Kollmorgen S772, S748, S700 Instruction Manual
S700
Digital Servo Amplifier S748…S772
Instruction Manual
Edition 11/2018
Translation of the original instruction manual.
Valid for Hardware Revision 02.30
For safe and proper use,
follow these instructions.
Keep them for future reference.
File s748_e.***
Record of Document Revisions:
Revision Remarks
07/2009 First edition
09/2009 Repair, disposal, standards, directives, GOST-R
11/2009 Safety expansion cards S1/S2, UL listed, FAN option card F2
Part number scheme, safety approved, emergency Stop examples moved to WIKI, S1/S2 cards updated,
09/2011
06/2012 Expansion card FB-2to1 new, Stop/Emergency Stop/Emergency Off updated
07/2013
08/2013 Correction S2-2 (S4) safety card (SLP not possible)
11/2013 Hint automatic restart, fault table, switch off behaviour in case of faults, VBUSBAL=4
05/2014 Warning symbols updated, SSI emulation timing updated, safe to touch voltage 40V->60V
07/2014 Wiring thermo sensor updated (Feedback)
12/2014
02/2015 EAC certification, nameplate with EAC sign, coldplate version new
12/2015
02/2017
11/2018
new DriveGUI icon, bridge DGND-GND (dig-I/O) changed, notes holding brake, climatic classes, WIKI links
updated, 2CAN module, company name&address, encoder emulation X1, BiSS-C
Feedback - ENCVON note, FBTYPE 34, CE declaration of conformity, formal improvements, BiSS C
Renishaw, according to IEC 82079, safety cards S1/S2 replaced by S3/S4, diagram "Behavior in the event
of an error" updated.
Note drive feedback restrictions with Safety Cards, CE declaration of conformity removed, GOST-R
removed, Safety certificates removed, HWR, export classification
Functional Safety certification expanded, safety chapter typo: discharge time corrected, fax form removed,
use as directed extended, safe to touch voltage 60V->50V, fuse FB1/2 to 100A, LVD 2014/35/EC, EMCD
2014/30/EC
X6 Pin 1 corrected (no 5V output), warning notes, handling separate chapter, single cable connection new,
SFD3/Hiperface DSL new
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
Hardware Revision (HR)
Hardware Revi-
sion
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 S1/S2 approved
02.20 5.18_ND0 - 5.99_ND0 - New data structure
02.30
WINDOWS is a registered trademark of Microsoft Corporation
HIPERFACE is a registered trademark of Max Stegmann GmbH
SERCOS is a registered trademark of sercos
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!
All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method)
or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen Europe
GmbH.
usable
Firmware
Revision
³ 6.00_ND0
Export
Classification
- SFD3/DSL support
®
international e.V.
Remarks
Kollmorgen 11/2018 Contents
Page
1 General
1.1 About this manual................................................................7
1.2 Hints for the online edition (PDF format) ..............................................7
1.3 Symbols used ...................................................................8
1.4 Standards used..................................................................9
1.5 Abbreviations used ..............................................................10
2 Safety
2.1 You should pay attention to this ....................................................11
2.2 Use as directed.................................................................13
2.3 Prohibited use..................................................................14
2.4 Warning notes placed on the product................................................14
3 Handling
3.1 Transport .....................................................................15
3.2 Packaging.....................................................................15
3.3 Storage .......................................................................15
3.4 Decommissioning ...............................................................16
3.5 Maintenance and cleaning ........................................................16
3.6 Disassemble ...................................................................16
3.7 Repair ........................................................................17
3.8 Disposal ......................................................................17
4 Approvals
4.1 Conformance with UL............................................................18
4.2 CE conformance................................................................19
4.2.1 European Directives and Standards for the machine builder .........................19
4.2.2 Safety Conformance (STO) according to Machine Directive .........................20
4.3 EAC Conformance ..............................................................20
5 Package
5.1 Package supplied ...............................................................21
5.2 Nameplate ....................................................................21
5.3 Part number scheme ............................................................22
6 Technical description
6.1 The S748/772 family of digital servo amplifiers ........................................23
6.2 Technical data .................................................................26
6.2.1 Rated Data ...............................................................26
6.2.2 Inputs / outputs, aux. voltage supply............................................27
6.2.3 Connectors/Terminals .......................................................27
6.2.4 Recommended tightening torques .............................................27
6.2.5 Fusing ...................................................................28
6.2.6 Ambient conditions, ventilation, mounting position .................................28
6.2.7 Conductor cross-sections ....................................................29
6.3 LED display....................................................................29
6.4 Grounding system ..............................................................29
6.5 Motor holding brake .............................................................30
6.6 Dynamic Braking ...............................................................31
6.7 Switch-on and switch-off behavior ..................................................32
6.7.1 Behavior in standard operation ................................................33
6.7.2 Behavior in the event of an error (with standard setting) ............................34
6.8 Stop-, Emergency Stop-, Emergency Off Function to IEC 60204 ..........................35
6.8.1 Stop .....................................................................35
6.8.2 Emergency Stop ...........................................................36
6.8.3 Emergency Off.............................................................36
S748-S772 Instructions Manual 3
Contents 11/2018 Kollmorgen
Page
6.9 Safety Function STO ............................................................37
6.9.1 Safety characteristic data ....................................................37
6.9.2 Safety notes...............................................................38
6.9.3 Use as directed STO ........................................................39
6.9.4 Prohibited Use STO ........................................................39
6.9.5 Enlosure .................................................................39
6.9.6 Wiring ...................................................................39
6.9.7 Technical Data ............................................................39
6.9.8 Technical data and pinning ...................................................40
6.9.9 Functional description .......................................................41
6.9.10 Functional test .............................................................46
6.10 Shock-hazard protection..........................................................48
6.10.1 Leakage current ...........................................................48
6.10.2 Residual current protective device (RCD)........................................48
6.10.3 Isolating transformers .......................................................48
7 Mechanical Installation
7.1 Important notes.................................................................49
7.2 Guide to mechanical installation....................................................49
7.3 Dimensions....................................................................50
7.3.1 Device with heat sink........................................................50
7.3.2 Device with Coldplate .......................................................51
7.4 Assembly .....................................................................52
7.4.1 Mounting the shielding plate ..................................................52
7.4.2 Backplane mounting - devices with heat sink .....................................53
7.4.3 Backplane mounting - devices with Coldplate ....................................54
8 Electrical installation
8.1 Important notes.................................................................55
8.2 Guide to electrical installation......................................................56
8.3 Wiring ........................................................................57
8.3.1 Shielding connection to the front panel..........................................58
8.3.2 Technical data for connecting cables ...........................................59
8.4 Components of a servo system ....................................................60
8.5 Block diagram..................................................................61
