SSI America 601...620 manual

Product Manual

Edition 07/2007

Valid for Hardware Revision 05.10

SERVOSTAR®601...620

Digital Servo Amplifier

Filesr601_e.***

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Contents

Main SERVOSTAR601...620 Digital Servo Amplifier Page 1 General 2 Safety 3 Standards 4 Handling SERVOSTAR601...620 Product Manual 3 Danaher Motion 07/2007 Contents 7 Mechanical Installation 8 Electrical Installation 4 SERVOSTAR601...620 Product Manual Contents 07/2007 Danaher Motion 9Setup 10 Expansions / Accessories SERVOSTAR601...620 Product Manual 5 Danaher Motion 07/2007 Contents 11 Appendix 6 SERVOSTAR601...620 Product Manual Contents 07/2007 Danaher Motion 1General Danaher Motion 07/2007 General 1.1 About this manual 1.2 Hints for the online edition (PDF format) 1.3 Symbols used 1.4 Abbreviations used General 07/2007 Danaher Motion 8 SERVOSTAR601...620 Product Manual 2Safety Danaher Motion 07/2007 Safety 2.1 Safety Instructions SERVOSTAR601...620 Product Manual 9 2.2 Use as directed Safety 07/2007 Danaher Motion 10 SERVOSTAR601...620 Product Manual 3Standards Danaher Motion 07/2007 Standards 3.1 European Directives and Standards 3.2 American Directives and Standards 3.3 Asian Directives and Standards 3.4 Approvals Standards 07/2007 Danaher Motion 3.4.1 CE conformance 3.4.2 Conformance with UL and cUL 12 SERVOSTAR601...620 Product Manual 4Handling Danaher Motion 07/2007 Handling 4.1 Transport 4.2 Packaging 4.3 Storage 5Package 5.1 Package supplied The mating SubD connectors and motor connector X9 are not part of the package! 5.2 Nameplate 14 SERVOSTAR601...620 Product Manual S60600-SE* SERVOSTAR601...620 Product Manual 15 Danaher Motion 07/2007 Package 6Technical description 6.1 The SERVOSTAR 600 family of digital servo amplifiers 16 SERVOSTAR601...620 Product Manual Page 6.2 Technical data 18 SERVOSTAR601...620 Product Manual 6.2.1 Recommended torque 6.2.2 Fusing 6.2.3 Ambient conditions, ventilation, mounting position 6.2.4 Conductor cross-sections 6.3 LED display Technical description 07/2007 Danaher Motion 20 SERVOSTAR601...620 Product Manual 6.4 Control for motor holding brake SERVOSTAR601...620 Product Manual 21 6.5 Grounding system 6.6 Regen circuit 22 SERVOSTAR601...620 Product Manual Suitable external regen resistors can be found in our accessories manual. 6.7 Switch-on and switch-off behavior 24 SERVOSTAR601...620 Product Manual 6.7.1 Behavior in standard operation 6.7.2 Behavior in the event of an error (with standard setting) 6.8 Stop/Emergency Stop Function to EN 60204 6.8.1 Stop: Standards SERVOSTAR601...620 Product Manual 27 6.8.2 Emergency Stop: Standards 6.8.3 Implementation of the Stop Category 0 6.8.4 Implementation of the Stop Category 1 6.8.5 Implementation of the Stop Category 2 6.9 Shock-hazard protection 6.9.1 Leakage current 6.9.2 Residual-current circuit breakers (FI) 32 SERVOSTAR601...620 Product Manual Page Page 7Mechanical Installation Danaher Motion 07/2007 Mechanical Installation 7.1 Important notes 7.2 Guide to mechanical installation SERVOSTAR601...620 Product Manual 35 Page Page Page 8Electrical Installation 8.1 Important notes SERVOSTAR601...620 Product Manual 39 8.2 Guide to electrical installation 40 SERVOSTAR601...620 Product Manual 8.3 Wiring 8.3.1 Important notes SERVOSTAR601...620 Product Manual 41 8.3.2 Technical data for connecting cables Motor cables longer than 25m with motor choke 3YL only. 8.3.3 Shielding connection to the front panel 8.3.4 Motor connector with shieldplate 8.4 Components of a servo system 44 SERVOSTAR601...620 Product Manual Control / PLC Page Page 8.7 Connection diagram (overview) SERVOSTAR 600 SERVOSTAR601...620 Product Manual 47 8.8 Power supply 8.8.1 Connection to various mains supply networks 48 SERVOSTAR601...620 Product Manual 208Vwith 60Hz only 230...480Vwith 50Hz or 60Hz 8.8.2 Mains supply connection (X0) 8.8.3 24V auxiliary supply (X4) 8.8.4 DC bus link (X7) Page 8.11 Feedback SERVOSTAR601...620 Product Manual 51 Page 8.11.2 Sine Encoder 5V with BISS (X1) 8.11.3 Sine Encoder with EnDat 2.1 or HIPERFACE (X1) 8.11.4 Sine Encoder without data channel (X1) Don't use this feedback type with vertical load (hanging load). 8.11.5 Incremental encoder / sine encoder with Hall (X1) 8.11.6 Incremental Encoder (X5) Don't use this feedback type with vertical load (hanging load). 