SERVOSTAR 300

Digital Servo Amplifier S300

Instruction Manual

Edition 04/2018
Translation of the original instructions.
Valid for Hardware Revision 04.20

Keep all manuals as a product component

during the life span of the product.
Pass all manuals to future users / owners
of the product.

File sr300_e.***
Record of Document Revisions:

Revision Remarks
06/2004 First edition
04/2005 Restart lock -AS-, UL-listing, new pinning for X8, several corrections
04/2005a order numbers 400V types for NA updated
Chapter 1 updated, ComCoder corrected, Acuro(BISS)-Interface new, max. station address 127, motor
11/2005
choke changed, SynqNet&EtherCAT expansion cards new, chapter 6 restructured, order codes restructured
12/2005 Feedback section, termination resistors X1/X5, CE section
Error messages and warnings updated, additional information (SERCOS), AWG cross-sections added, inch
02/2006
dimensions added, analog-in circuit updated, cross section (awg)
CAN baud rate coding updated, LED display structure updated, input analog-in updated, BISS interface
05/2006
updated, hardware revision added, Errors/Warnings updated
09/2006 New document structure, new cover design, warning n24, Quickstart integrated
New part number scheme, termination resistors CAN interface and X5 corrected, branding updated, chapter
leakance current new, chapter "servo system graphics" expanded and moved, chapter "various mains sup-
03/2007
ply networks" moved, trouble shooting reduced, Feedback expanded and restructured, enc emulation,
DC-Link expanded, AS restructured, accessories removed
07/2007 Timing diagramm motor brake, standards updated (EMC and LVD)
10/2007 Target group, use as directed, standards
Safety symbols acc. to ANSI Z535.6, repair, deinstallation, dU/dt info, syntax: "regen" => "brake", techn.
05/2008
data connectors, cable requirements, data brake circuit
06/2008 EC Declaration new, Hiperface corrected, option FAN new
10/2008 SCCR -> 42kA
02/2009 Product brand, single phase operation, repair/disposal request form
05/2010 SSI input clock signal inverted, Gost-R, CE, FAN, AS->STO, Emergency Stop samples=>WIKI
07/2010 Wiki links updated
11/2010 New CPU, Ethercat Interface
12/2010 New company name and address, CE certificate, name plate, fax form
05/2011 Option EF new, BiSS C, BiSS analog/digital separated, nameplate, front label
09/2011 Permitted switch on/off frequency defined, unsupported Feedbacks 25/26 removed, certificates
06/2012 Fusing corrected, expansion card FB2to1 new, Emergency Stop updated, Option EF removed
Feedback - ENCVON note, FBTYPE 34, KCM modules, CE declaration of conformity, BiSS C Renishaw,
07/2014 diagram "Behavior in the event of an error" updated, hint automatic restart, fault table, SSI emulation timing
updated, safe to touch voltage 40V->60V, wiring thermo sensor updated (Feedback)
12/2014 CE declaration of conformity removed, GOST-R & Safety certificates removed, HWR, export classification
02/2015 EAC certification, nameplate with EAC sign, UL/cUL Markings in EN+FR
KCM wiring corrected, chapter approvals restrutured, delivery pack updated, Fax form removed, safe to
12/2015
touch voltage 60V->50V, LVD 2014-35-EG, EMCD 2014-30-EG
02/2017 Single cable connection SFD3 / Hiperface DSL, warning notes, handling separate chapter, PFH value
04/2018 X1 connector (male->female), HR table updated, Wiki links migrated to KDN, ventilation corrected
Hardware Revision (HR) History

Hardware Rev. Firmware Revis Export Classification Remarks

02.01 2.18 - 3.74 AL-3A225 Start HWR
02.10 (03.01) 3.75 - 4.99 AL-3A225 AS->STO, new approval
04.00 5.18 - 5.99 AL-3A225 New CPU, front label S300
04.10 5.18_ND0 - 5.99_ND0 - New data structure
04.20 ³ 6.00_ND0 - SFD3/DSL support
WINDOWS is a registered trademark of Microsoft Corp.
HIPERFACE is a registered trademark of Max Stegmann GmbH
SERCOS s a registered trademark of sercos® international e.V.
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH

Technical changes which improve the performance of the device may be made without prior notice!
All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method)
or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen Europe
GmbH.
Kollmorgen 04/2018 Contents
Page

1 General
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.2 Notes for the online edition (PDF format). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.3 Symboles used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
1.4 Standards used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
1.5 Abbreviations used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
2 Safety
2.1 You should pay attention to this . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
2.2 Use as directed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
2.3 Prohibited use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
2.4 Warning notes placed on the product. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
3 Handling
3.1 Transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
3.2 Packaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
3.3 Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
3.4 Decommissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
3.5 Maintenance and cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
3.6 Disassemble . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
3.7 Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
3.8 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
4 Approvals
4.1 Conformance with UL and cUL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
4.2 EC Conformance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
4.2.1 European Directives and Standards for the machine builder . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2.2 Safety Conformance (STO) according to Machine Directive . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3 EAC Conformance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
5 Package
5.1 Package supplied . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
5.2 Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
5.3 Part number scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
6 Technical description
6.1 The S300 family of digital servo amplifiers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
6.2 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
6.2.1 Technical data for 110/230 V (types S3_ _6_) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
6.2.2 Technical data for 400/480 V (types S3_ _0_) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
6.2.3 Inputs / outputs, Auxiliary voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
6.2.4 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
6.2.5 Recommended tightening torques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
6.2.6 Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
6.2.7 Ambient conditions, ventilation, mounting position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.8 Conductor cross-sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
6.3 Motor holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
6.4 LED display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
6.5 Grounding system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
6.6 Dynamic braking (brake circuit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
6.7 Switch-on and switch-off behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
6.7.1 Behavior in standard operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
6.7.2 Behavior in the event of an error (with standard setting) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.8 Stop-, Emergency Stop-, Emergency Off Function to IEC 60204 . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.8.1 Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
6.8.2 Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
6.8.3 Emergency Off. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

S300 Instructions Manual 3

Contents 04/2018 Kollmorgen
Page
6.9 Safety function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
6.9.1 Safety characteristic data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
6.9.2 Safety notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
6.9.3 Use as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
6.9.4 Prohibited Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
6.9.5 Technical data and pinning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
6.9.6 Enclosure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
6.9.7 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
6.9.8 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
6.10 Shock-hazard protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
6.10.1 Leakage current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
6.10.2 Residual current protective device (RCD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
6.10.3 Isolating transformers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
7 Mechanical Installation
7.1 Important notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
7.2 Guide to mechanical installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
7.3 Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
7.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
8 Electrical installation
8.1 Important notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
8.2 Guide to electrical installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
8.3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
8.3.1 Shielding connection to the front panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
8.3.2 Technical data for connecting cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
8.4 Components of a servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
8.5 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
8.6 Connector assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
8.7 Connection diagram (Overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
8.8 Electrical supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
8.8.1 Connection to various mains supply networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
8.8.2 24V auxiliary supply (X4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
8.8.3 Mains supply connection (X0), three phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
8.8.4 Mains supply connection (X0), two phase without neutral . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
8.8.5 Mains supply connection (X0), single phase with neutral . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
8.9 DC bus link (X8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
8.9.1 External brake resistor (X8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
8.9.2 Capacitor Modules KCM (X8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
8.10 Motor connection with brake (X9). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
8.11 Feedback systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
8.12 Primary and secondary feedback types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
8.12.1 SFD3 (X1), single cable connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
8.12.2 HIPERFACE DSL (X1), single cable connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
8.12.3 Resolver (X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
8.12.4 Sine Encoder with BiSS analog (X1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70
8.12.5 Sine Encoder with BiSS digital (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
8.12.6 Sine Encoder with EnDat 2.1 (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
8.12.7 Sine Encoder with EnDat 2.2 (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
8.12.8 Sine Encoder with HIPERFACE (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
8.12.9 Sine Encoder with SSI (X5, X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
8.12.10 Sine Encoder without data channel (X1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
8.12.11 Sine Encoder with Hall (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
8.12.12 ROD (AquadB) 5V, 1.5 MHz (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
8.12.13 ROD (AquadB) 5V, 350 kHz (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
8.12.14 ROD (AquadB) 5V with Hall (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
8.12.15 ROD (AquadB) 5V (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
8.12.16 ROD (AquadB) 5V with Hall (X5, X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
8.12.17 ROD (AquadB) 24V (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
8.12.18 ROD (AquadB) 24V with Hall (X3, X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
8.12.19 SSI Encoder (X5, X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
8.12.20 Hall sensors (X1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86

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8.13 Electronic Gearing, Master-slave operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87
8.13.1 Signal source. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87
8.13.2 Connection to stepper motor controllers (step and direction) . . . . . . . . . . . . . . . . . . . . . . . . . 88
8.13.3 Master-Slave Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
8.14 Encoder emulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
8.14.1 Incremental encoder output - A quad B (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
8.14.2 SSI encoder output (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
8.15 Digital and analog inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92
8.15.1 Analog inputs (X3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92
8.15.2 Digital inputs (X3/X4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93
8.15.3 Digital outputs (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94
8.16 RS232 interface, PC connection (X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
8.17 CANopen interface (X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
9 Setup
9.1 Important notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97
9.2 Setup software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98
9.2.1 Use as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98
9.2.2 Software description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98
9.2.3 Hardware requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
9.2.4 Operating systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
9.2.5 Installation under WINDOWS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
9.3 Quickstart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
9.3.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
9.3.2 Connect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
9.3.3 Important Screen Elements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
9.3.4 Setup Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
9.3.5 Motion Service (Jog Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
9.3.6 More Setup Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108
9.4 Multi-axis system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109
9.4.1 Station address for CAN-bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109
9.4.2 Baud rate for CAN-bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109
9.5 Keypad operation / LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109
9.5.1 Keypad operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
9.5.2 Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
9.5.3 Standard menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
9.5.4 Advanced menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
9.6 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112
9.7 Warning messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
9.8 Trouble Shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114

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Contents 04/2018 Kollmorgen
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10 Expansions Cards
10.1 Guide to installation of expansion cards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
10.2 Expansion card -I/O-14/08- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
10.2.1 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
10.2.2 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
10.2.3 Entering a motion block number (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
10.2.4 Connector assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117
10.2.5 Connection diagram (default) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
10.3 Expansion card -PROFIBUS- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
10.3.1 Connection technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
10.3.2 Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
10.4 Expansion card -SERCOS- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
10.4.1 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
10.4.2 Connection technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
10.4.3 Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
10.4.4 Modifying the station address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
10.4.5 Modifying the baud rate and optical power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121
10.5 Expansion card -DEVICENET-. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
10.5.1 Connection technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
10.5.2 Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122
10.5.3 Combined module/network status-LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
10.5.4 Setting the station address (device address) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
10.5.5 Setting the transmission speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
10.5.6 Bus cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124
10.6 Expansion card -SYNQNET- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
10.6.1 NODE ID Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
10.6.2 Node LED table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
10.6.3 SynqNet Connection, Connector X21B/C (RJ-45) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
10.6.4 Digital inputs/outputs, connector X21A (SubD 15-pin, socket) . . . . . . . . . . . . . . . . . . . . . . . 126
10.6.5 Connection diagram digital inputs/outputs, connector X21A . . . . . . . . . . . . . . . . . . . . . . . . 126
10.7 Expansion card - FB-2to1 -. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
10.7.1 Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
10.7.2 Wiring example with BiSS digital (primary) and SinCos (secondary) . . . . . . . . . . . . . . . . . . 128
10.8 Expansion module -2CAN- . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
10.8.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
10.8.2 Connection technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
10.8.3 Connector assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
10.8.4 Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
10.9 Option "EtherCAT" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131
10.9.1 Node LED table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131
10.9.2 Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131
10.10 Option "FAN", ventilator control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132
11 Appendix
11.1 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
11.2 Order codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
11.3 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136

6 S300 Instructions Manual

Kollmorgen 04/2018 General

1 General
1.1 About this manual
This manual describes the S300 series of digital servo amplifiers SERVOSTAR 300
(S300 standard version, 1.5A ...10A rated current).
A more detailed description of the expansion cards that are currently available and the
digital connection to automation systems can be found, together with our applications
notes, in Acrobat-Reader format on the accompanying CD-ROM (system requirements:
WINDOWS, Internet Browser, Acrobat Reader) in different languages.
Technical data and dimensional drawings of accessories such as cables, brake resistors,
mains supplies, etc., can be found in the accessories manual.
This documentation (PDF) can be printed out on any standard commercial printer.
More background information can be found in the "Kollmorgen Developer Network"
kdn.kollmorgen.com.

1.2 Notes for the online edition (PDF format)

Bookmarks:
Table of contents and index are active bookmarks.
Table of contents and index in the text:
The lines are active cross references. Click on the desired line and the appropriate page
is accessed.
Page/chapter numbers in the text:
Page/chapter numbers with cross references are active. Click at the page/chapter num-
ber to reach the indicated target.

S300 Instructions Manual 7

General 04/2018 Kollmorgen

1.3 Symboles used

Symbol Indication
Indicates a hazardous situation which, if not avoided, will result in death
DANGER or serious injury.

Indicates a hazardous situation which, if not avoided, could result in

WARNING death or serious injury.

Indicates a hazardous situation which, if not avoided, could result in

CAUTION minor or moderate injury.
This is not a safety symbol. Indicates situations which, if not avoided,
could result in property damage.
This is not a safety symbol.
This symbol indicates important notes.
Warning of a danger (general). The type of danger is specified by the
warning text next to it.

Warning of danger from electricity and its effects.

Warning of danger from hot surfaces.

Warning of danger from suspended loads.

Warning of danger from automatic start.

1.4 Standards used

Standard Content
ISO 4762 Hexagon socket head cap screws
ISO 12100 Safety of machinery: Basic concepts, general principles for design
ISO 13849 Safety of machinery: Safety-related parts of control systems
IEC 60085 Electrical insulation - Thermal evaluation and designation Maintenance
IEC 60204 Safety of Machinery: Electrical equipment of machinery
IEC 60364 Low-voltage electrical installations
IEC 60439 Low-Voltage Switchgear and Controlgear Assemblies
IEC 60529 Protection categories by housing (IP Code)
IEC 60664 Insulation coordination for equipment within low-voltage systems
IEC 60721 Classification of environmental conditions
IEC 61000 Electromagnetic compatibility (EMC)
IEC 61131 Programmable controllers
Electrical equipment of industrial machines – Serial data link for real-time commu-
IEC 61491
nications between controls and drives.
Functional safety of electrical/electronic/programmable electronic
IEC 61508
safety-related systems
IEC 61800 Adjustable speed electrical power drive systems
Functional safety of electrical/electronic/programmable electronic
IEC 62061
safety-related systems
ISO 82079 Preparation of instructions for use - Structuring, content and presentation
UL Standard for Safety for Insulation Coordination Including Clearances and
UL 840
Creepage Distances for Electrical Equipment
UL 508C UL Standard for Safety Power Conversion Equipment
IEC International Electrotechnical Commission UL Underwriters Laboratories

8 S300 Instructions Manual

Kollmorgen 04/2018 General

1.5 Abbreviations used

Abbrev. Meaning
AGND Analog ground
BTB/RTO Ready to operate
CAN Fieldbus (CANopen)
CE Communité Europeenne
CLK Clock signal
COM Serial interface for a PC-AT
DGND Digital ground (for 24V and digital I/O)
DIN German Institute for Industrial Standards
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable programmable memory
EMC Electromagnetic compatibility
EMI Electromagnetic interference
EN European Standard
ESD Electrostatic discharge
F-SMA Fiber Optic Cable connector according to IEC 60874-2
IEC International Electrotechnical Commission
IGBT Insulated-gate bipolar transistor
INC Incremental interface
ISO International Organization for Standardization
LED Light-emitting diode
MB Megabyte
NI Zero pulse
PC Personal computer
PELV Protected low voltage
PLC Programmable logic controller
PWM Pulse-width modulation
RAM Volatile memory
RBallast / RBR Ballast resistor (= brake resistor or regen resistor)
RBext External brake resistor
RBint Internal brake resistor
RES Resolver
ROD digital encoder
S1 continuous operation
S3 Intermittent operation
SRAM Static RAM
SSI Synchronous serial interface
STO Safe torque off, restart lock
UL Underwriters Laboratories
V AC Alternating voltage
V DC DC voltage
VDE Society of German Electrical Technicians

S300 Instructions Manual 9

Safety 04/2018 Kollmorgen

2 Safety
This section helps you to recognize and avoid dangers to people and objects.

2.1 You should pay attention to this

Read the documentation!
Read the available documentation before installation and commissioning. Improper han-
dling of the servo amplifiers can cause harm to people or damage to property. The opera-
tor must therefore ensure that all persons entrusted to work on the S300 have read and
understood the manual and that the safety notices in this manual are observed.
Perform a risk assessment!
The manufacturer of the machine must generate a risk assessment for the machine, and
take appropriate measures to ensure that unforeseen movements cannot cause injury or
damage to any person or property. Additional requirements on specialist staff may also
result from the risk assessment.
Specialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport,
assembly, setup and maintenance. Qualified specialist staff are persons who are familiar
with the transport, installation, assembly, commissioning and operation of drives and who
bring their relevant minimum qualifications to bear on their duties:
Transport : only by personnel with knowledge of handling electrostatically
sensitive components.
Unpacking: only by electrically qualified personnel.
Installation : only by electrically qualified personnel.
Setup : only by qualified personnel with extensive knowledge of electrical
engineering and drive technology
The qualified personnel must know and observe IEC 60364 / IEC 60664 and national
accident prevention regulations.
Check the Hardware Revision!
Check the Hardware Revision Number of the product (see product label). This revision
number must match the Hardware Revision Number on the cover page of the manual. If
the numbers do not match up, visit the European File Archive
(http://www.wiki-kollmorgen.eu). The 'Download" section contains the various manual ver-
sions based on the hardware version number.
Pay attention to the technical data!
Adhere to the technical data and the specifications on connection conditions (rating plate
and documentation). If permissible voltage values or current values are exceeded, the
servo amplifiers can be damaged. Unsuitable motor or wrong wiring will damage the sys-
tem components. Check the combination of drive and motor. Compare the rated voltage
and current of the units.
Observe electrostatically sensitive components!
The servo amplifiers contain electrostatically sensitive components which may be dam-
aged by incorrect handling. Discharge your body before touching the servo amplifier.
Avoid contact with highly insulating materials (artificial fabrics, plastic film etc.). Place the
servo amplifier on a conductive surface.

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Kollmorgen 04/2018 Safety

Automatic restart
The drive might restart automatically after power on, voltage dip or interruption of the sup-
ply voltage, depending on the parameter setting. Risk of death or serious injury for
humans working in the machine. If the parameter AENA is set to 1, then place a warning
sign to the machine (Warning: Automatic Restart at Power On) and ensure, that power on
is not possible, while humans are in a dangerous zone of the machine. In case of using
an undervoltage protection device, you must observe EN 60204-1:2006 chapter 7.5.
Hot surface!
The surfaces of the servo amplifiers can be hot in operation. Risk of minor burns!
The surface temperature can exceed 80°C. Measure the temperature, and wait until the
motor has cooled down below 40°C before touching it.
Earthing!
It is vital that you ensure that the servo amplifiers are safely earthed to the PE (protective
earth) busbar in the switch cabinet. Risk of electric shock. Without low-resistance
earthing no personal protection can be guaranteed and there is a risk of death from elec-
tric shock.
Leakage Current!
Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1
the PE connection must either be doubled or a connecting cable with a cross-section
>10 mm² must be used. Deviating measures according to regional standards might be
possible.
High voltages!
The equipment produces high electric voltages up to 900 V. Do not open or touch the
equipment during operation. Keep all covers and cabinet doors closed during operation.
Touching the equipment is allowed during installation and commissioning for properly
qualified persons only. During operation, servo amplifiers may have uncovered live sec-
tions, according to their level of enclosure protection. Capacitors can have dangerous
voltages present up to five minutes after switching off the supply power. There is a risk of
death or severe injury from touching exposed contacts.
There is a danger of electrical arcing when disconnecting connectors, because capacitors
can still have dangerous voltages present after switching off the supply power. Risk of
burns and blinding. Wait at least five minutes after disconnecting the servo amplifiers
from the main supply power before touching potentially live sections of the equipment
(such as contacts) or removing any connections. Always measure the voltage in the DC
bus link and wait until the voltage is below 50V before handling components.
Reinforced Insulation!
Thermal sensors, motor holding brakes and feedback systems built into the connected
motor must have reinforced insulation (according to IEC61800-5-1) against system com-
ponents with power voltage, according to the required application test voltage. All
Kollmorgen components meet these requirements.
Never modify the servo amplifiers!
It is not allowed to modify the servo amplifiers without permission by the manufacturer.
Opening the housing causes loss of warranty and all certificates become unvalid.
Warning signs are added to the device housing. If these signs are damaged, they must
be replaced immediately.

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Safety 04/2018 Kollmorgen

2.2 Use as directed

Servo amplifiers are safety components that are built into electrical plant or machines,
and can only be operated as integral components of such plant or machines.
The manufacturer of the machine must generate a risk assessment for the machine, and
take appropriate measures to ensure that unforeseen movements cannot cause injury or
damage to any person or property.
If the servo amplifiers are used in residential areas, in business/commercial areas, or in
small industrial operations, then additional filter measures must be implemented by the
user.
Cabinet and Wiring
The servo amplifiers must only be operated in a closed control cabinet, taking into
account the ambient conditions defined on page 28. Ventilation or cooling may be neces-
sary to keep the temperature within the cabinet below 40°C.
Use only copper conductors for wiring. The conductor cross-sections can be derived from
the standard IEC 60204 (alternatively for AWG cross-sections: NEC Table 310-16, 60°C
or 75°C column).
Power supply
Servo amplifiers in the S300 series (overvoltage category III acc. to EN 61800-5-1) can
be supplied from 3-phase grounded (earthed) industrial supply networks (TN-system,
TT-system with grounded neutral point, no more than 42kA symmetrical rated current at
110-10%...230V+10% or 208-10%...480V+10% depending on the amplifier type). Connection
to other types of supply networks (with an additional isolating transformer) is described on
page 58.
Periodic overvoltage between phases (L1, L2, L3) and the housing of the servo amplifier
must not exceed 1000V crest. In accordance with IEC 61800, voltage spikes (< 50µs)
between phases must not exceed 1000V. Voltage spikes (< 50µs) between a phase and
the housing must not exceed 2000V.
Motors
The S300 family of servo amplifiers is exclusively intended for driving suitable brush less
synchronous servomotors or asynchronous motors with control of torque, speed and/or
position.
The rated voltage of the motors must be at least as high as the DC bus link voltage
divided by 2 produced by the servo amplifier (UnMotor³ UDC/ 2).

Functional Safety
Observe the chapter "use as directed" on page 39 when you use the safety function STO.

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Kollmorgen 04/2018 Safety

2.3 Prohibited use

Other use than described in chapter 2.2 is not intended and can lead to damage of per-
sons, equipment or things.
The use of the servo amplifier in the following environments is prohibited:
- potentially explosive areas
- environments with corrosive and/or electrically conductive acids, alkaline solutions,
oils, vapors, dusts
- directly on non-grounded supply networks or on asymmetrically grounded supplies
with a voltage >230V.
- on ships or off-shore applications
Commissioning the servo amplifier is prohibited if the machine in which it was installed,
- does not meet the requirements of the EC Machinery Directive
- does not comply with the EMC Directive or with the Low Voltage Directive
- does not comply with any national directives
The control of holding brakes by the S300 alone may not be used in applications, where
functional safety is to be ensured with the brake.

2.4 Warning notes placed on the product

Residual Voltage.
Wait 5 min. after
removing power.

If these signs are damaged, they must be replaced immediately.

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Handling 04/2018 Kollmorgen

3 Handling
3.1 Transport
l Transport by qualified personnel in the manufacturer’s original recyclable packaging
l Avoid shocks while transporting
l Transport temperature: -25 to +70°C, max. rate of change 20K / hour,
class 2K3 acc. to EN61800-2, EN 60721-3-1
l Transport humidity: max. 95% relative humidity, no condensation,
class 2K3 acc. to EN61800-2, EN 60721-3-1

The servo amplifiers contain electrostatically sensitive components, that can be damaged
by incorrect handling. Discharge yourself before touching the servo amplifier. Avoid con-
tact with highly insulating materials, such as artificial fabrics and plastic films. Place the
servo amplifier on a conductive surface.
If the packaging is damaged, check the unit for visible damage. In such an event, inform
the shipper and the manufacturer.

3.2 Packaging
l Recyclable cardboard with inserts
l Dimensions: (HxWxD) 115x365x275mm
l Labeling: instrument label on outside of box

3.3 Storage
l Storage only in the manufacturer’s original recyclable packaging
l Max. stacking height 8 cartons
l Storage temperature -25 to +55°C, max. rate of change 20K / hour,
class 1K4 acc. to EN61800-2, EN 60721-3-1
l Storage humidity 5 ... 95% relative humidity, no condensation,
class 1K3 acc. to EN61800-2, EN 60721-3-1
l Storage duration:
Less than 1 year: without restriction.
More than 1 year: capacitors must be re-formed before setting up and operating the
servo amplifier. To do this, remove all electrical connections and apply single-phase
230V AC for about 30 minutes to the terminals L1 / L2.

