Mac Servodrives Applications Manual Indramat

Catálogos
Levante Sistemas de
Automatización y Control S.L.
LSA Control S.L. - Bosch Rexroth Sales Partner

Ronda Narciso Monturiol y Estarriol, 7-9
Edificio TecnoParQ Planta 1ª Derecha, Oficina 14
(Parque Tecnológico de Paterna)
46980 Paterna (Valencia)
Telf. (+34) 960 62 43 01
comercial@lsa-control.com
www.lsa-control.com
www.lsa-control.com
www.boschrexroth.es
Distribuidor oficial Bosch Rexroth, Indramat, Bosch y Aventics.
engineering
mannesmann
Rexroth
MAC Servo Drives

with servo drive modules
Applications manual
Rexroth
DOK-ANAX**-TDM+KDS+MAC-AW02-EN-P Indramat
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
2 TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 •

About this documentation
Title: MAC servo drives

with TDM and KDS servo drive modules
Type of documentation: Applications manual
Document No.: 120-0001-B301-02
Date: Sept. 1999
Replacement for: 9.552.268.4-01
This documentation is used for:

– The definition of the range of applications
– Assembly and installation
– Commissioning and fault clearance
Copyright: „Unless expressly agreed, transmission and reproduction of this docu-

ment, exploitation and communication of its contents are not allowed.
Contraventions are liable to actions for damages. All rights to patents and
registered designs reserved. (DIN 34-1)
We reserve the right to make changes to the contents of the document

and the availability of the products.
• DOK-ANAX**-TDM+KDS+MAC-AW02-EN-P 3
Documentation overview
Documentation overview: „MAC servo drives“

preselect
CNC systems CNC systems MAC

Inform
and AC drives and MAC MAC maintenance-free

AC drives AC servo drives
70 028 71 119
AC servo drives for

direct connection to
AC servo
drives the mains via TVD,
TVR, KVR power
supply modules
Selection data
MAC 21 MAC 93
9.552.266.4
MAC 25 MAC 112
Electrical connections:
MAC AC Electrical connections:
MAC 41 MAC114 servomotors
(mor design, assembly)
MAC AC servomotors
dimension, plan
MAC 63 MAC 115

73101
Select
MAC 71 MAC 117
MAC 90 MAC132B Cable doc.:

Cable doc.:
connection connection
accessories for
MAC 92 MAC 160 INDRAMAT drives accessories for
INDRAMAT drives
Project planning
209-0050-4399
Applications data MAC 21 (71115) Applications data MAC 93 (71108) Fan units
Applications data MAC 25 (71113) Applications data MAC 112 (71109) Fan units for fitting
for fitting to MAC
to MAC
Applications data MAC 41 (71116) Applications data MAC 114 (71110) servomotors
servomotors
Applications data MAC 63 (71104) Applications data MAC 115 (71112)
Applications data MAC 71 (71105) Applications data MAC 117 (71114) Applications manual
Applications data MAC 90 (71106) Project planning MAC 132B (9.552.242.4)
Applications data MAC 92 (71107) Applications doc. MAC 160 (9.552.144.4) 9.575.002.4
Assembly, installation of servo drive modules,
commissioning, troubleshooting,
You have this documentation SP

planet gears SP planet gears
drive system diagnostics
Servicing notes
9.564.002.4
Servo drives
MAC MAC servo drives
with TDM and KDS
servo drive modules
Worm
gears Worm gears
Servicing notes
9.564.026.4
Fig.: Documentation overview: „MAC servo drives“

Documentation overview
preselect
Inform
AC servomotors
with integral
SP planet gears SP140 350
AC servomotors 100 240
with integral 075 210
SP 060 180
SP planet gears, SP140 -IL
Project planning
AC servomotors
with integral 9.564.024.4
GST tandem gears
AC servomotors
with integral
GST tandem gears,
(motor design, assembly)

Project planning Planet gears Planet gears
dimension, plan
AC servomotors with
integral worm gears 9.564.023.4 Project planning Project planning
AC servomotors - SP 060 (9.564.004.4) - SP 140-IL (9.564.022.4)
Select
with integral - SP 075 (9.564.005.4) - SP 180 (9.564.008.4)
worm gears, - SP 100 (9.564.006.4) - SP 210 (9.564.009.4)
Project planning -SP 140 (9.564.007.4) - SP 240 (9.564.010.4)
9.564.025.4 - SP 350 (9.564.011.4)
MAC 63-160 MAC 25+41 MAC 63-160 MAC 63-160 MAC 63-160
5V 5V 10…16V 5V absolute value
MAC servomotors with position feedback units,

Applications
- Add-on incremental encoder for MAC 63 to MAC 160, 5 volt squarewave signals (9.568.003.4)
- Add-on incremental encoder for MAC 25 & MAC 41, 5 volt squarewave signals (9.568.004.4)
- Add-on incremental encoder for MAC 63 to MAC 160, 10-16 volt squarewave signals (9.568.005.4)
- Add-on incremental encoder for MAC 63 to MAC 160, 5 volt sinewave signals (9.568.006.4)
- Add-on absolute-value encoder for MAC 63 to MAC 160 (9.568.013.4)
Assembly, installation of servo drive modules,
commissioning, troubleshooting,
Starting interlock Starting interlock function

function for TDM servo drive
TDM
drive system diagnostics
modules
Applications
9.555.012.4
Safety devices
Safety for the protection of personnel
devices in plant and machinery using
AC drives
Applications
9.552.263.4
• TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 5


Contents
Contents
1. Mode of operation of the MAC drive 11

1.1 Field of application .................................................................... 11
1.2 Construction of the servo drive system ..................................... 12
1.3 Operation of the servo drive system ......................................... 15
1.4 MAC servomotor ....................................................................... 17
2. Functions for the user 18

2.1 Speed-controlled drive with speed set-point input .................... 18
2.2 Available torque M(max), M(KB), M(dN) ................................... 20
2.3 Torque reduction via Ired input ................................................. 22
2.4 Torque-controlled drive (tandem drive, master-slave drive) ..... 23
2.5 Emergency-stop function .......................................................... 23
3. Handling the MOD programming module 37

3.1 Determining type of servo drive and motor ............................... 37
3.2 Input weighting and speed set-point smoothing
(matching to NC) ....................................................................... 37
3.3 Rating plates, labels and circuit diagrams ................................ 38
4. User inputs/output 52
5. Connections and installation 54

5.1 Protection of personnel and equipment .................................... 54
5.2 Assembly ................................................................................... 54
5.2.1Preferred arrangement of modular units in the control cabinet . 54
5.2.2Front view with accessories ...................................................... 55
5.2.3KDS servo drive module cold running technology .................... 62
5.2.4Power reduction for increased temperature
and installation altitude .............................................................. 63
5.2.5Dimensional drawing and installation dimensions
of servo drive modules .............................................................. 64
5.3 Connecting up and wiring the servo drive module .................... 76
5.3.1Mains connections ..................................................................... 76
5.3.2Connection accessories as supplied ......................................... 76
5.3.3Power connections .................................................................... 76
5.3.4Motor power cables ................................................................... 77
5.3.5Evaluation of the motor thermostat contact .............................. 77
5.3.6Motor feedback cables .............................................................. 79
5.3.7Position feedback units ............................................................. 80

Contents
5.3.8Signal cables ............................................................................. 80

5.4 Earthing connections ................................................................. 81
5.5 Interference suppression measures .......................................... 81
5.5.1Interference sources in the control cabinet ............................... 81
5.5.2Use of radio equipment ............................................................. 81
5.5.3Radio interference suppression ................................................ 82
5.6 Connection and wiring diagrams ............................................... 82
6. Commissioning 96
6.1 Protection of personnel and machinery .................................... 96
6.1.1Safety of personnel ................................................................... 96
6.1.2Protection of equipment and machinery ................................... 98
6.2 Tools and equipment required for commissioning .................. 101
6.3 Checks with the equipment switched off ................................. 102
6.3.1Mains supply requirements ..................................................... 102
6.3.2Installed drive components ..................................................... 102
6.3.3Instructions for replacing the MOD programming module ...... 102
6.3.4Wiring and conductor cross-sections ...................................... 103
6.3.5Terminals and connecting points ............................................ 104
6.4 Power-up sequence (overview) ............................................... 106
6.5 Checks with the control voltage applied .................................. 108
6.6 Checks after the power infeed has been connected ............... 110
6.7 Check after the drive has been connected ............................. 111
6.8 Matching to the NC .................................................................. 113
6.9 Checking the drive configuration ............................................. 115
7. Troubleshooting and diagnostics 119

7.1 Construction of the monitoring system in the modules
(Fig. 71) ................................................................................... 119
7.2 Effective troubleshooting ......................................................... 121
7.2.1Possible causes of malfunctions, general ............................... 121
7.2.2Fault messages at the terminal strips ..................................... 121
7.3 LED diagnostic displays .......................................................... 125
7.3.1Diagnostic displays on the power supply modules ................. 125
7.3.2Diagnostic displays on the drive modules ............................... 132
7.4 General faults and possible remedial measures ..................... 138
8. Notes on equipment replacement 140
9. Summary of diagnostic displays on modules 142

Contents
10. Summary of data 154

10.1 Important motor data ............................................................... 154
10.2 Important data on servo drive modules ................................... 157
11. Equipment fuses in the individual modules 158
12. Technical data of servo drive modules 159
13. Type designations of drive components (type codes) 173
14. Overview of the most important standards applicable to INDRAMAT drive components 179
15. List of key words 180


1. Mode of operation of the MAC drive
1. Mode of operation
of the MAC drive
1.1. Applications The MAC drive is especially designed for high-accuracy servo applica-
tions in NC machine tools for metal machining and wood working,
transfer lines, automation systems, as well as in production machines in
the automotive industry.
It is usually operated as a variable-speed drive in the position control loop

of an NC. In this case a speed set-point is fed to the drive from the NC.
The MAC servo drive has the following application-specific functions:

– High short-time acceleration moments
– Torque reduction via I(red) input, which can be used for example
when running up to a fixed stop,
for reducing the load on the mechanical system coupled to the motor
under specific operating conditions,
for operating with controlled torque to load moving mechanical devices.
– Torque-controlled drive for master/slave operation of two motors that
are solidly coupled together.
– Reversal of direction of rotation for same set-point polarity.
– Set-point input via a differential input or two summing inputs with zero
voltage reference.
– Externally-adjustable drift offset via potentiometer.
– Equipment „ready“ state can be output via potential-free relay contact.
– Rapid and clear diagnostics and easy troubleshooting via the front
panel diagnostics and status lamps.
– All adjustment parameters are set on the MOD programming module,
so that the user of the servo drive does not need to carry out time-
consuming adjustments and calibration procedures.
Matching of the controller to the motor type by the user is therefore
generally unnecessary since the control parameters are already
optimized in the factory for the usual existing coupled masses.

12
Circuit-breaker/ Power supply module Motor brake Motor thermostat Link circuit
fuse (e.g. TVM or KDV) (L) control contact busbars L+, L- (L)
Drive module
Master switch/ Additional module for main drive Motor cable Servo drive module
fuse (TBM, TCM) (*L) (e.g. KDA) (*L) connection (TDM or KDS) (L)
Bus connection X1
servo drive system
Mains feeder (ribbon cable) (L)

1.2 Construction of the
MOD plug-in programming

Mains module (L)
Mains contactor
Transformer
or mains commutation
choke (L)
NC
Control cabinet
controller
Interface
terminal strip
Twisted
individual cables Feedback
connector strip
GLD (*L) smoothing choke Fan assembly

TDM3, TDM4
Cable connection
for fans (L)
Fan cable Motor power cable (L) Motor feedback cable (L) Fan fuse
Mains on fan plate
auxiliary supply Position feedback (*L)
encoder cable (*L)
MAC servo motor
Gearbox (*L) Motor fan (L) (L) Tacho feedback (L) Position feedback (*L)
(without fan)
MAC servo motor
TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 •

(L)
(with fan)
(L) = drive components available from INDRAMAT
(*L) = optional, not required for every application
ENA3A-PrinzAufbau
Fig. 1: Basic construction of the modular drive system with components marked.
Additional
Supply Feed drive
feed drives
Controller enable Ready Controller enable Ready
Drive Drive
Speed set-point torque Speed set-point torque
Analogue
Analogue
Supply to signal
conditioning Programming module Programming module
circuits
Control Control
monitoring, diagnostics monitoring, diagnostics
Infeed
Power control Power control
Supply to
power circuits
Power supply module Servo drive module Servo drive module

Speed actual-value
Speed actual-value
G M G M
3 3
Feed motor 1 Feed motor 2

ENA3A-ServoAufbau
Fig. 2: modular construction
The three-phase servo drive system consists of

– the mains input components (master switch, contactor, transformer or
commutation inductor, power supply module, smoothing chokes, addi-
tional capacitances),
– the servo drive module (control unit)
– the motor cable and
– the MAC servo motor.
The power supply module is able to supply several different types of

servo drive units and a main drive if required.

For special applications the performance of the drive system can be

further extended by additional modules (additional bleeder, TBM, addi-
tional capacitors, CZ or TCM). Further details of these can be obtained
from the documentation covering the power supply modules.
The specific characteristics of the various servo drive modules and

supply modules are summarized in the following table:
Servo drive Characteristics

module
TDM 1 Standard servo drive module for MAC 71 to MAC 160

motors
TDM 2 Obsolescent special unit for MAC 63 to MAC 93
motors
TDM 3 Standard servo drive module for MAC 63 to MAC
112B motors
TDM 4 Servo drive module for MAC 21, MAC 25, MAC 41
motors (feedback electronics built into drive module
instead of motor
TDM 6 Servo drive module for low-noise applications and
with interface for temperature monitor, brake and
starting interlock for MAC 63 to MAC 93 motors
TDM 7 Servo drive module for low-noise applications and
with interface for temperature monitor, brake and
starting interlock for MAC 21, MAC 25, MAC 41
motors (feedback electronics built into drive module
instead of motor)
KDS 1 Servo drive module using cold-running technology
for MAC 90 to MAC 160 motors (due to built-on
external heat exchanger no heat losses occur in the
control cabinet).
Fig. 3: Summary of the various servo drive modules

Power supply Characteristics

module
TVM 1 Power supply unit for connection of up to approximately
4 servo drives of up to an average mechanical output
of 4.1 kW.
TVM 2 Standard power supply unit for connection of up to
approximately 6 servo drives of up to an average
mechanical output of 4.1 kW.
TVD 1 Power supply unit for direct connection to 3 x 380-460
volt mains, with built-in power contactor.
KDV 1 Power supply unit using cold-running technology
(due to external heatsink, no heat losses occur in the
control cabinet) for one main drive and 6 servo drives
with an average mechanical output of 28 kW.
KDV 2 As KDV 1, but no series resistors required in the
mains input for power-up. Controlled braking, espe-
cially of an associated asynchronous main drive is
possible. Workpiece and tool can run free.
KDV 3 As KDV 2, but also has energy recovery for machines
with large load masses and short machining cycles.
KDV 4 As KDV 3, but with direct mains connection to 380-
460 volt supplies, and controlled link circuit voltage.
Fig. 4: Summary of the various power supply modules
1.3. Operation of the The power supply module generates the DC link circuit voltage from the
servo drive system AC input voltage. From this the servo drive module generates a three-
phase system that is controlled according to amplitude, frequency and
phase. This is applied to the MAC servo motor according to the current
rotor position and the desired speed.
The relationship between the controlled three-phase system and the
controlled operating states of the servo motor is established according
to the following criteria:
Torque:
The current amplitude of the three-phase system in the stator of the servo
motor determines the resulting torque via the field of the permanent-
magnet-excited rotor. It results from the system deviation of the speed
controller.
Speed:
The frequency of the three-phase system determines the speed of the
servo motor. The rotor’s position and frequency is derived from the
signals of the rotor position encoder (BLC signals), depending on the
required synchronism between the position of the magnetic field of the
rotor and the position of the stator current.

16
Servo drive module MAC servo motor
Ext. peak Ired Peak current

current limiting limiting
RF
Controller enable
300 ms Continuous
current limiting
E1 1s
Speed set-point Speed
E2 controller A1
inputs
E3
Current control
E1 - E4 E4 A2
with Stator
pulse-width modulation
Input weighting
Drive stage
A3
Current actual-
value measurement
MA
Master output
Rotor
Tacho
BLC1
Tsense Rotor
Tacho output BLC2
MOD programming module Directional current controller position
(speed actual-value) BLC3 detection
Brushless
Fault messages analogue tacho
Bb
"Ready" Driver stage disable
state Diagnostic and monitoring device
Bb To power supply module
TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 •

Fig. 5: Block diagram of servo drive module signal conditioning circuits

ENA3A-Block
Direction of torque:
The phase relationship between the three-phase system and the mag-
netic field of the rotor determines the direction of the torque and is derived
from the polarity of the system deviation of the speed controller.
Control circuit signal conditioning:
The speed controller compares the speed set-point and actual-value and
from them generates the current set-point that is fed to the directional
current controller via a limiter circuit (see Fig. 5).
Depending on the rotor position (signalled via the BLC signals from the
rotor position encoder), the direction of the current for the three stator
windings is controlled so that the resulting current flow in the stator is at
its most favourable in relation to the magnetic flux of the rotor. This
relationship ensures that the torque is proportional to the motor current.
The motor current is controlled by a current controller. This is linked to the
directional current controller in order to control the current in the three
phases so as to obtain a three-phase system having controlled ampli-
tude, frequency and phase.
The output signals of the current controller are timed in the pulse-width
modulation stage and amplified via potential-free driver stages. The
amplified signals used for driving the three-phase bridge constructed
from six power transistors.
1.4. MAC servo motor The MAC three-phase servo motor is a permanently-excited synchro-
nous motor that is made up of the following main sub-assemblies:
– three-phase stator
– permanently-excited rotor
– optional electrically-released brake
– optional separate axial fan for surface ventilation
Permanent-magnet rotor Three-phase motor stator Brushless

tachogenerator with
rotor position encoder
Electrically-released
holding brake ENA3A-MACScan
Fig. 6: MAC servo motor

2. Functions for the user
2. Functions for The user features listed in section 1.1 are described in detail here.
the user
2.1. Speed-controlled After the mains voltage has been applied and the drive amplifiers signal
drive with speed set-point that they are „ready“, the servo drive can be run at controlled speed by
input
– injecting the controller enabling signal at the RF input and
– applying an analogue set-point voltage, that is proportional to the motor
speed, across the inputs
• E1 and E2 or
• E3 and 0 VM or
• E4 and 0 VM.
The following settings are possible: (see basic circuit diagram of the
servo drive module in Fig. 8).
Input E1-E2 is a differential input, inputs E3 and E4 are summing inputs

that are referred to 0 VM.
The speed weighting (input sensitivity) has already been set in the
factory on the MOD programming module. Two facilities are provided:
1. Fixed setting by resistors soldered in place on the programming

module
Programmiermodul MOD MOD 1 for TDM 1,

MOD 5 for TDM 2,
MOD 13 for TDM 3,
MOD 17 for TDM 4,
MOD 19 for TDM 6,
MOD 21 for TDM 7,
MOD 3 for KDS 1.
In each case
R8 refers to differential input E1-E2
R9 refers to summing input E3-0VM
R10 refers to summing input E4-0VM
2. Input weighting adjustable via potentiometers P1, P2, P3 on

programming module
MOD 2 for TDM 1,
MOD 6 for TDM 2,
MOD 14 for TDM 3,
MOD 18 for TDM 4,
MOD 20 for TDM 6,
MOD 22 for TDM 7,
MOD 4 for KDS 1.
The potentiometers are located on the programming module.
In each case
P1 and R8 refer to differential input E1-E2
P2 and R9 refer to summing input E3-0VM
P3 and R10 refer to summing input E4-0VM

The resistor and potentiometer values are incorporated into the MOD
programming module according to the input weighting required by the
user.
The last three digits of the programming module type designation specify
the input weighting (see Section 3.2).
If no user data are available, the MOD programming module is given the
input weighting of 10 volts per max. speed value (no adjustment
potentiometer).
If necessary, the values R for R8, R9, R10 in MOD 1, MOD 3, MOD 5,
MOD 13, MOD 17, MOD 19, MOD 21, and R8+P1, R9+P2, R10+P3 in
UE 1
R = —— • ——— • 9230 - 5 in KOhm
n Cw
Where
R is the resistance value in kOhms
UE is the analogue input voltage in volts at E1-E2, E3-0VM or
E4-0VM at the speed n used in the formula
n is the speed in rpm
Cw is the tacho voltage in volts at 1000 rpm, depending on
motor type in use and shown in the table in Section 10.1
Example for Cw = 3 V/ 1000 rpm:
9.5 1
R = —— • — • 9230 - 5 = 4.74 KOhm
3000 3
Set-point smoothing MOD 2, MOD 4, MOD 6, MOD 14, MOD 18, MOD 20, MOD 22 can be
calculated:
The speed set-point output by the NC can be smoothed if the staircase

function becomes noticeably disturbed. It should be noted that excessive
smoothing can reduce the dynamic response of the position control and
thus slow the reaction time.
Set-point smoothing can be implemented only by using the differential
input E1-E2. Smoothing is provided by soldering a capacitor C5 onto the
Polarity of the speed MOD programming module (up to a maximum of 3uF is possible,
set-point, reversal of the corresponding to a smoothing time-constant of approximately 5 to 7 ms).
direction of rotation
With the motor rotating clockwise, as viewed from the output shaft, the
direction of rotation is as follows:
Differential input E1-E2: voltage at E1 is positive
with respect to E2
Summing inputs E3, E4: voltage at E3 or E4 is negative
with respect to 0VM
Tacho measuring signal at T(sense): voltage is positive with respect
to 0VM

The following facilities are provided if another direction of rotation is

desired:
– Interchange the connections at differential input E1-E2, if this is used,
– Reverse the direction of all inputs by linking terminals X6/9 and X6/10
at the control amplifier.
Reversing the direction of rotation by interchanging motor connections

is not possible and causes the drive to malfunction.
Drift compensation The speed controller has an extremely low temperature drift. The zero
drift can be corrected on the „ZERO ADJ“ potentiometer at the bottom
right of the front panel (front view in Figs. 35 to 40 in Section 5.2.2).
The drift should always be checked at initial operation and after replacing
the servo drive module:
If the axis moves with a zero speed set-point, the rotary motion of the axis
should be set to zero by means of the „ZERO ADJ“ potentiometer on the
front panel when the control cabinet has reached its final temperature.
2.2. Available torque The following torque values are available:

M(max), M(KB), M(dN)
M(max): acceleration torque
M(KB): short-time torque for (short-time) machining
M(dN) : continuous motor torque for 100% cyclic duration factor
The values for the existing drive amplifier/motor combination can be

obtained from the selection list in the „MAC xxx servomotor“ documen-
tation.
The torque values M(max) and M(KB) are permanently set on the MOD
programming module via the maximum current and the continuous
current and can be read from the „Current“ line on the rating plate. The
following applies:
M(max) peak Current

——— = ———————
M(KB) cont Current
The interval during which maximum torque is available depends on the

difference between maximum and short-time duty torque. The time t1
that is generally available for acceleration cycles can be read from Fig.
7.
ENA3A-Mp/MKB
5
M(max) / M(KB)
or
peak current / continuous current 4
t1 in s
0,3 0,4 0,5 0,6 0,7 0,8 0,9 1,0 1,5 2 2,5 3 3,5
Fig. 7: Time available for acceleration cycles in relation to the peak torque/short-time
duty torque ratio (in the standard version).

External terminals -10V
I red
Components on grey background are
0…10V
located on MOD programming module
R3 I (peak)
Reduced I (cont) 1) TDM 3 and TDM 4 only
peak current limiting R5
Bb
R4
"Ready" contact
R6
Bb "Ready"
300 … 500 ms Current limiting
RF &
Internal
3,4…24V
controller enable
n soll=0
E1 R8 P1
4k99
E2 C5
C4
Differential amplifier Ra
B1 or R14
• TDM and KDS • 9.552.268.4-01 • 18. Januar 1994

R7 C3
Input weightings
R9 P2
E3 4k99
Ca 1) C6
0VM
B2 or R15
15k
Rc R13 R12
Fig. 8: Block diagram of servo drive module

R10 P3
E4 4k99
1k82
0VM
B3 or R16
Offset
499k

R1 R2 Rb
Tacho
Speed controller Current controller
C1 C2
T sense 20k
R11
FB
Tacho filter
MA
1)
I ist I ist
ENA3A-RegelteilTDMKDS
21
2.3. Torque reduction If the peak torque of the drive has to be reduced for individual operating
via Ired input conditions on the machine, the maximum torque can be limited externally
by the user via the Ired analogue input. In this case an analogue voltage
is applied to the Ired input. The value of the voltage Ured depends on the
desired reduction factor k = reduced torque to maximum torque:
Ured = 10 volts • (1 - k)
The value of the reduced motor current Ired can be obtained from the
graphs in Figs. 9 and 10. The torque can be calculated from the current
reduzierter Motorstrom torque constant km of the motor in use, which can be obtained from the
table in Section 10.1:
M = km • Ired
The smallest adjustable torque is limited to a minimum value. The

associated minimum adjustable motor current can be obtained from the
table in Section 10.2.
If no analogue voltage is available for the Ired input, for a reduced torque
value a resistor R(ex) can be connected between the Ired terminal and
the +15 VM terminal via a relay contact. The value of this in kilohms is:
150
R(ex) = ——— - 100 in kOhm
1-k
Where:
reduction factor k = desired reduced torque to maximum torque.
I red
100 A
I red
TD
M
1.
2-
10
0
50 A
TDM
1.2-
050
30 A TDM 1.2
-030
I min = 15 A
U red
U red 5V 10 V 15 V
Where: ENA3A-Ired/TDM1
Ired: reduced pea kcurrent
Ured: voltage applied to Ired terminal
Fig. 9: External torque limiting for TDM 1

I red/I peak
1,0
0,5
I min
U red
5V 10 V 15 V
Where:
Ipeak: peak current set on MOD programming module
(see programming module rating plate)
Ired: reduced peak current
Ured: voltage applied to Ired terminal
Fig. 10: External torque limiting for TDM 2 and TDM 1.2/SO 100, TDM 3, TDM 4,
TDM 6, TDM 7, KDS 1.
2.4. Torque-controlled The servo drive can also be operated as a torque-controlled drive.
drive (tandem drive,
master-slave drive) In the master-slave drive or tandem drive the speed controller of the
master drive determines the speed of the slave drive. In such an
operating mode the torque set-point is transferred to the set-point input
of the slave drive from the speed-controlled master drive.
It should be noted that the motor shafts of the master and slave drives
must be mechanically coupled together without backlash to prevent the
slave drive accelerating without load torque when torque is applied. This
coupling must be as rigid and as torsionally stiff as possible to prevent
oscillations in the mechanical system.
Connections between the master drive and the slave drive are shown in
Figs. 12 to 16. The MOD programming module should be specially
configured for the slave drive.
2.5. Emergency-stop A malfunction in the system or servo drive cannot be eliminated in an

function emergency-stop situation. It is therefore necessary in this case to isolate
the power section of the drive from the mains supply via the mains
contactor in order to stop the servo drive safely (by opening the
emergency-stop circuit).
Until the servo drive is stopped it must always be assumed that faulty and
dangerous drive movement can occur, the extent of which depends on
the type of fault and the operating state of the drive at the time it occurs.
A higher-level safety measure must be provided to ensure that the drive
disconnected via the emergency-stop circuit in the event of a general
malfunction.
Personenschutz
For this reason, danger to personnel resulting from a malfunc-
tion must be eliminated by high-level protection at system
level.

In order to render the electrical shutdown of the drive as independent of

the controller as possible, after the external controller enabling signal
has been removed the drive modules’s set-point, which is injected at the
E1-E2 input is set to zero internally, so that the drive can brake. The motor
is then only free of torque after about 300 ms (see Fig. 11).
Input at RF terminal 3 … 30V

(external controller
enabling signal)
0V
Drive on
Drive free
Internal enable of torque
0V
300 ms
Ext. set-point at E1 - E2 terminal
Set-point set
Set-point conditioning internally to 0 rpm
ENA7A-verzAb
Fig. 11: Delayed disconnection of motor controller after the external controller
enabling signal is removed.


A1 A1
Master Slave
A2 A2
TDM 1 TDM 1
A3 A3
L- L-
3
L+ L+ End connector
.......
.......
.......
4 Bus connection
(black conductor always underneath)
X1 X1
Programming module Programming module
MOD 1/XXXXX-... MOD 1/XXXXX-064
6 7
+15VM
Tsense
+15VM
Tsense
-15VM
-15VM
0VM
0VM
0VM
0VM
Ired
Ired
MA
RF
MA
E4
Bb
Bb
E1
E2
E3
RF
E1
E2
E3
E4
Bb
Bb
X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
+15VM
-15VM
Set-point
+15VM
BLC 1
BLC 2
BLC 3
-15VM
Comon controller
BLC 1
BLC 2
BLC 3
Tacho
1
Tacho
0VM
enabling signal
0VM
input
0VM
0VM
X6 1 2 3 4 5 6 7 8 9 10 X6 1 2 3 4 5 6 7 8 9 10
2
Polarizing pin
Polarizing pin
2 8
U1 V1 W1 U1 V1 W1
Thermostat 5 6 10 11 12 1 4 7 8 9 2 3 Thermostat 5 6 10 11 12 1 4 7 8 9 2 3
contact contact
M M
Motor feedback Motor feedback
3 3
Torsionally stiff mechanical coupling 1
12AENA3A-MS/TDM1
Remarks 1 .... see sheet 2
Fig. 12: Connection diagram for master-slave drive with TDM 1

C4
- Master - R7
C3
10k
E1
Set-point - R8
input E2 + 4k99
-
5k62
C5 +
499k Speed
Tacho (master drive) R1 R2 controller Continuous
Tacho Tacho
current
monitor
C1 C2 Peak
MA current
C4
R7 C3
- Slave -
78k7
10k
Br.
E3 R9
82k5 4k99
-
5k62
7
+
0VM Speed
499k
Tacho (slave drive) R1 controller Continuous
Tacho R2
Tacho current
monitor
C1 C2 Peak
MA current
On MOD programming module
1 Reversing the direction of rotation

The directions of rotation of the master and slave drives can be identical or opposite, depending on the type of mechanical coupling.
The direction of rotation can be matched to these requirements with the jumper 1 .
Directions of rotation of master Directions of rotation of master

and slave drives and slave drives
are identical are opposite
With Without
jumper between X6/9 and X6/10 jumper between X6/9 and X6/10
on slave on slave
2 Evaluation in the Emergency-stop circuit
3 Power supply via DC link circuit
4 Bus connection: connecting cable for unit's own power supply and monitoring
5 To central earthing point on power supply module
6 Number as per motor/amplifier combination
7 Slave module component set

Current limiting as per master; R1=R2=C1=C2=C4=not used; R7=78k7; C3=jumper;
input weighting -064 without potentiometer
8 Use 9-core connecting cable only. 12BENA3A-MS/TDM1

A1 A1
Master Slave
A2 A2
TDM 3 TDM 3
A3 A3
L- L-
3
L+ L+
End connector
.......
.......
.......
4 Bus connection
X1 X1
6 7
+15VM
Tsense
+15VM
Tsense
0VM
0VM
0VM
0VM
Ired
MA
Ired
FB
Iist
MA
E1
E2
E3
E4
FB
Iist
E1
E2
E3
E4
X42 1 2 3 4 5 6 7 8 9 10 11 12 13 X42 1 2 3 4 5 6 7 8 9 10 11 12 13
+15VM
-15VM
+24VL
+15VM
-15VM
+24VL
0VM
0VL
0VM
0VL
Set-point
RF
TÜ
Bb
Bb
RF
TÜ
Bb
Bb
input
X43 1 2 3 4 5 6 7 8 9 10 X43 1 2 3 4 5 6 7 8 9 10
+15VM
+15VM
-15VM
Tacho
-15VM
BLC 1
BLC 2
BLC 3
BLC 1
BLC 2
BLC 3
Common controller
Tacho
0VM
0VM
0VM
0VM
enabling signal
X41 1 2 3 4 5 6 7 8 9 X41 1 2 3 4 5 6 7 8 9
*1
Polarizing pin
2 2
Polarizing pin
U1 V1 W1 U1 V1 W1
contact contact
M M
3 3
Remarks 1 .... see sheet 2 13AENA3A-MS/TDM3
Fig. 13: Master-slave drive with TDM 3

C4
- Master - R7 C3
270R
E1
Set-point - R8
input E2 + 4k99
-
270R
C5 +
499k Speed
Tacho (master drive) R1 R2 controller Continuous
Tacho Tacho
current
monitor
C1 C2 Peak
MA current
C4
R7 C3
- Slave -
78k7 9k09
E3 R9 270R
82k5 4k99
-
270R
7
+
0VM Speed
499k
R1 controller Continuous
Tacho (slave drive) Tacho R2
Tacho current
monitor
Peak
C1 C2
MA current

Directions of rotation of Directions of rotation of

master and slave drives master and slave drives
*Connect this conductor to *Do not connect this conductor!

