Digital Servo Amplifier Product Manual 601..

ManualsBrandsSSI America ManualsAmplifier601...620

Product Manual

Edition 07/2007

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 users / owners

of the product.

Summary of content (120 pages)

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SERVOSTAR® 601...620 Digital Servo Amplifier Product Manual Edition 07/2007 Valid for Hardware Revision 05.10 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 sr601_e.
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Previous versions : Edition 05/98 08/98 09/98 01/99 02/99 06/99 08/99 11/99 12/99 04/00 06/00 08/00 07/01 02/02 06/02 07/03 09/03 03/04 02/06 09/06 04/07 07/07 Remarks First edition a few corrections various minor corrections, parameter description removed, parameter setting for multi-axis systems and on/off switching behavior added, Installation/setup divided into two chapters 614 added, various minor corrections Interface relay for digital outputs (pages 26, 43) various corrections, cables and connectors
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Danaher Motion 07/2007 Contents Page 1 General 1.1 1.2 1.3 1.4 2 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hints for the online edition (PDF format) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Symbols used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents 07/2007 Danaher Motion Page 7 Mechanical Installation 7.1 7.2 7.3 7.4 8 Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Guide to mechanical installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Danaher Motion 07/2007 Contents Page 9 Setup 9.1 9.2 Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setup software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents 07/2007 Danaher Motion Page 10.2 Expansion Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 10.2.1 Guide to installation of expansion cards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 10.2.2 Expansion card -I/O-14/08- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 10.2.
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Danaher Motion General 07/2007 1 General 1.1 About this manual This manual describes the digital servo amplifiers of the SERVOSTAR® 600 series (standard version, 1.5 to 20 Amps nominal current). Servoamplifiers of the SERVOSTAR 640/670 series are described in additional manuals.
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General 1.4 07/2007 Danaher Motion Abbreviations used The abbreviations used in this manual are explained in the table below. Abbrev.
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Danaher Motion 07/2007 2 Safety 2.1 Safety Instructions Safety l Only properly qualified personnel are permitted to perform activities such as transport, installation, setup and maintenance. Properly qualified persons are those who are familiar with the transport, assembly, installation, setup and operation of the product, and who have the appropriate qualifications for their job.
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Safety 2.2 07/2007 Danaher Motion Use as directed l The servo amplifiers are components which are built into electrical equipment or machines, and can only be used as integral components of such equipment. l The manufacturer of the machine must generate a hazard analysis for the machine, and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property.
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Danaher Motion 07/2007 3 Standards 3.1 European Directives and Standards Standards Servo amplifiers are components that are intended to be incorporated into electrical plant and machines for industrial use. When the servo amplifiers are built into machines or plant, the amplifier must not be used until it has been established that the machine or equipment fulfills the requirements of the EC Machinery Directive (98/37/EC), the EC EMC Directive (89/336/EEC) and the EC Low Voltage Directive 73/23/EEC.
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Standards 07/2007 3.4 Approvals 3.4.1 CE conformance Danaher Motion Conformance with the EC EMC Directive 89/336/EEC and the Low Voltage Directive 73/23/EEC is mandatory for the supply of servo amplifiers within the European Community. Product standard EN 61800-3 is applied to ensure conformance with the EMC Directive. The Declaration of Conformity form can be found on our website (download area).
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Danaher Motion 4 Handling 4.1 Transport 4.2 4.3 4.4 Handling 07/2007 l Only by qualified personnel in the manufacturer’s original recyclable packaging l Avoid shocks l Temperature –25 to +70°C (-13...158°F), max. 20K/hr rate of change l Humidity max. 95% relative humidity, no condensation l The servo amplifiers contain electrostatically sensitive components which can be damaged by incorrect handling. Discharge yourself before touching the servo amplifier.
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Package Danaher Motion 07/2007 5 Package 5.1 Package supplied When you order a SERVOSTAR 600 series amplifier (order numbers ð p.117), you will receive: — — SERVOSTAR 6xx mating connectors X3, X4, X0A, X0B, X7, X8 The mating SubD connectors and motor connector X9 are not part of the package! — — — Assembly, Installation and Setup Instructions (product manual) Online documentation on CD-ROM Setup software DRIVE.
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Danaher Motion 5.3 Package 07/2007 Part number scheme S 6 0 6 0 0 - S E* Family S6 S600 Expansions NA no expansion DN DeviceNet PB PROFIBUS SE SERCOS SN SynqNet EC ETHERCAT IO I/O-Expansion Current rating 01 1A rms 03 3A rms 06 6A rms 10 10A rms 1P 10/30A rms 14 14A rms 20 20A rms electr. option 0 no option 1 AS option Voltage rating 0 230...480V * additional coding defines customer specific specials.
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Technical description 07/2007 Danaher Motion 6 Technical description 6.1 The SERVOSTAR 600 family of digital servo amplifiers Standard version l 6 current ratings (1.
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Danaher Motion 07/2007 Technical description Auxiliary supply voltage 24VDC l Electrically isolated, internal fusing (3.15 AT), from an external 24VDC psu, e.g.
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Technical description 6.2 Technical data Rated data DIM V~ Rated supply voltage (grounded system) V~ Rated installed load for S1 operation kVA Rated DC bus link voltage V= Arms Rated output current (rms value, ± 3%) Peak output current (max. ca. 5s, ± 3%) Arms Clock frequency of the output stage kHz Technical data for regen circuit — Overvoltage protection threshold V Max. load inductance mH Min. load inductance mH Form factor of the output current — (at rated data and min.
