Related Manuals for Kollmorgen SERVOSTAR 614
Summary of Contents for Kollmorgen SERVOSTAR 614
- Page 1 (217) 352-9330 | Click HERE Find the Danaher Motion / Kollmorgen SERVOSTAR 614-AS at our website:...
- Page 2 ® SERVOSTAR 601...620 Digital Servo Amplifier Instructions Manual Edition 07/2010 Translation of the original manual. Valid for Hardware Revision 05.20 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 3 Previous versions : Edition Remarks 05/1998 First edition 08/1998 a few corrections various minor corrections, parameter description removed, parameter setting for multi-axis systems and 09/1998 on/off switching behavior added, Installation/setup divided into two chapters 01/1999 614 added, various minor corrections 02/1999 Interface relay for digital outputs (pages 26, 43) 06/1999...
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Page 4: Table Of Contents
Kollmorgen Contents 07/2010 Page General About this manual ............... 7 Target group . - Page 5 Contents Kollmorgen 07/2010 Page Electrical Installation Safety Instructions ..............39 Guide to electrical installation.
- Page 6 Kollmorgen Contents 07/2010 Page Setup Safety Instructions ..............71 Setup software .
- Page 7 Contents Kollmorgen 07/2010 Page 10.2.3 Expansion cards -PROFIBUS-............102 10.2.3.1...
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Page 8: General
Kollmorgen General 07/2010 General About this manual ® This manual describes the digital servo amplifiers of the SERVOSTAR 600 series (standard version, 1.5 to 20 Amps nominal current). Servoamplifiers of the SERVOSTAR 640/670 series are described in additional manuals. SERVOSTAR 601 is sold in Europe only. -
Page 9: Symbols Used
General Kollmorgen 07/2010 Symbols used Symbol Indication Indicates a hazardous situation which, if not avoided, will result in death or serious injury. Indicates a hazardous situation which, if not avoided, could result in death or serious injury. Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury. -
Page 10: Abbreviations Used
Kollmorgen General 07/2010 Abbreviations used The abbreviations used in this manual are explained in the table below. Abbrev. 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 11 General Kollmorgen 07/2010 This page has been deliberately left blank. ® SERVOSTAR 601...620 Instructions Manual...
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Page 12: Safety Instructions
Kollmorgen Safety 07/2010 Safety Safety Instructions During operation there are deadly hazards, with the possibility of death, severe injury or material damage. Do not open or touch the equipment during operation. Keep all covers and cabinet doors closed during operation. Touching the equipment is allowed during installation and commissioning for properly qualified persons only. -
Page 13: Use As Directed
Safety Kollmorgen 07/2010 Use as directed The servo amplifiers are components which are built into electrical equipment or machines, and can only be used as integral components of such equipment. 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 14: Approvals
Kollmorgen Approvals 07/2010 Approvals Conformance with UL and cUL This servo amplifier is listed under UL file number E217428. UL (cUL)-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S. and Cana- dian standard (in this case UL 840 and UL 508C). -
Page 15: Ec Declaration Of Conformity
Approvals Kollmorgen 07/2010 3.2.1 EC Declaration of Conformity ® SERVOSTAR 601...620 Instructions Manual... -
Page 16: European Directives And Standards For The Machine Builder
Kollmorgen Approvals 07/2010 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 17: Gost-R Conformance
Approvals Kollmorgen 07/2010 GOST-R Conformance Certificate for servo amplifiers and accessories (cover page). ® SERVOSTAR 601...620 Instructions Manual... -
Page 18: Handling
Packaging Cardboard box, can be recycled Dimensions: SERVOSTAR 601...610 (HxWxD) 125x415x350 mm SERVOSTAR 614 / 620 (HxWxD) 170x415x350 mm Labeling : nameplate outside at the box Storage Storage only in the manufacturer’s original recyclable packaging Max. stacking height... -
Page 19: Disassembling
Handling Kollmorgen 07/2010 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 20: Package Supplied
Kollmorgen Package 07/2010 Package Package supplied When you order a SERVOSTAR 600 series amplifier (order numbers ð p.117), you will receive: — SERVOSTAR 6xx — mating connectors X3, X4, X0A, X0B, X7, X8 The mating SubD connectors and motor connector X9 are not part of the package! —... -
Page 21: Part Number Scheme
* additional coding defines customer specific specials. Comparison (without expansion) device name -> part number Device Name Part Number SERVOSTAR 601 S60100-NA SERVOSTAR 603 S60300-NA SERVOSTAR 606 S60600-NA SERVOSTAR 610 S61000-NA SERVOSTAR 610-30 S61P00-NA SERVOSTAR 614 S61400-NA SERVOSTAR 620 S62000-NA ® SERVOSTAR 601...620 Instructions Manual... -
Page 22: Technical Description
Kollmorgen Technical description 07/2010 Technical description The SERVOSTAR 600 family of digital servo amplifiers Standard version 6 current ratings (1.5 A -Europe only-, 3 A , 6 A , 10 A , 14 A, 20 A) 3 instrument widths : 70 mm for 1.5A up to 10A rated current... - Page 23 Technical description Kollmorgen 07/2010 Auxiliary supply voltage 24VDC Electrically isolated, internal fusing (3.15 AT), from an external 24VDC psu, e.g. with insulating transformer Operation and parameter setting With our user-friendly software for setup through the serial interface of a PC...
