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SP SERIES INSTALLATION AND SETUP MANUAL

1. 401 166 MAX oe 653 a T e 1016 4000 2122 m 212 MAX Tus 835 MAY 6 4X MOUNTING SLOTS 18 y 120 5 80 298 WIDE 7 01 1 i q SER 302 11 89 NOTE 2820 264 qe 11 10 1039 e 6 o NOTE CUSTOMER INTERFACE CONNECTIONS MAY VARY UPON VERSIONS OUTLINE 88 03 AMP POWERSTAR H 7 SERVOSTAR SP Series 55 Amp Drive Outline and Dimension Drawing SERVOSTAR SP SERIES 63 5 2 50 50 00 71 1 969 6 75 28 4X MOUNTING SLOTS 6 0 1 24 5 80 228 WIDE 202 7 95 175 6 89 I 264 10 39 252 00 238 9 921 9 37 00000 8 Power Supply PAO8xx Outline and Dimension Drawing APPENDIX H DRAWINGS SERVOSTAR SP SERIES APPENDIX H DRAWINGS
2. 16K compis 14 Xl COMP 3 20K IG C2 AC Hi 62 gt 4 SHIELD 75202222 u LO Fey X9L MET y COMP SPARE lt lt gt 16K gt _L1000pf cIRCUMRY 11 20 ISOLATED CURRENT 2 Hr C2 Gom SENSOR CIRCUITRY gt IA_RTN 150 CC LO 2 lt Ey noo DM P35 C215 75 COMH Sot 11 000pf 12 2 C o RTN i a Y v 150 go N ae 06 MT UN gos 150 lt _L 06 mE UN FPGA B 150 3 3 1 i4 06 PAT 2 24y is r MOTOR mon 9 ANN GND SHIELD 15V en 12V 7 4 Msi SH O gt 0 EARTH GND v 77 C5 In OU CM v v 16 15V GND 12V lt gt LO C3 Z C5 i RESET 42 COM lt s 91 243 SHIELDS c3 OL 390 63 zi ENABLE 42 wet C9 OS CEL i SIMPLIFIED SCHEMATIC FOR SP1XXXX 390 101 v CJF 1 97 96127 Ri H 14 SPIXXXX Simplified Schematic Diagram SERVOSTAR SP SERIES APPENDIX H DRAWINGS
3. 4 3 2 DONOT SCALE DNG USE DIMENSIONS ONLY SDN 21 DEGREE UNLESS SPECFED BE Sen SP1 DRIVE ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFIED ACES HEN ee C 97514 2 STATUS DISPLAY O CONTROL VOLTS D O ENABLED D O OVER CURRENT SRI MODE T CONNECTIONS 2256 USER 0 USER INTERFACE SEE TEXT C OVER TEMPERATURE SEE NOTE 8 9 10 UNDER VOLTAGE gt HI s Lo FAULT al 3 RESET 04 q ENABLE USER SUPPLIED 5 as 16 5 24 VDC DRIVE INPUT POWER 14 pps J En SEE SHEET 4 10 5146 5 4 6 2 0 PHASE PWM INPUT V 2 em 8 gt ile ele L 8 be PHASE PWM INPUT 1 PHASE PWM INPUT C2 6 hp BUS 5 a 0 um PHASECURRENT FEEDBACK TO USER PROTECTION CIRCUIT 1 4 peo RTN SEE NOTE 1 6 SHEET 10 e 808 ic PHASE CURRENT FEEDBACK E 2 119 97 22 MB B MC C MOTOR CABLE SEE TEXT EARTH TYPICAL GOLDLINE RETURN DIRECTLY TO POWER SUPPLY BEN MOTOR CONNECTIONS 2 Nu FN WARNING 5 industrial Drives A BROWN o MB B RED TO PREV
4. 3 2 UNLESS OTHERWISE SPECIFIED een OWGNO SHEETSOFT SUE AL OMENS ARE INCHES UNLESS OTERMISESPCOFED FU Lena C 97514 2 POWER SUPPLY DRIVE CONNEGTIGNS Sha 2 50 PA75 amp PA85 SP1 SP2 9 SEE NOTE 7B D ON SHEET 11 PIN FUNCTION NOTES EXTERNAL STATUS DISPLAY 1 DC BUS OK SEE INSTALLATION REGEN RESISTOR SEE NOTE 7A 2 DC BUS OK INSTRUCTIONS IN TEXT ON SHEET 11 CONTROL VOLTS ENABLED C6 O OVER CURRENT DC BUS OK 9 OVER VOLTAGE C5 C7 1 SEE NOTE 1 9 OVER TEMPERATURE 7 65 9 UNDER VOLTAGE CONNECTIONS als 16 AWG IN alla POWER SUPPLY DRIVE 1 15 VDC SUPPLY 15 VDC INPUT 2 15 VDC SUPPLY 15 VDC INPUT 3 DC COMMON DC COMMON C 4 348 VDC SUPPLY 8 VDC INPUT LOGIC INPUT POWER VOLTAGE E 3 C DRIVES MOUNTED SEE SPEC S SEE NOTES 6 878 Bo N SHEET 11 C8 at POWER SUPPLY 2 SEE NOTE 2 CONNECTIONS 3 3 BUS NBUS 1 2 PIN FUNCTION NOTES E 1 AC LOGIC POWER IN BUS BUS 8 2 NOTUSED SEE INSTALLATION COS s TO OTHER DRIVES 3 Tactocicrower INSTRUCTIONS IN TEXT MOUNTED RIGHT LA LB LC e OF POWER SUPPLY SEE NOTE 2 SEE NOTE 7B ON SHEET 11 e 1 CAUNTORMPTING
5. SERVOSTAR SP SERIES o EN L 2 91 MO 0 50 00 1 969 05 202 MAX 49 795 MAX 24 2 a 217 i69 i i i 1 1039 vis 252 00 238 9 921 o 9 37 1 E NOTE CUSTOMER INTERFACE CONNECTIONS MAY VARY PON VERSIONS H 3 SERVOSTAR SP Series 3 amp 6 Amp Drive Outline and Dimension Drawing APPENDIX H DRAWINGS SERVOSTAR SP SERIES QUU URN 50 00 1 969 2 I 202 MAX 79 7 95 MAX 60 4X MOUNTING SLOTS 1241 5 80 228 WIDE 6 89 i i V e 1 d SER 264 ud 0039 252 00 238 9 921 o 19 37 Mm Y 1 A 5 3 NOTE CUSTOMER INTERFACE CONNECTIONS MAY VARY UPON VERSIONS OUTLINE 10 AMP POWERSTAI H 4 SERVOSTAR SP Series 10 Amp Drive Outline and Dimension Drawing APPENDIX H DRAWINGS
6. 06 3 1 3 1 3 3 Sequence of Operations 3 1 SECTION 4 MAINTENANCE Introduccion s ote to dni e TE 4 1 42 Preventative M aintemanice 4 1 4 2 1 Wransient Volt ges ea eee e ee Be a naa a 4 1 42 2 Surge ah shirt anni tee Radi eas 4 2 45253 Electrical Noli ias 4 2 4 2 4 Radio Frequency Energy Ss 4 2 BE MA niente t t aia i ort i cU eu IE 4 3 43 1 Ven lation z eere iere ii 4 3 4 3 2 Grounding A re pente oret potete eee Da 4 3 SECTION 5 TROUBLESHOOTING Introduction eis hr ie 5 1 3 2 Field Seiviceability ia 5 1 5 3 Symptoms IRR EU eter 5 2 5 3 1 The Motor Exhibits Very Low Torque or is Totally Inoperative eee 5 2 5 3 2 The Motor is Erratic or Exhibits an Improper Mode of 5 2 5 3 3 SERVOSTAR SP Series Drive Status LED S 5 2 5 3 4 Power Supply Amp Status LED S 5 3 5 3 5 SERVOSTAR SP Series Drive o
7. SERVOSTAR SP SERIES 4 IM 186 LIH 7 4 135 7 95 MAX 7 AX MOUNTING SLOTS m5 24 580 228 WIDE 689 1 I LL LI 2 gt 6 I SEE 264 1039 NOTE 2520 238 1 9921 1937 Le 2 NOTE CUSTOMER INTERFACE CONNECTIONS MAY VARY UPON VERSIONS OUTLINE 20 AMP POWERSTAR H 5 SERVOSTAR SP Series 20 Amp Drive Outline and Dimension Drawing APPENDIX H DRAWINGS SERVOSTAR SP SERIES 620 7 50 E 5 2 953 35 H 210 MAX 132 827 MAX 7 AXMOUNTING SLOTS 175 24 580 228 WIDE 688 I V z I d SER 264 0 NOTE 25200 238 pa 19921 1937 1 ND I 1 NOTE CUSTOMER INTERFACE CONNECTIONS MAY VARY UPON VERSIONS OUTLINE 30 AMP POWERSTAR H 6 SERVOSTAR SP Series 30 Amp Drive Outline and Dimension Drawing SERVOSTAR SP SERIES APPENDIX H DRAWINGS
8. en IX ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFIED DEE PLAGES SN ER C 97514 2 PA14XX amp PA28XX T EXTERNAL REGEN POWER SUPPLY Resistor ESTOP SEE NOTE 2 AND 5 NOTES 1 CAUTHENPA14 and PA28 FAULT CONTACTS RATED 115 VAC 1 AMP MUST BE WIRED IN SERIES WITH THE OVERLOAD RELAY AS SHOWN IN DRAWING AT OVERLOAD RELAY SEE NOTE 3 LEFT THIS CONTACT IS NORMALLY OPEN AND WILL CLOSE WITHIN C6 250 MSEC AFTER APPLICATION OF CONTROL AND MAIN POWER THIS CONTACT OPENS FAULT CONDITIONS biu SS FAULT CONTACTS SEE NOTE 1 2 CAURKBIISTOR IS CONNECTED TO HIGH VOLTAGE ENSURE SUFFICENT C7 ELECTRICAL CLEARANCE WHEN MOUNTING RESISTOR MAY BECOME VERY HOT DURING OPERATION DO MOUNT NEAR MATERIALS THAT ARE FLAMMABLE OR DAMAGED BY HEAT VENTILATION MAY BE REQUIRED SEE WIRING DRAWING FOR SPECIFIC REGEN RESISTOR KIT EACH KIT HAS NORMALLY OPEN DIFFERENT SERIES PARALLEL RESISTOR CONNECTIONS TO OBTAIN SPECIFIC C8 AUKILIARY a RESISTANCE AND POWER RATING EIE MAIN POWER PUSHBUTTON 3 A THERMAL OVERLOAD RELAY IS SUPPLIED IN THE REGN RESISTOR KIT alls CONTACTOR TO ENERGIZE THE THERMAL OVERLOAD RELAY INCLUDED IN THE KIT WAS SIZED FOR C MAIN POWER YOUR RESTANCE AND POWER RATING THE OUTPUT CONTACTS OF THE RELAY MUST BE WIRED TO DROP POWER TO THE MAIN POWER CONTACTOR IN A FAULT SE ORES CONDITION AS SHOWN AT LEFT ON SHE G NTRCIOR DO NOT WIRE
9. DO NOT SCALE DWG USE DIMENSIONS ONLY ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFIED DWG NO C 97514 UNLESS OTHERWISE SPECIFIED SHEET 11 OF 17 ANG DIM 21 DEGREE XX DEC PLACES 015 IN XXX DEC PLACES 005 IN UNLESS OTHERWISE SPECIFIED REMOVE ALL BURRS AND BREAK ALL SHARP EDGES ISSUE 1 WARNING ALWAYS REPLACE TERMINAL COVERS AFTER SERVICE OR INSTALLATION 2 DRIVE AND POWER SUPPLY MUST BE INSTALLED IN AN ENCLOSURE VENTILATION OR COOLING MAY BE NECESSARY TO PREVENT ENCLOSURE AMBIENT FROM EXCEEDING 45 C 3 WIRE SIZES BREAKERS AND FUSES FOR SERVOSTAR PAOS HAS A MAXIMUM MAIN POWER INPUT CURRENT OF 8 AMPS RMS FUSE FOR 10 AMPS FRN 10 OR EQUIVALENT PA14 HAS A MAXIMUM MAIN POWER INPUT CURRENT OF 14 AMPS RMS FUSE FOR 20 AMPS FRN 20 OR EQUIVALENT PA28 HAS A MAXIMUM MAIN POWER INPUT CURRENT OF 28 AMPS RMS FUSE FOR 35 AMPS FRN 35 OR EQUIVALENT PA50 HAS A MAXIMUM MAIN POWER INPUT CURRENT OF 50 AMPS RMS FUSE FOR 60 AMPS FRN 60 OR EQUIVALENT PA75 HAS A MAXIMUM MAIN POWER INPUT CURRENT OF 75 AMPS RMS FUSE FOR 80 AMPS FRN 80 OR EQUIVALENT PA85 HAS A MAXIMUM MAIN POWER INPUT CURRENT OF 85 AMPS RMS FUSE FOR 100 AMPS FRN 100 OR EQUIVALENT THE ACTUAL APPLICATION MAY REQUIRE LESS CURRENT USE 600V VAC INSULATED WIRE AND REFER TO LOCAL ELECTRICAL CODES FOR PROPERWIRE SIZE FOR THE CURRENTS LISTED ABOVE FUSES FOR MAIN POWER SHOULD BE A UL RATEDTIME DELAY TYPE SUCH AS BUSS FRN RSERIE
10. III i 8 264 10 39 9 Power Supplies 14 and 28 Outline and Dimension Drawing SERVOSTAR SP SERIES APPENDIX H DRAWINGS e E 8 nes 212 122 ia 8 35 10 4X MOUNTING SLOTS 178 1194 5 80 228 WIDE 7 01 I I e 802 11 89 264 282 0 11039 11 10 ER A 10 Power Supplies 50 75 and PA85xx Outline and Dimension Drawing SERVOSTAR SP SERIES APPENDIX H DRAWINGS 1 3 5A C1 fe 4 7 2V MIN 8 5V MAX 1 5A 14 2V MIN power supply 41654 T C1 3 COMMON T 15 2 14 2V was 16 5V MAX BUS 1650uf gt aur LA BUS INPUT MAINS li SOFT START 2 3 18 L X CONTROL CIRCUITRY LC Auf Auf LE el 222 24 77 SIMPLIFIED SCHEMATIC FOR PA08 CJF 1 97 H 11 Power Supply PAO8xx Simplified Schematic Diagram APPENDIX H DRAWINGS SERVOSTAR SP SERIES JUMPER ONLY WHEN
11. phase BEMF with motor clock wise rotation viewing motor s shaft end Motor s phasing to be ABC sequence with motor clock wise rotation viewing motor s shaft end 1 6 CURRENT RATINGS AND DUTY CYCLES The continuous current rating of the SERVOSTAR SP Series Drive units is dependent on how hot the heatsink becomes This can be a function of duty cycle and switching frequency The unit is rated for operation in a 45 degree Celsius environment and 16 kHz switching for the 3 6 and 10 Amp units and 8 kHz for the 20 30 and 55 amp units The peak current rating of the SERVOSTAR SP Series Drive is twice its continuous rated current This amount of time the peak current is allowed out of the SERVOSTAR SP Series Drive must be controlled to keep the power devices from overheating The peak current should not be allowed for more than 6 seconds in a 30 second period The RMS output current must not exceed the rated current of the SERVOSTAR SP Series Drive 1 5 SECTION 1 SYSTEM DESCRIPTION 1 6 SERVOSTAR SP SERIES SERVOSTAR SP SERIES SECTION 2 INSTALLATION SECTION 2 INSTALLATION 2 1 INTRODUCTION The information in this Section will familiarize you with the safety information unpacking and inspection installation requirements assembly procedures and electrical connections for installing the SERVOSTAR SP Series Drive A checklist is provided at the end of this Section to insure proper installation 2 2 SAFETY INF
12. gt 7 22 ES Por o Ch e o oo MC MOTOR CABLE SEE TEXT gt EARTH TYPICAL GOLDLINE RETURN DIRECTLY TO POWER SUPPLY MOTOR CONNECTIONS cab owe Kollmorgen Industrial Drives NAME PIN A WARNING pass O gen as BROWN 1 CE MB RED TO PREVENT INJURY REPLACE MOTOR TERMINAL aa SERVO STAR SP SERIES MC C WHITE BLOCK COVER AFTER WIRING SYSTEM WIRING ale 1 PLOT SCALE NO SHEET2OF 17 ISSUE cory cong 11 97514 2 4 3 2 1 H 16 SERVOSTAR SP Series System Wiring Sheet 2 of 11 SERVOSTAR SP SERIES APPENDIX H DRAWINGS 3 2 1 DO NOT SCALE DWG USE DIMENSIONS ONLY 101738 UNLESS OTHERWISE SPECIFIED DWG M SHEETSOF 1 SE 5 P 1 D R IV E DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFIED Places x an C 9751 4 2 STATUS DISPLAY CONTROL VOLTS D ENABLED SP1 MODE 3 CONNECTIONS O OVER CURRENT SEE NOTE P SHEET Ti OVER VOLTAGE USER I O USER INTERFACE SEE TEXT a eee FAULT
13. 2 6 2 Mounting the External Regeneration Resistor s External regenerative resistors are a shock hazard Mount these resistors properly Enclose these resistors to protect personnel and equipment External regeneration resistors can become extremely hot Allow safe clearance around the resistor s enclosures Proper ventilation must be provided If the application requires greater than 40 watts of regen shunt regulation on the PA28 or any regen on the 50 and 75 then an externally mounted regen resistor is required The resistor kit includes the resistor s and mounting hardware A suitable enclosed location needs to be set aside for mounting these components while observing the heat and shock requirements of these resistors The external regen resistor kit includes a thermal overload protection device that must be wired in series with the resistor The contacts of the overload should be wired to drop power if they open 2 7 ELECTRICAL CONNECTIONS Dangerous voltages currents temperatures and energy levels exist in this product and in the associated servo motor s Extreme caution should be exercised in the application of this equipment Only qualified individuals should attempt to install set up and operate this equipment Ensure that he motor drive and the end user assembly are properly grounded per NEC requirements To facilitate wiring the SERVOSTAR SP Series Drive units must be mounted next to the PA powe
14. RED Illuminated usually due to excessive current command is indicated If this LED becomes illuminated reduce input commands to zero and reset the fault via the reset input or cycling control power If it doesn t reset then suspect a faulty SERVOSTAR SP Series Drive Over volts LED RED a This LED will become illuminated if the Main DC Bus rises above 430 VDC This can happen due to Power Supply fault or inadequately sized shunt regulator regeneration resistor Under volts LED RED This LED will become illuminated if the Main DC Bus is Illuminated insufficient or absent a b Ifthis LED is illuminated and the Green DC Bus LED on the PI unit is not illuminated suspect incoming power not applied or blown fuse c Ifthis LED is illuminated and the Green DC Bus LED on the LI unit is illuminated suspect power supply has switched to protection mode Drop power and wait one minute before re applying power If it still doesn t come up suspect faulty power supply Table 5 2 Power Supply Status LED Indicator Troubleshooting SYMPTOM PROBABLE CAUSE 1 DC BUS LED Green a Main DC Bus insufficient or not present AC input power not applied check input line fuses Not Illuminated 2 Regen LED Yellow Illuminated or Flashing activity a Nota fault condition Indicates regeneration circuit 5 4 SERVOSTAR SP SERIES APPENDIX A WARRANTY INFORMATION APPENDIX A WARRANTY INFORMATION Kollmorg
15. A green LED to indicate when there is voltage on the bus caps Relay output to indicate the power is energized and operating Soft start circuitry to limit inrush currents External Regen shunt regulator with a yellow LED indicator A red fault LED indicator showing the softstart has not closed The relay output is a normally open contact which closes upon application of power to the power supply and after soft start is completed The contacts will open if the internal Regen resistor or main heatsink becomes too hot or if there is improper power supply output The logic power section consists of a 230V input SMPS for generating the required 15 VDC and 7 5 VDC Logic Power for up to four SERVOSTAR SP Series Drive amplifiers Up to 4 amplifiers may be powered by this logic supply E 2 SERVOSTAR SP SERIES APPENDIX E SPECIFICATIONS A i 115 to 230 208 to 230 208 to 230 208 to 230 28 3 Phase EM 36 3 Phase Power 115 to 230 208 to 230 208 to 230 208 to 230 Power Input Protective Functions Operation Internal Shunt Regulator External Shunt ss E 22 Regulator HE Internal heat dissipation watts 45 130 w 200 w With Corrosive gasses or dust Package 4 74 2 16 8 18 3 72 14 32 6 51 14 52 6 6 10 39 264 10 39 264 16 406 4 16 406 4 Width in mm Max 2 5 63 5 4 9 124 4 5 7 144 6 5 7 144 6 Depth in mm Max 7 95 202 7 95 202 11 2 284
