Danaher SERVOSTAR 300 Series User manual
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Product Manual
Edition 10/2007
Valid for Hardware Revision 02.01
SERVOSTAR®300
Digital Servo Amplifier
Keep all manuals as a product component
during the life span of the product.
Pass all manuals to future users / owners
of the product.
File sr300_e.***
Record of Document Revisions:
Revision 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
02/06 Error messages and warnings updated, additional information (SERCOS), AWG cross-sections
added, inch dimensions added, analog-in circuit updated, cross section (awg)
05/06 CAN baud rate coding updated, LED display structure updated, input analog-in updated, BISS
interface updated, hardware revision added, Errors/Warnings updated
09/06 New document structure, new cover design, warning n24, Quickstart integrated
03/07
New part number scheme, termination resistors CAN interface and X5 corrected, branding upda-
ted, chapter leakance current new, chapter "servo system graphics" expanded and moved,
chapter "various mains supply networks" moved, trouble shooting reduced, Feedback expanded
and restructured, enc emulation, DC-Link expanded, AS restructured, accessories removed
07/07 Timing diagramm motor brake, standards updated (EMC and LVD)
10/07 Target group, use as directed, standards
Hardware Revision (HR) History
Hardware Revision usable Firmware Revision usable DRIVEGUI.EXE Revision
02.01 >= 2.18 <= 1.30 Build 0056
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
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 Target group ....................................................................7
1.3 Hints for the online edition (PDF format) ..............................................7
1.4 Symbols used ...................................................................7
1.5 Abbreviations used ...............................................................8
2 Safety
2.1 Safety Instructions ...............................................................9
2.2 Use as directed.................................................................10
2.3 Prohibited use..................................................................10
3 Standards
3.1 Approvals of the servo amplifiers ...................................................11
3.1.1 CE conformance ...........................................................11
3.1.2 Conformance with UL and cUL ................................................11
3.2 European Directives and Standards for the machine builder..............................12
3.3 American Directives and Standards for the machine builder ..............................12
3.4 Asian Directives and Standards for the machine builder .................................12
4 Handling
4.1 Transport .....................................................................13
4.2 Packaging .....................................................................13
4.3 Storage .......................................................................13
4.4 Maintenance, Cleaning...........................................................13
4.5 Disposal ......................................................................13
5 Package
5.1 Package supplied ...............................................................14
5.2 Nameplate ....................................................................14
5.3 Part number scheme ............................................................15
6 Technical description
6.1 The SERVOSTAR 300 family of digital servo amplifiers .................................16
6.2 Technical data .................................................................18
6.2.1 Technical data for 110/230 V (types S3_ _6_) ....................................18
6.2.2 Technical data for 400/480 V (types S3_ _0_) ....................................19
6.2.3 Inputs / outputs ............................................................20
6.2.4 Recommended tightening torques .............................................20
6.2.5 Fusing ...................................................................20
6.2.6 Ambient conditions, ventilation, mounting position .................................21
6.2.7 Conductor cross-sections ....................................................21
6.3 Motor holding brake .............................................................22
6.4 LED display....................................................................23
6.5 Grounding system ..............................................................23
6.6 Electrical braking (regen circuit) ....................................................23
6.7 Switch-on and switch-off behavior ..................................................25
6.7.1 Behavior in standard operation ................................................26
6.7.2 Behavior in the event of an error (with standard setting) ............................27
6.8 Stop- / Emergency Stop- Function to EN 60204 .......................................28
6.8.1 Stop: Standards............................................................28
6.8.2 Emergency Stop: Standards ..................................................29
6.8.3 Implementation of the Stop Category 0..........................................30
6.8.4 Implementation of the Stop Category 1..........................................31
6.8.5 Implementation of the Stop Category 2..........................................32
6.9 Shock-hazard protection..........................................................33
6.9.1 Leakage current ...........................................................33
6.9.2 Residual-current circuit breakers (FI) ...........................................33
6.9.3 Isolating transformers .......................................................34
7 Mechanical Installation
7.1 Important notes.................................................................35
7.2 Guide to mechanical installation....................................................35
7.3 Assembly .....................................................................36
7.4 Dimensions ....................................................................37
SERVOSTAR®300 Product Manual 3
Danaher Motion 10/2007 Contents
page
8 Electrical installation
8.1 Important notes.................................................................39