8.6 Connector assignments ..........................................................62
8.7 Connection Diagram (Overview) ...................................................63
8.8 Electrical supply ................................................................64
8.8.1 Connection to various mains supply networks ....................................64
8.8.2 Mains supply connection (X0) .................................................65
8.8.3 24V auxiliary supply (X4).....................................................65
8.9 DC bus link (X8) ................................................................66
8.9.1 DC Bus topology ...........................................................67
8.9.2 External brake resistor (X8) ..................................................67
8.9.3 Capacitor Module KCM (X8) ..................................................68
8.10 Motor connection ...............................................................69
8.10.1 Motor Power Connection (X8).................................................69
8.10.2 Motor holding brake (X8, X9B) ................................................70
8.11 Feedback Systems ..............................................................70
8.12 Primary and secondary feedback types ..............................................71
8.12.1 SFD3 (X1), single cable connection ............................................72
8.12.2 HIPERFACE DSL (X1), single cable connection ..................................73
8.12.3 Resolver (X2) .............................................................74
8.12.4 Sine Encoder with BiSS analog (X1)............................................75
8.12.5 Sine Encoder with BiSS digital (X1) ............................................76
8.12.6 Sine Encoder with EnDat 2.1 (X1) .............................................77
8.12.7 Encoder with EnDat 2.2 (X1)..................................................78
8.12.8 Sine Encoder with HIPERFACE (X1) ...........................................79
8.12.9 Sine Encoder with SSI (X1)...................................................80
4 S748-S772 Instructions Manual
Kollmorgen 11/2018 Contents
Page
8.12.10 Sine Encoder without data channel (X1).........................................81
8.12.11 Sine Encoder with Hall (X1) ..................................................82
8.12.12 ROD (AquadB) 5V, 1.5MHz (X1) ..............................................83
8.12.13 ROD (AquadB) 5V, 350kHz (X1)...............................................84
8.12.14 ROD (AquadB) 5V, 350kHz with Hall (X1) .......................................85
8.12.15 ROD (AquadB) 24V (X3).....................................................86
8.12.16 ROD (AquadB) 24V with Hall (X3, X1) ..........................................87
8.12.17 SSI Encoder (X1) ..........................................................88
8.12.18 Hall sensors (X1)...........................................................89
8.13 Electronic Gearing, Master-slave operation ...........................................90
8.13.1 Signal source..............................................................90
8.13.2 Connection to stepper motor controllers (step and direction) .........................91
8.13.3 Master-slave operation ......................................................92
8.14 Encoder Emulation, position output .................................................93
8.14.1 Incremental encoder output - A quad B (X1) .....................................93
8.14.2 SSI encoder output (X1) .....................................................94
8.15 Digital and analog inputs and outputs ...............................................95
8.15.1 Analog Inputs (X3B) ........................................................95
8.15.2 Digital Inputs (X3A, X3B, X4) .................................................96
8.15.3 Digital Outputs (X3A, X3B, X4) ................................................98
8.16 RS232 interface, PC connection (X6) ..............................................100
8.17 CANopen interface (X6) .........................................................101
8.18 EtherNET interface (X7) .........................................................102
8.19 Memory Card .................................................................103
9Setup
9.1 Important notes................................................................105
9.2 Setup software ................................................................106
9.2.1 Use as directed ...........................................................106
9.2.2 Software description .......................................................106
9.2.3 Hardware requirements, operating systems .....................................107
9.2.4 Installation under WINDOWS ................................................107
9.3 Quickstart ....................................................................108
9.3.1 Preparation ..............................................................108
9.3.2 Connect .................................................................110
9.3.3 Important Screen Elements..................................................111
9.3.4 Setup Wizard.............................................................112
9.3.5 Motion Service (Jog Mode) ..................................................115
9.3.6 More Setup Screens .......................................................116
9.4 Multi axis system ..............................................................117
9.5 Keypad operation / LED display ...................................................117
9.5.1 Keypad operation .........................................................118
9.5.2 Status display ............................................................118
9.5.3 Standard menu ...........................................................118
9.5.4 Advanced menu ..........................................................119
9.6 Error messages ...............................................................120
9.7 Warning messages.............................................................121
9.8 Trouble Shooting ..............................................................122
S748-S772 Instructions Manual 5
Contents 11/2018 Kollmorgen
Page
10 Expansions
10.1 Expansion cards for slot 1 .......................................................123
10.1.1 Guide to installation of expansion cards in slot 1 .................................123
10.1.2 Expansion card -I/O-14/08- ..................................................124
10.1.3 Expansion card -PROFIBUS- ................................................127
10.1.4 Expansion card -SERCOS-..................................................128
10.1.5 Expansion card - DEVICENET - ..............................................130
10.1.6 Expansion card -SYNQNET-.................................................133
10.1.7 Expansion card - FB-2to1 - ..................................................135
10.1.8 Expansion module -2CAN- ..................................................137
10.2 Expansion cards for slot 2 .......................................................139
10.2.1 Guide to installation of expansion cards in slot 2 .................................139
10.2.2 Option "F2", controlled Fan ..................................................139
10.2.3 Expansion card "PosI/O" and "PosI/O-Monitor" ..................................140
10.3 Expansion cards for slot 3 .......................................................149
10.3.1 Guide to installation of expansion cards in slot 3 .................................149
10.3.2 Option "F2", controlled Fan ..................................................149
10.3.3 Expansion cards "PosI/O" & "PosI/O-Monitor" ...................................149
10.3.4 Expansion card "Safety 2-2" (S4) .............................................150
10.3.5 Expansion card "Safety 1-2" (S3) .............................................152
11 Appendix
11.1 Glossary .....................................................................155
11.2 Order codes ..................................................................157
11.2.1 Servo amplifiers...........................................................157
11.2.2 Memory Card.............................................................157
11.2.3 Expansion cards ..........................................................158
11.2.4 Mating connectors .........................................................158
11.3 Index ........................................................................160
6 S748-S772 Instructions Manual
Kollmorgen 11/2018 General
1 General
1.1 About this manual
This manual describes the S748/772 series of digital servo amplifiers (standard version:
48A ...72A rated current). S701 to S724 amplifiers are described in an additional product
manual.
A more detailed description of the expansion cards that are currently available and the
digital connection to automation systems can be found, together with our application
notes, in Acrobat-Reader format on the accompanying CD-ROM (system requirements:
WINDOWS, Internet Browser, Acrobat Reader) in different languages.
Technical data and dimensional drawings of accessories such as cables, brake resistors,
mains supplies, etc., can be found in the accessories manual.
This documentation (PDF) can be printed out on any standard commercial printer. A
printed copy of the documentation is available from us at extra cost.
