SSI America 601...620 Manual de usuario

Product ManualEdition 07/2007Valid for Hardware Revision 05.10SERVOSTAR®601...620Digital Servo AmplifierFile sr601_e.***Keep all manuals as a product

2.2 Use as directedlThe servo amplifiers are components which are built into electrical equipment or machines,and can only be used as integral compone

10.2.2.5 Connector assignmentsConnector X11APin Dir Function Description1 In A0 Motion task no., LSB2 In A1 Motion task no., 213 In A2 Motion task no.

10.2.2.6 Connection diagramAGND and DGND (connector X3) must be joined together !SERVOSTAR®601...620 Product Manual 101Danaher Motion07/2007 Expansion

10.2.3 Expansion cards -PROFIBUS-This chapter describes the PROFIBUS expansion card for the SERVOSTAR 600.Information on the range of functions and th

10.2.4 Expansion card -SERCOS-This chapter describes the SERCOS expansion card for SERVOSTAR 600.Information on the range of functions and the softwar

10.2.4.4 Connection diagramLayout of the SERCOS bus system in ring topology, with optical fibre cables (schematic).AGND and DGND (connector X3) must b

10.2.5 Expansion card -DEVICENET-This section describes the DeviceNet expansion card for SERVOSTAR 600.Information on the range of functions and the s

10.2.5.4 Combined module/network status-LEDLED MeaningoffThe device is not online.- The device has not yet finished the Dup_MAC_ID test.- The device i

10.2.5.7 Bus cableTo meet ISO 898, a bus cable with a characteristic impedance of 120 W should be used. The maxi-mum usable cable length for reliable

10.2.6 Expansion card -ETHERCAT-This section describes the EtherCat expansion card for SERVOSTAR 600. Information on the rangeof functions and the sof

10.2.7 Expansion card -SYNQNET-This section describes the SynqNet expansion card for SERVOSTAR 600. Information on the rangeof functions and the softw

3 Standards3.1 European Directives and StandardsServo amplifiers are components that are intended to be incorporated into electrical plant andmachines

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 (

10.2.8 Expansion module -2CAN-Connector X6 of the SERVOSTAR 6xx is assigned to the signals for the RS232 interface and theCAN interface. It is therefo

10.2.8.4 Connector assignmentsRS232 CAN1=CAN2X6A Pin Signal X6B=X6C Pin Signal1 Vcc 12 RxD 2 CAN-Low3 TxD 3 CAN-GND445 GND 5667 7 CAN-High889910.2.8.5

10.3 Special Accessories10.3.1 Power Supply SINCOSThe extended power supply enables theoperation of encoder systems at con-nector X1 with a power cons

10.3.3 Hall DongleEncoder types that do not provide definitive information on commutation, can be used as a com-plete feedback system using an additio

11 Appendix11.1 GlossaryC Clock Clock signalCommon-mode voltage The maximum amplitude of a disturbance (on bothinputs) which a differential input can

P P-controller Control loop with purely proportional behaviorPhase shift Compensation for the lag between the electromagneticand magnetic fields in th

11.2 Order numbersThe order numbers of accessories such as cables, regen resistors, mains supplies, etc., can befound in the accessories manual.11.2.1

11.3 Index118 SERVOSTAR®601...620 Product ManualAppendix07/2007 Danaher Motion! 24Vaux. supply, interface ...49A Abbreviations ...

This page has been deliberately left blankSERVOSTAR®601...620 Product Manual 119Danaher Motion07/2007 Appendix

3.4 Approvals3.4.1 CE conformanceConformance with the EC EMC Directive 89/336/EEC and the Low Voltage Directive 73/23/EEC ismandatory for the supply o

Sales and ServiceWe are committed to quality customer service. In order to serve in the most effective way,please contact your local sales representat

4 Handling4.1 TransportlOnly by qualified personnel in the manufacturer’s original recyclable packaginglAvoid shockslTemperature –25 to +70°C (-13...1

5 Package5.1 Package suppliedWhen you order a SERVOSTAR 600 series amplifier (order numbers ð p.117), you will receive:— SERVOSTAR 6xx— mating connect

