Kollmorgen SILVERLINE S/O Series Manual Download Page 11

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Kollmorgen General

Information

SERVO

STAR

Product Family

1-2

Kollmorgen Customer Support Network

203 Rock Road Suite A

Radford, VA 24141

Phone: (800) 774-KCSN (5276)

Fax: (540) 639-1640 Inside Sales

Fax: (540) 639-1574 Technical Support

Email: [email protected]

Http://www.KMTG.Kollmorgen.com

Note! If you are unaware of your local sales representative, please contact us at the number above. Visit our web site
for MotionLink

software upgrades, technical articles, and the most resent version of our product manuals.

1.4 ABBREVIATIONS

A/D or ADC

Analog-to-Digital Converter

CCW Counter

Clockwise*

CMR

Common Mode Rejection

CW Clockwise*

CR-LF

ASCII Carriage Return, Line Feed

D/A or DAC

Digital-to-Analog Converter

EMF Electro-Motive

Force

EMC Electromagnetic

Compatibility

EMI Electromagnetic

Interference

ESD Electrostatic

Discharge

Hz Hertz
I Current
I/O

Input / Output

kHz KiloHertz
KCSN

Kollmorgen Customer Support Network

KW KiloWatts
LED

Light Emitting Diode

NEC

National Electrical Code

PC Personal

Computer

P/N Part

Number

PWM

Pulse Width Modulation

QRG

Quick Reference Guide

R/D Resolver-to-Digital
Regen Regeneration
RMS

Root Mean Square

UL Underwriters

Laboratories

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

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Summary of Contents for SILVERLINE S/O Series

Page 1: ...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 IN...

Page 2: ...LVERLINE S O Manual Kollmorgen SILVERLINE Product Series S O Installation Manual Old Number M SL 000 H New Number MSO000H Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...

Page 3: ...product improvements etc and may not conform in every respect to former issues Copyright Information Copyright 1998 Kollmorgen All rights reserved Printed in the United States of America NOTICE Not fo...

Page 4: ...N 4 1 4 2 SAFETY INFORMATION 4 1 4 3 UNPACKING AND INSPECTION 4 2 4 4 INSTALLATION REQUIREMENTS 4 2 4 5 MOUNTING 4 2 4 6 WIRING OVERVIEW 4 3 4 7 WIRING GROUND AND BUS 4 3 4 8 WIRING THE ENCODER 4 5 4...

Page 5: ...NSTALLATION REQUIREMENTS 4 2 4 4 1 Environmental Considerations 4 2 4 4 2 Ventilation 4 2 4 5 MOUNTING 4 2 4 5 1 Mounting the SPS R 4 2 4 5 2 Mounting S O Units on an SPS R 4 3 4 5 3 Mounting S O Unit...

Page 6: ...4 Command Scaling Adjustment 5 2 5 1 2 5 Improving Current Loop Performance 5 2 5 1 2 6 LEDs 5 3 5 1 2 7 Faults 5 3 5 1 3 Start up the Velocity Controller 5 3 5 1 3 1 Check out the Encoder 5 3 5 1 3 2...

Page 7: ...Ordering Information 6 1 6 3 PREVENTATIVE MAINTENANCE 6 1 6 3 1 Transient Voltages 6 2 6 3 2 Electrical Noise 6 2 6 3 3 Radio Frequency Energy 6 2 6 4 PERIODIC MAINTENANCE 6 3 6 4 1 Grounding Integrit...

Page 8: ...on depending on the degree of enclosure protection the product can have bare components which are live or have hot surfaces Control and power cables can carry a high voltage even when the motor is not...

Page 9: ...result in personal injury and or equipment damage Note highlights information critical to the users understanding or use of these products Directives and Standards The product has not be tested for a...

Page 10: ...ook insertion The floppy disks contain the MotionLink software program and other SERVOSTAR technical information and theory in PDF format 1 2 WARRANTY INFORMATION All products covered in this manual a...

Page 11: ...ounter Clockwise CMR Common Mode Rejection CW Clockwise CR LF ASCII Carriage Return Line Feed D A or DAC Digital to Analog Converter EMF Electro Motive Force EMC Electromagnetic Compatibility EMI Elec...

Page 12: ...Figure 4 3 S O Connector Layout Main PCB 4 18 Figure 4 4 S O Connector Layout Velocity Loop Option PCB 4 19 Figure 4 5 Connectors J1 and J7 SILVERLINE Motors 4 20 Figure 4 6 Connectors J1 and J7 VMG...

