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Siemens 6SL3210-1SB11-0UA0 [224/318] Safety information
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Supplementary system components and encoder system integration
7.5 Option modules, braking signal
Manual
224 Manual, 01/2011, 6SL3097-4AC10-0BP2
7.5.2.1 Safety Information
Note
A regulated DC power supply is required to operate motors with a built-in holding brake. The
power supply is supplied via the internal 24 V busbars. The voltage tolerances of the motor
holding brakes and the voltage drops of the connection cables must be taken into account.
The DC power supply should be set to 26 V. This ensures that the power supply for the
brake remains within the permissible range when the following conditions are fulfilled:
Using Siemens three-phase motors
Using Siemens MOTION-CONNECT power cables
Motor cable lengths: max. 100 m
7.5.2.2 Interface description
Overview
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Figure 7-20 Interface description: Safe Brake Relay
Содержание
- Manual 01 2011 1
- Sinamics 1
- Sinamics s110 1
- Manual 3
- S110 manual 3
- Sinamics 3
- ___________ 3
- ___________________ 3
- Disclaimer of liability 4
- Legal information 4
- Proper use of siemens products 4
- Qualified personnel 4
- Trademarks 4
- Warning notice system 4
- More information 5
- My documentation manager 5
- Preface 5
- Sinamics documentation 5
- Training 5
- Benefits 6
- Http www siemens com sinamics 6
- Preface 6
- Sinamics 6
- Target group 6
- This documentation is aimed at machine manufacturers commissioning engineers and service personnel who use sinamics 6
- This manual describes all the information procedures and operational instructions required for commissioning and servicing sinamics s110 6
- Usage phases and the available tools documents 6
- You can find information on sinamics at 6
- Ec declaration of conformity 7
- Standard scope 7
- Technical support 7
- Spare parts 8
- Test certificates 8
- Esd information 9
- General safety guidelines 10
- Explanation of symbols 11
- Residual risks 12
- Residual risks of power drive systems 12
- Table of contents 15
- Field of application 21
- System overview 21
- Platform concept and totally integrated automation 23
- Overview of sinamics s110 24
- System data 25
- System data 1 system data 25
- System overview 25
- System data 26
- System overview 26
- Derating as a function of the installation altitude and ambient temperature 27
- Only the statements made in the declaration of conformity shall be deemed binding 28
- Standards 28
- System overview 28
- The standards listed in the table below are non binding and do not in any way claim to be complete the standards listed do not represent a guaranteed property of the product 28
- Standards 1 standards 29
- System overview 29
- Standards 30
- System overview 30
- 1 ph 200 v to 1 ph 240 v ac 10 31
- 3 ph 380 v to 3 ph 480 v ac 10 31
- 3 versions for frame sizes fsa fsc chassis 31
- 5 versions for frame sizes fsd fsf 3 chassis and 2 standalone 31
- External 31
- Integrated 31
- Introduction 31
- Line contactor this is required for galvanic isolation 31
- Line disconnector 31
- Line filter optional for power module pm340 frame size fsa 31
- Line reactor optional 31
- Mains connection and line side power components 31
- Overcurrent protection device line fuse or circuit breaker 31
- Standalone 31
- The following line filter variants are available 31
- The following line reactor variants are available 31
- The following line side components should be used to connect a sinamics blocksize drive line up to the supply network 31
- The possible supply voltages for the drive line up are 31
- Information on the disconnector unit 33
- Overcurrent protection by means of line fuses and circuit breakers 34
- Residual current operated circuit breakers rcd 35
- Using residual current devices 35
- When using residual current operated circuit breakers it should be noted that 35
- Overvoltage protection 36
- Line contactors 37
- Description 38
- Line filter 38
- Safety information 39
- Blocksize line filter 40
- Dimension drawing 40
- Line filter 40
- Mains connection and line side power components 40
- Installation 41
- Line filter 42
- Mains connection and line side power components 42
- Technical data blocksize line filter 42
- Description 43
- Line reactors 43
- Safety information 43
- Blocksize line reactors 44
- Dimension drawings 44
- Line reactors 44
- Mains connection and line side power components 44
- Line reactors 2 line reactors 45
- Mains connection and line side power components 45
- Installation 46
- Line reactors 46
- Mains connection and line side power components 46
- The line reactors for power modules with frame sizes fsa to fse are designed as sub chassis components the line reactor is attached to the mounting surface and to save space the power module is mounted directly on the line reactor the cables to the power modules are already connected at the line reactor the line reactor is connected to the line supply through terminals 46
- When installed the power supply terminals are at the top on frame sizes fsa to fsc and at the bottom on frame sizes fsd and fse 46
- Figure 2 7 mounting dimensions for line reactors with frame size fsa 47
- Given their weight and their size the line reactors for power modules with frame size fsf are mounted separately 47
- Line reactors 2 line reactors 47
- Mains connection and line side power components 47
- Table 2 6 mounting dimensions for line reactors with frame size fsa all data in mm and inches 47
- Figure 2 8 mounting dimensions for line reactors with frame sizes fsb and fsc 48
- Line reactors 48
- Mains connection and line side power components 48
- Table 2 7 mounting dimensions for line reactors with frame sizes fsb and fsc all data in mm and inches 48
- Line reactors 2 line reactors 49
- Mains connection and line side power components 49
- Line reactors 50
- Mains connection and line side power components 50
- Mounting examples 51
- Figure 2 12 side mounting of line reactors with frame sizes fsb and fsc 52
- Line reactors 52
- Mains connection and line side power components 52
- Electrical connection 54
- Figure 2 14 power module with line filter 54
- Figure 2 15 power module blocksize with line reactor and line filter 54
- Line reactors 54
- Line supply load connection 54
- Mains connection and line side power components 54
- Line reactors 2 line reactors 55
- Mains connection and line side power components 55
- Technical data blocksize 55
- Line reactors 56
- Mains connection and line side power components 56
- A distinction is made between 57
- Direct operation of the line connection components on the supply system 57
- Figure 2 16 overview of line connection variants 57
- Line connection variants 57
- Line connection variants 2 line connection variants 57
- Mains connection and line side power components 57
- Methods of line connection 57
- Operating line connection components via an isolating transformer 57
- Operation of the line connection components via an autotransformer 57
- Operation of the line connection components on the supply network 58
