Related Manuals for Kollmorgen Seidel SERVOSTAR 600 Series
Summary of Contents for Kollmorgen Seidel SERVOSTAR 600 Series
- Page 1 Digital servo amplifier SERVOSTAR™ 600 Assembly, Installation and Commissioning Instructions Edition 02/99...
- 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 on/off swit- 09/98 ching behaviour added, Installation/Commissioning divided into two chapters 01/99 614 added, various minor corrections 02/99 Interface relay for digital outputs (pages 26, 43) VGA is a registered trademark of International Business Machines Corp.
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Page 3: Table Of Contents
Kollmorgen Contents 0 2 . 9 9 Contents Drawing Page Contents ..........3 Safety instructions . - Page 4 Contents Kollmorgen 0 2 . 9 9 D r a w i n g P a g e Contents Interfaces III.1 Power supply ..................37 III.1.1 Mains supply connection (X0) .
- Page 5 Kollmorgen 0 2 . 9 9 This page has been deliberately left blank SERVOSTAR™ 600 Installation-manual...
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Page 6: Safety Instructions
Safety instructions Kollmorgen 0 2 . 9 9 Safety Instructions 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. -
Page 7: European Directives And Standards
Kollmorgen Directives and standards 0 2 . 9 9 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). -
Page 8: Abbreviations And Symbols
Abbreviations / symbols Kollmorgen 0 2 . 9 9 Abbreviations used in this manual The abbreviations used in this manual are explained in the table below. Abbrev. Meaning Abbrev. Meaning AGND Analog ground NSTOP Limit-switch input, rot. dir. CCW (left) BTB/RTO Ready to operate PC-AT... -
Page 9: I General
Kollmorgen General 0 2 . 9 9 General About this manual This manual describes the digital servo amplifiers of the SERVOSTAR™ 600 series (standard version). You can find information about: Technical data of the servo amplifier Chapter I Assembly / installation Chapter II Interfaces Chapter III... -
Page 10: Nameplate
General Kollmorgen 0 2 . 9 9 - A . 4 . 0 2 8 . 6 / 1 0 Nameplate The nameplate depicted below is attached to the side of the servo amplifer. The information described below is printed in the individual fields. CONNECT-module Servo amplifier type Serial number... -
Page 11: The Digital Servo Amplifiers Of The Servostar™ 600 Family
Kollmorgen General 0 2 . 9 9 I.4.2 The digital servo amplifiers of the SERVOSTAR™ 600 family Standard version 5 current ratings (1.5 A , 3 A , 6 A , 10 A , 14 A, 20 A) two instrument widths : 70 mm up to 10A rated current 100 mm for 14 up to 20A rated current wide range of rated voltage (3x230V –10% to 3x480V +10%) -
Page 12: Digital Servo Amplifier Concept
General Kollmorgen 0 2 . 9 9 I.4.4 Digital servo amplifier concept Operation and parameter setting With the comfortable Seidel operator-software through the serial interface of a PC 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 Fully programmable via RS232 interface Power section... -
Page 13: Block Diagram
Kollmorgen General 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 2 8 Block diagram - A.4.031.1/28 SERVOSTAR™ 600 Installation-manual... -
Page 14: Components Of A Servo System
General Kollmorgen 0 2 . 9 9 Components of a servo system Control / PLC 24V supply SERVOSTAR™ 600 fuses drive contactor terminals motor SERVOSTAR™ 600 Installation-manual... -
Page 15: Technical Data Of The Servostar™ 600 Series
Kollmorgen General 0 2 . 9 9 Technical data of the SERVOSTAR™ 600 series SERVOSTAR™ Rated data -10% +10% Rated supply voltage 3 x 230V ... 480V , 50 ... 60 Hz Rated installed load for S1 operation Rated DC-link voltage 310 - 675 Rated output current (rms value, ±... -
Page 16: Permissible Ambient Conditions, Ventilation, Mounting Position
General Kollmorgen 0 2 . 9 9 I.7.2 Permissible ambient conditions, ventilation, mounting position Storage temperature/humidity, ð VI.1 storage duration ð VI.1 Transport temperature / humidity Supply voltage tolerances -10% +10% Input power min 3x230V AC / max 3x 480V , 50 ... -
Page 17: Grounding System
Kollmorgen General 0 2 . 9 9 - A . 4 . 0 3 1 . 3 / 0 1 , 1 / 3 5 Grounding system AGND — ground for analog inputs/outputs, internal analog ground DGND — ground for digital inputs/outputs, optically isolated XGND —... -
Page 18: Regen Circuit
General Kollmorgen 0 2 . 9 9 I.10 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. -
Page 19: Switch-On And Switch-Off Behaviour
Kollmorgen General 0 2 . 9 9 - A . 4 . 0 3 1 . 3 / 6 I.11 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”... -
Page 20: Emergency Stop Strategies
General Kollmorgen 0 2 . 9 9 I.11.2 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™... -
