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Related Manuals for Danaher Motion 601...620
Summary of Contents for Danaher Motion 601...620
- Page 1 ® SERVOSTAR 601...620 Digital Servo Amplifier Product Manual Edition 07/2007 Valid for Hardware Revision 05.10 Keep all manuals as a product component during the life span of the product. Pass all manuals to future users / owners of the product.
- Page 2 Previous versions : Edition Remarks 05/98 First edition 08/98 a few corrections various minor corrections, parameter description removed, parameter setting for multi-axis systems and 09/98 on/off switching behavior added, Installation/setup divided into two chapters 01/99 614 added, various minor corrections 02/99 Interface relay for digital outputs (pages 26, 43) 06/99...
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Page 3: Table Of Contents
Isolating transformers ............. . 33 ® SERVOSTAR 601...620 Product Manual 07/2007 Contents... - Page 4 CANopen Interface (X6)..............70 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion Page...
- Page 5 Flow chart ..............97 ® SERVOSTAR 601...620 Product Manual 07/2007 Contents...
- Page 6 Index ................118 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion Page...
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Page 7: General
ð p. see page ® SERVOSTAR 601...620 Product Manual 07/2007 only by personnel with knowledge in handling electrostatically sensitive components. only by electrically qualified personnel. only by electrically qualified personnel only by personnel with extensive knowledge of electrical... -
Page 8: Abbreviations Used
External regen resistor Internal regen resistor Resolver A quad B encoder Programmable logic controller Static RAM Synchronous serial interface Underwriters Laboratory AC voltage DC voltage Verein deutscher Elektrotechniker Ground for the 24V supply SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 9: Safety Instructions
To be sure, measure the voltage in the DC Bus link and wait until it has fallen below 40V. ® SERVOSTAR 601...620 Product Manual 07/2007 IEC 60364 or DIN VDE 0100 IEC 60664 or DIN VDE 0110... -
Page 10: Use As Directed
(page 11), if the components (motors, cables, amplifiers etc) are delivered by Danaher Motion. Consider the specifications on page 92 when you use the optional personnel safe restart lock -AS-. Safety instructions 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 11: European Directives And Standards
The machine/plant manufacturer must check whether other standards or EC Directives must be applied to the machine/plant. American Directives and Standards Chapter in process Asian Directives and Standards Chapter in process ® SERVOSTAR 601...620 Product Manual 07/2007 (Safety of Machines) (Electronic Equipment in Power Installations) Standards... -
Page 12: Approvals
UL 840 UL 840 describes the fulfilment by design of air and insulation creepage spacings for electrical equipment and printed circuit boards. 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 13: Handling
In accordance to the WEEE-2002/96/EG-Guidelines we take old devices and accessories back for professional disposal, if the transport costs are taken over by the sender. Send the devices to: ® SERVOSTAR 601...620 Product Manual 07/2007 –25 to +70°C (-13...158°F), max. 20K/hr rate of change max. 95% relative humidity, no condensation SERVOSTAR 601...610... -
Page 14: Package Supplied
Electrical supply Installed load SERVOSTAR Danaher Motion Comments Enclosure Rating ® E217428 594260 LISTED IND. CONT. EQ. 1VD4 Ser. No. Bemerkung Nom. Current Schutzart Hardware Revision example Output current Hardware Revision in S1 operation ® 601...620 Product Manual Comment Encl.Rating... -
Page 15: Part Number Scheme
Device Name SERVOSTAR 601 SERVOSTAR 603 SERVOSTAR 606 SERVOSTAR 610 SERVOSTAR 610-30 SERVOSTAR 614 SERVOSTAR 620 ® SERVOSTAR 601...620 Product Manual 07/2007 S 6 0 6 0 0 - S E* Part Number S60100-NA S60300-NA S60600-NA S61000-NA S61P00-NA S61400-NA S62000-NA... -
Page 16: Technical Description
IGBT- module with isolated current measurement with dynamic distribution of the regen power between several amplifiers on the same DC bus link circuit. Internal regen resistor as standard, external regen resistors if required SERVOSTAR Danaher Motion +10% ® 601...620 Product Manual... - Page 17 SynqNet expansion card ð p. 109 -2CAN- expansion module, separated connectors for CAN bus and RS232 ð p. 111 Third party expansion cards (ModBus, FireWire, LightBus etc. - contact distributors for further information) ® SERVOSTAR 601...620 Product Manual Technical description 07/2007...
