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Summary of Contents for Kollmorgen Seidel digifas 7200 series
- Page 1 Digital servo amplifier digifas™ 7200 series Assembly / Installation / Commissioning Version 03/98...
- Page 2 Previous editions Edition Comments 11 / 94 First edition 03 / 96 software version 5L80/5A77, appendix expanded, text revised, -IL- 01 / 97 software version 6L40/6A40, digifas™ 7206 and -BV, -ROD/SSI- and -G- as standard, text revised 03 / 98 SSD-version, parameter list corrected, PC interface (serial connection) Technical changes to improve the performance of the equipment may be made without prior notice!
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Page 3: Table Of Contents
® digifas 7200 series 03.98 Contents Diagram Page Contents ..........A Safety instructions . -
Page 4: Contents
® 03.98 digifas 7200 series Contents Diagram Page Control inputs and outputs III.1 Input functions ..............III-1 III.1.1 Analog inputs . -
Page 5: Safety Instructions
® digifas 7200 series 03.98 Safety instructions Warning signs : you must observe the important instructions in the text, which are indicated by the following symbols: hazard from electricity general warning and its effects general instruction Only properly qualified personnel are permitted to perform activities such as transport, installation, commissioning and maintenance. -
Page 6: Directives And Standards
® 03.98 digifas 7200 series Directives and standards Servo amplifiers are components which are intended to be incorporated into electrical machines and plant. When the servo amplifiers are incorporated into machines or plant, the intended operation of the amplfiers is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Directive on Machines 89/392/EEC and the EC Directive on EMC 89/336/EEC. -
Page 7: I General
® digifas 7200 series 03.98 General About this manual This manual forms part of the complete documentation for the digifas™ 7200 series of servo amplifiers. It describes the assembly, installation and commissioning of the standard units of this series, i.e. the versions of the servo amplifier without a CONNECT module. It also includes advice about transport, storage, maintenance and disposal of the equipment. -
Page 8: Abbreviations Used In This Manual
® 03.98 - A.4.028.6/10 digifas 7200 series Abbreviations used in this manual The table below explains the abbreviations which are used in this manual. Abbrev. Meaning Abbrev. Meaning AGND analog ground NSTOP limit-switch input for rot. dir. CCW system ready PELV protected low voltage European Community... -
Page 9: Equipment Description
® digifas 7200 series 03.98 Equipment description I.5.1 The digifas™ 7200 series of digital servo amplifiers The digifas™ 7200 series of digital servo amplifiers are available in several versions: Standard version digifas™ 72xx series 4 current types, with analog speed-setpoint input, incremental positional output, controllable motor-holding brake. -
Page 10: Digital Servo Amplifier Concept
® 03.98 digifas 7200 series I.5.2 Digital servo amplifier concept Operation and parameter setting Via the parallel interface of a PC using the special operator software BS7200 Power section Mains supply : B6 bridge rectifier with current inrush limiter, directly off the 3-phase 400V mains Output stage : IGBT-module with electrically isolated current measurement... -
Page 11: Block Diagram
® digifas 7200 series 03.98 - A.4.011.4/14 Block diagram Chapter I General Page I - 5... -
Page 12: Frontal View: Digifas™ 7200 Operating Components And Connections
® 03.98 - A.4.011.4/9 digifas 7200 series Frontal view: digifas™ 7200 operating components and connections Page I - 6 General Chapter I... -
Page 13: Technical Data Of The Digifas™ 7200 Series
® digifas 7200 series 03.98 Technical data of the digifas™ 7200 series digifas™ Rated specifications 7201 7202 7204 7206 Rated supply voltage 3 x 80-400 / 50...60Hz +max. 10% Rated connected load for S1 operation Rated intermediate circuit voltage Rated output value (rms value, ± 5%) Peak output current (max. -
Page 14: Permissible Ambient Conditions, Ventilation, Mounting Position