16. SEE NOTE 13 C5 TH HI al le LO n 8 ki SEE NOTE 8 9 10 SHEET 10 n a 1 4 USER SUPPLIED 5 or 24 VDC DRIVE INPUT POWER 5 A T SUPPLY SEE SHEET 4 324 B d bw COMMUTATION SIGNAL H2 L gt COMMUTATION SIGNAL 1 H1 COMMUTATION SIGNAL FEEDBACK SEE NOTE 11 SHEET 10 DEVICE BUS TO USER PROTECTION CIRCUIT SEE NOTE 1 6 SHEET 10 e BUS LO e MA CURRENT COMMAND INPUT A 3 3 De H 17 MOTOR CABLE SEE TEXT No EARTH TYPICAL GOLDLINE RETURN DIRECTLY TO POWER SUPPLY MOTOR CONNECTIONS 2 _ cab owe Kollmorgen Industrial Drives NAME PIN WARNING ea E em ES A BROWN I 2 MB B RED TO PREVENT INJURY REPLACE MOTOR TERMINAL 1 SERVO STAR SP SERIES MC CWHTE BLOCK COVER AFTER WIRING 1 i ENG wer 11 97514 2 4 3 2 SERVOSTAR SP Series System Wiring Sheet 3 of 11 1 SERVOSTAR SP SERIES H 18 APPENDIX H DRAWINGS 4 3 2 TER OTE SET TERS DD EET mE SP2 DRIVE ALMESE KENGES NESS ONENE SEE E 97514 2 STATUS DISPLAY CONTROL VOLTS D O ENABLED D C OVER CURRENT SPE GONNEGTIONS 8 OvER Cogar USER I O USER INTERFACE SEE TEXT OVER TEMPERATURE SEE
17. SP SERIES INSTALLATION AND SETUP MANUAL Old Number M97001 ISSUE 1 New Number MSP000H SERVOSTAR SP SERIES RECORD OF REVISIONS RECORD OF REVISIONS INSTALLATION AND SETUP MANUAL M97001 ISSUE NO Revision CHANGED PAGES BRIEF DESCRIPTION OF CHANGE CHANGE NO 6 11 97 Original Release Issue 1 26 98 Incorporate Update Review Comments RECORD OF REVISIONS SERVOSTAR SP SERIES SERVOSTAR SP SERIES TABLE OF CONTENTS TABLE OF CONTENTS RECORD OF REVISIONS ee ee A TABLE OF CONTENTS 1 Last oE Figures iv EE EN RS vi INTRODUCTION How Use This Manual une nenne a Ta Na 1 1 Installation and Start up Guidelines oooccnnccnoncconconoconocononononononononnnon 1 2 Customer Response eto e rere eti o iia 1 3 Copyright Inform tion ab breed iones 1 4 European Community EC Declaration of Conformity eese eene i 5 Abbr vIat0nsS sasaka EP 1 6 SECTION 1 SYSTEM DESCRIPTION 1 1 alerts IS ERS EE E Hee teed 1 1 is 1 1 1 3 Theory of Operation AAA chee BN DINA NAN E ETE EHE E E RED HE NENG AN ERR EE re 1 2 134 Power Supply Module RD He ein prix aive nenne 1 2 1 3 2 SERVOSTAR SP Drive Module sse nennen nennen eene eene entere nennen 1
18. 30236 Telephone 770 472 4100 Fax 770 472 4342 Eastern Region Kollmorgen Motion Technologies Group 49 Mall Drive Commack New York 11725 5703 Telephone 516 864 1000 Fax 516 864 2084 B 1 3 Midwest Region Kollmorgen Motion Technologies Group 1985 W Big Beaver Road Suite 212 Troy MI 48084 3409 Telephone 810 816 8740 Fax 810 816 9855 B 1 4 Western Region B 2 Kollmorgen Motion Technologies Group 23011 Moulton Parkway Unit H5 Laguna Hills California 92653 Telephone 714 518 3626 Fax 714 581 3628 B 1 5 B 1 6 B 1 7 SERVOSTAR SP SERIES Northern Europe Kollmorgen Hightech Ltd POB 147 Keighley Yorkshire BD20 6XB UK Telephone 44 1535 607688 Fax 44 1535 680520 Southern Europe Servotronix Ltd 12 Hachoma St POB 5096 Rishon Le Zion 75105 Israel Telephone 972 3 9616577 Fax 972 3 9616579 Far East Kollmorgen Motion Technologies Group 49 Mall Drive Commack NY 11725 Telephone 516 864 1000 Fax 516 864 2084 SERVOSTAR SP SERIES APPENDIX C MODEL NUMBERS APPENDIX C MODEL NUMBERS Table C 1 PA Model Number Scheme EXAMPLE PA 08 XX LEGEND LEGEND DEFINITION Power Supply Unit B 08 14 28 50 75 or 85 AC Line Current RMS C Options 00 Standard No Option with soft start and on 28 amp model regen also Table C 2 ER External Resistor Kit Model Number Scheme EXAMPLE ER 30 XX LEGEND A B C B Resistor Rating 8 8
19. should be connected to the SERVOSTAR SP Series Drive s ground screw The ground wire from the motor and its cable shield should be connected to one of the ground screws for the associated SERVOSTAR SP Series Drive The other ground screw on the SERVOSTAR SP Series Drive should be connected to a ground screw on the Power Supply unit For grounding to machine or earth ground a screw lug should be attached to the ground screw on the Power Supply or SERVOSTAR SP Series Drive A torque of 12 in lb for ground screws is recommended Also refer to the National Electrical Code NEC or UL standard 486B for recommended torque s 2 7 3 Connecting the AC Input Voltages The three phase main AC Input Voltage three phase should be connected at L L and L on the power terminal block located on the front of the Power Supply unit PAOS gets its logic input from L and L so when using single phase power the main AC input voltage should be connected at L and L The logic input is universal and needs no settings for operation at 115 V or 230 V The PA28 50 and 75 have separate control AC input voltage connections on Connector C2 Pins 3 and 6 and must be 220Vac They are not designed for 115Vac logic supply operation 2 7 4 Connecting the Main DC Bus Voltage Refer to notes on the SERVOSTAR SP Series Drive Wiring Diagram for details concerning the hook up of the Bus and Bus circuits between the Power Supply and the SERVOSTAR SP
20. user sinks current or to minus voltages user sources current When this input is used Pin 14 must not be used 5 V Plus or Minus Opmode All Provides optocoupler signal common rail to 5 volts for systems choosing 5 V operation for the enable and reset inputs This common rail can be connected to positive voltage user sinks current or to minus voltages user sources current When this input is connected Pin 6 must not be used Enable Opmode All Allows the SERVOSTAR SP Series Drive to be enabled or disabled without removing the main power When a circuit is closed between Pin 7 and common assuming Pin 6 is connected to 24 VDC or Pin 14 is connected to 5 VDC see Figure 2 5 the SERVOSTAR SP Series Drive will be put into the Drive Up mode Opening the circuit puts the SERVOSTAR SP Series Drive into the Inhibit mode Green LED indicated Reset Opmode All Allows any latched fault circuit except OVER VOLTS or OVER CORRECT faults to be reset by toggling Pin 15 to common Assuming Pin 6 is connected to 24 VDC or Pin 14 is connected to 5 VDC See Figure 2 4 SERVOSTAR SP SERIES SECTION 2 INSTALLATION Pin 8 Pin 16 Pin 12 24V PIN 6 5V PIN 14 wirt vae ENABLE RESET PIN 7 PIN 15 Figure 2 4 Enable and Reset Fault Output Low Side Opmode All Optically isolated fault output transistor s source The transistor is normally on indicating t
21. 11 2 284 APPENDIX E SPECIFICATIONS SERVOSTAR SP SERIES west Mod Pala JOO Main Input Current Power power SS RU Protective Functions PA14 Under volts Over Temp Softstart Internal Fusing PA LM Fusing LED Indicators Short Circuit Over Temp Operation Interna Shunt Regulator External Shunt Regulator agama mg Internal heat dissipation watts Package arom a 10 39 264 6 25 158 8 SERVOSTAR SP SERIES APPENDIX E SPECIFICATIONS Table E 2 SERVOSTAR SP Series Drive Specifications 125 0360 12510360 125103600 20510360 29510360 29510360 0 63 1 4 1 26 2 79 1 96 4 34 8 68 13 33 24 45 90 Vde 90 Vde 90 Vde 255 Vdc 255 Vdc 255 Vdc 430 Vdc 430 Vdc 430 Vdc 430 Vdc 430 Vdc 430 Vdc Control Logic Supply Voltage Vdc 5 Input Logic Supply Current Amp 0 2 0 2 Analog Supply Vdc 15 15 15 15 15 15 15 15 15 15 15 15 Analog Supply Current mA 200 320 330 450 420 530 a n a Continuous Power kw 0 55 kw 1 1 kw 45 C ambient 115 Vac 1 Continuous Power kw 45 C ambient 230 Vac 3 Rated output current amps 10 20 30 55 Max current for 2 sec current for 2 sec amps 622 6 10 PWM switching frequency kHz Form factor rms avg lt 1 01 lt 1 01 lt 1 01 lt 1 01 lt 1 01 Analog Input Scaling 1 70 Modes 2 amp 3 Amps per volt Scaling Current Feedback Scaling 1 06 2 12 3 53 7 07 8 10 19 44 Amps per volt
22. 2 13 3 Brushless DE Motor om ddp ter eb m edens 1 3 1 3 4 Power Up Down Sequencing ete te e Rt dehet des 1 3 1 4 Typical System DIA 1 4 19 Signal Information eo bis 1 4 1 51 Current Feedback Signals entente iria tada 1 4 1 5 2 PWM Input Command Signals 2 0444402401040 1 4 1 5 3 Analog Input Signals aiii 1 5 1 5 4 Six step Commutation u 1 5 1 6 Current Ratings and Duty 2000044040000000 1 5 SECTION 2 INSTALLATION 2 1 Introducir Repente D pice us 2 1 2 2 Safety Information boe PUN she siepe Po Tee PO EE it ied 2 1 2 3 CONVENTIONS teste bep ehem eee imeem eerte 2 2 2 3 1 Model Numbering Scheme 2 2 2 2 24 Unpacking o AA 2 2 I manganan 2 3 2 5 1 Environmental Requirements iere e ri es spe 2 3 2532 uites x rss nina ni 2 3 2 6 Assembly 2i I adea e T RE el deed d ERA ies 2 3 2 02 MOUDUNG side 2 3 2 6 2 Mounting the External Reg
23. 82 3 rte _ 75 2 2 irure H 2 3 Mounting the External Regeneration Resistor s essere eene enne enne enne 2 4 N Px Periodic Maintenance sirio 4 3 Grounding Integrity ie eee eom Ie tede p eio bte s ette bere 4 3 Ventilation near DIEN SUBE A A ga a a 4 3 Power Supply Amp Status LED S 5 3 Power Supply Module deti esse hen pi Perg cte a a eo p Hd 1 2 Power Up Down Sequencing Eee een 1 3 11 SERVOSTAR SP SERIES P continued Preventative Maintenance anne 8 4 1 Electrical Noel 5 4 2 Radio Frequency Emer ey iia 4 2 Surge Current ced I ena dee eO E oe IER breit read Pe IUe tecta eee ore ect ets 4 2 Transient Voltages 25 onn ete nete hr per bee nto baee eR 4 1 PWM Input Command Signals nene o ete nere ER re RUE EESO EES Eer rid 1 4 SB Radio Frequency Entro reia ida 4 2 Recommended Torque for Electrical 2 5 p 085 2 1 Sequence of detecte tke i
24. AC control power Use an AC voltmeter to check and record the single phase voltage at Connector C7 of the Power Supply Remove power Note the model number of the Power Supply and refer to Appendix E to confirm correct Control AC voltage level If the voltage levels are within the specifications listed in Appendix E proceed with the Check Out procedure Close the circuit breaker or re install the fuses for the Main AC input power Re install all connectors 2 8 3 Checking the DC Bus Voltages Allow sufficient time after removing power from the system for the voltage to bleed down before connecting or disconnecting wires at the bus Remove power 2 13 SECTION 2 INSTALLATION SERVOSTAR SP SERIES Remove the Bus and Bus leads from the Power Supply power terminal block Remove mating Connector Cl from the Power Supply Apply power Check and record the Main DC Bus Voltage output at with respect to on the Power Supply terminal block Check and record the unregulated DC voltage levels at Connector C1 of the Power Supply They should be 15 to 16 pin 1 to pin 3 and 7 5 to 8 5 pin 4 to pin 3 VDC Remove power Note the model number of the Power Supply and confirm DC voltage levels If the voltage levels are within the specifications listed in Appendix E proceed WAIT FOR THE BUS TO BLEED DOWN and reconnect the B and B leads to the power terminal block of the Power Supply Be careful to reconnect the lea
25. Amp Drive Outline and Dimension H 4 SERVOSTAR SP Series 20 Amp Drive Outline and Dimension H 5 SERVOSTAR SP Series 30 Amp Drive Outline and Dimension H 6 SERVOSTAR SP Series 55 Amp Drive Outline and Dimension Drawing eene H 7 Power Supply PAO8xx Outline and Dimension Drawing nennen nne H 8 Power Supply PA14xx and PA28xx Outline and Dimension Drawing H 9 Power Supplies PASOxx 75 and PA85xx Outline and Dimension H 10 Power Supply PAO8xx Simplified Schematic H 11 Power Supplies PA14xx and PA28xx Simplified Schematic Diagram H 12 Power Supplies PASOxx 75 and PA85xx Simplified Schematic Diagram H 13 SPIXXXX Simplified Schematic Diagram sse nennen nennen H 14 SERVOSTAR SP Series System Wiring Dwg No C 97514 11 58 5 H 15 vi SERVOSTAR SP SERIES INTRODUCTION INTRODUCTION HOW TO USE THIS MANUAL This Installation and Setup Manual is designed to help you properly install a SERVOSTAR SP Series Drive System You do not hav
26. Kollmorgen Corporation Dangerous voltages currents temperatures and energy levels exist in this product and in the associated servo motor s Extreme caution should be exercised in the application of this equipment Only qualified individuals should attempt to install set up and operate this equipment Ensure that the motor WARNING drive and the end user assembly are all properly grounded per NEC requirements INDUSTRIAL DRIVES 201 Rock Road Radford VA 24141 Motion Technologies Group Phone 540 639 2495 Fax 540 731 0847 1 4 SERVOSTAR SP SERIES INTRODUCTION EUROPEAN COMMUNITY EC DECLARATION OF CONFORMITY We Kollmorgen Corporation Industrial Drives Division 201 Rock Rd Radford VA USA declare under sole responsibility this equipment 15 exclusively designed for incorporation in another machine The operation of this equipment is submitted to the conformity of the machine in which it is incorporated following the provisions of the EC Electro Magnetic Compatibility EMC directive 89 392 EEC INTRODUCTION ABBREVIATIONS A D CCW CMR CNC Cont CW CR LF D A D L EMF EMI ESD GC GCS kHz KMTG KW LED NEC PC P N PK PLC PWM R D Regen RMS Tach TL UL Clockwise and counterclockwise reference as viewing the motor output shaft 1 6 Analog to Digital Converter Counter Clockwise Common Mode Rejection Computer Numerical Control Continued Clockwise ASCI Carriag
27. TO ENABLE DRIVE BEFORE THIS BUS OK BECOMES ACTIVE MAY CAUSE POWER SUPPLY E ad e o TO NOT BECOME ACTIVE 2 UP TO 4 DRIVES TOTAL MAY BE MOUNTED TO EITHER SIDE LOW INDUCTANCE LOW INDUCTANCE EARTH GROUND OF POWER SUPPLY SEE MANUAL SEE NOTE 5 SHEET 10 E EARTH GROUND 777 CAD DWG THE SERVO STAR SYSTEM OPERATES WITH VOLTAGES HIGH VOLTAGE MAY EXIST UP TO 5 MINUTES En msi WE AS HIGH AS 230 VAC AND 400 VDC USE CAUTION AFTER POWER HAS BEEN REMOVED Kollmorgen Industrial Drives iss DATE _ APPD ECNNOECN NO DATE 5464 DATE APPDAFPDUN EY DATE AND REFER INSTALLATION AND TROUBLESHOOTING 1 2 mus o RADFORD VIRGINIA TO QUALIFIED PERSONNEL ONLY ALWAYS REPLACE TERMINAL COVERS AFTER SERVICING Zr SERVO STAR SP SERIES 0810 SYSTEM WIRING T PLOT SCALE DWG NO SHEET 8 OF 11 ISSUE COPY CODE URN 1 1 C 97514 2 4 3 2 H 22 SERVOSTAR SP Series System Wiring Sheet 8 of 11 SERVOSTAR SP SERIES APPENDIX H DRAWINGS 4 3 2 1 UNESSOTHERWSESPEGFED GENS FREE MC SE DO NOT SCALE DWG USE DIMENSIONS ONLY AULDIIENSONSAREINCHESUNLESSOTHE