Page 21: Installation
Kollmorgen Installation 0 2 . 9 9 Installation II.1 Important instructions 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. Check the combination of servo amplifier and motor. -
Page 22: Ii.2 Assembly
Installation Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 4 / 1 5 II.2 Assembly Material : 2 or 4 hexagon socket screws to DIN 912, M5 Tool required : 4 mm Allen key - A.4.031.4/15 SERVOSTAR™... -
Page 23: Ii.2.1 Dimensions Of Servostar™ 600
Kollmorgen Installation 0 2 . 9 9 - A . 4 . 0 3 1 . 4 / 1 4 II.2.1 Dimensions of SERVOSTAR™ 600 - A.4.031.4/14 SERVOSTAR™ 601/603/606/610 SERVOSTAR™ 614/620 SERVOSTAR™ 600 Installation-manual... -
Page 24: Ii.3 Wiring
Installation Kollmorgen 0 2 . 9 9 II.3 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. - Page 25 Kollmorgen Installation 0 2 . 9 9 The following notes should assist you to carry out the installation in a sensible sequence, without overlooking anything important. In a closed switchgear cabinet. Observe Chapter I.7.2 . Site The site must be free from conductive or corrosive materials. For the mounting position in the cabinet ð...
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Page 26: Connection Diagram For Servostar™ 600
Installation Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 2 II.3.1 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.5.2 ð III.2 ð III.5.3 ð... -
Page 27: Ii.3.2 Example Of Connections For Multi-Axis System
Kollmorgen Installation 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 1 9 II.3.2 Example of connections for multi-axis system - A.4.031.1/19 SERVOSTAR™ 600 Installation-manual... -
Page 28: Ii.3.3 Pin Assignments For Servostar™ 600
Installation Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 4 / 2 1 II.3.3 Pin assignments for SERVOSTAR™ 600 - A.4.031.4/21 SERVOSTAR™ 600 Installation-manual... -
Page 29: Notes On Connection Techniques
Kollmorgen Installation 0 2 . 9 9 - A . 4 . 0 2 9 . 4 / 2 5 II.3.4 Notes on connection techniques II.3.4.1 Tool list Connector (Interconnectron), unit Tool Mat.NoS. hand crimp tool 69227 positioner 88173 RES-connector 12-pole, 6SM27...107 assembly spanner 85511 open-jaw spanner 22 a/f... -
Page 30: Wiring Up A Subd-Connector With Shielding
Installation Kollmorgen 0 2 . 9 9 - A . 4 . 0 2 9 . 4 / 2 II.3.4.3 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. -
Page 31: Ii.3.4.4 Assembling The Resolver Connector (Motor End)
Kollmorgen Installation 0 2 . 9 9 - A . 4 . 0 2 9 . 4 / 6 II.3.4.4 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 da- mage the shielding braid. -
Page 32: Wiring Up The Motor Power Connector (Amplifier End)
Installation Kollmorgen 0 2 . 9 9 - A . 4 . 0 2 9 . 4 / 2 4 II.3.4.5 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. -
Page 33: Wiring Up The Motor Power Connector (Motor End)
Kollmorgen Installation 0 2 . 9 9 - A . 4 0 2 9 . 4 / 9 II.3.4.6 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. -
Page 34: Technical Data For Connecting Cables
Installation Kollmorgen 0 2 . 9 9 II.3.5 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 PUR (polyurethane, code 11Y) -
Page 35: Ii.4 Operator Software
Kollmorgen Installation 0 2 . 9 9 II.4 Operator software II.4.1 General 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™... -
Page 36: Hardware Requirements
Installation Kollmorgen 0 2 . 9 9 II.4.1.3 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. -
Page 37: Interfaces
Kollmorgen Interfaces 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 2 1 , 2 5 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... -
Page 38: Iii.2
Interfaces Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 1 7 , 1 8 III.2 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). -
Page 39: Iii.4
Kollmorgen Interfaces 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 2 6 III.4 Feedback III.4.1 Resolver connection (X2) 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™... -
Page 40: Iii.4.2
Interfaces Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 2 7 III.4.2 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™... -
Page 41: Iii.5
Kollmorgen Interfaces 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 2 3 III.5 Control signals, monitor signals III.5.1 Analog setpoint inputs (X3) 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). -
Page 42: Iii.5.2
Interfaces Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 2 4 III.5.2 Digital setpoint inputs (X3) All digital inputs are electrically isolated through optocouplers. Technical characteristics — Reference ground is digital-GND (DGND, terminal X3/18) —... -
Page 43: Iii.5.3
