Home

Operating Instructions 221098E, V 7.5a

1. Since in this case the 0 V of the control supply voltage are connected to the 0 V of the digital inputs and outputs the opto isolation of the digital inputs and outputs becomes ineffective O When dimensioning the corresponding power supplies take into account the current consumption of the consumers connected to the digital inputs and outputs GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 51 Servoverst rker interne Schaltung Anschlussbeispiele externe Beschaltung Servo amplifier interior circuitry Connection example external wiring ext Netzger t power supply Schalter SPS PLC Transistor Switch 2 Eu 8 Eing nge Inputs 4 Ausg nge Outputs SPS PLC LED Relais Eingang m Er em Input E MNT 25 h V T 4 En BIN BEE GERNE BN 6730 0000 00B 054 LJ Figure 4 X7 Connection Example and Internal Circuitry 4 17 2 Digital Input Frei Enable At digital input Frei Enable the logic level for e 1 leads to enabled e 0 leads to disabled GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 52 Operating Instructions 221098E V 7 5a 08 05 A The meaning of enabled e g ready to accept a setpoint or start part pro gram and disabled can be set via the machine data Action e
2. potential free BTB Ready Permissible switching voltage 36 V AC DC a resolver standard Sincos Hiperface encoder high resolution Motor position sensor S incremental encoder or EnDat encoder options Encoder signals UO option 5 V push pull signals RS 422 or 24 V single ended Serial interfaces COM1 RS 232C or RS 485 not galvanically isolated max 115 200 Baud CANopen Profibus DP Interbus remote bus Field Bus optan according to DRIVECOM profile 22 Sercos in preparation 3 2 6 Control and Operating Modes GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 19 3 3 3 3 1 3 3 2 Design General Information The KMV servo amplifiers are manufactured in a compact design for being screwed on a mounting plate They have a metal housing Figure 1 page 16 shows the mounting dimensions of the amplifiers KMV 2 400 to KMV 8 400 The connections and LEDs for indicating the operating states are located on the front panel Ifthe amplifier is equipped with a fieldbus interface the correspond ing connectors and LEDs are located on the top of the device KMV servo amplifier KMV 4 400 and KMV 8 400 have one or two built in fans respectively which are supplied internally with the control voltage supplied from outside The fans do not run continuously but are switched on depending on the temperature A
3. overtemperature fault For connecting a motor temperature sensor please see section 5 8 page 58 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 3 C5 4 5 Input Sincos Hiperface Encoder Option R2 X3 R2 15 pin SUB D female connector X3 assignment for devices equipped with option R2 Pin Assignment 485 485 n z REFSIN 10 8V COS 12 REFCOS gt ol Z O Housg Connect cable shield via the SUB D housing The Sincos Hiperface encoder input is designed for Sincos Hiperface enco ders produced by Stegmann Motors with built in Sincos Hiperface encoders are available from Georgii Kobold For the differences between the types of motor position sensors option Rx please see section 3 4 3 page 21 I For connecting the Sincos Hiperface encoder see sections 5 11 and 5 11 2 page 60 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 34 Operating Instructions 221098E V 7 5a 08 05 4 6 Input High Resolution Incremental Encoder Option R3 X3 R3 15 pin SUB D female connector X3 assignment for devices equipped with option R3 RE reference signal Z1 track mental encoder 15 OV for supply voltage incremental encoder Connect cable shield via the SUB D housing The high resolution inc
4. 05 Coding Switches do not exist for the Interbus interface 415 Serial Interface COM1 for PC X5 9 pin SUB D female connector X5 Assignment RS 232C Standard Assignment RS 485 TO end data RxD receive data ADATA Do not use E HN EEE Ke 9 O Connect cable shield via the SUB D housing optional 5 V related to GND The standard assignment of this interface corresponds to RS 232 C levels If stated in the order it can alternatively be equipped with drivers for RS 485 levels by Georgii Kobold Additionally pin 6 can be assigned with 5 V on request in order to supply external communication electronics A suitable cable 3 m long for connecting the serial interface to a PC is included in the scope of delivery of SPP Windows For connecting a PC see section 5 14 page 62 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 SQ 4 16 Analog Inputs and Outputs X4 9 pin SUB D female connector Analog I O X4 Assignment 0 V for actual value 1 2 and auxiliary voltages 15 V output auxiliary voltage 15 V output auxiliary voltage 15 V analog input setpoint 1 analog input setpoint 1 RER analog input setpoint 2 7 analog input setpoint 2 analog output actual value 1 9 analog output actual value 2 Connect cable shield via the SUB D housing With the analog
5. 221071E Functions and Parameters included in the scope of delivery of the KMV servo amplifier Operating Instructions 221102E SPP Windows Command and Commissioning Software supplied with command and commissioning software SPP Windows as well as according to the equipment e Operating Instructions 221117E Part Program running motion sequences independent of a higher level controller supplied with the optional part program e Operating Instructions 221074E Communication Functions Interbus access to device functions via com munication interfaces COM1 and or Interbus supplied with the optional Interbus interface e Operating Instructions 221086E CANopen Interface supplied with the optional CANopen interface Operating Instructions 221106E Profibus DP Interface supplied with the optional Profibus DP interface O For the commissioning of the functions described in these operating instruc tions a PC with command and commissioning software SPP Windows is required Please make sure that this requirement is met and the above men tioned operating instructions are available GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 8 Operating Instructions 221098E V 7 5a 08 05 1 2 KMV Servo Drive Packages KMV servo drive packages consist of e an AC servo motor with integrated resolver Sincos Hiperface encoder high resolution incremental enc
6. 8 200 r p m Output voltage range 1 248 steps corresponding to 8 mV per step Output resistance R Voltage ripple 5 mV 8 kHz 40 mV 8 kHz 4 17 Digital Inputs and Outputs X7 15 pin Combicon connector X7 RM 3 81 Pin Designation Assignment Delivery State Standard 24 V I O 24 V DC input supply digital inputs outputs 0V I O 0 V supply digital inputs outputs Frei Enable digital input Enable 1 3 0 i not effective 11 0 digital input I 1 0 Clear fault 1 1 digital input 1 1 Pre pulse 11 2 digital input 1 2 l for free use 11 3 digital input 1 3 for free use 11 4 digital input 1 4 Enable saw 11 5 digital input 1 5 Start running back 11 6 digital input 1 6 l Measure position 11 7 digital input 1 7 for free use O 1 0 digital output O 1 0 Overload O 1 1 digital output O 1 1 Setpoint reached O12 digital output O 1 2 Position monitoring O 1 3 digital output O 1 3 Synchronized Apply saw Drive specific functions and signals can be assigned to the individual inputs and outputs by means of machine data Digital inputs signal and Digital outputs signal Alternatively inputs as well as outputs can be used freely If input Enable does not act on a drive specific function it can be used freely as 3 0 Via digital inputs and outputs the servo amplifier communicates with e sensors in the machine e g switches e actuators in the machine e g relays
7. Fax 49 0 7451 5394 30 www georgii kobold de 32 Operating Instructions 221098E V 7 5a 08 05 4 4 Input Resolver Option R1 X3 R1 15 pin SUB D female connector X3 assignment for devices equipped with R1 Pin T seignmen 1 Ee Excitation R2 Excitation R1 3 iege 4 Motor temperature sensor connected in parallel internally with the corresponding pin Motor Temp of Combicon connector X2 Sine S4 10 Cosine Cosine 1 T BEER ka 0 volt for motor temperature sensor connected in parallel internally with the corre sponding pin Motor Temp of Combicon connector X2 Connect cable shield via the SUB D housing The resolver input is designed for the standard servo drive type single pole pair resolvers with a transformation ratio of 1 0 5 The motors with resolver supplied by Georgii Kobold are equipped with match ing resolvers Other resolvers can only be installed after consultation with Georgii Kobold The adaptation of the control to other resolver signals can only be carried out by Georgii Kobold at extra charge For the differences between the types of motor position sensors option Rx please see section 3 4 3 page 21 For connecting the resolver see sections 5 11 and 5 11 1 page 60 Q If the motor does not have a temperature sensor the pins must be jumpered at one of the connectors Otherwise the amplifier would constantly report a motor
8. Operating Instructions 221098E V 7 5a 08 05 45 HEI KOBOLD Storung O fei Bereit Ready Uberlast O Ovarleed Bellest O Shunt X5 X8 Geber con Po Easter Signal Mv 170 av 170 FreifEnable 11 0 1g 11 2 11 5 x lt n x M H3 deal 10 muang Nandaneataraniladung gearen C Wait fer Capecitor Discharge BN 6741 0000 00B 050 Order number Dimension servo amplifier B H H H KMV 2 400 85 mm 275 mm 260 mm 255 mm KMV 4 400 KMV 8 400 95mm 305mm 290mm Figure 1 Mounting Dimensions Location of Connectors KMV 2 400 to KMV 8 400 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 17 3 2 4 Environmental Conditions Servo Amplifier KMV 2 400 KMV 4 400 KMV 8 400 Degree of protection IP20 according to EN 60529 Degree of pollution 2 according to EN 50178 Mounting height without current derating lt 1000 m above sea level Mounting height with current derating lt 2000 m above sea level 1 5 per 100 m above 1000 m Climatic category acc to DIN EN 50178 operation 3K3 storage 1K4 transport 2K3 Permissible ambient temperature 5 40 C 25 55 C 25 70 C Permissible relative humidity Observance of EMC limits according to emission first and second environment EN 61800 3 immunity first
9. V output is not short circuit proof For connecting the encoder signals see section 5 12 page 61 Details on input encoder signals can be found in section 3 4 5 page 25 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 37 4 9 Input Encoder Signals 24 V Option L2 X8 L2 9 pin SUB D male connector X8 assignment for devices equipped with option L2 Pin Assignment 2 0 V reference voltage for encoder signals and power supply for external motor posi tion sensor 24 V reference voltage for encoder signals and power supply for external motor position sensor 8 L Connect cable shield via the SUB D housing Input X8 L2 is equipped with an internal line receiver for single ended 24 V signals With it the KMV servo amplifier can process encoder signals Input encoder signals X8 L2 is not opto isolated An incremental encoder must be supplied with externally provided 24 V DC As this voltage is connected to pins 6 and 2 for reference the incremental encoder can be supplied via these pins For connecting the encoder signals see section 5 12 page 61 Details on input encoder signals can be found in section 3 4 5 page 25 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 38 Operating Instructions 221098E V 7 5a 08 05 410 Output Encoder Signa
10. and second environment Please note the hints for limited availability in section 2 6 page 11 3 2 5 Analog and Digital Inputs and Outputs Interfaces KMV 2 400 Analog UO Auxiliary voltage outputs 15 V and 15 V 4 Load capability of auxiliary voltages 10 mA each via PTC 125 Q short circuit proof Analog inputs 2 differential inputs freely configurable assignment e g setpoint speed torque limitation input resistance 20 kQ resolution 12 Bit Analog outputs 2 freely configurable short circuit proof u assignment speed current default setting Sera resolution 10 bit GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 18 Operating Instructions 221098E V 7 5a 08 05 Servo Amplifier KMV 2 400 KMV 4 400 KMV 8 400 Digital UO opto isolated switching towards positive PLC compatible Voltage supply from outside 24 V DC at 24 V I O O V I O 18 32 V DC Digital inputs 8 freely configurable LEE depending on the option for an example of an assignment see 9 section 4 17 page 49 voltage level 0 5 V for O low 12 30 V for 1 high Digital outputs 4 freely configurable short circuit proof depending on the option for an example of an assignment see section 4 17 page 49 assignment output resistance 62 Q PTC Relay output Ready
11. bus run on e on fault CAN term bus off sending or receiving faults have occurred too many times device separated from the bus For detailed information on option F2 CANopen interface see Operating Instructions 221086E CANopen Interface GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 43 4 13 Profibus DP Option F5 The Profibus DP interface is installed in the KMV servo amplifiers as a module option F5 It consists of one 9 pin SUB D connector located on the top side of the device Connection 9 pin SUB D female connector X14 F5 RxD TxD P B line receive send data plus Data transmission potential mass for 5V Supply of terminating resistors P5V RxD TxD N A line receive send data minus 7 Housg Shield Connect cable shield of incoming and outgoing Profibus cable via the housing of the Profibus SUB D connector on both sides After having plugged the Profibus connector on X14 screw the Profibus connector onto the SUB D connector of the servo ampli fier Pin assignment and signals of the 9 pin SUB D connector are designed accord ing to Profibus standard EN 50170 The bus connection is galvanically isolated from the Profibus DP controller by means of optocouplers N A bus terminator supplied with current via pins 5 and 6 can be installed in the connector on request Attention This 5 V
