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Rexroth IndraDrive C

Drive Controllers

HCS02.1, HCS03.1

R911314905

Edition 01

Operating Instructions

Electric Drives

and Controls Pneumatics

Service

Linear Motion and

Assembly Technologies

Hydraulics

Rexroth IndraDrive Contents I

DOK-INDRV*-FU*********-IB01-EN-P

Contents

1 Introducing the Products 1-1

1.1 Introduction ................................................................................................................................... 1-1

Terms, Basic Principles........................................................................................................... 1-1

1.2 Rexroth IndraDrive Hardware Platform ........................................................................................ 1-6

Drive Controllers...................................................................................................................... 1-6

Motors and Measuring Systems.............................................................................................. 1-7

Master Communication............................................................................................................1-8

1.3 Rexroth IndraDrive Firmware Platform.........................................................................................1-8

Type Code ............................................................................................................................... 1-8

Functions Overview ................................................................................................................. 1-9

1.4 Rexroth IndraDyn Motors............................................................................................................ 1-12

Housing Motors...................................................................................................................... 1-12

Kit Motors............................................................................................................................... 1-12

1.5 Third-Party Motors at IndraDrive Controllers.............................................................................. 1-13

General Information on Third-Party Motors........................................................................... 1-13

Requirements on Third-Party Motors .................................................................................... 1-14

Requirements on the Encoder of the Third-Party Motor ....................................................... 1-17

Notes on Selection and Commissioning................................................................................ 1-17

1.6 Approval, Listing ......................................................................................................................... 1-18

Conformities........................................................................................................................... 1-18

C-UL-US-Listing..................................................................................................................... 1-18

2 Important Directions for Use 2-1

2.1 Appropriate Use............................................................................................................................ 2-1

Introduction .............................................................................................................................. 2-1

Areas of Use and Application .................................................................................................. 2-2

2.2 Inappropriate Use ......................................................................................................................... 2-2

3 Safety Instructions for Electric Drives and Controls 3-1

3.1 General Information...................................................................................................................... 3-1

Using the Safety Instructions and Passing them on to Others................................................ 3-1

Instructions for Use.................................................................................................................. 3-1

Explanation of Warning Symbols and Degrees of Hazard Seriousness ................................. 3-3

Hazards by Improper Use........................................................................................................ 3-4

3.2 Instructions with Regard to Specific Dangers............................................................................... 3-5

Protection Against Contact with Electrical Parts ..................................................................... 3-5

Protection Against Electric Shock by Protective Low Voltage (PELV).................................... 3-6

Protection Against Dangerous Movements............................................................................. 3-7

II Contents Rexroth IndraDrive

DOK-INDRV*-FU*********-IB01-EN-P

Protection Against Magnetic and Electromagnetic Fields During Operation and

Mounting .................................................................................................................................. 3-9

Protection Against Contact with Hot Parts ............................................................................ 3-10

Protection During Handling and Mounting............................................................................. 3-11

Battery Safety ........................................................................................................................ 3-11

Protection Against Pressurized Systems .............................................................................. 3-12

4 Identification, Transport, Storage, Installation Conditions 4-1

4.1 Identification.................................................................................................................................. 4-1

Type Code ............................................................................................................................... 4-1

Type Plates.............................................................................................................................. 4-4

4.2 Transport and Storage.................................................................................................................. 4-6

Transport of the Devices ......................................................................................................... 4-6

Storage of the Devices ............................................................................................................ 4-6

4.3 Installation Conditions................................................................................................................... 4-7

Ambient and Operating Conditions.......................................................................................... 4-7

Compatibility with Foreign Matters .......................................................................................... 4-9

5 Electrical Data 5-1

5.1 Power Sections............................................................................................................................. 5-1

Type Current and Connected Load ......................................................................................... 5-1

Control Voltage Supply............................................................................................................ 5-2

Power Voltage Supply- Mains Connection.............................................................................. 5-3

Limited Length of Motor Power Cables ................................................................................... 5-4

5.2 Control Sections ........................................................................................................................... 5-6

Relay Contact Type 1.............................................................................................................. 5-6

Relay Contact Type 2.............................................................................................................. 5-6

Relay Contact Type 3.............................................................................................................. 5-7

Digital Inputs/Outputs .............................................................................................................. 5-7

