Kollmorgen S700, S74802-NANAF2, S77202-NANANA, S77202-NAF2NA, S74802 Instruction Manual

S700

Digital Servo Amplifier S748x2...S772x2 (STO dual channel)

Instructions Manual

Edition: July 2019,
Translation of the original document
Valid for Hardware Revision 02.30

For safe and proper use, follow
these instructions.
Keep them for future reference.

Record of Document Revisions

Revision Remarks

... Table with lifecycle information of this document see (➜ # 165)
02/2017 X6 Pin 1 corrected (no 5V output), warning notes, handling separate chapter, single cable con-

nection new, SFD3/Hiperface DSL new

11/2018 Connector X1 corrected (male->female), HR table updated, layout of the warning notes updated,

user expertise updated, new readers note on cover page, Wiki replaced by KDN

07/2019 CE Conformity (RoHS), dc bus link (examples), layout updates

Hardware Revision (HR)

Hardware
Rev.

01.01 5.00 - 5.17 AL-3A225 Starting version (STO and Safety pending)

02.10 5.18 - 5.99 AL-3A225 STO and Safety Cards approved

02.20 5.18_ND0 - 5.99_ND0 - New data structure

02.30 ≥ 6.00_ND0 - SFD3/DSL support

Firmware
Rev.

Export classi-

fication

Remarks

Trademarks

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

This document is the intellectual property of Kollmorgen. 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.

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S748-772 Instructions Manual | Table of Contents

1 Table of Contents

1 Table of Contents 3

2 General 9

2.1 About thismanual 9

2.2 Using the PDF Format 9

2.3 SymbolsUsed 10

2.4 Standards used 11

2.5 AbbreviationsUsed 12

3 Safety 13

3.1 You should payattention to this 13

3.2 Warning notes placed on the product 15

3.3 Use asDirected 16

3.4 Prohibited Use 17

4 Product life cycle handling 18

4.1 Transport 18

4.2 Packaging 18

4.3 Storage 18

4.4 Decommissioning 18

4.5 Maintenance and cleaning 19

4.6 Disassembly 19

4.7 SystemRepair 20

4.8 Disposal 20

5 Approvals 21

5.1 Conformance with UL 21

5.2 CE conformance 22

5.2.1 European Directivesand Standards for the machine builder 22

5.2.2 Functional Safety Conformance according to EC Machinery Directive 23

5.3 Conformance with RoHS 23

5.4 Conformance with REACH 23

5.5 Conformance with EAC 24

6 Package 25

6.1 Package supplied 25

6.2 Nameplate 25

6.3 Part number scheme 26

7 Technical description 27

7.1 The S700 family of digitalservo amplifiers 27

7.2 Technicaldata 30

7.2.1 Rated data 30

7.2.2 Inputs, outputs, aux. voltage supply 31

7.2.3 Connectors 31

7.2.4 Recommended tightening torques 31

7.2.5 Fusing 32

7.2.6 Ambient Conditions,Ventilation,and Mounting Position 32

7.2.7 Conductor cross-sections 33

7.3 Motor holding brake 34

7.4 LED display 35

7.5 Grounding system 35

7.6 Dynamic braking(brake circuit) 35

7.7 Switch-on and switch-off behavior 36

7.7.1 Behavior in standard operation 37

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

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S748-772 Instructions Manual | Table of Contents

7.8 Stop-, Emergency Stop-, Emergency Off Function to IEC 60204 39

7.8.1 Stop 39

7.8.2 Emergency Stop 40

7.8.3 Emergency Off 40

7.9 Safety functionSTO 41

7.9.1 Safety characteristic data 41

7.9.2 Safety notes 42

7.9.3 Use as directed 43

7.9.4 Prohibited Use STO 43

7.9.5 Enclosure 43

7.9.6 Wiring 43

7.9.7 Technicaldata 43

7.9.8 Pinout 44

7.9.9 Functional description 45

7.9.9.1 Safe operation sequence 46

7.9.9.2 Control circuit single channel SIL2/PLd (example) 47

7.9.9.3 Control circuit dual channel SIL2/PLd (example) 48

7.9.9.4 Control circuit dual channel SIL3/PLe (example) 49

7.9.9.5 Mains supply circuit (example) 50

7.9.10 Functional test 50

7.9.10.1 SIngle or Dual Channel control, SIL CL2 / PLd 50

7.9.10.2 SIL CL3 / PLe Dual Channel control 51

7.10 Shock-hazard Protection 52

7.10.1 Leakage current 52

7.10.2 Residualcurrent protectivedevice(RCD) 52

7.10.3 Isolating transformers 52

8 Mechanical Installation 53

8.1 Important Notes 53

8.2 Guide to MechanicalInstallation 53

8.3 Dimensions 54

8.3.1 Device with heat sink 54

8.3.2 Device with Coldplate 55

8.4 Assembly 56

8.4.1 Mounting the shieldingplate 56

8.4.2 Backplane mounting - devices with heat sink 57

8.4.3 Backplane mounting - devices with Coldplate 58

9 Electrical Installation 59

9.1 Important Notes 59

9.2 Guide to electricalinstallation 60

9.3 Wiring 61

9.3.1 Shielding connection to the front panel 62

9.3.2 Technicaldata for connecting cables 63

9.4 Components of a servo system 64

9.5 Blockdiagram 65

9.6 Connector assignments 66

9.7 Connection diagram (Overview) 67

9.8 Voltage supply 68

9.8.1 Connection to various mainssupply networks 68

9.8.2 Mainssupplyconnection (X0) 69

9.8.3 24V auxiliary supply (X4) 69

9.9 DC bus link (X8) 70

9.9.1 DC Bustopology 71

9.9.2 External brake resistor (X8) 71

9.9.3 Capacitor Module KCM (X8) 72

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9.10 Motor connection 73

9.10.1 Motor power connection (X8) 73

9.10.2 Motor holding brake connection (X8, X9) 74

9.11 Feedback systems 74

9.12 Primary and secondary feedbacktypes 75

9.12.1 SFD3 (X1), singlecable connection 76

9.12.2 HIPERFACE DSL (X1), single cable connection 77

9.12.3 Resolver (X2) 78

9.12.4 Sine Encoder with BiSS analog (X1) 79

9.12.5 Encoder with BiSS digital (X1) 80

9.12.6 Sine Encoder with EnDat 2.1 (X1) 81

9.12.7 Encoder with EnDat 2.2 (X1) 82

9.12.8 Sine Encoder with HIPERFACE (X1) 83

9.12.9 Sine Encoder with SSI(X1) 84

9.12.10 Sine Encoder without data channel(X1) 85

9.12.11 Sine Encoder with Hall(X1) 86

9.12.12 ROD (AquadB) 5V, 1.5MHz (X1) 87

9.12.13 ROD (AquadB) 5V, 350kHz(X1) 88

9.12.14 ROD (AquadB) 5V, 350kHzwith Hall(X1) 89

9.12.15 ROD (AquadB) 24V (X3) 90

9.12.16 ROD (AquadB) 24V withHall (X3, X1) 91

9.12.17 SSI absolute Encoder (X1) 92

9.12.18 Hall sensors (X1) 93

9.13 ElectronicGearing, Master-Slave operation 94

9.13.1 Encoder control types 94

9.13.2 Connection to stepper motor controllers (step and direction) 95

9.13.2.1 Step / Direction with 5 V signal level (X1) 95

9.13.2.2 Step / Direction with 24 V signal level (X3) 95

9.13.3 Master-Slave operation 96

9.13.3.1 Connection to an S700 master, 5V signal level (X1) 96

9.13.3.2 Connection to an S700 Master, 5V signal level (X5) 96

9.14 Encoder Emulation,position output 97

9.14.1 Incremental encoder output - A quad B(X1) 97

9.14.2 SSI encoder output (X1) 98

9.15 Digitaland analog inputs and outputs 99

9.15.1 Analog Inputs (X3B) 99

9.15.2 DigitalInputs (X3A, X3B, X4) 100

9.15.2.1 Connector X3A, X3B 100

9.15.2.2 Connector X4 101

9.15.3 DigitalOutputs (X3A, X3B,X4) 102

9.15.3.1 Connectors X3A, X3B 103

9.15.3.2 Connector X4 103

9.16 RS232 interface, PC connection (X6) 104

9.17 CAN-bus interface (X6) 105

9.18 EtherNet interface (X7) 106

9.19 Memory card 107

10 Setup 108

10.1 Important notes 108

10.2 Setup software 109

10.2.1 Use as directed 109

10.2.2 Software description 109

10.2.3 Hardware requirements, operating systems 110

10.2.4 Installation under WINDOWS 110

10.3 Quickstart, initialdrive test 111

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S748-772 Instructions Manual | Table of Contents

10.3.1 Preparation 111

10.3.2 Connect 113

10.3.3 Important Screen Elements 114

10.3.4 Setup Wizard 115

10.3.4.1 BasicSetup 115

10.3.4.2 Units/Mechanical 116

10.3.4.3 Motor (rotary) and Feedback 117

10.3.4.4 Motor (linear) / Feedback(Encoder) 117

10.3.4.5 Save Parameters and Restart 118

10.3.5 Motion Service (Jog Mode) 118

10.3.6 More Setup Screens 119

10.4 Multi axis system 120

10.5 Keypad operation and LED display 120

10.5.1 Operation 121

10.5.2 Status display 121

10.5.3 Standard menu structure 121

10.5.4 Advancedmenu structure 122

10.6 Error messages 123

10.7 Warning messages 124

10.8 Trouble shooting 125

11 Expansions 126

11.1 Expansion cards for slot 1 126

11.1.1 Guideto installation of expansioncards inslot 1 126

11.1.2 Expansion card -I/O-14/08- 127

11.1.2.1 Technical data 127

11.1.2.2 LEDs 127

11.1.2.3 Entering a motionblock number (example) 127

11.1.2.4 Connector assignments 128

11.1.2.5 Connection diagram (default) 129

11.1.3 Expansion card -PROFIBUS- 130

11.1.3.1 Connection technology 130

11.1.3.2 Connection diagram 130

11.1.4 Expansion card -SERCOS- 131

11.1.4.1 LEDs 131

11.1.4.2 Connection technology 131

11.1.4.3 Connection diagram 132

11.1.4.4 Setup 132

11.1.5 Expansion card - DEVICENET - 133

11.1.5.1 Connection technology,Connection diagram 133

11.1.5.2 Combined module statusand network statusLED 134

11.1.5.3 Setup 134

11.1.5.4 Bus cable 135

11.1.6 Expansion card -SYNQNET- 136

11.1.6.1 NODE ID Switch 136

11.1.6.2 NODE LED table 136

11.1.6.3 SynqNet Connection, Connector X21B /X21C (RJ-45) 136

11.1.6.4 Digital inputs and outputs, connector X21A (SubD 15-pin, socket) 137

11.1.6.5 Connection diagram digital inputs and outputs, connector X21A 137

11.1.7 Expansion card - FB-2to1 - 138

11.1.7.1 Pinout 138

11.1.7.2 Wiring example with BiSS digital(primary) and SinCos (secondary) 139

11.1.8 Expansion module-2CAN- 140

11.1.8.1 Installation 140

11.1.8.2 Connection technology 140

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S748-772 Instructions Manual | Table of Contents

