SSI America 601...620 manuel d'utilisation

Product Manual Edition 07/2007 Valid for Hardware Revision 05.10 SERVO STAR ® 601...620 Digital Servo Amplifier File sr601_e.*** Keep all manuals as a product component during the life span of the product. Pass all manuals to future users / owners of the product.[...]

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 output[...]

1 General 1.1 About this manual ....................................................................... 7 1.2 Hints for the online edition (PDF format) ...................................................... 7 1.3 Symbols used ........................................................................... 7 1.4 Abbreviations used .......................[...]

7 Mechanical Installation 7.1 Important notes ........................................................................ 3 5 7.2 Guide to mechanical installation ............................................................ 3 5 7.3 Assembly ............................................................................. 3 6 7.4 Dimensions ...............[...]

9S e t u p 9.1 Important notes ........................................................................ 7 1 9.2 Setup software ......................................................................... 7 2 9.2.1 General ......................................................................... 7 2 9.2.1.1 Use as directed .............................[...]

10.2 Expansion Cards ....................................................................... 9 8 10.2.1 Guide to installation of expansion cards ................................................. 9 8 10.2.2 Expansion card -I/O-14/08- .......................................................... 9 9 10.2.2.1 Front view ..................................[...]

1 General 1.1 About this manual This manual describes the digital servo amplifiers of the SERVO STAR ® 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 [...]

1.4 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 Communité Européenne (EC) CLK Clock signal COM Serial interface for a PC-AT DGND Digital ground DIN German Institute for industrial Standards D[...]

2 Safety 2.1 Safety Instructions l 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 operation of the product, and who have the appropriate qualifications for thei[...]

2.2 Use as directed l The servo amplifiers are components which are built into electrical equipment or machines, and can only be used as integral components of such equipment. l The manufacturer of the machine must generate a hazard analysis for the machine, and take appropriate measures to ensure that unforeseen movements cannot cause injury or da[...]

3 Standards 3.1 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 - me[...]

3.4 Approvals 3.4.1 CE conformance Conformance with the EC EMC Directive 89/336/EEC and the Low Voltage Directive 73/23/EEC is mandatory for the supply of servo amplifiers within the European Community. Product standard EN 61800-3 is applied to ensure conformance with the EMC Directive. The Declaration of Conformity form can be found on our website[...]

4 Handling 4.1 Transport l Only by qualified personnel in the manufacturer ’s original recyclable packaging l Avoid shocks l Temperature –25 to +70°C (-13...158°F), max. 20K/hr rate of change l Humidity max. 95% relative humidity, no condensation l The servo amplifiers contain electrostatically sensitive components which can be da - maged by [...]

5 Package 5.1 Package supplied When you order a SERVOSTAR 600 series amplifier (order numbers ð p.117), you will receive: — SERVOSTAR 6xx — mating connectors X3, X4, X0A, X0B, X7, X8 The mating SubD connectors and motor connector X9 are not part of the package! — Assembly, Installation and Setup Instructions (product manual) — Online docum[...]

5.3 Part number scheme * additional coding defines customer specific specials. Comparison (without expansion) device name -> part number Device Name Part Number SERVOSTAR 601 S60100-NA SERVOSTAR 603 S60300-NA SERVOSTAR 606 S60600-NA SERVOSTAR 610 S61000-NA SERVOSTAR 610-30 S61P00-NA SERVOSTAR 614 S61400-NA SERVOSTAR 620 S62000-NA SERVOSTAR ® 60[...]

6 Technical description 6.1 The SERVOSTAR 600 family of digital servo amplifiers Standard version l 6 current ratings (1.5 A -Europe only- ,3A,6A,1 0A,1 4A ,2 0A ) l 3 instrument widths : 70 mm for 1.5A up to 10A rated current 100 mm for 14A rated current 120 mm for 20A rated current l Wide range of rated voltage (3x208V –10% to 3x480V +10% ) l S[...]

