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Servo Drive FAQs

Following are a series of Frequently Asked Questions relating to S300, S400, S600, and S700 drives.

Frequently Asked Questions

What is the maximum number of motion tasks that S300 can handle?

200 Flash motion tasks that can be saved in the device permanently, (number 1 to 200). 100 RAM motion tasks starting at number 201.

Why does n32 flash in the display?

The firmware of the amplifier is a beta version (not released). Refer to page LED Display Codes.

Are there differences in the motor databases of S300/S700 and S400/S600?

Yes. In the S300/S700 motor database (MDB) there isn't a single dataset per power stage and feedback. The parameter values are calculated depending on the set FBTYPE out of the same rough data. Criteria for a valid motor for the power stage is now:

0.25 * DICONT <= MICONT <= 4 * DICONT. 

The motor databases for S400/S600 cannot be used with S300/S700.

How can the direction for an analog set point be inverted without changing the wiring?

Select function 30 for a digital input:

INHCMD VSCALE –x
INLCMD VSCALE x

For more information refer to Motion direction - Parameters

What is the message level for amplitude error (F04) with SinCos encoders?

The SinCos amplitude monitoring enables the F04 error with:

  • FW 070 : F04 at approx. 1900 U/min
  • >=FW 072 : F04 at approx. 4500 U/min (approx. 150Khz)

The monitoring can be switched over in both firmware versions with CPHASE 2.

No communication to the encoder 

Solution: connect the encoder, check the cable 

Wrong data in the encoder 

This error occurs with new encoders, that have never been initialized.

Solution: Initialize the data with the command HSAVE (terminal screen)

See pages Supervision of Sine Cosine EncodersSetup of an Endat or Hiperface or BISS encoder and LED Display

What is the mechanical rigidity of the S300?

Class 3M2 sine according to IEC 721-3-3;
2 to 9 Hz 1.5g
9 to 200 Hz 0,5g
Shock 4g, spectrum L 22ms
The sine wave is called "Prüfung Fc" in EN 60068-2-6.
The shock is a half-sine wave, is called "Prüfung Ea" in EN 60068-2-27 and EN 60721-3-3 (09/95) picture 1

How can I change the rotation direction of SinCos Encoders?

To change direction you must exchange sine and cosine.

For more information refer to Motion direction - Parameters

Is it possible to drive old Hardware (HR<02.01) with new Firmware (>1.30)?

No. The command LAYOUT has been introduced later. Refer to application note Hardware Revision Number. An old S300 hardware version would be interpreted in a wrong way with new firmware. Polarity of the AS input has changed, an error message would occur with new firmware.

You can solve the problem with this command sequence:

ONE 0XC 24
ONE 0XD 4

Switch the amplifier off and on again.

From which Hardware / Firmware versions does the AS option work?

FW   >   0.87
HW   >   Ser.No. 214010

Can I use a parameter set for an amplifier with another current class?

Parameter sets of S300 and S700 amplifiers can be used independant from amplifier type and current class.

What are the application requirements in case of a high altitude site, e.g. above 1,000m A.M.S.L.?

1.) <1000m A.M.S.L., no restrictions
     1000-2500m A.M.S.L. with power derating 1,5% / 100m
2.) According to Paschen the isolating capability of air is reduced. That reduces the max. allowed mains voltage to 400V.

How can I force a wake & shake with a ENDAT/Hiperface/BISS Feedback?

Terminal: M SEARCHKOM 1

Why is no phase-loss error detected although a phase is lost?

The DC intermediate voltage is supervised. The phase-loss error is detected is the drive is loaded, because the DC voltage goes down then.

Does the setup software work with Debian Linux operating system?

The DriveGUI S300/S700 works with Linux Debian in the Windows Emulator WINE and communicates with the servo amplifier via the RS232 Com interface. An interface converter Ethernet or USB to RS232 is not required. An embedded PC has enough RS232 COM interfaces. So parameterizing, diagnostics and remote control can be done.

How can I reset the amplifier parameters to manufacturer default in the monitor mode?

Hyperterminal:

CLR
SRMON>
booting...
on user request starting SRMON 0.66
SR-Monitor. Danaher Motion
(SRMON Rev 0.66 Dec 14 10:53:51 2004)
FPGA Initialisation done
SRMON> clr
SRMON>

What is the permitted length of the motor cable?

  • <10m: noise emission acc. to IEC 61800-3 category C2
  • >10m: noise emission acc. to IEC 61800-3 category C3
  • >25m: with motor choke 3YL (see Accessories Manual)
  • max: 50m

See Instructions Manual for more information.

What is the permitted length of the feedback cable?

Depends on the feedback type. See page MultiFeedback

Why are large set point steps (e.g. 0 >> 7 V) with OPMODE = 5 not executed?

Input filter isn't set correctly. Increase filter time constant of the analog input.

How can I start communication to the amplifier, if it doesn't boot correctly?

To start the amplifier in monitor mode, press both keys in the front panel simultaneously while when switching the drive on (24V on).