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Page 18: Technical Data
— SubD 9pole (socket) — SubD 15pole (socket) — SubD 9pole (plug) — SubD 9pole (plug) ® SERVOSTAR 601...620 Product Manual Danaher Motion 610-30 +10% ... 480V , 50 Hz +10% ... 480V , 60 Hz 290 - 675 30 (2s) ð... -
Page 19: Recommended Torque
Mounting position Ventilation Make sure that there is sufficient forced ventilation within the switchgear cabinet. ® SERVOSTAR 601...620 Product Manual 07/2007 Recommended torque 0.5 to 0.6 Nm (4.43 to 5.31 in lb) 0.5 to 0.6 Nm (4.43 to 5.31 in lb) 3.5 Nm (31 in lb) -
Page 20: Conductor Cross-Sections
7x2x0,25 mm² (22 awg) twisted pairs, shielded, capacitance <120pF/m 0.5 mm² (20awg) min. 0.75 mm² (18awg), 600V,105°C (221°F), shielded, check voltage drop max. 2.5 mm² (12awg), check voltage drop ® SERVOSTAR 601...620 Product Manual Danaher Motion (14awg) 600V,105°C (221°F), (12awg) twisted 600V,105°C (221°F), (14awg) -
Page 21: Control For Motor Holding Brake
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 : ® SERVOSTAR 601...620 Product Manual 07/2007 SERVOSTAR Technical description... -
Page 22: Grounding System
(terminals X3/2,3) will be opened at the same time (ð p.68). Technical Data The technical data depend on the used servo amplifier type and on the mains voltage. See table on the next page. 07/2007 66 W 33 W 33 W ® SERVOSTAR 601...620 Product Manual Danaher Motion... - Page 23 Continuous power of regen circuit (R Pulse power, internal (R Pulse power, external (R External regen resistor Suitable external regen resistors can be found in our accessories manual. ® SERVOSTAR 601...620 Product Manual Technical description 07/2007 Bint ) max. Bext max. 1s) Bint max.
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Page 24: Switch-On And Switch-Off Behavior
07/2007 Behavior (see also ASCII reference in the online help of the ACTFAULT setup software) Motor coasts to a standstill in an uncontrolled manner 1 (default) Motor is braked in a controlled manner SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 25: Behavior In Standard Operation
The -AS- option can be used to switch off the drive via a positive-action (approved by the Trade Liability Association) safety relay, so that personnel safety is ensured at the drive shaft (ð p.91). ® SERVOSTAR 601...620 Product Manual Technical description 07/2007... -
Page 26: Behavior In The Event Of An Error (With Standard Setting)
(ACTFAULT=1). 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 27: Stop/Emergency Stop Function To En 60204
Stop function must signal its status to the control logic. A reset of the Stop function must not create a hazardous situation. ® SERVOSTAR 601...620 Product Manual 07/2007 Shut-down by immediate switching-off of the energy supply to the drive machinery (i.e. an uncontrolled shut-down);... -
Page 28: Emergency Stop: Standards
The parameters “STOPMODE” and “ACTFAULT” must be set to 1 in order to implement the stop categories. If necessary, change the parameters via the terminal screen of the setup software and store the data in the EEPROM. 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 29: Implementation Of The Stop Category 0
If the holding brake fulfills the dynamic requirements, it must be taken into acount that this application will cause increased wear. Circuit suggestion (with EMERGENCY STOP Category 0, control function with contactor relays) ® SERVOSTAR 601...620 Product Manual 07/2007 SERVOSTAR Technical description... -
Page 30: Implementation Of The Stop Category 1
Should an internal SERVOSTAR 600 fault occur, the motor is forced to a standstill once K20 drops out. Circuit suggestion (with EMERGENCY STOP Category 1, control function with contactor relays) 07/2007 SERVOSTAR SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 31: Implementation Of The Stop Category 2
Circuit suggestion (with EMERGENCY STOP Category 1, control function with contactor relays) ® SERVOSTAR 601...620 Product Manual 07/2007 SERVOSTAR Technical description... -
Page 32: Shock-Hazard Protection
2 x 20mA + 25m x 1mA/m = 65mA leakage current. Protection against "indirect contact" (personal fire protection) for stationary and mo- bile equipment, as well as for "direct contact". Protection against "indirect contact" (personal fire protection) for stationary equip- ment SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 33: Isolating Transformers
A ground-leakage monitor can be used to monitor for short circuits. We would advise you to keep the length of wiring between the transformer and the servo amplifier as short as possible. ® SERVOSTAR 601...620 Product Manual Technical description 07/2007... - Page 34 Technical description Danaher Motion 07/2007 This page has been deliberately left blank. ® SERVOSTAR 601...620 Product Manual...
