The Kollmorgen SERVOSTAR 640 servo amplifier with part number S64001-NA is a model without a built-in expansion card. It is part of the SERVOSTAR 640/670 series. When ordered, the package includes:

- The SERVOSTAR 640 amplifier
- Mating connectors for X3 and X4
- Assembly and installation instructions (manual)
- Online documentation on CD-ROM
- Setup software (DRIVE.EXE) on CD-ROM

Accessories must be ordered separately and may include:

- Mains filter (3EF) and mains choke (3L)
- AC servomotor (linear or rotary)
- Motor, brake, and feedback cables
- External brake resistor (BAS)
- Communication cable or Y-adapter for PC connection
- Power, control, and fieldbus cables

The amplifier must be used with proper external components for full functionality.

This answer is automatically generated

Summary of Contents for Kollmorgen SERVOSTAR 640

Page 1 ® SERVOSTAR 640 / 670 Digital Servo Amplifier Instructions Manual Edition 12/2010 Translation of the original manual. Valid for Hardware Revision 02.10 Keep all manuals as a product component during the life span of the product. Pass all manuals to future users / owners of the product.
Page 2 Printed in the Federal Republic of Germany All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen Europe GmbH.
Page 3: Table Of Contents
The digital servo amplifiers of the series SERVOSTAR 640/670 ....... .
Page 4 Contents Kollmorgen 12/2010 Page Electrical Installation Safety Instructions ..............37 Guide to electrical installation.
Page 5 Kollmorgen Contents 12/2010 Page Setup Safety instructions ..............77 Setup software .
Page 6 Contents Kollmorgen 12/2010 Page 10.5 Expansion card -DEVICENET-............104 10.5.1...
Page 7: General
Kollmorgen General 12/2010 General About this manual ® This manual describes the digital servo amplifiers of the SERVOSTAR 640/670 series (standard version). A more detailed description of the expansion cards which are currently available and the digital connection to automation systems can be found on the accompanying CD-ROM in Acrobat-Reader format (system requirements: WINDOWS with Internet browser, Acrobat Reader) in several language versions.
Page 8: Abbreviations Used
General Kollmorgen 12/2010 Abbreviations used The abbreviations used in this manual are explained in the table below. Abbreviation Meaning AGND Analog ground Restart Lock, option BTB/RTO Ready to operate Fieldbus (CANopen) Communité Européenne (EC) Clock signal Serial interface for a PC-AT...
Page 9: Safety Instructions
Kollmorgen Safety 12/2010 Safety Safety Instructions Only properly qualified personnel are permitted to perform activities such as trans- port, installation, setup and maintenance. Properly qualified persons are those who are familiar with the transport, assembly, installation, setup and operation of the pro- duct, and who have the appropriate qualifications for their job.
Page 10: Use As Directed
- does not comply with the EMC Directive or with the Low Voltage Directive - does not comply with any national directives The control of holding brakes by the SERVOSTAR 640/670 alone may not be used in appli- cations, where personnel security is to be ensured with the brake.
Page 11: Approvals
Kollmorgen Approvals 12/2010 Approvals UL and cUL- Conformance This servo amplifier is listed under UL file number E217428. UL (cUL)-certified servo amplifiers (Underwriters Laboratories Inc.) fulfill the relevant U.S. and Canadian standard (in this case UL 840 and UL 508C).
Page 12: Ec Declaration Of Conformity
Approvals Kollmorgen 12/2010 3.2.1 EC Declaration of Conformity ® SERVOSTAR 640/670 Instructions Manual...
Page 13: European Directives And Standards For The Machine Builder
Kollmorgen Approvals 12/2010 3.2.2 European directives and standards for the machine builder Servo amplifiers are components that are intended to be incorporated into electrical plant and machines for industrial use. When the servo amplifiers are built into machines or plant, the amplifier...
Page 14: Gost-R Conformance
Approvals Kollmorgen 12/2010 GOST-R Conformance Certificate for servo amplifiers and accessories (cover page). ® SERVOSTAR 640/670 Instructions Manual...
Page 15: Handling
Kollmorgen Handling 12/2010 Handling Transport Only by qualified personnel in the manufacturer’s original recyclable packaging Avoid shocks Temperature –25 to +70°C (-13...158°F), max. 20K/hr rate of change Humidity max. 95% relative humidity, no condensation The servo amplifiers contain electrostatically sensitive components which can be damaged by incorrect handling.
Page 16: Disassembling
