Kollmorgen S700, S7060, S7240, S7030, S7120 Instruction Manual

...

S700

Digital Servo Amplifier S701x2…S724x2 (STO dual channel)

Instruction Manual

Edition 07/2014 Translation of the original instruction manual. Valid for Hardware Revision 02.10

Keep all manuals as a product component during the life span of the product. Pass all manuals to future users and owners of the product.

File s701_e.***

Record of Document Revisions:

Revision Remarks

Product brand, memory card, part number scheme, faults, EnDat 2.2, Multilink, certificates,

02/2010

GOST-R, SSI input (X5 clock - inverted), PosI/O-Monitor added, Safety Card S1 added, TÜV pro ved safety, FAN option F2, X4A/3 changed from XGND to STO2-Enable, Stop and Emergency Stop examples moved to WIKI

07/2010

New DriveGUI icon, bridge DGND-GND (dig-I/O) changed, type 6 integrated, transport and storage classes

12/2010 Expansion module 2CAN, company name, name plate, CE certificate

06/2011

Part number scheme updated, encoder emulation via X1, BiSS-C, Feedback systems visualized,

STO SIL3/PLe, certificates removed 09/2011 New Certificates added, safety characteristic data updated 06/2012 Fusing corrected, expansion card FB2to1 new, Emergency Stop updated

Feedback - ENCVON note, FBTYPE 34, KCM modules, CE declaration of conformity, formal im07/2013

provements, BiSS C Renishaw, according to IEC 82079, safety cards S1/S2 replaced by S3/S4,

diagram "Behavior in the event of an error" updated. 08/2013 Correction S4 safety card (SLP not possible)

12/2013

05/2014

Hint automatic restart, fault table, switch off behaviour in case of faults, SSI emulation timing up-

dated, safe to touch voltage 40V->60V

Warning symbols updated, fusing brake resistor/dc bus, notes dc bus coupling, X8Y set with X4A

mini 07/2014 Wiring thermo sensor updated (Feedback)

Hardware Revision (HR)

Hardware

Revision

usable

Firmware

Revision

usable

DRIVEGUI.EXE

Revision

Remarks

00.20 2.21 1.30 Build 0060 prototype

01.21 2.50 - 3.49

02.00 3.50 - 4.99

02.10

³ 5.18 ³ 2.20 Build 0004

³ 1.30 Build 0060

³ 1.30 Build 0063

short housing, X5, X6, X7 connector X0 and X8 mirror-operated, EtherCAT onboard, charging circuit (parallel connection ability) memory card usable, two channel STO, X4A coded to pin 2

WINDOWS is a registered trademark of Microsoft Corporation HIPERFACE is a registered trademark of Max Stegmann GmbH

SERCOS s a registered trademark of sercos

international e.V. EnDat is a registered trademark of Dr.Johannes Heidenhain GmbH EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH

Technical changes which improve the performance of the device 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 photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen Europe GmbH.

Kollmorgen 07/2014 Contents

Seite

1 General

1.1 About this manual................................................................7

1.2 Notes for the printed edition (paper version) ...........................................7

1.3 Notes for the online edition (PDF format)..............................................7

1.4 Symbols used ...................................................................8

1.5 Standards used..................................................................8

1.6 Abbreviations used ...............................................................9

2 Safety

2.1 You should pay attention to this ....................................................10

2.2 Use as directed.................................................................12

2.3 Prohibited use..................................................................13

2.4 Handling ......................................................................13

2.4.1 Transport .................................................................13

2.4.2 Packaging ................................................................13

2.4.3 Storage ..................................................................14

2.4.4 Maintenance, Cleaning ......................................................14

2.4.5 Disassembling .............................................................14

2.4.6 Repair ...................................................................15

2.4.7 Disposal..................................................................15

3 Approvals

3.1 Conformance with UL ............................................................17

3.2 CE conformance................................................................18

3.2.1 European Directives and Standards for the machine builder .........................18

3.2.2 CE Declaration of Conformity .................................................19

3.3 GOST-R conformance ...........................................................20

3.4 Functional Safety ...............................................................21

3.4.1 Safety Certificate S700 ......................................................21

3.4.2 Safety Certificate S700 with Safety Card ........................................22

4 Package

4.1 Package supplied ...............................................................23

4.2 Nameplate ....................................................................23

4.3 Part number scheme ............................................................24

5 Technical description

5.1 The S700 family of digital servo amplifiers............................................25

5.2 Technical data .................................................................28

5.2.1 Rated data S7xx0 ..........................................................28

5.2.2 Rated data S7xx6 ..........................................................29

5.2.3 Inputs, outputs, aux. voltage supply ............................................30

5.2.4 Connectors ...............................................................30

5.2.5 Recommended tightening torques .............................................30

5.2.6 Fusing ...................................................................30

5.2.7 Ambient conditions, ventilation, mounting position .................................31

5.2.8 Conductor cross-sections ....................................................31

5.3 Motor holding brake .............................................................32

5.4 LED display....................................................................33

5.5 Grounding system ..............................................................33

5.6 Dynamic braking (brake circuit) ....................................................33

5.7 Switch-on and switch-off behavior ..................................................36

5.7.1 Behavior in standard operation ................................................37

5.7.2 Behavior in the event of an error (with standard setting) ............................38

5.8 Stop-, Emergency Stop-, Emergency Off Function to IEC 60204 ..........................39

5.8.1 Stop .....................................................................39

5.8.2 Emergency Stop ...........................................................40

5.8.3 Emergency Off.............................................................40

S701x2-S724x2 Instructions Manual 3

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Seite

5.9 Safety function STO .............................................................41

5.9.1 Safety characteristic data ....................................................41

5.9.2 Enclosure.................................................................41

5.9.3 Wiring ...................................................................41

5.9.4 Important notes ............................................................42

5.9.5 Use as directed STO ........................................................42

5.9.6 Prohibited Use STO ........................................................42

5.9.7 Technical data and pinning ...................................................43

5.9.8 Functional description .......................................................44

5.9.9 Functional test .............................................................49

5.10 Shock-hazard protection..........................................................51

5.10.1 Leakage current ...........................................................51

5.10.2 Residual current protective device (RCD)........................................51

5.10.3 Isolating transformers .......................................................51

6 Mechanical Installation

6.1 Important notes.................................................................53

6.2 Guide to mechanical installation....................................................53

6.3 Assembly .....................................................................54

6.4 Dimensions ....................................................................55

6.5 Fan assembly ..................................................................56

7 Electrical installation

7.1 Important notes.................................................................57

7.2 Guide to electrical installation......................................................58

7.3 Wiring ........................................................................59

7.3.1 Shielding connection to the front panel..........................................60

7.3.2 Motor connector X9 with shielding connection ....................................60

7.3.3 Technical data for connecting cables ...........................................61

7.4 Components of a servo system ....................................................62

7.5 Block diagram..................................................................63

7.6 Connector assignments ..........................................................64

7.7 Connection diagram (Overview)....................................................65

7.8 Electrical supply ................................................................66

7.8.1 Connection to various mains supply networks ....................................66

7.8.2 24V auxiliary supply (X4).....................................................68

7.8.3 Mains supply connection (X0), three phase ......................................68

7.8.4 Mains supply connection (X0), two phase without neutral ...........................68

7.8.5 Mains supply connection (X0), single phase with neutral ............................69

7.9 DC bus link (X8) ................................................................70

7.9.1 DC Bus topology ...........................................................71

7.9.2 External brake resistor (X8) ..................................................72

7.9.3 Capacitor Module KCM ......................................................72

7.10 Motor and holding brake connection (X9) ............................................74

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Kollmorgen 07/2014 Contents

Seite

7.11 Feedback systems ..............................................................75

7.12 Primary and secondary feedback types ..............................................76

7.12.1 Resolver (X2) .............................................................77

7.12.2 Sine Encoder with BiSS analog (X1)............................................78

7.12.3 Encoder with BiSS digital (X1) ................................................79

7.12.4 Sine Encoder with EnDat 2.1 (X1) .............................................80

7.12.5 Encoder with EnDat 2.2 (X1)..................................................81

7.12.6 Sine Encoder with HIPERFACE (X1) ...........................................82

7.12.7 Sine Encoder with SSI (X1)...................................................83

7.12.8 Sine Encoder without data channel (X1).........................................84

7.12.9 Sine Encoder with Hall (X1) ..................................................85

7.12.10 ROD (AquadB) 5V, 1.5MHz (X1) ..............................................86

7.12.11 ROD (AquadB) 5V, 350kHz (X1)...............................................87

7.12.12 ROD (AquadB) 5V, 350kHz with Hall (X1) .......................................88

7.12.13 ROD (AquadB) 24V (X3).....................................................89

7.12.14 ROD (AquadB) 24V with Hall (X3, X1) ..........................................90

7.12.15 SSI Encoder (X1) ..........................................................91

7.12.16 Hall sensors (X1)...........................................................92

7.13 Electronic Gearing, Master-Slave operation...........................................93

7.13.1 Encoder control types .......................................................93

7.13.2 Connection to stepper motor controllers (step and direction) .........................94

7.13.3 Master-slave operation ......................................................95

7.14 Encoder Emulation, position output .................................................96

7.14.1 Incremental encoder output - A quad B (X1) .....................................96

7.14.2 SSI encoder output (X1) .....................................................97

7.15 Digital and analog inputs and outputs ...............................................98

7.15.1 Analog Inputs (X3B) ........................................................98

7.15.2 Digital Inputs (X3A, X3B and X4A, X4B).........................................99

7.15.3 Digital Outputs (X3A, X3B) ..................................................101

7.16 RS232 interface, PC connection (X6) ..............................................102

7.17 CANopen interface (X6) .........................................................103

7.18 EtherNET interface (X7) .........................................................104

7.19 Memory card..................................................................105

8Setup

8.1 Important notes................................................................107

8.2 Setup software ................................................................108

8.2.1 Use as directed ...........................................................108

8.2.2 Software description .......................................................108

8.2.3 Hardware requirements, operating systems .....................................109

8.2.4 Installation under WINDOWS ................................................109

8.3 Quickstart ....................................................................110

8.3.1 Preparation ..............................................................110

8.3.2 Connect .................................................................112

8.3.3 Important Screen Elements..................................................113

8.3.4 Setup Wizard.............................................................114

8.3.5 Motion Service (Jog Mode) ..................................................117

8.3.6 More Setup Screens .......................................................118

8.4 Multi axis system ..............................................................119

8.5 Keypad operation and LED display ................................................119

8.5.1 Keypad operation .........................................................120

8.5.2 Status display ............................................................120

8.5.3 Standard menu ...........................................................120

8.5.4 Advanced menu ..........................................................121

8.6 Error messages ...............................................................122

8.7 Warning messages.............................................................123

8.8 Trouble Shooting ..............................................................124

S701x2-S724x2 Instructions Manual 5

Contents 07/2014 Kollmorgen

Seite

9 Expansions

9.1 Expansion cards for slot 1 .......................................................125

9.1.1 Guide to installation of expansion cards in slot 1 .................................125

9.1.2 Expansion card -I/O-14/08- ..................................................126

9.1.3 Expansion card -PROFIBUS- ................................................129

9.1.4 Expansion card -SERCOS-..................................................130

9.1.5 Expansion card - DEVICENET - ..............................................132

9.1.6 Expansion card -SYNQNET-.................................................135

9.1.7 Expansion card - FB-2to1 - ..................................................137

9.1.8 Expansion module -2CAN- ..................................................139

9.2 Expansion cards for slot 2 .......................................................141

9.2.1 Guide to installation of expansion cards in slot 2 .................................141

9.2.2 Option "F2", controlled Fan ..................................................141

9.2.3 Expansion cards "PosI/O" & "PosI/O-Monitor" ...................................142

9.3 Expansion cards for slot 3 .......................................................151

9.3.1 Guide to installation of expansion cards in slot 3 .................................151

9.3.2 Option "F2", controlled Fan ..................................................151

9.3.3 Expansion cards "PosI/O" & "PosI/O-Monitor" ...................................151

9.3.4 Expansion card "Safety 2-2" (S4) .............................................152

9.3.5 Expansion card "Safety 1-2" (S3) .............................................155

10 Appendix

10.1 Glossary .....................................................................159

10.2 Order codes ..................................................................161

10.2.1 Servo amplifiers...........................................................161

10.2.2 Memory Card.............................................................161

10.2.3 Expansion cards ..........................................................162

10.2.4 Mating connectors .........................................................162

10.3 Repair- or Disposal request Telefax form............................................163

10.4 Index ........................................................................164

6 S701x2-S724x2 Instructions Manual

Kollmorgen 07/2014 General

1 General

1.1 About this manual

1.2

This manual describes the S701x-S724x series of digital servo amplifiers (standard ver sion: 1.5A ...24A rated current). S7480x and S7720x amplifiers are described in an additional manuals.

A more detailed description of the expansion cards that are currently available and the digital connection to automation systems can be found, together with our application notes, in Acrobat-Reader format on the accompanying CD-ROM (system requirements: WINDOWS, Internet Browser, Acrobat Reader) in different languages.

Technical data and dimensional drawings of accessories such as cables, brake resistors, mains supplies, etc., can be found in the accessories manual.

This documentation (PDF) can be printed out on any standard commercial printer. A printed copy of the documentation is available from us at extra cost.

More background information can be found in our "Product WIKI", available at

www.wiki-kollmorgen.eu

Notes for the printed edition (paper version)

A printed version of the manual is enclosed with each product. For environmental reasons, the document was reduced in size and printed on DIN A5.

Should you experience difficulties reading the font size of the scaled-down printed version, you can print and use the PDF version in DIN A4 format 1:1.

You can find the PDF version on the CD-ROM accompanying the product and on the Kollmorgen website.

1.3 Notes for the online edition (PDF format)

Bookmarks:

Table of contents and index are active bookmarks.

Table of contents and index in the text:

The lines are active cross references. Click on the desired line and the appropriate page is accessed.

Page numbers and chapter numbers in the text:

Page numbers and chapter numbers in the main text are active references. Click at the page number or chapter number to reach the indicated target.

S701x2-S724x2 Instructions Manual 7

General 07/2014 Kollmorgen

1.4 Symbols used

Symbol Indication

Indicates a hazardous situation which, if not avoided, will result in

DANGER

WARNING

CAUTION

death or serious injury.

Indicates a hazardous situation which, if not avoided, could result in death or serious injury.

Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.

Indicates situations which, if not avoided, could result in property damage. This is not a safety symbol. This symbol indicates important notes.

Warning of a danger (general). The type of danger is specified by the warning text next to it.

Warning of danger from electricity and its effects.

Warning of hot surfaces.

1.5 Standards used

Standard Content

ISO 4762 Hexagon socket head cap screws

ISO 13849

ISO 12100 Safety of machinery: Basic concepts, general principles for design IEC 60085 Electrical insulation - Thermal evaluation and designation Maintenance IEC 60204 Safety of Machinery: Electrical equipment of machinery IEC 60364 Low-voltage electrical installations IEC 60439 Low-Voltage Switchgear and Controlgear Assemblies IEC 60529 Protection categories by housing (IP Code) IEC 60664 Insulation coordination for equipment within low-voltage systems IEC 60721 Classification of environmental conditions IEC 61000 Electromagnetic compatibility (EMC) IEC 61131 Programmable controllers

IEC 61491

IEC 61508

IEC 61800 Adjustable speed electrical power drive systems

IEC 62061

ISO 82079 Preparation of instructions for use - Structuring, content and presentation

UL 840

UL 508C UL Standard for Safety Power Conversion Equipment

Safety of machinery: Safety-related parts of control systems (former EN 954)

Electrical equipment of industrial machines – Serial data link for real-time communications between controls and drives. Functional safety of electrical/electronic/programmable electronic safety-related systems

Functional safety of electrical/electronic/programmable electronic safety-related systems

UL Standard for Safety for Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment

Warning of suspended loads.

