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SSI America 601...620 User's Manual

1. 6 2 Technical data SERVOSTAR Rated data DIM 601 603 606 610 610 30 614 620 V 3 x 230V 40 480V 10 50 Hz Rated supply voltage grounded system V 3 x 208V ox 480V 10 60 Hz Rated installed load for S1 operation kVA 1 2 4 7 7 10 14 Rated DC bus link voltage 290 675 Rated output current rms value 3 1 5 3 6 10 10 14 20 Peak output current max ca 5s 3 Ams 3 6 12 20 30 2s 28 40 Clock frequency of the output stage kHz 8 16 with VDCmax 400V Technical data for regen circuit gt p 22 Overvoltage protection threshold V 450 900 Max load inductance mH 150 75 40 25 24 15 12 Min load inductance mH 25 12 7 5 4 4 2 5 2 Form factor of the output current u 1 01 at rated data and min load inductance Bandwidth of subordinate current con kHz 212 troller Residual voltage drop at rated current V 5 Quiescent dissipation output stage dis 15 abled Dissipation at rated current incl power supply losses without regen dissipation Inputs 30 40 60 90 90 160 200 Setpoint 1 2 resolution 14bit 12bit V 10 Common mode voltage max V 10 Input resistance to AGND 20 Digital inputs V according to IEC 61131 Digital outputs open collector V according to IEC 61131 V DC max 30 AC max 42 BTB RTO output rela
2. 1 56 8 11 6 Incremental Encoder X5 ox EG RU Repos ken us CR std asuaka B SOR E p Seed 57 8 12 Electronic Gearing Master slave 1 58 8 12 1 Connection to a SERVOSTAR master 5 V signal level 5 59 8 12 2 Connection to encoders with 24 V signal level 3 59 8 12 3 Connection to a sine cosine encoder 1 2 60 8 12 4 Connection to a SSI encoder 5 2 1 61 8 12 5 Connection to stepper motor controllers step and direction 61 8 12 5 1 Step Direction with 5 V signal level 5 2 62 8 12 5 2 Step Direction with 24 V signal level 3 62 8 13 222 REG E PR 63 8 13 1 Incremental encoder output A quad 5 4 63 8 132 SSl output X5 z u uuu Edo pue pube FRE UO EU 64 8 14 Digital and analog inputs and outputs 65 8 14 1 Analoguniputs X3 coser a dea gba gua NUS Ee aa RG Bee RU
3. 44 5 5 Block diagram 2o eie ciate S kusa uqu ORARE MUR vate ada a lus d ea 45 8 6 Pin assignmenls us ree sce duri e IR ebat Cu prag a xe d doce uet ee ce E c 46 8 7 Connection diagram 47 88 Powersupply scie er mue DR RE et hed 48 8 8 1 Connection to various mains supply networks 48 8 8 2 Mains Supply connectlon XO ees ike eas otek ed m ONCE E a DOR os 49 8 8 3 24V auxili ry supply X4 3 5 ag Y MEO ERU Qt ay 49 8 8 4 DG XD T 49 8 9 Motor connection with brake 9 1 1 50 8 10 Extemal regen resistor XB os eho hs GAR Ru DRUG a e ee ROSS WE eee 50 8 11 Feedback i e eee ET ddd tes 51 RESONS X2 itu 52 8 11 2 Sine Encoder 5V with BISS 1 1 3 2 53 8 11 3 Sine Encoder with EnDat 2 1 or HIPERFACE 4 54 8 11 4 Sine Encoder without data channel 4 1 55 8 11 5 Incremental encoder sine encoder with 1
4. Ml Gat RU blieben aad e etae RR d edd 117 11 2 2 Expansion Cards et E e e pa 117 11 2 9 GONNECIONS 4 2 d eT ee prias 117 11 2 4 Speclal accessori8s xs end gak ERR up Rp Ros MERE S Ru MR 117 11 9 Index sau dae a de iege aces ac Rae em d Rev te pub ERA 118 6 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 General 1 1 1 2 1 3 General About this manual This manual describes the digital servo amplifiers of the SERVOSTAR 600 series standard version 1 5 to 20 Amps nominal current Servoamplifiers of the SERVOSTAR 640 670 series are described in additional manuals SERVOSTAR 601 is sold in Europe only A more detailed description of the expansion cards which are currently available and the digital connection to automation systems can be found on the accompanying CD ROM in Acrobat Reader format system requirements WINDOWS with Internet browser Acrobat Reader in several lan guage versions Technical data and dimensional drawings of accessories such as cables regen resistors mains supplies etc can be found in the accessories manual You can print this documentation on any standard printer A printed copy of the documentation is available from us at extra cost This manual makes the following demands on qualified p
5. 65 8 14 2 Analog outputs X3 sieve ete un Y Ua Re P Pe pU uer a 66 8343 Digital inputs X3 sce z LERRA Ec Ek Qd aa sb uQ di eu E p 67 8 14 4 Digital outputs eee Geet be eee Pee G le 68 8 15 RS232 internace PC connectlon X6 us susu uras Euer qawamanta a wass q Ac d 69 8 16 CANopen Interface X6 uy ee WAS wu Rex eh aod bor Ras Ro d 70 4 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Contents Page 9 Setup 9 1 important holes 2 2 0 443 2 oie a ede Weed db Ee IER uswa mng pd qoe niyta G 71 92 SEMP SOWAS acc cei cee eR Og aeque al apatites eects E ER 72 9 2 1 Eu 72 9 2 1 1 Use as dilected cies eere eiecit ete ataca x Rate oat ieu editi 72 92 1 2 Software descriptiOfni i ih acest pa break eee am car ee td 72 9 2 3 3 Hardware requiremehts eR hen CIS PAP boo hi QS Ea an Gas 73 92 14 Operating systems Qu u Dude RUN e EUR UC ROM RIDE E E ROS RC RUP Ron 73 9 2 2 Installation under WINDOWS 95 98 2000 73 9 3 Quickstart Guide lt lt pet eee send
6. 03 digital input 14 In NEGLIM limit switch negative direction 15 In NODEDISABLE disables Node 10 2 7 6 Connection diagram digital inputs outputs connector X21A Control 5 IN 04 6 IN 01 8 POSLIM 12 IN 02 13 IN 03 VV V N i333 lt 14 NEGLIM 15 gt NODEDISABLE a 4 gt IN 00 Fast VV 1 24v 2 NODEALARM te 1 gt 4 3 OUT 01 L gt 10 OUT 00 K V E ad gt 11 OUT 02 GND W lt AGND and DGND connector X3 must be joined together 110 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 2 8 Expansion module 2CAN Connector X6 of the SERVOSTAR 6xx is assigned to the signals for the RS232 interface and the CAN interface It is therefore not the standard pin assignment for these interfaces and a special cable is required to be able to use both interfaces simultaneously The 2CAN expansion module provides the interfaces on separate Sub D connectors The two CAN connectors are wired in parallel A termination resistor 120 2 for the CAN bus can be switched into circuit if the SERVOSTAR 6xx is at the end of the bus 10 2 8 1 Installation The modul must be placed onto the option slot after levering off the cover of the option slot Screw the distance pieces
7. LED Function ERROR flickering Booting Error blinking Invalid Configuration single flash Unsolicited State Change double flash Watchdog Timeout off No Error RUN on Device is in state OPERATIONAL blinking Device is in state PRE OPERATIONAL single flash Device is in state SAFE OPERATIONAL off Device is in state INIT ACT IN on linked but not active at X20A in flickering linked and active at X20A in off not linked at X20A in ACT OUT on 7 linked but not active at X20B out flickering 7 linked and active at X20B out off not linked at X20B out Connection diagram AGND and DGND connector X3 must be joined together SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 2 7 Expansion card SYNQNET This section describes the SynqNet expansion card for SERVOSTAR 600 Information on the range of functions and the software protocol can be found in the SynqNet documentation 10 2 7 1 Front view u NODE ID 0NED mam 0 MS IS LED2 LED1 LED4 LED3 10 2 7 2 NODE ID Switch With these hexadecimal switches you can set the main and low significant bytes of the Node ID seperately SynqNet does not require an address for correct operation in the network however in some machines this can be a convenient way of identifying build options to the application program 10 2 7 3 Node L
8. LO Ion LO LO 10 C5 BHEE C3 N m EE or brake Multidrive load data from EEPROM save data to EEPROM ASCII command RSTVAR parameter will be reset to default values 1 0 In n jun Lf Ye ASCII command M Reset macros are newly compiled Block Block2 Block3 serial number 9 digit number r 1 3 divided in 3 blocks decimal dot A indicates number of block un 3 n SERVOSTAR 601 620 Product Manual 87 Setup 07 2007 Danaher Motion 9 6 88 Error messages Errors which occur are shown in coded form by an error number in the LED display on the front panel All error messages result in the BTB RTO contact being opened and the output stage of the amplifier being switched off motor loses all torque If a motor holding brake is installed it will be activated Number Designation Explanation 5 Status Messages Status messages no error see p 86 Status Message Updating the startup configuration Status Message Programming mode Heat sink temperature too high i peat sink temperature limit is set by manufacturer to 80 Overvoltage bus link F02 Overvoltage limit depends on the electrical supply voltage F03 Following error Message fro
9. and terminal X3 7 To reverse the direction of rotation swap the connections to terminals X3 4 5 and X3 6 7 or change the ROT DIRECTION parameter in the Speed controller screen SERVOSTAR 601 620 Product Manual 65 Electrical Installation 07 2007 Danaher Motion 8 14 2 66 Analog outputs X3 Technical characteristics Reference ground is analog GND AGND terminal X3 1 and X3 10 Output resistance 2 2 Output voltage 10 V Resolution 10 bit Update rate 62 5 us SERVOSTAR 600 contro Analog 1 CNC GND CNC GND Analog 2 CNC GND Programmable analog outputs Analog Out 1 Analog Out 2 The terminals X3 8 Analog Out 1 or X3 9 Analog Out 2 can have the following analog signals assigned to them Standard setting Analog Out 1 Tachometer voltage speed The output delivers 10V at the preset limit speed Analog Out 2 Current actual value lact torque The output delivers 10V at the preset peak current Ipeak effective r m s value You can use the terminals X3 8 Analog Out 1 or X3 9 Analog Out 2 to output converted analog values for digital measurements which are contained in the servo amplifier You can find a list of pre programmed functions on the Analog I O screen of our setup software SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 14 3 Digital inputs X3 All digital inputs are
10. lt Application examples for category 1 see chapter 10 1 8 94 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 1 8 Application example category 1 according to EN954 1 Flowchart for stop and emergency stop category 0 10 1 8 1 Control circuit 24V EMERG Q __ lock lock OFF BTB Drive 1 drives 1 amp 2 h drive 3 OFF E Drive 2 Drive 1 lt 1 KSO2 Kod BTB Drive 3 Drive 2 d KSO2 2 O KSO1 52 Drive 3 KSO2 ON E K1 OV mains contactor auxiliary contactor Drive 1 Drive 2 Drive 3 10 1 8 2 Mains supply circuit e 480V max 5 SERVOSTAR 601 620 Product Manual 95 Expansions Accessories 07 2007 Danaher Motion 10 1 9 Application example category 3 according to EN954 1 Flowchart for stop and emergency stop category 1 10 1 9 1 Control circuit 24V K10tJ K30t K10t 7 200 ON E x KSO1 Drive 1 Terminals KSI X10 4 on c Sa m 501 KS02 X10 2 n Enabl X3 15 Drive 2 X348 BTB RTO X3 2 KSO2 BTB RTO X3 3 OFF BTB RTO Drive 1 BTB RTO BTB RTO Drive 2 Safety Circuit BTB RTO O sod EMERG A __ orr 6 Enoble 5 6 KSI 7 soles Kr 7 CE ov 1 Drive 2 1 Drive 2 10 1 9 2 Mains supply circuit 3 480V max 3 Enable Enable 96 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 1 9 3 Flow chart t K30t t K10t t K20t
11. 12 ComCoder interface 56 Conductor cross sections 20 Connection diagram 47 DC link 49 DIMENSIONS x xu ego Lo Re GR 37 Disposal si ae mus S omoes 13 Rogue do BOA 39 Enclosure protection 19 Encoder emulations 63 Error messages 88 Expansion card 2 111 105 108 Guide to installation 98 14 08 99 PROFIBUS 102 SERCOS ss eG ke Rus Q Q 103 109 Externalfusing 19 Formihg inc Ye Ra Qusa ae OE 71 Glossary 115 Groundsymbol 41 Grounding Connection diagram 47 Installation 40 HallDonge 114 Hardware requirements 73 Holding brake 21 Incremental encoder interface 57 Inputs Analog setpoints 65 DIGITAL IN 1 22 67 Enable baie olathe RES 67 NSTOP 55 554 ae hw dede 67 gt eA Sudden 67 Installation Expansion 98 40 Software 73 Key operation 86 86 Lea
12. SERVOSTAR 614 561400 SERVOSTAR 620 562000 SERVOSTAR 601 620 Product Manual 15 Technical description 07 2007 Danaher Motion 6 Technical description 6 1 The SERVOSTAR 600 family of digital servo amplifiers Standard version Gcurrent ratings 1 5 Europe 10 14 20 A 3instrument widths 70 mm for 1 5A up to 10A rated current 100 mm for 14A rated current 120 mm for 20A rated current Wide range of rated voltage 3x208V 10 to 3x480V M Shield connection directly at the servo amplifier 2 analog setpoint inputs Integrated CANopen default 500 kBaud for integration into CAN bus systems and for setting parameters for several amplifiers via the PC interface of one amplifier Integrated RS232 electrically isolated integrated pulse direction interface Synchronous servomotors linear motors and asynchronous motors be used Electrical supply Directly off grounded 3 phase system ES 230 10 480 1 50 Hz T 208 10 480V 0 60 Hz 208 230V 208 480V TN system or TT system with grounded neutral point max 5000 rms symmetrical amperes Connection to other mains supply networks only with insulating transformer gt p 48 rectifier bridge directly off 3 phase earthed grounded supply system integral power input filter and inrush circuit Single phase supply e g for setup is possible Fusing e g fusible cutout provided by the use
13. 105 ju MEI PE DLE 105 10 2 5 2 Connection technology is sinl RR eoe mp RR RICE TT 105 10 2 5 3 Gonnection rini ch Rd brem SUR Rer rec RR EAR RUM TERES NER RR Rub 105 10 2 5 4 Combined module network 106 10 2 5 5 Setting the station address device 0 106 10 2 5 6 Setting the transmission 106 10257 1 5 6 x u rere RIRs kr aa V k ga Was ese te End aod Qu Saga 107 10 26 Expansion card ETHERGAT roce are bee de Fa e epu oca Reed 108 10 261 JEON VIEW nrbe E Eie di bare eee dep quiza 108 10262 WEDS LTEM 108 10 2 6 3 Connection diagram ie khen py gad 6 tans peu er a dedi tae aes 108 10 27 Expansion card SYNONE Th usss ees wee Oe kusa 109 10 2 7 1 ProntView Rem eb ue bka 109 10 272 NODE ID meee ote ac d a N 109 10 2 7 3 Node LED table sa qae deas 109 10 2 7 4 SynqNet Connection Connector X21B C 45 109 10 2 7 5 Digital inputs outputs
14. If the energy which is fed back from the motor as an average over time or as a peak value is higher than the preset regen power then the servo amplifier will output the status regen power exceeded and the regen circuit will be switched off At the next internal check of the DC bus link voltage after a few ms an overvoltage will be detected and the servo amplifier will be switched off with the error message Overvoltage 02 gt p 88 BTB RTO contact terminal X3 2 3 will be opened at the same time p 68 2 Several servo amplifiers coupled through the DC bus link circuit DC DC Thanks to the built in regen circuit several amplifiers even with different current ratings can be operated off a common DC bus link This is achieved by an automatic adjustment of the regen thresholds which vary because of tolerances The regen energy is distributed equally among all the amplifiers The combined power of all the amplifiers is always available as continuous or peak power The switch off takes place as described under 1 above for the servo amplifier with the lowest switch off threshold resulting from tolerances The RTO BTB contact of this ampli fier terminals 3 2 3 will be opened at the same time p 68 Technical Data The technical data depend on the used servo amplifier type and on the mains voltage See table on the next page SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Technical de
15. r ge CL 24V AS Relais ON M OFF K1 K10t K20t K30t Enable 4 4 4 1 Speed E t K30t gt 500ms t K10t and t K20t ensure that the drive remains active until the axis has come to a standstill This time depends on the application and must exceed the deceleration ramp t K20t have elapsed After this point active braking with the servo amplifier is no longer possible lt The drive must have been brought to a safe standstill by the time t K10t and SERVOSTAR 601 620 Product Manual 97 Expansions Accessories 07 2007 Danaher Motion 10 2 Expansion Cards Information about availability and order numbers can be found on p 117 10 2 1 Guide to installation of expansion cards Useasuitable screwdriver to lever off the cover of the option slot care that no small items such as screws fall into the open option slot Push the expansion card carefully into the provided guide rails of the slot without twi sting it C e AMES Press the expansion card firmly into the slot until the front cover touches the fixing lugs This ensures that the connectors make good contact Screw the screws on the front cover into the threads in the fixing lugs 98 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 2 2 Expansion
16. m E J B i NE P Basic Setup CLEAR 5 Amplifier 3 DRIVEO OPMODE Torque 0 Digital Speed ton a Curent Speed back Digtall 0 ROD SSI Encoder Feed Resolver Motor DBL3N00130 Servo Drive pu Sw Configuration Status NO ENABLE Disable F12 _ Enable Shit F12 EW Drive Status DRIVEO Run Time 4518 39 Fault History H MIN Fault Frequency F04 Feedback Loss 4518 29 FOl Heat Sink Temp F04 Feedback Loss 4517 30 FO3 Following Error F04 Feedback Loss 4517 30 F04 Feedback Loss 16 Mains BTB RTO 4517 30 05 Undervoltage Cond FOS Undervoltage Cond 4517 30 F06 Motor Temperature 04 Feedback Loss 4517 30 F08 Overspeed Condition Fl6 Mains BTB RTO 4517 30 11 Brake F05 Undervoltage Cond 4517 30 Fl6 Mains BTB RTO F04 Feedback Loss 4517 30 Fl19 Mains Phase F04 Feedback Loss 4517 37 F25 Commutation Error Actual Errors Actual Warnings No No The Reset button can be used to clear some actual error messages A description of errors warn ings can be found on page 88 Now you have setup and tested the basic functions of the drive successfully 9 3 10 Monitor EW Monitor DRIVEO Analog Input 1 Angle of Rotation 200 1 mech Analog Input 2 4 2277 3e counts Actual Speed 100 pm Click the icon Monitor Pt Mean Value Setpoint Speed 130 MONITOR Effective Current Position 945305 incr corer ap di The Mon
17. mains Isolation transformer 400 480V SERVOSTAR mains Isolation transformer 400 480V SERVOSTAR mains Isolation transformer 400 480V SERVOSTAR SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 8 2 Mains supply connection X0 Directly to earthed grounded 3 supply integrated filter Fusing e g fusible cut outs provided by the user gt p 19 A A 208 250V 208 230V 60Hz 60Hz A A 208 480V 230 480V 60Hz 50Hz 8 8 3 24V auxiliary supply X4 Electrically isolated external 24VDC supply e g with insulating transformer Required current rating gt p 18 Integrated EMI filter for the 24V auxiliary supply 8 8 4 DC bus link X7 Can be connected in parallel A patented circuit distributes the regen power among all the amplifiers connected to the same DC bus link circuit Connection example gt p 72 Only servo amplifiers with mains supply from the same mains identical mains supply voltage may be connected by the DC bus link WARNING The sum of the rated currents for all of the servo amplifiers connected in parallel to an SERVOSTAR 600 must not exceed 40A Use unshielded single cores 2 5mm with max length of 200 mm Use shielded cables for longer lengths SERVOSTAR 601 620 Product Manual 49 Electrical Installation 07 2007 Danaher Motion 8 9 WARNING 8 10 50 Motor connection with brake X9
18. Lead length lt 25m SERVOSTAR 600 XGND Lead length gt 25m For lead lengths above 25m the choke box 3YL must be wired into the motor lead close to the amplifier SERVOSTAR 600 XGND External regen resistor X8 Remove the plug in link between the terminals 8 1 and 8 2 Rbint prd F remove bridge SERVOSTAR 600 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 11 WARNING Feedback Every closed servo system will normally require at least one feedback device for sending actual values from the motor to the servo drive Depending on the type of feedback device used informa tion will be fed back to the servo amplifier using digital or analog means SERVOSTAR 600 supports the most common types of feedback device whose functions must be assigned with the parameters FBTYPE screen page FEEDBACK primary Feedback EXTPOS screen page POSITION secondary Feedback GEARMODE screen page GEARING secondary Feedback in the setup software Scaling and other settings must always be made here Configuration Location ASCII Parameter Commu Spese F oalon Aleni tation control control gearing One Feedback motor FBTYPE X X X motor FBTYPE X X Two Feedbacks externally EXTPOS x GEARMODE X For a detailed description of the ASCII parameters please refer to the online help of the setup soft wa
19. Re AGND J Power stage 02 4 IW2 X10 u1 1 Sine Cosine Encoder SERVOSTAR 601 620 Product Manual 45 Electrical Installation 07 2007 Danaher Motion 8 6 Pin assignments X5 ROD SSI X1 ENCODER X6 PC CAN pulse direction X2 RESOLVER P master slave _ c G ads gg 1 8 8 95 d Li ERD SH 8 255154 M CON O D t GN 6 ege OOOOOOO ono rco 6 25866 o Logo I lt gt lt Epa Oo E i5 AGND BTB RTO BTB RTO Analog In 1 Analog In 1 Analog In 2 Analog In 2 Analog Out 1 View looking at Analog Out 2 sae the face of the DIGITAL INI built in connectors DIGITAL IN2 PSTOP NSTOP ENABLE DIGITAL OUT DIGITAL OUT2 DGND KSO1 1 502 2 KSI 3 KSI 4 w Coding Keys 46 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 7 Connection diagram overview Reference Safety Instructions p 9 and Use As Directed 10 thermol control 10V speed 5 included Analog ln 1 setpoint1 referred to Analog In 1 CNC GND SERVOSTAR 600 Control Sine Cosine Encoder c p 65 AGND CNC GND 10V speed Analog In 2 setpoint2 Analog In 2 m ne cna thermal control Analog Out 1 Analog 1 included gt p 66 AGND CNC GND 9 Resolver Analog Out 2 Analog 2 gt 52 CNC GND IW DGND 1
