Technical |
SERVOSTAR® 600 |
Systems |
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Publication |
with Kollmorgen GOLDLINE™ |
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SERVOSTAR® 600
INTRODUCTION
Kollmorgen SERVOSTAR® 600 Amplifier
•400 to 480 Volt Three Phase AC Input Power
•Resolver Feedback
•Integrated Power Supply
•Fully Digital Control
•CE, UL, cUL
The SERVOSTAR 600 amplifier is a compact, fully digital drive-amplifier designed to simplify installation, system setup, and system reliability.
FEATURES:
Servo Control
•Easy to tune servo loops
•Advanced sinewave commutation technology provides smooth, precise low-speed control and high speed performance
•Velocity loop bandwidths to 400 Hz
•DQ Current control increases high speed peak torque performance for faster cycle rates
•Space Vector Modulation reduces normal power stage switching loses
•Torque angle control enhances motor performance
•Fully digital control loops
•Compact and attractive rugged metal package for spacesaving, modern appearance - metal package minimizes electrical noise emmision & suceptability
•Command modes: Torque, Velocity, Position, Electronic Gearing Pulse Following, and Motion Task
•Five current ratings: 3, 6, 10, 14, and 20 amp RMS/phase continuous
•2 to 1 peak/continuous current rating (5 second at peak)
•Run time counter
Easy Connectivity
•Built in encoder equivalent output can eliminate the need for an additional position feedback device
•RS-232 Communication
•Unique multi-drop configuration allows a PC or PLC to communicate to multiple SERVOSTAR 600 amplifiers via single RS-232 connection
•SERVOSTAR 600’s versatile communication capabilities make it easy to integrate machine control data directly from the factory floor to your information system
•Analog ±10V, pulse/direction, master encoder, and serial port, I/O command options
Robust Design
•ESD rugged circuit design and fully metallic enclosure
•Full protection against short circuit, overvoltage, undervoltage, heatsink overtemperature, motor overtemperature, overspeed, overcurrent, and feedback loss
•UL , cUL listed, and CE
•Built-in line filter for CE
•Flash memory
Windows Start-up Environment
•Graphical environment simplifies set up
•PC “Oscilloscope” for measuring real-time motion performance
•Interactive MOTIONTASK Programming
Configurable I/O
•2 separate analog inputs (14 and 12 bit resolution) configurable to 6 different command modes
•2 analog outputs
•4 digital inputs
•2 digital outputs
•I/O can be configured to a variety of functions to customize the SERVOSTAR 600 to individual machines
I/O Option Card (see page 5)
•Adds 14 additional digital inputs and 8 digital outputs
•All I/O are optically isolated
•Simple plug in to top face of Amplifier
Regenerative Power Sharing
• Patented circuitry allows the DC bus from two or more amplifiers to be connected together allowing regen power to be shared among multiple drives
Built in Parameter Unit
•Perform basic drive set up without the need for a PC
•Provides diagnostic information
•Allows motor selection from parameters store in memory
Built in Safety Relay
•Switches off the power stage to ensure personnel safety and prevents an unintended restart of the drive, even in the event of a fault
•Allows DC bus to remain on
2 |
KOLLMORGEN |
SERVOSTAR 600
INTRODUCTION
Motion Capabilities
The SERVOSTAR 600 can be configured to perform motion control that normally requires a fully programmable drive with a motion language. With the SERVOSTAR 600 there is no programming language to learn; the user only “fill in the blanks” to create common motion tasks
•Up to 180 motion task can be stored in permanent memory
•Motion Tasked can be linked together.
