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6976_en_01 1 IB IL EC AR 48/10A IB IL EC AR 48/10A-PAC 03/2005Data Sheet Product Description The IB IL EC AR 48/10A Inline servo amplifier is a universal position, speed or torque controller with a power output stage for permanently excited DC motors with brushgears (DC motors) and without brushgears (EC motors) with a power consumption of up to 450 W. The Inline servo amplifier has a 4 quadrant function, i.e., it supplies power back to the power supply unit when the brake function is used. Figure 1 Module view The Inline server amplifier consists of the following components:
1 Connections (COMBICON connectors)
2 RS-232 interface
3 Diagnostic and status indicators
4 Heat sink
The IB IL EC AR 48/10A and IB IL EC AR 48/10A-PAC only differ in the scope of supply (see "Ordering Data" on page 13). Their function and technical data are identical. For greater clarity, the order designation IB IL EC AR 48/10A is used throughout this document. This data sheet is only valid in association with the IB IL SYS PRO UM E user manual or the Inline system manual for your bus system as well as the UM EN IB IL EC AR 48/10A user manual for the Inline servo amplifier. /G36 /G39 /G37 /G36 /G41 /G30 /G30 /G31 /G33 /G31 /G34 /G32 /G36 /G39 /G37 /G36 /G41 /G30 /G30 /G30 Inline Servo Amplifier for DC Motors With and Without Brushgears
IB IL EC AR 48/10A (-PAC) 2 6976_en_01
Features
– Diagnostic and status indicators – Use as position, torque or speed controller – Inline device – 4-quadrant function – External brake chopper – Short-circuit-proof motor output
Applications
The Inline servo amplifier is used under the following conditions: – Permanently excited DC motors with and without brushgears – Nominal voltages froM12 V to 48 V – Power consumption of up to 450 W – Motor current of up to 10A Typical Application of the IB IL EC AR 48/10A Figure 2 Typical application of the IB IL EC AR 48/10A /G36 /G39 /G37 /G36 /G41 /G30 /G30 /G32 /G4C /G69 /G6D /G69 /G74 /G20 /G73 /G77 /G69 /G74 /G63 /G68 /G4C /G69 /G6D /G69 /G74 /G20 /G73 /G77 /G69 /G74 /G63 /G68 /G45 /G6E /G63 /G6F /G64 /G65 /G72 /G45 /G43 /G20 /G6D /G6F /G74 /G6F /G72 /G20 /G77 /G69 /G74 /G68 /G20 /G48 /G41 /G4C /G4C /G20 /G73 /G65 /G6E /G73 /G6F /G72 /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G53 /G46 /G52 /G55 /G4E /G46 /G41 /G49 /G4C /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G35 /G36 /G35 /G36 /G44 /G45 /G31 /G45 /G32 /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G35 /G36 /G35 /G36 /G31 /G32 /G41 /G31 /G41 /G32 /G45 /G33 /G45 /G34 /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G4C /G31 /G4C /G32 /G4C /G33 /G4C /G34 /G34 /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G42 /G41 /G52 /G43 /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G55 /G4C /G31 /G32 /G31 /G32 /G33 /G34 /G32 /G55 /G53 /G55 /G4D /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G52 /G44 /G4C /G44 /G49 /G42 /G54 /G52 /G55 /G53 /G45 /G52 /G52 /G49 /G4E /G43 /G31 /G49 /G4E /G43 /G32 /G2F /G48 /G41 /G4C /G4C /G52 /G45 /G46 /G49 /G4E /G31 /G49 /G4E /G32 /G4D /G4F /G54 /G55 /G53 /G2D /G2B /G4D /G31 /G4D /G32 /G4D /G33 /G46 /G45 /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G44 /G44 /G4E /G5A /G55 /G50 /G32 /G34 /G56 /G33 /G35 /G56 /G32 /G31 /G41 /G78 /G69 /G73 /G20 /G31 /G41 /G78 /G69 /G73 /G20 /G32 /G41 /G78 /G69 /G73 /G20 /G31 /G30 /G41 /G78 /G69 /G73 /G20 /G33 /G49 /G42 /G54 /G52 /G55 /G53 /G45 /G52 /G52 /G49 /G4E /G43 /G31 /G49 /G4E /G43 /G32 /G2F /G48 /G41 /G4C /G4C /G52 /G45 /G46 /G49 /G4E /G31 /G49 /G4E /G32 /G4D /G4F /G54 /G55 /G53 /G2D /G2B /G4D /G31 /G4D /G32 /G4D /G33 /G46 /G45 /G49 /G42 /G54 /G52 /G55 /G53 /G45 /G52 /G52 /G49 /G4E /G43 /G31 /G49 /G4E /G43 /G32 /G2F /G48 /G41 /G4C /G4C /G52 /G45 /G46 /G49 /G4E /G31 /G49 /G4E /G32 /G4D /G4F /G54 /G55 /G53 /G2D /G2B /G4D /G31 /G4D /G32 /G4D /G33 /G46 /G45 /G49 /G42 /G54 /G52 /G55 /G53 /G45 /G52 /G52 /G49 /G4E /G43 /G31 /G49 /G4E /G43 /G32 /G2F /G48 /G41 /G4C /G4C /G52 /G45 /G46 /G49 /G4E /G31 /G49 /G4E /G32 /G4D /G4F /G54 /G55 /G53 /G2D /G2B /G4D /G31 /G4D /G32 /G4D /G33 /G46 /G45 /G49 /G42 /G54 /G52 /G55 /G53 /G45 /G52 /G52 /G49 /G4E /G43 /G31 /G49 /G4E /G43 /G32 /G2F /G48 /G41 /G4C /G4C /G52 /G45 /G46 /G49 /G4E /G31 /G49 /G4E /G32 /G4D /G4F /G54 /G55 /G53 /G2D /G2B /G4D /G31 /G4D /G32 /G4D /G33 /G46 /G45 /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G42 /G41 /G52 /G43 /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G55 /G4C /G31 /G32 /G31 /G32 /G33 /G34 /G55 /G53 /G55 /G4D /G31 /G32 /G31 /G32 /G33 /G34 /G31 /G32 /G33 /G34 /G52 /G44 /G4C /G44
IB IL EC AR 48/10A (-PAC) 6976_en_01 3 Local Diagnostic and Status Indicators Figure 3 Local diagnostic and status indicators on the IB IL EC AR 48/10A /G36 /G39 /G37 /G37 /G41 /G30 /G30 /G32 /G49 /G42 /G54 /G52 /G55 /G53 /G45 /G52 /G52 /G49 /G4E /G43 /G31 /G49 /G4E /G43 /G32 /G2F /G48 /G41 /G4C /G4C /G52 /G45 /G46 /G49 /G4E /G31 /G49 /G4E /G32 /G4D /G4F /G54 /G55 /G53 /G2D /G2B /G4D /G31 /G4D /G32 /G4D /G33 /G46 /G45 /G49 /G42 /G54 /G52 /G55 /G53 /G45 /G52 /G52 /G52 /G45 /G46 /G49 /G4E /G32 /G49 /G4E /G31 /G55 /G53 /G54 /G52 /G45 /G52 /G52 /G49 /G4E /G31 /G49 /G4E /G32 /G52 /G45 /G46 /G49 /G42 Des. Color Meaning IN1 Yellow LED Limit switch 1 ON: Input set OFF: Input not set IN2 Yellow LED Limit switch 2 ON: Input set OFF: Input not set REF Yellow LED Home position switch ON: Input set OFF: Input not set IB Green LED Diagnostics ON: Bus active Flashing:
0.5 Hz: Communications power present, bus not active
2 Hz: Communications power present, bus active, I/O error
4 Hz: Communications power present, terminal before the flashing module failed,
