Georgii Kobold KSV 6HE User manual

KSV 6HE
Servo Amplifier for Brushless Motors
KSV 1,5/5 to KSV 12/30
19 inch, 6 height units, front connection
Operating Instructions 221052E, V 1.3b 09/01
These operating instructions apply to
CKSV 6HE KSV 1,5/5 to KSV 12/30 servo amplifiers (19" plug-in module)(even numbers)
C2800140000 power supply (19" plug-in module)
C038100050Z, 038100070Z, 038100090Z and 038100130Z mains transformers
Caccessories
GEORGII KOBOLD
AUGUST HEINE GmbH & Co
Fasanenweg 6 – 8
D-70771 Leinfelden-Echterdingen
Federal Republic of Germany
Tel. [phone]
Fax [phone] E-mail [e-mail] www.georgii-kobold.de

2 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Versions of the document
30.11.99 V 1.3, MH First English version, based on 221059 V 1.3 and
221055E V 1.5a; similar to German version 1.3
12.01.00 V 1.3a, MH values for I time constant on Z4 add-on module ad-
justed; figure 11 new; corrections; document styles
similar to German version V 1.3a
24.09.01 V 1.3b, MH OEM preparation; corrections
similar to German version V 1.3b
O:\!pdf\Vorlagen\GK\221052E_15a.wpd
Copyright by GEORGII KOBOLD AUGUST HEINE GmbH & Co, D-70771 Leinfelden-
Echterdingen, Germany
All rights reserved, including those of translation. No part of these operating instructions
may be copied, reproduced, stored or processed in an information system, or transmitted
in any other form, without prior written permission by GEORGII KOBOLD AUGUST HEINE
GmbH & Co.
These operating instructions have been prepared with care. However, GEORGII KOBOLD
AUGUST HEINE GmbH & Co can accept no liability for any errors in these operating
instructions or possible consequences. Neither can any liability be accepted for direct or
indirect damage resulting from abuse of the device.
The relevant regulations concerning safety technology and electromagnetic compatibility
must be complied with when using the device.
Subject to alteration.

Operating Instructions 221052E, V 1.3b 3
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Contents
Chapter 1: General information
1 Preliminary remarks ................................................ 9
1.1 About this description ........................................... 9
1.2 KSV 6HE Servo Drive Packages .................................. 9
2 Safety instructions ................................................ 11
2.1 Typeofinstruction ............................................ 11
2.2 Technicalstaff ............................................... 11
2.3 Use for the intended purpose .................................... 12
2.4 Protectiveearthing ......................................... 12
2.5 Hazardwarnings.............................................. 13
2.6 CEmarking.................................................. 13
2.7 Preconditions for commissioning ................................. 14
2.8 Working with the amplifier or the power supply ...................... 14
Chapter 2: Servo amplifier
3 Technical specifications ........................................... 15
3.1 Typecode................................................... 15
3.2 Technicalspecifications ........................................ 16
3.3 Details...................................................... 17
3.3.1 Design ............................................. 17
3.3.2 Chassis............................................. 17
4 Connection: Assignment of connectors and details ..................... 20
4.1 Connector assignments ........................................ 20
4.1.1 Motor and power supply (Combicon connector X1) ........... 20
4.1.2 Control signals “Steuersignale” (SUB-D fem. connector X2, 15-pin)
.................................................... 20
4.1.2.1 Version without add-on module ................. 20
4.1.2.2 Version with Z1 add-on module ................. 21
4.1.2.3 Version with Z2 add-on module ................. 21
4.1.2.4 Version with Z4 add-on module ................. 22
4.1.3 Position sensor “Lagegeber” (SUB-D female connector X3, 9-pin) 22
4.1.4 Encoder signals “Gebersignale” (SUB-D male connector X4, 9-pin)
.................................................... 23
4.2 Details about the signals ....................................... 23

