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Danaher Motion
SERVOSTAR® S SERVOSTAR® CD

Setup and Reference Guide

KOLLMORGEN
giving our customers freedom of design

Publication Number: KOL-1292 M-SS-001-0706 Firmware Version 5.0.8


Record of Manual Revisions
ISSUE NO. DATE ........BRIEF DESCRIPTION OF REVISION 1 12/31/00 Initial release 2 03/30/01 Added new commands and enhancement information for new firmware version 3 06/30/01 Corrected Product Family Control Specifications table 4 09/12/01 Added information for new firmware version 5 12/07/01 Added Danaher information 6 03/01/02 Updated HOMETYPE, INxMODE, and PFBOFF

Copyright Information
Copyright 1999, 2000, 2001, 2002 Kollmorgen, a Danaher Corporation - All rights reserved. Printed in the United States of America.

NOTICE:
Not for use or disclosure outside of Kollmorgen except under written agreement. All rights are reserved. No part of this book shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without the written permission from the publisher. While every precaution has been taken in the preparation of the book, the publisher assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained herein. This document is proprietary information of Kollmorgen that is furnished for customer use ONLY. No other uses are authorized without written permission of Kollmorgen. Information in this document is subject to change without notice and does not represent a commitment on the part the Kollmorgen Corporation. Therefore, information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in every respect to former issues. VGA® and PC-AT® are registered trademarks of International Business Machines Corporation Windows®95/98 and Windows NT® are registered trademarks of Microsoft Corporation EnDat® is a registered trademark of Dr. Johannes Heidenhain GmbH GOLDLINE®, SILVERLINE®, MOTIONEERING®, MOTIONLINK®, PLATINUM® , and SERVOSTAR® are registered trademarks of the Kollmorgen Corporation. Kollmorgen is a member of the Danaher Motion Control Group.


Safety Instructions
Only qualified personnel are permitted to transport, assemble, use, and maintain this equipment. Properly qualified personnel are those who are familiar with the transport, assembly, installation, use and operation of motors, and who have the appropriate qualifications for their jobs. The qualified personnel must know and observe the following standards and regulations: IEC 364 resp. CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National regulations for safety and accident prevention or VBG 4 Read all available documentation before assembling and using. Incorrect handling of products in this manual can result in injury and damage to persons and machinery. Strictly adhere to the technical information regarding installation requirements. It is vital that all system components are connected to earth ground. Electrical safety is provided through a lowresistance earth connection. SERVOSTAR products contain electrostatically-sensitive components that can be damaged by incorrect handling. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the product on a conductive surface. Ground yourself (discharge any possible static electricity build-up) by touching an unpainted, metal, grounded surface before touching the equipment. Keep all covers and cabinet doors shut during operation. Otherwise, potential hazards could cause severe personal injury or damage to the product. Be aware that during operation, the product has electrically charged components and hot surfaces. Control and power cables can carry a high voltage, even when the motor is not rotating. Never disconnect or connect the product while the power source is energized to avoid electric arcing and hazards to personnel and electrical contacts. After removing the power source from the equipment, wait at least 10 minutes before touching or disconnecting sections of the equipment that normally carry electrical charges (e.g., capacitors, contacts, screw connections). To be safe, measure the electrical contact points with a meter before touching the equipment. Safety symbols indicate a potential for personal injury or equipment damage if the recommended precautions and safe operating practices are not followed. Read and be familiar with the safety notices in this manual before attempting installation, operation, or maintenance to avoid serious bodily injury, damage to the equipment, or operational difficulty. The safety symbols are: "Warning" identifies hazards that could result in personal injury or death. "Caution" identifies hazards that could result in personal injury or equipment damage. "Note" identifies information required for your understanding or use of the equipment.


Directives and Standards
SERVOSTAR products have been successfully tested and evaluated to meet UL/cUL 508C for U. S. and Canadian markets. This standard outlines the minimum requirements for electrically operated power conversion equipment (frequency converters and Servo amplifiers), which are intended to eliminate the risk of fire, electric shock, or injury to persons, being caused by such equipment.

