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Summary of Contents for Kollmorgen S772
- Page 1 S700 Digital Servo Amplifier S748…S772 Instruction Manual Edition 11/2018 Translation of the original instruction manual. Valid for Hardware Revision 02.30 For safe and proper use, follow these instructions. Keep them for future reference. File s748_e.***...
- Page 2 Technical changes which improve the performance of the device may be made without prior notice! All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen Europe GmbH.
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Page 3: Table Of Contents
Emergency Off.............36 S748-S772 Instructions Manual... - Page 4 Sine Encoder with SSI (X1)...........80 S748-S772 Instructions Manual...
- Page 5 Trouble Shooting ............. .122 S748-S772 Instructions Manual...
- Page 6 11.3 Index ............... .160 S748-S772 Instructions Manual...
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Page 7: General
(PDF) can be printed out on any standard commercial printer. A printed copy of the documentation is available from us at extra cost. More background information can be found in our "Kollmorgen Developer Network" kdn.kollmorgen.com. Hints for the online edition (PDF format) Bookmarks: Table of contents and index are active bookmarks. -
Page 8: Symbols Used
Warning of a danger (general). The type of danger is specified by the warning text next to it. Warning of danger from electricity and its effects. Warning of danger from hot surfaces. Warning of danger from suspended loads. Warning of danger from automatic start. S748-S772 Instructions Manual... -
Page 9: Standards Used
Preparation of instructions for use - Structuring, content and presentation UL Standard for Safety for Insulation Coordination Including Clearances UL 840 and Creepage Distances for Electrical Equipment UL 508C UL Standard for Safety Power Conversion Equipment International Electrotechnical Commission Underwriters Laboratories International Organization for Standardization S748-S772 Instructions Manual... -
Page 10: Abbreviations Used
Safe limited position Safe limited speed Safe operating stop Safe stop 1 Safe stop 2 Synchronous serial interface Safe speed range Safe torque off (former AS) V AC Alternating voltage V DC DC voltage Society of German Electrical Technicians S748-S772 Instructions Manual... -
Page 11: Safety
Hardware Revision Number on the cover page of the manual. If the numbers do not match up, visit the European File Archive (http://www.wiki-kollmorgen.eu). The 'Download' section contains the various manual ver- sions based on the hardware version number. - Page 12 (according to IEC61800-5-1) against system com- ponents with power voltage, according to the required application test voltage. All Kollmorgen components meet these requirements. Never modify the servo amplifiers! It is not allowed to modify the servo amplifiers without permission by the manufacturer.
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Page 13: Use As Directed
2000V. For the cases of DC input power for single and group installations S700 has not been evaluated by Kollmorgen, UL, or TÜV for replacing AC mains input with DC input - for either single or group installations. -
Page 14: Prohibited Use
The control of holding brakes by the S748/772 alone may not be used in applications, where functional safety is to be ensured with the brake. Warning notes placed on the product Residual Voltage Wait 10 minutes after removing power. NOTICE If these signs are damaged, they must be replaced immediately. S748-S772 Instructions Manual... -
Page 15: Handling
More than 1 year: capacitors must be re-formed before setting up and operating the servo amplifier. To do this, remove all electrical connections and apply single-phase 230V AC for about 30 minutes to the terminals L1 / L2. S748-S772 Instructions Manual... -
Page 16: Decommissioning
80 °C (176 °F). Before touching the device, check the temperature and wait until it has cooled below 40 °C (104 °F). 3. Remove the connectors. Disconnect the potential earth connection last. 4. Demount: loosen the fastening screws. Remove the device. S748-S772 Instructions Manual... -
Page 17: Repair
1. Decommission the device (see chapter 3.4). 2. Demount the device (see chapter 3.6). 3. Contact Kollmorgen and clarify the logistics. Send the device to the address given by Kollmorgen. 4. Install a new device as described in this manual. -
Page 18: Approvals
Fuse class Voltage Rating Max. Fuse and SCC Rating S7480 RK5, CC, J, T 600V AC 60A / 200kA S7720 RK5, CC, J, T 600V AC 80A / 200kA For use on a solidly grounded wye source only. S748-S772 Instructions Manual... -
Page 19: Ce Conformance
Any divergence from the configuration and installation described in this documentation means that you will be responsible for carrying out new measurements to ensure confor- mance with regulatory requirements. Kollmorgen declares the conformity of the products S748, S772 with the following direc- tives EC Machinery Directive... -
Page 20: Safety Conformance (Sto) According To Machine Directive
Eurasian Customs Union (Russia, Belarus, Kazakhstan) similar to the European CE mark. Kollmorgen declares, that the S748/772 has passed all required conformity procedures in a member state of the Eurasian Customs Union, and that the S748/772 meets all techni- cal requirements requested in the member states of the Eurasian Customs Union:... -
Page 21: Package Supplied
Ser. Nr Ser. No. Bemerkung Comment Spannungsversorgung Power Supply Nennstrom Nom. Current Hardware RoHS Schutzart Revision Encl.Rating conform Umgebungstemp. Surrounding temp. max. Electrical supply Enclosure Hardware Software 2D bar code surrounding Installed load Rating Revision Version temperature S748-S772 Instructions Manual... -
Page 22: Part Number Scheme
S700 series 72A rated current Supply voltage 208...480V no electrical/mechanical option I/O Extension card in Slot 1 Fan controller in Slot 2 PosI/O expansion card in Slot 3 Standard Firmware (EtherCAT & CANopen onboard) no customer specific specials S748-S772 Instructions Manual... -
Page 23: Technical Description
Interference suppression filters are integrated for the electrical supply feed and the 24V auxiliary supply voltage (with motor cable £ 10m for C2 as per IEC 61800-3, with motor cable < 10m for C3 as per IEC 61800-3). S748-S772 Instructions Manual... - Page 24 4 programmable digital inputs ð p. 96 2 programmable digital inputs/outputs (direction selectable) ð p. 98 programmable logical combinations of digital signals 1 input Enable ð p. 78 2 inputs STO Enable ð p. 97 2 outputs STO Status ð p. 99 S748-S772 Instructions Manual...
- Page 25 More information can be found in our KDN (Macro-Programming). 62.5µs / 250µs / 1ms / 4ms / 16ms / IDLE / IRQ 128 kByte memory IEC 61131 structured text 400 easy instructions every 62.5 µs CAN objects for multi axis control S748-S772 Instructions Manual...
