MCS Equipment General Description

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Doc. Code:	3151_MCS_0004
Editor:	AO, PLG
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Introduction

This document describes the characteristics of the hardware used in the Main Control System (MCS).

Technical description of the hardware used in the MCS

This chapter briefly describes the components followed by a table with its main characteristics. Components are organized by function: distributed I/O, heaters, switches…

Switches

Ethernet Switch: CISCO IE-3000 8TC

The Cisco® Industrial Ethernet 3000 (IE3000) is a switch that provide a secure switching infrastructure for harsh environments.

3000 Switch Technical details

Specification
8 Ethernet 10/100 ports and 2 Dual-Purpose Uplinks (Each Dual Purpose Uplink port has one 10/100/1000 Ethernet Port and one SFP based Gigabit Ethernet port, one port active)
Each switch supports two (2) Cisco IE3000-8FE modules, one (1) Cisco IE3000-8FX module, or one (1) Cisco IE3000-8FE module and one (1) Cisco IE3000-8FX module

Performance
Wire-speed switching
128 MB DRAM
64 MB Flash memory
Configurable up to 8000 MAC addresses
Configurable up to 255 IGMP groups
Configurable maximum transmission unit (MTU) of up to 9000 bytes, with a maximum Ethernet frame size of 9018 bytes (Jumbo frames) for bridging on Gigabit Ethernet ports, and up to 1998 bytes for bridging of Multi-protocol Label Switching (MPLS) tagged frames on both 10/100 and 10/100/1000 ports

Power Consumption
Maximum power consumption	31 W
Input Voltage and Currents supported	18-60VDC, (Cisco IE3000-4TC and Cisco IE3000-8TC) 85-265VAC/88-300VDC, 1.3-0.8A, 50-60 Hz (with addition of Cisco IE3000-PWR)
Power Rating	0.05 kVA
Environmental data
Operating temperature	-40 to 70 ºC
Storage temperature	-25 to 70 ºC
Operating relative humidity	10 to 95% (condensing)
Operating altitude	Up to 3049 m
Storage altitude	Up to 4573 m
Mechanical Data
Dimensions
Height	152 mm
Width	147 mm
Height	112 mm
Weight	3.6 kg
Standards and Certifications
Standard safety certifications	UL to UL 60950, Third Edition C-UL to CAN/CSA C22.2 No. 60950-00, Third Edition TUV/GS to EN 60950:2000 CB to IEC 60950 with all country deviations NOM to NOM-019-SCFI CE Marking
Industrial safety certifications	UL 508 CSA 22.2 / 142 EN60204-1 EN61010-1 EN61131-2 EN61140
Mechanical stability	Shock—15g (Operational), 30g (Nonoperational)
EMC Interface Immunity	IEC61000-4-2 [Criteria A—Class 2] IEC61000-4-3/ENV50204 [Criteria A] IEC61000-4-4 [Criteria A / Criteria B] IEC61000-4-5 [Criteria B] IEC61000-4-6 [Criteria A]
Standard Electromagnetic Emissions Certifications	FCC Part 15 Class A EN 55022: 1998 (CISPR22) EN 55024: 1998 (CISPR24) VCCI Class A AS/NZS 3548 Class A CE CNS 13438 Class A MIC
Industrial Electromagnetic Emissions Certifications	EN 50081-2 EN 50082-2 EN 61131-2 EN 61326-1 CISPR11
Industry Specifications	EC 61850-3 (Substations) IEEE1613 (Substations) NEMA TS-2 (ITSs) EN50155 (Railway) ODVA Common Industrial Protocol IEEE 1588v2 PROFINET IO
Hazardous Locations	UL 1602 Class 1, Div 2 A-D CSA 22.2 / 213 Class 1, Div 2 A-D IEC 60079-15 EN 50021—Class 1, Zone 2
Mean time between failures
Time	338801 hours

Ethernet Switch extension: CISCO IEM-3000 8TMC

Expansion copper Module for Cisco IE-3000-4TC, IE-3000-8TC, IE-3000-4TC-E, and IE-3000-8TC-E switches, eight 10/100 TX ports.

Ethernet Switch: CISCO IE-3200 8T2S_E

The Cisco Catalyst® IE3200 Rugged Series ushers in mainstream adoption of Gigabit Ethernet connectivity in a compact form factor for a wide variety of extended enterprise and industrial applications.

3200 Switch Technical details

Features
Forwarding rate	Line rate for all ports and all packet sizes
Number of queues	8
Unicast MAC addresses	8K
Internet Group Management Protocol (IGMP) multicast groups	1K
No. of VLANs	256
Spanning Tree Protocol (STP) instances	128
Access Control Entries (PACL/VACL/RACL)	3K
DRAM	2 GB
Flash (User Accessible)	1.5 GB
SD card capacity1	4 GB
Jumbo Frames	8996 bytes

Cabinet Temperature control system

Controller: Watlow RMC

Technical details are general data of RMC family

Module for thermal system management. It contains multiple temperature inputs, PID or on/off control loop & high ampere power output options.

Watlow Controller Technical details

Inputs
Universal input
Type	Thermocouple, grounded or ungrounded sensor. RTD 2 or 3 wire, platinum, 100 and 1000 Ω Potentiometer: 0 to 1200 Ω
Input impedance	> 20 MΩ
Source resistance	Max. of 2 kΩ
Process	0 – 20 mA @ 100 Ω or 0 – 10 V DC @ 20kΩ input impedance
Current range	0 – 50 mA @ 100 Ω input impedance
Response time	1 s max., accuracy ±1 mA typical
Thermistor Input
Input range	0 to 40 kΩ, 0 to 20 kΩ, 0 to 10 kΩ, 0 to 5 kΩ
Linearization curve	Built – in
Digital input
Update rate	10 Hz
Max. voltage	36 V DC @ 3 mA
Min. high state	3 V @ 0.25 mA
Max. low state	2 V
Dry Contact Input
Update rate	10 Hz
Min. open resistance	10 kΩ
Max. closed resistance	50 Ω
Max. short circuit	13 mA
Calibration Accuracy
Accuracy and sensor conformity	±0.1% of span, ±1ºC @ calibrated ambient Tº & line voltage
Type R, S, B	0.2%
Type T below -50ºC	0.2%
Calibration ambient temperature	25ºC (±3ºC)
Accuracy span	540ºC min
Temperature stability	±0.1ºC/ºC change in ambient
Environmental data
Operating Temperature	-18 – 65ºC
Storage Temperature	-40 – 85ºC
Ambient Relative Humidity	0 – 90%, non condensing
Environmental data
Operating Temperature	-18 – 65ºC
Storage Temperature	-40 – 85ºC
Ambient Relative Humidity	0 – 90%, non condensing
Electrical data
Module’s supply voltage	20.4 to 30.8 V AC/DC, 50/60 Hz
Voltage tolerance	-5% / +5%
External supply requirements	Class 2 or SELV rating
Power consumption	7 W, 14 VA
Mechanical Data
Installation	DIN-rail mounting

Standards and Certifications
UL®/EN 61010 Listed, C-UL® C22.2 #61010ANSI/ISA 12.12.01-2007 Class 1, Div. 2-Group A, B, C, D temperature code T4 (optional)
UL® 1604 Class 1, Div. 2 (optional)
EN 60529 IP20
UL® 50, NEMA 4X, EN 60529 IP66; 1/16 DIN remote user interface (RUI)
CSA 610110 CE
FM Class 3545 on limit control versions

Communication module: Watlow RMA A3

This module adds fieldbus protocols, memory and data logging to the RMC.

