2 S E R V O S Y S T E M S Kollmorgen GOLD LINE ® XT & SERVO STAR ® CD/600 Systems SYSTEM OVERVIEW www.DanaherMotion.com • 815-226-2222 Kollmorgen GOLDLINE ® XT SEE PAGE 24 XT series servomotors provide high performance, cost-effective solutions in compact, rugged packages. Kollmorgen’s patented magnetic design allows high torque-to-inertia for rapid acceleration, while providing extremely low cogging and torque ripple for smooth operation. The proprietary stator assembly provides more efficient heat transfer for high torque density (compact size), and at the same time increases thermal time constants to allow longer overloads on machines. The XT series models are designed for use with the SERVOSTAR family of drives for optimum performance. These motors come equipped with an integral resolver or incremental encoder, and rugged CE compliant swivel connectors. Optional sine encoder feedback for extremely high accuracy is also available. • Four frame sizes from 60 to 174 mm (2.35 to 6.85 in) • 0.44 to 50.6 N-m (0.32 to 37.3 lb-ft) Continuous • Up to 152 N-m (112 lb-ft) Peak • Speeds to 6000 rpm • Resolver, optical encoder, or sine encoder feedback • IP65 sealing (IP67 optional) • Optional integral electrically-released brake (24 or 90 VDC) • Wide range swivel connectors • UL Recognized, CE compliant When combined with the SERVOSTAR digital amplifier series (using Kollmorgen’s patented phase angle advance algorithms), the system performance provides the most peak torque and speed in the industry. All motors and drives are UL recognized. SERVOSTAR ® CD SEE PAGE 28 The SERVOSTAR CD amplifier is a compact, fully digital amplifier designed to simplify installation and system set-up. Three control algorithms and self-tuning (to the load) functionality allows high performance operation to be achieved quickly and easily. Since not one control algorithm is best for all machines, SERVOSTAR CD contains Pole Placement, PI, and PDFF control algorithms. SERVOSTAR CD utilizes PC-based MOTIONLINK ® for Windows ® which automatically takes you through the key steps of installation and start up. • 115 to 230 volt single phase or three phase AC input power • Resolver, encoder, or sine encoder feedback • Integrated power supply • Fully digital control SERVOSTAR ® 600 SEE PAGE 34 The SERVOSTAR 600 is a high performance, high power drive accepting 208-480 VAC and producing from 3-70 A RMS continuous. In combination with Kollmorgen GOLDLINE series motors (BH, XT, DDR) and Kollmorgen PLATINUM ® DDL series motors, it offers the highest power, most advanced features, and broadest connectivity in the global marketplace. The integrated power supply makes it ideal for single and multi-axis applications. • Fully protected • Meets CE and UL requirements • Built-in features minimize total machine cost by eliminating the need for external hardware • Small footprint - CE Filters in 3-20 A units (standard) and option cards are contained inside the drive • Digital position and velocity control • Position generator supports trapezoidal and sinusoidal acceleration • Motion Tasking support tied to I/O • Interface through analog command, digital I/O, pulse direction or encoder follower, and fieldbuses • Built-in CANOpen support SERVOSTAR 600 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com [email protected]Sold & Serviced By:
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S E R V O S Y S T E M S
K o l l m o r g e n GOLDL I N E ® XT & S E R V O STAR ® CD/600 S y s t e m sSYSTEM OVERVIEW
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Kollmorgen GOLDLINE® XT SEE PAGE 24XT series servomotors provide high performance, cost-effective solutionsin compact, rugged packages.
Kollmorgen’s patented magnetic design allows high torque-to-inertia forrapid acceleration, while providing extremely low cogging and torqueripple for smooth operation.
The proprietary stator assembly provides more efficient heat transfer forhigh torque density (compact size), and at the same time increasesthermal time constants to allow longer overloads on machines.
The XT series models are designed for use with the SERVOSTAR familyof drives for optimum performance. These motors come equipped withan integral resolver or incremental encoder, and rugged CE compliantswivel connectors. Optional sine encoder feedback for extremely highaccuracy is also available.
• Four frame sizes from 60 to 174 mm (2.35 to 6.85 in)• 0.44 to 50.6 N-m (0.32 to 37.3 lb-ft) Continuous• Up to 152 N-m (112 lb-ft) Peak• Speeds to 6000 rpm• Resolver, optical encoder, or sine encoder feedback• IP65 sealing (IP67 optional)• Optional integral electrically-released brake (24 or 90 VDC)• Wide range swivel connectors• UL Recognized, CE compliant
When combined with the SERVOSTAR digital amplifier series (usingKollmorgen’s patented phase angle advance algorithms), the systemperformance provides the most peak torque and speed in the industry.All motors and drives are UL recognized.
