Related Manuals for Kollmorgen SERVOSTAR SBD Series
Summary of Contents for Kollmorgen SERVOSTAR SBD Series
- Page 1 Danaher Motion ® SERVOSTAR SBD Series Installation Manual KOLLMORGEN giving our customers freedom of design M-ST-009-2031...
- Page 2 Kollmorgen Corporation, a Danaher Motion Company NOTICE: Not for use or disclosure outside of Kollmorgen except under written agreement. All rights are reserved. No part of this book shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without the written permission from the publisher.
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Page 3: Table Of Contents
Table of Contents Danaher Motion Table of Contents GENERAL INFORMATION ........................1 ............................1 SE AS DIRECTED ........................1 ARRANTY NFORMATION ............................2 BBREVIATIONS SYSTEM DESCRIPTION ......................... 3 ..........................3 RODUCT EATURES Fault and Safety Detection..............................3 General ....................................3 ........................ - Page 4 Danaher Motion Table of Contents Tachometer Input (C2 Pins 1 and 3) ....................29 Current Monitor (C2 Pin 5)......................... 29 Tachometer Monitor (C2 pin 6)......................29 CW and CCW Limit Inputs (C2 pins 8 and 9) ..................29 Remote Enable Input (C2 Pin 10)......................30 External Current Limit (C2 pin 11) .....................
- Page 5 General Information Danaher Motion Safety Instructions Only qualified personnel are permitted to transport, assemble, install, and maintain 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. The qualified personnel must know and observe the following standards and regulations: IEC 364 resp.
- Page 6 The servo drives have been tested by an authorized testing laboratory in a defined configuration with the system components; described in this documentation. Kollmorgen is not responsible for any divergence from the configuration and installation described in this documentation and is not responsible for the performance of new measurements or ensuring that regulatory requirements are met.
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Page 7: General Information
All Kollmorgen brushless motors and electronics are warranty for a period of 24 months from the time of installation or 30 months from time of shipment, which ever comes first. There are no other warranties, expressed or implied (including the warranty of merchantability and fitness for a particular purpose, which extends beyond this warranty. -
Page 8: Abbreviations
Electromagnetic Compatibility Electromagnetic Interference Electrostatic Discharge External Hertz Current Info Information Input / Output KiloHertz KCSN Kollmorgen Customer Support Network KiloWatts Light Emitting Diode Limit National Electrical Code Product Support Package Part Number Pulse Width Modulation Regen Regeneration Root Mean Square... -
Page 9: System Description
The drive is designed as a modern update to Kollmorgen’s SBD Series of brush drive amplifiers produced over the past 25 years. The drive is fully analog and can receive the exact comp (compensation) card that was used in existing SBD2 application. -
Page 10: Part Number Description
Danaher Motion System Description PART NUMBER DESCRIPTION Month A - January B - February Year Manufactured Facility: L - December Blank - Radford C - China Unit Manufactured S - Israel M - Spain Z - Israel S 9 8 A-5 8 9 CT03000-SBD2-4236AA2/160-03 Intended Drive ®... -
Page 11: Ct Electrical Specifications
Danaher Motion System Description CT ELECTRICAL SPECIFICATIONS Product Model CT03 CT06 CT10 ) Nominal ±10% 63-230 Main Input Power Voltage (VAC Phases 1 / 3 Line Frequency 47-63 KVA @ 115 (1φ φ φ φ ) 0.44 0.89 0.89 Continuous Current (amps) @ 115VAC Peak Current (amps) for 500 mSec 115VAC 11.7 23.1... -
Page 12: Ct Regen Information
Resistance (Ω) Power Rating (Watts) ERH-26 External Regen Kits *For guidance on application sizing of Regen Kits, see Application Note, SERVOSTAR S/C-Series Regeneration Requirements on the PSP CD-ROM, or the Kollmorgen website (www.MotionVillage.com). ST ELECTRICAL SPECIFICATIONS Product Model ST03 ST06... -
Page 13: Control Specifications
Danaher Motion System Description CONTROL SPECIFICATIONS I/O Connector (C3 by pinout) Maximum Voltage 13 V differential Analog Input (2,3) Max Capacity 500mA @ 110VAC Fault Output Relay (5,6) Operation Tie to common to activate circuit. User Controls (Enable, DO NOT APPLY VOLTAGE. CW/CCW Lim, Torque Hold, Ext I Limit FEEDBACK DEVICES... - Page 14 Danaher Motion System Description ® SERVOSTAR SBD-Series ST/CT Product Family...
