Danaher Motion Kollmorgen SERVOSTAR 300 Series User manual

Assembly, Installation, Setup
Keep all product manuals as a product component
during the life span of the servo amplifier.
Pass all product manuals to future
users / owners of the servo amplifier.
Edition 12/05
File sr300_e.xxx
Digital Servo Amplifier
SERVOSTAR®300
www.DanaherMotion.com

Previous versions:
Edition Remarks
06/04 First edition
04/05 Restart lock -AS-, UL-listing, new pinning for X8, several corrections
04/05a order numbers 400V types for NA updated
11/05
Chapter 1 updated, ComCoder wiring corrected, Acuro(BISS)-Interface new, max. station ad-
dress changed to 127, motor choke changed, SynqNet and EtherCat expansion cards added,
chapter 6 restructured, order codes restructured
12/05 Feedback section, termination resistors X1/X5, CE section
WINDOWS is a registered trademark of Microsoft Corp.
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 Corporation
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 per-
mission of Danaher Motion.

1 General
1.1 About this manual ....................................................................... 7
1.2 Symbols used in this manual ............................................................... 7
1.3 Abbreviations used in this manual ........................................................... 8
2 Technical description
2.1 Safety Instructions ....................................................................... 9
2.2 Use as directed ........................................................................ 10
2.3 European Directives and Standards......................................................... 11
2.4 CE conformance ....................................................................... 11
2.5 Conformance with UL and cUL ............................................................ 12
2.6 Nameplate ............................................................................ 13
2.7 Instrument description ................................................................... 13
2.7.1 Package supplied.................................................................. 13
2.7.2 The SERVOSTAR 300 family of digital servo amplifiers .................................... 14
2.8 Connection to various electrical supply networks............................................... 16
2.9 Components of a servo system ............................................................ 17
2.10 Technical data ......................................................................... 18
2.10.1 Technical data for 110/230 V (types S3_ _6_)............................................ 18
2.10.2 Technical data for 400/480 V (types S3_ _0_)............................................ 19
2.10.3 Inputs / outputs ................................................................... 20
2.10.4 Recommended tightening torques ..................................................... 20
2.10.5 Fusing .......................................................................... 20
2.10.5.1 Internal fusing ................................................................. 20
2.10.5.2 External fusing ................................................................ 20
2.10.6 Permissible ambient temperatures, ventilation, mounting position............................. 21
2.10.7 Conductor cross-sections............................................................ 21
2.10.8 LED display ...................................................................... 21
2.11 Grounding system ...................................................................... 22
2.12 Control circuit for motor-holding brake ....................................................... 22
2.13 Regen circuit .......................................................................... 23
2.14 Switch-on and switch-off behavior .......................................................... 25
2.14.1 Stop function as per EN 60204 (VDE 0113).............................................. 25
2.14.2 Emergency Stop strategies .......................................................... 26
3 Installation
3.1 Important notes ........................................................................ 27
3.2 Guide to installation and wiring ............................................................ 28
3.3 Assembly ............................................................................. 29
3.3.1 Dimensions ...................................................................... 30
3.4 Wiring................................................................................ 31
3.4.1 Connection diagram................................................................ 32
3.4.2 Connector assignments ............................................................. 33
3.4.3 Notes on connection technology ...................................................... 34
3.4.3.1 Shielding connection to the front panel .............................................. 34
3.4.3.2 Technical data for connecting cables ............................................... 35
3.5 Setup software ......................................................................... 36
3.5.1 General ......................................................................... 36
3.5.1.1 Use as directed ................................................................ 36
3.5.1.2 Software description ............................................................ 36
3.5.1.3 Hardware requirements.......................................................... 37
3.5.1.4 Operating systems ............................................................. 37
