Antriebs- und Steuerungstechnik

Servodyn-D

Configuration manual

105
Edition
Servodyn-D

Configuration manual

1070 066 029-105 (04.11) GB

E 1994 – 2004

by Bosch Rexroth AG, Erbach / Germany

All rights reserved, including applications for protective rights.
Reproduction or distribution by any means subject to our prior written permission.

Discretionary charge 21.– EUR

 Contents V

Contents
Page

1 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–1

1.1 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–1
1.2 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–2
1.3 Safety markings on products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–3
1.4 Safety instructions in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . 1–4
1.5 Safety instructions concerning the product described . . . . . . . . 1–5
1.6 Documentation, software release and trademarks . . . . . . . . . . . 1–7

2 The fully digital inverter system Servodyn-D . . . . 2–1

2.1 Features of the inverter system . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–1
2.2 Construction of the inverter system . . . . . . . . . . . . . . . . . . . . . . . . 2–2
2.2.1 Mechanical structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–3
2.2.2 Functional design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–4
2.3 Function of the inverter system . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–6
2.4 Marks, certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–8
2.4.1 CE-marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–8
2.4.2 EU design type certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–9
2.4.3 UL/CSA certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–10

3 Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–1

3.1 Type designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–1
3.2 Overview of module varieties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–2

4 Determining the drive rating . . . . . . . . . . . . . . . . . . . 4–1

4.1 General technical data – inverter . . . . . . . . . . . . . . . . . . . . . . . . . . 4–1
4.2 Procedure for determining the drive rating . . . . . . . . . . . . . . . . . . 4–2
4.3 Servo motors SF, SR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–7
4.3.1 SF(R) motor rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–7
4.3.2 Motor-module combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–8
4.4 Asynchronous motors DU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–10
4.5 Asynchronous standard motors . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–11
4.6 Stand-alone inverter DS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–12
4.6.1 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–12
4.6.2 Braking power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–14
4.7 Three-phase modules DM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–15
4.7.1 Technical data DM..K . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–15
4.7.2 Technical data of DMA..A,B,D,F . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–17
4.8 Plug braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–20
4.9 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–21
4.9.1 Motoranschlussleitungen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–21
4.9.2 Control of holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–28
4.9.3 Fibre optics for SERCOS interface . . . . . . . . . . . . . . . . . . . . . . . . 4–29
4.9.4 Cable for CAN bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–30
4.10 Built-in motors with Servodyn-D . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–31
4.10.1 Built-in motor with single-turn encoder type ROC 413 . . . . . . . . 4–32
4.10.2 Built-in motor with gear encoder type KWG2EP . . . . . . . . . . . . . 4–32
4.10.3 Built-in motor with gear encoder type MiniCoder GEL 244K . . . 4–32
4.11 Linear motors with Servodyn-D . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–33

1070 066 029-105 (04.11) GB

VI Contents

5 Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–1

5.1 Supply module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–1
5.1.1 Determining the VM rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–1
5.1.2 Technical data: supply module VM . . . . . . . . . . . . . . . . . . . . . . . . . 5–5
5.2 24 V power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–7
5.3 Determining the power supply rating . . . . . . . . . . . . . . . . . . . . . . . 5–7
5.4 Additional requirements for UL/CSA . . . . . . . . . . . . . . . . . . . . . . . 5–8
5.5 Line connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–9
5.5.1 Mains connection module NA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–9
5.5.2 Line wiring module NV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–10
5.5.3 Line reactor NE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–11
5.5.4 External mains filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–12

6 Accessories, options . . . . . . . . . . . . . . . . . . . . . . . . . . 6–1

6.1 Backplane modules RM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–1
6.2 DC link connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–2
6.3 Personality module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–4
6.4 Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–5
6.5 Commissioning and service system DSS-D . . . . . . . . . . . . . . . . . 6–6
6.6 Option modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–7
6.6.1 OM 01-D for incremental measuring systems with
sinusoidal current signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–8
6.6.2 OM 02-D for digital incremental measuring systems . . . . . . . . . 6–10
6.6.3 OM 03-D for incremental measuring systems with
sinusoidal voltage signals and absolute measuring systems with EnDat
interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–12

7 Dimensioned drawings . . . . . . . . . . . . . . . . . . . . . . . . 7–1

7.1 Backplane modules with mains connection module NAA . . . . . 7–1
7.2 Supply modules VMA..B,C,D, three-phase modules DMA..A,B,D 7–2
7.3 Modules with water cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–3
7.4 Compact mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–4
7.4.1 VMA 21KB or VMA 21KE with line wiring module NV . . . . . . . . 7–4
7.4.2 VMA 21KR with mains connection modules NAA 21 and NE 21/B 7–5
7.5 Stand-alone inverter with line wiring module NV . . . . . . . . . . . . . 7–6
7.6 Line reactors NE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–7
7.6.1 NE 21/B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–7
7.6.2 NE 35/A ... NE100/A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–8
7.6.3 NE 180/A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–9
7.7 Filter capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–10
7.8 Mains filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–11
7.9 Dimensioned drawing, plug braking modules . . . . . . . . . . . . . . . 7–14
7.10 Dimensioned drawing, external ballast switch . . . . . . . . . . . . . . . 7–14

8 Part numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8–1

8.1 Drive components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8–1
8.2 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8–3
8.3 Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8–4
8.4 Accessories for built-in motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8–4

A Annex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A–1
A.1 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A–1

1070 066 029-105 (04.11) GB

 Safety Instructions 1–1

1 Safety Instructions
Please read this manual on the configuration of the Servodyn-D drives
series. Store this manual in a place to which all users have access at any
time.

1.1 Intended use

This manual contains information required for the intended use of this
product.

The drive inverters described

D have been developed, manufactured, tested and documented in com-
pliance with the safety standards. These products pose no danger to per-
sons or property if they are used in accordance with the handling
stipulations and safety notes prescribed for their configuration, mount-
ing, and proper operation.
D comply with the requirements of
D the EMC Directives (89/336/EEC, 93/68/EEC and 93/44/EEC)
D the EMC product standard EN 61800-3 + A11
D the Low-Voltage Directive (73/23/EEC)
D the harmonized standards EN 50178 (VDE 0160) and EN 60146-1-1
(VDE 0558-11)
D are designed for operation in industrial environments, i.e.
D no direct connection to public low-voltage power supply,
D connection to the medium- or high-voltage system via a transformer.
In residential environments, in trade and commerce as well as small en-
terprises class A equipment may only be used if the following warning is
attached:

. This is a Class A device. In a residential area, this device may cause

radio interference. In such case, the user may be required to introduce
suitable countermeasures, and to bear the cost of the same.

Before putting the drive inverters into operation, ensure that the machine
which the inverters are to be installed in meets the stipulations of the machin-
ery directive (98/37/EEC, 98/79/EEC) and the EMC directive (89/336/EEC).

The faultless, safe functioning of the product requires proper transport, stor-
age, erection and installation as well as careful operation.

1070 066 029-105 (04.11) GB

1–2 Safety Instructions

1.2 Qualified personnel

The requirements as to qualified personnel depend on the qualification pro-

files described by ZVEI (Zentralverband Elektrotechnik und Elektronikindus-
trie – German Electrical and Electronic Manufacturers’ Association) and the
VDMA (Verband deutscher Maschinen- und Anlagenbau – German Engi-
neering Federation) in:
Weiterbildung in der Automatisierungstechnik
edited by: ZVEI and VDMA
MaschinenbauVerlag
Postfach 71 08 64
60498 Frankfurt/Germany

The present manual is designed for drive technicians. They need special
knowledge on the machine concept and the resulting drive characteristics.

Programming, start and operation as well as the modification of program

parameters is reserved to properly trained personnel! This personnel must
be able to judge potential hazards arising from programming, program
changes and in general from the mechanical, electrical, or electronic equip-
ment.

Interventions in the hardware and software of our products, unless de-

scribed otherwise in this manual, are reserved to our specialized personnel.

Tampering with the hardware or software, ignoring warning signs attached to

the components, or non-compliance with the warning notes given in this
manual may result in serious bodily injury or material damage.

Only electrotechnicians as recognized under IEV 826-09-01 (modified) who

are familiar with the contents of this manual may install and service the prod-
ucts described.

Such personnel are

D those who, being well trained and experienced in their field and familiar
with the relevant norms, are able to analyze the jobs being carried out
and recognize any hazards which may have arisen.
D those who have acquired the same amount of expert knowledge through
years of experience that would normally be acquired through formal tech-
nical training.

With regard to the foregoing, please note our comprehensive training pro-
gram. For up-to-date information, web shop for teachware and online sem-
inar booking, please refer to http://www.bosch.de/at/didactic or call our
training center at (+49) 60 62 78-258.

With regard to the foregoing, please note our comprehensive range of train-
ing courses. Please visit our website at
http://www.boschrexroth.com
for the latest information concerning training courses, teachware and train-
ing systems. Personal information is available from our
D Didactic Center Erbach,
Telephone: (+49) (0) 60 62 78-600.

1070 066 029-105 (04.11) GB

 Safety Instructions 1–3

1.3 Safety markings on products

Warning of dangerous electrical voltage!

Electrostatically sensitive components!

Warning of hazardous light emissions (optical fibre cable

emitters)!

Lug for connecting PE conductor only!

Connection of shield conductor only

1070 066 029-105 (04.11) GB

1–4 Safety Instructions

1.4 Safety instructions in this manual

DANGEROUS ELECTRICAL VOLTAGE

This symbol is used to warn of a dangerous electrical voltage. The fail-
ure to observe the instructions in this manual in whole or in part may result
in personal injury.

DANGER
This symbol is used wherever insufficient or lacking compliance with in-
structions may result in personal injury.

CAUTION
This symbol is used wherever insufficient or lacking compliance with in-
structions may result in damage to equipment or data files.

. This symbol is used to draw the user’s attention to special circumstances.

L This symbol is used if user activities are required.

1070 066 029-105 (04.11) GB

 Safety Instructions 1–5

1.5 Safety instructions concerning the product described

DANGER
Danger of life through inadequate EMERGENCY-STOP devices!
EMERGENCY-STOP devices must be active and within reach in all
system modes. Releasing an EMERGENCY-STOP device must not
result in an uncontrolled restart of the system!
First check the EMERGENCY-STOP circuit, then switch the system
on!

DANGER
Danger for persons and equipment!
Test every new program before starting up a system!

DANGER
Retrofits or modifications may adversely affect the safety of the
products described!
The consequences may include severe injury, damage to equipment,
or environmental hazards. Possible retrofits or modifications to the
system using third-party equipment therefore have to be approved
by Bosch.

DANGER
Health hazards through destroyed electrical components!
Do not destroy any built-in components. Dispose of destroyed com-
ponents in a proper manner.

DANGER
Do not look directly into the LEDs in the optical fiber connec-
tion. Due to their high output, this may result in eye injuries.
When the inverter is switched on, do not look into the LED or
the open end of a short connected lead.

DANGER
Please note your local, system-specific regulations and require-
ments as well as the proper use of tools, hoisting and transport
equipment as well as the applicable standards, regulations, and acci-
dent prevention regulations.

1070 066 029-105 (04.11) GB

1–6 Safety Instructions

DANGEROUS ELECTRICAL VOLTAGE

Unless described otherwise, maintenance works must be performed
on inactive systems! The system must be protected against unau-
thorized or accidental reclosing.

Measuring or test activities on the live system are reserved to quali-

fied electrical personnel!

DANGEROUS ELECTRICAL VOLTAGE

Lethal voltages of up to 375 V DC against ground on all power con-
nections and DC link connections!

The drives must not be switched on unless all covers have been
fitted! When the drive has been disconnected from mains, wait for up
to 5 minutes until the system is de-energized before removing any
covers.

The drive must always be examined for safe isolation from supply!

CAUTION
Use only spare parts approved by Bosch!

CAUTION
Observe all precautions for ESD protection when handling modules
and components! Avoid electrostatic discharge!

The following protective measures must be observed for modules and com-
ponents sensitive to electrostatic discharge (ESD)!
D Personnel responsible for storage, transport, and handling must have
training in ESD protection.
D ESD-sensitive components must be stored and transported in the pre-
scribed protective packaging.
D ESD-sensitive components may only be handled at special ESD-work-
places.
D Personnel, working surfaces, as well as all equipment and tools which
may come into contact with ESD-sensitive components must have the
same potential (e.g. by grounding).
D Wear an approved grounding bracelet. The grounding bracelet must be
connected with the working surface through a cable with an integrated
1 MW resistor.
D ESD-sensitive components may by no means come into contact with
chargeable objects, including most plastic materials.
D When ESD-sensitive components are installed in or removed from equip-
ment, the equipment must be de-energized.

1070 066 029-105 (04.11) GB

 Safety Instructions 1–7

1.6 Documentation, software release and trademarks

Documentation
The present manual provides information on the drive configuration proce-
dure for Servodyn-D.

Overview of available documentation Part no.

German English French Italian
Servo motors SF, SR 1070 066 004 1070 066 024 1070 066 048 1070 066 046
Asynchronous motors DU 1070 066 007 1070 066 027 – –
Servodyn-D, Configuration
1070 066 009 1070 066 029 1070 066 059 1070 066 049
Manual for overview and rating
Servodyn-D, Interface conditions 1070 066 010 1070 066 030 1070 066 060 1070 066 050
Servodyn-D,
1070 066 016 1070 066 036 1070 066 066 1070 066 056
Interface conditions, Stand alone version
Servodyn-D,
1070 066 018 1070 066 038 1070 066 068 1070 066 058
Parameter manual (without CANopen)
Servodyn-D, Servodyn-M
1070 066 094 1070 066 095 – –
Parameter manual CANopen
Servodyn-D with SERCOS interface
1070 066 011 1070 066 031 – 1070 066 051
Parameter and commissioning manual
Servodyn-D with analog interface
1070 066 014 1070 066 034 – –
Commissioning manual
Servodyn-D with CANrho interface
1070 066 017 1070 066 037 – –
Commissioning manual
Servodyn-D with motion control
1070 066 015 1070 066 035 – –
Commissioning manual
Servodyn-D with PROFIBUS-DP
1070 066 090 1070 066 091 – –
Commissioning manual
Servodyn-D DM/DS..8001 (ASM)
1070 066 008 1070 066 028 – –
Parameter and commissioning manual
Diagnostics, maintenance 1070 066 012 1070 066 032 1070 066 062 1070 066 052
RSU, Redundant safety monitoring 1070 066 006 1070 066 026 1070 066 081 1070 066 082
EMC manual 1070 066 072 1070 066 074 1070 066 075 1070 066 076
External load switching module EBX 1070 066 077 1070 066 080 – –

Release
D The current software release number of the inverter can be viewed by se-
lecting parameter S-0-0030 with the DSS-D Commissioning and Service
System, or in the ”Software” field of the module configuration display
(DIAGNOSTICS " MODULE CONFIGURATION).

D For information concerning the current DSS software release, refer to

HELP " ABOUT...

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1–8 Safety Instructions

D The current VMA..KR and VM..B,C,D,F software release can only be

read from the 7-segment display during test operation. For this purpose,
turn dip switch ”T” on the VM’s personality module ”on”:

The following appears in a running, flashing display:

“Cxx.ZZ.ddmmyyyy“
Where: xx = software release number
ZZ = (internal)
dd = software creation day
mm = software creation month
yyyy = software creation year

Modifications
Modifications in the present manual as compared to the previous edition are
marked by black vertical bars in the margin.

Trademarks
All trademarks of software installed on Bosch products upon delivery are the
property of the respective manufacturer.

Upon delivery, all installed software is copyright-protected. The software

may only be reproduced with the approval of Bosch or in accordance with the
license agreement of the respective manufacturer.

MS-DOSr and Windowst are registered trademarks of Microsoft Corpo-

ration.

PROFIBUSr is a registered trademark of the PROFIBUS Nutzerorganisa-

tion e.V. (user organization).

SERCOS interfacet is a registered trademark of Interessengemeinschaft

SERCOS interface e.V.

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 The fully digital inverter system Servodyn-D 2–1

2 The fully digital inverter system Servodyn-D

2.1 Features of the inverter system

The Servodyn-D inverter system has a modular structure and comprises

supply and axis modules as well as different functions and various interfa-
ces.
For small powers, stand-alone inverters with an integrated supply unit are
alternatively available which offer the same functions and interfaces.

The inverters have a digital closed-loop control for the position, speed and
current. Different motors can be operated with the same hardware:

D Synchronous motors type SF for sinusoidal current with an integrated

absolute encoder for speed and position control

D Synchronous motors type SR for sinusoidal current with integrated

resolver for speed and position control

D Synchronous linear motors with absolute length measuring system

LC 181

D Asynchronous motors type DU with integrated absolute encoder

D Asynchronous motors with absolute encoder or gear encoder

D Built-in motors with absolute encoder or gear encoder

D Asynchronous standard motors without an encoder for U/f character-

istic control.

When used in conjunction with synchronous motors, the system meets the
highest demands on dynamics, speed setting range, synchronizing and
positioning accuracy.

