Kollmorgen M-ST-009-2031 Installation Manual Download Page 8

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Danaher Motion

General Information

2 SERVOSTAR

SBD-Series ST/CT Product Family

ABBREVIATIONS

AC Alternating

Current

AppNote Application

Note

CCW Counter

Clockwise*

CMR

Common Mode Rejection

CW Clockwise*
DC Direct

Current

Diff Differential
EMF Electro-Motive

Force

EMC Electromagnetic

Compatibility

EMI Electromagnetic

Interference

ESD Electrostatic

Discharge

Ext External
Hz Hertz
I Current
Info Information
I/O

Input / Output

KHz KiloHertz
KCSN

Kollmorgen Customer Support Network

KW KiloWatts
LED

Light Emitting Diode

Lim Limit
NEC

National Electrical Code

PSP

Product Support Package

P/N Part

Number

PWM

Pulse Width Modulation

Regen Regeneration
RMS

Root Mean Square

Tach

Tachometer

UL Underwriters

Laboratories

* Clockwise and counterclockwise reference as viewing the motor output shaft.

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Summary of Contents for M-ST-009-2031

Page 1: ...Danaher Motion SERVOSTAR SBD Series Installation Manual KOLLMORGEN giving our customers freedom of design M ST 009 2031 S t o c k C h e c k c o m ...

Page 2: ... any means electronic mechanical photocopying recording or otherwise without the written permission from the publisher While every precaution has been taken in the preparation of the book the publisher assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained herein This document is proprietary information of ...

Page 3: ...CATIONS 12 BUS MODULE REGEN INFORMATION 13 Kit Parts and Models 13 HARDWARE INSTALLATION 15 UNPACKING AND INSPECTION 15 MOUNTING 15 SERVOSTAR CT Hardware Specifications 16 SERVOSTAR ST Hardware Specifications 17 BUS Module Hardware Specifications 18 OUTLINE DIMENSIONS 19 ST and PS Units 19 CT Units 20 PA LM Units 20 INSTALLATION PRACTICES 21 Enclosure 21 Wiring Practices 21 Grounding 21 Bonding 22...

Page 4: ...ut C2 pins 13 and 14 30 CONTROL LOOPS 31 Current Loop 31 Velocity Loop 32 Current Clamps 34 Torque Limit Pot 34 External Current Limit 34 Horse Power Contour 35 POTENTIOMETER ADJUSTMENTS 36 DC Gain Scale 36 AC Gain Stability 37 Balance DC Offset 37 Current Limit 37 SYSTEM STARTUP 38 INITIAL STARTUP 38 Power Up Sequence 38 Enabling the System 38 Drive Tuning 38 ADJUSTMENTS 39 SERVOSTAR HELP 40 FAUL...

Page 5: ... the product can have bare components that are live or have hot surfaces Control and power cables can carry a high voltage even when the motor is not rotating Never pull out or plug in the product while the system is live There is a danger of electric arcing and danger to persons and contacts After powering down the product wait at least 10 minutes before touching live sections of the equipment or...

Page 6: ... drives within the European Community The servo drives have been tested by an authorized testing laboratory in a defined configuration with the system components described in this documentation Kollmorgen is not responsible for any divergence from the configuration and installation described in this documentation and is not responsible for the performance of new measurements or ensuring that regul...

Page 7: ...metrical earth If the servo amplifiers are used in residential areas or in business or commercial premises then the user must implement additional filter measures The servo amplifiers are only intended to drive specific brush type servomotors from Kollmorgen with closed loop control of torque and velocity The rated voltage of the motors must be at least as high as the DC link voltage of the servo ...

Page 8: ...tromagnetic Interference ESD Electrostatic Discharge Ext External Hz Hertz I Current Info Information I O Input Output KHz KiloHertz KCSN Kollmorgen Customer Support Network KW KiloWatts LED Light Emitting Diode Lim Limit NEC National Electrical Code PSP Product Support Package P N Part Number PWM Pulse Width Modulation Regen Regeneration RMS Root Mean Square Tach Tachometer UL Underwriters Labora...

