Kollmorgen Seidel 67WKS-M240/3-PB User manual

Transistorized — Inverter
Series: 67WKS
Manual
Edition 10/00

Technical changes improving performance and specifications, may be made without prior notice !
Printed in the Federal Republic of Germany 10/00
Mat.Nr.: 73885
Former releases: 08/91
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.

I General information
I.1 Introduction .......................................................................................1
I.2 Equipment concept .................................................................................2
I.3 Functional groups ..................................................................................3
I.4 Specifications ......................................................................................4
I.5 Permitted ambient conditions ..........................................................................5
I.6 Connectable motor types .............................................................................5
I.7 Protective functions .................................................................................5
I.8 Isolating transformers ...............................................................................6
II Installation instructions
II.1 Safety instructions ..................................................................................7
II.2 Connection and wiring ...............................................................................8
II.2.1 Conductor cross-sections .......................................................................8
II.2.2 Ventilation ...................................................................................8
II.2.3 Fuse protection ..............................................................................8
II.2.4 Backplane pin assignments of F/R67WKSMB ......................................................9
II.3 Checklist ........................................................................................11
III Commissioning
III.1 Safety instructions .................................................................................12
III.2 Instructions for commissioning ........................................................................13
III.3 Interference suppression ............................................................................13
IV Functions and options
IV.1 Safety instructions .................................................................................14
IV.2 Functional description ..............................................................................14
IV.2.1 Input functions ..............................................................................14
IV.2.1.1 Nominal value inputs In1, In2 ...............................................................14
IV.2.1.2 Tachometer input Ta ......................................................................14
IV.2.1.3 Digital control inputs ......................................................................15
IV.2.1.3.1 Input enable E ......................................................................15
IV.2.1.3.2 Limit switch inputs PSTOP, NSTOP .....................................................15
IV.2.1.3.3 1:1 control .........................................................................15
IV.2.2 Output functions .............................................................................16
IV.2.2.1 Armature current monitor output IDC .........................................................16
IV.2.2.2 Tachometer monitor output V-TA ............................................................16
IV.2.2.3 Ready to operate contact (BTB) .............................................................16
IV.2.2.4 Measuring points .........................................................................16
IV.2.3 Possible settings .............................................................................17
IV.2.3.1 Ramp potentiometer P1 ...................................................................17
IV.2.3.2 Nominal value potentiometer P2 .............................................................17
IV.2.3.3 Offset potentiometer P3 ...................................................................17
IV.2.3.4 Tachometer potentiometer P4, tachometer adjustment R310 ......................................17
IV.2.3.5 A.C. GAIN potentiometer P5 ................................................................18
IV.2.3.6 Peak current IPEAK P6 .....................................................................18
IV.2.3.7 RMS current IRMS, I²t limit P7 ................................................................19
IV.2.4 Other functions ..............................................................................19
IV.2.4.1 Ballast circuit with -w- characteristic ..........................................................19
IV.2.4.2 Frequency response of controller ...........................................................20
IV.2.4.3 I²t monitor ..............................................................................20
IV.2.4.4 Displays ...............................................................................20
IV.2.5 External 24 V auxiliary voltage ..................................................................21
IV.3 Solder straps and external straps .....................................................................21
IV.3.1 Solder straps ...............................................................................21
IV.3.1.1 External 24 V d.c. auxiliary voltage [LB1] ......................................................21
IV.3.1.2 Clock frequency [LB2,3,4] ..................................................................21
IV.3.1.3 RMS current [LB5] .......................................................................21
IV.3.2 External straps ..............................................................................22
IV.3.2.1 Digital GND, analogue GND ................................................................22
IV.3.2.2 Operation without limit switches .............................................................22
IV.3.2.3 Current nominal value strap ................................................................22
Contents
67WKS Installation Manual i
Kollmorgen Seidel 10.00 Contents
Contents Drawing Page