3.5.2 Installation under WINDOWS 2000 / XP ................................................ 37
SERVOSTAR®300 Installation Manual 3
Kollmorgen 12/05 Contents
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4 Interfaces
4.1 Block diagram ......................................................................... 39
4.2 Electrical supply ........................................................................ 40
4.2.1 Mains electrical supply connection (X0)................................................. 40
4.2.1.1 Three phase .................................................................. 40
4.2.1.2 Single phase without neutral ...................................................... 40
4.2.1.3 Single phase with neutral ........................................................ 40
4.2.2 24V auxiliary supply (X4) ............................................................ 41
4.2.3 DC bus link (X8)................................................................... 41
4.3 Motor connection with brake (X9)........................................................... 42
4.4 External regen resistor (X8) ............................................................... 42
4.5 Feedback ............................................................................. 43
4.5.1 Resolver (X2) ..................................................................... 43
4.5.2 Comcoder (X1).................................................................... 44
4.5.3 Incremental or sine encoder with hall sensors (X1) ........................................ 45
4.5.4 Encoder with EnDat or HIPERFACE (X1) ............................................... 46
4.5.5 ACURO encoder, BISS interface (X1) .................................................. 47
4.5.6 Incremental Encoder (X5) ........................................................... 48
4.5.7 Encoder without data channel (X1) .................................................... 49
4.6 Control signals ......................................................................... 50
4.6.1 Analog inputs (X3) ................................................................. 50
4.6.2 Digital inputs (X3/X4) ............................................................... 51
4.6.3 Digital outputs (X3) ................................................................ 52
4.7 Encoder emulation ...................................................................... 53
4.7.1 Incremental encoder output (X5) ...................................................... 53
4.7.2 SSI output (X5) ................................................................... 54
4.8 Master-slave operation, encoder master control ............................................... 55
4.8.1 Connection to a SERVOSTAR master, 5V signal level (X5) ................................. 55
4.8.2 Connection to incremental-encoder master with 24V signal level (X3)..........................56
4.8.3 Connection to a sine-cosine encoder master (X1) ......................................... 56
4.9 Interface for stepper motor controllers (step and direction) ....................................... 57
4.9.1 Connection to a stepper controller with 5V signal level (X5) ................................. 58
4.9.2 Connection to a stepper controller with 24V signal level (X3) ................................ 58
4.10 RS232 interface, PC connection (X6) ....................................................... 59
4.11 CANopen interface (X6) .................................................................. 60
4.12 Personnel safe restart lock -AS-............................................................ 61
4.12.1 Technical data and pinning .......................................................... 61
4.12.2 Environment...................................................................... 61
4.12.3 Wiring........................................................................... 61
4.12.4 Functional description .............................................................. 62
4.12.4.1 Signal diagram (sequence) ....................................................... 63
4.12.4.2 Control circuit ................................................................. 64
4.12.4.3 Functional test................................................................. 65
4.12.4.4 Mains supply circuit............................................................. 65
5Setup
5.1 Important notes ........................................................................ 67
5.2 Guide to setup ......................................................................... 68
5.3 Parameter setting....................................................................... 69
5.3.1 Multi-axis systems ................................................................. 69
5.3.1.1 Station address for CAN-bus...................................................... 69
5.3.1.2 Baud rate for CAN-bus .......................................................... 69
5.3.2 Keypad operation / LED display....................................................... 69
5.3.2.1 Keypad operation .............................................................. 70
5.3.2.2 Status display ................................................................. 70
5.3.2.3 Standard menu ................................................................ 71
5.3.2.4 Advanced menu ............................................................... 71
5.4 Error messages ........................................................................ 72
5.5 Warning messages ..................................................................... 73
4 SERVOSTAR®300 Installation Manual
Contents 12/05 Kollmorgen
page