X41/9 (0VM)
7 Slave module component set

Current limiting as per master; R1=R2=not used; C1=C2=C4=not used; R7=78k7; C3=9k09;
13BENA3A-MS/TDM3
8 Use 9-core connecting cable only.

A1 A1
Master Slave
A2 A2
KDS KDS
A3 A3
L- L-
3
L+ L+ End connector
.......
.......
.......
4 Bus connection
X1 X1
6 7
Tsense
Tsense
0VM
0VM
0VM
0VM
Ired
Ired
MA
MA
E1
E2
E3
E4
E1
E2
E3
E4
X26 1 2 3 4 5 6 7 8 9 10 11 12 13 X26 1 2 3 4 5 6 7 8 9 10 11 12 13
+15VM
+15VM
-15VM
+24VL
-15VM
+24VL
0VM
0VM
Set-point
0VL
0VL
RF
TÜ
TÜ
X25
Bb
Bb
RF
TÜ
TÜ
Bb
Bb
input
1 2 3 4 5 6 7 8 9 10 11 X25 1 2 3 4 5 6 7 8 9 10 11
+15VM
+15VM
-15VM
-15VM
BLC 1
BLC 2
BLC 3
BLC 1
BLC 2
BLC 3
Tacho
Common controller
1
Tacho
0VM
0VM
0VM
0VM
enabling signal
X24 1 2 3 4 5 6 7 8 9 10 X24 1 2 3 4 5 6 7 8 9 10
Polarizing pin
2
Polarizing pin
2 8
U1 V1 W1 U1 V1 W1
contact contact
M M
3 3
Remarks 1 .... see sheet 2 14AENA3A-MS/KDS
Fig. 14: Master-slave drive with KDS 1

C4
- Master - R7 C3
10k
E1
Set-point - R8
input E2 + 4k99
-
5k62
C5 +
499k Speed
R1 R2 controller Continuous
Tacho (master drive) Tacho Tacho
current
monitor
C1 C2 Peak
MA current
C4
- Slave - R7 C3
78k7
10k
Br.
R9
E3
82k5 4k99
-
5k62
7 +
0VM 499k Speed
Tacho (slave drive) Tacho Tacho current
monitor
C1 C2 Peak
MA current


with without
on slave on slave
4 Bus connection: connecting cable for unit's own power suply and monitoring
7 Slave module component set:

Current limiting as per master; R1=R2=C1=C3=C4=not used; R7=78k7; C2=jumper;
8 Use 9-core connecting cable only. 14BENA3A-MS/KDS

A1 A1
Master Slave
A2 A2
TDM 1.2.../S102 TDM 1.2.../S102
A3 A3
L- L-
3
L+ L+ End connector
X1 X1
.......
.......
.......
4 Bus connection

6 7
+15VM
Tsense
+15VM
-15VM
Tsense
-15VM
0VM
0VM
0VM
0VM
Ired
Ired
MA
MA
RF
E1
E2
E3
E4
Bb
Bb
RF
E1
E2
E3
E4
Bb
Bb
X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
+15VM
+15VM
-15VM
-15VM
BLC 1
BLC 2
BLC 3
BLC 1
BLC 2
BLC 3
Common controller
Tacho
Tacho
0VM
0VM
Set-point
0VM
0VM
enabling signal
input
X6 1 2 3 4 5 6 7 8 9 10 X6 1 2 3 4 5 6 7 8 9 10
Polarizing pin
2 2
Plarizing pin
U1 V1 W1 U1 V1 W1
contact contact
M M
3 3
15A-MS/TDM1/S102
Fig. 15: Master-slave drive with TDM 1.2.../S102

C4
- Master - R7
C3
270R
E1
R8
Set-point -
input E2 + 4k99
-
270R
C5 +
499k Speed
4k42 4k75 current
monitor
C1 C2 Peak
MA current
C4
- Slave - R7 C3
270R
78k7 9k09
E3 R9
82k5 4k99
-
270R
7 +
0VM 499k Speed
controller Continuous
Tacho (slave drive) Tacho R1 R2
Tacho current
monitor
C1 C2 Peak
MA current


with without
on slave on slave

Current limiting as per master; R1=R2=not used; C1=C2=C4=not used; R7=78k7; C3=9k09;
15B-MS/TDM1/S102

A1 A1
Master Slave
A2 A2
KDS1.1.../S102 KDS1.1.../S102
KDS1.1.../S104 A3
KDS1.1.../S104
A3
L- L-
3
L+ L+ End connector
X1 X1
.......
.......
.......
4 Bus connection

6 7
Tsense
Tsense
0VM
0VM
0VM
0VM
Ired
Ired
MA
MA
E1
E2
E3
E4
E1
E2
E3
E4
X26 1 2 3 4 5 6 7 8 9 10 11 12 13 X26 1 2 3 4 5 6 7 8 9 10 11 12 13
+15VM
+15VM
-15VM
+24VL
-15VM
+24VL
0VM
0VM
0VL
0VL
RF
TÜ
TÜ
Bb
Bb
RF
TÜ
TÜ
Bb
Bb
Set-point
X25 1 2 3 4 5 6 7 8 9 10 11 X25 1 2 3 4 5 6 7 8 9 10 11
input
+15VM
+15VM
-15VM
-15VM
BLC 1
BLC 2
BLC 3
BLC 1
BLC 2
BLC 3
Tacho
Common controller
Tacho
1
0VM
0VM
0VM
0VM
enabling signal
X24 1 2 3 4 5 6 7 8 9 10 X24 1 2 3 4 5 6 7 8 9 10
Polarizing pin
Polarizing pin
2 2 8
U1 V1 W1 U1 V1 W1
Thermostat Thermostat
5 6 1011 12 1 4 7 8 9 2 3 5 6 1011 12 1 4 7 8 9 2 3
contact contact
M M
3 3
16A-MS/KDS/S102/S104
Fig. 16: Master-slave drive with KDS 1.1.../S102 and S104

C4
- Master - R7
C3
270R
E1
R8
Set-point -
input E2 + 4k99
-
270R
C5 +
499k Speed
current
monitor
C1 C2 Peak
MA current
C4
R7 C3
- Slave -
78k7 9k09
270R
E3 R9
82k5 4k99
-
270R
7 +
0VM Speed
499k
Tacho (slave drive) Tacho Tacho current
monitor
C1 C2 Peak
MA current


with without
on slave on slave

Current limiting as per master; R1=R2=not used;C1=C2=C4=not used; R7=78k7; C3=9k09;
16B-MS/KDS/S102/S104


3. Handling the MOD programming module
3. Handling the MOD The plug-in MOD programming module is used to match the drive
module to the motor type.
programming
module It offers the user the following distinct advantages:
– The drive is put into service without time-consuming optimization and
adjustments. This applies to conventional applications where the
mechanical coupling to the motor is sufficiently stiff and backlash-free,
and the ratio of the motor mass to the external masses referred to the
motor shaft is between 1:05 and approximately 1:1.5.
– During servicing the unit can be quickly replaced on site by personnel
without special training since, apart from drift compensation, no
adjustments and matching are required.
– Repair times can thus be appreciably reduced.
– Prior to commissioning check whether the data on the drive amplifier
and motor rating plates correspond to those on the rating plate of the
programming module.
See Figs. 17 and 18 for rating plate details.
3.1. Determining the type Construction and circuit diagram are shown in Figs. 21 to 30.
of servo drive and motor
The motor type is matched to the drive amplifier by INDRAMAT in the
factory by means of resistors and capacitors soldered onto the program-
ming module:
– peak current limiting: R3, R4
– continuous current limiting: R5, R6
– tacho filter: R1, R2, C1, C2
– speed controller circuit: R7, C3, C4
(control parameters for dynamic performance)
– current controller circuit: R12, R13, C6
(for TDM 3, TDM 4, TDM 6, TDM 7 only)
3.2. Input weighting and When ordering, the user of the servo drive specifies the analogue
set-point smoothing interface input weighting appropriate to his NC.
(matching to NC)
The input weighting of the three inputs is stated in rpm/V on the rating
plate of the MOD programming module (see Fig. 18). The last three digits
of the module number determine the input weightings of the set-point
inputs.
The following components are factory-fitted on the programming module

board for input weighting and set-point smoothing:
On programming modules MOD 1, MOD 3, MOD 5, MOD 13, MOD 17,
MOD 19, MOD 21 with fine adjustment:
– differential input E1-E2: R8 and installed wire jumper B1
– summing input E3... R9 and installed wire jumper B2
– summing input E4... R10 and installed wire jumper B3
– set-point smoothing
at input E1-E2: C5

On programming modules MOD 2, MOD 4, MOD 6, MOD 14, MOD 18,

MOD 20, MOD 22 with potentiometer:
– differential input E1-E2: R8 and trimpot. P1

(or installed wire jumper B1),
– summing input E3: R9 and trimpot. P2
(or installed wire link B2),
– summing input E4: R10 and trimpot
(or installed wire jumper B3).
– set-point smoothing
at input E1-E2: C5
3.3. Rating plates, labels

and circuit diagrams
Summary of diagrams
relating to the Fig. 17 Rating plate of MOD programming module
MOD programming module
Fig. 18 Type code of MOD programming module
Fig. 19 Rating plate of MAC motor
Fig. 20 Rating plate of servo drive module
Fig. 21 Module labels : MOD 1, MOD 2 for TDM 1 drive module
Fig. 22 Circuit diagram: MOD 1, MOD 2 for TDM 1 drive module
Fig. 23 Module labels: MOD 5, MOD 6 for TDM 2 drive module
and MOD 19, MOD 20 for TDM 6
Fig. 29 Module labels: MOD 3, MOD 4 for KDS 1 drive module
38 TDM and KDS • 9.552.268.4-01 • 18. Januar 1994

Programming module
rating plate
MOD 14/1X012-016
MOD 1/1X077-002 Contr.: TDM 3.2-020-300-W0
Contr.: TDM 1.2-100-300-W1 Input rpm/V Motor: MAC 090A-.-ZD-.-C
Motor: MAC 112D-.-FD-.-C E1/E2 2000/10 Current (A): peak/cont.: 20/15
Current (A): peak/cont.: 100/75 E3 3000/10 Operating rpm: 2000 MA: 0,375 V/A
Operating rpm: 6000 MA: 0,05 V/A E4 1500/10 Input rpm/V: E1/E2: 2000/10
E3: 3000/10 E4: 1500/10
The following indicate:

MOD./.....-... Type designation of the programming module
(see following figure for meaning)
Contr. Type designation of the servo drive module
Motor Part of the type designation of the motor which determines the configuration
of the programming module.
Parts of the type designation not affecting the configuration of the programming
module are identified by full stops.
Current (A) Set peak current/continuous current in amps
peak/cont.
Operating rpm Rated speed of motor in rpm
(the maximum useful speed of the drive cannot differ from this)
MA Voltage/current ratio in V/A or mV/A at output terminal MA MA
E1/E2 Speed / set-point voltage ratio between differential input E1 and E2 in rpm/
V.
E3 Speed / set-point voltage ratio between input E3 and 0VM in rpm/V
E4 Speed / set-point voltage between input E4 and 0VM in rpm/V.
Fig. 17: Rating plate of MOD programming module

Type code fields: Example: MOD 01 / 1 x 0005 - 001

1. Brief description of unit: MOD
2. Classification according to controller type and potentiometer

in the set-point input:
TDM 1. ………………………………………………………………….. 01
TDM 1. with potentiometer in set-point input ………………………...02
KDS 1. …………………………………………………………………...03
KDS 1. with potentiometer in set-point input …………………………04
TDM 2. …………………………………………………………………...05
TDM 2. with potentiometer in set-point input ………………………...06
TWM 1. …………………………………………………………………..07
KDW 1. …………………………………………………………………..09
TDM 3.1 Replaced by MOD 13/14 11
TDM 3.1 as of June 1986 12
TDM 3.2 ………………………………………………………………….13
TDM 3.2 with potentiometer in set-point input ……………………….14
DSC 3. …………………………………………………………………... 15
DSC 3. with potentiometer in set-point input …………………………16
TDM 4. …………………………………………………………………... 17
TDM 4. with potentiometer in set-point input …………………………18
TDM 6. …………………………………………………………………... 19
TDM 7. …………………………………………………………………... 21
3. Classification according to feedback unit on MAC motor:

with built-in INDRAMAT incremental encoder …………….………. "0"
with tacho feedback (without incremental encoder) ………...………"1"
independent of feedback unit …………………………………………"."
(for „slave modules“ and „ current interface modules“)
4. Motor cooling code:

natural convection …………………………………………………....… 0
surface-cooled…………………………………………………..….....… 1
module configuration suitable for both types of cooling………..……X
5. Code for motor/amplifier combination

Is specified and recorded by INDRAMAT …………………z.B. 0005
6. Input weighting code

Is specified and recorded by INDRAMAT ………. …...……z.B. 001
Fig. 18: Type designation of MOD programming module

Permanentmagnet- 37
GmbH Drehstromservomotor
From delivery date March 1993
89
Lohr / Main
MAC: 112B-0-PD-2-C/130-A-0/SO5
Serien Nr.: 38449 R1 Kom.-Nr. 5011 25
Dauer-Md 18.2 1 Nm Md Konst. 0.91 Nm/A
Dauerstrom 21.0 1 A Spitzenstrom 97 A
Motor-EMK VS/rad Isolationsklasse F
n max 1500 min -1 Schutzart IP 65 IP 24 1
Tacho-EMK 0.0286 VS/rad
Bremse: Md 14 Nm U N 24 V I N 0.75A
1 oberflächenbelüftet
ENA3A-TypschMAC
typsch.tif
The following indicate:

MAC...: Type designation of servomotor (see Section 13 for details)
Continuous Md; MdN: Continuous torque of motor in Nm
Continuous current; IdN: Continuous current of motor in amps
Peak current: Max. peak current of motor in amps
Motor EMF; km: Current/torque constant in Nm/A or Vs
Tacho EMF; tacho const: Tacho voltage in Vs, or V/rpm
nmax;n: Rated speed of motor in rpm
(the maximum useful speed of the drive cannot differ from this)
Fig. 19: Rating plate of MAC motor
Serial numbers
Fig. 20: Rating plate of servo drive module

Example of MOD 1 Example of MOD 2

programming module labelling programming module labelling
MOD 1/1X077-002 MOD 2/1X077-016

Contr.: TDM 1.2-100-300-W1 Input rpm/V Contr.: TDM 1.2-100-300-W1 Input rpm/V
Motor: MAC 112D-.-FD-.-C E1/E2 2000/10 Motor: MAC 112D-.-FD-.-C E1/E2 2000/10
Current (A): peak/cont.: 100/75 E3 3000/10 Current (A): peak/cont.: 100/75 E3 3000/10
Operating rpm: 6000 MA: 0,05 V/A E4 1500/10 Operating rpm: 6000 MA: 0,05 V/A E4 1500/10
OPERATING PARAMETER: PROGRAMMING MODULE OPERATING PARAMETER: PROGRAMMING MODULE
ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THE ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THE
MODULE MUST AGREE WITH THE DEVICES IN USE OTHERWISE LACK OF MODULE MUST AGREE WITH THE DEVICES IN USE OTHERWISE LACK OF
PERFORMANCE AND DANGER OF DAMAGE MAY OCCUR PERFORMANCE AND DANGER OF DAMAGE MAY OCCUR
Betriebsdaten-Programmierungsmodul
Betriebsdaten-Programmierungsmodul Achtung: Motor- und Verstärkertypenangaben
Achtung: Motor- und Verstärkertypenangaben müssen mit der Installation übereinstimmen
müssen mit der Installation übereinstimmen sonst Schädigungsgefahr
sonst Schädigungsgefahr
P1 P2 P3
(E1/E2) (E3) (E4)
MOD 1 and MOD 2 programming module board layouts
C3 C1
R1 R2 C2 R3 X2
C4 R4 C5
R9
R5
R6
R7
R8
R10
B1
B2
P1 P2 B3 P3
Fig. 21: Module labels: MOD 1, MOD 2 for TDM 1 drive module

Plug connector X2
2
-15VM
3
0VM
4
Peak current
limiting R3 R4
1
5
Continuous
current limiting R5 R6
-15V
Tacho filter R1 R2
6
C1 C2
C3 R7
8
Speed controller
C4
P-I circuit 9
10 R8
Differential input
P1
E1/E2 11
C5 B1
R9
13
Summing input
P2
E3 12
B2
R10
15
Summing input
E4 14 P3
B3
Potentiometers P1, P2, P3 are not fitted to MOD 1 but shunted by B1, B2, B3
Fig. 22: Circuit diagram: MOD 1, MOD 2 for TDM 1 drive module


MOD 5/1X026-185 MOD 6/1X026-031

Contr.: TDM 2.1-30-300-W0 Input rpm/V Contr.: TDM 2.1-30-300-W0 Input rpm/V
Motor: MAC 063D-.-RS-.-C E1/E2 3500/9 Motor: MAC 063A-.-RS-.-C E1/E2 3500/9
Betriebsdaten-Programmierungsmodul Achtung: Motor- und Verstärkertypenangaben
Achtung: Motor- und Verstärkertypenangaben müssen mit der Installation übereinstimmen
müssen mit der Installation übereinstimmen sonst Schädigungsgefahr
sonst Schädigungsgefahr
P1 P2 P3
(E1/E2) (E3) (E4)
C3 C1
R1 R2 C2 R3 X2
C4 R4 C5
R9
R5
R6
R7
R8
R10
B1
B2
P1 P2 B3 P3

Plug connector X2
2
-15VM
3
0VM
4
Peak current
limiting R3 R4
1
5
Continuous
-15V
Tacho filter R1 R2
6
C1 C2
C3 R7
8
Speed controller
C4
P-I circuit 9
10 R8
Differential input
P1
E1/E2 11
C5 B1
R9
13
Summing input
P2
E3 12
B2
R10
15
Summing input
E4 14 P3
B3
Potentiometers P1, P2, P3 are not fitted to MOD 5

but shunted by B1, B2, B3
Fig. 24: Circuit diagram: MOD 5, MOD 6 for TDM 2 drive module


MOD 13/1X012-002 MOD 14/1X012-016

Contr.: TDM 3.2-020-300-W0 Contr.: TDM 3.2-020-300-W0
Motor: MAC 090A-.-ZD-.-C Motor: MAC 090A-.-ZD-.-C
Current (A): peak/cont.: 20/15 Current (A): peak/cont.: 20/15
Operating rpm: 2000 MA: 0,375 V/A Operating rpm: 2000 MA: 0,375 V/A
Input rpm/V: E1/E2: 2000/10 Input rpm/V: E1/E2: 2000/10
E3: 3000/10 E4: E3: 3000/10 E4: 1500/10
1500/10
OPERATING PARAMETER-
PROGRAMMING MODULE
ATTENTION: MOTOR AND CONTROLLER-TYPE
INDICATED ON THE MODULE MUST AGREE WITH THE
OPERATING PARAMETER-PROGRAMMING MODULE DEVICES IN USE. OTHERWISE LACK OF PERFORMANCE
ATTENTION: MOTOR AND CONTROLLER-TYPE AND DANGER OF DAMAGE.
INDICATED ON THE MODULE MUST AGREE WITH THE Betriebsdaten-Programmierungsmodul
DEVICES IN USE. OTHERWISE LACK OF PERFORMANCE Achtung: Motor- und Verstärkertypenangaben müssen
AND DANGER OF DAMAGE. mit der Installation
Betriebsdaten-Programmierungsmodul übereinstimmen, sonst
Achtung: Motor- und Verstärkertypenangaben müssen mit der Schädigungsgefahr
P1 P2 P3
Installation übereinstimmen, sonst Schädigungsgefahr
(E1/E2) (E3) (E4)

[ ]
[ ]
C3
C1
[ ]
[ ]
[ ]
[ ]
C2
C4
C5
[ ]
[ ] [ ] [ ] [ ]
[ ]
R7 R11 R1
[ ] [ ] [ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ]
[ ] [ ] [ ]
C7
[ ] [ ] [ ]
P1
R8 R12 R2
R9 R13 R3
R4
[ ]
[ ] [ ] R10 [ ] [ ]
R14 R5
P2
R15 R6
P3 R16 C6
a b
X2
16
1
MOD 19, MOD 20 for TDM 6

0VM 16ab
R12
R13 C6
8b
Current control-
ler P-I circuit
8a
13ab
Peak current
limiting R3 R4
12ab
Continuous 14ab
-15VM 15ab
10ab
Tacho filter C7
R1 R2
11ab
R11 C1 C2
9ab
C3 R7
Speed controller 7a
C4
P-I circuit 7b
R8
6ab
Differential input
E1/E2 P1
5ab
C5 5R11
R14
R9
4ab
Summing input
E3 P2
3ab
5R11
R15
R10
2ab
Summing input
E4 P3
1ab
5R11
R16
Potentiometers P1 - P3 are not fitted to MOD 13

Resistors R14, R15, R16 are not fitted to MOD 14
Fig. 26: Circuit diagram: MOD 13, MOD 14 for TDM 3 drive module,

MOD 17/1X001-193 MOD 18/1X001-083

Contr.: TDM 4.1-020-300-W0 Contr.: TDM 4.1-020-300-W0
Motor: MAC 025C-.-QS-.-E Motor: MAC 025C-.-QS-.-E
Current (A): peak/cont.: 14/7 Current (A): peak/cont.: 14/7
Operating rpm: 10000 MA: 0,375 V/A Operating rpm: 10000 MA: 0,375 V/A
Input rpm/V: E1/E2: 10000/10 Input rpm/V: E1/E2: 10000/10
E3: 10000/10 E4: -------- E3: 10000/10 E4: -------
OPERATING PARAMETER-
PROGRAMMING MODULE
ATTENTION: MOTOR AND CONTROLLER-TYPE
INDICATED ON THE MODULE MUST AGREE WITH THE
OPERATING PARAMETER-PROGRAMMING MODULE DEVICES IN USE. OTHERWISE LACK OF PERFORMANCE
ATTENTION: MOTOR AND CONTROLLER-TYPE AND DANGER OF DAMAGE.
INDICATED ON THE MODULE MUST AGREE WITH THE Betriebsdaten-Programmierungsmodul
DEVICES IN USE. OTHERWISE LACK OF PERFORMANCE Achtung: Motor- und Verstärkertypenangaben müssen
AND DANGER OF DAMAGE. mit der Installation
Betriebsdaten-Programmierungsmodul übereinstimmen, sonst
Achtung: Motor- und Verstärkertypenangaben müssen mit der Schädigungsgefahr
P1 P2 P3
Installation übereinstimmen, sonst Schädigungsgefahr
(E1/E2) (E3) (E4)

[ ]
[ ]
C3
C1
[ ]
[ ]
[ ]
[ ]
C2
C4
C5
[ ]
[ ] [ ] [ ] [ ]
[ ]
R7 R11 R1
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ] [ ] [ ]
[ ] [ ] [ ]
[ ] [ ] [ ]
[ ] [ ] [ ] [ ] [ ] [ ]
C7
[ ] [ ] [ ]
P1
R8 R12 R2
R9 R13 R3
R4
[ ]
[ ] [ ] R10 [ ] [ ]
R14 R5
P2
R15 R6
P3 R16 C6
a b
X2
16
1
Fig. 27: Module labels: MOD 17, MOD 18 for TDM 4 drive module,

0VM 16ab
R12
R13 C6
8b
Current controller
P-I circuit
8a
13ab
Peak current
limiting R3 R4
12ab
Continuous 14ab
-15VM 15ab
10ab
Tacho filter C7
R1 R2
11ab
R11 C1 C2
9ab
C3 R7
Speed controller 7a
C4
P-I circuit 7b
R8
6ab
Differential input
E1/E2 P1
5ab
C5 5R11
R14
R9
4ab
Summing input
P2
E3 3ab
5R11
R15
R10
2ab
Summing input
E4 P3
1ab
5R11
R16
Potentiometers P1 - P3 are not fitted to MOD 17
Resistors R14, R15, R16 are not fitted to MOD 18
Fig. 28: Circuit diagram: MOD 17, MOD 18 for TDM 4 drive module,


Betriebsdaten-Programmierungsmodul Betriebsdaten-Programmierungsmodul
Achtung: Motor- und Verstärkertypenangaben Achtung: Motor- und Verstärkertypenangaben
müssen mit der Installation übereinstimmen müssen mit der Installation übereinstimmen
sonst Schädigungsgefahr sonst Schädigungsgefahr
P1 P2 P3
(E1/E2) (E3) (E4)
MOD 3/1X022-002 MOD 4/1X022-016

Contr.: KDS 1.1-150-300-W1 Input rpm/V Contr.: KDS 1.1-150-300-W1 Input rpm/V
Motor: MAC 112D-.-FD-.-C E1/E2 2000/10 Motor: MAC 112D-.-FD-.-C E1/E2 2000/10
C3 C1
C2
R3 R4
R1 R2
P1 P3
R11
P2
C5
R10
R6
R8
R5
R7
R9
B1 B3 B2
C6 C7
C4
X2
Fig. 29: Module labels: MOD 3, MOD 4 for KDS 1 drive module

Plug connector X2
14b
-15VM
14a
0VM
12b
Peak current
limiting R3 R4
16b
12a
Continuous
-15V
10a
Tacho filter R1 R2
16a
R11 C1 C2
2b
C3 R7
10b
Speed controller
C4
P-I circuit 8a
6a R8
Differential input
P1
E1/E2 8b
C5 C6 C7 B1
R9
6b
Summing input
P2
E3 4a
B2
R10
4b
Summing input
E4 2a P3
B3
Potentiometers P1, P2, P3 are not fitted to MOD 3
but shunted by B1, B2, B3
Fig. 30: Circuit diagram: MOD 3, MOD 4 for KDS 1 drive module

4. User inputs/outputs
4. User
inputs/outputs
Terminal on servo drive module: Maximum values

of applied
TDM 1 TDM 3 TDM 4 KDS1 Input Function DC voltage
TDM 2 TDM 6 TDM 7
X5/1 X42/1 X50/1 X26/1 E1-E2 Differential input for - 10 to + 10 volts

-X5/2 -X42/2 -X50/2 -X26/2 set-point
X5/3 X42/4 X50/4 X26/4 E3 Summing input for - 10 to + 10 volts

set-point with respect to 0VM
X5/4 X42/5 X50/5 X26/5 E4 Summing input for - 10 to + 10 volts

set-point with respect to 0VM
X5/7 X43/3 X49/3 X25/3 RF Controller enable not active. 0 to 3 Volt or

After controller enabling signal open input
is disconnected only differential
input is immediately set to zero
internally. The drive still remains
under active control for about
300 ms after the controller enabling
signal is switched off.
Controller enabling signal active. 3 to 30 volts

Drive under control (0,3 to 3 mA)
X5/13 X42/8 X50/8 X26/8 Ired External torque and current

limiting by applying an analogue
voltage 0 to 10 volts
(see Section 2.3)
Fig. 31: Servo drive module inputs
Input at RF terminal 3 … 30V

(external controller
enable)
0V
Drive on
Drive
Internal enable free of torque
0V
300 ms
Ext. set-point at terminal E1 - E2
Set-point switched
Set-point conditioning internally to 0 rpm
ENA7A-verzAb
Fig. 32: Delayed disconnection of controller enabling signal

4. User inputs/outputs
Terminal on servo drive module:
TDM 1 TDM 3 TDM 4 KDS1 Output Function Maximum values of

TDM 2 TDM 6 TDM 7 DC voltage/current
X5/5 X43/1 X49/1 X25/1 Bb - Bb Signals ready state of Relay contact
-X5/6 -X43/2 -X49/2 -X25/2 drive if contact is closed. rated for
Servo drive is OK. 24 V/1 A max.
(Do not confuse
this message with the
Bb1 contact of the
power supply module)
X5/10 X43/7 X49/6 X25/7 + 15 VM Control voltage 15 mA max.
X5/12 X43/9 X49/8 X25/9 - 15 VM for external use
X5/11, X43/8 X49/7 X25/8 0 VM Reference potential
for all inputs/outputs
except E1-E2 and Bb-Bb
X5/14 X42/10 X50/10 X26/10 MA Master output, Max. output
torque of current 0 to 10 V, 1 mA
set-point for (See footnote (1)
Measurement of drive for kMA weighting)
performance or as set-point
output signal for slave drive
in a master/slave drive system
(see Section 2.4)
X5/15 X42/13 X50/13 X26/13 Tsense Speed actual-value (tacho) Max. output
0 to 10 V
(See footnote (2)
for weighting)
—— —— —— X25/10 TÜ-TÜ Output signals unit Relay contact
-X25/11 is overheating rated for
(Temperature pre-warning), 24 V, 1 A max.
if contact is open.
—— X43/10 X49/9 —— TÜ Output signals unit Weighting
is overheating values
(temperature pre-warning) 24V, 100 mA max.
if open-collector output
is low resistance at 0 V.
Drive package is switched off
after 30 seconds.
(1) Weighting kMA of this output MA can be

obtained from the rating plate of the programming module
under „MA“ in V/A or the table in Section 10.2.
The torque can be can calculated from this as follows:
U(MA)
M = km * ——— in Nm
kMA
km: current torque constant in Nm/A from

Section 10.1
U(MA): voltage V measured at MA output
(2) The internal resistance of the output is 20 kilohms.

The weighting of this output depends on the rated speed of the motor
(obtainable from Section 10.1 or rating plate):
Max. Rating plate details Tacho voltage at

motor speed (Motor) Tsense output in
in rpm in Vs/ rad volts per 1000 rpm
1600 0,0572 6
3200 0.0286 3
6400 0.0143 1.5
12000 0.00715 0.75
Fig. 33: Servo drive module outputs

5. Connections and Installation
5. Connections
and Installation
5.1. Protection of
Personnel and The guidelines as listed in Chapter 6.1 on protection of
Equipment personnel, equipment and machinery when connecting,
assembling and testing the drives must be followed.
5.2. Assembly
5.2.1. Both the servo drive module and its supply module are flush mounting
Preferred arrangement equipment, as outlined in DIN VDE 0160, Sections 5.5.1.3 and 6.5.1.3.
of modular units within This means that they are intended for mounting in a control cabinet. IP
the control cabinet 10 is their protection category.
The control cabinet housing should, in accordance with those safety

guidelines valid for this application, guarantee sufficient protection
against hazards in areas where the general public has access. (For
industrial applications, e.g, see EN 60204/DIN VDE 0113, Section 1.)
Only properly trained personnel with proper tools or keys should have
access to the interior of the control cabinet.
The modular units should, if possible, be arranged as depicted in Figure

34. The drives with high power and voltages should be located as close
as possible to the supply unit.
If the ventilated servo drive modules TDM3 and TDM 4 (type designation
TDM 3.2-030-300-W1, or TDM 4.1-030-300-W1) or TDM 6 and TDM 7
(type designation TDM 6.1-025-300-W1, or TDM 7.1-025-300-W1)
– are arranged on the left side of the drive packet, or,
– are mounted on the left side at a distance greater than 10 mm from an
adjacent module,
then a cooling baffle (INDRAMAT mat. no. 224 869) must be screwed
onto the heatsink on the left side of the unit. (Also see the dimensions
sheet for the servo-drive module.) Only this arrangement guarantees
that the fan will provide sufficient cooling.
The end plug, found in the accessories set of the supply module, is
plugged into contact strip X1 located in the unit farthest away from the
supply module.
It monitors the line connection X1.
It is also possible to arrange the drive module with supply modules on the
right and line up the drive modules on the left.