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Danaher Motion 6.2.1 Recommended torque Connector X3, X4 X0A, X0B, X7, X8, X9 Ground bolt 6.2.2 Technical description 07/2007 Recommended torque 0.5 to 0.6 Nm (4.43 to 5.31 in lb) 0.5 to 0.6 Nm (4.43 to 5.31 in lb) 3.5 Nm (31 in lb) Fusing Internal Fusing Circuit Auxiliary supply 24V Regen resistor internal fuse 3.15 AT (FRx-3) electronic External fusing Fusible cutouts or similar (Fuse UL time delay) AC supply FN1/2/3 24V supply FH1/2/3 Regen resistor FB1/2 (x = S or S-R for 480V applications 6.2.
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Technical description 6.2.4 Danaher Motion 07/2007 Conductor cross-sections Technical data for connection cables ð p.42. Following EN 60204 (for AWG: table 310-16 of the NEC 60°C or 75°C column), we recommend for single-axis systems: AC connection SERVOSTAR 601-610: 1.5 mm² SERVOSTAR 614/620: 4 mm² (14awg) (12awg) DC bus link SERVOSTAR 601-610: 1.5 mm² SERVOSTAR 614/620: 4 mm² (14awg) (12awg) Motor cables up to 25 m length* SERVOSTAR 601-610: 1-1.5 mm² (14awg) SERVOSTAR 614/620: 2.
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Danaher Motion 6.4 07/2007 Technical description Control for motor holding brake A 24V / max. 2A holding brake in the motor can be controlled directly by the servo amplifier. Check voltage drop, measure the voltage at brake input and check brake function (brake and no brake). This function does not ensure personnel safety! The brake function must be enabled through the BRAKE parameter (setting: WITH BRAKE).
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Technical description 6.5 07/2007 Danaher Motion Grounding system AGND — ground for analog inputs/outputs, internal analog/µC ground DGND — ground for digital inputs/outputs, optically isolated XGND — ground for external 24V aux. voltage, optically and inductively isolated PGND — ground for encoder simulation, RS232, CAN, optically isolated The potential isolation is shown in the block diagram (ð p. 45). 6.
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Danaher Motion 07/2007 Regen circuit: technical data Supply Rated data voltage Upper switch-on level of regen circuit Switch-off level of regen circuit Overvoltage F02 Continuous power of regen circuit (RBint) 3 x 230 V Continuous power of regen circuit (RBext) max. Pulse power, internal (RBint max. 1s) Pulse power, external (RBext max.
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Technical description 6.7 07/2007 Danaher Motion Switch-on and switch-off behavior This chapter describes the switch-on and switch-off behavior of the SERVOSTAR and the steps required to achieve operational stopping or emergency stop behavior that complies with standards. The servo amplifier’s 24 V supply must remain constant. The ASCII commands ACTFAULT (error response) and STOPMODE (ENABLE signal response) dictate how the drive will behave.
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Danaher Motion 6.7.1 07/2007 Technical description Behavior in standard operation The behavior of the servo amplifier always depends on the current setting of a number of different parameters (e.g., ACTFAULT, VBUSMIN, VELO, STOPMODE, etc.; see online help). The diagram below illustrates the correct functional sequence for switching the servo amplifier on and off.
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Technical description 6.7.2 07/2007 Danaher Motion Behavior in the event of an error (with standard setting) The behavior of the servo amplifier always depends on the current setting of a number of different parameters (e.g., ACTFAULT, VBUSMIN, VELO, STOPMODE, etc.; see online help). The diagram shows the startup procedure and the procedure that the internal control system follows in the event of one or more electrical supply phases failing, assuming that the standard parameter settings apply.
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Danaher Motion 6.8 07/2007 Technical description Stop/Emergency Stop Function to EN 60204 With the personnel safe restart lock –AS- (see page 91 onwards) the drive can be secured on standstill (torque-free) using its internal electronics so that even when power is being supplied, the drive shaft is protected against unintentional restart. 6.8.1 Stop: Standards The Stop function is used to shut down the machine in normal operation. The Stop functions are defined by EN 60204 (VDE 0113), paragraphs 9.2.
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Technical description 6.8.2 07/2007 Danaher Motion Emergency Stop: Standards The emergency Stop function is used for the fastest possible shut-down of the machine in a dangerous situation. The Emergency Stop function can be triggered by the actions of a single person. It must be fully functional and available at all times. The user must not have to work out how to operate this mechanism. The Emergency Stop function is defined by EN 60204 (VDE 0113), paragraph 9.2.5.4.
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Danaher Motion 6.8.3 07/2007 Technical description Implementation of the Stop Category 0 Bringing the motor to a standstill by immediately switching off the amplifier power supply (STOPMODE & ACTFAULT parameters set to 1). The switching sequence is precisely determined by this circuit in order to avoid undesirable fault messages and servo amplifier failures.
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Technical description 6.8.4 07/2007 Danaher Motion Implementation of the Stop Category 1 Bringing the motor to a standstill by interrupting the mains supply and using controlled electronic braking (STOPMODE & ACTFAULT parameters set to 1). The 24 V supply for the SERVOSTAR must remain constant. The drive is braked in a controlled manner during the stopping (disabling) procedure. If the speed VEL0 (see sequence diagram in chapter 6.