Page 9: ...r generator mounted to the motor as the feedback device The drive is designed as a modern update to Kollmorgen s SBD Series of brush drive amplifiers produced over the past 25 years The drive is fully analog and can receive the exact comp compensation card that was used in existing SBD2 application The drive is built on Kollmorgen s SERVOSTAR S Series platform which uses modern technology and has ...

Page 10: ...ear Manufactured Hardware Variations 000 Standard Product Rated Current A S Series 03 06 10 20 30 55 8 C Series 03 06 10 Feedback T Tachometer R l SERVO STAR Amplifier Family S S Series C C Series Compact Drive Intended Bus Voltage Intended Drive Rating Tachometer Voltage Facility Blank Radford C China S Israel M Spain Z Israel SBD2 Compatible Compensation Motor Frame Motor Winding S t o c k C h e...

Page 11: ...ic Voltage volts 22 27 24VDC Ext Logic Current amps sink 1 5 SoftStart Max Surge Current amps 30 Max Charge Time sec 25 Protection Functions Fault Contact Rating 1A Fault Contact Closing Period mSec Close 3mS Open 2mS OverTemperature trip C 80 C Rated Main Output Ma Mb Mc Continuous Power KVA 115VAC 1φ Line Input 45 Ambient 0 35 0 7 0 7 Continuous Power KVA 230VAC 1φ Line Input 45 C Ambient 0 7 1 ...

Page 12: ...5VAC 1φ Line Input 45 Ambient 0 55 1 1 1 6 n a n a n a n a Continuous Power KVA 230VAC 1φ Line Input 45 C Ambient 1 1 2 2 3 2 3 2 n a n a n a Continuous Power KVA 230VAC 3φ Line Input 45 Ambient 1 1 2 2 3 6 7 3 11 20 30 Continuous Current Adc 3 6 10 20 30 55 85 Peak Current Adc for 500mSec 6 12 20 40 60 110 170 Peak Current Adc for 2Sec 6 12 20 40 60 110 170 PWM Frequency kHz 10 10 Rated Main Outp...

Page 13: ...t Relay 5 6 Max Capacity 500mA 110VAC User Controls Enable CW CCW Lim Torque Hold Ext I Limit Operation Tie to common to activate circuit DO NOT APPLY VOLTAGE FEEDBACK DEVICES The SERVOSTAR SBD is designed for use with analog tachometer feedback only The absolute maximum voltage that the tachometer is allowed to generate and send to the control electronics is 100V S t o c k C h e c k c o m ...

Page 14: ...Danaher Motion System Description 8 SERVOSTAR SBD Series ST CT Product Family S t o c k C h e c k c o m ...

Page 15: ...the DC BUS allowing direct line connection to minimizes the effect of in rush current spikes inherent in a power up cycle An external Shunt Regulator option to dissipate regenerative energy while maintaining a safe operating voltage for the motor The logic BUS module on all units consists of a switching power supply to develop the required 15V and 8V from either the main line use LA and LB or a se...

Page 16: ...t verify the presence of the 15V 15V and 8V sources See BUS Electrical Specifications on page Error Bookmark not defined far details on the features PART NUMBER DESCRIPTION Month Manufactured A January B February L December 9 8 A 5 8 9 P S 20 160 Unit Manufactured Year Manufactured Rated Current Amps 10 20 40 60 85 100 LM Output Voltage 90 90 Vdc 120 120 Vdc 160 160 Vdc 225 225 Vdc 325 325 Vdc SER...

Page 17: ...FAULT LED REGEN NORMALLY CLOSED FAULT TO DRIVE 3 POWER INPUT BUS C R BUS Regen Circuit I 2 T Fault JUMPER R C FOR INTERNAL REGEN PA 14 28 ONLY EXTERNALLY ISOLATION OPTICAL SoftStart Control POWER BUS DC UnderVolt Monitor OverVoltage Monitor OverCurrent Monitor OPTIONAL EXTERNAL REGEN RESISTOR S t o c k C h e c k c o m ...