4 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
4.2.1 Auxiliary voltage outputs ................................ 23
4.2.2 Setpointthroughdifferentialamplifier...................... 23
4.2.3 Switching inputs and switching outputs .................... 24
4.2.3.1 Properties of the switching inputs and outputs ...... 24
4.2.3.2 Switching input “Controller enable” ............... 25
4.2.3.3 Switching input “Reset fault” .................... 25
4.2.3.4 Switching output “Fault” or “Ready” .............. 26
4.2.3.5 Switching output “Overload” .................... 26
4.2.3.6 Switching output “Motor standstill” or “Power circuit ready”
........................................... 27
4.2.4 Analogoutputs ....................................... 28
4.2.5 Encoder signals, holding function ......................... 28
4.2.6 Positionsensor....................................... 28
4.2.7 Motortemperaturesensor .............................. 29
4.2.8 Sensorfaultdetection.................................. 29
4.2.9 Blockprotection ...................................... 29
4.2.10 Faultmemory ........................................ 30
4.3 Interfacedetails .............................................. 32
4.3.1 Connector X2, control signals, switching towards zero ......... 32
4.3.2 Connector X2, control signals, PLC-compatible .............. 33
4.3.3 Connector X4, encoder signals, 5-volt version ............... 34
4.3.4 Connector X4, encoder signals, 24-volt version .............. 35
4.4 Connection directions .......................................... 36
4.4.1 Installation on the mounting plate ......................... 36
4.4.2 Installationina19"racksystem.......................... 39
4.4.3 Potential equilization cables ............................. 39
4.4.4 Mains connection ..................................... 40
4.4.4.1 Connection mains – mains transformer ........... 40
4.4.4.2 Connections mains transformer – RFI-filter– power supply
........................................... 41
4.4.4.3 Connection power supply – servo amplifier ........ 41
4.4.5 Motor connection, general information ..................... 42
4.4.6 Motorchoke ......................................... 43
4.4.7 Shield connection of the external shunt resistor cable ......... 43
4.4.8 Connection, shielding and laying of the control leads .......... 43
4.4.9 Setpoint connection ................................... 44
4.4.10 Connection of the encoder signals ........................ 44
4.4.11 Connecting the position sensor (resolver) .................. 45
4.4.12 Connection of the motor temperature sensor ................ 46

Operating Instructions 221052E, V 1.3b 5
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
5 Adjustment and display elements .................................... 47
5.1 Trimpotentiometers ........................................... 47
5.2 Current limiting and “Current” rotary switch ......................... 47
5.3 LEDs....................................................... 49
6 Modular fittings and expansions ..................................... 50
6.1 Customer module Kx .......................................... 50
6.2 Add-on modules Zx ........................................... 50
6.2.1 Add-on module Z1 .................................... 51
6.2.2 Add-on module Z2 .................................... 52
6.2.3 Add-on module Z4 .................................... 53
6.2.4 Further add-on modules ................................ 55
6.3 Polarity module Px ............................................ 55
6.4 Encoder modules G1 to G4 ..................................... 55
6.4.1 Pulsesetting......................................... 56
6.4.2 Index pulse adjustment ................................. 56
6.5 Function module Fx ........................................... 57
6.5.1 HoldfunctionF1 ...................................... 57
6.5.2 Field weakening mode F2 ............................... 58
6.6 Option E1 external supply of control circuit ......................... 59
7 Shutting down the motor and safety shutdown ......................... 60
7.1 Shuttingdownoptions ......................................... 60
7.2 Estimatingthebrakingdistance .................................. 61
7.3 Emergency stop and safety regulations ............................ 61
8 Commissioning ................................................... 63
8.1 Precautions.................................................. 63
8.2 Switchingonforthefirsttime .................................... 63
8.3 Setting the speed ............................................. 64
8.4 Setting the feedback: normal case ................................ 64
8.5 Setting the feedback: critical applications ........................... 65
8.6 Setting the feedback with Z4 add-on module ........................ 65
8.7 Settingthecurrentlimit......................................... 66
8.8 Settingtheoffset.............................................. 66
8.9 Setting the holding control loop amplification ........................ 67
Chapter 3: Power supply and accessories
9 Power supply of the servo amplifiers ................................. 68
9.1 Load factor .................................................. 68

