Systems Kollmorgen RBE Motors with

Technical
Publication Kollmorgen SERVOSTAR TM

S Series Amplifier

The Kollmorgen RBE brushless, frameless motor series provides

optimum system performance in direct drive applications
where the motor is integrated into a machine. The RBE series
uses rare-earth magnets to achieve very high continuous and
peak ratings. A wide range of frame sizes is available which
allow for large diameter holes through the rotors. When
combined with the Kollmorgen SERVOSTAR digital amplifier,
the system becomes an easy to set up, high performance
motion control system.
 SERVOSTAR
INTRODUCTION

• Pole Placement, PI, and PDFF control options

• Command modes: Torque (analog or serial); Velocity
(analog or serial); Position (pulse following/electronic gearing)
• Six current ratings: 3, 6, 10, 20, 30 and 55 amps
RMS/phase continuous
• Run time counter

Easy Connectivity
• Built in encoder equivalent output which can eliminate the
need for an additional position feedback device
• RS232 or RS485 Communication
• Unique multi-drop configuration allows a PC or PLC to
communicate to multiple SERVOSTAR amplifiers via
single RS-232 connection
• SERVOSTAR’s versatile communication capabilities
make it easy to integrate machine control data directly
from the factory floor to your information system
Kollmorgen SERVOSTARTM Amplifier • Analog ±10V, pulse/direction, master encoder, serial port
command options
• 115 or 230 Volt AC Input Power (to PA Power Supply)
• Resolver or Encoder Feedback Standard with Kollmorgen Robust Design
GOLDLINE Motors • Excellent protection against miswired connection on 24
• Fully Digital Control volt I/O
• ESD rugged circuit design and fully metallic enclosure
The SERVOSTAR amplifier is a compact, fully digital • Self-protecting intelligent power modules
amplifier designed to simplify installation and system set-up. • Full protection against short circuit, overvoltage,
Three control algorithms and self-tuning (to the load) undervoltage, heatsink overtemperature, motor
functionality allows high performance operation to be overtemperature, overspeed, overcurrent, and feedback
achieved quickly and easily. loss
• UL and ULC listed, CE approval
Since not one control algorithm is best for all machines, • Flash memory
SERVOSTAR contains Pole Placement, PI, and PDFF
control algorithms. SERVOSTAR utilizes the PC-based Windows Start-up Environment – MOTIONLINK®
MOTIONLINK® for Windows which automatically takes • Advanced motion “wizard” automatically walks you
you through the key steps of installation and start up. through set-up
• PC “Oscilloscope” for measuring real-time motion
FEATURES: performance

Servo Control PA Series Power Supply

• Advanced sinewave commutation technology provides • PTC resistive soft-start technology eliminates nuisance
smooth, precise low-speed control and high-speed tripping of fuses or breakers
performance • Six power supply options for optimal configuration of
• Accurate torque control due to precision balanced current single and multi-axis systems
loops with closed loop sensors • Up to four amplifier axis can be used with one PA power
• Velocity loop bandwidths to 400 Hz supply, up to six with PA-LM logic only power supply
• Self-tuning to the load • Separate inputs for logic and bus voltages allow
• Patented torque angle control that enhances motor communications to SERVOSTAR without the bus power
performance applied (PA14, PA28, PA50, PA75 and PA85 models)
• Fully digital control loops
• Compact and attractive rugged metal package for
space-saving, modern appearance - metal package
minimizes electrical noise

2 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Kollmorgen RBE
INTRODUCTION

• Large torque to volume ratio

• Long life by virtue of brushless design
• Facilitates “sleek machines” by mounting motor directly
to the drive shaft

OPTIONS:

• Housed models (RBEH) with stainless steel shafts.

Standard options for housed models include fail-safe
brakes, and resolver or encoder feedback.
• Special options for direct drive or housed models
include:
- high efficiency laminations for enhanced high speed
operation
- special windings
Kollmorgen RBE motors - skewed stators for reduced torque ripple
- mechanical variations
• 1.49 oz-in to 28.9 lb-ft (0.0105 to 39.2 N-m)
• 0.840 to 9.42 Inches (21.3 to 239 mm)
OD Round Frame
• Rotary Direct-Drive Frameless
• Built-In Hall Effect Feedback

The RBE Series brushless motors feature high energy prod-

uct rare earth magnets resulting in high-continuous and
peak torque ratings. These frameless RBE direct drive
rotary packages provide great flexibility of design to the
machine builder.

FEATURES:

• The RBE direct drive solution eliminates mechanical

transmissions, such as gearboxes, belts, and pulleys.
This results in a zero backlash, very quiet, zero
maintenance servo solution.
• Direct drive allows improved servo stiffness and better
response
• Rugged design withstands wide temperature fluctuations
and vibration
• Mounting motor directly into the load or drive shaft
saves space and eliminates motor protrusion
• High position accuracy resulting from no backlash in
the transmission
• High temperature design
• Low cogging design

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 3

 SERVOSTAR MOTIONLINK®
AUTO SET-UP

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.

The SERVOSTAR Auto Set-up consists of five steps to completely configure the SERVOSTAR and motor for
your machine:

Set SERVOSTAR for the Power Source. MOTIONLINK will tell you if your SERVOSTAR was factory
1
programmed for a line voltage. Push okay, if correct, if not, change to the appropriate voltage.

Set SERVOSTAR up for the Motor. If the amplifier has been programmed to operate a specific motor,
2 MOTIONLINK will indicate the motor type. Push okay and go to the next step. If not, you can select from
a listing of standard Kollmorgen motors or enter in the specific parameters from the motors you will be using.

Select the Operational Mode. Set SERVOSTAR to run in velocity or current mode. Set the command to be
3
serial or analog.