- Operation of single phase units on the single phase grounded midpoint line system configuration 59
- An autotransformer can be used to adapt the voltage in the range up to 3 ph 480 v ac 10 or 1 ph 240 v ac 10 60
- Application example 60
- Caution 60
- Figure 2 19 autotransformer 60
- Line connection variants 60
- Mains connection and line side power components 60
- Operation of the line connection components via an autotransformer 60
- The motor insulation must be protected from excessive voltages 60
- To ensure safe electrical separation an isolating transformer must be used for voltages greater than 3 ph 480 v ac and 1 ph 240 v ac 60
- An isolating transformer must be used in the following cases 61
- Caution if the line supply voltage is greater than 3 ph 480 v ac 10 or 1 ph 240 v ac 10 it is not permissible that an autotransformer is used 61
- Figure 2 20 isolating transformer 61
- For all other systems that are not tn line supply systems with grounded neutral conductor a line filter should always be used 61
- In order to ensure protective separation an isolating transformer must always be used 61
- Line connection variants 2 line connection variants 61
- Mains connection and line side power components 61
- Manual 61
- Manual 01 2011 6sl3097 4ac10 0bp2 61
- Operation of the line connection components via an isolating transformer 61
- The installation altitude is greater than 2000 m above sea level 61
- The insulation of the power module and or the motor is not adequate for the voltages that occur 61
- The isolating transformer converts the type of the line supply type in the plant e g it tt line supply to a tn line supply additional voltage adaptation to the permissible voltage tolerance range is possible 61
- There is no compatibility to an existing residual current protective device 61
- Description 63
- Power modules 63
- Power modules blocksize pm340 63
- Safety information 65
- Interface description 68
- Overview 68
- Power modules 68
- Power modules blocksize pm340 68
- Figure 3 2 pm340 frame size fsb 69
- Power modules 69
- Power modules blocksize pm340 3 power modules blocksize pm340 69
- Figure 3 3 pm340 frame size fsc 70
- Power modules 70
- Power modules blocksize pm340 70
- Figure 3 4 pm340 frame size fsd 71
- Power modules 71
- Power modules blocksize pm340 3 power modules blocksize pm340 71
- Figure 3 5 pm340 frame size fse 72
- Power modules 72
- Power modules blocksize pm340 72
- Figure 3 6 pm340 frame size fsf 73
- Power modules 73
- Power modules blocksize pm340 3 power modules blocksize pm340 73
- Arrangement of the line supply and motor terminals 74
- Line supply connection 75
- Motor connection 75
- Power modules 75
- Power modules blocksize pm340 3 power modules blocksize pm340 75
- Braking resistor and dc link connection 76
- Connection to the option module brake control 76
- Power modules 76
- Power modules blocksize pm340 76
- To connect the cable lugs of the brake resistor cable to a pm340 power module frame size fsa it is necessary to nip the lug on connection r2 off using a diagonal cutter tool take great care to ensure that no pieces of plastic fall into the housing 76
- Example connections 77
- Power modules 77
- Power modules blocksize pm340 3 power modules blocksize pm340 77
- Figure 3 9 connection example pm340 3 ph 380 v 480 v ac 78
- Power modules 78
- Power modules blocksize pm340 78
- Dimension drawings 79
- Figure 3 11 dimension drawing power module pm340 frame size fsd 80
- Power modules 80
- Power modules blocksize pm340 80
- Figure 3 12 dimension drawing power module pm340 with integrated line filter frame size fsd 81
- Power modules 81
- Power modules blocksize pm340 3 power modules blocksize pm340 81
- Figure 3 13 dimension drawing power module pm340 frame size fse 82
- Power modules 82
- Power modules blocksize pm340 82
- Figure 3 14 dimension drawing power module pm340 with integrated line filter frame size fse 83
- Power modules 83
- Power modules blocksize pm340 3 power modules blocksize pm340 83
- Figure 3 15 dimension drawing power module pm340 frame size fsf 84
- Power modules 84
- Power modules blocksize pm340 84
- Figure 3 16 dimension drawing power module pm340 with integrated line filter frame size fsf 85
- Power modules 85
- Power modules blocksize pm340 3 power modules blocksize pm340 85
- Drilling patterns 86
- Drilling templates for frame sizes fsa and fsc 86
- Figure 3 17 drilling templates for frame sizes fsa and fsc 86
- Mounting 86
- Power modules 86
- Power modules blocksize pm340 86
- Drilling templates for frame sizes fsd to fsf 87
- Figure 3 18 drilling templates for frame sizes fsd to fsf with and without line filter 87
- Power modules 87
- Power modules blocksize pm340 3 power modules blocksize pm340 87
- Mounting dimensions and tightening torques 88
- Power modules 88
- Power modules blocksize pm340 88
- The mounting dimensions and the tightening torques for fixing the power modules are specified in the following table 88
- Access to the power supply terminals and motor terminals 89
- Danger 90
- It is not permissible to use power modules with integrated line filter in it line supply systems 90
- Once the terminal cover has been removed the degree of protection of the power module is reduced to ip00 90
- Operation on non grounded line supply systems it 90
- Power modules 90
- Power modules blocksize 1 ph ac 90
- Power modules blocksize pm340 90
- Technical data 90
- Power modules 91
- Power modules blocksize pm340 3 power modules blocksize pm340 91
- Power modules 92
- Power modules blocksize pm340 92
- Power modules 93
- Power modules blocksize pm340 3 power modules blocksize pm340 93
- Power modules 94
- Power modules blocksize pm340 94
- Power modules 95
- Power modules blocksize pm340 3 power modules blocksize pm340 95
- Power modules 96
- Power modules blocksize pm340 96
- Characteristics 97
- Overload capability 97
- Power modules 97
- Power modules blocksize pm340 3 power modules blocksize pm340 97
- Figure 3 21 duty cycle without initial load for servo drives 98
- Figure 3 22 s6 duty cycle with initial load for servo drives 98
- Figure 3 23 duty cycle with initial load for servo drives 98
- Power modules 98
- Power modules blocksize pm340 98
- Derating characteristic for power modules in blocksize format 99
- Figure 3 24 duty cycle with 60 s overload with a duty cycle duration of 300 s 99
- Figure 3 25 duty cycle with 30 s overload with a duty cycle duration of 300 s 99
- Figure 3 26 frame sizes fsa to fse output current as a function of the pulse frequency 99
- Power modules 99
- Power modules blocksize pm340 3 power modules blocksize pm340 99
- The short leading edges of the duty cycles shown can only be achieved using speed or torque control 99
- Figure 3 27 frame size fsf output current as a function of the pulse frequency 100
- Figure 3 28 output current as a function of the ambient temperature 100
- Figure 3 29 output current as a function of the installation altitude 100
- Power modules 100
- Power modules blocksize pm340 100
- A reduction of the line supply voltage phase phase is not necessary 101
- Figure 3 30 current derating as a function of the dc link voltage 101
- It system 101