V Drawings
V.1 Front view of 67WKS ...............................................................................23- E.4.945.4/02
V.2 Proposed wiring diagram 67WKS with SM35, SM45 .......................................................24- E.4.945.1/03
V.3 Wiring diagram 67WKS with SM35.....................................................................25- E.4.945.1/02
V.4 Wiring diagram 67WKS with SM45.....................................................................26- E.4.945.1/01
V.5 Wiring diagram 67WKS with SM56.....................................................................27- E.4.945.1/16
V.6 Component layout of motherboard 67WKS ..............................................................28- E.4.945.2/02
V.7 Component layout of ballast PCB 67WKS ...............................................................29- E.4.945.2/01
V.8 Speed control circuit 67 WKS (hybrid) ..................................................................30- E.4.945.1/14
V.9 RPE, TA, input circuits 67WKS (hybrid) .................................................................31- E.4.945.1/15
V.10 Backplane F67WKSMB .............................................................................32- E.4.945.4/01
V.11 Backplane R67WKSMB .............................................................................33- E.4.945.4/07
V.12 19" shelf comprising 67WKS, front view .................................................................34- E.4.945.4/03
V.13 19" shelf comprising 67WKS, rear view .................................................................35- E.4.945.4/04
V.14 3-phase isolating transformers for 67WKS ...............................................................36- E.4.945.4/05
VI Appendix
VI.1 Ordering information ...............................................................................37
ii 67WKS Installation Manual
Contents 10.00 Kollmorgen Seidel
Contents Drawing Page

I General information
I.1 Introduction
This manual explains how to install, commission, set and adjust the 67WKS transistor inverter.
The manual is divided into 6 chapters:
Chapter 1 : General information
Chapter 2 : Installation instructions
Chapter 3 : Commissioning
Chapter 4 : Functions and options
Chapter 5 : Drawings and wiring diagrams
Chapter 6 : Ordering information
In particular, please refer to the safety instructions given at the beginning of each
chapter. They will help you avoid damage and injury.
Only qualified personnel with a basic knowledge of electrical engineering may be allowed to install
the controller and its associated equipment.
Only qualified personnel with extensive knowledge of electrical engineering and drive systems may
be allowed to commission the controller.
On request, we offer instruction and training courses.
Seidel only garants a functional warranty for inverters with synchronous motors if SM series
motors are used.
67WKS Installation Manual 1
Kollmorgen Seidel 10.00 General information

I.2 Equipment concept
A four-quadrant controller for brushless DC servo motors (AC servo motors) based on the synchro-
nous principle was accommodated on one single Eurocard using state-of-the-art components and
hybrid technology.
The output phase is designed as a 3-phase pulse-width-modulated transistor stage. The trapezoidal
output currents and motor speed are controlled by PI controllers; phase reversal of the motor and
tachometer windings is controlled by the electronic rotor position sensor (RPE) of the motor.
This equipment can be used to implement high dynamic speed or torque proportional (current) con-
trol system. Actual speed is determined by electronic power rectification of the 3-phase (brushless)
tachometer signal.
Due to the built-in, three-phase rectifier and the ballast circuit with a “soft” characteristic available
as option -B-, the equipment can be used on its own - without any other electronic equipment - or
can be combined on a common d.c. bus and a common transformer with other equipment at the
same voltage level in a.c. or d.c. technology (Series 03S, 60WKS).
The limit switch inputs and a variable ramp generator supplied as standard can either be connected
to the second nominal value input.
Due to the controller’s very low power loss, it is possible to operate the equipment with natural
convection at rated values (ambient temperature <45°C) and with a vertical installation (one day).
If the ambient temperature rises above 45°C or if two 67WKS units are mounted vertically in a 6U
plug-in module, the units must be forced-air ventilated.
Up to 6 units of the 67WKS series can be accommodated in one single 19" x 3U standard shelf.
The units are connected at the rear by plug-in connectors and power terminals.
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I.3 Functional groups
The following functional groups are accommodated on a single Eurocard measuring 220x100x14 U
designed in hybrid technology:
l3-phase power supply with smoothing capacitor (-P-)
lFuses for auxiliary voltage power supply and ballast circuit
lBallast circuit (can be connected in parallel)(-B-)
l4-quadrant output stage, 3-phase
lAuxiliary voltage power supply, powered from the intermediate circuit and externally by
24VDC
l2 nominal value differential inputs
lCurrent nominal value output and input
lInput for 3-phase, brushless tachometer
lInput for rotor position encoder (RPE)
lEnable input
lI2t monitor for actual current value
lPI current and speed controller
lBalancing potentiometer and solid-state components for all important adjustments
lLimit switch inputs (PSTOP, NSTOP), ramp generator, 1:1 controller
l24 V logic with optocouplers for control signals
lReady to operate relay (BTB) with floating contact
lDisplay LEDs for ready to operate, faults (sumcheck error, overcurrent, RPE, overtempera-
ture), I²t, ballast circuit
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Kollmorgen Seidel 10.00 General information