TBM KDV
KDA KDS TDM TDM TDM TDM TDM TCM
or or
1 2 3 3 4
TCM TVM
M M M
MOD MOD MOD O O O
D D D
TCM TCM
2 twisted lines
ENA3A-Anordnung
Figure 34: The preferred drive module arrangement
5.2.2. Front View with Figures 35 through 40 depict a front view of the individual servo drive
Accessories modules with electrical connecting accessories and programming mod-
ule MOD.
The components needed for the electrical connections are a part of the
„electrical connecting accessories“ supplied by INDRAMAT.

Servo drive module
X8
RESET
+24V S1
A1
±15V
DANGER HIGH VOLTAGE

AC POWER OUTPUT
BLC1
Motoranschluß
BLC2
BLC3
A2 Tacho
Electrical connecting accessories POWER
and programming module RF
Bb
TS
A3
BS
WARNING
300 VDC INPUT
DISCHARGE TIME
L-
Entladezeit > 1 Min.
POWER SUPPLY OUTPUT
VOLTAGE RATING, MUST
NOT EXCEED POWER
Busbar INPUT VOLTAGE DATA
Nur mit Versorgungseinheit
gleicher od. kleinerer
POWER-Spannungs-
L+ angabe betreiben
Spannungs- und
isolationsgeprüft
Bus connection X1 nach DIN VDE 0160
ATTENTION!
NEVER REMOVE OR INSTALL THIS
PLUGS WHILE VOLTAGE IS APPLIED.
BLACK CABLE ON THE BOTTOM!
Verbindung nie unter Spannung
AC SERVO CONTROLLER
lösen bzw. stecken.
Schwarze Leitung immer unten! TDM ...-30-300-W0
236226 K39/91
X1
SN240060-02029 A01
Programming Module MOD with Rating Plate
POSITION FOR OPERATING PARAMETER

MOD 1/1X077-002 PROGRAMMING MODULE, PLUG IN
Contr.: TDM 1.2-100-300-W1 Input rpm/V CORRECT MODULE, BEFORE START UP
Motor: MAC 112D-.-FD-.-C E1/E2 2000/10 Platz für Betriebsdaten-Programmierungs-
Current (A): peak/cont.: 100/75 E3 2000/10
modul. Vor dem Einschalten korrektes
Operating rpm: 2000 MA: 0,05 V/A E4 2000/10
Modul einstecken.
OPERATING PARAMETER: PROGRAMMING MODULE
ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THE MODULE MUST AGREE
WITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCE
AND DANGER OF DAMAGE MAY OCCUR
X2
Achtung: Motor- und Verstärkertypenangaben müssen mit der
Installation übereinstimmen, sonst Schädigungsgefahr.
Offset
adjust-
X5 ZERO ADJ
ment
Plug-in terminal Input - Output
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
BLC3 0VM
MA
0VM -15V
BLC1 0VM
Tsense
E1
E2
E3
E4
BLC2 +15V
Bb
Bb
Ired
Tacho RF
+15V
-15V
0VM
X6
1 2 3 4 5 6 7 8 9 10
Feedback
ENA3A-FrontanTDM1/2
Figure 35: Front view of servo drive modules TDM1 and TDM2 with accessories

Servo drive module
Spannungs- und
isolationsgeprüft
nach DIN VDE 0160
X8
DO NOT OPERATE
HIGH VOLTAGE WITHOUT POWER
RESET
A1 S1
Motoranschluß
+24V
±15V
BLC1
Electrical connecting accessories A2
BLC2
MOTOR POWER
and programming module BLC3
DISCHARGE TIME DANGER

Tacho
PWR

A3 RF
Bb
TS
Busbar BS
L- AS
300 VDC INPUT
Bus connection X1
L+
ATTENTION!
Schwarze Leitung immer unten! AC SERVO CONTROLLER
TDM 3.2-020-300-W0
236226 K39/91
SN240060-02029 A01
X1
CORRECT MODULE, BEFORE START UP

Platz für Betriebsdaten-Programmierungs-
MOD 13/1X012-002
PROGRAMMING MODULE, PLUG IN
Contr.: TDM 3.2-020-300-W0

Motor: MAC 090A-.-ZD-.-C
Current (A): peak/cont.: 20/15
Operating rpm: 2000 MA: 0,375 V/A
Input rpm/V: E1/E2: 2000/10
Modul einstecken.
E3: 3000/10 E4: 1500/10
OPERATING PARAMETER: PROGRAMMING MODULE Offset

ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THE
MODULE MUST AGREE
ZERO ADJ adjust-
ment
+15VM
-15VM
BLC 1
BLC 2
BLC 3
Tacho

X41
0VM
0VM
Plug-in terminals 1 2 3 4 5 6 7 8 9
Feedback
X43
+15VM
-15VM
+24VL
1 2 3 4 5 6 7 8 9
0VM
0VL
RF
TÜ
Bb
Bb
1 2 3 4 5 6 7 8 9 10
Input - Output
1 2 3 4 5 6 7 8 9 10
X42
+15VM
Tsense
0VM
Ired
MA
FB
Iist
E1
E2
E3
E4
1 2 3 4 5 6 7 8 9 10 11 12 13
1 2 3 4 5 6 7 8 9 10 11 12 13 Input - Output
ENA3A-FrontanTDM3
Figure 36: Front view of servo drive module TDM 3 with accessories

Servo Drive Module
Spannungs- und
isolationsgeprüft
nach DIN VDE 0160
X8
DO NOT OPERATE
WITHOUT POWER
RESET
A1 S1
Motoranschluß
+24V
HIGH VOLTAGE
±15V
BLC1
Electrical Connecting Accessories A2
BLC2
MOTOR POWER
and Programming Module BLC3

Tacho
PWR

A3 RF
Bb
TS
BS
Busbar
L- AS
300 VDC INPUT
Bus connection X1
L+
ATTENTION!
Schwarze Leitung immer unten!
AC SERVO CONTROLLER
TDM 4.1-020-300-W0
236226 K39/91
Programming Module MOD with Rating Plate SN241060-02030 A01

X1
MOD 17/1X001-193
Contr.: TDM 4.1-020-300-W0

Motor: MAC 025C-.-QS-.-E

Input rpm/V: E1/E2: 10000/10
E3: 10000/10 E4: ----------
Modul einstecken.

MODULE MUST AGREE
Offset
AND DANGER OF DAMAGE MAY OCCUR ZERO ADJ adjustment
+15VM

X48
HS 1
HS 2
HS 3
0VM
T1
T0
T2
T3
Plug-in terminals 1 2 3 4 5 6 7 8 9 10
Feedback
+15VM
X49
-15VM
0VM
24VL
1 2 3 4 5 6 7 8 9 10
0VL
RF
TÜ
Bb
Bb
1 2 3 4 5 6 7 8 9
Input - Output
X50
+15VM
1 2 3 4 5 6 7 8 9
Tsense
0VM
Ired
MA
FB
Iist
E1
E2
E3
E4
1 2 3 4 5 6 7 8 9 10 11 12 13
1 2 3 4 5 6 7 8 9 10 11 12 13 Input - Output
ENA3A-FrontanTDM4

Plug-in terminals
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Servo drive module
Spannungs- und
isolationsgeprüft
BRO+
nach DIN VDE 0160
BRO-
BRI+
TMO
TMO
ASQ
ASQ
BRI-
AS2
AS1
TMI
TMI
frei X8
DO NOT OPERATE
WITHOUT POWER
RESET
A1 S1
Motoranschluß
+24V
HIGH VOLTAGE
±15V
BLC1
BLC2
MOTOR POWER
DANGER
Tacho
PWR

DISCHARGE TIME
A3 RF
Bb
TS
Busbar BS
L- AS
300 VDC INPUT
Bus connection X1
L+
ATTENTION!
Schwarze Leitung immer unten! AC SERVO CONTROLLER
TDM 6.1-020-300-W0
236226 K39/91
SN240060-02029 A01
X1
programming Module MOD with Rating Plate

MOD 19/1X012-002
Contr.: TDM 6.1-020-300-W0

Motor: MAC 090A-.-ZD-.-C
Input rpm/V: E1/E2: 2000/10
Modul einstecken.
E3: 3000/10 E4: 1500/10
OPERATING PARAMETER: PROGRAMMING MODULE Offset

MODULE MUST AGREE
ZERO ADJ adjustment
+15VM
-15VM
BLC 1
BLC 2
BLC 3

X41
Tacho
0VM
0VM
Plug-in terminals 1 2 3 4 5 6 7 8 9
Feedback
X43
+15VM
-15VM
+24VL
1 2 3 4 5 6 7 8 9
0VM
0VL
RF
TÜ
Bb
Bb
1 2 3 4 5 6 7 8 9 10
Input - Output
1 2 3 4 5 6 7 8 9 10
X42
+15VM
Tsense
0VM
Ired
MA
FB
Iist
E1
E2
E3
E4
1 2 3 4 5 6 7 8 9 10 11 12 13
1 2 3 4 5 6 7 8 9 10 11 12 13
Input - Output
FrontanTDM6

Plug-in terminals
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Servo drive module
Spannungs- und
isolationsgeprüft
BRO+
BRO-
BRI+ nach DIN VDE 0160
TMO
TMO
ASQ
ASQ
BRI-
AS2
AS1
TMI
TMI
frei
X8
DO NOT OPERATE
HIGH VOLTAGE WITHOUT POWER
RESET
A1 S1
Motoranschluß
+24V
±15V
BLC1
BLC2
MOTOR POWER

Tacho
PWR

A3 RF
Bb
TS
BS
Busbar
L- AS
300 VDC INPUT
Bus connection X1
L+
ATTENTION!
AC SERVO CONTROLLER
TDM 7.1-020-300-W0
236226 K39/91
Programming Module MOD with Rating Plate SN241060-02030 A01

X1
MOD 21/1X005-123
Contr.: TDM 7.1-020-300-W0

Motor: MAC 025C-.-QS-.-E

Current (A): peak/cont.: 14 / 7
Input rpm/V: E1/E2: 10000/10
E3: 10000/10 E4: ----------
Modul einstecken.

MODULE MUST AGREE
Offset
AND DANGER OF DAMAGE MAY OCCUR ZERO ADJ adjustment
+15VM

X48
HS 1
HS 2
HS 3
0VM
T0
T1
T2
T3
Plug-in terminals 1 2 3 4 5 6 7 8 9 10
Feedback
X49
+15VM
-15VM
24VL
1 2 3 4 5 6 7 8 9 10
0VM
0VL
RF
TÜ
Bb
Bb
1 2 3 4 5 6 7 8 9
Input - Output
X50
1 2 3 4 5 6 7 8 9
+15VM
Tsense
0VM
Ired
MA
FB
Iist
E1
E2
E3
E4
1 2 3 4 5 6 7 8 9 10 11 12 13
1 2 3 4 5 6 7 8 9 10 11 12 13 Input - Output
FrontanTDM7

Servo drive module

in cold-running technology
X8
RESET
S1
S1
A1
+24V
±15V
DANGER HIGH VOLTAGE

AC POWER OUTPUT
Motoranschluß
BLC1
BLC2
A2 BLC3
Electrical Connecting Accessories Tacho
and Programming Module POWER
RF
Bb
A3
WARNING
300 VDC INPUT
DISCHARGE TIME
L- Entladezeit > 1 Min.
POWER SUPPLY OUTPUT
Busbar VOLTAGE RATING, MUST
NOT EXCEED POWER
INPUT VOLTAGE DATA
Nur mit Versorgungseinheit
gleicher od. kleinerer
POWER-Spannungs-
Bus connection X1
angabe betreiben
L+
Spannungs- und
isolationsgeprüft
nach DIN VDE 0160
ATTENTION!
AC SERVO CONTROLLER
BS KDS 1.1-100-300-W1
TS 236226 K39/91
TÜ X1
SN255060-02060 A01
OPERATING PARAMETER: PROGRAMMING MODULE POSITION FOR OPERATING PARAMETER

ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THE MODULE MUST AGREE PROGRAMMING MODULE, PLUG IN
Achtung: Motor- und Verstärkertypenangaben müssen mit der modul. Vor dem Einschalten korrektes
Installation übereinstimmen, sonst Schädigungsgefahr. Modul einstecken.
MOD 3/1X077-002
Contr.: KDS 1.1-100-300-W1 Input rpm/V
Motor: MAC 112D-.-FD-.-C E1/E2 2000/10 X2
Current (A): peak/cont.: 100/75 E3 2000/10
Operating rpm: 2000 MA: 0,15 V/A E4 2000/10
Tacho
BLC1
BLC2
BLC3
+15V
-15V
0VM
0VM
Plug-in terminals
Feedback X24
1 2 3 4 5 6 7 8 9 10
Offset
1 2 3 4 5 6 7 8 9 10
adjustment
ZERO
+15V
24VL
-15V
0VM
0VL
RF
TÜ
TÜ
Bb
Bb
ADJ
Input - Output X25
1 2 3 4 5 6 7 8 9 10 11
1 2 3 4 5 6 7 8 9 10 11
X3
Tsense
0VM
0VM
Ired
MA
E1
E2
E3
E4
X26
1 2 3 4 5 6 7 8 9 10 11 12 13 Input - Output
1 2 3 4 5 6 7 8 9 10 11 12 13
ENA3A-FrontanKDS
Figure 40: Front view of servo drive module KDS1 with accessories

5.2.3. Servo drive module Servo drive module KDS in cold-running technology has the advantage
KDS in cold-running that most of the heat loss of the modular units is fed directly out and does
technology not accumulate inside the control cabinet. This is why the cold-runnng
technology version can be built into small cabinets or housing without
necessitating the extensive transmission of heat via an expensive heat
exchanger.
Ventilation can be forced using an external fan, which can be supplied as

an additional set, if power requirements are greater.
The electrical parts of the ventilation are protectively located within the
control cabinet, as depicted in Figure 41. The heatsink of the power
section and the fan rotor are outside of the control cabinet or housing.
internal
external
fan hood
heat loss
Servo drive module

KDS heatsink
ext. fan
Fan motor
completely sealed
housing or cabinet ENA3A-KDS/Verlust
Figure 41: The KDS servo drive module KDS cold module drive in cold-running
technology built into control cabinet
The units are mounted by means of a mounting frame in a space on the

back wall of the control cabinet in such a way that the drive heatsink with
panelling juts out of the control cabinet.
The opening in the control cabinet is tightly sealed with a gasket at the
mounting flange of the cold-running version (see mounting drawing,
Figure 52, in Chapter 5.2.4). The servo drive module and the external fan
are mounted and can be exchanged on the inside of the control cabinet.

5.2.4. Power Reduction The data listed on the data sheets and selection lists are valid without
for Increased Temperature restriction, if the servo drive module is operated within an ambient
and Installation Altitude temperature range inside the control cabinet of +5 to +45°C.
Maximum permissible ambient temperature is +55°C.

The values for mean motor current and torque listed in the data sheets
are reduced by 2% per degree Celsius or Kelvin of temperature change
within the temperature range of +45 ... 55°C.
Maximum mounting altitude is 1000 meters above sea level. The

following diagram depicts the reduction in values for mean motor current
and torque at higher altitudes:
Altitude factor [%]
100
80
60
40
20
0
0 1000 2000 3000 4000 5000
Assembly altitude above sea level [m]
HöhenReduz
Figure 41a: Altitude-dependent reduction in drive data.

5.2.5. Dimensions sheet The following figures list mounting dimensions and outline the mounting
and mounting dimensions of the servo drive modules:
for servo drive modules
Overview of Dimension sheet: Figure:

Dimensions Data ——————————————————————————–––––––––
Dimension sheet TDM 1, TDM 2 Fig. 42
Mounting dimensions TDM 1, TDM 2 Fig. 43
Dimension sheet TDM 3, TDM 4, Fig. 44
Dimension sheet TDM 6, TDM 7 Fig. 45
Dimensions for fan attached to modular units
TDM 3, TDM 4, TDM 6, TDM 7 Fig. 46
Mounting dimensions TDM 3, TDM 4, TDM 6, TDM 7 Fig. 47
Assembly TDM 1, TDM 2, TDM 3, TDM 4,
TDM 6, TDM 7 Fig. 48
Dimension sheet KDS 1 Fig. 49
Dimensions for available space and arrangement KDS 1 Fig. 50
Mounting dimensions KDS 1 Fig. 51
Assembly KDS 1 Fig. 52
———————————————————————————––––––––
The minimum clearance to adjacent units must be absolutely maintained

to guarantee sufficient heat transmission and circulation.
The temperature within the mounting area (interior) of the control cabinet
should not exceed 45°C. Forced ventilation, to avoid dammed up heat,
as well as a reduction in the max. unit current, by 2.5% / K., become
necessary with higher values, up to max. 55°C.
If a cing device is used, then the internal temperature of the control

cabinet must be maintained at a minimum of 2 degrees Celsius above
external temperatures to prevent bedewing. Bedewing of a printed
circuit board can cause drive failure.
Heat-producing built-in parts should not be installed directly underneath

the servo drive module.

325 105
a minimum 80 mm
for ventilating air outlet ventilating air outlet 7
12
safety guard
373
390
355

X2
only applies to
model with fan X5

17
X6
a minimum of 80 mm 7
9
for ventilating air inlet
Figure 42: Dimension sheet for TDM 1 and TDM 2

ventilating air inlet 20 60

Starting torque M (Nm) for terminal bolt: M6 = 5 Nm
A
ENA3A-TDM1/2/Maßblatt aus 109-0525-3002-3

Starting torque M A (Nm) for terminal bolt: M5 = 3 Nm
Starting torque M A (Nm) for terminal bolt: M5 = 1,5 Nm
65
ENA3A-TDM1/Einbau
min. 80
390
373
105
TDM
105
TDM
60
7
TDM
TDM
TVM
min. 80
min. 2
housing or cabinet
completely sealed
325
min. 400
min. 80 355 min. 80
Figure 43: Mounting dimensions for TDM 1 and TDM2

A cooling baffle is only then required,
if the unit
- is located on the
left side of the drive
package, or,
- is mounted on the view without guard
left side with a distance 325
greater than 10 mm from an 12 80 mm minimum for
adjacent unit. 7 ventilating air outlet ventilating air outlet
(Cooling baffle with screws 5
INDRAMAT mat. no.: 224 869
must be ordered separately.) M5
S1
A1
Motor connection RESET
A2
( 3 x M6 )
A3
LED -Display safety guard
L-
Direct current voltage L+
( 2 x M5 )
373 +1
heatsink
355
X8
390
Controller current
X1

supply
Programmung
Feedback module
Zero-point
max. 1,5 mm ZERO-ADJ adjustment
Ready-to-operate speed control
and control voltages
max. 1,5 mm
Set-point
Figure 44: Dimension sheet for TDM 3 and TDM4

max. 1,5 mm ventilating air inlet 80 mm minimum for
9
7
326 ventilating air inlet
70

Starting torque MA (Nm) for terminal bolt X8: M6 = 5 Nm
TDM3/4/Maßblatt
Starting torque MA (Nm) for terminal bolts : M5 = 3 Nm
67
68
A cooling baffle is only then required, view without guard
if the controller 12 325
- is located on the left side 80 mm minimum for
left side of the 7 ventilating air outlet ventilating air outlet
drive package, or, 5
- is mounted on the
left side with a distance
greater than 10 mm from
an adjacent unit. M5
(Cooling baffle with screws S1
A1
INDRAMAT mat. no.: 224 869
must be ordered separately) A2
RESET
A3
Motor connection Safety guard
LED -Display
( 3 x M6 )
L-
Direct current voltage L+
( 2 x M5 )
373 +1
heatsink
355
X8
390
Controller current
X1
supply
Programming
Feedback module Zero-point
max. 1,5 mm ZERO-ADJ adjustment
Ready-to-operate speed control
and control voltages
max. 1,5 mm
Set-point
max. 1,5 mm ventilating air inlet 80 mm minimum for
9
7
326 ventilating air inlet
70
Figure 45: Dimension sheet for TDM 6 and TDM7

Operating inputs,
messages
15 poles, max. 1,5 mm 2
TDM and KDS • 9.552.268.4-01 • 18. Januar 1994

: M5 = 3 Nm
TDM6/7/Maßblatt
Starting torque MA (Nm) for terminal bolt
128
Safety guard 48
Standard model
24V-Connection
TDM ...
Fan unit LE 5-024 (24V-Fan)

80
min. 200
61
65,5
290,5
Obsolete model
TDM ...
Fan unit LE 5 (115V- or 220V-Fan)

80
X73
F7
min. 200
X74
290,5
61
65,5
LE5
Fig. 46: Dimensions for mounted fan TDM 3, TDM 4, TDM 6, TDM 7

min. 80
390
373
TDM
70
74±0,5
TDM
TDM
TDM
TDM
7
92±0,5
TVM
105
60
min. 80
min. 2
housing or cabinet
completely sealed
325
min. 400
min. 80 355 min. 80
TDM3/4/Einbau
Figure 47: Diagram for flush mounting in TDM3, TDM4, TDM6, TDM7

Hexagon cap screwdriver 906q/SW5x400-46185

Mat. No. 221 672/0 Cheese head screw M6-DIN 912
(supplied upon request) (Screw with hexagonal recessed hole)
Mounting plate or
back wall of control cabinet
TDM/Montage
Figure 48: Mounting TDM1, TDM2, TDM3, TDM4, TDM6, TDM7

72
325 SW5
M8
Flat gasket ring
MA = Starting torque (Nm)

X8 for terminal bolt:
S1 A1, A2, A3 = M6; MA = 5 Nm
A1 L-, L+ = M5; MA = 3 Nm
H1 = 2xM5-Ms; MA = 2,5 Nm
A2
H2
A3
safety guard
L-
L+
390
355
373 ±0,2
heatsink X9
345
X1
MOD 3/4
X2
X24
Figure 49: Dimension sheet for KDS1

X25
X26
14
X14a
23
X14b
8
X13 F5
10 Table of weights
160 without fan shell
KDS 1.1
(185 with fan shell) 30 A 50A 100A 150A
Unit
Drive module 14,1kg 14,4kg 15,2kg 15,4kg

Mechanical assembly kit
80
M1-KD 1,7kg
150
Fan unit LE 4 4,2kg
max. total weight approx. 20kg approx. 20,3kg approx. 21,1kg approx. 21,3kg
KDS/Maßblatt aus 109-0575-3001-03

View from inside the control cabinet
4 x ø5 110±0,5 110±0,5 110±0,5

96±0,5
= =
15
11
86+1
403±0,2
Space for
Space
additional
for
373±0,2
KD-Moduls;
KDS, KDV
dimensions
and KDA
351+1
50+1 as with unit 1
18
Space for an external fan
133±0,2
115
is only needed in controllers

with forced ventilation
= =
9
92±0,2
KDS/Ausbruch
6 x ø5 92
Figure 50: Dimensions for spacing and arranging KDS1

74
min. 400 185
min. 2
Bleeder safety shell for KDV
Direction of and air shaft for unit with
air current forced ventilation
325 110
69
min. 80
min. 80 min. 80
KD module mounting frame
heatsink KDV KDS KDS KDS KDS
355
421
18
160 at KDS/KDV
without ext. fan
Figure 51: Mounting diagram for KDS1

X15 X15 X15 105
F6 F6 F6
174
min. 200
Disassembly direction External fan
Fan motor
Completely sealed Mounting frame fan Fan for controller with forced ventilation
housing or cabinet
KDS/Einbau

Air shaft (1)
Screw thread M8 required for forced
69 ventilation with fan
Opening for additional KD module
Cheese head screw / 4x 185

M4x16 DIN912 (2)
Note the conductive connection (2) Contact disc M4/4x

between the back wall of the control
cabinet and the mounting frame!
KD module mounting frame (2)
Finger guard (1)
Hexagonal recess
with SW5 Fan mounting frame (1)

Figure 52: Mounting of KDS1
Screw thread M4
Space for additional fan
Back wall of housing

Housing and cabinet design
Cheese head screw / 2x

M4x14Z4 DIN912 (1)

Parts labelled (1) are part
Fan for forced ventilation (1) of the fan construction kit.
To be used in units with W1 type of
ventilation see Selection List Parts labelled (2) are part
of the accessories kit M1
KDS/Montage
Cheese head screw / 4x
M4x18Z4-1 DIN912 (1)
75
5.3. Connecting and The servo drive module connection, the plug and terminal box assign-
wiring the servo drive ments of the MAC motors and the line assignments of the cable
module connections are depicted in the figures of Chapter 5.6.
The individual guidelines outlined in Chapters 5.3.1 through 5.3.8.

should be followed.
5.3.1. Mains connection The mains connection and the control switch approppriate and recom-
mended for it depend upon the supply module used and are, therefore,
outlined in the corresponding supply module description.
5.3.2. Connection Remove the following from the accessories as supplied:

accessories as supplied
– link-circuit busbar for L+ and L- connections,
– end plug X1,
– the plug-in terminals on the drive module for the analogue interfaces
and the motor feedback connection, as well as,
– the flat belt bus cable for the low-tension bus plug X1 connections. The
black lines of bus cable X1 should be at the bottom, once everything has
been plugged in.
The end plug for line monitoring, which is a part of the accessories kit for
the supply module, should be plugged into the last modular unit (the unit
located farthest away).
5.3.3. Power connections Line cross-sections should be selected in a size sufficient to avoid any
line overloading in the event that maximum ambient temperature and the
corresponding currents should occur. (Recommendations can be found
in DIN VDE 0113, or EN 60204, Section 1.)
The cross-sections of all lines at power connections must be twisted and

have a sufficient size, namely:
– Lines to additional bleeder module TBM must be twisted with a cross-
section of at least 6mm2 (line length max. 2m).
– Lines to the additional TCM capacities must be twisted with a cross-
section of at least 10mm2 (see (1), 6 mm2 with TVM) (max. line length
of 0.5m).
– Adjacent drive modules are usually connected via the intermediate
circuit busbar, a part of the connecting accessories. If this should not in
some cases be possible, then the connection must be laid out in twisted
lines which are as short as possible (max length 1m). A minimum cross-
section of 10mm2 suffices in this case (see (1), 6 mm2 with the TVM).
– Intermediate circuit throttles of the „GLD“ type should be connected to
the supply module using twisted lines of 10mm2. These should be as
short as possible.

Note (1):
The permissible minimum cross-section in the link-circuit at terminals L+,
L- is determined by the size of the fuse on the side of the mains in supply
modules with higher levels of power:
Fuse current Cross-section of
with mains voltage minimum connection
3 x 400 volts at L+, L-
up to 50 amp. 10 mm2
The earthing of the individual modular units via the protective conductor
starts at the supply module and proceeds radially on each unit.
5.3.4. Motor power cable The use of INDRAMAT motor cables is recommended for the lines
between the servo drive module and the MAC servo motor.
The power cable contains:

• three lines for the motor power connection,
• one line for the protective conductor connection,
• a separately screened line pair for the motor thermostat contact, and,
• a separately screened line pair for the motor brake.
It can also be obtained as a ready-made cable with motor plug and ring
cable sockets/vein end sleeves.
If necessary, the cable can also be made using four twisted individual
leads (3 phase, 1 protective conductor) with separately routed, screened,
thermal contacts and brake connection lines.
The minimum cross-sections are listed in the document entitled, „Elec-

trical Connections of the AC Servo-Motor“. Maximum cable length
equals 75m, if INDRAMAT cables are used.
To increase the immunity to interference, the use of an adaptor board

with a connecting terminal for the thermostat contact and brakes is
recommended in models TDM1, TDM2, TDM3, TDM4 and KDS (see
Figure 53)
• AP 9 with servo modules TDM1, TDM2 and KDS1,
• AP 9/1 with servo modules TDM3 and TDM4.
This adaptor board must be removed and then remounted to the new
controller in the event of an exchange.
5.3.5. Evaluation of the In the event that the motor temperature exceeds the critical value, which
motor thermostat contact is equal to a motor housing temperature of approximately 105...110
degrees Celsius or 45 K over-temperature, then the thermostat contact
opens in the motor windings. In this case, the drive must be shutdown
and turned off within one minute after the contact opens. Within this
minute, the NC can initiate a machine stop during the program cycle
without damaging a workpiece.

It is possible for the thermostat contact in the coil end of the motor to open
with increased short-term overloads even with low housing tempera-
tures.
Since interference voltages are inherent in thermostat contact lines

(located in the motor power cable), this contact (contact load max. 220
volts, 1 amp.) should only be connected via potential-separated inputs
for evaluation in an electronic controller.
Generally, the cable screens should be earthed on the control cabinet

side. The ground connection of the shield at the end of the cable should
be as short and direct as possible.
65
30 ... 35
Servo module guardplate Adaptor card AP9 with holding angle
Lengthening screw
(with KD units only)
40
Motor Controller
connection connection
5 5
- -
Motor break 4 Br Br 4
+ +
3 TEMP TEMP 3
Motor thermostat contact 2 TEMP TEMP 2
1 1
AP9
Figure 53: Mounting and connecting adaptor card AP9

5.3.6. Motor feedback The shielded motor feedback cable supplied by INDRAMAT contains
cables nine lines. It is also available as a ready-made cable with motor terminal
and vein end sleeves.
Both the motor power cable and the feedback cable can have a maximum
length of 75m, if original INDRAMAT cables are used.
The feedback cable should be routed seperately and as far as possible

from all load lines such as mains lines, motor power cables and contactor
controller lines because of the possible source of interference they
represent, especially with longer cable lengths (longer than 10m). A
clearance of at least 100mm to the motor power cable is recommended.
The feedback cable must be single-sidedly earthed to the servo drive

module. The ground connection of the shield must be as short and direct
as possible.
The cable should not be routed close to high-frequency equipment,

magnetic fields from transformers, throttles, motors and other magnetic
consumers, as well as, high-voltage lines as otherwise interference
could be coupled in.
Maximum shielding can be achieved by routing the motor power cable

and the motor feedback cable in separate, grounded metal pipes, Fig. 54,
if high demands need to be made of the immunity to interference, in order
– to avoid disruptive couplings between both of these cables, and,
– to avoid disruptive reflections by the motor power cable onto adjacent
electronic production facilities and mains.
Signal processing cable

(feedback and
incremental encoder cable) Motor power cable
Make sure that the tin plates are well connected at all locations to ensure conductivity!
Kabelkanal
Figure 54: Example of a separated and shielded routing of the motor power and
feedback cables in metal pipes or canals!

5.3.7. Position Return Both the connection and maximum cable length of a position encoder
attached to the motor are outlined in the corresponding manufacturer’s
guidelnes. The length is dependent upon encoder type and controller
input data.
Both connection assignment and maximum cable length for the encoder
supplied by INDRAMAT can be found in the appropriate description for
position return.
The connecting cables should be routed seperated from all load lines
such as mains leads, motor power cables and contactor controller lines
because of interference.
Both the motor power and the encoder cables should be routed sepa-
rately, particularly with longer cable lengths (greater than 10m) and using
the greatest possible clearances.
Maximum immunity to intereference can also be achieved here if motor

power and encoder cables are routed in separate metal pipes, Fig. 54.
The cable shields should generally be grounded on one side. The

grounding connection of the shield at the end of the cable should be as
short and direct as possible.
The signal lines should not be routed near high-frequency equipment,

consumers as well as high-voltage cables as otherwise interference
5.3.8. Signal lines The data for the input and output signals of the terminal strips for the user
are outlined in Chapter 4.
This includes:
– speed set-point inputs E1, E2, E3, E4
– controller enabler RF,
– external speed or current limit Ired,
– current set-point MA,
– tacho output Tsense,
– external connecction of controller voltage +15Vm, -15VM, 24V.
In an effort to reduce start-up times, all signal lines have been connected
via plug-in terminals, which are part of the electrical connecting acces-
sories. The cross-section equals at least 0.25 mm2, but no more than 1.5
mm2.
The plug-in terminal connections belong to securely separated electric

circuits and may only be, in order to guarantee protection against
contact, connected to electric circuits from other units or equipment, if
these circuits are also securely separated (low-voltage operation with
secure separation, also called „PELV: Protective extra low voltage“).
The messages coming from the terminal strip (terminals Bb1, Bb, TÜ,
BVW, TVW, UD, NH, HSM) of the supply module and drive module can

be evaluated in a controller, in accordance with the data found in Chapter

7.2.2. (Figures 77-79).
It is recommended that all signal lines be shielded. The cable shields are
generally grounded on one side, namley, the servo module side. The
grounding connection of the shield at the end of the cable should be as
short and direct as possible. The corresponding signal lines should be
routed separated from all load lines such as mains leads, motor power
cables and contactor controller lines because of possible interference.
The signal lines should not be routed near high-frequency equipment,

consumers as well as high-voltage cables as otherwise interference
5.4. Earthing Connections The protective conductors and earthing connections of the individual
modular units should be routed radially from the central earthing point of
the supply module, as outlined in the connection plan. The earthing
connection of the supply module should be connected to the mains
grounding. The measures needed to protect the machinery must be
taken into consideration.
Earth circuits should be avoided, if possible, as interconnections can

cause operating problems.
5.5. Measures to suppress In addition to the guidelines on line routing, outlined in Chapter 5.3 and
interference 5.4, the following should be noted when operating the drives:
5.5.1. Sources of If, in connection with electronic equipment and construction elements,
interference in the control such inductive loads as throttles, contactors and relays are switched by
cabinet means of contacts or semi-conductors, then these must be suitably
suppressed. Direct current actuation achieves this with the arrangement
of the free-wheeling diodes, alternating current actuation achieves this
with the arrangement of contactor type-related, commercial RC noise
suppressors located directly at the inductance.
Only the noise suppressor arranged directly at the inductance

serves this purpose. Otherwise the noise level becomes too excessive
and can interfere in the electronics as well as the operation of the drive.
All other sources of interference, such as high-frequency equipment

(components of eloxadizing equipment, amongst others) should be
located and wired outside of the control cabinet.
5.5.2. Use of Radio Equip- If radios are used near the electronically controlled drive while the facility
ment is running, then the following conditions must be maintained to exclude
any interference from within:
The control cabinets should always remain closed during normal opera-
tion to guarantee a sufficient high-frequency shielding of the internal
wiring of the control cabinet and of the electronic equipment.
The motor feedback cable should be routed as close as possible to

grounded metal surfaces or in grounded metal cable shafts.