11.1.8.3 Connector assignments 141

11.1.8.4 Setup of Station Address and Baud Rate 141

11.2 Expansion cards for slot 2 142

11.2.1 Guideto installation of expansioncards inslot 2 142

11.2.2 Option"F2", controlled Fan 142

11.2.3 Expansion cards "PosI/O" & "PosI/O-Monitor" 143

11.2.3.1 Feedback 144

11.2.3.1.1 ROD (AquadB) 5V (X5, X1) 144

11.2.3.1.2 ROD (AquadB) 5V with Hall (X5, X1) 145

11.2.3.1.3 SSI Encoder (X5, X1) 146

11.2.3.1.4 Sine Encoder with SSI(X5, X1) 147

11.2.3.2 Electronic gearing, Master-Slave operation (X5) 148

11.2.3.2.1 Connectionto a S700 master, 5V signal level (X5) 148

11.2.3.2.2 Connectionto stepper motor controllers with 5 V signal level (X5) 148

11.2.3.3 Encoder-Emulation (X5) 149

11.2.3.3.1 Incremental encoder output - A quad B (X5) 149

11.2.3.3.2 SSI encoder output (X5) 150

11.2.3.4 Analoge Inputs and Outputs 151

11.2.3.4.1 Analog OutputsANALOG-OUT 1 and 2 151

11.2.3.4.2 Analog Inputs ANALOG-IN 3 and 4 151

11.3 Expansion cards for slot 3 152

11.3.1 Guideto installation of expansioncards inslot 3 152

11.3.2 Option"F2", controlled Fan 152

11.3.3 Expansion cards "PosI/O" & "PosI/O-Monitor" 152

11.3.4 Expansion card "Safety 2-2" (S4) 153

11.3.4.1 Safe drive functions S2-2 153

11.3.4.2 Safety Notes S2-2 153

11.3.4.3 Wiring supply voltage 24 V for digitaloutputs 154

11.3.4.4 Safe inputsand outputs S2-2 154

11.3.5 Expansion card "Safety 1-2" (S3) 155

11.3.5.1 SSafe drive functions S1-2 155

11.3.5.2 Safety NotesS1-2 155

11.3.5.3 External encoder S1-2 156

11.3.5.4 Wiring supply voltage 24 V for digitaloutputs S1-2 156

11.3.5.5 Safe inputsand outputs S1-2 156

12 Appendix 157

12.1 Glossary 157

12.2 Order codes 159

12.2.1 Servo amplifiers 159

12.2.2 Memory Card 159

12.2.3 Expansion cards 160

12.2.3.1 Covers for Option Slots 160

12.2.3.2 Slot 1 160

12.2.3.3 Slot 2 160

12.2.3.4 Slot 3 160

12.2.4 Mating connectors 160

13 Index 161

14 Record of Document Revisions 165

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S748-772 Instructions Manual |

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2 General

2.1 About this manual

This manual describes the S748-S772 series of digital servo amplifiers (standardversion:
48A ...72A rated current). S701 to S724amplifiers 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.
More background information can be found in our "Kollmorgen Developer Network" kdn.koll-

morgen.com.

S748-772 Instructions Manual | 2 General

2.2 Using the PDF Format

This document includes several features for ease of navigation

Cross References Table of contents and index include active cross references.

Table of contents and
index

Page/chapter numbers
in the text

Lines are active cross references. Click on the line and the appro­priate page is accessed.

Page/chapternumbers with cross references areactive links.

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S748-772 Instructions Manual | 2 General

2.3 Symbols Used

Warning Symbols

Symbol Indication

Indicates a hazardous situation which, if not avoided, will result
in 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 symbol indicates important notes.

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

Warning of danger from electricity and its effects.

Warning of danger from hot surface.

Warning of danger from suspended loads.

Warning of danger from automatic start.

Drawing symbols

Symbol Description Symbol Description

Signal ground Diode

Chassis ground Relay

Protective earth Relay switch off delayed

Resistor Normally open contact

Fuse Normally closed contact

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2.4 Standards used

Standard Content

ISO 4762 Hexagon socket head cap screws
ISO 12100 Safety of machinery: Basic concepts, general principles for design
ISO 13849 Safety of machinery: Safety-related parts of control systems (former EN 954)
IEC 60085 Electrical insulation - Thermal evaluationand 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 Electrical equipment of industrial machines – Serial data link for real-time com-

IEC 61508 Functional safety of electrical/electronic/programmable electronic safety-

IEC 61800 Adjustable speed electrical power drive systems
IEC 62061 Functional safety of electrical/electronic/programmable electronic safety-

IEC 82079 Preparation of instructions for use - Structuring, content and presentation
UL 840 UL Standard for Safety for Insulation Coordination
UL 508C UL Standard for Safety Power Conversion Equipment

S748-772 Instructions Manual | 2 General

munications between controls and drives.

related systems

related systems

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

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S748-772 Instructions Manual | 2 General

2.5 Abbreviations Used

Abbrev. Meaning

(➜ # xx) See page xx. Example (➜ # 53): see page 53.

AGND Analog ground

BTB/RTO Ready to operate

CAN Fieldbus (CANopen)

CLK Clock signal

COM Serial interface for a PC-AT

DGND Digital ground

Disk Magnetic storage (diskette, hard disk)

EEPROM Electrically erasable programmable memory

EMC Electromagnetic compatibility

EMI Electromagnetic interference

ESD Electrostatic discharge

F-SMA Fiber Optic Cable connector according to IEC 60874-2

INC Incremental Interface

LED Light-emitting diode

MB Megabyte

NI Zero pulse

PC Personal computer

PELV Protected low voltage

PL Performance Level

PLC Programmable logic controller

PWM Pulse width modultation

RAM Volatile memory

RB Brake (regen) resistor

RBext External brake resistor

RBint Internal brake resistor

RES Resolver

ROD A quad B encoder

SDI Safe direction

SIL Safety Integrity Level

SIL CL Safety Integrity Level Claim Limit

SLI Safe limited increments
SLP Safe limited position
SLS Safe limited speed

SOS Safe operating stop

SRAM Static RAM

SS1 Safe stop
SS2 Safe operational stop

SSI Synchronous serial interface

SSR Safe speed range

STO Safe Torque Off

V AC AC voltage
V DC DC voltage

VDE Verein deutscher Elektrotechniker

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3 Safety

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

3.1 You should pay attention to this

Specialist staff required!

Only properly qualified personnel are permitted to perform such tasks as transport, install­ation and setup. Qualified specialist staff are persons with expertise in transport, installation,
assembly, commissioning and operation of electrotechnical equipment.

Transport, storage, unpacking: only by personnel with knowledge of handling elec­trostatically sensitive components.
Mechanical installation: only by personnel with mechanical expertise.
Electrical installation: only by personnel with expertise in electrical engineering.
Basic tests / setup: only by personnel with expertise in electrical engineering and drive
technology.

The qualified personnel must know and observe ISO 12100 / IEC 60364 / IEC 60664and
national accident prevention regulations.

S748-772 Instructions Manual | 3 Safety

Read the documentation!

Read the available documentation before installation andcommissioning. Improper handling
of the devices can cause harm to people or damage to property. The operator of systems
using the drive system must ensure that all personnel who work with the drive read and under­stand the manual before using the drive.

Check Hardware Revision!

Check the HardwareRevision Number of the product (see product label). This number is the
link between your product andthe manual. The product Hardware Revision Number must
match the Hardware Revision Number on the cover page of the manual.

Pay attention to the technical data!

Adhere to the technical data andthe specifications on connection conditions. If permissible
voltage values or current values are exceeded, the devices can be damaged. Unsuitable
motor or wrong wiring will damage the system components. Check the combinationof drive
andmotor. Compare the rated voltage and current of the units.

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.

Observe electrostatically sensitive components!

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

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S748-772 Instructions Manual | 3 Safety

Automatic Restart!

The drive might restart automatically after power on, voltage dip or interruption of the supply
voltage, depending on the parametersetting. Risk of death or serious injury for humans work­ing in the machine. If the parameter AENA is set to 1, then place a warningsign 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 anunder­voltage protection device, you must observe EN 60204-1.

Hot surface!

Drives may have hot surfaces during operation. The housing can reach temperatures above
80°C. Risk of minor burns! Measure the temperature, and wait until the housing has cooled
down below 40 °C before touching it.

Earthing!

It is vital that you ensure that the drive is 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.

Leakage Current!

Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1 the
PE connection must either be doubled or a connecting cable with a cross-section >10 mm²
must be used. Deviating measures according to regional standards might be possible.

High voltages!

The equipment produces high electric voltages up to 900V. Do not open or touch the equip­ment duringoperation. Keepall covers closed.

Duringoperation, S700may have uncovered live sections, according to their level of enclos­ureprotection.

Lethal danger exists at live parts of the device. Built-in protection measures such as insu­lation orshielding may not be removed. Work on the electrical installation may only be per­formed by trained andqualified personnel, in compliance with the regulations for safety at
work, and only with switched off mains supply, and secured against restart.

Never undo any electrical connections to the S700while it is live. There is a danger of elec­trical arcing with damage to contacts and personal injury. Wait at least 10 minutes after dis­connecting the product from the supply voltages (mains supply and 24V supply) before
touching potentially live sections of the equipment (such as contacts) or removing any con­nections.

Always measure the voltagein the DC bus link and wait until the voltage is below 50 V
before handling components.

Functional Safety

The STO safety implementation on the S700 is certified. The assessment of the safety func­tions according to EN13849 or EN 62061 must finally be doneby the user.

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 drive!

It is not allowed to modify the drive hardware without permission by the manufacturer. Open­ing the housing causes loss of warranty.

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3.2 Warning notes placed on the product

S748/772

Residual Voltage.

Wait 10 minutes

after removing power.

If these signs are damaged, they must be replaced immediately.

S748-772 Instructions Manual | 3 Safety

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S748-772 Instructions Manual | 3 Safety

3.3 Use as Directed

The servo amplifiers are components which arebuilt into electrical equipment or machines,
andcan only be used as integral components of such equipment. If the servo amplifiers are
used in residential areas, or in business or commercial premises, then additional filter meas­ures must be implemented by the user.

Cabinet and Wiring

The servo amplifiers may only be operated in a closed switchgear cabinet, taking into
account the ambient conditions (➜ # 32) and the dimensions (➜ # 54). Ventilation or cool­ing may be necessary to prevent enclosure ambient from exceeding 40°C (104°F).
Use only copper wire. Wire size may be determined from EN 60204 (or table310-16 of the
NEC 60°C or 75°C column for AWG size).