Auxiliary supply voltage 24VDC l Electrically isolated, internal fusing (3.15 AT), from an external 24VDC psu, e.g. with insulating transformer Operation and parameter setting l With our user-friendly software for setup through the serial interface of a PC l Direct operation by means of two keys on the servo amplifier and a 3-character LED display [...]

6.2 Technical data SERVOSTAR Rated data DIM 601 603 606 610 610-30 614 620 Rated supply voltage (grounded system) V~ 3 x 230V -10% ... 480V +10% ,5 0H z V~ 3 x 208V -10% ... 480V +10% ,6 0H z Rated installed load for S1 operation kVA 1 2 4 7 7 10 14 Rated DC bus link voltage V= 290 - 675 Rated output current (rms value, ± 3%) A rms 1.5 3 6 10 10 1[...]

6.2.1 Recommended torque Connector Recommended torque X3, 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) Ground bolt 3.5 Nm (31 in lb) 6.2.2 Fusing Internal Fusing Circuit internal fuse Auxiliary supply 24V 3.15 AT (FRx-3) Regen resistor electronic External fusing Fusible cutouts or similar (Fuse UL ti[...]

6.2.4 Conductor cross-sections Technical data for connection cables ð p.42. Following EN 60204 (for AWG: table 310-16 of the NEC 60°C or 75°C column), we recommend for single-axis systems : AC connection SERVOSTAR 601-610 : 1.5 mm² (14awg) SERVOSTAR 614/620: 4 mm² (12awg) 600V,105°C (221°F), twisted DC bus link SERVOSTAR 601-610: 1.5 mm² (1[...]

6.4 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 (settin[...]

6.5 Grounding system AGND — ground for analog inputs/outputs, internal analog/µC ground DGND — ground for digital inputs/outputs, optically isolated XGND — ground for external 24V aux. voltage, optically and inductively isolated PGND — ground for encoder simulation, RS232, CAN, optically isolated The potential isolation is shown in the blo[...]

Regen circuit: technical data SERVOSTAR Supply voltage Rated data DIM 601 - 603 606 - 620 3 x 230 V 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 ( R Bint ) W 80 200 Continuous power of regen circuit ( R Bext ) max. kW 0.25 0.75 Pulse power, i[...]

6.7 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 (ENABL[...]

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. Devices which are equipped wi[...]

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 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 even[...]

6.8 Stop/Emergency Stop Function to EN 60204 With the personnel safe restart lock –AS- (see page 91 onwards) the drive can be secured on standstill (torque-free) using its internal electronics so that even when power is being supplied, the drive shaft is protected against unintentional restart. 6.8.1 Stop: Standards The Stop function is used to s[...]

6.8.2 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. The user must not have to work out how to oper - ate this mechanism[...]

6.8.3 Implementation of the Stop Category 0 Bringing the motor to a standstill by immediately switching off the amplifier power supply ( STOPMODE & ACTFAULT parameters set to 1 ). The switching sequence is precisely deter - mined by this circuit in order to avoid undesirable fault messages and servo amplifier failures. It is not possible to ach[...]

6.8.4 Implementation of the Stop Category 1 Bringing the motor to a standstill by interrupting the mains supply and using controlled electronic braking ( STOPMODE & ACTFAULT parameters set to 1 ). The 24 V supply for the SERVOSTAR must remain constant. The drive is braked in a controlled manner during the stopping (disabling) procedure. If the [...]

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 & ACTFAULT parameters set to 1 ). The drive is braked in a controlled manner during the stopping (disabling) procedure. If the speed VEL0 (see sequence diagram in chapter 6.4) is under[...]

6.9 Shock-hazard protection 6.9.1 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 curre[...]

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. We would advise you to [...]

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7 Mechanical Installation 7.1 Important notes l Protect the servo amplifier from impermissible stresses. In particular, do not let any components become bent or any insulation distances altered during transport and handling. Avoid contact with electronic components and contacts. l Ensure that there is an adequate flow of cool, filtered air into the[...]

