Systems Technical Publication SERVOSTAR 600. with Kollmorgen GOLDLINE Xt

Transcription

1 Systems Technical Publication SERVOSTAR 6 with Kollmorgen GOLDLINE Xt

2 SERVOSTAR 6 INTRODUCTION Kollmorgen SERVOSTAR 6 Amplifier Volt Three Phase AC Input Power Resolver Feedback Integrated Power Supply Fully Digital Control CE, UL, cul Motor Brake Control The SERVOSTAR 6 amplifier is a compact, fully digital drive-amplifier designed to simplify installation, system setup, and system reliability. FEATURES: Servo Control Easy to tune servo loops Advanced sinewave commutation technology provides smooth, precise low-speed control and high speed performance Velocity loop bandwidths to Hz DQ Current control increases high speed peak torque performance for faster cycle rates Space Vector Modulation reduces normal power stage switching loses Torque angle control enhances motor performance Fully digital control loops Compact and attractive rugged metal package for spacesaving, modern appearance - metal package minimizes electrical noise emmision & suceptability Command modes: Torque, Velocity, Position, Electronic Gearing Pulse Following, and Motion Task Five current ratings:, 6,,, and amp RMS/phase continuous to peak/continuous current rating (5 second at peak) Run time counter Easy Connectivity Built in encoder equivalent output can eliminate the need for an additional position feedback device RS- Communication Unique multi-drop configuration allows a PC or PLC to communicate to multiple SERVOSTAR 6 amplifiers via single RS- connection SERVOSTAR 6 s versatile communication capabilities make it easy to integrate machine control data directly from the factory floor to your information system Analog ±V, pulse/direction, master encoder, and serial port, I/O command options Robust Design ESD rugged circuit design and fully metallic enclosure Full protection against short circuit, overvoltage, undervoltage, heatsink overtemperature, motor overtemperature, overspeed, overcurrent, and feedback loss UL, cul listed, and CE Built-in line filter for CE Flash memory Windows Start-up Environment Graphical environment simplifies set up PC Oscilloscope for measuring real-time motion performance Interactive MOTIONTASK Programming Configurable I/O separate analog inputs ( and bit resolution) configurable to 6 different command modes analog outputs digital inputs digital outputs I/O can be configured to a variety of functions to customize the SERVOSTAR 6 to individual machines I/O Option Card (see page 5) Adds additional digital inputs and 8 digital outputs All I/O are optically isolated Simple plug in to top face of Amplifier Regenerative Power Sharing Patented circuitry allows the DC bus from two or more amplifiers to be connected together allowing regen power to be shared among multiple drives Built in Parameter Unit Perform basic drive set up without the need for a PC Provides diagnostic information Allows motor selection from parameters store in memory Built in Safety Relay Switches off the power stage to ensure personnel safety and prevents an unintended restart of the drive, even in the event of a fault Allows DC bus to remain on KOLLMORGEN Radford, Virginia SERVO

3 INTRODUCTION SERVOSTAR 6 Motion Capabilities The SERVOSTAR 6 can be configured to perform motion control that normally requires a fully programmable drive with a motion language. With the SERVOSTAR 6 there is no programming language to learn; the user only fill in the blanks to create common motion tasks Up to 8 motion task can be stored in permanent memory Motion Tasked can be linked together. types of homing Speed profile/registration control Adjustable S curve acceleration Motion Examples INCREMENTAL MOVE Velocity ABSOLUTE MOVE Velocity ELECTRONIC GEARING 5: (MASTER/SLAVE) Velocity Time Position Absolute and relative (index) moves Linking of motion task (sequencing) Adjustable Following-Error window Adjustable window for the In Position signal Linked motion tasks are started: Immediately upon reaching a targeted position Digital Input upon reaching the targeted position A Preset Time Delay after the targeted position is reached Application Examples material handling bottle making packaging soft positioning robot conveyor belt controlling fast positioning special cleaning process part selection glass processing robot wirepuller textile industry printing electronics web converting cut to length Time MACRO MOVE Velocity Time KOLLMORGEN Radford, Virginia SERVO

4 SERVOSTAR 6 CONNECTOR INFORMATION X5 Encoder Equivalent Output X RESOLVER X6 PC PGND B+ (DATA) Motor + B- (/DATA) Motor - +5V A- (CLK) N.C. A+ (/CLK) R (Ref Hi) R (Ref Lo) S (Cos Lo) S (Cos Hi) S (Sin Hi) S (Sin Lo) THERMOSTAT THERMOSTAT SHIELD V CANL RxD TxD N.C. CANH PGND X I/O AGND BTB/RTO BTB/RTO X V INPUT 5 SW/SETP.+ SW/SETP.- +V 6 SW/SETP.+ +V 7 SW/SETP.- XGND 8 MONITOR XGND 9 MONITOR X MOTOR DISCONNECT RELAY KSO KSO KSI- KSI AGND DIGITAL-IN DIGITAL-IN PSTOP NSTOP ENABLE DIGITAL-OUT DIGITAL-OUT Connectors underneath: 8 DGND XO B X8 R REGEN X9 motor/brake 5 6 L L L PE -RB +RBint RBEXT n.c. Brake- Brake+ PE U V W XO A X7 DC-circuit L L L PE +DC -DC +DC -DC KOLLMORGEN Radford, Virginia SERVO

