AIROS 650S - Electrical cabinet Mirka - Free user manual and instructions

USER MANUAL AIROS 650S Mirka

Mirka ^® MotorDriveCabinet

MIRKA MIRKA C4 2005370-03 1996 1998 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2001

Electricalmanual

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Mirka® MotorDrive Cabinet

de Bedienungsanleitung....4 Operating instructions (original)....23en Instrucciones de manejo....41es

Operating instructions....143UK|en

Parts list – spareparts

DescriptionMirka code
	Power supply 48 VMIA6513211
	Power supply 24 VMIA6513411
	Profinet GatewayMIA6513311
	EtherNet/IP gatewayMIA6514011
	MODBUS RTU Gateway CableMIA6513312
	Motor driveMIA6513112
	Shielded cable for tool (10m)MIA6512311

Halteregister (F3, F6, F16)

Symbol of a trash bin with crossed lines indicating no waste or restriction, and a solid black rectangle below (no text or labels)

Declaration of conformity

Mirka Ltd, 66850 Jeppo, Finland

declare under our sole responsibility that the Mirka® products (listed below and see "Technical data" table for particular model) to which this declaration relates are in conformity with the following standards or other normative documents: EN 61439-1:2011, EN 61439-2:2011, EN 61800-3:2004+A1:2012, EN IEC 63000:2018 in accordance with the regulations 2014/35/EU, 2014/30/EU, 2011/65/EU.

Products: Mirka ^® Motor Drive Cabinet

Jeppo 19.02.2025

Place and date of issue

Manufacturer /Supplier

Mirka Ltd

66850 Jeppo, Finland

Tel. [phone]

Fax [phone]

www.mirka.comStefan Sjö

Original instructions. We reserve the right to make changes to this manual without prior notice.

Warranty

Mirka warrants that your components are free from manufacturing and material defects.

Mirka components have a 1-year warranty starting from the date of purchase. Only manufacturing and material defects are covered by the warranty.

If a problem occurs caused by a manufacturing defect material or by workmanship, Mirka will repair your component free of charge in accordance with the warranty terms and conditions stated herein. To keep your component warranty valid the component must be used, maintained and operated in compliance with the operating instructions.

Terms and conditions

Mirka's component warranty covers defects in material and workmanship.

Components covered by the warranty:

•motor drive

•sanding unit

- polishing unit

•power supply

- communication gateway

Warranty does not cover:

• any damage caused or resulting from transport, receipt of delivery, installation, commissioning, misuse, neglect in usage or maintenance, accidents, exposure to extreme unacceptable ambient temperature, acids, water, unsuitable storage, excessive impact, or operation outside the rated specifications.
  • defects caused by spare parts, accessories or components other than Mirka original spare parts or accessories.
• normal wear and tear items such as: backing pad, break seal, exhaust fitting, bearings, rubber mount, signal cable or power cable.
• components that have been: modified, repaired or repair attempts (by other than Mirka authorized service), partly or completely disassembled components.

No other than Mirka have the authority to change, extend or add to given warranty terms and conditions.

The manufacturer cannot be hold responsible for consequential damages compensations for downtime, production loss, injuries or property damages.

A warranty claim must be submitted with as short delay as possible. A warranty claim must be submitted within the warranty period.

Symbols

CE	Complies with EU relevant standards
	Warning: Electricity

Installation overview

graph TD
    A["48 VDC PSU"] -->|J2| B["Motor drive"]
    B -->|J3| C["Tool"]
    D["24 VDC PSU"] -->|J4| B
    E["Vacuum autostart"] -->|J1| B
    F["Modbus RTU master"] -->|J5, J6| B
    G["Digital interface"] --> B
    H["I/O gateway"] -->|J1| B
    I["Robot/PLC"] -->|J5, J6| B
    J["Optional vacuum autostart module"] -->|J4| B
    K["Optional Hilischer NT 50-RS-EN I/O gateway addon module"] -->|J1| B

General

• Connect the 48 VDC power supply to the motor drive (J2 connector).
• Connect the tool to the motor drive (J3 connector).

NOTE! It is not recommended to use a shielded cable for tool that is longer than 10m.

Modbus RTU interface

- Use the J1 connector to connect the motor drive to the Modbus RTU bus.

I/O gateway to Modbus RTU interface

- Connect the 24 VDC power supply to the gateway and connect the DSUB-9 adapter cable between the gateway (X2 connector) and the motor drive (J1 connector).

Digital control interface

• Use the J6 connector to connect the common GND between the systems.
• Use the J5 connector to select the operation using the four digital input signals.

Relay interface

• The N/O relay pins are available on the J4 connector.

