Kollmorgen SILVERLINE SO-2808-0000 Manual

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Kollmorgen SO-2808-0000

S/O Servo Drive

A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .

• C r i t i c a l a n d e x p e d i t e d s e r v i c e s

• I n s t o c k / R e a d y - t o - s h i p

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Page 1 Kollmorgen SO-2808-0000 S/O Servo Drive In Stock Qty Available: 2 Used and in Excellent Condition Open Web Page https://www.artisantg.com/79775-2 A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
Page 2 ® Kollmorgen SILVERLINE S/O Manual ® Kollmorgen SILVERLINE Product Series S/O Installation Manual Old Number M-SL-000-H New Number MSO000H Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 3 Printed in the United States of America. 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.
Page 4 Kollmorgen Table of Contents Contents Overview SECTION 1 GENERAL INFORMATION ....................1-1 1.1 H ............................1-1 OW TO USE MANUAL 1.2 W ..........................1-1 ARRANTY NFORMATION 1.3 C ............................1-1 USTOMER UPPORT 1.4 A ..............................1-2 BBREVIATIONS 1.5 L ..............................1-3 IST OF IGURES SECTION 2 SYSTEM DESCRIPTION ....................
Page 5 4.9.2 Wiring J1, BUS Power and Motor Leads ....................4-6 4.9.2.1 Wiring Bus Leads ..............................4-6 4.9.2.2 Wiring Motor Leads for Kollmorgen BLDC Motors.................... 4-7 4.9.2.3 Wiring Motor Leads for Kollmorgen VMG Motors ..................... 4-7 4.9.2.4 Wiring Motor Leads for Other BLDC Motors...................... 4-7 ®...
Page 6 Kollmorgen Table of Contents 4.9.4.4 Wiring Motor Leads for Brush Motors......................... 4-8 4.9.5 Installing J2, 120 ° Commutation......................4-8 4.9.6 Installing R in J4............................. 4-9 4.9.7 Installing J5, Current-Loop Mode Select ....................4-10 4.9.8 Wiring J6, Amplifier Status and Control ....................4-10 4.9.8.1 AMP OK Output ..............................
Page 7 Kollmorgen Table of Contents 6.2.2 SPS/R Spare Parts List ..........................6-1 6.2.3 Ordering Information ..........................6-1 6.3 P .........................6-1 REVENTATIVE AINTENANCE 6.3.1 Transient Voltages............................ 6-2 6.3.2 Electrical Noise ............................6-2 6.3.3 Radio Frequency Energy .......................... 6-2 6.4 P ..........................6-3 ERIODIC AINTENANCE 6.4.1 Grounding Integrity..........................
Page 8 • The Kollmorgen SILVERLINE product series contains electrostatically sensitive components which can be damaged by incorrect handling. Discharge yourself before touching the product. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the product on a conductive surface.
Page 9 Kollmorgen Agency "Caution" directs attention to general precautions, which if not followed, could result in personal injury and/or equipment damage. "Note" highlights information critical to the users understanding or use of these products. Directives and Standards The product has not be tested for any UL or European CE standards.
Page 10 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 our customers the most effective way, Kollmorgen offers a one-stop service center to answer all our customer’s product needs. This one number provides order status and delivery information, product information and literature, and application and field technical assistance: ®...
Page 11 Kollmorgen General Information Kollmorgen Customer Support Network 203 Rock Road Suite A Radford, VA 24141 Phone: (800) 774-KCSN (5276) Fax: (540) 639-1640 Inside Sales Fax: (540) 639-1574 Technical Support Email: KMTG@Kollmorgen.com Http://www.KMTG.Kollmorgen.com Note! If you are unaware of your local sales representative, please contact us at the number above. Visit our web site ®...
Page 12 Kollmorgen General Information 1.5 LIST OF FIGURES Figure 2-1 S/O Model Number Scheme........................2-2 Figure 2-2 SPS/R Model Number Scheme .........................2-3 Figure 2-3 SO System Wiring Diagram........................2-6 Figure 2-4 SP System Wiring Diagram, Velocity Loop....................2-7 Figure 3-1 SPS/R-4008 Outline ..........................3-2 Figure 3-2 SO-400x Outline ............................3-3 Figure 3-3 Size 23 Outline............................3-4...
