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Danaher SERVOSTAR 300 Series, Product Manual

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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 connect the amplifier to a stepper motor control.

The amplifier is parameterized using the setup software (electronic gearing). The resolu-
tion (number of pulses per revolution) can be adjusted.

The following types of external encoder can be used:

secondary Feedback type

Connector

Wiring

diagram

GEARMODE

SinCos Encoder ENDAT

X1

ð

p.55

8

SinCos Encoder HIPERFACE

X1

ð

p.56

9

SinCos Encoder w/o data channel

X1

ð

p.57

6, 7

ROD* (AquadB) 5V

X5

ð

p.61

3

ROD (AquadB) 24V

X3

ð

p.63

2

SSI

X5

ð

p.65

5

Step/direction 5V

X5

ð

p.68

4

Step/direction 24V

X3

ð

p.69

1

* ROD is an abbreviation for incremental encoder

8.12.1

Connection to a SERVOSTAR master, 5 V signal level (X5)

You can link several SERVOSTAR amplifiers together in master-slave operation.
Master:

position autput to X5 (screen page "Encoder emulation")

Slave:

screen page "Electronic gearing" (GEARMODE)

Up to 16 slave amplifiers can be controlled by the master, via the encoder output. The
SubD connector X5 is used for this purpose.

Frequency limit: 1.5 MHz

Example for Master-Slave operation with two SERVOSTAR amplifiers:
Slave

GEARMODE: 3

Master

ENCMODE:1

SERVOSTAR

®

300 Product Manual

67

Danaher Motion

10/2007

Electrical installation

SERVOSTAR 300

SERVOSTAR

Summary of Contents for SERVOSTAR 300 Series

Page 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Page 2: ... 10 2007 Valid for Hardware Revision 02 01 SERVOSTAR 300 Digital Servo Amplifier Keep all manuals as a product component during the life span of the product Pass all manuals to future users owners of the product File sr300_e ...

Page 3: ...erface and X5 corrected branding upda ted chapter leakance current new chapter servo system graphics expanded and moved chapter various mains supply networks moved trouble shooting reduced Feedback expanded and restructured enc emulation DC Link expanded AS restructured accessories removed 07 07 Timing diagramm motor brake standards updated EMC and LVD 10 07 Target group use as directed standards ...

Page 4: ..._ _6_ 18 6 2 2 Technical data for 400 480 V types S3_ _0_ 19 6 2 3 Inputs outputs 20 6 2 4 Recommended tightening torques 20 6 2 5 Fusing 20 6 2 6 Ambient conditions ventilation mounting position 21 6 2 7 Conductor cross sections 21 6 3 Motor holding brake 22 6 4 LED display 23 6 5 Grounding system 23 6 6 Electrical braking regen circuit 23 6 7 Switch on and switch off behavior 25 6 7 1 Behavior i...

Page 5: ...60 8 11 9 ROD AquadB 5V X5 61 8 11 10 ROD AquadB 5V with Hall X5 X1 62 8 11 11 ROD AquadB 24V X3 63 8 11 12 ROD AquadB 24V with Hall X3 X1 64 8 11 13 SSI Encoder X5 65 8 11 14 Hall sensors X1 66 8 12 Electronic Gearing Master slave operation 67 8 12 1 Connection to a SERVOSTAR master 5 V signal level X5 67 8 12 2 Connection to stepper motor controllers step and direction 68 8 12 2 1 Step Direction...

Page 6: ...r CAN bus 95 9 4 2 Baud rate for CAN bus 95 9 5 Keypad operation LED display 95 9 5 1 Keypad operation 95 9 5 2 Status display 96 9 5 3 Standard menu 96 9 5 4 Advanced menu 97 9 6 Error messages 98 9 7 Warning messages 99 9 8 Trouble Shooting 100 10 Expansions Cards 10 1 Guide to installation of expansion cards 101 10 2 Expansion card I O 14 08 102 10 2 1 Front view 102 10 2 2 Technical data 102 1...

Page 7: ...112 10 7 2 NODE ID Switch 112 10 7 3 Node LED table 112 10 7 4 SynqNet Connection Connector X21B C RJ 45 112 10 7 5 Digital inputs outputs connector X21A SubD 15 pin socket 113 10 7 6 Connection diagram digital inputs outputs connector X21A 113 10 8 Expansion module 2CAN 114 10 8 1 Installation 114 10 8 2 Front view 114 10 8 3 Connection technology 114 10 8 4 Connector assignments 115 10 8 5 Conne...

Page 8: ...sonnel Installation only by electrically qualified personnel Setup only by qualified personnel with extensive knowledge of electrical engineering and drive technology The qualified personnel must know and observe the following standards IEC 60364 or DIN VDE 0100 IEC 60664 or DIN VDE 0110 national accident prevention regulations or BGV A3 The operator must ensure that the safety instructions in thi...

Page 9: ... International Electrotechnical Commission IGBT Insulated gate bipolar transistor INC Incremental interface ISO International Organization for Standardization LED Light emitting diode MB Megabyte NI Zero pulse PC Personal computer PELV Protected low voltage PLC Programmable logic controller PWM Pulse width modulation RAM Volatile memory RBallast RBR Ballast resistor regen resistor RBext External r...

Page 10: ... servo amplifier on a conductive surface l The manufacturer of the machine must produce a hazard analysis for the ma chine and take appropriate measures to ensure that unforeseen movements do not result in personal injury or material damage l Do not open or touch the equipment during operation Keep all covers and ca binet doors closed during operation Touching the equipment is allowed du ring inst...

Page 11: ...table brushless synchronous servomotors and asynchronous motors with clo sed loop control of torque speed and or position The rated voltage of the motors must be at least as high as the DC bus link voltage 2 produced by the servo ampli fier l The servo amplifiers must only be operated in a closed control cabinet taking into account the ambient conditions defined on page 21 Ventilation or cooling m...

