Keba ServoA SA52.075 Operation Manual
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Keba ServoA SA52.075 Operation Manual

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Operation Manual
Servo controllers
2.2 A - 20 A

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  • Page 1 ServoA Operation Manual Servo controllers 2.2 A - 20 A...
  • Page 2 Traditional design has been upgraded to more automated device, improv- ing the added value of products. The integrated specific chip of KEBA will provide cus- tomers with a higher performance of drive ability to meet the demands of improvements.
  • Page 3 How to use this document Dear user, We are happy that you have made a decision in favour of a product from KEBA. In order to be able to start using your new ServoA quickly and without problems, we ask you kindly to read this Operation Manual thoroughly beforehand.
  • Page 4 2) Standard：without internal braking resistor and EMC filters, with EtherCAT; It can be connected with resolver and high resolution encoder; 3) The motors match to BG5,please consult with KEBA; 4) If the device with 0 hardware version, please contact KEBA technical engineer. Figure 0.1 ServoA order code...
  • Page 5 Pictograms To provide clear guidance, this Operation Manual uses pictograms. Their meanings are set out in the following table. The pictograms always have the same meanings, even where they are placed without text, such as next to a connection diagram. Warnings (see also section 1.1 ) ATTENTION! Misoperation may result in damage to the drive or malfunc-...
  • Page 6 ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Space for your own notes...

  • Page 7: Table Of Contents

    Table of Contents USB-port ........................27 3.10 Encoder connection ....................28 3.10.1 Encoder interface X4a .................30 3.10.2 Encoder interface X4b .................31 Safety..................9 3.11 Motor connection ....................33 Measures for your safety ..................9 3.11.1 Connection to LSM motors .................34 1.1.1 Read the Operation Manual first! ..............9 3.11.2 Electronic overload protection for the motor ..........35 1.1.2 Warning symbols ..................10...
  • Page 8 ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Integrated KeyPad ....................44 4.2.1 The function of T1 to T4 button ..............45 4.2.2 Parameter group overview ................45 Operation step......................46 4.3.1 Select preset solution..................46 4.3.2 Select motor type ..................47 4.3.3 Select encoder ....................47 4.3.4 User log-on ....................48 4.3.5 Jog mode (Manual mode) ................48 _ALError messages ....................49...

  • Page 9: Safety

    1. Safety 1.1.1 Read the Operation Manual first! Read the Operation Manual first! • Follow the safety instructions! • Refer to the user information! Measures for your safety Electric drives are dangerous: • Electrical voltages of 230 to 400 VAC Dangerously high voltages of >50 V may still be present 10 minutes after The instructions set out below should be read through prior to initial commissioning in the power is cut (capacitor charge).

  • Page 10: Warning Symbols

    The hazard class defines the risk posed by failing to comply with the safety notice. and incorrect intervention could lead to death, physical injury or material damage. The warranty provided by KEBA would thereby be rendered void. Hazard class to...

  • Page 11: Ec Declaration Of Conformity

    EC Declaration of Conformity Responsibility Electronic devices are fundamentally not fail-safe. The company setting up and/or oper- ating the machine or system is itself responsible for ensuring that the drive is rendered safe if the device fails. In the section on “Electrical equipment of machines” the standard EN 60204-1/DIN VDE 0113 “Safety of machines”...

  • Page 12: Mechanical Installation

    Mechanical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 2. Mechanical installation 2.2 Wall mounting Step Action Comment Mark out the position of the tapped holes For dimensional drawings/hole Notes for operation on the backing plate. pitch see table 2.2, figure 2.1 and figure 2.2 Cut a tap for each fixing screw in the back- ing plate.
  • Page 13 Dimensions, wall-mounted housing Ｔ ServoA SA52.0075 SA52.0100 SA54.0200 SA54.0500 SA54.0075 SA52.0150 SA54.0300 SA54.0750 SA54.0100 SA54.0900 Ｃ Ｈ１ SA54.0150 Ｈ Weight (kg) 2.65 B (width) H (height) T (depth) 27.5 Ｄ Ｃ１ Ａ Ｂ Direct butt-mounted Figure 2.1 Dimensional drawing, wall-mounted (mm) ≥...

