SIEB & MEYER 0362157A Manual 

and Safety SIEB & MEYER

All Rights Reserved. This manual or extracts thereof may only be copied with the explicit authorization by SIEB & MEYER AG. Trademarks All product, font and company names mentioned in this manual may be trademarks or registered trademarks of their respective companies. SIEB & MEYER Worldwide For questions regarding our products and technical problems please contact us. SIEB & MEYER AG Auf dem Schmaarkamp 21 21339 Lueneburg Germany Phone: +49 4131 203 0 Fax: +49 4131 203 2000 [email protected] http://www.sieb-meyer.de SIEB & MEYER Shenzhen Trading Co. Ltd. Room A208 2/F, Internet Innovation and Creation services base Building (2), No.126, Wanxia road, Shekou, Nanshan district, Shenzhen City, 518067 P.R. China Phone: +86 755 2681 1417 / +86 755 2681 2487 Fax: +86 755 2681 2967 [email protected] http://www.sieb-meyer.cn SIEB & MEYER Asia Co. Ltd. 4 Fl, No. 532, Sec. 1 Min-Sheng N. Road Kwei-Shan Hsiang 333 Tao-Yuan Hsien Taiwan Phone: +886 3 311 5560 Fax: +886 3 322 1224 [email protected] http://www.sieb-meyer.com Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

T a b l e o f C o n t e n t s 1 About this Manual.................................................................5 1.1 Illustration of Warnings.......................................................................................5 1.2 Technical Symbols............................................................................................. 5 1.3 Abbreviations..................................................................................................... 6 2 Safety Instructions................................................................7 2.1 Standards and Regulations................................................................................7 2.2 Working on the Device.......................................................................................8 2.3 Appropriate Use.................................................................................................8 2.4 Reasonably Foreseeable Misuse.......................................................................9 2.5 Transport and Storage..................................................................................... 10 2.6 Installation........................................................................................................10 2.7 Electrical Connection....................................................................................... 11 2.8 Operation......................................................................................................... 12 2.9 Maintenance.................................................................................................... 12 2.10 Disposal........................................................................................................... 13 2.11 Legal Warranty.................................................................................................13 3 Unit Assembly Complying EMC........................................ 14 3.1 EMC Classification...........................................................................................14 4 Gateway 0362157A..............................................................15 4.1 Device View..................................................................................................... 15 4.2 Dimensions...................................................................................................... 16 4.3 Type Plate........................................................................................................16 4.4 Device Designation..........................................................................................17 4.5 Technical Data................................................................................................. 17 4.6 OSSD Monitoring.............................................................................................17 4.6.1 Configuration of OSSD Monitoring............................................................................... 17 4.6.2 OSSD Signal Amplification...........................................................................................19 4.6.3 Signal Transmission SERVOLINK 4.............................................................................19 4.6.4 Speed Zero Detection...................................................................................................20 4.7 Connecting the Gateway..................................................................................20 4.7.1 Software Connection to the PLC.................................................................................. 22 5 Mounting and Demounting................................................ 28 6 Connectors, Switches and Displays................................. 29 6.1 Selection Switches...........................................................................................29 6.1.1 ID-switch for Module Identification................................................................................29 6.1.2 Operating Mode Selection Switch................................................................................ 29 6.1.3 Drive Selection Switches..............................................................................................30 6.2 Connector Pin Assignment.............................................................................. 31 6.2.1 X4/ X3 – SERVOLINK 4............................................................................................... 31 6.2.1.1 Preparation of Optical Fiber Cables with Connector.................................................... 32 6.2.2 X5 – JTAG Connector...................................................................................................33 6.2.3 X6 – USB Connector.................................................................................................... 33 6.2.4 X7 – 24 Volts Connection and OSSD Inputs................................................................ 33 6.2.5 X8 – 24 Volts Connection and OSSD Outputs............................................................. 34 6.2.6 X9/X10 – PROFINET IO...............................................................................................35 6.3 Status Displays................................................................................................ 35 6.3.1 LED Status Display for Gateway and SERVOLINK 4.................................................. 35 6.3.2 LED Status Display for PROFINET IO-Device............................................................. 36 6.3.3 7-segment Display........................................................................................................37 6.3.3.1 Switch-on Messages.................................................................................................... 37 6.3.3.2 Status Messages..........................................................................................................37 6.3.3.3 Information Messages.................................................................................................. 37 6.3.3.4 Error Messages............................................................................................................ 38 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety 3

6.3.4 LED Status Display for the Drives................................................................................ 39 7 Index.....................................................................................40 4 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

This chapter descirbes symbols, signal words and abbreviations used in this manual. Note You can download further documentation from the SIEB & MEYER website under http:// www.sieb-meyer.de/downloads.html. 1.1 Illustration of Warnings In this manual, the warnings listed below are used. Depending on their degree of risk, the risk levels listed below exist: DANGER Imminent risk of injury Indicates an imminently hazardous situation which, if not avoided, will re- sult in death or serious injury. → Follow the instructions in this manual to avoid danger. WARNING Risk of injury Indicates an imminently hazardous situation which, if not avoided, will re- sult in death or serious injury. → Follow the instructions in this manual to avoid danger. CAUTION Slight risk of injury Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury or property damage. → Follow the instructions in this manual to avoid danger. NOTICE Notice Indicates a hazardous situation which, if not avoided, may result in property damage. → Follow the instructions in this manual to avoid danger. 1.2 Technical Symbols Symbol Description LED indicator: LED on LED indicator: LED off LED indicator: LED flashes 5 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety About this Manual