I.4 Specifications
Characteristics Unit 67WKS - M240/3-PB
Rated supply voltage V~ 3 x 60...172
Rated connected power (for 3.5 A rated current) kVA 0,6
Rated d.c. voltage in intermediate circuit V= 240
Rated output current A 3,5
Peak output current (available for max. 2.5 s) A 10
Max. fuse protection AM 3 x 16
Starting threshold of ballast circuit V 285...300
Pulse power of ballast circuit kW 2,7
Continuous power of ballast circuit W 50
Switch-off overvoltage threshold V 325
Form factor of output current (at rated specifications
and minimum motor load inductance of 6 mH) - 1,01
Bandwidth of secondary current control circuit kHz 1
Clock frequency of output stage kHz 2 x 8,6
Residual voltage decrease at rated current V 5
Quiescent power loss, output stage disabled W 15
Power loss at rated current (incl. power loss of power
supply minus ballast power loss) W40
Auxiliary voltage outputs V ±15
mA ±20
Auxiliary voltage outputs for RPE V ±15
mA ±20
Inputs
Nominal value 1, permanently set V ±10
Nominal value 2, adjustable between 0 to 100% V ±10
Max. common-mode voltage (both nominal value inputs) V ±10
Input resistance (both nominal value inputs) kW150
Max. input drift (both nominal value inputs) µV/K ±15
24 V auxiliary voltage supply (option) V 24 (20...30)
A 0,5
Connectors
Controller DIN 41612 - E48 (connector)
Backplane Type F: RPE (RLG) XST401, Sub D - 9-pol. (socket)
Control signals XST404, Combicon 5,08 , 20 pin
U1,V1,W1,Ucc,0V/GND Terminals Phönix KDS4
U2,V2,W2 Terminals Phönix GMRDS3
Backplane Type R: RPE (RLG) XST401, Sub D - 9-pol. (socket)
Control signals XST404, Combicon 2x12pol.
Power signals Terminals Phönix Front4V-7.62
Mechanical specifications
Weight board 1kg
Dimensions single Eurocard (14MS) (lxhxw) 220 x 100 x 72 mm
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I.5 Permitted ambient conditions
Tolerance of supply voltages ±10%
Installation position in 19" shelf vertical
Non-ventilated with natural ventilation, rated specifica-
tions, Ju<45°C and single-stage installation
Forced ventilation at Ju> 45°C or for installation in several stages
Ambient temperature (at rated values) 0 to +45°C
Power reduction (2.5% / °C) in range +45°C to +55°C (forced-ventilated)
Storage temperature (rel. humidity,
max. 95% non-condensing) -25°C to +85°C
Protection rating (in connection area) IP 00
I.6 Connectable motor types
The controller is balanced to our a.c. servo motors
Series SM 35 , torque range 0.30 to 0.75 Nm
Series SM 45 , torque range 0.85 to 3.2 Nm
Series SM 56 , torque 3,8 Nm
I.7 Protective functions
The 67WKS transistor inverter has the following protective functions:
lShort-circuit and earth-fault protection at motor connection terminals (with integrated protec-
tive shokes if backplanes F or R67WKSMB are used)
lTemperature monitoring of output stage
lFuse protection for ballast circuit and auxiliary voltage
lI²t monitor to protect amplifier and motor
lOvervoltage protection
lRPE monitor
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Kollmorgen Seidel 10.00 General information