  • Page 14: Electrical Installation

    Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 3. Electrical installation · Cable type Use shielded mains, motor and signal cables with double copper braiding, providing 60 to 70 % coverage. · Cable laying – Lay mains, motor and signal cables isolated from each other. Maintain a minimum clearance of 0.2 metres wherever possible.

  • Page 15: Layout

    Layout Designation D1, D2, D3, D4, 7-segment display D5,D6 The following shows the layout with the corresponding positions of connectors and ter- LED display minals. To aid orientation, the connectors and terminals are labelled by abbreviations. Protective conductor connection T1, T2, T3, T4 button Power connection Connection of control supply Uv...

  • Page 16: Overview Of Connections

    Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Overview of connections Figure 3.2.2 Overview of connections for ServoA BG5 Figure 3.2.1 Overview of connections for ServoA BG2-BG4...

  • Page 17: Effective Emc Installation

    Effective EMC installation Designation Function D1, D2, D3, D4, 7-segment Device status display D5, D6 3.4.1 Interference immunity of drive controllers LED display Power ATTE NTION!This is a restricted availability product in accordance with IEC Protective conductor Protective condutor connection 61800-3.
  • Page 18 Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Overview Figure 3.3 presents an overview of the minimum components required: A. backing plate with cable ducts b. ServoA C. Mains filter D. Line reactor E. Distributor rail for AC power supply and control supply (+24 V DC) The layout and cabling are based on the instructions set out in section 3.1, "Notes for installation", on page 14.
  • Page 19 NOTE: ready made-up motor cables are available for KEbA servomotors. Fordetails refer to the Servomotors order catalogue. Figure 3.5 Specimen setup - Detail 2: Control supply Figure 3.4 Specimen setup - Detail 1: Motor cable ID no.: LDS-O-SA-EN-202103...
  • Page 20 Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Detail 3: Mains filter and mains connection Detail 4: Control cables At the output of the mains filter and at the AC mains connection (X3): At the control terminals (X8) of the ServoA note the following points: • Connect the wire strands at the output of the mains filter directly to the AC mains •...

  • Page 21: Protective Conductor Connection

    Protective conductor connection Electrical isolation method PE-mains connection The control electronics, with its logic (μP), the encoder terminals and the inputs and outputs, Step Action to DIN EN 61800-5-1 are electrically isolated from the power section (power supply/DC-link). All control terminals are Ground each of the drive controllers! designed as safety extra-low voltage/protective extra-low voltage (SELV/PELV) circuits and must Rules for the PE terminal as leakage...
  • Page 22 Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 X2/1 X2/1 X8/7 X8/7 24V_IN 24V_IN +24V X8/1 +24V X8/1 X8/13 X8/13 DGND X8/19 X2/2 DGND X8/19 X2/2 24V_GND 24V_GND DGND DGND ISD_01 ISD_01 ISD_02 ISD_02 X8/4 X8/4 V_μP V_μP ISD_03 ISD_03 Reslover Reslover ISD_04...

  • Page 23: Connection Of Supply Voltages

    Connection of supply voltages ATTENTION! Suitable measures must generally be applied to provide adequate line pro- tection. The voltage supply to the ServoA is separate for the control and power sections. The control supply should always be connected first, so that the device can be parameter- DANGER fROm ELECTRICAL VOLTAGE! ized with Drivemanager 5 and, above all, set to the correct power supply.

  • Page 24: Connection Of Mains Supply

    Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 3.7.2 Connection of mains supply ATTENTION! If local regulations require the installation of a residual current operated pro- tective device, the following applies: Procedure: In case of a fault the drive controller is able to generate d.c. leak currents- without zero crossing.
  • Page 25 NOTE: Please be aware that the ServoA drive controller is not designed for the mains quality inenvironment class 3 (EN 61000-2-4). further meas- ures are essential to achieve this environment class! for further information please consult your project engineer. Input current [A] Drive con- max.