7.3 Assembly Materia l:2o r4 hexagon socket screws to DIN 912, M5 Tool require d:4m m Allen key 36 SERVOSTAR ® 601...620 Product Manual Mechanical Installation 07/2007 Danaher Motion SERVOSTAR 600 SERVOSTAR 601-610 SERVOSTAR 601-610 SERVOSTAR 614 SERVOSTAR 620[...]

7.4 Dimensions SERVOSTAR ® 601...620 Product Manual 37 Danaher Motion 07/2007 Mechanical Installation SERVOSTAR 620 SERVOSTAR 601/603/603/610 SERVOSTAR 614[...]

This page has been deliberately left blank. 38 SERVOSTAR ® 601...620 Product Manual Mechanical Installation 07/2007 Danaher Motion[...]

8 Electrical Installation 8.1 Important notes l Check the combination of servo amplifier and motor. Compare the rated voltage and current of the units. Carry out the wiring according to the hints on page 41. l Make sure that the maximum permissible rated voltage at the terminals L1, L2, L3 or +DC, –DC is not exceeded by more than 10% even in the [...]

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. Cable selec - tion Select cables according to EN 60204 ( ð p. 20) Grounding Shielding EMC-compliant (EMI) shielding and grounding ( ð p. 47) Earth (ground) the mounting[...]

8.3 Wiring 8.3.1 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 course[...]

8.3.2 Technical data for connecting cables Further information on the chemical, mechanical and electrical characteristics of the cables can be obtained from our customer service. Observe the restrictions in the chapter "Conductor cross-sections" on page 20. To reach the max. permitted cable length, you must use cable material that matches[...]

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, housing, 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 man[...]

8.4 Components of a servo system Cables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines. Optional devices are connected with dashed lines to the servo amplifier. The required accessories are described in our accessories manual. 44 SERVOSTAR ® 601...620 Product Manual Electrical Installation 07/2007 Danaher Motion 24V sup[...]

8.5 Block diagram The block diagram below is just an overview. SERVOSTAR ® 601...620 Product Manual 45 Danaher Motion 07/2007 Electrical Installation[...]

8.6 Pin assignments 46 SERVOSTAR ® 601...620 Product Manual Electrical Installation 07/2007 Danaher Motion[...]

8.7 Connection diagram (overview) SERVOSTAR ® 601...620 Product Manual 47 Danaher Motion 07/2007 Electrical Installation ð p.69 ð p.70 ð p.49 ð p.49 ð p.50 ð p.49 ð p.50 ð p.53ff ð p.52 ð p.65 ð p.66 ð p.67 ð p.68 ð p.63 ð p.64 ð p.58 ð p.61 SERVOSTAR 600 Reference Safety Instructions ( ð p.9) and Use As Directed ( ð p.10) ![...]

8.8 Power supply 8.8.1 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). 48 SERVOSTAR ® 601...620 Product [...]

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 user ð p.19 8.8.3 24V auxiliary supply (X4) — Electrically isolated, external 24VDC supply, e.g. with insulating transformer — Required current rating ð p.18 — Integrated EMI filter for th[...]

8.9 Motor connection with brake (X9) Lead length £ 25m Lead length >25m For lead lengths above 25m the choke box 3YL must be wired into the motor lead, close to the amplifier. 8.10 External regen resistor (X8) Remove the plug-in link between the terminals X8/1 (-R B ) and X8/2 (+R bint ). 50 SERVOSTAR ® 601...620 Product Manual Electrical Inst[...]

8.11 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 w[...]

8.11.1 Resolver (X2) Connection of a Resolver (2 to 36-poles) as a feedback system (primary, ð p.51). The thermostat contact in the motor is connected via the resolver cable to X2 and evaluated there. If cable lengths of more than 100 meters are planned, please contact our customer service. FBTYPE: 0, 3 52 SERVOSTAR ® 601...620 Product Manual Ele[...]

