S200-VTS Product Manual
Base & SynqNet Hardware Installation Manual
Control Logic Version 3.0 or Higher
Revision C1
May 08,2008
®
C
US
Keep all product manuals as a product
component during the life span of the
servo amplifier. Pass all product manuals
to future users/owners of the servo amplifier.
Revision History
Date
11/4/03
11/12/03
11/20/03
2/3/04
3/4/04
4/7/04
05/2004
03/2006
10/2007
02/2008
05/2008
Issue
0.4
0.6
0.7
0.8
0.9
0.95
A
B
C
C1
Description
Engineering Review
Updated from Eng Review
Updates from Eng Review
Update for Position Loop
Update to add Conformance Section
Update Format and Config Section
Initial Release
Addition of SynqNet information
Add S21260 12/30 Arms base unit
Add S22460 24/48 Arms base unit
Transfer A4 size, cover page design, EU version
© 2006, 2007, 2008 Danaher Motion - All rights reserved.
Technical changes to improve the performance of the equipment may be made without prior notice!
Printed in the Federal Republic of Germany
All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying,
microfilm or any other method) or stored, processed, copied or distributed by electronic means
without the written permission of Danaher Motion.
Safety Symbols
WARNING
Warnings - alert users to potential physical danger or harm.
Failure to follow warning notices could result in personal
injury or death.
CAUTION
Cautions - direct attention to general precautions. Personal
injury and/or equipment damage could result if precautions
are ignored.
NOTE
Notes - highlight information critical to your understanding
or use of the product.
Danaher Motion
05/2008
Table of Contents
Table of Contents
1
1.1
1.2
1.3
S200 Series Drives ...................................................................................7
Manual Scope .......................................................................................7
Model Number .......................................................................................8
Drive Model Numbers and Descriptions ................................................8
2
Before You Begin .....................................................................................9
2.1
Safety ....................................................................................................9
2.2
Unpacking and Inspecting .....................................................................9
3
Specifications.........................................................................................10
3.1
Drive Family Power .............................................................................10
3.2
AC Input Drives - Control and Power ..................................................12
3.2.1
AC Control Power Supply..........................................................12
3.2.2
AC Motor Power Supply ............................................................12
3.2.3
AC Bus Voltage and Faults .......................................................12
3.2.4
AC Motor Power Inrush Current & Fusing.................................12
3.2.5
AC Control Power Inrush Current & Fusing ..............................13
3.2.6
AC Power On Delay ..................................................................13
3.3
DC Input Drives - Control and Power ..................................................13
3.3.1
DC Control Power Supply .........................................................13
3.3.2
DC Bus Voltage and Faults .......................................................13
3.3.3
DC Control Power On Delay .....................................................13
3.4
Motor Current Control..........................................................................13
3.4.1
Current Loop Bandwidth............................................................14
3.4.2
Offset Current............................................................................14
3.5
Velocity Loop.......................................................................................14
3.5.1
Velocity Loop Compensation.....................................................14
3.6
Command I/O ......................................................................................15
3.6.1
Analog Command......................................................................15
3.6.2
Analog Output (DacMon)...........................................................15
3.6.3
HSINP – Step/PWM Command.................................................15
3.6.4
MSINP - Direction Command ....................................................15
3.6.5
Quadrature Input .......................................................................16
3.6.6
General Purpose Inputs ............................................................16
3.6.7
General Purpose Outputs..........................................................16
3.6.8
Quadrature Outputs...................................................................16
3.7
Mechanical ..........................................................................................17
3.8
Environmental .....................................................................................17
3.9
Smart Feedback Device (SFD) ...........................................................17
3.9.1
Position Signal...........................................................................17
3.9.2
Velocity Signal...........................................................................18
3.9.3
Emulated Encoder Output Signals ............................................18
3.9.4
General SFD Specifications ......................................................18
4
Quick Start Guides.................................................................................19
4.1
S200 Base Unit Drive ..........................................................................19
4.1.1
S200 Tools Software Installation...............................................19
4.1.2
Hardware Setup ........................................................................20
4.1.3
S200 Tools Communications Wizard ........................................20
4.1.4
Motor Feedback Configuration ..................................................22
4.1.5
Save Options.............................................................................22
S200-VTS Product Manual
3
Table of Contents
4.2
05/2008
Danaher Motion
S200 SynqNet Drive ........................................................................... 22
4.2.1
MDK and SynqNet Controller Installation................................. 22
4.2.2
S200 Tools Software Installation.............................................. 22
4.2.3
Hardware Setup ....................................................................... 23
4.2.4
S200 Tools Communication Wizard ......................................... 24
4.2.5
SynqNet Configuration ............................................................. 26
4.2.6
Motor Feedback Configuration ................................................. 26
4.2.7
Save Options............................................................................ 27
5
Mounting the Drive................................................................................ 28
5.1
Mounting Dimensions ......................................................................... 28
5.2
Mechanical Outline Drawings ............................................................. 30
5.2.1
Base AC Drive (S20260-, S20360-, S20660-VTS)................... 30
5.2.2
Base AC Drive (S21260-VTS).................................................. 31
5.2.3
Base AC Drive (S22460-VTS).................................................. 32
5.2.4
Base DC Drive (S20330-, S20630-VTS) .................................. 33
5.2.5
SynqNet AC Drive (S20260-, S20360-, S20660-SRS)............. 34
5.2.6
SynqNet DC Drive (S20330-, S20630-SRS) ............................ 35
6