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Page 24: Technical Data
Kollmorgen Technical description 07/2010 Technical data SERVOSTAR Rated data 610-30 +10% 3 x 230V ... 480V , 50 Hz -10% Rated supply voltage (grounded system) +10% 3 x 208V ... 480V , 60 Hz -10% Rated installed load for S1 operation... -
Page 25: Recommended Torque
Technical description Kollmorgen 07/2010 6.2.1 Recommended torque Connector Recommended torque X3, X4 0.5 to 0.6 Nm (4.43 to 5.31 in lb) X0A, X0B, X7, X8, X9 0.5 to 0.6 Nm (4.43 to 5.31 in lb) Ground bolt 3.5 Nm (31 in lb) 6.2.2... -
Page 26: 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. 42. * Kollmorgen North America delivers cables up to 39m length. Kollmorgen Europe delivers cables up to the maximum length. -
Page 27: Control For Motor Holding Brake
Technical description Kollmorgen 07/2010 Control for motor holding brake A 24V / max. 2A holding brake in the motor can be controlled directly by the servo amplifier. This function does not ensure personnel safety! Hanging load (vertical axes) require an additional mechanical brake which must be safely operated. -
Page 28: Grounding System
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 50. - Page 29 Technical description Kollmorgen 07/2010 Brake circuit: technical data SERVOSTAR Supply Rated data 601 - 603 606 - 620 voltage Upper switch-on level of brake circuit 400 - 430 Switch-off level of brake circuit 380 - 410 Overvoltage F02 Continuous power of brake circuit (R...
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Page 30: Switch-On And Switch-Off Behavior
Kollmorgen Technical description 07/2010 Switch-on and switch-off behavior This chapter describes the switch-on and switch-off behavior of the SERVOSTAR 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 31: Behavior In Standard Operation
Technical description Kollmorgen 07/2010 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 32: Behavior In The Event Of An Error (With Standard Setting)
Kollmorgen Technical description 07/2010 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 33: Stop/Emergency Stop Function To En 60204
Technical description Kollmorgen 07/2010 Stop/Emergency Stop Function to EN 60204 With the personnel safe restart lock –AS- (see page 91 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 34: Emergency Stop: Standards
Kollmorgen Technical description 07/2010 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 35: Shock-Hazard Protection
Technical description Kollmorgen 07/2010 Shock-hazard protection 6.9.1 Leakage current Leakage current via the PE conductor results from the combination of equipment and cable leakage currents. The leakage current frequency pattern comprises a number of frequencies, whereby the residual-current circuit breakers definitively evaluate the 50Hz current. For this reason, the leakage current cannot be measured using a conventional multimeter. -
Page 36: Mechanical Installation
Kollmorgen Mechanical Installation 07/2010 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 37: Assembly
Mechanical Installation Kollmorgen 07/2010 Assembly Material : 2 or 4 hexagon socket screws to EN 4762, M5 Tool required : 4 mm Allen key SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR 601-610 601-610 SERVOSTAR 600 ® SERVOSTAR 601...620 Instructions Manual... -
Page 38: Dimensions
Kollmorgen Mechanical Installation 07/2010 Dimensions SERVOSTAR 601/603/603/610 SERVOSTAR 614 SERVOSTAR 620 ® SERVOSTAR 601...620 Instructions Manual... - Page 39 Mechanical Installation Kollmorgen 07/2010 This page has been deliberately left blank. ® SERVOSTAR 601...620 Instructions Manual...
