Kollmorgen SERVOSTAR SBD Series User manual

Danaher Motion
SERVOSTAR®SBD Series
Installation Manual
KOLLMORGEN
giving our customers freedom of design
M-ST-009-2031
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Record of Manual Revisions
ISSUE NO. DATE BRIEF DESCRIPTION OF REVISION
1 08/11/2000 Initial Release
2 11/23/2000 Revised Power Supply Information for PS Series
3 11/05/2001 Revised Hardware Specifications
Copyright Information
Copyright 2000 Kollmorgen - All rights reserved.
Printed in the United States of America.
Kollmorgen GOLDLINE, SILVERLINE, MOTIONEERING, PLATINUM, and SERVOSTAR® are
registered trademarks of Kollmorgen Corporation, a Danaher Motion Company
NOTICE:
Not for use or disclosure outside of Kollmorgen except under written agreement. All rights are reserved.
No part of this book shall be reproduced, stored in retrieval form, or transmitted by any means, electronic,
mechanical, photocopying, recording, or otherwise without the written permission from the publisher.
While every precaution has been taken in the preparation of the book, the publisher assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use
of the information contained herein.
This document is proprietary information of Kollmorgen that is furnished for customer use ONLY. No
other uses are authorized without written permission of Kollmorgen. Information in this document is
subject to change without notice and does not represent a commitment on the part the Kollmorgen
Corporation. Therefore, information contained in this manual may be updated from time-to-time due to
product improvements, etc., and may not conform in every respect to former issues.
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Table of Contents Danaher Motion
SERVOSTAR®SBD-Series ST/CT Product Family i
Table of Contents
GENERAL INFORMATION....................................................................................................................1
USE AS DIRECTED ......................................................................................................................................1
WARRANTY INFORMATION .......................................................................................................................1
ABBREVIATIONS........................................................................................................................................2
SYSTEM DESCRIPTION .........................................................................................................................3
PRODUCT FEATURES .................................................................................................................................3
Fault and Safety Detection................................................................................................................................................... 3
General ................................................................................................................................................................................ 3
PART NUMBER DESCRIPTION ....................................................................................................................4
CT ELECTRICAL SPECIFICATIONS .............................................................................................................5
CT Regen Information ...........................................................................................................................6
ST ELECTRICAL SPECIFICATIONS..............................................................................................................6
CONTROL SPECIFICATIONS........................................................................................................................7
FEEDBACK DEVICES..................................................................................................................................7
POWER SUPPLIES ...................................................................................................................................9
FEATURES.................................................................................................................................................. 9
PART NUMBER DESCRIPTION ..................................................................................................................10
SIMPLIFIED SCHEMATIC ..........................................................................................................................11
BUS ELECTRICAL SPECIFICATIONS......................................................................................................... 12
BUS MODULE REGEN INFORMATION ......................................................................................................13
Kit Parts and Models...........................................................................................................................13
HARDWARE INSTALLATION.............................................................................................................15
UNPACKING AND INSPECTION ................................................................................................................. 15
MOUNTING ..............................................................................................................................................15
SERVOSTAR CT Hardware Specifications .........................................................................................16
SERVOSTAR ST Hardware Specifications..........................................................................................17
BUS Module Hardware Specifications................................................................................................18
OUTLINE DIMENSIONS.............................................................................................................................19
ST and PS Units...................................................................................................................................19
CT Units...............................................................................................................................................20
PA-LM Units........................................................................................................................................20
INSTALLATION PRACTICES......................................................................................................................21
Enclosure.............................................................................................................................................21
Wiring Practices..................................................................................................................................21
Grounding............................................................................................................................................21
Bonding................................................................................................................................................22
Non-insulated Cable Clamp............................................................................................................................................... 22
Alternative Bonding Methods............................................................................................................................................ 23
SYSTEM INTERCONNECT ..........................................................................................................................24
Views....................................................................................................................................................24
System Phasing Information................................................................................................................18
ST Wiring Diagram with PS 08, 20, or 40...........................................................................................25