Wiring the Drive..................................................................................... 36
6.1
AC Input Drive Wiring ......................................................................... 36
6.1.1
AC Drive (S20260-, S20360-, S20660-VTS)............................ 36
6.1.2
AC Drive (S21260-, S22460-VTS) ........................................... 37
6.2
J1 – AC Input Drive Power ................................................................. 38
6.3
DC Input Drive Wiring......................................................................... 41
6.4
J1 – DC Input Drive Power ................................................................. 42
6.4.1
DC Power Supply Requirements.............................................. 43
6.4.2
Bus Voltage .............................................................................. 43
6.4.3
Control Voltage......................................................................... 44
6.4.4
Grounding................................................................................. 44
6.4.5
Bus Capacitance ...................................................................... 44
6.4.6
Bus Switching and Fusing ........................................................ 44
6.5
J2 – Motor Power Connector.............................................................. 45
6.6
J3 – Feedback Connector .................................................................. 46
6.7
J4 – Command I/O Connector............................................................ 47
6.7.1
General Purpose Inputs ........................................................... 47
6.7.2
General Purpose Outputs......................................................... 51
6.7.3
High Speed Input...................................................................... 53
6.7.4
SFD BAT+ ................................................................................ 54
6.7.5
DAC Monitors ........................................................................... 54
6.7.6
Encoder Outputs/Inputs............................................................ 55
6.7.7
Analog Command Input............................................................ 56
6.8
J5 – Serial Port Connector ................................................................. 57
6.8.2
Serial Interface Specification.................................................... 58
6.8.3
RS-232 Wiring .......................................................................... 58
6.9
SynqNet Option Card Wiring .............................................................. 59
6.10 J11 – SynqNet IN Port Connector ...................................................... 60
6.10.1 SynqNet LEDs.......................................................................... 60
6.11 J12 – SynqNet OUT Port Connector .................................................. 61
6.11.1 SynqNet LEDs.......................................................................... 61
6.12 J13 – Discrete I/O Connector ............................................................. 62
4
S200-VTS Product Manual
Danaher Motion
6.13
05/2008
Table of Contents
6.12.1 J13 – Discrete I/O Connection Schematic.................................63
J14 – AUX FB Connector ....................................................................64
6.13.1 Auxiliary Feedback Device Port ................................................64
6.13.2 Auxiliary Feedback Sin-Cos Interpolation Scaling.....................65
7
Basic Configuration ...............................................................................66
7.1
Switch Settings ....................................................................................66
7.1.1
S2 - DIP Setup Switch...............................................................66
7.1.2
S1 - Rotary Setup Switch ..........................................................67
7.1.3
S11, S12 - Rotary SynqNet ID Switches ...................................68
7.2
Configuring for Brush Motors ..............................................................70
7.3
Configuring with 6-Step (Hall) Feedback.............................................71
7.3.1
6-Step Feedback Wiring............................................................71
7.3.2
6-Step Torque/Current Mode ....................................................71
7.3.3
6-Step Velocity Mode ................................................................72
7.4
Configuring with SFD Feedback..........................................................73
7.4.1
SFD Motor Parameters .............................................................73
7.4.2
SFD Torque/Current Mode........................................................74
7.4.3
SFD Velocity Mode....................................................................75
7.4.4
SFD Position Mode ...................................................................76
7.5
Reversing Motion Direction .................................................................77
8
Advanced Configuration .......................................................................78
8.1
Base Drive Torque/Velocity Control Block Diagram ............................79
8.2
Base Drive Position Control Block Diagram ........................................80
8.3
SynqNet Drive Torque Control Block Diagram ....................................81
8.4
SynqNet Drive Velocity Control Block Diagram...................................82
8.5
Parameters and Variables ...................................................................83
8.5.1
Parameter and Variable Storage...............................................83
8.5.2
Model Dependent Scale Factors ...............................................83
8.5.3
Read/Write NV Parameters.......................................................84
8.5.4
Status And Control Variables ....................................................93
9
SynqNet Configuration ..........................................................................98
9.1
Drive FPGA Table ...............................................................................98
9.2
Drive Monitor .......................................................................................99
9.2.1
Drive Monitor Table ...................................................................99
9.2.2
Monitoring Real-time Data from Drive .....................................100
9.3
Accessing Drive Parameters over SynqNet ......................................100
9.3.1
Introduction..............................................................................100
9.3.2
Memory Operations on Drive Parameters...............................101
9.3.3
Accessing Individual Parameters ............................................101
9.3.4
Accessing an Entire Parameter Set ........................................101
10
Accessories, Connector Kits, and Cables .........................................105
10.1 Accessories .......................................................................................105
10.2 Connector Kits ...................................................................................105
10.3 Cables ...............................................................................................105
11
Diagnostics and Troubleshooting ......................................................106
11.1 Drive Fault Codes..............................................................................106
11.2 Diagnostics........................................................................................108
11.2.1 Fault Generation......................................................................111
S200-VTS Product Manual
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Table of Contents
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Danaher Motion
Appendix A – DC Power Supply Design ....................................................... 112