Page 12: ...requirements The standard EN 61800 5 1 is applied to ensure conformance with the Low Voltage Directive 3 1 2 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 Canadian standard in this case UL 840 and UL 508C This standard describes the fulfilment by design of minimum r...

Page 13: ...r property Standards to be applied for conformance with the Low Voltage Directive 2006 95 EC EN 60204 1 Safety and Electrical Equipment in Machines EN 60439 1 Low voltage switchgear and controlgear assemblies Standards to be applied for conformance with the EMC Directive 2004 108 EC EN 61000 6 1 2 Interference Immunity in Residential Industrial Areas EN 61000 6 3 4 Interference Generation in Resid...

Page 14: ...le packaging l Max stacking height 8 cartons l Storage temperature 25 to 55 C max rate of change 20K hour l Storage humidity 5 95 relative humidity no condensation l Storage duration Less than 1 year without restriction More than 1 year capacitors must be re formed before setting up and operating the servo amplifier To do this remove all electrical connections and apply single phase 230V AC for ab...

Page 15: ...egen resistor BAR U communication cable to the PC ð p 75 for setting parameters from a PC power cable control cables fieldbus cables as cut off lengths 5 2 Nameplate The nameplate depicted below is attached to the side of the servo amplifier The information described below is printed in the individual fields 14 SERVOSTAR 300 Product Manual Package 10 2007 Danaher Motion Typenbezeichnung Spannungsv...

Page 16: ...061 NA SERVOSTAR 341 S30101 NA SERVOSTAR 343 S30301 NA SERVOSTAR 346 S30601 NA SERVOSTAR 300 Product Manual 15 Danaher Motion 10 2007 Package Family S3 S300 Voltage rating 0 208 480V 6 110 230V Current rating 01 1 5A rms 03 3A rms 06 6A rms 10 10A rms Electr options 0 no option 1 AS Expansions NA no expansion DN DEVICENET PB PROFIBUS SE SERCOS EC ETHERCAT SQ SYNQNET I O I O Extension S 3 0 6 0 1 S...

Page 17: ...pply filter and soft start circuit l Single phase supply operation possible e g for setup l Fusing e g fusible cutout to be provided by the user l Shielding All shielding connections are made directly on the amplifier l Output stage IGBT module with floating current measurement l Regen circuit with dynamic distribution of the regenerated power between several amplifiers on the same DC bus link cir...

Page 18: ...egrated step direction interface for connecting a servomotor to a stepper controller l Evaluation of resolver signals and sine cosine signals of high resolution encoders l Encoder emulation incremental compatible with A quad B or SSI Comfort functions l 2 programmable analog inputs l 4 programmable digital inputs l 2 programmable digital outputs l programmable logical combinations of digital signa...

Page 19: ...ltage switch off at 115V VDC 235 at 230V VDC 455 Motor inductance min at 1x115V mH 3 7 3 7 3 7 at 3x115V mH 2 1 1 3 1 0 at 3x230V mH 4 3 2 6 1 9 at 1x230V mH 4 3 4 3 4 3 Motor inductance max mH Consult our customer support Form factor of the output current rated conditions min load inductance 1 01 Bandwidth of current controller kHz 1 2 Residual voltage drop at rated current V 4 Thermal dissipatio...

Page 20: ...cuit ð p 23 Threshold for overvoltage switch off a 230V VDC 455 a 400V VDC 800 a 480V VDC 900 Motor inductance min at 3x208V mH 7 7 4 6 2 9 at 3x230V mH 8 5 5 1 3 2 at 3x400V mH 14 8 8 9 5 6 at 3x480V mH 17 8 10 7 6 7 Motor inductance max mH Consult our customer support Form factor of the output current rated conditions min load inductance 1 01 Bandwidth of subordinate current controller kHz 1 2 R...

Page 21: ... emulation ROD SSI SubD 9 pin plug Connection technology Control signals Combicon connector Power signals Combicon connector Resolver input SubD 9 pin socket Incremental encoder input SubD 15 pin socket PC interface CAN SubD 9 pin plug Encoder emulation ROD SSI SubD 9 pin plug 6 2 4 Recommended tightening torques Connector Tightening torque X0 X8 X9 0 5 0 6 Nm Grounding bolt 3 5 Nm 6 2 5 Fusing In...

Page 22: ...ctor cross sections Following EN 60204 we recommend for single axis systems AC connection 1 5 mm 14awg 600V 105 C DC bus link Regen resistor 1 5 mm 14awg 1000V 105 C shielded for lengths 20cm Motor cables up to 25 m 1 1 5 mm 14awg 600V 105 C shielded capacitance 150pF m Motor cables 25m to 50 m with motor choke 3YL 1 mm 14awg 600V 105 C shielded capacitance 150pF m Resolver motor thermostat 4x2x0 ...

Page 23: ... During the internal ENABLE delay time of 100ms DECDIS the speed setpoint of the servo amplifier is internally driven down an adjustable ramp to 0V The output for the brake is switched on when the speed has reached 5 rpm VELO at the latest after 5 sec onds EMRGTO The rise fbrH and fall fbrL times of the holding brake that is built into the motor are dif ferent for the various types of motor see mo...

Page 24: ...nctional description 1 Individual amplifiers not coupled through the DC bus link circuit DC DC If the energy fed back from the motor has an average or peak power that exceeds the preset level for the regen power rating then the servo amplifier generates the warning n02 regen power exceeded and the regen circuit is switched off The next internal check of the DC bus link voltage after a few millisec...