12. charging capacitor of the power supply unit maintains the voltage after switch off Before working at the device e wait for at least 2 minutes after having switched off Electronic devices are generally not fail safe The user has to make sure that e the drive is switched to a safe state in case of a break down of the device CE Marking The KMV servo amplifiers meet the requirements of e EMC Directive 89 336 EEC and Low Voltage Directive 73 23 EEC Thus they conform to the current EU regulations and have a CE marking The CE marking is only valid if e all installation and connection instructions have been observed exactly and e the requirements marked with the EMC symbol have been met If this is not possible you must have checked the facility in which the amplifiers are operated for compliance with the EMC limits on your own responsibility This is a product with limited availability according to EN 61800 3 Operation of this device can cause radio interferences in the residential environment first environment which might require appropriate action In this case please contact us GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 12 Operating Instructions 221098E V 7 5a 08 05 2 7 Preconditions for Commissioning In addition to the low voltage and EMC directives applicable to the servo ampli fier the machine directive 89 392 EEC applies as well Due to t
13. checking the change of the actual position with the SPP Windows software The actual position has to increase or decrease this depends on the direction of rotation by approximately 65 000 exactly 65 535 Other values indicate that the wiring is faulty or that a conversion factor has already been stored in the KMV servo amplifier via machine data parameter Position factor To continue connecting switch off the control supply voltage Connecting the Motor Power Proceed as follows for information on the connection of motor and motor choke see section 5 5 page 56 e connect the motor supply cable to the motor shield PE motor phases U V W GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 72 Operating Instructions 221098E V 7 5a 08 05 7 5 7 6 7 7 e connect the machine earth to the central zero point of the control cabinet e lay the motor supply cable separate from the encoder connection cable For longer motor supply cables see table in section 3 2 2 page 15 a motor choke is required see section 6 4 page 64 e Install the motor choke near the amplifier and connect the motor supply cable shield PE motor phases U V W e Connect shield and leads of the connection cable to the amplifier in the same way shielded max 1 m long Connection to the amplifier e Connect the motor supply cable to Combicon connect
14. crest value Power dissipation under rated conditions 3 15 AT fuse link 6 3 x 32 mm Pulse braking power 2 switch on duration 2 s 1 2 kW 670 V DC Shutdown threshold shunt resistor 630 V DC Usable shunt resistor external 62 220 Q 62 70Q Control supply protected against polarity reversal 10 ms without amplifier reset 450 mA 550 MA 21096 depending on motor position sensor Additional current consumption due to up to 50 mA 10 modular equipment plus position sensor power supply for option Lx GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 15 3 2 2 Line Side Fuses Cable Cross Sections and Lengths Motor supply cable shielded Minimum cable cross section 1 5 mm 1 5 mm External shunt resistor connection shielded Cable cross section others depending on the encoder type depending on the load see section 5 5 page 56 Cables available from Georgii Kobold are described in detail in section 6 page 63ff 3 2 3 Mounting Dimensions and Weight KMV 2 400 in control cabinet only vertical wall mounting Wit Height without mounting straps Height with mounting straps Depth without connectors Figure 1 shows the mounting dimensions of amplifiers KMV 2 400 to KMV 8 400 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 16
15. current limitation will be switched off with a delay of 1 s using a power relay If the shunt resistor fails or has not been connected because e the jumper for the internal shunt resistor has not been set e the external shunt resistor is missing or e the internal overload fuse has blown GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 28 Operating Instructions 221098E V 7 5a 08 05 the DC bus cannot be charged LED Bereit Ready flashes even ifthe power circuit is enabled however a fault is not reported In this case establish the connection to the internal or external shunt resistor or contact Georgii Kobold for an exchange of the internal overload fuse When the mains is switched off the current limiting circuit is activated as soon as the DC bus voltage is below the threshold value The time required for that depends on the power circuit state Power Circuit Motor Discharge Time off standing approx 5s o sm m appox0o85 lon ring jappox04s If these times are observed the mains can be switched off and on arbitrarily In rare cases a non observance of these times may lead to a damage at the rectifier Relay contact BTB Ready can be used for checking whether or not the DC bus voltage has fallen below the threshold value if this contact is open the current limiting circuit is activated For connecting the amplifier to th
16. e other controllers GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 50 Operating Instructions 221098E V 7 5a 08 05 The digital inputs and outputs of connector X7 e are opto isolated and e switch towards positive PLC compatible Plus is the externally supplied voltage 24 V I O at X7 see section 4 17 1 page 50 The outputs are channeled via PTC resistors and thus short circuit proof The logic levels are listed in the table in section 3 2 5 page 17 The delay times are e 3 ms typical at the inputs e 1 ms maximum at inputs O1 0 01 1 and O1 3 e 3 ms typical sporadically up to 10 ms at output 01 2 If an output operates a miniature relay the relay has to be e connected with the O V of the control supply O V I O at X7 see section 4 17 1 page 50 or e shunted by a diode Figure 4 shows the internal circuitry of connector X7 together with an example of a connection Section 3 2 5 page 17 provides general information on the technical specifica tions of inputs and outputs 4 17 1 24 V Supply of Digital Inputs and Outputs Through pins 24 V I O and 0 V I O the supply voltage 18 V DC to 32 V DC preferably 24 V DC for the digital inputs and outputs and the connected consumers is applied from outside This power supply may be e an independent power supply or e the power supply for the control supply voltage at X2
17. inputs and outputs setpoints can be defined and actual values can be output as analog voltages The inputs and outputs can be configured via the machine data Servoverst rker interne Schaltung Anschlussbeispiel externe Beschaltung Servo amplifier interior circuitry Connection example external wiring Solis J r Analog aw t Eingang Input EEN Soll1 Ausgange Outputs Ist Ausgang Soll 2 Hilfsspannung Output Analog auxiliary voltage Eingang Input 2 US r Soil 2 BN 6730 0000 00B 053 Figure 3 X4 Connection Example and Internal Circuitry GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 48 Operating Instructions 221098E V 7 5a 08 05 Figure 3 shows the internal circuitry of connector X4 together with an example of a connection Section 3 2 5 page 17 provides general information on the technical specifica tions of the inputs and outputs 4 16 1 Auxiliary Voltage Outputs 15 V 15 V The two auxiliary voltage outputs primarily serve for connecting an external setpoint potentiometer 10 kQ Please note that the setpoint input can handle only 10 V With an additional 10 kQ resistor in the wiper circuit drawn dash lined in fig 3 the full potentiometer control range can be used For loading the auxiliary voltages the voltage drop at the PTCs 125 Q has to be considered for maximum loading 10 mA the voltage drop is ap
18. motor position sensors can be used First of all check which version of the KMV servo amplifiers you are using R1 for connecting a resolver e R2 for connecting a Sincos Hiperface encoder single or multi turn e R3 for connecting a high resolution incremental encoder e R4 for connecting an EnDat encoder single or multi turn Then check whether or not the motor position sensor installed in the motor matches using your documents or the nameplate In case of a motor in special design please ensure also that the signal assignment of the encoder connec tion cable matches the signal assignment of the encoder connector at the motor If the equipment of the KMV servo amplifier or the signal assignment does not match the connected encoder parts of the servo amplifier or the encoder may be destroyed When connecting please proceed in the following order e switch off the control supply voltage connect the position sensor to connector X3 of the KMV servo amplifier for information on the connection see section 5 11 page 60ff When you switch on the control supply voltage again a fault should not be indicated LED Storung Fault is off LED Bereit Ready flashes Should a fault still be indicated first use the SPP Windows software to check what kind of fault it is In case of an encoder fault or a resolver fault check the connec tion Then check the function of the encoder by e turning the motor shaft manually e
19. of protection IP20 125 x 130 x 45 mm H x W x D Dimensions with straps and terminals Geh useh he housing height 45mm zum Motor to the motor WM 130 60 do al vom Verst rker W sw er AN from the amplifier py Ka BN 3857 2311 00A 050 Internal Choke Input Output The pins PE are connected to each other and to the housing Figure 6 Motor Choke GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 66 Operating Instructions 221098E V 7 5a 08 05 6 5 Encoder Connection Cables 535254 535270 and 535265 Encoder connection cable 535254 is suitable for connecting resolver and incremental encoder signals to X8 input encoder signals output encoder signals For connecting the Sincos Hiperface encoder 535270 should be used Encoder connection cable 535265 is suitable for connecting the high resolution incremental encoder Heidenhain ERN 1185 or ERN 1387 and the EnDat encoder Characteristics of the encoder connection cables 535254 535270 and 535265 by Georgii Kobold e 8 core twisted pair shielded 535254 additionally 2 core 535270 additionally 8 core 4 of them with extra shield 535265 e suitable as trailing cable Technical Specifications Encoder Connection Cable 535254 535270 5352606 Structure 4 pairs of cores 4 pairs of cores and 2 4 pairs of cores and 8 4x2x0 25 mm single
20. software control loop the regulated quantity is the frequency of the encoder sig nals At low values feedforward via speed leads to additional short pulses at output encoder signals These pulses will be corrected automatically with inverted pulses by the software control e Sincos Hiperface encoder R2 or EnDat encoder R4 as motor position sensor Depending on the resolution of the motor position sensor the resolution of the encoder signals is 512 or 2048 pulses per revolution The index pulse is not given e High resolution incremental encoder R3 as motor position sensor Depending on the resolution of the motor position sensor the resolution of the encoder signals is 512 or 2048 pulses per revolution The index pulse is given once per motor revolution Output encoder signals is designed as a module It can be installed by Georgii Kobold only subsequent installation on site is not possible The current consumption from the control voltage supply of the amplifier in creases by approximately 10 mA when equipped with option G1 or G2 The output is opto isolated Therefore it must be supplied with voltage by the receiver side Connector X8 for output encoder signals is described in sections 4 10 and 4 11 page 38ff For connecting the encoder signals see section 5 12 page 61 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instruc
21. the control cabinet e At the top of the rear side there is a strap with an opening for hooking into a M 4 bolt e At the bottom of the rear side there is another strap with two slots for addi tional fixing see figure 1 page 16 For mounting on a bare metal mounting plate see section 5 2 The KMV servo amplifier KMV 2 400 is convection cooled To ensure that the air can flow through housing and heat sink leave a clearance of e atleast 80 mm above and below the devices and e atleast 20 mm at both sides The KMV servo amplifiers KMV 4 400 and KMV 8 400 are equipped with a fan for active cooling To ensure that the air can flow undisturbed through housing and heat sink leave a clearance of e atleast 80 mm above and below the devices Several of those devices can be installed directly next to each other without lateral gaps between the devices Some millimeters of space facilitate installa tion and subsequent disassembly and assembly of individual devices GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 54 Operating Instructions 221098E V 7 5a 08 05 ext Netzger t power supply 24V pe Sicherheitskreis Safety circuit Vorsicherung Line side fuse Hauptsch tz GEZ Main contactor Netz Mains Motor Lagegeber position sensor NOOO ENT Option ext Batlastwiderstand shunt resistor
22. then have a drive specific function and cannot be used freely any longer The digital outputs are no relay outputs If e g an output shall control a brake an external relay is required GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 53 5 Installation and Connection Instructions EMC A 5 1 This section deals with the installation of the servo amplifier in a control cabinet and the establishment of the electrical connections Section 7 page 69ff describes how to proceed with the installation information on the various connectors can be found in section 4 page 27ff The values for the first and second environment according to EN 61800 3 regarding emission and immunity are kept within the EMC limits if the KMV drive package is connected according to the instructions given herein Only in this case the CE marking is valid If the connection instructions are not observed the facility in which the amplifier is operated has to be checked for compliance with the EMC limits at the cus tomer s own responsibility The connectors must not be plugged or unplugged while under voltage The current rush might destroy the contacts of the connector The connectors are intended for fixed connection only Figure 5 shows the connection instructions for connectors X1 to X3 and X6 Installation in the Control Cabinet Mounting in