Watlow communication Technical details

General Data
Maximum system configuration	One RMA with up to 16 RM modules
Memory card	Removable micro SD physical size
Data logging	Storage in micro SD, CSV file type
Peripheral port
Serial standard bus	Yes
EIA 232/485 Modbus RTU	Optional
Ethernet/IP, Modbus TCP	Optional
DeviceNET	Optional
Profibus DP	Optional
USB	Optional (mass storage)
Environmental data
Temperature
Operating temperature	-18 – 65 ºC
Storage temperature	-40 – 85 ºC
Relative humidity	0 – 90%, non condensing
Fire/Shock	Rail mount modules need to be installed in fire/shock protection enclosures, such as NEMA 1 type unless all connections are class 2 or SELV
Electrical data
Voltage supply range	20.4 – 30.8 V (AC/DC), ±5%
Power	4 W, 9 VA
Mechanical data
Dimensions
Length	147 mm
Width	52 mm
Height	116 mm
Housing	IP 20

Standards and Certifications
UL/EN 61010; c_UL C22.2 #61010
ANSI/ISA 12.12.01-2007 Class 1, Div. 2-Group A, B, C, D Temperature code T4
EN 60529 IP20
FM Class 3545
UL 50, Type 4X indoor use

Mount Control Computer

For the MCC a Simatic IPC847D industrial computer is used, with the following characteristics:

General Data
Order Number	6AG4114-2ND30-0XX6
Processors and Mainboards:	Xeon E3-1275 v3 (4C/8T, 3.5(3.9) GHz, 8MB Cache, TB, VT-x, VT-d, AMT; 2x Gbit Ethernet, 2x DisplayPort, 1xDVI-I , 2x USB 3.0 rear, 2x USB 2.0 rear, 1x USB 3.0 front, 2x USB 2.0 front, 1x USB 3.0 internal, 1x COM1;
Drives (SATA):	RAID1, 1 TB (2x 1 TB HDD, data mirroring); Internally mounted, 0.5g Vibration, 5g shock
Main Memory:	8 GB DDR3 SDRAM (2x 4 GB), dual channel;
Ethernet	2 × Ethernet interface (RJ-45) Ethernet 1: WGI217LM, AMT-capable 6, supports jumbo frames up to 9014 bytes Ethernet 2: Intel WGI210IT, supports jumbo frames up to 9014 bytes
Type of Housing and Exchangeable Media:	Housing painted;
Extensions (Hardware):	1xCoOM (RS232, 9-pin), graphics onboard;
Country-specific types / Power Supplies:	2x 110/230V Redundant power supply

This PC runs on CentOS 7 64bits operating system and LabVIEW will be used for the EUI.

PXIs

Chassis: NI PXIe-1086

The NI PXIe-1086 is a 18-slot chassis with PXI Express platform. It incorporates hot-swappable, redundant AC power supplies as well as hot-swappable, front-accessible, redundant cooling fans.

NI PXIe-1086 Technical details

General Data
Number of slots	18
PXI bus type	PXI Express PXI Hybrid Compatible
Number of hybrid peripheral slots	16
Maximum system bandwidth	12 GB/s
Compatible with 3U PXI & CompactPCI modules	Yes
Optional front or rear rack mountable	Yes
Integrated controller	No
Electrical Data
Total available power	855 W
Input voltage range	100 V – 240 V AC
Input frequency range	47 Hz – 63 Hz
Field-replaceable power supply	Yes
Remote power inhibit control and voltage monitoring	Yes
DC output	+3.3 V, max. 50 A (single), 60 A (dual) +5 V, max. 40 A (single), 49 A (dual) +12 V, max. 50 A (single), 62 A (dual) -12 V, max. 4 A (single), 4 A (dual) +5 Vaux, max. 1.5 A (single), 1.5 A (dual)
Cooling Data
Auto fan
Sound pressure level	57 dBA
Sound power	63.3 dBA
High fan
Sound pressure level	69 dBA
Sound power	79.3 dBA
Auto/High fan selector	Yes
Number of fans	6
Environmental data
Vibration IEC-60068-2-27 & IEC-60068-2-64
Operational shock	30 g
Random vibration	5 – 500 Hz, 0.3 g
Temperature IEC-60068-2-1 & IEC-60068-2-2
Operating temperature	0 – 50 ºC
Storage temperature	-40 – 71 ºC
Humidity IEC-60068-2-56
Operating relative humidity	5 – 95 %
Storage relative humidity	5 – 95 %
Max. altitude	4600 m
Mechanical data
Dimensions
Length	476.5 mm
Width	467.1 mm
Height	268.7 mm
Weight
One power supply	14.3 kg
Dual power supply	17.1 kg
Standards and Certifications
Safety	IEC 61010-1, EN 61010-1 UL 61010-1, CSA 61010-1
EMC	EN 61326-1 (IEC 61326-1): Class A emissions; EN 55011 (CISPR 11): Group 1, Class A emissions AS/NZS CISPR 11: Group 1, Class A emissions FCC 47 CFR Part 15B: Class A emissions ICES-001: Class A emissions

Chassis: NI PXIe-1071

The NI PXIe-1071 combines a 4-slot PXI Express backplane with a structural design optimized for maximum usability in a wide range of applications.

NI PXIe-1071 Technical details

Chassis Cooling
Per slot cooling capacity	38.25 W
Module cooling system	Forced air circulation (positive pressurization) through a 150 CFM fan with High/Auto speed selector
Slot airflow direction	Bottom of module to top of module
Module cooling intake	Bottom of chassis
Module cooling exhaust	Right side, rear, and top of chassis
Power supply cooling system	Forced air circulation through integrated fan
Power supply cooling intake	Front and left side of chassis
Power supply cooling exhaust	Rear of chassis
Environmental
Maximum altitude	2,000 m (800 mbar) (at 25 °C ambient)
Measurement Category	II
Pollution Degree	2
For indoor use only
Operating Environment
Ambient temperature range	0 to 50 °C (Tested in accordance with IEC-60068-2-1 and IEC-60068-2-2. Meets MIL-PRF-28800F Class 3 low temperature limit and MIL-PRF-28800F Class 2 high temperature limit.)
Relative humidity range	20 to 80%, non-condensing (Tested in accordance with IEC-60068-2-56.)
Shock and Vibration
Operational shock	30 g peak, half-sine, 11 ms pulse (Tested in accordance with IEC-60068-2-27. Meets MIL-PRF-28800F Class 2 limits.)
Random Vibration
Operating	5 to 500 Hz, 0.3 g_rms
Non-operating	5 to 500 Hz, 2.4 g_rms (Tested in accordance with IEC-60068-2-64. Non-operating test profile exceeds the requirements of MIL-PRF-28800F, Class 3.)

CPU: NI PXIe-8880

High-performance Intel Xeon E5-2618L v3 processor-based embedded controller for use in PXI Express systems. With the 2.3 GHz base frequency (3.4 GHz single-core, Turbo Boost mode) eight-core processor with up to 16 hyper threaded virtual cores and the triple-channel 1866 MHz DDR4 memory, this controller is ideal for processor-intensive RF, modular instrumentation, and DAQ applications.

NI PXIe-8880 Technical details

General Data
Controller type	Embedded
PXI bus type	PXI Express
CPU	Intel Xeon ES-2618L
CPU clock frequency	2.3 GHz (base), 3.4 GHz (single-core Turbo)
Number of cores	8
Memory	8 GB (standard), 24 GB (max)
Solid-State drive	24 B or larger serial ATA
Operating system	Windows 7
Required slots	4
Peripheral port
Ethernet	1000BaseT, 2 ports
GPIB (IEEE 488.2) Interface	Yes
Serial ports (RS232)	No
Parallel	No
USB	2.0 = 4, 3.0 = 2
Electrical Data
Power	+3.3 V, typ. 2.24 A, max. 2.96 A +5 V, typ. 2.44 A, max. 3.11 A +12 V, typ. 6.5 A, max. 8.7 A +5 Vaux, typ. 0.19 A, max. 0.23
Environmental data
Vibration IEC-60068-2-27 & IEC 60068-2-64
Operational shock	30 g
Random vibration
Operating	5 – 500 Hz, 0.3 g
Non-operating	5 – 500 Hz, 2.4 g
Temperature IEC-60068-2-1 & IEC-60068-2-2
Operating temperature	0 – 50 ºC
Storage temperature	-40 – 71 ºC
Humidity IEC-60068-2-56
Operating relative humidity	10 – 90 %
Storage relative humidity	5 – 95 %
Maximum altitude	2000 m
Mechanical data
Dimensions	Four-wide 3U PXI Express module
Weight	1.5 kg
Standards and Certifications
Safety	IEC 61010-1, EN 61010-1 UL 61010-1, CSA 61010-1
EMC	EN 61326-1 (IEC 61326-1): Class A emissions EN 55011 (CISPR 11): Group 1, Class A emissions EN 55022 (CISPR 22): Class A emissions EN 55024 (CISPR 24): Immunity AS/NZS CISPR 11: Group 1, Class A emissions AS/NZS CISPR 22: Class A emissions FCC 47 CFR Part 15B: Class A emissions ICES-001: Class A emissions

Dual Ethernet Port: NI PXIe-8234

Based on the Intel 82572EI gigabit controller.