A.1 Design .............................................................................................. 112
A.1.1 Single Power Supply Operation ............................................. 112
A.1.2 Main Supply Output Capacitance (J1-3 to J1-2) .................... 114
A.2 Two Power Supply Operation........................................................... 116
A.2.1 Control Supply (J1-1 to J1-2) ................................................. 117
A.3 Multi-Axis Considerations ................................................................. 117
A.4 Bus Energy & Power Numerical Examples ...................................... 118
A.4.1 Min. External Bus Capacitance .............................................. 118
A.4.2 Energy from Acceleration Time .............................................. 118
A.4.3 Capacitor Energy Absorb/Deliver ........................................... 118
A.4.4 Bus DC Input Power............................................................... 118
Appendix B – Cables ...................................................................................... 119
B.1 Long Cables ..................................................................................... 119
B.2 Custom Composite Cables............................................................... 119
Appendix C – Danaher Motion Linear Motor Wiring .................................... 121
Appendix D – Process to Setup Non-Danaher Motors ................................ 122
D.1 Detailed Drive Motor Wiring Discovery Procedure ........................... 123
Appendix E – Voltage Sag Standard – Semi F47, F42 ................................. 125
Appendix F – Using a Voltage Doubler Mode Drive .................................... 126
F.1
S2xx50 AC Line Voltage Doubling Drive Power Specifications........ 127
Appendix G – Regulatory Information .......................................................... 128
G.1 Conformance Requirements............................................................. 128
G.2 CE Approval ..................................................................................... 128
G.2 CE EMC Compliance........................................................................ 128
G.2.1. CE Test Setup ........................................................................ 129
G.2.2 CE Test Setup ........................................................................ 129
G.2.3 Declaration of Conformity....................................................... 130
G.3 Installation and Commissioning........................................................ 132
G.4 Safety requirements ......................................................................... 132
G.5 European Compliance ...................................................................... 132
G.6 Low Voltage Directive and EN50178................................................ 133
G.7 UL and cUL Conformance ................................................................ 134
G.8 Additional Safety Precautions........................................................... 135
G.9 EMC Compliance with EN61800-3 ................................................... 136
G.10 AC Mains Conducted Emissions ...................................................... 137
G.11 Regen Resistor................................................................................. 138
G.12 Additional EMC Information Sources................................................ 138
6
S200-VTS Product Manual
Danaher Motion
1
05/2008
S200 Series Drives
S200 SERIES DRIVES
Industry-Leading Performance In A Small Package
Danaher Motion’s S200 brushless servo drives puts high performance servo technology into a
full power range family with dc input and ac input family members. Particularly for lower power
applications the S200 family provides a higher performing more robust option than was
previously possible without having to compromise on reliability or package size. Coupling an
S200 drive with Danaher Motion's AKM servomotor provides a complete servo control solution
designed to excel in applications such as semiconductor fabrication, electronic assembly,
packaging, medical, and woodworking equipment among others. Danaher Motion's S200 servo
drives are the first all-digital industrial drives with a velocity loop bandwidth up to 800 Hz,
offering unmatched system throughput and simplified tuning. High resolution (24 bit) feedback
and high performance 3-5 kHz current loop bandwidth provide smooth motion and rapid start
and stop action to optimize machine performance. Smart feedback and industry leading high
bandwidth deliver fast and accurate "plug and play" commissioning by eliminating the need for
servo loop tuning in most applications.
Base S200 servo drives come standard with torque or velocity control, as well as with factory
options that support the SynqNet motion network or add pre-settable Indexing with CANopen
communications. The factory option cards also add interfaces to additional motor feedback
devices such as Comcoder, 1 Vp-p Sin-Cos, EnDat 2.1, and EnDat 2.2 running in 2.1
compatibility mode. The option card EnDat interface accommodates single and multi-turn
absolute rotary or incremental and absolute linear encoders. The drives operate with AC
(120/240 VAC) or DC (20-90 VDC) power sources and have current ratings from 1.5 ARMS
continuous to 48 ARMS peak. Their compact footprint ranges from 1.1 in (28.7 mm) wide and
6.0 in (152.4 mm) tall to 3.8 in (94.6 mm) wide and 6.39 in (213 mm) tall with depths ranging
from 3.9 in (100.8 mm) to 7.57 in (192.4 mm), allow them to fit into tight spaces. They are UL
508C recognized, CE marked, and conform to EN50178 and EN61800-3 standards.
The original S200 family included lead in the soldering. Units manufactured after November
2007 are fully compliant with the EU RoHS environmental directive. The RoHS units also all
have control logic version 3.0A or newer. See parameter VerLW.
Separate "Keep Alive" control power input allows communications and diagnostics to continue
during emergency stop conditions with no power to the motor. It also allows rapid recovery
from emergency stops. Optically isolated inputs and outputs, positive locking connectors, and
full fault protection promise long machine life and immunity to accidental damage. The single
motor power or feedback cable option simplifies connectivity. All connectors and LED status
indicators are easily accessible from the front of the drive.
1.1
Manual Scope
This manual documents the S200 base drives and the S200 drives with the SynqNet motion
bus option card installed. See the separate S200 Position Node User’s Guide and S200
Position Node Installation Guide part numbers M-SS-S2B-11 and M-SS-S2A-11 respectively
for S200 drives equipped with the Position Node option card.
S200-VTS Product Manual
7
S200 Series Drives
1.2
05/2008
Danaher Motion
Model Number
S2 03 3 0 - VT S - 002
Family
S2 - 200 Servo Family
Current Rating
02 - 1.5 ARMS continuous,
4.5 ARMS peak
03 - 3 ARMS continuous,
9 ARMS peak
06 - 6 ARMS continuous,
18 ARMS peak
12 - 12 ARMS continuous,
30 ARMS peak
24 - 24 ARMS continuous,
48 ARMS peak
Voltage
3 - 20 - 90 VDC (03, 06 Current)
5 - 120 VAC doubler/240 VAC 1 ph
(02, 03 Currents Only)
6 - 120/240 VAC (All Currents)
1.3
Customization - omit for standard drives
000 - 019 Reserved for factory use
020 - 999 Reserved for customers
Feedback Support
S - SFD/Halls - All Units
SFD/Comcoder - CAN Option card
Sine encoder - SynqNet Option Card
EnDat 2.1 - SynqNet Option Card
Functionality
VT - Velocity/Torque modes
SD - SynqNet option card w/ micro-D connectors
SR - SynqNet option card w/ standard RJ connectors
CN - Position Node w/ CANOpen Interface
Electrical Option
0 - No Electrical Option
Drive Model Numbers and Descriptions
Here is a list of the various S200 Series Drives.