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Page 15: Power Supplies
Danaher Motion Power Supplies Power Supplies The SERVOSTAR family includes a variety of BUS modules that convert a single-phase logic voltage and a single or three-phase AC line into the drive’s DC logic power and main DC BUS. Brush motor design makes them more sensitive to high voltage conditions than brushless motors. The PS power supply family offers a number of voltage ratings designed to shunt-regulate regenerated power to maintain safe operating voltage levels. -
Page 16: Part Number Description
Danaher Motion Power Supplies • The PA-LM unit is a logic supply only and should be used in multi-axis applications where the bus power supply already exists. This unit comes with three green LEDs that verify the presence of the +15V, -15V, and 8V sources. See BUS Electrical Specifications on page Error! Bookmark not defined. -
Page 17: Simplified Schematic
Danaher Motion Power Supplies SIMPLIFIED SCHEMATIC ® SERVOSTAR SBD-Series ST/CT Product Family... -
Page 18: Bus Electrical Specifications
Danaher Motion Power Supplies BUS ELECTRICAL SPECIFICATIONS PSx0090 PSx0120 PSx0160 Px20225 Px20325 Voltage (VAC ) Nominal ±10% (1φ/3φ) (1φ/3φ) (1φ/3φ) (1φ/3φ) (1φ/3φ) Line Frequency 47/63 47/63 47/63 47/63 47/63 Main Input PS20 Rated Continuous Power Input Current (Amps/Phase) PS40 Rated Continuous Input Current (Amps/Phase) Peak Current (amps) for 28/42... -
Page 19: Bus Module Regen Information
Internal Regen Resistance (Ω) Power Rating (Watts) *For guidance on application sizing of Regen Kits, see Application Note, SERVOSTAR S/C-Series Regeneration Requirements on the PSP CD-ROM, or the Kollmorgen website (www.MotionVillage.com). Kit Parts and Models Kit Parts / Kit Models ERH-26... - Page 20 Danaher Motion Power Supplies ® SERVOSTAR SBD-Series ST/CT Product Family...
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Page 21: Hardware Installation
Danaher Motion Hardware Installation Hardware Installation UNPACKING AND INSPECTION Electronic components in this amplifier are design hardened to reduce static sensitivity. However, proper procedures should be used when handling. Remove all packing material and equipment from the shipping container. Be aware that some connector kits and other equipment pieces may be quite small and can be accidentally discarded if care is not observed when unpacking the equipment. -
Page 22: Servostar Ct Hardware Specifications
Includes: C1, C2, C4, C7 (plus 2ft / 0.69m of stranded bus ribbon), C8 Mating Connector Phoenix #: MVSTBW 2,5/20-ST-5,08 Hardware Kollmorgen #: A-96516 Kollmorgen #: A-81014-004 Vendor Info: PCD ELFP04110 Connector Screw Torque 2.25 lb-in (0.25m) 24V Logic (optional) PCD ELFP02210 or equivalent ®... -
Page 23: Servostar St Hardware Specifications
Clearance Distance CK100 Kit Includes: C1, C2, C4, C7 (plus 2ft / 0.25m of stranded bus ribbon), C8 Phoenix #: MVSTBW 2,5/20-ST-5,08 Mating Kollmorgen #: A-96516 Connector Hardware Kollmorgen #: A-81014-004 Vendor Info: PCD ELFP04110 Connector Screw Torque 2.25 lb-in ®... -
Page 24: Bus Module Hardware Specifications
2.25 lb-in (.25Nm) System Phasing Information The SERVOSTAR SBD Series drive outputs a positive voltage (Ma with respect to Mc) for a clockwise command (Diff High input more positive than Diff Low Input) and expects to receive a positive tachometer voltage (Tach High with respect to Tach Low). Reference points for Kollmorgen motors: •... -
Page 25: Outline Dimensions
Danaher Motion Hardware Installation OUTLINE DIMENSIONS ST and PS Units Note: (F an - Sx85 only) Inches PRODUCT ST03/06 10.3 9.921 2.91 1.96 .228 9.37 7.95 6.89 ST10 10.3 9.921 3.54 1.96 .228 9.37 7.95 6.89 ST20 10.3 9.921 4.67 1.96 1.35 .228... -
Page 26: Ct Units
Danaher Motion Hardware Installation CT Units Cx10 99.0 [3.90] Cx 06 88.4 [3.48] Cx 03 67.4 [2.65] 36.5 15.5 163.0 [1.44] [.61] [6.42] [.08] 3 x 5.5 [.22] [.61] 2x ∅ 10.0 [.39] 256.0 244.0 216.0 [10.08] [9.61] [8.50] 33.7 [1.33] PA-LM Units 56.9... -
Page 27: Installation Practices