Page 25: ...in regen circuit RBext max 1s kW 0 75 3 341 S30101 Switch on upper threshold of regen circuit V 400 720 840 Overvoltage F02 V 455 800 900 Regen resistor internal Ohm 91 91 91 Continuous power in regen circuit RBint W 20 20 20 Pulse power in regen circuit RBint max 1s kW 2 1 7 9 Regen resistor external optional Ohm 91 91 91 Continuous power in regen circuit RBext max kW 0 3 0 3 0 3 Pulse power in r...

Page 26: ...rror message if the servo amplifier is to bring the drive to a standstill Error messa ge F19 is output if an input phase is missing The servo amplifier is disabled and the BTB contact opens Where the factory setting is unchanged ACTFAULT 1 the mo tor is braked using the set EMERGENCY STOP RAMP Behavior when undervoltage threshold is reached If the undervoltage threshold is undershot in the DC bus ...

Page 27: ... functional sequence for switching the servo amplifier on and off Devices which are equipped with a selected Brake function use a special sequence for switching off the output stage ð p 22 The built in restart lock AS can be used to switch off the drive so that personnel safety is ensured at the drive shaft ð p 77 26 SERVOSTAR 300 Product Manual Technical description 10 2007 Danaher Motion DC bus ...

Page 28: ...of one or more electrical supply phases failing assuming that the standard parameter settings apply F16 F19 error messages Mains BTB input phase F05 error message Undervoltage Even if there is no intervention from an external control system in the example the ENABLE signal remains active the motor is immediately braked using the emergency stop ramp if an input phase error is detected and assuming ...

Page 29: ...eted Category 2 A controlled shut down whereby the energy supply to the drive machinery is maintained The parameters STOPMODE and ACTFAULT must be set to 1 in order to implement the stop categories If necessary change the parameters via the terminal screen of the setup software and store the data in the EEPROM The Stop Category must be determined by a risk evaluation of the machine In addition sui...

Page 30: ...mponents may be used for the Category 0 Emer gency Stop function It must not be triggered using switching logic hardware or software by transferring commands via a communication network or via a data link The drive must be shut down using an electromechanical circuit If the connected servo motor has an integrated brake this must always be controlled by an electromechanical circuit as well Category...

Page 31: ...type of disconnection A brake that is built into the motor must have an additional electromechanical control cir cuit as well as the control through the SERVOSTAR 300 in order to meet Category 0 Usually a brake in a servo motor only has the function of a holding brake To ensure an emergency stop function the braking torque that is required must be checked If the hold ing brake fulfills the dynamic...

Page 32: ... speed VEL0 see sequence diagram in chapter 6 3 is undershot the holding brake is applied and the output stage is disabled As soon as two separate time periods set at the time relay have elapsed the mains sup ply and the holding brake are electrically isolated Should an internal SERVOSTAR 300 fault occur the motor is forced to a standstill once K20 drops out Circuit suggestion with EMERGENCY STOP ...

Page 33: ...rshot the holding brake is applied and the output stage is disabled In this case there is no interruption of the elec trical supply If the electrical supply is switched off not only will the controlled braking procedure be performed but the mains supply and the holding brake will also be electrically isolated fol lowing a time period set at the time relay Circuit suggestion with EMERGENCY STOP Cat...

Page 34: ...requirement The following measures can be used to minimise leakage currents Reduce the length of the engine cable Use low capacity cables see p 43 Remove external EMC filters radio interference suppressors are integrated 6 9 2 Residual current circuit breakers FI In conformity with IEC 60364 4 41 Regulations for installation and EN 60204 Electri cal equipment of machinery residual current circuit ...

Page 35: ...ction is sought the SERVOSTAR 300 can also be operated via an isolating transformer schematic connection see p 48 A ground leakage monitor can be used to monitor for short circuits We would advise you to keep the length of wiring between the transformer and the servo amplifier as short as possible 34 SERVOSTAR 300 Product Manual Technical description 10 2007 Danaher Motion ...

Page 36: ...plifiers and or shield the magnetic fields 7 2 Guide to mechanical installation The following notes should help you to carry out the mechanical installation in a sensible sequence without overlooking anything important Site In a closed control cabinet Please refer to page 21 The site must be free from conductive or corrosive materials For the mounting position in the cabinet ð p 36 Ventilation Che...

Page 37: ...7 3 Assembly Material 3 x M5 hexagon socket screws to DIN 912 Tool required 4 mm Allen key 36 SERVOSTAR 300 Product Manual Mechanical Installation 10 2007 Danaher Motion SERVOSTAR 300 ...

Page 38: ...7 4 Dimensions SERVOSTAR 300 Product Manual 37 Danaher Motion 10 2007 Mechanical Installation SERVOSTAR 303 310 SERVOSTAR 341 346 Fan with 6A and 10A types only S3xx61 S3xx01 ...

Page 39: ...This page has been deliberately left blank 38 SERVOSTAR 300 Product Manual Mechanical Installation 10 2007 Danaher Motion ...

Page 40: ...tion techni ques can be found on page 42 l Feedback lines may not be extended since thereby the shielding would be interrup ted and the signal processing could be disturbed l Lines between amplifiers and external regen resistor must be shielded l Install all power cables with an adequate cross section as per EN 60204 ð p 21 and use the requested cable material ð p 43 to reach max cable length l Wi...

Page 41: ... are used Connect the analog input source if required Connect the feedback device Connect the encoder emulation if required Connect the expansion card see corresponding notes from page 101 Connect the motor cable Connect shielding to EMC connectors shield connection at both ends Use the motor choke 3YL if cable 25 meters Connect motor holding brake connect shielding to EMC connector shield connect...

Page 42: ...ou will find in all the wiring diagrams indicates that you must take care to provide an electrically conductive connection with the largest feasible surface area between the unit indicated and the mounting plate in the control cabinet This connection is for the effective grounding of HF interference and must not be confused with the PE symbol W PE protective earth safety measure as per EN 60204 Us...