  • Page 26: Control Connections

    Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Control connections 3.8.1 Specification of control connections Des. Term Specification El.isolation Analog inputs Step Action Comments AGND X8/11 · ISA00,ISA01 ±10 V DC · Resolution 13-bit; R approx. +10.5V X8/12 Check whether a complete device setup 101 kΩ...

  • Page 27: Usb-Port

    Digital inputs Service and error diagnosis interface X6 is a USB port. The interface is suitable for con- description of ENPO please look necting the computer. Drivemanager 5 of KEBA is used for debugging, services and ENPO X8/18 in Chapter 6 “functional torque error diagnosis.

  • Page 28: Encoder Connection

    Encoder connection of LSm motor Drive controller motor(with installed encoder) Encoder cable connection Please use the ready made-up motor and encoder cables from KEBA to connect the LSm synchronous motors (see Servomotors order catalogue). with resolver Variant A ELH2-D15m-R e.g. LSmL08-075-2f-000 without...
  • Page 29 Connection diagrams of encoder function DB15 male female plug male plug Colour function DB15 male Plug of encoder cable Figure 3.13.3 The resolver encoder diagram of ServoA and LSM with low inertia function DB15 male female plug male plug Colour Figure 3.13.1 The resolver encoder diagram of ServoA and LSM with medium inertia function DB15 male Plug of encoder cable...

  • Page 30: Encoder Interface X4A

    ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Ready made-up encoder cables 3.10.1 Encoder interface X4a The specifications can only be assured when using the KEBA system cables. Encoder is connected to slot X4 (15-pin D-sub female on ServoA). Hiperface ELH2 fig.
  • Page 31 TTL Wire Hall dig save Hall analog Sincos Fig. Open col- RS422 1Vss 1Vss RS422 lector Switching to PWR_ON Position U- => TTL-Signal A- Position U+ => HALL_A TTL-Signal A+ U_ Geber. * U_ Geber. * U_ Geber. * U_ Geber. * U_ Geber.

  • Page 32: Encoder Interface X4B

    Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 3.10.2 Encoder interface X4b Encoder can be also connected to slot X4b (15-pin D-sub female on ServoA). TTL HF Endat 2.x SinCos Fig. (＜2MHz) On demand with sincos 1Vss RS422 RS422 1Vss and RS485 RS422 U_encoder * 5V U_encoder * 5V...

  • Page 33: Motor Connection

    3.11 Motor connection NOTES: • The usage of encoders not included in the range supplied by KEBA requires special approval by KEBA. Step Action Comment • X4a the maximun signal input frequency is 500kHz. • X4b the maximun signal input frequency is 2MHz (for TTL only).

  • Page 34: Connection To Lsm Motors

    Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 3.11.1 Connection to LSM motors For connection of the servomotor series LSM, please use the ready made-up motor cable. Figure 3.14.2 Connection of motor for ServoA BG5 ATTENTION! DC linking of multiple drive controllers is not permitted! Figure 3.14.1 Connection of motor for ServoA BG2-BG4...

  • Page 35: Electronic Overload Protection For The Motor

    Ready made-up motor cable drive controller power stage is shut down and the motor current is 0. This is Order code done by inserting appropriate safety times for switching of the motor contac- PLH2 xxxx tor in the control sequence of your machine. PMM2 PLH2 applies to LSML Despite these measures, the possibility cannot be ruled out that the drive...
  • Page 36 Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Method to calculate the continuous braking power: sense when the effective drive controller load is ≤ 80 % or the braking resistor is de- signed for one-off emergency stop. In the event of an emergency stop, only the heat ∫...

