Setup and Reference Guide - Kollmorgen

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Directives and Standards SERVOSTAR products have been successfully tested and evaluated to meet UL/cUL 508C for U. S. and Canadian markets. This standard outlines the minimum requirements for electrically operated power conversion equipment (frequency converters and Servo amplifiers), which are intended to eliminate the risk of fire, electric shock, or injury to persons, being caused by such equipment. CE Mark Conformance The Electromagnetic Compatibility (EMC) of a system is identified in two parts: emissions and immunity. Emissions are the generation of EMI (electromagnetic interference) and immunity is the susceptibility levels of the equipment. Limits are derived from generic standards EN55081-2 and EN55082-2 for heavy industrial environment. The SERVOSTAR drives and BUS modules have been tested for radiated emissions, conducted emissions, EFT, ESD, surge, conducted immunity, and radiated immunity. These tests have been in accordance with EN55011, EN61000-4-2, ENV50140, IEC 1000-4-4, EN61000-4-5, and ENV50141. Servo drives are incorporated in electrical plants and machines for industrial use. When servo drives are built into machines or plants, the operation of the drive is prohibited until the machine or plant meets the requirements of the EC Directive on Machines 89/392/EEC and the EC Directive on EMC (89/336/EEC). EN 60204 and EN 292 must be met. In connection with the Low Voltage Directive 73/23/EEC, the harmonized standards of the EN 50178 series are applied to the amplifiers, together with EN 60439-1, EN 60146 and EN 60204. The manufacturer of the machine or plant is responsible for ensuring that they meet the limits required by the EMC regulations. Advice on the correct installation for EMC (shielding, grounding, arrangement of filters, treatment of connectors and the lay out of cabling) can be found in this document Conformance with the EC Directive on EMC 89/336/EEC and the Low Voltage Directive 73/23/EEC is mandatory for the supply of servo drives within the European Community. The servo drives have been tested by an authorized testing laboratory in a defined configuration with the system components; described in this documentation. Kollmorgen is not responsible for any divergence from the configuration and installation described in this documentation and is not responsible for the performance of new measurements or ensuring that regulatory requirements are met. SERVOSTAR drives and systems have been successfully tested and evaluated to the limits and requirements of the EC Directive on EMC (89/336/EEC) and the EC Directive on low voltage (72/73/EEC). The products have been evaluated to EN50178 and EN60204 as a component of a machine and other relevant standards.
Contents INSTALLATION PROCEDURE.................................................................................................1 FIRMWARE UPDATES................................................................................................................................. 2 BONDING .......................................................................................................................................2 SERIAL COMMUNICATION WIRING DIAGRAM ................................................................................2 SERVOSTAR CX HARDWARE SPECIFICATIONS ...................................................................................... 3 SERVOSTAR SX HARDWARE SPECIFICATIONS....................................................................................... 4 BUS MODULE HARDWARE SPECIFICATIONS ............................................................................................ 4 CX ELECTRICAL SPECIFICATIONS.............................................................................................................. 5 SX ELECTRICAL SPECIFICATIONS .............................................................................................................. 6 BUS MODULE ELECTRICAL SPECIFICATIONS ........................................................................................... 6 CX REGEN INFORMATION.......................................................................................................................... 8 BUS MODULE REGEN INFORMATION........................................................................................................ 8 PRODUCT FAMILY CONTROL SPECIFICATIONS.......................................................................................... 9 PINOUT CONNECTORS.............................................................................................................................. 10 BUS MODULE – PA-LM (MULTIPLE SX UNITS) ..................................................................................... 12 CX SYSTEM WIRING DIAGRAM....................................................................................................13 SX WITH PA08,14, OR 28 SYSTEM WIRING DIAGRAM .................................................................14 SX WITH PA50, 75, OR 85 SYSTEM WIRING DIAGRAM ................................................................15 CX FILTER AND BONDING DIAGRAM............................................................................................16 SX FILTER AND BONDING DIAGRAM............................................................................................17 SYSTEM FEEDBACK DIAGRAM.....................................................................................................18 COMMANDS/VARIABLES BY FUNCTION....................................................................................... 19 ANALOG INPUT-RELATED .............................................................................................................19 COMMUNICATIONS .......................................................................................................................19 CONFIGURABLE I/O.......................................................................................................................19 CURRENT VARIABLES AND COMMANDS........................................................................................19 DRIVE AND MOTOR STATUS ..........................................................................................................19 DRIVE CONFIGURATION AND MODES.............................................................................................19 DRIVE ENABLING AND DISABLING ................................................................................................20 DRIVE PARAMETERS.....................................................................................................................20 FEEDBACK RELATED.....................................................................................................................20 GEARING-RELATED PARAMENTERS...............................................................................................20 LOOP COMPENSATION AND GAINS.................................................................................................20 MOTION CONTROL PARAMETERS ..................................................................................................20 MOTOR VARIABLES AND COMMANDS ...........................................................................................20 POSITION VARIABLES AND COMMANDS ........................................................................................21 READ AND WRITE SWITCH VARIABLES ..........................................................................................21 READ-ONLY SWITCH MODE VARIABLES ........................................................................................22 READ-ONLY SWITCH VARIABLES ..................................................................................................22 READ-ONLY VARIABLES ...............................................................................................................22 VARIABLE RECORDING AND PLAYING...........................................................................................22 VARIABLE SETTING AND CLEARING ..............................................................................................22 VELOCITY VARIABLES AND COMMANDS .......................................................................................22
Page 1 and 2: Danaher Motion SERVOSTAR ® S SERVO
Page 3: Safety Instructions Only qualified
Page 7 and 8: ERR................................