Tune SERVOSTAR for the Load. Simply select the bandwidth you want the system to operate and press the
4 Auto-tune button .

5 Store SERVOSTAR Settings : The final step is storing the parameters in SERVOSTAR and on your hard drive
or disk.

Now you’re ready to run your machine!

4 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 MOTIONLINK® SERVOSTAR
ADDITIONAL FUNCTIONS

MOTIONLINK® also includes other features that allow you to fine tune or monitor the performance of the system.

PC Oscilloscope: For closely Direct Terminal Mode: This mode

evaluating system performance turns your computer into a “dumb
MOTIONLINK includes the terminal.” Variables or parameters
functionality of an oscilloscope. You can be monitored and changed using
can very easily excite the load then the SERVOSTAR’s command lan-
review performance graphically on guage. This mode is ideal for
your computer screen. advanced users who want to get
directly in the “heart” of the
SERVOSTAR.

Selectable Tuning Algorithms: No Monitor Mode: Allows you to jog

one control scheme is ideal for all the motor to monitor key operation
applications. SERVOSTAR has three variables. Speed and torque can be
control schemes to choose from: Pole viewed in real time in linear gauge
Placement (Standard), PI, and PDFF. format. Up to three variables can be
Although the Pole Placement will meet monitored at a time.
the needs of most applications, PI and
PDFF control is also available. So
whether your critical need is steady
speed control, high accelerations or
quick response to load variations, etc.,
SERVOSTAR provides the greatest
opportunity to achieve the best machine
performance.

MOTIONLINK includes many other features like: • Setting resolution of encoder • Displaying amplifier status
“equivalent” output • Setting acceleration amps
• Activating position limits • Limiting max speed or torque

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 5

 MOTIONLINK® SERVOSTAR
PROGRAMMABLE FUNCTIONS

SERVOSTAR can be programmed and monitored using MOTIONLINK®, a “dumb” terminal, or from a PC, PLC, or
motion controller that is running the machine.
Function Programmable Monitor
Amplifier Command Options Serial Velocity, Analog Velocity, Serial Torque, Present Operating Mode
(Op Modes) Analog Torque, Serial Position, Analog Position
Electronic Gearing or Pulse Following
Motor Torque Control Peak Current, Continuous Current, Actual Motor Torque
Motor Current Command
Motor Velocity Control Accel/Decel Rates, Accel/Decel Ramp, Jog, Actual Motor Velocity
Stop, Max Speed, Step
Motor Position Control Max Position Error, Travel Limits, In Following Error, Move Complete
Position Tolerance
Motor Type Linear or Rotary
Amplifier Configuration and Status Analog Scaling, Offset and Deadband, Travel Limit Switch Status, Drive Status,
Drive Configuration Parameters Fault Relay Status, Error Messages, Firmware
Version, Amplifier Run Time
Amplifier Enabling/Disabling Enable, Disable, Active Disable, Kill, Drive Enabled and Power Applied to Motor,
Decelerate at Preset Rate Any Faults Present
Velocity Loop Set Up Three Compensation Types: PI, PDFF, Pole Status of all Tuning Parameters
Placement plus input filter
Position Loop Set Up Proportional Gain Status of all Tuning Parameters
Motor Parameters (Note: For Standard Motors Name, Back EMF Constants, Resistance, Current Status of all Motor Parameters
Motors this Information Stored in Ratings, Number of Poles, Max Speed, Inertia, Stored in Amplifier
MOTIONLINK® and can be Stored in E2PROM Torque Constant, Inductance, Resolver or
when Shipped From Factory) Encoder Parameters
Digital “Oscilloscope” Record Functions Motor Velocity, Current or Position
Serial Communication Protocol Character Echo, System Prompt, Enable Power Multi-drop Address Hardware Setting
Up Receive Error Messages,Suspend /
Restart Transmission
Motor Thermostat How Amplifier Responds When Motor Thermostat Status
Thermostat Trips
Input Filter Corner Frequency
Active Disable (Brake Output) Trigger Speed, Delay Time
Gear Mode Ratio, Type: Encoder Follower Edge and Direction, Position or Velocity of Master Pulse
Pulse and Direction, Up/Down Train or Encoder
Analog Position Command Mode Signal Filtering, Analog Scaling, Slew Control
Homing Homing Speed and Direction
Stop Mode (Quick Decel on Bus Loss) Motor Decel Current
Motion Command Incremental or Absolute Moves: Set Distance In Position
and Velocity

Programmable I/O

Name Description
Digital Inputs (IN1-IN3) Each input can be configured to: CW Limit Switch, CCW Limit Switch, Gear Enable, Start Motion, Second
Current Limit, Change Velocity to Torque Mode, Home Switch, Search for Home Switch, Move to Home
Switch, Registration Capture, Active Disable, Control Fault Relay, Hold Position
Also, by using two inputs, four stored index distances or speeds can be commanded
Analog Output (AOUT) Configurable to one of the following: Motor Velocity, Motor Torque, Velocity Error, Position Following
Error, Torque Command
Digital Output (DOUT) Configurable to one of the following: Speed Exceeded, Current Exceeded, Amplifier in Foldback, Brake
Enable, Motion Complete, In Position, Zero Speed Detect

6 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Kollmorgen RBE and SERVOSTAR
SYSTEM SUMMARY INFORMATION

System Summary
Motor Feedback Continuous Peak Continuous Max Amplifier Amplifier Cont. Curve
Torque Torque Power Speed Peak Current Rating Number
oz-in (N-m) oz-in (N-m) Watts RPM (RMS/Phase)