1.3 Abbreviations n.c. not connected STO safety function: Safe Torque Off VCC voltage at the common collector 6 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

be observed during installation and operation of SIEB & MEYER devices. Read them carefully and keep them for later use. Also adhere to safety instructions in the product documentation and on the device. 2.1 Standards and Regulations SIEB & MEYER devices comply with the regulations of the following standards and di- rectives: ▶ Low-Voltage Directive 2014/35/EU: EU declaration of conformity, DIN EN 61800-5-1 ▶ EMC Directive 2014/30/EU: EU manufacturer's certificate, DIN EN 61800-3 ▶ Machinery Directive 2006/42/EC: EU manufacturer's certificate, DIN EN 61800-5-2(safety functions) Note SIEB & MEYER frequency converters and servo amplifiers do not fall within the scope of the Ecodesign Regulation (EU) 2019/1781 for motors and frequency converters as well as the accompanying amendment (EU) 2021/341 because the devices are not designed for the operation of the 50/60 Hz standard motors defined in the regulation. Note SIEB & MEYER products are no products according to the EU Machinery Directive. The appropriate use of SIEB & MEYER devices in machines and installations is prohibited until the manufacturer of the machine or installation confirms the CE conformity of the complete machine or installation. Note If the mechanics or the electronics of the device are modified, the conformity with the EC/EEC directives and thus the label will expire. 7 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Safety Instructions

WARNING trained staff → To avoid risks of serious injuries and material damage any works re- garding installation, initial operation and maintenance must be carried out by trained staff only! Furthermore, electricians who connect feed- in systems must be approved by the local DSO (distribution system operator). → Trained staff, according to this fundamental safety instruction, are persons familiar with the installation, mounting, initial and permanent operation of the product and they are qualified appropriately for the work. The standards DIN VDE 0100 and DIN VDE 0110 as well as the national accident prevention regulations shall be considered! → When installing feed-in systems adhere to all applicable regulations, special safety instructions and technical connection conditions of the local DSO. DANGER Risk of serious damage to property and personal injury may occur: - when covers are removed illegally - due to improper use - when either the installation or the operation is incorrect → Observe the corresponding notes and information in the product doc- umentation of your device. WARNING Risk of injuries and material damage due to illegal modifications → Only change the settings of the device after having contacted SIEB & MEYER vor. All Information and advice attached to the device, such as safety instructions or danger warnings and technical data (type plate) are: ▶ not to be removed ▶ not to be damaged ▶ to be kept readably (no covers, no paint over or the like) 2.3 Appropriate Use Use the device according to its appropriate use only. Consider the corresponding infor- mation regarding the application fields of the device in the product documentation. The device is intended for use within an enclosed cabinet by the OEM or end user to comply with pollution degree 2 or equivalent environmental conditions. That means: En- sure to avoid conductive impurities and humidity during the operation. SIEB & MEYER products are not suitable for use in areas exposed to explosion hazards (ATEX zones) without approriate housing. 8 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

Before initial operation, make sure that the machine will not expose danger (e.g. run- away moves). The conformity with the safety standards DIN EN 60204-1 and DIN EN 61800-5-1 must be ensured. The manufacturer of the system or the machine has to meet the requirements of the legal values regarding the Electromagnetic Compatibility (EMC). SIEB & MEYER units can be operated in industrial areas, provided that the attached EMC information has been taken into consideration. SIEB & MEYER tests all products in its own EMC laboratory to ensure that the products meet the respective standards, when they are installed properly. Installation of the device differing from the product documentation and the manual "EMC Guidelines" means that the machine manufacturer has to carry out new measurements to comply with the regulations. SIEB & MEYER devices meet the requirements of the Low-Voltage Directive 2014/35/ EU. The harmonized standards of DIN EN 50178 and DIN EN 60204-1 in combination with the standards DIN EN 60947 and DIN EN 61800-5-1 are applied consequently. Technical data and the connection specification can be found in the respective product documents. Line filters If adequate interference suppression measures are applied and the appropriate use in industrial applications of the device is ensured SIEB & MEYER devices comply with the Directive EMC Directive 2014/30/EU in terms of the EMC Product Standard (PDS) DIN EN 61800-3. The use of line filters helps reaching the following: ▶ Resistance to interference. The electronic system is protected against high-fre- quency disturbances, possibly infiltrated via the mains cable. ▶ Protection against radiation. High-frequency disturbances are reduced to legally authorized measure. This prevents effects of the transients to adjacent components or devices. ▶ Products, not equipped with an integrated AC supply line filter must be operated with an upstream line filter. ▶ Using SIEB & MEYER devices in residential or business areas as well in small busi- nesses requires additional interference suppression. For detailed information refer to the manual "EMC Guidelines", chapter "EMC Prod- uct Standard DIN EN 61800-3 for PDS". Note Refer to the product documentation of your device to find out whether or not your device is equipped with a line filter. For detailed information on line filters refer to the manual "EMC Guidelines". 2.4 Reasonably Foreseeable Misuse The Machinery Directive defines a "reasonably foreseeable misuse" as "use of machin- ery in a way not intended in the instructions but which may result from predictable hu- man behavior". SIEB & MEYER products are no products according to the EU Machinery Directive. During design and construction of the machine as well as in the operation manual the machine manufacturer is obliged to give consideration to the intended (appropriate) use of the machine and risks arising from reasonably foreseeable misuse of the machine. 9 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Safety Instructions