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Kollmorgen 04/2018 Handling

3.4 Decommissioning
Only professional staff who are qualified in electrical engineering are allowed to decom-
mission parts of the drive system.
DANGER: Lethal voltages! There is a danger of serious personal injury or death by
electrical shock or electrical arcing.
l Switch off the main switch of the switchgear cabinet.
l Secure the system against restarting.
l Block the main switch.
l Wait at least 5 minutes after disconnecting.

3.5 Maintenance and cleaning

The device does not require maintenance. Opening the device voids the warranty. The
inside of the unit can only be cleaned by the manufacturer
Do not immerse or spray the device. Avoid that liquid enters the device.
To clean the device exterior:
1. Decommission the device (see chapter 3.4).
2. Casing: Clean with isopropanol or similar cleaning solution.
CAUTION: Highly Flammable! Risk of injury by explosion and fire.
- Observe the safety notes given on the cleaning liquid package.
- Wait at least 30 minutes after cleaning before putting the device back into
operation.
3. Protective grill on fan: Clean with a dry brush.

3.6 Disassemble
Only professional staff who are qualified in electrical engineering are allowed to disas-
semble parts of the drive system.
1. Decommission the device (see chapter 3.4).
2. Check temperature.
CAUTION: High Temperature! Risk of minor burns.
During operation, the heat sink of the drive may reach temperatures above
80 °C (176 °F). Before touching the device, check the temperature and wait until it
has cooled below 40 °C (104 °F).
3. Remove the connectors. Disconnect the potential earth connection last.
4. Demount: loosen the fastening screws. Remove the device.

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Handling 04/2018 Kollmorgen

3.7 Repair
Only professional staff who are qualified in electrical engineering are allowed to exchange
parts of the drive system.

CAUTION: Automatic Start! During replacement work a combination of hazards and

multiple episodes may occur.
- Work on the electrical installation may only be performed by trained and qualified
personnel, in compliance with the regulations for safety at work, and only with
use of prescribed personal safety equipment.
Exchange of servo amplifier
Only the manufacturer can repair the device. Opening the device voids the warranty.
1. Decommission the device (see chapter 3.4).
2. Demount the device (see chapter 3.6).
3. Contact Kollmorgen and clarify the logistics. Send the device to the address given by
Kollmorgen.
4. Install a new device as described in this manual.
5. Setup the servo amplifier as described in this manual.
Exchange of other drive system parts
If parts of the drive system ( for example cables) must be replaced, proceed as follows:
1. Decommission the device (see chapter 3.4).
2. Exchange the parts.
3. Check all connections for correct fastening.
4. Setup the servo amplifier as described in this manual.

3.8 Disposal
To dispose the unit properly, contact a certified electronic scrap disposal merchant.
In accordance with the WEEE-2002/96/EC-Guidelines and similar, the manufacturer
accepts returns of old devices and accessories for professional disposal. Transport costs
are the responsibility of the sender.
Decommission the device as described in chapter 3.4 and demount the device as
described in chapter 3.6.
Contact Kollmorgen and clarify the logistics. Send the device to the address given by
Kollmorgen.

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4 Approvals
Certificates can be found in the download section of the "File Archive".

4.1 Conformance with UL and cUL

This servo amplifier is listed under UL file number E217428.
UL (cUL)-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S.
and Canadian standard (in this case UL 840 and UL 508C). The UL certification relates
only to the mechanical and electrical construction design of the device.
This standards describe the fulfillment by design of minimum requirements for electrically
operated power conversion equipment, such as frequency converters and servo amplifi-
ers, which is intended to eliminate the risk of fire, electric shock, or injury to persons,
being caused by such equipment. The technical conformance with the standards is deter-
mined by an independent UL inspector through the type testing and regular checkups.
Apart from the notes on installation and safety in the documentation, the customer does
not have to observe any other points in direct connection with the UL (cUL)-certification of
the equipment.
UL 508C: UL 508C describes the fulfillment by design of minimum requirements for elec-
trically operated power conversion equipment, such as frequency converters and servo
amplifiers, which is intended to eliminate the risk of fire being caused by such equipment.
UL 840: UL 840 describes the fulfillment by design of air and insulation creepage spac-
ings for electrical equipment and printed circuit boards.
Markings Marquages
l Use 60°C or 75°C copper wire only. l Utilisez un fil en cuivre 60°C ou 75 °C min..
l Use Class 1 wire only. l Utilisez seulement un fil de classe 1.
l Tightening torque for field wiring terminals l Couples de serrage recommandée
X0,X8,X9: 0.5 - 0.6Nm (4.43 to 5.31 lbf in) X0,X8,X9: 0.5 - 0.6Nm (4.43 ... 5.31 lbf in)
l Use in a pollution degree 2 environment. l Utilisation dans un environnement de pollu-
tion de niveau 2.
l These devices provide solid state motor l Ces variateurs offrent une protection contre
overload protection at 130% of full load les surcharges de moteur à semi-conduc-
current. teur à 130 % du courant FLA nominal.
l Integral solid state short circuit protection l Une protection de court-circuit à
does not provide branch circuit protection. semi-conducteur intégrale ne fournit pas de
Branch circuit protection must be provided protection de la dérivation. Il convient de
in accordance with the National Electrical garantir une protection de la dérivation
Code and any additional local codes. conforme au NEC (National Electrical Code)
et aux réglementations locales en vigueur,
ou aux directives équivalentes applicables.
l These devices are not provided with motor l Ces variateurs n’offrent pas de capteurs de
over-temperature sensing. température excessive.
l Suitable for use on a circuit capable of de- l Ce produit est conçu pour une utilisation sur
livering not more than 42kA rms symmetri- un circuit capable de fournir 42kA
cal amperes for a max. voltage of 480 Vac. symétriques (rms) maximum pour 480V.
l The drives may be connected together via l Les variateurs peuvent être reliés entre eux
the “common bus” (DC bus link) based on via le “bus commun CC” sur la base des in-
the instructions on p. 61ff. The devices structions de la p. 61ff. Les variateurs
may also be grouped from the AC input peuvent être groupés d'entrée AC basé sur
side based on the max. input fuse (e.g. le max. fusible d’entrée (par exemple
3xS346 with one common 6A fuse in line). 3xS346 avec un fusible de 6A commune).

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Approvals 04/2018 Kollmorgen

4.2 EC Conformance
The servo amplifiers have been tested by an authorized testing laboratory in a defined
configuration, using the system components that are described in this documentation.
Any divergence from the configuration and installation described in this documentation
means that you will be responsible for carrying out new measurements to ensure confor-
mance with regulatory requirements.
Kollmorgen declares the conformity of the product SERVOSTAR 300 (S300) with the fol-
lowing directives:
l EC Machinery Directive (2006/42/EC)
l EC EMC Directive (2014/30/EC)
l EC Low Voltage Directive (2014/35/EC)

The servo amplifier meets the noise immunity requirements to the 2nd environmental cat-
egory (industrial environment). For noise emission the amplifier meets the requirement to
a product of the category C2 (motor cable £ 10m). With a motor cable length of 10m or
longer, the servo amplifier meets the requirement to the category C3.
This product can cause high-frequency interferences in non industrial environments
which can require measures for interference suppression.

4.2.1 European Directives and Standards for the machine builder

Servo amplifiers are safety components that are intended to be incorporated into electri-
cal plant and machines for industrial use. When the servo amplifiers are built into
machines or plant, the amplifier must not be used until it has been established that the
machine or equipment fulfills the requirements of the
l EC Machinery Directive (2006/42/EC)
l EC EMC Directive (2014/30/EC)
l EC Low Voltage Directive (2014/35/EC)

Standards to be applied for conformance with the EC Machinery Directive (2006/42/EC)

EN 60204-1 (Safety and Electrical Equipment in Machines)
EN 12100 (Safety of Machines)
The manufacturer of the machine must generate a risk assessment for the machine, and
must implement appropriate measures to ensure that unforeseen movements cannot
cause injury or damage to any person or property.
The machine/plant manufacturer must check whether other standards or EC Directives
must be applied to the machine/plant.
Standards to be applied for conformance with the Low Voltage Directive (2014/35/EC):
EN 60204-1 (Safety and Electrical Equipment in Machines)
EN 60439-1 (Low-voltage switchgear and controlgear assemblies)
Standards to be applied for conformance with the EMC Directive (2014/30/EC):
EN 61000-6-1 / 2 (Interference Immunity in Residential & Industrial Areas)
EN 61000-6-3 / 4 (Interference Generation in Residential & Industrial Areas)
The manufacturer of the machine/plant is responsible for ensuring that it meets the limits
required by the EMC regulations. Advice on the correct installation for EMC can be found
in this documentation.
We only guarantee the conformance of the servo system with the standards cited in this
chapter if the components (motor, cables, chokes etc.) are those supplied by us.

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4.2.2 Safety Conformance (STO) according to Machine Directive

The S300 servo amplifier offers a single channel STO function (Safe Torque Off) that can
be used as a functional safe restart lock.
The safetys concept is certified. The safety circuit concept for realizing the safety function
"Safe Torque Off" in the servo amplifiers S300 is suited for SIL CL 2 according to IEC
62061 and PLd according to ISO 13849-1.
The subsystems (servo amplifiers) are totally described for safety technics with the
characteristic data SIL CL, PFHD and TM.

Device Operation mode EN 13849-1 EN 62061 PFHD [1/h] TM [Year]

STO-Enable single channel PLd SIL CL 2 1,50E-07 20

4.3 EAC Conformance

EAC is the abbreviation for Eurasian Conformity. The mark is used in the states of the
Eurasian Customs Union (Russia, Belarus, Kazakhstan) similar to the European CE
mark.
Kollmorgen declares, that the S300 has passed all required conformity procedures in a
member state of the Eurasian Customs Union, and that the S300 meets all technical
requirements requested in the member states of the Eurasian Customs Union:
l Low voltage (TP TC 020/2011)
l EMC (TP TC 004/2011)

Contact in Russia:
Intelisys LLC. , Bakuninskaya Str. d 14, Building 1, RU-105005 Moskau

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This page has been deliberately left blank.

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Kollmorgen 04/2018 Package

5 Package
5.1 Package supplied
When an amplifier from the S300 series is ordered (order numbers ðp.135), the following
is supplied:
— S3xx
— Mating connectors X0, X3, X4, X8
— Mating connector X9 only with SERVOSTAR 303-310 (S3xx6)
— Safety Guide S300 (printed)
— Electronic documentation on CD-ROM (PDF)
— Setup software DRIVEGUI.EXE on CD-ROM

The mating SubD connectors are not part of the package!

Accessories : (must be ordered separately, if required; description see accessories
manual)
— Hybrid motor cable (prefabricated) for single cable connection
— motor cable (prefabricated) with special shield clamp, or both power connectors
separately, with the motor cable as a cut-off length
— feedback cable (prefabricated)
or both feedback connectors separately, with the feedback cable as a cut-off length
— motor choke 3YL, for motor cables longer than 25 meters
— external brake resistor BAR(U)
— communication cable to the PC (ð p.95) for setting parameters from a PC
— power cable, control cables, fieldbus cables (as cut-off lengths)

5.2 Nameplate
The nameplate is attached to the side of the servo amplifier.
The information described below is printed in the individual fields.
Picture similar to the original nameplate.

Servo amplifier type Serial number Comments Enclosure Rating

Kollmorgen Europe GmbH Customer Support

Pempelfurtstraße 1 Europe Tel. +49 (0)2102 / 93940 E217428 C UL
® US
D-40880 Ratingen Italy Tel. +39 0362 / 594260 LISTED
www.kollmorgen.com North America Tel. +1 540 633 3545 IND. CONT. EQ.
1VD4
Typenbezeichnung Model Number Ser. Nr Ser. No. Bemerkung Comment
SERVOSTAR™ 310 123456789 S31061-NA
Spannungsversorgung Power Supply Nennstrom Nom. Current Schutzart Encl.Rating
1x110-230V,3x115-230V 50/60Hz 4kVA 10A IP20
Umgebungstemp. Hardware
Surrounding temp. 40°C Revision 04.10
Made in RoHS
Austria conform
123456789 5.18_ND0

max.
Electrical supply Output current Hardware
surrounding air
Installed load in S1 operation Revision
temperature

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Package 04/2018 Kollmorgen

5.3 Part number scheme

S 3 0 6 0 1 - S E - zzz

Family Customer specific

S3 S300 specials

Current rating
Device Options
01 1.5A rms
NA Base device
(208 to 480V only)
FN controlled FAN
03 3A rms
EC EtherCAT
06 6A rms
10 10A rms
(110 to 230V only)
Expansions
NA no expansion,
Voltage rating CANopen onboard
0 208...480V DN DEVICENET
6 110...230V PB PROFIBUS
SE SERCOS II
Electr. options SQ SYNQNET
1 STO IO I/O Extension
FB FB-2to1

Expansions and Device Options cannot be combined.

Comparison device name -> part number

Device Name Part Number

SERVOSTAR 303 S30361-NA
SERVOSTAR 306 S30661-NA
SERVOSTAR 310 S31061-NA
SERVOSTAR 341 S30101-NA
SERVOSTAR 343 S30301-NA
SERVOSTAR 346 S30601-NA

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6 Technical description
6.1 The S300 family of digital servo amplifiers
Standard version
l Two voltage classes with large nominal voltage range
1 x 110V-10% ... 3 x 230V+10% (SERVOSTAR 303-310, S3xx6)
3 x 208V-10% ... 3 x 480V+ 10% (SERVOSTAR 341-346, S3xx0)
l Overvoltage category III acc. to EN 61800-5-1
l Shielding connection directly on the servo amplifier
l Two analog inputs onboard
l CANopen onboard (default: 500 kBaud), for integration in CAN-bus systems and for
setting parameters for several drives via the PC interface of one of the amplifiers
l Slot for an expansion card
l RS232 and pulse direction interface onboard
l Restart lock STO for functional safety onboard, ð p. 37
l Intelligent position controller onboard
l Multi feedback support
l Synchronous servomotors, linear motors, asynchronous motors, high frequency spin-
dles and DC motors can be used

Power section
l Directly on grounded 3-phase supply, 110V-10% or 230V-10% up to 480V+10%
TN-network or TT-network with grounded neutral point, 42kA max. symmetrical cur-
rent rating, connection to other supply types only via isolating transformer, ðp.58
l B6 bridge rectifier, integral supply filter and soft-start circuit
l Single-phase supply operation possible (e.g. for setup)
l Fusing (e.g. fusible cutout) to be provided by the user
l Shielding All shielding connections are made directly on the amplifier
l Output stage IGBT module with floating current measurement
l Brake circuit with dynamic distribution of the regenerated power between
several amplifiers on the same DC bus link circuit. Internal
brake resistor as standard, external brake resistors if required.
l DC bus link voltage 135 … 450 V DC or 260 … 900 V DC,
can be connected in parallel.
l Interference suppression filters are integrated for the electrical supply feed and the
24V auxiliary supply voltage (with motor cable £ 10m for C2 as per EN 61800-3, with
motor cable > 10m for C3 as per EN 61800-3).

Integrated safety
l Appropriate insulation/creepage distances and electrical isolation ensure safe electri-
cal separation, as per EN 61800-5-1, between the power input / motor connections
and the signal electronics.
l Soft-start, overvoltage detection, short-circuit protection, phase-failure monitoring.
l Temperature monitoring of the servo amplifier and motor (if our motors and prefabri-
cated cables are used).

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Technical description 04/2018 Kollmorgen

Auxiliary supply voltage 24V DC

l Electrically isolated, internal fusing, from an external 24V DC power supply unit with,
for instance, isolating transformer or uninterruptible power supply.

Operation and parameter setting

l With our user-friendly setup software, for setup via the serial interface of a PC.
l If no PC is available: direct operation by two keys on the servo amplifier and a
3-character LED display.
l Fully programmable via RS232 interface.

Completely digital control

l Digital current controller (space vector, pulse-width modulation, 62.5 µs)
l Adjustable digital speed controller (62.5 µs)
l Integrated position controller, with adaptation possibilities for all applications (250 µs)
l Integrated step/direction interface for connecting a servomotor to a stepper controller
l Evaluation of resolver signals and sine-cosine signals of high-resolution encoders
l Encoder emulation (incremental, compatible with A quad B or SSI)

Comfort functions
l 2 programmable analog inputs
l 4 programmable digital inputs
l 2 programmable digital outputs
l programmable logical combinations of digital signals

Device Options
l Option EtherCAT, cannot be inserted later, ð p. 131
l Option FAN, ventilator control, cannot be inserted later, ð p.132

Expansions
l I/O-14/08 expansion card, ð p.116
l PROFIBUS DP expansion card, ð p.119
l sercos® II expansion card, ð p.120
l DeviceNet expansion card, ð p.122
l SynqNet expansion card, ð p. 125
l FB-2to1 expansion card, ð p. 127
l -2CAN- expansion module, separated connectors for CAN-bus and RS232, ð p.129
l Several third-party expansion cards (ModBus, LightBus, FIP-IO etc. please contact
the manufacturer for further information)

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6.2 Technical data

6.2.1 Technical data for 110/230 V (types S3_ _6_)

SERVOSTAR
Electrical data DIM 303 306 310
Order Code — S30361 S30661 S31061
1 x 110V-10% … 1 x 230V+10%
Rated supply voltage (L1,L2,L3)
V~ 3 x 110V-10% … 3 x 230V+10%
(grounded supply, phase to phase)
50/60 Hz
Rated input power for continuous operation kVA 1.1 2.4 4
Permitted switch on/off frequency 1/h 30
Max. DC bus link voltage V= 450
Rated output current (rms value, ± 3%)
at 1x115V (observe p. 60) Arms 3,5* 8* 10*
at 1x230V (observe p. 60) Arms 3* 6* 10*
at 3x115V Arms 3.5 8 10
at 3x230V Arms 3 6 10
Peak output current (max. approx. 5s, ± 3%)
at 1x115V (observe p. 60) Arms 9* 15* 20*
at 1x230V (observe p. 60) Arms 9* 15* 20*
at 3x115V Arms 9 15 20
at 3x230V Arms 9 15 20
Switching frequency of the output stage kHz 8
at reduced current (50%) kHz 16
Voltage rise speed dU/dt (see hints on page 64!)
at 1x115V kV/µs 3,0
at 1x230V kV/µs 3,3
at 3x115V kV/µs 3,0
at 3x230V kV/µs 3,3
Technical data for brake circuit — ð p.30
Threshold for overvoltage switch-off
at 115V VDC 235
at 230V VDC 455
Motor inductance min.
at 1x115V mH 3.7 3.7 3.7
at 1x230V mH 4.3 4.3 4.3
at 3x115V mH 2.1 1.3 1.0
at 3x230V mH 4.3 2.6 1.9
Motor inductance max. mH Consult our customer support
Form factor of the output current
— 1.01
(rated conditions, min. load inductance)
Bandwidth of current controller kHz > 1.2
Residual voltage drop at rated current V 4
Thermal dissipation, output stage disabled W 12
Thermal dissipation at rated current
W 35 60 90
(incl. PSU losses, without brake dissipation)
Noise emission max. dB(A) 25 45
Mechanical data
Weight kg approx. 2.6
Height, without connectors mm 270 279
Width mm 70
Depth, without connectors mm 171
Depth, with connectors mm < 200
* in single-phase applications nom./peak current is limited to value below nominal
value dependent on the motor constant Kt and the motor speed (see p.60).

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Technical description 04/2018 Kollmorgen

6.2.2 Technical data for 400/480 V (types S3_ _0_)

SERVOSTAR
Electrical data DIM 341 343 346
Order Code — S30101 S30301 S30601
Rated supply voltage (L1,L2,L3) 3 x 208V-10% … 480V+10%, 50/60
V~
(grounded supply, phase to phase) Hz
Rated input power for continuous operation kVA 1.2 2.5 5
Permitted switch on/off frequency 1/h 30
Max. DC bus link voltage V= 900
Rated output current (rms value, ± 3%)
at 3x208V Arms 2 5 6
at 3x230V Arms 2 5 6
at 3x400V Arms 1.5 4 6
at 3x480V Arms 1.5 3 6
Peak output current (max. approx. 5s, ± 3%)
at 3x208V Arms 4.5 7.5 12
at 3x230V Arms 4.5 7.5 12
at 3x400V Arms 4.5 7.5 12
at 3x480V Arms 4.5 7.5 12
Switching frequency of the output stage kHz 8
at reduced current (50%) kHz 16
Voltage rise speed dU/dt (see hints on page 64!)
at 3x208V kV/µs 3,0
at 3x230V kV/µs 3,3
at 3x400V kV/µs 5,7
at 3x480V kV/µs 6,9
Technical data for brake circuit — ð p.30
Threshold for overvoltage switch-off
a 230V VDC 455
a 400V VDC 800
a 480V VDC 900
Motor inductance min.
at 3x208V mH 7.7 4.6 2.9
at 3x230V mH 8.5 5.1 3.2
at 3x400V mH 14.8 8.9 5.6
at 3x480V mH 17.8 10.7 6.7
Motor inductance max. mH Consult our customer support
Form factor of the output current
— 1.01
(rated conditions, min. load inductance)
Bandwidth of subordinate current controller kHz > 1.2
Residual voltage drop at rated current V 5
Thermal dissipation, output stage disabled W 12
Thermal dissipation at rated current
W 40 60 90
(incl. PSU losses, without brake dissipation)
Noise emission max. dB(A) 25 45
Mechanical data
Weight kg approx. 2.7
Height, without connectors mm 270 279
Width mm 70
Depth, without connectors mm 171
Depth, with connectors mm < 230

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Kollmorgen 04/2018 Technical description

6.2.3 Inputs / outputs, Auxiliary voltage

Interface electr. data

Analog inputs 1, 2 (resolution 14/12 bit) ±10V
Max. common-mode voltage ±10V
Digital control inputs as per IEC 61131-2 Type 1, max. 30VDC
Digital control outputs, active high open Emitter, max. 30VDC, 10mA
max. 30VDC, max 42VAC
BTB/RTO output, relay contacts
500mA
Auxiliary supply voltage, electrically isolated, 20V - 30V
without motor brake/fan 1A
Auxiliary supply voltage, electrically 24V (-0% +15%)
isolated, with motor brake/fan 2.5A (check voltage drop !)
Min./max. output current to brake 0.15A / 1.5A

6.2.4 Connectors

max. permit- permit-

Connector Type cross ted cur- ted ten-
section*1 rent*2 sion*3
Control signals X3, X4 Combicon connector 1,5mm² 4A 160V
S303-310 Power signals X0,X8,X9 Combicon connector 2,5mm² 12A 630V
S341-346 Power signals X0,X8,X9 Combicon connector 4mm² 16A 1000V
Resolver input X2 SubD 9-pin (socket) 0,5mm² 1A <100V
Encoder input X1 SubD 15-pin (socket) 0,5mm² 1A <100V
PC interface, CAN X6 SubD 9-pin (plug) 0,5mm² 1A <100V
Encoder emulation, ROD/SSI X5 SubD 9-pin (plug) 0,5mm² 1A <100V
*1 single-line connection
*2 single-line connection with recommended conductor cross section (chapt. 6.2.8)
*3 rated voltage with pollution level 2

6.2.5 Recommended tightening torques

Connector Tightening torque

X0, X8, X9 0.5..0.6 Nm
Grounding bolt 3.5 Nm

6.2.6 Fusing

Internal fusing

Circuit Internal fuse

Auxiliary voltage 24V 3.15 AT
Brake resistor electronic
External fusing

SERVOSTAR SERVOSTAR
Wire fuses or similar
303*, 341*, 343* 306*, 310*, 346*
AC supply feed FN1/2/3 (X0/1; 2; 3) 6 AT 10 AT
24V feed FH1/2 max. 8 AT
Brake resistor FB1/2 (X8/2; 4) 6 A** 6 A**
EU fuses: types gRL or gL, 400V/500V, T means time-delay, F means fast
US fuses: class RK5 or CC or J or T, 600VAC 200kA, time-delay
* order code reference see p. 22
** for example Bussmann FWP-xx

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6.2.7 Ambient conditions, ventilation, mounting position

Storage hints ð p.14

Transport hints ð p.14
Supply voltage S303-310*: 1x110V-10% …1x230V+10%, 50/60 Hz
3x110V-10% …3x230V+10%, 50/60 Hz
S341-346*: 3x208V-10% ...3x 480V+10%, 50/60 Hz
Auxiliary voltage
without brake and fan 20 V DC ... 30 V DC
with brake or fan 24 V DC (-0% +15%), check voltage drop !
Surrounding air temperature in 0...+40°C under rated conditions
operation +40...+55°C with power derating 2.5% / °C
Humidity in operation rel. humidity 85%, no condensation
up to 1000 meters a.m.s.l. without restriction
Site altitude 1000…2500 meters a.m.s.l. with power derating
1.5% / 100meters
Pollution level Pollution level 2 as per IEC 60664-1
Vibrations Class 3M2 according to IEC 60721-3-3
Enclosure protection IP 20 according to IEC 60529
Mounting position vertical ð p.46
Ventilation S30361 and S30101 natural convection
all other types built-on fan (optionally controlled, ð p.132)
Make sure that there is sufficient forced ventilation within the control cabinet.
* order code reference see p. 22

6.2.8 Conductor cross-sections

Recommendations for cables (material and construction (ð p. 53)).