•10 types of homing
•Speed profile/registration control
•Adjustable S curve acceleration
•Absolute and relative (index) moves
•Linking of motion task (sequencing)
•Adjustable Following-Error window
•Adjustable window for the In Position signal
Linked motion tasks are started:
•Immediately upon reaching a targeted position
•Digital Input upon reaching the targeted position
•A PresetTime Delay after the targeted position is reached
Motion Examples
INCREMENTAL MOVE
Velocity
Time
ABSOLUTE MOVE
Velocity
Position
ELECTRONIC GEARING 5:1 (MASTER/SLAVE)
Velocity
Time
MACRO MOVE
Velocity
Application Examples
•material handling
•bottle making
•packaging
•soft positioning
•robot
•conveyor belt controlling
•fast positioning
•special cleaning process
•part selection
•glass processing
•robot
•wirepuller
•textile industry
•printing
•electronics
•web converting
•cut to length
Time
KOLLMORGEN |
3 |
SERVOSTAR 600
CONNECTOR INFORMATION
X5 Encoder Equivalent Output
1
PGND
6
B+ (DATA)
2
Motor +
7
B- (/DATA)
3
Motor -
8
+5V
4
A- (CLK)
X6 PC 9 N.C.
5
A+ (/CLK)
1
+8V
6
CANL
2
RxD
7
3
TxD
8
4
N.C.
9
CANH
5
PGND
X4 24V INPUT
1+24V 1
2+24V 2
3 |
XGND 3 |
4 |
XGND 4 |
X10 MOTOR
DISCONNECT
RELAY
1KSO1 1
2KSO2 2
3KSI- 3
4KSI+ 4
Connectors underneath:
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XOB |
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X8 RREGEN |
Brake- |
X9 motor/brake |
W2 |
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L1 |
L2 |
L3 |
PE |
R- |
+R |
R |
n.c. |
Brake+ |
PE |
U2 |
V2 |
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B |
Bint |
BEXT |
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1 |
2 |
3 |
4 |
1 |
2 |
3 |
4 |
1 |
2 |
3 |
4 |
5 |
6 |
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XOA |
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X7 DC-circuit |
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L1 |
L2 |
L3 |
PE |
+DC |
-DC |
+DC |
-DC |
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1 |
2 |
3 |
4 |
1 |
2 |
3 |
4 |
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X2 RESOLVER
5
R2
9
R1
4
S3
8
S1
3
S4
7
S2
2
THERMOSTAT
6
THERMOSTAT
1
SHIELD
X3 I/O
1AGND
2BTB/RTO
3BTB/RTO
4SW/SETP.1+
5SW/SETP.1-
6SW/SETP.2+
7SW/SETP.2-
8MONITOR1
9MONITOR2
10AGND
11DIGITAL-IN1
12DIGITAL-IN2
13PSTOP
14NSTOP
15ENABLE
16DIGITAL-OUT1
17DIGITAL-OUT2
18DGND
4 |
KOLLMORGEN |
SERVOSTAR 600
I/O OPTION CARD
CONNECTOR POSITION
ERR I/O-14/08
24V 1
X11A |
X11B |
12 |
1 |
12 |
X11
The I/O option card is an extremely economical way of operating servo controllers under position control for simple automation tasks.
14 additional digital inputs permit the selection and start of the motion tasks that are stored in the motion-task memory of the SERVOSTAR® 600. All the important functions for the position controller that is integrated into the servo controller can thus be operated from a small, independent control system.
8 digital outputs report the status of the drive to the higher-level control.