Page 18: ...urrent Amps AC 1 1 1 1 1 8 V Supply Volt Range Amps 7 25 8 5 2 2 7 25 8 5 2 2 7 25 8 5 2 2 7 25 8 5 2 2 7 25 8 5 2 2 Analog Supplies Volt Range Amps 14 25 16 0 8 14 25 16 0 8 14 25 16 0 8 14 25 16 0 8 14 25 16 0 8 Logic Power Output Internal Fusing 8V 15V Amps 1 5 3 5 1 5 3 5 1 5 3 5 1 5 3 5 1 5 3 5 Turn Off Level on power up VDC Bus 50 50 90 120 180 Turn On Level normal 30 30 70 100 160 Soft Star...

Page 19: ...5 Internal Regen Power Rating Watts 40 For guidance on application sizing of Regen Kits see Application Note SERVOSTAR S C Series Regeneration Requirements on the PSP CD ROM or the Kollmorgen website www MotionVillage com Kit Parts and Models Kit Parts Kit Models ERH 26 ERH 40 Resistance Ω 20 8 8 Power Rating Watts 200 100 Resistor Kollmorgen Part No P 97742 001 Relay Trip Setting amps n a n a Kol...

Page 20: ...Danaher Motion Power Supplies 14 SERVOSTAR SBD Series ST CT Product Family S t o c k C h e c k c o m ...

Page 21: ...ng list has been checked Upon receipt of the equipment inspect components to ensure that no damage has occurred in shipment If damage is detected notify the carrier immediately Check all shipping material for connector kits manuals diskettes and other small pieces of equipment MOUNTING For proper ventilation the SERVOSTAR and BUS module units should be mounted vertically No horizontal distance bet...

Page 22: ...alent 20 AWG Type H0 75 14 Weidmuller 4629 0 or equivalent Spade Terminals 16 14 AWG 1 5mm2 Hollingsworth XSS0954S OR SS20947SF or equivalent 12 10 AWG 4 6mm2 Hollingsworth XSS20836 OR SS20832F or equivalent Wire Size AWG Ring Terminals 8 AWG 10mm2 Hollingsworth R3027BF or equivalent 6 AWG 16mm2 Hollingsworth R4001BF or equivalent 4 AWG 25mm2 Hollingsworth R5100BF or equivalent 2 AWG 35mm2 Holling...

Page 23: ...onfigurable I O wire gauge 22 18 AWG 3 75mm2 Ferrules recommended 18 AWG Type H1 0 14 Weidmuller 4630 0 or equivalent 20 AWG Type H0 75 14 Weidmuller 4629 0 or equivalent Spade Terminals 16 14 AWG 1 5mm2 Hollingsworth XSS0954S OR SS20947SF or equivalent 12 10 AWG 4 6mm2 Hollingsworth XSS20836 OR SS20832F or equivalent Ring Terminals 8 AWG 10mm2 Hollingsworth R3027BF or equivalent 6 AWG 16mm2 Holli...

Page 24: ...lingsworth R4001BF or equiv 4 AWG 25mm2 Hollingsworth R5100BF or equiv 2 AWG 35mm2 Hollingsworth R7998BFN or equiv Side to Side No Distance Required Clearance Distance Top Bottom 2 5 63 5mm CK100 Kit Includes C1 C2 C4 C7 plus 2 of stranded bus ribbon C8 C6 Kollmorgen A 81014 002 Vendor Info PCD ELFP02110 C7 Kollmorgen A 81014 004 Vendor Info PCD ELFP04110 C8 Kollmorgen A 81014 003 Vendor Info PCD ...

Page 25: ...3 PS08 10 3 9 921 24 2 50 1 96 24 228 9 37 7 95 6 89 X PS20 40 10 3 9 921 24 4 90 1 96 1 46 228 9 37 7 95 6 89 X PS50 75 85 11 8 11 10 24 6 53 4 00 1 22 228 10 39 8 35 7 01 X Millimeters PRODUCT A B C D E F G H I J K ST03 06 264 252 0 0 6 0 75 50 0 0 12 5 5 80 238 202 175 X ST10 264 252 0 6 0 90 50 0 20 5 80 238 202 175 X ST20 264 252 0 6 0 118 6 50 0 34 3 5 80 238 202 175 X ST30 264 252 0 6 0 142...