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Page 26: Technical Data
Weight Coldplate version (S7480C, S7480A) 10.4 Height, without connectors and shielding plate Height, with connectors and shielding plate Width Depth, without connectors Depth, with connectors * In case of mains voltage below 300V, set parameters NONBTB=3 and VBUSBAL=1. S748-S772 Instructions Manual... -
Page 27: Inputs / Outputs, Aux. Voltage Supply
2.5 Nm X0 with 35mm² wire 4.5 Nm X3A, B Cage clamps Cage clamps X8with up to 25mm² wire 2.5 Nm X8 with 35mm² wire 4.5 Nm Cage clamps Mounting flange: 0.5 Nm Grounding bolt 3.5 Nm S748-S772 Instructions Manual... -
Page 28: Fusing
Make sure that there is sufficient forced ventilation within the control cabinet. Kollmorgen requirements for servo amplifiers with Coldplate: Flatness of the mounting (cooling) plate: £ 25 µm / 100 mm Mains volt- Max. -
Page 29: Conductor Cross-Sections
For multi-axis systems, observe the specific operating conditions for your system. To reach functional safety with the max. permitted cable length, observe cable requirements ð p. 59. * Kollmorgen North America supplies cables up to 39 meters Kollmorgen Europe supplies cables up to max. length LED display... -
Page 30: Motor Holding Brake
(see motor manual), the matching data are loaded from the motor database when the motor is selected. A description of the interface can be found on page 69. S748-S772 Instructions Manual... -
Page 31: Dynamic Braking
External brake resistor (RBe) for S772 Continuous brake power external (RBe) * Kollmorgen recommends setting VBUSBAL=4 in case of 480V mains supply, with this setting the optimized calculation method is used. Suitable external brake resistors can be found in our accessories manual. -
Page 32: Switch-On And Switch-Off Behavior
With the functional safe restart lock STO, the drive can be secured on standstill using its internal electronics so that even when power is being supplied, the drive shaft is pro- tected against unintentional restart. The chapter “Safety function STO” describes how to use the STO function. See page 37 onwards. S748-S772 Instructions Manual... -
Page 33: Behavior In Standard Operation
The built-in safety function STO can be used to switch off the drive, so that functional safety is ensured at the drive shaft (ð p. 37). In case of a built-in safety card, wait for the Ready Acknowledge (X30 Pin 16) of the safety card before enabling the servo amplifier again. S748-S772 Instructions Manual... -
Page 34: Behavior In The Event Of An Error (With Standard Setting)
(ACTFAULT=1). In case of a built-in safety card, wait for the Ready Acknowledge (X30 Pin 16) of the safety card before enabling the servo amplifier again. S748-S772 Instructions Manual... -
Page 35: Stop-, Emergency Stop-, Emergency Off Function To Iec 60204
If applicable, the Stop function must signal its status to the control logic. A reset of the Stop function must not create a hazardous situation. Examples for implementation can be found in the KDN on page Stop and Emergency Stop Function. S748-S772 Instructions Manual... -
Page 36: Emergency Stop
This results in a category 0 stop. If this stop category is not possible in the application, then the Emergency Off function must be replaced by other measures (for example by protection against direct touching). S748-S772 Instructions Manual... -
Page 37: Safety Function Sto
EN 13849-1 EN 62061 PFH [1/h] [Year] single channel PLd, Cat. 3 SIL CL 2 7,05E-08 dual channel PLd, Cat. 3 SIL CL 2 7,05E-08 dual channel with PLe, Cat. 4 SIL CL 3 1,38E-09 periodical testing S748-S772 Instructions Manual... -
Page 38: Safety Notes
1. Brake the drive in a controlled manner (speed setpoint = 0V) 2. When speed = 0 rpm, disable the servo amplifier (enable = 0V) 3. If there is a suspended load, block the drive mechanically 4. Activate STO (STO1-Enable and STO2-Enable = 0V S748-S772 Instructions Manual... -
Page 39: Use As Directed Sto
IEC 60204-1. 6.9.7 Technical Data Input voltage 20V..30V Input current 33mA – 40mA (Ieff) Peak current 100mA (Is) Response time (falling edge at STO input STO1: 1ms until energy supply to motor is interrupted) STO2: 2ms S748-S772 Instructions Manual... -
Page 40: Technical Data And Pinning
Dual Channel SIL CL3, PLe interlock Safety Controller XGND interlock XGND +24V +24V +24V A SIL3 / PLe solution requires a safety control that periodically tests the safe switching of the pulse inhibitor by analyzing the status signals. S748-S772 Instructions Manual... -
Page 41: Functional Description
If STO function is not needed in the application, then the inputs STO1-ENABLE and STO2-ENABLE must be connected directly with +24VDC. STO is passed by now and cannot be used. Now the servo amplifier is not a safety component referring to the EC Machine Directive. S748-S772 Instructions Manual... - Page 42 4. Activate STO (STO1-Enable and STO2-Enable = 0V) The diagram shows how STO should be used to ensure a safe stop of the drive and error free operation of the servo amplifier. speed Enable X3A/1 ³100ms STO1-Enable X4/7 STO2-Enable X4/5 S748-S772 Instructions Manual...
- Page 43 SIL CL 2 according to IEC 62061 and PLd according to ISO 13849-1. +24VDC Emergency-stop circuit acc. to ISO 13849-1 E-Stop PNOZ S3 Mains contactor Reset Safety function STO, SIL CL2 / PLd, single channel, 1 drive S22 13 PNOZ S3 Consider the wiring instructions on page 39. S748-S772 Instructions Manual...
- Page 44 SIL CL 2 according to IEC 62061 and PLd according to ISO 13849-1. +24VDC Emergency-stop circuit acc. to ISO 13849-1 E-Stop PNOZ S3 Mains contactor Reset Safety function STO, SIL CL2 / PLd, dual channel, 1 drive S22 13 PNOZ S3 Consider the wiring instructions on page 39. S748-S772 Instructions Manual...
- Page 45 Emergency-stop circuit acc. to ISO 13849-1 E-Stop PNOZ S3 Y1 Y2 Mains contactor Reset Safety function STO, SIL CL3 / PLe, dual channel, 1 drive PNOZ mm0p STO2-Enable STO1-Enable STO2-Status STO1-Status Consider the wiring instructions on page 39 S748-S772 Instructions Manual...
