Danaher Motion Servostar M-SS-005-03 Manual de Instalação

www.DanaherMotion.comKOLLMORGEN SERVOSTAR® S Installation Manual M-SS-001-01 Rev. T Firmware Version 6.3.3 DANAHER

Read Before Installing 08/04 Danaher Motion Kollmorgen 2 M-SS-001-01 Rev. T SERVOSTAR S Installation 1. Using the Startup Wizard in MOTIONLINK:

Appendix A 08/04 Danaher Motion Kollmorgen 92 M-SS-001-01 Rev. T SERVOSTAR S Installation SERVOSTAR DDR RBHR C2 Resolver Connector Wire Color (f

Danaher Motion Kollmorgen 08/04 Appendix A SERVOSTAR S Installation M-SS-001-01 Rev. T 93 SERVOSTAR SILVERLINE RBE(H) C2 0802 Encoder Receptacle 0

Appendix A 08/04 Danaher Motion Kollmorgen 94 M-SS-001-01 Rev. T SERVOSTAR S Installation A.1.4 SYSTEM CONNECTION DIAGRAM

Danaher Motion Kollmorgen 08/04 Appendix B SERVOSTAR S Installation M-SS-001-01 Rev. T 95 APPENDIX B B.1 Digital Incremental Encoder Types The SE

Appendix B 08/04 Danaher Motion Kollmorgen 96 M-SS-001-01 Rev. T SERVOSTAR S Installation The 90º electrical phase shift between the two channels

Danaher Motion Kollmorgen 08/04 Appendix B SERVOSTAR S Installation M-SS-001-01 Rev. T 97 Commutation Tracks The hall channels can be synthesized

Appendix B 08/04 Danaher Motion Kollmorgen 98 M-SS-001-01 Rev. T SERVOSTAR S Installation B.1.2 SERVOSTAR ENCODER TYPES The idea of obtaining vel

Danaher Motion Kollmorgen 08/04 Appendix B SERVOSTAR S Installation M-SS-001-01 Rev. T 99 MENCTYPES 1 & 2Perform MENCTYPE 3 & 4algorithmMa

Appendix B 08/04 Danaher Motion Kollmorgen 100 M-SS-001-01 Rev. T SERVOSTAR S Installation B.1.2.2 MENCTYPE 1 Encoders with A/B/I channels Some s

Danaher Motion Kollmorgen 08/04 Appendix B SERVOSTAR S Installation M-SS-001-01 Rev. T 101 B.1.2.4 MENCTYPE 3 − Encoders with A and B channels on

Danaher Motion Kollmorgen 08/04 Unpacking and Inspecting SERVOSTAR S Installation M-SS-001-01 Rev. T 3 2 UNPACKING AND INSPECTING Electronic comp

Appendix B 08/04 Danaher Motion Kollmorgen 102 M-SS-001-01 Rev. T SERVOSTAR S Installation B.1.2.5 MENCTYPE 4 − Encoders with A and B channels o

Danaher Motion Kollmorgen 08/04 Appendix B SERVOSTAR S Installation M-SS-001-01 Rev. T 103 B.1.3 COMMUTATION ACCURACY The accuracy of the commutat

Appendix B 08/04 Danaher Motion Kollmorgen 104 M-SS-001-01 Rev. T SERVOSTAR S Installation B.1.2.2 MENCTYPE 1 and B.1.2.3 MENCTYPE 2 (A/B/I with

Danaher Motion Kollmorgen 08/04 Appendix B SERVOSTAR S Installation M-SS-001-01 Rev. T 105 B.1.6 SYSTEM PHASING With so many signals coming from t

Appendix B 08/04 Danaher Motion Kollmorgen 106 M-SS-001-01 Rev. T SERVOSTAR S Installation B.1.7 TROUBLESHOOTING Several problems can occur with

Danaher Motion Kollmorgen 08/04 Appendix B SERVOSTAR S Installation M-SS-001-01 Rev. T 107 Another common sense approach is to use differential tr

Appendix B 08/04 Danaher Motion Kollmorgen 108 M-SS-001-01 Rev. T SERVOSTAR S Installation ENCSTART – Selects automatic or manual wake and shake

Danaher Motion Kollmorgen 08/04 Appendix B SERVOSTAR S Installation M-SS-001-01 Rev. T 109 3. Determine the Relationship Between Halls and Motor