Handling Kollmorgen 12/2010 Disassembling Observe the sequence below, if a servo amplifier has to be disassembled (e.g. for replacement). 1. Electrical disconnection Switch off the main switch of the switchgear cabinet and the fuses that supply the system. Wait at least eight minutes after disconnecting the servo amplifier from the main supply power before touching potentially live sections of the equipment (e.g.
Page 17: Package Supplied
Kollmorgen Package 12/2010 Package Package supplied When you order a SERVOSTAR 640/670 series amplifier (order codes ð p.115), you will receive: — SERVOSTAR 640/670 — mating connectors X3, X4 The mating SubD connectors are not part of the package! —...
Page 18: Part Number Scheme
70A rms SynqNet ETHERCAT I/O-Expansion Voltage rating 230...480V electr. option * additional coding defines customer specific specials. Comparison (without expansion) device name -> part number Device Name Part Number SERVOSTAR 640 S64001-NA SERVOSTAR 670 S67001-NA ® SERVOSTAR 640/670 Instructions Manual...
Page 19: Technical Description
Kollmorgen Technical description 12/2010 Technical description The digital servo amplifiers of the series SERVOSTAR 640/670 Standard version 2 current ratings (40 A, 70 A) +10% Wide range of rated voltage (3x208V to 3x480V –10% Overvoltage category III acc. to EN 61800-5-1...
Page 20 Technical description Kollmorgen 12/2010 Operation and parameter setting With our user-friendly software for setup through the serial interface of a PC Direct operation by means of two keys on the servo amplifier and a 3-character LED display for status display in case of no PC available...
Page 21: Technical Data
Kollmorgen Technical description 12/2010 Technical data Rated data SERVOSTAR 640 SERVOSTAR 670 3 x 230V-10% ... 480V+10%, 50 Hz Rated-supply voltage (grounded system) 3 x 208V-10% ... 480V+10%, 60 Hz Rated installed load for S1 operation Rated DC bus link voltage 290...675...
Page 22: Recommended Torques
* (x = S or S-R for 480V applications x = N or N-R for 230V applications Note: The SERVOSTAR 640/670 drives are suitable for use on a circuit capable of delivering not more than 42000rms symmetrical amperes, 480VAC max. 6.2.3 Ambient conditions, ventilation, mounting position ð...
Page 23: Conductor Cross-Sections
For multi-axis systems, please note the special operating conditions in your installation To reach the max. permitted cable length, observe cable requirements ð p. 41. * Kollmorgen North America delivers cables up to 39m length. Kollmorgen Europe delivers cables up to the maximum length.
Page 24: Control For Motor Holding Brake
Technical description Kollmorgen 12/2010 Control for motor holding brake A 24 V / max. 3 A holding brake in the motor can be controlled directly by the servo amplifier. Check voltage drop, measure the voltage at brake input and check brake function (brake and no brake).
Page 25: Electrical Brake Circuit
Our customer service can help you with the calculation of the brake power which is required. A simple method is described in the "Product Wiki" which is accessible at www.wiki-kollmorgen.eu. A description of the interface can be found on page 48.
Page 26: Switch-On And Switch-Off Behavior
Technical description Kollmorgen 12/2010 Switch-on and switch-off behavior This chapter describes the switch-on and switch-off behavior of the SERVOSTAR 6xx and the steps required to achieve operational stopping or emergency stop behavior that complies with standards. The servo amplifier’s 24 V supply must remain constant. The ASCII commands ACTFAULT (error response) and STOPMODE (ENABLE signal response) dictate how the drive will behave.
Page 27: Behavior In Standard Operation
Kollmorgen Technical description 12/2010 6.7.1 Behavior in standard operation The behavior of the servo amplifier always depends on the current setting of a number of different parameters (e.g., ACTFAULT, VBUSMIN, VELO, STOPMODE, etc.; see online help). The diagram below illustrates the correct functional sequence for switching the servo amplifier on and off.
Page 28: Behavior In The Event Of An Error (With Standard Setting)
Technical description Kollmorgen 12/2010 6.7.2 Behavior in the event of an error (with standard setting) The behavior of the servo amplifier always depends on the current setting of a number of different parameters (e.g., ACTFAULT, VBUSMIN, VELO, STOPMODE, etc.; see online help ).
Page 29: Stop/Emergency Stop Function To En 60204
Kollmorgen Technical description 12/2010 Stop/Emergency Stop Function to EN 60204 With the personnel safe restart lock –AS- (see page 70 onwards) the drive can be secured on standstill (torque-free) using its internal electronics so that even when power is being supplied, the drive shaft is protected against unintentional restart.
Page 30: Emergency Stop: Standards