SERVOSTAR® CD SEE PAGE 28The SERVOSTAR CD amplifier is a compact, fully digital amplifier designed to simplifyinstallation and system set-up. Three control algorithms and self-tuning (to the load)functionality allows high performance operation to be achieved quickly and easily.
Since not one control algorithm is best for all machines, SERVOSTAR CD containsPole Placement, PI, and PDFF control algorithms. SERVOSTAR CD utilizes PC-basedMOTIONLINK® for Windows® which automatically takes you through the key steps ofinstallation and start up.
• 115 to 230 volt single phase or three phase AC input power• Resolver, encoder, or sine encoder feedback• Integrated power supply• Fully digital control
SERVOSTAR® 600 SEE PAGE 34The SERVOSTAR 600 is a high performance, high power drive accepting 208-480 VACand producing from 3-70 ARMS continuous. In combination with KollmorgenGOLDLINE series motors (BH, XT, DDR) and Kollmorgen PLATINUM® DDL seriesmotors, it offers the highest power, most advanced features, and broadest connectivityin the global marketplace. The integrated power supply makes it ideal for single andmulti-axis applications.
• Fully protected• Meets CE and UL requirements• Built-in features minimize total machine cost by eliminating the need for
external hardware• Small footprint - CE Filters in 3-20 A units (standard) and option cards are
contained inside the drive• Digital position and velocity control• Position generator supports trapezoidal and sinusoidal acceleration• Motion Tasking support tied to I/O• Interface through analog command, digital I/O, pulse direction or
encoder follower, and fieldbuses• Built-in CANOpen support
For more detailed product and selection information, see theMOTIONEERING CD-ROM inside the back cover of thiscatalog or visit our website at www.DanaherMotion.com.
K o l l m o r g e n GOLDL I N E ® XT & S E R V O STAR ® CD S y s t e m s
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S E R V O S Y S T E M S
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X T SERIES MOTORS
4 X 90°
45°
5.59 (.220)KEY SIZESEE TABLE
“C” REF
“A” MAX.
“B” REF
2 X 85.9(3.38)
Ø“E”
Ø“D”
.035 (.0014)-A-
.076 (.003) A
33.1 (1.30)16.5 (.65)
115.9(4.56)REF
60 (2.36)4 X Ø79.8 (3.14)
NEMA 234 X Ø4.96-5.46 (.195-.215)THRU, ON Ø66.68 (2.625) B.C.
NEMA 654 X Ø5.80-6.29 (.228-.248)THRU, ON Ø70 (2.756) B.C.
“F”
2.41 ±0.07(.095 ±.003)
OPTIONALMATING PLUGS
NEMA 65
SHAFT DETAILMT15xx / MTX15xx
15.88-16.00(.625-.630)
4.98-5.00(.196-.197)
“A” MAX. “B” REF. “C” “D” “E” “F” Key LengthModel with brake-without brake with brake-without brake with brake-without brake NEMA 23 NEMA 65 NEMA 23 NEMA 65 NEMA 23 NEMA 65 NEMA 34 NEMA 100
Viscous Damping Z Source Fi N-m (lb-ft)/krpm 0.0023 (0.0017) 0.0049 (0.0036) 0.0069 (0.0051) 0.0069 (0.0051)
Motor Constant at 25°C Km N-m (lb-ft)/ watts 0.068 (0.050) 0.120 (0.086) 0.18 (0.134) 0.18 (0.135)
Thermal Resistance at Stall Rth °C / watt 1.33 1.37 0.99 0.96
Number of Poles 8 8 8 8
BenefitsFeatures
XT Series Motors
Multiple frame sizes andstack lengths
Low and medium inertiaversions
Short overall motorlengths
Optimized torque-to-inertia ratios
Low cogging and torqueripple
Increased thermal timeconstant
English and Metricstandard mounting
UL recognized, CEcompliant
Optimized windings tomatch SERVOSTAR drives
Swivel connectors
Resolver, incremental orsine encoder feedback
Built-in thermostat
IP65 sealing
Wide range of ratings andsizes to match envelope
Obtain maximumacceleration or optimizefor compliant loads
Easier to fit into limitedspaces
High acceleration
Extremely smooth lowspeed operation
Allows for longeroverloads
Versatile mounting
International applications
Optimum performanceand cost
Accommodate a variety ofapplication environments
Optimize the applicationfor lowest cost ormaximum accuracy andresolution
Over-temperatureprotection
Rugged industrial sealing
XT150 SERIES MOTORSRATINGS AND CHARACTERISTICSMotor parameters and winding data. See system data beginning on page 23 for typical torque/speed performance.