5 I/O OPTION CARD SERVOSTAR 6 CONNECTOR POSITION ERR I/O-/8 XA XB V X The I/O option card is an extremely economical way of operating servo controllers under position control for simple automation tasks. additional digital inputs permit the selection and start of the motion tasks that are stored in the motion-task memory of the SERVOSTAR 6. All the important functions for the position controller that is integrated into the servo controller can thus be operated from a small, independent control system. 8 digital outputs report the status of the drive to the higher-level control. CONNECTOR ASSIGNMENTS Connector Connector XA XB Terminal Fn. Description Terminal Fn. Description In A In MT_Restart In A In Start_MT In A Out InPos In A Out Next-InPos 5 In A 5 Out Sfault 6 In A5 6 Out PosReg 7 In A6 7 Out PosReg 8 In A7 8 Out PosReg 9 In Reference 9 Out PosReg In Sfault_clear Out Reserve In Start_MT Next Sup. V DC In Start_Jog v=x Sup. I/O-GND KOLLMORGEN Radford, Virginia SERVO 5

6 SERVOSTAR 6 AMPLIFIER SPECIFICATIONS Electrical characteristics Closed loop velocity bandwidth up to Hz Motor current ripple frequency 6 khz Switching frequency: 8 khz Long term speed regulation (.%) Position loop update rate 5 µs ( khz) Velocity loop update rate 5 µs ( khz) Commutation update rate 6.5 µs (6 khz) SVM Current loop update rate 6.5 µs (6 khz) Fault protection Output phase to phase and phase to ground short circuit protection Overvoltage Undervoltage Overtemperature (motor and amplifier) Overspeed Overcurrent Feedback loss Foldback Supply loss Excessive position error Environmental Operation range - Ambient to 5 C (derated above ambient up to 55 C) - Storage -5 C to 55 C Humidity (non-condensing) max 85% Velocity Loop Compensation PI Plus controller (PDFF Format) or PI controller Field tunable and digital repeatability Position Loop Compensation Proportional loop with Feed Forward Analog I/O Configurable Inputs: ±V, and bit resolution Configurable Outputs: ±V, bit resolution Digital I/O Configurable Inputs: volts, PLC-compatible Configurable Outputs: volts (open collector), PLC-compatible Remote enable Input: V, PLC-compatible Drive Status Relay (BTB/RTO) Contact closure rated for.5 amps, Volt Pulse or Master/Slave Input Pulse command: pulse/direction or quadrature encoder format RS-85 receivers Up to 6 slave amplifiers can be connected together Input ratio is configurable Position Feedback For User (Encoder Equivalent Output Port) Configurable to Encoder Equivalent (ROD) or SSI format Encoder Equivalent (ROD): A Quad B with Marker (zero) pulse, RS-85 driver SSI (serial synchronous interface): max clock frequency is.5 Mhz, RS-85 driver Programmable resolution I/O Extension Card (Option) Field Installable Digital Inputs V, PLC-compatible 8 Digital Outputs V, PLC-compatible V PLC Interface Communications RS- Interface Operational modes Torque control from analog or digital command Velocity control from analog or digital command Pulse following Gearing from quad encoder input Motion Task Serial Commands Diagnostics digit Seven segment LED display Error history log Internal variable monitoring PC scope Motor Feedback Resolver 6 KOLLMORGEN Radford, Virginia SERVO

7 AMPLIFIER SPECIFICATIONS SERVOSTAR 6 Power Regeneration Options Internal External - using BAR housed resistors Bus Sharing - Distributes regen power among multiple amplifiers Built in Parameter Unit Displays drive status information Parameters: Drive Address, baud rate, Velocity loop tuning, Motor type, Position output information format, brake, regen type Motor Brake Control V optional holding brake in the motor can be controlled directly by the SERVOSTAR 6 Power Inputs VAC phase, 5 or 6 Hz, built in line filter for CE requirements amp ( amps with brake) For Logic Amplifier Ratings Model Output Output Peak Internal Power AC Input Rated Current Per Phase Current Per Dissipation Line Input Internal External (RMS/phase) Phase (Watts) Voltage Power (KVA) Regen Power Regen Power (5 sec) ( V (Watts) (Watts) S S ,5 S6 9.6,5 S ,5 S6 9.,5 KOLLMORGEN Radford, Virginia SERVO 7

8 SERVOSTAR 6 REGENERATION SIZING / DIMENSIONS Resistive Regeneration Sizing Shunt regeneration is required to dissipate energy that is pumped back into the DC bus during load deceleration. The amount of shunt regeneration required is a function of the sum of simultaneously decelerating loads. The loads need to be defined in terms of system inertia, maximum speed, and deceleration time. In addition, the duty cycle must be known. Contact Kollmorgen Customer Support Network for application assistance at SERVO or servo@kollmorgen.com. E F A B C G E D Model Watts Ohms Amplifiers A B C D E E F G BAR-5 5 S6, S66, (.99) 9(5.5) (6.) 66(.6) (.7) 5(.8),5x9(.x.5) 77(.) BAR-5 5 S6, S6, S6 (5.75) 6(6.77) 86(9.) 9(.6) 6(.5) 6(.5) 6,5x9(.x.5) (.7) BAR-5 5 S66, S6, S6, S6 5(9.69) 56(.7) 586(.7) 85(7.8) 5(5.9) 5(5.9) 6,5x9(.x.5) (.7) S6/6/// SERVOSTAR 6 DIMENSIONS 65 (.) with connector: 7 (.7) 75 (.8) 5 (.8) Model Size Dim. A S6 AMP 7 (.8) S66 6 AMP 7 (.8) S6 AMP 7 (.8) S6 AMP (.9) S6 AMP (.7) "A" Dimensions in mm (inches) 8 KOLLMORGEN Radford, Virginia SERVO