Working with radios during the commissioning process or testing close

to an open control cabinet should be avoided while the drives are being
operated. If radios are held during transmission close to the open control
cabinet door and are pointing at an unfavorable angle in the direction of
the control cabinet internal wiring, then uncontrolled motor movements
are likely to occur once the drive is released and no higher-ranking
monitor has been activated.
5.5.3. Radio Interference Suppression of radio interference is generally not needed within an
Suppression industrial area or over larger industrial sites. If, however, machinery
equipped with AC drives is operated in residential or smaller industrial
areas and suppression of radio interference becomes necessary, then
the limiting values of Class B in accordance with DIN VDE 0875, Sections
1, 3 and 11 or EN 55011, EN 55014, EN 50081, CISPR 11, CISPR 14 are
adhered to directly at the machine by mounting a noise filter which
INDRAMAT recommends into the mains cable.
It is further recommended when longer cable lengths of the motor power

cable are used and those motor power cables are not routed in a metal
casing
– that a shielded cable be used, or even better,
– that these be routed in grounded metal pipes or in grounded cable
shafts lined with metal.
Figure 55, which follows, outlines all connections and terminal of the
servo drive module.
5.6. Connection and Plan overview:

wiring diagrams
Figure Connecting plan
Fig. 55 Overview of the connections of the servo drive module
Fig. 56 Connecting plan TDM 1
Fig. 62 Connecting plan KDS 1
Fig. 63 Bus connection X1: Plug assignment between the modular units
Fig. 64 Plug connection IN 108 of the motor power cable at motor MAC
Fig. 67 Terminal box connection of the motor power cable at motor MAC
132 and MAC 160
Fig. 68 Plug connection of the feedback cable between the feedback unit
of the MAC motor and terminal strip of servo drive modules TD1,
TDM2, TDM3, TDM6 or KDS1.
of the MAC motor and the terminal strip of servo drive modules
TDM3, TDM6.
of the MAC motor and the terminal strip of servo drive modules
TDM 4, TDM7.

Maximum
Connection, lined-up
Terminal Function voltage
L+, L- Power connection to 250...450 Volt

adjacent equipment
using link-circuit busbar.
Tighten nut M5 of the fixing
bolt with max. 3Nm!
A1 Three-phase connection 250...450 Volt

A2 of the motor power cable.
A3 Tighten nut M6 of the
fixing bolt with max. 5 Nm!
X1 The bus connection distributes low- ±15V, 24 Volt

level voltages and the acknow-
ledgement message line of the end
plug to the individual drive amplifiers.
TDM 1: X5 Terminal strip for user

TDM 2: X5 inputs and outputs ±15 V, 24 Volt
TDM 3, TDM 6: X42, X43 (description Chapter 4).
TDM 4, TDM 7: X49, X50
KDS 1: X25, X26
TDM 1: X6 Feedback connection ±15 Volt

TDM 2: X6 for MAC motor
TDM 3, TDM 6: X41 This connection supplies the
TDM 4, TDM 7: X48 motor feedback electronics and
KDS 1: X24 signals rotor position
(BlC 1, BLC 2, BLC 3) and the tacho
signal to the servo drive module for the
purpose of evaluation in the controller.
Figure 55: Servo drive module connections and voltages between the terminals and
the housing.

84
Feedin of drive
components via
electrical connecting
accessories
modules
Programming
MOD 1 / MOD 2
shield
external use
use
tacho signal for

current set-point
for external
controller voltage
reference potential
controller enabler
ext. peak current limit

ready-to-operate
summing input
summing input
difference input
supply module
X8 X8
X5
9
8
7
6
5
4
3
2
1
11
15
14
13
12
10
L- L- Power
busbars
Bb
Bb
E4
E3
E2
E1
RF
DC 300 volt
MA
Ired
0VM
0VM
L+ L+ (busbars)
-15VM
Tsense
+15VM
1 UD 1 Supply for
2 BB
bus connecting additional
3 +15VM Servoantriebsmodul TDM 1
4,5,6,7 0VM Signal drive modules
cable
8,9 -15VM processing
10 0VL (12-pole via
bus cable)
black 11 +24VL electrical
12 12
X1 X1 connecting
accessories
X13 X14
Figure 56: TDM 1 connection plan

shield
available
reference potential
tacho voltage
supply voltage
rotor position detector

Unit fan
3 pole AC 220V
special cable (1) AC 220V AC 220V (3-pole
motor special cable)
internal F5 power connection
0VM
Tacho
BLC 1
BLC 2
BLC 3
+15VM
0VM
-15VM
fan unit (1) X6
4
9
5
6
7
8
1
2
3
M X8
10
A1 A2 A3
0VL
+24VL
AC 220V
5
2
3
4
7
8
9
11
10
12
F G H E A B C D
(1) Unit fan guidelines:

Controllers with a serial number starting from SN 234...

M
M contain a unit fan, shielded and internally connected
motor feedback to 24 volts, without fuse F5. External connection X13
ϑ>
3 via the special three-pole cable is necessary in that
case where adjacent equipment or equipment to-be
motor blocking thermostat added later contain an AC220 or AC115 volt fan.
fan brake contact Controllers with AC220 volts or AC114 volts
are obsolete.
Anschlpl/TDM1
MAC-Servomotor
feedin of drive
components via
accessories
modules
Programming
MOD 5 / MOD 6
external use
use
shield
tacho signal for

current set-point
for external
controller voltage
reference potential
controller enable

ready-to-operate
summing input
summing input
difference input
supply module
X8 X8
X5
9
8
7
6
5
4
3
2
1
11
15
14
13
12
10
L- L- power
busbars
Bb
Bb
E4
E3
E2
E1
RF
DC 300 volts
MA
Ired
0VM
0VM
L+ L+ (busbars)
-15VM
Tsense
+15VM
Supply
1 UD 1
2 BB for
bus connecting 3 +15VM Servoantriebsmodul TDM 2 additional
4,5,6,7 0VM signal
cable
8,9 -15VM processing drive
10 0VL (12-pole bus
cable) modules
black 11 +24VL
12 12 via electrical
X1 X1
connecting

accessories
X13 X14
shield
available
Tacho voltage
reference potential
Rotor position detector
Supply voltage
3-pole unit fan

AC 220 volts
special cable (1) AC 220V AC 220V (3-pole special
motor power cable)
Figure 57: Connecting diagram for TDM2

internal F5 connection
0VM
Tacho
BLC 1
BLC 2
BLC 3
+15VM
0VM
-15VM
unit fan (1) X6
4
9
5
6
7
8
1
2
3
M X8
10
A1 A2 A3
0VL
+24VL
AC 220V
5
2
3
4
7
8
9
11
10
12
(1) Unit fan guidelines:

F G H E A B C D
Controllers with a serial number startingfrom SN 234... contain a fan,
internally connected to 24 volts and shielded, without fuse F5.
The external connection X13 via the special three-pole cable
M is necessary in that case where adjacent equipment or
M equipment to-be added later contain an AC220
ϑ>
3 motor feedback or AC115 volt fan.
Controllers with AC220 volts or AC114 volts
motor blocking thermostat are obsolete.
fan brake contact
Anschlpl/TDM2
MAC-Servomotor
85
drive modules
drive modules
via electrical
accessories
connecting
of additional
with AC 220
additional
The supply
Supply
for
volts.
ext. 24V-fan unit
X73
M
ext. fan unit

(1)
(12-pole bus
DC 300 volts
+24VL
processing
(busbars)
cable)
0VL
signal
power
X74 F7
X43/4
X43/5
AC115/220 volt optional
AC 220 volts
(1) Connection for
module X14
from supply
L+
X8
L-
or drive
module
X1
(obsolete):
12
1
fan unit
Programming
Servoantriebsmodul TDM 3
modules
MOD 13 / MOD 14
1
Bb
ready-to-operate 2
Bb
controller enabler 3
RF
4
+24VL
5
controller voltage 0VL
6
for external 7
+15VM
X41
use 8
0VM 3
9
-15VM 3 12
10 -15VM
motor feedback
temperature monitoring TÜ 2 11
MAC-Servomotor
supply voltage 0VM
1 10
X43
+15VM
8 9
rotor position detector BLC 3
7 8
6 7
X42

5 4
tachometer voltage Tacho
9 2
1 E1 reference potential 0VM
difference input 4 5
2 E2 shield
6
3
shield
4 E3
summing input
5 E4
summing input
6 0VM
reference potential
motor power
7
D
connection
controller voltage +15VM

A1 A2 A3
8 Ired
C
9
M
available FB
10
B
voltage set-point MA
11 Iist
A
actual current value

12
blocking thermostat
reference potential 0VM

X8
contact
13 Tsense
E
tacho signal for

external use
ϑ>
+15VM
-15VM
+24VL
4,5,6,7 0VM
G H
0VL
BB
UD
0VL
brake
+24VL
F
8,9
10
12
11
1
2
3
X1
motor
X8
fan
L+
M
L-
supply module
bus connecting
components via
Feedin for drive
accessories
busbars
cable
AC 220V
black
Anschlpl/TDM3
Figure 58: Connection plan for TDM3

drive modules
of additional
with AC 220
via electrical
accessories
The supply
connecting
Supply for
additional
modules
drive
volts
ext. 24V-unit fan
X73
M
ext. unit fan

(1)
(12-pole bus
DC 300 volts
+24VL
processing
(busbars)
0VL
cable)
signal
power
X74 F7
X49/4
X49/5
AC115/220 volt optional
drive module
AC 220 volts
(1) Connection for
L+
supply or
X8
L-
X1
from
X14
(obsolete):
12
unit fan
1
Programming
modules
MOD 17 / MOD 18
1
Servo-drive module TDM 4
Bb
ready-to-operate 2
Bb
3
controller enabler RF
4
+24VL
5
controllervoltage 0VL
6
for external +15VM
7
use 0VM
8
-15VM
X48
9
temperature monitoring TÜ
10 2
X49
0VM
supply voltage 9 10
+15VM
8 9
HS 3
MAC-Servomotor
motor feedback
7 8
commutationsignal HS 2
6 7
HS 1
X50
4 6
T3
3 5
1 tacho voltage T2
E1 2 4
difference input 2 T1
E2 1 11
3 T0
shield 5 12
4 shield 3
summing input E3
5 E4 1
summing input
6 0VM
reference potential
7 +15VM
controller voltage
8 Ired
motor power
D
connection
9 FB
available
A1 A2 A3
10
C
current set-point MA
M
11 Iist
Actual current value
B
12 0VM
reference potential
13
A
tachosignal for Tsense

blocking thermostat
X8
contact
external use
E
ϑ>
+15VM
-15VM
+24VL
4,5,6,7 0VM
G H
0VL
BB
UD
0VL
brake
+24VL
F
8,9
10
12
11
1
2
3
X1
motor
X8
fan
L+
M
L-
supply module
bus connecting
components via
feedin of drive
accessories
busbars
cable
AC 220V
black
Anschlpl/TDM4
• DOK-ANAX**-TDM+KDS+MAC-AW02-EN-P 87
for additional
drive modules
The AC 220
volt supply
via electrical
accessories
connecting
modules
additional
drive
Supply
ext. 24V-unit fan

for
X73
DC 300 volts
ext. unit fan

(1)
+24VL
processing
0VL
power
signal
from supply or
drive module
AC 220 volts
X74 F7
X43/4
X43/5
X14
AC115/220 volt
(1) Connection for
(obsolete):
L+
X8
L-
X1
optional
unit fan
12
1
1
Bb
ready-to-operate 2
220V
Bb
AC
motor
3
fan
M
4
+24VL
5
0VL
controller voltage 6
X41
for external 7 3
+15VM
8 3 12
use 0VM -15VM
motor feedback
9 2 11
-15VM supply voltage 0VM
1 10
MAC-Servomotor
10
temperature monitoring TÜ +15VM
8 9
X43
7 8
6 7
5 4
Programming tacho voltage Tacho
module 9 2
MOD 19 / MOD 20 4 5
shield
X42
6
X8
1
Servoantriebsmodul
difference input E1
2
E2
motor power
3
connection
shield
A1 A2 A3
4
C
summing input E3
M
5
summing input E4
B
6
3

TDM 6
7
A
controller voltage +15VM

blocking thermostat
8
contact

9
I red TMI 14
E
available
10
FB ϑ>
current set-point MA 13
11 TMI
F H
Actual current value I ist 12

12 BRO+
brake

13
tacho signal for T sense 11
BRO-
G
external use 15
10
BRI- 0VL motor blocking
9
BRO+ +24VL brake controller
8
TMO evaluation of motor
7
TMO thermostat contact
+15VM
-15VM
+24VL
4,5,6,7 0VM
6
0VL
BB
UD
5
frei
4
AS1 +24VL starting interlock
3 0VL controller
AS2
8,9
10
12
11
2
1
2
3
ASQ starting interlock

X1
1 acknowledgement
X8
ASQ
L+
L-
X3
supply module
components via
feedin of drive
bus connecting
accessories
busbars
cable
black
Anschlpl/TDM6
power signal
DC 300 volts processing

drive modules
AC 220 volt
via electrical
accessories
supply for
additional
connecting
modules
additional
Supply
drive
ext. 24V-unit fan
for
X73
M
ext. unit fan

(1)
DC 300 volts
+24VL
processing
bus cable)
(busbars)
(12-pole
0VL
Signal
power
from supply or
X74 F7
drive module
AC 220 volts
X49/4
X49/5
optional AC115/220
X14
(1) Connection for the
volt unit fan
(obsolete):
L+
X8
L-
X1
12
1
Programming
module
220V
MOD 21 / MOD 22
AC
motor
fan
M
X48
1
Bb
ready-to-operate 2
Bb 10 2
3 0VM
controller enable RF supply voltage 9 10
4 +15VM
motor feedback
+24VL 8 9
5 rotor position detector HS 3
controller voltage 0VL 7 8
6 rotor position detector HS 2
for external +15VM
MAC-Servomotor
7 6 7
use 0VM rotor position detector HS 1 4 6
8 T3
-15VM 3 5
9 T2
temperature TÜ tacho signal 2 4
monitoring T1
1 11
X49
T0
5 12
shield
Servoantriebsmodul
3
1
X8
X50
motor power
D
connection
TDM 7
A1 A2 A3
1
C
E1
M
difference input 2
E2
B
3
3
shield
4
A
summing input E3
blocking thermostat
5 14
contact
summing input E4 TMI
6
E
reference potential
7
0VM ϑ>
controller voltage +15VM 13
8 TMI
F H
ext. peak current limit I red 12

9 BRO+
brake
free FB
10 11
current set-point MA BRO-
11
G
Actual current value I ist 15

12 10
reference potential 0VM BRI-
13 0VL motor blocking
tacho signal for T sense 9
BRI+ +24VL brake controller
external use 8
TMO evaluation of motor
7
TMO thermostat contact
+15VM
-15VM
+24VL
6
4,5,6,7 0VM
0VL
BB
UD
5
frei
4
AS1 +24VL starting interlock
3 0VL controller
AS2
8,9
10
12
2
11
1
2
3
ASQ starting interlock

X1
1
acknowledgement
X8
ASQ
L+
L-
X3
supply module
componentsvia
feedin of drive
accessories
bus connecting
busbars
cable
black
Anschlpl/TDM7

accessories
connecting
Supply for
additional
electrical
modules
drive
via
(3-pole special
AC 220 volts
(16-pole bus
DC 300 volts
processing
Ext. heatsink
(busbars)
unit fan
cable)
cable)
signal
M
power
F6
L+
X14
X8
L-
X14
16
1
AC 220V
Programming
module
MOD 3 / MOD 4
1
Bb
ready-to-operate 2
Bb
3
Servoantriebsmodul KDS 1
4
+24VL
5
controller voltage 0VL
6
for external 7
+15VM
use 8
0VM
9
-15VM
10
X24
heatsink temperature TUE

11
monitoring TUE
3 12
-15VM
X25
2 11
motor feedback
supply voltage 0VM 1 10
+15VM 9
8
X26
MAC-Servomotor
7 8
1 6 7
E1 rotor position detector BLC 1
difference input 2 5 4
E2 tacho voltage Tacho
3 10 3
shield available
4 9 2
summing input E3 reference potential 0VM
5 4 5
summing input E4 shield
6 0VM
reference potential
7
shield
8 I red
9
shield
10
motor power
current set-point MA
connection
11
A1 A2 A3
shield
C
12 0VM
reference potential
M
13
B
tacho signal for T sense

3
external use
A
blocking thermostat
X8
contact
E
ϑ>
+15VM
-15VM
+24VL
F5
0VL
0VM
frei
BB
UD
G H
0VL
brake
M
5,6,7,8
+24VL
13,14
11,12
AC 220V
9,10
F
internal
unit fan
3,4
15
16
1
2
X13
X1
motor
X8
fan
L+
M
L-
supply module
special cable
components via
bus connecting
feedin of drive
accessories
3-pole
busbars
cable
AC 220V
black
Anschlpl/KDS
Figure 62: Connection plan for KDS1

Plug X1 Bus connection Plug X1 Bus connection
1 UD 1 UD
2 BB 2 BB
3 +15V 3 +15V
4 0VM 4 +15V
5 0VM 5 0VM
6 0VM 6 0VM
7 0VM 7 0VM
8 -15V 8 0VM
9 -15V 9 -15V
10 0VL 10 -15V
11 +24V 11 +24V
12 12 +24V
13 0VL
14 0VL
Plug assignment X1 for 12 poles 15 frei

Bus connections for TDM, TWM, TVM 16
Plug assignment X1 for 16 poles

Bus connections for KDV, KDS, KDA, KDW, KDF
Servo drive modules TDM, TVM Servo drive modules KDS, KDV
Plug X1 Bus connection Plug X1
UD UD
1 1
BB BB
2 2
+15V +15V
3 3
0VM +15V
4 4
0VM 0VM
5 5
0VM 0VM
6 6
0VM 0VM
7 7
-15V 0VM
8 8
-15V -15V
9 9
0VL -15V
10 10
+24V +24V
11 11
+24V
12 12
0VL
13
0VL
14
frei
15
16
BusX1
Figure 63: Bus connection X1: Plug assignment between the modular units

Power plug IN 108
H 6
ϑ> 220V~/max. 1A
Motor thermostat
E 5
contact
G A
+ F 7 +24V
F
H B
G Motor blocking E
U
- 8 0VL
brake D
C
Power plug IN 108

(view onto the soldered side of the plug)
A 1 A1 Connecting cross-section: max. 6 mm2
M B 2 A2
3 Power connection
C 3 A3 at the drive module
PE D ge/gn
Figure 64: Plug connection IN108 of the MAC motor power cable
Power plug IN 172

J
available
H 6
ϑ> 220V~/max. 1A Motor thermostat

E 5 contact
E
+ F 7 +24V B A
F J H
Motor blocking
G 8 C D
U
- 0VL brake
G
Power plug IN 172

(view onto the soldered side of the plug)
A 1 A1 Connecting cross-section: A,B,C,D max. 25 mm2
M B 2 A2
E,F,G,H,J max. 1,5
mm2
3 Power connection
PE D ge/gn
Figure 65: Plug connection IN172 of the MAC motor power cable

Power plug IN 252
H 6

E 5 contact
B
+ F 7 +24V A D
C
H E
G Motor blocking
U
- 8 0VL
brake G F
Power plug IN 252

(view on the soldered side of the plug)
A 1 A1 Connecting cross-section: max. 0,75 mm2
M B 2 A2
3 Power connection
PE D ge/gn
Figure 66: Plug connection IN 252 of the MAC motor power cable
T2 6

T1 5 contact
+ B+ 7 +24V
B- 8 Motor blocking
U
- 0VL
brake
U1 1 A1
M V1 2 A2
3 Power connection
W1 3 A3 at the drive module
PE ge/gn
Figure 67: Terminal box connection of the motor power cable on the MAC 132 and
MAC 160 motors.

Connector receptacle feedback plug Terminal strip X24 (KDS)

on motor IN 104 (St. A) IN 302 plug-in terminal 1) Terminal strip X6 (TDM1;2)
coding pin 1
0VM 2 gray 2) 9 0VM
ppolarity 3 black 2) 10
tacho 4 brown 5 tacho
avail. 5
avail. 6
BLC 1 7 yellow 6 BLC 1
BLC 2 8 green 7 BLC 2
BLC 3 9 pink 8 BLC 3
+15VM 10 red 1 +15VM
0VM 11 white 2 0VM
-15VM 12 blue 3 -15VM
4
feedback cable IN 208
9 poles Ø 0,5 mm2
9 8
1 Feedback plug IN 302
2 10 12 7 (view towards soldered side of plug)
3 11 6
4 5 connecting cross-section: max. 1mm 2
1) Plug-in terminal with 10 poles (INDRAMAT mat. no.: 219 464);

part of the components of the electrical connecting accessories
for TDM 1 and TDM 2 generally supplied.
2) Possible reversible rotation; if required, bridge PIN 9 and PIN 10
of the plug-in terminal!
FeedTDM1/2KDS
Figure 68: Plug connection of the feedback cable between the return unit of the MAC
motor and the terminal strip of servo drive modules TDM1, TDM2 or KDS1.
Connector receptacle feedback plug

on motor IN 104 (St. A) IN 302 plug-in terminal 1) Terminal strip X41
coding pin 1
0VM 2 gray 9 0VM
polarity 3 black 2)
tacho 4 brown 5 tacho
avail. 5
avail. 6
BLC 1 7 yellow 6 BLC 1
BLC 2 8 green 7 BLC 2
BLC 3 9 pink 8 BLC 3
+15VM 10 red 1 +15VM
0VM 11 white 2 0VM
-15VM 12 blue 3 -15VM
4
9 poles Ø 0,5 mm 2
9 8
3 11 6

for TDM 3 generally supplied.
2) Possible reversible rotation; if required, bridge PIN 9 of the
plug-in terminal!
FeedTDM3
Figure 69: Plug connection of the feedback cables between return unit of the MAC
motor and terminal strip of servo drive modules TDM3 and TDM6.

Connection: Motor feedback MAC 21, 25 and 41

to servo drive module TDM 4
Connector receptacle feedback plug Terminal strip X48

on motor IN 104 (St. A) IN 302 plug-in terminal 1) (TDM 4)
coding pin 1
0VM 2 grey 10 0VM
3
tacho 1 4 brown 2 T1
tacho 2 5 blue 3 T2
tacho 3 6 black 4 T3
HS 1 7 yellow 6 HS 1
HS 2 8 green 7 HS 2
HS 3 9 pink 8 HS 3
+15VM 10 red 9 +15VM
tacho 0 11 white 1 0VM
12 -15VM
5
9 poles Ø 0,5 mm 2
9 8
3 11 6

for TDM 4 generally supplied.
FeedTDM4
Figure 70: Plug connection of the feedback cable between return unit of the MAC
motor and the terminal strip of servo drive modules TDM4 and TDM7.

6. Commissioning
6. Commissioning Note: The commissiong steps required for the INDRAMAT drives only
are described here. The machine manufacturer must submit the commis-
sioning process for the entire machine or facility as required for the
individual application.
6.1. Protection of
Personnel and Machinery
6.1.1. Safety of Personnel
Protection against contact Sources of Danger:

with hot parts.
• high mains voltage at terminals L1, L2, L3
• high link circuit voltage at L+, L-
• high motor voltage at terminals A1, A2, A3 and motor cable plug-in
terminals.
Before working on electrical equipment and units:
• Using the master switch, switch power to the machine off and
secure it against being switched back on! In case of doubt,
remove fuses.
• Wait through the discharge time of the intermediate circuits
after shutting down! The discharge time can, depending
upon the condensers, take several minutes.
• Wait for the motors to stand still because of the motor
voltage! Check the voltage between int. circuit busbars
L+ and L- after shut down to see if the value is below 50 volts.
If in doubt, short-circuit.
– Before turning units on:
• Securely cover all hot parts to avoid any accidental contact!

Cover the power connections with plastic lids!
• Close the control cabinet, if possible. Authorized electrical
personnel must secure open electrical control cabinets, ac-
cessible electrical facilities and equipment, which could be
hot, against contact by personnel at risk.
• Check the fixed connection of the protective conductor of all
the electrical equipment and motors, in accordance with the
connection plans! Operation is only permitted with firmly
attached protective conductors in their proper positions on
equipment and motor plug, even for quick measuring or
testing purposes.

6. Commissioning
– Protection against indirect contact with the mains:

Secure against contact by taking the necessary protective measures
which are prescribed for the mains situation at hand.
An F1 protective feature (fault current protective feature) can-

not be used for the AC drives! Protection against contact must
be secured in some other way, e.g., an over-current protective
feature (in accordance with DIN VDE 0160, Section 6.5.2.4).
Protection against Danger from unwanted movement exists because of faults

dangerous movements
• in the wiring and cables
• in the NC or NC program
• in the measuring value encoders such as the incremental encoder,
• in the operation of the machine, e.g., switching-off safety functions and
monitors to check operation and setting.
These faults can occur

• right after commissioning, but also,
• after an indeterminate length of time during normal operation.
The following safety guidelines should therefore be observed:

– While operating the drives:
• Personnel should not remain within the vicinity of machine

activitiy! Measures that could be taken: protective fences,
bars, covers, light barriers and similar.
It is absolutely necessary that fences and covers are suffi-
ciently solid to resist any motional energy which might occur!
• The emergency off switch must be accessible.
• All movement must be carefully observed for possible dan-
ger during the commissioning procedure! Measures must be
taken promptly, even against problems which only occur
very rarely!
– Remaining within the vicinity of drive motion for performing such tasks
as removal or replacement of tools or workpieces.
• Make sure the drives are standing still before working or

entering the danger zone!
• Secure against unwanted operation by disconnecting the
drives from the mains via the emergency-off switch (switch-
ing the power contactor or the master switch off)!

6. Commissioning
– Remaining within the vicinity of drive movement for
• the purpose of maintenance or service,

• cleaning, and,
• prior to long breaks in operation.
Switch all power to the machine off and secure it against being
switched back on with the use of the master switch!
– Care should be taken when operating high-frequency equipment or

radios!
Avoid operating such equipment in close proximity to the drive

modules when control cabinets are open and while the drives
are running.
If high-frequency equipment with high transmission power is operated at

an unfavorable angle in close proximity to the drive amplifier through the
open control cabinet in the direction of the wiring inside the control
cabinet, then, in all likelihood, under unfavorable conditions, an uncon-
trolled movement of the motor is possible unless a higher-ranking
monitor has been activated!
Safety during – Use proper assembly and transport devices! Prevent bruises
handling and and contusions!
assembly.
– Use only the appropriate tools! Use prescribed special tools!
– Do not remain standing under hanging loads!
– Any liquids on the floor should be wiped up immediately to
prevent slipping!
6.1.2. Protection of Equip-

ment and Machinery INDRAMAT’s electronic drive components have been equipped with
extensive safety features and technically secured against overloads to
the greatest extent possible.
The following guidelines should be noted to prevent improper handling:

Avoid faulty connections:
Check before switching on:
– Only connect voltages at the controller inputs that correspond to those
listed in the datasheets and connection plans!
– Do not connect outputs to an external voltage!
– Check to ascertain that the 24V and the +15V output terminals have not
mistakenly been connected!

6. Commissioning
– Check whether the low voltages, 5, +15, -15 and 24 volts, have been
securely separated from the mains potential, have not been externally
connected with or come into contact with the
• power cables,
• link circuit cables (L+, L-), or,
• connections to the motor power cables!
They must be sufficiently insulated against each other!
Protection against external – When checking the control cabinet wiring with outside voltages, make
or high voltages. sure that no invalid voltages can reach the terminals of the electronic
components!
Just to be sure, clamp the connections off before checking!
– High-voltage checks:
INDRAMAT’s electronic drive components have been voltage-checked
in detailled tests in accordance with VDE 0160. When checking the
high-voltage of the electrical devices of industrial machinery and the
control cabinet wiring, remove or clamp off all the electronic connec-
tions to avoid damaging the electronic components (applicable acc. to
VDE 0113, EN 60204)!
The following INDRAMAT products are a part of the electronic equip-

ment: TVM, TVD, TDM, TWM, TFM, TBM, TCM, KDV, TVR, KDR,
KVR, KDS, KDW, KDA, KDF, RAC, DSC3 as well as the feedback and
encoder electronics of the MAC motors and 2AD.
Protection against Electrostatic loads endanger electronic components. Those bodies that
electrostatic loads. can come into contact with connecting terminals, components and
adaptor boards, must be discharged by grounding them.
– Before touching, discharge your own body by touching a conductive,
grounded object (e.g., plain grounded metal).
– When soldering, ground the soldering iron!
– Place the parts and tools being used on a conductive, grounded
surface.
Endangered parts, such as adaptor boards or programming modules,
should only be stored and transported in conductive packaging.
Protecting the equipment Adhere to the applicable information in the data sheets!
against environmental
influences Especially for electronic equipment note:
Humidity – Built-in units should not be directly subjected to humidity!

– Maintain the internal temperature of the control cabinet with at least 2
degrees C. above the outside temperature to avoid the formation of
dew!

6. Commissioning
The following must especially be noted in the case where refrigerfators

are to be used in the control cabinets!
– Before commissioning, wait until any collected dew has dissipated, if,
• the equipment was brought out of the cold into the warm operating
area!
• the location of operation has been moved!
• if warm air is being blown into cold equipment!
– Permissible relative humidity at the built-in units drops with increasing

ambient temperature!
At 40 degrees Celsius, the permissible relative humidity at the equip-
ment for 30 days over a one-year period equals a maximum of only
approximately 72%, at 20 ... 35 degrees C. approximately 95% (see
DIN 40040 or DIN VDE 0160 E, December 1990).
Condensation water should only be permitted to occur occasionally
when the unit is not being operated (DIN VDE 0160 E, December 90).
Impure air – Do not permit ambient air with suspended substances to get directly to
the electronic equipment!
– Make sure that the ambient air has been sufficiently cleaned before
letting it get to the equipment:
• guide the entering air through sufficiently long air ducts!
• use sufficiently good air filters!
• mount such purification devices as ion-exchangers!
• provide sufficient encasements by using gaskets!
– Do not leave the control cabinets open for longer periods in the
presence of unclean air, if electronic equipment has been built-in!
Conductive and water-soluble contaminants and particles in the air are

especially critical. With a humidity of 55%, these can already cause
superficial currents on leakage paths and corrosion of the electronic
parts and adaptor board. After longer periods of operation, it is possible
that the machinery
• can be disrupted short-term, or,
• can completely fail
as a result of sneak currents, breakdowns due to surface conduction or
corroded power connections.
Temperature
– Maintain the ambient temperature recommended!
The following applies unless otherwise specified:

• storage temperature: -25...+55 °C,
• transport temperature: -25...+70 °C
• ambient operating temperature: 0...+45 °C.