23. to make sure that the cables are shielded and that interferences at inputs and outputs are suffi ciently suppressed so that there are no interferences in the drive system 7 8 Writing and Testing Part Programs Part programs options B2 and B3 should not be written and tested until all above mentioned steps have been carried out Part programs cannot run correctly unless the drive system is running in command mode and the machine data have been set correctly Further information can be found in Operating Instructions 221117E Part Program GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 74 Operating Instructions 221098E V 7 5a 08 05 Appendix Appendix A EC Declaration of Conformity GEORGII KOBOLD PED Rn en Certificate of Conformity Total Quality Certificate of Conformity In the sense of EC Directives Here with we confirm that the products Product GEORGII KOBOLD Type KMV X Series Digital Servo Amplifier KMV corresponds to the EC directives standards and regulations below and are designed for installation in a machine According to EC directive Machines commissioning is prohibited until it has been ascertained that the machine in which the above product is installed meets the provisions of the EC directive The requirements of the EC directives standards and regulations will only be met if the directions for installation and cabling given in
24. 21058010 described in the accessories see section 6 6 page 67 The internal resistor is not sufficient for that In most cases an external shunt resistor will be required for servo amplifier KMV 8 400 in normal operation as well due to the high current The resistor value for the external shunt resistor can be taken from the table in section 3 2 1 page 14 The load capability must be dimensioned according to the required braking power For connecting an external shunt resistor the jumper for the internal resistor has to be removed For further details see section 5 9 page 59 4 2 Motor X1 4 pin Combicon connector X2 RM 7 62 PE of the motor supply cable Motor U motor connection U Motor V motor connection V Motor W motor connection W Strain relief connect the cable shield using the strain relief The motor connector is earth fault and short circuit proof Only the AC servo motors with permanent magnets in the rotor synchronous servo motors supplied by Georgii Kobold can be connected Other motors can only be used after consultation with Georgii Kobold The adaptation of the control to other motors can only be carried out by Georgii Kobold at extra charge For connecting the motor to the amplifier see section 5 5 page 56 Recom mended cable cross sections are listed in the table in section 3 2 2 page 15 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold
25. 6 hardware version B Remarks concerning system accuracy with resolver p 23 impulse current resistance against mains off on p 28 voltage ripple of analog outputs Ist1 Ist2 p 49 Profibus DP references to SPP Windows references to ready assembled cables labeling fig 2 corrected 1 4 synchronize document styles 2004 01 29 V 7 5 KS MH for KMV firmware V 7 5 hardware version H Motor position sensor Sincos Hiperface and EnDat including the corresponding connections added descrip tion of fieldbus interfaces and section Drivers DLL Li braries and Program Examples completed standards updated new appendix Hardware Versions 2005 08 04 V 7 5a KS MH Prepared for OEM minor corrections 0 pdf Vorlagen GK 221098E 75a wpd Copyright by GEORGII KOBOLD GmbH amp Co KG 72160 Horb Germany All rights reserved including those of translation No part of these operating instructions may be copied reproduced stored or processed in an information system or transmitted in any other form without prior written permission by GEORGII KOBOLD GmbH amp Co KG These operating instructions have been prepared with care However GEORGII KOBOLD GmbH amp Co KG can accept no liability for any errors in these operating instructions or possible consequences Neither can any liability be accepted for direct or indirect damage resulting from abuse of the device The relevant regulations concerning safety technology and e
26. 94 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 21 e Operating mode flying shear Option B3 Special application with synchronization of two axes For a periodical posi tioning process during which the slave axis flying shear is temporarily synchronized with the master axis The slave axis receives position and speed settings of the master axis via an encoder input option Lx In practi cal operation the master axis typically ensures a continuous material flow and a tool actuated by the slave axis processes the material during the synchronous periods of time e g sawing cutting printing The desired operating mode can be selected from the possible operating modes via software one of the communication interfaces variable access or by means of appropriate programming in the part program Options Bx are designed as modules They can be installed by Georgii Kobold only Installation on site is not possible For further information on the different operating modes and the application of them please see Operating Instructions 221071E Functions and Parameters 3 4 3 Motor Position Sensor Options Rx KMV servo amplifiers support servo motors with four types of position sensors e R1 resolver standard e R2 Sincos Hiperface encoder single or multi turn R3 high resolution incremental encoder and e R4 EnDat encoder single or multi turn The servo drive is adjusted to the used e
27. C X5 2222222 s essen ernennen 46 4 16 Analog Inputs and Outputs GA 4 16 1 Auxiliary Voltage Outputs 15 V 15 V 2 2 2 4 16 2 Analog Inputs Setpoint1 Setpoint2 48 4 16 3 Analog Outputs Actual1 Actual2 48 4 17 Digital Inputs and Outputs DC 49 4 17 1 24V Supply of Digital Inputs and Outputs 4 17 2 Digital Input FreilEnable 0 0 0 4 17 3 Digital Inputs 11 010117 NENNT er 4 17 4 Digital OutputsO t toOo t sess 5 Installation and Connection Instructions 0 5 1 Installation in the Control Cabinet AA 5 2 Installation on a Mounting Plate 5 3 Potential Equalization Cables 1s vasa sus Eso ve RA NEFTEPTRRPYTS e EN Een 5 5 Motor Connection Power EE 5 6 Shield Connection Motor Supply Cable 5 7 Connection of Control Supply Voltage z24N aaan 5 8 Connection of the Motor Temperature Sensor 5 9 External Shunt Resistor sein nein ee ae 5 10 Shield Connection SUB D Connectors eee 5 11 Connection of a Motor Position Sensor 000200005 60 5 11 1 Connection of the Resolver 60 5 11 2 Connection of the Sincos Hiperface Encoder 60 5 11 3 Connection of the High Resolution Incremental Encoder 5 11 4 Connection of the EnDat Encoder 61 9 12 Connection of Encoder Signals NEEN 24242404 ob eee ar ee es 61 5 13 Setpoint Conne
28. GEORGII KOBOLD GmbH amp Co KG KMV Digital Servo Amplifier for Direct Mains Connection KMV 2 400 to KMV 8 400 Connection and Commissioning Operating Instructions 221098E V 7 5a 08 05 These operating instructions apply to e KMV servo amplifiers compact design KMV 2 400 to KMV 8 400 with built in power supply unit for AC power connection e Operation via personal computer with SPP Windows software e Access to device functions via communication interfaces e Accessories These operating instructions are applicable together with e Operating Instructions 221071E Functions and Parameters Operating Instructions 221102E SPP Windows Command and Commissioning Software and other operating instructions according to the equipment GEORGII KOBOLD GmbH amp Co KG Ihlinger Stra e 57 72160 Horb Federal Republic of Germany Phone 49 0 7451 5394 0 e Mail service georgii kobold de Fax 49 0 7451 5394 30 www georgii kobold de 2 Operating Instructions 221098E V 7 5a 08 05 Versions of the Document 1999 06 28 V5 1 MH for KMV firmware version 5 1 hardware version B new on the basis of 6710 202 V 5 1 1999 07 07 V5 1a MH Mains connection coding completed minor corrections 1999 08 26 V5 1b MH Connector X7 pin numbering corrected section 4 17 p 49 note relay required if brake has to be controlled appen dix C Firmware Versions completed minor corrections 2000 08 28 V 5 6 MH for KMV Firmware V 5
29. Gx Lx and Fx Details on the current consumption can be found in the corresponding sections The connector assignment is described in section 4 page 27ff the connection directions can be found in section 5 page 53ff 3 4 1 Mains Connection The servo amplifiers are equipped with the following mains connection e 400 V 3 phase corresponds to 560 V in the DC bus other voltages on request The power supply unit is installed by Georgii Kobold refitting by the customer is not possible Connector X6 for mains connection is described in section 4 1 page 27 For connecting the amplifier to the mains see section 5 4 page 56 3 4 2 Operating Modes Options Bx Depending on the equipment the KMV servo amplifier permits the following operating modes e Command mode B1 B2 B3 with torque speed or position control for direct control of axis motions via single commands of a higher level controller PLC PC electronic gearing the axis follows an externally specified position homing mode establishes a reference between actual axis position value and coordinate system of the machine e Program mode with positioning control 500 blocks options B2 B3 For running special programs so called part programs on the KMV servo amplifier With these part programs motion sequences can be executed independent of a higher level controller GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 53
30. OLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 6 Operating Instructions 221098E V 7 5a 08 05 Figures Figure 1 Mounting Dimensions Location of Connectors KMV 2 400 to KMV 8 400 16 Figure 2 X2 Connection Example and Internal Circuitry Figure 3 X4 Connection Example and Internal Circuitry Figure 4 X7 Connection Example and Internal Circuitry Figure 5 X1 to X3 and X6 Connection Instructions a Figure b Motor Choke cet au eu au as BALANG Ian ale bien kaaa RE EM Figure 7 External Shunt Resistor Dimensions and Permissible Mounting Positions Note Names and brand labels of software and hardware used in these operating instructions are generally governed by trademark registered trademark or patent GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 7 1 Preliminary Remarks 1 1 About this Description These Operating Instructions 221098E explain the connection and commission ing of KMV servo drives with built in power supply unit for direct connection to 3 x 400 V AC These operating instructions replace Operating Instructions 221095 KMV KTV Digital Servo Amplifier for Direct Mains Connection with respect to KMV 400 They are applicable together with Operating Instructions
31. Zentraler Nullpunkt im Schaltschrank Central zero point in the control cabinet PE BN 6740 0000 004 055 Figure 5 X1 to X3 and X6 Connection Instructions GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 55 5 2 Installation on a Mounting Plate For the installation of the amplifier on a mounting plate screw the amplifier EMC e with its bare metal housing e onto a bare metal e g zinc plated mounting plate For that the mounting plate has to be e earthed and therefore be e connected to the central zero point of the control cabinet via the potential equalization cable 5 3 Potential Equalization Cables Potential equalization cables originate in the central zero point of the control cabinet see figure 5 page 54 They e connect different zero points with one another at low resistance and reduce equalizing currents on the cable shield Thus they prevent electrical interferences The central zero point of the control cabinet is connected to the PE protective earth conductor This connection avoids an endangering of operating and maintenance personnel in case of electrical faults Due to leakage currents of the built in RFI filter the potential equalization cable from amplifier to central zero point must like the cable of the protective earth conductor in accordance with EN 50178 e either be routed double
32. able shield via the SUB D housing Output X8 G2 is equipped with an internal line receiver for single ended 24 V signals With it the KMV servo amplifier can output encoder signals Output encoder signals X8 G2 is opto isolated Therefore it must be supplied with 24 V by the receiver side The output is short circuit proof For connecting the encoder signals see section 5 12 page 61 Q The output data of the encoder signals number of pulses per revolution index pulse function depend on the motor position sensor used option Rx Please refer to section 3 4 4 page 23 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 40 Operating Instructions 221098E V 7 5a 08 05 4 12 CANopen Option F2 The CANopen interface is installed in the KMV servo amplifiers as a module option F2 It consists of two 9 pin SUB D connectors located on the top side of the device Connection X15 F2 CAN IN 9 pin SUB D male connector at the top side X14 F2 CAN OUT 9 pin SUB D female connector at the top side CAN_L bus line dominant low CAN ground Shield connection for special applications use only after consul tation with Georgii Kobold Connect cable shield via the SUB D housing Use metallized connector housings and install the cable shield over a large sur face After having plugged the connector housing on X15 X14 screw the connector housing onto the male or femal