RBE-00714-B Resolver 35.3 (0.249) 80.0 (0.565) 112 6000 Sx03 3/6 1

RBE-01215-B Resolver 92.7 (0.655) 204 (1.44) 201 4500 Sx03 3/6 2

RBE-01810-B Resolver 60.8 (0.429) 156 (1.11) 112 3000 Sx03 3/6 3

RBE-01813-B Resolver 219 (1.55) 449 (3.17) 321 3000 Sx03 3/6 4

RBE-01815-B Resolver 305 (2.15) 668 (4.72) 410 3000 Sx03 3/6 5

lb-ft (N-m) lb-ft (N-m)

RBE-03010-C Resolver 2.21 (3.00) 4.42 (6.00) 701 2900 Sx03 3/6 6

RBE-03013-A Resolver 7.19 (9.8) 16.0 (21.7) 1120 1700 Sx06 6/12 7

RBE-04512-A Resolver 15.9 (21.5) 39.1 (53.0) 2410 2200 Sx20 20/40 8

RBE-06212-A Resolver 28.9 (39.2) 74.2 (101) 2700 1000 Sx20 20/40 9

1 ■ Motor RBE-00714-B ■ Amplifier Sx03 ■ Bus Voltage 325 VDC

8000
Performance Specification Symbol Units
Cont. Torque at stall Tc oz-in 35.3
N-m 0.249 6000
0.15 HP
Peak Torque at stall Tp oz-in 80.0 (112 Watts) 230V Limit
N-m 0.565
Speed (rpm)

Cont. Power HP rated HP 0.15 4000

W rated Watts 112
Max. Speed N RPM 6000
Motor Inertia x 104 Jm oz-in-s2 4.40 2000
Continuous Intermittent
kg-m2 0.0311 Duty Zone
Duty Zone
Motor Weight Wt oz 8.9
0
kg 0.252 0 10 20 30 40 50 60 70 80 oz-in
Torque
0 0.1 0.2 0.3 0.4 0.5 0.6 N-m

2 ■ Motor RBE-01215-B ■ Amplifier Sx03 ■ Bus Voltage 325 VDC

5000
Performance Specification Symbol Units
4500
Cont. Torque at stall Tc oz-in 92.7
4000
N-m 0.655
Peak Torque at stall Tp oz-in 204 3500 0.27 HP
(201 Watts) 230V Limit
N-m 1.44 3000
Speed (rpm)

Cont. Power HP rated HP 0.27 2500

W rated Watts 201 2000
Max. Speed N RPM 4500 1500
Motor Inertia x 104 Jm oz-in-s2 40.0 Continuous Intermittent
1000
kg-m2 0.282 Duty Zone Duty Zone
500
Motor Weight Wt oz 22.0
kg 0.624 0
0 50 100 150 200 250 oz-in
Torque
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 N-m

Note: Continuous duty operation is based on the amount of heat sinking provided and may vary from the indicated value. Contact the Kollmorgen
Customer Support Network for assistance in product selection.

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 7

Kollmorgen RBE and SERVOSTAR
SYSTEM SUMMARY INFORMATION

3 ■ Motor RBE-01810-B ■ Amplifier Sx03 ■ Bus Voltage 325 VDC

4000
Performance Specification Symbol Units
3500
Cont. Torque at stall Tc oz-in 60.8
N-m 0.429 3000
0.15 HP 230V Limit
Peak Torque at stall Tp oz-in 156 2500 (112 Watts)

Speed (rpm)
N-m 1.11 2000
Cont. Power HP rated HP 0.15
1500
W rated Watts 112
Max. Speed N RPM 3000 1000
Motor Inertia x 104 Jm oz-in-s2 51.0 500
Continuous Intermittent
Duty Zone Duty Zone
kg-m2 0.360
0
Motor Weight Wt oz 12.0 0 20 40 60 80 100 120 140 160 oz-in
Torque
kg 0.340
0 0.2 0.4 0.6 0.8 1.0 1.2 N-m

4 ■ Motor RBE-01813-B ■ Amplifier Sx03 ■ Bus Voltage 325 VDC

4000
Performance Specification Symbol Units
3500
Cont. Torque at stall Tc oz-in 219
N-m 1.55 3000
0.43 HP 230V Limit
Peak Torque at stall Tp oz-in 449 2500 (321 Watts)

Speed (rpm)
N-m 3.17
2000
Cont. Power HP rated HP 0.43
W rated Watts 321 1500

Max. Speed N RPM 3000 1000

Motor Inertia x 104 Jm oz-in-s2 155 500
Continuous Intermittent
Duty Zone Duty Zone
kg-m2 1.09
0
Motor Weight Wt oz 34.5 0 50 100 150 200 250 300 350 400 450 oz-in
kg 0.977 Torque
0 0.5 1.0 1.5 2.0 2.5 3.0 N-m

5 ■ Motor RBE-01815-B ■ Amplifier Sx03 ■ Bus Voltage 325 VDC

4000
Performance Specification Symbol Units
3500
Cont. Torque at stall Tc oz-in 305
N-m 2.15 3000

Peak Torque at stall Tp oz-in 668 2500

Speed (rpm)

N-m 4.72 0.55 HP 230V Limit

2000 (410 Watts)
Cont. Power HP rated HP 0.55
W rated Watts 410 1500

Max. Speed N RPM 3000 1000

Motor Inertia x 104 Jm oz-in-s2 223 Continuous Intermittent
500
kg-m2 1.57 Duty Zone Duty Zone

