产品样本kollmorgen驱动器

1、SERVOSTAR 640 / 670Digital Servo AmplifierProduct ManualEdition 08/2008Translation of the original manual. Valid for Hardware Revision 02.06Keep all manuals as a product componentduring the life span of the product.Pass all manuals to future users / owners of the product.File sr640_e.*Previous versi

2、ons :Hardware Revision (HR)WINDOWS is a registered trademark of Microsoft Corp.HIPERFACE is a registered trademark of Max Stegmann GmbHEnDat is a registered trademark of Dr. Johannes Heidenhain GmbHSERVOSTAR is a registered trademark of Danaher Motion.Technical changes which improve the performance

3、of the equipment may bePrinted in the Federal Republic of Germanywithout prior notice !. No part of this work may be reproduced in any form (by printing, photocopying, microfilm orany other method) or stored, processed, copied or distributed by electronic means without the written permission of Dana

4、her Motion.Hardware Rev.Firmware Rev.DRIVE.EXE Rev.Remarks02.06= 5.99=6.68 required with BISSEditionRemarks07/1999First edition11/1999technical data, encoder connection diagram12/1999encoder cable length10/2000Dimensions mains filter, setup software on CD-ROM only, wiring diagrams electr. gearing, w

5、arning and er- ror messages, recommended torque, various corrections05/2001some UL/cUL related hints01/2002-Options -I/O-14/08- and -2CAN - incorporated, hardware-description incorporated for PROFIBUS and SERCOS, nameplate, motor list and connector assignment corrected, LED-display corrected, error

6、mes- sages expanded, Regen resistor BAR replaced by BAS type06/2002Front page new design, corrections to US english, motor table removed, order numbers added,last page new design and contents, new: connection to diff. mains supply networks, block diagram to ch.III02/2006Chapter 1 updated, motor chok

7、e added, DeviceNet, SynqNet and EtherCat expansion cards added, chapter 6 restructured, order codes restructured, feedback section updated, cross section (awg)09/2006Hardware Revision, disposal acc. to WEEE-2002/96/EG, new structure, new cover pages, Quickstart inte- grated, warnings updated04/2007P

8、art number scheme new, shock-hazardnew, servo system graphics / different mains supply networks expanded&removed, feedback expanded, enc. emulation, switch-on and switch-off behavior ex- panded, AS expanded, accessories removed, DC Bus link expanded07/2007diagramm motor brake, example cat.3 EN954-10

9、6/2008Repair, deinstallation, syntax: regen = brake, EMC standards, Hiperface, CE declaration08/2008SCCR-42kADanaher MotionContents08/2008Page 1General About this manual7Target group7Hints for the online edition (PDF format)7Symbols used7Abbreviations used8Safety Safety Instructions9Use as directed1

10、0Prohibited use10ApprovalsUL and cUL- Conformance11CE - conformance111.11.21.31.41.522.12.22.333.13.23.2.13.2.2EC Declaration of Conformity12European directives and standards for the machine builder134Handling Transport14Packaging14Storage14Maintenance14Disassembling15Repair15Disposal15Package 4.14.

11、24.34.44.54.64.755.15.25.3Packaged16Nameplate16Part number scheme17Technical description The digital servo amplifiers of the series SERVOSTAR 640/67018Technical data2066.16.26.2.16.2.26.2.36.2.4Recommended torques21Fusing21Ambient conditions, ventilation, mounting position21Conductor cross-sections2

12、26.36.46.56.66.7LED display22Grounding system22Control for motor holding brake23Electrical brake circuit24Switch-on and switch-off behavior256.7.16.7.2Behavior in standard operation26Behavior in the event of an error (with standard setting)276.8Stop/Emergency Stop Function to EN 60204286.8.16.8.26.8

13、.36.8.46.8.5Stop: Standards28Emergency Stop: Standards29Implementation of the Stop Category 030Implementation of the Stop Category 131Implementation of the Stop Category 2326.9Shock-hazard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14、. . . . . . . . . 336.9.16.9.26.9.3Leakage current33Residual-current circuit breakers (FI)33Isolating transformers347Mechanical Installation Safety Instructions35Guide to mechanical installation35Assembly36Dimensions377.17.27.37.4SERVOSTAR 640/670 Product Manual3ContentsDanaher Motion08/2008Page 8El

15、ectrical Installation Safety Instructions39Guide to electrical installation40Wiring418.18.28.38.3.18.3.28.3.3Safety Instructions41Shielding connection to the front panel42Technical data for cables438.48.58.68.78.8Components of a servo system44Block diagram45Pin assignments46Connection diagram (overv

16、iew)47Power supply488.8.18.8.28.8.38.8.4Connection to various mains supply networks48Mains supply connection (X0)4924V auxiliary supply (X4)49DC bus link (X0)498.98.108.11Motor connection with brake (X0, X4)50External brake resistor (X0)50Feedback518.11.18.11.28.11.38.11.48.11.58.11.68.11.7Resolver