Hardware Installation INSTALLATION PRACTICES The environment that any electronic control system ‘lives’ in can effect its operation. Kollmorgen recommends that the SERVOSTAR system be operated and stored under the environmental conditions stated in the product specification tables. The system may be operated in higher temperature ambient conditions with a derating applied. -
Page 28: Bonding
Its effect is to reduce the impedance between the cable shield and the back panel. Kollmorgen recommends that all shielded cables be bonded to the back panel. Power input wiring does not require shielding (screening) if the power is fed to the cabinet (enclosure) via metallized conduit. -
Page 29: Alternative Bonding Methods
Danaher Motion Hardware Installation Alternative Bonding Methods Another option is to use cable bonding clamps offered by Phoenix Contact (and others). When using the Phoenix Contact parts, make sure that a low impedance (high frequency) ground is connected from the ground bus bar to the back panel. -
Page 30: System Interconnect
Danaher Motion Hardware Installation SYSTEM INTERCONNECT The following sections provide connector information and the system connections up to the motor power and feedback connections. Cabling purchased from Kollmorgen directly completes the system connections. Views Top View C2: User I/O Connector... -
Page 31: St Wiring Diagram With Ps 08, 20, Or 40
Kollmorgen Hardware Installation ST Wiring Diagram with PS 08, 20, or 40 ® SERVOSTAR S/CD Product Family... -
Page 32: St System Wiring Diagram Notes
For guidance on application sizing of Regen Kits, see Application Note, SERVOSTAR S/C-Series Regeneration Requirements on the PSP CD-ROM, or the Kollmorgen website (www.MotionVillage.com) and Kit Parts and Models on page 13 for more details. -
Page 33: Ct Wiring Diagram
Kollmorgen Hardware Installation CT Wiring Diagram ® SERVOSTAR S/CD Product Family... -
Page 34: Ct Wiring Diagram Notes
Danaher Motion Hardware Installation CT Wiring Diagram Notes Note 1 FUSE 2 and contactor may not be required if input power line is neutral. Also see Note 9. Note 2 Allow 30 seconds after turning power off before reapplying power Note 5 All AC Line wires should be twisted pair Note 6... -
Page 35: Operation Information
Kollmorgen Operation Information Operation Information The normal operation of the LEDs is that all are off to indicate no fault and the drive is disabled. When the drive is enabled (Enable Input (C2 pin 10) tied to Common (C2 pin 7)) the green Enabled LED is illuminated. -
Page 36: Remote Enable Input (C2 Pin 10)
Danaher Motion Operation Information Remote Enable Input (C2 Pin 10) The Remote Enable input provides a hardware drive enable switch. This input disables or enables the power stage output to the motor. The signal must be tied to common (C2 pin 7) to enable the power to the motor. -
Page 37: Control Loops
Kollmorgen Operation Information CONTROL LOOPS The SERVOSTAR provides high performance motor control by controlling motor current with an inner current loop which is controlled by an outer velocity loop. Each servo loop (current and velocity) is subject to a compensation network (as described below) to allow appropriate servo loop tuning. -
Page 38: Velocity Loop
Danaher Motion Operation Information The current loop compensator circuit is a simple integrating double low pass filter (5*/19* and 6*/17*) with a lead network (20*/18*) and the ability to scale the current feedback (10*, 9*). The current feedback signal is scaled to 8 Volts = Drive Peak Current Rating. Resistors 9* and 10* offer the ability to change this scaling to make the sensors more sensitive. - Page 39 Kollmorgen Operation Information The velocity loop has the ability to be bandwidth limited for stability purposes. Resistor 8* and capacitor 16* are used for this purpose. Resistor 8* establishes a minimum gain while capacitor 16* determines the roll-off frequency. The stability pot allows some adjustment in the AC gain portion of the compensator to allow for changing external characteristics, such as inertia.