Technical details

General Data
Product family	Frame grabbers
Form factor	PXI / PXI Express
PXI bus type	PXI Express PXI Hybrid Compatible
Camera interface	GigE Vision
Operating system	Windows
Required slot	1, supporting a x4 PCI connection
Smart Camera
Industrial protocol support	Ethernet / IP Modbus / TCP TCP / IP
Number of camera input ports	2
Peripheral port
Ethernet
Interface	2 x 10P10C modular jack
Signaling	1000Base-T
Environmental data
Temperature IEC-60068-2-1 & IEC-60068-2-2
Operating temperature	0 – 55 ºC
Storage temperature	-40 – 70 ºC
Humidity IEC-60068-2-56
Operating relative humidity	10 – 90 %, non condensing
Storage relative humidity	5 – 95 %, non condensing
Max. altitude	2000 m
Electrical Data
Power	3.3 V, typ. 0.375 A 5 V, typ. 0.36 A 1.8 V, typ. 1.19 A 5.2 W max.
Mechanical data
Dimensions
Length	160 mm
Width	100 mm
Weight	158 g
Standards and Certifications
Safety	IIEC 60950-1, EN 60950-01 UL 60950-1, CSA 60950-1
EMC	EN 61326 EMC requirements; Minimum Immunity EN 55011 Emissions; Group 1, Class A CE, C-Tick, ICES, and FCC Part 15 Emissions; Class A

Beckhoff Industrial PC C5210-0040

The C5xxx Industrial PCs series is designed for 19-inch slide-in installation. They are equipped with maximum performance class components and are ideally suited for machine construction and plant engineering applications, for example with the TwinCAT automation software.

In the MCS this device is not using TwinCAT, instead it’s running the same Linux RT software that the NI PXIs.

Beckhoff c5210-0040 Technical details

Technical data	C5210-0040	Options
Device type	19-inch slide-in Industrial PC
Housing	stainless steel based housing, 1 high units, with lockable front flap
Front flap	lockable, includes 2 x USB 2.0, reset key and ATX key	DVD drive
Slots for hard disk/flash	2 removable frames for hard disks	removable frames for SSDs
Protection rating	IP20
Operating temperature	0…55 °C
Dimensions (W x H x D)	482.7 x 44 x 493.8 mm (19” x 1.7” x 19.44”), depth behind front 475 mm (18.7”)
Processor	Intel® Celeron® G4900 3.1 GHz, 2 cores (TC3: 50)	up to Intel® Core™ i7-9700TE 1.8 GHz, 8 cores (TC3: 80)
Motherboard	3½-inch motherboard for 8th/9th generation Intel® Celeron®, Pentium®, Core™ i3/i5/i7
PCIe/PCI slots	2 PCIe module slots to plug-in Beckhoff PCIe modules or to led out interfaces of the motherboard ex factory
Interfaces	4 x USB 3.1 Gen. 1, 1 x RS232 at the rear, 2 x USB 2.0 behind the front flap, 1 x DVI
Memory	4 GB DDR4 RAM	up to 64 GB DDR4 RAM
Graphic adapter	integrated in the processor
Ethernet	2 x 100/1000BASE-T on-board
RAID	on-board SATA RAID 1 controller
Hard disks/flash	hard disk, 3½-inch, 1 TB	hard disk up to 4 TB, SSD
Disk drive	–	multi DVD
Power supply	100…240 V AC	24 V DC, UPS
Operating system	–	Windows 10 IoT Enterprise, Windows Server 2019

MCS specific configuration (C5210-0040 / 000236301)

Technical data	C5210-0040 / 000236301
Hard disks/flash	solid-state disk SSD, 3D flash, 2½-inch, 240 GB,instead of 3½-inch hard disk
Processor	processor 9th generation Intel® Core™ i7-9700TE, 1.8 GHz, 8 cores (TC3:80), instead of Intel® Celeron® G4900 3.1 GHz (TC3:50)

cRIO System

EtherCat expansion chassis: NI 9144

The NI 9144 is an 8-slot rugged EtherCAT slave chassis for adding deterministic, distributed I/O to NI EtherCAT master controllers. With standard CAT 5 Ethernet cabling, it communicates deterministically with any NI CompactRIO, real-time PXI, or real-time industrial controller that has two Ethernet ports. You can daisy chain multiple NI 9144 slave chassis from the master controller to expand time-critical applications to high-channel counts while maintaining hard determinism with minimal processor resources.

It also has a 2M gate Xilinx Spartan field-programmable gate array (FPGA), giving high-speed and customizable I/O timing, inline processing, and closed-loop control.

NI 9144 Technical details

General Data
Number of slots	8
Operating system	Real-time
Reconfigurable FPGA	Spartan-3
Peripheral port
EtherCAT
Number of Ethernet ports	2
Interface	100BaseTx
Communication rates	100 Mb/s
Max. cabling distance	100 m/segment
Environmental data
Temperature IEC-60068-2-1 & IEC-60068-2-2
Operating temperature	-40 – 70 ºC
Storage temperature	-40 – 85 ºC
Humidity IEC-60068-2-56
Operating relative humidity	10 – 90 %, non condensing
Storage relative humidity	5 – 95 %, non condensing
Maximum altitude	2000 m (800 mbar)
Vibration IEC-60068-2-27 & IEC-60068-2-64
Operational shock	30 g peak, 11 ms / 50 g, 3 ms
Operating	5 – 500 Hz, 5 g
Non operating	5 – 500 Hz, 5 g
Electrical data
Power	20 W max.
Rated voltage supply	24 V DC
Chassis input range	9 to 30 V
Mechanical data
Dimensions
Length	284 mm
Width	881 mm
Height	589 mm
Weight	906 g
Housing	IP 40
Standards and Certifications
Safety	IEC 61010-1, EN 61010-1 UL 61010-1, CSA 61010-1
EMC	EN 61326-1 (IEC 61326-1): Class A emissions; EN 55011 (CISPR 11): Group 1, Class A emissions AS/NZS CISPR 11: Group 1, Class A emissions FCC 47 CFR Part 15B: Class A emissions ICES-001: Class A emissions
Hazardous locations	Ex nA IIC T4

8 DIO Module: NI 9401

The NI 9401 is an 8-channel, 100 ns bidirectional digital input module for any NI CompactDAQ or CompactRIO chassis. It allows three configurations: eight digital inputs, eight digital outputs, or four digital inputs and four digital outputs.

Each channel is compatible with 5 V/TTL signals and features 1,000 Vrms transient isolation between the I/O channels and the backplane.

NI 9401 Technical details

General Data
Product family	Digital I/O
Measurement type	Digital Specialty digital
Form factor	CompactDAQ CompactRIO
Isolation type	Ch-Earth Ground Isolation
Digital I/O
Bidirectional channels	8
Maximum clock rate	10 MHz
Timing	Hardware
Logic level	TTL
Max. I/O voltage	0 – 5.25 V
Environmental data
Temperature IEC-60068-2-1 & IEC-60068-2-2
Operating temperature	-40 – 70 ºC
Storage temperature	-40 – 85 ºC
Humidity IEC-60068-2-56
Operating relative humidity	10 – 90 %, non condensing
Storage relative humidity	5 – 95 %, non condensing
Maximum altitude	2000 m (800 mbar)
Vibration IEC-60068-2-27 & IEC-60068-2-64
Operational shock	30 g peak, 11 ms / 50 g, 3 ms
Operating	5 – 500 Hz, 5 g
Non operating	5 – 500 Hz, 5 g
Electrical data
Power
Active mode	580 mW max.
Sleep mode	1 mW max.
Channel to COM max voltage	± 30 V
Channel – earth isolation	60 V DC (continuous), 1000 Vrms (withstand)
Mechanical data
Dimensions
Length	90 mm
Width	23 mm
Weight	145 g
Housing	IP 40
Standards and Certifications
Safety	IEC 61010-1, EN 61010-1 UL 61010-1, CSA 61010-1
EMC	EN 61326-1 (IEC 61326-1): Class A emissions; EN 55011 (CISPR 11): Group 1, Class A emissions AS/NZS CISPR 11: Group 1, Class A emissions FCC 47 CFR Part 15B: Class A emissions ICES-001: Class A emissions
Hazardous locations	Ex nA IIC T4

Encoder Heidenhain EIB 8791

EIB 8791 Technical details

General
8 axes / system
1Vss encoder signals
Single and distance coded reference marks
110-240V power supply
Single height 19” unit
Position Capture
20 MHz input bandwidth
Internal 50MHz position capture and calculation
Selectable frequency filters
48 Bit position output / 16 Bit Interpolation
Various Output data types
Position
Speed
Acceleration
Position Corrections
Enhanced online compensation of input signals
Static compensation or high order signal deviation based on correction run
Trigger Interface
Versatile trigger interface
Synchronous
Asynchronous
Common trigger or individual per axis
Synchronization to master clock for sub-ns stable triggering
Synchronization of several EIBs together (master-slave configuration)
Position Output
Fast position data link up to 10Msamples/s (per axis)
UDP-interface
Direct streaming (1 sample/packet)
Batch streaming (up to 16 samples/packet)
TCP-interface for transaction safe transfer
Data recording

Distributed I/O

EtherCAT expansion chassis: Phoenix contact AXL F BK EC

The bus coupler represents the link between an EtherCAT® network and the Axioline F system.Up to 63 Axioline F devices can be connected to an existing EtherCAT® system using the bus coupler.