6 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
9.2 Power supply ................................................ 68
9.2.1 Design ............................................. 68
9.2.2 Shunt regulator ....................................... 69
9.2.3 Connection assignment (terminal blocks X5 and X6) .......... 69
9.2.4 LEDs............................................... 71
9.2.5 Technical specifications of the power supply ................ 71
9.2.6 External shunt resistor ................................. 71
9.3 Mainstransformers............................................ 72
9.3.1 General information ................................... 72
9.3.2 Connections ......................................... 73
9.3.3 Technicalspecificationsofthemainstransformers ........... 73
10 Accessories ..................................................... 75
10.1 Available accessories and order numbers .......................... 75
10.2 Descriptionofaccessories ...................................... 75
10.2.1 Chassis............................................. 75
10.2.2 Connector sets 099066020Z and 099066010Z .............. 76
10.2.3 Motor connection cables 535246...Z and 535264...Z .......... 76
10.2.4 Resolver/Encoder connection cable 535245...Z .............. 77
10.2.5 Ferrite ring 042103010 ................................. 78
10.2.6 Motor chokes 038096010Z and 038097010Z ................ 78
10.2.7 RFI-filters 002057020Z and 002057040Z ................... 80
10.2.8 Shield connection plate 089159 .......................... 80
Chapter 4: Notes for specialists
11 Modifications to the servo amplifier .................................. 81
11.1 Modifyingthecontrollercircuitry.................................. 81
11.1.1 Speed control range ................................... 81
11.1.2 Numberofmotorpolepairs ............................. 82
11.1.3 Current control instead of speed control .................... 83
11.1.4 Changing the direction of rotation ......................... 84
11.2 Modifications to the feedback .................................... 85
11.2.1 Resettime .......................................... 85
11.2.2 Dcircuit............................................. 85
11.3 Modifications to the Z1, Z2, and Z4 add-on modules .................. 85
11.3.1 Locationofthesolderbridges ........................... 85
11.3.2 Former versions of modules Z1 and Z2 .................... 87
11.3.3 “Power circuit ready” signal instead of “Motor standstill” signal . . 87
11.3.4 Switching off the peak current rise ........................ 88
11.3.5 Switchingoffactivebrakingatcontrollerdisable ............. 88

Operating Instructions 221052E, V 1.3b 7
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
11.3.6 Activatingtherampfunction ............................. 88
11.3.7 Adjusting and limiting the I component of the speed controller . . 88
11.4 Modifications to the polarity module ............................... 89
11.4.1 “Ready” signal instead of “Fault” signal .................... 89
12 Documentation of the settings ...................................... 90
Appendix
Appendix A EC Declaration of Conformity ............................... 91
Appendix B Terms of warranty ........................................ 92
Appendix C Table of faults ........................................... 92

8 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Figures
Fig. 1: Rack mount chassis 84 units wide ................................... 19
Fig.2:Controlsignals,switchingtowardszero(interfacedetails) ................ 32
Fig.3:Controlsignals,PLC-compatible(interfacedetails)...................... 33
Fig. 4: Encoder signals, 5-volt version (interface details) ....................... 34
Fig. 5: Encoder signals, 24-volt version (interface details) ...................... 35
Fig. 6: Connection directions ............................................ 37
Fig. 7: Laying of the motor cables and earthing of their shields .................. 38
Fig. 8: Setpoint potentiometer connection for commissioning ................... 64
Fig.9:Motorchokes................................................... 79
Fig.10:RFI-filter...................................................... 80
Fig. 11: Location of the jumpers on the board ............................... 83
Fig. 12: Location of the jumpers on the customer module ...................... 84
Fig. 13: Solder bridges on the Z1 module ................................... 86
Fig. 14: Solder bridges on the Z2 module ................................... 86
Fig. 15: Solder bridges on the Z4 module ................................... 87
Fig. 16: Solder bridges on the P1 and P2 modules ........................... 89