terminal behind the flashing module not part of the configuration frame OFF: Communications power not present, bus not active
IB IL EC AR 48/10A (-PAC) 4 6976_en_01 TR Green LED PCP active ON: PCP messages being transmitted to the Inline servo amplifier OFF: No transmission of PCP messages US Green LED Supply voltage of the power unit ON: Supply voltage for the output stage is more than 75% of the nominal voltage of the power supply OFF: Supply voltage for the output stage is lower than 75% of the nominal voltage of the power supply ERR Red LED Error ON: An error has occurred (corresponds to bit 3 in the status word). The cause of the error can be read in the "ErrorCode" parameter (index 603F hex). OFF: No error Des. Color Meaning
IB IL EC AR 48/10A (-PAC) 6976_en_01 5 Terminal Point Assignment Figure 4 Terminal point assignment for power supply connection (US) Figure 5 Terminal point assignment for DC motor connection (MOT) Figure 6 Terminal point assignment for EC motor connection (MOT) Figure 7 Terminal point assignment for limit switch and home position switch connections (IN2, IN1, REF) Power Supply Connection (US) DC Motor Connection (MOT) EC Motor Connection (MOT) Limit Switch and Home Position Switch Connections (IN2, IN1, REF) /G36 /G34 /G35 /G35 /G41 /G30 /G30 /G33 /G31 /G32 /G2B /G2D /G36 /G39 /G37 /G37 /G41 /G30 /G30 /G37 /G4D /G32 /G6E /G2E /G20 /G63 /G2E /G46 /G45 /G31 /G33 /G32 /G34 /G4D /G31 /G36 /G39 /G37 /G37 /G41 /G30 /G30 /G35 /G4D /G32 /G4D /G33 /G46 /G45 /G31 /G33 /G32 /G34 /G4D /G31 /G36 /G39 /G37 /G37 /G41 /G30 /G30 /G34 /G31 /G33 /G32 /G2B /G32 /G34 /G20 /G56 /G49 /G4E /G47 /G4E /G44 Terminal Point Assignment 1U S + 2U S – Terminal Point Assignment
1 M1 (Motor +)
2 M2 (Motor –)
3 Not used
4 Functional earth ground
(FE) Terminal Point Assignment 1M 1 2M 2 3M 3 (FE) Terminal Point Assignment 1 +24 V 2I N 3G N D
IB IL EC AR 48/10A (-PAC) 6 6976_en_01 Figure 8 Terminal point assignment for incremental encoder connection (INC) Figure 9 Terminal point assignment for Hall sensor connection (INC2/HALL) Incremental Encoder Connection (INC1) Hall Sensor Connection (INC2/HALL) /G36 /G39 /G37 /G37 /G41 /G30 /G30 /G36 /G31 /G20 /G20 /G32 /G20 /G20 /G33 /G20 /G20 /G34 /G20 /G20 /G35 /G20 /G20 /G36 /G20 /G20 /G37 /G20 /G20 /G38 /G20 /G20 /G39 /G20 /G20 /G31 /G30 /G36 /G39 /G37 /G37 /G41 /G30 /G30 /G36 /G31 /G20 /G20 /G32 /G20 /G20 /G33 /G20 /G20 /G34 /G20 /G20 /G35 /G20 /G20 /G36 /G20 /G20 /G37 /G20 /G20 /G38 /G20 /G20 /G39 /G20 /G20 /G31 /G30 Terminal Point Assignment 7G N D 8+ 5 V 9 +24 V
10 Functional earth ground
(FE) Terminal Point Assignment 11 + 21 – 32 + 42 – 53 + 63 – 7G N D 8+ 5 V 9 +24 V (FE) The INC2/HALL connection can also be used to connect an incremental encoder. In this case, connect the incremental encoder using the terminal point assignment of the INC1 connection.