9 MOTIONLINK SERVOSTAR 6 ADDITIONAL FUNCTIONS MOTIONLINK for Windows takes the fear out of setting up a servo system. Designed for the novice as well as the advanced user, MOTIONLINK lets users quickly set-up and fine tune system performance. PC Oscilloscope: For closely evaluating system performance MOTIONLINK includes the functionality of an oscilloscope. You can very easily excite the load then review performance graphically on your computer screen. Direct Terminal Mode: This mode turns your computer into a dumb terminal. Variables or parameters can be monitored and changed using the SERVOSTAR 6 s command language. This mode is ideal for advanced users who want to get directly in the heart of the SERVOSTAR 6. Tuning: Velocity and position loop tuning is straight forward, allowing the novice user to achieve the best machine performance. Monitor Mode: Allows you to monitor key operation variables. Speed, torque, and other variables can be viewed in real PSEUDO time in linear gauge format. Auto Set-up: MOTIONLINK auto set-up environment walks even the first time user through line voltage, motor, operation mode and load tuning to make system configuration friendly and fast. Configuring I/O: Inputs & Outputs are configurable to a wide variety of functions to configure the SERVOSTAR 6 to individual machine needs. MOTIONLINK has many other features including: Saving drive configuration to disk Activating position limits Displaying amplifier status Setting acceleration amps Limiting max speed or torque KOLLMORGEN Radford, Virginia SERVO 9

10 MOTIONLINK CONFIGURABLE AND READABLE FUNCTIONS Basic Set Up Input Power Main Phase Missing Max Regen Power Internal or External Regen Resistor Drive Name and Serial No * Run Time * Firmware Version * Hardware Version * Drive Operation Modes Digital Speed Analog Speed Digital Torque Analog Torque Electronic Gearing External Position Control Internal Position - MotionTasks Digital Scope Tool Record real time data Display on PC Oscilloscope Start Current Move Start Jog Move Start Position Move Record Start Adjust Trigger Recording in Process * Cancel Recording Recording Done * Transmit Data to PC Oscilloscope Feedback Configuration Resolvers: Number of Poles Resolver-zero offsetting Resolver Bandwidth Feedback Gain Drive Monitoring Regen Wattage * Actual Position (within one rev) * Actual Position * Actual Speed * Command Speed * Current Foldback Level * Drive Temperature * Heatsink Temperature * Effective Current * D Current Component * Q Current Component * Analog Commands * DC Bus voltage * Velocity Control Speed Command Scaling Speed Command Ramp (Accel) Speed Command Ramp (Decel) Maximum Speed Proportional Gain Integral Time Constant Feedback Filter Motion direction Current Control Current Command Scaling Current Foldback Cont Drive Current Peak Drive Current Proportional Gain Integral Time Constant Motor Configuration Motor Name and Number * Motor Current Motor Peak Current Motor Inductance Motor Poles Motor Max Speed Motor Brake (with or without) Motor Adaptive Gain Motor Speed Angle Advance Motor Torque Angle Advance Drive Status Actual Error * Actual Warning * Last Errors * Rate of Occurrence * Drive Reset Command Others Stop Drive Drive Enable Drive Disable Motion Homing/Jogging Direction Homing Type Reference Offset Start Command Jog Command Homing Velocity Jog Velocity Communications RS- from PC Drive Address Message Types from Drive Prompt Configuration Scan Position Output (Motor) Format: Off, Encoder equivalent output or SSI format Encoder Equivalent Output Resolution of Encoder Equiv Output Marker Pulse Offset SSI Baud rate of SSI Output Format type (binary or gray code) Standard or Inverted Clock Input Edge Positive or Negative Position Control Proportional Gain Integral Action Time Feed Forward Following Error * Motion-Gear Mode GearMode Type: Encoder Follower Pulse Follower * READ ONLY KOLLMORGEN Radford, Virginia SERVO

11 CONFIGURABLE AND READABLE FUNCTIONS MOTIONLINK Change/Copy Motion Task Position Type (Rotary or Linear) Master/Slave Motion Task Stop In Position Set Position Registers Mode The amplifier uses Input only, depending on the operation mode. Motion Task (or Blocks) Analog Input Two Differential Analog Inputs that can be configured in the following ways: Motion Task Start Acceleration ramp Deceleration Ramp Min Acceleration Max Velocity Position Capture (Positive or Negative Edge) OPMODE Input Input analog speed speed command inactive analog torque torque command inactive Mode The amplifier uses Input or, depending on the operation mode. OPMODE Input Input analog speed speed command inactive analog torque inactive torque command Mode Both inputs are switched off. OPMODE Input Input analog speed inactive inactive analog torque inactive inactive Mode The amplifier uses Input, depending on the operation mode. Input is used for limiting peak current. Mode The amplifier uses the sum of Inputs and, depending on the setting of OPMODE. OPMODE Input Input analog speed speed command limits peak torque analog torque torque command limits peak torque OPMODE Input + Input analog speed speed setpoint analog torque torque setpoint Mode 5 The amplifier uses the product of Inputs and, depending on the setting of OPMODE. The voltage on Input has the effect of a weighting factor for Input. OPMODE Input Input analog speed speed setpoint analog torque torque setpoint Signal dead band Signal offset Auto Offset command Input Configuration Analog Output Two Analog Outputs can be configured for Actual Speed, Actual Current, Commanded Speed, Commanded Current, or Contouring error window KOLLMORGEN Radford, Virginia SERVO