Operating Instructions 221052E, V 1.3b 9
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Chapter 1: General information
1 Preliminary remarks
1.1 About this description
These operating instructions explain the characteristics, connection,
installation and setting up of
Cthe KSV 6HE servo amplifiers, designed as 19" plug-in modules
(6 units height),
Cthe associated power supplies, 19" plug-in module design (6 units
height), for the connection to 3 × 230 V three-phase current,
Cthemainstransformersfortheconnectionto3×400V three-phase
current and the RFI-filter,
Caccessories,
Cand provides notes for specialists.
The operation instructions are divided up into 4 chapters and 12
sections.After the safetyinstructionsandthetechnicalspecifications,
the connection of the servo amplifier is described. In some cases you
will require details which are not explained more fully until later. It is
therefore important that you should read the sections important for
your application in a sequence commensurate with your previous
knowledge.
The chapter “Notes for the specialist” describes changes which can
be carried out on site by specially qualified electronicsexperts attheir
own risk, providing that all precautions have been taken.
1.2 KSV 6HE Servo Drive Packages
KSV 6HE servo drive packages in 19" design consist of:
Cthe brushless motor with coupled resolver as a speed and position
sensor,
Cthe analog servo amplifier as 19" plug-in module (6 units height),
Cthe 19" plug-in module power supply (6 units height) with mains
transformer connected in series.
The series described here comprises
Camplifiers for 5 different currents (1.5 Arms to 12 Arms),
Camplifiers with different specifications (optional),

10 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Cpower supplies for 19" rack system (“plug-in power supplies”),
Cmains transformers for the plug-in power supplies,
CRFI-filters,
C19" chassis.
We construct the multi-axis servo amplifier matched to your applica-
tion using chassis. Use these operating instructions for connecting
and commissioning.
We evaluate the servo drive matched to your application and
Cdeliver the matching servo motor.
– They have separate operatinginstructions and terminal connec-
tion diagrams.
As well as the series in 19" plug-in module design, there is also a
series in compact design for installation on the mounting plate of a
control cabinet (KSV 1,5/5 compact design to KSV 12/30 compact
design amplifiers) with separate operating instructions.

Operating Instructions 221052E, V 1.3b 11
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Danger
Caution
Do not
Power off
wait > 2 min
CE/EMC
Check
Tip
Danger
CE/EMC
2 Safety instructions
2.1 Type of instruction
Itisessentialthat youshouldnotethe warningsandinstructionsin the
margin:
CDanger for life and limb through electrical shock or motion of the
drive system.
CCaution. Disregard can lead to personal injury or death or damage
of property.
CProhibition. Disregard is a violation of safety regulations or statu-
tory provisions.
CPower off. Disconnect the device from the mains and wait at least
2 minutes until the DC-bus capacitors have discharged before
carrying out the measures described.
CThe CE marking presumes compliance with the EMC limits in
accordance with EN 55011, A and B (emissions) and EN 50082 1
and 2 (immunity).The specifications marked with thissymbol must
be complied with. Otherwise the installation in which the amplifier
is beingrun must be checked for compliance withthe EMC limits at
the discretion of the customer.
Other instructions given in the margin:
CCheck. First check these positions if the drive system does not
work as required or if you cannot proceed working with the device
for other reasons.
CTip. Useful hint.
2.2 Technical staff
The servoamplifiersand the power suppliesworkwith voltages which
are dangerous in case of contact. Touching live parts can cause
serious injury or death.
Only trained technical staff with special knowledge in the fields of
Cautomation,
Cdealing with dangerous voltages,
Cstandards and regulations such as
– EMC directive (89/336 EEC),
– low voltage directive (73/23 EEC),
– machinery directive (89/392 EEC),

