Table of Contents
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KOLLMORGEN
www.DanaherMotion.com
NOTICE
DO NOT DISCARD
In a continuing effort to satisfy our customers, Danaher Motion has provided this packet of
instructions with your product. This information provides safety, warranty, and liability
information. This information enables you, the customer to get this unit up and running with
installation steps. Tuning information is contained in the technical manuals on this CD-ROM.
The software for this product is also contained on this CD-ROM. The included CD-ROM has all
®
the technical manuals in PDF format. For your convenience, Adobe
's Acrobat Reader can also
be installed from this CD-ROM. Danaher Motion's technical documentation is subject to change
without notice. Be sure to check the website for the latest version (www.danahermotion.com).
Compare wiring diagrams to the latest version on the website to prevent damage to equipment.
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Table of Contents
Related Manuals for Kollmorgen SERVOSTAR CD Series
Summary of Contents for Kollmorgen SERVOSTAR CD Series
- Page 1 KOLLMORGEN www.DanaherMotion.com NOTICE DO NOT DISCARD In a continuing effort to satisfy our customers, Danaher Motion has provided this packet of instructions with your product. This information provides safety, warranty, and liability information. This information enables you, the customer to get this unit up and running with installation steps.
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Page 2: Table Of Contents
Table of Contents SAFETY ...............................3 ......................4 IRECTIVES AND TANDARDS CE M ........................4 ONFORMANCE UNPACKING AND INSPECTING ......................5 ............................5 ROUNDING ............................5 ONDING CE F ......................5 ILTERING ECHNIQUES ........................6 NPUT OWER ILTERING ........................6 OTOR ILTERING INSTALLATION ...........................7 WIRING ..............................8 ........................8 UTLINE IMENSIONS PA-LM U ...........................8 NITS... -
Page 3: Safety
SAFETY Only qualified personnel are permitted to transport, assembly, commission, and maintenance this equipment. Properly qualified personnel are persons who are familiar with the transport, assembly, installation, commissioning and operation of motors, and who have the appropriate qualifications for their jobs. -
Page 4: Directives And Standards
EMI (electromagnetic interference) and immunity refers to the susceptibility levels of the equipment. Limits were derived from generic standards EN55081-2 and EN55082-2 for heavy industrial environments. The SERVOSTAR CD series of drives and BUS Modules have been tested for radiated emissions, conducted emissions, EFT, ESD, surge, conducted immunity, and radiated immunity. These tests have been done in accordance with EN55011, EN61000-4-2, ENV50140, IEC 1000-4-4, EN61000- 4-5, and ENV50141. -
Page 5: Unpacking And Inspecting
UNPACKING AND INSPECTING Open the box(es) and remove all the contents. Check to ensure there is no visible damage to any of the equipment. Electronic components in this amplifier are design hardened to reduce static sensitivity. However, proper procedures should be used when handling. WARNING Remove all packing material and equipment from the shipping container. -
Page 6: Input Power Filtering
NPUT OWER ILTERING The SERVOSTAR CD electronic system components require EMI filtering in the input power leads to meet the conducted emission requirements for the industrial environment. This filtering blocks conducted- type emissions from exiting onto the power lines and provides a barrier for EMI on the power lines. Care must be taken to adequately size the system. -
Page 7: Installation
INSTALLATION These installation steps are designed to lead you through the proper installation and setup of a ® SERVOSTAR CD system. They were developed with the assumption that you have a fundamental understanding of basic electronics, computers, mechanics, and proper safety practices. However, you do not have to be an expert in motion control to install and operate the drive system. -
Page 8: Wiring
WIRING UTLINE IMENSIONS Cx10 99.1 [3.90] Cx 06 83.3 [3.28] Cx 03 67.3 [2.65] 36.6 163.0 [1.44] [6.42] [0.26] [0.08] 3 ? 5.5 [0.22] 15.5 [0.61] 2 ? 10.0 [0.39] 256.0 244.0 216.0 [10.08] [9.61] [8.50] 33.7 [1.33] PA-LM U NITS NOT USED IN SERIES 5 UNITS!! NOTE... -
Page 9: C X System Wiring Diagram
YSTEM IRING IAGRAM M-SS-017-07 Rev C SERVOSTAR CD... -
Page 10: C X Filter And Bonding Diagram
ILTER AND ONDING IAGRAM Cabinet/Enclosure Back Plane Contactor, Fuses, Xfmr, XFMR etc. Controller I/O filter CNC / PLC / Controller filter Note 1 Routed to Routed to Input power enters enclosure from metal conduit. This Motors Motors eliminates the need for shielded input power cable. Note 2 Note 6 Feedback cable bonding is required for CE compliance. -
Page 11: System Feedback Diagram
YSTEM EEDBACK IAGRAM M-SS-017-07 Rev C SERVOSTAR CD... -
Page 12: Pinout Connectors
INOUT ONNECTORS C1: Communications Connector C2: Feedback Connector Function Resolver Encoder Sine Encoder Shield Sine High REC (RXD) (RS232) Sine Low XMIT (TXD) (RS232) Shield Shield Shield Reserved DO NOT CONNECT Cosine High Common Cosine Low TxD+ (RS485) Shield Shield Shield TxD- (RS485) E5V Return E5V Return... - Page 13 Notes for DIP switch: The 10 position DIP switch is provided for drive DIP (Configuration) Switch configuration. The first 6 switches control Switch Function Settings communications parameters and are read only at Bit 0 of MultiDrop Address power up. Any changes in these settings will (LSB) require cycling the power.