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Page 35: Mechanical Installation
Assembly Grounding Shielding ® SERVOSTAR 601...620 Product Manual 07/2007 In a closed switchgear cabinet. Observe page 19 . The site must be free from conductive or corrosive materials. For the mounting position in the cabinet ð p. 36 Check that the ventilation of the servo amplifier is unimpeded and keep within the permitted ambient temperature ð... -
Page 36: Assembly
Mechanical Installation Assembly Material : 2 or 4 hexagon socket screws to DIN 912, M5 Tool required : 4 mm Allen key 07/2007 SERVOSTAR SERVOSTAR SERVOSTAR 601-610 601-610 SERVOSTAR Danaher Motion SERVOSTAR SERVOSTAR 600 ® 601...620 Product Manual... -
Page 37: Dimensions
Danaher Motion Mechanical Installation 07/2007 Dimensions SERVOSTAR 601/603/603/610 SERVOSTAR 614 SERVOSTAR 620 ® SERVOSTAR 601...620 Product Manual... - Page 38 Mechanical Installation Danaher Motion 07/2007 This page has been deliberately left blank. ® SERVOSTAR 601...620 Product Manual...
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Page 39: Electrical Installation
Measure the bus voltage at the DC bus link pins (+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 601...620 Product Manual Electrical Installation 07/2007... -
Page 40: Guide To Electrical Installation
— Connect main power supply (for max. permissible voltage values ð p. 19) — Connect PC (ð p. 69). — Final check of the implementation of the wiring, — according to the wiring diagrams which have been used. SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 41: Wiring
PROFIBUS SERCOS DeviceNet EtherCat SynqNet -2CAN- ® SERVOSTAR 601...620 Product Manual 07/2007 , which you will find in all the wiring diagrams, indicates : page 47 : page 49 : page 50 : page 51ff : page 58 : page 61... -
Page 42: Technical Data For Connecting Cables
PETP (polyesteraphtalate, code 12Y) less than 150 pF/m less than 120 pF/m ® SERVOSTAR 601...620 Product Manual Danaher Motion 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. -
Page 43: Motor Connector With Shieldplate
The cable material depends on the motor that is used. Please refer to the installation manual for the corresponding motor series. Please take note that the connector can accept a maximum conductor cross-section of 4mm². ® SERVOSTAR 601...620 Product Manual Electrical Installation 07/2007 First push the rubber sleeve onto the cable, and then strip off about 70mm of the outer covering, without damag- ing the shielding. -
Page 44: Components Of A Servo System
Optional devices are connected with dashed lines to the servo amplifier. The required accessories are described in our accessories manual. 07/2007 Option -AS- Fuses Drive cut-out SERVOSTAR Danaher Motion Regen resistor (optional) Motor choke (optional) ® 601...620 Product Manual Motor... -
Page 45: Block Diagram
Danaher Motion Block diagram The block diagram below is just an overview. ® SERVOSTAR 601...620 Product Manual Electrical Installation 07/2007... -
Page 46: Pin Assignments
Electrical Installation Danaher Motion 07/2007 Pin assignments ® SERVOSTAR 601...620 Product Manual... -
Page 47: Connection Diagram (Overview)
Danaher Motion Connection diagram (overview) Reference Safety Instructions (ð p.9) and Use As Directed (ð p.10) ! ® SERVOSTAR 601...620 Product Manual 07/2007 SERVOSTAR 600 ð p.65 ð p.53ff ð p.66 ð p.52 ð p.67 ð p.50 ð p.68 ð p.50 ð... -
Page 48: Power Supply
An isolating transformer is always required for 400...480V mains networks without earth(ground) and for networks with asymmetrical earth(ground). 07/2007 SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR Danaher Motion 208V with 60Hz only 230...480V with 50Hz or 60Hz SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR ® 601...620 Product Manual... -
Page 49: Mains Supply Connection (X0)
The sum of the rated currents for all of the servo amplifiers connected in parallel to an SERVOSTAR 600 must not exceed 40A. Use unshielded single cores (2.5mm²) with a max. length of 200 mm. Use shielded cables for longer lengths. ® SERVOSTAR 601...620 Product Manual 07/2007 SERVOSTAR 600 - A.4.031.1/21,25 Electrical Installation... -
