631 Digital Servo Drive

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All rights strictly reserved. No part of this document may be stored in a retrieval system, or transmitted in any form or
by any means to persons not employed by a Eurotherm group company without written permission from Eurotherm
Drives Ltd.
Although every effort has been taken to ensure the accuracy of this document it may be necessary, without notice, to
make amendments or correct omissions. Eurotherm Drives cannot accept responsibility for damage, injury, or expenses
resulting therefrom.
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Eurotherm Drives warrants the goods against defects in design, materials and workmanship
for the period of 12 months from the date of delivery on the terms
detailed in Eurotherm Drives Standard Conditions of Sale IA058393C.
Eurotherm Drives reserves the right to change the content and product specification without notice.
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This manual is to be made available to all persons who are required to install, configure or
service equipment described herein, or any other associated operation.
The information given is intended to highlight safety issues, and to enable the user to obtain
maximum benefit from the equipment.
Complete the following table for future reference detailing how the unit is to be installed and
used.
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Serial Number
(see product label)
Where installed
(for your own
information)
Unit used as a:
(refer to Certification
for the Inverter)
Unit fitted:
R Component
R Relevant Apparatus
R Wall-mounted
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The equipment described regulates the flow of energy in electrical power installations, and is
intended for supplying only Eurotherm (or Eurotherm approved) servo motors.
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Installation, operation and maintenance of the equipment should be carried out by qualified
personnel. A qualified person is someone who is technically competent and familiar with all
safety information and established safety practices; with the installation process, operation and
maintenance of this equipment; and with all the hazards involved.
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The equipment must be permanently earthed due to the high earth leakage current.
The servo motor must be connected to an appropriate safety earth.
The equipment contains high value capacitors which take time to discharge after removal of
the mains supply.
Before working on the equipment, ensure isolation of the mains supply from terminals L1
and L2/N.
Never perform high voltage resistance checks on the wiring without first disconnecting the
unit from the circuit being tested.
When replacing a unit in an application and before returning to use, it is essential that all
user defined parameters for the products operation are correctly installed.
This equipment contains electrostatic discharge (ESD) sensitive parts. Observe static
control precautions when handling, installing and servicing this product.
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The specifications, processes and circuitry described herein are for guidance only and may need
to be adapted to the users specific application.
Eurotherm Drives does not guarantee the suitability of the equipment described in this Manual
for individual applications.
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Under fault conditions, power loss or other operating conditions not intended, the equipment
may not operate as specified. In particular:
The motor speed may not be controlled
The direction of rotation of the motor may not be controlled
The motor may be energised
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The user must provide guarding and /or additional safety systems to prevent risk of injury and
electric shock.
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All control and signal terminals are SELV, i.e. protected by double insulation. Ensure all
wiring is rated for the highest system voltage.
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All exposed metalwork in the Inverter is protected by basic insulation and bonding to a
safety earth.
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These are not recommended for use with this product but ,where their use is mandatory, only
Type B RCDs should be used.
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The 631 Digital Servo Drive is designed to control Eurotherm approved AC Brushless Servo
Motors. It is available in a range of current ratings from 1 to 6 Amps.
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The EASYRIDER software ? is used to set-up the drive. An Autopilot set-up wizard can be
started when using the software.
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The BIAS progamming language is contained in EASYRIDER ? which provides for up to
1500 lines of program code.
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The unit is operated remotely using the analog/digital inputs and outputs via a PLC, for example.
Multiple units can be controlled using RS232, CAN-Bus or Incremental Bus.
Four operating modes offer various speed, torque and position controls.
There is a seven-segment diagnostic display for trip and fault finding information.
The internal RFI filter offers enhanced EMC compliance without the need for additional external
components.
An internal dynamic brake resistor is provided.
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Check for signs of transit damage

Check the product code on the rating label conforms to your requirement.
If the unit is not being installed immediately, store the unit in a well-ventilated place away from
high temperatures, humidity, dust, or metal particles.
Refer to Chapter 2: An Overview of the Servo Drive to check the rating label/product code.
Refer to Chapter 8: Routine Maintenance and Repair for information on returning damaged
goods.
Refer to Chapter 9: Accessories to check for the correct items.
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This manual is intended for use by the installer, user and programmer of the 631 Servo Drive. It
assumes a reasonable level of understanding in these three disciplines.
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Enter the Model No from the rating label into the table at the front of this manual. It is
important that you pass this manual on to any new user of this unit.
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Use the manual to help you plan the following:
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Know your requirements:
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certification requirements, CE/UL/CUL conformance

conformance with local installation requirements
supply and cabling requirements
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Know your operator:
how is it to be operated, RS232, CAN-Bus?
what level of user is going to operate the unit?
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Know your application:
select the appropriate Operating Mode
plan your programming
enter a password to guard against illicit or accidental changes
learn how to back-up your application data
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The manual is divided into chapters and paragraphs. Page numbering restarts with every chapter,
i.e. 5-3 is Chapter 5, page 3.
Further descriptions,
that relate to this document.
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to next 631 controller
(last controller is terminated)
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2
1
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Encoder/Stepper connection
to next 631 controller
X15/RS232
X15/RS23
2
Resolver Connection
(mandatory)
POWER
EASYRIDER software
used to configure
each 631 individually
POWER
Motor 1
Motor 2 (synchronised to Motor 1)
The Servo Drive is controlled via RS232, CAN-Bus or Incremental Bus using a PLC. It is
configured using the EASYRIDER software.
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Table 2-1 Control Features
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Custom-made Software
PLC
EASYRIDER
PLC I/O 10V
'
Instructions
Diagnostics
506
631 Servo Drive
CAN-Bus
RS232
X20/X21
speed-loop
position-loop
X15
PLC
X10
"
Setup
current-loop
Programming
Figure 2-2 Communications Options
Conventional Control
(analog setpoint value)
Point-to-Point
Position Control
Synchronisation
(electronic gearbox)
CAN-Bus Network
Unit X
+10V
-10V
Pos.1
CAN
Unit Y
Pos.2
631
631
631
M
1:X
Pulse Control
Pos Y
Stepper motor
control or
incremental
encoder
CAM Profiling
631
AC Servo
Pos X
Figure 2-3 Typical Applications
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The unit is fully identified using a five block alphanumeric code which records how the Servo
Drive was calibrated, and its various settings when despatched from the factory.
The Product Code appears as the Model No.. Each block of the Product Code is identified as
below:
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1R1
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)# #)LOWHU
3# #1R#)LOWHU
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33
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([DPSOH
631/002/230/F/00
Servo Drive Type 631 / rated output current 2A / AC supply 230V / with internal filter /
Eurotherm standard mechanical package.
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3mm
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90
0,3 m
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8 cm max
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Adjustable mounting clip can be
easily re-positioned to allow
different mounting configurations
H1
H2
Fixing hole
centres
H3
DIN mounting
dimensions
W1
D
SIDE VIEW
PANEL MOUNTING VIEW
DIN MOUNTING VIEW
Figure 3-1 Mechanical Dimensions for 631

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The unit must be installed in a vertical position to guarantee the best air circulation for the
cooling ribs of the heat sink. Vertical installation above other drive racks or above other heat
producing devices can lead to overheating.
You must install the unit inside a suitable cubicle. The inside of this cubicle must be free from
dust, corrosive fumes, gases, and all liquids including condensation.
If the unit is being installed in a place where condensation is likely, install a suitable
anticondensation heater. The heater must be SWITCHED OFF during normal operation.
Automatic switch off is recommended.
606
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The digital servo drive is protected against damage caused by overheating.
There is a thermal sensor installed on the heat sink. When the temperature rises to >95C, the
drive is automatically switched off. This setting cannot be changed. Use a cabinet of the correct
size for adequate air circulation, see below.
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The servo drive gives off heat in normal operation and must therefore be mounted to allow the
free flow of air through the ventilation slots and heatsink. Maintain minimum clearances for
ventilation as shown below to ensure heat generated by other adjacent equipment is not
transmitted to the Servo Drive. Be aware that other equipment may have its own clearance
requirements. When mounting two or more 631s together, these clearances are additive.
Ensure that the mounting surface is normally cool.
100mm / 4"
631
631
631
631
631
100mm / 4"
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It is better to place heat-producing devices low down inside an enclosure to support internal
convection, which will spread the heat. If placing devices up high is unavoidable, you should
consider increasing the (upper) dimensions of the cubicle, or installing fans.
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Figure 3-2 Cabling Requirements