33. amp e Establish a large area connection between shield and earth at the motor in a suitable manner e At that avoid earthing the shield using twirled strands pigtails of the shield braiding at all places The shields of the motor supply cable must not be interrupted If you have to install contactors switches or chokes in the motor supply cable e install them in a metal housing and connect a large area of the shield via the cable clamp as described above GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 58 Operating Instructions 221098E V 7 5a 08 05 5 7 A 5 8 A The motor chokes supplied by Georgii Kobold are mounted in suitable housings and equipped with cable clamps Connection of Control Supply Voltage 24 V The control supply voltage 24 V DC is connected at Combicon connector X2 see figure 5 page 54 The control supply voltage connector must not be plugged or unplugged while under voltage The current rush might destroy the contacts of the connector The connectors are intended for fixed connection only For fault free operation the control supply voltage must meet the requirements specified in the Technical Specifications see section 3 2 page 14 The control supply voltage should always be checked at maximum load Please remember that the load can change during operation e g when the power circuit is enabled I
34. asts for 12 months Delivery is based on the General Terms of Delivery for Products and Services of the Electrical Industry green terms of ZVEI German electrical and electronic manufacturers association In case of a defect as to quality the device is to be returned It is repaired in the works of the manufacturer free of charge or replaced at our discretion No other claims for damage which has not occurred in our device can be accepted No claims for indirect damage resulting from a malfunction of or defect in our device may be put forward GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 76 Operating Instructions 221098E V 7 5a 08 05 Appendix C Firmware Versions Relating to the Connection This section summarizes notes on changes in the firmware with references to the corresponding sections in the text The latest modifications are listed first If you have worked with a KMV servo amplifier with an older firmware before and have obtained a new KMV servo amplifier with a new firmware please observe all sections referring to changes between the two version numbers This appendix lists all firmware changes regarding the connection described in these operating instructions For further firmware modifications also see the respective appendices of the other operating instructions for KMV servo amplifi ers Changes from V 7 5 on e From this version on th
35. at PE bolt and mains connector or have a cable cross section of at least 10 mm Cu connect to PE bolt The other potential equalization cables must have a cross section of at least 2 5 mm or if possible 4 mm It is true Drives can be run without potential equalization cables without shielded cables and without compliance with safety regulations However this N e is contradictory to elementary safety requirements e violates statutory regulations e endangers the safety of persons e endangers the operational safety of the system e may lead to disturbances in the devices caused by other parts of the system e may lead to disturbances in other parts of the system caused by the devices GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 56 Operating Instructions 221098E V 7 5a 08 05 5 4 A A EMC 5 5 A Mains Connection The mains is connected directly at the servo amplifier via Combicon connector X6 see figure 5 page 54 The cable to the servo amplifier must have e a sufficient cross section and e a fixed connection also applies to transformers if installed Shield is not required The recommended line side fuse and cable cross sections are listed in the table in section 3 2 2 page 15 The mains connector must not be plugged or unplugged while under voltage The current rush might destroy the contacts of the connector The c
36. at encoder are available from Georgii Kobold EE To keep the supply voltage of the encoder at constant 5 V it is fed back to the amplifier via the measuring lead and the output voltage is re adjusted in the range between 5 V and 8 V For the differences between the types of motor position sensors option Rx please see section 3 4 3 page 21 For connecting an EnDat encoder see sections 5 11 page 60 and 5 11 4 page 61 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 36 Operating Instructions 221098E V 7 5a 08 05 4 8 Input Encoder Signals 5 V Option L1 X8 L1 9 pin SUB D male connector X8 assignment for devices equipped with option L1 Pin Assignment 0 V reference voltage for encoder signals and power supply for external motor posi tion sensor Ua1 channel A Ua2 channel B 5 V output power supply for external motor position sensor 2 4 Ua0 index pulse 6 E 7 Ua1 channel A 8 Ua2 channel B 9 Ua0 index pulse Connect cable shield via the SUB D housing Input X8 L1 is equipped with an internal RS 422 compatible line receiver for 5 V push pull signals With it the KMV servo amplifier can process encoder signals Input encoder signals X8 L1 is not opto isolated An incremental encoder can be supplied with current via pin 6 and 2 The maximally permissible current consumption is 200 mA Attention This 5
37. cores single cores 4x2x0 25 4x2x0 14 2x0 5 mm 4x0 14 4x0 5 mm Color coding RD BU GY PK GN GN BN GY PK BU RD BK GY PK YE YE WH BN VT RD BK WH BN VT BN GN BU BK GN BK RD BK YE BK WH BU WH GN BN GN Conductor Cu braiding stranded according to DIN VDE 0295 Cu tin coated class 6 or IEC 228 class 6 Total shield coverage approx 85 CuSn 216 x 0 10 mm braiding coverage approx 8596 Outer sheath Polyurethane Operating temperature fixed installation 50 to 90 C 50 to 90 C 40 to 80 C trailing use 30 to 80 C 30 to 80 C 10 to 80 C Min bending radius for single 40 5 mm 42 5 mm 40 mm bending fixed installation approx Min bending radius for cont 60 8 mm 63 8 mm 100 mm altern bending trailing use approx We also offer ready assembled cables If required please contact Georgii Kobold GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 67 6 6 External Shunt Resistor 021058010 According to section 4 1 2 page 28 an external shunt resistor might be re quired under certain circumstances For that you can use the external shunt resistor 021058010 by Georgii Kobold which is supplied ready for installation and connection in a zinc plated sheet metal housing IP20 with terminals and shield connection clamps The shield is connected via the metallic PG glan
38. coverage approx 90 coverage 100 Total shield coverage approx 85 Outer sheath Polyurethane orange low adhesion 11YM1 according to DIN VDE 0250 part 818 imprint black Operating temperature 50 to 90 C fixed installation 30 to 80 C trailing use Min bending radius for single 47 mm 58 mm 62 5 mm bending fixed installation approx Min bending radius for cont 70 5 mm 87 mm 93 8 mm altern bending trailing use approx We also offer ready assembled cables If required please contact Georgii Kobold 6 4 Motor Choke 038097010Z According to section 5 5 page 56 a motor choke triple choke is required depending on the cable length This is motor choke 038097010Z which is supplied ready for installation and connection in a zinc plated sheet metal housing IP20 with terminals and shield connection clamps N Under full load the motor choke can reach an operating temperature of more than 100 C For an adequate heat dissipation it must be screwed on a metal plate Figure 6 shows the mounting dimensions the connection note the connection of the shield and the marking of the terminals GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 65 Technical Specifications Motor Choke Triple Choke 038097010Z Design 3 single chokes in sheet metal housing with terminals and shield connection clamps Degree
39. ction nase deeg A 62 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 5 5 14 Ee e EE 62 6 Accessories Zus ep FORCE IH oe ob t oce 63 6 1 Available Accessories and Order Numbers 63 6 2 Connector Set 0991060102 e Na NG ve e yew eyed ee ru Rt hy RS 63 6 3 Motor Supply Cables 535246 535262 and 535260 6 4 Motor Choke 038097010Z arten naar en ee ab 64 6 5 Encoder Connection Cables 535254 535270 and 535265 66 6 6 External Shunt Resistor 021058010 a 6 7 Command and Commissioning Software SPP Windows 6 8 Drivers DLL Libraries and Example Programs 68 i COMMISSIONING EE 69 7 1 How to Proceed for Commissioning 69 7 2 Connecting the Control Supply Voltage First Test 7 3 Connecting the Motor Position Sensor 7 4 Connecting the Motor Power es an kB ey ere ee rm 7 5 Connecting the Amplifier to the Mains 7 6 Setting the Machine Data 7 7 Connecting Other Peripheral Devices 00022000 00s 7 8 Writing and Testing Part Programs Appendix Appendix A EC Declaration of Conformity Appendix B Terms of Warranty 000000 eee Appendix C Firmware Versions Relating to the Connection Appendix D Hardware Versions GEORGII KOB
40. d Figure 7 shows the mounting dimensions and the permissible mounting posi tions of the external shunt resistor Technical Specifications External Shunt Resistor 021058010 Load capability 600 W in sheet metal housing with terminals Degree of protection IP20 Dimensions with straps and terminals 120 x 486 x 922 mm H x W x D amp xLangloch oblong hole 6 5x 12 Zul ssige Einbaulagen permissible mounting positions senkrecht Klemmenkasten unten Vertical terminal box below waagerecht horizontal 7 EW 0600 0068 00A 002 Figure 7 External Shunt Resistor Dimensions and Permissible Mounting Positions O Please note that the machine data have to be adapted when using an external shunt resistor Detailed information can be found in Operating Instructions 221071E Functions and Parameters GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 68 Operating Instructions 221098E V 7 5a 08 05 6 7 6 8 Command and Commissioning Software SPP Windows Command and commissioning software SPP Windows supports the following functions Operating selecting operating modes switching on and off displaying actual values displaying and modifying setpoints e Commissioning by means of operating functions and integrated oscilloscope e Generating modifying saving and transmitting of machine data part program
41. dditionally they will be switched on for approx 1 minute after the shunt circuit has been activated LEDs On the front panel of the amplifier there are four LEDs displaying certain operating states The LEDs have the following meanings Color Display red Lit or flashing when the servo amplifier indicates a fault The fault is stored state fault the cause of the fault can be read out in the PC as fault code see Operating Instructions 221071E Functions and Parameters Continuous illumination indicates a drive fault flashing a pro gramming or parameterization error Bereit green Lit when the power circuit is ready state operation enabled Ready and the bus voltage is in the permissible range see page 31 Flashing in all other cases Uberlast yellow Lit when temporarily switched from peak current to continuous Overload current in the event of an overload Ballast yellow Lit when the shunt circuit is switched on to receive the energy Shunt returned when the motor is braked GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 20 Operating Instructions 221098E V 7 5a 08 05 3 4 Modular Equipment This section describes the various options of the KMV servo drives It is based on the type code in section 3 1 page 13 The current consumption from the control voltage supply of the servo amplifiers depends on the modular equipment Rx
42. de 30 Operating Instructions 221098E V 7 5a 08 05 4 3 Control Supply Voltage Ready Motor Temp Sensor X2 6 pin Combicon connector X2 RM 5 Pin Designation Assignment Control supply voltage 24 V DC For option R1 resolver this input is connected in parallel internally with the corresponding pins of connector X3 R1 The internal circuit of connector X2 and an example of a connection are shown in figure 2 Anschlussbeispiel externe Beschaltung Servoverst rker interne Schaltung Connection example external wiring Servo amplifier interior circuitry DC DC Wandler ext Netzger t Converter ext power supply 24Voc 26 V Sicherheitskreis Satety circuit Motor Temp Temp Sensor 4 Auswertung Evaluation X315 X35 BN 6730 0000 008 052 Figure 2 X2 Connection Example and Internal Circuitry 4 3 1 Control Supply Voltage The control supply voltage of 24 V DC powers the electronics and if installed the fan s of the KMV servo amplifiers inside the amplifier it is converted into voltages of 5 V 15 V and 15 V via DC DC converters The control supply voltage is potential free towards the amplifier GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 31 The control supply voltage input is protected against polarity reversal For connecting the control supply voltage see s
43. e SUB D con nector The two 9 pin SUB D connectors are assigned according to CANopen CiA DR 303 1 Cabling and Connector Pin Assignment The signals correspond to standard ISO 11898 The bus connection is galvanically isolated from the CAN controller by means of optocouplers With the CAN In and CAN OUT connectors the device can be connected to the bus without T connectors and stub lines Bus Lines Max permissible bus lengths total of all bus lengths 25 40 40 500 Cables corresponding to the following specifications must be used e shielded e twisted pair CAN L and CAN H twisted with one another e wave impedance 120 Q GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 41 e line resistance max 80 O km at a length of 15 m to max 25 O km at a length of 1000 m e cable cross section of at least 0 25 mm at a length of 15 m to at least 0 75 mm at a length of 1000 m Coding Switches e Coding switches S1 S2 for setting the Node ID Setting of the Node ID of the CANopen participant These are 4 bit coding switches by means of which the Node ID can be set in hexadecimal format S1 for the higher valued 4 bits S1 is located near the front panel S2 for the lower valued 4 bits Permissible setting range 01 7F hex Setting range 81 x FF is mapped on Node ID 01 7F Settings On