28. The speed of a motor operated with rated voltage and full load torque Gain The ratio of system output signal to system input signal The control loop parameter that determines system performance characteristics HP Horsepower One horsepower is equal to 746 watts Since Power Torque x Speed horsepower is a measure of a motor s torque and speed capability e g a 1 HP motor will produce 35 1b in at 1800 rpm Glossary 1 GLOSSARY SERVOSTAR SP SERIES Input Output The reception and transmission of information between control devices In modern control systems V O has two distinct forms switches relays etc which are in either an on or off state or analog signals that are continuous in nature such as speed temperature flow etc Inertia The property of an object to resist changes in velocity unless acted upon by an outside force Higher inertia objects require larger torques to accelerate and decelerate Inertia is dependent upon the mass and shape of the object Inertial Match An inertial match between motor and load is obtained by selecting the coupling ratio such that the load moment of inertia referred to the motor shaft is equal to the motor moment of inertia Inrush Current The current surge generated when a piece of equipment such as a servo amplifier is connected to an AC line This surge is typically due to the impulse charging of a large capacitor located in the equipment Instabili
29. USING OPTIONAL EXTERNAL 1 INTERNAL REGEN REGEN RESISTOR N LA 6 BUS INPUT MAINS PA14 130 V SEE Pase 190 868 v AC TFT 3 PHASE N BUS DC BUS OK LOGIC POWER INPU 14 2 16VDC PA14 90 130 VAC 28 180 260 VAC SOWAN lo Suput supply PIS TM COMMON GND 4 7 2 8 5VDC 77 SIMPLIFIED SCHEMATIC 4 AND PA28 POWER SUPPLIES H 12 Power Supplies PAl4xx and PA28xx Simplified Schematic Diagram SERVOSTAR SP SERIES APPENDIX H DRAWINGS EXTERNAL 1 REGEN RESISTOR LA 6 BUS INPUT MAINS 180 260 VAC LB S 3 PHASE L LC 9 BUS DC BUS OK 14 2 16VDC S LOGIC POWER INPUT 180 260 VAC 80W triple output 14 2 16VDC switchmode power supply COMMON GND 5 7 2 8 5VDC SIMPLIFIED SCHEMATIC PABO AND PA75 POWER SUPPLIES 1 1 CJF 1 97 XXXXX 1 H 13 Power Supplies PASOxx PA75xx and PA85xx Simplified Schematic Diagram SERVOSTAR SP SERIES APPENDIX H DRAWINGS MP nn 29 96127 Ri
30. of motor drive in which the input is an analog signal Drive Servo A motor drive which utilizes internal feedback loops for accurate control of motor current and or velocity Efficiency The ratio of output power to input power Encoder Absolute A digital position transducer in which the output is representative of the absolute position of the input shaft within one or more revolutions Output is usually a parallel digital word Encoder Incremental A position encoding device in which the output represents incremental changes in position Encoder Marker A once per revolution signal provided by some incremental encoders to specify a reference point within that revolution Also known as Zero Reference signal or index pulse Encoder Resolution A measure of the smallest positional change which can be detected by the encoder Feedback A signal which is transferred from the output back to the input for use in a closed loop system Following Error The position error during motion resulting from use of a position control loop with proportional gain only Friction A resistance to motion caused by surfaces rubbing together Friction can be constant with varying speed coulomb friction or proportional to speed viscous friction or present at rest static friction Full Load Current The armature current of a motor operated at its full load torque and speed with rated voltage applied Full Load Speed
31. output will also turn on whenever the shunt regulator is active Faults occurring within the Power Supply will cause the Bus Up output to turn off Not available on all models More diagnostic information about the Power Supply LED s is listed in Table 5 2 5 3 5 SERVOSTAR SP Series Drive or Power Supply Reset Procedures To reset the fault latches within the SERVOSTAR SP Series Drive and all fault latches within the Power Supply power supply units remove all AC line input voltage for at least five 5 minutes or until the power stage capacitors are fully discharged All other fault latches within the SERVOSTAR SP Series Drive amplifiers may be reset by toggling the RESET input circuit to common or by removing and reapplying the input voltage as described previously 5 3 SECTION 5 TROUBLESHOOTING SERVOSTAR SP SERIES Table 5 1 SERVOSTAR SP Series Drive Status LED Indicator Troubleshooting SYMPTOM PROBABLE CAUSE 1 Control Volts LED a Control AC line input voltage out of spec or had a momentary Green Not interruption Illuminated b Unregulated logic bus not applied to SERVOSTAR SP Series Drive from Power Supply due to defective wiring or being miswired fuses inside of Power Supply may be blown c Defective logic bus supply in SERVOSTAR SP Series Drive or Power Supply or blown logic bus fuse d Defective SERVOSTAR SP Series Drive Over current LED a When this LED becomes illuminated an over current condition
32. resistive heating over a long period of time Rotor The rotating part of a magnetic structure In a motor the rotor is connected to the motor shaft Servo Amplifier Servo Drive An electronic device which produces the winding current for a servo motor The amplifier converts a low level control signal into high voltage and current levels top produce torque in the motor Servo System An automatic feedback control system for mechanical motion in which the controlled or output quantity is position velocity or acceleration Servo systems are closed loop systems Shunt Resistor A device located in a servo amplifier for controlling regenerative energy generated when braking a motor This device dissipates of dumps the kinetic energy as heat Single Point Ground The common connection point for signal grounds in a control wiring environment Slew In motion control the portion of a move made at a constant non zero velocity Speed Regulation For a speed control system speed regulation is the variation in actual speed expressed as a percentage of set speed Stiffness Ratio of an applied force torque to change in position for a mechanical system Stator The non rotating part of a magnetic structure Ina motor the stator usually contains the mounting surface bearings and non rotating windings or permanent magnets Tachometer An electromagnetic feedback transducer which produces an analog voltage signa
33. voltage and can be either autotransformers or isolation transformers Isolation transformers help eliminate the following Damaging line voltage transients reaching the Power Supply and SERVOSTAR SP Series Drive Damaging currents which may develop if a point inside the Power Supply or SERVOSTAR SP Series Drive becomes grounded 4 2 3 Electrical Noise The low levels of energy in the SERVOSTAR SP Series Drive control circuits may cause them to be vulnerable to electrical noise Sources of electrical noise are those pieces of equipment that have large fast changing voltages and currents when they switch on and off These devices have the capability of inducing critical current and voltage transients on their respective power lines These transients must be accommodated for with noise immunity provisions Electrical noise is prevented with the same methods as Surge Current and Transient Voltages However there are other methods of preventing electrical noise Such as Maintain physical separation between electrical noise sources and the SERVOSTAR SP Series Drive amplifier Maintain physical separation between electrical noise sources and the SERVOSTAR SP Series Drive control wiring This can be accomplished by using separate conduits or wiring trays for control wiring and power wiring Use twisted pair wiring for control circuits of the SERVOSTAR SP Series Drive Follow good grounding practices when wiring the Power Supply a
34. 1 B M 10X Motors M2 B M 20X Motors 3 to 10 amp M2B B M 20 X Motors 20 amp M4 B M 40X Motors 3 to 20 amp M4B B M 40X Motors 30 amp M6A B M 60X X AX amp BX Motors up to 40 amps continuous M6B B M 60X X AX 8 BX Motors up to 65 amps continuous M8A B M 80X X AX amp BX Motors up to 65 amps continuous M8B B M 80X X AX 8 BX Motors up to 115 amps continuous R System Resolver Only LEGEND DEFINITION C2 SERVOSTAR SP SERIES APPENDIX C MODEL NUMBERS Amplifier Termination Ring Spade Lug Terminals Not Terminated D Cable Length to Motor 3 to 75 Meters in 3 Meter Incremenis Table C 6 Cable Model Number Scheme for Individual Cable Screw Type Connector EXAMPLE GCA M4 4 5 LEGEND LEGEND DEFINITION E Goldline Cable with screw type connector individual cable Motor Power Cable with Mating Plug or Feedback Option Cable B M 40X Motors up to 40 amps continuous B M 40X Motors 30 amps B M 60X Motors up to 40 amps continuous B M 60X Motors up to 65 amps continuous B M 80X Motors up to 65 amps continuous B M 80X Motors up to 115 amps continuous Amplifier Termination Ring Spade Lug terminals Not Terminated 22001 Cable Length to Motor 3 to 75 Meters in 3 Meter Increments C 3 APPENDIX C MODEL NUMBERS SERVOSTAR SP SERIES SERVOSTAR SP SERIES APPENDIX D CONNECTOR KITS amp TOOLS APPENDIX D CONNECTOR KITS amp T
35. 836 OR SS20832F B RECOMMENDED RING TERMINALS 8 AWG HOLLINGSWORTH R3027BF 6 AWG HOLLINGSWORTH R4001BF 4 AWG HOLINGSWORTH R5100BF 4 ALL AC LINES SHOULD BE TWISTED CABLES 5 THE TOTAL NUMBER OF AXES ALLOWED PER POWER SUPPLY DEPENDS ON THE APPLICATION AND THE COMBINATION OF DRIVES REQUIRED POWER PA LM A MAXIMUM OF 2 DRIVES SEE SPECIFICATIONS OF POWER SUPPLY AND REQUIREMENTS OF DRIVE DO NOT EXCEED LOGIC SUPPLY CAPACITY PAOS A MAXIMUM OF 2 DRIVES SEE SPECIFICATIONS OF POWER SUPPLY AND REQUIREMENTS OF DRIVE DO NOT EXCEED LOGIC SUPPLY CAPACITY PA14 A MAXIMUM OF 4 DRIVES SEE SPECIFICATIONS OF POWER SUPPLY AND REQUIREMENTS OF DRIVE DO NOT EXCEED LOGIC SUPPLY CAPACITY PA28 A MAXIMUM OF 4 DRIVES SEE SPECIFICATIONS OF POWER SUPPLY AND REQUIREMENTS OF DRIVE DO NOT EXCEED LOGIC SUPPLY CAPACITY 12 OPERATION MODES 2 AND 3 REQUIRE COMPENSATION COMPONENTS INSTALLED IN HEADER LOCATION COMP SEE MANUAL FOR DETAILS 50 A MAXIMUM OF 4 DRIVES SEE SPECIFICATIONS OF POWER SUPPLY AND REQUIREMENTS OF DRIVE DO NOT EXCEED LOGIC SUPPLY CAPACITY PA75 A MAXIMUM OF 4 DRIVES SEE SPECIFICATIONS OF POWER SUPPLY AND REQUIREMENTS OF DRIVE DO NOT EXCEED LOGIC SUPPLY CAPACITY ARE SAMAH PRAWAN PASE POWER FERMNAPBINERSUREBRABRAFRCHPTINENSCHEURRTVE DON DO NOT ATTEMPT TO REMOVE THEM FOR USE WITH RING TERMINALS USE LOCKING SPRING SPADE TERMINALS SUCH AS HOLLINGSWORTH KSS209545 OR SS20947SF
36. APPENDIX F OPTIONS F 2 SERVOSTAR SP SERIES SERVOSTAR SP SERIES APPENDIX G CURRENT LOOP COMPENSATION APPENDIX G CURRENT LOOP COMPENSATION G 1 INTRODUCTION During mode 2 or mode 3 operation the SERVOSTAR SP Series Drive has internal current loops which must be tuned to match a particular motor to a particular motor Following is a list of the values to be used for this purpose Three sets of components will be used in mode 2 operation and 1 set in mode 3 operation G 2 REQUIREMENTS G 2 1 Operation Mode Mode 1 Current loop external to SERVOSTAR SP Series Drive closed by user Mode 2 Current Loop internal to SERVOSTAR SP Series Drive done by Kollmorgen Motion Technologies Group and shipped with unit or data supplied to user and user installs on supplied header compensation board required for three current loops Mode 3 internal to SERVOSTAR SP Series Drive done by Kollmorgen Motion Technologies Group and shipped with unit or data supplied to user and user installs on supplied header compensation board required for one current loop G 2 2 Compensation Calculation Resistors lt 2 4x10 x SERVOSTAR SP Series Drive s Cont RMS Current Rating x Motor s min L L inductance Capacitors 1 625 x Resistor These values for most motor combinations are already calculated and listed in Table G 1 at the end of Appendix G G 3 COMP HEADER Pin Out pin 1 to pin 16 mode selection jumper 1 pin 2 to pin 15 mode s
37. B 406D B 602A B 602B B 602C B 604A B 604B B 604C B 604C B 604D RP S RATING K ohms ur 0 012uf 0 015uf 0 01uf 6800pf 3900pf 8200pf 2200pf 4700pf 0 01uf 5600pf 0 01uf 3900pf 8200pf 0 01uf 8200pf 3900pf 4700pf 0 01uf 4700pf 5600pf 6800pf 0 01uf 8200pf 3300pf APPENDIX G CURRENT LOOP COMPENSATION MOTOR MODEL B 606A B 606B B 606B B 606C B 606D B 606E B 606F B 802A B 802A B 802B B 804A B 804B B 806A 806 M 103A M 105A M 105B M 105B M 107A M 107B M 203A M 203B M 203C M 205A RP S R RATING Kohms uF 4700pf 8200pf 5600pf 0 012uf 6800pf 5600pf 2200pf 3900pf 3300pf 5600pf 3300pf 4700pf 3900pf 3300pf 0 015uf 0 015uf 0 027uf 0 015uf 0 01uf 0 022uf 2700pf 7500pf 0 01uf 3900pf G 3 APPENDIX G CURRENT LOOP COMPENSATION SERVOSTAR SP SERIES MOTOR RP S R RP S MODEL RATING Kohms uF MODEL RATING K ohms uF M 205C 0 01uf M 607A 4700pf M 207A 3900pf M 607B 8200pf M 207B 7500pf M 607B 5600pf M 403A 2700pf M 607E 6800pf M 403C 8200pf M 607F 2200pf M 405A 2200pf M 803A 3900pf M 405B 4700pf M 803A 3300pf M 407A 3900pf M 805B 4700pf M 407B 8200pf M 807A 3900pf M 407C 0 01uf M 807C 3300pf M 407C 8200pf M 407D 3900pf G 4 SERVOSTAR SP SERIES APPENDIX H DRAWINGS APPENDIX H DRAWINGS SERVOSTAR SP Series 3 amp 6 Amp Drive Outline and Dime
38. CONTROL POWER THROUGH THE MAIN POWER CONTACTOR CONTROL POWER SHOULD NOT BE REMOVED IF 28 FAULT CONTACTS OPEN AS THIS DEFEATS FAULT LEDS POWER CONTACTS OF SEE NOTE 4 AND 5 MAIN POWER CONTACTOR 4 WHEN USING INTERNAL 40 W REGEN LEAVE JUMPER INSTALLED BETWEEN ULT TERMINAL AND 5 WHEN USING EXTERNAL REGEN RESISTOR JUMPER ON TERMINALS R AND C CIRCUIT BREAKERS MUST BE REMOVED OR FUSES CUSTOMER SUPPLIED SEE SHEET 11 NOTE 3 B B SYSTEM POWER 77 S77 L2 2 1 18 Lo TRANSFORMER MAY BE 115 VAC only for PA14XX OMITTED IF CORRECT 230 VAC only for PA28XX VOLTAGE SOURCE IS 10 AVAILABLE 50 60 HZ A WARNING WARNING N MATER FNS m A THE SERVO STAR SYSTEM OPERATES WITH VOLTAGES HIGH VOLTAGE MAY EXIST UP TO 5 MINUTES A Serpa Kollmorgen Industrial Drives AS HIGH AS 230 VAC AND 400 VDC USE CAUTION AFTER POWER HAS BEEN REMOVED 2 JD vos RADFORD VIRGINIA omar AND REFER INSTALLATION AND TROUBLESHOOTING F TO QUALIFIED PERSONNEL ONLY ALWAYS REPLACE SERVO STAR SP SERIES TERMINAL COVERS AFTER SERVICING TOENG SYSTEM WIRING BLOT SCALE BWG NO SHEETTOFTI SE CROSSREF 10 cory cond me 11 C 97514 2 21 SERVOSTAR SP Series System Wiring Sheet 7 of 11 SERVOSTAR SP SERIES APPENDIX H DRAWINGS
39. DRAWINGS UNLESS OTHERWISE SPECIFIED UNLESS OTHERWISE SPECIFIED DWG NO SHEETS OF 11 ISSUE DO NOT SCALE DWG USE DIMENSIONS ONLY ANG DIM 21 DEGREE PA14XX or PA28XX POWER SUPPLY SP1 OR SP2 DRIVE o Ed DE PLAGES EON SAU EE C 97514 2 C6 BUS OK 8 CONNECTIONS ol ON SHEET 11 ee SEE TEXT 2 STATUS DISPLAY CAUTION SEE NOTE 1 9 CONTROL VOLTS PIN FUNCTION NOTES ENABLED 1 DC BUS SEE INSTALLATION E OVER CURRENT 2 DC BUS OK INSTRUCTIONS IN TEXT OVER VOLTAGE OVER TEMPERATURE O UNDER VOLTAGE C7 C5 C5 C7 0 1 al 16 AWG E n 2 EN I It CONNECTIONS oa atts SEE NOTE 2 0 ja m4 PIN POWER SUPPLY DRIVE cs 1 15 VDC SUPPLY 15 VDC INPUT 2 15 VDC SUPPLY 15 VDC INPUT LOGIC INPUT al 3 DC COMMON DC COMMON VOLTAGE 2 4 348 VDC SUPPLY 8 VDC INPUT SEE SPEC S SEE NOTES 6 8 7B AND TEXT L ON SHEET 11 e POWERTO p C8 ni 8 CONNECTIONS POWER SUPPLY SEE NOTE 2 u PIN FUNCTION NOTES 1 ACLOGIC POWER IN 2 INOTUSED SEE INSTALLATION 5 3 ACLOGIC BOWERTN INSTRUCTIONS IN TEXT BUS 2 TO