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Page 46: Functional Test
F27. 2. Method: Stop all drives, with setpoint 0V, disable servo amplifier (Enable=0V). Activate STO1-Enable and STO2-Enable e.g. by opening protective screen (voltage at X4A/3=0V and X4B/6=0V). Correct behavior: the servo amplifier displays -S-. S748-S772 Instructions Manual... - Page 47 STO1-STATUS: digital output, switching state of pulse inhibitor 1st switch-off path STO2-STATUS: digital output, switching state of pulse inhibitor 2nd switch-off path T1 … T5: Test sequence Start: Start of test sequence End: End of test sequence S748-S772 Instructions Manual...
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Page 48: Shock-Hazard Protection
(schematic connection see p.64). A ground-leakage monitor can be used to monitor for short circuits. Be advised to keep the length of wiring between the transformer and the servo amplifier as short as possible. S748-S772 Instructions Manual... -
Page 49: Mechanical Installation
Assemble the servo amplifier and power supply close together, on the Assembly conductive, grounded mounting plate in the cabinet. For EMC-compliant shielding and grounding ð p.63. Grounding Ground the mounting plate, motor housing and CNC-GND of the Shielding control system. Notes on connection techniques ð p.58. S748-S772 Instructions Manual... -
Page 50: Dimensions
Mechanical Installation Kollmorgen 11/2018 Dimensions 7.3.1 Device with heat sink Material: four M5 hexagon socket screws to ISO 4762 S748-S772 Instructions Manual... -
Page 51: Device With Coldplate
Kollmorgen Mechanical Installation 11/2018 7.3.2 Device with Coldplate NOTICE These devices are not UL listed and are not EAC and Safety certified. Material: six M5 hexagon socket screws to ISO 4762 S748-S772 Instructions Manual... -
Page 52: Assembly
Mechanical Installation Kollmorgen 11/2018 Assembly 7.4.1 Mounting the shielding plate Material: unscrew existing screws and re-use them Tool required : standard screw driver (cross) S748-S772 Instructions Manual... -
Page 53: Backplane Mounting - Devices With Heat Sink
Tool required : 4 mm Allen key Cable duct >1" >1" 5.9" 1.97" 5.9" 1.97" 5.9" >30 Cable duct >0.1" >2,5mm >11.22" >285mm mounting panel Cabinet door conductive (zinc-coated) screw for hex key EN 4762 0.06" 1.5mm S748-S772 Instructions Manual... -
Page 54: Backplane Mounting - Devices With Coldplate
Ambient requirements see p.28, mounting plate flatness: £ 25 µm / 100 mm Heat conducting film to increase the heat conduction, e.g. Kunze KU-CG20. Tool required : 4 mm Allen key Cable duct >1" 8.27" 2" 8.27" 8.27" >1" 2" Cable duct mounting panel Cabinet door 200mm 7.87" S748-S772 Instructions Manual... -
Page 55: Electrical Installation
Wire the BTB/RTO contact in series into the emergency off circuit of the installation. The emergency off circuit must operate the supply contactor. It is permissible to use the setup software to alter the settings of the servo amplifier. Any other alterations will invalidate the warranty. S748-S772 Instructions Manual... -
Page 56: Guide To Electrical Installation
(maximum permissible voltage values ð p.28), hints for use of — Residual-current circuit breakers (FI) ð p.48 10.Connect the PC (ð p.100). Final check of the implementation of the wiring against the wiring Final check diagrams that have been used. S748-S772 Instructions Manual... -
Page 57: Wiring
: page 134 FB-2to1 : page 135 2CAN : page 137 Expansion cards for slot 2: PosI/O & PosI/O-Monitor : page 140ff Expansion cards for slot 3: PosI/O & PosI/O-Monitor : page 136ff Safety : page 150ff S748-S772 Instructions Manual... -
Page 58: Shielding Connection To The Front Panel
Wire the plug-in terminal blocks as shown in the connection diagram. ƒ The motor cable shield is connected via a shield connection clamp to the bottom shiel- ‚ ding plate (3). Clamp and shielding plate are part of delivery. S748-S772 Instructions Manual... -
Page 59: Technical Data For Connecting Cables
Fill material Example: Motor cable Technical data For a detailed description of Kollmorgen cable types and how to assemble them, please refer to the accessories manual. Chokes With motor cables longer than 25m the use of a motor choke 3YLN may be necessary depending on the system. -
Page 60: Components Of A Servo System
Electrical installation Kollmorgen 11/2018 Components of a servo system Mains Drive cut-out S748/S772 EtherNET Brake Resistor 24V PSU Motor Mains Cables drawn bold are shielded. The required accessories are described in our accesso- ries manual. S748-S772 Instructions Manual... -
Page 61: Block Diagram
+24V-IO BTB/RTO Controller BTB/RTO Power stage Analog-In 1- Analog-In 1+ U2 V2 -AS- Resolver Analog-In 2- Analog-In 2+ -AS- AGND SinCos STO1-STATUS STO1-ENABLE Encoder STO2-STATUS STO2-ENABLE Comcoder BRAKE+ BRAKE- BR +24V BRGND +24V Internal power supply XGND S748-S772 Instructions Manual... -
Page 62: Connector Assignments
ä ä 6 SHIELD ENCODER DGND BTB/RTO BTB/RTO AGND Analog-In 2+ Analog-In 2- Analog-In 1+ Analog-In 1- +24V-IO DIGITAL-IN22/OUT2 DIGITAL-IN21/OUT1 DIGITAL-IN4 DIGITAL-IN3 DIGITAL-IN2 DIGITAL-IN1 ENABLE X4 24V/STO STO1-STATUS STO1-ENABLE STO2-STATUS STO2-ENABLE XGND XGND +24V +24V BRGND BR+24V S748-S772 Instructions Manual... -
Page 63: Connection Diagram (Overview)
24V DC Mains Safety I/O-14/08 contactor - S1.2 (S3) PROFIBUS PE-connection (protective earth) - S2.2 (S4) SERCOS chassis ground connection (panel) DEVICENET SYNQNET shield connection via plug PE L1 L2 L3 shield connection at the front panel S748-S772 Instructions Manual... -