Technical data for motor drive

Input
Nominal input voltage	48 VDC
Input voltage range	46 - 50 VDC
	10 AMaximum input current
	350 WRated power
Speed control
Speed range	1000 - 10000 rpm
Protection
	YesOverload protection
	YesOverheat protection
Interfaces
Input interfaces	Modbus RTU (RS-485)Profinet I/O (gateway module)EtherNet/IP (gateway module)4-bit digital inputs (15-33 VDC)
Output interfaces	Single pole, non-latching N/O relay, 250 VAC/ 125 VDC, 10 A
Environmental
Ambient temperature	0 - 40 °C
Humidity	Maximum 95% RH, non-corrosive, no dripping water
Storage temperature	-20 to 80 °C
	IP40IP Class
Dimensions
Motor drive cabinet	380 x 300 x 210 mm (W x H x D)
Motor drive	72 x 30 x 200 mm (W x H x D)
Motor drive mounted in DIN -rail holder	95 x 55 x 210 mm (W x H x D)

Safety instructions

Electrical installation must be carried out by a competent electrician!

The motor drive has been designed for fixed installations only.

Do not perform any voltage withstand tests on any part of the motor drive or the tool. Product safety has been fully tested at the factory.

Ground yourself with an anti-static wristband before touching the motor drive (setting jumpers and similar actions) to avoid electrostatic voltage discharge damage to the motor drive.

Always disconnect the power before performing any work on the cabinet.

Warnings

Make sure that all the AC-DC power supplies are properly earthed and that the motor drive cannot come in contact with live mains voltage.

An external emergency stop circuit is recommended.

Before running the tool

Before starting the tool, check that the tool is mounted properly and ensure that the motor drive is installed properly.

Motor drive overview

Motor drive PCB connectors, buttons, jumpers, indicators, mounting holes and dimensions

200 NO COM J4 GND 15V D4 D3 D2 D1 J6 J5 D26 JP12 JP13 JP15 D25 D24 D23 D22 D21 D20 D19 D18 D17 D3 D2 D30 D29 J1 GND A B GND JN4 JP3 JP2 JP1 S1 D4 S2 J2 GND 48V J3 NTC- GND PhaseC PhaseB PhaseA NTC+ P- C- C+ P+ D36 6 72 6 Dimensions specified in millimeters. 155 15

The motor drive PCB comes mounted in a DIN-rail holder that can be attached to a standard 35 x 7.5mm EN50022 DIN-rail, but the motor drive PCB can be removed from this holder and mounted using the mounting holes instead. If the mounting holes are used, then it is recommended to use 20 mm metal standoffs and 10 mm M3 screws when mounting the motor drive PCB.

It is recommended to use 10 mm ferrules with plastic sleeve for each wire that is attached to any of the connectors. The wires can then easily be pushed into the connectors and released with the help of a small flat-head screwdriver (3.5 mm blade width, 0.6 mm blade thickness).

Connector description

		DescriptionPINConnector
		GNDGNDJ1
		Modbus RTU RS-485 (A)AJ1
		Modbus RTU RS-485 (B)BJ1
		GNDGNDJ1

		DescriptionPINConnector
		GNDGNDJ2
		48 VDC input48VJ2
		Motor cable colorPINConnector
		WhiteP+J3
		PinkC+J3
		GreyC-J3
		GreenP-J3
		Brown, (0,25mm2)NTC+J3
		Brown, (0,25mm2)Phase AJ3
	J3	BluePhase B
	Phase CJ3	Black
J3	GND	Cabinet earth
J3	NTC-	Yellow
	Shield	Connected to ground, X2 in Mirka cabinet
		DescriptionPINConnector
J4	COM	Relay COM
J4	NO	Relay NO
		DescriptionPINConnector
J5	DI1	Digital speed control input bit 1
J5	DI2	Digital speed control input bit 2
J5	DI3	Digital speed control input bit 3
J5	DI4	Digital speed control input bit 4
		DescriptionPINConnector
	15VJ6	15 VDC output
	J6	GNDGND

Button description

Button	Description
S1	Self-test button
S2	Reset button

Indicator description

Indicator	Description
D2	Speed set-point indicator, lit if speed set-point 1 active. Modbus RTU slave address indicator, bit 1.
D3	Speed set-point indicator, lit if speed set-point 3 active. Modbus RTU slave address indicator, bit 2.
D4	Tool status indicator. Lit red when the tool is stopped, lit green when the tool is running.
D14	Motor drive state indicator. Lit green when motor drive is in ON-state. Blinking green when motor drive is in OFF-state.
D17	Speed set-point indicator, lit if speed set-point 5 active. Modbus RTU slave address indicator, bit 3.
D18	Speed set-point indicator, lit if speed set-point 7 active. Modbus RTU slave address indicator, bit 4.DescriptionIndicator
D19	Speed set-point indicator, lit if speed set-point 9 active. Modbus RTU slave address indicator, bit 5.
D20	Speed set-point indicator, lit if speed set-point 11 active. Modbus RTU slave address indicator, bit 6.
D21	Speed set-point indicator, lit if speed set-point 13 active. Modbus RTU slave address indicator, bit 7.
D22	Modbus RTU slave address indicator, bit 8.
D23	Lit if D2–D3, D17–D22 indicator mode is Modbus RTU slave address.
D24	Lit if digital speed control interface is enabled.
D25	Lit if the alarm status flag is set.
	Relay status indicator.D26
D29	Modbus RTU receive indicator.
D30	Modbus RTU transmit indicator.
D36	Possible tool wiring fault. Turns red when a possible fault in tool C+/C-/P+/P- wiring is detected.