Page 43: ...oud of the line on a length from for instance 30mm without da maging the shielding braid Pull a cable tie by the slot in the shielding rail on the front panel of the servo amplifier Press the shielding of the cable firmly against the front panel with the cable tie Use the shield clamp that is delivered with the motor cable for the shield connection of the motor cable The clamp must be hoo ked in t...

Page 44: ...l that matches the capacitance requirements listed below Insulation material Sheathing PUR polyurethane code 11Y Core insulation PETP polyesteraphthalate code 12Y Capacitance Motor cable less than 150 pF m Resolver Encoder cable less than 120 pF m Technical data For a detailed description of cable types and how to assemble them please refer to the accessories manual Motor cables longer than 25m re...

Page 45: ...devices are connected with dashed lines to the servo amplifier The required accessories are described in our accessories manual 44 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion 24V PSU Fuses Drive cut out Terminals Motor SERVOSTAR 300 PC Controls PLC Regen resistor optional Motor choke optional ...

Page 46: ...8 5 Block diagram The block diagram below just provides an overview SERVOSTAR 300 Product Manual 45 Danaher Motion 10 2007 Electrical installation ...

Page 47: ...8 6 Connector assignments 46 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion The connectors of the expansion card depend on used expansion card see pages 102 ff ...

Page 48: ...10 2007 Electrical installation ð p 75 ð p 76 ð p 49 ð p 50 ð p 51 ð p 51 ð p 53 ð p 72 ð p 73 ð p 74 ð p 70 ð p 71 ð p 67 ð p 68 SERVOSTAR 300 Refer to the Safety Instructions ð p 9 and Use as Directed ð p 10 ð p 73 ð p 54ff ð p 105 ð p 106 ð p 108 ð p 111 ð p 113 ð p 102 ð p 78 ...

Page 49: ... transformer is always required for 400 480V networks that are asymmetrically grounded or not grounded Order code reference see p 119 48 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion 110V SERVOSTAR 303 310 230V all types 400V 480V SERVOSTAR 341 346 SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR ...

Page 50: ... network filter is integrated Fusing e g fusible cut outs to be provided by the user ð p 20 8 8 2 2 Two phase without neutral 8 8 2 3 Single phase with neutral SERVOSTAR 300 Product Manual 49 Danaher Motion 10 2007 Electrical installation SERVOSTAR 300 SERVOSTAR 300 SERVOSTAR 300 ...

Page 51: ...R 300 servo amplifiers with mains supply from the same mains identical mains supply voltage may be connected by the DC bus link The sum of the rated currents for all of the servo amplifiers connected in parallel to an SERVOSTAR 303 310 must not exceed 24 A The sum of the rated currents for all of the servo amplifiers connected in parallel to an SERVOSTAR 341 346 must not exceed 40A Use unshielded ...

Page 52: ...p to max 50m the motor choke 3YL must be wired into the motor cable close to the amplifier 8 10 External regen resistor X8 Remove the plug in link between the terminals X8 5 RB and X8 4 Rbint SERVOSTAR 300 Product Manual 51 Danaher Motion 10 2007 Electrical installation SERVOSTAR 300 SERVOSTAR 300 SERVOSTAR 300 ...

Page 53: ...nally EXTPOS X externally GEARMODE X For a detailed description of the ASCII parameters please refer to the online help of the setup software The table below provides an overview of the supported feedback types their correspond ing parameters 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 Danaher Motion m...

Page 54: ...rmostat contact in the motor is connected via the resolver cable to X2 and evaluated there If cable lengths of more than 100 meters are planned please contact our customer ser vice FBTYPE 0 SERVOSTAR 300 Product Manual 53 Danaher Motion 10 2007 Electrical installation SERVOSTAR 300 SubD 9 round 12 pin ...

Page 55: ... to X1 and evaluated there If cable lengths of more than 50m are planned please consult our customer service Frequency limit sin cos 350 kHz Type FBTYPE Up Remarks 5V digital 20 5V 5 adjust on screen page FEEDBACK 12V digital 22 7 5 11V adjust on sreen page TERMINAL 5V analog 23 5V 5 12V analog 24 7 5 11V 54 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion SERVOSTAR 300 ...

Page 56: ...ted via the encoder cable to X1 and evalu ated there All signals are connected using our pre assembled encoder connection cable If cable lengths of more than 50m are planned please consult our customer service Frequency limit sin cos 350 kHz Type FBTYPE Remarks ENDAT 4 adjust on screen page FEEDBACK ENDAT Wake Shake 21 adjust on screen page TERMINAL SERVOSTAR 300 Product Manual 55 Danaher Motion 1...

Page 57: ...tact in the motor is connected via the encoder cable to X1 and evalu ated there All signals are connected using our pre assembled encoder connection cable If cable lengths of more than 50m are planned please consult our customer service Frequency limit sin cos 350 kHz FBTYPE 2 56 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion SERVOSTAR 300 SubD 15 round 17 pin ...

Page 58: ... out of the amplifier s EEPROM The thermostat contact in the motor is connected via the encoder cable to X1 and evalu ated there If lead lengths of more than 50m are planned please consult our customer service Frequency limit sin cos 350 kHz Type FBTYPE Up Remarks SinCos 5V 1 5V 5 MPHASE from EEPROM SinCos 12V 3 7 5 11V MPHASE from EEPROM SinCos 5V 7 5V 5 MPHASE with wake shake SinCos 12V 8 7 5 11...

Page 59: ...h an addi tional Hall encoder primary ð p 52 All signals are connected to X1 and evaluated there If cable lengths of more than 25m are planned please consult our customer service Frequency limit sin cos 350 kHz Type FBTYPE Up Remarks SinCos 5V with Hall 5 5V 5 SinCos 12V with Hall 6 7 5 11V 58 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion SERVOSTAR 300 SubD15 ...

