Kollmorgen Seidel SERVOSTAR 600 Series Installation and operation manual

Digital servo amplifier
SERVOSTAR™ 600
Assembly, Installation and Commissioning Instructions
Edition 02/99

Previous versions :
Edition Remarks
05/98 First edition
08/98 a few corrections
09/98 various minor corrections, parameter description removed, parameter setting for multi-axis systems and on/off swit-
ching behaviour added, Installation/Commissioning divided into two chapters
01/99 614 added, various minor corrections
02/99 Interface relay for digital outputs (pages 26, 43)
VGA is a registered trademark of International Business Machines Corp.
PC-AT is a registered trademark of International Business Machines Corp.
MS-DOS is a registered trademark of Microsoft Corp.
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 Kollmorgen Corporation.
Technical changes which improve the performance of the equipment may be made without prior notice !
Printed in the Federal republic of Germany BRD 02/99 Mat.Nr.: 90162
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 electroninc means without the written permission of Seidel Corporation.

Contents
SERVOSTAR™ 600 Installation-manual 3
Kollmorgen 02.99 Contents
I General
I.1 About this manual .................................................................................9
I.2 Prescribed use (“Use as directed”) of the servo amplifier ...................................................9
I.3 Nameplate ......................................................................................10
I.4 Instrument description .............................................................................10
I.4.1 Package supplied............................................................................10
- A.4.028.6/10
I.4.2 The digital servo amplifiers of the SERVOSTAR™ 600 family .......................................11
I.4.3 Operation directly from supply.................................................................11
I.4.4 Digital servo amplifier concept.................................................................12
I.5 Block diagram ...................................................................................13
- A.4.031.1/28
I.6 Components of a servo system.......................................................................14
I.7 Technical data of the SERVOSTAR™ 600 series........................................................15
I.7.1 External fusing .............................................................................15
I.7.2 Permissible ambient conditions, ventilation, mounting position .......................................16
I.7.3 Conductor cross-sections .....................................................................16
I.7.4 LED display ...............................................................................16
I.8 Grounding system ................................................................................17
I.9 Control for motor-holding brake .....................................................................17
- A.4.031.3/01, 1/35
I.10 Regen circuit ....................................................................................18
I.11 Switch-on and switch-off behaviour ..................................................................19
I.11.1 Stop function to EN 60204 (VDE 0113) .........................................................19
- A.4.031.3/6
I.11.2 Emergency Stop strategies ....................................................................20
II Installation
II.1 Important instructions .............................................................................21
II.2 Assembly .......................................................................................22
- A.4.031.4/15
II.2.1 Dimensions of SERVOSTAR™ 600 ............................................................23
- A.4.031.4/14
II.3 Wiring .........................................................................................24
II.3.1 Connection diagram for SERVOSTAR™ 600.....................................................26
- A.4.031.1/2
II.3.2 Example of connections for multi-axis system ....................................................27
- A.4.031.1/19
II.3.3 Pin assignments for SERVOSTAR™ 600 ........................................................28
- A.4.031.4/21
II.3.4 Notes on connection techniques ................................................................29
II.3.4.1 Tool list ...............................................................................29
II.3.4.2 Shielding connection to the front panel.......................................................29
- A.4.029.4/25
II.3.4.3 Wiring up a SubD-connector with shielding...................................................30
- A.4.029.4/2
II.3.4.4 Assembling the resolver connector (motor end) ................................................31
- A.4.029.4/6
II.3.4.5 Wiring up the motor power connector (amplifier end) ...........................................32
- A.4.029.4/24
II.3.4.6 Wiring up the motor power connector (motor end) .............................................33
- A.4029.4/9
II.3.5 Technical data for connecting cables ............................................................34
II.4 Operator software.................................................................................35
II.4.1 General ...................................................................................35
II.4.1.1 Use as directed .........................................................................35
II.4.1.2 Software description .....................................................................35
II.4.1.3 Hardware requirements ...................................................................36
II.4.1.4 Operating systems .......................................................................36
II.4.2 Installation under WINDOWS 95 /98 / NT .......................................................36
Drawing Page
Contents ...............................................3
Safety instructions ........................................6
European directives and standards .............................7
- / UL- conformance ......................................7
Abbreviations and symbols...................................8