More background information can be found in our "Kollmorgen Developer Network"
kdn.kollmorgen.com
.
1.2 Hints for the online edition (PDF format)
Bookmarks:
Table of contents and index are active bookmarks.
Table of contents and index in the text:
The lines are active cross references. Click on the desired line and the appropriate page
is accessed.
Page/chapter numbers in the text:
Page/chapter numbers with cross references are active. Click at the page/chapter number to reach the indicated target.
S748-S772 Instructions Manual 7
General 11/2018 Kollmorgen
DANGER
WARNING
CAUTION
NOTICE
1.3 Symbols used
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 re
sult in death or serious injury.
Indicates a hazardous situation which, if not avoided, could re
sult in minor or moderate injury.
This is not a safety symbol. Indicates situations which, if not
avoided, could result in property damage.
This is not a safety symbol. This symbol indicates important
notes.
Warning of a danger (general). The type of danger is specified
by the warning text next to it.
Warning of danger from electricity and its effects.
Warning of danger from hot surfaces.
-
-
Warning of danger from suspended loads.
Warning of danger from automatic start.
8 S748-S772 Instructions Manual
Kollmorgen 11/2018 General
1.4 Standards used
Standard Content
ISO 4762 Hexagon socket head cap screws
ISO 13849 Safety of machinery: Safety-related parts of control systems
ISO 12100 Safety of machinery: Basic concepts, general principles for design
IEC 60085 Electrical insulation - Thermal evaluation and designation Maintenance
IEC 60204 Safety of Machinery: Electrical equipment of machinery
IEC 60364 Low-voltage electrical installations
IEC 60439 Low-Voltage Switchgear and Controlgear Assemblies
IEC 60529 Protection categories by housing (IP Code)
IEC 60664 Insulation coordination for equipment within low-voltage systems
IEC 60721 Classification of environmental conditions
IEC 61000 Electromagnetic compatibility (EMC)
IEC 61131 Programmable controllers
IEC 61491
IEC 61508
IEC 61800 Adjustable speed electrical power drive systems
IEC 62061
IEC 82079 Preparation of instructions for use - Structuring, content and presentation
UL 840
UL 508C UL Standard for Safety Power Conversion Equipment
Electrical equipment of industrial machines – Serial data link for real-time
communications between controls and drives.
Functional safety of electrical/electronic/programmable electronic
safety-related systems
Functional safety of electrical/electronic/programmable electronic
safety-related systems
UL Standard for Safety for Insulation Coordination Including Clearances
and Creepage Distances for Electrical Equipment
IEC International Electrotechnical Commission UL Underwriters Laboratories
ISO International Organization for Standardization
S748-S772 Instructions Manual 9
General 11/2018 Kollmorgen
1.5 Abbreviations used
Abbrev. Meaning
AGND Analog ground
xAF Fuse, x Amps, fast
xAM Fuse, x Amps, medium
xAT Fuse, x Amps, slow
BTB/RTO Ready to operate
CAN Fieldbus (CANopen)
CE Communité Europeenne
CLK Clock signal
COM Serial interface for a Personal Computer
DGND Digital ground (for 24V and digital I/O)
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable programmable memory
EMC Electromagnetic compatibility
F-SMA Fiber Optic Cable connector according to IEC 60874-2
IGBT Insulated-gate bipolar transistor
KDN Kollmorgen Developer Network
LED Light-emitting diode
MB Megabyte
NI Zero pulse
PC Personal computer
PL Performance Level
PLC Programmable logic control
PWM Pulse-width modulation
RAM Volatile memory
R
Brake/RB
RBext External brake resistor
RBint Internal brake resistor
RES Resolver
ROD Digital encoder (A quad B)
SDI Safe direction
SIL Safety Integrity Level
SIL CL Safety Integrity Level Claim Limit
SLI Safe limited increments
SLP Safe limited position
SLS Safe limited speed
SOS Safe operating stop
SS1 Safe stop 1
SS2 Safe stop 2
SSI Synchronous serial interface
SSR Safe speed range
STO Safe torque off (former AS)
V AC Alternating voltage
V DC DC voltage
VDE Society of German Electrical Technicians
Brake resistor (sometimes called "regen resistor")
10 S748-S772 Instructions Manual
Kollmorgen 11/2018 Safety
2 Safety
2.1 You should pay attention to this
Read the documentation!
Read the available documentation before installation and commissioning. Improper han
dling of the servo amplifiers can cause harm to people or damage to property. The opera
tor must therefore ensure that all persons entrusted to work on the S748/772 have read
and understood the manual and that the safety notices in this manual are observed.
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.
S
pecialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport, instal
lation and setup. Qualified specialist staff are persons with expertise in transport, installa
tion, assembly, commissioning and operation of electrotechnical equipment.
l
Transport, storage, unpacking: only by personnel with knowledge of handling electro
statically sensitive components.
l
Mechanical installation: only by qualified personnel with mechanical expertise.
l
Electrical installation: only by qualified personnel with electrotechnical expertise.
l
Basic tests / setup: only by qualified personnel with expertise in electrical engineering
and drive technology.
The qualified personnel must know and observe ISO 12100 / IEC 60364 / IEC 60664 and
national accident prevention regulations.
-
-
-
-
Check the Hardware Revision!
Check the Hardware Revision Number of the product (see product label). This revision
number must match the Hardware Revision Number on the cover page of the manual. If
the numbers do not match up, visit the European File Archive
(http://www.wiki-kollmorgen.eu
). The 'Download' section contains the various manual ver
sions based on the hardware version number.
Pay attention to the technical data!
Adhere to the technical data and the specifications on connection conditions (rating plate
and documentation). If permissible voltage values or current values are exceeded, the
servo amplifiers can be damaged. Unsuitable motor or wrong wiring will damage the sys
tem components. Check the combination of drive and motor. Compare the rated voltage
and current of the units.
Observe electrostatically sensitive components!
The servo amplifiers contain electrostatically sensitive components which may be dam
aged by incorrect handling. Discharge your body before touching the servo amplifier.
Avoid contact with highly insulating materials (artificial fabrics, plastic film etc.). Place the
servo amplifier on a conductive surface.
-
-
S748-S772 Instructions Manual 11
Safety 11/2018 Kollmorgen
Automatic restart
The drive might restart automatically after power on, voltage dip or interruption of the sup
ply voltage, depending on the parameter setting. Risk of death or serious injury for
humans working in the machine. If the parameter AENA
sign to the machine (Warning: Automatic Restart at Power On) and ensure, that power on
is not possible, while humans are in a dangerous zone of the machine. In case of using
an undervoltage protection device, you must observe EN 60204-1:2006 chapter 7.5.
