Related Manuals for Danaher Motion Kollmorgen SERVOSTAR S Series
Summary of Contents for Danaher Motion Kollmorgen SERVOSTAR S Series
- Page 1 www.DanaherMotion.com PLATINUM DDL® and SERVOSTAR® Setup Guide Part # M-LN-016-0702 Rev D...
- Page 2 Danaher Motion. Information in this document is subject to change without notice and does not represent a commitment on the part of Danaher Motion. Therefore, information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues.
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Page 3: Safety & Warnings
SAFETY & WARNINGS 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: Ce Mark Conformance
Danaher Motion’s SERVOSTAR S-Series and C-Series drives and systems have been successfully tested and evaluated to the limits and requirements of the EC Directive on EMC (89/336/EEC) and the EC Directive on Low Voltage (72/73/EEC). -
Page 5: Table Of Contents
Danaher Motion Kollmorgen Table of Contents Table of Contents SAFETY & WARNINGS: ........................ III DIRECTIVES & STANDARDS ...................... III CE MARK CONFORMANCE ......................IV GETTING STARTED ......................1 1. 1 .......................... 1 VERVIEW 1.1.1. Ironcore Linear Motor..................... 1 1.1.2. Ironless Linear Motor ....................1 1. - Page 6 Table of Contents Danaher Motion – Superior Electric 3.3.4. SERVOStar to Encoder Equivalent Output (C4)........... 14 3.3.5. SERVOStar to Logic Power (C5) ................14 3.3.6. SERVOStar to Power Connector (C6)..............15 3.3.7. SERVOStar to Multi-drop Communication (C7)........... 15 3. 4 RS-232 S ..............
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Page 7: Getting Started
Danaher Motion Kollmorgen Getting Started GETTING STARTED 1. 1 O VERVIEW This manual provides a guideline and procedures for installing the Danaher Motion DDL Ironcore and Ironless Linear motors and integrating them with ® the SERVOSTAR motor driver. This manual also contains spaces to record pertinent information about the stage installation. -
Page 8: Unpacking
Getting Started Danaher Motion Kollmorgen 1.2.1. UNPACKING Check the package and contents upon arrival. If the packaging was damaged upon delivery, contact the shipping carrier prior to removing the components from the container. Check the shipping invoice against the purchase order to make sure that the factory has sent all the ordered components. -
Page 9: Before You Begin
Danaher Motion Kollmorgen Getting Started 1. 3 B EFORE EGIN Remove all power to the stage and controlling device. Gather additional personnel and suitable lifting devices, if needed. CAUTION 1.3.1. MAGNET PLATE AND COIL ASSEMBLY MOUNTING Mounting and Design Considerations 1.3.1.1. -
Page 10: Magnet Way And Coil Assembly Mounting
Getting Started Danaher Motion Kollmorgen 1.3.2. MAGNET WAY AND COIL ASSEMBLY MOUNTING Mounting and Design Considerations 1.3.2.1. The stage should be designed to center the coil in the magnet way with provisions for adjustment in order to maintain proper coil to magnet clearance. -
Page 11: Installation
Danaher Motion Kollmorgen Installation INSTALLATION There are two preferred methods for installing the linear motor coil assembly and magnet plates in your system. Since magnet plates are sold in standard incremental sizes, it is possible to have a number of magnet plates installed together within one linear stage. - Page 12 Installation Danaher Motion Kollmorgen Figure 1 Multiple Magnet Diagram 05/07 M-LN-016-0702 Rev D...
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Page 13: Ironcore Single Magnet Plate Installation
Danaher Motion Kollmorgen Installation 2. 2 I RONCORE INGLE AGNET LATE NSTALLATION For safety reasons, construct jacking plates to prepare the magnet way and coil for installation into the stage. WARNING 1. Lightly stone and thoroughly clean the mounting surfaces on the stage for both coil and magnet way 2. -
Page 14: Ironless
Installation Danaher Motion Kollmorgen Figure 2 Single Magnet Diagram 2. 3 I RONLESS OTORS 1. Lightly stone and thoroughly clean the mounting surfaces on the stage for both the coil assembly and magnet channel 2. Check the parallelism of the magnet way-mounting surface to the coil/slide travel. - Page 15 Danaher Motion Kollmorgen Installation Install the magnet ways using two 5 mm locational dowels (recommended). (See Figure 3 Ironless Motor Instalation Diagram, Figure 4 Typical Bottom Mounting Installation Diagramand Figure 5 Typical Side Mounting Installation Diagram). Two pins are required per magnet way.