CONNECTOR ASSIGNMENTS
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Connector |
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Connector |
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X11A |
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X11B |
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Terminal |
Fn. |
Description |
Terminal |
Fn. |
Description |
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1 |
In |
A0 |
1 |
In |
MT_Restart |
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2 |
In |
A1 |
2 |
In |
Start_MT |
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3 |
In |
A2 |
3 |
Out |
InPos |
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4 |
In |
A3 |
4 |
Out |
Next-InPos |
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5 |
In |
A4 |
5 |
Out |
Sfault |
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6 |
In |
A5 |
6 |
Out |
PosReg1 |
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7 |
In |
A6 |
7 |
Out |
PosReg2 |
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8 |
In |
A7 |
8 |
Out |
PosReg3 |
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9 |
In |
Reference |
9 |
Out |
PosReg4 |
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10 |
In |
Sfault_clear |
10 |
Out |
Reserve |
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11 |
In |
Start_MT Next |
11 |
Sup. |
24V DC |
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12 |
In |
Start_Jog v=x |
12 |
Sup. |
I/O-GND |
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KOLLMORGEN |
5 |
SERVOSTAR 600
AMPLIFIER SPECIFICATIONS
Electrical characteristics
•Closed loop velocity bandwidth up to 400 Hz
•Motor current ripple frequency 16 kHz
•Switching frequency: 8 kHz
•Long term speed regulation (0.01%)
•Position loop update rate 250 µs (4 kHz)
•Velocity loop update rate 250 µs (4 kHz)
•Commutation update rate 62.5 µs (16 kHz)
•SVM Current loop update rate 62.5 µs (16 kHz)
Fault protection
•Output phase to phase and phase to ground short circuit protection
•Overvoltage
•Undervoltage
•Overtemperature (motor and amplifier)
•Overspeed
•Overcurrent
•Feedback loss
•Foldback
•Supply loss
•Excessive position error
Environmental
•Operation range
-Ambient 0 to 45°C (derated above ambient up to 55˚C)
-Storage -25°C to 55°C
•Humidity (non-condensing) max 85%
Velocity Loop Compensation
•PI Plus controller (PDFF Format) or PI controller
•Field tunable and digital repeatability
Position Feedback For User (Encoder Equivalent Output Port)
•Configurable to Encoder Equivalent (ROD) or SSI format
•Encoder Equivalent (ROD): A Quad B with Marker (zero) pulse, RS-485 driver
•SSI (serial synchronous interface): max clock frequency is 1.5 Mhz, RS-485 driver
•Programmable resolution
I/O Extension Card (Option)
•Field Installable
•14 Digital Inputs 24V, PLC-compatible
•8 Digital Outputs 24V, PLC-compatible
•24V PLC Interface
Communications
• RS-232 Interface
Operational modes
•Torque control — from analog or digital command
•Velocity control — from analog or digital command
•Pulse following
•Gearing from quad encoder input
•Motion Task
•Serial Commands
Diagnostics
•3 digit Seven segment LED display
•Error history log
•Internal variable monitoring
•PC scope
Motor Feedback
Position Loop Compensation |
• Resolver |
• Proportional loop with Feed Forward |
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Motor Brake Control |
Analog I/O |
• 24V optional holding brake in the motor can be controlled directly by |
• 2 Configurable Inputs: ±10V, 12 and 14 bit resolution |
the SERVOSTAR 600 |
• 2 Configurable Outputs: ±10V, 10 bit resolution |
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Power Inputs |
Digital I/O |
• 400 to 480VAC 3phase, 50 or 60 Hz, built in line filter for |
• 4 Configurable Inputs: 24 volts, PLC-compatible |
CE requirements |
• 2 Configurable Outputs: 24 volts (open collector), PLC-compatible |
• 24 VDC @ 1 amp (3 amps with brake) For Logic |
• Remote enable Input: 24V, PLC-compatible |
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Power Regeneration Options |
Drive Status Relay (BTB/RTO) |
• Internal |
• Contact closure rated for 0.5 amps, 24 Volt |
• External - using BAR housed resistors |
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• Bus Sharing - Distributes regen power among multiple amplifiers |