IEC International Electrotechnical Commission ISO International Organization for Standardization UL Underwriters Laboratories

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Kollmorgen 07/2014 General

1.6 Abbreviations used

Abbrev. Meaning

AGND Analog ground xAF Fuse, x Amps, fast xAM Fuse, x Amps, medium xAT Fuse, x Amps, slow BTB/RTO Ready to operate CAN Fieldbus (CANopen) CE Communité Europeenne CLK Clock signal COM Serial interface for a Personal Computer DGND Digital ground (for 24V, digital inputs and digital outputs) Disk Magnetic storage (diskette, hard disk) EEPROM Electrically erasable programmable memory EMC Electromagnetic compatibility F-SMA Fiber Optic Cable connector according to IEC 60874-2 IGBT Insulated-gate bipolar transistor LED Light-emitting diode MB Megabyte NI Zero pulse PC Personal computer PL Performance Level PLC Programmable logic control PWM Pulse-width modulation RAM Volatile memory R

or R

Brake

RBext External brake resistor RBint Internal brake resistor RES Resolver ROD Digital encoder (A quad B) SDI Safe direction SIL Safety Integrity Level SIL CL Safety Integrity Level Claim Limit SLI Safe limited increments SLP Safe limited position SLS Safely limited speed SOS Safe operating stop SS1 Safe stop 1 SS2 Safe stop 1 SSI Synchronous serial interface SSR Safe speed range STO Safe torque off (former AS) V AC Alternating voltage V DC DC voltage VDE Society of German Electrical Technicians

Brake resistor (sometimes called "regen resistor")

S701x2-S724x2 Instructions Manual 9

Safety 07/2014 Kollmorgen

2 Safety

This section helps you to recognize and avoid dangers to people and objects.

2.1 You should pay attention to this

Read the documentation!

Read the available documentation before installation and commissioning. Improper handling of the servo amplifiers can cause harm to people or damage to property. The operator must therefore ensure that all persons entrusted to work on the S700 have read and understood the manual and that the safety notices in this manual are observed.

Check the Hardware Revision!

Check the Hardware Revision Number of the product (see product label). This revision number must match the Hardware Revision Number on the cover page of the manual. If the numbers do not match up, visit the Tech-WIKI (http://www.wiki-kollmorgen.eu 'Others/Archive' (Sonstiges/Archive) section contains the various manual versions based on the hardware version number.

Pay attention to the technical data!

). The

Adhere to the technical data and the specifications on connection conditions (rating plate and documentation). If permissible voltage values or current values are exceeded, the servo amplifiers can be damaged.

Observe electrostatically sensitive components!

The servo amplifiers contain electrostatically sensitive components which may be damaged by incorrect handling. Discharge your body before touching the servo amplifier. Avoid contact with highly insulating materials (artificial fabrics, plastic film etc.). Place the servo amplifier on a conductive surface.

Perform a risk assessment!

The manufacturer of the machine must generate a risk assessment for the machine, and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property. Additional requirements on specialist staff may also result from the risk assessment.

utomatic restart

The drive might restart automatically after power on, voltage dip or interruption of the supply voltage, depending on the parameter setting. Risk of death or serious injury for humans working in the machine. If the parameter AENA is set to 1, then place a warning sign to the machine (Warning: Automatic Restart at Power On) and ensure, that power on is not possible, while humans are in a dangerous zone of the machine. In case of using an undervoltage protection device, you must observe EN 60204-1:2006 chapter 7.5.

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Kollmorgen 07/2014 Safety

Specialist staff required!

Only properly qualified personnel are permitted to perform such tasks as transport, assembly, setup and maintenance. Qualified specialist staff are persons who are familiar with the transport, installation, assembly, commissioning and operation of drives and who bring their relevant minimum qualifications to bear on their duties: Transport : only by personnel with knowledge of handling electrostatically

sensitive components. Unpacking: only by electrically qualified personnel. Installation : only by electrically qualified personnel. Setup : only by qualified personnel with extensive knowledge of electrical

engineering and drive technology The qualified personnel must know and observe IEC 60364 / IEC 60664 and national accident prevention regulations.

Hot surface!

The surfaces of the servo amplifiers can be hot in operation. Risk of minor burns! The surface temperature can exceed 80°C. Measure the temperature, and wait until the motor has cooled down below 40°C before touching it.

Earthing!

It is vital that you ensure that the servo amplifiers are safely earthed to the PE (protective earth) busbar in the switch cabinet. Risk of electric shock. Without low-resistance earthing no personal protection can be guaranteed and there is a risk of death from electric shock.

High voltages!

The equipment produces high electric voltages up to 900V. During operation, servo amplifiers may have uncovered live sections, according to their level of enclosure protection. Capacitors can have dangerous voltages present up to eight minutes after switching off the supply power. There is a risk of death or severe injury from touching exposed contacts. Do not open or touch the equipment during operation. Keep all covers and cabinet doors closed during operation. Touching the equipment is allowed during installation and commissioning for properly qualified persons only.

There is a danger of electrical arcing when disconnecting connectors, because capacitors can still have dangerous voltages present after switching off the supply power. Risk of burns and blinding. Wait at least eight minutes after disconnecting the servo amplifiers from the main supply power before touching potentially live sections of the equipment (such as contacts) or removing any connections. Always measure the voltage in the DC bus link and wait until the voltage is below 60 V before handling components.

Reinforced Insulation!

Thermal sensors, motor holding brakes and feedback systems built into the connected motor must have reinforced insulation (according to IEC61800-5-1) against system components with power voltage, according to the required application test voltage. All Kollmorgen components meet these requirements.

Never modify the servo amplifiers!

It is not allowed to modify the servo amplifiers without permission by the manufacturer. Opening the housing causes loss of warranty and all certificates become unvalid. Warning signs are added to the device housing. If these signs are damaged, they must be replaced immediately.

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Safety 07/2014 Kollmorgen

2.2 Use as directed

Servo amplifiers are safety components that are built into electrical plant or machines, and can only be operated as integral components of such plant or machines.

If the servo amplifiers are used in residential areas, in business and commercial areas, or in small industrial operations, then additional filter measures must be implemented by the user.

Cabinet and Wiring

The servo amplifiers must only be operated in a closed control cabinet, taking into account the ambient conditions defined on page 31. Ventilation or cooling may be necessary to keep the temperature within the cabinet below 40°C.

Use only copper conductors for wiring. The conductor cross-sections can be derived from the standard IEC 60204 (alternatively for AWG cross-sections: NEC Table 310-16, 60°C or 75°C column).

Power supply

S7xx6 : Servo amplifiers in the S7xx6 series (overvoltage category III acc. to EN 61800-5-1) can be supplied from 1-phase or 3-phase grounded (earthed) industrial supply networks (TN-system, TT-system with grounded neutral point, no more than 42kA symmetrical rated current at 110V

S7xx0

: Servo amplifiers in the S7xx0 series (overvoltage category III acc. to EN

-10%

to 230V

+10%

61800-5-1) can be supplied from 3-phase grounded (earthed) industrial supply networks (TN-system, TT-system with grounded neutral point, no more than 42kA symmetrical rated current at 208V

, 230V, 240V, 400V or 480V

-10%

+10%

Periodic overvoltage between phases (L1, L2, L3) and the housing of the servo amplifier must not exceed 1000V crest. In accordance with IEC 61800, voltage spikes (< 50µs) between phases must not exceed 1000V. Voltage spikes (< 50µs) between a phase and the housing must not exceed 2000V.

Motors

The S700 family of servo amplifiers is exclusively intended for driving suitable brush less synchronous servomotors, asynchronous motors and DC motors with control of torque, speed and/or position. The rated voltage of the motors must be at least as high as the DC bus link voltage divi-

ded by

produced by the servo amplifier (U

nMotor

³ UDC/

Safety

Observe the chapter "use as directed" on page 42 when you use the safety function STO.

To achieve PL e or SIL CL3, the safe switching of the pulse inhibitor must be tested periodically by analyzing the feedback signal from the safety control (ð p. 50).

Observe the user documentation for safety cards S1-2(S3) / S2-2(S4) when you use a safety expansion card.

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Kollmorgen 07/2014 Safety

2.3 Prohibited use

Other use than described in chapter 2.2 is not intended and can lead to damage of per sons, equipment or things.

The use of the servo amplifier in the following environments is prohibited:

- potentially explosive areas

- environments with corrosive and/or electrically conductive acids, alkaline solutions,

oils, vapors, dusts

- directly on non-grounded supply networks or on asymmetrically grounded supplies

with a voltage >240V.

- on ships or off-shore applications

Commissioning the servo amplifier is prohibited if the machine in which it was installed,

- does not meet the requirements of the EC Machinery Directive

- does not comply with the EMC Directive or with the Low Voltage Directive

- does not comply with any national directives

The control of holding brakes by the S700 alone may not be used in applications, where functional safety is to be ensured with the brake.

2.4 Handling

2.4.1 Transport

Transport by qualified personnel in the manufacturer’s original recyclable packaging

Avoid shocks while transporting

Transport temperature: -25 to +70°C, max. rate of change 20K / hour,

Transport humidity: max. 95% relative humidity, no condensation,

If the packaging is damaged, check the unit for visible damage. In such an event, inform the shipper and the manufacturer.

The servo amplifiers contain electrostatically sensitive components, that can be damaged by incorrect handling. Discharge yourself before touching the servo amplifier. Avoid contact with highly insulating materials, such as artificial fabrics and plastic films. Place the servo amplifier on a conductive surface.

class 2K3 acc. to EN61800-2, EN 60721-3-1

2.4.2 Packaging

Recyclable cardboard with inserts

Dimensions: S701...S712 (HxWxD) 125x415x350 mm

S724 (HxWxD) 155x415x350 mm

Labeling: name plate on outside of box

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Safety 07/2014 Kollmorgen

2.4.3 Storage

Storage only in the manufacturer’s original recyclable packaging

Max. stacking height: 8 cartons

Storage temperature: -25 to +55°C, max. rate of change 20K / hour,

class 1K4 acc. to EN61800-2, EN 60721-3-1

Storage humidity: 5 … 95% relative humidity, no condensation,

class 1K3 acc. to EN61800-2, EN 60721-3-1

Storage duration: Less than 1 year: without restriction. More than 1 year: capacitors must be re-formed before setting up and operating the servo amplifier. To do this, remove all electrical connections and apply single-phase 230V AC for about 30 minutes to the terminals L1 and L2.

2.4.4 Maintenance, Cleaning

The devices do not require any maintenance, opening the devices invalidates warranty.

Cleaning : — if the casing is dirty: clean with Isopropanol or similar

NOTICE: Do not immerse or spray

— Dirt inside the unit: must be cleaned by the manufacturer — For dirty protective grill on fan: clean with a dry brush

2.4.5 Disassembling

Observe the sequence below, if a servo amplifier has to be disassembled (e.g. for replacement).

1. Electrical disconnection

a. Switch off the main switch of the switchgear cabinet and the fuses that supply

the system.

b. Warning: Contacts can still have dangerous voltages present up to 8 min

after switching off mains voltage. Risk of electric shock! Wait at least eight minutes after disconnecting the servo amplifier from the main supply power before touching potentially live sections of the equipment (e.g. contacts) or undoing any connections. To be sure, measure the voltage in the DC Bus link and wait until it has fallen below 60V.

c. Remove the connectors. Disconnect the earth (ground) connection at last.

2. Check temperature

Caution

During operation the heat sink of the servo amplifier may reach temperatures above 80°C (176°F). Risk of minor burns! Before touching the device, check the temperature and wait until it has cooled down below 40°C (104°F).

3. Disassembling

Remove the fan housing and disassemble the servo amplifier (reverse of the procedure described in chapter "Mechanical installation).

14 S701x2-S724x2 Instructions Manual

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2.4.6 Repair

Repair of the servo amplifier must be done by the manufacturer. Opening the devices means loss of the guarantee. Use the telefax form on page 163 for repair request. You'll receive the current dispatch information.

Disassemble the equipment as described in chapter 2.4.5 and send it in the original packaging to the address given in the dispatch information.

2.4.7 Disposal

In accordance to the WEEE-2002/96/EC-Guidelines we take old devices and accessories back for professional disposal. Transport costs are the responsibility of the sender. Use the telefax form on page 163 for disposal request. You'll receive the current dispatch information.

Disassemble the equipment as described in chapter 2.4.5 and send it in the original packaging to the address given in the dispatch information.

S701x2-S724x2 Instructions Manual 15

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This page has been deliberately left blank.

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3 Approvals

Certificates can be found in our Product WIKI on page Approvals.

3.1 Conformance with UL

The S7xx0 servo amplifiers are listed under UL file number E217428. The S7xx6 servo amplifiers are not listed under UL.

UL-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S. standards (in this case UL 840 and UL 508C). The UL certification relates only to the mechanical and electrical construction design of the device. This standard describes the fulfillment by design of minimum requirements for electrically operated power conversion 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. standard is determined by an independent UL inspector through the type testing and regular checkups. 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-certification of the equipment.

UL 508C: UL 508C describes the fulfillment by design of minimum requirements for electrically operated power conversion 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 fulfillment by design of air and insulation creepage spacings for electrical equipment and printed circuit boards.

UL Markings

Use 60°C or 75°C copper wire only for every model of this section.

Use Class 1 wire only.

Tightening torque for field wiring terminals: X0, X8, X9: 0.7 - 0.8Nm (6.20 to 7.08 lbf in)

Use in a pollution degree 2 environment.

These devices provide solid state motor overload protection at 130% of full load current.

Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes.

These devices are not provided with motor over-temperature sensing.

Suitable for use on a circuit capable of delivering not more than 42kA rms symmetrical amperes for a max. voltage of 480 Vac.

Supply circuit protection:

Model Fuse class Rating Max. Fuse Rating

S7010 RK5, CC, J, T 600VAC 200kA 6A (Time-Delay) S7030 RK5, CC, J, T 600VAC 200kA 6A (Time-Delay) S7060 RK5, CC, J, T 600VAC 200kA 10A (Time-Delay) S7120 RK5, CC, J, T 600VAC 200kA 15A (Time-Delay) S7240 RK5, CC, J, T 600VAC 200kA 30A (Time-Delay)

The drives may be connected together via the “common bus” (DC bus link) based on the instructions on p. 70ff. The devices may also be grouped from the AC input side based on the max. input fuse (e.g. 3 pcs. S7010 with one common 6A fuse in line).

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3.2 CE conformance

Conformance with the EC Machine Directive 2006/42/EC, the EC EMC Directive 2004/108/EC and the Low Voltage Directive 2006/95/EC is mandatory for the supply of servo amplifiers within the European Community.

The servo amplifier meets the noise immunity requirements to the 2nd environmental category (industrial environment). For noise emission the amplifier meets the requirement

to a product of the category C2 (motor cable £ 10m).

This product can cause high-frequency interferences in non industrial environments. This can require measures for interference suppression like additional external EMC filters.

With a motor cable length of 10m or longer, the servo amplifier meets the requirement to the category C3.

The servo amplifiers have been tested by an authorized testing laboratory in a defined configuration, using the system components that are described in this documentation. Any divergence from the configuration and installation described in this documentation means that you will be responsible for carrying out new measurements to ensure conformance with regulatory requirements.

3.2.1 European Directives and Standards for the machine builder

Servo amplifiers are safety components that are intended to be incorporated into electrical plant and machines for industrial use. When the servo amplifiers are built into machines or plant, the amplifier must not be used until it has been established that the machine or equipment fulfills the requirements of the

EC Machinery Directive (2006/42/EC)

EC EMC Directive (2004/108/EC)

EC Low Voltage Directive (2006/95/EC)

Standards to be applied for conformance with the EC Machinery Directive (2006/42/EC) IEC 60204-1 (Safety and Electrical Equipment in Machines) ISO 12100 (Safety of Machines)

The manufacturer of the machine must generate a risk assessment for the machine, and must implement appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property. The machine manufacturer must check whether other standards or EC Directives must be applied to the machine.