® 03.98 digifas 7200 series I.8.1 Permissible ambient conditions, ventilation, mounting position Transport temperature/humidity see Chapter VI.1 Storage temperature/humidity/time see Chapter VI.1 Supply voltage tolerance Power supply min. 3x80V AC / max. 3x400V AC + 10% Aux. voltage without brake min. -
Page 15: Led Display
® digifas 7200 series 03.98 I.8.4 LED display Green LED equipment ready to operate / supply voltage available BTB-relay released, green LED is off, Red LED error signal (see Chapters II.5 and V.5), plain text message System grounds The following grounds are available in the system: AGND —... -
Page 16: Motor Choke Box 3Yl-06
® 03.98 - A.4.018.4/1 digifas 7200 series I.11 Motor choke box 3YL-06 If the shielded motor cable is longer than 25m, you must use the motor choke box 3YL-06 ma- nufactured by Seidel and a 4x1mm² motor cable. The motor choke prevents the servo amplifier from extensively high capacitive reactive current. Page I - 10 General Chapter I... -
Page 17: Installation And Commissioning
® digifas 7200 series 03.98 Installation and commissioning II.1 Important instructions Check the conformance of the servo amplifier and the motor. Compare the rated voltage and current of the equipment. Implement the wiring according to the wiring diagram in Chapter II.2.3 or II.2.4. -
Page 18: Ii.2 Installation
® 03.98 digifas 7200 series II.2 Installation Only electrically qualified personnel are allowed to install the servo amplifier. The installation procedure is described in examples. A different procedure may be necessary or appropriate, depending on the usage of the equipment. More detailed knowledge can be acquired through our training courses (on request). - Page 19 ® digifas 7200 series 03.98 The following instructions should help you to follow a sensible installation sequence without overlooking any important steps. In a closed switchgear cabinet. Observe Chapter I.8.1 . Location The location must be free from conductive and agressive material. —...
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Page 20: Ii.2.1 - Correct Wiring , General Diagram
® 03.98 - A.4.011.1/4 digifas 7200 series II.2.1 - correct wiring , general diagram Page II - 4 Installation and commissioning Chapter II... -
Page 21: Ii.2.2 Pin Assignments For Standard Unit
® digifas 7200 series 03.98 - A.4.011.4/15 II.2.2 Pin assignments for standard unit Chapter II Installation and commissioning Page II - 5... -
Page 22: Ii.2.3 Wiring Diagram Standard Unit For Motor Series 6Sm27/37/47/57/77
® 03.98 - A.4.011.1/14 digifas 7200 series II.2.3 Wiring diagram standard unit for motor series 6SM27/37/47/57/77 Page II - 6 Installation and commissioning Chapter II... -
Page 23: Ii.2.4 Wiring Diagram Standard Unit For Motor Series 6Sm45,56
® digifas 7200 series 03.98 - A.4.011.1/6 II.2.4 Wiring diagram standard unit for motor series 6SM45,56 Chapter II Installation and commissioning Page II - 7... -
Page 24: Ii.2.5 Wiring Example: Multi-Axis System
® 03.98 - A.4.011.1/10 digifas 7200 series II.2.5 Wiring example: multi-axis system Page II - 8 Installation and commissioning Chapter II... -
Page 25: Ii.2.6 Notes On Connection Methods
® digifas 7200 series 03.98 - A.4.029.4/1 II.2.6 Notes on connection methods II.2.6.1 Using the shield connection terminal clamps Cut off a busbar of the required length from brass bar stock (10x3mm cross-section) and drill the holes as shown. All the terminal clamps which are needed for connecting the shielding must fit between these drilled holes. -
Page 26: Connecting The Subd9 Connector
® 03.98 - A.4.029.4/2 digifas 7200 series II.2.6.2 Connecting the SubD9 connector Example: resolver connector X2 Strip off about 25mm of the outer insulation, taking care not to damage the shielding braid. Push the free shielding braid back over the outer insulation. Insulate the back portion with heatshrink sleeving, leaving about 12mm of the braid bare. -
Page 27: Ii.2.6.3 Using Shielded Leads With Terminals