Page 13: ...Kollmorgen General Information SERVOSTAR Product Family 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 14: ...ower Jumper selectable 60 or 120 commutation Overcurrent protection Overvoltage protection Continuous current limit ESD protection on all inputs Optical isolation for ENABLE input and AMP OK output Re...

Page 15: ...lifier See Chapter 2 for more information Failure to install the proper compensation components in RL CL can cause damage to the S O the motor or both 2 2 1 S O Model Number SO 40 04 00 0 0 S O Analog...

Page 16: ...e electrical ratings It only provides space to mount more S O units 2 3 SYSTEM TOPICS 2 3 1 Specifications and Ratings Control Inputs ANALOG Command Analog ENABLE Digital Control Method Jumper selecta...

Page 17: ...Range 5 26V Maximum Load for 12 mA 26V 2 5 mA 5V Table 2 1 Specifications SO 40XX DESCRIPTION SO 4004 SO 4008 Main DC Bus Minimum Maximum 20 VDC 40 VDC 20 VDC 40 VDC Output Current 40 C Ambient Conti...

Page 18: ...nal Heat Dissipation 25 WATTS Regen Trip voltage 41 43 VDC Table 2 4 Environmental Specifications Operating Temperature 0o C to 40o C Storage Temperature 20o C to 70o C Humidity Non Condensing 10 to 9...

Page 19: ...3 115 230VAC Select For 110VAC Connect 1 2 3 4 For 230VAC Connect 2 3 5 6 BUS 4 Connections 7 8 BUS 4 Connections Rectifier Bridge AC AC 1 2 3 4 5 6 7 8 F1 F2 J3 4 J3 1 Optional Regen Unit SPS R AMP...

Page 20: ...VERLINE Motor J1 1 2 3 4 5 Red White Black Blue Green Brown Orange Yellow 10 Pin Ribbon Cable Velocity Command Controller Customer supplied Terminal Strip Wiring 1 4 AC Line 120 VAC or 240 VAC 2 3 115...

Page 21: ...Kollmorgen System Description SILVERLINE Product Family 2 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 22: ...DRAWINGS The following system outline drawings include the following Kollmorgen SILVERLINE SPS R 4008 Kollmorgen SILVERLINE SO 400x Kollmorgen SILVERLINE H 23x Motor Kollmorgen SILVERLINE H 34x Motor...

Page 23: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 2 Figure 3 1 SPS R 4008 Outline Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 24: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 3 Figure 3 2 SO 400x Outline Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 25: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 4 Figure 3 3 Size 23 Outline Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 26: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 5 Figure 3 4 Size 34 Outline Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 27: ...Kollmorgen Outline Drawings SILVERLINE Product Family 3 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 28: ...installation operation or maintenance Failure to observe these precautions could result in serious bodily injury damage to the equipment or operational difficulty The safety alert symbols are illustr...

Page 29: ...ollmorgen equipment 4 4 1 Environmental Considerations The environment in which this equipment is placed can dramatically affect its operation Kollmorgen recommends that the S O and SPS R be operated...

Page 30: ...nimize electromagnetic emissions noise Avoid running signal leads in close proximity to power leads motor stator leads or other sources of electromagnetic noise Run signal leads in separate conduit fr...

Page 31: ...point Gently pull the wire to ensure that it is fully inserted 4 7 2 3 Wiring SPS R A C Line Configure the SPS R for the appropriate voltage 115 or 230 volts AC according to Figure 3 1 Use small jumpe...

Page 32: ...ERLINE motors strain relief for the encoder cable is provided with a wire tie which secures the ribbon cable connector and line driver to the encoder body Use a 0 1 wide 4 5 long wire tie such as Rich...

Page 33: ...able operation Ribbon cables must be properly strain relieved Absent or inadequate strain relief of insulation displacement connector IDC systems causes unreliable interconnects Strain relieve all cab...

Page 34: ...e shows the color code for Kollmorgen VMG Brushless DC motors Remove Jumper J2 discussed later 4 9 2 4 Wiring Motor Leads for Other BLDC Motors The graphs below show the commutation sequence for 120 c...