  • Page 37: Connection Of An External Braking Resistor

    3.12.3 Connection of an external braking resistor ATTENTION! The external braking resistor must be monitored by the control. The temperature of the braking resistor is monitored by a temperature ATTENTION! watchdog (Klixon). In the event of overheating the drive controller must be • Be sure to follow the installation instructions for the external braking resis- disconnected from the mains supply.

  • Page 38: Master Encoder And Encoder Simulation Interface X7

    Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 3.13 Master encoder and encoder simulation interface X7 15-pin D-sub male on ServoA ( 5VDC ) Fig. Signal Function ME-A+ Master encoder track A+(RS422) Master encoder track A- ME-A- (RS422&Open Collector) ES-A+ Encoder simulation track A+(RS422) Figure 3.16 A/B incremental signals, Max.Frequency is 500KHz ES-A-...
  • Page 39 Figure 3.20 Encoder simulation Figure 3.18 HTL 12V Signals, Max.Frequency is 200KHz Figure 3.19 Open collector signals, Max. Frequency is 200 KHz ID no.: LDS-O-SA-EN-202103 ServoA Operation Manual Electrical installation...

  • Page 40: Communication Interface X5

    Master profiles Table 3.10 System requirements KEBA devices EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. The protocol published in IEC standard IEC 61158 is suitable for hard and soft real-time requirements in automation technology.

  • Page 41: Connectors

    Connection Function EC IN RJ-45 socket – input EC OUT RJ-45 socket – output Link/Activity status Green LED Function Off = No link No connection to another bus user Link On = Link Connection to another bus user Figure 3.21 RJ-45 interface Off = No link No connection to another bus user On = Link...

  • Page 42: Ethercat Axis Addressing

    Electrical installation ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 3.14.1.7 EtherCAT axis Addressing Stations on EtherCAT are automatically addressed by their bus location. The first drive on the network is axis 0. The second is axis 1, and so on. RUN indictor state “Safe-Operational”: Control ServoA ServoA...

  • Page 43: Canopen Communication Interface

    3.14.2 CANopen communication interface The CANopen interface is integrated into the drive controller. The connection is made via connector X5. The power for the electrically isolated connection is to be provided by the customer. Connection Miniature D-Sub 9-pin female Figure 3.25 Connection for CANopen communication interface Wave terminating resistor A jumper (pin 1-2) activates the internal terminating resistor (120Ω）...

  • Page 44: Commissioning

    Commissioning ServoA Operation Manual ID no.: LDS-O-SA-ZH-202103 4. Commissioning Integrated Keypad ServoA with integrated Keypad, Keypad is located on top of the drive, It is made up of 6-bit 7-segment lED and four function button. you can use Keypad to set parameter, monitor operating status, jog, save parameter, view alarm records, etc.

  • Page 45: The Function Of T1 To T4 Button

    4.2.2 parameter group overview 4.2.1 The function of T1 to T4 button Actual value Appl user application (pArA) CONf Device configuration CAM gear CTrl Control settings Button function Description Encoder T1 (ESC) · Quit submenu Error messages · Quit parameter T2 ( ·...

  • Page 46: Operation Step

    Commissioning ServoA Operation Manual ID no.: LDS-O-SA-ZH-202103 Operation step units, standardizations plCC plC-control 4.3.1 Select preset solution plCp plC-parameter Homing mode rTAB process set tables p152 value function description AlrT Warning messages user defined pCTl parameter interface Torque control,+/-10V reference,control via terminal Speed control,+/-10V reference,control via terminal fCON V/f-characteristic...

  • Page 47: Select Motor Type

    4.3.2 Select motor type 4.3.3 Select encoder p145 value function description p430 value function description user defined user defined reserved resolver reserved Hiperface reserved reserved lSMl06-020-2f-xxx reserved lSMl06-040-2f-xxx Hall sensor lSMl08-075-2f-xxx lSMl08-100-2f-xxx lSMM13-100-2N-xxx lSMM13-100-4N-xxx lSMM13-150-2N-xxx lSMM13-150-4N-xxx lSMM13-200-2N-xxx lSMM13-200-4N-xxx lSMM13-300-4N-xxx lSMl08-075-4f-xxx lSMl08-100-4f-xxx ID no.: LDS-O-SA-EN-202103 ServoA Operation Manual...