Following IEC 60204, we recommend for single-axis systems:
AC connection 1.5 mm² (16awg) 600V,80°C
1000V, 80°C,
DC bus link
2.5 mm² (12awg) shielded for lengths
Brake resistor
>20cm
600V, 80°C, shielded,
Motor cables up to 25 m 1 - 1.5 mm² (18awg to 16awg)
capacitance <150pF/m
Motor cables 25m to 50 m, 600V,80°C, shielded,
1 mm² (18awg)
with motor choke 3YL capacitance <150pF/m
Resolver, motor thermal con- 4x2x0.25 mm² (24awg), twisted pairs, shielded,
trol max. 100m capacitance <120pF/m
Encoder, motor thermal con- 7x2x0.25 mm² (24awg),
twisted pairs, shielded
trol max.50m
ComCoder, motor thermal 8x2x0.25 mm² (24awg),
twisted pairs, shielded
control max.25m
Setpoints, AGND 0.25 mm² (24awg), max 30m twisted pairs, shielded
Control signals, BTB, DGND 0.5 mm² (21awg), max 30m
600V, 80°C, shielded,
Holding brake (motor) min. 0.75 mm² (19awg)
check voltage drop
+24 V / DGND max. 2.5 mm² (14awg) check voltage drop
For multi-axis systems, observe the specific operating conditions for your system.
To reach the max. permitted cable length, observe cable requirements ð p. 53.
* Kollmorgen North America supplies cables up to 39 meters
* Kollmorgen Europe supplies cables up to max. length

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6.3 Motor holding brake

A 24V / max.1.5A holding brake in the motor can be controlled directly by the amplifier.

CAUTION
No functional safety! Danger by falling load (in case of suspended load,
vertical axes). An additional mechanical brake is required for funktional
safety, which must be safely operated.
The brake only works with sufficient voltage level (ð p.27). Check voltage drop, measure
the voltage at brake input and check brake function (brake and no brake).
The brake function must be enabled through the BRAKE setting (screen page: Motor). In
the diagram below you can see the timing and functional relationships between the
ENABLE signal, speed setpoint, speed and braking force. All values can be adjusted with
parameters, the values in the diagram are default values.
U

Analog-In
X3/4-5
t
U

ENABLE
X3/15
t
TBRAKE0
U emergency stop
ramp
DECDIS
SW internal
t
ramp
n
5

Speed
VEL0

max.5s EMRGTO
t
U
ENABLE
internal
TBRAKE
t
U

BRAKE
X9/2-1
t
F

Braking force
t
tbrH tbrL
U

STO-ENABLE
X4/5
t

During the internal ENABLE delay time of 100ms (DECDIS), the speed setpoint of the
servo amplifier is internally driven down an adjustable ramp to 0V. The output for the
brake is switched on when the speed has reached 5 rpm (VELO), at the latest after 5 sec-
onds (EMRGTO).
The release delay time (tbrH) and the engage delay time (tbrL) of the holding brake that is
built into the motor are different for the various types of motor (see motor manual), the
matching data are loaded from the motor database when the motor is selected.
A description of the interface can be found on page 64.

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6.4 LED display

A 3-character LED display indicates the status of the amplifier after switching on the 24V
supply (ð p.111). When the keys on the front panel are used, the parameter and function
numbers are shown, as well as the numbers for any errors that may occur (ð p.112).

6.5 Grounding system

AGND — analog inputs, internal analog ground, encoder emulation, RS232, CAN
DGND — digital inputs/outputs and the 24V supply, optically isolated.

6.6 Dynamic braking (brake circuit)

During dynamic braking with the aid of the motor, energy is fed back into the servo ampli-
fier. This regenerative energy is dissipated as heat in the brake resistor. The brake resis-
tor is switched in by the brake circuit.
The setup software can be used to adapt the brake circuit (thresholds) according to the
electrical supply voltage.
Our customer service can help you with the calculation of the brake power that is neces-
sary for your system. A simple method is described in the "KDN".
A description of the interface can be found on page 61.

Functional description:
1.- Individual amplifiers, not coupled through the DC bus link circuit (DC+, DC-)
When the energy fed back from the motor has an average or peak power that exceeds
the preset level for the brake power rating, then the servo amplifier generates the warning
“n02 brake power exceeded” and the brake circuit is switched off.
The next internal check of the DC bus link voltage (after a few milliseconds) detects an
overvoltage and the output stage is switched off, with the error message “Overvoltage
F02” (ð p.112).
The BTB/RTO contact (terminals X3/2,3) will be opened at the same time (ð p.94)

2.- Several servo amplifiers coupled through the DC bus link (DC+, DC-)
Using the built-in brake circuit, several amplifiers (even with different current ratings) can
be operated off a common DC bus link, without requiring any additional measures.
The combined (peak and continuous) power of all amplifiers is always available. The
switch-off on overvoltage takes place as described under 1. (above) for the amplifier that
has the lowest switch-off threshold (resulting from tolerances).

Technical data of the brake circuits dependent on the amplifiers type and the mains volt-
age situation see table on the next page.

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Technical Data:

Brake circuit Supply voltage / V

Type Rated data DIM 115 230 400 480
Switch-on (upper) threshold of brake circuit V 200 400
Overvoltage F02 V 235 455

(S30361)
Internal brake resistor (RBint) Ohm 66 66
303Continuous power for internal resistor (RBint) W 20 20
—
Max. brake power (average for 1s) kW 0,4 0,35
Pulse brake power kW 0,84 3
External brake resistor (RBext), optional Ohm 66 66
Continuous power for external resistor (RBext) kW 0,3 0,3
Switch-on (upper) threshold of brake circuit V 200 400
(S30661/S31061)

Overvoltage F02 V 235 455

306 / 310

Internal brake resistor (RBint) Ohm 66 66

Continuous power for internal resistor (RBint) W 50 50
—
Max. brake power (average for 1s) kW 0,84 0,88
Pulse brake power kW 0,84 3
External brake resistor (RBext), optional Ohm 66 66
Continuous power for external resistor (RBext) kW 1 1
Switch-on (upper) threshold of brake circuit V 400 720 840
Overvoltage F02 V 455 800 900
(S30101)

Internal brake resistor (RBint) Ohm 91 91 91

341

Continuous power for internal resistor (RBint) W 20 20 20

—
Max. brake power (average for 1s) 0,35 0,33 0,34
Pulse brake power kW 2,1 7 9
External brake resistor (RBext), optional Ohm 91 91 91
Continuous power for external resistor (RBext) kW 0,3 0,3 0,3
Switch-on (upper) threshold of brake circuit V 400 720 840
(S30301/S30601)

Overvoltage F02 V 455 800 900

343 / 346

Internal brake resistor (RBint) Ohm 91 91 91

Continuous power for internal resistor (RBint) W 50 50 50
—
Max. brake power (average for 1s) 0,91 0,86 0,85
Pulse brake power kW 2,1 7 9
External brake resistor (RBext), optional Ohm 91 91 91
Continuous power for external resistor (RBext) kW 1,0 1,0 1,0

Suitable external brake resistors can be found in our accessories manual.

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6.7 Switch-on and switch-off behavior

This chapter describes the switch-on and switch-off behavior of the S300 and the steps
required to achieve operational stopping or emergency stop behavior that complies with
standards.
The servo amplifier’s 24 V supply must remain constant. The ASCII commands
ACTFAULT (error response, also depends on the specific error, see ERRCODE) and
STOPMODE (Enable signal response) dictate how the drive will behave.

ACTFAULT / Behavior (see also ASCII reference in the online help of the setup soft-
STOPMODE ware)
0 Motor coasts to a standstill in an uncontrolled manner
1 (default) Motor is braked in a controlled manner

Behavior during a power failure

The servo amplifiers use an integrated circuit to detect if one or more input phases
(power supply feed) fail. The behavior of the servo amplifier is set using the setup soft-
ware: Under “Response to Loss of Input Phase” (PMODE) on the Basic Setup screen,
select:
l Warning if the higher-level control system is to bring the drive to a standstill: Warn-
ing n05 is output if an input phase is missing, and the motor current is limited. The
servo amplifier is not disabled. The higher-level control system can now selectively
end the current cycle or start bringing the drive to a standstill. Therefore, the error
message “MAINS BTB, F16" is output on a digital output of the servo amplifier and
evaluated by the control system, for instance.
l Error message if the servo amplifier is to bring the drive to a standstill: Error mes-
sage F19 is output if an input phase is missing. The servo amplifier is disabled and
the BTB contact opens. Where the factory setting is unchanged (ACTFAULT=1), the
motor is braked using the set “EMERGENCY STOP RAMP”.

Behavior when undervoltage threshold is reached

If the undervoltage threshold is undershot in the DC bus link (the threshold value
depends on the type of servo amplifier), the error message “UNDERVOLTAGE, F05" is
displayed. The drive response depends on the ACTFAULT/STOPMODE setting.
Behavior with enabled “holding brake” function
Servo amplifiers with an enabled holding brake function have a special procedure for
switching off the output stage ( ð p. 29). Removing the ENABLE signal triggers electrical
braking. As with all electronic circuits, the general rule applies that there is a possibility of
the internal “holding brake” module failing. Bringing a motor to a standstill using a holding
brake in a way that is functional safe also requires an electromechanical “make” contact
for the holding equipment and a suppressor device for the brake.
Behavior of the safety function STO
With the functional safe, certified safety function STO, the drive can be secured on stand-
still using its internal electronics so that even when power is being supplied, the drive
shaft is protected against unintentional restart. The chapter “Safety Function STO”
describes how to use the STO function. See page 37 onwards.

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6.7.1 Behavior in standard operation

The behavior of the servo amplifier always depends on the current setting of a number of
different parameters (e.g., ACTFAULT, VBUSMIN, VELO, STOPMODE, etc.; see online
help). The diagram below illustrates the correct functional sequence for switching the
servo amplifier on and off.
U
24V

BTB/RTO

t
U < 15s (Boot-time)

L1,L2,L3

t
U
DC bus link

t
U ~500ms 5...8 min.

STO-ENABLE

t
U > 100ms
HW-ENABLE
&
SW-ENABLE
t
n
Motor speed

5
VELO

t
Power Stage U
enable (inter
nal)

Devices which are equipped with a selected “Brake” function use a special sequence for
switching off the output stage (ð p.29).
The safety function STO can be used to switch off the drive, so that functional safety is
ensured at the drive shaft (ð p. 37).

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6.7.2 Behavior in the event of an error (with standard setting)

The behavior of the servo amplifier always depends on the current setting of a number of
different parameters (ACTFAULT, VBUSMIN, VELO, STOPMODE, etc.; see online help).

CAUTION
Some faults (see ERRCODE ) force the output stage to switch-off
immediately, independent from the ACTFAULT setting. Danger of injury
by uncontrolled coasting of the load. An additional mechanical brake is
required for functional safety, which must be safely operated.
The diagram shows the startup procedure and the procedure that the internal control
system follows in the event of motor overtemperature, assuming that the standard param-
eter settings apply. Fault F06 does not switch-off the output stage immediately, with
ACTFAULT=1 a controlled emergency brake is started first.
Start Standard Operation Fault Motor Temperature

24V
t

BTB/RTO
t
Boot-Time

Main Power
t
~500ms

DC-Bus
t

Power Stage
enable
t

F06
t
5

VELO
Motor Speed
t

STO-ENABLE
t
> 100ms

ENABLE
extern
t

(F06 = error messages "Motor Temperature")

Even if there is no intervention from an external control system (in the example, the
ENABLE signal remains active), the motor is immediately braked using the emergency
stop ramp if the error is detected and assuming that no changes have been made to the
factory setting (ACTFAULT=1).

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6.8 Stop-, Emergency Stop-, Emergency Off Function to IEC 60204

With the functional safe, certified safety function STO (see page 37 onwards) the drive
can be secured on standstill (torque-free) using its internal electronics so that even when
power is being supplied, the drive shaft is protected against unintentional restart.
The parameters “STOPMODE” and “ACTFAULT” must be set to 1 in order to implement
the stop categories. If necessary, change the parameters via the terminal screen of the
setup software and store the data in the EEPROM.
Examples for implementation can be found in the KDN on page Stop and Emergency
Stop Function.

6.8.1 Stop

The Stop function is used to shut down the machine in normal operation. The Stop func-
tions are defined by IEC 60204.
Category 0: Shut-down by immediate switching-off of the energy supply to the
drive machinery (i.e. an uncontrolled shut-down); this can be done
with the built-in STO functionality (see page 37);
Category 1: A controlled shut-down , whereby the energy supply to the drive
machinery is maintained to perform the shut-down, and the energy
supply is only interrupted when the shut-down has been completed;
Category 2: A controlled shut-down, whereby the energy supply to the drive
machinery is maintained.
The Stop Category must be determined by a risk evaluation of the machine. In addition,
suitable means must be provided to guarantee a reliable shut-down.
Category 0 and Category 1 Stops must be operable independently of the operating mode,
whereby a Category 0 Stop must have priority. Stop functions must be implemented by
disconnection of the appropriate circuitry, and have priority over assigned start func-
tions.
If necessary, provision must be made for the connection of protective devices and
lock-outs. If applicable, the Stop function must signal its status to the control logic. A reset
of the Stop function must not create a hazardous situation.
Examples for implementation can be found in the KDN on page Stop and Emergency
Stop Function.

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6.8.2 Emergency Stop

The Emergency Stop function is used for the fastest possible shutdown of the machine
in a dangerous situation. The Emergency Stop function is defined by IEC 60204. Princi-
ples of emergency stop devices and functional aspects are defined in ISO 13850.
The Emergency Stop function will be triggered by the manual actions of a single person.
It must be fully functional and available at all times. The user must understand instantly
how to operate this mechanism (without consulting references or instructions).
The Stop Category for the Emergency Stop must be determined by a risk evaluation of
the machine.
In addition to the requirements for stop, the Emergency Stop must fulfil the following
requirements:
l Emergency Stop must have priority over all other functions and controls in all operat-
ing modes.
l The energy supply to any drive machinery that could cause dangerous situations
must be switched off as fast as possible, without causing any further hazards ( Stop
Category 0) or must be controlled in such a way, that any movement that causes
danger, is stopped as fast as possible (Stop Category 1).
l The reset must not initiate a restart.

Examples for implementation can be found in the KDN on page Stop and Emergency
Stop Function.

6.8.3 Emergency Off

The Emergency Off function is used to switch-off the electrical power supply of the
machine. This is done to prevent users from any risk from electrical energy (for example
electrical impact). Functional aspects for Emergency Off are defined in IEC 60364-5-53.
The Emergency Off function will be triggered by the manual actions of a single person.
The result of a risk evaluation of the machine determines the necessity for an Emergency
Off function.
Emergency Off is done by switching off the supply energy by electro-mechanical switch-
ing devices. This results in a category 0 stop. If this stop category is not possible in the
application, then the Emergency Off function must be replaced by other measures (for
example by protection against direct touching).

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6.9 Safety function STO

A frequently required application task is the protection of personnel against the restarting
of drives. The S300 servo amplifier offers, even in the basic version, a single channel
STO function (Safe Torque Off) that can be used as a functional safe restart lock.
Advantages of the restart lock STO :
— the DC bus link remains charged up, since the mains supply line remains active
— only low voltages are switched, so there is no contact wear
— very little wiring is required
The safety function STO can be operated from a safe external control (semiconductor
output or driven contact).
The safetys concept is certified. The safety circuit concept for realizing the safety function
"Safe Torque Off" in the servo amplifiers S300 is suited for SIL CL 2 according to IEC
62061 and PLd according to ISO 13849-1.

6.9.1 Safety characteristic data

The subsystems (servo amplifiers) are totally described for safety technics with the
characteristic data SIL CL, PFHD and TM.

Device Operation mode EN 13849-1 EN 62061 PFHD [1/h] TM [Year]

STO-Enable single channel PLd SIL CL 2 1,50E-07 20

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6.9.2 Safety notes

WARNING
High electrical voltage!
Risk of electric shock! The function STO does not provide an electrical
separation from the power output. If access to the motor power terminals
is necessary,
l disconnect the S300 from mains supply,
l consider the discharging time of the intermediate circuit.

WARNING
No Brake Power!
Serious injury could result when a suspended load is not properly
blocked. The servo amplifier cannot hold a vertical load when STO is
active.
l Add a safe mechanical blocking (for instance, a motor-holding brake).

CAUTION
Uncontrolled movement!
Danger of personal injury. If STO is engaged during operation by
separating input STO1-Enable and STO2-Enable from 24 VDC, the motor
runs down out of control and the servo amplifier displays the error F27.
There is no possibility of braking the drive controlled.
l brake the drive in a controlled way and separate the STO inputs from
+24 VDC time-delayed.

In case of single channel control:

If the safety function STO is automatically activated by a control system, then make sure
that the output of the control is monitored for possible malfunction. This can be used to
prevent a faulty output from unintentionally activating the safety function STO. Since the
restart lock is a single-channel system, erroneous engaging will not be recognized.
Controlled braking:
Keep to the following functional sequence when the restart lock STO is used :
1. Brake the drive in a controlled manner (speed setpoint = 0V)
2. When speed = 0 rpm, disable the servo amplifier (enable = 0V)
3. If there is a suspended load, block the drive mechanically
4. Activate the restart lock STO

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6.9.3 Use as directed

The safety function STO is exclusively intended to provide functional safety, by prevent-
ing the restart of a system. To achieve this functional safety, the wiring of the safety cir-
cuits must meet the safety requirements of IEC 60204, ISO 12100, IEC 62061 SIL CL2
respectively ISO 13849-1 PLd.
If STO is automatically activated by a control system, then make sure that the output of
the control is monitored for possible malfunction.

6.9.4 Prohibited Use

The STO function must not be used if the drive is to be made inactive for the following
reasons:
— Cleaning, maintenance and repair operations, long inoperative periods:
In such cases, the entire system should be disconnected from the supply by the
personnel, and secured (main switch).
— Emergency-Off situations: the mains contactor must be switched off (by the
emergency-Off button).

6.9.5 Technical data and pinning

Input voltage 20 V..30 V

Input current 33 mA – 40 mA (Ieff)
Peak current 100 mA (Is)
Response time (falling edge at STO input un-
1 ms
til energy supply to motor is interrupted)

X4 24V / STO
+24V 1
+24V 2
DGND 3
safety
DGND 4 interlock
switchgear
STO-ENABLE 5

6.9.6 Enclosure

Since the servo amplifier meets enclosure IP20, you must select the environment ensur-
ing a safe operation of the servo amplifier. The enclosure must meet IP54 at least.

6.9.7 Wiring

When using STO wiring leads outside the control cabinet, the cables must be laid durably
(firmly), protected from outside damage (e.g. laying in a cable duct), in different sheathed
cables or protected individually by grounding connection.
Wiring remaining within the demanded enclosure must meet the requirements of the stan-
dard IEC 60204-1.

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6.9.8 Functional description

In case of use of the STO function the input STO-Enable must be connected to the exit of
a security control or a safety relay, which meets at least to therequirements of the SIL
CL2 according to IEC 62061 and PL d according to ISO 13849-1 (see the connection dia-
gram on page 42).
Possible states of the servo amplifier in connection with STO function:

STO-ENABLE ENABLE Display Motor has torque SIL CL2 / PL d

0V 0V -S- no yes
0V +24 V F27 no yes
+24 V 0V normal status e.g. 06 no no
+24 V +24 V normal status e.g. E06 yes no
Because restart lock is a single-channel system, erroneous engaging will not be recog-
nized. Therefore the output of the control must be supervised for possible malfunction.
When wiring the STO input within one enclosure it must be paid attention to the fact that
the used cables and the enclosure meet the requirements of IEC 60204-1.
If the wiring leads outside the demanded enclosure, the cables must be laid durably
(firmly), and protected from outside damage (see chapter 6.9.7).
If the STO function is not needed in the application, then the input STO-ENABLE must be
connected directly with +24VDC. The STO function is passed by now and cannot be
used. The servo amplifier cannot be used as a safety component referring to the EC
Machine Directive now.

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6.9.8.1 Safe operation sequence

If a controlled braking before the use of STO is necessary, the drive must be braked and
the input STO-ENABLE has to be separated from +24 VDC time-delayed.
1. Brake the drive in a controlled manner (speed setpoint = 0V)
2. When speed = 0 rpm, disable the servo amplifier (enable = 0V)
3. If there is a suspended load, block the drive mechanically
4. Activate STO (STO-Enable = 0V)
The diagram shows how to use STO function to ensure a safe stop of the drive and error
free operation of the servo amplifier.

Velocity

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6.9.8.2 Control circuit

The example shows a circuit diagram with two separated work areas connected to one
emergency stop circuit. For each work area individually "safe stop" of the drives is
switched by a protective screen.
The safety switch gears used in the example are manufactured by Pilz and fulfill at least
the PL d acc. to ISO 13849-1. Further information to the safety switch gears is available
from Pilz. The use of safety switch gears of other manufacturers is possible, if these also
fulfill the SIL CL 2 according to IEC 62061 and PL d according to ISO 13849-1.
+24VDC

Emergency-stop circuit
BTB BTB BTB BTB
1 2 3 4 acc. to ISO 13849-1 PL e
F1 1 2 1 2 1 2 1 2
-S2
E-Stop

K1 A1 S12 S21 S22 13 23 K2 A1

PNOZ S3

A2 S12 S34 14 24 A2 Y1 Y2

13 Mains
-S1
14 contactor
Reset

Safe stop acc. to ISO 13849-1 PL d, single channel, group 1 for 2 drives

F2

K3
12
11

S3
1

2
A1 S12 S21 S22 13 23
X4 X4

Drive 1 X3 Drive 2 X3
PNOZ S3 X4 1 X4 1
5 5
BTB BTB
2 2

X4 X4
3

3
4

A2 S12 S34 14 24
23

24

S4

* STO-Enable

Safe stop acc. to ISO 13849-1 PL d, single channel, group 2 for 2 drives

F3

K4
12
11

S5
1

A1 S12 S21 S22 13 23

X4 X4

Drive 4 X3 Drive 5 X3
X4 1 X4 1
PNOZ S3
5 5
BTB BTB
2 2

X4 X4
3

3
4

A2 S12 S34 14 24
23

24

S6

0V * STO-Enable

Consider the wiring instructions on page 39.

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6.9.8.3 Functional test

With initial starting and after each interference into the wiring of the drive or after
exchange of one or several components of the drive the STO function must be tested.
1. Method:
1. Stop drive, with setpoint 0V, keep servo amplifier enabled.
DANGER: Do not enter hazardous area!
2. Activate STO e.g. by opening protective screen. (voltage at X4/5 0 V)
Correct behavior: the BTB/RTO contact opens, the net contactor releases and the servo
amplifier displays error F27.
2. Method:
1. Stop all drives, with setpoint 0V, disable servo amplifier.
2. Activate STO e.g. by opening protective screen. (voltage at X4/5 0 V)
Correct behavior: the servo amplifier displays -S-.

6.9.8.4 Mains supply circuit

mains 3~ 3 3

PE 1

3 3 3 3

F4 F5 F6 F7

3 1 3 1 3 1 3 1
DC Bus Link 2

S300 S300 S300 S300

4 4 4 4

M M M M

S3 S5
S4 S6

Screen switch 1 Screen switch 2

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6.10 Shock-hazard protection

6.10.1 Leakage current

Leakage current via the PE conductor results from the combination of equipment and
cable leakage currents. The leakage current frequency pattern comprises a number of
frequencies, whereby the residual-current circuit breakers definitively evaluate the 50Hz
current. As a rule of thumb, the following assumption can be made for leakage current on
our low-capacity cables at a mains voltage of 400 V, depending on the clock frequency of
the output stage:
Ileak = n x 20mA + L x 1mA/m at 8kHz clock frequency at the output stage
Ileak = n x 20mA + L x 2mA/m at a 16kHz clock frequency at the output stage
(where Ileak=leakage current, n=number of amplifiers, L=length of motor cable)
At other mains voltage ratings, the leakage current varies in proportion to the voltage.
Example: 2 x servo amplifiers + a 25m motor cable at a clock frequency of 8kHz:
2 x 20mA + 25m x 1mA/m = 65mA leakage current.
Since the leakage current to PE is more than 3.5 mA, in compliance with
IEC 61800-5-1 the PE connection must either be doubled or a connecting cable with a
cross-section >10mm² must be used. Use the PE terminals and the PE bolt in order to ful-
fil this requirement.
The following measures can be used to minimise leakage currents.
— Reduce the length of the engine cable
— Use low-capacity cables (see p.53)
— Remove external EMC filters (radio-interference suppressors are integrated)

6.10.2 Residual current protective device (RCD)

In conformity with IEC 60364-4-41 – Regulations for installation and IEC 60204 – Electri-
cal equipment of machinery, residual current protective devices (called RCD below) can
be used provided the requisite regulations are complied with. The S300 is a 3-phase sys-
tem with a B6 bridge. Therefore, RCDs which are sensitive to all currents must be
used in order to detect any D.C. fault current.
Rated residual currents in the RCD
Protection against "indirect contact" for stationary and mobile equipment,
10 -30 mA
as well as for "direct contact".
50 -300 mA Protection against "indirect contact" for stationary equipment

Recommendation: In order to protect against direct contact (with motor cables shorter
than 5 m) we recommend that each servo amplifier be protected individually using a
30mA RCD which is sensitive to all currents.
If you use a selective RCD, the more intelligent evaluation process will prevent spurious
tripping of the RCD.

