Danaher Motion Kollmorgen SERVOSTAR C Series, Setup Manual

Page 1: ...www DanaherMotion com PLATINUM DDL and SERVOSTAR Setup Guide Part M LN 016 0702 Rev D...

Page 2: ...ion of Danaher Motion that is furnished for customer use ONLY No other uses are authorized without written permission of Danaher Motion Information in this document is subject to change without notice...

Page 3: ...plastic film etc Place the product on a conductive surface WARNING During operation keep all covers and cabinet doors shut Otherwise there are deadly hazards that could possibility cause severe damage...

Page 4: ...the configuration and installation described in this documentation means that you are responsible for the performance of new measurements to ensure that the regulatory requirements are met Danaher Mot...

Page 5: ...Assembly Mounting 3 1 3 2 Magnet Way and Coil Assembly Mounting 4 2 INSTALLATION 5 2 1 IRONCORE MULTIPLE MAGNET PLATES INSTALLATION 5 2 2 IRONCORE SINGLE MAGNET PLATE INSTALLATION 7 2 3 IRONLESS MOTO...

Page 6: ...ore Communication Diagram 18 4 1 2 Ironless Communication Diagram 19 5 DRIVER INTEGRATION 20 5 1 WIRING THE DRIVE 20 5 1 1 Enable Switch Wiring Diagram 20 5 2 MOTIONLINK 21 5 2 1 Startup Wizard 21 5 3...

Page 7: ...R The Ironcore Linear motor is best suited for applications requiring high acceleration of large masses or maintaining stiffness during machining or process forces Due to the steel laminations incorpo...

Page 8: ...ositioner is used it must be configured to operate with the SERVOSTAR software The following questions need to be answered before installing the SERVOSTAR Write this information down as the questions...

Page 9: ...2 To install the magnet way properly it is recommended that the stage base include precision 5mm dowel pins See Figure 1 Multiple Magnet Diagram Figure 2 Single Magnet Diagram 3 If multiple magnet way...

Page 10: ...Precision 5 mm dowel pins in the stage base are recommended to position the magnet way s accurately Two dowels are required for each magnet way NOTE Typically the coil assembly and the encoder reader...

Page 11: ...bly to the slide Push the slide to one end of travel to clear the first magnet way location 3 Install the first magnet way assembly on the 5 mm locating dowel pins of the table s mounting surface The...

Page 12: ...Installation Danaher Motion Kollmorgen Figure 1 Multiple Magnet Diagram 6 05 07 M LN 016 0702 Rev D...

Page 13: ...agnetic shim material slightly larger than the coil surface on the magnet plate For ICD use a 0 028 inch 0 7 mm shim Carefully place the coil assembly on top of the shim so that the coil assembly is s...

Page 14: ...y and magnet channel 2 Check the parallelism of the magnet way mounting surface to the coil slide travel The TIR of the surface must be within 0 005 in to provide working clearance between the magnet...

Page 15: ...0 mm magnet ways and 0 010 to 0 015 inch for all smaller sizes 5 The shims used for the setup clearance dimension between the top of the magnet way and the coil should be 0 050 inch See the Figure 3 I...

Page 16: ...Installation Danaher Motion Kollmorgen 10 05 07 M LN 016 0702 Rev D Figure 4 Typical Bottom Mounting Installation Diagram Figure 5 Typical Side Mounting Installation Diagram Figure 6 Cable Diagram...

Page 17: ...stor R Terminal PA28xx only C External Regen Resistor C Terminal PA28xx only On the PA28xx if an external regen resistor is not used the R and C terminals must be jumpered together If an external rege...

Page 18: ...2 Not Used 3 AC Logic Power In 3 3 SERVOSTAR CONNECTOR PINOUTS 3 3 1 SERVOSTAR TO SERIAL COMMUNICATION C1 This connector provides fault contact output that indicates the status of the DC Bus output B...

Page 19: ...female Feedback Connector C2 Pin Resolver Encoder 1 Sine High A 2 Sine Low A 3 Shield Shield 4 Cosine High B 5 Cosine Low B 6 Shield Shield 7 E5V Return 8 E5V Return 9 Hall 1 B 10 Hall 2 B 11 Hall 3 B...