products by non-experts which exceed the technical data specified in the product docu- mentation (high voltages, temperatures etc.) is considered to be not intended use and forbidden. Adhere to the safety instructions on the device and in the product documentation. 2.5 Transport and Storage Avoid improper mechanical load of the device. The following points must especially be taken into consideration: ▶ Protect the device against mechanical damage! Ensure that single shock loads do not exceed 40 m/s2. ▶ Protect the device against dirt and humidity. Make sure that dust plugs are plugged on optical fiber connectors equipped with them during transport of the device. Otherwise, recommissioning is poten- tially not possible. ▶ Never touch electronic components. The following climatic conditions apply to the storage. If required, appropriate measures must be taken to ensure these climatic conditions (installation of heating/air conditioning systems etc.): ▶ The storage area must be clean (dust-free, if possible), dry and well-ventilated. ▶ No storage in the open. ▶ The storage temperature must be in the range of −25 °C to +55 °C (−13 °F to +131 °F). Shortly it may be +70 °C (+158 °F). ▶ The relative humidity on the storage premises must be in the range of 5 % to 75 % (no bedewing). ▶ Sudden changes of the temperature or the humidity should be prevented. ▶ Avoid stacking of the devices during transport and storage. The maximum storage period is 2 years. Electrolytic capacitors produce high leakage currents when a voltage is applied after a long storage period without applied voltage and must be reformed. For this, the operating voltage is applied via a 1 kΩ series resistor for one hour. Please contact the SIEB & MEYER service department for details. 2.6 Installation NOTICE Damage of electrostatically sensitive components due to improper handling → Never touch electronic components.. Note Consider specific mounting instructions for your device. 10 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

the device. Noncompliance with theses requirements is regarded as abnormal operat- ing condition: ▶ The device is conceived according to DIN EN 61800-2 for the dirt level 2. That means: Ensure to avoid conductive impurities during the operation. ▶ Devices with air cooling only can be loaded to their maximum up to a height of 1000 m above MSL (3281 ft above MSL). For an operation in areas higher than 1000 m (3281 ft) above MSL the capacity must be reduced by 1.5 % per 100 m (328 ft). ▶ The device must be protected against harmful gas, oil vapor and salty air at the place of installation. ▶ The ambient air must not contain aggressive, grinding, electrically conductive or flammable substances as well as any amount of dust. ▶ The maximum relative humidity during operation is 85 % (no condensation). ▶ The allowed ambient temperature for the operation is +5 °C to +40 °C (+41 °F to +104 °F). Extreme and sudden changes of the temperature should be prevented. – For devices that can be operated in ambient temperatures above +40 °C (+104 °F) (see technical data), you must consider a reduced service life due to increased wear of the components. – Devices with polyester films: The polyester films must not be exposed to direct sunlight for extended periods of time. In conditions of high humidity (>80 %) the ambient temperature must not exceed +40 °C (+104 °F). The polyester films must not come in contact with benzyl alcohol or methylene chloride. ▶ Make sure that the aeration elements are free and open, so that the air circulation is not restricted. 2.7 Electrical Connection DANGER Risk of serious injuries due to touch voltages After electric devices have been switched off touch voltages may occur de- pending on the device up to 4 minutes. Longer construction-related dis- charge times are possible. Refer to the product documentation of your de- vice. → All work at and within the units must only be carried out, when the units are turned off, the mains supply is cut and the DC bus is com- pletely discharged. → Never touch energized parts after a device has been switched. off. → Consider the VDE regulations and the applicable accident prevention regulations (e.g. VBG 1 and VBG 4). DANGER Risk of serious injuries due to improper connection to earth Incorrect or insufficient connection of the system to earth may cause dan- gerous currents. → Connection to earth must be realized according to the instructions in the product documentation of your device. 11 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Safety Instructions

(e.g. appropriate wire gauges, fuse protection and connections of ground conductors must be considered). Note SIEB & MEYERdevices are conceived for connection to symmetrically grounded TN networks. For detailed information regading the connection to TN networks or other net- works refer to the manual "EMC Guidelines", chapter "Connection to Different Supply System Types". Recommendations for the installation complying EMC (e.g. shields, connection to earth and line installations) can be found in the technical manuals of your device (only for ma- chine manufacturers). The manufacturer of the system or machine has to meet the re- quirements of the legislation regarding the EMC. 1. Consider that the mains supply must be protected via an overload release with re- stricted guidance for each mains phase. The mains line should not be switched on, before the work is completed. 2. Before turning on the unit the first time, make sure that the connected machine will not have runaway axes. 3. Never connect capacitive loads to the output phases of the servo amplifiers and fre- quency converters. 4. Prevent cable loops. Therefore, the units must only be connected to earth at the provided PE connection for the mains supply line and the racks only at the provided earth screw. Operation with residual current device (RCD) Note For detailed information regarding the operation with residual current device (RCD) re- fer to the manual "EMC Guidelines", chapter "Safety-relevant Aspects, Residual Current Device (RCD)". Also consider the standard DIN EN 60204-1, section 8: additional re- quirements for electrical equipment with earth leakage currents greater than 10 mA. 2.8 Operation WARNING Risk of serious personal injury due to moving machine parts During the operation of an installation with open doors or removed covers, persons may seriously be injured by moving machine parts. → Keep the doors closed during the operation and do not remove cov- ers. 2.9 Maintenance The unit must be checked regularly for cleanness and functionality depending on the ambient pollution. This applies in particular for installed fans. 12 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

posal of packing material, used batteries and irreparable devices. SIEB & MEYERproducts meet the requirements of the following directive: ▶ 2011/65/EU (EU-directive RoHS 2 on the restriction of the use of hazardous sub- stances in electrical and electronic equipment) SIEB & MEYERproducts do not exceed the limits of the directive 2011/65/EU for haz- ardous substances. SIEB & MEYERproducts labeled with the adjacent symbol also meet the regulations of the following directive: ▶ SJ/T 11364-2014 (China RoHS 2 on the restriction of the use of hazardous substances in electrical and electronic equipment) SIEB & MEYERproducts labeled with the symbol above do not exceed the limits of the directive SJ/T 11364-2014 for hazardous substances. 2.11 Legal Warranty SIEB & MEYER products are liable to a legal warranty of at least one year. Any claims for the products beyond this warranty shall be declared in an additional contractual agreement between SIEB & MEYER and the customer. Claims for damages are excluded: ▶ due to improper use of the device ▶ when the device has been installed nonstandard or improperly, especially by elec- tricians without license ▶ when the device has been employed although the protection equipment was defec- tive ▶ when the maximum permissible input voltage has been exceeded ▶ due to improper operation ▶ when the device or its equipment have been modified ▶ when the device was affected by foreign material or force majeure NOTICE Due diligence of the machine manufacturer → A first programming carried out by SIEB & MEYER does not release the machine manufacturer from his duty to check the programmed values for correctness. 13 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Safety Instructions