Phoenix contact AXL Technical details

Dimensions
Width	45 mm
Height	125.9 mm
Depth	74 mm
Note on dimensions	The depth is valid when a TH 35-7.5 DIN rail is used (according to EN 60715).
Ambient conditions
Ambient temperature (operation)	-25 °C … 60 °C (Mounting position: wall mounting on horizontal DIN rail)
	-25 °C … 55 °C (Mounting position: any)
Ambient temperature (storage/transport)	-40 °C … 85 °C
Permissible humidity (operation)	5 % … 95 % (non-condensing)
Permissible humidity (storage/transport)	5 % … 95 % (non-condensing)
Air pressure (operation)	70 kPa … 106 kPa (up to 3000 m above sea level)
Degree of protection	IP20
Connection data
Designation	Axioline F connector
Connection method	Push-in connection
Note on connection method	Please observe the information provided on conductor cross sections in the “Axioline F: system and installation” user manual.
Interfaces
Fieldbus system	Fernbus
Designation	EtherCAT®
Connection method	RJ45 socket, auto negotiation and auto crossing
Transmission speed	100 MBit/s (Full duplex)
Transmission physics	Ethernet in RJ45 twisted pair
Fieldbus system	Lokalbus
Designation	Axioline F local bus
Connection method	Bus base module
Transmission speed	100 MBit/s
System limits of the bus coupler
Amount of process data	1024 Byte (for each data direction)
Number of supported devices	max. 63 (per station)
Number of local bus devices that can be connected	max. 63
Designation	EtherCAT®
System-specific protocols	Mailbox protocols CAN application layer over EtherCAT®
	Mailbox protocols File access over EtherCAT®
Type of addressing	Auto-increment addressing
	Fixed position addressing
	Logical addressing
	Explicit device ID
Power consumption
Supply of communications power UL	24 V DC
Current consumption from UL	typ. 105 mA (without I/Os and UL = 24 V)
	max. 570 mA (with 2 A at UBus for the I/Os and UL = 24 V)
Communications power UBus	5 V DC (via bus base module)
Current supply at UBus	2 A
General & directives
Net weight	219.9 g
Note on weight specifications	with connector and bus base module
Mounting type	DIN rail
Protection class	III, IEC 61140, EN 61140, VDE 0140-1
Conformance with EMC directives	Noise immunity test in accordance with EN 61000-6-2 Electrostatic discharge (ESD) EN 61000-4-2/IEC 61000-4-2 Criterion B; 6 kV contact discharge, 8 kV air discharge
	Noise immunity test in accordance with EN 61000-6-2 Electromagnetic fields EN 61000-4-3/IEC 61000-4-3 Criterion A; Field intensity: 10 V/m
	Noise immunity test in accordance with EN 61000-6-2 Fast transients (burst) EN 61000-4-4/IEC 61000-4-4 Criterion B, 2 kV
	Noise immunity test in accordance with EN 61000-6-2 Transient surge voltage (surge) EN 61000-4-5/IEC 61000-4-5 Criterion B; DC supply lines: ±0.5 kV/±0.5 kV (symmetrical/asymmetrical); fieldbus cable shield: ±1 kV
	Noise immunity test in accordance with EN 61000-6-2 Conducted interference EN 61000-4-6/IEC 61000-4-6 Criterion A; Test voltage 10 V
	Noise emission test according to EN 61000-6-3 Radio interference properties EN 55022 Class B
Mechanical tests	Vibration resistance in acc. with EN 60068-2-6/IEC 60068-2-6 5g
	Shock in acc. with EN 60068-2-27/IEC 60068-2-27 30g
	Continuous shock according to EN 60068-2-27/IEC 60068-2-27 10g
Diagnostics messages	Emergency messages
	Messages via object 10F3hex Diagnosis history

8DI/8DO module: Phoenix contact AXLF DIO8/3 DO8/3 2H

Axioline F digital input and output module, 8 inputs, 24 V DC, 8 outputs, 24 V DC, 500 mA, 2-, 3-conductor connection technology (including bus base module and connectors).

8DI/8DO module Technical details

Dimensions
Width	35 mm
Height	129.9 mm
Depth	54 mm
Note on dimensions	The depth is valid when a TH 35-7.5 DIN rail is used (according to EN 60715).
Ambient conditions
Ambient temperature (operation)	-25 °C … 60 °C (Mounting position: wall mounting on horizontal DIN rail)
	-25 °C … 55 °C (Mounting position: any)
Ambient temperature (storage/transport)	-40 °C … 85 °C
Permissible humidity (operation)	5 % … 95 % (non-condensing)
Permissible humidity (storage/transport)	5 % … 95 % (non-condensing)
Air pressure (operation)	70 kPa … 106 kPa (up to 3000 m above sea level)
Degree of protection	IP20
Connection data
Designation	Axioline F connector
Connection method	Push-in connection
Note on connection method	Please observe the information provided on conductor cross sections in the “Axioline F: system and installation” user manual.
Digital inputs
Input name	Digital inputs
Description of the input	EN 61131-2 types 1 and 3
Connection method	Push-in connection
	2, 3-wire
Number of inputs	8
Protective circuit	Polarity reversal protection of the inputs Electronic
Input filter time	3000 µs (default)
Input voltage range “0” signal	-3 V DC … 5 V DC
Input voltage range “1” signal	11 V DC … 30 V DC
Nominal input current at UIN	2.4 mA
Digital outputs
Output name	Digital outputs
Connection method	Push-in connection
	2, 3-wire
Number of outputs	8
Protective circuit	Short-circuit protection, overload protection of the outputs Electronic
Output voltage	24 V DC
Nominal output voltage	24 V DC
Maximum output current per channel	500 mA
Maximum output current per module	8 A (external fuse)
Nominal load, inductive	max. 12 VA (1.2 H; 48 Ω; with nominal voltage)
Nominal load, lamp	max. 12 W (at nominal voltage)
Nominal load, ohmic	max. 12 W (48 Ω; with nominal voltage)
Interfaces
Designation	Axioline F local bus
Connection method	Bus base module
Transmission speed	100 MBit/s
Power consumption
Communications power UBus	5 V DC (via bus base module)
Current consumption from UBus	max. 120 mA
Digital input and output module supply UIO	24 V DC
Current consumption from UIO	max. 6 A (external fuse)
General & directives
Net weight	159 g
Note on weight specifications	with connectors and bus base module
Mounting type	DIN rail
Protection class	III, IEC 61140, EN 61140, VDE 0140-1
Test section	5 V communications power (logic), 24 V supply (I/O) 500 V AC 50 Hz 1 min
	5 V supply (logic)/functional earth ground 500 V AC 50 Hz 1 min
	24 V supply (I/O) / functional earth ground 500 V AC 50 Hz 1 min
Conformance with EMC directives	Noise immunity test in accordance with EN 61000-6-2 Electrostatic discharge (ESD) EN 61000-4-2/IEC 61000-4-2 Criterion B; 6 kV contact discharge, 8 kV air discharge
	Noise immunity test in accordance with EN 61000-6-2 Electromagnetic fields EN 61000-4-3/IEC 61000-4-3 Criterion A; Field intensity: 10 V/m
	Noise immunity test in accordance with EN 61000-6-2 Fast transients (burst) EN 61000-4-4/IEC 61000-4-4 Criterion B, 2 kV
	Noise immunity test in accordance with EN 61000-6-2 Transient surge voltage (surge) EN 61000-4-5/IEC 61000-4-5 Criterion B; DC supply lines: ±0.5 kV/±0.5 kV (symmetrical/asymmetrical)
	Noise immunity test in accordance with EN 61000-6-2 Conducted interference EN 61000-4-6/IEC 61000-4-6 Criterion A; Test voltage 10 V
	Noise emission test according to EN 61000-6-3 Radio interference properties EN 55022 Class B
Mechanical tests	Vibration resistance in acc. with EN 60068-2-6/IEC 60068-2-6 5g
	Shock in acc. with EN 60068-2-27/IEC 60068-2-27 30g
	Continuous shock according to EN 60068-2-27/IEC 60068-2-27 10g
Diagnostics messages	I/O supply failure Yes
	Short-circuit / overload of the digital outputs Yes

4RTD module: Phoenix contact AXLF RTD4 1H

Axioline F temperature module, 4 inputs for connecting resistance temperature detectors.

