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S300 Servo Drive

This servo amplifier is comprised of a three-phase power supply and a high-performance control unit housed in a single enclosure. This single axis servo amplifier is available in 110VAC-480VAC, 1,5-10A models.

  • MultiFeedback, MultiFieldbus
  • EMC - Mains Filter and Brake Resistor internally
  • Safety Function STO, SIL2, PLd
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Articles

A quad B

Acceleration Profile

Analog Sin/Cos

Approvals and Markings

BiSS

Brake

Camming

CANopen

Cogging Compensation

Connections and Wiring

Derating

Digital I/O

Emergency Stop

Encoders & Feedback

EtherCAT

Expansion Cards

Faults and Warnings

Feed Forward

Fieldbus

Firmware

Getting Started

Glossaries and Definitions

Halls Sensor Only

Hiperface

Incremental

Induction

Jog

Macro Language

Motion Task

Motor Setup

Notices

Parameters

Part Numbers

Power and Fusing

Programming

Resolver

Revision Information

Safety

Sine

SSI

SynqNet

System Design

Tools

Transport and Storage

Tuning

Upgrading

Vertical Load

Wake and Shake

Hardware Revision Firmware Version Date Remarks Export Classification
02.01 2.18 to 3.74 2006-04 Starting version AL-3A225
02.10 (03.01) 3.75 to 3.99 2010-05 AS->STO, new approval AL-3A225
04.00 5.18 - 5.99 2011-05 New CPU AL-3A225
04.10 5.18_ND1 - 5.99_ND1 2014-12 Dual use, new data structure AL-3A225
04.10 5.18_ND0 - 5.99_ND0 2014-12 Non Dual use, new data structure -
04.20 >=6.00_ND1* 2017-04 Dual use, single-cable motor Connection possible, memory increased AL-3A225
04.20 >=6.00_ND0* 2017-04 Non Dual Use, single-cable motor Connection possible, memory increased -
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FAQs

Are there differences in the motor databases of S300/S700 and S400/S600?

Yes. In the S300/S700 motor database (MDB) there isn't a single dataset per power stage and feedback. The parameter values are calculated depending on the set FBTYPE out of the same rough data. Criteria for a valid motor for the power stage is now:

0.25 * DICONT <= MICONT <= 4 * DICONT. 

The motor databases for S400/S600 cannot be used with S300/S700.

Can I use a parameter set for an amplifier with another current class?

Parameter sets of S300 and S700 amplifiers can be used independant from amplifier type and current class.

Do setup software and upgrade tool work with Windows Vista and Windows 7 ?

Yes. The current tools work with Windows Vista and Windows 7 without restrictions.

Does the setup software work with Debian Linux operating system?

The DriveGUI S300/S700 works with Linux Debian in the Windows Emulator WINE and communicates with the servo amplifier via the RS232 Com interface. An interface converter Ethernet or USB to RS232 is not required. An embedded PC has enough RS232 COM interfaces. So parameterizing, diagnostics and remote control can be done.

From which Hardware / Firmware versions does the AS option work?

FW   >   0.87
HW   >   Ser.No. 214010

How can an external zero sensor for homing be determined?

Refer to page External zero pulse

How can I calculate the brake power?

How can I change the rotation direction of SinCos Encoders?

To change direction you must exchange sine and cosine.

For more information refer to Motion direction - Parameters

How can I force a wake & shake with a ENDAT/Hiperface/BISS Feedback?

Terminal: M SEARCHKOM 1

How can I protect the parameter set against write access?

Yes, you can activate a password protection. Refer to page Password Protection.

How can I reset the amplifier parameters to manufacturer default in the monitor mode?

Hyperterminal:

CLR
SRMON>
booting...
on user request starting SRMON 0.66
SR-Monitor. Danaher Motion
(SRMON Rev 0.66 Dec 14 10:53:51 2004)
FPGA Initialisation done
SRMON> clr
SRMON>

How can I select a motion task with an analog input?

