USER MANUAL SERVO AMPLIFIER Version I/O BA
Contents
1. 265 with plug 273 1 8 Servo Amplifier Version I O Edition 03 08 2 Behaviour of the servo amplifier 2 1 Switch on and switch off behavior The diagram below illustrates the correct functional sequence for switching the servo amplifier on and off Fig 3 mE 2 Intermediate Servo Amplifier Version Edition 03 08 2 2 Emergency stop function according EN60204 VDE 0113 The emergency stop function is defined by EN 60204 VDE 0113 Paragraph 9 2 5 4 It is used for stopping the servo axis as quickly as possible in the event of danger e he emergency stop function must be capable of being triggered by handling by a single person The emergency stop function must always be ready for operation and available The user must not be required to think about the effect of this device e The use of servo horizontal axes SHA servo vertical axes SVA and servo two dimensional portals SFP in installations is permissible only when they are secured by means of movable separating safety devices according to EN 292 2 Section 4 2 2 3 e In the case of an internal fault in the servo amplifier the motor can no longer be operated in a controlled manner but becomes torque free and revolves to a stop All axes are however equipped with damped stops which absorb the resultant ener2. Handling Components SERVOLINE USER MANUAL SERVO AMPLIFIER Version UO BA 100039 Edition 03 08 Servo Amplifier Version Edition 03 081 Change index Editions issued so far Edition Comments Order number English version 04 01 First edition 507020 07 02 Chapter 6 Elimination of faults new 507020 02 06 New article number BA 100039 03 08 New type plate 100039 A Servo Amplifier Version I O T 1 1 Introduction 1 2 Scope of delivery of servo amplifier 1 3 Dangers and safety information 1 4 CE conformance declaration to MRL Appendix 1 5 UL and cUL conformance 1 6 Product description and application 1 7 Additional information 1 8 Validity of the User Manual 1 9 Technical data 1 9 1 Function 1 9 2 Modes 1 9 3 Dimensions 2 BEHAVIOUR OF THE SERVO AMPLIFIER 2 1 Switch on and switch off behavior 2 2 Emergency stop function according EN60204 VDE 0113 2 3 Motor holding brake only SVA 130 and SVE 130 3 INSTALLATION 3 1 Procedure 3 2 Assembly 3 3 Wiring 3 4 Conductor cross sections 3 5 External fusing 3 6 Connection diagram 3 7 Connection example for multi axis system 3 8 Connection example for master slave system NEE EE 4 1 Pin assignments 4 2 Reference switch 4 3 Voltage supply 4 3 1 Mains connection 4 3 2 24V auxi
3. D only for symmetry female 4 30 Servo Amplifier Version Edition 03 08 4 9 Interface for master slave operation encoder configuration X5 With the aid of this interface you can interconnect several SERVOSTAR 600 amplifiers master slave operation The slave amplifier is configured with the aid of the commissioning software electrical gear The resolution number of pulses revolution is adjustable AGND and DGND terminal X3 must be bridged Signal diagram for encoder with RS422 output tv tv a ala A ZA UL LOA ZAA KZ 5 VA UA UA 2 D 4 10 Connection to SERVOSTAR 600 master 5 V level X5 With the aid of this interface several SERVOSTAR 600 amplifiers can be interconnected master slave operation Up to 16 slave amplifiers are actuated by the master via the encoder output SubD plug X5 is used for this purpose Limiting frequency 1 MHz flank slope tv lt 0 1 AGND and DGND terminal X3 must be bridged Slave SERVOSTAR 600 Master SERVOSTAR 600 i GEES 1 ase 121 Track B according to line impedance only once at end of bus 4 31 Servo Amplifier Version I O 9 5 1 rro LED display Structure C3 c3 c2 c2 Status 1 Status 2 Status 3 Status 4 Edition 03 08 24V switched on unit indicates software version of the system software after 1 sec Shift to status 2 3or 4 24V swit
4. dus Lus Tee T pe PE X8 ee RBint E MASTER 3 18 lt ENABLE BTB Servo Amplifier Version I O 4 4 1 DIGI TAL IN 2 DIGITAL DIGITAL OUTZ Edition 03 08 Interfaces Pin assignments ERR 0 14 08 X11A X11E e SIEHE BH e 24V 1 12 1 12 X6 PC coat X2 RESOLVER X1 ENCODER Master Slave CLK 5 A CLK 1 oQoooooo00 m E T EFCOS fr OY SENSE A REFSIN 9 DATA U B View looking at the face of the built in connectors AGND BTB RTO BTB RTO AGND BIGITAL IN1 PSTOP NSTOP ENABLE Coding Servo Amplifier Version Edition 03 08 4 2 Reference switch The length of the cable of the supplied inductive proximity switch is 5 m Wiring of the proximity switch is according to the following diagram After wiring check the function of the proximity switch 24 DC 7 control plug 11A terminal 9 digital GND control 4 3 Voltage supply 4 3 1 Mains connection X0 e Directly to earthed 3 supply 400V 50HZ filter Class A integrated e Fusing 6AT e g fusible cut outs provided by the user 3 PE ean FEO PEs ad SEO 4 3 2 24V auxiliary supply X4 Electrically isolated external 24 DC supply e g with insulating transformer Required current rating 1A voltage 24V 0
5. l 2 E sl ero I NI RE E PGND el cup E P Track B e L H v J according to line impedance a 0 o Flank spacing a gt 0 8 us svi P nns EN m r Ur gt 2 0V 20mA BN UL lt 0 5V 20mA B _ a D ng Y Flank slope tv x 0 1 us Delay N I td s 0 1 us oV Scanning frequency 160kHz ERE Limiting speed for electric encoder signals 6000min td td 4 28 Servo Amplifier Version Edition 03 08 4 7 2 SSI interface X5 The SSI interface synchronous serial absolute encoder emulation forms part of the scope of delivery Choose the encoder function SSI screen page Encoder emulation The position of the motor shaft is calculated in the servo amplifier from the absolute cyclic signals of the resolver From this information a position output compatible with the data format of commercial 551 absolute encoders is generated At the SubD plug X5 this synchronous serial absolute cyclic 12 bit information is output 24 bits are transmitted the upper 12 bit are set to ZERO and the lower 12 bit contain the position data The interface must be read in by a multiturn encoder which also gives a valid single turn data item The signal sequence can be output in the Gray format standard or in binary format parameter SSI CODE A serial signal is read out synchronously by the control with the c