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 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[...]

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 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 connec[...]

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 on, the amplifier needs start-up information for the position control - ler (parameter value MPHASE). Depending on the feedback type either wake&shake is executed or the[...]

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, ð p. 90). This adapter i[...]

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 amplifier needs start-up information for the position controller (parameter value MPHASE). Depending on the feedback type either wake&shake is executed or the value for MPHASE is read out of the[...]

8.12 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 [...]

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 £ 0,1 µs AGND and DGND (connector X3) must be joined to[...]

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 ( ð p.113). For encoders that do not have integrated te[...]

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 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. Fr[...]

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 X5 must be used. Frequency limit: 1,5 MHz AGND and DGND (connector X3) must be joined together ! 8.12.5.2 Step/Direction with 24 V signal level (X3) Connection of a servo amplifier to a stepper-moto[...]

8.13 Encoder emulations 8.13.1 Incremental encoder output - A quad B (X5) The incremental-encoder interface is part of the package supplied. Select the encoder function ROD (screen page “Encoder”). In the servo amplifier, the position of the motor shaft is calculated from the cyclic-absolute signals of the resolver or encoder. Incremental-encod[...]

8.13.2 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 “Encoder”). In the servo amplifier, the position of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder. This information is used [...]

8.14 Digital and analog inputs and outputs 8.14.1 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[...]

8.14.2 Analog outputs (X3) Technical characteristics — Reference ground is analog-GND (AGND, terminal X3/1 and X3/10) — Output resistance 2.2 k W — Output voltage ± 10 V — Resolution 10 bit. — Update rate 62.5 µs 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[...]

8.14.3 Digital inputs (X3) All digital inputs are electrically isolated through optocouplers. Technical characteristics — Reference ground is digital -GND (DGND, terminal X3/18) — Inputs at X3 meet PLC standards (IEC 61131-2 Type 1) — High: 11...30V / 2...11mA, Low -3...+5V / <1 mA — Update rate: 250µs ENABLE input The output stage of t[...]

8.14.4 Digital outputs (X3) Technical characteristics — Reference ground is digital-GND (DGND, terminal X3/18) — All digital outputs are floating — DIGITAL-OUT1 and 2 : Open-Collector, max. 30 VDC, 10 mA BTB/RTO : Relay output, max. 30 VDC or 42 VAC, 0.5 A — Update rate : 250 µs Ready-to-operate contact BTB/RTO Operational readiness (termi[...]

8.15 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[...]

8.16 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), s[...]

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. The procedure for setup is described as an example. Depending on the application, a different procedure may be sensible or necessary. In multi-axis systems, setup each servo ampli -[...]

9.2 Setup software 9.2.1 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. 9.2.1.1 Use as directed The setup software is intended to be used for setting up and storing the operating parameters for the SERVOSTAR 600[...]

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 ! )( ð p.69). Connect / disconnect the interface cable only when the supply is switched off for both the PC and the servo amplifier. The interface in the servo amplifie[...]

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 de[...]

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. SERVOSTAR ® 601...620 Product Manual 75 Danaher Motion 07/2007 Setup Power ON 24V DC + - Enable Power Motor-Feedback Motor-Power Motor 2 3 15 1 2 3 X4 [...]

9.3.2 Connect l Connect the interface cable to a serial interface on your PC and to the serial interface X6 of the servo amplifier. USB to serial converter can be used optionally. l Switch on the 24 V power supply for the servo amplifier. l Wait about 30 seconds, until the front display of the servo amplifier displays the current classe (e.g. for 3[...]

If communication works, parameters are transmitted from the servoamplifier to the computer. Then you see the start screen. Make sure, that the amplifier is disabled (Input HW-Enable connector X3 pin 15 must be 0 V or open)! 9.3.3 Important Screen Elements Help Function The Online-Help gives detailed information to all parameters the servo amplifier[...]