AXLF RTD4 1H Technical details

Dimensions
Width	35 mm
Height	126.1 mm
Depth	54 mm
Note on dimensions	The depth is valid when a TH 35-7.5 DIN rail is used (according to EN 60715).
Ambient conditions
Ambient temperature (operation)	-25 °C … 60 °C (Mounting position: wall mounting on horizontal DIN rail)
	-25 °C … 55 °C (Mounting position: any)
Ambient temperature (storage/transport)	-40 °C … 85 °C
Permissible humidity (operation)	5 % … 95 % (non-condensing)
Permissible humidity (storage/transport)	5 % … 95 % (non-condensing)
Air pressure (operation)	70 kPa … 106 kPa (up to 3000 m above sea level)
Degree of protection	IP20
Connection data
Designation	Axioline F connector
Connection method	Push-in connection
Note on connection method	Please observe the information provided on conductor cross sections in the “Axioline F: system and installation” user manual.
Analog inputs
Number of inputs	4 (for resistance temperature detectors)
Input name	Analog inputs
Description of the input	Inputs for resistive temperature sensors
Connection method	Spring-cage connection with direct connector-in method
	2, 3, 4-wire (shielded)
Sensor types (RTD) that can be used	Pt, Ni, KTY, Cu sensors
Linear resistance measuring range	0 Ω … 500 Ω
	0 kΩ … 5 kΩ
Nominal value of the current sources	1 mA (Pt 100, Ni 100, RLin 500 Ω; pulse current, the specification is valid during the sampling phase)
Measured value representation	16 bits (15 bits + sign bit)
Resolution A/D	24 bit
Protective circuit	Short-circuit protection, overload protection of the inputs
Data formats	IB IL, S7-compatible
Precision	See Tables under tolerance values
Input filter time	40 ms
Interfaces
Designation	Axioline F local bus
Connection method	Bus base module
Transmission speed	100 MBit/s
Power consumption
Communications power UBus	5 V DC (via bus base module)
Current consumption from UBus	max. 140 mA
Supply for analog modules UA	24 V DC
Current consumption from UA	max. 17 mA
General & directives
Net weight	144 g
Note on weight specifications	with connectors and bus base module
Mounting type	DIN rail
Protection class	III, IEC 61140, EN 61140, VDE 0140-1
Test section	5 V communications power (logic), 24 V supply (I/O) 500 V AC 50 Hz 1 min
	5 V supply (logic)/functional earth ground 500 V AC 50 Hz 1 min
	24 V supply (I/O) / functional earth ground 500 V AC 50 Hz 1 min
Conformance with EMC directives	Noise immunity test in accordance with EN 61000-6-2 Electrostatic discharge (ESD) EN 61000-4-2/IEC 61000-4-2 Criterion B; 6 kV contact discharge, 8 kV air discharge
	Noise immunity test in accordance with EN 61000-6-2 Electromagnetic fields EN 61000-4-3/IEC 61000-4-3 Criterion A; Field intensity: 10 V/m
	Noise immunity test in accordance with EN 61000-6-2 Fast transients (burst) EN 61000-4-4/IEC 61000-4-4 Criterion B, 2 kV
	Noise immunity test in accordance with EN 61000-6-2 Transient surge voltage (surge) EN 61000-4-5/IEC 61000-4-5 Criterion B; supply lines DC: ±0.5 kV/±0.5 kV (symmetrical/asymmetrical); ±1 kV to shielded I/O cables
	Noise immunity test in accordance with EN 61000-6-2 Conducted interference EN 61000-4-6/IEC 61000-4-6 Criterion A; Test voltage 10 V
	Noise emission test according to EN 61000-6-3 Radio interference properties EN 55022 Class B
Mechanical tests	Vibration resistance in acc. with EN 60068-2-6/IEC 60068-2-6 5g
	Shock in acc. with EN 60068-2-27/IEC 60068-2-27 25g, 11 ms period, half-sine shock pulse
	Continuous shock according to EN 60068-2-27/IEC 60068-2-27 10g

4AO module: Phoenix contact AXLF AO4 1H

Axioline F analog output module, 4 outputs: 0 - 10 V, ±10 V, 0 - 5 V, ±5 V, 0 - 20 mA, 4 - 20 mA, 2-wire connection technology (including bus base module and connectors).

Phoenix contact AXLF AO4 1H Technical details

Dimensions
Width	35 mm
Height	126.1 mm
Depth	54 mm
Note on dimensions	The depth is valid when a TH 35-7.5 DIN rail is used (according to EN 60715).
Ambient conditions
Ambient temperature (operation)	-25 °C … 60 °C (Mounting position: wall mounting on horizontal DIN rail)
	-25 °C … 55 °C (Mounting position: any)
Ambient temperature (storage/transport)	-40 °C … 85 °C
Permissible humidity (operation)	5 % … 95 % (non-condensing)
Permissible humidity (storage/transport)	5 % … 95 % (non-condensing)
Air pressure (operation)	70 kPa … 106 kPa (up to 3000 m above sea level)
Degree of protection	IP20
Connection data
Designation	Axioline F connector
Connection method	Push-in connection
Note on connection method	Please observe the information provided on conductor cross sections in the “Axioline F: system and installation” user manual.
Analog outputs
Number of outputs	4
Connection method	Push-in connection
	2-wire (shielded, twisted pair)
Output name	Analog outputs
D/A resolution	16 bit
Type of protection	Short-circuit and overload protection
Transient protection	Protective circuit/component
Electronic	Suppressor diode
Data formats	IB IL, S7-compatible
Representation of output values	16 bits (15 bits + sign)
Process data update	140 µs
Current output signal	0 mA … 20 mA
	4 mA … 20 mA
Load/output load current output	≤ 500 Ω
Voltage output signal	0 V … 5 V
	-5 V … 5 V
	0 V … 10 V
	-10 V … 10 V
Load/output load voltage output	> 1 kΩ
Precision	typ. 0.1 % (of output range final value)
	typ. 0.1 % (of output range final value)
Interfaces
Designation	Axioline F local bus
Connection method	Bus base module
Transmission speed	100 MBit/s
Power consumption
Communications power UBus	5 V DC (via bus base module)
Current consumption from UBus	typ. 120 mA
	max. 150 mA
Supply for analog modules UA	24 V DC
Current consumption from UA	typ. 40 mA (induced current consumption; no load, 0 V output)
	typ. 60 mA (4 voltage channels, 10 V output)
	max. 110 mA (4 current channels, 20 mA output, 500 Ω load)
General & directives
Net weight	145 g
Note on weight specifications	with connectors and bus base module
Mounting type	DIN rail
Protection class	III, IEC 61140, EN 61140, VDE 0140-1
Test section	5 V communications power (logic), 24 V supply (I/O) 500 V AC 50 Hz 1 min
	5 V supply (logic)/analog outputs 500 V AC 50 Hz 1 min
	5 V supply (logic)/functional earth ground 500 V AC 50 Hz 1 min
	24 V supply (I/O)/analog outputs 500 V AC 50 Hz 1 min
	24 V supply (I/O) / functional earth ground 500 V AC 50 Hz 1 min
	Analog outputs/functional earth ground 500 V AC 50 Hz 1 min
Conformance with EMC directives	Noise immunity test in accordance with EN 61000-6-2 Electrostatic discharge (ESD) EN 61000-4-2/IEC 61000-4-2 Criterion B; 6 kV contact discharge, 8 kV air discharge
	Noise immunity test in accordance with EN 61000-6-2 Electromagnetic fields EN 61000-4-3/IEC 61000-4-3 Criterion A; Field intensity: 10 V/m
	Noise immunity test in accordance with EN 61000-6-2 Fast transients (burst) EN 61000-4-4/IEC 61000-4-4 Criterion B, 2 kV
	Noise immunity test in accordance with EN 61000-6-2 Transient surge voltage (surge) EN 61000-4-5/IEC 61000-4-5 Criterion B; supply lines DC: ±0.5 kV/±0.5 kV (symmetrical/asymmetrical); ±1 kV to shielded I/O cables
	Noise immunity test in accordance with EN 61000-6-2 Conducted interference EN 61000-4-6/IEC 61000-4-6 Criterion A; Test voltage 10 V
	Noise emission test according to EN 61000-6-3 Radio interference properties EN 55022 Class B
Mechanical tests	Vibration resistance in acc. with EN 60068-2-6/IEC 60068-2-6 5g
	Shock in acc. with EN 60068-2-27/IEC 60068-2-27 30g
	Continuous shock according to EN 60068-2-27/IEC 60068-2-27 10g