VTS – Analog Velocity/Torque Base Drive
SDS – SynqNet option card with Micro-D connectors
SRS – SynqNet option card with RJ-45 connectors
CNS – CAN/Indexer option card (Not documented in this manual)
AC Drive
S20260-VTS
S20360-VTS
S20250-VTS
S20350-VTS
S20660-VTS
S21260-VTS
S22460-VTS
S2xxx0-SRS
S2xxx0-SDS
DC Drive
S20330-VTS
S20630-VTS
S2xx30-SRS
S2xx30-SDS
8
Description
S200 120/240 VAC, 1/3-phase, 1.5/4.5 ARMS Base Unit
S200 120/240 VAC, 1/3-phase, 3/9 ARMS Base Unit
S200 120 VAC, doubler/240 VAC 1 ph 1.5/4.5 ARMS Base Unit
S200 120 VAC, doubler/240 VAC 1 ph 3.9 ARMS Base Unit
S200 120/240 VAC, 1/3-phase, 6/18 ARMS Base Unit
S200 240 VAC, 1/3-phase, 12/30 ARMS Base Unit
S200 240 VAC, 3-phase, 24/48 ARMS Base Unit
One of the above drives with optional SynqNet with RJ-45
connectors
One of the above drives with optional SynqNet with Micro-D
connectors
Description
S200 90 VDC, 3/9 ARMS Base Unit
S200 90 VDC, 6/18 ARMS Base Unit
One of the above drives with optional SynqNet with RJ-45
connectors
One of the above drives with optional SynqNet with Micro-D
connectors
S200-VTS Product Manual
Danaher Motion
05/2008
2
BEFORE YOU BEGIN
2.1
Safety
WARNING
Before You Begin
READ these instructions before connecting power. Damage can
result from MISWIRING at the power terminals.
DANGEROUS voltages are present on power input and motor output
terminals.
Only qualified personnel are permitted to transport, assemble, commission, and maintain this
equipment. Properly qualified personnel are persons who are familiar with the transport,
assembly, installation, commissioning and operation of motors, and who have the appropriate
qualifications for their jobs.
Read all available documentation before assembling and using. Incorrect handling of products
described in this manual can result in injury and damage to people and/or machinery. Strictly
adhere to the technical information regarding installation requirements.
Keep all covers and cabinet doors shut during operation.
Be aware that during operation, the product has electrically charged components and hot
surfaces. Control and power cables can carry a high voltage, even when the motor is not
rotating.
Never disconnect or connect the product while the power source is energized.
After removing the power source from the equipment, wait at least 5 minutes before
touching or disconnecting sections of the equipment that normally carry electrical charges
(e.g., capacitors, contacts, screw connections). To be safe, measure the electrical contact
points to each other and to electrical safety earth with a meter before touching the
equipment.
2.2
Unpacking and Inspecting
Open the box and remove all the contents. Check to ensure there is no visible damage to any
of the equipment.
CAUTION
CAUTION
NOTE
S200-VTS Product Manual
Use proper procedures when handling electronic
components to avoid damage to equipment.
Remove all packing material and equipment from the
shipping container. Be aware that some connector kits and
other equipment pieces may be quite small and can be
accidentally discarded. Do not dispose of shipping materials
until the packing list has been checked.
Upon receipt of the equipment, inspect components to
ensure that no damage has occurred in shipment. If damage
is detected, notify the carrier immediately. Check all shipping
material for connector kits, documentation, diskettes, CDROM, or other small pieces of equipment.
9
Specifications
3
05/2008
SPECIFICATIONS
NOTE
3.1
Danaher Motion
Unless otherwise specified, the specifications are worse-case
limits and apply over the specified operating ambient
temperature and over the specified operating line voltage.
Drive Family Power
240 VAC Input
S20260
Peak Output Current (RMS)
20-90 Vdc Input
S20360
S20660
S21260
S22460
S20330
S20630
9.0
18.0
30.0
48
9.0
18.0
1
(0 to 50°C) Amb (ARMS)
4.5
Minimum Peak Current Time
Start from 0 ARMS (sec)
3.0
2
Continuous Output Current Convection
0 to 30° C amb (ARMS)
2.3
4.5
9.0
15.0
30.0
4.5
7.5
40° C amb (ARMS)
1.5
3.0
6.0
12.0
24.0
3.0
6.0
50° C amb (ARMS)
1.0
2.0
4.0
8.0
16.0
2.3
4.5
Peak Output Power (1 sec)
240 Vac (VA) 3 Phase
1500
3000
6000
10000
16000
-
-
240 Vac (VA) 1 Phase
1400
2600
5000
8000
-
-
-
120 Vac (VA) 1 Phase
700
1300
2500
-
-
-
-
-
-
-
-
-
750
1500
1100
2000
4000
8000
-
-
1500
2500
3000
-
-
750
-
-
-
-
-
-
-
250
500
75 Vdc (VA)
Drive Continuous Output Power
240 Vac 3 Phase (W)
600
240 Vac 1 Phase (W)
500
900
120 Vac 1 Phase (W)
250
6
450
75 Vdc (W)
-
6
-
Continuous Motor Shaft Power @3000 RPM (Nominal Bus –10% 3 Phase/DC)
0 to 30° C amb (W) 3-ph
300
750
1500
2500
5000
180
315
0 to 30° C amb (W) 1-ph
300
750
1300
2200
2500
-
-
40° C amb (W)
200
500
1000
2000