What is the maximum value for motor temperature sensor (PTC)?

S300: 5.0 kOhm
S400: 2.0 kOhm
S600: 1.6 kOhm
S700: 5.0 kOhm

What does four quadrant operation mean?

How can I select a motion task with an analog input?

How can I calculate the brake power?

Which motion task profiles are pre-defined?

Is full output current possible with S300 in single phase operation?

See the page Single Phase Operation

What does Gray Code mean?

See the page GrayCode

Is it possible to suppress the motor cogging?

Yes, but with S300 and S700 only. See page Cogging Suppression

What do the parameters on screen page U/F control mean?

The parameters are used to setup an induction machine without feedback (sensorless).

See pages Sensorless Control for Induction Machines (S300, S700) and Operating Induction Machines (S300-S700).

Is it possible to use motors with a feedback system without commutation information as a primary feedback.

Yes. A Wake & Shake function determines the absolute position of the permanent Magnets in relationship to the stator windings. See page Wake and Shake.

What do I have to consider when using a residual current protective device (RCD) in a servo system?

What does Hardware Revision mean on the nameplate of the servo amplifier?

The Hardware Revision defines the development status of the servo amplifier. The same number can be found on the cover page of the instructions manual. Refer to page Hardware Revision Number.

Which settings are required for operating an induction machine?

I changed a parameter with the GUI and saved it to the EEPROM but after restarting the amplifier the old value was used.

Parameters may be changed via a fieldbus (during the initialization) or by a defined command sequence via the digital inputs (INxMODE 30).

Is it possible to operate DC motors?

Yes, that's possible with S300 and S700. See page Operating DC motors S300-S700.

What is a Bode Plot used for?

Bode Plot is a process to analyze frequency behavior of the drive. See pages Tuning - Built in Frequency Analysis and Bode Diagram

Is it possible to switch over parameters during operation?

Yes, either sequential with the function InxMODE=30 or with parallel switch over of two predefined parameter sets. Refer to page Switching over parameter sets.

How can an external zero sensor for homing be determined?

Refer to page External zero pulse

Positioning errors with AKM1 motors

Low rotor inertia is the source for this problem, ironless linear motors show a similar behavior.

Solution for drives with S300/S700 servo amplifiers: 

How can I set up camming?

The servo amplifiers use position registers to define cams. The status of the registers are sent as cams to one or two digital outputs by a predefined function. Refer to page Setup of Camming S300-S700 or Setup of Camming S400-S600. You can define up to 8 cams for a digital output with S300/S700.

Which delay time can occur during Master / Slave operation?

Incremental signals (AquadB): processing time in the servo amplifier (FPGA) are in "ns" range. Slave reaction time ±62,5µs (current control task).

The servo amplifier does not react to the incremental set point at the AquadB input. Why doesn't the electronic gearing work?

Possible reasons:

  • OPMODE <> 4
  • AquadB interface not switchwed to input
  • Servo amplifier disabled (Enable=0) 
  • Limit switch active (warning n10 or n11 in the LED display)

What causes the error message F14?

Fault in the power output stage. Can also be triggered by a wrong or faulty motor cable, if the screen of the motor cable is not connected or if the motor is feaulty. Refer to page Error Message F14.

How can I protect the parameter set against write access?

Yes, you can activate a password protection. Refer to page Password Protection.

What does P01, E01 or -S- mean in the display?

P01: 1A power stage, mains supply voltage switched on, power stage disabled
E01: 1A power stage, mains supply voltage switched on, power stage enabled
-S-: STO Enable input is not connected or no 24V signal is applied

Refer to page LED Display Codes S300-S700.

Which acceleration and deceleration ramps are used in motion task series?

This can be selected on the screen page "Motion Task Parameters". Refer to page Motion Task Series.

Is it possible to drive High Frequency Motors (Spindles) with the servo amplifiers?

Yes. With the help of pole number setting. Refer to page Tuning - High Frequency Spindles S300-S700.

Do setup software and upgrade tool work with Windows Vista and Windows 7 ?

Yes. The current tools work with Windows Vista and Windows 7 without restrictions.

Which test pulse is allowed at STO enable input?

Pulse length < 100µs, off-time > 200ms. See page Test Pulse.

What is the resolution of the current controller?

The incremental current actual value (iq, q component) of the current controller is triggered two times within 62,5µs and the values are added but the average is not determined. 

Units: ±3280 = ±DIPEAK in IncrAmpere?
DIPEAK = device peak current

The amplifier shows warning n17 after replacement of a S300 or S700. The old drive did not show any problem with CAN or EtherCAT. How can I reset the synchronized fieldbus operation?

Set BUSP1 to 1 and finalize the configuration change with SAVE and COLDSTART.

Background: Bit 30 (COB-ID Setting for Tx-PDO) is supervised since Firmware 2.51. The amplifier sets the bit and expects the COB identifier is written with set bit 30, too (means: no RTR request of TX-PDOs is possible). 