- M an insolating transformer must be used see system overview derating as a function of the installation altitude and ambient temperature the design the secondary line supply system must be as follows 101
- Power modules 101
- Power modules blocksize pm340 3 power modules blocksize pm340 101
- Tn system with grounded star point no grounded outer conductor 101
- Current derating depending on the pulse frequency 102
- Interrelationship between the pulse frequency and current de rating 102
- Power modules 102
- Power modules blocksize pm340 102
- Power modules 103
- Power modules blocksize pm340 3 power modules blocksize pm340 103
- Description 104
- Power modules blocksize liquid cooled pm340 104
- Safety information 105
- Figure 3 31 liquid cooled power module pm340 example frame size fsd 108
- Interface description 108
- Overview 108
- Power modules 108
- Power modules blocksize liquid cooled pm340 108
- Connection example 109
- Figure 3 32 connection example liquid cooled power module pm340 3 ph 380 to 480 v ac 109
- Power modules 109
- Power modules blocksize liquid cooled pm340 3 power modules blocksize liquid cooled pm340 109
- Arrangement of the line and motor terminals 110
- Line supply connection 110
- Power modules 110
- Power modules blocksize liquid cooled pm340 110
- The following diagram shows the arrangement of the line and motor terminals for pm340 power modules frame sizes fsd to fsf the diagram also includes the terminal tightening torques 110
- Braking resistor and dc link connection 111
- Connection to the option module brake control 111
- Motor connection 111
- Power modules 111
- Power modules blocksize liquid cooled pm340 3 power modules blocksize liquid cooled pm340 111
- Dimension drawings 112
- Figure 3 34 dimension drawing of liquid cooled power module pm340 frame size fsd all dimensions in mm and inches 112
- Power modules 112
- Power modules blocksize liquid cooled pm340 112
- Figure 3 35 dimension drawing of liquid cooled power module pm340 frame size fse all dimensions in mm and inches 113
- Power modules 113
- Power modules blocksize liquid cooled pm340 3 power modules blocksize liquid cooled pm340 113
- Figure 3 36 dimension drawing of liquid cooled power module pm340 frame size fsf all dimensions in mm and inches 114
- Installation 114
- Power modules 114
- Power modules blocksize liquid cooled pm340 114
- The coolant hoses should be connected before the devices are installed 114
- Drilling patterns 115
- Figure 3 37 hole drilling templates for frame sizes fsd to fsf 115
- Hole drilling templates for frame sizes fsd to fsf 115
- Power modules 115
- Power modules blocksize liquid cooled pm340 3 power modules blocksize liquid cooled pm340 115
- Figure 3 38 installation of power module pm340 liquid cooled with integrated cooling unit example frame size fse 116
- Installation 116
- Power modules 116
- Power modules blocksize liquid cooled pm340 116
- The connections for the coolant are on the underside water connection thread type pipe thread iso 228 g ½ b 116
- Access to the power supply terminals and motor terminals 117
- After commissioning 118
- Commissioning 118
- Connection to the cooling circuit 118
- Prior to commissioning 118
- Power modules 119
- Power modules blocksize liquid cooled pm340 3 power modules blocksize liquid cooled pm340 119
- Technical data 119
- Power modules 120
- Power modules blocksize liquid cooled pm340 120
- Power modules 121
- Power modules blocksize liquid cooled pm340 3 power modules blocksize liquid cooled pm340 121
- Characteristics 122
- Figure 3 40 duty cycle with initial load for servo drives 122
- Figure 3 41 duty cycle without initial load for servo drives 122
- Figure 3 42 s6 duty cycle with initial load for servo drives 122
- Overload capability 122
- Power modules 122
- Power modules blocksize liquid cooled pm340 122
- Figure 3 43 duty cycle with initial load for servo drives 123
- Figure 3 44 duty cycle with 60 s overload with a duty cycle duration of 300 s 123
- Figure 3 45 duty cycle with 30 s overload with a duty cycle duration of 300 s 123
- Power modules 123
- Power modules blocksize liquid cooled pm340 3 power modules blocksize liquid cooled pm340 123
- The short leading edges of the duty cycles shown can only be achieved using speed or torque control 123
- Derating characteristics for power modules in blocksize liquid cooled format 124
- Figure 3 46 frame sizes fsd and fse output current as a function of the pulse frequency 124
- Figure 3 47 frame size fsf output current as a function of the pulse frequency 124
- Figure 3 48 output current as a function of the ambient temperature 124
- Power modules 124
- Power modules blocksize liquid cooled pm340 124
- Figure 3 49 output current as a function of the installation altitude 125
- Figure 3 50 current derating as a function of the dc link voltage 125
- Power modules 125
- Power modules blocksize liquid cooled pm340 3 power modules blocksize liquid cooled pm340 125
- A reduction of the line supply voltage phase phase is not necessary 126
- Figure 3 51 current derating as a function of the ambient temperature 126
- It system 126
- M an insolating transformer must be used see system overview derating as a function of the installation altitude and ambient temperature the design the secondary line supply system must be as follows 126
- Power modules 126
- Power modules blocksize liquid cooled pm340 126
- Tn system with grounded star point no grounded outer conductor 126
- Braking resistors 127
- Dc link components 127
- Description 127
- Safety information 127
- Braking resistors 128
- Connect the thermoswitch to a contactor establish the power supply to the power modules through a contactor which can then shut down the power supply when the resistor overheats the thermoswitch is connected in series with the coil feeder cable for the line contactor the contacts of the thermoswitch switch close again as soon as the temperature of the braking resistor has fallen below the selected value 128
- Connect the thermoswitch to a control unit connect the thermoswitch to a free digital input of the control unit if the braking resistor overheats the power module is disconnected from the power supply then the digital input must be assigned to enable deactivation using an off2 command 128
- Dc link components 128
- Figure 4 1 connecting the thermoswitch on the braking resistor to a control unit 128
- Figure 4 2 connecting the thermoswitch on the braking resistor to a contactor 128
- Dimension drawings 129
- Braking resistors 130
- Dc link components 130
- Braking resistors 4 braking resistors 131
- Dc link components 131
- Mounting 131
- Note note pe connection 131
- The braking resistor is connected at terminals dcp r1 and r2 since it generates heat it should be mounted to the side of the pm340 power modules 131
- The braking resistors can be installed horizontally or vertically the power connections on vertically installed resistors must be at the bottom 131
- The braking resistors for the fsa and fsb frame sizes are designed as sub chassis components if the pm340 power modules of the fsa or fsb frame size are operated without a line reactor the braking resistors can also be installed under the power modules 131