8.2 Guide to electrical installation......................................................40
8.3 Wiring ........................................................................41
8.3.1 Important Notes............................................................41
8.3.2 Shielding connection to the front panel..........................................42
8.3.3 Technical data for connecting cables ...........................................43
8.4 Components of a servo system ....................................................44
8.5 Block diagram..................................................................45
8.6 Connector assignments ..........................................................46
8.7 Connection diagram (Overview)....................................................47
8.8 Electrical supply ................................................................48
8.8.1 Connection to various mains supply networks ....................................48
8.8.2 Mains supply connection (X0) .................................................49
8.8.2.1 Three phase ...........................................................49
8.8.2.2 Two phase without neutral ................................................49
8.8.2.3 Single phase with neutral .................................................49
8.8.3 24V auxiliary supply (X4).....................................................50
8.8.4 DC bus link (X8) ...........................................................50
8.9 Motor connection with brake (X9)...................................................51
8.10 External regen resistor (X8) .......................................................51
8.11 Feedback .....................................................................52
8.11.1 Resolver (X2) .............................................................53
8.11.2 Sine Encoder with BISS (X1) .................................................54
8.11.3 Sine Encoder with EnDat 2.1 .................................................55
8.11.4 Sine Encoder with HIPERFACE (X1) ...........................................56
8.11.5 Sine Encoder without data channel (X1).........................................57
8.11.6 Sine Encoder with Hall (X1) ..................................................58
8.11.7 ROD (AquadB) 5V (X1)......................................................59
8.11.8 ROD (AquadB) 5V with Hall (X1) ..............................................60
8.11.9 ROD (AquadB) 5V (X5)......................................................61
8.11.10 ROD (AquadB) 5V with Hall (X5/X1)............................................62
8.11.11 ROD (AquadB) 24V (X3).....................................................63
8.11.12 ROD (AquadB) 24V with Hall (X3/X1)...........................................64
8.11.13 SSI Encoder (X5) ..........................................................65
8.11.14 Hall sensors (X1)...........................................................66
8.12 Electronic Gearing, Master-slave operation ...........................................67
8.12.1 Connection to a SERVOSTAR master, 5 V signal level (X5) .........................67
8.12.2 Connection to stepper motor controllers (step and direction) .........................68
8.12.2.1 Step/Direction with 5 V signal level (X5)......................................68
8.12.2.2 Step/Direction with 24 V signal level (X3).....................................69
8.13 Encoder emulation ..............................................................70
8.13.1 Incremental encoder output - A quad B (X5) .....................................70
8.13.2 SSI encoder output (X5) .....................................................71
8.14 Digital and analog inputs and outputs ...............................................72
8.14.1 Analog inputs (X3)..........................................................72
8.14.2 Digital inputs (X3/X4)........................................................73
8.14.3 Digital outputs (X3) .........................................................74
8.15 RS232 interface, PC connection (X6) ...............................................75
8.16 CANopen interface (X6) ..........................................................76
8.17 Personnel safe restart lock -AS-....................................................77
8.17.1 Safety instructions ..........................................................77
8.17.2 Use as directed ............................................................78
8.17.3 Technical data and pinning ...................................................78
8.17.4 Enlosure .................................................................78
8.17.5 Wiring ...................................................................78
8.17.6 Functional description .......................................................79
8.17.6.1 Signal diagram (sequence) ................................................80
8.17.6.2 Control circuit ..........................................................81
8.17.6.3 Functional test..........................................................82
8.17.6.4 Mains supply circuit......................................................82
4 SERVOSTAR®300 Product Manual
Contents 10/2007 Danaher Motion
page
9Setup
9.1 Important notes.................................................................83
9.2 Setup software .................................................................84
9.2.1 General ..................................................................84
9.2.1.1 Use as directed .........................................................84
9.2.1.2 Software description .....................................................84
9.2.1.3 Hardware requirements...................................................85
9.2.1.4 Operating systems ......................................................85
9.2.2 Installation under WINDOWS 2000 / XP.........................................85
9.3 Quickstart .....................................................................86
9.3.1 Preparation ...............................................................86
9.3.1.1 Unpacking, Mounting and Wiring the Servo Amplifier ...........................86
9.3.1.2 Documents ............................................................86
9.3.1.3 Minimum Wiring for Drive Test .............................................87