3 Unit Assembly Complying EMC Note The EU guidelines for electromagnetic compatibility (EMC) must be considered for the initial operation of all SIEB & MEYER devices. The manual "EMC Guidelines" is available in German and English and includes: ▶ EMC rules ▶ information regarding the professional grounding and wiring ▶ safety-relevant aspects ▶ extracts from the EMC product standard ▶ possibilities for the connection to different supply system types Availability: ▶ PDF file under www.sieb-meyer.de/downloads.html 3.1 EMC Classification According to the EMC product standard DIN EN 61800-3, chapter 6 (emission of line in- terferences), this device meets the interference limit values of the second environment. 14 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

PROFINET IO controller interfaceand SERVOLINK 4 developed by SIEB & MEYER. For the PLC the gateway is a PROFINET IO device. In the gateway the data supplied by the fieldbus are mapped to the SERVOLINK 4 technology and distributed to the drives. Internally the gateway works with two processors operating independently from each other. The first processor is in charge of the connection to the fieldbus and everything necessary for the communication with the fieldbus master. The data of the cyclic chan- nel are made available for the second processor. The latter accomplishes all tasks con- cerning the operation of the gateway as such and the data exchange via SERVOLINK 4. The operating mode of the fieldbus unit is indicated by LEDs. The states of the gateway and the SERVOLINK 4 communication are displayed by the LEDs “STA1” and “STA2”. In addition, you can activate safety monitoring (function STO – Safe Torque Off) and speed zero monitoring according to the "OSSD standard" for each connected drive. The LEDs 1 to 16 indicate the actual drive status. The module is designed to be mounted on a top hat rail. 4.1 Device View F i g . 1 : P e r s p e c t i v e v i e w o f g a t e w a y 0 3 6 2 1 5 7 A Fig. 1: Perspective view of gateway 0362157A 15 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Gateway 0362157A

4.3 Type Plate No. Meaning Explanation Device designation Indicates the device type Supply voltage Indicates the maximum voltage range Current Indicates the current consumption of the device Serial number Indicates the individual number of the device Device version Indicates the version of the hardware; if no version is existent, 0.000 is indicated here IP Code Indicates the level of protection of the device against touching or intrusion of solid objects (1st digit) and water ingress (2nd digit) QA label 16 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

▶A = with safety function Fieldbus ▶51 = PROFIBUS ▶57 = PROFINET IO ▶58 = EtherCAT Module type ▶21 = series Gateway 4.5 Technical Data Device variant 0362157A Logic supply 18 to 28 VDC Power loss logic unit 2.4 W Ambient temperature range 5 °C to 60 °C at a maximum of 85 % rela- tive humidity (without moisture condensation) IP Code IP20 Weight 355 g Cycle times The minimum cycle time for the Hilscher module in the PROFINET IO gateway is 1 ms. The number of configured input/output data affects the achievable minimum cycle time. The cycle time of SERVOLINK 4 in the PROFINET IO gateway is 500 µs. 4.6 OSSD Monitoring The gateway provides safety monitoring (function STO) and speed zero monitoring via OSSD signals. Speed zero monitoring can be activated for each drive that is connected to the gate- way and signals when a drive is at standstill. Safety monitoring prevents an unintention- al start of the drive from standstill. 4.6.1 Configuration of OSSD Monitoring It is essential to connect always both channels (OSSD_SAFEA and OSSD_SAFEB as well as OSSD_ZEROA and OSSD_ZEROB) to a safety PLC. 17 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Gateway 0362157A

F i g . 4 : S p e e d z e r o c o n n e c t i o n w i t h O S S D Fig. 4: Speed zero connection with OSSD You set the speed zero monitoring in the configuration mode via the 16 DIP switches at the bottom side of the gateway. On delivery of the gateway no drive is selected for speed zero monitoring (all DIP switches are set to zero). Configure the speed zero monitoring for the desired drives as described in the following. Speed zero monitoring with OSSD signals 1. Select the drives to be monitored by means of the DIP switches. For further in- formation on the drive selection refer to chapter 6.1.3 “Drive Selection Switches”, page 30. 2. Turn the operating mode selection switch MODE to '9' (configuration: speed zero with OSSD signals). 3. The status LEDs of the selected drives flash red at the gateway. Check the drive selection by means of the LEDs and correct it, if required. 4. Turn the operating mode selection switch MODE to '0' now (normal operation). Then the gateway saves the drive selection internally. The LEDs of the selected dri- ves light up red for 5 seconds. Afterwards the gateway switches automatically to normal operation. When the configuration was successful, you can always start the gateway in normal op- eration mode (MODE = 0). On startup the drive selection saved in the gateway is com- pared to the selection via the DIP switches. If the settings are identical, the gateway con- tinues normal operation. If not, the according error message is triggered and the system is stopped. In this case you must switch to the configuration mode and correct the drive configuration. 18 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

For each signal the gateway provides a switching transistor that is monitored by OSSD and features a current limitation in the signal path. The required energy is not taken from the PLC signals but from the 24 V supply. The PLC signals are only control signals. The gateway is the power amplifier here. In addition the inputs and outputs of the gateway are checked cyclically for safe switch- ing according to the "OSSD standard". The gateway expects a high level in the line that is interrupted cyclically by zero pulses. Each zero pulse must have a length between 0.5 ms and 2.2 ms. The high phases must have a length between 90 ms and 220 ms each. The zero pulse of signal B lags behind that of signal A between 0.5 ms and 2.5 ms. An error or a missing input signal disables the output signals. If an error occurs inter- nally in the device, the output signals are disabled until the gateway is restarted. 4.6.3 Signal Transmission SERVOLINK 4 The gateway provides a SERVOLINK 4 connection. Each connected drive receives a reference value telegram cyclically (2 kHz) and transmits an actual value telegram in re- turn. These telegrams are CRC checked. Actual value telegram: During each cycle the gateway checks the following points: ▶ cyclic receiving of the telegram (cycle monitoring) ▶ CRC check sum (data monitoring) ▶ toggle of the watchdog flag (software monitoring) ▶ speed zero flag (signal monitoring) ▶ OSSD_ZEROA/B signals (input signal monitoring) 19 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Gateway 0362157A