- The braking resistors for the power modules of the fsc to fsf frame sizes should be placed outside the control cabinet or the switchgear room in order to direct the resulting heat loss away from the power modules this reduces the level of air conditioning required 131
- The pe connection for the braking resistor is established via the screening kit for frame sizes fsa to fsf 131
- Braking resistors 132
- Dc link components 132
- Technical data 132
- Duty cycles 133
- Description 135
- Motor reactors blocksize 135
- Motor side power components 135
- Safety information 135
- Dimension drawings 136
- Motor reactors blocksize 136
- Motor side power components 136
- Motor reactors blocksize 5 motor reactors blocksize 137
- Motor side power components 137
- Figure 5 3 dimension drawing motor reactor frame size fsd 138
- Figure 5 4 dimension drawing motor reactor frame size fse 138
- Motor reactors blocksize 138
- Motor side power components 138
- Figure 5 5 dimension drawing motor reactor frame size fsf 139
- Motor reactors blocksize 5 motor reactors blocksize 139
- Motor side power components 139
- Table 5 3 total dimensions motor reactor frame sizes fsd fse all data in mm and inches 139
- Motor reactors blocksize 140
- Motor side power components 140
- Table 5 4 total dimensions motor reactor frame size fsf all data in mm and inches 140
- Motor reactors blocksize 5 motor reactors blocksize 141
- Motor side power components 141
- Mounting 141
- The motor reactor must be installed as close as possible to the power module 141
- Motor reactors blocksize 142
- Motor side power components 142
- Cable cross section and terminal tightening torques terminals for wiring on site 143
- Motor reactors blocksize 5 motor reactors blocksize 143
- Motor side power components 143
- Motor reactors blocksize 5 motor reactors blocksize 145
- Motor side power components 145
- Motor reactors blocksize 146
- Motor side power components 146
- Mounting power modules and motor reactors 146
- Electrical connection 147
- Motor reactors blocksize 148
- Motor side power components 148
- Technical data 148
- Motor reactors blocksize 5 motor reactors blocksize 149
- Motor side power components 149
- Are components in which the open loop and closed loop control functions for a drive are implemented 151
- Cu305 can 151
- Cu305 control units 151
- Cu305 dp profibus 151
- Cu305 pn profinet 151
- Description 151
- The control units 151
- The table below shows an overview of the interfaces of the cu305 control units 151
- Cu305 control units 152
- Description 152
- Interface overview classified according to terminal 152
- The operating ranges of the f dis meet the requirements of en 61131 2 for type 1 digital inputs 152
- The rated values of the f do meet the requirements of en 61131 2 for digital dc outputs with 0 a rated current 152
- Safety information 153
- Cu305 pn profinet 154
- Interfaces 154
- Overview cu305 pn 154
- Cu305 control units 155
- Interfaces 6 interfaces 155
- Note note 155
- The address switches which are located beneath the cover for the basic operator panel bop have no function for the cu305 pn 155
- The profinet interfaces support auto mdi x it is therefore possible to use both crossed and uncrossed cables to connect the devices 155
- There are four leds on the front panel of the cu305 pn to display status information about the profinet interfaces see section interface overview figure cu305 pn interface overview the table shows the status information these indicate 155
- X150 p1 p2 profinet 155
- Cu305 control units 156
- Cu305 dp profibus 156
- Interfaces 156
- Overview cu305 dp 156
- Caution 157
- Communication with uss protocol via rs485 157
- Cu305 control units 157
- Interface x126 can also be used for communication with uss involving up to 32 nodes the software in the starter is used to change the profibus factory setting to uss during operation as a uss interface only terminals 3 5 and 8 are used please refer to the sinamics s110 function manual for information on configuration 157
- Interfaces 6 interfaces 157
- No can cables may be connected to the x126 interface if can cables are connected the cu305 dp and other can bus nodes could be seriously damaged 157
- X126 profibus uss interface 157
- Profibus uss address switch 158
- Setting the profibus address 158
- Setting the uss address 158
- Cu305 can 159
- Cu305 control units 159
- Interfaces 6 interfaces 159
- Overview cu305 can 159
- Caution 160
- Cu305 control units 160
- If the can interface is connected to the profibus connector then this can destroy the can interface 160
- Interfaces 160
- S100 dip switch 160
- X126 can interface 160
- Common interfaces for cu305 pn dp can 161
- Cu305 control units 161
- Electronics power supply x124 161
- Interfaces 6 interfaces 161
- The two or m terminals are jumpered in the connector this ensures that the supply voltage is looped through 161
- X100 drive cliq interface 161
- An additional external electronics power supply via terminal x124 is required in two cases if the digital outputs do 8 to do 11 are in use the power supply needs to be connected to x124 the electronics power supply to the cu305 is supplied using the power module if the cu305 needs to remain functional when the power module is switched off the power supply needs to be connected to x124 162
- Cu305 control units 162
- If m1 is connected to m x124 or x132 the system is no longer electrically isolated 162
- Interfaces 162
- Note note 162
- Notice an open input is interpreted as low 162
- X130 failsafe digital inputs 162
- Cu305 control units 163
- Interfaces 6 interfaces 163
- The failsafe digital output do 16 do 16 switches off retentively in the event of a short circuit 163
- X131 failsafe digital inputs outputs 163
- Caution 164
- Cu305 control units 164
- Interfaces 164
- Notice an open input is interpreted as low 164
- The common mode range may not be violated this means that the analog differential voltage signals can have a maximum offset voltage of 15 v with respect to the reference potential if the range is violated incorrect results may occur during analog digital conversion 164
- X132 digital inputs outputs analog input 164
- A 24 v voltage supply must be connected to terminal x124 so that the digital outputs can be used 165
- Cu305 control units 165
- However only one temperature sensor may be connected as otherwise the parallel circuit will be recorded and incorrect temperature values will be generated 165
- If the 24 v supply is briefly interrupted then the digital outputs are de activated during this time 165
- Interfaces 6 interfaces 165
- Note note 165
- Notice an open input is interpreted as low 165
- Notice the kty temperature sensor must be connected with the correct polarity 165
- There are two ways of connecting the temperature sensor 1 via x133 terminal 7 and 8 165
- Via x23 pin 1 and 8 165
- X133 digital inputs motor temperature sensor input 165
- Cu305 control units 166
- Danger 166
- However only one temperature sensor may be connected as otherwise the parallel circuit will be recorded and incorrect temperature values will be generated 166
- If these instructions are not complied with there is a risk of electric shock 166
- Interfaces 166
