科尔摩根S600说明书

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说明书
Danaher motion 08/2008 Contents Page General 1.1 About this manual 1.2 Target group 1.3 Hints for the online edition(PDF format 1.4 Symbols used 1.5 Abbreviations used 2 Safety 77789 2.1 Safety Instructions 2.2 Use as directed 10 2.3 Prohibited use Zulassung en 3.1 Conformance with UL and CUL 3.2 CE conformance 11 3.2.1 CE Declaration of Conformity ards 3.2.2 European Directives and Standards 13 4 Handlin 4.1 Transport 14 4.3 Storage 4.4 Maintenance 14 4.5 Disassembling 4.6Re 15 4.7D 15 Package 5.1Pa cage supp 16 5.2 Nameplate 5.3 Part number scheme 17 6 Technical description 6. 1 The SERVOSTAR 600 family of digital servo amplifiers 18 2 Technical data .20 6.2.1 Recommended torque 6.2.2Fus 2 6.2.3 Ambient conditions, ventilation, mounting position 21 6.24 Conductor cross-sections 6.3 LED display 6.4 Control for motor holding bra 6.5 Grounding syst 24 6.6 Electrical brake circuit 24 6.7 Switch-on and switch-off behavior 6.7.1 Behavior in standard operation 6.7.2 Behavior in the event of an error(with standard setting) 28 8 Stop/Emergency Stop Function to EN 60204 6.8.1 Stop: Standards 29 6 Emergency Stop: Standards 6 Implementation of the Stop Category 0 6.8.4 Implementation of the Stop Category 1 32 6.85 plementation of the Stop Cate 6.9 Shock-hazard protection 6.9. 1 Leakage current 34 6.9.2 Residual-current circuit breakers(Fl) 6.9.3 Isolating transformers SERVOSTAR 601620 Product Manual Contents 08/2008 Danaher Motion age Mechanical installation 7.1 Safety Instructions 37 7.2 Guide to mechanical installation 7.3 Assembly....... .,,38 7.4 Dimensions ..,,39 8 Electrical installation 8. 1 Safety Instructions 41 8.2 Guide to electrical installation 42 8.3 Wiring 43 8.3.1 Important notes 43 8.3.2 Technical data for connecting cables 8.3.3 Shielding connection to the front panel 44 8.3.4 Motor connector with shieldplate 45 8.4 Components of a servo system 46 8.5 Block diagram 47 8.6 Pin assignments 8.7 Connection diagram(overview) 9 8.8 Power supply 8. 8. 1 Connection to various mains supply networks 8.8.2 Mains supply connection(XO) 51 8.8.3 24V auxiliary supply (x4) 8.8.4 DC bus link(X7). 55 8.9 Motor connection with holding brake(x9) 52 8. 10 External brake resistor(X8 52 8.11 Feed back 8.11.1 Resolver(X2) 54 8.11.2 Sine Encoder 5V with BISS(X1) 55 8.11. 3 Sine Encoder with EnDat 2. 1 or HIPERFACE (X1) 8. 11.4 Sine Encoder without data channel (X1) 8.11.5 Incremental encoder /sine encoder with Hall (x1) 58 8. 11.6 Incremental Encoder(X5) 8.12 Electronic Gearing, Master-slave operation 60 8.12. 1 Connection to a SeRvoSTaR master, 5 V signal level (X5) 61 8.12.2 Connection to encoders with 24 V signal level (X3) 6 8. 12.3 Connection to a sine-cosine encoder(X1) ..62 8.12.4 Connection to a SSl encoder(X5) 8. 12.5 Connection to stepper motor controllers(step and direction 8.12.5. 1 Step/Direction with 5 V signal level(X5) 8. 12.5.2 Step/ Direction with 24 V signal level(X3) 64 8.13 Encoder emulations 5 8.13. 1 Incremental encoder output-A quad B(X5) 8.13.2 SSl output(X5) 66 8. 14 Digital and analog inputs and outputs 8. 14.1 Analog inputs(X3 8. 14.2 Analog outputs(X3) 8. 14.3 Digital inputs(X3) ..,,69 8. 14.4 Digital outputs(X3) 70 8. 15 RS232 interface, PC connection(X6 8. 16 CANopen Interface(X6) 72 SERVOSTAR 601620 Product Manual Danaher motion 08/2008 Contents Page Setu 9.1 Safety Instructions 9.2 Setup soft 74 9.2.1 General ..74 9.2.1.1 Use as directed 74 9.2.1.2 Software description 74 9.2.1.3 Hardware requirements 9. 2.1.4 Operating systems 75 9.2.2 Installation under WINDOWS 95/ 98/2000/ME/NT/ XP 9.3 Quickstart Guide 9.3.1 Preparation 76 9.3.1.1 Unpacking, Mounting and Wiring the Servo Amplifier 9.3.1.2 Documents 9.3.1.3 Minimum Wiring for Drive Test 9.32 9.3.3 Important Screen element 79 9.3.4 Basic Setup 80 9.3.5 Motor(synchronous) 81 9.3.6 Feedback .82 9.3.7 Save Parameters and restart 83 9.3.8 Jogging the Motor(Speed Control) 84 9.3.9 Status 85 9.3.10 Monitor 85 9.3. 11 Additional Setup Parameters 9.4 Multi-axis systems 86 9.4.1 Node address for can-bus 86 9. 42 Baud rate for can-bus 86 9.4.3 Example of connections for multi-axis system 87 9.5 Key operation /LEd display 88 9.5.1 Key operation.… 9.5.2 Status display 88 9.5.3 Standard menu structure 9.5. 4 Extended menu structure 9.6 Error messages 90 9.7Wa 91 9.8 Removing faults/warnings 10 Expansions Accessories 10.1 Option -AS restart lock for personal safety 93 10.1.1 Safety instructions 10.1.2 Use as directed 10.1.3 Block diagram 10.1.4 Functional description 95 10.1.5 Signal diagram(sequence) 10.1.6 Functional test 10.1.7 Connection diagram(principle) 10.1.8 Application example category 1 according to EN954-1 10.1.8. 1 Control circuit 10.1.8.2 Mains supply circuit 97 10.1. 9 Application example category 3 according to EN954-1 98 10.19.1 Control circuit 98 10.1.9.2 Mains supply circuit. 98 10.1. 