6. 15 96 without holding bracke Required current rating voltage 24V 0 15 96 with holding bracke Integrated EMC filter Class A for the 24V auxiliarysupply 24V auxiliary supply 4 20 Servo Amplifier Version Edition 03 08 4 4 Motor connection X9 Use the connecting cable supplied The connecting cable is shielded and capable of following The brake wires are used only with the use of a servo vertical axis Cores mm 4 1 5 2 x 0 75 Operating temperature range 10 80 Outside diameter mm 11 5 Min bending radius mm 120 Connecting plug Motor 1x6 pole 4mm Amplifier Power Combicon 7 62 SERVOSTAR 600 gem Brake TW Braker 1 e 1 F d A 4 21 Servo Amplifier Version 4 5 Feedback 4 5 1 Resolver connection X2 Edition 03 08 The resolver cable transmits the signals of the two pole hollow shaft resolver and the thermostat contact Use the connecting cable supplied The connecting cable is shielded and capable of following Cores mm Operating temperature range Outside diameter mm Min bending radius mm Connecting plug Motor Amplifier SERVOSTAR 600 4x2x0 25 30 80 6 9 60 18 pole 2 5mm SubD 9pol Resolver Cosinus reference thermal control 4 22 Servo Amplifier Version Edition 03 08 4 5 2 Encoder X1 The SERVOLINE products a
7. 2 gt 6 2 z 5 0 o A vc 0 cx J0 26e uoo 5 SS 8 s 9 coo coco 18 el YOUMS 8 po Su quet REEF US 3 17 Servo Amplifier Version I O 3 8 L1 Connection example for master slave system XCND Edition 03 08 L2 pr o ES 5 MUN m P Main switch WA WA o o 5 th 5 e co L Drive contactor E 5 E 24 V 9 S o power unit 5 us lt m E c c 2 S S ul 2 O 5 Q Not used for axes with x gt O o e S ML BE m mechanically rigid connection oy o gt 9 5 ec e oS Zoo NOS Ai GB J V V Y 4 mom cU Ir Tao REFERENCE FERROR CLEAR FERROR CLEAR kne 2 Z22227 START MT NOX 1 START MT NO X INPOS T INPOS d 24V 24V T 0 GND III Vo FAT max 3x20AT x LL ET DIGITAL IN 1 E dH DIGITAL IN 1 E r iZ AGND DGND AGND d ENABLE TENABLE on 1 BTB BTB d xx ___ ve Encoder Encoder m A config Emulation Ge x4 24V 24V O BEA X6 gg 7 RBint TP SLAVE D
8. DGND 11 0 GND 24VDC PosReg3 PosReg2 PosRegl SW limit2 SW limit FError Next InPos PosReg4 InPos Start MT No x MT Restart X11A Start Jog v x Start MT Next FError clear Reference A7 A6 A5 A4 A3 A2 A1 AO to further servo amplifiers Control I i x Safety circuit O S 24V ref to l O GND T o bp Digital Dp Digital2 1 0 GND 4AT 1 0 2 0 I 1 01 1 Jagan Jo lol PE connection protective earth mn Earth connection panel Shield connection via plug Edition 03 08 tem i axis sys BTB lt ENABLE DGND AGND lt Release holding brake z 24V Reset In position signal Z axis 1 0 GND lt Connection example for mult Servo Amplifier Version I O Start drive order Z axis 3 7 Z axis a 318VN3 OH ZONE J 5 Z 1 NI TV11I0 T C T MOIE eS a ER m 106 xou Q Q Q QN570 1 ll 9000 11 po pL 9997 1 AJ l aw o 1 T QN9 70 11 AtZ SOdN SOdNIT XON 118915 X ON IN 1NVIS T XON INWIS I LLL LIEU m m m Q 3V31O MONN31T 3034 Nv31 MONN34 JONIL JONGNiIXd Q Q DS yi Ua oh 2 _ oes a gt 2 m n m i 1 aue x x lt N gt gt gt 5 TE ees D AL M 2
9. failing to reach a position 1 6 Servo Amplifier Version Edition 03 08 1 9 1 Function The servo regulator is adapted before delivery to the corresponding linear axis and forms part of its scope of delivery The servo amplifiers are delivered with installed extension card as standard The drive orders stored in the EEPROM of the servo regulator can be selected and started via the digital inputs Reaching of the target position is indicated via a digital output All important functions of the position controller can be triggered via a small manufacturer independent control 1 9 2 Modes Integrated position Execute drive orders commoner 180 drive orders storable in the EEPROM Concatenation of drive orders Absolute and relative travel Reference travel Jogging mode Teach In of position values 4 position registers signal thresholds cam function Software limit switch Lag error window adjustable Window for InPosition signal adjustable Sine acceleration and deceleration ramps 21 overload monitoring Master slave e master to 16 slaves operation e Resolution translation adjustable Encoder emulation e ROD426 compatible dec bin e SSI grey binary 1 7 Servo Amplifier Version I O 1 9 3 Dimensions Edition 03 08 275 325
10. DIGITAL IN2 to initiate pre programmed functions that are stored in the servo amplifier A list of the pre programmed functions has been provided in the operator software manual If an input 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 again to reset the amplifier software 4 24 Servo Amplifier Version Edition 03 08 4 6 2 Digital control inputs X11A resp B Technical data All digital inputs are separated by optocouplers and are potential free relative to the servo amplifier Reference earth I O GND terminal 12 Control inputs 24V 7MA SPS compatible Plug Mini Combicon 12 polig coded on PIN1 Plug XIIB Mini Combicon 12 polig coded on PIN12 Line Data up to 50 m long 0 5 mm not screened Waiting time between 2 drive orders Dependent on the response time of the control PLC Addressing time min 4 ms Start delay max 2 ms Servo amplifier X11A Control 1 24V ref to O 2 q A1 E Q Q A2 E a 5 S gt ae Binary coded motio 6 O Q A4 block number 7 5 7 P O 9 A6 8 i O C A7 10nF 10 Dorem 0 q Reference N C 0 GND E FError clear DD e 9 Start MT Next Q 9 Start Jog v x H KMB 2 9 q MT Restart Q Start MT No x 4 6 2 1 Preset