Page 13 Kollmorgen General Information ® SERVOSTAR Product Family Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 14 Kollmorgen System Description System Description Section 2 2.1 INTRODUCTION The Kollmorgen S/O-series amplifiers are six-step modules designed to bring high performance to cost-sensitive applications. S/O amplifiers have these important features: High linearity • Minimal dead band • No heatsink required •...
Page 15 Kollmorgen System Description Current Loop The S/O has analog current loops which are tuned with one capacitor (CL in J3) and one resistor (RL in J4). The values of these components vary depending on the motor and amplifier models. Failure to install the correct values can result in damage to the motor and amplifier.
Page 16 Kollmorgen System Description 2.2.2 SPS/R Model Number SPS(R) - 40 08 - 1 000 SPS Power Reserved Supply 00 - Standard SPSR Power Supply Number of Axes with Regen 1 - 1 Axis 2 - 2 Axes DC Bus Output Voltage...
Page 17 Kollmorgen System Description ESD Protection ANALOG CMD inputs resistor/diode protected. ENABLE input opto-isolated. AMP OK output opto-isolated and buffered. Hall sensor inputs resistor / diode protected. Current Overload Monitor Current Full Differential, ±10 volts Analog Input Impedance: Approximately 40 kohm...
Page 18 41-43 VDC Table 2-4 Environmental Specifications Operating Temperature* C to 40 Storage Temperature C to 70 Humidity (Non-Condensing) 10% to 90% Note: For operation ambients above 40°C, consult the Kollmorgen Customer Support Network 2.3.2 Physical Deminsions MODEL WIDTH HEIGHT DEPTH NUMBER SO 40XX 1.62...
Page 19 Kollmorgen System Description 2.3.2 Current Control Wiring Diagram AMP OK Yellow Orange Velocity Brown Command Green Blue +5 to +24 ENABLE SILVERLINE Motor Encoder SILVERLINE 10-Pin Ribbon Cable Input Encoder Controller (Customer supplied) Current Loop JB 1 1 2 3 4 5...
Page 20 Kollmorgen System Description 2.3.3 Velocity Control Wiring Diagram AMP OK Yellow Orange Brown +5 to +24 Green Blue ENABLE Velocity Command SILVERLINE 10-Pin Ribbon Cable Encoder 2 4 6 8 10 1 3 5 7 9 J204 J 201 Controller...
Page 21 Kollmorgen System Description ® SILVERLINE Product Family Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 22 Kollmorgen Outline Drawings Outline Drawings Section 3 OUTLINE DRAWINGS The following system outline drawings include the following: ® Kollmorgen SILVERLINE SPS/R-4008 ® Kollmorgen SILVERLINE SO-400x ® Kollmorgen SILVERLINE H-23x Motor: ® Kollmorgen SILVERLINE H-34x Motor: ® SILVERLINE Product Family Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 23 Kollmorgen Outline Drawings Figure 3-1 SPS/R-4008 Outline ® SILVERLINE Product Family Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 24 Kollmorgen Outline Drawings Figure 3-2 SO-400x Outline ® SILVERLINE Product Family Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 25 Kollmorgen Outline Drawings Figure 3-3 Size 23 Outline ® SILVERLINE Product Family Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 26 Kollmorgen Outline Drawings Figure 3-4 Size 34 Outline ® SILVERLINE Product Family Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 27 Kollmorgen Outline Drawings ® SILVERLINE Product Family Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 28 Kollmorgen Mounting and Wiring Mounting and Wiring Section 4 4.1 INTRODUCTION This chapter provides information concerning safety, unpacking, inspection, and installation for the S/O and the SPS/R. Read the entire chapter carefully. Most installation problems are caused by incorrect wiring or poor wiring practices.
Page 29 Carefully remove packing material and remove the equipment from the shipping container. Do not dispose of shipping materials until the packing list has been checked. Parts contained within the shipment but not physically attached to the equipment should be verified against the packing list. If any parts are missing notify Kollmorgen at once.
Page 30 Kollmorgen Mounting and Wiring 4.5.2 Mounting S/O Units on an SPS/R SPS/Rs include mounting holes for up to four S/O units. The number of S/O units that can be mounted is specified when you order your units. See the SPS/R outline drawing in Section 3 for more information.
Page 31 Kollmorgen Mounting and Wiring The maximum bus voltage must be 40 volts or less under all conditions. CAUTION 4.7.2.1 Providing DC Bus Using an SPS/R Refer to Figure 3-1 (page 3-2). Note that SPS/Rs are unregulated supplies and provide a nominal voltage of 75% of the rated voltage.