Advantages
D Modular design
D Compact design for 300 mm control cabinet depth
D Mechanics optimized for power output
D Inverters with backplane modules for cold module engineering
D Direct power supply connection
D Supply modules for supply-friendly infeed and regeneration
(cos f = 1 and power factor X1)
D Three-phase modules of same construction with IGBT output stages for
brushless synchronous and asynchronous motors
D Automatic commissioning via ’electronic rating plates’ of drive modules
and motors
D Position control in three-phase modules
D Integrated, redundant 2-channel safety structure with certificate (RSU)

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2–2 The fully digital inverter system Servodyn-D

2.2 Construction of the inverter system

Stand-alone inverter:
D Inverter with supply unit DS..K
With suitable:
D Line wiring modules NV
D Synchronous motors SF and SR
D Optional direct measuring system/analog outputs OM
D Personality module for SERCOS interface PM
D Memory card for SERCOS interface MC
D Mains filters in suitable sizes

Modular inverter:
D Power supply modules
D with internal or external ballast switch VMA..K
D with energy recoveryfor compact mechanics VMA..KR
D with energy recovery for backplane module VMA..B,C,D
D with energy recovery and water cooling VMW..F
With suitable:
D Line wiring module for VMA..K NV
D Mains connection module for VMs with
energy recovery NAA
D Line reactor for VMs with energy recovery NE
D Mains filters in suitable sizes

D Three-phase modules
D compact mechanics DM..K
D for backplane module DMA..A,B,D
D with water cooling DMW..F
With suitable:
D Synchronous motors SF and SR
D Asynchronous motors DU
D Optional direct measuring system/analog outputs OM
D Personality module for SERCOS interface PM
D Memory card for SERCOS interface MC

D Backplane modules
D for VM..B,C,D and DM..A,B,D RM

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 The fully digital inverter system Servodyn-D 2–3

The modular inverters are linked via the DC link as well as control cables.

Mains connec
Supply module VM Three-phase modules

OM
tion module
NAA D with energy DM DM DM DM
D for VM’s with recovery
energy recov- D with internal
ery ballast switch D for synchronous motors

D for external D for asynchronous motors

ballast switch

NE line reactor
D for VM’s with Backplane modules RM for VM..B,C,D and DM..A,B,D
energy
recovery

2.2.1 Mechanical structure

The IGBT output stages used for all modules are available with three differ-
ent mechanics, depending on the current output, which may be combined as
necessary.

Compact mechanics without backplane module

Output stages for a maximum current up to 35 A:
D width mostly in 50 mm modular dimension
D height 430 mm
D DC link connection through busbars
D supply module with internal/external ballast switch and integrated
start-up circuit

Mechanics with backplane module

Output stages for a maximum current up to 140 A:
D width mostly in 50 mm modular dimension
D height 521 mm
D inverter module can be plugged into the backplane module
D integrated DC link connection
D supply module with mains-friendly infeed and energy recovery

Mechanics with water cooling

Output stages for a maximum current up to 290 A:
D width 300 mm
D height 521 mm
D DC link connection through busbars or cables
D supply module with mains-friendly infeed and energy recovery

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2–4 The fully digital inverter system Servodyn-D

2.2.2 Functional design

Various functionalities can be selected regardless of the mechanical option.

This feature ensures that your system performance is optimally matched to
the interface.

SERCOS interface
Powerful processor board with 32-bit signal processor for fully digital posi-
tion, speed and current control.
The SERCOS interface features, i.a., real-time processing, fault-resistant
optical fibres and free combination of drives and controls of any manufac-
turer.

D Cycle times
Position controller: 500 ms (servo)
1 ms (spindle)
Speed controller: 250 ms
Current controller: 125 ms

D Personality module
For inverter modules with SERCOS interface, the entire software is con-
tained within the plug-in personality module. This includes: the operating
system, inverter-specific and system-specific data, the module address
for SERCOS interface and the setting for the transmitting power of the
optical fibre. For inverters with RSU (redundant safety monitoring), safe-
ty-relevant data is also included.
Recommissioning after unit exchange is therefore possible without fur-
ther auxiliary equipment.

D Memory card
The memory card is a credit card-size storage medium.
It contains a flash EPROM and its applications include archiving, trans-
mission of system-specific parameters or performing firmware updates.
The memory card can be installed as a standard in all inverter modules
with SERCOS interface.
Every firmware status is kept on a memory card and can be re-ordered at
any time.

The interface can be programmed by the NC or through the standard serial

interface using the DSS-D commissioning and service system.

Analog interface
Processor board with fully digital position, speed and current control by Ve-
Con chip. The analog setpoint values have a resolution of 12 bits, for high
demands alternatively even 16 bits.

D Cycle times
Speed controller: 62.5 ms
Current controller: 62.5 ms

Inverter modules with an analog interface contain an integrated complete

software package. They are programmed through the standard serial inter-
face using the DSS-D commissioning and service system.

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Motion control
D Positioning
Processor board with 24V control inputs and fully digital closed-loop posi-
tion, speed and current control by VeCon chip:
Up to 32 positioning blocks with target position as well as speed, accel-
eration and deceleration can be specified.

CAN bus
PC board with fully digital closed-loop position, speed, and current control by
VeCon chip and CAN bus:
D with CANrho protocol in connection with the rho3 and rho4 robot con-
trols made by Bosch;
D with CANopen protocol according to drive profile.

PROFIBUS-DP
PC board with fully digital closed-loop position, speed, and current control by
VeCon chip and with PROFIBUS-DP according to IEC 1158-2.
The following modes may be selected:
D Block-controlled operation (positioning mode with max. 32 traversing
blocks)
D Interpolation in drive (positioning mode via PROFIBUS-DP)
D Velocity control
D Velocity control with actual value feedback.

RSU, redundant safety monitoring

Servodyn-D drives equipped with Personality Modules with RSU capability
offer a certified, redundant, 2-channel safety monitoring feature.
Condition:
D axis modules with SERCOS interface
D in connection with a supply module capable of energy recovery, and
D a mains connection module

Using these Servodyn-D inverters, safety relevant parts of category 3 to

EN 954-1 can be implemented. They feature:
D a safe reduced speed in special mode
D a safe standstill in special mode
D monitoring of the maximum speed.

. Please also refer to the RSU manual (cf. page 1–7) for project engineer-
ing involving RSU drives.

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2.3 Function of the inverter system

Supply modules
The supply modules rectify the 3 x 400...460 V AC line voltage and generate
a stabilized DC link voltage.
In 4-quadrant operation, the energy generated by the braking of the motor is
fed back into the supply system (cos f = 1) in a supply-friendly manner or
converted into heat by a ballast switch.
The 24 V supply is connected to the supply module where it is distributed to
the three-phase modules.

Three-phase modules
The Bosch servo motors type SF and SR, asynchronous motors type DU,
synchronous linear motors or built-in motors with defined encoders are oper-
ated with the three-phase modules. The three-phase modules have the
same hardware, however, their software is different.
The electronic rating plates of the IGBT inverter output stage and the con-
nected motor contain all necessary drive data and automatically set the pa-
rameters for drive control of the motor-module combination used.

The position, speed and current controllers are fully digital and designed in a
cascade structure.

DC link

2
nset Iset
Position Speed Current
Xset PWM
controller controller controller

–Xact –nact –Iact

3

Position Speed
Rotor
position

Motor
Enco-
der 3

System-specific parameters are changed and archived from a PC with an

RS232 interface using the DSS-D commissioning and service system.

Stand-alone inverters
Stand-alone inverters incorporate the functions of the supply module and
the three-phase module described above. They are designed in compact
mechanics with an integrated ballast switch.

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Setpoint interface
SERCOS interface

SERCOS = SErial Realtime COmmunication System

according to EN 41 009

SERCOS interface is a serial realtime communication system between the

control unit and the drives and was developed as a standardization proposal
in a joint VDW/ZVEI working committee (DIN IEC/TC 44).

SERCOS interface is defined as a ring structure of optical fibres. Each ring

links an NC control unit with several drives.
The maximum number of drives is dependent on the required communica-
tion cycle time, the preselected operating data range and the data rate. With
a cycle time of 1 ms, 8 drives can thus be connected to a single optical fiber
ring. The number of drives per control unit can be increased by using several
optical fiber rings.

SERCOS interface offers the following advantages:

D Installation and commissioning ease
D Standardized connection system, procedures, formats and weighting fa-
cilitate interaction between control units and drives from various manu-
facturers.
D Fast response times; setpoints and actual values can be processed in the
same cycle.
D High interference immunity through optical waveguides
D Minimum number of optical waveguides through ring structure
D Various drive operating modes possible

Three-phase modules with SERCOS interface support the speed, position

and interpolation interfaces.

Analog interface

$ 10 V speed interface with an optional resolution of 12 or 16 bits.

Standard encoder simulation for transmission of the actual position values.

CAN bus

D CANrho protocol with position change inputs from the rho3 or rho4 robot
controls made by Bosch.
D CANopen protocol with position, speed, or torque setpoints, depending
on the operating mode.

PROFIBUS-DP

D Interpolation in drive:
In this positioning mode, the position, velocity, acceleration and decel-
eration are input via PROFIBUS-DP.
D Velocity control without/with actual value feedback:
In this mode, velocity/speed setpoints are input.

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2–8 The fully digital inverter system Servodyn-D

2.4 Marks, certifications

2.4.1 CE-marking

Low-Voltage Directive
The CE marking confirms compliance of drive modules of the Servodyn-D
series with the Low-Voltage Directive. The rating and construction satisfy the
requirements of EN 50178.

Machinery directive
The CE marking confirms compliance of drive modules of the Servodyn-D
series with the Machinery Directive. The rating and construction satisfy the
requirements of EN 60204-1.

EMC directive
Concerning the EMC Directive, the exception stipulated in the German EMC
Act, EMVG Art. 6, Subs. (9), is applicable, cf. below.
The following must be noted with respect to the operational system (cf. EMC
manual):
D Requirements on EMC noise emission
D Conducted noise
Depending on the application (industrial environment or domestic ap-
plication), a suitable mains filter is to be provided in the power supply
line.
The cubicle construction should be designed so as to ensure the effi-
ciency of the mains filter to the greatest possible extent.
D Radiated noise
Depending on the application (industrial environment or domestic ap-
plication), a suitable switch cabinet with EMC shielding has to be pro-
vided.
For the motor leads, shielded cables should be preferably used which
are grounded on both ends of the shield.

D Required interference immunity

The rating and construction satisfy the requirements of the EMC product
standard EN 61800-3 for application in industrial environments.

EMVG 18.09.1998
Art. 6 Exceptions and special determinations
(9) Apparatuses, systems, and components covered by Subs. 3, which are
exclusively manufactured and designed as accessories or spare parts for
further processing by companies or persons with expert knowledge in the
field of electromagnetic compatibility, are exempted from compliance
with the protection requirements and the requirements of Art. 4 Subs. 1
Nos. 1 to 3 and 5. The operational unit which contains apparatuses, sys-
tems or components defined in the 1st sentence above, shall satisfy the
provisions of this law.

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 The fully digital inverter system Servodyn-D 2–9

2.4.2 EU design type certification

The certification covers Servodyn-D with redundant safety monitoring RSU.
RSU complies with the requirements concerning:
D Safety-relevant parts of controllers in accordance with EN 954-1
Category 3, as required by
D EN 12415 (safety of turning machines)
D EN 12417 (safety of machining centres)
D Control functions in the event of a fault according to EN 60204-1

In the special mode, the integrated 2-channel safety structure monitors all
axis and spindle movements. It is available for:
D Three-phase modules with SERCOS interface
(firmware release as of V0.040)
D in connection with supply modules with energy recovery capability
(firmware release as of V0.040) and
D mains connection module NAA

This concept has been certified, i.e. additional monitoring equipment is not
necessary.

. For more information, refer to Servodyn-D with Redundant Safety

Monitoring manual, part no. in Section 1.6.

Three-phase mains

D Integration of an EMERGENCY-STOP
switch
NAA mains con-
D Connection and monitoring of a mode
nection module
selector switch
D Connection and monitoring of a dead-
Mains contactor control man’s key
D Integrated line monitor for single and
Supply module VM multiple phase mains failures
with sinusoidal infeed
and recovery D Integrated control and monitoring of
the protective door tumbler

Module cross
con

nection

Three-phase current D Safe reduced speed in special mode

module DM
D Safe standstill in special mode
D Monitoring of the maximum speed

Safety
tumbler
Motor

Separating protective device

Servodyn-D concept

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 2–10 The fully digital inverter system Servodyn-D

2.4.3 UL/CSA certification

For a number of Servodyn-D modules in compact mechanics, a UL/CSA cer-

tification is available for the U.S. and Canada (refer to sections 3.2 and 8).
These modules are listed in the ”Product Identity 23 MB”, File
No. E214694.

. For available components with UL/CSA approval, refer to section 8.

Installation in compliance with UL/CSA

In order to obtain a UL/CSA-compliant installation, the following must be
noted in addition to the use of the certified components:
D Systems may only be used in environments with pollution severity 2.
D Note tightening torques of the connection terminals as specified in Inter-
face Conditions manual, for part no. refer to page 1–7.
D The insulated copper wires must be specified for 60/75_C as a minimum.
D Only insulated Class 1 wires or equivalent may be used,
e.g. to UL Style 1015 (on motor side, H07: U0/U: 600/1000 V) and UL
Style 1007 or 1569 (on supply side, H05: U0/U: 300/500 V)
D Suitable for installation in symmetrical supply networks with a short-cir-
cuit current of x 10 kA with max. 460 V +10 %.

Operation in compliance with UL/CSA

For UL/CSA-compliant operation, the bimetal function (I2t monitoring) must
be activated in the inverters using parameter P-0-0053 in order to provide
motor protection.
D IN of the motor is automatically retrieved from the electronic rating plate to
the I2t monitoring function.
D P-0-0053 is only used to set the desired time constant:
Factory setting: 0.0 (disabled)
Customary setting range: 100...150
(corresponds to release characteristics of
bimetal relay)

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 Drive functions 3–1

3 Drive functions

3.1 Type designations

DM W 140 D 1101 - D

DM = Three-phase module for synchronous

and asynchronous motors
DS = Three-phase
Three phase stand-alone
stand alone inverters for
synchronous and asynchronous mo-
tors

none = air-cooling
A = Air cooling (backplane mechanics)
W = Integrated water cooling

Maximum current at fs= 2 kHz

(exact value cf. technical data)

Module A = 50 mm
width: B = 100 mm
D = 200 mm
F = 300 mm
K = compact mechanics

1st digit: Interfaces 1 = SERCOS interface

2 = customer interface
3 = analog, 12 bit resolution
4 = analog, 16 bit resolution
5 = 24 V control signals
6 = PROFIBUS-DP
7 = CANrho
8 = analog 10 bits,
U/f characterstic
9 = CANopen and CANrho
2nd digit: Encoder inter- 0 = no encoder interface
face 1 = standard
2 = gear encoder (contained in ”1”
for SERCOS interface)
3 = resolver
3rd digit: Additional func- 0 = none
tions 1 = one axis positioning
4th digit: Variants 1 = standard
2 = manual mode with lower
voltage
3 = Master/Slave drive

Servodyn-D series

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 3–2 Drive functions

3.2 Overview of module varieties

Designations / Part numbers of three-phase modules

Setpoint interface SERCOS interface Analog interface
(position and speed interface) (speed and torque interface)
12 bit resolution 16 bit resolution

Encoder interface Resolver STG or MTG or Resolver STG or MTG Gear encoder,
gear encoder STG or MTG
Additional function – – – – –
Compact mechanics
DM 4K DM 4K 1301 DM 4K 1101 DM 4K 3301 DM 4K 4101 –
1070 081 563 1070 080 952 1070 077 616 1070 077 604
DM 8K DM 8K 1301 DM 8K 1101 DM 8K 3301 DM 8K 4101 –
1070 081 564 1070 080 953 1070 077 617 1070 077 605
1070 084 649UL 1070 084 647UL 1070 084 635UL 1070 084 633UL
DM 15K DM 15K 1301 DM 15K 1101 DM 15K 3301 DM 15K 4101 –
1070 081 565 1070 080 954 1070 077 618 1070 077 606
1070 084 663UL 1070 084 662UL 1070 084 656UL 1070 084 655UL
DM 30K DM 30K 1301 DM 30K 1101 DM 30K 3301 DM 30K 4101 –
1070 081 566 1070 080 955 1070 077 619 1070 077 607
1070 084 675UL 1070 084 674UL 1070 084 668UL 1070 084 667UL
DM 45K DM 45K 1301 DM 45K 1101 DM 45K 3301 DM 45K 4101 –
1070 079 439 1070 083 111 1070 079 441 1070 079 440
1070 084 909UL 1070 084 907UL 1070 084 917UL 1070 084 919UL
Mechanics for backplane module
DMA 4A DMA 4A 1301 DMA 4A 1101 – DMA 4A 4101 –
1070 081 567 1070 080 956 1070 078 596
DMA 8A DMA 8A 1301 DMA 8A 1101 – DMA 8A 4101 –
1070 081 568 1070 080 957 1070 078 597
DMA 15A DMA 15A 1301 DMA 15A 1101 – DMA 15A 4101 –
1070 081 569 1070 080 958 1070 078 598
DMA 30A DMA 30A 1301 DMA 30A 1101 DMA 30A 3301 DMA 30A 4101 DMA 30A 4201
1070 081 570 1070 080 959 1070 077 620 1070 077 608 1070 077 612
DMA 45A DMA 45A 1301 DMA 45A 1101 DMA 45A 3301 DMA 45A 4101 DMA 45A 4201
1070 081 571 1070 080 960 1070 077 621 1070 077 609 1070 077 613
DMA 85B DMA 85B 1301 DMA 85B 1101 DMA 85B 3301 DMA 85B 4101 DMA 85B 4201
1070 081 572 1070 080 961 1070 077 622 1070 077 610 1070 077 614
DMA 140D DMA 140D 1301 DMA 140D 1101 DMA 140D 3301 DMA 140D 4101 DMA 140D 4201
1070 081 573 1070 080 962 1070 077 623 1070 077 611 1070 077 615
Integrated water cooling
DMW 290F DMW 290F 1301 DMW 290F 1101 DMW 290F 3301 DMW 290F 4101 –
1070 084 161 1070 084 160 1070 084 162 1070 084 163
Stand-alone inverters
DS 15K DS 15K 1301 DS 15K 1101 DS 15K 3301 DS 15K 4101 –
1070 081 562 1070 080 947 1070 079 659 1070 079 658
DS 15K with DS 15K 1302 DS 15K 1102 DS 15K 3302 DS 15K 4102 –
manual mode 1070 084 184 1070 084 183 1070 084 185 1070 084 186
DS 45K with DS 45K 1302 DS 45K 1102 DS 45K 3302 DS 45K 4102 –
manual mode 1070 079 431 1070 079 430 1070 079 433 1070 079 432
UL = with UL/CSA certification STG = Single-turn encoder
MTG = Multi-turn encoder