9.3.4 Basic Setup On the start screen click "Basic Setup" button. Regen Resistor: Change only if you use an external regen resistor. Most applications don 't need an external regen resistor max. Mains Voltage: Select the nominal mains AC voltage Mains Phase Missing: You can select either warning "n05" or error "F19&quo[...]

9.3.5 Motor (synchronous) Press function key F12 (Software Disable) before changing motor parameters. Motor Type: Select Synchronous Motor. If you use a linear motor or an induction motor, please contact our support department. Number-Name: Click the list to start uploading the motor parameter table, which is stored in the servo amplifier. Search a[...]

9.3.6 Feedback Press F12 (disable) before changing feed - back parameters. Feedback Type: Select the feedback type used. Leave all other fields unchanged. If Software Enable is active, a warning appears. The configuration change cannot be performed. Click OK on the warnings, press F12 (SW dis - able) and start the Feedback procedure again. If every[...]

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 A warning appears, that you have to restart the amplifier. This is called "coldstart". Click "YES". The paramet[...]

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 stop. Make sure that a jerk or a fast acceleration of the load cannot cause any damage. l Switch on the power supply for the drive. l Hardware-Enable : +24[...]

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. The Reset button can be used to clear some actual error messages. A description of errors/warn - in[...]

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). 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[...]

9.4.3 Example of connections for multi-axis system SERVOSTAR ® 601...620 Product Manual 85 Danaher Motion 07/2007 Setup SERVOSTAR 600 SERVOSTAR 600 SERVOSTAR 600 Power supply Reference Safety Instructions ( ð p.9) and Use As Directed ( ð p.10) ! M M M[...]

9.5 Key operation / LED display In this chapter the two possible operation menus and the use of the keys in the front panel are shown. Normally, the SERVOSTAR 600 only places the standard menu at your disposal. If you want to attend the amplifier via the detailed menu, you must keep the right key pressed while switching on the 24V-supply. 9.5.1 Key[...]

9.5.3 Standard menu structure 9.5.4 Extended menu structure Keep the right key pressed while switching on the 24V-supply. SERVOSTAR ® 601...620 Product Manual 87 Danaher Motion 07/2007 Setup ð p.84 ð p.84 ð p.84[...]

9.6 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 Expl[...]

9.7 Warning messages Faults which occur, but which do not cause a switch-off of the amplifier output stage ( BTB/RTO contact remains closed), are indicated in the LED display on the front panel by a coded warning number. Number Designation Explanation E/S/A/P Status Messages Status messages, no error, see p. 86 ... Status Message Updating the start[...]

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 furthe[...]

10 Expansions / Accessories 10.1 Option -AS-, restart lock for personal safety A frequently required application task is the protection of personnel against the restarting of drives. This can not be achieved by an electronic inhibit, but must be implemented with mechanical ele - ments (positively driven relay contacts). To get round this problem, u[...]

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 no lo[...]

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 hav[...]

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 of the system. 1. Stop all drives, with setpoint 0V, disable drives, mechanically block any suspended loads 2. Activate the -AS- option. 3. Open protective screens (bu[...]

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 10.1.8.2 Mains supply circuit SERVOSTAR ® 601...620 Product Manual 95 Danaher Motion 07/2007 Expansions / Accessories[...]

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 10.1.9.2 Mains supply circuit 96 SERVOSTAR ® 601...620 Product Manual Expansions / Accessories 07/2007 Danaher Motion[...]

10.1.9.3 Flow chart t(K30t) ³ 500ms t(K10t) and t(K20t) ensure that the drive remains active until the axis has come to a standstill. This time depends on the application and must exceed the deceleration ramp. The drive must have been brought to a safe standstill by the time t(K10t) and t(K20t) have elapsed. After this point, active braking with t[...]