20. Supply 2 x 1mm check voltage drop Waiting time between 2 motion tasks depends on the response time of the control system Addressing time min 4 ms Starting delay max 2ms Response time of digital outputs max 10 ms 10 2 2 3 Light emitting diodes LEDs Two LEDs are mounted next to the terminals on the expansion card The green LED signals that the 24 V auxiliary supply is available for the expansion card The red LED signals faults in the out puts from the expansion card overload short circuit 10 2 2 4 Select motion task number Sample Motion task no A7 A5 AA 2 AM AO binary 1010 1110 1 0 1 0 1 1 1 0 decimal 174 128 32 8 4 2 SERVOSTAR 601 620 Product Manual 99 Expansions Accessories 07 2007 Danaher Motion 10 2 2 5 100 Connector assignments Connector X11A Pin Dir Function Description 1 In A0 Motion task no LSB 2 In A1 Motion task no 2 3 In A2 Motion task no 22 4 In A3 Motion task no 23 5 In A4 Motion task no 21 6 In A5 Motion task no 29 7 In A6 Motion task no 26 8 In AT Motion task no MSB Polls the reference switch If a digital input on the basic unit is 9 In Reference used as a reference input then the input on the expansion card will not be evaluated 40 In Encr clear Clear the warning of
21. otherwise No AN Motor with Holding Brake If Software Enable is active a warning ap Fault a Command Holding Brake pears You can proceed but after the ampli ERR clear software enable first fier is restarted you must check whether the holding brake configuration is correct Click OK a E Configuration Parameters are uploaded to the amplifiers The configuration of the drive has changed RAM now takes some seconds When this is The parameters have to be saved and the drive has to be reset done you have to accept the ch anged config for the changes to take effect M i I Save configuration and restart the drive uration with Yes or to discard the changes in If the choosing to discard the changes the drive is reset without the appea ring screen saving the parameters If you click Yes the parameters are saved in the EEPROM and the amplifier makes a coldstart reset This takes some seconds Discard Changes On the start screen click Feedback button SERVOSTAR 601 620 Product Manual 79 Setup 07 2007 Danaher Motion 9 3 6 Feedback Feedback 3 Feedback Type No of Poles y 12 E Press F12 disable before changing feed Offset Bandwidth back parameters goo Velocity Observer Feedb ack Type To confirm changes ON 16kHzVL v ee yp reset the Amplifier 4 Select the feedback type used Acceleration Feedforward 1 Leave all other fields unchanged If Sof
22. 00 00 oo n in Md 0002 0 004 0 006 0 008 ecorino Chanel Auominmak mak Trigger Signal Trigger Level Ready noma v 4 JD Stat Time Division 2 MISE 7 Trigger Position Trigger Edge 0 z ms 50 x positive v Tet Emm FS sopra Direct Curt F5 ed Motion Task Zero Select Service Mode Speed F6 then click Parameter button Parameter Input Service Parameters Reversing 0 Const Direct Current Setpoint 0 Electr 0 Motion Task No 1 Enter a safe speed The sign defines the direction of movement Observe the safe reduced speed requirements for your application WARNING e Click OK Q Startthe service function Start button or press F6 Speed FB Stat Stop F9 Click OK on the warning notice Opmode is switched to 0 and the output stage is enabled automatically The symbols color changes to green as long as the function is active Service function is active until you click the Stop button or press F9 The output stage can be disabled by pressing function key F12 82 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Setu 9 3 9 Status Actual warnings and errors are listed on the Status screen which can be accessed on the start screen by clicking the Status button This button monitors the current status of the amplifier and can appear with different text
23. 1000 84 SERVOSTAR 601 620 Product Manual Setu SERVOSTAR 600 SERVOSTAR 600 818 07 2007 TB B Example of connections for multi axis system Danaher Motion 9 4 3 c 25 o a f c Q ts o o 8 lt l 5 cx lt c 14 l c j UY E EE 4955129 58049 49 2 20 ud z NSTOP AGND PSTOP CNC GND gt p 7 K ddns O O O O O O O O O 318VN3 dOLSN dolSd l1VOZXg BTB NSTOP PSTOP VOZ AvZ DM 3d 1 voL uon2ejoud 85 620 Product Manual SERVOSTAR 601 Setup 07 2007 Danaher Motion 9 5 9 5 1 9 5 2 86 Key operation LED display In this chapter the two possible operation menus and the use of the keys in the front panel are shown Normally the SERVOSTAR 600 places the standard menu at your disposal If you want to attend the amplifier via the detailed menu you must keep the right key pressed while switching on the 24V supply Key operation The two keys can be used to perform the following functions Key symbol Functions A press once go up one menu item increase nu
24. 2 pole resolvers the position value refers to the position within one turn of the motor for 4 pole resolvers it is within half a turn and for 6 pole resolvers it is within a third of a turn Exception If an encoder with a commutation track is used as the feedback unit then the upper 12 bits are set to 1 data invalid until a homing run is performed MULTI TURN selected The upper 12 bits contain the number of motor turns the lower 12 bits con tain the position information The signal sequence can be output in Gray code standard or in binary code parameter SSI CODE The servo amplifier can be adjusted to the clock frequency of your SSl evaluation with the SSI TAKT parameter 200 kHz or 1 5MHz and inverted Drivers are supplied from internal supply voltage PGND must always be connected Connection and signal description for SSI interface Default count direction upwards when the motor shaft is rotating clockwise looking at the shaft end SERVOSTAR 600 gt RS 485 Z 4 RS 485 DATA CLOCK I I I I I I I I 1 I I I I I I I t J CLOCK according to line impedance 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 Transfer bit rate Monoflop stabilize time Switch over time Data t lt 300nsec Period T 600 ns 200 KBaud tp lt 13us 1 5 MBaud Output 1401 gt 2V 20mA tp 3ps Input JAJI g
25. 6 EunctlOBal Test aes cogs Rcx RR ERU Un eee ee eee E Tun d sae Ee tres adig x 94 10 1 7 Connection diagram 0 4 94 10 1 8 Application example category 1 according to 954 1 95 10181 Control CINCU a ee rrr ere eq im Ae ed a eee 95 10 1 8 2 IMairis SUpply CIEGUIL aca at dre ron pite CE sm ayaqa E 95 10 1 9 Application example category according to 954 1 96 X L Lre rrrr 96 10 1 9 2 2 2 22 mia uhu asad ras 96 aei d etat LS 97 SERVOSTAR 601 620 Product Manual 5 Contents 07 2007 Danaher Motion Page 10 2 Expansion Cards Pee rA ubus Reb TIED dbo ies 98 10 2 1 Guide to installation of expansion 1 1 98 10 2 2 Expansion card 14 08 22 99 10 2 2 1 FON VEW orria ee ene 99 10 2 2 2 Technical data secre as bene sae RERO GC ROS E Ro RR 99 10 2 2 3 Lightemit ng diodes LEDS jiii 2r LER ag repere nes 99 10 2 2 4 Sel
26. 620 Product Manual Danaher Motion 07 2007 Setup 9 Setup 9 1 Important notes Only professional personnel with extensive knowledge in the fields of electrical drive technology are allowed to setup the servo amplifier WARNING The procedure for setup is described as an example Depending on the application a different procedure be sensible or necessary In multi axis systems setup each servo ampli fier individually The manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot DANGER cause injury or damage to any person or property Check that all live connecting elements are protected from accidental contact Deadly voltages can be present up to 900V Never disconnect any of the electrical connections to the servo amplifier while it is live Capacitors can still have residual charges with dangerous levels up to 300 seconds after switching off the supply power Heat sinks and front panels of the amplifier can reach a temperature of up to 80 C 176 F in operation Check measure the heat sink temperature Wait until the heat sink has cooled down below 40 C 104 F before touching it If the servo amplifier has been stored for longer than 1 year then the DC bus link lt capacitors will have to be re formed To do this disconnect all the electrical connections Supply the servo amplifier for about 30 min from single phase
27. 90 This adapter is also used to connect encoders known as ComCoders Encoder types with a power consumption of more than 150mA can also be connected using our external power supply p 113 For encoders that do not have integrated terminating resistors we offer an optional terminating adapter p 113 If you plan to use a cable longer than 25m please contact our application department Frequency limit A B 250 kHz RS422 with Hall FBTYPE 12 Encoder with Hall FBTYPE 11 HALL Dongle SERVOSTAR 600 10k U 5V 5 max 150mA 2 OV 56 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 8 11 6 WARNING Electrical Installation Incremental Encoder X5 An incremental encoder can be used as standard motor feedback Every time the 24V auxiliary voltage is switched on the amplifier needs start up information for the position controller parameter value MPHASE Depending on the feedback type either wake amp shake is executed or the value for MPHASE is read out of the amplifiers EEPROM The thermostat contact in the motor is connected to X1 see p 54 or X2 see p 52 If lead lengths of more than 50m are planned and for questions concerning the power supply of the encoder please consult our customer service AGND and DGND connector X3 must be joined together Frequency limit 1 5 MHz Encoder type FBTYP
28. AS describes how to use the restart lock AS See page 91 onwards SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Technical description 6 7 1 Behavior in standard operation The behavior of the servo amplifier always depends on the current setting of a number of different parameters e g ACTFAULT VBUSMIN VELO STOPMODE etc see online help The diagram below illustrates the correct functional sequence for switching the servo amplifier on and off U 24V 4 BTB RTO X3 2 3 L1 L2 L3 XO DC bus link x7 U HW ENABLE X3 15 amp SW ENABLE n Motor speed U Power Stage Enable internal Devices which are equipped with a selected Brake function use a special sequence for switching off the output stage gt p 21 The AS option can be used to switch off the drive via a positive action approved by the Trade Liability Association safety relay so that personnel safety is ensured at the drive shaft p 91 SERVOSTAR 601 620 Product Manual 25 Technical description 07 2007 Danaher Motion 6 7 2 26 Behavior in the event of an error with standard setting The behavior of the servo amplifier always depends on the current setting of a number of different parameters e g ACTFAULT VBUSMIN VELO STOPMODE etc see online help The diagram shows the startup procedure and the procedure that the internal control system follows in the event of one or more electrical
29. Danaher Motion 5 Package 5 1 Package supplied 5 2 14 When you order a SERVOSTAR 600 series amplifier order numbers gt p 117 you will receive SERVOSTAR 6xx mating connectors X3 X4 X0A X0B X7 X8 The mating SubD connectors and motor connector X9 are not part of the package Assembly Installation Setup Instructions product manual Online documentation on CD ROM Setup software DRIVE EXE on CD ROM Accessories must be ordered separately description see accessories manual synchronous servomotor linear or rotary motor cable pre assembled or both motor connectors separately with motor cable as a cut off length feedback cable pre assembled both feedback separately with feedback cable as length Power supply for encoders with power consumption of more than 150mA p 113 Terminating adapter for encoders with no terminating resistors gt p 113 motor choke 3YL for cable length above 25m external regen resistor BAR U communications cable to the PC gt p 69 or Y adapter p 84 for setting parameters of up to 6 servo amplifiers from one PC power cable control cables fieldbus cables as lengths Nameplate The nameplate depicted below is attached to the side of the servo amplifier The information described below is printed in the individual fields Servo amplifier type Serial number Comments Enclosure Ra
30. FR10 10 x S or S R for 480V applications x N or N R for 230V applications Ambient conditions ventilation mounting position Storage hints gt p 13 Transport hints gt p 13 Supply voltage tolerances Input power 208 480V 250 480 60Hz 50Hz Aux power supply min 230V 10 AC max 480 9 50 Hz min 208V 4o AC max 480V 60 Hz 24 VDC 0 15 check voltage drop Ambient temperature in operation 0 to 45 C 32 to 113 F at rated data 45 to 55 C 113 to 131 F with power derating 2 5 K Humidity in operation rel humidity 85 no condensation Site altitude up to 1000m a m s l without restriction 1000 2500m a m s l with power derating 1 5 100m Pollution level Pollution level 2 to EN60204 EN50178 Vibrations Class 3111 according to IEC 721 3 3 Noise emission max 45 dB A Enclosure protection IP 20 Mounting position generally vertical gt p 36 Ventilation forced convection by built in fan Make sure that there is sufficient forced ventilation within the switchgear cabinet SERVOSTAR 601 620 Product Manual 19 Technical description 07 2007 Danaher Motion 6 2 4 WARNING 6 3 20 Conductor cross sections Technical data for connection cables p 42 Following 60204 for AWG table 310 16 of the NEC 60 C or 75 C
31. Manual 59 Electrical Installation 07 2007 Danaher Motion 8 12 3 Connection to a sine cosine encoder X1 You can operate the SERVOSTAR as a slave mastered by a sine cosine encoder master slave operation The connector X1 must be used Encoder types with a power consumption of more than 150 mA can also be connected using our external power supply p 113 For encoders that do not have integrated terminating resistors we offer an optional terminating adapter p 113 Frequency limit 250 kHz lt AGND and DGND connector X3 must be joined together SERVOSTAR 600 cosine B Up 5V 5 max 150mA 60 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 12 4 8 12 5 Connection to a SSI encoder X5 You can set up the SERVOSTAR 600 as a slave following a synchronous serial absolute encoder master slave operation This application uses the SubD connector X5 If lead lengths of more than 50 m are planned and for questions concerning the power supply of the encoder please consult our customer service Frequency limit 1 5MHz SERVOSTAR 600 SSI Encoder 4 RS 485 DATA gt RS 485 CLOCK according to line impedance AGND and DGND connector X3 must be joined together Connection to stepper motor controllers step and direction This interface can be used to connect the servo amplifier to a third party stepper motor controller The parameters for the serv
32. OUT 1 terminal X3 16 and DIGITAL OUT2 terminal X3 17 to output messages from pre programmed functions that are stored the servo amplifier You can find a list of pre programmed functions on the digital I O screen of our setup software If an input is freshly assigned to a pre programmed function then the data set must be stored in the EEPROM of the servo amplifier and the 24V auxiliary supply of the servo amplifier must be Switched off and on again to reset the amplifier software Evaluate the outputs via inverting interface relays see connection diagram for example Ph nix DEK REL 24 I 1 turn on delay 6 ms turn off delay 16ms The described logic in the online help of the setup software refers to the output of the inverting interface relays Consider the delay of the applied relay SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 15 IOJ RS232 interface PC connection X6 The setting of the operating position control and motion block parameters can be carried out with an ordinary commercial PC Connect the PC interface X6 of the servo amplifier while the supply to the equipment is switched off via a normal commercial 3 core null modem cable to a serial interface on the PC Do not use a null modem link cable The interface is electrically isolated through an optocoupler and is at the same potential as the CANopen interface The interface is selected and set up
33. and Canadian standard is determined by an independent UL cUL inspector through the type testing and regular check ups Apart from the notes on installation and safety in the documentation the customer does not have to observe any other points in direct connection with the UL cUL certification of the equipment UL 508C UL 508C describes the fulfilment by design of minimum requirements for electrically operated power conversion equipment such as frequency converters and servo amplifiers which is intended to eliminate the risk of fire being caused by such equipment UL 840 UL 840 describes the fulfilment by design of air and insulation creepage spacings for electrical equipment and printed circuit boards SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Handling 4 Handling 4 1 Transport Only by qualified personnel in the manufacturers original recyclable packaging Avoid shocks Temperature 25 to 70 C 13 158 F max 20 rate of change Humidity max 95 relative humidity no condensation e The servo amplifiers contain electrostatically sensitive components which can be da maged by incorrect handling Discharge yourself before touching the servo amplifier Avoid contact with highly insulating materials artificial fabrics plastic films etc Place the servo amplifier on a conductive surface WARNING Ifthe packaging is damaged check the unit for visible damage In this case inform
34. column we recommend for single axis systems AC connection SERVOSTAR 601 610 1 5 mm 14 600 105 221 F SERVOSTAR 614 620 4 mm 12 twisted DC bus link SERVOSTAR 601 610 1 5 mm 14 4 SERVOSTAR 614 620 4 mm 12awg lengths gt 20cm Motor cables SERVOSTAR 601 610 1 1 5 mm 14awg 600V 105 C 221 F shielded 2 up to 25 m length SERVOSTAR 614 620 2 5 mm 12awg capacitance lt 150pF m 5 2 SERVOSTAR 601 606 1 mm 14 0 4 ED s SERVOSTAR 610 620 2 5 mm 12awg with motor choke 3YL capacitance 150pF m Resolver thermostat mo tor max 100m length 4 2 0 25 22awg twisted pairs shielded capacitance 120pF m Encoder thermostat motor max 50m length 7x2x0 25 mm 22 twisted pairs shielded capacitance 120pF m Setpoints monitors AGND 0 25 22awg twisted pairs shielded Control signals BTB DGND 0 5 mm 20awg Holding brake motor min 0 75 mm 18awg 600V 105 C 221 F shielded check voltage drop 24 V XGND max 2 5 12awg check voltage drop For multi axis systems please note the special operating conditions in your installation To reach the max permitted cable length observe cable requirements gt p 42 Danaher Motion North America delivers cables up to 39m length Danaher Motion Europe delivers cables up to the maximum
35. high level in normal operation fail safe for a cable break A low signal open inhibits the corresponding direction of rotation the ramp function remains effective DIGITAL IN 1 DIGITAL IN 2 The digital inputs on terminal X3 11 DIGITAL IN 1 or terminal X3 12 DIGITAL IN 2 can be logi cally combined in a pre programmed function SERVOSTAR 601 620 Product Manual 67 Electrical Installation 07 2007 Danaher Motion 8 14 4 68 Digital outputs X3 Technical characteristics Reference ground is digital GND DGND terminal X3 18 All digital outputs are floating DIGITAL OUT1 and 2 Open Collector max 30 VDC 10 mA BTB RTO Relay output max 30 VDC or 42 VAC 0 5 A Update rate 250 us SERVOSTAR 600 saftey circuit C 24Vref to 1 0 0 Digital 1 24V ref to 1 0 GND Digital 2 1 0 GND Ready to operate contact BTB RTO Operational readiness terminals X3 2 and X3 3 is signaled by a floating relay contact The contact is closed when the servo amplifier is ready for operation the signal is not influenced by the enable signal the t limit or the regen threshold All faults cause the BTB RTO contact to open and the switch off of the output stage if the BTB contact is open the output stage is disabled gt no power A list of the error messages can be found on page 88 Programmable digital outputs DIGITAL OUT 1 2 You can use the digital outputs DIGITAL
36. installation program for the setup software Installation Autostart function activated Insert the CD ROM into a free drive A window with the start screen opens There you find a link to the setup software DRIVE EXE Click it and follow the instructions Autostart function deactivated Insert the CD ROM into a free drive Click on START task bar then on Run Enter the program call x index htm x correct CD drive letter Click OK and proceed as described above Connection to the serial interface of the PC Connect the interface cable to a serial interface on your PC and the PC interface X6 of the SERVOSTAR 600 2 p 69 SERVOSTAR 601 620 Product Manual 73 Setup 07 2007 Danaher Motion 9 3 Quickstart Guide 9 3 1 Preparation 9 3 1 1 Unpacking Mounting and Wiring the Servo Amplifier 1 Unpack servo amplifier and accessories 2 Observe safety instructions in the manuals 3 Mount the servo amplifier as described in chapter 7 3 4 Wire the servo amplifier as described in chapter 8 3 or apply the minimum wiring for drive testing as described in chapter 9 3 1 3 5 Install the software as described in chapter 9 2 9 3 1 2 Documents You need access to these documents located on the product CD ROM you can download the latest editions from our website Product Manual this manual CANopen Communication Profile Manual Accessories Manual Depending on the installed expansion card you need one of these document
37. into the fixing lugs of the option slot 35 Place the expansion module onto the option slot Screw the screws into the threads of the distance pieces Plug the Sub D9 socket into connector X6 on the SERVOSTAR 600 10 2 8 2 Front View 10 2 8 3 Connection technology Standard shielded cables can be used for the RS232 and CAN interfaces termination must be set to ON Otherwise the switch must be set to OFF condition as delivered 3 If the servo amplifier is the last device on the CAN bus then the switch for the bus SERVOSTAR 601 620 Product Manual 111 Expansions Accessories 07 2007 Danaher Motion 10 2 8 4 Connector assignments RS232 CAN1 CAN2 X6A Pin Signal X6B X6C Pin Signal 1 Vcc 1 2 RxD 2 CAN Low 3 TxD 3 CAN GND 4 4 5 GND 5 6 6 7 7 CAN High 8 8 9 9 10 2 8 5 Connection diagram Te lt AGND and DGND connector X3 must be joined together 112 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 3 Special Accessories 10 3 1 Power Supply SINCOS io seno amplifier The extended power supply enables the max 2 m operation of encoder systems at con nector X1 with a power consumption of up to 400 mA DC This power supply is switched between X1 and the encoder and supplied by SERVOSTAR 600 The connection between the amplifier and the power supply