Page 32 Kollmorgen Mounting and Wiring 4.8 WIRING THE ENCODER The standard SILVERLINE encoder uses a 10-pin ribbon cable connector. It is wired according to the HEDL ® standard from Hewlett-Packard. Refer to Figure 4-2 (page 4-17). If you are using a standard SILVERLINE encoder or any encoder compatible with the HEDL standard, you may connect the encoder directly to the S/O velocity-loop option PCB with a ribbon cable.
Page 33 Kollmorgen Mounting and Wiring If the encoder cable is disconnected, the motor will run away! Vibration can loosen and disconnect this cable! Secure the encoder cable to the Encoder using a wire tie. Use WARNING Amp 746285-1 connector. Strain relieve the encoder cable at both ends.
Page 34 Connect the three motor leads according to the color code shown in Figure 4-6 (page 4-21). This figure shows the color code for Kollmorgen VMG Brushless DC motors. Remove Jumper J2 (discussed later). 4.9.2.4 Wiring Motor Leads for Other BLDC Motors The graphs below show the commutation sequence for 120°...
Page 35 For brush motors, remove Jumper J2. Connect motor leads to J1-1 and J1-2. For SERVOLINE Brush Motors from Kollmorgen, connect motor lead A to J1-2, and motor lead B to J1-1. Note that phasing of non-SERVOLINE brush motors is often a matter of trial-and-error.
Page 36 Kollmorgen Mounting and Wiring Failure to install the correct value for C may result in damage to the amplifier or significant loss of CAUTION performance. J3 is a 2-pin cage clamp connector that accepts the current loop tuning capacitors. The value of C depends on the amplifier model number, the applied voltage, and the motor line-to-line inductance (L).
Page 37 Kollmorgen Mounting and Wiring × SO-4008 Equation 4.4 where: is the value of the resistor in kohm V is the applied voltage (volts) L is the line-to-line inductance of your motor (mH). You can round these values to the nearest 20% so you can use a standard value. Use 1/8 or 1/4 watt resistors.
Page 38 Kollmorgen Mounting and Wiring To use AMP OK, connect an impedance limited source from pin 1 (+) to pin 2 (-). Impedance should limit current draw to 24 mA (max); for example, for a 24-volt source, impedance must be no less than 1 kohms.
Page 39 ® Kollmorgen SILVERLINE and RBE motors. (For Kollmorgen VMG motors, see Figure 4-6 on page 4-21.) Motors from other manufacturers can be used. If you are connecting a brush motor, leave J7 open and remove J2; there is no need to jumper any sensor lines.
Page 40 S/O with a single ribbon cable. If you are using an encoder other than a standard SILVERLINE encoder, or if the distance or environment is inappropriate for ribbon cable, you can connect J203/204 to the BJ-BKO-10, a 10-pin ribbon-cable DIN-rail mounted breakout from Kollmorgen. The breakout provides screw-terminal connectors for conventional field wiring.
Page 41 If your encoder supplies single-ended signals, connect these signals to J203/204 -6 (Channel A) and -8 (Channel B). Note, however, that Kollmorgen highly recommends differential signals because of superior noise rejection. 4.9.15 Wiring J205, ± ± ± ± 15V Input (Velocity Loop Only) J205 is a 4-pin crimp style connector.
Page 42 Kollmorgen Mounting and Wiring SPS(R)-4008-4 Optional Rectifier Bridge Regen Unit J3-1(+) J3-4 (-) J1-2 J1-1 J1-2 J1-2 J1-5 J1-4 J1-5 J1-4 J1-5 J1-4 J1-5 J1-4 Line Voltage (120 VAC shown) Customer Provided Connections SPS(R) Terminal Strip Wiring 1 & 4: AC Line (120 VAC or 240 VAC) 2 &...
Page 43 Kollmorgen Mounting and Wiring Table 4-11 S/O Connector Function Name Location Type Description Power Main PCB 5- Pin Screw Connections for power bus and motor Terminal leads. 120° Main PCB Jumper 120° select. Install for SILVERLINE BLDC motors and other 120° BLDC Motors.
Page 44 Kollmorgen Mounting and Wiring +5 Supply Pin 2 Common Pin 3 Channel A- Pin 5 Channel A+ Pin 6 Channel B- Pin 7 Channel B+ Pin 8 Index- Pin 9 Index+ Pin 10 Silverline Encoder Figure 4-2 SILVERLINE Encoder ®...