ST System Wiring Diagram Notes .................................................................................................................................... 26
CT Wiring Diagram.............................................................................................................................27
CT Wiring Diagram Notes................................................................................................................................................. 28
OPERATION INFORMATION..............................................................................................................29
SYSTEM I/O .............................................................................................................................................29
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Danaher Motion Table of Contents
ii SERVOSTAR®SBD-Series ST/CT Product Family
Tachometer Input (C2 Pins 1 and 3) ...................................................................................................29
Current Monitor (C2 Pin 5).................................................................................................................29
Tachometer Monitor (C2 pin 6)...........................................................................................................29
CW and CCW Limit Inputs (C2 pins 8 and 9) .....................................................................................29
Remote Enable Input (C2 Pin 10)........................................................................................................30
External Current Limit (C2 pin 11).....................................................................................................30
Torque Hold Input (C2 pin 12)............................................................................................................30
Analog Input (C2 pins 13 and 14).......................................................................................................30
CONTROL LOOPS......................................................................................................................................31
Current Loop .......................................................................................................................................31
Velocity Loop.................................................................................................................................................................... 32
Current Clamps ...................................................................................................................................34
Torque Limit Pot ............................................................................................................................................................... 34
External Current Limit....................................................................................................................................................... 34
Horse Power Contour ........................................................................................................................................................ 35
POTENTIOMETER ADJUSTMENTS.............................................................................................................36
DC Gain – Scale..................................................................................................................................36
AC Gain – Stability..............................................................................................................................37
Balance – DC Offset............................................................................................................................37
Current Limit.......................................................................................................................................37
SYSTEM STARTUP ................................................................................................................................38
INITIAL STARTUP.....................................................................................................................................38
Power-Up Sequence.............................................................................................................................38
Enabling the System.............................................................................................................................38
Drive Tuning........................................................................................................................................38
ADJUSTMENTS .........................................................................................................................................39
SERVOSTAR HELP.................................................................................................................................40
FAULT MONITORING SYSTEM..................................................................................................................40
TROUBLESHOOTING LIST.........................................................................................................................41
SUPPORT...................................................................................ERROR! BOOKMARK NOT DEFINED.
CUSTOMER SUPPORT...............................................................................................................................42
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General Information Danaher Motion
SERVOSTAR®SBD-Series ST/CT Product Family iii
Safety Instructions
Only qualified personnel are permitted to transport, assemble, install, and maintain this equipment.
Properly qualified personnel are persons who are familiar with the transport, assembly, installation,
commissioning and operation of motors, and who have the appropriate qualifications for their jobs. The
qualified personnel must know and observe the following standards and regulations:
IEC 364 resp. CENELEC HD 384 or DIN VDE 0100
IEC report 664 or DIN VDE 0110
National regulations for safety and accident prevention or VBG 4
Read all available documentation before assembly and installation. Incorrect handling of products in this
manual can result in injury and damage to persons and machinery. Strictly adhere to the technical
information on the installation requirements.
It is vital to ensure that all system components are connected to earth ground. Electrical safety is
impossible without a low-resistance earth connection.
The SERVOSTAR®product contains electrostatically sensitive components that can be damaged by
incorrect handling. Discharge yourself before touching the product. Avoid contact with high insulating
materials (artificial fabrics, plastic film, etc.). Place the product on a conductive surface.
During operation keep all covers and cabinet doors shut. Otherwise, there are deadly hazards that could
possibility cause severe damage to health or the product.
In operation, depending on the degree of enclosure protection, the product can have bare components that
are live or have hot surfaces. Control and power cables can carry a high voltage even when the motor is
not rotating.
Never pull out or plug in the product while the system is live. There is a danger of electric arcing and
danger to persons and contacts.
After powering down the product, wait at least 10 minutes before touching live sections of the equipment
or undoing connections (e.g. contacts, screwed connections). Capacitors can store dangerous voltages for
long periods of time after power has been switched off. To be safe, measure the contact points with a
meter before touching.
The safety-alert symbols contained in this manual are:
"Warning" alerts users to potential danger or harm. Failure to follow warning notices could
result in personal injury or death.