Page 50: Motor Connection With Brake (X9)
For lead lengths above 25m the choke box 3YL must be wired into the motor lead, close to the amplifier. SERVOSTAR 600 8.10 External regen resistor (X8) Remove the plug-in link between the terminals X8/1 (-R 07/2007 SERVOSTAR 600 SERVOSTAR Danaher Motion ) and X8/2 (+R bint ® 601...620 Product Manual... -
Page 51: Feedback
** RS422 means “incremental encoder AquadB”. Hints for combining primary with secondary feedback systems for position control/electr. gearing can be found from page 58. ® SERVOSTAR 601...620 Product Manual 07/2007 (screen page FEEDBACK), primary Feedback (screen page POSITION), secondary Feedback (screen page GEARING), secondary Feedback... -
Page 52: Resolver (X2)
X2 and evaluated there. If cable lengths of more than 100 meters are planned, please contact our customer service. FBTYPE: 0, 3 07/2007 SubD9 SERVOSTAR 600 SERVOSTAR Danaher Motion 12pol.round ® 601...620 Product Manual... -
Page 53: Sine Encoder 5V With Biss (X1)
(ð p. If cable lengths of more than 50m are planned, please consult our customer service. Frequency limit (sin, cos): 250 kHz FBTYPE 20 ® SERVOSTAR 601...620 Product Manual 07/2007 113). SERVOSTAR 600 Electrical Installation... -
Page 54: Sine Encoder With Endat 2.1 Or Hiperface (X1)
If lead lengths of more than 50m are planned, please consult our customer service. Frequency limit (sin, cos): 250 kHz Encoder with EnDat: FBTYPE 3, 4 Encoder with HIPERFACE: FBTYPE 2, 3 07/2007 113). SubD1 SERVOSTAR 600 SERVOSTAR Danaher Motion 17pol.round ® 601...620 Product Manual... -
Page 55: Sine Encoder Without Data Channel (X1)
Encoder type SinCos 5V SinCos 5V Resolver+SinCos5V Don't use this feedback type with vertical load (hanging load). ® SERVOSTAR 601...620 Product Manual 07/2007 113). FBTYPE Remarks MPHASE from EEPROM MPHASE with wake & shake Commutation with Resolver, speed&position with Encoder... -
Page 56: Incremental Encoder / Sine Encoder With Hall (X1)
If you plan to use a cable longer than 25m, please contact our application department. Frequency limit (A, B): 250 kHz RS422 with Hall: FBTYPE 12 Encoder with Hall: FBTYPE 11 SERVOSTAR 600 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 57: Incremental Encoder (X5)
Frequency limit: 1.5 MHz Encoder type RS422 5V RS422 5V Don't use this feedback type with vertical load (hanging load). SERVOSTAR 600 ® SERVOSTAR 601...620 Product Manual 07/2007 FBTYPE Remarks MPHASE from EEPROM MPHASE with wake & shake SubD 9 Electrical Installation... -
Page 58: Electronic Gearing, Master-Slave Operation
EXTPOS = 1,2,3 GEARMODE = 1,4,11,14 FPGA = 1 ENCMODE = 0 EXTPOS = 1,2,3 EXTPOS = 1,2,3 GEARMODE = GEARMODE = 1,4,11,14 7,17 FPGA = 0 FPGA = 1 ENCMODE = 0 ENCMODE = 2 ® 601...620 Product Manual... -
Page 59: Connection To A Servostar Master, 5 V Signal Level (X5)
24 V signal level (master-slave operation). The digital inputs DIGITAL-IN 1 and 2 at connector X3 must be used. Frequency limit: 250 kHz, slew rate tv £ 0,1 µs AGND and DGND (connector X3) must be joined together ! ® SERVOSTAR 601...620 Product Manual 07/2007 SERVOSTAR 600 Electrical Installation SERVOSTAR 600... -
Page 60: Connection To A Sine-Cosine Encoder (X1)
(ð p.113). For encoders that do not have integrated terminating resistors, we offer an optional terminating adapter (ð p. 113). Frequency limit: 250 kHz AGND and DGND (connector X3) must be joined together ! 07/2007 SERVOSTAR 600 SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 61: Connection To A Ssi Encoder (X5)
Various monitoring signals can be output. The analog setpoint inputs are out of action. Observe the frequency limit! Using an A quad B encoder provides better EMC noise immunity. Speed profile and signal diagram ® SERVOSTAR 601...620 Product Manual Electrical Installation 07/2007... -
Page 62: Step/Direction With 5 V Signal Level (X5)
Connection of a servo amplifier to a stepper-motor controller with 24 V signal level. The digital inputs DIGITAL-IN 1 and 2 at connector X3 must be used. Frequency limit: 250 kHz AGND and DGND (connector X3) must be joined together ! 07/2007 SERVOSTAR 600 SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 63: Encoder Emulations