Page 64: Electrical Supply
S748/772 mains Isolating transfo mains 208...240V 400...480V S748/772 S748/772 mains Isolating transfo mains 208...240V 400...480V S748/772 S748/772 mains Isolating transfo mains 208...240V 400...480V S748/772 S748/772 mains Isolating transfo mains 208...240V 400...480V S748/772 S748/772 mains Isolating transfo mains S748-S772 Instructions Manual... -
Page 65: Mains Supply Connection (X0)
24V auxiliary supply (X4) — External 24V DC power supply, electrically isolated, e.g. via an isolating transformer — Required current rating ð p.26 — Integrated EMC filter for the 24V auxiliary supply S748/772 +24V +24V +24V XGND XGND S748-S772 Instructions Manual... -
Page 66: Dc Bus Link (X8)
Servo amplifiers working generatively very often, should be placed beside amplifiers, which need energy. That reduces current flow on longer distances. Fusing information are explained in detail in the KDN on page "DC Bus link in parallel". S748 S748 S748 Bext S748-S772 Instructions Manual... -
Page 67: Dc Bus Topology
"Fuses" on page 28. Information for brake circuit and technical data can be found on page 31. If you want to link the DC bus with neighbored S748/772 servo amplifiers, see connection example on page 66, Chapter "DC Bus link". — Screw driver for plus-minus-screws (Combiprofile Slotted/Pozidriv) size 2 S748/772 Bext S748-S772 Instructions Manual... -
Page 68: Capacitor Module Kcm (X8)
11/2018 8.9.3 Capacitor Module KCM (X8) KCM modules (KOLLMORGEN Capacitor Modules) absorb energy gen- erated by the motor when it is operating in generator mode. Normally, this energy is dissipated as waste via brake resistors. KCM modules, however, feed the energy they have stored back into the DC Bus link as and when it is required. -
Page 69: Motor Connection
With Kollmorgen motors the valid data are automatically set by the internal motor data- base. With motors from other manufacturers the data from the nameplate must be entered to the referring fields in the motor view of the setup software DriveGUI. -
Page 70: Motor Holding Brake (X8, X9B)
GEARMODE (screen page ELECTRONIC GEARING), secondary Feedback (ð p.83) Scaling and other settings must always be made in the software. For a detailed descrip- tion of the ASCII parameters, please refer to the online help of the setup software. S748-S772 Instructions Manual... -
Page 71: Primary And Secondary Feedback Types
Switch on the encoder supply voltage on X1: set ENCVON to 1 BiSS C support for Renishaw sncoders, Hengstler encoders are not supported. The expansion card FB2to1 (see p. 135) enables simultaneous connection of a digital pri- mary and of an analog secondary feedback to the connector X1. S748-S772 Instructions Manual... -
Page 72: Sfd3 (X1), Single Cable Connection
Kollmorgen hybrid cable (on request). Maximum cable length 25 m. FBTYPE: 36 Motor Drive COM+ SFD3 COM- max. 250mA Power Brake Brake+ Brake- The pin assignment shown on the encoder side relates to the Kollmorgen motors (connector code D). S748-S772 Instructions Manual... -
Page 73: Hiperface Dsl (X1), Single Cable Connection
Maximum cable length 25 m. FBTYPE: 35 Motor Drive Feedback COM+ DSL+ HIPERFACE DSL COM- DSL- max. 250mA Power Brake Brake+ Brake- The pin assignment shown on the encoder side relates to the Kollmorgen motors (connector code D). S748-S772 Instructions Manual... -
Page 74: Resolver (X2)
If cable lengths of more than 100m are planned, please consult our customer service. FBTYPE: 0 S748/772 Resolver SubD9 12pol.round 100µH 100µH Motor thermal control min. 5VDC/5mA The pin assignment shown on the encoder side relates to the Kollmorgen motors. S748-S772 Instructions Manual... -
Page 75: Sine Encoder With Biss Analog (X1)
12V analog (BiSS B) 7,5...11V SubD 15 17pol.round S748/772 Encoder cosine sine CLOCK CLOCK Sense Sense max. 250mA voltage supply Motor thermal control min. 5VDC/5mA The pin assignment shown on the encoder side relates to the Kollmorgen motors. S748-S772 Instructions Manual... -
Page 76: Sine Encoder With Biss Digital (X1)
5V digital (BiSS C, Renishaw) 5V +/-5% SubD 15 17pol.round S748/772 Encoder CLOCK CLOCK Sense Sense max. 250mA voltage supply Motor thermal control min. 5VDC/5mA The pin assignment shown on the encoder side relates to the Kollmorgen motors. S748-S772 Instructions Manual... -
Page 77: Sine Encoder With Endat 2.1 (X1)
ENDAT 2.1 + Wake&Shake SubD15 17pol.round Encoder S748/772 EnDat DATA DATA CLOCK CLOCK sense sense 5V +/-5 voltage supply max. 250mA Motor thermal control min. 5VDC/5mA The pin assignment shown on the encoder side relates to the Kollmorgen motors. S748-S772 Instructions Manual... -
Page 78: Encoder With Endat 2.2 (X1)
12V ENDAT 2.2 7,5...11V SubD15 17pol.round Encoder S748/772 EnDat 2.2 DATA DATA CLOCK CLOCK sense sense max. 250mA voltage supply Motor thermal control min. 5VDC/5mA The pin assignment shown on the encoder side relates to the Kollmorgen motors. S748-S772 Instructions Manual... -
Page 79: Sine Encoder With Hiperface (X1)
GEARMODE HIPERFACE SubD15 17pol.round Encoder S748/772 + SIN REFSIN + COS REFCOS RS485 7.5V ...11V voltage supply max. 250mA Motor thermal control min. 5VDC/5mA The pin assignment shown on the encoder side relates to the Kollmorgen motors. S748-S772 Instructions Manual... -
Page 80: Sine Encoder With Ssi (X1)