44. e firmware for TrioDrive D and KMV is identical Changes from V 7 3 on e Baud rate change over for COM1 baud rates up to 115200 possible e RS 485 interface is supported COM1 see section 4 15 page 46 prerequi site for that is hardware version E or newer Changes from V 7 2 on e EnDat encoders EnDat 2 1 are supported option R4 Changes from V 6 6 on e Actual speed value filtering is evaluated in the Motor blocking detection Changes from V 6 5 on e Sincos Hiperface encoders single and multi turn are supported option R2 Changes from V 6 3c on e High resolution incremental encoders ERN 1185 and ERN 1387 of Heidenhain with 2048 impulses revolution are supported Changes from V 6 0 on e Inputs 1 0 1 1 7 can be mapped freely on drive functions Changes from V 5 96c on e Earth fault detection Changes from V 5 4d on GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 77 e motors with speeds higher than 7000 r p m are supported Changes from V 5 4 on e 1 7 Position spindle for function spindle positioning Changes from V 5 1 on Drive specific assignment of the digital outputs changed see section 4 17 page 49 O 1 0 Overload instead of Fault O 1 2 Position monitoring instead of Brake O 1 3 Synchronized Apply saw instead of Position
45. e mains see section 5 4 page 56 The recommended line side fuses and cable cross sections are listed in the table in section 3 2 2 page 15 4 1 2 Shunt Resistor The servo amplifier is equipped with a shunt resistor that takes up energy returned by the motor The shunt resistor internal or external is protected against overload by hard and software e Under normal conditions a software monitoring protects the shunt resistor against overheating the amplifier signals fault overtemperature shunt resis tor e n case of a failure of the control system the internal overload fuse protects the shunt resistor from overheating Attention If the overload fuse has blown the DC bus cannot be charged again after the next switch on see preceding section The output for the shunt resistor is short circuit proof In case of a short circuit e shunt circuit and power circuit are switched off e the amplifier signals fault overvoltage in the shunt circuit In case of an earth fault at pin R the internal overload fuse link blows see above GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 29 Q Operation of the device as brake regulator in which the motor mainly has to work against an external torque in braking operation requires an external shunt resistor dimensioned for the appropriate power e g shunt resistor 0
46. e of the connection directions section 5 page 53ff is assumed How to Proceed for Commissioning For the first commissioning please proceed according to the steps described here in order to prevent damage to the devices or the driven machines and yet become acquainted with the device quickly In each case the next step must not be carried out unless the previous one has been completed successfully Connections may only be established or disconnected when the devices are switched off For commissioning the servo amplifier the motor should not be mounted at the machine yet but fixed properly otherwise It is essential to ensure that possible commissioning faults such as uncontrolled running of the motor at maximum speed or excessive acceleration cannot lead to an endangering of persons or damages to property The following steps must be carried out e Check equipment accessories operating instructions check the equipment of the device you wish to put into operation on the basis of sections 3 1 page 13 and 3 4 page 20 gain an overview of the accessories to be used on the basis of section 6 page 63 Of these accessories you require a PC with the command and commis sioning software SPP Windows as commissioning aid If you do not have this aid you cannot carry out the commissioning check the operating instructions for completeness under consideration of the included equipment and accessories on the basis o
47. ecting setpoint sources to pins Soll1 Soll1 and Soll2 Soll2 of SUB D connector X4 ensure proper earthing and shielding in order to avoid interferences at the amplifier input and the setpoint source Essential measure shielding of the setpoint cable e Earth the shield at the setpoint source e Connect the shield at the amplifier with the earthed amplifier housing using the metallized SUB D housing In particularly critical cases e install a potential equalization cable with a cross section of at least 2 5 mm in parallel with the setpoint cable in order to avoid sheath currents on the shield or e establish only a high frequency connection of the shield at the amplifier side using a low induction capacitor e g 10 nF 400 V Always use the differential input to prevent zero loops that is the coupling of interferences via input 0 V e Apply the setpoint at the Soll1 or Soll2 input e Connect input Soll1 or Soll2 respectively with the neutral conductor as near as possible to the setpoint source Details on the assignment of SUB D connector X4 and the setpoint inputs can be found in sections 4 16 and 4 16 2 page 47ff 5 14 PC Connection A PC personal computer with command and commissioning software SPP Windows is required for commissioning the KMV servo amplifiers For that a serial interface of the PC has to be connected to the serial interface COM1 connector X5 of the KMV servo amplifier For the conn
48. ection 5 7 page 58 4 3 2 Relay Contact BTB Ready The readiness of the KMV servo amplifiers is reported by a potential free relay contact via the two connections BTB Ready The following applies to this output e f the servo amplifier is not in state fault and the DC bus is within the permissible voltage range above the shutdown threshold undervoltage and below the shutdown threshold overvoltage the relay contact is closed e n all other cases if the servo amplifier is in state fault or if the DC bus is outside the permissible voltage range the relay contact is open The values for the shutdown thresholds can be found in the table in section 3 2 1 page 14 information on the load capability of this relay contact are listed in the table in section 3 2 5 page 17 4 3 8 Motor Temperature Sensor As temperature sensors e a thermo switch opening in the event of overheating or e a PTC resistor increasing its value to more than 2 KQ in the event of over heating can be used 0 If the motor does not have a temperature sensor the pins must be jumpered at one of the connectors Otherwise the amplifier would constantly report a motor overtemperature fault The motor temperature sensor is connected via Combicon connector X2 If a resolver option R1 is used as motor position sensor an alternative connection Via input X3 R1 is possible GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0
49. ection between PC and COM1 of the KMV servo amplifier a standard serial cable can be used in which the connectors with the same pin numbers are connected respectively A suitable cable 3 m long for connecting the serial interface to a PC is included in the scope of delivery of the SPP Win dows software For details on the assignment of interface COM1 X5 see section 4 15 page 46 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 63 6 Accessories 6 1 Available Accessories and Order Numbers Encoder connection cable for resolver and incremental encoder signals 8 cores 535254 twisted pairs shield Encoder connection cable for Sincos Hiperface encoders 8 cores twisted pairs 2 535270 cores shield Encoder connection cable for high resolution incremental encoders and EnDat en 535265 coders 8 cores twisted pairs 8 cores shield External shunt resistor 68 Q 600 W with housing IP20 021058010 Command and commissioning software SPP Windows for PC with Windows 95 98 290 007Z NT 4 0 2000 XP Drivers DLL libraries and example programs for PC with Win on request dows 95 98 NT 4 0 2000 XP also available as ready assembled cables 6 2 Connector Set 099106010Z Connector set 099106010Z contains the matching counterparts for all connec tors except for serial interface X5 for the standard versions of KMV se
50. et tings 7E pex and ZE ve are not permissible reserved for Profibus functions A bus address may be given only once in the network hex LEDs The state LEDs LD1 red LD2 green LD3 red and LD4 yellow of the Profibus module are located on the top side of Georgii Kobold amplifiers with Profibus interface These LEDs display the states of the Profibus DP interface communication Currently only LEDs LD1 LD2 and LD4 are used LD3 is intended for exten sions LD1 and LD2 have the following different basic functions e state display LD1 and LD2 are not flashing or flashing slowly approx 1 Hz the states of DP state machine and WD state machine are displayed e fault display LD1 and LD 2 are flashing quickly approx 3 5 Hz faults of the communication are displayed LD4 displays the state of the parameter communication For further information on option F5 Profibus DP interface see Operating Instructions 221106E Profibus DP interface GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 45 4 14 Interbus Option F6 The Interbus interface remote bus is installed in the KMV servo amplifiers as a module option F6 It consists of two 9 pin SUB D connectors located on the top side of the device Connection The assignment of X14 F6 and X15 F6 corresponds to the remote bus specifi cation of Phoenix C
51. ex and 80 are not permissible for these settings Node ID 1 has to be selected The setting of these switches is read in when the control supply voltage of the servo amplifier is switched on NMT service Reset Communication NMT service Reset Node The COB ID assignment depends on the set Node ID Q A Node ID may be given only once in the network e Coding switch S3 for setting the transmission rate The setting of these switches is read in when the control supply voltage of the servo amplifier is switched on NMT service Reset Communication NMT service Reset Node All bus participants must be set to the same transmission rate LEDs The state LEDs LD1 red and LD2 green of the CANopen module are located on the top side of Georgii Kobold amplifiers with CANopen interface GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 42 Operating Instructions 221098E V 7 5a 08 05 These LEDs display the states of the CANopen interface communication LD1 green displays the state in the NMT Node state diagram e flashing approx 2 Hz pre operational e permanently on operational LD2 red displays the state of the send and receive monitoring of the CAN controller of the KMV servo amplifier off OK CAN term error active e flashing 0 5 Hz warning CAN term error passive sending or receiving faults have occurred frequently device and
52. f section 1 1 page 7 e Learn the basics of mounting and connecting the device For that study at least the following sections of these operating instructions Safety Instructions section 2 page 9 Technical Specifications section 3 2 page 14 Design section 3 3 page 19 Assignment of the Connectors section 4 page 27 and Installation and Connection Directions section 5 page 53 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 70 Operating Instructions 221098E V 7 5a 08 05 7 2 e Learn the basics of the functions of the device For information on that see Operating Instructions 221072E Functions and Parameters Each of the following steps is dealt with in a separate section e Connecting the Control Supply Voltage First Test e Connecting the Motor Position Sensor resolver Sincos Hiperface encoder high resolution incremental encoder EnDat encoder e Connecting Motor and Mains e Setting the Machine Data e Connecting Other Peripheral Devices e Writing and Testing Part Programs Connecting the Control Supply Voltage First Test Connect the control supply voltage 24 V DC at connector X2 and switch it on Check the state of the LEDs after an initialization phase of some seconds e LED Storung Fault must be lit motor position sensor not connected LED Bereit Ready must be flashing power circuit no
53. for applications in which at least one of the following criteria must be met e high accuracy low speed ripple e absolute position sensing Sincos Hiperface or EnDat in multi turn design Two types of Sincos Hiperface encoders and EnDat encoders are avail able e Single turn design similar to the resolver the position is sensed within one revolution of the encoder e Multi turn design the position is sensed for 4096 revolutions in the encoder Note The travel distance of multi turn type Sincos Hiperface and EnDat encoders must not exceed 4096 revolutions of the motor Thus endless axes cannot be realized with multi turn type encoders With the resolution per revolution the entire positioning range results in 4096 65536 268 435 456 22 steps The high resolution incremental encoder passes a reference signal once per revolution Before passing the reference signal for the first time the position information of the rotor is determined using a second track Z1 track Until that the position information is still inaccurate see footnote of the following table Once the reference signal has been passed the position is determined using the incremental signals and the position information reaches the high accuracy stated in the following table GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 23 Motor Pos