- Note note 166
- Notice the kty temperature sensor must be connected with the correct polarity 166
- Only temperature sensors that meet the safety isolation specifications contained in en 61800 5 1 may be connected to terminals temp and temp 166
- Risk of electric shock 166
- There are two ways of connecting the temperature sensor 1 via x133 terminal 7 and 8 166
- Via x23 pin 1 and 8 166
- X23 htl ttl ssi encoder interface 166
- Cu305 control units 167
- If a 5 v ttl encoder 6fx encoder is used the connecting cable 6fx8002 2cr00 has to be used 167
- Interfaces 6 interfaces 167
- Note note we recommend that bipolar encoders are used 167
- Notice 167
- Prefabricated cable for 5 v ttl encoder 167
- When using unipolar encoders the unused negative track signals can either be left unconnected or connected to ground this results in two different operating points 167
- Because the physical transmission media is more robust the bipolar connection should always be used the unipolar connection should only be used if the encoder type does not output push pull signals 168
- Connection example 1 htl encoder bipolar with reference signal 168
- Connection example 2 htl encoder unipolar with reference signal 168
- Cu305 control units 168
- Figure 6 4 connection example 1 htl encoder bipolar with reference signal 168
- Figure 6 5 connection example 2 htl encoder unipolar with reference signal 168
- Interfaces 168
- Signal cables must be twisted in pairs in order to improve noise immunity against induced noise 168
- Connection example 169
- Cu305 control units 169
- Interfaces 6 interfaces 169
- Pulse direction interface 169
- Setpoint value specification with htl level 169
- Thanks to the pulse direction interface sinamics s110 can be used for simple positioning tasks on a controller connection to the controller is via internal encoder interface x23 of the cu305 169
- The controller gives the drive two signals a pulse sequence with a pulse pause ratio of 50 50 and a directional signal 169
- The image below shows an example of how to connect a pulse direction interface with htl level to interface x23 of a control unit cu305 169
- The required settings for the pulse direction interface need to be made in the starter please refer to the sinamics s110 function manual for details 169
- Connection example 170
- Cu305 control units 170
- Interfaces 170
- Setpoint value specification sensor signal with ttl level 170
- The image below shows an example of how to connect ttl encoders to interface x23 of a control unit cu305 for setpoint value specification via a track and b track 170
- The required settings for the pulse direction interface need to be made in the starter please refer to the sinamics s110 function manual for details 170
- This sections shows an example of how to connect bipolar ttl encoders to the pulse direction interface of control unit cu305 connection to the controller supports setpoint value specification via a track and b track 170
- Cu305 control units 171
- Interfaces 6 interfaces 171
- The test sockets are provided as a support to commissioning and diagnostics they must not be connected for normal operation 171
- X22 serial interface rs232 171
- X520 521 522 measuring sockets 171
- Memory card slot 172
- Connection examples 173
- Connection examples 6 connection examples 173
- Connection examples without a safety function 173
- Cu305 control units 173
- Connection examples 174
- Cu305 control units 174
- Figure 6 10 example of circuits for the di do without the safety function 174
- Connection examples 6 connection examples 175
- Connection examples with a safety function 175
- Cu305 control units 175
- Figure 6 11 internal connections of the cu305 with the safety function 175
- Connection examples 176
- Cu305 control units 176
- Figure 6 12 example of circuits for the f di f do with the safety function 176
- Further information about connections can be found in the manual sinamics s110 function manual drive functions 176
- H11 h10 h9 h8 176
- S11 s10 s9 s8 s3 s2 s1 s0 1 176
- Meaning of leds 177
- Behavior of the leds during booting 178
- Cu305 control units 178
- Loading 178
- Meaning of leds 178
- Behavior of the leds in the operating state 179
- Cu305 control units 179
- Meaning of leds 6 meaning of leds 179
- Update 179
- Cu305 control units 180
- Meaning of leds 180
- Dimension drawing cu305 pn 181
- Dimension drawings 181
- Dimension drawing cu305 dp can 182
- Mounting 183
- Removing the control unit 183
- Cu305 control units 184
- Technical data 184
- Basic operator panel bop20 185
- Description 185
- Interface description 185
- Supplementary system components and encoder system integration 185
- Basic operator panel bop20 186
- Overview of displays and keys 186
- Supplementary system components and encoder system integration 186
- Basic operator panel bop20 7 basic operator panel bop20 187
- Bop20 keyboard 187
- Supplementary system components and encoder system integration 187
- Installation 188
- Mounting 188
- Dismantling 189
- Display and operator controls of the bop20 189
- Description 190
- Safety information 190
- Sensor module cabinet mounted smc10 190
- Figure 7 3 interface description of the smc10 191
- Interface description 191
- Overview 191
- Sensor module cabinet mounted smc10 7 sensor module cabinet mounted smc10 191
- Supplementary system components and encoder system integration 191
- Drive cliq interface x500 192
- Sensor module cabinet mounted smc10 192
- Supplementary system components and encoder system integration 192
- X520 encoder system interface 192
- Danger 193
- If these instructions are not complied with there is a risk of electric shock 193
- Notice the kty temperature sensor must be connected with the correct polarity 193
- Only temperature sensors that meet the safety isolation specifications contained in en 61800 5 1 may be connected to terminals temp and temp 193
- Risk of electric shock 193
- Sensor module cabinet mounted smc10 7 sensor module cabinet mounted smc10 193
- Supplementary system components and encoder system integration 193
- The two or m terminals are jumpered in the connector this ensures that the supply voltage is looped through 193
- X524 electronics power supply 193
- Cause and rectification of faults 194
- Further information about the causes of faults and how to remedy them may be found in the manual sinamics s120 commissioning manual 194
- Meaning of the led 194
- Sensor module cabinet mounted smc10 194
- Sinamics s120 commissioning manual ih1 194
- Sinamics s120 s150 list manual lh1 194
- Supplementary system components and encoder system integration 194
- The following documents contain information about the cause of faults and how they can be rectified 194
- Dimension drawing 195
- Installation 195
- Mounting 195
- Removal 196
- Sensor module cabinet mounted smc10 7 sensor module cabinet mounted smc10 197
- Supplementary system components and encoder system integration 197
- Technical data 197
- The ratio between the ohmic resistance r and the inductance l the primary winding of the resolver determines whether the resolver can be evaluated with the smc10 see the following diagram 197
- Figure 7 6 connectable impedances with an excitation frequency f 5000 hz 198