6.10.3 Isolating transformers

When protection against indirect contact is absolutely essential despite a higher leakage
current, or when an alternative form of shock-hazard protection is sought, the S300 can
also be operated via an isolating transformer (schematic connection see p.58). A
ground-leakage monitor can be used to monitor for short circuits.
Be advised to keep the length of wiring between the transformer and the servo amplifier
as short as possible.

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7 Mechanical Installation
7.1 Important notes

CAUTION
High leakage current! There is a danger of electrical shock by high EMC
level which could result in injury, if the servo amplifier (or the motor) is not
properly EMC-grounded.
l Do not use painted (i.e. non-conductive) mounting plates.
l In unfavourable circumstances, use copper mesh tape between the
earthing bolts and earth potential to deflect currents.

Protect the servo amplifier from impermissible stresses. In particular, do not let any com-
ponents become bent or any insulation distances altered during transport and handling.
Avoid contact with electronic components and contacts.
The servo amplifier will switch-off itself in case of overheating. Ensure that there is an
adequate flow of cool, filtered air into the bottom of the control cabinet, or use a heat
exchanger. Please refer to page 28.
Don't mount devices, which produce magnetic fields, directly beside the servo amplifier.
Strong magnetic fields could directly affect internal components. Install devices which
produce magnetic field with distance to the servo amplifiers and/or shield the magnetic
fields.

7.2 Guide to mechanical installation

The following notes should help you to carry out the mechanical installation.

In a closed control cabinet. Please refer to page 28.

Site The site must be free from conductive or corrosive materials.
For the mounting position in the cabinet ð p.46.

Check that the ventilation of the servo amplifier is unimpeded, and

Ventilation keep within the permitted ambient temperature ð p.28. Keep the re-
quired space clear above and below the servo amplifier ð p.46.

Assemble the servo amplifier and power supply close together, on

Assembly
the conductive, grounded mounting plate in the cabinet.

For EMC-compliant shielding and grounding ð p.57.

Grounding
Ground the mounting plate, motor housing and CNC-GND of the
Shielding
control system. Notes on connection techniques ð p.52.

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7.3 Assembly
Material: 3 x M5 hexagon socket screws to ISO 4762
Tool required : 4 mm Allen key

Cable duct

>2"
>1.6" >3" >3" >1.6"

10.12"
>3"

2" 2" 2"

Cable duct

>0.1"

mounting panel
conductive (zinc-coated)
Cabinet door

screw for hex key EN 4762

S300 0.2"

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7.4 Dimensions

1.
0 10
d S3 01
n xx
6 1a S3
03 ")
3 06
hS (9.
wit mm
an 30
of 2
N V<
80
0 /4
40
46
1 ...3
R 34
S TA
VO
S ER

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This page has been deliberately left blank.

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8 Electrical installation
8.1 Important notes

WARNING
High voltage up to 900V!
There is a danger of serious personal injury or death by electrical shock
or electrical arcing. Capacitors can still have dangerous voltages present
up to five minutes after switching off the supply power. Control and power
connections can still be live, even if the motor is not rotating.
l Only install and wire the equipment when it is not live.
l Make sure that the cabinet is safely disconnected (for instance, with a
lock-out and warning signs).
l Never remove electrical connections to the drive while it is live.
l Wait at least 5 minutes after disconnecting the drive from the main
supply power before touching potentially live sections of the equip-
ment (e.g. contacts) or undoing any connections.
l To be sure, measure the voltage in the DC bus link and wait until it
has fallen below 50 V.

Wrong mains voltage, unsuitable motor or wrong wiring will damage the amplifier.
Check the combination of servo amplifier and motor. Compare the rated voltage and cur-
rent of the units. Implement the wiring according to the connection diagram on p. 51.
Make sure that the maximum permissible rated voltage at the terminals L1, L2, L3 or
+DC, –DC is not exceeded by more than 10% even in the most unfavorable circum-
stances (see IEC 60204-1).
Excessively high external fusing will endanger cables and devices. The fusing of the AC
supply input and 24V supply must be installed by the user, best values are given on p.27.
Hints for use of Residual-current circuit breakers (FI) ð p.44.
The servo amplifier's status must be monitored by the PLC to acknowledge critical situa-
tions. Wire the BTB/RTO contact in series into the emergency off circuit of the installation.
The emergency off circuit must operate the supply contactor.
It is permissible to use the setup software to alter the settings of the servo amplifier. Any
other alterations will invalidate the warranty.

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8.2 Guide to electrical installation

Correct wiring is the basis for reliable functioning of the servo system.
Route power and control cables separately. We recommend a distance of at least
200mm. This improves the interference immunity. If a motor power cable is used that
includes cores for brake control, the brake control cores must be separately shielded.
Ground the shielding at both ends. Ground all shielding with large areas (low impedance),
with metalized connector housings or shield connection clamps wherever possible. Notes
on connection techniques can be found on page 52.
Feedback lines may not be extended, since thereby the shielding would be interrupted
and the signal processing could be disturbed. Lines between amplifiers and external
brake resistor must be shielded. Install all power cables with an adequate cross-section,
as per IEC 60204 (ð p.28) and use the requested cable material (ð p. 53) to reach max.
cable length.

The following notes should help you to carry out the electrical installation.

Cable selection Select cables in accordance with IEC 60204 ð p.28.

For EMC-compliant shielding and grounding ð p.57.

Grounding
Ground the mounting plate, motor housing and CNC-GND of the
Shielding
control system. Notes on connection techniques ð p.52.

Route power leads and control cables separately.

Wiring Wire the BTB/RTO contact in series into the emergency off
circuit of the system.
— Connect the digital control inputs and outputs.
— Connect up AGND (also if fieldbuses are used).
— Connect the analog input source, if required.
— Connect the feedback device.
— Connect the encoder emulation, if required.
— Connect the expansion card
— (see corresponding notes from page 115).
— Connect the motor cable
— Connect shielding to EMC connectors (shield connection) at both
— ends. Use the motor choke (3YL) if cable > 25 meters.
— Connect motor-holding brake, connect shielding to EMC
— connector/shield connection at both ends.
— If required, connect the external brake resistor (with fusing).
— Connect the auxiliary supply
— (maximum permissible voltage values ð p.28).
— Connect the main electrical supply
— (maximum permissible voltage values ð p.28).
— Connect the PC (ð p.95).

— Final check of the implementation of the wiring against the

Final check
— wiring diagrams that have been used.

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8.3 Wiring
The installation procedure is described as an example. A different procedure may be
appropriate or necessary, depending on the application of the equipments.
We provide further know-how through training courses (on request).

DANGER
High voltage up to 900V!
There is a danger of electrical arcing with damage to contacts and
serious personal injury.
l Only install and wire up the equipment when it is not live, i.e. when
neither the electrical supply nor the 24 V auxiliary voltage nor the
supply voltages of any other connected equipment is switched on.
l Make sure that the cabinet is safely disconnected (for instance, with a
lock-out and warning signs).

The ground symbol X , which you will find in all the wiring diagrams, indicates that you
must take care to provide an electrically conductive connection with the largest feasible
surface area between the unit indicated and the mounting plate in the control cabinet.
This connection is for the effective grounding of HF interference, and must not be con-
fused with the PE-symbol W (PE = protective earth, safety measure as per IEC60204).
Use the following connection diagrams :
Safety Function STO : page 42
Overview : page 57
Mains power : page 59
Motor : page 64
Feedback : page 65ff
Electronic Gearing / Master Slave
Master-Slave : page 87
Pulse-Direction : page 88
Encoder Emulation
ROD (A quad B) : page 90
SSI : page 91
Digital and analog inputs and outputs : page 92ff
RS232 / PC : page 95
CAN Interface : page 96
Expansion cards
I/O-14/08 : page 118
PROFIBUS : page 119
sercos® II : page 121
DeviceNet : page 122
SynqNet : page 126
FB-2to1 : page 127
2CAN : page 130
Options
EtherCAT : page 131
FAN : page 132

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8.3.1 Shielding connection to the front panel

Remove the outside shroud of the cable

and the shielding braid on the desired core
length. Secure the cores with a cable tie.

Remove the outside shroud of the line on a

length from for instance 30mm without da-
maging the shielding braid.

Pull a cable tie by the slot in the shielding

rail on the front panel of the servo amplifier.

Press the shielding of the cable firmly

against the front panel with the cable tie.

Use the shield clamp that is delivered with

the motor cable for the shield connection of
the motor cable. The clamp must be hoo-
ked in the lower shroud and guarantees op-
timal contact between shield and shroud.

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8.3.2 Technical data for connecting cables

Further information on the chemical, mechanical and electrical characteristics of the

cables can be obtained from our customer service.
Observe the rules in the section "Conductor cross-sections" on page 28. To reach the
max. permitted cable length, you must use cable material that matches the capacitance
requirements listed below.

Capacitance (phase to shield)

Motor cable less than 150 pF/m
Resolver/Encoder cable less than 120 pF/m
Example: Motor cable

U
M
V 3~

W
D
I EL
SH

Shield Core PE
Isolation
Capazity Phase-to-Shield
Fill material Core Isolation

Technical data
For a detailed description of cable types and how to assemble them, please refer to the
accessories manual.
Chokes
Motor cables longer than 25m require the use of a motor choke 3YL or 3YLN.

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8.4 Components of a servo system

PC

Controls / PLC

S300

24V PSU

Fuses
Brake resistor
(optional)

Drive cut-out

Motor choke
(optional)

Terminals
Motor

Cables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines.
Optional devices are connected with dashed lines to the servo amplifier. The required
accessories are described in our accessories manual.

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8.5 Block diagram

The block diagram below just provides an overview.

X0
L1
RS L2
X6 232 L3
RS232 PE
CAN
CAN EMI

X5 ~
ROD =
ROD/SSI
SSI
X3
DIGITAL-IN1
DIGITAL-IN2 Inrush circuit
DIGITAL-IN3
DIGITAL-IN4 VBUS D
X8
ENABLE
A Intermediate circuit
DIGITAL-OUT1 -DC

DIGITAL-OUT2
+RBext
+RBint
Controller
=
-RB
~
X4
STO-ENABLE I D Power stage
DGND A

U2 V2 W2
X9
U1 W1
Analog-In 1-
A V1

Analog-In 1+ D
-AS-
Resolver
X2
RDC

Analog-In 2- or
A
Analog-In 2+ D X1
SinCos M3~ G
AGND -AS-

Encoder
or
X1

Comcoder
BRAKE+ BRAKE-
X9

X4 EMI
3,15AT
+24V
Internal power supply
DGND

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8.6 Connector assignments

X6 PC/CAN X5 ROD/SSI X2 RESOLVER X1 COMCODER
pulse-direction
master-slave
+5V/33mÙ

SHIELD
BiSS

A+ (/CLK)
A- (CLK)
reserve
AGND

AGND
RxD
TxD

R2

S4
S3
NI+

ä
NI-

1
4

4
5

3
2

3
2
6
1

8
7
2
3

5
4

1
2
3
4
5

11
12
13
14

10
15

9
7
8
CANH 9

B+ (DATA) 6

N.C. 9
CANL 6

B- (/DATA) 7
reserve 8

6
8
7
S1
R1

S2
ä
X3 I/O
BTB/RTO 1
BTB/RTO 2
Analog-In 1+ 3
Analog-In 1- 4
Analog-In 2+ 5
Analog-In 2- 6
AGND 7
DIGITAL-IN1 8
DIGITAL-IN2 9
DIGITAL-IN3 10
View: looking at
DIGITAL-IN4 11 the face of the
ENABLE 12
DIGITAL-OUT1 13 built-in connectors
DIGITAL-OUT2 14

X4 24V / STO

+24V 1
+24V 2
DGND 3
DGND 4
STO-ENABLE 5

The connectors of the expansion

card depend on used expansion
card (see pages 116 ff).

400 / 480 V
-DC 1 PE 1 1 Brake- 1 Brake- PE 1 -DC 1
N.C. 2 L3 2 2 Brake+ 2 Brake+ L3 2 N.C. 2
+DC +RBext 3 L2 3 3 PE 3 PE L2 3 +DC +RBext 3
+RBint 4 L1 4 4 U2 4 U2 L1 4 +RBint 4
-RB 5 5 V2 5 V2 -RB 5
6 W2 6 W2

X8 DC-Bus X0 Mains X9 Motor/Brake X9 Motor/Brake X0 Mains X8 DC-Bus

Coding Keys

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8.7 Connection diagram (Overview)

Refer to the Safety Instructions (ðp.10)
and Use as Directed (ð p.12) !
Control
+/-10V speed
thermal control setpoint1
included ð p.70ff referred to
CNC-GND
digital
Feedback Encoder ð p.92
+/-10V speed
setpoint2
referred to
CNC-GND
or

thermal control
+24V referred
included to 0V/GND

Resolver Resolver
ð p.69

ð p.93

ð p.64
ð p.94

Emergency
Stop Circuit

Remove jumper if
external regen
resistor is connected +24V referred
to 0V/GND

Regeneration
ð p.39
resistor ð p.93
ð p.61

encoder-
ð p.90 evaluation,
stepper motor
ð p.91 control,
ð p.87 slave/master
ð p.59 ð p.88

ð p.96

ð p.59
ð p.95

supply unit ð p.116 PE-connection (protective earth)

ð p.119
chassis ground connection (panel)
Mains
contactor
ð p.120
ð p.122 shield connection via plug
ð p.131
shield connection at the front panel
ð p.126

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8.8 Electrical supply

8.8.1 Connection to various mains supply networks

An isolating transformer is required for 400V to 480V networks that are asymmetrically
grounded or not grounded as shown below.

400V / 480V : SERVOSTAR 341-346*

110V : SERVOSTAR 303-310*
400...480V L1
230V : all types

L2 S300
L3
PE

110...230V L1 400...480V L1

L2 S300 L2 S300
L3 L3
mains PE mains Isolating transfo PE

110...230V L1 400...480V L1

L2 S300 L2 S300
L3 L3
mains PE mains Isolating transfo PE

110...230V L1 400...480V L1

L2 S300 L2 S300
L3 L3
mains PE mains Isolating transfo PE

110...230V L1 400...480V L1

L2 S300 L2 S300
L3 L3
mains PE mains Isolating transfo PE

110...230V L1 400...480V L1

L2 S300 L2 S300
L3 L3
mains PE mains Isolating transfo PE

* Order code reference see p. 135

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8.8.2 24V auxiliary supply (X4)

— External 24V DC power supply, electrically isolated, e.g. via an isolating transformer
— Required current rating ð p.25
— Integrated EMC filter for the 24V auxiliary supply

S300 X4
1 +24V L1
+24V

2 +24V L2

39V L3
3 DGND

4 DGND
PE

8.8.3 Mains supply connection (X0), three phase

— Directly to 3-phase supply network, filter is integrated

— Fusing (e.g. fusible cut-outs) to be provided by the user ð p.27
X0
S300 1
PE
PE

2
FN1
110...230V 110...230V
L3
L3 50/60Hz 50/60Hz

FN2
3
L2
L2
4
FN3 208...480V
L1 50/60Hz
L1

8.8.4 Mains supply connection (X0), two phase without neutral

S300 1
PE
PE

X0
2 110...230V 110...230V
L3 50/60Hz 50/60Hz

FN2
3
L2
L2
4
FN3
L1
L1

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8.8.5 Mains supply connection (X0), single phase with neutral

S300 with 230V version (SERVOSTAR 303-310) can be operated with a single phase
mains supply. In single phase operation the electrical power of the amplifier is limited.

S300 1
PE
PE

X0
2 110...230V 110...230V
L3 50/60Hz 50/60Hz

3
N
L2
4
FN3
L1
L1

The table below shows the maximum rated power (Pn) and peak power (Pp) with single
phase operation:

SERVOSTAR 303 SERVOSTAR 306 SERVOSTAR 310

max. electrical power Pn / W Pp / W Pn / W Pp / W Pn / W Pp / W
VBUSBAL0 (115V) 423 704 423 704 423 704
VBUSBAL1 (230V) 845 2535 1127 2535 1127 2535

The maximum possible current depends on the motor torque constant kT and on the max-
imum speed of the connected motor:
Pn × 60 Pp × 60
Continuous currrent: I rms = peak current: I peak =
2 × p × kT × n 2 × p × kT × n

Speed can be limited with the ASCII parameter VLIM to reach the necessary current for
the required torque.
With a special motor type (kT = constant depending on the motor type) the possible out-
put current depending on speed is similar to the diagram below:

Ipeak

Irms

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8.9 DC bus link (X8)

Terminals X8/1 (-DC) and X8/3 (+RBext). Can be connected in parallel, whereby the
brake power is divided between all the amplifiers that are connected to the same DC bus
link circuit.
S300 S300
X8 X8
-DC 1 -DC 1 -DC

+DC 3 +RBext (+DC) 3 +DC

to other

The servo amplifiers can be destroyed, if DC bus link voltages are different. Only servo
amplifiers with mains supply from the same mains (identical mains supply voltage) may
be connected by the DC bus link. Use unshielded single cores (2.5mm²) with a max.
length of 200 mm. Use shielded cables for longer lengths.
S701...724 with S701...724 with
S300
HWR* < 2.00 HWR* ³ 2.10
S300 no Ä Ä
*HWR = Hardware Revision (see nameplate)

SERVOSTAR 303-310:
The sum of the rated currents for all of the servo amplifiers connected in parallel
to an SERVOSTAR 303-310 must not exceed 24 A.
SERVOSTAR 341-346:
The sum of the rated currents for all of the servo amplifiers connected in parallel
to an SERVOSTAR 341-346 must not exceed 40A.
Fusing information are explained in detail in the "KDN"

8.9.1 External brake resistor (X8)

Remove the plug-in link between the terminals X8/5 (-RB) and X8/4 (+Rbint).

S300 X8
1 -DC

2
n.c.

3 +RBext FB1

RBint 4 +RBint
+DC
RBext

5 -RB FB2
-DC

remove
bridge !

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8.9.2 Capacitor Modules KCM (X8)

KCM modules (KOLLMORGEN Capacitor Modules) absorb energy gen-

erated by the motor when it is operating in generator mode. Normally,
this energy is dissipated as waste via brake resistors. KCM modules,
however, feed the energy they have stored back into the DC Bus link as
and when it is required.

KCM-S Saves energy: The energy stored in the capacitor module during regenerative
braking is available the next time acceleration happens. The module’s inception
voltage is calculated automatically during the first load cycles.
KCM-P Power in spite of power failure: If the power supply fails, the module provides
the servo amplifier with the stored energy that is required to bring the drive to a
standstill in a controlled manner (this only applies to the power supply voltage;
battery-back the 24 V supply separately).
KCM-E Expansion module for both applications. Expansion modules are available in
two capacitance classes.
The KCM modules can be connected to S3xx0 devices (mains supply voltage 400/480V).
Information for mounting, installation and setup can be found in the KCM Instructions
Manual and in KDN.
Technical Data of KCM Modules

Typ DIM KCM-S200 KCM-P200 KCM-E200 KCM-E400

Storage capacity Ws 1600 2000 2000 4000
Rated supply voltage V= max 850 VDC
Peak supply voltage V= max 950 VDC (30s in 6min)
Power kW 18
Protection class IP20
Inception voltage V= evaluated 470 VDC - -
Dimensions (HxWxD) mm 300 x 100 x 201
Weight kg 6.9 6.9 4.1 6.2
Dimension drawings and order i nformations see regional accessories manual.

DANGER
High DC voltage up to 900 V!
There is a danger of serious personal injury or death by electrical shock
or electrical arcing. It can take over an hour for the modules to
self-discharge.
l Switch off (disconnect) the line voltage. You must only work on the
connections when the system is disconnected.
l Check the state of charge with a measuring device that is suitable for
a DC voltage of up to 1,000 V.
l When measuring a voltage of over 50 V between the DC+/DC- termi-
nals or to ground, wait some minutes and measure again or discharge
the modules as described in the KCM instructions manual.

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Wiring example KCM Modules

Maximum cable length between servo amplifier and S300 module: 500 mm. Twist the
cables +DC/-DC. Longer cable lengths require shielding (more details for EMC see KDN).
Ensure that the polarity is correct; swapping round DC+/DC- will destroy the KCM mod-
ules.
KCM-S: Connect the BR connection to the S300 with the most frequent regenerative
braking processes in the system. This S300 must have an active internal or external
brake resistor. For setup, enable the S300 and operate the driving profile that causes the
brake chopper to respond. The KCM-S determines the chopper threshold and begins to
charge; LED flashes. The energy stored is available the next time acceleration happens.
KCM-P: The KCM-P begins the charging process at approx. 470 V DC; the LED flashes.
If the power supply fails, the module provides the servo amplifier with the stored energy
that is required to bring the drive to a standstill in a controlled manner (this only applies to
the power supply voltage; battery-back the 24 V supply separately).

S300
-DC
1

-RB
5

+RBint
4

+DC(RBext)
3

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8.10 Motor connection with brake (X9)

Together with the motor supply cable and motor winding, the power output of the servo
amplifier forms an oscillating circuit. Characteristics such as cable capacity, cable length,
motor inductance, frequency and voltage rise speed (see Technical Data, p. 25) deter-
mine the maximum voltage in the system.
The dynamic voltage rise can lead to a reduction in the motor’s operating life and, on
unsuitable motors, to flashovers in the motor winding.
— Only install motors with insulation class F (acc. to IEC60085) or above
— Only install cables that meet the requirements on p.28 and p.53.

CAUTION
No functional safety! Serious injury could result when a suspended load
is not properly blocked.
l An additional mechanical brake is required for functional safety, which
must be safely operated, e.g. via the Safety Card S1-2 (see p. ).

Cable length £ 25 meters

S300
X9
XGND 1 Brake-

24V 2 Brake+
Markus Grohnert
Sigismundstr. 16
45470 Mülheim

3 PE

4 U2

5 V2
M
6 W2

Cable length >25 meters

With long motor cables leakage currents endanger the output stage of the S300. For
cable lengths above 25m up to max. 50m, a motor choke 3YLor 3YLN (see accessories
manual) must be wired into the motor cable, close to the amplifier.

S300
X9
XGND 1 Brake-

2 Brake+
24V Markus Grohnert
Sigismundstr. 16
45470 Mülheim

3 PE

4 U1 U2

5 V1 V2
M
6 W1 W2
3YL

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8.11 Feedback systems

Every closed servo system will normally require at least one feedback device for sending
actual values from the motor to the servo drive. Depending on the type of feedback
device used, information will be fed back to the servo amplifier using digital or analog
means.
The digital feedback systems SFD3 and HIPERFACE DSL enable a single cable motor
connection (motor power and feedback signals in one cabel) to the S300 connectors
X9/X1.
The expansion card FB2to1 (see p. 127) enables simultaneous connection of a digital pri-
mary and of an analog secondary feedback to the connector X1.
Up to three feedback devices can be used at the same time. S300 supports the most
common types of feedback device whose functions must be assigned with the parame-
ters
FBTYPE set on DRIVEGUI.EXE screen page FEEDBACK,
primary Feedback, wiring ð p.65ff
EXTPOS set on DRIVEGUI.EXE screen page POSITION CONTROLLER,
secondary Feedback, wiring ð p.65ff
GEARMODE set on DRIVEGUI.EXE screen page ELECTRONIC GEARING,
encoder for electronic gearing, wiring ð p.87
in the setup software. Scaling and other settings must always be made here.
For a detailed description of the ASCII parameters, please refer to the online help of the
setup software.
Some possible configurations:
Motor Feedback
FBTYPE FBTYPE
FBTYPE
X1
X2 X5

Motor Feedback & External Position Feedback

EXTPOS
X1 FBTYPE
X1
FBTYPE X2 FBTYPE
X2
EXTPOS EXTPOS
X5 X5

Motor Feedback & Master Slave &

Motor Feedback & Master Slave External Position Feedback
ENCMODE GEARMODE ENCMODE GEARMODE
X5 X5 X5 X5
FBTYPE EXTPOS
FBTYPE X1
FBTYPE
X2
X1 FBTYPE
X1
X2

Master Slave
Master Slave

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8.12 Primary and secondary feedback types

This chapter provides an overview of the supported feedback types, their corresponding
parameters and a reference to the relevant connection diagram in each case.
Single Cable connection (Power and Feedback in one cable)

Device name Type Hybrid cable

SERVOSTAR 303 S30361-NA CCJ5, WCJ5
SERVOSTAR 306 S30661-NA CCJ5, WCJ5
SERVOSTAR 310 S31061-NA CCJ5, WCJ5
SFD3
HIPERFACE DSL
SERVOSTAR 341 S30101-NA CCJ6, WCJ6
SERVOSTAR 343 S30301-NA CCJ6, WCJ6
SERVOSTAR 346 S30601-NA CCJ6, WCJ6
primary secondary
Feedback type Connector Wiring FBTYPE EXTPOS
SFD3 X1 ð p.67 36 -
HIPERFACE DSL X1 ð p.68 35 -
Dual cable connection (Power and Feedback separated)

Gerätename Type Cable

SERVOSTAR 303 S30361-NA
SERVOSTAR 306 S30661-NA Motor cables and
SERVOSTAR 310 S31061-NA Feedback cables
SERVOSTAR 341 S30101-NA see Accessories
SERVOSTAR 343 S30301-NA Manual
SERVOSTAR 346 S30601-NA
primary secondary
Feedback type Connector Wiring FBTYPE EXTPOS
Resolver X2 ð p.69 0 -
SinCos Encoder BiSS (B) analog X1 ð p.70 23, 24 -
SinCos Encoder BiSS (B, C2)) digital X1 ð p.71 20, 22, 33 11, 12
SinCos Encoder ENDAT 2.1 X1 ð p.72 4, 21 8
Encoder ENDAT 2.2 X1 ð p.73 32, 34 13
SinCos Encoder HIPERFACE X1 ð p.74 2 9
SinCos Encoder SSI (linear) X5/X1 ð p.75 281) -
SinCos Encoder w/o data channel X1 ð p.76 1, 3, 7, 8 6, 7
SinCos Encoder + Hall X1 ð p.77 5, 6 -
ROD* 5V w/o zero, 1.5MHz X1 ð p.78 30, 31 30
ROD* 5V with zero X1 ð p.79 17,27 10
ROD* 5V with zero, with Hall X1 ð p.80 15 -
ROD* 5V with zero X5 ð p.81 131), 191) 3
ROD* 5V with zero, with Hall X5/X1 ð p.82 18 -
ROD* 24V w/o zero X3 ð p.83 12, 16 2
ROD* 24V w/o zero, with Hall X3/X1 ð p.84 14 -
SSI X5 ð p.85 91) 51)
Hall X1 ð p.86 11 -
Sensorless (w/o Feedback) - - 10 -
Step/Direction 5V, 1.5 MHz X1 ð p.88 - 27
Step/Direction 5V, 1.5 MHz X5 ð p.89 - 4
Step/Direction 24V, 100 kHz X3 ð p.88 - 1
* ROD is an abbreviation for “incremental encoder”.
1)
Switch on supply voltage for the encoder at X1: set ENCVON to 1
2)
BiSS C support for Renishaw sncoders, Hengstler encoders are not supported.