Page 20: ...it Input IN1 10 CCW End Travel Limit Input IN2 11 IN3 12 O1 13 ANOUT 3 3 4 SERVOSTAR TO ENCODER EQUIVALENT OUTPUT C4 Connector type 9 pin D female Encoder Equivalent Output Connector C4 Pin Number Fun...

Page 21: ...le Connector TYPICAL CONNECTION 1 2 3 4 5 1 2 3 4 5 6 7 8 9 RXD TXQ 3 4 COMMON RS 232 SERIAL DEVICE PINOUTS Common RS 232 Serial Device Pinouts IBM PC IBM AT TERMINAL DEP01 DB 25 Male DB 9 Male DB 25...

Page 22: ...9 Pin D Encoder Connector 15 Pin D SubMiniature Pin 1 Pin 5 Pin 6 Pin 15 AC1 100 HYDRA Cable Thermal Connector 2 Pin Pin 1 Pin 2 Pin 9 Pin 5 Pin 1 Pin 6 Hall Effect Connector 9 Pin D THERMISTOR BLK W...

Page 23: ...B white wire 3 Ground the inputs to both channels and adjust the offset so that both channels are separated by one division 4 Set both inputs to DC 5 Set both channels of the scope to 2 volts divisio...

Page 24: ...Wiring Danaher Motion Kollmorgen 4 1 1 IRONCORE COMMUNICATION DIAGRAM 18 05 07 M LN 016 0702 Rev D...

Page 25: ...Danaher Motion Kollmorgen Wiring 4 1 2 IRONLESS COMMUNICATION DIAGRAM M LN 016 0702 Rev D 05 07 19...

Page 26: ...enable and disable the drive during setup and other tuning functions it is recommended that a drive enable switch be installed in the system This switch is a normally open single pole throw switch To...

Page 27: ...her directly through MOTIONLINK or through MotionSuite once communication with the controller is established following the steps outlined above For more details including graphics refer to the Install...

Page 28: ...ton to upload the motor data to the amplifier 15 Make any changes that are required Save your changes Click Close to return to the main Wizard screen 16 Check the PRD counter found under Feedback On t...

Page 29: ...the Setup Record tab verify the settings Enter the Sample Rate and the number of Samples 28 Select the Trigger Mode 29 Select the Pre Trigger Position 30 Select the Channels 31 Click the Setup Motion...

Page 30: ...in sufficient speed to damage the end stops and the entire stage The wood will stop the table before it gains speed 67 Measure the distance between the table and the end stops Allowing for 6 inches of...

Page 31: ...table moves smoothly this confirms that the stage has gone through an electrical cycle Type K and press Enter to disable the drive Type save and press Enter 8 For MENCTYPE 0 at the terminal screen typ...

Page 32: ...The encoder count direction is important because it has to be phased with the command signal to the drive Limit the current on the positioner to 10 of maximum Set the error limit to 1 inch and put the...

Page 33: ...Danaher Motion Kollmorgen Driver Integration M LN 016 0702 Rev D 05 07 27 Advance...

Page 34: ...command signal coming from the positioner to the SERVOSTAR either with an oscilloscope or through the positioner software 2 Keep increasing the MTANGLP value until the level of the command signal is...

Page 35: ...lloscope check pulse polarity on connector C2 Pin 15 should normally be low and go high when it crosses over the index pulse Pin 16 should normally be high and go low when it crosses over the index pu...

Page 36: ...his is the positive direction and store the waveform Compare the phase shift between the two waveforms The waveform on channel 2 should lag the waveform on channel 1 by 240 6 2 Motor and Hall Effect C...

Page 37: ...ct signal 6 2 3 HALL EFFECT AND MOTOR PHASING DIAGRAM CUSTOMER SUPPORT Danaher Motion products are available worldwide through an extensive authorized distributor network These distributors offer lite...

Page 38: ...onlink 23 Connect Motor 26 Integrating the Positioner 29 Power Motor 28 Set Stage Options 26 Setting SERVOSTAR Velocity Torque Angle Advance 31 Startup Wizard 23 Motionlink Questions 2 Motor Hall Effe...

Page 39: ...llmorgen 2 05 07 M LN 016 0702 Rev D SERVOSTAR to Serial Communication 12 SERVOSTAR to User I O 15 Standards iii System Wiring Diagram 18 T Troubleshooting 32 U Unpacking 2 W Warnings iii Wiring 19 Wi...