Technical description Kollmorgen 12/2010 6.8.2 Emergency Stop: Standards The emergency Stop function is used for the fastest possible shut-down of the machine in a dan- gerous situation. The Emergency Stop function can be triggered by the actions of a single person. It must be fully functional and available at all times.
Page 31: Shock-Hazard Protection
The SERVOSTAR 640/670 is a 3-phase system with a B6 bridge. Therefore, FIs which are sensi- tive to all currents must be used in order to detect any d.c. fault current. Refer to chapter 6.9.1 for the rule of thumb for determining the leakage current.
Page 32 Technical description Kollmorgen 12/2010 This page has been deliberately left blank. ® SERVOSTAR 640/670 Instructions Manual...
Page 33: Mechanical Installation
Kollmorgen Mechanical Installation 12/2010 Mechanical Installation Safety Instructions There is a danger of electrical shock by high EMC level which could result in injury, if the servo amplifier (or the motor) isn't properly EMC-grounded. Do not use painted (i.e. non-conductive) mounting plates.
Page 34: Assembly
Mechanical Installation Kollmorgen 12/2010 Assembly Ask our customer service for information for pass through mounting Material : 4 hexagon socket screws to EN 4762, M6 Tool required : 5 mm Allen key - A.4.038.4/12 SERVOSTAR 640/670 ® SERVOSTAR 640/670 Instructions Manual...
Page 35: Dimensions
Kollmorgen Mechanical Installation 12/2010 Dimensions ® SERVOSTAR 640/670 Instructions Manual...
Page 36 Mechanical Installation Kollmorgen 12/2010 This page has been deliberately left blank. ® SERVOSTAR 640/670 Instructions Manual...
Page 37: Electrical Installation
Kollmorgen Electrical Installation 12/2010 Electrical Installation Safety Instructions Never undo any electrical connections to the servo amplifier while it is live. There is a danger of electrical arcing with damage to contacts and serious personal injury. Wait at least five minutes after disconnecting the servo amplifier from the main supply power before touching potentially live sections of the equipment (e.g.
Page 38: Guide To Electrical Installation
Electrical Installation Kollmorgen 12/2010 Guide to electrical installation The following notes should assist you to carry out the electrical installation in a sensible sequence, without overlooking anything important. Cable selec- Select cables according to EN 60204 (ð p. 23) tion EMC-compliant (EMI) shielding and grounding (ð...
Page 39: Wiring
Kollmorgen Electrical Installation 12/2010 Wiring The installation procedure is described as an example. A different procedure may be sensible or necessary, depending on the application of the equipment. We provide further know-how through training courses (on request). 8.3.1 Safety Instructions Only install and wire up the equipment when it is not live, i.e.
Page 40: Shielding Connection To The Front Panel
Electrical Installation Kollmorgen 12/2010 8.3.2 Shielding connection to the front panel Remove the outer covering of the cable and the shielding braid from the cores for the required length. Secure the cores with a cable tie. Remove the outer covering of the...
Page 41: Technical Data For Cables
Kollmorgen Electrical Installation 12/2010 8.3.3 Technical data for cables Further information on the chemical, mechanical and electrical characteristics of the cables can be obtained from out customer service . Observe the restrictions in the chapter "Conductor cross-sections" on page 23.
Page 42: Components Of A Servo System
Electrical Installation Kollmorgen 12/2010 Components of a servo system SERVOSTAR 640/670 Control / PLC restart lock -AS- 24V-power supply Mains filter Fuses Mains choke Brake resistor Drive contactor Motor Fuses Terminals Cables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines. The required accesso- ries are described in our accessories manual.
Page 43: Block Diagram
Kollmorgen Electrical Installation 12/2010 Block diagram The block diagram below is just an overview. ® SERVOSTAR 640/670 Instructions Manual...
Page 44: Pin Assignments
Electrical Installation Kollmorgen 12/2010 Pin assignments ® SERVOSTAR 640/670 Instructions Manual...
Page 45: Connection Diagram (Overview)
Kollmorgen Electrical Installation 12/2010 Connection diagram (overview) Reference Safety Instructions (ð p.9) and SERVOSTAR 640/670 Use As Directed (ð p.10) ! ð p.64 ð p.51ff ð p.65 ð p.50 ð p.48 ð p.66 ð p.67 ð p.47 ð p.48 ð p.47 ð...
Page 46: Power Supply
Electrical Installation Kollmorgen 12/2010 Power supply 8.8.1 Connection to various mains supply networks This page illustrates all the possible connection variations for different electrical supply networks. An isolating transformer is always required for 400...480V mains networks without earth (ground) and for networks with asymmetrical earth (ground).
Page 47: Mains Supply Connection (X0)