CE Mark Conformance
The Electromagnetic Compatibility (EMC) of a system is identified in two parts: emissions and immunity. Emissions are the generation of EMI (electromagnetic interference) and immunity is the susceptibility levels of the equipment. Limits are derived from generic standards EN55081-2 and EN55082-2 for heavy industrial environment. The SERVOSTAR drives and BUS modules have been tested for radiated emissions, conducted emissions, EFT, ESD, surge, conducted immunity, and radiated immunity. These tests have been in accordance with EN55011, EN61000-4-2, ENV50140, IEC 1000-4-4, EN61000-4-5, and ENV50141. Servo drives are incorporated in electrical plants and machines for industrial use. When servo drives are built into machines or plants, the operation of the drive is prohibited until the machine or plant meets the requirements of the EC Directive on Machines 89/392/EEC and the EC Directive on EMC (89/336/EEC). EN 60204 and EN 292 must be met. In connection with the Low Voltage Directive 73/23/EEC, the harmonized standards of the EN 50178 series are applied to the amplifiers, together with EN 60439-1, EN 60146 and EN 60204. The manufacturer of the machine or plant is responsible for ensuring that they meet the limits required by the EMC regulations. Advice on the correct installation for EMC (shielding, grounding, arrangement of filters, treatment of connectors and the lay out of cabling) can be found in this document Conformance with the EC Directive on EMC 89/336/EEC and the Low Voltage Directive 73/23/EEC is mandatory for the supply of servo drives within the European Community. The servo drives have been tested by an authorized testing laboratory in a defined configuration with the system components; described in this documentation. Kollmorgen is not responsible for any divergence from the configuration and installation described in this documentation and is not responsible for the performance of new measurements or ensuring that regulatory requirements are met. SERVOSTAR drives and systems have been successfully tested and evaluated to the limits and requirements of the EC Directive on EMC (89/336/EEC) and the EC Directive on low voltage (72/73/EEC). The products have been evaluated to EN50178 and EN60204 as a component of a machine and other relevant standards.


Contents
INSTALLATION PROCEDURE.................................................................................................1
FIRMWARE UPDATES ................................................................................................................................. 2

BONDING .......................................................................................................................................2 SERIAL COMMUNICATION WIRING DIAGRAM ................................................................................2
SERVOSTAR CX HARDWARE SPECIFICATIONS ...................................................................................... 3 SERVOSTAR SX HARDWARE SPECIFICATIONS ....................................................................................... 4 BUS MODULE HARDWARE SPECIFICATIONS ............................................................................................ 4 CX ELECTRICAL SPECIFICATIONS.............................................................................................................. 5 SX ELECTRICAL SPECIFICATIONS .............................................................................................................. 6 BUS MODULE ELECTRICAL SPECIFICATIONS ........................................................................................... 6 CX REGEN INFORMATION .......................................................................................................................... 8 BUS MODULE REGEN INFORMATION ........................................................................................................ 8 PRODUCT FAMILY CONTROL SPECIFICATIONS .......................................................................................... 9 PINOUT CONNECTORS.............................................................................................................................. 10 BUS MODULE ­ PA-LM (MULTIPLE SX UNITS) ..................................................................................... 12

CX SYSTEM WIRING DIAGRAM ....................................................................................................13 SX WITH PA08,14, OR 28 SYSTEM WIRING DIAGRAM .................................................................14 SX WITH PA50, 75, OR 85 SYSTEM WIRING DIAGRAM ................................................................15 CX FILTER AND BONDING DIAGRAM............................................................................................16 SX FILTER AND BONDING DIAGRAM ............................................................................................17 SYSTEM FEEDBACK DIAGRAM .....................................................................................................18
COMMANDS/VARIABLES BY FUNCTION ....................................................................................... 19
ANALOG INPUT-RELATED .............................................................................................................19 COMMUNICATIONS .......................................................................................................................19 CONFIGURABLE I/O .......................................................................................................................19 CURRENT VARIABLES AND COMMANDS ........................................................................................19 DRIVE AND MOTOR STATUS ..........................................................................................................19 DRIVE CONFIGURATION AND MODES.............................................................................................19 DRIVE ENABLING AND DISABLING ................................................................................................20 DRIVE PARAMETERS .....................................................................................................................20 FEEDBACK RELATED.....................................................................................................................20 GEARING-RELATED PARAMENTERS...............................................................................................20 LOOP COMPENSATION AND GAINS.................................................................................................20 MOTION CONTROL PARAMETERS ..................................................................................................20 MOTOR VARIABLES AND COMMANDS ...........................................................................................20 POSITION VARIABLES AND COMMANDS ........................................................................................21 READ AND WRITE SWITCH VARIABLES ..........................................................................................21 READ-ONLY SWITCH MODE VARIABLES ........................................................................................22 READ-ONLY SWITCH VARIABLES ..................................................................................................22 READ-ONLY VARIABLES ...............................................................................................................22 VARIABLE RECORDING AND PLAYING ...........................................................................................22 VARIABLE SETTING AND CLEARING ..............................................................................................22 VELOCITY VARIABLES AND COMMANDS .......................................................................................22