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Page 14: Serial Communication Wiring Diagram
ERIAL OMMUNICATION IRING IAGRAM NOTE: Do NOT connect unused pins! (DE-9S) (DE-9S) FEMALE FEMALE TXD- TXD+ RXD- RXD+ SHIELD SHIELD CUSTOMER CUSTOMER TERMINAL TERMINAL C2 SERIAL RS-485 INTERCONNECT C2 SERIAL RS-232 INTERCONNECT ARDWARE PECIFICATIONS Amplifier Model Cx03 Cx06 Cx10 Lbs./Kgs. 3.56/1.61 4.9/2.22 5.94/2.69... -
Page 15: Electrical Specifications
LECTRICAL PECIFICATIONS Product Model Cx03* Cx06* Cx10 ) Nominal ? 10% Voltage (VAC 110 to 230 115 VAC 1? or 3? 3? only 230 VAC 1? or 3? 3? only Line Frequency 47-63 KVA at 115 VAC 0.44 (1?) 0.89 (1?) 2.4 (3? only) 0.6 (3?) 1.1 (3?) -
Page 16: Bus Module Electrical Specifications
BUS M ODULE LECTRICAL PECIFICATIONS NOT USED FOR SERIES 5. NOTE Product Model PA-LM Voltage (AC) Nom. ? 10% 110 to 120 Logic Input Power Max. Current 1? (A) Line Frequency 47-63 Internal Fuse (amps) (internal) +8 VDC Supply Voltage (VDC) +7.25 to +8.5 Logic Output +8 VDC Supply Current (amps) -
Page 17: Product Family Control Specifications
RODUCT AMILY ONTROL PECIFICATIONS 62.5 ? S (16 kHz) Current Loop Update Rate Bandwidth <2000 Hz 62.5 ? S (16 kHz) Commutation Loop Update Rate Max. Commutation Frequency 400Hz Output Waveform Sinusoidal 250 ? S (4k Hz) Velocity Loop Update Rate Bandwidth <400 Hz Serial: 1 RPM or 1mm/sec or VLIM/16384... -
Page 18: Firmware Updates
IRMWARE PDATES NOT APPLICABLE FOR SERIES 5. NOTE If your unit has the following label: It requires firmware version 4.0.0 or higher. Other unit types will work with all firmware versions. Firmware version 4.0.0 and higher is not compatible with the older versions of IGNITE (firmware loading software). -
Page 19: Error Codes
RROR ODES Series 5 Error Codes Error Code Fault Message Fatal Non-Fatal LED Display .No Error .Power stage over temperature .Over voltage .Over current .External feedback fault .Resolver line break .RDC error .Sine Encoder init fail .A/B line break .Index line break .Illegal halls .C/D line break .A/B out of range... - Page 20 Series 5 Error Codes Error Code Fault Message Fatal Non-Fatal LED Display 37.02 MENCRES out of range 37.03 MENCOFF out of range 37.04 MSPEED out of range 37.05 MBEMF out of range 37.06 MJ out of range 37.07 ACC out of range 37.08 DEC out of range 37.09...
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Page 21: Fatal Fault Error Codes
Series 5 Error Codes Error Code Fault Message Fatal Non-Fatal LED Display Warning: Limit sw not routed Move is pending Incorrect password Password protected Capture during Homing Homing during Capture Capture process not done Capture process not active Capture process not enabled ENCSTART while Aconfig EnDat comm error SERCOS test failure... -
Page 22: Non-Fatal Error Codes
NON-FATAL ERROR CODES Error Message Possible Cause Err # No Error no error was recorded Unknown Command Undefined command Unknown Variable undefined variable name Checksum error error on comm. message checksum (ACKMODE 2) Drive Active drive needs to be inactive for the requested command or variable Drive Inactive drive needs to be active for the requested command or variable Value out of range... - Page 23 Error Message Possible Cause Err # Not available The requested variable value is not available; refer to the description of the variable to determine why. Drive is in Hold mode Motion was requested with the drive in Hold mode Limit Switch Hold Drive is in Hold mode due to limit switch being tripped Command Into Limit Requested motion is in direction of tripped limit switch...
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Page 24: No Message Faults
NO MESSAGE FAULTS Display Fault Description Fatal Non-Fatal Flashing Display Steady Display Watchdog (DSP) Watchdog (HPC) No Compensation Invalid Velocity Control Encoder not Initialized on attempt to enable Encoder Initialization failure AutoConfig failure Hardware CW limit switch open Hardware CCW limit switch open Hardware CW and CCW limit switches open Software CW limit switch is tripped...