Page 45 Kollmorgen Mounting and Wiring 6 5 4 3 2 1 5 4 3 2 1 Hall Sensor Input Control & Status “C” “O” Current Mode Select (shown in “C” position) 120 Degree AMPLIFIER Commutation (Main PCB) Cap CL Res RL...
Page 46 Kollmorgen Mounting and Wiring J201 J204 J6 (Main PCB) Velocity Loop Control Feedback Encoder Control & Status J7 (Main PCB) 6 5 4 3 2 1 5 4 3 2 1 J205 Hall Sensor Input +/-15VDC 6 5 4 3 2 1...
Page 47 Kollmorgen Mounting and Wiring DC BUS Power Bus Power and J1-5 (20 - 40VDC) Logic Power J1-4 Black J1-3 Motor Motor Leads Power White J1-2 J1-1 Hall Sensor Power Blue J7-1 Hall Sensor Common Green Hall J7-2 Sensors Brown J7-3...
Page 48 Kollmorgen Mounting and Wiring DC BUS Power Bus Power and J1-5 (20 - 40VDC) Logic Power J1-4 Black/Brown J1-3 Motor Motor Leads Power Orange/Red J1-2 White J1-1 Hall Sensor Power J7-1 Hall Sensor Common Brown Hall J7-2 Sensors Blue J7-3...
Page 49 Kollmorgen Mounting and Wiring Amplifier Status Input Amplifier J6-1 Status J6-2 Torque Input (+/- 10 Volts = Full Torque) J6-4 J6-3 Enable +5VDC J6-5 J6-6 S/O Amplifier Positioner Figure 4-7 Connector J6 Amplifier Enable, Command and Status ® 4-22 SILVERLINE Product Family Artisan Technology Group - Quality Instrumentation ...
Page 50 Kollmorgen Mounting and Wiring Tach Output J201-5 Amplifier J201-6 Status Input Amplifier J6-1 Status J6-2 Velocity Command (+/- 10 Volts = Full Velocity) J201-2 J201-1 Enable +5VDC J6-5 J6-6 Controller S/O Amplifier with Velocity Loop Option Factory connections in this configuration include:...
Page 51 Kollmorgen Mounting and Wiring (n o co n n e ct) P in 1 J20 4 -1 J20 3 -1 + 5 S u p p ly + 5 V D C S u p p ly P in 2...
Page 52 Kollmorgen Commissioning Commissioning Section 5 5.1 START UP AND CHECK OUT You should now be ready to test your system functions. Be prepared to disable the S/O amplifier by opening the enable signal (J6-5 and J6-6). Limit switches and safety devices should be operational. In multi-axis systems, work with one axis at a time.
Page 53 Motors). If the motor has positions where there is no torque ("dead spots"), verify that J2 is properly installed. (J2 is installed for SILVERLINE and RBE motors; it is removed for VMG motors.) If you are using a non-Kollmorgen motor, refer to the "Non-Kollmorgen Motor Phasing" section at the end of this chapter.
Page 54 If you need to add a regen unit to your system, Kollmorgen supplies the SPSR-4008-RGN, a stand-alone regenerative dissipation unit. If you are already using an SPS power supply, the SPSR-4008-RGN can be mounted directly to the SPS.
Page 55 Kollmorgen Commissioning Do not proceed until the encoder checks out properly. Running a system with a WARNING disconnected or improperly connected encoder may cause the motor to run away. 5.1.3.2 S1 DIP Switch Settings S1 is used to set the maximum encoder frequency. Setting this switch correctly will improve the low speed performance.
Page 56 Kollmorgen Commissioning For demanding applications, you may need performance beyond that attainable by adjusting S2 and the GAIN pot. In this case, the velocity loop option card provides positions for a user-installed integrator capacitor (C7) and lead capacitor (C28). These components are rarely used and determining their values is beyond the scope of this manual.
Page 57 Kollmorgen Commissioning When using velocity loop option, be aware that both cards have a gain pot. This section refers to the pot on NOTE the top (option) board. 5.1.4.2 Detuning the Velocity Loop Detuning reduces the velocity loop response. This can be accomplished two ways: 1) reducing GAIN pot, and 2) slowing the velocity loop integrator.
Page 58 Kollmorgen Commissioning • Response • Stability In a broad sense, the performance of a system is characterized by its noise susceptibility, response, and stability. These quantities tend to be mutually exclusive. The system designer must decide what noise susceptibility (in the form of a "busy"...