38. person or property The SERVOSTAR 600 family of servo amplifiers can be connected directly to symmetrically earthed grounded three phase industrial mains supply networks TN system TT system with earthed grounded neutral point not more than 5000 rms symmetrical amperes 480VAC ma ximum The servo amplifiers must not be operated directly on power supply networks gt 230V without an earth ground or with an asymmetrical earth ground Connection to different mains supply networks with additional isolating transformer p 48 Periodic overvoltages between outer conductor L1 L2 L3 and housing of the servo amplifier may not exceed 1000V peak value Transient overvoltages lt 50us between the outer conductors may not exceed 1000V Transient overvoltages lt 50us between outer conductors and housing may not exceed 2000V If the servo amplifiers are used in residential areas or in business or commercial premises then additional filter measures must be implemented by the user The SERVOSTAR 600 family of servo amplifiers is only intended to drive specific brushless synchronous servomotors with closed loop control of torque speed and or position The rated voltage of the motors must be at least as high as the DC bus link voltage of the servo amplifier The servo amplifiers may only be operated in a closed switchgear cabinet taking into account the ambient conditions defined on page 19 and the dimensions shown on page 36 Ven
39. relief so that the folded shielding pigtail lies on the shield plate but the tie wire is not clamped inside Tighten up the screws without crush ing the cable Place the connector in the housing Take care that the tongue of the shield plate sits in the PE clamp Wire up the connector according to the wiring diagram on page 50 and tighten up the clamping screws Take care that the insulation is not trapped underneath Close the housing SERVOSTAR 601 620 Product Manual 43 Electrical Installation 07 2007 Danaher Motion 8 4 44 Components of a servo system Control PLC Option AS Regen resistor optional Drive cut out Terminals Motor choke optional Cables drawn bold are shielded Electrical ground is drawn with dash dotted lines Optional devices are connected with dashed lines to the servo amplifier The required accessories are described in our accessories manual SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 5 Block diagram The block diagram below is just an overview RS232 2k2 X3 CAN LA O Analog Out 1 AGND 2k2 Analog Out 2 x5 ROD SSI X3 DIGITAL INT DIGITAL IN2 Controller BTB RTO BTB RTO Analog In 1 Inrush circuit AH Intermediate circuit DC DC Analog In 1 4r x8 Reext H Reint Ll Analog In 2 LL Analog In 2 pK N
40. restart the amplifier This is called coldstart Click YES The parameters are saved to the amplifiers EEPROM automatically and a reset command restarts the amplifier takes a few seconds For example this happens after motor or feedback selection Other parameters changed No warning appears Parameters are saved in the volatile RAM only Save the parameters to the 2 of the amplifier manually by clicking the symbol HE in the tool bar A coldstart of the amplifier is not necessary Reset the amplifier You can reset the amplifier manually e g in case of an error Click the icon P SERVOSTAR 601 620 Product Manual 81 Setup 07 2007 Danaher Motion 9 3 8 Jogging the Motor Speed Control Be aware that the actual position of the load permits the subsequent moving operations The axis could move to the hardware limit switch or the mechanical WARNING stop Make sure that a jerk or a fast acceleration of the load cannot cause any damage Switch on the power supply for the drive Hardware Enable 24 VDC to Enable connector pin 15 Software Enable Click the Enable button Enable Shift F12 the start screen or use key combination Shift F12 Now the front display shows an E and the current rating e g E g 3 for Enable 3 amps Click the icon Oscilloscope EH El Oscilloscope 3 DRiVEO 10 1 0 10
41. speed setpoint 0V 2 When speed 0 rpm disable the servo amplifier enable 0V 3 If there is a suspended load apply an additional mechanical block to the drive 4 Activate the AS option SERVOSTAR 601 620 Product Manual 91 Expansions Accessories 07 2007 Danaher Motion 10 1 2 Use as directed The AS restart lock is exclusively intended to provide safety for personnel by preventing the restart of a system To achieve this personnel safety the wiring of the safety circuits must meet the safety requirements of EN60204 EN12100 and EN 954 1 The AS restart lock must only be activated when the motor is longer rotating setpoint speed 0rpm enable 0V Drives with a suspended load must have an additional safe mechanical blocking e g by a motor holding brake when the monitoring contacts KSO 1 2 for all servo amplifiers are wired into the control signal loop The AS restart lock may only be controlled by a CNC if the control of the internal safety relay is arranged for redundant monitoring The AS restart lock must not be used if the drive is to be made inactive for the following reasons 1 cleaning maintenance and repair operations long inoperative periods In such cases the entire system should be disconnected from the supply by the personnel and secured main switch 2 emergency stop situations In an emergency stop situation the main contactor is switched off by the em
42. supply phases failing assuming that the standard parameter settings apply Stort Standard Operation Power Fail 24V BTB RTO t Main Power t DC Bus t Power Stage enable F16 F19 F05 ENABLE extern Motor Speed F16 F19 error messages Mains BTB input phase F05 error message Undervoltage Even if there is no intervention from an external control system in the example the ENABLE signal remains active the motor is immediately braked using the emergency stop ramp if an input phase error is detected and assuming that no changes have been made to the factory setting ACTFAULT 1 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Technical description 6 8 ICJ 6 8 1 WARNING Stop Emergency Stop Function to EN 60204 With the personnel safe restart lock AS see page 91 onwards the drive can be secured on standstill torque free using its internal electronics so that even when power is being supplied the drive shaft is protected against unintentional restart Stop Standards The Stop function is used to shut down the machine in normal operation The Stop functions are defined by EN 60204 VDE 0113 paragraphs 9 2 2 and 9 2 5 3 Category 0 Shut down by immediate switching off of the energy supply to the drive machinery i e an uncontrolled shut down Category 1 A controlled shut down whereby the energy supply to the drive machinery is maintained to perform the s
43. the circuit recommendations in this documentation have been approved by the Trade Liability Association Moving single axes or axis groups in setting up operation In setting up operation people will frequently be within the danger zone of the machinery Axes will normally be moved under the control of permission switches An additional switch off of the unused axes by means of the restart lock increases the safety margin and avoids the repeated switching of main contactors or motor contactors Switching off grouped axes with separate working areas Even when several SERVOSTAR 600 are operating off a common mains supply and DC bus link it is possible to set up groups for separate working areas These groups can then be switched off sep arately for personnel safety 10 1 1 Safety instructions Observe Use as directed on page 92 The monitoring contacts KSO1 2 for each amplifier with an AS option must be looped DANGER into the control circuit This is vital so that a malfunction of the internal safety relay or a cable break can be recognized Ifthe AS option is automatically activated by a control system KSI1 2 then make sure that the output of the control is monitored for possible malfunction Can be used to prevent a faulty output from activating the AS option while the motor is running Itis vital to keep to the following functional sequence when the AS option is used 1 Brake the drive in a controlled manner
44. the shipper and the manufacturer 4 2 Packaging Cardboard box can be recycled Dimensions SERVOSTAR 601 610 HxWxD 125x415x350 mm SERVOSTAR 614 620 HxWxD 170x415x350 mm Labeling nameplate outside at the box 4 3 Storage Storage only in the manufacturers original recyclable packaging Max stacking height 8 cartons Storage temperature 25 to 55 C max rate of change 20 C hour Storage humidity 5 95 relative humidity no condensation Storage duration Less than 1 year without restriction More than 1 year capacitors must be re formed before setting up and operating the servo am plifier To do this remove all electrical connections and apply single phase 230V AC for about 30 minutes to the terminals L1 L2 4 4 Maintenance The instruments do not require any maintenance opening the instruments invalidates the warranty Cleaning ifthe casing is dirty clean with Isopropanol or similar do not immerse or spray if there is dirt inside the unit it must be cleaned by the manufacturer dirty protective grill on fan must be cleaned with a dry brush WARNING 4 5 Disposal In accordance to the WEEE 2002 96 EG Guidelines we take old devices and accessories back for professional disposal if the transport costs are taken over by the sender Send the devices to Danaher Motion GmbH Wacholderstr 40 42 D 40489 D sseldorf SERVOSTAR 601 620 Product Manual 13 Packaqe 07 2007
45. work offline or online with Work ONLINE now Select the interface where the servo am plifier is connected to a Fer Disconnect Offline e The software tries to communicate with the AN No Connection to Amplifier drive and to upload the parameters If it s not successful you receive this error mes uS i wrong interface chosen wrong connector chosen at the servo amplifier Frequent causes interface is used by another software 24 V auxiliary voltage for the servo amplifier not working interface cable broken or wrong wiring Amplifier not connected or faulty Cable Click OK to remove the error message Detect and remove the error source Restart the software SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Setu If communication works parameters are transmitted from the servoamplifier to the computer Then you see the start screen Ell Amplifier 3 DRIVEO dememe CLEAR OPMODE Torque 0 Digital Speed 7 5020010 lt Postion 3 Make sure that the amplifier is Speed di Digtall 0 isabled Input HW Enable igital connector pin 15 must be AOD Resolver Motor 0 V or open DBL3N00130 Axis Servo Drive Sw Configuration Status OK NO ENABLE Disable F12 _ Enable Shit F12 9 3 3 Important Screen Elements Help Function The Online Help gi
46. 0 GND 24V referred 6 to OV GND 4 PSTOP 5 NSTOP 4 gt p 67 5 DIGITAL IN1 2 DIGITAL IN2 BRAKE L BRAKE DIGITAL OUT1 Digital I gt p 68 Remove jumper if external regen DIGITAL OUT2 Digital2 resistor is connected 2 r V lo EB Safety I Regeneration FT 12 277 BTB RTO circuit resistor encoder evaluation slave master amplifier E CAN Master P COM1 COM2 m 3 PE connection protective earth L1 L2 L3 PE chassis ground connection panel 1 2 3 4 9 connection via plug shield connection qt the front a shielding if cable is longer than 200cm y JE L1 L2 L5 to other amplifiers SERVOSTAR 601 620 Product Manual 47 Electrical Installation 8 8 8 8 1 WARNING 48 Power supply 07 2007 Danaher Motion Connection to various mains supply networks This page illustrates all the possible connection variations for different electrical supply networks An isolating transformer is always required for 400 480V mains networks without earth ground and for networks with asymmetrical earth ground mains 208 480V mains 208 230V SERVOSTAR mains 208 230V SERVOSTAR 208V with 60Hz only 230 480V with 50Hz or 60Hz mains Isolation transformer 400 480V SERVOSTAR mains Isolation transformer 400 480V SERVOSTAR
47. 230VAC to the terminals L1 L2 This will re form the capacitors Further information on setup lt The adaptation of parameters and the effects on the control loop behavior are described in the online help of the setup software The setup of the expansion card if present is described in the corresponding manual on the CD ROM We can provide further know how through training courses on request SERVOSTAR 601 620 Product Manual 71 Setup 07 2007 Danaher Motion 9 2 9 2 1 9 2 1 1 WARNING 9 2 1 2 72 Setup software General This chapter describes the installation of the setup software DRIVE EXE for the SERVOSTAR 600 digital servo amplifiers We offer training and familiarization courses on request Use as directed The setup software is intended to be used for setting up and storing the operating parameters for the SERVOSTAR 600 series of servo amplifiers The attached servo amplifier can be setup with the assistance of the software during this process the drive can be controlled directly by the service functions Only professional personnel who have the relevant expertise described on page 7 are permitted to carry out online parameter setting for a drive which is running Sets of data which are stored on data media are not safe against unintended alteration by other persons After loading a set of data you must therefore check all parameters thoroughly before enabling the servo amplifier Software de
48. 4 Connection diagram Layout of the SERCOS bus system in ring topology with optical fibre cables schematic Fibre optic coble AGND and DGND connector X3 must be joined together Modifying the station address The drive address can be set to a value between 0 and 63 With address 0 the drive is assigned as an amplifier in the SERCOS ring There are various ways to set the station address Keys on the front of the servo amplifier The SERCOS address can also be modified using the keys on the front p 87 Setup software The address can also be modified in the setup software For additional information please refer to the Setup software online help Alternatively enter the command ADDR in the Terminal screen where is the new address of the drive Modifying the baud rate and optical power Ifthe baud rate is not set correctly communication is not possible The SBAUD parameter can be used to set the baud rate where is the baud rate If the optical power is not set correctly errors occur in telegram transmission and the red LED the drive lights up During normal communication the green send and receive LEDs flash giving the impression that the relevant LED is on The SLEN parameter can be used to specify the opti cal range for a standard 1 mm glass fibre cable where is the length of the cable in metres SBAUD SLEN 2 2 Mbaud 0 Very short connection 4 4 Mba
49. 54 Danaher Motion Sine Encoder with EnDat 2 1 or HIPERFACE X1 Wiring of a single turn or multiturn sine cosine encoder as a feedback system Preferred types are ECN1313 and EQN1325 The thermostat contact in the motor is connected via the encoder cable to the SERVOSTAR 600 and evaluated there All signals are connected using our pre assembled encoder connection cable Encoder types with a power consumption of more than 150mA can also be connected using our external power supply p 113 For encoders that do not have integrated terminating resistors we offer an optional terminating adapter gt p 113 If lead lengths of more than 50m are planned please consult our customer service Frequency limit sin cos 250 kHz Encoder with EnDat FBTYPE 3 4 Encoder with HIPERFACE FBTYPE 2 3 SERVOSTAR 600 SUDDT 17pol round Encoder T M I EnDat Q TE MN 9 lt SIN 4 REFCOS COS DATA DATA CLOCK Up Up sense 10 10 OV OV 4 4 5V ou 7 5V 11V Up Us mox 150 2 2 nad supply OV Z7 Loi 7 E 7 BT control 1 min 15VDC 5mA SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 11 4 Sine Encoder without data channel X1 Wiring of a sine cosine encoder without data channel as standard feedback system Every time the 24V auxiliary voltage is switched the amplifier needs start up inform
50. 9 6 2 4 Conductor cross sectiohs aaa aa EG ed E 20 6 3 LEDdisplay iciii AS Deci 20 6 4 Control for motor holding 21 65 Grounding system ees boa purae ash as rbd Ea eura 22 56 9 JRBgen cIFCUlbus s diced deu Mex EP Sta 22 6 7 Switch on and switch off 4 24 6 7 1 Behavior in standard operation 2 25 6 7 2 Behavior in the event of an error with standard setting 26 6 8 Stop Emergency Stop Function to EN 60204 27 6 8 1 Slop standards ade dE Aa Ret So ETE 27 6 8 2 Emergency Stop Standards 28 6 8 3 Implementation of the Stop Category Q uu dac eee Pea Ewan aux Caca 29 6 8 4 Implementation of the Stop Category 1 4 0 idee c m cite DR EY rug ee rior rti ds 30 6 8 5 Implementation of the Stop 2 31 6 9 Shock hazard protection 222529525 lt lt Re aga wama su XE AW ERR ERA eee des 32 6 9 1 E 32 6 9 2 Residual current circuit
51. E Remarks RS422 5V 9 MPHASE from EEPROM RS422 5V 8 MPHASE with wake amp shake Don t use this feedback type with vertical load hanging load SubD 9 Incremental Encoder a O lt track 4 RS 485 1 NI4 T O lt zero E RS 485 NI PGND B i Va B Motor f Y X1 X2 9 15VDC 5mA Wa X according to line impedance SERVOSTAR 601 620 Product Manual 57 Electrical Installation 07 2007 Danaher Motion 8 12 58 Electronic Gearing Master slave operation In the case of the electronic gearing functionality see setup software and description of GEARMODE parameter the servo amplifier is controlled by a secondary feedback device as a slave It is possible to set up master slave systems use an external encoder as a setpoint encoder or con nect the amplifier to a stepper motor control The amplifier is parameterized using the setup software electronic gearing Primary Feedback adjust on screen page Feedback FBTYPE Secondary Feedback adjust on screen pages Position and Gearing EXTPOS GEARMODE Master Slave adjustment Master adjust encoder emulation on screen page ROD SSI Encoder ENCMODE Slave adjust on screen pages Position and Gearing EXTPOS GEARMODE The following t
52. ED table LED Name Function ON receive valid IN port OFF not valid power off or reset ON network cyclic LED2 yellow CYCLIC BLINK network not cyclic OFF power off or reset ON receive valid OUT port OFF not valid power off or reset ON repeater on network cyclic LED4 yellow REPEATER BLINK repeater on network not cyclic OFF repeater off power off or reset LED1 green LINK_IN LED3 green LINK_OUT 10 2 7 4 SynqNet Connection Connector X21B C RJ 45 Connection to the SynqNet network via RJ 45 connectors IN and OUT ports with integrated LEDs SERVOSTAR 601 620 Product Manual 109 Expansions Accessories 07 2007 Danaher Motion 10 2 7 5 Digital inputs outputs connector X21A SubD 15 pin socket Inputs In 24V 20 28V opto isolated one high speed input Pin 4 Outputs Out 24V opto isolated Darlington driver Pinout connector X21A SubD 15 pin Pin Type Description 1 In 24V power supply 2 Out NODEALARM indicates a problem with the node 3 Out OUT_01 digital output 4 In IN 00 fast capture input fast 5 IN 04 digital input 6 01 digital input 7 In HOME reference switch 8 In POSLIM limit switch positive direction 9 In GND power supply 10 Out OUT 00 digital output 11 Out OUT 02 digital output 12 IN 02 digital input 13
53. HIPERFACE is a registered trademark of Max Stegmann GmbH EnDat is a registered trademark of Dr Johannes Heidenhain GmbH SERVOSTAR is a registered trademark of Danaher Motion Technical changes which improve the performance of the equipment may be made without prior notice Printed in the Federal Republic of Germany All rights reserved No part of this work may be reproduced in any form by printing photocopying microfilm or any other method or stored processed copied or distributed by electronic means without the written permission of Danaher Motion Danaher Motion 07 2007 Contents Page 1 General 1 1 About this manual 7 1 2 Hints for the online edition PDF 7 1 3 Symbolsused c ilice e RI 9 A sess bd dase 7 1 4 Abbreviations USBed s end aden cadence BOR Qe ERU 8 2 Safety 2 1 Safely Instructions oo ee ddr 9 2 2 i E EET 10 3 Standards 3 1 European Directives and Standards u u u oru su a Ras S ECA aces 11 3 2 American Directives and 0 1 11 33 Asian Directives and Standards u u uy u xum wowe
54. N German Institute for industrial Standards Disk Magnetic storage diskette hard disk EEPROM Electrically erasable programmable memory EMC Electromagnetic compatibility EMI Electromagnetic interference EN European standard ESD Electrostatic discharge F SMA Fiber Optic Cable connector according to IEC 60874 2 IEC International Electrotechnical Commission IGBT Insulated Gate Bipolar Transistor INC Incremental Interface ISO International Standardization Organization LED Light emitting diode MB Megabyte NI Zero pulse NSTOP Limit switch input for CCW rotation left PELV Protected low voltage PGND Ground for the interface PSTOP Limit switch input for CW rotation right PWM Pulse width modulation RAM Volatile memory Rregen Regen resistor Reext External regen resistor Reint Internal regen resistor RES Resolver ROD 426 EEO A quad B encoder PLC Programmable logic controller SRAM Static RAM SSI Synchronous serial interface UL Underwriters Laboratory VAC AC voltage VDC DC voltage VDE Verein deutscher Elektrotechniker XGND Ground for the 24V supply SERVOSTAR 601 620 Product Manual Danaher Motion Danaher Motion 07 2007 Safety 2 Safety 2 1 Safety Instructions Only properly qualified personnel are permitted to perform activities such as transport installation setup and maintenance Properly qualified persons are those who are fami liar with the transport assembly installation setup and