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Page 40: Electrical Installation
Kollmorgen Electrical Installation 07/2010 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 41: Guide To Electrical Installation
Electrical Installation Kollmorgen 07/2010 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. 25) tion EMC-compliant (EMI) shielding and grounding (ð... -
Page 42: Wiring
Kollmorgen Electrical Installation 07/2010 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 There is a danger of electrical arcing with serious personal injury. -
Page 43: Technical Data For Connecting Cables
Electrical Installation Kollmorgen 07/2010 8.3.2 Technical data for connecting cables Further information on the chemical, mechanical and electrical characteristics of the cables can be obtained from our customer service. Observe the restrictions in the chapter "Conductor cross-sections" on page 25. -
Page 44: Motor Connector With Shieldplate
Kollmorgen Electrical Installation 07/2010 8.3.4 Motor connector with shieldplate The motor is connected to the SERVOSTAR 600 by a Power Combicon connector (X9). You can obtain the connector kit from us (connector, housing, shield plate, rubber bushes, installation mate- rial, order codes see p.117). -
Page 45: Components Of A Servo System
Electrical Installation Kollmorgen 07/2010 Components of a servo system Control / PLC Option -AS- 24V supply Fuses Brake resistor (optional) Drive cut-out Motor Terminals Motor choke (optional) Cables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines. Optional devices are connected with dashed lines to the servo amplifier. The required accessories are described in our accessories manual. -
Page 46: Block Diagram
Kollmorgen Electrical Installation 07/2010 Block diagram The block diagram below is just an overview. ® SERVOSTAR 601...620 Instructions Manual... -
Page 47: Pin Assignments
Electrical Installation Kollmorgen 07/2010 Pin assignments ® SERVOSTAR 601...620 Instructions Manual... -
Page 48: Connection Diagram (Overview)
Kollmorgen Electrical Installation 07/2010 Connection diagram (overview) Reference Safety Instructions (ð p.11) and SERVOSTAR 600 Use As Directed (ð p.12) ! ð p.65 ð p.53ff ð p.66 ð p.52 ð p.67 ð p.50 ð p.68 ð p.50 ð p.63 ð p.64 ð... -
Page 49: Power Supply
Electrical Installation Kollmorgen 07/2010 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 50: Mains Supply Connection (X0)
Kollmorgen Electrical Installation 07/2010 8.8.2 Mains supply connection (X0) — Directly to earthed (grounded) 3~ supply, integrated EMI filter Fusing (e.g. fusible cut-outs) provided by the user ð p.24 — SERVOSTAR 600 8.8.3 24V auxiliary supply (X4) — Electrically isolated, external 24VDC supply, e.g. with insulating transformer Required current rating ð... -
Page 51: Motor Connection With Holding Brake (X9)
Electrical Installation Kollmorgen 07/2010 Motor connection with holding brake (X9) Lead length £ 25m SERVOSTAR 600 Lead length >25m For lead lengths above 25m the choke box 3YL (see accessories manual) must be wired into the motor lead, close to the amplifier. -
Page 52: Feedback
The table below provides an overview of the supported feedback types, their corresponding param- eters and a reference to the relevant connection diagram in each case. On each of these, the pin assignment shown on the encoder side relates to the Kollmorgen motors. Wiring... -
Page 53: Resolver (X2)
If cable lengths of more than 100 meters are planned, please contact our customer service. FBTYPE: 0, 3 SubD9 SERVOSTAR 600 12pol.round The pin assignment shown on the encoder side relates to the Kollmorgen motors. ® SERVOSTAR 601...620 Instructions Manual... -
Page 54: Sine Encoder 5V 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 600 The pin assignment shown on the encoder side relates to the Kollmorgen motors. ® SERVOSTAR 601...620 Instructions Manual... -
Page 55: 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 SubD1 17pol.round SERVOSTAR 600 The pin assignment shown on the encoder side relates to the Kollmorgen motors. ® SERVOSTAR 601...620 Instructions Manual... -
Page 56: Sine Encoder Without Data Channel (X1)
Kollmorgen Electrical Installation 07/2010 8.11.4 Sine Encoder without data channel (X1) Wiring of a sine-cosine encoder without data channel as standard feedback system. Every time the 24V auxiliary voltage is switched on, the amplifier needs start-up information for the position control - ler (parameter value MPHASE). -