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 Drive functions 3–3

(For more varieties, please refer to next page)

Motion Control PROFIBUS-DP
(24V control signals)

Resolver STG or MTG Resolver STG or MTG

Positioning control Positioning control

DM 4K 5311 DM 4K 5111 DM 4K 6311 DM 4K 6111

1070 078 616 1070 078 608 1070 084 443 1070 084 430
DM 8K 5311 DM 8K 5111 DM 8K 6311 DM 8K 6111
1070 078 617 1070 078 609 1070 084 444 1070 084 431
1070 084 639UL 1070 084 637UL 1070 084 931UL 1070 084 925UL
DM 15K 5311 DM 15K 5111 DM 15K 6311 DM 15K 6111
1070 078 618 1070 078 610 1070 084 445 1070 084 432
1070 084 658UL 1070 084 657UL 1070 084 932UL 1070 084 926UL
DM 30K 5311 DM 30K 5111 DM 30K 6311 DM 30K 6111
1070 078 619 1070 078 611 1070 084 446 1070 084 433
1070 084 670UL 1070 084 669UL 1070 084 933UL 1070 084 927UL
DM 45K 5311 DM 45K 5111 DM 45K 6311 DM 45K 6111
1070 079 443 1070 079 442 1070 084 447 1070 084 434
1070 084 923UL 1070 084 921UL 1070 084 934UL 1070 084 928UL

– – – –

– – – –

– – – –

DMA 30A 5311 DMA 30A 5111 – –

1070 078 652 1070 078 612
DMA 45A 5311 DMA 45A 5111 DMA 45A 6311 DMA 45A 6111
1070 078 653 1070 078 613 1070 084 449 1070 084 436
DMA 85B 5311 DMA 85B 5111 DMA 85B 6311 DMA 85B 6111
1070 078 654 1070 078 614 1070 084 450 1070 084 437
DMA 140D 5311 DMA 140D 5111 DMA 140D 6311 DMA 140D 6111
1070 078 655 1070 078 615 1070 084 451 1070 084 438

DMW 290F 5311 DMW 290F 5111 DMW 290F 6311 DMW 290F 6111
1070 084 165 1070 084 164 1070 084 452 1070 084 439

DS 15K 5311 DS 15K 5111 DS 15K 6311 DS 15K 6111

1070 079 661 1070 079 660 1070 084 453 1070 084 440
DS 15K 5312 DS 15K 5112 DS 15K 6312 DS 15K 6112
1070 084 188 1070 084 187 1070 084 935 1070 084 929
DS 45K 5312 DS 45K 5112 DS 45K 6312 DS 45K 6112
1070 079 435 1070 079 434 1070 084 455 1070 084 442

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 3–4 Drive functions

Designations / Part numbers of three-phase modules

Setpoint interface CAN bus Frequency
(CANopen and CANrho protocol) inverter
(U/f characteristic)
Analog 10 bits

Encoder interface Resolver STG or MTG –

Additional function − Positioning control – Positioning control –
Compact mechanics
DM 4K DM 4K 9301 DM 4K 9311 DM 4K 9101 DM 4K 9111 DM 4K 8001
1070 083 678 1070 083 698 1070 083 673 1070 083 693 1070 080 448
DM 8K DM 8K 9301 DM 8K 9311 DM 8K 9101 DM 8K 9111 DM 8K 8001
1070 083 679 1070 083 699 1070 083 674 1070 083 694 1070 080 449
1070 084 653UL 1070 084 911UL 1070 084 651UL 1070 084 953UL 1070 084 645UL
DM 15K DM 15K 9301 DM 15K 9311 DM 15K 9101 DM 15K 9111 DM 15K 8001
1070 083 680 1070 083 700 1070 083 675 1070 083 695 1070 080 450
1070 084 665UL 1070 084 912UL 1070 084 664UL 1070 084 954UL 1070 084 661UL
DM 30K DM 30K 9301 DM 30K 9311 DM 30K 9101 DM 30K 9111 DM 30K 8001
1070 083 681 1070 083 701 1070 083 676 1070 083 696 1070 080 451
1070 084 948UL 1070 084 913UL 1070 084 945UL 1070 084 955UL 1070 084 673UL
DM 45K DM 45K 9301 DM 45K 9311 DM 45K 9101 DM 45K 9111 DM 45K 8001
1070 083 682 1070 083 702 1070 083 677 1070 083 697 1070 079 446
1070 084 949UL 1070 084 914UL 1070 084 946UL 1070 084 956UL 1070 084 943UL
Mechanics for backplane module
DMA 4A – – – – –

DMA 8A – – – – –

DMA 15A – – – – –

DMA 30A – – – – DMA 30A 8001

1070 080 452
DMA 45A DMA 45A 9301 DMA 45A 9311 DMA 45A 9101 DMA 45A 9111 DMA 45A 8001
1070 083 686 1070 083 706 1070 083 683 1070 083 703 1070 080 453
DMA 85B DMA 85B 9301 DMA 85B 9311 DMA 85B 9101 DMA 85B 9111 DMA 85B 8001
1070 083 687 1070 083 707 1070 083 684 1070 083 704 1070 080 454
DMA 140D DMA 140D 9301 DMA 140D 9311 DMA 140D 9101 DMA 140D 9111 DMA 140D 8001
1070 083 688 1070 083 708 1070 083 685 1070 083 705 1070 080 455
Integrated water cooling
DMW 290F DMW 290F 9301 DMW 290F 9311 DMW 290F 9101 DMW 290F 9111 DMW 290F 8001
1070 084 168 on request 1070 084 167 on request 1070 084 166
Stand-alone inverters
DS 15K DS 15K 9301 DS 15K 9311 DS 15K 9101 DS 15K 9111 DS 15K 8001
1070 083 690 1070 083 710 1070 083 689 1070 083 709 1070 080 456
DS 15K mit DS 15K 9302 DS 15K 9312 DS 15K 9102 DS 15K 9112 DS 15K 8002
Einrichtbetrieb 1070 084 191 1070 084 915 1070 084 190 1070 084 957 1070 084 189
DS 45K with DS 45K 9302 DS 45K 9312 DS 45K 9102 DS 45K 9112 DS 45K 8002
manual mode 1070 083 692 1070 083 712 1070 083 691 1070 083 711 1070 079 437
UL = with UL/CSA certification STG = Single-turn encoder
MTG = Multi-turn encoder

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 Determining the drive rating 4–1

4 Determining the drive rating

4.1 General technical data – inverter

Operating temperature range 0 _C to +45 _C

46 _C to +55 _C with derating

Storage temperature range –25 _C to +70 _C

Degree of protection IP20 according to EN 60 529

Climatic category 3K3 according to EN 60 721

Resistance to vibration frequency range: 2...150 Hz

displacement: 1 mm at 2...13.2 Hz
acceleration: 0.7 g at 13.3...48.6 Hz
displacement: 0.075 mm at 48.6...58.1 Hz
acceleration: 1g at 58.1...150 Hz
(EN 60068-2-6 is complied with)

Resistance to shock 15 g iaw DIN IEC 68-2-27,

no functional disturbance

Installation altitude x 1000 m above sea level,

derating up to max. 3000 m above sea level

Servodyn modules must only be installed in switch cabinets which conform

to protection standard IP 54 (with dust filters at air entries and exits).
The surrounding air must be free from high levels of dust, acid, lye, corrosive
materials, salt, metal vapors, etc.

CAUTION
Damages through incorrect handling !
Drive components must only be transported in the intended packag-
ing. Assembly, installation and commissioning may only be carried
out by qualified personnel.

Observe the hazard warnings in this manual and attached to the unit
to prevent injury to persons or damage to equipment.

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4–2 Determining the drive rating

4.2 Procedure for determining the drive rating

. In accordance with EN 60 204-1, the availability of the system

(machine) must be ensured even at supply voltage of 0.9 UN.
This must be considered during configuration!

see section
Servo motors SF, SR Asynchronous motors
type DU

D Determine torque/speed D Determine power/torque/

D Versions, options: speed
D plain shaft/slot and spring D Versions, options:
D vibration severity grade D vibration severity grade
4.3.1 4.4 D flange accuracy
D output flange design
D encoder system D output flange design
D holding brake D holding brake
D surface cooling

DM / DS three-phase current modules

D Modular (DM) or stand-alone (DS, with supply unit)

D Determine module size
3 through rated current/peak current, depending on operating frequency
4.1 and ambient temperature.
4.3.2 D Select function:
4.4
D setpoint interface
4.5
(SERCOS interface, analog interface, Motion control (24 V control
4.6
signals), PROFIBUS-DP, CANrho, CANopen)
4.7
4.8 D encoder interface
D frequency inverter
D Plug braking module option

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 Determining the drive rating 4–3

Connecting cables / mating connector

D Power connection to the motor

D prefabricated cable with integrated connectors:
DM/DS module ³ SF/SR motor, or
D cable by the meter + mating connector motor + module mating
connector for DM..K or DS..K + assembly tool
D Encoder connection
D prefabricated cable with integrated connectors:
DM module ³ SF/SR/DU motor, or
D cable by the metre + mating connector motor and module + as-
4.9 sembly tool
D Protective circuit for brake line for motors with holding brake
D For DMA..K: alternative brake connection including braking relay
D Optical fibres with connectors (only for SERCOS interface)
D control unit ³ module, module ³ module, module ³ control unit
D CAN cable with transit and/or terminating connector, length depend-
ing on baud rate
D Cables or mating connectors, as necessary, for
D encoder simulation (for analog interface and Motion control)
D OM 1...3 direct measuring system (for SERCOS interface)

Power supply modules VMA

4.1 D Specify size of module via continuous rating/peak output

5.1 D Internal or external ballast switch or energy recovery

Mains connection module NAA

D Only for VM with energy recovery

D Select same type size as for supply module VM
5.5.1
D Other versions, options:
D integrated additional filter (if necessary with external mains filter)

Line wiring module NV

D Optionally for VM with internal/external ballast switch

5.5.2
D Select same type size as for supply module VM

Line reactor NE

D For NAA and VM with energy recovery only

D Select same type size as for supply module VM
5.5.3
(Exception: 2 x NE70 for each VM 90)
D NE 180 only with an additional filter capacitor

Mains filter

5.5.4 D Design according to supply module output

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4–4 Determining the drive rating

Backplane modules RM

D Only for VM..B,C,D and DM..A,B,D

D Various designs for VM and DM
D Specify according to module width
6.1 D Other versions, options:
6.2 D Cold module assembly
D DC link connection
(for combining both mechanical systems, or for two-row module
arrangement)

Personality Module PM

D One personality module for each VM with energy recovery

D with/without RSU (redundant safety monitoring)
6.3
D One personality module for each DM with SERCOS interface
D with/without RSU

Memory card MC

D Optionally for software updates for

6.4 VM with energy recovery and DM/DS with SERCOS interface
D With software for VM or SM or FO or without software

Commissioning and service system DSS-D

6.5 D Necessary for commissioning and diagnosis

Option modules OM

D Specify direct measuring system (OM1, OM2, OM3) for SERCOS

6.6 interface only
D High-speed analog outputs (OM4), not for frequency inverters

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 Determining the drive rating 4–5

Servodyn-D – stand-alone inverter

PE L1 L2 L3

DS..K

Optional

1W1
1V1
1U1
mains filter

Motor

Servodyn-D – modular design with and without energy recovery up to VMA 70 C

PE L1 L2 L3 PE L1 L2 L3

U1 V1 W1 Option NV or
Optional
mains filter Optional
mains filter

U1 V1 W1 VMA..KR
VMA..B,C DM..A, DM..K VMA..K DM..K DM..A,
NAA.. (with energy B,D (with ballast B,D
recovery) switch)
1W1
1V1
1U1

U2 V2 W2
1W1
1V1
1U1

U2 V2 W2

Line U1 V1 W1
reactor
NE U2 V2 W2 Motor Motor Motor Motor

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4–6 Determining the drive rating

Servodyn-D – modular design with VM 90D

PE L1 L2 L3

Optional
mains filter

1 3 5

NAA VMA..90D DM DM..

(with energy recovery) K

1W1

2W1
1V1

2V1
1U1

2U1
2 4 6

2X U1 V1 W1 U1 V1 W1
Line reactor Motor
U2 V2 W2 Motor
NE 70A U2 V2 W2

Servodyn-D – modular design with VM W180F

PE L1 L2 L3

Optional
mains filter

U1 V1 W1

NAA 180 VMW 180F DMW 290F

(with energy recovery)
1W2
2W2
1U2
2U2

2W2
1V2
2V2

1W2
2U2

2V2
1U2
2W1

1V2
1V1
2V1
1W1
1U1
2U1
U11

V11

W11
V12

W12
U12

U3
V3 Motor
W3
V21
V22
W21
W22
U21
U22

Filter capacitor
Line reactor
NE 180

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 Determining the drive rating 4–7

4.3 Servo motors SF, SR

4.3.1 SF(R) motor rating

To define the motor-module combination, a suitable motor and then the suit-
able three-phase module is selected.

D A servo motor is preselected using the S1 characteristic curves.

D If motor Mmax is reached in the application, the preselection must be
checked by calculating the rms torque and the mean speed.
This requires the following information:
D cycle time ttotal of a processing cycle
D interval ti as part of the processing cycle
D the required torque Mi in the respective interval

Preselect motor type SF(R) according to S1 characteristic curve.

Mmax (nmax) x Mmax motor (nmax) ?

Yes No
Calculate rms torque:
Select larger motor
S Mi2 . ti
Mrms = i at nm
ttotal

Calculate mean speed nm:

S ni . ti
nm = i
ttotal

Is Mrms (nm) within the S1 curve?

Yes No
Check whether Select
smaller motor is pos- larger motor
sible, otherwise motor
selection ends

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 4–8 Determining the drive rating

4.3.2 Motor-module combination

Different combinations on request if technically possible.

= S1, clock frequency 4 kHz

= S1, clock frequency 8 kHz

Servo motors SF, SR Rating for maximum continuous load

without forced-air cooling

Type I0 DM.. DM.. DM.. DM.. DM.. DM.. DM.. DM.. DM.. DS.. DS..
[Arms]* 4K 8K 15K 30K 45K 30A 45A 85B 140D 15K 45K

SF(R)–A4.0125.015 5,2

SF(R)–A5(B5).0250.020 10,4
SF(R)–A5(B5).0460.020 20,8
SF(R)–A5.0700.020 34,1

SF(R)–A2.0013.030 0,9
SF(R)–A2.0020.030 1,3
SF(R)–A2.0026.030 1,7
SF(R)–A2.0041.030 2,7

SF(R)–A3.0042.030 2,8
SF(R)–A3.0068.030 4,5
SF(R)–A3.0093.030 6,4

SF(R)–A4.0091.030 6,6
SF(R)–A4.0125.030 10,4
SF(R)–A4.0172.030 14,1
SF(R)–A4(B4).0230.030 16,2

SF(R)–A5(B5).0250.030 16,1
SF(R)–A5.0460.030 29,1
SF(R)–A5.0700.030 45,5

SR–L0.0002.060 0,45
SR–L0.0004.060 0,65
SR–L0.0008.060 1,2
SR–L0.0009.060 1,3

SF(R)–L1.0008.060 1,1
SF(R)–L1.0012.060 1,65
SF(R)–L1.0016.060 2,2
SF(R)–L1.0023.060 3,16

SF(R)–A2.0013.060 1,7
SF(R)–A2.0020.060 2,6
SF(R)–A2.0026.060 3,4
SF(R)–A2.0041.060 5,6

SF(R)–A3.0042.060 5,5
SF(R)–A3.0068.060 9,4
SF(R)–A3.0093.060 13,5

SF(R)–A4(B4).0091.060 14,1
SF(R)–A4(B4).0125.060 19
SF(R)–A4(B4).0172.060 28,4
SF(R)–A4(B4).0230.060 28,4

* I0 = standstill current, rms

. Maximally 9 axes per VM because of load on module cross-connection.

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 Determining the drive rating 4–9

Different combinations on request if technically possible.

= S1, clock frequency 4 kHz

= S1, clock frequency 8 kHz

Servo motors SF, SR Rating for maximum continuous load

with forced-air cooling

Type I0 DM.. DM.. DM.. DM.. DM.. DM.. DM.. DM.. DM.. DS.. DS..
[Arms]* 4K 8K 15K 30K 45K 30A 45A 85B 140D 15K 45K

SF(R)–A4(B4).0125.015 7,3

SF(R)–A5.0700.020 51,7

SF(R)–A2.0041.030 3,5

SF(R)–A3.0042.030 3,4
SF(R)–A3.0068.030 5,0
SF(R)–A3.0093.030 7,5

SF(R)–A4(B4).0091.030 9
SF(R)–A4(B4).0125.030 13
SF(R)–A4(B4).0172.030 17
SF(R)–A4(B4).0230.030 21

SF(R)–A5.0460.030 40
SF(R)–A5.0700.030 69,4

SF(R)–A3.0093.060 17

* I0 = standstill current, rms

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 4–10 Determining the drive rating

4.4 Asynchronous motors DU

To define the motor-module combination, a suitable motor and then the suit-
able three-phase module is selected.