Speed set-point display

Tool						Min speed (RPM)				Max speed (RPM)
AIROS 550 CV/NV										100004000AIROS 650 CV/NV
AIROS 350 CV/NV
AIROS 150 NV										80004000AIROP 312 NV
AIOS 130 NV
										100005000AIOS 353 CV/NV
										30001000AIRP 300
Speed set	Bit map				Speed at various setpoints (RPM)					Speed LED:s active
	DI4	DI3	DI2	DI1	Tool RPM	Tool RPM	Tool RPM	Tool RPM	Tool RPM	D2	D3	D17	D18	D19	D20	D21
					4000-10000	4000-8000	5000-10000	1000-3000
1	0	0	0	1	4000	4000	5000	1000	X
2	0	0	1	0	4500	4333	5417	1167	X
3	0	0	1	1	5000	4666	5834	1334	X	X
4	0	1	0	0	5500	4999	6251	1501	X	X
5	0	1	0	1	6000	5332	6668	1668	X	X	X
6	0	1	1	0	6500	5665	7085	1835	X	X	X
7	0	1	1	1	7000	5998	7502	2002	X	X	X	X
8	1	0	0	0	7500	6331	7919	2169	X	X	X	X
9	1	0	0	1	8000	6664	8336	2336	X	X	X	X	X
10	1	0	1	0	8500	6997	8753	2503	X	X	X	X	X
11	1	0	1	1	9000	7330	9170	2670	X	X	X	X	X	X
12	1	1	0	0	9500	7663	9587	2837	X	X	X	X	X	X
13	1	1	0	1	10000	8000	10000	3000	X	X	X	X	X	X	X	X
Bit map										Operation
DI4			DI3			DI2		DI1
0			0			0		0		Stopped
										Run, no speed change0111
										Run, no speed change1111

Modbus RTU slave address display

BIT 8	BIT 7	BIT 6	BIT 5	BIT 4	BIT 3	BIT 2	BIT 1
							D2D3D17D18D19D20D21

Jumper description

		DescriptionDefaultJumpers
JP1	Not set	Reserved for future use
	Not setJP2	If set, a terminating resistor of 270 Ωis connected across Modbus RTU pins A and B.
	Not setJP3	If set, a pull-down resistor of 10 kΩ is connected to Modbus RTU B-pin.
	Not setJP4	If set, a pull-up resistor of 10 kΩ is connected to Modbus RTU A-pin.
JP12	Not set	If set, digital speed control feature is enabled.
	Not setJP13	If set, D2-D3, D17-D22 indicators will output the current Modbus RTU slave address instead of speed set-point.
JP15	Not set	Reset to factory settings.

Tool cable connector pinout

	DescriptionPin (colour, size)
PE (green-yellow, 1.0 mm2)	Not in use
	Phase A1 (brown, 1.00 mm )
2 (blue, 1.00 mm )	Phase B
3 (black, 1.00 mm )	Phase C
A (grey, 0.25 mm )	C-
B (pink, 0.25 mm )	C+
C (green, 0.25 mm )	P-
C (yellow, 0.25 mm )	NTC-
D (brown, 0.25 mm )	NTC+
E (white, 0.25 mm )	P+

NOTE! NTC- and P- are connected together to the same PIN inside the connector.

Hilscher NT 50-RS-EN adapter cable pinout (female DSUB-9)

Brown Green White GND A B GND

	DescriptionPIN (colour)
	GND1 (white, WH)
4 (brown, BN)	Modbus RTU (A, RxD / TxD+)
5 (green, GN)	Modbus RTU (B, RxD / TxD-)
	ShieldSHIELD

Terminal block connections (Firmware v. 3.05 and newer)

Enable-State:

For the sander to be able to operate, terminal block 4 must be connected to a 24V output from the robot/PLC, while terminal block 6 should be connected to 0V on the robot/PLC.

For enhanced safety, the Enable-State output could be set to low if the robot encounters an issue that causes it to stop. This will automatically halt the sanding/polishing head.

The 3 meter, 2-pole cable provided with the cabinet should be used for connecting the enable-state as per the instructions

Vacuum Autostart Module:

Customers can integrate the optional Mirka AutoStart Module (MIA6519011) to enable automatic start/stop functionality for the dust extractor. To do this, connect terminal block 5 to the positive (+) terminal on the AutoStart Module and terminal block 7 to the negative (−) terminal.