Power supply

Servo amplifiers in the S700 series can besupplied from 1-phase or 3-phase grounded
(earthed) industrial supply networks (TN-system, TT-system with grounded neutral point,
no more than42kA symmetrical rated current).
S7480/S7720: In case of mains voltageasymmetry >3% a mains choke must be used.
Periodic overvoltages betweenouter conductor (L1, L2, L3) and housing of the servo amp­lifier may not exceed 1000V (peak value). Transient overvoltages (< 50µs) between the
outer conductors may not exceed 1000V. Transient overvoltages (< 50µs) between outer
conductors and housingmay not exceed 2000V.

For the cases of DC input power for single and group installations

S700 has not been evaluated by Kollmorgen, UL, or TÜV for replacing AC mains input with
DC input - for either single or group installations.

DC installations must be reviewed and evaluated by the user for branch circuit protection*,
wire size, wire voltage rating, fuse protection, system dielectric requirements, overvoltage
andinput** current rating.

In case of DC supplied drives the built-in EMC filter will not work. The useris responsible to
keep the conducted emissions and the immunity of the drive within the required noise levels.

*Special care must be taken in branch circuit design with mixed ratingdrives to avoid the
smaller drives becoming the effective ‘fuse’ rather than the circuit protective fuse.

**The power supply system design must ensureinrush current protection by limiting input cur­rent during power up. DC supply polarity must be properly wired. Improper polarity of DC
powerwill damage the drive and void warranty.

Motors

The S700 family of servo amplifiers is only intended to drive specific brushless syn­chronous servomotors, with closed-loop control of torque, speed and/or position. The
rated voltage of the motors must be at least as high as the DC bus link voltage of the
servo amplifier.

Functional Safety

Consider the specific "use as directed" information (➜ # 41) 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.
Observe the user documentation for safety cards S1-2(S3) / S2-2(S4) when you use a
safety expansion card.

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3.4 Prohibited Use

Otheruse than that described in chapter “Use as directed”is not intended and can lead to per­sonnel injuries and equipment damage.
The use of the servo amplifier in the following environments is prohibited:

potentially explosive areas,
environments with corrosive and/orelectrically conductive acids, alkaline solutions, oils,
vapors, dusts,
directly on non-grounded supply networks or on asymmetrically grounded supplies with a
voltage >240V,
ships or offshoreapplications.

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,
does not comply with the Low Voltage Directive.

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.

S748-772 Instructions Manual | 3 Safety

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S748-772 Instructions Manual | 4 Product life cycle handling

4 Product life cycle handling

4.1 Transport

Only by qualifiedpersonnel in the manufacturer’s original recyclable packaging
Avoid shocks
Temperature: –25 to +70°C, max. 20K/h rate of change, class 2K3 acc. to EN61800-2,
EN60721-3-1
Humidity: max. 95% relative humidity, no condensation, class 2K3 acc. to EN61800-2,
EN60721-3-1
If the packaging is damaged, check the unit for visible damage. In this case, inform the
shipper and the manufacturer.

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

4.2 Packaging

The S700 packaging consists of recyclable cardboard with inserts.

Dimensions S748/S772: (HxWxD) 390x600x400 mm

Labeling : nameplate outside at the box

4.3 Storage

Storage only in the manufacturer’s original recyclable packaging
Max. stacking height S748...S772: 3 cartons
Storage temperature: -25 to +55°C, max. rate of change 20K/h, class 1K4 acc. to
EN61800-2, EN60721-3-1
Storage humidity: 5 ... 95% relative humidity, no condensation, class 1K3 acc. to
EN61800-2, EN60721-3-1
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 andapply single-phase 230V AC
for about 30 minutes to the terminals L1 / L2.

4.4 Decommissioning

Only professional staff who are qualified in electrical engineering are allowed to decom­mission parts of the system.

DANGER: Lethal Voltages!

There is a danger of serious personal injury or death by electrical shock or electrical arcing.

Switch off the mainswitch of the switchgear cabinet.
Secure the system against restarting.
Block the main switch.
Wait at least 10 minutes after disconnecting.

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4.5 Maintenance and cleaning

The device does not require maintenance. Openingthe device voids the warranty. The inside
of the unit can only be cleaned by the manufacturer.

Do not immerse orspray the device. Avoid that liquid enters the device.

To clean the device exterior:

1. Decommission the device (see chapter 4.4 "Decommissioning").

2. Casing: Clean with isopropanol or similar cleaning solution.

Caution : Highly Flammable! Risk of injury by explosion and fire.

Observe the safety notes given on the cleaning liquid package.
Wait at least 30 minutes after cleaning before putting the device back into operation.

3. Protective grill on fan: Clean with a dry brush.

4.6 Disassembly

Only professional staff who are qualified in electrical engineering are allowed to disassemble
parts of the system.

1. Decommission the device (see chapter 4.4 "Decommissioning").

2. Check temperature.

CAUTION: High Temperature! Risk of minor burns. During operation, the heat sink of

the drive may reach temperatures above 80°C (176°F). Before touching the device,
check the temperature and wait until it has cooled below 40°C (104°F).

3. Remove the connectors. Disconnect the potential earth connection last.

4. Demount: loosen the fastening screws. Remove the device.

S748-772 Instructions Manual | 4 Product life cycle handling

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S748-772 Instructions Manual | 4 Product life cycle handling

4.7 System Repair

Only professional staff who are qualified in electrical engineering are allowed to exchange
parts of the drive system.

CAUTION: Automatic Start! During replacement work a combination of hazards and mul-

tiple episodes may occur.

Work on the electrical installation may only be performed by trained and qualified per­sonnel, in compliance with the regulations for safety at work, and only with use of pre­scribed personal safety equipment.

Exchange of the device

Only the manufacturer can repair the device. Opening the device voids the warranty.

1. Decommission the device (see chapter 4.4 "Decommissioning").

2. Demount the device (see chapter 4.6 "Disassembly").

3. Send the device to the manufacturer.

4. Install a new device as described in this manual.

5. Setup the system as described in this manual.

Exchange of other drive system parts

If parts of the drive system (for example cables) must be replaced, proceed as follows:

4.8 Disposal

1. Decommission the device (see chapter 4.4 "Decommissioning").

2. Exchange the parts.

3. Check all connections for correct fastening.

4. Setup the system as described in this manual.

To dispose the unit properly, contact a certified electronic scrapdisposal merchant.

In accordance with the WEEE-2012/19/EC guideline and similar, the manufactureraccepts
returns of old devices and accessories for professional disposal. Transport costs are the
responsibility of the sender.

Contact Kollmorgen and clarify the logistics.

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5 Approvals

Certificates (CE, functional safety) can be found at the Kollmorgen Website.

5.1 Conformance with UL

The servo amplifiers are listed under UL file number E217428.
UL-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S. stand-

ards (in this case UL 840 and UL 508C). The UL certification relates only to the mechanical
andelectrical construction design of the device. This standard describes the fulfillment by
designof minimum requirements for electrically operated powerconversion 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 determinedby 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 insulationcreepage spacings
for electrical equipment and printed circuit boards.

S748-772 Instructions Manual | 5 Approvals

UL Markings

Use 60°C or 75°C copper wire only.
Tightening torque for field wiring terminals:
X0 8-2 AWG, TQ Lb In. 40.
X8 8-2 AWG, TQ Lb In. 40.
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 providedin 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 Voltage/SCCR Max. Fuse Rating

S7480 RK5, CC, J, T 600VAC 200kA 60A
S7720 RK5, CC, J, T 600VAC 200kA 80A

For use on a solidly grounded wye source only.

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S748-772 Instructions Manual | 5 Approvals

5.2 CE conformance

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 installationdescribed in this documentation
means that you will be responsible for carrying out new measurements to ensure con­formance with regulatory requirements.

Kollmorgen declares the conformity of the products S748 and S772 with the following dir­ectives

EC Machinery Directive 2006/42
EC EMC Directive 2014/30/EC
EC Low VoltageDirective 2014/35/EC

Concerning noise immunity the servo amplifier meets the 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 up to 10 m). With a motor cable
length from 10 m onwards, the servo amplifier meets the requirement to the category C3.

This product can cause high-frequency interferences in non industrial environments which
can require measures for interference suppression.

5.2.1 European Directives and Standards for the machine builder

Servo amplifiers aresafety components that are intended to be incorporated into electrical
plant and machines for industrial use. When the servo amplifiers arebuilt 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 (2014/30/EC)
EC Low VoltageDirective (2014/35/EC)

Standards to be applied for conformance with 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 EC Low Voltage Directive(2014/35/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 EC EMC Directive (2014/30/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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S748-772 Instructions Manual | 5 Approvals

5.2.2 Functional Safety Conformance according to EC Machinery Directive

STO (Safe Torque Off)

The S700 servo amplifier offers a two channel STO function (Safe Torque Off). The function
blocks the triggerpulses of the power transistors (pulse inhibitor).

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. The subsystems (servo amplifiers) are
totally described for safety technics with the characteristic data SIL CL, PFHD and TM.

Device

STO1/2 Enable single channel PLd, Cat.3 SIL CL 2 7.05E-08 20
STO1-Enable+

STO2-Enable
STO1-Enable+

STO2-Enable+
STO-Status

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

Expansion card "Safety 2-2" (S4)

This expansion card (Basic version) includes various safety functions for the safe operation
of drive shafts. All functions fulfill the safety requirements SIL CL2 according to IEC 62061
respectively performance level PLd according to ISO 13849-1. The functional safety is cer­tified by the TÜV. Safety characteristic data are listed in the Instructions Manual of the expan­sion card.

Expansion card "Safety 1-2" (S3)

This expansion card (full version) includes several safety functions. All functions fulfill the
safety requirements SIL CL3 acc. to IEC 62061 respectively performance level PLe acc. to
ISO 13849-1. The functional safety is certified by the TÜV. Safety characteristic data are lis­ted in the Instructions Manual of the expansion card.

Operation mode EN 13849-1 EN 62061 PFHD [1/h] TM [Year]

dual channel PLd, Cat.3 SIL CL 2 7.05E-08 20

dual channel +

periodical testing

PLe, Cat.4 SIL CL 3 1.38E-09 20

5.3 Conformance with RoHS

The device is manufactured in conformance with RoHS Directive 2011/65/EC with delegated
directive 2015/863/EC for installation into a machine.

5.4 Conformance with REACH

EU Regulation no. 1907/2006 deals with the registration, evaluation, authorization and restric­tion of chemical substances 1 (abbreviated to "REACH").

The device does not containany substances (CMR substances, PBTsubstances, vPvB sub­stances and similar hazardous substances stipulated in individual cases based on scientific
criteria) above 0.1 mass percent per product that are included on the candidate list.

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S748-772 Instructions Manual | 5 Approvals

5.5 Conformance with EAC

EAC is the abbreviation for Eurasian Conformity. The mark is used in the states of the Eur­asian Customs Union (Russia, Belarus, Kazakhstan) similar to the European CE mark.