4000
125
250
5.0
9.0
16
24
-
-
18
3
3
-
-
-
-
-
RMS Line Current at Continuous Output Power
240 Vac 3Phase (ARMS)
2.7
240 Vac 1 Phase (ARMS)
3.4
6.5
12
3
120 Vac 1 Phase (ARMS)
3.4
6.5
12
3
22
-
Maximum AC Line kVA (limits mains surges to drive)
AC Line kVA max
100
250
NA
+BUS Current With 75 VDC at Continuous Output Power
Average (ADC)
NA
3.0
6.7
Inst. Peak (APeaK)
NA
12.7
25.5
3
10
Power Stage Diss. at
5
Icont, 40°C PCOnt (W)
15
25
60
110
175
Peak Power kW (500 mSec)
4.4
@36Ω
6.4
@25Ω
10
@15Ω
10
@15Ω
15
@10Ω
Continuous Power (W)
440
@36Ω
640
@25Ω
1000
@15Ω
1500
@15Ω
2500
@10Ω
Maximum Regen Duty
Cycle (%)
10
@36Ω
10
@25Ω
10
@15Ω
15
@15Ω
15
@10Ω
Regen Resistance (Ω)
25 – 50
25 – 50
12 – 50
8 – 50
8 – 50
Shunt Regulator
10
NA
NA
S200-VTS Product Manual
Danaher Motion
05/2008
Specifications
240 VAC Input
S20260
20-90 Vdc Input
S20360
S20660
S21260
S22460
60
S20330
S20630
Bus Capacitance Energy Absorption
340 VDC Nominal BUS
15.5
15.5
20
45
75 VDC BUS 4,000 µf
(75 to 80 VDC delta)
-
-
-
-
Output Current Ripple Freq
fS (kHz)
20
20
16
16
16
31.2
31.2
Minimum Motor Inductance
l-l (mH)
5
2.5
1.5
0.9
0.6
-
-
-
-
-
-
-
0.4
0.2
300
150
75
45
30
30
15
50
25
NA
NA
50
25
50
50
NA
50
50
At 75 VDC
Maximum Motor
Inductance l-l (mH)
1.5
4
Maximum Motor Power Cable Length
18 AWG cable (m)
14 AWG Cable (m)
50
12 AWG Cable (m)
1
2
3
4
5
6
50
Peak Output Current listed is for sine mode. In six-step mode, the peak output
currents are scaled to give the same output torque as in sine mode with a pure
sinusoidal Back EMF motor.
To convert ARMS to A(0-pk), multiply ARMS * 1.414.
For intermediate ambient temperatures linearly derate between adjacent provided
o
o
o
0-30 C, 40 C, or 50 C ratings.
At higher ambient temperatures (above 30o C) the mounting surface temperature
must be thermally conductive enough to limit the mounting temperature to less
than 75o C.
Single phase operation of the S20660, S21260, S2460 requires derating of
continuous output power to avoid excessive ac line front end currents.
See Manual Appendix for voltage loss vs cable length.
Total drive dissipation = power stage dissipation + control power. Control power
adder is:
Base unit only = 7W
Base plus option card = 10W
For 120 Vac voltage doubled operation of S20250, S20350 units see Appendix D for
power specifications.
S200-VTS Product Manual
11
Specifications
05/2008
Danaher Motion
3.2
AC Input Drives - Control and Power
3.2.1
AC Control Power Supply
3.2.2
Input Voltage Range (RMS)
85 VAC to 265 VAC 1 phase 47 to 410 Hz
Or 120 VDC to 375 VDC
Ride Through Time for AC
Line Drop
85 VAC 60 Hz > 0.78 60 Hz cycles
120 VAC 60 Hz > 3.3 60 Hz cycles
240 VAC 60 Hz >18.5 60 Hz cycles
AC Motor Power Supply
Input Voltage Range (RMS)
S20260, S20360, S20660: 0 to 265 VAC
S21260, S22460: 120 to 265 VAC
Phases
1 or 3
Transformer Suggested KVA
S20260:
S20360:
S20660:
S21260:
S22460:
Maximum AC Line KVA1
S20260, S20360, S20660: 100
S21260, S22460: 250
1
3.2.3
3.2.4
1.5 to 2 kVA
2.0 to 3 kVA
3.0 to 5 kVA
4.5 to 6 kVA
8.0 to 12 kVA
Maximum AC Line is specified to limit the mains surges to the drive.
AC Bus Voltage and Faults
240 VAC Input Nominal Bus
Voltage
320 VDC
120 VAC Input Nominal Bus
Voltage
155 VDC
BUS Undervoltage Fault
S20260, S20360, S20660 Default is None
S21260, S22460: 150 VDC
BUS Overvoltge (BusOV)
Fault
407 VDC + 5%
BUS Regen Voltage
= 0.974*BusOV = 397 VDC Nominal
AC Motor Power Inrush Current & Fusing
S20260
S20360
S20660
Worse Case Inrush Peak
Current at 240 VAC
140 A 0-p
140 A 0-p
240 A 0-p
Inrush pulse width
1.5 ms
1.5 ms
2.0 ms
Recommended
Fusing Line Inputs
S20260
S20360
S20660
S21260,
S22460
None, soft
start
NA
S21260
S22460
Type – 250 VAC Time Delay Fuse
12
240 VAC 3 Phase
(ARMS)
Bussmann
FRN-R-5
Bussmann
FRN-R -8
Bussmann
FRN-R -15
Bussmann
JKS-20
Bussmann
JKS-30
240 VAC 1 Phase
(ARMS)
Bussmann
FRN-R -5
Bussmann
FRN-R -10
Bussmann
FRN-R -20
Bussmann
JKS-30
Bussmann
JKS-30
120 VAC 1 Phase
(ARMS)
Bussmann
FRN-R -5
Bussmann
FRN-R -10
Bussmann
FRN-R -20
NA
NA
S200-VTS Product Manual
Danaher Motion
3.2.5
3.2.6
05/2008
Specifications
AC Control Power Inrush Current & Fusing
Worse Case Inrush Peak Current at 240 VAC
10 A 0-p
Inrush Pulse Width
1.60 ms
Fusing – Control Inputs
Bussmann MDA – 1/2
Nominal Power draw
Base: 7 W
With Option Card: 10 W
AC Power On Delay
Control Power Applied to Drive Operational
1.25 seconds
Bus Power To Full Bus On Soft Start Units
1.0 seconds
3.3
DC Input Drives - Control and Power
3.3.1
DC Control Power Supply
Control Voltage Range (VDC)
(J1-1 to J1-2)
+10 to +90
Control Input Power (watts)1
2 to 8
1
(20 watt min supply recommended) Refer to the DC Power Supply Section
for detailed application information and requirements.