I.8 Isolating transformers
Isolating transformers are required to operate the controllers.
To ensure the proper operation of the equipment and compliance with warranty conditions, the iso-
lating transformers must conform with the specifications listed below.
Model: 3-phase isolating transformers with shielding winding
according to VDE 0550 in Y/y or Y/d connection.
Power supply: 400 (380) V with ±5% tapping to adapt to fluctuating
mains conditions
Secondary voltage: for 240 V DC intermediate circuit: 172 V (phase-to-phase)
The secondary side neutral point must not be grounded.
No-load voltage (secondary): The permitted no-load voltage overshoot is approx. 4%
Short-circuit voltage: The reference short-circuit voltage vsc must be 4% + 1%
to protect the rectifier diodes during power-on and in the
event of overvoltages to VDE 0160. At transformer outputs
greater than 3kVA (e.g. on multiple axis systems), a soft
start is required.
Power factor: The transformer loaded with an a.c. bridge-connected
rectifier has a power factor lof 0.9.
Overload characteristic: The typical short-term overload behaviour in the servo
mode must not result in greater voltage drops than
specified by vsc or damage the transformer.
Caution!
The use of a transformer which fails to comply with the above specifications will impair
operating reliability and can lead to controller damage. We only assume functional
warranty of the controller if Seidel isolating transformers are used (see below).
Seidel isolating transformers (3-phase, rated connection voltage 400[380] V
Model Power/kW Sec. voltage/V Order No.
3T0,7K-240 0.7 172 63391
3T1,5K-240 1.5 172 60075
3T3,0K-240 3.0 172 56898
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II Installation instructions
II.1 Safety instructions
lCheck the rating plate on the controller. Compare the rated voltage and rated current with
the transformer and motor characteristics.
lThe front panel of the modules is only protected against accidental contact if the modules
are mounted in the 19" shelf and fastened with the screws provided. Securing the modules
with the screws also ensures a reliable contact in the connectors. An incomplete contact can
lead to contact erosion.
lMake sure that the maximum permitted rated voltage of 172 V a.c. is not exceeded at termi-
nals U1, V1, W1 of the controller. An excessively high voltage at these terminals will destroy
the ballast circuit in the controller.
lMake sure that there is sufficient ventilation (vertical installation position, sufficient filtered
cold air supply), see Section II.2.2.
lMake sure the conductor cross-sections are sufficient to avoid excessively high conductor
losses and to prevent the conductors from overheating, see Section II.2.1.
lUse stranded conductors for nominal value, RPE, tachometer and motor conductors. The ta-
chometer, RPE and nominal value conductors must be installed shielded.
lGround the intermediate circuit (OV/GND). A non-grounded intermediate circuit is a hazard
to the system operator if there is a ground fault in the motor or fault currents in the GND con-
ductor. The electronic system may also be destroyed in the event of a fault if the intermedi-
ate circuit is not grounded. A ground fault in the motor is no longer detected if there is no
grounding.
lAll grounding terminals must start at the same neutral point to prevent ground loops and po-
tential differences on the ground conductor. Connect all ground conductors to a PE bus, e.g.
in the switchgear cabinet.
lMake sure that the shields are correctly connected:
Connect the RPE and tachometer shields to the controller (GND/PE or 0V/GND)
Connect the nominal value shield to the controller at NC GND
Shields may only be connected at one end !
lLoop the BTB (ready to operate) contact to the safety circuit of the system. The controller
function can only be monitored in this way.
lThe ±15 V auxiliary voltages must not be routed out of the switchgear cabinet. This will
avoid capacitive and/or inductive interference.
lIf you wish to make changes to the controller, please contact us. It is permitted to adjust and
optimize the controller and enable circuit parts by means of solder straps.
Any other intervention will invalidate any warranty claims.
lOnly connect the controller to a power source when the operating voltage is switched off.
Only disconnect the controller when the voltage drops below the undervoltage limit. Observe
the LEDs on the controller after you have switched off the operating voltage. After a short
time, the green LED will extinguish and the top red LED will light up for a short time. Then
you can disconnect the controller.
67WKS Installation Manual 7
Kollmorgen Seidel 10.00 Installation instructions

