Digital servo amplifier SERVOSTAR™ 600

Digital servo amplifier SERVOSTAR™ 600
Digital servo amplifier
SERVOSTAR™ 600
Assembly, Installation and Commissioning Instructions
Edition 02/99
Previous versions :
Edition
05/98
08/98
09/98
01/99
02/99
Remarks
First edition
a few corrections
various minor corrections, parameter description removed, parameter setting for multi-axis systems and on/off switching behaviour added, Installation/Commissioning divided into two chapters
614 added, various minor corrections
Interface relay for digital outputs (pages 26, 43)
VGA is a registered trademark of International Business Machines Corp.
PC-AT is a registered trademark of International Business Machines Corp.
MS-DOS is a registered trademark of Microsoft Corp.
WINDOWS is a registered trademark of Microsoft Corp.
HIPERFACE is a registered trademark of Max Stegmann GmbH
EnDat is a registered trademark of Dr.Johannes Heidenhain GmbH
SERVOSTAR is a registered trademark of Kollmorgen Corporation.
Technical changes which improve the performance of the equipment may be made without prior notice !
Printed in the Federal republic of Germany BRD 02/99
Mat.Nr.: 90162
All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying, microfilm or any other method) or stored,
processed, copied or distributed by electroninc means without the written permission of Seidel Corporation.
Kollmorgen
02.99
Contents
Contents
Drawing
Page
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
European directives and standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
- / UL- conformance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Abbreviations and symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
I
General
I.1
I.2
I.3
I.4
About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Prescribed use (“Use as directed”) of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Instrument description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
I.4.1
Package supplied. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.028.6/10
. . . . . . . . . . . . . . . 10
I.4.2
The digital servo amplifiers of the SERVOSTAR™ 600 family . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
I.4.3
Operation directly from supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
I.4.4
Digital servo amplifier concept. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
I.5
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/28
. . . . . . . . . . . . . . . 13
I.6
Components of a servo system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
I.7
Technical data of the SERVOSTAR™ 600 series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
I.7.1
External fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
I.7.2
Permissible ambient conditions, ventilation, mounting position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
I.7.3
Conductor cross-sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
I.7.4
LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
I.8
Grounding system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
I.9
Control for motor-holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.3/01,
. . . . . . . . . .1/35
. . . . . 17
I.10
Regen circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
I.11
Switch-on and switch-off behaviour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
I.11.1
Stop function to EN 60204 (VDE 0113) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.3/6
. . . . . . . . . . . . . . . 19
I.11.2
Emergency Stop strategies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
II
Installation
II.1
II.2
Important instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.4/15
. . . . . . . . . . . . . . . 22
II.2.1
Dimensions of SERVOSTAR™ 600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.4/14
. . . . . . . . . . . . . . . 23
II.3
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
. . . . . . . . . . . . . . . 26
II.3.1
Connection diagram for SERVOSTAR™ 600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/2
. . . . . . . . . . . . . . . 27
II.3.2
Example of connections for multi-axis system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/19
. . . . . . . . . . . . . . . 28
II.3.3
Pin assignments for SERVOSTAR™ 600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.4/21
II.3.4
Notes on connection techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
II.3.4.1
Tool list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
. . . . . . . . . . . . . . . 29
II.3.4.2
Shielding connection to the front panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.029.4/25
. . . . . . . . . . . . . . . 30
II.3.4.3
Wiring up a SubD-connector with shielding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.029.4/2
. . . . . . . . . . . . . . . 31
II.3.4.4
Assembling the resolver connector (motor end) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.029.4/6
. . . . . . . . . . . . . . . 32
II.3.4.5
Wiring up the motor power connector (amplifier end) . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.029.4/24
. . . . . . . . . . . . . . . 33
II.3.4.6
Wiring up the motor power connector (motor end) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4029.4/9
II.3.5
Technical data for connecting cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
II.4
Operator software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
II.4.1
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
II.4.1.1
Use as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
II.4.1.2
Software description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
II.4.1.3
Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
II.4.1.4
Operating systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
II.4.2
Installation under WINDOWS 95 /98 / NT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
SERVOSTAR™ 600 Installation-manual
3
Contents
02.99
Kollmorgen
Drawing
III
Interfaces
Page
Contents
III.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
III.1.1
Mains supply connection (X0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
III.1.2
24V auxiliary supply (X4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
III.1.3
DC-link (X7). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/21,25
. . . . . . . . . . . . . . . 37
III.2 Motor connection with brake (X9). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
III.3 External regen resistor (X8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -. A.4.031.1/17,18
. . . . . . . . . . . . . . . 38
III.4 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
III.4.1
Resolver connection (X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/26
. . . . . . . . . . . . . . . 39
III.4.2
Encoder (X1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/27
. . . . . . . . . . . . . . . 40
III.5 Control signals, monitor signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
III.5.1
Analog setpoint inputs (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/23
. . . . . . . . . . . . . . . 41
III.5.2
Digital setpoint inputs (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/24
. . . . . . . . . . . . . . . 42
III.5.3
Digital control outputs (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/20
. . . . . . . . . . . . . . . 43
III.5.4
Monitor outputs (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/22
. . . . . . . . . . . . . . . 44
III.6 Encoder emulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
III.6.1
Incremental-encoder interface (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/11
. . . . . . . . . . . . . . . 45
III.6.2
SSI-Interface (X5). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/12
. . . . . . . . . . . . . . . 46
III.7 RS232 interface, PC connection (X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/13,14
. . . . . . . . . . . . . . . 47
III.8 CANopen Interface (X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/15,
. . . . . . . . . .1/36
. . . . . 48
III.9 Interface for stepper-motor controls (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/10,3/2
. . . . . . . . . . . . . . . 49
III.10 Interface for master-slave operation, encoder input (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.1/16,3/2
. . . . . . . . . . . . . . . 50
IV
Commissioning
IV.1 Important notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
IV.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
IV.2.1
Multi-axis systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.4/37
. . . . . . . . . . . . . . . 53
IV.2.2
Key operation / LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
IV.2.2.1 Key operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.3/4
. . . . . . . . . . . . . . . 54
IV.2.2.2 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.031.3/3
. . . . . . . . . . . . . . . 55
IV.3 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
IV.4 Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
V
Accessories
V.1
V.2
V.3
VI
External 24V DC supply for one servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.012.4/32
. . . . . . . . . . . . . . . 57
. . . . . . . . . . . . . . . 58
External 24V DC supply for up to 7 servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.012.4/33
. . . . . . . . . . . . . . . 59
External regen resistor BARxxx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .-.A.4.947.4/22
Appendix
VI.1
VI.2
VI.3
VI.4
4
Transport, storage, maintenance, disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Removing faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
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SERVOSTAR™ 600 Installation-manual
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Safety instructions
02.99
Kollmorgen
Safety Instructions
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Only properly qualified personnel are permitted to perform activities such as
transport, installation, commissioning and maintenance. Properly qualified
persons are those who are familiar with the transport, assembly,
installation, commissioning and operation of the product, and who have the
appropriate qualifications for their job. The qualified personnel must know
and observe:
IEC 364 and CENELEC HD 384 or DIN VDE 0100
IEC-Report 664 or DIN VDE 0110
national accident prevention regulations or VBG 4
Read this documentation before carrying out installation and
commissioning. Incorrect handling of the servo amplifier can lead to
personal injury or material damage. It is vital that you keep to the technical
data and information on connection requirements (on the nameplate and in
the documentation).
The servo amplifiers contain electrostatically sensitive components which
may be damaged by incorrect handling. Discharge your body before
touching the servo amplifier. Avoid contact with highly insulating materials
(artifical fabrics, plastic film etc.). Place the servo amplifier on a conductive
surface.
Do not open the units. Keep all covers and switchgear cabinet doors closed
during operation. Otherwise there are deadly hazards, with the possibility of
severe danger to health or material damage.
During operation, servo amplifiers, according to their degree of enclosure
protection, may have uncovered live components. Control and power
connections may be live, even if the motor is not rotating.
Servo amplifiers may have hot surfaces during operation. Since the front
panel is used for cooling, it can reach temperatures above 80°C.
Never undo the electrical connections to the servo amplifier while it is live.
There is a danger of electric arcing with damage to contacts and danger to
persons.
Wait at least two minutes after disconnecting the servo amplifier from the
mains supply voltage before touching live sections of the equipment (e.g.
contacts) or undoing connections. Capacitors can still have dangerous
voltages present up to five minutes after switching off the supply voltages.
To be sure, measure the voltage in the DC-link circuit and wait until it has
fallen below 40V.
Safety instructions
6
SERVOSTAR™ 600 Installation-manual
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02.99
Directives and standards
European directives and standards
Servo amplifiers are components which are intended to be incorporated into electrical plant and machines for
industrial use.
When the servo amplifiers are built into machines or plant, the intended operation of the amplifier is
forbidden until it has been established that the machine or plant fulfills the requirements of the EC Directive
on Machines 89/392/EEC and the EC Directive on EMC (89/336/EEC). EN 60204 and EN 292 must also be
observed.
In connection with the Low Voltage Directive 73/23/EEC , the harmonized standards of the EN 50178 series
are applied to the amplifiers, together with EN 60439-1, EN 60146 and EN 60204.
The manufacturer of the machine or plant is responsible for ensuring that they meet the limits which are
required by the EMC regulations. Advice on the correct installation for EMC - such as shielding, grounding,
arrangement of filters, treatment of connectors and the laying out of cabling - can be found in this
documentation.
- conformance
Conformance with the EC Directive on EMC 89/336/EEC and the Low Voltage Directive 73/23/EEC is
mandatory for the supply of servo amplifiers within the European Community.
The servo amplifiers of the SERVOSTAR™ 600 series have been tested by an authorized testing laboratory
in a defined configuration with the system components which are described in this documentation. Any
divergence from the configuration and installation described in this documentation means that you will be
responsible for the performance of new measurements to ensure that the regulatory requirements are met.
UL and cUL- Conformance (listing in 4. quarter 1998)
UL (cUL)-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S. and Canadian
standard (in this case UL 840 and UL 508C).
This standard describes the fulfillment by design of minimum requirements for electrically operated power
conversion equipment, such as frequency converters and servo amplifiers, which is intended to eliminate the
risk of fire, electric shock, or injury to persons, being caused by such equipment. The technical conformance
with the U.S. and Canadian standard is determined by an independent UL (cUL) fire inspector through the
type testing and regular check-ups.
Apart from the notes on installation and safety in the documentation, the customer does not have to observe
any other points in direct connection with the UL (cUL)-certification of the equipment.
UL 508C
UL 508C describes the fulfillment by design of minimum requirements for electrically operated power
conversion equipment, such as frequency converters and servo amplifiers, which is intended to eliminate the
risk of fire being caused by such equipment.
UL 840
UL 840 describes the fulfillment by design of air and insulation creepage spacings for electrical equipment
and printed circuit boards.
Directives and standards
SERVOSTAR™ 600 Installation-manual
7
Abbreviations / symbols
Kollmorgen
02.99
Abbreviations used in this manual
The abbreviations used in this manual are explained in the table below.
Abbrev.
AGND
BTB/RTO
CE
CLK
COM
DGND
DIN
Disk
EEPROM
EMV
EN
ESD
IEC
IGBT
INC
ISO
LED
MB
MS-DOS
NI
Meaning
Analog ground
Ready to operate
Communité Européenne (EC)
Clock signal
Serial interface for a PC-AT
Digital ground
Deutsches Institut für Normung
Magnetic storage (diskette, hard disk)
Electrically erasable memory
Electromagnetic compatibility
European standard
Electrostatic discharge
International Electrotechnical Commission
Insulated Gate Bipolar Transistor
Incremental Interface
International Standardization Organization
Light-emitting diode
Megabyte
Operating system for PC-AT
Zero pulse
Abbrev.
NSTOP
PC-AT
PELV
PGND
PSTOP
PWM
RAM
Rregen
RBext
RBint
RES
PLC
SRAM
SSI
SW/SETP.