PE PE 1 2 F1 3 4 5 6 7 X1

	Terminal blockFunction/Connection
Enable-state robot/PLC output 24V	X1:4 (connected to pin J5, DI1)
	X1:6Robot/PLC 0V
Autostart module +	X1:5 (connected to pin J4, NO)
	X1:7Autostart module -

Modbus RTU

Modbus RTU over RS-485 is used to communicate with the motor drive. The motor drive is configured as a Modbus RTU slave device and the default slave address is 86. The slave address can be changed if it conflicts with another Modbus RTU slave device.

The J1 connector on the motor drive is used for Modbus RTU communication. A shielded twisted pair cable is recommended and the shield should be earthed only at one point, normally at the master device. The A-pin of the J1 connector is equivalent to RxD / TxD+ and the B-pin is equivalent to RxD / TxD−.

RS-485 configuration

	19200BAUD RATE
	EVENPARITY
	1STOP BITS
	8DATA BITS

Coil registers (F1, F5, F15)

			DesciptionNameData typeAddre
00001 - 00012	Uint16	Digital outputs	Coils 1–11 are reserved for future use.Coil 12 is the relay located on the motor drive.

Input registers (F4)

NOTE! Input registers 30001-30016 are drive specific. As an example: "Drop RPM count" refers to the total number of "Drop RPM count" for all tools that have been connected to the motor drive.

NOTE! * Requires firmware version 3.05 or newer and tool firmware 0.05 or newer.

			DescriptionNameData typeAdre
		Drop RPM countUint1630001	The number of times the speed has dropped from set-point by more than 25%.
		Warm tool countUint1630002	The number of times the tool temperature has exceeded the “warm”limit, 79°C.
30003	Uint16	Warm motor drive count	The number of times the motor drive temperature has exceeded the “warm”limit, 73°C.
		Hot tool countUint1630004	The number of times the tool temperature has exceeded the “hot”limit, 134°C.
30005	Uint16	Hot motor drive count	The number of times the motor drive temperature has exceeded the “hot”limit, 117°C.
30006	Uint16	Stop tool count	The number of times the tool temperature has exceeded the “stop”limit, 142°C.
30007	Uint16	Stop motor drive count	The number of times the motor drive temperature has exceeded the “stop”limit, 123°C.
30008	Uint16	Voltage out of range count	The number of times the input voltage has not been within 44 to 52 VDC.
		Over-current low countUint163000	The number of times the current has exceeded 15.1 A.
30010	Uint16	Over-current medium countUsage count longUint1630011	The number of times the current has exceeded 18.2 A.The number of times the run time has been more than 60 seconds.
		Usage count mediumUint1630012	The number of times the run time has been between 20 and 60 seconds.
		Usage count shortUint1630013	The number of times the run time has been less than 20 seconds.
30014	Uint16	Usage time hours	Hours part of usage time.
30015	Uint16	Usage time minutes	Minutes part of usage time.
30016	Uint16	Usage time seconds	Seconds part of usage time.
			Current in mA.CurrentInt1630017
30018	Uint16	Speed	Speed in RPM.
30019	Uint16	Tool temperature	Tool temperature in °C.
30020	Uint16	Motor drive temperature	Motor drive temperature in °C.
30021-30030	Char[20]	Firmware version	Firmware version and build date, e.g. “2.0 Jan 18 14:00”.
30031-30039	Char[18]	Part version	Part version and motor drive identification number, e.g. “AI1.3 123456”
30040-30046	Char[14]	Motor drive serial number	Motor drive serial number, e.g. “749474379001”
30047	Uint16	Alarm status flagTool IDUint1630061	Alarm status flag can at any given time hold a combination of values from the list below. Check the individual bits to determine the type of alarms that are currently triggered. This flag is automatically cleared after 5 seconds ifthecause of the alarm trigger is no longer present. 0x0000 = Not triggered 0x0001 = Tool overheated 0x0002 = Motor drive overheated 0x0004 = Over-current 0x0008 = Under-voltage 0x0010 = Over-voltage 0x0020 = Self-test running 0x0040 = RPM drop 0x0080 = High current 0x0100 = Tool change in progress 0x0200 = Possible toolwiringfault 0x0400 = Factory reset mode 0x0800 = Write protection dis-abled 0x1000 = Tool disconnected (communication lost)*
		Tool min speedUint1630062
		Tool max speedUint1630063
		Tool tag availableUint1630064
		Tool serial numberChar[14]30065-30071
		Tool pad diameterUint1630174*
		Tool Z offsetUint1630175*
30176*	Uint16	Tool orbit	Tool orbit in mm.
		Tool weightUint1630177*
30178*	Uint16	Tool CoG	Tool center of gravity
30179*	Uint16	Tool pad width
30180*	Uint16	Tool pad length
30181-30183*	Char[3]	Tool firmware version	Firmware version e.g. "0.04"
		Tool model nameChar[10]30181-30193*