DC bus link. The sum of the rated currents for all of the servo amplifiers connected in parallel to an SERVOSTAR 640/670 must not exceed 300A. Use unshielded single cores (>=10mm²) with a max. length of 500 mm. Use shielded cables for longer lengths.
Page 48: Motor Connection With Brake (X0, X4)
Electrical Installation Kollmorgen 12/2010 Motor connection with brake (X0, X4) Cable cross section see motor documentation. SERVOSTAR 640/670 8.10 External brake resistor (X0) Fusing and brake resistor provided by the user SERVOSTAR 640/670 ® SERVOSTAR 640/670 Instructions Manual...
Page 49: Feedback
Depending on the type of feedback device used, informa- tion will be fed back to the servo amplifier using digital or analog means. SERVOSTAR 640/670 supports the most common types of feedback device whose functions must be assigned with the parameters...
Page 50: Resolver (X2)
SERVOSTAR and evaluated there. If cable lengths of more than 100 m are planned, please contact our customer service . FBTYPE 0, 3 SERVOSTAR 640/670 The pin assignment shown on the encoder side relates to the Kollmorgen motors. ® SERVOSTAR 640/670 Instructions Manual...
Page 51: Sine Encoder With Biss (X1)
If cable lengths of more than 50m are planned, please consult our customer service. Frequency limit (sin, cos): 250 kHz FBTYPE 20 SERVOSTAR 640/670 The pin assignment shown on the encoder side relates to the Kollmorgen motors. ® SERVOSTAR 640/670 Instructions Manual...
Page 52: Sine Encoder With Endat 2.1 Or Hiperface (X1)
Frequency limit (sin, cos): 250 kHz Encoder with EnDat: FBTYPE 3, 4 Encoder with HIPERFACE: FBTYPE 2, 3 SubD15 SERVOSTAR 640/670 17pol.round The pin assignment shown on the encoder side relates to the Kollmorgen motors. ® SERVOSTAR 640/670 Instructions Manual...
Page 53: Sine Encoder Without Data Channel (X1)
With vertical load the load could fall during wake&shake, because the brake is not active and torque is not sufficient to hold the load. Don't use this feedback type with vertical load (hanging load). SERVOSTAR 640/670 ® SERVOSTAR 640/670 Instructions Manual...
Page 54: Incremental Or Sine Encoder With Hall Sensors (X1)
X1. If cable lengths of more than 25 m are planned, please consult our customer service. Frequency limit (A, B): 250 kHz RS422 with Hall: FBTYPE 12 Encoder with Hall: FBTYPE 11 SubD15 SERVOSTAR 640/670 ® SERVOSTAR 640/670 Instructions Manual...
Page 55: Comcoder (X1)
If cable lengths of more than 25 m are planned, please consult our customer service. Frequency limit (A, B): 250 kHz RS422 with Hall: FBTYPE 12 round, 17 pin SubD15 SERVOSTAR 640/670 The pin assignment shown on the encoder side relates to the Kollmorgen motors. ® SERVOSTAR 640/670 Instructions Manual...
Page 56: Incremental Encoder (X5)
With vertical load the load could fall during wake&shake, because the brake is not active and torque is not sufficient to hold the load. Don't use this feedback type with vertical load (hanging load). SERVOSTAR 640/670 ® SERVOSTAR 640/670 Instructions Manual...
Page 57: Electronic Gearing, Master-Slave Operation
Kollmorgen Electrical Installation 12/2010 8.12 Electronic Gearing, Master-slave operation In the case of the “electronic gearing” functionality (see setup software and description of GEAR- MODE parameter), the servo amplifier is controlled by a secondary feedback device as a slave. It is possible to set up master/slave systems, use an external encoder as a setpoint encoder or con- nect the amplifier to a stepper motor control.
Page 58: Connection To A Servostar Master, 5 V Signal Level (X5)
Connection to incremental encoder master with 24 V signal level (X3) This interface can be used to operate the SERVOSTAR 640/670 as a slave, mastered by an enco- der with 24 V signal level (master-slave operation). The digital inputs DIGITAL-IN 1 and 2 at con- nector X3 must be used.
Page 59: Connection To A Sine-Cosine Encoder Master (X1)
8.12.3 Connection to a sine-cosine encoder master (X1) You can operate the SERVOSTAR 640/670 as a slave, mastered by a sine-cosine encoder (master-slave operation). The connector X1 must be used. If cable lengths of more than 25 m are planned, please consult our customer service.
Page 60: Connection To A Ssi Encoder (X5)
8.12.4 Connection to a SSI encoder (X5) You can set up the SERVOSTAR 640/670 as a slave following a synchronous serial absolute-enco- der (master-slave operation). This application uses the SubD connector X5. If lead lengths of more than 50 m are planned and for questions concerning the power supply of the encoder, please consult our customer service.
Page 61: Step/Direction With 5 V Signal Level (X5)