Motor Weight Wt oz 49.1 0

0 100 200 300 400 500 600 700 oz-in
kg 1.39 Torque
0 1.0 2.0 3.0 4.0 5.0 N-m

6 ■ Motor RBE-03010-C ■ Amplifier Sx03 ■ Bus Voltage 325 VDC

4000
Performance Specification Symbol Units
3500
Cont. Torque at stall Tc lb-ft 2.21
N-m 3.00 3000
Peak Torque at stall Tp lb-ft 4.42 2500
Speed (rpm)

N-m 6.00 230V Limit

2000
Cont. Power HP rated HP 0.94
0.94 HP
W rated Watts 701 1500
(701 Watts)
Max. Speed N RPM 2900 1000
Motor Inertia x 104 Jm lb-ft-s2 0.583 Continuous Intermittent
500
kg-m2 0.791 Duty Zone Duty Zone

Motor Weight Wt lb 2.2 0

0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 lb-ft
kg 1.0 Torque
0 1.0 2.0 3.0 4.0 5.0 6.0 N-m

Note: Continuous duty operation is based on the amount of heat sinking provided and may vary from the indicated value. Contact the Kollmorgen
Customer Support Network for assistance in product selection.

8 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Kollmorgen RBE and SERVOSTAR
SYSTEM SUMMARY INFORMATION

7 ■ Motor RBE-03013-A ■ Amplifier Sx06 ■ Bus Voltage 325 VDC

1800
Performance Specification Symbol Units 1600
1.5 HP
Cont. Torque at stall Tc lb-ft 7.19 (1120 Watts)
1400
N-m 9.8
1200
Peak Torque at stall Tp lb-ft 16.0 230V Limit

Speed (rpm)
N-m 21.7 1000

Cont. Power HP rated HP 1.5 800

W rated Watts 1120 600

Max. Speed N RPM 1700 400
Motor Inertia x 104 Jm lb-ft-s2 6.67 Continuous Intermittent
200 Duty Zone Duty Zone
kg-m2 9.04
0
Motor Weight Wt lb 3.9 0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0 18.0 lb-ft
kg 1.79 Torque
0 2 4 6 8 10 12 14 16 18 20 22 24 N-m

8 ■ Motor RBE-04512-A ■ Amplifier Sx20 ■ Bus Voltage 325 VDC

2500
Performance Specification Symbol Units
Cont. Torque at stall Tc lb-ft 15.9
N-m 21.5 2000

Peak Torque at stall Tp lb-ft 39.1 3.23 HP 230V Limit

N-m 53.0 1500 (2410 Watts)

Speed (rpm)
Cont. Power HP rated HP 3.23
W rated Watts 2410 1000
Max. Speed N RPM 2200
Motor Inertia x 104 Jm lb-ft-s2 34.0 500
Continuous Intermittent
kg-m2 46.1 Duty Zone Duty Zone
Motor Weight Wt lb 15 0
kg 6.8 Torque
0 5 10 15 20 25 30 35 40 lb-ft

0 10 20 30 40 50 N-m

9 ■ Motor RBE-06212-A ■ Amplifier Sx20 ■ Bus Voltage 325 VDC

1200
Performance Specification Symbol Units
Cont. Torque at stall Tc lb-ft 28.9 1000

N-m 39.2
Peak Torque at stall Tp lb-ft 74.2 800
3.62 HP 230V Limit
Speed (rpm)

N-m 101 (2700 Watts)

600
Cont. Power HP rated HP 3.62
W rated Watts 2700 400
Max. Speed N RPM 1000
Motor Inertia x 104 Jm lb-ft-s2 111.0 200
Continuous Intermittent
Duty Zone Duty Zone
kg-m2 150.0
Motor Weight Wt lb 25.6 0
0 10 20 30 40 50 60 70 80 lb-ft
kg 11.6 Torque
0 20 40 60 80 100 N-m

Note: Continuous duty operation is based on the amount of heat sinking provided and may vary from the indicated value. Contact the
Kollmorgen Customer Support Network for assistance in product selection.
System summaries represent only a small number of possible RBE / SERVOSTAR combinations. Other motor frame sizes and stack lengths are
available. Contact the Kollmorgen Customer Support Network for assistance.

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 9

 Kollmorgen RBE and SERVOSTAR
AMPLIFIER SPECIFICATIONS

Electrical characteristics Inputs

• Closed loop velocity bandwidth up to 400 Hz • Analog command: ±10V bit resolution up to 16,000 to
• Motor current ripple frequency: 1 dynamic speed range
- 32 kHz (3/10 amp models) • Remote enable: 24V
- 16 kHZ (20/30/55 amp models) • Three multi-purpose inputs: 24V Configurable to: CW
• Analog command: 14 bit resolution limit switch, CCW limit switch, gear enable, start
• Long term speed regulation (0.01%) motion, second current limit, change velocity to torque
• Position loop update rate 500 µsec (2 kHz) mode, home switch, search for home, move to home
• Velocity loop update rate 250 µsec (4 kHz) registration capture, active disable, control fault relay,
• Commutation update rate 62.5 µsec (16 kHz) (for hold position plus using two inputs, up to four stored
smooth sinusoidal commutation) indexes or speeds can be executed
• Current loop update rate 62.5 µs (16 kHz) • Pulse command: up/down, pulse/direction, pulse or
Fault protection quadrature encoder format into RS-485 receivers or
• Output phase to phase short circuit protection opto isolators
• Overvoltage Communications
• Undervoltage • RS-232 or RS-485 serial interface up to 19.2 kb
• Overtemperature (motor and amplifier) Outputs
• Overspeed • Fault: contact closure rated for 1 Amp, 24 Volt
• Overcurrent • One multi-purpose output 24V configuration: speed
• Feedback loss exceeded, current exceeded, amplifier in foldback, brake
• Foldback enable, motion complete, in position, zero speed detect
Environmental Operational modes
• Operation range • Torque control — from analog or serial command
- Ambient 0 to 45°C (derated above ambient) • Velocity control — from analog or serial command
- Storage -20°C to 70°C • Pulse following
• Humidity (non-condensing) 10% to 90% • Gearing from quad encoder input
Digital compensation • Position control from analog or serial command
• Velocity loop: PI, PDFF or Pole Placement Diagnostics
selectable algorithms • Seven segment LED display
• Factory preset or field tunable • Error history log
• MOTIONLINK® software provides tuning • Internal variable monitoring
programming via RS-232 or RS-485 serial interface • DC scope
• Position loop gain adjustment
• Digital current loop Motor Feedback
• Adjustable filters • Resolver: sine/cosine 2V peak to peak (SERVOSTAR
provides 4.25V peak to peak for resolver excitation)
• Encoder: 5V quadrature with or without Halls, with or
without marker

