8V General information. 2 Order data 8V

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1 8V V General information Modular mechanical design using plug-in modules Integrated line filter Integrated braking resistor All connections are made using plug-in connectors Integrated electronic restart inhibit Order data Model number Short description Figure Servo drives 8V ACOPOS servo drive, x V,. A, kw, line filter, integrated braking resistor and electronic secure restart inhibit Optional accessories Plug-in modules 8AC0.60- ACOPOS plug-in module, CAN interface 8AC.60- ACOPOS plug-in module, POWERLINK V interface 8AC0.60- ACOPOS plug-in module, EnDat encoder and sine incremental encoder interface 8AC.60- ACOPOS plug-in module, HIPERFACE interface 8AC.60- ACOPOS plug-in module, resolver interface 0 khz 8AC.60- ACOPOS plug-in module, incremental encoder and SSI absolute encoder interface 8AC5.60- ACOPOS plug-in module, BiSS encoder interface 5 V 8AC5.60- ACOPOS plug-in module, BiSS encoder interface 5V, baud rate 6.5 Mbit/s 8AC5.6- ACOPOS plug-in module, BiSS encoder interface V, baud rate 6.5 Mbit/s 8AC6.60- ACOPOS plug-in module, EnDat. encoder interface 8AC0.60- ACOPOS plug-in module, 8 digital I/O configurable in pairs as V input or as output 00/00 ma, digital outputs A, order TB7 terminal block separately. 8AC.60- ACOPOS plug-in module, analog inputs ±0 V, digital I/O points which can be configured as a V input or 5 ma output, order TB7 terminal block separately. 8AC.60- ACOPOS plug-in module, analog inputs ±0 V 8AC0.60- ACOPOS plug-in module, CPU, x86 00 MHz Intel compatible, MB DRAM, kb SRAM, removable application memory: CompactFlash, CAN interface, Ethernet interface 00 Base- T, PROFIBUS DP slave interface, RS interface, digital I/ O can be configured as VDC input or 500 ma output, analog input ±0 V, order program memory and 0TB708 terminal block separately. 8AC0.6- ACOPOS plug-in module, CPU, ARNC0, x86 00 MHz Intel compatible, MB DRAM, kb SRAM, removable application memory: CompactFlash, CAN interface, Ethernet interface 00 Base-T, PROFIBUS DP slave interface, RS interface, digital I/O can be configured as VDC input or 500 ma output, analog input ±0 V, order program memory and 0TB708 terminal block separately. 8AC.60- ACOPOS plug-in module, CPU, x86 00 MHz Intel compatible, 6 MB DRAM, kb SRAM, removable application memory: CompactFlash, CAN interfaces, Ethernet interface 00 Base-T, RS interface, XX Link Master interface, digital I/O can be configured as VDC input or output 500 ma, analog input ±0 V, order program memory and 0TB70 and 0TB708 terminal blocks separately 8AC.6- ACOPOS plug-in module, CPU, ARNC0, x86 00 MHz Intel compatible, MB DRAM, kb SRAM, removable application memory: CompactFlash, CAN interfaces, Ethernet interface 00 Base-T, RS interface, XX Link Master interface, digital I/O can be configured as VDC input or output 500 ma, analog input ±0 V, order program memory and 0TB70 and 0TB708 terminal blocks separately Shielding component sets Table : 8V Order data Data sheetv.

2 8V Model number Short description Figure 8X ACOPOS shielding components set for 8V0.xxx-x up to 8V090.xxx-x Terminal sets 8X ACOPOS accessories, plug set for 8V00.00 and 8V ( phase) Technical data Table : 8V Order data Product ID 8V General information B&R ID code 0xC7 Slots for plug-in modules Certification c-ul-us Power mains connection Permissible power mains forms TT, TN ) Mains input voltage x 00 VAC to 80 VAC ±0% Frequency 50 / 60 Hz ±% Installed load Max. 5 kva Starting current at 00 VAC 7 A Switch-on interval >0 s Integrated line filter in accordance with EN 6800-, Category C Power loss at max. device power without braking Approx. 80 W resistor DC bus connection DC bus capacitance 5 µf VDC supply Input voltage ) VDC ±5% Input capacitance 800 µf Power consumption ) Max..5 A + current for motor holding brake Motor connection Quantity Continuous current ). A eff uction of continuous current depending on the ambient temperature Mains input voltage: 00 VAC Switching frequency 5 khz No reduction Switching frequency 0 khz No reduction Switching frequency 0 khz 0. A eff per C (starting at 5 C) 5) Mains input voltage: 80 VAC Switching frequency 5 khz No reduction Switching frequency 0 khz No reduction Switching frequency 0 khz 0. A eff per C (starting at 5 C) 5) uction of continuous current depending on the altitude Starting at 500 m above sea level Peak current Nominal switching frequency Possible switching frequencies Electrical stress of the connected motor in accordance with IEC TS Max. motor line length Protective measures Overload protection Short circuit and ground fault protection 0. A eff per 000 m A eff 0 khz 5 / 0 / 0 khz Limit value curve A Max. output frequency 600 Hz 6) Motor holding brake connection Max. output current A Max. number of switching cycles Unlimited since handled electronically Braking resistors Peak power output 7 kw Continuous power 00 W Limit switch and reference inputs Quantity Wiring Sink Electrical isolation Input - ACOPOS Input - Input No Table : 8V Technical data 5 m Data sheetv.