Kollmorgen declares, that the device has passed all required conformity procedures in a mem­berstate of the Eurasian Customs Union, and that the device meets all technical require­ments requested in the member states of the Eurasian Customs Union:

Low voltage (TP TC 020/2011)
Electromagnetic Compatibility (TP TC 004/2011)

Contact: Intelisys LLC. , Bakuninskaya Str. d 14, Building 10, RU-105005 Moskau

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6 Package

6.1 Package supplied

When an amplifier from the S700 series is ordered (order numbers (➜ # 159)), the following
is supplied:

Servo amplifier S700 with shielding plate and shield clamps
Product Safety Guide S700 (printed)
Online documentation and setup software on CD-ROM
Mating connectors X3A, X3B, X4, X9A, X9B

The mating SubD connectors are not part of the package!

Accessories : (must be orderedseparately, if required; description see accessories
manual)

Hybrid motor cable (prefabricated)for single cable connection
Motor cable as a cut-off length
Feedback cable (prefabricated)
or both feedback connectors separately, with the feedback cable as a cut-off length
External brake resistor BAS(U)
Communication cable to the PC (➜ # 104) for setting parameters from a PC
Power cable, control cables, fieldbus cables (as cut-off lengths)
Mains choke if mains voltage is more than 3% asymmetrical

S748-772 Instructions Manual | 6 Package

6.2 Nameplate

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

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S748-772 Instructions Manual | 6 Package

6.3 Part number scheme

Use the part number scheme for product identification only, not for the order process,
because not all combinations of features are possible, always.

Example 1: S77202-EIF2PM-NA-000 Example 2: S7480C-EIF2S4-NA-000
S7

S700

72

72A 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

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S7

S700

48

48A rated current

0

208...480V rated voltage

C

Coldplate

EI

I/O expansion card 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

S748-772 Instructions Manual | 7 Technical description

7 Technical description

7.1 The S700 family of digital servo amplifiers

Standard version

Large supply voltage range: 3 x 208V

(with mains voltage below 300V set parameters NONBTB=3 and VBUSBAL=1)

Overvoltage category III acc. to IEC 61800-5-1
CANopen on board
EtherCAT on board
RS232 and 24V pulse direction interface on board
Resolver-, Encoder-, AquadB Encoder-, ComCoder- evaluation on board
Position controller on board
Safe Stop STO on board (upto SIL CL3, PLe)
3 front side slots for expansion cards
Memory Card slot on board
Synchronous servomotors, linear motors, asynchronous motors andDC motors can be
used

Power section

-10%

... 480V

+10%

Directly on grounded mains supply, 3x208V-10% … 3x480V+10%, 50/60Hz

(with mains voltage below 300V set parameters NONBTB=3 and VBUSBAL=1)

TN-network or TT-network with grounded neutral point, 42kA max. symmetrical current
rating, connection to other supply types only via isolating transformer (➜ # 68)
B6 bridge rectifier, integral supply filter and soft-start circuit
Single-phase supply operation possible (e.g. for setup)
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. External brake resistors if required.
DC bus link voltage: 260...900V DC, can be connected in parallel.
Interference suppression filters are integrated for the electrical supply feed and the 24 V
auxiliary supply voltage (with motor cable 10 m for C2 as per IEC 61800-3, with motor
cable > 10 m for C3 as per IEC 61800-3).

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S748-772 Instructions Manual | 7 Technical description

Integrated safety

Appropriate insulation and creepage distances and electrical isolation ensure safe elec­trical separation, as per IEC 61800-5-1, betweenthe power input / motor connections and
the signal electronics.
Soft-start, overvoltage detection, short-circuit protection, phase-failure monitoring.
Temperaturemonitoring of the servo amplifier andmotor (if our motors and prefabricated
cables are used).
Safe stop (up to SILCL3 acc. to IEC 62061, PLe acc. to ISO13849-1), (➜ # 41)
Slot for safety card with more safety functions for the safe drive operation, (➜ # 153)

Auxiliary supply voltage 24V DC

Electrically isolated, internal fusing, from an external 24V DC power supply unit.
Separate 24V supply input for internal electronic supply
Separate 24V supply input for motor holdingbrake supply
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 andfirmware 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

programmable analog inputs (➜ # 99)
programmable analog inputs (➜ # 100)
2 programmable digital inputs/outputs (direction selectable)(➜ # 100)
Programmable logical combinations of digital signal
1 input Enable (➜ # 100)
2 inputs STO Enable (➜ # 101)
2 STO-Status Outputs (➜ # 102)

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S748-772 Instructions Manual | 7 Technical description

Expansions

Slot 1
Expansioncards in slot 1 can be combined with F2 Optionin slot 2. More combinations of

slot 1 and slot 2 expansion cards are not possible.

I/O-14/08 expansion card, (➜ # 127)
PROFIBUS expansion card, (➜ # 130)
sercos® II expansion card, (➜ # 131)
DeviceNet expansion card, (➜ # 133)
SynqNet expansion card, (➜ # 136)
FB-2to1 expansion card, (➜ # 138)

-2CAN- expansion module, separated connectors for CAN bus and RS232, (➜ # 140)

Slot 2

PosI/O expansion card,(➜ # 143)
PosI/O-Monitor expansion card, (➜ # 143)
F2 Option, controlled fan, later insertion not possible,(➜ # 152), can be combined with
expansion cards in slot 1.

Slot 3

PosI/O expansion card, (➜ # 152)
PosI/O-Monitor expansion card, (➜ # 152)
F2 Option, controlled fan, later insertion not possible, (➜ # 152)
Safety expansion card (S3) S1-2 (SIL CL3), (➜ # 155)
Safety expansion card (S4) S2-2 (SIL CL2), (➜ # 153)

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

Macro programming

More information can be foundin our KDN Makro-Programming.

62.5μs / 250μs / 1ms / 4ms / 16ms / IDLE / IRQ
128kByte memory
IEC 61131 structured text
400easy instructions every 62.5 μs
CAN objects for multi axis control

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S748-772 Instructions Manual | 7 Technical description

7.2 Technical data

7.2.1 Rated data

Electrical data DIM S74802 S77202

Rated supply voltage(grounded supply.
phase to phase) (L1.L2.L3)

Rated input power for cont. operation kVA 35 50
Permitted switch on/off frequency 1/h 30
Auxiliary voltage supply — (➜ # 31)
Maximum DC bus link voltage V= 900
Rated output current (rms value, 3%)
at 3x208V Arms 48 72
at 3x230V Arms 48 72
at 3x400V Arms 48 72
at 3x480V Arms 48 72
Peak output current (for max. 5s. ± 3%) Arms 96 140
Switching frequency of output stage kHz 8

- at reduced current (50%) kHz 16
Voltage rise speed dU/dt, (measured without connected motor, (➜ # 73))
at 3x208V kV/µs 2.1
at 3x230V kV/µs 2.3
at 3x400V kV/µs 4.0
at 3x480V kV/µs 4.8
Technical data for brake circuit — (➜ # 35)
Threshold for overvoltage switch-off VDC (➜ # 35)
Motor inductance min. at 3x208V mH 0.38 0.26
Motor inductance min. at 3x230V mH 0.42 0.29
Motor inductance min. at 3x400V mH 0.74 0.51
Motor inductance min. at 3x480V mH 0.88 0.61
Motor inductance max. mH Consult our support
Form factor of the output current (rated con-

ditions, min. load inductance)
Bandwidth of current controller kHz > 1.2 (up to 5)
Residual voltage drop at rated current V 6
Thermal dissipation, output stage disabled W 24
Thermal dissipation at rated current (without brake dissipation)
at 3x230V W 555 855
at 3x400V W 635 1005
at 3x480V W 685 1135
Noise emission max. dB(A) 62 68

Mechanical data

Weight kg 13
Weight Coldplate Version (S7480C, S7480A) kg 10.4 ­Height, without/with connectors & shielding plate mm 386/505
Width mm 190
Depth, without/with connectors mm 244/285

V~ 3 x 208V-10% … 3 x 480V+10%.

50/60 Hz

— 1.01

* In case of mains voltage below 300V, set parameters NONBTB=3 and VBUSBAL=1.

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7.2.2 Inputs, outputs, aux. voltage supply

Interface electr. data

Analog inputs 1 and 2
Max. common-mode voltage

Digital control inputs as per EN 61131-2 Typ1. max. 30 VDC. 15 mA
Digital control outputs as per EN 61131-2 Typ1. max. 30 VDC. 100 mA
BTB/RTO output, relay contacts max. 30 VDC. max 42 VAC, 500mA
24V-IO for digital outputs 20 V ... 30 V
Auxiliary supply voltage PELV, PELV

- Electronics (with fan, no option card) 24 V (-0% +15%), 2A

- Motor brake, min./max.output current 24 V (-0% +15%), 0.15 A / 3 A

7.2.3 Connectors

S748-772 Instructions Manual | 7 Technical description

±10 V
±10 V

Connector Type max.

X0 Mains Terminals 35 mm² 125 A 1000 V
X1 Encoder input SubD15pol. (female) 0.5 mm² 1 A <100 V
X2 Resolver input SubD 9pol. (female) 0.5 mm² 1 A <100 V
X3A, X3B Control signals Mini-Combicon connector 1.5 mm² 4 A 160 V
X4 Aux. voltage, STO Mini-Combicon connector 1.5 mm² 4 A 160 V
X5 (optional) Encoder Emu-

lation, ROD/SSI
X6 PC interface, CAN SubD 9pol. (male) 0.5 mm² 1 A <100 V
X7A,B EtherNET RJ45 connector FTP CAT.5, 26AWGx4P

X8 DC Bus link, Motor,
Brake Resistor

X9A,B Motor brake Mini-Combicon connector 1.5 mm² 4 A 160 V

*1 single-line connection
*2 single-line connection with recommended conductor cross section (➜ # 33)
*3 rated voltage with pollution level 2

7.2.4 Recommended tightening torques

cross

section

permiss.

*1

current

*2

permiss.
voltage

SubD 9pol. (male) 0.5 mm² 1 A <100 V

as per EN50173

Terminals 35 mm² 125 A 1000 V

*3

Connector Tightening torque

X0 with up to 25mm² wire 2.5 Nm
X0 with 35mm² wire 4.5 Nm
X3A,B Cage clamps
X4 Cage clamps
X8 with up to 25mm² wire 2.5 Nm
X8 with 35mm² wire 4.5 Nm
X9A Cage clamps, Mounting flange: 0,5 Nm
Groundingbolt 3.5 Nm

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S748-772 Instructions Manual | 7 Technical description

7.2.5 Fusing

Internal fusing, wire fuse or electronic

Circuit S748 / S772

24V Electronics 4 A
24V Motor brake 4 A
Brake resistor electronic

External fusing

Fusible cutouts or similar S748 S772

AC supply F
24V Electronics F
24V Brake F
Brake resistor F

* EU fuses: types gRL or gL, 400V/500V
US fuses: class RK5 or CC or J or T, 600VAC 200kA, time-delay
** e.g. wire fuses or micro fuse or Automatic Circuit Brakers
*** EU fuses: Bussmann HLS, 690V/100A
US fuses: Bussmann FWP-xxA22F, Size 22x58mm, UL approved for 500Vdc

Tips and detailedinformation can be found in the "KDN".