12 MOTIONLINK CONFIGURABLE AND READABLE FUNCTIONS Digital I/O Inputs: The digital inputs can be configured as follows: INMODE= External drive reset (only available at Input ) INMODE= Activates PSTOP in positive direction of travel (only available at Input ) INMODE= Activates NSTOP in negative direction of travel(only available at Input ) INMODE= Activates PSTOP function combined with integral gain off (only available at Input ) INMODE=5 Activates NSTOP function combined with integral gain off (only available at Input ) INMODE=6 Activates both PSTOP and NSTOP (only available at Input ) INMODE=7 Activates both PSTOP and NSTOP with integral gain off (only available at Input ) INxMODE=8 Switch between analog input and analog input INxMODE=9 Select a motion task that is stored in memory INxMODE= Turn integral gain off in the velocity loop INxMODE= Switch between velocity and torque control INxMODE= Home switch INxMODE= Change over position feedback from encoder equivalent output format (ROD) to SSI format INxMODE= Reset following error or limit infringement warning INxMODE=5 Start next motion task once the targeted position is reached INxMODE=6 Start a motion task. Enter task number through an auxiliary variable INxMODE=7 Start motion task that is bit coded on the digital inputs INxMODE=8 Switch over to second (lower) peak value of current INxMODE=9 Reserved INxMODE= Start jog. Enter speed through an auxiliary variable INxMODE= Turn off undervoltage monitoring INxMODE= Restart motion task that was interrupted INxMODE= Same as INxMode 6 except motion task started on rising edge only INxMODE= Switch between Opmodes a (Input high) and b (Input low) when INxTRIG = a*56+b INxMODE=5 During set up, set encoder equivalent output marker pulse offset INMODE=6 Position latch on rising edge of input (only available at Input ) INxMODE= On rising edge of input the string stored in INHCMD will be processed. On falling edge of input the string stored in INLCMD will be processed. Multiple commands in the string are possible up to total of 6 characters. Outputs: The digital outputs can be configured as follows: OxMODE= Motor speed is less than preset value OxMODE= Motor seed is greater than preset value OxMODE= Drive power stage ready OxMODE= Preset regen power is exceeded OxMODE=5 Software travel limit is reached OxMODE=6 Actual position is greater than preset value OxMODE=7 Target position reached (In Position) OxMODE=8 Actual current feedback less than preset value OxMODE=9 Actual current feedback greater than preset value OxMODE= Following error exceeded OxMODE= I T monitoring threshold is reached OxMODE= Preset function of position register is reached OxMODE= Preset function of position register is reached OxMODE= Preset function of position register is reached OxMODE=5 Preset function of position register is reached OxMODE=6 OxMODE=7 OxMODE=8 OxMODE=9 OxMODE= OxMODE= OxMODE= OxMODE= OxMODE= OxMODE=8 OxMODE=9 OxMODE=5 Target position reached for each task in an automatically executed sequence of motion task (Next-In Position) Error or warning message is signaled Error message is signaled DC bus voltage is higher than an auxiliary value DC bus voltage is lower than an auxiliary value Drive is enabled Marker pulse (low speeds only) Option card status Homing complete Preset function of position register is reached Preset function of position register 5 is reached Status of hardware and software enable KOLLMORGEN Radford, Virginia SERVO

13 INTRODUCTION Kollmorgen GOLDLINE XT FEATURES: Multiple stack lengths Short overall motor lengths Optimized torque-to-inertia ratios Low cogging & torque ripple Speeds to 6 RPM standard Increased thermal time constant English and Metric standard mounting UL recognized, CE compliant Optimized windings to match SERVOSTAR 6 Rotatable connectors Rugged resolver feedback Built-in thermostat IP65 sealing Kollmorgen GOLDLINE XT Series Servomotors.9 to 8. N-m (.95 to 5. lb-ft) System Torque Up to 87 N-m (6 lb-ft) System Peak Torque 9mm (.5 in), mm (5. in), and 7mm (6.8 in) Square Frames Resolver Feedback Speeds up to 6 RPM OPTIONS: IP67 sealing Integral electrically-released brake ( VDC) Mating connectors (CE compliant) Tapered shaft (XT5 & XT7) Maximum inertia rotor (XT5 & XT7) Kollmorgen GOLDLINE XT, XT 5, and XT 7 series servomotors provide high performance, cost-effective solutions in compact, rugged packages suitable for heavy industrial environments. Kollmorgen s unique magnetic design provides extremely low cogging and torque ripple for smooth operation, while allowing high torque-to-inertia for rapid acceleration. Medium inertia rotors for better load matching are also available for some models. The proprietary stator assembly provides more efficient heat transfer for high torque density (compact size), and at the same time increases thermal time constants to allow longer overloads on machines. The GOLDLINE XT series base models designed for use with the SERVOSTAR 6 amplifiers come equipped with a rugged, single speed resolver, and CE compliant, rotateable right angle connectors. Optional Vdc brakes (controlled directly by the drive) are also available. KOLLMORGEN Radford, Virginia SERVO

14 Kollmorgen GOLDLINE XT and SERVOSTAR 6 SYSTEM PERFORMANCE CURVES n Motor MTA n Amplifier: S6 Cont. Torque at stall Tc lb-ft.95 N-m.9 Peak Torque at stall Tp lb-ft.75 N-m.7 Cont. Power HP rated HP.79 kw rated kwatts.59 Rated Speed Nr RPM 5 Max. Speed Nmax RPM 5 Motor Inertia Jm lb-ft-s. kg-m.65 Motor Weight Wt lb 5.6 kg kw (.79 HP) lb-ft N-m n Motor MTA n Amplifier: S6 Cont. Torque at stall Tc lb-ft.86 N-m.5 Peak Torque at stall Tp lb-ft.6 N-m.9 Cont. Power HP rated HP.95 kw rated kwatts.7 Rated Speed Nr RPM Max. Speed Nmax RPM Motor Inertia Jm lb-ft-s.596 kg-m.88 Motor Weight Wt lb 7. kg kw (.95 HP) lb-ft N-m n Motor MTB n Amplifier: S66 Cont. Torque at stall Tc lb-ft.8 N-m.5 Peak Torque at stall Tp lb-ft.78 N-m 5. Cont. Power HP rated HP.8 kw rated kwatts. Rated Speed Nr RPM 6 Max. Speed Nmax RPM 6 Motor Inertia Jm lb-ft-s.596 kg-m.88 Motor Weight Wt lb 7. kg..... lb-ft N-m Notes:. duty operation is with motor mounted to 8 x x /8 aluminum faceplate in C ambient.. All curves shown at 6 Hz input, derate max. speed and peak power by 5% for 5 Hz operation. (for models with shaft seals, derate by.59 lb-ft). All curves represent typical performance. Always allow appropriate safety factor when sizing systems kw (.8 HP) KOLLMORGEN Radford, Virginia SERVO