11. Wire the BTB RTO contact in series into the safety loop of the installation e Connect the digital control inputs to the servo amplifier e Connect the resolver cable e Connect the expansion card e Connect the reference switch e Connect the power lead to the motor e Connect the 24V auxiliary voltage observe max permissible voltage values e Connect the main voltage observe max permissible voltage values e Mount plug X8 ballast bridge Carry out a final check of the wiring installed according to the appropriate wiring diagram gt Chapter 1 10 Chapter 3 2 Chapter 1 10 Chapter 3 2 Chapter 3 2 Chapter 3 4 Chapter 3 6 3 7 3 8 Chapter 4 Chapter 3 6 3 7 3 8 3 12 Servo Amplifier Version Edition 03 08 3 2 Assembly e Protect the 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 e Take that the servo amplifier and motor are properly earthed Do not use painted non conductive mounting plates The servo amplifier is installed vertically onto a conductive earthed galvanized mounting plate Fig 4 in the switchgear cabinet Assemble the servo amplifier and the power supply 24V close together on the conductive earthed mounting plate Keep the required space clear above and below the servo amplifier E
12. amplifier A list of the functions has been provided in the user manual of the operator software 4 27 Servo Amplifier Version Edition 03 08 4 7 Encoder emulation 4 7 1 Incremental encoder interface X5 The incremental encoder interface forms part of the scope of delivery Use the encoder emulation function ROD screen page Encoder emulation The position of the motor shaft is calculated in the servo amplifier from the absolute cyclic signals of the resolver From this information the incremental encoder compatible pulses are generated At the SubD plug X5 pulses are output in two signals A and B electrically staggered by 90 and one zero pulse The resolution can be set with the parameter RESOLUTION in the Encoder emulation window 256 512 1024 pulses rev with feedback resolver 2048 4096 pulses rev with feedback EnDat 8192 pulses rev with feedback EnDat up to 3000 min 1 16384 pulses rev with feedback EnDat up to 1500 min 1 The position of the zero pulse can be set within a mechanical revolution and stored parameter NI OFFSET Owing to the compatibility with commercial pulse generators the zero pulse can be set only for 1 The driver supply is provided by an internal voltage PGND must be connected to the control in each case Connection and signal description for incremental encoder interface SERVOSTAR 600 CNC R d e T A
13. degree of enclosure protection may have uncovered live components Control and power connections may be live even if the motor is not rotating After disconnecting the servo amplifier from the mains supply voltage wait at least two minutes before touching any live sections of the equipment e g contacts or undoing any connections Capacitors can still have dangerous voltages present up to five minutes after switching off the supply voltages To be sure measure the voltage in the DC link circuit and wait until it has fallen to below 40V 1 2 Servo Amplifier Version Edition 03 081 1 4 CE conformance declaration to MRL Appendix II A Conformance with the EC Directive on EMC 89 336 EEC and the Low Voltage Directive 72 23 EEC is mandatory for the supply of servo amplifiers within the European Community The servo amplifiers have been tested by an authorized testing laboratory in a defined configuration with the system components which are described in this documentation Determinations and standards taken into account e Directive on EMC 89 336 EEC e Low Voltage Directive 73 23 EEC 1 9 UL and cUL conformance UL cUL certified servo amplifiers Underwriters Laboratories Inc fulfil the relevant US and Canadian standards in this case UL 840 and UL 508C UL cUL certification relates entirely to the mechanical and electrical design and construction of the servo amplifier UL 508C describes fulfilment by the design of
14. from the position controller Cable break short circuit short to ground Undervoltage in the DC link Limit has been set to 100V by the manufacturer Temperature sensor faulty or motor temperature too high Limit has been set to 145 by the manufacturer Internal auxiliary voltage not OK Motor running away speed is higher than is permissible Checksum error Checksum error Broken cable short circuit short to ground SVA only Motor phase is missing broken cable or similar Internal temperature in the amplifier is too high Fault in the power output stage lt max value exceeded 2 or 3 supply phases are missing Error in the analog digital conversion Regen circuit faulty or setting incorrect A supply phase is missing Hardware error on the expansion card Software error on the expansion card Inactive Communication interrupted by CAN bus Reserved System software not responding correctly These error messages can be cleared without resetting the amplifier If only one of these errors is present and the RESET button or the I O function RESET is used then too only the error is cleared 5 33 Servo Amplifier Version 5 3 Warnings Edition 02 06 All warnings which occur are displayed in succession for 4 flashing cycles each Faults that occur but do not cause a switch off of the amplifier output stage BTB contact remains closed are displayed as a numerical warning code in the LED display on the front panel and on the scr
