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9.4.3

Example of connections for multi-axis system

SERVOSTAR

601...620 Product Manual

Danaher Motion

07/2007

Setup

SERVOSTAR 600

Pow

uppl

Reference Safety Instructions (

p.9) and

Use As Directed (

p.10) !

Содержание 601...620

Страница 1: ...2007 Valid for Hardware Revision 05 10 SERVOSTAR 601 620 Digital Servo Amplifier File sr601_e Keep all manuals as a product component during the life span of the product Pass all manuals to future us...

Страница 2: ...thernet expansion card and Single axis controller expansion card added 03 04 new regen resistors BAR U several corrections 02 06 Company name updated expansion cards updated new sections on EtherCat a...

Страница 3: ...chnical data 18 6 2 1 Recommended torque 19 6 2 2 Fusing 19 6 2 3 Ambient conditions ventilation mounting position 19 6 2 4 Conductor cross sections 20 6 3 LED display 20 6 4 Control for motor holding...

Страница 4: ...1 3 Sine Encoder with EnDat 2 1 or HIPERFACE X1 54 8 11 4 Sine Encoder without data channel X1 55 8 11 5 Incremental encoder sine encoder with Hall X1 56 8 11 6 Incremental Encoder X5 57 8 12 Electron...

Страница 5: ...4 9 4 2 Baud rate for CAN bus 84 9 4 3 Example of connections for multi axis system 85 9 5 Key operation LED display 86 9 5 1 Key operation 86 9 5 2 Status display 86 9 5 3 Standard menu structure 87...

Страница 6: ...the station address device address 106 10 2 5 6 Setting the transmission speed 106 10 2 5 7 Bus cable 107 10 2 6 Expansion card ETHERCAT 108 10 2 6 1 Front view 108 10 2 6 2 LEDs 108 10 2 6 3 Connect...

Страница 7: ...n is available from us at extra cost This manual makes the following demands on qualified personnel Transport only by personnel with knowledge in handling electrostatically sensitive components Unpack...

Страница 8: ...C International Electrotechnical Commission IGBT Insulated Gate Bipolar Transistor INC Incremental Interface ISO International Standardization Organization LED Light emitting diode MB Megabyte NI Zero...

Страница 9: ...ier on a conductive surface l The manufacturer of the machine must produce a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements do not result in per sona...

Страница 10: ...ient overvoltages 50 s between outer conductors and housing may not exceed 2000V l If the servo amplifiers are used in residential areas or in business or commercial premises then additional filter me...

Страница 11: ...dards to be applied for conformance with the EC Low Voltage Directive 73 23 EEC EN 60204 1 Safety and Electrical Equipment in Machines EN 50178 Electronic Equipment in Power Installations EN 60439 1 L...

Страница 12: ...ive 3 4 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 Cana dian...

Страница 13: ...packaging l Max stacking height 8 cartons l Storage temperature 25 to 55 C max rate of change 20 C hour l Storage humidity 5 95 relative humidity no condensation l Storage duration Less than 1 year wi...

Страница 14: ...L for cable length above 25m external regen resistor BAR U communications cable to the PC p 69 or Y adapter p 84 for setting parameters of up to 6 servo amplifiers from one PC power cable control cabl...

Страница 15: ...61000 NA SERVOSTAR 610 30 S61P00 NA SERVOSTAR 614 S61400 NA SERVOSTAR 620 S62000 NA SERVOSTAR 601 620 Product Manual 15 Danaher Motion 07 2007 Package Family S6 S600 Voltage rating 0 230 480V Current...

Страница 16: ...ff 3 phase earthed grounded supply system integral power input filter and inrush circuit l Single phase supply e g for setup is possible l Fusing e g fusible cutout provided by the user l Shielding Al...

Страница 17: ...for connection of a servomotor to a stepping motor control l Evaluation of the resolver signals and sine cosine signals of a high resolution encoder l Encoder simulation incremental or SSI Auxiliary...

Страница 18: ...Dissipation at rated current incl power supply losses without regen dissipation W 30 40 60 90 90 160 200 Inputs Setpoint 1 2 resolution 14bit 12bit V 10 Common mode voltage max V 10 Input resistance t...

Страница 19: ...e hints p 13 Transport hints p 13 Supply voltage tolerances Input power Aux power supply min 3x 230V 10 AC max 3x 480V 10 50 Hz min 3x 208V 10 AC max 3x 480V 10 60 Hz 24 VDC 0 15 check voltage drop Am...