The max. admissible cable length is 10 m. Connections and signal description for incremental-encoder interface : Default count direction: upwards when the motor shaft is rotating clockwise (looking at the shaft end). SERVOSTAR 600 ® SERVOSTAR 601...620 Product Manual 07/2007 Feedback system Resolution Resolver 256...4096 256...524288 Encoder ... -
Page 64: Ssi Output (X5)
Drivers are supplied from internal supply voltage. PGND must always be connected. Connection and signal description for SSI interface : Default count direction: upwards when the motor shaft is rotating clockwise (looking at the shaft end). SERVOSTAR 600 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 65: Digital And Analog Inputs And Outputs
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. ® SERVOSTAR 601...620 Product Manual 07/2007 SERVOSTAR 600 Electrical Installation... -
Page 66: Analog Outputs (X3)
You can find a list of pre-programmed functions on the "Analog I/O" screen of our setup software. 07/2007 SERVOSTAR 600 (speed) (torque) ® SERVOSTAR Danaher Motion 601...620 Product Manual... -
Page 67: Digital Inputs (X3)
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 terminal X3/11 (DIGITAL-IN 1) or terminal X3/12 (DIGITAL-IN 2) can be logi- cally combined in a pre-programmed function. ® SERVOSTAR 601...620 Product Manual 07/2007 SERVOSTAR 600 Electrical Installation... -
Page 68: Digital Outputs (X3)
Consider the delay of the applied relay ! 07/2007 : Open-Collector, max. 30 VDC, 10 mA : Relay output, max. 30 VDC or 42 VAC, 0.5 A : 250 µs ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 69: Rs232 Interface, Pc Connection (X6)
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) ® SERVOSTAR 601...620 Product Manual Electrical Installation 07/2007... -
Page 70: Canopen Interface (X6)
07/2007 Characteristic impedance Cable capacitance Lead resistance (loop) max. cable length (m) 1000 metal or metallised housing provision for cable shielding connection in housing, large-area connection SERVOSTAR Danaher Motion 100-120 W max. 60 nF/km 159.8 W/km ® 601...620 Product Manual... -
Page 71: Setup
The setup 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 601...620 Product Manual 07/2007 Setup... -
Page 72: 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 supports you in each situation. 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 73: Hardware Requirements
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 p. 69). ® SERVOSTAR 601...620 Product Manual 07/2007 ® Pentium I or higher WINDOWS 95(c) / 98 / 2000 / ME / NT 4.0 / XP... -
Page 74: Quickstart Guide
DeviceNet Communication Profile Manual SERCOS Communication Profile Manual EtherCat Communication Profile Manual (in process) You need Acrobat Reader to read the PDFs, an installation link is on every screen of the product CD-ROM. 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 75: Minimum Wiring For Drive Test
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 24V DC ® SERVOSTAR 601...620 Product Manual 07/2007 Enable 24V ON Power Motor-Feedback... -
Page 76: Connect
- interface cable broken or wrong wiring SERVOSTAR Danaher Motion ) or a status message (./_ / E/S) appears The software tries to communicate with the drive and to upload the parameters. If it's not successful, you receive this error mes- sage. ® 601...620 Product Manual... -
Page 77: Important Screen Elements
Reset (coldstart), required if you changed important configuration parameters. Status Bar ® SERVOSTAR 601...620 Product Manual 07/2007 Make sure, that the amplifier is disabled (Input HW-Enable connector X3 pin 15 must be 0 V or open)! Starts Online Help for the actual screen page. -
Page 78: Basic Setup
The setting "F19" disables the output stage, "n05" is just a message. Units: Acceleration, Velocity, Position Select usable units for your application referring to the moved load. Leave all other fields unchanged. Click OK. On the start screen click "Motor" button. 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 79: Motor (Synchronous)
