate how you can determine the
configuration number.
Schematic: Determining the Motor/Drive combination
Determining the necessary plug-in modules
Selection list Vmax FdN Fmax ED Controller Motor type .........
Vmax FdN Fmax ED Controller Motor type .........

Velocity/torque need ?
Constructive
requirements ?
Motor type
FP5002d1.ds4
Figure 1-2: Diagram for working with a selection list.
DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Determination of the Drive Configuration 1-3

Schematic: Determining the Hardware Configuration Number
1. Determining the Tab.: A

necessary plug-in Motor feedback interface:
modules Motor Dig. servo Sine Sprocket EnDat
type: feedback Resolver feedback feedback feedback
1.1 Selection of motor- X
MKD
motor feedback
Combinations MDD X
Example: LSF X
MDD motor with
DSF als motor interface
Tab.: B4
Tab.: B3
Tab.: B2
Tab.: B1
1.2 Selection of desired Necessary plug-in modules:
functionality Functionality: DAG DEA DEF DEF DRF DSA DZF
> Determining the necessary 1.2 4.2 1.1 2.1 1.1 1.1 2.1
additional plug-in modules Analog inputs X

Dig.
in and outputs X
Example:
additional functions selected: Needed
X
plug-in module X
Analog inputs > DRF 1.1
Dig. in and outputs > DEA 4.2
Tab.: C4
Tab.: C3
Tab.: C2
Tab.: C1
2. Determining the configuration Module combinations:
designation based on the selected Configuration DAG DEA DEF DEF DRF DSA DZF
designation: 1.2 4.2 1.1 2.1 1.1 1.1 2.1
plug-in modules
BE12-01-FW
BE37-01-FW X
BE06-01-FW
X X
Example:
DRF 1.1 + DEA 4.2
> BE06-01-FW BE28-01-FW X FP5001d1.ds4
Figure 1-3: Diagram for determining the configuration number
1-4 Determination of the Drive Configuration DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

2 Determining the Motor/Drive combination
2.1 Selection list
The selection list is used to determine to appropriate Motor/Drive

combination for the application.
When making your selection, you need to take into consideration the
application requirements. Example: RPM, Torque, etc.
The information from the selection list concerning the motor type is
imparitive for determining the Hardware Configuration number.
DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Determining the Motor/Drive combination 2-1

2-2 Determining the Motor/Drive combination DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

3 Selecting the motor and feedback combination
3.1 Possible motor / encoder feedback combinations
The following table contains valid motor and feedback combinations.
Table A: Motor Feedback Interface

Motor Digital Resolver Sinusoidal Geartooth EnDat
Type Servo feedback (1) Feedback (2) encoder (LS) (3) encoder encoder (4)
MKD X
MDD X
2AD X X
ADF X X
1MB X X X X
MBW X X X
LAR X X
LAF X X
LSF X
Table 3-1: Valid motor and feedback combinations
(1) : Singleturn or Multiturn-DSF

(2) Resolver or Multiturn-Resolver
(3) : Incremental measurement with Sine signals or
Incremental Sine encoder (linear scale)
(4) : absolute measurement with EnDat-Interface or
Singleturn- or Multiturn-Rotation encoder with EnDat
DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Selecting the motor and feedback combination 3-1

3-2 Selecting the motor and feedback combination DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

3.2 Connection examples
DSF/RSF
The motor power and standard feedback connections are made with the
basic unit hardware. No additional plug-in cards are necessary.
MDD
LWL
U1 (DSS)
a p500 3f1 .f h3
Figure 3-4: MDD Motor with DSF feedback is the standard interface
Sinusoidal encoder (Linear Scale)
The DLF (high resolution position interface) card is required for this type
of interface.
1MB
LWL
U2 (DLF)
ap5 00 4f1.fh 3
U1 (DSS)
Figure 3-5: 1MB Motor with High resolution encoder from Heidenhain connected
to the DLF card.
DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Selecting the motor and feedback combination 3-1