3 8V Product ID 8V Input voltage Nominal VDC Maximum 0 VDC Switching threshold Low <5 V High >5 V Input current at nominal voltage Approx. ma Switching delay Max..0 ms Modulation compared to ground potential Max. ±8 V Enable inputs Quantity Wiring Sink Electrical isolation Input - ACOPOS Input voltage Nominal VDC Maximum 0 VDC Input current at nominal voltage Approx. 0 ma Switching threshold Low <5 V High >5 V Switching delay Enable 0 ->, ready for PWM Max. 00 µs Enable -> 0, PWM off Max..0 ms Modulation compared to ground potential Max. ±8 V OSSD signal connections 7) Not permitted Trigger inputs Quantity Wiring Sink Electrical isolation Input - ACOPOS Input - Input No Input voltage Nominal VDC Maximum 0 VDC Switching threshold Low <5 V High >5 V Input current at nominal voltage Approx. 0 ma Switching delay Positive edge 5 µs ±0.5 µs (digitally filtered) Negative edge 5 µs ±0.5 µs (digitally filtered) Modulation compared to ground potential Max. ±8 V Operating conditions Permitted mounting orientations Hanging vertically Lying horizontally Standing horizontally No Installation at altitudes above sea level Nominal 0 to 500 m Maximum 8) 000 m Degree of pollution in accordance with EN (non-conductive pollution) Overvoltage category in accordance with IEC II 606--:999 EN 6059 protection IP0 Environmental conditions Temperature Operation Nominal 5 to 0 C Maximum 9) 55 C Storage -5 to 55 C Transport -5 to 70 C Relative humidity Operation 5 to 85% Storage 5 to 95% Transport Max. 95% at 0 C Table : 8V Technical data Data sheetv.

4 8V Product ID Mechanical characteristics Dimensions Width Height Depth Weight 8V mm 75 mm 5.5 mm. kg Table : 8V Technical data ) In the USA, TT and TN power mains are commonly referred to as "Delta/Wye with grounded Wye neutral". ) The permissible input voltage range is reduced when using motor holding brakes. The input voltage range should be selected so that the proper supply voltage for the motor holding brake can be maintained. ) The current requirements depend on the configuration of the ACOPOS servo drive. ) Valid in the following conditions: 00 VAC mains input voltage, nominal switching frequency, 0 C ambient temperature, installation altitude <500 m above sea level. 5) Value for the nominal switching frequency. 6) The module's electrical output frequency (SCTRL_SPEED_ACT * MOTOR_POLEPAIRS) is monitored to protect against dual use in accordance with EC 8/009 A5. If the electrical output frequency of the module exceeds the limit value of 600 Hz uninterrupted for more than 0.5 s, then the current movement is aborted and error 6060 is output (power unit: limit speed exceeded). 7) OSSD (open signal switching device) signals are used to monitor signal lines for short circuits and cross faults. 8) Continuous operation of ACOPOS servo drives at altitudes ranging from 500 m to 000 m above sea level is possible (taking the specified continuous current reductions into consideration). Requirements that go above and beyond this need to be arranged with B&R. 9) Continuous operation of ACOPOS servo drives at ambient temperatures ranging from 0 C to max. 55 C is possible (taking the specified continuous current reductions into consideration), but this will result in a shorter service life. Status indicators ACOPOS servo drives are equipped with three LEDs for direct diagnostics: Labeling Color Function Description READY Ready (lit) Figure : ACOPOS servo drives - Status indicators (blinking) ) The module is operational and the power stage can be enabled (operating system present and booted, no permanent or temporary errors). The module is not ready for operation. Examples: No signal on one or both enable inputs DC bus voltage outside the tolerance range Overtemperature on the motor (temperature sensor) Motor feedback not connected or defective Motor temperature sensor not connected or defective Overtemperature on the module (IGBT junction, heat sink, etc.) Disturbance on network RUN Run (lit) The module's power stage is enabled. ERROR Error (lit) ) There is a permanent error on the module. Examples: ) Firmware V.0 and higher Permanent overcurrent Invalid data in EPROM Table : LED status - ACOPOS servo drives If no LEDs are lit, the ACOPOS servo drive is not being supplied with VDC. Danger! After switching off the device, wait until the DC bus discharge time of at least five minutes has passed. The voltage currently on the DC bus must be measured with a suitable measuring device before beginning work. This voltage must be less than VDC to rule out danger. An unlit Run LED does not indicate that voltage is not present on the device! Data sheetv.