5.3 Part number scheme* additional coding defines customer specific specials.Comparison (without expansion) device name -> part numberDevice Name P

6 Technical description6.1 The SERVOSTAR 600 family of digital servo amplifiersStandard versionl6 current ratings (1.5 A -Europe only-,3A,6A,10A,14A,2

Auxiliary supply voltage 24VDClElectrically isolated, internal fusing (3.15 AT), from an external 24VDC psu, e.g. with insulatingtransformerOperation

6.2 Technical dataSERVOSTARRated data DIM 601 603 606 610 610-30 614 620Rated supply voltage (grounded system)V~ 3 x 230V-10%... 480V+10%,50HzV~ 3 x 2

6.2.1 Recommended torqueConnector Recommended torqueX3, X4 0.5 to 0.6 Nm (4.43 to 5.31 in lb)X0A, X0B, X7, X8, X9 0.5 to 0.6 Nm (4.43 to 5.31 in lb)Gr

Previous versions :Edition Remarks05/98 First edition08/98 a few corrections09/98various minor corrections, parameter description removed, parameter s

6.2.4 Conductor cross-sectionsTechnical data for connection cables ð p.42. Following EN 60204 (for AWG: table 310-16 of theNEC 60°C or 75°C column), w

6.4 Control for motor holding brakeA 24V / max. 2A holding brake in the motor can be controlled directly by the servo amplifier.Check voltage drop, me

6.5 Grounding systemAGND — ground for analog inputs/outputs, internal analog/µC groundDGND — ground for digital inputs/outputs, optically isolatedXGND

Regen circuit: technical data SERVOSTARSupplyvoltageRated data DIM 601 - 603 606 - 6203 x 230 VUpper switch-on level of regen circuit V 400 - 430Switc

6.7 Switch-on and switch-off behaviorThis chapter describes the switch-on and switch-off behavior of the SERVOSTAR and the stepsrequired to achieve op

6.7.1 Behavior in standard operationThe behavior of the servo amplifier always depends on the current setting of a number of differentparameters (e.g.

6.7.2 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 o

6.8 Stop/Emergency Stop Function to EN 60204With the personnel safe restart lock –AS- (see page 91 onwards) the drive can besecured on standstill (tor

6.8.2 Emergency Stop: StandardsThe emergency Stop function is used for the fastest possible shut-down of the machine in a dan-gerous situation. The Em

6.8.3 Implementation of the Stop Category 0Bringing the motor to a standstill by immediately switching off the amplifier power supply(STOPMODE & A

1 General1.1 About this manual ... 71.2 Hints for the online edition (PDF format)

6.8.4 Implementation of the Stop Category 1Bringing the motor to a standstill by interrupting the mains supply and using controlled electronicbraking

6.8.5 Implementation of the Stop Category 2The machine receives an operational stop (disable) command and brakes the drive using the setbraking ramp (

6.9 Shock-hazard protection6.9.1 Leakage currentLeakage current via the PE conductor results from the combination of equipment and cable leakagecurren

6.9.3 Isolating transformersIf protection against indirect contact is absolutely essential despite a higher leakage current, or if analternative form

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7 Mechanical Installation7.1 Important noteslProtect the servo amplifier from impermissible stresses. In particular, do not let anycomponents become b

7.3 AssemblyMaterial:2or4hexagon socket screws to DIN 912, M5Tool required:4mmAllen key36 SERVOSTAR®601...620 Product ManualMechanical Installation07/

7.4 DimensionsSERVOSTAR®601...620 Product Manual 37Danaher Motion07/2007 Mechanical InstallationSERVOSTAR 620SERVOSTAR 601/603/603/610SERVOSTAR 614

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8 Electrical Installation8.1 Important noteslCheck the combination of servo amplifier and motor. Compare the rated voltage and current ofthe units. Ca

7 Mechanical Installation7.1 Important notes ... 357.2 Guide to mechanical instal

8.2 Guide to electrical installationThe following notes should assist you to carry out the electrical installation in a sensible sequence,without over

8.3 Wiring8.3.1 Important notesOnly professional staff who are qualified in electrical engineering are allowed toinstall the servo amplifier.The insta