Leave all other fields unchanged. Click OK. On the start screen, click "Feedback" button. ® SERVOSTAR 601...620 Product Manual 07/2007 If your motor has a built-in brake, click Yes, otherwise "No". If Software Enable is active, a warning ap- pears. You can proceed, but after the ampli- fier is restarted, you must check whether the holding brake configuration is correct. -
Page 80: Feedback
If you click "Yes", the parameters are saved in the EEPROM and the amplifier makes a coldstart (reset). This takes some seconds. ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 81: Save Parameters And Restart
EEPROM of the servo amplifier manually by clicking the symbol of the amplifier is not necessary. Reset the amplifier You can reset the amplifier manually (e.g. in case of an error). Click the icon ® SERVOSTAR 601...620 Product Manual 07/2007 Setup in the tool bar. A coldstart... -
Page 82: Jogging The Motor (Speed Control)
The function is active until you click the "Stop" button or press F9. The output stage can be disabled by pressing function key F12. 07/2007 on the start screen or use key ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 83: Status
Additional Setup Parameters Detailed information on all setup functions can be found in the Online Help systemand and the inte- grated command reference. ® SERVOSTAR 601...620 Product Manual 07/2007 Click the icon "Monitor" The Monitor screen shows all important electrical and me-... -
Page 84: Multi-Axis Systems
Coding of the baud rate in the LED display : Coding 07/2007 Cable -SR6Y- COMx Add.: RS232 Baud rate identical for all amplifiers, Baud rate in kbit/s Coding SERVOSTAR Danaher Motion Add.: Add.: Add.: see table below. Baud rate in kbit/s 1000 ® 601...620 Product Manual... -
Page 85: Example Of Connections For Multi-Axis System
Danaher Motion 9.4.3 Example of connections for multi-axis system ® SERVOSTAR 601...620 Product Manual 07/2007 Reference Safety Instructions (ð p.9) and Use As Directed (ð p.10) ! SERVOSTAR 600 SERVOSTAR 600 SERVOSTAR 600 Setup... -
Page 86: Key Operation / Led Display
: 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 : enter a number, return function name SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 87: Standard Menu Structure
Danaher Motion 9.5.3 Standard menu structure 9.5.4 Extended menu structure Keep the right key pressed while switching on the 24V-supply. ® SERVOSTAR 601...620 Product Manual 07/2007 ð p.84 ð p.84 ð p.84 Setup... -
Page 88: Error Messages
External position profile generator created a step, that ex- External Trajectory ceeded the maximum value Slot Fault depends on expansion card, see online help Emergency timeout Timeout emergency stop Macro Macro program error System Error system software not responding correctly SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 89: Warning Messages
More information to the messages can be found in the ASCII Object Reference (Online Help), see parameter STATCODE. Hints for removal can be found in section "Trouble-Shooting" of the online help. ® SERVOSTAR 601...620 Product Manual 07/2007 Designation Explanation Status Messages Status messages, no error, see p. -
Page 90: Removing Faults/Warnings
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 (analogI/O) — join AGND and CNC-GND ® 601...620 Product Manual... -
Page 91: Expansions / Accessories
3. If there is a suspended load, apply an additional mechanical block to the drive 4. Activate the -AS- option ® SERVOSTAR 601...620 Product Manual 07/2007 the DC bus link has to be charged up again at restart wear on the contacts of the contactors, caused by switching under load... -
Page 92: Use As Directed
In such cases, the entire system should be disconnected from the supply by the personnel, and secured (main switch). In an emergency-stop situation, the main contactor is switched off (by the emergency-stop button). 10.1.3 Block diagram 07/2007 cleaning, maintenance and repair operations long inoperative periods emergency-stop situations SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 93: Functional Description