17、(X2)52Sine encoder with BISS (X1)53Sine Encoder with EnDat 2.1 or HIPERFACE (X1)54Sine Encoder without data channel (X1)55Incremental or sine encoder with hall sensors (X1)56ComCoder (X1)57Incremental Encoder (X5)588.12Electronic Gearing, Master-slave operation598.12.18.12.28.12.38.12.48.12.5Connect

18、ion to a SERVOSTAR master, 5 V signal level (X5)60Connection to incremental encoder master with 24 V signal level (X3)60Connection to a sine-cosine encoder master (X1)61Connection to a SSI encoder (X5)62Connection to stepper-motor controllers (step and direction)628.12.5.1 Step/Direction with 5 V si

19、gnal level (X5)638.12.5.2 Step/Direction with 24 V signal level (X3)638.13 Encoder emulations648.13.18.13.2Incremental encoder output - A quad B (X5)64SSI output (X5)658.14Digital and analog inputs and outputs668.14.18.14.28.14.38.14.4Analog inputs (X3)66Analog outputs (X3)67Digital inputs (X3)68Dig

20、ital outputs (X3)698.158.168.17RS232 interface, PC connection (X6)70CANopen interface (X6)71Restart lock -AS-728.17.18.17.28.17.38.17.48.17.58.17.68.17.78.17.8Safety instructions72Use as directed73Block diagram73Functional description74Signal diagram (sequence)74Functional test75Connection diagram (

21、principle)75Application example category 1 according to EN 954-1768.17.8.1 Control circuit768.17.8.2 Mains supply circuit768.17.9Application example category 3 according to EN 954-1778.17.9.18.17.9.28.17.9.3Control circuit77Mains supply circuit77Flow chart78SERVOSTAR 640/670 Product Manual4Danaher M

22、otionContents08/2008Page 9SetupSafety instructions79Setup software809.19.29.2.1General809.2.1.19.2.1.29.2.1.39.2.1.4Use as directed80Software description80Hardware requirements81Operating systems819.2.2Installation under WINDOWS 95 / 98 / 2000 / ME / NT / XP819.3Quickstart Guide829.3.1Preparation829

23、.3.1.19.3.1.29.3.1.3Unpacking, Mounting and Wiring the Servo Amplifier82Documents82Minimum Wiring for Drive Test839.3.29.3.39.3.49.3.59.3.69.3.79.3.89.3.99.3.109.3.11Connect84Important Screen Elements85Basic Setup86Motor (synchronous)87Feedback88Save Parameters and Restart89Jogging the Motor (Speed

24、Control)90Status91Monitor91Additional Setup Parameters919.4Multi-axis system929.4.19.4.29.4.3Node address for CAN-bus92Baud rate for CAN-bus92Example of connections for a multi-axis system939.5Key operation / LED display949.5.19.5.29.5.39.5.4Key operation94Status display94Standard Extendedstructure9

25、5structure959.69.79.8Error messages96Warning messages97Removing faults / warnings98Expansion Cards 10 10.1 Guide to installation of expansion cards9910.2 Expansion card -I/O-14/08-10010.2.110.2.210.2.310.2.410.2.510.2.6Front view100Technical data100Light emitting diodes (LEDs)100Select motion task n

26、umber (sample)100Connector assignments101Connection diagram10210.3Expansion cards -PROFIBUS-10310.3.110.3.210.3.3Front view103Connection technology103Connection diagram10310.4Expansion card -SERCOS-10410.4.110.4.210.4.310.4.410.4.510.4.6Front view104Light emitting diodes (LEDs)104Connection technolo

27、gy104Connection diagram105Modifying the station address105Modifying the baud rate and optical power105SERVOSTAR 640/670 Product Manual5ContentsDanaher Motion08/2008Page 10.5Expansion card -DEVICENET-10610.5.110.5.210.5.310.5.410.5.510.5.610.5.7Front view106Connection technology106Connection diagram1

28、06Combined module/network status-LED107Setting the station address (device address)107Setting the transmission speed107Bus cable10810.6Expansion card -ETHERCAT-10910.6.110.6.210.6.3Front view109LEDs109Connection diagram10910.7Expansion card -SYNQNET-11010.7.110.7.210.7.310.7.410.7.510.7.6Front view1

29、10NODE ID Switch110NED table110SynqNet Connection, Connector X21B/C (RJ-45)110Digital inputs/outputs, connector X21A (SubD 15-pin, socket)111Connection diagram digital inputs/outputs, connector X21A11110.8Expansion module -2CAN-11210.8.110.8.210.8.310.8.410.8.5Installation112Front View112Connection

30、technology112Connector assignments113Connection diagram11311 Appendix 11.1 Glossary11511.2 Order codes11711.2.111.2.211.2.3Servo amplifiers117Expansion cards117Connectors11711.3Index118SERVOSTAR 640/670 Product Manual6Danaher MotionGeneral08/20081General1.1About this manualThis manual describes the

31、digital servo amplifiers of the SERVOSTAR 640/670 series (standard version).A moreed description of the expansion cards which are currently available and the digitalconnection to automation systems can be found on the accompanyin-ROM in Acrobat-erformat (system requirements: WINDOWS with Internet br