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8.12.1 SFD3 (X1), single cable connection

Connection of the Kollmorgen feedback system SFD3 (primary, ð p.66). SFD3 can be
used only with the special Kollmorgen hybrid cable (see table on p.66 or Accessories
Manual).
Maximum cable length 25 m.
FBTYPE: 36

Drive X1 Motor
8 D
A COM+

15 C
SFD3
B COM-

4
Up
max. 250mA 2
0V

X9
Power
4 1
U2 U
5 4
V2 V
6 3
W2 W
3 2
PE PE

2 A Brake
Brake+ BR+
1 B
Brake- BR-

The pin assignment shown on the encoder side relates to the Kollmorgen motors (connector code D).

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8.12.2 HIPERFACE DSL (X1), single cable connection

Connection of HIPERFACE DSL feedback (primary, ð p.66). HIPERFACE DSL can be

used only with the special Kollmorgen hybrid cable (see table on p.66 or Accessories
Manual).
Maximum cable length 25 m.
FBTYPE: 35

Drive X1 Motor
8 Feedback
A COM+ D
DSL+
15 C HIPERFACE DSL
B COM-
DSL-

4
Up
max. 250mA 2
0V

X9
Power
4 1
U2 U
5 4
V2 V
6 3
W2 W
3 2
PE PE

2 A Brake
Brake+ BR+
1 B
Brake- BR-

The pin assignment shown on the encoder side relates to the Kollmorgen motors (connector code D).

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8.12.3 Resolver (X2)

Connection of a Resolver (2 to 36-poles) as a feedback system (primary, ð p.66). The

thermal control in the motor is connected via the resolver cable to X2 and evaluated
there.
If cable lengths of more than 100m are planned, please consult our customer service.
FBTYPE: 0

S300 SubD 9 round 12-pin Resolver

X2
7 7
S2
3 3
S4

4 4
S3
8 8
S1

10R 5 5
R2
9 9
R1

10R

Motor
2 2

thermal control
6 6

min.5VDC/5mA

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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8.12.4 Sine Encoder with BiSS analog (X1)

Wiring of a single-turn or multi-turn sine-cosine encoder with BISS interface as a feed-

back system (primary and secondary, ð p.66). The thermal control in the motor is con-
nected via the encoder cable to X1 and evaluated there.
If cable lengths of more than 50m are planned, please consult our customer service.
Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE Up

5V analog (BiSS B) 23 - - 5V +/-5%
12V analog (BiSS B) 24 - - 7,5...11V
SubD 15 round, 17-pin
S300 X1
1 1
Encoder
10k
+
B-
10k 9 9 cosine
-
B+

10k 3 3

+
A-
10k 11 11 sine
-
A+

5 5
A
13 13
B

8 8
A CLOCK
15 15
B
CLOCK

12 12
UP UP
Sense 10 10 Sense
0V 0V

4 4
UP UP
max. 250mA 2 2 voltage supply
0V 0V

Motor
7 7

thermal control
14 14

min. 5VDC/5mA

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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8.12.5 Sine Encoder with BiSS digital (X1)

Wiring of a single-turn or multi-turn digital encoder with BISS interface as a feedback sys-
tem (primary and secondary, ð p.66). The thermal control in the motor is connected via
the encoder cable to X1 and evaluated there.
If cable lengths of more than 50m are planned, please consult our customer service.
Frequency limit: 1,5 MHz

Type FBTYPE EXTPOS GEARMODE Up

5V digital (BiSS B) 20 11 11 5V +/-5%
12V digital (BiSS B) 22 11 11 7,5...11V
5V digital (BiSS C, Renishaw) 33 12 12 5V +/-5%

SubD 15 round, 17-pin

X1
S300 Encoder
5 5
A
13 13
B

8 8
A CLOCK
15 15
B
CLOCK

12 12
UP UP
Sense 10 10 Sense
0V 0V

4 4
UP UP
max. 250mA 2 2 voltage supply
0V 0V

Motor
7 7

thermal control
14 14

min. 5VDC/5mA

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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8.12.6 Sine Encoder with EnDat 2.1 (X1)

Wiring of a single-turn or multi-turn sine-cosine encoder with EnDat 2.1 interface as a

feedback system (primary and secondary, ð p.66). Preferred types are the optical
encoder ECN1313 / EQN1325 and the inductive encoder ECI1118/1319 or
EQI1130/1331.
The thermal control in the motor is connected via the encoder cable to X1 and evaluated
there. All signals are connected using our pre-assembled encoder connection cable. If
cable lengths of more than 50m are planned, please consult our customer service.
Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE

ENDAT 2.1 4 8 8
ENDAT 2.1 + Wake&Shake 21 8 8
S300 SubD 15 round, 17-pin Encoder
X1 EnDat
10k 1 1

+
B-
10k 9 9
-
B+

10k 3 3

+
A-
10k 11 11
-
A+

5 5
A DATA
13 13
B
DATA

8 8
A CLOCK
15 15
B
CLOCK
12 12
UP UP
sense 10 10 sense
0V 0V

4 4
UP UP
5V +/-5
2 2 voltage supply
max. 250mA
0V 0V

Motor
7 7

thermal control
14 14

min. 5VDC/5mA

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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8.12.7 Sine Encoder with EnDat 2.2 (X1)

Wiring of a single-turn or multi-turn sine-cosine encoder with EnDat 2.2 interface as a

feedback system (primary, ð p.66). The thermal control in the motor is connected via the
encoder cable to X1 and evaluated there. All signals are connected using our
pre-assembled encoder connection cable.
If cable lengths of more than 50m are planned, please consult our customer service.
Frequency limit: 1,5 MHz

Type FBTYPE EXTPOS GEARMODE Up

5V ENDAT 2.2 32 13 13 5V +/-5%
12V ENDAT 2.2 34 13 13 7,5...11V

SubD15 round, 17-pin Encoder

S300
X1 EnDat 2.2
5 5
A DATA
13 13
B
DATA

8 8
A CLOCK
15 15
B
CLOCK
12 12
UP UP
sense 10 10 sense
0V 0V

4 4
UP UP
max. 250mA 2 2 voltage supply
0V 0V

Motor
7 7

thermal control
14 14

min. 5VDC/5mA

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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8.12.8 Sine Encoder with HIPERFACE (X1)

Wiring of a single-turn or multi-turn sine-cosine encoder with HIPERFACE interface as a

feedback system (primary and secondary, ð p.66).
The thermal control in the motor is connected via the encoder cable to X1 and evaluated
there. All signals are connected using our pre-assembled encoder connection cable.
If cable lengths of more than 50m are planned, please consult our customer service.
Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE

HIPERFACE 2 9 9

SubD 15 round, 17-pin

S300 Encoder
X1
10k 1 1

+ + SIN
10k 9 9
-
REFSIN

10k 3 3

+ + COS
10k 11 11
-
REFCOS

5 5
A
RS485
13 13
B

4 4

7.5V ...11V
UP UP
2 2 voltage supply
max. 250mA
0V 0V

Motor
7 7

thermal control
14 14

min. 5VDC/5mA

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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8.12.9 Sine Encoder with SSI (X5, X1)

Wiring of sine-cosine encoder with SSI interface as a linear feedback system

(primary, ð p.66) to X5.
The thermal control in the motor is connected via the encoder cable to X1 and evaluated
there. All signals are connected using our pre-assembled encoder connection cable. If
cable lengths of more than 50m are planned, please consult our customer service.
Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE

SinCos SSI 5V linear 28 - -
Switch on supply voltage for the encoder at X1: set ENCVON to 1
SubD 15
S300 X5 Encoder
6

150Ù*
RS 485 7 RS 485

1
GND
GND
5 CLOCK

RS 485 4 RS 485

CLOCK

X1 1
10k
+
B-
10k 9 cosine
-
B+

10k 3

+
A-
10k 11 sine
-
A+

12
UP UP
Sense 10 Sense
0V 0V
4
UP UP
max. 250mA 2 voltage supply
0V 0V

Motor
7

thermal control
14

min. 5VDC/5mA

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8.12.10 Sine Encoder without data channel (X1)

Wiring of a sine-cosine encoder without data channel as a feedback (primary and sec-
ondary, ð p.66). Every time the 24V auxiliary voltage is switched on, the amplifier needs
start-up information for the position controller (parameter value MPHASE). Depending on
the feedback type either Wake&Shake is executed or the value for MPHASE is read out
of the amplifier's EEPROM.

WARNING
With vertical load the load could fall during Wake&Shake, because the
brake is not active and torque is not sufficient to hold the load.
Don't use Wake&Shake with vertical load (hanging load).
The thermal control in the motor is connected via the encoder cable to X1. If lead lengths
of more than 50m are planned, please consult our customer service.
Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE Up Remarks

SinCos 5V 1 6 6 5V +/-5% MPHASE EEPROM
SinCos 12V 3 7 7 7,5...11V MPHASE EEPROM
SinCos 5V 7 6 6 5V +/-5% MPHASE Wake&Shake
SinCos 12V 8 7 7 7,5...11V MPHASE Wake&Shake

S300 X1 Encoder
5k 5k 1

+
B-
120 9 cosine
5k 5k
-
B+

100pF 100pF

5k 5k 3

+
A-
120 11 sine
5k 5k
-
A+

100pF 100pF

zero
13
RS 485

12
UP UP
sense 10 sense

0V 0V

4
UP UP
max. 250mA 2 voltage supply

0V 0V

Motor
7

thermal control
14

min. 5VDC/5mA

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8.12.11 Sine Encoder with Hall (X1)

Feedback devices (incremental or sine-cosine), which don't deliver an absolute informa-

tion for commutation, can be used as complete feedback system combined with an addi-
tional Hall encoder (primary, ð p.66).
All signals are connected to X1 and evaluated there. If cable lengths of more than 25 m
are planned, please consult our customer service.
Frequency limit (sin, cos): 350 kHz

Type FBTYPE EXTPOS GEARMODE Up

SinCos 5V with Hall 5 - - 5V +/-5%
SinCos 12V with Hall 6 - - 7,5...11V

S300 SubD15
Encoder
X1
10k 1

+
B-
10k 9 cosinus
-
B+

10k 3

+
A-
10k sinus
-
A+

5
NI+
13 Zero
NI-

12
UP
Sense 10 Sense
0V
4
UP UP
max. 250mA 2 voltage supply
0V 0V

HALL
6
Hall-U
8
Hall-V
15
Hall-W

MOTOR
7

thermal control
14

min. 5VDC/5mA

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8.12.12 ROD (AquadB) 5V, 1.5 MHz (X1)

Wiring of a 5V incremental encoder (ROD, AquadB) as a feedback (primary or second-

ary, ð p.66). Every time the 24V auxiliary voltage is switched on, the amplifier need
start-up information for the position controller (parameter value MPHASE). Depending on
the setting of FBTYPE a Wake&Shake is executed or the value for MPHASE is taken out
of the servo amplifier's EEPROM.

WARNING
With vertical load the load could fall during Wake&Shake, because the
brake is not active and torque is not sufficient to hold the load.
Don't use Wake&Shake with vertical load (hanging load).
The thermal control in the motor is connected via the encoder cable to X1. All signals are
connected using our pre-assembled encoder connection cable. If cable lengths of more
than 50 m are planned, please consult our customer service.
Frequency limit (A, B): 1,5MHz

Type FBTYPE EXTPOS GEARMODE Remarks

AquadB 5V 31 30 30 MPHASE from EEPROM
AquadB 5V 30 30 30 MPHASE Wake&Shake

S300 SubD15
Incremental Encoder
X1
5
A
B
120

13
B
B

8
A
A
10k

120

15
B
A

12
UP
sense 10
0V
4
UP UP
5V +/-5
2 voltage supply
max. 250mA
0V 0V

Motor
7

thermal control
14

min. 5VDC/5mA

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8.12.13 ROD (AquadB) 5V, 350 kHz (X1)

Wiring of a 5V incremental encoder (ROD, AquadB) as a feedback ((primary or second-

ary, ð p.66). Every time the 24V auxiliary voltage is switched on, the amplifier need
start-up information for the position controller (parameter value MPHASE). Depending on
the setting of FBTYPE a wake&shake is executed or the value for MPHASE is taken out
of the servo amplifier's EEPROM.

WARNING
With vertical load the load could fall during Wake&Shake, because the
brake is not active and torque is not sufficient to hold the load.
Don't use Wake&Shake with vertical load (hanging load).
The thermal control in the motor is connected to X1. If lead lengths of more than 50 m are
planned, please consult our customer service. Frequency limit (A, B): 350 kHz
Type FBTYPE EXTPOS GEARMODE Remarks
AquadB 5V 27 10 10 MPHASE EEPROM
AquadB 5V 17 10 10 MPHASE Wake&Shake

S300 Incremental Encoder

X1
10k 1 1

+
B
10k 9 2
-
B

10k 3 3

+
A
10k 11 4
-
A

5 5
Z
13 6
Z

12
UP
sense 10
0V

4 10
UP UP
5V +/-5
max. 250mA 2 7 voltage supply
0V 0V

Motor
7 8

thermal control
14 9

min. 5VDC/5mA

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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8.12.14 ROD (AquadB) 5V with Hall (X1)

Wiring of a ComCoder as a feedback unit (primary, ð p.66). For the commutation hall
sensors are used and for the resolution an incremental encoder. The thermal control in
the motor is connected to X1 and evaluated there. With our ComCoder cable all signals
are connected correctly.With separate feedback devices (Encoder and Hall are two
devices) the wiring must be done similar to chapter 8.12.11, but the amplifier's pinout is
identical to the wiring diagram shown below.
If cable lengths of more than 25 m are planned, please consult our customer service.
Frequency limit (A,B): 350 kHz

Type FBTYPE EXTPOS GEARMODE

AquadB 5V with Hall 15 - -

S300 SubD15 round, 17 pin Comcoder

X1
5k 5k 1 1

+
B
5k 5k 120 9 2
-
B

100pF 100pF

5k 5k 3 3

+
A
5k 5k 120 4
-
A

100pF 100pF

5 5
Z
13 6
Z

6 15
Hall-U
8 16
Hall-V
15 17
Hall-W
12
UP
sense 10
0V

4 10
UP UP
5V +/-5
max. 250mA 2 7 voltage supply
0V 0V

Motor
7 8

14 9 thermal control

min. 5VDC/5mA

The pin assignment shown on the encoder side relates to the Kollmorgen motors.

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8.12.15 ROD (AquadB) 5V (X5)

A 5V incremental encoder (AquadB) can be used as standard motor feedback (primary

and secondary, ð p.66). Every time the 24V auxiliary voltage is switched on, the amplifier
need start-up information for the position controller (parameter value MPHASE). Depend-
ing on the feedback type either Wake&Shake is executed or the value for MPHASE is
read out of the amplifier's EEPROM.

WARNING
With vertical load the load could fall during Wake&Shake, because the
brake is not active and torque is not sufficient to hold the load.
Don't use Wake&Shake with vertical load (hanging load).
The thermal control in the motor is connected to X1. If lead lengths of more than 50 m are
planned please consult our customer service. Frequency limit (A, B, N): 1.5 MHz

Type FBTYPE EXTPOS GEARMODE Remarks

AquadB 5V 13 3 3 MPHASE EEPROM
AquadB 5V 19 3 3 MPHASE Wake&Shake
Switch on supply voltage for the encoder at X1: set ENCVON to 1

Incremental Encoder
S300 X5
5 A+
track A
150Ù*
RS 485 4 RS 485

A-

2 NI+
zero I
150Ù*
RS 485 3 RS 485

NI-

1
GND
GND

6 B+
track B
150Ù*
RS 485 7 RS 485

B-

X1
12
UP UP
sense 10 sense

0V 0V

4
UP UP
5V +/-5
max. 250mA 2 voltage supply
0V 0V

Motor
7

thermal control
14

min. 5VDC/5mA

* matches RS485 with resistor according

to line impedance

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8.12.16 ROD (AquadB) 5V with Hall (X5, X1)

Wiring of a 5V incremental encoder (ROD, AquadB) with Hall sensors as a feedback unit
(primary, ð p.66). For the commutation hall sensors are used and for the resolution an
incremental encoder. The thermal control in the motor is connected to X1 and evaluated
there.
If cable lengths of more than 25 m are planned, please consult our customer service.
Frequency limit X5: 1.5 MHz, X1: 350 kHz

Type FBTYPE EXTPOS GEARMODE

AquadB 5V with Hall 18 - -
Incremental Encoder
S300 X5
5 A+
track A
150Ù*
RS 485 4 RS 485

A-

2 NI+
zero I
150Ù*
RS 485 3 RS 485

NI-

1
GND
GND

6 B+
track B
150Ù*
RS 485 7 RS 485

B-

X1
12
UP UP
sense 10 sense

0V 0V

4
UP UP
5V +/-5
max. 250mA 2 voltage supply
0V 0V

Hall
6
Hall-U
8
Hall-V
15
Hall-W

Motor
7

thermal control
14

min. 5VDC/5mA

* matches RS485 with resistor according

to line impedance

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8.12.17 ROD (AquadB) 24V (X3)

Wiring of a 24V incremental encoder (ROD AquadB) as a feedback system (primary or

secondary, ð p.66) using the digital inputs DIGITAL-IN 1 and 2 on connector X3. Every
time the 24V auxiliary voltage is switched on, the S300 need start-up information for the
position controller (parameter MPHASE). Depending on the feedback type either
Wake&Shake is executed or the value for MPHASE is read out of the EEPROM.

WARNING
With vertical load the load could fall during Wake&Shake, because the
brake is not active and torque is not sufficient to hold the load.
Don't use Wake&Shake with vertical load (hanging load).
The thermal control in the motor is connected to X1 or X2.
If cable lengths of more than 25m are planned, please consult our customer service.
Frequency limit: 100 kHz, transition time tv £ 0,1µs

Type FBTYPE EXTPOS GEARMODE Remarks

AquadB 24V 12 2 2 MPHASE EEPROM
AquadB 24V 16 2 2 MPHASE Wake&Shake

S300 incremental encoder

X3
DIGITAL-IN1 8 A
track A

DIGITAL-IN2 9 B
track B

+24V ref. to GND

X4/4
DGND
GND

X1/X2
Motor

thermal control

min. 5VDC/5mA

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8.12.18 ROD (AquadB) 24V with Hall (X3, X1)

Wiring of a 24V incremental encoder (ROD, AquadB) and Hall sensors as a feedback unit
(primary, ð p.66). For the commutation hall sensors are used and for the resolution an
incremental encoder.
The thermal control in the motor is connected to X1 and evaluated there. If cable lengths
of more than 25m are planned, please consult our customer service.
Frequency limit X3: 100 kHz, X1: 350 kHz

Type FBTYPE EXTPOS GEARMODE

AquadB 24V with Hall 14 - -

Incremental Encoder
S300
X3 track A
DIGITAL-IN1 8 A

track B
DIGITAL-IN2 9 B

+24V ref. to GND

X4/4
DGND
GND

X1 HALL
12
UP UP
sense 10 sense

0V 0V

4
UP UP
5V +/-5
max. 250mA 2 voltage supply
0V 0V

6
Hall-U
8
Hall-V
15
Hall-W

Motor
7

thermal control
14

min. 5VDC/5mA

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8.12.19 SSI Encoder (X5, X1)

Wiring of a synchronous serial absolute encoder as a feedback system (primary or sec-

ondary, ð p.66). The signal sequence can be read in Gray code or in Binary (standard)
code.
The thermal control in the motor is connected to X1 and evaluated there.
If cable lengths of more than 50m are planned, please consult our customer service.
Frequency limit: 1.5 MHz

Type FBTYPE EXTPOS GEARMODE

SSI 9 5 5
Switch on supply voltage for the encoder at X1: set ENCVON to 1.

S300 SSI Absolut

X5
6 DATA
150Ù*
RS 485 7 RS 485

DATA

1
GND GND

5 CLOCK

RS 485 4 RS 485

CLOCK

X1
12
UP UP
sense 10 sense

0V 0V

4
UP UP
5V +/-5
max. 250mA 2 voltage supply
0V 0V

Motor
7

thermal control
14

min. 5VDC/5mA

* matches RS485 with resistor according

to line impedance

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8.12.20 Hall sensors (X1)

Wiring of Hall sensors as a feedback unit (primary, ð p.66).

The thermal control in the motor is connected to X1 and evaluated there. If cable lengths
of more than 25m are planned, please consult our customer service.
Frequency limit: 350 kHz

Type FBTYPE EXTPOS GEARMODE

Hall 11 - -

S300 X1 HALL
12
UP UP
sense 10 sense

0V 0V

4
UP UP
5V +/-5
max. 250mA 2 voltage supply
0V 0V

6
Hall-U
8
Hall-V
15
Hall-W

Motor
7

thermal control
14

min. 5VDC/5mA

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8.13 Electronic Gearing, Master-slave operation

In the case of the “electronic gearing” functionality (see setup software and description of
GEARMODE parameter), the servo amplifier is controlled by a secondary feedback
device as a slave.
It is possible to set up master/slave systems, use an external encoder as a setpoint
encoder or connect the amplifier to a stepper motor control.
The amplifier is parameterized using the setup software (electronic gearing).
The resolution (number of pulses per revolution) can be adjusted.
If input X1 is used without the X1 power supply (pins 2, 4, 10, 12), e.g. master-slave oper-
ation with other servoamplifiers, the monitoring of this power supply must be switched off
in order to prevent error message F04 from appearing. To do this, you must change Bit
20 of the DRVCNFG2 parameter (see ASCII object reference in the Online-Help).

8.13.1 Signal source

The following types of external encoders can be used for electronic gearing:

Fre-
Wiring
secondary Feedback type quency Connector GEARMODE
diagram
limit
SinCos Encoder BiSS digital 1.5MHz X1 ð p.71 11, 12
SinCos Encoder ENDAT 2.1 350kHz X1 ð p.72 8
Encoder ENDAT 2.2 1.5MHz X1 ð p.73 13
SinCos Encoder HIPERFACE 350kHz X1 ð p.74 9
SinCos Encoder w/o data channel 350kHz X1 ð p.76 6, 7
ROD* (AquadB) 5V 1.5MHz X1 ð p.78 30
ROD* (AquadB) 5V 350kHz X1 ð p.79 10
ROD* (AquadB) 5V 1.5MHz X5 ð p.81 3
ROD* (AquadB) 24V 100kHz X3 ð p.83 2
SSI 5V 1.5MHz X5 ð p.85 5
Step/direction 5V 1.5MHz X1 ð p.88 27
Step/direction 24V 100kHz X3 ð p.88 1
Step/direction 5V 1.5MHz X5 ð p.89 4
* ROD is an abbreviation for incremental encoder

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8.13.2 Connection to stepper motor controllers (step and direction)

You can connect the servo amplifier to a third-party stepper-motor controller. Parameter
setting for the slave amplifier is carried out with the aid of the setup software (electronic
gearing). The number of steps can be adjusted, so that the servo amplifier can be
adapted to match the step-direction signals of any stepper controller. Various monitoring
signals can be generated.
Observe the frequency limit!
Using an A quad B encoder provides better EMC noise immunity.