54. g encoder connection cable 535265 specified in the accessories for further details see section 6 5 page 66 5 11 4 Connection of the EnDat Encoder For connecting the EnDat encoder option R4 to the corresponding connector X3 R4 use e a shielded cable with twisted pair leads for the signals A A B B CLOCK CLOCK DATA DATA e g encoder connection cable 535265 specified in the accessories for further details see section 6 5 page 66 5 12 Connection of Encoder Signals When connecting incremental encoder signals to connector X8 please observe e for the 5 Volt version options G1 L1 choose twisted pairs for each channel e use a shielded cable e g encoder connection cable 535254 specified in the accessories for further details see section 6 5 page 66ff e connect the shield at the amplifier to the earthed amplifier housing using the metallized SUB D housing e earth the shield additionally at the controller follow the recommendations of the manufacturer of the controller regarding earthing and shield connection Information on options Gx and Lx for encoder signals can be found in sections 3 4 4 and 3 4 5 page 23ff For details on the assignment of Combicon connec tor X8 see sections 4 8 to 4 11 page 36ff GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 62 Operating Instructions 221098E V 7 5a 08 05 5 13 Setpoint Connection EMC When conn
55. hat it is also applicable to the final product the machine in which the servo amplifier is operated That means it must be fulfilled by the machine manufacturer N Commissioning is prohibited until the requirements of the machine directive have been met GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 13 3 Description of the Device 3 1 Type Code The type code clearly identifies amplifiers equipped in a certain way It is also applicable to device variants not described in these operating instructions example KMV 2 400HA1HB2HR1 G1 F1 Sx Continuous output current 2 output current 2 Ay 4 output current 4 A 8 output current 8 Ay Mains connection and DC bus voltage 400 mains connection 400 V 3 phase corresponds to 560 V DC bus voltage Digital inputs outputs A1 8 inputs 4 outputs 24 V standard AK customer specific Operating modes B1 command mode with torque speed or position control standard setting of torque speed via analog or communication interfaces setting position via communication inter faces B2 as B1 additionally program mode with positioning control 500 blocks B3 as B2 additionally operating mode Flying shear Motor position sensor R1 resolver standard R2 sincos encoder available for Motor KSY 3 or larger single or multi turn R3 high resolution incremental encoder He
56. hunt resistor as well Please note that the machine data have to be adapted when using an external shunt resistor Detailed information can be found in Operating Instructions 221071E Functions and Parameters 5 10 Shield Connection SUB D Connectors EMC These explanations for shield and shield connection apply to the following sections Use only shielded cables The housings of the SUB D connectors are metallized There a low resistance connection between shield and housing is made via the strain relief GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 60 Operating Instructions 221098E V 7 5a 08 05 With that you achieve the necessary large area earth connection for the shield and avoid earthing the shield using twirled strands pigtails of the shield braid ing 5 11 Connection of a Motor Position Sensor The cable to the motor position sensor options Rx must be e laid separately from the motor supply cable and 0 e connected exactly according to the instructions otherwise the motor blocks the motor runs unsmoothly the motor runs with a lower torque the motor runs uncontrolled at full speed or the servo amplifier reports a fault IN This does not damage motor or amplifier but may endanger machine and commissioning personnel When connecting the shield please observe the following e Connect the shield of the encoder connec
57. i bility Check Prior to commissioning and in case of failures or problems check these items first Tip useful hint 2 2 Qualified Personnel AN The servo amplifiers work with dangerous voltages Contact with voltage carry ing parts can damage your health seriously Therefore only trained qualified personnel with knowledge in the fields of EMC KR automation systems handling of dangerous voltages standards and regulations such as EMC Directive 89 336 EEC Low Voltage Directive 73 23 EEC Machine Directive 89 392 EEC VDE regulations such as DIN VDE 0100 DIN EN 60204 DIN EN 50178 safety rules may install commission GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 2 3 2 4 e maintain and e service these devices They have to read these operating instructions carefully in advance and to observe the safety instructions permanently while working Use for the Intended Purpose The servo amplifiers have been developed manufactured tested and docu mented in accordance with the relevant standards If used for the intended purpose the devices do not cause any danger to persons or property Use for the intended purpose requires that the device should be used only in the man ner described here and that the safety regulations mentioned should be ad hered to When u
58. idenhain R4 EnDat encoder single or multi turn RK customer specific Output or input encoder signals options Gx and Lx exclude each other they use the same connector s 2 Eg Output encoder signals encoder emulation G1 incremental encoder output 5 V push pull signals RS 422 G2 incremental encoder output 24 V Input encoder signals for axis coupling synchronization el gearing external position encoder or pilot frequency incremental encoder signals pulse direction signals on request L1 signal level 5 V push pull signals RS 422 L2 signal level 24 V Fieldbus connection F2 CANopen CAN according to CANopen standards and DRIVECOM profile 22 F5 Profibus DP according to DRIVECOM profile 22 F6 Interbus remote bus according to DRIVECOM profile 22 Special equipment customization Number mechanical special equipment Letter electrical special equipment FIRE Devices KMV 230 for mains connection 230 V single phase are replaced by KTV 230 and are not available any more For further details on the equipment please see section 3 4 page 20 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 14 Operating Instructions 221098E V 7 5a 08 05 3 2 Technical Specifications 3 2 1 Electrical Specifications 380 V DC power circuit enabled 480 V DC power circuit disabled Motor output Maximum continuous current rms Max peak current for 2 sec
59. ition Resolver R1 Sincos Hiper High Resolution EnDat Encoder Sensor System face Encoder Incremental En R4 R2 coder R3 Max operating speed 10 000 r p m 12 000 r p m 9 000 r p m Revolutions measured 1 1 4096 1 1 4096 absolute ane TC 0 Resolution software steps re 65536 volution 15 60 80 60 512 System 20 2048 accurac Resolution output en coder signals option 50 to 1024 According to the resolution of the motor position sensor Gx steps revolution 512 or 2048 per track Zero pulse output en coder signals option yes no yes no Gx Endless axes possible yes yes no yes yes no Current consumption of 500 mA 10 500 mA 10 550 mA 10 450 mA 10 the amplifier Higher speeds on request Prerequisite resolver has an accuracy of at least 10 Before having passed the reference signal for the first time the position accuracy is 5 After the first revolution of the rotor at the latest the stated accuracy will be reached From the control voltage supply at full load without connected consumers and other options The current consumption can be considerably lower e g when the power circuit is disabled Also see the table in section 3 2 1 page 14 Motor position sensor connector X3 is described in sections 4 4 resolver 4 5 Sincos Hiperface encoder 4 6 high resolution incremental encoder and 4 6 EnDat encoder from page 32 on For connecting a m
60. lectromagnetic compatibility must be complied with when using the device Subject to alteration GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 3 Contents 1 Preliminary Remarks 1 1 About this Description WEEN 1 2 KMV Servo Drive Packages EE 8 2 Safety Instructions 9 2 1 Type of Instructions as Lites dita e itta Leve sv VE EP EIN pl 2 2 Qualitied Personnel tert ee ene ee ee pl 2 3 Use for the Intended Purpose 0 0 2 00 ccc eee ees 10 24 Protective ES gs cx rencout on Brennen 10 2 5 Hazard Warnings EE Da a a NG Kao NG foe 11 EE E nl OR 2 7 Preconditions Tor Commissioning 5 s 55 x mex m o m eC m e a 12 3 Description of the Device gett heran ee 13 CS MESI eoo correi rinni eeta eE KARERE E EOE TP 13 3 2 Technical Specifications antrat ra 14 3 2 1 Electrical Specifications i a area 14 3 2 2 Line Side Fuses Cable Cross Sections and Lengths 3 2 3 Mounting Dimensions and Weight 3 2 4 Environmental Conditions 3 2 5 Analog and Digital Inputs and Outputs Interfaces 3 2 6 Control and Operating Modes 9S3 IDESION Ae S E E ee ee 19 3 4 Modular EI E EE 20 3 4 1 Mains Connection cues RANA EE EEN 20 3 4 2 Operating Modes Options Bx naaa anaana aaae 3 4 3 Motor Position Sensor Options Rx 27 3 4 4 Output Encoder Signals Opti
61. ls 5 V Option G1 X8 G1 9 pin SUB D male connector X8 assignment for devices equipped with option G1 Pin Assignment 0 V reference voltage for encoder signals and power supply pin 6 Ua1 channel A Ua2 channel B Ua0 index pulse 5 V input power supply for output encoder signals Ua1 channel A Ua2 channel B Ua0 index pulse Housg Connect cable shield via the SUB D housing Output X8 G1 is equipped with an internal RS 422 compatible line receiver for 5 V push pull signals With it the KMV servo amplifier can output encoder signals Output encoder signals X8 G1 is opto isolated Therefore it must be supplied with 5 V by the receiver side For connecting the encoder signals see section 5 12 page 61 0 The output data of the encoder signals number of pulses per revolution index pulse function depend on the motor position sensor used option Rx Please refer to section 3 4 4 page 23 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de e Operating Instructions 221098E V 7 5a 08 05 3 4 11 Output Encoder Signals 24 V Option G2 X8 G2 9 pin SUB D male connector X8 assignment for devices equipped with option G2 Pin Assignment 0 V reference voltage for encoder signals and power supply pin 6 Ua1 channel A Ua2 channel B Ua0 index pulse 24 V input power supply for output encoder signals Housg Connect c
62. nable inactive active Disabling via digital input Frei Enable does not meet the safety requirements of the machine directive If an emergency stop or safety shutdown is required the safety requirements of the machine directive must be observed under any circumstances If input Frei Enable is set to no action no action via parameter Action enable inactive active this input can be used freely as 3 0 4 17 3 Digital Inputs I 1 0 to 1 7 A These inputs can be used freely They can be queried by the part program or a higher level controller via the communication interfaces Via the machine data the inputs can be configured individually in a way that a drive specific assignment is activated e g Limit switch They then have a drive specific function and cannot be used freely any longer The use of digital inputs for stopping the drive e g as limit switch does not meet the safety requirements of the machine directive If an emergency stop or safety shutdown is required the safety requirements of the machine direc tive must be observed under any circumstances 4 17 4 Digital Outputs O 1 0 to O 1 3 These outputs can be used freely They can be set or reset by the part program or a higher level controller via the communication interfaces Via the machine data the outputs can be configured individually in a way that a drive specific assignment is activated e g Overload They
63. ncoder via a module installed in the KMV servo amplifier ex works Therefore the type of motor position sensor must be specified when ordering the motor as well as when ordering the servo amplifier The position is determined in the position sensor e within one revolution with resolver Sincos Hiperface encoder single turn high resolution incremental encoder and EnDat encoder single turn For multiple revolutions it is listed in a software counter in the KMV servo amplifier That means for positioning modes the home position has to be determined after each switch off and switch on of the control supply voltage in order to determine the absolute position of the axis e for 4096 revolutions with Sincos Hiperface and EnDat encoder multi turn The position is read out from the encoder after each switch off and switch on of the control supply voltage so that going to home position is not required GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 22 Operating Instructions 221098E V 7 5a 08 05 Resolvers are used as standard option R1 The resolver input is dimensioned for the standard servo drive type single pole pair resolvers with a transformation ratio of 1 0 5 The excitation voltage is 7 V 8 kHz short circuit proof at an excitation frequency of rms Sincos Hiperface encoders high resolution incremental encoders and EnDat encoders are intended
64. nformation on the assignment of Combicon connector X2 and the control supply voltage can be found in sections 4 3 and 4 3 1 page 30ff Connection of the Motor Temperature Sensor The motor temperature sensor is connected e usually at connector X3 R1 of the motor position sensor with option R1 resolver It can also be connected at Combicon connector X2 the corre sponding pins of the two connectors are internally connected in parallel e at Combicon connector X2 with options R2 Sincos Hiperface encoder R3 high resolution incremental encoder and R4 EnDat encoder If the leads to the motor temperature sensor are routed within the motor supply cable or the encoder connection cable these leads must have a shield of their own Connect the shield at the KMV amplifier side only As temperature sensors can be used e a thermo switch opening in the event of overheating or e a PTC resistor increasing its value to more than 2 KQ in the event of over heating If the motor does not have a temperature sensor the pins have to be jumpered at one of the connectors Otherwise the amplifier would constantly signal a motor overtemperature fault When connecting a motor temperature sensor you must ensure that it is not rendered ineffective by a jumper at the pins connected in parallel internally at the second connector for option R1 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii k
