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Product ManualEdition 09/2006Valid for Hardware Revision 02.01SERVOSTAR®300Digital Servo AmplifierKeep all manuals as a product componentduring the li

2.2 Use as directedServo amplifiers are components that are built into electrical plant or machines, and canonly be operated as integral components of

10.2 Accessories10.2.1 External power supply 24 V DC / 5 ATechnical data (not available in North America)Input voltage 120 / 230 VInput current 0.9 /

10.2.2 External power supply 24 V DC / 20 ATechnical data(not available inNorth America)Input voltage 3 x 400 V AC ± 10%Input current approx. 1.1 AFre

10.2.3 External regen resistor BAR(U)Caution:The surface temperature can exceed200°C. Make sure that the necessaryspace is kept clear.Do not mount the

10.2.4 Motor chokes 3YLNTo use with motor cables longer than 25 m up to 50 m max. to reduce velocity ripple andto protect the output power stage of th

11 Appendix11.1 GlossaryC Clock Clock signalCommon-mode voltage The maximum amplitude of a disturbance (on bothinputs) which a differential input can

O Optocoupler Optical connection between two electricallyindependent systemsP P-controller Control loop with purely proportional behaviorPhase shift C

11.2 Order codes11.2.1 Servo amplifier, expansion cardsArticle EU order code US order codeSERVOSTAR 303S30361-NA*SERVOSTAR 306S30661-NA*SERVOSTAR 310S

11.2.4 Feedback cables with connectorsArticle EU order code US order codeResolver cable 5m (4x(2x0.25))DE-84972Refer to informationin the US brochure,

11.3 Index108 SERVOSTAR®300 Product ManualAppendix 09/2006 Kollmorgen! 24V aux. supply, interface ...40A ACURO (BISS), interface ...46AGND .

This page has been deliberately left blank.SERVOSTAR®300 Product Manual 109Kollmorgen 09/2006 Appendix

3 Standards3.1 European Directives and StandardsServo amplifiers are components that are intended to be incorporated into electrical plantand machines

Sales and ServiceWe are committed to quality customer service. In order to serve in the most effective way,please contact your local sales representat

3.4 Approvals3.4.1 CE conformanceConformance with the EC EMC Directive 89/336/EEC and the Low Voltage Directive73/23/EEC is mandatory for the supply o

4 Handling4.1 TransportlTransport by qualified personnel in the manufacturer’s original recyclable packaginglAvoid shocks while transportinglTransport

5 Package5.1 Package suppliedWhen you order an amplifier from the SERVOSTAR 300 series (order numbers ð p.106),you will receive:— SERVOSTAR 3xx— matin

6 Technical description6.1 The SERVOSTAR 300 family of digital servo amplifiersStandard versionlTwo voltage classes with large nominal voltage range1

Integrated safetylAppropriate insulation/creepage distances and electrical isolation ensure safe electri-cal separation, as per EN 50178, between the

6.2 Connection to various electrical supply networksThis page illustrates all the possible connection variations for different electrical supplynetwor

6.3 Components of a servo system18 SERVOSTAR®300 Product ManualTechnical description 09/2006 Kollmorgen24V PSUFusesDrive cut-outTerminalsMotorSERVOSTA

6.4 Technical data6.4.1 Technical data for 110/230 V (types S3_ _6_)SERVOSTARRated data DIM 303 306 310Order Code — S30361 S30661 S31061Rated supply v

Record of Document Revisions:Revision Remarks06/04 First edition04/05 Restart lock -AS-, UL-listing, new pinning for X8, several corrections04/05a ord

6.4.2 Technical data for 400/480 V (types S3_ _0_)SERVOSTARRated data DIM 341 343 346Order Code — S30101 S30301 S30601Rated supply voltage(grounded su

6.4.3 Inputs / outputsAnalog inputs 1, 2 (resolution 14/12 bit) V±10Max. common-mode voltage V±10Digital control inputs V as per EN 61131-2 Type 1, ma

6.4.6 Permissible ambient conditions, ventilation, mounting positionStorage hintsð p.13Transport hintsð p.13Supply voltageAuxiliary voltagewithout bra

6.6 Control circuit for motor-holding brakeA 24V / max.1.5A holding brake in the motor can be controlled directly by the amplifier.Check voltage drop,