8.13.2.1 Step/Direction 5V, 1.5 MHz (X1)

Wiring of the servo amplifier (SubD connector X1) to a stepper-motor controller with a 5 V
signal level. Frequency limit: 1.5 MHz

Type GEARMODE
Step/Direction 5V 27

S300 Master
X1
5 direction
direction
120

RS 485 13 RS 485

8 pulse
pulse
10k

120

RS 485 15 RS 485

2
0V GND
+5V ref. to GND

8.13.2.2 Step/Direction 24V, 100 kHz (X3)

Wiring of the servo amplifier to a stepper-motor controller with a 24 V signal level. Used
are the digital inputs DIGITAL-IN 1 and 2 on connector X3.
Frequency limit: 100 kHz

Type GEARMODE
Step/Direction 24V 1

Master
S300
X3
DIGITAL-IN1 8 direction
direction

DIGITAL-IN2 9 pulse
pulse

+24V ref. to GND

X4
DGND 4
GND

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8.13.2.3 Step/Direction 5V, 1.5 MHz (X5)

Wiring of the servo amplifier (SubD connector X5) to a stepper-motor controller with a 5 V
signal level.
Frequency limit: 1.5 MHz

Type GEARMODE
Step/Direction 5V 4

S300 Master
X5
5 Pulse+
Pulse
150Ù*
RS 485 4 Pulse- RS 485

1
GND GND

6 Direction+ Direction
150Ù*
RS 485 7 Direction- RS 485

* matches RS485 with resistor according

to line impedance

8.13.3 Master-Slave Connection

You can, for example, link several S300 amplifiers together in master-slave operation. Up
to 16 slave amplifiers can be controlled by the master, via the encoder output.

8.13.3.1 Master Slave 5V (X1)

Functionality not available.

8.13.3.2 Master Slave 5V (X5)

Master: position output to X5 (screen page "Encoder emulation")

Slave: screen page "Electronic gearing" (GEARMODE)
Frequency limit X5: 1.5 MHz
Example for Master-Slave operation with two S300 amplifiers:
Slave GEARMODE: 3 Master ENCMODE:1
Slave Master

S300 X5 X5
S300
A+ 5 5 A+ A
150Ù*
RS 485 A- 4 4 A- RS 485

1 1
GND AGND

B+ 6 6 B+ B
150Ù*
RS 485 B- 7 7 B- RS 485

* matches RS485 with resistor according

to line impedance

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8.14 Encoder emulation

8.14.1 Incremental encoder output - A quad B (X5)

The incremental-encoder interface is part of the standard package. Select encoder func-
tion ROD (A Quad B) Encoder (“Encoder Emulation” screen page). The servo amplifier
calculates the motor shaft position from the cyclic- absolute signals of the resolver or
encoder, generating incremental-encoder compatible pulses from this information. Pulse
outputs on the SubD connector X5 are 2 signals, A and B, with 90° phase difference (i.e.
in quadrature, hence the alternative term “A quad B” output), with a zero pulse.
The resolution (before multiplication) can be set by the RESOLUTION function:

Enc. function Feedback system Resolution (lines)

Zero pulse (NI)
(ENCMODE) (FBTYPE) (ENCOUT)
0, Resolver 32...4096
once per turn
1, ROD 256...524288
2,4 Encoder (only at A=B=1)
(28 ... 219)
encoder signal
24 … 27 (multiplication) TTL
3, ROD interpolation Encoder passed through
line x encoder resolution
from X1 to X5
Use the NI-OFFSET parameter to adjust + save the zero pulse position within one
mechanical turn. The drivers operate off an internal supply voltage.
The maximum permissible cable length is 100 meters.
Connections and signals for the incremental encoder interface :
Default count direction: UP when the motor shaft is rotating clockwise (looking at the
shaft's end)
Control
S300 X5
5 A+

150Ù*
RS 485
track A
RS 485 4

A-

2 NI+

150Ù*
RS 485
zero I
RS 485 3

NI-

1 GND
GND GND

6 B+

150Ù*
RS 485
track B
RS 485 7

B-
* according to line impedance

tv tv
a a a a
Edge spacing a ³ 0.20 µs

A Edge steepness tv £ 0.1 µs

Delay NI-td £ 0.1 µs

IÄUI ³ 2V/20mA
B

NI

td td

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8.14.2 SSI encoder output (X5)

The SSI interface (synchronous serial absolute-encoder emulation) is part of the standard
package. Select encoder function SSI (“Encoder Emulation” screen page, ENCMODE 2).
The servo amplifier calculates the motor shaft position from the cyclic-absolute signals of
the resolver or encoder. From this information a SSI date (Stegmann patent specification
DE 3445617C2) is provided. Max 32 bits are transferred. The leading data bit contains
the number of revolutions and are selectable from 12 to 16 bits. The following max. 16
bits contain the resolution and are not variable.
The following table shows the allocation of the SSI date depending upon selected number
of revolutions:
Revolution Resolution (variable)
SSIREVOL
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit

13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
12 11 10 9 8 7 6 5 4 3 2 1 0
11 10 9 8 7 6 5 4 3 2 1 0

The signal sequence can be output in Gray code or in Binary (standard) code.
The servo amplifier can be adjusted to the clock frequency of your SSI-evaluation with the
setup software.
The drivers operate off an internal supply voltage.
Connection and signals for the SSI interface :
Default count direction: UP when the motor shaft is rotating clockwise (looking at the end
of the motor shaft)

S300 Control
X5
6

RS 485 7 RS 485

1 GND
GND GND

4 CLOCK

150Ù*
RS 485
CLOCK
RS 485 5

CLOCK

* according to line impedance

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33
Clock

T
tp
31 tv 0
2 2
Binary
G31 G0
Gray

Switch over time Data tv £ 300nsec Output IÄUI ³ 2V/20mA

Period T = 600 ns Input IÄUI ³ 0.3V

Time Out tp = 3µs/13µs (SSITOUT)

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8.15 Digital and analog inputs and outputs

8.15.1 Analog inputs (X3)

The servo amplifier is fitted with two programmable differential inputs for analog
setpoints. AGND (X3/7) must always be joined to the GND of the controls as a ground
reference.
Technical characteristics
— Differential-input voltage max. ± 10 V
— Ground reference AGND, terminal X3/7
— Input resistance 2.4 kW
— Common-mode voltage range for both inputs ± 10 V
— Update rate 62,5 µs

S300 control

X3
90k 10k Analog-In 1+ 3
+
setpoint 1 +/-10V
90k 10k 4 ref. to CNC-GND
Analog-In 1-
-
10n 10n
AGND 7
CNC-GND

90k 10k Analog-In 2+ 5

+
setpoint 2 +/-10V
90k 10k 6 ref. to CNC-GND
Analog-In 2-
-
1n 1n
GND

Analog-In 1 input (terminals X3/3-4)

Differential input voltage max. ± 10 V, resolution 14-bit, scalable.
Standard setting : speed setpoint
Analog-In 2 input (terminals X3/5-6)
Differential input voltage max. ± 10 V, resolution 12-bit, scalable.
Standard setting : torque setpoint
Application examples for setpoint input Analog-In 2:
— adjustable external current limit
— reduced-sensitivity input for setting-up/jog operation
— pre-control / override
Defining the direction of rotation
Standard setting : clockwise rotation of the motor shaft (looking at the shaft end)
— Positive voltage between terminal X3/3 (+ ) and terminal X3/4 ( - ) or
— Positive voltage between terminal X3/5 (+ ) and terminal X3/6 ( - )
To reverse the direction of rotation, swap the connections to terminals X3/3-4 or X3/5-6
respectively, or change the ROTATION DIRECTION parameter in the “Speed controller”
screen page.

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8.15.2 Digital inputs (X3/X4)

All digital inputs are electrically isolated via optocouplers.

Technical characteristics
— Ground reference is Digital-GND (DGND, terminals X4/3 and X4/4)
— The inputs at X3 are PLC-compatible (IEC 61131-2 Type 1)
High: 11...30 V / 2...11 mA , Low: -3...5 V / <1 mA
— Update rate Software:250 µs / Hardware: 2 µs

S300 Controls
X3
DIGITAL-IN1 8

DIGITAL-IN2 9

DIGITAL-IN3 10 PSTOP

DIGITAL-IN4 11 NSTOP

ENABLE 12 ENABLE

X4 +24V against CNC-GND

STO-ENABLE 5

DGND 3 I/O-GND
4

ENABLE input
The output stage of the servo amplifier is enabled by applying the ENABLE signal
(terminal X3/12, 24 V input, active high). Enable is possible only if input STO-Enable has
a 24 V signal (see page 37ff).
In the disabled state (low signal) the connected motor has no torque.
STO-ENABLE input
An additional digital input (STO-Enable) releases the power output stage of the amplifier
as long as a 24 V signal is applied to this input. If the STO-Enable input goes open-circuit,
then power will no longer be supplied to the motor, the drive will lose all torque and
coast down to a stop. A fail-safe brake function for the drive, if one is required, must be
ensured through a mechanical brake since electrical braking with the aid of the drive is no
longer possible.
You can thus achieve a restart lock-out for functional safety by using the STO-Enable
input in conjunction with an external safety circuit.
You can find further information and connection examples on page 37.
The STO-Enable input is not compatible with IEC 61131-2.
Programmable digital inputs
You can use the DIGITAL-IN1 to DIGITAL-IN4 digital inputs to initiate pre-programmed
functions that are stored in the servo amplifier. A list of these pre-programmed functions
can be found on the “Digital I/O” screen page of our setup software.
If an input was freshly assigned to a pre-programmed function, then the data set must be
saved in the EEPROM of the servo amplifier and a reset has to be carried out (with the
amplifier setup software for example).

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8.15.3 Digital outputs (X3)

Technical characteristics
— Ground reference is Digital-GND (DGND, terminals X4/3 and X4/4)
— All digital outputs are floating
— DIGITAL-OUT1 and 2 : Open Emitter, max. 30 V DC, 10 mA
BTB/RTO : Relay output, max. 30 V DC or 42 V AC, 0.5 A
— Update rate 250 µs

S300 X3 control
BTB/RTO 1

1k
Emergency Stop
Circuit
100n
BTB/RTO 2

24V

24Ù

DIGITAL-OUT1 13
Digital 1

DIGITAL-OUT2 14
Digital 2

X4
DGND 3
I/O-GND
4

Ready-to-operate contact BTB/RTO

Operational readiness (terminals X3/1 and X3/2 ) is signaled by a floating relay contact.
The contact is closed when the servo amplifier is ready for operation, and the signal is
not influenced by the enable signal, the I²t-limit, or the brake threshold.
All faults cause the BTB/RTO contact to open and the output stage to be switched off (if
the BTB/RTO contact is open, the output stage is inhibited -> no power output). A list of
the error messages can be found on page 112.
Programmable digital outputs DIGITAL-OUT 1 / 2:
You can use the digital outputs DIGITAL-OUT1 (terminal X3/13) and DIGITAL-OUT2 (ter-
minal X3/14) to output messages from pre-programmed functions that are stored in the
servo amplifier.
A list of these pre-programmed functions can be found on the “I/O digital” screen page of
our setup software.
If an output is to be freshly assigned to a pre-programmed function, then the parameter
set must be saved in the EEPROM of the servo amplifier and a reset has to be carried out
(with the amplifier setup software for example).

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8.16 RS232 interface, PC connection (X6)

Operating, position control, and motion-block parameters can be set up by using the
setup software on an ordinary commercial PC.
Connect the PC interface (X6) of the servo amplifier to a serial interface on the PC via a
null-modem cable, while the supply to the equipment is switched off.
Do not use a null-modem power link cable!

S300 PC
Pin-No.
see below
X6
RxD 2 TxD
RS 232

5 AGND

TxD 3 RxD
RS 232

This interface has the same electrical potential as the CANopen interface.
The interface is selected and set up in the setup software. Further notes on page 98.
With the optional -2CAN- expansion card, the two interfaces for RS232 and CAN, which
would otherwise use the same connector X6, are separated out onto three connectors
(ð p.129).
Interface cable between the PC and servo amplifiers of the S300 series:
(View : looking at the solder side of the SubD sockets on the cable)

PC PC
X6 RS232 X6 RS232
Sub-D 25 poles Sub-D 9 poles Sub-D 9 poles
Sub-D 9 poles

1 1 1 1
6 14 6 6
RxD TxD RxD RxD
TxD RxD TxD TxD

9 9 9
GND GND 5 GND
5 5

GND

female female female

25
13

female

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8.17 CANopen interface (X6)

The interface for connection to the CAN-bus (default : 500 kBaud). The integrated profile
is based on the CANopen DS301 communication profile and the DS402 drive profile.
The following functions are available in connection with the position controller:
Jogging with variable speed, homing run (zeroing to reference), start motion task, start
direct task, digital setpoint provision, data transmission functions and many others.
Detailed information can be found in the CANopen manual. The interface is at the same
electrical potential as the RS232 interface. The analog setpoint inputs can still be used.
With the optional -2CAN- expansion card, the two interfaces for RS232 and CAN, which
otherwise use the same connector X6, are separated out onto three connectors (with ter-
mination, ð p.129).

CAN-Server/Client
S300
X6
9 120 Ù* CANH

6 CANL CAN
CAN
+5V 5 AGND

AGND * according to line impedance

CAN ref. to ISO 11898

CAN-bus cable

To meet ISO 11898, a bus cable with a characteristic impedance of 120 W should be
used. The maximum usable cable length for reliable communication decreases with
increasing transmission speed. As a guide, you can use the following values which we
have measured, but they are not to be taken as assured limits:
Cable data: Characteristic impedance 100-120 W
Cable capacitance max. 60 nF/km
Lead loop resistance 159.8 W/km
Cable length, depending on the transmission rate

Transmission rate (kBaud) max. cable length (m)

1000 10
500 70
250 115
Lower cable capacitance (max. 30 nF/km) and lower lead resistance
(loop resistance, 115 W/km) make it possible to achieve greater distances.
(Characteristic impedance 150 ± 5 W Þ terminating resistor 150 ± 5 W).
For EMC reasons, the SubD connector housing must fulfill the following requirements:
— metal or metalized housing
— provision for cable shielding connection on the housing, large-area connection
Master X6 X6 X6

CANL CANL CANL

CANH CANH CANH

GND GND GND

Shield Shield
* according to line impedance about 120W

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9 Setup
The procedure for setup is described as an example. Depending on the application, a dif-
ferent procedure may be appropriate or necessary. In multi-axis systems, set up each
servo amplifier individually.
Before setting up, the manufacturer of the machine must generate a risk assessment for
the machine, and take appropriate measures to ensure that unforeseen movements can-
not cause injury or damage to any person or property.

9.1 Important notes

Only professional personnel with extensive knowledge in the fields of electrical engineer-
ing and drive technology are allowed to test and set up the drive.

DANGER
Lethal voltage!
Risk of electric shock. Lethal danger exists at live parts of the device.
l Built-in protection measures such as insulation or shielding may not
be removed.
l Work on the electrical installation may only be performed by trained
and qualified personnel, in compliance with the regulations for safety
at work, and only with switched off mains supply, and secured against
restart.

WARNING
Automatic restart!
Risk of death or serious injury for humans working in the machine. The
drive might restart automatically after power on, depending on the
parameter setting. If the parameter AENA is set to 1,
l then place a warning sign to the machine (Warning: Automatic Restart
at Power On) and
l ensure, that power on is not possible, while humans are in a danger-
ous zone of the machine.

If the servo amplifier has been stored for more than 1 year, it will be necessary to re-form
the capacitors in the DC bus link circuit. To do this, disconnect all electrical connections
and apply single-phase 208...240 V AC to terminals L1 / L2 of the servo amplifier for
about 30 minutes. This will re-form the capacitors.
Additional information on setting up the equipment:
The adaptation of parameters and the effects on the control loop behavior are described
in the online help of the setup software.
The setting up of any expansion card that may be fitted is described in the corresponding
manual on the CD-ROM.
We can provide further know-how through training courses (on request).

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9.2 Setup software

This chapter describes the installation of the setup software DRIVEGUI.EXE for the S300
digital servo amplifiers.
We offer training and familiarization courses on request.

9.2.1 Use as directed

The setup software is intended to be used for altering and saving the operating
parameters for the S300 series of servo amplifiers. The attached servo amplifier can be
set up with the help of this software, and during this procedure the drive can be controlled
directly by the service functions.
Only professional personnel who have the relevant expertise described on page 10 are
permitted to carry out online parameter setting for a drive that is running.
Sets of data that have been stored on data media are not safe against unintended alter-
ation by other persons. After loading a set of data you must therefore always check all
parameters before enabling the servo amplifier.

9.2.2 Software description

The servo amplifiers must be adapted to the requirements of your machine.

Usually you will not have to carry out this parameter setting yourself on the amplifier, but
on a PC, with the assistance of the setup software. The PC is connected to the servo
amplifier by a null-modem cable (serial, see p.95). The setup software provides the com-
munication between the PC and S300.
You can find the setup software on the accompanying CD-ROM and in the download
area of our website.
With very little effort you can alter parameters and instantly observe the effect on the
drive, since there is a continuous (online) connection to the amplifier. At the same time,
important actual values are read out from the amplifier and displayed on the monitor of
the PC (oscilloscope functions).
Any interface modules (expansion cards) which may be built into the amplifier are auto-
matically recognized, and the additional parameters which are required for position con-
trol or motion-block definition are made available.
You can save sets of data on data media (archiving) and load them again. You can also
print out the data sets.
We supply you with motor-specific default sets of data for the most common combinations
of servo amplifier and motor. In most applications you will be able to use these default
values to get your drive running without any problems.
An extensive online help with integrated description of all variables and functions sup-
ports you in each situation.

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9.2.3 Hardware requirements

The PC interface (X6, RS232) of the servo amplifier is connected to the serial interface of
the PC by a null-modem cable (not a null-modem link cable!) (ð p.95).
Connect / disconnect the interface cable only when the electrical supply is switched off for
both the PC and the servo amplifier.
The interface in the servo amplifier has the same potential level as the CANopen inter-
face.
Minimum requirements for the PC:
Processor : at least Pentium® II or comparable
Operating system : WINDOWS 2000 / XP
Graphics adapter : Windows compatible, color
Drives : hard disk with at least 10 MB free space
CD-ROM drive
Interface : one free serial interface (COM1 ... COM10)

9.2.4 Operating systems

WINDOWS 2000 / XP / Vista / 7 / 8 / 10

DRIVEGUI.EXE will run under WINDOWS 2000, XP, Vista, 7, 8 and 10.
Emergency operation is feasible through an ASCII terminal emulation (without graphical
user interface).
Interface settings : 38400 bps, databit 8, no parity, stopbit 1, no flow control
Unix, Linux
The functioning of the software has not been tested for WINDOWS running within Unix or
Linux.

9.2.5 Installation under WINDOWS

The CD-ROM includes an installation program for the setup software.

Installation
Autostart function activated:
Insert the CD-ROM into a free drive. A window with the start screen opens. There you
find a link to the setup software DRIVEGUI.EXE. Click it and follow the instructions.
Autostart function deactivated:
Insert the CD-ROM into a free drive. Click on START (task bar), then on Run. Enter the
program call: x:\index.htm (x = correct CD drive letter).
Click OK and proceed as described above.

Connection to the serial interface of the PC:

Connect the interface cable to a serial interface on your PC (COM1 to COM10) and to the
serial interface of the servo amplifier S300 (ð p.95).

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9.3 Quickstart
9.3.1 Preparation

Unpacking, Mounting and Wiring the Servo Amplifier

1. Unpack servo amplifier and accessories
2. Observe safety instructions in the manuals
3. Mount the servo amplifier as described in chapter 7
4. Wire the servo amplifier as described in chapter 8 or apply the minimum wiring for drive
testing as described in chapter 9.3.1
5. Install the software as described in chapter 9.2
6. You need this information concerning the drive components:
- rated mains supply voltage
- motor type (motor data, if the motor type is not listed in the motor database,
see online help
- feedback unit built into the motor (type, poles, lines, protocol etc.)
- moment of inertia of the load

Documents
You need access to these documents (located on the product CD-ROM, you can down-
load the latest editions from our website):
l Instructions Manual (this manual)
l Accessories Manual
l CANopen Fieldbus Interface Manual

Depending on the installed expansion card you need one of these documents:
l PROFIBUS DP Fieldbus Interface Manual
l DeviceNet Fieldbus Interface Manual
l sercos® Fieldbus Interface Manual
l EtherCAT Fieldbus Interface Manual

You need Acrobat Reader to read the PDFs, an installation link is on every screen of the
product CD-ROM.

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Minimum Wiring for Drive Test

This wiring does not fulfill any requirements to safety or functionality of your application, it
just shows the required wiring for drive testing without load.

Motor-Feedback

ENC
RES
PC
CAN
X3 1
Power ON 2
Enable
24V ON
12
+ X4 1
24V DC 3 2
- 5

X8 4

M
Motor-Power

Power

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9.3.2 Connect
l Connect the interface cable to a serial interface on your PC and to the serial interface
X6 of the servo amplifier. USB to serial converter can be used optionally.
l Switch on the 24 V power supply for the servo amplifier.
l Wait about 30 seconds, until the front display of the servo amplifier displays the cur-
rent class (e.g. for 3 A). If the power supply voltage is switched on, too, a
leading P is displayed (e.g. for Power, 3 A).
If a fault code ( ) or a warning ( ) or a status message (./_ / E/S) appears in
the display, you will find the description on page 112 / 113.
If a fault message appears, fix the problem.

Double-Click the DRIVEGUI.EXE icon on your Windows desktop to

start the software.

You can work offline or online with

DRIVEGUI.EXE. Work ONLINE now.

If the communication is
started for the first time, you
have to setup the communi-
cation parameters.
Choose the communication
system and the interface,
where the servo amplifier is
connected to.
Click OK.

The software tries to communicate with these parameters. If it's not successful, you
receive this error message:

Frequent causes:
- wrong interface chosen
- wrong connector chosen at the servo amplifier
- interface is used by another software
- 24 V auxiliary voltage for the servo amplifier not
working
- interface cable broken or wrong wiring

Quit the error message. The software starts in the offline mode now, that requires the
manual selection of the amplifier's type. Quit this selection by closing the window.
Fix the communication problem. Restart the software in Online mode.

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If communication works, you see the start screen. Select "Setup Wizard" in the navigation
frame.

Make sure, that the amplifier is disabled (Input Enable connector X3 pin 12 must be 0 V
or open)!

9.3.3 Important Screen Elements

Help Function
The online help gives detailed information to all parameters the servo amplifier can work
with.

Key F1 Starts online help for the actual screen page.

Menu bar Help Starts online help with the first page.
Context Help. Click the help symbol first. Then click the function for
which you need help.

Tool Bar

Save to EEPROM, required if you changed parameters.

Reset, required if you changed configuration parameters.

Operation Mode, use "0: Digital Velocity" mode for

drive testing.
Status Bar

The status bar shows a green Online symbol, indicating that the communication works.

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9.3.4 Setup Wizard

The Setup Wizard leads you through the necessary steps for configuring your servo
amplifier. Depending on the selected application, only the active screen pages are
necessary.

For a quick setup / drive

test, select the setup
type "Quick Motor/Drive
Setup".

Start the Wizard.

9.3.4.1 Basic Setup

Basic parameters are

setup here.

Response to Loss of Input Phase: Select Single-Phase or Three-Phase operation.

With three-phase operation you can select either warning "n05" or error "F19" in case of
phase loss. The reaction "F19" disables the output stage, "n05" is just a message.
Name: You can enter a name for the servo amplifier (up to 8 characters). This simplifies
the drive identification in the system.
Set Software Enable on Bootup: Don't select this option for the quick test.
Click NEXT.

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9.3.4.2 Units/Mechanical

The user units for all in-

put fields in the setup
software can be prese-
lected here.

Position, Velocity, Acceleration

Select usable units for your application referring to the moved load.
Mechanical Conversion
The relationship between motor shaft revolution (pole pait pitch with linear motors) and
motion distance of the load is specified here. Gear ratio can be calculated here as well.
Detailed information can be found in the online help.
Use the tool based on sample applications for calculating the resolution value:

Calculate PGEARI/PGEARO for..." button

If your application does not corre-

spond to any of the listed examples,
enter the required parameters di-
rectly in the fields on the “Units”
screen.

First, select the application that corresponds to your own. Next, set the position unit.
Select the position unit that provides you with the required accuracy for your application.
Set the mechanical data for you application now. If a gearhead is flange-mounted on the
motor, you must also enter the gearhead data (either the number of teeth or the ratio of
the revolutions).
Then click the “Calculate conversion factors and return” button.
Click NEXT.

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9.3.4.3 Motor (rotary) / Feedback

Simplified setting of the

motor related parameters.

Feedback: Select the feedback system used in the motor.