8.3.2 Technical data for connecting cablesFurther information on the chemical, mechanical and electrical characteristics of the cables can beobtained

8.3.4 Motor connector with shieldplateThe motor is connected to the SERVOSTAR 600 by a Power Combicon connector (X9). You canobtain the connector kit

8.4 Components of a servo systemCables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines.Optional devices are connected with

8.5 Block diagramThe block diagram below is just an overview.SERVOSTAR®601...620 Product Manual 45Danaher Motion07/2007 Electrical Installation

8.6 Pin assignments46 SERVOSTAR®601...620 Product ManualElectrical Installation07/2007 Danaher Motion

8.7 Connection diagram (overview)SERVOSTAR®601...620 Product Manual 47Danaher Motion07/2007 Electrical Installationð p.69ð p.70ð p.49ð p.49ð p.50ð p.4

8.8 Power supply8.8.1 Connection to various mains supply networksThis page illustrates all the possible connection variations for different electrical

8.8.2 Mains supply connection (X0)— Directly to earthed (grounded) 3~ supply, integrated EMI filter— Fusing (e.g. fusible cut-outs) provided by the us

9Setup9.1 Important notes ... 719.2 Setup software ...

8.9 Motor connection with brake (X9)Lead length £ 25mLead length >25mFor lead lengths above 25m the choke box 3YL must be wired into the motor lead

8.11 FeedbackEvery closed servo system will normally require at least one feedback device for sending actualvalues from the motor to the servo drive.

8.11.1 Resolver (X2)Connection of a Resolver (2 to 36-poles) as a feedback system (primary, ð p.51). The thermostatcontact in the motor is connected v

8.11.2 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 revis

8.11.3 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

8.11.4 Sine Encoder without data channel (X1)Wiring of a sine-cosine encoder without data channel as standard feedback system. Every time the24V auxil

8.11.5 Incremental encoder / sine encoder with Hall (X1)Encoder types (incremental or sine/cosine) that do not provide definitive information on commu

8.11.6 Incremental Encoder (X5)An incremental encoder can be used as standard motor feedback.Every time the 24V auxiliary voltage is switched on, the

8.12 Electronic Gearing, Master-slave operationIn the case of the “electronic gearing” functionality (see setup software and description ofGEARMODE pa

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 sl

10.2 Expansion Cards ... 9810.2.1 Guide to installation of expansion cards...

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-slaveoperation). Th

8.12.4 Connection to a SSI encoder (X5)You can set up the SERVOSTAR 600 as a slave following a synchronous serial absolute-encoder(master-slave operat

8.12.5.1 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

8.13 Encoder emulations8.13.1 Incremental encoder output - A quad B (X5)The incremental-encoder interface is part of the package supplied. Select the

8.13.2 SSI output (X5)The SSI interface (synchronous serial absolute-encoder simulation) is part of the delivered pack-age. Select the encoder functio

8.14 Digital and analog inputs and outputs8.14.1 Analog inputs (X3)The servo amplifier is equipped with two differential inputs for analog setpoints w

8.14.2 Analog outputs (X3)Technical characteristics— Reference ground is analog-GND (AGND, terminal X3/1 and X3/10)— Output resistance 2.2 kW— Output

8.14.3 Digital inputs (X3)All digital inputs are electrically isolated through optocouplers.Technical characteristics— Reference ground is digital-GND

8.14.4 Digital outputs (X3)Technical characteristics— Reference ground is digital-GND (DGND, terminal X3/18)— All digital outputs are floating— DIGITA

8.15 RS232 interface, PC connection (X6)The setting of the operating, position control, and motion-block parameters can be carried out withan ordinary

1 General1.1 About this manualThis manual describes the digital servo amplifiers of the SERVOSTAR®600 series(standard version, 1.5 to 20 Amps nominal

8.16 CANopen Interface (X6)The interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based onthe communication profil

9 Setup9.1 Important notesOnly professional personnel with extensive knowledge in the fields of electrical/drive technology are allowed to setup the s

9.2 Setup software9.2.1 GeneralThis chapter describes the installation of the setup software DRIVE.EXE for the SERVOSTAR 600digital servo amplifiers.W

