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
Contents 07/2014 Kollmorgen
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
4 S701x2-S724x2 Instructions Manual
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
8 S701x2-S724x2 Instructions Manual
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")
B
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
A
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.
10 S701x2-S724x2 Instructions Manual
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.
S701x2-S724x2 Instructions Manual 11
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.
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.
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
2
nMotor
³ UDC/
).
2
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.
12 S701x2-S724x2 Instructions Manual
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
l
Transport by qualified personnel in the manufacturer’s original recyclable packaging
l
Avoid shocks while transporting
l
Transport temperature: -25 to +70°C, max. rate of change 20K / hour,
l
Transport humidity: max. 95% relative humidity, no condensation,
l
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
class 2K3 acc. to EN61800-2, EN 60721-3-1
2.4.2 Packaging
l
Recyclable cardboard with inserts
l
Dimensions: S701...S712 (HxWxD) 125x415x350 mm
S724 (HxWxD) 155x415x350 mm
l
Labeling: name plate on outside of box
S701x2-S724x2 Instructions Manual 13
Safety 07/2014 Kollmorgen
2.4.3 Storage
l
Storage only in the manufacturer’s original recyclable packaging
l
Max. stacking height: 8 cartons
l
Storage temperature: -25 to +55°C, max. rate of change 20K / hour,
class 1K4 acc. to EN61800-2, EN 60721-3-1
l
Storage humidity: 5 … 95% relative humidity, no condensation,
class 1K3 acc. to EN61800-2, EN 60721-3-1
l
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
Kollmorgen 07/2014 Safety
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
Safety 07/2014 Kollmorgen
This page has been deliberately left blank.
16 S701x2-S724x2 Instructions Manual
Kollmorgen 07/2014 Approvals
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
l
Use 60°C or 75°C copper wire only for every model of this section.
l
Use Class 1 wire only.
l
Tightening torque for field wiring terminals:
X0, X8, X9: 0.7 - 0.8Nm (6.20 to 7.08 lbf in)
l
Use in a pollution degree 2 environment.
l
These devices provide solid state motor overload protection at 130% of full load
current.
l
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.
l
These devices are not provided with motor over-temperature sensing.
l
Suitable for use on a circuit capable of delivering not more than 42kA rms symmetrical amperes for a max. voltage of 480 Vac.
l
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)
l
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).
S701x2-S724x2 Instructions Manual 17
Approvals 07/2014 Kollmorgen
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
l
EC Machinery Directive (2006/42/EC)
l
EC EMC Directive (2004/108/EC)
l
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.
18 S701x2-S724x2 Instructions Manual
Kollmorgen 07/2014 Approvals
3.2.2 CE Declaration of Conformity
S701x2-S724x2 Instructions Manual 19
Approvals 07/2014 Kollmorgen
3.3 GOST-R conformance
Certificate for servo amplifier and accessories (cover page, page 1 of 3).
20 S701x2-S724x2 Instructions Manual
Kollmorgen 07/2014 Approvals
3.4 Functional Safety
3.4.1 Safety Certificate S700
Cover page, page 1 of 2.
S701x2-S724x2 Instructions Manual 21
Approvals 07/2014 Kollmorgen
3.4.2 Safety Certificate S700 with Safety Card
Cover page, page 1 of 2.
22 S701x2-S724x2 Instructions Manual
Kollmorgen 07/2014 Package
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
S701x2-S724x2 Instructions Manual 23
Package 07/2014 Kollmorgen
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
3
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
3
72 Arms
coated PCBs
2
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
3
Safety card S1-2, SIL CL3
S3
3
Safety card S2-2, SIL CL2
S4
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
24 S701x2-S724x2 Instructions Manual
Kollmorgen 07/2014 Technical description
5 Technical description
5.1 The S700 family of digital servo amplifiers
Standard version
l
Large supply voltage range: 1 x 110V
l
Overvoltage category III acc. to IEC 61800-5-1
l
2 housing dimensions: S701...S712 70 mm
… 3 x 480V
-10%
S724 100 mm
l
CANopen onboard
l
EtherCAT onboard
l
RS232 and 24V pulse direction interface onboard
l
Resolver-, Encoder-, AquadB Encoder-, ComCoder- evaluation onboard
l
Position controller onboard
l
Safe Stop STO onboard (up to SIL CL3, PLe)
l
3 frontside slots for expansion cards
l
Memory Card slot onboard
l
Synchronous servomotors, linear motors, asynchronous motors and DC motors can
be used
+ 10%
Power section
l
S7xx6: Directly on grounded mains supply, 1x110V
S7xx0: Directly on grounded mains supply, 3x208V
l
TN-network or TT-network with grounded neutral point, 42kA max. symmetrical cur-
… 3x230V
-10%
… 3x480V
-10%
+10%
+10%
, 50/60Hz
, 50/60Hz
rent rating, connection to other supply types only via isolating transformer,ðp.66
l
B6 bridge rectifier, integral supply filter and soft-start circuit
l
Fusing (e.g. fusible cutout) to be provided by the user
l
Shielding All shielding connections are made directly on the amplifier
l
Output stage IGBT module with floating current measurement
l
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.