Resolver is fixed to 2 pole in the Quick Motor/Drive Setup!
Change "pole n°" on feedback screen in Complete Setup later, if required.
Motor type: Click the button "Select from Database...".
Open the database file (mdb_ _ _.csv) and select the used motor out of the list. Special
motors must be defined in the "Complete Setup".
Brake: If the amplifier shall control a brake, change the Brake parameter to "With"
Calculated quick tuning: If you know the Load-to-motor inertia ratio (0 is for no load),
enter the number here and select the desired servo performance. If you don't know the
inertia ratio, select "Do not tune". Click FINISH.

9.3.4.4 Motor (linear) / Feedback (Encoder)

Simplified setting of the

motor related parameters.

Feedback: Select the feedback system used.

Motor type: Click the button "Select from Database..".
Open the database file (mdb_ _ _.csv) and select the used motor. Special motors must
be defined in the "Complete Setup".
Encoder Lines (appears with Feedback Type Sine Encoder):
Click "Calculate" and fill in the Encoder signal period.
Brake: If the amplifier shall control a brake, change the Brake parameter to "With"
Calculated quick tuning: If you know the Load-to-motor inertia ratio, enter the number
here and select the desired servo performance. Otherwise select "Do not tune".
Click FINISH.

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9.3.4.5 Save Parameters and Restart

You are going to finish the Setup Wizard and you have changed several basic parame-
ters. Depending on the parameters you changed, two possible reactions will occure now:
Configuration parameters changed
A warning appears, that you have to restart the amplifier, this is called "coldstart".
Click "YES".
The parameters are
saved to the ampli-
fier's EEPROM auto-
matically and a reset
command restarts
the amplifier (takes some seconds).
Other parameters changed
No warning appears. Save the parameters to the EEPROM of the servo amplifier manu-
ally by clicking the symbol in the tool bar. A coldstart of the amplifier is not neces-
sary. Select the screen "Motion Service" in the navigation frame.

9.3.5 Motion Service (Jog Mode)

Be aware that the actual position of the load permits the subsequent moving operations.
The axis could move to the hardware limit-switch or the mechanical stop. Make sure that
a jerk or a fast acceleration of the load cannot cause any damage.
l Switch on the power supply for the drive.
l STO-Enable: Apply +24 V to the input STO-Enable [X4/5]
l Hardware-Enable: Apply +24 V to the input Enable [X3/12]. If STO-Enable is
missed or the sequence was wrong, the front display shows .

l Software-Enable: Click the symbol EN in the tool bar. Now the front display
shows an E and the current class (e.g. for Enable, 3 A). Click the symbol
DIS to switch off the output stage (disable).
Jog
(Digital Velocity Mode):
You can move the drive with
constant speed. Enter the
desired speed.
Observe the "safe reduced
speed" requirements for your
application!
The drive moves with the
preset speed when the + or
– button is pressed. It stops
when the button is released.

Actual errors and warnings are listed on the screen "Status". A description of
errors/warnings can be found in the online help or on p.112ff.
Now you have setup and tested the basic functions of the drive successfully.

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9.3.6 More Setup Screens

Observe the safety instructions in the manuals and in the online help before you change
parameters in the additional setup screens.
For all setup functions detailed information can be found in the online help system and
the integrated command reference.
Select "Complete Setup" in the Setup-Wizard. Now you have access to:
l Feedback: Adjust the used feedback unit
l Motor: Adjust the used motor
l Control Loops: Current-, Velocity- and Position-Loops can be optimized
l Position Data: Adjust the position control for the requirements of your application.
l Position Registers: up to 16 position values in the motion way can be monitored.
l Electronic Gearing: If the servo amplifier will follow a setpoint as a slave with a gear
ratio, you can select the gearing source here and define the gear ratio.
l Encoder Emulation: select the encoder emulation (position output)
l Analog I/O: setup the analog inputs
l Digital I/O: setup the digital inputs and outputs
l Status (Errors/Warnings): displays amplifiers data with history, actual faults/warn-
ings
l Monitor: displays the drive data (actual values)
l Homing: definition and start of homing
l Motion task: definition and start of motion task
l Oscilloscope: 4 channel oscilloscope with multiple functionality
l Bode Plot: tool for optimizing the drive
l Terminal: setup the servo amplifier with ASCII commands
l Expansion Card: depending on the built-in expansion card a menu appears
l Autotuning: fast tuning of the velocity controller

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9.4 Multi-axis system

With a special cable you can connect up to 255 servo amplifiers to your PC: cable type
-SR6Y- (for four aplifiers) or -SR6Y6- (for six amplifiers) see Accessories Manual.
Addr.: Addr.: Addr.: Addr.:
Cable -SR6Y- 00 01 02 03

COMx
RS232 Baudrate identical for all amplifiers,
see table below
With the PC connected to only one amplifiers you can select every amplifier in the system
via the set station address with the setup software.

9.4.1 Station address for CAN-bus

You can use the keypad on the front panel to preset the station addresses for the individ-
ual amplifiers and the baud rate for communication (ð p.111). Usually the setup software
is used to set all parameters.

9.4.2 Baud rate for CAN-bus

After changing the station address and baud rate you must turn the 24V auxiliary supply
for the servo amplifier off and on again.
Coding of the Baud rate in the LED display :
Coding Baud rate in kbit/s Coding Baud rate in kbit/s
1 10 25 250
2 20 33 333
5 50 50 500
10 100 66 666
12 125 80 800
100 1000

9.5 Keypad operation / LED display

This section illustrates the two possible operating menus and the use of the keys on the
front panel. Normally, the S300 only presents the standard menu for your use. If you want
to operate the amplifier via the detailed menu, you must keep the right key pressed while
switching on the 24V supply.

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9.5.1 Keypad operation

The two keys can be used to perform the following functions:

Key symbol Functions

press once : move up one menu item, increase number by one
press twice in rapid succession : increase number by ten
press once : decrease number by one
press twice in rapid succession : decrease number by ten
hold right key pressed, and then press left key as well :
to enter a number, “Return” function

9.5.2 Status display

State

Station adress ð p.109

to the entry will be stored automatically,
when you exit the input field.

9.5.3 Standard menu

Switch on
Data are being read from EnDat
24V

status 1 : 24V switched on

unit indicates software version
after 1 sec. shift to status 2, 3 or 4
status 2 : 24V switched on
unit indicates current (here 6A)
flashing dot
status 3 : 24V switched on, mains supply switched on
unit indicates current and mains supply on
flashing dot
status 4 : 24V and mains supply on, unit enabled
unit indicates current, mains supply on and enable
flashing dot

1s 1s 1s 1s

fault/warning signal : each error/warning

that has occurred will be indicated
successively for 4 blinks each

Parameters

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9.5.4 Advanced menu

To operate the amplifier via the advanced menu, you must keep the right key pressed
while switching on the 24 V supply.

serial number : 9-digit number

State divided in 3 blocks, decimal dot
indicates number of block
Block1 Block2 Block3

ASCII-command M_Reset (macros are newly compiled)

save data to EEPROM

load data from EEPROM

or brake

or or positon output

to motor type - see reference guide "motor database"

to setpoint-offset [mV]

to Tn-speed control [ms]

to KP-speed control

to baudrate ð p.109

to station adress ð p.109

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9.6 Error messages

Any errors that occur are shown in coded form by an error number in the LED-Display on
the front panel. Additional information coded with "ixx" are shown for faults with an asterix
"*" in the table below (ERRCODE2).
The servo amplifier reaction depends on the fault and on the setting of parameter
ACTFAULT.
Faults can be reset by hardware reset of the servo amplifier or depending on the fault
(see ERRCODE) by ASCII command CLRFAULT.
Number Explanation (=> ASCII Reference ERRCODE)
E/P Status Messages Status messages, no error, see p. 110
... Status Message Amplifier is updating the startup configuration
- Status Message Status message, no error, programming mode
-S- STO-Enable STO-Enable input is 0V (with disabled drive only)
F01 Heat Sink Temperature Heat sink temperature too high (default: 80°C)
Overvoltage in DC bus link. Limit depends on the
F02 Overvoltage
electrical supply voltage
F03 Following Error Message from the position controller
F04* Feedback Cable break, short-circuit, short to ground
F05 Undervoltage Undervoltage in DC bus link (default: 100 V)
F06 Motor Temperature Motor temperature too high or temp. sensor defect
F07* Internal Voltages Internal supply voltages not ok
F08 Overspeed Motor runs away, speed is too high
F09 EEPROM Checksum error
F10 Signal Failure X5 Signal failure X5 (cable break or similar)
F11 Brake Cable break, short-circuit, short to ground
F12 Motor Phase Motor phase missing (cable break or similar)
F13 Ambient Temperature Ambient temperature too high
Fault in the power output stage, also with wrong
F14* Output Stage
motor cable or insufficient cable shielding
F15 I²t max. I²t maximum value exceeded
F16 Mains BTB/RTO 2 or 3 phases missing in the mains supply feed
Error in the analog-digital conversion, normally
F17 A/D Converter
caused by extreme electromagnetic interference
F18* Brake Circuit Brake circuit faulty or incorrect setting
F19 DC Bus Link DC bus link breakdown
Slot error, depends on the type of expansion card
F20* Slot Error
(see ASCII object reference)
F21 Handling Error Handling error on the expansion card
F22 Reserved Reserved
F23 CAN-Bus Off Severe CAN bus communication error
F24 Warning Warning is displayed as fault
F25* Commutation Error Commutation error
F26 Limit Switch Hardware limit switch error on homing move
Operational error with STO, input for STO-Enable
F27 STO
and ENABLE have been set at the same time
F28 Fieldbus Error see ASCII command reference
F29* Slot/Fieldbus Error see ASCII command reference
F30 Emergency Timeout Timeout emergency stop
F31 Reserve Reserve
F32* System Error System software not responding correctly
More information to the messages and trouble shooting can be found in the ASCII Object
Reference and in the Online Help).

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9.7 Warning messages

Faults which occur, but which do not cause a switch-off of the amplifier output stage
(BTB/RTO contact remains closed), are indicated in the LED-Display on the front panel
by a coded warning number.
Some warning messages result in a controlled shut-down of the drive (braking by emer-
gency stop ramp).
The servo amplifier reaction depends on the warning (see STATCODE).
Number Designation Explanation (=> ASCII Reference STATCODE)
E/P Status Messages Status messages, no error, see p. 110
... Status Message Amplifier is updating the startup configuration
-S- STO-Enable STO-Enable input is 0V (with disabled drive only)
- Status Message Status message, no error, programming mode
n01 I²t I²t threshold exceeded
n02 Brake power Reached preset brake power limit
n03 S_fault Exceeded preset following error limit
n04 Response monitoring Response monitoring (fieldbus) has been activated
n05 Supply phase Mains supply phase missing
n06 SW limit switch 1 Software limit switch 1 underrun
n07 SW limit switch 2 Software limit switch 2 overrun
n08 Motion task error A faulty motion task was started
No reference point (Home) set at start of motion
n09 No reference point
task
n10 PSTOP PSTOP limit-switch activated
n11 NSTOP NSTOP limit-switch activated
Only for ENDAT or HIPERFACE® :
Motor default values discrepancy between motor number saved in the
n12
loaded encoder and the amplifier, motor default values
loaded
n13 Expansion card 24V DC supply for I/O expansion card not ok
SinCos commutation (Wake&Shake) not completed,
n14 SinCos feedback will be canceled when amplifier is enabled and
Wake&Shake carried out
n15 Reserve Reserve
n16 Summarized warning Summarized warning for n17 to n31
n17 Fieldbus-sync CAN sync is not logged in
n18 Multiturn overflow Max. number of motor turns exceeded
Motion task ramps are
n19 Range overflow on motion task data
limited
n20 Invalid motion task Invalid motion task
n21 PLC program error For details see PLC code
Max. motortemperatur The user can shut down the process before the tem-
n22
reached perature eror will interrupt the process immediately
n23 Sin Cos feedback Warning level reached
n24 Digital I/O Configuration is not logical
n25-n31 Reserve Reserve
n32 Firmware beta version Firmware is an unreleased beta version
More information to the messages can be found in the ASCII Object Reference and in
the Online Help).

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9.8 Trouble Shooting

There may be a wide variety of reasons for the fault, depending on the conditions in your
installation. In multi-axis systems there may be further hidden causes of a fault.
Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by
qualified and trained staff.
Detailled hints for removal of faults can be found in the online help chapter "Trou-
ble-Shooting".
Our customer service can give you further assistance with problems.
Fault Possible causes Measures
— wrong cable used — use null-modem cable
HMI message: — cable plugged into wrong position — plug cable into the correct
Communica- on servo amplifier or PC sockets on the servo amplifier
tion fault and PC
— wrong PC interface selected — select correct interface
— servo amplifier not enabled — apply ENABLE signal
— software enable not set — set software enable
— break in setpoint cable — check setpoint cable
Motor does — motor phases swapped — correct motor phase sequence
not rotate — brake not released — check brake control
— drive is mechanically blocked — check mechanism
— motor pole no. set incorrectly — set motor pole no.
— feedback set up incorrectly — set up feedback correctly
— gain is too high (speed controller) — reduce Kp (speed controller)
Motor oscil-
— feedback cable shielding broken — replace feedback cable
lates
— AGND not wired up — join AGND to CNC-GND
Drive reports — Irms or Ipeak set too low — increase Irms or Ipeak
following er- (keep within motor ratings!)
ror — accel/decel ramp is too long — shorten ramp +/-
Motor over-
— Irms/Ipeak is set too high — reduce Irms/Ipeak
heating
— Kp (speed controller) too low — increase Kp (speed controller)
— Tn (speed controller) too high — use motor default value for
Drive too soft Tn (speed controller)
— ARLPF / ARHPF too high — reduce ARLPF / ARHPF
— ARLP2 too high — reduce ARLP2
— Kp (speed controller) too high — reduce Kp (speed controller)
— Tn (speed controller) too low — use motor default value for
Drive runs
Tn (speed controller)
roughly
— ARLPF / ARHPF too low — increase ARLPF / ARHPF
— ARLP2 too low — increase ARLP2
— offset not correctly adjusted for — adjust offset (analog I/O)
Axis drifts at analog setpoint provision
setpoint = 0V — AGND not joined to the — join AGND and controller-GND
controller-GND of the controls

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10 Expansions Cards
You can find information about availability and order numbers on page 135.
Expansions cards can only be built into amplifiers without option -FN or -EC!

10.1 Guide to installation of expansion cards

Before you start working, safely disconnect the device from any voltage, that means nei-
ther the electrical power supply nor the 24 V auxiliary voltage of the servo amplifier nor
the supply voltages of any other connected equipment is switched on.
l Use a suitable screwdriver to lever off the cover of the option slot.

l Take care that no small items (such as screws) fall into the open option slot.
l Lever off the small metall sheet and push it back to the small slot. Dispose the big
metall sheet.

l Push the expansion card carefully into the provided guide rails of the main slot, with-
out twisting it.
l Press the expansion card firmly into the slot.

l Screw the screws on the front cover into the threads in the fixing lugs. This ensures
that the connectors make good contact.

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10.2 Expansion card -I/O-14/08-

This section describes the additional features that the expansion card -I/O-14/08- pro-
vides for the S300. If you ordered the expansion card together with the servo amplifier,
then it will be delivered already inserted into the expansion slot of the servo amplifier and
screwed in place.
The -I/O-14/08- provides you with 14 additional digital inputs and 8 digital outputs. The
functions of the inputs and outputs are adjustable with the setup software.
The 24V DC voltage must be supplied by an electrically isolated power supply (e.g. with
isolating transformer).
The I/Os are used to initiate the motion tasks that are stored in the servo amplifier and to
evaluate signals from the integrated position control in the higher-level control system.
The functions of the inputs and signal outputs correspond to the functions that can be
assigned to the digital I/Os on connector X3. All inputs and outputs are electrically iso-
lated from the servo amplifier by optocouplers.

10.2.1 Technical data

Control inputs 24V / 7mA , PLC-compatible, IEC 61131

Signal output 24V / max. 500mA , PLC-compatible, IEC 61131
24V (18 … 36V) / 100mA plus total current of the
Supply inputs, to IEC 61131
outputs (depends on the input wiring of the controls)
Fusing (external) 4 AT
Connectors MiniCombicon, 12-pin, coded on PIN1 and 12
Data – up to 50m long : 22 x 0.5 mm², unshielded,
Cables
Supply– 2 x 1mm², check voltage drop
Waiting time between 2 motion
depends on the response time of the control system
tasks
Addressing time (minimum) 4ms
Starting delay (maximum) 2ms
Response time of digital outputs max. 10ms

10.2.2 LEDs

Two LEDs are mounted next to the terminals on the expansion card. The green LED sig-
nals that the 24V auxiliary supply is available for the expansion card. The red LED signals
faults in the outputs from the expansion card (overload of switching components,
short-circuit).

10.2.3 Entering a motion block number (example)

Motion block number A7 A6 A5 A4 A3 A2 A1 A0

binary 1010 1110 1 0 1 0 1 1 1 0
decimal 174 128 - 32 - 8 4 2 -

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10.2.4 Connector assignments

The functions are adjustable with the setup software. In the table below the default values
are described.
Connector X11A
Default func-
Pin Dir Description
tion
1 In A0 Motion block number, LSB
2 In A1 Motion block number, 21
3 In A2 Motion block number, 22
4 In A3 Motion block number, 23
5 In A4 Motion block number, 24
6 In A5 Motion block number, 25
7 In A6 Motion block number, 26
8 In A7 Motion block number, MSB
Polls the home switch. If a digital input on the base unit is
9 In Reference used as a home input, then the input on the expansion card
will not be evaluated.
Clears the warning of a following error (n03) or the response
10 In F_error_clear
monitoring (n04)
The following task, that is defined in the motion task by “Start
with I/O” is started. The target position of the present motion
11 In Start_MT_Next task must be reached before the following task can be started.
The next motion block can also be started by an appropriately
configured digital input on the base unit.
Starts the "Jog Mode" with a defined speed. “x” is the speed
12 In Start_Jog v= x saved in the servo amplifier for the function "Jog Mode". A ris-
ing edge starts the motion, a falling edge cancels the motion.

Connector X11B
1 In MT_Restart Continues the motion task that was previously interrupted.
Starts the motion task that is addressed by A0-A7 (connector
2 In Start_MT I/O
X11A/1...8).
When the target position for a motion task has been reached
3 Out InPos (the InPosition window), this is signaled by the output of a
HIGH signal. A cable break will not be detected.
The start of each motion task in an automatically executed
sequence of motion tasks is signaled by an inversion of the
Next-InPos output signal. The output produces a LOW signal at the start
4 Out
of the first motion task of the sequence. The form of the mes-
sage can be varied by using ASCII commands.
PosReg 0 Can only be adjusted by ASCII commands/setup software.
A LOW signal indicates that the position has gone outside the
5 Out F_error
acceptable following error window.
6 Out PosReg1 default: SW limit 1, indicated by a HIGH signal
7 Out PosReg2 default: SW limit 2, indicated by a HIGH signal
8 Out PosReg3 Can only be adjusted by ASCII commands/setup software.
9 Out PosReg4 Can only be adjusted by ASCII commands/setup software.
10 Out PosReg5 Can only be adjusted by ASCII commands/setup software.
11 - 24V DC Supply voltage for output signals.
12 - I/O-GND Digital GND for the control system.

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10.2.5 Connection diagram (default)

S300 X11A Control

1 +24V ref. to I/O-GND
A0
-IO14/8- 2
A1
3
A2
4
A3 binary coded
5
A4 motion task No.
14
6
A5
7
A6
8
A7
9
Reference (Home)
10
FError_clear
I/O-GND 11
Start_MT next
12
Start_Jog v=x

X11B
1
MT_Restart
2
Start_MT I/O

3
InPos
4
Next-InPos / PosReg0
8 5
FError
6
PosReg1
7
PosReg2
8
PosReg3
9
PosReg4
10
PosReg5

11 +
+ 24V

12 -
I/O-GND

I/O-GND

X4
4
DGND

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10.3 Expansion card -PROFIBUS-

This section describes the PROFIBUS expansion card for the S300.
Information on the range of functions and the software protocol can be found in our man-
ual “Communication Profile PROFIBUS DP”.
The PROFIBUS expansion card has two 9-pin SubD sockets wired in parallel.
The supply voltage for the expansion card is provided by the servo amplifier.

10.3.1 Connection technology

Cable selection, cable routing, shielding, bus connector, bus termination and transmis-
sion times are all described in the “Installation Guidelines for PROFIBUS-DP/FMS” from
PNO, the PROFIBUS User Organization.

10.3.2 Connection diagram

S300
X12A
PROFIBUS 1 1

5 5
GND1
390Ù 390Ù
8 8
RS485-A
220Ù 220Ù
3 3
RS485-B
390Ù 390Ù
6 6
+5V
+5V

4 4

X12B
1

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10.4 Expansion card -SERCOS-

This section describes the sercos® II expansion card for S300. Information on the range
of functions and the software protocol can be found in our manual “Communication Pro-
file sercos®”.

10.4.1 LEDs

Indicates whether sercos® telegrams are being correctly received. In the final
RT Communication Phase 4 this LED should flicker, since cyclical telegrams are being
received.
Indicates that sercos® telegrams are being transmitted. In the final Communication
Phase 4 this LED should flicker, since cyclical telegrams are being transmitted.
TT Check the station addresses for the controls and the servo amplifier if:
- the LED never lights up in sercos® Phase 1 or
- the axis cannot be operated, although the RT LED is lighting up cyclically.
Indicates that sercos® communication is faulty or suffering from interference.

If this LED is very bright, then communication is suffering strong interference, or is

non-existent. Check the sercos® transmission speed for the controls and the servo
amplifier (BAUD RATE) and the fiber-optic connection.

ERR
If this LED fades or flickers, this indicates a low level of interference for sercos®
communication, or the optical transmitting power is not correctly matched to the
length of cable. Check the transmitting power of the (physically) previous sercos®
station. The transmitting power of the servo amplifier can be adjusted in the setup
software DRIVEGUI.EXE on the sercos® screen page, by altering the length pa-
rameter for the cable length.

10.4.2 Connection technology

For the fiber optic cable connection, only use sercos® components to the sercos® Stan-
dard IEC 61491.
Receive data
The fiber optic cable carrying receive data for the drive in the ring structure is connected
to X13 with an F-SMA connector.
Transmit data
Connect the fiber optic cable for the data output to X14 by F-SMA connector.

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10.4.3 Connection diagram

Layout of the sercos® bus system in ring topology, with optical fiber cables (schematic).
Fiber optic cable

C
on
tr
ol
le
r

10.4.4 Modifying the station address

The drive address can be set to a value between 0 and 63. With address 0, the drive is
assigned as an amplifier in the sercos® ring. Set the station address with the:
Keys on the front of the servo amplifier
The sercos® address can be modified using the keys on the front of the amplifier (p. 110).
Setup software
The address can also be modified in the setup software, “CAN/Fieldbus” screen (please
refer to the setup software online help). Alternatively, enter the command ADDR # in the
“Terminal” screen, where # is the new address of the drive.

10.4.5 Modifying the baud rate and optical power

If the baud rate is not set correctly, communication is not possible.

The SBAUD # parameter can be used to set the baud rate, where # is the baud rate. If
the optical power is not set correctly, errors occur in telegram transmission and the red
LED on the drive lights up. During normal communication, the green send and receive
LEDs flash, giving the impression that the relevant LED is on.
The SLEN # parameter can be used to specify the optical range for a standard 1 mm²
glass fibre cable, where # is the length of the cable in metres.

SBAUD SLEN
2 2 Mbaud 0 Very short connection
4 4 Mbaud 1…< 15 Length of the connection with a 1 mm² plastic cable
8 8 Mbaud 15…< 30 Length of the connection with a 1 mm² plastic cable
16 16 Mbaud ³ 30 Length of the connection with a 1 mm² plastic cable
Setup software
The parameters can be modified in the setup software, “SERCOS” screen (please refer to
the setup software the online help). Alternatively, the commands SBAUD # and SLEN #
can be entered in the “Terminal” screen.

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10.5 Expansion card -DEVICENET-

This section describes the DeviceNet expansion card for S300.
Information on the range of functions and the software protocol can be found in our man-
ual “DeviceNet Communication Profile”.

10.5.1 Connection technology

Cable selection, cable routing, shielding, bus connector, bus termination and transmis-
sion times are all described in the “DeviceNet Specification, Volume I, II, Edition 2.0”,
published by ODVA.

10.5.2 Connection diagram

S300 DeviceNet server/client

X15
4 CANH

120Ù* 120Ù*
2 CANL

AGND
1 V-

3 Shield

* according to line impedance 11-25V

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10.5.3 Combined module/network status-LED

LED Meaning
The device is not online.
off - The device has not yet finished the Dup_MAC_ID test.
- The device is possibly not yet switched on.
The device is operating as normal, is online, and the connections have been
green
established. The device has been assigned to a master.
The device is operating as normal, is online, but the connections have not
been established.
blinking - The device has passed the Dup_MAC_ID test and is online, but the
green connection to other nodes have not been established.
- This device has not been assigned to a master.
- Missing, incomplete or wrong configuration.
blinking An error that can be cleared and/or at least one I/O connection are in a waiting
red state.
- An error has occurred that cannot can be cleared; it may be necessary to
replace the device.
red - Communication device failure. The device has detected a fault that
prevents communication with the network (for instance, a MAC ID appears
twice or BUSOFF).