15. 78 series are applied to the amplifiers together with EN 60439 1 EN 60146 and EN 60204 The manufacturer of the machine or plant is responsible for ensuring that they meet the limits which are required by the EMC regulations This documentation contains advice on the correct installation for EMC such as shielding grounding and the laying out of cabling The equipment manufacturer is obliged to prepare a hazard analysis of the equipment and is also responsible for functional mechanical and personal safety aspects in relation to the machine The servo amplifiers are installed as components in electrical installations or machines and may be put into operation only as integrated components of the installation The BTB contact must be wired into the safety loop of the system The safety loop as well as the stop and emergency stop functions must comply with the requirements of EN60204 EN292 and VDI2853 Before operating the servo axes all work is to be carried out as specified in the operator manuals of the servo amplifier and the Servoline axes Strictly observe all safety regulations e Assembly installation wiring and final check have been carried out according to the operator manual for the servo amplifier e Assembly installation wiring and final check have been carried out according to the operator manual for the servo axes Servo Amplifier Version Edition 03 08 1 7 Additional information The aim of the present Use
16. Check setup Mechanical load too high Reduce dimensions and or loading moment Error message mains Controller was enabled although no mains Enable servo amplifier only when the BTB voltage was present mains voltage has been switched on see Section 2 1 At least 2 mains phases absent Check mains supply Motor does not turn Servo amplifier not enabled Apply enable signal Feedback cable resolver or encoder broken Check feedback cable Motor cable incorrectly connected multiple Check motor cable axes Motor phases interchanged Wire motor phases correctly Brake has not released Check brake actuation Servo axis is mechanically blocked Check mechanical system Motor oscillates Screen of feedback cable resolver or Replace feedback cable encoder broken Wrong data record loaded multiple axes Load correct data record 6 35 Servo Amplifier Version 7 Spare parts list Item Designation Digital servo controller Connector set for servo controller Resolver cable Motor cable User manual german User manual english User manual french User manual italian User manual spanish User manual swedish Art No 906152 906416 906156 906155 507019 507020 507021 507022 507023 507024 Supplier Seidel Servo Drives GmbH Seidel Servo Drives GmbH Seidel Servo Drives GmbH Seidel Servo Drives GmbH Montech AG Montech AG Montech AG Montech AG Montech AG Montech AG Edition 02 06 Materi
17. Interference suppression filter for auxiliary voltage integrated Class A supply Digital control inputs low 0 7V high 12 36V 7mA PLC compatible Number of digital inputs 1 4 Number of digital inputs for extension 2 14 Digital signal outputs Open Collector max 30VDC 10mA Number of digital outputs 1 2 Digital signal outputs for extension card 24V 500mA PLC compatible Number of digital outputs for extension card 3 8 Number of storable drive records EEPROM 180 Overload monitoring lt Acceleration ramps sine Input mode of the target positions PC Teach in jogging mode or direct numerical input via PC keyboard Connections of control signals 1 x Combicon 18 polig 2x Mini Combicon 12 pole Connections of the power signals Power Combicon 4x4 1x6 pole Resolver input connection SubD 9 pole jack PC interface SubD 9 pole plug Own weight kg 2 5 Ambient Temperature 0 2 55 conditions Rel humidity 85 non condensing Air purity Contamination level 2 according to EN60204 EN50178 Servo regulator protection category IP 20 Servo regulator installation Vertical switch cabinet Dimensions HxWxD without plug mm 2 5 x 70 x 265 Warranty period 2 years beginning with date of delivery 1 Configurable 2 Specified functions Drive order numbers 2 to 2 scanning of reference switches acknowledge errors reset various start commands 3 Specified functions In position lag error exceeding a position
18. NABLE Terminal SW internal Speed IE UL Z 7777 Braking force During the internal ENABLE delay time of 100 ms the setpoint speed value of the servo amplifier is brought internally to 0 V with the emergency braking ramp On reaching 3 of the set final speed or after 1 s at the latest the brake output switches Technical data Connected voltage 24 VDC 0 1596 Terminal X4 Electric power 8 W Air delay time tbrH 15 20 ms Activation delay time tbrL o 10 ms Edition 03 08 Servo Amplifier Version I O 3 Installation 3 1 Procedure The following information is intended to assist with the installation and wiring in an expedient order without important points being forgotten The individual points are described in the stated sections Site Ventilation Assembly Cable selection Grounding Shielding Wiring Final check In a closed switchgear cabinet The site must be free from conductive or corrosive materials Check that the ventilation of the servo amplifier is unimpeded and keep within the permitted ambient temperature Keep the required space clear above and below the servo amplifier Assemble the servo amplifier and power supply close together on the conductive earthed mounting plate Select cables according to EN 60204 EMC conform shielding and grounding Earth the mounting plate and CNC GND of the controls e Route power leads and control cables separately e
