Motorola C200 - MANUEL 2 Spécifications

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Page 2

2.3 Rest dangersHealth risks arising from the PacDrive Controller have been reduced by means ofsafety technology and design engineering. However a res

Page 3 - ELN 117-02/02.04

Touching electrical partsDANGERELECTRIC SHOCK, FIRE OR EXPLOSION CAUSED BY HIGH VOLTAGE•Observe the general construction and safety regulations for wo

Page 4 - Table of contents

Dangerous movementsThere can be different causes of dangerous movements:•Missing or faulty homing of the robot mechanics•Wiring or cabling errors•Erro

Page 5 - 7 Appendix 39

"Safe separated extra-low voltage"PELV Protec‐tive Extra-LowVoltageThe signal voltage and control voltage of the PacDriveTM devices are <

Page 6 - 1 About this manual

3 Indicators, control elements, diagnosisThe PacDrive™ System supports the user with its comprehensive diagnostic sys‐tem. The diagnostic messages can

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pow (control voltage display)The "pow" LED indicates the state of the control voltage.OFF The control voltage (24 V DC) is not available or

Page 8 - 2.1 Proper use

LED yellow: OFF PacDrive Controller not connectedLED green: ON 100 MB connectionLED green: OFF 10 MB connectionAfter opening the operating cover you h

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▶Use insulated pliers to lightly pull the old battery out of its slot.CAUTIONDANGER OF EXPLOSION WHEN REMOVING/REPLACING BATTERY•Use a pair of suitabl

Page 10 - 2.3 Rest dangers

3.5 Diagnosis3.5.1 Minimal boot of the PacDrive Controller▶If a serious boot error occurs as a result of an application error, you have to performa mi

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> communication parameters in EPAS-4?- Is the address IP_Gateway entered correctly?▶Adjust parameter to detect an error.- Take over the parameter w

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Legal notice© All rights reserved to ELAU GmbH, also in case of patent right applications.No part of this documentation or the accompanying software a

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4 Transport, storage, unpacking4.1 Transport▶Avoid heavy shocks and/or vibrations during transport.▶Check the units for visible transport damage and i

Page 14 - 0406-0117.0601

4.4 Type Plate2113130260-001 HW: B43276518939.0010 U04 SW: 00.16.20Made in GermanyPacDrive C200 / 10 / 1 / 1 / 1 / 00Figure 4-1: PacDrive Controller

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Figure 4-3: Technical type plate of the PacDrive Controller C200PacDrive C200/... Device type, see type keyPower supply Rated voltage and rated curren

Page 16 - 3.3 Battery compartment

5 Installation and maintenanceWhen carrying out the following steps, make sure to exercise with the necessary ac‐curacy and make arrangements to avoid

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˗buserr: OFF˗wd: OFFHow to finish the initial start-up:▶Check safety functions such as the EMERGENCY OFF switch.This is how you connect the mains volt

Page 18 - 3.5 Diagnosis

5.2 Configuration, homing and programmingThe PacDrive™ System is adapted to your task using the EPAS-4 Automation Toolkit.The system will be configure

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5.3 EMC RulesTo control and regulate the motors, the mains voltage is stored by rectification in theDC bus of the servo amplifier. This stored energy

Page 20 - 4.2 Storage

5.4 Maintenance, repair, cleaning5.4.1 RepairProceed as follows in case of repair:▶Fill in the fault report form in the attachment (can also be sent p

Page 21 - 4.4 Type Plate

5.6 Type codeProduct ID code C200 / 10 / 1 / 1 / 1 / 00HW-VariantProcessor1 = ST-PC VEGARAM1 = 128 MBFlash memory1 = 32 MBOptional functions5 Installa

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6 Technical data6.1 Ambient conditionsProcedure Parameters Value BasisOperation Class 3K3 IEC/EN 60721-3-3Ambient temperature +5°C...+45°CCondensation

Page 23 - 5.1 Initial start-up

Manufacturer's declarationAccording to the EC machine guidelines 98/37/ECELN 117-02/02.04page 1/1The product we delivered:PacDrive C200 Controlle