A type DU motor is preselected using the characteristic curve in the motor

manual according to the following criteria:
D Required maximum speed
D Required output at maximum speed
D Required torque up to transition speed

= S1, clock frequency 4 kHz

= S1, clock frequency 8 kHz
= S6
60%, clock frequency 4 kHz
= S6
60%, clock frequency 8 kHz
= S6
40%, clock frequency 4 kHz
= S6
40%, clock frequency 8 kHz

Frame Asyn- Rated Speed Rated Rated

size chro- Motor/module combination
power range torque current
nous
motors
DMA DMW
PN nN - nmax MN IN DM 30K DM 45K DS 45K DMA 30A DMA 45A DMA 85B
140D 290F
DU [kW] [min-1] [Nm] [A]

1800 -
90 90 L 4.2 22 11
90001)

100 M 6.6 35 15.5

1800 -
100 100 L 9.0 48 20
90002)
100 U 12 63.5 25

132 S 15 95.5 29
1500 -
132 132 M 18.5 118 37
65003)
132 L 22 140 42

160 S 30 191 51
1500 -
160 160 M 37 235 63
60003)
160 L 45 286 76

180 S 55 350 98
1500 -
180 180 M 63 401 113
6000
180 L 75 478 136

1) Higher maximum speed option: 15.000 min–1, with gear encoder 18.000 min–1
2) Higher maximum speed option: 15.000 min–1
3) Higher maximum speed option: 12.000 min–1

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 Determining the drive rating 4–11

4.5 Asynchronous standard motors

To define the motor-module combination, a motor offering the desired per-

formance range and then the suitable three-phase module (frequency in-
verter) is selected.

= S1, clock frequency 2 kHz

= S1, clock frequency 4 kHz
= S1, clock frequency 8 kHz

Motor Frequency inverter

Frame Rated
Power size current, DM DM DM DM DM DMA DMA DMA DMA DS DS
[kW] typ. 4K 8K 15K 30K 45K 30A 45A 85B 140D 15K 45K
[A]

0.25 – 0.37 0,8 – 1

0.55 – 0.75 1,5 – 2
90
1.1 2,9
1.5 3,7

2.2 5,2
3.0 6,9
100
4.0 8,9
5.5 11,8

7.5 15,6
11 23
132
15 30
18.5 38

22 43
30 58
160
37 72
45 85

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4–12 Determining the drive rating

4.6 Stand-alone inverter DS

4.6.1 Technical data

Module type Unit DS 15K DS 45K

3 x 400 ... 460 ± 10%,

Supply voltage VAC
48 ... 62 Hz
Rated voltage VAC 400, 50 Hz
fs = 4 kHz (íamb =45_C) max. OL max. CL max. OL max. CL
Maximum current Arms 17 14 47.5 35.5
Rated current Arms 6.0 11 11 23
Derating through output ad-
A/kW 0.65 0.5
justment
Derating 45...55_C A/K 0.3 0.7
fs = 8 kHz (íamb =45_C) max. OL max. CL max. OL max. CL
Maximum current Arms 15 11 35 25.5
Rated current Arms 4.4 8.5 7 18
Derating through output ad-
A/kW 0.45 0.5
justment
Derating 45...55_C A/K 0.2 0.7
Rated power
kW 3.5 10
with fs = 4 kHz, ϑamb = 45°C
Peak output at fs = 4 kHz kW 6.0 19
Ballast switch internal internal
Max. one-time braking energy Ws 1000 6250
Max. continuous braking
W 100 250
power

Power demand from 24 V 24 VDC to DIN 19 240

A
power supply module max. 14 max. 1.6
Max. power loss
W 120 240
with fs = 4 kHz
Mass kg 5.9 9.4

Personality Module PM only with SERCOS interface

Optional mains connection through NV 20

Rated power
kW 24
at ϑamb = 45°C
Mass kg 10.6

fs = switching frequency; íamb = ambient temperature; íK = heat sink temperature;

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 Determining the drive rating 4–13

Band width of current values

Maximum overload (OL):
Depending on the heat sink and ambient temperature, the module automati-
cally limits the maximum current depending on the thermal limit of the
power semiconductor.

Maximum continuous load (CL):

The maximum permissible rated current is available at the thermal limit of
the heat sink. In order to protect the power semiconductor, the maximum cur-
rent is reduced.
There is always a floating transition between the two load conditions.

Current [A] DS 15K Current [A] DS 45K

20 50
Imax (4 kHz)
18 45
Imax (4 kHz)
16 40
14 35 Imax (8 kHz)
12 Imax (8 kHz) 30
10 IN (4 kHz) 25
8 20 IN (4 kHz)
6 15
IN (8 kHz)
4 10
IN (8 kHz)
2 5
0 0
OL CL OL CL

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4–14 Determining the drive rating

4.6.2 Braking power

The integrated ballast switch should not be overloaded by the braking

energy of the connected motor.

The braking energy depends:

D on the mechanical energy of rotation of the connected motor
D on the number of braking processes per time unit.

L Calculate the energy of rotation by the following formula:

ǒ{2 Ǔ [Ws ]
2
p n}
Wrot + ½
J
60
Wrot = energy of rotation
J = total moment of inertia in kgm2
n = motor speed in min–1

L Calculate the required repetition time on the basis of the operating cycle.

L Use the characteristic to make sure that the intersection between the energy
of rotation and the required repetition time is below the curve.

Energy of rotation [kWs]

1.0

0.8

0.6

0.4

0.2

0.0
0 1 2 3 4 5 6 7 8 9 10
Repetition time [s]

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 Determining the drive rating 4–15

4.7 Three-phase modules DM

4.7.1 Technical data DM..K

Module type DM 4K DM 8K DM 15K DM 30K DM 45K

Band width of maximum max max max max max max max max max max
current values* OL CL OL CL OL CL OL CL OL CL

Rating plate data

UL varieties:
Input – 670 V, 670 V, 670 V, 670 V,
2.5 A dc 6 A dc 8.5 A dc 17 A dc
Output 3ph 400 V, 0 – 800 Hz, 8 kHz
– 2.4 A 5.8 A 8.2 A 16.5 A

DC link voltage 670 VDC regulated / 715 VDC non-regulated

fs = 4 kHz, íamb = 45_C

Maximum current [Arms] 6.6 6.4 10 9.6 18 15 29 21 47.5 35.5
Rated current [Arms] 1.4 4.0 2.1 5.7 4.9 11 5.8 14 10 23.5
Derating 45...55_C [A/K] 0.15 0.15 0.32 0.35 0.6

fs = 8 kHz, íamb = 45_C

(factory setting)
Maximum current [Arms] 6.6 4.7 10 7.1 15 11 22 14 35 25.5
Rated current [Arms] 0.8 2.5 1.1 3.6 2.9 7.4 3.6 9.7 6.5 16.5
Derating 45...55_C [A/K] 0.1 0.1 0.23 0.24 0.5

Resolution of actual posi-

tion value:
20 bits
Single-turn encoder (STG)
32 bits
Multi-turn encoder (MTG)
12 bits
Resolver

Possible connections Incremental encoder with factor 4, flimit = 1 MHz

direct position measuring Sine encoder with EXE and factor 20, flimit = 50 kHz
system with SERCOS in- Sine/cosine encoder with interpolation factor 4096,
terface flimit = 800 kHz
Power demand from 24 V
0.89 0.89 0.89 1.03 1.4
power supply module[A]

Max. power loss [W] 96.5 96.5 121 156 205

Mass [kg] 6.0 6.7

Module width [mm] 50 75

* for a description, refer to page 4–15

fs = switching frequency;
íamb = ambient temperature;
íK = heat sink temperature;

Band width of current values

Maximum overload (OL):
Depending on the heat sink and ambient temperature, the module automati-
cally limits the maximum current depending on the thermal limit of the
power semiconductor.

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 4–16 Determining the drive rating

Maximum continuous load (CL):

The maximum permissible rated current is available at the thermal limit of
the heat sink. In order to protect the power semiconductor, the maximum cur-
rent is reduced.
There is always a floating transition between the two load conditions.

Current [A] DM 4K Current [A] DM 8K

10 12
9 11 Imax (4 kHz)
8 10
Imax (4 kHz) 9
7 8 Imax (8 kHz)
6 7
5 Imax (8 kHz) 6
4 5 IN (4 kHz)
3 IN (4 kHz) 4
3
2 2
1 IN (8 kHz) 1 IN (8 kHz)
0 0
OL CL OL CL

Current [A] DM 15K Current [A] DM 30K

20
28 Imax (4 kHz)
18 Imax (4 kHz)
16 24
14 20
12 Imax (8 kHz)
16 Imax (8 kHz)
10
IN (4 kHz)
8 12 IN (4 kHz)
6 8
4 IN (8 kHz)
4 IN (8 kHz)
2
0 0
OL CL OL CL

Current [A] DM 45K

50
Imax (4 kHz)
45
40
35
30
Imax (8 kHz)
25
20 IN (4 kHz)
15
10
IN (8 kHz)
5
0
OL CL
Alle Angeben für íamb = 45_C

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 Determining the drive rating 4–17

4.7.2 Technical data of DMA..A,B,D,F

DMA DMW
Module type DMA 4A DMA 8A DMA 15A DMA 30A DMA 45A DMA 85 B
140D 290F**

Band width of maximum max max max max max max max max max max max max max max max max
current values* OL CL OL CL OL CL OL CL OL CL OL CL OL CL OL CL

DC link voltage 670 VDC regulated / 715 VDC non-regulated

fs = 4 kHz
Maximum current [Arms] 5.6 5.6 11 11 18 14 35 28 51 39 86 64 141 106 292 212
Rated current [Arms] 2.7 5.6 2.7 5.7 6.1 13 8.9 18 10 23 22 47 42 87 148 212
Derating 45...55_C [A/K] 0.15 0.15 0.35 0.46 0.65 1.25 2.25 4.3

fs = 8 kHz (ex works)

Maximum current [Arms] 5.6 5.6 11 9.6 14 9.6 32 23 44 31 63 44 117 84 207 136
Rated current [Arms] 1.7 3.3 1.7 3.3 3.7 8.5 5.1 12 6.1 15 12 31 25 60 106 136
Derating 45...55_C [A/K] 0.08 0.08 0.24 0.35 0.45 0.95 1.75 3.3

Resolution of actual posi-

tion value:
20 bits
Single-turn encoder (STG)
32 bits, 4096 revolutions, absolute
Multi-turn encoder (MTG)
12 bits
Resolver

Possible connections di-

Incremental encoder with factor 4, flimit = 1 MHz
rect position measuring
Sine encoder with EXE and factor 20, flimit = 50 kHz
system with SERCOS in-
Sine/cosine encoder with interpolation factor 4096, flimit = 800 kHz
terface
Power demand from 24 V
1.0 1.14 1.14 1.23 1.32 1.35 1.58 2.5
power supply module [A]

Max. power loss

94.3 97.7 185 180 220 380 700 380
in switch cabinet [W]

Mass [kg] 7.3 11.5 19.3 40

Module width [mm] 50 100 200 300

Backplane modules

Type RMA/
RMA/DM 8 RMA/DM 30 RMB/DM RMD/DM
DM 45 not ne-
cessary
Number of fans – 1 2 2 2

* for a description, refer to page 4–18

** Power data for water inlet temperature = 40_C;
temperature increase of cooling water: fs = 8 kHz 6 K/100 A
fs = 4 kHz 4 K/100 A
fs = switching frequency
íamb = ambient temperature
íK = heat sink temperature

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4–18 Determining the drive rating

Band width of current values

Maximum overload (OL):
Depending on the heat sink and ambient temperature, the module automati-
cally limits the maximum current depending on the thermal limit of the
power semiconductor.

Maximum continuous load (CL):

The maximum permissible rated current is available at the thermal limit of
the heat sink. In order to protect the power semiconductor, the maximum cur-
rent is reduced.
There is always a floating transition between the two load conditions.

Current [A] DM 4A Current [A] DM 8A

10 12 Imax (4 kHz)
9 11
8 10 Imax (8 kHz)
9
7
8
6 Imax (4 u. 8 kHz)
7
5 IN (4 kHz)
6
4 5 IN (4 kHz)
4
3
3
2 IN (8 kHz) 2 IN (8 kHz)
1 1
0 0
OL CL OL CL

Current [A] DM 15A Current [A] DM 30A

20
48
18 Imax (4 kHz) 44
16 40
14 36 Imax (4 kHz)
Imax (8 kHz)
32
12
28
10 24 Imax (8 kHz)
8 20
IN (4 kHz)
16 IN (4 kHz)
6
IN (8 kHz) 12
4
8
2 4 IN (8 kHz)
0 0
OL CL OL CL

Current [A] DM 45A Current [A] DM 85B

Imax (4 kHz)
48 96
42 84 Imax (4 kHz)

36 72
Imax (8 kHz)
Imax (8 kHz)
30 60
24 48
IN (4 kHz) IN (4 kHz)
18 36
12 24
6 IN (8 kHz) 12 IN (8 kHz)

0 0
OL CL OL CL

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 Determining the drive rating 4–19

Current [A] DM 140D Current [A] DM W290F

150 300
Imax (4 kHz) Imax (4 kHz)
135 270
120 240
105 210 Imax (8 kHz)
90 Imax (8 kHz) 180
75 IN (4 kHz) 150 IN (4 kHz)
60 120
IN (8 kHz)
45 90
30 IN (8 kHz) 60
15 30
0 0
OL CL OL CL

Water cooling
Operating conditions:
D Water inlet temperature: 10...40_C
D Required water quantity: min. 5 l/min
D Water pressure: max. 5 bar
D Pressure loss per inverter: max. 0.6 bar
D Temperature rise:
D DM W290F: fs = 8 kHz 6 K/100 A
fs = 4 kHz 4 K/100 A
D VM W180F: 4.5 K/100 A

In order to guarantee continuous operation, the cooling water must satisfy

the following conditions:
D pH: 7...8.5
D Degree of hardness Dmax: 5.6_ (German)
(1_ German = 1.25 UK deg. = 1.05 US deg. = 1.8 French deg.)
D Chlorides: max. 20 mg/l
D Nitrates: max. 10 mg/l
D Sulfates: max.100 mg/l
D Insoluble components: max. 250 mg/l

Tap water usually meets these conditions.

. In closed cooling water circuits, an algaecide must furthermore be

added to the water. Check the cooling water regularly. Condensation
on the water-conducting components should be avoided.

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4–20 Determining the drive rating

4.8 Plug braking

Synchronous motors type SF, SR can be braked immediately using the plug
braking option if the motors cannot be actively braked due to an operating
voltage or control failure.
For each motor, one plug braking module is used.

Motor type Resistance Maximum energy in Part no.

Rx [Ohm] short-time operation
[Ws]

SR–L0 Direct short-circuit without resistor

SF(R)–L1 Direct short-circuit without resistor
SF(R)–A2 1,0 785 1070 914 767
SF(R)–A3. ... .030 5,6 261 1070 913 546
SF(R)–A3.0042.060
SF(R)–A3.0068.060 3,3 293 1070 913 545
SF(R)–A3.0093.060
SF(R)–A4.125.015 1,0 785 1070 914 767
SF(R)–A(B)4. ... .030
SF(R)–A4.0091.060 3,3 785 1070 913 547
SF(R)–A4.0125.060
SF(R)–A(B)4.0172.060 1,0 4085 1070 913 862
SF(R)–A(B)4.0230.060
SF(R)–A(B)5. ... .020
SF(R)–A(B)5. ... .030

Rx (+10%) Each module has 3 resistors.

For individual resistors, refer to table above.
Conductor cross-sec- max. 4 mm2
tion
Test voltage 2500 V AC
Ambient temperature max. 55_C
Mounting on 35 mm top hat rail to DIN
Degree of protection IP 20

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 Determining the drive rating 4–21

4.9 Cables
4.9.1 Motoranschlussleitungen
We recommend using prefabricated power and encoder cables made by
Bosch for all motors.

CAUTION
Cable damages through inadmissible movement.
Please note the following technical data. Different installation meth-
ods are subject to consultation with Bosch.

The technical data are for engineering reference only. The suitability for the
intended application shall be verified by the user.

Encoder cables, Standard

D Operating temperature:
fixed installation: –50_C to +80_C
flexible installation: –20_C to +70_C
The cable must not touch the motor surface.

D Tensile strength:
fixed installation: max. 50 N/mm2 conductor area
flexible horizontal installation: max. 20 N/mm2 conductor area

D Suitable for drag chains if horizontal energy drag chains are used
D Acceleration: max. 12 m/sec2
D Speed: max. 100 m/min
D Horizontal traversing path: max. 5 m at 5 m/sec2
max. 2.5 m at 12 m/sec2
D Bending radius: max. 12 x external diameter
(10 million bending operations
guaranteed)
D Torsion: max. $30_/m

D External sheath: TPU

D Resistance to oil:
after ageing 7 days/90_ and 70_ (diesel, biodiesel)
Change in tensile strength $ 40 %
Change in elongation at tear $ 30 %

D Halogen-free iaw DIN VDE 0472 part 815

D Color green similar to RAL 6018,

in accordance with DESINA, with Bosch part number printed on.