9.3.2 Connect ..................................................................88
9.3.3 Important Screen Elements...................................................89
9.3.4 Setup Wizard..............................................................90
9.3.4.1 Basic Setup ............................................................90
9.3.4.2 Units/Mechanical........................................................91
9.3.4.3 Motor (rotary) / Feedback .................................................92
9.3.4.4 Motor (linear) / Feedback (Encoder) ...................................................92
9.3.4.5 Save Parameters and Restart..............................................93
9.3.5 Motion Service (Jog Mode) ...................................................93
9.3.6 More Setup Screens ........................................................94
9.4 Multi-axis systems ..............................................................95
9.4.1 Station address for CAN-bus .................................................95
9.4.2 Baud rate for CAN-bus ......................................................95
9.5 Keypad operation / LED display ....................................................95
9.5.1 Keypad operation ..........................................................95
9.5.2 Status display .............................................................96
9.5.3 Standard menu ............................................................96
9.5.4 Advanced menu ...........................................................97
9.6 Error messages ................................................................98
9.7 Warning messages..............................................................99
9.8 Trouble Shooting ..............................................................100
10 Expansions Cards
10.1 Guide to installation of expansion cards.............................................101
10.2 Expansion card -I/O-14/08- ......................................................102
10.2.1 Front view ...............................................................102
10.2.2 Technical data ............................................................102
10.2.3 LEDs ...................................................................102
10.2.4 Entering a motion block number (example) .....................................102
10.2.5 Connector assignments ....................................................103
10.2.6 Connection diagram (default) ................................................104
10.3 Expansion card -PROFIBUS-.....................................................105
10.3.1 Front view ...............................................................105
10.3.2 Connection technology .....................................................105
10.3.3 Connection diagram .......................................................105
10.4 Expansion card -SERCOS- ......................................................106
10.4.1 Front view ...............................................................106
10.4.2 LEDs ...................................................................106
10.4.3 Connection technology .....................................................106
10.4.4 Connection diagram .......................................................107
10.4.5 Modifying the station address ................................................107
10.4.6 Modifying the baud rate and optical power ......................................107
SERVOSTAR®300 Product Manual 5
Danaher Motion 10/2007 Contents
page
10.5 Expansion card -DEVICENET-....................................................108
10.5.1 Front view ...............................................................108
10.5.2 Connection technology .....................................................108
10.5.3 Connection diagram .......................................................108
10.5.4 Combined module/network status-LED ........................................109
10.5.5 Setting the station address (device address) ....................................109
10.5.6 Setting the transmission speed ...............................................109
10.5.7 Bus cable................................................................110
10.6 Expansion card -ETHERCAT- ....................................................111
10.6.1 Front view ...............................................................111
10.6.2 LEDs ...................................................................111
10.6.3 Connection diagram .......................................................111
10.7 Expansion card -SYNQNET- .....................................................112
10.7.1 Front view ...............................................................112
10.7.2 NODE ID Switch ..........................................................112
10.7.3 Node LED table ..........................................................112
10.7.4 SynqNet Connection, Connector X21B/C (RJ-45) ................................112
10.7.5 Digital inputs/outputs, connector X21A (SubD 15-pin, socket) .......................113
10.7.6 Connection diagram digital inputs/outputs, connector X21A ........................113
10.8 Expansion module -2CAN-.......................................................114
10.8.1 Installation ...............................................................114
10.8.2 Front view ...............................................................114
10.8.3 Connection technology .....................................................114
10.8.4 Connector assignments ....................................................115
10.8.5 Connection diagram .......................................................115
11 Appendix
11.1 Glossary .....................................................................117
11.2 Order codes ..................................................................119
11.2.1 Servo amplifiers...........................................................119
11.2.2 Expansion cards ..........................................................119
11.2.3 Mating connectors .........................................................119
11.3 Index ........................................................................120
6 SERVOSTAR®300 Product Manual
Contents 10/2007 Danaher Motion
page
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).
