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Kollmorgen Support Network

S400

Discontinued

This servo amplifier is comprised of a three-phase power supply and a high-performance control unit housed in a single enclosure. This servo amplifier is available in 115VAC-400VAC, 3 or 6A models.

Part Number Scheme

Options

Software

Interfaces

Digital / Analog I/Os Position output (encoder emulation MultiFieldbus MultiFeedback
  • 1 programmable analog input
  • 4 programmable digital inputs
  • 2 programmable digital outputs
  • RS232 service channel

S400 Hardware Revision Number

Hardware Revision Firmware Version Date Remarks Export Classification
02.03
 
>= 5.76 2006-04 Starting version AL-3A225
>= 6.68   with BiSS evaluation AL-3A225
03.03
 
>= 5.76 2008-06 heat sink optimized AL-3A225
>= 6.68   with BiSS evaluation AL-3A225
03.10 >= 7.76 2009-12 CAN controller new AL-3A225
>= 6.86 2009-12 with BiSS evaluation AL-3A225
03.20 >= 7.76_ND1 2014-12 Dual use, new data structure AL-3A225
>= 6.86_ND1 2014-12 Dual use, new data structure AL-3A225
03.20 >= 7.76_ND0 2014-12 Non Dual use, new data structure -
>= 6.86_ND0 2014-12 Non Dual use, new data structure -
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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
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.

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}

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).

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.

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.

How many axes can be supplied by a master module?

7 axes additional to the master axis.

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 can K and S be deactivated?

Presumption is FW >7.22. 

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