65. nnectors This section describes the assignment of the connectors The connection instructions can be found in section 5 page 53ff For information on the equip ment see section 3 4 page 20ff The connector assignments may vary depending on the equipment of the device For example connector X3 for the motor position sensor can be de signed for a resolver option R1 a Sincos Hiperface encoder option R2 a high resolution incremental encoder option R3 or an EnDat encoder option R4 Therefore the designation of the connector e g X3 is supplemented in these operating instructions by the designation of the option e g X3 R1 to which the specified assignment applies 4 1 Mains Connection and Shunt Resistor X6 7 pin Combicon connector X6 RM 7 62 Pin Designation Assignment Rox Either connect external shunt resistor between Rex and R or 6 Re install jumper from R to R Standard with jumper installed by a Mains protective earth conductor Mains phase 3 Mains phase 2 Mains phase 1 Strain relief If an external shunt resistor is used connect the cable shield us ing the strain relief 4 1 1 Mains Connection Connector X6 is equipped with a coding so that it cannot be mixed up with older devices with single phase mains connector To limit the inrush current the DC bus is charged via the shunt resistor internal or external see next section After exceeding the threshold value of 480 V DC the
66. ns 221098E V 7 5a 08 05 57 A A 5 6 e more than 5 m KMV 2 400 at permanent operation at full current e more than 10 m KMV 2 400 at approx 50 mean load more than 15 m KMV 4 400 KMV 8 400 a motor choke triple choke must be installed in the motor supply cable For that the following applies e A motor choke according to section 6 4 page 64 must be used e The motor choke must be mounted near the servo amplifier e The connecting cable between motor choke and servo amplifier must not be longer than 1 m and must also be shielded e The shield must be connected according to section 5 6 Note the maximum cable lengths in section 3 2 2 page 15 Under full load the motor choke can reach an operating temperature of more than 100 C For an adequate heat dissipation it must be screwed on a metal plate The 3 motor phases must be connected with the correct assignments otherwise e the motor blocks e the motor runs unsmoothly e the motor runs with a lower torque or e the motor runs uncontrolled at full speed This does not damage motor or amplifier but may endanger machine and commissioning personnel Shield Connection Motor Supply Cable A cable clamp for the shielded motor supply cable is provided on the amplifier Usethis to establish a large area connection between shield and housing by folding back the strands of the shield over the cable insulation and securing the strands using the cable cl
67. obold de Operating Instructions 221098E V 7 5a 08 05 59 5 9 EMC Information on the assignment of Combicon connector X2 and the connection motor temperature sensor can be found in sections 4 3 and 4 3 3 page 30ff External Shunt Resistor If you would like to connect an external shunt resistor to Combicon connector X6 instead of an internal one and R connect the external resistor to connections R and R e remove the jumper between R int e connect the PE of the shunt resistor cable to the corresponding PE bolt see figure 5 page 54 The external shunt resistor must be installed in an earthed metal housing e in order to avoid emissions and e as a protection against contact with live parts and the hot resistor Use e g shunt resistor 021058010 described in the accessories see section 6 6 page 67 The external shunt resistor becomes very hot during operation Therefore it should be mounted outside the control cabinet Pay attention to the degree of protection of the resistor Recommended cross sections for the shunt resistor cables are listed in the table in section 3 2 2 page 15 A cable clamp for the shielded cable is provided on the amplifier Use this to establish a large area connection between shield and housing by folding back the strands of the shield over the cable insulation and securing the strands using the cable clamp Establish the shield in the same way at the s
68. oder or EnDat encoder as motor position sensor and a digital servo amplifier with built in power supply unit These operating instructions describe e the servo amplifiers e the connection e the accessories and e the commissioning The series described here includes e amplifiers for 3 different currents 2 A m to 8 A options with different equipment rms rms GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 9 2 Safety Instructions 2 1 Type of Instructions The warnings instructions and hints in the margin must be observed under any circumstances IN C IN gt EMC Danger to health and life due to electrical shock or motion of the drive When disconnecting the device from the mains wait for at least 2 minutes until the DC bus capacitors have discharged before carrying out the measure de scribed Caution Noncompliance violates the safety regulations or statutory provi sions and can lead to personal injury or material damage The CE marking requires compliance with the EMC limits for the first and second environment according to EN 61800 3 regarding emission and immunity The instructions marked with this symbol must be observed by all means Otherwise the facility in which the amplifier is operated has to be checked for compliance with the EMC limits at the customer s own respons
69. onnectors are intended for fixed connection only The EMC limits for the first and second environment according to EN 61800 3 regarding e emission and e immunity are not exceeded with the filters installed in the servo amplifier if all connections are made in accordance with section 5 Please note the remark regarding limited availability in section 2 6 page 11 Motor Connection Power The motor is connected at Combicon connector X1 by means of a 4 core shielded cable see figure 5 page 54 Connect the shield as described in the following section e Connect the machine earth to the central zero point of the control cabinet using a potential equalization cable with a cross section of 10 mm Use the motor supply cable specified in the accessories for further details see section 6 3 page 63 The cable cross section must be in accordance with the mains connection cable for that please refer to the table in section 3 2 2 page 15 The motor connector must not be plugged or unplugged while under voltage The current rush might destroy the contacts of the connector The connectors are intended for fixed connection only The capacitive load caused by the motor supply cable is an additional load for the amplifier This load is reduced by means of a choke For motor supply cable lengths of GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructio
70. ons Gs 23 3 4 5 Input Encoder Signals Options vi 3 4 6 Fieldbus Options FX s io dre KANA MG BANGLA KANA ka 4 Assignment of Connectors 2 eee 4 1 Mains Connection and Shunt Resistor G 41 1 Mains Connection EE 4 1 2 SHUNT RESISION EE EES 23 22 MOOD aid ee ede ee ee ee se E E 29 4 3 Control Supply Voltage Ready Motor Temp Sensor X2 4 3 1 Control Supply Voltage 0 0 000 cece ees 30 4 3 2 Relay Contact BTB Ready 000000 ce eee 37 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 4 Operating Instructions 221098E V 7 5a 08 05 4 3 3 Motor Temperature Sensor a 37 4 4 Input Resolver Option R1 X3 R1 2 222222 neeeene ee 32 4 5 Input Sincos Hiperface Encoder Option R2 X3 R2 4 6 Input High Resolution Incremental Encoder Option R3 X3 R3 34 4 7 Input EnDat Encoder Option R4 X3 R4 a 4 8 Input Encoder Signals 5 V Option L1 X8 L1 aa 36 4 9 Input Encoder Signals 24 V Option L2 X8 L2 0A 4 10 Output Encoder Signals 5 V Option G1 X8 G1 38 4 11 Output Encoder Signals 24 V Option G2 X8 G2 39 4 12 CANopen Option F2 6 de Da EE 40 4 13 Profibus DP Option F5 saka gad a maka ER ger ege ege 4 14 Interbus Option F6 23 2 2 Atak baat II Bar 4 15 Serial Interface COM1 for P
71. ontact Connection with further Interbus participants has to be carried out by means of remote bus cables according to the specifications of the Interbus installation manual IBS SYS INST UM X14 F6 Interbus IN 9 pin SUB D male connector at the top side X15 F6 Interbus OUT 9 pin SUB D female connector at the top side Data out Reference conductor Data out inverted Data in inverted Connector identification signal at X15 not assigned at X14 Connect cable shield via the SUB D housing LEDs Five LEDs are located on the top side of Georgii Kobold amplifiers with Interbus interface e green with designation Ready for the SuPI operating voltage display e green with designation CC Cable Check for monitoring the bus activity on layer 1 of the incoming bus lit when the cable connection is okay and the fieldbus module is not in reset becomes inactive in case of an Interbus or power reset e green with designation BA Bus Activity for displaying the bus activity on layer 2 e red with designation RD Remotebus Disable displays the switch off of the remote bus statically this LED is lit in state Interbus Reset e green with designation TR Transmit Receive PCP transmission this LED becomes active in case of a PCP communication via Interbus GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 46 Operating Instructions 221098E V 7 5a 08
72. or X1 of the KMV servo amplifier shield PE motor phases U V W Pay attention to the correct assignment of the motor phases Connecting the Amplifier to the Mains Connect the device to the central zero point of the control cabinet using a suitable potential equalization cable see section 5 3 page 55 Connect the amplifier to the mains as follows for information on the connection see section 5 4 page 56 e Connect the supply cable to Combicon connector X6 of the KMV servo amplifier shielding is not required e Make sure that at Combicon connector X6 either the internal shunt resistor is activated by a jumper at R R or that an external shunt resistor is con nected to R R Setting the Machine Data For setting the machine data follow the instructions of Operating Instructions 221071E Functions and Parameters Connecting Other Peripheral Devices After the drive system has been put into operation in accordance with the above sections further peripheral devices can be connected to the KMV servo ampli fier When connecting further peripheral devices ensure that the voltage supply of the control supply voltage is not overloaded and that 24 volts are still available for the basic device GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 73 When connecting other peripheral devices it is also important
73. otor position sensor see section 5 11 page 60ff 3 44 Output Encoder Signals Options Gx Encoder signals actually incremental encoder signals are either generated by the KMV servo amplifier output encoder signals option G1 or G2 or can be processed with it input encoder signals option L1 or L2 Both options use the same connector X8 and therefore exclude each other GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 24 Operating Instructions 221098E V 7 5a 08 05 Via output encoder signals the position of the driven axes can be transmitted to other controllers or coupled axes in the form of incremental encoder signals incremental encoder simulation Output encoder signals can be realized as follows e GO not connected standard e G1 incremental encoder output 5 V push pull signals RS 422 e G2 incremental encoder output 24 V The resolution of the encoder signals and the function of the index pulse de pend on the motor position sensor used option Rx see section 3 4 3 page 21 e Resolver R1 as motor position sensor The resolution of the encoder signals can be set between 50 and 1024 pulses per revolution by means of the machine data The index pulse is given once per motor revolution the position of the index pulse can be shifted by means of the machine data The position sensed by the resolver serves as setpoint for a
74. output is not short circuit proof Bus Lines 0 Max permissible line lengths at different transmission rates maximum lengths of a Profibus segment without repeater Transmission rate kBit s Bus length m The baud rate is sensed automatically Q Cables corresponding to the following specifications must be used e Profibus cable according to cable type A according to EN 50170 e wave impedance 135 165 Q 3 20 MHz GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 44 Operating Instructions 221098E V 7 5a 08 05 e capacitance unit length lt 30 pF m e loop resistance lt 110 O km e core diameter gt 0 64 mm e core cross section gt 0 34 mm Coding Switches e Coding switches S1 S2 for setting the bus address The bus address is often called the station address It is related to a partici pant and unique in the network It must not be confused with the manufac turer or device related ident number PNO which may occur several times in the network Setting of the bus address of the Profibus DP participant These are 4 bit coding switches by means of which the bus address can be set in hexadecimal format S1 for the higher valued 4 bits S1 is located near the front panel S2 for the lower valued 4 bits Permissible setting range 01 7D pex 0 125 gez Setting range 81 ex FF hex is mapped to bus addresses 01 x 7F hex S