Cables are considered to be electrically sensitive, clean or noisy. You should already have
planned your cable routes with respect to segregating these cables for EMC compliance.
If not, refer to Chapter 12: Certification for the Servo Drive.
608
631
Remove Terminal Cover by pressing here and pulling down
8VLQJ#&DJH#&ODPS#7HUPLQDOV
Remove the terminal cover as shown above.
Insert a flat-bladed screwdriver (size 3.5 mm max.) inside the smallest
hole. Lever the screwdriver, keeping it firmly pressed into the hole. The
cage will open.
Insert the stripped wire (5mm to 6mm/0.22in.) or wire crimp inside the
cage keeping the screwdriver in position.
Remove the screwdriver. Note the cage provides the correct force for a
secure connection.
0RWRU#7KHUPLVWRU
The temperature sensor in the motor windings of the approved Eurotherm servo motors are
classed as SELV, (i.e. protected by double insulation). Refer to Chapter 12: Certification for the
Servo Drive - Solid State Motor Overload Protection.
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;631
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resolver cable (without thermistor connections)
thermistor wires
X30
631
SELV Isolation
motor
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We do not recommend the use of circuit breakers (e.g. RCD, ELCB, GFCI), but where their use
is mandatory, they should:
Operate correctly with dc and ac protective earth currents (i.e. type B RCDs as in
Amendment 2 of IEC755).
Have adjustable trip amplitude and time characteristics to prevent nuisance tripping on
switch-on.
When the ac supply is switched on, a pulse of current flows to earth to charge the
internal/external ac supply EMC filters internal capacitors which are connected between phase
and earth. This has been minimised in Eurotherm Drives filters, but may still trip out any circuit
breaker in the earth system. In addition, high frequency and dc components of earth leakage
currents will flow under normal operating conditions. Under certain fault conditions larger dc
protective earth currents may flow. The protective function of some circuit breakers cannot be
guaranteed under such operating conditions.
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The wiring terminals accept a maximum conductor size of 12 AWG (3.2mm).
The servo drive, when fitted with an internal ac supply EMC filter, is only suitable for earth
referenced supplies (TN).
Refer to Chapter 12: Certification for the Servo Drive for information on earthing
requirements.
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Refer to Chapter 14: Application Notes - Dynamic Braking for selection details and Chapter
11: Technical Specifications - Power Details.
DBR1
DBR2
Top View of 631
Figure 3-3 External Brake Resistor Terminals
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60:
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1 2 3 4 5 6
7 8 9 10
X1
protective earth
230V ac 50/60Hz supply
L1
230V ac 50/60Hz supply
L2/N
motor supply
M1/U
motor supply
M2/V
motor supply
M3/W
protective earth
Motor Cable Clamp

To Motor Brake
control circuitry
red
blue
Screen Connections - ensure good

connection with conductive surface
on the cubicle, remove varnish.
Power
Servo Motor
Figure 3-4 631 Power and Earth Wiring Connections
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In order to conform with the specified generic EMC standards, the motor cable must be screened
and the screen connected to both the motor frame and the motor cable clamp. This clamp is
internally connected to power terminals PE (Protective Earth) and provides convenient 360
connection. It is used for the motor protective earth, motor and control cable screen connections.
Refer to Chapter 12: Certification for the Servo Drive for information on meeting generic
EMC standards and minimising electrical interference.
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X10
Functional Earth connected to
cubicle backplate providing clean earth
for electronic ground and screens
1 2 3 4 5 6
L1
7 8 9 10
Control Cable
Retainer
L2/N
M1/U
M2/V
M3/W
Screen Connections:
ensure good connection
with conductive surface
on the cubicle.
Remove varnish.
Control
Figure 3-5 631 Control Wiring Connections

Pin
Type
Function
10V, Ri - 10k
ANALOG IN, differential to pin 2

referenced to GND
10V, Ri - 10k
ANALOG IN, differential to pin 1

referenced to GND
0V PLC
External supply for digital i/o,

related to pin 4
24V DC PLC
External supply for digital i/o,

related to pin 3
Opto-OUT
Configurable ? (s. 3.1.1)
Opto-OUT
Opto-IN
ACTIVE, non-configurable
activates motor power when high
Opto-IN
Opto-IN
10
Opto-IN
60<
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All control and signal terminals are SELV, i.e., protected by double/re-inforced insulation.
Ensure all wiring is rated for the highest system voltage. Control wiring of between 0.08 mm2
(28 AWG) - 2.5 mm2 (14 AWG) can be used.
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This clip is used to provide guaranteed segregation of the control and power cables. It may be
reotated in either direction to allow easy installation of the control cables.
Refer to Chapter 4: Operating the Servo Drive - Operating Modes.
Refer to Chapter 11: Technical Specifications for Control Terminal information.
Refer to Chapter 12: Certification for the Servo Drive for information on meeting generic
EMC standards and minimising electrical interference.
631
0V
I/O Functions
according to
set-up with
EASYRIDER
X10
3 4
7 8
9 10
I/O supply
to be installed by User
L1
N
DC +24V PLC
~
=
0V PLC
SELV Isolation
PLC
Analog
Digital
Functions according to user-software
* Analog Output. Polarity according to requirement. Setpoint output and input are working related to earth.
It may be useful to connect one pole directly to earth, refer to PLC information.
Figure 3-6 Typical Connection to the Control Terminals (X10)
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The resolver provides a digital value for the rotor position to within one revolution, evaluation:
12 or 14 bit. It is adjustable in the Configuration Menu in the EASYRIDER software.
commutation according to pole pair number

actual speed value
incremental position output
position value for position regulation
The supplied resolver cable is plugged in to the front of the 631 (socket X30), and into the
socket on the Eurotherm approved servo motor. This connection must be made for the 631 to
control the operation of the motor. The cable contains wiring for the resolver and the motor
thermistor.
motor end
front
8
7
1
2
10
12
11
1
2
8
12
10
11
3
4
6
5
solder side
controller end (X30)

front
Pin No.
Colour
Function
1
2
3
4
8
7
5
6
9
10
11
12
white
brown
green
yellow
grey
pink
red
blue
sin +
sin cos +
cos carrier +
carrier PTC optional
PTC optional *
Pin No.
screen
1
6
4
8
3
7
5
9
2
6
1
7
8
9
1
2
3
2
3
4
5
6
7
8
4
5
screens can be connected to ground

with U-clip or gland using 360connection
solder side
Figure 3-7 Resolver Connections (as supplied cable model KIR)
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$&*#RQO\1
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This connection provides encoder emulation, encoder input and stepper motor interface.
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GND
GND
X40
X41
X40
GND
X41
X40
X41
Incremental-Out
Incremental-IN
Incremental-IN
MASTER
SLAVE 1
SLAVE 2
631
631
631
mount units side-by-side if possible

keep cables as short as possible
X40/41 signals are referred to PE
Figure 3-8 Application Example

To synchronise several 631 servo drives, connect the X40/41 sockets as shown using the
specified cables. The 631 is configured using EASYRIDER software ?.
The X40/X41 input/output functions are configurable using the EASYRIDER ?#software.
Functions:
Mode 0 Incremental Output
Mode 1 Incremental Input
Mode 2 Step Control Pulse/Direction
Mode 3 Step Control Pulse (+) ( -)
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Incremental encoder simulation for processing in positioning modules

Standard: 1024 increments; other selectable pulse numbers are 512, 256, 128
GND
PLC
A
/A
B
/B
IN
X41
X40
Z
/Z
Encoder Emulation,
based on Resolver
conversion
Incremental Encoder inputs or outputs
Incremental OUT
631
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1
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A
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The capability of input frequency of any connected device must at least meet the selected value
of pulse outputs (increments) on X40.
n = maximum speed (rpm)
x = increments e.g. 1024
f = output frequency at X40/41 4,5,6,7
Formula:
f =
n* x
= [Hz]
50
Example: n = 4000 rpm
f =
4000 * 1024
= 81920 H z
50
6046
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Parameter area of the input signals is 10 - 1,000,000 increments
GND
Encoder IN
A
/A
B
/B
X40
Z
/Z
Encoder
Mode = 1
Incremental IN
631
Incremental Encoder inputs or outputs
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Standard fieldbus protocol CAN-Bus interface.
GND
GND
GND
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Bus
Termination
CAN-Bus
X20
X21
X20
NODE 1
631
X21
124 Ohm
X20
X21
NODE 2
LAST NODE
631
631
Bus
Termination
To network several 631 servo drives, connect the X20/21 sockets as shown using the specified
cables. The 631 is configured using EASYRIDER software ?.
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Refer to Chapter 14: Control and Communications for cabling details.
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This Pin Assignment is related to CiA Draft Recommendation DR-303, V0.1 / 26.10.98.
The wires on Pins 3/6 and 4/5 should be twisted pairs.
A defined quiescence level on the bus must be guaranteed for communication. You should use
terminal resistors on both ends of the line. Use special bus plugs that have a resistance of
approximately 124 between CAN_L and CAN_H.
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631 servo drive
using a selection of all available functions:
631 servo drive