  • Page 48: User Log-On

    Commissioning ServoA Operation Manual ID no.: LDS-O-SA-ZH-202103 4.3.4 user log-on 4.3.5 Jog mode (Manual mode) Note: There are 6 levels in ServoC Plus, The most senior is Develop engineer(6), and the pass- Note: Before Jog, you should activate ENPO on X8 interface, From the motor shaft ,Positive word is 768.

  • Page 49: Alerror Messages

    Error messages parameter No. function description Time between switching-on and last error last error last but one error last but two error last but three error ID no.: LDS-O-SA-EN-202103 ServoA Operation Manual Commissioning...

  • Page 50: Diagnostics

    Diagnostics ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 5. Diagnostics Error codes and information The operation panel shows the specific error codes and glitters. More detailed error The device states and error displays are indicated on the internal operation panel dis- points will be displayed in DriveManager.
  • Page 51 Error Error Display Software code Error description Display Software code Error description number number Current overload Voltage overload Current overload due to: Voltage overload due to: 1. Incorrect parameter setting 1. Braking chopper overload (braked too long or too much) 2.
  • Page 52 Diagnostics ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Software Error Software Error Display Error description Display Error description code number code number Overheating of driver No readable parameter exists at the current user level or parame- ter access error via operation panel Overheating of power stage (heat sink) due to: 1.
  • Page 53 Software Error Software Error Display Error description Display Error description code number code number Error in initialization of current model Parameter error Check and change setting of control and motor parameter (motor Invalid parameter setting data set) (e.g. power class of motor and device are too different) Correction of parameter setting or reset device to factory Error in initialization of current control setting...
  • Page 54 Diagnostics ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Software Error Software Error Display Error description Display Error description code number code number Error in initialization of SSI-interface and encoder evaluation Error in self commisioning (test signal generator) encoder lines or gear ratio not supported Error in calibration of DC link voltage Check and change setting of encoder (ECNO1, ECDE1,ECLN1) and SSI...
  • Page 55 Error Software Error Display Software code Error description Display Error description number code number Interal error: unkown code. During execution of the program an Node-Error unknown order is called, does not exist in software version. Error in initialization Interal error: no code available. Jump to unknown address or unidentified data loss.
  • Page 56 Diagnostics ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Software Error Software Error Display Error description Display Error description code number code number EEPROM error The internal chopper resistor is overloaded Unspecific error in access to parameter memory The internal chopper resistor is overloaded 1.
  • Page 57 Error Error Display Software code Error description Display Software code Error description number number ENP: error in process block 2 “ECOFF” HIPERFACE: unspecific error Please contact your service provider HIPERFACE: the asynchronous interface reports a sys- ENP: error in process block 3 “MotDatSM” tem error (T8R=0).
  • Page 58 Diagnostics ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Software Error Error Display Software code Error description DIsplay Error description number code number Hardware limit alarm Errors in positioning modes E-HW Left hardware limit switch triggered Error in process and position control Right hardware limit switch triggered Please contact your service partner Hardware limit switch interchanged negative reference at positive limit...
  • Page 59 Software Error Software Error Display Error description Display Error description code number code number ASIC_Test_MainLoop() --- Continuous memory test error EtherCAT-Bus Error 1. Switch off/on device EtherCAT - General Error 2. Please contact your service provider if this error occurs again Please contact your service partner for further information ASIC_Test_MainLoop() --- APU test program was interrupted EtherCAT - General Error...

  • Page 60: Functional Torque Off (Former Sto)

    · 25 V / 200 mA AC, cos φ=1(AC1) X8/10 X8/10 inhibit is only cancelled by an external command (such as the On button, or in KEBA · 30 V / 200 mA DC, cos φ=1(DC1) controllers the ENPO). · Operating delay time approx 10ms ·...