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Danaher Motion 6.8.5 07/2007 Technical description Implementation of the Stop Category 2 The machine receives an operational stop (disable) command and brakes the drive using the set braking ramp (STOPMODE & ACTFAULT parameters set to 1). The drive is braked in a controlled manner during the stopping (disabling) procedure. If the speed VEL0 (see sequence diagram in chapter 6.4) is undershot, the holding brake is applied and the output stage is disabled.
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Technical description 07/2007 6.9 Shock-hazard protection 6.9.1 Leakage current Danaher Motion Leakage current via the PE conductor results from the combination of equipment and cable leakage currents. The leakage current frequency pattern comprises a number of frequencies, whereby the residual-current circuit breakers definitively evaluate the 50Hz current. For this reason, the leakage current cannot be measured using a conventional multimeter.
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Danaher Motion 6.9.3 07/2007 Technical description Isolating transformers If protection against indirect contact is absolutely essential despite a higher leakage current, or if an alternative form of shock-hazard 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 of wiring between the transformer and the servo amplifier as short as possible. SERVOSTAR ® 601.
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Technical description 07/2007 Danaher Motion This page has been deliberately left blank. 34 SERVOSTAR ® 601...
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Danaher Motion 07/2007 7 Mechanical Installation 7.1 Important notes 7.2 Mechanical Installation l Protect the servo amplifier from impermissible stresses. In particular, do not let any components become bent or any insulation distances altered during transport and handling. Avoid contact with electronic components and contacts. l Ensure that there is an adequate flow of cool, filtered air into the bottom of the switchgear cabinet or use heat exchangers. Observe page 19 .
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Mechanical Installation 7.3 Danaher Motion 07/2007 Assembly Material : 2 or 4 hexagon socket screws to DIN 912, M5 Tool required : 4 mm Allen key SERVOSTAR 601-610 SERVOSTAR 601-610 SERVOSTAR 614 SERVOSTAR 620 SERVOSTAR 600 36 SERVOSTAR ® 601...
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Danaher Motion 7.4 07/2007 Mechanical Installation Dimensions SERVOSTAR 601/603/603/610 SERVOSTAR 614 SERVOSTAR 620 SERVOSTAR ® 601...
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Mechanical Installation 07/2007 Danaher Motion This page has been deliberately left blank. 38 SERVOSTAR ® 601...
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Danaher Motion 07/2007 8 Electrical Installation 8.1 Important notes Electrical Installation l Check the combination of servo amplifier and motor. Compare the rated voltage and current of the units. Carry out the wiring according to the hints on page 41. l Make sure that the maximum permissible rated voltage at the terminals L1, L2, L3 or +DC, –DC is not exceeded by more than 10% even in the most unfavorable case (see EN 60204-1 Section 4.3.1).
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Electrical Installation 8.2 07/2007 Danaher Motion Guide to electrical installation The following notes should assist you to carry out the electrical installation in a sensible sequence, without overlooking anything important. Cable selection Grounding Shielding Wiring Final check 40 Select cables according to EN 60204 (ð p. 20) EMC-compliant (EMI) shielding and grounding (ð p. 47) Earth (ground) the mounting plate, motor housing and CNC-GND of the controls.
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Danaher Motion 8.3 Wiring 8.3.1 Important notes 07/2007 Electrical Installation Only professional staff who are qualified in electrical engineering are allowed to install the servo amplifier. The installation procedure is described as an example. A different procedure may be sensible or necessary, depending on the application of the equipment. We provide further know-how through training courses (on request). Warning ! Only install and wire up the equipment when it is not live, i.e.
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Electrical Installation 8.3.2 Danaher Motion 07/2007 Technical data for connecting cables Further information on the chemical, mechanical and electrical characteristics of the cables can be obtained from our customer service. Observe the restrictions in the chapter "Conductor cross-sections" on page 20. To reach the max. permitted cable length, you must use cable material that matches the capacitance requirements listed below.
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Danaher Motion 8.3.4 07/2007 Electrical Installation Motor connector with shieldplate The motor is connected to the SERVOSTAR 600 by a Power Combicon connector (X9). You can obtain the connector kit from us (connector, housing, shield plate, rubber bushes, installation material, order codes see p.117). The cable material depends on the motor that is used. Please refer to the installation manual for the corresponding motor series.
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Electrical Installation 8.4 Danaher Motion 07/2007 Components of a servo system PC Control / PLC I/O Option -AS- 24V supply Fuses Regen resistor (optional) Drive cut-out Terminals Motor Motor choke (optional) Cables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines. Optional devices are connected with dashed lines to the servo amplifier. The required accessories are described in our accessories manual. 44 SERVOSTAR ® 601...
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Danaher Motion 8.5 07/2007 Electrical Installation Block diagram The block diagram below is just an overview. SERVOSTAR ® 601...
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Electrical Installation 8.6 46 07/2007 Danaher Motion Pin assignments SERVOSTAR ® 601...
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Danaher Motion 8.7 Electrical Installation 07/2007 Connection diagram (overview) Reference Safety Instructions (ð p.9) and Use As Directed (ð p.10) ! SERVOSTAR 600 ð p.65 ð p.53ff ð p.66 ð p.52 ð p.50 ð p.67 ð p.68 ð p.50 ð p.63 ð p.64 ð p.58 ð p.49 ð p.61 ð p.70 ð p.49 ð p.69 ð p.49 SERVOSTAR ® 601...