using:
Resolver
8
encoder
emulation
RS232
CAN-Bus
Comms link
multi-functional
pulse interface
(encoder,
stepper etc.)
X10
Resolver
analog
input
digital i/o
RS232
X10
analog
input
digital i/o
Operating Modes
1&2
REMOTE CONTROL
Operating Modes
4&5
Figure 4-1 Remote Control
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The Operating Mode for the unit is selected using the EASYRIDER software menu:
Commissioning/General.
The 631 unit does not use Modes 0 and 3. If you attempt to select these, the unit will default to
the set-up for Mode 1 - speed control.
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The OPTO Input and Output functions must be configured for use with each Operating Mode.
The Input/Output functions for terminals X10.5, X10.6, X10.8, X10.9 and X10.10 are selected in
the menu: Commissioning/Input -Output.
The function of each input/output is determinaed by selecting a number from 0 to 5. The tables
below show the possible selections to be used with each Operating Mode.
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Fault signal /
protection function
Protection mode switching off
Protection mode limiting
in accordance with EASYRIDER config. menu
in accordance with EASYRIDER config. menu
I 2t regulator protection
output Warning(F5) X10.6
output Ready(F0) X10.5
Warning display
Warning time approx. 3s

I-LIMIT
max. current

I-LIMIT
max. current
rated current of regulator
fault signal display
I 2t motor protection
Warning display
rated current of motor
NTC-motor protection
decrease as of R_NTC1
switch off with R_ NTC2

Warning display
I-LIMIT
current limiting
PTC-motor protection
switch off with R_ PTC after warning time
no limiting function with PTC
Warning display
Function Passive -Delay (recommended for motor brake use)

input ACTIVE OK X10.7
Nsoll Nsetpoint
setpoint internally to zero
output stage Active
reaction time for brake

output ACTIVE OK (F4) X10.5 (holding brake)
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This may be detected in two ways:
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These are located in the motor windings. Enter the relevant data (type, tripping value) in to the
EASYRIDER ? menu: COMMISSIONING / MOTOR / TEMPERATURE SENSOR.
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Using thermal simulation of the motor in the drive (It), related to the rated current of the motor.
Enter the rated current of the motor into the EASYRIDER ? menu: COMMISSIONING /
MOTOR / RATED CURRENT MOTOR.
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Connect your PC to the 631 Servo Drive using the supplied RS232 cable. The cable is wired as
shown below.
Refer to Chapter 9: Accessories.
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The line-connection of the PC must be close to the servo drive to achieve operation related to a
common reference (common ground).
Make sure that the Functional Earth terminal on the top of the drive is connected to earth.
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Mains power supply voltage is correct.
Motor is of correct voltage rating and is connected with the correct polarity.
Check all external wiring circuits - power, control, resolver, motor and earth connections.
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Check for damage to equipment.
Check for loose ends, clippings, drilling swarf etc. lodged in the Servo Drive and system.
If possible check that the motor can be turned freely, and that any cooling fans are intact and
free from obstruction.
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Ensure that rotation of the motor in either direction will not cause damage.
Ensure that nobody else is working on another part of the system which will be affected by
powering up.
Ensure that other equipment will not be adversely affected by powering up.
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Remove the supply fuses, or isolate using the supply circuit breaker.
Disconnect the load from the motor shaft, if possible.
Check external run contacts are open.
Check external speed setpoints are all zero.
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Access to several software functions is password restricted. Commissioning should be carried
out by competent personnel only.
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The EASYRIDER software tool is provided to fine-tune the 631 servo drive to the motor, and
program the servo drive for operation using either Position Blocks or the BIAS programming
language.
Install the software which is available as a DOS version, or suitable for use as a Windows
application. You can either connect the drive to your PC or you can have the software simulate a
drive. We suggest you practice using a simulation before attempting a set-up for the first time.
When running the software you should be aware of the following:
The software is password protected. It will initialise with an authorisiation of Level 0 (if an
incorrect password is entered it will default to Level 0). At this level you can view the
software without making permanent changes. To configure the drive, you must enter EASY
when asked for the password by Autopilot. This will increase the authorisation to Level 1
allowing you to write permanent changes to the drive. (You can also enter this in the menu:
Options/Password).
There are several demonstrations loaded with the software. To simulate communication with
the 631 product you may need to set this under the following menu: Options/General
Options/Simulated Drive Type. This selection is saved when you exit the software.
You must supply an external 24V supply for terminal X10.7 (ACTIVE/NOT ACTIVE) in
order to operate the drive.
The software checks for the correct connections to the drive, i.e. resolver, when not
simulating and may not let you proceed with the configuration. Ensure the 631 is fully and
correctly wired.
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A context-sensitive On-line Help menu is available by pressing the F1 key.
Pressing F9 from any screen displays the Amplifier Diagnosis page from the Diagnosis menu
which also contains other helpful pages for fault finding.
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Starting the EASYRIDER software displays an option window for running the Autopilot
`wizard. This is used for initially setting-up the drive and will help you to do the following:
Select the COM port
Select the motor type from a default library, or create your own library
EASYRIDER automatically saves the settings to the drive
Optimise the Speed Loop
optimise the Position Loop
Select the Operating Mode from the General Configuration page (defaults to Speed
Control)
Select the correct Input/Output functions
Set-up the Counter Configuration page
Set-up the Supervision Configuration page
Set-up any other information necessary to your Operating Mode
Select to save your changes to the drive
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Included with these pages are instructions on wiring, safety etc. The Speed Loop and Position
Loop Optimization pages will already contain sensible values (loaded from your motor
selection) and should require only fine tuning to your system.
Having chosen an Operating Mode, you then make relevant selections in the Input/Output
Configuration page. Press the F1 key for context sensitive help about each input/output.
The Autopilot instructions recommend that the initial set-up is carried out without load. When
the set-up is complete and load is applied, you can optimize the drives performance in the
Tuning menu.
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File
Figure 6-1 EASYRIDER Main Screen
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Select BIAS from the menu in the main screen and enter the Editor. You can program the drive
to perform a set routine involving up to 1500 lines of code. The BIAS program is used when
Operating Mode 5 is selected.
We suggest you practice programming by using and applying the example files (xxx.ASB)
supplied with the software.
The BIAS program contains the following command groups:
Organisation commands
- fixing start and end of the main programs and sub-routines
- conditional and unconditional jump commands
Commands relevant to motion
Set/delete commands for outputs and flags
Commands for variables
BIAS processing is started in Operating Mode 5, Position control with BIAS processing
after activating the output stage of the regulator.
The first BIAS block to be executed is determined in the BIAS menu Edit BIAS Program
Definition (parameter program start). After that, the regulator processes one BIAS command
sequentially every 2ms.
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The BIAS program can also provide a cyclic PLC function in Operating Mode 5 for supervisory
monitoring tasks. This removes the requirement for an external PLC. This is started in parallel to
the sequential processing of a BIAS program using the BIAS Execution Pointer command.
After the PLC program is activated, the programmed PLC commands are processed as per the
specified block number.
The BIAS command end of program within a PLC program causes a jump back to the start of
the PLC program.
The reaction of the PLC program to the deactivation of the output stage can be adjusted in the
BIAS menu Edit BIAS Program Definition (parameter Program Reaction PLC Program).
Here it is possible to allow the PLC program to continue to process during the deactivation of the
regulator.
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in-/ output
save parameter
compare BIAS-program
calculate cam-profile
read BIAS-program
load BIAS-example copy
print BIAS-program paste
delete
search
Exit BIAS-Editor
ins.comment
insert label
go to
BIAS-program definition configuration
transmit BIAS-program
s a v e B I A S - p r o g r a m cut
BIAS-program definitions
program
load BIAS-program redo
edit
change edit mode
file
serial single command
special function
Editor
BIAS
serial single command
select axis number
store all data
PC-logout
PC-login
reset drive fault
activate drive
deactivate drive
command
diagnosis
field bus diagnosis
oscilloscope
BIAS diagnosis
in-/ output diagnosis
amplifier diagnosis
diagnosis
field bus diagnosis
oscilloscope
BIAS diagnosis
in-/ output diagnosis
amplifier diagnosis
Menu system BIAS-screen
select axis number
field bus
P C -logout
store all data
analogue in-/ output
PC-login
reset drive fault
activate drive
deactivate drive
command
position blocks
supervision
position loop
speed loop
current loop
autopilot
tuning
new BIAS-program undo
exit
counter
print parameter motor
general
commissioning
load parameter
file
update firmware
change password
password/ authorisation level
general options
test serial interface
deutsch / franais
select interface
simulate communication
options
update firmware
change password
password/ authorisation level
general options
test serial interface
deutsch / franais
select interface
simulate communication
options
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move infinite
negative + parameter
move synchron +
parameter
move infinite
negative
move synchron
stop axis + parameter
only defined in
BIAS program
update parameter
stop axis
start axis
sensor adjustment 2
start axis
NOP
sensor adjustment 2 =
[variable X]
sensor adjustment 1 =
[variable X]
sensor adjustment 1
sensor position =
[variable X]
sensor position
If actual position X ?
[var.Y]
analog output =
[variable X]
If actual position X ?
const.
sensor window =
[variable X]
actual position X =
[variable Y]
maximal current =
[variable X]
remaining position =
[variable X]
"position reached"
window = [variable X]
gear factor =
[variable X]
deceleration =
[variable X]
acceleration =
[variable X]
speed =
[variable X]
actual position X =
ramp filter =
remaining position =
"position reached"
window =
gear factor =
deceleration =
acceleration =
speed =
3
position =
[variable X]
sensor window
move speed +
integrator
position =
synchronous
settings 2
synchronous
settings 1
move analog value