Amplifier Ratings
Model DC Bus Output Continuous Output Peak Output Internal Power PWM Switching
Voltage Input Current Per Phase Current Per Continuous Dissipation Frequency
(VDC) (RMS/phase) Phase Power (Watts) (kHz)
(RMS/phase) (2 sec) (kW)
Sx03 110 to 360 3 6 1.1 37 16
Sx06 110 to 360 6 12 2.2 84 16
Sx10 110 to 360 10 20 3.6 120 16
Sx20 125 to 360 20 40 7.3 240 8

10 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Kollmorgen RBE and SERVOSTAR
POWER SUPPLY SPECIFICATIONS

SERVOSTAR Power Supply Specifications and Sizing

Model AC Line Main Input Current Main Input Rated Input Rated Standard Regen Internal
Input Voltage Continuous Per Current Peak Power (kVA) Output (Watts) Dissipation
+/-10% Phase (RMS) Per Phase Power Internal (External) (Watts)
(VAC) (RMS) 2 sec (kW)
PA08 115 1Ø 0.92 0.67
230 1Ø 8 16 1.8 1.3 Capacitive Only 45
230 3Ø 3.2 2.4
PA14 115 1Ø 14 28 1.6 1.1 40W (200W) 70
PA28 230 1Ø 14 56 6.4 2.4 40W (400W) 130
230 3Ø 28 56 11.2 8.7
PA50 230 3Ø 50 100 20 15.5 None (500W or 1000W) 200
PA75 230 3Ø 75 150 30.0 23.3 None (500W to 2000W) 275
PA85 230 3Ø 85 170 34.0 76.4 None (500W to 2000W) 320
PA-LM 100-230 1Ø N/A N/A N/A N/A N/A 7
Protective features Environmental
• Soft start circuitry • Operating ambient temperature • Storage temperature -20° to 70°C
• Overtemperature 0 to 45°C (derated above ambient) • Humidity (non-condensing) 10% to 90%

PA Series Power Supply Sizing logic power required to operate up to two axis of SERVOSTAR
SERVOSTAR amplifiers perform as power converters generating amplifiers. This allows an increase in the axis capability of a PA
three-phase sinewave current by pulse-width modulating a power supply.
high-voltage DC bus. PA Series power supplies produce DC Bus and Resistive Regeneration Sizing
low voltage logic power for up to four SERVOSTAR amplifiers. Shunt regeneration is required to dissipate energy that is pumped
DC Bus Power back into the DC bus during load deceleration. The amount of shunt
The output power rating of the supply must exceed or equal the regeneration required is a function of the sum of simultaneously
combined average power of all servo drives operating decelerating loads. The loads need to be defined in terms of system
simultaneously. Average power of an individual servo drive is based inertia, maximum speed, and deceleration time. In addition, the duty
on a power calculation of RMS torque and speed. The power supply cycle must be known. Application Note A-SU-001-H details a
output rating takes into account losses and power factor such that no calculation method to determine proper regeneration sizing, or use
further derating is needed with respect to the motor output power. MOTIONEERING software. *

Power (Watts) = N(RPM) x T(lb-ft) Transformer Sizing

7.04
or (Required only for voltage matching)
Watts = N(RPM) x T(N-m) PA Series power supplies can be connected to a line. Built-in
9.55 soft-start circuitry protects power supply components and eliminates
Logic Power (for SxXX200 models) nuisance tripping of breakers or fuse blowing due to large in-rush
In addition to the power requirement, each power supply has a currents. Transformers are only required for voltage matching
maximum axis configuration based on logic supply requirements of purposes. In this case, the transformer should have a 115 or 230 VAC
individual SERVOSTAR amplifiers. The PA08 and PA14 have a secondary depending on the operating voltage. The kVA rating of the
logic supply rated for up to two SERVOSTAR amplifiers. All other transformer should take into account not only the servo output load
power supplies can drive up to four axes of SERVOSTAR amplifiers requirements but also losses in the system and power factor. The
(See Maximum Axes Configuration Chart). See Application Note transformer should have a kVA rating no less than the input kVA
A-SU-000-H for more detail on power supply sizing, or use rating of the power supply if the full supply rating is being utilized.
MOTIONEERING software. * If the full output power of the power supply is not needed, the
PA-LM Logic Only Power Supply following calculation can be used:
The PA-LM logic only power supply is designed to complement
Kollmorgen’s existing line of PA power supplies. It produces the
KVA = Load Power (Watts)
Power Supply Maximum Number of
Model SERVOSTAR Amplifiers .75 (1000)
Without PA-LM With PA-LM*
Logic Module Logic Module * MOTIONEERING, Kollmorgens application sizing software,
PA08 up to 2 up to 4 incorporates algorithms to quickly select the optimum motor and
PA14 up to 2 up to 4
PA28 up to 4 up to 6
drive as well as determine power supply and shunt regeneration
PA50 up to 4 up to 6 requirements.
PA75 up to 4 up to 6
PA85 up to 4 up to 6
*The PA-LM contains logic power for two Sx03, Sx06 or Sx10
Amplifier or one Sx20, Sx30 or Sx55 Amplifier