If none of these monitorings reports an error, the gateway generates an active OSSD_ZEROA/B output signal. 4.6.4 Speed Zero Detection The software integrated in all drives generates a speed zero signal. This signal is trans- mitted by means of the actual value telegram via SERVOLINK 4. The gateway monitors the signal for each configured drive. In addition the gateway monitors the communica- tion with the PLC or the previous gateway. The OSSD monitored speed zero output signals are deactivated as soon as one of the following monitorings reports an error: ▶ input signal monitoring of speed zero from the previous gateway or the PLC ▶ speed zero message of a configured drive in the SERVOLINK 4 telegram 4.7 Connecting the Gateway The gateway provides an input terminal X7 (see page 33) and an output terminal X8 (see page 34). These two terminals transmit the following signals: ▶ 24 volts / GND: Voltage supply for the electronics and the safety outputs OSSD_SAFEA and OSSD_SAFEB. The ouput terminal X8 allows forwarding the voltage supply to the next gateway. ▶ OSSD_ZEROA and OSSD_ZEROB: These signals forward the speed zero information that was received from the pre- vious gateway or the PLC via the SERVOLINK 4 telegram. The gateway combines the received signals with its own speed zero detection and forwards all to the out- put terminal. ▶ OSSD_SAFEA and OSSD_SAFEB: The signals ensure a safe output stage switch-off. The ouput terminal X8 allows for- warding the signals to the next gateway. In addition the output terminal provides the signals SAFEA and SAFEB for the drives that are connected to the gateway. 20 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

* Field bus* = PROFINET IO 21 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Gateway 0362157A

following drive combinations to one gateway at most. No. Number of double-axis drives Number of single-axis drives 1 8 0 2 7 1 3 6 2 4 5 3 5 4 4 6 3 5 7 2 6 8 1 7 9 0 8 4.7.1 Software Connection to the PLC The following example shows the connection to the PLC via TwinCAT3. Tip For the connection to a Siemens PLC you can consult the document "profinet_step7_v15_function_manual_en-US_en-US.pdf" (or newer version) by Siemens. Prepare connection establishment Note All connected drives must be switched on and connected to the gateway via SERVOLINK 4. Only then, the PLC finds the gateway by means of an online scan. 1. Copy the following file into the directory {drive}:\TwinCAT\3.1\Config\Io\Profinet: – GSDML-V2.3-SIEB_MEYER-GATEWAY_0362157-20170703.xml or newer ver- sion – GSDML-0400-0101-SM0362157.bmp Add gateway to Solution Explorer 1. Establish the connection to the target system. 2. Switch the target system into the Config mode. 3. Expand the item “I/O” in the tree structure on the left. Then right-click on “Devices” and select the entry “Scan” in the context menu. 4. Confirm the dialog “HINT: Not all types of devices can be found automatically”. Af- terwards, the software runs the scan. 5. Confirm the found devices with “OK”. 6. Confirm the inquiry “Scan for boxes?” with “Yes”. 7. Confirm the inquiry “Activate Free Run?” with “Yes”. Afterwards, the software runs the scan. 8. Right-click on “Devices” under “I/O” in the tree structure on the left and select the entry “Add New Item…” in the context menu. 22 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

10. Select “Device x (EL6631)” and run the scan. Confirm “Devices should be reloaded before scanning!” with “Yes”. 11. Select the found gateway and click on the button “Add Devices”. 12. Confirm the inquiry “OnlineScan for real configuration?” with “Yes”. Now, another scan reads the current gateway configuration. Then, the gateway will be entered in the Solution Explorer containing all available drives. Add and configure several gateways 1. If several gateways are connected, select one gateway after the other as described above. 2. Via the button “Start Flash” you can check the assigned real device. Then, the LED “SF” of the corresponding gateway flashes. 23 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Gateway 0362157A

via the button “Set Stationname”. Note Before the IO Controller can address a gateway, the gateway must be named. (This procedure was implemented because names are easier to handle than complex IP addresses.) The gateway is delivered without a name. Only after assigning a name to the gateway, the IO Controller can address it, e.g. for the transmission of the project data during startup or for the exchange of user data during cyclic operation. 4. Repeat the naming for all gateways. Each name must be unique. 5. Repeat the device search by click on the button “Rescan Devices”. 6. Select all gateways and click on the button “Add Devices”. 24 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

scan reads the current gateway configurations. The following selection window ap- pears: 8. Select the type according to the version number specified on the type plate of your gateway and confirm your selection with “OK”. Now, the gateways are entered in the Solution Explorer with all available drives. 9. Click on the button “Close Window” to close the window. 10. Select the gateway in the “Solution Explorer” and expand the node in the tree struc- ture. The gateway shows all available drives under API. 25 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Gateway 0362157A

2. Load and activate the configuration into the PLC. Confirm the inquiries “Activate Configuration?” and “Restart TwinCAT System in Run Mode?” with “OK”. 26 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

the status “Communication established”. Display actual values 1. Then, you can select the linked input and output data. The current values are displayed in the tab “Online”. 27 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Gateway 0362157A