Contents
4 SERVOSTAR™ 600 Installation-manual
Contents 02.99 Kollmorgen
III Interfaces
III.1 Power supply ....................................................................................37
III.1.1 Mains supply connection (X0) .................................................................37
III.1.2 24V auxiliary supply (X4) ....................................................................37
III.1.3 DC-link (X7)...............................................................................37
- A.4.031.1/21,25
III.2 Motor connection with brake (X9)....................................................................38
III.3 External regen resistor (X8) .........................................................................38
- A.4.031.1/17,18
III.4 Feedback .......................................................................................39
III.4.1 Resolver connection (X2) .....................................................................39
- A.4.031.1/26
III.4.2 Encoder (X1)...............................................................................40
- A.4.031.1/27
III.5 Control signals, monitor signals......................................................................41
III.5.1 Analog setpoint inputs (X3) ...................................................................41
- A.4.031.1/23
III.5.2 Digital setpoint inputs (X3) ...................................................................42
- A.4.031.1/24
III.5.3 Digital control outputs (X3) ...................................................................43
- A.4.031.1/20
III.5.4 Monitor outputs (X3) ........................................................................44
- A.4.031.1/22
III.6 Encoder emulations ...............................................................................45
III.6.1 Incremental-encoder interface (X5) .............................................................45
- A.4.031.1/11
III.6.2 SSI-Interface (X5)...........................................................................46
- A.4.031.1/12
III.7 RS232 interface, PC connection (X6) .................................................................47
- A.4.031.1/13,14
III.8 CANopen Interface (X6) ...........................................................................48
- A.4.031.1/15, 1/36
III.9 Interface for stepper-motor controls (X5) ..............................................................49
- A.4.031.1/10,3/2
III.10 Interface for master-slave operation, encoder input (X5) ..................................................50
- A.4.031.1/16,3/2
IV Commissioning
IV.1 Important notes...................................................................................51
IV.2 Parameter setting .................................................................................53
IV.2.1 Multi-axis systems ..........................................................................53
- A.4.031.4/37
IV.2.2 Key operation / LED display ..................................................................54
IV.2.2.1 Key operation ..........................................................................54
- A.4.031.3/4
IV.2.2.2 Structure ..............................................................................55
- A.4.031.3/3
IV.3 Error messages ...................................................................................56
IV.4 Warning messages ................................................................................56
V Accessories
V.1 External 24V DC supply for one servo amplifier ........................................................57
- A.4.012.4/32
V.2 External 24V DC supply for up to 7 servo amplifiers .....................................................58
- A.4.012.4/33
V.3 External regen resistor BARxxx .....................................................................59
- A.4.947.4/22
VI Appendix
VI.1 Transport, storage, maintenance, disposal ..............................................................61
VI.2 Removing faults ..................................................................................62
VI.3 Glossary ........................................................................................64
VI.4 Index...........................................................................................67
Drawing Page

This page has been deliberately left blank
SERVOSTAR™ 600 Installation-manual 5
Kollmorgen 02.99

Safety Instructions
lOnly properly qualified personnel are permitted to perform activities such as
transport, installation, commissioning and maintenance. Properly qualified
persons are those who are familiar with the transport, assembly,
installation, commissioning and operation of the product, and who have the
appropriate qualifications for their job. The qualified personnel must know
and observe:
IEC 364 and CENELEC HD 384 or DIN VDE 0100
IEC-Report 664 or DIN VDE 0110
national accident prevention regulations or VBG 4
lRead this documentation before carrying out installation and
commissioning. 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 (on the nameplate and in
the documentation).
lThe servo amplifiers contain electrostatically sensitive components which
may be damaged by incorrect handling. Discharge your body before
touching the servo amplifier. Avoid contact with highly insulating materials
(artifical fabrics, plastic film etc.). Place the servo amplifier on a conductive
surface.
lDo not open the units. Keep all covers and switchgear cabinet doors closed
during operation. Otherwise there are deadly hazards, with the possibility of
severe danger to health or material damage.
lDuring operation, servo amplifiers, according to their degree of enclosure
protection, may have uncovered live components. Control and power
connections may be live, even if the motor is not rotating.
lServo amplifiers may have hot surfaces during operation. Since the front
panel is used for cooling, it can reach temperatures above 80°C.
lNever undo the electrical connections to the servo amplifier while it is live.
There is a danger of electric arcing with damage to contacts and danger to
persons.
lWait at least two minutes after disconnecting the servo amplifier from the
mains supply voltage before touching live sections of the equipment (e.g.
contacts) or undoing connections. Capacitors can still have dangerous
voltages present up to five minutes after switching off the supply voltages.
To be sure, measure the voltage in the DC-link circuit and wait until it has
fallen below 40V.
Safety instructions
6 SERVOSTAR™ 600 Installation-manual
Safety instructions 02.99 Kollmorgen