  • Page 61: Wiring And Commissioning

    6.1.2 Wiring and commissioning Restart Torque ENPO ISDSH Controller state For the function the servocontrollers are equipped with additional logic circuits inhibit torque off and a feedback contact. The logic cuts the power supply to the pulse amplifiers to Power stage disabled via two activate the power stage.

  • Page 62: Ul Certification

    UL certification ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 7. UL certification For control outputs RSH OSD03 (X8/21)-RSH OSD04 (X8/10) and OSD00, OSD01, OSD03 of ServoA BG5, use secondary isolating source V rated 25Vac, 30Vdc or 24Vdc as appropriate for rating of the given output. For control outputs RSH OSD03 (X8/21)-RSH OSD04 (X8/10) of ServoA BG2~BG4, use Common terms to comply with the UL certification(UL508C)for BG2,BG3-BG5 secondary isolating source V rated 24Vdc as appropriate for rating of the given output.
  • Page 63 Electric supply mains Tightening torque Max.mains fuse Max.ambient Size Device Certification Maximum Mains supply Motor terminal,brake temperature voltage Short circuit capability Rating Voltage Class Voltage terminal resistor L+,L- SA52.075 3x230V/1x230V 5KA RMS 240V 5-7 lb-in 1x10A 300V °C UL recognized (8kHz) SA54.075 3x400V...

  • Page 64: Appendix

    Appendix ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 A. Appendix 1×230 0.05 SA52.0100 3×230 0.05 1×230 12.8 0.05 3×230 10.2 0.05 A.1 Current capacity of ServoA 1×230 12.8 0.05 SA52.0150 3×230 0.05 The maximum permissible servocontroller output current and the peak current are- 1×230 12.8 0.05...
  • Page 65 ServoA for 480 V Switching SA54.0200 200% over- 300% over- Input Current frequency of Rated current load time load time Device power stage [kHz] 10.4 SA54.0300 SA54.0500 SA54.0500 SA54.0750 10.5 SA54.0900 SA54.0750 Data applies to motor cable length ≤10 m. Maximum permissible motor cable length 30 m. 11.5 All current ratings with recommended line reactor.

  • Page 66: Servoa Ambient Conditions

    Appendix ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 A.2 ServoA ambient conditions Mechanical conditions ServoA as per EN 61800-2, IEC 60721-3-2 class 2M1 Frequency [Hz] Amplitude [mm] Acceleration [m/s Ambient conditions ServoA Vibration 2 ≤ f < 9 not applicable limit in Protection IP00 transit...

  • Page 67: Servoa Technical Data

    A.3 ServoA technical data Size Type SA52.0075 SA52.0100 SA52.0150 SA54.0075 SA54.0100 SA54.0150 SA54.0200 SA54.0300 SA54.0500 SA54.0750 SA54.0900 3.0A@1ph 5.0A@1ph input input Rated current 3.0A 2.2A 2.5A 3.5A 4.5A 6.7A 20A* 5.0A@3ph 7.2A@3ph input input 0~400HZ Rotating field frequency Voltage/ Three-phase 230V AC/One-phase 230V AC Three-phase 400V AC 50/60 Hz frequency 50/60 Hz...
  • Page 68 Appendix ServoA Operation Manual ID no.: LDS-O-SA-EN-202103 Space for your own notes...
  • Page 69 ID no.: LDS-O-SA-EN-202103 ServoA Operation Manual...
  • Page 70 KEBA Industrial Automation (Shanghai) Co., Ltd. WE RESERVE THE RIGHT TO MAKE TECHNICAL CHANGES. Gemdale Viseen Minhang Park Building 4, No.1288 Zhongchun The content of our documentation was compiled with the greatest care and attention, Road, Minhang District, Shanghai P.R.China. Post Code: and based on the latest information available to us.

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