1070 066 029-105 (04.11) GB

 4–22 Determining the drive rating

Prefabricated encoder cables, shielded

No of Mass Outer For mo- Encoder system Part no. Part no.
cores [kg/m] diameter tor type (5 m long)* yard ware
[mm]

Cable 17 cores 0.14 10,0 SF, DU ECN (Single-turn)

1070 919 827
$0,3 EQN (Multi-turn)
SR, Resolver,
1070 917 094 1070919255
other Gear encoder
Extension with 17 cores 0.14 10,0 SF, DU ECN (Single-turn)
1070 920 506
coupling $0,3 EQN (Multi-turn)
UL cable 17 cores 0.16 10,0 SF, DU ECN (Single-turn),
1070 921 697
$0,3 EQN (Multi-turn)
1070921634
SR, Resolver,
on request
other Gear encoder
* Part nos. of cable lengths 7, 10, 12, 15, 20, 25, 35, 50, 100 m on request.

. UL encoder cables have to be used for UL/CSA-certified drive inverters

in order to ensure that the entire system meets the UL/CSA require-
ments.

1070 066 029-105 (04.11) GB

 Determining the drive rating 4–23

Encoder cables, high performance

D Operating temperature:
fixed installation: –50_C to +80_C
flexible installation: –20_C to +70_C
The cable must not touch the motor surface.

D Tensile strength:
fixed installation: max. 50 N/mm2 conductor area
flexible horizontal installation: max. 20 N/mm2 conductor area

D Suitable for drag chains if horizontal or vertical energy drag chains are
used
D Acceleration: max. 20 m/sec2
D Speed: max. 100 m/min
D Horizontal traversing path: max. 25 m at 5 m/sec2
max. 10 m at 12 m/sec2
max. 6 m at 25 m/sec2
D Vertical traversing path: max. 5 m
D Bending radius: min. 10 x external diameter
(10 million bending operations
guaranteed)
D Torsion: max. $180_/30 cm
(combined permanent bending and torsional strain,
1 million cycles guaranteed)

D External sheath: TPU

D Resistance to oil:
after ageing 7 days/90_ and 70_ (diesel, biodiesel)
Change in tensile strength $ 40 %
Change in elongation at tear $ 30 %

D Halogen-free iaw DIN VDE 0472 part 815

D Color green similar to RAL 6018,

in accordance with DESINA, with Bosch part number printed on.

Prefabricated encoder cables, shielded (high performance)

No of Mass Outer For mo- Encoder system Part no. Part no.
cores [kg/m] diameter tor type (5 m long)* yard ware
[mm]
Cable 17 cores 0.14 SF, DU ECN (Single-turn),
1070 920 850
EQN (Multi-turn)
SR, Resolver,
1070 920 989 1070920561
other Gear encoder
Extension with 17 cores 0.14 SF, DU ECN (Single-turn),
1070 921 262
coupling EQN (Multi-turn)
UL cable 17 cores 0.16 10,0 SF, DU ECN (Single-turn),
1070 921 701
$0,3 EQN (Multi-turn)
1070921635
SR, Resolver,
on request
other Gear encoder
* Part nos. of cable lengths 7, 10, 12, 15, 20, 25, 35, 50, 100 m on request.

1070 066 029-105 (04.11) GB

4–24 Determining the drive rating

. UL encoder cables have to be used for UL/CSA-certified drive inverters

in order to ensure that the entire system meets the UL/CSA require-
ments.

Power cables, shielded

D Operating temperature:
fixed installation: –50_C to +80_C
flexible installation: –20_C to +60_C
The cable must not touch the motor surface.

D Tensile strength:
fixed installation: max. 50 N/mm2 conductor area
flexible horizontal installation: max. 30 N/mm2 conductor area
(max. 20 N/mm2 with UL listed
cables)

D Suitable for drag chains if horizontal energy drag chains are used
D Acceleration: max. 20 m/sec2
D Speed: max. 100 m/min
D Horizontal traversing path: max. 5 m at 5 m/sec2
max. 2.5 m at 12 m/sec2
max. 1.5 m at 20 m/sec2
D Bending radius: min. 10 x external diameter
(cables up to 4 mm2)
max. 12 x external diameter
(cables with 6 or 10 mm2)
(10 million bending operations
guaranteed with 12 x external
diameter)
D Torsion: max. $30_/m

D External sheath: TPU

D Resistance to oil:
after ageing 7 days/90_ and 70_ (diesel, biodiesel)
Change in tensile strength $ 40 %
Change in elongation at tear $ 30 %

D Halogen-free iaw DIN VDE 0472 part 815

D Color orange similar to RAL 2003,

in accordance with DESINA, with Bosch part number printed on.

. UL class 1 power cables (e.g. UL Style 1015, cf. table) have to be used
for UL/CSA-certified drive inverters.
This is to ensure that the entire system meets the UL/CSA require-
ments.

1070 066 029-105 (04.11) GB

 Determining the drive rating 4–25

Conductor cross-sections iaw EN 60 204 Part 1/1993, Table 5, for installa-

tion in a cable duct at an ambient temperature of 40 _C)
Prefabricated power cables with connectors, total shield and brake control shielded separately
Connec- Motor type Cable Mass Inverter Part no.
tor size cross (cf. page (5 m long)*
section 4–8))
[mm2] [kg/m] Standard cable, UL cable,
shielded shielded
1 SR–L0...
SF(R)–L1... 1070 920 513
SF(R)–A2... DM..K
on request
SF(R)–A3...030 DS..K Extension with coupling:
SF(R)–A3.0042.060 1070 920 898
SF(R)–A3 0068 060
SF(R)–A3.0068.060 0.2
15
4 x 1.5
SF(R)–A4.0125.015 (0.25UL)
SF(R)–A4.0091.030 1070 920 866
SF(R)–A4.0125.030 DM..A,B,D on request
SF(R)–A4.0172.030 Extension with coupling:
1070 920 898
SF(R)–B5.0250.020
SF(R)–A3.0093.060 DM..K
SF(R)–A4.0230.030 1070 920 870 on request
0.27 DS..K
4 x 2.5
SF(R)–B4.0091.060
SF(R) B4 0091 060 (0 32UL)
(0.32
SF(R)–B4.0125.060 DM..A,B,D 1070 920 867 on request

SF(R)–B5.0250.030 DM..K
1070 920 871 on request
4 x 4.0 0.29 DS..K
DM..A,B,D 1070 920 868 on request
1.25 SF(R)–A5.0250.020 DM..K
1070 920 972 –
4 x 1.5 0.2 DS..K
DM..A,B,D 1070 920 967 –
SF(R)–A4.0091.060 DM..K
on request –
SF(R)–A4.0125.060
( ) 4 x 2.5 0.27 DS..K
DM..A,B,D 1070 920 968 –
SF(R)–A5.0460.020 DM..K
1070 920 973 –
SF(R)–A5.0250.030
( ) 4 x 4.0 0.29 DS..K
DM..A,B,D 1070 920 969 –
SF(R)–A4.0172.060
4 x 6.0 0.49 DM..A,B,D 1070 920 970 –
SF(R)–A4.0230.060
1,5 SF(R)–B4.0230.030 DM..K
on request on request
4 x 4,0 0,29 DS..K
DM..A,B,D on request on request
SF(R)–B4.0172.060
SF(R)–B4.0230.060 4 x 6.0 0.49 1070 920 872 on request
SF(R)–B5.0460.020
DM..A,B,D
SF(R)–A5.0460.030
4 x 10 0.67 1070 920 873 on request
SF(R)–A5.0700.020
SF(R)–A5.0700.030 4 x 16 0.94 1070 920 874 on request
Conductor cross-section for brake: 2 x 1,5 mm2 for all cables
UL Data for UL cables
* Part nos. of cable lengths 7, 10, 12, 15, 20, 25, 35, 50, 100 m on request
For admissible cable lengths, please refer to page 4–28.

1070 066 029-105 (04.11) GB

4–26 Determining the drive rating

Power cables, unshielded

D Operating temperature:
fixed installation: –50_C to +80_C
flexible installation: –20_C to +70_C
The cable must not touch the motor surface.

D Tensile strength:
fixed installation: max. 50 N/mm2 conductor area
flexible horizontal installation: max. 20 N/mm2 conductor area

D Suitable for drag chains if horizontal or vertical energy drag chains are
used
D Acceleration: max. 20 m/sec2
D Speed: max. 100 m/min
D Horizontal traversing path: max. 25 m at 5 m/sec2
max. 10 m at 12 m/sec2
max. 6 m at 25 m/sec2
D Vertical traversing path: max. 5 m
D Bending radius: min. 10 x external diameter
(10 million bending operations
guaranteed)
D Torsion: max. $30_/m

D External sheath: TPU

D Resistance to oil:
after ageing 7 days/90_ and 70_ (diesel, biodiesel)
Change in tensile strength $ 40 %
Change in elongation at tear $ 30 %

D Halogen-free iaw DIN VDE 0472 part 815

D Color orange similar to RAL 2003,

in accordance with DESINA, with Bosch part number printed on.

1070 066 029-105 (04.11) GB

 Determining the drive rating 4–27

Conductor cross-sections iaw EN 60 204 Part 1/1993, Table 5, for installa-

tion in a cable duct at an ambient temperature of 40_C)
Prefabricated power cables with connectors, unshielded
Connec- Motor type Cable Mass Inverter Part no.
tor size cross (cf. page (5 m long)*
section 4–8))
[mm2] [kg/m] Standard cable,
unshielded
1 SR–L0...
SF(R)–L1... 1070 920 154
SF(R)–A2... DM..K
SF(R)–A3...030 DS..K Extension with coupling:
SF(R)–A3.0042.060 1070 920 507
SF(R)–A3 0068 060
SF(R)–A3.0068.060 15
4 x 1.5 02
0.2
SF(R)–A4.0125.015
SF(R)–A4.0091.030 1070 920 074
SF(R)–A4.0125.030 DM..A,B,D
SF(R)–A4.0172.030 Extension with coupling:
1070 920 507
SF(R)–B5.0250.020
SF(R)–A3.0093.060 DM..K
SF(R)–A4.0230.030 1070 920 875
DS..K
4 x 2.5 0.27
SF(R)–B4.0091.060
SF(R) B4 0091 060
SF(R)–B4.0125.060 DM..A,B,D 1070 920 084

SF(R)–B5.0250.030 DM..K
1070 920 876
4 x 4.0 0.29 DS..K
DM..A,B,D 1070 920 483
1.25 SF(R)–A5.0250.020 DM..K
1070 920 164
4 x 1.5 0.2 DS..K
DM..A,B,D 1070 920 094
SF(R)–A4.0091.060 DM..K
on request
SF(R)–A4.0125.060
( ) 4 x 2.5 0.27 DS..K
DM..A,B,D 1070 920 104
SF(R)–A5.0460.020 DM..K
1070 920 971
SF(R)–A5.0250.030
( ) 4 x 4.0 0.29 DS..K
DM..A,B,D 1070 920 114
SF(R)–A4.0172.060
4 x 6.0 0.49 DM..A,B,D 1070 920 124
SF(R)–A4.0230.060
1,5 SF(R)–B4.0230.030 DM..K
on request
4 x 4,0 0,29 DS..K
DM..A,B,D on request
SF(R)–B4.0172.060
SF(R)–B4.0230.060 4 x 6.0 0.49 1070 920 473
SF(R)–B5.0460.020
DM..A,B,D
SF(R)–A5.0460.030
4 x 10 0.67 1070 920 134
SF(R)–A5.0700.020
SF(R)–A5.0700.030 4 x 16 0.94 1070 920 144
Conductor cross-section for brake: 2 x 1,5 mm2 for all cables
* Part nos. of cable lengths 7, 10, 12, 15, 20, 25, 35, 50, 100 m on request
For admissible cable lengths, please refer to page 4–28.

1070 066 029-105 (04.11) GB

 4–28 Determining the drive rating

Maximum length of power cable

Unshielded cable Shielded cable

Inverter without with brake without with brake control

type brake con- control brake con- without with sepa-
trol trol separate rate shield
shield
DM..4A,
25 m
DM..8A
DM..15A,
100 m 25 m 50 m 25 m 50 m
DM..15K
DM..30A
100 m 25 m 100 m
and above

This table is based on the following values for the service capacitance of cables with
an area of 1.5 mm2 and 2.5 mm2:
D unshielded cable: core/core [ 100 pF/m
D shielded cable: core/core [ 200 pF/m
core/shield [ 300 pF/m

Point of separation of motor cables

The following components are available for separating encoder cables and
power cables at a switch cabinet bushing:
D Standard cable for installation in the switch cabinet leading from the in-
verter to the point of separation
D Extension cable for installation between the point of separation and the
motor
D Metal flanges for the encoder cable and the power cable for sealing the
switch cabinet bushing to achieve IP67.

4.9.2 Control of holding brake

Capacitive influences on the 24 V cable for the holding brake may cause a
delay in the brake disengagement.
In order to avoid such interferences, please use the protective circuit (RC
element) designed for this purpose:

D Protective circuit for DM..A,B,D Part no.: 1070 917 448

to be installed at the terminal strip

D Protective circuit for DM..K Part no.: 1070 078 595

with additional point-to-point terminal which is to be plugged onto the mo-
dule.

For DM..K, a package solution including the brake relay is furthermore avail-
able which does not require any additional installation.
D Brake connection for DM..K Part no.: 1070 084 352
with protective circuitry and brake relay to be plugged onto the module.

1070 066 029-105 (04.11) GB

 Determining the drive rating 4–29

4.9.3 Fibre optics for SERCOS interface

The fibre optics are used to interconnect all inverter modules with SERCOS
interfaces and to close the circuit with a control or a PC as master.
For each three-phase module, one fibre optic is used for connecting the
module to the left-hand neighboring module. The first DM module of the set
and the last DM module are connected to the master.

VM DM DM DM 85 DM 140

Fibre optic Lengths C Length A Length B

to master

Module width [mm]: 150 50 50 100 150

Ready line, double-ended with connectors:

Lengths Use Part no.:

A 23 cm DM 4A to
DM 85B (without strain-relief 1070 917 886
clamp)

B 33 cm DM 140D (without strain-relief 1070 917 884

clamp)
43 cm on request
DM W290F (without strain-relief
clamp)

C 2m Connection to master 1070 917 885

(without strain-relief clamp)
5m 1070 917 887
10 m 1070 918 956

. For extensions of the module cross-connection X810 (signal lead) and

X820 (24V lead), please refer to part numbers on page 8–4.

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4–30 Determining the drive rating

4.9.4 Cable for CAN bus

We recommend using prefabricated power and encoder cables made by

Bosch for the CAN bus. The permissible cable length between the controller
and the drives depends on the baudrate setting.

Baudrate Total cable length

1000 Kbit/s 25 m
800 Kbit/s 50 m
500 ... 10 kBit/s 100 m

Male Cannon connector T adapter, black, T adapter, green,

transit connector terminating connector

rho3

rho4
or
CANopen
Cable length L, Cable length
depending on 300 mm "5 mm
baudrate!

Prefabricated CAN cables, shielded

Connector system, Number of Part no.

control unit side axes (cable length L = 2.5 m)*
Cannon, 15-pin 2 1070 919 941
( h 3)
(rho3)
3 1070 919 944
4 1070 919 947
5 1070 919 950
6 1070 919 953
Cannon, 9-pin 2 1070 919 956
( h 4 CAN
(rho4, CANopen))
3 1070 919 959
4 1070 919 962
5 1070 919 965
6 1070 919 968
7 1070 919 971
8 1070 919 974
* Part numbers of cable lengths L = 3.5 and 5 m on request

1070 066 029-105 (04.11) GB

 Determining the drive rating 4–31

4.10 Built-in motors with Servodyn-D

Conditions for operating a built-in motor:

D Two NTC resistors, 600 mm long (2 x part no. 1070 076 937) are inte-
grated in the winding overhangs U and V of the stator winding for temper-
ature monitoring.

D One motor encoder specific for the installation facilities:

D Single-turn encoder ROC 413 with electronic rating plate,
Messrs. Heidenhain (refer to section 4.10.1).
Suitable prefabricated cable subassembly including installation box,
angular, part no. 1070 919 781.

D Gear encoder KWG2EP with electronic rating plate,

Messrs. VS-Sensorik (refer to section 4.10.2).
Encoder type Gear type
Module m Number of teeth
KWG2EP-13K 0.3 256
KWG2EP-13G 0.3 512
KWG2EP-15K 0.5 256
KWG2EP-15K 0.5 512
Address: VS Sensorik GmbH,
Max-Planck-Str. 3, D-85716 Unterschleißheim,
Tel: (+49) -89 3 10 50 16, Fax: (+49) -89 3 10 33 83

D Gear encoder MiniCoder GEL 244K without electronic rating plate,

Messrs. Lenord & Bauer (cf. section 4.10.3).
Address: Lenord & Bauer
Dohlenstr. 32, D-46145 Oberhausen
Tel: (+49) -208 99 63-0, Fax: (+49) -208 67 62 92

D Installation box of plug-in encoder system for gear encoder

D Fa. Interconnectron, Deggendorf, Type:
– SEA B 17A MR EN 000 02 (90_ angular), or
– SEF A 17A MR EN 000 03 (straight)

D Fa. Intercontec Pfeiffer GmbH, Type:

– A EW C 086 NN 00 00 0007 000 (90_ angular), or
– A EG A 086 MR 04 00 0005 000 (straight)

1070 066 029-105 (04.11) GB

4–32 Determining the drive rating

4.10.1 Built-in motor with single-turn encoder type ROC 413

Stator winding Cable assembly

(part no. 1070 917 206) DM/DS..x1xx
Rotor winding
Installation box
ROC 413 (for type, refer to previous page)

Cable with integrated connectors

NTC resistors Part no. 1070 919 827 (5 m)

2 x 1070 076 937
Built-in motor

4.10.2 Built-in motor with gear encoder type KWG2EP

SERCOS interface: DM/DS..x1xx

Stator winding
Analog interface: DM/DS..x2xx
Rotor winding
Installation box
KWG2EP (for type, refer to previous page)

Cable with integrated connectors

NTC resistors Part no. 1070 917 094 (5 m)

2 x 1070 076 937
Built-in motor

4.10.3 Built-in motor with gear encoder type MiniCoder GEL 244K
Installation box
SERCOS interface: DM/DS..x1xx
Stator winding (for type, refer to
Analog interface: DM/DS..x2xx
previous page)
Rotor winding
Cables with integrated connectors
Gear en-
2 x part no. 1070 917 094 (5 m)
coder
Electronic
rating plate
NTC resistors adaptor*
2 x 1070 076 937 Length
max. 10 m Approx. size 10 x 15 cm,
Built-in motor Part no. on request

* Electronic rating plate adaptor only with analog interface;

with other interfaces, data storage in the inverter,
For connection, refer to section 4.10.2.