4AI Module: Phoenix contact AXLF AI4 I 1H

Axioline F analog input module, 4 inputs: 0 - 20 mA, 4 - 20 mA, ±20 mA, 2, 3, and 4-conductor connection technology, integrated sensor supply (including bus base module and connectors)

Phoenix contact AXLF AI4 I 1H Technical details

Dimensions
Width	35 mm
Height	126.1 mm
Depth	54 mm
Note on dimensions	The depth is valid when a TH 35-7.5 DIN rail is used (according to EN 60715).
Ambient conditions
Ambient temperature (operation)	-25 °C … 60 °C
	-25 °C … 55 °C
Ambient temperature (storage/transport)	-40 °C … 85 °C
Permissible humidity (operation)	5 % … 95 % (non-condensing)
Permissible humidity (storage/transport)	5 % … 95 % (non-condensing)
Air pressure (operation)	70 kPa … 106 kPa (up to 3000 m above sea level)
Degree of protection	IP20
Connection data
Designation	Axioline F connector
Connection method	Push-in connection
Note on connection method	Please observe the information provided on conductor cross sections in the “Axioline F: system and installation” user manual.
Analog inputs
Number of inputs	4 (Differential inputs, current)
Connection method	Push-in connection
	2, 3, 4-wire (shielded)
Input name	Analog inputs
A/D conversion time	31.25 µs
Resolution A/D	16 bit
Limit frequency (3 dB)	30 Hz
	12 kHz
Type of protection	Transient protection of inputs
Protective circuit/component	Suppressor diode
Data formats	IB IL, S7-compatible
Measured value representation	16 bits (15 bits + sign bit)
Current input signal	0 mA … 20 mA
	4 mA … 20 mA
	-20 mA … 20 mA
Precision	0.1 % (of measuring range final value for active mean-value generation and 30 Hz filter)
Input filter	30 Hz, 12 kHz and mean-value generation (can be parameterized)
Number of inputs	4 (Differential inputs, current)
Type of protection	Overload protection
Protective circuit/component	No; ±5.2 V DC, maximum, Imax = 50 mA
Open circuit response	Going to 0 mA; open-circuit detection from 4 mA … 20 mA
Interfaces
Designation	Axioline F local bus
Connection method	Bus base module
Transmission speed	100 MBit/s
Power consumption
Communications power UBus	5 V DC (via bus base module)
Current consumption from UBus	typ. 120 mA
	max. 150 mA
Supply for analog modules UA	24 V DC (I/O supply and sensor supply)
Current consumption from UA	typ. 38 mA (IiS = 0 mA)
	max. 45 mA (IiS = 0 mA)
	typ. 118 mA (IiS = 4 x 20 mA (nominal load))
	max. 125 mA (IiS = 4 x 20 mA (nominal load))
	typ. 238 mA (IiS = 4 x 50 mA (full load))
	max. 245 mA (IiS = 4 x 50 mA (full load))
General & directives
Net weight	145 g
Note on weight specifications	with connectors and bus base module
Mounting type	DIN rail
Protection class	III, IEC 61140, EN 61140, VDE 0140-1
Test section	5 V communications power (logic), 24 V supply (I/O) 500 V AC 50 Hz 1 min
	5 V supply (logic)/analog outputs 500 V AC 50 Hz 1 min
	5 V supply (logic)/functional earth ground 500 V AC 50 Hz 1 min
	24 V supply (I/O)/analog outputs 500 V AC 50 Hz 1 min
	24 V supply (I/O) / functional earth ground 500 V AC 50 Hz 1 min
	Analog outputs/functional earth ground 500 V AC 50 Hz 1 min
Conformance with EMC directives	Noise immunity test in accordance with EN 61000-6-2 Electrostatic discharge (ESD) EN 61000-4-2/IEC 61000-4-2 Criterion B; 6 kV contact discharge, 8 kV air discharge
	Noise immunity test in accordance with EN 61000-6-2 Electromagnetic fields EN 61000-4-3/IEC 61000-4-3 Criterion A; Field intensity: 10 V/m
	Noise immunity test in accordance with EN 61000-6-2 Fast transients (burst) EN 61000-4-4/IEC 61000-4-4 Criterion B, 2 kV
	Noise immunity test in accordance with EN 61000-6-2 Transient surge voltage (surge) EN 61000-4-5/IEC 61000-4-5 Criterion B; supply lines DC: ±0.5 kV/±0.5 kV (symmetrical/asymmetrical); ±1 kV to shielded I/O cables
	Noise immunity test in accordance with EN 61000-6-2 Conducted interference EN 61000-4-6/IEC 61000-4-6 Criterion A; Test voltage 10 V
	Noise emission test according to EN 61000-6-3 Radio interference properties EN 55022 Class B
Mechanical tests	Vibration resistance in acc. with EN 60068-2-6/IEC 60068-2-6 5g
	Shock in acc. with EN 60068-2-27/IEC 60068-2-27 30g
	Continuous shock according to EN 60068-2-27/IEC 60068-2-27 10g

Drives

Controller: Bosch-Rexroth IndraMotion MLC L75

IndraMotion MLC is the first truly complete automation system. It combines motion control, robot control and logic control to create a uniform complete system for any control task in almost any industry.

IndraMotion MLC L75 Technical details

Platform	L75
Drive interface	Sercos III
Max. axis number	64
Cycle time	0.5/0.25 ms
Max. number of function modules	4
Onboard IO	8I/8O
C2C	FM Sercos III
Ethernet/IP Scanner/Adapter	YES/YES
PROFINET IO Contr./Device	YES/YES
PROFIBUS Master/Slave	YES/YES
Robot Control	YES

Drive: Bosch-Rexroth IndraDrive Cs

The IndraDrive C HCS01.15-W0028-A-03-B-ET-EC-NN-L3 will be used in the azimuth cable wrap. The second ones HCS01.E-W0008-A-03-B-ET-EC-NN-L3-NN-FW are the drives for the camera cable wrap.

Bosch-Rexroth IndraDrive Cs Technical details

Connectivity	HCS01.15-W0028-A-03-B-ET-EC-NN-L3	HCS01.E-W0008-A-03-B-ET-EC-NN-L3-NN-FW
Possible communication via	SERCOS III PROFINET IO EtherNet/IP EtherCAT
Performance data
Continuous current	11.52 A	2.7 A
Maximum current	28 A	8 A
Mains connection voltage	3 x AC 200… 500 V (10% tolerance)	3 x AC 200… 500 V (10% tolerance)
Frequency	50… 60 Hz (2 Hz tolerance)	50… 60 Hz (2 Hz tolerance)
Continuous current main input	10 A	2.5 A
Power dependency from the supply voltage
	1% power reduction per 4 V	1% power reduction per 4 V
	No power increase	No power increase
Intermediate circuit
Continuous power with choke	4 kW	-
Max. power with choke	9.7 kW	-
Continuous power without choke	2.6 kW	0.86 kW
Max. power without choke	6.2 kW	2.58 kW
Switching f/max. output f
4 kHz	0…400 Hz	0…400 Hz
8 kHz	0…800 Hz	0…800 Hz
12 kHz	0…1200 Hz	0…1200 Hz
16 kHz	0…1600 Hz	0…1600 Hz
Output voltage	3 x AC 0 … 500 V
Intermediate circuit capacity	0.39 mF	0.11 mF
Intermediate circuit voltage	Mains connection voltage x 1.41 V DC
Brake chopper/resistor
Braking energy consumption	3 kW	0.8 kW
Continuous braking power	0.15 kW	0.03 kW
Maximum braking power	10.6 kW	4 kW
Control voltage
Control voltage	24 V DC ((5% tolerance)	24 V DC ((5% tolerance)
Power consumption without control unit and motor brake	34 W	28 W
Protection
Protection category-overall	IP20	IP20
Overvoltage category	III	III
Environmental data
Ambient temperature range for operation with nominal data	0…40 ºC	0…40 ºC
Installation altitude	1000 m	1000 m
Relative humidity	5 … 95 %	5 … 95 %
Conductive dirt contamination	Not allowed	Not allowed
Allowed pollution degree	2	2
Allowed dust, steam	EN 50178 tab. A.2	EN 50178 tab. A.2
Vibration sine: amplitude at 5 … 32 Hz	0.6 mm 15%	0.6 mm 15%
Vibration sine: acceleration at 32…200 Hz	1.3 g 15%	1.3 g 15%
Vibration noise (random) frequency	20…500	20…500
Mechanical data
Mass	1.7 kg	0.72 kg
Dimensions
Length T	268 mm	215 mm
Width B	70 mm	50 mm
Height H	196 mm	196 mm