N1/2/3

H1/2

H3/4

B1/2

60 A* 80 A*

8 A** 8 A**
8 A** 8 A**

100A*** 100A***

7.2.6 Ambient Conditions, Ventilation, and Mounting Position

Storage, hints (➜ # 18)
Transport, hints (➜ # 18)

Surrounding air tem­perature in operation

Humidity in operation rel. humidity 85%, no condensation, class 3K3
Site altitude up to 1000m a.m.s.l. without restriction

Pollution level Pollution level 2 to EN 60664-1
Vibrations Class 3M1 according to IEC 60721-3-3
Enclosure protection IP 20 according to EN60529
Mounting position generally vertical (➜ # 56)
Ventilation built-on/built-in fan (optionally controlled, option F2)

Kollmorgen requirements for servo amplifiers with Coldplate:

Flatness of the mounting (cooling) plate: ≤ 25 μm / 100 mm

0 to +40°C (32 to 104°F) at rated data
+40 to +55°C (113 to 131°F) with power derating 2.5% / K

1000 — 2500m a.m.s.l. with power derating1.5%/100m

The servo amplifier shuts down (F01 and F13(➜ # 123),
motor has no torque) in case of excessively high tem­perature in the control cabinet.

Make sure that there is sufficient forcedventilation within
the switchgear cabinet.

Mains voltage Max. thermal

resistance

230V 0.063K/W 75 °C
400V 0.055K/W 75 °C
480V 0.051K/W 75 °C

The cooling plate temperature must not be more than 10 K below the environment tem­perature. With a difference of morethan10 K there is a risk of condensation. Condensation
may destroy the electronics of the servo amplifier.

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Max. allowed temperature
at center of coldplate

7.2.7 Conductor cross-sections

Recommendations for cables (material and construction (➜ # 63).
FollowingIEC 60204 (B2), we recommend for single-axis systems:

Interface Cross section Techn. requirements

AC connection S748:

DC bus link S748:

Brake resistor S748:

Motor cables S748:

Resolver, motor thermal con­trol, max.100m*

Encode, rmotor thermal con­trol, max. 50m*

ComCoder, motor thermal
control, max. 25m

Setpoints, AGND, max 30m 0.25 mm² twisted pairs, shielded
Control signals, BTB,

DGND, max. 30m
Holding brake (motor) min. 0.75 mm² 600V, 80°C, shielded,

+24 V electronics, max 30m max. 1.5 mm² check voltage drop
+24 V motor brake, max 30m max. 1.5 mm² check voltage drop

S748-772 Instructions Manual | 7 Technical description

S772:

S772:

S772:

S772:

16 mm²
25 mm²

25 mm²
25 mm²

35 mm²
35 mm²

16 mm²
25 mm²

600V, 80°C

1000 V, 80°C, shielded
for lengths >0.50 m

1000 V, 80°C, shielded
for lengths >0.50 m

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

4x2x0.25 mm² twisted pairs, shielded, C<120pF/m

7x2x0.25 mm² twisted pairs, shielded, C<120pF/m

8x2x0.25 mm² twisted pairs, shielded, C<120pF/m

0.5 mm²

check voltage drop

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 (➜ # 63)

* Kollmorgen North America supplies cables up to 39 meters, Europe up to max. length

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7.3 Motor holding brake

A 24 V holding brake in the motor can be controlled directly by the amplifier. A special 24 V
supply voltage (X9B) is used. Brakes with up to 3 A can be controlled directly.

No 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 (➜ # 155).

The brake only works with sufficient voltagelevel (➜ # 31). 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.

Duringthe internal ENABLE delay time of 100 ms (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 onwhen the speed has reached 5 rpm (VELO), at the latest after 5 s (EMRGTO).
The release delay time (tbrH) and the engage delay time (tbrL) of the holding brake that is built
into the motorare different for the various types of motor (seemotor manual), the matching
data are loaded from the motor database when the motor is selected. A description of the
interface can be found on page (➜ # 73).

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7.4 LED display

A 3-character LED-Display indicates the status of the amplifier after switching on the 24 V
supply (➜ # 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 andwarnings that may occur (➜ #

123).

7.5 Grounding system

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

BRGND - 24V motorbrake supply

7.6 Dynamic braking (brake circuit)

Duringbraking 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 customerservice can help you with the cal­culation of the brake power that is necessary for your system. A simple method is described
in the "KDN". A description of the interface can be found on page(➜ # 71).

S748-772 Instructions Manual | 7 Technical description

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 averageor peak power that exceeds the pre-

set level for the brake power rating, then the servo amplifier generates the warning “n02 brake
powerexceeded” 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 stageis
switched off, showing the errormessage “Overvoltage F02” (➜ # 123).
The BTB/RTO contact (terminals X3B/14,15) will be opened at the same time (➜ # 102).

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 beoperated off a

common DC bus link (observe (➜ # 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 under1. (above) for the amplifier that
has the lowest switch-off threshold(resulting from tolerances).

Technical data of the brake circuits depend on the amplifiers type and the mains voltagesitu­ation (VBUSBAL).

Technical Data VBUSBAL: Supply voltage

Rated data DIM 1:230 V 2:400 V 3:480 V 4*:480 V

Switch-on threshold of brake circuit V 400 720 840 790
Overvoltage F02 V 455 800 900 900
Pulse brake power kW 16 50 70 70
External brake resistor (RBe), S748 Ohm 15
External brake resistor (RBe), S772 Ohm 10
Continuous brake power (RBe) kW 8

* Kollmorgen recommends setting VBUSBAL=4 in case of 480 V mains supply, with this set­ting the optimized calculation method is used.

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

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S748-772 Instructions Manual | 7 Technical description

7.7 Switch-on and switch-off behavior

This chapter describes the switch-onand 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 (error response, also depends on the specific error, see

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

ACTFAULT &

STOPMODE

0 Motor coasts to a standstill in an uncontrolled manner

1 (default) Motor is brakedin a controlled manner

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:

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

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
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: (see also ASCII reference in the Online Help of the
setup software)

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 (➜ # 34). 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 poweris being supplied, the drive shaft is protected
against unintentional restart. The chapter “Safety function STO” describes how to use the
STO function. See (➜ # 41) onwards.

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7.7.1 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, see Online Help).

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

S748-772 Instructions Manual | 7 Technical description

Devices which are equippedwith a selected “Brake” function use a special sequence for
switching off the output stage(➜ # 34).

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

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

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S748-772 Instructions Manual | 7 Technical description

7.7.2 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 (e.g., ACTFAULT, VBUSMIN, VELO, STOPMODE, see Online Help).

Uncontrolled coasting!

Some faults (see ERRCODE ) force the output stage to switch-off immediately, independent
from the ACTFAULT setting. Danger of injury by uncontrolled coasting of the load. An addi­tional mechanical brake is required for functional 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 con­trolledemergency brake is started first.

(F06 = error messages "Motor Temperature")
Even if there is no intervention from anexternal 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 andassuming that no changes have beenmade 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 beforeenabling the servo amplifier again.

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S748-772 Instructions Manual | 7 Technical description

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

With the functional safe, certified function STO (➜ # 41) the drive can be secured on stand­still (torque-free) usingits 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 (➜ # 153).

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

Examples for implementation can be found in the KDN on page Stop and Emergency Stop

Function.

7.8.1 Stop

The Stop function is used to shut down the machine in normal operation. The Stop functions
aredefined 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 (➜ # 41) .

Category 1: A controlledshut-down , whereby the energy supply to the drive machinery

is maintained to perform the shut-down, andthe energy supply is only inter­rupted whenthe shut-down has been completed;

Category 2: A controlledshut-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 KDN on page Stop and Emergency Stop

Function.

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S748-772 Instructions Manual | 7 Technical description

7.8.2 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. Principles of
emergency stop devices andfunctional 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 usermust 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 furtherhazards (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 KDN on page Stop and Emergency Stop

Function.

7.8.3 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 switching
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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7.9 Safety function STO

A frequently required application task is the safe torque off and the protection of personnel
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 trigger
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 ordual 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 drivencontact) or from the
built-insafety card S1-2 (➜ # 155) or S2-2 (➜ # 153).

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 (status) signal.

S748-772 Instructions Manual | 7 Technical description

7.9.1 Safety characteristic data

The subsystems (servo amplifiers) are totally described for safety technics with the char­acteristic data SIL CL, PFHD and TM..

Unit Operation

STO1/2 Enable single channel PLd, Cat.3 SIL CL 2 7.05E-08 20
STO1-Enable+

STO2-Enable
STO1-Enable+

STO2-Enable+
STO-Status

EN 13849-1 EN 62061 PFHD [1/h] TM [Years]

Mode

dual channel PLd, Cat.3 SIL CL 2 7.05E-08 20

dual channel +

periodical

testing

PLe, Cat.4 SIL CL 3 1.38E-09 20

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S748-772 Instructions Manual | 7 Technical description

7.9.2 Safety notes

High electrical voltage!

Risk of electric shock! The function STO does not provide an electrical separation from the
poweroutput. If access to the motor power terminals is necessary,

disconnect the servo amplifier from mains supply,
consider the discharging time of the intermediate circuit.

No Brake Power!

Serious injury could result when a suspended loadis not properly blocked. The servo amp­lifier cannot hold a vertical load when STO is active.

Add a safe mechanical blocking (for instance, a motor-holding brake).

Uncontrolled movement!

Danger of personal injury. If STO is engaged during operation by separating input STO1­Enable and STO2-Enable from 24VDC, the motor runs down out of control and the servo
amplifier displays the error F27. There is no possibility of braking the drive controlled.

Brake the drive in a controlled way first and thenseparate the STO inputs from +24VDC
time-delayed.

In case of single channel control:
If the STO is automatically activated by a control system, then make surethat 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:
Keep to the following functional sequence whenthe 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 thereis a suspended load, block the drive mechanically

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

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7.9.3 Use as directed

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 IEC60204, ISO12100, IEC62061 respectively ISO13849-1.
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 (➜ # 51).

7.9.4 Prohibited Use STO

The STO function must not be used if the drive is to be made inactive for the following reas­ons :

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).
Emergency-Off situations: the mains contactor must be switched off (by the emergency­Off button).

S748-772 Instructions Manual | 7 Technical description

7.9.5 Enclosure

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

7.9.6 Wiring

When usingSTO 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.

7.9.7 Technical data

STO1-Enable and STO2-Enable Data

Input voltage 20 V..30 V
Input current 33 mA – 40 mA (Ieff)
Peak current 100 mA (Is)
Response time

(fallingedge at STO input until energy supply
to motor is interrupted)

STO1: 1 ms
STO2: 2 ms

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7.9.8 Pinout

To achieve PLe / SIL CL3, the safe switchingof the pulse inhibitor must be tested peri­odically by analyzing the status signal from a safety control.

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7.9.9 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
diagrams from (➜ # 47)).

Possible states of the servo amplifier in connection with STO:

S748-772 Instructions Manual | 7 Technical description

STO1-ENABLE
STO2-ENABLE

0V 0V -S- no yes

0V +24V F27 no yes
+24V 0V normal status e.g. 06 no no
+24V +24V 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 (➜ # 47).

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 (➜ # 48).