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Electrical Installation 07/2007 8.8 Power supply 8.8.1 Connection to various mains supply networks Danaher Motion This page illustrates all the possible connection variations for different electrical supply networks. An isolating transformer is always required for 400...480V mains networks without earth(ground) and for networks with asymmetrical earth(ground). SERVOSTAR 48 208V with 60Hz only 230...
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Danaher Motion 8.8.2 07/2007 Electrical Installation Mains supply connection (X0) — — Directly to earthed (grounded) 3~ supply, integrated EMI filter Fusing (e.g. fusible cut-outs) provided by the user ð p.19 SERVOSTAR 600 8.8.3 24V auxiliary supply (X4) — — — Electrically isolated, external 24VDC supply, e.g. with insulating transformer Required current rating ð p.18 Integrated EMI filter for the 24V auxiliary supply SERVOSTAR 600 8.8.4 DC bus link (X7) Can be connected in parallel.
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Electrical Installation 8.9 07/2007 Danaher Motion Motor connection with brake (X9) Lead length £ 25m SERVOSTAR 600 Lead length >25m For lead lengths above 25m the choke box 3YL must be wired into the motor lead, close to the amplifier. SERVOSTAR 600 8.10 External regen resistor (X8) Remove the plug-in link between the terminals X8/1 (-RB) and X8/2 (+Rbint). SERVOSTAR 600 50 SERVOSTAR ® 601...
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Danaher Motion 8.11 Electrical Installation 07/2007 Feedback Every closed servo system will normally require at least one feedback device for sending actual values from the motor to the servo drive. Depending on the type of feedback device used, information will be fed back to the servo amplifier using digital or analog means.
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Electrical Installation 8.11.1 Danaher Motion 07/2007 Resolver (X2) Connection of a Resolver (2 to 36-poles) as a feedback system (primary, ð p.51). The thermostat 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 SERVOSTAR 600 52 SubD9 12pol.round SERVOSTAR ® 601...
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Danaher Motion 8.11.2 07/2007 Electrical Installation Sine Encoder 5V with BISS (X1) Wiring of a single-turn or multi-turn sine-cosine encoder with BISS interface as a feedback system (firmware revision from 6.68). During start-up of the servo amplifier the parameters stored in the encoder eeprom are uploaded, after that phase only the sine/cosine signals are used. The thermostat contact in the motor is connected via the encoder cable to X1 and evaluated there.
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Electrical Installation 8.11.3 Danaher Motion 07/2007 Sine Encoder with EnDat 2.1 or HIPERFACE (X1) Wiring of a single-turn or multiturn sine-cosine encoder as a feedback system. Preferred types are ECN1313 and EQN1325. The thermostat contact in the motor is connected via the encoder cable to the SERVOSTAR 600 and evaluated there. All signals are connected using our pre-assembled encoder connection cable.
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Danaher Motion 8.11.4 07/2007 Electrical Installation Sine Encoder without data channel (X1) Wiring of a sine-cosine encoder without data channel as standard feedback system. Every time the 24V auxiliary voltage is switched on, the amplifier needs start-up information for the position controller (parameter value MPHASE). Depending on the feedback type either wake&shake is executed or the value for MPHASE is read out of the amplifier's EEPROM.
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Electrical Installation 8.11.5 07/2007 Danaher Motion Incremental encoder / sine encoder with Hall (X1) Encoder types (incremental or sine/cosine) that do not provide definitive information on commutation, can be used as a complete feedback system using an additional Hall dongle. In this case, an adapter is used for interfacing and adapting the signals (Hall dongle, ð p. 90). This adapter is also used to connect encoders known as ComCoders.
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Danaher Motion 8.11.6 07/2007 Electrical Installation Incremental Encoder (X5) An incremental encoder can be used as standard motor feedback. Every time the 24V auxiliary voltage is switched on, the amplifier needs start-up information for the position controller (parameter value MPHASE). Depending on the feedback type either wake&shake is executed or the value for MPHASE is read out of the amplifier's EEPROM. The thermostat contact in the motor is connected to X1 (see p.54) or X2 (see p.52).
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Electrical Installation 8.12 Danaher Motion 07/2007 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).
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Danaher Motion 8.12.1 07/2007 Electrical Installation Connection to a SERVOSTAR master, 5 V signal level (X5) You can link several SERVOSTAR amplifiers together in master-slave operation. Up to 16 slave amplifiers can be controlled by the master via the encoder output. The connector X5 must be used. Frequency limit: 1,5 MHz, slew rate tv £ 0,1 µs SERVOSTAR 600 SERVOSTAR 600 AGND and DGND (connector X3) must be joined together ! 8.12.
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Electrical Installation 8.12.3 07/2007 Danaher Motion Connection to a sine-cosine encoder (X1) You can operate the SERVOSTAR as a slave, mastered by a sine-cosine encoder (master-slave operation). The connector X1 must be used. Encoder types with a power consumption of more than 150 mA can also be connected using our external power supply (ð p.113). For encoders that do not have integrated terminating resistors, we offer an optional terminating adapter (ð p. 113).