- Sensor module cabinet mounted smc10 198
- Supplementary system components and encoder system integration 198
- Description 199
- Safety information 199
- Sensor module cabinet mounted smc20 199
- Figure 7 7 interface description of the smc20 200
- Interface description 200
- Overview 200
- Sensor module cabinet mounted smc20 200
- Supplementary system components and encoder system integration 200
- Drive cliq interface x500 201
- Sensor module cabinet mounted smc20 7 sensor module cabinet mounted smc20 201
- Supplementary system components and encoder system integration 201
- X520 encoder system interface 201
- Danger 202
- Electronics power supply x524 202
- If these instructions are not complied with there is a risk of electric shock 202
- Notice the kty temperature sensor must be connected with the correct polarity 202
- Only temperature sensors that meet the safety isolation specifications contained in en 61800 5 1 may be connected to terminals temp and temp 202
- Risk of electric shock 202
- Sensor module cabinet mounted smc20 202
- Supplementary system components and encoder system integration 202
- The two or m terminals are jumpered in the connector this ensures that the supply voltage is looped through 202
- Cause and rectification of faults 203
- Further information about the causes of faults and how to remedy them may be found in the manual sinamics s120 commissioning manual 203
- Meaning of the led 203
- Sensor module cabinet mounted smc20 7 sensor module cabinet mounted smc20 203
- Sinamics s120 commissioning manual ih1 203
- Sinamics s120 s150 list manual lh1 203
- Supplementary system components and encoder system integration 203
- The following documents contain information about the cause of faults and how they can be rectified 203
- Dimension drawing 204
- Installation 204
- Mounting 204
- Removal 205
- Current controller clock cycle 206
- Notice 206
- Sensor module cabinet mounted smc20 206
- Supplementary system components and encoder system integration 206
- Technical data 206
- When a current controller clock cycle of 31 5 µs is used a smc20 with mlfb 6sl3055 0aa00 5ba3 must be used 206
- Description 207
- Safety information 207
- Sensor module cabinet mounted smc30 207
- Interface description 208
- Overview 208
- Sensor module cabinet mounted smc30 208
- Supplementary system components and encoder system integration 208
- Drive cliq interface x500 209
- Sensor module cabinet mounted smc30 7 sensor module cabinet mounted smc30 209
- Supplementary system components and encoder system integration 209
- X520 encoder system interface 209
- Caution when the encoder system is connected via terminals make sure that the cable shield is connected to the component refer to the chapter electrical connection 211
- Notice the kty temperature sensor must be connected with the correct polarity for details of how to parameterize the kty temperature sensors refer to the sinamics s120 function manual fh1 in the chapter monitoring and protective functions thermal motor monitoring 211
- Sensor module cabinet mounted smc30 7 sensor module cabinet mounted smc30 211
- Supplementary system components and encoder system integration 211
- X521 x531 alternative encoder system interface 211
- Danger 212
- If these instructions are not complied with there is a risk of electric shock 212
- Only temperature sensors that meet the safety isolation specifications contained in en 61800 5 1 may be connected to terminals temp and temp 212
- Risk of electric shock 212
- Sensor module cabinet mounted smc30 212
- Supplementary system components and encoder system integration 212
- The two or m terminals are jumpered in the connector this ensures that the supply voltage is looped through 212
- X524 electronics power supply 212
- Because the physical transmission media is more robust the bipolar connection should always be used the unipolar connection should only be used if the encoder type does not output push pull signals 213
- Connection example 1 htl encoder bipolar with reference signal 213
- Connection example 2 htl encoder unipolar with reference signal 213
- Connection examples 213
- Figure 7 11 connection example 1 htl encoder bipolar with reference signal 213
- Figure 7 12 connection example 2 htl encoder unipolar with reference signa 213
- Sensor module cabinet mounted smc30 7 sensor module cabinet mounted smc30 213
- Signal cables must be twisted in pairs in order to improve noise immunity against induced noise 213
- Supplementary system components and encoder system integration 213
- Cause and rectification of faults 215
- Meaning of leds 215
- Sensor module cabinet mounted smc30 7 sensor module cabinet mounted smc30 215
- Sinamics s120 commissioning manual ih1 215
- Sinamics s120 s150 list manual lh1 215
- Supplementary system components and encoder system integration 215
- The following documents contain information about the cause of faults and how they can be rectified 215
- Dimension drawing 216
- Installation 216
- Mounting 216
- Removal 217
- Protective conductor connection and shield support 218
- Sensor module cabinet mounted smc30 7 sensor module cabinet mounted smc30 219
- Supplementary system components and encoder system integration 219
- Technical specifications 219
- Sensor module cabinet mounted smc30 220
- Supplementary system components and encoder system integration 220
- Cable cross sections 221
- Figure 7 17 max cable length as a function of the encoder current drawn 221
- For encoders with a 5 v supply at x521 x531 the cable lengths depend on the encoder current for 0 m 221
- For encoders without remote sense the permissible cable length is restricted to 100 m reason the voltage drop depends on the cable length and the encoder current 221
- Sensor module cabinet mounted smc30 7 sensor module cabinet mounted smc30 221
- Supplementary system components and encoder system integration 221
- Figure 7 18 signal characteristic of track a and track b between two edges time between two edges with pulse encoders 222
- Figure 7 19 position of the zero pulse to the track signals 222
- Sensor module cabinet mounted smc30 222
- Supplementary system components and encoder system integration 222
- Introduction 223
- Option modules braking signal 223
- Safe brake relay 223
- Interface description 224
- Overview 224
- Safety information 224
- Brake connection 225
- Electronics power supply x524 225
- Option modules braking signal 7 option modules braking signal 225
- Supplementary system components and encoder system integration 225
- The two or m terminals are jumpered in the connector this ensures that the supply voltage is looped through 225
- Connection example 226
- Figure 7 21 safe brake relay connection example 226
- Option modules braking signal 226
- Supplementary system components and encoder system integration 226
- Dimension drawing 227
- Mounting 228
- Option modules braking signal 230
- Supplementary system components and encoder system integration 230
- Technical data 230
- Accessories 231
- Description 231
- Drive cliq cabinet gland 231
- Safety information 231
- Accessories 232
- Dimension drawing 232
- Drive cliq cabinet gland 232
- Interface description 232