Hot surface!
The surfaces of the servo amplifiers can be hot in operation. Risk of minor burns!
The surface temperature can exceed 80°C. Measure the temperature, and wait until the
motor has cooled down below 40°C before touching it.
Earthing!
It is vital that you ensure that the servo amplifiers are safely earthed to the PE (protective
earth) busbar in the switch cabinet. Risk of electric shock. Without low-resistance
earthing no personal protection can be guaranteed and there is a risk of death from elec
tric shock.
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.
is set to 1, then place a warning
-
-
High voltages!
The equipment produces high electric voltages up to 900V. During operation, servo
amplifiers may have uncovered live sections, according to their level of enclosure protection. Capacitors can have dangerous voltages present up to ten minutes after switching
off the supply power. There is a risk of death or severe injury from touching exposed contacts. Keep all covers and cabinet doors closed during operation. Touching the equipment is allowed during installation and commissioning for properly qualified persons only.
There is a danger of electrical arcing when disconnecting connectors, because capacitors
can still have dangerous voltages present up to ten minutes after switching off the supply
power. Risk of burns and blinding. Wait at least ten minutes after disconnecting the servo
amplifiers from the main supply power before touching potentially live sections of the
equipment (such as contacts) or removing any connections. Always measure the voltage
in the DC bus link and wait until the voltage is below 50V before handling components.
Reinforced Insulation!
Thermal sensors, motor holding brakes and feedback systems built into the connected
motor must have reinforced insulation (according to IEC61800-5-1) against system com
ponents with power voltage, according to the required application test voltage. All
Kollmorgen components meet these requirements.
Never modify the servo amplifiers!
It is not allowed to modify the servo amplifiers without permission by the manufacturer.
Opening the housing causes loss of warranty and all certificates become unvalid.
Warning signs are added to the device housing. If these signs are damaged, they must
be replaced immediately.
-
12 S748-S772 Instructions Manual
Kollmorgen 11/2018 Safety
2.2 Use as directed
Servo amplifiers are safety components that are built into electrical plant or machines,
and can only be operated as integral components of such plant or machines.
The manufacturer of the machine must generate a risk assessment for the machine, and
take appropriate measures to ensure that unforeseen movements cannot cause injury or
damage to any person or property.
If the servo amplifiers are used in residential areas, in business/commercial areas, or in
small industrial operations, then additional filter measures must be implemented by the
user.
Cabinet and Wiring
The servo amplifiers must only be operated in a closed control cabinet, taking into
account the ambient conditions defined on page 28. Ventilation or cooling may be neces
sary to keep the temperature within the cabinet below 40°C.
Use only copper conductors for wiring. The conductor cross-sections can be derived from
the standard IEC 60204 (for AWG: NEC Table 310-16, 60°C or 75°C column).
Power supply
Servo amplifiers in the S748/772 series (overvoltage category III acc. to EN 61800-5-1)
can be supplied from 3-phase grounded (earthed) industrial supply networks (TN-system,
TT-system with grounded neutral point, no more than 42kA symmetrical rated current at
208V
(with an isolating transformer) is described on page 64. In case of mains voltage asymmetry >3% a mains choke must be used.
, 230V, 240V, 400V or 480V
-10%
+10%
). Connection to other types of supply networks
-
Periodic overvoltages between phases (L1, L2, L3) and the housing of the servo
amplifier must not exceed 1000V crest. In accordance with IEC 61800, voltage spikes (<
50µs) between phases must not exceed 1000V. Voltage spikes (< 50µs) between a
phase and the housing must not exceed 2000V.
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 protec
tion*, wire size, wire voltage rating, fuse protection, system dielectric requirements,
overvoltage and input** current rating.
In case of DC supplied drives the built-in EMC filter will not work. The user is 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 rating drives to avoid the
smaller drives becoming the effective ‘fuse’ rather than the circuit protective fuse.
**The power supply system design must ensure inrush current protection by limiting input
current during power up. DC supply polarity must be properly wired. Improper polarity of
DC power will damage the drive and void warranty.
-
S748-S772 Instructions Manual 13
Safety 11/2018 Kollmorgen
NOTICE
Motors
The S748/772 family of servo amplifiers is exclusively intended for driving suitable
brushless synchronous servomotors, asynchronous motors and DC motors with control of
torque, speed and/or position.
The rated voltage of the motors must be at least as high as the DC bus link voltage
divided by
Functional Safety
Observe the chapter "use as directed" on page 39 when you use the safety function STO.
produced by the servo amplifier (U
2
nMotor
³ UDC/
).
2
To achieve PL e or SIL CL3, the safe switching of the pulse inhibitor must be tested peri
odically by analyzing the feedback signal from the safety control (ð p. 47).
Observe the user documentation for safety cards S1-2(S3) / S2-2(S4) when you use a
safety expansion card.
2.3 Prohibited use
Other use than described in chapter 2.2 is not intended and can lead to damage of per
sons, equipment or things.
The use of the servo amplifier in the following environments is prohibited:
- potentially explosive areas
- environments with corrosive and/or electrically conductive acids, alkaline solutions,
oils, vapors, dusts
- directly on non-grounded supply networks or on asymmetrically grounded supplies
with a voltage >240V.
- on ships or off-shore applications
Commissioning the servo amplifier is prohibited if the machine in which it was installed,
- does not meet the requirements of the EC Machinery Directive
- does not comply with the EMC Directive or with the Low Voltage Directive
- does not comply with any national directives
The control of holding brakes by the S748/772 alone may not be used in applications,
where functional safety is to be ensured with the brake.
-
-
2.4 Warning notes placed on the product
Residual Voltage
Wait 10 minutes
after removing
power.
If these signs are damaged, they must be replaced immediately.
14 S748-S772 Instructions Manual
Kollmorgen 11/2018 Handling
NOTICE
3 Handling
3.1 Transport
l
Transport by qualified personnel in the manufacturer’s original recyclable packaging
l
Avoid shocks while transporting
l
Transport temperature: -25 to +70°C, max. rate of change 20K / hour,
class 2K3 acc. to EN61800-2, EN 60721-3-1
l
Transport humidity: max. 95% relative humidity, no condensation,
class 2K3 acc. to EN61800-2, EN 60721-3-1
l
If the packaging is damaged, check the unit for visible damage. In such an event, in
form the shipper and the manufacturer.
The servo amplifiers contain electrostatically sensitive components, that can be damaged
by incorrect handling. Discharge yourself before touching the servo amplifier. Avoid con
tact with highly insulating materials, such as artificial fabrics and plastic films. Place the
servo amplifier on a conductive surface.