Appendix B 08/04 Danaher Motion Kollmorgen 110 M-SS-001-01 Rev. T SERVOSTAR S Installation 8. Confirm Proper Operation in the Application Condit

Danaher Motion Kollmorgen 08/04 Appendix C SERVOSTAR S Installation M-SS-001-01 Rev. T 111 APPENDIX C C.1 Resistive Regeneration Shunt regeneratio

Unpacking and Inspecting 08/04 Danaher Motion Kollmorgen 4 M-SS-001-01 Rev. T SERVOSTAR S Installation 2.2 SERVOSTAR S Model Numbers Voltage Leve

Appendix C 08/04 Danaher Motion Kollmorgen 112 M-SS-001-01 Rev. T SERVOSTAR S Installation C.2 Customer Support Danaher Motion products are avail

Danaher Motion Kollmorgen 08/04 Mounting SERVOSTAR S Installation M-SS-001-01 Rev. T 5 3 MOUNTING For proper ventilation mount the SERVOSTAR S ver

Mounting 08/04 Danaher Motion Kollmorgen 6 M-SS-001-01 Rev. T SERVOSTAR S Installation Amplifier Model Sx30 Sx55 Sx85 Unit Weight lbs / kgs

Danaher Motion Kollmorgen 08/04 Mounting SERVOSTAR S Installation M-SS-001-01 Rev. T 7 Distance Top/Bottom 63.5 mm. (2.5 in.) CK100 Kit Includ

Mounting 08/04 Danaher Motion Kollmorgen 8 M-SS-001-01 Rev. T SERVOSTAR S Installation Product Model Control Specifications Input Impedance 100

Danaher Motion Kollmorgen 08/04 Mounting SERVOSTAR S Installation M-SS-001-01 Rev. T 9 3.2.1 PHYSICAL DIMENSIONS 3.2.1.1. Inches Product A B C D E

Mounting 08/04 Danaher Motion Kollmorgen 10 M-SS-001-01 Rev. T SERVOSTAR S Installation 3.3 PA – LM Units +8VLOGIC POWER SUPPL YEARTHINPUTLINELC

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 11 4 WIRING The environment into which any electronic control s

Version History Revision Date Description of Revision 0 -- Preliminary issue for review 1 01/05/98 Initial release of UCB hardware 2 03/13/

Wiring 08/04 Danaher Motion Kollmorgen 12 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.2 Grounding System grounding is essential for proper perf

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 13 4.3.1 NON-INSULATED CABLE CLAMP Terminal Clamp and Sx Drive

Wiring 08/04 Danaher Motion Kollmorgen 14 M-SS-001-01 Rev. T SERVOSTAR S Installation Phoenix Contact - Side View and Phoenix Contact -Top View r

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 15 To properly mount the filters, the enclosure should have an

Wiring 08/04 Danaher Motion Kollmorgen 16 M-SS-001-01 Rev. T SERVOSTAR S Installation The filters called out in the table above are used on a o

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 17 Common mode currents commonly occur from noise spikes create

Wiring 08/04 Danaher Motion Kollmorgen 18 M-SS-001-01 Rev. T SERVOSTAR S Installation Clamp on cores illustrates the use of multiple turns throug

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 19 SxSxEMI Filter3 phaseContactor,Fuses,Xformer,etc.230 / 120Xf

Wiring 08/04 Danaher Motion Kollmorgen 20 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.5.1 SX ELECTRICAL SPECIFICATIONS Product Model Sx03 Sx0

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 21 Product Model Sx30 Sx55 Sx85 UnderVoltage Trip (on power

Directives and Standards The SERVOSTAR S product series have been successfully tested and evaluated to meet UL/cUL 508C for both U.S. and Canadian m

Wiring 08/04 Danaher Motion Kollmorgen 22 M-SS-001-01 Rev. T SERVOSTAR S Installation Product Model PA-LM PA08 PA14 PA28 Internal Fuses (amps

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 23 Product Model PA50 PA75 PA85 115 VAC Turn-Off Level (powe

Wiring 08/04 Danaher Motion Kollmorgen 24 M-SS-001-01 Rev. T SERVOSTAR S Installation Product Model PA50 PA75 PA85 Capacitance (Farads) 0.00