12 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Caution
– VDE regulations (such as DIN VDE 0100, DIN VDE 0113
<EN 60204>, DIN VDE 0160 <EN 50178>),
– safety rules
may therefore
Cinstall,
Ccommission,
Cmaintain and
Cservice
these units.
Theymustreadtheseoperatinginstructionscarefullybeforehand,and
always follow the safety instructions while working.
2.3 Use for the intended purpose
The servo amplifiers and the power supplies have been developed,
manufactured, tested and documented in accordance with the rele-
vant standards. If used for the intended purpose, the devices do not
cause any danger to persons or property. Use for the intended pur-
pose requires that the device should be used only in the manner
describedhereandthatthesafetyregulationsmentionedareadhered
to.
When using the devices, use for the intended purpose includes com-
pliancewiththerelevantregulationswithrespecttosafety(machinery
directive) and electromagnetic compatibility (EMC directive).
Dispose of the apparatus at the end of its useful service life in accor-
dance with the current regulations.
GEORGII KOBOLD AUGUST HEINE GmbH & Co can accept no
liability for direct or indirect damage resulting from abuse of the de-
vices.
2.4 Protective earthing
On account of leakage current from the RFI-filter to be built-in, the
protective earth conductor, in accordance with DIN VDE 0160, must
Ceither be run double to the amplifier or
Chave a cable cross-section of at least 10 mm2Cu.
Operation using an earth-leakage circuit breaker is not possible
Cdue to the leakage current of the RFI-filter and

Operating Instructions 221052E, V 1.3b 13
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Caution
Power off
wait > 2 min
Danger
CE/EMC
Csince in case of earth leakage a part of the direct current flows in
the protective earth conductor.
2.5 Hazard warnings
Due to their design and connection system, the servo amplifiers and
the power supplies
Cmay only be operated in closed housings (control cabinet);
Cmay only be operated with a fixed connection to the mains.
Do not introduce any objects (screwdrivers, wires) into the interior of
the device through the ventilation holes.
Before you remove a device from the chassis and before you discon-
nect or reconnect a connector
Cswitch off mains voltage.
The charging capacitor of the power supply retains the voltage even
after it has been switched off. Before working at or in the device
Cwait at least two minutes after switching off.
Electronic devices are generally not fail-safe. The user must make
sure
Cthat when a device breaks down
– the drive is switched to a safe state.
2.6 CE marking
The KSV 6HE servo amplifiers meet the requirements of
Cthe EMC directive (89/336 EEC) and
Cthe low voltage directive (73/23 EEC).
They thus conform to the currently valid EU regulations and bear the
CE marking.
The CE marking only applies
Cwhen all installation and connection requirements of these operat-
ing instructions have been exactly complied with, and
Cwhen the requirements in the notes next to the CE/EMC marks
have been met.

14 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Do not
Danger
If this is not possible, then
Cyou must have the installation in which the amplifiers are being
operated tested at your own discretion for compliance with the
EMC limits.
2.7 Preconditions for commissioning
In addition to the low voltage and EMC directives applicable to the
servo amplifiers, the
Cmachinery directive (89/392 EEC) applies to machines.
The machinery directive (89/392 EEC) applies to the final product,
that is, the machine containing the servo amplifier. The machine
manufacturermustcomplywiththemachinerydirective(89/392EEC).
Commissioning is forbidden until the requirements of the machinery
directive have been met.
2.8 Working with the amplifier or the power supply
To replace modules or to carry out matching or other work,
Cfirst disconnect the device from the mains,
Cpull off the connector and remove cables from the terminals, and
Cremove the device from the chassis after loosening the front panel
screws.
Never operate the device when it is removed from hte chassis!