Servomotor: Bosch-Rexroth MSK070C-0300 & MSK040B-0450

Servomotor.

Bosch-Rexroth MSK drives Technical details

Performance data	MSK070C-0300	MSK040B-0450
Continuous torque at standstill,
	13 Nm	1.7 Nm
	14.5 Nm	-
Surface	19.5 Nm	-
Continuous current at standstill,
	8.2 A	2.0 A
	9.2 A	-
Surface	12.3 A	-
Maximum torque	33 Nm	5.1 Nm
Maximum current	32.8 A	8 A
Torque constant @ 20 ºC	1.74 Nm/A	0.95 Nm/A
Constant voltage @ 20 ºC	107 V/min	58.5 V/min
Winding resistance @ 20 ºC	1.13 Ohms	7.9 Ohms
Winding inductivity	8.3 mH	36 mH
Leakage capacitance	4 nF	1.5 nF
Number of pole pairs	6	4
Moment of inertia of rotor without brake	0.00291 kg m2	0.0001
Thermal time constant	22 min	13 min
Maximum speed	5500 rpm	7500 rpm
Sound pressure level	< 75 dB	< 75 dB
Environmental data
Ambient temperature during operation	0…40ºC, if > 40ºC, power derating (look factor)	0…40ºC, if > 40ºC, power derating (look factor)
Setup elevation	0…1000ºC, if > 1000 m, power derating	0…1000ºC, if > 1000 m, power derating
Relative humidity	5 … 95 %	5 … 95 %
Mechanical data
Degree of protection	IP65	IP65
Insulation class (EN 60034-1)	F	F
Dimensions
Length	238 mm	155.5 mm
Height	202 mm	124.5 mm
Width	140 mm	82 mm
Mass	16.2 kg	3.6 kg
Holding brake data
Holding torque	23 Nm	4 Nm
Rated voltage (10%)	24 V	24 V
Rated current	0.79 A	0.5 A
Connection time	130 ms	35 ms
Disconnection time	180 ms	25 ms
Moment of inertia brake	0.0003 kg m2	0.000023 kg m2
Mass brake	1. 6 kg	0.3 kg

Standards

98/37/EG, 89/336/EEC, DIN EN 50178; VDE0160, DIN IEC 60364-4-41;VDE 0100 part 410, DIN 332-2, DIN 6885-1, DIN EN 60034-1; VDE0530 Part 1, DIN VDE 0298-4; VDE 0298 Part 4, DIN EN 60204-1; VDE, 0113 Part 1, DIN 42955, DIN 748-1, DIN EN 60034-14; VDE 0530 Part 14, IEC 721-3-3 replaced, by DIN EN 60721-3-3, IEC 721-1 replaced by DIN IEC 60721-1, DIN EN 60529; VDE 0470 Part 1, DIN EN 60034-7; VDE 0530 Part 7, DIN 3760, DIN ISO 281.

Power supply: Bosch-Rexroth KCU02.1N-ET-ET

Power supply for Bosch-Rexroth drives and servomotors.

Bosch Rexroth KCU02.1N-ET-ET power supply Technical details

Bosch Rexroth KCU02.1N-ET-ET
Power section data
Power dissipation at continuous current and continuous DC bus power respectively	90 W
Insulation resistance at DC 500 V	> 50 Mohms
Data control voltage - Input
Control voltage	24 V 20%
Rated power consumption control voltage input	675 W
Maximum inrush current @ 24 VDC supply	8 A (< 1 s)
Input capacitance	11 mF
Maximum allowed voltage for 1 ms	33 V
Data control voltage - Output
Nominal voltage	42 V
Nominal power	588 W
Data power section - Input
Rated input voltage	540 … 750 V DC
Rated input current	25 A
Capacitance in DC bus	< 0.0001 mF
Capacitance against housing	2 x 100 nF
Maximum allowed voltage for 1 ms	33 V
Short circuit current rating	42000 Arms
Data power section – Output
Output voltage	540 … 750 V DC
Output current	25 A
Rated power (t > 10 min & fs = 4 kHz)	14.0 … 18.8 kW
Maximum allowed DC bus power	42.0 … 53.3 kW
Protection
Protection category-overall	IP20
Overvoltage category	III (IEC60664-1)
Mechanical data
Mass	3.8 kg
Dimensions
Depth D	252 mm
Width B	50 mm
Height H	378 mm
Minimum distance on the top	80 mm
Minimum distance on the bottom	110 mm
Horizontal spacing	0 mm
Cooling
Type	Forced
Volumetric capacity of forced cooling	0.3 m3/h (approx.)
Environmental data
Ambient temperature range for operation with nominal data	0…40 ºC
Installation altitude	1000 m
Relative humidity	5 … 95 %
Conductive dirt contamination	Not allowed
Allowed pollution degree	2
Allowed dust, steam	EN 50178 tab. A.2
Vibration sine: amplitude at 5 … 32 Hz	0.6 mm 15%
Vibration sine: acceleration at 32…200 Hz	1.3 g 15%
Vibration noise (random) frequency	20…500
Average sound pressure level	< 70 dB

Motor-integrated drive: Bosch-Rexroth KSM02.1B-041C-42N-M3-HP2-ET-NN-D7-NN-TW

Motor integrated drive.

Bosch-Rexroth KSM02.1B-041C-42N-M3-HP2-ET-NN-D7-NN-TW drive Technical details

General data
Safe torque off
Multi-Ethernet Communication	Sercos
	Profinet
	Ethernet/IP
	EtherCAT
Data power section
Rated power (t > 10 min)	470 W
Power dissipation at continuous current and continuous DC bus power respectively	70 W
Rated input voltage, power	540…750 V
Capacitance in DC bus	0.012 mF
Capacitance against housing	-
Allowed switching frequencies	4-8 kHz
Data motor stage
Continuous torque at standstill, 60 K	2.2 Nm
Maximum torque	9.4 Nm
Maximum current	6.8 A
Torque constant @ 20ºC	1.6 Nm/A
Constant voltage @ 20ºC	98.2 V/1000min
Rotor inertia	0.00019 kg m2
Thermal time constant	13 min
Maximum speed	5500 rpm
Thermal class according to EN 600034-1	155
Holding brake
Holding torque	4 Nm
Clamping delay	25 ms
Release delay	35 ms
Mass brake	-
Inertia brake	0.000023 kg m2
Environmental data
Ambient temperature range for operation with nominal data	0…40 ºC (Note 1)
Relative humidity	5 … 95 %
Average sound pressure level	<75 dB
Control voltage
Control voltage	20.4…28.8 V
Maximum allowed overvoltage	33 V (1 ms)
Rated power consumption control voltage	29.5 W
Protection
Protection category-overall	IP65
Ambient conditions according to UL50/50E	Type 4X Indoor use only
Mechanical data
Mass	5.9 kg
Dimensions
Length T	252 mm
Width B	82 mm
Height H	194 mm

It has consulted Bosch Rexroth and they have confirmed that no problem working from -15ºC to 40°C.

Cabinet Cooling/Heating system

Fan cooler: Lytron Ostro fan

Cooling fan.