Geartooth encoder
The DZF (geartooth encoder interface) card is required for this type of
interface.
Carriage
LWL
2 AD motor with
geartooth encoder
U2 (DZF)
U1 (DSS)
ap 5005f1.fh 3
Figure 3-6: 2AD motor with geartooth encoder connected to the DZF card.
EnDat encoder
The DAG 1.2 (EnDat and SSI interface) card is required for this type of
interface.
Linear motor
LAF
Primary part
Secondary part
LWL
Incremental linear
unit of measure
with sine output
U2 (DAG)
U1 (DSS)
Figure 3-7: LAF Motor with EnDat encoder connected to the DAG1.2 card
3-2 Selecting the motor and feedback combination DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

4 Functionality Selection - Determining the

configuration number
4.1 Basic functionality
Independent from the motor used, the DIAX03 digital drives offer a wide
range of features which are always available.
These feature are available with the basic unit and no additional plug-in
card is required.
The following features are provided:
Basic functionality:
• Variety of diagnostic possibilities

• Language selection
• Selected error reaction
• Emergency Stop Feature
• Support through NC reaction in case of an error
• Setting of torque-/force limits
• Reset feature
• Acceleration preset control
• Velocity mix factor
• Velocity preset control
• Drive Halt
• Drive controlled feedback procedure
• Evaluation of absolute measurment scale
• Analog output
• Oscilloscope feature
• Measurement button feature
• Dynamic camshaft gear
• Modulus Features
DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Functionality Selection - Determining the configuration number 4-1

4.2 Selection of additional features

Depending on your application, DIAX03 offers a range of additional
features.
Additional cards are required. When selecting these additional features, you should take into
consideration which of the mentioned plug-in cards in the following tables
you need.
max. Number of cards Depending on the basic unit, the number of available plug-in card slots
will differ.
DDS03.2 max. 2 additional plug-in cards

DDS02.2 max. 4 additional plug-in cards
DKR max. 4 additional plug-in cards
Note: The U1 slot for the DSS command communication card is

included within the number of available card slots.
Requirements The following requirements have to be taken into consideration when

selecting an additional feature:
• Each plug-in card can only be used for one function.
• The maximum is one for the selection of an external measurement
system.
Additional features are dependant on the opposition to those features

found on the basic unit for the connected motor and feedback interface.
For this reason the motor feedback interfaces are listed and explained in
the following chapters.
4-2 Functionality Selection - Determining the configuration number DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

Motor Feedback Interface - DSF / RSF
You can select additional features from the table below when using a
motor with either a DSF or RSF feedback type.
Depending on your selection, you may need a single card or a
combination of plug-in cards.
Once you have selected the appropriate plug-in cards from the table
below, you can then use the “Configuration selection for motors with
DSF/RSF” table to select the correct drive configuration. This
configuration number will contain the correct components you will need to
order.
If the plug-in card combination is not found on this table, verify your
selection of components (motor type, motor encoder, features) as you
may need to change them.
Selection of features for a motor with DSF/RSF
Table B1: Additional plug-in cards:

DAG DEA DEF DEF DFF DLF DRF DSA DZF
Features 1.2M 4.2M 1.1M 2.1M 1.1M 1.1M 1.1M 1.1M 2.1M
Analog signal interface X
Digital I/O interface X
external measurement system with
Heidenhain Sine encoder (Linear Scale) X
Heidenhain Incremental encoder X X
DSF encoder X
Absolute encoders (SSI )Interface X
EnDat encoder X
Gear tooth encoder (Indramat) X
Master axis encoder measurement
system with GDS encoder X
system with EnDat encoder X
system with SSI Interface X
Master axis position output X
Selected additional plug-in cards:
Table 4-1:Additional features for a motor with DSF/RSF

Configuration selection for a motor with DSF/RSF
Table C1:Plug-in card combinations

Configuration numbers: 1.2M 4.2M 1.1M 2.1M 1.1M 1.1M 1.1M 1.1M 2.1M
BE12-01-FW
BE37-01-FW X
BE54-01-FW X
BE31-01-FW X
BE32-01-FW X
BE09-01-FW X
BE23-01-FW X
BE45-01-FW X
BE70-01-FW X X
BE27-01-FW X X
BE38-01-FW X X
BE04-02-FW X X
BE50-01-FW X X
BE62-01-FW X X
BE47-01-FW X X
BE15-01-FW X X
BE06-01-FW X X
BE08-01-FW X X
BE33-01-FW X X
BE30-01-FW X X
BE74-02-FW X X
BE65-01-FW X X X
BE63-01-FW X X X
BE72-02-FW X X X
BE22-01-FW X X X
BE02-02-FW X X X
BE03-02-FW X X X
BE48-01-FW X X X
BE40-01-FW X X X
BE57-01-FW X X X
BE55-01-FW X X X
BE25-01-FW X X X
BE13-01-FW X X X
BE28-01-FW X X X
Table 4-2: Configuration selection for a motors with DSF/RSF