Standards to be applied for conformance with the EC Low Voltage Directive(2006/95/EC) IEC 60204-1 (Safety and Electrical Equipment in Machines) IEC 60439-1 (Low-voltage switchgear and controller assemblies)

Standards to be applied for conformance with the EC EMC Directive (2004/108/EC) IEC 61000-6-1 / 2 (Interference Immunity in Residential & Industrial Areas) IEC 61000-6-3 / 4 (Interference Generation in Residential & Industrial Areas)

The manufacturer of the machine is responsible for ensuring that it meets the limits required by the EMC regulations. Advice on the correct installation for EMC can be found in this documentation.

We only guarantee the conformance of the servo system with the standards cited in this chapter if the components (motor, cables, chokes etc.) are those supplied by us.

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3.2.2 CE Declaration of Conformity

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3.3 GOST-R conformance

Certificate for servo amplifier and accessories (cover page, page 1 of 3).

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3.4 Functional Safety

3.4.1 Safety Certificate S700

Cover page, page 1 of 2.

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3.4.2 Safety Certificate S700 with Safety Card

Cover page, page 1 of 2.

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4 Package

4.1 Package supplied

When an amplifier from the S700 series is ordered (order numbers ðp.161), the following is supplied:

— Servo amplifier S700 — Instruction Manual S700 — Operating Manual Safety Expansion Card Sx (in case of a built-in safety card) — Online documentation and setup software on CD-ROM — Mating connectors X0, X3A, X3B, X4A, X4B, X8

The mating SubD connectors are not part of the package!

Accessories :

— Motor cable (prefabricated) with special shield clamp, or both power connectors

separately, with the motor cable as a cut-off length

— Feedback cable (prefabricated)

or both feedback connectors separately, with the feedback cable as a cut-off length — Motor choke 3YL or 3YLN, for motor cables longer than 25 meters — External brake resistor BAR(U), Capacitor Modul KCM-x — Communication cable to the PC (ð p.102) for setting parameters from a PC — Power cable, control cables, fieldbus cables (as cut-off lengths)

(must be ordered separately, if required; description see accessories

manual)

4.2 Nameplate

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

Servo amplifier type

2D bar code

Electrical supply

Installed load

Enclosure

Rating

CommentsSerial number

max. ambient

temperature

Output current

in cont. operation

Hardware

Revision

Software

Version

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4.3 Part number scheme

The part number is identical with the order code.

S7060 2 -EIF2 PM -NA1- 000

Family

S7 S700

Current Rating

01 1.5 Arms 03 3 Arms 06 6 Arms 12 12 Arms 24 24 Arms

48 72

Voltage Rating

0 208...480V 6 110...230V

Electrical/mechanical Options

2 standard F standard and coated PCBs

12A and 24A rated current only: S extended Ipeak H extended Ipeak and

48 Arms

72 Arms

coated PCBs

Firmware Options

NA no option

(EtherCAT&CANopen)

Expansion Cards Slot 3

NA no expansion card in slot 3,

EtherCAT&CANopen onboard F2 Fan controller PM PosI/O PA PosI/O-Monitor

Safety card S1-2, SIL CL3

Safety card S2-2, SIL CL2

Expansion Cards Slot 2

NA no expansion card in Slot 2,

EtherCAT&CANopen onboard F2 Fan controller PM PosI/O PA PosI/O-Monitor

Expansion Cards Slot 1

NA no expansion card in Slot 1,

EtherCAT&CANopen onboard 2C 2CAN module mounted DN DEVICENET PB PROFIBUS SE SERCOS II SN SYNQNET EI I/O Extension FB FB-2to1

1 is void with standard 2 additional coding defines customer specific specials. 3 described in seperate documentation

Example 1: S70602-EIF2PM-NA-000

S7 S700 06 6A rated current 0 208...480V rated voltage 2 no electr./mech. option EI I/O expansion card in Slot 1 F2 Expansion card Controlled Fan in Slot 2 PM PosI/O expansion card in Slot 3 NA Standard (EtherCAT&CANopen onboard) 000 no customer specific specials

Example 2: S7126S-EIF2S4-NA-000 S7 S700 12 12A rated current 6 110...230V rated voltage S extended Ipeak (30A) EI I/O Erweiterungskarte in Slot 1 F2 Expansion card Controlled Fan in Slot 2 S4 Safety Card S2-2 in Slot 3 NA Standard (EtherCAT&CANopen onboard) 000 no customer specific specials

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5 Technical description

5.1 The S700 family of digital servo amplifiers

Standard version

Large supply voltage range: 1 x 110V

Overvoltage category III acc. to IEC 61800-5-1

2 housing dimensions: S701...S712 70 mm

… 3 x 480V

-10%

S724 100 mm

CANopen onboard

EtherCAT onboard

RS232 and 24V pulse direction interface onboard

Resolver-, Encoder-, AquadB Encoder-, ComCoder- evaluation onboard

Position controller onboard

Safe Stop STO onboard (up to SIL CL3, PLe)

3 frontside slots for expansion cards

Memory Card slot onboard

Synchronous servomotors, linear motors, asynchronous motors and DC motors can be used

+ 10%

Power section

S7xx6: Directly on grounded mains supply, 1x110V S7xx0: Directly on grounded mains supply, 3x208V

TN-network or TT-network with grounded neutral point, 42kA max. symmetrical cur-

… 3x230V

-10%

… 3x480V

-10%

+10%

, 50/60Hz , 50/60Hz

rent rating, connection to other supply types only via isolating transformer,ðp.66

B6 bridge rectifier, integral supply filter and soft-start circuit

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

Shielding All shielding connections are made directly on the amplifier

Output stage IGBT module with floating current measurement

Brake circuit with dynamic distribution of the generated power between

several amplifiers on the same DC bus link circuit. Internal brake resistor as standard, external brake resistors if required.

DC bus link voltage 135...900 V DC, can be connected in parallel.

Interference suppression filters are integrated for the electrical supply feed and the 24V auxiliary supply voltage (with motor cable £ 10m for C2 as per IEC 61800-3, with

motor cable > 10m for C3 as per IEC 61800-3).

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Integrated safety

Appropriate insulation and creepage distances and electrical isolation ensure safe electrical separation, as per IEC 61800-5-1, between the power input / motor con nections and the signal electronics.

Soft-start, overvoltage detection, short-circuit protection, phase-failure monitoring.

Temperature monitoring of the servo amplifier and motor (if our motors and prefabricated cables are used).

Safe stop (up to SILCL3 acc. to IEC 62061, PLe acc. to ISO13849-1) ð p.41.

Slot for safety card with more safety functions for the safe drive operation, ð p.152

Auxiliary supply voltage 24V DC

Electrically isolated, internal fusing (amplifier and fan/brake separated), from an external 24V DC power supply unit.

Separate 24V supply input for digital outputs

Operation and parameter setting

With our user-friendly setup software DRIVEGUI.EXE, for setup via the serial interface of a PC.

If no PC is available: direct operation by two keys on the servo amplifier and a 3-character LED display.

Fully programmable via RS232 interface.

Read and write access to parameter records and firmware via smartcard.

Completely digital control

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

Adjustable digital speed controller (62.5 µs)

Integrated position controller, with adaptation possibilities for all applications (250 µs, optionally 125 µs)

Integrated 24V step/direction interface for connecting a servomotor to a stepper controller

Inputs and Outputs

2 programmable analog inputs ð p. 98

4 programmable digital inputs ð p. 99

2 programmable digital inputs/outputs (direction selectable) ð p. 101

Programmable logical combinations of digital signals

1 input Enable ð p. 100

2 inputs STO Enable ð p. 99

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Expansions

Slot 1

Expansion cards in slot 1 can be combined with F2 Option in slot 2. More combinations of slot 1 and slot 2 expansion cards are not possible.

I/O-14/08 expansion card, ð p. 126

PROFIBUS expansion card, ð p. 129

sercos®II expansion card, ð p. 130

DeviceNet expansion card, ð p. 132

SynqNet expansion card, ð p. 135

FB-2to1 expansion card, ð p. 137

-2CAN- expansion module, separated connectors for CAN bus and RS232 ð p. 139

Slot 2

PosI/O expansion card, ð p. 142

PosI/O-Monitor expansion card, ð p. 142

F2 Option, controlled fan, later insertion not possible, ð p. 141, can be combined with expansion cards in slot 1.

Slot 3

PosI/O expansion card, ð p. 151

PosI/O-Monitor expansion card, ð p. 151

F2 Option, controlled fan, later insertion not possible, ð p. 151

Safety expansion card (S3) S1-2 (SIL CL3), ð p. 155

Safety expansion card (S4) S2-2 (SIL CL2), ð p. 152

Several third-party expansion cards (ModBus, LightBus, FIP-IO etc. please contact the manufacturer for further information)

Macro programming

More information can be found in our Technical WIKI (www.wiki-kollmorgen.eu).

62.5µs / 250µs / 1ms / 4ms / 16ms / IDLE / IRQ

128 kByte memory

IEC 61131 structured text

400 easy instructions every 62.5 µs

CAN objects for multi axis control

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5.2 Technical data

5.2.1 Rated data S7xx0

Electrical data DIM S70102 S70302 S70602

Rated supply voltage (grounded supply, phase to phase)

3 x 208V

… 3 x 480V

-10%

S71202/

S7120S

+10%

S72402/

S7240S

, 50/60 Hz

Rated input power for cont. operation kVA 1.1 2.2 4.5 9 18 Permitted switch on/off frequency 1/h 30 Auxiliary voltage supply — ð p.30 Maximum DC bus link voltage V= 900

Rated output current (rms value, ± 3%)

at 3x208V Arms 2.5 5 6 12 24 at 3x230V Arms 2 4 6 12 24 at 3x400V Arms 1.5 3 6 12 24 at 3x480V Arms 1.5 3 6 12 24

Peak output current (for approx.2s, ± 3%)

Peak output current (for approx.5s, ± 3%)

Arms 4,5 9 18 24/30 48/72

Arms 3 6 12 24 48

Switching frequency of output stage kHz 8 Voltage rise speed dU/dt, (measured without connected motor, see hints on page 74!)

at 3x208V kV/µs 3.0 at 3x230V kV/µs 3.3 at 3x400V kV/µs 5.7

at 3x480V kV/µs 6.9 Technical data for brake circuit — ð p.34 Threshold for overvoltage switch-off VDC ð p.34 Motor inductance min.

at 3x208V mH 7.7 3.9 1.9 1.2 0.7

at 3x230V mH 8.5 4.3 2.1 1.3 0.8

at 3x400V mH 14.8 7.4 3.7 2.2 1.4

at 3x480V mH 17.8 8.9 4.4 2.7 1.7 Motor inductance max. mH Consult our customer support Form factor of the output current (rated conditions, min. load inductance)

— 1.01

Bandwidth of current controller kHz > 1,2 (bis 5) Residual voltage drop at rated current V 4 6 Thermal dissipation, output stage disabled

W max. 20 max.25

Thermal dissipation at rated current (incl. PSU losses, without brake

W 40 70 100 160 330 dissipation) Noise emission max. dB(A) 43 43 58 65 65

Mechanical data

Weight kg 4.4 5.5 Height, without connectors mm 345 348 Height, with connectors mm 379 382 Width mm 70 100 Depth, without connectors mm 243 243 Depth, with connectors mm 285 285

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5.2.2 Rated data S7xx6

Electrical data DIM

Rated supply voltage (grounded supply, phase to phase)

S70162S70362S70662S71262S7126SS72462S7246

1 x 110V

… 3 x 230V

-10%

+10%

, 50/60 Hz

Rated input power for cont. operation kVA 1 2 2,3 4,5 4,5 9 9 Permitted switch on/off frequency 1/h 30 Auxiliary voltage supply — ð p.30 Maximum DC bus link voltage V= 455

Rated output current (rms value, ± 3%)

at 1x110V (1~) Arms 1,5 36771010 at 1x230V (1~) Arms 1,5 36881111 at 3x110V (3~) Arms 2,5 5 6 12 12 24 24 at 3x230V (3~) Arms 2,5 5 6 12 12 24 24

Peak output current (rms value, ±3%)

at 1x110V (1~), for 2s / 5s Arms 3/3 3/3 6/6 7/7 7/7 10/10 10/10 at 1x230V (1~), for 2s / 5s Arms 4,5/3 9/6 12/12 12/12 12/12 13/13 13/13 at 3x110V (3~), for 2s / 5s Arms 4,5/3 9/6 18/12 24/24 30/24 48/48 72/48

at 3x230V (3~), for 2s / 5s Arms 4,5/3 9/6 18/12 24/24 30/24 48/48 72/48 Switching frequency of output stage kHz 8 Voltage rise speed dU/dt, (measured without connected motor)

at 1x110V kV/µs 2

at 1x230V kV/µs 3,3

at 3x110V kV/µs 2

at 3x230V kV/µs 3,3 Technical data for brake circuit — ð p.35 Threshold for overvoltage switch-off VDC ð p.35 Motor inductance min.

at 1x110V mH 5,7 5,7 2,9 2,5 2,5 1,7 1,7

at 1x230V mH 843332,82,8

at 3x110V mH 3,8 1,9 0,96 0,72 0,57 0,36 0,24

at 3x230V mH 8 4 2 1,5 1,2 0,75 0,5 Motor inductance max. mH Contact our customer support Form factor of the output current (rated conditions, min. load inductance)

— 1.01

Bandwidth of current controller kHz > 1,2 (bis 5) Residual voltage drop at rated current V 4 6 Thermal dissipation, output stage disabled

W max. 20 max.25

Thermal dissipation at rated current (incl. PSU losses, without brake

W 3045609090175175 dissipation) Noise emission max. dB(A) 43 43 58 65 65 65 65

Mechanical data

Weight kg 4,4 5,5 Height, without connectors mm 345 348 Height, with connectors mm 379 382 Width mm 70 100 Depth, without connectors mm 243 243 Depth, with connectors mm 285 285

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5.2.3 Inputs, outputs, aux. voltage supply

Interface electr. data

Analog inputs 1 and2

Max. common-mode voltage

Digital control inputs

Digital control outputs

BTB/RTO output, relay contacts

24V-IO for digital outputs 20V - 30V Auxiliary supply voltage, electrically isolated 24V (-0% +15%) current without / with motor brake 1A / 3A Min./max. output current to brake 0.15A / 2A

5.2.4 Connectors

as per IEC 61131-2 type1,

max. 30VDC, 15mA

as per IEC 61131-2 type1,

max. 30VDC, 100mA

max. 30VDC, max 42VAC

±10V ±10V

500mA

Connector Type

Control signals X3A,B,C Mini-Combicon connector 1,5mm² 4A 160V Aux. voltage X4A,B Mini-Combicon connector 1,5mm² 4A 160V Power signals X0, X8, X9 Power-Combicon connector 6mm² 24A 1000V Resolver input X2 SubD 9pin (socket) 0,5mm² 1A <100V Encoder input X1 SubD15pin (socket) 0,5mm² 1A <100V PC interface, CAN X6 SubD 9pin (plug) 0,5mm² 1A <100V Encoder-Emulation, ROD/SSI X5 (optional)

SubD 9pin (plug) 0,5mm² 1A <100V

*1 single-line connection *2 single-line connection with recommended conductor cross section (chapter 5.2.8) *3 rated voltage with pollution level 2

5.2.5 Recommended tightening torques

Connector Tightening torque

X0, X8, X9 0.7 to 0.8 Nm Grounding bolt 3.5 Nm

5.2.6 Fusing

Internal fusing, wire fuse or electronic

Circuit Internal fuse

Auxiliary voltage 24V 4A/4A Brake resistor electronic STO-Enable 2 A

max. cross

section

permiss. current

permiss.

voltage

External fusing by user (US fuses in brackets)

Wire fuses or similar S701 / S703 S706 S712 S724

AC supply feed F 24V feed F Brake resistor F

N1/2/3

H1/2

B1/2

6 AT (6A)* 10 AT (10A)* 16 AT (15A)* 30/35 AT (30A)*

max. 8 AT (8A)

40 A** 40 A** 40 A** 50 A**

* EU fuses: types gRL or gL, 400V/500V, T means time-delay

US fuses: class RK5 or CC or J or T, 600VAC 200kA, time-delay ** Bussmann FWP-xx Tips and detailed information can be found in the Product-Wiki on page "Fuses

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5.2.7 Ambient conditions, ventilation, mounting position

Storage hints Transport hints

Ambient temperature in operation

Humidity in operation

Site altitude

Pollution level Vibrations Enclosure protection Mounting position Ventilation

The servo amplifier shuts down (error F01 and F13, see p.122, motor has no torque) in case of excessively high temperature in the control cabinet. Make sure that there is sufficient forced ventilation within the control cabinet.