® digifas 7200 series 03.98 - A.4.029.4/3 II.2.6.3 Using shielded leads with terminals Example : analog lead Strip off about 60mm of the outer insulation, taking care not to damage the shielding braid. Cut back the shielding braid to a length of about 20mm. -
Page 28: Using Motor Cable Without Brake (Amplifier Side
® 03.98 - A.4.029.4/4 digifas 7200 series II.2.6.4 Using motor cable without brake (amplifier side) Strip off about 140 mm of the outer insu- lation (pos. 1), taking care not to damage the shielding braid. Cut back the shielding braid to a length of about 20mm. -
Page 29: Using Motor Cable With Brake (Amplifier Side
® digifas 7200 series 03.98 - A.4.029.4/5 II.2.6.5 Using motor cable with brake (amplifier side) Strip off about 140 mm of the outer insu- lation (pos. 1), taking care not to damage the outer shielding braid. Cut back the outer shielding braid to a length of about 20mm. -
Page 30: Ii.3 Commissioning
® 03.98 digifas 7200 series II.3 Commissioning The commissioning of servo amplifiers can only be carried out by qualified personnel with extensive knowledge of the fields of electrical engineering and amplifier technology. The method of commissioning is described in an example. A different method may be appro- priate or necessary, depending on the usage of the equipment. - Page 31 ® digifas 7200 series 03.98 The following instructions should help you to follow a sensible installation sequence without en- dangering personnel or machinery. see Chapter II.2. De-energize the servo amplifier. check installation disable 0V on terminal X3/16 Enable Signal 24V DC on terminal X1/1 and ground on terminal X1/2 switch on The green LED light up after the initialisation sequence (approx.
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Page 32: Ii.4 Parameter Description
® 03.98 digifas 7200 series II.4 Parameter description A brief description of the parameters is given. Detailed explanations can be found in the operating manual for BS7200. II.4.1 General Motor pole no. [-] The current setpoint entry can be adjusted for operating 2- to 12-pole motors. Changes are only possible when the Enable signal is inactive. -
Page 33: Ii.4.2 Current Controller
® digifas 7200 series 03.98 II.4.2 Current controller , root mean square current [A] Sets the desired rms output current. , peak current [A] peak Sets the desired peak output current according to requirements. I²t threshold, signal threshold [%] Monitors the actual rms current required. Kp, P-gain [-] Determines the proportional gain of the current controller. -
Page 34: Ii.4.4 Service Functions
® 03.98 digifas 7200 series II.4.4 Service functions The service functions are auxiliary functions for optimizing the controller parameters. Constant speed Drive runs with constant speed. The analog setpoint input is inoperable. Constant current Drive runs with constant current, under current control.The analog setpoint input is inoperable. Reversing mode Drive runs in reversing mode. -
Page 35: Control Inputs And Outputs
® digifas 7200 series 03.98 Control inputs and outputs III.1 Input functions III.1.1 Analog inputs Setpoint input SW The servo amplifier is equipped with a decoupled differential input for an analog setpoint. It is set for a differential input voltage of max. ± 10 V, resolution 1mV. Ground reference: AGND, terminal X3/17. -
Page 36: Iii.2 Output Functions
® 03.98 digifas 7200 series III.2 Output functions III.2.1 Analog outputs DC-monitor: armature current setpoint IDC and tachometer monitor output VTA Depending on the setting of the DC-MONITOR parameter, the IDC/VTA output (terminal X3/23) provides either the current setpoint (IDC) or a tachometer voltage (VTA). IDC preselection The IDC monitor provides ±... -
Page 37: Iii.2.3 Brake
® digifas 7200 series 03.98 - A.4.012.3/2 III.2.3 Brake A 24V holding-brake in the motor can be operated directly from the servo amplifier. The braking function must be explicitly enabled by using the BRAKE parameter: setting WITH. The diagram below shows the timing and functional relationship between the ENABLE signal, speed setpoint, speed and braking force. - Page 38 This page has been deliberately left blank Page III - 4 Control inputs and outputs Chapter III...