40. E RETURN DIRECTLY TO POWER SUPPLY MOTOR CONNECTIONS _ mom NAME PIN A WARNING mr pes eas Tm D pese we Kollmorgen Industria Drives MA A BROWN 27 M8 8 866 TO PREVENT INJURY REPLACE MOTOR TERMINAL 1 1 1 a SERVO STAR SP SERIES MC C WHITE BLOCK COVER AFTER WIRING i 1 TASE D GREENYELLOW ES SYSTEM WIRING 2 SETAC sE 1 11 97514 2 4 3 2 SERVOSTAR SP Series System Wiring Sheet 4 of 11 SERVOSTAR SP SERIES H 19 APPENDIX H DRAWINGS PA08XX POWER SUPPLY SP1 OR SP2 DRIVE e o rr C 97514 2 STATUS D ISPLAY READ ALL NOTES WARNINGS AND CAUTIONS SEE NOTE 7A i 4 ON SHEET 11 CONTROL VOLTS The ServoSTAR Product line is modular in construction 0 ENABLED There are several power supply units and many other wiring OVER CURRENT options Some of the information may not be pertainent O OVER VOLTAGE to all applications O OVER TEMPERATURE 9 UNDER VOLTAGE C7 N C5 C5 C7 s al 16 AWG al n 2 2 CONNECTIONS 0 3 4 al mp PIN POWER SUPPLY DRIVE 1 15 VDC SUPPLY 15 VDC INPUT 2 15 VDC SUPPLY 15 VDC INPUT 3 JC COMMON DC COMM
41. ENT INJURY REPLACE MOTOR TERMINAL F SE SERVO STAR SP SERIES MC C WHITE BLOCK COVER AFTER WIRING I T CASE EUN 36816 SYSTEM WIRING E al ROTSWE GNO SE COPY CODE T T T RES 11 C 97514 2 4 3 2 H 15 SERVOSTAR SP Series System Wiring Sheet of 11 SERVOSTAR SP SERIES APPENDIX H DRAWINGS UNLESS OTHERWISE SPECIFIED DWG NO SHEETZOFT 16506 DO NOT SCALE DWG USE DIMENSIONS ONLY ANG DIM 1 DEGREE UNI ESS OTHERWISE KN SP1 DRIVE ALL DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFIED XX DEC PLAGES EOIS REVOVE AL BURRS AND C 97514 2 XXX DEC PLACES 005 IN BREAK ALL SHARP EDGES STATUS DISPLAY D 5 CONTROL VOLTS ENABLED P1 MODE 2 CONNECTIONS O OVER CURRENT gt SEE NOTE 12 SHEET 11 OVER VOLTAGE USER I O USER INTERFACE SEE TEXT 0 OVER TEMPERATURE SEE NOTE 8 9 10 UNDER VOLTAGE C5 1 FAULT 21 10 5 RESET 4 4 ENABLE C3 L USER SUPPLIED ae 5 or 24 i moo ouo se 3 a a a a DRIVE INPUT POWER 5V0C or SUPPLY SEE SHEET 4 10 ha 24 VDC 12 11 C 9 C2 12 BUS SEE NOTE 1 6 SHEET 10 222 BUS TO USER PROTECTION CIRCUIT 10 Ar PHASE ANALOG COMMAND INPUT MA LO 0 A PHASE ANALOG COMMAND INPUT D HI b 3 M8
42. External Interface Circuitry external to but connecting to the SERVOSTAR SP Series Drive B SERVOSTAR SP Series Drive Amplifier Module C PA Power Supply Module 1 Main DC bus voltage 2 Control DC bus voltages 3 Shunt Regulator Regeneration Circuitry 4 Soft Start Circuitry D Motor 1 Winding 2 Feedback Device II There are only two 2 basic fault characteristics to be considered A The motor exhibits very low torque or is totally inoperative B The motor is erratic or exhibits an improper mode of operation 5 1 SECTION 5 TROUBLESHOOTING SERVOSTAR SP SERIES 5 3 SYMPTOMS AND CORRECTIONS If the motor does not respond or responds in a manner other than with smooth operation remove power and troubleshoot the system with the following guidelines 5 3 1 The Motor Exhibits Very Low Torque or is Totally Inoperative Prerequisites for motor movement 1 The SERVOSTAR SP Series Drive and Power Supply must be wired correctly per SERVOSTAR SP Series Drive Wiring Diagram 2 All power must be present 3 The SERVOSTAR SP Series Drive must be in the Enable mode as indicated by the green LED 4 Fault circuits must not be activated Fault modes are identified by red LED s located on the front of the SERVOSTAR SP Series Drive and Power Supply modules 5 Input command must be present 5 3 2 The Motor is Erratic or Exhibits an Improper Mode of Operation Prerequisites for proper motor operation 1 Proper grounding schem
43. FOR 16 14 AWG WIRE AND X8820836 OR XSS20832F FOR 12 10 AWG WIRE A Oe Tara Team e umm Tar ms we Kollmorgen Industrial Drives SX03 SX06 SX10 SX20 PA14 AND PA28 4 B TORQUE 12 IN LB MOTOR BUS CONNECTION AMD GROUND STUD T SERVO STAR SP SERIES SX30 SX55 PASO PA75 AND 85 cla 3681 SYSTEM WIRING MAX TORQUE 20 IN LB MOTOR BUS CONNECTION AND GROUND STUD DNO SN RSE COPY CODE in 11 C 97514 2 8 H 25 SERVOSTAR SP Series System Wiring Sheet 11 of 11 SERVOSTAR SP SERIES APPENDIX H DRAWINGS H 26 SERVOSTAR SP SERIES GLOSSARY GLOSSARY Acceleration The change in velocity as a function of time Acceleration usually refers to increasing velocity and deceleration describes decreasing velocity Ambient Temperature The temperature of the cooling medium usually air immediately surrounding the motor or another device Amplifier Electronics which convert low level command signals to high power voltages and currents to operate a servo motor Brushless Servo Drive A servo drive used to control a permanent magnet synchronous AC motor May also be referred to as an AC Servo Drive Drive This is the electronics portion of the system that controls power to the motor Drive Analog Usually referring to any type
44. Figure 2 3 FAULT LO ENABLE 24 V C SHIELD SHIELD Figure 2 3 SERVOSTAR SP Series Drive Connector C3 1 3 Positive input of differential optically isolated input for A phase motor High 2 9 SECTION 2 INSTALLATION SERVOSTAR SP SERIES Pin 9 Pin 2 Pin 3 Pin 11 Pin 10 Pin 5 Pin 13 Pin 4 Pin 6 Pin 14 Pin 7 Pin 15 2 10 A Opmode 1 3 Negative input of differential optically isolated input for A phase load motor Low Shield Opmode 1 3 A Phase input cable shield connection The shield pins provide termination points for cable shields To insure there are no ground loops in the shield common connect only one end butt and insulate the other end Opmode 1 3 Positive input of differential optically isolated for B phase load motor High B Opmode 1 3 Negative input of differential optically isolated for B phase load motor Low Shield Opmode 1 3 B Phase input cable shield connection Opmode 1 3 Positive input of differential optically isolated for C phase load motor High C Opmode 1 3 Negative input of differential optically isolated for C phase load motor Low Shield Opmode 1 3 C Phase input cable shield connection 24 V Plus or Minus Opmode All Provides optocoupler signal common rail to 24 volts for systems choosing 24 V operation for the enable and reset inputs This common rail can be connected to positive voltage
45. In motion control Power Torque x Speed Pulse Rate The frequency of the step pulses applied to a step per motor driver The pulse rate divided by the resolution of the motor drive combination in steps per revolution yields the rotational speed in revolutions per second Ramping The acceleration and deceleration of a motor May also refer to the change in frequency of the applied step pulse train Rated Torque The torque producing capacity of a motor at a given speed This is the maximum continuous torque the motor can deliver to a load and is usually specified with a torque speed curve SERVOSTAR SP SERIES GLOSSARY Regeneration The action during motor braking in which the motor acts as a generator and takes kinetic energy from the load converts it to electrical energy and returns it to the amplifier Repeatablity The degree to which the positioning accuracy for a given move performed repetitively can be duplicated Resolution The smallest positioning increment that can be achieved Frequently defined as the number of steps or feedback units required for a motor s shaft to rotate one complete revolution Resolver A position transducer utilizing magnetic coupling to measure absolute shaft position over one revolution RMS Current Root mean square current In an intermittent duty cycle application the RMS current is equal to the value of steady state current which would produce the equivalent
46. Internal Dissipation Watts 37 84 120 240 254 465 Heat Loss Mental 3300 Feet Without Derating Protective Over Current Over Volts Under volts Control Volt Loss Over Temp Functions Over temperature trip C 3 to 20 amp drives 118 c and 90 c for 30 and 55 amp drives APPENDIX E SPECIFICATIONS SERVOSTAR SP SERIES Digital Input Levels All Models Top Transistor On Minimum 2 5V O 9mA PWM Input Signal Maximum 5 3 36mA Levels Top Transistor Off Maximum 1 25V O 2 5mA Mode 1 Bottom Transistor On Minimum 2 5V 9mA Maximum 5 3 36mA Bottom Transistor Off Maximum 1 25V 2 5mA Remote Enable Input voltage max Operating Range Nominal 12 to 24V Minimum On 10V Maximum Off 1V Input current 24 20 mA volts E 3 SHOCK AND VIBRATION Shipping Acceleraction Spectra 0 01 0 001 0 0001 Amplitude MED NEM g 2 Hz 1 2 5 10 20 50 100 Frequency Hertz E 6 SERVOSTAR SP SERIES APPENDIX F OPTIONS APPENDIX F OPTIONS Options are brought into existence from time to time to satisfy specific needs and to add versatility to the product Refer to the Model Number Schemes in Appendix C The SERVOSTAR SP Series Drive may be ordered with various mechanical and electrical options standard or custom designed for particular applications If a feature is desired which is not covered here consult the KMTG Regional Sales Office for information on custom designed options F 1
47. M DESCRIPTION SERVOSTAR SP SERIES 1 3 THEORY OF OPERATION The SERVOSTAR SP Series system consists of five main components 1 ED 1 3 1 Power Supply Module SERVOSTAR SP Series Drive Module Brushless Motor User Control System Interconnecting Cables Power Supply Module The Power Supply Module is divided into four 4 main sections 1 2 3 The Unregulated Logic Bus derived from the Control AC line input voltage is described in Section 4 2 The 325 160 Volt Main DC Bus nominal is supplied by the main AC line input voltage normally three phase 230 VAC or single phase 115 VAC The Soft Start Feature circuitry limits the in rush current to charge the Main Bus Capacitors to a specific amount as listed in Appendix E The Shunt Regulator regeneration section includes circuitry which monitors the main bus During deceleration profiles the motor operates as a DC generator and pumps energy back into the main bus causing the bus voltage to rise This action is referred to as regeneration regen The Shunt Regulator limits the voltage rise during the deceleration periods by dumping excess energy into the shut resistor 1 3 2 SERVOSTAR SP Drive Module The SERVOSTAR SP Drive Module is divided into four 4 main sections 1 1 2 Fault Diagnostics circuitry which monitors various signals When a fault condition occurs the fault circuit will become latched the SP will become internally inhibited the appro
48. NOTE 8 9 10 UNDER VOLTAGE C5 im 1 n 2 o ls 4 DRIVE INPUT POWER SEE SHEET 4 10 TO CONTROLLER PIN OUT DEFINITION PIN FUNCTION DESCRIPTION 1 FEEDBACK 1 OF 4 FAULT CODE BITS 2 FEEDBACK 1 OF 4 FAULT CODE BITS FEEDBAC 3 COMMAND A D CONVERTER CLOCK DEVICE 4 COMMAND A D CONVERTER STROBE 5 FEEDBACK PHASE A ACTUAL CURRENT DATA BUS 6 FEEDBACK PHASE B ACTUAL CURRENT DATA 7 COMMAND AMPLIFIER ENABLE TO USER PROTECTION CIRCUIT SEE NOTE 1 6SHEETIO e AMPLIFIER FAULT BUS 9 COMMAND PHASE TOP COMMAND e 11 COMMAND PHASE B TOP COMMAND MA 13 COMMAND PHASE C TOP COMMAND 15 COMMON REFERENCE VOLTAGE 16 POWER 45v POWER B A FEEDBACK 1 OF 4 FAULT CODE BITS 20 FEEDBACK 1 OF 4 FAULT CODE BITS B MC 21 COMMAND A D CONVERTER CLOCK 22 COMMAND A D CONVERTER STROBE C FEEDBACIG PHASE A ACTUAL CURRENT DATA FEEDBACRA PHASE B ACTUAL CURRENT DATA 1 25 AMPLIFIER ENABLE FEEDBACK6 AMPLIFIER FAULT MOTOR CABLE SEE TEXT 27 COMMAND PHASE TOP COMMAND Do 29 COMMAND PHASE B TOP COMMAND 31 COMMAND PHASE C TOP COMMAND EARTH 38 COMMON REFERENCE VOLTAGE 34 POWER 45v POWER TYPICAL GOLDLIN
49. NSTALLATION AND TROUBLESHOOTING TO QUALIFIED PERSONNEL ONLY ALWAYS REPLACE TERMINAL COVERS AFTER SERVICING DONOT SCALE USE DIMENSIONS ONLY AS DMLETDEOREE re N Tt LL DIMENSIONS ARE INCHES UNLESS OTHERWISE SPECIFIED PLACES 2015 N en C 97514 2 C5 op 1 2 CONNECTIONS ola 04 SEE NOTE 7A ON SHEET 10 PIN POWER SUPPLY DRIVE T 15 VDC SUPPLY 15 VDC INPUT 2 15 VDC SUPPLY 15 VDC INPUT 3 DC COMMON DC COMMON 4 38 VDC SUPPLY 8 VDC INPUT LINE INPUT ta art CONNECTIONS MC 2 LC 0 3 LOGIC INPUT VOLTAGE PIN FUNCTION NOTES SEESPEC S AND TEXT otic pows 1 AC LOGIC POWER IN SEE NOTE 4 SHEET 10 TO DRIVES 5 USED INSTRUCTIONS IN TEXT SEE NOTE 1 CLOGIC POWERIN B LOW INDUCTANCE ANA EARTH GROUND CAUTION 1 UP TO 2 DRIVES TOTAL MAY BE MOUNTED TO EITHER SIDE OF POWER SUPPLY SEE MANUAL SEE NOTE 5 SHEET 10 CAD DWG HIGH VOLTAGE MAY EXIST UP TO 5 MINUTES as BEE AFTER POWER HAS BEEN REMOVED EI mee E a aan y a Kollmorgen Industrial Drives COPY CODE 2 L RADFORD VIRGINIA CHES APPO 10810 SERVO STAR SP SERIES SYSTEM WIRING CROSS REF NO 1 PLOT SCALE NO SHEET 10 OF 11 3 C 97514 ISSUE H 24 SERVOSTAR SP Series System Wiring Sheet 10 of 11 SERVOSTAR SP SERIES APPENDIX H DRAWINGS
50. ON 4 48 VDC SUPPLY 8 VDC INPUT C gt SEE NOTE 6 878 e POWERTO ON SHEET 11 EA DRIVE MOUNTED Ir LEFTOF POWER SUPPLY e BUS 2 N C L SELECT FUSES PER BUS 2 2 TO OTHER DRIVE POWER SUPPLY RATING MOUNTED RIGHT SEE NOTE 3 ON SHEET 10 ER gt OF POWER SUPPLY 1 B gt SEE NOTE 1 MB MAIN BUS NOTES INPUT NG SEE NOTE 78 MC OTES POWER ON SHEET 11 1 FOR SINGLE PHASE OPERATION INPUT POWER MUST BE WIRED TO LA AND LB OR LOGIC SUPPLY WILL NOT FUNCTION PAOS 115 230 VAC NOMINAL INPUT VOLTAGE SEE NOTE 4 ON SHEET 11 VOWINDIICTANCE ke LOW INDUCTANCE EARTH GROUND EARTH GROUND 177 WARNING CAD DWG MATERIAL FNSH E WARNING ____ Kollmorgen Industrial Drives THE SERVO STAR SYSTEM OPERATES WITH VOLTAGES ISS DATE Apps DATE APPO ee gt aa RADFORD VIRGINIA AS HIGH AS 230 VAC AND 400 VDC USE CAUTION HIGH VOLTAGE MAY EXIST UP TO 5 MINUTES AND REFER INSTALLATION AND TROUBLESHOOTING AFTER POWER HAS BEEN REMOVED SERVO STAR SP SERIES TO QUALIFIED PERSONNEL ONLY ALWAYS REPLACE EIS SYSTEM WIRING TERMINAL COVERS AFTER SERVICING PLOT SCALE DWG NO SHEETS OF TI ISSUE CROSS REF No Se 57 11 96675 2 SERVOSTAR SP Series System Wiring Sheet 5 of 11 SERVOSTAR SP SERIES APPENDIX H
51. OOLS D 1 INTRODUCTION Mating connectors are customer furnished items which may be ordered either from Kollmorgen Motion Technologies Group or purchased directly from the connector vendor Ordering information is as follows Table D 1 SERVOSTAR SP Series Drive Connector Kit CONNECTOR KIT Part Number CK102 C2 Connector Housing 12 39 01 2125 A 83908 012 Position Female Connector Housing 16 39 01 2165 A 83908 016 Position Female PIN Female 39 00 0039 A 83909 002 18 24 AWG Table D 2 Connector Tools CONNECTOR TOOLS PINS MINI FIT JR FROM MOLEX Description Engineering Order Number Number Hand Crimping Tool HTR 60622 11 01 0122 Extractor Tool HT 60630A 11 03 0038 MOLEX TELEPHONE NUMBER 708 969 4550 Kollmorgen Motion Technologies Group supplies Connector Kit P N SP1C100 with each SERVOSTAR SP Series Drive Module D 1 APPENDIX D CONNECTOR KITS amp TOOLS D 2 SERVOSTAR SP SERIES SERVOSTAR SP SERIES APPENDIX E SPECIFICATIONS APPENDIX E SPECIFICATIONS E 1 INTRODUCTION The Specifications for the Power Supply and SERVOSTAR SP Series Drives are provided in this appendix Derating information is also included for environments with high ambient temperatures As a general rule the failure rate of solid state components doubles for every ten degrees Celsius rise in temperature This exponential failure rate is strong incentive for lower ambient temperatures E 2 POWER SUPPLIES The following