3.3.2
3.3.3
DC Bus Voltage and Faults
+BUS Voltage Range (VDC) (J1-3 to J1-2)
+20 to +90
+BUS Undervoltage Fault
+17 VDC nominal
+BUS Overvoltage Fault
+91 VDC nominal
DC Control Power On Delay
Control Power Applied to Drive Operational
3.4
1.5 seconds
Motor Current Control
Motor Phase Current Waveform
(In Sine or six-step mode output torque = Motor
KT*Drive IFB)
Pure sinusoidal or six-step,
depending on feedback
device
Motor Shaft Torque (Ignoring motor magnetic saturation)
Peak (hot motor winding)
Multiply KT by 1.06 for cold motor winding (AKM
or PMA motors).
Instantaneous
S200-VTS Product Manual
KT (N-m/ARMS)*Drive
Ipeak (ARMS)
KT (N-m/ARMS)*IFB
(ARMS)
13
Specifications
3.4.1
05/2008
Danaher Motion
Current Loop Bandwidth
Maximum Bandwidth
AC Input Drive (kHz)
3
DC Input Drive (kHz)
5
Recommended Bandwidth
AC Input Drive (kHz)
2
DC Input Drive (kHz)
3
SFD Auto Set (kHz) AC & DC
2
Bandwidth Variation For Fixed Motor L
(% regulated independent of bus voltage)
± 2.5
Update Period (µs)
0.8
Recommended Max Motor Electrical Frequency (Hz)
3.4.2
3.5
3.5.1
14
AC Input Drive (Hz)
600
DC Input Drive (Hz)
900
Offset Current
Drive
Typical
Worst Case Over Temp
S20250, S20260
0.2% / 12 mA
0.5% / 32 mA
S20350, S20360
0.2% / 25 mA
0.5% / 64 mA
S20660
0.2% / 50 mA
0.5% / 128 mA
S21260
0.2% / 85 mA
0.5% / 210 mA
S22460
0.2% / 135 mA
0.5% / 340 mA
S20330
0.2% / 25 mA
0.5% / 64 mA
S20630
0.2% / 50 mA
0.5% / 128 mA
Velocity Loop
Maximum Stable Bandwidth (Hz with SFD)
800
Update Period (µs)
0.8
Range (rpm)
0 to 18,300
Command Resolution
< 0.001 rpm analog
0.558 rpm serial
Velocity Loop Compensation
KVP Range (Depends on Ipeak)
0.00044 to 0.106 (Ipeak)
(1/rad/sec)
KVP Resolution (%)
5
KVI Range (Hz)
0 or 0, 0.0238 to 753.9
KVI Resolution (%)
5
ARF0 Range (Hz)
1.518 to 96382
ARF1 Range (Hz)
1.518 to 96382
S200-VTS Product Manual
Danaher Motion
05/2008
3.6
Command I/O
3.6.1
Analog Command
Specifications
Maximum Differential Range (volts)
±12.5
Maximum Single Ended Range (volts)
-12.5 to +16.0
Full Scale Tolerance (%)
Worse Case
±3.5
Typical
±1
Linearity (% Full Scale)
< 0.1
Monotonic to
< 2-16 Full Scale
S/N Ratio Referred to Full Scale (bitsRMS nominal)
3000 Hz A/D Bandwidth
14
800 Hz A/D Bandwidth
16
25 Hz A/D Bandwidth
18
Offset
Adjustable to 0
Maximum Unadjusted Offset (mV)
50
Offset Drift (µV/° C typ.)
250
CMRR
> 30 dB at 60 Hz
3.6.2
Analog Output (DacMon)
Resolution (bits)
14
Maximum Range (volts)
0.5 – 4.5
Full Scale Tolerance (%)
3.6.3
Worse Case
±5
Typical
±1
Linearity (% Full Scale)
<0.1
Monotonic to
< 2-16 Full Scale
Offset (mV)
< 100
Offset Drift (µV/°C typ.)
250
HSINP – Step/PWM Command
HSINP - J4-10, J4-11
Input Voltage (volts)
3.0 – 6.0
Input Current (mA)
9.0 – 24.0
Minimum Pulse Width (ns)
250
HSINP as Step Command
Maximum Step Frequency (MHz)
1.5
HSINP as PWM Command
3.6.4
PWM Frequency (kHz)
0.25 to 250
Pulse Width
0 – 100% Duty Cycle
Pulse Width Distortion (ns)
250 maximum
MSINP - Direction Command
MSINP - J4-5, J4-1
Input Voltage (volts)
± (4.0 - 30.0)
Input Current (mA)
0.65 - 6.7
Direction Setup Time (µs)
100
Minimum Pulse Width (µs)
200
S200-VTS Product Manual
15
Specifications
3.6.5
05/2008
Danaher Motion
Quadrature Input
Quadrature Input CHA - J4-19, 20 CHB J4-21,22
Type
RS-422/RS-485
Input Voltage
Differential ± (0.2 to 12) volts
Common Mode –7 to +12
volts
3.6.6
Input Termination
None internal to the drive.
