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Kollmorgen Seidel SERVOSTAR 601, Сборка и установка

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I

General

I.1

About this manual

This manual describes the digital servo amplifiers of the SERVO

STAR

®

600 series

(standard version, 1.5 to 20 Amps nominal current).

Note:

SERVOSTAR 601 is sold in Europe only

In this manual you can find information about:

l

Technical data of the servo amplifiers

Chapter I

l

Assembly / installation

Chapter II

l

Interfaces

Chapter III

l

Setup the servo amplifier

Chapter IV

l

Accessories

Chapter V

l

Transport, storage, maintenance, disposal of the servo amplifiers

Chapter VI

A more detailed description of the expansion cards which are currently available and the digital
connection to automation systems can be found on the accompanying CD-ROM in Acrobat-Reader
format (system requirements: WINDOWS > 95 with Internet browser, Acrobat Reader > 4.0) in Eng-
lish, German, Italian and French versions.
You can print this documentation on any standard printer. A printed copy of the documentation 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.

Installation :

only by electrically qualified personnel

Setup :

only by personnel with extensive knowledge of electrical

engineering / drive technology

SERVO

STAR

®

601...620 Installation Manual

9

Seidel

06/02

General

Содержание SERVOSTAR 601

Страница 1: ...Assembly Installation Setup Edition 06 02 file 601620hw xxx EU order No 90162 NA M SS 004 0216 Digital servo amplifier SERVOSTAR 601 620...

Страница 2: ...C AT is a registered trademark of International Business Machines Corp MS DOS is a registered trademark of Microsoft Corp WINDOWS is a registered trademark of Microsoft Corp HIPERFACE is a registered...

Страница 3: ...ke 18 A 4 031 3 01 1 35 I 10 Regen circuit 19 I 11 Switch on and switch off behavior 20 I 11 1 Stop function to EN 60204 VDE 0113 20 A 4 031 3 6 I 11 2 Emergency Stop strategies 21 II Installation II...

Страница 4: ...III 6 3 Interface for master slave operation encoder input 46 III 6 3 1 Connection to a SERVOSTAR master 5V signal level X5 46 A 4 031 1 16 3 2 III 6 3 2 Connection to encoders with 24V signal level X...

Страница 5: ...68 V 2 6 Select motion task number Sample 68 V 2 7 Connection diagram 69 A 4 012 4 33 V 3 Expansion card PROFIBUS 70 V 3 1 Position of the connectors 70 V 3 2 Fitting the expansion card 70 A 031 4 62...

Страница 6: ...lifier by touching any unpainted metal surface Avoid contact with highly insulating materials artificial fabrics plastic film etc Place the servo amplifier on a conductive surface l Do not open the un...

Страница 7: ...ized testing laboratory in a defined configuration with the system components which are described in this documentation Any divergence from the configuration and installation described in this documen...

Страница 8: ...Digital ground DIN German Institute for industrial Standards Disk Magnetic storage diskette hard disk EEPROM Electrically erasable programmable memory EMC Electromagnetic compatibility EMI Electromag...

Страница 9: ...ch are currently available and the digital connection to automation systems can be found on the accompanying CD ROM in Acrobat Reader format system requirements WINDOWS 95 with Internet browser Acroba...

Страница 10: ...ifiers may only be operated in a closed switchgear cabinet taking into account the ambient conditions defined on page 17 and the dimensions shown on page 24 Ventilation or cool ing may be necessary to...

Страница 11: ...as a cut off length feedback cable pre assembled see application note Cables and connectors or both feedback connectors separately with feedback cable as length motor choke 3YL 20 p 79 for cable lengt...

Страница 12: ...ptions l AS built in safety relay personnel safety starting lock out p 61 l I O expansion card p 66 l PROFIBUS DP expansion card p 70 l SERCOS expansion card p 72 l 2CAN Expansion module separated con...

Страница 13: ...se width modulation 62 5 s l Freely programmable digital speed controller 65 s or 250 s l Integral position controller with adaptation possibilities for customer needs 250 s l Pulse direction interfac...

Страница 14: ...ransformer is always required for 400 480V mains networks without earth ground and for networks with asymmetrical earth ground A 4 031 1 52 14 SERVOSTAR 601 620 Installation Manual General 06 02 Seide...

Страница 15: ...I 6 Components of a servo system SERVOSTAR 601 620 Installation Manual 15 Seidel 06 02 General 24V supply fuses drive contactor terminals motor SERVOSTAR 600 PC Control PLC Option AS...

Страница 16: ...ge max V 10 Input resistance to AGND kW 20 Digital inputs V low 0 7 high 12 36 mA 7 Aux power supply electrically isolated V 24 0 15 without brake A 1 Digital outputs open collector V max 30 mA 10 BTB...