IB IL EC AR 48/10A (-PAC) 6976_en_01 7 Function The Inline servo amplifier is designed as an Inline terminal. It can be easily operated in the most popular control systems and can be used to create a distributed positioning control system simply by mounting Inline positioning terminals side by side (e.g., positioning CPUs, position detection terminals, and other digital and analog output terminals). Optical status and diagnostic indicators enable quick local error diagnostics. The following operating modes are possible: – Point-to-point positioning with position controller (position feedback modes using an incremental encoder or Hall sensors) – Speed control (speed feedback using an incremental encoder, Hall sensors or the motor voltage) – Torque control (current control) –H o m i n g The IB IL EC AR 48/10A Inline servo amplifier carries out positioning with position, speed or torque control of the connected motor to the value specified as the setpoint in the form of process data. The Inline servo amplifier can be used to create simple controlled drives using cost-effective DC motors with or without brushgears. There is also flexibility when choosing feedback for the individual control functions. For example: In the "speed control" operating mode for simple applications, there is no need for a rotary encoder system. On the one hand, this method relies on a particular aspect of the behavior of DC motors: their speed changes in proportion to the supply voltage. In this way the speed can be indirectly controlled via the motor voltage. In addition, the Inline servo amplifier uses an IxR controller, which compensates for speed variations caused by the changing load. Hall sensors can be used for speed and position feedback when using EC motors. This also eliminates the need for a rotary encoding system. Operation, setting the operating mode, and parameterization should be compatible with the "DRIVECOM profile 22" protocol. The IB IL EC AR 48/10A provides protection against: – Overcurrent – Surge and undervoltage – Overtemperature – Short circuit between motor cables – Short circuit against the voltage supply The IB IL EC AR 48/10A Inline servo amplifier is based on digital controllers. Its task is to provide current and voltage values, which can be used to directly operate DC motors. The Inline servo amplifier needs to be supplied externally with 12 V up to 48 V and 0 A up to 10 A because the Inline jumpering cannot supply these high currents. The level of the current and voltage values depends on the various functions, which the Inline servo amplifier carries out in the individual operating modes. RS-232 Interface The RS-232 interface can be used to connect a PC with startup and diagnostic software installed. This interface also enables access to all drive parameters and functions (see user manual). For additional information, please refer to the UM EN IB IL EC AR 48/10A user manual (Order No. 26 99 39 6).
IB IL EC AR 48/10A (-PAC) 8 6976_en_01 Connection Example Figure 10 Connection example of EC motor with Hall sensor Programming Data/Configuration Data INTERBUS Other Bus Systems /G49 /G42 /G54 /G52 /G55 /G53 /G45 /G52 /G52 /G49 /G4E /G43 /G31 /G49 /G4E /G43 /G32 /G2F /G48 /G41 /G4C /G4C /G52 /G45 /G46 /G49 /G4E /G31 /G49 /G4E /G32 /G4D /G4F /G54 /G55 /G53 /G2D /G2B /G4D /G31 /G4D /G32 /G4D /G33 /G46 /G45 /G36 /G39 /G37 /G36 /G41 /G30 /G30 /G34 /G2B /G55 /G53 /G4D /G2B /G32 /G34 /G20 /G56 /G49 /G4E /G2B /G32 /G34 /G20 /G56 /G49 /G4E /G2B /G32 /G34 /G20 /G56 /G49 /G4E /G2B /G32 /G34 /G20 /G56 /G2B /G35 /G20 /G56 /G33 /G2B /G33 /G2D /G32 /G2B /G32 /G2D /G31 /G2B /G31 /G2D /G39 ID code C3 hex (195dec) Length code 03 hex (03dec) Process data channel 48 bits Input address area 3 words Output address area 3 words Parameter channel (PCP) 1 word Register length (bus) 4 words For the configuration data of other bus systems, please refer to the corresponding electronic device data sheet (GSD, EDS) at www.download.phoenixcontact.com