Holding registers (F3, F6, F16)

			DescriptionNameData typeAddr
	Char[20]40001-40010	Device name	Max length 19 printable characters, e.g. "AIMD 749474379001".
	Uint1640011	Speed set-point	Speed set-point, not the actual speed, between min- and max speed of tool.
	Uint1640012	Operation	Motor drive state, can be a combination of the following:0x0001 = RUN0x0002 = STOP*0x0004 = ON*0x0008 = OFF0x0010 = TOOL CHANGE START0x0020 = TOOL CHANGE END0x0040 = WRITE PROTECTION DISABLE0x0080 = WRITE PROTECTION ENABLENOTE! When writing a new state value, the value can only be a single state, not a combination of multiple states, e.g. ON+RUN cannot be written simultaneously.
	Uint1640013	Slave address	Defaults to 86 but can be changed if needed.

NOTE! * Not included on firmware 3.05 or later

Profinet I/O or EtherNet/IP gateway (Hilscher NT 50-RS-EN)

If the motor drive needs to be connected as Profinet I/O or EtherNet/IP device, the Hilscher NT 50-RS-EN gateway can be used. The gateway is connected to the motor drive via the DSUB-9 connector on the gateway and the J1 connector on the motor drive. Below is the pinout for the DSUB-9 (X2 connector) found on the gateway:

			DescriptionsSignalPINRS-4
	1	GND	Reference potential,ground of power supply
		RxD / TxD+4	Receive data /Transmit data positive
		RxD / TxD-5	Receive data /Transmit data negative

A pull-up resistor of 10 kΩ is internally connected in the gateway to "RxD / TxD+".

A pull-down resistor of 10 kΩ is internally connected in the gateway to "RxD / TxD−".

Detailed documentation about the gateway and configuration tools can be downloaded from the Hilscher website: www.hilscher.com

Configuration

The gateway comes pre-configured from Mirka as a Profinet I/O slave device or a EtherNet/IP I/O adapter. The "SYCON.net" software from Hilscher can be used to re-configure the device. The "Ethernet Device Setup" software from Hilscher can be used to change the network configuration. The IP address usually needs to be re-assigned after a configuration change.

Default network configuration for Profinet

	192.168.2.191IP ADDRESS
	255.255.255.0SUBNET MASK
	0.0.0.0DEFAULT GATEWAY
	nt50enpnsDEVICE NAME
	118INPUT SIZE
	102 (Firmware v. 3.05 or newer)
	5OUTPUT SIZE

Default network configuration for EtherNet/IP

	192.168.125.110IP ADDRESS
	MirkaENIPNAME
	101INPUT ASSEMBLY
	102INPUT SIZE
	100OUTPUT ASSEMBLY
	5OUTPUT SIZE

Profinet I/O to Modbus RTU signal mapping firmware 3.04 or older

Name	Modbus register	Data length	Trigger	Profinet I/O	Data length
SetRelay	00012	1 coil	Changed data	1	1 byte out
SetSpeedRegister	40011	1 register	Changed data	2	1 word out
SetOperationRegister	40012	1 register	Changed data	3	1 word out
DeviceName	40001-40010	10 registers	Cyclically 10 sec.	4	10 words in
CommonInputs	30017-30020	4 registers	Cyclically 1 sec.	5	4 words in
MiscInputs	30001-30016	16 registers	Cyclically 5 sec.	6	16 words in
AlarmStatus	30047	1 register	Cyclically 1 sec.	7	1 word in
		10 registers30021-30030FirmwareVersion sec.			10 words in8Cyclically 10
PartVersionSerialNumber	30031-30046	16 registers	sec.		16 words in9Cyclically 10
GetSpeedRegister	40011	1 register	Cyclically 1 sec.	10	1 word in
GetOperationRegister	40012	1 register	Cyclically 1 sec.	11	1 word in
ReadCoils	00001-00012	12 coils	Cyclically 1 sec.	12	2 bytes in