6 Expansions and Accessories
6.1 Expansion Cards ....................................................................... 75
6.1.1 Guide to installation of expansion cards................................................. 75
6.1.2 Expansion card -I/O-14/08- .......................................................... 76
6.1.2.1 Front view .................................................................... 76
6.1.2.2 Technical data................................................................. 76
6.1.2.3 LEDs ........................................................................ 76
6.1.2.4 Entering a motion block number ................................................... 76
6.1.2.5 Connector assignments.......................................................... 77
6.1.2.6 Connection diagram ............................................................ 78
6.1.3 Expansion card -PROFIBUS-......................................................... 79
6.1.3.1 Front view .................................................................... 79
6.1.3.2 Connection technology .......................................................... 79
6.1.3.3 Connection diagram ............................................................ 79
6.1.4 Expansion card -SERCOS- .......................................................... 80
6.1.4.1 Front view .................................................................... 80
6.1.4.2 LEDs ........................................................................ 80
6.1.4.3 Connection technology .......................................................... 80
6.1.4.4 Connection diagram ............................................................ 81
6.1.4.5 Modifying the station address ..................................................... 81
6.1.4.6 Modifying the baud rate and optical power ........................................... 81
6.1.5 Expansion card -DEVICENET- ....................................................... 82
6.1.5.1 Front view .................................................................... 82
6.1.5.2 Connection technology .......................................................... 82
6.1.5.3 Connection diagram ............................................................ 82
6.1.5.4 Combined module/network status-LED.............................................. 83
6.1.5.5 Setting the station address (device address) ......................................... 83
6.1.5.6 Setting the transmission speed .................................................... 83
6.1.5.7 Bus cable .................................................................... 84
6.1.6 Expansion card -ETHERCAT- ........................................................ 85
6.1.6.1 Front view .................................................................... 85
6.1.6.2 LEDs ........................................................................ 85
6.1.6.3 Connection diagram ............................................................ 85
6.1.7 Expansion card -SYNQNET- ......................................................... 86
6.1.7.1 Front view .................................................................... 86
6.1.7.2 NODE ID Switch ............................................................... 86
6.1.7.3 Node LED table ............................................................... 86
6.1.7.4 SynqNet Connection, Connector X21B/C (RJ-45)...................................... 86
6.1.7.5 Digital inputs/outputs, connector X21A (SubD 15-pin, socket) ............................ 87
6.1.7.6 Connection diagram digital inputs/outputs, connector X21A .............................. 87
6.1.8 Expansion module -2CAN-........................................................... 88
6.1.8.1 Installation .................................................................... 88
6.1.8.2 Front view .................................................................... 88
6.1.8.3 Connection technology .......................................................... 88
6.1.8.4 Connector assignments.......................................................... 89
6.1.8.5 Connection diagram ............................................................ 89
6.2 Accessories ........................................................................... 90
6.2.1 External power supply 24V DC / 5A.................................................... 90
6.2.2 External power supply 24V DC / 20A................................................... 91
6.2.3 External regen resistor BAR(U)xxx .................................................... 92
6.2.4 Motor chokes 3YLNxx .............................................................. 93
7 Appendix
7.1 Transport, storage, maintenance, disposal ................................................... 95
7.2 Finding and removing faults ............................................................... 96
7.3 Glossary.............................................................................. 99
7.4 Order codes .......................................................................... 101
7.4.1 Servo amplifier, expansion cards ..................................................... 101
7.4.2 Mating connectors ................................................................ 101
7.4.3 Motor cables with connectors........................................................ 101
7.4.4 Feedback cables with connectors .................................................... 102
7.4.5 Power supplies................................................................... 102
7.4.6 Regen resistors .................................................................. 102
7.4.7 Motor chokes .................................................................... 102
7.5 Index ............................................................................... 103
SERVOSTAR®300 Installation Manual 5
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This page has been deliberately left blank.
6 SERVOSTAR®300 Installation Manual
12/05 Kollmorgen

