KOLLMORGEN 640,670 Installation Manual

Assembly, Installation, Setup

Edition 06/02

file 640670hw.xxx

EU order.No.: 91978

NA: M-SS-015-0107

Digital servo amplifier

®

SERVOSTAR

640/670

Previous versions :

Edition Remarks

07/99 First edition
11/99 technical data, encoder connection diagram
12/99 encoder cable length

10/00

05/01 some UL/cUL related hints

01/02

06/02

Dimensions mains filter, setup software on CD-ROM only, wiring diagrams electr. gearing, warning and error messages,
recommended torque, various corrections

-Options -I/O-14/08- and -2CAN - incorporated, hardware-description incorporated for PROFIBUS and SERCOS,
nameplate, motor list and connector assignment corrected, LED-display corrected, error messages expanded,
Regen resistor BAR replaced by BAS type
Front page new design, corrections to US english, motor table removed, order numbers added,
last page new design and contents, new: connection to diff. mains supply networks, block diagram to ch.III

PC-AT is a registered trademark of International Business Machines Corp.

MS-DOS is a registered trademark of Microsoft Corp.

WINDOWS is a registered trademark of Microsoft Corp.

HIPERFACE is a registered trademark of Max Stegmann GmbH

EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH

SERVOSTAR is a registered trademark of Kollmorgen Corporation.

Manufactured under one or more of the following US patents:

4,434,389 4,447,771 4,456,934 4,463,299 4,479,078
4,490,661 4,504,755 4,508,988 4,532,461 4,538,080

4,541,575 4,543,520 4,551,646 4,559,485 4,562,399
4,572,999 4,579,012 4,633,151 4,644,199 4,647,824
4,661,756 4,670,696 4,675,547 4,679,313 4,682,093
4,686,437 4,698,537 4,729,160 4,763,049 4,763,056
4,763,057 4,733,149 4,782,272 4,797,592 4,857,816

4,868,475 4,868,970 4,912,381 4,926,063 4,935,080
4,943,760 4,954,739 4,992,716 5,051,634 5,144,183
5,173,651 5,194,786 5,399,908 5,435,517 5,530,396
5,574,636 5,606,791 5,625,265 5,633,793 5,646,467
5,715,590 5,736,916 5,739,648 5,754,732 5,789,841

5,829,118 5,912,638 5,949,202 5,949,359 5,998,905
6,002,234

Technical changes which improve the performance of the equipment may be made without prior notice !

Printed in the Federal Republic of Germany

All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying, microfilm or any other method)

or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen Seidel Corporation.

Seidel

Contents

06/02 Contents

Drawing Page

Contents ...............................................3

Safety instructions ........................................6

European directives and standards .............................7

- / UL- conformance ......................................7

Abbreviations and symbols...................................8

I General

I.1 About this manual ...................................................................................9

I.2 Prescribed use (Use as directed) of the servo amplifier .....................................................10

I.3 Nameplate........................................................................................11

I.4 Instrument description...............................................................................11

I.4.1 Package supplied ............................................................................11

I.4.2 The digital servo amplifiers of the series SERVOSTAR 640/670 ........................................12

I.4.3 Operation directly from supply...................................................................12

I.4.4 Digital servo amplifier concept...................................................................13

I.5 Connection to different mains supply networks ...........................................................14

I.6 Components of a servo system .......................................................................15

I.7 Technical data of the SERVOSTAR 640/670 .............................................................16

I.7.1 External fusing...............................................................................16

I.7.2 Allowable ambient conditions, ventilation, mounting position ...........................................17

I.7.3 Conductor cross-sections ......................................................................17

I.7.4 Recommended torques ........................................................................17

I.7.5 LED display .................................................................................17

I.8 Grounding system..................................................................................18

I.9 Control for motor-holding brake .......................................................................18

I.10 Regen circuit ......................................................................................19

I.11 Switch-on and switch-off behavior .....................................................................20

I.11.1 Stop function to EN 60204 (VDE 0113)............................................................20

I.11.2 Emergency Stop strategies .....................................................................21

I.12 Restart lock -AS-...................................................................................22

I.12.1 Advantages of the restart lock ...................................................................22

I.12.2 Functional description .........................................................................22

I.12.3 Block diagram ...............................................................................23

I.12.4 Signal diagram (sequence) .....................................................................23

I.12.5 Installation / Setup ............................................................................24

I.12.5.1 Safety instructions ........................................................................24

I.12.5.2 Functional test ...........................................................................24

I.12.5.3 Connection diagram.......................................................................24

I.12.6 Application examples..........................................................................25

I.12.6.1 Moving single axes or axis-groups in setting-up operation .........................................25

I.12.6.2 Switching off grouped axes with separate working areas ..........................................25

I.12.6.2.1 Control circuit.......................................................................25

I.12.6.2.2 Mains supply circuit ..................................................................26

- A.4.028.6/10

- A.4.038.1/12

- A.4.031.3/01, A.4.038.1/10

- A.4.038.3/01

- A.4.031.1/32,30

- A.4.031.1/30

- A.4.031.1/31

- A.4.031.3/05

II Installation

II.1 Important instructions ...............................................................................27

II.2 Assembly ........................................................................................28

II.2.1 Dimensions of SERVOSTAR 640/670.............................................................29

II.3 Wiring ...........................................................................................30

II.3.1 Connection diagram for SERVOSTAR 640/670 .....................................................32

II.3.2 Example of connections for multi-axis system ......................................................33

II.3.3 Pin assignments for SERVOSTAR 640/670 ........................................................34

II.3.4 Notes on connection techniques .................................................................35

II.3.4.1 Shielding connection to the front panel ........................................................35

II.3.4.2 Technical data for connecting cables..........................................................36

II.4 Setup software ....................................................................................37

II.4.1 General ....................................................................................37

II.4.1.1 Use as directed ..........................................................................37

II.4.1.2 Software description ......................................................................37

II.4.1.3 Hardware requirements ....................................................................38

II.4.1.4 Operating systems ........................................................................38

II.4.2 Installation under WINDOWS 95 / 98 / 2000 / ME / NT ................................................38

- A.4.038.4/12

- A.4.038.4/07

- A.4.038.1/03

- A.4.038.1/04

- A.4.038.4/13

- A.4.029.4/25

SERVOSTAR®640 / 670 Installation Manual 3

Contents

06/02 Seidel

Drawing Page

III Interfaces

Contents

- A.4.038.1/09

III.1 Power supply .....................................................................................40