Sinusoidal Encoder Interface (Linear Scale)
If the selected motor/feedback type is using a sinusoidal encoder

interface, then you can select additional features from the table “Selection
of features for motors with sinusoidal encoders.”
Depending on your selection, you may need a single card or a
sinusoidal encoder” table to select the correct drive configuration. This
order.
Selection of features for a motors with a sinusoidal encoder

Digital I/O Interface X X
DSF encoder (1) X X
absolute SSI Interface X X
EnDat encoder X X
system with GDS encoder (1) X X
system with EnDat encoder X X
system with SSI Interface X X
Master axis position output X X
Table 4-3:Additonal features for a motor with a sinusoidal encoder instead of
DSF/RSF feedback
(1) If the standard encoder interface X4 is not used, it can be used for the
external encoder instead of the DFF card.

Configuration selection for a motor with a sinusoidal encoder (linear scale)
Table C2: Plug-in card combinations

Configuration numbers: 1.2M 4.2M 1.1M 2.1M 1.1M 1.1M 1.1M 1.1M 2.1M
BE32-01-FW X
BE62-01-FW X X
BE08-01-FW X X
BE33-01-FW X X
BE57-01-FW X X X
BE55-01-FW X X X
BE28-01-FW X X X
Table 4-4: Configuration selection for a motor with a sinusoidal encoder instead
of DSF/RSF feedback
Motor Feedback Interface - Geartooth encoder

If the selected motor/feedback type is using a geartooth encoder
interface, then you can select additional features from the table “Selection
of features for motors with geartooth encoders.”
Depending on your selection, you may require a single card or a
geartooth encoder” table to select the correct drive configuration. This
order.

Selection of features for a motor with a geartooth encoder

DSF encoder (1) X X
Absolute (SSI)Interface X X
EnDat encoder X X
system with DSF encoder (1) X X
system with EnDat encoder X X
system with SSI Interface X X
Selcted additional plug-in cards:
Table 4-5:Additional features for a motor with a geartooth encoder
Configuration selection for a motor with a geartooth encoder
Table C3: Plug-in card combinations

Configuration number: 1.2M 4.2M 1.1M 2.1M 1.1M 1.1M 1.1M 1.1M 2.1M
BE37-01-FW X
BE70-01-FW X X
BE27-01-FW X X
BE38-01-FW X X
BE04-02-FW X X
BE65-01-FW X X X
BE63-01-FW X X X
BE72-02-FW X X X
BE22-01-FW X X X
BE02-02--FW X X X
BE03-02--FW X X X
Table 4-6: Configuration selection for a motor with a geartooth encoder

Motor Feedback Interface - EnDat encoder
If for example the motor type was determined for which an encoder with
EnDat Interface is used for the motor encoder Interface, then you can
select the desired additional features from the table Additional features for
motors with EnDat motor encoder Interface.
According to your selection the result will be a variety/combinations of
required moduls.
With this module combinations you can define in the table Configuration
selection for Motors with EnDat motor encoder Interface the
corrosponding configuration label to be able to order the correct
components.
If the module combination is not listed in this table you should check
again on you selected components (motor type, motor encoder interface,
features) and you may have to change them.
Selection of features for a motor with an EnDat encoder

Analog Signal Interface X X
external measurement system with a
Heidenhain Sine encoder (Linear Scale) X X
a Heidenhain Incremental encoder X X X
a DSF encoder (1) X X
a geartooth encoder (Indramat) X X
system with a DSF encoder (1) X X
Table 4-7: Additional features for a motor with an EnDat encoder Interface

Configuration selection for a motors with an EnDat encoder
Table C3: Module combinations

Configuration number: 1.2M 4.2M 1.1M 2.1M 1.1M 1.1M 1.1M 1.1M 2.1M
BE45-01--FW X
BE04-02--FW X X
BE74-02--FW X X
BE72-02--FW X X X
BE02-02--FW X X X
BE03-02--FW X X X
BE72-02--FW X X X
BE74-02--FW X X
Table 4-8: Configuration selection for a motor with an EnDat motor encoder
Interface