Страница 17: ...ength SERVOSTAR 601 610 1 1 5 mm 14 awg SERVOSTAR 614 620 2 5 mm 12 awg 600V 105 C 221 F shielded capacitance 150pF m Motor cables 25 to 100 m length with motor choke 3YL 20 consult our customer servi...

Страница 18: ...below you can see the time and func tional relationships between the ENABLE signal speed setpoint speed and braking force During the internal ENABLE delay time of 100ms the speed setpoint of the serv...

Страница 19: ...achieved by an automatic adjustment of the regen thresholds which vary because of tolerances The regen energy is distributed equally among all the amplifiers The combined power of all the amplifiers...

Страница 20: ...elay so that personnel safety is ensured at the drive shaft p 61 The Stop functions are defined in EN 60204 VDE 0113 Para 9 2 2 9 2 5 3 There are three categories of Stop functions Category 0 Shut dow...

Страница 21: ...ed by a changeover switch contactor e g Siemens 3RT1516 1BB40 and short circuited by resistors connected in a star configuration Category 1 If hazardous conditions can result from an emergency stop sw...

Страница 22: ...This page has been intentionally left blank 22 SERVOSTAR 601 620 Installation Manual General 06 02 Seidel...

Страница 23: ...motor power ca ble is used which includes cores for brake control the brake control cores must be separately shielded Earth ground the shielding at both ends p 28 l Install all heavy current cables w...

Страница 24: ...r 4 hexagon socket screws to DIN 912 M5 Tool required 4 mm Allen key A 4 031 4 15 24 SERVOSTAR 601 620 Installation Manual Installation 06 02 Seidel SERVOSTAR 600 SERVOSTAR 601 610 SERVOSTAR 601 610 S...

Страница 25: ...II 2 1 Dimensions A 4 031 4 14 SERVOSTAR 601 620 Installation Manual 25 Seidel 06 02 Installation SERVOSTAR 620 SERVOSTAR 601 603 606 610 SERVOSTAR 614...

Страница 26: ...ol X which you will 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...

Страница 27: ...es separately Wire the BTB RTO contact in series into the safety loop of the installation Connect the digital control inputs to the servo amplifier Connect up AGND also if fieldbuses are used Connect...

Страница 28: ...1 1 02 28 SERVOSTAR 601 620 Installation Manual Installation 06 02 Seidel p 50 p 51 p 36 p 36 p 37 p 36 p 37 p 39 p 38 p 40 p 41 p 42 p 43 p 44 p 45 p 46 p 48 SERVOSTAR 600 Reference Safety Instructio...

Страница 29: ...ons for multi axis system A 4 031 1 19 SERVOSTAR 601 620 Installation Manual 29 Seidel 06 02 Installation SERVOSTAR 600 SERVOSTAR 600 SERVOSTAR 600 Power supply Reference Safety Instructions p 6 and U...

Страница 30: ...II 3 3 Pin assignments A 4 031 4 21 30 SERVOSTAR 601 620 Installation Manual Installation 06 02 Seidel...

Страница 31: ...outer covering of the cable and the shielding braid from the cores for the required length Secure the cores with a cable tie Remove the outer covering of the cable over a length of about 30mm without...

Страница 32: ...ng All cables are suitable for use as trailing cables The technical data refer to the use as moveable cables Operating life 1 million bending cycles Cores mm Coretype Operation Temperature range C Ope...

Страница 33: ...yourself on the amplifier but on a PC with the assistance of the setup software The PC is connected to the servo amplifier by a null modem cable The setup software provides the communication between...

Страница 34: ...DOWS 3 xx DOS and OS2 In emergency operation is possible through an ASCII terminal emulation without user interface Interface settings 9600 bps no parity no handshake Unix Linux The software function...

Страница 35: ...erfaces are shown in this Chapter The precise location of the connectors and terminals can be seen on page 30 The block diagram below is just an overview A 4 031 1 47 SERVOSTAR 601 620 Installation Ma...

Страница 36: ...ternal 24VDC supply e g with insulating transformer Required current rating p 16 Integrated EMI filter for the 24V auxiliary supply III 1 3 DC link X7 Can be connected in parallel A patented circuit d...

Страница 37: ...choke box 3YL 20 must be wired into the motor lead close to the amplifier III 3 External regen resistor X8 Remove the plug in link between the terminals X8 1 RB and X8 2 Rbint A 4 031 1 17 18 SERVOST...

Страница 38: ...esolvers to the SERVOSTAR 600 If lead lengths of more than 100m are planned please contact our customer service The thermostat contact in the motor is connected via the resolver cable to the SERVOSTAR...