5.2.8 Conductor cross-sections

Following IEC 60204, we recommend for single-axis systems:

Interface Cross section Techn. requirements

AC connection

DC bus link Brake resistor

Motor cables without choke, max. 25 m

Motor cables with choke 3YL or 3YLN, 25 - 50m*

Resolver, motor thermal control, max.100m* Encoder, motor thermal control, max. 50m* ComCoder, motor thermal control, max. 25m Setpoints, AGND, max 30m 0.25 mm² (24awg) twisted pairs, shielded Control signals, BTB, DGND, max 30m

Holding brake (motor) min. 0.75 mm² (19awg)

+24 V and XGND, max 30m max. 2.5 mm² (14awg) For multi-axis systems, observe the specific operating conditions for your system. To reach functional safety with the max. permitted cable length, observe cable requirements ð p. 61.

* Kollmorgen North America supplies cables up to 39 meters

* Kollmorgen Europe supplies cables up to max. length

ð p.13 ð p.13

0...+40°C under rated conditions +40...+55°C with power derating 2.5% / °C rel. humidity 85%, no condensation up to 1000 meters a.m.s.l. without restriction 1000…2500 meters a.m.s.l. with power derating

1.5% / 100meters Pollution level 2 as per IEC 60664-1 Class 3M1 according to IEC 60721-3-3 IP 20 according to IEC 60529 vertical ð p.54 built-on fan

S701...706: 1.5 mm² (16awg) S712: 2.5 mm² (14awg) S724: 4 mm² (12awg)

S701...724: 6 mm² (10awg)

S701...706: 1...1.5 mm² (16awg) S712: 2.5 mm² (14awg) S724: 4 mm² (12awg) S701...706: 1 mm² (16awg) S712: 2.5 mm² (14awg) S724: 4 mm² (12awg)

4x2x0.25 mm² (24awg)

7x2x0.25 mm² (24awg)

8x2x0.25 mm² (24awg)

0.5 mm² (21awg)

600V,80°C

1000V, 80°C, shielded for lengths >0.20m

600V,80°C, shielded, capacitance <150pF/m

twisted pairs, shielded, capacitance <120pF/m twisted pairs, shielded, capacitance <120pF/m twisted pairs, shielded, capacitance <120pF/m

600V, 80°C, shielded,

check voltage drop check voltage drop

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5.3 Motor holding brake

A 24V / max. 2A holding brake in the motor can be controlled directly by the amplifier.

CAUTION

This function does not ensure functional safety! Danger by falling load (in case of suspended load, vertical axes). An additional mechanical brake is required for funktional safety, which must be safely operated, e.g. via the Safety Card S1-2 (see p.155).

The brake only works with sufficient voltage level (ð p.30). Check voltage drop, measure the voltage at brake input and check brake function (brake and no brake).

The brake function must be enabled through the BRAKE setting (screen page: Motor). In the diagram below you can see the timing and functional relationships between the ENABLE signal, speed setpoint, speed and braking force. All values can be adjusted with parameters, the values in the diagram are default values.

During the internal ENABLE delay time of 100ms (DECDIS), the speed setpoint of the servo amplifier is internally driven down along an adjustable ramp to 0V. The output for the brake is switched on when the speed has reached 5 rpm (VELO), at the latest after 5s (EMRGTO). The release delay time (t brake that is built into the motor are different for the various types of motor (see motor manual), the matching data are loaded from the motor database when the motor is selec ted. A description of the interface can be found on page 74.

) and the engage delay time (t

brH

) of the holding

brL

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5.4 LED display

A 3-character LED display indicates the status of the amplifier after switching on the 24V supply (ð p.121). When the keys on the front panel are used, the parameter and function numbers are shown, as well as the numbers for any errors and warnings that may occur (ð p.122ff).

5.5 Grounding system

AGND — analog inputs, internal analog ground DGND — 24V-IO, digital inputs and digital outputs, optically isolated. GND — internal digital ground, encoder Emulation, RS232, CAN XGND — 24V supply, STO Enable, ventilator, brake

5.6 Dynamic braking (brake circuit)

During braking with the aid of the motor, energy is fed back into the servo amplifier. This generated energy is dissipated as heat in the brake resistor. The brake resistor is switched in by the brake circuit.

The setup software can be used to adapt the brake circuit (thresholds) according to the electrical supply voltage.

Our customer service can help you with the calculation of the brake power that is necessary for your system. A simple method sible at www.wiki-kollmorgen.eu

Functional description:

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

When the energy fed back from the motor has an average or peak power that exceeds the preset level for the brake power rating, then the servo amplifier generates the warning “n02 brake power exceeded” and the brake circuit is switched off.

The next internal check of the DC bus link voltage (after a few milliseconds) detects an overvoltage and the output stage is switched off, with the error message “Overvoltage F02” (ð p.122).

The BTB/RTO contact (terminals X3B/14,15) will be opened at the same time (ð p.101)

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

Using the built-in brake circuit, several amplifiers of the same series can be operated off a common DC bus link (observe page 70), without requiring any additional measures.

90% of the combined power of all amplifiers is always available for peak and continuous power. The switch-off on overvoltage takes place as described under 1. (above) for the amplifier that has the lowest switch-off threshold (resulting from tolerances).

. A description of the interface can be found on page 72.

is described in the "Product Wiki" which is acces-

Technical data of the brake circuits depend on the amplifiers type and the mains voltage situation. See table on the next page.

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Technical Data S7xx0:

Brake circuit Supply voltage Type Rated data DIM 230 V 400 V 480 V

Switch-on threshold of brake circuit V 400 720 840 Overvoltage F02 V 455 800 900 Internal brake resistor (RBi) Ohm 33 Continuous power internal brake resistor (RBi) W 50 Max. brake power (average for 1s) kW 0,9 0,85 0,86

S70102

Pulse brake power kW 4 15 21 External brake resistor (RBe), optional Ohm 33 Continuous brake power external (RBe) kW 0,3 Switch-on threshold of brake circuit V 400 720 840 Overvoltage F02 V 455 800 900 Internal brake resistor (RBi) Ohm 33 Continuous power internal brake resistor (RBi) W 50 Max. brake power (average for 1s) kW 0,9 0,85 0,86

S70302

Pulse brake power kW 4 15 21 External brake resistor (RBe), optional Ohm 33 Continuous brake power external (RBe) kW 1 Switch-on threshold of brake circuit V 400 720 840 Overvoltage F02 V 455 800 900 Internal brake resistor (RBi) Ohm 33 Continuous power internal brake resistor (RBi) W 75 Max. brake power (average for 1s) kW 1,38 1,3 1,26

S70602

Pulse brake power kW 4 15 21 External brake resistor (RBe), optional Ohm 33 Continuous brake power external (RBe) kW 1 Switch-on threshold of brake circuit V 400 720 840 Overvoltage F02 V 455 800 900 Internal brake resistor (RBi) Ohm 33 Continuous power internal brake resistor (RBi) W 100 Max. brake power (average for 1s) kW 1,93 1,75 1,7 Pulse brake power kW 4 15 21

S71202/S7120S

External brake resistor (RBe), optional Ohm 33 Continuous brake power external (RBe) kW 1,5 Switch-on threshold of brake circuit V 400 720 840 Overvoltage F02 V 455 800 900 Internal brake resistor (RBi) Ohm 23 Continuous power internal brake resistor (RBi) W 200 Max. brake power (average for 1s) kW 3,93 3,55 3,45 Pulse brake power kW 6 23 30

S72402/S7240S

External brake resistor (RBe), optional Ohm 23 Continuous brake power external (RBe) kW 4

Suitable external brake resistors can be found in our accessories manual.

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Technical data S7xx6:

Brake circuit Supply voltage

Type Rated data DIM 110 V 230 V

Switch-on threshold of brake circuit V 200 400 Overvoltage F02 V 235 455 Internal brake resistor (RBi) Ohm 33 Continuous power internal brake resistor (RBi) W 50 Max. brake power (average for 1s) kW 0,9

S70162

Pulse brake power kW 1,2 4 External brake resistor (RBe), optional Ohm 33* Continuous brake power external (RBe) kW 0,3 Switch-on threshold of brake circuit V 200 400 Overvoltage F02 V 235 455 Internal brake resistor (RBi) Ohm 33 Continuous power internal brake resistor (RBi) W 50 Max. brake power (average for 1s) kW 0,9

S70362

Pulse brake power kW 1,2 4 External brake resistor (RBe), optional Ohm 33* Continuous brake power external (RBe) kW 1 Switch-on threshold of brake circuit V 200 400 Overvoltage F02 V 235 455 Internal brake resistor (RBi) Ohm 33 Continuous power internal brake resistor (RBi) W 75 Max. brake power (average for 1s) kW 1,38

S70662

S71262/S7126S

External brake resistor (RBe), optional Ohm 33* Continuous brake power external (RBe) kW 1,5 Switch-on threshold of brake circuit V 200 400 Overvoltage F02 V 235 455 Internal brake resistor (RBi) Ohm 23 Continuous power internal brake resistor (RBi) W 200 Max. brake power (average for 1s) kW 3,93 Pulse brake power kW 1,74 6

S72462/S7246S

External brake resistor (RBe), optional Ohm 23* Continuous brake power external (RBe) kW 4

* Can be reduced to 15 Ohm (PBALRES 15) if required.

Suitable external brake resistors can be found in our accessories manual.

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5.7 Switch-on and switch-off behavior

This chapter describes the switch-on and switch-off behavior of the S700 and the steps required to achieve operational stopping or emergency stop behavior that complies with standards.

The servo amplifier’s 24 V supply must remain constant. The ASCII commands

ACTFAULT STOPMODE

(error response, also depends on the specific error, see ERRCODE) and

(Enable signal response) dictate how the drive will behave.

ACTFAULT /

STOPMODE

1 (default)

Behavior (see also ASCII reference in the online help

ware) Motor coasts to a standstill in an uncontrolled manner Motor is braked in a controlled manner

of the setup soft-

Behavior during a power failure

The servo amplifiers use an integrated circuit to detect if one or more input phases (power supply feed) fail. The behavior of the servo amplifier is set using the setup software: Under “Response to Loss of Input Phase” (PMODE) on the Basic Setup screen, select:

Warning if the higher-level control system is to bring the drive to a standstill: Warning n05 is output if an input phase is missing, and the motor current is limited to 4 A. The servo amplifier is not disabled. The higher-level control system can now selectively end the current cycle or start bringing the drive to a standstill. Therefore, the error message “MAINS BTB, F16" is output on a digital output of the servo amplifier and evaluated by the control system, for instance.

Error message if the servo amplifier is to bring the drive to a standstill: Error message F19 is output if an input phase is missing. The servo amplifier is disabled and the BTB contact opens. Where the factory setting is unchanged (ACTFAULT=1), the motor is braked using the set “EMERGENCY STOP RAMP”.

Behavior when undervoltage threshold is reached

If the undervoltage threshold is undershot in the DC bus link (the threshold value depends on the type of servo amplifier), the error message “UNDERVOLTAGE, F05" is displayed. The drive response depends on the ACTFAULT and STOPMODE setting.

Behavior with enabled “holding brake” function

Servo amplifiers with an enabled holding brake function have a special procedure for switching off the output stage ( ð p. 32). Removing the ENABLE signal triggers electrical braking. As with all electronic circuits, the general rule applies that there is a possibility of the internal “holding brake” module failing. Functional safety, e.g. with hanging load (vertical axes), requires an additional mechanical brake which must be safely operated, e.g. via the Safety Card S1-2.

Behavior of the safety function STO

With the functional safe restart lock STO, the drive can be secured on standstill using its internal electronics so that even when power is being supplied, the drive shaft is protected against unintentional restart. The chapter “Safety function STO” describes how to use the STO function. See page 41 onwards.

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5.7.1 Behavior in standard operation

The behavior of the servo amplifier always depends on the current setting of a number of different parameters (e.g., ACTFAULT, VBUSMIN, VELO, STOPMODE, etc. see online

help). The diagram below illustrates the correct functional sequence for switching the

servo amplifier on and off.

Devices which are equipped with a selected “Brake” function use a special sequence for switching off the output stage (ð p.32).

The built-in safety function STO can be used to switch off the drive, so that functional safety is ensured at the drive shaft (ð p. 41).

In case of a built-in safety card, wait for the Ready Acknowledge (X30 Pin 16) of the safety card before enabling the servo amplifier again.

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5.7.2 Behavior in the event of an error (with standard setting)

The behavior of the servo amplifier always depends on the current setting of a number of different parameters (ACTFAULT, VBUSMIN, VELO, STOPMODE, etc.; see online help

CAUTION

Some faults (see ERRCODE ) force the output stage to switch-off immediately, independant from the ACTFAULT by uncontrolled coasting of the load. An additional mechanical brake is required for funktional safety, which must be safely operated

The diagram shows the startup procedure and the procedure that the internal control system follows in the event of motor overtemperature, assuming that the standard parameter settings apply. Fault F06 does not switch-off the output stage immediately, with ACTFAULT=1 a controlled emergency brake is started first.

setting. Danger of injury

(F06 = error messages "Motor Temperature")

Even if there is no intervention from an external control system (in the example, the ENABLE signal remains active), the motor is immediately braked using the emergency stop ramp if the error is detected and assuming that no changes have been made to the factory setting (ACTFAULT=1).

In case of a built-in safety card, wait for the Ready Acknowledge (X30 Pin 16) of the safety card before enabling the servo amplifier again.

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5.8 Stop-, Emergency Stop-, Emergency Off Function to IEC 60204

With the functional safe, certified function STO (see page 41 onwards) the drive can be secured on standstill (torque-free) using its internal electronics so that even when power is being supplied, the drive shaft is protected against unintentional restart (up to SIL CL3 according to IEC 62061, PLe according to ISO 13849-1).

With built-in “Safety” expansion card, more safe drive functions in accordance with IEC 61508 are provided (see page 152 ff).

The parameters “STOPMODE” and “ACTFAULT” must be set to 1 in order to implement the stop and emergency stop categories. If necessary, change the parameters via the terminal screen of the setup software and store the data in the EEPROM.

Examples for implementation can be found in the Product WIKI on page "Stop and

Emergency Stop Function".

5.8.1 Stop

The Stop function is used to shut down the machine in normal operation. The Stop functions are defined by IEC 60204.

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

drive machinery (i.e. an uncontrolled shut-down); this can be done with the built-in STO functionality (see page 41)

Category 1: A controlled shut-down , whereby the energy supply to the drive

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

Category 2: A controlled shut-down, whereby the energy supply to the drive

machinery is maintained.

The Stop Category must be determined by a risk evaluation of the machine. In addition, suitable means must be provided to guarantee a reliable shut-down.