Page 60: ...ed on the amplifier need start up informa tion for the position controller parameter value MPHASE With this feedback type the amplifier executes a wake shake every time the 24V auxiliary voltage is switched on If lead lengths of more than 50m are planned please consult our customer service Frequency limit A B 350 kHz FBTYPE 17 SERVOSTAR 300 Product Manual 59 Danaher Motion 10 2007 Electrical insta...

Page 61: ...der cable all sig nals are connected correctly With separate feedback devices Encoder and Hall are two devices the wiring must be done similar to chapter 8 11 6 but the amplifier s pinout is identical to the wiring diagram shown below If cable lengths of more than 25m are planned please consult our customer service Frequency limit A B 350 kHz FBTYPE 15 60 SERVOSTAR 300 Product Manual Electrical in...

Page 62: ... value MPHASE Depending on the feedback type either wake shake is executed or the value for MPHASE is read out of the ampli fier s EEPROM If lead lengths of more than 50m are planned please consult our customer service Frequency limit A B N 1 5 MHz Type FBTYPE Up Remarks ROD AquadB 5V 13 5V 5 MPHASE from EEPROM ROD AquadB 5V 19 5V 5 MPHASE from wake shake Don t use this feedback type with vertical...

Page 63: ... sensors are used and for the resolution an incremental encoder The thermostat contact in the motor is connected to X1 and evalu ated there If cable lengths of more than 25m are planned please consult our customer service Frequency limit X5 1 5 MHz X1 350 kHz FBTYPE 18 62 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion SERVOSTAR 300 ...

Page 64: ...on for the position controller parameter value MPHASE With this feedback type the amplifier executes a wake shake is executed every time the 24V auxiliary voltage is switched on This uses the digital inputs DIGITAL IN 1 and 2 on connector X3 If cable lengths of more than 25m are planned please consult our customer service Frequency limit 100 kHz transition time tv 0 1µs FBTYPE 16 SERVOSTAR 300 Pro...

Page 65: ... sensors are used and for the resolution an incremental encoder The thermostat contact in the motor is connected to X1 and evalu ated there If cable lengths of more than 25m are planned please consult our customer service Frequency limit X3 100 kHz X1 350 kHz FBTYPE 14 64 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion SERVOSTAR 300 ...

Page 66: ...ead in Gray code or in Binary standard code The thermostat contact in the motor is connected to X1 and evaluated there If cable lengths of more than 50m are planned please consult our customer service Frequency limit 1 5 MHz FBTYPE 9 adjustable with Terminal SERVOSTAR 300 Product Manual 65 Danaher Motion 10 2007 Electrical installation SERVOSTAR 300 ...

Page 67: ...ermostat contact in the motor is connected to X1 and evaluated there If cable lengths of more than 25m are planned please consult our customer service Frequency limit 350 kHz FBTYPE 11 adjustable with Terminal 66 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion SERVOSTAR 300 ...

Page 68: ...8 SinCos Encoder HIPERFACE X1 ð p 56 9 SinCos Encoder w o data channel X1 ð p 57 6 7 ROD AquadB 5V X5 ð p 61 3 ROD AquadB 24V X3 ð p 63 2 SSI X5 ð p 65 5 Step direction 5V X5 ð p 68 4 Step direction 24V X3 ð p 69 1 ROD is an abbreviation for incremental encoder 8 12 1 Connection to a SERVOSTAR master 5 V signal level X5 You can link several SERVOSTAR amplifiers together in master slave operation M...

Page 69: ...tronic gearing The number of steps can be adjusted so that the servo amplifier can be adapted to match the step direction signals of any stepper controller Various monitoring signals can be generated Observe the frequency limit Using an A quad B encoder provides better EMC noise immunity Speed profile and signal diagram 8 12 2 1 Step Direction with 5 V signal level X5 Wiring of the servo amplifier...

Page 70: ...e servo amplifier to a stepper motor controller with a 24 V signal level Used are the digital inputs DIGITAL IN 1 and 2 on connector X3 Frequency limit 100 kHz GEARMODE 1 SERVOSTAR 300 Product Manual 69 Danaher Motion 10 2007 Electrical installation SERVOSTAR 300 ...

Page 71: ...tion can be set by the RESOLUTION function Enc function ENCMODE Feedback system Resolution lines Zero pulse NI ROD 1 2 pole Resolver 256 4096 once per turn only at A B 1 Encoder 256 524288 28 219 once per turn only at A B 1 ROD interpolation 3 Encoder 22 27 multiplica tion TTL line x en coder resolution encoder signal passed through from X1 to X5 Use the NI OFFSET parameter to adjust save the zero...

Page 72: ...location of the SSI date depending upon selected number of revolutions Revolution Resolution variable SSIREVOL Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 13 12 11 10 9 8 7 6 5 4 3 2 1 0 12 11 10 9 8 7 6 5 4 3 2 1 0 11 10 9 8 7 6 5 4 3 2 1 0 The signal sequence can be output in Gray code or in Binary standard code The servo amp...

Page 73: ...terminals X3 5 6 Differential input voltage max 10 V resolution 12 bit scalable Standard setting torque setpoint Application examples for setpoint input Analog In 2 adjustable external current limit reduced sensitivity input for setting up jog operation pre control override Defining the direction of rotation Standard setting clockwise rotation of the motor shaft looking at the shaft end Positive v...

Page 74: ...ll lose all torque and coast down to a stop A fail safe brake function for the drive if one is required must be ensured through a mechanical brake since electrical braking with the aid of the drive is no longer possible You can thus achieve a restart lock out for personnel safety by using the AS enable input in conjunction with an external safety circuit You can find further information and connec...

