Keba ServoA SA52.075 User manual

ServoA
Operation Manual
Servo controllers
2.2 A - 20 A

ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
ServoA - new bus system
Based on the successful experience in the Chinese market for many years, KEBA com-
bines the mature drive technology with leading EtherCAT bus system, creating a brand-
new upgraded servo series for Chinese market —ServoA.
ServoA is a upgraded product with compact design, reliable performance, rich function
and wide application, what could be convenient for customers to build distributed intel-
ligent devices. Traditional design has been upgraded to more automated device, improv-
ing the added value of products. The integrated specic chip of KEBA will provide cus-
tomers with a higher performance of drive ability to meet the demands of improvements.
Through ServoA and other new products, KEBA will continuously develop technical ad-
vantages and contribute to modernization of manufacture of Chinese equipment.
We reserve the right to make technical changes
The content of our documentation was compiled with the greatest care and attention,
and based on the latest information available to us.
We should nevertheless point out that this document cannot always be updated in line
with ongoing technical developments in our products.
Information and specications maybe subject to change at any time.
Please visit www.keba.com for details of the latest versions.
If the user downloads rmware personally, risks might be caused!
ServoA Operation Manual
ID no: LDS-O-SA-EN-202103
Date: 03/2021
0180-000055-1

3
ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
How to use this document
Dear user,
We are happy that you have made a decision in favour of a product from KEBA.
In order to be able to start using your new ServoA quickly and without problems, we
ask you kindly to read this Operation Manual thoroughly beforehand.
Step Action Comment
1.
This Operation Manual will enable
you to install and commission the
ServoA drive system very quickly
and easily.
Quick-start guide
2.
Simply follow the step-by-step
tables in the various sections. And away you go!
11 Safety
22Mechanical installation
33 Electrical installation
44 Comissioning
55 Diagostics
AA Appendix
66 Functional Torque Off
67 UL certification

4ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
图
Order code
The order designation indicates the relevant design variant of the servocontroller deliv-
ered to you. For details on the order code refer to the ServoA order catalogue.
Order code
Article designation SA 52 - 0075 -0034 -0000 - 1
ServoA
Mains supply
(system voltage)
3 x 230 V
3 x 400 V
52
54
Output power
BG2 750 W 0075
BG3 1 kW
1.5 kW
0100
0150
BG4 2 kW
3 kW
0200
0300
BG5
5 kW
7. 5 k W
9 kW
0500
0750
0900*
Option Standard 0034
Option details
Without resistor 0□□□
Without EMC lters □0□□
CANopen
Ethe rCAT
□□2□
□□3□
ServoA, no certied STO □□□4
Hardware information Control board voltage DC24V 0000
Hardware version 1
Note：
*means when power stage switching frequency is 4KHz.
1) If braking power of motor is larger and the integrated braking resistor can’t get rid of excess
energy, then external braking resistor should be connected;
2) Standard：without internal braking resistor and EMC lters, with EtherCAT; It can be connected
with resolver and high resolution encoder;
3) The motors match to BG5,please consult with KEBA;
4) If the device with 0 hardware version, please contact KEBA technical engineer.
Figure 0.1 ServoA order code
Rating plate
On rating plates of the ServoA drive units you will nd the serial number, from which you
can identify the date of manufacture based on the following key.
Supply package
The supply package includes:
• ServoA drive unit
• Terminal pack for control and power terminals (depending on device power and
variant)
Figure 0.2 ServoA hardware rating plate

5
ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
Pictograms
To provide clear guidance, this Operation Manual uses pictograms. Their meanings are
set out in the following table. The pictograms always have the same meanings, even
where they are placed without text, such as next to a connection diagram.
Warnings (see also section 1.1 )
!ATTENTION! Misoperation may result in damage to the drive or malfunc-
tions.
DANGER FROM ELECTRICAL TENSION!
Improper behaviour may endanger human life.
DANGER FROM ROTATING PARTS !
Drive may start up automatically.
Hints & Tips
NOTE: Useful information or reference to other documents.
1.
STEP: Action in a sequence of multiple actions.

6ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
Space for your own notes

7
ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
Table of Contents
1. Safety..................................................................................... 9
1.1 Measures for your safety ........................................................................................9
1.1.1 Read the Operation Manual rst!.................................................................9
1.1.2 Warning symbols ........................................................................................10
1.2 Intended use ..........................................................................................................10
1.3 EC Declaration of Conformity .................................................................................11
1.4 Responsiblity..........................................................................................................11
2. Mechanical installation .......................................................... 12
2.1 Notes for operation.................................................................................................12
2.2 Wall mounting.........................................................................................................12
3. Electrical installation .............................................................. 14
3.1 Notes for installation ...............................................................................................14
3.2 Layout ....................................................................................................................15
3.3 Overview of connections ........................................................................................16
3.4 Effective EMC installation .......................................................................................17
3.4.1 Interference immunity of drive controllers ...................................................17
3.4.2 Specimen setup..........................................................................................17
3.5 Protective conductor connection............................................................................21
3.6 Electrical isolation method......................................................................................21
3.7 Connection of supply voltages ...............................................................................23
3.7.1 Connection of control supply ......................................................................23
3.7.2 Connection of mains supply........................................................................24
3.8 Control connections ...............................................................................................26
3.8.1 Specication of control connections ...........................................................26
3.9 USB-port................................................................................................................27
3.10 Encoder connection ...............................................................................................28
3.10.1 Encoder interface X4a.................................................................................30
3.10.2 Encoder interface X4b.................................................................................31
3.11 Motor connection ...................................................................................................33
3.11.1 Connection to LSM motors .........................................................................34
3.11.2 Electronic overload protection for the motor ...............................................35
3.11.3 Switching in the motor cable.......................................................................35
3.12 Braking resistor (RB)...............................................................................................35
3.12.1 Protection in case of braking chopper fault.................................................35
3.12.2 Design with integrated braking resistor .......................................................35
3.12.3 Connection of an external braking resistor..................................................37
3.13 Master encoder and encoder simulation interface X7 ............................................38
3.14 Communication interface X5 ..................................................................................40
3.14.1 Ethercat communication interface...............................................................40
3.14.1.1 Th e E th e r C AT p ro to c o l .................................................................40
3.14.1.2 EtherCAT functionality of the ServoA drive controller ...................40
3.14.1.3 System requirements EtherCAT ...................................................40
3.14.1.4 Pin assignment of RJ-45 interface for EtherCAT communication
interface......................................................................................................40
3.14.1.5 Connectors ..................................................................................41
3.14.1.6 Sta tus In d i c ator ............................................................................41
3.14.1.7 EtherCAT axis Addressing............................................................42
3.14.2 CANopen communication interface ............................................................43
3.14.2.1 Pin assignment of D-Sub interface for CANopen communication
interface......................................................................................................43
4. Commissioning ..................................................................... 44
4.1 Notes for operation.................................................................................................44

8ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
4.2 Integrated KeyPad..................................................................................................44
4.2.1 The function of T1 to T4 button ...................................................................45
4.2.2 Parameter group overview ..........................................................................45
4.3 Operation step........................................................................................................46
4.3.1 Select preset solution..................................................................................46
4.3.2 Select motor type........................................................................................47
4.3.3 Select encoder ............................................................................................47
4.3.4 User log-on..................................................................................................48
4.3.5 Jog mode (Manual mode)............................................................................48
4.4 _ALError messages................................................................................................49
5. Diagnostics ........................................................................... 50
5.1 Device states..........................................................................................................50
5.2 Error codes and information...................................................................................50
6. Functional torque off (former STO)......................................... 60
6.1 Denition of terms...................................................................................................60
6.1.1 Overview of “functional torque off" connections.....................................................60
6.1.2 Wiring and commissioning..........................................................................61
7. UL certication ...................................................................... 62
A. Appendix .............................................................................. 64
A.1 Current capacity of ServoA ....................................................................................64
A.2 ServoA ambient conditions ....................................................................................66
A.3 ServoA technical data ............................................................................................67

9
ServoA Operation Manual
Safety
ID no.: LDS-O-SA-EN-202103
1. Safety
1.1 Measures for your safety
The instructions set out below should be read through prior to initial commissioning in
order to prevent injury and/or damage to property. The safety instructions must be fol-
lowed at all times.
1.1.1 Read the Operation Manual rst!
1.
Read the Operation Manual rst!


Electric drives are dangerous:


the power is cut (capacitor charge). So check that the power has been cut!


Protection against magnetic and/or electromagnetic elds during installa-
tion and operation.

aids etc. must not be allowed access to the following areas:


permanent magnets pose a particular hazard.
NOTE: 
determined beforehand by a doctor
Your qualication:
 -
sonnel with electrical engineering qualications may work on the device.
 The said qualied personnel must be familiar with the contents of the

 

Table 1.1 Safety instructions

ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
Safety
U
V
N
L+
RB
L-
L3
L2
L1
U
V
N
L+
RB
L-
L3
L2
L1
During installation observe the following instructions:

tions.
-

 Do not touch electronic components and contacts (electrostatic dis-
charge may destroy components).
 