III.1.1 Mains supply connection (X0) ..................................................................40

III.1.2 24V auxiliary supply (X4).......................................................................40

III.1.3 DC-link (X7) .................................................................................40

- A.4.038.1/ 05, 06

III.2 Motor connection with brake (X0, X4) ...................................................................41

III.3 External regen resistor (X0) ..........................................................................41

- A.4.038.1/07, 08

III.4 Feedback ........................................................................................ 42

III.4.1 Resolver connection (X2) ......................................................................42

III.4.2 Encoder (X1) ................................................................................43

- A.4.031.1/26

- A.4.031.1/27

III.5 Control signals, monitor signals .......................................................................44

III.5.1 Analog setpoint inputs (X3) .....................................................................44

III.5.2 Monitor outputs (X3) ..........................................................................45

III.5.3 Digital control inputs (X3) ......................................................................46

III.5.4 Digital control outputs (X3) .....................................................................47

- A.4.031.1/23

- A.4.031.1/22

- A.4.031.1/24

- A.4.031.1/20

III.6 Encoder simulations ................................................................................48

III.6.1 Incremental encoder simulation - A quad B position output (X5) ........................................48

III.6.2 SSI encoder simulation - position output (X5) .......................................................49

- A.4.031.1/11

- A.4.031.1/12

III.6.3 Interface for master-slave operation, encoder input ..................................................50

III.6.3.1 Connection to a SERVOSTAR master, 5V signal level (X5) ........................................50

III.6.3.2 Connection to encoders with 24V signal level (X3) ...............................................51

III.6.3.3 Connection to a sine-cosine encoder (X1) ......................................................51

III.7 Interface for stepper-motor controls (pulse-direction) .......................................................52

- A.4.031.1/44,43

- A.4.031.3/02

III.7.1 Connection to stepper-motor controller with 5V signal level (X5)........................................53

III.7.2 Connection to stepper-motor controller with 24V signal level (X3).......................................53

III.8 RS232 interface, PC connection (X6) ...................................................................54

III.9 CANopen Interface (X6) .............................................................................55

- A.4.031.1/10,4

- A.4.031.1/13,1

- A.4.031.1/15, 36

IV Setup

IV.1 Important notes ....................................................................................57

IV.2 Parameter setting ..................................................................................59

IV.2.1 Multi-axis systems ............................................................................59

IV.2.1.1 Node address for CAN-bus .................................................................59

IV.2.1.2 Baud rate for CAN-bus.....................................................................59

IV.2.2 Key operation / LED display ....................................................................60

IV.2.2.1 Key operation............................................................................60

IV.2.2.2 Status display............................................................................60

IV.2.2.3 Standard menu structure ...................................................................61

IV.2.2.4 Extended menu structure...................................................................61

IV.3 Error messages....................................................................................62

IV.4 Warning messages .................................................................................63

- A.4.038.4/11

- A.4.031.3/04, 09

- A.4.031.3/03, 08

4 SERVOSTAR®640 / 670 Installation Manual

Seidel

06/02 Contents

Drawing Page

V Extensions / Accessories

Contents

V.1 Expansion card -I/O-14/08- ...........................................................................65

V.1.1 Fitting the expansion card ......................................................................65

V.1.2 Technical data ...............................................................................65

V.1.3 Light emitting diodes (LEDs) ....................................................................65

V.1.4 Position of the connectors ......................................................................66

- A.4.038.4/27

V.1.5 Connector assignments ........................................................................67

V.1.6 Select motion task number (Sample) .............................................................67

V.1.7 Connection diagram ..........................................................................68

A.4.031.1/39

V.2 Expansion card -PROFIBUS- .........................................................................69

V.2.1 Position of the connectors ......................................................................69

V.2.2 Fitting the expansion card ......................................................................69

- A.4.038.4/26

V.2.3 Connection technology ........................................................................70

V.2.4 Connection diagram ..........................................................................70

- A.4.031.1/41

V.3 Expansion card -SERCOS-...........................................................................71

V.3.1 Position of the connectors ......................................................................71

V.3.2 Fitting the expansion card ......................................................................71

- A.4.038.4/25

V.3.3 Light emitting diodes (LEDs) ....................................................................72

V.3.4 Connection technology ........................................................................72

V.3.5 Connection diagram ..........................................................................72

- A.4.038.4/24

V.4 Expansion module -2CAN- ...........................................................................73

V.4.1 Position of the connectors ......................................................................73

V.4.2 Fitting the expansion module ....................................................................73

- A.4.038.4/22

V.4.3 Connection technology ........................................................................74

V.4.4 Connector assignments ........................................................................74

V.4.5 Connection diagram ..........................................................................74

- A.4.038.4/23

V.5 Accessories.......................................................................................75

V.5.1 External 24VDC / 5A supply ....................................................................75

V.5.2 External 24VDC / 20A supply ...................................................................76

V.5.3 External regen resistor BAS ....................................................................77

V.5.4 Mains filters .................................................................................78

V.5.5 Mains chokes................................................................................79

- A.4.037.4/07

- A.4.012.4/33

- A.4.947.4/24

- A.4.038.4/14

- A.4.030.4/12

VI Appendix

VI.1 Transport, storage, maintenance, disposal...............................................................81

VI.2 Removing faults/warnings............................................................................82

VI.3 Glossary .........................................................................................84

VI.4 Order numbers ....................................................................................86

VI.5 Index ............................................................................................87

SERVOSTAR®640 / 670 Installation Manual 5

Safety instructions

Safety Instructions

06/02 Seidel

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Only properly qualified personnel are permitted to perform activities such as
transport, installation, setup and maintenance. Properly qualified persons
are those who are familiar with the transport, assembly, installation, setup

and operation of the product, and who have the appropriate qualifications
for their job. The qualified personnel must know and observe:

IEC 364 and CENELEC HD 384 or DIN VDE 0100
IEC-Report 664 or DIN VDE 0110

national accident prevention regulations or BGV A2

Read this documentation before carrying out installation and setup.
Incorrect handling of the servo amplifier can lead to personal injury or

material damage. It is vital that you keep to the technical data and
information on connection requirements (on the nameplate and in the
documentation).

The manufacturer of the machine must generate a hazard analysis for the
machine, and take appropriate measures to ensure that unforeseen
movements cannot cause injury or damage to any person or property.