Page 75: ...t stage to be switched off if the BTB RTO contact is open the output stage is inhibited no power output A list of the error messages can be found on page 98 Programmable digital outputs DIGITAL OUT 1 2 You can use the digital outputs DIGITAL OUT1 terminal X3 13 and DIGITAL OUT2 ter minal X3 14 to output messages from pre programmed functions that are stored in the servo amplifier A list of these p...

Page 76: ...is interface has the same electrical potential as the CANopen interface The interface is selected and set up in the setup software Further notes on page 84 With the optional 2CAN expansion card the two interfaces for RS232 and CAN which would otherwise use the same connector X6 are separated out onto three connectors ð p 114 Interface cable between the PC and servo amplifiers of the SERVOSTAR 300 ...

Page 77: ...le To meet ISO 11898 a bus cable with a characteristic impedance of 120 W should be used The maximum 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 Cable data Characteristic impedance 100 120 W Cable capacitance max 60 nF km Lead loop resist...

Page 78: ...antages of the restart lock AS the DC bus link remains charged up since the mains supply line remains active only low voltages are switched so there is no contact wear very little wiring is required the functionality and the personnel safety when using the circuit recommendations in this documentation have been approved by the Trade Liability Association 8 17 1 Safety instructions l Observe the ch...

Page 79: ...d from the supply by the personnel and secured main switch 2 emergency stop situations In an emergency stop situation the main contactor is switched off by the emergency stop button 8 17 3 Technical data and pinning Input voltage 20 V 30 V Input current 40 mA 75 mA Ieff Peak current 220 mA Is 8 17 4 Enlosure Since the servo amplifier meets enclosure IP20 you must select the environment ensur ing a...

Page 80: ...ol and the servo amplifier displays the error F27 There is no possibility of braking the drive controlled If a controlled braking before the use of the restart lock is necessary the drive must be braked and the input AS ENABLE has to be separated from 24 VDC time delayed The restart lock AS does not provide an electrical separation from the power output If access to the motor power terminals is ne...

Page 81: ... a controlled manner speed setpoint 0 V 2 When speed 0 rpm disable the servo amplifier Enable 0 V 3 Activate the restart lock AS AS Enable 0 V Suspended loads can set themselves to motion on motors without brake because the motor loses all torque when restart lock AS is engaged AS Enable open and or 0 V 80 SERVOSTAR 300 Product Manual Electrical installation 10 2007 Danaher Motion ...

Page 82: ...he safety category 3 according to EN 954 1 Further information to the safety switchgears is available from Pilz The use of safety switchgears of other manufacturers is possible if these also fulfill the safety category 3 according to EN 954 1 Consider the wiring instructions on page 78 SERVOSTAR 300 Product Manual 81 Danaher Motion 10 2007 Electrical installation Emergency stop circuit acc to EN 9...

Page 83: ...hazardous area 2 Activate the restart lock AS e g by opening protective screen voltage at X4 5 0 V Now the BTB RTO contact opens the net contactor releases and the servoamplifier dis plays error F27 2 Method 1 Stop all drives with setpoint 0V disable servo amplifier 2 Activate the restart lock AS e g by opening protective screen voltage at X4 5 0 V Now the servo amplifier displays S 8 17 6 4 Mains...

Page 84: ... is live Capacitors can still have dangerous residual charges up to 300 seconds after switching off the supply voltage The heat sink and front panel of the amplifier can reach temperatures up to 80 C in operation Check the heat sink temperature Wait until the heat sink has cooled down to 40 C before touching it If the servo amplifier has been stored for more than 1 year it will be necessary to re ...

Page 85: ...the assistance of the setup software The PC is connected to the servo amplifier by a null modem cable serial see p 75 The setup software provides the com munication between the PC and SERVOSTAR 300 You can find the setup software on the accompanying CD ROM and in the download area of our website With very little effort you can alter parameters and instantly observe the effect on the drive since th...

Page 86: ...II terminal emulation without graphical user interface Interface settings 38400 bps databit 8 no parity stopbit 1 no flow control Unix Linux The functioning of the software has not been tested for WINDOWS running within Unix or Linux 9 2 2 Installation under WINDOWS 2000 XP The CD ROM includes an installation program for the setup software Installation Autostart function activated Insert the CD RO...

Page 87: ...uments You need access to these documents located on the product CD ROM you can down load the latest editions from our website l Product Manual this manual l Accessories Manual l CANopen communication profile Manual Depending on the installed expansion card you need one of these documents l PROFIBUS DP communication profile Manual l DeviceNet communication profile Manual l SERCOS communication pro...

Page 88: ... to safety or functionality of your application it just shows the required wiring for drive testing without load SERVOSTAR 300 Product Manual 87 Danaher Motion 10 2007 Setup Power ON 24V DC Enable Power Motor Feedback Motor Power Motor 1 2 12 1 2 3 5 4 5 X8 X4 X3 24V ON RES ENC PC CAN ...

Page 89: ... work offline or online with DRIVEGUI EXE Work ONLINE now If the communication is start ed for the first time you have to setup the communication parameters Choose the communication system and the interface where the servo amplifier is connected to Click OK The software tries to communicate with these parameters If it s not successful you receive this error message Frequent causes wrong interface ...

Page 90: ...ith Key F1 Starts Online Help for the actual screen page Menu bar Starts Online Help with the first page Context Help Click the help symbol first Then click the function for which you need help Tool Bar Save to EEPROM required if you changed parameters Reset required if you changed configuration parameters Operation Mode use 0 Digital Velocity mode for dri ve testing Status Bar The status bar show...

Page 91: ...are setup here Response to Loss of Input Phase Select Single Phase or Three Phase operation With three phase operation you can select either warning n05 or error F19 in case of phase loss The reaction F19 disables the output stage n05 is just a message Name You can enter a name for the servo amplifier up to 8 characters This simplifies the drive identification in the system Set Software Enable on ...