Lytron Ostro fan Technical details

Performance data
Speed	1400 rpm
Max air flow	13 m3/min
Max pressure	8 mm H2O
Noise	52 dB
Environmental data
Operating temperature	-40 – 70 ºC
Electrical data
Rated voltage	230 Vac
Frequency	50 Hz
Input power	31 W
Rated current	0.14 Arms
Locked current	0.26 Arms
Motor
Capacitor start	Yes
Insulation class	B
Thermal protected	Yes
Dielectric strength	AC 1500 V, one min.
Mechanical data
Dimensions	10.0 dia x 3.5 inches (254 dia x 89 mm)
Weight	1.9 kg
Bearings	Balls
Construction	Frame: Aluminum Impeller: PBT
Life expectancy
Continuous duty	50000 hours

Heat exchanger: Lytron M14-240

Copper oem coil tube-fin heat exchanger

Lytron M14-240 heat exchanger Technical details

Mechanical data
Dimensions
Width	711 mm
Height	51 mm
Length	356 mm
Weight	8.39 kg
Type	Tube-Fin Liquid-to-Air
Fin material	Aluminum
Wetted path	Copper
Fan plate	Included
Fluid data
Compatibility	Water, Common coolants
Fluid volume	1090 ml
Max. pressure	10 bar
Max.flow rate	15.1 l.p.m
Liquid pressure drop	0.9 bar
Air pressure drop	29.89 Pa
Thermal data
Continuous thermal output	4600 W
Max. temperature	200 ºC

Heater: Rittal SK3105.380

This is the heater for the main electrical cabinet.

SK3105.380 panel heater Technical details

Mechanical data	SK3105.380
Dimensions
Width	103 mm
Height	200 mm
Depth	103 mm
Hole distance	171 mm
Electrical data
Rated voltage	110 – 240 V AC
Rated frequency	50 - 60 Hz
230 V gG prefusible	4 A @ 230 V AC
Thermal data
Continuous thermal output	250 @ Tu = 10ºC

Mixing valve Siemens SAX61.03

The mixing valves used in the MCS.

Siemens SAX61.03 Technical details

Technical Specification
Fail Safe	No
Positioning signal	DC 0…10 V, DC 4…20 mA, 0…1000 Ohm
Position feedback	DC 0…10 V
Power consumption	8 VA
Mounting position	Nema 1 (interior only), Upright to horizontal
Ambient humidity, operation	95 % r.h.
Operating voltage	24 VAC/DC
Supply Voltage	24 VAC
Frequency	50/60
Stroke	20 mm
Positioning time	30 s
Stroke, mm	20 mm
Ambient temperature, operation	-5…55 °C
Dimensions (W x H x D)	4.88 x 9.53 x 5.91 in
Degree of protection	IP54
Spring return function	Non-spring return functionality

Hand Held Device HHD: Keba KeTop T200

Mobile terminal with HD-ready display.

KeTop T200 HMI Technical details

Display data
Size	10’
Resolution	WXGA, 1280 x 800
Touch screen	Analog resistive
Operation elements
Selection switch	2, 4 or 16 positions
Key switch	Yes
Push buttons	Yes
Membrane keyboard	36 tactile keys front side 12 tactile keys read side
Safety elements
Switch	3-level enabling switch
Emergency stop button	Yes
Safety category	PLe, En 13849-1 & SIL3, EN 61508
Hardware data
Processor	Intel Atom E3815
Memory	32 GB Flash, 4 GB RAM
Communication	Ethernet 10/100 Mb/s
Data back-up	USB 2.0
Environmental data
Temperature
Operating temperature	0 – 45 ºC
Storage temperature	-25 – 70 ºC
Relative humidity	5-95%, non-condensing
Vibration/Shock resistance	EN 61131-2
EMC immunity/emission	Directive 2004/108/EG
Electrical data
Voltage supply	24 V DC
Max. power	15 W
Max. current	400 mA @ 24 V
Mechanical data
Dimensions
Width	275 mm
Height	110 mm
Length	350 mm
Weight	1850 g
Housing	ABS-PC, IP 65
Standards and Certifications
Approvals	UL, SIBE

Power supply unit: Phoenix contact QUINT PS/3AC/24DC/20

Power supply for DIN rail mounting. 3 phase voltage input to 24 V DC/20 A.

Phoenix contact QUINT PS/3AC/24DC/20

Phoenix contact QUINT PS/3AC/24DC/20 Technical details

Dimensions
Width	60 mm
Height	130 mm
Depth	125 mm
Width with alternative assembly	122 mm
Height with alternative assembly	130 mm
Depth with alternative assembly	63 mm
Ambient conditions
Degree of protection	IP20
Ambient temperature (operation)	-25 °C … 70 °C (> 60 °C Derating: 2,5 %/K)
Ambient temperature (storage/transport)	-40 °C … 85 °C
Max. permissible relative humidity (operation)	≤ 95 % (at 25 °C, non-condensing)
Noise immunity	EN 61000-6-2:2005
Maximum altitude	5000 m
Input data
Nominal input voltage range	3x 400 V AC … 500 V AC
Input voltage range	3x 320 V AC … 575 V AC
	2x 360 V AC … 575 V AC
	450 V DC … 800 V DC
AC frequency range	45 Hz … 65 Hz
Frequency range DC	0 Hz
Discharge current to PE	< 3.5 mA
Inrush surge current	< 20 A (typical)
Power failure bypass	> 28 ms (400 V AC)
	> 43 ms (500 V AC)
Choice of suitable circuit breakers	6 A … 16 A (AC: Characteristics B, C, D, K)
Type of protection	Transient surge protection
Protective circuit/component	Varistor, gas-filled surge arrester
Output data
Nominal output voltage	24 V DC ±1 %
Setting range of the output voltage	18 V DC … 29.5 V DC (> 24 V DC, constant capacity restricted)
Nominal output current	20 A (-25°C … 60°C, UOUT = 24 V DC)
POWER BOOST	26 A (-25°C … 40°C permanent, UOUT = 24 V DC )
SFB technology current reserve	120A (12 ms)
Derating	60 °C … 70 °C (2.5%/K)
Connection in parallel	Yes, for redundancy and increased capacity
Connection in series	Yes
Control deviation	< 1 % (change in load, static 10 % … 90 %)
	< 3 % (change in load, dynamic 10 % … 90 %)
	< 0.1 % (change in input voltage ±10 %)
Residual ripple	< 20 mVPP (with nominal values)
Output power	480 W
Typical response time	< 0.16 s
Peak switching voltages nominal load	< 40 mVPP (at nominal values, 20 MHz)
Maximum power dissipation in no-load condition	11 W
Power loss nominal load max.	40W
General & directives
Net weight	1.5 kg
Operating voltage display	Green LED
Efficiency	> 93 % (at 400 V AC and nominal values)
Insulation voltage input/output	4 kV AC (type test)
	2 kV AC (routine test)
Protection class	I
MTBF (IEC 61709, SN 29500)	> 900000 h (25 °C)
	> 534000 h (40°C)
	> 280000 s (60°C)
Mounting position	horizontal DIN rail NS 35, EN 60715
Assembly instructions	Alignable: 5 mm horizontally, 15 mm next to active components, 50 mm vertically
Electromagnetic compatibility	Conformance with EMC Directive 2004/108/EC
Low Voltage Directive	Conformance with LV directive 2006/95/EC
Standard – Electrical equipment of machines	EN 60204-1
Standard - Electrical safety	IEC 60950-1/VDE 0805 (SELV)
Shipbuilding approval	Germanischer Lloyd (EMC 1), ABS, LR, RINA, NK, DNV, BV
Standard – Electronic equipment for use in electrical power installations and their assembly into electrical power installations	EN 50178/VDE 0160 (PELV)
Standard – Safety extra-low voltage	IEC 60950-1 (SELV) and EN 60204-1 (PELV)
Standard - Safe isolation	DIN VDE 0100-410
Standard – Protection against shock currents, basic requirements for protective separation in electrical equipment	EN 50178
Standard – Limitation of mains harmonic currents	EN 61000-3-2
Standard - Equipment safety	GS (tested safety)
Standard - Approval for medical use	IEC 60601-1, 2 x MOOP
Approval - requirement of the semiconductor industry with regard to mains voltage dips	SEMI F47-0706 Compliance Certificate
Information technology equipment - safety (CB scheme)	CB Scheme
Rail applications	EN 50121-4
Overvoltage category	III