Skip to main content

Indramat Motors

Larry Mitchell
Updated

Overview

This is the TI-3000JX option for the Indramat Digital motors.

Indramat Digital motors with digital encoders can be run using the TI-3000JX Indramat software. Indramat MAC series motors using Hall effect commutation can be run using the Generic Pulse selection. Indramat MKE and MKD Digital motors with resolver feedback can be run using the Generic Resolver selection.

 

General Comments

This section covers the so called digital Indramat motors with encoder feedback. The part numbers begins with MDD and MHD. These motors use complicated serial encoder feedback systems which include memory data to identify the motor to the drive.

The older motors, whose part numbers begin with MAC, are much simpler. They use Hall effect feedback for commutation, and use incremental encoders for position feedback. They also include a tachometer for speed feedback. Refer to previous sections on the Generic Pulse selection whenever MAC motors are involved. Accessories available for the MAC motors include the TI-5042 cable and the TI-5105 Adapter Module which allow connection to the encoder, Halls, and tach at the same time.

The digital Indramat motors using resolver feedback have part numbers beginning with MKD, and MKE. These motors use resolvers for position and commutation feedback in a conventional manner, but they also include a PC board with additional electronics. The additional electronics includes a memory board. These motors may be run on the TI-3000JX using the TI-5040 cable under the Generic Resolver selection like any other resolver motor. However, it is important that the resolver be aligned as per the memory data that is contained in the additional electronics. Please see the Indramat section of the TI-5000JX manual for more information on this topic. If the alignment is not correct and/or the electronic circuitry is not working properly, the motor will not run correctly on an Indramat drive even though it may run well on the TI-3000JX.

This section covers the serial digital encoder feedback devices, and does not cover MAC or MKD or MKE resolver motors.

 

Types Supported

The following list shows the Indramat encoders that are currently supported by the TI-3000JX option.

 

Identification

The Indramat encoders are identified by the Heidenhain ECN/EQN part number as well as the Indramat DSF number. The older MDD motors can have the ECN212, EQN224, ECN413 and EQN425 encoders (the newer ones will have the 400 series encoders). According to the manual, the MDD motors can also use resolver feedback, but it does not appear to be very common.

The MHD motors will use the ECN413, EQN425, ECN1313 and EQN1325 encoders.

The MKD motors typically use resolver feedback, but according to the manual, they can come with encoder feedback. The MKE motors seem to be environmentally sealed versions of the MKD motors.

To avoid confusion, please note that Heidenhain has encoders using these same part numbers in the Heidenhain standard catalog, and they are completely different. The Heidenhain ECN1313 and EQN1325 ENDAT encoders are discussed in a previous section, and they are not the same as the Indramat encoders. The Endat encoders are used in Siemens, Bosch, Heidenhain, and Baldor motors, and they will not have the DSF part number on them.

The Stegmann encoders will be found on some MDD motors. The type of encoder used is indicated by the motor part number to some extent. Here are some example part numbers:

  • MDD 112D-N-020-N2L-130PB0 Heidenhain single turn.
  • MDD 065A-N-040-N2M-095PB0 Heidenhain multi turn.
  • MDD 071A-N-030-N2S-095PB0 Stegmann single turn.
  • MDD 071C-N-060-N2T-095GA2 Stegmann multi turn.

If the motor uses a Stegmann encoder, just use the Stegmann selection.

It is good practice to actually look at the encoder part number as well as the motor part number. It is possible that a Stegmann encoder may have been replaced by a Heidenhain encoder during a repair.

 

Feedback Type Selection

Pressing the FBK TYPE key will provide the following selections for Indramat:

  1. ECN212 EQN224
  2. ECN413 EQN435
  3. ECN1313 EQN1325
  4. Stegmann

Select the appropriate type and connect the encoder cable for the type selected.

 

Debugging

After the initial checks have been made, it is no longer necessary to go to debug mode each time. However, it does provide a chance to check that the brake is released (if it has one) and that the motor is ready to run.

After the type selection and cable connections have been made, a simple debugging sequence can verify that the motor is ready to run. Performing this debugging check can save a great deal of time and provide confidence in the setup. Skipping this debugging check can cost a great deal of time, and could cause damage to the amplifier or possibly even the motor.

The debugging sequence is as follows:

  1. Notice that in Stop Mode, the display does not show a number of poles for Indramat. The display
    will show ‘P-‘

  2. Press the DEBUG key to put the TI-3000JX in DEBUG mode. The display should now change to indicate the number of poles – usually ‘P6’ or ‘P8’ for 6 or 8 poles respectively. Verify that it is showing the correct number of poles. If you see ‘P2’ or a message: “Indr. Enc. Error”, this is an indication that the TI-3000JX is not reading serial data from the encoder. Check your setup including the test cable and TI-5104 Adapter Module. Do not attempt to run the motor until this problem is corrected.

  3. Rotate the motor in the forward direction (CW looking at the shaft for Indramat) and verify that the UVW pulses on the display are correctly moving through the commutation pattern as follows: HLL, HHL, LHL, LHH, LLH, and HLH. It is essential that these six commutation steps are generated on the TI-3000JX.

  4. Connect a bench power supply to the armature leads (amplifier not connected) with the polarity +U and –V. Verify that, at each rotor lockup position, this produces a commutation pattern of V =H, W=L and U at the position where it will toggle between H and L with a very small motion of the motor shaft.

  5. Move the minus lead of the power supply from the V to the W lead. Verify that, at each rotor lockup position, this produces a commutation pattern of U=L, V =H, W at the position where it will toggle between H and L with a very small motion of the motor shaft.

    Passing the above debugging checks is a necessary condition for running the motor. If any of these checks failed, there is absolutely no point in trying to run the motor, and you risk damaging the amplifier or possibly the motor by doing so.

    If it does not pass the Debug check, review your setup and correct any mistakes. Only attempt to run the motor after it passes the Debug check. After the initial successful debugging, it is no longer necessary to go to debug mode before each run. However, it does provide a chance to check that the brake is released (if it has one) and that the motor is indeed ready to run.

 

Running

When the debug mode shows that the TI-3000JX is generating the correct commutation pattern, press the RUN key to enable the amplifier. The RED LED on the amplifier should change to GRN. If it does not, make sure that the cable from the TI-3000JX to the amplifier is connected correctly and that power has been applied to the amplifier. Turn the potentiometer either direction from the zero setting, and the motor should begin turning. The bottom line of the display should show the RPM reading. Returning the pot to zero and moving it the other direction from zero should reverse the direction of the motor.

After a successful Debug check, perform the following sequence to run the motor.

  1. Connect the motor armature leads to the amplifier using the appropriate connectors.

  2. Press the RUN key to enable the amplifier. The following check list will appear on the display.
    a. Are hands and clothing clear of moving parts?
    b. Is the motor mounted securely?
    c. Is the speed pot set to the zero (stopped) position?

  3. Press the RUN key again after insuring that the check list is satisfied.

  4. The RED LED on the amplifier should change to GRN. If it does not, make sure that the cable from the TI-3000JX to the amplifier is connected correctly and that power has been applied to the amplifier.

  5. Turn the potentiometer either direction from the zero setting, and the motor should begin turning. The bottom line of the display should show the RPM reading.

  6. Returning the pot to zero and moving it the other direction from zero should reverse the direction of the motor.

Related articles

Comments

0 comments

Please sign in to leave a comment.