Page 57: Incremental Encoder / Sine Encoder With Hall (X1)
Electrical Installation Kollmorgen 07/2010 8.11.5 Incremental encoder / sine encoder with Hall (X1) Encoder types (incremental or sine/cosine) that do not provide definitive information on commuta- tion, can be used as a complete feedback system using an additional Hall dongle. -
Page 58: Incremental Encoder (X5)
Kollmorgen Electrical Installation 07/2010 8.11.6 Incremental Encoder (X5) An incremental encoder can be used as standard motor feedback. Every time the 24V auxiliary voltage is switched on, the amplifier needs start-up information for the position controller (parameter value MPHASE). Depending on the feedback type either wake&shake is executed or the value for MPHASE is read out of the amplifier's EEPROM. -
Page 59: Electronic Gearing, Master-Slave Operation
Electrical Installation Kollmorgen 07/2010 8.12 Electronic Gearing, Master-slave operation In the case of the “electronic gearing” functionality (see setup software and description of GEARMODE 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 60: Connection To A Servostar Master, 5 V Signal Level (X5)
Kollmorgen Electrical Installation 07/2010 8.12.1 Connection to a SERVOSTAR master, 5 V signal level (X5) You can link several SERVOSTAR amplifiers together in master-slave operation. Up to 16 slave amplifiers can be controlled by the master via the encoder output. The connector X5 must be used. -
Page 61: Connection To A Sine-Cosine Encoder (X1)
Electrical Installation Kollmorgen 07/2010 8.12.3 Connection to a sine-cosine encoder (X1) You can operate the SERVOSTAR as a slave, mastered by a sine-cosine encoder (master-slave operation). The connector X1 must be used. Encoder types with a power consumption of more than 150 mA can also be connected using our external power supply (ð... -
Page 62: Connection To An Ssi Encoder (X5)
Kollmorgen Electrical Installation 07/2010 8.12.4 Connection to an SSI encoder (X5) You can set up the SERVOSTAR 600 as a slave following a synchronous serial absolute-encoder (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 63: Step/Direction With 5 V Signal Level (X5)
Electrical Installation Kollmorgen 07/2010 8.12.5.1 Step/Direction with 5 V signal level (X5) Connection of the servo amplifier to a stepper-motor controller with 5 V signal level. The connector X5 must be used. Frequency limit: 1,5 MHz AGND and DGND (connector X3) must be joined together ! SERVOSTAR 600 8.12.5.2... -
Page 64: Encoder Emulations
Kollmorgen Electrical Installation 07/2010 8.13 Encoder emulations 8.13.1 Incremental encoder output - A quad B (X5) The incremental-encoder interface is part of the package supplied. Select the encoder function ROD (screen page “Encoder”). In the servo amplifier, the position of the motor shaft is calculated from the cyclic-absolute signals of the resolver or encoder. -
Page 65: Ssi Output (X5)
Electrical Installation Kollmorgen 07/2010 8.13.2 SSI output (X5) The SSI interface (synchronous serial absolute-encoder simulation) is part of the delivered pack- age. Select the encoder function SSI (screen page “Encoder”). In the servo amplifier, the position of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder. This information is used to create a position output in a format that is compatible with the standard SSI-absolute-encoder format. -
Page 66: Digital And Analog Inputs And Outputs
Kollmorgen Electrical Installation 07/2010 8.14 Digital and analog inputs and outputs 8.14.1 Analog inputs (X3) The servo amplifier is equipped with two differential inputs for analog setpoints which are programmable. AGND (X3/1) must always be joined to the CNC-GND of the controls as a ground reference. -
Page 67: Analog Outputs (X3)
Electrical Installation Kollmorgen 07/2010 8.14.2 Analog outputs (X3) Technical characteristics — Reference ground is analog-GND (AGND, terminal X3/1 and X3/10) — Output resistance 2.2 kW Output voltage ±10 V — — Resolution 10 bit. — Update rate 62.5 µs SERVOSTAR 600... -
Page 68: Digital Inputs (X3)
Kollmorgen Electrical Installation 07/2010 8.14.3 Digital inputs (X3) All digital inputs are electrically isolated through optocouplers. Technical characteristics — Reference ground is digital-GND (DGND, terminal X3/18) — Inputs at X3 meet PLC standards (IEC 61131-2 Type 1) — High: 11...30V / 2...11mA, Low -3...+5V / <1 mA —... -
Page 69: Digital Outputs (X3)