3.2 Packaging
-
-
l
Recyclable cardboard with inserts
l
Dimensions: 390 x 600 x 400 mm
l
Labeling: name plate on outside of box
3.3 Storage
l
Storage only in the manufacturer’s original recyclable packaging
l
Max. stacking height: 3 cartons
l
Storage temperature: -25 to +55°C, max. rate of change 20K / hour,
l
Storage humidity: 5 … 95% relative humidity, no condensation,
l
Storage duration:
Less than 1 year: without restriction.
More than 1 year: capacitors must be re-formed before setting up and operating the
servo amplifier. To do this, remove all electrical connections and apply single-phase
230V AC for about 30 minutes to the terminals L1 / L2.
class 1K4 acc. to EN61800-2, EN 60721-3-1
class 1K3 acc. to EN61800-2, EN 60721-3-1
S748-S772 Instructions Manual 15
Handling 11/2018 Kollmorgen
NOTICE
NOTICE
NOTICE
3.4 Decommissioning
Only professional staff who are qualified in electrical engineering are allowed to decom
mission parts of the drive system.
DANGER: Lethal voltages! There is a danger of serious personal injury or death by
electrical shock or electrical arcing.
l
Switch off the main switch of the switchgear cabinet.
l
Secure the system against restarting.
l
Block the main switch.
l
Wait at least 10 minutes after disconnecting.
3.5 Maintenance and cleaning
The device does not require maintenance. Opening the device voids the warranty. The
inside of the unit can only be cleaned by the manufacturer
Do not immerse or spray the device. Avoid that liquid enters the device.
To clean the device exterior:
1. Decommission the device (see chapter 3.4).
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.
-
3.6 Disassemble
Only professional staff who are qualified in electrical engineering are allowed to disassemble parts of the drive system.
1. Decommission the device (see chapter 3.4).
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.
16 S748-S772 Instructions Manual
Kollmorgen 11/2018 Handling
NOTICE
NOTICE
3.7 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
multiple 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 servo amplifier
Only the manufacturer can repair the device. Opening the device voids the warranty.
1. Decommission the device (see chapter 3.4).
2. Demount the device (see chapter 3.6).
3. Contact Kollmorgen and clarify the logistics. Send the device to the address given by
Kollmorgen.
4. Install a new device as described in this manual.
5. Setup the servo amplifier as described in this manual.
Exchange of other drive system parts
3.8
If parts of the drive system ( for example cables) must be replaced, proceed as follows:
1. Decommission the device (see chapter 3.4).
2. Exchange the parts.
3. Check all connections for correct fastening.
4. Setup the servo amplifier as described in this manual.
Disposal
To
dispose the unit properly, contact a certified electronic scrap disposal merchant.
In accordance with the WEEE-2012/19/EC-Guidelines and similar, the manufacturer
accepts returns of old devices and accessories for professional disposal. Transport costs
are the responsibility of the sender.
Decommission the device as described in chapter 3.4 and demount the device as
described in chapter 3.6.
Contact Kollmorgen and clarify the logistics. Send the device to the address given by
Kollmorgen.
S748-S772 Instructions Manual 17
Approvals 11/2018 Kollmorgen
4 Approvals
Certificates (CE, functional safety) can be found in the download section of the "File
Archive".
4.1 Conformance with UL
This servo amplifier is listed under UL file number E217428.
UL-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S. stan
dards (in this case UL 840 and UL 508C).
This standard describes the fulfillment by design of minimum requirements for electrically
operated power conversion equipment, such as frequency converters and servo amplifi
ers, which is intended to eliminate the risk of fire, electric shock, or injury to persons,
being caused by such equipment. The technical conformance with the U.S. standard is
determined by an independent UL inspector through the type testing and regular check
-
ups.
Apart from the notes on installation and safety in the documentation, the customer does
not have to observe any other points in direct connection with the UL-certification of the
equipment.
UL 508C
UL 508C describes the fulfillment by design of minimum requirements for electrically
operated power conversion equipment, such as frequency converters and servo amplifiers, which is intended to eliminate the risk of fire being caused by such equipment.
UL 840
UL 840 describes the fulfillment by design of air and insulation creepage spacings for
electrical equipment and printed circuit boards.
UL Markings
l
Use 60°C or 75°C copper wire only for every model of this section.
l
Tightening torque and wire size for field wiring terminals.
X0 8-2 AWG, TQ Lb In. 40.
X8 8-2 AWG, TQ Lb In. 40.
l
For use in a pollution degree 2 environment only.
l
These devices provide solid state motor overload protection at 130% of full load
current.
l
Integral solid state short circuit protection does not provide branch circuit protection.
Branch circuit protection must be provided in accordance with the National Electrical
Code and any additional local codes.
l
These devices are not provided with motor over-temperature sensing.
l
Suitable for use on a circuit capable of delivering not more than 42kA rms symmetri
cal amperes” for a max. Voltage of 480 Vac.
l
Supply circuit protection:
-
-
Model Fuse class Voltage Rating Max. Fuse and SCC Rating
S7480 RK5, CC, J, T 600V AC 60A / 200kA
S7720 RK5, CC, J, T 600V AC 80A / 200kA
l
For use on a solidly grounded wye source only.
18 S748-S772 Instructions Manual
Kollmorgen 11/2018 Approvals
NOTICE
NOTICE
4.2 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 installation described in this documentation
means that you will be responsible for carrying out new measurements to ensure confor
mance with regulatory requirements.
-
Kollmorgen declares the conformity of the products S748, S772 with the following direc
tives
l
EC Machinery Directive (2006/42/EC)
l
EC EMC Directive (2014/30/EC)
l
EC Low Voltage Directive (2014/35/EC)
The servo amplifier meets the noise immunity requirements to the 2nd environmental cat
egory (industrial environment). For noise emission the amplifier meets the requirement to
a product of the category C2 (motor cable £ 10m). With a motor cable length of 10m or
longer, the servo amplifier meets the requirement to the category C3.
This product can cause high-frequency interferences in non industrial environments. This
can require measures for interference suppression like additional external EMC filters.
4.2.1 European Directives and Standards for the machine builder
Servo amplifiers are safety components that are intended to be incorporated into electrical plant and machines for industrial use. When the servo amplifiers are built into
machines or plant, the amplifier must not be used until it has been established that the
machine or equipment fulfills the requirements of the
l
EC Machinery Directive (2006/42/EC)
l
EC EMC Directive (2014/30/EC)
l
EC Low Voltage Directive (2014/35/EC)
Standards to be applied for conformance with the EC Machinery Directive (2006/42/EC)
IEC 60204-1 (Safety and Electrical Equipment in Machines)
ISO 12100 (Safety of Machines)
-
-
The manufacturer of the machine must generate a risk assessment for the machine, and
must implement appropriate measures to ensure that unforeseen movements cannot
cause injury or damage to any person or property.