1070 066 029-105 (04.11) GB

 Determining the drive rating 4–33

4.11 Linear motors with Servodyn-D

D Servodyn-D may be used to operate synchronous linear motors of differ-

ent manufacturers.

D Standard inverters with SERCOS interface for linear motors up to a nomi-

nal force of 6600 N.

D Their use is subject to an absolute length measuring system with EnDat

interface, e.g. type LC 181.

Motor/module combinations:

Linear motors Design (S1, clock frequency 8 kHz)

Machining force Rated current, Motor/module combination

typically

FN [N] Fmax [N] IN [A] Imax [A] DM.. DM.. DM.. DM.. DM.. DM..
15K 30K 30A 45A 85B 140D

790 1720 5.6 14

1580 3450 11 28

1475 3250 11 28
2200 4850 15 37
2950 6500 22 56

2400 5300 16 40
3600 7920 21 54
4800 10600 32 80

3300 7300 22 56
4950 10900 34 85
6600 14500 45 112

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 4–34 Determining the drive rating

Notes:

1070 066 029-105 (04.11) GB

 Voltage supply 5–1

5 Voltage supply

5.1 Supply module

5.1.1 Determining the VM rating

Supply modules are configured for the required rated power. A correspond-
ing reserve should be provided for process-related, short-time overloads.

Calculating the rated power

The rated power is determined by the rms rated current of the module and
the rated voltage at the installation site (see Technical Data in section 5.1.2).

. For supply voltages which deviate from 400 V AC, observe the variant
values for the rated power!

1. Calculate the required rated power per axis:

Asynchronous motors with spindle characteristic curve
(load at high speed):

PW PN = Rated power
PN =
0.8 PW = Shaft output according to
motor characteristic curve
0.8 = Total efficiency

Servo motors type SF, SR with spindle characteristic curve

(load at rated speed):

MN [Nm]  2p  nN [min–1]
PW = [W]
60

PW MN = Torque at nN according to
PN = motor characteristic curve
0.8
nN = Rated speed according to
motor data

Servo motors type SF, SR with servo characteristic curve

M [Nm]  2p  n [min–1]
PW = [W]
60

PW M= Torque at n according to
PN = motor characteristic curve
0.8
n= Operating speed of application

1070 066 029-105 (04.11) GB

 5–2 Voltage supply

2. Establish rated power of supply module:

Take into account simultaneity factor K1...K9 per axis. A factor of approxi-
mately 0.8 per axis can be assumed.

PNVM = K1  PNaxis1 + K2  PNaxis2 +...+ K9  PNaxis9

. A maximum of 9 axes may be connected to one VM, refer to sec-

tion 5.2.

3. Select supply module:

The supply module must reach the calculated rated power PNVM. Select
the suitable supply module from the data table on page 5–6, taking into
consideration the ambient temperature and the installation altitude.
In cases of heavy load it should also be checked whether the peak output
made available by the supply module is sufficient.

Calculating the peak output

The peak output for process-related, short-time overloads is limited by pre-
loading of the power section: if, for example, the power unit was preloaded
with the rated rms power, no further overload is possible (peak output = rated
power).

. For supply voltages which deviate from 400 V AC, observe the variant
values for the peak output!

1. Calculate the required peak output per axis:

Asynchronous motors:

Pmax = 3  Imax  UN  0.9

Pmax = Peak output

Imax = Maximum current of module ac-
cording to section 4.7.1 and 4.7.2
UN = Motor voltage
(DU motors: UN = 415 V)
0.9 = cos f

Servo motors:

Mmax [Nm]  2p  n [min–1]

Pmax = [W]
60  0.8

Mmax = Max. torque with n0 according to

motor characteristic curve
n = Operating speed of application
0.8 = Total efficiency

1070 066 029-105 (04.11) GB

 Voltage supply 5–3

2. Establish peak output of supply module:

When specifying the required peak output of the supply module, it is vital
that the actual simultaneity factor is K1...K9 is taken into account. This is
because a simultaneous occurrence of the peak outputs of all axes can
generally be avoided through appropriate programming of the movement
sequence.
However, if the supply module should reach its peak output, an overload
can be avoided through a programmable reduction of the current limit in
the axes.

PmaxVM = K1  Pmaxaxis1 + K2  Pmaxaxis2 +...+ K9  Pmaxaxis9

. The simultaneity factors must be known before the peak output can
be calculated.

Calculating the brake rating

Supply modules with energy recovery (VM..B,C,D,F) feed back the braking
energy to the supply network, therefore, their braking power need not be
considered.
Only for supply modules with an integrated ballast switch (VM..K), overloads
in the braking power are not permissible.

The braking energy depends:

D on the mechanical energy of rotation of all axes
D on the number of braking processes per time unit.

In any case, the limit value of the supply module must not be exceeded.

L Add up the energy of rotation of all axes by the following formula.

ǒ Ǔ [Ws ]
2
{2 p n}
Wrot + ½
J
60
Wrot = energy of rotation of all axes
J = total moment of inertia in kgm2
n = motor speed in min–1

L Calculate the required repetition time on the basis of the operating cycle.

L Use the following characteristics to make sure that the intersection between
the total energy of rotation and the required repetition time is below the
curve.
If the intersection is above this curve, a VM with energy recovery has to be
used.

1070 066 029-105 (04.11) GB

 5–4 Voltage supply

VMA 21 KB with internal ballast switch P = 400 W

Energy of rotation [kWs]

7

0
0 2 4 6 8 10 12 14 16 18 20 22
Repetition time [s]

VMA 21KE with external ballast switch P = 1000 W

Energy of rotation [kWs]

60
55

50 58

40

30

20

10

0
0 5 10 15 20 25 30 35 40 45 50 55 60
Repetition time [s]

1070 066 029-105 (04.11) GB

 Voltage supply 5–5

5.1.2 Technical data: supply module VM

VM W 70 C R 101 - D

VM = Supply module

A = Air cooling
g (standard)
( )
W = Water cooling, integrated

VMA..20 = Supply voltage 380...415 VAC

VMA..21 = Supply voltage 400...460 VAC
General:
Rated current IN with íamb = 45_C
(for exact value, refer to technical data)

Module B = 100 mm
width: C = 150 mm
D = 200 mm
F = 300 mm
K = compact mechanics

R = sinusoidal recovery
B = internal ballast switch
E = external ballast switch

1st digit: Interfaces 0 = without digital interface

2nd digit: Additional func- 0 = none
tions
3rd digit: Variants 1 = standard

Servodyn-D series

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5–6 Voltage supply

VMA..B,C,D,F
VMA..K
with mains-friendly energy recovery

VMA VMW
Module type Unit VMA 21KB1) VMA 21KR VMA 35B VMA 70C VMA 90D
21KE1) 180F2)

Rating plate data UL variety:

Input 3ph,
50/60 Hz – – – – – –
460 V, 20 A
Output 670 V, 24 A

Supply voltage VAC 3 x 400...460 ± 10%, 48...62 Hz

Rated voltage VAC 400, 50 Hz

DC link voltage VDC 670, regulated

Rated current IN
A 23 23 35 68 83 180
(mains) with ϑamb = 45°C
Rated power PN
kVA 16 16 24 47 57 124
with ϑamb = 45°C
Derating 45...55°C W/K 0,62 0,60 0,95 1,30 1,75 3,30

Peak output kVA 20 20 34.6 70 97 146

Ballast switch internal external – - - - -

Max. one-time braking

Ws 6500 58000 – - - - -
energy

Max. continuous braking

W 400 1000 – - - - -
power

Power demand from 24 V 24 VDC according to EN 61 131

A
power supply 1.0 2.1 2.3 2.7 3.1 2.5

Max. power loss in switch

W 220 200 460 800 970 3803)
cabinet

Mass kg 15.0 8.0 11.1 14.3 18 40

Module width mm 100 150 200 300

not neces-
Backplane modules Type not necessary RMB/VM RMC/VM RMD/VM
sary

PM personality module – PM VM PM VM

Mains connection module/

NV20 or NV21 NAA 21 NAA 35 NAA 70 NAA 90 NAA 180
Line wiring module

Rated power
kVA 24 16 24 47 62 124
at ϑamb = 45°C

Line reactor NE not necessary NE 21 NE 35 NE70 NE70/1 2 x NE 70 NE 180

Rated power 57
kVA - 16 24 41.7 47 125
at ϑamb = 45°C (2 x 41.7)

Max. power loss W - 120 250 380 400 500 240

íamb = ambient temperature

1) VM 20K with identical performance data for a supply voltage of 380...415 VAC (without UL)
2) Performance data for water inlet temperature = 40 _C, for water cooling prerequisites,
refer to page 4–19.
3) Temperature rise of the cooling water: 4.5K/100A

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 Voltage supply 5–7

5.2 24 V power supply

5.3 Determining the power supply rating
The VM supply module and the DS inverter must be supplied by an external
24V DC load power supply module in accordance with EN 61 131 (mean
value 20.4 – 28.8 V).

CAUTION
The 24VDC input voltage must conform to the requirements of ’safety
separation’.
It is particulary important that the requirements of overvoltage cate-
gory III are observed.

In a modular design, the 24 VDC supplied to the unit are transmitted by the
VM:
D via the 24V cross connection X820 to the logic and driver supply of the
inverter modules and the fan supply of the backplane modules
D via the 24V outputs X331/X332 for the supply of all module outputs of the
axis modules.

Due to the cross-connection to the axis modules, the number of inverters

that can be connected is limited:
D maximally 9 axes per VM
D maximally 14 A power input (24 VDC) per VM

Module type Backplane module 24 VDC current input

VMA 21K – 1.0 A

VMA 21KR – 2.1 A
VMA 35B RMB/VM 2.3 A
VMA 70C RMC/VM 2.7 A
VMA 90D RMD/VM 3.1 A
VMA W180F – 2.5 A
DMA 4K – 0.89 A
DMA 8K – 0.89 A
DMA 15K – 0.89 A
DMA 30K – 1.03 A
DMA 45 K – 1.4 A
DMA 4A RMA/DM8 1.0 A
DMA 8A RMA/DM8 1.14 A
DMA 15A RMA/DM30 1.14 A
DMA 30A RMA/DM30 1.23 A
DMA 45A RMA/DM45 1.32 A
DMA 85B RMB/DM 1.35 A
DMA 140D RMD/DM 1.58 A
DMW 290F – 2.5 A
Total of one drive set max. 14 A

. For the 24 VDC power input of the stand-alone inverters, refer to Tech-
nical data, page 4–12.

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5–8 Voltage supply

5.4 Additional requirements for UL/CSA

Additional measures must be taken for the 24V supply in order to guarantee
UL/CSA-compliant operation.

Stand-alone inverter DS
D 24 V/100 VA
D Use class 2 power supply to UL 1310, max. 3 inverters possible

Power supply DS DS DS

3 x 480 V
(Class 2)

D 24 V/20 A
D Use fuse 4,17 A, UL-listed (3 inverters per fuse)
D Fuse cable in UL/CSA-compliant design

Power supply DS DS DS
3 x 480 V

(4,17 A)

UL/CSA DS DS DS
cable

(4,17 A)

Modular inverters DM
D 24 V/20 A
D VM cable in UL/CSA-compliant design

Power supply VM DM DM
3 x 480 V

4A 4A 4A
UL/CSA cable

Fuses (UL-listed)
available internally

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 Voltage supply 5–9

5.5 Line connection

D A VM with energy recovery is connected to the supplying mains via a
mains connection module NA and a line reactor NE.

D A VM with internal/external ballast switch or a stand-alone inverter

is connected to the supplying mains via the line wiring module NV.

5.5.1 Mains connection module NA

The mains connection module is selected depending on the type size of the
supply module with energy recovery.

Mains connection modules with an additional filter (NAA ../2..-D) include

an additional filter with symmetrical effect for the interference suppression of
the switching rate-dependent content in the mains current. They shall be
preferably used when connecting the system to a public network.
NAA 70 / 1 F - D

NAA = Mains connection

module
For supply module with the same type size

1= Standard
2= with additional filter
3= Standard with Gould fuse
F = integrated mains filter
VF = with reinforced mains filter
Servodyn D series
Servodyn-D

Module type Unit NAA 21 NAA 35 NAA 70 NAA 90 NAA 180

for supply modules VMA 21KR VMA 35B VMA 70C VMA 90D VMW 180F
Supply voltage VAC 3 x 400...460 $ 10%
Rated voltage VAC 400
System frequency Hz 48...62
Rated power
kVA 16 24 47 62 124
with íamb = 45_C
Fuse Type FERRAZ cap- Jean Müller M00üf1, high-speed Jean Müller
sule-type fuse, M1üf1, high-
extra fast speed
50 A/690 V 63 A/660 V 100 A/660 V 125 A/660 V 250 A/660 V
Part 3x 3x 3x 3x 3x
number 1070 921 621 1070 917 648 1070 917 649 1070 918 481 1070 919 804
Power contactor integrated
Charging connection integrated
Electronic functioning Transforming of synchronisation voltage, coding
Mains filter Integrated, depending on design, cf. page 5–12
Cooling Natural convection
Mass kg 8.5 8.4 8.4 8.4 13
íamb = ambient temperature

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5–10 Voltage supply

5.5.2 Line wiring module NV

The NV is selected with an internal/external ballast switch depending on the

type size of the supply module.

NV 21 / 1 F - D

NV = Line wiring module

For supply module with the same type size

1 = for 1 VM
3 = special designs
F = with mains filter
VF = with reinforced mains filter
Servodyn-D series

Module type Unit NV 20.. NV 21/1F NV 21/3F

for inverter VMA 21K or DS..K

Rating plate data UL variety:

Input 3ph 50/60 Hz, 3ph 50/60 Hz,
460 V, 25 A 460 V, 32 A

Output 3ph 50/60 Hz, Output1:

–
460 V, 25 A 3ph 50/60 Hz,
460 V, 16 A
Output2:
3ph 50/60 Hz,
460 V, 16 A

Supply voltage VAC 3 x 400...460 $ 10%

Rated voltage VAC 400

System frequency Hz 48...62

Rated power
kVA 24
with íamb = 45_C

Fuse LTL00 Type Jean Müller M00üf2, high-speed

35 A/500 V

Part
3 x 1070 918 727
number

Power contactor integrated

Mains filter integrated, cf. page 5–12

Cooling Natural convection

Mass kg 10.6 10.6

íamb = ambient temperature

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 Voltage supply 5–11

5.5.3 Line reactor NE

The line reactor type NE is installed between the mains connection module
NAA and the supply module with energy recovery. It decouples the DC link
from the mains power supply.

NE 70 / A1 - D

NE = Line reactor

For supply module with the same type size

(for higher power, refer to table)

Design:
1st digit: A = standing, without cover
B = modular design in housing
2nd digit: 1 = reinforced design

Servodyn-D series

Type Unit NE 21/B NE 35/A NE 70/A NE 70/A1 2x NE 180/A

NE 70/A

for supply modules VMA 21KR VMA 35B VMA 70C VMA 90D* VMW 180F

Supply voltage VAC 3 x 400...460 $ 10%

Rated voltage VAC 400

System frequency Hz 48...62

Rated power kVA 16 24 41.7 47 57 125

with íamb = 45_C (2 x 41.7)

Inductance mH 1.8 1.0 0.7 0.7 2 x 0.7 0.4

Max. power loss W 120 250 380 400 500 3 x 240

Connection m Terminals Cables, length 1 m each Cables,

length 2 m
each

Mass kg 11 15 23 25 2 x 23 39

íamb = ambient temperature

* For one VM, two NEs shall be connected as shown in the circuit diagram on
page 4–6.

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5–12 Voltage supply

5.5.4 External mains filter

An external mains filter is to be provided in the supply cable in order to en-

sure compliance with the EMC directive (89/336/EEC).
Thus, limit class A (B on request) for radio interference is satisfied in accor-
dance with EN 55 011 (VDE 0875).

The filter size must correspond to the supply module output.

Due to the mains pollution caused by shielded motor cables, the permissible
length of the motor cables is limited depending on the mains filter used.