Notes:

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1500-12 Da-Dae-Dong Room 903, Jeail Building Diseño de Controles, S.A. de C.V.
Saha-Gu, Pusan, 604-050 44-35 Yoido-Dong Av. Dr. Gustavo Baz No. 288
Youngdeungpo-Ku Col. Parque Industrial la Ioma
Telefon: 051/264 90 01
Seoul, Korea Apartado Postal No. 318
Telefax: 051/264 90 10
54060 Tlalnepantla
Telefon: 02/780-82 07 ~9
Estado de Mexico
Telefax: 02/784-54 08
Telefon: 5/397 86 44
Telefax: 5/398 98 88
USA USA
Rexroth Corporation Rexroth Corporation

INDRAMAT Division INDRAMAT Division
5150 Prairie Stone Parkway 2110 Austin Avenue
Hoffman Estates, Illinois 60192 Rochester Hills, Michigan 48309
Telefon: 847/645-36 00 Telefon: 810/853-82 90
Telefax: 857/645-62 01 Telefax: 810/853-82 90
Directory of Customer Service Locations outside of Europa
Directory of Customer Service Locations DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

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engineering

Title DIAX03 Drive With Electric Gear Functions

Type of Documentation Drive Configuration

Documentation Type DOK-DIAX03-ELS-04VRS**-INF1-EN-P

Internal • Map 50-04V-EN / Register 7

What is the purpose of this This documentation serves

• Determining the motor type

In addition, an overview is provided of the available basic functions and

Course of Modifications Document identification of Release date Remarks

Copyright  INDRAMAT GmbH, 1996

Publisher INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

2 Determining the Motor/Drive combination 2-1

3 Selecting the motor and feedback combination 3-1

4 Functionality Selection - Determining the configuration number 4-1

DOK-DIAX03-ELS-04VRS**-INF1-EN-P •07.96 Contents I

DOK-DIAX03-ELS-04VRS**-INF1-EN-P •07.96 Contents II

1 Determination of the Drive Configuration

1.1 Term explanation

Additional plug-in cards The following plug-in cards can be provided:

Hardware configuration Every Hardware configuration has to be labeled with a letter-number

DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Determination of the Drive Configuration 1-1

The following image displays the components of a Hardware

Digital Drive Basic Unit

H ier m uß d as kor r ek te H i er m u ß da sk or r ekt e

PZ5 001 f1 .fh3

Figure 1-1: Components of a Hardware configuration

1-2 Determination of the Drive Configuration DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

1. Determine the Motor/Drive combination:

- RPM / Torque requirements for your application

- use a selection list to choose the Motor/Drive combination.

2. Determining the Hardware configuration number:

- Motor: select a Motor feedback combination

- select desired features

- The configuration number is determined based on the selected

Schematic: Determining the Motor/Drive combination

Determining the necessary plug-in modules

Selection list Vmax FdN Fmax ED Controller Motor type .........

Vmax FdN Fmax ED Controller Motor type .........

Figure 1-2: Diagram for working with a selection list.

DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Determination of the Drive Configuration 1-3

Schematic: Determining the Hardware Configuration Number

1. Determining the Tab.: A

additional plug-in modules Analog inputs X

Figure 1-3: Diagram for determining the configuration number

1-4 Determination of the Drive Configuration DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

2 Determining the Motor/Drive combination

2.1 Selection list

The selection list is used to determine to appropriate Motor/Drive

DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Determining the Motor/Drive combination 2-1

2-2 Determining the Motor/Drive combination DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

3 Selecting the motor and feedback combination

3.1 Possible motor / encoder feedback combinations

The following table contains valid motor and feedback combinations.

Table A: Motor Feedback Interface

(1) : Singleturn or Multiturn-DSF

DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Selecting the motor and feedback combination 3-1

3-2 Selecting the motor and feedback combination DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

3.2 Connection examples

Sinusoidal encoder (Linear Scale)

DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Selecting the motor and feedback combination 3-1

3-2 Selecting the motor and feedback combination DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

4 Functionality Selection - Determining the

4.1 Basic functionality