Страница 20: ...e 120pF m Encoder thermostat motor max 50m length 7x2x0 25 mm 22 awg twisted pairs shielded capacitance 120pF m Setpoints monitors AGND 0 25 mm 22awg twisted pairs shielded Control signals BTB DGND 0...

Страница 21: ...rnal ENABLE delay time of 100ms DECDIS the speed setpoint of the servo ampli fier is internally driven down a 10ms ramp to 0 The brake output is switched on when the speed 5rpm VELO is reached or afte...

Страница 22: ...r as a peak value is higher than the preset regen power then the servo amplifier will output the status regen power exceeded and the regen circuit will be switched off At the next internal check of th...

Страница 23: ...ervoltage F02 V 800 Continuous power of regen circuit RBint W 80 200 Continuous power of regen circuit RBext max kW 0 4 1 2 Pulse power internal RBint max 1s kW 8 16 Pulse power external RBext max 1s...

Страница 24: ...e l Error message if the servo amplifier is to bring the drive to a standstill Error message F19 is output if an input phase is missing The servo amplifier is disabled and the BTB contact opens Where...

Страница 25: ...g 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 p 21 The AS option can be used to switch off the dr...

Страница 26: ...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 interve...

Страница 27: ...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 parame...

Страница 28: ...mponents may be used for the Category 0 Emergency Stop function It must not be triggered using switching logic hardware or software by transferring com mands via a communication network or via a data...

Страница 29: ...pe of disconnection A brake that is built into the motor must have an additional electromechanical control circuit as well as the control through the SERVOSTAR 600 in order to meet Category 0 Usually...

Страница 30: ...eed VEL0 see sequence diagram in chapter 6 4 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 main...

Страница 31: ...hot the holding brake is applied and the output stage is disabled In this case there is no interruption of the electrical supply If the electrical supply is switched off not only will the controlled b...

Страница 32: ...lfil this requirement The following measures can be used to minimise leakage currents Reduce the length of the engine cable Use low capacity cables see p 42 Avoid mains asymmetries with an isolating t...

Страница 33: ...azard protection is sought the SERVOSTAR 600 can also be operated via an isolating transformer A ground leakage monitor can be used to monitor for short circuits We would advise you to keep the length...

Страница 34: ...This page has been deliberately left blank 34 SERVOSTAR 601 620 Product Manual Technical description 07 2007 Danaher Motion...

Страница 35: ...nd or shield the magnetic fields 7 2 Guide to mechanical installation The following notes should assist you to carry out the mechanical installation in a sensible sequence without overlooking anything...

Страница 36: ...4 hexagon socket screws to DIN 912 M5 Tool required 4 mm Allen key 36 SERVOSTAR 601 620 Product Manual Mechanical Installation 07 2007 Danaher Motion SERVOSTAR 600 SERVOSTAR 601 610 SERVOSTAR 601 610...

Страница 37: ...7 4 Dimensions SERVOSTAR 601 620 Product Manual 37 Danaher Motion 07 2007 Mechanical Installation SERVOSTAR 620 SERVOSTAR 601 603 603 610 SERVOSTAR 614...

Страница 38: ...This page has been deliberately left blank 38 SERVOSTAR 601 620 Product Manual Mechanical Installation 07 2007 Danaher Motion...

Страница 39: ...connection techniques can be found on page 42 l Feedback lines may not be extended since thereby the shielding would be interrupted and the signal processing could be disturbed l The cable between ser...

Страница 40: ...s to the servo amplifier Connect up AGND also if fieldbuses are used Connect the analog setpoint if required Connect up the feedback unit resolver and or encoder Connect the encoder emulation if requi...

Страница 41: ...find in all the wiring diagrams indicates that you must take care to provide an electrically conductive connection with the largest possible surface area between the unit indicated and the mounting p...

Страница 42: ...F 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 with motor choke 3YL only 8 3 3 Shielding conn...

Страница 43: ...wire Shorten the brake cores to 55mm and the power cores to 45mm Fold back the overhanging length of the shielding pigtail to face forwards Strip off the ends of the cores for about 10mm This length c...

Страница 44: ...ces are connected with dashed lines to the servo amplifier The required accessories are described in our accessories manual 44 SERVOSTAR 601 620 Product Manual Electrical Installation 07 2007 Danaher...

Страница 45: ...8 5 Block diagram The block diagram below is just an overview SERVOSTAR 601 620 Product Manual 45 Danaher Motion 07 2007 Electrical Installation...

Страница 46: ...8 6 Pin assignments 46 SERVOSTAR 601 620 Product Manual Electrical Installation 07 2007 Danaher Motion...