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.
Technical data and dimensional drawings of accessories such as cables, regen resistors,
mains supplies, etc., can be found in the accessories manual.
You can print out this documentation on any standard commercial printer. A printed copy
of the documentation is available from us at extra cost.
1.2 Target group
This manual addresses personnel with the following qualifications:
Transport : only by personnel with knowledge of handling electrostatically sensitive
components.
Unpacking: only by electrically qualified personnel.
Installation : only by electrically qualified personnel.
Setup : only by qualified personnel with extensive knowledge of electrical
engineering and drive technology
The qualified personnel must know and observe the following standards:
IEC 60364 or DIN VDE 0100
IEC 60664 or DIN VDE 0110
national accident prevention regulations or BGV A3
The operator must ensure that the safety instructions in this manual are followed.
The operator must ensure that all personnel responsible for working with the servo
amplifier have read and understood the product manual.
1.3 Hints for the online edition (PDF format)
Bookmarks:
Table of contents and index are active bookmarks.
Table of contents and index in the text:
The lines are active cross references. Click on the desired line and the appropriate page
is indicated.
Page/chapter numbers in the text:
Page/chapter numbers with cross references are active. Click at the page/chapter num-
ber to reach the indicated target.
1.4 Symbols used
Danger to personnel
from electricity and its
effects
Danger to maschinery,
general warning
Important
notes
ðp. see page lspecial emphasis
SERVOSTAR®300 Product Manual 7
Danaher Motion 10/2007 General
1.5 Abbreviations used
Abbrev. Meaning
AGND Analog ground
AS Restart lock
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
F-SMA Fiber Optic Cable connector according to IEC 60874-2
IEC International Electrotechnical Commission
IGBT Insulated-gate bipolar transistor
INC Incremental interface
ISO International 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 Product Manual
General 10/2007 Danaher Motion
2 Safety
2.1 Safety Instructions
lOnly properly qualified personnel are permitted to carry out activities such as
transport, installation, commissioning and maintenance. Properly qualified per-
sons are those who are familiar with the transport, assembly, installation, com-
missioning and operation of the product, and who have the appropriate qualifi-
cations for their job. The qualified personnel must know and observe the
following standards and regulations:
— IEC 60364 or DIN VDE 0100
— IEC 60664 or DIN VDE 0110
— national accident prevention regulations or BGV A3
lCheck the Hardware Revision Number of the product (see product label). This
revision number must match the Hardware Revision Number on the cover page
of the manual.
lRead this documentation before carrying out the installation and commissio-
ning. Incorrect handling of the servo amplifier can lead to personal injury or
material damage. It is vital that you keep to the technical data and information
on connection requirements (nameplate and documentation).
lDischarge your body before touching the servo amplifier. The servo amplifiers
contain electrostatically sensitive components which may be damaged by in-
correct handling. Avoid contact with highly insulating materials (artificial fab-
rics, plastic film etc.). Place the servo amplifier on a conductive surface.
lThe manufacturer of the machine must produce a hazard analysis for the ma-
chine and take appropriate measures to ensure that unforeseen movements do
not result in personal injury or material damage.
lDo not open or touch the equipment during operation. Keep all covers and ca-
binet doors closed during operation. Touching the equipment is allowed du-
ring installation and commissioning for properly qualified persons only. Other-
wise, there are deadly hazards, with the possibility of death, severe injury or
material damage.