9.2.1.3 Hardware requirementsThe PC interface (X6, RS232) of the servo amplifier is connected to the serial interface of the PC bya null-modem cable (

9.3 Quickstart Guide9.3.1 Preparation9.3.1.1 Unpacking, Mounting and Wiring the Servo Amplifier1. Unpack servo amplifier and accessories2. Observe saf

9.3.1.3 Minimum Wiring for Drive TestThis wiring does not fulfill any requirements to safety or functionality of yourapplication, it just shows the re

9.3.2 ConnectlConnect the interface cable to a serial interface on your PC and to the serial interface X6 of theservo amplifier. USB to serial convert

If communication works, parameters are transmitted from the servoamplifier to the computer.Then you see the start screen.Make sure, that the amplifier

9.3.4 Basic SetupOn the start screen click "Basic Setup" button.Regen Resistor: Change only if you use an external regen resistor. Most appl

9.3.5 Motor (synchronous)Press function key F12 (Software Disable) before changing motor parameters.Motor Type: Select Synchronous Motor. If you use a

1.4 Abbreviations usedThe abbreviations used in this manual are explained in the table below.Abbrev. MeaningAGND Analog groundAS Restart Lock, optionB

9.3.6 FeedbackPress F12 (disable) before changing feed-back parameters.Feedback Type:Select the feedback type used.Leave all other fields unchanged.If

9.3.7 Save Parameters and RestartYou are going to finish setup and you have changed several basic parameters. Depending on theparameters you changed,

9.3.8 Jogging the Motor (Speed Control)Be aware that the actual position of the load permits the subsequent movingoperations. The axis could move to t

9.3.9 StatusActual warnings and errors are listed on the Status screen, which can be accessed on the startscreen by clicking the "Status" bu

9.4 Multi-axis systemsUsing a special multilink cable, you can connect up to six servo amplifiers together and to your PC :Cable type -SR6Y- (for 4 am

9.4.3 Example of connections for multi-axis systemSERVOSTAR®601...620 Product Manual 85Danaher Motion07/2007 SetupSERVOSTAR 600SERVOSTAR 600SERVOSTAR

9.5 Key operation / LED displayIn this chapter the two possible operation menus and the use of the keys in the front panel areshown. Normally, the SER

9.5.3 Standard menu structure9.5.4 Extended menu structureKeep the right key pressed while switching on the 24V-supply.SERVOSTAR®601...620 Product Man

9.6 Error messagesErrors which occur are shown in coded form by an error number in the LED display on the frontpanel. All error messages result in the

9.7 Warning messagesFaults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTOcontact remains closed), are indicat

2 Safety2.1 Safety InstructionslOnly properly qualified personnel are permitted to perform activities such as transport,installation, setup and mainte

9.8 Removing faults/warningsDepending on the conditions in your installation, there may be a wide variety of reasons for thefault. In multi-axis syste

10 Expansions / Accessories10.1 Option -AS-, restart lock for personal safetyA frequently required application task is the protection of personnel aga

10.1.2 Use as directedThe -AS- restart lock is exclusively intended to provide safety for personnel, by preventing therestart of a system. To achieve

10.1.4 Functional descriptionAn additional connector (X10) is mounted on the front panel of the SERVOSTAR 600. The coil con-nections and a make (n.o.)

10.1.6 Functional testThe functioning of the restart lock must be tested during setup, after everyalteration in the wiring of the system, or after exc

10.1.8 Application example category 1 according to EN954-1Flowchart for stop and emergency stop category 0.10.1.8.1 Control circuit10.1.8.2 Mains supp

10.1.9 Application example category 3 according to EN954-1Flowchart for stop and emergency stop category 1.10.1.9.1 Control circuit10.1.9.2 Mains supp

10.1.9.3 Flow chartt(K30t) ³ 500mst(K10t) and t(K20t) ensure that the drive remains active until the axis has come to a standstill. Thistime depends o

10.2 Expansion CardsInformation about availability and order numbers can be found on p. 11710.2.1 Guide to installation of expansion cardslUse a suita

10.2.2 Expansion card -I/O-14/08-This chapter describes the I/O-expansion card -I/O-14/08-. It only describes the additional featuresthat the expansio