IB IL EC AR 48/10A (-PAC) 6976_en_01 9 Technical Data Housing Dimensions General Data Order Designation (Order No.) IB IL EC AR 48/10A (28 19 25 7) IB IL EC AR 48/10A-PAC (28 19 58 7) Housing dimensions (width x height x depth) 97.2 mm x 166 mm x 83.5 mm Housing material PA 6.6; black, anodized aluminum Heat-sink material Aluminum Weight without connectors with connectors 800 g 880 g Permissible temperature (operation) -25°C to +55°C Permissible temperature (storage/transport) -25°C to +85°C Permissible humidity (operation) 75% permanent, 85% occasionally Permissible humidity (storage/transport with unused interfaces [standard packaging]) 75% permanent, 85% occasionally /G36 /G39 /G37 /G36 /G41 /G30 /G30 /G33 /G31 /G36 /G36 /G20 /G6D /G6D /G28 /G36 /G2E /G35 /G33 /G35 /G22 /G29 /G38 /G33 /G2E /G35 /G20 /G6D /G6D /G20 /G28 /G33 /G2E /G32 /G38 /G37 /G22 /G29 /G39 /G37 /G2E /G32 /G20 /G6D /G6D /G28 /G33 /G2E /G38 /G32 /G37 /G22 /G29 /G49 /G42 /G54 /G52 /G55 /G53 /G45 /G52 /G52 /G49 /G4E /G43 /G31 /G49 /G4E /G43 /G32 /G2F /G48 /G41 /G4C /G4C /G52 /G45 /G46 /G49 /G4E /G31 /G49 /G4E /G32 /G4D /G4F /G54 /G55 /G53 /G2D /G2B /G4D /G31 /G4D /G32 /G4D /G33 /G46 /G45 For a short period, slight condensation may appear on the outside of the housing if, for example, the module is brought into a closed room from a vehicle.
IB IL EC AR 48/10A (-PAC) 10 6976_en_01 Permissible air pressure (operation) 80 kPa to 106 kPa (up to 2,000 m above sea level) Permissible air pressure (storage/transport) 70 kPa to 106 kPa (up to 3,000 m above sea level) Degree of protection IP20 according to DIN 40050 Class of protection Class 3 according to VDE 0106, IEC 60536 Mechanical Requirements Vibration test sinusoidal vibrations according to IEC 60068-2-6; EN 60068-2-6 2g load, 2 hours in each space direction Shock test according to IEC 60068-2-27, EN 60068-2-27 25g for 1 ms, three shocks in each space direction Free fall according to IEC 60068-2-32 1 m Power Supply Status indication US LED Connection method 2-pos. COMBICON connector Supply voltage U S 12 V DC to 48 V DC ±15% Supply current 0 A to 10 A Surge voltage shutdown U S > 60 V DC Outputs Number 1 Connection 1 permanently excited DC motor with or without brushgears Connection method 4-pos. COMBICON connector with shield connection clamp Output voltage ± supply voltage U S, maximum Average up to 95% of US Motor cable 2-wire, shielded (DC motor) 3-wire, shielded (EC motor) Continuous current 10 A, maximum Starting current 10 A, maximum Motor current limiting 0 A to 10 A (can be set via bus) Maximum motor voltage (feedback) ±65 V DC Function 4 quadrant servo controller Braking Energy fed back to the power supply unit (brake chopper may be required) Minimum motor inductance 200 µH at U S = 48 V DC 100 µH at US = 24 V DC General Data (Continued)