II.2 Connection and wiring
In addition to correct grounding of equipment and motor housings, proper wiring by qualified per-
sonnel is also very important for functional reliability.
The motor conductors must be stranded with sufficient cross-sectional area (for single conduc-
tors) or installed in cables (oil-resistant flexible cables, etc.). To avoid technical problems, we
urgently advise the use of preterminated cables from our range of products.
Install suppressors such as annular ferrite cores or chokes as close as possible to the controller.
RPE, tachometer and nominal value conductors must be twisted in pairs and shielded for routing
purposes.
The RPE and tachometer shields are best connected to GND on the controller. In analogy, the
nominal value shield should be connected to GND at the nominal value source (CNC).
The controller and the control system must have the same PE/GND reference point (e.g. the PE
bus in the switchgear cabinet). You can connect the control system at medium impedance, e.g.
100W, to the GND reference point for improved interference suppression. This is permitted by the
common-mode rejection of the nominal value inputs.
The logic inputs should be driven by the control system at 24 V (15 to 30 V). The use of the 15 V
auxiliary power supply should be reserved for commissioning and simple applications.
II.2.1 Conductor cross-sections
When wiring, consult the minimum conductor cross-sections specified below. You will then prevent
high conductor losses and conductor overtemperature.
Designation Cross-section Remarks
Power supply 4i x 1.5 mm² U,V1,W1,PE for single conductors
4i x 2.5 to 4 mm² U1,V1,W1,PE in bus systems
Intermediate circuit 4i x 2.5 to 4 mm² +,- in bus systems
Motor conductors 8i x 1 mm² U2,V2,W2,PE, brake, protective thermal contact
Tachometer (RPE) 6x2x0.14 mm² stranded in pairs, shielded
Nominal value(s) 2(4) x 0.14 mm² stranded, shielded
Control signals 0.5 mm²
+24 V/GND 1.0 mm² option
II.2.2 Ventilation
Make sure that the controller is correctly ventilated. Due to the low power loss of the controller, an
additional fan is not required if the units are installed vertically in one stage in the 19" shelf and
there is a sufficient supply of filtered fresh air (J<45°C) from below.
If the ambient temperature rises above 45°C or if two 67WKS units are mounted verti-
cally in one 6U shelf, the units must be forced-ventilated.
II.2.3 Fuse protection
The operator is responsible for providing the fuses for the a.c. power supply (line fuses) either in the
form of fusible links (on secondary side) or by means of primary-side motor protecting switches with
phase-failure monitoring.
You can replace the fuses using pointed pliers without dismounting the controller.
Component Module Location Fuse value Remark
description description
— a.c. power supply external max. 3x16 AM
S1 Aux. voltage Motherboard 1 AF Microfuse 5x20
S2 Ballast circuit Ballast PCB 1.25 AT Microfuse 5x20
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Installation instructions 10.00 Kollmorgen Seidel

II.2.4 Backplane pin assignments of F/R67WKSMB
XST401 9-pin Signal name
sub-D (pin no.) on a.c. tachometer Abbreviation
1 +15 V for RPE +15 V
2 Tachometer centre point Ta-Mp
3 Tachometer phase W Ta-W
4 Tachometer phase V Ta-V
5 Tachometer phase U Ta-U
6 GND for RPE GND
7 RPE phase W RLG-W
8 RPE phase V RLG-V
9 RPE phase U RLG-U
Power terminals
(double) Signal name Abbreviation
+ d.c. intermediate circuit +240V +Vcc
U1 a.c. terminal 172 V U1
V1 a.c. terminal 172 V V1
W1 a.c. terminal 172 V W1
— d.c. intermediate circuit (0V(GND) 0V
U2 Motor U U2
V2 Motor V V2
W2 Motor W W2
PE Protective ground terminal is linked
to d.c. intermediate circuit (0V/GND) PE
67WKS Installation Manual 9
Kollmorgen Seidel 10.00 Installation instructions