9.3 Flow chart 10.2 Expansion Cards 100 10.2.1 Guide to installation of expansion cards 100 0.2.2 Expansion card-1/0-14/08- 101 10.2.2.1 Front view 101 10.2.2.2 Technical data 10 10.2.2.3 Light emitting diodes(LEDs 101 10.2.2.4 Select motion task number (sample ..101 10.2.2.5 Connector assignments 10.2.2.6 Connection diagram SERVOSTAR 601620 Product Manual Contents 08/2008 Danaher Motion age 10.2.3 Expansion cards-PROFIBUS- 104 10.2.3.1 Front view 04 10.2.3.2 Connection technology 104 10.2.3.3 Connection diagram 104 10.2.4 Expansion card-SERCOS- 10.2, 4.1 Front view 105 10.2.4.2 Light emitting diodes(LEDs) 105 10.2.4.3 Connection technology 105 10.2.4.4 Connection diagram 106 10.2. 4.5 Modifying the station address 106 10.2.4.6 Modifying the baud rate and optical power 10.2.5 Expansion card-DEVICENET- 107 10.2.5.1 Front view ..,107 10.2.5.2 Connection technology 10.2.5.3 Connection diagram ...107 10.2.5. 4 Com bined module/network status-LED 108 10.2.5.5 Setting the station address(device address) 108 10.2.5.6 Setting the transmission speed 108 10.2.5.7 Bus cable 10.2.6 Expansion card -ETHERCAT 10 10.2, 6.1 Front view 110 10.2.6.2LEDs.. ...110 10.2.6.3 Connection diagram 110 10.2.7 Expansion card-SyYNONET- 111 10.2.7.1 Front view 10.2.7.2 NODE ID Switch 10.2.7.3 Node LEd table 111 10. 2.7.4 SynqNet Connection, Connector X21B/C (RJ-45) 10.2.7.5 Digital inputs/outputs, connector X21A (SubD 15-pin, socket) 112 10.2.7.6 Connection diagram digital inputs/outputs, connector X21A 112 10.2.8 Expansion module -2CAN 113 10.2.8.1 Installation 113 10.2.8.2 Front view 10.2.8.3 Connection technology 113 10.2.8.4 Connector assignments ..,,,,114 10.2.8.5 Connection diagram 114 10.3 Special Accessories 115 10.3. 1 Power Supply sINcOs 115 10.3.2 Terminating adapter for encoder cables 115 10.3.3 Hall dongle 11 Appendix 11.1 Glossary 117 11.2 Order numbers 119 amplifier 119 11.2.2 Expansion cards 119 11.2.3 Connectors 19 11.2.4 Special accessories 119 11.3 ndex 120 6 SERVOSTAR 601620 Product Manual Danaher motion 08/2008 General General About this manual This manual describes the digital servo amplifiers of the SERvOStAR 600 series (standard version, 1.5 to 20 Amps nominal current). Servoamplifier of the SERVOSTAR 640/670 series are described in ad ditional manuals SERVOSTAR 601 is sold in Europe only a more detailed description of the expansion cards which are currently available and the digital connection to automation systems can be found on the accompanying CD-ROM in Acrobat-Reader ormat( system requirements WindoWS with Internet browser, Acrobat Reader)in several lan- guage versions. Technical data and dimensional drawings of accessories such as cables, brake resistors, mains supplies, 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 us at extra cost 1.2 Target group This manual addresses personnel with the following qualifications: Transport: only by personnel with knowledge of hand ling electrostatically sensitive components Unpacking only by electrically qualified personnel Installation: only by electrically qualified personnel Setup only by qualified personnel with extensive knowledge of electrical engineering and drive technology The qualified personnel must know and observe the following standards EC60364and|Ec60664 national accident prevention regulations During operation there are deadly hazards, with the possibility of death, severe injury or material damage. The operator must ensure that the safety instructions in DANGER I this manual are followed. The operator must ensure that all personnel responsible for working with the servo amplifier have read and understood the product manual 1.3 Hints for the online edition(PDF format) 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 indi- 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 Symbols used Danger to personnel from electricity and its Danger to machinery, Important DANGERI effects general warning →p. see page ● special emphasis SERVOSTAR 601620 Product Manual Genera 08/2008 Danaher Motion 1.5 Abbreviations used The abbreviations used in this manual are explained in the table below Abbrev Meaning AGND Analog ground AS Restart Lock, option BTBIRTO Ready to operate CAN Fieldbus(CANopen ommunite Europeenne(ec) CLK Clock signa COM Serial interface for a Pc-at DGND Digital ground DIN German Institute for industrial standards IS Magnetic storage(diskette, hard disk EEPROM Electrically erasable programmable memo EMC i Electromagnetic compatibility EMI EN uropean standard ESD Electrostatic discharge F-SMA Fiber optic Cable connector according to lEC 60874-2 IEC International electrotechnical commission IGBT Insulated Gate Bipolar Transistor INC Incremental interface ISO International Standardization Organization LED g diode MB Megabyte N Zero pulse NSTOP Limit-switch input for CCW rotation(left) PEL Protected low voltage PGND Ground for the inte PSTOP Limit-switch input for CW rotation(right) PWM RAM Volatile