15 Kollmorgen GOLDLINE XT and SERVOSTAR 6 SYSTEM PERFORMANCE CURVES n Motor MT6A n Amplifier: S6 Cont. Torque at stall Tc lb-ft.9 N-m.8 Peak Torque at stall Tp lb-ft.9 N-m 6.69 Cont. Power HP rated HP. kw rated kwatts.8 Rated Speed Nr RPM 5 Max. Speed Nmax RPM 5 Motor Inertia Jm lb-ft-s.89 kg-m. Motor Weight Wt lb 8. kg.8 5 n Motor MT6B n Amplifier: S66 Cont. Torque at stall Tc lb-ft.5 N-m. Peak Torque at stall Tp lb-ft.96 N-m 6.7 Cont. Power HP rated HP. kw rated kwatts.5 Rated Speed Nr RPM 6 Max. Speed Nmax RPM 6 Motor Inertia Jm lb-ft-s.89 kg-m. Motor Weight Wt lb 8. kg kw (. HP) lb-ft N-m kw (. HP) lb-ft N-m 6 n Motor MT8B n Amplifier: S66 Cont. Torque at stall Tc lb-ft.5 N-m.79 Peak Torque at stall Tp lb-ft 7. N-m 9.77 Cont. Power HP rated HP.7 kw rated kwatts. Rated Speed Nr RPM Max. Speed Nmax RPM Motor Inertia Jm lb-ft-s.9 kg-m.75 5 Motor Weight Wt lb. kg lb-ft N-m Notes:. duty operation is with motor mounted to 8 x x /8 aluminum faceplate in C ambient.. All curves shown at 6 Hz input, derate max. speed and peak power by 5% for 5 Hz operation. (for models with shaft seals, derate by.59 lb-ft). All curves represent typical performance. Always allow appropriate safety factor when sizing systems kw (.7 HP) KOLLMORGEN Radford, Virginia SERVO 5

16 Kollmorgen GOLDLINE XT and SERVOSTAR 6 SYSTEM PERFORMANCE CURVES 7 n Motor MT5A n Amplifier: S6 Cont. Torque at stall Tc lb-ft. N-m. Peak Torque at stall Tp lb-ft.58 N-m 6. Cont. Power HP rated HP. kw rated kwatts.8 Rated Speed Nr RPM Max. Speed Nmax RPM min J max J Motor Inertia Jm lb-ft-s.7.79 kg-m.5.8 Motor Weight Wt lb.9.8 kg kw (. HP) lb-ft N-m 8 n Motor MT5B n Amplifier: S66 Cont. Torque at stall Tc lb-ft. N-m. Peak Torque at stall Tp lb-ft.99 N-m 6.76 Cont. Power HP rated HP.6 kw rated kwatts. Rated Speed Nr RPM Max. Speed Nmax RPM min J max J Motor Inertia Jm lb-ft-s.7.79 kg-m.5.8 Motor Weight Wt lb.9.8 kg kw (.6 HP) lb-ft 8. N-m 9 n Motor MT5A n Amplifier: S66 Cont. Torque at stall Tc lb-ft.79 N-m 6.5 Peak Torque at stall Tp lb-ft 9.5 N-m. Cont. Power HP rated HP.9 kw rated kwatts. Rated Speed Nr RPM Max. Speed Nmax RPM min J max J Motor Inertia Jm lb-ft-s.69.5 kg-m.9.8 Motor Weight Wt lb lb-ft kg N-m Notes:. duty operation is with motor mounted to aluminum faceplate of in, in C ambient.. All curves shown at 6 Hz input, derate max. speed and peak power by 5% for 5 Hz operation.. All curves represent typical performance. Always allow appropriate safety factor when sizing systems kw (.9 HP) 6 KOLLMORGEN Radford, Virginia SERVO

17 Kollmorgen GOLDLINE XT and SERVOSTAR 6 SYSTEM PERFORMANCE CURVES n Motor MT5B n Amplifier: S6 Cont. Torque at stall Tc lb-ft.87 N-m 6.6 Peak Torque at stall Tp lb-ft 9.5 N-m.9 Cont. Power HP rated HP.5 kw rated kwatts.9 Rated Speed Nr RPM Max. Speed Nmax RPM min J max J Motor Inertia Jm lb-ft-s.69.5 kg-m.9.8 Motor Weight Wt lb 7.6. kg kw (.5 HP) lb-ft N-m n Motor MT56A n Amplifier: S6 Cont. Torque at stall Tc lb-ft 8. N-m.9 Peak Torque at stall Tp lb-ft 7.8 N-m. Cont. Power HP rated HP. kw rated kwatts. Rated Speed Nr RPM Max. Speed Nmax RPM min J max J Motor Inertia Jm lb-ft-s..5 kg-m.8.5 Motor Weight Wt lb. 8.9 kg kw (. HP) lb-ft N-m n Motor MT56B n Amplifier: S6/S6 Value 5 S6 S6 Cont. Torque at stall Tc lb-ft S6 N-m Peak Torque at stall Tp lb-ft. 8. S6 N-m Cont. Power HP rated HP.. 5. kw kw rated kwatts.. (. HP) Rated Speed Nr RPM 5 Max. Speed Nmax RPM S6 min J max J Motor Inertia Jm lb-ft-s..5 5 S6 kg-m.8.5 Motor Weight Wt lb lb-ft kg N-m Notes:. duty operation is with motor mounted to aluminum faceplate of in, in C ambient.. All curves shown at 6 Hz input, derate max. speed and peak power by 5% for 5 Hz operation.. All curves represent typical performance. Always allow appropriate safety factor when sizing systems. KOLLMORGEN Radford, Virginia SERVO 7