Страница 47: ...STAR 601 620 Product Manual 47 Danaher Motion 07 2007 Electrical Installation p 69 p 70 p 49 p 49 p 50 p 49 p 50 p 53ff p 52 p 65 p 66 p 67 p 68 p 63 p 64 p 58 p 61 SERVOSTAR 600 Reference Safety Inst...

Страница 48: ...lating transformer is always required for 400 480V mains networks without earth ground and for networks with asymmetrical earth ground 48 SERVOSTAR 601 620 Product Manual Electrical Installation 07 20...

Страница 49: ...t distributes the regen power among all the amplifiers connected to the same DC bus link circuit Connection example p 72 Only servo amplifiers with mains supply from the same mains identical mains sup...

Страница 50: ...choke box 3YL must be wired into the motor lead close to the amplifier 8 10 External regen resistor X8 Remove the plug in link between the terminals X8 1 RB and X8 2 Rbint 50 SERVOSTAR 601 620 Produc...

Страница 51: ...For a detailed description of the ASCII parameters please refer to the online help of the setup soft ware The table below provides an overview of the supported feedback types their corresponding para...

Страница 52: ...stat 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 service FBTYPE 0 3 52 SERVOSTAR...

Страница 53: ...the encoder cable to X1 and evaluated there All signals are connected using our pre assembled encoder connection cable Encoder types with a power consumption of more than 150mA can also be connected u...

Страница 54: ...connection cable Encoder types with a power consumption of more than 150mA can also be connected using our external power supply p 113 For encoders that do not have integrated terminating resistors w...

Страница 55: ...our external power supply p 113 For encoders that do not have integrated terminating resistors we offer an optional terminating adapter p 113 The thermostat contact in the motor is connected via the e...

Страница 56: ...used to connect encoders known as ComCoders Encoder types with a power consumption of more than 150mA can also be connected using our external power supply p 113 For encoders that do not have integra...

Страница 57: ...OM The thermostat contact in the motor is connected to X1 see p 54 or X2 see p 52 If lead lengths of more than 50m are planned and for questions concerning the power supply of the encoder please consu...

Страница 58: ...der X5 p 61 7 17 Pulse and Direction 5V X5 p 62 4 14 Pulse and Direction 24V X3 p 62 1 11 adjustable via terminal screen of the setup software The follwing table shows the allowed feedback combination...

Страница 59: ...nector X3 must be joined together 8 12 2 Connection to encoders with 24 V signal level X3 This interface can be used to operate the SERVOSTAR as a slave mastered by an encoder with 24 V signal level m...

Страница 60: ...with a power consumption of more than 150 mA can also be connected using our external power supply p 113 For encoders that do not have integrated terminating resistors we offer an optional terminatin...

Страница 61: ...and direction This interface can be used to connect the servo amplifier to a third party stepper motor controller The parameters for the servo amplifier are set up with the aid of the setup software e...

Страница 62: ...3 must be joined together 8 12 5 2 Step Direction with 24 V signal level X3 Connection of a servo amplifier to a stepper motor controller with 24 V signal level The digital inputs DIGITAL IN 1 and 2 a...

Страница 63: ...der function ENCMODE Feedback system Resolution Zero position ROD 1 Resolver 256 4096 one per revolution only if A B 1 Encoder 256 524288 28 219 one per revolution only if A B 1 ROD interpolation 3 En...

Страница 64: ...rn and for 6 pole resolvers it is within a third of a turn Exception If an encoder with a commutation track is used as the feedback unit then the upper 12 bits are set to 1 data invalid until a homing...

Страница 65: ...etpoint Input Analog In 2 terminals X3 6 7 Differential input voltage max 10 V resolution 12 bit scalable Standard setting torque setpoint Application examples for setpoint input Analog In 2 adjustabl...

Страница 66: ...alog Out 1 Tachometer voltage nact speed The output delivers 10V at the preset limit speed Analog Out 2 Current actual value Iact torque The output delivers 10V at the preset peak current Ipeak effect...

Страница 67: ...is freshly assigned to a pre programmed function then the data set must be stored in the EEPROM of the servo amplifier and the 24V auxiliary supply of the servo amplifier must be switched off and on...

Страница 68: ...l outputs DIGITAL OUT 1 2 You can use the digital outputs DIGITAL OUT1 terminal X3 16 and DIGITAL OUT2 terminal X3 17 to output messages from pre programmed functions that are stored in the servo ampl...