+ integrator
move infinite positive

+ parameter
move infinite
positive
6 move cam-profile
move datum +
parameter
move datum
position
move incremental
position + parameter
move position +
parameter
move position
1 move incremental
5
NOP
virtual program
BIAS execution pointer

= [var. X]
wait time [variable X]
wait time
wait for
position reached
BIAS execution pointer
jump [variable X]
jump
PLC-program
end of sub-program
sub-program
end of program
defined in BIAS
and PLC-program
[variable X] =
value Y
[variable X] =
position Y
[variable X] =
latchstatus Y
[variable X] =
actual speed Y
[variable X] =
latchposition Y
[variable X] =
analog input Y
[variable X] =
actual position Y
[variable X] =
block-number
[variable X] =
gear factor
[variable X] =
deceleration
[variable X] =
acceleration
[variable X] =
speed
[variable X] =
position
If status X ?
IBT notification
number =
[variable X] =
[teachvar. Y]
[teachvar. X] =
[variable Y]
[variable X]=
[var. Y] / [variable Z]
[variable X]=
[var. Y] * [variable Z]
[variable X]=
[var. Y] - [variable Z]
[variable X]=
[var.Y] + [variable Z]
If [variable X] ?
[variable Y]
[variable X] =
[variable Y]
[variable X] =
[variable Y] / const.
[variable X] =
[variable Y] * const.
[variable X] =
[variable Y] - const.
[variable X] =
[variable Y] + const.
If [variable X]
? const.
[variable X] =
CAN command = [variable x]
only defined in
PLC program
IBT masknumber =
output X = flag Y
output X =
If output X ?
If input X ?
BIAS execution
pointer
flag X = status Y
flag X = !flag Y
flag X = flagY ^ flag Z
flag X= flag Y | flag Z
flag X = flagY & flag Z
flag X = output Y
flag X = input Y
flag X = flag Y
If flag X = ?
flag X =
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ESC
terminate command
Alt
activate menu system
Tab
next parameter
Shift+Tab
previous parameter
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The seven-segment display is

illuminated when the servo drive is
powered-up. It provides information on
the state of the drive, active trips, and
assists in fault finding.
Remember to remove the protective film
covering the display when installing the
drive.
X
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There are two options:
1. Switch the supply voltage OFF and ON
2. Use EASYRIDER ?
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* Configuration as stated, refer to Chapter 4:Operating Modes - Configuring the OPTO

Inputs and Outputs (X10)
The last error signal will be displayed after restart in EASYRIDER ? - Diagnosis:Menu,
(History Status Memory, page 7-5).
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The following list refers to faults which can occur during operation.
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The following diagram refers to the internal dc bus voltage (rectified from an ac voltage). Note
that voltage ripple effects have to be taken in to account, refer to Chapter 11: Technical
Specifications - Derating of Output Voltage.
Variations of internal DC Bus Voltage
DC 400 V
DC 380 V
DC 373 V
Nominal Area
DC 280 V
DC 100 V*
approximately
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Display
Drive Status
Precharge
2 seconds
ok
Fail
Low Voltage
Reset by ok Dynamic
power down
Braking
ok
Fail
High voltage
* Default value, may be changed using EASYRIDER

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When the unit is powered down, a set of important indicators is stored in to dedicated memory.
This allows the last eight status conditions to displayed by the EASYRIDER ? diagnostic menu
Thus important failure information, for instance, is not lost when the unit is powered down.
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Periodically inspect the Servo drive for build-up of dust or obstructions that may affect
ventilation of the unit. Remove this using dry air.
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There are no user-serviceable components.
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Although the Servo drive retains saved settings during power-down, it would be wise for you to
keep a back-up of your data. You may, depending upon your knowledge of the fault, attempt the
back-up of your application data now.
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Please have the following information available:
The model and serial number - see the units rating label
Details of the fault
Contact your nearest Eurotherm Drives Service Centre to arrange return of the item.
You will be given a Returned Material Authorisation. Use this as a reference on all paperwork
you return with the faulty item. Pack and despatch the item in the original packing materials; or
at least an anti-static enclosure. Do not allow packaging chips to enter the unit.
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The digital servo drive consists of different materials.
The following table shows, which materials can be recycled and which have to be disposed of in
a special way.
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Local wiring regulations always take precedence.
* European wire sizes are based on EN60204-1 (1993) for PVC single-core cable bunched or
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Notes:
1)
Use only Eurotherm approved types
2)
Fuses, medium speed or according to suggestion:

Fuse and item number
10A
CH 430014
20A
CH 430024
Fuse holder 10x38mm
CP051602
3)
Devices with built-in filter may be operated only

in grounded networks (TN-Networks) with
permanently connected protective conductor.
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All Variable Speed Drives (VSDs) potentially produce electrical emissions which are radiated
into the environment and conducted back into the ac supply. VSDs are inherently immune to any
additional external electrical noise. The following information is provided to maximise the
Electro Magnetic Compatibility (EMC) of VSDs and systems in their intended operating
environment, by minimising their emissions and maximising their immunity.
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EN55011/EN55022 radiated emission measurements are made between 30MHz and 1GHz in the
far field at a distance of 10 to 30 metres. Limits lower than 30MHz or in close proximity are not
specified. Emissions from individual components tend to be additive.
Use a screened/armoured cable between VSD/cubicle and motor containing the motor
protective earth (PE) connection. It should have a 360 screen termination. Earth screen at
both ends connecting to the motor frame and cubicle. Maintain the screen integrity using
360 terminations.
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Keep unshielded cable as short as possible inside the cubicle.
Always maintain the integrity of the shield.
If the cable is interrupted to insert contactors etc., re-connect the screen using the shortest
possible route.
Keep the length of screen stripped-back as short as possible when making screen
connections.
Ideally use 360 screen terminations using cable glands or Ù clips on power screen rails.
If a shielded cable is not available, lay unshielded motor cables in a metal conduit which will act
as a shield. The conduit must be continuous with a direct electrical contact to the VSD and motor
housing. If links are necessary, use braid with a minimum cross sectional area of 10mm2.
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Local wiring regulations may require the protective earth connection of the motor to be
connected locally, i.e. not as specified in these instructions. This will not cause shielding
problems because of the relatively high RF impedance of the local earth connection.
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For compliance with EMC requirements, we recommend that the 0V/signal ground is
separately earthed. When a number of units are used in a system, these terminals should be
connected together at a single, local earthing point.
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Control and signal cables for the encoder and all analog inputs normally require screening with
the screen connected only at the VSD end. However, if high frequency noise is still a problem,
earth screen at the non VSD end via a 0.1F capacitor.
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Use the shortest possible motor cable lengths.
Use a single length of cable to a star junction point to feed multiple motors.
Keep electrically noisy and sensitive cables apart.
Keep electrically noisy and sensitive parallel cable runs to a minimum. Separate parallel
cable runs by at least 0.25 metres. For runs longer than 10 metres, separation should be
increased proportionally. For example if the parallel runs were 50m, then the separation
would be (50/10) x 0.25m = 1.25m.
Sensitive cables should cross noisy cables at 90.
Never run sensitive cables close or parallel to the motor and braking chopper circuit for any
distance.
Never run supply or motor cables in the same bundle as the signal/control and feedback
cables, even if they are screened.
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Because cable capacitance and hence conducted emissions increase with motor cable length,
conformance to EMC limits is only guaranteed with the internal ac supply filter option.
Screened/armoured cable has significant capacitance between the conductors and screen which
increases linearly with cable length (typically 200pF/m but varies with cable type and current
rating).
Long cable lengths may have the following undesirable effects:
Tripping on òvercurrent as the cable capacitance is charged and discharged at the