55. OS 1 2 3 EXTPOS 1 2 3 EXTPOS 1 2 3 Sensorless GEARMODE GEARMODE GEARMODE FBTYPE 10 0 2 3 5 10 12 13 15 1 4 11 14 7 17 0 FPGA 0 FPGA 1 ENCMODE 0 0 2 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 12 1 Connection to a SERVOSTAR master 5 V signal level X5 You can link several SERVOSTAR amplifiers together in master slave operation Up to 16 slave amplifiers can be controlled by the master via the encoder output The connector X5 must be used Frequency limit 1 5 MHz slew rate tv lt 0 1 us Slave SERVOSTAR 600 i gt RS 485 p PGND 4 e lt AGND and DGND connector X3 must be joined together Master SERVOSTAR 600 RS 485 track track according to line impedance only once at the bus end 8 12 2 Connection to encoders with 24 V signal level X3 This interface can be used to operate the SERVOSTAR as a slave mastered by an encoder with 24 V signal level master slave operation The digital inputs DIGITAL IN 1 and 2 at connector X3 must be used Frequency limit 250 kHz slew rate tv lt 0 1 us SERVOSTAR 600 encoder nilu DIGITAL IN1 track A gt DIGITAL IN2 12 L track B 24V ref to GND GND lt AGND and DGND connector X3 must be joined together SERVOSTAR 601 620 Product
56. PT EC Expansion card SynqNet DE 200073 OPT SN Expansion module 2CAN DE 101174 not available Connectors Article EU order code US order code Connector X3 DE 90061 CON S6X3 Connector X4 24V DE 90062 CON S6X4 Connector X0A Mains DE 92258 CON S6X0A Connector X0B Mains DE 92259 CON S6X0B Connector X7 DC bus link DE 90064 CON S6X7 Connector X8 Regen R DE 90065 CON S6X8 Connector X9 Motor DE 90066 CON S6X9 Connector X10 AS DE 101696 CON S6X10 Connector X15 DeviceNet DE 106368 CON S6X15 Special accessories Article EU order code US order code Power supply SINCOS DE 107712 in preparation HALL Dongle DE 107351 in preparation Connection Cable 1m for X1 Hall Dongle or DE 107730 in preparation for X1 Power Supply SINCOS Termination Adapter SINCOS DE 103692 in preparation 117 Appendix 07 2007 Danaher Motion 11 3 118 Index 24Vaux supply interface 49 Abbreviations 2 8 Ambient 19 Ambient 19 Analog outputs 66 AS Option 91 Assembly 222 36 su 2 a os dx un ee ja RS uS ox 84 BISS 53 Block diagram overview 45 223083 R NIA a 21 iw x rex 68 CANopen Interface 70 CEconformance
57. Product Manual 105 Expansions Accessories 07 2007 Danaher Motion 10 2 5 4 10 2 5 5 10 2 5 6 106 Combined module network status LED LED Meaning The device is not online off The device has not yet finished the MAC ID test The device is possibly not yet switched on green The device is operating as normal is online and the connections have been estab lished The device has been assigned to a master The device is operating as normal is online but the connections have not been estab lished blinking The device has passed the Dup MAC ID test and is online but the green connection to other nodes have not been established This device has not been assigned to a master Missing incomplete or wrong configuration blinking red An error that can be cleared and or at least one I O connection are a waiting state An error has occurred that cannot can be cleared it may be necessary to replace the device red Communication device failure The device has detected a fault that prevents communication with the network for instance a MAC ID appears twice or BUSOFF Setting the station address device address The station address for the servo amplifier can be set in three different ways Set the rotary switches at the front of the expansion card to a value between 0 and 63 Each Switch represents a decimal figure For example to set the address
58. S input for AS Enable and EN ABLE have been set at the same time F28 External Trajectory External position profile generator created a step that ex ceeded the maximum value F29 Slot Fault depends on expansion card see online help F30 Emergency timeout Timeout emergency stop F31 Macro Macro program error F32 System Error system software not responding correctly These error messages can be cancelled by the ASCII command CLRFAULT without executing a reset If only these errors are present and the RESET button or the I O function RESET is used the CLRFAULT com mand is also all that is carried out More information to the messages can be found in the ASCII Object Reference Online Help see parameter ERRCODE Hints for removal can be found in section Trouble Shooting of the online help SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Setup 9 7 Warning messages Faults which occur but which do not cause switch off of the amplifier output stage BTB RTO contact remains closed are indicated in the LED display on the front panel by a coded warning number Number Designation Explanation Status Messages Status messages no error see p 86 Status Message Updating the startup configuration Status Message Programming mode n01 Pt threshold exceeded n02 Regen power Reached preset regen power limi
59. SERVOSTAR 601 620 Digital Servo Amplifier Product Manual Edition 07 2007 Valid for Hardware Revision 05 10 4 IND TONT EQ Keep all manuals as a product component during the life span of the product Pass all manuals to future users owners of the product File sr601_e 4 NI CD DANAHER MOTION Previous versions Edition Remarks 05 98 First edition 08 98 a few corrections 09 98 various minor corrections parameter description removed parameter setting for multi axis systems and on off switching behavior added Installation setup divided into two chapters 01 99 614 added various minor corrections 02 99 Interface relay for digital outputs pages 26 43 06 99 various corrections cables and connectors removed choke box added 08 99 24V tolerance encoder wiring ventilation 11 99 Packaging regen resistor 12 99 Option AS integrated ground bolt master slave 04 00 various corrections setup software on CDROM only motors 6SM27LL and 6SM37VL added 06 00 Wiring diagrams electr gearing warning and error messages recommended torque 08 00 Wiring diagram in chapter 9 2 corrected 5610 30 and options 14 08 and 2CAN incorporated hardware description incorporated for 07 01 PROFIBUS and SERCOS nameplate motor list and connector assignment corrected LED display cor rected error messages e
60. a following error no3 or the response monitoring n04 The following task that is defined in the motion task by Start with I O is started The target position of the present motion task 11 In Start MT Next must be reached before the following task can be started The next motion block can also be started by an appropriately configured digital input on the basic unit Start of the setup mode Jog Mode with a defined speed After selecting the function you can enter the speed in the auxiliary 12 In Start v x variable x The sign of the auxiliary variable defines the direc tion A rising edge starts the motion a falling edge cancels the motion Connector X11B Continues the motion task that was previously interrupted 1 In MT Restart motion task can also be continued by an appropriately con figured digital input on the basic unit Start of the motion task that has the number that is presented bit coded at the digital inputs AO to A7 2 In Start MT I O The digital function with the same name the basic unit starts the motion task with the address from the digital inputs on the basic unit When the target position for a motion task has been reached the 3 Out InPos 2 window this is signaled the output HIGH sig A cable break will not be detected The start of each motion task in an automatically executed se quence of motion tasks is signaled by an inversion of the output Next InPo
61. amage to any person or property Standards to be applied for conformance with the EC Low Voltage Directive 73 23 EEC EN 60204 1 Safety and Electrical Equipment in Machines EN 50178 Electronic Equipment in Power Installations EN 60439 1 Low Voltage Switchgear Combinations Standards to be applied for conformance with the EC EMC Directive 89 336 EEC EN 61000 6 1 EN 61000 6 2 Interference Immunity in Residential amp Industrial Areas EN 61000 6 3 EN 61000 6 4 Interference Generation in Residential amp Industrial Areas The manufacturer of the machine plant is responsible for ensuring that it meets the limits required by the EMC regulations Advice on the correct installation for EMC such as shielding grounding treatment of connectors and cable layout can be found in this documentation The machine plant manufacturer must check whether other standards or EC Directives must be applied to the machine plant American Directives and Standards Chapter in process Asian Directives and Standards Chapter in process SERVOSTAR 601 620 Product Manual 11 Standards 3 4 3 4 1 WARNING 3 4 2 12 07 2007 Danaher Motion Approvals CE conformance Conformance with the Directive 89 336 and the Low Voltage Directive 73 23 is mandatory for the supply of servo amplifiers within the European Community Product standard EN 61800 3 is applied to ensure conformance with the EMC Direct
62. arameters in non volatile memory Class 0x25 Attribute 0x65 and then restart the drive after altering the baud rate SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 2 5 7 Bus cable To meet ISO 898 a bus cable with a characteristic impedance of 120 should be used The maxi mum usable cable length for reliable communication decreases with increasing transmission speed As a guide you can use the following values which we have measured but they are not to be taken as assured limits General characteristic Specification Bit rates 125 kbit 250 kbit 500 kbit Distance with larger bus connections 500 meters at 125 kBaud 250 meters at 250 kBaud 100 meters at 500 kBaud Number of nodes 64 Signal environment CAN Modulation Basic bandwidth Coupling medium DC coupled differential transmit receive operation Isolation 500 V option optocoupler on the transceivers node side Typical differential input im pedance recessive state Shunt C 5pF Shunt R 25 power on Min differential input imped ance recessive state Shunt C 24pF 36 pF m of the permanently attached stub cable Shunt R 20 Absolute max voltage range 25 V to 18 V CAN_H CAN_L The voltages for CAN_H and CAN_L refer to the ground pin of the transceiver The voltage is higher than that on the V terminal by the amount of the forward voltage dr
63. ation SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Setup 9 2 1 3 Hardware requirements The PC interface X6 RS232 of the servo amplifier is connected to the serial interface of the PC by a null modem cable not a null modem link cable p 69 Connect disconnect the interface cable only when the supply is switched off for both the PC and the servo amplifier WARNING The interface in the servo amplifier is electrically isolated by an optocoupler and is at the same potential as the CANopen interface Minimum requirements for the PC Processor Pentium or higher Operating system WINDOWS 95 98 2000 ME NT 4 0 XP Graphics adapter Windows compatible color Drives hard disk with at least 10 MB free space CD ROM drive Main memory at least 8MB Interface one free serial interface COM1 COM10 9 2 1 4 Operating systems WINDOWS 95 c 98 2000 ME NT XP DRIVE EXE is executable under WINDOWS 95 98 2000 ME and WINDOWS NT 4 0 The HTML help system is not available under WINDOWS 95a and 95b WINDOWS FOR WORKGROUPS 3 xx DOS OS2 Unix Linux DRIVE EXE is not executable under WINDOWS 3 xx DOS OS2 Unix and Linux In emergency operation is possible through an ASCII terminal emulation without user interface Interface settings 9600 bps no parity no handshake 9 2 2 Installation under WINDOWS 95 98 2000 ME NT XP The CD ROM includes an
64. ation reference thermal control min 15VDC 5mA 52 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 8 11 2 Electrical Installation Sine Encoder 5V with BISS X1 Wiring of a single turn or multi turn sine cosine encoder with BISS interface as a feedback system firmware revision from 6 68 During start up of the servo amplifier the parameters stored in the encoder eeprom are uploaded after that phase only the sine cosine signals are used The thermostat contact in the motor is connected via the encoder cable to X1 and evaluated there All signals are connected using our pre assembled encoder connection cable Encoder types with a power consumption of more than 150mA can also be connected using our external power supply p 113 For encoders that do not have integrated terminating resistors we offer an optional terminating adapter gt p 113 If cable lengths of more than 50m are planned please consult our customer service Frequency limit sin cos 250 kHz FBTYPE 20 SERVOS TAR 600 1 Encoder 7 B d x ls B L ul q 3 10k mmm d x IS p ul q A 5 5 le DM e A 8 8 La MIL cs 12 12 Up Sense 10 10 4 4 5v 5 P max 150mA 2 2 OV 1 L kama 7 7 frema control min 5VDC 5mA SERVOSTAR 601 620 Product Manual 53 Electrical Installation 07 2007 8 11 3
65. ation for the position control ler parameter value MPHASE Depending on the feedback type either wake amp shake is executed or the value for MPHASE is read out of the amplifiers EEPROM Encoder types with a power consumption of more than 150mA can also be connected using our external power supply p 113 For encoders that do not have integrated terminating resistors we offer an optional terminating adapter gt p 113 The thermostat contact in the motor is connected via the encoder cable to X1 and evaluated there If lead lengths of more than 50m are planned please consult our customer service Frequency limit sin cos 250 kHz Encoder type FBTYPE Remarks SinCos 5V 6 MPHASE from EEPROM SinCos 5V 7 MPHASE with wake amp shake Resolver SinCos5V 16 Commutation with Resolver speed amp position with Encoder Don t use this feedback type with vertical load hanging load WARNING Encoder 5V 5 max 150mA OV thermal control 15VDC 5mA SERVOSTAR 601 620 Product Manual 55 Electrical Installation 07 2007 Danaher Motion 8 11 5 Incremental encoder sine encoder with Hall X1 Encoder types incremental or sine cosine that do not provide definitive information on commuta tion can be used as a complete feedback system using an additional Hall dongle In this case an adapter is used for interfacing and adapting the signals Hall dongle gt p
66. be found on page 50 A safe for personnel operation of the holding brake requires an additional make n o contact in the brake circuit and a suppressor device varistor for the recommended brake circuit diagram SERVOSTAR SERVOSTAR 601 620 Product Manual 21 Technical description 07 2007 Danaher Motion 6 5 6 6 22 Grounding system AGND ground for analog inputs outputs internal analog uC ground DGND ground for digital inputs outputs optically isolated XGND ground for external 24V aux voltage optically and inductively isolated PGND ground for encoder simulation RS232 CAN optically isolated The potential isolation is shown the block diagram p 45 Regen circuit During braking with the aid of the motor energy is fed back to the servo amplifier This energy is converted into heat in the regen resistor The regen circuit thresholds are adjusted to the supply voltage with the help of the setup software Our customer service can help you with the calculation of the regen power which is required A description of the interface can be found on page 50 Internal regen resistor SERVOSTAR 601 603 66 0 SERVOSTAR 606 620 330 External regen resistor SERVOSTAR 601 620 330 Functional description 1 Individual amplifiers not coupled through the DC bus link DC DC The circuit starts to respond at a DC bus link voltage of 400V 720V or 840V depending on the supply voltage
67. breakers 2 1 14 4 4 32 6 9 3 Isolating tralistOl mets us us a u wasl Wa ROT ER Ruana 33 SERVOSTAR 601 620 Product Manual 3 Contents 07 2007 Danaher Motion Page 7 Mechanical Installation TA Important notes 5400016 e bb Roe uta pace pe e ue 35 7 22 Guide to mechanical installation ssi Ree o Chik sus ep ee E a RR Res 35 7 3 Assembly u os bode irie eat ded aed a ii a apas tapia yes aa a gu MERE 36 24 Dimensions a S i Recte RR ER EM a 37 8 Electrical Installation 8 1 Iriportant not s u iua san hens mua G Ce sagu ama paha aa wee a mas sana a 39 82 Guide to electrical installation mre eee liege eae eta 40 G3 WINING sco init i pani E odo p ene dos dildo cus eee ba eee eed 41 8 3 1 Important noes 20 EDD hoe 41 8 3 2 Technical data for connecting cables xus be mer xr RR RE RR E ya gagu 42 8 3 3 Shielding connection to the 4 4 42 8 3 4 Motor connector with 43 84 Components of a servo
68. card 14 08 This chapter describes the card I O 14 08 It only describes the additional features that the expansion card makes available for the SERVOSTAR 600 The 14 08 provides you with 14 additional digital inputs and 8 digital outputs The functions of the inputs and outputs are fixed They are used to initiate the motion tasks that are stored in the servo amplifier and to evaluate signals from the integrated position control in the higher level control The functions of the inputs and signal outputs correspond exactly to the functions that can be assigned to the digital I O on connector of the SERVOSTAR 600 The 24VDC supply for the expansion card is taken from the controller All inputs and outputs are electrically isolated from the servo amplifier by optocoupler 10 2 2 1 Front view V ERR VO 14 08 9 24N 10 2 2 2 Technical data Control inputs 24 V 7 mA PLC compatible Signal outputs 24 V max 500 mA PLC compatible 24 V 18 36 V 100 mA plus total current of the out puts depends on the input wiring of the controls Supply inputs to IEC 1131 The 24 VDC voltage has to be supplied by an elec trically isolated power supply e g with insulating transformer WARNING Fusing external 4 AT MiniCombicon 12 pole coded on PIN1 and 12 respec Connectors i tively Cables Data up to 50m long 22 x 0 5mm unshielded
69. connector X21A SubD 15 pin socket 110 10 2 7 6 Connection diagram digital inputs outputs connector 2 110 10 2 8 Expansion module 2 21 111 10 22 84 Installation lt 4 oorr RED Ie Er bee Ried an ATP EUR IE Ea ee ERA RUN RES 111 10282 lt se secre pra mabaya RR agaba aue ge cee naan 111 10 2 8 3 Connection technology iere ERR ERI UR A Ronde a eR OC E EU Ede hae 111 10 2 8 4 Connector assignmierie s uuo m ated eee awtuqa dees Yu qu Ep a db Ed dees 112 10 2 8 5 Connection diagram 4 2er eb erg k aaa pasa pers pais E 112 10 3 Special Accessories u nena Re x S Qasa aie 113 10 3 1 Power Supply SINCOS isse une Roe uo s gua eR UE ER aq RE DEN PA Oi asa 113 10 3 2 Terminating adapter for encoder 0 1 113 10 3 3 irum EG 114 11 GOSS nh ie 115 11 2 Order NUMbDEMS gt EX Yd RE PO KR 117 11 21 Sermvo amhplifl rs
70. current on our low capacity cables at a mains voltage of 400 V depending on the clock frequency of the output stage lieak n x 20mA L x 1mA m at 8kHz clock frequency at the output stage lieak n x 20mA L x 2mA m at a 16kHz clock frequency at the output stage where lijeakzleakage current n number of amplifiers L length of motor cable At other mains voltage ratings the leakage current varies in proportion to the voltage Example 2 x servo amplifiers a 25m motor cable at a clock frequency of 8kHz 2 x 20mA 25m x 1mA m 65mA leakage current Since the leakage current to PE is more than 3 5 mA in compliance with EN50178 the PE connection must either be doubled or a connecting cable with a cross section 10mm must be used Use the PE terminals and or the PE bolt in order to fulfil this requirement The following measures can be used to minimise leakage currents Reduce the length of the engine cable Use low capacity cables see p 42 Avoid mains asymmetries with an isolating transformer Residual current circuit breakers Fl In conformity with DIN IEC 60364 4 41 Regulations for installation and EN 60204 Electrical equipment of machinery residual current circuit breakers called Fl below can be used provided the requisite regulations are complied with The SERVOSTAR 600 is 3 phase system with bridge Therefore Fls which are sensitive to all currents must be used in order t
71. d ar pu bm 11 3 4 Approvals aussi hw Pact aer d a PE dens 12 3 4 1 Conformance esa meas 12 3 4 2 Conformance with UL and cUL uu r xd era uk ada ot 12 4 Handling 4 1 Cr 13 4 2 Packaging 2s ul o ehe RR S Qua Eu nu ed poe beans MG Ede 13 D MEE SIGILLI MT 13 44 5 55 59 4 SACR marks KORR Rub a eke EURO Euer 13 4 5 DISPOSA Cu uum kala SL ua E Ed s pin etu 13 5 Package 5 1 Package suppliedi 60 RERO ES eieriebLs 14 5 2 Nameplates dh eie Em m EPA ELI LM LI IM RE du aid eU EE 14 5 3 2 4 2 deed Gee Dee awe RR EE 15 6 Technical description 6 1 SERVOSTAR 600 family of digital servo amplifiers 16 6 2 ossis busua E RE bee E uade ERE tk ee gea x i iE arias 18 6 2 1 Recommended torque dude de act E RA CR VR 19 6 2 2 rios pec 19 6 2 3 Ambient conditions ventilation mounting 1
72. e for speed normalization at 10V CANopen PROFIBUS SERCOS etc Special method of representing binary numbers Brake in the motor which can only be used when the motor is at a standstill Monitoring of the actually required r m s current Temperature and age dependent alteration of an analog input Position signaling by 2 signals with 90 phase difference not an absolute position output The effective value of the peak current The r m s value of the continuous current Proportional gain of a control loop Switch limiting the traverse path of the machine implemented as n c break contact The complete assembly of all connected parts or devices of which at least one is movable Output of an analog measurement Data packet with all the position control parameters which are required for a motion task Machine with several independently driven axes Free movement of air for cooling Optical connection between two electrically independent systems 115 Appendix 07 2007 Danaher Motion P P controller Phase shift PID controller PID T2 Position controller Potential isolation Power contactor Pulse power of the regen circuit R Regen circuit Reset Resolver digital converter Reversing mode Ring core ROD Interface S Servo amplifier Setpoint ramps Short to ground Short circuit Speed controller SSl interface Supply filter T T tacho tachometer time constant Tachometer voltage Thermostat Tn l integ