Operating Instructions 221052E, V 1.3b 15
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Chapter 2: Servo amplifier
3 Technical specifications
3.1 Type code
The type code clearly identifies a servo amplifier equipped in a certain way. The type code
also applies for devices of the series in compact design.
Example ÕKSV* ---------
3/10 N0 K4 Z0 P2 G1 F0 E1 S0 W0
×
*
3/10
Design *
(no text) = 19" plug-in module
“compact design” = compact device
Power
1.5/5 320 V DC-bus, output 1.5 Arms rated current, 5 A peak current
3/10 320 V DC-bus, output 3 Arms rated current, 10 A peak current
6/20 320 V DC-bus, output 6 Arms rated current, 20 A peak current
9/30 320 V DC-bus, output 9 Arms rated current, 30 A peak current
12/30 320 V DC-bus, output 12 Arms rated current, 30 A peak current
N0 Power supply
N0 no power supply, external power supply KSN 8 M1 (280014000) needed (standard)
N2 power supply, 3-phase 3 × 230 V
K4 Controller switching (customer module and jumpers)
K0 none (device not ready for operation)
K1 2-pole-pair motor, speed control 3,500 min–1
K2 2-pole-pair motor, speed control 7,000 min–1
K3 2-pole-pair motor, current control
K4 3-pole-pair motor, speed control 3,500 min–1
Z0 Additional equipment through add-on modules
Z0 none (standard)
Z1 limit switch, ramp, controller inhibit braking
Z2 external current limiting, rotation reversal
P2 Input/output polarity (polarity module)
P0 switching towards zero (standard)
P1 PLC-compatible, “fault” output
G1 Additional equipment through encoder modules
(incremental encoder emulation)
G0 no pulse outputs (standard)
G1 pulse outputs, 5 V push-pull signals RS 422
G2 pulse outputs, 24 V push-pull signals
F0 Additional equipment through function modules
F0 none (standard)
F1 holding control loop
E1 Supply of control circuit (cannot be refitted)
E0 internal supply from DC-bus (standard)
S0 Special equipment (customization)
S0 none (standard)
S2 reinforced terminals (20 A)
W0 Front panel
W0 standard
For further details on the modular expansion options, please refer to section 6, page 50.

16 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
3.2 Technical specifications
Servo amplifier KSV 1,5/5 KSV 3/10 KSV 6/20 KSV 9/30 KSV 12/3
0
Mains connection via isolat. transformer 3 × 120 .. 230 V AC, (+10%)
Bus voltage 320 V DC
Minimum bus voltage 160 V DC
Maximum permissible bus voltage 420 V DC
Maximum continuous current (rms value) 1.5 A 3 A 6 A 9 A 12 A
Maximum peak current (crest value) 5 A 10 A 20 A 30 A 30 A
Current limiting adjustable from... to... 0.4..1.5 A 0.8..3 A 1.5..6 A 2.3..9 A 3..12 A
Load factor (in conjunction with mains
transformer) 14 8 16 24 32
Integration time of the I²t circuit at max.
peak current approx. 2 s
Setpoint value ±10 V at 20 k
Operating range of speed trimmer 1 : 7
Output speed monitor
(RA= 10 k ) at speed
range
±3500 r.p.m. 2 V /1000 r.p.m.
±7000 r.p.m. 1 V /1000 r.p.m.
±10,500 r.p.m. 0.67 V /1000 r.p.m.
±14,000 r.p.m. 0.5 V /1000 r.p.m.
Output current monitor (RA = 10 k ) ±10 V for maximum pulse current
Switching frequency 16 kHz
Frequency of current ripple 32 kHz
Auxiliary voltage outputs +15 V and –15 V, ±10%
Load capacity of auxiliary voltages 10 mA each (via 125 PTC)
For option E1: external control circuit
supply 24 V DC, –15+20%, approx. 400 mA at 24 V
Climatic category (DIN EN 50178) opera-
tion / storage / transport 3K3 / 1K4 / 2K3
Permissible ambient
temperature in contin-
uous operation
without fan 50 EC 40 EC not permissible
with fan 255 EC 55 EC 50 EC 45 EC 40 EC
Wiring to Combicon
connectors
Recommended
cross-section 1.5 mm21.5 mm21.5 mm22.5 mm22.5 mm2
Minimum cross-
section 0.75 mm20.75 mm21.0 mm21.5 mm21.5 mm2
1The load factor given is for calculating the number of amplifiers that can be operated by one common power
supply. For further details see Section 9.1, page 68.
2Fan of the 089100010Z or 089100020Z chassis, see section 10, page 75.

