Kollmorgen SERVOSTAR 400 User manual

SERVOSTAR®400
Quickstart Guide
Version 12.2010
Keep all manuals as a
product component during
the life span of the product.
Pass all manuals to future
users/owners of the product.

Preparation
The CD-ROM delivered with the servo amplifier contains all the manuals in PDF for-
mat and the setup software. Insert the CD-ROM into your PC.
Autostart function activated: A window with the start screen opens.
Autostart function deactivated: Click START (task bar), then on Run. Enter
x:\index.htm or x:\autorun.exe (x = CD drive letter). Click OK. The start screen
opens.
Install Setup Software
On the start screen you find a link to the setup software:
Install Setup Software SERVOSTAR S400/S600 Release _.__ Build __
Click it and follow the instructions from here.
Documents
You need Acrobat Reader to read the PDFs (installation link on every screen).
Select the language version on the start screen of the CD-ROM. Click "Servo Drives"
in the column "Technical Manuals". A table with links to all manuals appears.
Mechanical and Electrical Installation of the Servo Amplifier
1. Unpack servo amplifier and accessories
2. Keep the instructions manual ready (print if necessary)
3. Observe safety instructions in the manuals
4. Mount the servo amplifier as described in the instructions manual
5. Wire the servo amplifier as described in the instructions manual or apply the mini-
mum wiring for drive test (see next page)
2

Minimum Wiring for Drive Operation
3
Motor
Motor-Power
Feedback
RES
ENC
PC
Power
24V DC
-
1
2
24V ON
4
5
+
Enable
3
Power ON
Motor-Power
Feedback
Motor
1
2
This wiring does
not fulfill any
requirements to
safety or
functionality of
your application,
it just shows the
required wiring
for drive testing
without load.

Connect
lConnect the interface cable to a serial interface on your PC and to the serial in-
terface X6 of the servo amplifier. USB to serial converter can be used optionally.
lSwitch on the 24 V logic power supply for the servo amplifier.
lWait about 30 seconds, until the front display of the servo amplifier displays the
current rating (e.g. for 3 amps). If the mains power supply voltage is
switched on, too, a leading P is displayed (e.g. for Power, 3 amps).
If a fault code ( ) or a warning ( ) or a status message ("." or "_"
or "E" or "S") appears in the display, you will find the description and hints for
trouble shooting in the instructions manual. If there is fault, fix the problem.
Double-Click the Drive.exe icon on your Windows desktop to start the
software.
"Multidrive" must be activated in the
menu "Communication"!
You can work offline or online with
Drive.exe. We work online now.
Select the interface where the servo
amplifier is connected to.
4

The software tries to com-
municate with the drive
and to upload the param-
eters. If it's not success-
ful, you receive this error
message:
Frequent causes:
- wrong interface chosen
- wrong connector chosen at the servo amplifier
- interface is used by another software
- 24 V auxiliary voltage for the servo amplifier not working
- interface cable broken or wrong wiring
Click OK to remove the error message. Detect and remove the error source. Restart
the software.
If communication works, the drive selection screen appears:
The master and axis modules, recognized in the
system, with its station address and name are
listed. The master module is separately charac-
terized.
Doubleclick on the amplifier, which you want to
work with.
You can select additional other axis modules
later to show them in parallel at the screen and
parameterize them (Multidrive function).
Now parameters are transmitted from the servoamplifier to the computer. Then you
see the start screen.
Make sure, that the amplifier is disabled (Input HW-Enable connector X1 pin 3
must be0Voropen)!
5

Important Screen Elements
Help Function
The Online-Help gives detailed information to all parameters the servo amplifier can
work with.
Key F1 Starts Online Help for the actual screen page.
Menu Bar ? / Online HTML Help Starts Online Help with table of contents.
Tool Bar
Save to EEPROM,
required if you changed parameters.
Reset (coldstart),
required if you changed important configuration parameters.
Operation Mode, use Digital Velocity mode for
drive testing.
Disable and Enable of the amplifier's output
stage via software.
Status Bar
6

Basic Setup
On the start screen click "Basic Setup" button.
Regen Resistor: Change only if you use an external regen resistor. Most applica-
tions don't need an external regen resistor
Max. Mains Voltage: Select the nominal mains AC voltage
Mains Phase Missing: You can select either warning "n05" or error "F19" in case of
phase loss. The setting "F19" disables the output stage, "n05" is just a message.
Units: Acceleration, Velocity, Position
Select usable units for your application referring to the moved load.
Address: Adjust for master amplifier only (= highest address of the drive system, see
instructions manual: "Setup/Multi-Axis Systems")
Leave all other fields unchanged. Click OK.
7