The servo amplifiers contain electrostatically sensitive components which
may be damaged by incorrect handling. Ground yourself before touching the

servo amplifier by touching any unpainted metal surface. Avoid contact with
highly insulating materials (artificial fabrics, plastic film etc.). Place the

servo amplifier on a conductive surface.

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Do not open the units. Keep all covers and switchgear cabinet doors closed
during operation. Otherwise there are deadly hazards, with the possibility of
severe danger to health or material damage.

During operation, servo amplifiers, according to their degree of enclosure
protection, may have uncovered live components. Control and power
connections may be live, even if the motor is not rotating.

Servo amplifiers may have hot surfaces during operation.

Never undo the electrical connections to the servo amplifier while it is live.
There is a danger of electric arcing with damage to contacts and danger to
persons.

Wait at least five minutes after disconnecting the servo amplifier from the
mains supply voltage before touching live sections of the equipment (e.g.

contacts) or undoing connections. Capacitors can still have dangerous
voltages present up to five minutes after switching off the supply voltages.

To be sure, measure the voltage in the DC-link circuit and wait until it has
fallen below 40V.

Safety instructions

6 SERVOSTAR®640 / 670 Installation Manual

Seidel

European directives and standards

Servo amplifiers are components which are intended to be incorporated into electrical plant and machines for
industrial use.
When the servo amplifiers are built into machines or plant, the intended operation of the amplifier is forbidden
until it has been established that the machine or plant fulfills the requirements of the EC Directive on Machines

98/37/EC and the EC Directive on EMC (89/336/EEC). EN 60204 and EN 292 must also be observed.

06/02 Directives and standards

The manufacturer of the machine must generate a hazard analysis for the machine, and take appropri
ate measures to ensure that unforeseen movements cannot cause injury or damage to any person or

property.

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 laying out of cabling - can be found in this documenta
tion.

- conformance

Conformance with the EC Directive on EMC 89/336/EEC and the Low Voltage Directive 73/23/EEC is manda
tory for the supply of servo amplifiers within the European Community.
The servo amplifiers of the SERVOSTAR 640/670 series have been tested by an authorized testing laboratory
in a defined configuration with the system components which are described in this documentation. Any diver

gence from the configuration and installation described in this documentation means that you will be responsi
ble for the performance of new measurements to ensure that the regulatory requirements are met.

UL and cUL- Conformance

UL (cUL)-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S. and Canadian stan
dard (in this case UL 840 and UL 508C).

This standard describes the fulfilment by design of minimum requirements for electrically operated power con
version equipment, such as frequency converters and servo amplifiers, which is intended to eliminate the risk
of fire, electric shock, or injury to persons, being caused by such equipment. The technical conformance with
the U.S. and Canadian standard is determined by an independent UL (cUL) inspector through the type testing

and regular check-ups.
Apart from the notes on installation and safety in the documentation, the customer does not have to observe
any other points in direct connection with the UL (cUL)-certification of the equipment.

-

-

-

-

-

-

-

UL 508C

UL 508C describes the fulfilment by design of minimum requirements for electrically operated power conver
sion equipment, such as frequency converters and servo amplifiers, which is intended to eliminate the risk of
fire being caused by such equipment.

UL 840

UL 840 describes the fulfilment by design of air and insulation creepage spacings for electrical equipment and
printed circuit boards.

Directives and standards

-

SERVOSTAR®640 / 670 Installation Manual 7

Abbreviations / symbols

Abbreviations used in this manual

The abbreviations used in this manual are explained in the table below.

06/02 Seidel

Abbrev. Meaning

AGND Analog ground

AS Restart Lock, option
BTB/RTO Ready to operate

CAN Fieldbus (CANopen)

CE Communité Européenne (EC)

CLK Clock signal

COM Serial interface for a PC-AT

DGND Digital ground

DIN German Institute for industrial Standards

Disk Magnetic storage (diskette, hard disk)

EEPROM Electrically erasable programmable memory

EMC Electromagnetic compatibility

EMI Electromagnetic interference

EN European standard

ESD Electrostatic discharge

IEC International Electrotechnical Commission

IGBT Insulated Gate Bipolar Transistor

INC Incremental Interface

ISO International Standardization Organization

LED Light-emitting diode

MB Megabyte

MS-DOS Operating system for PC-AT

Abbrev Meaning

NI Zero pulse

NSTOP Limit-switch input for CCW rotation (left)

PC-AT Personal computer with 80x86 Processor

PELV Protected low voltage

PGND Ground for the interface

PSTOP Limit-switch input for CW rotation (right)

PWM Pulse-width modulation

RAM Volatile memory

Rregen Regen resistor

RBext External regen resistor

RBint Internal regen resistor

RES Resolver

ROD 426 (EEO) A quad B encoder

PLC Programmable logic controller

SRAM Static RAM

SSI Synchronous serial interface

SW/SETP. setpoint

UL Underwriters Laboratory

VAC AC voltage

VDC DC voltage

VDE Verein deutscher Elektrotechniker

XGND Ground for the 24V supply

Symbols used in this manual

danger to personnel from elec
tricity and its effects

ð

Keys on the servo amplifier panel :

U

U

see page (cross-ref.) l special emphasis

press once : move up one menu item, increase number by one

U

press twice in rapid succession : increase number by ten
press once : move down one menu item, decrease number by one
press twice in rapid succession : decrease number by ten

U

hold right key pressed, and then press left key as well :
to enter number, “Return” function

Abbreviations / symbols

-

general warning
general instructions

mechanical hazard

8 SERVOSTAR®640 / 670 Installation Manual

Seidel

I General

I.1 About this manual

This manual describes the digital servo amplifiers of the SERVOSTAR®640/670 series
(standard version). You can find information about:

Technical data of the servo amplifiers Chapter I

l

Assembly / installation Chapter II

l

Interfaces Chapter III

l

Setup the servo amplifier Chapter IV

l

Accessories Chapter V

l

Transport, storage, maintenance, disposal of the servo amplifiers Chapter VI

l

A more detailed description of the expansion cards which are currently available and the digital
connection to automation systems can be found on the accompanying CD-ROM in Acrobat-Reader

format (system requirements: WINDOWS 95 with Internet browser) in English, German and French
versions.

You can print this documentation on any standard printer. A printed copy of the documentation is
available from us at extra cost.