If bit 0 is set to 1, then bit 30 is not supervised any more.

How can I basically setup the current control parameters dependent on the used motor?

MLGQ = 12 * L{mH} * DIPEAK {A} / 1000
KTN 0.6

Example:
S603 --> Dipeak 6A
L=3mH - Motor inductance
MLGQ = 12 * L * DIPEAK / 1000 = 0.216
KTN 0.6

Leave all other values unchanged.

How can I setup indexing via digital inputs?

See the page Indexing

How can I start communication to an axis module, if communication is not possible after boot?

Start Hiperterminal: 

with no response; 
„\“ type until the command is accepted, then switch over with 
„\ 0“ to the master; 
type SCANX and 
Prompt „-->“ wait; 

Now communication is possible.

How can K and S be deactivated?

Presumption is FW >7.22. 

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

How long is the reaction time for position latch and what happens while latching?

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.

How many axes can be supplied by a master module?

7 axes additional to the master axis.

I can't find my EnDat Motor in the motor database. What can I do?

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.

I have a motor, that is not listed in the motor database and that has no name plate. How can I setup this motor?

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

Is it possible to communicate with several servo amplifiers simultaneously via RS232 (Multidrive)?

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).

What are the maximum ramp times?

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}

What is the current supply at the SinCos encoder interface?

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.

Why does the Multidrive communication not work?

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

Can I reduce the fan noise?

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.

How can I use the AS Option?

  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).

How long can the S600 be charged with more than its rated output current?

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

How many slave S600s can be connected to one master S600 (electronic gearing, X5)?

You can operate up to 15 slaves with one master.

If the I2T value is shown in the S600 oscilloscope then the units are increments. What's the reason for that?

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

Is it possible to load the current firmware into an old S600 (Ser.No. < 220.000)?

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

What is the average lifetime MTBF of the S600?

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

What is the life expectancy of the EEPROM?

1 million data saves or 20 years

When does the fan run if a fan option card is built-in?

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

Which firmware is required for S600 with SynqNet?

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

Which firmware is required for S600 with Ethercat?

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

Which overcurrent value causes an F14 fault (short circuit) with S640 / S670?

S640: current peak > 163A 
S670: current peak > 326A

Which overcurrent value causes an F22 fault (ground short circuit) with S640 / S670?

F22 occurs in case of approximately 
S640: current peak > 56A 
S670: current peak > 112A

Why doesn't a P appear in the S600 display though all software settings are done for the supply with a small DC voltage?

DC supply voltage is smaller than VBUSMIN

How do I calculate the current values in cases with a single line supply?

In case of single line supply the Maximum current values are calculated with the following formula (Rotary axis) 
     IPeakMax = Max. Single Line Peak Power * 60 / (2 * 3.14 * MKT * VLIM) 
     IContMax = Max. Single Line Nominal Power * 60 / (2 * 3.14 * MKT * VLIM) 

In case of high MKT and high Motor Speed the power must be limited to prevent capacitors from being destroyed. 
Example for S712: 
     IPeakMax = 3300 Watts * 60 Sec / (2 * 3.14 * 5 Nm/A * 14648 UPM) = 0.43 A 
     IContMax = 2200 Watts * 60 Sec/ (2 * 3.14 * 5 Nm/A * 14648 UPM) = 0.29

I replaced an S703 + single channel STO (HWR 2.00) with a new device + dual channel STO (HWR 2.10). Now the device does not work. What went wrong?

The difference between these devices is the STO concept (single channel - dual channel). The new second STO input is on X4A pin 3. This pin has been used as XGND connection with the old drive. So the drive has no 24V supply voltage now. Please see the page Safety Concept S700.

In which Operation modes does the command MOVE work?

The ASCII command MOVE works in OPMODE 8 (Motion tasks) and in OPMODE 4 (electrical gearing)!

What could be the cause for warning n08, faulty motion task?

  • faulty motion task number
  • faulty motion task checksum
  • table motion task without matching profile table
  • absolut target position outside of modulo range (with modulo axes only)
  • target position outside of software limit switches
  • internal overflow while calculating motion task ramps/position/speed
  • (invalid conditions for profile table motion task change on-the-fly)

What does - - - mean in the display?

SD Card is not FAT32 formatted and is not usable therefore. See page LED Display.

What does CCC mean in the display?

A memory card is plugged but there is a problem to access the card. Remove and insert the card again. In case that the setup software is online, the message "Please re - insert the memory card" appears. More information to memory cards can be found on page Memory Card.

Why does my S700 not work with the POS I/O expansion card? When the card is plugged in, the servo amplifier doesn't boot.

The card exists with different versions, visible on a label on the card's PCB.

With the current version (Nov. 08) "ROD in/out; SSI in/out" is marked on the label and the S700 needs at least Firmware 3.50. 

If "ROD out" is marked or no label exists, you have an older version, which can only be operated with an older firmware (3.06). Updating the card to the current version is possible at the manufacturer site.

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