1 General
1.1 About this manual
This manual describes the SERVOSTAR®300 series of digital servo amplifiers
(standard version: 1.5A ...10A rated current).
In this manual you can find information about:
lGeneral Chapter 1
lTechnical description Chapter 2
lAssembly / installation Chapter 3
lInterfaces Chapter 4
lSetup Chapter 5
lAccessories Chapter 6
lTransport, storage, maintenance and disposal Chapter 7
A more detailed description of the expansion cards that are currently available and the
digital connection to automation systems can be found, together with our applications
notes, in Acrobat-Reader format on the accompanying CD-ROM (system requirements:
WINDOWS, Internet Browser, Acrobat Reader) in different languages.
You can print out this documentation on any standard commercial printer. A printed copy
of the documentation is available from us at extra cost.
This manual addresses personnel with the following qualifications:
Transport : only by personnel with knowledge of handling
electrostatically sensitive components.
Installation : only by electrically qualified personnel.
Setup : only by qualified personnel with extensive knowledge
of electrical engineering and drive technology
1.2 Symbols used in this manual
danger to personnel from
electricity and its effects
general warning
general instructions
mechanical hazard
ðp. see page (cross-reference) lspecial emphasis
Keys on the panel of the servo amplifier :
U
press once : move up one menu item, increase number by one
press twice in rapid succession: increase number by ten
U
press once: move down one menu item, decrease number by one
press twice in rapid succession: decrease number by ten
U
U
hold right key pressed, and then press left key as well:
to enter a number, “Return” function
SERVOSTAR®300 Installation Manual 7
Kollmorgen 12/05 General

1.3 Abbreviations used in this manual
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 Europeenne
CLK Clock signal
COM Serial interface for a PC-AT
DGND Digital ground (for 24V and digital I/O)
DIN 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
IEC International Electrotechnical Commission
IGBT Insulated-gate bipolar transistor
INC Incremental interface
ISO International Organization for Standardization
LED Light-emitting diode
MB Megabyte
NI Zero pulse
PC Personal computer
PELV Protected low voltage
PLC Programmable logic controller
PWM Pulse-width modulation
RAM Volatile memory
RBallast / RBR Ballast resistor (= regen resistor)
RBext External regen resistor
RBint Internal regen resistor
RES Resolver
ROD digital encoder
S1 continuous operation
S3 Intermittent operation
SRAM Static RAM
SSI Synchronous serial interface
UL Underwriters Laboratories
V AC Alternating voltage
V DC DC voltage
VDE Society of German Electrical Technicians
8 SERVOSTAR®300 Installation Manual
General 12/05 Kollmorgen

2 Technical description
2.1 Safety Instructions
lOnly properly qualified personnel are permitted to perform activities such as
transport, installation, setup and maintenance. Properly qualified persons are
those who are familiar with the transport, assembly, installation, setup and
operation of the product, and who have the appropriate qualifications for their
job. Qualified personnel must know and observe:
IEC 364 and CENELEC HD 384 or DIN VDE 0100
IEC-Report 664 or DIN VDE 0110
National Accident Prevention Regulations or BGV A3
lRead 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 re-
quirements (on the nameplate and in the documentation).
lThe manufacturer of the machine must generate a hazard analysis for the ma-
chine, and take appropriate measures to ensure that unforeseen movements
cannot cause injury or damage to any person or property.
lThe servo amplifiers contain electrostatically sensitive components that may
be damaged by incorrect handling. Ground yourself before touching the servo
amplifier, by touching any unpainted metal surface that is itself grounded.
Avoid contact with highly insulating materials such as artificial fabrics or plas-
tic film. Place the servo amplifier on a conductive surface.
lDo not open the units. Keep all covers and control cabinet doors closed during
operation. Otherwise there are deadly hazards, with the risk of death, severe
danger to health, or material damage.
lServo amplifiers may have uncovered live parts during operation, depending
on their degree of enclosure protection. Control and power connections may
be live, even when the motor is not rotating.
lServo amplifiers may have hot surfaces during operation. Temperatures may
rise to above 80°C (176°F).
lNever undo the electrical connections to the servo amplifier while it is live. In
unfavorable circumstances this may cause electrical arcing with damage to
contacts and danger to persons.
lAfter disconnecting the servo amplifier, wait at least five minutes before tou-
ching live sections of the equipment, such as contacts, or undoing any con-
nections. Capacitors can still have dangerous voltages present up to five minu-
tes after switching off the supply voltages. To be sure, measure the voltage in
the DC bus link circuit and wait until it has fallen below 40V.
SERVOSTAR®300 Installation Manual 9
Kollmorgen 12/05 Technical description