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 11

 SERVOSTAR
CONNECTOR INFORMATION

C1 Serial Communications
Pin # Function
1 Shield
2 RECV (RXD) (RS232) C2 Resolver Feedback (from Motor)
3 XMIT (TXD) (RS232) used on SRxx Models
4 Reserved Pin # Function
5 Common 1 Sine High
6 Tx+ (RS485) 2 Sine Low
7 Tx- (RS485) 3 Shield
8 Rx+ (RS485) 4 Cosine High
C8 Remote Pulse or Encoder Input 5 Cosine Low
9 Rx- (RS485)
Pin # Function 6 Shield
1 Encoder Channel A Input + (High) 12 Shield
2 Encoder Channel A Input - (High) C7 Inter SERVOSTAR 13 Thermostat High
3 DC Common Communications 14 Shield
4 Encoder Channel B Output + (High) 15 Ref High Out
5 Encoder Channel B Output - (Low) 16 Ref Low Out
6 Shield Connection 17 Shield
7 Reserved 21 Shield
8 Index + 25 Thermostat Low
9 Index - OR
C2 Encoder / Hall Feedback (from
Motor) used on SExx Models
Pin # Function
1 A
2 /A
3 Shield
4 B
5 /B
6 Shield
AC Power Input (Bus) 7 E5V Return
Pin # Function 8 E5V Return
La Main Bus Input Phase A 9 Hall 1 B
Lb Main Bus Input Phase B 10 Hall 2 B
Lc Main Bus Input Phase C 11 Hall 3 B
12 Shield
13 Thermostat High
14 Shield
Motor (Power) 15 Index
Pin # Function 16 /Index
Ma Motor Output Phase A 17 Shield
Mb Motor Output Phase B 18 E5V Supply
Mc Motor Output Phase C 19 E5V Supply
PA08 Power Sx03 SERVOSTAR 20 E5V Supply
21 Shield
Supply Amplifier 22 Hall 1 A
23 Hall 2 A
24 Hall 3 A
25 Thermostat Low

C3 User I/O
C4 Encoder Equivalent Output Pin # Function
Pin # Function 1 Analog Signal Shield
1 Encoder Channel A Output + (High) 2 Analog Differential Input + (Hi)
2 Encoder Channel A Output - (Low) 3 Analog Differential Input - (Low)
3 DC Common 4 DC Common
4 Encoder Channel B Output + (High) 5 Fault Output Relay Contact
5 Encoder Channel B Output - (Low) 6 Fault Output Relay Contact
6 Shield Connection 7 + 24 Volt Input
7 Encoder Index Channel Output + (Hi) 8 Remote Enable Input
8 Encoder Index Channel Output - (Low) 9 IN1 (Dig Input)
9 Shield Connection 10 IN2 (Dig Input)
11 IN3 (Dig Input)
12 OUT 1 (Dig Output)
13 AOUT(Analog Output)

12 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 SERVOSTAR
DIMENSIONS

SR03/06/10/20 Amplifier

"A"

50.00
(1.969) 4X Mounting slots
"B" 5.80 wide (.228)
202 Max.
6.0 (7.95)
(.24)
175
(6.89)
A B
SR03 75 (2.91) 12.5 (0.49)
264 SR06 75 (2.91) 12.5 (0.49)
(10.39)
238 SR10 90 (3.54) 20 (0.79)
252 (9.37) SR20 119 (4.67) 34.3 (1.35)
(9.92)

Dimensions in mm (inches)

PA08 Power Supply

63.5
(2.50)
50.00
(1.969)
6.75 4X Mounting slots
(0.28) 5.80 wide (.228) 202 Max.
6.0 (7.95)
(.24) 175
(6.89)

264
(10.39)
252 238
(9.921) (9.37)

Dimensions in mm (inches)

PA14/28 Power Supply

4x Mounting Slots
124.4 5.80 (.228) Wide
50.00 (4.90) 202 Max
(1.969) (7.95)
6.0 37.2 175
(.24) (1.46) (6.89)

264
(10.39)
238
(9.37)
252.00
(9.921)

Dimensions in mm (inches)

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 13

 SERVOSTAR
DIMENSIONS

PA50/75/85 Power Supply

166 Max.
31 (6.53)
(1.22) 101.60 212 Max.
10 (4.000) (8.35)
(.24) 4X Mounting slots 178
5.80 wide (.228) (7.01)

302
(11.89)
282 264
(11.10) (10.39)

Dimensions in mm (inches)

PA-LM Logic Power Supply

56.9 (2.24)
26.2 52.1 (2.05)
(1.03)
185.4 (7.30) Max
3.1 (.12)
175.5 (6.91)

158.8
+15V
(6.25)
-15V
+8V 158.8
(6.25)
147.3 LOGIC 1
(5.80) 2
3
4
C5
Logic Power Supply

LA
LINE N/C
INPUT
LC

EARTH

2 x 5.8 (.23)

Dimensions in mm (inches)

14 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 SERVOSTAR
DIMENSIONS

ER-20 / ER-21 / ER-22 / ER-23

Resistor
Model “A” “B” “C”
ER-20 454.2 (17.88) 412.8 (16.25) 55.6 (2.19)
ER-21 692.2 (27.25) 660.4 (26.0) 55.6 (2.19)
"B" ER-22 454.2 (17.88) 412.8 (16.25) 127 (5.00) Max.
"C"
"A" ER-23 692.2 (27.25) 660.4 (26.00) 127 (5.00) Max.