SinCos SSI 5V linear Switch on the encoder supply voltage on X1: set ENCVON to 1 SubD 15 S748/772 Encoder cosine sine DATA DATA CLOCK CLOCK Sense Sense max. 250mA voltage supply Motor thermal control min. 5VDC/5mA S748-S772 Instructions Manual... -
Page 81: Sine Encoder Without Data Channel (X1)
5V +/-5% MPHASE wake & shake SinCos 12V 7,5...11V MPHASE wake & shake SubD 15 Encoder S748/772 cosine 100pF 100pF sine 100pF 100pF zero RS 485 sense sense voltage supply max. 250mA Motor thermal control min. 5VDC/5mA S748-S772 Instructions Manual... -
Page 82: Sine Encoder With Hall (X1)
Frequency limit (sin, cos): 350 kHz Type FBTYPE EXTPOS GEARMODE SinCos 5V with Hall 5V +/-5% SinCos 12V with Hall 7,5...11V SubD15 S748/772 Encoder cosinus sinus Zero Sense Sense max. 250mA voltage supply HALL Hall-U Hall-V Hall-W MOTOR thermal control min. 5VDC/5mA S748-S772 Instructions Manual... -
Page 83: Rod (Aquadb) 5V, 1.5Mhz (X1)
Frequency limit (A, B): 1,5MHz Type FBTYPE EXTPOS GEARMODE Remarks AquadB 5V MPHASE from EEPROM AquadB 5V MPHASE wake & shake SubD15 S748/772 Incremental Encoder sense 5V +/-5 voltage supply max. 250mA Motor thermal control min. 5VDC/5mA S748-S772 Instructions Manual... -
Page 84: Rod (Aquadb) 5V, 350Khz (X1)
MPHASE from EEPROM AquadB 5V MPHASE wake & shake SubD15 Incremental Encoder S748/772 sense 5V +/-5 voltage supply max. 250mA Motor thermal control min. 5VDC/5mA The pin assignment shown on the encoder side relates to the Kollmorgen motors. S748-S772 Instructions Manual... -
Page 85: Rod (Aquadb) 5V, 350Khz With Hall (X1)
AquadB 5V + Hall SubD15 Comcoder S748/772 17pol.round 100pF 100pF 100pF 100pF Hall-U Hall-V Hall-W sense 5V +/-5 voltage supply max. 250mA Motor thermal control min. 5VDC/5mA The pin assignment shown on the encoder side relates to the Kollmorgen motors. S748-S772 Instructions Manual... -
Page 86: Rod (Aquadb) 24V (X3)
Frequency limit: 100 kHz, transition time tv £ 0.1µs Type FBTYPE EXTPOS GEARMODE Remarks AquadB 24V MPHASE from EEPROM AquadB 24V MPHASE wake & shake incremental encoder S748/772 DIGITAL-IN1 track A DIGITAL-IN2 track B +24V ref. to GND DGND Motor X1/X2 thermal control min. 5VDC/5mA S748-S772 Instructions Manual... -
Page 87: Rod (Aquadb) 24V With Hall (X3, X1)
EXTPOS GEARMODE AquadB 24V + Hall Incremental Encoder S748/772 track A DIGITAL-IN1 track B DIGITAL-IN2 +24V ref. to GND DGND HALL sense sense 5V +/-5 voltage supply max. 250mA Hall-U Hall-V Hall-W Motor thermal control min. 5VDC/5mA S748-S772 Instructions Manual... -
Page 88: Ssi Encoder (X1)
Switch on the encoder supply voltage on X1: set ENCVON to 1 SSI Absolut S748/772 RS 485 RS 485 CLOCK RS 485 RS 485 CLOCK sense Sense 5V +/-5 voltage supply max. 250mA Motor thermal control min. 5VDC/5mA S748-S772 Instructions Manual... -
Page 89: Hall Sensors (X1)
25m are planned, please consult our customer service. Frequency limit: 350 kHz Type FBTYPE EXTPOS GEARMODE Hall HALL S748/772 sense sense 5V +/-5 voltage supply max. 250mA Hall-U Hall-V Hall-W Motor thermal control min. 5VDC/5mA S748-S772 Instructions Manual... -
Page 90: Electronic Gearing, Master-Slave Operation
Frequency Connec- Wiring secondary Feedback type GEARMODE limit diagram ð p.143 SSI 5V 1.5MHz ð p.145 ROD* (AquadB) 5V 1.5MHz ð p.145 Step/direction 5V 1.5MHz * ROD is an abbreviation for incremental encoder S748-S772 Instructions Manual... -
Page 91: Connection To Stepper Motor Controllers (Step And Direction)
Wiring of the servo amplifier to a stepper-motor controller with a 24 V signal level. Used are the digital inputs DIGITAL-IN 1 and 2 on connector X3. Frequency limit: 100 kHz, Type GEARMODE Step/direction 24V Master S748/772 direction DIGITAL-IN1 direction pulse DIGITAL-IN2 pulse +24V ref. to GND DGND S748-S772 Instructions Manual... -
Page 92: Master-Slave Operation
If an expansion card PosI/O or PosI/O-Monitor (see p.140 ff) is built-in, you can use the encoder emulation via X5. With this interface up to 16 Slaves can be connected to one Master, because no internal termination resistors are built-in with X5. Wiring see p.145. S748-S772 Instructions Manual... -
Page 93: Encoder Emulation, Position Output
RS 485 track B 150 * Ù RS 485 RS 485 * according to line impedance ³ Edge spacing a 0.20 µs £ Edge steepness tv 0.1 µs £ Delay NI-td 0.1 µs ³ I UI Ä 2V/20mA S748-S772 Instructions Manual... -
Page 94: Ssi Encoder Output (X1)
22 23 24 25 27 28 Clock Binary Gray £ Switch over time Data tv 300nsec ³ I UI 2V/20mA Output ³ Period T = 600 ns I UI 0.3V Input Time Out tp = 3µs/13µs (SSITOUT) S748-S772 Instructions Manual... -
Page 95: Digital And Analog Inputs And Outputs
Positive voltage between terminal X3B/12 (+ ) and terminal X3B/11 ( - ) To reverse the direction of rotation, swap the connections to terminals X3B/10-9 or X3B/12-11 respectively, or change the COUNT DIRECTION parameter in the “Feedback” screen page. S748-S772 Instructions Manual... -
Page 96: Digital Inputs (X3A, X3B, X4)
If an input was freshly assigned to a pre-programmed function, then the data set must be saved in the EEPROM of the servo amplifier and a reset has to be carried out (with the amplifier setup software for example). S748-S772 Instructions Manual... - Page 97 Failsafe braking of the drive, if required, must be provided by means of an additional mechanical brake, since electrical braking by the drive is no longer possible. You can find further information and connection examples on page 37ff. S748-S772 Instructions Manual...