UL
V AC
V DC
VDE
XGND
Meaning
Limit-switch input, rot. dir. CCW (left)
Personal computer with 80x86 Prozessor
Protected low voltage
Ground for the interface
Limit-switch input, rot. dir. CW (right)
Pulse-width modulation
Volatile memory
Regen resistor
External regen resistor
Internal regen resistor
Resolver
Programmable logic controller
Static RAM
Synchronous serial interface
setpoint
Underwriters Laboratory
AC voltage
DC voltage
Verein deutscher Elektrotechniker
Ground for the 24V supply
Symbols used in this manual
danger to personnel
from electricity
and its effects
ð
see Chapter (cross-ref.)
general warning
general instructions
mechanical hazard
l
special emphasis
U
Keys on the servo amplifier panel :
press once : move up one menu item, increase number by one
press twice in rapid succession : increase number by ten
press once : move down one menu item, decrease number by one
press twice in rapid succession : decrease number by ten
hold right key pressed, and then press left key as well :
to enter number, “Return” function
U
U
U
Abbreviations / symbols
8
SERVOSTAR™ 600 Installation-manual
Kollmorgen
General
02.99
I
General
I.1
About this manual
This manual describes the digital servo amplifiers of the SERVOSTAR™ 600 series
(standard version). You can find information about:
l
Technical data of the servo amplifier
Chapter I
l
Assembly / installation
Chapter II
l
Interfaces
Chapter III
l
Commissioning the servo amplifier
Chapter IV
l
Accessories
Chapter V
l
Transport, storage, maintenance, disposal of the servo amp.
Chapter VI
A more detailed description of the expansion cards which are currently available and the digital
connection to automation systems can be found on the accompanying CD-ROM in AcrobatReader format (system requirements: WINDOWS 95 with Internet browser) in English, German
and French versions.
You can print out this documentation on any standard printer. A printed copy of the documentation
is available from us at extra cost.
This manual makes the following demands on qualified personnel :
I.2
Transport
:
Installation
Commissioning
:
:
only by personnel with knowledge in handling
electrostatically sensitive components.
only by electrically qualified personnel
onyl by personnel with extensive knowledge of
electrical technology / drive technology
Prescribed use (“Use as directed”) of the servo amplifier
The servo amplifiers are components which are built into electrical equipment or machines, and
can only be commissioned as integral components of such equipment.
The SERVOSTAR™ 600 family of servo amplifiers is to be used only on earthed three-phase
industrial mains supply networks ( TN-system, TT-system with earthed neutral point).
The servo amplifiers must not be operated on power supply networks without an earth or with an
asymmetrical earth.
If the servo amplifiers are used in residential areas, or in business or commercial premises, then
additional filter measures must be implemented by the user.
The SERVOSTAR™ 600 family of servo amplifiers is only intended to drive specific brushless
synchronous servomotors from the 6SM series, with closed-loop control of torque, speed and/or
position. The rated voltage of the motors must be at least as high as the DC-link voltage of the
servo amplifier.
Observe the reduction factor for current and power (see techn. data).
The servo amplifiers may only be operated in a closed switchgear cabinet, taking into account the
ambient conditions defined in Chapter I.7.2 .
We only guarantee the conformance of the servo amplifiers with the standards for industrial areas
(page 7), if the components (motors, cables, amplifiers etc) are delivered by Seidel Servo Drives.
SERVOSTAR™ 600 Installation-manual
9
General
I.3
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02.99 - A.4.028.6/10
Nameplate
The nameplate depicted below is attached to the side of the servo amplifer.
The information described below is printed in the individual fields.
Servo amplifier type
Electrical supply
Installed load
I.4
Instrument description
I.4.1
Package supplied
Serial number
Output current
in S1 operation
CONNECT-module
and options
Protection
When you order a SERVOSTAR™ 600 series amplifier from us, you will receive:
—
—
SERVOSTAR™ 6xx
mating connectors X3, X4, X0A, X0B, X7, X8
The mating SubD connectors and motor connector X9 are not part of the package!
—
—
—
Assembly, Installation and Commissioning Instructions
Online documentation on CD-ROM
Operator software SR600 on 3.5" diskettes
Accessories: (must be ordered separately if required)
—
—
—
—
—
—
—
10
Servomotor 6SM
motor cable (pre-assembled), or
both motor connectors separately, with motor cable as a cut-off length
feedback cable (pre-assembled, see manual Servomotors) or
both feedback connectors separately, with feedback cable as length
motor chokes (for cable length above 25m)
external regen resistor
communications cable to the PC(ð III.7) or Y-adapter (ð IV.2.1) for parametersetting of up to 4 servo amplifiers from one PC
power cable, control cables, fieldbus cables (as lengths) - A.4.028.6/10
SERVOSTAR™ 600 Installation-manual
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I.4.2
02.99
General
The digital servo amplifiers of the SERVOSTAR™ 600 family
Standard version
l
5 current ratings (1.5 A , 3 A , 6 A , 10 A , 14 A, 20 A)
l
two instrument widths :
l
wide range of rated voltage (3x230V –10% to 3x480V +10%)
l
shield connection directly at the servo amplifier
l
two analog setpoint inputs
l
integrated CANopen (default 500 kBaud), for integration into CANbus systems and for
setting parameters for several amplifiers via the PC-interface of one amplifier
l
integrated RS232, electrically isolated
l
integrated pulse-direction interface
70 mm up to 10A rated current
100 mm for 14 up to 20A rated current
Options
l
-AS- built-in safety relay (personnel-safety starting lock-out),
see Chapter I.11.1 and leaflet “Option -AS-”
l
PROFIBUS DP expansion card (from 1st. quarter 1999)
l
SERCOS expansion card (from 1st. quarter 1999)
l
I/O expansion card
Open architecture
I.4.3
l
open hardware and software architecture
l
slot for an expansion card
l
integrated macro language, including compiler
l
prepared for all conceivable customer-specific extensions
Operation directly from supply
Electrical supply
l
Directly off earthed 3~ system, 230V-10% — 480V+10%, 50 — 60 Hz,
TN-system or TT-system with earthed neutral point
l
Fusing (e.g. fusible cutout) provided by the user
l
single-phase supply (e.g. for commissioning or setting-up) is possible
Auxiliary supply voltage 24V DC
l
Electrically isolated, from an external 24V DC psu, e.g. with insulating transformer
Power input filter
l
Interference suppression filter for the supply input (to Class A) is integrated
l
Interference suppression filter for the 24V aux. supply (to Class A) is integrated
SERVOSTAR™ 600 Installation-manual
11
General
I.4.4
02.99
Kollmorgen
Digital servo amplifier concept
Operation and parameter setting
l
With the comfortable Seidel operator-software through the serial interface of a PC
l
Direct operation by means of two keys on the servo amplifier and a 3-character LED
display for status display in case of no PC available
l
Fully programmable via RS232 interface
Power section
l
Power supply
l
All shielding connections directly on the amplifier
l
Output stage : IGBT- module with isolated current measurement
l
Regen circuit
l
DC-link voltage 300 — 900 V DC, can be paralleled
:
:
B6 rectifier bridge, directly off 3-phase earthed supply
system, integral power input filter and inrush circuit
with dynamic distribution of the regen power between
several amplifiers on the same DC-link circuit
internal regen resistor as standard, external regen
resistors if required
Completely digital control
l
Digital current controller (space vector pulse-width modulation, 62.5 µs)
l
Freely programmable digital speed controller (250 µs)
l
Integral position controller with adaptation possibilities for customer needs (250 µs)
l
Pulse direction interface integrated for connection of a servomotor to a stepping- motor
control
l
Evaluation of the resolver signals or sine-cosine signals of a high-resolution encoder
l
Encoder emulation (incremental ROD 426-compatible or SSI)
Comfort functions
l
Adjustable setpoint ramps
l
2 analog monitor outputs
l
4 programmable digital inputs (normally, two are defined as limit-switch inputs)
l
2 programmable digital outputs
l
Freely programmable combinations of all digital signals
Integrated safety
12
l
Safe electrical separation to EN 50178 between the power input / motor connections and
the signal electronics, provided by appropriate insulation/creepage distances and complete
electrical isolation
l
Soft-start, overvoltage recognition, short-circuit protection, phase-failure monitoring
l
Temperature monitoring of servo amplifier and motor
(when using motors from the 6SM series with our pre-assembled cables)
SERVOSTAR™ 600 Installation-manual
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I.5
02.99 - A.4.031.1/28
General
Block diagram
- A.4.031.1/28
SERVOSTAR™ 600 Installation-manual
13
General
I.6
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02.99
Components of a servo system
PC
Control / PLC
24V supply
SERVOSTAR™ 600
fuses
drive contactor
terminals
motor
14
SERVOSTAR™ 600 Installation-manual
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I.7
General
02.99
Technical data of the SERVOSTAR™ 600 series
SERVOSTAR™
Rated data
DIM
601
603
606
610
614
620
Rated supply voltage
V~
3 x 230V-10% ... 480V+10%, 50 ... 60 Hz
Rated installed load for S1 operation
kVA
1
2
4
7
10
14
Rated DC-link voltage
V=
310 - 675
1,5
3
6
10
14
20
Rated output current (rms value, ± 3%) Arms
3
6
12
20
28
40
Peak output current (max. ca. 5s, ± 3%) Arms
Clock frequency of the output stage
kHz
8
Technical data for regen circuit
—
ð I.10
Overvoltage protection treshold
V
450...900
Form factor of the output current
—
1.01
(at rated data and min. load inductance)
Bandwidth of subordinate current
kHz
> 1,2
controller
Residual voltage drop at rated current
V
5
Quiescent dissipation, output stage
W
15
disabled
Dissipation at rated current (incl. power
W
30
40
60
90
160
200
supply losses, without regen dissipation)
Internal fusing (external fusing ð I.7.1)
Auxiliary supply 24V
internal 3,15 AT
Regen resistor
internal, electronic
Inputs
Setpoint 1/2, resolution 14bit/12bit
V
±10
Common-mode voltage max.
V
±10
Input resistance
20
kΩ
V
low 0...7 / high 12...36
Digital inputs
mA
7
Aux. power supply, electrically isolated V
20...36
without brake
A
1
Aux. power supply, electrically isolated V
24 (-0% +15%)
with brake
A
3
Max. output current, brake
A
2
Connections
Control signals
Combicon 5,08 / 18 pole , 2,5mm²
Power signals
Power Combicon 7,62 / 4x4 + 1x6-pole, 4mm²
Resolver input
SubD 9pole (socket)
Sine-cosine encoder input
SubD 15pole (socket)
PC-interface, CAN
SubD 9pole (plug)
Encoder emulation, ROD/SSI
SubD 9pole (plug)
Mechanical
Weight
kg
2,5
3
Dimensions (HxWxT) without
mm
275x70x265
275x100x265
connectors
I.7.1
External fusing
Fusible cutouts or similar
AC supply
FN1/2/3
24V supply
FH1/2
Regen resistor FB1/2
SERVOSTAR™
601 / 603
6 AT
SERVOSTAR™ 600 Installation-manual
4 AF
SERVOSTAR™
606 / 610
10 AT
max. 16 AF
6 AF
SERVOSTAR™
614 / 620
20 AT
6 AF
15
General
I.7.2
02.99
Kollmorgen
Permissible ambient conditions, ventilation, mounting position
Storage temperature/humidity,
storage duration
Transport temperature / humidity
Supply voltage tolerances
Input power
Aux. power supply
without brake
with brake
Ambient temperature in operation
Humidity in operation
Site altitude
Pollution level
Enclosure protection
Mounting position
Ventilation
SERVOSTAR™ 601/603
SERVOSTAR™ 606-620
ð VI.1
ð VI.1
min 3x230V-10% AC / max 3x 480V+10%, 50 ... 60 Hz
20...36 V DC
24 V DC (-0% +15%)
0 to +40oC at rated data
+40 to +55°C with power derating 2.5% / °C
rel. humidity 85%, no condensation
up to 1000m a.m.s.l. without restriction
1000 — 2500m a.m.s.l. with power derating 1.5%/100m
Pollution level 2 to EN60204/EN50178
IP 20
generally vertical. ðII.2
natural convection
built-in fan
Make sure that there is sufficient forced ventilation within the switchgear cabinet.
I.7.3
Conductor cross-sections
Following EN 60204, we recommend for single-axis systems :
SERVOSTAR™ 601-610 : 1,5 mm²
SERVOSTAR™ 614/620 : 4 mm²
SERVOSTAR™ 601-610 : 1,5 mm²
Shielded,
DC-link
SERVOSTAR™ 614/620 : 4 mm²
for lengths > 20 cm
SERVOSTAR™ 601-610 : 1 - 1,5 mm²
Motor cables up to 25 m length
shielded
SERVOSTAR™ 614/620 : 2,5 mm²
Motor cables 25 to 100 m length
SERVOSTAR™ 601-606 : 1 mm²
Shielded,
(consult our applications department) SERVOSTAR™ 610-620 : 2,5 mm²
with motor choke
Resolver, thermostat-motor
0.25 mm² twisted pairs, shielded, max.100m
Setpoints, monitors, AGND
0.25 mm² twisted pairs, shielded
Control signals, BTB, DGND
0,5 mm²
Holding brake (motor)
min. 0.75 mm², shielded, check voltage drop
+24 V / XGND
max. 2.5 mm², check voltage drop
For multi-axis systems, please note the special operating conditions in your installation
AC connection
Technical data for connection cables. ð II.3.5 .