32、owser, Acrobat language versions.er) in severalTechnical data and dimensional drawings of accessories such as cables, brake resistors, mains s, etc., can be found in the accessories manual.You can print this documentation on any standard printer. A printed copy of the documentation is available from

33、 us at extra cost.1.2Target groupThis manual addressesnel with the following qualifications:Transport :only by components.nel witowledge of handling electrostatically sensitiveUnpacking: Installation : Setup :only by electrically qualified only by electrically qualifiednel. nel.only by qualifiednel

34、with extensive knowledge of electricalengineering and drive technologynel must know and observe the following standards:IEC 60364 and IEC 60664national accident prevention regulationsThe qualifiedDuring operation there are deadly hazards, with the possibility of death, severe injury or material dama

35、ge. The operator must ensure that the safety instructions inthis manual are followed. The operator must ensure that allnel responsiblefor working with the servo amplifier haveand understood the product manual.1.3Hints for the online edition (PDF format)Bookmark:Table of contents and index are active

36、 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 indica- ted.Page/chapter numbers in the text:Page/chapter numbers with cross references are active. Click at the page/chapter number to reach the indicated

37、target.1.4Symbols usedSERVOSTAR 640/670 Product Manual7Danger tonel from electricity and its effects effectsDanger to maschinery, general warningImportant no- tes p.see page special emphasisGeneralDanaher Motion08/20081.5Abbreviations usedThe abbreviations used in this manual are explained in the ta

38、ble below.SERVOSTAR 640/670 Product Manual8AbbreviationMeaningAGNDAnalog groundASRestart Lock, optionBTB/RTOy to operateCANFieldbus (CANopen)CECommunit Europenne (EC)CLKClock signalCOMSerial interface for a PC-ATDGNDDigital groundDINGerman Institute for industrial StandardsDiskMagnetic storage (disk

39、ette, hard disk)EEPROMElectrically erasable programmable memoryEMCElectromagnetic compatibilityEMIElectromagnetic interferenceENEuropean standardESDElectrostatic dischargeF-SMAFiber Optic Cable connector according to IEC 60874-2IECInternational Electrotechnical CommissionInsulated Gate Bipolar Trans

40、istorINCIncremental InterfaceISOInternational Standardization OrganizationLEDLight-emitting diodeMBMegabyteNIZero pulseNSTOPLimit-switch input for CCW rotation (left)PELVProtected low voltagePGNDGround for the interfacePSTOPLimit-switch input for CW rotation (right)Pulse-width modulationRAMVolatile

41、memoryRBBrake resistorRBextExternal brake resistorRBintInternal brake resistorRESResolverROD 426 (EEO)A quad B encoderPLCProgrammable logic controllerSRAMStatic RAMSSISynchronous serial interfaceULUnderwriters LaboratoryVACAC voltageVDCDC voltageVDEVerein deutscher ElektrotechnikerXGNDGround for the

42、 24V supplyDanaher MotionSafety08/20082Safety2.1Safety Instructions Only properly qualifiednel are permitted to perform activities such as trans-port, installation, setup and maintenance. Properly qualifieds are those whoare familiar with the transport, assembly, installation, setup and operation of

43、 the pro-duct, and who have the appropriate qualifications for their job. The qualified nel must know and observe:-IEC 60364 and IEC 60664national accident prevention regulations Check the Hardware Revision Number of the product (see product label). This revi- sion number must match the Hardware Rev

44、ision Number on the cover page of the manual. this documentation before carrying out installation and setup. Incorrect hand-ling of the servo amplifier can lead toal injury or material damage. It is vitalthat you keep to the technical data and information on connection requirements (on the nameplate

45、 and in the documentation). The servo amplifiers contain electrostatically sensitive components which may be damaged by incorrect handling. Ground yourself before touching the servo amplifier by touching any unpainted metal surface. Avoid contact with highly insulating mater- ials (artificial fabric

46、s, plastic film etc.). Place the servo amplifier on a conductive sur- face.The manufacturer of the machine must produce a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements do not result inal injury or material damage. Do not open or touch the equipment

47、 during operation. Keep all covers and cabinetdoorsd during operation. Touching the equipment is allowed during installationand commissioning for properly qualifieds only. Otherwise, there are deadlyhazards, with the possibility of death, severe injury or material damage.During operation, servo ampl

48、ifiers may have uncovered live components, depending on their level of enclosureControl and power connections may be live, even though the motor is not rotating.Servo amplifiers may have hot surfaces during operation. Surface can reach temperatures above 80C. Never undo any electrical connections to

49、 the servo amplifier while it is live. There is adanger of electrical arcing with damage to contacts andal injury.Wait at least five minutes after disconnecting the servo amplifier from the main supply power before touching potentially live sections of the equipment (e.g. con- tacts) or undoing any

50、connections. Capacitors can still have dangerous voltages pre- sent up to five minutes after switching off the supply power. To be sure, measure the voltage in the DC Bus link and wait until it has fallen below 40V.SERVOSTAR 640/670 Product Manual9SafetyDanaher Motion08/20082.2Use as directedThe servo amplifiers are components which are built into electric