Maximum Line Frequency (kHz)
625 (corresponds to 2.5 MHz
quadrature pulse rate)
General Purpose Inputs
DINP1, DINP2, DINP3 – J4-2, 3, 4
3.6.7
Input Voltage (volts)
Referenced to DINPCOM (J4-5)
± (4.0 - 30.0)
Input Current (mA)
0.65 - 6.7
Response Time
1.0 ms
General Purpose Outputs
DOUT1, DOUT2 – J4-6,7 and J4-8,9
3.6.8
Maximum Output Voltage (volts)
- 0.30 to 30.0
Clamp Voltage (volts)
33 V ± 6%
Maximum Output Current
50 mA
On voltage (volts)
1.0 V at 10 mA
1.2 V at 50 mA
Response Time (ms)
1.0
Quadrature Outputs
Quadrature Output CHA- J4-19, 20 CH B- J4-21,22 CHZ- J4-17,18
16
Type
RS-422/RS-485
Output Voltage (volts)
5.0 V Differential Output Unloaded
Hysteresis
1/2 Quadrature Count
corresponding to 1/8
Encoder Line Count
S200-VTS Product Manual
Danaher Motion
3.7
05/2008
Specifications
Mechanical
S200 AC INPUT DRIVES
S200 DC INPUT DRIVES
Base Drive
Base or w/ Option Card
S20260
S20360
S20660
S21260
S22460
177 mm
6.97 in
213 mm
8.39 in
76 mm
3.00 in
96.4 mm
3.80 in
152 mm
5.98 in
192 mm
7.57 in
S20630-VT
S20330-VT
w/ Option
Card
S20630-XX
S20330-XX
Drive Dimensions
175 mm
6.90 in
Drive Height (A)
Drive Width (B)
54.8 mm
2.16 in
64.0 mm
2.52 in
131.6mm
5.18 in
Drive Depth1 (C)
152.4 mm
6.00 in
28.7 mm
1.13 in
48.3 mm
1.90 in
100.8 mm
3.97 in
Mounting
Hardware
M4 or #8
M4 or #8
M4 or #8
M4 or #8
M4 or #8
M4 or #8
Drive Weight
0.77 kg
1.69 lb,
w/ option
0.84 kg
1.86 lb
0.82 kg
1.80 lb,
w/ option
0.89 kg
1.97 lb
1.33 kg
2.93 lb,
w/ option
1.40 kg
3.09 lb
2.56 kg
5.64 lb,
w/ option
2.63 kg
5.80 lb
0.40 kg
0.88 lb
0.50 kg
1.10 lb
1
Depth measurement is for drive only. Add approximately 50.8 mm (2 in) to
accommodate mating connectors and wire bend radius.
3.8
Environmental
Operating Temperature (°C) – Full Rating
Operating Temperature (°C) – Derated
Linearly Derate Continuous Current to
specified 50 oC Rating
Pollution Degree
Storage Temperature (°C)
Humidity (% non-condensing)
Altitude
3.9
Smart Feedback Device (SFD)
3.9.1
Position Signal
Resolution/Rev (arc min)
Repeatability (arc min RMS)
Noise
No Filtering (RMS)
150 Hz Single Pole Filtered (RMS)
10 Hz Single Pole Filtered (RMS)
DC Offset Temperature Drift
Absolute Accuracy
AKM1 (arc min)
AKM2 or 3, 4, 5, 6, 7 (arc min)
Communications Update Period (µs)
S200-VTS Product Manual
0 to 40
40 to 50
2
-35 to 85
10 to 90
<1500 m (5000 feet)
24 bits = 0.0013
< ± 2-19 Rev = ± 0.04
< 2-17 Rev RMS = 0.16 arc-min
< 2-18 Rev RMS = 0.08 arc-min
< 2-19 Rev RMS = 0.02 arc-min
< 2-18 Rev/°C = 0.08 arc min/°C
± 2-10.3 Rev = ±17
± 2-11.1 Rev = ±10
51.2
17
Specifications
3.9.2
05/2008
Velocity Signal
Resolution (rpm)
Quanta (rpm)
Noise
No Filtering (rpm RMS)
150 Hz Single Pole Filtered (rpm RMS)
10 Hz Single Pole Filtered (rpm RMS)
DC Accuracy
Typical at 25° C (%)
Worse case (%)
Ripple
AKM1 (% p-p at 1200 rpm)
AKM2, 3, 4, 5, 6, 7 (% p-p at 1200 rpm)
Offset (rpm)
Communications Update Period (µs)
Hardware Interpolation Period (µs)
3.9.3
Programmable Values See EncOutPPR
Maximum Output Line Frequency (MHz)
Max Recommended Speed at 32768 PPR (rpm)
Max Recommended Speed at 16384 PPR (rpm)
Max Recommended Speed at 4096 PPR (rpm)
Marker Pulse Width
<4
< 0.6
< 0.06
± 0.01
± 0.05
2.5
1.5
< 0.0001
51.2
0.1
500, 512, 1000, 1024,
2000, 2048, 4096, 5000,
8192, 10000
0 - 65535 integer
2.5
2200
4600
18300
~ 2 Quadrature Pulses
General SFD Specifications
-3 dB Bandwidth (Hz)
-45° Phase Lag (Hz)
Max Tracking Rate (rpm)
Max Recommended Rate (rpm)
Max Tracking Acceleration (rpm/sec)
Maximum Feedback Cable Length
18
< 0.001
0.07
Emulated Encoder Output Signals
Available Resolutions (PPR)
Selectable By Rotary Switch S1
3.9.4
Danaher Motion
> 2000
> 1000
> 48600
25000
> 16x106
50 m (164 ft)
S200-VTS Product Manual
Danaher Motion
4
05/2008
Quick Start Guides
QUICK START GUIDES
There are two types of Quick Start Guides depending on the Communication Mode of the drive.