Страница 39: ...drive tasks which require highly precise positioning or extremely smooth running If lead lengths of more than 50m are planned please consult our customer service The thermostat contact in the motor i...

Страница 40: ...int Input SW SETP 2 terminals X3 6 7 Differential input voltage max 10 V resolution 12 bit scalable Standard setting torque setpoint Application examples for setpoint input SW SETP 2 adjustable extern...

Страница 41: ...1 Tachometer voltage VTA speed The output delivers 10V at the preset limit speed Monitor 2 Current setpoint IDC torque The IDC monitor delivers 10V at the preset peak current Ipeak effective r m s val...

Страница 42: ...put 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...

Страница 43: ...e 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 amplifier You can find a list of pre program...

Страница 44: ...with the RESOLUTION parameter Encoder function ENCMODE Feedback system Resolution Zero position ROD 1 Resolver 16 1024 one per revolution only if A B 1 EnDat HIPERFACE 16 4096 and 8192 524288 2n one...

Страница 45: ...lf a turn 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...

Страница 46: ...or X3 must be joined together Signal diagram for encoders with RS422 or 24V output III 6 3 1 Connection to a SERVOSTAR master 5V signal level X5 This interface can be used to link several SERVOSTAR am...

Страница 47: ...DGND connector X3 must be joined together III 6 3 3 Connection to a sine cosine encoder X1 This interface can be used to operate the SERVOSTAR as a slave mastered by a sine cosine encoder master slave...

Страница 48: ...gear ing The number of steps can be adjusted so that the servo amplifier can be adjusted to the pulse direction signals of any stepper motor controller Various monitoring signals can be output The an...

Страница 49: ...3 must be joined together III 7 2 Connection to stepper motor controller with 24V signal level X3 This interface can be used to connect the servo amplifier to a stepper motor controller with 24V sig n...

Страница 50: ...h 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 33 With the optional expansion card...

Страница 51: ...n AGND and DGND connector 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 co...

Страница 52: ...This page has been intentionally left blank 52 SERVOSTAR 601 620 Installation Manual Interfaces 06 02 Seidel...

Страница 53: ...with dangerous levels up to 300 seconds af ter 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 Check measure the he...

Страница 54: ...um is 4 x motor standstill current I0 Limit speed maximum is the rated motor speed on nameplate Regen power maximum is the permitted regen resistor dissipation Station address unique address see setup...

Страница 55: ...amplifiers or SR6Y6 for 6 amplifiers With the PC connected to just one servo amplifier you can now use the setup software to select all four six amplifiers through the preset station addresses and se...

Страница 56: ...4V supply IV 2 2 1 Key operation The two keys can be used to perform the following functions Key symbol Functions U press once go up one menu item increase number by one press twice in rapid successio...

Страница 57: ...ndard menu structure IV 2 2 4 Extended menu structure A 4 031 3 3 SERVOSTAR 601 620 Installation Manual 57 Seidel 06 02 Setup or p 55 p 55 p 55 the entry will be stored automatically when you exit the...

Страница 58: ...erature internal temperature too high F14 output stage fault in the output stage F15 I t max I t max value exceeded F16 supply BTB RTO 2 or 3 phases missing in the supply feed F17 A D converter error...

Страница 59: ...ference point no reference point set at start of motion task n10 PSTOP PSTOP limit switch activated n11 NSTOP NSTOP limit switch activated n12 motor default values loaded Only sine encoders with ENDAT...

Страница 60: ...This page has been intentionally left blank 60 SERVOSTAR 601 620 Installation Manual Setup 06 02 Seidel...

Страница 61: ...nctionality and the personnel safety when using the circuit recommendations in this documentation have been approved by the Trade Liability Association V 1 2 Functional description An additional conne...

Страница 62: ...V 1 3 Block diagram V 1 4 Signal diagram sequence A 4 031 1 32 30 62 SERVOSTAR 601 620 Installation Manual Extensions Accessories 06 02 Seidel...

Страница 63: ...d manner speed setpoint 0V 2 When speed 0 rpm disable the servo amplifier enable 0V 3 If there is a suspended load apply an additional mechanical block to the drive 4 Activate the AS option V 1 5 2 Fu...

Страница 64: ...reas Even when several SERVOSTAR 600 are operating off a common mains supply and DC link it is possible to set up groups for separate working areas These groups can then be switched off sepa rately fo...

Страница 65: ...V 1 6 2 2 Mains supply circuit A 4 031 3 05 SERVOSTAR 601 620 Installation Manual 65 Seidel 06 02 Extensions Accessories SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR...