Analog Inputs/Outputs ............................................................................................................. 5-9

5.3 Additional Components............................................................................................................... 5-15

Mains Filter HNF.................................................................................................................... 5-15

Mains Filter (-Combination) HNK........................................................................................... 5-16

Mains Choke HNL01.1E (feeding)......................................................................................... 5-16

Mains Choke HNL01.1E-****-S (Current-Compensated) ...................................................... 5-17

Braking Resistor HLR ............................................................................................................5-17

Motor Filter HMF.................................................................................................................... 5-26

6 Mounting and Installation 6-1

6.1 Mounting ....................................................................................................................................... 6-1

Dimensions – Power Sections................................................................................................. 6-1

Dimensions – Mains Filter HNF............................................................................................... 6-7

Dimensions – Mains Choke HNL01.1E (infeeding)................................................................. 6-9

Dimensions – Standard Braking Resistors HLR01.1............................................................. 6-12

Dimensions – Reinforced Braking Resistors HLR01.1.......................................................... 6-14

Dimensions – Motor Filter HMF............................................................................................. 6-17

Combination of Drive Controllers of the Rexroth IndraDrive C Product Range .................... 6-22

Rexroth IndraDrive Contents III

DOK-INDRV*-FU*********-IB01-EN-P

Multiple-Line Arrangement of Drive Controllers .................................................................... 6-24

6.2 Electrical Installation................................................................................................................... 6-25

Rules for Design of Installations with Drive Controllers in Compliance with EMC................ 6-25

EMC-Optimal Installation in Facility and Control Cabinet...................................................... 6-26

Ground Connections..............................................................................................................6-32

Installing Signal Lines and Cables......................................................................................... 6-33

General Measures of Radio Interference Suppression for Relays, Contactors,

Switches, Chokes, Inductive Loads....................................................................................... 6-34

Installing the 24V Supply.......................................................................................................6-35

Connection Diagram..............................................................................................................6-36

Connections and Connectors ................................................................................................ 6-38

Accessories HAS................................................................................................................... 6-67

7 Commissioning and Parameterization 7-1

7.1 Basics ........................................................................................................................................... 7-1

Control Panels ......................................................................................................................... 7-1

Parameters .............................................................................................................................. 7-1

Master Communication Interfaces........................................................................................... 7-3

Parameterization Mode / Operating Mode .............................................................................. 7-4

Default Settings in the Motor Encoder Data Memory ("Load Defaults Procedure")................ 7-9

7.2 Parameterization......................................................................................................................... 7-12

Control Panels ....................................................................................................................... 7-12

Menu Structure ...................................................................................................................... 7-16

7.3 Overview of Parameters – Base Package.................................................................................. 7-36

S-0-0000 – S-0-0100.............................................................................................................7-36

S-0-0101 – S-0-0200.............................................................................................................7-41

S-0-0201 – S-0-0300.............................................................................................................7-45

S-0-0301 – S-0-0400.............................................................................................................7-47

S-0-0401 – S-0-1000.............................................................................................................7-50

P-0-0001 – P-0-0689 (General Functions)............................................................................ 7-51

P-0-0690 – P-0-0899 (Synchronization Mode)...................................................................... 7-85

P-0-1100 – P-0-1299 (Velocity Control) ................................................................................ 7-87

P-0-1500 – P-0-1599 (General Device Parameters)............................................................. 7-96

P-0-2000 – P-0-2999 (General Device Parameters .............................................................. 7-96

P-0-3600 – P-0-4095 (General Device Parameters)............................................................. 7-97

7.4 Basic Functions ........................................................................................................................ 7-108

Serial Communication ......................................................................................................... 7-108

Master Communication........................................................................................................ 7-110

Profile Types........................................................................................................................ 7-114

Motor Control....................................................................................................................... 7-117

Scaling of Physical Data...................................................................................................... 7-118

7.5 Voltage-Controlled Operation (Open-Loop U/f Control) ........................................................... 7-121

Overview.............................................................................................................................. 7-121

Automatic Setting of Motor Control Parameters.................................................................. 7-122

7.6 Closed-Loop Axis Control (Closed-Loop Operation) ................................................................ 7-131

Automatic Setting of Axis Control........................................................................................ 7-136

7.7 Positioning Block Mode ............................................................................................................ 7-137

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