If the safety relay itself is faulty, then the monitoring contact cannot bridge the safety logic of the system. Opening the protective devices will then switch off the system. 10.1.5 Signal diagram (sequence) ® SERVOSTAR 601...620 Product Manual Expansions / Accessories 07/2007... -
Page 94: Functional Test
Pull off the X10 connector from an amplifier: the mains contactor must drop out Reconnect X10. Switch on mains contactor again. Repeat steps 4 and 5 for each individual servo amplifier. 10.1.7 Connection diagram (principle) Application examples for category 1 see chapter 10.1.8. 07/2007 SERVOSTAR 600 SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 95: Application Example Category 1 According To En954-1
Danaher Motion 10.1.8 Application example category 1 according to EN954-1 Flowchart for stop and emergency stop category 0. 10.1.8.1 Control circuit 10.1.8.2 Mains supply circuit ® SERVOSTAR 601...620 Product Manual Expansions / Accessories 07/2007... -
Page 96: Application Example Category 3 According To En954-1
Expansions / Accessories 10.1.9 Application example category 3 according to EN954-1 Flowchart for stop and emergency stop category 1. 10.1.9.1 Control circuit 10.1.9.2 Mains supply circuit 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 97: Flow Chart
The drive must have been brought to a safe standstill by the time t(K10t) and t(K20t) have elapsed. After this point, active braking with the servo amplifier is no longer possible. ® SERVOSTAR 601...620 Product Manual 07/2007 t(K30t) t(K10t) / t(K20t) Expansions / Accessories... -
Page 98: Expansion Cards
Press the expansion card firmly into the slot, until the front cover touches the fixing lugs. This ensures that the connectors make good contact. Screw the screws on the front cover into the threads in the fixing lugs. 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 99: Expansion Card -I/O-14/08
Motion task no. binary 1010 1110 decimal 174 ® SERVOSTAR 601...620 Product Manual Expansions / Accessories 07/2007 24 V / 7 mA, PLC-compatible 24 V / max. 500 mA, PLC-compatible 24 V (18 ... 36 V) / 100 mA plus total current of the out-... -
Page 100: Connector Assignments
The preset function of the corresponding position register is indi- PosReg3 cated by a HIGH-signal. PosReg4 PosReg5 Can only be adjusted by ASCII commands. 24VDC auxiliary supply voltage I/O-GND Digital-GND for the controls SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 101: Connection Diagram
Danaher Motion 10.2.2.6 Connection diagram SERVOSTAR 600 AGND and DGND (connector X3) must be joined together ! ® SERVOSTAR 601...620 Product Manual Expansions / Accessories 07/2007... -
Page 102: Expansion Cards -Profibus
Cable selection, cable routing, shielding, bus connector, bus termination and transmission times are described in the “Installation guidelines for PROFIBUS-DP/FMS” from PNO, the PROFIBUS User Organization. 10.2.3.3 Connection diagram SERVOSTAR 600 AGND and DGND (connector X3) must be joined together ! 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 103: 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 with an F-SMA connector. ® SERVOSTAR 601...620 Product Manual Expansions / Accessories 07/2007... -
Page 104: Connection Diagram
Length of the connection with a 1 mm² plastic cable 15…< 30 Length of the connection with a 1 mm² plastic cable ³ 30 Length of the connection with a 1 mm² plastic cable ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 105: Expansion Card -Devicenet
Cable selection, cable routing, shielding, bus connector, bus termination and transmission times are all described in the “DeviceNet Specification, Volume I, II”, published by ODVA. 10.2.5.3 Connection diagram SERVOSTAR 600 AGND and DGND (connector X3) must be joined together ! ® SERVOSTAR 601...620 Product Manual Expansions / Accessories 07/2007... -
Page 106: Combined Module/Network Status-Led
An error has occurred that cannot can be cleared; it may be necessary to replace the device. Communication device failure. The device has detected a fault that prevents communication with the network (for instance, a MAC ID appears twice or BUSOFF). SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 107: Bus Cable