52. ORMATION The safety alert symbols are illustrated as follows Safety Alert Symbols When you see these symbols in this manual be alert to the potential for personal injury Follow the recommended precautions and safe operating practices included with the alert symbols Safety notices in this manual provide important information Read and be familiar with these instructions before attempting installation operation or maintenance The purpose of this section is to alert users to possible safety hazards associated with this equipment and the precautions that need to be taken to reduce the risk of personal injury and damage to the equipment Failure to observe these precautions could result in serious bodily injury damage to the equipment or operational difficulty Warning alerts users to potential danger or harm Failure to follow warning notices could result in personal injury or death Caution directs attention to general precautions which if not followed could result in personal injury and or equipment damage Note highlights information critical to your understanding or use of these products 2 1 SECTION 2 INSTALLATION SERVOSTAR SP SERIES 23 CONVENTIONS To assist you in understanding the material in this manual conventions have been established to enhance reader comprehension Explanations of these conventions are as follows e Safety warnings cautions and notes present material that is important to user sa
53. OTHER DRIVES pd py 9 MOUNTED RIGHT LA C OF POWER SUPPLY SEEPAGE486 SEE NOTE 3 NE 2 L8 NOTES 1 CAUNTORMPTING TO ENABLE DRIVE BEFORE THIS e SEE NOTE 7B BUS OK BECOMES ACTIVE MAY CAUSE POWER SUPPLY LC ON SHEET 11 TO NOT BECOME ACTIVE e 2 UP TO 4 DRIVES MAY BE MOUNTED TO EITHER SIDE OF POWER SUPPLY SEE MANUAL SEE NOTE 5 SHEET 10 LOW INDUCTANCE eee EARTH GROUND 7 CAD DWG WARNING WARNING A T A A G A G ST mm m _ Kollmorgen Industrial Drives THE SERVO STAR SYSTEM OPERATES WITH VOLTAGES VOLTAGE MAY EXIST MINUTES A A NAGA mm mue nt RADFORD VIRGINIA AS HIGH AS 230 VAC AND 400 VDC USE CAUTION 1 om I AND REFER INSTALLATION AND TROUBLESHOOTING AFTER ROWER HAS BEEN REMOVED ra SERVO STAR SP SERIES TO QUALIFIED PERSONNEL ONLY ALWAYS REPLACE Bun SYSTEM WIRING TERMINAL COVERS AFTER SERVICING BRETT ux COPY CODE T oon 11 C 97514 2 H 20 SERVOSTAR SP Series System Wiring Sheet 6 of 11 SERVOSTAR SP SERIES APPENDIX H DRAWINGS DO NOT SCALE DWG USE DIMENSIONS ONLY NENG DMCYDEREE
54. RUISE SPECIFIED E Sen C 97514 2 POWER SUPPLY EXTERNAL REGEN PASO 75 8 5 RESISTOR ee SEE NOTE 2 D D EXTERNAL REGEN RESISTOR C ANN 5 OVERLOAD RELAY SEE NOTE 3 NOTES 1 CAUTHBN A50 PA75 and PA85 FAULT CONTACTS RATED 115 VAC 1 AMP MUST 6 BE WIRED IN SERIES WITH THE OVERLOAD RELAY AS SHOWN IM DRAWING AT C7 gt FAULT CONTACTS SEE NOTE 1 LEFT THIS CONTACT IS NORMALLY OPEN AND WILL CLOSE WITHIN s 250 MSEC AFTER APPLICATION OF CONTROL AND MAIN POWER THIS 2 CONTACT OPENS IN FAULT CONDITIONS 1 2 RESISTOR IS CONNECTED TO HIGH VOLTAGE ENSURE SUFFICENT EL F HREN CLEARANCE WHEN MOUNTING RESISTOR MAY BECOME VERY HOT C8 17 DURING OPERATION DO NOT MOUNT NEAR MATERIALS THAT ARE FLAMMABLE aD MOMENTARY OR DAMAGED BY HEAT VENTILATION MAY BE REQUIRED aj Ne PUSHBUTTON SEE WIRING DRAWING FOR SPECIFIC REGEN RESISTOR KIT EACH KIT HAS CONTACT EOM TO ENERGIZE DIFFERENT SERIES PARALLEL RESISTOR CONNECTIONS TO OBTAIN SPECIFIC MAIN POWER RESISTANCE AND POWER RATING C MAIN POWER CONTACTOR MAIN POWER CONTACTOR 8 A THERMAL OVERLOAD RELAY IS SUPPLIED IN THE REGN RESISTOR KIT e BUS THE THERMAL OVERLOAD RELAY INCLUDED IN THE KIT WAS SIZED FOR YOUR RESTANCE AND POWER RATING THE OUTPUT CONTACTS OF THE RELAY m SEE NOTE 4 ON SHEET 10 MUST BE WIRED TO DROP POWER TO THE MAIN POWER CONTACTOR IN A FAULT CONDITION AS SHOWN AT LEFT gt POWER CONTACTS OF DO NOT WIRE CONTROL POWER THRO
55. S CONTROLS CIRCUITS SHALL BE PROVIDED WITH APPROPRIATEOVER CURRENT PROTECTION 8 ALL SIGNAL AND CONTROL WIRES TO BE 22 18 AWG THE CRIMP TERMINALS ARE SUPPLIED IN THE CONNECTOR KITS IF 16 AWG WIRE IS USED ORDER MOLEX TERMINALS 39 00 0078 SHIELDED CABLES RECOMMENDED REFER TO MANUAL FOR SIGNAL DESCRIPTIONS AND REQUIREMENTS 9 SHIELDING OF SIGNAL CABLES OFTEN PROVIDES BEST PERFORMANCE WHEN SHIELDS ARE TIED ONLY AT SOURGE END 10 REFER TO MANUAL FOR SIGNAL SPECIFICATIONS 11 COMMUTATION SIGNAL FROM ENCODER S COMMUTATION TRACKS OR HALL EFFECT SENSORS MAY BE DRIVEN DIFFENENTIALLY AS SHOWN OR SINGLE ENDED INPUTS ON HX AND HX CONNECTED TO SENSOR S THE POWER BUS BETWEEN POWER SUPPLIES PAOS PA14 PA28 PA50 PA75 AND PA85 AND DRIVES SHOULD USE THE 5VDC SUPPLY FOLLOWING MINIMUM WIREGUAGE WITH 600 VAC INSULATION USE ONLY COPPER WIRE WIRE SIZE MAY BE DETERMINED FROM TABLE 310 16 OF THE NEC 60 OR 75 COLUMN RECOMMENDED WIRE GUAGE POWER SUPPLIES PAOS 14 AWG OR LARGER WIRE PA14 14 AWG OR LARGER WIRE 6 PA28 10 AWG OR LARGER WIRE PA50 6 AWG OR LARGER WIRE PA75 4 AWG OR LARGER WIRE PA85 1 AWG OR LARGER WIRE RECOMMENDED WIRE GUAGE DRIVES 5 03 14 AWG OR LARGER WIRE SX06 14 AWG OR LARGER WIRE SX10 14 AWG OR LARGER WIRE 5 20 10 AWG OR LARGER WIRE SX30 10 AWG OR LARGER WIRE 5 55 6 AWG OR LARGER WIRE RECOMMENDED SPADE TERMINALS 16 14 AWG HOLLINGSWORTH 55209545 OR SS20947SF B 12 10 AWG HOLLINGSWORTH XSS20
56. Series Drive units Failure to observe correct polarity will result in damage to the Power Supply and SERVOSTAR SP Series Drive 2 7 5 Connecting the External Regeneration Resistor s If an external regeneration resistor is required connecting points are provided on the PA Power Supply Unit Be certain that the overload relay is wired in series with the resistor and that the safety contacts are wired to prevent further operation should they open 2 6 SERVOSTAR SP SERIES SECTION 2 INSTALLATION 2 7 6 Connecting the Unregulated DC Voltage to the SERVOSTAR SP Series Drive Connector C5 The wiring between the SERVOSTAR SP Series Drive Connector C5 and the Power Supply Connector unregulated voltage is as follows 15 VDC 15 VDC COMMON 8 VDC Figure 2 1 Connector SERVOSTAR SP Series Drive C5 amp Power Supply 2 7 7 2 7 SECTION 2 INSTALLATION SERVOSTAR SP SERIES 2 7 8 Connecting the SERVOSTAR SP1 Series Drive Analog Input Output Connector C2 The pinouts are shown in Figure 2 2 Pin 1 Pin 7 Pin 3 Pin 2 Pin 8 Pin 4 Pin 5 2 8 Ic ICRTN la IA RTN Shield NC Shield Common CC_HI CC LO AC HI AC LO Figure 2 2 SERVOSTAR SP Series Drive Connector C2 AC Opmode 2 3 Differential high input command Mode 1 operation not used Mode 2 operation A phase channel Mode 3 operation command high input AC LO Opmode 2 3 Differential low input comma
57. UGH THE MAIN POWER CONTACTOR po MAIN POWER CONTACTOR CONTROL POWER SHOULD NOT BE REMOVED IF PA50 PA75 or PA85 FAULT CONTACTS OPEN AS THIS DEFEATS FAULT LEDS EK uu CIRCUIT BREAKERS OR FUSES CUSTOMER SUPPLIED 230 VAC 1096 SEE NOTE 3 Erz ON SHEET 11 e 6 TRANSFORMER MAY BE OMITTED IF CORRECT a VOLTAGE SOURCE IS 777 AVAILABLE SYSTEM POWER 3 12 L3 CAD DWG THE SERVO STAR SYSTEM OPERATES WITH VOLTAGES HIGH VOLTAGE MAY EXIST UP TO 5 MINUTES FNS EAS AS HIGH AS 230 VAC AND 400 VDC USE CAUTION AFTER POWER HAS BEEN REMOVED hss DATE APPD ECNNOECNNO DATE 884 _ Eonno DATE Tarpoarpmmer DATE Kollmorgen Industrial Drives AND REFER INSTALLATION AND TROUBLESHOOTING 2 mss a fosa _ RADFORD VIRGINIA TO QUALIFIED PERSONNEL ONLY ALWAYS REPLACE 1 Dd ERVO STAR SP SERIE TERMINAL COVERS AFTER SERVICING SERVO 8 SPS 5 H 36886 SYSTEM WIRING BLOT SCALE SHEETSOFTY SE COPY CODE T T RE REN 1 1 C 97514 2 4 3 2 1 H 23 SERVOSTAR SP Series System Wiring Sheet 9 of 11 SERVOSTAR SP SERIES DRAWINGS LOGIC SUPPLY PA LM O STATUS LEDS 6 C5 LOGIC LINE INPUT I Ron N C LC EARTH EN gt WARNING THE SERVO STAR SYSTEM OPERATES WITH VOLTAGES AS HIGH AS 230 VAC AND 400 VDC USE CAUTION AND REFER I
58. VOLTS LED becomes illuminated the SERVOSTAR SP Series Drive will be put into the Inhibit mode but not latched indicating the main DC Bus is insufficient or absent The Outputs contacts located within the Power Supply power supply module will not be affected by any faults occurring within the SERVOSTAR SP Series Drive 5 2 SERVOSTAR SP SERIES SECTION 5 TROUBLESHOOTING The green ENABLED LED must be illuminated by energizing the remote enable while no drive faults exist to get power out of the SERVOSTAR SP Series Drive More diagnostic information about the SERVOSTAR SP Series Drive is listed in the Table 5 1 5 3 4 Power Supply Amp Status LED s The status of the Power Supply module is indicated by one 1 Green and one 1 Yellow LED s Not available on all models The diagnostic information indicated by these LED s is as follows Approximately 0 25 seconds after the main power is applied the green DC BUS LED will become illuminated to indicate the presence of voltage on the main DC bus capacitors and the Bus Up output will turn on Voltage indication may range in magnitude from over 300 VDC during normal operation with AC line voltage applied to below 50 VDC when the line voltage is removed but the bus capacitors have not completely discharged The yellow REGEN LED not available on all models is for monitoring purposes only When this LED becomes illuminated the shunt regulator regeneration circuit is active The Regen
59. able input is activated 3 Only the Main AC line input voltage is removed a The main DC Bus will slowly discharge less than 2 min to below 50 VDC b The fault contact within the SERVOSTAR SP Series Drive will open due to Bus under volts when the bus drops to below about 110 VDC 4 Only the Control AC line input voltage is removed a The fault output contact in the SERVOSTAR SP Series Drive will open The drive is immediately disabled b The Power Supply fault contact will open 5 It is recommended that the input commands be held at zero upon applying power Power up delay is approximately 1 second The AC line input voltages may be removed in any sequence 1 3 SECTION 1 SYSTEM DESCRIPTION SERVOSTAR SP SERIES 1 4 TYPICAL SYSTEM DIAGRAM Figure 1 1 illustrates a typical system with all of the major components SP PA Unit Power Supply Not available on all models of Power Supplies Control Power 1 Phase Main Power 1 Phase or 3 Phase Depending on Model Number Indicators Logic Supply Analog Input Output Digital Input Output DC Bus Transformer May be Optional Servomotor 3 Phase Motor Power with Feedback Feedback to user supplied controller Figure 1 1 Typical System Diagram 1 5 SIGNAL INFORMATION 1 5 1 Current Feedback Signals Polarity positive voltage current into drive out of load Magnitude Maximum Sinewave commutation V2 X unit s max RMS rat
60. ages Captive screws are used in the power terminals of the PAOS module PA28 module and the 3 amp through the 20 amp SERVOSTAR SP Series Drive amplifiers Do not attempt to remove these screws to use ring terminals Use locking spring terminals similar to Hollingsworth XSS20945S or SS20947SF for 16 and 14 AWG wire and XSS20836 or 5S20832F for 12 and 10 AWG wire 2 7 1 Recommended Torque for Electrical Connections Table 2 1 displays the recommended torque values for terminal block and grounding connecting points All torques are measured with the wire or terminal lug underneath the screw head Table 2 1 Torque Values Connecting SPx03 06 10 20 PAOS 28 Points Amp Units Amp Units voto wenns ene 2 5 SECTION 2 INSTALLATION SERVOSTAR SP SERIES 2 7 2 Grounding Scheme To prevent shock hazard to personnel and to ensure proper operation of the SERVOSTAR SP Series Drive system the SERVOSTAR SP Series Drive Power Supply and the servo motor must be grounded properly Each SERVOSTAR SP Series Drive and Power Supply have at least two grounding screws on the front of the chassis Provisions of the National Electrical Code with respect to grounding should be followed These precautions generally deal with the ground loop currents arising from multiple ground paths Only one ground path should be used One of the screws on the chassis of the Power Supply should go to earth machine ground The other s
61. at no damage has occurred in shipment If damage is detected notify the carrier immediately Carefully remove packing material and remove the equipment from the shipping container Do not dispose of shipping materials until the packing list has been checked Parts that are contained within the shipment but not 2 2 SERVOSTAR SP SERIES SECTION 2 INSTALLATION physically attached to the equipment should be verified against the packing list If any parts are missing notify Industrial Drives at once 2 5 INSTALLATION REQUIREMENTS Proper installation and field wiring are of prime importance when considering the application of servo amplifiers Many problems may be avoided if installation of the equipment is done properly Users should familiarize themselves with and follow installation and wiring instruction in addition to all applicable codes laws and standards Pay special attention to the following topics when installing Industrial Drives equipment 2 5 1 Environmental Considerations The environment that this equipment is placed in can have dramatic effects on its operation Industrial Drives recommends that the SERVOSTAR SP Series Drive and Power Supply be operated and stored under the following conditions e Operating Temperature 0 C to 45 e Storage Temperature 20 C to 70 C e Humidity 10 to 90 Non Condensing 2 5 2 Enclosures It is suggested that the SERVOSTAR SP Series Drive and Power Supply be mounted i
62. cated on the front of the SERVOSTAR SP Series Drive amplifier Terminate Pin D at the SERVOSTAR SP Series Drive chassis ground screw Refer to System Wiring Diagram C 97514 in Appendix H Drawings and the appropriate motor HD hook up drawing 2 8 INSTALLATION CHECKLIST Refer to SERVOSTAR SP Series Drive Wiring Diagram See Appendix H Before applying power to the Power Supply and SERVOSTAR SP Series Drive check the following items to ensure proper operation To prevent damage to the equipment the motor and resolver the AC line voltage and the DC bus voltages must be connected as indicated by SERVOSTAR SP Series Drive Wiring Diagram 2 8 1 Checking the Motor Wiring Disconnect both the motor stator connector from the motor Using an ohmmeter check the continuity of each motor stator lead between the motor stator connector pin and the SERVOSTAR SP Series Drive The motor stator should be connected according to SERVOSTAR SP Series Drive Wiring Diagram 2 8 2 Checking the AC Line Voltages Open the circuit breaker or remove the fuses in the Main AC lines that are connected to the Power Supply at L L and L Remove Connector C7 from the Power Supply Apply only the AC main power Use an AC voltmeter to check and record the 1 or 3 phase line to line voltage at the circuit breaker or fuse holders Remove power Note the model number of the Power Supply and refer to Appendix C to confirm the correct Main AC voltage level Apply only the