6. Commissioning
– Do not, if possible, subject encased electronics to severe outside

temperature changes when storing and operating! (This also applies to
integrated motor feedback.)
Oscillation and – Do not subject electronic equipment, motors or drives to excessive

Shock Stresses oscillations and shock loads!
– Assemble mechanical parts in accordance with assembly guidelines.
Do not use force!
Use only the proper tools!
Protecting the machine The machine is in danger when monitors are switched off during
commissioning to test functions and make adjustments.
If, for example, the position-control loop of the NC controller is severed

and the drive is run in the speed control loop, then, because of the limited
paths of the linear axes, the machine is in danger when run
– over the limit stop, or,
– over parts that temporarily project into its working path.
Damage to the machines can be avoided by:

– permitting only properly trained personnel to enable the drives and
modulate a speed set-point!
– always checking the safety clearances on the working path!
– securing emergency-off options via the limit switch and emergency-off
switch!
6.2. Tools and equipment The following tools are needed for commissioning:
required for
– multitesters for d.c. and alternating voltages (moving coil instrument)
commissioning
– set-point encoder with battery:
R2
10k
S1
-
G
10k
Vset R1 10....15 V
V +
P
<
V = nset
set
G: Battery for voltage supply
S2
P: Built-in d.c. voltmeter for Vsoll display
R1: 10-speed potentiometer for adjustable Vsoll
RF
R1: Safety resistor
S1: Three-pole throw-over switch
S2: Throw-over switch for control enabler (RF)
Battbox
Figure 71: Set-point encoder box with battery.

6. Commissioning
6.3. Checks with the As soon as all of the equipment has been connected, then all the
equipment switched off following points are to be checked without applied power first.
6.3.1. Mains connections 1. The mains connections specified in the descriptions of the supply
conditions modules used – TVM, KDV and TVD – should be checked
– at the voltage control connection, and,
– at the power connection.
The phase coincidence of the mains auxilliary voltage requirements
L1-L3 must be rechecked with the power requirements L1-L2-L3 in
KDV2 and KDV3.
2. The terminal voltages of a transformer connected in series must be

checked. Input and output should not be inverted.
The center ground of an auto-transformer should not be connected.
Mains without mains-related ground wires must, in any event, use

isolating transformers of circuit class YynO. The center ground of the
output side must be linked to the central zero point of the supply
module and grounded there.
3. The fuses specified for the supply source used (listed in the supply
module description) must be checked for correctness.
6.3.2. Installed drive The following must be checked for every drive installed:
components
The data on the rating plate of the programming module on the lines
„Contr“ and „Motor“ must be checked to assure that they agree with the
data on the rating plates of
– the servo drive module („Contr.“), and,
– the MAC servo motor („Motor“), (see figures in Chapter 3.1).
Should the type designations not agree, then the correct MOD program-
ming module must first be plugged into the servo-drive module; or, the
correct motors and controllers need to be mounted. Otherwise, there is
danger of damage.
6.3.3. Instructions – Neither the supply nor the servo drive modules should have power!
for replacing
– All voltage supplying the supply module should, therefore, be shut off.
programming module
MOD – Check to see whether all light-emitting diodes are off.
– Secure power against being turned back on while the programming
module is being changed.

6. Commissioning
– Release the knurling screw and remove the programming module.

– Using the programming module rating plate, check to see whether the
data on the new MOD programming module agree with the type of servo
drive module installed and the typer of motor connected.
Type designation for motor and servo drive module on the

programming module must agree with that installed, other-
wise, there is the danger of damage.
– Plug the new programming module into the slot of the old one and
tighten the knurling screw of the programming module.
– All power may now be turned back on.
Using potentiometers P1, P2 and P3, it may be necessary to compensate

the input information for programming modules MOD2, MOD 4, MOD6,
MOD14, MOD18, MOD20 and MOD22.
6.3.4. Wiring and 1. Wire in accordance with connection plan:

line cross-sections Every line should be checked for short-circuits, interference, inver-
sions, conductor cross-sections and proper connection, in accordance
with INDRAMAT’s connection plans.
Conductor cross-sections must be selected in a size sufficient to avoid
conductor overload (see Guidelines DIN VDE 0113) in the presence
of maximum ambient temperature and corresponding currents.
2. Twist power wiring:

All lines on power connections must be twisted and have a sufficient
cross-section:
– All lines to additional bleeder TBM must be twisted and have a cross-
section of at least 6mm2, and of at least 10mm2 twisted to additional
capacities TCM.
– Adjacent drive modules are normally connected via the link circuit
busbars. If this should not be possible in some cases, then the
connection should use a twisted line which is as short as possible
and has a cross-section of 10mm2 (max. length approx. 1m).
– Link circuit throttles of the „GLD“ type should also be connected
using twisted 10mm2 lines which are as short as possible.
– The lines between the servo drive module and the MAC servo motor
must either be a four-vein motor cable (3X phase, 1X ground), e.g.,
an INDRAMAT motor cable, or a twisted single line.

6. Commissioning
3. Grounding
Grounding must be carried out as described in Chapter 5.4.
– The protective conductor and grounding connections for the individual
modular units must be radially routed from the center ground of
supply module TVM, TVD, KDV or KVR, as indicated in the connection
plan.
– The center ground of the supply unit must be connected to the
ground conductor. The applicable protective measures for machine
or plant must be taken into consideration.
Ground loops should be avoided, if at all possible, as interconnections
could disrupt operations.
4. Bus connections X1:

The supplied flat belt bus cable, to be used for connecting the low-
voltage bus plug X1, must be firmly plugged into every controller. The
black lines of this cable must be arranged at the bottom.
The end plug for conductor monitoring, a part of the supply module
accessories kit, must be plugged into the last modular unit (the one
farthest away).
5. Shielding:
Check to see whether the guidelines listed in Chapter 5.5 have been
adhered to or not. Particular attention must be given to mounting the
shield of the set-point line and the motor feedback cable on the side
of the servo drive motor.
The shield for the position encoder cable should generally be clamped
to the NC.
In the event that shielded motor power cables are used, it is more
practical to ground the shield on the motor plug, there where it enters
the control cabinet on the control cabinet wall and on the servo drive
module.
6. Ventilation requirements:
Check whether all lines and cables supplying the controller and motor
fans have been properly connected.
6.3.5. Terminals and Check all electrical connections for safe contact and firm fit on the
connecting points terminals. It is important that all ground and shield connections have a
reliable contact with a surface area which is as large as possible, as there
will be inter-ference otherwise.
Connections which have not been firmly clamped or screwed in, can
occasionally disrupt operation and lead to the development of heat.

6. Commissioning

6. Commissioning
6.4. Power-up sequence

(summary)
1 Control voltage (auxilliary voltage) ON
signal electronics supplied

**24V/±15V** lit,
one or two lamps **BLC** lit,
**Tacho** lit,
**Bb** flashing (1)
ready-to-operate contact Bb1

of the supply module closes?
(Ready to accept power) No
YES plug in
end plug
flashing **RF** ? (1)
YES
controller enable signal

No at terminal RD switched off
or turned to zero
drives are interference free

no fault in mains
continued
on next page
Symbol legend:
**....** = diagnostics display lamp
(1) = not with KDS 1 and older controllers of types
TDM 1, TDM 2 with serial numbers below SN 233..., aFlußdiagramm
TDM 3 with serial numbers below SN 240060-...
TDM 4 with serial numbers below SN 240062-...
Figure 72: Power-Up Sequence

6. Commissioning
2 Power ON
Mains contactor closed

Power on
Supply module Supply module

TVM1, TVM 2, KDV 1, KDV 2, KDV 3, KDV 4,
TVD 1, KVR 1
link circuit loaded via Intermediate circuit loaded
compensating resistance, with smooth start,
duration max. 0.1 seconds duration max. 0.5 seconds
Ready-to-operate contact Bb
of drive module closes
**Bb** and **Power** of the drive module
are also lit up
**Power ON** of the supply module

lit up
Drive package ready-to-operate

(ready for controller enable)
Activate drive
3 via controller enable signal
at terminal RF
Drive working
Drive working, omitting torque
Speed adjustable via voltage at set-point input
**RF** also lit up
Low speeds: **BLC** flashing
Higher speeds: **BLC** constantly lit up
Controller release signal

RF turned off
**RF** goes off

Drive torque free after approx. 300 ms
When using the differential inputs E1-E2
the set-point is immediately internally switched to zero
and the drives brake.
bFlußdiagramm

6. Commissioning
6.5. Checks with Note:

control voltage applied (1) in the following text means:
does not applied to KDS1 and older types
TDM1, TDM2 with serial numbers below SN 233 ...,
TDM3 with serial numbers below SN 240060-...
1. Power separation
First, the power input fuses at the mains should be removed, or the
power load between the driving equipment and the mains must be
securely separated by some means.
2. Switch-on control voltage

Switch-on control voltage for the supply module (also see power-up
sequence, Chapter 6.4).
The green diagnostic display lamps
• „24V/+15V“
• 1 or 2 lamps „BLC1, BLC2, BLC3“, and,
• „tacho“
of the servo drive module light up as well as
• „Bb“ (1), which flashes.
If „RF“ (1) is blinking, then the drive has already been enabled by the
externally connected voltage at terminal RF. To avoid any unnecessary
start-up after switching on the power, power to terminal RF should be
turned off. Lamp „RF“ then goes off.
If there are no problems, and, if the end plug has been plugged-in,
then signal contact „Bb1“ of the supply unit closes.
3. Measure voltage rates +15V, -15V, +24V at the supply module and
servo drive motor. The 24V voltage rate can, depending upon mains
under or over voltage, be either higher or lower in the TVM1.
4. Fan:
It should be checked whether the fans
– in all modular units
– in all ventilated motors
are running and whether the air can enter and exit without obstruction.
5. Blocking brake controller (if one is present):

– First check whether the blocking brake connecting voltage ranges
between +21.6V and 26.4V (24V plus/minus 10%).
– The controller enable signal to activate the drive, and the signal to
release the blocking brake or any other axis block, should be given
simultaneously. It must definitely be checked to see whether the
axis clamp releases upon input of signal.
– The mechanical brake must be released prior to running the drive
(Fig. 73) to avoid wear and tear.
– The mechanical brake should not be actuated until after the drive
has stopped to avoid wear and tear.

6. Commissioning
Controller
enable
at terminal RF
Drive on
Drive working Drive off
300 ms
Controller
signal
for brakes
Release lag t L Terminal lag t k
Brakes released
Brake clamped
Set-point
tBremsen
Figure 73: Intervals for clamping and releasing the blocking brake during operation.
The tK and tL values are listed in the motor data sheets.
6. Check link circuit short-circuit (if one is present):

The control switch must guarantee that the mains contactor does not
close until the link circuit short-circuit contactor has been opened
before hand at the correct time. Otherwise, there is the danger of
damaging both the link circuit resistance and the contactor.
Using the link circuit short circuit to brake is not suitable for constant
cyclical switching, but only for emergency off situations, or, if the limit
switch has been overrun.
7. Emergency-Off Functions
After hitting the emergency-off switch –
– safely open the power contactor on the mains,
– the link circuit short circuit should snap in, if it has been built in,
– the control enable signal at terminal RF must be switched off via a
contact,
– the mechanical brake has to snap in, to the extent that it is needed.
This should be checked using the controller switch. (Recommendations

can be found in the description of the supply module used.)
It must be guaranteed that the control voltage is maintained and

remains on when power is shut off or in an emergency-off situation.
This makes it possible for any occurring faults and intereferences
stored in the equipment to be afterwards read-off from the diagnostic
display.
Only the master switch can completely shut down power to the
machine.

6. Commissioning
8. Switch off master switch.
9. Re-secure mains fuses, or reconnect the power lines between the

drive equipment and the mains. Clamp off the connecting wire for
controller enable at terminal RF, just to be safe.
6.6. Checks after the

power
infeed has been connected.
Switch on controller As soon as the link circuit has reloaded itself via the mains contact to
and power voltage minimum level, and if no fault is present, then the following green
diagnostic lamps must remain lit-up:
On the supply module:

• „power-on“
On the servo-drive module:

• „power“ or „PWR“, and,
• „Bb“
• the ready-to-operate contact „Bb“ of the servo-drive module closes.
The drive is now ready to operate.
Measure
link circuit power There are high voltages at the link circuit busbars, mains and
motor power connections. It is, therefore, necessary, before
accessing hot parts, to disconnect the equipment from the
mains, just to be safe, and await the discharge time.
Using a multitester, check the link circuit voltage between connecting bolt
L+ and L-. The values should range from 255 to 360 volts.
Maximum values approximately equal:
– 325 volts for mains nominal voltage, and,
– 360 volts for mains overvoltage,
if the drives have been shut down.
Should link circuit voltage be too high, then a wrong transformer or an

improper connection could be the reason.
If it is too high, then this could be caused by a missing phase, an improper

transformer or an incorrect connection on the transformer.

6. Commissioning
6.7. Check after

Before activating the drive, make sure that sufficient accident
the drive has
preventive measures have been taken, in accordance with
been connected.
Chap. 6.1. In addition, measures must be taken to avoid
damage to the machine which could result from a sudden
running of the drive.
Possible measures could, for example, be:

– Make certain that all safety measures necessary for commis-
sioning are functioning properly.
– The emergency-off button is easily and readily accessible.
– Make certain that there is sufficient clearance between the
safety limit switch and the limit stop, if a servo-axis is used.
The path to the fixed stop should be as long as possible.
– If, in extreme cases, sufficient protection cannot be guaran-
teed when commissioning as a result of faulty drive move-
ments, then the servo motor should be uncoupled from the
mechanics with the first commissioning.
1. Switch controller voltage and power off. Clamp off all set-point cables
and servo drive motors.
2. Attach set-point encoder:

Connect controller enable at terminal RF and clamp on set-point at
terminals E1-E2, according to the following figure.
Servo drive unit

set-point inputs: R2
E3 E4 E1 10k
-
S1 G
10k
R1 10....15 V
Vsoll
or or V +
P
0VM 0V M E2
<
V = n soll
RF soll
G: battery for voltage supply
S2
P: Built-in d.c. voltmeter for Vsoll display
R1: 10-speed potentiometer for adjustable Vsoll
RF
R1: Protective resistor
24VL S1: Three-pole throw-over-switch
supply unit S2: Switch for controller enable (RF)
BattboxAnschl
Figure 74: Connecting the set-point encoder.

6. Commissioning
• Note on commissioning a master-slave (tandem) drive:

In this case, the master and the slave drives are simultane-
ously commissioned. Both the speed set-point and the
controller enable are connected to the master servo drive
module. The slave drive is then simultaneously controlled
by the master servo drive module, in accordance with the
connecting planes outlined in Chap. 2.4.
Check whether the master and sequential drives are me-
chanically free of play and have been reliably connected to
each other so that the slave drive cannot, as a result of the
input set-point voltage, run up uncontrolled if the mechani-
cal connection should loosen because of a fault.
This connection should be as rigid and as stiff against
torsion as possible to avoid any soaring of the mechanics.
It is not possible to commission only the slave drive. The set-

point, in this case, directly corresponds to torque so that input
even of a very low set-point voltage to the slave drive module
means that the slave motor will run up rapidly.
The torque of the master-slave drives must run in the same
direction. This particularly applies to hanging axes. If they
effect the mechanics in the opposite direction, then rotation
direction of the slave drive must be turned around with a bridge
1 at the feedback plug (see connection plans, Fig. 12 through
16).
• Note on NC operation:
In this case, the drive can also be commissioned via the NC,
if there can be a reliable and controlled input of set-point and
controller enable to the drive.
The initial commissioning of a new machine (prototype
commissioning) makes the opening of the position control
circuit and the uncoupling of the NC, in the event of a
problem, a practical idea to better help restrict these prob-
lems and faults. This also, in particular, applies to drive
oscillations, should these occur.
Safety guidelines for this area of application should be
followed (see Chapter 6.1)
3. Switch off controller enable on the set-point encoder box and set to
zero.
Remain ready to immediately initiate an emergency-off, should the
motor run uncontrolled.
4. Switch on control voltage and then power voltage (mains on).
5. Switch on controller enable. Set low set-point. The motor should

rotate as indicated by set-point voltage.

6. Commissioning
6. Allocating set-point voltage and motor speed.

The input values can, in accordance with the information on the MOD
programming module, be checked. A set-point input voltage of X volts
equals a speed n of n max and Ue are listed in the MOD programming
module under column „Input/Rpm“. The formula to be used is:
nmax
n = ——— • X in min-1
Ue
The motor can now be coupled to the machine if it was previously

decoupled.
7. Stopping in an emergency-off situation:
The safety limit switch should be mounted with sufficient distance to
the limit stop, and the cams should be checked for sufficient length.
Run the axes individually and at maximum speed onto the safety limit
switch. Measure the stopping distance and check to see whether it
was long enough. This task should be performed in both directions of
a vertical axis.
8. Drift compensation:
No compensation is neeeded with torque-controlled or slave drives!
Using the adjustment screw, „ZERO ADJUST“, on the right-hand side
at the bottom on the front, the zero-point drift can be set to speed zero,
if a set-point of 0 volts is given at the corresponding plug-in terminal
in the open position-control circuit. The speed drift is determined by
observing axis movement or motor speed, or it can, if necessary, be
measured at terminal Tsense.
6.8. Matching to the NC The interaction of the NC, feed drive, position measurements and
coupled-in mechanics in the position and speed control loops is outlined
in Fig. 75 using the example of a direct measuring system.
Position control loop

Numeric controller
NC
Set-point
w
+
Speed control loop VSet-point VSet Xw X Actual position value X
Kv
-point -
deviation
VSet-point=Kv • Xw
Speed control loop

AC-tacho
Actual value T
-Vactual value Machine sliding
carriage
Servo- M
drive 3
+VSet-point module
AC-Motor
Programming
module
Posregel
Figure 75: Position control loop with direct measuring system.

6. Commissioning
1. Operational sign of the path feed direction (machine coordinates)

Operate the drive, at first, with the set-point encoder box. It is
necessary to check whether the path feed direction indicated by the
NC agrees with the actual direction of movement. If it does not, then
it should be re-poled according to Chapter 2.1, page 17, in the
direction of rotation.
2. Check the drift of the drive with zero speed set-point:
If the axis moves with zero speed set-point, then using the potentiometer
„ZERO ADJ“ on the front plate, set the rotation movement of the axis
to zero with control cabinet end temperature.
This should always be checked after initial commissioning and after
the servo drive module has been exchanged.
3. Checking the position control loop:
– Using the set-point encoder box, enter low positive speed set-point
voltages of a few mV at the set-point input of the servo-module and
run the axis.
– The controller must emit a negative set-point voltage for the axis.
The polarity of the actual position value must be changed, if this is
not the case.
4. Switching and clamping off the set-point box.
Connect set-point line and the controller enable from the controller to
the servo drive module.
5. Check input weightings:
The speed set-point input weightings of the servo drive module must
be rated in such a way that maximum motor speed or maximum sliding
carriage speed is achieved with 80 to 90% of maximum NC output
voltage. This ensures that the position controller remains within the
active range, even with minor overshooting in the NC output voltage.
Input ratings can, if needed, be changed on the programming module
in accordance with the data in Chapter 3.2.
6. Check set-point smoothing:

The NC rated speed set-point values may not exceed the alternating
current share of
0.01 • f • Uin Volt with
f: frequency of the superimposed

pulsating component in kHz
U: maximum value of the
NC output direct voltage in volts
otherwise, stability problems will result.
7. Many numeric controls change their output voltages only gradually in

agreement with the computers cycle time. Since the drives attempt
to follow every set-point gradation of the step-function, the effects are
– unnecessary motor power loss,
– increased machine stress,
– noise development during acceleration and braking, and,
– machine vibrations during interpolation.

6. Commissioning
If such disruptive, harmonic vibrations should appear on the tacho signal

- can be measured at terminal Tsense of the servo drive module - as a
result of the set-point voltage emitted by the NC (step function) - can be
measured at input of set-points at terminals E1-E2, E3 or E4 of the servo
drive module - then it is possible to achieve a reduction in the oscillations
by soldering a capacitor (set-point smoothing) on programming module
MOD, in accordance with Chapter 3.2.
It should be, however, noted that a big capacitor can reduce the
dynamics of the position control loops and thereby also make it less
responsive (smaller Kv factor).
Determining factors:
C5 = ca. 0,15 x Tnc
C5 Capacitor on programming module MOD in uF

Tnc Station time of the set-point output of the NC in ms
7. Optimization the position control loop
An optimization of the position-control loop with linear movement is

primarily achieved via the Kv factor in the NC:
m • mm
Kv = V/ Xw in ————
min
V: speed in m/ min
Xw = Xset-point - Xactual: position deviation
This is increased until a stable and rapid response of the position

controller is achieved (see information in NC User Handbook).
6.9. Checking These tests are recommended to the machine manufacturer when the
Drive Configuration drives are initially commissioned or with prototype commissioning. They
serve to determine whether the drives have been sufficiently adjusted to
meet the demands made by the construction of the machine or plant.
An oscilloscope with memory or an analogue recorder are needed for the
measurements.
Measurements must be taken in both directions.
1. The stability of the control loop

The drive is operated using the set-point battery box, in accordance
with Diagram 74. Should mechanical oscillations occur right after the
servo drive is switched on via the controller enable while the equip-
ment is still standing still or in the movement of the drives, then the
mechanics have not been sufficiently secured against oscillations.
Possible causes:
– The coupling of the load mass to the motor shaft is too elastic. This
causes resonance vibrations with the outside inert mass.

6. Commissioning
– The external inert mass is too great. The speed control loop
becomes unstable. Generally, the ratio of the motor’s own mass to
external mass at the motor shaft equals 1:5.
– Instability of the machine’s mechanics.
– Low frequency oscillations at position due to changes in the friction
ratio which are not constant (stick-slip-effect).
These oscillations can be verified by measuring the tachometer signal

at terminal Tsense using either an oscilloscope or a recorder. Oscil-
lations with low amplitudes require a fine adjustment of the oscillo-
scope or a measurement at terminal „MA“.
If the mechanics of the machine can definitely be excluded as the
source, or if a structural alteration in the mechanics is too expensive,
then a special drive optimization by changing the values of program-
ming module MOD can bring about an improvement.
This can, however, also simultaneously bring about a deterioration in
the dynamics at the machine axes. In this case, INDRAMAT’s
customer service should be consulted prior to changing the wiring of
programming module MOD.
When calling in a problem to INDRAMAT’s customer service, the

following information is important:
– Mechanical construction of the coupling to the servo motor and the
entire axes?
– Outside moments of inertia coupled in as relate to motor shaft?
– Continuous or intermittent oscillations and at what stage of operation?
– Size of the oscillation amplitudes of the voltage measured in volt
peak-peak?
– Duration or frequency of vibrations?
2. Basic torque at different speeds.

Load moment can be measured at terminal „MA“ of the servo drive
module, where the current set-point can be read, as the current
consumption of the servo drive is a measurement for the given torque.
The corresponding current is calculated
UMA
I = —— in A
kMA
with
kMA in V/ A from Chap. 10.2
UMA in V measured at terminal „MA“.

6. Commissioning
A comparison of this Value I with the Value I(dN) of the motor’s

permanent or rated current, to be found listed either on the table in Fig.
95 in Chapter 10.1., or on the rating plate of the motor, indicates the
torque load of the servo-drive.
These measurements are to be taken at minimum and maximum feed

speed, run during a later stage of operation during processing. The
current measured at MA should not be greater than 60% of the motor’s
permanent current.
If the current measured should be greater, then the possible causes

for an excessive basic torque, despite correct construction, can be:
– axis clamp not released
– mechanical jams at the drive axis
– insufficient lubrication
– increased adhesive or sliding friction at the carriage guides
– unfavorably adjusted weight compensation
The corresponding torque of motor current I of the measured voltage

UMA at terminal MA can be calculated as follows:
UMA
M = km • I = km • —— in Nm
kMA
km: Current-torque-constants in Nn/A

(from Fig. 95 of Chapter 10.1)
kMA: from Fig. 96 in Chapter 10.2. in V/A
3. Rapid Return Motion Torque

Measure as described under 2.
The current at MA should not exceed 75% of the motor’s rated current.
Should the current exceed this, then the possible causes for exces-
sive rapid return motion torque, despite proper construction, can be:
– unfavorable hydraulic or pneumatic weight compensation
– excessive liquid friction in the gear-tooth system of an attached oil-
bath gearbox
– a breakdown in the lubricating film of the sliding guide
– poor ball return in the nut of the ball roll spindle.
4. Adjusting weight compensation with vertical axes

The weight should be compensated so that the motor current input
with the up and down motions of the axes always retains the same
minimum value. The adjustment should be checked at feed and rapid
return motion speeds.
5. Acceleration times
In this case, speed as a function of time (run-up curve) when
accelerating and braking to the necessary speed, is recorded with

6. Commissioning
either an oscilloscope or a recorder. Speed output serves as the

measurement signal (tacho) at terminal „Tsense“. The evaluation cw
in V/ A depends upon the type of motor and is listed in Fig. 95 of
Chapter 10.1.
The corresponding acceleration moment, or current can simultaneously

be recorded at terminal „MA“. (The evaluation in V/ A is dependent
upon the servo drive module and can be found in Chapter 10.2).
When operating the NC in controlled position, the torque should only
reach its maximum value in the first phase of the acceleration/braking
procedure, while remaining below maximum value over the remaining
period of time in order to maintain sufficient reserves and avoid
overshooting its position.
Acceleration and braking times must be measured and compared to
the design data.
6. Controlling Feedback Energy

– Accelerate all the drives connected to the supply unit to maximum
speed and then initiate an emergency off.
A shutdown of the power section via the ready-to-operate contact
Bb1 of the supply unit cannot take place.
– Run the drives for at least 15 minutes in an operative load cycle
during which the highest mean braking energy of all drives can be
expected.
In this case as well, the power section should not be switched off via
the ready-to-operate contact Bb1 of the supply unit.
Should a switch off nonethless occur in either of the two cases, then
the supply lay-out must be corrected (see supply lay-out description).
It is possible that a different supply module or an additional modular
unit (TBM or TCM) is required. This depends upon the drive type
connected.

7. Fault-Finding and Diagnostics
7. Fault-Finding In the event of a problem within the machine or the facility, it can be
advantageous to proceed in accordance with the following steps to
and Diagnostics quickly eliminate faults and resume operation:
1. Determine nature of problem. (Can improper operation or incorrect
installation be eliminated from the start?)
2. Follow the effects of the fault and limit the source of the fault.
3. Determine direct cause of fault, defective part.
4. Correct error and control operation.
About Step 1:
The assumption is made that the checks on the drive equipment,
mounting and installation, as outlined in Chapters 6.2 through 6.4, have
already been performed. This is generally the case with an already
constructed and operating machine.
About Steps 2 through 4:

INDRAMAT’s drives offer definite advantages when searching for and
eliminating problems. Long-term searches for problems in individual
units and repairing the drive components of the individual machines are
not acceptable because of the loss in production that this loss in time
represents.
The diagnostic displays and the message signals at the interfaces

between drive and controller (terminal strip on the drive module) make
a to-the-point and effective problem search possible.
The exchange of individual compact drive components such as supply
module, drive amplifier, motor or cable permit a speedy and problem-free
elimination of the problem and resumption of operation without lengthy
mounting and adjustment work.
Programming modules MOD, optimized and ready-to-use from the

factory, make an adjustment-free exchange possible.
7.1. Construction of In the event of a problem in the drive system, the ready-to-operate
the monitoring system command is lifted and the at-zero-potential ready-to-operate contact
within the modules Bb1 in the supply module and Bb in the drive module open.
(Fig. 71)
The opening of the Bb1 contact must achieve, via the controller,
– an immediate mains separation (mains contactor must release),
– the drive’s mechanical brakes, (if present), snap in,
– the activation of the link circuit short circuit as an additional electrical
brake for the MAC servo motors, (if present).
An overview in Figure 72 of the internal drive monitor offers insight into
the effect of an internal fault.
A fault in the supply unit is signalled to the drives via the internal „UD“
message X1.1 of the plug-in terminal X1 between the modules. The
connected drives decelerate to speed zero and are then subsequently
locked (after approximately 300 ms), i.e., switched torque-free.

120
Supply module Servo-drive module
RESET-Key
Power supply
for signal processing X1/3 Fault Fault in
plus/minus15V, +24V; memory drive module
monitoring via plug-in terminal
Endstecker
Link circuit d.c. X1/2 Fault in the
voltage drops voltage supply
below minimum value for signal processing
& plus/minus15V, +24V
X1/1
RESET-Key &
Fault X1/2
Fault in
supply module memory
& &
1. If inputs E1/E2 are used,
then, in the event of a fault the
set point is internally switched
to 0 min -1 .
2. The drive is shutt off
after approximately 300 ms.
Bb1 Bb1 Bb Bb

Ready-to-operate Ready-to-operate
drive system servo drive module All inputs assume the
Figure 76: Internal monitoring of the drive system supply module-drive module
ÜbwachAntriebssys
in the supply module logical level "low" in
X1.2 of the bus X1, where it permits the Bb1 signal contact to drop.
the event of a fault.

fault is then signalled to the supply module via the BB return signal cable
The same thing occurs with a fault in the servo drive module. The drive
7.2. Effective
The safety guidelines as outlined in Chapter 6.1 must be noted
fault-finding
when troubleshooting in the machine.
7.2.1. Possible causes Faults in the machine or the facility can have very different causes. Drive
of malfunctions, general movements can be effected by faults in the following areas:
1. Mechanical coupling or transmission elements at the motor shaft
(loose, elasticity, conversion, moments of inertia, jams, friction)
2. Mechanical stability of the machine’s frame (rigidity)
3. Position measuring systems, position encoder
4. Numerical control (NC, CNC)
5. Other controllers (SPS)
6. Driving systems with
– supply modules
– drive modules
– motor cables
– motor with feedback electronics
7. Mains connections with transformers, throttles and controller loops
with contactors and auxiliary relays.
8. Conditions of the electrical mains
9. Electromagnetic influences caused by equipment or machinery work-
ing with frequencies higher than the mains frequency, or the use of
large amounts of energy.
7.2.2. Fault messages The machine user should first check the fault messages at the terminal
at the terminal strips strip (cross-section) of the module in the event of a problem. These
signals can easily be evaluated directly at the controller and are dis-
played on the control panel.
There is an overview of interface signals in Fig. 80.
The Bb1 contact of the supply module is integrated, in accordance with

the recommended controller description, to the supply unit in the emer-
gency-off loop.
The Bb contact of the servo drive module for activating the mains feed
is also then used if the commissioning current needs to be restricted with
the use of resistors (only applies to supply modules TVM1, TVM2 and
KDV1).
In the presence of either a mains fault or a mains failure, or if emergency

off is activated, then this fault message is generally transmitted to the
drive module via cable X1.1. There it brings about a deceleration of the
connected drives and the internal switching off of the controller enable
after approximately 300 ms.
It is possible in the case of some of the supply units (not with TVM1, TVM2
and KDV1) to have the NC, with a clamped on NCB bridge, brake the
attached drives in either an emergency off situation or with a power
failure. This obstructs the transmission of the signal via X1.1.

The prerequisite, in this case, is that the occurring braking energy of all
the mounted drives is greater than the energy expended by the motor for
the feedback action conducted by the NC and the link circuit output for
the signal electronics. It is not permissible to conduct the controller
enable over the auxiliary contact of the mains contactor as it would, in this
case, be immediately shut down.
It must always be guaranteed, even with a closed NCB bridge, that the
drives can be shut down in the event of a fault - even in the NC.
Drive Module
(A fault in the drive system means a fault in the supply module, drive module, cable or motor.)
Terminal Terminal Strip

Designation Output Meaning of Message Eliminate Fault
Bb Contact * The drive is ready to operate.

closed No faults in drive module.
Diagnostic lamp „Bb“ lit up.
Contact * No power, * Check power connection

open or there is interference, or and supply module.
* Fault in drive system * Check diagnostic display

on the front plate
of the modular unit
acc. to Chapter. 7.3.
TÜ Open collector- * No fault

(only TDM 3, output open
TDM 4, (high-impedance)
TDM 6,
TDM 7)
Open collector- * Equipment temperature too high: Reduce drive load.

output at 0 volts If drive load is not reduced Contact TÜ can be
(low-impedance) within 30 seconds, evaluated via an
the system will be shut down. external controller.
Diagnostic lamp „TÜ“ is lit up.
TÜ Contact * No fault
(only KDS) closed
Contact * Equipment temperature too high: Reduce drive load.

open If drive load is not reduced Contact TÜ can be
within 30 seconds, evaluated via an
the system will be shut down. external controller.
Diagnostic lamp „TÜ“ is lit up.
Figure 77: Summary of the drive module messages issued at the terminal strip.