DeviceNet requires a termination at each end of the connecting cable. These resistors must meet the following requirements: 120 W, 1% metal-film, 1/4 W ® SERVOSTAR 601...620 Product Manual Expansions / Accessories 07/2007 Specification 125 kbit, 250 kbit, 500 kbit... -
Page 108: Expansion Card -Ethercat
= linked, but not active at X20B (out) flickering = linked and active at X20B (out) ACT OUT off = not linked at X20B (out) 10.2.6.3 Connection diagram AGND and DGND (connector X3) must be joined together ! 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion... -
Page 109: Expansion Card -Synqnet
LED4, yellow 10.2.7.4 SynqNet Connection, Connector X21B/C (RJ-45) Connection to the SynqNet network via RJ-45 connectors (IN and OUT ports) with integrated LEDs. ® SERVOSTAR 601...620 Product Manual 07/2007 Name Function ON = receive valid (IN port) LINK_IN OFF= not valid, power off, or reset. -
Page 110: Digital Inputs/Outputs, Connector X21A (Subd 15-Pin, Socket)
IN_01 digital input HOME reference switch POSLIM limit switch, positive direction power supply OUT_00 digital output OUT_02 digital output IN_02 digital input IN_03 digital input NEGLIM limit switch, negative direction NODEDISABLE disables Node SERVOSTAR Danaher Motion ® 601...620 Product Manual... -
Page 111: Expansion Module -2Can
If the servo amplifier is the last device on the CAN bus, then the switch for the bus termination must be set to ON. Otherwise, the switch must be set to OFF (condition as delivered). ® SERVOSTAR 601...620 Product Manual Expansions / Accessories 07/2007... -
Page 112: Connector Assignments
Expansions / Accessories 10.2.8.4 Connector assignments RS232 X6A Pin 10.2.8.5 Connection diagram AGND and DGND (connector X3) must be joined together ! 07/2007 CAN1=CAN2 Signal X6B=X6C Pin ® SERVOSTAR Danaher Motion Signal CAN-Low CAN-GND CAN-High 601...620 Product Manual... -
Page 113: Special Accessories
(see ordering information p.117ff). The terminating resistors increase noise immunity. The adapter (approx. 200 mm long) is con- nected to the servo amplifier (X1). ® SERVOSTAR 601...620 Product Manual Expansions / Accessories 07/2007 The extended power supply enables the to servo amplifier operation of encoder systems at con- (max. -
Page 114: Hall Dongle
Encoders that require a supply current of more than 150 mA can be operated using the extended power supply "Power Supply SINCOS" (see p.113). X1.3 to Hall feedback 07/2007 ® SERVOSTAR 601...620 Product Manual Danaher Motion X1.2 to Encoder (analog signals) X1.1 to SERVOSTAR, X1... -
Page 115: Appendix 11.1 Glossary
Motion-block Multi-axis system Natural convection Optocoupler ® SERVOSTAR 601...620 Product Manual 07/2007 Clock signal The maximum amplitude of a disturbance (on both inputs) which a differential input can eliminate Modules built into the servo amplifier, with integrated position control, which provide special versions of the... - Page 116 Voltage proportional to the actual speed Temperature-sensitive switch built into the motor winding Integral section of a control loop Output once per turn from incremental encoders, used to zero the machine ® SERVOSTAR 601...620 Product Manual Danaher Motion...
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Page 117: Order Numbers
11.2.4 Special accessories Article Power supply SINCOS HALL Dongle Connection Cable, 1m for X1-Hall Dongle or for X1-Power Supply SINCOS Termination Adapter SINCOS ® SERVOSTAR 601...620 Product Manual 07/2007 EU order code DE-89700 DE-89701 DE-89702 DE-89703 DE-102192 DE-90846 DE-89704 DE-90350... -
Page 118: Index
Warning messages....89 Wiring ..... 40 ® SERVOSTAR 601...620 Product Manual Danaher Motion... - Page 119 Danaher Motion Appendix 07/2007 This page has been deliberately left blank ® SERVOSTAR 601...620 Product Manual...
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Page 120: Sales And Service
Sales and Service 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 us. Europe Danaher Motion Customer Support Europe E-Mail support_dus.germany@danahermotion.com...