06/02 General

This manual makes the following demands on qualified personnel :

Transport : only by personnel with knowledge in handling electrostatically

sensitive components.

Installation : only by electrically qualified personnel

Setup : only by personnel with extensive knowledge of electrical

engineering / drive technology

SERVOSTAR®640 / 670 Installation Manual 9

General

06/02 Seidel

I.2 Prescribed use (Use as directed) of the servo amplifier

The servo amplifiers are components which are built into electrical equipment or machines, and can
only be used as integral components of such equipment. The manufacturer of the machine must

generate a hazard analysis for the machine, and take appropriate measures to ensure that unfore
seen movements cannot cause injury or damage to any person or property.

The SERVOSTAR 640/670 family of servo amplifiers can be connected directly to symmetrically
earthed(grounded) three-phase industrial mains supply networks [TN-system, TT-system with

earthed(grounded) neutral point, not more than 5000rms symmetrical amperes, 480VAC maximum]
when protected by fuses type Fusetron FRS-R-50 forSERVOSTAR 640 or FRS-R-80 class RK5

for SERVOSTAR 670, manufactured by Bussman, or equivalent, 480VAC min.
The servo amplifiers must not be operated directly on power supply networks >230V without an

earth (ground) or with an asymmetrical earth (ground).
Connection to other mains supply networks ð p. 14.

The use of external mains chokes and mains filters is required.

Periodic overvoltages between outer conductor (L1, L2, L3) and housing of the servo amplifier may
not exceed 1000V (peak value).

Transient overvoltages (< 50µs) between the outer conductors may not exceed 1000V.
Transient overvoltages (< 50µs) between outer conductors and housing may not exceed 2000V.

The regen resistors have to be protected by fuses type Limitron KLM, rated for 500VAC/DC

The SERVOSTAR 640/670 family of servo amplifiers is only intended to drive specific brushless
synchronous servomotors with closed-loop control of torque, speed and/or position. The rated volt

age of the motors must be at least as high as the DC-link voltage of the servo amplifier. The motor
must have integral thermal protection.

The servo amplifiers may only be operated in a closed switchgear cabinet, taking into account the
ambient conditions defined on page 17 and the dimensions shown on page 28. Ventilation or cool

ing may be necessary to prevent enclosure ambient from exceeding 45°C (113°F).

Use copper wire only. Wire size may be determined from EN 60204 (or table 310-16 of the NEC
60°C or 75°C column for AWG size).

We only guarantee the conformance of the servo amplifiers with the standards for industrial areas
(page 7), if the components (motors, cables, amplifiers etc) are delivered by Seidel.

-

-

-

Restart lock -AS-

The restart lock -AS- is exclusively intended to provide safety for personnel, by preventing the
restart of a system. To achieve this personnel safety, the wiring of the safety circuits must meet the

safety requirements of EN60204, EN292 and VDI 2853.

The -AS- restart lock must only be activated,
— when the motor is no longer rotating (setpoint = 0V, speed = 0rpm, enable = 0V).

Drives with a suspended load must have an additional safe mechanical blocking
(e.g. by a motor-holding brake).

— when the monitoring contacts (KSO1/2 and BTB/RTO) for all servo amplifiers are wired into

the control signal loop (to recognize a cable break).

The -AS- restart lock may only be controlled by a CNC if the control of the internal safety relay is
arranged for redundant monitoring.

The -AS- restart lock must not be used if the drive is to be made inactive for the following reasons :

1. - cleaning, maintenance and repair operations

- long inoperative periods
In such cases, the entire system should be disconnected from the supply by the personnel,

and secured (main switch).

2. - emergency-stop situations
In an emergency-stop situation, the main contactor is switched off (by the emergency-stop

button or the BTB-contact in the safety circuit).

10 SERVOSTAR®640 / 670 Installation Manual

Seidel

I.3 Nameplate

The nameplate depicted below is attached to the side of the servo amplifier.
The information described below is printed in the individual fields.

Typenbezeichnung

06/02 General

Customer Service
Europe Tel. +49 (0)203 / 9979 0
Italy Tel. +39 (0)362 / 594260
North America Tel. [phone]

Model Number

Ser. Nr

Ser. No.

Bemerkung

CommentsSerial numberServo amplifier type

Comment

Spannungsversorgung

Power Supply

Electrical supply

Installed load

I.4 Instrument description

I.4.1 Package supplied

When you order a SERVOSTAR 640/670 series amplifier, you will receive:

— SERVOSTAR 6xx
— mating connectors X3, X4

The mating SubD connectors are not part of the package!

Nennstrom

Output current

in S1 operation

Nom. Current

Schutzart

Encl.Rating

Enclosure Rating

— Assembly and Installation Instructions
— Online documentation on CD-ROM

— Setup software DRIVE.EXE on CD-ROM

Accessories:

(must be ordered separately)

— Mains filter 3EF-xx (ð p.78) required
— Mains choke 3Lxx-yy (ð p.79) required

— AC Servomotor (linear or rotary)
— motor cable as a cut-off length

— brake cable as a cut-off length
— feedback cable (pre-assembled, see application note “Cables and connectors”) or both

feedback connectors separately, with feedback cable as length

— external regen resistor (ð p.77)
— communications cable to the PC(ð p.54) or Y-adapter (ð p.59) for parameter setting of up

to 4 or 6 servo amplifiers from one PC

— power cable, control cables, fieldbus cables (as lengths)

- A.4.028.6/10

SERVOSTAR®640 / 670 Installation Manual 11

General

06/02 Seidel

I.4.2 The digital servo amplifiers of the series SERVOSTAR 640/670

Standard version

2 current ratings (40 A, 70 A)

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wide range of rated voltage (3x208V

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shield connection directly at the servo amplifier

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two analog setpoint inputs

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integrated CANopen (default 500 kBaud), for integration into CANbus systems and for

l

setting parameters for several amplifiers via the PC-interface of one amplifier

integrated RS232, electrically isolated, integrated pulse-direction interface

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-AS- built-in safety relay (personnel-safety starting lock-out), (ð p.22)

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Open architecture

open hardware and software architecture

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slot for an expansion card

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integrated macro language, including compiler

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prepared for all conceivable customer-specific extensions

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–10%

to 3x480V

+10%

)

Options

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-I/O-14/08- expansion card, ð p. 65

