EtherCAT works from firmware version 6.43. Firmware Versions 7.xx cannot be used.

SynqNet requires always a special firmware version. Please ask the Kollmorgen Support for this file.

Fan on:
     Heat sink temperature > 65°C or environment temperature > 58°C or brake power > 30 Watts

Fan off:
    Heat sink temperature < 60°C and environment temperature < 55°C and brake power < 20 Watts

1 million data saves or 20 years

For the whole S600 family the value is 290,000 hours.

No, the firmware version for S600 with serial number < 220.000 must be < 4.00

The I2t resolution is built from: 

Scaling i2t = 688537600 in the scope is 100% I2T if ICONT = DICONT of the amplifier. 

If ICONT is 0.5 DICONT for example, then the value is 688537600 * 0.5 * 0.5.

If FOLDTIME differs from the default value 16 ms for example, this has influence to the calculation as well: 

688537600 * (ICONT/ DICONT)^2 * FOLDTIME / 16

You can operate up to 15 slaves with one master.

t = -17.4 * ln (1.0 - SQR(ICONT/I))

Example:
Inenn = 20 A (Typ S620)
Iist = 30 A
t = -17.4 * ln (1.0 - SQR(20/30))
t = -17.4 * ln (1.0 - 4/9)
t = -17.4 * ln (5 / 9)
t = -17.4 * (-0.587787)
t = 10.22 sec

1. Parameters to set

   STOPMODE 1 (0 default)	If the drive is disabled, the amplifier switches to velocity mode and breakes with the ramp DECDIS. When the velocity VEL0 is reached, the power stage becomes disabled.
   ACTFAULT 1 (1 default)	If an error occurs, the amplifier switches to velocity mode and breakes with the ramp DECSTOP. When the velocity VEL0 is reached, the power stage becomes disabled. Exceptions are amoung others overvoltage and motor phase fault. In these cases a procedur like this would case additional problems.
   O1MODE 21	High with active power stage / Low with disabled power stage
   EMRTO (5000 Default)	If the drive does not brake or the velocity does not reach VELO then the power stage will disable after this time.

   If setting of these time is too small, then the motor will never be braked down. For this reason DECDIS and DECSTOP must be realistic values and EMRGTO must be larger than DECDIS and DECSTOP.

2. Process: switch off
   
   Disable the drive - The motor will be braked with DECDIS. Power stage disables. Output 1 switches to low.
   Switch 24V to the AS Enable input.
    
3. Process: restart
   
   Switch off 24V from AS Enable.
   Switch Enable (HW and SW).

We offer an option card for the option slot in the S610...620 an. The device must be opened for the installation of this card, therefore the customer can't do that by himself without loosing warranty.

The card ist wired to the fam terminal in the amplifier and the fan is wired to the option card.

• Multidrive is not selected in the setup software
• Master axis does not have ADDR 8
• Different CAN baud rates are set

At connector X1 there are 5V/150 mA available. These values are nominal even at maximum load. If a higher current is required, we offer an external power supply (350 mA) with a 1m cable. See instructions manual.

The maximum ramp time in a motion task can be calculated by: 

t{ms} = 140/32 x nsetp with PRBASE 16, 20 oder 
t{ms} = 140/32 x 16 x nsetp with PRBASE = 24.

Reduction while braking: tmax = 8000ms
Speed controller: t{ms} = 140 x 128 x n{rpm}

Serial Communication via RS232 physically works with one amplifier only, but if you have connected several amplifiers via CAN bus to the "first" amplifier, you can communicate with all of them via RS232. This works either with the setup software (Multidrive must be selected) or with e terminal program (see page Multidrive Communication via RS232).

If the motor has a Resolver feedback, the page Setup of unknown motors describes the process.

Limit Ipeak and make sure, that no damage can occur even if the motor runs off.

Example 1: The motor type is not listed at all:

• Select FBTYPE = 4, SAVE, COLDSTART
• Read MPHASE, set MNUMBER = 0, SAVE; HSAVE and COLDSTART.

After rebooting, check MPHASE. If MPHASE no longer matches the original value, the source value must be set. Now all the motor parameters have to be determined.

Example 2: The motor is listed as a motor with resolver:

• Select FBTYPE = 4, SAVE, COLDSTART
• Read MPHASE, set MNUMBER = 0, SAVE; HSAVE and COLDSTART.
• FBTYPE = 0, SAVE, and COLDSTART. Then select the appropriate resolver motor and save with SAVE, then COLDSTART.
• FBTYPE = 4, SAVE and COLDSTART.

After rebooting, check MPHASE. If MPHASE no longer matches the original value, the source value must be set.

7 axes additional to the master axis.

20µs with a jitter of 1µs.

The moment of the position latching is determined. With the next cycle of the position controller the (T=250µs) the latch position is calculated. High speed deviation in this cycle can lead to determination errors.

Presumption is FW >7.22. 

DRVCFG2 = -2147483648 (= -2^31, set bit 31).