6.7 Grounding systemAGND — analog inputs, internal analog ground, encoder emulation, RS232, CANDGND — digital inputs/outputs and the 24V supply, optic

Technical Data:Regen circuit Supply voltageRated data Dim. 110 V 230 V 400 V 480 V303(S30361)Switch-on (upper) threshold of regen circuit V 200 400—Ov

6.9 Switch-on and switch-off behaviorThe diagram below illustrates the correct functional sequence for switching the servoamplifier on and off.6.9.1 S

6.9.2 Emergency Stop strategiesThe Emergency Stop function is defined in EN 60204 (VDE 0113), Para. 9.2.5.4.Implementation of the Emergency Stop funct

7 Mechanical Installation7.1 Important noteslProtect the servo amplifier from impermissible stresses. In particular, do not let anycomponents become b

7.3 AssemblyMaterial:3xM5hexagon socket screws to DIN 912Tool required:4mmAllen keySERVOSTAR®300 Product Manual 29Kollmorgen 09/2006 Mechanical Instal

1 General1.1 About this manual ... 71.2 Hints for the online edition (PDF format)

7.4 Dimensions30 SERVOSTAR®300 Product ManualMechanical Installation 09/2006 KollmorgenSERVOSTAR 303...310SERVOSTAR 341...346Fan with 6A and 10A types

8 Electrical installation8.1 Important noteslCheck the combination of servo amplifier and motor. Compare the rated voltage andcurrent of the units. Im

8.2 Guide to electrical installationThe following notes should help you to carry out the electrical installation in a sensiblesequence, without overlo

8.3 Wiring8.3.1 Important NotesOnly professional staff who are qualified in electrical engineering are allowed toinstall the servo amplifier.The insta

8.3.2 Shielding connection to the front panel34 SERVOSTAR®300 Product ManualElectrical installation 09/2006 KollmorgenRemove the outside shroud of the

8.3.3 Technical data for connecting cablesFurther information on the chemical, mechanical and electrical characteristics of thecables can be obtained

8.4 Block diagramThe block diagram below just provides an overview.36 SERVOSTAR®300 Product ManualElectrical installation 09/2006 Kollmorgen

8.5 Connector assignmentsSERVOSTAR®300 Product Manual 37Kollmorgen 09/2006 Electrical installationÞ p. 43Þ p. 45Þ p. 45The connectors of the expansion

8.6 Connection diagram (Overview)38 SERVOSTAR®300 Product ManualElectrical installation 09/2006 Kollmorgenð p.58ð p.59ð p.39ð p.40ð p.41ð p.41ð p.42ð

8.7 Electrical supply8.7.1 Mains electrical supply connection (X0)8.7.1.1 Three phase— Directly to 3-phase supply network, filter is integrated— Fusin

8.10 Feedback ... 428.10.1 Resolver (X2) ...

8.7.2 24V auxiliary supply (X4)— External 24V DC power supply, electrically isolated, e.g. via an isolating transformer— Required current rating ð p.1

8.8 Motor connection with brake (X9)Cable length £ 25 metersCable length >25 metersFor cable lengths above 25m up to max. 50m, the motor choke 3YLN

8.10 FeedbackFeedback system Conn. See RemarksResolver X2 p. 42 2 to 36 polesComCoder X1 p. 43 A, B, zero, HallIncremental or Sine Encoder with Hall X

8.10.2 ComCoder (X1)As an option our motors can be equipped with a ComCoder as feedback unit. For thecommutation hall sensors are used and for the res

8.10.3 Incremental or Sine Encoder with hall sensors (X1)Feedback devices (incremental or sine-cosine), which don't deliver an absolute informa-t

8.10.4 Sine Encoder with EnDat 2.1 or HIPERFACE (X1)As an option, our servomotors can be fitted with a single-turn or multi-turn sine-cosineencoder. P

8.10.5 ACURO encoder, BISS interface (X1)As an option, our servomotors can be fitted with a single-turn or multi-turn ACURO enco-der with BISS interfa

8.10.6 Incremental Encoder (X5)An incremental encoder can be used as standard motor feedback.Select feedback type 19 "ROD 5V with W&S".