XST404
Combicon block
(terminal no.)
60WKSMB, type Abbreviation
F/R Signal name Signal direction (solder print)
1 / 1 Nominal value 1+, ±10 V Input SW1+
2 / 2 Nominal value 1-, ±10 V Input SW1-
3 / 3 Nominal value 2+, ±10 V Input SW2+
4 / 4 Nominal value 2-, ±10 V Input SW2-
7 / 7 Current nom. val. OUT ±10 V Output ISA
8 / 8 Current nom. val. IN ±10 V Input ISE
10 / 10 Limit switch, positive Input PSTOP
11 / 11 Limit switch, negative Input NSTOP
12 / 12 Digital GND (DGND) Input DGND
13 / 13 +15 V auxiliary voltage Output +15
14 / 14 -15 V auxiliary voltage Output -15
15 / 15 Integral OFF/1:1 Input 1:1
16 / 16 Enable Input E
17 / 17 Analogue GND (AGND)
connected to 0V Input AGND
18 / 18 Unassigned —- —-
19 / 19 IDC monitor ±10 V / Ipeak Output I-DC
21 / 21 BTB contact Input BTB
22 / 22 BTB contact Output BTB
23 / 23 Tachometer monitor
±3V/1000rpm Output V-TA
24 / 24 +24 V auxiliary voltage
ref. to 0V terminal (option) Input +24
—- / 25 0V/GND —- 0V
—- / 26 Shield —- Shield
All analogue inputs ±10 V and the digital input Integral OFF/1:1 (H-activ, 24V/10mA) referred to
analogue GND (terminal 17).
The digital inputs PSTOP, NSTOP and Enable H-active 24V/10mA referred to digital GND (terminal
12), floating to analogue GND (if strap 12-17 is open).
All digital inputs can be powered by the +15 V auxiliary voltage (terminal 13) for commissioning.
A wire jumper between terminals 12 and 17 provides the ground connection between AGND and
DGND.
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Installation instructions 10.00 Kollmorgen Seidel

II.3 Checklist
— Check rating plates
— Select correct wiring diagram
— Select conductors as described in Section II.2.1
— Determine common grounding point
— Ground transformer (core and shielding winding)
— Ground motor housing
— Ground NC GND of control system
— Ground intermediate circuit (terminal 0V/GND) of controller
— Loop BTB contact in safety circuit
— Connect digital control inputs of controller
— Connect nominal value inputs
— Connect nominal value conductor shield to NC GND of control system
— Connect tachometer conductor shield to GND/PE terminal
— Connect tachometer and rotor position sensor
— Connect motor conductors
— Check ventilation (see Section II.2.2)
— Check that the ±15 V auxiliary voltages do not exit the switchgear cabinet
— Connect operating voltage (keep to maximum permitted supply voltage)
67WKS Installation Manual 11
Kollmorgen Seidel 10.00 Installation instructions