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Danaher Motion 8.12.4 07/2007 Electrical Installation Connection to a SSI encoder (X5) You can set up the SERVOSTAR 600 as a slave following a synchronous serial absolute-encoder (master-slave operation). This application uses the SubD connector X5. If lead lengths of more than 50 m are planned and for questions concerning the power supply of the encoder, please consult our customer service. Frequency limit: 1,5MHz SERVOSTAR 600 AGND and DGND (connector X3) must be joined together! 8.12.
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Electrical Installation 8.12.5.1 07/2007 Danaher Motion Step/Direction with 5 V signal level (X5) Connection of the servo amplifier to a stepper-motor controller with 5 V signal level. The connector X5 must be used. Frequency limit: 1,5 MHz AGND and DGND (connector X3) must be joined together ! SERVOSTAR 600 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.
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Danaher Motion Electrical Installation 07/2007 8.13 Encoder emulations 8.13.1 Incremental encoder output - A quad B (X5) The incremental-encoder interface is part of the package supplied. Select the encoder function ROD (screen page “Encoder”). In the servo amplifier, the position of the motor shaft is calculated from the cyclic-absolute signals of the resolver or encoder. Incremental-encoder compatible pulses are generated from this information.
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Electrical Installation 8.13.2 07/2007 Danaher Motion SSI output (X5) The SSI interface (synchronous serial absolute-encoder simulation) is part of the delivered package. Select the encoder function SSI (screen page “Encoder”). In the servo amplifier, the position of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder. This information is used to create a position output in a format that is compatible with the standard SSI-absolute-encoder format.
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Danaher Motion 07/2007 8.14 Digital and analog inputs and outputs 8.14.1 Analog inputs (X3) Electrical Installation The servo amplifier is equipped with two differential inputs for analog setpoints which are programmable. AGND (X3/1) must always be joined to the CNC-GND of the controls as a ground reference. Technical characteristics — — — — — — Differential-input voltage max. ± 10 V Resolution 1.
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Electrical Installation 8.14.2 07/2007 Danaher Motion Analog outputs (X3) Technical characteristics — — — — — Reference ground is analog-GND (AGND, terminal X3/1 and X3/10) Output resistance 2.2 kW Output voltage ±10 V Resolution 10 bit. Update rate 62.
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Danaher Motion 8.14.3 07/2007 Electrical Installation Digital inputs (X3) All digital inputs are electrically isolated through optocouplers. Technical characteristics — — — — Reference ground is digital-GND (DGND, terminal X3/18) Inputs at X3 meet PLC standards (IEC 61131-2 Type 1) High: 11...30V / 2...11mA, Low -3...+5V / <1 mA Update rate: 250µs SERVOSTAR 600 ENABLE input The output stage of the servo amplifier is activated by the enable signal (terminal X3/15, input 24V, active-high).
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Electrical Installation 8.14.4 07/2007 Danaher Motion Digital outputs (X3) Technical characteristics — — — — Reference ground is digital-GND (DGND, terminal X3/18) All digital outputs are floating DIGITAL-OUT1 and 2 : Open-Collector, max. 30 VDC, 10 mA BTB/RTO : Relay output, max. 30 VDC or 42 VAC, 0.5 A Update rate : 250 µs SERVOSTAR 600 Ready-to-operate contact BTB/RTO Operational readiness (terminals X3/2 and X3/3 ) is signaled by a floating relay contact.
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Danaher Motion 8.15 07/2007 Electrical Installation RS232 interface, PC connection (X6) The setting of the operating, position control, and motion-block parameters can be carried out with an ordinary commercial PC. Connect the PC interface (X6) of the servo amplifier while the supply to the equipment is switched off via a normal commercial 3-core null-modem cable to a serial interface on the PC.
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Electrical Installation 8.16 07/2007 Danaher Motion CANopen Interface (X6) The interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based on the communication profile CANopen DS301 and the drive profile DS402. The following functions are available in connection with the integrated position controller: Jogging with variable speed, reference traverse (zeroing), start motion task, start direct task, digital setpoint provision, data transmission functions and many others.
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Danaher Motion 9 Setup 9.1 Important notes 07/2007 Setup Only professional personnel with extensive knowledge in the fields of electrical/ drive technology are allowed to setup the servo amplifier. The procedure for setup is described as an example. Depending on the application, a different procedure may be sensible or necessary. In multi-axis systems, setup each servo amplifier individually.
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Setup 07/2007 9.2 Setup software 9.2.1 General Danaher Motion This chapter describes the installation of the setup software DRIVE.EXE for the SERVOSTAR 600 digital servo amplifiers. We offer training and familiarization courses on request. 9.2.1.1 Use as directed The setup software is intended to be used for setting up and storing the operating parameters for the SERVOSTAR 600 series of servo amplifiers.
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Danaher Motion 9.2.1.3 07/2007 Setup Hardware requirements The PC interface (X6, RS232) of the servo amplifier is connected to the serial interface of the PC by a null-modem cable (not a null-modem link cable !) (ð p.69). Connect / disconnect the interface cable only when the supply is switched off for both the PC and the servo amplifier. The interface in the servo amplifier is electrically isolated by an optocoupler, and is at the same potential as the CANopen interface.