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Page 39: Interfaces And Options
® digifas 7200 series 03.98 - A.4.011.3/4 Interfaces and options IV.1 Incremental encoder interface (only for units without a CONNECT module) The incremental encoder interface is included as part of the delivery package for servo- drives which do not have a CONNECT module (standard version). Set the parameter ROD/SSI to ROD with the operator software BS7200. -
Page 40: Iv.2 Ssi-Interface, (Only For Units Without A Connect Module
® 03.98 - A.4.011.3/5 digifas 7200 series IV.2 SSI-Interface, (only for units without a CONNECT module) The SSI position interface is included as part of the delivery package for servodrives which do not have a CONNECT module (standard version) . Set the ROD/SSI parameter to SSI with the operator software BS7200. -
Page 41: Iv.3 Pc Interface
® digifas 7200 series 03.98 IV.3 PC interface With the operating software BS7200 you can carry out the setting of the operating, positional, and motion parameters, using a normal commercial personal computer (PC). The PC interface (X6) of the amplifier is connected with the parallel or serial port of the PC by a 9-core special cable. -
Page 42: Iv.4 Controllable Torque Limiting, Option -Il
® 03.98 digifas 7200 series IV.4 Controllable torque limiting, Option -IL- Only possible for units without a CONNECT module. IV.4.1 General, technical data With the -IL- option you can limit the torque of the motor which is connected to the digifas™ to a freely selectable value which is less than the pulse torque, with the aid of a DC control voltage. -
Page 43: Iv.4.2 Important Notes
® digifas 7200 series 03.98 IV.4.2 Important notes Connect up the unit according to the wiring diagram in Chapter IV.4.5. The unit is supplied from the auxiliary voltage (terminals +25V, XGND) which is also available in the servo amplifier. Internally, this is electrically connected to the analog ground (AGND). There is an internal fuse for the positive pole. -
Page 44: Iv.4.3 Commissioning
® 03.98 - A.4.011.4/27 digifas 7200 series IV.4.3 Commissioning Our applications department can help you with commissioning. Preparation — switch off the supply voltages — detach plug X4 from the servo amplifier — check LB1 (final speed), change solder link if necessary —... -
Page 45: Iv.4.5 Wiring Diagram, -Il- Option
® digifas 7200 series 03.98 - A.4.011.1/15 IV.4.5 Wiring diagram, -IL- option Chapter IV Interfaces and options Page IV - 7... - Page 46 This page has been deliberately left blank Page IV - 8 Interfaces and options Chapter IV...
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Page 47: Drawings
® digifas 7200 series 03.98 - A.4.011.4/26 Drawings Mains filters 1EF06 and 3EFxx series Chapter V Drawings Page V - 1... -
Page 48: Connecting Of Motor Series 6Sm27/37/47/57/77
® 03.98 - A.4.017.4/15 digifas 7200 series Connecting of motor series 6SM27/37/47/57/77 Page V - 2 Drawings Chapter V... -
Page 49: Connecting Of Motor Series 6Sm45,6Sm56
® digifas 7200 series 03.98 - A.4.017.4/10 Connecting of motor series 6SM45,6SM56 45/56 Chapter V Drawings Page V - 3... -
Page 50: Analog Input And Output Circuits
® 03.98 - A.4.011.1/7 digifas 7200 series Analog input and output circuits Page V - 4 Drawings Chapter V... -
Page 51: Digital Input And Output Circuits
® digifas 7200 series 03.98 - A.4.011.1/8 Digital input and output circuits Chapter V Drawings Page V - 5... -
Page 52: Dimensions Digifas™ 7200
® 03.98 - A.4.011.4/10 digifas 7200 series Dimensions digifas™ 7200 Page V - 6 Drawings Chapter V... -
Page 53: Installation Digifas™ 7200 In A Switchgear Cabinet
® digifas 7200 series 03.98 - A.4.011.4/16 Installation digifas™ 7200 in a switchgear cabinet Chapter V Drawings Page V - 7... -
Page 54: Dimensions Digifas™ 7206-Bv
® 03.98 - A.4.011.4/17 digifas 7200 series Dimensions digifas™ 7206-BV Page V - 8 Drawings Chapter V... -
Page 55: Insstallation Digifas™ 7206-Bv In A Switchgear Cabinet
® digifas 7200 series 03.98 - A.4.011.4/18 Installation digifas™ 7206-BV in a switchgear cabinet Chapter V Drawings Page V - 9... -