19. al Various Various Sheath insulation PUR polyurethane 11 Core insulation PETP polyesteraphtalate 12Y Sheath insulation PUR polyurethane 11 Core insulation PETP polyesteraphtalate 12Y Paper Paper Paper Paper Paper Paper 7 36 Servo Amplifier Version I O Edition 02 06 8 Appendix 8 1 Abbreviations and acronyms The table below shows abbreviations and acronyms used in this manual Servo Amplifier Version I O Edition 02 06 8 2 Glossary EEPROM Electrically Erasable and Programmable Read Only Memory Electrically erasable memory in the servo amplifier Data stored in the EEPROM is not lost when the auxiliary voltage is switched off E PROM See EEPROM Enble Enable signal for the servo amplifier 24 Ipeak peak current Effective value of peak current Irms effective current Effective value of continuous current Reset Restart of the micro processor ROD interface Incremental position output C Current controller Controls the difference between current setpoint and actual value of the current to O kW GRAY format opecial form of binary code with only one bit changing between sequential numbers H Holding brake Motor brake which must only be applied with the motor at a standstill In Monitoring of the effectively required root mean square RMS current a Intermediate circuit Rectified and smoothed output voltage Motion block Data packet with all position control parameters w
20. at the connections L1 L2 L3 or DC DC is not exceeded by more than 1096 even in a worst case scenario see EN 60204 1 section 4 3 1 Excessive voltage at these connection can result in the servo amplifier being destroyed Use the servo amplifier only on earthed three phase mains supply networks for operation with the servo horizontal axes SHA Fusing of the AC supply input and the 24V supply is to be installed by the user gt Chapter 3 5 Route power and control cables separately We recommend a separation of at least 20 cm This improves the interference immunity required by EMC regulations Install all heavy current cables with an adequate cross section to EN 60204 gt Chapter 3 4 Wire the BTB RTO contact in series into the safety circuit of the installation Only in this way is the monitoring of the servo amplifier assured It is permissible to alter the servo amplifier settings by using the operator software Any other alterations will invalidate the warranty Caution Only install and wire up the equipment when it is not live i e when neither the mains power supply nor the 24V auxiliary voltage nor the operating voltages of any other connected equipment are switched on Take care that the cabinet is safely disconnected with a lock out warning signs etc The individual voltages will be switched on for the first time during commissioning Never disconnect the electrical connections to the servo amplifier while they ar
21. ched on Unit indicates current in this example 1A flashing dot 24V switched on mains supply switched on unit indicates current and mains supply on flashing dot 24V switched on mains supply switched on unit enabled unit indicates current and mains supply on and enabled flashing dot 0 32 Servo Amplifier Version I O 5 2 Error messages Edition 02 06 All errors which occur are displayed in succession for 4 flashing cycles each All error messages result in the following action the BTB contact terminals X3 2 and X3 3 opens the drive switches off in a managed way braking with emergency ramp and the output stage of the amplifier switches off motor loses all torque The holding brake of the motor is activated SVA 130 only Number F01 F02 F03 F04 F05 F06 F07 F08 F09 F10 F11 F12 F13 F14 F15 F16 F17 F18 F19 F20 F21 F22 F23 F24 F31 F32 Designation Heat sink temperature Overvoltage Following error Feedback Undervoltage Motor temperature Auxiliary voltage Overspeed EEPROM Flash EPROM Brake Motor phase Internal temperature Output stage lt max Mains BTB A D converter Regen Mains phase Slot error Handling error Earth fault CAN bus inactive Reserved System fault Explanation Heat sink temperature is too high Limit has been set to 80 C by the manufacturer Overvoltage in the DC link circuit Limit depends on the mains supply voltage Message
22. ction is assigned anew to an input then the data set must be stored in the EEPROM of the servo amplifier and the 24V auxiliary supply voltage of the servo amplifier must be switched off and on again to reset the amplifier software Ph nix DEK REL 24 I 1 turn on delay 6 ms turn off delay 16 ms The described logic in the Setup Software manual refers to the output of the inverting interface relays Consider the delay of the applied relay Evaluate the outputs via inverting interface relays see connection diagram for example 4 26 Servo Amplifier Version Edition 03 08 4 6 4 Digital control inputs X11B The extension card XII is supplied with 24 VDC from the control All digital outputs are isolated by optocoupler and are potential free relative to the servo amplifier Technical data Reference earth I O GND terminal X11B 12 Detector output 24 V max 500 mA PLC compatible Fuse external 4 AT Plug Mini Combicon 12 pole coded at PIN 12 Line Data up to 50 m long 0 5 mm unscreened Supply 2 x 1 mm note voltage losses O GND Servoamplifier qd InPos qd Next InPos PosReg 4 q d SW limit 1 O d SW limit2 O q PosReg 1 2 O q PosReg3 N 4AT O I 24V 4 6 4 1 Preset digital outputs You can use the digital outputs X11B 3 to X11B 9 to output certain signals that are stored in the servo
23. digital inputs You can use the digital inputs X11A1 to X11B2 to trigger certain functions that are stored in the servo amplifier A list of the functions has been provided in the user manual of the operator software 4 25 Servo Amplifier Version Edition 03 08 4 6 3 Digital control outputs X3 digital inputs are separated by optocouplers and are potential free relative to the servo amplifier Technische Daten Reference earth Digital GND DGND Terminal X3 18 DIGITAL OUT 1 and 2 Open collector BTB RTO Relay output max 24 VDC 42VAC 0 SA Plug Combicon 5 08 18 pin 2 5 mm Line Data up to 50 m long 0 5 not screened SERVOSTAR 600 Control 4 6 3 1 Ready to operate contact BTB RTO Operational readiness terminals X3 2 and X3 3 is signaled by a floating relay contact The contact is closed when the servo amplifier is ready for operation the signal is not influenced by the enable signal thel t limit or the regen threshold All faults cause the BTB RTO contact to open and the output stage to switch off A list of the error messages has been provided in the operator software manual 4 6 3 2 Freely programmable digital outputs You can use the digital outputs DIGITAL OUT1 and DIGITAL OUT2 to output messages from pre programmed functions that are stored in the servo amplifier A list of the pre programmed functions has been provided in the operator software manual If a pre programmed fun