Profinet I/O drive firmware 3.05 or newer

				Data length	Type Clause Type Slo dress
Slot 1	1 byte out	Digital output (re-lay)	BIT	1 byte	FC5 11
Slot 2	2 byte out	Speed set-point (RPM)	UINT16	1 word	FC6 10
Slot 3	2 byte out	Operation	BIT	1 word	FC6 11
Slot 4	8 byte in	Motor current (mA)	UINT16	1 word	FC4 16
		Motor RPM (RPM)	UINT16	1 word	FC4 17
		Motor temp (C°)	UINT16	1 word	FC4 18
		Drive temp (C°)	UINT16	1 word	FC4 19
Slot 5	8 byte in	Drive fw.	CHAR	6 byte	FC4 20-23
Slot 6	2 byte in	AlarmStatus	BIT	1 word	FC4 46
Slot 7	4 byte in	Speed set-point (RPM)	UINT16	1 word	FC3 10
		Operation	BIT	1 word	FC3 11
Slot 8	8 byte in	Tool ID	UINT16	1 word	FC4 60
		Min speed (RPM)	UINT16	1 word	FC4 61
		Max speed (RPM)	UINT16	1 word	FC4 62
		Tool tag available	BIT	1 word	FC4 63
Slot 9	16 byte in	Tool serial #	CHAR	14 byte	FC4 64-71
Slot 10	8 byte in	Pad diameter (mm)	UINT16	1 word	FC4 173
		Tool Z offset (mm)	UINT16	1 word	FC4 174
		Tool orbit (mm)	UINT16	1 word	FC4 175
		Tool weigth (g)	UINT16	1 word	FC4 176
Slot 11	32 byte in	Tool COG Z offset (mm)	UINT16	1 word	FC4 177
		Pad Width (mm)	UINT16	1 word	FC4 178
		Pad length (mm)	UINT16	1 word	FC4 179
		Tool fw.	CHAR	6 byte	FC4 180-182
		Tool model name	CHAR	20 byte	FC4 183-192

			Data length	Data type	Type Type Slo dress
Slot 12	16 byte in	Tool usage hours	UINT16	1 word	FC4 99
		seconds			FC4 1001 byteUINT8Tool usage
		minutes			FC4 1001 byteUINT8Tool usage
		Tool usage short count	UINT32	2 word	FC4 101-102
		Tool usage medium count	UINT32	2 word	FC4 103-104
		Tool usage long count	UINT32	2 word	FC4 105-106

EtherNet/IP drive firmware 3.05 or newer

				Modbus AddressData
Output	Digital output (relay)	BIT	1 byte	FC5 11
Output	Speed set-point (RPM)	UINT16	1 word	FC6 10
Output	Operation	BIT	1 word	FC6 11
Input			2 word
Input	Motor current (mA)	UINT16	1 word	FC4 16
Input	Motor RPM (RPM)	UINT16	1 word	FC4 17
Input	Motor temp (C°)	UINT16	1 word	FC4 18
Input	Drive temp (C°)	UINT16	1 word	FC4 19
Input	AlarmStatus	BIT	1 word	FC4 46
Input	Speed set-point (RPM)	UINT16	1 word	FC3 10
Input	Operation	BIT	1 word	FC3 11
Input	Tool ID	UINT16	1 word	FC4 60
Input	Min speed (RPM)	UINT16	1 word	FC4 61
Input	Max speed (RPM)	UINT16	1 word	FC4 62
Input	Tool tag available	BIT	1 word	FC4 63
Input	Tool serial #	CHAR	14 byte	FC4 64-71
Input	Pad diameter (mm)	UINT16	1 word	FC4 173
Input	Tool Z offset (mm)	UINT16	1 word	FC4 174
Input	Tool orbit (mm)	UINT16	1 word	FC4 175
Input	Tool weigth (g)	UINT16	1 word	FC4 176
Input	Tool COG Z offset (mm)	UINT16	1 word	FC4 177
Input	Pad Width (mm)	UINT16	1 word	FC4 178
Input	Pad length (mm)	UINT16	1 word	FC4 179
Input	Tool firmware	CHAR	6 byte	FC4 180-182
Input	Tool model name	CHAR	20 byte	FC4 183-192
Input	Drive firmware	CHAR	6 byte	FC4 20-23
Input	Tool usage hours	UINT16	1 word	FC4 99
Input	Tool usage seconds	UINT16	1 byte	FC4 100
Input	Tool usage minutes	UINT16	1 byte	FC4 100
Input	Tool usage short count	UINT32	2 word	FC4 101-102
Input	Tool usage medium count	UINT32	2 word	FC4 103-104
Input	Tool usage long count	UINT32	2 word	FC4 105-106

Siemens TIA Portal V14 gateway mapping example 3.04 or older

Below is a screenshot from TIA Portal V14 showing how the gateway can be mapped into the system. The GSDML file can be found in the Gateway solution DVD downloadable from hilscher.com to add support for the Hilscher NT 50-RS-EN gateway into your system.

Device overview
	...	Module	Rack	Slot	I address	Q address	Type	Article no.	Firmware
		nt50enpns	0	0			NT 50-EN/PNS		3.4 x
		PNHO	0	0 X1			nt50enpns
		SetRelay	0	1		63	1 Byte Output
		SetSpeedRegister	0	2		64...65	2 Byte Output
		SetOperationRegister	0	3		66...67	2 Byte Output
		DeviceName	0	4	68...87		20 Byte Input
		CommonInputs	0	5	88...95		8 Byte Input
		MiscInputs	0	6	96...127		32 Byte Input
		AlarmStatus	0	7	128...129		2 Byte Input
		FirmwareVersion	0	8	130...149		20 Byte Input
		PartVersion	0	9	150...169		20 Byte Input
		SerialNumber	0	10	170...181		12 Byte Input
		GetSpeedRegister	0	11	182...183		2 Byte Input
		GetOperationRegister	0	12	184...185		2 Byte Input
		ReadCoils	0	13	186...187		2 Byte Input

Basic operation for Modbus RTU

The motor drive must be enabled before the tool can be started. The first operation that should be done is to set the motor drive to the Enabled-state. This operation differs starting from firmware version 3.05. On earlier versions a "Drive enabled" command should be sent to the motor drive, while newer versions have the digital pin DI1 allocated as the Enabled-state. It is not mandatory to send the Disabled-state command before removing power from the motor drive.