73. e user must not have to work out how to oper ate this mechanism The Emergency Stop function is defined by EN 60204 VDE 0113 paragraph 9 2 5 4 In addition to the requirements for Stop the emergency Stop must fulfil the following requirements emergency stop must have priority over all other functions and controls in all operating situa tions the energy supply to any drive machinery that could cause dangerous situations must be swit ched off as fast as possible without causing any further hazards e g by using mechanical lat ching devices that do not require an external supply of energy by counter current braking in Stop Category 1 the reset must not initiate a restart If necessary provision must be made for the additional connection of emergency stop devices see EN 60204 Requirements for emergency stop devices The Emergency Stop must be effective as a stop of either Category 0 or Category 1 The Emergency Stop Category must be determined by a risk evaluation of the machine Category 0 Only hard wired electromechanical components may be used for the Category 0 Emergency Stop function It must not be triggered using switching logic hardware or software by transferring com mands via a communication network or via a data link The drive must be shut down using an electromechanical circuit If the connected servo motor has an integrated brake this must always be controlled by an electromechanical circuit as wel
74. ect motion task number Sample 99 10 2 2 5 Connector 1 100 10 2 2 6 Connection diagrami 5 5 20 eh x Ute uf a Rte una 101 10 2 3 Expansion cards 5 0 4 102 10225511 IEFODUVIGW i oed Eie p RR e te bun ra cem RO E eg 102 10 2 3 2 Connection technology iiis mer Rep ede da ERA s GE RA 102 10 2 3 3 Connectiori dIagratmi s eure a vaga ulus ua 102 10 2 4 Expansion card 4 103 10 2 4 1 ii secus eiie eadem UR ER RR RO ERROR dolce Ref 103 10 2 4 2 Lightemitting diodes LEDS 2 oiu Remb RR REA aysa PER a mas gua 103 10 2 4 3 Connection technology Rt Ra repe ura RR rack OP EC ape 103 10 2 4 4 Gonnectioncdiagramm s siars ps aS usss us EE e NOEL EUN 104 10 2 4 5 Modifying the station address 104 10 2 4 6 Modifying the baud rate and optical 104 10 2 5 Expansion card DEVICENET
75. eep within the permitted ambient temperature gt p 19 Keep the required space clear above and below the servo amplifier gt p 36 Assemble the servo amplifier and power supply filter and choke close together on the conductive grounded mounting plate in the cabinet EMC compliant EMI shielding and grounding p 47 Earth ground the mounting plate motor housing and CNC GND of the controls Notes on connection techniques are on page 42 SERVOSTAR 601 620 Product Manual 35 Mechanical Installation 07 2007 Danaher Motion 7 3 Assembly Material 2 or 4 hexagon socket screws to DIN 912 M5 Tool required 4 mm Allen key Cable duct EM I 0 07 SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR 620 601 610 601 610 614 310mm 245mm gt 273mm Cabinet door mounting panel conductive zinc coated 265mm with connector 273mm 10 5 with connector 10 8 screw for hex key DIN 912 SERVOSTAR 600 36 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Mechanical Installation 7 4 Dimensions SERVOSTAR 601 603 603 610 R N 8 SERVOSTAR 614 225 mm 709 SERVOSTAR 620 225 709 SERVOSTAR 601 620 Product Manual 37 Mechanical Installation 07 2007 Danaher Motion This page has been deliberately left blank 38 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 Electrical Installation 8 1 Impo
76. electrically isolated through optocouplers Technical characteristics Reference ground digital GND DGND terminal 3 18 Inputs at X3 meet PLC standards IEC 61131 2 Type 1 High 11 30V 2 11mA Low 3 5V 1 mA Update rate 250 SERVOSTAR 600 Control DIGITAL IN1 11 DIGITAL IN2 12 ENABLE 24V against CNC GND 1 0 GND ENABLE input The output stage of the servo amplifier is activated by the enable signal terminal X3 15 input 24V active high In the inhibited state low signal the motor which is attached does not have any torque Programmable digital inputs You can use the digital inputs PSTOP NSTOP DIGITAL IN1 and DIGITAL IN2 to initiate preprogrammed functions that are stored in the servo amplifier You can find a list of pre programmed functions on the digital I O screen of our setup software If an input is freshly assigned to a pre programmed function then the data set must be stored in the EEPROM of the servo amplifier and the 24V auxiliary supply of the servo amplifier must be switched off and on again to reset the amplifier software Limit switches PSTOP NSTOP Terminals X3 13 and X3 14 are normally programmed for the connection of limit switches If these inputs are not needed for the connection of limit switches then they are programmable for other input functions Limit switch positive negative PSTOP NSTOP terminals X3 13 and X3 14
77. ely left blank 34 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Mechanical Installation 7 Mechanical Installation 7 1 Important notes Protect the servo amplifier from impermissible stresses In particular do not let any components become bent or any insulation distances altered during transport and handling WARNING Avoid contact with electronic components and contacts Ensure that there is an adequate flow of cool filtered air into the bottom of the switchgear cabi net or use heat exchangers Observe page 19 Take care that the servo amplifier and motor are earthed grounded properly Do not use painted non conductive mounting plates Don t mount devices which produce magnetic fields directly beside the servo amplifier Strong magnetic fields could directly affect internal components Install devices which produce mag netic field with distance to the servo amplifiers and or shield the magnetic fields 7 2 Guide to mechanical installation The following notes should assist you to carry out the mechanical installation in a sensible sequence without overlooking anything important Site Ventilation Assembly Grounding Shielding In a closed switchgear cabinet Observe page 19 The site must be free from conductive or corrosive materials For the mounting position in the cabinet gt p 36 Check that the ventilation of the servo amplifier is unimpeded and k
78. er Motion 6 7 WARNING 24 Switch on and switch off behavior This chapter describes the switch on and switch off behavior of the SERVOSTAR and the steps required to achieve operational stopping or emergency stop behavior that complies with standards The servo amplifier s 24 V supply must remain constant The ASCII commands ACTFAULT error response and STOPMODE ENABLE signal response dictate how the drive will behave Behavior see also ASCII reference in the online help of the setup software 0 default 0 Motor coasts to a standstill in an uncontrolled manner 1 1 default Motor is braked in a controlled manner STOPMODE ACTFAULT Behavior during a power failure The servo amplifiers use an integrated circuit to detect if one or more input phases power supply feed fail The behavior of the servo amplifier is set using the setup software Under Response to Loss of Input Phase PMODE on the Basic Setup screen select Warning if the higher level control system is to bring the drive to a standstill Warning n05 is output if an input phase is missing and the motor current is limited to 4 A The servo amplifier is not disabled The higher level control system can now selectively end the current cycle or start bringing the drive to a standstill Therefore the error message MAINS BTB F16 is out put on a digital output of the servo amplifier and evaluated by the control system for instance E
79. erface Default count direction upwards when the motor shaft is rotating clockwise looking at the shaft end SERVOSTAR 600 Control 1 RS 485 track A I lt NE 1 Fog 1 og 1 NI EN 1500 RS 465 zero 1 NI p E PGND i i o GND og Fog I B O e RS 485 track B VJ B VJ according to line impedance tv Edge spacing a 2 0 20 us Edge steepness tv lt 0 1 us Delay N I td lt 0 1 us INJI gt 2V 20mA td td SERVOSTAR 601 620 Product Manual 63 Electrical Installation 07 2007 Danaher Motion 8 13 2 64 Clock Monoflop Binary Singleturn Gray Binary Multiturn cray 2 2 Kee Xerox ce Ae Aer Kos SSI output X5 The SSI interface synchronous serial absolute encoder simulation is part of the delivered pack age Select the encoder function SSI screen page In the servo amplifier the position of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder This information is used to create a position output in a format that is compatible with the standard SSl absolute encoder format 24 bits are transmitted SINGLE TURN selected The upper 12 bits are fixed to ZERO the lower 12 bits contain the posi tion information For
80. ergency stop button 10 1 3 Block diagram charging DC circuit N setpoint control logic z restricted guidance 92 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 1 4 Functional description An additional connector X10 is mounted on the front panel of the SERVOSTAR 600 The coil con nections and a make n o contact of a safety relay are made available through 4 terminals on this connector The 24VDC safety relay in the servo amplifier approved is controlled externally All the relay con tacts have positive action Two contacts switch off the driver supply of the output stage in the servo amplifier and short the internal setpoint signal to AGND 0 V The make n o contact used for monitoring is looped into the control circuit Ifthe safety relay is not energized then the monitoring contact is open and the servo amplifier is ready for operation If the drive is electronically braked the servo amplifier is disabled and the motor holding brake is on then the safety relay is energized manually or by the controls The supply voltage for the driver circuit of the output stage is switched off in a safe manner the internal setpoint is shorted to OV and the monitoring contact bridges the safety logic in the control circuit of the system monitoring of protective doors etc Even if the output stage or driver is destroyed it is impossible to start t
81. ersonnel Transport only by personnel with knowledge in handling electrostatically sensitive components Unpacking only by electrically qualified personnel Installation only by electrically qualified personnel Setup only by personnel with extensive knowledge of electrical engineering drive technology Hints for the online edition PDF format Bookmark Table of contents and index are active bookmarks Table of contents and index in the text The lines are active cross references Click on the desired line and the appropriate page is indi cated Page chapter numbers in the text Page chapter numbers with cross references are active Click at the page chapter number to reach the indicated target Symbols used Danger to personnel from electricity and its A Danger to maschinery lt Important eneral warnin notes DANGER effects WARNING 9 9 c p see page o special emphasis SERVOSTAR 601 620 Product Manual 7 07 2007 Abbreviations used The abbreviations used in this manual are explained in the table below Abbrev Meaning AGND Analog ground AS Restart Lock option BTB RTO Ready to operate CAN Fieldbus CANopen CE Communit Europ enne EC CLK Clock signal COM Serial interface for a PC AT DGND Digital ground DI
82. erwise use the same connector X6 are separated onto two connectors gt p 111 AGND and DGND connector X3 must be joined together AcND in case analogue 2 setpoints are not CAN Server Client DGND in use PGND CANH I I I N 1200 1 1 CANL MEN I I I I I V according to line impedance CAN ref to ISO 11898 CAN bus cable To meet ISO 11898 you should use a bus cable with a characteristic impedance of 120 The maximum usable cable length for reliable communication decreases with increasing transmission speed As a guide you can use the following values which we have measured but they are not to be taken as assured limits Cable data Characteristic impedance 100 120 Q Cable capacitance max 60 nF km Lead resistance loop 159 8 O km Cable length depending on the transmission rate Transmission rate kbaud max cable length m 1000 20 500 70 250 115 Lower cable capacitance max 30 nF km and lower lead resistance loop 115 O km make it possible to achieve greater distances Characteristic impedance 150 50 terminating resistor 150 50 For EMC reasons the SubD connector housing must fulfill the following conditions metal or metallised housing provision for cable shielding connection in housing large area connection Shield according to line impedance about 1200 SERVOSTAR 601
83. failures It is not possible to achieve a Category 0 shut down with the servo amplifier alone since hard wired electromechanical components are compulsory for this type of disconnection A brake that is built into the motor must have an additional electromechanical control circuit as well as the control through the SERVOSTAR 600 in order to meet Category 0 Usually a brake in a servo motor only has the function of a holding brake To ensure an emergency stop function the braking torque that is required must be checked If the holding brake fulfills the dynamic requirements it must be taken into acount that this application will cause increased wear Circuit suggestion with EMERGENCY STOP Category 0 control function with contactor relays L1 L2 L3 L1 L2 L3 Enable o SERVOSTAR Br Br U2 V2 K10 K K20 a t K20t 2Disable Brake Time DECDIS Motor output Py Braking resistors Ry to 2 5 kW 270 20W 500V 2 5 kW to 5 0 kW 8 20 50W 500V 5 0 kW to 10 kW 2 70 110W 500V Mo n Py Motor output kW 79550 Mo Stall torque Nm Rated speed min SERVOSTAR 601 620 Product Manual 29 Technical description 07 2007 Danaher Motion 6 8 4 WARNING 30 Implementation of the Stop Category 1 Bringing the motor to a standstill by interrupting the mains supply and using controlled electronic braking STOPMODE amp ACTFAULT parameters set t
84. for the drive to 10 set MSD to 1 and LSD to 0 Set the rotary switches at the front of the expansion card to a value higher than 63 Now you can set up the station address by using the ASCII commands DNMACID x SAVE COLD START whereby x stands for the station address Set the rotary switches at the front of the expansion card to a value higher than 63 Now you can set up the station address by using the DeviceNet Object Class 0x03 Attribute 1 This is normally carried out with the help of a DeviceNet software setup tool You must save the para meters in non volatile memory Class 0x25 Attribute 0x65 and then restart the drive after set ting altering the address Setting the transmission speed The DeviceNet transmission speed can be set in three different ways Set the rotary switch for Baud rate at the front of the option card to a value between 0 and 2 0 125 kbit s 1 250 kbit s 2 500 kbit s Set the rotary switch for Baud rate at the front of the option card to a value higher than 2 Now you can set the Baud rate by using the terminal commands DNBAUD x SAVE COLD START whereby x stands for 125 250 or 500 Set the rotary switch for Baud rate at the front of the option card to a value higher than 2 Now you can set the Baud rate by using the DeviceNet Object Class 0x03 Attribute 2 to a value between 0 and 2 This is normally carried out with the help of a DeviceNet software se tup tool You must save the p
85. h Rr ar kostet 74 9 3 1 42 ETE 74 9 3 1 1 Unpacking Mounting and Wiring the Servo 74 9 3 1 2 DOCUMENTS Sua d Pug eR Y ebur 74 9 3 1 3 Minimum Wiring for Drive 1 75 9 3 2 has 76 9 3 3 Important Screen Elements soras ais ack uqa au Borland asiya asua 77 9 3 4 Basic Setup cicer wb heu RE EET 78 9 3 5 Motor Synchronous adu o Rb bp RE ree RESET eR TR dert Qasi EE ee 79 9 3 6 Feedback RU 80 9 3 7 Save Parameters and Restart 2a Y acm 81 9 3 8 Jogging the Motor Speed Control u 2 me sans a datas Phd AE RU EORR pa 82 9 3 9 Nic cL A oh a a wass 83 9 3 10 MONIO nerna nasd ese ee eee aha US ne Rare eee papua 83 9 3 11 Additonal Setup Parameters 4 83 9 4 A Multi axiS Systems i idu een RR BUR ERR TIER S EE ushu ee east ee a ALS 84 9 4 1 Node address for CAN bus 1 2 4 84 9 4 2 Baud rate for GCAN bUS su ai eee e
86. he motor If the safety relay itself is faulty then the monitoring contact cannot bridge the safety logic of the System Opening the protective devices will then switch off the system 10 1 5 Signal diagram sequence terminal Analog In 1 internal setpoint lock setpoint 0 input terminal ENABLE 24V motor locked by controller Enoble input 0 terminal BRAKE lei 5 terminal KSI 24V 20 28 restart lock 0 t input danger zone accessible 1 terminal 501 2 supervisory contact 0 output SERVOSTAR 601 620 Product Manual 93 Expansions Accessories 07 2007 Danaher Motion 10 1 6 Functional test The functioning of the restart lock must be tested during setup after every alteration in the wiring of the system or after exchanging one or more components DANGER of the system Stop all drives with setpoint OV disable drives mechanically block any suspended loads Activate the AS option Open protective screens but do not enter hazardous area Pull off the X10 connector from an amplifier the mains contactor must drop out Reconnect X10 Switch on mains contactor again Repeat steps 4 and 5 for each individual servo amplifier Oy OY amp S 10 1 7 Connection diagram principle control ER setpoint 10V acc to CNC GND CNC GND CNC GND circuit 1 0 GND AS 24V to 1 0 GND ENABLE 1 0 GND
87. hut down and the energy supply is only interrupted when the shut down has been completed Category 2 A controlled shut down whereby the energy supply to the drive machinery is maintained The parameters STOPMODE and ACTFAULT must be set to 1 in order to implement the stop categories If necessary change the parameters via the terminal screen of the setup software and store the data in the EEPROM The Stop Category must be determined by a risk evaluation of the machine In addition suitable means must be provided to guarantee a reliable shut down Category 0 and Category 1 Stops must be operable independently of the operating mode whereby a Category 0 Stop must have priority Stop functions must be implemented by disconnection of the appropriate circuitry and have priority over assigned start functions If necessary provision must be made for the connection of protective devices and lock outs If applicable the Stop function must signal its status to the control logic A reset of the Stop function must not create a hazardous situation SERVOSTAR 601 620 Product Manual 27 Technical description 07 2007 Danaher Motion 6 8 2 WARNING 28 Emergency Stop Standards The emergency Stop function is used for the fastest possible shut down of the machine in a dan gerous situation The Emergency Stop function can be triggered by the actions of a single person It must be fully functional and available at all times Th
88. iary voltage nor the operating voltages of any other connected equipment is switched on Take care that the cabinet is safely disconnected with a lock out warning signs etc The individual voltages will be switched on for the first time during setup The ground symbol 777 which you will find in all the wiring diagrams indicates that you must take care to provide an electrically conductive connection with the largest possible surface area between the unit indicated and the mounting plate in the switchgear cabinet This connection is for the effective grounding of HF interference and must not be confused with the PE symbol 4 protective measure to EN 60204 Use the following connection diagrams Overview page 47 Mains power page 49 Motor page 50 Feedback page 51ff Electronic Gearing Master Slave Master Slave page 58 Pulse Direction page 61 Encoder Emulation ROD A quad B page 63 SSI page 64 Digital Analog l Os page 65ff RS232 PC page 69 CAN Interface page 70 Multi axis systems example page 85 Restart lock option AS page 94 Expansion cards 1 0 14 08 page 101 PROFIBUS page 102 SERCOS page 104 DeviceNet page 105 EtherCat page 108 SynqNet page 110 2CAN page 112 SERVOSTAR 601 620 Product Manual 41 Electrical Installation 07 2007 Danaher Motion 8 3 2 WARNING WARNING 8 3 3 42 Technical data for connecting cables Further information on the chemica
89. in the setup software Further notes can be found on page 72 With the optional expansion card 2CAN the two interfaces for RS232 and CAN which otherwise use the same connector are separated onto two connectors p 111 SERVOSTAR 600 Pin No see below Interface cable between the PC and servo amplifiers of the SERVOSTAR 600 series View looking at the face of the built in SubD connectors this corresponds to the solder side of the SubD sockets on the cable PC PC X6 RS232 X6 RS232 Sub D 9 Sub D 25 Pol Sub D 9 Pol Sub D 9 Pol female female female SERVOSTAR 601 620 Product Manual 69 Electrical Installation 07 2007 Danaher Motion 8 16 70 CANopen Interface X6 The interface for connection to the CAN bus default 500 kBaud The integrated profile is based on the communication profile CANopen DS301 and the drive profile DS402 The following functions are available in connection with the integrated position controller Jogging with variable speed reference traverse zeroing start motion task start direct task digital setpoint provision data transmission functions and many others Detailed information can be found in the CANopen manual The interface is electrically isolated by optocouplers and is at the same potential as the RS232 interface The analog setpoint inputs can still be used With the optional expansion card 2CAN the two interfaces for RS232 and CAN which oth