How can I set up camming?

The servo amplifiers use position registers to define cams. The status of the registers are sent as cams to one or two digital outputs by a predefined function. Refer to page Setup of Camming S300-S700 or Setup of Camming S400-S600. You can define up to 8 cams for a digital output with S300/S700.

How can I start communication to the amplifier, if it doesn't boot correctly?

To start the amplifier in monitor mode, press both keys in the front panel simultaneously while when switching the drive on (24V on).

How can the direction for an analog set point be inverted without changing the wiring?

Select function 30 for a digital input:

INHCMD VSCALE –x
INLCMD VSCALE x

For more information refer to Motion direction - Parameters

I changed a parameter with the GUI and saved it to the EEPROM but after restarting the amplifier the old value was used.

Parameters may be changed via a fieldbus (during the initialization) or by a defined command sequence via the digital inputs (INxMODE 30).

Is full output current possible with S300 in single phase operation?

See the page Single Phase Operation

Is it possible to drive High Frequency Motors (Spindles) with the servo amplifiers?

Yes. With the help of pole number setting. Refer to page Tuning - High Frequency Spindles S300-S700.

Is it possible to drive old Hardware (HR<02.01) with new Firmware (>1.30)?

No. The command LAYOUT has been introduced later. Refer to application note Hardware Revision Number. An old S300 hardware version would be interpreted in a wrong way with new firmware. Polarity of the AS input has changed, an error message would occur with new firmware.

You can solve the problem with this command sequence:

ONE 0XC 24
ONE 0XD 4

Switch the amplifier off and on again.

Is it possible to operate DC motors?

Yes, that's possible with S300 and S700. See page Operating DC motors S300-S700.

Is it possible to suppress the motor cogging?

Yes, but with S300 and S700 only. See page Cogging Suppression

Is it possible to switch over parameters during operation?

Yes, either sequential with the function InxMODE=30 or with parallel switch over of two predefined parameter sets. Refer to page Switching over parameter sets.

Is it possible to use motors with a feedback system without commutation information as a primary feedback.

Yes. A Wake & Shake function determines the absolute position of the permanent Magnets in relationship to the stator windings. See page Wake and Shake.

Positioning errors with AKM1 motors

Low rotor inertia is the source for this problem, ironless linear motors show a similar behavior.

Solution for drives with S300/S700 servo amplifiers: 

The amplifier shows warning n17 after replacement of a S300 or S700. The old drive did not show any problem with CAN or EtherCAT. How can I reset the synchronized fieldbus operation?

Set BUSP1 to 1 and finalize the configuration change with SAVE and COLDSTART.

Background: Bit 30 (COB-ID Setting for Tx-PDO) is supervised since Firmware 2.51. The amplifier sets the bit and expects the COB identifier is written with set bit 30, too (means: no RTR request of TX-PDOs is possible). 

If bit 0 is set to 1, then bit 30 is not supervised any more.

The servo amplifier does not react to the incremental set point at the AquadB input. Why doesn't the electronic gearing work?

Possible reasons:

  • OPMODE <> 4
  • AquadB interface not switchwed to input
  • Servo amplifier disabled (Enable=0) 
  • Limit switch active (warning n10 or n11 in the LED display)

What are the application requirements in case of a high altitude site, e.g. above 1,000m A.M.S.L.?

1.) <1000m A.M.S.L., no restrictions
     1000-2500m A.M.S.L. with power derating 1,5% / 100m
2.) According to Paschen the isolating capability of air is reduced. That reduces the max. allowed mains voltage to 400V.

What causes the error message F14?

Fault in the power output stage. Can also be triggered by a wrong or faulty motor cable, if the screen of the motor cable is not connected or if the motor is feaulty. Refer to page Error Message F14.

What do I have to consider when using a residual current protective device (RCD) in a servo system?

What do the parameters on screen page U/F control mean?

The parameters are used to setup an induction machine without feedback (sensorless).