5 8V LED status The following timing is used for the indication diagrams: Block size: 5 ms Repeats after: 000 ms Status changes when booting the operating system loader Status LED Display. Boot procedure for base hardware active. Configuration of network plug-in module active. Waiting for network telegram. Network communication active Table : Status changes when booting the operating system loader Error status with reference to the CAN plug-in module AC0 Status LED Display Invalid hardware ID ) Boot error on CAN basic hardware Bus Off CAN station number is 0 ) Possible errors: - ACOPOS servo drive defect - Plug-in module defect - Plug-in module not inserted correctly in the slot Table 5: Error status with reference to the CAN plug-in module AC0 Error status with reference to the POWERLINK V plug-in module AC Status LED Display Invalid hardware ID ) Boot error on POWERLINK basic hardware Error when booting the AC-ARM POWERLINK station number is 0 Table 6: Error status with reference to the POWERLINK V plug-in module AC ) Possible errors: - ACOPOS servo drive defect (plug-in module not recognized) - Plug-in module defect - Plug-in module not inserted correctly in the slot - Plug-in module functioning but not automatically recognized by the ACOPOS servo drive (old bootstrap loader) Data sheetv. 5

6 8V Dimension diagram and installation dimensions Permitted mounting orientations Distance to next device Air outlet Hanging vertically Standing horizontally ) 80 x M5 mounting screws 77 ) Air inlet Figure : Dimension diagram and installation dimensions ) For proper air circulation, at least 80 mm clearance must be available above and below the ACOPOS servo drive. 6 Data sheetv.

7 8V Wiring Figure : ACOPOS 0, 05, Pinout overview Data sheetv. 7

8 8V X connector - Pinout X Pin Name Function Trigger Trigger Quickstop/Trigger Quickstop/Trigger COM (, ) Trigger, Quickstop/Trigger 0 V Shield Shield 5 Limit+ Positive HW limit 6 Limit- Negative HW limit 7 Ref Reference switch 8 Enable ) Enable 9 Enable ) Enable 0 COM (8, 9) Enable 0 V COM (8, 9) Enable 0 V V + V supply 5 + V + V supply 6 COM (5-7,, 5) 0 V supply 7 COM (5-7,, 5) 0 V supply 8 COM (5-7,, 5) 0 V supply The following connections are linked with each other internally in the device: Pin 8 --> Pin 9 (Enable) Pin 0 --> Pin (Enable 0 V) Pin --> Pin 5 (Supply + V) Pin 6 --> Pin 7 --> Pin 8 (Supply 0 V) ) The wiring is not permitted to exceed a total length of 0 m. 6. X connector - Pinout Table 7: X connector - Pinout X Pin Name Function -DC U DC bus - +DC U DC bus + +DC U DC bus + -DC U DC bus - 6. X connector - Pinout Danger! Table 8: X connector - Pinout Servo drives are not permitted to be operated directly on IT and TN-S mains with a grounded phase conductor and protective ground conductor! X Pin Name Function L Power mains connection L L Power mains connection L L Power mains connection L PE Protective ground conductor Table 9: X connector - Pinout 8 Data sheetv.