Category 0 and Category 1 Stops must be operable independently of the operating mode, whereby a Category 0 Stop must have priority. Stop functions must be implemented by disconnection of the appropriate circuitry, and have priority over assigned start functions.

If necessary, provision must be made for the connection of protective devices and lock-outs. If applicable, the Stop function must signal its status to the control logic. A reset of the Stop function must not create a hazardous situation.

Examples for implementation can be found in the Product WIKI on page "Stop and

Emergency Stop Function".

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5.8.2 Emergency Stop

The Emergency Stop function is used for the fastest possible shutdown of the machine in a dangerous situation. The Emergency Stop function is defined by IEC 60204. Princi ples of emergency stop devices and functional aspects are defined in ISO 13850.

The Emergency Stop function will be triggered by the manual actions of a single person. It must be fully functional and available at all times. The user must understand instantly how to operate this mechanism (without consulting references or instructions).

The Stop Category for the Emergency Stop must be determined by a risk evaluation of the machine.

In addition to the requirements for stop, the Emergency Stop must fulfil the following requirements:

Emergency Stop must have priority over all other functions and controls in all operating modes.

The energy supply to any drive machinery that could cause dangerous situations must be switched off as fast as possible, without causing any further hazards ( Stop Category 0) or must be controlled in such a way, that any movement that causes danger, is stopped as fast as possible (Stop Category 1).

The reset must not initiate a restart.

Examples for implementation can be found in the Product WIKI on page "Stop and

Emergency Stop Function".

5.8.3 Emergency Off

The Emergency Off function is used to switch-off the electrical power supply of the machine. This is done to prevent users from any risk from electrical energy (for example electrical impact). Functional aspects for Emergency Off are defined in IEC 60364-5-53.

The Emergency Off function will be triggered by the manual actions of a single person. The result of a risk evaluation of the machine determines the necessity for an Emergency

Off function. Emergency Off is done by switching off the supply energy by electro-mechanical swit-

ching devices. This results in a category 0 stop. If this stop category is not possible in the application, then the Emergency Off function must be replaced by other measures (for example by protection against direct touching).

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5.9 Safety function STO

A frequently required application task is the safe torque off and the protection of person nel against unintentioned restarting of drives. The S700 servo amplifier offers, even in the basic version, a two channel STO function (Safe Torque Off). The function blocks the trig ger pulses of the power transistors (pulse inhibitor).

Advantages of the safety function STO:

— the DC bus 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 — single or dual channel control possible — SIL2 or SIL3 solutions possible

The STO safety function corresponds to stop category 0 (uncontrolled stopping) acc. to EN 60204-1. The safety function STO can be operated from external safety switch gears (relays), from a safe external control (semiconductor output or driven contact) or from the built-in safety card S1-2 or S2-2 (see p. 152).

The STO safety concept is certified by the TÜV. The safety circuit concept for realizing the safety function "Safe Torque Off" in the servo amplifiers S700 is suited for SIL CL3 according to IEC 62061 and PLe according to ISO 13849-1.

SIL2 / PLd solutions can be implemented with single-channel or dual-channel control with simple safety switching devices. A SIL3 / PLe solution requires a safety control that periodically tests the safe switching of the pulse inhibitor by analyzing the feedback signal.

5.9.1 Safety characteristic data

The subsystems (servo amplifiers) are totally described for safety technics with the characteristic data SIL CL, PFH

Device Operation mode EN 13849-1 EN 62061 PFH

STO STO single channel PLd, Cat 3 SIL CL2 7.05E-08 20 STO STO dual channel PLd, Cat 3 SIL CL2 7.05E-08 20

STO

STO dual channel +

periodical testing

5.9.2 Enclosure

Since the servo amplifier meets enclosure IP20, you must select the enclosure ensuring a safe operation of the servo amplifier referring to the enclosure. The enclosure must meet IP54 at least.

5.9.3 Wiring

When using STO wiring leads outside the control cabinet, the cables must be laid durably (firmly), protected from outside damage (e.g. laying in a cable duct), in different sheathed cables or protected individually by grounding connection. Wiring remaining within the demanded enclosure must meet the requirements of the standard IEC 60204-1.

and TM.

[1/h] TM[Year]

PLe, Cat 4 SIL CL3 1.04E-09 20

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5.9.4 Important notes

WARNING

The function STO does not provide an electrical separation from the power output. Risk of electric shock! If access to the motor power terminals is necessary, the S700 must be disconnected from mains supply considering the discharging time of the intermediate circuit.

In case of single channel control: If the STO is automatically activated by a control system, then make sure that the output of the control is supervised for possible malfunction. This can be used to prevent a faulty output from unintentionally activating the function STO. Since STO is used in a single-channel system, erroneous engaging will not be recognized.

Controlled braking

When STO is engaged during operation by separating input STO1-Enable and STO2-Enable from 24 VDC, the motor runs down out of control and the servo amplifier displays the error F27. There is no possibility of braking the drive controlled. Risk from uncontrolled movement! If a controlled braking before the use of STO is necessary, the drive must be braked and the inputs STO1-ENABLE and STO2-Enable have to be separated from +24 VDC time-delayed.

Keep to the following functional sequence when the drive must be braked in a controlled manner:

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

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

3. If there is a suspended load, block the drive mechanically

4. Activate STO (STO1-Enable and STO2-Enable = 0V)

5.9.5 Use as directed STO

The STO function is exclusively intended to provide functional safety, by preventing the restart of a system. To achieve this functional safety, the wiring of the safety circuits must meet the safety requirements of IEC 60204, ISO 12100, IEC 62061 respectively ISO 13849-1.

In case of single channel control: if STO is automatically activated by a control system, then make sure that the output of the control is monitored for possible malfunction.

To achieve PL e or SIL CL3, the safe switching of the pulse inhibitor must be tested periodically by analyzing the feedback signal from the safety control (ð p. 50).

5.9.6 Prohibited Use STO

The STO function 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-Off situations: the mains contactor must be switched off (by the

emergency-Off button).

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5.9.7 Technical data and pinning

STO1-Enable and STO2-Enable Data Input voltage Input current Peak current Response time (falling edge at STO input until energy supply to motor is interrupted)

20V..30V 33mA – 40mA (Ieff) 100mA (Is) STO1: 1ms STO2: 2ms

To achieve PLe / SIL CL3, the safe switching of the pulse inhibitor must be tested periodi cally by analyzing the status signal from a safety control. Therefore the status must be lin ked to one of the digital outputs DIGITAL-OUT1 or 2 (X3A/6 or X3A/7) with the ASCII command OxMODE70.

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5.9.8 Functional description

In case of use of the STO function the inputs STO1- Enable and STO2-Enable must be connected to the exits of a security control or a safety relay, which meets at least to the requirements of the SIL CL2 according to IEC 62061 and PLd according to ISO 13849-1 (see the connection diagrams from page 46).

Possible states of the servo amplifier in connection with STO:

STO1-ENABLE STO2-ENABLE

0 V 0 V -S- no yes

0 V +24 V F27 no yes +24 V 0 V normal status e.g. 06 no no +24 V +24 V normal status e.g. E06 yes no

SIL2/PLd Single Channel Control

With the single-channel control of the STO (SIL2/PLd) safety function, both switch-off paths STO1-Enable and STO2-Enable are switched by one output of a safety switching device (e.g. safety relay), see example ð p. 46. In case of single channel usage of STO, erroneous engaging will not be recognized. Therefore the output of the control must be supervised for possible malfunction.

SIL2/PLd Dual Channel Control

With the dual-channel control of the STO (SIL2/PLd) safety function, the switch-off paths STO1-Enable and STO2-Enable are switched separately by two outputs of a safety switching device (e.g. safety relay), see example on ð p. 47.

SIL3/PLe Dual Channel Control

With the dual-channel control of the STO safety function, the switch-off paths STO1-Enable and STO2-Enable are switched separately by two outputs of a safety control, see example on ð p. 48. To achieve PL e or SIL CL3, the safe switching of the pulse inhibitor must be tested periodically by analyzing the feedback signal from the safety control (ð p. 50). The feedback signal is placed at one of the digital outputs DIGITAL-OUTx (X3A/6 or X3A/7, see p. 101) of the S700 with the ASCII command OxMODE70.

ENABLE Display

Motor has

torque

SIL CL2 or 3

safety

When wiring the STO inputs within one enclosure it must be paid attention to the fact that the used cables and the enclosure meet the requirements of IEC 60204-1. If the wiring leads outside the demanded enclosure, the cables must be laid durably (firmly), and protected from outside damage (see chapter 5.9.3).

If STO function is not needed in the application, then the inputs STO1-ENABLE and STO2-ENABLE must be connected directly with +24VDC. STO is passed by now and cannot be used. Now the servo amplifier is not a safety component referring to the EC Machine Directive.

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5.9.8.1 Safe operation sequence

WARNING

If the STO function is activated, the amplifier cannot hold the load, the motor no longer supplies torque. Risk of injury from suspended load! Drives with suspended loads must also be safely blocked using a mechanical means (e.g. with the motor holding brake).

CAUTION

If a controlled braking before the use of STO is necessary, the drive must be braked and the inputs STO1-ENABLE and STO2-Enable have to be separated from +24 VDC time-delayed.

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, block the drive mechanically

4. Activate STO (STO1-Enable and STO2-Enable = 0V) The diagram shows how STO should be used to ensure a safe stop of the drive and error

free operation of the servo amplifier.

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5.9.8.2 Control circuit single channel SIL2/PLd (example)

The example shows a circuit diagram with one axis connected to an emergency stop cir cuit. The STO of the drives is switched by a protective screen. A single channel switch-off is used. The safety switch gears used in the example are manufactured by Pilz and fulfill at least the PLd acc. to ISO 13849-1. Further information to the safety switch gears is available from Pilz. The use of safety switch gears of other manufacturers is possible, if these also fulfill the SIL CL2 according to IEC 62061 and PLd according to ISO 13849-1.

Emergency-stop circuit

acc. to ISO 13849-1, PLe

Safety function STO, SIL CL2 / PLd, single channel, 1 drive

Consider the wiring instructions on page 41.

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5.9.8.3 Control circuit dual channel SIL2/PLd (example)

The example shows a circuit diagram with one axis connected to an emergency stop cir cuit. The STO of the drives is switched by a protective screen. A dual channel switch-off is used. The safety switch gears used in the example are manufactured by Pilz and fulfill at least the PLd acc. to ISO 13849-1. Further information to the safety switch gears is available from Pilz. The use of safety switch gears of other manufacturers is possible, if these also fulfill the SIL CL2 according to IEC 62061 and PLd according to ISO 13849-1.

Emergency-stop circuit

acc. to ISO 13849-1, PLe

Safety function STO, SIL CL2 / PLd, dual channel, 1 drive

Consider the wiring instructions on page 41.

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5.9.8.4 Control circuit dual channel SIL3/PLe (example)

The example shows a circuit diagram with one axis connected to an emergency stop cir cuit. The STO of the drives is switched by a protective screen. A dual channel switch-off is used. The safe switching of the pulse inhibitor must be tested periodically by analyzing the feedback in the safety control. The safety controller used in the example is manufactured by Pilz and fulfills at least the PLe acc. to ISO 13849-1. Further information to the safety controllers are available from Pilz. The use of safety controlelrs of other manufacturers is possible, if these also fulfill the SIL CL3 according to IEC 62061 and PLe according to ISO 13849-1.

Emergency-stop circuit

acc. to ISO 13849-1, PLe

Safety function STO, SIL CL3 / PLe, dual channel, 1 drive

Consider the wiring instructions on page 41.

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5.9.8.5 Mains supply circuit (example)

S700

5.9.9 Functional test

5.9.9.1 SIngle or Dual Channel control, SIL CL2 / PLd

With initial starting and after each interference into the wiring of the drive or after exchange of one or several components of the drive the function of STO must be tested.

1. Method:

1. Stop drive, with setpoint 0V, keep servo amplifier enabled (Enable=24V).

DANGER: Do not enter hazardous area!

2. Activate STO1-Enable and STO2-Enable e.g. by opening protective screen (voltage at X4A/3=0V and X4B/6=0V).

Correct behavior: the BTB/RTO contact opens, the net contactor releases and the servo amplifier displays error F27.

2. Method:

1. Stop all drives, with setpoint 0V, disable servo amplifier (Enable=0V).

2. Activate STO1-Enable and STO2-Enable e.g. by opening protective screen (voltage at X4A/3=0V and X4B/6=0V).

Correct behavior: the servo amplifier displays -S-.

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5.9.9.2 SIL CL3 / PLe Dual Channel control

To achieve PLe / SIL CL3, the safe switching of the pulse inhibitor must be tested periodi cally by analyzing the feedback signal from a safety control:

At the start of a system

At the restart after triggering a protective device

At least every 8 hours by the operator.

The inputs STO1-ENABLE and STO2-ENABLE are switched in turns according to a defined test sequence. The switching state of the pulse inhibitor is available at a digital output of the S700 and is analyzed by a safety control.

The test sequence for the functional test of the safe pulse inhibitor must be performed as shown in the following time chart. Prerequisites for the start of the test sequence:

Operational readiness BTB/RTO = “1"

Enable signal ENABLE = “0"

STO1-ENABLE and STO2-ENABLE = “0"

Legend: STO1-ENABLE: digital input, 1st switch-off path STO2-ENABLE: digital input, 2nd switch-off path STO-STATUS: digital output, switching state of pulse inhibitor T1 … T5: Test sequence Start: Start of test sequence End: End of test sequence

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5.10 Shock-hazard protection

5.10.1 Leakage current

Leakage current via the PE conductor results from the combination of equipment and cable leakage currents. The leakage current frequency pattern comprises a number of frequencies, whereby the residual-current circuit breakers definitively evaluate the 50Hz current. As a rule of thumb, the following assumption can be made for leakage current on our low-capacity cables at a mains voltage of 400 V, depending on the clock frequency of the output stage:

=nx20mA+Lx1mA/m at 8kHz clock frequency at the output stage

leak

= n x 20mA + L x 2mA/m at a 16kHz clock frequency at the output stage

leak

(where Ileak=leakage current, n=number of amplifiers, L=length of motor cable)

At other mains voltage ratings, the leakage current varies in proportion to the voltage.

Example: 2 x servo amplifiers + a 25m motor cable at a clock frequency of 8kHz:

2 x 20mA + 25m x 1mA/m = 65mA leakage current.

Since the leakage current to PE is more than 3.5 mA, in compliance with IEC 61800-5-1 the PE connection must either be doubled or a connecting cable with a cross-section >10mm² must be used. Use the PE terminals and the PE bolt in order to fulfil this requirement.

The following measures can be used to minimize leakage currents. — Reduce the length of the engine cable — Use low-capacity cables (see p.61) — Remove external EMC filters (radio-interference suppressors are integrated)

5.10.2 Residual current protective device (RCD)

In conformity with IEC 60364-4-41 – Regulations for installation and IEC 60204 – Electrical equipment of machinery, residual current protective devices (called RCD below) can be used provided the requisite regulations are complied with. The S700 is a 3-phase system with a B6 bridge. Therefore, RCDs which are sensitive to all currents must be used in order to detect any D.C. fault current. Refer to chapter 5.10.1 for the rule of thumb for determining the leakage current. Rated residual currents in the RCD

10-30mA

50 - 300 mA

Recommendation: In order to protect against direct contact (with motor cables shorter than 5 m) we recommend that each servo amplifier be protected individually using a 30mA RCD which is sensitive to all currents.

If you use a selective RCD, the more intelligent evaluation process will prevent spurious tripping of the RCD.

Protection against "indirect contact" for stationary and mobile equipment, as well as for "direct contact". Protection against "indirect contact" for stationary equipment

5.10.3 Isolating transformers

When protection against indirect contact is absolutely essential despite a higher leakage current, or when an alternative form of shock-hazard protection is sought, the S700 can also be operated via an isolating transformer (schematic connection see p.66). A ground-leakage monitor can be used to monitor for short circuits.