5 Mounting and Demounting The device is mounted on a top hat rail. Mounting ▶ Place the tilted device with its rear side on the top edge of the rail. The top hat rail in- terlocks with the slot of the top device suspension (see left figure below). Now slew the device to the upright position until the latch at the bottom device suspension is locked. Demounting ▶ Place a screw driver in the groove at the bottom device suspension as shown in the right figure below. Move the screw driver upward so that the latch releases the top hat rail. Then slew the device out of the top hat rail. F i g . 6 : M o u n t i n g a n d d e m o u n t i n g t h e g a t e w a y 0 3 6 2 1 5 7 A Fig. 6: Mounting and demounting the gateway 0362157A 28 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

Displays F i g . 7 : C o n n e c t o r s , s w i t c h e s a n d d i s p l a y s o n t h e g a t e w a y 0 3 6 2 1 5 7 A Fig. 7: Connectors, switches and displays on the gateway 0362157A 6.1 Selection Switches 6.1.1 ID-switch for Module Identification Note This group of selection switches has no function at present. 6.1.2 Operating Mode Selection Switch Via the operating mode selection switch MODE at the bottom of the device you can either activate the desired configuration or start the normal operation. The selection switch is evaluated on startup of the gateway. Switch position Operating mode 0 Normal operation 29 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Connectors, Switches and Displays

Switch position Operating mode 1 No function 2 No function 3 No function 4 No function 5 No function 6 No function 7 No function 8 No function 9 Configuration: Speed zero with OSSD signals 6.1.3 Drive Selection Switches Via the DIP switches at the bottom side of the gate- way you select the drives for speed zero monitor- ing. The maximum number of drives you can select is 16. Each DIP switch is assigned to a connected drive and can have the following states: Switch position Meaning Off Drive operates without speed zero monitoring On Drive operates with speed zero monitoring Note Single-axis drive amplifiers can only be selected via the DIP switches 1, 3, 5, 7, 9, 11, 13 and 15. Therefore you can determine up to 8 single-axis drive amplifiers for speed zero monitoring via one gateway. Double-axis drive amplifiers require 2 DIP switches for the drives A and B. Drive A is selected via the DIP switches 1, 3, 5, 7, 9, 11, 13 or 15. Drive B is selected via the DIP switches 2, 4, 6, 8, 10, 12, 14 or 16. Therefore you can determine up to 8 single-axis drive amplifiers for speed zero monitoring via one gateway. Examples for the setting of the DIP switches The following example shows the settings of the DIP switches for either 8 single axis drive amplifiers or 8 double-axis drive amplifiers: DIP switch Single-axis drive amplifier Double-axis drive amplifier 1 Drive amplifier 1 Drive amplifier 1, drive A 2 - - - Drive amplifier 1, drive B 3 Drive amplifier 2 Drive amplifier 2, drive A 4 - - - Drive amplifier 2, drive B 5 Drive amplifier 3 Drive amplifier 3, drive A 6 - - - Drive amplifier 3, drive B 7 Drive amplifier 4 Drive amplifier 4, drive A 8 - - - Drive amplifier 4, drive B 9 Drive amplifier 5 Drive amplifier 5, drive A 10 - - - Drive amplifier 5, drive B 11 Drive amplifier 6 Drive amplifier 6, drive A 12 - - - Drive amplifier 6, drive B 13 Drive amplifier 7 Drive amplifier 7, drive A 30 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

Double-axis drive amplifier 14 - - - Drive amplifier 7, drive B 15 Drive amplifier 8 Drive amplifier 8, drive A 16 - - - Drive amplifier 8, drive B The following example shows the settings of the DIP switches for 4 double-axis drive amplifiers and 4 single-axis drive amplifiers (mixed operation): DIP switch Single-axis drive amplifier Double-axis drive amplifier 1 - - - Drive amplifier 1, drive A 2 - - - Drive amplifier 1, drive B 3 - - - Drive amplifier 2, drive A 4 - - - Drive amplifier 2, drive B 5 - - - Drive amplifier 3, drive A 6 - - - Drive amplifier 3, drive B 7 Drive amplifier 4, drive A 8 - - - Drive amplifier 4, drive B 9 Drive amplifier 5 - - - 10 - - - - - - 11 Drive amplifier 6 - - - 12 - - - - - - 13 Drive amplifier 7 - - - 14 - - - - - - 15 Drive amplifier 8 - - - 16 - - - - - - 6.2 Connector Pin Assignment 6.2.1 X4/ X3 – SERVOLINK 4 SERVOLINK 4: optical input (X4) and optical output (X3) The fiber optic connectors for SERVOLINK 4 are located at the bottom side of the de- vice. Connector SIEB & MEYER article number 12540102 Inputs (black) 12540103 12540202 Outputs (gray or white) 12540203 Cable connector (TOSLINK F05) 32022900 NOTICE Risk of cable damage If you pull the optical fiber cable with its connector too fast out of the connector, the cable may be damaged. → When unplugging the cable, hold the fiber optic connector and pull the cable care- fully out of the connector. 31 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Connectors, Switches and Displays

6.2.1.1 Preparation of Optical Fiber Cables with Connector Every optical fiber connector requires an optical fiber cable with a male connector. The following information apply for connectors used in applications with 1 mm standard plas- tic optical fibers (POF). Technical data Rated value Storage temperature -40 to 70 °C Operating temperature -20 to 70 °C Between optical fiber cable and connector 19.6 N Tensile stress Optical fiber cable 49 N Bending radius When bending the optical fiber cable to install it, note that the recom- mended bending radius is six to ten times greater than the minimum bending radius. Min. 25 mm Procedure 1. Remove at least 7 mm of the optical fiber cable's plastic sheat (diameter 2.2 mm); see figure, [1]). Take care that the dismantled end of the optical fiber cable is not contaminated. If necessary, clean it gently with a dry tissue paper. 2. Insert the dismantled optical fiber cable carefully as shown in the figure into the con- nector. The polymer fiber of 1 mm should stand out from the connector about 1 to 2 mm (see figure, [2]). 3. Press the clip of connector so that the polymer fiber is hold in the connector. The connector and the clip must interlock audibly (see figure, [3]). 4. Insert the connector with the optical fiber cable into a polishing disk and grind the outstanding end of the fiber by means of a polishing sheet on an even surface (e.g. glass sheet), see figure, [4]). Remove grinding residues. 32 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

