S748-772 Instructions Manual | 7 Technical description
7.7 Switch-on and switch-off behavior
This chapter describes the switch-on and switch-off behavior of the S700 and the steps
required to achieve operational stopping or emergency stop behavior that complies with stand-
ards.
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 &
STOPMODE
Behavior: (see also ASCII reference in the Online Help of the
setup software)
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 software:
Under “Response to Loss of Input Phase” (PMODE) on the Basic Setup screen, select:
Error message if the servo amplifier is to bring the drive to a standstill: Error message 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”.
Warning if the higher-level control system is to bring the drive to a standstill: Warning n05
is output if an input phase is missing, and the motor current is limited to 4 A. The servo
amplifier is not disabled. The higher-level control system can now selectively end the cur-
rent cycle or start bringing the drive to a standstill. Therefore, the error message “MAINS
BTB, F16" is output on a digital
Error message if the servo amplifier is to bring the drive to a standstill: Error message
F19 is output if an input phase is missing. The servo amplifier is disabled and the BTB con-
tact 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 and STOPMODE setting.
Behavior with enabled “holding brake” function
Servo amplifiers with an enabled holding brake function have a special procedure for switch-
ing off the output stage (➜ # 34). 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. Functional safety, e.g. with hanging load (vertical axes),
requires an additional mechanical brake which must be safely operated, e.g. via the Safety
Card S1-2.
Behavior of the safety function STO
With the functional safe restart lock STO, the drive can be secured on standstill 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 (➜ # 41) onwards.
36 Kollmorgen | kdn.kollmorgen.com | July 2019
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