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 25 Note 3 A thermal overload relay is supplied in the regen re

Wiring 08/04 Danaher Motion Kollmorgen 26 M-SS-001-01 Rev. T SERVOSTAR S Installation Note 15 Control logic input can be tapped directly off the

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 27 4.6.1.2. PA50, 75, or 85 Wiring Diagram CUSTOMERSUPPLIED F

Wiring 08/04 Danaher Motion Kollmorgen 28 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.6.2.1. BUS Module PA-LM Diagram DRIVESTATUSDISPLAYBUS +MA

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 29 4.6.3 SX DRIVE +15 V- 15 V+ 8 VDRIVE DC COMMON (SEE TEXT IN

Wiring 08/04 Danaher Motion Kollmorgen 30 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.7 Pin-out Connections 4.7.1 FRONT VIEW C1: Communication

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 31 C3: User I/O Connector 7 +24 V Input (Common Rail for retur

Safety Instructions Only qualified personnel are permitted to transport, assembly, commission, and maintenance this equipment. Properly qualified pe

Wiring 08/04 Danaher Motion Kollmorgen 32 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.7.2 TOP VIEW C7C8 11024V C7: MultiDrop CommunicationsTyp

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 33 Notes for DIP switch:The 10 position DIP switch is provided

Wiring 08/04 Danaher Motion Kollmorgen 34 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.9.2 RESOLVER FEEDBACK DIAGRAM 252423222120191817161514131

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 35 4.9.2.2. Cable Lengths It is important to use properly shie

Wiring 08/04 Danaher Motion Kollmorgen 36 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.9.3 DIGITAL ENCODER The SERVOSTAR can use encoder feedbac

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 37 4.9.3.2. Cable Lengths The recommended cable length when us

Wiring 08/04 Danaher Motion Kollmorgen 38 M-SS-001-01 Rev. T SERVOSTAR S Installation − No Hall signals exist if no power-up commutation signals

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 39 4.9.5 SINE ENCODER FEEDBACK DIAGRAM 252423222120191817161514

Wiring 08/04 Danaher Motion Kollmorgen 40 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.9.5.1. Specifications Sine Encoder Requirements Required

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 41 4.9.5.2. Cable Lengths The recommended cable length when us

Danaher Motion Kollmorgen 08/04 Table of Contents SERVOSTAR S Installation M-SS-001-01 Rev. T i Table of Contents 1 READ BEFORE INSTALLING...

Wiring 08/04 Danaher Motion Kollmorgen 42 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.10 Encoder Equivalent Output The SERVOSTAR provides a mo

Danaher Motion Kollmorgen 08/04 Wiring SERVOSTAR S Installation M-SS-001-01 Rev. T 43 4.10.2 ENCODER SYSTEMS The output signal is the actual encod

Wiring 08/04 Danaher Motion Kollmorgen 44 M-SS-001-01 Rev. T SERVOSTAR S Installation 4.10.5 RECOMMENDED MANUFACTURERS’ LIST Schaffner Electronik

Danaher Motion Kollmorgen 08/04 System Communication SERVOSTAR S Installation M-SS-001-01 Rev. T 45 5 SYSTEM COMMUNICATION Communication with the

System Communication 08/04 Danaher Motion Kollmorgen 46 M-SS-001-01 Rev. T SERVOSTAR S Installation 5.2 Drive Communication Review and be familia

Danaher Motion Kollmorgen 08/04 System Communication SERVOSTAR S Installation M-SS-001-01 Rev. T 47 5.2.3 SETTING DRIVE ADDRESS The following tabl

System Communication 08/04 Danaher Motion Kollmorgen 48 M-SS-001-01 Rev. T SERVOSTAR S Installation 5.3 Sending/Retrieving System Data The follo

Danaher Motion Kollmorgen 08/04 System Communication SERVOSTAR S Installation M-SS-001-01 Rev. T 49 5.4.2 RUNNING THE PROGRAM Go to your Start/Pro

System Communication 08/04 Danaher Motion Kollmorgen 50 M-SS-001-01 Rev. T SERVOSTAR S Installation Setting Drive Variable Parameters: Click the

Danaher Motion Kollmorgen 08/04 System Communication SERVOSTAR S Installation M-SS-001-01 Rev. T 51 5.5.2 MAIN MOTIONLINK SCREEN This screen appea

Table of Contents 08/04 Danaher Motion Kollmorgen ii M-SS-001-01 Rev. T SERVOSTAR S Installation 4.9.2 Resolver Feedback Diagram...