When the motor drive is enabled the speed set-point value can be written and the state can be set to RUN-state by sending the RUN-state command. This will cause the tool to run at the set-point speed. To stop the tool, set the motor drive to STOP-state by sending the STOP-state command.

It is recommended to continuously monitor the average speed, average current, tool temperature, motor drive temperature and the alarm status flag. This will help to detect if there are any issues present during operation.

Example sequence for starting and stopping the tool (Firmware v. 3.04 and older):

• Write 4 (0x0004) to the "Operation" register, this will set the motor drive to Enabled-state.
• Write 4000 (0x0FA0) to the "Speed set-point" register, this will set the set-point speed to 4,000 rpm.
• Write 1 (0x0001) to the "Operation" register, this will set the motor drive to RUN-state and the tool will start running.
• Write 2 (0x0002) to the "Operation" register, this will set the motor drive to STOP-state and the tool will stop running.
• Write 8 (0x0008) to the "Operation" register, this will set the motor drive to Disabled-state.

Example sequence for starting and stopping the tool (Firmware v. 3.05 and newer)*:

• Set pin DI1 (terminal block 4) to high (15-33 VDC), this will set the motor drive to Enabled-state.
• Write 4000 (0x0FA0) to the "Speed set-point" register, this will set the set-point speed to 4,000 rpm.
• Write 1 (0x0001) to the "Operation" register, this will set the motor drive to RUN-state and the tool will start running.
• Write 2 (0x0002) to the "Operation" register, this will set the motor drive to STOP-state and the tool will stop running.
• Set pin DI1 to low (GND), this will set the motor drive to Disabled-state.

*See chapter "Terminal block connections (Firmware v. 3.05 and newer)" for detailed connection information.

Digital interface

The motor drive can also be controlled via the digital interface instead of Modbus RTU, but with the added drawback that there is no feedback when using the digital interface. To enable the digital interface, the JP12 jumper needs to be set.

Connector J5 is used as input for the digital interface. The input is considered high if a voltage between 15–33 VDC is applied to the input pin. The input is considered low if the voltage is below 12 VDC or if the input is left floating. The GND pin of connector J6 must be connected between the systems. The J6 connector can also be used to provide a 15 VDC control voltage if needed.

GND 15V D14 D13 D12 D11 J6 J5 D26 JP12 JP13 JP15 D25 D24 D23 D22 D21 D20 D19 D18 D17 D3 D2 D30 D29 J1 GND A B GND JP4 JP3 JP2 JP1 S1 D14 D4 S2 J2 GND 48V

Digital interface operations

Please refer to the Speed set-point display table in the Motor drive overview chapter.

Self-test function

While holding down the S1 button the motor drive will perform a quick self-test. The alarm status flag will be set to 6 (self-test running). The indicators D4 and D14 will blink green if temperatures and voltages are within the limits. If the temperatures or voltages are not within the limits then the indicators will blink red.

Reset function

The reset button S2 can be pressed momentarily to reset the motor drive. This is essentially the same as turning the power off and on again.

Factory reset function

The configuration stored in the motor drive can be reset to factory defaults if needed. This will restore the factory assigned Modbus slave address and the last known tool configuration will be reset to factory defaults. Follow these steps to do a factory reset:

1. Set jumper JP15.
2. Press and hold S2 for 5 seconds.
3. Remove JP15.

Write protection

The holding registers for "Device name" and "Slave address" are normally read-only to prevent accidental writes to these registers. If any of these registers needs to be changed, follow these steps:

1. Write 64 (0x0040) to "Operation" register to disable the write protection.

2. Write the new value to "Device name" or "Slave address" holding registers.

3. Write 128 (0x0080) to "Operation" register to enable the write protection.

Safety stop / E-Stop

The motor drive itself does not have any inputs for detecting or reacting to an external safety stop / E-Stop signal. A suitable contactor can be used placed near the motor drive to connect or disconnect the tool cable phase A, B and C wires.

