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S600 Servo Drive

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 230VAC-480VAC, 1,5-70A models.

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Articles

A quad B

Acceleration Profile

Analog I/O

Analog Sin/Cos

Approvals and Markings

Backup & Restore

BiSS

Brake

Camming

CANopen

Connections and Wiring

Derating

Digital I/O

Emergency Stop

Encoders & Feedback

EtherCAT

Expansion Cards

Faults and Warnings

Fieldbus

Firmware

Getting Started

Glossaries and Definitions

Halls Sensor Only

Hiperface

Homing

Incremental

Induction

Jog

Motion Task

Motor Setup

Notices

Parameters

Part Numbers

Power and Fusing

Resolver

Revision Information

Safety

Sine

SSI

SynqNet

System Design

Tools

Transport and Storage

Troubleshooting

Tuning

Upgrading

Wake and Shake

Interfaces

Digital / Analog I/Os

Position Output (encoder emulation)

MultiFieldbus

MultiFeedback

  • 2 programmable analog inputs
  • 4 programmable digital inputs
  • 2 programmable digital outputs
  • 14 digital inputs and 8 outputs with expansion card I/O-14/08
  • RS232 service channel
  • Emulation incremental encoder
  • Emulation absolut encoder SSI (binary or Gray)

Digital I/O Features

  Max. input Frequency Hardware Delay Software Delay
Digital Input 1/2 100 Khz (Ser.No. > 220000)
otherwise 10 Khz
< 5 µs
< 50 µs for max. input frequency 10Khz
Depends on the selected functionality
Digital Input PSTOP/NSTOP 10 Khz < 50µs Depends on the selected functionality
Digital Output 1/2 - < 50 µs < 5 ms

Analog I/O Features

  Hardware Filter Constant Software Delay
Analog Input 1 150 µs 250 µs + Selected Delay AVZ1
Analog Input 2 50µs 250 µs Speed Control 125 µs Torque Control
Analog Output 1 ms 250 µs

Hardware Expansions

Firmware Reference Table

old Firmware Version
Hardware Rev. <5.30
Firmware Version
Hardware Rev. 5.30
new Firmware Version
Hardware Rev. 5.40
1.xx 9.50 9.50_nd0
2.xx 9.50 9.50_nd0
3.xx 9.50 9.50_nd0
4.xx 8.50 8.70_nd0
5.xx 9.50 9.50_nd0
5.81 9.00 8.70_nd0
6.xx 8.50 8.70_nd0
7.xx 9.50 9.50_nd0
8.00...8.15 8.50 8.70_nd0

S601...620

Hardware Revision Firmware Version Date Remarks Export Classification
05.10 >= 5.76 2006-04 Starting version AL-3A225
05.20 >= 5.81 2009-12 CAN controller new AL-3A225
>= 6.86 2009-12 with EtherCAT, BiSS AL-3A225
05.30 >= 9.00 2014-02 PCB update, standard AL-3A225
>= 8.50 2014-02 PCB update, with EtherCAT, BiSS AL-3A225
05.40 >= 9.00_ND1 2014-12 Dual use, new data structure AL-3A225
>= 8.50_ND1 2014-12 Dual use, new data structure AL-3A225
05.40 >= 9.00_ND0 2014-12 Non Dual use, new data structure -
>= 8.50_ND0 2014-12 Non Dual use, new data structure -

S640/670

Hardware Revision Firmware Version Date Remarks Export Classification
02.06 >= 5.99 2006-04 Starting version AL-3A225
02.10 >= 7.76 2009-12 CAN controller new AL-3A225
>= 6.86 2009-12 with BiSS evaluation AL-3A225
02.20 >= 7.76_ND1 2014-12 Dual use, new data structure AL-3A225
>= 6.86_ND1 2014-12 Dual use, new data structure AL-3A225
02.20 >= 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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FAQs

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.

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.

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 calculate the brake power?

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

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

Terminal: M SEARCHKOM 1

How can I protect the parameter set against write access?

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

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

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.

How can I setup indexing via digital inputs?

See the page Indexing

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).

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 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

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

You can operate up to 15 slaves with one master.

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 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).

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.

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 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).

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.

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

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.

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 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.

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 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.

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

What does four quadrant operation mean?

What does Gray Code mean?

See the page GrayCode

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.

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.

What is the average lifetime MTBF of the S600?

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

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 is the life expectancy of the EEPROM?

1 million data saves or 20 years

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 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 permitted length of the feedback cable?

Depends on the feedback type. See page MultiFeedback

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.

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 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.

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).

Which firmware is required for S600 with Ethercat?

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

Which firmware is required for S600 with SynqNet?

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

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

Which settings are required for operating an induction machine?

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.

Why does n32 flash in the display?

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

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

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