The machine/plant manufacturer must check whether other standards or EC Directives
must be applied to the machine/plant.
Standards to be applied for conformance with the EC Low Voltage Directive(2014/35/EC)
IEC 60204-1 (Safety and Electrical Equipment in Machines)
IEC 60439-1 (Low-voltage switchgear and controlgear assemblies)
Standards to be applied for conformance with the 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/plant 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.
S748-S772 Instructions Manual 19
Approvals 11/2018 Kollmorgen
4.2.2 Safety Conformance (STO) according to Machine Directive
The S748/772 servo amplifier offers a two channel STO function (Safe Torque Off). The
function blocks the trigger pulses 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 S748/772 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, PFH
and TM.
D
Device Operation mode ISO 13849-1 IEC 62061 PFH
[1/h] TM[Year]
D
STO single channel PLd, Cat. 3 SIL CL 2 7,05E-08 20
STO dual channel PLd, Cat. 3 SIL CL 2 7,05E-08 20
STO
dual channel with
periodical testing
PLe, Cat. 4 SIL CL 3 1,38E-09 20
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) signals.
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.
4.3 EAC Conformance
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 S748/772 has passed all required conformity procedures in
a member state of the Eurasian Customs Union, and that the S748/772 meets all techni
-
cal requirements requested in the member states of the Eurasian Customs Union:
l
Low voltage (TP TC 020/2011)
l
EMC (TP TC 004/2011)
Contact in Russia:
Intelisys LLC. , Bakuninskaya Str. d 14, Building 1, RU-105005 Moskau
20 S748-S772 Instructions Manual
Kollmorgen 11/2018 Package
Typenbezeichnung
Spannungsversorgung
Model Number
Power Supply
Ser. Nr
Nennstrom
Ser. No.
Nom. Current
Bemerkung Comment
Umgebungstemp.
Surrounding temp.
Hardware
Revision
Schutzart
Encl.Rating
Kollmorgen Europe GmbH
Pempelfurtstraße 1
D-40880 Ratingen
www.kollmorgen.com
E217428
1VD4
LISTED
IND. CONT. EQ.
U
L
®
RoHS
conform
5 Package
5.1 Package supplied
When an amplifier from the S748/772 series is ordered (order numbers ðp.157), the fol
lowing is supplied:
— Servo amplifier S748/772, shielding plate, shield clamps
— Safety Guide S700 (printed)
— Online documentation and setup software DRIVEGUI.EXE on CD-ROM
— Mating connectors X3A, X3B, X4, X9A, X9B
The mating SubD connectors are not part of the package!
Accessories :
— 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 BAR(U)
— Communication cable to the PC (ð p.100) 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
5.2 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.
-
(must be ordered separately, if required; description see accessories
manual)
Servo amplifier type
2D bar code
Electrical supply
Installed load
Enclosure
Rating
CommentsSerial number
max.
surrounding
temperature
Output current
in cont. operation
Hardware
Revision
Software
Version
S748-S772 Instructions Manual 21
Package 11/2018 Kollmorgen
5.3 Part number scheme
The part number is identical with the order code.
S7720 2 -EIF2 PM -NA1- 000
Family
S7 S700
Current Rating
48 48 Arms
72 72 Arms
Voltage Rating
0 208...480V
electr./mech. Options
2 Standard
F Coated PCBs
S748 only:
C Coldplate
A Coldplate + coated PCBs
Expansion Cards Slot 1
NA no expansion card in Slot 1,
EtherCAT&CANopen onboard
2C Module 2CAN mounted
DN DEVICENET
PB PROFIBUS
SE SERCOS II
SN SYNQNET
EI I/O Extension
FB FB-2to1 at X1
4
4
2
Firmware Options
NA no option
(EtherCAT&CANopen)
Expansion Cards Slot 3
NA no expansion card in slot 3,
EtherCAT&CANopen onboard
F2 Fan controller
PM PosI/O
PA PosI/O-Monitor
3
Safety card S1-2, SIL 3
S3
3
Safety card S2-2, SIL 2
S4
Expansion Cards Slot 2
NA no expansion card in Slot 2,
EtherCAT&CANopen onboard
F2 Fan controller
PM PosI/O
PA PosI/O-Monitor
1 is void with standard
2 is void with standard, additional coding defines customer specific specials.
3 described in separate documentation
4 not with expansion cards.
.
Example: S77202-EIF2PM-NA-000
S7 S700 series
72 72A rated current
0 Supply voltage 208...480V
2 no electrical/mechanical option
EI I/O Extension card in Slot 1
F2 Fan controller in Slot 2
PM PosI/O expansion card in Slot 3
NA Standard Firmware (EtherCAT & CANopen onboard)
000 no customer specific specials
22 S748-S772 Instructions Manual
Kollmorgen 11/2018 Technical description
6 Technical description
6.1 The S748/772 family of digital servo amplifiers
Standard version
l
Large supply voltage range: 3 x 208V
… 3 x 480V
-10%
(with mains voltage below 300V set parameters NONBTB=3 and VBUSBAL=1.)
l
CANopen onboard
l
EtherCAT onboard
l
RS232 and 24V pulse direction interface onboard
l
Resolver-, Encoder-, AquadB Encoder-, ComCoder-evaluation onboard
l
Position controller onboard
l
STO (Safe Torque Off) onboard (up to SIL CL3, PLe)
l
3 frontside slots for expansion cards
l
Memory Card slot onboard
l
Synchronous servomotors, linear motors, asynchronous motors, and DC motors can
be used
+ 10%
Power section
l
Directly on grounded 3-phase supply, 208V
-10%
… 480V
(with mains voltage below 300V set parameters NONBTB=3 and VBUSBAL=1.)
l
TN-network or TT-network with grounded neutral point, 42kA max. symmetrical cur-
+10%
, 50/60 Hz
rent rating, connection to other supply types only via isolating transformer, ðp.64
l
Overvoltage category III acc. to EN 61800-5-1
l
B6 bridge rectifier, integral supply filter and soft-start circuit
l
Single-phase supply operation possible (e.g. for setup)
l
Fusing (e.g. fusible cutout) to be provided by the user
l
Shielding All shielding connections are made directly on the amplifier
l
Output stage IGBT module with floating current measurement
l
Brake circuit with dynamic distribution of the generated power between
several amplifiers on the same DC bus link circuit.
External brake resistors if required.
l
DC bus link voltage 260...900 V DC, can be connected in parallel.
l
Interference suppression filters are integrated for the electrical supply feed and the
24V auxiliary supply voltage (with motor cable £ 10m for C2 as per IEC 61800-3, with
motor cable < 10m for C3 as per IEC 61800-3).