On the fly tool change function

Multiple tools can be used with the same motor drive but only one tool can be connected to the motor drive at any given time. When changing from one tool to the next, follow these steps:

1. Stop the tool by writing 2 (0x0002) to the "Operation" register.
2. Write 16 (0x0010) to the "Operation" register to let the motor drive know that you are intending to disconnect the currently attached tool.
3. Wait 1 second before disconnecting the currently attached tool from the motor drive.
4. Disconnect the currently attached tool from the motor drive.
5. Connect the next tool to the motor drive.
6. Write 32 (0x0020) to the "Operation" register to let the motor drive know that the new tool has been attached.
7. Wait 1 second before starting the new tool.

Protection features

	ReasonProtection mode
Tool enters reduced power	• Motor drive is over 117°C• Tool temperature is over 134°C• Excessive load
Tool stops completely	• Motor drive is over 123°C• Tool temperature is over 142°C• Overload condition

Troubleshooting guide

	Recommended proceduresSymptom
Motor drive does not power on.	Check that 48 VDC is present on J2 and that the polarity is correct.
Tool does not start.	*Check that the motor drive is in ON-state (D14 is not blinking).**Check that DI1 is enabled (D14 is not blinking).Check that the motor drive is in RUN-state (D4 is lit green).Check the cable assembly for the tool: are the pins properly connected?*3.04 and older**3.05 and newer
Tool suddenly stops.	Check the alarm status flag.Check the motor drive and tool temperatures.Check if the tool is being overloaded.
ModbusRTUcommunicationisnotworking.	Check that JP1 and JP12 are not set.Check the baud rate, parity, stop bits and data bits.Check the transmit/receive indicators D29 and D30; these blink when there is activity on the bus.Check that the A-pin and B-pin are connected properly.Check whether addition of a terminating resistor (JP2), A-pin pull-down resistor (JP3), B-pin pull-up resistor (JP4) solves the issue.Check the slave address (set the JP13 jumper and use indicators D2-D3, D17-D22 to read the current address).
I/Ogatewaycommunicationisnotworking.	Check that JP1 and JP12 are not set.Check the gateway network configurationCheck the 24 VDC power supply.Check the Modbus RTU adapter cable is connected properly.
Digital speed controller interface is not working.	Check that JP1 is not set.Check that JP12 is set.Check the voltage on a high input, it should be between 15-33 VDC.Check the voltage on a low input, it should be close to zero volts.Check the GND connection.
Indicator D36 is lit red, or the tool speed is too fast/slow.	Check C+/C-/P+/P- wiring on J3.

Disposal information

DANGER

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Render redundant power tools unusable by removing the power cord.

Observe applicable country-specific regulations regarding disposal and recycling of disused machines, packaging and accessories.

EU only: Do not dispose electric power tools in house-hold waste. According to European Directives on waste electrical and electronic equipment and its implementation under national law, electric tools that have reached the end of their life must be collected separately and taken to an environmentally compatible recycling facility.

For more information regarding REACH, RoHS and our corporate social responsibility visit www.mirka.com

BIT 8	BIT 7	BIT 6	BIT 5	BIT 4	BIT 3	BIT 2	BIT 1
D22	D21	D20	D19	D18	D17	D3	D2

Symbol of a trash bin with crossed lines indicating no waste or discharge (no text or labels)

Symbol of a trash bin with crossed lines indicating no waste or discharge, and a solid black rectangle below (no text or labels)

Symbol of a trash bin with crossed lines indicating no waste or discharge (no text or labels)

Symbol of a trash bin with crossed lines indicating no waste or discharge (no text or labels)

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Declaration of conformity

Mirka Ltd, 66850 Jeppo, Finlanddeclare under our sole responsibility that the Mirka® products (listed below and see "Technical data" table for particular model) to which this declaration relates are in conformity with the following standards or other normative documents: BS EN 61439-1:2011, BS EN 61439-2:2011, BS EN 61800-3:2004+A1:2012, BS EN IEC 63000:2018 in accordance with the regulations The Electrical Equipment (Safety) Regulations 2016, Electromagnetic Compatibility Regulations 2016, The Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment Regulations 2012.
Products: Mirka® Motor Drive Cabinet
Jeppo 19.02.2025Place and date of issue	Company	Stefan Sjöberg, CEO
Manufacturer / SupplierMirka Ltd66850 Jeppo, FinlandTel. [phone]Fax [phone]www.mirka.com	Importer InformationMirka (UK) LtdSaxon HouseShirwell CrescentFurzton LakeMilton KeynesMK4 1GATel. [phone]

This chapter is an addition to the English language chapter of the manual in order to fulfill the UKCA regulation requirements. Please refer to the English language chapter for more information about your product.

Statement of Compliance

We Mirka Ltd, hereby declare under our sole responsibility that the above-mentioned products, to which this statement relates, complies with the compliance conditions in Schedule 2 of The Product Security and Telecommunications Infrastructure (Security Requirements for Relevant Connectable Products) Regulations 2023.

The defined support period for the above-mentioned products is two years after the production date. The production date can be found on the marking plate of the products month/year.

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