ER-20 / ER-21
Overload Relay used with
ER-20 / ER-21 / ER-22 / ER-23
33.3
(1.31)
Max.

14.22
(.56)
96.25
(3.75) 66.55
Max. (2.62)
"B"
"A" "C"

ER-20 / ER-21 107.45

(4.25)
*Bottom standoffs are threaded 1/4-20 x 3/8” dp. Max. 7/32 Dia.
2 mounting holes
for mounting resistors to panels, etc.
Dimensions in mm (inches)

ER-30 / ERH-40

12.7 (0.50)

10.41 (0.41)
31.75
(1.25) 52.1 (2.05)
63.5 (2.50) 26.2 (1.03)
5.79 (.228) 23.1 (.91)
16
(0.63)
365.25 (14.38) Resistor out
HIGH VOLTAGE

301 (15.00) 6.1

(.24)
Thermostat
133.6 159.0
(5.26) (6.26)

107.95
(4.25)
175.5 5.79 (.228)
(6.91) 6.1 (.24)
201.4 56.9
(7.93) (2.24)

ER-30 ERH-40

Dimensions in mm (inches)

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 15

 Kollmorgen RBE
DIMENSIONS

RBE-00714-00
(.004)
.10 A 33.27
Mtg. Req't. 32.77
5.08 (1.310) 10.16
6.388 (.200) (1.290) (.400)
Ø 6.363
Max. Max. -A-
(.2515)
(.2505)

Ø 35.81 Ø 20.32 Ø 35.31 Ø 39.80

(1.410) (.800) (1.390) 37.77
Max. Max. (1.488)
Min. 2 Pl. (1.487)
2 Pl.

.89
(.035)
Mtg. 39.37
Req't. (1.550)
Dimensions in inches (mm)

RBE-01215-00
(.004)
.10 A
51.05
Mtg. Req't. 50.55
5.08 10.16
Ø 9.563 (.200) (2.010)
9.538 (1.990) (.400)
(.3765) Max. Max.
(.3755) -A-

Ø 47.88 Ø 46.61 49.20

(1.835) Ø 30.73 Ø 49.15
(1.885) (1.210)
Max. Max. (1.937)
2 Pl. Min. (1.935)
2 Pl.

.89
(.035)
Mtg. 57.15
Req't. (2.250)
Dimensions in inches (mm)

RBE-0181X-00
7.24
.89 6.73
(.035) (.285)
Mtg. (.265) (.004)
6.35 Req't. .10 A
(.250) -A-
Max. Mtg. Req't.

Ø 74.68 Ø 73.41 75.97

Ø 46.99 (2.890) Ø 75.92
(2.940)
Max. (1.850) Max. (2.991)
2 Pl. Min. 2 Pl. (2.989)

Ø12.74
12.71
.25 (.010) X 45° (.5015)
2 Pl. (.5005)

13.34
(.525)
10.16
(.400)
Max.

RBE A B
-01810 6.99 (.275) 13.34 (.525)
-01813 30.73 (1.21) 37.08 (1.46)
-01815 46.23 (1.82) 53.34 (2.10)
Dimensions in inches (mm)

16 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Kollmorgen RBE
DIMENSIONS

RBE-0301X-00
"A"
(.004) 10.16 15.24
.10 A (.400) (.600) -A-
Mtg. Req't. Max. Max.

Ø 124.97 Ø 77.47 Ø 50.85 128.93

50.80 Ø 120.65 Ø 128.88
(4.920) (3.050) (2.002) (4.750)
38.23 R. Max. (5.076)
Max. Min. (2.000) (5.074)
2 Pl. (1.505) 2 Pl.
Min.
3 Pl.

.89
(.035)
Mtg.
Req't. "B" RBE A B
-03010 13.34 (.525) 19.69 (.775)
-03013 54.61 (2.150) 60.96 (2.400)

Dimensions in inches (mm)

RBE-004512-00
45.97
45.47
15.24 (1.810)
(.600) (1.790)
(.004) Max. 15.24 40°
.10 A (.600) -A-
Mtg. Req't. Max.
160°

Ø 175.39 Ø 82.58 170.18 Ø 180.34

Ø120.65 Ø(6.700)
84.79 178.69
(6.905) Ø 120.65 82.55 (4.750) 180.26 84.28 178.31
Max. (4.750) (3.251) Max. (7.100) (3.338) (7.035)
Min. Min. 2 Pl.
2 Pl. (3.250) (7.097) (3.318) (7.020)

.89 57.28 R. 3.23

(.035) (2.255) 3.18
Mtg. Ref. (.127)
Req't. 3 Pl. (.125)
52.58 2 PL.
(2.070)
Dimensions in inches (mm)

RBE-06212-00
45.97
45.47
(1.810)
(1.790) 19.05 40°
(.004)
19.05 (.750)
.10 A (.750) Max. -A-
Mtg. Req't. Max.

Ø 233.81
(9.205) Ø 163.83 239.17 160°
Max. (6.450) Ø 239.09 122.81
2 Pl. Ø 120.68 Min. 122.43
237.49
Ø 163.83 120.65 Ø 224.79 (9.416) (4.835)
237.11
(6.450) (4.751) 78.87 R. (8.850) (9.413) (9.350)
Min. (4.750) (3.105) Max. (4.820) (9.335)
Ref. 2 Pl.
3 Pl.

.89 3.23
(.035) 3.18
Mtg. (.127)
Req't.
52.58 (.125)
(2.070) 2 Pl.