8.10.7 Sine Encoder without data channel (X1)An sine-cosine encoder without data channel can be used as standard motor feedback.Select feedback type 7

8.11 Digital and analog inputs and outputs8.11.1 Analog inputs (X3)The servo amplifier is fitted with two programmable differential inputs for analog

10 Expansions and Accessories10.1 Expansion Cards ... 8510.1.1 Guide to installati

8.11.2 Digital inputs (X3/X4)All digital inputs are electrically isolated via optocouplers.Technical characteristics— Ground reference is Digital-GND

8.11.3 Digital outputs (X3)Technical characteristics— Ground reference is Digital-GND (DGND, terminals X4/3 and X4/4)— All digital outputs are floatin

8.12 Encoder emulation8.12.1 Incremental encoder output - A quad B (X5)The incremental-encoder interface is part of the standard package. Select encod

8.12.2 SSI output (X5)The SSI interface (synchronous serial absolute-encoder emulation) is part of the standardpackage. Select encoder function SSI (“

8.13 Master-slave operation, encoder master controlThis interface can be used to link several SERVOSTAR 300 amplifiers together in mas-ter-slave opera

8.13.2 Connection to incremental encoder master with 24 V signal level (X3)This interface can be used to operate the SERVOSTAR as a slave, mastered by

8.14 Interface for stepper motor controllers (step and direction)This interface can be used to connect the servo amplifier to a third-party stepper-mo

8.14.1 Connection to a stepper controller with 5 V signal level (X5)This interface can be used to connect the servo amplifier to a stepper-motor contr

8.15 RS232 interface, PC connection (X6)Operating, position control, and motion-block parameters can be set up by using thesetup software on an ordina

8.16 CANopen interface (X6)The interface for connection to the CAN-bus (default : 500 kBaud). The integrated profileis based on the CANopen DS301 comm

This page has been deliberately left blank.6 SERVOSTAR®300 Product Manual09/2006 Kollmorgen

8.17 Personnel safe restart lock -AS-A frequently required application task is the protection of personnel against the restartingof drives. This can b

8.17.4 Functional descriptionIf the restart lock -AS- is not needed, then the input AS-ENABLE must be connecteddirectly with +24VDC. The restart lock

8.17.4.1 Signal diagram (sequence)The diagram shows how to use restart lock -AS- to ensure a safe stop of the drive anderror free operation of the ser

8.17.4.2 Control circuitThe example shows a circuit diagram with two separated work areas connected to oneemergency stop circuit. For each work area i

8.17.4.3 Functional testWith initial starting and after each interference into the wiring of the drive or afterexchange of one or several components o

9 Setup9.1 Important notesOnly professional personnel with extensive knowledge in the fields of electricalengineering and drive technology are allowed

9.2 Setup software9.2.1 GeneralThis chapter describes the installation of the setup software DRIVEGUI.EXE for theSERVOSTAR 300 digital servo amplifier

SERVOSTAR®300 Product Manual 67Kollmorgen 09/2006 Setup9.2.1.3 Hardware requirementsThe PC interface (X6, RS232) of the servo amplifier is connected t

9.3 Quickstart9.3.1 Preparation9.3.1.1 Unpacking, Mounting and Wiring the Servo Amplifier1. Unpack servo amplifier and accessories2. Observe safety in

9.3.1.3 Minimum Wiring for Drive TestThis wiring does not fulfill any requirements to safety or functionality of yourapplication, it just shows the re

1 General1.1 About this manualThis manual describes the SERVOSTAR®300 series of digital servo amplifiers(standard version: 1.5A ...10A rated current).

9.3.2 ConnectlConnect the interface cable to a serial interface on your PC and to the serial interfaceX6 of the servo amplifier. USB to serial convert

If communication works, you see the start screen. Select "Setup Wizard" in the navigationframe.Make sure, that the amplifier is disabled (In

9.3.4 Setup WizardThe Setup Wizard leads you through the necessary steps for configuring your servoamplifier. Depending on the selected application, o

9.3.4.2 Units/MechanicalThe user units for all in-put fields in the setupsoftware can be prese-lected here.Position, Velocity, AccelerationSelect usab

9.3.4.3 Motor (rotary) / FeedbackSimplified setting of themotor related parameters.Feedback: Select the feedback system used in the motor.Attention: R