I.7.4
LED display
A 3-character LED display shows the amplifier status after switching on the 24V supply
(ð IV.2.2). During operation and parameter setting of the amplifier via the keys on the front panel,
the parameter and function numbers (ð IV.2.2.2) are displayed, as well as the numbers of any
errors which occur (ð IV.3).
16
SERVOSTAR™ 600 Installation-manual
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I.8
02.99 - A.4.031.3/01, 1/35
General
Grounding system
AGND — ground for analog inputs/outputs, internal analog ground
DGND — ground for digital inputs/outputs, optically isolated
XGND — ground for external 24V aux. voltage, optically and inductively isolated
PGND — ground for encoder emulation, RS232, CAN, optically isolated
The potential isolation is shown in the block diagram (ð I.5).
I.9
Control for motor-holding brake
A 24V / max. 2A holding brake in the motor can be controlled directly by the servo amplifier.
This function does not ensure personnel safety! The brake function must be enabled through the
BRAKE parameter: setting WITH. In the diagram below you can see the time and functional
relationships between the ENABLE signal, speed setpoint, speed and braking force.
During the internal ENABLE delay time of 100ms the speed setpoint of the servo amplifier is
internally driven down a 10ms ramp to 0V. The brake output is switched on when 3% of the final
speed is reached. The rise (fbrH) and fall (fbrL) times of the holding brake which is built into the
motors are different for the various types of motor (see motor manual). A description of the
interface can be found in Chapter III.2 .
A safe (for personnel) operation of the holding brake requires an additional “make” (n.o.) contact
in the brake circuit and a suppressor device (varistor) for the recommended brake circuit diagram :
- A.4.031.3/01, 1/35
external
safety circuit
SERVOSTAR™ 600 Installation-manual
17
General
I.10
Kollmorgen
02.99
Regen circuit
During braking with the aid of the motor, energy is fed back to the servo amplifier. This energy is
converted into heat in the regen resistor. The regen resistor is switched into circuit by the regen
circuit. The regen circuit (thresholds) are adjusted to the supply voltage with the help of the
operator software
Our applications department can help you with the calculation of the regen power which is
required. A description of the interface can be found in Chapter III.3 .
Internal regen resistor
:
External regen resistor
:
Functional description
:
SERVOSTAR™ 601/603
SERVOSTAR™ 606-620
SERVOSTAR™ 601-620
66 Ohm
33 Ohm
33 Ohm
1.- Individual amplifiers, not coupled through the DC-link (DC+, DC-)
The circuit starts to respond at a DC-link voltage of 400V, 720V or 840V (depending on the
supply voltage). If the energy which is fed back from the motor, as an average over time or
as a peak value, is higher than the preset regen power, then the servo amplifier will output
the status “regen power exceeded” and the regen circuit will be switched off. At the next
internal check of the DC-link voltage (after a few ms) an overvoltage will be detected and
the servo amplifier will be switched off with the error message “Overvoltage” (ð IV.3).
The BTB/RTO contact (terminal X3/2,3) will be opened at the same time (ðIII.5.3)
2.- Several servo amplifiers coupled through the DC-link circuit (DC+, DC-)
Thanks to the built-in regen circuit with its patented w-characteristic, several amplifiers
(even with different current ratings) can be operated off a common DC-link. This is
achieved by an automatic adjustment of the regen thresholds (which vary, because of
tolerances). The regen energy is distributed equally among all the amplifiers.
The combined power of all the amplifiers is always available, as continuous or peak
power. The switch-off takes place as described under 1. (above) for the servo amplifier with
the lowest switch-off threshold (resulting from tolerances). The RTO (BTB) contact of this
amplifier (terminals X3/2,3) will be opened at the same time (ð III.5.3).
Regen circuit: technical data
Supply voltage Rated data
Upper switch-on level of regen circuit
Switch-off level of regen circuit
Continuous power of regen circuit (RBint)
3 x 230 V
Continuous power of regen circuit (RBext) max.
Pulse power, internal (RBint max. 1s)
Pulse power, external (RBext max. 1s)
Upper switch-on level of regen circuit
Switch-off level of regen circuit
Continuous power of regen circuit (RBint)
3 x 400 V
Continuous power of regen circuit (RBext) max.
Pulse power, internal (RBint max. 1s)
Pulse power, external (RBext max. 1s)
Upper switch-on level of regen circuit
Switch-off level of regen circuit
Continuous power of regen circuit (RBint)
3 x 480 V
Continuous power of regen circuit (RBext) max.
Pulse power, internal (RBint max. 1s)
Pulse power, external (RBext max. 1s)
18
SERVOSTAR™
DIM 601 - 603 606 - 620
V
400 - 430
V
380 - 410
W
80
200
kW
0,25
0,75
kW
2,5
5
kW
5
V
720 - 750
V
680 - 710
W
80
200
kW
0,4
1,2
kW
8
16
kW
16
V
840 - 870
V
800 - 830
W
80
200
kW
0,5
1,5
kW
10,5
21
kW
21
SERVOSTAR™ 600 Installation-manual
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02.99 - A.4.031.3/6
General
Switch-on and switch-off behaviour
The diagram below illustrates the correct functional sequence for switching the servo amplifier on
and off. If you are using the digital output function MAINS-BTB/RTO, you can find a diagram
which is valid for this case in the “Operator Software” manual.
DC-link
I.11.1
Stop function to EN 60204 (VDE 0113)
If a fault occurs (ð IV.3) the output stage of the servo amplifier is switched off and the BTB/RTO
contact is opened. In addition, a global error signal can be given out at one of the digital outputs
(terminals X3/16 and X3/17) (see “Operator Software”). These signals can be used by the higherlevel control to finish the current PLC cycle or to shut down the drive (with additional brake or
similar.).
Instruments which are equipped with a selected “Brake” function use a special sequence for switching off the output stage (ð I.9).
The -AS- option can be used to switch off the drive via a positive-action (BG-approved) safety
relay, so that personnel safety is ensured at the drive shaft. The -AS- option is described in more
detail in a special leaflet. You will find this leaflet on the CD-ROM in German and English.
The Stop functions are defined in EN 60204 (VDE 0113), Para. 9.2.2, 9.2.5.3.
There are three categories of Stop functions:
Category 0: Shut down by immediately switching off the supply of energy to the
drive machinery (i.e an uncontrolled shut-down);
Category 1: A controlled shut-down, during which the supply of energy to the drive
machinery is maintained to perform the shut-down, and where the energy
supply is only interrupted when the shut-down has been completed;
Category 2: A controlled shut-down, where the supply of energy to the drive machinery
is maintained.
Every machine must be equipped with a Stop function to Category 0. Stop functions to Categories
1 and/or 2 must be provided if the safety or functional requirements of the machine make this
necessary.
A.4.031.3/6
You can find additional information and implementation examples in our application note “Stop
and Emergency Stop functions with SERVOSTAR™ 600” (available from february 1999). -
SERVOSTAR™ 600 Installation-manual
19
General
I.11.2
02.99
Kollmorgen
Emergency Stop strategies
The Emergency Stop function is defined in EN 60204 (VDE 0113), Para. 9.2.5.4.
Implementation of the Emergency Stop function :
You can find wiring recommendations in our application note (available from february 1999)
“Stop and Emergency Stop functions with SERVOSTAR™ 600”
Category 0:
The controller is switched to “disable”, the electrical supply (400VAC) is
disconnected. The motor leads are disconnected by a changeover switch (contactor,
e.g. Siemens 3RT1516-1BB40) and short-circuited by resistors connected in a star
configuration. The drive must be held by an electromagnetical holding device (brake).
Category 1:
If hazardous conditions can result from an emergency stop switch-off with an unbraked
run-down, then the drive can be switched off by a controlled shut-down.
Stop Category 1 permits electromotive braking with a switch-off when zero speed has
been reached. Safe shut-down can be achieved with a safety relay with delayed drop-out
(e.g. Siemens 3TK28- series, Pilz PNOZ- series).
In the normal situation, only the supply power is switched off in a safe manner.
The 24V auxiliary supply remains switched on.
20
SERVOSTAR™ 600 Installation-manual
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02.99
II
Installation
II.1
Important instructions
Installation
l
Protect the servo amplifier from impermissible stresses. In particular, do not let any
components become bent or any insulation distances altered during transport and handling.
Avoid contact with electronic components and contacts.
l
Check the combination of servo amplifier and motor. Compare the rated voltage and
current of the units.
Carry out the wiring according to the connection diagram in Chapter II.3
l
Make sure that the maximum permissible rated voltage at the terminals L1, L2, L3 or +DC,
–DC is not exceeded by more than 10% even in the most unfavourable case
(see EN 60204-1 Section 4.3.1). An excessive voltage on these terminals can lead to
destruction of the regen circuit and the servo amplifier.
Use the SERVOSTAR™ 600 servo amplifiers only on an earthed 3-phased supply system,
to drive a synchronous servomotor of the 6SM series.
l
The fusing of the AC supply input and the 24V supply is installed by the user (ð I.7.1) .
l
Take care that the servo amplifier and motor are properly earthed. Do not use painted
(non-conductive) mounting plates.
l
Route power and control cables separately. We recommend a separation of at least 20 cm.
This improves the interference immunity required by EMC regulations. If a motor power
cable is used which includes cores for brake control, the brake control cores must be
separately shielded. Earth the shielding at both ends (ð II.3.1).
l
Install all heavy-current cables with an adequate cross-section, as per EN 60204. (ð I.7.3).
l
Wire the BTB/RTO contact in series into the safety circuit of the installation.
Only in this way is the monitoring of the servo amplifier assured.
l
Install all shielding with large areas (low impedance), with metallised connector housings
or shield connection clamps where possible. Notes on connection techniques can be found
in Chapter II.3.4.2 .
l
Ensure that there is an adequate flow of cool, filtered air into the bottom of the switchgear
cabinet.
Observe Chapterl I.7.2 .
l
It is permissible to alter the servo amplifier settings by using the operator software.
Any other alterations will invalidate the warranty.
Caution
Never disconnect the electrical connections to the servo vamplifier while it is live.
In unfavourable circumstances this could result in destruction of the electronics.
Residual charges in the capacitors can have dangerous levels up to 300 seconds after
switching off the mains supply voltage. Measure the voltage in the DC-link (+DC/-DC),
and wait until the voltage has fallen below 40V.
Control and power connections can still be live, even when the motor is not rotating.
SERVOSTAR™ 600 Installation-manual
21
Installation
II.2
02.99 - A.4.031.4/15
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Assembly
Material : 2 or 4 hexagon socket screws to DIN 912, M5
Tool required : 4 mm Allen key - A.4.031.4/15
22
SERVOSTAR™ 600 Installation-manual
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II.2.1
Installation
02.99 - A.4.031.4/14
Dimensions of SERVOSTAR™ 600
- A.4.031.4/14
SERVOSTAR™ 601/603/606/610
SERVOSTAR™ 614/620
SERVOSTAR™ 600 Installation-manual
23
Installation
II.3
Kollmorgen
02.99
Wiring
Only professional staff who are qualified in electrical engineering are allowed to install the
servo amplifier.
The installation procedure is described as an example. A different procedure may be sensible or
necessary, depending on the application of the equipment.
We provide further know-how through training courses (on request).
Caution !
Only install and wire up the equipment when it is not live, i.e. when neither the mains power
supply nor the 24 V auxiliary voltage nor the operating voltages of any other connected
equipment is switched on.
Take care that the cabinet is safely disconnected (with a lock-out, warning signs etc.).
The individual voltages will be switched on for the first time during commissioning.
Note !
X
, which you will find in all the wiring diagrams, indicates that you
The ground symbol
must take care to provide an electrically conductive connection with the largest possible area
between the unit indicated and the mounting plate in the switchgear cabinet.
This connection is for the effective grounding of HF interference, and must not be confused
with the PE- symbol W (a protective measure to EN 60204) .
Use the following connection diagrams:
—
—
—
—
—
—
—
—
—
—
—
24
Power and control connections
Resolver
High-resolution encoder
Encoder emulation ROD
Encoder emulation SSI
RS232 / PC
CAN--interface
Pulse direction interface
Master-slave interface
Multi-axis systems, example
Expansion card
: Chapter II.3.1
: Chapter III.4.1
: Chapter III.4.2
: Chapter III.6.1
: Chapter III.6.2
: ChapterIII.7
: ChapterIII.8
: Chapter III.9
: Chapter III.10
: Chapter II.3.2
: Connection diagram in the corresponding
manual on the CD-ROM
SERVOSTAR™ 600 Installation-manual
Kollmorgen
02.99
Installation
The following notes should assist you to carry out the installation in a sensible sequence, without
overlooking anything important.