Pulse or Master/Slave Input |
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• Pulse command: pulse/direction or quadrature encoder format |
Built in Parameter Unit |
• RS-485 receivers |
• Displays drive status information |
• Up to 16 slave amplifiers can be connected together |
• Parameters: Drive Address, baud rate, Velocity loop tuning, Motor |
• Input ratio is configurable |
type, Position output information format, brake, regen type |
Amplifier Ratings
Model |
Output Continuous |
Output Peak |
Internal Power |
AC Input |
Rated |
Continuous |
Continuous |
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Current Per Phase |
Current Per |
Dissipation |
Line |
Input |
Internal |
External |
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(RMS/phase) |
Phase |
(Watts) |
Voltage |
Power (KVA) |
Regen Power |
Regen Power |
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(5 sec) |
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(3 phase) |
@480 V |
(Watts) |
(Watts) |
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S603 |
3 |
6 |
40 |
400-480 |
2.3 |
80 |
500 |
S606 |
6 |
12 |
60 |
400-480 |
4.6 |
200 |
1,500 |
S610 |
10 |
20 |
90 |
400-480 |
8.1 |
200 |
1,500 |
S614 |
14 |
28 |
160 |
400-480 |
11.6 |
200 |
1,500 |
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S620 |
20 |
40 |
200 |
400-480 |
16.6 |
200 |
1,500 |
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6 |
KOLLMORGEN • keyfaith • 0755-83288220 |
SERVOSTAR 600
DIMENSIONS/ORDERING INFORMATION
Resistive Regeneration Sizing
Shunt regeneration is required to dissipate energy that is pumped back into the DC bus during load deceleration. The amount of shunt regeneration required is a function of the sum of simultaneously decelerating loads. The loads need to be defined in terms of system inertia, maximum speed, and deceleration time. In addition, the duty cycle must be known. Application Note AS6000H details a calculation method to determine proper regeneration sizing.
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F |
E2 |
E1 |
D
A
B
C
G
Model |
Watts |
Ohms |
Amplifiers |
A |
B |
C |
D |
E1 |
E2 |
F |
G |
BAR-250 |
250 |
33 |
S603, S606, S610 |
330(12.99) |
390(15.35) |
412(16.22) |
66(2.60) |
44(1.73) |
35(1.38) |
4,5x9(.20x.35) |
77(3.03) |
BAR-500 |
500 |
33 |
S603, S606, S610 |
400(15.75) |
426(16.77) |
486(19.13) |
92(3.62) |
64(2.52) |
64(2.52) |
6,5x9(.20x.35) |
120(4.72) |
BAR-1500 |
1500 |
33 |
S606, S610 |
500(19.69) |
526(20.71) |
586(23.07) |
185(7.28) |
150(5.91) |
150(5.91) |
6,5x9(.20x.35) |
120(4.72) |
SERVOSTAR 600 DIMENSIONS
S603/06/10
265 (10.4) with connector: 273 (10.7)
325
(12.8)
275
(10.8)
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DIM. “ A” |
3 AMP |
70 (2.8) |
6 AMP |
70 (2.8) |
10 AMP |
70 (2.8) |
14 AMP |
100 (3.9) |
20 AMP |
120 (4.7) |
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"A"
Dimensions in mm (inches)
KOLLMORGEN • keyfaith • 0755-83288220 |
7 |
MOTIONLINK |
SERVOSTAR 600 |
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ADDITIONAL FUNCTIONS |
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MOTIONLINK® for Windows takes the fear out of setting up a servo system. Designed for the novice as well as the advanced user, MOTIONLINK lets users quickly set-up and fine tune system performance.
PC Oscilloscope:
For closely evaluating system performance MOTIONLINK includes the functionality of an oscilloscope. You can very easily excite the load then review performance graphically on your computer screen.
Tuning:
Velocity and position loop tuning is straight forward, allowing the novice user to achieve the best machine performance.
Direct Terminal Mode:
This mode turns your computer into a “dumb terminal.” Variables or parame ters can be monitored and changed using the SERVOSTAR 600’s command language. This mode is ideal for advanced users who want to get directly in the “heart” of the SERVO STAR 600.
Monitor Mode:
Allows you to monitor key operation variables. Speed, torque, and other variables can be viewed in real PSEUDO time in linear gauge format.
Auto Set-up:
MOTIONLINK auto set-up environment walks even the first time user through line voltage, motor, operation mode and load tuning to make system configuration friendly and fast.