2.2 Use as directed
Servo amplifiers are components that are built into electrical plant or machines, and can
only be operated as integral components of such plant or machines.
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 person or property.
Servo amplifiers in the SERVOSTAR 300 series can be supplied from 3-phase grounded
(earthed) industrial supply networks (TN-system, TT-system with grounded neutral point,
no more than 5000A symmetrical rated current at 230V or 480V+10%).
The servo amplifiers must not be operated directly on non-grounded supply networks or
on asymmetrically grounded supplies with a voltage >230V. Connection to other types of
supply networks (with an additional isolating transformer) is described on p. 16.
Periodic overvoltages between phases (L1, L2, L3) and the housing of the servo amplifier
must not exceed 1000V crest.
In accordance with EN 61800, voltage spikes (< 50µs) between phases must not exceed
1000V. Voltage spikes (< 50µs) between a phase and the housing must not exceed
2000V.
If the servo amplifiers are used in residential areas, in business/commercial areas, or in
small industrial operations, then additional filter measures must be implemented by the
user.
The SERVOSTAR 300 family of servo amplifiers is exclusively intended for driving suit-
able brushless synchronous servomotors and asynchronous motors with closed-loop con-
trol of torque, speed and/or position. The rated voltage of the motors must be at least as
high as the DC bus link voltage produced by the servo amplifier.
The servo amplifiers must only be operated in a closed control cabinet, taking into
account the ambient conditions defined on page 21. Ventilation or cooling may be neces-
sary to keep the temperature within the cabinet below 40°C.
Use only copper conductors for wiring. The conductor cross-sections can be derived from
the standard EN 60204 (alternatively for AWG cross-sections: NEC Table 310-16, 60°C
or 75°C column).
We only guarantee the conformance of the servo system with the standards cited on p.11
if the components (servo amplifier, motor, cables etc.) are those supplied by us.
Restart lock for personnel safety
The servo amplifier has an integrated personnel safe restart lock, which meets the requi-
rements of safety category 3 according to EN 954-1.
The conceptual examination of the function "safe stop" (called restart lock AS in the follo-
wing) was accomplished by the BG-Institute for Occupational Safety and Health and the
classification in category 3 according to EN 954-1 was confirmed.
Please consider the specifications on page 61 when you use this function
10 SERVOSTAR®300 Installation Manual
Technical description 12/05 Kollmorgen

2.3 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 requirements 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 292 (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 damage 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 & Industrial Areas)
EN 61000-6-3 / EN 61000-6-4 (Interference Generation in Residential & 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 docu-
mentation.
The machine/plant manufacturer must check whether other standards or EC
Directives must be applied to the machine/plant.
2.4 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 Commu-
nity. Product standard EN 61800-3 is applied to ensure conformance with the EMC Direc-
tive. 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 envi-
ronmental category (industrial environment). For noise emission the amplifier meets the
requirement to a product of the category C2 (motor cable £10m).
Warning!
This product can cause high-frequency interferences in non industrial
environments which can require measures for interference suppression.
With a motor cable length from 10m onwards, the servo amplifier meets the requirement
to the category C3.
The servo amplifiers have been tested by an authorized testing laboratory 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 measurements to ensure confor-
mance with regulatory requirements. The standard EN 50178 is applied to ensure confor-
mance with the Low Voltage Directive.
SERVOSTAR®300 Installation Manual 11
Kollmorgen 12/05 Technical description

2.5 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 Canadian standard (in this case UL 840 and UL 508C).
This standard describes the fulfilment by design of minimum requirements for electrically
operated power conversion equipment, such as frequency converters and servo ampli-
fiers, 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. and Canadian
standard is determined by an independent UL (cUL) inspector through the type testing
and regular checkups.
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 ope-
rated 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.
12 SERVOSTAR®300 Installation Manual
Technical description 12/05 Kollmorgen