18 Kollmorgen GOLDLINE XT and SERVOSTAR 6 SYSTEM PERFORMANCE CURVES n Motor MT7A n Amplifier: S6 Cont. Torque at stall Tc lb-ft 6.5 N-m. Peak Torque at stall Tp lb-ft 5.6 N-m 8. Cont. Power HP rated HP 5. kw rated kwatts.9 Rated Speed Nr RPM Max. Speed Nmax RPM min J max J Motor Inertia Jm lb-ft-s kg-m.5. Motor Weight Wt lb kg kw (5. HP) lb-ft N-m n Motor MT7A n Amplifier: S6 Cont. Torque at stall Tc lb-ft. N-m. Peak Torque at stall Tp lb-ft. N-m 55.9 Cont. Power HP rated HP 6. kw rated kwatts.7 Rated Speed Nr RPM Max. Speed Nmax RPM min J max J Motor Inertia Jm lb-ft-s.58. kg-m Motor Weight Wt lb kg kw (6. HP) lb-ft 6. N-m 5 n Motor MT76C n Amplifier: S6 5 Cont. Torque at stall Tc lb-ft 5. N-m 8. Peak Torque at stall Tp lb-ft 6.8 N-m 86.5 Cont. Power HP rated HP 7.8 kw rated kwatts 5.8 Rated Speed Nr RPM Max. Speed Nmax RPM min J max J Motor Inertia Jm lb-ft-s.9.76 kg-m.6.9 Motor Weight Wt lb lb-ft kg N-m Notes:. duty operation is with motor mounted to aluminum faceplate of in, in C ambient.. All curves shown at 6 Hz input, derate max. speed and peak power by 5% for 5 Hz operation.. All curves represent typical performance. Always allow appropriate safety factor when sizing systems kw (7.8 HP) 8 KOLLMORGEN Radford, Virginia SERVO

19 DIMENSIONS Kollmorgen GOLDLINE XT MT(x)x 5 Motor Power, Case Ground and Optional Brake 8 Pin Contact Rotatable Receptacle 5.6 (.) 7.8 (.7) X 9. (.6) Resolver & Thermostat Pin Contact Rotatable Receptacle B MIN. SEE NOTE F (.) A (.9) Optional Mating Plugs X 9 7. (5.) REF. Ø E KEY SIZE SEE TABLE 9. (.5) X Ø (.7) NEMA Ø (.-.8) THRU, PL ON A Ø98. (.875) NEMA Ø (.75-.9) THRU, PL ON A Ø (.97) Ø D.5 (.) -A-.76 (.) A Notes:. Dimensions in mm (inches). Motor designed in English, Metric provided for reference only.. Tolerances, unless otherwise specified: Angle dimension ±, XX decimal places ±.8 (.5), XXX decimal places ±.7 (.5). Connectors rotate. For MT model, DIM B is too small for cable bend radius. Rotate connector 5 MIN (.5-.) A MAX (.65-.6) SHAFT DETAIL ( ) Brake Option.-.7 (.-.5) ( ) NEMA NEMA MT(C)6 & MT(C)8 ±.76 Model A MAX. B MIN. D E F Key Length (±.) with brake without brake with brake without brake NEMA NEMA NEMA NEMA NEMA NEMA NEMA NEMA MT(C) 65.6 (6.5). (.7) 65. (.565) 9.9 (.785) no (.79) MT(C) 8. (7.) 7.7 (5.) 8.67 (.55) 7.6 (.75) ( ) keyway (.79) ( ) ( ) ( ) MT(C) (7.8) 5. (6.) 98.6 (.865) 5.95 (.85) (.5) (.8) 9 (.75) (.79) MT(C)8.7 (9.) 86. (7.). (5.65) (.85) ( ) (.75) (.79) CONNECTOR PIN OUTS Connections: Motor Receptacle: Resolver Receptacle: Pin - Phase U (white, C) Pin 9 - (red/white), Ref Lo Pin - Phase V (red, B) Pin 5 - (yellow/white), Ref. Hi Pin - Phase W (brown, A) Pin 7 - (red) Sin Lo Pin - Ground (PE) (green/yellow) Pin - (black), Sin Hi Pin A - (Optional) Brake (blue) Pin 8 - (yellow) Cos Hi Pin B - (Optional) Brake (blue) Pin - (blue), Cos Lo (brake not polarity sensitive) Pin - Thermostat (yellow) Pin 6 - Thermostat (yellow) Mating Connector Cable Set p/n: CS-SS-RHGHE-xx KOLLMORGEN Radford, Virginia SERVO 9