Page 92: ...culating the resolution value Calculate PGEARI PGEARO for button If your application does not corre spond to any of the listed examples enter the required parameters direct ly in the fields on the Units screen First select the application that corresponds to your own Next set the position unit Select the position unit that provides you with the required accuracy for your application Set the mechan...

Page 93: ...ber here and select the desired servo performance If you don t know the inertia ratio select Do not tune Click FINISH 9 3 4 4 Motor linear Feedback Encoder Simplified setting of the motor related parameters Feedback Select the feedback system used Motor type Click the button Select from Database Open the database file mdb_ _ _ csv and select the used motor Special motors must be defined in the Com...

Page 94: ...e limit switch or the mechanical stop Make sure that a jerk or a fast acceleration of the load cannot cause any damage l Switch on the power supply for the drive l AS Enable Apply 24 V to the input AS Enable X4 5 l Hardware Enable Apply 24 V to the input Enable X3 12 If AS Enable is missed or the sequence was wrong the front display shows l Software Enable Click the symbol in the tool bar Now the ...

Page 95: ...itored l Electronic Gearing If the servo amplifier will follow a setpoint as a slave with a gear ratio you can select the gearing source here and define the gear ratio l Encoder Emulation select the encoder emulation position output l Analog I O setup the analog inputs l Digital I O setup the digital inputs and outputs l Status Errors Warnings displays amplifiers data with history actual faults wa...

Page 96: ... 9 5 Keypad operation LED display This section illustrates the two possible operating menus and the use of the keys on the front panel Normally the SERVOSTAR 300 only presents the standard menu for your use If you want to operate the amplifier via the detailed menu you must keep the right key pressed while switching on the 24V supply 9 5 1 Keypad operation The two keys can be used to perform the f...

Page 97: ...9 5 2 Status display 9 5 3 Standard menu 96 SERVOSTAR 300 Product Manual Setup 10 2007 Danaher Motion ð p 95 ...

Page 98: ... Advanced menu To operate the amplifier via the detailed menu you must keep the right key pressed while switching on the 24 V supply SERVOSTAR 300 Product Manual 97 Danaher Motion 10 2007 Setup ð p 95 ð p 95 ...

Page 99: ...15 I t max I t maximum value exceeded F16 Mains BTB RTO 2 or 3 phases missing in the mains supply feed F17 A D Converter Error in the analog digital conversion normally caused by extreme electromagnetic interference F18 Regen Circuit Regen circuit faulty or incorrect setting F19 DC Bus Link DC bus link breakdown F20 Slot Error Slot error depends on the type of expansion card see ASCII object refer...

Page 100: ...CE discrepancy between motor number saved in the encoder and the amplifier motor default values loa ded n13 Expansion card 24V DC supply for I O expansion card not ok n14 SinCos feedback SinCos commutation wake shake not comple ted will be canceled when amplifier is enabled and wake shake carried out n15 Reserve Reserve n16 Summarized warning Summarized warning for n17 to n31 n17 Fieldbus sync CAN...

Page 101: ...k brake control check mechanism set motor pole no set up feedback correctly Motor oscilla tes gain is too high speed controller feedback cable shielding broken AGND not wired up reduce Kp speed controller replace feedback cable join AGND to CNC GND Drive reports following er ror Irms or Ipeak set too low accel decel ramp is too long increase Irms or Ipeak keep within motor ratings shorten ramp Mot...

Page 102: ...the open option slot l Lever off the small metall sheet and push it back to the small slot Dispose the big metall sheet l Push the expansion card carefully into the provided guide rails of the main slot without twisting it l Press the expansion card firmly into the slot l Screw the screws on the front cover into the threads in the fixing lugs This en sures that the connectors make good contact SER...

Page 103: ...7mA PLC compatible IEC 1131 Signal output 24V max 500mA PLC compatible IEC 1131 Supply inputs to IEC 1131 24V 18 36V 100mA plus total current of the outputs depends on the input wiring of the controls The 24V DC voltage must be supplied by an electrically isolated power supply e g with isolating transformer Fusing external 4 AT Connectors MiniCombicon 12 pin coded on PIN1 and 12 Cables Data up to ...

Page 104: ... motion a falling edge cancels the motion Connector X11B 1 In MT_Restart Continues the motion task that was previously interrupted 2 In Start_MT I O Starts the motion task that is addressed by A0 A7 connector X11A 1 8 3 Out InPos When the target position for a motion task has been reached the InPosition window this is signaled by the output of a HIGH signal A cable break will not be detected 4 Out...

Page 105: ...10 2 6 Connection diagram default 104 SERVOSTAR 300 Product Manual Expansions Cards 10 2007 Danaher Motion SERVOSTAR 300 ...

Page 106: ... SubD sockets wired in parallel The supply voltage for the expansion card is provided by the servo amplifier 10 3 1 Front view 10 3 2 Connection technology Cable selection cable routing shielding bus connector bus termination and transmis sion times are all described in the Installation Guidelines for PROFIBUS DP FMS from PNO the PROFIBUS User Organization 10 3 3 Connection diagram SERVOSTAR 300 P...

Page 107: ...D is very bright then communication is suffering strong interference or is non existent Check the SERCOS transmission speed for the controls and the ser vo amplifier BAUD RATE and the fiber optic connection If this LED fades or flickers this indicates a low level of interference for SERCOS communication or the optical transmitting power is not correctly matched to the length of cable Check the tra...

Page 108: ...ble The SBAUD parameter can be used to set the baud rate where is the baud rate If the optical power is not set correctly errors occur in telegram transmission and the red LED on the drive lights up During normal communication the green send and receive LEDs flash giving the impression that the relevant LED is on The SLEN parameter can be used to specify the optical range for a standard 1 mm glass...