2.6 Nameplate
The nameplate depicted below is attached to the side of the servo amplifier.
The information described below is printed in the individual fields.
2.7 Instrument description
2.7.1 Package supplied
When you order an amplifier from the SERVOSTAR 300 series (order numbers ðp.101),
you will receive:
— SERVOSTAR 3xx
— mating connectors X0, X3, X4, X8, X9 (only with SERVOSTAR 303-310)
The mating SubD connectors are not part of the package!
— Assembly, Installation and Setup instructions
— Online documentation on CD-ROM
— Setup software DRIVEGUI.EXE on CD-ROM
Accessories : (must be ordered separately, if required)
— synchronous servomotor (linear or rotary)
— motor cable (prefabricated), or both power connectors separately,
with the motor cable as a cut-off length
— feedback cable (prefabricated)
or both feedback connectors separately, with the feedback cable as a cut-off length
— motor choke 3YLNxx (ðp.93), for motor cables longer than 25 meters
— external regen resistor (ðp.92)
— communication cable to the PC (ðp.59) for setting parameters from a PC
— power cable, control cables, fieldbus cables (as cut-off lengths)
SERVOSTAR®300 Installation Manual 13
Kollmorgen 12/05 Technical description
Typenbezeichnung
Spannungsversorgung
Model Number
Power Supply
Ser. Nr
Nennstrom
Ser. No.
Nom. Current
Bemerkung
Schutzart
Comment
Encl.Rating
Danaher Motion GmbH
Wacholderstr. 40-42
D-40489 Düsseldorf
www.DanaherMotion.com
Customer Support
Europe Tel. +49 (0)203 / 99790
Italy 3 36 594260
North America 1 8 -
Tel. + 9 (0) 2 /
Tel. + ( 15) 226 2222
Umgebungstemp.
Ambient temp.
E217428
1VD4
LISTED
IND. CONT. EQ.
CUS
UL
®
5.76
008102106842
Expansion card
and options
Serial numberServo amplifier type
Electrical supply
Installed load
Output current
in S1 operation Enclosure protectionAmbient temperature

2.7.2 The SERVOSTAR 300 family of digital servo amplifiers
Standard version
lTwo voltage classes with large nominal voltage range
1 x 110V-10% ... 3 x 230V+10% (SERVOSTAR 303-310, S3xx6)
3 x 208V-10% ... 3 x 480V+ 10% (SERVOSTAR 341-346, S3xx0)
lInstrument width 70 mm
lShielding connection directly on the servo amplifier
lTwo analog inputs
lIntegrated CANopen (default: 500 kBaud), for integration in CAN-bus systems and
for setting parameters for several drives via the PC interface of one of the amplifiers
lSlot for an expansion card
lIntegrated RS232, integrated pulse direction interface
lIntegrated restart lock -AS- for personnel safety, ðp. 61
Power section
lDirectly on grounded 3-phase supply, 110V-10% or 230V-10% up to 480V+10%
TN-network or TT-network with grounded neutral point, 5000 A max. symmetrical
current rating, connection to other supply types only via isolating transformer,
ðp. 16
lB6 bridge rectifier, integral supply filter and soft-start circuit
lSingle-phase supply operation possible (e.g. for setup)
lFusing (e.g. fusible cutout) to be provided by the user
lShielding All shielding connections are made directly on the amplifier
lOutput stage IGBT module with floating current measurement
lRegen circuit with dynamic distribution of the regenerated power between
several amplifiers on the same DC bus link circuit. Internal
regen resistor as standard, external regen resistors if required.
lDC bus link voltage 135 … 450 V DC or 260 … 900 V DC,
can be connected in parallel
lInterference suppression filters are integrated for the electrical supply feed and the
24V auxiliary supply voltage (with motor cable £10m for general availability as per
EN 61800-3, with motor cable < 10m for 2nd environmental category as per EN
61800-3,)
14 SERVOSTAR®300 Installation Manual
Technical description 12/05 Kollmorgen