SIL3/PLe Dual Channel Control

With the dual-channel control of the STO safety function, the switch-off paths STO1-Enable
andSTO2-Enable are switchedseparately by two outputs of a safety control, see example
(➜ # 49).

To achieve PL e or SIL CL3, the safe switching of the pulse inhibitor must be tested peri­odically by analyzing the feedback (status) signal from the safety control (➜ # 51).

ENABLE Display Motor has

torque

SIL CL2 or 3

safety

When wiring the STO inputs within an enclosure it must be paid attentionto 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),
andprotected from outside damage (➜ # 43).

If STO function is not needed in the application, then the inputs STO1-ENABLE and STO2­ENABLE 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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S748-772 Instructions Manual | 7 Technical description

7.9.9.1 Safe operation sequence

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 thereis a suspended load, block the drive mechanically

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

The diagram shows how STO should beused to ensurea safe stop of the drive and error free
operation of the servo amplifier.

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S748-772 Instructions Manual | 7 Technical description

7.9.9.2 Control circuit single channel SIL2/PLd (example)

The example shows a circuit diagram with one axis connected to an emergency stop circuit.
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.

Consider the wiring instructions (➜ # 43).

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7.9.9.3 Control circuit dual channel SIL2/PLd (example)

The example shows a circuit diagram with one axis connected to an emergency stop circuit.
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 andPLd according to ISO 13849-1.

Consider the wiring instructions (➜ # 43).

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S748-772 Instructions Manual | 7 Technical description

7.9.9.4 Control circuit dual channel SIL3/PLe (example)

The example shows a circuit diagram with one axis connected to an emergency stop circuit.
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 manufacturedby Pilz and fulfills at least the PLe
acc. to ISO 13849-1. Furtherinformationto 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.

Consider the wiring instructions (➜ # 43)

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7.9.9.5 Mains supply circuit (example)

7.9.10 Functional test

7.9.10.1 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 X4/7=0V and X4/5=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 X4/7=0V and X4/5=0V).

Correct behavior: the servo amplifierdisplays -S-.

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7.9.10.2 SIL CL3 / PLe Dual Channel control

To achieve PLe / SIL CL3, the safe switchingof the pulse inhibitor must be tested peri­odically 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 states of the pulse inhibitor are available at the status outputs
of the S748/772 and are 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"

S748-772 Instructions Manual | 7 Technical description

Legend:
STO1-ENABLE: digitalinput, 1stswitch-off path
STO1-STATUS: digitaloutput, switching stateof pulse
inhibitor 1st switch-off path
Start: Start of testsequence

STO2-ENABLE: digitalinput, 2nd switch-off path
STO2-STATUS: digitaloutput, switching stateof pulse
inhibitor 2nd switch-off path
T1 bisT5: Test sequence
End: End of test sequence

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7.10 Shock-hazard Protection

7.10.1 Leakage current

Leakage current via the PE conductor results from the combination of equipment and cable
leakage currents. The leakage current frequency pattern includes a numberof frequencies,
whereby the residual-current circuit breakers definitively evaluate the 50 Hz current. For this
reason, the leakage current cannot be measured using a conventional multimeter. As a rule of
thumb, the followingassumption can be made for leakagecurrent on our low capacitance
cables at a mains voltage of 400 V, depending on the clock frequency of the output stage:
I

= n x 20 mA + L x 1 mA/m at 8 kHz clock frequency at the output stage

leak

I

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

leak

(where Ileak=leakage current, n=number of drives, L=length of motor cable)
At other mains voltageratings, the leakage current varies in proportion to the voltage.

Example:

2 x drives + a 25m motorcable at a clock frequency of 8 kHz:
2 x 20 mA + 25 m x 1 mA/m = 65 mA leakage current.

Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1 the
PE connection must either be doubled or a connecting cable with a cross-section >10 mm²
must be used. Use the PE terminal and the PE connection screws in order to fulfill this
requirement.

The following measures can be used to minimize leakage currents:

Reduce the length of the engine cable.
Use low-capacity cables (➜ # 63).
Remove external EMC filters (radio-interference suppressors are integrated).

7.10.2 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 (RCDs) 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 orderto detect any DC
fault current. Refer to the chapter above for the rule of thumb for determining the leakage cur­rent. Rated residual currents in the RCDs:

10 to 30 mA Protection against "indirect contact" for stationary and mobile equipment,

as well as for "direct contact".

50 to 300 mA Protection against "indirect contact" for stationary equipment

Recommendation: In order to protect against direct contact (with motor cables shorter than
5 m) Kollmorgen recommends that each drive beprotected individually using a 30 mA 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.

7.10.3 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 (➜ # 68)). A ground-leakage
monitor can be used to monitor for short circuits.

Keep the length of wiring between the transformer and the drive as short as possible.

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8 Mechanical Installation

8.1 Important Notes

High EMC Voltage Level!

Risk of electrical shock, 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 tapebetween 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 insulationdistances altered during transport and handling.
Avoid contact with electronic components and contacts.

The servo amplifier will switch itself off in case of overheating. Ensure that there is an
adequate flow of cool, filtered airinto the bottom of the control cabinet, or use a heat
exchanger(➜ # 32).

Do not mount devices that produce magnetic fields directly beside the servo amplifier.
Strongmagnetic fields can directly affect internal components. Mount devices which pro­duce magnetic field with distance to the servo amplifier and/or shield the magnetic fields.

S748-772 Instructions Manual | 8 Mechanical Installation

8.2 Guide to Mechanical Installation

The following notes should assist you to carry out the mechanical installation in a sensible
sequence, without overlooking anything important.

Mount in a closed switchgear cabinet (➜ # 32).

Site

Ventilation

Assembly

Grounding
Shielding

The site must be free from conductive or corrosive materials.
For the mounting position in the cabinet refer to (➜ # 56).

Check that the ventilationof the servo amplifier is unimpeded and keep
within the permitted ambient temperature (➜ # 32).
Keep the required space clearabove and below the servo amplifier (➜ #

56).
Assemble the servo amplifier and power supply, filter and choke close

together onthe conductive, grounded mounting plate in the cabinet.
EMC-compliant (EMI) shielding and grounding (➜ # 67).

Earth (ground) the mountingplate, motor housing and CNC-GND of the con­trols. Notes on connection techniques (➜ # 62).

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8.3 Dimensions

8.3.1 Device with heat sink

Material: four M5 hexagon socket screws to ISO 4762

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8.3.2 Device with Coldplate

These devices are not UL listed and are not EAC and Safety certified.

Material: six M5 hexagon socket screws to ISO 4762

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8.4 Assembly

8.4.1 Mounting the shielding plate

Material: unscrew existing screws and re-use them
Tool required : standard screw driver (cross)

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8.4.2 Backplane mounting - devices with heat sink

Material: five M5 hexagonsocket screws to ISO 4762
Tool required : 4 mm Allen key

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8.4.3 Backplane mounting - devices with Coldplate

These devices are not UL listed and are not EAC and Safety certified.

Material: six M5 hexagon socket screws to ISO 4762
Ambient requirements see (➜ # 32), mounting plate flatness:≤ 25 μm / 100mm

Heat conducting film to increase the heat conduction, e.g. Kunze KU-CG20.
Tool required : 4 mm Allen key

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9 Electrical Installation

9.1 Important Notes

There is a danger of serious personal injury or death by electrical shock or electrical arcing.
Capacitors can still have dangerous voltages present up to 10 minutes after switching off
the supply power. Control and power connections can still be live, even if the motor is not
rotating.

Only install and wire the equipment whenit is not live.
Make sure that the cabinet is safely disconnected (forinstance, with a lock-out and warn­ing signs).
Never remove electrical connections to the drive while it is live.
Wait at least 10 minutes after disconnecting the drive 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 voltagein the DC bus link and wait until it has fallen below 50 V.

S748-772 Instructions Manual | 9 Electrical Installation

High Voltage up to 900 V!

Wrongmains 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 accordingto the connection diagram (➜ # 61)
Make sure that the maximum permissible rated voltageat 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 voltage
supply must be installed by the user, best values (➜ # 32). Hints for use of Residual-current
circuit breakers (FI), (➜ # 52).

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 off circuit of the installation.
The emergency off circuit must operate the supply contactor.

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9.2 Guide to electrical installation

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 200 mm. 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 (➜ # 62).

Feedback lines may not be extended, since thereby the shielding would be interrupted and
the signal processing could be disturbed. Lines between servo amplifiers and filter or
external brake resistor must be shielded. Install all power cables with an adequate cross­section, as per IEC 60204 to reach max. cable length (➜ # 63).

The following notes should assist you to carry out the electrical installation in a sensible
sequence, without overlooking anything important.

Cable
selection

Grounding
Shielding

Wiring

Final check

Select cables according to EN 60204, (➜ # 33).

EMC-compliant (EMI) shielding and grounding, (➜ # 67).
Earth (ground) the mountingplate, motor housing and CNC-GND of the
controls (➜ # 62).

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

1. Connect the digital control inputs to the servo amplifier.

2. Connect up AGND (also if fieldbuses are used).

3. Connect the analog setpoint, if required.

4. Connect up the feedback unit (resolverand/or encoder).

5. Connect the encoder emulation, if required.

6. Connect the expansion card (➜ # 126).

7. Connect the motor cables, connect shielding at both ends.

8. Connect motor-holding brake, connect shielding at both ends.

9. Connect the external brake resistor (with fusing).

10. Connect aux. supply (for max. permissible voltage values (➜ # 31)).

11. Connect main power supply (for max. permissible voltage values (➜ #

31), hints for use of residual-current circuit breakers (FI) (➜ # 52)

12. Connect PC (➜ # 104).
Final check of the implementation of the wiring, accordingto the wiring dia-

grams which have been used.

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9.3 Wiring

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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).

High voltage up to 900V!

There is a danger of electrical arcing with damage to contacts and serious personal injury.

Only install and wire upthe 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 switchedon.
Make sure that the cabinet is safely disconnected (forinstance, with a lock-out and warn­ing signs).

The ground symbol , 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 (PE = protective earth, safety measure as per IEC 60204).

Use the followingconnection diagrams:

Overview: (➜ # 67)
Safe Torque Off STO: (➜ # 44)
Voltage supply: (➜ # 68)
Motor: (➜ # 73)
Feedback: (➜ # 74)
Electronic Gearing andMaster Slave: (➜ # 94)
Pulse-Direction: (➜ # 95)
Master-Slave : (➜ # 96)
Digital and analog inputs and outputs: (➜ # 99)
RS232 / PC connection: (➜ # 104)
CANopen Interface: (➜ # 105)
EtherNet Interface: (➜ # 106)

Expansion cards for slot 1:

I/O-14/08: (➜ # 127)
PROFIBUS: (➜ # 130)
sercos® II: (➜ # 131)
DeviceNet: (➜ # 133)
SynqNet: (➜ # 136)
FB-2to1: (➜ # 138)

-2CAN-: (➜ # 140)

Expansion cards for slot 2:

PosI/O & PosI/O-Monitor: (➜ # 143)

Expansion cards for slot 3:

PosI/O & PosI/O-Monitor: (➜ # 152)
Safety Cards: (➜ # 153)

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9.3.1 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 dam­aging 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
andthe shroud.