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Page 98: Digital Outputs (X3A, X3B, X4)
BTB/RTO DIGITAL-OUT1* Digital 1 DIGITAL-OUT2* Digital 2 24V-IO 8 +24V DGND XGND I/O-GND STO1-Status STO1-Status Safety Control STO2-Status STO2-Status * DIGITAL-OUT 1 and 2 must be defined as outputs using the setup software (“Digital I/O” screen page). S748-S772 Instructions Manual... - Page 99 Status messages STO1-Status (X4/8) and STO2-Status (X4/6): Pin 6 and 8 on X4 report the status of the STO-Enable inputs. The outputs are floating outputs, so the 24 V switching voltage must be provided by an external supply via X3A/8. S748-S772 Instructions Manual...
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Page 100: Rs232 Interface, Pc Connection (X6)
Interface cable between the PC and servo amplifiers of the S748/772 series: (View : looking at the solder side of the SubD sockets on the cable) RS232 RS232 Sub-D 9 poles Sub-D 25 poles Sub-D 9 poles Sub-D 9 poles female female female female S748-S772 Instructions Manual... -
Page 101: Canopen Interface (X6)
For EMC reasons, the SubD connector housing must fulfill the following requirements: — metal or metalized housing — provision for cable shielding connection on the housing, large-area connection Master CANL CANL CANL CANH CANH CANH Shield Shield * according to line impedance about 120W S748-S772 Instructions Manual... -
Page 102: Ethernet Interface (X7)
BLINK = repeater on, network not cyclic OFF = repeater off, power off or reset Pinout Signal Signal Transmit + Receive + Transmit - Receive - Receive + Transmit + n.c. n.c. n.c. n.c. Receive - Transmit - n.c. n.c. n.c. n.c. S748-S772 Instructions Manual... -
Page 103: Memory Card
The parameter file can also be loaded automatically on a restart. If a parameter file with the name “default.par” has already been saved on the memory card, it will be loaded by the firmware at this point. This allows fully automatic updating of the firmware/parameters. S748-S772 Instructions Manual... - Page 104 Electrical installation Kollmorgen 11/2018 This page has been deliberately left blank. S748-S772 Instructions Manual...
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Page 105: Setup
The setting up of any expansion card that may be fitted is described in the corresponding manual on the CD-ROM. We can provide further know-how through training courses (on request). S748-S772 Instructions Manual... -
Page 106: Setup Software
In most applications you will be able to use these default values to get your drive running without any problems. An extensive online help with integrated description of all variables and functions sup- ports you in each situation. S748-S772 Instructions Manual... -
Page 107: Hardware Requirements, Operating Systems
Click OK and proceed as described above. Connection to the serial interface of the PC: Connect the interface cable to a serial interface on your PC (COM1 to COM10) and to the serial interface of the servo amplifier S748/772 (ð p.100). S748-S772 Instructions Manual... -
Page 108: Quickstart
Operating Manual Safety Expansion Card Sx PROFIBUS DP communication profile manual DeviceNet communication profile manual ® sercos communication profile manual You need Acrobat Reader to read the PDFs, an installation link is on every screen of the product CD-ROM. S748-S772 Instructions Manual... - Page 109 This wiring does not fulfill any requirements to safety or functionality of your application, it just shows the required wiring for drive testing without load. Power ON Power X3B/16 X3B/14 X3B/15 Enable X3A/1 24V ON X4/7 X4/3 X4/5 X4/2 X4/1 24V DC Feedback S748-S772 Instructions Manual...
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Page 110: Connect
Quit the error message. The software starts in the offline mode now, that requires the manual selection of the amplifier's type. Quit this selection by closing the window. Fix the communication problem. Restart the software in Online mode. S748-S772 Instructions Manual... -
Page 111: Important Screen Elements
Save to EEPROM, required if you changed parameters. Reset, required if you changed configuration parameters. Operation Mode, use "0: Digital Velocity" mode for drive testing. Status Bar The status bar shows a green Online symbol, indicating that the communication works. S748-S772 Instructions Manual... -
Page 112: Setup Wizard
Name: You can enter a name for the servo amplifier (up to 8 characters). This simplifies the drive identification in the system. Set Software Enable on Bootup: Don't select this option for the quick test. Click NEXT. S748-S772 Instructions Manual... - Page 113 Set the mechanical data for you application now. If a gearhead is flange-mounted on the motor, you must also enter the gearhead data (either the number of teeth or the ratio of the revolutions). Then click the “Calculate conversion factors and return” button. Click NEXT. S748-S772 Instructions Manual...
- Page 114 Brake: If the amplifier shall control a brake, change the Brake parameter to "With" Calculated quick tuning: If you know the Load-to-motor inertia ratio, enter the number here and select the desired servo performance. Otherwise select "Do not tune". Click FINISH. S748-S772 Instructions Manual...
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Page 115: Motion Service (Jog Mode)
Actual errors and warnings are listed on the screen "Status". A description of errors/warnings can be found in the online help or on p.120ff. Now you have setup and tested the basic functions of the drive successfully. S748-S772 Instructions Manual... -
Page 116: More Setup Screens
Oscilloscope: 4 channel oscilloscope with multiple functionality Bode Plot: tool for optimizing the drive Terminal: setup the servo amplifier with ASCII commands Expansion Card: depending on the built-in expansion card a menu appears Autotuning: fast optimizing the velocity controller S748-S772 Instructions Manual... -
Page 117: Multi Axis System
Normally, the S748/772 only presents the standard menu for your use. If you want to operate the amplifier via the detailed menu, you must keep the right key pressed while switching on the 24V supply. S748-S772 Instructions Manual... -
Page 118: Keypad Operation
4 : 24V and mains supply on, unit enabled unit indicates current, mains supply on and enable fault/warning signal : each error/warning that has occurred will be indicated successively for 4 blinks each Parameters S748-S772 Instructions Manual... -
Page 119: Advanced Menu
ASCII-command RSTVAR (parameter will be reset to default values) save data to EEPROM load data from EEPROM brake positon output motor type - see reference guide "motor database" setpoint-offset [mV] Tn-speed control [ms] KP-speed control ð p.99 baudrate ð p.117 station adress S748-S772 Instructions Manual... -
Page 120: Error Messages
Safety card error. Error code follows: Safety Supervision oXX=error number, iYY=error subindex F32* System Error System software not responding correctly More information to the messages and trouble shooting can be found in the ASCII Object Reference and in the Online Help). S748-S772 Instructions Manual... -
Page 121: Warning Messages
Warning level reached Digital I/O Configuration is not logical n25-n31 Reserve Reserve Firmware beta version Firmware is an unreleased beta version More information to the messages can be found in the ASCII Object Reference and in Online Help). S748-S772 Instructions Manual... -
Page 122: Trouble Shooting
— increase ARLP2 — offset not correctly adjusted for — adjust offset (analog I/O) Axis drifts at analog setpoint provision — AGND not joined to the — join AGND and controller-GND setpoint = 0V controller-GND of the controls S748-S772 Instructions Manual... -
Page 123: Expansions
4 - Break the top rib 5 - Break the bottom rib 6 - Pull out the top plate 7 - Pull out the bottom plate 9 - Fasten the screws 8 - Push in the card S748-S772 Instructions Manual... -
Page 124: Expansion Card -I/O-14/08
24V auxiliary supply is available for the expansion card. The red LED signals faults in the outputs from the expansion card (overload of switching components, short-circuit). 10.1.2.3 Entering a motion block number (example) Motion block number binary 1010 1110 decimal 174 S748-S772 Instructions Manual... - Page 125 Can only be adjusted by ASCII commands/setup software. PosReg4 Can only be adjusted by ASCII commands/setup software. 10 Out PosReg5 Can only be adjusted by ASCII commands/setup software. 24V DC Supply voltage for output signals. I/O-GND Digital GND for the control system. S748-S772 Instructions Manual...