Page 35: ...Brush Motors from Kollmorgen connect motor lead A to J1 2 and motor lead B to J1 1 Note that phasing of non SERVOLINE brush motors is often a matter of trial and error 4 9 5 Installing J2 120 Commutat...

Page 36: ...uch as Panasonic ECU series Do not use polarized capacitors such as electrolytic or tantalum capacitors Use multilayer ceramic capacitors for CL Do not use polarized capacitors Failure to use the corr...

Page 37: ...in position 1 2 C for current loop mode Jumper J5 must always be installed in one position or the other 4 9 8 Wiring J6 Amplifier Status and Control J6 is a 6 pin pluggable screw terminal with connect...

Page 38: ...from the output shaft end of the motor This input is full differential input To reverse the direction of rotation reverse the connections to pins 3 and 4 For velocity loop option pins 3 and 4 are wir...

Page 39: ...no need to jumper any sensor lines 4 9 10 Wiring JB1 Bus Power Out JB1 is a 2 pin pluggable screw terminal Pin 1 is ground Pin 2 is bus Table 4 5 Connector JB1 Bus Out low Power Pin Signal Name 1 BUS...

Page 40: ...e factory J201 3 to J6 3 and J201 4 to J6 4 4 9 14 Wiring J203 and 204 Feedback Encoder Velocity Loop Only J203 and J204 are 10 pin ribbon cable connectors Note that J203 and J204 are electrically ide...

Page 41: ...and 8 Channel B Note however that Kollmorgen highly recommends differential signals because of superior noise rejection 4 9 15 Wiring J205 15V Input Velocity Loop Only J205 is a 4 pin crimp style con...

Page 42: ...ct 2 3 5 6 Bus 4 Connections 7 8 Bus 4 Connections F1 F2 Note F1 and F2 are 250V 1 5 A 3AG Fuses Optional Regen Unit J3 1 J3 4 1 3 4 5 6 7 8 Each terminal has 4 Insertion Points which are all electric...

Page 43: ...PCB 5 pin Screw Terminal Connect to Hall sensor cable from motor JB1 Bus Out Main PCB 2 pin Screw Terminal Bus power for velocity loop option JL1 15 VDC Output 5mA Main PCB 4 pin crimp Connector 15 V...

Page 44: ...7 Pin 6 Pin 5 Pin 8 Pin 7 Pin 10 Pin 9 Pin 3 Pin 2 Channel A Channel A Channel B Channel B Index Index Common 5 Supply Silverline Encoder Figure 4 2 SILVERLINE Encoder Artisan Technology Group Quality...

Page 45: ...rrent Mode Select shown in C position J4 Cap CL J3 Res RL J2 120 Degree Commutation TP6 IFB J7 Hall Sensor Input JB1 Main PCB Power for Velocity Loop Option Card 3 1 C O 6 5 4 3 2 1 5 4 3 2 1 1 2 3 4...

Page 46: ...wired to JB1 at Factory Velocity Loop Option PCB Main PCB J205 15VDC wired to JL1 at Factory JB1 Main PCB Power for Velocity Loop Option Card J6 Main PCB Control Status 1 2 3 4 5 1 2 6 5 4 3 2 1 5 4...

Page 47: ...Power J7 4 J7 3 S1 S2 S3 J1 3 J1 2 J1 1 A B C Sensor Inputs Motor Leads J2 Installed DC BUS Power 20 40VDC Hall Sensors SILVERLINE RBE Motor Red White Black Blue Green Brown Orange Yellow Hall Sensor...

Page 48: ...Motor Power J7 4 J7 3 S1 S2 S3 J1 3 J1 2 J1 1 A B C Sensor Inputs Motor Leads J2 Removed DC BUS Power 20 40VDC Hall Sensors VMG Motor White Orange Red Black Brown Red Brown Blue Green White Hall Sens...

Page 49: ...4 Torque Input 10 Volts Full Torque J6 1 J6 2 5VDC Enable Amplifier Status Positioner S O Amplifier Amplifier Status Input 2K Figure 4 7 Connector J6 Amplifier Enable Command and Status Artisan Techn...

Page 50: ...tus Input Controller Tach Output J201 6 J201 5 Amplifier Status Enable Factory connections in this configuration include J200 1 to JB1 1 J205 1 to JL1 1 J200 2 to JB1 2 J205 3 to JL1 3 J201 3 to J6 3...