PROFIBUS DP expansion card, ð p. 69

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SERCOS expansion card, ð p. 71

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-2CAN- Expansion module, separated connectors for CAN bus and RS232, ð p. 73

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Third party expansion cards (ModBus, FireWire, LightBus etc. - contact distributors for fur

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ther information)

I.4.3 Operation directly from supply

Electrical supply

Directly off grounded 3~ system,

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230V
208V

TN-system, TT-system with earthed (grounded) neutral point, not more than 5000 rms sym
metrical amperes, 480VAC maximum; when protected by fuses type Fusetron FRS-R-80
(Class RK5), manufactured by Bussman, or equivalent 480VAC min

Connection to other mains supply networks only with insulating transformer ð p. 14

Fusing (e.g. fusible cutout) provided by the user

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Auxiliary supply voltage 24VDC

Electrically isolated, internal fusing (4 AT), from an external 24VDC psu, e.g. with insulating

l

transformer

-10%

-10%

... 480V
... 480V

+10%

+10%

,50Hz,
,60Hz,

-

-

Power input filter

External interference suppression filter for the supply input (to Class A) required

l

Interference suppression filter for the 24V aux. supply (to Class A) is integrated

l

Mains choke

l

External mains choke required

12 SERVOSTAR®640 / 670 Installation Manual

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06/02 General

I.4.4 Digital servo amplifier concept

Operation and parameter setting

With our user-friendly software for setup through the serial interface of a PC

l

Direct operation by means of two keys on the servo amplifier and a 3-character LED display

l

for status display in case of no PC available

Fully programmable via RS232 interface

l

Power section

Power supply: B6 rectifier bridge, off 3-phase earthed (grounded) supply,

l

integral inrush circuit

All shielding connections directly on the amplifier

l

Output stage: IGBT- module with isolated current measurement

l

Regen circuit: with dynamic distribution of the regen power between several

l

amplifiers on the same DC-link circuit, external regen resistor

DC-link voltage 260 — 900 VDC, can be switched in parallel

l

Completely digital control

l

Digital current controller (space vector pulse-width modulation, 62.5 µs)

Freely programmable digital speed controller (62.5 µs or 250 µs)

l

Integral position controller with adaptation possibilities for customer needs (250 µs)

l

Pulse direction interface integrated for connection of a servomotor to a stepping motor

l

control

Evaluation of the resolver signals and sine-cosine signals of a high-resolution encoder

l

Encoder simulation (incremental or SSI)

l

Comfort functions

Adjustable setpoint ramps

l

2 analog monitor outputs

l

4 programmable digital inputs (normally, two are defined as limit-switch inputs)

l

l

2 programmable digital outputs

Freely programmable combinations of all digital signals

l

Integrated safety

Safe electrical separation to EN 50178 between the power input / motor connections and the

l

signal electronics, provided by appropriate insulation/creepage distances and complete elec
trical isolation

Soft-start, overvoltage recognition, short-circuit protection, phase-failure monitoring

l

Temperature monitoring of servo amplifier and motor

l

(when using our motors with our pre-assembled cables)

-

SERVOSTAR®640 / 670 Installation Manual 13

General

06/02 Seidel

I.5 Connection to different mains supply networks

On this page you'll find all possible connection variations to different mains supply networks.

An isolating transformer is always required for 400...480V mains networks without
earth(ground) and for networks with asymmetrical earth(ground).

- A.4.038.1/12

SERVOSTAR

208V with 60Hz only

230...480V with 50Hz or 60Hz

SERVOSTAR

SERVOSTAR

SERVOSTAR

SERVOSTAR

SERVOSTAR

SERVOSTAR

SERVOSTAR

SERVOSTAR

SERVOSTAR

SERVOSTAR

14 SERVOSTAR®640 / 670 Installation Manual

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06/02 General

I.6 Components of a servo system

PC

Control / PLC

SERVOSTAR 640/670

restart lock -AS-

24V-power
supply

Mains filter

Mains choke

Drive contactor

Fuses

Fuses

Regen resistor

Motor

Terminals

Cables drawn bold are shielded.

SERVOSTAR®640 / 670 Installation Manual 15

General

06/02 Seidel

I.7 Technical data of the SERVOSTAR 640/670

Rated data DIM SERVOSTAR 640 SERVOSTAR 670

Rated-supply voltage (grounded system)

Rated installed load for S1 operation kVA 30 50
Rated DC-link voltage V= 260 - 675
Supply voltage range for output current V~ 230 ... 480 230 400 480
Rated output current (rms value, ± 3%) Arms 40 85 80 70

Peak output current (max. ca. 5s, ± 3%)
Clock frequency of the output stage kHz 8
Technical data for regen circuit — ð p.19
Overvoltage protection threshold V 450...900
Form factor of the output current

(at rated data and min. load inductance)
Bandwidth of subordinate current controller kHz > 1,2
Residual voltage drop at rated current V 5
Quiescent dissipation, output stage disabled W 40
Dissipation at rated current (incl. power
supply losses, without regen dissipation)

Internal fusing (external fusing ð p.16)

Auxiliary supply 24V — internal 4 AT
Regen resistor — internal, electronic

Inputs

Setpoint ½, resolution 14bit/12bit V ±10

Common-mode voltage max. V ±10
Input resistance to AGND

Digital inputs

Digital outputs, open collector

BTB/RTO output, relay contacts

Aux. power supply, electrically isolated V 24 (-0% +15%)
without brake A 2
Aux. power supply, electrically isolated V 24 (-0% +15%)
with brake (consider voltage loss!) A 4
Max. output current, brake A 2

Connections

Control signals — Combicon 5,08 / 18 pole , 2,5mm²
Power signals — Terminals 10mm² — 50mm²
Resolver input — SubD 9pole (socket)
Sine-cosine encoder input — SubD 15pole (socket)
PC-interface, CAN — SubD 9pole (plug)

Encoder simulation, ROD (EEO) / SSI — SubD 9pole (plug)
Thermal control, Motor — min. 15VDC, 5mA

Mechanical

Weight kg 19,5 21
Height without shield sheet, w/o eyes (w. eyes) mm 345 (375)
Height with shield sheet, w/o eyes (w. eyes) mm 484 (495)
Width mm 250
Depth without connectors mm 300
Depth with connectors mm 325

V~ 3 x 230V-10% ... 480V+10%, 50 Hz
V~ 3 x 208V-10% ... 480V+10%, 60 Hz

Arms

— 1.01

W 400 700

kW

V low 0...7 / high 12...36

mA 7

V max. 30

mA 10

V DC max. 30, AC max. 42

mA 500

80 160 160 140

20

I.7.1 External fusing

Fusible cutouts or similar (Fuse UL time delay) SERVOSTAR 640 SERVOSTAR670

AC supply F

Type of branch circuit fuses: Class RK5, 480V min

Regen resistor F

* (x=SorS-Rfor480V applications x=NorN-Rfor230V applications ð p. 10)

Note: The SERVOSTAR 640/670 drives are suitable for use on a circuit capable of delivering not more

than 5000rms symmetrical amperes, 480VAC max.