90. ions Accessories 10 1 Option AS restart lock for personal safety A frequently required application task is the protection of personnel against the restarting of drives This can not be achieved by an electronic inhibit but must be implemented with mechanical ele ments positively driven relay contacts To get round this problem up to now either the main contactor in the mains supply line was switched off or another contactor was used to disconnect the motor from the servo amplifier The disadvantages of this method are the DC bus link has to charged again at restart wear the contacts of the contactors caused switching under load extensive wiring required with additional switching components The AS option avoids these disadvantages A safety relay in the servo amplifier is activated either by the PLC or manually Positively driven contacts provide a safe disconnection of the servo ampli fier the setpoint input of the servo amplifier is inhibited and a signal is sent to the safety circuit The suggested circuits gt p 95 fulfills safety category 1 EN 954 1 or category with additional safety relay e g PNOZ of PILZ company Advantages of the AS option the DC bus link remains charged up since the mains supply line remains active only low voltages are switched so there is no contact wear very little wiring is required the functionality and the personnel safety when using
91. itive switch built into the motor winding Integral section of a control loop Output once per turn from incremental encoders used to zero the machine SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Appendix 11 2 11 2 1 11 2 2 11 2 3 11 2 4 SERVOSTAR 601 620 Product Manual Order numbers The order numbers of accessories such as cables regen resistors mains supplies etc can be found in the accessories manual Servo amplifiers Article EU order code US order code SERVOSTAR 601 DE 89700 not available SERVOSTAR 603 DE 89701 S60300 NA SERVOSTAR 606 DE 89702 S60600 NA SERVOSTAR 610 DE 89703 S61000 NA SERVOSTAR 610 30 DE 102192 S610 3000 NA SERVOSTAR 614 DE 90846 S61400 NA SERVOSTAR 620 DE 89704 S62000 NA SERVOSTAR 601 AS DE 90350 not available SERVOSTAR 603 AS DE 90351 S60301 NA SERVOSTAR 606 AS DE 90352 S60601 NA SERVOSTAR 610 AS DE 90353 S61001 NA SERVOSTAR 610 30 AS DE 102897 S610 3001 NA SERVOSTAR 614 AS DE 91448 S61401 NA SERVOSTAR 620 AS DE 90354 S62001 NA NA means without built in expansion card Expansion cards Article EU order code US order code Expansion card DeviceNet DE 103571 OPT DN Expansion card PROFIBUS DP DE 90056 OPT PB Expansion card SERCOS DE 90879 OPT SE Expansion card 1 0 14 08 DE 90057 Expansion card EtherCat DE 108350 O
92. itor screen shows all ollowing Error a incr Current Q Component important electrical and me actual values Regen Power Heat Sink Temperature Internal Temperature 9 3 11 Additional Setup Parameters Detailed information on all setup functions can be found in the Online Help systemand and the inte grated command reference SERVOSTAR 601 620 Product Manual 83 Setu 07 2007 Danaher Motion 9 4 Multi axis systems Using a special multilink cable you can connect up to six servo amplifiers together and to your PC Cable type SR6Y for 4 amplifiers or SR6Y6 for 6 amplifiers Add 03 Baud rate identical for all amplifiers see table below With the PC connected to just one servo amplifier you can now use the setup software to select all four six amplifiers through the preset station addresses and set up the parameters 9 4 1 Node address for CAN bus During setup it makes sense to preset the station addresses for the individual amplifiers and the baud rate for communication by means of the keypad on the front panel gt p 87 9 4 2 Baud rate for CAN bus After changing the station address and baud rate you must turn the 24V auxiliary lt supply of the servo amplifier off and on again Coding of the baud rate in the LED display Coding Baud rate in kbit s Coding Baud rate in kbit s 0 10 5 250 1 20 6 333 2 50 7 500 3 100 8 666 4 125 9 800 10
93. ive The Declaration of Conformity form can be found on our website download area Concerning noise immunity the servo amplifier meets the requirements to the 2nd environmental category industrial environment For noise emission the amplifier meets the requirement to a prod uct of the category Warning This product can cause high frequency interferences in non industrial environments which can require measures for interference suppression The servo amplifiers have been tested in a defined configuration using the system components that are described in this documentation Any divergence from the configuration and installation described in this documentation means that you will be responsible for carrying out new measure ments to ensure conformance with regulatory requirements The standard EN 50178 is applied to ensure conformance with the Low Voltage Directive Conformance with UL and cUL This servo amplifier is listed under UL file number E217428 UL cUL certified servo amplifiers Underwriters Laboratories Inc fulfil the relevant U S and Cana dian standard in this case UL 840 and UL 508 This standard describes the fulfilment by design of minimum requirements for electrically operated power conversion equipment such as frequency converters and servo amplifiers which is intended to eliminate the risk of fire electric shock or injury to persons being caused by such equipment The technical conformance with the U S
94. kage current 32 LED display L 44 do prd 20 Limit Switch Inputs Ls 67 Mains supply connection interface 48 13 58 Motor 43 Motor holding brake 21 Motor interface 50 Mounting position 19 Multi axis systems 84 14 Node address 84 Noise emission 19 Operating systems 73 Optical 104 Options 203 mb eq vor dS E UM esos 17 Order numbers 117 Outputs Analog 1 2 335 zB ow RR S 66 68 1 2 68 Package supplied 14 Packaging lt s s RR REGE 13 Partnumberscheme 15 69 Pinassignments 46 Pollution level 19 Protection 19 Pulse direction 61 Quickstart 74 Regen 22 Regen resistor interface 50 Resolver interface 52 ROD interface 63 RS232 PC interface 69 Safety instructions 9 Setpointinputs 65 Setup 4 s r
95. l Category 1 With the Category 1 Emergency Stop function there must be absolute certainty in terms of the power supply for the machine drives being switched off i e secured using electromechanical com ponents Additional Emergency Stop equipment may be connected Bringing the motor to a stand still by interrupting the mains supply and using controlled electronic braking The 24 V supply for the servo amplifier must remain constant The issue of which circuit should be used is highly dependent on the requirements of the application at hand Usually a brake in a servo motor only has the function of a holding brake To ensure an emergency stop function the braking torque that is required must be checked If the holding brake fulfills the dynamic requirements it must be taken into acount that this application will cause increased wear The parameters STOPMODE and ACTFAULT must be set to 1 in order to implement the stop categories If necessary change the parameters via the terminal screen of the setup software and store the data in the EEPROM SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Technical description 6 8 3 Implementation of the Stop Category 0 Bringing the motor to a standstill by immediately switching off the amplifier power supply STOPMODE amp ACTFAULT parameters set to 1 The switching sequence is precisely deter mined by this circuit in order to avoid undesirable fault messages and servo amplifier
96. l mechanical and electrical characteristics of the cables can be obtained from our customer service Observe the restrictions in the chapter Conductor cross sections on page 20 To reach the max permitted cable length you must use cable material that matches the capacitance requirements listed below Insulation material Sheathing PUR polyurethane code 11Y Core insulation PETP polyesteraphtalate code 12Y Capacitance Motor cable less than 150 pF m RES Encoder cable less than 120 pF m Technical data For a detailed description of cable types and how to assemble them please refer to the accessories manual Motor cables longer than 25m with motor choke 3YL only Shielding connection to the front panel coble tie Remove the outer covering of the cable and the shielding braid from the cores for the required length Secure the cores with a cable tie Remove the outer covering of the cable over a length of about 30mm without damaging the shielding braid Pull a cable tie through the slot in the shielding rail front panel of the servo amplifier Use the cable tie to clamp the shielding braid of the cable firmly to the shielding rail SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 3 4 Motor connector with shieldplate The motor is connected to the SERVOSTAR 600 by a Power Combicon connector X9 You can obtain the connector kit from us connector ho
97. length LED display A 3 character LED display shows the amplifier status after switching on the 24V supply gt p 86 During operation of the amplifier via the keys on the front panel the parameter and function num bers gt p 87 are displayed as well as the numbers of any errors which occur p 88 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Technical description 6 4 WARNING Control for motor holding brake A 24V max 2A holding brake in the motor can be controlled directly by the servo amplifier Check voltage drop measure the voltage at brake input and check brake function brake and no brake This function does not ensure personnel safety The brake function must be enabled through the BRAKE parameter setting WITH BRAKE In the diagram below you can see the time and functional relationships between the ENABLE signal speed setpoint speed and braking force U Anolog In X3 4 5 we WL 2222 4 ZZ li tbrH tbrL Braking force During the internal ENABLE delay time of 100ms DECDIS the speed setpoint of the servo ampli fier is internally driven down a 10ms ramp to 0 The brake output is switched on when the speed 5rpm VELO is reached or after 5s EMRGTO the latest The rise tbrH and fall tbrL times of the holding brake which is built into the motors are different for the various types of motor see motor manual A description of the interface can
98. ly if you use an external regen resistor Most applications don t need an external regen resistor max Mains Voltage Select the nominal mains AC voltage Mains Phase Missing You can select either warning 05 or error F19 in case of phase loss The setting F19 disables the output stage n05 is just a message Units Acceleration Velocity Position Select usable units for your application referring to the moved load Leave all other fields unchanged WARNING Click OK On the start screen click Motor button 78 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Setu 9 3 5 Motor synchronous 5 Motor DRIVEO Motor Type Synchronous Motor Motor Unit rpm Tj Current Advance Pelect No of Poles 6 rj lo max Max Speed Limit Phi hes 6000 rpm 20 Number Name Holding Brake with an 1500 nmax Start Phi rpm Press function key F12 Software Disable before changing motor parameters Motor Type Select Synchronous Motor If you use a linear motor or an induction motor please contact our support department Number Name Click the list to start uploading the motor parameter table which is stored in the servo amplifier Search and select the connected motor If your motor is not listed please contact our support department Leave all other fields unchanged WARNING Click OK If your motor has a built in brake click Yes
99. m the position controller F04 Feedback Cable break short circuit short to ground Undervoltage DC bus link FO Unge voltage limit is set by manufacturer to 100V Motor temperature too high or temp sensor defect FUR a limit is set by manufacturer to 145 C F07 Internal voltage supply Internal amplifier supply voltages are out of tolerance F08 Overspeed Motor runs away speed is too high F09 EEPROM Checksum error F10 Flash EPROM Checksum error F11 Brake Cable break short circuit short to ground F12 Motor phase Motor phase missing cable break or similar F13 Internal temperature Internal temperature too high F14 Output stage Fault in the power output stage F15 lt max 121 maximum value exceeded F16 Supply BTB RTO 2 or 3 phases missing in the mains supply feed F17 AJD converter Error in the analog digital conversion normally caused by extreme electromagnetic interferences F18 Regen Regen circuit faulty or incorrect setting i A phase is missing in the mains supply power feed FH Supply phase can be switched off for 2 phase operation F20 Slot fault Slot error hardware fault on expansion card F21 Handling error Software error on the expansion card F22 Earth short circuit For 40 70 amps type only F23 CAN bus off Severe CAN bus communication error F24 Warning Warning is displayed as fault F25 Commutation error Commutation error F26 Limit switch Homing error machine has driven onto hardware limit switch F27 AS Operational error with A
100. mber by one press twice in rapid succession increase number by ten press once down menu item decrease number by press twice in rapid succession decrease number by ten press hold right key then press left key well enter a number return function name Option 5 is active Reset input active The Reset function is assigned to a digital input where a High signal is connected 24V switched on unit indicates software version after 1 sec shift to status 2 3 or 4 status 2 24V switched on unit indicates current here 1A flashing dot status 3 24V switched on mains supply switched on unit indicates current and mains supply on flashing do status 4 24V and mains supply on unit enabled unit indicates current mains supply on and enable flashing dot status 1 fault warning signal each error warning that has occurred will be indicated successively for 4 blinks each Parameters SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Setu 9 5 3 Standard menu structure 9 5 4 Extended menu structure Keep the right key pressed while switching on the 24V supply State C3 c3 station adress gt p 84 baudrate gt p 84 KP speed control Tn speed control ms setpoint offset mV motor type see reference guide motor database or positon output LO
101. ng transmitted TT Check the stations addresses for the controls and the servo amplifier if the LED never lights up in SERCOS Phase 1 or the axis cannot be operated although the RT LED is lighting up cyclically indicates that SERCOS communication is faulty or suffering from interference RT If this LED is very bright then communication is suffering strong interference or is non existent Check the SERCOS transmission speed for the controls and the servo amplifier BAUDRATE and the fibre optic connection ERR If this LED flickers this indicates a low level of interference for SERCOS communication or the optical transmitting power is not correctly adjusted to suit the length of cable Check the transmitting power of the physically previous SERCOS station The transmitting power of the servo amplifier can be adjusted in the setup software DRIVE EXE on the SERCOS screen page by altering the parameter for the cable length Connection technology For the fiber optic cable connection only use SERCOS components to the SERCOS Standard IEC 61491 Receive data The fiber optic cable carrying receive data for the drive in the ring structure is connected to X13 with an F SMA connector Transmit data Connect the fiber optic cable for the data output to X14 with an F SMA connector SERVOSTAR 601 620 Product Manual 103 Expansions Accessories 07 2007 Danaher Motion 10 2 4 4 10 2 4 5 10 2 4 6 10
102. o 1 The 24 V supply for the SERVOSTAR must remain constant The drive is braked in a controlled manner during the stopping disabling procedure If the speed VELO see sequence diagram in chapter 6 4 is undershot the holding brake is applied and the output stage is disabled As soon as two separate time periods set at the time relay have elapsed the mains supply and the holding brake are electrically isolated Should an internal SERVOSTAR 600 fault occur the motor is forced to a standstill once K20 drops out Circuit suggestion with EMERGENCY STOP Category 1 control function with contactor relays L1 L2 L3 01213 Enablelo SERVOSTAR Br Br U2 V2 K30 Emergency Off t K20t gt Disoble Broke Time DECDIS t K30t gt 500ms Motor output Braking resistors Ry to 2 5 kW 270 20W 500V 2 5 kW to 5 0 kW 8 20 50W 500V 5 0 kW to 10 kW 2 70 110W 500V Mo n Py Motor output kW Pu 79550 Stall torque Nm Rated speed min SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Technical description 6 8 5 Implementation of the Stop Category 2 The machine receives an operational stop disable command and brakes the drive using the set braking ramp STOPMODE amp ACTFAULT parameters set to 1 The drive is braked in a controlled manner during the stopping disabling procedure If the speed VELO see sequence diagram in chapter 6 4 is undershot
103. o amplifier are set up with the aid of the setup software electrical gear ing The number of steps can be adjusted so that the servo amplifier can be adjusted to the pulse direction signals of any stepper motor controller Various monitoring signals can be output The analog setpoint inputs are out of action Observe the frequency limit Using an A quad B encoder provides better EMC noise immunity Speed profile and signal diagram Direction Equivalences path traversed s number of pulses velocity v pulse frequency acceleration a rate of change of pulse frequency SERVOSTAR 601 620 Product Manual 61 Electrical Installation 07 2007 8 12 5 1 8 12 5 2 62 Danaher Motion Step Direction with 5 V signal level X5 Connection of the servo amplifier to a stepper motor controller with 5 V signal level The connector X5 must be used Frequency limit 1 5 MHz AGND and DGND connector X3 must be joined together SERVOSTAR 600 Pulse 4 RS 485 Pulse Pulse 5V PGND PGND Direction 4 RS 485 b j q d Direction Direction according to line impedance Step Direction with 24 V signal level X3 Connection of a servo amplifier to a stepper motor controller with 24 V signal level The digital inputs DIGITAL IN 1 and 2 at connector X3 must be used Frequency limit 250 kHz AGND and DGND connect
104. o detect any d c fault current Refer to chapter 6 9 1 for the rule of thumb for determining the leakage current Rated residual currents in the Protection against indirect contact personal fire protection for stationary and mo 10 30 mA Wt bile equipment as well as for direct contact 50 300 mA against indirect contact personal fire protection for stationary equip Recommendation In order to protect against direct contact with motor cables shorter than 5 m we recommend that each servo amplifier be protected individually using a 30mA residual current circuit breaker which is sensitive to all currents If you use a selective FI circuit breaker the more intelligent evaluation process will prevent spurious tripping of the circuit breakers SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Technical description 6 9 3 Isolating transformers If protection against indirect contact is absolutely essential despite a higher leakage current or if an alternative form of shock hazard protection is sought the SERVOSTAR 600 can also be operated via an isolating transformer A ground leakage monitor can be used to monitor for short circuits lt We would advise you to keep the length of wiring between the transformer and the servo amplifier as short as possible SERVOSTAR 601 620 Product Manual 33 Technical description 07 2007 Danaher Motion This page has been deliberat
105. ode tor soo e che ec Sul te ed 71 Shielding Connection diagram 47 40 Shock hazard protection 32 Sine cosine encoder interface 55 Ras Seg dea ae Pe Re G 35 Site altitude 3 o mos a 95 02 19 SSI 64 Standards 11 Storages E 13 Supply 19 Switch on and switch off behavior 24 System components overview 44 Technical 18 Torque connectors 19 13 Trouble 0 90 Use directed Option AS 55 ane Q g Q 92 Servo 10 Setup 72 Ventilation Installation 35 Tech Data 19 VIDFatIOfIS Dau coy te Ge Se 19 Warning 89 WANG pon as fat sk PEE 40 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Appendix This page has been deliberately left blank SERVOSTAR 601 620 Product Manual 119 Sales and Service We are committed to quality customer service In order to serve in the most effective way please contact your local sales representative for assistance Ifyou are unaware of your local sales representative please contact us Europe Danaher M
106. op of the Schottky diode This voltage drop must be lt 0 6 V Grounding CANL 1 wad l T T t according to line impedance about 1200 The DeviceNet network must only be grounded at one point to avoid ground loops The circuitry for the physical layer in all devices are referenced to the V bus signal The ground connection is made via the power supply for the bus system The current flowing between V and ground must not flow through any device other than the power supply Bus topology The DeviceNet medium utilizes a linear bus topology Termination resistors are required at each end of the connecting cable Stub cables are permitted up to a length of 6 meters so that at least one node can be connected Termination resistors DeviceNet requires a termination at each end of the connecting cable These resistors must meet the following requirements 120 O 1 metal film 1 4 W SERVOSTAR 601 620 Product Manual 107 Expansions Accessories 07 2007 Danaher Motion 10 2 6 10 2 6 1 10 2 6 2 10 2 6 3 108 Expansion card ETHERCAT This section describes the EtherCat expansion card for SERVOSTAR 600 Information on the range of functions and the software protocol can be found in the EtherCat documentation This expansion card enables the servo amplifier to be connected to the EtherCat network via RJ 45 connectors IN and OUT ports Front view LEDs