Site
Ventilation
Assembly
Cable selection
Grounding
Shielding
Wiring
In a closed switchgear cabinet. Observe Chapter I.7.2 .
The site must be free from conductive or corrosive materials.
For the mounting position in the cabinet ð II.2
Check that the ventilation of the servo amplifier is unimpeded
and keep within the permitted ambient temperature ð I.7.2 .
Keep the required space clear above and below the
servo amplifier ð II.2.
Assemble the servo amplifier and power supply close together
on the conductive, earthed mounting plate in the cabinet.
Select cables according to EN 60204 ð I.7.3
EMC-conform shielding and grounding (ð II.3.1)
Earth the mounting plate, motor housing and CNC-GND
of the controls..
Notes on connection techniques are in Chapter II.3.4.2
— Route power leads and control cables separately
— Wire the BTB/RTO contact in series into the safety
loop of the installation
— Connect the digital control inputs to the servo amplifier
— Connect up AGND
— Connect the analog setpoint, if required
— Connect up the feedback unit (resolver or encoder)
— Connect the encoder emulation, if required
— Connect the expansion card (see corresponding
manual on the CD-ROM)
— Connect the motor leads
Connect shielding to EMC connectors at both ends
Use motor chokes (3YLxx) for lead lengths >25m
— Connect motor-holding brake, connect shielding to EMC
connectors at both ends
— If required, connect the external regen resistor
(with fusing)
— Connect aux. supply
(for max. permissible voltage values ð I.7.2)
— Connect main power supply
(for max. permissible voltage values ð I.7.2)
— Connect PC (ð III.7).
Final check
— Final check of the implementation of the wiring,
according to the wiring diagams which have been used.
SERVOSTAR™ 600 Installation-manual
25
Installation
II.3.1
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02.99 - A.4.031.1/2
Connection diagram for SERVOSTAR™ 600
- A.4.031.1/2
ð III.5.1
ð III.4.2
ð III.5.4
ð III.4.1
ð III.2
ð III.5.2
ð III.5.3
ð III.3
ð III.6.1
ð III.6.2
ð III.10
ð III.1.1
ð III.9
ð III.8
ð III.1.2
ð III.7
ð III.1.3
26
SERVOSTAR™ 600 Installation-manual
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II.3.2
Installation
02.99 - A.4.031.1/19
Example of connections for multi-axis system
- A.4.031.1/19
SERVOSTAR™ 600 Installation-manual
27
Installation
II.3.3
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02.99 - A.4.031.4/21
Pin assignments for SERVOSTAR™ 600
- A.4.031.4/21
28
SERVOSTAR™ 600 Installation-manual
Kollmorgen
II.3.4
Notes on connection techniques
II.3.4.1
Tool list
Connector (Interconnectron), unit
RES-connector 12-pole, 6SM27...107
Power connector 8 pol., 6SM27...107
without brake
Power connector 8 pole,
6SM27-G...107-G
SubD-connector 9-pole.
II.3.4.2
Installation
02.99 - A.4.029.4/25
Tool
hand crimp tool
positioner
assembly spanner
open-jaw spanner 22 a/f
hand crimp tool
positioner
2 open-jaw spanners 24 a/f
hand crimp tool
positioner
2 open-jaw spanners 24 a/f
hand crimp tool
Mat.NoS.
69227
88173
85511
—
69227
88174
—
69227
88173+88174
—
64470
Shielding connection to the front panel
- A.4.029.4/25
Remove the outer covering of the cable
and the shielding braid from the cores
for the required length. Secure the cores with a cable tie.
Remove the outer covering of the cable
over a length of about 30mm, without
damaging the shielding braid.
Pull a cable tie through the slot in the
shielding rail (front panel) of the servo
amplifier.
Use the cable tie to clamp the shielding
braid of the cable firmly to the shielding rail.
SERVOSTAR™ 600 Installation-manual
29
Installation
II.3.4.3
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02.99 - A.4.029.4/2
Wiring up a SubD-connector with shielding
Example : resolver connector X2
- A.4.029.4/2
Strip off the outer covering over a length of
about 25mm, taking care not to damage the
shielding braid.
Push back the exposed shielding braid over the
outer covering.
Leaving the first 12mm of the shielding braid
free, insulate the rear portion with shrink-wrap
tubing. Strip off the individual cores over a
length of about 5mm, without damaging the
stranded copper.
Solder the individual cores to the solder buckets
of the SubD connector (check the core colours) according to the connection diagram in Chapter
II.3.1 Check the pin assignment afterwards.
Fix the cable to the connector housing by the
strain relief. The strain relief must sit well, with
a good contact on the bared shielding of the
cable.
Place the knurled screws in position.
Note !
Once the halves of the housing have been
pressed together, they cannot be opened
again without damage !
Place the SubD-connector in the groove of the
half-housing (pin 1 at bottom) and press the two
halves together.
30
SERVOSTAR™ 600 Installation-manual
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II.3.4.4
Installation
02.99 - A.4.029.4/6
Assembling the resolver connector (motor end)
- A.4.029.4/6
Strip off the outer covering over a
length of 22mm. Take care not to damage the shielding braid.
Push items ,‚,ƒ, „ onto the
cable. Push up the shielding 90°.
Wrap the protective cloth … tightly
round the cores, and fix with adhesive
tape (e.g. Sellotape) † . Push the
shielding sleeve ‡ onto the cable
(between the protective cloth and the
shielding braid).
Shorten the shielding braid all round,
do not let any shielding strands project
out of the shielding sleeve ‡.
Push ƒ and „ up to the shielding
sleeve. Press the rubber ring ‚ into
the strain relief ƒ.
Make sure that no shielding strands
stick out. The O-ring ˆ seals off the
contact area. Remove the adhesive tape,
protective cloth and filling cores. Strip
the cores.
Use the appropriate crimp tool to
attach the crimp contacts ‰ .
Push the crimp contacts into the
plastic insert 10 .
Caution !
Check the core colours .
View :
inside of connector
Place the distance piece 11 between insert 10 and shielding sleeve ‡ . Push the knurling 13 over insert sleeve 14 . Position the
insert in the insert sleeve 14 , so that the coding groove 12 is pushed over the coding stud 15 . Apply the special assembly spanner to the
insert sleeve, and screw the housing
during this procedure.
 tight up to the stop with an open-jaw spanner (22 a/f). Take care that the cable is not twisted
SERVOSTAR™ 600 Installation-manual
31
Installation
II.3.4.5
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02.99 - A.4.029.4/24
Wiring up the motor power connector (amplifier end)
- A.4.029.4/24
Strip off the outer covering over a length of
70mm, without damaging the shielding braid.
Push the grommet over the cable, until the
end is flush with the covering.
Push the outer shielding braid back over the
covering. Take out the shielding for the brake
cores and place it over the outer shielding
braid, in electrical contact. Push the filling
cores and protective cloth back over the
shielding.
Push the shrink-wrap tubing (30mm long)
over the shielding, so that about 15mm
remain exposed. Use a hot-air blower to
shrink it.
Shorten the cores U, V, W to 45mm, BR1,
BR2 to 55mm length.
Strip off about 10mm of the ends of the cores,
without damaging the copper strands.
Attach bootlace ferrules to the ends of the
cores.
Place the shielding plate in the connector
housing and push the contact tongues into the
PE terminal clamp of the connector and the
strain relief.
Fix the cable with the strain relief. Take care
that the clamping loop of the strain relief sits
properly on the shielding braid.
Push the core ferrules into the corres- ponding
terminals in the connector. Follow the
connection diagram in
Chapter II.3.1.
32
SERVOSTAR™ 600 Installation-manual
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II.3.4.6
Installation
02.99 - A.4029.4/9
Wiring up the motor power connector (motor end)
- A.4029.4/9
Strip off the outer covering over a
length of 40mm. Do not damage the
shielding braid.
Shorten the shielding braids to
15mm.
Use a screwdriver to separate the
shielding sleeve ƒ and the clamping
ring „ .
Use the large strain relief  .
Trim the sealing ring ‚ to
suit the cable diameter.
Push items …,,‚,ƒ onto the
cable. The shielding sleeve ƒ must
be flush with the end of the outer
covering.
Push the shielding braids back over
the shielding sleeve ƒ.
Press the clamping ring „ onto the
shielding sleeve ƒ. Cut off any
projecting shielding strands. Shorten
and strip off the cores.
Fit the crimp contacts † , using the
proper crimp tool.
Push the crimp contacts into the
plastic insert ‡ until they snap into
place.
Push parts  to … together and insert them into the connector ˆ . Hold connector ˆ with an open-jaw spanner
(24 a/f) and screw up part … tightly, also holding it in an open-jaw spanner (24 a/f) . Tighten it up until the O-ring
‰ seals the connection.
SERVOSTAR™ 600 Installation-manual
33
Installation
II.3.5
Kollmorgen
02.99
Technical data for connecting cables
All the cables which we supply are shown in the table below.
Further information on the chemical, mechanical and electrical characteristics of the cables can be
obtained from out applications department.
Insulation material
Sheathing
Core insulation
-
PUR (polyurethane, code 11Y)
PETP (polyesteraphtalate, code 12Y)
-
less than 150 pF/m
less than 120 pF/m
Capacity
Motor cable
RES-cable
Technical data
—
—
—
—
The brackets in the cable designation indicate the shielding.
Alle cables are suitable for use as trailing cables.
The technical data refer to the use as moveable cables.
Operating life : 1 million bending cycles
The temperature range shown is the temperature in operation.
Cores
[mm²]
Coretype
(4x1,0)
(4x1,5)
(4x2,5)
(4x4)
(4x6)
(4x10)
(4x16)
(4x25)
(4x1,0+(2x0,75))
(4x1,5+(2x0,75))
(4x2,5+(2x1))
(4x1,0+2x(2x0,75))
(4x1,5+2x(2x0,75))
(3x2x0,25)
(4x2x0,25)
(6x2x0,25)
(10x2x0,14)
F
B
N
N
N
N
N
N
F
B
B
B
B
F
F
F
F
Temperature
range
[°C]
-30 / +80
-30 / +80
-5 / +70
-5 / +70
-5 / +70
-5 / +70
-5 / +70
-5 / +70
-30 / +80
-10 / +80
-30 / +80
-30 / +80
-30 / +80
-30 / +80
-30 / +80
-30 / +80
-30 / +80
Outside
diameter
[mm]
10
10,5
12,6
12,8
16,1
19,0
23,3
32,7
10,5
11,5
12,5
11,5
13,5
6,2
6,9
7,8
8,8
Bending
radius Remarks
[mm]
100
105
125
130
160
190
230
330
100
120
125
120
150
55
twisted
60
70
pairs
80
Core types
N
34
= numbered cores
F
= cores with colour coding to DIN 47100
B
= cores with letter coding
()
= shielding
SERVOSTAR™ 600 Installation-manual
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02.99
II.4
Operator software
II.4.1
General
Installation
This chapter describes the installation of the operator software for the SERVOSTAR™ 600 digital
servo amplifiers.
We offer training and familiarisation courses on request.
II.4.1.1
Use as directed
The operator software is intended to be used for setting up and storing the operating parameters for
the SERVOSTAR™ 600 series of servo amplifiers. The attached servo amplifier is commissioned
with the assistance of the software - during this process the drive can be controlled directly by the
service functions.
Only professional personnel who have the relevant expertise described in Chapter I.1 are
permitted to carry out online parameter setting for a drive which is running.
Sets of data which are stored on data media are not safe against unintended alteration by
other persons. After loading a set of data you must therefore check all parameters
thoroughly before enabling the servo amplifier.
II.4.1.2
Software description
The servo amplifiers must be adapted to the requirements of your installation. Usually you will not
have to carry out this parameter setting yourself on the amplifier, but on a PC, with the assistance
of the operator software. The PC is connected to the servo amplifier by a null-modem cable. The
operator software provides the communication between SERVOSTAR™ 600 and the PC.
You will find the operator software on the accompanying diskette and the CD-ROM.
With very little effort you can alter parameters and instantly observe the effect on the drive, since
there is a continuous (online) connection to the amplifier.
Simultaneously, important actual values are read out from the amplifier and displayed on the PC
monitor (oscilloscope function).
Any interface modules (expansion cards) which may be built into the amplifier are automatically
recognized, and the additional parameters which are required for position control or motion-block
definition are made available.