10.5.4 Setting the station address (device address)

The station address for the servo amplifier can be set in three different ways:
l Set the rotary switches at the front of the expansion card to a value between 0 and
63. Each switch represents a decimal figure. For example, to set the address for the
drive to 10, set MSD to 1 and LSD to 0.
l Set the rotary switches at the front of the expansion card to a value higher than 63.
Now you can set up the station address by using the ASCII commands DNMACID x,
SAVE, COLDSTART, whereby “x” stands for the station address.
l Set the rotary switches at the front of the expansion card to a value higher than 63.
Now you can set up the station address by using the DeviceNet Object (Class 0x03,
Attribute 1). This is normally carried out with the help of a DeviceNet software setup
tool. You must save the parameters in non-volatile memory (Class 0x25, Attribute
0x65) and then restart the drive after setting/altering the address.

10.5.5 Setting the transmission speed

The DeviceNet transmission speed can be set in three different ways:

l Set the rotary switch for Baud rate (at the front of the option card) to a value between
0 and 2. 0 = 125 kbit/s, 1 = 250 kbit/s, 2 = 500 kbit/s.
l Set the rotary switch for Baud rate (at the front of the option card) to a value higher
than 2. Now you can set the Baud rate by using the terminal commands DNBAUD x,
SAVE, COLDSTART, whereby “x” stands for 125, 250 or 500 .
l Set the rotary switch for Baud rate (at the front of the option card) to a value higher
than 2. Now you can set the Baud rate by using the DeviceNet Object (Class 0x03,
Attribute 2) to a value between 0 and 2. This is normally carried out with the help of a
DeviceNet software setup tool. You must save the parameters in non-volatile mem-
ory (Class 0x25, Attribute 0x65) and then restart the drive after altering the baud rate.

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10.5.6 Bus cable

To meet ISO 11898, a bus cable with a characteristic impedance of 120 W should be
used. The maximum usable cable length for reliable communication decreases with
increasing transmission speed. As a guide, you can use the following values which we
have measured, but they are not to be taken as assured limits.

General characteristic Specification

Bit rates 125 kbit, 250 kbit, 500 kbit
500 meters at 125 kBaud
Distance with larger
250 meters at 250 kBaud
bus connections
100 meters at 500 kBaud
Number of nodes 64
Signal environment CAN
Modulation Basic bandwidth
Coupling medium DC-coupled differential transmit/receive operation
Isolation 500 V (option: optocoupler on the transceiver's node side)
Typical differential input im- Shunt C = 5pF
pedance (recessive state) Shunt R = 25KW (power on)
Shunt C = 24pF + 36 pF/m of the permanently
Min. differential input im-
attached stub cable
pedance (recessive state)
Shunt R = 20KW
-25 V to +18 V (CAN_H, CAN_L)
The voltages for CAN_H and CAN_L refer to the ground pin
Absolute max.
of the transceiver. The voltage is higher than that on the
voltage range
V-terminal by the amount of the forward voltage drop of the
Schottky diode. This voltage drop must be < 0.6V.

X15 X15 X15 X15

V- V-
1 1 1 1
CAN_L CAN_L
2 2 2 2
Shield Shield
3 3 3 3 *
CAN_H CAN_H
4 4 4 4
V+ V+
5 5 5 5

* according to line impedance about 120 Ù

Grounding:
The DeviceNet network must only be grounded at one point, to avoid ground loops. The
circuitry for the physical layer in all devices are referenced to the V-bus signal. The
ground connection is made via the power supply for the bus system. The current flowing
between V- and ground must not flow through any device other than the power supply.
Bus topology:
The DeviceNet medium utilizes a linear bus topology. Termination resistors are required
at each end of the connecting cable. Stub cables are permitted up to a length of 6 meters,
so that at least one node can be connected.
Termination resistors:
DeviceNet requires a termination at each end of the connecting cable.
These resistors must meet the following requirements: 120W, 1% metal-film, 1/4 W

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10.6 Expansion card -SYNQNET-

This section describes the SynqNet expansion card for S300.
Information on the range of functions and the software protocol can be found in the
SynqNet documentation.

10.6.1 NODE ID Switch LED2 LED1 LED4 LED3

With these hexadecimal switches you can set the main and low significant bytes of the
Node ID seperately. SynqNet does not require an address for correct operation in the net-
work, however in some machines this can be a convenient way of identifying build options
to the application program.

10.6.2 Node LED table

LED# Name Function

ON = receive valid (IN port)
LED1, green LINK_IN
OFF= not valid, power off, or reset.
ON = network cyclic
LED2, yellow CYCLIC BLINK = network not cyclic
OFF = power off, or reset
ON = receive valid (OUT port)
LED3, green LINK_OUT
OFF = not valid, power off, or reset
ON = repeater on, network cyclic
LED4, yellow REPEATER BLINK = repeater on, network not cyclic
OFF = repeater off, power off, or reset

10.6.3 SynqNet Connection, Connector X21B/C (RJ-45)

Connection to the SynqNet network via RJ-45 connectors (IN and OUT ports) with inte-
grated LEDs.

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10.6.4 Digital inputs/outputs, connector X21A (SubD 15-pin, socket)

Inputs (In): 24V (20...28V), opto-isolated, one high-speed input (Pin 4)

Outputs (Out): 24V, opto-isolated, Darlington driver

Pinout connector X21A (SubD 15 pin)

Pin Type Description Pin Type Description
1 In +24V power supply 9 In GND power supply
NODEA indicates a problem
2 Out 10 Out OUT_00 digital output
LARM with the node
3 Out OUT_01 digital output 11 Out OUT_02 digital output
4 In IN_00 capture input (fast) 12 In IN_02 digital input
5 In IN_04 digital input 13 In IN_03 digital input
limit switch, nega-
6 In IN_01 digital input 14 In NEGLIM
tive direction
NODE-
7 In HOME reference switch 15 In disables Node
DISABLE
limit switch, positive
8 In POSLIM
direction

10.6.5 Connection diagram digital inputs/outputs, connector X21A

8 S3xx Control
5 IN 04

6 IN 01

7 HOME

8 POSLIM

12 IN 02

13 IN 03

14 NEGLIM

DGND 15 NODEDISABLE

4 IN 00 (Fast)

DGND

1
+24V

2 NODEALARM

3 OUT 01

10 OUT 00

11 OUT 02
DGND

9
GND

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10.7 Expansion card - FB-2to1 -

This chapter describes the Feedback extension card FB-2to1 for the S300. The card
enables simultaneous connection of a digital primary and of an analog secondary feed-
back to the connector X1. The supply of 24V DC auxiliary voltage to X33 is converted on
the extension card into a precise 5V DC encoder supply for the secondary feedback.

10.7.1 Pinout

X33 Pinout Combicon Connector

+ +24V DC (20...30V), approx. 500mA
- GND
Pinout SubD 9 poles Pinout SubD 15 poles
X32 (secondary Feedback) X1B (primary Feedback)
SinCos (1V p-p) EnDat 2.2, BiSS digital, SSI absolute
1 B- (Cosine) 1 n.c.
2 SENSE+ 2 0V
3 A- (Sine) 3 n.c.
4 n.c. 4 +5V DC
5 +5V DC (300mA) 5 DATA
6 B+ (Cosine) 6 n.c.
7 SENSE- 7 Temperatur Sensor Motor
8 A+ (Sine) 8 CLOCK
9 0V 9 n.c.
- - 10 Sense 0V
- - 11 n.c.
- - 12 Sense +5V
- - 13 DATA
- - 14 Temperatur Sensor Motor
- - 15 CLOCK

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10.7.2 Wiring example with BiSS digital (primary) and SinCos (secondary)

S300 X1 X1A FB-2to1 X32 Encoder

1 1
B-
9 6 cosine
B+

3 3
A-
11 8 sine
A+

+5V 5
UP UP
300mA 9 voltage supply
0V 0V
2
UP
Sense 7 Sense
0V

X33
+ +24V
= =
-
= 0V ~

UP 0V

Encoder BiSS digital

X1B
X1 X1A
5 5 5

13 13 13

8 8 8
CLOCK
15 15 15
CLOCK

12 12 12

10 10 10 Sense

4 4 4
UP
2 2 voltage supply
2
0V
0V
7 7
Motor
7

14 14 thermal control
14

min. 5VDC/5mA

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10.8 Expansion module -2CAN-

Connector X6 of the S300 is assigned to the signals for the RS232 interface and the CAN
interface. It is therefore not the standard pin assignment for these interfaces, and a spe-
cial cable is required to be able to use both interfaces simultaneously.
The -2CAN- expansion module provides the interfaces on separate Sub-D connectors.

The two CAN connectors are wired in parallel. A termination resistor (120 W) for the CAN
bus can be switched into circuit if the S300 is at the end of the bus.

10.8.1 Installation

Before you start working, safely disconnect the device from any voltage, that means nei-
ther the electrical power supply nor the 24 V auxiliary voltage of the servo amplifier nor
the supply voltages of any other connected equipment is switched on.
The modul must be placed onto the option slot after levering off the cover of the option
slot and replacing the small cover (see p. 115):
l Screw the distance pieces into the fixing lugs of the option slot.
l Place the expansion module onto the option slot.
l Screw the screws into the threads of the distance pieces.
l Plug the Sub-D9 socket into connector X6 on the S300

10.8.2 Connection technology

Standard shielded cables can be used for the RS232 and CAN interfaces.
If the servo amplifier is the last device on the CAN bus, then the switch for the bus termi-
nation must be set to ON.
Otherwise, the switch must be set to OFF (condition as delivered).

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10.8.3 Connector assignments

RS232 CAN1=CAN2
X6A Pin Signal X6B=X6C Pin Signal
1 Vcc 1
2 RxD 2 CAN-Low
3 TxD 3 CAN-GND
4 4
5 GND 5
6 6
7 7 CAN-High
8 8
9 9

10.8.4 Connection diagram

CAN
Master

OFF
2-CAN
X6A RS232 X6B CAN1 X6C CAN2
OFF
ON

ON
X6A RS232 X6B CAN1 X6C CAN2 2-CAN
OFF
ON

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10.9 Option "EtherCAT"

Offers EtherCAT interface to the S300. This option uses the expansion slot.
Information on the range of functions and the software protocol can be found in the
EtherCAT documentation. This option enables the S300 to be connected to the EtherCAT
network via RJ-45 connectors (IN and OUT ports).
The option EtherCAT cannot be inserted later. Order the amplifier with built-in EtherCAT
option.

LED3 LED4 LED1 LED2

10.9.1 Node LED table

LED# Name Function

ON = receive valid (IN port)
LED1, green LINK_IN
OFF= not valid, power off, or reset.
ON = network cyclic
LED2, yellow CYCLIC BLINK = network not cyclic
OFF = power off, or reset
ON = receive valid (OUT port)
LED3, green LINK_OUT
OFF = not valid, power off, or reset
ON = repeater on, network cyclic
LED4, yellow REPEATER BLINK = repeater on, network not cyclic
OFF = repeater off, power off, or reset

10.9.2 Connection diagram

Co
ntr
olle
r

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10.10 Option "FAN", ventilator control

To reduce the average noise emission of servo amplifiers with fan, these amplifiers can
be ordered with built-in fan option card (ventilator control). This option uses (invisible from
the outside) the expansion slot.
The option FAN cannot be inserted later. Order the amplifier with built-in FAN option.
Function
The fan is switched on and off depending on measured temperature values and brake
power. That reduces the average noise emission.
Switching temperature
Monitoring Fan off Fan on
Internal temperature < 55°C > 58°C
Heat sink temperature < 60°C > 65°C
Brake resistor (internal) < 20W > 30W

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11 Appendix
11.1 Glossary
B Brake circuit Converts superfluous energy fed back by the
motor during braking (regenerated energy) into
heat.
C Clock Clock signal
Common-mode voltage The maximum amplitude of a disturbance (on both
inputs) which a differential input can eliminate
Counts Internal count pulses, 1 pulse = 1/220 turn-1
Continuous power of brake circuit Mean power that can be dissipated in the brake
circuit
Current controller Regulates the difference between the current
setpoint and the actual value to 0
Output : power output voltage
D DC bus link Rectified and smoothed power voltage
Disable Removal of the ENABLE signal
E Earth short electrical connection between a phase and
the protective earth (PE)
Enable Enable signal for the servo amplifier,
Hardware-Enable with 24V signal to X3,
Software-Enable command by setup Software,
fieldbus or permanently set.
Both are required for enabling the amplifier.
ENABLE Enable signal for the servo amplifier (+24 V)
F Fieldbus interface CANopen, PROFIBUS, SERCOS etc.
Final speed (limit speed) Maximum value for the speed normalization at
±10 V
G GRAY-code Special format for representing binary numbers
H Holding brake Brake in the motor, that can only be used when the
motor is at standstill
I I²t threshold Monitoring of the r.m.s. current that is actually
required
Input drift Temperature and age-dependent alteration of an
analog input
Incremental encoder interface Position signaling by 2 signals with 90° phase
difference (i.e. in quadrature), is not an absolute
position output
Ipeak, peak current The effective value of the peak current
Irms, effective current The r.m.s. value of the continuous current
K Kp, P-gain Proportional gain of a control loop
L Limit speed (final speed) Maximum value for speed normalization at ±10 V
Limit switch Switch limiting the traverse path of the machine;
implemented as n.c. (break) contact

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M Machine The complete assembly of all connected parts or

devices, of which at least one is movable
Motion block Data packet with all the position control
parameters which are required for a motion task
Multi-axis system Machine with several independently driven axes
N Natural convection Free movement of air for cooling
O Optocoupler Optical connection between two electrically
independent systems
P P-controller Control loop with purely proportional behavior
Phase shift Compensation for the lag between the electro-
magnetic and magnetic fields in the motor
PI-controller Control loop with proportional and
differential behavior
Position controller Regulates the difference between the position
setpoint and the actual position to 0
Output: speed setpoint
Potential isolation electrically decoupled, electrical isolation
Power contactor System protection device with phase monitoring
Pulse power of the brake circuit Maximum power which can be dissipated in the
brake circuit
R Reset New start of the microprocessor
Resolver/digital converter Conversion of the analog resolver signals into
digital information
Reversing mode Operation with a periodic change of direction
Ring core Ferrite rings for interference suppression
ROD-interface Incremental position output
S Servo amplifier Control device for regulating the speed, torque
and position of a servomotor
Setpoint ramps Limits for the rate of change of the speed setpoint
Short-circuit here: electrically conductive connection between
two phases
Speed controller Regulates the difference between the speed
setpoint and the actual value to 0
Output : current setpoint
SSI-interface Cyclically absolute, serial position output
Supply filter Device to divert interference on the power supply
cables to PET
Tachometer voltage Voltage proportional to the actual speed
Thermal control Temperature-sensitive device built into the
motor winding (usually a PTC)
Tn, I-integration time Integral component of a control loop
Z Zero pulse Output once per turn from incremental encoders,
used to zero the machine

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11.2 Order codes

The order numbers of accessories such as cables, brake resistors, mains supplies, etc.,
can be found in the accessories manual.
Servo amplifiers

Article Rated voltage Order code*

SERVOSTAR 303 110-230 V AC S30361-NA
SERVOSTAR 303-EC 110-230 V AC S30361-EC
SERVOSTAR 306 110-230 V AC S30661-NA
SERVOSTAR 306-EC 110-230 V AC S30661-EC
SERVOSTAR 306-FAN 110-230 V AC S30661-FN
SERVOSTAR 310 110-230 V AC S31061-NA
SERVOSTAR 310-EC 110-230 V AC S31061-EC
SERVOSTAR 310-FAN 110-230 V AC S31061-FN
SERVOSTAR 341 208-480 V AC S30101-NA
SERVOSTAR 341-EC 208-480 V AC S30101-EC
SERVOSTAR 343 208-480 V AC S30301-NA
SERVOSTAR 343-EC 208-480 V AC S30301-EC
SERVOSTAR 343-FAN 208-480 V AC S30301-FN
SERVOSTAR 346 208-480 V AC S30601-NA
SERVOSTAR 346-EC 208-480 V AC S30601-EC
SERVOSTAR 346-FAN 208-480 V AC S30601-FN
* NA : without built-in expansion card
FN : built-in FAN option, uses expansion slot
EC : built-in EtherCAT option, uses expansion slot
Expansion cards

Article EU order code US order code

Expansion card DeviceNet DE-103571 OPT-DN
Expansion card PROFIBUS DP DE-106712 OPT-PB3
Expansion card SERCOS DE-90879 OPT-SE
Expansion card I/0-14/08 DE-90057 OPT-EI
Expansion card EtherCAT (old) DE-108350 OPT-EC
Expansion card SynqNet DE-200073 OPT-SN
Expansion card FB-2to1 DE-201664 -
Expansion module 2CAN DE-101174 -
Expansion cards can be inserted into -NA servo amplifiers.
Mating connectors

Article EU order code US order code

Mating connector X3 DE-107554 CON-S3X3
Mating connector X4 DE-107555 CON-S3X4
Mating connector X0 (110...230V) DE-105856 CON-S3X0L
Mating connector X8 (110...230V) DE-107556 CON-S3X8L
Mating connector X9 (110...230V) DE-107631 CON-S3X9L
Mating connector X0 (208...480V) DE-107557 CON-S3X0H
Mating connector X8 (208...480V) DE-107558 CON-S3X8H
Mating connector X9 (208...480V) DE-107467 CON-S3X9H

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11.3 Index
! 24V aux. supply, interface . . . . . . . . 59 External fusing . . . . . . . . . . . . . . 27
A Abbreviations . . . . . . . . . . . . . . . 9 F Feedback systems . . . . . . . . . . . . 65
Ambient temperature . . . . . . . . . . 28 Feedback types . . . . . . . . . . . . . 66
Assembly . . . . . . . . . . . . . . . . 46 G Glossary . . . . . . . . . . . . . . . . 133
B BTB/RTO. . . . . . . . . . . . . . . . . 94 Ground symbol. . . . . . . . . . . . . . 51
Baud rate . . . . . . . . . . . . . . . . 109 Grounding
BiSS interface analog . . . . . . . . . . 70 Connection diagram . . . . . . . . . 57
BiSS interface digital. . . . . . . . . . . 71 Installation . . . . . . . . . . . . . . 50
Block diagram (overview) . . . . . . . . 55 H Hardware requirements . . . . . . . . . 99
Brake resistor Hiperface encoder interface . . . . . . . 74
Interface, ext. . . . . . . . . . . . . . 61 Humidity
Technical data . . . . . . . . . . . . 30 In operation . . . . . . . . . . . . . . 28
Brake, see also motor-holding brake . . 29 Storage . . . . . . . . . . . . . . . . 14
C CAN-bus cable. . . . . . . . . . . . . . 96 I Inputs
CANopen interface. . . . . . . . . . . . 96 Analog . . . . . . . . . . . . . . . . 92
CE . . . . . . . . . . . . . . . . . . . . 18 Digital . . . . . . . . . . . . . . . . . 93
Cleaning . . . . . . . . . . . . . . . . . 15 Installation
ComCoder . . . . . . . . . . . . . . . . 80 Electrical . . . . . . . . . . . . . . . 49
Expansion cards . . . . . . . . . . 115
Conductor cross-sections . . . . . . . . 28
Mechanical . . . . . . . . . . . . . . 45
Conformance Software . . . . . . . . . . . . . . . 99
EAC. . . . . . . . . . . . . . . . . . 19
EC . . . . . . . . . . . . . . . . . . 18 K Keypad operation. . . . . . . . . . . . 109
Safety. . . . . . . . . . . . . . . . . 19 L LED display. . . . . . . . . . . . . . . 109
UL, cUL . . . . . . . . . . . . . . . . 17 Leakage current . . . . . . . . . . . . . 44
Connection diagram . . . . . . . . . . . 57
M Maintenance . . . . . . . . . . . . . . . 15
Connection technology . . . . . . . . . 52
Master-Slave. . . . . . . . . . . . . . . 89
Connector assignments . . . . . . . . . 56
Master-slave . . . . . . . . . . . . . . . 87
Connectors. . . . . . . . . . . . . . . . 27
Motor interface . . . . . . . . . . . . . . 64
D DC bus link, interface . . . . . . . . . . 61 Mounting position . . . . . . . . . . . . 28
DSL interface . . . . . . . . . . . . . . 68
N Nameplate . . . . . . . . . . . . . . . . 21
Decommissioning . . . . . . . . . . . . 15
Noise emission. . . . . . . . . . . . . . 28
Disassemble . . . . . . . . . . . . . . . 15
Disposal . . . . . . . . . . . . . . . . . 16 O Operating systems . . . . . . . . . . . . 99
Dynamic Braking. . . . . . . . . . . . . 30 Optical power, SERCOS . . . . . . . . 121
Option EtherCAT . . . . . . . . . . . . 131
E EAC . . . . . . . . . . . . . . . . . . . 19
Option FAN . . . . . . . . . . . . . . . 132
ENABLE . . . . . . . . . . . . . . . . . 93
Order codes . . . . . . . . . . . . . . 135
EU Directives . . . . . . . . . . . . . . 18
Outputs
Electronic Gearing . . . . . . . . . . . . 87
BTB/RTO . . . . . . . . . . . . . . . 94
Emergency Off . . . . . . . . . . . . . . 36 DIGI-OUT 1/2. . . . . . . . . . . . . 94
Emergency Stop . . . . . . . . . . . . . 36
P PC cable . . . . . . . . . . . . . . . . . 95
EnDat 2.2 Encoder Interface . . . . . . 73
PC connection . . . . . . . . . . . . . . 95
EnDat encoder interface . . . . . . . . . 72
Package supplied . . . . . . . . . . . . 21
Enclosure protection . . . . . . . . . . . 28
Packaging . . . . . . . . . . . . . . . . 14
Encoder emulation . . . . . . . . . . . . 90
Part number scheme. . . . . . . . . . . 22
Error messages. . . . . . . . . . . . . 112
Pollution level . . . . . . . . . . . . . . 28
Expansion card
-2CAN- . . . . . . . . . . . . . . . 129 Q Quickstart . . . . . . . . . . . . . . . . 100
-DeviceNet- . . . . . . . . . . . . . 122 R RCD . . . . . . . . . . . . . . . . . . . 44
-EtherCat- . . . . . . . . . . . . . . 131 ROD 5V, 1.5MHz . . . . . . . . . . . . 78
-FB-2to1- . . . . . . . . . . . . . . 127 ROD, interface . . . . . . . . . . . . . . 90
-I/O-14/08-. . . . . . . . . . . . . . 116
RS232/PC, interface . . . . . . . . . . . 95
-PROFIBUS- . . . . . . . . . . . . 119
-SERCOS- . . . . . . . . . . . . . 120 Re-forming . . . . . . . . . . . . . . . . 97
-SynqNet- . . . . . . . . . . . . . . 125 Repair . . . . . . . . . . . . . . . . . . 16
Guide to installation . . . . . . . . . 115 Resolver, interface . . . . . . . . . . . . 69

136 S300 Instructions Manual

Kollmorgen 04/2018 Appendix

S SFD3 interface . . . . . . . . . . . . . . 67
SSI, interface . . . . . . . . . . . . . . 91
STO-ENABLE . . . . . . . . . . . . . . 93
Safety Function STO. . . . . . . . . . . 37
Safety characteristic data . . . . . . . . 37
Safety instructions . . . . . . . . . . . . 10
Shielding
Connection diagram, . . . . . . . . . 57
Installation . . . . . . . . . . . . . . 50
Shock-hazard protection. . . . . . . . . 44
SinCos+SSI to X5 . . . . . . . . . . . . 75
Site . . . . . . . . . . . . . . . . . . . . 45
Site altitude . . . . . . . . . . . . . . . 28
Stacking height . . . . . . . . . . . . . 14
Standards . . . . . . . . . . . . . . . . . 8
Station address, CAN-bus . . . . . . . 109
Stop . . . . . . . . . . . . . . . . . . . 35
Storage. . . . . . . . . . . . . . . . . . 14
Supply connection, interface. . . . . . . 59
Supply networks . . . . . . . . . . . . . 58
Supply voltage . . . . . . . . . . . . . . 28
Switch-on/switch-off behavior . . . . . . 32
Symboles . . . . . . . . . . . . . . . . . 8
System components, overview . . . . . 54
T Target group . . . . . . . . . . . . . . . 10
Technical data . . . . . . . . . . . . . . 25
Tightening torques, connectors . . . . . 27
Transport. . . . . . . . . . . . . . . . . 14
U UL . . . . . . . . . . . . . . . . . . . . 17
Use as directed
Restart lock STO . . . . . . . . . . . 39
Servo amplifiers . . . . . . . . . . . 12
Setup software . . . . . . . . . . . . 98
V Ventilation
Installation . . . . . . . . . . . . . . 45
Technical data . . . . . . . . . . . . 28
Vibrations . . . . . . . . . . . . . . . . 28
W Warning messages . . . . . . . . . . . 113
Wiring . . . . . . . . . . . . . . . . . . 50

S300 Instructions Manual 137

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