IB IL EC AR 48/10A (-PAC) 6976_en_01 11 Encoder Types Symmetrical Incremental Encoders Encoder supply 5 V DC or 24 V DC Signal connection method A and A , B and B, Z and Z Signal voltage level 1 V PP to 6 VPP Common mode range: signal – ground –A t 1 V PP voltage level –A t 6 V PP voltage level ±2 V ±4 V Input frequency 1 MHz, maximum Cable length (for shielded cable) <30 m (to ensure conformance with EMC directive 89/336/EEC) Asymmetrical Incremental Encoders Encoder supply 5 V DC or 24 V DC Signal connection method A, B, Z Signal voltage level Low 0 V to 2 V, high 3.5 V to 27 V Input frequency – At 4 V voltage level – At 20 V voltage level 500 kHz, maximum 100 kHz, maximum Cable length (for shielded cable) < 30 m (to ensure conformance with EMC directive 89/336/EEC) Encoder Supply
5 V encoder supply
Voltage range 4.75 V to 5.25 V Short-circuit protection Electronic and thermal Current carrying capacity 100 mA, maximum
24 V encoder supply
Voltage range 19.2 V to 30 V Short-circuit protection Electronic and thermal Current carrying capacity 100 mA, maximum Cycle Time of Internal Digital Controllers Position controller 1 ms Speed controller 500 µs Torque / current controller 250 µs Electrical Isolation Logic UL / I/O / motor 500 V AC test voltage
IB IL EC AR 48/10A (-PAC) 12 6976_en_01 Pulse Wide Modulation (PWM) (In Relation to the Motor Voltage) Clock frequency 10 kHz to 50 kHz Interfaces Local bus Inline potential distributor Communications power U L 7,5 V DC (via potential distibutor) Current consumption at UL 30 mA, typical; 120 mA, maximum Main voltage UM 24 V DC (via potential distibutor) Current consumption at UM 100 mA, typical; 150 mA, maximum RS-232 Connection to startup and diagnostic software Approvals CE Yes UL Applied for Conformance With EMC Directive 89/336/EEC Noise Immunity Test According to EN 61000-6-2 Electrostatic discharge (ESD) EN 61000-4-2 IEC 61000-4-2 Criterion B 4 kV contact discharge 6 kV air discharge Fast transients (burst) EN 61000-4-4 IEC 61000-4-4 Criterion A Supply lines: 2 kV Signal/data lines: 2 kV Conducted interference EN 61000-4-6 IEC 61000-4-6 Criterion A, test voltage 10 V Noise Emission Test According to EN 61000-6-4 Noise emission of housing EN 55011 Class A Conformance is only ensured if the shielded motor cable is connected to the FE terminal and the module is connected to functional earth ground via the DIN rail.
IB IL EC AR 48/10A (-PAC) 13 6976_en_01 © PHOENIX CONTACT 03/2005 Technical modifications reserved. TNR 90 18 14 4 PHOENIX CONTACT GmbH & Co. KG Flachsmarktstr. 8
32825 Blomberg
+ 49 - (0) 52 35 - 3-4 12 00 www.phoenixcontact.com Worldwide Locations: www.phoenixcontact.com/salesnetwork Ordering Data Description Order Designation Order No. Inline servo amplifier for DC motors with and without brushgears; incl. COMBICON connectors and shield connection clamps IB IL EC AR 48/10A-PAC 28 19 58 7 Inline servo amplifier for DC motors with and without brushgears IB IL EC AR 48/10A 28 19 25 7 Connector set consisting of seven COMBICON connectors and three shield connection clamps IB IL ECAR-PLSET 28 19 56 1 EC AR SW TOOL startup and diagnostic software, incl. connection cable for RS-232 interface E CA RC A BS WT O O L 2 81 95 45 Connecting cable for the RS-232 interface, for the connection of the EC AR SW TOOL startup and diagnostic software EC AR DIAG CAB 28 19 73 6 "Inline Servo Amplifier for DC Motors With and Without Brushgears" user manual UM EN IB IL EC AR 48/10A 26 99 39 6 "Configuring and Installing the INTERBUS Inline Product Range" user manual IB IL SYS PRO UM E 27 43 04 8 The following connector set is needed for the complete fitting of the IB IL EC AR 48/10A: Make sure you always use the latest documentation. It can be downloaded at www.download.phoenixcontact.com. A conversion table is available on the Internet at