Electrical Installation Kollmorgen 07/2010 8.14.4 Digital outputs (X3) Technical characteristics — Reference ground is digital-GND (DGND, terminal X3/18) — All digital outputs are floating — DIGITAL-OUT1 and 2 : Open-Collector, max. 30 VDC, 10 mA BTB/RTO : Relay output, max. 30 VDC or 42 VAC, 0.5 A —... -
Page 70: Rs232 Interface, Pc Connection (X6)
Kollmorgen Electrical Installation 07/2010 8.15 RS232 interface, PC connection (X6) The setting of the operating, position control, and motion-block parameters can be carried out with an ordinary commercial PC. Connect the PC interface (X6) of the servo amplifier while the supply to the equipment is switched off via a normal commercial 3-core null-modem cable to a serial interface on the PC. -
Page 71: Canopen Interface (X6)
Electrical Installation Kollmorgen 07/2010 8.16 CANopen Interface (X6) The interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based on the communication profile CANopen DS301 and the drive profile DS402. The following functions are available in connection with the integrated position controller: Jogging with variable speed, reference traverse (zeroing), start motion task, start direct task, digital setpoint provision, data transmission functions and many others. -
Page 72: Setup
Kollmorgen Setup 07/2010 Setup The procedure for setup is described as an example. Depending on the application, a different procedure may be sensible or necessary. In multi-axis systems, setup each servo ampli- fier individually. Safety Instructions Check that all live connecting elements are protected from accidental contact. -
Page 73: Setup Software
Setup Kollmorgen 07/2010 Setup software 9.2.1 General This chapter describes the installation of the setup software DRIVE.EXE for the SERVOSTAR 600 digital servo amplifiers. We offer training and familiarization 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 600 series of servo amplifiers. -
Page 74: Hardware Requirements
Kollmorgen Setup 07/2010 9.2.1.3 Hardware requirements The PC interface (X6, RS232) of the servo amplifier is connected to the serial interface of the PC by a null-modem cable (not a null-modem link cable !) (ð p.69). Connect / disconnect the interface cable only when the supply is switched off for both the PC and the servo amplifier. -
Page 75: Quickstart Guide
Setup Kollmorgen 07/2010 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 76: Minimum Wiring For Drive Test
Kollmorgen Setup 07/2010 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 77: Connect
Setup Kollmorgen 07/2010 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 78: Important Screen Elements
Kollmorgen Setup 07/2010 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 connector X3 pin 15 must be 0 V or open)! 9.3.3... -
Page 79: Basic Setup
Setup Kollmorgen 07/2010 9.3.4 Basic Setup On the start screen click "Basic Setup" button. Regen Resistor: Change only if you use an external brake resistor. Most applications don't need an external brake resistor max. Mains Voltage: Select the nominal mains AC voltage Mains Phase Missing: You can select either warning "n05"... -
Page 80: Motor (Synchronous)
Kollmorgen Setup 07/2010 9.3.5 Motor (synchronous) Press function key F12 (Software 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 81: Feedback
Setup Kollmorgen 07/2010 9.3.6 Feedback Press F12 (disable) before changing feed- back 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. Click OK on the warnings, press F12 (SW dis- able) and start the Feedback procedure again. -
Page 82: Save Parameters And Restart
Kollmorgen Setup 07/2010 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 83: Jogging The Motor (Speed Control)
Setup Kollmorgen 07/2010 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 84: Status
Kollmorgen Setup 07/2010 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 85: Multi-Axis Systems
Setup Kollmorgen 07/2010 Multi-axis systems 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). Cable -SR6Y- COMx Add.: Add.: Add.:... -
Page 86: Example Of Connections For Multi-Axis System
Kollmorgen Setup 07/2010 9.4.3 Example of connections for multi-axis system Reference Safety Instructions (ð p.11) and Use As Directed (ð p.12) ! SERVOSTAR 600 SERVOSTAR 600 SERVOSTAR 600 ® SERVOSTAR 601...620 Instructions Manual... -
Page 87: Key Operation / Led Display
Setup Kollmorgen 07/2010 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 600 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 switching on the 24V-supply. -