Sets of data can be stored on data media (archived) and loaded again. Sets of data which are stored
on data media can be printed out.
We supply you with motor-specific default sets of data for all the reasonable combinations of
servo amplifier and motor. In most applications you will be able to use these default values to get
your drive running without any problems.
SERVOSTAR™ 600 Installation-manual
35
Installation
II.4.1.3
02.99
Kollmorgen
Hardware requirements
The PC interface (X6, RS232) of the servo amplifier is connected to the serial interface of the PC
by a null-modem cable (not a null-modem link cable !) (ð III.7).
Connect / disconnect the interface cable only when the supply is switched off for both the PC
and the servo amplifier.
The interface in the servo amplifier is electrically isolated by an optocoupler, and is at the same
potential as the CANopen interface.
Minimum requirements for the PC:
II.4.1.4
Processor
Operating system
Graphics card
Drives
:
:
:
:
Main memory
Interface
:
:
80486 or higher
WINDOWS 95/98, WINDOWS NT
Windows compatible, colour
3.5" diskette drive
hard disk with at least 5 MB free space
CD-ROM drive for online documentation
at least 8MB
one free serial interface (COM1: or COM2:)
Operating systems
WINDOWS 95 / WINDOWS 98 / WINDOWS NT
SR600.EXE is executable under WINDOWS 95 / 98 and WINDOWS NT 4.0.
WINDOWS FOR WORKGROUPS 3.xx
SR600.EXE is not executable under WINDOWS 3.xx
DOS, OS2
The WINDOWS operator software does not run under DOS or OS2. Emergency operation is
possible with an ASCII terminal-emulation (without user interface).
Interface setting : 9600 kBaud, no parity, no handshake
II.4.2
Installation under WINDOWS 95 /98 / NT
An installation program called SETUP.EXE can be found on the diskette (or on the CD-ROM)
which makes it easier to install the operator software on your PC.
Connection to the serial interface of the PC:
Connect the interface cable to a serial interface on your PC and the PC interface (X6) of the
SERVOSTAR™ 600 (ð III.7).
Switch-on:
Switch on your PC-AT and the monitor.
After the start phase (boot-up) is finished, the Windows user-interface appears on the screen.
Installation:
Click on START (Taskbar), then on Run. Enter the program call in the entry window:
a:\setup.exe (with the correct drive letter for a:).
Click on OK and follow the instructions.
36
SERVOSTAR™ 600 Installation-manual
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III
02.99 - A.4.031.1/21,25
Interfaces
Interfaces
All important interfaces are shown in this Chapter. The precise location of the connectors and
terminals can be seen in Chapter II.3.3.
III.1
Power supply
III.1.1
Mains supply connection (X0)
—
—
III.1.2
III.1.3
Directly to earthed 3~ supply, 230V-10% — 480V+10%, 50 — 60 Hz, integrated filter
Fusing (e.g. fusible cut-outs) provided by the user ð I.7.1
24V auxiliary supply (X4)
—
Electrically isolated, external 24V DC supply, e.g. with insulating transformer
—
Required current rating ð I.7
—
Integrated EMC filter for the 24V auxiliary supply
DC-link (X7)
Can be connected in parallel, thanks to patented circuit to distribute the regen power among all the
amplifiers connected to the same DC-link circuit. (Connection example ð II.3.2). - A.4.031.1/21,25
SERVOSTAR™ 600 Installation-manual
37
Interfaces
III.2
02.99
- A.4.031.1/17,18
Kollmorgen
Motor connection with brake (X9)
Lead length £ 25m
Lead length >25m
For lead lengths above 25m the choke box 3YL-xx must be wired into the motor lead, close to the
amplifier (please consult our applications department).
III.3
External regen resistor (X8)
Remove the plug-in link between the terminals X8/1 (-RB) and X8/2 (+Rbint).
- A.4.031.1/17,18
38
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III.4
Feedback
III.4.1
Resolver connection (X2)
Interfaces
The motors of the 6SM series have 2-pole hollow-shaft resolvers built in as a standard.
It is possible to connect 2, 4 or 6-pole resolvers to the SERVOSTAR™ 600.
If lead lengths of more than 100m are planned, please contact our application department.
The thermostat contact in the motor is connected via the resolver cable to the
SERVOSTAR™ 600 and evaluated there. - A.4.031.1/26
SERVOSTAR™ 600 Installation-manual
39
Interfaces
III.4.2
02.99 - A.4.031.1/27
Kollmorgen
Encoder (X1)
As an option, the 6SM series of motors can be fitted with a single-turn or multiturn
sine-cosine encoder.
This encoder is used by the SERVOSTAR™ 600 as a feedback device for drive tasks which
require highly precise positioning or extremely smooth running.
If lead lengths of more than 100m are planned, please consult our applications department.
The thermostat contact in the motor is connected via the resolver cable to the
SERVOSTAR™ 600 and evaluated there. - A.4.031.1/27
40
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III.5
Control signals, monitor signals
III.5.1
Analog setpoint inputs (X3)
Interfaces
The servo amplifier is equipped with two differential inputs for analog setpoints which are freely
programmable (with the aid of the macro-language, consult our applications department). AGND
(X3/1) must always be joined to the CNC-GND of the controls as a ground reference.
Technical characteristics
—
—
—
—
—
Differential-input voltage max. ± 10 V
Resolution 1.25 mV
Ground reference : AGND, terminal X3/1
Input resistance 20 kΩ
Common-mode voltage range for both inputs ± 10 V
Input SW/SETP.1 (terminals X3/4-5)
Differential input voltage max. ± 10 V, resolution 14-bit, scalable
Standard setting : speed setpoint
Input SW/SETP.2 (terminals X3/6-7)
Differential input voltage max. ± 10 V, resolution 12-bit, scalable
Standard setting : torque setpoint
Application examples for setpoint input SW/SETP.2:
—
adjustable external current limit
—
reduced-sensitivity input for setting-up/jog operation
—
pre-control / override
Fixing the direction of rotation
Standard setting : clockwise rotation of the motor shaft (looking at the shaft end)
—
Positive voltage between terminal X3/4 (+ ) and terminal X3/5 ( - ) or
—
Positive voltage between terminal X3/6 (+ ) and terminal X3/7 ( - )
To reverse the direction of rotation, swap the connections to terminals X3/4-5 and. X3/6-7 or
change the ROT. DIRECTION parameter in the “Speed controller” screen. - A.4.031.1/23
SERVOSTAR™ 600 Installation-manual
41
Interfaces
III.5.2
02.99 - A.4.031.1/24
Kollmorgen
Digital setpoint inputs (X3)
All digital inputs are electrically isolated through optocouplers.
Technical characteristics
—
—
—
Reference ground is digital-GND (DGND, terminal X3/18)
The logic is dimensioned for +24V / 7mA (PLC-compatible)
H-level of +12 — 30V / 7mA, L-level of 0 — 7V / 0 mA
ENABLE input
The output stage of the servo amplifier is activated by the enable signal
(terminal X3/15, input 24V, active-high).
In the inhibited state (low signal) the motor which is attached does not have any torque.
Freely programmable digital inputs :
You can use the digital inputs PSTOP / NSTOP / DIGITAL-IN1 and DIGITAL-IN2 to initiate preprogrammed functions that are stored in the servo amplifier.
You will find a list of the pre-programmed functions in the OPERATOR SOFTWARE manual.
Additional special functions can be freshly defined with the aid of the macro language (consult our
applications department).
If an input is freshly assigned to a pre-programmed function, then the data set must be stored in the
EEPROM of the servo amplifier, and the 24V auxiliary supply of the servo amplifier must be switched off and on again (to reset the amplifier software).
Limit-switches PSTOP / NSTOP
Terminals X3/13 and X3/14 are normally programmed for the connection of limit switches. If
these inputs are not needed for the connection of limit switches, then they are freely programmable
for other input functions.
Limit-switch positive/negative (PSTOP / NSTOP, terminals X3/13 and X3/14), high level in
normal operation (fail-safe for a cable break).
A low signal (open) inhibits the corresponding direction of rotation, the ramp function remains
effective.
DIGITAL-IN 1 / DIGITAL-IN 2
The digital inputs on terminals X3/11 (DIGITAL-IN 1) or terminal X3/12 (DIGITAL-IN 2) can be
logically combined in a freely programmable function. - A.4.031.1/24
42
SERVOSTAR™ 600 Installation-manual
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III.5.3
02.99 - A.4.031.1/20
Interfaces
Digital control outputs (X3)
Technical characteristics
—
—
—
Reference ground is digital-GND (DGND, terminal X3/18)
All digital outputs are floating
DIGITAL-OUT1 and 2
: Open-collector, max. 24V DC, 10 mA
BTB/RTO
: Relay output, max. 24V DC, 42V AC, 0.5A
Ready-to-operate contact BTB/RTO
Operational readiness (terminals X3/2 and X3/3 ) is signalled by a floating relay contact.
The contact is closed when the servo amplifier is ready for operation, the signal is not influenced
by the enable signal, the I²t- limit, or the regen threshold.
All faults cause the BTB/RTO contact to open and the switch-off of the output stage.
A list of the error messages can be found in Chapter IV.3.
Freely programmable digital outputs DIGITAL-OUT 1 / 2:
You can use the digital outputs DIGITAL-OUT1 (terminal X3/16) and DIGITAL-OUT2 (terminal
X3/17) to outputs messages from pre-programmed functions that are stored in the servo amplifier.
You will find a list of the pre-programmed functions in the OPERATOR SOFTWARE manual.
Additional special functions can be defined with the aid of the macro language (consult our applications department).
If an input is freshly assigned to a pre-programmed function, then the data set must be stored in the
EEPROM of the servo amplifier, and the 24V auxiliary supply of the servo amplifier must be switched off and on again (to reset the amplifier software).
Evaluate the outputs via inverting interface relays (see connection diagram), for example
Phönix DEK-REL-24/I/1 (turn-on delay 6 ms, turn-off delay 16ms).
The described logic in the OPERATOR SOFTWARE manual refers to the output of the
inverting interface relays.
Consider the delay of the applied relay !
- A.4.031.1/20
SERVOSTAR™ 600 Installation-manual
43
Interfaces
III.5.4
02.99 - A.4.031.1/22
Kollmorgen
Monitor outputs (X3)
Technical characteristics
—
—
—
—
Reference ground is analog-GND (AGND, terminal X3/1 and X3/10)
Output resistance : 2.2kΩ
Output voltage ±10V
Resolution : 10 bit.
Programmable analog outputs MONITOR 1 / MONITOR 2
The terminals X3/8 (MONITOR 1) or X3/9 (MONITOR 2) can have the following analog signals
assigned to them:
You can use the terminals X3/8 (MONITOR 1) or X3/9 (MONITOR 2) to output converted analog
values for digital measurements which are contained in the servo amplifier.
You will find a list of pre-programmed measurements in the OPERATOR SOFTWARE manual.
Additional special functions can be defined with the aid of the macro language (consult our applications department).
Standard setting :
Monitor 1 : Tachometer voltage VTA (speed)
The output delivers ±10V at the preset limit speed.
Monitor 2 : Current setpoint IDC (torque)
The IDC-monitor delivers ± 10V at the preset peak current (effective r.m.s. value).
A.4.031.1/22
44
You will find a list of the pre-programmed functions in the OPERATOR SOFTWARE manual.
-
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02.99 - A.4.031.1/11
III.6
Encoder emulations
III.6.1
Incremental-encoder interface (X5)
Interfaces
The incremental-encoder interface is part of the package supplied.
Select the encoder function ROD (screen page “Encoder”).
In the servo amplifier, the position of the motor shaft is calculated from the cylic-absolute signals
of the resolver or encoder.
Incremental-encoder compatible pulses are generated from this information.
Pulses are output on the SubD-connector X5 as two signals, A and B, with 90° phase difference
and a zero pulse.
The resolution can be changed with the RESOLUTION parameter:
256/512/1024
pulses per turn for Feedback=Resolver
2048/4096
pulses per turn for Feedback=EnDat or HIPERFACE
You can also adjust and store the position of the zero pulse within one mechanical turn
(parameter NI-OFFSET). Because of the compatibility with normal commercial pulse encoders,
you can only set the zero pulse when A=B=1.
The drivers are supplied from an internal supply voltage.
PGND must always be connected to the controls.
Connections and signal description for incremental-encoder interface : - A.4.031.1/11
SERVOSTAR™ 600 Installation-manual
45
Interfaces
III.6.2
02.99 - A.4.031.1/12
Kollmorgen
SSI-Interface (X5)
The SSI interface (synchronous serial absolut-encoder emulation) is part of the package delivered.
Select the encoder function SSI (screeen page “Encoder”).