Page 26: ...244 0 9 61 33 7 1 33 216 0 8 50 163 0 6 42 2 0 08 256 0 10 08 88 4 3 48 HEAT SINK Cx 06 Cx 03 67 4 2 65 6 7 61 Cx10 99 0 3 90 PA LM Units 8V LOGIC POWER SUPPL Y EARTH INPUT LINE LC N C LA C5 185 4 7 30 MAX 175 5 6 91 26 2 1 03 3 1 12 56 9 2 24 52 1 2 05 158 8 6 25 147 3 5 80 2x 5 8 23 4 1 2 3 LOGIC 15V 15V S t o c k C h e c k c o m ...

Page 27: ...etallic surface to optimize electrical bonding of the frame and provide the lowest possible impedance path to earth ground These enclosures also provide added safety Wiring Practices Particular care should be used when layout of an enclosure is designed Efforts to separate power wires from small signal wires should be taken The following guidelines highlight some important wiring practices to impl...

Page 28: ...ffect In the event that metallized conduit is not implemented into the system shielded cable will be required on the power input wires and proper bonding technologies should be implemented The motor and feedback cables should have the shield exposed as close to the drive as possible This exposed shield can be bonded to the back panel using one of the two suggested methods below Non insulated Cable...

Page 29: ...nge 3025163 Type SK8 Shielded terminal block for placing the shield on bus bars SK8 up to 8mm or 0 315 inches 3025176 TypeSK14 Shielded terminal block for placing the shield on bus bars SK14 8mm to 14mm or 0 551 inches 3025189 Type SK20 Shielded terminal block for placing the shield on bus bars SK20 14mm to 20mm or 0 787 inches 0404428 Type AB SS Support for bus bar 2 needed to mount ground bus N ...

Page 30: ...ion 5 Current Monitor Output 6 Tachometer Monitor Output 7 DC Common Reference for Monitors 8 CW Direction Limit Input 9 CCW Direction Limit Input 10 Enable Input 11 External Current Limit Input 12 Torque Hold Input 13 Analog Command Input High 14 Analog Command Input Low 15 Shield Connection for Analog Cable 16 12 V Reference 10mA Max 17 12 V Reference 10mA Max 18 No Connection 19 Drive Up Contac...

Page 31: ...Kollmorgen Hardware Installation SERVOSTAR S CD Product Family 25 ST Wiring Diagram with PS 08 20 or 40 S t o c k C h e c k c o m ...

Page 32: ...e to remain inactive Note 5 Transformer may be omitted if correct voltage source is applied See BUS Electrical Specifications on page 12 for correct line input Note 6 The ground of the BUS module drive and motor best minimizes ground currents and noise when connected in a star point configuration Note 7 Up to 2 drives can be supplied from a PS08 or PALM All other power supplies can drive up to 4 d...

Page 33: ...Kollmorgen Hardware Installation SERVOSTAR S CD Product Family 27 CT Wiring Diagram S t o c k C h e c k c o m ...

Page 34: ...s installed the shield on the cable end need not be connected to the star point configuration Only connect the shield on one end of the cable preferably on the drive side See Installation Practices on page 21 for full details Note 11 Units must be installed in an enclosure that meet the environmental IP rating of the end product ventilation or cooling may be necessary to prevent enclosure ambient ...

Page 35: ...ended that a shielded twisted pair wire be used with the shield connection tied to earth ground at the drive end of the cable The cable should be routed free from noise sources such as solenoid and relay wires and the motor armature cable The analog signal wires should be twisted shield pair cable run free from any noise signals such as relay and solenoid wires as well as the motor armature and po...

Page 36: ... input is from 10 volts to 10 volts The analog input to the SERVOSTAR is differential meaning that the signals received at the two inputs are subtracted from each other to create a difference used to command the rest of the system This type of input has a high degree of noise immunity and in many cases allows for ground isolation between systems The input voltage from the differential receiver is ...