III Commissioning
III.1 Safety instructions
lCheck whether the safety instructions in Section II.1 have been fulfilled.
lRead the instructions for commissioning contained in Section III.2
lThe correct sequence of steps for commissioning helps you to prevent damage. Please con-
tact us if you require any further information.
lFirst consult Chapter IV on the functions and options featured in the 67WKS controller if you
have to make any changes to the controller.
You are allowed to adjust and optimize the controller and connect circuit parts by solder
straps.
Any other work on the equipment will entail loss of warranty entitlement.
lAdapt the RMS current and the peak current of the controller to the motor. The necessary
steps are explained in Section IV.2.3.7.
Never plug in or disconnect the controller when it is switched on.
Observe the operating LED.
This is the only way you can prevent erosion of the plug-in contacts, the destruction of entire
controller modules and any personal danger due to fully charged capacitors. For more than
5 seconds after switching off the power supply, the capacitors can have dangerous levels of
residual charge. Measure the voltage in the intermediate circuit until it has dropped below 40
V.
Only plug in the controller when the operating voltage is switched off.
Only remove the controller when the undervoltage limit is undershot. Observe the LEDs on
the controller switching off the operating voltage. After a short time, the green LED extinguis-
hes and the red LED briefly lights up. You can now remove the controller.
lThe front panel of the modules is only protected against accidental contact when the modu-
les are mounted in the 19" shelf and fastened with the screws provided. Securing the modu-
les with the screws also ensures a reliable contact in the connectors. Poor contact can lead
to contact erosion.
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Commissioning 10.00 Kollmorgen Seidel

III.2 Instructions for commissioning
Commissioning is only summarized here. We can provide you with further information at our trai-
ning courses (on request).
1. Check the wiring using the wiring diagram (transformer and RPE terminal, ground-
ing, motor terminal, control signals).
2. Check the equipment rating plates (rated voltage, rated current, special tuning - if
required).
3. Check the emergency OFF circuit before switching on for the first time.
4. Reduce the gain (AC GAIN potentiometer to the ccw stop) and the peak current
(IPEAK potentiometer almost to the ccw stop) as a precautionary measure.
5. Switch on the transformer after the controllers are removed; test the a.c. power
supply (60 to 172 V a.c.); switch off the transformer.
6. Plug in a controller. Block the enable signal and check the emergency OFF func
tion. Switch on if there is no risk of damage to machinery or persons, even if the drive
system is unintentionally moved.
7. Move the axes by switching on the enable signal at an applied (small) nominal value.
8. Tune the axes (AC GAIN, IPEAK, OFFSET, TACHO, IRMS - if not already preset).
9. Switch off and plug in another controller if intermediate circuit voltage has dropped
below 40 V (measure the voltage !). Then repeat the commissioning steps from
item 6 onwards.
III.3 Interference suppression
If there is interference in the CNC or the analogue or digital position transfer, a number of additional
measures can be carried out:
— additional ferrite rings in the motor cable
— shielding the motor cable
— RC filter at the nominal value output of the CNC (RC with 1 kW(10nF)
— integration of chokes in the motor cable
Check in each case which measures are sufficient to eliminate the interference.
67WKS Installation Manual 13
Kollmorgen Seidel 10.00 Commissioning

IV Functions and options
IV.1 Safety instructions
lFirst read Chapter IV before you make changes any changes to the controller.
lThe controller can only be modified by trained qualified personnel.
You are allowed to adjust and optimize the controller and connect circuit parts by solder
straps.
Any other work on the equipment will entain loss of warranty entitlement.
lThe controller must be commissioned again after each modification.
See Chapter III.
IV.2 Functional description
IV.2.1 Input functions
IV.2.1.1 Nominal value inputs In1, In2
The controller is fitted with two non-reactive differential inputs for the nominal values.
Input 1 is permanently set for differential input voltages of ±10 V.
Input 2 is fitted with an adjustable attenuator (P2).
— Clockwise rotation increases the speed (efficiency is increased)
— A positive voltage at terminal 1 connected to terminal 2 and at terminal 3
connected to terminal 4 results in a clockwise rotation of the motor shaft
(top view of shaft)
The common-mode voltage range (important for preventing ground loops) is additionally ±10 V for
both inputs; the input resistance is 150 kW.
IV.2.1.2 Tachometer input Ta
P4 is used to fine-tune the tachometer.
The fixed resistors R301 to 304 (tolerance 0.5%) determine tachometer calibration.
The standard equipment is designed for tachometer voltages of3Vor20Vandapproximate cw or
ccw stop of P4.
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Functions and options 10.00 Kollmorgen Seidel