Dimensions in inches (mm)

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 17

 Kollmorgen RBE
SYSTEM INTERCONNECT DIAGRAM AND ORDERING INFORMATION

SYSTEM INTERCONNECT DIAGRAM

Encoder or
Resolver Cable
Encoder or Resolver
Customer Supplied
Logic

1Ø or 3Ø
Power
DC Bus

Motor
GND GND Cable

Power SERVOSTAR Kollmorgen RBE

Supply Amplifier Servomotor

SERVOSTAR/RBE System Configurations

Amplifier Motor Cable Assembly Curve Number
Sx03200-2R0714B RBE-00714-B CS-SS-RUA10-xx 1
Sx03200-2R1215B RBE-01215-B CS-SS-RUA10-xx 2
Sx03200-2R1810B RBE-01810-B CS-SS-RUA10-xx 3
Sx03200-2R1813B RBE-01813-B CS-SS-RUA10-xx 4
Sx03200-2R1815B RBE-01815-B CS-SS-RUA10-xx 5
Sx03200-2R3010C RBE-03010-C CS-SS-RUA10-xx 6
Sx06200-2R3013A RBE-03013-A CS-SS-RUA10-xx 7
Sx20200-2R4512A RBE-04512-A CS-SS-RUA20-xx 8
Sx20200-2R6212A RBE-06212-A CS-SS-RUA20-xx 9

18 KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO

 Kollmorgen RBE and SERVOSTAR
SYSTEM ORDERING INFORMATION

Note: SERVOSTAR amplifiers shown on page 18 are compensated for 230 VAC (to PA power supply), bus voltage 325 VDC.
“xx” designation is length in 3 meter increments, max resolver cable length is 75 meters, max encoder length is 30 meters.
The amplifier / motor combinations are also available with 115 VAC (to PA power supply). To order replace the “2” with
a “1” (e.g., SR03200-2G102A would be SR03200-1G102A.)

Power Supply: PA0800 8 amp power supply (115 or 230 Volt input)
PA1400 14 amp power supply (115 Volt input)
PA2800 28 amp power supply (230 Volt input)
PA5000 50 amp power supply (230 Volt input)
PA7500 75 amp power supply (230 Volt input)
PA8500 85 amp power supply (230 Volt input)

PA-LM Logic only power supply

External Regen Resistor Kit: ER-30 400 Watts, 8.8 Ohm, for PA14 or PA28
(Limit operation with PA14 to 200 Watts)
ERH-40 100 Watts, 8.8 Ohm (housed), for PA14 or PA28
(Limit operation with PA14 to 200 Watts)
ER-20* 500 Watts, 4.5 Ohm, for PA50 or PA75
ER-21* 1000 Watts, 4.4 Ohm, for PA50, PA75, or PA85
ER-22* 1000 Watts, 2.2 Ohm, for PA75 or PA85
ER-23* 2000 Watts, 2.2 Ohm, for PA75 or PA85
*Includes overload relay

Communications Cable: A-97251-004 RS-232 communications cable

Connector Kit: CK100 Mating connectors* for C1, C2, C4, C7 & C8
*Screw terminal mating connectors C3 and C5 are
included with the SERVOSTAR amplifier.

Feedback Devices: Kollmorgen’s SERVOSTAR digital amplifiers can be configured at our

manufacturing facilities for either encoder or resolver feedback.
The customer will provide the feedback device and integrate it with the
frameless motor (like the RBE). The feedback device should meet the
following guidelines for compatibility with the SERVOSTAR Amplifier.

Encoder: Incremental A, B, Marker

Resolver: SERVOSTAR outputs 4.25 VAC at 7 kHz to resolver and requires 2VAC
signal from resolver.

Note: Kollmorgen RBE systems are supplied with hall effect feedback.
Screw terminal mating connectors C3 and C5 are included with the SERVOSTAR amplifier.
All cable assemblies terminate with connectors to SERVOSTAR and flying leads to RBE motor.
Contact the Kollmorgen Customer Support Network for more information.

KOLLMORGEN • Radford, Virginia • 1-800-77 SERVO 19

Kollmorgen Sales Offices
E-mail: kmtg@[Link]
Internet: [Link]

Motion Technologies Group

1-800-77 SERVO
E-mail: kmtg@[Link]

Americas Europe & Middle East

Radford, VA Dusseldorf, Germany
Tel: (800) 77 SERVO Tel: (49) 203 9979 0
Fax: (540) 731-0847 Fax: (49) 203 9979 155

Asia Pacific & Far East

Tianjin, China
Tel: (86) 22 2627 1090
Fax: (86) 22 2627 1093

Aerospace & Defense Group

1-800-77 SERVO
E-mail: kmtg@[Link]

Americas & Asia

Radford, VA
Tel: (540) 639-9045
Fax: (540) 731-4193

Europe, Middle East & Africa

Avrille Cedex, France
Tel: (33) 2 41 33 63 40
Fax: (33) 2 41 33 63 40

Kollmorgen Manufacturing Locations

Kollmorgen Artus Kollmorgen Seidel
Avrillé, France Dusseldorf, Germany
Ho Chi Minh City, Vietnam

Kollmorgen Electro-Optical Kollmorgen Servotronix

Northampton, MA Tel Aviv, Israel

Kollmorgen Industrial Drives Kollmorgen Tandon Inc

Radford, VA Bombay, India

Kollmorgen Inland Motor Kollmorgen Tianjin Industrial Drives

Radford, VA Tianjin, China

Kollmorgen PMI
Commack, NY

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, Kollmorgen SILVERLINE,
PLATINUM XT, and MOTIONEERING are trademarks of Kollmorgen.

MT8MMSBB0698-1020