24. e live In unfavorable circumstances this could result in the destruction of the electronics Residual charges in the capacitors can have dangerous levels for up to 300 seconds after switching off the mains supply voltage Measure the voltage in the DC link DC DC and wait until the voltage has fallen below 40V Control and power connections can still be live even when the motor is not rotating 3 14 Servo Amplifier Version Edition 03 08 3 4 Conductor cross sections In line with EN 60204 we recommend the following for single axis systems AC connection 1 5 mm DC link 1 5 Motor cables up to 25 m length use motor cable supplied 1 5 shielded Resolver thermostat motor use resolver cable supplied 0 25 twisted pairs shielded Control signals BTB DGND 0 5 24 V XGND max 2 5 mm check voltage drop 3 5 External fusing Fusible cutouts or similar AC supply FN1 2 3 6 AT max 20AT 24V supply FH 1 2 max 16 AF 3 15 Edition 03 08 Servo Amplifier Version I O 3 6 to further servo amplifiers Connection diagram Servo amplifier COM1 COM2 Encoder evaluation Slave master Amplifier high resolution EnDAT Multiturn Thermal control included Resolver L2 L3 PE 1 4 l n Be L1 A d L2 L3 5 BTB RTO DIGITAL IN1 DIGITAL IN2 DIGITAL INS DIGITAL IN4 ENABLE DIGITAL OUT1 DIGITAL OUT2 AGND
25. e operated only on the three phase earthed industrial network TN network TT network with earthed neutral When the servo amplifier is used in the residential area in business and commercial areas and in small companies additional filter measures must be taken by the user A Only properly qualified personnel are permitted to perform activities such as installation setup and maintenance Properly qualified persons are those who are familiar with the assembly installation setup and operation of the product and who have the appropriate qualifications for their job The qualified personnel must know and observe the following standards or guidelines IEC 364 and CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National accident prevention regulations or VBG4 Servo amplifiers must not be opened Keep all covers protective devices and switchgear cabinet doors closed during operation There is a danger of life threatening or severe personal injuries or material damage Servo amplifiers contain electrostatically sensitive components which can be damaged by incorrect handling Avoid contact with highly insulated materials artificial fabrics plastic films etc Place the servo amplifier on a conductive surface Never undo the electrical connections to the servo amplifier while it is live There is a danger of electric arcing with damage to contacts and danger to persons During operation servo amplifiers according to their
26. een page STATUS Warnings that are recognised by the supply monitoring system will only be reported after the servo amplifier has been enabled Number n01 n02 n03 n04 05 n06 n07 n08 n09 n10 n11 n12 n13 n14 n15 n16 n31 n32 A Designation 2t Regen power FError Response monitoring Mains phase SW limit switch 1 SW limit switch 2 Motion task error No reference point PSTOP NSTOP Default values Expansion card Reserved Firmware beta version Reset Explanation lt message threshold exceeded Preset regen power reached Preset following error window exceeded Response monitoring field bus active Mains phase missing Software limit switch 1 exceeded Software limit switch 2 exceeded A faulty motion task was started No reference point set at start of task Hardware limit switch PSTOP activated servo axes without hardware limit switch Hardware limit switch NSTOP activated servo axes without hardware limit switch Inactive Expansion card not functioning correctly Inactive Inactive Reserved Firmware version has not been released RESET is present at DIGITAL IN1 These warning messages lead to a controlled shut down of the drive braking with the emergency ramp 5 34 Servo Amplifier Version I O Edition 02 06 6 Elimination of faults The following table provides some tips to enable you to eliminate errors Depending on the system and the nu
27. gy Realization of the emergency stop function according to EN 60204 VDE 0113 Category 1 Stoppage of the motor by disconnection of the enable signal terminal X3 15 and the mains supply L1 L2 L3 and controlled electronic braking The 24 V voltage supply must be maintained The elimination of the enable signal and of the power supply during traversing leads to emergency braking The drive brakes with the set emergency braking ramp and remains stationary in the torque free state The vertical axes have a holding brake If the speed has fallen below 396 of the maximum traversing speed the holding brake is activated by switching off its voltage supply and the output stage is disabled 100 ms later The dropin delay time of the holding brake is 5 to 10 ms Restarting After the problem which led to the emergency stop situation has been solved the mains supply must be connected If an error message is present the servo amplifier must be reset No drive order can be executed without a prior reset and subsequent reference travel 2 10 Servo Amplifier Version Edition 03 08 2 3 Motor holding brake only SVA 130 and SVE 130 The holding brake installed in the motor is actuated directly by the servo amplifier In the diagram shown below the relationship between ENABLE signal speed and braking power in terms of time and function is shown Caution e Actuation of the motor holding brake constitutes a risk to person safety E