- Page 16 Installation Danaher Motion Kollmorgen Figure 4 Typical Bottom Mounting Installation Diagram Figure 5 Typical Side Mounting Installation Diagram Figure 6 Cable Diagram 05/07 M-LN-016-0702 Rev D...
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Page 17: Power And Connectors
Danaher Motion Kollmorgen Power and Connectors POWER AND CONNECTORS 3. 1 SERVOSTAR P OWER EQUIREMENTS Model Model Model Model Power/Current PA08 PA28 PA50 PA75 Voltage (VAC) line-to- 115 to 230 208 to 230 208 to 230 208 to 230 line... -
Page 18: Power Supply To Logic Power Output (C7)
Power and Connectors Danaher Motion Kollmorgen 3.2.2. POWER SUPPLY TO LOGIC POWER OUTPUT (C7) Connector type: 4-pin Logic Power Output Connector (C7) Functionality Number +15 VDC Unregulated Supply Output -15 VDC Unregulated Supply Output DC Common +8 VDC Unregulated Supply Output 3.2.3. -
Page 19: Servostar To Feedback (C2)
Danaher Motion Kollmorgen Power and Connectors 3.3.2. SERVOSTAR TO FEEDBACK (C2) This connector is used for resolver and encoder feedback models. The pins have different function assignments for each product. Connector type: 25-pin D (female) Feedback Connector (C2) Resolver Encoder... -
Page 20: Servostar To User I/O (C3)
Power and Connectors Danaher Motion Kollmorgen 3.3.3. SERVOSTAR TO USER I/O (C3) This connector is numbered from top to bottom. Connector type: 13-pin (male) User I/O Connector (C3) Pin Number Functionality Analog Signal Shield Analog Differential Input + (High) Analog Differential Input – (Low) -
Page 21: Servostar To Power Connector (C6)
Danaher Motion Kollmorgen Power and Connectors 3.3.6. SERVOSTAR TO POWER CONNECTOR (C6) Connector type: 5 screw terminals Power Connector (C6) Terminal Functionality Bus Voltage Input + Bus Voltage Input - Motor Output Phase A Motor Output Phase B Motor Output Phase C 3.3.7. -
Page 22: System Wiring Diagram
Power and Connectors Danaher Motion Kollmorgen 3. 6 S YSTEM IRING IAGRAM 05/07 M-LN-016-0702 Rev D... -
Page 23: Wiring
Danaher Motion Kollmorgen Wiring WIRING All PMI PLATINUM DDL brushless motors are wired using the same convention. Phase AB leads phase BC by 120° with the cable exit leading as shown in the motor commutation diagram. The term AB is defined as the... -
Page 24: Ironcore Communication Diagram
Wiring Danaher Motion Kollmorgen 4.1.1. IRONCORE COMMUNICATION DIAGRAM 05/07 M-LN-016-0702 Rev D... -
Page 25: Ironless Communication Diagram
Danaher Motion Kollmorgen Wiring 4.1.2. IRONLESS COMMUNICATION DIAGRAM M-LN-016-0702 Rev D 05/07... -
Page 26: Driver Integration
Driver Integration Danaher Motion Kollmorgen DRIVER INTEGRATION 5. 1 W IRING THE RIVE Wire the SERVOSTAR according to the Installation manual. Be sure you have wired the AC input to the power supply and the DC logic and bus voltage from the power supply to the drive. Wire the drive to the linear motor. -
Page 27: Motionlink
Danaher Motion Kollmorgen Driver Integration 5. 2 M OTIONLINK Install MOTIONLINK. Both software programs can be found on the website (www.danahermotion.com) and the Product Support Package (PSP) CD- ROM packaged with the drive. Follow the installation instructions. MOTIONLINK gives you three methods to configure the SERVOSTAR SC. - Page 28 Driver Integration Danaher Motion Kollmorgen 13. Select Encoder type. The encoder resolution is based on the magnet pitch of the motor times the encoder resolution times the logic multiplier (if any). The units are lines/pitch. Kollmorgen DDL motors have a magnet pitch of 32 mm. For example, if you have a 25 lines/mm scale (40 micron pitch), enter 800 (25 * 32) as your encoder resolution.