Be advised to keep the length of wiring between the transformer and the servo amplifier as short as possible.

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6 Mechanical Installation

6.1 Important notes

WARNING

There is a danger of electrical shock by high EMC level which could result in injury, if the servo amplifier (or the motor) is not properly EMC-grounded. Do not use painted (i.e. non-conductive) mounting plates. In unfavourable circumstances, use copper mesh tape between the earthing bolts and earth potential to deflect currents.

Protect the servo amplifier from impermissible stresses. In particular, do not let any components become bent or any insulation distances altered during transport and handling. Avoid contact with electronic components and contacts.

The servo amplifier will switch-off itself in case of overheating. Ensure that there is an adequate flow of cool, filtered air into the bottom of the control cabinet, or use a heat exchanger. Please refer to page 31.

Don't mount devices, which produce magnetic fields, directly beside the servo amplifier. Strong magnetic fields could directly affect internal components. Install devices which produce magnetic field with distance to the servo amplifiers and/or shield the magnetic fields.

6.2 Guide to mechanical installation

The following notes should help you to carry out the mechanical installation.

In a closed control cabinet. Please refer to page 31.

Site

Ventilation

Assembly

Grounding

Shielding

The site must be free from conductive or corrosive materials. For the mounting position in the cabinet ð p.54.

Check that the ventilation of the servo amplifier is unimpeded, and keep within the permitted ambient temperature ð p.31. Keep the required space clear above and below the servo amplifier ð p.54.

Assemble the servo amplifier and power supply close together, on the conductive, grounded mounting plate in the cabinet.

For EMC-compliant shielding and grounding ð p.65. Ground the mounting plate, motor housing and CNC-GND of the control system. Notes on connection techniques ð p.60.

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6.3 Assembly

Material: three M5 hexagon socket screws to ISO 4762 Tool required:4mmAllen key

Remove the fan before mounting the servo amplifier and replace it again afterwards (ð p.56).

S700

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6.4 Dimensions

S701…712

S724

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6.5 Fan assembly

The fan does not require wiring. Built-in connectors in the fan casing plug into sockets on the underside of the S700.

Remove the fan before mounting the servo amplifier and replace it again afterwards.

Mounting and removing the fan (models

S701...712)

Removal:

Gently squeeze the fan casing together lengthwise and pull the fan casing down.

Mounting: Position the fan so that the green connector is aligned with the socket in the S700. Push the fan onto the connector until the fan casing clicks into place. Gently squeeze the fan casing together lengthwise to check that it is fully engaged.

Mounting and removing the fan (model S724)

Removal:

Gently squeeze the fan casing together crosswise and pull the fan casing down.

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7 Electrical installation

7.1 Important notes

WARNING

There is a danger of electrical arcing when disconnecting connectors, because capacitors can still have dangerous voltages present up to eight minutes after switching off the supply power. Risk of burns and blinding. The contacts become damaged. Never undo any electrical connections to the servo amplifier while it is live. Wait at least eight minutes after disconnecting the installations from the main supply power before touching potentially live sections of the equipment (e.g. contacts) or undoing any connections. To be sure, measure the voltage in the DC Bus link and wait until it has fallen below 60V. Control and power connections can still be live, even if the motor is not rotating.

Wrong mains voltage, unsuitable motor or wrong wiring will damage the amplifier. Check the combination of servo amplifier and motor. Compare the rated voltage and current of the units. Implement the wiring according to the connection diagram on p. 59. Make sure that the maximum permissible rated voltage at the terminals L1, L2, L3 or +DC, –DC is not exceeded by more than 10% even in the most unfavorable circumstances (see IEC 60204-1).

Excessively high external fusing will endanger cables and devices. The fusing of the AC supply input and 24V supply must be installed by the user, best values are given on p.30. Hints for use of Residual-current circuit breakers (FI) ð p.51.

Correct wiring is the basis for reliable functioning of the servo system. Route power and control cables separately. We recommend a distance of at least 200mm. This improves the interference immunity. If a motor power cable is used that includes cores for brake control, the brake control cores must be separately shielded. Ground the shielding at both ends. Ground all shielding with large areas (low impedance), with metalized connector housings or shield connection clamps wherever possible. Notes on connection techniques can be found on page 60.

Feedback lines may not be extended, since thereby the shielding would be interrupted and the signal processing could be disturbed. Lines between amplifiers and external brake resistor must be shielded. Install all cables with an adequate cross-section, as per IEC 60204 (ð p.31) and use the requested cable material (ð p. 61) to reach max. cable length.

The servo amplifier's status must be monitored by the PLC to acknowledge critical situations. Wire the BTB/RTO contact in series into the emergency stop circuit of the installation. The emergency stop circuit must operate the supply contactor.

It is permissible to use the setup software to alter the settings of the servo amplifier. Any other alterations will invalidate the warranty.

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7.2 Guide to electrical installation

The following notes should help you to carry out the electrical installation.

Cable selection

Grounding

Shielding

Wiring

Select cables in accordance with IEC 60204 ð p.31.

For EMC-compliant shielding and grounding ð p.65. Ground the mounting plate, motor housing and CNC-GND of the control system. Notes on connection techniques ð p.60.

Note: Route power leads and control cables separately. Wire the BTB/RTO contact in series into the emergency stop circuit of the system.

1. Connect the digital control inputs and outputs.

2. Connect the analog input source, if required.

3. Connect the feedback device.

4. Connect the expansion card

— (see corresponding notes from page 125).

5. Connect the motor cable

— Connect shielding to EMC connectors (shield connection) at both — ends. Use the motor choke (3YL or 3YLN) if cable > 25 meters.

6. Connect motor-holding brake, connect shielding to EMC connector at both ends.

7. If required, connect the external brake resistor (with fusing).

8. Connect the auxiliary supply

— (maximum permissible voltage values ð p.31).

9. Connect the main electrical supply

— (maximum permissible voltage values ð p.31), hints for use of

Residual-current circuit breakers (FI) ð p.51

10.Connect the PC (ð p.102).

Final check

Final check of the implementation of the wiring against the wiring diagrams that have been used.

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7.3 Wiring

The installation procedure is described as an example. A different procedure may be appropriate or necessary, depending on the application of the equipments. We provide further know-how through training courses (on request).

DANGER

Severe electric shock injuries or death may be sustained when working on installations which have not been disconnected. Only professional staff who are qualified in electrical engineering are allowed to install the servo amplifier. Only install and wire up the equipment when it is not live, i.e. when neither the electrical supply nor the 24 V auxiliary voltage nor the supply voltages of any other connected equipment is switched on. Take care that the cabinet is safely disconnected (with a lock-out, warning signs etc.). The individual voltages will be switched on for the first time during setup.

The ground symbol X, which you will find in all the wiring diagrams, indicates that you

must take care to provide an electrically conductive connection with the largest feasible surface area between the unit indicated and the mounting plate in the control cabinet. This connection is for the effective grounding of HF interference, and must not be confused with the PE-symbol W (PE = protective earth, safety measure as per IEC 60204).

Use the following connection diagrams: Overview : page 65 Safe Torque Off STO : page 46 Mains power : page 68ff Motor : page 74 Feedback : page 76ff Electronic Gearing and Master Slave

Master-Slave : page 93

Pulse-Direction : page 94 Digital and analog inputs and outputs : page 98ff RS232 / PC connection : page 102 CANopen Interface : page 103 EtherNET Interface : page 104 Expansion cards for slot 1:

I/O-14/08 : page 128

PROFIBUS : page 129

sercos

DeviceNet : page 132

SynqNet : page 136

FB-2to1 : page 137

2CAN : page 139 Expansion cards for slot 2:

PosI/O & PosI/O-Monitor : page 142ff Expansion cards for slot 3:

PosI/O & PosI/O-Monitor : page 151ff

Safety : page 152ff

II : page 131

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55 mm

7.3.1 Shielding connection to the front panel

Remove the outside shroud of the cable and the shielding braid on the desired core length. Secure the cores with a cable tie.

Remove the outside shroud of the line on a length from for instance 30mm without dama ging the shielding braid.

Strip all wires and fit wire end ferrules.

Use cable ties to attach the cable to the side (1) or bottom (2) shroud of the servo amplifier, securing the braided shield of the cable to the shroud of the servo amplifier with a cable tie.





Alternatively you can use shield connection terminal clamps (see accessories manual). These hook into the bottom shroud and ensure optimum contact between the shield and the shroud.

Wire the plug-in terminal blocks as shown in the connection diagram. The motor cable shield is connected via the bottom motor connector X9 (see below).

7.3.2 Motor connector X9 with shielding connection

Strip the external cable sheath to a length of approx. 120 mm, taking care not to dama- ge the braided shield. Push the braided shield (1) back over the cable and secure with a rubber sleeve (2) or shrink sleeve.

Shorten all the wires apart from the protective earth (PE) wire (green/yellow) by about 20 mm so that the PE wire is now the longest wire. Strip all wires and fit wire end ferrules.

Secure the braided shield of the cable to the shroud with a cable tie (3) and use a second tie (4) to fasten the cable.

Wire the connector as shown in the connec

60 S701x2-S724x2 Instructions Manual

tion diagram. Plug in the connector to the socket on the front of the S700.

Screw the connector in place. This ensu res that there is conductive contact over a large surface area between the braided shield and the front panel.

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7.3.3 Technical data for connecting cables

For further information on the chemical, mechanical and electrical characteristics of the cables please refer to the accessories manual or contact our customer service.

Observe the rules in the section "Conductor cross-sections" on page 31. To reach the max. permitted cable length, you must use cable material that matches the capacitance requirements listed below.

Capacitance (phase to shield)

Motor cable less than 150 pF/m Feedback cable less than 120 pF/m

Example: Motor cable

Technical data

For a detailed description of Kollmorgen cable types and how to assemble them, please refer to the accessories manual.

Motor cables longer than 25m require the use of a motor choke 3YL or 3YLN.

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7.4 Components of a servo system

S700

Controls / PLC

24V PSU

Fuses

Brake resistor

(optional)

Drive cut-out

Motor choke

(optional)

Terminals

Cables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines. Optional devices are connected with dashed lines to the servo amplifier. The required accessories are described in our accessories manual. STO function is deactivated in the example.

Motor

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7.5 Block diagram

The block diagram below just provides an overview.

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7.6 Connector assignments

EtherNET,

RJ-45

The connectors of the expansion card depend on used expansion card (see pages 126 ff).

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7.7 Connection diagram (Overview)

Reference Safety Instructions (ð p.10) and Use As Directed (ð p.12) !

S700

ð p.78ff

ð p.77

ð p.74

ð p.98

ð p.99

ð p.41

ð p.72

ð p.68

ð p.99

ð p.104

ð p.102

ð p.126 ð p.129 ð p.130 ð p.132 ð p.136

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7.8 Electrical supply

7.8.1 Connection to various mains supply networks

WARNING

There is a danger of electrical shock with serious personal injury or death if the servo amplifier isn't properly grounded. An isolating transformer is required for 400V to 480V networks that are asymmetrically grounded or not grounded as shown below.

7.8.1.1 S7xx0 types

S7xx0

S7xx0 S7xx0

S7xx0

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7.8.1.2 S7xx6 types

S7xx6

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7.8.2 24V auxiliary supply (X4)

— External 24V DC power supply, electrically isolated, e.g. via an isolating transformer — Required current rating ð p.28 — Integrated EMC filter for the 24V auxiliary supply

S700

7.8.3 Mains supply connection (X0), three phase

— Directly to 3-phase supply network, filter is integrated, supply networks ð p.66 — Fusing (e.g. fusible cut-outs) to be provided by the user ð p.30

S7xx0 and S7xx6

7.8.4 Mains supply connection (X0), two phase without neutral

S7xx6

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7.8.5 Mains supply connection (X0), single phase with neutral

The S700 with 230V version (S7xx6) can be operated with a single phase mains supply. In single phase operation the electrical power of the amplifier is limited.

S7xx6

The table below shows the maximum rated power (Pn) and peak power (Pp) with single phase operation:

max. electrical power VBUSBAL0 (110V) VBUSBAL1 (230V)

S7016 S7036 S7066 S7126 S7246

Pn/W Pp/W Pn/W Pp/W Pn/W Pp/W Pn/W Pp/W Pn/W Pp/W

200 400 400 400 800 800 950 950 1300 1300 400 1200 800 2400 1600 3200 2200 3300 3000 3500

The maximum possible current depends on the motor torque constant kTand on the maximum speed of the connected motor:

Continuous currrent:

×× ×

2 p

rms

peak current:

peak

×× ×

2 p

Speed can be limited with the ASCII parameter VLIM to reach the necessary current for the required torque.

With a special motor type (k

= constant depending on the motor type) the possible out-

put current depending on speed is similar to the diagram below:

Ipeak

Irms

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7.9 DC bus link (X8)

Terminals X8/1 (-DC) and X8/2 (+RBe). Can be connected in parallel, whereby the brake power is divided between all the amplifiers that are connected to the same DC bus link circuit. With the optional Y-connector X8Y you can connect more than one S700 to the DC bus or connect an additional external brake resistor.

In case of mains supply from the same mains (VBUSBAL must be identical with all devices on the same DC bus) these servo amplifiers may be connected by the DC bus link :

S701-724 with

HWR* < 2.00 S701-724 with HWR* < 2.00 S701-724 with HWR* ³ 2.00

*HWR = Hardware Revision (check nameplate)

The servo amplifiers can be destroyed, if DC bus link voltages are different. Only ser-

yes no no no no

no yes no yes no

S701-724 with

HWR* ³ 2.00

S748/S772 S300 AKD

vo amplifiers with mains supply from the same mains (identical mains supply voltage) may be connected by the DC bus link.

The sum of the rated currents for all of the servo amplifiers connected in parallel to an S700 must not exceed 48A.

Use 6mm², unshielded single cores with a max. length of 200mm; use 6mm² shielded cables for longer lengths. In this case no fuse for line protection is required.

Servo amplifiers working generatively very often, should be placed beside amplifiers, which need energy. That reduces current flow on longer distances.

Fusing information are explained in detail in the "Product Wiki", available at

www.wiki-kollmorgen.eu

, on the WIKI page "DC Bus link in parallel".

Wiring example with external brake resistor

S700

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S700 S700 S700 S700 S700 S700

DC DC DC DC DC DC

S700 S700 S700 S700 S700 S700

DC DC DC DC DC DC

7.9.1 DC Bus topology

Fuse types see section "Fuses" on page 30. More information can be found on page

Fuses

Connection with Y connectors

The sum of the rated currents for all of the servo amplifiers connected in parallel to an S700 must not exceed 48 A. If, based on this, the upper current limit is not exceeded, this amplifier (with 6 mm² connections) can be connected using a Y connector.

Without intermediate circuit fuses, other devices can become damaged or destroyed if, for example, a device fails due to an internal short circuit. If multiple amplifiers are connected in parallel, then it is usual to insert intermediate circuit fuses between groups of amplifiers (with a group consisting of two or three devices, depending on the strength of the current) in order to limit any possible consequential damage. Fuses cannot avoid damage by current peaks completely.

in the Product-WIKI.

Connection with busbars

This wiring does not require Y joints. If a device fails due to a short-circuit, only its intermediate fuses are tripped and the rest of the network continues uninterrupted. The relatively solid busbars can conduct significantly larger currents, because the compensating current does not flow through the connector as above. For this reason, almost as many servo amplifiers as desired can be connected in parallel in this form. This arrangement is frequently also useful for connecting capacitor modules.

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7.9.2 External brake resistor (X8)

Remove the plug-in link between the terminals X8/4 (-RB) and X8/3 (+Rbi). Fuse types see p. 30. Information for brake circuit and technical data can be found on page 33. Use the optional Y-connector X8Y (set with X4Amini for better assembly, see order numbers on p.161), if you want to link the DC bus with

other S700 servo amplifiers. A wiring example with Y-connectors can be found on p.70.