28. hich are required for a motion task o Optical coupler Optical connection between two electrically independent systems P Position controller Controls the difference between position setpoint and actual value to 0 RAM Random Access Memory Volatile memory in the servo amplifier Data stored in RAM are lost if the auxiliary voltage is switched off SSI interface Cyclically absolute serial position output Zero pulse Is issued once per revolution by incremental transmitters it is used for zeroing the machine 8 38 MONAECH more than technology MONTECH AG Gewerbestrasse 12 CH 4552 Derendingen Fon 41 32 681 55 00 Fax 41 32 682 19 77 info montech com www montech com
29. liary supply X4 4 4 Motor connection X9 4 5 Feedback 4 5 1 Resolver connection X2 4 5 2 Encoder X1 4 6 Control signals 4 6 1 Digital control inputs X3 4 6 1 1 ENABLE itera Pte tuu wenn dive oie Sud 4 6 1 2 Freely programmable digital 4 6 2 Digital control inputs X11A resp B Edition 03 08i Servo Amplifier Version I O 4 6 2 1 Preset digital inputs 4 6 3 Digital control outputs X3 4 6 3 1 Ready to operate contact BTB RTO 4 6 3 2 Freely programmable digital outputs 4 6 4 Digital control inputs X11B 4 6 4 1 Preset digital outputs 4 7 Encoder emulation 4 7 1 Incremental encoder interface X5 4 7 2 SSI interface X5 4 8 PC connection RS232 interface X6 4 9 Interface for master slave operation encoder configuration X5 4 10 Connection to SERVOSTAR 600 master 5 V level X5 5 KEES Eegeregie een 5 1 Structure 5 2 Error messages 5 3 Warnings 5 ELIMINATION OF FAULTS NEU SR ER CES Sus l SPARE 2 2 sss sscsasssssssqsassstaqicpastaq akas aqssuas aqusssspasuas 0 APPENDIX qnn 8 1 Abbreviations and ac
30. lock frequency 1 5 MHz You can adapt the servo amplifier to the clock frequency of your SSI evaluation with the parameter SSI CLOCK 200 kHz or 1 5 MHz and inverted The driver is supplied by an internal voltage PGND must be connected to the control in each case Connection and signal description for SSI interface The counting direction of the SSI interface is set to count incrementally when viewing along the motor axis with clockwise rotation SERVOSTAR 600 El according to line impedance 1 2 5 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 Clock Monoflop t Format binary Gray Data switching time t lt 300 ns Max transmission rate 1 5 Mbaud Monoflop settling time t lt 15 us Min period T 600 ns gt 2 0V 20 mA U lt 0 5V 20mA 4 29 Servo Amplifier Version Edition 03 08 4 8 PC connection RS232 interface X6 Setting the motion block parameters can be carried out on 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 null modem cable to a serial interface of the PC do not use a null modem link cable The interface is electrically isolated through an optocoupler and is at the same potential as the CANopen interface SERVOSTAR Pin No see below X6 X6 Sub D 9 Pol Sub D 25 Pol Sub D 9 Pol Sub D 9 Pol Female female
31. mber of servo axes which you are operating there may be hidden causes of errors In case of doubt please contact us een of errors Heat sink temperature exceeded e Mains Ed too high Use mains Overvoltage FO3 Following error n switch incorrectly connected reference switch moment F04 Error mesage e Feedback plug has not been correctly Check plug connector il Feedback unit resolver connected m _ or encoder e Feedback cable is broken crushed etc Check cable FOS Error message e Mains voltage not present or too low when Enable servo amplifier only when the a ME servo amplifier is enabled enable ON mains voltage has been switched on Delay 500 ms See Section 2 1 FO6 Error message e Plug of feedback unit resolver or encoder Screw plug tightly or use new Auxiliary voltage amplifier is incorrect Error message brake e Short circuit in the voltage supply cable of Eliminate short circuit the motor holding brake e Faults on the brake cable Check screen of brake cable e Faulty motor holding brake Replace motor Internal temperature Error message e Output stage module overheated Improve ventilation Output stage error Faulty output stage module Replace servo amplifier Motor cable has short circuit or earth fault Replace motor cable Motor has a short circuit or earth fault Replace motor Error message TI max Reference switch incorrectly connected Check reference switch n01 Servo axis travels towards obstacle
32. minimum requirements for electrically operated power conversion equipment such as frequency converters and servo amplifiers which is intended to eliminate the risk of fire being caused by this product UL 840 describes the fulfillment by design of air and insulation creepage spacings for electrical equipment and printed circuit boards Determinations and standards taken into account e UL 508C e UL 840 Manufacturer Seidel Servo Drives GmbH Tel 49 0 2 03 99 79 0 Wacholderstrasse 40 42 Fax 49 0 2 03 99 79 1 55 D 40489 D sseldorf Servo Amplifier Version Edition 03 081 1 6 Product description and application Servo amplifiers are components of the servo axes SHA SVA and the servo cartensian system SFP which are intended to be incorporated into industrial equipment The digital servo amplifier is required for position controlled operation of the servoline products SHA SVA and SFP Operation of the servo amplifier is through the serial interface of a personal computer PC running the supplied operator software When servo amplifiers are installed in machines or plants the intended operation of the amplifier is prohibited until it has been established that the machine or plant fulfills the requirements of the EC Directive on Machines 89 392 EEC and the EC Directive on EMC 89 336 EEC EN 60204 and EN 292 must also be observed In connection with the Low Voltage Directive 73 23 EEC the harmonized standards of the EN 501