switching frequency.
Producing increased conducted emissions which degrade the performance of the EMC filter
due to saturation.
Causing RCDs (Residual Current Devices) to trip due to increased high frequency earth
current.
Producing increased heating inside the EMC ac supply filter from the increased conducted
emissions.
These effects can be overcome by adding chokes or output filters at the output of the VSD.
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The unit, when installed for Class B operation, will be compliant with EN55011 (1991)/
EN55022 (1994) for radiated emissions, as described below.
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1RWH=# 7KH#LQVWDOODWLRQ#UHTXLUHPHQWV#RI#ORFDO#VDIHW\#VWDQGDUGV#PXVW#EH#DFKLHYHG#UHJDUGLQJ#WKH
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The unit is installed for Class B operation when mounted inside a cubicle having 10dB
attenuation between 30 and 100MHz (typically the attenuation provided by a metal cabinet with
no aperture of dimension greater than 0.15m), using the internal ac supply EMC filter and having
met all cabling requirements.
4506
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The VSD and associated equipment are mounted onto a conducting, metal mounting panel. Do
not use cubicle constructions that use insulating mounting panels or undefined mounting
structures. Cables between the VSD and motor must be screened or armoured and terminated at
the entrance to the cubicle.
6LQJOH#96'#0#6LQJOH#0RWRU
Apply a single point earthing strategy for a single VSD mounted in a cubicle as shown below.
The protective earth connection (PE) to the motor must be run inside the screened cable between
the motor and VSD and be connected to the motor protective earth terminal on the VSD.
964
PRWRU#FDEOH#VFUHHQ
$&#6XSSO\
3(
0RWRU
3(
3(
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7ZR#FDEOHV#IRU#SHUPDQHQW#HDUWKLQJ
Figure 12-1 EMC and Safety Earthing Cabling
6WDU#3RLQW#(DUWKLQJ
to motor
to motor
screened
U-clip used to terminate screen

connection to the back panel
to motor
screened
Back Panel
VSD
0A
PE
PE
PE
VSD
0D PE
VSD
PLC
Metal Work Earth
PE
0A
0D PE
0A
0D
PE
0D
Doors
Back
Panel
Metal
Work
24V Control
Analogue Clean Earth
Digital Clean Earth

unscreened signals
Dirty Earth
Signal/Control Screen
110V
0A = 0 Volts Analogue
Control
0D = 0 Volts Digital
PE = Protective Earth
f = External Filter
VSD = Variable Speed Drive
PLC = Programmable Logic Controller
STAR POINT
all screened signals not
going directly to a VSD
Incoming Safety Earth (PE)
A star-point earthing policy separates `noisy and `clean earths. Four separate earth busbars
(three are insulated from the mounting panel) connect to a single earth point (star point) near the
incoming safety earth from the main supply. Flexible, large cross-section cable is used to ensure
a low HF impedance. Busbars are arranged so that connection to the single earth point is as short
as possible.
4#&OHDQ#(DUWK#%XVEDU#+LQVXODWHG#IURP#WKH#PRXQWLQJ#SDQHO,
Used as a reference point for all signal and control cabling. This may be further subdivided into
an analog and a digital reference busbar, each separately connected to the star earthing point.
The digital reference is also used for any 24V control.
5#'LUW\#(DUWK#%XVEDU#+LQVXODWHG#IURP#WKH#PRXQWLQJ#SDQHO,
Used for all power earths, i.e. protective earth connection. It is also used as a reference for any
110 or 220V control used, and for the control transformer screen.
6#0HWDO#:RUN#(DUWK#%XVEDU
The back panel is used as this earth busbar, and should provide earthing points for all parts of the
cubicle including panels and doors. This busbar is also used for power screened cables which
terminate near to (10cm) or directly into a VSD - such as motor cables, braking choppers and
their resistors, or between VSDs - refer to the appropriate product manual to identify these. Use
U-clips to clamp the screened cables to the back panel to ensure optimim HF connection.
7#6LJQDO2&RQWURO#6FUHHQ#(DUWK#%XVEDU#+LQVXODWHG#IURP#WKH#PRXQWLQJ#SDQHO,
Used for signal/control screened cables which do not go directly to the VSD. Place this busbar
as close as possible to the point of cable entry. Ù clamp the screened cables to the busbars to
ensure an optimum HF connection.
4508
6HQVLWLYH#(TXLSPHQW
The proximity of the source and victim circuit has a large effect on radiated coupling. The
electromagnetic fields produced by VSDs falls off rapidly with distance from the cabling/cubicle.
Remember that the radiated fields from EMC compliant drive systems are measured at least 10m
from the equipment, over the band 30-1000MHz. Any equipment placed closer than this will see
larger magnitude fields, especially when very close to the Servo Drive.
Do not place magnetic/electric field sensitive equipment within 0.25 metres of the following
parts of the VSD system:
Variable Speed Drive (VSD)
EMC output filters
Input or output chokes/transformers
The cable between VSD and motor (even when screened/armoured)
Connections to external braking chopper and resistor (even when screened/armoured)
Relays and contactors (even when suppressed)
From experience, the following equipment is particularly sensitive and requires careful
installation.
Any transducers which produce low level analog outputs (<1V) , e.g. load cells, strain
gauges, thermocouples, piezoelectric transducers, anemometers, LVDTs
Wide band width control inputs (>100Hz)
AM radios (long and medium wave only)
Video cameras and closed circuit TV
Office personal computers
Capacitive devices such as proximity sensors and level transducers
Mains borne communication systems
Equipment not suitable for operation in the intended EMC environment, i.e. with insufficient
immunity to new EMC standards
5HTXLUHPHQWV#IRU#8/#&RPSOLDQFH
6ROLG06WDWH#0RWRU#2YHUORDG#3URWHFWLRQ
These devices provide Class 10 motor overload protection. The maximum internal overload
protection level (current limit) is 200% for 5 seconds.
An external motor overload protective device must be provided by the installer where the motor
has a full-load ampere rating of less than 40% of the drive output rating. Refer to Chapter 4:
Operating Modes - Motor Overload Protection for user current limit adjustment information..
Internal motor overload is also provided for use with an external thermal device located within
the winding of the motor. This protection cannot be evaluated by Underwriters Laboratories Inc.
and hence it is the responsibility of the Installer and/or local Inspector to determine whether the
overload protection is in compliance with the latest edition of the National Electrical Code,
NEC/NFPA-70.
6KRUW#&LUFXLW#5DWLQJ
All models of this Servo Drive are suitable for use on a circuit capable of delivering not more
than 5,000 RMS Symmetrical Amperes, 480V maximum.
6ROLG06WDWH#6KRUW0&LUFXLW#3URWHFWLRQ
These devices are provided with Solid-State Short-Circuit (output) Protection. Branch circuit
protection requirements must be in accordance with the latest edition of the National Electrical
Code NEC/NFPA-70.
5HFRPPHQGHG#%UDQFK#&LUFXLW#3URWHFWLRQ
It is recommended that UL Listed (JDDZ) non-renewable cartridge fuses, Class K5 or H; or UL
Listed (JDRX) renewable cartridge fuses, Class H, are installed upstream of the Servo Drive.
Refer to Chapter 11: Technical Specifications - Fuse Rating and Recommended Wire Sizes.
0RWRU#%DVH#)UHTXHQF\
The motor base frequency rating is 500Hz maximum.
)LHOG#:LULQJ#7HPSHUDWXUH#5DWLQJ
Use 60C Copper conductors only.
)LHOG#:LULQJ#7HUPLQDO#0DUNLQJV
For correct field wiring connections that are to be made to each terminal refer to Chapter 3:
Installing the Servo Drive - X1 - Motor and Power Wiring Connections, and X10 - Control
Wiring Connections.
3RZHU#:LULQJ#7HUPLQDOV
Refer to Chapter 11: Technical Specifications - Fuse Rating and Recommended Wire Sizes,
and Terminal Block Wire Sizes.
)LHOG#*URXQGLQJ#7HUPLQDOV
The field grounding terminals are identified with the International Grounding Symbol
(IEC Publication 417, Symbol 5019).
450:
(XURSHDQ#'LUHFWLYHV#DQG#WKH#&(#0DUN
The following information is supplied to provide a basic understanding of the EMC and low
voltage directives CE marking requirements. The following literature is recommended for further
information:
Recommendations for Application of Power Drive Systems (PDS), European Council