63. ds with the proper polarity Re install Connector C2 on the Power Supply It may take up to 2 minutes for the Bus to discharge to below 50V Failure to observe correct polarity will result in damage to the SERVOSTAR SP Series Drive 2 14 SERVOSTAR SP SERIES SECTION 3 OPERATION SECTION 3 OPERATION 3 1 INTRODUCTION The information in this Section will enable you to become familiar with system components and their dependence upon one another Also it will help you ensure each component is configured and functions properly At this point all safety stops and other precautions should be in place and working properly Be prepared to stop the machine if necessary 3 2 INITIAL START UP You should now be ready to supply power to test the servo systems functions and features Work with only one axis section atatime Confirm all other SERVOSTAR SP Series Drive amplifiers are inhibited meaning the enable circuits are open Incorrect servo to position loop phasing can cause excursion oscillations or runaways CAUTION Appropriate precautions should be taken to stop the machine if necessary Limit switches and safety devices should be in place 3 3 SEQUENCE OF OPERATIONS This section contains a basic start up sequence that should be followed the first time the servo system is initialized READ THIS ENTIRE SECTION BEFORE PERFORMING ANY OF THESE PROCEDURES When you apply power to the system pay special attention to the LEDs o
64. dustrial Drives A Kollmorgen Division All rights reserved Printed in the United States of America NOTICE Not for use or disclosure outside of Industrial Drives except under written agreement All rights reserved No part of this book shall be reproduced stored in a retrieval system or transmitted by any means electronic mechanical photocopying recording or otherwise without the written permission from the publisher While every precaution has been taken in the preparation of the book the publisher assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained herein This document is proprietary information of Industrial Drives A Kollmorgen Division furnished for customer use ONLY No other uses are authorized without written permission of Industrial Drives Information in this document is subject to change without notice and does not represent a commitment on the part of Industrial Drives or the Kollmorgen Corporation Therefore information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues IBM PC is a trademark of International Business Machines Corporation U L is a trademark of Underwriters Laboratories N E C is a trademark of the National Electric Code GOLDLINE 8054 8055 PSR4 5 Motion Link PC Scope and Macro Moves are trademarks of the
65. e Return Line Feed Digital to Analog Converter Direction Limit Electro Motive Force Electro Magnetic Interference Electrostatic Discharge Goldline Cable Goldline Cable Set Hertz Current Input Output KiloHertz Kollmorgen Motion Technologies Group KiloWatts Light Emitting Diode National Electrical Code Personal Computer Part Number Peak Programmable Logic Control Pulse Width Modulation Resolver to Digital Regeneration Root Mean Square Tachometer Test Limits Underwriters Laboratories SERVOSTAR SP SERIES SERVOSTAR SP SERIES SECTION 1 SYSTEM DESCRIPTION SECTION 1 SYSTEM DESCRIPTION 1 1 INTRODUCTION Kollmorgen Motion Technology Group s KMTG SERVOSTAR SP Series product line consists of a series of smart power stages and power supplies They are fully regenerative four quadrant bi directional PWM amplifiers designed to be used with KMTG s high performance permanent magnet brushless motors or other three phase motors or loads The product is an intelligent switching power amplifier used in high power servo systems The SP1 Series of SERVOSTAR SP Series Drives has three different modes of operation 1 Direct Transistor Control 2 Two Phase Analog Current Command Input 3 Current Command Input Six Step Motor Excitation The SERVOSTAR SP Series Drive modules are available in ratings of 3 6 10 20 30 and 55 amps RMS phase continuous output power The modular design provides the flexibility for multipl
66. e axis to share a common power supply The power supplies require no input isolation transformer The SERVOSTAR Power Supply modules are available in sizes of Logic only 8 14 28 50 75 and 85 amps RMS phase continuous AC input line ratings The SERVOSTAR SP Series product line rates all currents as RMS values for sine wave control 1 2 FEATURES Highlighted design features include e Modular construction maximizing serviceability and economy e Two piece plug connectors interfacing e High frequency up to 32 kHz motor current ripple for quality servo performance higher efficiency and less audible noise e Differential analog inputs Modes 2 amp 3 e Extensive protection features including Main power bus over volts shutdown main power bus under volts lock out peak over current shut down short circuit and over temp shutdown logic bus under volts shut down and PWM frequency limiting circuitry e Status Indicator Solid State Relay turns on indicating the amplifier is ready for input command signal opens on fault conditions e Power Supply units contain a Soft Start function for direct line connection e The 14 and 28 amp Power Supply unit includes 40 watts of internal shunt regulation The 28 50 75 and 85 Amp Power Supplies have external shunt regulator resistor options e Diagnostic LED indicators located on the front panel on both the SERVOSTAR SP Series Drives and the Power Supply modules 1 1 SECTION 1 SYSTE
67. e must be provided The motor ground wire should be connected as shown by SERVOSTAR SP Series Drive Wiring Diagram 2 Motor armature leads must not be run in conduit or wire ducts with any signal carrying conductors 3 The feedback leads and motor armature leads must be wired according to SERVOSTAR SP Series Drive Wiring Diagram 4 The motor system resolver must be set at its zero point 5 3 3 SERVOSTAR SP Series Drive Status LED s The status of the SERVOSTAR SP Series Drive modules is indicated by two 2 Green and four 4 Red LED s The diagnostic information indicated by these LED s is listed as follows Approximately a half a second after all power is applied the green CONTROL VOLTS LED on the front of the SERVOSTAR SP Series Drive module should become illuminated to indicate that the Control AC line input voltage is applied No fault red LED s should be illuminated The red short circuit LED is activated by protection circuitry with the power device It will activate on an over temp or shorted output load condition When the red OVER CURRENT LED becomes illuminated it indicates an over current condition has occurred usually due to excessive current command The SERVOSTAR SP Series Drive will become latched in the Inhibit mode If the red OVER VOLTS LED becomes illuminated the SERVOSTAR SP Series Drive will become latched in the Inhibit mode indicating the presence of excessive main DC bus voltage When the red UNDER
68. e nennen nennen rennen eene nen eren 2 6 Connecting the 2 12 Connecting the SERVOSTAR SP Series Drive Analog Input Output Connector 2 2 8 Connecting the SERVOSTAR SP Series Drive Digital Input Output Connector 2 9 Connecting the SERVOSTAR 5 2 Series Drive Digital Input Output Connector 1 2 11 Connecting the Unregulated DC Voltage to the SERVOSTAR SP Series Drive Connector C5 2 7 CONVENTIONS rt 2 2 Abbreviations ill 2 2 Model Numbering Schemes cs saa as aas te den etam ep ei ere Ru ee tre 2 2 Current Feedback Signals neige ene Ie e epe pela 1 4 Current Ratings and Duty 24222221 0 000000000000000000 1 5 s yis a Electrical Connections nr dee 2 4 Connecting the AC Input Voltage sees 2 6 Connecting the External Regeneration 2 7 Connecting the Main DC Bus Voltage esee een rennen nennen 2 6 Connecting the Motor eed pira 2 12 Connecting the SERVOSTAR SP Series Drive Analog Input Output Connector C2 2 8 Connecting the SERVOSTAR SP Series Drive Digital Input Output Connector C3 2 9 Connecting the SERVOSTAR SP2 Series Dri
69. e to be an expert in motion control to operate the system however this manual does assume you have a fundamental understanding of basic electronics and motion control concepts and safety An understanding of computer operation techniques will be beneficial to most users however this product is designed to be used without prior computer knowledge It is recommended that you read this ENTIRE manual before you attempt to install the SERVOSTAR SP Series Drive This will familiarize you with the system components and their relationship to one another After installation check all system parameters to insure you have configured your SERVOSTAR SP system properly Be sure to follow all instructions carefully and pay special attention to safety 1 1 INTRODUCTION SERVOSTAR SP SERIES INSTALLATION AND START UP GUIDELINES In order to ensure proper operation of the SERVOSTAR SP system it is recommended that the installation and setup information in this manual be read and followed while mounting and wiring the unit Failure to follow warnings cautions notes and recommendations may affect system performance safety and may void the product warranty REFER TO THE FOLLOWING SECTIONS TO ENSURE PROPER INSTALLATION OF THE SERVOSTAR SP SERIES DRIVE Section 1 System Description Section 2 Installation Appendix E Specifications Appendix H Drawings SERVOSTAR SP SERIES INTRODUCTION THANK You Motion Technologies Group Thank you and cong
70. election jumper 2 pin 3 to pin 14 A phase current loop resistor G 1 APPENDIX G CURRENT LOOP COMPENSATION SERVOSTAR SP SERIES pin 4 to pin 13 A phase current loop capacitor pin 5 to pin 12 B phase current loop resistor not used with Mode 3 pin 6 to pin 11 B phase current loop capacitor not used with Mode 3 pin 7 to pin 10 C phase current loop resistor not used with Mode 3 pin 8 to pin 9 C phase current loop capacitor not used with Mode 3 16 15 14 13 12 11 10 9 Co C1 WN Mode Selection Mode 1 jumper 1 jumper 2 comp header omitted Mode 2 jumper 1 installed jumper 2 omitted Mode 3 jumper 1 installed jumper 2 installed Table G 1 Compensation Values MOTOR RP S R C MODEL RATING K ohms uF B 102B 0 056uf B 106A 3 6 AMPS 130kohm 0 01uf B 106B 6 12 AMPS 68 8kohm 0 022uf B 106C 6 12 AMPS 47 5kohm 0 033uf B 104B 6 12 AMPS 100kohm 0 015uf B 106C 10 20 AMPS 75kohm 0 018uf G 2 MOTOR RP S R C MODEL RATING Kohms uF B 204A 3900pf B 204B 6800pf B 204D 10 20 AMPS 90 9kohm 0 015uf B 206A 3 6 AMPS 392kohm 3900pf B 206B 6 12 AMPS 201kohm 7500pf B 204C 10 20 AMPS 110kohm 0 01uf B 206B 10 20 AMPS 332kohm 4700pf SERVOSTAR SP SERIES MOTOR MODEL B 206C B 206D B 206E B 206E B 206F B 402C B 404A B 404B B 404C B 404D B 404E B 406A B 406B B 404C B 404C
71. en Motion Technologies Group warrants that equipment delivered by it to the Purchaser will be of the kind and quality described in the sales agreement and or catalog and that the equipment will be free of defects in design workmanship and material The terms and conditions of this Warranty are provided with the product at the time of shipping or in advance upon request A 1 APPENDIX A WARRANTY INFORMATION A 2 SERVOSTAR SP SERIES SERVOSTAR SP SERIES APPENDIX B REGIONAL SALES OFFICES B CUSTOMER SUPPORT Kollmorgen is committed to quality customer service Note If you are unaware of your local sales representa Our goal is to provide the customer with information and tive please contact us at the number below Visit our resources as soon as they are needed This one number web site for MotionLink software upgrades technical provides order status and delivery information product articles and the most recent version of our product information and literature and application and field manuals techncial assistance Kollmorgen Customer Support Network 203 Rock Road Suite A Radford VA 24141 Phone 888 774 KCSN 5276 Fax 540 639 1640 Inside Sales Fax 540 639 1574 T echnical Suppor t Email servo Kollmorgen com Http wwwKollmorgen com B 1 APPENDIX B REGIONAL SALES OFFICES B 1 1 B 1 2 Southern Region Kollmorgen Motion Technologies Group 118 North Avenue Suite H Jonesboro GA
72. eneration Resistor S oooonocnoncnonnconocononononanonnnonnnnnn 2 4 SECTION 2 INSTALLATION CONTINUED TABLE OF CONTENTS SERVOSTAR SP SERIES 2 7 Electrical RN 2 4 2 7 1 Recommended Torque for Electrical Connections nennen een 2 5 2 7 2 Grounding Scheme Reb teo iii ista sio daras 2 6 2 7 3 Connecting the AC Input Voltage C 2 6 2 7 4 Connecting Main DC Bus 2 0 4 4 1 000 2 6 2 7 5 Connecting the External Regeneration 4 2 7 2 7 6 Connecting the Unregulated DC Voltage to the SERVOSTAR SP Series Drive Conhector EH A A treatise 2 7 2 7 7 Connecting the SERVOSTAR SP Series Drive Analog Input Output A 2 8 2 7 8 Connecting the SERVOSTAR SP Series Drive Digital Input Output Connector ias 2 9 2 7 9 Connecting the SERVOSTAR SP2 Series Drive Digital Input Output Connector CH os 2 11 2 7 10 Connecting the enda sten diodo Nelson 2 12 2 8 Installation CheckliS tiroidea 2 13 28 1 Checking the Motor Wiring cen epp eget RR eres 2 13 2 8 2 Checking the AC Line eee e oie t 2 13 2 8 3 Checking the DC Bus 2 13 SECTION 3 OPERATION
73. fety Be sure to read any safety notices you see as they could prevent equipment damage personal injury or even death to you or a co worker e Bold text highlights other important information that is critical to system operations e CAPITALIZED text stresses attention to the details of the procedure e Underlined text emphasizes crucial words in sentences that could be misunderstood if the word is not recognized 2 3 1 Model Numbering Scheme Al SERVOSTAR components contain a model and serial number printed on a tag on the side panel The model number identifies how the equipment is configured Refer to Appendix C for the model number scheme tables These tables explain what the model configurations are You should verify that the model numbers represent the equipment desired for your application Also verify the compatibility between components of the servo system 2 3 2 Abbreviations CCW Counter Clockwise CW Clockwise DIFF CMD Differential Command D L Direction Limit GC GoldLine Cable GCS GoldLine Cable Set KMTG Kollmorgen Motion Technologies Group LED Light Emitting Diode NEC National Electrical Code P N Part Number R D Resolver to Digital Regen Regeneration TL Test Limits UL Underwriters Laboratories 2 4 UNPACKING AND INSPECTION Electronic components in this amplifier are static sensitive Use proper procedures when handling component boards Upon receipt of the equipment closely inspect components to ensure th