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6.3 Mechanical and electrical dataCategory Parameters ValueProduct configurationType key C200 up to 8 SERCOSslaves(SERCOS slaves = MC-4, SCL,iSH)PacDr

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Category Parameters ValueOutputActuator power C200: 4 servo axes: SERCOS cycle time 2 msC200: 8 servo axes: SERCOS cycle time 4 msC200 / A2: 2 servo a

Page 26 - 5.3 EMC Rules

6.4 Electrical connectionsX2X1 Made in GermanyC200PacDrive109canprofibus dppacnetX521com2rs485com1 rs232ethX324V/wd/tp in76X4X12resetbattery cf

Page 27 - 5.5 Spare part inventory

X1 - Com 1 (RS232)1569Pin Designation Meaning Range1 DCD Data Carrier Detect2 RxD Receive Data3 TxD Transmit Data4 DTR Data Terminal Ready5 GND Signal

Page 28 - 5.6 Type code

X3 - Ethernet18Pin Designation Meaning Range1 Tx+ OutputTransmitData+2 Tx- OutputTransmitData-3 Rx+ InputReceiveData+4 - (PE)5 - (PE)6 Rx- InputReceiv

Page 29 - 6 Technical data

X5 - PacNet18Pin Designation Meaning Range1 TxD+ OutputTransmit Data+2 TxD- OutputTransmit Data-3 RxD+ InputReceive Data+4 TxC- OutputTransmit Clock-5

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3421Figure 6-2: Position of the bus terminal resistors1 Last bus slave2 Nth bus slave3 First bus slave4 Bus terminatorX10 - CAN1569Pin Designation Mea

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X11 - Master encoder (SinCos)1569Pin Designation Meaning Range1 REFSIN Sinus reference signal2 SIN Sinus trace3 REFCOS Cosine reference signal4 COS Co

Page 32 - 6.4 Electrical connections

6.5 Dimensions6.5 (0.26)12.5 (0.49)47.5 (1.87)60 (2.36)12 (0.47) Made in GermanyC200PacDrive109canprofibus dppacnetX521com2rs485com1 rs232ethX324V

Page 33 - X2 - Com 2 (RS485)

7 Appendix7.1 Contact addressesELAU GmbH DeutschlandDillberg 12 - 1697828 Marktheidenfeld, GermanyTel.: +49 (0) 9391 / 606 - 0Fax: 09391/606-300E-mail

Page 34 - Table 6-8: Connection X4

Table of contents1 About this manual 61.1 Introduction ...

Page 35 - Table 6-10: Connection X9

7.3 Safety testsThe following safety checks for the PacDrive Controller are performed in the productionin accordance to EN 50178 / EN 60204-1:Check fo

Page 36 - Table 6-11: Connection X10

7.5 Fault report formThis fault report is required without fail to enable efficient processing.Send the fault report to your ELAU GmbH-representative

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[ ] occurs after approx. hours [ ] moisture in device [ ] motor failure[ ] occurs by concussion [ ] defect encoder [ ] broken cable[ ] depends on the

Page 38 - 6.5 Dimensions

IndexCCertifications 29Configuration 25Contact addresses 39DDiagnosis 14Diagnosis message 19EEMC Rules 26HHomepage 2, 39IImprint 2OOrder numbers 0PPr

Page 39 - 7 Appendix

5.6 Type code ... 286 Technical data 296

Page 40 - 7.4 Modifications

1 About this manual1.1 IntroductionRead and observe this manual before you work on the PacDrive Controller for the firsttime. Take particular note of

Page 41 - 7.5 Fault report form

1.2 Symbols, designator and display format of safety notesThis manual divides the safety instructions into four various categories.Hazards and possibl

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2 Notes for working safely with the productThe PacDrive Controller is state of the art and conform to recognized technical safetyregulations. Neverthe

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Installationand operatingambientYou may only use them in accordance with the installation and operating conditionsdescribed in the documentation. The

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