Page 9 and 10: MHINVC ............................
Page 11 and 12: TRUN ..............................
Page 13 and 14: INSTALLATION PROCEDURE This Setup a
Page 15 and 16: SERVOSTAR CX HARDWARE SPECIFICATION
Page 17 and 18: CX ELECTRICAL SPECIFICATIONS Main I
Page 19 and 20: Product Model PA-LM PA08 PA14 PA28
Page 21 and 22: PRODUCT FAMILY CONTROL SPECIFICATIO
Page 23 and 24: Notes for DIP switch: The 10 positi
Page 25 and 26: CX SYSTEM WIRING DIAGRAM 13
Page 27 and 28: SX WITH PA50, 75, OR 85 SYSTEM WIRI
Page 29 and 30: SX FILTER AND BONDING DIAGRAM 17
Page 31 and 32: COMMANDS/VARIABLES BY FUNCTION ANAL
Page 33 and 34: POSITION VARIABLES AND COMMANDS DUA
Page 35 and 36: VARIABLE/COMMAND SET ACC Sets the d
Page 37 and 38: ANOUT Sets the source for the analo
Page 39 and 40: COMPMODE Sets the velocity controll
Page 41 and 42: DIR Sets the direction (inversion)
Page 43 and 44: DISTIME Sets the amount of time to
Page 45 and 46: ENCOUT Sets the resolution (number
Page 47 and 48: FOLDMODE Sets the mode for drive cu
Page 49 and 50: GET Causes all recorded variables t
Page 51 and 52: GV Sets the proportional gain for t
Page 53 and 54: HC3 Defines the properties of corre
Page 55 and 56:
HOMETYPE Defines the type of homing
Page 57 and 58:
ICMD Displays the Current (Torque)
Page 59 and 60:
IN Returns the state of the three d
Page 61 and 62:
IN2 This is used to read the state
Page 63 and 64:
IN3MODE IN3MODE sets the functional
Page 65 and 66:
ININV2 Invert user input #2 C3 pin
Page 67 and 68:
KV KV is a tuning variable which se
Page 69 and 70:
MA This command (Serial Move Absolu
Page 71 and 72:
MENCTYPE Sets the motor encoder typ
Page 73 and 74:
MFOLDDIS enables/disables the motor
Page 75 and 76:
MHINVC MHINVC is a variable which a
Page 77 and 78:
digital input to INxMODE=7 and tran
Page 79 and 80:
Opmode 1 operation: You select a MI
Page 81 and 82:
MLGAINZ Sets the current loop adapt
Page 83 and 84:
MSG Enables and disables the sendin
Page 85 and 86:
O1 O1 is used to read or write the
Page 87 and 88:
OPMODE Sets the operational mode fo
Page 89 and 90:
PLIM A switch mode variable that co
Page 91 and 92:
PSCALE A position scale factor that
Page 93 and 94:
Command Syntax:RECORD [sample time]
Page 95 and 96:
RELAY Indicates the status of the F
Page 97 and 98:
STAT Outputs a drive status summary
Page 99 and 100:
STATUS Word 5: Hold Mode Status Wor
Page 101 and 102:
STEP Generates a step or square wav
Page 103 and 104:
THERM Indicates the state of the mo
Page 105 and 106:
UNITS Defines whether physical unit
Page 107 and 108:
VD A vector variable that sets the
Page 109 and 110:
VLIM Sets the application velocity
Page 111 and 112:
ZPOS Is applicable only if MENCTYPE
Page 113 and 114:
NON-FATAL ERROR CODES Error Message
Page 115 and 116:
Non-Fatal Error Codes Error Message
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Setup and Reference Guide - Kollmorgen

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