Integrated safety
lAppropriate insulation/creepage distances and electrical isolation ensure safe electri-
cal separation, as per EN 50178, between the power input / motor connections and
the signal electronics
lSoft-start, overvoltage detection, short-circuit protection, phase-failure monitoring
lTemperature monitoring of the servo amplifier and motor (if our motors and prefabri-
cated cables are used)
Auxiliary supply voltage 24V DC
lElectrically isolated, internal fusing, from an external 24V DC power supply unit with,
for instance, isolating transformer or uninterruptible power supply
Operation and parameter setting
lWith our user-friendly setup software, for setup via the serial interface of a PC
lIf no PC is available: direct operation by two keys on the servo amplifier and a 3-cha-
racter LED display
lFully programmable via RS232 interface
Completely digital control
lDigital current controller (space vector, pulse-width modulation, 62.5 µs)
lAdjustable digital speed controller (62.5 µs)
lIntegrated position controller, with adaptation possibilities for all applications (250 µs)
lIntegrated step/direction interface for connecting a servomotor to a stepper controller
lEvaluation of resolver signals and sine-cosine signals of high-resolution encoders
lEncoder emulation (incremental, compatible with A quad B or SSI)
Comfort functions
l2 programmable analog inputs
l4 programmable digital inputs
l2 programmable digital outputs
lprogrammable logical combinations of digital signals
Expansions
lI/O-14/08 expansion card, ðp.76
lPROFIBUS DP expansion card, ðp.79
lSERCOS expansion card, ðp.80
lDeviceNet expansion card, ðp.82
lEtherCat expansion card, ðp. 85
lSynqNet expansion card, ðp. 86
l-2CAN- expansion module, separated connectors for CAN-bus and RS232, ðp.84
lFor third-party expansion cards (ModBus, LightBus, FIP-IO etc.) please contact the
manufacturer for further information
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2.8 Connection to various electrical supply networks
This page illustrates all the possible connection variations for different electrical supply
networks.
An isolating transformer is always required for 400 … 480V networks that are
asymmetrically grounded or not grounded.
* Order code reference see p. 101
16 SERVOSTAR®300 Installation Manual
Technical description 12/05 Kollmorgen
110V : SERVOSTAR 303-310*
230V : all types
400V / 480V : SERVOSTAR 341-346*

2.9 Components of a servo system
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Kollmorgen 12/05 Technical description
24V PSU
Fuses
Drive cut-out
Terminals Motor
SERVOSTAR 300
PC
Controls / PLC

2.10 Technical data
2.10.1 Technical data for 110/230 V (types S3_ _6_)
SERVOSTAR
Rated data DIM 303 306 310
Order Code — S30361 S30661 S31061
Rated supply voltage
(grounded supply, phase to phase) V~
1 x 110V-10% … 1 x 230V+10%
3 x 110V-10% … 3 x 230V+10%
50/60 Hz
Rated input power for S1 operation kVA 1.1 2,4 4
Max. DC bus link voltage V= 450
Rated output current (rms value, ±3%)
at 1x110V Arms 3 3 3
at 3x115V Arms 3,5 8 10
at 3x230V Arms 3 6 10
at 1x230/240V Arms 3 4 4
Peak output current (rated current x 2 for approx. 5s, ±3%)
at 1x110V Arms 5 5 5
at 3x115V Arms 9 15 20
at 3x230V Arms 9 15 20
at 1x230/240V Arms 9 9 9
Switching frequency of the output stage kHz 8 (16*)
Technical data for regen circuit — ðp.23
Threshold for overvoltage switch-off VDC 235 / 455
Motor inductance min.
at 1x110V mH 3,7 3,7 3,7
at 3x115V mH 2,1 1,3 1,0
at 3x230V mH 4,3 2,6 1,9
at 1x230/240V mH 4,3 4,3 4,3
Motor inductance max. mH Consult our customer support
Form factor of the output current
(rated conditions, min. load inductance) — 1.01
Bandwidth of current controller kHz > 1.2
Residual voltage drop at rated current V 4
Thermal dissipation, output stage disabled W 12
Thermal dissipation at rated current
(incl. PSU losses, without regen dissipation) W35 60 90
Mechanical
Weight kg approx. 2,6
Height, without connectors mm 275 279
Width mm 70
Depth, without connectors mm 171
Depth, with connectors mm < 200
* at reduced current
18 SERVOSTAR®300 Installation Manual
Technical description 12/05 Kollmorgen