Directives - CE Marking and Technical Standardisation - (CEMEP)
Available from your local trade association or Eurotherm Drives office
EMC Installation Guidelines for Modules and Systems - (Eurotherm Drives)

Available from your local Eurotherm Drives office, part number HA388879
The European machines and drives manufacturers via their national trade associations have
formed the European Committee of Manufacturers of Electrical Machines and Power Electronics
(CEMEP). Eurotherm Drives and other major European drives manufacturers are working to the
CEMEP recommendations on CE marking. The CE mark shows that a product complies with the
relevant EU directives, in our case the Low Voltage Directive and, in some instances, the EMC
Directive.
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When installed in accordance with this manual, the 631 Servo Drive is CE marked by Eurotherm
Drives Ltd in accordance with the low voltage directive (S.I. No. 3260 implements this LVD
directive into UK law). An EC Declaration of Conformity (low voltage directive) is included at
the end of this chapter.
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1RWH=# 7KH#VSHFLILHG#(0&#HPLVVLRQ#DQG#LPPXQLW\#SHUIRUPDQFH#RI#WKLV#XQLW#FDQ#RQO\#EH#DFKLHYHG
ZKHQ#WKH#XQLW#LV#LQVWDOOHG#WR#WKH#(0&#,QVWDOODWLRQ#,QVWUXFWLRQV#JLYHQ#LQ#WKLV#PDQXDO1
According to S.I. No. 2373 which implements the EMC directive into UK law, the requirement
for CE marking this unit falls into two categories:
1.
Where the supplied unit has an intrinsic/direct function to the end user, then the unit is
classed as relevant apparatus.
2.
Where the supplied unit is incorporated into a higher system/apparatus or machine which
includes (at least) the motor, cable and a driven load but is unable to function without this
unit, then the unit is classed as a component.
#5HOHYDQW#$SSDUDWXV#0#(XURWKHUP#'ULYHV#5HVSRQVLELOLW\
Occasionally, say in a case where an existing fixed speed motor - such as a fan or pump - is
converted to variable speed with an add-on drive module (relevant apparatus), it becomes the
responsibility of Eurotherm Drives to apply the CE mark and issue an EC Declaration of
Conformity for the EMC Directive. This declaration and the CE mark is included at the end of
this chapter.
#&RPSRQHQW#0#&XVWRPHU#5HVSRQVLELOLW\
The majority of Eurotherm Drives products are classed as components and therefore we cannot
apply the CE mark or produce an EC Declaration of Conformity in respect of EMC. It is
therefore the manufacturer/supplier/installer of the higher system/apparatus or machine who must
conform to the EMC directive and CE mark.
/HJDO#5HTXLUHPHQWV#IRU#&(#0DUNLQJ
,03257$17=# %HIRUH#LQVWDOODWLRQ/#FOHDUO\#XQGHUVWDQG#ZKR#LV#UHVSRQVLEOH#IRU#FRQIRUPDQFH#ZLWK#WKH#(0&
GLUHFWLYH1#0LVDSSURSULDWLRQ#RI#WKH#&(#PDUN#LV#D#FULPLQDO#RIIHQFH1
It is important that you have now defined who is responsible for conforming to the EMC
directive, either:
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#(XURWKHUP#'ULYHV#5HVSRQVLELOLW\
You intend to use the unit as relevant apparatus.
When the unit is factory-fitted with the internal EMC filter and installed following EMC
installation instructions, it complies with the relevant standards indicated in the following tables.
The relevant declarations are to be found at the end of this chapter. The CE mark is displayed on
the EC Declaration of Conformity (EMC Directive) provided at the end of this chapter.
#&XVWRPHU#5HVSRQVLELOLW\
You intend to use the unit as a component, therefore you have a choice:
1.
To use the factory-fitted internal EMC filter following EMC installation instructions, which
may help you gain EMC compliance for the final machine/system.
1RWH=# $Q#H[WHUQDO#ILOWHU#PD\#EH#XVHG#ZLWK#XQLWV#QRW#ILWWHG#ZLWK#WKH#LQWHUQDO#ILOWHU/
KRZHYHU/#GXH#WR#WKH#YDULDEOHV#LQ#\RXU#V\VWHP#(XURWKHUP#FDQQRW
UHFRPPHQG#D#SDUWLFXODU#ILOWHU1
2.
To use a unit without an internal filter, but use a combination of global or local filtering and
screening methods, natural migration through distance, or the use of distributed parasitic
elements of the existing installation.
1RWH=# :KHQ#WZR#RU#PRUH#(0&#FRPSOLDQW#FRPSRQHQWV#DUH#FRPELQHG#WR#IRUP#WKH#ILQDO
PDFKLQH2V\VWHP/#WKH#UHVXOWLQJ#PDFKLQH2V\VWHP#PD\#QR#ORQJHU#EH#FRPSOLDQW/#+HPLVVLRQV
WHQG#WR#EH#DGGLWLYH/#LPPXQLW\#LV#GHWHUPLQHG#E\#WKH#OHDVW#LPPXQH#FRPSRQHQW,1#8QGHUVWDQG
WKH#(0&#HQYLURQPHQW#DQG#DSSOLFDEOH#VWDQGDUGV#WR#NHHS#DGGLWLRQDO#FRPSOLDQFH#FRVWV#WR#D
PLQLPXP1
$SSO\LQJ#IRU#&(#0DUNLQJ#IRU#(0&
We have supplied a Manufacturers EMC Declaration at the end of this chapter that you can use
as a basis for your own justification of overall compliance with the EMC directive. There are
three methods of demonstrating conformity:
1.
Self-certification to a relevant standard
2.
Third party testing to a relevant standard
3.
Writing a technical construction file stating the technical rationale as to why your final
machine/system is compliant. An EMC competent body must then assess this and issue a
technical report or certificate to demonstrate compliance.
Refer to Article 10(2) of Directive 89/336/EEC.
With EMC compliance, an EC Declaration of Conformity and the CE mark will be issued for
your final machine/system.
,03257$17=# 3URIHVVLRQDO#HQG#XVHUV#ZLWK#(0&#H[SHUWLVH#ZKR#DUH#XVLQJ#GULYH#PRGXOHV#DQG#FXELFOH
V\VWHPV#GHILQHG#DV#FRPSRQHQWV#ZKR#VXSSO\/#SODFH#RQ#WKH#PDUNHW#RU#LQVWDOO#WKH#UHOHYDQW
DSSDUDWXV#PXVW#WDNH#UHVSRQVLELOLW\#IRU#GHPRQVWUDWLQJ#(0&#FRQIRUPDQFH#DQG#DSSO\LQJ#WKH
&(#PDUN#DQG#LVVXLQJ#DQ#(&#'HFODUDWLRQ#RI#&RQIRUPLW\1
:KLFK#6WDQGDUGV#$SSO\"
3RZHU#'ULYH#3URGXFW#6SHFLILF#RU#*HQHULF#6WDQGDUGV
The standards that may apply to this unit come under two broad categories:
1.
Emission - these standards limit the interference caused by operating (this) drive module.
2.
Immunity - these standards limit the effect of interference (on this unit) from other electrical
and electronic apparatus.
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Conformance can be demonstrated using the Generic Standards or the Product Specific Standard.
The following tables indicate, for the two methods of compliance, the standards that the unit may
comply with if installed and used correctly.
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$VVXPLQJ#LQVWDOODWLRQ#WR#(0&#LQVWUXFWLRQV#LQ#WKLV#PDQXDO
)LOWHU#UHIHUV#WR#WKH#IDFWRU\0ILWWHG#LQWHUQDO#ILOWHU1
,QVWDOODWLRQ
,PPXQLW\
RQO\
Residential,
supplied directly
from public
electricity supply
Residential,
supplied directly
from public
electricity supply
Commercial and
light industry,
supplied directly
from public
electricity supply
*HQHULF#6WDQGDUGV
EN50082-1(1992)
see below for referenced
standards
Radiated
Emissions
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:LWK#48GE#DWWHQXDWLRQ
Conducted
Emissions
(1833;404#+4<<5,
0D[LPXP#48P#VKLHOGHG
PRWRU#FDEOH
,PPXQLW\
RQO\
EN50082-1(1992)
Radiated
Emissions
(1833;404#+4<<5,
:LWK#48GE#DWWHQXDWLRQ
Conducted
Emissions
(1833;404#+4<<5,
0D[LPXP#48P#VKLHOGHG
PRWRU#FDEOH
5DGLDWHG
5)#(PLVVLRQ
EN55011 (Class A) or
EN50081-2(1994)
&RQGXFWHG
EN55011 (Class A) or
EN50081-2(1994)
Industrial
5)#(PLVVLRQ
installation with a
separate
,PPXQLW\
transformer
station