33. nsure that there is an adequate flow of cool filtered air into the bottom of the switchgear cabinet It is imperative that the servo amplifier be properly earthed in the switchgear cabinet with the PE rail as a reference potential Without low resistance earth connection personnel safety cannot be ensured Fig 4 Cable duct Cable duct min 2 5 2273 Cabinet door Mounting panel conductive zinc coated 265 witz plug 273 5 Screw for hex kea DIN 912 SERVOSTAR UXO 3 13 Servo Amplifier Version Edition 03 08 3 3 Wiring Only professional staff who are qualified in electrical engineering are allowed to install the servo amplifier A Instructions Check the combination of servo amplifier and servo axis Compare the serial numbers The serial number of the servo amplifier is located on the front panel gt Chapter 1 8 For location of the serial number of the servo horizontal axis refer to the user manual of the servo horizontal axis Chapter 1 8 The ground symbol in the wiring diagrams indicates that you must take care to provide an electrically conductive connection with the largest possible area between the unit indicated and the mounting plate in the switchgear cabinet This connection is for the effective grounding of HF interference Do not confuse the ground symbol with the PE symbol a protective measure according to EN 60204 Ensure that the max permissible rated voltage
34. r Manual is to enable users to employ the servo amplifier correctly and safely Should further information be required in relation to your particular application please contact the manufacturer When reordering User Manuals it is essential to quote the reference number the product name and serial number This document can be obtained from our homepage www montech com Fig 1 GERWERBESTRASSE 12 Produkt C CH 4552 DERENDINGEN 100000 000 Reference number Product name Serial number Montech AG Management V U D Wagner C Wullschleger 1 8 Validity of the User Manual Our products are continually updated to reflect the latest state of the art and practical experience In line with product developments our User Manuals are continually updated Every User Manual has an order number e g BA 100039 and an edition number e g 03 2008 The order number and the addition number are shown on the title page Servo Amplifier Version Edition 03 08 1 9 Technical data Voltage supply 3 x 230V 10 480V 4409 SOHZ 60Hz Rated power S1 operation 1 Fuse for AC supply FN1 2 3 6 AT max 20AT Interference suppression filter for power supply integrated Class A Auxiliary voltage supply SHA SFP SHE 24 VDC 0 15 96 1A without holding bracke Auxiliary voltage supply SVA SVE 24 VDC 0 1596 with holding bracke 1 Fuse for 24 V supply FH1 2 max 16 AF
35. re optionally available with a multiturn sine cosine encoder This encoder is used by the servo amplifier as a feedback unit for drive tasks which require highly precise positioning or very good synchronism The thermal protection contact in the motor is connected via the encoder line to the servo amplifier and is evaluated there SERVOSTAR 600 DE SH Encode lt q Wa Ue thermal control 4 23 Servo Amplifier Version Edition 03 08 4 6 Control signals 4 6 1 Digital control inputs X3 All digital inputs are separated by optocouplers and are potential free relative to the servo amplifier e The logic is dimensioned for 24V 7mA PLC compatible e High level of 12 30V 7mA Low level of 0 7V Technical data Reference earth Digital GND DGND terminal X3 18 Control inputs 24V 7MA SPS compatible High Pegel 12 30V 7mA Low Pegel 0 7V OmA Plug Combicon 5 08 18 pole 2 5 mm Line Data up to 50 m long O 5mm not screened SERVOSTAR 600 Control DIGITAL IN1 11 DIGITAL 1IN2 12 ENABLE 24V ref to 1 0 GND 4 6 1 1 ENABLE input The output stage of the servo amplifier is activated by the enable signal terminal X3 15 input 24V active high In the inhibited state low signal the motor which is attached does not have any torque 4 6 1 2 Freely programmable digital inputs You can use the digital inputs PSTOP NSTOP DIGITAL IN1 and
36. ronyms 8 2 Glossary Edition 03 08i 4 26 4 26 P 4 26 4 27 4 27 4 28 4 28 4 29 4 30 4 31 4 31 Servo Amplifier Version Edition 03 081 1 General 1 1 Introduction This Manual explains the installation wiring and interfaces of the digital servo amplifier version The information is broadly arranged as follows Chapter 1 General information Chapter 2 Behaviour of the servo amplifier Chapter 3 Installation Chapter 4 Interfaces This manual forms part of the complete documentation of the SERVOLINE products The complete documentation consists of the following documents Description Ref No e Connection to automation systems version I O BA 100038 e Setup software version BA 100040 e Servo amplifier version BA 100039 e Mechanical design of the SERVOLINE products miscellaneous The documentation is available in the following language versions German English French Italian Spanish and Swedish 1 2 Scope of delivery of servo amplifier User manual for servo amplifier version I O Servo amplifier SR600 UO extension card mounted Counterplug X4 X7 X8 X11A and X11B 1 1 Servo Amplifier Version Edition 03 081 1 3 Dangers and safety information The servo amplifier may be operated only in a closed switch cabinet taking into account the ambient conditions defined in Technical Data The servo amplifier may b
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