Operating Instructions 221052E, V 1.3b 17
Servo amplifier KSV 1,5/5 KSV 3/10 KSV 6/20 KSV 9/30 KSV 12/3
0
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
CE/EMC
Width 10 units / 50.8 mm
Height 6 height units / 262 mm
Depth (without connectors) 195 mm
Weight 1.3 kg
3.3 Details
3.3.1 Design
KSV 6HE servo amplifiers in 19“ design are manufactured as plug-in
modules. They consist of a printed circuit assembly (PCA) with heat
sink arranged in parallel, the customer module and the front panel.
The PCA has slots for the modules (explained later).
All connections, trim potentiometers, and LEDs are located at the
front panel:
Ccontrol signals: 15-pin SUB-D female connector,
Cmotor and operating voltage input: 7-pin Combicon connector,
Cposition sensor (resolver): 9-pin SUB-D female connector,
Coutput for encoder signals: 15-pin SUB-D male connector
– present only if encoder module is mounted.
The devices for continuous currents up to 3 A
Cwork with natural convection.
The devices for continuous currents above 3 A
Cneed fans like the ones included in our chassis 089100010Z and
For currents and temperatures, see table “Technical specifications”,
page 16, for chassis, see section 10, page 75.
3.3.2 Chassis
Use chassis to combine multiple KSV 6HE amplifier plug-in modules
with the power supply (or several power supplies). For further details,
refer to section 10.2.1, page 75.
The requirements of the EMC directive are fulfilled,
Cif the KSV 6HE servo amplifiers are built into an Georgii Kobold
chassis, and

18 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Caution
Tip
Cif the installation follows the connection directions given on pa-
ge 36ff.
The CE marking is valid only when the EMC limits are complied with.
If you install the amplifier in a different way,
Cit is your responsibility to check the installation for complying with
the EMC limits.
The air must be able to flow through the chassis undisturbed.
CIf you install additional chassis above or below,
– they must not obstruct the air flow.
Note that the air leaving the chassis is heated up,
Cthis may disturb devices sensitive to heat.
Figure 1 shows a rack mount chassis 84 units wide, fully equipped
with one power supply and 7 amplifiers.

Operating Instructions 221052E, V 1.3b 19
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
Fig. 1: Rack mount chassis 84 units wide

20 Operating Instructions 221052E, V 1.3b
GEORGIIKOBOLD,D-70771Leinfelden-Echterdingen,phone[phone],fax[phone]
4 Connection: Assignment of connectors and details
4.1 Connector assignments
For details concerning connections and the optional modules, please
refer to the later sections.
4.1.1 Motor and power supply (Combicon connector X1)
Marking Assignment
Motor U Motor connection U
Motor V Motor connection V
Motor W Motor connection W
PE PE for motor cable
PE PE from power supply
–UBNegative pole of bus voltage from power supply
+UBPositive pole of bus voltage from power supply
4.1.2 Control signals “Steuersignale” (SUB-D fem. connector X2,
15-pin)
4.1.2.1 Version without add-on module
Pin Assignment
10Volt
2 Output auxiliary voltage +15 V
3 Output auxiliary voltage –15 V
4 Input setpoint (E+)
5 Input setpoint (E–)
6 Switching input “Controller enable”
7 not assigned
8 not assigned
9 Switching input “Reset fault”
10 Input +24 V for modules P1, P2 and/or E1 (only if fitted)
11 not assigned
12 Switching output “Fault” (or “Ready”)
13 Analog output “Speed monitor”
14 Switching output “Overload”
15 Analog output “Current monitor”
Housing Connect cable shield to the housing of the SUB-D connector