2.10.2 Technical data for 400/480 V (types S3_ _0_)
SERVOSTAR
Rated data DIM 341 343 346
Order Code — S30101 S30301 S30601
Rated supply voltage
(grounded supply, phase to phase) V~ 3 x 208V-10% … 480V+10%, 50/60 Hz
Rated input power for S1 operation kVA 1.2 2,5 5
Max. DC bus link voltage V= 900
Rated output current (rms value, ± 3%)
at 3x208V Arms 2 5 6
at 3x230V Arms 2 5 6
at 3x400V Arms 1,5 4 6
at 3x480V Arms 1,5 3 6
Peak output current (max. approx. 5s, ± 3%)
at 3x208V Arms 4,5 7,5 12
at 3x230V Arms 4,5 7,5 12
at 3x400V Arms 4,5 7,5 12
at 3x480V Arms 4,5 7,5 12
Switching frequency of the output stage kHz 8 (16*)
Technical data for regen circuit — ðp.23
Threshold for overvoltage switch-off VDC 455 / 800 / 900
Motor inductance min.
at 3x208V mH 7,7 4,6 2,9
at 3x230V mH 8,5 5,1 3,2
at 3x400V mH 14,8 8,9 5,6
at 3x480V mH 17,8 10,7 6,7
Motor inductance max. mH Consult our customer support
Form factor of the output current
(rated conditions, min. load inductance) — 1.01
Bandwidth of subordinate current controller kHz > 1.2
Residual voltage drop at rated current V 5
Thermal dissipation, output stage disabled W 12
Thermal dissipation at rated current
(incl. PSU losses, without regen dissipation) W40 60 90
Mechanical
Weight kg approx. 2,7
Height, without connectors mm 275 278
Width mm 70
Depth, without connectors mm 171
Depth, with connectors mm < 235
* at reduced current
SERVOSTAR®300 Installation Manual 19
Kollmorgen 12/05 Technical description

2.10.3 Inputs / outputs
Analog inputs 1, 2 (resolution 14/12 bit) V ±10
Max. common-mode voltage V ±10
Input resistance to AGND kW20
Digital control inputs V as per EN 61131-2 Type 1, max. 30VDC
Digital control outputs, active high V open Emitter, max. 30VDC, 10mA
BTB/RTO output, relay contacts V DC max. 30, AC max 42
mA 500
Auxiliary supply voltage, electrically isola-
ted, without brake/fan
V 20-30
A1
Auxiliary supply voltage, electrically isola-
ted, with brake/fan (check voltage drop !)
V 24 (-0% +15%)
A 2.5
Max. output current to brake A 1.5
Connection technology
Control signals — Combicon connector
Power signals — Combicon connector
Resolver input — SubD 9-pin (socket)
Incremental encoder input — SubD 15-pin. (socket)
PC interface, CAN — SubD 9-pin (plug)
Encoder emulation, ROD/SSI — SubD 9-pin (plug)
2.10.4 Recommended tightening torques
Connector Tightening torque
X0, X8, X9 0,5..0,6 Nm
Grounding bolt 3.5 Nm
2.10.5 Fusing
2.10.5.1 Internal fusing
Circuit Internal fuse
Auxiliary voltage 24V 3.15 A (slow)
Regen resistor electronic
2.10.5.2 External fusing
Wire fuses or similar SERVOSTAR
303*, 341*, 343*
SERVOSTAR
306*, 310*, 346*
AC supply feed FN1/2/3 (X0/1; 2; 3) 6 AT (FRx-6) 10 AT (FRx-10)
24V feed FH1/2 max. 8 AF (FRx-12)
Regen resistor FB1/2 (X8/2; 4) 6 AT (FRS-6) 6 AT (FRS-6)
x=SorS-Rfor480V applications x = N or N-R for 230V applications
* order code reference see p. 101
20 SERVOSTAR®300 Installation Manual
Technical description 12/05 Kollmorgen