VARIABLE/COMMAND SET...................................................................................................23 ACC ............................................................................................................................................23 ACKMODE ................................................................................................................................23 ACTFAULT ...............................................................................................................................23 ACTIVE......................................................................................................................................23 ADDR .........................................................................................................................................24 ANDB .........................................................................................................................................24 ANDG .........................................................................................................................................24 ANIN ..........................................................................................................................................24 ANLPFHZ ..................................................................................................................................24 ANOFF .......................................................................................................................................24 ANOUT ......................................................................................................................................25 ANZERO .....................................................................................................................................25 AUTOHOME .............................................................................................................................25 AUTONULL...............................................................................................................................25 AVGTIME ..................................................................................................................................26 BW ..............................................................................................................................................26 CCWLIM ....................................................................................................................................26 CLREEPROM .............................................................................................................................26 COMPFILT.................................................................................................................................26 COMPMODE .............................................................................................................................27 CONFIG .....................................................................................................................................27 CONVERT ..................................................................................................................................27 CWLIM.......................................................................................................................................27 DEC ............................................................................................................................................27 DECSTOP ..................................................................................................................................28 DICONT .....................................................................................................................................28 DIP ..............................................................................................................................................28 DIPEAK......................................................................................................................................28 DIPEN.........................................................................................................................................28 DIR .............................................................................................................................................29 DIS ..............................................................................................................................................30 DISSPEED..................................................................................................................................30 DISTIME ....................................................................................................................................31 DIVISIONS ................................................................................................................................31 DRIVEOK ..................................................................................................................................31 DUMP .........................................................................................................................................31 DUALFB ....................................................................................................................................31 ECHO .........................................................................................................................................32 EN ...............................................................................................................................................32 ENCINIT .....................................................................................................................................32 ENCINITST ................................................................................................................................32 ENCOUT ....................................................................................................................................33 ENCOUTO .................................................................................................................................33 ENCSTART .................................................................................................................................33


ERR .............................................................................................................................................34 FILTMODE ................................................................................................................................34 FLTCLR ......................................................................................................................................34 FLTHIST .....................................................................................................................................34 FOLD ..........................................................................................................................................34 FOLDMODE ..............................................................................................................................35 FOLDTIME ................................................................................................................................35 GEAR .........................................................................................................................................35 GEARI ........................................................................................................................................35 GEARMODE..............................................................................................................................36 GEARO ......................................................................................................................................36 GET .............................................................................................................................................37 GETMODE .................................................................................................................................37 GP ...............................................................................................................................................37 GPAFR .......................................................................................................................................37 GPAFR2 .....................................................................................................................................37 GPD ............................................................................................................................................38 GPI ..............................................................................................................................................38 GPISATIN ..................................................................................................................................38 GPISATOUT ..............................................................................................................................38 GPVFR .......................................................................................................................................38 GV ..............................................................................................................................................39 GVI .............................................................................................................................................39 HALLS .......................................................................................................................................39 HCMODE ...................................................................................................................................39 HC1.............................................................................................................................................40 HC2.............................................................................................................................................40 HC3.............................................................................................................................................41 HOLD .........................................................................................................................................41 HOMESPD .................................................................................................................................41 HOMESTATE ............................................................................................................................42 HOMETYPE ..............................................................................................................................43 HSAVE ........................................................................................................................................44 HWPOS ......................................................................................................................................44 I ...................................................................................................................................................44 IA ................................................................................................................................................44 IC ................................................................................................................................................44 ICMD ..........................................................................................................................................45 ICONT ........................................................................................................................................45 IENCSTART ..............................................................................................................................45 IFRIC ..........................................................................................................................................45 IGRAV........................................................................................................................................45 ILIM ............................................................................................................................................46 ILIM2 ..........................................................................................................................................46 ILSBMODE ................................................................................................................................46


IMAX..........................................................................................................................................46 IN ................................................................................................................................................47 IN1 ..............................................................................................................................................47 IN1MODE ..................................................................................................................................47 IN2 ..............................................................................................................................................49 IN2MODE ..................................................................................................................................49 IN3 ..............................................................................................................................................50 IN3MODE ..................................................................................................................................51 INDEXPOS.................................................................................................................................52 ININV1 .......................................................................................................................................52 ININV2 .......................................................................................................................................53 ININV3 .......................................................................................................................................53 INITMODE.................................................................................................................................53 INPOS .........................................................................................................................................53 ISCALE ......................................................................................................................................54 ISTOP .........................................................................................................................................54 IZERO.........................................................................................................................................54 J ..................................................................................................................................................54 K .................................................................................................................................................54 KV ..............................................................................................................................................55 KVFR..........................................................................................................................................55 KVI .............................................................................................................................................55 LIMDIS .......................................................................................................................................55 LIST ............................................................................................................................................56 LMJR ..........................................................................................................................................56 LOAD ..........................................................................................................................................56 LPFHZ1 ......................................................................................................................................56 LPFHZ2 ......................................................................................................................................56 MA ..............................................................................................................................................57 MAPOS ......................................................................................................................................57 MASPEED..................................................................................................................................58 MBEMF ......................................................................................................................................58 MBEMFCOMP ..........................................................................................................................58 MENCOFF .................................................................................................................................58 MENCRES .................................................................................................................................58 MENCTYPE..........................................................................