Configuring I/O:
Inputs & Outputs are configurable to a wide variety of functions to configure the SERVOSTAR 600 to individual machine needs.
MOTIONLINK has many other features including: |
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Saving drive configuration to disk |
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Setting acceleration amps |
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Activating position limits |
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Limiting max speed or torque |
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Displaying amplifier status |
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8 |
KOLLMORGEN • keyfaith • 0755-83288220 |
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MOTIONLINK |
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CONFIGURABLE AND READABLE FUNCTIONS |
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Basic Set Up |
Velocity Control |
Motion Homing/Jogging |
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Input Power |
• Speed Command Scaling |
• Direction |
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Main Phase Missing |
• Speed Command Ramp (Accel) |
• Homing Type |
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Max Regen Power |
• Speed Command Ramp (Decel) |
• Reference Offset |
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• Internal or External Regen Resistor |
• Maximum Speed |
• Start Command |
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• Drive Name and Serial No * |
• Proportional Gain |
• Jog Command |
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Run Time * |
• Integral Time Constant |
• Homing Velocity |
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Firmware Version * |
• Feedback Filter |
• Jog Velocity |
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Hardware Version * |
• Motion direction |
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Drive Operation Modes |
Current Control |
Communications |
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Digital Speed |
• Current Command Scaling |
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RS-232 from PC |
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Analog Speed |
• Current Foldback |
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Drive Address |
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Digital Torque |
• Cont Drive Current |
• Message Types from Drive |
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Analog Torque |
• Peak Drive Current |
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Prompt Configuration |
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Electronic Gearing |
• Proportional Gain |
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Scan |
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External Position Control |
• Integral Time Constant |
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Internal Position - MotionTasks |
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Digital Scope Tool |
Motor Configuration |
Position Output (Motor) |
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• Record real time data |
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Motor Name and Number * |
• Format: Off, Encoder equivalent |
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• Display on PC Oscilloscope |
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Motor Continuous Current |
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output or SSI format |
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• Start Current Move |
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Motor Peak Current |
Encoder Equivalent Output |
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• Start Jog Move |
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Motor Inductance |
• Resolution of Encoder Equiv Output |
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• Start Position Move |
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Motor Poles |
• Marker Pulse Offset |
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• Record Start |
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Motor Max Speed |
SSI |
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• Adjust Trigger |
• Motor Brake (with or without) |
• Baud rate of SSI Output |
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• Recording in Process * |
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Motor Adaptive Gain |
• Format type (binary or gray code) |
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• Cancel Recording |
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Motor Speed Angle Advance |
• Standard or Inverted Clock |
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• Recording Done * |
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Motor Torque Angle Advance |
• Input Edge Positive or Negative |
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• Transmit Data to PC Oscilloscope |
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Feedback Configuration |
Drive Status |
Position Control |
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Resolvers: |
• Actual Error * |
• Proportional Gain |
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• Number of Poles |
• Actual Warning * |
• Integral Action Time |
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• Resolver-zero offsetting |
• Last 10 Errors * |
• Feed Forward |
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• Resolver Bandwidth |
• Rate of Occurrence * |
• Following Error * |
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• Feedback Gain |
• Drive Reset Command |
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Drive Monitoring |
Others |
Motion-Gear Mode |
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• Regen Wattage * |
• Stop Drive |
• GearMode Type: |
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• Actual Position (within one rev) * |
• Drive Enable |
• Encoder Follower |
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• Actual Position * |
• Drive Disable |
• Pulse Follower |
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•Actual Speed *
•Command Speed *
•Current Foldback Level *
•Drive Temperature *
•Heatsink Temperature *
•Effective Current *
•D Current Component *
•Q Current Component *
•Analog Commands *
•DC Bus voltage *
*READ ONLY
KOLLMORGEN • keyfaith • 0755-83288220 |
9 |
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