Wire the plug-in terminal blocks as shown in
the connection diagram.

The motor cable shield is connected via a
shield connection clamp to the bottom shield­ing plate (3). Clamp and shielding plate are
part of delivery.

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9.3.2 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" (➜ # 33). To reach the max.
permitted cable length, you must use cable material that matches the capacitance require­ments listed below.

Capacitance (core to shield)

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

Example: Motor cable:

S748-772 Instructions Manual | 9 Electrical Installation

Technical data

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

Chokes

With motor cables longer than 25m the use of a motor choke 3YLN may be necessary
dependingon the system. Contact our customer support.

If mains voltage is more than 3% asymmetrical, a mains choke 3L with 2% uk must be
used. See Accessories Manual.

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9.4 Components of a servo system

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
aredescribed in our accessories manual. STO function is deactivated in the example.

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9.5 Block diagram

The block diagram below just provides an overview.

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9.6 Connector assignments

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9.7 Connection diagram (Overview)

Reference Safety Instructions (➜ # 13) and Use As Direct (➜ # 16) !

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9.8 Voltage supply

9.8.1 Connection to various mains supply networks

An isolating transformer is required for 400V to 480V networks that are asymmetrically
grounded or not grounded as shown below.

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9.8.2 Mains supply connection (X0)

Directly to 3-phase supply network, filter is integrated, supply networks (➜ # 68)
(with mains voltage below 300V set parameters NONBTB=3 and VBUSBAL=1)
Fusing (e.g. fusible cut-outs) to be provided by the user (➜ # 32)
Screw driver for plus-minus-screws (Combiprofile Slotted/Pozidriv) size 2

S748-772 Instructions Manual | 9 Electrical Installation

If mains voltage is more than 3% asymmetrical, a mains choke 3L with 2% uk must be
used. See Accessories Manual. For EMC reasons the choke should be mounted electrically

isolated to the cabinet.

9.8.3 24V auxiliary supply (X4)

External 24V DC power supply, electrically isolated, e.g. via an isolating transformer
Required current rating (➜ # 31)
Integrated EMC filter for the 24V auxiliary supply

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9.9 DC bus link (X8)

Terminals X8/-DC and X8/+RBe. Can be connected in parallel, whereby the brake power is
dividedbetween all the amplifiers that are connected to the same DC bus link circuit.

Screw driver for plus-minus-screws (Combiprofile Slotted/Pozidriv) size 2

In case of mains supply from the same mains (identical mains supply voltage) three servo
amplifiers S748/772 may be connected by the DC bus link.

The servo amplifiers can bedestroyed, if DC bus link voltages aredifferent. Only servo
amplifiers with mains supply from the same mains (identical mains supply voltage) may
be connected by the DC bus link.
VBUSBAL must be identical with all devices on the same DC bus.
The sum of the rated currents for all of the servo amplifiers connected in parallel to an
S748/772 must not exceed 96 Arms (140 Apeak).
Examples: S748-S748-S748 oderS772-S748 oder S772-S772
Use unshielded single cores with a max. length of 500mm (cross reference see (➜ #

33)); use shielded cables for longer lengths.
Servo amplifiers working generatively very often, should beplaced beside amplifiers,
which need energy. That reduces current flow on longer distances.

Fusing information are explained in detail in the KDN on page "DC Bus link in parallel".

Wiring example with external brake resistor

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9.9.1 DC Bus topology

Without intermediate circuit fuses, other devices can becomedamaged ordestroyed if, for
example, a device fails dueto an internal short circuit. If a device fails due to a short-circuit,
only its intermediate fuses are tripped and the rest of the network continues uninterrupted.
Fuses cannot avoid damage by current peaks completely. The solid busbars can conduct
large currents.

Fuse types see (➜ # 32). More information can be found in the "KDN".

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9.9.2 External brake resistor (X8)

An external brake resistor can be connected to X8 (-RB, +RB).

Screw driver for plus-minus-screws (Combiprofile Slotted/Pozidriv) size 2

Fuse types (➜ # 32).
Brake circuit and technical data: (➜ # 34).
If you want to link the DC bus with neighbored S748/772 servo

amplifiers, see connection example in chapter "DC Bus link".

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9.9.3 Capacitor Module KCM (X8)

The KCM modules (KOLLMORGEN Capacitor Module) absorb energy gen­erated 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 storedback 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 brak-

ing 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; battery­back the 24 V supply separately).

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

capacitance classes.

The KCM modules can be connected to S7010 ... S7480 devices (mains supply voltage
400/480V). Information for mounting, installation and setup can be found in the KCM Instruc­tions Manual andin KDN.

Technical Data of KCM Modules

Storage

Type

capacity

[Ws]

KCM-S200 1600
KCM-P200 2000 470 VDC 6.9
KCM-E200 2000 - 4.1
KCM-E400 4000 - 6.2

Rated supply

voltage

[V=]

max. 850 VDC

Peak supply

voltage

[V=]

max. 950VDC

(30s in 6min)

Protection

Mains

[kW]

18 IP20

class

Inception

voltage

[V=]

ermittelt 6.9

Weight

[kg]

High DC voltage up to 900 V!

There is a danger of serious personal injury or death by electrical shock or electrical arcing. It
can take over an hour for the modules to self-discharge.

l Switch off (disconnect) the line voltage. You must only work on the connections when

the system is disconnected.

l Check the state of charge with a measuring device that is suitable for a DC voltage of up

to 1,000 V.

l When measuring a voltage of over 50V 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.

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9.10 Motor connection

9.10.1 Motor power connection (X8)

The S748/772 drive is able to protect the connected motor from overloading, if the para­meters are set correctly and the thermal protection sensor is connected and supervised. With
Kollmorgen motors the valid data are automatically set by the internal motor database. With
motors from other manufacturers the data from the nameplate must be entered to the refer­ringfields in the motor view of the setup softwareDriveGUI.

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, (➜ # 30)) determine 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 (➜ # 33) and(➜ # 63).

Use screw driver for plus-minus-screws (Combiprofile Slotted/Pozidriv) size 2.

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Standard applications up to 25m cable length

Application with cable length >25m and special conditions

With long motor cables overvoltage may endangerthe motor winding. For cable lengths
above 25m a motor choke 3YLN may be wired into the motor cable, close to the amplifier.
Contact our customer support.

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9.10.2 Motor holding brake connection (X8, X9)

The motor holding brake can be controller by the servo amplifier. An external 24V supply
voltage delivers the required electrical power for the connected brake.

No functional safety!

Serious injury could result when a suspended loadis not properly blocked.

An additional mechanical brake is required for functional safety, which must be safely
operated, e.g. via the Safety Card S1-2 (➜ # 155).

Observe the requirements to auxiliary voltage supply (➜ # 31).

9.11 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 onthe type of feedback device
used, information will be fed back to the servo amplifierusing 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 screenpage FEEDBACK, primary Feedback (➜ # 75)
EXTPOS Screen page POSITION CONTROLLER, secondary position (➜ # 75)
GEARMODE Screen page ELECTRONIC GEARING, encoder control (➜ # 94)

in the setup software. Scaling and othersettings must always be made here.
For a detaileddescription of the ASCII parameters, please referto the DRIVEGUI.EXE

Online-Help.

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9.12 Primary and secondary feedback types

This chapter provides an overview of the supported feedback types, their corresponding para­meters and a reference to the relevant connection diagram in each case.

Single Cable connection (Power and Feedback in one cable)

Hybrid cables on request.

Feedback type Connector Wiring FBTYPE EXTPOS

SFD3 X1 (➜ # 76) 36 ­HIPERFACE DSL X1 (➜ # 77) 35 -

Dual cable connection (Power and Feedback separated)

Motor cables and Feedback cables see Accessories Manual

primary secondary

primary secondary

Feedback type Connector Wiring FBTYPE EXTPOS

Resolver X2 (➜ # 78) 0 ­SinCos Encoder BiSS (B) analog X1 (➜ # 79) 23, 24 ­Encoder BiSS (B, C2)) digital

X1 (➜ # 80) 20, 22,33 11, 12
SinCos Encoder ENDAT 2.1 X1 (➜ # 81) 4, 21 8
Encoder ENDAT 2.2 X1 (➜ # 82) 32, 34 13
SinCos Encoder HIPERFACE X1 (➜ # 83) 2 9

1)

SinCos Encoder SSI (linear) X1 (➜ # 84)

26

­SinCos Encoder without data channel X1 (➜ # 85) 1, 3, 7, 8 6, 7
SinCos Encoder + Hall X1 (➜ # 86) 5, 6 ­ROD* 5V without zero, 1.5MHz X1 (➜ # 87) 30, 31 30
ROD* 5V with zero, 350kHz X1 (➜ # 88) 17, 27 10
ROD* 5V with zero + Hallgeber X1 (➜ # 89) 15 ­ROD* 24V without zero X3 (➜ # 90) 12, 16 2
ROD* 24V without zero + Hallgeber X3/X1 (➜ # 91) 14 -

SSI X1 (➜ # 92)

25

1)

25

1)

Hall X1 (➜ # 93) 11 ­Step/Direction 24V X3 (➜ # 95) - 1
Sensorless (without Feedback) - - 10 -

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

ROD* 5V with zero X5 (➜ # 144)

131), 19

1)

3

ROD* 5V with zero + Hall X5/X1 (➜ # 145) 18 ­SSI X5 (➜ # 146)

1)

9

1)

5

SinCos Encoder SSI (linear) X5/X1 (➜ # 147) 28 ­Step/Direction 5V X5 (➜ # 148) - 4

* * ROD is an abbreviation for “incremental encoder”.

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

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

The expansion card FB2to1 (➜ # 138) enables simultaneous connection of a digital primary
feedback and of an analog secondary feedback to the connector X1.

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9.12.1 SFD3 (X1), single cable connection

Connection of the Kollmorgen feedback system SFD3 (primary, (➜ # 74)). SFD3 can be
used only with the special Kollmorgen hybrid cable ) (on request).

Maximum cable length 25 m.
FBTYPE: 36

The pin assignment shown on the motor side relates to the AKM motors (connector code D).

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9.12.2 HIPERFACE DSL (X1), single cable connection

Connection of HIPERFACE DSL feedback (primary, (➜ # 74)). HIPERFACE DSL can be
used only with the special Kollmorgen hybrid cable ) (on request).

Maximum cable length 25 m.
FBTYPE: 35

The pin assignment shown on the motor side relates to the AKM motors (connector code D).

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9.12.3 Resolver (X2)

Connection of a Resolver (2 to 36-poles) as a feedback system (primary, (➜ # 74)). The
thermal control in the motor is connected via the resolver cable to X2 and evaluated there.

If cable lengths of more than 100 m are planned, please consult our customer service.
FBTYPE: 0

The pin assignment shown on the motor side relates to the AKM motors (connector code D).