9.3.4.5 Save Parameters and RestartYou are going to finish the Setup Wizard and you have changed several basic parame-ters. Depending on the parameter

9.3.6 More Setup ScreensObserve the safety instructions in the manuals and in the online help before youchange parameters in the additional setup scre

9.4 Multi-axis systems9.4.1 Station address for CAN-busDuring setup it makes sense to use the keypad on the front panel to preset the stationaddresses

9.5.2 Status display9.5.3 Standard menu78 SERVOSTAR®300 Product ManualSetup 09/2006 Kollmorgenð p.77

9.5.4 Advanced menuTo operate the amplifier via the detailed menu, you must keep the right key pressed whileswitching on the 24 V supply.SERVOSTAR®300

1.4 Abbreviations usedThe abbreviations used in this manual are explained in the table below.Abbrev. MeaningAGND Analog groundAS Restart lock, optionB

9.6 Error messagesAny errors that occur are shown in coded form by an error number in the LED display onthe front panel. All error messages result in

9.7 Warning messagesFaults which occur, but which do not cause a switch-off of the amplifier output stage(BTB/RTO contact remains closed), are indicat

9.8 Trouble ShootingThe table below should be regarded as a “First-aid” box. There may be a wide variety ofreasons for the fault, depending on the con

Fault Possible causes MeasuresF13 message:Internal temp.— permissible internal temperaturehas been exceeded— improve ventilationF14 message:Output sta

Fault Possible causes MeasuresDrive runsroughly— Kp (speed controller) too high— Tn (speed controller) too low— ARLPF / ARHPF too low— ARLP2 too low—

10 Expansions and AccessoriesYou can find information about availability and order numbers on page 106.10.1 Expansion Cards10.1.1 Guide to installatio

10.1.2 Expansion card -I/O-14/08-This section describes the additional features that the expansion card -I/O-14/08- provi-des for the SERVOSTAR 300. I

10.1.2.5 Connector assignmentsThe functions are adjustable with the setup software. In the table below the default valuesare described.Connector X11AP

10.1.2.6 Connection diagram88 SERVOSTAR®300 Product ManualExpansions and Accessories 09/2006 KollmorgenSERVOSTAR 300

10.1.3 Expansion card -PROFIBUS-This section describes the PROFIBUS expansion card for the SERVOSTAR 300.Information on the range of functions and the

2 Safety2.1 Safety InstructionslOnly properly qualified personnel are permitted to carry out activities such astransport, installation, commissioning

10.1.4 Expansion card -SERCOS-This section describes the SERCOS expansion card for SERVOSTAR 300. Informationon the range of functions and the softwar

10.1.4.4 Connection diagramLayout of the SERCOS bus system in ring topology, with optical fiber cables (schematic).10.1.4.5 Modifying the station addr

10.1.5 Expansion card -DEVICENET-This section describes the DeviceNet expansion card for SERVOSTAR 300.Information on the range of functions and the s

10.1.5.4 Combined module/network status-LEDLED MeaningoffThe device is not online.- The device has not yet finished the Dup_MAC_ID test.- The device i

10.1.5.7 Bus cableTo meet ISO 898, a bus cable with a characteristic impedance of 120 W should be used.The maximum usable cable length for reliable co

10.1.6 Expansion card -ETHERCAT-This section describes the EtherCat expansion card for SERVOSTAR 300.Information on the range of functions and the sof

10.1.7 Expansion card -SYNQNET-This section describes the SynqNet expansion card for SERVOSTAR 300.Information on the range of functions and the softw

10.1.7.5 Digital inputs/outputs, connector X21A (SubD 15-pin, socket)Inputs (In): 24V (20...28V), opto-isolated, one high-speed input (Pin 4)Outputs (

10.1.8 Expansion module -2CAN-Connector X6 of the SERVOSTAR is assigned to the signals for the RS232 interface andthe CAN interface. It is therefore n

10.1.8.4 Connector assignmentsRS232 CAN1=CAN2X6A Pin Signal X6B=X6C Pin Signal1 Vcc 12 RxD 2 CAN-Low3 TxD 3 CAN-GND445 GND 5667 7 CAN-High889910.1.8.5