Page 88: Standard Menu Structure
Kollmorgen Setup 07/2010 9.5.3 Standard menu structure ð p.84 9.5.4 Extended menu structure Keep the right key pressed while switching on the 24V-supply. ð p.84 ð p.84 ® SERVOSTAR 601...620 Instructions Manual... -
Page 89: Error Messages
Setup Kollmorgen 07/2010 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 90: Warning Messages
Kollmorgen Setup 07/2010 Warning messages Faults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTO contact remains closed), are indicated in the LED display on the front panel by a coded warning number. Number... -
Page 91: Removing Faults/Warnings
Setup Kollmorgen 07/2010 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 92: Expansions / Accessories
Kollmorgen Expansions / Accessories 07/2010 Expansions / Accessories 10.1 Option -AS-, restart lock for personal safety A frequently required application task is the protection of personnel against the restarting of drives. This can not be achieved by an electronic inhibit, but must be implemented with mechanical ele- ments (positively driven relay contacts). -
Page 93: Use As Directed
Expansions / Accessories Kollmorgen 07/2010 10.1.2 Use as directed The -AS- restart lock is exclusively intended to provide safety for personnel, by preventing the restart 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 94: Functional Description
Kollmorgen Expansions / Accessories 07/2010 10.1.4 Functional description An additional connector (X10) is mounted on the front panel of the SERVOSTAR 600. The coil con- nections and a make (n.o.) contact of a safety relay are made available through 4 terminals on this connector. -
Page 95: Functional Test
Expansions / Accessories Kollmorgen 07/2010 10.1.6 Functional test The functioning of the restart lock must be tested during setup, after every alteration in the wiring of the system, or after exchanging one or more components of the system. Stop all drives, with setpoint 0V, disable drives, mechanically block any suspended loads Activate the -AS- option. -
Page 96: Application Example Category 1 According To En954-1
Kollmorgen Expansions / Accessories 07/2010 10.1.8 Application example category 1 according to EN954-1 Flowchart for stop and emergency stop category 0. 10.1.8.1 Control circuit 10.1.8.2 Mains supply circuit ® SERVOSTAR 601...620 Instructions Manual... -
Page 97: Application Example Category 3 According To En954-1
Expansions / Accessories Kollmorgen 07/2010 10.1.9 Application example category 3 according to EN954-1 Flowchart for stop and emergency stop category 1. 10.1.9.1 Control circuit 10.1.9.2 Mains supply circuit ® SERVOSTAR 601...620 Instructions Manual... -
Page 98: Flow Chart
Kollmorgen Expansions / Accessories 07/2010 10.1.9.3 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 99: Expansion Cards
Expansions / Accessories Kollmorgen 07/2010 10.2 Expansion Cards Information about availability and order numbers can be found on p. 117 10.2.1 Guide to installation of expansion cards Use a suitable screwdriver to lever off the cover of the option slot. -
Page 100: Expansion Card -I/O-14/08
Kollmorgen Expansions / Accessories 07/2010 10.2.2 Expansion card -I/O-14/08- This chapter describes the I/O-expansion card -I/O-14/08-. It only describes the additional features that the expansion card makes available for the SERVOSTAR 600. The -I/O-14/08- provides you with 14 additional digital inputs and 8 digital outputs. The functions of the inputs and outputs are fixed. -
Page 101: Connector Assignments
Expansions / Accessories Kollmorgen 07/2010 10.2.2.5 Connector assignments Connector X11A 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 102: Connection Diagram
Kollmorgen Expansions / Accessories 07/2010 10.2.2.6 Connection diagram SERVOSTAR 600 AGND and DGND (connector X3) must be joined together ! ® SERVOSTAR 601...620 Instructions Manual... -
Page 103: Expansion Cards -Profibus
Expansions / Accessories Kollmorgen 07/2010 10.2.3 Expansion cards -PROFIBUS- This chapter describes the PROFIBUS expansion card for the SERVOSTAR 600. 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 104: Expansion Card -Sercos
Kollmorgen Expansions / Accessories 07/2010 10.2.4 Expansion card -SERCOS- This chapter describes the SERCOS expansion card for SERVOSTAR 600. Information on the range of functions and the software protocol can be found in the manual "IDN Reference Guide SERCOS". 10.2.4.1 Front view 10.2.4.2... -