107. operation of the product and who have the appropriate qualifications for their job The qualified personnel must know and observe IEC 60364 or DIN VDE 0100 IEC 60664 or DIN VDE 0110 national accident prevention regulations or BGV A3 WARNING Check the Hardware Revision Number of the product see product label This revision number must match the Hardware Revision Number on the cover page of the manual Read this documentation before carrying out installation and setup Incorrect handling of the servo amplifier can lead to personal injury or material damage It is vital that you keep to the technical data and information on connection requirements on the name plate and in the documentation servo amplifiers contain electrostatically sensitive components which may be da maged by incorrect handling Ground yourself before touching the servo amplifier by touching any unpainted metal surface Avoid contact with highly insulating materials artificial fabrics plastic film etc Place the servo amplifier on a conductive surface The manufacturer of the machine must produce a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements do not result in per sonal injury or material damage DANGER Do not open or touch the equipment during operation Keep all covers and cabinet doors closed during operation Touching the equipment is allowed during installation and commi
108. or X3 must be joined together SERVOSTAR 600 Master direction 24V ref to GND GND SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 13 8 13 1 Encoder emulations Incremental encoder output A quad B X5 The incremental encoder interface is part of the package supplied Select the encoder function ROD screen page In the servo amplifier the position of the motor shaft is calculated from the cyclic absolute signals of the resolver or encoder Incremental encoder compatible pulses are generated from this information Pulses are output the SubD connector 5 as two signals and B with 90 phase difference and a zero pulse The resolution lines before quadrature can be changed with the RESOLUTION parameter Encoder function N ENCMODE Feedback system Resolution Zero position Resolver 256 4096 one per revolution ROD 1 only if A B 1 Encoder 256 524288 one per revolution 2727 only if A B 1 I i 22 27 analog pass through acid TTL lines sine line from X1 to X5 You can also adjust and store the position of the zero pulse within one mechanical turn parameter NI OFFSET The drivers are supplied from an internal supply voltage PGND must always be connected to the controls The max admissible cable length is 10 m Connections and signal description for incremental encoder int
109. otion Customer Support Europe E Mail support Internet www DanaherMotion net Tel 49 0 203 99 79 0 Fax 49 0 203 99 79 216 North America Danaher Motion Customer Support North America Internet www DanaherMotion com E Mail DMAC Q danahermotion com Phone 1 540 633 3400 Fax 1 540 639 4162 CD DANAHER MOTION
110. otor poles set incorrectly feedback set up incorrectly apply enable signal check setpoint cable correct motor phase sequence check brake control check mechanism set no of motor poles set up feedback correctly motor oscillates gain too high speed controller shielding in feedback cable is broken AGND not wired up reduce Kp speed controller replace feedback cable join AGND to CNC GND drive reports following error Ims iS set to low setpoint ramp is too long increase OF lpeak keep within motor data shorten setpoint ramp motor overheat ing Ims lpeak Set too high reduce lrms lpeak drive too soft Kp speed controller too low Tn speed controller too high PID T2 too high T Tacho too high increase Kp speed controller use motor default value for Tn speed controller reduce PID T2 reduce T Tacho drive runs roughly Kp speed controller too high Tn speed controller too low PID T2 too low T Tacho too low reduce Kp speed controller use motor default value for Tn speed controller increase PID T2 increase T Tacho axis drifts at setpoint 0V offset not correctly adjusted for analog setpoint provision AGND not joined to the CNC GND of the controls adjust setpoint offset analogl O join AGND and CNC GND 90 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 Expans
111. p WARNING I Connect the digital control inputs to the servo amplifier Connect up AGND also if fieldbuses are used Connect the analog setpoint if required Connect up the feedback unit resolver and or encoder Connect the encoder emulation if required Connect the expansion card see hints from page 98 Connect the motor cables connect shielding to EMI connectors at both ends Use motor chokes 3YL for lead lengths gt 25m Connect the external regen resistor with fusing if required Connect aux supply for max permissible voltage values p 19 Connect main power supply for max permissible voltage values gt p 19 Connect 5 p 69 Final check of the implementation of the wiring Final check according to the wiring diagrams which have been used 40 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 3 8 3 1 WARNING DANGER Wiring Important notes Only professional staff who are qualified in electrical engineering are allowed to install the servo amplifier The installation procedure is described as an example A different procedure may be sensible or necessary depending on the application of the equipment We provide further know how through training courses on request Warning Only install and wire up the equipment when it is not live i e when neither the mains power supply nor the 24 V auxil
112. r e e Shielding All shielding connections directly on the amplifier Output stage module with isolated current measurement Regen circuit with dynamic distribution of the regen power between several amplifiers on the same DC bus link circuit Internal regen resistor as standard external regen resistors if required DC bus link voltage 260 900 VDC can be switched in parallel Q Interference suppression filter for the supply input to category 3 is integrated Q Interference suppression filter for the 24V aux supply to category 3 is integrated Integrated safety Safe electrical separation to EN 50178 between the power input motor connections and the signal electronics provided by appropriate insulation creepage distances and complete electri cal isolation Soft start overvoltage recognition short circuit protection phase failure monitoring Temperature monitoring of servo amplifier and motor when using our motors with our pre assembled cables 16 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Technical description Auxiliary supply voltage 24VDC Electrically isolated internal fusing 3 15 AT from an external 24VDC psu e g with insulating transformer Operation and parameter setting With our user friendly software for setup through the serial interface of a PC Q Direct operation by means of two keys on the servo amplifier and a 3 character LED display for statu
113. ration time Z Zero pulse 116 Control loop with purely proportional behavior Compensation for the lag between the electromagnetic and magnetic fields in the motor Control loop with proportional integral and differential behavior Filter time constant for the speed controller output Regulates the difference between the position setpoint and the actual position to 0 Output speed setpoint Electrically decoupled System protection device with phase monitoring Maximum power which can be dissipated in the regen circuit Converts superfluous energy which is fed back during braking into heat in the regen resistor New start of the microprocessor Conversion of the analog resolver signals into digital information Operation with a periodic change of direction Ferrite rings for interference suppression Incremental position output Control device for regulating the position of a servomotor Limits for the rate of change of the speed setpoint Electrically conductive connection between a phase and PE protective earth ground here electrically conductive connection between two phases Regulates the difference between the speed setpoint and the actual value to 0 Output current setpoint Cyclic absolute serial position output Device to divert interference on the power supply cables to PE Filter time constant in the speed feedback of the control loop Voltage proportional to the actual speed Temperature sens
114. re The table below provides an overview of the supported feedback types their corresponding param eters and a reference to the relevant connection diagram in each case On each of these the pin assignment shown on the encoder side relates to the Danaher Motion motors Primary feedback type Connector und FBTYPE diagram Resolver X2 gt p 52 0 3 SinCos Encoder BISS x1 gt p 53 20 SinCos Encoder ENDAT X1 gt p 54 3 4 SinCos Encoder HIPERFACE X1 gt p 54 2 3 SinCos Encoder w o data channel X1 gt p 55 6 7 16 SinCos Encoder Hall X1 gt p 56 11 RS422 5V Hall x1 gt p 56 12 RS422 5V X5 gt p 57 8 9 Sensorless w o feedback 10 only be set the terminal screen of the setup software RS422 means incremental encoder AquadB Hints for combining primary with secondary feedback systems for position control electr gearing can be found from page 58 SERVOSTAR 601 620 Product Manual 51 Electrical Installation 07 2007 Danaher Motion 8 11 1 Resolver X2 Connection of a Resolver 2 to 36 poles as a feedback system primary gt p 51 The thermostat contact in the motor is connected via the resolver cable to X2 and evaluated there If cable lengths of more than 100 meters are planned please contact our customer service FBTYPE 0 3 Resolver sine cosine depending on mounting situation cosine sine depending on mounting situ
115. requires a 1 1 pro tected data cable with a maximum length of 2 m see ordering information p 117ff The encoder is connected to the power supply using the normal encoder con to feedback nection cable max 50 m max 50 m Technical Data Output voltage 5 V DC 5 5 Output current max 400 mA DC Protection type 20 Ambient temperature 0 55 Type of mounting Mounting rail Cable length amplifier gt mains supply max 2m Cable length mains supply gt encoder max 50 m WARNING 10 3 2 Terminating adapter for encoder cables Encoders that do not have integrated terminating resistors can be connected to X1 with our stan dard cables using this adapter see ordering information p 117ff The terminating resistors increase noise immunity The adapter approx 200 mm long is con nected to the servo amplifier X1 SERVOSTAR 601 620 Product Manual 113 Expansions Accessories 07 2007 Danaher Motion 10 3 3 Hall Dongle Encoder types that do not provide definitive information on commutation can be used as a com plete feedback system using an additional Hall dongle Encoders with analog signals are connected to the dongle digital encoders are connected to con nector X5 on the servo amplifier Refer to the connection diagram on p 56 The connection between the amplifier and the dongle requires a 1 1 protected data cable with a maximum length of 2 m see ordering information p 117ff Encoders
116. rror message if the servo amplifier is to bring the drive to a standstill Error message F19 is output if an input phase is missing The servo amplifier is disabled and the BTB contact opens Where the factory setting is unchanged ACTFAULT 1 the motor is braked using the set EMERGENCY STOP RAMP Behavior when undervoltage threshold is reached If the undervoltage threshold is undershot in the DC bus link the threshold value depends on the type of servo amplifier the error message UNDERVOLTAGE F05 is displayed The drive response depends on the ACTFAULT STOPMODE setting Behavior with enabled holding brake function Servo amplifiers with an enabled holding brake function have a special procedure for switching off the output stage gt p 21 Removing the ENABLE signal triggers electrical braking As with all electronic circuits the general rule applies that there is a possibility of the internal holding brake module failing Bringing a motor to a standstill using a holding brake in a way that is personnel safe also requires an electromechanical make contact for the holding equipment and a suppressor device for the brake Behavior of the optional restart lock AS With the personnel safe restart lock AS the drive can be secured on standstill using its internal electronics so that even when power is being supplied the drive shaft is protected against uninten tional restart The chapter Personnel safe restart lock
117. rtant notes Check the combination of servo amplifier and motor Compare the rated voltage and current of the units Carry out the wiring according to the hints on page 41 WARNING Make sure that the maximum permissible rated voltage at the terminals L1 L2 L3 or DC DC is not exceeded by more than 10 even in the most unfavorable case see EN 60204 1 Section 4 3 1 An excessive voltage on these terminals can lead to destruction of the regen circuit and the servo amplifier The fusing of the AC supply input and the 24V supply is installed by the user gt p 19 Route power and control cables separately We recommend a separation of at least 200mm This improves the interference immunity required by EMC regulations If a motor power cable is used which includes cores for brake control the brake control cores must be separately shielded Connect the shielding at both ends p 47 Q Install all shielding with large areas low impedance with metallised connector housings or shield connection clamps where possible Notes on connection techniques can be found on page 42 Feedback lines may not be extended since thereby the shielding would be interrupted and the signal processing could be disturbed Thecable between servo amplifier and regen resistor must be shielded Install all heavy current cables with an adequate cross section as per 60204 p 20 and use the requested cable material p 42 to reach ma
118. s PROFIBUS DP Communication Profile Manual DeviceNet Communication Profile Manual SERCOS Communication Profile Manual EtherCat Communication Profile Manual in process You need Acrobat Reader to read the PDFs an installation link is on every screen of the product CD ROM 74 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Setu 9 3 1 3 Minimum Wiring for Drive Test This wiring does not fulfill any requirements to safety or functionality of your application it just shows the required wiring for drive testing without load WARNING Motor Feedback Power ON Motor Power SERVOSTAR 601 620 Product Manual 75 Setu 07 2007 Danaher Motion 9 3 2 76 Connect Connect the interface cable to a serial interface on your PC and to the serial interface X6 of the servo amplifier USB to serial converter can be used optionally Switch on the 24 V power supply for the servo amplifier Wait about 30 seconds until the front display of the servo amplifier displays the current classe e g 1 83 for 3 amps If the power supply voltage is switched on too a leading P is display ed e g P 3 for Power 3 amps If a fault code F or a warning a or a status message EIS appears in the display you will find the description on page 88ff If there is fault fix the problem Double Click the DRIVE EXE icon on your Windows desktop to start the software You can
119. s display in case there is no PC available Fully programmable via RS232 interface Completely digital control Q Digital current controller space vector pulse width modulation 62 5 us digital speed controller adaptable to most different load conditions 65us or 250 us Q Integral position controller with adaptation possibilities for customer needs 250 us Pulse direction interface integrated for connection of a servomotor to a stepping motor control Q Evaluation of the resolver signals and sine cosine signals of a high resolution encoder Encoder simulation incremental or SSI Auxiliary functions 2analog monitor outputs 4 programmable digital inputs normally two are defined as limit switch inputs 2 programmable digital outputs Freely programmable combinations of all digital signals Options Expansions Option AS built in safety relay personnel safety starting lock out gt p 91 I O expansion card p 99 PROFIBUS DP expansion card gt p 102 SERCOS expansion card gt p 103 DeviceNet expansion card p 105 EtherCat expansion card gt p 108 SynqNet expansion card gt p 109 2CAN expansion module separated connectors for CAN bus and RS232 5 p 111 Third party expansion cards ModBus FireWire LightBus etc contact distributors for further information SERVOSTAR 601 620 Product Manual 17 Technical description 07 2007 Danaher Motion
120. s signal The output produces a Low signal at the start of the first 4 Out motion task of the motion task sequence The form of the message can be varied by using ASCII com mands PosReg0 Can only be adjusted by ASCII commands 5 Out FError A LOW signal indicates that the position has gone outside the acceptable following error window 6 Out PosReg1 7 Out PosReg2 The preset function of the corresponding position register is indi 8 Out PosReg3 cated by a HIGH signal 9 Out PosReg4 10 Out PosReg5 Can only be adjusted by ASCII commands 11 Supply 24VDC auxiliary supply voltage 12 Supply I O GND Digital GND for the controls SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 2 2 6 Connection diagram SERVOSTAR 600 Control 24V ref to 1 0 0 binory coded motion tosk No Reference FError clear Start MT next Start Jog v x MT Restart Start MT 1 0 Next InPos PosRegO FError PosReg1 PosReg2 PosReg3 PosReg4 PosReg5 24V 1 0 GND lt AGND and DGND connector X3 must be joined together SERVOSTAR 601 620 Product Manual 101 Expansions Accessories 07 2007 Danaher Motion 10 2 3 10 2 3 1 10 2 3 2 10 2 3 3 102 Expansion cards PROFIBUS This chapter describes the PROFIBUS expansion card for the SERVOSTAR 600 Information on the range of functions and the software protocol can be fo
121. scription Regen circuit technical data SERVOSTAR Supply Rated data DIM 601 603 606 620 voltage Upper switch on level of regen circuit V 400 430 Switch off level of regen circuit V 380 410 Overvoltage F02 V 450 Continuous power of regen circuit Rai 80 200 3x230V Continuous power of regen circuit Rge max kW 0 25 0 75 Pulse power internal Rai max 15 kW 2 5 5 Pulse power external Rge max 1s kW 5 External regen resistor Q 33 Upper switch on level of regen circuit V 720 750 Switch off level of regen circuit V 680 710 Overvoltage F02 V 800 Continuous power of regen circuit R int 80 200 SKADON Continuous power of regen circuit kW 0 4 1 2 Pulse power internal Rai max 1s kW 8 16 Pulse power external Rge max 1s kW 16 External regen resistor Q 33 Upper switch on level of regen circuit V 840 870 Switch off level of regen circuit V 800 830 Overvoltage F02 V 900 3 x 480 V Continuous power of regen circuit Rain 80 200 Continuous power of circuit kW 0 5 1 5 Pulse power internal Rgi max 15 kW 10 5 21 Pulse power external Rge max 15 kW 21 External regen resistor Q 33 lt gt Suitable external regen resistors can be found in our accessories manual SERVOSTAR 601 620 Product Manual 23 Technical description 07 2007 Danah
122. scription The servo amplifiers must be adapted to the requirements of your installation Usually you will not have to carry out this parameter setting yourself on the amplifier but on a PC with the assistance of the setup software The is connected to the servo amplifier by null modem cable see 69 The setup software provides the communication between SERVOSTAR 600 and the PC You will find the setup software on the accompanying CD ROM and at our web site With very little effort you can alter parameters and instantly observe the effect on the drive since there is a continuous online connection to the amplifier Simultaneously important actual values are read out from the amplifier and displayed on the PC monitor oscilloscope function Any interface modules expansion cards which may be built into the amplifier are automatically rec ognized and the additional parameters which are required for position control or motion block deft nition are made available Sets of data can be stored on data media archived and loaded again Sets of data which are stored on data media can be printed We supply you with motor specific default sets of data for the most common combinations of servo amplifier and motor In most applications you will be able to use these default values to get your drive running without any problems An extensive online help with integrated description of all variables and functions supports you in each situ
123. ssioning for properly qualified persons only Otherwise there are deadly ha zards with the possibility of death severe injury or material damage During operation servo amplifiers may have uncovered live components depending on their level of enclosure protection Control and power connections may be live even though the motor is not rotating Servo amplifiers may have hot surfaces during operation Surface can reach temperatures above 80 C Never undo any electrical connections to the servo amplifier while it is live There is a danger of electrical arcing with damage to contacts and personal injury Wait at least five minutes after disconnecting the servo amplifier from the main supply power before touching potentially live sections of the equipment e g contacts or un doing any connections Capacitors can still have dangerous voltages present up to five minutes after switching off the supply power To be sure measure the voltage in the DC Bus link and wait until it has fallen below 40V SERVOSTAR 601 620 Product Manual 9 Safety 07 2007 Danaher Motion 2 2 10 Use as directed The servo amplifiers are components which are built into electrical equipment or machines and can only be used as integral components of such equipment The manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any