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 l Use a suitable screwdriver to lever off the cover of the option slot. l Take care that no small items (such as screws) fall into the open option slot. l Push the expansion card carefully into the provided gu[...]

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 features that the expansion card makes available for the SERVOSTAR 600. The -I/O-14/08- provides you with 14 additional digital inputs and 8 digital outputs. The functions of the inputs and outputs are fixed. They are used t[...]

10.2.2.5 Connector assignments Connector X11A Pin Dir Function Description 1 In A0 Motion task no., LSB 2 In A1 Motion task no., 2 1 3 In A2 Motion task no., 2 2 4 In A3 Motion task no., 2 3 5 In A4 Motion task no., 2 4 6 In A5 Motion task no., 2 5 7 In A6 Motion task no., 2 6 8 In A7 Motion task no., MSB 9 In Reference Polls the reference switch. [...]

10.2.2.6 Connection diagram AGND and DGND (connector X3) must be joined together ! SERVOSTAR ® 601...620 Product Manual 101 Danaher Motion 07/2007 Expansions / Accessories SERVOSTAR 600[...]

10.2.3 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 found in the manual "Communication profile PROFIBUS DP". The PROFIBUS expansion card has two 9-pin Sub-D sockets wired in parallel. The supply voltage for the ex[...]

10.2.4 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". 10.2.4.1 Front view 10.2.4.2 Light emitting diodes (LEDs) RT indicates whether SERCOS telegrams are being correctly rece[...]

10.2.4.4 Connection diagram Layout of the SERCOS bus system in ring topology, with optical fibre cables (schematic). AGND and DGND (connector X3) must be joined together ! 10.2.4.5 Modifying the station address The drive address can be set to a value between 0 and 63. With address 0, the drive is assigned as an amplifier in the SERCOS ring. There a[...]

10.2.5 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”. 10.2.5.1 Front view 10.2.5.2 Connection technology Cable selection, cable routing, shielding, bus connector, bus te[...]

10.2.5.4 Combined module/network status-LED LED Meaning off The device is not online. - The device has not yet finished the Dup_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. blinking green The devi[...]

10.2.5.7 Bus cable To meet ISO 898, a bus cable with a characteristic impedance of 120 W 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 characterist[...]

10.2.6 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). 10.2.6.1 F[...]

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 10.2.7.2 NODE ID Switch With these hexadecimal switches you can set the main and low significant bytes of the Node ID sepe[...]

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 out[...]

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 sepa[...]

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 44 5 GND 5 66 7 7 CAN-High 88 99 10.2.8.5 Connection diagram AGND and DGND (connector X3) must be joined together ! 112 SERVOSTAR ® 601...620 Product Manual Expansions / Accessories 07/2007 Danaher Motion[...]

10.3 Special Accessories 10.3.1 Power Supply SINCOS The extended power supply enables the 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 requires a 1:1 pro - [...]

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 co[...]

11 Appendix 11.1 Glossary C Clock Clock signal Common-mode voltage The maximum amplitude of a disturbance (on both inputs) which a differential input can eliminate CONNECT- modules 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 [...]

P P-controller Control loop with purely proportional behavior Phase shift Compensation for the lag between the electromagnetic and magnetic fields in the motor PID-controller Control loop with proportional, integral and differential behavior PID-T2 Filter time constant for the speed controller output Position controller Regulates the difference bet[...]

11.2 Order numbers The order numbers of accessories such as cables, regen resistors, mains supplies, etc., can be found in the accessories manual. 11.2.1 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 SERVOST[...]

11.3 Index 118 SERVOSTAR ® 601...620 Product Manual Appendix 07/2007 Danaher Motion ! 24Vaux. supply, interface ........... 4 9 A Abbreviations .................. 8 Ambient conditions ............... 1 9 Ambient temperature .............. 1 9 Analog outputs ................. 6 6 AS-Option ................... 9 1 Assembly .................... 3 6 B[...]

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