9 8V Xa, Xb connectors - Pinout Xa Pin Name Function S ) Activation, supply for the external holding brake (+) S ) Activation for the external holding brake (+) P Activation, supply for the external holding brake (-) S Activation for the external holding brake (-) Table 0: Xa connector - Pinout ) If the holding brake is connected via an additional external relay contact (ground-in e.g. via the connections S/S) instead of via the internal transistor, then the internal quenching circuit has no effect! In this case, the customer must make sure that neither the relay contact nor the braking coil are damaged when switching off the brake. This can be done by interconnecting the coil or - better still - interconnecting the contact with a quenching circuit. Xb Pin Name Function T- Temperature sensor - T+ Temperature sensor + B- ) Brake - B+ ) Brake + Table : Xb connector - Pinout ) If the holding brake is connected via an additional external relay contact (ground-in e.g. via the connections S/S) instead of via the internal transistor, then the internal quenching circuit has no effect! In this case, the customer must make sure that neither the relay contact nor the braking coil are damaged when switching off the brake. This can be done by interconnecting the coil or - better still - interconnecting the contact with a quenching circuit. Danger! The connections for the motor temperature sensors and the motor holding brake are isolated circuits. Therefore, these connections are only allowed to be connected to devices or components with at least safe isolation in accordance with IEC or EN Caution! If B+ and B- are swapped when connecting the permanent magnet holding brakes, then the brakes cannot be opened! ACOPOS servo drives cannot determine if a holding brake is connected with reverse polarity! Data sheetv. 9

10 8V Wiring the connections for the motor holding brake The supply, activation and monitoring of the output for the motor holding brake can take place via the Xa connector in three different ways: Monitoring I + - Ref Figure + V Description Supply: Internally by the ACOPOS servo drive Activation: Internally by the ACOPOS servo drive U + - Ref Xa S P S S B + B - T + T - Xb Monitoring: Internally by the ACOPOS servo drive A jumper must be placed between S and S as well as S and S on the Xa connector. ) T Monitoring I + - Ref + V Supply: Internally by the ACOPOS servo drive Activation: Internally by the ACOPOS servo drive and also possible externally using potential-free contacts ) U + - Ref Monitoring: Internally by the ACOPOS servo drive Xa S P S S B + B - T + T - Xb T Information: The parameters for internal monitoring via the ACOPOS must be set according to the requirements of the application. ) Monitoring I + - Ref + V Supply: External Activation: External U + - Ref Xa S P S S B + B - T + T - Xb Monitoring: External Information: ACOPOS internal monitoring cannot be used here; therefore, it must be disabled using software. ) T 0 V + V Table : Activation for the external holding brake ) Both jumpers are already on the Xa connector delivered with the ACOPOS servo drives. ) External potential-free contacts can be connected between S and S as well as between S and S. This makes it possible to activate the holding brake using an external safety circuit independent of the control integrated in the ACOPOS servo drive. ) The parameters are set using ParID 90 (... internal monitoring active; 5... internal monitoring not active). ) Deactivation takes place using ParID 90 (5... internal monitoring not active). 0 Data sheetv.

11 8V X5 connector - Pinout X5 Pin Name Function PE Protective ground conductor W Motor connection W V Motor connection V U Motor connection U U V W Table : X5 connector - Pinout 6.6 Additional protective ground connection (PE) The protective ground conductor is connected to the M5 threaded bolt provided using a cable lug. Figure Pin Name Function --- PE Protective ground conductor Terminal cross sections [mm²] AWG Cable lug for M5 threaded bolt Danger! Table : Protective ground conductor (PE) ACOPOS 0, 05, 090 Before turning on the servo drive, make sure that the housing is properly connected to ground (PE rail). The ground connection must be established even when testing the drive or operating it for a short time! Data sheetv.

12 8V Input/Output circuit diagram X Trigger Quickstop/Trigger COM (, ) Shield K n Trigger 8 V K n Trigger 8 V 8 V Figure : Trigger Figure 5: Limit Figure 6: Enable Data sheetv.

13 8V V ±5 V Brake controller activate X 8 V + V + V 5 8 V COM (5-7, -5) COM (5-7, -5) COM (5-7, -5) -DC +DC +DC -DC X R Sym R Sym 8 V Monitoring Holding brakes ³ COM U + I + - Ref - COM Ref COM R Shunt Evaluation Temperature sensors V Xa Xb S S P S B+ B- T+ T- L L L PE X R B Main relay X5 U V W PE Rectifier Charging circuit and Braking resistor control IGBT output stage Figure 7: ACOPOS 0, 05, Input/Output circuit diagram Data sheetv.