European directives and standards
Servo amplifiers are components which are intended to be incorporated into electrical plant and machines for
industrial use.
When the servo amplifiers are built into machines or plant, the intended operation of the amplifier is
forbidden until it has been established that the machine or plant fulfills the requirements of the EC Directive
on Machines 89/392/EEC and the EC Directive on EMC (89/336/EEC). EN 60204 and EN 292 must also be
observed.
In connection with the Low Voltage Directive 73/23/EEC , the harmonized standards of the EN 50178 series
are applied to the amplifiers, together with EN 60439-1, EN 60146 and EN 60204.
The manufacturer of the machine or plant is responsible for ensuring that they meet the limits which are
required by the EMC regulations. Advice on the correct installation for EMC - such as shielding, grounding,
arrangement of filters, treatment of connectors and the laying out of cabling - can be found in this
documentation.
- conformance
Conformance with the EC Directive on EMC 89/336/EEC and the Low Voltage Directive 73/23/EEC is
mandatory for the supply of servo amplifiers within the European Community.
The servo amplifiers of the SERVOSTAR™ 600 series have been tested by an authorized testing laboratory
in a defined configuration with the system components which are described in this documentation. Any
divergence from the configuration and installation described in this documentation means that you will be
responsible for the performance of new measurements to ensure that the regulatory requirements are met.
UL and cUL- Conformance (listing in 4. quarter 1998)
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 fulfillment by design of minimum requirements for electrically operated power
conversion equipment, such as frequency converters and servo amplifiers, 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) fire inspector through the
type testing and regular check-ups.
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 fulfillment by design of minimum requirements for electrically operated 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 fulfillment by design of air and insulation creepage spacings for electrical equipment
and printed circuit boards.
Directives and standards
SERVOSTAR™ 600 Installation-manual 7
Kollmorgen 02.99 Directives and standards

Abbreviations used in this manual
The abbreviations used in this manual are explained in the table below.
Symbols used in this manual
danger to personnel
from electricity
and its effects
general warning
general instructions
mechanical hazard
ðsee Chapter (cross-ref.) lspecial emphasis
Keys on the servo amplifier panel :
U
press once : move up one menu item, increase number by one
press twice in rapid succession : increase number by ten
U
press once : move down one menu item, decrease number by one
press twice in rapid succession : decrease number by ten
U
U
hold right key pressed, and then press left key as well :
to enter number, “Return” function
Abbreviations / symbols
8 SERVOSTAR™ 600 Installation-manual
Abbreviations / symbols 02.99 Kollmorgen
Abbrev. Meaning
AGND Analog ground
BTB/RTO Ready to operate
CE Communité Européenne (EC)
CLK Clock signal
COM Serial interface for a PC-AT
DGND Digital ground
DIN Deutsches Institut für Normung
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable memory
EMV Electromagnetic compatibility
EN European standard
ESD Electrostatic discharge
IEC International Electrotechnical Commission
IGBT Insulated Gate Bipolar Transistor
INC Incremental Interface
ISO International Standardization Organization
LED Light-emitting diode
MB Megabyte
MS-DOS Operating system for PC-AT
NI Zero pulse
Abbrev. Meaning
NSTOP Limit-switch input, rot. dir. CCW (left)
PC-AT Personal computer with 80x86 Prozessor
PELV Protected low voltage
PGND Ground for the interface
PSTOP Limit-switch input, rot. dir. CW (right)
PWM Pulse-width modulation
RAM Volatile memory
Rregen Regen resistor
RBext External regen resistor
RBint Internal regen resistor
RES Resolver
PLC Programmable logic controller
SRAM Static RAM
SSI Synchronous serial interface
SW/SETP. setpoint
UL Underwriters Laboratory
V AC AC voltage
V DC DC voltage
VDE Verein deutscher Elektrotechniker
XGND Ground for the 24V supply