The connector X5 must be used. Frequency limit: 1.5 MHz AGND and DGND (connector X3) must be joined together ! SERVOSTAR 640/670 8.12.5.2 Step/Direction with 24 V signal level (X3) This interface can be used to connect the servo amplifier to a stepper-motor controller with 24 V signal level.
Page 62: Encoder Emulations
The max. admissible cable length is 10 m. Connections and signal description for incremental-encoder interface : The count direction is upwards when the motor shaft is rotating clockwise (looking at the shaft end). SERVOSTAR 640/670 ® SERVOSTAR...
Page 63: Ssi Output (X5)
The drivers are supplied from internal supply voltage. PGND must always be connected. Connection and signal description for SSI interface : The count direction is upwards when the motor shaft is rotating clockwise (looking at the shaft end). SERVOSTAR 640/670 ® SERVOSTAR 640/670 Instructions Manual...
Page 64: Digital And Analog Inputs And Outputs
— Common-mode voltage range for both inputs ± 10 V — Update rate 62.5 µs SERVOSTAR 640/670 Input Analog-In1 (terminals X3/4-5) Differential input voltage max. ± 10 V, resolution 14-bit, scalable Standard setting : speed setpoint Input Analog-In2 (terminals X3/6-7) Differential input voltage max.
Page 65: Analog Outputs (X3)
— Resolution : 10 bit. — Update rate 62.5 µs SERVOSTAR 640/670 Programmable analog outputs Analog-Out 1 / Analog-Out 2 The terminals X3/8 (Analog-Out 1) or X3/9 (Analog-Out 2) can have the following analog signals assigned to them: Standard setting :...
Page 66: Digital Inputs (X3)
High: 11...30 V / 2...11 mA, Low -3...+5 V / <1 mA — Update rate: 250 µs SERVOSTAR 640/670 ENABLE input The output stage of the servo amplifier is activated by the enable signal (terminal X3/15, input 24 V, active-high).
Page 67: Digital Outputs (X3)
— Update rate: 250 µs SERVOSTAR 640/670 Ready-to-operate contact BTB/RTO Operational readiness (terminals X3/2 and X3/3 ) is signalled by a floating relay contact. The contact is closed when the servo amplifier is ready for operation, the signal is not influenced by the enable signal, the I²t- limit, or the brake threshold.
Page 68: Rs232 Interface, Pc Connection (X6)
X6, are separated onto two connectors (ð p. 110). SERVOSTAR 640/670 Interface cable between the PC and servo amplifiers of the SERVOSTAR 640/670 series: (View : looking at the face of the built-in SubD connectors, this corresponds to the solder side of the SubD sockets on the cable) ®...
Page 69: Canopen Interface (X6)
X6, are separated onto two connectors (ð p. 110). AGND and DGND (connector X3) must be joined together ! SERVOSTAR 640/670 CAN bus cable To meet ISO 11898 you should use a bus cable with a characteristic impedance of 120 W. The maximum usable cable length for reliable communication decreases with increasing transmission speed.
Page 70: Restart Lock -As
Switching off grouped axes with separate working areas Even when several SERVOSTAR 640/670 are operating off a common mains supply and DC bus link, it is possible to set up groups for separate working areas. These groups can then be switched off separately for personnel safety.
Page 71: Use As Directed
Kollmorgen Electrical Installation 12/2010 8.17.2 Use as directed The restart lock -AS- is exclusively intended to provide safety for personnel, by preventing the res- tart of a system. To achieve this personnel safety, the wiring of the safety circuits must meet the safety requirements of EN60204, EN12100 and EN 954-1..
Page 72: Functional Description
12/2010 8.17.4 Functional description The connector (X10) is mounted on the front panel of the SERVOSTAR 640/670.The coil connec- tions and a make (n.o.) contact of a safety relay are made available through 4 terminals on this con- nector. The 24VDC safety relay in the servo amplifier (approved) is controlled externally. All the relay con- tacts have positive action.
Page 73: Functional Test
Pull off the X10 connector from an amplifier: the mains contactor must drop out Reconnect X10. Switch on mains contactor again. Repeat steps 4 and 5 for each individual servo amplifier. 8.17.7 Connection diagram (principle) SERVOSTAR 640/670 Application examples for category 1 see chapters 8.17.8. ® SERVOSTAR 640/670 Instructions Manual...
Page 74: Application Example Category 1 According To En 954-1
Electrical Installation Kollmorgen 12/2010 8.17.8 Application example category 1 according to EN 954-1 Flowchart for stop and emergency stop category 0. 8.17.8.1 Control circuit 8.17.8.2 Mains supply circuit ® SERVOSTAR 640/670 Instructions Manual...
Page 75: Application Example Category 3 According To En 954-1
Kollmorgen Electrical Installation 12/2010 8.17.9 Application example category 3 according to EN 954-1 Flowchart for stop and emergency stop category 1. 8.17.9.1 Control circuit 8.17.9.2 Mains supply circuit ® SERVOSTAR 640/670 Instructions Manual...
Page 76: Flow Chart