20 Kollmorgen GOLDLINE XT DIMENSIONS MT(x)5x with resolver, AMP Max. 5.5 (5.) (.95) 5.6 (.5).6 A (.). (.8).7 (.6) 6. (.) "B"±.5 (.6) 57.5 (.7) Motor Power, Case Ground and Optional Brake 8 Pin Contact Rotatable Receptacle Resolver & Thermostat Pin Contact Rotatable Receptacle Optional 95.7 Mating (.77) Plugs Ø65. (6.5). (.7) REF.. (.7) REF. X 9. Ø (.7) (.9) Ø (.5-.69) THRU PL. ON A Ø5. (5.79) B.C.. A (.6) 5.75 (.6).9 (.57) "A" MAX. 58. (.) BRAKE OPTION STRAIGHT SHAFT KEYWAY OPTION (.5-.6) X 6. (.) LG. KEY (.6) (.5) M X.7 X DP..5 PL..7 (.86) (.8) (.95) (.5) (.97) (.96) TAPERED SHAFT OPTION 58. (.8) Ø (.78) (.775). (.8) -A- 8. (.) Ø6. (.6) -A (.78). (.9) Notes:. Dimensions in mm (inches). Motor designed in English, Metric provided for reference only.. Tolerances, unless otherwise specified: Angle dimension ±, XX decimal places ±.8 (.5), XXX decimal places ±.7 (.5). (.79).9 (.75) M X.5. (.55) Ø6. (.6) / TAPER Model A Max B with brake without brake MT(x)5. (8.665) 8.9 (7.6) 98 (.8) MT(x) (.) 8. (8.597) (5.8) MT(x)56.8 (.88) 6.6 (.77) 79 (7.6) CONNECTOR PIN OUTS Connections: Motor Receptacle: Resolver Receptacle: Pin - Phase U (white, C) Pin 9 - (red/white), Ref Lo Pin - Phase V (red, B) Pin 5 - (yellow/white), Ref. Hi Pin - Phase W (brown, A) Pin 7 - (red) Sin Lo Pin - Ground (PE) (green/yellow) Pin - (black), Sin Hi Pin A - (Optional) Brake (blue) Pin 8 - (yellow) Cos Hi Pin B - (Optional) Brake (blue) Pin - (blue), Cos Lo (brake not polarity sensitive) Pin - Thermostat (yellow) Pin 6 - Thermostat (yellow) Mating Connector Cable Set p/n: MT5A & B, MT5A & B, and MT56A use CS-SS-RHGHE-xx MT56B use CS-SS-RHGHE-xx KOLLMORGEN Radford, Virginia SERVO

21 DIMENSIONS Kollmorgen GOLDLINE XT MT(x)7x with resolver, AMP Max. X 9 Ø.5-.9 (.5-.58) THRU PL. ON A Ø. (7.87) B.C. 5. A (.9) 8. (.7) (.-.57) Motor Power, Case Ground and Optional Brake 8 Pin Contact Rotatable Receptacle 69. (.7) "B"±.5 (.6) 7.7 (5.) REF. Resolver & Thermostat Pin Contact Rotatable Receptacle Optional Mating Plugs BRAKE OPTION 7.7 (.65) 7. (6.85) Ø.9 (8.85) MAX.. (.97) (.9) 9.99 (.8) 9.8 (.7) 8. (.96) 7.7 (.8). (.79) X M6 X X.7 (.5) DP. Ø..75 (.5) (.99).69 A (.7) STRAIGHT SHAFT KEYWAY OPTION (.8) (.9) (.9-.97) X (.-.5) X 6 (.8) LONG KEY.8 (.) REF. -A- 5. Ø 5. (.78) (.78).5 (.9) -A- "A" MAX. 6. (.7) 5.97 (.5) 58. (.) TAPERED SHAFT OPTION.6 (.). (.9) Ø5. (.98) / TAPER M X.5 9. (.). (.6) (.8) Ø. (.6).99 (.866) Notes:. Dimensions in mm (inches). Motor designed in English, Metric provided for reference only.. Tolerances, unless otherwise specified: Angle dimension ±, XX decimal places ±.8 (.5), XXX decimal places ±.7 (.5). For MT(x)7x-RxCx models A-A, the connector configuration is different. The power connector is larger and a separate brake connector is used. Model A Max B with brake without brake MT(x) (.766).9 (.858) 5. (8.7) MT(x)7.5 (6.6) 6. (.5) 65.9 (.7) MT(x) (8.55). (6.65) 6. (.8) CONNECTOR PIN OUTS Connections: Motor Receptacle: Resolver Receptacle: Pin - Phase U (white, C) Pin 9 - (red/white), Ref Lo Pin - Phase V (red, B) Pin 5 - (yellow/white), Ref. Hi Pin - Phase W (brown, A) Pin 7 - (red) Sin Lo Pin - Ground (PE) (green/yellow) Pin - (black), Sin Hi Pin A - (Optional) Brake (blue) Pin 8 - (yellow) Cos Hi Pin B - (Optional) Brake (blue) Pin - (blue), Cos Lo (brake not polarity sensitive) Pin - Thermostat (yellow) Pin 6 - Thermostat (yellow) Mating Connector Cable Set p/n: CS-SS-RHGHE-xx KOLLMORGEN Radford, Virginia SERVO