Table 1.1 Safety instructions
 Warning symbols
The safety instructions detail the following hazard classes.
The hazard class denes the risk posed by failing to comply with the safety notice.
Warning symbols  

!Misoperation may result in
damage to the drive or malfunctions.
Serious injury or damage to
property may occur.
-
SION! Improper behaviour may endan-
ger human life.
Death or serious injury will
occur.

Drive may start up automatically.
Death or serious injury will
occur.
 
 Intended use
-
tionary electrical systems or machines.

before commissioning of the drive controller (e.g. start-up of intended use).
-








NOTE: Deployment of the drive controllers in non-stationary equipment is

special agreement.

11
ServoA Operation Manual
Safety
ID no.: LDS-O-SA-EN-202103
   Responsibility
Electronic devices are fundamentally not fail-safe. The company setting up and/or oper-
ating the machine or system is itself responsible for ensuring that the drive is rendered
safe if the device fails.


-

The function of an emergency off system does not necessarily have to cut the power


emergency stop measure is assessed by means of a risk analysis of the machine or



circuit category.

12ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
Mechanical installation
2.2 Wall mounting
Step Action Comment
1.
Mark out the position of the tapped holes
on the backing plate.
Cut a tap for each xing screw in the back-
ing plate.
For dimensional drawings/hole
pitch see table 2.2, gure 2.1 and
gure 2.2
The tapping area will provide you
with good, full-area contact.
2.
Mount the servocontroller vertically on the
backing plate.
Observe the mounting clear-
ances!
The contact area must be metalli-
cally bright.
3.
Mount the other components, such as
the mains lter, mains choke etc., on the
backing plate.
The cable between mains lter
and servocontroller may be max.
30 cm long.
4.
Continue with the electrical installation in
section 3.
The cable between mains lter
and servocontroller may be max.
30 cm long.
Table 2.1 Mechanical installation
NOTE: For all sizes of the ServoA forced cooling
by external air ow is necessary. The air must be
able to ow unhindered through the device. If a
temperature cut-out occurs, the cooling condi-
tions must be improved.
Air ow: min. 1.2 m/s
2. Mechanical installation
2.1 Notes for operation
!
Please be sure to avoid:
• penetration of damp into the device;
• aggressive or conductive substances in the immediate vicinity;
• drill chippings, screws or foreigh bodies dropping into the device;
• ventilation openings being covered over, as otherwise the device may be dam-
aged.
Note the following points:
• Cooling air must be able to ow through the device without restriction.
• For mounting in switch cabinets with convection(=heat loss is discharged to the
outside via the cabinet walls), always t an internal air circulation fan.
• The backing plate must be well grounded.
• The device is designated only for vertical installation in switch cabinets. The switch
cabinet must as a minimum provide IP4x protection.
ATTENTION!
To attain the best result for EMC-compatible installation you should use
a chromated or galvanized backing plate. If backing plates are varnished,
remove the coating from the contact area. The devices themselves have an
aluminium back panel. Max. pollution severity 2.
Further information on environment conditions can be found in the appendix.
!

13
ServoA Operation Manual
Mechanical installation
ID no.: LDS-O-SA-EN-202103
Dimensions, wall-mounted housing
ServoA BG2 BG3 BG4 BG5
SA52.0075
SA54.0075
SA52.0100
SA52.0150
SA54.0100
SA54.0150
SA54.0200
SA54.0300
SA54.0500
SA54.0750
SA54.0900
Weight (kg) 1 1.5 2.65 4.9
B (width) 55 90
H (height) 209 289
T (depth) 145 190 234 234
A 27.5 /
C 225 305 313
D 4.8
E Direct butt-mounted
F ≥ 100
G ≥ 300
H1 235 318 324
All Dimensions in mm
1) Without terminals/connectors
2) Take into account the bend radius of the connecting cables
Table 2.2 Dimensions of ServoA
Ｃ
Ｃ１
Ａ
Ｂ
Ｄ
Ｈ１
Ｔ
Ｈ
Ｇ
Ｆ
Ｆ
Ｅ
Figure 2.2 Mounting pitch, wall-mounted (mm)
Figure 2.1 Dimensional drawing, wall-mounted (mm)

14ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
Electrical installation
· Cable type
Use shielded mains, motor and signal cables with double copper braiding, providing
60 to 70 % coverage.
· Cable laying
– Lay mains, motor and signal cables isolated from each other. Maintain a minimum
clearance of 0.2 metres wherever possible. They should not run in parallel. If crosso-
vers are unavoidable, they should wherever possible be congured perpendicular (at
a 90° angle).
– Always route the motor cable without interruptions and by the shortest route out of
the switch cabinet. If a motor contactor is used, for example, the component should
be directly mounted to the drive controller and the shield of the motor cable should
not be stripped too soon.
– As far as possible route signal cables into the switch cabinet from one side only.
– Cables of the same circuit must be twisted.
– Avoid unnecessary cable lengths and loops.
· Grounding measures
The grounding measures of relevance to the drive controller are detailed in section
3.5 “Protective conductor connection”.
· Shielding
Do not strip the cable shields too soon, and lay them across wide areas both on the
component and on the backing plate and PE rail (main ground) of the backing plate.
· External components
– Place larger consumers near the supply.
– Contactors, relays, solenoid valves (switched inductors) must be wired with fuses.
The wiring must be directly connected to the respective coil.
– Switched inductors should be at least 0.2 metres away from process controlled
assemblies.
Supplementary information can also be found in the relevant connection description.
3. Electrical installation
3.1 Notes for installation
ATTENTION!
• Qualied personnel
Installation must only be carried out by qualied electricians who have under-
gone instruction in the necessary accident prevention measures.
• During installation,
be sure to avoid ...
- screws, cable residues or other foreign bodies dropping into the device;
- penetration of damp into the device.
DANGER CAUSED BY HIGH VOLTAGE!
• Danger to life!
- Never wire or disconnect electrical connections while they are live! Discon-
nect the device from the mains supply (230/400 V AC) before working on it.
Dangerously high voltages of ≥ 50 V may still be present 10 minutes after the
power is cut (capacitor charge). Work on the device only once the DC link
voltage has fallen below 50 V residual voltage (indicated by monitoring LED H1
and measured at terminals X1/L- and L+).
- Even if the device does not emit any visual or audible signals or show other
indications, dangerous voltage may be connected to the device (such as with
mains voltage to terminal X3 switched on and no control supply on X2)!
Installation of drive controllers is subject to the following basic rules:
· Compliance with EMC product standard
Compliance with EMC product standard Commissioning (i.e. starting intended
operation) is only permitted when strictly complying with EMC product standard
EN61800-3:2004. The installer/operator of a machine and/or item of plant must pro-
vide proof of compliance with the protection targets stipulated in the standard.
!

15
ServoA Operation Manual
Electrical installation
ID no.: LDS-O-SA-EN-202103
3.2 Layout
The following shows the layout with the corresponding positions of connectors and ter-
minals. To aid orientation, the connectors and terminals are labelled by abbreviations.
PE
X5
X1
X4b
X4a
H1
D1,D2,D3,
D4,D5,D6
T1,T2,T3,T4
X6
X7
X8
X2
X3
PE
Figure 3.1 Layout of ServoA
No. Designation
D1, D2, D3, D4,
D5,D6 7-segment display
H1 LED display
PE Protective conductor connection
T1, T2, T3, T4 Button
X1 Power connection
X2 Connection of control supply Uv
X3 AC mains connection
X4a Encoder interface (Resolver,Hiperface,TTL,Sincos)
X4b Encoder interface (Endat2.1, SSI, TTL,sin/cos,for speed and position
control)
X5 EtherCAT communication interface (SA5x.xxxx.xx3x)
CANopen communication interface (SA5x.xxxx.xx2x)
X6 USB port
X7 Master encoder and encoder simulation connection
X8 Control terminals
Table 3.1 Key-Overview of connections, ServoA

16ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
Electrical installation
3.3 Overview of connections
Figure 3.2.1 Overview of connections for ServoA BG2-BG4 Figure 3.2.2 Overview of connections for ServoA BG5