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Setup 07/2007 9.3 Quickstart Guide 9.3.1 Preparation 9.3.1.1 Unpacking, Mounting and Wiring the Servo Amplifier Danaher Motion 1. Unpack servo amplifier and accessories 2. Observe safety instructions in the manuals 3. Mount the servo amplifier as described in chapter 7.3 4. Wire the servo amplifier as described in chapter 8.3 or apply the minimum wiring for drive testing as described in chapter 9.3.1.3 5. Install the software as described in chapter 9.2 9.3.1.
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Danaher Motion 9.3.1.3 Setup 07/2007 Minimum Wiring for Drive Test This wiring does not fulfill any requirements to safety or functionality of your application, it just shows the required wiring for drive testing without load. Motor-Feedback RES PC N A C X3 2 Power ON ENC 3 Enable 15 18 24V ON X4 + 24V DC 1 3 2 - Power Motor Motor-Power SERVOSTAR ® 601...
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Setup 9.3.2 Danaher Motion 07/2007 Connect l Connect the interface cable to a serial interface on your PC and to the serial interface X6 of the servo amplifier. USB to serial converter can be used optionally. l Switch on the 24 V power supply for the servo amplifier. l Wait about 30 seconds, until the front display of the servo amplifier displays the current classe (e.g. for 3 amps). If the power supply voltage is switched on, too, a leading P is displayed (e.g. for Power, 3 amps).
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Danaher Motion Setup 07/2007 If communication works, parameters are transmitted from the servoamplifier to the computer. Then you see the start screen. Make sure, that the amplifier is disabled (Input HW-Enable connector X3 pin 15 must be 0 V or open)! 9.3.3 Important Screen Elements Help Function The Online-Help gives detailed information to all parameters the servo amplifier can work with. Key F1 Menu Bar ? or Online HTML Help Starts Online Help for the actual screen page.
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Setup 9.3.4 07/2007 Danaher Motion Basic Setup On the start screen click "Basic Setup" button. Regen Resistor: Change only if you use an external regen resistor. Most applications don't need an external regen resistor max. Mains Voltage: Select the nominal 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.
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Danaher Motion 9.3.5 Setup 07/2007 Motor (synchronous) Press function key F12 (Software Disable) before changing motor parameters. Motor Type: Select Synchronous Motor. If you use a linear motor or an induction motor, please contact our support department. Number-Name: Click the list to start uploading the motor parameter table, which is stored in the servo amplifier. Search and select the connected motor. If your motor is not listed, please contact our support department.
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Setup 9.3.6 07/2007 Danaher Motion Feedback Press F12 (disable) before changing feedback parameters. Feedback Type: Select the feedback type used. Leave all other fields unchanged. If Software Enable is active, a warning appears. The configuration change cannot be performed. Click OK on the warnings, press F12 (SW disable) and start the Feedback procedure again. If everything was ok, the same procedure (parameter upload) that has been described for the motor selection starts.
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Danaher Motion 9.3.7 Setup 07/2007 Save Parameters and Restart You are going to finish setup and you have changed several basic parameters. Depending on the parameters you changed, two possible reactions can occur: Configuration parameters changed A warning appears, that you have to restart the amplifier. This is called "coldstart". Click "YES". The parameters are saved to the amplifier's EEPROM automatically and a reset command restarts the amplifier (takes a few seconds).
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Setup 9.3.8 Danaher Motion 07/2007 Jogging the Motor (Speed Control) Be aware that the actual position of the load permits the subsequent moving operations. The axis could move to the hardware 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 Hardware-Enable: +24 VDC to Enable [connector X3 pin 15].
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Danaher Motion 9.3.9 Setup 07/2007 Status Actual warnings and errors are listed on the Status screen, which can be accessed on the start screen by clicking the "Status" button. This button monitors the current status of the amplifier and can appear with different text. The Reset button can be used to clear some actual error messages. A description of errors/warnings can be found on page 88. Now you have setup and tested the basic functions of the drive successfully. 9.3.
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Setup 9.4 Danaher Motion 07/2007 Multi-axis systems Using a special multilink cable, you can connect up to six servo amplifiers together and to your PC : Cable type -SR6Y- (for 4 amplifiers) or -SR6Y6- (for 6 amplifiers). Cable -SR6Y- PC X6 CAN COMx RS232 Add.: 01 Add.: 02 Add.: 03 Add.: 04 Baud rate identical for all amplifiers, see table below.
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Danaher Motion 9.4.3 Setup 07/2007 Example of connections for multi-axis system Reference Safety Instructions (ð p.9) and Use As Directed (ð p.10) ! M SERVOSTAR 600 M Power supply SERVOSTAR 600 M SERVOSTAR 600 SERVOSTAR ® 601...
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Setup 9.5 07/2007 Danaher Motion Key operation / LED display In this chapter the two possible operation menus and the use of the keys in the front panel are shown. Normally, the SERVOSTAR 600 only places the standard menu at your disposal. If you want to attend the amplifier via the detailed menu, you must keep the right key pressed while switching on the 24V-supply. 9.5.1 Key operation The two keys can be used to perform the following functions: Key symbol 9.5.
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Danaher Motion 9.5.3 Setup 07/2007 Standard menu structure ð p.84 9.5.4 Extended menu structure Keep the right key pressed while switching on the 24V-supply. ð p.84 ð p.84 SERVOSTAR ® 601...
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Setup 9.6 07/2007 Danaher Motion Error messages Errors which occur are shown in coded form by an error number in the LED display on the front panel. All error messages result in the BTB/RTO contact being opened, and the output stage of the amplifier being switched off (motor loses all torque). If a motor-holding brake is installed, it will be activated. Number E/S/A/P ...