Page 59 Kollmorgen Commissioning 0.022uF S2-1* Velocity 0.056uF S2-2 Command 0.1uF S2-3 J205 100K 100K “Scale” 100K J205 150K “Offset” Current “Gain” Command S2-4 J204 “Test” J203 +5VDC*** Tach Monitor 3.3K J205 RS-485 Encoder (scales Velocity velocity signal) Converter RS-485 Notes *At least one of S2-1, -2, or -3 must be closed when C7 is open.
Page 60 Kollmorgen Commissioning 5.2.1 Critical Damping Generally, the most desirable amount of damping is Critical Damping. Critically damped systems respond as fast as possible with little or no overshoot. The graph in Figure 5-2 shows the velocity response of a system to a square wave input when the system is critically damped.
Page 61 Kollmorgen Commissioning 1.00 0.80 0.60 0.40 0.20 0.00 0.000 0.025 0.050 0.075 0.100 Time (seconds) Figure 5-4 Overdamping 5.2.3 Ringing When you are tuning the S/O you may tune it so that the response rings. Ringing is caused when you attempt to tune the S/O for too rapid response.
Page 62 Kollmorgen Commissioning 5.3.1.1 The Frequency Domain A common way to specify response is measuring the response of the current loop to a sinusoidal command over a wide range of frequencies. That is, measuring the loop response in the frequency domain. The response of current loops gets poorer as the command frequency increases.
Page 63 Kollmorgen Commissioning Command Feedback 0.0005 0.001 0.0015 0.002 -0.2 -0.4 -0.6 -0.8 Figure 5-6 -3dB Point: 70% Attentuation 5.4 PROBLEMS The mechanical construction can limit the performance of your velocity loop. The problems caused by the mechanics fall into three categories: •...
Page 64 Kollmorgen Commissioning Command Motor Motor Current Gain RL + 1/sCL 1/RS VBus/6 ------- Ls + R 1/RFB RSAMPLE IFB (.2v = Cont. Current) Figure 5-7 Simplified Frequency Domain Model 5.4.2 Non-Linearities Tuning is based on linear control theory. The most important requirement of a linear controller is that the total reflected inertia should not change substantially during operation.
Page 65 This section discusses how to determine empirical phasing for non-Kollmorgen motors. Section 4 discussed how to connect non-Kollmorgen motors in the section "Wiring Motor Leads for Other BLDC Motors." That section is based on using sequences for either 60° or 120° commutation. However, if the corresponding information for the motor is not available, use the following trial-and-error procedure.
Page 66 6.2.3 Ordering Information If you need to order parts for the S/O and/or SPS/R, you can order them through your local distributor. For a complete list of Kollmorgen representatives contact the ICP regional office. 6.3 PREVENTATIVE MAINTENANCE Preventative maintenance can prevent situations that will damage your equipment. Four types of preventative maintenance are presented below.
Page 67 Kollmorgen Maintenance Preventative maintenance should be performed with the S/O system out of operation and disconnected from all sources of power. Preventative maintenance to this equipment must be performed by qualified personnel familiar with the construction, operation, and hazards involved with the application.
Page 68 Kollmorgen Maintenance 6.4 PERIODIC MAINTENANCE Periodically you will need to inspect your equipment for possible problems to ensure ongoing safe and efficient operation. Periodic maintenance should be performed at scheduled intervals to ensure proper equipment performance. It must be performed by qualified personnel familiar with the construction, operation, and hazards involved with the S/O and its application.
Page 69 Kollmorgen Maintenance ® SILVERLINE Product Family Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 70 Kollmorgen Index Index BJ-BKO-10, 4-13, 6-1 Fault Brush Motor, 4-8 Over Current, 5-3 Circuit Breakers, 4-3 Overvoltage, 5-3 Commutation, 4-8 Fuses, 4-3, 6-1 120 Degree, 4-8 Grounding, 4-3 60 Degree, 4-8 Grounding Integrity, 6-3 Commutation Diagram Hall Sensors, 4-8 120 Degree, 4-7...
Page 71 Kollmorgen Index Spare Parts, 6-1 Ordering Information, 6-1 Spare Parts List, 6-1 SPS Power Supply, 5-3 SPS/R Model Number, 2-3 Mounting, 4-3 SPSR-4008-RGN, 5-3 Stability, 5-6, 5-7 Start up, 5-1 Static Sensitive, 4-2 Storage Temperature, 4-2 Strain Relief, 4-3, 4-4, 4-5, 4-6...

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