System Communication 08/04 Danaher Motion Kollmorgen 52 M-SS-001-01 Rev. T SERVOSTAR S Installation Restoring Factory Variable Parameters: To res

Danaher Motion Kollmorgen 08/04 System Communication SERVOSTAR S Installation M-SS-001-01 Rev. T 53 Saving Variable Parameters to EEPROM At the pr

System Communication 08/04 Danaher Motion Kollmorgen 54 M-SS-001-01 Rev. T SERVOSTAR S Installation 5.7 Power-Up Sequence Upon powering up, the S

Danaher Motion Kollmorgen 08/04 SERCOS Interface Setup SERVOSTAR S Installation M-SS-001-01 Rev. T 55 6 SERCOS INTERFACE SETUP The SERVOSTAR S-Se

SERCOS Interface Setup 08/04 Danaher Motion Kollmorgen 56 M-SS-001-01 Rev. T SERVOSTAR S Installation The maximum and minimum cable lengths may b

Danaher Motion Kollmorgen 08/04 SERCOS Interface Setup SERVOSTAR S Installation M-SS-001-01 Rev. T 57 6.3 Connection The mating connector selected

SERCOS Interface Setup 08/04 Danaher Motion Kollmorgen 58 M-SS-001-01 Rev. T SERVOSTAR S Installation 6.4.1 DRIVE CONFIGURATION Before you can be

Danaher Motion Kollmorgen 08/04 SERCOS Interface Setup SERVOSTAR S Installation M-SS-001-01 Rev. T 59 6.4.2.1. CP2 Initialization IDN 18 contains

SERCOS Interface Setup 08/04 Danaher Motion Kollmorgen 60 M-SS-001-01 Rev. T SERVOSTAR S Installation 6.4.2.4. Equation Notes 1. Cnts = the num

Danaher Motion Kollmorgen 08/04 System Operation SERVOSTAR S Installation M-SS-001-01 Rev. T 61 7 SYSTEM OPERATION The SERVOSTAR has a seven-segme

Danaher Motion Kollmorgen 08/04 Table of Contents SERVOSTAR S Installation M-SS-001-01 Rev. T iii 6.4.2.1. CP2 Initialization...

System Operation 08/04 Danaher Motion Kollmorgen 62 M-SS-001-01 Rev. T SERVOSTAR S Installation 7.1 Operational Modes The SERVOSTAR has the abili

Danaher Motion Kollmorgen 08/04 System Operation SERVOSTAR S Installation M-SS-001-01 Rev. T 63 7.2.1 ANALOG INPUT (ANIN) The position, velocity,

System Operation 08/04 Danaher Motion Kollmorgen 64 M-SS-001-01 Rev. T SERVOSTAR S Installation 7.2.2 REMOTE ENABLE INPUT (REMOTE) The opto-isola

Danaher Motion Kollmorgen 08/04 System Operation SERVOSTAR S Installation M-SS-001-01 Rev. T 65 7.2.5 FAULT OUTPUT RELAY (RELAY, RELAYMODE) The SE

System Operation 08/04 Danaher Motion Kollmorgen 66 M-SS-001-01 Rev. T SERVOSTAR S Installation 7.3 Control loops This section describes the serv

Danaher Motion Kollmorgen 08/04 System Operation SERVOSTAR S Installation M-SS-001-01 Rev. T 67 7.3.2.1. Current Loop Since current and torque ar

System Operation 08/04 Danaher Motion Kollmorgen 68 M-SS-001-01 Rev. T SERVOSTAR S Installation The difference between actual and desired velocit

Danaher Motion Kollmorgen 08/04 System Operation SERVOSTAR S Installation M-SS-001-01 Rev. T 69 In this mode of operation, the drive can also acce

System Operation 08/04 Danaher Motion Kollmorgen 70 M-SS-001-01 Rev. T SERVOSTAR S Installation 7.3.3.2. Analog Torque The SERVOSTAR can be ofte

Danaher Motion Kollmorgen 08/04 System Operation SERVOSTAR S Installation M-SS-001-01 Rev. T 71 7.3.4 CURRENT SAMPLING The current loop receives c

Table of Contents 08/04 Danaher Motion Kollmorgen iv M-SS-001-01 Rev. T SERVOSTAR S Installation 8.1.10 Monitoring and Troubleshooting Tools ...