Article SIEB & MEYER article number Polishing disk for optical fiber cables 47000001 Dismantling tool for optical fiber cables 47000002 Grinding paper 47000003 6.2.2 X5 – JTAG Connector Service interface for SIEB & MEYER 6-pole Mini-Combicon connector 6.2.3 X6 – USB Connector Service interface for SIEB & MEYER 4-pole female USB connector, type B 6.2.4 X7 – 24 Volts Connection and OSSD Inputs Note Pay attention to the counting direction of the pins (1 to 10) during wiring. 33 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Connectors, Switches and Displays

10-pole Combicon connector suitable for mating connector FKCN 2,5/10-ST (Phoenix) Mating connector Pin I/O Name Meaning 1 I 24 V Logic voltage 18 - 28 volts 2 I/O GND Ground 3 I ZEROA OSSD input signal 1 for speed zero monitoring 4 I ZEROB OSSD input signal 2 for speed zero monitoring 5 I SAFEA OSSD input signal 1 for safety monitoring 6 I SAFEB OSSD input signal 2 for safety monitoring 7 I 24 V Logic voltage 18 - 28 volts 8 I/O GND Ground 9 I/O GND Ground 10 (cod- ed) I/O GND Ground Specification of terminal connections ▶ Conductor cross-section solid: 0.2 to 1.5 mm² ▶ Conductor cross-section stranded: 0.2 to 2.5 mm² ▶ Connection method: spring-cage connection 6.2.5 X8 – 24 Volts Connection and OSSD Outputs Note Pay attention to the counting direction of the pins (1 to 10) during wiring. 10-pole Combicon connector suitable for mating connector FKCN 2,5/10-ST (Phoenix) Mating connector Pin I/O Name Meaning 1 O 24 V Logic voltage 18 - 28 volts 2 I/O GND Ground 3 O ZEROA OSSD output signal 1 for speed zero monitoring 4 O ZEROB OSSD output signal 2 for speed zero monitoring 5 O SAFEA OSSD output signal 1 for safety monitoring 6 O SAFEB OSSD output signal 2 for safety monitoring 7 O 24 V Logic voltage 18 - 28 volts 8 I/O GND Ground 9 (cod- ed) O SAFEA OSSD output signal 1 for safety monitoring 10 O SAFEB OSSD output signal 2 for safety monitoring Specification of terminal connections ▶ Conductor cross-section solid: 0.2 to 1.5 mm² ▶ Conductor cross-section stranded: 0.2 to 2.5 mm² ▶ Connection method: spring-cage connection 34 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

PROFINET IO device interfaces X9 (input, Ch0) and X10 (output, Ch1) for connection of the fieldbus system PROFINET IO X9/X10 Pin I/O Name Meaning 1 O TX+ Transmit data + 2 O TX- Transmit data- 3 I RX+ Receive data + 4 TERM Bob Smith termination 5 TERM Bob Smith termination 6 I RX- Receive data- 7 I/O TERM Bob Smith termination 8 I/O TERM Bob Smith termination Note Ethernet connecting cable: To connect PROFINET IO devices use only Ethernet cables of Category 5 (Class D) or higher. You can either use patch cables (1:1) or crossover cables (TX crosslinked to RX) because the receiver ports (PHY) support automatic cable recognition (auto crossover feature). 6.3 Status Displays The status of the gateway is indicated by the status LEDs and the 7-segment display on the front panel. In addition, there are 16 drive LEDs that indicate the status of the monitorings of the re- spective drive. 6.3.1 LED Status Display for Gateway and SERVOLINK 4 The LED STA1 indicates the status of the gate- way. The LED STA2 indicates the status of the SERVOLINK 4 connection. 35 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Connectors, Switches and Displays

LED Color Status Meaning Reaction Red Flashes Start of firmware Wait until the LED stops flash- ing. Red/ green Flashes No communication with the fieldbus. Establish the connection to the fieldbus. Green Flashes The parameters of the fieldbus are loaded. None Green On Data exchange None STA1 Red On Internal error Send the gateway to SIEB & MEYER. Red/ green Flashes There are not all the SL4 de- vices available that have been parameterized on the field- bus side. Anyhow, the data ex- change is performed with the available modules. None Green On The data exchange is per- formed with all SL4 devices. None Green Flashes There are more SL4 devices available than have been para- meterized on the fieldbus side. Anyhow, the data exchange is performed with the available modules. None Red Flashes CRC error Send the gateway to SIEB & MEYER. STA2 Red On SL4 interrupted or CRC error in all SL4 devices Send the gateway to SIEB & MEYER. 6.3.2 LED Status Display for PROFINET IO-Device Communication module The status of the communication module is indicat- ed by three adjacent LEDs. LED Color Status Meaning Duo LED yellow / green - Off Missing supply voltage for the module or hardware defect Yellow On Bootloader waits for software Yellow/ green Flashes Bootloader waits for firmware SYS Green On Operating system runs Duo LED red / green - Off No error Red Flashes DCB signal service is triggered via the bus. SF (COM0) Red On Watchdog timeout; channel, generic or extended diagnosis avail- able; system error Duo LED red / green - Off No error Red Flashes No data exchange BF (COM1) Red On Missing configuration, slow physical connection or no connection 36 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

nectors (X9/X10). Female RJ45 connectors LED Color Status Meaning - Off No connection L1 (X9/X10) Green On Connection available L2 (X9/X10) Yellow Flashes The module transmits/receives Ethernet frames. 6.3.3 7-segment Display The 7-segment display on the front panel shows switch-on, status, error and information messages as code. The three-digit error and information codes are displayed as sequence. 6.3.3.1 Switch-on Messages Code Description E No connection to fieldbus module during initialization of fieldbus module P PROFINET IO module detected b PROFIBUS module detected C EtherCAT module detected u Unknown fieldbus module 6.3.3.2 Status Messages Code Description 0 OK c Operating mode configuration: Select drives c. Operating mode configuration: Save selection 6.3.3.3 Information Messages Code Description H.01. Speed zero monitoring has detected motor standstill. H.02. Speed zero monitoring has detected motor standstill (message H01 takes priority). H.03. ⋮ H.35. Diagnosis messages during startup: If the gateway stops with one of these messages, the con- nection with the fieldbus system could not be established. 37 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Connectors, Switches and Displays