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9.12.4 Sine Encoder with BiSS analog (X1)

Wiring of a single-turnor multi-turn sine-cosine encoder with BiSS interface as a feedback
system (primary and secondary, (➜ # 74)).

The thermal control in the motoris connected via the encoder cable to X1 andevaluated
there. All signals are connected using our pre-assembled encoder connection cable. If cable
lengths of more than 50 m 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

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The pin assignment shown on the motor side relates to the AKM motors.

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9.12.5 Encoder with BiSS digital (X1)

Wiring of a single-turnor multi-turn digital encoder with BiSS interface as a feedback system
(primary and secondary, (➜ # 74)).

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

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%

The pin assignment shown on the motor side relates to the AKM motors.

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9.12.6 Sine Encoder with EnDat 2.1 (X1)

Wiring of a single-turnor multi-turn sine-cosine encoder with EnDat 2.1 interface as a feed­back system (primary andsecondary, (➜ # 74)). Preferred types are the optical encoder
ECN1313 / EQN1325 and the inductive encoder ECI 1118/1319 or EQI 1130/1331.

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

Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE

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

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The pin assignment shown on the motor side relates to the AKM motors.

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9.12.7 Encoder with EnDat 2.2 (X1)

Wiring of a single-turnor multi-turn encoder with EnDat 2.2 interface as a feedback system
(primary, (➜ # 74)). The thermal control in the motor is connected via the encoder cable to X1
andevaluated there. All signals are connected using ourpre-assembled encoderconnection
cable.

If cable lengths of more than 50 m 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

The pin assignment shown on the motor side relates to the AKM motors.

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9.12.8 Sine Encoder with HIPERFACE (X1)

Wiring of a single-turnor multi-turn sine-cosine encoder with HIPERFACE interface as a
feedback system (primary and secondary, (➜ # 74)).

The thermal control in the motoris connected via the encoder cable to X1 andevaluated
there. All signals are connected using our pre-assembled encoder connection cable.

If cable lengths of more than 50 m are planned, please consult our customer service.
Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE

HIPERFACE 2 9 9

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The pin assignment shown on the motor side relates to the AKM motors.

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9.12.9 Sine Encoder with SSI (X1)

Wiring of sine-cosine encoder with SSI interface as a linear feedback system (primary, (➜ #

74)).
The thermal control in the motoris connected via the encoder cable to X1 andevaluated

there. All signals are connected using our pre-assembled encoder connection cable. If cable
lengths of more than 50 m are planned, please consult our customer service.

Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE

SinCos SSI 5V linear 26 - -

Switch on supply voltage for the encoderat X1: set ENCVON to 1.

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9.12.10 Sine Encoder without data channel (X1)

Wiring of a sine-cosine encoder without data channel as a feedback (primary and secondary,
(➜ # 74)). 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 orthe valuefor MPHASE is read out of the amp­lifier's EEPROM.

Vertical load can fall!

With vertical loadthe load could fall duringwake&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 motoris connected via the encoder cable to X1. If lead lengths of
more than 50m areplanned, please consult our customerservice. Frequency limit (sin, cos):
350kHz

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

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9.12.11 Sine Encoder with Hall (X1)

Feedback devices (incremental or sine-cosine), which don't deliveran absolute information
for commutation, can be used as complete feedback system combinedwith an additional
Hall encoder (primary, (➜ # 74)) .

The thermal control in the motoris connected to X1 and evaluated there.
All signals are connected to X1 and evaluated there. If cable lengths of more than25 m are

planned, please consult our customer service.
Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE Up

SinCos 5V mit Hall 5 - - 5V +/-5%
SinCos 12V mit Hall 6 - - 7.5...11V

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

Wiring of a 5V incremental encoder (ROD, AquadB) as a feedback (primary or secondary,
(➜ # 74)). 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.

Vertical load can fall!

With vertical loadthe load could fall duringwake&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 motoris connected via the encoder cable to X1. All signals are con­nected using ourpre-assembled encoder connection cable. If cablelengths of more than 50
m are planned, please consult our customer service.

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 with wake & shake

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

Wiring of a 5V incremental encoder (ROD, AquadB) as a feedback (primary or secondary, (➜
# 74)). Every time the 24V auxiliary voltageis 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 orthe valuefor MPHASE is taken out of the servo amp­lifier's EEPROM.

Vertical load can fall!

With vertical loadthe load could fall duringwake&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 motoris connected to X1. If lead lengths of more than 50 m 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 with wake & shake

The pin assignment shown on the motor side relates to the AKM motors.

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

Wiring of a ComCoder as a feedback unit (primary, (➜ # 74)). For the commutation hall
sensors are used and for the resolution an incremental encoder.

The thermal control in the motoris connected to X1 and evaluated there. With our ComCoder
cable all signals are connected correctly. If cable lengths of more than 25 m are planned,
please consult our customerservice. With separate feedback devices (Encoder and Hall are
two devices) the wiring must be done similar to (➜ # 86), 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 - -

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The pin assignment shown on the motor side relates to the AKM motors.

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9.12.15 ROD (AquadB) 24V (X3)

Wiring of a 24V incremental encoder (ROD AquadB) as a feedback system (primary or sec­ondary, (➜ # 74)). This uses the digital inputs DIGITAL-IN 1 and 2 on connector X3.

Every time the 24V auxiliary voltageis switched on, the amplifier need start-up information
for the position controller (parametervalue 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.

Vertical load can fall!

With vertical loadthe load could fall duringwake&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 motoris connected to X1 or X2. If cable lengths of more than 25 m
areplanned, please consult our customerservice.

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 with wake & shake

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

Wiring of a 24V incremental encoder (ROD, AquadB) and Hall sensors as a feedback unit
(primary, (➜ # 74)). For the commutation hall sensors are used and for the resolution an incre­mental encoder.

The thermal control in the motoris connected to X1 and evaluated there. If cable lengths of
more than 25m areplanned, please consult our customerservice.

Frequency limit X3: 100 kHz, X1: 350 kHz

Type FBTYPE EXTPOS GEARMODE

AquadB 24V + Hall 14 - -

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9.12.17 SSI absolute Encoder (X1)

Wiring of a synchronous serial absolute-encoder as a feedback system (primary or sec­ondary, (➜ # 74)). The signal sequence can be read in Gray code or in Binary (standard)
code. The thermal control in the motor is connected to X1 and evaluated there. If cable
lengths of more than 50 m are planned, please consult our customer service.

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

Anschluss eines synchron seriellen Multiturn-Absolutgebers als Rückführeinheit (primär oder

Gebertyp FBTYPE EXTPOS GEARMODE

SSI 25 25 25

Versorgungsspannung des Gebers auf X1 einschalten: ENCVON auf 1 setzen.

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9.12.18 Hall sensors (X1)

Wiring of Hall sensors as a feedback unit (primary, (➜ # 74)).
The thermal control in the motoris connected to X1 and evaluated there. If cable lengths of

more than 25m areplanned, please consult our customerservice.
Frequency limit: 350 kHz

Type FBTYPE EXTPOS GEARMODE

Hall 11 - -

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9.13 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 steppermotor 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 F04from appearing. To do this, you must change Bit 20 of
the DRVCNFG2 parameter (seeASCII object reference in the online help).

9.13.1 Encoder control types

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

S700 controlled by Frequency

limit

Encoder BiSS digital 1,5 MHz X1 (➜ # 80) 11, 12
SinCos Encoder ENDAT 2.1 350kHz X1 (➜ # 81) 8
Encoder ENDAT 2.2 1,5 MHz X1 (➜ # 82) 13
SinCos Encoder HIPERFACE 350 kHz X1 (➜ # 83) 9
SinCos Encoder without data channel 350 kHz X1 (➜ # 85) 6, 7
ROD* (AquadB) 5V 1,5 MHz X1 (➜ # 87) 30
ROD* (AquadB) 5V 350 kHz X1 (➜ # 88) 10
ROD* (AquadB) 24V 100 kHz X3 (➜ # 90) 2
SSI 5V 1,5 MHz X1 (➜ # 92) 25
Step/direction 5V 1,5 MHz X1 (➜ # 95) 27
Step/direction 24V 100kHz X3 (➜ # 95) 1

With a "PosI/O" or "PosI/O-Monitor" expansion card in slot 2 or 3 ((➜ # 143) ff), the following
encoder types can be used:

S700 controlled by Frequency

limit

SSI 5V 1,5 MHz X5 (➜ # 146) 5
ROD* (AquadB) 5V 1,5 MHz X5 (➜ # 148) 3
Step/direction 5V 1,5 MHz X5 (➜ # 148) 4

* ROD isan abbreviation for incremental encoder

Connector Wiring

diagram

Connector Wiring

diagram

GEARMODE

GEARMODE

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9.13.2 Connection to stepper motor controllers (step and direction)

You can connect the servo amplifierto 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 numberof steps can beadjusted, so that the servo amplifier can be adapted to
match the step-direction signals of any stepper controller. Various monitoring signals can be
generated.

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

9.13.2.1 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

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

Wiring of the servo amplifier to a stepper-motor controllerwith a 24 V signal level. The digital
inputs DIGITAL-IN 1 and 2 on connector X3 are used.

Frequency limit: 100 kHz

Control GEARMODE

Step/direction 24V 1

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9.13.3 Master-Slave operation

9.13.3.1 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 (➜ # 97).

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

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

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

If an expansion card PosI/O or PosI/O-Monitor (➜ # 143) is built-in, you can use the encoder
emulation via X5.

With this interface up to 16 Slaves can be connected to oneMaster, because no internal ter­mination resistors are built-in with X5. Wiring (➜ # 148).

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9.14 Encoder Emulation, position output

9.14.1 Incremental encoder output - A quad B (X1)

Fast incremental encoder interface. Select encoderfunction ROD (A QuadB) Encoder
(“Encoder Emulation” screen page). The servo amplifier calculates the motor shaft position
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 cardonly binary resolutions up to 212arepossible.

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 motorshaft is rotating clockwise (lookingat the shaft's
end)

Feedback system
(FBTYPE)

0, Resolver 32...4096

>0, Encoder

Resolution
(ENCOUT)

256...524288
(28… 219)

Zero pulse (NI)

once per turn(only at
A=B=1)

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9.14.2 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

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

13 12 11 10 9 8 7 6 5 4 3 2 1 0

12 11 10 9 8 7 6 5 4 3 2 1 0

11 10 9 8 7 6 5 4 3 2 1 0

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

The signal sequence can beoutput 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 motorshaft is rotating clockwise (lookingat the endof
the motor shaft)

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9.15 Digital and analog inputs and outputs

9.15.1 Analog Inputs (X3B)

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

Technical characteristics

Differential-input voltage max. ± 10 V
Ground reference AGND, terminal X3B/13
Input resistance 150 k
Common-mode voltage range for both inputs ± 10 V
Update rate 62.5 μs

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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 assignedto 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 motorshaft (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 “Feed­back” screen page.

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9.15.2 Digital Inputs (X3A, X3B, X4)

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

9.15.2.1 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 (➜ #

41)ff). 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 X3:

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 befound on the
“Digital I/O” screen page of our setup software.
If an input was freshly assignedto 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).

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