— During operation, servo amplifiers may have uncovered live
components, depending on their level of enclosure protection.
— Control and power connections may be live, even though the
motor is not rotating.
— Servo amplifiers may have hot surfaces during operation.
Surface can reach temperatures above 80°C.
lNever undo any electrical connections to the servo amplifier while it is live.
There is a danger of electrical arcing with damage to contacts and personal in-
jury.
Wait at least five minutes after disconnecting the servo amplifier from the main
supply power before touching potentially live sections of the equipment (e.g.
contacts) or undoing any connections. Capacitors can still have dangerous
voltages present up to five minutes after switching off the supply power. To be
sure, measure the voltage in the DC Bus link and wait until it has fallen below
40V.
SERVOSTAR®300 Product Manual 9
Danaher Motion 10/2007 Safety
2.2 Use as directed
lServo amplifiers are components that are built into electrical plant or machines, and
can only be operated as integral components of such plant or machines.
lThe 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.
lServo 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 110-10%...230V+10% or
208-10%...480V+10% depending on the amplifier type).
Connection to other types of supply networks (with an additional isolating transfor-
mer) is described on page 48.
lPeriodic overvoltages between phases (L1, L2, L3) and the housing of the servo am-
plifier must not exceed 1000V crest.
In accordance with EN 61800, voltage spikes (< 50µs) between phases must not ex-
ceed 1000V. Voltage spikes (< 50µs) between a phase and the housing must not ex-
ceed 2000V.
lIf 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.
lThe SERVOSTAR 300 family of servo amplifiers is exclusively intended for driving
suitable brushless synchronous servomotors and asynchronous motors with clo-
sed-loop control of torque, speed and/or position. The rated voltage of the motors
must be at least as high as the DC bus link voltage/ 2produced by the servo ampli-
fier.
lThe 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
necessary to keep the temperature within the cabinet below 40°C.
lUse 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).
lWe only guarantee the conformance of the servo system with the standards cited on
p.12 if the components (servo amplifier, motor, cables etc.) are those supplied by us.
lConsider the specifications on page 77 when you use the restart lock -AS-.
2.3 Prohibited use
lThe use of the servo amplifier in the following environments is prohibited:
- potentially explosive areas
- environments with corrosive and/or electrically conductive acids, alkaline solutions,
oils, vapours, dusts
- directly on non-grounded supply networks or on asymmetrically grounded supplies
with a voltage >230V.
lCommissioning the servo amplifier is prohibited if the machine in which it was
installed
- does not meet the requirements of the EC Machinery Directive
- does not comply with the EMC Directive
- does not comply with the Low Voltage Directive
10 SERVOSTAR®300 Product Manual
Safety 10/2007 Danaher Motion
3 Standards
3.1 Approvals of the servo amplifiers
3.1.1 CE conformance
Conformance with the EC EMC Directive 2004/108/EC and the Low Voltage Directive
2006/95/EC 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).
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 61800-5-1 is applied to ensure
conformance with the Low Voltage Directive.
3.1.2 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 amplifi-
ers, 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 oper-
ated power conversion equipment, such as frequency converters and servo amplifiers,
which is intended to eliminate the risk of fire being caused by such equipment.
UL 840
UL 840 describes the fulfilment by design of air and insulation creepage spacings for
electrical equipment and printed circuit boards.
SERVOSTAR®300 Product Manual 11
Danaher Motion 10/2007 Standards
3.2 European Directives and Standards for the machine builder
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
lEC Machinery Directive (98/37/EG)
lEC EMC Directive (2004/108/EG)
lEC Low Voltage Directive (2006/95/EG)
Standards to be applied for conformance with the EC Machinery Directive (98/37/EG)
EN 60204-1 (Safety and Electrical Equipment in Machines)
EN 12100 (Safety of Machines)
The manufacturer of the machine must generate a hazard analysis for the machine,
and must implement appropriate measures to ensure that unforeseen movements
cannot cause injury or damage to any person or property.