Notes:1. For models with shaft seals, derate torque at all speeds by 0.059 lb-ft (0.08 N-m)2. Continuous duty operation is based on using 96 in2 x 3/8” aluminum plate.
MT150x = without brakeMTB150x = with 90 VDC brakeMTC150x = with 24 VDC brake
“A” MAX. “B” MIN. “D” “E” “F” Key LengthModel with brake-without brake with brake-without brake NEMA 34 NEMA 100 NEMA 34 NEMA 100 NEMA 34 NEMA 100 NEMA 34 NEMA 100
Motor Constant at 25°C Km N-m (lb-ft)/ watts 0.170 (0.125) 0.173 (0.127) 0.307 (0.226) 0.311 (0.229) 0.397 (0.292) 0.398 (0.293) 0.575 (0.422) 0.574 (0.422) 0.162 (0.119) 0.294 (0.216) 0.530 (0.390)
Thermal Resistance at Stall Rth °C / watt 0.955 1.001 0.828 0.891 0.765 0.795 0.788 0.786 0.979 0.895 0.788
Number of Poles 8 8 8 8 8 8 8 8 8 8 8
Notes:1. For models with shaft seals, derate torque at all speeds by 0.059 lb-ft (0.08 N-m)2. Continuous duty operation is based on using 96 in2 x 3/8” aluminum plate.
( ) ( )
K o l l m o r g e n GOLDL I N E ® XT & S E R V O STAR ® CD/600 S y s t e m s
±.76(±.03)
MT30/32x = without brakeMTB30/32x = with 90 VDC brakeMTC30/32x = with 24 VDC brake
Notes:Dimensions in mm (inches) Motor designed in English,Metric provided for reference only. Tolerances, unlessotherwise specified: metric: X decimal place ± 0.4, XXdecimal places ± 0.13 inches: XX decimal places ± 0.015,XXX decimal places ± 0.005
Notes:Dimensions in mm (inches) Motor designed inEnglish, Metric provided for reference only.Tolerances, unless otherwise specified: metric: Xdecimal place ± 0.4, XX decimal places ± 0.13inches: XX decimal places ± 0.015, XXX decimalplaces ± 0.005
precise low-speed control and high speed performance• Velocity loop bandwidths to 400 Hz • DQ Current control increases high speed peak torque performance
for faster cycle rates• Space Vector Modulation reduces normal power stage switching
loses• Torque angle control enhances motor performance• Fully digital control loops• Compact and attractive rugged metal package for space-saving,
modern appearance - metal package minimizes electrical noise emission & susceptibility
• Seven current ratings: 3, 6, 10, 14, 20, 40 and 70 ampRMS/phase continuous
• 2 to 1 peak/continuous current rating (5 second at peak)(S610-30 has 3:1 peak/cont.)
Easy Connectivity• PROFIBUS-DP communication option card• DeviceNet communication option card• Built in encoder equivalent output can eliminate the need for an
additional position feedback device• RS-232 Communication • Unique multi-drop configuration allows a PC or PLC to communicate
to multiple SERVOSTAR 600 amplifiers via single RS-232 connection
• SERVOSTAR 600's versatile communication capabilities make it easy to integrate machine control data directly from the factory floor to your information system
• Analog ±10 V, pulse/direction, master encoder, and serial port,I/O command options
Robust Design• ESD rugged circuit design and fully metallic enclosure• Full protection against short circuit, overvoltage, undervoltage,
heatsink overtemperature, motor overtemperature, overspeed, overcurrent, and feedback loss
• UL , cUL listed, and CE• Built-in line filter for CE (models up to 20 amp)• Flash memoryWindows Start-up Environment• Graphical environment simplifies set up • PC “Oscilloscope” for measuring real-time motion performance• Graphical Motion tasking: fully graphical programming environment
provides single-axis control capability• On-board Dynamic Signal Analyzer (DSA) generates
Bode plots to improve servo tuning.Configurable I/O • 2 separate analog inputs (14 and 12 bit resolution) configurable to 6
different command modes
• 2 analog outputs • 4 digital inputs• 2 digital outputs• I/O can be configured to a variety of functions to customize the SERVOSTAR 600
to individual machinesI/O Option Card• Adds 14 additional digital inputs and 8 digital outputs • All I/O are optically isolated• Simple plug in to top face of amplifierRegenerative Power Sharing • Patented circuitry allows the DC bus from two or more amplifiers to be connected
together allowing regen power to be shared among multiple drivesOptional Built-in Safety Relay• Switches off the power stage to ensure personnel safety and prevents an