Page 105: Connection Diagram
Expansions / Accessories Kollmorgen 07/2010 10.2.4.4 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 ! 10.2.4.5 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 106: Expansion Card -Devicenet
Kollmorgen Expansions / Accessories 07/2010 10.2.5 Expansion card -DEVICENET- This section describes the DeviceNet expansion card for SERVOSTAR 600. Information on the range of functions and the software protocol can be found in our manual “DeviceNet Communication Profile”. 10.2.5.1 Front view 10.2.5.2... -
Page 107: Combined Module/Network Status-Led
Expansions / Accessories Kollmorgen 07/2010 10.2.5.4 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 estab- green lished. -
Page 108: Bus Cable
Kollmorgen Expansions / Accessories 07/2010 10.2.5.7 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 109: Expansion Card -Ethercat
Expansions / Accessories Kollmorgen 07/2010 10.2.6 Expansion card -EtherCAT- This section describes the EtherCAT expansion card for SERVOSTAR 600. Information on the range of functions and the software protocol can be found in the EtherCAT documentation. This expansion card enables the servo amplifier to be connected to the EtherCAT network via RJ-45 connectors (IN and OUT ports). -
Page 110: Expansion Card -Synqnet
Kollmorgen Expansions / Accessories 07/2010 10.2.7 Expansion card -SYNQNET- This section describes the SynqNet expansion card for SERVOSTAR 600. Information on the range of functions and the software protocol can be found in the SynqNet documentation. 10.2.7.1 Front view LED2 LED1 LED4 LED3 10.2.7.2... -
Page 111: Digital Inputs/Outputs, Connector X21A (Subd 15-Pin, Socket)
Expansions / Accessories Kollmorgen 07/2010 10.2.7.5 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... -
Page 112: Expansion Module -2Can
Kollmorgen Expansions / Accessories 07/2010 10.2.8 Expansion module -2CAN- Connector X6 of the SERVOSTAR 6xx 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 113: Connector Assignments
Expansions / Accessories Kollmorgen 07/2010 10.2.8.4 Connector assignments RS232 CAN1=CAN2 X6A Pin Signal X6B=X6C Pin Signal CAN-Low CAN-GND CAN-High 10.2.8.5 Connection diagram AGND and DGND (connector X3) must be joined together ! ® SERVOSTAR 601...620 Instructions Manual... -
Page 114: Special Accessories
Kollmorgen Expansions / Accessories 07/2010 10.3 Special Accessories 10.3.1 Power Supply SINCOS The extended power supply enables the to servo amplifier operation of encoder systems at con- (max. 2 m) nector X1 with a power consumption of up to 400 mA DC. This power supply is switched between X1 and the encoder and supplied by SERVOSTAR 600. -
Page 115: Hall Dongle
Expansions / Accessories Kollmorgen 07/2010 10.3.3 Hall Dongle Encoder types that do not provide definitive information on commutation, can be used as a com- plete feedback system using an additional Hall dongle. Encoders with analog signals are connected to the dongle, digital encoders are connected to con- nector X5 on the servo amplifier. -
Page 116: Appendix 11.1 Glossary
Kollmorgen Appendix 07/2010 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 117 Appendix Kollmorgen 07/2010 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...
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Page 118: Order Numbers
DE-89700 not available SERVOSTAR 603 DE-89701 S60300-NA SERVOSTAR 606 DE-89702 S60600-NA SERVOSTAR 610 DE-89703 S61000-NA SERVOSTAR 610-30 DE-102192 S610-3000-NA SERVOSTAR 614 DE-90846 S61400-NA SERVOSTAR 620 DE-89704 S62000-NA SERVOSTAR 601-AS DE-90350 not available SERVOSTAR 603-AS DE-90351 S60301-NA SERVOSTAR 606-AS DE-90352 S60601-NA... -
Page 119: Repair-/Disposal Request Telefax Form
Appendix Kollmorgen 07/2010 11.3 Repair-/Disposal request Telefax form Danaher Motion GmbH Wacholderstr. 42 40489 Düsseldorf Deutschland Fax: +49 (0) 203 9979 444 Please advice dispatch information for (please select) ¡ Repair ¡ Disposal of these products: Product Serial number Reason ("fault", "return" or similar) -
Page 120: Index
Kollmorgen Appendix 07/2010 11.4 Index Mains supply connection, interface..48 24Vaux. supply, interface ... 49 Maintenance ....17 Abbreviations . - Page 121 E-Mail technik@kollmorgen.com Tel.: +49(0)203 - 99 79 - 0 Fax: +49(0)203 - 99 79 - 155 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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