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Page 40: Current Clamps
Danaher Motion Operation Information The velocity loop monitors the tachometer feedback signal for an over-speed condition and is typically set to detect speeds in excess of 120% of the motor’s rated speed. Resistor components 1* and 2* set the reference trip voltage for the over-speed comparator. Considering the absolute tach signal is scaled for 8V=max speed, adjusting the voltage divider to provide a 10-volt trip point allows this circuit to perform satisfactorily and is established using 1.2k ohms for 2* and 7.2k ohms for 1*. -
Page 41: Horse Power Contour
Kollmorgen Operation Information The value of (23) is given on the Y-axis while the percentage of available torque is given on the X-axis. The value of (23) should not be less than shown on the chart or the torque to the motor is asymmetrical. -
Page 42: Potentiometer Adjustments
Danaher Motion Operation Information Establishing a Single, or one Break Line Limit Diode 26 sets the speed at which horsepower contouring will begin (P1). D26 is calculated as: = 8*N – 1.5 Where: is the Zener Diode Voltage Rating is the speed at which contouring begins Is the Maximum System Speed. -
Page 43: Ac Gain - Stability
Kollmorgen Operation Information AC Gain – Stability This potentiometer is used to adjust the AC gain of the velocity loop. There is a low-pass filter network around the velocity loop amplifier, allowing the velocity loop to be bandwidth-limited for stability. This pot is used to modify the exiting bandwidth. -
Page 44: System Startup
Danaher Motion System Startup System Startup Check the system wiring before applying power. It is important that the proper voltages are wired to the appropriate terminals at the drive. It is extremely important that the system is properly grounded. The motor frame should have a ground wire back to the frame of the drive. -
Page 45: Adjustments
Kollmorgen System Startup ADJUSTMENTS Refer to Potentiometer Adjustments on page 36 for a description of the potentiometer functions. Adjust each as required, beginning with the Balance pot. ® SERVOSTAR S/CD Product Family... -
Page 46: Servostar Help
Danaher Motion SERVOSTAR Help SERVOSTAR Help Problems with the drive can be through actual faults, bad compensation values installed on the comp- card, or self-inflicted by misunderstanding of the system’s operation. If the system has been running and is experiencing faults, review the fault-codes in the following section. Be certain that remote inputs (Enable, CW Limit, CCW Limit, External Current Limit, and Torque Hold) are in the correct and expected state. -
Page 47: Troubleshooting List
Kollmorgen SERVOSTAR Help TROUBLESHOOTING LIST Symptom Likely Cause Motor Runs Uncontrolled 1.) Incorrect phasing on armature or tachometer 2.) Broken or missing tachometer connection 3.) Bad tachometer 4.) Improper compensation components Motor turns in wrong direction 1.) Improper command phasing 2.) Both Armature and tachometer are reverse-phased... -
Page 48: Customer Support
SERVOSTAR Help CUSTOMER SUPPORT Kollmorgen is committed to quality customer service. Our goal is to provide the customer with information and resources as soon as they are needed. In order to serve in the most effective way, Kollmorgen offers a one-stop service center to answer our customer’s product needs. One number provides order status and delivery information, product information and literature, and application and field technical assistance.
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