S748-S772 Instructions Manual 23
Technical description 11/2018 Kollmorgen
Integrated safety
l
Appropriate insulation/creepage distances and electrical isolation ensure safe electri
cal separation, as per IEC 61800-5-1, between the power input / motor connections
and the signal electronics.
l
Soft-start, overvoltage detection, short-circuit protection, phase-failure monitoring.
l
Temperature monitoring of the servo amplifier and motor (if our motors and prefabri
cated cables are used).
l
Safe stop (SIL CL3 according to IEC 62061, PLe according to ISO 13849-1) ð p. 37.
l
Slot for optionalsafety card with more safety functions for the safe drive operation,
ð p. 150
Auxiliary supply voltage 24V DC
l
Electrically isolated, internal fusing, from an external 24V DC power supply unit.
l
Separate 24V supply input for internal electronic supply
l
Separate 24V supply input for motor holding brake supply
l
Separate 24V supply input for digital outputs
-
-
Operation and parameter setting
l
With our user-friendly setup software DRIVEGUI.EXE, for setup via the serial interface of a PC.
l
If no PC is available: direct operation by two keys on the servo amplifier and a
3-character LED display.
l
Fully programmable via RS232 interface.
l
Read/write access to parameter records and firmware via memory card.
Completely digital control
l
Digital current controller (space vector, pulse-width modulation, 62.5 µs)
l
Adjustable digital speed controller (62.5 µs)
l
Integrated position controller, with adaptation possibilities for all applications (250 µs,
optionally 125µs)
l
Integrated 24V step/direction interface for connecting a servomotor to a stepper con
troller
Inputs/Outputs
l
2 programmable analog inputs ð p. 95
l
4 programmable digital inputs ð p. 96
l
2 programmable digital inputs/outputs (direction selectable) ð p. 98
l
programmable logical combinations of digital signals
l
1 input Enable ð p. 78
l
2 inputs STO Enable ð p. 97
l
2 outputs STO Status ð p. 99
-
24 S748-S772 Instructions Manual
Kollmorgen 11/2018 Technical description
Expansions
Slot 1
Expansion cards in slot 1 can be combined with F2 Option in slot 2. More combinations of
slot 1 and slot 2 expansion cards are not possible.
l
I/O-14/08 expansion card, ð p. 124
l
PROFIBUS expansion card, ð p. 127
l
sercos®II expansion card, ð p. 128
l
DeviceNet expansion card, ð p. 130
l
SynqNet expansion card, ð p. 133
l
FB-2to1 expansion card, ð p. 135
l
-2CAN- expansion module, separated connectors for CAN bus and RS232 ð p. 137
Slot 2
l
PosI/O expansion card, ð p. 140
l
PosI/O-Monitor expansion card, ð p. 140
l
F2 Option, controlled fan, later insertion not possible, ð p. 119, can be combined
with expansion cards in slot 1.
Slot 3
l
PosI/O expansion card, ð p. 136
l
PosI/O-Monitor expansion card, ð p. 136
l
F2 Option, controlled fan, later insertion not possible, ð p. 149
l
Safety expansion cards (S4) S2-2 (SIL CL2), ð p. 150
l
Safety expansion cards (S3) S1-2 (SIL CL3), ð p. 140
Several third-party expansion cards (ModBus, LightBus, FIP-IO etc. please contact the
manufacturer for further information)
Macro programming
More information can be found in our KDN (Macro-Programming).
l
62.5µs / 250µs / 1ms / 4ms / 16ms / IDLE / IRQ
l
128 kByte memory
l
IEC 61131 structured text
l
400 easy instructions every 62.5 µs
l
CAN objects for multi axis control
S748-S772 Instructions Manual 25
Technical description 11/2018 Kollmorgen
6.2 Technical data
6.2.1 Rated Data
Electrical data DIM S748 S772
Rated supply voltage (L1,L2,L3)
(grounded supply, phase to phase)
Rated input power for continuous operation kVA 35 50
Permitted switch on/off frequency 1/h 30
Auxiliary voltage supply — ð p.27
Rated DC bus link voltage V= 290 - 675
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 approx.5s, ± 3%)
Switching frequency of output stage kHz 8/16
Voltage rise speed dU/dt, (measured without connected motor, see hints on page 69!)
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 — ð p.31
Threshold for overvoltage switch-off VDC ð p.31
Motor inductance min.
at 3x208V mH 0.38 0.26
at 3x230V mH 0.42 0.29
at 3x400V mH 0.74 0.51
at 3x480V mH 0.88 0.61
Motor inductance max. mH
Form factor of the output current
(rated conditions, min. load inductance)
Bandwidth of current controller kHz > 1.2 (bis 5)
Residual voltage drop at rated current V 6
Thermal dissipation, output stage disabled, max. W 24
Thermal dissipation at rated current (without brake dissipation)
at 3x230V W 555 885
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 connectors and shielding plate mm 386
Height, with connectors and shielding plate mm 505
Width mm 190
Depth, without connectors mm 244
Depth, with connectors mm 285
* In case of mains voltage below 300V, set parameters NONBTB=3 and VBUSBAL=1.
V~
Arms 96 140
— 1.01
3 x 208V
+10%
480V
Consult our customer
support
…3x
-10%
, 50/60 Hz
26 S748-S772 Instructions Manual
Kollmorgen 11/2018 Technical description
6.2.2 Inputs / outputs, aux. voltage supply
Interface electr. data
Analog inputs1/2
Max. common-mode voltage
Digital control inputs
Digital control outputs
BTB/RTO output, relay contacts
24V-IO for digital outputs 20V … 30V
Auxiliary supply voltage, electrically isolated
Electronics 24V (-0% +15%)
Current electronics* 2A
Holding Brake 24V (-0% +15%)
Output current brake min./max. 0.15A / 3A
* = with fan but without option card
6.2.3 Connectors/Terminals
as per EN 61131-2 Type 1,
max. 30VDC, 15mA
as per EN 61131-2 Type 1,
max. 30VDC, 100mA
max. 30VDC, max 42VAC
±10V
±10V
500mA
Connector/Terminals Type
X0 Mains Terminals 35mm² 125A 1000V
X1 Encoder input SubD15poles (female) 0.5mm² 1A <100V
X2 Resolver input SubD 9poles (female) 0.5mm² 1A <100V
X3A, B Control signals Mini-Combicon connector 1.5mm² 4A 160V
X4 Aux. voltage, STO Mini-Combicon connector 1.5mm² 4A 160V
X5 optional, Encoder
emulation, ROD/SSI
SubD 9poles (male) 0.5mm² 1A <100V
X6 PC interface, CAN SubD 9poles (male) 0.5mm² 1A <100V
X7A, B EtherNET RJ45 connector
X8 DC Bus link, Motor,
Brake Resistor
Terminals 35mm² 125A 1000V
X9A, B Motor brake Mini-Combicon connector 1.5mm² 4A 160V
*1 single-line connection
*2 single-line connection with recommended conductor cross section (chapter 6.2.7)
*3 rated voltage with pollution level 2
6.2.4 Recommended tightening torques
Connection 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
X8with up to 25mm² wire 2.5 Nm
X8 with 35mm² wire 4.5 Nm
X9A
Grounding bolt 3.5 Nm
max. cross
section
*1
permiss.
current
FTP CAT.5, 26AWGx4P
as per EN50173
Cage clamps
Mounting flange: 0.5 Nm
permiss.