Page 51: ...plies single ended signals connect to pins 6 and 8 on the Velocity Loop PCB leave pins 5 and 7 open RS 485 J203 2 J203 3 J203 5 J203 6 J203 7 J203 8 J203 9 J203 10 J204 1 Pin 1 J203 1 SILVERLINE Encod...

Page 52: ...in current loop mode the voltage applied to J6 3 and 4 is a current command After completing this section continue in Start up the Velocity Controller below The amplifier will be enabled and the motor...

Page 53: ...nimized An unloaded motor should not turn Optionally you can monitor current on TP IFB Figure 4 3 on page 4 18 shows the location using a digital volt meter Adjust for minimal voltage on TP IFB When u...

Page 54: ...PS This effectively converts the SPS to an SPSR If you are using the stand alone regen unit that unit can be converted to run on a 24 VDC system by removing jumper W1 This changes the regen trip level...

Page 55: ...r goes faster than planned even for a short time the velocity monitor may saturate causing the motor to run away Scaling the velocity incorrectly may cause the motor to run away Use Table 3 1 to set S...

Page 56: ...may be because the system is phased backwards If so reversing J201 3 and 4 will correct this problem If the encoder or amplifier are wired improperly the motor may run away Be prepared for the motor...

Page 57: ...5 1 4 4 Setting Velocity Offset Short the velocity command short J201 1 and 2 Verify S2 4 is off Enable the S O amplifier The motor should not be moving but should have holding torque If the motor is...

Page 58: ...be felt on the motor shaft Response is a measure of the system s quickness Response can also be characterized by bandwidth and by rise time in response to a step command Normally designers want high...

Page 59: ...locity Converter J204 J203 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10 Tach Monitor J205 6 1K Test S2 4 S1 scales velocity signal 5 C8 10K 100K 3 3K Notes At least one of S2 1 2 or 3 must be closed when...

Page 60: ...still too slow In these cases you may be willing to accept less than critical damping For applications that can work properly with a slightly underdamped system you may reduce the stability to improv...

Page 61: ...e bandwidth The graph in Figure 5 5 shows a system that rings 0 00 0 20 0 40 0 60 0 80 1 00 1 20 1 40 1 60 0 000 0 025 0 050 0 075 0 100 Time seconds Figure 5 5 Ringing 5 3 CURRENT LOOP TUNING 5 3 1 T...

Page 62: ...scope you can directly compare the two signals at higher frequencies Notice also in Figure 5 6 that the feedback current is lagging the command Here the lag is about 1 8 of a revolution or 45 This lag...

Page 63: ...ft If you move the load by hand you can feel springiness Compliant systems often are very stable when you tune with lower target bandwidths However they oscillate vigorously at low frequencies when yo...

Page 64: ...er and systems with excessive backlash where there is no load when gear teeth are not touching When the inertia changes the system has the following characteristics System performance is excellent whe...

Page 65: ...or frame temperature exceeds 50 C the command should probably be reduced If the motor is below 50 C you should be able to comfortably rest your hand on it If your S O has a velocity loop option tempor...

Page 66: ...2 2 SPS R Spare Parts List 1 5 Amp Slow Blow Glass Fuse Qty 2 1 2 Amp Slow Blow Glass Fuse Qty 1 6 2 3 Ordering Information If you need to order parts for the S O and or SPS R you can order them thro...

Page 67: ...l circuits may cause them to be vulnerable to electrical noise Sources of electrical noise include equipment having large fast changing voltages and currents when they switch on and off These devices...

Page 68: ...maintenance procedures Periodic maintenance includes the following Check that no screw terminals have vibrated loose Check integrity of wiring Check PCBs for accumulation of contaminants such as flui...

Page 69: ...Kollmorgen Maintenance SILVERLINE Product Family 6 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 70: ...2 Encoder 4 17 Connection 4 5 Phasing 4 7 Encoder output Single ended 4 14 Environmental Considerations 4 2 Fault Over Current 5 3 Overvoltage 5 3 Fuses 4 3 6 1 Grounding 4 3 Grounding Integrity 6 3 H...

Page 71: ...h Monitor 5 4 Temperature Operating 2 5 4 2 TP IFB 5 2 5 11 Transient Voltages 6 2 Tuning 5 6 Criterion 5 6 velocity loop Problems 5 12 Tuning Components User Installed 5 5 Tuning Theory 5 10 Underdam...

Page 72: ...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 IN...

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