5.7 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
standards.
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 soft-
ware)
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 soft-
ware: Under “Response to Loss of Input Phase” (PMODE) on the Basic Setup screen,
select:
l
Warning if the higher-level control system is to bring the drive to a standstill: War-
ning 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 selecti-
vely end the current cycle or start bringing the drive to a standstill. Therefore, the er-
ror message “MAINS BTB, F16" is output on a digital output of the servo amplifier
and evaluated by the control system, for instance.
l
Error message if the servo amplifier is to bring the drive to a standstill: Error messa-
ge 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 mo-
tor 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
switching off the output stage ( ð p. 32). Removing the ENABLE signal triggers electrical
braking.
As with all electronic circuits, the general rule applies that there is a possibility of the inter-
nal “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 protec-
ted against unintentional restart. The chapter “Safety function STO” describes how to use
the STO function. See page 41 onwards.
36 S701x2-S724x2 Instructions Manual
Technical description 07/2014 Kollmorgen
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