Supply module
(fault in drive system means fault in supply module, drive module, cable or motor.)

Designation Output Meaning of Message Fault elimination
Bb1 Contact * Ready to shutdown power. -

closed No fault in driving system.
Contact * Controller voltage/mains auxilliary * Plug-in end terminal X1

open voltage lacking at supply module or * Control diagnostic display
* Fuse down on the front plate
* Fault in drive system of the modular unit,
acc. to Chap. 9.2.3.
* TVM only: supply module defective * Check fuses.
due to excessive deceleration energy
(ballast resistance overloaded)——> * Exchange supply module
BVW Contact * No fault

(only KDV 2, closed
TVD 1)
Contact * Mean time of drive * Reduce speed,
open deceleration too high. * Initiate emergency off func-
tion (If mean load increases
at end of set, or,
by an additional 25%, * Take a break.
then terminal Bb1 will open.) (Can be recognized and
executed
by means of external controller.)
TVW Contact * No fault

(only KDV 3, closed
KDV 4,TVD 1)
Contact open * Too much power run on * Reduce drive load within
average with the mounted the 30 seconds or run free
drives; temperature in and shut down.
power section too high. (Can be recognized
* Shutdown via terminal Bb1 and executed by external
in 30 seconds; diagnostic controller.)
display lamp „TÜ“ will light up.
UD Contact * Mains feed on supply module

(only KDV 2, closed working.
KDV3, KDV 4,
TVD 1) Contact Mains fault present: * Check mains feed
open * Mains failure, phase failure * Check diagnostic display
* Voltage too low on the supply module,
* No right rotational field (only acc. to Chap. 7.3
applies to KDV3 and KDV4) * The NC can be shut down
during operation when
UD terminal open,
if NCB bridge on terminal
strip is closed.
If NCB bridge is open,
then shut down occurs
internally via the drive
by internal switching of
set point to zero.
Figure 78: Summary of the drive module messages issued at terminal strip


Designation Output Meaning of Message Fault Elimination
NH Open collector- Mains auxiliary power properly applied

(only KDV 2, output open to mains input terminal
KDV 3) (high-impedance) of the supply module.
Open collector- No mains auxiliary power at terminal * Check the mains auxiliary
output at 0 volts L1-L3. Diagnostic lamp „AUX: VOLT“ power connection
(low-impedance) lit up * If mains auxiliary power
* Fans simultaneously applied to terminals L1-L3,
not being supplied. then the supply module
Should mains auxiliary fail is defective.
for longer periods of time
during operation,
then the motors will shut down
after a specific length of time
because of overtemperature.
* Power cannot be turned on
until mains auxiliary power
is applied.
HSM Open collector- Mains auxiliary power properly applied

(only KDV 4) output at 0 volts to mains input terminal
(low-impedance) of the supply module.
Open collector- No mains auxiliary power at terminal * Check the mains auxiliary
output open L1-L3. Diagnostic lamp „AUX: VOLT“ power connection
(high-impedance) lit up * If mains auxiliary power
* Fans simultaneously applied to terminals L1-L3,
not being supplied. then the supply module
Should mains auxiliary fail is defective.
for longer periods of time
during operation,
then the motors will shut down
after a specific length of time
because of overtemperature.
* Power cannot be turned on
until mains auxiliary power
is applied.
K1NC Contact Internal mains contactor Check

(only TVD 1) closed released unit controller
Contact Internal mains contactor

open attracted
K1NO Contact Internal mains contactor

(only TVD 1) closed attracted
Contact Internal mains contactor Check

open released unit controller
Figure 79: Overview of drive module messages issued at terminal strip.

7.3. LED Diagnostic If the fault cannot be located using the messages received at the terminal
Displays strips, then the diagnostic displays on the front side of each modular unit,
beginning with the supply module, need to be checked. This can be
quickly accomplished by using the figures in Chapter 9.
The most practical thing to do first is to check to see whether the light
emitting diodes are displaying the condition „working“, as indicated in
these figures. In the presence of a malfunction, the green lamps
generally light up, while the red lamps should be off.
Clearing a Fault:
A reset-key makes it possible to clear all stored fault messages without
having to shutdown the mains auxiliary power/control voltage on the
supply module. It is located on the front on the right hand side at the top
above the diagnostics display.
The fault messages are automatically cleared and reset after the control
voltage has been turned back on.
7.3.1. Diagnostic Displays If the diagnostic displays on the supply or driving modules indicate a fault,
on the then the following measures can be taken individually:
Power Supply Modules
The diagnostic displays are only valid if lamp „24V, plus/minus

15V“ is completely lit up.
Power o. k. With fault ➞ off

green
No power or fault present.
Possible fault causes and measures:
– Link circuit throttle connection of the supply module not allocated

(does not apply to TVM 1 and 2).
➞ Check whether the throttle on the link circuit throttle connecting
terminals 1L+, 2L+, 1L-, 2L- has been properly attached, or whether
a wire strap has been clamped on.
– No mains power
➞ Check three-phase mains power connection
(Look for fault between mains connection and supply unit.)
➞ Check the mains contactor control
– Mains voltage too low

➞ Test mains power at connecting terminals L1, L2, L3 of the supply
module.
➞ Incorrect transformer connection or fault in mains
– Mains power phase missing

➞ Check and re-measure 3-phase mains power at the supply module
➞ Check link circuit short-circuit
➞ Check mains fuse

– Only applies to KDV2, 3 and 4:

No right rotational field present (fault only occurs the first time the
machine or the drives are connected to the mains).
➞ Check rotational field direction at connecting terminals L1, L2, L3 of
the supply module (e.g., with the use of rotational field measuring
equipment, or the succession of phases with an oscilloscope).
Exchange leads L1 and L2 on the supply module if there is no right
rotational field.
Absolute attention must be paid that mains auxiliary power connec-
tions L1, or L3 remain connected inphase to power connections L1,
or L3 of the supply module KDV, in accordance with connection
plans.
– Supply module defective

➞ Remove intermediate circuit busbars and bus cable X1 between the
supply module and the driving module, then repeat the above check.
If no fault can be found now, and the LED „power OK“ of the supply
module is lit up, then the fault is in the connected drive modules.
➞ Exchange supply modules.
+24V, ±15V With fault ➞ off

green
The control voltage for the signal electronics is faulty, or exceeds
tolerance (the values should range between plus/minus 15V : 14.75
(Only units: ... 15.25 volts, 24V: 22.3 ... 32 volts).
TVD 1, KDV 3, KDV 4)
Should this LED flash or not light up, then all other diagnostic
messages are invalid!
– Only applies to KDV3 and KDV4:

No mains auxiliary power at supply module input
➞ Check mains connection for auxiliary power
– Short-circuit in the signal electronics in at least one of the connected

drives (in drive module, feedback cable, or motor feedback).
➞ Remove the individual line connectiions (bus connection X1, feed-
back cable, wiring on the terminal strips) and then
➞ measure the 24V, plus/minus 15V voltages at the connection points
or terminals and, in this way, begin to limit the fault (generally short-
circuit).
– Maximum load of the control voltage plus/minus 15 V or 24 V is being

exceeded.
➞ Check current load via the connected drives in accordance with the
data sheet (current input).
– Only applies to KDV3 and KDV4:

Defective unit fuse in the supply module
➞ check fuses,
➞ if fault remains, find the fault on the 24 volts or in the fans, and
eliminate it,
➞ put in new fuses.

AUX. VOLT With fault ➞ off

green
No auxiliary mains power at terminal L1-L3 and fans not working
(risk from excessive temperature).
(Only units:
KDV 2, KDV 3, KDV 4)
– Mains failure
➞ Nothing needs to be done
Drives will continue only as long as there is sufficient power in the link
circuit
– Supply module fuses defective

➞ Check fuses,
➞ See LED "24V, +15V"
➞ Insert new fuse
– Supply module fuses defective

(Line break, circuit contact defective)
➞ Check connection and controller of the mains auxiliary voltage
between mains and supply module.
➞ Do not run drives for longer periods of time at full load because fan
switched off.
Eliminate fault.
MAINS FAULT or With fault ➞ off

MAINS O.K.
green
Mains fault displayed.
Mains power disrupted or improperly connected
(voltage too low, phase missing, no right rotational field)
(Only units:
TVD 1, KDV 4)
– No mains voltage
➞ Measure whether there is mains voltage at connecting terminals L1,
L2, L3 of the supply module. (Look for fault between mains connec-
tion and supply unit.)
➞ Check controller of the mains contactor.

➞ Measure mains voltage at connecting terminals L1, L2, L3 of supply
module.
➞ Improper transformer connected or fault in mains.
– Only applies to KDV4:

Right rotational field present (fault only occurs the first time the drives
or the motor connected to the mains).
➞ Check rotational field direction at connecting terminals L1, L2, L3 of
the supply module (e.g., using rotational field measuring equipment
or the succession of phases with an oscilloscope).
If there is no right rotational field, then exchange lines L1 and L2 on
the supply module.

– No phase
➞ Re-measure the three phases of the mains connection voltage
➞ Check mains connection
➞ Check mains fuses

➞ Separate link circuit busbars and bus cable X1 between the supply
and drive modules and repeat the above test. If the mains voltage is
working after the above test has been run and the LED „power OK“
of the supply module is off, then the supply module is defective. If
„power OK“ is lit up, then the fault is in the connected drive modules.
➞ Exchange supply modules
OVERVOLTAGE or With fault ➞ on

OVERVOLT FUSE
Temperature of the loading resistance (bleeder) too high or power
red
section is defective.
(Only units: After the fault has been eliminated, press the black reset key on the
TVM, TVD 1, KDV 1) front above the diagnostic display to re-start.
Possible faults and measures:
– Mains voltage too high:

➞ Re-measure the voltage at terminals L1-L2
– Only applies to TVM, TVD 1: Incorrect wiring of the additional bleeder

module TBM
➞ Check wiring in accordance with connection plan
– Only applies to KDV1: Fan not running or air inlet and outlet obstructed
➞ Check the fan behind the heatsink
➞ Check fan fuses
or
Internal temperature of control cabinet too high
➞ Improve ventilation/cooling of control cabinet
– Deceleration energy of all drives too high:

1. The fault does not occur until after several deceleration procedures.
(The deceleration energy fedback over a mean period is too high.)
➞ Check the load and processing cycles of the drives and reduce if
necessary.
➞ Only applies to TVM: An additional bleeder module TBM or
additional capacitance TCM must be additionally installed.
2. Fault already occurs after the first drive deceleration (generally in an

emergency-off). (The deceleration energy occuring short-term and
fedback is too high.)
➞ Only applies to TVM: An additional bleeder module TBM must be
installed.
➞ Reduce energy content of the drives (moment of inertia or max.
speed).

– Only applies to TVM, TVD 1: Additional bleeder module TBM defective

➞ Exchange additional bleeder module TBM

➞ exchange supply module
BLEEDER OVERLOAD With fault ➞ on

red
Deceleration energy of all drives too high (especially in emergency-
off) or the supply module is defective.
(Only units:
TVD 1, KDV 2, KDV 3, KDV 4) After the fault has been corrected, press the black reset key on the
front of the disagnostics display to re-start.
– Mains voltage too high

➞ Re-measure voltage at terminal L1-L2
– Fan not working or air inlet or outlet obstructed

➞ check fan
➞ check fan fuses
– Control cabinet internal temperature (ambient temperature) is too high

➞ improve ventilation/cooling in control cabinet
– Only applies to KDV2 and TVD1: deceleration energy of all drives too
high
1. Fault does not occur until after several drive decelerations. (The
deceleration energy fedback over a mean period of time is too high.)
➞ Check the load and processing cycles of the drive and reduce, if
necessary.
2. Fault already occurs after the first drive deceleration (generally in
emergency-off). (The short-term deceleration energy fedback is too
high.)
➞ An additional TBM bleeder module must be installed.
➞ Reduce the energy content of the drives (moment of inertia or
max. speed).

➞ Exchange supply module
EARTH CON. With fault ➞ on

red
Ground leak in the supply module, drive module, cables, motor or
power wiring.
(Only units:
KDV 2, KDV 3, KDV 4) After fault has been eliminated, press black reset key on front of
diagnostics display to re-start.
➞ Check all drive modules for fault message „BS“ to immediately

determine a drive with a defective drive module, cable or motor.

– Ground leak in supply module

➞ Remove intermediate circuit busbars.
If fault should occur again, then the supply module is defective. If it
does not, then the ground leak is in the connected drive components.
– Ground leak in the power wiring

➞ Visual check of all connections and terminal connections (e.g.,
intermediate circuit busbars L+, L- cable connection A1, A2, A3
motor terminal box) for earth contact as well as all lines for insulation
failure.
– Ground leak in a motor

➞ Remove all motor cables at the motors. If no ground leak occurs,
then ground leak is in motor.
➞ Exchange motor
– Ground leak in the motor cable or drive module

➞ Clamp off motor cable of the drive modules. If ground leak does not
occur, then the motor cable is defective. Otherwise, there is probably
a ground leak in the drive module.
➞ Exchange motor cable
➞ Exchange drive module
OVERCURRENT With fault ➞ on

red
Excess current or short-circuit in the power section of the supply or
drive modules or in the motor.
(Only units:
TVD 1, KDV 3, KDV 4) After the fault has been eliminated, press the black reset key on the
front of the diagnostics display to switch back on.
Possible Faults and Measures:
➞ Check all drive modules for fault message „BS“ to quickly find a drive
with defective drive module, cable or motor.
– Short-circuit at connecting terminals 1L+, 2L+, 1L-, 2L- of the supply

module for the link circuit throttle.
➞ Check whether the link circuit throttle or the wire strap at this terminal
has been properly connected in accordance with the connecting
plans.
– Fault only occurs when decelerating the drives: mains inductance too
high.
– Programming module MOD does not fit into the drive module - motor
combination
➞ Check the rating plate information of all drives with the respective
drive module and motor type to see whether they match.
– Short-circuit in the supply module

➞ Remove link circuit busbars from supply module. If fault occurs
again, then supply module is defective. Otherwise, the short-circuit
is in the connected drive components.
➞ Exchange supply module.

– Short-circuit in the power wiring

➞ Visual check of all connections and terminal connections (e.g., link
circuit busbars L+, L-, cable connections A1, A2, A3) as well as all
lines for insulation damage.
– Short-circuit in a drive module

➞ If the red LED „BS“ of a drive module should also light up, then the
fault, in the case of this drive, is in the amplifier, motor or cable.
➞ Clamp off the motor cables on drive modules at A1, A2, A3. If a
short-circuit should still occur, then the drive module is defective.
Otherwise, the short is in the cable or motor.
➞ Exchange defective drive module
– Short-circuit in a motor cable or the motor

➞ Disconnect the motor cable at the motors. Bridge thermostat con-
tact. If short occurs now, then the fault is in the motor cable.
Otherwise, the motor has an interturn short-circuit.
➞ Measure motor inturn resistance and exchange defective motor.
TEMP. FAULT With fault ➞ on

red
Shutdown due to excessive temperature. The temperature pre-
warning via contact TVW was ignored.
(Only units:
TVD 1, KDV 3, KDV 4) After the fault has been eliminated, press the black reset key on the
front of the diagnostics display to re-start.
– Fan not working, air inlet and outlet obstructed or the heatsink is dirty.
➞ Check fan
➞ Check fan fuse
➞ Clean heatsink, if necessary.
– Inside temperature of control cabinet (ambient temperature) too high

➞ Improve control cabinet ventilation/cooling
– Overall efficiency of connected drives too high

➞ Check the overall efficiency of the drives, a second supply module
may be needed.

➞ Exchange unit
Bb1 CLOSED With fault ➞ off

green
Ready-to-operate contact is open because there is a fault in the
supply module or in drive.
(Only units: TVD 1)
After the fault has been eliminated, press the black reset key on the

– Fault in supply module:

➞ Check the other diagnostics lamps to see what fault is present. The
green lamp „+24V/+15V“ must be lit up. All red LED’s must be off.
– Fault in drive module:

➞ Check all diagnostic displays on the front of all drive modules, to see
which fault is present. All red LED’s must be off.
7.3.2. Diagnostic Displays

on the Drive Modules
The diagnostic displays are only valid if the lamp „24V, plus/
minus +15V“ is lit up
(1) = does not apply to KDS1 and the older units of the types
TDM1, TDM2 with serial numbers below SN 233 .....,
+24 V, ±15 V With fault ➞ off

green
Control voltage for signal electronics disrupted, or outside of tolerance
(the values must range as follows: plus/minus 15V: 14.75 ... 15.25
volts, 24 V: 22.5 ... 32 volts).
After the fault has been eliminated, press the black reset button on
the front of the diagnostics display to re-start.
All other diagnostic messages are invalid if this LED is either

flashing or lit up!
– No mains auxiliary voltage at input of the supply module

➞ Check mains connection (open circuit, switching contact defective)
➞ Check connection and controller of the mains auxiliary voltage
between mains and supply module.
– Loose or defective bus cable connection X1

➞ Bus cable X1 must be firmly plugged in, exchange if defective.
– Short-circuit in at least one of the connected drives

(in drive module, feedback cable, or motor feedback)
➞ Remove the individual connections (bus connection X1, feedback
cable, wiring to the terminal strip), and then,
➞ measure the 24V, +15V voltage at the connecting points of the
terminals in an effort to locate the fault (generally short-circuit).
– Response during operation: The maximum load of the control voltage

+15 V or 24 V is being exceeded.

➞ Check the current load from the connected drives in accordance with
the data sheet (current consumption).
– Defective fuse in supply module

➞ Check fuse
➞ If fault still present, locate overload at the 24 volts or in the fans and
eliminate.
➞ Put in new fuse
BLC 1 Rotor position signals:

green
Only one or two diagnostic lamps should light up simultaneously
during a shutdown or when the speed is low. The lamps blink at low
speed. All three lamps appear to be lit up simultaneously at high
BLC 2
speeds.
green
Fault:
A fault is present if all three lamps are simultaneously lit up during
BLC 3 shutdown or with low speeds.
green
Checking procedure:
– Switch power to mains off (disconnect mains contactor). Switch
only mains auxiliary voltage/control voltage on at supply module.
– Disconnect motor cable from motor.
– Release brakes.
– Pull motor shaft through by hand and check all 6 states for
correctness, in acc. with Fig. 80.
– Faulty connection of the feedback cable to the drive module

➞ check connection
– Fault in motor feedback cable

➞ exchange cable
– Fault in the motor feedback

➞ measure plus/minus 15 volts voltage of the motor feedback
➞ exchange motor
– Fault in drive module

➞ Exchange unit
Tacho With fault ➞ off

green
Interference in tacho signal or signals BLC1, BLC2, BLC3 (1).
After the fault has been cleared, press the black reset key on the
Possible faults causes and measures:
– Faulty connection or break in the motor feedback cable

➞ check feedback connection
➞ exchange feedback cable

– Excessive motor speed

➞ check feedback connection
➞ exchange feedback cable
– Motor feedback defective

➞ exchange motor
– Servo drive module defective

➞ exchange unit
– Fault in BLC signals

➞ check BLC signals, as described in LED „LBC1, BLC2, BLC3.
1 = BLC LED on
BLC 1 BLC 2 BLC 3 0 = BLC LED off
1 0 0 1) 90 degrees mechanical with MAC 021, MAC 025, MAC 041

1 1 0
0 1 0
0 1 1 1)
120° mechan.
0 0 1
1 0 1
1 0 0
BLC 1 BLC 1
t t
BLC 2 BLC 2
t t
BLC 3 BLC 3
t t
right rotation of motor left rotation of motor

BLCLeucht
Figure 80: BLC LEDs and signal path

Power or PWR With fault ➞ off

green
No power applied or power disrupted.
– Link circuit busbars not sufficiently or not at all screwed in.

Green lamp „power OK“ on the supply module is lit up.
➞ Check the fit of the link circuit busbars
– Link circuit throttle connection of the supply module (if present) not
allocated
➞ Check whether the throttle at the link circuit throttle connection
terminals 1L+, 2L+, 1L-, 2L- are properly connected, or whether
there is a wire strap present.
– No mains voltage
If green lamp „power OK“ at the supply module not lit up,
➞ check 3-phase mains voltage connection. (Look for fault between
mains connection and supply unit.)
➞ Check the controller of the mains contactor.
– Mains voltage lacks phase:

➞ check 3-phase mains voltage at the supply module and re-measure,
➞ check link circuit short-circuit,
➞ check mains fuse.
– Only applies to KDV2, KDV3 and KDV4:

No right rotational field (fault only occurs with first connection of
machine or drive to the mains).
➞ Check the rotational direction at connecting terminals L1, L2, L3 of
the supply module (e.g., using rotational field measuring device, or
check phase sequence with an oscilloscope). If there is no right
rotational field, exchange leads L1 and L2 at the supply module.
Attention must be paid that mains auxiliary voltage connections L1
or L2 remain inphase with power connections L1, or L3 of supply
module KDV, in accordance with the connection plan!

➞ Measure mains voltage at connection terminals L1, L2, L3 of the
supply module.
➞ Faulty transformer connection or fault in mains

➞ Disconnect link circuit busbars and bus cable X1 between supply
module and drive modules and repeat the above check. If there is no
fault now, and the LED „power OK“ of the supply module is lit up, then
the fault is in the connected drive module.
➞ Exchange supply module.

RF With fault ➞ off

green Controller release not applied to terminal RF
With fault ➞ flashes (1)
Drive is interference free, but locked internally as there is no power

voltage
LED flashing:
see above under LED „power“/“PWR“
LED off:
If message „power“ / „PWR“ lit up, then it should be possible to operate
the drive after controller enable signal (3.30 volts) is input at terminal RF.
Otherwise there is a fault in the drive.
➞ Measure voltage terminal RF
Bb With fault ➞ off

green
The drive is not ready to operate.
Bb contact of the drive module is open.
With fault ➞ flashes (1)
No power voltage, drive interference-free
– No power voltage
➞ see LED „power“/“PWR“
– Fault in drive
➞ see which LEDs display fault „plus/minus 15V, 24V“, „tacho“, „TS“,
„BS“, „TÜ“.
TS With fault ➞ flashes (1)

red Temperature pre-warning, maximum equipment temperature ex-
ceeded. Drive to shut down in 30 seconds.
With fault ➞ on
Shutdown due to excessive equipment temperature.
After fault has been recovered, press the black reset key on the front
of the diagnostics display to re-start.
– Fan not working or air inlet or outlet obstructed.

➞ Check fan
➞ Check fan fuse
– Inside temperature of control cabinet too high (ambient temperature)

➞ Improve control cabinet ventilation/cooling

– Load cycle of the drive too high

➞ Increase break times or reduce load
– Wrong programming module MOD plugged in

➞ Check the data on the rating plate for agreement
TÜ With fault ➞ off

red
Temperature pre-warning that equipment temperature has already
been exceeded.
The temperature monitoring opens (only in the KDS). The "open"

collector output temperature monitoring (only in TDM3 and TDM4)
switches to low-impedance 0 volts. Should the drive load not be
sufficiently reduced within the next 30 seconds, then the drive package
will be switched off.

see above under LED „TS“
BS With fault ➞ on
red
Shutdown due to (even short-term) overcurrent, short-circuit or
ground leak (1) in the drive module, cable or motor.
After fault has been recovered, press the black reset key on the front
of the diagnostics display to re-start.
– Overcurrent when drive is run

➞ Hit reset key once, input speed set point to zero and turn drive on with
signal at terminal RF:
If fault does not occur again immediately, then there was an
overcurrent during the run of the drive.
In this case, check to see whether the motor and controller types
listed on the rating plate of programming module MOD have actually
been built-in.
NOTE: In this case do not repeatedly hit the reset, as this might
otherwise cause further damage to motor and drive modules.
Fault should continue to be localized and all components tested first:
– Short-circuit or ground leak in cable or connection

➞ Test connection and cable, exchange if necessary.
– Short circuit or ground fault in motor

➞ Check the motor for a short-circuit or ground leak, exchange if
necessary.
Should the fault occur again after the reset has been hit, then
– the drive module is defective
➞ exchange drive module

7.4. General faults

and possible remedial
measures (1)=For add. measures, see respective Diagnostics Display in Chapter 7.3
Message Diagnostics
No. Fault at message in Action to be taken
Terminal Strip event of fault
1. Mains cannot be Terminal Bb1 „24V/ ±15V“ off - Switch on mains auxiliary voltage/
switched on. open controller voltage
- Check mains connection
- Check bus cable connecting
equipment for short circuit
- Check diagnostics „24V/ plus/minus 15V“ (1)
„24V/ ±15V“ on - Fault in drive system
Check diagnostics display (1)
Terminal Bb1 No fault in drive system
closed „Power“ off - Switch power on
(„PWR“) - Mains voltage lacking
or faulty (1)
- Check link circuit
throttle connection
- Check diagnostics display (1)
„Power“ on Mains voltage on
(„PWR“)
2. Equipment fuses
in supply unit blow
blow:
24VL-fuse F2, Terminal „24V/ ±15V“ off Short-circuit or overload
mains auxiliary voltage Bb1 open in power section
connection, controller voltage or in the 24 VL outputs
connection fuses F3, F4 - Check 24 VL outputs at the
supply module and at the
connected drive modules.
- Check 24VL current load from the
connected drives. Is the supply module
overloaded?
- Remove bus X1 from the supply module.
Should problem still occur,
then exchange supply module
(usually if F3, F4 defective).
If problem no longer occurs,
determine drive module
with short circuit
or overload at the 24VL,
and exchange if defective.
Fan fuses F5 Short-circuit or overload caused
on corresponding by attached fans.
fan plate, - Check the current load
F7, F8 on the front of the attached fans.
plate of the supply - Locate defective fan or defective
module (if present). modular unit by removing the
connecting cable and exchange,
if necessary.
Power fuse „Power“ off Short-circuit in power section
F1 in TVM 1, TVM 2 („PWR“) - Separate link circuit busbars
and KDV 1 from supply module.
- If problem continues,
exchange supply module.
„BS“ on If problem no longer occurs,
(Drive module) determine drive with short-circuit
by measuring resistance between
L+ and L- (also check
diagnostics light „BS“ (1)).
- If the problem occurs while
drives are operating, then the
supply module is overloaded.
3. Fans not - No mains auxiliary voltage
running at input terminals of supply modules
(only with KDV2, KDV3 and KDV4).
- No fan supply voltage
- Fuses F7, F8 defective
(only with KDV2, KDV3 and KDV4).
- Check fuses on the fan plates
of the corresponding fans.
- Exchange fan or modular unit.
- Fan rotor mechanically blocked.
Figure 81: Summary of possible problems and actions to be taken.

Message Diagnostics
No. Fault at message Action to be taken
Terminal Strip in event of fault
4. Drive cannot be „Power“ off - Switch on mains voltage:
shut down (see Point 1 of this table)
and remains
torque free „Power“ on - Input set point
„RF“ off - Input controller enable signal (1)
„RF“ on or - Eliminate break in motor
flashing or feedback line (1)
- Motor mechanically blocked,
eliminate blockage
- Aereate motor brake, if drive blocked
- Exchange servo drive module
- Exchange motor
(motor feedback defective)
5. Drive active - Input set point
but not turning „RF“ off - Input controller enable signal (1)
or cannot be - Eliminate break in motor
moved. or feedback cable (1)
- Motor mechanically blocked,
eliminate blockage
- Aereate motor brake, if drive blocked
- Check load momentum
- Exchange servo drive module
- Motor feedback defective,
exchange motor
6. Drive runs - Check whether speed set point equals zero.
uncontrolled to - Exchange speed set point polarity with
positive
speed after being feedback of position control loop.
switched on. - Position control in NC defective.
- Exchange feedback cable.
- Exchange servo drive module.

- Exchange motor.
7. Unwanted halting - Check diagnostics display (1)
of drives (Problem in drive system)
during operation.
8. Non-uniform - Check labelling of programming
turning of drives, module MOD (wrong drive
non-uniform module or motor)
feed movement. - Check speed set point input value,
adjust to NC output.
- Check motor power connection
(connections transposed, loose terminal
point or a break in the cable)
- Check motor feedback connection
(connections transposed, loose terminal
point or break in cable)
- Check whether mains input at
connection L1, L2, L3 of supply module is
achieved using only two mains phases:
* check fuses
* check mains connection
- Check interference suppression measures
(see Chapter 5.5):
* contactor and relay coils
* cable shields
- Aereate brakes if motor running
against brakes.
- Cut off mechanical coupling
at motor shaft:
* load moment of inertia too high?
* coupling too soft?
(e.g., bellows coupling)
* slack in the coupling?
* too much friction or is there jamming?
- Optimize NC position control if Kv
amplification too high.
- Check NC set point
Excessive harmonic vibrations
on the NC set point:
* reduce harmonic vibrations or
* increase set point smoothing and new
optimization of position control
(smaller Kv amplification)
- Check position analysis
* position encoder defective?
* mechanical slack beween position encoder
and motor?
- Exchange motor

8. Notes on Equipment Replacement
8. Notes on Time consuming searches for the faults within the individual units or the
repair of the units within the machine are not acceptable because of the
Equipment loss in production that these represent.
Replacement
The diagnostic displays and the fault signals at the controller interfaces
of INDRAMAT’s AC Drives make a to-the-point and effective trouble-
shooting possible.
Once a drive component such as the supply module, drive amplifier

module, motor or cable is diagnosed as defective, it can be exchanged
without any problem. This makes a speedy elimination of the problem
and a resumption of operation without drawn out assembly and adjust-
ment work possible.
The factory-ready and optimized programming module MOD makes this

adjustment-free exchange possible.
The following should be noted when exchanging a component:
– The new unit, motor or cable must have the exact same type designa-
tion on its rating plate as the one that is being replaced.
– In the case of a servo drive module (generally not defective), program-
ming module MOD should be removed from the defective unit and
plugged into the replacement drive module.
– The drift must be checked when exchanging the servo drive module, in
accordance with Chapter 2.1, keyword „Drift Alignment“.
– When returning a defective unit to Indramat Customer Service, the

„Repair Card“,
depicted on the next page, should accompany the return, after it has
been filled out, to indicate all problems and faults which occurred.
If no repair card is available, then just make a copy of the following page,
fill it out, and return it with the defective part. A short description of the
faults and problems which occurred should, in any case, accompany
the return to guarantee a quick and effective repair.
A repair card can be obtained from INDRAMAT.
Customer service contacts:
INDRAMAT GmbH
Bgm.-Dr. Nebel-Str. 2
D-97816 Lohr am Main
Technical service: Mr. Krasemann Tel. 09352/404496

Fax 09352/404440
Sales and
organizational handling: Ms. Kissner Tel. 09352/404950
Fax 09352/404992

8. Notes on Equipment Replacement
Repair Card
for INDRAMAT Units and Unit Components
Name: Company/Location: Date:
Unit or Part, Type: Serial no.: Del. cons. No.:

SN:
SN: Del. date:
Mach. manuf./Co.: Type Mach. no.: Date op. started:
Problem in axis: horizontal Duration of operation: Breakdown date:

vertical
Malfunction condition: Additional notes: Cause of fault:

(e.g., LED diagnoses,
Fault fault message on display) unknown
connection error
continuously present external short
occurs sporadically mechanical damage
occurs after approx. hrs. loose cable connection
occurs with vibrations other
is temperature-dependent
other
Additional Notes
Controller, Supply Unit,

General information: Accompanying affects: Amplifier, Mains Section:
does not operate problem in mechanics LED diagnosis
drives run smudgy mains section failure controller voltage faulty
uncontrolled drive movement controller failure mains section fuse F blew
fault in only one direction motor failure fan defective
supply fuse blown break in cable bleeder resistance def.
other other power voltage faulty
connecting bolt torn off
other
Controller Motor Comments:

does not operate
display faulty Thermocouple element defective
no set-point output brake defective
diagnosis fan defective
position offset in direction feedback defective
Emergency off loop interrupted tacho signal faulty
Position control loop does not close BLC signal faulty
Fault in program sequence frame ground short
Int. auxilliary function faulty thermal overload
(outputs) other
acknowledgement messages
not accepted (inputs)
other
Rep_Bglk.fh3
Figure 82: Repair Card

9. Summary of Diagnostic Displays on Modules
9. Summary of Figure
Diagnostic Displays Figure Diagnostic Display Serial no.
on Modules for Unit Type
Servo drive module:

Fig. 83 TDM 1, TDM 2 from SN234...
Fig. 84 TDM 1, TDM 2 below SN233...
Fig. 85 TDM 3, from SN240060-...
TDM 6 ——
Fig. 86 TDM 3, below SN240060-...
Fig. 87 TDM 4, from SN240062-...