N1/2/3

B1/2

50 AT (FRx-50) * 80 AT (FRx-80) *

KLM 20 KLM 30

16 SERVOSTAR®640 / 670 Installation Manual

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06/02 General

I.7.2 Allowable ambient conditions, ventilation, mounting position

Storage temperature/humidity/duration ð p.81
Transport temperature / humidity ð p.81

Supply voltage tolerances

Input power (ð p.14)

min 3x230V
min 3x208V

AC / max 3x 480V

-10%

AC / max 3x 480V

-10%

+10%

+10%

,50Hz
,60Hz

Aux. power supply

Ambient temperature in operation

Humidity in operation rel. humidity 85%, no condensation

Site altitude

Pollution level Pollution level 2 to EN60204/EN50178 Enclosure protection IP 20

Mounting position generally vertical. ð p.28 Ventilation forced convection by built-in fans

Make sure that there is sufficient forced ventilation within the switchgear cabinet.

I.7.3 Conductor cross-sections

Following EN 60204 (for AWG: table 310-16 of the NEC 60°C or 75°C column), we recommend for
single-axis systems:

AC connection 25 mm² (2 awg), shielded between filter and amplifier, 600V,105°C (221°F)
DC-link 25 mm² (2 awg), shielded for lengths > 20 cm, 600V,105°C (221°F)

Motor cables

Resolver, thermostat-motor

Encoder, thermostat-motor

Setpoints, monitors, AGND 0.25 mm² (22awg) twisted pairs, shielded
Control signals, BTB, DGND 0.5 mm² (20 awg)
Holding brake (motor) min. 1.5 mm² (18 awg), 600V,105°C (221°F), shielded, check voltage drop
+24 V / XGND max. 2.5 mm² (14 awg), check voltage drop
Regen resistor ð p.41, min. 10 mm² (6 awg), shielded, 1000V,105°C (221°F)

For multi-axis systems, please note the special operating conditions in your installation

Technical data for connection cables ð p. 36. Observe our application note “Cables and connectors”.

ð p.41, cross section see manual of the used motor series,

capacitance <250pF/m, 600V,105°C (221°F)
4x2x0.25 mm² (22awg) twisted pairs, shielded, max.100m,
capacitance <120pF/m
7x2x0,25 mm² (22awg) twisted pairs, shielded, max.50m,

capacitance <120pF/m

24 VDC (-0% +15%)

o

0to+45
+45 to +55°C (113 to 131 °F) with power derating

up to 1000m a.m.s.l. without restriction
1000 — 2500m a.m.s.l. with power derating

1.5%/100m

C (32 to 113 °F) at rated data

2.5% / K

I.7.4 Recommended torques

Connector Recommended torque

X3, X4 0.3 Nm(2.25 in lb)

X10 0,3 Nm (2.25 in lb)
X0 6...8 Nm (45... 60 in lb)

I.7.5 LED display

A 3-character LED display shows the amplifier status after switching on the 24V supply
(ð p.61). During operation and parameter setting of the amplifier via the keys on the front panel,

the parameter and function numbers (ð p.61) are displayed, as well as the numbers of any errors
which occur (ð p.62).

SERVOSTAR®640 / 670 Installation Manual 17

General

06/02 Seidel

I.8 Grounding system

AGND — ground for analog inputs/outputs, internal analog/µC ground
DGND — ground for digital inputs/outputs, optically isolated

XGND — ground for external 24V aux. voltage, optically and inductively isolated
PGND — ground for encoder emulation, RS232, CAN, PROFIBUS, optically isolated

The potential isolation is shown in the block diagram (ð p. 14).

I.9 Control for motor-holding brake

A 24V / max. 2A holding brake in the motor can be controlled directly by the servo amplifier. This
function does not ensure personnel safety! The brake function must be enabled through the

BRAKE parameter (setting: WITH BRAKE). In the diagram below you can see the time and func
tional relationships between the ENABLE signal, speed setpoint, speed and braking force.

-

During the internal ENABLE delay time of 100ms the speed setpoint of the servo amplifier is
internally driven down a 10ms ramp to 0V. The brake output is switched on when 3% of the final

speed is reached. The rise (tbrH) and fall (tbrL) times of the holding brake which is built into the
motors are different for the various types of motor (see motor manual). A description of the

interface can be found on page 41.
A safe (for personnel) operation of the holding brake requires an additional “make” (n.o.) contact in

the brake circuit and a suppressor device (varistor) for the recommended brake circuit diagram :

- A.4.031.3/01, A.4.038.1/10

SERVOSTAR

18 SERVOSTAR®640 / 670 Installation Manual

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I.10 Regen circuit

During braking with the aid of the motor, energy is fed back to the servo amplifier. This energy is
converted into heat in the regen resistor. The regen resistor is switched into circuit by the regen

circuit. The regen circuit (thresholds) are adjusted to the supply voltage with the help of the setup
software.

Our customer service can help you with the calculation of the regen power which is required. A
description of the interface can be found on page 41 .

Functional description:

1.- Individual amplifiers, not coupled through the DC-link (DC+, DC-)

The circuit starts to respond at a DC-link voltage of 400V, 720V or 840V (depending on the
supply voltage). If the energy which is fed back from the motor, as an average over time or

as a peak value, is higher than the preset regen power, then the servo amplifier will output
the status “regen power exceeded” and the regen circuit will be switched off. At the next

internal check of the DC-link voltage (after a few ms) an overvoltage will be detected and the
Servo amplifier will be switched off with the error message “Overvoltage F02” (ð p. 62). The
BTB/RTO contact (terminal X3/2,3) will be opened at the same time (ð p. 47).