Page 56: External 5V Dc Power Supply For The Position Output
® 03.98 - A.4.012.4/31 digifas 7200 series V.10 External 5V DC power supply for the position output Page V - 10 Drawings Chapter V... -
Page 57: External 24V Dc Power Supply For A Max. Of Three Servo Amplifiers
® digifas 7200 series 03.98 - A.4.012.4/32 V.11 External 24V DC power supply for a max. of three servo amplifiers Chapter V Drawings Page V - 11... -
Page 58: External 24V Dc Power Supply For Up To 7 Servo Amplifiers
® 03.98 - A.4.012.4/33 digifas 7200 series V.12 External 24V DC power supply for up to 7 servo amplifiers Page V - 12 Drawings Chapter V... -
Page 59: Appendix
® digifas 7200 series 03.98 Appendix VI.1 Delivery package, transport, storage, maintenance, disposal D elivery — 1 digifas™ 7200 series servo amplifier package : — 3.5" diskette with the operator software BS7200 — 2 ring cores — installation/commissioning manual for digifas™ 7200 —... -
Page 60: Vi.2 - Relevant System Components Of Digifas™ 7200
® 03.98 - A.4.011.1/18 digifas 7200 series VI.2 - relevant system components of digifas™ 7200 Page VI - 2 Appendix Chapter VI... - Page 61 ® digifas 7200 series 03.98 Only under the condition that the system components listed below are used and that the commissioning instructions in this documentation (Chapter II.1 ff) are followed, can we guarantee the conformance of the servo amplifier with the following standards for industrial areas: —...
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Page 62: Vi.3 Fault-Finding
® 03.98 digifas 7200 series VI.3 Fault-finding The table below should be seen as a “First-Aid” box. There may be a wide variety of possible reasons for the occurrence of a fault, depending on the circumstances in your system. Multi-axis systems may conceal further causes of a fault. Our applications department can give you further assistance with problems. - Page 63 ® digifas 7200 series 03.98 ways to remove the Fault possible causes cause of the fault — resolver plug — check connector not properly connected fault signal: — break in resolver cable, — check cable resolver cable crushed etc. — wrong type of resolver —...
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Page 64: Vi.4 Glossary
® 03.98 digifas 7200 series VI.4 Glossary Ballast circuit converts excess regenerative energy from the motor during braking into heat in the ballast resistor Clock clock signal Common-mode voltage amplitude of the disturbance which can be eliminated in an analog input (differential input) CONNECT module module built into the servo amplifier, with integral positional control, which provides special interface... - Page 65 ® digifas 7200 series 03.98 Natural convection free air movement for cooling NI pulse is produced once per turn by incremental encoders, used to establish the zero point for the machine Optocoupler optical connection between two electrically independent systems P-controller control loop with purely proportional characteristic Phase shift compensation for the phase lag between the electro-...
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Page 66: Vi.5 Parameter List
® 03.98 digifas 7200 series VI.5 Parameter list Group Display text Remarks Units Default actual value Current controller I effective current *0,5I nenn nenn peak current 0,2xI peak nenn nenn nenn I²t treshold monitoring threshold p(roportional) gain *1,5 i(ntegr.) time constant *0,6 Speed controller p(roportional) gain... -
Page 67: Vi.6 Index
® digifas 7200 series 03.98 VI.6 Index AGND Abbreviation....I-2 Abbreviation....I-2 System Grounds . - Page 68 ® 03.98 digifas 7200 series Text Page Text Page Mains filters ....V-1 Safety instructions....1-C Maintenance .
- Page 69 This page has been deliberately left blank Chapter VI Appendix Page VI - 11...
- Page 70 It alien / It aly / I t alie Ge rmany / Al lemag ne DIGIMATIC A/S M.C.A. s.r.l. "Laerkenfeldt" Via f. Turati 21 Kollmorgen Seidel GmbH & Co. KG Aalkaergaardvej 20 20016 Pero (Mi) Verkaufsniederlassung Nord 8700 Horsens Nord Tel.: +39(0)02 - 33 91 04 50 Wacholderstr.
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