Страница 69: ...an optocoupler and is at the same potential as the CANopen interface The interface is selected and set up in the setup software Further notes can be found on page 72 With the optional expansion card 2...

Страница 70: ...r X3 must be joined together CAN bus cable To meet ISO 11898 you should use a bus cable with a characteristic impedance of 120 W The maximum usable cable length for reliable communication decreases wi...

Страница 71: ...residual charges with dangerous levels up to 300 seconds after switching off the supply power Heat sinks and front panels of the amplifier can reach a temperature of up to 80 C 176 F in operation Chec...

Страница 72: ...PC with the assistance of the setup software The PC is connected to the servo amplifier by a null modem cable see p 69 The setup software provides the communication between SERVOSTAR 600 and the PC Yo...

Страница 73: ...system is not available under WINDOWS 95a and 95b WINDOWS FOR WORKGROUPS 3 xx DOS OS2 Unix Linux DRIVE EXE is not executable under WINDOWS 3 xx DOS OS2 Unix and Linux In emergency operation is possib...

Страница 74: ...ocuments You need access to these documents located on the product CD ROM you can download the latest editions from our website l Product Manual this manual l CANopen Communication Profile Manual l Ac...

Страница 75: ...to safety or functionality of your application it just shows the required wiring for drive testing without load SERVOSTAR 601 620 Product Manual 75 Danaher Motion 07 2007 Setup Power ON 24V DC Enable...

Страница 76: ...on page 88ff If there is fault fix the problem Double Click the DRIVE EXE icon on your Windows desktop to start the software You can work offline or online with Work ONLINE now Select the interface wh...

Страница 77: ...o all parameters the servo amplifier can work with Key F1 Starts Online Help for the actual screen page Menu Bar or Online HTML Help Starts Online Help with table of contents Tool Bar Save to EEPROM r...

Страница 78: ...mains AC voltage Mains Phase Missing You can select either warning n05 or error F19 in case of phase loss The setting F19 disables the output stage n05 is just a message Units Acceleration Velocity Po...

Страница 79: ...Click OK If your motor has a built in brake click Yes otherwise No If Software Enable is active a warning ap pears You can proceed but after the ampli fier is restarted you must check whether the hol...

Страница 80: ...change cannot be performed Click OK on the warnings press F12 SW dis able and start the Feedback procedure again If everything was ok the same procedure pa rameter upload that has been described for t...

Страница 81: ...r s EEPROM automatically and a reset command restarts the amplifier takes a few seconds For example this happens after motor or feedback selection Other parameters changed No warning appears Parameter...

Страница 82: ...n E and the current rating e g for Enable 3 amps l Click the icon Oscilloscope l Select Service Mode Speed F6 then click Parameter button l Enter a safe speed The sign defines the direction of movemen...

Страница 83: ...ror messages A description of errors warn ings can be found on page 88 Now you have setup and tested the basic functions of the drive successfully 9 3 10 Monitor Click the icon Monitor The Monitor scr...

Страница 84: ...the station addresses for the individual amplifiers and the baud rate for communication by means of the keypad on the front panel p 87 9 4 2 Baud rate for CAN bus After changing the station address an...

Страница 85: ...onnections for multi axis system SERVOSTAR 601 620 Product Manual 85 Danaher Motion 07 2007 Setup SERVOSTAR 600 SERVOSTAR 600 SERVOSTAR 600 Power supply Reference Safety Instructions p 9 and Use As Di...

Страница 86: ...on the 24V supply 9 5 1 Key operation The two keys can be used to perform the following functions Key symbol Functions press once go up one menu item increase number by one press twice in rapid succe...

Страница 87: ...9 5 3 Standard menu structure 9 5 4 Extended menu structure Keep the right key pressed while switching on the 24V supply SERVOSTAR 601 620 Product Manual 87 Danaher Motion 07 2007 Setup p 84 p 84 p 84...

Страница 88: ...e exceeded F16 Supply 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 interferences F18 Regen...

Страница 89: ...ded n13 Slot warning 24V supply of the I O expansion board is missing n14 SinCos feedback SinCos commutation wake shake not completed will be canceled when amplifier is enabled and wake shake carried...

Страница 90: ...heck brake control check mechanism set no of motor poles set up feedback correctly motor oscillates gain too high speed controller shielding in feedback cable is broken AGND not wired up reduce Kp spe...

Страница 91: ...tation have been approved by the Trade Liability Association Moving single axes or axis groups in setting up operation In setting up operation people will frequently be within the danger zone of the m...