Standards to be applied for conformance with the Low Voltage Directive (2006/95/EC):
EN 60204-1 (Safety and Electrical Equipment in Machines)
EN 60439-1 (Low-voltage switchgear and controlgear assemblies)
Standards to be applied for conformance with the EMC Directive (2004/108/EC):
EN 61000-6-1 / 2 (Interference Immunity in Residential & Industrial Areas)
EN 61000-6-3 / 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.
3.3 American Directives and Standards for the machine builder
Chapter in process
3.4 Asian Directives and Standards for the machine builder
Chapter in process
12 SERVOSTAR®300 Product Manual
Standards 10/2007 Danaher Motion
4 Handling
4.1 Transport
lTransport by qualified personnel in the manufacturer’s original recyclable packaging
lAvoid shocks while transporting
lTransport temperature: -25 to +70°C, max. rate of change 20K / hour
lTransport humidity: max. 95% relative humidity, no condensation
lThe servo amplifiers contain electrostatically sensitive components, that can
be damaged by incorrect handling. Discharge yourself before touching the ser-
vo amplifier. Avoid contact with highly insulating materials, such as artificial
fabrics and plastic films. Place the servo amplifier on a conductive surface.
lIf the packaging is damaged, check the unit for visible damage. In such an event, in-
form the shipper and the manufacturer.
4.2 Packaging
lRecyclable cardboard with inserts
lDimensions: (HxWxD) 115x365x275mm
lLabeling: instrument label on outside of box
4.3 Storage
lStorage only in the manufacturer’s original recyclable packaging
lMax. stacking height 8 cartons
lStorage temperature -25 to +55°C, max. rate of change 20K / hour
lStorage humidity 5 ... 95% relative humidity, no condensation
lStorage duration:
Less than 1 year: without restriction.
More than 1 year: capacitors must be re-formed before setting up and operating the
servo amplifier. To do this, remove all electrical connections and apply single-phase
230V AC for about 30 minutes to the terminals L1 / L2.
4.4 Maintenance, Cleaning
The instruments do not require any maintenance, opening the instruments invalidates the
warranty.
Cleaning : — if the casing is dirty: clean with Isopropanol or similar
do not immerse or spray
— if there is dirt inside the unit: must be cleaned by the manufacturer
— dirty protective grill on fan: clean with a dry brush
4.5 Disposal
In accordance to the WEEE-2002/96/EG-Guidelines we take old devices and accessories
back for professional disposal, if the transport costs are taken over by the sender. Send
the devices to:
Danaher Motion GmbH
Wacholderstr. 40-42
D-40489 Düsseldorf, Germany
SERVOSTAR®300 Product Manual 13
Danaher Motion 10/2007 Handling
5 Package
5.1 Package supplied
When you order an amplifier from the SERVOSTAR 300 series (order numbers ðp.119),
you will receive:
— SERVOSTAR 3xx
— Mating connectors X0, X3, X4, X8
— Mating connector X9 only with SERVOSTAR 303-310 (S3xx6)
— Product manual and online documentation on CD-ROM
— Setup software DRIVEGUI.EXE on CD-ROM
The mating SubD connectors are not part of the package!
Accessories : (must be ordered separately, if required; description see accessories
manual)
— motor cable (prefabricated) with special shield clamp, 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 3YL, for motor cables longer than 25 meters
— external regen resistor BAR(U)
— communication cable to the PC (ðp.75) for setting parameters from a PC
— power cable, control cables, fieldbus cables (as cut-off lengths)
5.2 Nameplate
The nameplate depicted below is attached to the side of the servo amplifier.
The information described below is printed in the individual fields.