TDM 7 ——
Fig. 88 TDM 4, below SN240062-...
Fig. 89 KDS 1 ——
Supply module:
Fig. 90 TVM 1, TVM 2, KDV 1 ——
Fig. 91 KDV 2 ——
Fig. 92 KDV 3 ——
Fig. 93 KDV 4 ——
Fig. 94 TVD 1 ——

Diagnostic Display Servo Drive Modules TDM 1 and TDM 2

Equipment with serial numbers from SN 234... is equipped with expanded diagnostics
Note: The messages are only then valid if "+24V, plus/minus15V" message emits constant green light.
(1) Message and unit lock are being stored.
Re-set by hitting re-set key or switching back on.
Light- Off Flashing Cont. Light

emitting
diode
Switched off
+24V, green
because there was Controller voltage
±15V no controller voltage or
working
temporary interference (1)
BLC 1 green
Working: Working: Working:
One or two light-emitting Each "BLC" LED Motor standing still:
Rotor position
diodes out flashes at low speed One or two LEDs

(n < 100 min-1) lit up.
BLC 2 green
Malfunction: The flashing appears to be Malfunction:
BLC 1, BLC 2, BLC 3 a constant light when BLC 1, BLC 2, BLC 3
are simultaneously out. speeds are higher. simultaneously lit up with
Faulty connection or low speeds or stand still.
fault in feedback cable Faulty connection or fault
BLC 3 green
in feedback cable.
Disconnect due to tacho or

BLC malfunction, faulty Tacho and BLC
Tacho green connection or break in cable of
the feedback cable or motor Working
overspeed (1)
Power voltage present

Power green Power voltage not switched
on or disrupted. Working
Unit internally locked Controller enable applied,

RF green No controller enable signal because no power voltage drive active
at terminal RF and/or fault present
Working
Unit locked because no power

voltage and/or fault present Drives trouble-free, Drive ready-to-operate
Bb green
(display via different LED) no power voltage Working
Temperature within
Equipment temperature too high. Shutdown due to excessive
TS red acceptable range
Drive will shut down in 30 seconds. equipment temperature (1)
Working
Shutdown due to overcurrent,

Current within acceptable range
short-circuit or ground leak in
BS red Working amplifier, cable or motor (1)
DiagTDM1/2neu
Figure 83: Diagnostics Display Servo Drive Modules TDM1 and TDM2 with Serial
Numbers from SN 234 ...

Diagnostic Displays Servo Drive Modules TDM 1, TDM 2

Equipment with serial numbers from SN 233...
Note: The messages are only then valid if "+24V, plus/minus15V" message displays constant green light.
Re-set by hitting re-set keyor switching back on.

emitting
diode
+24V, green Switched off as

Controller voltage
±15V no controller voltage working
BLC 1 green
Working Working: Working:
One or two light- Each "BLC" LED flashes Motor standing still:
Rotor position
emitting diodes out. at low speed One or two LEDs

(n < 100 min-1) lit up.
BLC 2 green
Malfunction: The flashing appears Malfunction:
BLC 1, BLC 2, BLC 3 to be a constant light BLC 1, BLC 2, BLC 3
are simultaneously out. at higher speed. simultaneously lit up with
Faulty connection or fault low speeds or stand still.
in feedback cable. Faulty connection or fault
BLC 3 green
in feedback cable.
Disconnected due to tacho

malfunction, faulty connection Tacho and BLC
Tacho green or break in cable of the
feedback cable or motor working
overspeed (1)

Power voltage not
Power green
switched on or disrupted. Working
Controller enable applied

RF green No controller enable signal Terminal RF on
at terminal RF
Working
Unit locked because

no power voltage Drive ready to operate
Bb green
and/or fault present Working
(display via different LED)
Temperature within
Shutdown due to excessive
TS red acceptable range
equipment temperature (1)
Working

Current within acceptable range short-circuit or ground
BS red Working leak in amplifier,
cable or motor (1)
DiagTDM1/2alt
Figure 84: Diagnostics Display Servo Drive Modules TDM1and TDM2 with Serial
Numbers from SN 233 ...

Diagnostic Displays Servo Drive Modules TDM 3 and TDM 6

Equipment with serial numbers from SN 240 060 - XXXXX are equipped with expanded diagnostics.

emitting
diode
Switched off because
+24V, green there was no controller Controller voltage
±15V voltage or it was temporarily
working
disrupted (1)
BLC 1 green
Motor standing still: Each "BLC" LED flashes Motor standing still:
Rotor position
One or two light- at low speed. One or two LEDs

emitting diodes out (n < 100 min-1) lit up.
BLC 2 green
The flashing appears Malfunction:
Malfunction: to be a constant light BLC 1, BLC 2, BLC 3
BLC 1, BLC 2, BLC 3 at higher speeds. simultaneously lit up
are simultaneously out. with low speeds or stand still.
Faulty connection or fault Faulty connection or fault in
BLC 3 green
in feedback cable. feedback cable.
Disconnected due to tachometer

or BLC malfunction, faulty Tacho and BLC
overspeed (1)

Power voltage not
PWR green
switched on or discrupted. Working
(Power)
Controller enable applied,

but unit internally locked
RF green No controller enable signal
because no power voltage
Drive active
at terminal RF
and/or malfunction present Working
Unit locked because fault

Drive problem free, Drive ready-to-operate
Bb green present (display via
no power voltage Working
different LED)
Temperature within acceptable

Equipment temperature too high. Shutdown due to excessive
TS red range
Drive will shut down in 30 equipment temperature (1)
Working seconds.

DiagTDM3neu/6
Figure 85: Diagnostics Display Servo Drive Module TDM3 with Serial Numbers from
SN 240060-... and TDM6

Diagnostic Displays Servo Drive Modules TDM 3

Equipment with serial numbers from SN 240 060-XXXXX

ermitting
diode
+24V, green
Switched off as no Controller voltage
±15V controller voltage
working
BLC 1 green
Rotor position
One or two light-emitting at low speed One or two LEDs lit up.
diodes out. (n < 100 min-1)
Malfunction:
BLC 2 green
The flashing appears BLC 1, BLC 2, BLC 3
Malfunction: to be a constant light simultaneously lit up
BLC 1, BLC 2, BLC 3 at higher speeds. with low speeds
are simultaneously out. or stand still.
Faulty connection or fault Faulty connection or fault
BLC 3 green
in feedback cable. in feedback cable.
Disconnected due to tachometer

or BLC malfunction, faulty Tachometer and BLC
overspeed (1)

Power voltage not switched
POWER green
Controller enabler applied

RF green No controller enabler Drive active
signal at terminal RF.
Working
Unit locked because fault Drive ready to operate

Bb green present (display via different
Working
LED).
Shutdown due
Current within acceptable range to overcurrent or short-
BS red circuit in amplifier,
Working cable or motor (1)
Temperature within Equipment temperature

TÜ red acceptable range too high. Drive to shutdown
Working in 30 seconds.

TS red Working equipment temperature (1)
DiagTDM3alt
Figure 86: Diagnostics Display Servo Drive Module TDM3 with Serial Numbers below
SN 240060-...

Diagnostic Displays Servo Drive Modules TDM 4, TDM 7

Equipment with serial numbers from SN 240 062 - XXXXX are equipped with expanded diagnostics.

emitting
diode
Switched off because there
+24V, green was no controller voltage or Controller voltage
±15V it was temporarily disrupted
working
(1).
BLC 1 green
Motor standing still: Each "BLC" LED blinks Motor standing still:
Rotor position
One or two light- with low speed. One or two LEDs lit up.
emitting diodes out. (n < 100 min-1)
Malfunction:
BLC 2 green
The blinking appears BLC 1, BLC 2, BLC 3
Malfunction: to be a constant light simultaneously lit up
BLC 1, BLC 2, BLC 3 at higher speeds. with low speeds or stand still.
are simultaneously out. Faulty connection or fault
Faulty connection or fault in feedback cable.
BLC 3 green
in feedback cable.
Disconnected due to tacho Tacho and BLC

Tacho green or BLC malfunction, or
motor overspeed (1) Working

Power voltage not
PWR green
(Power)

but unit internally locked Controller enable applied
RF green No controller enable because no power voltage Drive active
signal at terminal RF and/or fault present. Working
Unit locked because fault

Drive fault free, no Drive ready-to-operate
Bb green present (display via
power voltage. Working
different LED).
Temperature within acceptable Temperature too high.

TS red range Drive will shutdown
equipment temperature (1)

DiagTDM4neu/7
Figure 87: Diagnostics Display Servo Drive Modules TDM4 with Serial Numbers from
SN 240062-... and TDM7

Diagnostic Displays Servo Drive Modules TDM 4

Equipment with serial numbers from SN 240 062-XXXXX

ermitting
diode
+24V, green
Working
BLC 1 green
Rotor position
One or two light-ermitting at low speed. One or two LEDs lit up.
Malfunction:
BLC 2 green
The flashing appears BLC 1, BLC 2, BLC 3
Malfunction: to be a constant light simultaneously lit up with low
BLC 1, BLC 2, BLC 3 at higher speeds. speeds or stand still. Faulty
are simultaneously out. connection or fault in feedback
Faulty connection or fault cable.
BLC 3 green
in feedback cable.
Disconnect due to tacho Tacho and BLC

Tacho green or BLC malfunction,
or motor overspeed (1) Working

Power voltage not switched
POWER green

RF green No controller enable signal Drive active
at terminal RF
Working
Unit locked because Drive ready-to-operate

Bb green fault present (display via
Working
different LED)

Current within acceptable range or short-circuit in amplifier,
BS red Working cable or motor (1)
Temperature within Equipment temperature

TÜ red acceptable range too high. Unit will shutdown

DiagTDM4alt
Figure 88: Diagnostics Display Servo Drive Module TDM4 with Serial Numbers below
SN 240062-...

Diagnostic Displays Servo Drive Modules KDS 1


ermitting
diode
+24V, green
Working
BLC 1 green
Rotor position
One or two light-emitting at low speed One or two LEDs lit up.
Malfunction:
BLC 2 green
The flashing appears to be a BLC 1, BLC 2, BLC 3
Malfunction: constant light at higher speeds. simultaneously lit up
BLC 1, BLC 2, BLC 3 with low speeds or stand still.
are simultaneously out. Faulty connection or fault
Faulty connction or fault in feedback cable.
BLC 3 green
in feedback cable.
Disconnect due to tacho

malfunction, faulty connection Tacho and BLC
Tacho green or cable disruption of the
feedback cable or motor Working
overspeed (1)

Power voltage not
POWER green

RF green No controller release Drive active
signal at terminal RF.
Working
Unit locked because fault Drive ready-to-operate

Bb green present (display via different
Working
LED).

Current within acceptable range or short-circuit in amplifier,
BS red Working cable or motor (1)

Temperature within acceptable Equipment temperature

TÜ red range too high. Drive will shutdown
in 30 seconds.
Working
DiagKDS1
Figure 89: Diagnostics Display Servo Drive Module KDS1

Diagnostic Displays Suply Modules TVM 1, TVM 2, KDV 1
Note: The messages are only valid if the "+24V, plus/minus15V"constantly lit up.
(1) Message and equipment lock are stored.
Re-set by pressing re-set key or switching back on.
Off Cont. light

Light-emitting diodes
Deceleration capabilities of Power off due to excessive

H3 Überspannung red drive within permissible range deceleration energy, excessive
OVERVOLTAGE mains voltage or defective
Working drive module (1)
Power voltage
H4 Leistung Ein
Power not switched
green on or disrupted
POWER ON Working
DiagTVM1/2KDV1
Figure 90: Diagnostics Display for Supply Modules TVM1, TVM2 and KDV1
Diagnostics Display for Supply Module KDV 2
Note: The messages are only valid if the "+24V, plus/minus15V" message is constantly lit up.
Off Cont. light

Bleeder Überlast Deceleration capabilities of drive

Power off due to excessive
within permissible range
BLEEDER red deceleration energy or fault in
supply module (1)
OVERLOAD Working
No ground leak Power off due to ground leak in

Erdschluß red
supply module, in drive module,
in cable or in motor (1)
EARTH CON. Working
Hilfsspannung Mains auxiliary voltage

green No mains auxiliary voltage
AUX. VOLT at terminals L1 ... L3 Working
Power voltage
Leistung o.k. green Power not switched
POWER o.k. on or disrupted Working
DiagKDV2
Figure 91: Diagnostics Display for Supply Module KDV2

Diagnostic Displays for Supply Module KDV 3
Off Cont. light

Controller voltage
+24V/±15V green Power off due to faulty controller
voltage Working
Mains auxiliary voltage

Hilfsspannung green No mains auxiliary voltage
AUX. VOLT at terminals L1 ... L3 Working
Power voltage
Leistung o.k. green Power not on or disrupted.
POWER o.k. Working
Current in power section within Power off due to overcurrent,

Überstrom red
permissible range short circuit in supply module,
in drive module,
OVERCURRENT Working in cable or in motor (1)
No ground leak Power off due to

Erdschluß red
ground leak in supply module,
in drive module,
EARTH CON. Working
in cable or in motor (1)
Equipment temperature
Übertemperatur red
Power off as unit temperature
too high (1)
TEMP. FAULT Working
Bleeder Überlast Deceleration capabilities of drive

within permissible range
BLEEDER red deceleration energy or fault in
supply module (1)
OVERLOAD Working
DiagKDV3
Figure 92: Diagnostics Display for Supply Module KDV3

Diagnostics Display on Supply Module KDV 4
(1) Message and equipment locked are stored.
Off Cont. light

Mains auxiliary voltage

H1 Hilfsspannung green No mains auxiliary voltage at
AUX. VOLT terminals L1 ... L3 Working
Controller voltage
Power off due to faulty controller
H2 +24V/±15V green
voltage Working
mains malfunction:
Mains
H3 Netzüberwachung green Phase missing,
no right rotational field
MAINS FAULT or mains voltage too low
Working
Power voltage
H4 Leistung o.k. green Power not switched on or
POWER o.k. disrupted Working
Bleeder Überlast Deceleration capabilities within

permissible range
H5 BLEEDER red braking energy or fault
in supply module (1)
OVERLOAD Working
Equipment temperature
H6 KK-Übertemperatur Power off as equipment
temperature to high (1)
TEMP. FAULT Working
Current within power section Power off due to overcurrent, short

H7 Überstrom
within permissible range circuit in supply module, in drive
red module, in cable or in motor (1)
OVERCURRENT Working
No ground leak Power off due ground leak in

H8 Erdschluß red
supply or drive module,
cable or motor (1)
EARTH CON. Working
DiagKDV4
Figure 93: Diagnostics Displays on Supply Module KDV4

Diagnostics Display on Supply Module TVD 1
(1) Message and equipment locked are stored.
Light-emitting Off Flashing Cont. light

diodes
Power voltage
H1B +24V/±15V Signal voltage
green disrupted Working
Supply module
H2B Bb1 CLOSED Malfunction in supply
and drives
green geschl. module or in drive (1)
are fault-free
No mains connection, Mains connection

H3B MAINS OK Phase missing
green Netzspg. or mains voltage
Working
to low
Mains contactor
Link circuit voltage
H4B POWER OK not switched on
green Leistung or disrupted,
Working
or rectifier disrupted.
Power on with existing

Current in power section short circuit in TVD, Power off due to
H1A OVERCURRENT within permissible in drive module,
overcurrent short circuit
red Überstrom range in TVD, drive module,
in cable cable or motor (1)
or in motor [5]
Deceleration capabilities
H2A OVERL. Deceleration capabilities Power off due to
red BLEEDER Überl. within permissible range.
of the drives may not be
increased
excessive deceleration
energy (1)
Equipment temperature Power off due to

H3A TEMP. FAULT Equipment temperature too high; power off excessive equipment
red KK-Übertemp. within permissible range. within 30 seconds temperature (1)
H4A OVERVOLTFUSE Voltage in power section

Overvoltage
has not exceeded its
red Übersp.sich. maximum value
fuse blown
DiagTVD1
Figure 94: Diagnostics Display on Supply Module TVD 1

10. Summary of Data
10. Summary of Data

10.1. Important Motor Data
MOTOR Rated Tacho Torque Continuous Continuous Motor

MAC speed constants constants torque current moment
not ventilated not ventilated ot inertia
ventilated ventilated
(1) (2) (3) (3)
nmax Cw Km M(dN) M(dN) I(dN) I(dN) J
-1 -1 2 -4
min V/1000min Nm/A Nm Nm A A kgm x10
021A-0-YS 10000 0.75 0.190 0.15 0.00 0.79 0.00 0.22

021B-0-WS 10000 0.75 0.190 0.3 0.00 1.60 0.00 0.31
025A-0-WS 10000 0.75 0.220 0.33(0.27) 1.54(1.26) 0.23

025B-0-ZS 10000 0.75 0.220 0.60(0.51) 2.80(2.38) 0.32
025C-0-QS 10000 0.75 0.230 0.90(0.75) 4.00(3.40) 0.41
041A-0-FS 6000 0.75 0.330 0.64(0.59) 2.00(1.80) 0.70

041B-0-BS 6000 0.75 0.310 1.35(1.26) 4.40(4.10) 1.30
041C-0-TS 6000 0.75 0.330 2.05(1.93) 6.30(5.90) 1.90
041A-0-IS 10000 0.75 0.200 0.64(0.59) 3.30(3.00) 0.70
041B-0-QS 10000 0.75 0.190 1.35(1.26) 7.30(6.80) 1.30
041C-0-LS 10000 0.75 0.200 2.05(1.93) 10.50(9.90) 1.90
063A-.-RS 6000 1.50 0.230 0.80 1.00 3.50 4.40 2.40

063B-.-JS 6000 1.50 0.260 1.50 1.70 5.80 6.60 3.20
063C-.-HS 6000 1.50 0.310 2.10 2.70 6.80 8.70 4.00
063D-.-FS 6000 1.50 0.320 2.70 3.50 8.40 11.00 4.80
063A-.-ES 3500 1.50 0.370 0.80 1.00 2.20 2.70 2.40
063B-.-GS 3500 1.50 0.420 1.50 1.70 3.60 4.00 3.20
063C-.-MS 3500 1.50 0.510 2.10 2.70 4.10 5.30 4.00
063D-.-JS 3500 1.50 0.530 2.70 3.50 5.10 6.60 4.80
071A-.-HS 2000 3.0 0.860 2.20 3.30 2.60 4.10 5.40

071B-.-FS 2000 3.0 0.880 4.40 6.60 5.00 7.90 9.90
071C-.-US 2000 3.0 0.900 6.60 9.90 7.30 11.8 12.90
071A-.-OS 3000 3.0 0.580 2.20 3.30 3.80 6.00 5.40
071B-.-TS 3000 3.0 0.600 4.40 6.60 7.30 11.7 9.90
071C-.-NS 3000 3.0 0.600 6.60 9.90 11.0 17.7 12.90
071A-.-ES 4000 1.50 0.440 2.20 3.30 5.00 7.90 5.40
071B-.-PS 4000 1.50 0.460 4.40 6.60 9.60 15.3 9.90
071C-.-JS 4000 1.50 0.430 6.60 9.90 15.3 24.8 12.90
071A-.-VS 6000 1.50 0.300 2.20 3.30 7.30 11.70 5.40
071B-.-KS 6000 1.50 0.310 4.40 6.60 14.20 22.30 9.90
071C-.-GS 6000 1.50 0.300 6.60 9.90 22.00 35.40 12.90
090A-.-ZD 2000 3.0 0.510 3.70 5.00 8.10 10.90 20.00

090B-.-PD 2000 3.0 0.670 7.20 10.50 11.90 17.40 36.00
090C-.-KD 2000 3.0 0.680 10.40 16.00 17.00 26.10 53.00
090A-.-RD 3000 3.0 0.340 3.50 5.00 11.40 16.30 20.00
090B-.-ND 3000 3.0 0.580 6.70 10.50 13.00 20.00 36.00
090B-.-JD 3000 3.0 0.410 6.70 10.50 18.20 28.50 36.00
090C-.-GD 3000 3.0 0.430 9.60 16.00 24.80 41.30 53.00
090C-.-ED 5000 1.5 0.310 10.00 16.00 35.00 52.00 53.00

10. Summary of Data

not ventilated not ventilated of inertia
(1) (2)
-1 -1 2 -4
092A-0-DD 4000 1.5 0.240 1.50 0.00 6.90 0.00 8.70

092B-0-QD 4000 1.5 0.280 3.00 0.00 11.90 0.00 16.00
093A-.-WS 2000 3.0 0.875 9.20 12.00 11.00 14.00 22.00

093B-.-OS 2000 3.0 0.831 14.50 20.00 18.00 25.00 29.00
093C-.-KS 2000 3.0 0.910 19.50 28.00 22.00 32.00 42.00
093A-.-PS 3000 3.0 0.620 9.20 12.00 15.00 20.00 22.00
093B-.-JS 3000 3.0 0.554 14.50 18.30 27.00 34.00 29.00
093C-.-FS 3000 3.0 0.579 19.50 28.00 35.00 50.00 42.00
093A-.-LS 4000 1.5 0.438 9.20 12.00 22.00 28.00 22.00
093B-.-GS 4000 1.5 0.388 14.50 20.00 38.00 53.00 29.00
093C-.-DS 4000 1.5 0.413 19.50 28.00 48.00 69.00 42.00
093A-.-HS 6000 1.5 0.292 9.20 9.80 32.00 34.00 22.00
093B-.-ES 6000 1.5 0.277 14.50 20.00 54.00 74.00 29.00
093C-.-CS 6000 1.5 0.331 19.50 28.00 60.00 87.00 42.00
095A-0-VS 3000 3.0 0.550 2.40 0.00 4.50 0.00 8.70

095B-0-AS 3000 3.0 0.500 4.50 0.00 9.20 0.00 13.60
095C-0-RS 3000 3.0 0.504 6.70 0.00 13.60 0.00 17.00
112A-.-ZD 1500 3.0 0.820 10.70 13.00 14.50 17.20 61.00

112B-.-PD 1500 3.0 0.910 18.20 29.00 21.00 33.00 120.00
112C-.-KD 1500 3.0 1.000 28.00 44.00 31.00 49.00 170.00
112D-.-HD 1500 3.0 1.010 38.00 57.00 42.00 63.00 230.00
112A-.-VD 2000 3.0 0.630 10.50 13.00 18.50 22.90 61.00
112B-.-LD 2000 3.0 0.740 17.50 29.00 26.30 43.50 120.00
112C-.-HD 2000 3.0 0.730 27.00 44.00 41.00 67.00 170.00
112D-.-FD 2000 3.0 0.760 38.00 57.00 56.00 83.00 230.00
112A-.-LD 3000 3.0 0.350 9.80 13.00 31.00 41.30 61.00
112B-.-GD 3000 3.0 0.430 16.00 29.00 41.00 75.00 120.00
112C-.-ED 3000 3.0 0.470 24.00 44.00 57.00 104.00 170.00
112D-.-ED 3000 3.0 0.620 35.00 57.00 63.00 102.00 230.00
112C-0-CD 5000 1.5 0.330 27.00 0.00 91.00 0.00 17.00
114A-0-ED 3000 3.0 0.400 4.20 0.00 11.70 0.00 35.00

114B-0-SD 3000 3.0 0.550 9.00 0.00 18.20 0.00 61.00
114C-0-MD 3000 3.0 0.580 13.00 0.00 24.90 0.00 87.00
114E-0-ND 3000 3.0 0.550 24.00 0.00 48.50 0.00 120.00
115A-.-HS 2000 3.0 0.882 28.00 42.00 32.50 48.80 123.00

115B-.-GS 2000 3.0 0.952 38.00 61.00 40.90 66.00 172.00
115C-.-ES 2000 3.0 0.880 47.00 75.00 55.00 87.00 222.00
115D-.-DS 2000 3.0 0.864 57.00 88.00 68.00 104.00 271.00
115A-.-FS 3000 3.0 0.588 28.00 42.00 48.80 73.20 123.00
115B-0-DS 3000 3.0 0.544 38.00 0.00 72.00 0.00 172.00
115C-0-CS 3000 3.0 0.528 47.00 0.00 91.00 0.00 222.00
115D-0-CS 3000 3.0 0.648 57.00 0.00 90.00 0.00 271.00

10. Summary of Data

not ventilated not ventilated of inertia
(1) (2)
-1 -1 2 -4
117A-0-PS 2000 3.0 0.775 6.50 0.00 8.60 0.00 30.00

117A-0-BS 3000 3.0 0.517 6.50 0.00 12.90 0.00 30.00
117A-0-TS 4000 1.5 0.351 6.50 0.00 19.00 0.00 30.00
117B-0-WS 2000 3.0 0.849 12.50 0.00 15.10 0.00 54.00
117B-0-OS 3000 3.0 0.554 12.50 0.00 23.10 0.00 54.00
117B-0-KS 4000 1.5 0.406 12.50 0.00 31.60 0.00 54.00
117C-0-QS 2000 3.0 0.886 18.00 0.00 21.00 0.00 78.00
117C-0-KS 3000 3.0 0.609 18.00 0.00 30.00 0.00 78.00
117C-0-HS 4000 1.5 0.443 18.00 0.00 41.70 0.00 78.00
117D-0-MS 2000 3.0 0.887 23.00 0.00 27.00 0.00 102.00
117D-0-HS 3000 3.0 0.591 23.00 0.00 40.00 0.00 102.00
117D-0-FS 4000 1.5 0.443 23.00 0.00 53.20 0.00 102.00
117E-0-JS 2000 3.0 0.922 28.00 0.00 31.10 0.00 126.00
117E-0-GS 3000 3.0 0.646 28.00 0.00 44.40 0.00 126.00
117E-0-ES 4000 1.5 0.461 28.00 0.00 62.20 0.00 126.00
117C-0-ES 6000 1.5 0.277 18.00 0.00 67.00 0.00 78.00
132B-1-ID 1000 3.0 1.293 58.00 82.00 45.00 63.60 140.00
160C-0-ED 2000 3.0 1.010 64.00 0.00 70.00 0.00 850.00

160D-0-ED 1500 3.0 1.360 84.00 0.00 69.00 0.00 1150.0
160E-0-ED 1200 3.0 1.750 104.00 0.00 66.00 0.00 1450.0
(1) The motor speed which can be implemented is dependent upon the servo drive and supply modules used.
(2) (2) For the precise calculation of the torque, the torque constant for motors
MAC 071, MAC 095, MAC 095, MAC 115 and MAC 117 should be multiplied by the reduction factor RF,
in accorrdance with the figure below.
(3) The values indicated in parentheses apply to motors with integrated brakes.
RF
1,0 (1/1)
0,9
0,8
(4/0,72)
0,7
1 2 3 4 I/I(dN)Current ratio
Figure 95: Summary of important data for MAC motors (additional motor data can be
found in the description „Application Data MAC XXX“).

Servo drive Current set-point Current actual value Minumum Corresponding
module for Terminal MA Terminal lactual, adjustable Programming Module MOD
unit type current Ired Without setpoint With set-point
potentiometer potentiometer
compensation compensation
10.2. Important Data
kMA Iist Imin

on the Servo Drive Module
V/ A V/ A A
TDM 1.2-030-300 0.050 - 15 MOD 1 MOD 2

TDM 1.2-050-300 0.050 15 „ „
TDM 1.2-100-300 0.050 - 15 „ „
TDM 1.2-030-300/ SO 100 0.250 - 3 „ „

TDM 1.2-050-300/ SO 100 0.150 - 5 „ „
TDM 1.2-100-300/ SO 100 0.075 - 10 „ „
10. Summary of Data

TDM 2.1-015-300 0.075 - 1.5 MOD 5 MOD 6
TDM 2.1-030-300 0.250 - 3 „ „
TDM 3.2-020-300 0.375 0.375 1 MOD 13 MOD 14

TDM 3.2-030-300 0.250 0.250 1.3 „ „
outlined in the data sheets in Chapter 12).