- Overview 232
- Installation 233
- Installation 234
- Technical data 234
- Description 235
- Drive cliq coupling 235
- Interface description 235
- Overview 235
- Safety information 235
- Accessories 236
- Dimension drawing 236
- Drive cliq coupling 236
- Figure 8 6 dimension drawing of the drive cliq coupling all dimensions in mm and inches 236
- Installation 237
- Technical data 237
- A screening kit is offered as an optional shield support for power modules in frame sizes fsa to fsf it provides shield support for the power cables the screening kit is screwed directly onto the wall of the control cabinet for frame sizes fsa to fsc with frame sizes fsd to fsf it is attached to the power module for frame sizes fsb and fsc the screening kit accessories pack contains a ferrite core for damping radio cable disturbances 238
- Accessories 238
- Description 238
- Screening kit 238
- Accessories 239
- Dimension drawings 239
- Dimension drawings of screening kits frame sizes fsa to fsc 239
- Figure 8 10 dimension drawing of screening kit frame size fsb all data in mm and inches 239
- Figure 8 9 dimension drawing of screening kit frame size fsa all data in mm and inches 239
- Screening kit 8 screening kit 239
- Screening kits 239
- Accessories 240
- Figure 8 11 dimension drawing of screening kit frame size fsc all data in mm and inches 240
- Screening kit 240
- Accessories 241
- Blocksize power modules with screening kits 241
- Dimension drawings of power modules with screening kit frame sizes fsa to fsf 241
- Figure 8 12 dimension drawing of pm340 power module with screening kit frame size fsa all dimensions in mm and inches 241
- Screening kit 8 screening kit 241
- Accessories 242
- Figure 8 13 dimension drawing of pm340 power module with screening kit frame size fsb all dimensions in mm and inches 242
- Figure 8 14 dimension drawing of pm340 power module with screening kit frame size fsc all dimensions in mm and inches 242
- Manual 242
- Manual 01 2011 6sl3097 4ac10 0bp2 242
- Screening kit 242
- Frame size fsa 245
- Mounting 245
- Overview 245
- Frame size fsb fsc 246
- Frame sizes fsd fse 247
- Mounting the ferrite core 247
- Frame size fsf 248
- Blocksize liquid cooled power modules 249
- Frame size fsf 249
- Frame sizes fsd and fse 249
- Cabinet design and emc for components blocksize format 251
- General 251
- Safety information 252
- Notes on electromagnetic compatibility emc 254
- Cable shielding and routing 255
- 24 v dc supply voltage 257
- General 257
- V dc supply voltage 257
- Overcurrent protection 258
- Cabinet design and emc for components blocksize format 259
- Overvoltage protection 259
- Overvoltage protection devices are needed if long cables are used 259
- Select the tripping characteristic of the mcbs to protect the loads against the maximum current provided in the event of a short circuit of the supply unit 259
- The following weidmüller overvoltage protectors are recommended for protecting the components 24 v power supply and the 24 v signal cables from overvoltage 259
- The overvoltage protectors must always be placed next to the area to be protected e g at the entry point to the control cabinet 259
- V dc supply voltage 9 24 v dc supply voltage 259
- A separate 24 v power supply must be used for the sinamics s110 drive line up 260
- Cabinet design and emc for components blocksize format 260
- The following table can be used to calculate the 24 v dc power supply the values for typical current consumption are used as a basis for configuration 260
- Typical 24 v current consumption of the components 260
- V dc supply voltage 260
- Cabinet design and emc for components blocksize format 261
- Ideally they should be installed on a common mounting plate if different mounting plates are used their electrical interconnection must comply with the emc installation guideline 261
- Refer also to catalog pm21 or nc61 261
- Selecting power supply units 261
- The power supply must be installed close to the drive line up 261
- This installation guideline covers protection against electric shock protection against fire and best possible electromagnetic compatibility 261
- V dc supply voltage 9 24 v dc supply voltage 261
- Warning 261
- When using external power supplies e g sitop the following points must be observed the ground potential m must be connected to the protective conductor terminal dvc a 261
- You are advised to use the devices in the following table these devices meet the applicable requirements of en 60204 1 261
- Arrangement of components and equipment 262
- General 262
- Mounting 262
- A large number of system components are designed as sub chassis components for pm340 power modules with frame sizes fsa to fse in such cases the sub chassis components are mounted on the mounting surface with the pm340 power module mounted in front in order to save space 263
- Arrangement of components and equipment 9 arrangement of components and equipment 263
- Cabinet design and emc for components blocksize format 263
- Further information can be found in the manual sinamics s110 function manual drive functions 263
- Mounting power modules with sub chassis components 263
- Notice the braking resistor must always be mounted to the side of the power module as it can get very hot 263
- The following mounting sequence applies to frame sizes fsa to fsc 263
- Up to two sub chassis components can be mounted in front of one another for configurations involving more than two sub chassis type components e g line reactor motor reactor braking resistor individual components must be mounted to the side of the power module 263
- Wiring rules for drive cliq 263
- Equipotential bonding 264
- Protective connection and equipotential bonding 264
- Protective connections 264
- Air guidance air conditioner 266
- C or where sub chassis components are being used e g line reactors below the pm340 otherwise the clearance is 0 mm 266
- Cabinet design and emc for components blocksize format 266
- Cable routing 266
- Caution if you do not observe the guidelines for installing sinamics equipment in the cabinet this can reduce the service life of the equipment and result in premature component failure 266
- Cooling clearance 266
- Cooling units 266
- Electrical cabinets can be cooled using among other things the following 266
- Filtered fans 266
- General 266
- Heat exchangers or 266
- Notes on electrical cabinet cooling 266
- The air routing within the electrical cabinet and the cooling clearances specified here must be observed no other components or cables must be located in these areas 266
- The decision in favor of one of these methods will depend on the prevailing ambient conditions and the cooling power required 266
- You must take into account the following specifications when mounting installing sinamics components 266
- Ventilation 267
- Cabinet design and emc for components blocksize format 269
- General information 269