IV.2.1.3 Digital control inputs
lEnable (E, terminal 16), H level for controller enable.
l1:1 control (1:1, terminal 15), H level to switch off integral section.
lLimit switch positive/negative (PSTOP/NSTOP, terminals 10/11), H level in normal mode
(open-circuit-proof). If there is loss of input signal (limit switch open), the associated directi-
on of rotation is disabled.
All inputs are coupled floating via optocouplers; the reference ground is digital GND (DGND, ter-
minal 12). The logic system is designed for +24 V/8mA (PLC-compatible). The H level is +12 to
30V.
If required, the controller can be driven at +15 V (+15 auxiliary voltage, terminal 13). Digital GND
(terminal 12) and analogue GND (terminal 17) must then be connected by an external strap.
IV.2.1.3.1 Input enable E
The controller output stage is enabled by the enable signal (terminal 16, input 24 V, H-active).
The connected motor is torque-free when disabled. The integral components of the speed and cur-
rent controllers are also disabled.
IV.2.1.3.2 Limit switch inputs PSTOP, NSTOP
If there is loss of one of the signals (terminals 10/11, inputs 24 V, H-active), the associated direction
of rotation is disabled, thus producing a braking effect. The I component of the controller is then
bypassed to limit the motor current when the motor is run to a fixed limit stop. PSTOP (terminal 10)
disables ccw rotation, NSTOP (terminal 11) disables cw rotation. If both signals fail, the drive bra-
kes to standstill from any direction and speed (e.g. can be used for emergency OFF function).
The limit switch inputs only act on nominal value input 2.
The limit switch inputs must always be connected, even if only nominal value
input 1 is used, otherwise the integral gain is off circuit!
If no limit switch is used, you must connect terminals 10 and 11 externally to +15 V
(terminal 13).
IV.2.1.3.3 1:1 control
You can switch over the speed controller by applying the 1:1 signal (terminal 15, input 24 V,
H-active) to the current controller. The Pgain is then set to 1, the Icomponent of the controller is
bypassed and the tachometer signal is switched off internally. Turn the AC-Gain potentiometer
to the ccw-stop.
The 1:1 signal acts on both nominal value inputs.
67WKS Installation Manual 15
Kollmorgen Seidel 10.00 Functions and options

IV.2.2 Output functions
IV.2.2.1 Armature current monitor output IDC
The output (terminal 19) supplies ±10 V for ± equipment peak current connected to AGND, output
impedance 2kW.
The d.c. rms voltage of all three phases, which is approximately proportional to the supplied motor
torque, is generated.
This signal can also be used as the current nominal value signal for a second 1:1 (slave) controller
for a tandem drive.
See Sections IV.2.1.3.3 to operate the controller as a 1:1 current controller.
IV.2.2.2 Tachometer monitor output V-TA
The output (terminal 23) supplies at standard calibration for the described motors the signals listed
in the table below:
SM35-6000 SM56 & SM45-2000/3000 SM45-4000/6000
Tachometer voltage
[V/1000rpm] 2.5 5.4 2.7
Tachometer monitor
[V/1000rpm] 1.4 3.0 1.5
Calibration is not affected by the tachometer potentiometer P4.
IV.2.2.3 Ready to operate contact (BTB)
Ready to operate (BTB, terminals 21, 22) is signalled via a floating relay contact.
The contact is closed when the controller is ready to operate. The signal is not affected by the
enable signal or by the I²t limit.
The contact rating is 100 V/0.1 A d.c. and the maximum permitted connected voltage is 50 V d.c.
(not a.c.!).
IV.2.2.4 Measuring points
lArmature current monitor (I-DC), calibration ±10 V for ± equipment peak current, output
impedance 2 kW, analogue GND is reference point.
lTachometer monitor (V-TA), voltage corresponding to the tachometer voltage, analogue
GND is the reference point.
The measuring point supplies the same signal as described in IV.2.2.2. The output impedan-
ce is 1 kWreferred to AGND.
16 67WKS Installation Manual
Functions and options 10.00 Kollmorgen Seidel
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