124. t 0 3V SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Electrical Installation 8 14 8 14 1 Digital and analog inputs and outputs Analog inputs X3 The servo amplifier is equipped with two differential inputs for analog setpoints which are programmable AGND X3 1 must always be joined to the CNC GND of the controls as a ground reference Technical characteristics Differential input voltage max 10 V Resolution 1 25 mV Ground reference AGND terminal X3 1 Input resistance 20 Common mode voltage range for both inputs 10 V Update rate 62 5 us SERVOSTAR 600 control setpoint 10V ref to CNC GND CNC GND setpoint2 10V ref to CNC GND CNC GND Input Analog In 1 terminals X3 4 5 Differential input voltage max 10 V resolution 14 bit scalable Standard setting speed setpoint Input Analog In 2 terminals X3 6 7 Differential input voltage max 10 V resolution 12 bit scalable Standard setting torque setpoint Application examples for setpoint input Analog In 2 adjustable external current limit reduced sensitivity input for setting up jog operation pre control override Fixing the direction of rotation Standard setting clockwise rotation of the motor shaft looking at the shaft end Positive voltage between terminal X3 4 and terminal X3 5 or Positive voltage between terminal X3 6
125. t n03 S fault Exceeded preset following error limit n04 Response monitoring Response monitoring fieldbus has been activated n05 Supply phase Mains supply phase missing n06 SW limit switch 1 Underrun software limit switch 1 n07 SW limit switch 2 Overrun software limit switch 2 08 Motion task error A faulty motion task was started n09 No reference point No reference point Home set at start of motion task n10 PSTOP PSTOP limit switch activated 11 5 NSTOP limit switch activated Only for ENDAT or HIPERFACE Motor default values 12 Ipadesd discrepancy between motor number saved in the en coder and the amplifier motor default values loaded n13 Slot warning 24V supply of the I O expansion board is missing SinCos commutation wake amp shake not completed will n14 SinCos feedback be canceled when amplifier is enabled and wake amp shake carried out n15 Table error Fault according to speed current table INXMODE 35 n16 Summarized warning Summarized warning for n17 to n31 n17 Fielbus Synchronization The mode synchronization SYNCSRC is selected but the drive isn t in synchronies cycle Using Multiturn encoder feedback an overrun over the n18 Multiturn overrun maximum number of resolutions was detected 19 Monon task rampe aig Range overflow on motion task data limited n20 Wrong GMT data Wrong Graphical Motion Task data n21 PLC program error For details see plc code n22 max motor temperatur The user can shut down
126. terrre ge ES RA EROR RR RA Sada asispa 84 9 4 3 Example of connections for multi axis 85 9 5 f LED display eec the RR t Ru ga aa q Chage EO RUE TR ESSERE ARR 86 9 5 1 e RTL rcc 86 9 5 2 Status display sede Red uerb eder Gn ados p uu pas 86 9 5 3 standard menu str cture 33 wei Rx mater ER ENE a EO RE NP Re px geek aed 87 9 5 4 Extended menu Structures herbed aes eae a ea drap Rame papier ibas 87 9 6 Ernormessages BEA Rh RO E MACROS ERO RR ADIRI ae Rd ERR 88 9 7 Warming messages xoi oe egre s nurka a ha qubd ee 89 9 8 Removing faults warningS 4 90 10 Expansions Accessories 10 1 Option AS restart lock for personal 91 10 121 sSafety InsStEUu GODS aia seren Erie act IE Dat muk aver a en BUR Rn 91 10 1 2 Useasdirected 5 5 loi RR ERR ES IR RE TRERRDEEDRPMLEPSEPEPRIEEI 92 10 1 39 Blockdiagrali s cde territi dur a E Pme POUR 92 10 1 4 Functional description e e Ra Rea REPE RE dees eR 93 10 1 5 Signal diagram SEQUENCE 5 24 saa sapaska qai Eae hes 93 104
127. that require a supply current of more than 150 mA be operated using the extended power supply Power Supply SINCOS see p 113 X1 2 to Encoder analog signals X1 3 to Hall feedback X1 1 to SERVOSTAR X1 114 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Appendix 11 Appendix 11 1 Glossary C Clock Common mode voltage CONNECT modules Continuous power of regen circuit Counts Current controller D DC bus link Disable E Enable F Final speed Fieldbus interface G GRAY code H Holding brake 121 threshold Input drift Incremental encoder interface Ipeak peak current Irms effective current K Kp P gain L Limit switch M Machine Monitor output Motion block Multi axis system N Natural convection O Optocoupler SERVOSTAR 601 620 Product Manual Clock signal The maximum amplitude of a disturbance on both inputs which a differential input can eliminate Modules built into the servo amplifier with integrated position control which provide special versions of the interface for the connection to the higher level control Mean power which can be dissipated in the regen circuit Internal count pulses 1 pulse 1 229 turn Regulates the difference between the current setpoint and the actual value to 0 Output power output voltage Rectified and smoothed power voltage Removal of the enable signal 0V or open Enable signal for the servo amplifier 24V Maximum valu
128. the holding brake is applied and the output stage is disabled In this case there is no interruption of the electrical supply If the electrical supply is switched off not only will the controlled braking procedure be performed but the mains supply and the holding brake will also be electrically isolated following a time period set at the time relay Circuit suggestion with EMERGENCY STOP Category 1 control function with contactor relays L1 L2 L3 PE 01213 Enaplelo SERVOSTAR Br U2 V2 W2 K10 K20 Enable On E k30 Disable Off E Emergency Off Ne K20 EJ sao t K20t gt 500ms Motor output Py Braking resistors Ry to 2 5 kW 270 20W 500V 2 5 kW to 5 0 kW 8 20 50W 500V 5 0 kW to 10 kW 2 70 110W 500V Mo n Py Motor output kW Pu 9580 Mo Stall torque Nm n Rated speed min SERVOSTAR 601 620 Product Manual 31 Technical description 07 2007 Danaher Motion 6 9 6 9 1 6 9 2 32 Shock hazard protection Leakage current Leakage current via the PE conductor results from the combination of equipment and cable leakage currents The leakage current frequency pattern comprises a number of frequencies whereby the residual current circuit breakers definitively evaluate the 50Hz current For this reason the leakage current cannot be measured using a conventional multimeter As a rule of thumb the following assumption can be made for leakage
129. the process before the tempera reached ture eror will interrupt the process immediately n23 n31 reserved reserved n32 firmware beta version Firmware is an unreleased beta version These warning messages lead to a controlled shut down of the drive braking with the emergency ramp More information to the messages can be found in the ASCII Object Reference Online Help see parameter STATCODE Hints for removal can be found in section Trouble Shooting of the online help SERVOSTAR 601 620 Product Manual 89 Setu 07 2007 Danaher Motion 9 8 Removing faults warnings Depending on the conditions in your installation there may be a wide variety of reasons for the fault In multi axis systems there may be further hidden causes of a fault Detailled hints for removal of faults can be found in the Online help chapter Trouble Shooting Our customer service can give you further assistance with problems Fault possible causes Measures to remove the cause of the fault HMI message communication fault wrong cable used cable plugged into wrong position in servo amplifier or PC wrong PC interface selected use null modem cable plug cable into the correct Sockets on the servo amplifier and PC select correct interface motor does not rotate servo amplifier not enabled break in setpoint cable motor phases swapped brake not released drive is mechanically blocked no of m
130. tilation or cooling may be necessary to prevent enclosure ambient from exceeding 45 C 113 F Use only copper wire Wire size may be determined from EN 60204 or table 310 16 of the NEC 60 C or 75 column for AWG size We only guarantee the conformance of the servo amplifiers with the standards for industrial areas page 11 if the components motors cables amplifiers etc are delivered by Danaher Motion Consider the specifications on page 92 when you use the optional personnel safe restart lock AS SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Standards 3 3 1 DANGER WARNING 3 2 3 3 Standards European Directives and Standards Servo amplifiers are components that are intended to be incorporated into electrical plant and machines for industrial use When the servo amplifiers are built into machines or plant the amplifier must not be used until it has been established that the machine or equipment fulfills the require ments of the EC Machinery Directive 98 37 EC the EC EMC Directive 89 336 EEC and the EC Low Voltage Directive 73 23 EEC Standards to be applied for conformance with the EC Machinery Directive 98 37 EC EN 60204 1 Safety and Electrical Equipment in Machines EN 12100 Safety of Machines The manufacturer of the machine must generate a hazard analysis for the machine and must implement appropriate measures to ensure that unforeseen movements cannot cause injury or d
131. ting Danaher Motion Customer Support Wacholderstr 40 42 Europe Tel 49 0 203 99790 t UL US D 40489 Diisseldd Italy Tel 39 0 362 594260 217428 www DanaherMotion com North America Tel 1 540 633 3400 IND CONT EQ Typenbezeichnung Model Number Ser Nr Ser No Bemerkung nis Comment Spannungsversorgung Power Supply Nennstrom Nom Current Schutzart Encl Rating F j Umgebungstemp Hardware Ambient temp Revision example max ambient Electrical supply Output current temperature Installed load in S1 operation Hardware Revision SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Packaqe 5 3 Part number scheme S60600 SE Family Expansions S6 5600 NA noexpansion DN DeviceNet Current rating PB PROFIBUS 01 1A rms a o o SE SERCOS 03 rms SN SynqNet 06 6A rms EC ETHERCAT 10 10 lO 10 30A rms 14 14A rms 20 20A rms 71 electr option etm lt 0 no option E 1 AS option additional coding defines customer specific specials Comparison without expansion device name gt part number Device Name Part Number SERVOSTAR 601 560100 SERVOSTAR 603 560300 SERVOSTAR 606 560600 SERVOSTAR 610 561000 SERVOSTAR 610 30 561 00
132. tware Enable is active a warning appears The configuration change cannot be performed Fault at Command Feedback Type ERR clear software enable First Click OK on the warnings press F12 SW dis able and start the Feedback procedure again New Configuration The configuration of the drive has changed If everything was ok the same procedure pa The parameters have to be saved and the drive has to be reset rameter upload that has been described for the for the changes to take effect Save configuration and restart the drive motor selection starts If the choosing to discard the changes the drive is reset without i i Sav he If you click Yes the parameters are saved in the EEPROM and the amplifier makes a 5 coldstart reset This takes some seconds iscard Changes 80 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Setup 9 3 7 Save Parameters and Restart You are going to finish setup and you have changed several basic parameters Depending on the parameters you changed two possible reactions can occur Configuration parameters changed New Configuration The configuration of the drive has chanqed The parameters have to be saved and the drive has to be reset for the changes to take effect Save configuration and restart the drive If the choosing to discard the changes the drive is reset without saving the parameters No Discard Changes A warning appears that you have to
133. ud 1 lt 15 Length of the connection with a 1 mm plastic cable 8 8 Mbaud 15 lt 30 Length of the connection with a 1 mm plastic cable 16 16 Mbaud 330 Length of the connection with a 1 mm plastic cable Setup software The parameters can be modified in the setup software SERCOS screen For additional informa tion please refer to the Setup software online help Alternatively the commands SBAUD and SLEN can be entered in the Terminal screen SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 2 5 10 2 5 1 10 2 5 2 10 2 5 3 Expansion card DEVICENET This section describes the DeviceNet expansion card for SERVOSTAR 600 Information on the range of functions and the software protocol can be found in our manual DeviceNet Communication Profile Front view DeviceNeft Address Net Baudrate X15 1 2 3 4 e status i 15 O E a 1 V Kip Wa 250kb 3 drain 500Kb 50 LSD SEN Connection technology Cable selection cable routing shielding bus connector bus termination and transmission times are all described in the DeviceNet Specification Volume I II published by Connection diagram SERVOSTAR 600 DeviceNet server client 11 25V according to line impedance VA AGND and DGND connector X3 must be joined together SERVOSTAR 601 620
134. und in the manual Communication profile PROFIBUS DP The PROFIBUS expansion card has two 9 pin Sub D sockets wired in parallel The supply voltage for the expansion card is provided by the servo amplifier Front view PROFIBUS ot 3 o X12 A X12 B Connection technology Cable selection cable routing shielding bus connector bus termination and transmission times are described in the Installation guidelines for PROFIBUS DP FMS from PNO the PROFIBUS User Organization Connection diagram SERVOSTAR 600 PROFIBUS GND1 RS485 A RS485 B 5V AGND and DGND connector X3 must be joined together SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Expansions Accessories 10 2 4 10 2 4 1 10 2 4 2 10 2 4 3 Expansion card SERCOS This chapter describes the SERCOS expansion card for SERVOSTAR 600 Information on the range of functions and the software protocol can be found in the manual IDN Reference Guide SERCOS Front view eoo Q Receive Transmit lt SERCOS Interface X13 X14 Light emitting diodes LEDs indicates whether SERCOS telegrams are being correctly received In the final Communi cation Phase 4 this LED should flicker since cyclical telegrams are being received indicates that SERCOS telegrams are being transmitted In the final Communication Phase 4 this LED should flicker since cyclical telegrams are bei
135. using shield plate rubber bushes installation mate rial order codes see p 117 The cable material depends on the motor that is used Please refer to the installation manual for the corresponding motor series Please take note that the connector can accept a maximum conductor cross section of 4mm First push the rubber sleeve onto the cable and then strip off about 70mm of the outer covering without damag ing the shielding gt 52 A RO Z x M S lt gt S Sy S TUUS 5554 SSS SSS x 5555 S Ad Ss S Sy RY NTS NI A 59 ON INN ESSEN SOX 552 SS 555 SS EN NONO X 5 RE LIS 55 S 8S lt Z lt gt x 5 SSS 52 Re 5 lt p ES ES S SS 5 RS PSS RS lt lt BS kx 5 M M Carefully separate the shielding braid from the cores Twist the shielding braid into a pigtail and tie it to the sleeve with the wire Shorten the brake cores to 55mm and the power cores to 45mm Fold back the overhanging length of the shielding pigtail to face forwards Strip off the ends of the cores for about 10mm This length can vary depending on the type of bootlace ferrule that is used Apply bootlace ferrules to the con ductors Place the shield plate in the bottom half of the connector housing Place the cable in the strain
136. ves detailed information to all parameters the servo amplifier can work with Key F1 Starts Online Help for the actual screen page Menu Bar or Starts Online Help with table of contents Online HTML Help arts Online Help with table of contents Tool Bar m EH E BE xE P Basic Setup BE Save to EEPROM SAVE required if you changed parameters 9 Reset coldstart required if you changed important configuration parameters OPMODE 0 Digital Speed Operation Mode use Digital Velocity mode for drive testing Sw Disable F12 Enable Shift F12 Disable and Enable of the amplifier s output stage via software Status Bar Onine Connection OK SERVOSTAR 601 620 Product Manual 77 Setup 07 2007 Danaher Motion 9 3 4 Basic Setup On the start screen click Basic Setup button EW Basic Setup 3 DRIVE0 Software Amplifier V5 53 5283 Hardware Drive 14 Hardware Version 26 00 Power Supply Firmware Regen Resistor 5 33 DRIVE Rev create d Mar 09 16 20 19 2005 BA Serial Number Address Field Bus Address Baud Rate CAN Bus max Regen Power 730233484 3 500 kBaud Y 30 w Run Time Hame Auto Enable Ext WD max Mains Voltage 4518 6 h pRivEO on 100 400 V M B X Units Mains Phase missing Acceleration Velocity Position Warning v msoVLIM VCMD v Compatibitymode v Regen Resistor Change on
137. x cable length Wire the BTB RTO contact in series into the safety circuit of the installation Only in this way is the monitoring of the servo amplifier assured Q Itis permissible to alter the servo amplifier settings by using the setup software Any other alterations will invalidate the warranty Never disconnect the electrical connections to the servoamplifier while it is live In unfavorable circumstances this could result in destruction of the electronics DANGER Residual charges in the capacitors can have dangerous levels up to 300 seconds after switching off the mains supply voltage Measure the bus voltage at the DC bus link pins DC DC and wait until the voltage has fallen below 40V Control and power connections can still be live even when the motor is not rotating SERVOSTAR 601 620 Product Manual 39 Electrical Installation 07 2007 Danaher Motion 8 2 Guide to electrical installation The following notes should assist you to carry out the electrical installation in a sensible sequence without overlooking anything important Select cables according to EN 60204 gt 20 G di EMC compliant EMI shielding and grounding p 47 2 ing Earth ground the mounting plate motor housing and CNC GND of the controls Shielding Notes on connection techniques are on page 42 Wirin Route power leads and control cables separately g Wire the BTB RTO contact in series into the safety loo
138. xpanded 02 02 Dimensions BAR corrected Frontpage new design corrections to US English motor table removed order numbers added 06 02 last page new design and contents new connection to diff mains supply networks block diagram to ch lll 07 03 several corrections DeviceNet expansion card added directives and standards page revised cover design 09 03 Ethernet expansion card and Single axis controller expansion card added 03 04 new regen resistors BAR U several corrections Company name updated expansion cards updated new sections on EtherCat and SynqNet chapter re 02 06 structured new sections on motor chokes Encoder power supply and encoder termination various error corrections new ordering codes Feedback section revised BAR removed cross section awg 09 06 Hardware Revision disposal acc to WEEE 2002 96 EG new structure cover pages Quickstart integrated Part number scheme servo system graphics expanded shock hazard protection new BISS feedback 04 07 feedback expanded enc emulation switch on off behavior and AS updated accessories removed DC Bus link expanded fuses regen resistor 07 07 Timing diagramm motor brake motor connector example cat 3 to EN954 1 Hardware Revision HR Hardware Rev Firmware Rev DRIVE EXE Rev Remarks 05 10 gt 5 76 5 53 284 Firmware gt 6 68 required with BISS WINDOWS is a registered trademark of Microsoft Corp
139. y contacts mA 500 Aux power supply electrically isolated V 24 0 15 without brake A 1 max 16 Aux power supply electrically isolated V 24 0 15 with brake consider voltage loss A 3 max 16 Min max output current brake A 0 15 2 Connections Control signals Combicon 5 08 18 pole 2 5mm Power signals Power Combicon 7 62 4x4 1x6 pole 4mm2 Resolver input SubD 9pole socket Sine cosine encoder input SubD 15pole socket PC interface CAN SubD 9pole plug Encoder simulation ROD EEO SSI SubD 9pole plug Mechanical Weight kg 4 5 7 5 Height without connectors mm 275 Width mm 70 100 120 Depth without connectors mm 265 18 SERVOSTAR 601 620 Product Manual Danaher Motion 07 2007 Technical description 6 2 1 6 2 2 6 2 3 WARNING Recommended torque Connector Recommended torque X3 X4 0 5 to 0 6 Nm 4 43 to 5 31 in Ib X8 X9 0 5 to 0 6 Nm 4 43 to 5 31 in Ib Ground bolt 3 5 Nm 31 in Ib Fusing Internal Fusing Circuit internal fuse Auxiliary supply 24V 3 15 AT FRx 3 Regen resistor electronic External fusing Fusible cutouts or similar SERVOSTAR SERVOSTAR SERVOSTAR Fuse UL time delay 601 603 606 610 614 620 AC supply Fras 6 AT FRx 6 10 AT FRx 10 20 AT FRx 25 24V supply FH4 2 3 max 12 AF max FRx 12 Regen resistor FB1 2 6 AT FRS 6 10 AT FRS 10 10 AT
140. ypes of external encoder can be used secondary Feedback type Connector Wiring GEARMODE diagram Incremental Encoder 5V X5 gt p 59 9 95 19 757 Incremental 24V x3 gt p 59 0 2 10 12 Sine Cosine Encoder X1 gt p 60 6 8 9 16 SSI Encoder X5 gt p 61 T5 Pulse and Direction 5V X5 gt p 62 4 14 Pulse and Direction 24V x3 c p 62 1 11 adjustable via terminal screen of the setup software The follwing table shows the allowed feedback combinations Secondary Feedback for Position control Following Primary Feedback Sine Encoder Increment Enco Pulse amp Direct SSI Encoder X1 der5V 24V X5 X3 5V 24V X5 X3 X5 EXTPOS 1 2 3 EXTPOS 1 2 3 EXTPOS 1 2 3 EXTPOS 1 2 3 Resolver X2 GEARMODE GEARMODE GEARMODE FBTYPE 0 6 8 9 16 0 2 3 5 10 12 13 15 1 4 11 14 7 17 0 0 0 1 ENCMODE 0 ENCMODE 0 ENCMODE 0 ENCMODE 2 EXTPOS 1 2 3 EXTPOS 1 2 3 EXTPOS 1 2 3 Sine Encoder 1 GEARMODE GEARMODE GEARMODE 24 ae 0 2 3 5 10 12 13 15 1 4 11 14 7 17 1 1 1 0 ENCMODE 0 ENCMODE 2 Encoder 8 Hall X1 EXTPOS 1 2 3 EXTPOS 1 2 3 GEARMODE GEARMODE _ 0 2 3 5 10 12 13 15 1 4 11 14 11 12 2 ENCMODE 0 ENCMODE 0 RS422 Encoder X5 FBTYPE 8 9 EXTP

SSI America 601...620 User's Manual

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