S700

7.9.3 Capacitor Module KCM (X8)

KCM modules (KOLLMORGEN Capacitor Modules) absorb energy gener-

ated by the motor when it is operating in generator mode. Normally, this energy is dissipated as waste via brake resistors. KCM modules, however, feed the energy they have stored back into the DC Bus link as and when it is required. Dimensions (HxWxD) : 300x100x201 mm

KCM-S Saves energy: The energy stored in the capacitor module during regenerative

braking is available the next time acceleration happens. The module’s inception voltage is calculated automatically during the first load cycles.

KCM-P Power in spite of power failure: If the power supply fails, the module provides

the servo amplifier with the stored energy that is required to bring the drive to a standstill in a controlled manner (this only applies to the power supply voltage; battery-back the 24 V supply separately).

KCM-E Expansion module for both applications. Expansion modules are available in

two capacitance classes.

The KCM modules can be connected to S7010 ... S7240 devices (mains supply voltage 400/480V, rated current max. 24A). Information for mounting, installation and setup can be found in the KCM Instructions Manual.

Technical Data of KCM Modules

Storage

capacity

Type [Ws] [V DC] [V DC] [kW] [V DC] [kg]

KCM-S200 1600 KCM-P200 2000 470 VDC 6,9 KCM-E200 2000 - 4,1 KCM-E400 4000 - 6,2

Rated

supply

voltage

max.

850 VDC

Peak supply

voltage

max.

950 VDC

(30s in 6min)

Power

18 IP20

Protec

tion

class

Inception

voltage

evaluated 6,9

Weight

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Wiring example KCM Modules Maximum cable length between servo amplifier and S700 module: 500 mm.

Twist the cables +DC/-DC. Longer cable lengths require shielding. Ensure that the polarity is correct; swapping round DC+/DC- will destroy the KCM modules.

DANGER

DC Bus link terminals in servo systems carry high DC voltage of up to 900 V. Touching the terminals while they are carrying voltage is extremely dangerous. Switch off (disconnect) the line voltage. You must only work on the connections when the system is disconnected. It can take over an hour for the modules to self-discharge. Check the state of charge with a measuring device that is suitable for a DC voltage of up to 1,000 V. When measuring a voltage of over 60 V between the DC+/DC- terminals or to ground, wait some minutes and measure again or discharge the modules as described in the KCM instructions manual.

KCM-S: Connect the BR connection to the S700 with the most frequent regenerative braking processes in the system. This S700 must have an active internal or external brake resistor. For setup, enable the S700 and operate the driving profile that causes the brake chopper to respond. The KCM-S determines the chopper threshold and begins to charge; LED flashes. The energy stored is available the next time acceleration happens.

S700

KCM-P: The KCM-P begins the charging process at approx. 470 V DC; the LED flashes. If the power supply fails, the module provides the servo amplifier with the stored energy that is required to bring the drive to a standstill in a controlled manner (this only applies to the power supply voltage; battery-back the 24 V supply separately).

KCM-P KCM-E

KCM-S

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7.10 Motor and holding brake connection (X9)

Together with the motor supply cable and motor winding, the power output of the servo amplifier forms an oscillating circuit. Characteristics such as cable capacity, cable length, motor inductance, frequency and voltage rise speed (see Technical Data, p. 28) deter mine the maximum voltage in the system.

The dynamic voltage rise can lead to a reduction in the motor’s operating life and, on unsuitable motors, to flash overs in the motor winding. — Only install motors with insulation class F (acc. to IEC 60085) or above — Only install cables that meet the requirements on p.31 and p.61.

CAUTION

The brake function does not ensure functional safety! Danger by falling load (in case of suspended load, vertical axes). An additional mechanical brake is required for functional safety, which must be safely operated, e.g. via the Safety Card S1-2 (see p. 155).

Wiring with cable length £ 25m

S700

Wiring with cable length >25m

With long motor cables leakage currents endanger the output stage of the servo amplifier. For cable lengths above 25m up to max. 50m, the motor choke 3YL or 3YLN (see accessories manual) must be wired into the motor cable, close to the amplifier.

S700

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FBTYPE

EXTPOS

FBTYPE

GEARMODEENCMODE

Master

Slave

FBTYPE

EXTPOS

FBTYPE

EXTPOS

FBTYPEFBTYPE

GEARMODEENCMODE

Master

Slave

FBTYPE

GEARMODEENCMODE

Master

Slave

FBTYPEFBTYPE

GEARMODEENCMODE

EXTPOS

Master

Slave

X2 X2X2

Motor Feedback

Motor Feedback & External Position Feedback

Motor Feedback & Master Slave

Motor Feedback & Master Slave & External Position Feedback

7.11 Feedback systems

Every closed servo system will normally require at least one feedback device for sending actual values from the motor to the servo drive. Depending on the type of feedback device used, information will be fed back to the servo amplifier using digital or analog means. Up to three feedback devices can be used at the same time. S700 supports the most common types of feedbacks whose functions must be assigned with the parameters

FBTYPE (DRIVEGUI.EXE screen page FEEDBACK), primary Feedback (ð p.76ff) EXTPOS (screen page POSITION CONTROLLER), secondary position

Feedback (ð p.76ff) GEARMODE (screen page ELECTRONIC GEARING), encoder control (ð p.93ff) in the setup software. Scaling and other settings must always be made here. For a detailed description of the ASCII parameters, please refer to the online help setup software.

Some possible configurations

of the

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7.12 Primary and secondary feedback types

The table below provides an overview of the supported feedback types, their correspon ding parameters and a reference to the relevant connection diagram in each case.

FBTYPE (DRIVEGUI.EXE screen page FEEDBACK), primary Feedback EXTPOS (screen page POSITION CONTROLLER), secondary Feedback

For a detailed description of the ASCII parameters, please refer to the online help

of the

setup software.

primary secondary

Feedback type

Connec-

tor

Resolver X2 SinCos Encoder BiSS (B) analog X1

Encoder BiSS (C

) digital X1 SinCos Encoder ENDAT 2.1 X1 Encoder ENDAT 2.2 X1 SinCos Encoder HIPERFACE X1

SinCos Encoder SSI (linear) X1 SinCos Encoder w/o data channel X1 SinCos Encoder + Hall X1 ROD* 5V without zero, 1.5MHz X1 ROD (AquadB) 5V with zero, 350kHz X1 ROD (AquadB) 5V with zero + Hall X1 ROD (AquadB) 24V without zero X3

ROD (AquadB) 24V without zero + Hall X3/X1

SSI X1 Hall X1 Step/Direction 24V X3

Wiring

diagram

ð p.77 ð p.78 ð p.79 ð p.80 ð p.81 ð p.82 ð p.83 ð p.84 ð p.85 ð p.86 ð p.87 ð p.88 ð p.89 ð p.90 ð p.91 ð p.92 ð p.94

FBTYPE EXTPOS

23,24 -

20,22,33 11, 12

4, 21 8

32, 34 13

1, 3, 7, 8 6, 7

5, 6 30, 31 30 17, 27 10

15 -

12, 16 2

14 -

11 -

-1

Sensorless (operation w/o Feedback) - - 10 -

with expansion card "PosI/O" or "PosI/O-Monitor"

ROD (AquadB) 5V with zero X5 ROD (AquadB) 5V with zero + Hall X5/X1 SSI X5 SinCos Encoder SSI (linear) X5/X1 Step/Direction 5V X5

ð p.143 ð p.144 ð p.145 ð p.146 ð p.147

,19

18 -

28 -

-4

* ROD is an abbreviation for “incremental encoder”.

Switch on the encoder supply voltage on X1: set ENCVON to 1

BiSS C support for Renishaw encoders, Hengstler encoders are not supported.

The expansion card FB2to1 (see p. 137) enables simultaneous connection of a digital primary feedback and of an analog secondary feedback to the connector X1.

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7.12.1 Resolver (X2)

Connection of a Resolver (2 to 36-poles) as a feedback system (primary, ð p.76). The thermal control in the motor is connected via the resolver cable to X2 and evaluated there.

If cable lengths of more than 100m are planned, please consult our customer service.

FBTYPE: 0

S700

SubD9

round 12-pin

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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7.12.2 Sine Encoder with BiSS analog (X1)

Wiring of a single-turn or multi-turn sine-cosine encoder with BiSS interface as a feed

back system (primary and secondary, ð p.76).

The thermal control in the motor is connected via the encoder cable to X1 and evaluated there. All signals are connected using our pre-assembled encoder connection cable. If cable lengths of more than 50m are planned, please consult our customer service.

Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE Up

5V analog (BiSS B) 23 - - 5V +/-5% 12V analog (BiSS B) 24 - - 7,5...11V

S700

SubD 15

round, 17-pin

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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7.12.3 Encoder with BiSS digital (X1)

Wiring of a single-turn or multi-turn digital encoder with BiSS interface as a feedback sys tem (primary and secondary, ð p.76).

Frequency limit: 1,5MHz

Type FBTYPE EXTPOS GEARMODE Up

5V digital (BiSS B) 20 11 11 5V +/-5% 12V digital (BiSS B) 22 11 11 7,5...11V 5V digital (BiSS C, Renishaw) 33 12 12 5V +/-5%

S700

SubD 15

round, 17-pin

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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7.12.4 Sine Encoder with EnDat 2.1 (X1)

Wiring of a single-turn or multi-turn sine-cosine encoder with EnDat 2.1 interface as a feedback system (primary and secondary, ð p.76). Preferred types are the optical enco der ECN1313 / EQN1325 and the inductive encoder ECI 1118/1319 or EQI 1130/1331.

Type FBTYPE EXTPOS GEARMODE

ENDAT 2.1 4 8 8 ENDAT 2.1 + Wake&Shake 21 8 8

S700

SubD15

round, 17-pin

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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7.12.5 Encoder with EnDat 2.2 (X1)

Wiring of a single-turn or multi-turn encoder with EnDat 2.2 interface as a feedback sys tem (primary, ð p.76). The thermal control in the motor is connected via the encoder cable to X1 and evaluated there. All signals are connected using our pre-assembled encoder connection cable. If cable lengths of more than 50m are planned, please consult our customer service.

Frequency limit: 1,5MHz

Type FBTYPE EXTPOS GEARMODE Up

5V ENDAT 2.2 32 13 13 5V +/-5% 12V ENDAT 2.2 34 13 13 7,5...11V

S700

SubD15

round, 17-pin

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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7.12.6 Sine Encoder with HIPERFACE (X1)

Wiring of a single-turn or multi-turn sine-cosine encoder with HIPERFACE interface as a feedback system (primary and secondary, ð p.76).

The thermal control in the motor is connected via the encoder cable to X1 and evaluated there. All signals are connected using our pre-assembled encoder connection cable.

If cable lengths of more than 50m are planned, please consult our customer service.

Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE

HIPERFACE 2 9 9

S700

SubD15

17pol.rund

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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7.12.7 Sine Encoder with SSI (X1)

Wiring of sine-cosine encoder with SSI interface as a linear feedback system (primary, ð p.76).

Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE

SinCos SSI 5V linear 26 - -

Switch on supply voltage for the encoder at X1: set ENCVON to 1

S700

SubD 15

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7.12.8 Sine Encoder without data channel (X1)

Wiring of a sine-cosine encoder without data channel as a feedback (primary and secon dary, ð p.76). Every time the 24V auxiliary voltage is switched on, the amplifier needs start-up information for the position controller (parameter value MPHASE). Depending on the feedback type either wake&shake is executed or the value for MPHASE is read out of the amplifier's EEPROM.

WARNING

With vertical load the load could fall during wake&shake, because the

brake is not active and torque is not sufficient to hold the load.

Don't use wake&shake with vertical load (hanging load).

The thermal control in the motor is connected via the encoder cable to X1 and evaluated there. If lead lengths of more than 50m are planned, please consult our customer service. Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE Up Remarks

SinCos 5V 1 6 6 5V +/-5% MPHASE from EEPROM SinCos 12V 3 7 7 7,5...11V MPHASE from EEPROM SinCos 5V 7 6 6 5V +/-5% MPHASE wake & shake SinCos 12V 8 7 7 7,5...11V MPHASE wake & shake

S700

SubD 15

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7.12.9 Sine Encoder with Hall (X1)

Feedback devices (incremental or sine-cosine), which don't deliver an absolute informa tion for commutation, can be used as complete feedback system combined with an addi tional Hall encoder (primary, ð p.76).

The thermal control in the motor is connected to X1 and evaluated there.

All signals are connected to X1 and evaluated there. If cable lengths of more than 25m are planned, please consult our customer service.

Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE Up

SinCos 5V with Hall 5 - - 5V +/-5% SinCos 12V with Hall 6 - - 7,5...11V

S700

SubD15

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7.12.10 ROD (AquadB) 5V, 1.5MHz (X1)

Wiring of a 5V incremental encoder (ROD, AquadB) as a feedback (primary or secon dary, ð p.76). Every time the 24V auxiliary voltage is switched on, the amplifier need start-up information for the position controller (parameter value MPHASE). Depending on the setting of FBTYPE a wake&shake is executed or the value for MPHASE is taken out of the servo amplifier's EEPROM. The thermal control in the motor is connected via the encoder cable to X1 and evaluated there. All signals are connected using our pre-assembled encoder connection cable. If cable lengths of more than 50m are planned, please consult our customer service.

WARNING

With vertical load the load could fall during wake&shake, because the

brake is not active and torque is not sufficient to hold the load.

Don't use wake&shake with vertical load (hanging load).

Frequency limit (A, B): 1,5MHz

Type FBTYPE EXTPOS GEARMODE Remarks

AquadB 5V 31 30 30 MPHASE from EEPROM AquadB 5V 30 30 30 MPHASE wake & shake

S700

SubD15

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7.12.11 ROD (AquadB) 5V, 350kHz (X1)

WARNING

With vertical load the load could fall during wake&shake, because the brake is not active and torque is not sufficient to hold the load. Don't use wake&shake with vertical load (hanging load).

The thermal control in the motor is connected to X1 and evaluated there. If lead lengths of more than 50m are planned, please consult our customer service. Frequency limit (A, B): 350 kHz

Type FBTYPE EXTPOS GEARMODE Remarks

AquadB 5V 27 10 10 MPHASE from EEPROM AquadB 5V 17 10 10 MPHASE wake & shake

S700

SubD15

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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7.12.12 ROD (AquadB) 5V, 350kHz with Hall (X1)

Wiring of a ComCoder as a feedback unit (primary, ð p.76). For the commutation hall sensors are used and for the resolution an incremental encoder. The thermal control in the motor is connected to X1 and evaluated there. With our Com Coder cable all signals are connected correctly. If cable lengths of more than 25m are planned, please consult our customer service. With separate feedback devices (Encoder and Hall are two devices) the wiring must be done similar to chapter 7.12.9, but the amplifier's pinout is identical to the wiring diagram shown below. Frequency limit (A,B): 350 kHz

Type FBTYPE EXTPOS GEARMODE

AquadB 5V + Hall 15 - -

S700

SubD15

round, 17 pin

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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7.12.13 ROD (AquadB) 24V (X3)

Wiring of a 24V incremental encoder (ROD AquadB) as a feedback system (primary or secondary, ð p.76). This uses the digital inputs DIGITAL-IN 1 and 2 on connector X3. Every time the 24V auxiliary voltage is switched on, the amplifier need start-up informa tion for the position controller (parameter value MPHASE). With this feedback type the amplifier executes a wake&shake is executed every time the 24V auxiliary voltage is switched on.

WARNING

With vertical load the load could fall during wake&shake, because the brake is not active and torque is not sufficient to hold the load. Don't use wake&shake with vertical load (hanging load).

The thermal control in the motor is connected to X1 or X2. If cable lengths of more than 25m are planned, please consult our customer service.