Страница 92: ...cts KSO1 2 for all servo amplifiers are wired into the control signal loop The AS restart lock may only be controlled by a CNC if the control of the internal safety relay is arranged for redundant mon...

Страница 93: ...nd the servo amplifier is ready for operation If the drive is electronically braked the servo amplifier is disabled and the motor holding brake is on then the safety relay is energized manually or by...

Страница 94: ...pended loads 2 Activate the AS option 3 Open protective screens but do not enter hazardous area 4 Pull off the X10 connector from an amplifier the mains contactor must drop out 5 Reconnect X10 Switch...

Страница 95: ...mple 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 Product Manual 95 Danaher Motion 07 2007...

Страница 96: ...mple 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 96 SERVOSTAR 601 620 Product Manual Expansions Accessories...

Страница 97: ...d must exceed the deceleration ramp The drive must have been brought to a safe standstill by the time t K10t and t K20t have elapsed After this point active braking with the servo amplifier is no long...

Страница 98: ...uch as screws fall into the open option slot l Push the expansion card carefully into the provided guide rails of the slot without twi sting it l Press the expansion card firmly into the slot until th...

Страница 99: ...V max 500 mA PLC compatible Supply inputs to IEC 1131 24 V 18 36 V 100 mA plus total current of the out puts depends on the input wiring of the controls The 24 VDC voltage has to be supplied by an ele...

Страница 100: ...previously interrupted The motion task can also be continued by an appropriately con figured digital input on the basic unit 2 In Start_MT I O Start of the motion task that has the number that is pre...

Страница 101: ...10 2 2 6 Connection diagram AGND and DGND connector X3 must be joined together SERVOSTAR 601 620 Product Manual 101 Danaher Motion 07 2007 Expansions Accessories SERVOSTAR 600...

Страница 102: ...The supply voltage for the expansion card is provided by the servo amplifier 10 2 3 1 Front view 10 2 3 2 Connection technology Cable selection cable routing shielding bus connector bus termination a...

Страница 103: ...e If this LED is very bright then communication is suffering strong interference or is non existent Check the SERCOS transmission speed for the controls and the servo amplifier BAUDRATE and the fibre...

Страница 104: ...ion is not possible 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 d...

Страница 105: ...tion Profile 10 2 5 1 Front view 10 2 5 2 Connection technology Cable selection cable routing shielding bus connector bus termination and transmission times are all described in the DeviceNet Specific...

Страница 106: ...t 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 COLD START whereby x stands for the station address l Set the rotary...

Страница 107: ...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...

Страница 108: ...guration 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 st...

Страница 109: ...build options to the application program 10 2 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 BLI...

Страница 110: ...apture input fast 5 In IN_04 digital input 6 In IN_01 digital input 7 In HOME reference switch 8 In POSLIM limit switch positive direction 9 In GND power supply 10 Out OUT_00 digital output 11 Out OUT...

Страница 111: ...8 1 Installation The modul must be placed onto the option slot after levering off the cover of the option slot l Screw the distance pieces into the fixing lugs of the option slot l Place the expansio...

Страница 112: ...l 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 2 8 5 Connection diagram AGND and DGND connector X3 must be joined together 112 SERVOSTAR 601 620 P...

Страница 113: ...able max 50 m Technical Data Output voltage 5 V DC 5 5 Output current max 400 mA DC Protection type IP20 Ambient temperature 0 55 C Type of mounting Mounting rail Cable length amplifier mains supply m...

Страница 114: ...fier Refer to the connection diagram on p 56 The connection between the amplifier and the dongle requires a 1 1 protected data cable with a maximum length of 2 m see ordering information p 117ff Encod...

Страница 115: ...olding brake Brake in the motor which can only be used when the motor is at a standstill I I t threshold Monitoring of the actually required r m s current Input drift Temperature and age dependent alt...

Страница 116: ...e of direction Ring core Ferrite rings for interference suppression ROD Interface Incremental position output S Servo amplifier Control device for regulating the position of a servomotor Setpoint ramp...

Страница 117: ...t DE 103571 OPT DN Expansion card PROFIBUS DP DE 90056 OPT PB 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 Syn...

Страница 118: ...akage current 32 LED display 20 Limit Switch Inputs 67 M Mains supply connection interface 48 Maintenance 13 Master slave 58 Motor connector 43 Motor holding brake 21 Motor interface 50 Mounting posit...

Страница 119: ...This page has been deliberately left blank SERVOSTAR 601 620 Product Manual 119 Danaher Motion 07 2007 Appendix...

Страница 120: ...are 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...

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