22 Kollmorgen GOLDLINE XT and SERVOSTAR 6 SYSTEM SUMMARY System Summary and Configurations Motor Peak Rated Max Amplifier Amplifier Cable Set Curve Torque Torque Power Speed Speed Cont/Peak Current Number lb-ft (N-m) lb-ft (N-m) HP (kw) RPM RPM (RMS/Phase) MTA-RxCx.95 (.9).75 (.7).79 (.59) 5 5 S6 /6 CS-SS-RHGHE-xx MTA-RxCx.86 (.5).6 (.9).95 (.7) S6 /6 CS-SS-RHGHE-xx MTB-RxCx.8 (.5).78 (5.).8 (.) 6 6 S66 6/ CS-SS-RHGHE-xx MT6A-RxCx.9 (.5).9 (6.69). (.8) 5 5 S6 /6 CS-SS-RHGHE-xx MT6B-RxCx.5 (.).96 (6.7). (.5) 6 6 S66 6/ CS-SS-RHGHE-xx 5 MT8B-RxCx.5 (.79) 7. (9.77).7 (.) S66 6/ CS-SS-RHGHE-xx 6 MT5A-RxCx. (.).6 (6.). (.8) S6 /6 CS-SS-RHGHE-xx 7 MT5B-RxCx. (.) 5. (6.8).6 (.) S66 6/ CS-SS-RHGHE-xx 8 MT5A-RxCx.8 (6.5) 9. (.).9 (.) S66 6/ CS-SS-RHGHE-xx 9 MT5B-RxCx.9 (6.6) 9.5 (.9).5 (.9) S6 / CS-SS-RHGHE-xx MT56A-RxCx 8. (.9) 7.8 (.). (.) S6 / CS-SS-RHGHE-xx MT56B-RxCx 7. (9.7). (7.7). (.) S6 /8 CS-SS-RHGHE-xx MT56B-RxCx 8. (.9) 8. (.9). (.) S6 / CS-SS-RHGHE-xx MT7A-RxCx 6.5 (.) 5.6 (8.) 5. (.9) S6 / CS-SS-RHGHE-xx MT7A-RxCx. (.8). (55.9) 6. (.7) S6 / CS-SS-RHGHE-xx MT76C-RxCx 5. (8.) 6.8 (86.5) 7.8 (5.8) S6 / CS-SS-RHGHE-xx 5 Notes:. Cable "-xx" designates length in meters. Standard lengths available are m (-), 6 m (-6), and 9 m (-9). Maximum length is 75 m.. Cable p/n shown is for motor without brake. For motor with brake, use cable p/n: CS-SS-RHGAHBE-xx for amplifiers thru S6, and use cable p/n: CS-SS-RHGBHBE-xx for amplifiers S6 and S6.. Part numbers are for minimum inertia models. For maximum inertia: MTxxxx Electrically Released Brake Motor Input Input Static Holding Inertia Max Speed Voltage Current Torque lb-ft-s (kg-m ) RPM VDC ADC lb-ft (N-m) MTCxxxx.75. (5.97).5 (.69) 6 MTC5xxxx.. (9.5). (.) 6 MTC7xxxx. 5.8 (7.).59 (.8) 6 ±% on inputs Static holding torque only. Must not be used for dynamic braking. KOLLMORGEN Radford, Virginia SERVO

23 Kollmorgen GOLDLINE XT and SERVOSTAR 6 ORDERING INFORMATION Kollmorgen GOLDLINE XT MT C 5 A - R C - xxx Goldline XT Series Sequential Specials - omit for standard product Brake Option - omit if no brake Sealing Option B - 9 VDC electrically released brake - Standard IP65 with shaft seal (requires external brake control) - IP67 with shaft seal C - VDC electrically released brake - Std sealing without shaft seal (for control directly by the SERVOSTAR 6) Connection Option Frame Size C - right angle, rotatable connectors - 9 mm D - right angle, rotatable connectors 5 - mm with CE compliant mating plugs 7-75 mm Shaft & Mounting Configuration Voltage Rating - XT: NEMA metric - VAC XT5 & XT7: straight shaft with key - XT: NEMA Stack Length - XT5 & XT7: tapered shaft - short - medium Feedback 6 - long R- single speed resolver 8 - xlong (XT only) Rotor Inertia Winding - minimum inertia A - XT, XT5, & XT7 B - XT & XT5 only see system Summary - maximum inertia (XT5 & XT7 only) C - XT7 only Table (page ) SERVOSTAR 6 S 6 xx -xx SERVOSTAR Family Option Slot NA - No Option 6 Series EI - Extended I/O Current Rating (Cont. Arms/Ø) Configuration -. amps - Standard 6-6. amps -. amps -. amps -. amps Accessories Model Number Description External Regen Resistors (in housing): BAR-5 5 watts BAR-5 5 watts BAR-5 5 watts Communication Cables: A-975- RS- (9 pin) communication cable A-SR6Y Y- adapter cable with 5 DB9 connectors for connecting PC up to drives, includes termination Motor-Drive Cable Set: CS-SS-RHGHE-xx For use with S6-S6 (power cable & resolver cable) CS-SS-RHGHE-xx For use with S6-S6 Motor- Mating Connector Kit: CKT-TA-SRE Power plug & resolver plug; with crimp style pins Note: XT Series motors are available with modified mechanicals including special shafts and keyways. Contact the Kollmorgen Customer Support Network (-8-77 SERVO) for more information. KOLLMORGEN Radford, Virginia SERVO

24 Kollmorgen Sales Offices Internet: Motion Technologies Group SERVO Americas Europe & Middle East Radford, VA Duesseldorf, Germany Tel: (8) 77 SERVO Tel: (9) 9979 Fax: (5) 69-6 Fax: (9) Asia Pacific & Far East Tianjin, China Tel: (86) 67 9 Fax: (86) 67 9 Kollmorgen Manufacturing Locations Kollmorgen Artus Avrillé, France Ho Chi Minh City, Vietnam Kollmorgen Electro-Optical Northampton, MA Kollmorgen Industrial Drives Radford, VA Kollmorgen Inland Motor Radford, VA Kollmorgen Magnedyne Vista, CA Kollmorgen PMI Commack, NY Kollmorgen Seidel Duesseldorf, Germany Kollmorgen Servotronix Tel Aviv, Israel Kollmorgen Tandon Inc Bombay, India Kollmorgen Tianjin Industrial Drives Tianjin, China Kollmorgen enjoys a reputation of excellence based on constant endeavors to update products. Information in this brochure is subject to change. Windows is a registered trademark of Microsoft Corporation. Kollmorgen SERVOSTAR, MOTIONLINK, Kollmorgen GOLDLINE, and MOTIONEERING are trademarks of Kollmorgen. 5MBBMS99-55