17
ServoA Operation Manual
Electrical installation
ID no.: LDS-O-SA-EN-202103
No. Designation Function
D1, D2,
D3, D4,
D5, D6
7-seg m ent Device status display
H1 LED display Power
PE Protective conductor
connection Protective condutor connection
T1, T2,
T3, T4 Button Service function, set parameter, save parameter, jog
X1 Power connection Motor, braking resistor and connection for measurement of DC link
voltage
X2 Connection of control
supply Uv 24V supply voltage for control electronics of drive controller
X3 AC mains connection Mains supply
X4a Encoder interface Resolver, Hiperface, TTL, Sincos, include motor temperature monitor
X4b Encoder interface Endat2.1, SSI, TTL, sin/cos, for speed and position control
X5 Communication inter-
face (Fieldbus)
EtherCAT communication interface (SA5x.xxxx.xx3x)
CANopen communication interface (SA5x.xxxx.xx2x)
X6 USB port Service port, connection to PC
X7
Master encoder and
encoder simulation
connection
Master encoder and encoder simulation connection
X8 Control terminals Digital inputs/outputs,analog inputs, functional "torque off" request
include feedback
1) NOTE: The temperature sensor of the motor winding can be optionally connected via the encoder cables X4a or X4b.
Table 3.2 Key to connection diagram
3.4 Effective EMC installation
3.4.1 Interference immunity of drive controllers
ATTE NTION!This is a restricted availability product in accordance with IEC
61800-3. This product may cause radio interference in domestic environ-
ments; in such cases the operator may need to take appropriate counter-
measures.
Conducted emission:
External radio frequency interference (RFI) suppression lters (EMCxxx) are available for
the drive controllers. With the measurement method specied and the external mains
lter, these drive controllers conform to the EMC product standard IEC 61800-3 for
"First environment" (residential C2) and "Second environment" (industrial C3).
Radiated emission:
Size 1-4 drive controllers are conform to the EMC product standard IEC 61800-3 cat-
egory C2.
Size 5 drive controllers are conform to the EMC product standard IEC 61800-3 cat-
egory C3.
3.4.2 Specimen setup
The specimen setup presented on the following pages is intended to illustrate the key
measures necessary to ensure EMC-compatible setup.
NOTE:
The specimen setup merely presents a recommendation, and does not auto-
matically guarantee compliance with applicable EMC directives. The installer/
operator of a machine and/or item of plant must provide proof of compliance
with the protection targets stipulated in the standard.
!

18ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
Electrical installation
Figure 3.3 Specimen setup - Overview
2
3
4
1
A
B
D
E
C
Overview
Figure 3.3 presents an overview of the minimum components required:
A. Backing plate with cable ducts
B. ServoA
C. Mains lter
D. Line reactor
E. Distributor rail for AC power supply and control supply (+24 V DC)
The layout and cabling are based on the instructions set out in section 3.1, "Notes for
installation", on page 14. The numbered red arrows refer to four very important detailed
notices presented on the following pages.

19
ServoA Operation Manual
Electrical installation
ID no.: LDS-O-SA-EN-202103
Detail 1: Motor cable
At the motor connection (X1) ServoA note the following points:
• Secure one of the two supplied shield connection plates by the screw to the
mount on the top of the unit. Ensure the plate contacts across a wide area with
the heat sink of the ServoA and with the backing plate. Use a toothed ring.
• Strip back the shield of the motor cable on the motor connection (X1) of the Ser-
voA as little as absolutely necessary.
• Connect the motor cable shield across a wide area to the shield connection plate
by the clamp supplied.
NOTE:
Ready made-up motor cables are available for KEBA servomotors. Fordetails
refer to the Servomotors order catalogue.
Figure 3.4 Specimen setup - Detail 1: Motor cable
X1
Detail 2: Control supply
At the control supply connection (X2):
• Secure the second of the two supplied shield connection plates by the screw to
the mount on the bottom of the unit. Ensure the plate contacts across a wide area
with the heat sink of the ServoA and with the backing plate. Use a toothed ring.
• Slot a shield tube over the control supply cable and strip it back only as short as
necessary before the control supply connection (X2).
• Connect the shielding tube of the control supply cable across a wide area to the
shield connection plate by the clamp supplied.
Figure 3.5 Specimen setup - Detail 2: Control supply
X2

20ServoA Operation Manual
ID no.: LDS-O-SA-EN-202103
Electrical installation
Detail 4: Control cables
At the control terminals (X8) of the ServoA note the following points:
•Strip the shielding of the control cables back only as short as absolutely neces-
sary.
•Connect the control cable shields across a wide area to the shield connection
tab of the mains lter by the clamp supplied. If this is not possible, lay the control
cable shielding directly across a wide area on the backing plate directly adjacent
to the ServoA.
Figure 3.7 Specimen setup - Detail 4: Control cables
X8
Detail 3: Mains lter and mains connection
At the output of the mains lter and at the AC mains connection (X3):
• Connect the wire strands at the output of the mains lter directly to the AC mains
connection (X3) of the ServoA. The strands must not be extended, so the mains
lter should be installed correspondingly close to the ServoA. But be sure to
maintain the necessary minimum clearance (see table 2.2 on page 12).
• Fix the strands to the shield connection plate using a cable tie as necessary.
• The leakage current of the ServoA is >3.5 mA. So:
-Connect the protective conductor from the output of the mains lter to the con-
nection (X3) of the ServoA and
-one of the PE connections on the heat sink of the ServoA via a cable of at least
the same cross-section to the main ground of the distributor rail.
Figure 3.6 Specimen setup - Detail 3: Mains lter and mains connection
X3