Page 109: ...in our man ual DeviceNet Communication Profile 10 5 1 Front view 10 5 2 Connection technology Cable selection cable routing shielding bus connector bus termination and transmis sion times are all described in the DeviceNet Specification Volume I II published by ODVA 10 5 3 Connection diagram 108 SERVOSTAR 300 Product Manual Expansions Cards 10 2007 Danaher Motion SERVOSTAR 300 ...

Page 110: ...e front of the expansion card to a value higher than 63 Now you can set up the station address by using the ASCII commands DNMACID x SAVE COLDSTART whereby x stands for the station address l Set the rotary switches at the front of the expansion card to a value higher than 63 Now you can set up the station address by using the DeviceNet Object Class 0x03 Attribute 1 This is normally carried out wit...

Page 111: ...hunt R 20KW Absolute max voltage range 25 V to 18 V CAN_H CAN_L The voltages for CAN_H and CAN_L refer to the ground pin of the transceiver The voltage is higher than that on the V terminal by the amount of the forward voltage drop of the Schottky diode This voltage drop must be 0 6V Grounding The DeviceNet network must only be grounded at one point to avoid ground loops The circuitry for the phys...

Page 112: ...ng Error blinking Invalid Configuration single flash Unsolicited State Change double flash Watchdog Timeout off No Error RUN on Device is in state OPERATIONAL blinking Device is in state PRE OPERATIONAL single flash Device is in state SAFE OPERATIONAL off Device is in state INIT ACT IN on linked but not active at X20A in flickering linked and active at X20A in off not linked at X20A in ACT OUT on ...

Page 113: ...ying build options to the application program 10 7 3 Node LED table LED Name Function LED1 green LINK_IN ON receive valid IN port OFF not valid power off or reset LED2 yellow CYCLIC ON network cyclic BLINK network not cyclic OFF power off or reset LED3 green LINK_OUT ON receive valid OUT port OFF not valid power off or reset LED4 yellow REPEATER ON repeater on network cyclic BLINK repeater on netw...

Page 114: ...with the node 10 Out OUT_00 digital output 3 Out OUT_01 digital output 11 Out OUT_02 digital output 4 In IN_00 capture input fast 12 In IN_02 digital input 5 In IN_04 digital input 13 In IN_03 digital input 6 In IN_01 digital input 14 In NEGLIM limit switch negati ve direction 7 In HOME reference switch 15 In NODE DISABLE disables Node 8 In POSLIM limit switch positive direction 10 7 6 Connection ...

Page 115: ...n The modul must be placed onto the option slot after levering off the cover of the option slot and replacing the small cover see p 101 l Screw the distance pieces into the fixing lugs of the option slot l Place the expansion module onto the option slot l Screw the screws into the threads of the distance pieces l Plug the Sub D9 socket into connector X6 on the SERVOSTAR 10 8 2 Front view 10 8 3 Co...

Page 116: ...ts RS232 CAN1 CAN2 X6A Pin Signal X6B X6C Pin Signal 1 Vcc 1 2 RxD 2 CAN Low 3 TxD 3 CAN GND 4 4 5 GND 5 6 6 7 7 CAN High 8 8 9 9 10 8 5 Connection diagram SERVOSTAR 300 Product Manual 115 Danaher Motion 10 2007 Expansions Cards ...

Page 117: ...This page has been deliberately left blank 116 SERVOSTAR 300 Product Manual Expansions Cards 10 2007 Danaher Motion ...

Page 118: ...p Software fieldbus or permanently set Both are required for enabling the amplifier ENABLE Enable signal for the servo amplifier 24 V F Fieldbus interface CANopen PROFIBUS SERCOS etc Final speed limit speed Maximum value for the speed normalization at 10 V G GRAY code Special format for representing binary numbers H Holding brake Brake in the motor that can only be used when the motor is at stands...

Page 119: ...perfluous energy fed back by the motor during braking regenerated energy into heat Reset New start of the microprocessor Resolver digital converter Conversion of the analog resolver signals into digital information Reversing mode Operation with a periodic change of direction Ring core Ferrite rings for interference suppression ROD interface Incremental position output S Servo amplifier Control dev...

Page 120: ...Expansion card SERCOS DE 90879 OPT SE Expansion card I 0 14 08 DE 90057 OPT EI Expansion card EtherCat DE 108350 OPT EC Expansion card SynqNet DE 200073 OPT SN Expansion module 2CAN DE 101174 not available 11 2 3 Mating connectors Article EU order code US order code Mating connector X3 DE 107554 CON S3X3 Mating connector X4 DE 107555 CON S3X4 Mating connector X0 115 230V DE 105856 CON S3X0L Mating...

Page 121: ...puts Analog 72 Digital 73 Installation Electrical 39 Expansion cards 101 Mechanical 35 Software 85 K Keypad operation 95 L Leakage current 33 LED display 95 M Maintenance 13 Master slave 67 Motor interface 51 Mounting position 21 N Nameplate 14 Noise emission 21 O Operating systems 85 Optical power SERCOS 107 Order codes 119 Outputs BTB RTO 74 DIGI OUT 1 2 74 P Package supplied 14 Packaging 13 Par...

Page 122: ...SERVOSTAR 300 Product Manual 121 Danaher Motion 10 2007 Appendix V Ventilation Installation 35 Technical data 21 Vibrations 21 W Warning messages 99 Wiring 40 ...

Page 123: ...ware of your local sales representative please contact us Europe Danaher Motion Customer Support Europe E Mail support_dus germany danahermotion com Internet www DanaherMotion net Tel 49 0 203 99 79 0 Fax 49 0 203 99 79 216 North America Danaher Motion Customer Support North America Internet www DanaherMotion com E Mail DMAC danahermotion com Phone 1 540 633 3400 Fax 1 540 639 4162 ...

Page 124: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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