- Page 126 < FError_clear I/O-GND < Start_MT next < Start_Jog v=x < MT_Restart < Start_MT I/O > InPos > Next-InPos / PosReg0 > FError > PosReg1 > PosReg2 > PosReg3 > PosReg4 > PosReg5 + 24V I/O-GND I/O-GND XGND S748-S772 Instructions Manual...
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Page 127: Expansion Card -Profibus
Cable selection, cable routing, shielding, bus connector, bus termination and transmis- sion times are all described in the “Installation Guidelines for PROFIBUS-DP/FMS” from PNO, the PROFIBUS User Organization. 10.1.3.2 Connection diagram S748/772 X12A PROFIBUS GND1 390Ù 390Ù RS485-A 220Ù 220Ù RS485-B 390Ù 390Ù X12B S748-S772 Instructions Manual... -
Page 128: Expansion Card -Sercos
The fiber optic cable carrying receive data for the drive in the ring structure is connected to X13 with an F-SMA connector. Transmit data Connect the fiber optic cable for the data output to X14 by F-SMA connector. S748-S772 Instructions Manual... - Page 129 Setup software The parameters can be modified in the setup software, “SERCOS” screen (please refer to the setup software the online help). Alternatively, the commands SBAUD # and SLEN # can be entered in the “Terminal” screen. S748-S772 Instructions Manual...
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Page 130: Expansion Card - Devicenet
Cable selection, cable routing, shielding, bus connector, bus termination and transmis- sion times are all described in the “DeviceNet Specification, Volume I, II”, published by ODVA. DeviceNet server/client S748/772 CANH 120 * Ù 120 * Ù CANL Shield 11-25V * according to line impedance S748-S772 Instructions Manual... - Page 131 Attribute 2) to a value between 0 and 2. This is normally carried out with the help of a DeviceNet software setup tool. You must save the parameters in non-volatile mem- ory (Class 0x25, Attribute 0x65) and then restart the drive after altering the baud rate. S748-S772 Instructions Manual...
- Page 132 Stub cables are permitted up to a length of 6 meters, so that at least one node can be connected. Termination resistors: DeviceNet requires a termination at each end of the connecting cable. These resistors must meet the following requirements: 120W, 1% metal-film, ¼ W S748-S772 Instructions Manual...
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Page 133: Expansion Card -Synqnet
BLINK = repeater on, network not cyclic OFF = repeater off, power off, or reset 10.1.6.3 SynqNet Connection, Connector X21B/C (RJ-45) Connection to the SynqNet network via RJ-45 connectors (IN and OUT ports) with inte- grated LEDs. S748-S772 Instructions Manual... - Page 134 POSLIM direction 10.1.6.5 Connection diagram digital inputs/outputs, connector X21A Control S748/772 IN 04 IN 01 HOME POSLIM IN 02 IN 03 NEGLIM DGND NODEDISABLE IN 00 (Fast) DGND +24V NODEALARM OUT 01 OUT 00 OUT 02 DGND S748-S772 Instructions Manual...
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Page 135: Expansion Card - Fb-2To1
EnDat 2.2, BiSS digital, SSI absolute B- (Cosine) n.c. SENSE+ A- (Sine) n.c. n.c. +5V DC +5V DC (300mA) DATA B+ (Cosine) n.c. SENSE- Temperatur Sensor Motor A+ (Sine) CLOCK n.c. Sense 0V n.c. Sense +5V DATA Temperatur Sensor Motor CLOCK S748-S772 Instructions Manual... - Page 136 Kollmorgen 11/2018 10.1.7.2 Wiring example with BiSS digital (primary) and SinCos (secondary) Encoder X1 X1A FB-2to1 cosine sine 300mA voltage supply Sense Sense +24V Encoder BiSS digital CLOCK CLOCK Sense voltage supply Motor thermal control min. 5VDC/5mA S748-S772 Instructions Manual...
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Page 137: Expansion Module -2Can
Standard shielded cables can be used for the RS232 and CAN interfaces. If the servo amplifier is the last device on the CAN bus, then the switch for the bus termi- nation must be set to ON. Otherwise, the switch must be set to OFF (condition as delivered). S748-S772 Instructions Manual... - Page 138 ADDR nn Þ SAVE Þ COLDSTART (with nn = address) CBAUD bb Þ SAVE Þ COLDSTART (with bb = baud rate in kBaud) Coding of the Baud rate in LED display: Baud rate in Coding Baud rate in kBit/s Coding kBit/s 1000 S748-S772 Instructions Manual...
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Page 139: Expansion Cards For Slot 2
The fan is switched on and off or runs with 50% rated speed depending on temperature values. That reduces the average noise emission. Switching temperature Monitoring Fan off Fan ~50% Fan on Ambient temperature < 55°C ~ 58°C >65°C Heat sink temperature < 58°C ~ 68°C > 80°C S748-S772 Instructions Manual... -
Page 140: Expansion Card "Posi/O" And "Posi/O-Monitor
This expansion card provides the features of the PosI/O card plus an extra connector X3C with analog +/-10V Inputs and Outputs (see page 148, chapter "Analog I/O"). Func- tionality can be set with the setup software or with macro functions. S748-S772 Instructions Manual... - Page 141 150 * Ù RS 485 RS 485 track B 150 * Ù RS 485 RS 485 sense sense 5V +/-5 voltage supply max. 250mA Motor thermal control min. 5VDC/5mA * matches RS485 with resistor according to line impedance S748-S772 Instructions Manual...