Electrical Installation Kollmorgen 12/2010 8.17.9.3 Flow chart t(K30t) t(K10t) / t(K20t) AS Relais K10t / K20t K30t / Enable Speed t(K30t) ³ 500ms t(K10t) and t(K20t) ensure that the drive remains active until the axis has come to a standstill. This time depends on the application and must exceed the deceleration ramp.
Page 77: Setup
Kollmorgen Setup 12/2010 Setup The setup procedure is described as an example. Depending on the application, a different procedure may be sensible or necessary. In multi-axis systems, setup each servo amplifier individually. Safety instructions The manufacturer of the machine must generate a hazard analysis for the machine, and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property.
Page 78: Setup Software
Kollmorgen 12/2010 Setup software 9.2.1 General This chapter describes the installation of the setup software for the SERVOSTAR 640/670 digital servo amplifiers. We offer training and familiarisation courses on request. 9.2.1.1 Use as directed The setup software is intended to be used for setting up and storing the operating parameters for the SERVOSTAR 640/670 series of servo amplifiers.
Page 79: Hardware Requirements
Click OK and proceed as described above. Connection to the serial interface of the PC Connect the interface cable to a serial interface on your PC and the PC interface (X6) of the SERVOSTAR 640/670 (ð p. 68). ® SERVOSTAR...
Page 80: Quickstart Guide
Setup Kollmorgen 12/2010 Quickstart Guide 9.3.1 Preparation 9.3.1.1 Unpacking, Mounting and Wiring the Servo Amplifier 1. Unpack servo amplifier and accessories 2. Observe safety instructions in the manuals 3. Mount the servo amplifier as described in chapter 7.3 4. Wire the servo amplifier as described in chapter 8.3 or apply the minimum wiring for drive testing as described in chapter 9.3.1.3...
Page 81: Minimum Wiring For Drive Test
Kollmorgen Setup 12/2010 9.3.1.3 Minimum Wiring for Drive Test This wiring does not fulfill any requirements to safety or functionality of your application, it just shows the required wiring for drive testing without load. Motor-Feedback Power ON Enable 24V ON...
Page 82: Connect
Setup Kollmorgen 12/2010 9.3.2 Connect Connect the interface cable to a serial interface on your PC and to the serial interface X6 of the servo amplifier. USB to serial converter can be used optionally. Switch on the 24 V power supply for the servo amplifier.
Page 83: Important Screen Elements
Kollmorgen Setup 12/2010 If communication works, parameters are transmitted from the servoamplifier to the computer. Then you see the start screen. Make sure, that the amplifier is disabled (Input HW-Enable con- nector X3 pin 15 must be 0 V or open)! 9.3.3...
Page 84: Basic Setup
Setup Kollmorgen 12/2010 9.3.4 Basic Setup On the start screen click "Basic Setup" button. Regen Resistor: Select "external" brake resistor max.Regen Power: Fill in the power of the connected brake resistor. max. Mains Voltage: Select the nominal mains AC voltage Mains Phase Missing: You can select either warning "n05"...
Page 85: Motor (Synchronous)
Kollmorgen Setup 12/2010 9.3.5 Motor (synchronous) Press function key F12 (SW disable) before changing motor parameters. Motor Type: Select Synchronous Motor. If you use a linear motor or an induction motor, please contact our support department. Number-Name: Click the list to start uploading the motor parameter table, which is stored in the servo amplifier.
Page 86: Feedback
Setup Kollmorgen 12/2010 9.3.6 Feedback Press function key F12 (disable) before chan- ging feedback parameters. Feedback Type: Select the feedback type used. Leave all other fields unchanged. If Software Enable is active, a warning appears. The configuration change cannot be performed.
Page 87: Save Parameters And Restart
Kollmorgen Setup 12/2010 9.3.7 Save Parameters and Restart You are going to finish setup and you have changed several basic parameters. Depending on the parameters you changed, two possible reactions can occur: Configuration parameters changed A warning appears, that you have to restart the amplifier. This is called "coldstart". Click "YES". The parameters are saved to the amplifier's EEPROM automatically and a reset command restarts the amplifier (takes a few seconds).
Page 88: Jogging The Motor (Speed Control)
Setup Kollmorgen 12/2010 9.3.8 Jogging the Motor (Speed Control) Be aware that the actual position of the load permits the subsequent moving operations. The axis could move to the hardware limit-switch or the mechanical stop. Make sure that a jerk or a fast acceleration of the load cannot cause any damage.
Page 89: Status