I General
I.1 About this manual
This manual describes the digital servo amplifiers of the SERVOSTAR™ 600 series
(standard version). You can find information about:
lTechnical data of the servo amplifier Chapter I
lAssembly / installation Chapter II
lInterfaces Chapter III
lCommissioning the servo amplifier Chapter IV
lAccessories Chapter V
lTransport, storage, maintenance, disposal of the servo amp. Chapter VI
A more detailed description of the expansion cards which are currently available and the digital
connection to automation systems can be found on the accompanying CD-ROM in Acrobat-
Reader format (system requirements: WINDOWS 95 with Internet browser) in English, German
and French versions.
You can print out this documentation on any standard printer. A printed copy of the documentation
is available from us at extra cost.
This manual makes the following demands on qualified personnel :
Transport : only by personnel with knowledge in handling
electrostatically sensitive components.
Installation : only by electrically qualified personnel
Commissioning : onyl by personnel with extensive knowledge of
electrical technology / drive technology
I.2 Prescribed use (“Use as directed”) of the servo amplifier
The servo amplifiers are components which are built into electrical equipment or machines, and
can only be commissioned as integral components of such equipment.
The SERVOSTAR™ 600 family of servo amplifiers is to be used only on earthed three-phase
industrial mains supply networks ( TN-system, TT-system with earthed neutral point).
The servo amplifiers must not be operated on power supply networks without an earth or with an
asymmetrical earth.
If the servo amplifiers are used in residential areas, or in business or commercial premises, then
additional filter measures must be implemented by the user.
The SERVOSTAR™ 600 family of servo amplifiers is only intended to drive specific brushless
synchronous servomotors from the 6SM series, with closed-loop control of torque, speed and/or
position. The rated voltage of the motors must be at least as high as the DC-link voltage of the
servo amplifier.
Observe the reduction factor for current and power (see techn. data).
The servo amplifiers may only be operated in a closed switchgear cabinet, taking into account the
ambient conditions defined in Chapter I.7.2 .
We only guarantee the conformance of the servo amplifiers with the standards for industrial areas
(page 7), if the components (motors, cables, amplifiers etc) are delivered by Seidel Servo Drives.
SERVOSTAR™ 600 Installation-manual 9
Kollmorgen 02.99 General

I.3 Nameplate
The nameplate depicted below is attached to the side of the servo amplifer.
The information described below is printed in the individual fields.
I.4 Instrument description
I.4.1 Package supplied
When you order a SERVOSTAR™ 600 series amplifier from us, you will receive:
— SERVOSTAR™ 6xx
— mating connectors X3, X4, X0A, X0B, X7, X8
The mating SubD connectors and motor connector X9 are not part of the package!
— Assembly, Installation and Commissioning Instructions
— Online documentation on CD-ROM
— Operator software SR600 on 3.5" diskettes
Accessories: (must be ordered separately if required)
— Servomotor 6SM
— motor cable (pre-assembled), or
both motor connectors separately, with motor cable as a cut-off length
— feedback cable (pre-assembled, see manual Servomotors) or
both feedback connectors separately, with feedback cable as length
— motor chokes (for cable length above 25m)
— external regen resistor
— communications cable to the PC(ðIII.7) or Y-adapter (ðIV.2.1) for parameter-
setting of up to 4 servo amplifiers from one PC
— power cable, control cables, fieldbus cables (as lengths)
- A.4.028.6/10
10 SERVOSTAR™ 600 Installation-manual
General 02.99 - A.4.028.6/10 Kollmorgen
CONNECT-module
and options
Serial numberServo amplifier type
Electrical supply
Installed load
Output current
in S1 operation Protection