l
DC bus link voltage 135...900 V DC, can be connected in parallel.
l
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).
S701x2-S724x2 Instructions Manual 25
Technical description 07/2014 Kollmorgen
Integrated safety
l
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.
l
Soft-start, overvoltage detection, short-circuit protection, phase-failure monitoring.
l
Temperature monitoring of the servo amplifier and motor (if our motors and prefabricated cables are used).
l
Safe stop (up to SILCL3 acc. to IEC 62061, PLe acc. to ISO13849-1) ð p.41.
l
Slot for safety card with more safety functions for the safe drive operation, ð p.152
Auxiliary supply voltage 24V DC
l
Electrically isolated, internal fusing (amplifier and fan/brake separated), from an external 24V DC power supply unit.
l
Separate 24V supply input for digital outputs
Operation and parameter setting
l
With our user-friendly setup software DRIVEGUI.EXE, for setup via the serial interface of a PC.
l
If no PC is available: direct operation by two keys on the servo amplifier and a 3-character LED display.
l
Fully programmable via RS232 interface.
l
Read and write access to parameter records and firmware via smartcard.
-
Completely digital control
l
Digital current controller (space vector, pulse-width modulation, 62.5 µs)
l
Adjustable digital speed controller (62.5 µs)
l
Integrated position controller, with adaptation possibilities for all applications (250 µs,
optionally 125 µs)
l
Integrated 24V step/direction interface for connecting a servomotor to a stepper controller
Inputs and Outputs
l
2 programmable analog inputs ð p. 98
l
4 programmable digital inputs ð p. 99
l
2 programmable digital inputs/outputs (direction selectable) ð p. 101
l
Programmable logical combinations of digital signals
l
1 input Enable ð p. 100
l
2 inputs STO Enable ð p. 99
26 S701x2-S724x2 Instructions Manual
Kollmorgen 07/2014 Technical description
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.
l
I/O-14/08 expansion card, ð p. 126
l
PROFIBUS expansion card, ð p. 129
l
sercos®II expansion card, ð p. 130
l
DeviceNet expansion card, ð p. 132
l
SynqNet expansion card, ð p. 135
l
FB-2to1 expansion card, ð p. 137
l
-2CAN- expansion module, separated connectors for CAN bus and RS232 ð p. 139
Slot 2
l
PosI/O expansion card, ð p. 142
l
PosI/O-Monitor expansion card, ð p. 142
l
F2 Option, controlled fan, later insertion not possible, ð p. 141, can be combined
with expansion cards in slot 1.
Slot 3
l
PosI/O expansion card, ð p. 151
l
PosI/O-Monitor expansion card, ð p. 151
l
F2 Option, controlled fan, later insertion not possible, ð p. 151
l
Safety expansion card (S3) S1-2 (SIL CL3), ð p. 155
l
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).
l
62.5µs / 250µs / 1ms / 4ms / 16ms / IDLE / IRQ
l
128 kByte memory
l
IEC 61131 structured text
l
400 easy instructions every 62.5 µs
l
CAN objects for multi axis control
S701x2-S724x2 Instructions Manual 27
Technical description 07/2014 Kollmorgen
5.2 Technical data
5.2.1 Rated data S7xx0
Electrical data DIM S70102 S70302 S70602
Rated supply voltage
(grounded supply, phase to phase)
V~
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
28 S701x2-S724x2 Instructions Manual
Kollmorgen 07/2014 Technical description
5.2.2 Rated data S7xx6
Electrical data DIM
Rated supply voltage
(grounded supply, phase to phase)
S70162S70362S70662S71262S7126SS72462S7246
V~
1 x 110V
… 3 x 230V
-10%
+10%
S
, 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
S701x2-S724x2 Instructions Manual 29
Technical description 07/2014 Kollmorgen
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
*1
permiss.
current
permiss.
*2
voltage
*3
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
"
30 S701x2-S724x2 Instructions Manual
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