74. hat no fault conditions exist Fault Output High Side Opmode All Optically isolated fault output transistor s drain The transistor is normally on indicating that no fault conditions exist Shield Opmode 1 3 Provided for connection of cable shields if necessary Best shielding may result by connection at the other source end 2 7 10 Connecting the Servostar SP2 Series Drive Digital Input Output Connector C1 See System Wiring Diagram C 97514 sheet 4 of 11 in Appendix H Drawings SECTION 2 INSTALLATION SERVOSTAR SP SERIES 2 7 11 Connecting the Motor B SERIES MOTORS have a thermostat switch wired to the resolver connector at the motor BR SERIES MOTORS have a thermostat switch wired to the stator connector at the motor The motor thermostat switch is an automatic resetting device and should be connected directly into a latched locked out power down type circuit Incorrect motor resolver or encoder phasing can cause erratic operation runaway or damage to the system The leads of the three phase synchronous motor are brought out to Pins A B and C of the motor connector Pin D is ground for the motor Refer to Figure 2 5 for pin connections A BOTTOM B BOTTOM C BOTTOM Figure 2 5 Motor Connections 2 12 SERVOSTAR SP SERIES SECTION 2 INSTALLATION Terminate Pins A B and C of the motor connector to Ma Mb and Mc respectively on the power terminal block lo
75. icate the power is energized and operating e Soft start circuitry to limit inrush currents e Internal External Regen shunt regulator with a yellow LED indicator The power supply has a 40W rated internal resistor for light duty applications For heavier duty applications a jumper on the front terminal block is removed and an external resistor is connected E 1 APPENDIX E SPECIFICATIONS SERVOSTAR SP SERIES The relay output is a normally open contact which closes upon application of power to the power supply and after soft start is completed The contacts will open if the internal Regen resistor or main heatsink becomes too hot or if there is improper power supply output The logic power section consists of a 115VAC PA14xx or a 230V PA28xx input SMPS for generating the required 15 VDC and 7 5 VDC Logic Power The PA14xx can drive up to 2 SERVOSTAR SP Series Drive amplifiers The PA28xx can drive up to 4 SERVOSTAR SP Series Drive amplifiers The Regen resistor is fuse protected E 2 4 Power Supply PA50xx PA75xx PA85xx The PASOxx PA75xx and PA85xx Power Supply units are identical except that the 75 amp and 85 amp units have higher power components and more capacitive filtering Neither of the units have internal regeneration but each has the electronics internal and requires an external resistor The main dc bus section is designed to operate from 230 VAC three phase input mains Features of this power supply include
76. information describes the power supplies used with SERVOSTAR SP Series Drives They are standard members of the SERVOSTAR family E 2 1 Logic Supply Module PA LM The Logic Supply Module is designed to supply power for up to two SERVOSTAR SP Series drives It does not supply Motor Bus Power It is used where the application requires more than 4 axes of drives running from the same power supply or where bus power is derived elsewhere E 2 2 Power Supply PA08xx This modular power supply has two sections a main dc bus and logic power The main dc bus section consists of input line filters three phase diode bridge bus caps and soft start circuitry to limit inrush currents The main dc bus section is designed to operate from either 115 VAC single phase or 230 VAC three phase input mains A green LED indicates when there is voltage on the bus caps The logic power section consists of a universal input SMPS for generating the required 15 VDC and 47 5 VDC Logic Power for one or two SERVOSTAR SP Series Drive amplifiers The SMPS input is connected to the La and Lp main dc bus input terminals E 2 3 Power Supply PA14xx and PA28xx These modular power supplies have two sections a main dc bus and logic power The main dc bus section is designed to operate from 115VAC for the PA14 or 230 VAC three phase for the PA28 Features of these power supply include A green LED to indicate when there is voltage on the bus caps e Relay output to ind
77. ing 8 volts peak of sinewave Six step commutation unit s max RMS rating x 3 2 7 93 volts peak of six step wave 1 5 2 PWM Input Command Signals Used in Mode 1 operation High side positive with respect to low side results in current out of unit into load turns phase s top transistor on and bottom transistor off 1 4 SERVOSTAR SP SERIES SECTION 1 SYSTEM DESCRIPTION Low side positive with respect to high side results in current out of load into unit turns phase s top transistor off and bottom transistor on High side low side turn s phase s top and bottom transistors off 1 5 3 Analog Input Signals Polarity positive voltage results in current into unit out of load Magnitude Maximum Mode 2 operation sinewave commutation 2 x unit s RMS rating 10 volts peak of sinewave Mode 3 operation six step commutation unit s max RMS rating x 3 2 8 66 volts DC level Phasing Mode 2 operation only AC_HI AC_LO leading CC_HI CC_LO by 120 electrical results in clock wise rotation viewing motor s shaft end for motors with ACB phasing such as Kollmorgen s GoldLine motors 1 5 4 Six step Commutation Commutation Signals Phasing Requirement Hl leads H2 by 120 elect which leads H3 by 120 elect with motor clock wise rotation viewing motor s shaft end Commutation Signals Alignment Requirement Hl in phase with motor s A phase with respect to
78. l proportional to rotational velocity Tachometers can be either brush or brushless Torque The rotary equivalent to force Equal to the product of the force perpendicular to the radius of motion and distance from the center of rotation to the point where the force is applied Velocity The change in position as a function of time Velocity has both a magnitude and direction Glossary 3 GLOSSARY SERVOSTAR SP SERIES Glossary 4 SERVOSTAR SP SERIES INDEX INDEX lt A Abbreviationsi HRS UU RS Uie o Lea 2 2 Analog Input 51 V 1 5 Assembly iii 2 3 Mon gt gt ebbe ete ite ee Ie itte e iS ete E cett eue Edited 2 3 Mounting the External Regeneration Resistor s sees ener 2 4 2B Brushless DC Motor seen Dao deo OR Dp dienen deett pen des 1 3 zs Checking the AC Line 6 2 13 Checking the DC Bus 2 13 Checking the Motor Wiring 2 13 Connecting the AC Input Volta 2 6 Connecting the External Regeneration Resistor S essent eene 2 7 Connecting the Main DC Bus Voltage ss
79. n a cabinet or other suitable enclosure to protect them from physical and environmental damage Refer to Appendix E for complete system dimensions Allow sufficient clearance for the large regenerative heat producing resistor s mounted at the upper edge of the Power Supply unit and the externally mounted regen shunt regulator power resistor s 2 6 ASSEMBLY The SERVOSTAR SP Series Drive and Power Supply are both constructed prior to shipping from the factory The only assembly required is the mounting of the devices Operation in Modes 2 or 3 may require addition of the COMP header 2 6 1 Mounting Refer to the drawing of your model system in Appendix H for outline and dimensions Be sure to look at the proper drawing for mounting measurements The Power Supply and SERVOSTAR SP Series Drive modules should be mounted in the vertical position Depending on the continuous current ratings of the SERVOSTAR SP Series Drive and Power Supply modules up to four units may be mounted with a single power supply 2 3 SECTION 2 INSTALLATION SERVOSTAR SP SERIES Refer to the drawing of your model system in Appendix H for the Mounting Hole Pattern information Allow sufficient clearance for the large regenerative heat producing resistor s The internal resistors are mounted at the upper edge of the Power Supply unit The externally mounted regen shunt regulator power resistor s are mounted above the Power Supply unit
80. n the SERVOSTAR SP Series Drive front panel The CONTROL VOLTS green LED should be illuminated This indicates that the system is functioning properly Should a FAULT red LED remain on for more than a instant immediately disconnect power and consult Section 5 Troubleshooting Apply power Enable only one SERVOSTAR SP Series Drive The Green Enabled LED should illuminate Observe the action of the machine If the direction of the motor shaft rotation is reversed motor shaft turns in the wrong direction remove power If the servo system performed properly then read Section 4 Maintenance for adjustments and other information that may be helpful in adapting your system to your own applications SECTION 3 OPERATION 3 2 SERVOSTAR SP SERIES SERVOSTAR SP SERIES SECTION 4 MAINTENANCE SECTION 4 MAINTENANCE 4 1 INTRODUCTION The information in this Section will enable you to maintain the systems components ensuring smooth efficient operation of the motor 4 2 PREVENTATIVE MAINTENANCE Preventative maintenance to this equipment must be performed by qualified personnel familiar with the construction operation and hazards involved with CAUTION the application A Electronic components in this amplifier are static sensitive Use proper procedures when handling component boards CAUTION Preventative maintenance should be performed with the SERVOSTAR SP Series Drive system out of operation and disconnected from all sou
81. nd AC_LO Mode 1 operation not used Mode 2 operation A phase channel Mode 3 operation command low input Shield Opmode 2 3 A phase input cable shield connection CC HI Opmode 2 Differential high input command CC HI Mode 1 operation not used Mode 2 operation C phase channel Mode 3 operation not used CC LO Opmode 2 Differential low input command CC LO Mode 1 operation not used Mode 2 operation C phase channel Mode 3 operation not used Shield Opmode 2 C phase input cable shield connection I Opmode 1 A phase current feedback signal used with Mode 1 operation available in other modes SERVOSTAR SP SERIES SECTION 2 INSTALLATION Pin11 Opmode 1 A phase current feedback signal return used with Mode 1 operation available in other modes Pin6 Ic Opmode 1 C phase current feedback signal used with Mode 1 operation available in other modes 12 IcRTN Opmode 1 C phase current feedback signal return used with Mode 1 operation Pin 9 Common Opmode All Circuit common Pin 10 Not Used No connection not used 2 7 9 Connecting the SERVOSTAR SP1 Series Drive Digital Input Output Connector C3 The following descriptions tell the user which inputs and modes of operation are available enable the user to identify the appropriate connecting points on Connector C3 and help the user decide which inputs and modes of operation to use The pinouts are shown in
82. nd SERVOSTAR SP Series Drive careful not to create a grounding loop with multiple ground paths Follow the NEC s provisions on grounding 4 2 4 Radio Frequency Energy AN This equipment generates radio frequency energy NOTE This equipment can radiate radio frequency energy and must be installed and used in accordance with this installation and service manual in order to prevent possible interference with radio communications or other electronic equipment 4 3 PERIODIC MAINTENANCE 42 SERVOSTAR SP SERIES SECTION 4 MAINTENANCE Periodic maintenance must be performed by qualified personnel familiar with the construction operation and hazards involved with the SERVOSTAR SP Series Drive and its application Power should be disconnected during all maintenance procedures 4 3 1 Ventilation The Power Supply and SERVOSTAR SP Series Drive should be mounted vertically to allow maximum ventilation ofthe components This configuration allows the heat generated by the components to vent through the top and draft in cooler air through the bottom The top and bottom of the components are vented to allow this drafting to occur These ventilation passages should be kept open Inspect all fans on a regular basis 4 3 2 Grounding Integrity The method employed for grounding or insulating the equipment from ground should be checked to assure its integrity on a regular basis This check should be performed with the power off and the testing equi
83. nsion Drawing H 3 SERVOSTAR SP Series 10 Amp Drive Outline and Dimension Drawing H 4 SERVOSTAR SP Series 20 Amp Drive Outline and Dimension Drawing H 5 SERVOSTAR SP Series 30 Amp Drive Outline and Dimension Drawing H 6 SERVOSTAR SP Series 55 Amp Drive Outline and Dimension Drawing eee H 7 Power Supply PAO8xx Outline and Dimension H 8 Power Supply PA14xx and PA28xx Outline and Dimension H 9 Power Supplies PASOxx 75 PA85xx Outline and Dimension Drawing H 10 Power Supply PAO8xx Simplified Schematic Diagram H 11 Power Supplies 14 and PA28xx Simplified Schematic H 12 Power Supplies PASOxx PA75xx and PA85xx Simplified Schematic Diagram H 13 SPIXXXX Simplified Schematic naen naen anana ananem anae anae nete n naen trennen H 14 SERVOSTAR SP Series System Wiring Dwg No C 97514 11 5 5 H 15 H 1 APPENDIX H DRAWINGS H 2 SERVOSTAR SP SERIES APPENDIX H DRAWINGS
84. ode the header with the current loop compensation components must be installed on the unit at location COMP because the jumper between Pins 1 and 16 sets the unit for this mode of operation SERVOSTAR SP SERIES SECTION 1 SYSTEM DESCRIPTION 5 When the six step mode is selected Mode 3 one of the differential analog inputs is used as a current command input and the PWM inputs of Mode 1 are used as the commutation Hall sensor inputs Internal circuitry processes these signals to generate motor current using internal analog proportional plus integral current loop with 10 kHz PWM and does the commutation sequencing To use the unit in the six step mode the header with the current loop compensation components must be installed on the unit at location COMP A jumpers between Pins 1 and 16 and the jumper between Pins 2 and 15 set the unit for this mode of operation 1 3 3 Brushless DC Motor The KMTG GoldLine B and M Series and SilverLine Series brushless motors feature the latest in permanent magnet technology utilizing high energy Neodymium Iron Boron alloys These brushless motors consist of permanent magnet rotors and three phase Y stator windings This places the heat producing member on the outside where it can best dissipate heat These motors depending on size are either four or six pole motors Since they are brushless motors there are no commutators or associated brushes The motors run as synchronous motors meaning