Kollmorgen Setup 12/2010 9.3.9 Status Actual warnings and errors are listed on the Status screen, which can be accessed on the start screen by clicking the "Status" button. This button monitors the current status of the amplifier and can appear with different text.
Page 90: Multi-Axis System
Setup Kollmorgen 12/2010 Multi-axis system Using a special multilink cable, you can connect up to six servo amplifiers together and to your PC : Cable type -SR6Y- (for 4 amplifiers) or -SR6Y6- (for 6 amplifiers). Add.:01 PC/CAN Add.:02 Add.:03 Add.:04...
Page 91: Example Of Connections For A Multi-Axis System
Kollmorgen Setup 12/2010 9.4.3 Example of connections for a multi-axis system Reference Safety Instructions (ð p.9) and Use As Directed (ð p.10) ! SERVOSTAR 640/670 SERVOSTAR 640/670 ® SERVOSTAR 640/670 Instructions Manual...
Page 92: Key Operation / Led Display
In this chapter the two possible operation menus and the use of the keys in the front panel are shown. Normally, the SERVOSTAR 640/670 only places the standard menu at your disposal. If you want to attend the amplifier via the detailed menu, you must keep the right key pressed while swit- ching on the 24V-supply.
Page 93: Standard Menu Structure
Kollmorgen Setup 12/2010 9.5.3 Standard menu structure see p.90 the entry will be stored automatically, when you exit the input field. 9.5.4 Extended menu structure Keep the right key pressed while switching on the 24V-supply. see p.90 see p.90 ®...
Page 94: Error Messages
Setup Kollmorgen 12/2010 Error messages Errors which occur are shown in coded form by an error number in the LED display on the front panel. All error messages result in the BTB/RTO contact being opened, and the output stage of the amplifier being switched off (motor loses all torque).
Page 95: Warning Messages
Kollmorgen Setup 12/2010 Warning messages Faults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTO con- tact remains closed), are indicated in the LED display on the front panel by a coded warning number.
Page 96: Removing Faults / Warnings
Setup Kollmorgen 12/2010 Removing faults / warnings Depending on the conditions in your installation, there may be a wide variety of reasons for the fault. In multi-axis systems there may be further hidden causes of a fault. Detailled hints for removal of faults can be found in the...
Page 97: Guide To Installation Of Expansion Cards
Kollmorgen Expansion Cards 12/2010 Expansion Cards Information about availability and order numbers can be found on p. 115 10.1 Guide to installation of expansion cards Use a suitable screwdriver to unscrew the cover of the option slot. Take care that no small items (such as screws) fall into the open option slot.
Page 98: Expansion Card -I/O-14/08
The functions of the inputs and signal outputs correspond exactly to the functions that can be assig- ned to the digital-I/O on connector X3 of the SERVOSTAR 640/670. All inputs and outputs are electrically isolated from the servo amplifier by optocoupler.
Page 99: Connector Assignments
Kollmorgen Expansion Cards 12/2010 10.2.5 Connector assignments Connector X11A Terminal Function Description Motion task no., LSB Motion task no., 2 Motion task no., 2 Motion task no., 2 Motion task no., 2 Motion task no., 2 Motion task no., 2 Motion task no., MSB...
Page 100: Connection Diagram
Expansion Cards Kollmorgen 12/2010 10.2.6 Connection diagram SERVOSTAR 640/670 -I/O-14/08 AGND and DGND (connector X3) must be joined together ! ® SERVOSTAR 640/670 Instructions Manual...
Page 101: Expansion Cards -Profibus
10.3 Expansion cards -PROFIBUS- This chapter describes the PROFIBUS expansion card for the SERVOSTAR 640/670. Information on the range of functions and the software protocol can be found in the manual "Communication profile PROFIBUS DP". The PROFIBUS expansion card has two 9-pin Sub-D sockets wired in parallel.
Page 102: Expansion Card -Sercos
Expansion Cards Kollmorgen 12/2010 10.4 Expansion card -SERCOS- This chapter describes the SERCOS expansion card for SERVOSTAR 640/670. Information on the range of functions and the software protocol can be found in the manual "IDN Reference Guide SERCOS". 10.4.1 Front view 10.4.2...
Page 103: Connection Diagram
Kollmorgen Expansion Cards 12/2010 10.4.4 Connection diagram Layout of the SERCOS bus system in ring topology, with optical fibre cables (schematic). AGND and DGND (connector X3) must be joined together ! 10.4.5 Modifying the station address The drive address can be set to a value between 0 and 63. With address 0, the drive is assigned as an amplifier in the SERCOS ring.
Page 104: Expansion Card -Devicenet
Expansion Cards Kollmorgen 12/2010 10.5 Expansion card -DEVICENET- This section describes the DeviceNet expansion card for SERVOSTAR 640/670. Information on the range of functions and the software protocol can be found in our manual “Device- Net Communication Profile”. 10.5.1 Front view 10.5.2...