"Caution" directs attention to general precautions, which if not followed, could result in
personal injury and/or equipment damage.
"Note" highlights information critical to the users understanding or use of these products.
When these symbols are seen in this manual, be alert to the potential for personal injury. Follow the
recommended precautions and safe operating practices included with the alert symbols. Safety notices in
this manual provide important information. Read and be familiar with these instructions before attempting
installation, operation, or maintenance. The purpose of this section is to alert users to possible safety
hazards associated with this equipment and the precautions that need to be taken to reduce the risk of
personal injury and damage to the equipment. Failure to observe these precautions could result in serious
bodily injury, damage to the equipment, or operational difficulty.
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Danaher Motion General Information
iv SERVOSTAR®SBD-Series ST/CT Product Family
Directives and Standards
The SERVOSTAR product series has been successfully tested and evaluated to meet UL/cUL 508C for
U. S. and Canadian markets. This standard outlines the minimum requirements for electrically operated
power conversion equipment (frequency converters and servo amplifiers), which are intended to eliminate
the risk of fire, electric shock, or injury to persons, being caused by such equipment.
Mark Conformance
Servo drives are incorporated in electrical plants and machines for industrial use. When the servo drives
are built into machines or plants, the operation of the drive is prohibited until the machine or plant meets
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 met.
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 lay out of cabling can be found in this
documentation.
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 drives within the European Community.
The servo drives have been tested by an authorized testing laboratory in a defined configuration with the
system components; described in this documentation. Kollmorgen is not responsible for any divergence
from the configuration and installation described in this documentation and is not responsible for the
performance of new measurements or ensuring that regulatory requirements are met.
Kollmorgen’s SERVOSTAR products and systems have been successfully tested and evaluated to the
limits and requirements of the EC Directive on EMC (89/336/EEC) and the EC Directive on Low Voltage
(72/73/EEC). The product lines have been evaluated to EN50178 and EN60204 as a component of a
machine and other relevant standards.
The Electromagnetic Compatibility (EMC) of a system is identified in two parts: emissions and
immunity. Emissions are the generation of EMI (electromagnetic interference) and immunity is the
susceptibility levels of the equipment. Limits are derived from generic standards EN55081-2 and
EN55082-2 for heavy industrial environment. The SERVOSTAR series of drives and BUS modules have
been tested for radiated emissions, conducted emissions, EFT, ESD, surge, conducted immunity, and
radiated immunity. These tests have been in accordance with EN55011, EN61000-4-2, ENV50140, IEC
1000-4-4, EN61000-4-5, and ENV50141.
Installation of the equipment is critical in designing system and machine electro-magnetic
compatibility (EMC). The user must apply the installation recommendations in this manual. See
the installation section and CE Filtering Techniques information when mounting and installing
the drive system for CE conformance.
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Danaher Motion General Information
SERVOSTAR®SBD-Series ST/CT Product Family 1
General Information
This manual is designed to lead you through the proper installation and setup of a SERVOSTAR®SBD
Series servo system. It was developed with the assumption that there is a fundamental understanding of
basic electronics, mechanics, and proper safety practices. However, you do not have to be an expert in
motion control to install and operate the drive system. It is recommended that you read the entire manual
completely before installation and operation is attempted.
USE AS DIRECTED
The following guidelines describe the restrictions for proper use of the SERVOSTAR SBD system:
• These amplifiers are components, which are built into electrical equipment or machines and can
only be commissioned as integral components of such equipment.
• The servo amplifiers are to be used only on earthed single or 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
the user must implement additional filter measures.
• The servo amplifiers are only intended to drive specific brush-type servomotors from
Kollmorgen, with closed-loop control of torque and velocity. The rated voltage of the motors
must be at least as high as the DC-link voltage of the servo amplifier.
• The servo amplifiers may only be operated in a closed switch gear cabinet, taking into account
the ambient conditions defined in the environmental specifications.