Kollmorgen Interfaces 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 2 0 III.5.3 Digital control outputs (X3) Technical characteristics — Reference ground is digital-GND (DGND, terminal X3/18) — All digital outputs are floating —... -
Page 44: Iii.5.4
Interfaces Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 2 2 III.5.4 Monitor outputs (X3) Technical characteristics — Reference ground is analog-GND (AGND, terminal X3/1 and X3/10) — Output resistance : 2.2kΩ Output voltage ±10V —... -
Page 45: Iii.6
Kollmorgen Interfaces 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 1 1 III.6 Encoder emulations III.6.1 Incremental-encoder interface (X5) 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. -
Page 46: Iii.6.2
Interfaces Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 1 2 III.6.2 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. -
Page 47: Iii.7
Kollmorgen Interfaces 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 1 3 , 1 4 III.7 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. -
Page 48: Iii.8
Interfaces Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 1 5 , 1 / 3 6 III.8 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. -
Page 49: Iii.9
Kollmorgen Interfaces 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 1 0 , 3 / 2 III.9 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. -
Page 50: Iii.10 Interface For Master-Slave Operation, Encoder Input (X5)
Interfaces Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 1 / 1 6 , 3 / 2 III.10 Interface for master-slave operation, encoder input (X5) This interface can be used to link several SERVOSTAR™ 600 amplifiers together in master-slave operation. -
Page 51: Commissioning
Kollmorgen Commissioning 0 2 . 9 9 Commissioning IV.1 Important notes 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. - Page 52 Commissioning Kollmorgen 0 2 . 9 9 The following instructions should help you to carry out the commissioning in a sensible order, without any hazards to people or machinery. ð II. Disconnect the servo amplifier from the supply. Check installation Inhibit 0V on terminal X3/15 (Enable) Enable signal...
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Page 53: Iv.2 Parameter Setting
Kollmorgen Commissioning 0 2 . 9 9 - A . 4 . 0 3 1 . 4 / 3 7 IV.2 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. -
Page 54: Key Operation / Led Display
Commissioning Kollmorgen 0 2 . 9 9 - A . 4 . 0 3 1 . 3 / 4 IV.2.2 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. -
Page 55: Structure
Kollmorgen Commissioning 0 2 . 9 9 - A . 4 . 0 3 1 . 3 / 3 IV.2.2.2 Structure - A.4.031.3/3 IV.2.1 SERVOSTAR™ 600 Installation-manual... -
Page 56: Iv.3 Error Messages
Commissioning Kollmorgen 0 2 . 9 9 IV.3 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). -
Page 57: Accessories
Kollmorgen Accessories 0 2 . 9 9 - A . 4 . 0 1 2 . 4 / 3 2 Accessories External 24V DC supply for one servo amplifier - A.4.012.4/32 SERVOSTAR™ 600 Installation-manual... -
Page 58: External 24V Dc Supply For Up To 7 Servo Amplifiers
Accessories Kollmorgen 0 2 . 9 9 - A . 4 . 0 1 2 . 4 / 3 3 External 24V DC supply for up to 7 servo amplifiers - A.4.012.4/33 SERVOSTAR™ 600 Installation-manual... -
Page 59: External Regen Resistor Barxxx
Kollmorgen Accessories 0 2 . 9 9 - A . 4 . 9 4 7 . 4 / 2 2 External regen resistor BARxxx - A.4.947.4/22 SERVOSTAR™ 600 Installation-manual... - Page 60 Accessories Kollmorgen 0 2 . 9 9 This page has been deliberately left blank SERVOSTAR™ 600 Installation-manual...
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Page 61: Appendix
Kollmorgen Appendix 0 2 . 9 9 Appendix VI.1 Transport, storage, maintenance, disposal 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 —... -
Page 62: Vi.2 Removing Faults
Appendix Kollmorgen 0 2 . 9 9 VI.2 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. - Page 63 Kollmorgen Appendix 0 2 . 9 9 Fault possible causes measures to remove the cause of the fault — feedback connector not properly inserted — check connector message: — feedback cable is broken, crushed or — check cable feedback unit otherwise damaged message: —...
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Page 64: Vi.3 Glossary
Appendix Kollmorgen 0 2 . 9 9 VI.3 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... - Page 65 Kollmorgen Appendix 0 2 . 9 9 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...
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Page 67: Vi.4 Index
Kollmorgen Appendix 0 2 . 9 9 VI.4 Index Text Seite Text Seite 24V supply motor choke 20A ....58 connection example ... . 27 5A . - Page 68 Vertri eb u n d Se rv i c e / Sa le s a nd Se rvi ce / Ag en ce e t S er vi ce s B u n d e s r e p u b l i k D e u t s c h l a n d / D ä...