85. ohms 400W Table C 3 SERVOSTAR SP Series Drive Model Number Scheme EXAMPLE LEGEND LEGEND DEFINITION A SERVOSTAR Based SERVOSTAR SP 1 Standard Interface 2 Delta Tau Interface 03 06 10 20 30 55 Output RMS Current Per Phase Continuous Voltage 1 160V Bus 2 325V Bus Motor and Winding Destination Compensation Mode Compensation Header Populated for Mode 2 Operation Compensation Header Populated for Mode 3 Operation Omit E for Mode 1 operation or for user built Compensation header A gt D Options G 3 1 APPENDIX C MODEL NUMBERS SERVOSTAR SP SERIES Table C 4 Compensation Card Model Designator EXAMPLE CMP SP103 2204A LEGEND LEGEND DEFINITION CEA CONT C 1 CABLE BUS WIRE AND MATING CONNECTOR KIT INFORMATION Extra or spare bus wire and complete cable assemblies are available from KMTG Mating connector kits are available from KMTG or may be purchased directly from the connector vendor C 2 CABLE MODEL NUMBER SCHEME FOR INDIVIDUAL CABLE Individual cables can be provided by GC Goldline Cable Models To assist in ordering the model number scheme for an individual cable is as follows Table C 5 Cable Model Number Scheme for Individual Cable Bayonet Type Connector EXAMPLE GC M2 4 5 03 LEGEND A B C D LEGEND DEFINITION Goldline Cable With Bayonet Type Connector individual cable Motor Power Cable with Mating Plug or Feedback Option Cable M
86. pment grounded 4 3 SECTION 4 MAINTENANCE 4 4 SERVOSTAR SP SERIES SERVOSTAR SP SERIES SECTION 5 TROUBLESHOOTING SECTION 5 TROUBLESHOOTING 5 1 INTRODUCTION The information in this Section will enable you to isolate and resolve common system hardware problems The troubleshooting methods in this manual isolate each component from the system until the problem is resolved 5 2 FIELD SERVICEABILITY Dangerous voltages exist in this equipment Also motor temperature may A exceed 100 C Extreme caution should be exercised when troubleshooting this equipment Only qualified individuals should attempt to install setup CAUTION operate or troubleshoot this equipment The SERVOSTAR SP Series Drive and Power Supply are designed to promote minimum down time situations Due to the compact package size and to the fact that there are few user serviceable components on the modules it is recommended that they be replaced if they cease to function properly Return the modules in their entirety to Industrial Drives for repair The SERVOSTAR SP Series Drive modules may be interchanged provided the following guidelines are adhered to 1 The SERVOSTAR SP Series Drive modules must be the same rating 2 The compensation header if used is loaded with the same values Modes 2 and 3 only Before beginning the troubleshooting process consider the following points I There are four 4 distinct areas within which a fault may occur A
87. priate red LED will become illuminated and the fault output will open indicating that the SERVOSTAR SP Series Drive is in its Inhibit mode A toggle on the reset input will attempt to reset the latch The Input Output interface circuitry is divided into two functions A Signals between the load and the SERVOSTAR SP Series Drive B Signals between the signal source PLC CNC etc and SERVOSTAR SP Series Drive There are numerous signals that may be used to interface between the signal source PLC CNC etc and the SERVOSTAR SP Series Drive These inputs and modes of operation differ with each application When the external current loop mode is selected Mode 1 the command signals are via the three sets of differential inputs Current feedback outputs for A phase and phase leads are supplied for externally closing the current loops When the current loops are external to the unit there is no control on the PWM frequency and as a result no control of switching losses To use the unit in the external current loop mode DO NOT install the header at location COMP When the internal current loop mode is selected Mode 2 the command signals are input via the two differential analog inputs for two out of the three phase current command Internal circuitry processes these signals to generate current in a load using internal analog proportional plus integral current loops with 10 kHz PWM To use the unit in the internal current loop m
88. r Power Supply Reset Procedures 5 3 APPENDIX A WARRANTY INFORMATION 11 SERVOSTAR SP SERIES TABLE OF CONTENTS APPENDIX B REGIONAL SALES OFFICES APPENDIX C MODEL NUMBERS APPENDIX D CONNECTOR KITS 8 TOOLS APPENDIX E SPECIFICATIONS APPENDIX F OPTIONS APPENDIX G CURRENT LOOP COMPENSATION APPENDIX H DRAWINGS GLOSSARY INDEX 111 TABLE OF CONTENTS SERVOSTAR SP SERIES LIST OF FIGURES Figure Title Page 1 1 Typical System 9 5 1 4 2 1 Connector SERVOSTAR SP Series Drive C5 amp Power Supply 2 7 2 2 SERVOSTAR SP Series Drive Connector 2 1 2 2 2 2 1 00000000000000000000 2 8 2 3 SERVOSTAR SP Series Drive Connector 2 9 24 Enable and R set ici 2 11 25 22 Motor Connections ida 2 12 iv SERVOSTAR SP SERIES TABLE OF CONTENTS Table Title Page 5 1 SERVOSTAR SP Series Drive Status LED Indicator Troubleshooting 5 4 5 2 Power Supply Status LED Indicator Troubleshooting eee 5 4 TABLE OF CONTENTS SERVOSTAR SP SERIES LIST OF DRAWINGS Drawing Page SERVOSTAR SP Series 3 amp 6 Amp Drive Outline and Dimension H 3 SERVOSTAR SP Series 10
89. r supply module in descending order according to their continuous current ratings Follow these precautions 1 Observe all notes on the wiring diagram 2 4 SERVOSTAR SP SERIES SECTION 2 INSTALLATION 2 All motor stator leads signal input leads resolver leads and encoder leads must be shielded 3 Twist all AC leads to minimize electromagnetic emissions noise 4 Avoid running signal leads must be shielded in close proximity to power leads motor stator leads or other sources of electromagnetic noise 5 Minimize lead lengths as much as possible 6 Connect the SERVOSTAR SP system according to the System Wiring Diagram pay close attention to the grounding scheme 7 Provide adequate stress relief for cables Thermal overload protection for the motor is not provided within the SERVOSTAR SP Series Drive and must be provided externally Refer to the National Electrical Code for proper sizing of overload protection Motor thermostat is often sufficient With the exception of the hook up of the motor the main input voltage and the main Bus and Bus DC voltage all interface wiring between the SERVOSTAR SP Series Drive Power Supply and other equipment is accomplished by connectors supplied with the SERVOSTAR SP Series Drive and Power Supply units The input output connections are grouped by connector or terminal block They are input output motor AC main power and control voltages main DC bus and unregulated DC volt
90. ratulations for choosing Industrial Drives servo products for your motion control requirements We seek to provide our customers with quality products excellent support and outstanding value In an effort to provide you with dependable and useful documentation we offer you an opportunity to critique this manual with your comments and suggestions Your feedback on this reader comments form is very important to us Please answer the questions below and return the form to INDUSTRIAL DRIVES Technical Manual Department 201 Rock Road Radford VA 24141 U S A FAX 540 731 0847 Name Title Company Street Address City State Zip Telephone Fax Product Manual Part Number Please check the rating that best represents your opinion on each topic Excellent Good Fair 1 Overall clarity and readability a a a a 2 Organization of the manual a a a a 3 Information completeness a a a a 4 Information accuracy a a a a 5 Installation procedures a a a a 6 Ability to quickly find information you need a a a a 7 Graphics a a a a 8 Figures usefulness a a a a 9 Tables usefulness a a a a 10 Overall rating of this manual a a a a Please list any errors What did you like least about this manual What did you like most about this manual How would you improve this manual Signature Date 1 3 INTRODUCTION SERVOSTAR SP SERIES COPYRIGHT INFORMATION Copyright 1997 In
91. rces of power 4 2 1 Transient Voltages AN All transient producing devices must be properly suppressed NOTE Solid state controls of the SERVOSTAR SP Series Drive may be affected by transient voltages These voltages are in excess of the specified voltage for any given circuit When these peak voltages occur even for less than a second permanent damage to the SERVOSTAR SP Series Drive can occur In order to help avoid transient voltages that may interfere with electronic circuit functions within the Power Supply and SERVOSTAR SP Series Drive all switched inductive devices or their wiring solenoids relay coils starter coils etc must be suppressed A 220 ohm 1 2 watt resistor in series with a 0 5 micro farad 600 volt capacitor or equivalent is suggested 4 1 SECTION 4 MAINTENANCE SERVOSTAR SP SERIES 4 2 2 Surge Current Excessive current greater than that of the specified limits of the Power Supply and SERVOSTAR SP Series Drive can cause permanent damage to the system Current limiting means are recommended to protect from these currents If the short circuit inrush current generated by the power source is in excess of 5000 amps RMS symmetrical current an isolation transformer or line inductor must be utilized in the incoming power circuit Failure to observe this precaution could result in damage to or destruction of the Power Supply and CAUTION SERVOSTAR SP Series Drive Input transformers step up or step down input
92. rratic or Exhibits an Improper Mode of Operation 5 2 Theory of utet sera ang 1 2 Brushless DC Motor 2 1 3 Power Supply Module rir t pr Fere ee re Ee re eire 1 2 Power Up Down Sequencig ie ere ia 1 3 ________ 1 2 Transient Voltages 4 1 Typical System Dia eras u essen esta en bes arten 1 4 U INDEX 111 INDEX Unpacking Ventilation Ze SERVOSTAR SP SERIES ANG ANS siu E 2 2
93. te cite tecti Bsp SEID 3 1 SERVOSTAR SP Dnye Module estin ger Ute Daten ane le FREE Meta Pep HA Pu ERES 1 2 SERVOSTAR SP Series Drive or Power Supply Reset Procedures esee 5 3 SERVOSTAR SP Series Drive Status LED S sess eter enne nennen eren 5 2 Signal Information NN 1 4 Analog Input Signals sasa ana pte RU eio I dec 1 5 Current Feedback Signals no la 1 4 PWM Input Command Signals 1 4 1 5 SiXsstep COmmnutation ebenen cite dpi tee te update eee cete ppt nectit 1 5 SUrge ace tr det a e iet er qe ot iUt ie ed 4 2 Symptoms and Corrections iii reete rere RH e Se Feet Me pe ree ERE iR 5 2 Power Supply Amp Status LED s M 5 3 SERVOSTAR SP Series Drive or Power Supply Reset Procedures see 5 3 SERVOSTAR SP Series Drive Status 5 2 The Motor Exhibits Very Low Torque or is Totally Inoperative 5 2 The Motor is Erratic or Exhibits an Improper Mode of Operation 5 2 The Motor Exhibits Very Low Torque is Totally 5 2 The Motor is E
94. the rotor speed is the same as the speed frequency of the stator s rotating magnetic field The feedback device is typically a brushless resolver mounted internally as part of the overall motor construction Other available options include integral brush tachometers and encoders For more information refer to the Installation and Service Manual B Series Brushless Motors M 89031 1 3 4 Power Up Down Sequencing It is recommended that the control voltage be applied first and then apply the main AC voltage Next check for faults and then enable the SERVOSTAR SP Series Drive Typical Power up sequence 1 Only the Control AC line input voltage is applied a The logic bus comes up b A power up reset pulse is generated in the SERVOSTAR SP Series Drive c If no faults other than main bus under volts are present after the power up reset pulse is generated a delay of 0 6 seconds then the drive is ready to be enabled However there can be no load activation until the main AC line input voltage is applied 2 AC line input voltage is applied a The soft start circuit charges the Main DC bus capacitors in the Power Supply through a current limiting resistor and then this resistor is bypassed b The under voltage fault in the SERVOSTAR SP Series Drive is now cleared after approximately 0 15 sec delay and the fault output in the SERVOSTAR SP Series Drive will close The drive is ready to be enabled and will enable once the en
95. ty Undesirable motion of an actuator that is different from the command motion Instability can take the form of irregular speed or hunting of the final rest position Limits Motion control systems may have sensors called limits that alert the control electronics that the physical end of travel is being approached and that motion should stop Logic Ground An electrical potential to which all control signals in a particular system are referenced Loop Feedback Control A control method that compares the input from a measurement device such as an encoder or tachometer to a desired parameter such as a position or velocity and causes action to correct any detected Glossary 2 error Several types of loops can be used in combination 1 6 velocity and position together for high performance requirements Master Slave Motion Control A type of coordinated motion control where the master axis position is used to generate one or more slave axis position commands Motor AC A device that converts electrical alternating current into mechanical energy Requires no commutation devices such as brushes Normally operated off commercial AC power Can be single or multiple phase Oscillation An effect that varies periodically between two values PLC Programmable Logic Controller Also known as a programmable controller these devices are used for machine control and sequencing Power The rate at which work is done
96. ve Digital Input Output Connector C1 2 11 Connecting the Unregulated DC Voltage to the SERVOSTAR SP Series Drive Connector C5 2 7 Grounding 650 C V 2 6 Recommended Torque for Electrical 2 5 IJV TE SEA 4 2 Enclosures Ree beer e 2 3 Environmental e tont ree Re e tmp 2 3 INDEX SERVOSTAR SP SERIES Es Features suos ui DURO 1 1 A ERROR ERU rip ee RE IR BEE 5 1 Grounding ias 4 3 Groundi AAPP session LIDO 2 6 CC Semi une 3 1 Installation Checklist iii 2 13 Checking the AC Line 2 13 Checking the DC Bus Voltages o eiecti prie Hair 2 13 Checking thbe MotorWirl g octo ot pon a ince deett 2 13 Installation Requirements 5 2 3 Enclosures it e een been atte ibid eite hee 2 3 Environmental Requirements tee omne tette ans tpi tree pissen 2 3 Model Numbering Scheme 2 2 52222 22082

SP SERIES INSTALLATION AND SETUP MANUAL

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