Motor (synchronous)
On the start screen click "Motor" button.
Press function key F12 (Software Disable).
Motor Type: Select Synchronous Motor. If you use a linear motor or an induction
motor, please contact our support department.
Number-Name: Click the list to start uploading the motor parameter table, which is
stored in the servo amplifier. Search and select the connected motor. If your motor is
not listed, please contact our support department.
Leave all other fields unchanged.
Click OK.
8

If your motor has a built-in brake, click
"Yes", otherwise "No".
If Software Enable is active, a warning ap-
pears. You can proceed, but after the ampli-
fier is restarted, you must check whether the
holding brake configuration is correct.
Click OK.
Parameters are uploaded to the ampli-
fier's RAM now (takes some seconds).
When this is done, you have to accept
the changed configuration with "Yes" or
to discard the changes in the appearing
screen.
If you click "Yes", the parameters are
saved in the EEPROM and the ampli-
fier makes a coldstart (reset). This
takes some seconds.
9

Feedback
On the start screen, click "Feedback" button.
Press F12 (disable) before changing feed-
back parameters.
Feedback Type:
Select the feedback type used.
Leave all other fields unchanged.
If Software Enable is active, a warning
appears. The configuration change
cannot be performed. Click OK on the
warnings, press F12 (SW disable)
and start the Feedback procedure
again.
If everything was ok, the same procedure
(parameter upload) that has been described
for the motor selection starts.
If you click "Yes", the parameters are saved
in the EEPROM and the amplifier makes a
coldstart (reset). This takes some seconds.
10

Save Parameters and Restart
You are going to finish setup and you have changed several basic parameters.
Depending on the parameters you changed, two possible reactions can occur:
Configuration parameters changed
A warning appears, that you have to restart the amplifier. This is called "coldstart".
Click "YES". The parameters are saved to the amplifier's EEPROM automatically
and a reset command restarts the amplifier (takes a few seconds). For example, this
happens after motor or feedback selection.
Other parameters changed
No warning appears. Parameters are saved in the volatile RAM only.
Save the parameters to the EEPROM of the servo amplifier manually by clicking the
symbol in the tool bar. A coldstart of the amplifier is not necessary.
Reset the amplifier
You can reset the amplifier manually (e.g. in case of an error). Click the icon
11

Jogging the Motor (Speed Control)
Be aware that the actual position of the load permits the subsequent moving
operations. The axis could move to the hardware limit-switch or the mechanical
stop. Make sure that a jerk or a fast acceleration of the load cannot cause any
damage.
lSwitch on the power supply for the drive.
lHardware-Enable: +24 VDC to Enable [connector X1 pin 3].
lSoftware-Enable: Click the "Enable" button on the start screen or
use key combination Shift+F12. Now, the front display shows an E and the cur-
rent rating (e.g. for Enable, 3 amps)
lClick the icon "Oscilloscope" :
12

lSelect Service-Mode "Speed F6", then click "Parameter" button
lEnter a safe speed. The sign defines the direction of movement.
Observe the "safe reduced speed" requirements for your application!
lClick OK.
lStart the service function
("Start" button or press F6).
Click OK on the warning notice.
The opmode is switched to "0" and the output stage is enabled automatically.
The symbol's color changes to green as long as the function is active.
lThe function is active until you click the "Stop" button or press F9.
lThe output stage can be disabled by pressing function key F12.
13

Status
Actual warnings and errors are listed on the Status screen, which can be accessed
on the start screen by clicking the "Status" button. This button monitors the current
status of the amplifier and can appear with different text.
The Reset button can be used to clear some actual error messages. A description of
errors/warnings can be found in the online help.
Now you have setup and tested the basic functions of the drive successfully.
Additional Setup Parameters
Observe the safety instructions in the manuals when you change additional
parameters.
Detailed information on all setup functions can be found in the Online Help syste-
mand and the integrated command reference.
14

Monitor
Click the icon "Monitor"
The Monitor screen shows all
important electrical and me-
chanical actual values.
Documents
You need access to these documents (located on the product CD-ROM, you can
download the latest editions from our website):
lInstructions Manual (Assembly, Installation, Setup)
lCANopen communication profile
Depending on the installed fieldbus interface, you need one of these documents:
lPROFIBUS DP communication profile
lSERCOS communication profile
lEtherCAT communication profile
You need Acrobat Reader to read the PDFs, an installation link is on every screen of
the product CD-ROM.
15

Technical changes which improve the performance of the equipment may be
made without prior notice!
All rights reserved. No part of this work may be reproduced in any form (by photoco-
pying, microfilm or any other method) or stored, processed, copied or distributed by
electronic means without the written permission of Kollmorgen Europe GmbH.
Kollmorgen Customer Support - North America
E-Mail [email protected]
Tel.: +1 - 540 - 633 - 3545
Fax: +1 - 540 - 639 - 4162
Kollmorgen Customer Support - Europe
E-Mail [email protected]
Tel.: [phone] - 9394 - 0
Fax: [phone] - 9394 - 3110