TDM 4.1-020-300 0.375 0.375 1 MOD 17 MOD 18
TDM 4.1-030-300 0.250 0.250 1.3 „ „
TDM 6.1-015-300 0.500 0.500 1 MOD 19 MOD 20

TDM 6.1-030-300 0.250 0.250 1.3 " "

TDM 7.1-015-300 0.500 0.500 1 MOD 21 MOD 22
TDM 7.1-030-300 0.250 0.250 1.3 " "
KDS 1.1-030-300 0.250 - 1.3 MOD 3 MOD 4

KDS 1.1-050-300 0.150 - 2 „ „
KDS 1.1-100-300 0.075 - 4 „ „
Figure 96: Summary of important data on the servo drive module (additional data
KDS 1.1-150-300 0.050 - 6 „ „
157
11. Equipment fuses for individual modular units
11. Equipment fuses

The fuse types are listed on the front plates with the exception of the fan
for individual modu- fuses which are listed on the fan plate located on the under side of the
lar units modular units.
(1) Microfuse size 5 X 20 mm
Module type Symbol Fuse type Designation
Suply module:
TVM...-220/380 F1 Siemens Neozed Power section fuse
25A/380V
F2 M10A/250E 24V controller voltage supply
F3 M6.3A/250E Module’s inherent supply
F4 M6.3A/250E „
F5 0.315A/250E Internal fan 220 V (only in TVM ...-W1-...)
TVM...-115/220 F1 Siemens Neozed Power section fuse
25A/380V
F3 M10A/250E Module’s inherent supply
F4 M10A/250E „
F5 0.630A/250E Internal fan 115 V (only in TVM ...-W1-...)
KDV 1...-220 F1 Siemens Neozed Power section fuse
100A/380V
F3 M6.3A/250E Module’s inherent supply
F4 M6.3A/250E „
F5 0.630A/250E Internal fan 220 V (only in KDV...-W1-...)
KDV1...-115 F1 Siemens Neozed Power section fuse
25A/380V
F3 M10A/250E Module’s inherent supply
F4 M10A/250E „
F5 1.25A/250E Internal fan 115 V (only in KDV...-W1-...)
TBM.../220 F5 0.315A/250E Internal fan 220 V
TBM.../115 F5 0.630A/250E Internal fan 115 V
KDV 2, KDV 3, F2 M2A/250E 24V controller voltage supply
F3 T10A/250E Module’s inherent supply
F4 T10A/250E „
F7 T10A/250E Internal fan 220 V
F8 T10A/250E „
TVD none
External fan for cold-running technology:

LE...-220 F6 0.630A/250E Externally mounted fan
Servo drive module:

TDM...-W1-220 F5 0.315A/250E Internal fan 220 V (only in TDM...-W1-...)
TDM...-W1-115 F5 0.630A/250E Internal fan 115 V (only in TDM...-W1-...)
KDS...-W1-220 F5 0.630A/250E Internal fan 220 V (only in KDS...-W1-...)
KDS...-W1-115 F5 1.25A/250E Internal fan 115 V (only in KDS...-W1-...)
External fan for cold-running technology:

Figure 97: Fuses for individual modular units

12. Technical Data of the Servo Drive Modules
12. Technical Data

of the Servo Drive
Modules
Values in [ ] apply to new modules with serial numbers starting from SN
Technical Data TDM1 234 ...
TDM1.2-030-300-W0
TDM1.2-030-300-W1
TDM1.2-050-300-W1
TDM1.2-100-300-W1
Designation Symbol Unit
Cooling natural forced

convection ventilation
Current I(type) (A) 30 30 50 100
Peak current I(peak) (A) 30 30 50 100
Continuous current I(cont) (A) 25 30 45 65
Link circuit d.c. voltage U(DC) (V) 300 (± 15%)
Power P(cont) (kW) 9 9 15 30
Power loss with I(cont) P(v) (W) 160 190 250 400
Weight m (kg) 9 10 10 10,5
Current consumption of signal

processing (without external load)
+ 24V Load voltage I(+UL) (mA) 750 [250] 750 [350] 950 [350] 1450 [400]
+ 15V Measuring voltage I(+UM) (mA) 140
- 15V Measuring voltage I(-UM) (mA) 60
Current capacitance of the voltages at

terminal X5 for external consumption
Unit fan connection

Supply voltage U (V) 220 or 115
Frequency f (Hz) 50 … 60 Hz
Power consumption P (VA) without 30
Operating conditions
permissible ambient temperature
range with rated data (°Centigrade) +5 … +45
maximum permissible ambient
temperature with reduced rated data (°Centigrade) 55
Storage and transport temperatures (°Centigrade) -30 … +85
Mounting altitude without reduction
of rated data max. 1000m above NN
Permissible humidity acc. to humidity F in acc. with DIN 40 040
classification
Insulation category C in acc. with DIN VDE 0110
Type of protection IP 10 acc. to DIN 40 050
Figure 98: Technical Data of Servo Drive Module TDM1

Technical Data TDM 2 Values in [ ] apply to new modules with serial numbers starting from SN 234
…
TDM2.1-015-300-W0
TDM2.1-030-300-W0
TDM2.1-030-300-W1
Type of cooling natural forced

Current I(type) (A) 15 30 30
Peak current I(peak) (A) 15 30 30
Continuous current I(cont) (A) 15 25 30
Power P(cont) (kW) 4,5 9 9
Power loss with I(cont) P(v) (W) 110 160 190
Weight m (kg) 9 10

+ 24V Load voltage I(+UL) (mA) 750 [350]



Fan connection
Frequency f (Hz) 50 - 60 Hz
Power consumption P (VA) without 30
range with rated data (°Celsius) +5 ... +45
maximum permissible ambient
temperature with reduced rated data (°Celsius) 55
Storage and transport temperatures (°Celsius) -30 ... +85
Permissible humidity acc. to humidity F in acc. with DIN 40 040
classification

Technical Data TDM 3
Designation Symbol Unit TDM3.2-020-300-W0 TDM3.2-030-300-W11)
Type of cooling natural convection forced ventilation
Power section
Current I(type) (A) 20 30
Peak current I(peak) (A) 20 30
Continuous current I(cont) (A) 15 25
Link circuit d.c. voltage U(DC) (V) 300 (± 15%) 300 (± 15%)
Power P(cont) (kW) 6 9
Power loss with I(cont) P(v) (W) 110 175
Weight m (kg) 8 8
Current consumption of signal processing

(without external load)
+ 24V Load voltage I(+UL) (mA) 400 8002)
+ 15V Measuring voltage I(+UM) (mA) 120 125
- 15V Measuring voltage I(-UM) (mA) 50 55

+ 24V Load voltage I(+UL) (mA) 50
maximum permissible ambient temperature

with reduced rated data (°Celsius) 55

Permissible humidity acc. to humidity classification F in acc. with DIN 40 040
1) Servo drive module TDM 3.2-030-300-W1 can only be operated with one fan unit.
2) Current consumption equals 800 mA when the 24V direct current fan unit LE5-024 is connected to the +24V of the servo drive
module. Current consumption is reduced to 650 mA, if fan units LE5-220 or LE5-115 are used.
Technical Data: fan unit for forced ventilation in TDM 3.2-030-300-W1
Obsolete modules
Designation Symbol Unit LE5-024-.. LE5-220-.. LE-115-..
Supply voltage U (V) DC24(-10%/+20%) AC220(±10%) AC115(±10%)

Frequency f (Hz) - 50 ... 60 50 ... 60
Power consumption P 3,6 W 20 VA 20VA
Weight m (kg) 1 1,17 1,17
Figure 100: Technical Data of Servo Drive Module TDM 3

Power section
Type power P(cont) (kW) 6 9
Weight m (kg) 8 8

+ 24V Load voltage I(+UL) (mA) 400 8002)

permissible ambient temperature range
with rated data (°Celsius) +5 ... +45
maximum permissible ambient temperature


1) Servo drive module TDM 4.1-030-300-W1 can only be operated with a fan unit.
2) Current consumption is 800 mA when the 24V direct current fan unit LE5-024 is connected to the +24V of the servo drive module.
Current consumption is reduced to 650 mA, if fan units LE5-220 or LE5-115 are used.
Technical data: fan unit for forced ventilation in TDM 4.1-030-300-W1
Obsolete modules

Frequency f (Hz) - 50 ... 60 50 ... 60
Weight m (kg) 1 1,17 1,17

Power section
Power P(cont) (kW) 4,5 9
Weight m (kg) 6,5 6,5

+ 24V Load voltage I(+UL) (mA) 250 250
Current capacitance of the voltages

at terminal X43 for external consumption
Permissible ambient temperature range
Maximum permissible ambient temperature
Mounting height without reduction of

rated data max. 1000m above NN
1) Servo drive module TDM 6.1-030-300-W1 can only be operated with one fan unit.
Obsolete modules

Frequency f (Hz) - 50 ... 60 50 ... 60
Weight m (kg) 1 1,17 1,17

Power section
Intermediate circuit d.c. voltage U(DC) (V) 300 (± 10%) 300 (± 10%)
Type power P(cont) (kW) 4,5 9
Weight m (kg) 6,5 6,5

+ 24V Load voltage I(+UL) (mA) 250 250
Current capacitance of the voltages

at terminal X43 for external consumption
Permissible ambient temperature
Maximum permissible ambient temperature
Mounting height without reduction
1) Servo drive module TDM 7.1-030-300-W1 can only be operated with a fan unit.
Obsolete modules

Frequency f (Hz) - 50 ... 60 50 ... 60
Weight m (kg) 1 1,17 1,17

Technical Data KDS 1
KDS1.1-100-300-W1
KDS1.1-150-300-W1
KDS1.1-030-300-W0
KDS1.1-050-300-W0
KDS1.1-100-300-W0
KDS1.1-50-300-W1
Type of cooling Natural Forced

Current I(type) (A) 30 50 100 50 100 150
Peak current I(peak) (A) 30 50 100 50 100 150
Continuous current I(cont) (A) 25 35 45 50 93 96
Power P(cont) (kW) 9 15 30 15 30 45
Power loss with internal P(v-int) (W) 60 70 90 85 150 160
with I(cont)
Power loss external P(v-ext) (W) 130 150 200 220 400 430
Weight of drive module m (kg) 14,1 14,1 15,2 14,4 15,2 15,4
Weight of mechanical assembly set M1-KD m (kg) 1,7
Weight of fan unit m (kg) without LE4 4,2
+ 24V Load voltage I(+UL) (mA) 750 950 1450 950 1450 1950


Maximum permissible ambient
temperature with reduced rated data (°Celsius) 55
Permissible humidity according F in acc. with DIN 40 040
to humidity classification
Figure 104: Technical Data of Servo Drive Module KDS1

Technical Data TVM 1
Designation Symbol Unit TVM1. not ventilated TVM1. ventilated

Current I(type) (A) 50
Peak current (300ms) I(peak) (A) 150
Nominal input voltage U(ACN) (V) 220 (± 15%)

Power P(typ) (kW) 15 15
Maximum power loss P(v) (W) 400 550
Bleeder peak power P(peak) (kW) 10 10

Bleeder continuous power P(cont) (W) 300 450
Maximum feedback energy W (kWs) 14 14
Weight m (kg) 14,3 15
Controller voltage output

+ 24V Load voltage U(L) (V) 24 ... 30
+ 24VL Continuous current I(UL) (A) 4
+ 24VL Standing wave ratio (%) 10

± 15V Measuring voltage U(M) (V) 14,9 ... 15,1
+ 15VM Continuous current I(+UM) (A) 0,85
- 15VM Continuous current I(-UM) (A) 0,85

± 15VM Standing wave ratio (%) 2
Auxiliary voltage
Input alternating-current voltage U(AC) (V) 220/380 or 115/220
Frequency f (Hz) 50 ... 60

Voltage tolerance (%) +15 ... -10
Supply for unit ventilation

Supply voltage U (V) dropped 220 oder 115
Frequency f (Hz) dropped 50 ... 60

Power consumption P (W) dropped 30
Conditions of Operation
Max. perm. ambient temperature
Assembly altitude without reduction

Perm. humidity acc. to humidity classification F in acc. with DIN 40040

Insulation category C in acc. with DIN 570110
Type of protection IP 10 acc. to DIN 40050
Figure 105: Technical data of supply module TVM1

Technical Data TVM 2
Designation Symbol Unit TVM 2.1-... TVM 2.2-....

Link circuit direct current voltage U(DC) (V) 300 (± 15%)

Type power P(typ) (kW) 15
Maximum power loss P(v) (W) 580
Bleeder peak power P(peak) (kW) 10

Bleeder continuous power P(cont) (W) 450
Maximum feedback energy W (kWs) 14
Weight m (kg) 15


+ 15VM Continuous current I(+UM) (A) 0,9 1,3

± 15VM Standing wave ratio (%) 2
Supply for controller voltage

Input alternating-current voltage U(AC) (V) 220/380 or 115/220

Power consumption P (W) 30

Figure 106: Technical data of supply module TVM2

Technical Data KDV 1.3
Designation Symbol Unit KDV 1.3-100-220/300-...


Type power P(typ) (kW) max. 30

Power loss inside
of control cabinet P(v) (W) 150
Power loss outside
of control cabinet P(v) (W) max. 2000
Bleeder continuous power P(cont) (kW) 2

KDV Weight m (kg) 21
Weight of mechanical mounting accessories m (kg) 1,7
Weight of bleeder protective shell m (kg) 1,7

Weight of fan unit LE3 m (kg) 2,5

± 15V Measuring voltage U(M) (V) 14,9 - 15,1

± 15VM Standing wave ratio (%) 0,1

Supply for controller voltage
Input voltage U(AC) (V) 220/380 or 220/115 (+15 ... -10)%

Power consumption auxiliary voltage P (VA) 500
Supply voltage U(AC) (V) 220 or 115 (+15 ... -10)%

Power consumption P (VA) 15
Assembly height without reduction
Figure 107: Technical data of supply module KDV1

Designation Symbol Unit KDV 2.2-100-220/300-220


Type power P(typ) (kW) max. 30

Power loss inside of
control cabinet P(v) (W) 150
Power loss outside of
control cabinet P(v) (W) max. 2000
Bleeder continuous power P(cont) (kW) 2 (shutdown occurs at 2.5kW)

Weight of bleeder protective shell m (kg) 1,7



+ 15VM Continuous current I(+UM) (A) 2

- 15VM Continuous current I(-UM) (A) 2
Auxiliary voltage and fan supply
Input voltage U(AC) (V) 220


Power consumption fan supply P (VA) 1000
Conditions of operation



Type of protection IP 10 ac. to DIN 40050

Designation Symbol Unit KDV 3.1-100-220/300-220

Power section
Type current I(type) (A) 100
Nominal input voltage U(ACN) (V) 3 x 220 (± 10%) 50 ... 60 Hz
Feed-in continuous power P(cont) (kW) 30 (with additional capacity 4 mF)
22 (with additional capacity 2 mF)
14 (without additional capacity)
Feed-in peak power P(peak) (kW) 48
Feedback continuous power P(RD) (kW) 20 (with additional capacity 2 mF)
Feedback peak power P(RS) (kW) 40
Bleeder continuous power P(BD) (W) 0
Bleeder peak power P(BM) (kW) 40
Maximum feedback energy
with power off W (kWs) 100
Power loss inside
Power loss outside

+ 24VL Continuous current I(UL) (A) 11,5

Input voltage U(AC) (V) 220 (±10%)
Max. power consumption of fan supply P (VA) 1000
Isulation category C in acc. with DIN 570110

Designation Symbol Unit KDV 4.1-30-3

Input power section
Nominal input voltage U(ACN) (V) 3 x 380 ... 460 (± 10%) 50 ... 60 Hz
Output power section

Link circuit continuous power P(cont) (kW) 30 (with additional capacity 4 mF)
22 (with additional capacity 2 mF)
Link circuit peak power P(peak) (kW) 48
Feedback continuous power P(RD) (kW) 20 (with additional capacity 2 mF)
Feedback peak power P(RS) (kW) 40
Bleeder continuous power P(BD) (W) 0
Bleeder peak power P(BM) (kW) 40
Maximum feedback energy
with power off W (kWs) 100
Power loss inside
Power loss outside



Input voltage U(AC) (V) 220 (±10%)
Max. power consumption of fan supply P (VA) 1000



Technical Data TVD 1
Designation Symbol Unit TVD 1.2-15-3 TVD 1.2-08-3
Power section
Input voltage U(ACN) (V) 3 x 380 ... 460 (± 10%)
Frequency f(N) (Hz) 50 ...60
Link circuit continuous power P(DC) (kW) 15 7,5
Link circuit peak power P(KB-03) (kW) 45 22,5
Bleeder continuous power P(BD) (kW) 1 0,5
Bleeder peak power P(BM) (kW) 40 20
Maximum feedback energy W(max) (kWs) 60 30
Power loss with unit
at maximum load P(v) (W) 330 180
Weight m (kg) 11,2 10,5

Input voltage U(AC) (V) 3 x 380 ... 460 (±10%)
Frequency f(N) (Hz) 50 ... 60
Power consumption S(el) (VA) 300

with rated data T(um) (°C) +5 ... +45
with reduced rated data T(umr) (°C) 55
Storage and transport temperatures T(L) (°C) -30 ... +85
Perm. humidity acc. to humidity classification F in acc. with DIN 40 040
Insulation category C in acc. with DIN 570 110
Figure 111: Technical data of supply module TVD1

13. Type Designation of Drive Components (Type Codes)
13. Type Designation

of Drive Compo-
nents (Type Codes)

MAC Servo-Motor
1 2 3 4
Abbrev.
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example M A C 1 1 2 A - 0 - L D - 4 - C / 1 3 0 - A - 0 / W I 5 2 0 L V / S 0 0 5
1. Term
1.1 MAC . . . . . . . = MAC
2. Motor model
2.1 112 . . . . . . . . . . . . . . . . = 112
3. Model length
3.1 Baulängen . . . . . . . . . = A, B, C, D
4. Cooling method
4.1 natural convection . . . . . . . . . . . . =0
4.2 surface ventilated blowing axially,
AC 220V, Standard . . . . . . . . . . . . . . = 1 1
4.3 surface ventilated blowing axially,
AC 115V, Standard . . . . . . . . . . . . . . = 2 1
4.4 surface ventilated radial, AC 220V, fan right = 6
4.5 surface ventilated radial, AC 220V, fan below = 7
4.6 surface ventilated radial, AC 220V, fan left =8
4.7 surface ventilated radial, AC 115V, fan right = A
4.8 surface ventilated radial, AC 115V, fan below = B
4.9 surface ventilated radial, AC 115V, fan left =C
5. Winding model
Standard application Applic. with increased
synchr. quality 2
Rated speed / min-1
1500 2000 3000 6000 1500 2000 3000
5.1 MAC112A ZD VD LD - ZG VG LG
5.2 MAC112B PD LD GD - PG LG GG
5.3 MAC112C KD HD ED CD KG HG EG
5.4 MAC112D HD FD ED - HG FG EG
6. Feedback
Incremental encoder feedback . .. . . . . . . . . . . . . . .. . = 1-B
Tacho voltage Tacho voltage Tacho
Model see Techn. Data see Techn. Data volt
Standard increased Standard increased 6V/
synchroniz. synchroniz. 1000 min-1
Tacho feedback 2-C 2-F 2HC 2HF 2LF
Tacho feedback and
B-side shaft end 3-C 3-F 3HC 3HF 3LF
Tacho feedback with
encoder construction 4-C 4-F 4HC 4HF 4LF
7. Centering diameter
7.1 for model B05 and B14 . . . . . . . . . . . . . . . . . . . . . . . . . . = 130
7.2 for model B05 and B14 . . . . . . . . . . . . . . . . . . . . . . . . . . = 180
8. Mounting position of power plug

8.1 Power plug on side A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . =A
8.2 Power plug on side B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . =B
8.3 Power plug on left (view from front on to output shaft) . . . . . . . . . . . =L aTypenschlMAC112
8.4 Power plug on right (view from front on to output shaft)) . . . . . . . . . =R (aus INN 06.01-T10K-07/112)
Figure 112: Type Key for MAC Servo-Motor

1 2 3 4
Abbrev.
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: M A C 1 1 2 A - 0 - L D - 4 - C / 1 3 0 - A - 0 / W I 5 2 0 L V / S 0 0 5
9. Blocking brakes
9.1 without blocking brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 0
9.2 with standard blocking brakes (14 Nm) . . . . . . . . . . . . . . . . . . . . . . . . . . = 1
9.3 with reinforced blocking brakes (40 Nm) . . . . . . . . . . . . . . . . . . . . . . . . . = 2 3
9.4 with additionally reinforced blocking brakes (60 Nm) . . . . . . . . . . . . . . . = 3 3
10. Mounting arrangement 4

10.1 Standard mounting arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = - I
10.2 Shock-damped mounting arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = DI
11. Number of cycles per revolution 4

11.1 Available design see drawing no.: 9.552.121.4-XX
10. Type of position feedback 4

10.1 Incremental encoder with standard mounting . . . . . . . . . . . . . . . . . . . . . . . . . = WI
10.2 Incremental encoder with shock-damped mounting . . . . . . . . . . . . . . . . . . . . = DI
10.3 Absolute value encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = AM
10.4 Attachment set for position feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = WA
10.5 Resolver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = WR
10.6 Resolver with gear unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = GR
11. Position feedback identification 4

11.1 For available models see separate encoder documentation.
12. Custom Designs

Determined by INDRAMAT and documented with a special code number.
This field is dropped with standard motors.
12.1 E.g. S005 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S005
Comments:
1 Axial surface ventilation cannot be supplied with feedback model "3...";
2 Can only be delivered with feedback model "...F";
3 Cannot be delivered with "MAC112A..."; bTypenschlMAC112
(aus INN 06.01-T10K-07/112)
4 These fields do not apply to feedback models "2..." and "3...";

Servo-Drive Module
(Amplifier)
Short text 1 2 3 4
column 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: T D M 1 . 2 - 0 5 0 - 3 0 0 - W1 - 1 1 5 / S 1 0 0
1. Term
1.1 TDM . . . . . . . . = TDM
2. Series
2.1 1 . . . . . . . . . . . . . . . . . . . = 1
3. Model
3.1 2 . . . . . . . . . . . . . . . . . . . . . . . . = 2
4. Type current
4.1 30 A . . . . . . . . . . . . . . . . . . . . . . . . = 030
4.2 50 A . . . . . . . . . . . . . . . . . . . . . . . . = 050
4.3 100 A . . . . . . . . . . . . . . . . . . . . . . . . = 100
5. Link circuit rated voltage

5.1 DC 300 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 300
6. Cooling
6.1 By means of natural convection (only with unit 30A) . . = W0
6.2 By means of built-in fan . . . . . . . . . . . . . . . . . . . . . . . . = W1
7. Rated connection voltage for built-in fan

7.1 Can be generated within unit . . . . . . . . . . . . . . . . . . . . . . . . . . . = 000
7.2 AC 115 V, 50...60 Hz . . .(Obsolete models) . . . . . . . . . . . . . . . . = 115
7.3 AC 220 V, 50...60 Hz . . .(Obsolete models) . . . . . . . . . . . . . . . . = 220
7.4 Is dropped with natural convection . . . . . . . . . . . . . . . . . . . . . . = ∆∆∆
8. Custom Designs
Determined by INDRAMAT and documented with a special code number.
This field is dropped with standard units.
8.1 E.g.: S100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S100
Commands: ∆ = Vacancy; TypenschlTDM12

(aus INN 07.03-T01K-02/TDM)
Figure113: Type codes for servo-drive module TDM

Servo-Drive Module in
Cold-Running Technology
(Amplifier)
1 2 3 4
Abbrev.
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: K D S 1 . 1 - 0 5 0 - 3 0 0 - W1 - 1 1 5 / S 1 0 2
1. Term
1.1 KDS . . . . . . . . = KDS
2. Series
2.1 1 . . . . . . . . . . . . . . . . . . . = 1
3. Model
3.1 1 . . . . . . . . . . . . . . . . . . . . . . . . = 1
4. Type current
4.1 30 A . . . . . . . . . . . . . . . . . . . . . . . . = 030
4.2 50 A . . . . . . . . . . . . . . . . . . . . . . . . = 050
4.3 100 A . . . . . . . . . . . . . . . . . . . . . . . . = 100
4.4 150 A . . . . . . . . . . . . . . . . . . . . . . . . = 150
5. Link circuit ratedvoltage

5.1 DC 300 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 300
6. Cooling
6.1 By means of natural convection (only up to unit 100A) . = W0
6.2 By means of mounted fan (external fan unit "LE4") . . . . = W1
7. Rated connection voltage for mounted fan

7.1 AC 115 V, 50...60 Hz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 115
7.2 AC 220 V, 50...60 Hz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 220
8. Custom Design
Determined by INDRAMAT and documented with a special code number
This field is dropped with standard units.
TypenschlKDS
8.1 E.g.: S102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S102 (aus INN 07.08-T01K-02/KDS)
Figure114: Type codes for KDS servo-drive module

Programming Module
Abbrev. 1 2 3 4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 . . . 0
Example M O D 0 1 / 1 X 0 0 0 5 - 0 0 1
1. Term
1.1 MOD . . . . . . . . . . . . . . . . . . . . . . = MOD
2. Controller
2.1 TDM 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 01
2.2 TDM 1 with potentiometer at set-point = 02
2.3 KDS 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 03
2.4 KDS 1 with potentiometer at set-point = 04
2.5 TDM 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 05
2.7 TWM 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .= 07
2.8 KDW 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .= 09
2.9 TDM 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 13
2.11 DSC 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 15
2.12 DSC 3 with potentiometer at set-point = 16
2.13 TDM 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 17
2.15 TDM 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 19
2.17 TDM 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 21
2.19 ABD 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 23
2.20 ABD 2 with potentiometer at set-point = 24
3. Feedback unit on motor

3.1 INDRAMAT incremental encoder . . . . . . . . . . . . . . = 0
3.2 Tacho feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . = 1
3.3 Independent of the feedback unit
(only with slave and current interface modules) . . = •
4. Motor ventilation method

4.1 Natural convection . . . . . . . . . . . . . . . . . . . . . . . . . . = 0
4.2 Surface ventilation . . . . . . . . . . . . . . . . . . . . . . . . . . = 1
4.3 Suitable for both types of ventilation . . . . . . . . . . . . . = X
5. Code digit motor-controller combination

Determined and documented by INDRAMAT
5.1 E.g.: 0005 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 0005
6. Code digit input rating

Determined and documented by INDRAMAT
TypenschlMOD
6.1 E.g.: 001 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 001 (aus INN 07.50-T02K-02/MOD)
Figure 115: Type Code for Programming Module MOD

14. Summary of Norms
14. Summary of the

most important
standards for
INDRAMAT drive
components
Status: 02.93
Germany Europe International Defines

DIN VDE-Norm EN-Norm IEC-Norm
DIN VDE 0160 Electronic resources such as:

- Supply module (TVM, KDV, TVD),
- Drive controllers (TDM, KDS, KDA, DDS)
- Compact controllers (DSC, RAC)
- Motor feedback electronics, Geber
DIN VDE 0530 EN 60034 IEC 34-1 Motors (MAC, 2AD, 1MB, MDD)
DIN VDE 0532 IEC 76-1 Transformers, Impedance coils

IEC 14 (CO)75 (DST, DTT, DLT, GLD)
DIN VDE 0250 Cable, insulated leads

DIN VDE 0471
DIN VDE 0289
DIN VDE 0113 EN 60204-1 IEC 204-1,
IEC 550
DIN VDE 0627 Plug connections
DIN VDE 0113 EN 60204-1 IEC 204-1 Complete drive systems

IEC 550
DIN VDE 0558 IEC 22B (CO) 50 Semi-conductor rectifier

- Supply module (TVM, KDV; TVD),
- Drive controllers (TDM, KDS; KDA; DDS)
- Compact controllers (DSC, RAC)
DIN VDE 0550 Small transformers
DIN VDE 0302 IEC 505 Insulation, insulating systems
DIN VDE 0110 IEC 664 Insulation coordination, air and

leakage paths of all equipment
DIN VDE 0100 IEC 64 Construction of power plants below

1000 volts
DIN VDE 0105 IEC 64 Power plant operation
DIN VDE 0106 IEC 64 Protection categories, dangerous body currents

15. List of key words
15. List of key words A

Acceleration times 117
Action to be taken 138
adaptor board AP 9 77
adjustment 119
air ducts 100
ambient air 100
ambient temperature 63, 136
application-specific functions 11
Applications 11
arrangement of modular units 54
AUX. VOLT 127
auxiliary mains power 127
B
basic torque 117
Bb contact 121, 122, 136
Bb1 CLOSED 131
Bb1 contact 119, 121
BLC 1 133
BLC 2 133
BLC 3 133
BLC signals 134
BLEEDER OVERLOAD 129
Blocking brake 108
brake 108
BS 137
bus cable 76
Bus connection X1 91
Bus connections X1 104
BVW contact 123
C
cable screens 78
cable shield 80
cable X1.1 121
Check 102
checking 99
cing device 64
Circuit diagram MOD 1 43
Clearing a Fault 125
cold-running technology 62
Commissioning 96
commissioning 101
Connecting plan 82
connection 76
Connection accessories 76
connection plan 84
Control cabinet internal temperature 129
control cabinets 100
Control circuit signal 17
Control voltage 132
control voltage 108, 126
controller enable 112
controller enabling signal 52
Controller release 136
controller voltage 111
cross-sections 103
current 117

D
Data on the Servo Drive Module 157
Deceleration energy 128
dew 100
diagnostic 108
Diagnostic displays 125
Diagnostics 119, 138
differential input 18
Dimensions sheet 64
direction of rotation 19
discharge time 110
disruptive reflections 79
Drift compensation 20, 113
Drive Configuration 115
E
EARTH CON 129
Earthing Connections 81
electrical connecting accessories 55
electrostatic loads 99
eliminate faults 119
emergency off situations 109
emergency-off button 111
Emergency-Off Functions 109
emergency-off options 101
emergency-off switch 97
Emergency-stop function 23
enable signal 108
enabling signal 52
encoder 80
environmental influences 99
Equipment fuses 158
Equipment Replacement 140
Excess current 130
F
fault 125
fault causes 125
Fault messages 121
Fault-Finding 119
fault-finding 121
Faults 121
feedback cable 94
Feedback Energy 118
filters 100
flush mounting equipment 54
front view 55
G
gasket 62
Ground leak 130
ground leak 137
Grounding 104
H
heatsink 62
high-frequency equipment 81, 98

High-voltage checks 99
HSM contact 124
Humidity 99
I
immunity to interference 77
Impure air 100
Input weighting 37
input weightings 114
inputs/outputs 52
Inside temperature of control cabinet 131, 136
Instability 116
interface signals 121
interference 80
Ired input 22
K
K1NC contact 124
K1NO contact 124
L
line connection X1 54
Line cross-section 76
link circuit busbars 110
link circuit short circuit 109
link circuit voltage 110
low voltages 99
M
MAC servo motor 17
mains power 127
mains auxiliary voltage 132
mains auxilliary voltage 102
MAINS FAULT 127
mains power 125
mains voltage 135
master switch 98, 109
master-slave drive 23, 26, 112
Maximum cable length 77
measures 125
mechanical brake 119
mechanics 116
minimum clearance 64
motor brake 77
motor cable 131
motor current 117
Motor Data 154
motor feedback cable 133
Motor feedback cables 79
Motor power cable 77
motor power cable 92
motor temperature 77
motor thermostat contact 77
motor type 37
mounting altitude 63
mounting dimensions 64
mounting frame 62
N
NC 113, 118, 121

NC operation 112
NCB bridge 121
NH contact 124
O
oscillations 116
OVERCURRENT 130
OVERVOLT FUSE 128
OVERVOLTAGE 128
P
Plug connection 92
plug-in terminal X1 119
plug-in terminals 80
position control loop 114
Position return 80
position-control loop 101, 115
Power or PWR 135
Power Reduction 63
power wiring 103
Power-Up Sequence 106
Preferred arrangement of modular units 54
problem 119
programming module 18, 37, 39
programming module MOD 116
Protecting the machine 101
Protection 97
Protection of Equipment and Machinery 98
Protection of Personnel 54
prototype commissioning 112, 115
purpose of service 98
R
radio 98
Radio Equipment 81
Radio Interference Suppression 82
rated speed of the motor 53
Rating plate 39
rating plate 37, 102, 117
rating plate details 37
Rating plate of MAC motor 41
Rating plate of servo drive module 41
ready to operate 136
ready-made cable 77, 79
ready-to-operate 119
reduced motor current 22
Reduction 63
refrigerfators 100
Repair Card 141
replacing programming module MOD 102
resonance vibrations 115
Reversing the direction of rotation 20
RF 136
right rotational field 126
Rotor position signals 133
S
safety guidelines 54
Safety of Personnel 96
servo applications 11

set-point encoder 111

Set-point smoothing 19
set-point smoothing 37, 114
Shielding 104
Short-circuit 130, 137
shut down 122
Signal lines 80
slave drive 23, 112
Smoothing 19
smoothing 37
soaring of the mechanics 112
sources of interference 81
Speed 15
Speed-controlled drive 18
stability 115
standards 179
Stopping 113
summing input 18
supply module 15, 102, 104
suppress interference 81
switching on 98
T
Tacho 133
Tacho voltage 53
tandem drive 23
Technical Data 159
TEMP. FAULT 131
temperature 64
temperature of the control cabinet 99
Temperature pre-warning 136
Terminal Strip 138
terminal strip 80
thermostat contact 77
tools 98
Torque 15, 117
torque 20, 53
Torque reduction 22
TS 136
TÜ 137
TÜ contact 122
TVW contact 123
Type Designation 173
type designations 102
type of servo drive 37
U
UD contact 123
V
Ventilation requirements 104
W
weight compensation 117
Weighting kMA 53
wiring diagrams 82
Z
zero drift 20
zero speed set-point 114

Printed in Germany
256496
Rexroth
Indramat

Mac Servodrives Applications Manual Indramat

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LSA Control S.L. - Bosch Rexroth Sales Partner

MAC Servo Drives

LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01

Title: MAC servo drives

Document No.: 120-0001-B301-02

Date: Sept. 1999

Replacement for: 9.552.268.4-01

This documentation is used for:

Copyright: „Unless expressly agreed, transmission and reproduction of this docu-

We reserve the right to make changes to the contents of the document

Documentation overview: „MAC servo drives“

CNC systems CNC systems MAC

and AC drives and MAC MAC maintenance-free

AC servo drives for

MAC 63 MAC 115

MAC 71 MAC 117

MAC 90 MAC132B Cable doc.:

You have this documentation SP

Fig.: Documentation overview: „MAC servo drives“

4 TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 •

LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01

(motor design, assembly)

MAC servomotors with position feedback units,

Starting interlock Starting interlock function

• TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 5

LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01

1. Mode of operation of the MAC drive 11

2. Functions for the user 18

3. Handling the MOD programming module 37

5. Connections and installation 54

• TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 7

5.3.8Signal cables ............................................................................. 80

7. Troubleshooting and diagnostics 119

8. Notes on equipment replacement 140

9. Summary of diagnostic displays on modules 142

8 TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 •

LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01

10. Summary of data 154

11. Equipment fuses in the individual modules 158

12. Technical data of servo drive modules 159

13. Type designations of drive components (type codes) 173

15. List of key words 180

• TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 9

LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01

It is usually operated as a variable-speed drive in the position control loop

The MAC servo drive has the following application-specific functions:

• TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 11

Mains feeder (ribbon cable) (L)

MOD plug-in programming

GLD (*L) smoothing choke Fan assembly

TDM and KDS • 9.552.268.4-01 • 18. Januar 1994 •

LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01

Controller enable Ready Controller enable Ready

Power control Power control

Power supply module Servo drive module Servo drive module

Feed motor 1 Feed motor 2

Fig. 2: modular construction

The three-phase servo drive system consists of

The power supply module is able to supply several different types of