2.- Several servo amplifiers coupled through the DC-link circuit (DC+, DC-)

Thanks to the built-in regen circuit with its patented power distribution, several amplifiers
(even with different current ratings) can be operated off a common DC-link. This is achieved

by an automatic adjustment of the regen thresholds (which vary, because of tolerances).
The regen energy is distributed equally among all the amplifiers. The combined power of

all the amplifiers is always available, as continuous or peak power. The switch-off takes
place as described under 1. (above) for the servo amplifier with the lowest switch-off

threshold (resulting from tolerances).
The RTO (BTB) contact of this amplifier (terminals X3/2,3) will be opened at the same time

(ð p. 47).

06/02 General

Regen circuit: technical data SERVOSTAR
Supply voltage Rated data DIM 640 670

External regen resistor Ohm 15 10
Upper switch-on level of regen circuit V 400 - 430

3 x 230 V

3 x 400 V

3 x 480 V

Switch-off level of regen circuit V 380 - 410
Overvoltage F02 V 450

Continuous power of regen circuit (R
Pulse power, external (R
External regen resistor Ohm 15 10
Upper switch-on level of regen circuit V 720 - 750
Switch-off level of regen circuit V 680 - 710

Overvoltage F02 V 800
Continuous power of regen circuit (R
Pulse power, external (R
External regen resistor Ohm 15 10
Upper switch-on level of regen circuit V 840 - 870

Switch-off level of regen circuit V 800 - 830
Overvoltage F02 V 900
Continuous power of regen circuit (R
Pulse power, external (R

max. 1s) kW 10 16

Bext

max. 1s) kW 35 50

Bext

max. 1s) kW 45 70

Bext

) max. kW 6

Bext

) max. kW 6

Bext

) max. kW 6

Bext

SERVOSTAR®640 / 670 Installation Manual 19

General

06/02 Seidel

I.11 Switch-on and switch-off behavior

The diagram below illustrates the correct functional sequence for switching the servo amplifier on
and off.

DC-link

I.11.1 Stop function to EN 60204 (VDE 0113)

If a fault occurs (ð p. 62) the output stage of the servo amplifier is switched off and the BTB/RTO
contact is opened. In addition, a global error signal can be given out at one of the digital outputs

(terminals X3/16 and X3/17) (see online help for the setup software). These signals can be used by
the higher-level control to finish the current PLC cycle or to shut down the drive (with additional

brake or similar.).

The built-in restart lock -AS- can be used to switch off the drive via a positive-action (approved by
Trade Liability Association) safety relay, so that personnel safety is ensured at the drive shaft

(ð p. 22).

Instruments which are equipped with a selected “Brake” function use a special sequence for switch
ing off the output stage (ð p. 18).

The Stop functions are defined in EN 60204 (VDE 0113), Para. 9.2.2, 9.2.5.3.

There are three categories of Stop functions:

Category 0: Shut down by immediately switching off the supply of energy to the

drive machinery (i.e an uncontrolled shut-down);

Category 1: A controlled shut-down, during which the supply of energy to the drive

machinery is maintained to perform the shut-down, and where the energy
supply is only interrupted when the shut-down has been completed;

Category 2: A controlled shut-down, where the supply of energy to the drive machinery

is maintained.

Every machine must be equipped with a Stop function to Category 0. Stop functions to Categories 1
and/or 2 must be provided if the safety or functional requirements of the machine make this neces
sary.

You can find additional information and implementation examples in our application note “Stop and
Emergency Stop functions with SERVOSTAR 600”.

-

-

- A.4.038.3/01

20 SERVOSTAR®640 / 670 Installation Manual

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06/02 General

I.11.2 Emergency Stop strategies

The Emergency Stop function is defined in EN 60204 (VDE 0113), Para. 9.2.5.4.

Implementation of the Emergency Stop function :

You can find wiring recommendations in our application note

“Stop and Emergency Stop functions with SERVOSTAR 600”

Category 0:

The controller is switched to “disable”, the electrical supply (208...480VAC) is disconnected.

The drive must be held by an electromagnetic holding device (brake).

In multiaxis systems with connected DC-link bus (intermediate circuit) the motor leads have
to be disconnected by a changeover switch (contactor, e.g. Siemens 3RT1516-1BB40) and
short-circuited by resistors connected in a star configuration.

Category 1:

If hazardous conditions can result from an emergency stop switch-off with an unbraked
run-down, then the drive can be switched off by a controlled shut-down.

Stop Category 1 permits electromotive braking with a switch-off when zero speed has
been reached. Safe shut-down can be achieved, when the loss of the mains supply is not

rated as a fault and the control takes over the disabling of the servoamplifier.
In the normal situation, only the supply power is switched off in a safe manner.

The 24V auxiliary supply remains switched on.

SERVOSTAR®640 / 670 Installation Manual 21

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06/02 Seidel

I.12 Restart lock -AS-

I.12.1 Advantages of the restart lock

A frequently required application task is the protection of personnel against the restarting of drives.
This can not be achieved by an electronic inhibit, but must be implemented with mechanical ele

ments (positively driven relay contacts).
To get round this problem, up to now either the main contactor in the mains supply line was
switched off, or another contactor was used to disconnect the motor from the servo amplifier.

The disadvantages of this method are :

— the DC-link has to be charged up again at restart
— wear on the contacts of the contactors, caused by switching under load

— extensive wiring required, with additional switching components

The restart lock -AS- avoids these disadvantages. A safety relay in the servo amplifier is activated
either by the PLC or manually. Positively driven contacts provide a safe disconnection of the ampli

fier, the setpoint input of the servo amplifier is inhibited, and a signal is sent to the safety circuit.

The suggested circuits (ð p. 25) fulfills safety category 1 (EN 954-1). You can fulfill safety
category 3, if you use a mains contactor with suited supervision.

Advantages of the restart lock -AS- :

— the DC-link remains charged up, since the mains supply line remains active
— only low voltages are switched, so there is no contact wear

— very little wiring is required
— the functionality and the personnel safety when using the circuit recommendations in

this documentation have been approved by the Trade Liability Association.

-

-

I.12.2 Functional description

The connector (X10) is mounted on the front panel of the SERVOSTAR 640/670.The coil connec
tions and a make (n.o.) contact of a safety relay are made available through 4 terminals on this con

nector.

The 24VDC safety relay in the servo amplifier (approved) is controlled externally. All the relay con
tacts have positive action.