75. proximately 1 25 V 416 2 Analog Inputs Setpoint1 Setpoint2 The setpoint inputs with the connections Soll1 Soll1 and Soll2 Soll2 lead to differential amplifiers The input voltage range is 10 V at 20 kQ Machine data Setpoint sources can be used for selecting the function the setpoint input acts on e target velocity e torque setpoint e current limitation Max current amount For connecting the setpoint source see section 5 13 page 62 Information on selecting the desired setpoint source is contained in Operating Instructions 221071E Functions and Parameters section Machine Data Setpoint Sources Options for scaling the values with a factor and for shifting zero with an offset are described there as well 4 16 3 Analog Outputs Actual1 Actual2 Actual values such as speed or current can be output as analog currents via outputs Ist1 and Ist2 Which signal is given at which output can be set with the machine data for further details see Operating Instructions 221071E Functions and Parameters Connection O V at SUB D female connector X4 is the related zero point GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 49 Technical specifications of the analog outputs Analog Output actual current 1 48 V max cont current ofthe amplifier actual speed Signal und scaling delivery state 5 V
76. remental encoder input is designed for incremental encoder ERN 1185 or ERN 1387 produced by Heidenhain Motors with built in high resolution incremental encoder are available from Georgii Kobold input measuring lead for regulating the supply voltage for the incre To keep the supply voltage of the encoder at constant 5 V it is fed back to the amplifier via the measuring lead and the output voltage is re adjusted in the range between 5 V and 8 V For the differences between the types of motor position sensors option Rx please see section 3 4 3 page 21 For connecting a high resolution incremental encoder see sections 5 11 page 60 and 5 11 3 page 61 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 35 4 7 Input EnDat Encoder Option R4 X3 R4 15 pin SUB D female connector X3 assignment for devices equipped with option R4 Pin Assignment 1 a N E 3 4 5 digital serial cycle incremental signals EMEN digital serial data 9 DATA 5 V supply voltage for EnDat encoder 11 At incremental signals A 13 5 V input measuring lead for regulating the supply voltage for the EnDat OV encoder 15 OV for supply voltage EnDat encoder Connect cable shield via the SUB D housing The EnDat encoder input is designed for EnDat encoder EQN 1325 or ECN 1313 produced by Heidenhain Motors with built in EnD
77. rvo amplifiers For the scope of the standard version see section 3 1 page 13 Connector sets are also available for other connectors We also offer ready assembled cables If required please contact Georgii Kobold 6 3 Motor Supply Cables 535246 535262 and 535260 As explained in section 5 5 page 56 the motor must be connected with a shielded cable Characteristics of the Georgii Kobold motor supply cables 4 core shielded 535246 additionally 2 core shielded 535262 additionally 4 core shielded 535260 e cross section 1 5 mm e suitable as trailing cable GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 64 Operating Instructions 221098E V 7 5a 08 05 The two additional cores of cable 535262 can be used e g for connecting a motor temperature sensor see section 4 3 3 page 31 or a brake For connect ing a motor temperature sensor as well as a brake cable 535260 must be used Technical specifications Motor Supply Cable 535246 535262 535260 Structure 4 single cores 4 single cores and 1 4 single cores and 2 4 x 1 5 mm pair of cores pairs of cores 4 x 1 5 mm 4x 1 5 2x 1 0 mm 2x2x0 75 mm Color coding GN YE GN YE 3 x BK U W GN YE 3 x BK 1 2 3 x BK 1 2 3 WWW 3 2 x BK 5 6 2 x BK BR1 BR2 2 x BK 7 8 Conductor Cu braiding stranded according to DIN VDE 0295 class 6 or IEC 228 class 6 Element shield
78. s part program variables The SPP Windows software runs on IBM compatible personal computers under Windows 95 98 NT 4 0 2000 XP Further information can be found in Operating Instructions 221102E Command and Commissioning Software SPP Windows Command and commissioning software SPP Windows for personal computers is required for the commissioning of the KMV servo drives The software may also be obtained from Georgii Kobold at a later date Drivers DLL Libraries and Example Programs Drivers and DLL libraries are available for the development of own application programs under Windows 95 98 NT 4 0 2000 XP Included in the scope of delivery are example programs with documented source code which demonstrates the access to the functions of the KMV servo amplifier via serial interface COM1 of the amplifier and can be used as a basis for own developments Also included in the scope of delivery e modules for various programming languages C Basic Pascal others on request e libraries for access to the functions of the digital servo amplifiers as Win32 DLLs e interface drivers for the connection via serial interface fieldbus TCP IP e g Ethernet and DriveServer OPC GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 69 7 Commissioning 7 1 A A This section describes the commissioning step by step Knowledg
79. sections 4 8 and 4 9 page 36ff For connecting the encoder signals see section 5 12 page 61 3 4 6 Fieldbus Options Fx The following fieldbus interfaces are available e FO none standard e F2 CANopen CAN according to the CANopen standards and with DRIVECOM profile 22 e F5 Profibus DP according to DRIVECOM profile 22 e F6 Interbus remote bus according to DRIVECOM profile 22 All parameters of the KMV servo drives can be accessed via the fieldbus interface Due to the fact that the software of the KMV servo drives has been developed for use with a fieldbus from the beginning all interfaces access the same parameters serial interfaces included GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 26 Operating Instructions 221098E V 7 5a 08 05 Depending on the fieldbus KMV servo amplifiers equipped with a fieldbus interface have one connector X14 or two connectors X14 and X15 as well as LEDs on their top side The fieldbus interface is designed as a module It can be installed by Georgii Kobold only subsequent installation on site is not possible The current consumption from the control voltage supply of the amplifier in creases by approximately 40 mA for options F2 F5 and F6 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 27 4 Assignment of Co
80. sing the devices use for the intended purpose includes compliance with the relevant regulations with respect to safety machinery directive and electromagnetic compatibility EMC directive At the end of its service life dispose of the device according to the regulations to be applied then GEORGII KOBOLD GmbH amp Co KG does not accept any liability for direct or indirect damage resulting from an abuse of the devices Protective Earthing Due to the leakage currents of the built in RFI filter the protective earth conduc tor in accordance with DIN EN 50178 must e either be routed double or have a cable cross section of at least 10 mm Cu Operation via earth leakage circuit breaker is not possible e due to the leakage currents of the RFI filter and e since in case of an earth leakage a part of the direct current flows in the protective earth conductor GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 11 2 5 A A A 2 6 EMC Hazard Warnings Due to their design and connection system the servo amplifiers may be oper ated e only in a closed housing control cabinet e only with a fixed mains connection Do not insert objects screwdrivers wires etc through the ventilation holes into the inside of the device Before connecting or disconnecting a connector e switch off the mains voltage The
81. switching point 4 Synchronous running GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de 78 Operating Instructions 221098E V 7 5a 08 05 Appendix D Hardware Versions This section summarizes notes on changes in the hardware with references to the corresponding sections in the text The latest modifications are listed first The character identifying the hardware version is stated on the nameplate behind the serial number SN Changes version H compared to G F E e COM1 X5 can be switched to RS 485 Changes version E compared to D e Voltage range of the PLC inputs extended 0 5 V for O low 12 30 V for 1 high Changes version D compared to C B and A No modifications with relevance to the connection GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de
82. t ready yet e The two other LEDs must be off For further information on the meaning of the individual LEDs please refer to section 3 3 2 page 19 For further commissioning you require a PC with the command and commis sioning software SPP Windows as commissioning aid Please refer to Operating Instructions 221102E SPP Windows Command and Commissioning Software Connect the serial interface of the PC via the cable supplied with SPP Windows with connector X5 of the KMV servo amplifier Use the SPP Windows software to establish a connection to the servo amplifier and have the type of fault reported at the KMV servo amplifier displayed by the corresponding LED The connection is established automatically during the program start or via menu item Communication Connect A fault should be displayed in the device control and the fault window The fault is described more detailed in the fault window and the status line As a motor position sensor has not been connected yet it must either be an encoder fault or a resolver fault When the SPP Windows command and commissioning software is working together with the KMV servo amplifier you can continue with the next steps of commissioning GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 71 7 3 A 7 4 Connecting the Motor Position Sensor Four types of
83. the operating instructions are observed Operating instructions 221098E The products are developed constructed and produced in accordance to EC Directives 89 336 EEC amended by 91 263 ECC 92 31 ECC 93 68 ECC EMC Directive and 72 23 ECC amended by 93 68 ECC Low Voltage Directive of exclusive responsibility of company GEORGII KOBOLD Ihinger Strasse 57 D 72160 Horb Tel 49 07451 53 94 0 GmbH 8 Co KG Fax 49 07451 53 94 30 The signers are Krychevskyy application Schramm technical director The following harmonized standards are used x EN 50178 1998 for the Low Voltage Directive x EN 61800 3 2001 for the EMC Directive A technical documentation is completely available An operation instruction for the machinery is available x in the original version L in the native language of the user NENNEN Doc No Edition made changed release checked Page Krychevskyy Schra Date Signum Date Signum 27 Mai 2005 Ha 27 Mai 2005 7 10f1 Q8 2 4 50 2 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 75 Appendix B Terms of Warranty GEORGII KOBOLD GmbH amp Co KG warrants that the device is free of material and production defects In quality assurance measured values are recorded in the final inspec tion and testing The warranty period begins with delivery It l
84. tion cable at the amplifier side only via the SUB D housings Thus you achieve the necessary large area earth connection of the shield and avoid earthing the shield using twirled strands pigtails of the shield braiding e Do not connect the shield at the motor end of the cable 5 11 1 Connection of the Resolver For connecting the resolver option R1 to the corresponding connector X3 R1 use e a shielded cable with twisted pair leads for sine cosine end excitation e g encoder connection cable 535254 specified in the accessories for further details see section 6 5 page 66 5 11 2 Connection of the Sincos Hiperface Encoder For connecting the Sincos Hiperface encoder option R2 to the corresponding connector X3 R2 use e a shielded cable with twisted pair leads for the signals SIN REFSIN COS REFCOS and 485 485 GEORGII KOBOLD D 72160 Horb Tel 49 0 7451 5394 0 Fax 49 0 7451 5394 30 www georgii kobold de Operating Instructions 221098E V 7 5a 08 05 61 e g encoder connection cable 535270 specified in the accessories for further details see section 6 5 page 66 5 11 3 Connection of the High Resolution Incremental Encoder For connecting the high resolution incremental encoder option R3 to the corresponding connector X3 R3 use e a shielded cable with twisted pair leads for the signals At A and B B Also recommended are twisted pair leads for the signals C C D D and R R e
85. tions 221098E V 7 5a 08 05 25 3 4 5 Input Encoder Signals Options Lx Encoder signals actually incremental encoder signals are either generated by the KMV servo amplifier output encoder signals option G1 or G2 or can be processed with it input encoder signals option L1 or L2 Both options use the same connector X8 and therefore exclude each other Input encoder signals can be used for axis coupling synchronization electronic gearing the connection of an external position sensor or pilot frequency setting The encoder signals can be processed either as incremental encoder or as pulse direction signals The maximally permissible signal frequency is 200 kHz higher frequencies only after consultation with Georgii Kobold The minimal signal frequency that can be processed by the software is 250 Hz Input encoder signals can be realized as follows e LO not connected standard e L1 signal level 5 V push pull signals RS 422 L2 signal level 24 V Both variants L1 and L2 support all above mentions functions Input encoder signals is designed as a module It can be installed by Georgii Kobold only subsequent installation on site is not possible The current consumption from the control voltage supply of the amplifier in creases by the current for the external position sensor if supplied via input encoder signals This input is not opto isolated Connector X8 for input encoder signals is described in

Operating Instructions 221098E, V 7.5a

Contents

Download Pdf Manuals

Related Search

Related Contents