See pages Sensorless Control for Induction Machines (S300, S700) and Operating Induction Machines (S300-S700).

What does four quadrant operation mean?

What does Gray Code mean?

See the page GrayCode

What does Hardware Revision mean on the nameplate of the servo amplifier?

The Hardware Revision defines the development status of the servo amplifier. The same number can be found on the cover page of the instructions manual. Refer to page Hardware Revision Number.

What does P01, E01 or -S- mean in the display?

P01: 1A power stage, mains supply voltage switched on, power stage disabled
E01: 1A power stage, mains supply voltage switched on, power stage enabled
-S-: STO Enable input is not connected or no 24V signal is applied

Refer to page LED Display Codes S300-S700.

What is a Bode Plot used for?

Bode Plot is a process to analyze frequency behavior of the drive. See pages Tuning - Built in Frequency Analysis and Bode Diagram

What is the maximum number of motion tasks that S300 can handle?

200 Flash motion tasks that can be saved in the device permanently, (number 1 to 200). 100 RAM motion tasks starting at number 201.

What is the maximum value for motor temperature sensor (PTC)?

S300: 5.0 kOhm
S400: 2.0 kOhm
S600: 1.6 kOhm
S700: 5.0 kOhm

What is the mechanical rigidity of the S300?

Class 3M2 sine according to IEC 721-3-3;
2 to 9 Hz 1.5g
9 to 200 Hz 0,5g
Shock 4g, spectrum L 22ms
The sine wave is called "Prüfung Fc" in EN 60068-2-6.
The shock is a half-sine wave, is called "Prüfung Ea" in EN 60068-2-27 and EN 60721-3-3 (09/95) picture 1

What is the message level for amplitude error (F04) with SinCos encoders?

The SinCos amplitude monitoring enables the F04 error with:

  • FW 070 : F04 at approx. 1900 U/min
  • >=FW 072 : F04 at approx. 4500 U/min (approx. 150Khz)

The monitoring can be switched over in both firmware versions with CPHASE 2.

No communication to the encoder 

Solution: connect the encoder, check the cable 

Wrong data in the encoder 

This error occurs with new encoders, that have never been initialized.

Solution: Initialize the data with the command HSAVE (terminal screen)

See pages Supervision of Sine Cosine EncodersSetup of an Endat or Hiperface or BISS encoder and LED Display

What is the permitted length of the feedback cable?

Depends on the feedback type. See page MultiFeedback

What is the permitted length of the motor cable?

  • <10m: noise emission acc. to IEC 61800-3 category C2
  • >10m: noise emission acc. to IEC 61800-3 category C3
  • >25m: with motor choke 3YL (see Accessories Manual)
  • max: 50m

See Instructions Manual for more information.

What is the resolution of the current controller?

The incremental current actual value (iq, q component) of the current controller is triggered two times within 62,5µs and the values are added but the average is not determined. 

Units: ±3280 = ±DIPEAK in IncrAmpere?
DIPEAK = device peak current

Which acceleration and deceleration ramps are used in motion task series?

This can be selected on the screen page "Motion Task Parameters". Refer to page Motion Task Series.

Which delay time can occur during Master / Slave operation?

Incremental signals (AquadB): processing time in the servo amplifier (FPGA) are in "ns" range. Slave reaction time ±62,5µs (current control task).

Which motion task profiles are pre-defined?

Which settings are required for operating an induction machine?

Which test pulse is allowed at STO enable input?

Pulse length < 100µs, off-time > 200ms. See page Test Pulse.

Why are large set point steps (e.g. 0 >> 7 V) with OPMODE = 5 not executed?

Input filter isn't set correctly. Increase filter time constant of the analog input.

Why does n32 flash in the display?

The firmware of the amplifier is a beta version (not released). Refer to page LED Display Codes.

Why is no phase-loss error detected although a phase is lost?

The DC intermediate voltage is supervised. The phase-loss error is detected is the drive is loaded, because the DC voltage goes down then.