standards
8QLW#XVHG#DV#D
&RPSRQHQW
ILOWHU
QR#ILOWHU
+(0&
FRPSOLDQFH
PD\#EH
DSSOLHG#IRU,
HQFORVXUH
HQFORVXUH
ILOWHU
+(0&
FRPSOLDQFH,
QR#ILOWHU
HQFORVXUH
HQFORVXUH
EN50082-2 (1992)
standards
6WDQGDUGV#IRU#,PPXQLW\=
IEC1000-4-2
IEC1000-4-3
ENV50140:
ENV50141:
Electrostatic discharge (e.g. from electrostatically

charged persons)
Electromagnetic fields (e.g. from portable
telephones)
Pulse Modulated Electromagnetic Field
Radio-Frequency Common-mode
IEC1000-4-4:
IEC1000-4-5:
IEC1000-4-8
IEC1000-4-11
Fast electrical transients (burst) (e.g. from

opening contacts in inductive circuits)
Voltage surges (e.g. on local lightning strikes)
Power Frequency Magnetic Field
Voltage Dips Short Interruptions and voltage
variations
3URGXFW#6SHFLILF#6WDQGDUG#(194;3306
$VVXPLQJ#LQVWDOODWLRQ#WR#(0&#LQVWUXFWLRQV#LQ#WKLV#PDQXDO
)LOWHU#UHIHUV#WR#WKH#IDFWRU\0ILWWHG#LQWHUQDO#ILOWHU1
,QVWDOODWLRQ
),567
(19,5210(17
6DOHV
Unrestricted
Sales
Distribution:
Environment
includes domestic
premises
Sales is not
dependent on
the EMC
competence of
the customer
Includes
commercial and
industrial
installations
supplied directly
from public
electricity supply
which also supplies
domestic
premises
3HUIRUPDQFH#5HTXLUHG
5DGLDWHG
Class B performance
5)#(PLVVLRQ models
&RQGXFWHG
5)#(PLVVLRQ
Class B performance
models
5DGLDWHG
Restricted
5)#(PLVVLRQ
Sales
Distribution:
Sales restricted
to customers
Class A performance
&RQGXFWHG
5)#(PLVVLRQ
Class A performance
,PPXQLW\
#See below for

referenced standards
with technical
competence in
EMC
requirements
of drives
5)#(PLVVLRQ
6(&21'
(19,5210(17
8QLW#XVHG#DV
5HOHYDQW#$SSDUDWXV
ILOWHU
+(0&
FRPSOLDQFH,
QR#ILOWHU
HQFORVXUH
HQFORVXUH
EMC measures do not

have to be
implemented
8QLW#XVHG#DV#D
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ILOWHU
QR#ILOWHU
+(0&
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PD\#EH
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HQFORVXUH
HQFORVXUH
If interference in a
neighbouring
installation occurs, the
operator is responsible
for taking measures to
prevent interference.
In this case the
required emission
levels must be
adhered to at the point
of supply to the
affected neighbouring
installation
All environments
except domestic
premises.
All commercial,
light industry and
industrial
installations,
supplied from an
intermediate
transformer or
directly from public
electricity supply,
which do not supply
domestic premises.
,PPXQLW\
See below for

referenced standards.
6WDQGDUGV#IRU#,PPXQLW\=
IEC1000-4-2
IEC1000-4-3/6
IEC1000-4-4
IEC1000-4-5
IEC1000-4-8
Electrostatic discharge (e.g. from electrostatically charged

persons
Electromagnetic fields (e.g. from portable telephones
IEC1000-4-9
Pulsed magnetic field
IEC1000-4-11
Fast electrical transients (burst) (e.g. from opening

contacts in inductive circuits)
Voltage surges (e.g. on local lightning strikes).
Power Frequency Magnetic Field
IEC1000-4-13*
Voltage Dips Short Interruptions and

voltage variations
Harmonics and interharmonics
IEC1000-4-14*
IEC1000-4-16
IEC1000-4-27*
Mains Voltage Fluctuations

Power Frequency Common mode
Unbalance
45044
START
IS E.D. MODULE
RELEVANT APPARATUS
WITH INTRINSIC FUNCTION
TO END USER (CEMEP
VALIDITY FIELD 1)
NO
YES
CEMEP VALIDITY FIELDS

2, 3 AND 4
WILL THE E.D. PRODUCT
BE INSTALLED
ACCORDING TO THE
INSTALLATION
GUIDELINES
NO
EMC CHARACTERISTICS
STATED IN MANUAL
YES
FITTED WITH THE
INTERNAL EMC FILTER
THE E.D. EC DECLARATION OF

CONFORMITY FOR EMC IS VALID
FOR THE SPECIFIED ED MODULE
EMC INSTALLATION GUIDELINES

STATED IN MANUAL
THE ED MANUFACTURERS DECLARATION

FOR EMC IS VALID FOR THE SPECIFIED
MODULE WHEN INSTALLED CORRECTLY
EMC 'CE' MARK CAN BE APPLIED TO E.D.
A GLOBAL EMC SOLUTION
MODULE TO GENERIC EMC STANDARDS

OR THE PRODUCT SPECIFIC STANDARD
MAY BE ADVANTAGEOUS
NO EMC 'CE' MARK APPLIED TO E.D. MODULE.

EN50081-2(1994) AND EN50082-1(1998)
AND EN50082-2(1995), EN61800-3 (1996)
E.D. = EUROTHERM DRIVES LIMITED
CEMEP : Refer to Chapter 12, "European Directives and the CE Mark"
RELEVANT APPARATUS
MANUFACTURER/SUPPLIER/INSTALLERS
RESPONSIBILITY TO CONFORM WITH EMC DIRECTIVE.
E.D. EMC CHARACTERISTICS AND MANUFACTURERS
DECLARATION MAY BE USED AS A BASIS
IN THE OVERALL PRODUCT JUSTIFICATION
Figure 12-2 Eurotherm EMC `CE' Mark Validity Chart
(&#'HFODUDWLRQ#RI#&RQIRUPLW\#+(0&#'LUHFWLYH,
Issued for compliance with the EMC Directive when the unit is used as relevant apparatus.
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'5,9(6
(&#'(&/$5$7,21#2)#&21)250,7<
In accordance with the EEC Directive 89/336/EEC,
Article 10 and Annex 1, (EMC DIRECTIVE)
We Eurotherm Drives Limited, address as below, declare under our sole responsibility that the
following Electronic Products
631
When installed and operated with reference to the instructions in the Product Manual
(provided with each piece of equipment) is in accordance with following standards:EN50081-1 (1992), EN50081-2 (1994)
EN50082-1# (1992), EN50082-2# (1995)
BSEN61800-3 (1996)
Following provisions of EEC- Directive
89/336/EEC with amendments 92/31/EEC and 93/68/EEC
04.05.99
......................................
Date
.....................
Dr Dan Slattery,
Technical Director
Eurotherm Drives Ltd
.........................................
Dr Martin Payn,
Conformance Officer
* For information only.
# Compliant with these immunity standards without specified internal EMC filter.
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This is provided to aid your justification for EMC compliance when the unit is used as a
component.
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0$18)$&785(56#(0&#'(&/$5$7,21
In accordance with the EEC Directive 89/336/EEC,
Article 10 and Annex 1, (EMC DIRECTIVE)
We Eurotherm Drives Ltd., address as below, declare under our sole responsibility
that the following electronic products
631
When installed, used and CE marked in accordance with the instructions in the Product Manual
(provided with each piece of equipment) is in Conformity with the relevant clauses
from the following standards:EN50081-1 (1992), EN50081-2 (1994)
EN50082-1# (1992), EN50082-2# (1995)
BSEN61800-3 (1996)
.........................................
Dr Martin Payn,
Conformance Officer
#
04.05.99
......................................
Date
..........................................
Dr Dan Slattery,
Technical Director
Compliant with these immunity standards without specified internal EMC filter.
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The 631 Servo Drive is CE marked in accordance with the low voltage directive for electrical
equipment and appliances in the voltage range 50-1000V ac and 75-1500V dc when installed
correctly.
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In accordance with the EEC Directive 73/23/EEC and amended by 93/68/EEC,
Article 13 and Annex III, (LOW VOLTAGE DIRECTIVE)
We Eurotherm Drives Limited, address as below, declare under our sole responsibility
that the following Electronic Products
631
When installed and operated with reference to the instructions in the Product Manual
(provided with each piece of equipment), is in accordance with the relevant clauses from the following standard:EN50178 (1997)
Following provisions of EEC-Directive
73/23/EEC with amendment 93/68/EEC
25.3.99
......................................
Date
........................................
Dr Dan Slattery,
Technical Director
.........................................
Dr Martin Payn,
Conformance Officer
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Since the potential hazards are mainly electrical rather than mechanical, the 631 Servo Drive
does not fall under the machinery directive. However, we do supply a manufacturers declaration
for when the 631 Servo Drive is used (as a component) in machinery.
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The following Electronic Products
631
are components to be incorporated into machinery and may not be operated alone.
The complete machinery or installation using this equipment may only be put into service
when the safety considerations of the Directive 89/392/EEC are fully adhered to.
Particular reference should be made to
EN60204-1 ( Safety of Machinery - Electrical Equipment of Machines).
All instructions, warnings and safety information of the Product Manual must be adhered to.
25.3.99
........................................
......................................
Dr Dan Slattery,
Date
.........................................
Dr Martin Payn,
Technical Director
Conformance Officer