In the servo amplifier, the position of the motor shaft is calculated from the cyclic-absolute signals
of the resolver or encoder. A position output is generated from this information, compatible with
the data format of normal commercial SSI absolute encoders. This synchronous, serial,
cyclic-absolute 12-bit information is output on the SubD-Connector X5.
24 bits are transmitted. The upper 12 bits are fixed at zero, the lower 12 bits contain the position
information. Exception : If a SinCoder (Stegmann) is used as a feedback device, then the upper 12
bits are held at 1 (invalid data !) until a reference traverse has been carried out, and then they will
be set to ZERO (valid data !).
The interface must be read in as a multi-turn encoder, but delivers valid single-turn data. The
signal sequence can be output in Gray code (standard) or in binary code (parameter SSI-CODE).
A serial signal is read out from the control, with a synchronous clock frequency of max. 1.5 MHz.
The servo amplifier can be adjusted to the clock frequency of your SSI-evaluation with the
SSI-TAKT parameter (200 kHz or 1.5MHz and inverted).
The drivers are supplied from an internal supply voltage.
PGND must always be connected to the controls.
Connection and signal description for SSI interface :
The count direction for the SSI interface is upwards when the motor shaft is rotating clockwise
(looking at the shaft end). - A.4.031.1/12
46
SERVOSTAR™ 600 Installation-manual
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III.7
02.99 - A.4.031.1/13,14
Interfaces
RS232 interface, PC connection (X6)
The setting of the operating, position control, and motion-block parameters, can be carried out on
an ordinary commercial PC.
Connect the PC interface (X6) of the servo amplifier while the supply to the equipment is
switched off via a normal commercial 3-core null-modem cable to a serial interface on the PC.
(do not use a null-modem link cable!)
The interface is electrically isolated through an optocoupler, and is at the same potential as the
CANopen interface.
The interface is selected and set up in the operator software.
Further notes can be found in Chapter II.4.
Interface cable between the PC and servo amplifiers of the SERVOSTAR™ 600 series:
(View : looking at the face of the built-in SubD connectors, this corresponds to the solder side of
the SubD sockets on the cable) - A.4.031.1/13,14
SERVOSTAR™ 600 Installation-manual
47
Interfaces
III.8
02.99 - A.4.031.1/15, 1/36
Kollmorgen
CANopen Interface (X6)
The interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based
on the communication profile CANopen DS301 and the drive profile DSP402. The following
functions are available in connection with the integrated position controller:
Jogging with variable speed, reference traverse (zeroing), start motion task, start direct task, digital
setpoint provision, data transmission functions and many others.
Detailed information can be found in the CANopen manual. The interface is electrically isolated
by optocouplers, and is at the same potential as the RS232 interface. The analog setpoint inputs
can still be used.
If the analog setpoint inputs are not used, then AGND and DGND (terminal X3) must be
joined together !
CAN bus cable
To meet ISO 11898 you should use a bus cable with a characteristic impedance of 120 Ω . The
maximum usable cable length for reliable communication decreases with increasing transmission
speed. As a guide, you can use the following values which we have measured, but they are not to
be taken as assured limits:
Cable data:
Characteristic impedance
100-120 Ω
Cable capacity
max. 60 nF/km
Lead resistance (loop)
159.8 Ω/km
Cable length, depending on the transmission rate
Transmission rate / kbaud
1000
500
250
max. cable length / m
20
70
115
Lower cable capacity (max. 30 nF/km) and lower lead resistance
(loop, 115 Ω/km) make it possible to achieve greater distances.
(Characteristic impedance 150 ± 5Ω ⇒ terminating resistor 150 ± 5Ω).
For EMC reasons, the SubD connector housing must fulfil the following conditions:
—
metal or metallized housinge
A.4.031.1/15, 1/36
—
provision for cable shielding connection in housing, large-area connection -
48
SERVOSTAR™ 600 Installation-manual
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III.9
02.99 - A.4.031.1/10,3/2
Interfaces
Interface for stepper-motor controls (X5)
This interface can be used to connect the servo amplifier to a third-party stepper-motor controller.
The parameters for the servo amplifier are set up with the aid of the operator software. The number
of steps can be adjusted, so that the servo amplifier can be adjusted to the pulse-direction signals
of any stepper-motor controller. Various monitoring signals can be output. The analog setpoint
inputs are out of action.
AGND and DGND (terminal X3) must be joined together !
Speed profile and signal diagram - A.4.031.1/10,3/2
SERVOSTAR™ 600 Installation-manual
49
Interfaces
III.10
02.99 - A.4.031.1/16,3/2
Kollmorgen
Interface for master-slave operation, encoder input (X5)
This interface can be used to link several SERVOSTAR™ 600 amplifiers together in master-slave
operation.
Up to 16 slave amplifiers can be controlled by the master via the encoder output.
The parameters for the slave amplifiers are set up with the aid of the operator software.
The resolution (no. of pulses/turn) can be adjusted. The analog setpoint inputs are out of action.
AGND and DGND (terminal X3) must be joined together !
Signal diagram - A.4.031.1/16,3/2
50
SERVOSTAR™ 600 Installation-manual
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02.99
IV
Commissioning
IV.1
Important notes
Commissioning
Only professional personnel with extensive knowledge in the fields of electrical/ drive
technology are allowed to commission the servo amplifier.
The procedure for commissioning is described as an example. Depending on the application,
a different procedure may be sensible or necessary.
In multi-axis systems, commission each servo amplifier individually.
Caution !
Check that all live connecting elements are protected from accidental contact.
Deadly voltages can be present, up to 900V.
Never disconnect any of the electrical connections to the servo amplifier while it is live.
Capacitors can still have residual charges with dangerous levels up to 300 seconds after
switching off the supply power.
Heat sinks and front panels of the amplifier can reach a temperature of up to 80°C in
operation. Check (measure) the heat sink temperatue. Wait until the heat sink has cooled
down below 40°C before touching it.
Warning !
If the servo amplifier has been stored for longer than 1 year, then the DC-link capacitors will
have to be re-formed.
To do this, disconnect all the electrical connections.
Supply the servo amplifier for about 30 min. from single-phase 230V AC to the terminals
L1 / L2. This will re-form the capacitors.
Further information on commissioning :
The adaptation of parameters and the effects on the control loop behaviour are described in
the OPERATOR SOFTWARE manual.
The commissioning of the expansion card (if present) is described in the corresponding manual on the CD-ROM.
We can provide further know-how through training courses (on request).
SERVOSTAR™ 600 Installation-manual
51
Commissioning
02.99
Kollmorgen
The following instructions should help you to carry out the commissioning in a sensible order,
without any hazards to people or machinery.
Check installation
Inhibit
Enable signal
0V on terminal X3/15 (Enable)
24V-Hilfsspannung
einschalten
24V DC on terminal X4/1, ground on terminal X4/3
After the initialisation procedure (about 0.5 sec.) the status is
shown in the LED display (ð IV.2.2)
Switch on PC,
start operator
software
Select the interface to which the servo amplifer is connected,
The parameters which are stored in the SRAM of the servo
amplifer are transferred to the PC.
Check displayed
parameters,
and correct
if necessary
Caution !
It is especially important to check the following
parameters.
If you do not keep to them, parts of the system can be
damaged or destroyed.
Supply voltage
Rated motor voltage
Motor pole-no.
Feedback
IRMS
IPEAK
Limit speed
Regen power
Station address
: set to the actual mains supply voltage
: at least as high as the DC-link voltage of the amplifier
: must match the motor (see motor manual)
: must match the feedback unit in the motor
: maximum is the motor standstill curent I0 (on nameplate)
: maximum is 4 x motor standstill curent I0
: maximum is the rated motor speed (on nameplate)
: maximum is the permitted regen resistor dissipation
: unique address (see operator software manual)
Check
safety devices
Caution !
Make sure that any unintended movement of the drive
cannot cause danger to machinery or personnel.
Switch on
supply power
Apply 0V setpoint
Enable
Setpoint
Optimization
Commissioning
the expansion card
52
ð II. Disconnect the servo amplifier from the supply.
through the ON/OFF button of the contactor control
0V on terminals X3/4-5 or X3/6-7
(500 ms after switching on the supply power) 24V DC on
terminal X3/15, motor stands with standstill torque M0
apply a small analog setpoint, about 0.5V is recommended,
to terminals X3/4-5 or X3/6-7
If the motor oscillates, the parameter Kp in the menu
page “speed controller” must be reduced
- the motor is endangered !
Optimize speed, current and position controllers
see commissioning instructions in the corresponding
manual on the CD-ROM
SERVOSTAR™ 600 Installation-manual
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IV.2
Commissioning
02.99 - A.4.031.4/37
Parameter setting
A default parameter set is loaded into your servo amplifier at the factory. This contains valid and
safe parameters for the current and speed controllers.
A database for motor parameters is stored in the servo amplifier. During commissioning you must
select the data set for the motor that is connected and store it in the servo amplifier. For most
applications these settings will already provide good to very good control loop characteristics.
An exact description of all parameters and the possibilities for optimizing the control loop characteristics can be found in the manual “Operator Software SR600.exe”.
IV.2.1
Multi-axis systems
Using a special cable, you can connect four servo amplifiers together and to your PC :
Cable type -SR6Y-, Mat. No. 90060, Drawing No. A.4.031.1/33
PC
Cable -SR6Y-
COMx
RS232
X6
X6
X6
X6
PC/CAN
CAN
CAN
CAN
Adr.:
01
Adr.:
02
Adr.:
03
Adr.:
04
Baud rate identical for all amplifiers,
see table below
With the PC connected to just one servo amplifier you can now use the operator software to select
all four amplifiers through the preset station addresses and set up the parameters.
During commissioning it makes sense to preset the station addresses for the individual amplifiers
and the baud rate for communication by means of the keypad on the front panel (ð IV.2.2.2).
After changing the station adress and baud rate you must turn the 24V auxiliary supply of the
serov amplifier off and on again.
Coding of the baud rate in the LED display :
Coding
0
1
2
3
4
5
6
7
8
9
10
Baud rate in kbit/s
10
20
50
100
125
250
333
666
500
800
1000
- A.4.031.4/37
SERVOSTAR™ 600 Installation-manual
53
Commissioning
IV.2.2
02.99 - A.4.031.3/4
Kollmorgen
Key operation / LED display
The structure of the operating menus is shown at the right of the picture, and the operation of the
keypad on the front panel is shown below.
IV.2.2.1
Key operation
The two keys can be used to perform the following functions:
U
Key symbol
U
U
U
Functions
press once : go up one menu item, increase number by one
press twice in rapid succession : increase number by ten
press once : go down one menu item, decrease number by one
press twice in rapid succession : decrease number by ten
press and hold right key, then press left key as well :
enters a number, return function
- A.4.031.3/4
54
SERVOSTAR™ 600 Installation-manual
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IV.2.2.2
Commissioning
02.99 - A.4.031.3/3
Structure
- A.4.031.3/3
IV.2.1
SERVOSTAR™ 600 Installation-manual
55
Commissioning
IV.3
02.99
Kollmorgen
Error messages
Errors which occur are shown in coded form by an error number in the LED display on the front
panel.All error messages result in the BTB/RTO contact being opened, and the output stage of the
amplifier being switched off (motor looses all torque). If a motor-holding brake is installed, it will
be activated.
Number
IV.4
Designation
F01
heat sink temperature
F02
overvoltage
F03
F04
following error
feedback
F05
undervoltage
F06
motor temperature
F07
F08
F09
F10
F11
F12
F13
F14
F15
F16
F17
F18
aux. voltage
overspeed
EEPROM
Flash-EPROM
brake
motor phase
internal temperature
output stage
I²t max
supply - BTB/RTO
A/D converter
regen
F19
supply phase
F20-F31
F32
reserved
system error
Explanation
heat sink temperature too high
limit is set by manufacturer to 80°C
overvoltage in DC-link
limit depends on the mains supply voltage
message from the position controller
cable break, short circuit, short to ground
undervoltage in DC-link
limit is set by manufacturer to 100V
motor temperature too high
limit is set by manufacturer to145°C
internal aux. voltage not OK
motor running away, speed is too high
checksum error
checksum error
cable break, short circuit, short to ground
motor phase missing (cable break or similar)
internal temperature too high
fault in the output stage
I²t max. value exceeded
2 or 3 phases missing in the supply feed
error in the analog-digital conversion
regen circuit faulty or incorrect setting
a supply phase is missing
(can be switched off for 2-phase operation)
reserved
system software not responding correctly
Warning messages
Faults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTO
contact remains closed) , are indicated in the LED display on the front panel by a coded warning
number.