- Page 142 RS 485 track B 150 * Ù RS 485 RS 485 sense sense 5V +/-5 voltage supply max. 250mA Hall Hall-U Hall-V Hall-W Motor thermal control min. 5VDC/5mA * matches RS485 with resistor according to line impedance S748-S772 Instructions Manual...
- Page 143 DATA 150 * Ù RS 485 RS 485 DATA CLOCK RS 485 RS 485 CLOCK sense sense 5V +/-5 voltage supply max. 250mA Motor thermal control min. 5VDC/5mA * matches RS485 with resistor according to line impedance S748-S772 Instructions Manual...
- Page 144 Frequency limit (sin, cos): 350 kHz Type FBTYPE EXTPOS GEARMODE SinCos SSI 5V linear S748/772 Encoder 150 * Ù RS 485 RS 485 CLOCK RS 485 RS 485 CLOCK cosine sine Sense Sense max. 250mA voltage supply Motor thermal control min. 5VDC/5mA S748-S772 Instructions Manual...
- Page 145 Type FBTYPE EXTPOS GEARMODE Step/Direction 5V S748/772 Master Pulse+ Pulse 150 * Ù Pulse- RS 485 RS 485 Direction+ Direction 150 * Ù Direction- RS 485 RS 485 * matches RS485 with resistor according to line impedance S748-S772 Instructions Manual...
- Page 146 RS 485 track B 150 * Ù RS 485 RS 485 * according to line impedance ³ Edge spacing a 0.20 µs £ Edge steepness tv 0.1 µs £ Delay NI-td 0.1 µs ³ I UI Ä 2V/20mA S748-S772 Instructions Manual...
- Page 147 22 23 24 25 27 28 Clock Binary Gray £ Switch over time Data tv 300nsec ³ I UI Ä 2V/20mA Output ³ I UI Ä 0.3V Period T = 600 ns Input Time Out tp = 3µs/13µs (SSITOUT) S748-S772 Instructions Manual...
- Page 148 Common-mode voltage range for both inputs ± 10 V — Update rate 62.5 µs control S748/772 Analog-In 3+ analog +/-10V ref. to CNC-GND Analog-In 3- AGND CNC-GND Analog-In 4+ analog +/-10V ref. to CNC-GND Analog-In 4- CNC-GND S748-S772 Instructions Manual...
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Page 149: Expansion Cards For Slot 3
The “PosI/O” and "PosI/O-Monitor" expansion cards can be pushed into slot 2 or 3. The expansion cards cannot be combined and the use of only one slot in time is allowed. A detailed description of the interfaces can be found from page 140. S748-S772 Instructions Manual... -
Page 150: Expansion Card "Safety 2-2" (S4)
The SDI function ensures that the drive can only move in one (defined) direction. 10.3.4.2 Safety Notes S2-2 Comply with the operating instructions for the safety card. You can find the operating instructions on the CD-ROM provided with the product or on the website. S748-S772 Instructions Manual... - Page 151 Programmable, activate safety function X Ready O Message "Safety card is ready to operate" n.c. O n.c. n.c. O n.c. n.c. O n.c. Reset Input for Reset 0V Supply 0V supply of digital outputs 0V Supply 0V supply of digital outputs S748-S772 Instructions Manual...
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Page 152: Expansion Card "Safety 1-2" (S3)
The safety function SBT can be used for testing the external mechanical brake and the internal motor holding brake. 10.3.5.2 Safety Notes S1-2 Comply with the operating instructions for the safety card. You can find the operating instructions on the CD-ROM provided with the product or on the website. S748-S772 Instructions Manual... - Page 153 O Control external brake + SBC- O Control external brake - STO SIL CL3 O Output single SS1 SIL CL3/Reset Input for SIL CL3 and Reset 0V Supply 0V supply of digital outputs 0V Supply 0V supply of digital outputs S748-S772 Instructions Manual...
- Page 154 Expansions Kollmorgen 11/2018 This page has been deliberately left free. S748-S772 Instructions Manual...
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Page 155: Glossary
The r.m.s. value of the continuous current Kp, P-gain Proportional gain of a control loop Limit speed (final speed) Maximum value for speed normalization at ±10 V Limit switch Switch limiting the traverse path of the machine; implemented as n.c. (break) contact S748-S772 Instructions Manual... - Page 156 Voltage proportional to the actual speed Thermal control Temperature-sensitive device built into the motor winding (usually PTC) Tn, I-integration time Integral component of a control loop Zero pulse Output once per turn from incremental encoder, used to zero the machine S748-S772 Instructions Manual...
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Page 157: Order Codes
EU order code US order code tion built Slot 3) Servo amplifier S74802-NANAF2 S74802-NANAF2 Servo amplifier S77202-NANAF2 S77202-NANAF2 11.2.2 Memory Card Article EU order code US order code Industrial Memory Card DE-201257 in process (can remain in the drive) S748-S772 Instructions Manual... -
Page 158: Expansion Cards
Article EU order code US order code Mating connector X3A DE-200447 CON-S7X3A Mating connector X3B DE-200448 CON-S7X3B Mating connector X3C DE-200957 CON-S7X3C DE-201241 CON-S7X4 Mating connector X4 Mating connector X9A DE-201194 CON-S7X9A Mating connector X9B DE-201193 CON-S7X9B S748-S772 Instructions Manual... - Page 159 Kollmorgen Appendix 11/2018 This page has been deliberately left blank. S748-S772 Instructions Manual...
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Page 160: Index
-Safety S3- ... . . 152 -Safety S4- ... . . 150 -SynqNet- ....133 S748-S772 Instructions Manual... - Page 161 DeviceNet ....131 SERCOS ....129 SynqNet ....133 S748-S772 Instructions Manual...
- Page 162 We are committed to quality customer service. In order to serve in the most effective way, please contact your local sales representative for assistance. If you are unaware of your local sales representative, please contact the Customer Support. Europe KOLLMORGEN Internet www.kollmorgen.com/en-gb Archiv www.wiki-kollmorgen.eu Support https://kdn.kollmorgen.com/ E-Mail technik@kollmorgen.com...
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