System Operation 08/04 Danaher Motion Kollmorgen 72 M-SS-001-01 Rev. T SERVOSTAR S Installation 7.4.2 MOTOR FOLDBACK This FoldBack algorithm is d

Danaher Motion Kollmorgen 08/04 System Operation SERVOSTAR S Installation M-SS-001-01 Rev. T 73 7.6.1 THE PROCESS 1. Disable the drive. 2. Selec

System Operation 08/04 Danaher Motion Kollmorgen 74 M-SS-001-01 Rev. T SERVOSTAR S Installation 7.7.1 THE PROCESS During calibration, the motor i

Danaher Motion Kollmorgen 08/04 System Description SERVOSTAR S Installation M-SS-001-01 Rev. T 75 8 SYSTEM DESCRIPTION The SERVOSTAR S is a digita

System Description 08/04 Danaher Motion Kollmorgen 76 M-SS-001-01 Rev. T SERVOSTAR S Installation − Automatic control loop tuning through the au

Danaher Motion Kollmorgen 08/04 System Description SERVOSTAR S Installation M-SS-001-01 Rev. T 77 − Dual-loop mode (DUALFB) capable of positionin

System Description 08/04 Danaher Motion Kollmorgen 78 M-SS-001-01 Rev. T SERVOSTAR S Installation 8.1.6 FEEDBACK DEVICES Device zeroing mode that

Danaher Motion Kollmorgen 08/04 System Description SERVOSTAR S Installation M-SS-001-01 Rev. T 79 − Interface through Danaher Motion’s MOTIONLINK

System Description 08/04 Danaher Motion Kollmorgen 80 M-SS-001-01 Rev. T SERVOSTAR S Installation − Extensive on-line help file (F1) designed to

Danaher Motion Kollmorgen 08/04 System Description SERVOSTAR S Installation M-SS-001-01 Rev. T 81 8.1.11 FAULT AND SAFETY DETECTION − General fau

Danaher Motion Kollmorgen 08/04 Read Before Installing SERVOSTAR S Installation M-SS-001-01 Rev. T 1 1 READ BEFORE INSTALLING These installation

System Description 08/04 Danaher Motion Kollmorgen 82 M-SS-001-01 Rev. T SERVOSTAR S Installation 8.2 BUS Module The SERVOSTAR family includes a

Danaher Motion Kollmorgen 08/04 Troubleshooting SERVOSTAR S Installation M-SS-001-01 Rev. T 83 9 TROUBLESHOOTING Technical papers and publications

Troubleshooting 08/04 Danaher Motion Kollmorgen 84 M-SS-001-01 Rev. T SERVOSTAR S Installation 9.2 Error Codes In most cases, the SERVOSTAR commu

Danaher Motion Kollmorgen 08/04 Troubleshooting SERVOSTAR S Installation M-SS-001-01 Rev. T 85 Status Disp. Fault Message Possible Cause Err # A

Troubleshooting 08/04 Danaher Motion Kollmorgen 86 M-SS-001-01 Rev. T SERVOSTAR S Installation Error Message Possible Cause Err # O1RST out of

Danaher Motion Kollmorgen 08/04 Troubleshooting SERVOSTAR S Installation M-SS-001-01 Rev. T 87 Error Message Possible Cause Err # Use Lower Band

Troubleshooting 08/04 Danaher Motion Kollmorgen 88 M-SS-001-01 Rev. T SERVOSTAR S Installation Display Fault Description Fatal Non-Fatal Flashi

Danaher Motion Kollmorgen 08/04 Troubleshooting SERVOSTAR S Installation M-SS-001-01 Rev. T 89 Bus OverVoltage An over-voltage condition shuts dow

Troubleshooting 08/04 Danaher Motion Kollmorgen 90 M-SS-001-01 Rev. T SERVOSTAR S Installation Non-volatile memory (EEPROM) Non-volatile memory (

Danaher Motion Kollmorgen 08/04 Appendix A SERVOSTAR S Installation M-SS-001-01 Rev. T 91 APPENDIX A A.1 Motor Pinouts The SERVOSTAR S product fam