Number
n01
n02
n03
n04
n05
n06
n07
n08
n09
n10
n11
n12
n13
n14-n32
56
Designation
I²t
regen power
S_fault
response monitoring
supply phase
Sw limit-switch 1
Sw limit-switch 2
motion task error
no reference point
PSTOP
NSTOP
default values
expansion card
reserved
Explanation
I²t threshold exceeded
preset regen power reached
exceeded preset contouring error
response monitoring (fieldbus) is active
supply phase missing
passed software limit-switch 1
passed software limit-switch 2
a faulty motion task was started
not reference point set at start of motion task
PSTOP limit-switch activated
NSTOP limit-switch activated
only HIPERFACE® : motor default values were loaded
expansion card not functioning correctly
reserved
SERVOSTAR™ 600 Installation-manual
Kollmorgen
Accessories
02.99 - A.4.012.4/32
V
Accessories
V.1
External 24V DC supply for one servo amplifier
- A.4.012.4/32
SERVOSTAR™ 600 Installation-manual
57
Accessories
V.2
02.99 - A.4.012.4/33
Kollmorgen
External 24V DC supply for up to 7 servo amplifiers
- A.4.012.4/33
58
SERVOSTAR™ 600 Installation-manual
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V.3
02.99 - A.4.947.4/22
Accessories
External regen resistor BARxxx
- A.4.947.4/22
SERVOSTAR™ 600 Installation-manual
59
Accessories
02.99
Kollmorgen
This page has been deliberately left blank
60
SERVOSTAR™ 600 Installation-manual
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02.99
VI
Appendix
VI.1
Transport, storage, maintenance, disposal
Appendix
Transport :
— only by qualified personnel
— only in the manufacturer’s original recyclable packaging
— avoid shocks
— temperature
–25 to +70°C, max. 20°C / hour rate of change
— humidity
max. 95% relative humidity, no condensation
— the servo amplifiers contain electrostatically sensitive components which
can be damaged by incorrect handling
Discharge yourself before touching the servo amplifier. Avoid contact with
highly insulating materials (artificial fabrics, plastic films etc.).
Place the servo amplifier on a conductive surface.
— if the packaging is damaged, check the unit for visible damage.
In this case, inform the shipper and the manufacturer.
Storage :
— only in the manufacturer’s original recyclable packaging
— the servo amplifiers contain electrostatically sensitive components which
can be damaged by incorrect handling
Discharge yourself before touching the servo amplifier. Avoid contact with
highly insulating materials (artificial fabrics, plastic films etc.),
Place the servo amplifier on a conductive surface.
— max. stacking height for SERVOSTAR™600 : 10 cartons
— storage temperature
–25 to +55oC, max. 20°C/hr. rate of change
— humidity
relative humidity max. 95%, no condensation
— storage duration
< 1 year without restriction
> 1 year : capacitors must be re-formed before
the servo amplifier is commissioned.
To do this, remove all electrical connections and
supply the servo amplifier for about 30 min. From
230V AC, single-phase, on terminals L1 / L2.
Maintenance :
— the instruments do not require any maintenance
— opening the instruments invalidates the warranty
Cleaning :
— if the casing is dirty: cleaning with Isopropanol or similar
do not immerse or spray
— if there is dirt inside the unit
: to be cleaned by the manufacturer
— dirty protective grill (fan)
: clean with a dry brush
Disposal :
— the servo amplifier can be reduced to its principal components by
unscrewing it (aluminium heat sink and front panel steel housing sections,
electronics boards)
— disposal should be carried out by a certified disposal company.
We can give you suitable addresses.
SERVOSTAR™ 600 Installation-manual
61
Appendix
VI.2
Kollmorgen
02.99
Removing faults
The table below should be regarded as a “First-aid” box. Depending on the conditions in your
installation, there may be a wide variety of reasons for the fault.
In multi-axis systems there may be further hidden causes of a fault.
Our applications department can give you further assistance with problems.
Fault
message:
communication
fault
possible causes
—
wrong cable used
—
cable plugged into wrong position
in servo amplifier or PC
—
—
wrong PC interface selected
supply voltage not present or too low
when servo amplifier is enabled
—
regen power is insufficient. regen power
limit was reached and the regen resistor
was switched off. This causes excessive
voltage in the DC-link circuit.
supply voltage too high
enable was applied, although the
supply voltage was not present.
message:
undervoltage
message:
overvoltage
—
—
message:
mains BTB/RTO
—
—
message:
brake
message:
output stage fault
message:
heat sink
temperature
message:
aux. voltage
62
—
—
—
at least 2 supply phases are missing
short-circuit in the supply cable for the
motor-holding brake
motor-holding brake is faulty
fault in brake cable
no brake connected, although the
brake parameter is set to "WITH"
motor cable has short-circuit/ground short
motor has short-circuit / ground short
output module is overheated
output stage is faulty
Measures to remove the cause of the fault
—
use null-modem cable
—
plug cable into the correct
sockets on the servo amplifier
and PC
—
select correct interface
—
only enable the servo amplifier
when the mains supply voltage
has been switched on
delay > 500 ms
—
shorten the braking time RAMP
use an external regen resistor
with a higher power rating and
adjust the regen power parameter
—
use mains transformer
—
only enable the servo amplifier
when the mains supply voltage
has been switched on
—
check electrical supply
—
remove short-circuit
—
—
—
replace motor
check shielding of brake cable
brake parameter set to "WITHOUT"
—
—
—
—
—
short-circuit / short to ground in the
external regen resistor
—
replace cable
replace motor
improve ventilation
return the servo amplifier to the
manufacturer for repair
remove short-circuit / ground short
—
permissible heat sink temperature
exceeded
—
improve ventilation
—
the aux. voltage produced by the servo
amplifier is incorrect
—
return the servo amplifier to the
manufacturer for repair
—
—
—
—
SERVOSTAR™ 600 Installation-manual
Kollmorgen
Fault
message:
feedback unit
possible causes
—
feedback connector not properly inserted
—
feedback cable is broken, crushed or
otherwise damaged
message:
—
internal temperature
—
Message:
motor temperature —
motor does not
rotate
motor runs away
(overspeed)
motor oscillates
drive reports
following error
motor overheating
Appendix
02.99
measures to remove the cause of the fault
—
check connector
—
check cable
permissible internal temperature exceeded —
improve ventilation
motor thermostat has been activated
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
feedback connector is loose or break in
feedback cable
servo amplifier not enabled
break in setpoint cable
motor phases swapped
brake not released
drive is mechanically blocked
motor palr no. set incorrectly
feedback set up incorrectly
motor phases swapped
feedback set up incorrectly
gain too high (speed controller)
shielding in feedback cable has a break
AGND not wired up
Irms or Ipeak is set to low
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
setpoint ramp is too long
Irms/Ipeak set too high
Kp (speed controller) too low
Tn (speed controller) too high
—
—
—
—
—
—
—
—
PID-T2 too high
T-Tacho too high
Kp (speed controller) too high
Tn (speed controller) too low
—
—
—
—
—
—
—
PID-T2 too low
T-Tacho too low
offset not correctly adjusted for analog
setpoint provision
AGND not joined to the CNC-GN of the
controls
—
—
—
wait till motor has cooled down, then
check why it became so hot
screw connector up tight or use new
feedback cable
apply enable signal
check setpoint cable
correct motor phase sequence
check brake control
check mechanism
set motor pole no.
set up feedback correctly
correct motor phase sequence
set up correct offset angle
reduce Kp (speed controller)
replace feedback cable
join AGND to CNC-GND
increase Irms or Ipeak
(keep within motor data !)
shorten setpoint ramp +/reduce Irms/Ipeak
increase Kp (speed controller)
use motor default value for
Tn (speed controller)
reduce PID-T2
reduce T-Tacho
reduce Kp (speed controller)
use motor default value for
Tn (speed controller)
increase PID-T2
increase T-Tacho
adjust setpoint-offset (analog I/O)
—
join AGND and CNC-GND
drive too soft
drive runs
roughly
axis drifts at
setpoint = 0V
—
SERVOSTAR™ 600 Installation-manual
63
Appendix
VI.3
C
Kollmorgen
02.99
Glossary
Clock
Clock signal
Common-mode voltage
The maximum amplitude of a disturbance (on both
inputs) which a differential input can eliminate
CONNECT- modules
Modules built into the servo amplifier, with integrated
position control, which provide special versions of the
interface for the connection to the higher-level control
Continuous power of regen circuit
Mean power which can be dissipated in the regen circuit
Counts
Internal count pulses, 1 pulse = 1/4096 turn-1
Current controller
Regulates the difference between the current setpoint
and the actual value to 0
Output : power output voltage
DC-link
Rectified and smoothed power voltage
Disable
Removal of the enable signal (0V or open)
E
Enable
Enable signal for the servo amplifier (+24V)
F
Final speed
Maximum value for speed normalization at ±10V
Fieldbus interface
here: CONNECT modules: CAN-CONNECT
and PROFIBUS-CONNECT
G
GRAY-code
Special method of representing binary numbers
H
Holding brake
Brake in the motor, which can only be used when the
motor is at stillstand
I
I²t threshold
Monitoring of the actually required r.m.s. current
Input drift
Temperature and age-dependent alteration of an analog
input
Incremental encoder interface
Position signalling by 2 signals with 90° phase
difference, not an absolute position output
Ipeak, peak current
The effective value of the peak current
Irms, effective current
The r.m.s. value of the continuous current
K
Kp, P-gain
Proportional gain of a control loop
L
Limit-switch
Switch limiting the traverse path of the machine;
implemented as n.c. (break) contact
M
Machine
The complete assembly of all connected parts or
devices, of which at least one is movable
Monitor output
Output of an analog measurement
Motion-block
Data packet with all the position control parameters
which are required for a motion task,
only when a CONNECT- module is present
Multi-axis system
Machine with several independently driven axes
N
Natural convection
Free movement of air for cooling
O
Optocoupler
Optical connection between two electrically
independent systems
D
64
SERVOSTAR™ 600 Installation-manual
Kollmorgen
P
R
S
T
Z
Appendix
02.99
P-controller
Control loop with purely proportional behaviour
Phase shift
Compensation for the lag between the electromagnetic
and magnetic fields in the motor
PID-controller
Control loop with proportional, integral and
differential behaviour
PID-T2
Filter time constant for the speed controller output
Position controller
Regulates the difference between the position setpoint
and the actual position to 0
Output : speed setpoint
Potential isolation
Electrically decoupled
Power contactor
System protection device with phase monitoring
Pulse power of the regen circuit
Maximum power which can be dissipated in the
regen circuit
Regen circuit
Converts superfluous energy, which is fed back
during braking, into heat in the regen resistor
Reset
New start of the microprocessor
Resolver-digital converter
Conversion of the analog resolver signals into
digital information
Reversing mode
Operation with a periodic change of direction
Ring core
Ferrite rings for interference suppression
ROD-Interface
Incremental position output
Servo amplifier
Control device for regulating the position of a
servomotor
Setpoint ramps
Limits for the rate of change of the speed setpoint
Short to ground
Electrically conductive connection between a
phase and PE (protective earth)
Short-circuit
here: electrically conductive connection between
two phases
Speed controller
Regulates the difference between the speed setpoint
and the actual value to 0
Output : current setpoint
SSI-interface
Cyclic-absolute, serial position output
Supply filter
Device to divert interference on the power supply
cables to PE
T-tacho, tachometer time constant
Filter time constant in the speed feedback
of the control loop
Tachometer voltage
Voltage proportional to the actual speed
Thermostat
Temperature-sensitive switch built into the
motor winding
Tn, I-integration time
Integral section of a control loop
Zero pulse
Output once per turn from incremental encoders,
used to zero the machine
SERVOSTAR™ 600 Installation-manual
65
Appendix
02.99
Kollmorgen
This page has been deliberately left blank.
66
SERVOSTAR™ 600 Installation-manual
Kollmorgen
VI.4
Index
Text
!
