Kollmorgen S700 series digital servo amplifier

Software Configuration (DRIVE GUI. EXE)

Installation and Connection: Supports Windows 2000/XP/Vista/7, connects PC and amplifier X6 interface through RS232 cable (P7S2-232-9D), baud rate 38400bps, data bit 8, even check, stop bit 1, software automatically recognizes amplifier model and firmware version.

Core configuration module:

Motor configuration: Select the motor model (such as AKM series) from the database, or manually input parameters such as rated current, torque constant, inductance, etc., and perform the "Motor Probe" to detect the motor inductance and optimize the current loop gain.

Security configuration: The STO function requires setting the STO Status output (such as X3A/6) and associating it with the security controller through the ASCII command OxMODE70 to achieve periodic testing; The security card S3/S4 needs to be configured with SS1 activation signal (X30/1) and reset signal (X30/20) to ensure the correct triggering timing of the security function.

Sports configuration: Set the electronic gear ratio for the position ring (e.g. set PGEAR1=2 and PGEAR0=1 for a 1:2 gearbox), gain for the speed ring (Kp=0.5-2.0, Tn=0.01-0.1s), and automatically optimize control parameters through "Autotuning" to reduce tracking errors (fault F03).

Hardware switch configuration

Address and baud rate: Set the CANopen station address (1-99) and baud rate (10-1000kbit/s) through the amplifier front-end buttons. After setting, restart the 24V power supply to take effect. The baud rate encoding is as follows: "25" corresponds to 250kbit/s, and "50" corresponds to 500kbit/s.

Expansion card recognition: After inserting the expansion card into Slot 1/2/3, the amplifier will automatically recognize it when powered on. The function can be configured through the DRIVE GUI "Expansion Card" interface (such as setting the PROFIBUS address to 3 and the baud rate to 1.5Mbit/s). If the expansion card is not recognized, it is necessary to check whether it is installed properly (card buckle locking).

Troubleshooting and Maintenance

1、 Troubleshooting System

（1） Fault diagnosis tools and processes

Front end LED display diagnosis

The 3-character LED display on the front end of the amplifier is the core fault indicator unit, and different states correspond to different fault types:

Red flashing: Fault code (such as F01-F32), it is necessary to locate the problem based on the fault table, and the number of flashes corresponds to the fault number (such as flashing once is F01).

Yellow constantly on: EOT (end of travel) input latch (such as n10/n11), the motor needs to be moved in reverse to disengage from the limit sensor.

Red constantly on: FLASH memory verification error (F09), firmware needs to be re downloaded (via memory card or PC software).

- S - "display: STO function activated (STO1/STO2 Enable is 0V), check the safety circuit wiring or safety relay status.

Troubleshooting process

Preliminary inspection: Confirm if the power supply voltage (X0 terminal), 24V auxiliary power supply (X4A), and STO signal (X4A/3/X4B/6) are normal, disconnect the load to test the motor for independent operation, and eliminate mechanical jamming.

Parameter verification: Read parameters (such as motor current, speed, and bus voltage) through DRIVE GUI software, confirm that I2/rms/I2 peak does not exceed the rated value, and provide feedback parameters (FBTYPE, ENCVON) that match the actual feedback type.

Hardware testing: Measure the resistance of the motor winding (three-phase balance, deviation ≤ 5%), feedback cable continuity (if there is no open circuit between terminal X1 A+/A -), and check the temperature of the power module (triggering F01 when the heat sink exceeds 80 ℃).

（2） Common fault codes and solutions

Fault code, fault description, possible causes, and solutions

F01 heat sink overheating: 1. The ambient temperature exceeds 40 ℃; 2. Fan malfunction; 3. The load duty cycle is too high. 1. Increase forced air cooling (wind speed ≥ 2m/s); 2. Replace the fan (S701-S712 fan model DE-200454); 3. Reduce the frequency of motion or increase the motor model

F02 DC bus overvoltage: 1. Input voltage exceeds the rated value (such as S7xx0 exceeding 480VAC); 2. Excessive braking power (failure to consume regenerative energy in a timely manner); 3. External braking resistor not connected. 1. Check the grid voltage and install a three-phase stabilized power supply; 2. Increase the power of the external braking resistor (such as S72402 with a 23 Ω/4kW resistor); 3. Connect the external braking resistor to the X8 terminal (remove the X8/3-X8/4 shorting bar)

F03 tracking error exceeds tolerance 

1. Position loop gain (Kp) is too low; 2. The load inertia ratio exceeds the set value; 3. The motor current limit is too small. 1. Increase Kp through DRIVE GUI (such as adjusting from 0.5 to 1.0); 2. Reset the load inertia ratio (S2-5~S2-7 switches or software parameters); 3. Increase I2/RMS/I2 peak (not exceeding the rated value of the motor)

F04 feedback fault 1. Feedback cable breakage/short circuit; 2. Feedback equipment damage (such as encoder); 3. FBTYPE parameter setting error: 1. Use a multimeter to measure the continuity of the feedback cable (e.g. X1 terminal A+/A - resistance should be ≥ 1k Ω); 2. Replace feedback devices (such as EnDat encoder ECN1313); 3. Match FBTYPE with feedback type (e.g. BiSS-C set to 33)