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Danaher Motion 9.7 07/2007 Setup Warning messages Faults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTO contact remains closed), are indicated in the LED display on the front panel by a coded warning number. Number E/S/A/P ...
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Setup 9.8 Danaher Motion 07/2007 Removing faults/warnings Depending on the conditions in your installation, there may be a wide variety of reasons for the fault. In multi-axis systems there may be further hidden causes of a fault. Detailled hints for removal of faults can be found in the Online help chapter "Trouble-Shooting". Our customer service can give you further assistance with problems.
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Danaher Motion 07/2007 Expansions / Accessories 10 Expansions / Accessories 10.1 Option -AS-, restart lock for personal safety A frequently required application task is the protection of personnel against the restarting of drives. This can not be achieved by an electronic inhibit, but must be implemented with mechanical elements (positively driven relay contacts).
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Expansions / Accessories 10.1.2 07/2007 Danaher Motion Use as directed The -AS- restart lock is exclusively intended to provide safety for personnel, by preventing the restart of a system. To achieve this personnel safety, the wiring of the safety circuits must meet the safety requirements of EN60204, EN12100 and EN 954-1. The -AS- restart lock must only be activated, — when the motor is no longer rotating (setpoint = 0V, speed = 0rpm, enable = 0V).
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Danaher Motion 10.1.4 07/2007 Expansions / Accessories Functional description An additional connector (X10) is mounted on the front panel of the SERVOSTAR 600. The coil connections and a make (n.o.) contact of a safety relay are made available through 4 terminals on this connector. The 24VDC safety relay in the servo amplifier (approved) is controlled externally. All the relay contacts have positive action.
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Expansions / Accessories 10.1.6 07/2007 Danaher Motion Functional test The functioning of the restart lock must be tested during setup, after every alteration in the wiring of the system, or after exchanging one or more components of the system. 1. 2. 3. 4. 5. 6. 10.1.7 Stop all drives, with setpoint 0V, disable drives, mechanically block any suspended loads Activate the -AS- option.
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Danaher Motion 10.1.8 07/2007 Expansions / Accessories Application example 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...
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Expansions / Accessories 10.1.9 07/2007 Danaher Motion Application example 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...
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Danaher Motion 10.1.9.3 07/2007 Expansions / Accessories Flow chart t(K30t) t(K10t) / t(K20t) 24V AS Relais ON OFF K1 K10t / K20t K30t / Enable Speed t(K30t) ³ 500ms t(K10t) and t(K20t) ensure that the drive remains active until the axis has come to a standstill. This time depends on the application and 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.
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Expansions / Accessories 10.2 07/2007 Danaher Motion Expansion Cards Information about availability and order numbers can be found on p. 117 10.2.1 98 Guide to installation of expansion cards l Use a suitable screwdriver to lever off the cover of the option slot. l Take care that no small items (such as screws) fall into the open option slot. l Push the expansion card carefully into the provided guide rails of the slot, without twisting it.
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Danaher Motion 10.2.2 Expansions / Accessories 07/2007 Expansion card -I/O-14/08This chapter describes the I/O-expansion card -I/O-14/08-. It only describes the additional features that the expansion card makes available for the SERVOSTAR 600. The -I/O-14/08- provides you with 14 additional digital inputs and 8 digital outputs. The functions of the inputs and outputs are fixed.
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Expansions / Accessories 10.2.2.5 07/2007 Danaher Motion Connector assignments Connector X11A Pin Dir Function 1 In A0 2 In A1 3 In A2 4 In A3 5 In A4 6 In A5 7 In A6 8 In A7 9 In 10 In 11 In 12 In Description Motion task no., LSB Motion task no., 21 Motion task no., 22 Motion task no., 23 Motion task no., 24 Motion task no., 25 Motion task no., 26 Motion task no., MSB Polls the reference switch.
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Danaher Motion 10.2.2.6 07/2007 Expansions / Accessories Connection diagram SERVOSTAR 600 AGND and DGND (connector X3) must be joined together ! SERVOSTAR ® 601...
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Expansions / Accessories 10.2.3 07/2007 Danaher Motion Expansion cards -PROFIBUSThis chapter describes the PROFIBUS expansion card for the SERVOSTAR 600. Information on the range of functions and the software protocol can be found in the manual "Communication profile PROFIBUS DP". The PROFIBUS expansion card has two 9-pin Sub-D sockets wired in parallel. The supply voltage for the expansion card is provided by the servo amplifier. 10.2.3.1 Front view 10.2.3.
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Danaher Motion 10.2.4 07/2007 Expansions / Accessories Expansion card -SERCOSThis chapter describes the SERCOS expansion card for SERVOSTAR 600. Information on the range of functions and the software protocol can be found in the manual "IDN Reference Guide SERCOS". 10.2.4.1 Front view 10.2.4.2 Light emitting diodes (LEDs) RT TT indicates whether SERCOS telegrams are being correctly received. In the final Communication Phase 4 this LED should flicker, since cyclical telegrams are being received.
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Expansions / Accessories 10.2.4.4 07/2007 Danaher Motion Connection diagram Layout of the SERCOS bus system in ring topology, with optical fibre cables (schematic). AGND and DGND (connector X3) must be joined together ! 10.2.4.5 Modifying the station address The drive address can be set to a value between 0 and 63. With address 0, the drive is assigned as an amplifier in the SERCOS ring.