8.12 Electronic Gearing, Master-slave operation 58 SERVOSTAR601...620 Product Manual 8.12.1 Connection to a SERVOSTAR master, 5 V signal level (X5) 8.12.2 Connection to encoders with 24 V signal level (X3) Page 8.12.4 Connection to a SSI encoder (X5) AGND and DGND (connector X3) must be joined together! 8.12.5 Connection to stepper motor controllers (step and direction) Observe the frequency limit! Using an A quad B encoder provides better EMC noise immunity. 8.12.5.1 Step/Direction with 5 V signal level (X5) 62 SERVOSTAR601...620 Product Manual 8.13 Encoder emulations 8.13.1 Incremental encoder output - A quad B (X5) SERVOSTAR601...620 Product Manual 63 8.13.2 SSI output (X5) Drivers are supplied from internal supply voltage.PGND must always be connected. 8.14 Digital and analog inputs and outputs 8.14.1 Analog inputs (X3) SERVOSTAR601...620 Product Manual 65 8.14.2 Analog outputs (X3) 8.14.3 Digital inputs (X3) 8.14.4 Digital outputs (X3) 8.15 RS232 interface, PC connection (X6) Do not use a null-modem link cable! SERVOSTAR601...620 Product Manual 69 8.16 CANopen Interface (X6) 70 SERVOSTAR601...620 Product Manual 9Setup 9.1 Important notes SERVOSTAR601...620 Product Manual 71 9.2 Setup software 9.2.1 General 9.2.1.1 Use as directed 9.2.1.2 Software description 72 SERVOSTAR601...620 Product Manual 9.2.1.3 Hardware requirements 9.2.1.4 Operating systems 9.2.2 Installation under WINDOWS 95 / 98 / 2000 / ME / NT / XP 9.3 Quickstart Guide 9.3.1 Preparation 9.3.1.1 Unpacking, Mounting and Wiring the Servo Amplifier 9.3.1.2 Documents 74 SERVOSTAR601...620 Product Manual 9.3.1.3 Minimum Wiring for Drive Test Motor 9.3.2 Connect 9.3.3 Important Screen Elements 9.3.4 Basic Setup Leave all other fields unchanged. 9.3.5 Motor (synchronous) Leave all other fields unchanged. 9.3.6 Feedback 9.3.7 Save Parameters and Restart 9.3.8 Jogging the Motor (Speed Control) Observe the "safe reduced speed" requirements for your application! Page 9.4 Multi-axis systems 9.4.1 Node address for CAN-bus 9.4.2 Baud rate for CAN-bus 84 SERVOSTAR601...620 Product Manual Page Page Page 9.6 Error messages 88 SERVOSTAR601...620 Product Manual 9.7 Warning messages SERVOSTAR601...620 Product Manual 89 9.8 Removing faults/warnings Detailled hints for removal of faults can be found in the Online help chapter "Trouble-Shooting". 90 SERVOSTAR601...620 Product Manual 10 Expansions / Accessories 10.1 Option -AS-, restart lock for personal safety 10.1.1 Safety instructions SERVOSTAR601...620 Product Manual 91 10.1.2 Use as directed 10.1.3 Block diagram 10.1.4 Functional description 10.1.5 Signal diagram (sequence) 10.1.6 Functional test 10.1.7 Connection diagram (principle) Page Page 10.1.9.3 Flow chart Page 10.2.2 Expansion card -I/O-14/08- 10.2.2.1 Front view 10.2.2.2 Technical data 10.2.2.3 Light emitting diodes (LEDs) 10.2.2.4 Select motion task number (Sample) 10.2.2.5 Connector assignments Page Page 10.2.4 Expansion card -SERCOS- 10.2.4.1 Front view 10.2.4.2 Light emitting diodes (LEDs) 10.2.4.3 Connection technology 10.2.4.4 Connection diagram 10.2.4.5 Modifying the station address 10.2.4.6 Modifying the baud rate and optical power Page 10.2.5.4 Combined module/network status-LED 10.2.5.5 Setting the station address (device address) 10.2.5.6 Setting the transmission speed 10.2.5.7 Bus cable 10.2.6 Expansion card -ETHERCAT- 10.2.6.1 Front view 10.2.6.2 LEDs 10.2.6.3 Connection diagram Page 10.2.7.5 Digital inputs/outputs, connector X21A (SubD 15-pin, socket) 10.2.7.6 Connection diagram digital inputs/outputs, connector X21A 10.2.8 Expansion module -2CAN- 10.2.8.1 Installation 10.2.8.2 Front View 10.2.8.3 Connection technology 10.2.8.4 Connector assignments 112 SERVOSTAR601...620 Product Manual Expansions / Accessories 07/2007 DanaherMotion 10.3 Special Accessories 10.3.1 Power Supply SINCOS 10.3.2 Terminating adapter for encoder cables SERVOSTAR601...620 Product Manual 113 10.3.3 Hall Dongle 11 Appendix Danaher Motion 07/2007 Appendix 11.1 Glossary SERVOSTAR601...620 Product Manual 115 P 116 SERVOSTAR601...620 Product Manual Appendix 07/2007 Danaher Motion 11.2 Order numbers Danaher Motion 07/2007 Appendix 11.2.1 Servo amplifiers 11.2.2 Expansion cards 11.2.3 Connectors 11.3 Index 118 SERVOSTAR601...620 Product Manual Appendix 07/2007 Danaher Motion Page Sales and Service