S701...

S724 (STO dual channel)

Quickstart Guide
Version 12/2010
Valid for hardware revision 2.10

Keep all manuals as a

product component during
the life span of the product.
Pass all manuals to future
users/owners of the product.
Preparation
The CD-ROM delivered with the servo amplifier contains all the manuals in PDF for-
mat and the setup software. Insert the CD-ROM into your PC.
Autostart function activated: A window with the start screen opens.
Autostart function deactivated: Click START (task bar), then on Run. Enter
x:\index.htm or x:\autorun.exe (x = CD drive letter). Click OK. The start screen
opens.
Install Setup Software
Multilanguage CD-ROM: On the start screen you find a link to the setup software:
Install Setup Software S300/S700 Release _.__ Build __
Click it and follow the instructions from here.
North American CD-ROM: Click the product name, then select Install Software
from the next screen. Follow the instructions from here.
Documents
You need Acrobat Reader to read the PDFs (installation link on every screen).
Multilanguage CD-ROM: Select the language version on the start screen of the
CD-ROM. Click "Servo Drives" in the column "Technical Manuals". A table with links
to all manuals appears.
North American CD-ROM: Click on any manual title automatically brings up the
document.
Mechanical and Electrical Installation of the Servo Amplifier
1. Unpack servo amplifier and accessories
2. Keep the instructions manual ready (print if necessary), check HW-Revision
3. Observe safety instructions in the manuals
4. Mount the servo amplifier as described in the instructions manual
5. Wire the servo amplifier as described in the instructions manual or apply the mini-
mum wiring for drive test (see next page)

2
Minimum Wiring for Drive Operation

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.
1

Enable
24V ON

X3A/1 Feedback
+ X4A/1
24V DC X3B/16
-
X3B/14
Power ON X3B/15
X4A/2 X4B/4
X4B/6
X8/3 X4A/3
X8/4

Power
Motor

Power

3
Connect
l Connect the interface cable to a serial interface on your PC and to the serial in-
terface X6 of the servo amplifier. USB to serial converter can be used optionally.
l Switch on the 24 V logic power supply for the servo amplifier.
l Wait about 30 seconds, until the front display of the servo amplifier displays the
current rating (e.g. for 3 amps). If the mains power supply voltage is
switched on, too, a leading P is displayed (e.g. for Power, 3 amps).
If a fault code ( ) or a warning ( ) or a status message ("." or "_"
or "E" or "S") appears in the display, you will find the description and hints for
trouble shooting in the instructions manual. If there is fault, 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 com-
munication parameters.
Choose the communication system
and the interface, where the servo
amplifier is connected to.
Click OK.

4
The software tries to communicate with the drive and to upload the 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
Click OK to remove 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 clo-
sing the window.
Fix the communication problem. Restart the software in Online mode.
If communication works, you see the start screen.

Make sure, that the

amplifier is disabled
(Input Enable con-
nector X3A pin 1
must be 0 V or
open)!

Select "Setup Wizard" in the navigation frame.

5
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 important configuration parameters.

Operation Mode, use Digital Velocity mode for

drive testing.

Status Bar

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

6
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 select the setup type "Quick Motor/Drive Setup".

Start the Wizard.

7
Basic Setup

Mains voltage: Select the nominal mains AC voltage

Response to Loss of Input Phase: You can select either warning "n05" or error
"F19" in case of phase loss. The setting "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 simpli-
fies the drive identification in the system.
Set Software Enable on Bootup: Don't select this option for the quick test.

Click NEXT.

8
Units/Mechanical

The user units for all input fields in the setup software can be preselected here.
Position, Velocity, Acceleration
Select usable units for your application referring to the moved load.
Mechanical Conversion
The relationship between motor shaft revolution (pole pair 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 calculation tool
based on sample applications for calculating the resolution value (press "Calculate
PGEARI/PGEARO..." button). Select the application and enter the required values.
Click "Calculate Conversion Factors..." button. Resolution is calculated now.
Click NEXT.

9
Motor (rotary) / Feedback - linear motor see next page

Simplified setting of the motor related parameters.

Feedback: Select the feedback type used in the motor.
Attention: 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. 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 this number here and select the desired servo performance. If you don't know
the inertia ratio, select "Do not tune". Click FINISH.

10
Motor (linear) / Feedback - rotary motor see previous page

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 out of the list. Special motors must be defi-
ned in the "Complete Setup".
Encoder Lines (appears with Feedback Type Sine Encoder):
Click "Calculate" and fill in the Encoder signal period.
Brake: If the motor has a built-in 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 this number here and select the desired servo performance. If you don't know
the inertia ratio, select "Do not tune". Click FINISH.

11
Save Parameters and Restart
You are going to finish the Setup Wizard and you have changed several basic para-
meters. 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 amplifier's EEPROM automatically
and a reset command restarts the amplifier (takes a few seconds).

Other parameters changed

No warning appears. Save the parameters to the EEPROM of the servo amplifier
manually by clicking the symbol in the tool bar. A coldstart of the amplifier is
not necessary.

Select the screen "Motion Service" in the navigation frame.

12
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 STO1/2-Enable: Apply +24 V to the inputs STO1/2-Enable [X4B/6 & X4A/3]
l Hardware-Enable: Apply +24 V to the input Enable [X3A/1]. If one 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 rating (e.g. for Enable, 3amps). Click the
symbol DIS to switch off the output stage (disable).
Jog (Digital Velocity Mode):
You can move the drive with
constant speed. Enter a safe
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 but-
ton is released.
Actual errors and warnings are listed on the screen Status. A description of
errors/warnings can be found in the online help.
Now you have setup and tested the basic functions of the drive successfully.

13
Additional Setup Screens
Observe the safety instructions in the manuals when 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 machine.
l Position Registers: up to 16 position values in the track 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: displays amplifiers data with history, actual faults and warnings
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 Autotuning: fast velocity loop optimizing

14
Monitor

Select the screen "Monitor" from the

navigation frame.
The Monitor screen shows all important
actual electrical and mechanical valu-
es.

Documents
You need access to these documents (located on the product CD-ROM, you can
download the latest editions from our website):
l Instructions manual (Assembly, Installation, Setup)
l CANopen communication profile

Depending on the installed expansion card, you need one of these documents:
l PROFIBUS DP communication profile
l DeviceNet communication profile
l SERCOS communication profile
l EtherCAT communication profile

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

15
Technical changes which improve the performance of the equipment may be
made without prior notice!
All rights reserved. No part of this work may be reproduced in any form (by photoco-
pying, microfilm or any other method) or stored, processed, copied or distributed by
electronic means without the written permission of Kollmorgen Europe GmbH.

Kollmorgen Customer Support - North America

E-Mail support@kollmorgen.com
Tel.: +1 - 540 - 633 - 3545
Fax: +1 - 540 - 639 - 4162

Kollmorgen Customer Support - Europe

E-Mail technik@kollmorgen.com
Tel.: +49(0)2102 - 9394 - 0
Fax: +49(0)2102 - 9394 - 3110