Class A mains filter Part no. Rated voltage Rated Power loss Mass Max. total length
current of motor power
cable
[VAC] [A] [W] [kg] shielded
Mains filter, 1070 918 475 16 9 2.3
UL/CSA listed 1070 918 476 25 12 3.9
1070 918 477 3 x 480 36 15 4.5 25 m
1070 918 478 50 15 5.0
1070 918 479 80 20 10.3
1070 919 011 120 33 11.7
1070 920 600 3 x 440 150 27 10.0 25 m
1070 920 599 180 39 13.0
1070 920 963 36 15 2.1
3 x 480 150 m
(on request) 80 24 4.5
NV 20/1F 1070 078 431 35 28 25 m
NV 20/1VF 1070 084 594 3 x 480 36 28 150 m
NV 21/1F 1070 084 067 35 28 25 m
NAA 35/1F 1070 080 861 36 41 25 m
NAA 35/1VF 1070 083 958 36 41 150 m
3 x 480
NAA 35/2F 1070 080 402 36 42 25 m
NAA 35/2VF 1070 083 959 36 42 150 m
Special filter 1070 921 416 36 22 25
3 x 440 300 m
1070 921 417 65 32 30

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 Accessories, options 6–1

6 Accessories, options

6.1 Backplane modules RM

Backplane modules are necessary for supply modules type VM...B,C,D and
for three-phase modules type DM...A,B,D.
They are selected according to the DM module used and according to the
module width:

Inverter Backplane modules Design

modules
d l Standard Cold module Number of fans Width
(standard design)
VMA 35B RMB/VM RMB/VMC 1 100 mm
VMA 70C RMC/VM RMC/VMC 2 150 mm
VMA 90D RMD/VM RMD/VMC 2 200 mm
DMA 4A
RMA/DM8 –
DMA 8A
DMA 15A RMA/DMC 50 mm
RMA/DM30 1
DMA 30A
DMA 45A RMA/DM45
DMA 85B RMB/DM RMB/DMC 2 100 mm
DMA 140D RMD/DM RMD/DMC 200 mm

Type designation
RM A / DM 30 - D

RM = backplane module

Module A = 50 mm
width:
d B = 100 mm
C = 150 mm
D = 200 mm

g
Design: VM for supply module
VM=
DM= for three-phase module

= for all modules of the module width (cf. above)

8 = may be used up to DM 8
30 = may be used up to DM 30
45 = may be used up to DM 45
C = cold-module technique
S = special design cold modules

Servodyn-D series

Cold module special design IP20

When the cold module is installed, the heat sinks of the inverters protrude
from the switch cabinet through the mounting plate.
The cold module special design includes an assembly kit IP20 without seal
to the switch cabinet interior space. Therefore, it can only be used if a closed
ventilation duct is used outside the switch cabinet for cooling the modules.

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6–2 Accessories, options

6.2 DC link connection

The DC link connection (DC link) makes available an externally accessible
DC link terminal, via which the DC link can be flexibly extended.

Module combinations
DC link option for combining modules with compact mechanics and mod-
ules with a backplane module.
The DC link connection is available for compact mechanics and for back-
plane modules, for both left-sided and right-sided installation.

DMA..A DM..K VM 21K DM..K

NAA VM 35 DMA..A

right-side DC link,
compact mechan-
ics

left-side DC link,
compact mecha-
nics

right-side DC link left-side DC link

DC link with integrated fuse option for combining water-cooled modules

and other modules.
NAA 180 VMW ..F

leads to any other

DC link connec-
tion (cf. above)

DC link connec-
tion with inte-
grated fuse

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 Accessories, options 6–3

. The fuse of the DC link connection with integrated fuse must match the
service conditions of the module combination. A 100 A fuse is deliv-
ered together with the unit.

Two-row module arrangement

D Using the DC link connection option, DM..A,B,D with backplane module
can be operated in two rows on top of each other at one DC link.
D Using the DC link connection compact mechanics DM..K modules
can be operated in two rows on top of each other at one DC link.

For extending the signal cross-connection X810 and the 24V cross-connec-
tion X820, prefabricated cables are available. For part numbers, refer to
page 8–4.

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6–4 Accessories, options

6.3 Personality module

For the following inverter modules, a separate personality module must be

ordered and plugged into the inverter:

Inverter module Personality module Used for

VMA..B,C,D,F PM VMA..–D " for supply module

VMA..KR

DM..K and PM SMA..–D " for synchronous motor SF, SR

DM A B C F with
DM..A,B,C,
SERCOS interface PM FOA..–D " asynchronous motor DU
or
" synchronous motor SF, SR
without field-weakening range, but
with full spindle functionality

Type designation
PM VM A / 00 0 - D

PM= Personality Module

VM= for supply module

S o sy
SM= for c o o s motors
synchronous oos
FO = for asynchronous motors, regulated
OS = without software

A = Standard
S = with RSU
(redundant safety monitoring)

00 = Standard
02 = absolute endless axis

Customer-specific variants

Servodyn-D series

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 Accessories, options 6–5

6.4 Memory Card

The Memory Card is a firmware data carrier for the following drive inverters:
D VMA 21KR with energy recovery
D VMA..B,C,D,F with energy recovery
D DM..K and DM..A,B,C,F with SERCOS interface

The following Memory Cards are available for firmware updates and for fac-
tory settings of parameters:
D VM for supply modules
D SM with servo functions
D FO with spindle functions
D OS without software

. Each firmware version is stored on a separate Memory Card and can

also be ordered retroactively, if new versions have been introduced.
However, no maintenance will be provided for old firmware versions.

Type designation
MC VM x.xx A 00 - D

MC= Memory Card

VM= for supply module

SM= for
S servo
o se o functionality
c o a y
FO = for spindle functionality
OS = without software

Firmware version

A = Standard

Customer specific variants

Customer-specific

Servodyn-D series

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6–6 Accessories, options

6.5 Commissioning and service system DSS-D

The DSS is a program for commissioning, diagnostics and services of all DM

and DS modules.

The following functions are included in the DSS-S:

D drive parameter setting
D parameter archivation
D software download (not for SERCOS interface)
D display of operating data
D status and diagnostics information display
D setpoint value generator
D oscillograph function

Conditions for using the DSS-D:

D IBM-compatible PC
D operating system Windows 95, 98, NT
D 4 MB RAM
D 15 MB fixed disk memory available
D free COM port

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 Accessories, options 6–7

6.6 Option modules

Option modules are additional modules with different functions. Every axis
module, except DM/DS..8001 (frequency inverter with U/f characteristic),
has a slot for an option module.

The application range of option modules furthermore depends on the set-

point interface selected:

Setpoint interface Input direct mea- Measuring outputs

suring system
(OM 01, 02, 03) (OM 04)
SERCOS interface D D
Analog interface OM 03 D
Motion control – D
CAN bus – D
PROFIBUS-DP – D
Frequency inverter (anlog 10 bit) – –

Type designation
OM 01 - D

OM = Option module

Input direct 01 = sinusoidal current signals,

measuring with 5-times EXE
system 02 = digital input signals
03 = sinusoidal voltage signals

Measuring 04 = high-speed analog outputs,

outputs: programmable

Servodyn-D series

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6–8 Accessories, options

6.6.1 OM 01-D for incremental measuring systems with sinusoidal current signals

Option module with integrated EXE with 5-times interpolation.

Encoders with sinusoidal output signals (Heidenhain quasi-standard
11 mApp) can be connected to the inputs.

Technical Data
D Input for measuring system with +5 V power supply and sinusoidal current
signals 7...16 mApp
D Signal input: Difference amplifier
D Power supply: +5 V +1%/–5%
D max. permissible power input of
the measuring system: v 300 mA
D EXE separation factor: 5-times interpolation
D Pulse multiplication: programmable x1, x2, x4
D max. input frequency: v 50 kHz
D Measuring system monitoring: Response to input signals in channels Ii1
or Ii2v 4.3 mA
D max. cable length: v 20 m or shorter, cf. manufacturer’s
data
D Pin assignment: see manual ”Interface Conditions”

Signal diagram for measuring system with sinusoidal current signals

360°el.

Ii1

90°el.

Ii2

Ii0

Permissible measuring systems

In principle, Heidenhain measuring systems can be connected subject to the
following conditions:
D Measuring system for 5 V power supply from option module
D Sinusoidal current signals 7...16 mApp
D Power input v 300 mA
D Max. output frequency 50 kHz

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 Accessories, options 6–9

Recommended types
Owing to frequent modifications and the increasing range of types, the fol-
lowing list is intended as a guide only.
Other measuring systems are available on request.

D Angular position measuring systems

D RON 255, RON 705, RON 706, ROD 250, ROD 700
D Linear measuring systems
D LS103, LS107, LS405, LS406, LS704

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6–10 Accessories, options

6.6.2 OM 02-D for digital incremental measuring systems

Technical Data
D Input for measuring system with +5 V power supply and square-wave signal
output with line driver to RS422
D Signal input: Difference amplifier, Ri  120 W
D Power supply: +5 V $ 3 %,
regulated via sensor leads
D max. permissible power input of
the measuring system: v 300 mA
D Pulse multiplication: programmable x1, x2, x4
D max. input frequency: v 1 MHz
D min. flank clearance a between
active counting pulses w 150 ns
D min. flank clearance b with
spindle reverse: w 0 ns
D min. safety clearance c for refer-
ence signal: w 100 ns
D Measuring system monitoring: a) for cophasal state of channels
UA1, UA2 or UA0 w 1,2 ms
b) Evaluation of UAS
D max. cable length v 50 m or shorter if required by
manufacturer
D Pin assignment see manual ”Interface Conditions”

Signal diagram for digital measuring system

Measuring direction: positive negative positive

a a a a a b a a b a

A/Ua1

A/Ua1

B/Ua2

B/Ua2

R/Ua0

R/Ua0

c c
Both circuit states are permissible

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 Accessories, options 6–11

Permissible measuring systems

In principle, Heidenhain measuring systems can be connected subject to the
following conditions:
D Measuring system for 5 V power supply from option module
D Square-wave signal output
D Line driver to RS 422
D Power input v 300 mA
D Min. flank clearance between active counting pulses w 150 ns

Permissible pulse shape electronics (EXE)

Heidenhain EXEs can also be connected subject to the following conditions:
D Power supply: 5 V from option module or
230 V AC external
D Square-wave signal output
D Line driver to RS 422
D Max. power input for measuring system and EXE with 5V supply:
v 300 mA
D Min. flank clearance between active counting pulses w 150 ns

Recommended types
Owing to frequent modifications and the increasing range of types, the fol-
lowing list is intended as a guide only.
Other measuring systems are available on request.
D Angular position measuring system
D Angular position measuring systems for direct connection:
RON 275, ROD 271
D Angular position measuring systems via pulse shape electronics
EXE 602E, EXE 604C (+5V):
RON 255, RON 705, RON 706, ROD 250, ROD 700
D Angular position measuring systems via pulse shape electronics
(230 V):
see Heidenhain recommendations

D Linear measuring systems

D Linear measuring systems for direct connection:
LS323, LS623
D Linear measuring systems via pulse shape electronics EXE602E,
EXE604C (+5V):
LS103, LS107, LS405, LS406, LS704,
D Linear measuring systems via pulse shape electronics (230 V):
see Heidenhain recommendations

D Pulse shape electronics (EXE)

D With 5 V supply from option module:
EXE602E, EXE604C
D With external 230 V supply:
EXE702, EXE816

. Measuring systems and EXEs must be combined in accordance with

the manufacturers’ instructions.
Measuring systems and EXEs with internal monitoring are preferred.

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6–12 Accessories, options

6.6.3 OM 03-D for incremental measuring systems with sinusoidal voltage signals
and absolute measuring systems with EnDat interface

The OM 03 option module provides for the connection of the following direct
measuring systems:
D high-resolution rotary encoders
D linear scales
D gear encoders
D absolute measuring systems with an I2C or EnDat interface.

Technical Data
D Interpolation resolution: 12 bits
D Signal input: Difference amplifier, Ri  120 W
D Power supply: +5 V $ 3 %,
regulated via sensor leads
D max. permissible power input
of the measuring system: v 300 mA
D max. input frequency: v 500 kHz, alternatively
v 125 kHz (preferably used, cf. part
no. on page 8–4)
D Measuring system monitoring: UA and UB w 0.2 VPP
D Serial interface: Line driver and receiver according to
RS 422/485
D Transmission rate: EnDat: approx. 500 kBaud
I2C: approx. 80 kBaud
D max. cable length: v 100 m
D Pin assignment see manual ”Interface Conditions”

Permissible measuring systems

All measuring systems must meet the following interface requirements:
D Measuring system for 5 V power supply from option module
D Incremental signals 1 Vpp
D Power input v 300 mA
D Signal frequency v 500 kHz
D Line length v 100 m

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 Dimensioned drawings 7–1

7 Dimensioned drawings

7.1 Backplane modules with mains connection module NAA

R 3.25
R2
10.5

R 7.5 115 B B B B 49 49
50 A A A
Top mounting

48

(max. module height front side 452.5)

430

445
NA RM../VM RM../DM
NAA: 521.5
RM: 522.5

486
7.5

50 A A A
50 50 50 50 50 50

Module Dimensions [mm]

Bottom mounting type A B
RM B/VM 50 100
RM C/VM 100 150
RM D/VM 150 200
6
Earthing brackets to NAA RM A/DM – 50
modules and all RM modules RM B/DM 50 100
RM D/DM 150 200

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7–2 Dimensioned drawings

7.2 Supply modules VMA..B,C,D, three-phase modules DMA..A,B,D

NAA VMA..B,C,D DMA..D DMA..B DMA..A

1 mm when assembled
0.5
115 B 199 99 49

Module Dim. B
type [mm]
VMA 35B 99
VMA 70C 149
521.5

VMA 90D 199

504
100

min. clearance
Pivot
point
min.
63

dismounting height

Installation of
inverter module

100 min.
dismounting depth

288 min. clearance

100

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 7.3
R 3.25
All dimensions in mm:
R2

10.5
Mains connection module Supply module Three-phase module
NAA 180 VMW 180F DMW 290F
R 7.5
287

21.6
250 24.5 150 50 250 50 250

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Modules with water cooling

489

566
550
18.5

87.6
51
7.5
199 299 299
Male thread
Dimensioned drawings

M16 x 1,5
Material: Steel 1.4571
7–3
7–4 Dimensioned drawings

7.4 Compact mechanics

7.4.1 VMA 21KB or VMA 21KE with line wiring module NV

All dimensions in mm: NV VMA..KB(E) 2 x DM..K

115 99 49 49
R 3.25
50 75 50 50 50
R2
25
10.5

R 7.5

(max. module height front side 452.5)

430

445

50 75 50 50 50
Depth approx. 270 mm

. The distance between the line wiring module NV and the supply mod-
ule must be 25 mm when installing the units.
Otherwise, the mains filter in the line wiring module will heat up too
much if the supply module is continuously operated at nominal load,
resulting in reduced performance data.

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 Dimensioned drawings 7–5

7.4.2 VMA 21KR with mains connection modules NAA 21 and NE 21/B

All dimensions in mm: NE 21/B NAA 21 VMA 21KR 2 x DM..K

115 115 99 49 49
R 3.25
50 100 50 50 50 50 50
R2
10.5

25

R 7.5

(max. module height front side 452.5)

430

445
50 100 50 50 50 50 50
Depth approx. 290 mm

. The distance between the line reactor NE 21/B and the mains connec-
tion module NAA must be 25 mm when installing the units.
Otherwise, the mains filter in the mains connection module will heat up
too much if the line reactor is continuously operated at nominal load,
resulting in reduced performance data.