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Danaher Motion 10.2.5 07/2007 Expansions / Accessories Expansion card -DEVICENETThis section describes the DeviceNet expansion card for SERVOSTAR 600. Information on the range of functions and the software protocol can be found in our manual “DeviceNet Communication Profile”. 10.2.5.1 Front view 10.2.5.
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Expansions / Accessories 10.2.5.4 07/2007 Danaher Motion Combined module/network status-LED LED Meaning The device is not online. - The device has not yet finished the Dup_MAC_ID test. off - The device is possibly not yet switched on. The device is operating as normal, is online, and the connections have been estabgreen lished. The device has been assigned to a master. The device is operating as normal, is online, but the connections have not been established.
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Danaher Motion 10.2.5.7 07/2007 Expansions / Accessories Bus cable To meet ISO 898, 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.
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Expansions / Accessories 10.2.6 07/2007 Danaher Motion Expansion card -ETHERCATThis section describes the EtherCat expansion card for SERVOSTAR 600. Information on the range of functions and the software protocol can be found in the EtherCat documentation. This expansion card enables the servo amplifier to be connected to the EtherCat network via RJ-45 connectors (IN and OUT ports). 10.2.6.1 Front view 10.2.6.2 LEDs LED ERROR RUN ACT IN ACT OUT 10.2.6.
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Danaher Motion 10.2.7 Expansions / Accessories 07/2007 Expansion card -SYNQNETThis section describes the SynqNet expansion card for SERVOSTAR 600. Information on the range of functions and the software protocol can be found in the SynqNet documentation. 10.2.7.1 Front view LED2 10.2.7.2 LED1 LED4 LED3 NODE ID Switch With these hexadecimal switches you can set the main and low significant bytes of the Node ID seperately.
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Expansions / Accessories 10.2.7.5 07/2007 Danaher Motion Digital inputs/outputs, connector X21A (SubD 15-pin, socket) Inputs (In): 24V (20...
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Danaher Motion 10.2.8 07/2007 Expansions / Accessories Expansion module -2CANConnector X6 of the SERVOSTAR 6xx is assigned to the signals for the RS232 interface and the CAN interface. It is therefore not the standard pin assignment for these interfaces, and a special cable is required to be able to use both interfaces simultaneously. The -2CAN- expansion module provides the interfaces on separate Sub-D connectors. The two CAN connectors are wired in parallel.
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Expansions / Accessories 10.2.8.4 Connector assignments RS232 X6A Pin 1 2 3 4 5 6 7 8 9 10.2.8.5 Danaher Motion 07/2007 Signal Vcc RxD TxD GND CAN1=CAN2 X6B=X6C Pin 1 2 3 4 5 6 7 8 9 Signal CAN-Low CAN-GND CAN-High Connection diagram AGND and DGND (connector X3) must be joined together ! 112 SERVOSTAR ® 601...
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Danaher Motion 10.3 Special Accessories 10.3.1 Power Supply SINCOS Expansions / Accessories 07/2007 to servo amplifier (max. 2 m) The extended power supply enables the operation of encoder systems at connector X1 with a power consumption of up to 400 mA DC. This power supply is switched between X1 and the encoder and supplied by SERVOSTAR 600. The connection between the amplifier and the power supply requires a 1:1 protected data cable with a maximum length of 2 m (see ordering information, p.
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Expansions / Accessories 10.3.3 07/2007 Danaher Motion Hall Dongle Encoder types that do not provide definitive information on commutation, can be used as a complete feedback system using an additional Hall dongle. Encoders with analog signals are connected to the dongle, digital encoders are connected to connector X5 on the servo amplifier. Refer to the connection diagram on p. 56.
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Danaher Motion 07/2007 Appendix 11 Appendix 11.
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Appendix P R S T Z 116 07/2007 Danaher Motion P-controller Control loop with purely proportional behavior Phase shift Compensation for the lag between the electromagnetic and magnetic fields in the motor PID-controller Control loop with proportional, integral and differential behavior PID-T2 Filter time constant for the speed controller output Position controller Regulates the difference between the position setpoint and the actual position to 0 Output : speed setpoint Potential isolation
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Danaher Motion 11.2 Appendix 07/2007 Order numbers The order numbers of accessories such as cables, regen resistors, mains supplies, etc., can be found in the accessories manual. 11.2.
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Appendix 11.3 07/2007 Index ! 24Vaux. supply, interface . . . . . . . . . . . 49 A Abbreviations . . . . . . . . . . . . . . . . . . 8 Ambient conditions . . . . . . . . . . . . . . . 19 Ambient temperature. . . . . . . . . . . . . . 19 Analog outputs . . . . . . . . . . . . . . . . . 66 AS-Option . . . . . . . . . . . . . . . . . . . 91 Assembly. . . . . . . . . . . . . . . . . . . . 36 Baudrate . . . . . . . . . . . . . . . . . . . . 84 BISS Interface . . . . . . . . . . . . . . . . .
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Danaher Motion 07/2007 Appendix This page has been deliberately left blank SERVOSTAR ® 601...
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Sales and Service We are committed to quality customer service. In order to serve in the most effective way, please contact your local sales representative for assistance. If you are unaware 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.