Frequency limit: 100 kHz, transition time tv £ 0.1µs

Type FBTYPE EXTPOS GEARMODE Remarks

AquadB 24V 12 2 2 MPHASE from EEPROM AquadB 24V 16 2 2 MPHASE wake & shake

S700

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7.12.14 ROD (AquadB) 24V with Hall (X3, X1)

Wiring of a 24V incremental encoder (ROD, AquadB) and Hall sensors as a feedback unit (primary, ð p.76). For the commutation hall sensors are used and for the resolution an incremental encoder.

The thermal control in the motor is connected to X1 and evaluated there. If cable lengths of more than 25m are planned, please consult our customer service.

Frequency limit X3: 100 kHz, X1: 350 kHz

Type FBTYPE EXTPOS GEARMODE

AquadB 24V + Hall 14 - -

S700

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7.12.15 SSI Encoder (X1)

Wiring of a synchronous serial absolute-encoder as a feedback system (primary or secondary, ð p.76). The signal sequence can be read in Gray code or in Binary (stan dard) code. The thermal control in the motor is connected to X1 and evaluated there. If cable lengths of more than 50m are planned, please consult our customer service.

Frequency limit: 1.5MHz Resolution/turn: max. 16 Bit Turns: max. 16 Bit

Type FBTYPE EXTPOS GEARMODE

SSI 25 25 25

Switch on supply voltage for the encoder at X1: set ENCVON to 1

S700

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7.12.16 Hall sensors (X1)

Wiring of Hall sensors as a feedback unit (primary, ð p.76).

The thermal control in the motor is connected to X1 and evaluated there. If cable lengths of more than 25m are planned, please consult our customer service.

Frequency limit: 350 kHz

Type FBTYPE EXTPOS GEARMODE

Hall 11 - -

S700

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7.13 Electronic Gearing, Master-Slave operation

In the case of the “electronic gearing” functionality (see setup software and description of GEARMODE parameter), the servo amplifier is controlled by a secondary feedback device as a slave.

It is possible to set up master/slave systems, use an external encoder as a setpoint encoder or connect the amplifier to a stepper motor control.

The amplifier is parameterized using the setup software (electronic gearing, parameter GEARMODE).

The resolution (number of pulses per revolution) can be adjusted.

If input X1 is used without the X1 power supply (pins 2, 4, 10, 12), e.g. master-slave operation with other servoamplifiers, the monitoring of this power supply must be switched off in order to prevent error message F04 from appearing. To do this, you must change Bit 20 of the DRVCNFG2 parameter (see ASCII object reference in the online help).

7.13.1 Encoder control types

The following types of external encoder can be used for control:

Fre-

S700 controlled by

Encoder BiSS digital 1,5MHz X1 SinCos Encoder ENDAT 2.1 350kHz X1 Encoder ENDAT 2.2 1,5MHz X1 SinCos Encoder HIPERFACE 350kHz X1 SinCos Encoder without data channel 350kHz X1 ROD* (AquadB) 5V 1.5MHz X1 ROD* (AquadB) 5V 350kHz X1 ROD* (AquadB) 24V 100kHz X3 SSI 5V 1,5 MHz X1 Step/direction 5V 1.5MHz X1 Step/direction 24V 100kHz X3

With a "PosI/O" or "PosI/O-Monitor" expansion card in slot 2 or 3 (see p.142 ff), the following encoder types can be used:

S700 controlled by

SSI 5V 1.5MHz X5 ROD* (AquadB) 5V 1.5MHz X5 Step/direction 5V 1.5MHz X5

quency

limit

Fre-

quency

limit

Connec-

tor

Connec-

tor

Wiring

diagram

ð p.79 ð p.80 ð p.81 ð p.82 ð p.84 ð p.86 ð p.87 ð p.89 ð p.91 ð p.94 ð p.94

Wiring

diagram

ð p.145 ð p.147 ð p.147

GEARMODE

11, 12

6, 7

30 10

2 25 27

GEARMODE

* ROD is an abbreviation for incremental encoder

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7.13.2 Connection to stepper motor controllers (step and direction)

You can connect the servo amplifier to a third-party stepper-motor controller. Parameter setting for the slave amplifier is carried out with the aid of the setup software (electronic gearing). The number of steps can be adjusted, so that the servo amplifier can be adapted to match the step-direction signals of any stepper controller. Various monito ring signals can be generated.

Using an A quad B encoder provides better EMC noise immunity.

7.13.2.1 Step / Direction with 5 V signal level (X1)

Wiring of the servo amplifier (SubD connector X1) to a stepper-motor controller with a 5V signal level. Frequency limit: 1.5 MHz

Control GEARMODE

Step/direction 5V 27

S700

7.13.2.2 Step / Direction with 24 V signal level (X3)

Wiring of the servo amplifier to a stepper-motor controller with a 24 V signal level. Used are the digital inputs DIGITAL-IN 1 and 2 on connector X3. Frequency limit: 100 kHz,

Control GEARMODE

Step/direction 24V 1

S700

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7.13.3 Master-slave operation

7.13.3.1 Connection to an S700 master, 5V signal level (X1)

You can link two S700 amplifiers together in master-slave operation. One slave amplifier can be controlled by the master, via the encoder output X1 (see p. 96).

Master: position output to X1 (screen page "Encoder emulation") Slave: screen page "Electronic gearing" (GEARMODE)

Frequency limit: 1.5 MHz

Example for Master-Slave operation with two S700 amplifiers: Slave GEARMODE: 30 Master ENCMODE:9

S700

If using SSI emulation, then the master must be set to ENCMODE 10 and the slave to GEARMODE 25.

7.13.3.2 Connection to an S700 Master, 5V signal level (X5)

If an expansion card PosI/O or PosI/O-Monitor (see p.142 ff) is built-in, you can use the encoder emulation via X5. With this interface up to 16 Slaves can be connected to one Master, because no internal termination resistors are built-in with X5. Wiring see p.147.

S700

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7.14 Encoder Emulation, position output

7.14.1 Incremental encoder output - A quad B (X1)

Fast incremental encoder interface. Select encoder function ROD (A Quad B) Encoder (“Encoder Emulation” screen page). The servo amplifier calculates the motor shaft posi tion from the cyclic- absolute signals of the resolver or encoder, generating incremental-encoder compatible pulses from this information. Pulse outputs on the SubD connector X1 are 2 signals, A and B, with 90° phase difference (i.e. in quadrature, hence the alternative term “A quad B” output), with a zero pulse. The resolution (before multiplication) can be set:

Encoder function (ENCMODE)

9, ROD => X1

With built in safety card only binary resolutions up to 212are possible. Use the NI-OFFSET parameter to adjust + save the zero pulse position within one

mechanical turn. The drivers operate off an internal supply voltage. The maximum permissible cable length is 100 meters.

Connections and signals for the incremental encoder interface : Default count direction: UP when the motor shaft is rotating clockwise (looking at the shaft's end)

S700

Feedback system (FBTYPE)

0, Resolver 32...4096 once per turn >0, Encoder 256...524288 (2

Resolution lines (ENCOUT)

…219)

Zero pulse (NI)

(only at A=B=1)

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7.14.2 SSI encoder output (X1)

SSI interface (synchronous serial absolute-encoder emulation). Select encoder function SSI (“Encoder Emulation” screen page, ENCMODE 10). The servo amplifier calculates the motor shaft position from the cyclic-absolute signals of the resolver or encoder. From this information a SSI date (Stegmann patent specification DE 3445617C2) is provided. Max 32 bits are transferred. The leading data bit contains the number of revolutions and are selectable from 12 to 16 bits. The following max. 16 bits contain the resolution and are not variable.

The following table shows the allocation of the SSI date depending upon selected number of revolutions:

Revolution

Resolution (variable)

SSIREVOL

1514131211109876543210

14131211109876543210

Bit

131211109876543210

1211109876543210

11109876543210

1514131211109876543210

The signal sequence can be output in Gray code or in Binary (standard) code. The servo amplifier can be adjusted to the clock frequency of your SSI-evaluation with the setup software.

The drivers operate off an internal supply voltage.

Connection and signals for the SSI interface : Default count direction: UP when the motor shaft is rotating clockwise (looking at the end of the motor shaft)

S700

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7.15 Digital and analog inputs and outputs

7.15.1 Analog Inputs (X3B)

The servo amplifier is fitted with two programmable differential inputs for analog set points. AGND (X3B/13) must always be joined to controls-GND as a ground reference.

Technical characteristics

— Differential-input voltage max. ± 10 V — Ground reference AGND, terminal X3B/13

— Input resistance 150 kW — Common-mode voltage range for both inputs ± 10 V — Update rate 62.5 µs

S700

Analog-In 1 input (terminals X3B/10-X3B/9)

Differential input voltage max. ± 10 V, resolution 16 Bit (accuracy 13 Bit), scalable. Standard setting: speed setpoint

Analog-In 2 input (terminals X3B/12-X3B/11)

Differential input voltage max. ± 10 V, resolution 16 Bit (accuracy 13 Bit), scalable. Standard setting: torque setpoint

Application examples for setpoint input Analog-In 2: — adjustable external current limit — reduced-sensitivity input for setup or jog operation — pre-control, override

If an input was freshly assigned to a pre-programmed function, then the data set must be saved in the EEPROM of the servo amplifier and a reset has to be carried out (with the amplifier setup software for example).

Defining the direction of rotation

Standard setting : clockwise rotation of the motor shaft (looking at the shaft end) — Positive voltage between terminal X3B/10 (+ ) and terminal X3B/9(-)or — Positive voltage between terminal X3B/12 (+ ) and terminal X3B/11(-)

To reverse the direction of rotation, swap the connections to terminals X3B/10-X3B/9 or X3B/12-X3B/11 respectively, or change the COUNT DIRECTION parameter in the “Feed back” screen page.

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7.15.2 Digital Inputs (X3A, X3B and X4A, X4B)

S700

* DIGITAL-IN 21 and 22 must be defined as inputs using the setup software (“Digital I/O” screen page).

7.15.2.1 Connector X4A, X4B

You can thus achieve a restart lock-out for functional safety by using the STO1-Enable and STO2-Enable inputs in conjunction with an external safety circuit.

Input STO1-ENABLE (X4B/6) and STO2-Enable (X4A/3)

— Floating, reference ground is XGND — 20V...30V / 33mA...40mA

These inputs are not compatible with IEC 61131-2. These additional digital inputs releases the power output stage of the amplifier as long as

a 24 V signal is applied to these inputs. If the STO inputs go open-circuit, then power will no longer be supplied to the motor, the drive will lose all torque and coast down to a

stop.

Failsafe braking of the drive, if required, must be provided by means of an additional mechanical brake, since electrical braking by the drive is no longer possible.

You can find further information and connection examples on page 41ff.

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7.15.2.2 Connector X3A, X3B

Input ENABLE

— PLC compatible (IEC 61131-2 type 1), floating, reference ground is DGND — High: 15...30 V / 2...15 mA , Low: -3...5 V / <1mA — Update rate: Software 250 µs

The output stage of the servo amplifier is enabled by applying the ENABLE signal (Terminal X3A/1, active high). Enable is possible only if inputs STOx-Enable have a 24 V signal (see page 41ff). In the disabled state (low signal) the connected motor has no torque.

A software enable by means of the setup software is also required (AND link), although this can also be permanently enabled (“Basic Setup” screen page of the DRIVEGUI.EXE setup software).

Programmable digital inputs

You can use the digital inputs X3A/2 to X3A/7 to initiate pre-programmed functions that are stored in the servo amplifier. A list of these pre-programmed functions can be found on the “Digital I/O” screen page of our setup software. If an input was freshly assigned to a pre-programmed function, then the data set must be saved in the EEPROM of the servo amplifier and a reset has to be carried out (with the amplifier setup software for example).

Digital Inputs DIGITAL-IN 1 and DIGITAL-IN 2 (X3A/2,X3A/3):

These inputs are particularly fast and are therefore suitable for latch functions or for high-speed feedback signals, for example.

— PLC compatible (IEC 61131-2 type 1), floating, reference ground is DGND — High: 15...30 V / 2...15 mA , Low: -3...5 V / <1mA — Update rate: Hardware 2µs

Digital Inputs DIGITAL-IN 3 and DIGITAL-IN 4 (X3A/4,X3A/5):

The PSTOP and NSTOP limit switch evaluation functions, for instance, can be assigned to these inputs. Choose the function you require in the setup software (“Digital I/O” screen page).

(X3):

— PLC compatible (IEC 61131-2 type 1), floating, reference ground is DGND — High: 15...30 V / 2...15 mA, Low: -3...5 V / <1mA — Update rate: Software 250 µs

Digital Inputs DIGITAL-IN 21 and DIGITAL-IN 22 (X3A/6,X3A/7):

Pins 6 and 7 on X3A can be used as either inputs or outputs. Choose the function you require in the setup software (“Digital I/O” screen page).

— PLC compatible (IEC 61131-2 type 1), floating, reference ground is DGND — High: 15...30 V / 2...15 mA, Low: -3...5 V / <1mA — Update rate: Software 250 µs

Depending on the selected function the inputs are high or low active.

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Kollmorgen S700, S7060, S7240, S7030, S7120 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Kollmorgen 07/2014 Contents

1 General

1.1 About this manual

Notes for the printed edition (paper version)

1.3 Notes for the online edition (PDF format)

1.4 Symbols used

1.5 Standards used

1.6 Abbreviations used

2 Safety

2.1 You should pay attention to this

2.2 Use as directed

2.3 Prohibited use

2.4 Handling

2.4.1 Transport

2.4.2 Packaging

2.4.3 Storage

2.4.4 Maintenance, Cleaning

2.4.5 Disassembling

2.4.6 Repair

2.4.7 Disposal

3 Approvals

3.1 Conformance with UL

3.2 CE conformance

3.2.1 European Directives and Standards for the machine builder

3.2.2 CE Declaration of Conformity

3.3 GOST-R conformance

3.4 Functional Safety

3.4.1 Safety Certificate S700

3.4.2 Safety Certificate S700 with Safety Card

4 Package

4.1 Package supplied

4.2 Nameplate

4.3 Part number scheme

5 Technical description

5.1 The S700 family of digital servo amplifiers

5.2 Technical data

5.2.1 Rated data S7xx0

5.2.2 Rated data S7xx6

5.2.3 Inputs, outputs, aux. voltage supply

5.2.4 Connectors

5.2.5 Recommended tightening torques

5.2.6 Fusing

5.2.7 Ambient conditions, ventilation, mounting position

Site altitude

5.2.8 Conductor cross-sections

5.3 Motor holding brake

5.4 LED display

5.5 Grounding system

5.6 Dynamic braking (brake circuit)

5.7 Switch-on and switch-off behavior

5.7.1 Behavior in standard operation

5.7.2 Behavior in the event of an error (with standard setting)

5.8 Stop-, Emergency Stop-, Emergency Off Function to IEC 60204

5.8.1 Stop

5.8.2 Emergency Stop

5.8.3 Emergency Off

5.9 Safety function STO

5.9.1 Safety characteristic data

5.9.2 Enclosure

5.9.3 Wiring

5.9.4 Important notes

5.9.5 Use as directed STO

5.9.6 Prohibited Use STO

5.9.7 Technical data and pinning

5.9.8 Functional description

5.9.8.1 Safe operation sequence

5.9.8.2 Control circuit single channel SIL2/PLd (example)

5.9.8.3 Control circuit dual channel SIL2/PLd (example)

5.9.8.4 Control circuit dual channel SIL3/PLe (example)

5.9.8.5 Mains supply circuit (example)

5.9.9 Functional test

5.9.9.1 SIngle or Dual Channel control, SIL CL2 / PLd

5.9.9.2 SIL CL3 / PLe Dual Channel control

5.10 Shock-hazard protection

5.10.1 Leakage current

5.10.2 Residual current protective device (RCD)