WARRANTY INFORMATION
All products covered in this manual are warranted to be free of defects in material and workmanship and
to conform to the specifications stated either in this document or product catalog description. All
Kollmorgen brushless motors and electronics are warranty for a period of 24 months from the time of
installation or 30 months from time of shipment, which ever comes first. There are no other warranties,
expressed or implied (including the warranty of merchantability and fitness for a particular purpose,
which extends beyond this warranty. Kollmorgen warrants that the products covered in the manual are
free from patent infringement when used for normal purposes.
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Danaher Motion General Information
2 SERVOSTAR®SBD-Series ST/CT Product Family
ABBREVIATIONS
AC Alternating Current
AppNote Application Note
CCW Counter Clockwise*
CMR Common Mode Rejection
CW Clockwise*
DC Direct Current
Diff Differential
EMF Electro-Motive Force
EMC Electromagnetic Compatibility
EMI Electromagnetic Interference
ESD Electrostatic Discharge
Ext External
Hz Hertz
I Current
Info Information
I/O Input / Output
KHz KiloHertz
KCSN Kollmorgen Customer Support Network
KW KiloWatts
LED Light Emitting Diode
Lim Limit
NEC National Electrical Code
PSP Product Support Package
P/N Part Number
PWM Pulse Width Modulation
Regen Regeneration
RMS Root Mean Square
Tach Tachometer
UL Underwriters Laboratories
* Clockwise and counterclockwise reference as viewing the motor output shaft.
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Danaher Motion System Description
SERVOSTAR®SBD-Series ST/CT Product Family 3
System Description
The SERVOSTAR SBD-Series is a four-quadrant analog brush-type servo motor drive amplifier that
meets the needs of many servo applications such as machine tooling, packaging, electronic assembly, and
document handling. The SBD-Series of drives comes in standard packages of 3, 6, 10, 20, 30, 55, and 85
amps. A wide range complementary of Power Supply Modules are also available. A CT-series (Compact
Drive), that includes an integrated BUS module, is available in 3, 6 and 10 amp sizes. All are packaged in
a small frame size perfect for minimizing cabinet space. This product is a velocity controller commanded
through an industrial standard +/- 10V analog interface using a DC tachometer generator for velocity
feedback.
PRODUCT FEATURES
The SERVOSTAR SBD is a brush motor drive capable of controlling the motor’s velocity using a
tachometer generator mounted to the motor as the feedback device. The drive is designed as a modern
update to Kollmorgen’s SBD Series of brush drive amplifiers produced over the past 25 years. The drive
is fully analog and can receive the exact comp (compensation) card that was used in existing SBD2
application. The drive is built on Kollmorgen’s SERVOSTAR S-Series platform, which uses modern
technology and has a long life expectancy. The SERVOSTAR S-Series of brush drives is modular in
design meaning that it has a separate power supply module. The PS Series of power supply modules are
fully compatible to the SERVOSTAR SBD Series of products.
Fault and Safety Detection
Over Voltage protection
Over Current Protection (Short Circuit)
Under Voltage Lock-out (Can be disabled)
Motor Over Speed Protection
Over Temperature Protection (Drive’s internal temperature)
General
Industry Standard +/- 10 Volt command signal input
External Regeneration Capability
SBD2 Compensation-Compatible Drive
Wide Range of Power Capacity
Smaller units available with integral Power Supply
Units available with Modular Power Supply
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Danaher Motion System Description
4 SERVOSTAR®SBD-Series ST/CT Product Family
PART NUMBER DESCRIPTION
Month
Mftd
A - January
B - February
:
:
L - December
S 9 8 A-5 8 9
CT03000-SBD2-4236AA2/160-03
Unit Manufactured
Year Manufactured
Hardware Variations:
000 – Standard Product
Rated Current
(A )
S-Series: 03, 06, 10, 20, 30, 55,
8
C-Series: 03, 06, 10
Feedback
T - Tachometer
Rl
SERVO
STAR®Amplifier Family:
S - S Series
C - C Series (Compact Drive) Intended Bus Voltage
Intended Drive
Rating
Tachometer Voltage:
Facility:
Blank - Radford
C - China
S - Israel
M - Spain
Z - Israel
SBD2 – Compatible Compensation
Motor Frame:
Motor Winding :
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