- If air conditioners are used the relative air humidity of the expelled air increases as the air in the air conditioner cools and may exceed the dew point if the relative humidity of the air entering the sinamics equipment is over 80 for an extended period of time the insulation in the equipment may fail to function properly due to electrochemical reactions refer to system overview using air baffle plates for example you must ensure that the cold air expelled from the air conditioner mixes with warm air in the cabinet before it enters the unit this reduces the relative air humidity to uncritical values 269
- Line supply voltage for power modules 1 ph 200 v ac to 3 ph 380 v to 480 v ac 10 269
- Notes on electrical cabinet cooling 9 notes on electrical cabinet cooling 269
- Operating components at their unit rating 269
- Power loss for control units and sensor modules 269
- Power loss of components during rated operation 269
- Rated pulse frequency of the power modules 4 khz 269
- The tables below give details of power loss for components during rated operation the characteristic values apply for the following conditions 269
- Cabinet design and emc for components blocksize format 270
- Notes on electrical cabinet cooling 270
- Power loss for line reactors and line filters 270
- Cabinet design and emc for components blocksize format 271
- Notes on electrical cabinet cooling 9 notes on electrical cabinet cooling 271
- Power loss for power modules 271
- Cooling circuit and coolant properties 273
- Cooling circuit requirements 273
- Cooling system requirements 273
- Technical cooling circuits 273
- Recommendations 274
- Requirements 274
- Cooling circuit configuration 275
- Permissible system pressure 276
- Cooling circuit and coolant properties 277
- Cooling circuit requirements 10 cooling circuit requirements 277
- If a mixture of antifrogen n and 277
- O is used as a coolant the rated pressure must be calculated according to the mixing ratio the following table specifies the pressure drop across components at different coolant temperatures for a coolant with mixing ratio 45 antifrogen n 277
- Permissible pressure difference 277
- Pressure difference and pressure drop when using coolant mixtures 277
- The characteristic curves for the pressure drop across the heatsinks as a function of volumetric flow vary depending on the temperature and the antifrogen n water coolant mix 277
- The maximum permissible pressure difference for a heat sink is 200 kpa higher pressure differences significantly increase the risk of cavitation and abrasion the lowest possible differential pressure between the coolant in the supply and return lines should be selected to allow pumps with a flat characteristic to be used 277
- Cooling circuit and coolant properties 278
- Cooling circuit requirements 278
- Dimensioning the cooling circuit 278
- Figure 10 4 pressure difference as a function of volumetric flow for various coolants and temperatures 278
- Layout of the components 278
- O via a baffle plate 278
- Operating pressure 278
- Recommendation for dimensioning the cooling circuit 278
- The components should be laid out in the system in such a way that the overall length of the supply and drain lines is the same for every sinamics component 278
- The differential pressure between the supply and return lines should be selected so that 278
- The operating pressure must be set according to the flow conditions in the supply and return lines of the cooling circuit the required coolant flow rate per time unit must be set according to the technical data of the components the components are normalized to a rated pressure of 70 kpa for coolant type 278
- Water cooling systems with series connected sinamics devices are not permitted 278
- Σdpi 30 kpa 278
- Σdpi d 278
- Installation 279
- Materials and connections 279
- Commissioning 280
- Preventing cavitation 280
- Coolant properties 281
- Coolant requirements 281
- Anti corrosion additives inhibitors 282
- Anti freeze additives 282
- Inhibitor without anti freeze effect 282
- Biocide additives only if required 283
- Anti condensation measures 284
- Condensation occurs when the inlet temperature of the coolant is significantly lower than room temperature ambient temperature the permissible temperature difference between coolant and air varies as a function of the relative humidity φ of the ambient air the air temperature at which the aqueous phase precipitates is referred to as the dew point 284
- Cooling circuit and coolant properties 284
- For short periods of condensation in power modules pm340 liquid cooled framed size fsf the condensate may be collected inside the components and removed by a hose see dimensional drawing 284
- Table 10 2 dew point temperature as a function of relative air humidity φ and room temperature at an installation altitude of 0 m 284
- The customer must take measures to protect the devices against condensation 284
- The dew point also depends on the absolute pressure i e the installation altitude 284
- The dew points for low atmospheric pressure are lower than those at an altitude of 0 m i e it is always acceptable to calculate the coolant supply temperature for an altitude of 0 m 284
- The table below shows the dew points in c for an atmospheric pressure of 100 kpa installation altitude 0 to 500 m if the temperature of the coolant is below the specified value condensation may occur i e the coolant temperature must always be the dew point temperature 284
- Equipotential bonding 285
- Safety information 287
- Service and maintenance 287
- Replacing hardware components 288
- Replacing the fan 288
- Service and maintenance for components blocksize format 288
- Frame size fsa fsb fsc 289
- Frame sizes fsd fse 291
- Frame size fsf 292
- Caution 293
- Date of manufacture 293
- Forming the dc link capacitors 293
- Forming the dc link capacitors 11 forming the dc link capacitors 293
- If the cabinet is commissioned within two years of its date of manufacture the dc link capacitors do not need to be reformed the date of manufacture can be taken from the serial number on the rating plate 293
- If the power modules are kept in storage for more than two years the dc link capacitors have to be reformed if this is not performed the units could be damaged when they are switched on 293
- It is important that the storage period is calculated from the date of manufacture and not from the date that the equipment was shipped 293
- Note note 293
- Service and maintenance 293
- The date of manufacture can be determined from the following assignment to the serial number e g t s92067000015 for 2004 september 293
- The serial number is found on the rating plate 293
- When dc link capacitors are formed a defined voltage is connected to them and a defined current flows so that the appropriate capacitor characteristics are re established for them to be re used as dc link capacitors 293
- Forming circuit 294
- Figure 11 6 forming circuit for 3 ph ac power modules with resistors 295
- Figure 11 7 forming circuit for 1 ph ac power modules with resistors 295
- Forming the dc link capacitors 11 forming the dc link capacitors 295
- Service and maintenance 295
- Procedure 296
- Spare parts 297
- Recycling and disposal 298
- A appendix a 299
- A spring loaded terminals screw terminal 299
- Appendix a 299
- Appendix b 301
- B appendix b 301
- B list of abbreviations 301
- Www siemens com motioncontrol 318
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