- Page 29 Danaher Motion Kollmorgen Driver Integration 24. Here, you can change to Digital Velocity, Digital Position, or Analog Velocity. Save your changes. Click Close to return to the main screen. If the indicator travels in the counter-clockwise direction, swap pins 1 and 2 (A and A/) on the SERVOSTAR feedback connector C2.
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Page 30: Connect Motor
Driver Integration Danaher Motion Kollmorgen 55. Set the Tune Direction. 56. Set the Tune Speed (RPM). 57. Click the Save/Print tab. 58. Load the Plot. 59. Save the Plot. 60. Save the Variables. 61. Print. 62. Click Close to return to the main Wizard screen. -
Page 31: Power Motor
Danaher Motion Kollmorgen Driver Integration If there are no limit switches on the stage, type: limdis 1 and press Enter. Type vbus and press Enter to verify the bus voltage setting for the system. If there is 120V AC power, VBUS should be set to 160. -
Page 32: Integrating The Positioner
Driver Integration Danaher Motion Kollmorgen 5.4.2. INTEGRATING THE POSITIONER The positioner must be set up to work with the SERVOSTAR in order for both devices to operate effectively. NOTE Connect the encoder, control signal, command signal, and the enable line using the wiring diagrams. The encoder signals for the positioner are available on the SERVOSTAR's C4 connector. - Page 33 Danaher Motion Kollmorgen Driver Integration Advance. M-LN-016-0702 Rev D 05/07...
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Page 34: Setting Servostar Velocity & Torque Angle Advance
Driver Integration Danaher Motion Kollmorgen 5.4.3. SETTING SERVOSTAR VELOCITY & TORQUE ANGLE ADVANCE The torque and velocity advance parameters in the SERVOSTAR must be optimized in order to complete the fine-tuning stage. When the advance is optimized, the efficiency of the motor's use of the current is increased. -
Page 35: Troubleshooting
Danaher Motion Kollmorgen Troubleshooting TROUBLESHOOTING 6. 1 T ROUBLESHOOTING ABLE Symptom Probable Cause Corrective Action Drive does not enable Thermistor parameter incorrect. Re-enter the correct parameters for the system. Limit parameter incorrect. Table runs away (hall effect) Check motor wiring using wiring Rewire motor correctly. -
Page 36: Verification Test
Troubleshooting Danaher Motion Kollmorgen 6.2.2. VERIFICATION TEST Disconnect the motor leads from the drive. Insert the adapter between the stage wiring and the C2 connector on the SERVOSTAR. Power up the motor driver. Using a storage oscilloscope, connect channel 1 to pin 9 of the adapter, reference to RTN (pin 8). -
Page 37: Hall Effect And Motor Phasing Diagram
Danaher Motion sales engineers are conveniently located to provide prompt attention to customer needs. Call the nearest office for ordering and application information and assistance or for the address of the closest authorized distributor. -
Page 38: Index
INDEX Danaher Motion Kollmorgen INDEX , 29 Integrating the Positioner , 28 Power Motor , 26 Set Stage Options , iv CE Mark Conformance Setting SERVOSTAR Velocity & , 35 Customer Support , 31 Torque Angle Advance , 23 Startup Wizard Motionlink Questions Motor &... - Page 39 Danaher Motion Kollmorgen SERVOSTAR to Serial Communication Unpacking , 15 SERVOSTAR to User I/O , iii Standards , 18 System Wiring Diagram , iii Warnings , 19 Wiring , 22 Wiring the Drive , 32 Troubleshooting 05/07 M-LN-016-0702 Rev D...
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