Two contacts switch off the driver supply of the output stage in the servo amplifier, and short the
internal setpoint signal to AGND (0 V).

The make (n.o.) contact used for monitoring is looped into the control circuit.

If the safety relay is not energized, then the monitoring contact is open and the servo amplifier is
ready for operation.

If the drive is electronically braked, the servo amplifier is disabled and the motor-holding brake is
on, then the safety relay is energized (manually or by the controls).

The supply voltage for the driver circuit of the output stage is switched off in a safe manner, the
internal setpoint is shorted to 0V, and the monitoring contact bridges the safety logic in the control

circuit of the system (monitoring of protective doors etc.)

Even if the output stage or driver is destroyed, it is impossible to start the motor.

If the safety relay itself is faulty, then the monitoring contact cannot bridge the safety logic of the
system. Opening the protective devices will then switch off the system.

-

-

-

22 SERVOSTAR®640 / 670 Installation Manual

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I.12.3 Block diagram

06/02 General

I.12.4 Signal diagram (sequence)

- A.4.031.1/32,30

SERVOSTAR®640 / 670 Installation Manual 23

General

I.12.5 Installation / Setup

I.12.5.1 Safety instructions

Observe the prescribed use of the restart lock -AS- (ð p. 10)

l

The monitoring contacts (KSO1/2) for each amplifier must be looped into the control circuit.

l

This is vital, so that a malfunction of the internal safety relay or a cable break can be recog
nized.

If the restart lock -AS- is automatically activated by a control system (KSI1/2), then make

l

sure that the output of the control is monitored for possible malfunction. This can be used to
prevent a faulty output from activating the restart lock -AS- while the motor is running.

Keep to the following functional sequence when the restart lock -AS- is used :

l

1. Brake the drive in a controlled manner (speed setpoint = 0V)

2. When speed = 0 rpm, disable the servo amplifier (enable = 0V)

3. If there is a suspended load, apply an additional mechanical block to the drive

4. Activate the restart lock -AS-

I.12.5.2 Functional test

The functioning of the restart lock must be tested during setup, after every alteration in the wiring of
the system, or after exchanging one or more components of the system.

1. Stop all drives, with setpoint 0V, disable drives,
mechanically block any suspended loads

2. Activate the restart lock -AS-.

3. Open protective screens (but do not enter hazardous area)

4. Pull off the X10 connector from an amplifier: the mains contactor must drop out

5. Reconnect X10. Switch on mains contactor again.

6. Repeat steps 4 and 5 for each individual servo amplifier.

06/02 Seidel

-

I.12.5.3 Connection diagram

- A.4.031.1/30

SERVOSTAR

24 SERVOSTAR®640 / 670 Installation Manual

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06/02 General

I.12.6 Application examples

I.12.6.1 Moving single axes or axis-groups in setting-up operation

In setting-up operation, people will frequently be within the danger zone of the machinery. Axes will
normally be moved under the control of permission switches. An additional switch-off of the unused

axes, by means of the restart lock, increases the safety margin and avoids the repeated switching
of main contactors or motor contactors.

I.12.6.2 Switching off grouped axes with separate working areas

Even when several SERVOSTAR 640/670 are operating off a common mains supply and DC-link, it
is possible to set up groups for separate working areas. These groups can then be switched off

separately for personnel safety. For this purpose, we have provided you with a suggested circuit
(mains supply circuit and control circuit for 2 separate working groups which have interconnected

DC-links and a common mains supply voltage).

I.12.6.2.1 Control circuit

The suggested circuit fulfills safety category 1 (EN 954-1). You can fulfill safety category 3, if you
use a mains contactor with suited supervision.

- A.4.031.1/31

SERVOSTAR®640 / 670 Installation Manual 25

General

I.12.6.2.2 Mains supply circuit

06/02 Seidel

- A.4.031.3/05

SERVOSTAR

SERVOSTAR SERVOSTAR SERVOSTAR SERVOSTAR

26 SERVOSTAR®640 / 670 Installation Manual

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II Installation

II.1 Important instructions

06/02 Installation

Protect the servo amplifier from impermissible stresses. In particular, do not let any compo

l

nents become bent or any insulation distances altered during transport and handling. Avoid
contact with electronic components and contacts.

Check the combination of servo amplifier and motor. Compare the rated voltage and current

l

of the units. Carry out the wiring according to the connection diagram on page 30.

Make sure that the maximum permissible rated voltage at the terminals L1, L2, L3 or +DC,

l

–DC is not exceeded by more than 10% even in the most unfavourable case
(see EN 60204-1 Section 4.3.1). An excessive voltage on these terminals can lead to

destruction of the regen circuit and the servo amplifier. Use the SERVOSTAR 640/670 servo
amplifiers only on an earthed (grounded) 3-phased supply system, to drive a synchronous

servomotor.

The use of external mains chokes and mains filters is required.

l

The fusing of the AC supply input and the 24V supply is installed by the user (ð p. 16).

l

Take care that the servo amplifier and motor are earthed (grounded) properly. Do not use

l

painted (non-conductive) mounting plates.

Route power and control cables separately. We recommend a separation of at least 200mm.

l

This improves the interference immunity required by EMC regulations.

Install all heavy-current cables with an adequate cross-section, as per EN 60204. (ð p. 17).

l

Wire the BTB/RTO contact in series into the safety circuit of the installation.

l

Only in this way is the monitoring of the servo amplifier assured.

Install all shielding with large areas (low impedance), with metallised connector housings or

l

shield connection clamps where possible.
Earth (ground) the shielding at both ends (ð p. 32).

Notes on connection techniques can be found on page 35 and in the application note
“Cables and connectors”.

l

Ensure that there is an adequate flow of cool, filtered air into the bottom of the switchgear
cabinet. Observe page 17 .

-

It is permissible to alter the servo amplifier settings by using the setup software.

l

Any other alterations will invalidate the warranty.

Caution
Never disconnect the electrical connections to the servoamplifier while it is live. In
unfavourable circumstances this could result in destruction of the electronics.
Residual charges in the capacitors can have dangerous levels up to 300 seconds after
switching off the mains supply voltage. Measure the voltage in the DC-link (+DC/-DC),

and wait until the voltage has fallen below 40V.
Control and power connections can still be live, even when the motor is not rotating.

SERVOSTAR®640 / 670 Installation Manual 27