6.3.3.4 Error Messages Code Description Course of action E.01. Wrong operating mode The LED status display of the drives shows a red X. Change the operating mode (via operat- ing mode selection switch). E.02. On startup in normal operation the position of the drive selection switch does not match the saved se- lection. Check positions of the drive selection switches and reconfigure. E.03. Fieldbus module has the internal status "error". In addition, the LED "SYS" lights red. Check fieldbus connection. Restart the gateway. E.04. SERVOLINK checksum error In addition the LED "STA1" is on or flashes (red). Check the SERVOLINK connection. Restart the gateway. E.05. The heartbeat bit in the SERVOLINK actual value telegram of one or more drives was not toggled. In addition, the drive LEDs of these drives light red. Check the drive(s). Check fieldbus connection. E.06. Error during monitoring of SAFE / OSSD Check the SAFE connection. Restart the gateway. E.08. SERVOLINK is not active. The drive LEDs of the selected drives light red. Check the SERVOLINK connection. Restart the gateway. E.09. Fieldbus module was not detected. Check fieldbus connection. Check the PLC software. E.10. PLC sends zero data telegrams. Check fieldbus connection. Check the PLC software. E.11. Fieldbus module: Warm boot was not executed. Check fieldbus connection. Check the PLC software. E.12. Fieldbus module: Cold boot was not executed. Check fieldbus connection. Check the PLC software. E.13. Fieldbus module No "ready" signal after warm boot Check fieldbus connection. Check the PLC software. E.14. Fieldbus module: No "ready" signal after cold boot Check fieldbus connection. Check the PLC software. E.15. Fieldbus module: Data exchange not activated Check fieldbus connection. Check the PLC software. E.16. Fieldbus module: No communication with network Check fieldbus connection. Check the PLC software. E.17. Fieldbus module: Watchdog timeout Check fieldbus connection. Check the PLC software. E.18. Fieldbus module: Communication error to network Check fieldbus connection. Check the PLC software. E.19. Fieldbus module: Module runs, but communication with internal dual-port memory cannot be estab- lished. Check fieldbus connection. Check the PLC software. E.20. Hardware error at SAFE Check the signal lines. Check the supply lines for interference pulses. Check configuration (DIP switch). E.21. Hardware error at SAFE Check the signal lines. Check the supply lines for interference pulses. Check configuration (DIP switch). E.22. Hardware error at ZERO Check the signal lines. Check the supply lines for interference pulses. E.23. Hardware error at ZERO Check the signal lines. Check the supply lines for interference pulses. E.24. Reserved for special software Depends on the used software E.25. Reserved for special software Depends on the used software E.26. Reserved for special software Depends on the used software E.27. Reserved for special software Depends on the used software 38 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety

Each drive has a multi-colored status LED at the front panel that indicates the status of the drive monitorings. Switch-on In order to check their functionality all drive LEDs are set to the following states (one af- ter the other) during switch-on: 1. status LED on/red for 2 seconds 2. status LED on/green for 2 seconds 3. status LED off for 2 seconds Afterwards switch-on is continued according to the selected operating mode (MODE switch position). Operating mode: Normal operation During normal operation each drive LED can have the following states. Color Status Meaning – Off No monitoring is active for the drive. Red On Heartbeat monitoring has triggered an error (error E.05.). PLC sends zero data telegrams (error E.10.). Yellow On Speed zero monitoring has detected motor standstill. Green On Motor is possibly running. Operating mode: Configuration speed zero monitoring During configuration of speed zero monitoring with OSSD signals each drive LED can have the following states. Color LED status Meaning – Off No monitoring is active for the drive. Red Flashes Speed zero monitoring with OSSD signals is selected. Red On (5 sec.) Speed zero monitoring with OSSD signals is saved. 39 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety Connectors, Switches and Displays

A Address selection switch for mode 29 C Connection PLC/drives 20 D Dimensions 16 DIP switches 30 Drive selection switches 30 E Error messages 38 I Information messages 37 L LED display drives 39 gateway (STA1) 35 PROFINET IO (SYS, SF, BF) 36 SERVOLINK 4 (STA2) 35 M Mode selection switch 29 Mounting 28 O Optical fiber cables connection 31 preparation of optical fiber cables with connector 32 P PROFINET IO connection 20, 35 R Residual current device (RCD) 12 S Safety (STO) 17 connection 20 inputs 33 outputs 34 SERVOLINK 4 connection 20, 31 Software connection 22 Speed zero monitoring 17 connection 20 inputs 33 outputs 34 Status display 37 Status messages 37 Switch-on messages 37 T Technical data 17 Type plate 16 X X3 – SERVOLINK 4 OUT 31 X4 – SERVOLINK 4 IN 31 X5 – JTAG 33 X6 – USB 33 X7 – 24 V / OSSD IN 33 X8 – 24 V / OSSD OUT 34 X9 – PROFINET IO IN 35 X10 – PROFINET IO OUT 35 Index 40 Gateway 0362157A - PROFINET IO to SERVOLINK 4 and Safety