1070 066 029-105 (04.11) GB

7–6 Dimensioned drawings

7.5 Stand-alone inverter with line wiring module NV

All dimensions in mm: NV 2 x DS..K

R3.25 115 49 49

27.5
R2

7.5
50
10.5

R7.5

(max. module height front side 452.5)

430

445
400

Depth: 270 mm

50 50 50

1070 066 029-105 (04.11) GB

 Dimensioned drawings 7–7

7.6 Line reactors NE

7.6.1 NE 21/B

(26.4)
50 34.5

7.5
15

400.9
451.8

445
430

(17.7)
24.5

135

115

1070 066 029-105 (04.11) GB

7–8 Dimensioned drawings

7.6.2 NE 35/A ... NE100/A

n1
n2 b

4 x oblong hole C

Type a b h n2 n1 C Mass
[mm] [mm] [mm] [mm] [mm] [mm] [kg]
NE 35/A 215 115 220 180 80 9 x 11 15
NE 70/A(A1) 242 135 250 190 115 10 x 17 23
NE 100/A 310 165 280 240 134 10 x 18 47

1070 066 029-105 (04.11) GB

 Dimensioned drawings 7–9

7.6.3 NE 180/A

2000$20

U11 U12
(V11) (V12)
(W11) (W12)

280
U21 U22
(V21) (V22)
(W21) (W22) PE connection M12

50
Terminal UK16 with
end supporting plate
47

U3 (V3) (W3)

5
225$0.5
187$0.5

Rating plate
112.5

(SMP/7701.52/SS/JJ
400uH/180A/8KHz/38kg
1070921520)
230$0.5

260$0.5
175
20

15
8
25

20 Weight: approx. 39 kg
40 140

1070 066 029-105 (04.11) GB

7–10 Dimensioned drawings

7.7 Filter capacitor

Torque for connections: 2.5 Nm

250
30.5 60

22

123.3 121

PE connection M6

1070 066 029-105 (04.11) GB

 Dimensioned drawings 7–11

7.8 Mains filter

a h
a1 d

s c1

PE L3 L2 L1

PE L3 L2 L1
Load

c2
b1

n2
Line
b

e2
n n
n1
l e1

Mains filter, UL/CSA listed, limit class A

Rated current [A] 16 25 36 50 80 120 150 180
Part no. 1070 ... 918 475 918 476 918 477 918 478 918 479 919 011 920 600 920 599
Dimensions
a [mm] 163 max. 216 max. 300 max. 348 max. 404 max.
a1 [mm] 141 max. 166 max. 221 max. 261 max. 301 max.
b [mm] 113 max. 156 max. 171 max.
b1 [mm] 86 max. 126 max. 141 max.
h [mm] 81 max. 91 max. 141 max.
n [mm] – – – 82.5 "0.2
n1 [mm] 70 "0.2 80 "0.2 115 "0.2 –
n2 [mm] 100 "0.3 140 "0.3 155 "0.3
s [mm] 5.5 "0.1 6.6 "0.2 6.6 "0.2
c1 [mm] 20.5 "0.5 31 "0.5 48 "0.5 54 "0.5 74 "0.5
c2 [mm] 41 max. – – –
d [mm] 36 "1 46 "1 90 "1 97 "1 105 "1
e1 [mm] 25 "1 30 "1 62 "0.8 65 "0.8 62 "0.8
e2 [mm] 12.5 "1 22.5 "1 18 "0.5 16 "0.5
Terminal connector 4 mm2 10 mm2 25 mm2 50 mm2 95 mm2
l [mm] (ground) 22.5 "1, M6 32 "1, M10

1070 066 029-105 (04.11) GB

 7–12 Dimensioned drawings

Mains filter, reinforced

a h
a1 d
s
s c1

Load

c2
b1

n3
n2

n2
Line
b

e3
n
n1
l e1

Mains filter, reinforced (limit class A)

Rated current [A] 36
Part no. 1070 920 963
Dimensions
a [mm] 215 max.
a1 [mm] 166 max.
b [mm] 115 "1
b1 [mm] 122 max.
h [mm] 86 max.
n [mm] 80 "0.2
n1 [mm] 115 "0.2
n2 [mm] 140 "0.3
n3 [mm] 135 "0.3
s [mm] 6.6 "0.2
c2 [mm] 41 max.
d [mm] 40 "1
e1 [mm] 18 "1
e3 [mm] 39 "0.3
Terminal connector 10 mm2
l [mm] (ground) M6

1070 066 029-105 (04.11) GB

1070 066 029-105 (04.11) GB
Special filter, 36 A and 65 A

LINE

LOAD
Earthing stud M8

Terminal 50 mm2, Terminal 50 mm2,

tightening torque 6...8 Nm tightening torque 6...8 Nm
Dimensioned drawings
7–13
7–14 Dimensioned drawings

7.9 Dimensioned drawing, plug braking modules

Part no. 1070 1070 1070 1070 1070 1070

913 544 913 545 913 546 913 547 914 767 913 862

Rx ("10%) 8R2 3R3 5R6 3R3 1R 1R

57 Ws 293 Ws 261 Ws 785 Ws 785 Ws 4085 Ws
B
Dimension A 95mm 110mm
Dimension B 163mm 126mm

35 mm top hat rail to DIN EN 50022

42 Circuit diagram

35
100

2.5mm
Rx Rx Rx
58

tie-bar U V W PE

7.10 Dimensioned drawing, external ballast switch

515 92

10 OHM
MADE IN GERMANY
123

542 9 ø5.5
600 64

Part no. 1070 914 826

Mass 4,6 kg

1070 066 029-105 (04.11) GB

 Part numbers 8–1

8 Part numbers
. UL/CSA-certified components are marked by UL in the following tables.

8.1 Drive components

Designation Part no.

Stand-alone inverter Various functionalities cf. overview

section 3.2

Three-phase modules Various functionalities cf. overview

section 3.2

Supply modules VMA 21KB 001 – D 1070 084 850 UL

VMA 21KB 001 – D 1070 083 177
VMA 21KE 001 – D 1070 083 179
VMA 21KR 001 – D 1070 084 284
VMA 21KE 001 – D 1070 084 851UL

VMA 35BR 001 – D 1070 070 785

VMA 70CR 001 – D 1070 070 783
VMA 90DR 001 – D 1070 070 784
VMW 180FR 001 – D 1070 080 888

Line wiring modules NV 20/1VF – D 1070 084 594

NV 20/3F – D 1070 077 941

NV 21/1F – D 1070 084 067 UL

NV 21/3F – D 1070 084 068 UL

Mains connection NAA 21/1F – D 1070 084 826 UL

modules NAA 35/1 – D 1070 075 122
NAA 35/1VF – D 1070 083 958
NAA 35/2 – D 1070 075 125
NAA 35/2VF – D 1070 083 959
NAA 35/3 – D 1070 083 378
NAA 70/1 – D 1070 075 123
NAA 70/2 – D 1070 075 126
NAA 90/1 – D 1070 077 777
NAA 90/2 – D 1070 077 776
NAA 180/1 – D 1070 080 890

Line reactors NE 21/B – D 1070 085 276

NE 35/A – D 1070 917 639
NE 70/A – D 1070 917 638
NE 70/A1 – D on request
NE 180/A – D 1070 921 520

1070 066 029-105 (04.11) GB

8–2 Part numbers

Designation Part no.

Backplane modules RM B/VM – D 1070 075 830

RM C/VM – D 1070 075 115
RM D/VM – D 1070 075 149

RM A/DM 8 – D 1070 077 135

RM A/DM 30 – D 1070 075 544
RM A/DM 45 – D 1070 070 962
RM B/DM – D 1070 070 963
RM D/DM – D 1070 070 965

(Cold module IP20) RM C/VM S – D 1070 075 248

RM A/DM S – D 1070 075 244

RM B/DM S – D 1070 075 245

Personality module PM VMA/000 – D 1070 075 250

PM SMA/000 – D UL 070 084 858

PM FOA/000 – D UL 1070 084 863
PM OSA/000 – D 1070 075 683

(absolute PM SMA/020 – D UL 1070 084 860

endless axis) PM FOA/020 – D UL 1070 084 865
PM OSA/020 – D 1070 081 647

(RSU) PM VMS/000 – D 1070 080 410

PM SMS/000 – D UL 1070 084 857

PM FOS/000 – D UL 1070 084 862

(RSU + absolute PM SMS/020 – D UL 1070 084 859

endless axis) PM FOS/020 – D UL 1070 084 864

Memory card, 1 MB Flash MC OS – D (without SW) 1070 917 668

MC VM 0.42 A00 (incl. RSU) 1070 085 513
MC VM x.xx A00 (current SW) 1070 078 559

MC SM 0.46 A00 1070 084 117

MC FO 0.46 A00 1070 084 118

MC SM 0.47 A00 1070 084 473

MC FO 0.47 A00 1070 084 474

with UL/CSA certification MC SM 0.48 A00 1070 084 861

MC FO 0.48 A00 1070 084 866

1070 066 029-105 (04.11) GB

 Part numbers 8–3

8.2 Accessories
Designation Part no.

Spare fuses for: NAA cf. section 5.5.1

NV cf. section 5.5.2

Class A mains filters, 16 A 1070 918 475UL

UL/CSA listed 25 A 1070 918 476UL
36 A 1070 918 477UL
50 A 1070 918 478UL
80 A 1070 918 479UL
120 A 1070 919 011UL
150 A 1070 920 600UL
180 A 1070 920 599UL

36 A, reinforced 1070 920 963UL

80 A, reinforced on request

Class A mains filters 36 A special filter 1070 921 416

65 A special filter 1070 921 417

Class B mains filters on request

Filter capacitor necessary for NE 180 1070 084 982

External ballast switch for VM 21KE 1070 914 826

Ballast module for EBX 460 – D 1070 083 214

VMA..B,C,D,F

Plug braking modules cf. section 4.8

Cable assembly Encoder cable cf. section 4.9.1

Power cable cf. section 4.9.1
Encoder simulation, 14-core 1070 919 938 (2 m)
1070 919 939 (3 m)
1070 919 940 (5 m)
Direct measuring system 1070 919 935 (2 m)
OM1 / OM2, 8-core 1070 919 936 (3 m)
1070 919 937 (5 m)

Cable bushing Encoder cable 1070 920 201

(metal flange) Power cable 1070 920 202

Brake connection MBC DM..K, with relay and 1070 084 352
protective circuit
Protective circuit for
holding brake DM..A,B,D 1070 917 448
DM..K, with point-to-point 1070 078 595
terminal

Optical cable assembly for SERCOS interface cf. section 4.9.3

CAN cable for rho3, Cannon 15-pin

cf. section 4.9.4
CAN cable for rho4, CANopen, Cannon 9-pin

DC link connection: right-hand connection 1070 081 987

(compact mechanics) left-hand connection 1070 081 716

(backplane modules) right-hand connection 1070 075 903

left-hand connection 1070 075 004

(Modules with water with fuse 100 A 1070 084 466

cooling)

1070 066 029-105 (04.11) GB

8–4 Part numbers

Designation Part no.

Signal cross-connection X810,

Extension 200 mm 1070 077 661
Extension 2 m 1070 079 798

24-V cross-connection X820,

1070 077 660
Extension 2 m

Commissioning and service system DSS–D, CD-ROM 1070 073 817

Connection cable for PC,

1070 077 753
5 m with 9-pin Cannon connector

8.3 Options

Designation Part no.

Option modules OM 01 –D 1070 070 937

direct measuring system: OM 02 –D 1070 070 939
OM 03 –D 1070 078 337
OM 03 –D (125 kHz, pre- 1070 081 927
ferred option)

Option module OM 04 –D 1070 078 832

analog outputs:

Cable assembly OM 01 and OM 02 1070 919 935

Mating connector OM 03 1070 077 197

8.4 Accessories for built-in motors

Designation Part no.

NTC resistor for motor winding, 600 mm long 1070 076 937

Encoder (as for SF mo- ECN 1313 (Single-turn) 1070 919 193
tors) EQN 1325 (Multi-turn) 1070 919 192
Cable module including
installation box 1070 919 781

1070 066 029-105 (04.11) GB

 Annex A–1

A Annex

A.1 Index

Numbers Determination of drive rating

24V supply, 5–7 24V supply, 5–7
Built–in motors, 4–31
B Cables, 4–21
Backplane modules, Dimensions, 7–1 DU motors, 4–10–4–34
Backplane modules RM, 6–1 Linear motors, 4–33
Built–in motors, 4–31 Mains connection module, 5–9
Motor–module combination SF, SR, 4–8
C Plug braking modules, 4–20
Cables Procedure, overview, 4–2
Built–in motors, 4–32 SF(R) motors, 4–7
CAN bus, 4–30 Stand–alone inverter, 4–12
Direct measuring system, 8–4 Standard motors, 4–11
Encoder cables, high performance, 4–23 Supply modules, 5–1–5–12
Encoder cables, Standard, 4–21 Three–phase modules, 4–15
Maximum length of power cable, 4–28 Dimensions
Point of separation of motor and encoder cables, 4–28 Backplane modules RM, 7–1
Power cables, shielded, 4–24 Combination of both mechanics, 7–1
Power cables, unshielded, 4–26 DM..K, 7–4, 7–5
SERCOS interface, 4–29–4–34 DMA..A,B,D, 7–2
UL encoder cables, high performance, 4–23 DMW..F, 7–3
UL encoder cables, Standard, 4–21 Filter capacitor, 7–10
UL power cables, shielded, 4–24 Line reactor NE, 7–7
CAN cable. See Cables Line wiring module NV, 7–4, 7–6
Cold module, 6–1 Mains connection module NAA 21, 7–5
Combination of both mechanics, Dimensions, 7–1 Mains connection module NAA 35...180, 7–1
Commissioning and service system DSS–D, 6–6 Mains filter, 7–11
Connection diagram, Overview, 4–5, 4–6 Mains filter, reinforced, 7–12
Construction of the inverter system Plug braking modules, 7–14
Functions, 2–4 Special filter, 7–13
Mechanics, 2–3 Stand–alone inverter, 7–6
Modules, 2–2 VMA 21KB, VMA 21KE, 7–4
Controller structure, 2–6 VMA 21KR, 7–5
Cooling water, Technical data, 4–19 VMA..B,C,D, 7–2
Cycle times VMW..F, 7–3
Controller board with analog interface, 2–4 Direct measuring system
Controller board with SERCOS interface, 2–4 Technical data OM 01, 6–8–6–12
Technical data OM 02, 6–10–6–12
D Technical data OM 03, 6–12
DC link connection Documentation, 1–7
Combination of both mechanics, 6–2 Drive design
Module installation in two rows, 6–3 Backplane modules RM, 6–1
DESINA, 4–21 Line reactor, 5–11
Line wiring module, 5–10
Module combinations, 6–2
DSS–D, 6–6

E
EMC Directive, 1–1
EMC directive, 2–8
EMC product standard, 1–1
EMERGENCY–STOP devices, 1–5

1070 066 029-105 (04.11) GB

 A–2 Annex

Encoder cables O
high performance, 4–23 Option modules, 6–7
Standard, 4–21 Overview of functionalities, 3–2
UL, high performance, 4–23
UL, Standard, 4–21 P
ESD Personality module, 2–4, 6–4
Electrostatic discharge, 1–6 Plug braking, 4–20
grounding, 1–6 Plug braking modules, dimensions, 7–14
workplace, 1–6 Point of separation of motor cables, 4–28
ESD–sensitive components, 1–6 Positioning, 2–5
EU design type certification, 2–9 Protective circuit for holding brake, 4–28
External mains filter. See Mains filter
Q
F Qualified personnel, 1–2
Fibre optic, 4–29
Filter capacitor, Dimensions, 7–10 R
Functional design, 2–4 Release, 1–7
RSU, 2–5, 2–9
G RSU, redundant safety monitoring, 2–9
Grounding bracelet, 1–6
S
H Safety instructions, 1–4
Holding brake, protective circuit, 4–28 Safety markings, 1–3
SERCOS interface, 2–7
I Spare parts, 1–6
Intended use, 1–1 Stand–alone inverter
Dimensions, 7–6
L Function, 2–6
Line reactor Overview, 2–2
Dimensions NE 180/A, 7–9 Technical data, 4–12
Dimensions NE 21/B, 7–7 Supply modules
Dimensions NE 35/A...NE 100/A, 7–8 Dimensions VM 21 KR, 7–5
Line reactor NE, Technical data, 5–11 Dimensions VM 21KB, VM 21KE, 7–4
Line wiring module NV Dimensions VMA..B,C,D, 7–2
Dimensions, 7–4, 7–6 Dimensions VMW..F, 7–3
Technical data, 5–10 Function, 2–6
Linear motors, 4–33 Overview, 2–2
Low–Voltage Directive, 1–1, 2–8 Rating, 5–1–5–12
Technical data, 5–6
M Type designation, 5–5
Machinery directive, 1–1, 2–8 Switch cabinet bushing, 4–28
Mains connection module
Dimensions NAA 21, 7–5 T
Dimensions NAA 35...180, 7–1 Technical data
Mains connection module NAA, Technical data, 5–9 Cables, 4–21
Mains filter DM..A,B,D,F, 4–17
Dimensions, 7–11 General, 4–1
Technical data, 5–12 Line reactor, 5–11
Mechanical structure, 2–3 Line wiring module, 5–10
Combination of mechanics, 6–2 Mains connection module, 5–9
Memory card, 2–4, 6–5 Mains filter, 5–12
Modifications, 1–8 Stand–alone inverter DS..K, 4–12
Modules sensitive to electrostatic discharge. See ESD–sen- Supply modules VMA..B,C,D,F, 5–6
sitive components Supply modules VMA..K, 5–6
Motion control, 2–5 Three–phase modules DM..K, 4–15
Motor–module combination Water cooling, 4–19
DU motors, 4–10 Test activities, 1–6
SF, SR motors, 4–8

1070 066 029-105 (04.11) GB

 Annex A–3

Three–phase modules
Dimensions DM..K, 7–4, 7–5
Dimensions DMA..A,B,D, 7–2
Dimensions DMW..F, 7–3
Function, 2–6
Overview, 2–2
Overview of module varieties, 3–2
Technical data, 4–15
Type designation, 3–1
Trademarks, 1–8
Type designation
Backplane modules, 6–1
Line reactor, 5–11
Line wiring module, 5–10
Mains connection module, 5–9
Memory Card, 6–5
Option modules, 6–7
Personality module, 6–4
Supply modules, 5–5
Three–phase modules, 3–1

U
UL/CSA certification, 2–10
installation and operation, 2–10
Requirements on 24V power supply, 5–8

W
Water cooling
Dimensions of the modules, 7–3
Technical data, 4–19

1070 066 029-105 (04.11) GB

 A–4 Annex

Notes:

1070 066 029-105 (04.11) GB

 A–1

Bosch Rexroth AG
Electric Drives and Controls
Postfach 11 62
64701 Erbach
Berliner Straße 25
64711 Erbach
Deutschland
Tel.: +49 (0) 60 62/78-0
Fax: +49 (0) 60 62/78-4 28
www.boschrexroth.com

Australia USA

Bosch Rexroth Pty. Ltd. Bosch Rexroth Corporation

3 Valediction Road 5150 Prairie Stone Parkway
Kings Park NSW 2148 Hoffmann Estates, Illinois 60192
Phone:+61 (0) 2 98 31 77 88 Phone:+1 (0) 847 6 45-36 00
Fax: +61 (0) 2 98 31 55 53 Fax: +1 (0) 847 6 45-08 04

United Kingdom Canada

Bosch Rexroth Ltd. Bosch Rexroth Canada Corp.

Broadway Lane, South Cerney 490 Prince Charles Drive South
Cirencester GL7 5UH Welland, Ontario L3B 5X7
Phone:+44 (0) 1285-86 30 00 Phone:+1 (0) 905 7 35-05 10
Fax: +44 (0) 1285-86 30 03 Fax: +1 (0) 905 7 35-56 46

1070 066 029-105 (04.11) GB · HB AN · BRC/ESM11 · Printed in Germany

1070 066 029-105 (04.11) GB