Page 105: Combined Module/Network Status-Led
Kollmorgen Expansion Cards 12/2010 10.5.4 Combined module/network status-LED Meaning The device is not online. The device has not yet finished the Dup_MAC_ID test. The device is possibly not yet switched on. The device is operating as normal, is online, and the connections have been establis- green hed.
Page 106: Bus Cable
Expansion Cards Kollmorgen 12/2010 10.5.7 Bus cable To meet ISO 898, a bus cable with a characteristic impedance of 120 W should be used. The maxi- mum usable cable length for reliable communication decreases with increasing transmission speed. As a guide, you can use the following values which we have measured, but they are not to be taken as assured limits.
Page 107: Expansion Card -Ethercat
10.6 Expansion card -ETHERCAT- This section describes the EtherCAT expansion card for SERVOSTAR 640/670. Information on the range of functions and the software protocol can be found in the EtherCAT documentation. This expansion cards enables the servo amplifier to be connected to the EtherCAT network via RJ-45 connectors (IN and OUT ports).
Page 108: Expansion Card -Synqnet
Expansion Cards Kollmorgen 12/2010 10.7 Expansion card -SYNQNET- This section describes the SynqNet expansion card for SERVOSTAR 640/670. Information on the range of functions and the software protocol can be found in the SynqNet docu- mentation.. 10.7.1 Front view LED2 LED1 LED4 LED3 10.7.2...
Page 109: Digital Inputs/Outputs, Connector X21A (Subd 15-Pin, Socket)
Kollmorgen Expansion Cards 12/2010 10.7.5 Digital inputs/outputs, connector X21A (SubD 15-pin, socket) Inputs (In): 24V (20...28V), opto-isolated, one high-speed input (Pin 4) Outputs (Out): 24V, opto-isolated, Darlington driver Pinout connector X21A (SubD 15 pin) Type Description +24V Power supply NODEALARM...
Page 110: Expansion Module -2Can
Expansion Cards Kollmorgen 12/2010 10.8 Expansion module -2CAN- Connector X6 of the SERVOSTAR is assigned to the signals for the RS232 interface and the CAN interface. It is therefore not the standard pin assignment for these interfaces, and a special cable is required to be able to use both interfaces simultaneously.
Page 111: Connector Assignments
Kollmorgen Expansion Cards 12/2010 10.8.4 Connector assignments RS232 CAN1=CAN2 X6A Pin Signal X6B=X6C Pin Signal CAN-Low CAN-GND CAN-High 10.8.5 Connection diagram ® SERVOSTAR 640/670 Instructions Manual...
Page 112 Expansion Cards Kollmorgen 12/2010 This page has been deliberately left blank. ® SERVOSTAR 640/670 Instructions Manual...
Page 113: Appendix 11.1 Glossary
Kollmorgen Appendix 12/2010 Appendix 11.1 Glossary Brake circuit Converts superfluous energy, which is fed back during braking, into heat in the brake resistor Clock Clock signal Common-mode voltage The maximum amplitude of a disturbance (on both inputs) which a differential input can eliminate...
Page 114 Appendix Kollmorgen 12/2010 P-controller Control loop with purely proportional behavior Phase shift Compensation for the lag between the electromagnetic and magnetic fields in the motor PID-controller Control loop with proportional, integral and differential behavior PID-T2 Filter time constant for the speed controller output...
Page 115: Order Codes
The order numbers of accessories such as cables, brake resistors, mains supplies, etc., can be found in the accessories manual. 11.2.1 Servo amplifiers Article EU order code US order code SERVOSTAR 640 DE-91419 S64001-NA SERVOSTAR 670 DE-91955 S67001-NA *= NA means without built-in expansion card 11.2.2...
Page 116: Repair-/Disposal Request Telefax Form
Appendix Kollmorgen 12/2010 11.3 Repair-/Disposal request Telefax form Kollmorgen Europe GmbH Pempelfurtstraße 1 40880 Ratingen Germany Fax: +49 (0) 2102 9394 3444 Please advice dispatch information for (please select) ¡ Repair ¡ Disposal of these products: Product Serial number Reason ("fault", "return" or similar)
Page 117: Index
Kollmorgen Appendix 12/2010 11.4 Index Mains supply connection, interface..47 24Vaux. supply, interface ... 47 Mains supply networks ... . . 46 A quad B interface .
Page 118 E-Mail technik@kollmorgen.com Tel.: +49 (0)2102 - 9394 - 2250 +49 (0)2102 - 9394 - 3110 Fax: North America Kollmorgen Customer Support North America Internet www.kollmorgen.com E-Mail support@kollmorgen.com Tel.: +1 - 540 - 633 - 3545 Fax: +1 - 540 - 639 - 4162...

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Servostar 670

Kollmorgen SERVOSTAR 640 Instruction Manual

1 General

2 Safety

3 Approvals

4 Handling

5 Package

6 Technical Description

7 Mechanical Installation

8 Electrical Installation

9 Setup

10 Expansion Cards

11 Appendix 11.1 Glossary

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