memory R resisto R External brak R Internal brake resisto RES ROd 426(EEo)A quad B encoder PLC Programmable logic controller SRAM Static RAM SSI Underwriters Laboratory AC AC voltage VDC DC voltage DE Verein deutscher elektrotechniker XGND Ground for the 24V supply SERVOSTAR 601.620 Product Manual Danaher motion 08/2008 Safety 2 Safe ety 2.1 Safety Instructions o Only properly qualified personnel are permitted to perform activities such as transport installation, setup and maintenance. Properly qualified persons are those who are fami- liar with the transport, assembly, installation, setup and operation of the product, a ARNING I who have the appropriate qualifications for their job. the qualified personnel must know and observe: IEC 60364 and IEc 60664 national accident prevention regulations o 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. O Read this documentation before carrying out installation and setup. Incorrect handling of the servo amplifier can lead to personal injury or material damage. It is vital that you keep to the technical data and information on connection requirements on the name. plate and in the documentation o The servo amplifiers contain electrostatically sensitive components which may be da maged by incorrect handling. Ground yourself before touching the servo amplifier by touching any unpainted metal surface. Avoid contact with highly insulating materials artificial fabrics, plastic film etc. Place the servo amplifier on a conductive surface o 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 in per sonal injury or material damage. DANGER o Do not open or touch the equipment during operation. Keep all covers and cabinet doors closed during operation. Touching the equipment is allowed during installation zards, with the possibility of death, severe injury or material damag@ ere are deadly ha- and commissioning for properly qualified persons only. Otherwise, there are deadly ha- During operation, servo amplifiers may have uncovered live components, depending on their level of enclosure protection. Control 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 80'c o Never undo any electrical connections to the servo amplifier while it is live. There is a danger of electrical arcing with damage to contacts and personal 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. contacts or un- doing any connections. Capacitors can still have dangerous voltages present 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 601620 Product Manual Safet 08/2008 Danaher Motion 2.2 Use as directed o The servo amplifiers are components which are built into electrical equipment or machines, and can only be used as integral components of such equipment. o The manufacturer of the machine must generate a hazard analysis for the machine, and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property o The sERVOSTAR 600 family of servo amplifiers can be connected directly to symmetrically earthed (grounded)three-phase industrial mains supply networks [TN-system, TT-system with earthed (grounded) neutral point, not more than 42, 000 rms symmetrical amperes, 480VAC Connection to different mains supply networks(with additional isolating transformer)= p 50 o Periodic overvoltages between outer conductor(L1, L2, L3)and housing of the servo amplifier may not exceed 1000V(peak value Transient overvoltages(< 50us)between the outer conductors may not exceed 1000V Transient overvoltages(< 50us) between outer conductors and housing may not exceed 2000V o If the servo amplifiers are used in residential areas, or in business or commercial premises then additional filter measures must be implemented by the user o The SERVOSTAR 600 family of servo amplifiers is only intended to drive specific brushless synchronous servomotors, with closed-loop control of torque, speed and/or position. The rated voltage of the motors must be at least as high as the dc bus link voltage of the servo amplifier o The servo amplifiers may only be operated in a closed switchgear cabinet, taking into account the ambient conditions defined on page 21 and the dimensions shown on page 38. Ventilation or cooling may be necessary to prevent enclosure ambient from exceeding 45 C(113 F) o Use only copper wire Wire size may be determined from EN 60204(or table 310-16 of the NEC60°cor75° C column for awg size) o Consider the specifications on page 94 when you use the optional personnel safe restart lock S 2.3 Prohibited use Other use than described in chapter 2.2 is not intended and can lead to damage of persons equipment or things o 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, vapours, dusts directly on non-grounded supply networks or on asymmetrically grounded supplies with a voltage >240V on ships or off-shore applications o 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 10 SERVOSTAR 601.620 Product Manual

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