Страница 66: ...l items such as screws fall into the open option slot l Push the expansion card carefully into the guide rails that are provided without twisting it l Press the expansion card firmly into the slot unt...

Страница 67: ...V 2 4 Position of the connectors A 4 031 4 42 SERVOSTAR 601 620 Installation Manual 67 Seidel 06 02 Extensions Accessories Coding Plan view of the connectors as built in...

Страница 68: ...nterrupted The motion task can also be continued by an appropriately configured digital input on the basic unit 2 In Start_MT I O Start of the motion task that has the number that is presented bit cod...

Страница 69: ...V 2 7 Connection diagram A 4 012 4 33 SERVOSTAR 601 620 Installation Manual 69 Seidel 06 02 Extensions Accessories SERVOSTAR 600 I O 14 08...

Страница 70: ...the servo amplifier V 3 1 Position of the connectors V 3 2 Fitting the expansion card If you want to retrofit the PROFIBUS expansion card into a SERVOSTAR 600 proceed as follows l Use a suitable scre...

Страница 71: ...termination and transmission times are all described in the Installation guidelines for PROFIBUS DP Order No 2 111 from PNO the PROFIBUS User Organization V 3 4 Connection diagram A 4 031 1 41 SERVOS...

Страница 72: ...n card The expansion card can be retrofitted from firmware version 4 30 Proceed as follows l Use a suitable screwdriver to lever off the cover of the option slot l Take care that no small items such a...

Страница 73: ...BAUDRATE and the fibre optic connection If this LED flickers this indicates a low level of interference for Sercos communication or the optical transmitting power is not correctly adjusted to suit th...

Страница 74: ...if the SERVOSTAR is at the end of the bus V 5 1 Position of the connectors V 5 2 Fitting the expansion module If you want to retrofit the 2CAN expansion module into a SERVOSTAR 600 proceed as follows...

Страница 75: ...r the bus ter mination must be set to ON Otherwise the switch must be set to OFF condition as delivered V 5 4 Connector assignments RS232 CAN1 CAN2 X6A Pin Signal X6B X6C Pin Signal 1 Vcc 1 2 RxD 2 CA...

Страница 76: ...voltage 24V 1 Max output current 5A Residual ripple 150mVss Switching peaks 240mVss Output fuse short circuit proof Temperature range 0 60 C 140 F Type of mounting DIN rails vertical mounting Keep a c...

Страница 77: ...Input voltage 3 x 400VAC 10 Input current ca 1 1A Frequency 50 60Hz Primary fuse none Output voltage 24V 1 Max output current 20A Residual ripple 0 1 Output fuse short circuit proof Test voltage acc...

Страница 78: ...resistor BARxxx Caution Surface temperature may exceed 200 C Observe the requested free space Do not mount to combustible surface A 4 947 4 22 78 SERVOSTAR 601 620 Installation Manual Extensions Acce...

Страница 79: ...box 3YL 20 Technical data Nom data Sym DIM 3 YL 20 Rated current I0rms A Max 3 x 20 Frequency fmax kHz 8 3 Inductance L mH 1 2 A 4 030 4 10 SERVOSTAR 601 620 Installation Manual 79 Seidel 06 02 Exten...

Страница 80: ...rself before touching the servo amplifier Avoid contact with highly insulating materials artificial fabrics plastic films etc Place the servo amplifier on a conductive surface max stacking height 8 ca...

Страница 81: ...mostat has been activated feedback connector is loose or break in feedback cable wait until motor has cooled down then check why it became so hot tighten connector or use new feedback cable F07 messag...

Страница 82: ...is too long increase Irms or Ipeak keep within motor data shorten setpoint ramp motor overheating Irms Ipeak set too high reduce Irms Ipeak drive too soft Kp speed controller too low Tn speed control...

Страница 83: ...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 alteratio...

Страница 84: ...ange 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 r...

Страница 85: ...NA S62001 NA with AS option Option AS 90058 see order code in brackets Expansion card PROFIBUS DP 90056 OPT PB Expansion card SERCOS 90879 OPT SE Expansion card I 0 14 08 90057 OPT EI Expansion module...

Страница 86: ...rface 36 mains supply networks 14 maintenance 80 master slave 46 monitor outputs 41 motor interface 37 motor choke connection example 29 motor holding brake 18 mounting position 17 multi axis systems...

Страница 87: ...This page has been intentionally left blank SERVOSTAR 601 620 Installation Manual 87 Seidel 06 02 Appendix...

Страница 88: ...erica Visit the North American Danaher Motion web site at www danahermotion com for Setup Software upgrades application notes technical publications and the most recent version of our product manuals...

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