A
B
C
D
E
F
G
H
I
K
L
M
Appendix
02.99
Seite
24V supply
20A . . . . . . . . . . . . . . . . . . . . 58
5A . . . . . . . . . . . . . . . . . . . . . 57
24Vaux. supply, interface . . . . . . . . . . . 37
abbreviations . . . . . . . . . . . . . . . . . . 8
AGND . . . . . . . . . . . . . . . . . . . . . 17
ambient temperature. . . . . . . . . . . . . . 16
assembly. . . . . . . . . . . . . . . . . . . . 22
Baudrate . . . . . . . . . . . . . . . . . . . . 53
brake. . . . . . . . . . . . . . . . . . . . . . 17
BTB/RTO . . . . . . . . . . . . . . . . . . . 43
CANopen-Interface . . . . . . . . . . . . . . 48
CE-conformance . . . . . . . . . . . . . . . . 7
Commissioning . . . . . . . . . . . . . . . . 51
conductor cross-sections . . . . . . . . . . . 16
connection diagram . . . . . . . . . . . . . . 26
connection techniques . . . . . . . . . . . . . 29
Contents . . . . . . . . . . . . . . . . . . . . 3
DC-link interface . . . . . . . . . . . . . . . 37
DGND . . . . . . . . . . . . . . . . . . . . . 17
disposal . . . . . . . . . . . . . . . . . . . . 61
EMC . . . . . . . . . . . . . . . . . . . . . . 21
Emergency Stop strategies . . . . . . . . . . 20
encoder
emulations. . . . . . . . . . . . . . . . . 45
interface . . . . . . . . . . . . . . . . . . 40
interface master-slave . . . . . . . . . . . 50
error messages. . . . . . . . . . . . . . . . . 56
external fusing. . . . . . . . . . . . . . . . . 15
forming . . . . . . . . . . . . . . . . . . . . 51
Glossary . . . . . . . . . . . . . . . . . . . . 64
ground symbol . . . . . . . . . . . . . . . . 24
grounding
connection diagram . . . . . . . . . . . . 26
installation. . . . . . . . . . . . . . . . . 25
hardware requirements . . . . . . . . . . . . 36
holding brake . . . . . . . . . . . . . . . . . 17
humidity . . . . . . . . . . . . . . . . . . . . 61
inputs
analog setpoints . . . . . . . . . . . . . . 41
DIGI-IN 1/2 . . . . . . . . . . . . . . . . 42
enable . . . . . . . . . . . . . . . . . . . 42
NSTOP . . . . . . . . . . . . . . . . . . 42
PSTOP . . . . . . . . . . . . . . . . . . 42
installation
hardware . . . . . . . . . . . . . . . . . 24
software . . . . . . . . . . . . . . . . . . 36
key operation . . . . . . . . . . . . . . . . . 54
LC-Display . . . . . . . . . . . . . . . . . . 54
LED display . . . . . . . . . . . . . . . . . . 16
Limit Switch Inputs . . . . . . . . . . . . . . 42
mains supply connection, interface . . . . . . 37
maintenance . . . . . . . . . . . . . . . . . . 61
master-slave . . . . . . . . . . . . . . . . . . 50
monitor outputs . . . . . . . . . . . . . . . . 44
motor
interface . . . . . . . . . . . . . . . . . . 38
motor cable . . . . . . . . . . . . . . . . 34
Text
N
O
P
R
S
T
U
V
W
X
SERVOSTAR™ 600 Installation-manual
Seite
motor choke
connection example . . . . . . . . . . . . 27
motor holding brake . . . . . . . . . . . . . . 17
mounting position . . . . . . . . . . . . . . . 16
multi-axis systems
connection example . . . . . . . . . . . . 27
nameplate . . . . . . . . . . . . . . . . . . . 10
NSTOP . . . . . . . . . . . . . . . . . . . . 42
options. . . . . . . . . . . . . . . . . . . . . 11
other operating systems . . . . . . . . . . . . 36
outputs
BTB/RTO . . . . . . . . . . . . . . . . . 43
DIGI-OUT 1/2 . . . . . . . . . . . . . . 43
Monitor1/2 . . . . . . . . . . . . . . . . 44
Package supplied . . . . . . . . . . . . . . . 10
Parameter setting . . . . . . . . . . . . . . . 53
PC cable . . . . . . . . . . . . . . . . . . . . 47
PC connection . . . . . . . . . . . . . . . . . 47
PGND . . . . . . . . . . . . . . . . . . . . . 17
pin assignments . . . . . . . . . . . . . . . . 28
pollution level . . . . . . . . . . . . . . . . . 16
protection . . . . . . . . . . . . . . . . . . . 16
PSTOP. . . . . . . . . . . . . . . . . . . . . 42
pulse-direction, interface . . . . . . . . . . . 49
Regen circuit . . . . . . . . . . . . . . . . . 18
resolver
cable. . . . . . . . . . . . . . . . . . . . 34
interface . . . . . . . . . . . . . . . . . . 39
ROD interface . . . . . . . . . . . . . . . . . 45
RS232/PC, interface. . . . . . . . . . . . . . 47
safety instructions . . . . . . . . . . . . . . . 6
setpoint inputs . . . . . . . . . . . . . . . . . 41
SETUP.EXE. . . . . . . . . . . . . . . . . . 36
shielding
connection diagram . . . . . . . . . . . . 26
installation. . . . . . . . . . . . . . . . . 25
site . . . . . . . . . . . . . . . . . . . . . . . 25
site altitude . . . . . . . . . . . . . . . . . . 16
SSI, interface . . . . . . . . . . . . . . . . . 46
stacking height . . . . . . . . . . . . . . . . 61
standards . . . . . . . . . . . . . . . . . . . . 7
storage . . . . . . . . . . . . . . . . . . . . . 61
storage duration . . . . . . . . . . . . . . . . 61
storage temperature . . . . . . . . . . . . . . 61
supply voltage . . . . . . . . . . . . . . . . . 16
Switch-on and switch-off behaviour . . . . . 19
system components, overview . . . . . . . . 14
technical data . . . . . . . . . . . . . . . . . 15
trailing cables . . . . . . . . . . . . . . . . . 34
transport . . . . . . . . . . . . . . . . . . . . 61
use as directed . . . . . . . . . . . . . . . . . 9
operator software . . . . . . . . . . . . . 35
servo amplifier . . . . . . . . . . . . . . . 9
ventilation
Installation . . . . . . . . . . . . . . . . 25
Tech.Data . . . . . . . . . . . . . . . . . 16
Warning messages . . . . . . . . . . . . . . 56
wiring . . . . . . . . . . . . . . . . . . . . . 25
XGND . . . . . . . . . . . . . . . . . . . . . 17
67
V e rt ri e b u n d S erv ic e / S a le s and Service / Agence et Services
Bundesrepublik Deutschland/
Dänemark/
Niederlande/
Germany/Allemagne
Denmark/Danemark
Netherlands/Pays-Bas
Seidel Servo Drives GmbH
DIGIMATIC
Dynamic Drives
Ormhöjgaardvej 12-14
Jan van der Heydenstraat 24a
Dasselsbrucher Str. 49a
DK-8700 Horsens
NL-2665 JA Bleiswijk
D-29227 Celle
Tel.: +45 - 76 26 12 00
Tel.:
+31(0)10 - 52 15 490
Tel.: +49(0)5141 - 98 10 40
Fax: +45 - 76 26 12 12
Fax:
+31(0)10 - 52 18 994
Verkaufsniederlassung Nord
Fax: +49(0)5141 - 98 10 41
Finnland/
Finland/Finlande
Seidel Servo Drives GmbH
Verkaufsniederlassung West
Drivematic OY
Wacholderstr. 40-42
Hevosenkenkä 4
D-40489 Düsseldorf
FIN-28430 Pori
Tel.: +49(0)203 - 99 79 - 180
Tel.: +358 - 2 - 61 00 33 11
Fax: +49(0)203 - 99 79 - 118
Fax: +358 - 2 - 61 00 33 50
Seidel Servo Drives GmbH
Bruchsaler Str. 3
D-76646 Bruchsal-Untergrombach
Tel.: +49(0)7257 - 9 23 07
Fax: +49(0)7257 - 9 23 08
Sweden/Suéde
S D T
AB
SE-25467 Helsingborg
Tel.: +46(0)42 - 380 800
Fax: +46(0)42 - 380 813
Stockholm
SE-12030 Stockholm
Frankreich/
Verkaufsniederlassung Süd-West
Schweden/
Tel.: +46(0)8 - 640 77 30
France/France
Fax: +46(0)8 - 641 09 15
Seidel Servo Drives GmbH
Göteborg
Parc technologique St.Jacques
SE-42671 Västra Frölunda
2 rue Pierre et Marie Curie
Tel.: +46(0)31 - 69 62 60
F-54320 Maxéville
Fax: +46(0)31 - 69 62 69
Tel.: +33(0)3 83 95 44 80
Seidel Servo Drives GmbH
Fax: +33(0)3 83 95 44 81
Verkaufsniederlassung Süd-Ost
Schweiz/
Switzerland/Suisse
Landsbergerstr. 17
D-86947 Weil
Großbritannien/
Tel.: +49(0)8195 - 99 92 50
Great Britain/Royaume-Uni
Eggbühlstr. 14
Fax: +49(0)8195 - 99 92 33
Kollmorgen
CH-8050 Zürich
PO Box 147, KEIGHLEY
Tel.: +41(0)1 - 300 29 65
Servo-Dyn
West Yorkshire, BD21 3XE
Fax: +41(0)1 - 300 29 66
Technik GmbH
Tel.: +44(0)15 35 - 60 76 88
Münzgasse 10
Fax: +44(0)15 35 - 68 05 20
Spanien/
D-01067 Dresden
Heason Technologies Group
Spain/Espagne
Tel.: +49(0)351 - 49 05 793
Claremont Lodge
Fax: +49(0)351 - 49 05 794
Fontwell Avenue
Eastergate Chichester PO20 6RY
neue spalte
Tel.: +44(0)12 43 - 54 54 00
Fax: +44(0)12 43 - 54 45 90
Seidel Servo Drives GmbH
Comercial BROTOMATIC, S.L.
San Miguel de Acha, 2 Pab.3
E-01010 Vitoria
Tel.: +34 945 - 24 94 11
Fax: +34 945 - 22 78 32
Italien/
Italy/Italie
M.C.A. s.r.l.
Via f. Turati 21
I-20016 Pero (Mi)
Tel.: +39(0)02 - 33 91 04 50
Fax: +39(0)02 - 33 90 85 8
Sy s t e m p a rtn e r / S y s tem part ners / Part enaires du syst Øme
Bundesrepublik Deutschland/
Großbritannien/
Niederlande/
Germany/Allemagne
Great Britain/Royaume-Uni
Netherlands/Pays-Bas
Werner P. Hermes
Motor Technology Ltd.
Kiwiet
Ingenieurbüro
Unit 1
Ingenieurbüro
Turmstr. 23
Chadkirk Industrial Estate
Helenaveenseweg 35
40750 Langenfeld
Otterspool Road
NL-5985 NK Panningen (Grashoek)
Tel.: +49(0)212 - 65 10 55
Romiley, Stockport
Tel.: +31(0)77 - 30 76 661
Fax :+49(0)212 - 65 10 57
GB-Cheshire SK6 3LE
Fax: +31(0)77 - 30 76 646
Tel.:
+44(0)161 - 42 73 641
Fax : +44(0)161 - 42 71 306
EAT GmbH
Elektronische Antriebstechnik
Schweiz/Switzerland/Suisse
Abrichstr. 19
79108 Freiburg
Tel: +49(0)761 - 13 03 50
Fax:+49(0)761 - 13 03 555
I-20095 Cusano Milanino (MI)
Tel.: +39(0)02 - 66 42 01
CH-6030 Ebikon
Fax: +39(0)02 - 66 40 10 20
+41(0)41- 440 - 77 22
Fax : +41(0)41 - 440 - 69 43
Frankreich/France/France
Tel: +49(0)4135 - 12 88
Transtechnik
Fax:+49(0)4135 - 14 33
Viale Lombardia 20
Zentralstr. 6
Dachtmisser Str. 10
21394 Kirchgellersen
Servo Tecnica
Bobry Servo Electronic AG
Tel.:
IBK Ingenieurbüro Keßler GmbH
Italien/Italy/Italie
Servomécanismes
Australien/Australia/Australie
FCR Motion Technology PTY. Ltd.
23 Mac Arthurs Road
Altona North, 3025
Z.A. Ahuy Suzon
Melbourne/Australia
17, Rue des Grandes Varennes
Tel.: +61 393 99 15 11
F-21121
Fax: +61 393 99 14 31
AHUY
Tel.: +33(0)3 - 80 55 69 41
Fax: +33(0)3 - 80 53 93 63
Seidel Servo Drives GmbH
Kollmorgen
Hausanschrift
Postanschrift
Wacholderstr. 40-42
Postfach 34 01 61
201 Rock Road
D - 40489 Düsseldorf
D-40440 Düsseldorf
Radford, VA 24141
Tel.: +49(0)203 - 99 79 - 0
Tel.: +1 540 - 639 - 24 95
Fax: +49(0)203 - 99 79 - 155
Fax: +1 540 - 731 - 08 47
Internet : http://www.seidelservodrives.de
Internet : http://www.kollmorgen.com
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