Page 37: ...r protection and the creation of output torque The commanded current is compared against the actual motor current allowing any error between the two to adjust the voltage at the motor terminals by raising or lowering the current appropriately The amount of current supplied by the current loop is a function of commands drive size ratings and clamp conditions see below The ability to supply current ...

Page 38: ... calculated with the following equation Resistor 5 1x109 Drive s Peak Current Rating Motor inductance VAC 1 6 Capacitor 19 1 625 Resistor All other components should be open circuit Velocity Loop The purpose of the velocity loop is to regulate motor speed The velocity loop compares the commanded velocity to the actual velocity tachometer signal and generates a current command to bring the two in e...

Page 39: ... the value of resistor 8 until the response shows good critically damped response little to no overshoot This establishes the value of resistor 8 2 Determine the value of capacitor 16 With the new value installed in R 8 replace the short circuit with a capacitor substitution box Beginning with a very high capacitance value lower the value until the response now shows some overshoot In systems not ...

Page 40: ...arate signals as shown in the above figure Torque Limit pot External Current Limit Input and the Horsepower contour circuit All clamps work on the following fundamental scaling Full speed is 8V and peak drive current is 8V The clamp circuits work to limit the current command voltage signal to something less than 8V Torque Limit Pot The torque limit pot allows an adjustment of maximum allowable cur...

Page 41: ...erred from the brushes to the commutator before an arc occurs from brush to brush known as flashover Drive and motor damage can occur if flashover happens The horsepower contour circuit limits the current to the motor as a function of speed effectively creating a simulated constant horsepower curve The circuit is established as a one or two line approximation P1 P3 and P1 P2 P3 respectively as sho...

Page 42: ...culated for the first line segment P1 P2 with the following equation R25 20 000 8 Nb Nr Vz 2000 12 8 Iclamp Ipeak Where the new variables Nb Desired Speed for second break Nr Motor s Rated Speed The second line segment P2 P3 is established using D20A and R31 POTENTIOMETER ADJUSTMENTS This section describes the purpose and effects of adjusting each of the drive s 4 adjustment potentiometers Two pot...

Page 43: ...dynamics Adjust this potentiometer for best system response while maintaining servo loop stability Balance DC Offset This pot adds a DC offset signal into the velocity loop to null any offsets in the system In systems where the drive is used as a velocity controller this pot is adjusted for zero motor speed when applying a zero speed command input In systems where the drive is used inside of a pos...

Page 44: ...n applying power to the drive Any incorrect phasing or incorrect compensation components may cause the motor to act uncontrollably It is your responsibility to be certain that damage to equipment or personnel cannot occur during startup Verify that the hardware Remote Enable input is disabled Power Up Sequence The SERVOSTAR is insensitive to power up sequence meaning that bus power or logic power ...

Page 45: ...tup SERVOSTAR S CD Product Family 39 ADJUSTMENTS Refer to Potentiometer Adjustments on page 36 for a description of the potentiometer functions Adjust each as required beginning with the Balance pot S t o c k C h e c k c o m ...

Page 46: ...ondition shuts down the drive This fault occurs mostly during regen operation where the BUS is raised to higher values than that produced by the power supply In such a case either an external regen resistor is required or the deceleration rate must be decreased This fault also occurs if the incoming power supply voltage is excessively high Bus Under Voltage There is a jumper internal to the drive ...

Page 47: ...scaling Enable LED does not come on 1 Missing logic voltage supply 2 RED Fault LED is indicating a fault condition Under Volts fault occurs while running 1 Bus voltage source sags during acceleration Motor lags in position loop 1 Insufficient DC Gain Motor Overshoots 1 Insufficient DC Gain 2 Too much AC Gain Motor drifts slowly 1 DC Offset in system Balance pot System Stability seems sensitive to ...

Page 48: ... s product needs One number provides order status and delivery information product information and literature and application and field technical assistance Kollmorgen Customer Support Network 501 First Street Radford VA 24141 1 800 77 SERVO 73786 Email servo kollmorgen com Internet http www MotionVillage com Fax 1 540 639 1574 If you are not aware of your local sales representative please contact...

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