unintended restart of the drive, even in the event of a fault• Allows DC bus to remain onMotion Capabilities The SERVOSTAR 600 can be configured to perform motion control that normallyrequires a fully programmable drive with a motion language. With the SERVOSTAR600 there is no programming language to learn; the user only “fill in the blanks” tocreate common motion tasks
• Fully graphical programming environment• Make decisions in real time• Set parameters in real time• Up to 180 motion tasks can be stored in permanent memory • Motion Tasks can be linked together.• Linking of motion tasks (sequencing)• 10 types of homing• Speed profile/registration control• Adjustable S curve acceleration• Absolute and relative (index) moves• Adjustable Following-Error window• Adjustable window for the In Position signal
Linked motion tasks are started:• Immediately upon reaching a targeted position• From a Digital Input upon reaching the targeted position• At Preset Time Delay after the targeted position is reached
MOTION EXAMPLES
Vel
ocity
Time
Vel
ocity
Position
Vel
ocity
Time
Vel
ocity
Time
APPLICATION EXAMPLES• Material handling• Bottle making• Packaging• Soft positioning • Robot• Conveyor belt controlling• Fast positioning• Special cleaning process
• Part selection• Glass processing• Wirepuller• Textile industry• Printing• Electronics• Web converting• Cut to length
ELECTRONIC GEARING 5:1(MASTER/SLAVE)
BLENDED MOVE
INCREMENTAL MOVE ABSOLUTE MOVE
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S E R V O S Y S T E M S
Kol lmorgen GOLDL I N E ® BH & S E R V O STAR ® 600 S y s t e m sSERVOSTAR® 600DRIVES
Electrical characteristics• Closed loop velocity bandwidth up to 400 Hz• Motor current ripple frequency 16 kHz• Switching frequency: 8 kHz• Long term speed regulation (0.01%)• Position loop update rate 250 µs (4 kHz)• Velocity loop update rate 62.5 µs (16 kHz)• Commutation update rate 62.5 µs (16 kHz) • SVM Current loop update rate 62.5 µs (16 kHz)Fault protection• Output phase to phase and phase to ground short circuit protection• Overvoltage• Undervoltage• Overtemperature (motor and amplifier)• Overspeed• Overcurrent• Feedback loss• Foldback• Supply loss• Excessive position errorEnvironmental• Operation range
- Ambient 0 to 45°C (derated above ambient up to 55˚C)- Storage -25°C to 55°C
• Humidity (non-condensing) max. 85%Velocity Loop Compensation• PI Plus controller (PDFF Format) or PI controller• Field tunable and digital repeatabilityPosition Loop Compensation• Proportional loop with Feed ForwardAnalog I/O• 2 Configurable Inputs: ±10 V, 12 and 14 bit resolution• 2 Configurable Outputs: ±10 V, 10 bit resolutionDigital I/O• 4 Configurable Inputs: 24 volts, PLC-compatible• 2 Configurable Outputs: 24 volts (open collector), PLC-compatible• Remote enable Input: 24 V, PLC-compatible Drive Status Relay (BTB/RTO)• Contact closure rated for 0.5 amps, 24 voltPulse or Master/Slave Input• Pulse command: pulse/direction or quadrature encoder format • RS-485 receivers • Up to 16 slave amplifiers can be connected together• Input ratio is configurablePosition Feedback For User (Encoder Equivalent Output Port)• Configurable to Encoder Equivalent (ROD) or SSI format• Encoder Equivalent (ROD): A Quad B with Marker (zero) pulse,
RS-485 driver• SSI (serial synchronous interface): max clock frequency is 1.5 Mhz,
RS-485 driver• Programmable resolutionI/O Extension Card (Option)• Field Installable• 14 Digital Inputs 24 V, PLC-compatible• 8 Digital Outputs 24 V, PLC-compatible• 24 V PLC InterfaceCommunications• RS-232 InterfaceMotor Feedback• Resolver, Sine EncoderPower Regeneration Options• Internal• External - using BAR housed resistors• Bus Sharing - Distributes regen power among multiple amplifiers
Built-in Parameter Unit• Displays drive status information• Parameters: drive address, baud rate, velocity loop tuning, motor type,
position output information format, brake, regen type Motor Brake Control• 24 V optional holding brake in the motor can be controlled directly by the
SERVOSTAR 600Power Inputs• 208-480 VAC 3 phase, 50 or 60 Hz, built in line filter for CE requirements
(models up to 20 amps)• 24 VDC @ 1 amp (3 amps with brake) For Logic