14 SERVOSTAR®300 Product Manual
Package 10/2007 Danaher Motion
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
Tel. + 9 (0) 2 /
Tel. + 540 633 3400
Umgebungstemp.
Ambient temp.
E217428
1VD4
LISTED
IND. CONT. EQ.
CUS
UL
®
example
example
Hardware
Revision
CommentsSerial number
Servo amplifier type
max. ambient
temperature
Output current
in S1 operation
Hardware
Revision
Enclosure Rating
Electrical supply
Installed load
5.3 Part number scheme
* additional coding defines customer specific specials
Comparison device name -> part number
Device Name Part Number
SERVOSTAR 303 S30361-NA
SERVOSTAR 306 S30661-NA
SERVOSTAR 310 S31061-NA
SERVOSTAR 341 S30101-NA
SERVOSTAR 343 S30301-NA
SERVOSTAR 346 S30601-NA
SERVOSTAR®300 Product Manual 15
Danaher Motion 10/2007 Package
Family
S3 S300
Voltage rating
0 208...480V
6 110...230V
Current rating
01 1.5A rms
03 3A rms
06 6A rms
10 10A rms
Electr. options
0 no option
1AS
Expansions
NA no expansion
DN DEVICENET
PB PROFIBUS
SE SERCOS
EC ETHERCAT
SQ SYNQNET
I/O I/O Extension
S30601-SE*
6 Technical description
6.1 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)
lShielding connection directly on the servo amplifier
lTwo analog inputs onboard
lCANopen onboard (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
lRS232 and pulse direction interface onboard
lRestart lock -AS- for personnel safety onboard, ðp. 77
lIntelligent position controller onboard
lMulti feedback support
lSynchronous servomotors, linear motors and asynchronous motors can be used
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.48
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 C2 as per EN 61800-3, with
motor cable < 10m for C3 as per EN 61800-3).
Integrated safety
lAppropriate insulation/creepage distances and electrical isolation ensure safe electri-
cal separation, as per EN 61800-5-1, 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).
16 SERVOSTAR®300 Product Manual
Technical description 10/2007 Danaher Motion
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.102
lPROFIBUS DP expansion card, ðp.105
lSERCOS expansion card, ðp.106
lDeviceNet expansion card, ðp.108
lEtherCat expansion card, ðp. 111
lSynqNet expansion card, ðp. 112
l-2CAN- expansion module, separated connectors for CAN-bus and RS232, ðp.114
lSeveral third-party expansion cards (ModBus, LightBus, FIP-IO etc. please contact
the manufacturer for further information)
SERVOSTAR®300 Product Manual 17
Danaher Motion 10/2007 Technical description
6.2 Technical data
6.2.1 Technical data for 110/230 V (types S3_ _6_)
SERVOSTAR
Electrical 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 1x115V Arms 3* 3* 3*
at 3x115V Arms 3.5 8 10
at 3x230V Arms 3 6 10
at 1x230V Arms 3* 4* 4*
Peak output current (rated current x 2 for approx. 5s, ±3%)
at 1x115V Arms 5* 5* 5*
at 3x115V Arms 9 15 20
at 3x230V Arms 9 15 20
at 1x230V 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
at 115V VDC 235
at 230V VDC 455
Motor inductance min.
at 1x115V 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 1x230V 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 data
Weight kg approx. 2.6
Height, without connectors mm 275 279
Width mm 70
Depth, without connectors mm 171
Depth, with connectors mm < 200
* in single-phase applications nom./peak current is limited to value below nominal
value dependent on the motor constant Kt and the motor speed.
** at reduced current (50%)
18 SERVOSTAR®300 Product Manual
Technical description 10/2007 Danaher Motion
6.2.2 Technical data for 400/480 V (types S3_ _0_)
SERVOSTAR
Electrical 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
a 230V VDC 455
a 400V VDC 800
a 480V VDC 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 data
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 (50%)
SERVOSTAR®300 Product Manual 19
Danaher Motion 10/2007 Technical description
This manual suits for next models
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