*2
voltage
*3
S748-S772 Instructions Manual 27
Technical description 11/2018 Kollmorgen
NOTICE
NOTICE
6.2.5 Fusing
Internal fusing, wire fuse or electronic
Circuit S748…S772
24V Electronics 4 A
24V Motor brake 4 A
Brake resistor electronic
External fusing by user (US fuses in brackets)
Fusing information are explained in detail in the "KDN
".
S748 S772
AC Supply F
N1/2/3
24V Electronics F
24V Motor Brake F
Brake Resistor F
B1/2
H1/2
H3/4
60 A* 80 A*
8 A** 8 A**
8 A** 8 A**
100 A*** 100 A***
* EU fuses gRL or gL 400V/500V
US fuses: class RK5/CC/J/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
6.2.6 Ambient conditions, ventilation, mounting position
Storage hints
Transport hints
Surrounding air temperature in
operation
Humidity in operation
Site altitude
Pollution Level
Vibrations
Enclosure Protection
Mounting Position
Ventilation
The servo amplifier shuts down (error F01/F13, see p.120, motor has no torque) in case
of excessively high temperature in the control cabinet. Make sure that there is sufficient
forced ventilation within the control cabinet.
ð p.15
ð p.15
0...+40°C under rated conditions
+40...+55°C with power derating 2.5% / K
rel. humidity 85%, no condensation
up to 1000 meters a.m.s.l. without restriction
1000…2500 meters a.m.s.l. with power derating
1.5% / 100meters
Pollution level 2 as per IEC 60664-1
Class 3M1 according to IEC 60721-3-3
IP 20 according to IEC 60529
vertical ð p.52
built-in fan.
Kollmorgen requirements for servo amplifiers with Coldplate:
Flatness of the mounting (cooling) plate: £ 25 µm / 100 mm
Mains volt
age
-
Max. thermal resis
tance
-
Max. allowed temperatur:
Coldplate center
230V 0,063 K/W 75 °C
400V 0,055 K/W 75 °C
480V 0,051 K/W 75 °C
The cooling plate temperature must not be more than 10 K below the environment tem
perature. With a difference of more than 10 K there is a risk of condensation. Condensa
tion may destroy the electronics of the servo amplifier.
28 S748-S772 Instructions Manual
-
-
Kollmorgen 11/2018 Technical description
NOTICE
6.2.7 Conductor cross-sections
Recommendations for cables (material and construction (ð p. 59)).
Following IEC 60204 (B2), we recommend for single-axis systems:
Interface Cross section Techn. requirements
AC connection
DC bus link
Brake resistor
Motor cables
Resolver, motor thermal control,
max.100m*
Encoder, motor thermal control,
max. 50m*
ComCoder, motor thermal con
trol, max. 25m
Set points, AGND, max 30m 0.25 mm² twisted pairs, shielded
Control signals, BTB, DGND,
max. 30m
Holding brake (Motor) min. 0.75 mm²
+24 V Electronics, max 30m max. 1.5 mm²
+24 V Motor brake, max 30m max. 1.5 mm²
For multi-axis systems, observe the specific operating conditions for your system.
To reach functional safety with the max. permitted cable length, observe cable
requirements ð p. 59.
* Kollmorgen North America supplies cables up to 39 meters
* Kollmorgen Europe supplies cables up to max. length
S748: 16 mm²
S772: 25 mm²
S748: 25 mm²
S772: 25 mm²
S748: 35 mm²
S772: 35 mm²
S748: 16 mm²
S772: 25 mm²
4x2x0.25 mm²
7x2x0.25 mm² twisted pairs, shielded
8x2x0.25 mm² twisted pairs, shielded
0.5 mm²
600V,80°C
1000V, 80°C,
shielded for lengths >0.50m
1000V, 80°C,
shielded for lengths >0.50m
600V,80°C,
shielded, C<150pF/m
twisted pairs,
shielded, C<120pF/m
600V, 80°C, shielded,
check voltage drop
check voltage drop
check voltage drop
6.3 LED display
A 3-character LED-Display indicates the status of the amplifier after switching on the 24V
supply (ð p.119). When the keys on the front panel are used, the parameter and function
numbers are shown, as well as the numbers for any errors and warnings that may occur
(ð p.120ff).
6.4 Grounding system
AGND analog inputs, internal analog ground
DGND 24V-IO, digital inputs and outputs, optically isolated.
GND internal digital ground, encoder Emulation, RS232, CAN
XGND 24V supply, STO Enable
BRGND 24V supply for the motor holding brake
S748-S772 Instructions Manual 29
Technical description 11/2018 Kollmorgen
X3B/9-10
X3A/1
X4/5+X4/7
TBRAKE
STO-ENABLE 1/2
X9B/1-2
Analog-In
ENABLE
U
U
F
U
U
n
max.5s
tbrH
EMRGTO
DECDIS
VEL0
U
U
t
tbrL
TBRAKE0
t
t
t
t
t
t
t
5
Speed Setpoint
Braking force
BRAKE
internal
ENABLE
Speed
internal
ramp
stop ramp
emergency
NOTICE
CAUTION
6.5 Motor holding brake
A 24V holding brake in the motor can be controlled directly by the amplifier. A special 24V
supply voltage (X9B) is used. Brakes with up to 3A 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 (see p. 140).
The brake only works with sufficient voltage level (ð p.27). 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.
30 S748-S772 Instructions Manual
During the internal ENABLE delay time of 100ms (DECDIS), the speed setpoint of the
servo amplifier is internally driven down an adjustable ramp to 0V. The output for the
brake is switched on when the speed has reached 5 rpm (VELO), at the latest after 5 s
(EMRGTO). The release delay time (t
) and the engage delay time (t
brH
) of the holding
brL
brake that is built into the motor are different for the various types of motor (see motor
manual), the matching data are loaded from the motor database when the motor is
selected. A description of the interface can be found on page 69.
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