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Application advice is available through our Technical Support Department, who can also arrange
for on-site assistance if required. Refer to Chapter 8: Routine Maintenance and Repair for the
address of your local Eurotherm Drives company.
Always use gold flash relays, or others designed for low current operation (5mA), on all
control wiring.
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Synchronous motors can offer economic solutions in applications where tight control of torque,
speed, position and high dynamics is required together with the low maintenance characteristics
of an ac motor.
The most common types of synchronous ac servo motors are permanent magnet types.
In contrast to induction motors, synchronous motors run at synchronous speed whether on full
load or no load. Synchronous speed is set by the frequency of the supply applied to the stator.
The stator flux is controlled by controlling the current phase vector. This is possible by using a
feed-back system which senses the rotor position, e.g. by Resolver.
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Line chokes are not required to limit input current to Eurotherm Drives Servo drives.
Line chokes may be used to reduce the harmonic content of the supply current where this a
particular requirement of the application or where greater protection from mains borne transients
is required.
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The use of output contactors is not recommended. However, if you are required to use output
contactors, we recommend that this type of operation is limited to emergency use only or in a
system where the drive can be inhibited before closing or opening this contactor.
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Refer to Chapter 11: Technical Specifications - Product Specifica Data, Output for minimum
motor inductance.
Installations with long motor cable runs in the range of 50m may suffer from nuisance
overcurrent trips. This is due to the capacitance of the cable causing current spikes to be drawn
from the servo drive output. A choke may be fitted in the servo drive output which limits the
capacitive current.
Motor chokes may also be used to increase the value of load inductance in those cases where the
motor inductance does not reach the required minimum value.
Refer to Eurotherm Drives for more information.
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The energy of a moving system flows back into the drive while decelerating. The DC-Bus
capacitors are able to take a small value. The remainder is converted to heat by a high power
resistor switched across the DC link.
Switching on and off of this brake resistor depends on the DC-Bus voltage.
The load of the resistor is simulated and supervised electronically (EASYRIDER ?).
Peak power (Pmax) and continuous power (Pd) ratings have to be sufficient to meet the
requirements of the application.
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RPM
n1
Movement
Data
tb1
t [sec]
I [A]
Ib
t [sec]
Example Values
Speed at Brake-Start
n1 = 3000 RPM
Braking Time
tb1 = 0.1 seconds
Cycle-Time
T = 2.0 seconds
Total Inertia
J = 0.0005 kgm
Braking-Current
Ib = 3.2A
Motor-Resistance
Rph = 3.6 Ohm
Cable-Resistance
RL = 0.3 Ohm
Braking Current
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Due to the line-ripple of DC Bus, the rate of usable output voltage is derated as follows.
This deration affects the maximum achievable speed of the applied motor.
Output current (A)
12
1-ph 50 Hz *
631/006
1-ph 50 Hz *
631/004.006
10
Limit for continuous

operation >1 minute
1-ph 50Hz *
631/001.002
0
0
20
40
60
80
100 [%]
Output voltage (210/230V) in % of unloaded condition

Low voltage range, device inactive
Derating of Servo Drive Output Voltage
* The specified reductions refer to 50Hz, the most unfavourable operating state.
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Approximate calculation of required motor terminal voltage for a specified motor speed (up to 3000rpm)
Ukl = 1,2 (EMC*n/1000 + I* (Rph + RL)
(Volts)
where:
Ukl
EMF
Rph
RL
I
Required motor voltage (V rms)

Back-EMF of motor (V rms)/1000 rpm
Resistance of motor (between terminals) ()
Line resistance of motor cable ()
Motor-current (A rms)
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Configurable Functions
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Setpoint Processing
X10
Speed+ Speed-
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Speed Loop
Nsoll
A/D Converter
t
Analog Input
Nsoll
Speed Demand
IQsoll
Current Demand
SELV Isolation
IQsoll
Current Demand
VDE 0884 VDE 0160 / EN50178
MOTOR
PWM
IU
M1
Current Loop
IV
X1
M2
IGBT
IW
M3
IV
Angle
IU
Internal Dynamic Brake Resistor

DBR1
DBR2
+UCC
DC BUS
Brake
IGBT
DC/DC
Filter
(optional)
DC / AC
AC
Soft start
Internal Supply
0VP
Parameter Set
Resolver to Digital Converter
X30
Sine
Resolver
Nist Speed Feedback

POS
sin
cos 14bit
Digital
Processing
Angle
Nsoll
Speed
Demand
Position
Cosine
Position Loop
PTC/NTC
Motor Temperature Sensor

Diff Receiver
Controller
BUS
X40/41
RAM
Mode Select
Diff Driver
Flash Eprom
EEprom
I/O Controller
Service
X15
RS232
RS232
X20/21
CAN
CAN Controller
2 OPTO Outputs
4 OPTO Inputs
0V PLC
24V PLC
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631 Digital Servo Drive

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631 Digital Servo Drive

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The servo motor must be connected to an appropriate safety earth.

The motor speed may not be controlled

The direction of rotation of the motor may not be controlled

The motor may be energised

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Check for signs of transit damage

certification requirements, CE/UL/CUL conformance

how is it to be operated, RS232, CAN-Bus?

what level of user is going to operate the unit?

select the appropriate Operating Mode

plan your programming

enter a password to guard against illicit or accidental changes

learn how to back-up your application data

Table 2-1 Control Features

PLC I/O 10V

631 Servo Drive

Figure 2-2 Communications Options

PANEL MOUNTING VIEW

DIN MOUNTING VIEW

Figure 3-1 Mechanical Dimensions for 631

Figure 3-2 Cabling Requirements

Remove Terminal Cover by pressing here and pulling down

Top View of 631

Figure 3-3 External Brake Resistor Terminals

230V ac 50/60Hz supply

Motor Cable Clamp

Screen Connections - ensure good

Figure 3-5 631 Control Wiring Connections

ANALOG IN, differential to pin 2

ANALOG IN, differential to pin 1

External supply for digital i/o,

External supply for digital i/o,

Configurable ? (s. 3.1.1)

Configurable ? (s. 3.1.1)

Configurable ? (s. 3.1.1)

Configurable ? (s. 3.1.1)

Configurable ? (s. 3.1.1)

Functions according to user-software

Figure 3-6 Typical Connection to the Control Terminals (X10)

commutation according to pole pair number

controller end (X30)

screens can be connected to ground

Figure 3-7 Resolver Connections (as supplied cable model KIR)

mount units side-by-side if possible

Figure 3-8 Application Example

Incremental encoder simulation for processing in positioning modules

Incremental Encoder inputs or outputs

Example: n = 4000 rpm

Incremental Encoder inputs or outputs

turn direction (-)

pulse direction (+)

631 servo drive

Figure 4-1 Remote Control

Protection mode switching off

Protection mode limiting