If you are not using an S200 Base Unit Drive (no SynqNet Option Card), follow the S200 Base
Unit Drive Quick Start Guide.
If you are using an S200 SynqNet Drive, follow the S200 SynqNet Drive Quick Start Guide.
4.1
S200 Base Unit Drive
This Quick Start Guide is designed to help a user quickly setup one of the following S200
Drives. See Drive Model Numbers and Descriptions for a complete list of S200 drives.
S20330-VTS, S20630-VTS, S20260-VTS, S20360-VTS, S20250-VTS, S20350-VTS
The setup consists of the following steps:
• S200 Tools Software Installation
• Hardware Setup
• S200 Tools Communication Wizard
• Motor Feedback Configuration
• Save Options
4.1.1
S200 Tools Software Installation
Follow the installation instructions from the CD-ROM or zip file.
S200 Tools supports the following Operating Systems:
• Windows 2003 Server
• Windows XP, All Service Packs – (SP)
• Windows 2000, SP2
• Windows XP embedded
• Windows NT4, SP6
S200-VTS Product Manual
19
Quick Start Guides
4.1.2
Hardware Setup
4.1.2.1
Drive Setup
05/2008
Danaher Motion
Connect a serial communication cable between the drive and host computer to establish a
communication link between the host computer and the S200 Base Unit drive.
Plug one end of a serial communications cable to J5 (Serial Port) of the S200 drive and the
other end of the cable to the host computer's serial COM port.
NOTE: The serial communications cable is not shipped with the drive. It must be ordered
separately.
4.1.2.2
Motor Setup
If you are using an S200 Base Unit drive, use the J3 connector for motor feedback. Only SFD
motor feedback is supported on Base Unit drives. If you want to use SinCos or ComCoder as
motor feedback, you must use the AUX FB (J14) connector, which is not available on Base Unit
drives. See Drive Model Numbers and Descriptions for a complete list of S200 drives.
4.1.3
S200 Tools Communications Wizard
4.1.3.1
Launch S200 Tools
Launch the S200 Tools program by clicking the desktop icon or from the Windows Start button
(Programs > Danaher Motion > S200Tools). The default location for S200Tools.exe, is
(C:\Program Files\Danaher Motion\S200Tools).
When the S200 Tools program is launched for the first time, no drives should be listed under
the Online or Offline Communications Mode.
20
S200-VTS Product Manual
Danaher Motion
4.1.3.2
05/2008
Quick Start Guides
Start Communication Wizard
Open the Communication Wizard by selecting it from the toolbar (Utilities > Communication
Wizard) or clicking the shortcut icon.
Select Serial as the Communications Mode and select the appropriate COM port.
If you do not know which type of drive is connected, click the Test button. The returned
message will either say that there is no connection, confirm that you have an S200 connected,
or tell you that the connected node is NOT an S200 drive.
Troubleshooting
If you receive the "No Connection" message, check the hardware connections.
After you have confirmed your setup, click the OK button.
The installed S200 drive(s) will now be listed as "Online" and will list its configuration and status
options.
S200-VTS Product Manual
21
Quick Start Guides
4.1.4
05/2008
Danaher Motion
Motor Feedback Configuration
The S200 Base Unit drives only support SFD motor feedback. If you are using SFD motor
feedback, no further configuration is needed. If you want to use SinCos or ComCoder as motor
feedback, you must use the AUX FB (J14) connector, which is not available on Base Unit
drives.
4.1.5
Save Options
There are three types of Save options. It is important to know how to use each type to ensure
that configurations are not lost.
Download NV – This button will save the parameter settings displayed in S200 Tools to the
selected drive. These parameters are saved to the drive's permanent memory and are recalled
during a power-up cycle.
Download Drive – This button will save the parameter settings displayed in S200 Tools to the
selected drive/node. However, unlike Download NV, these parameters are only saved to the
drive's temporary RAM and will not be recalled at a power-up cycle. It is recommended that you
use the Download Drive button when testing settings. Once you are satisfied with the settings,
click the Download NV button to permanently save the settings to the drive.
Save/Save As – You can also save the settings of a drive as a configuration file (*.S2C).
Remember, saving a configuration file does NOT save the settings to the drive. Configuration
files can be helpful for saving multiple drive setups. You can easily download a setting to a
drive by opening the configuration file in the Offline mode and clicking the Download NV/Drive
buttons once the proper drive is selected in the Online mode. It is recommended that you save
a configuration file for each setup.
4.2
S200 SynqNet Drive
Follow the instructions below if you are using one of the following S200 Series Drives:
S20250-SRS, S20260-SRS, S20350-SRS,
S20360-SRS, S20330-SRS, S20630-SRS,
S20250-SDS, S20260-SDS, S20350-SDS,
S20360-SDS, S20330-SDS, S20630-SDS
The setup consists of the following steps:
• MDK and SynqNet Controller Installation
• S200 Tools Software Installation
• Hardware Setup
• S200 Tools Communication Wizard
• SynqNet Configuration
• Motor Feedback Configuration
• Save Options
4.2.1
MDK and SynqNet Controller Installation
Before you can use an S200-SynqNet Drive, you must first install the Motion Developer's Kit
Software package and SynqNet controller from Motion Engineering Inc. For more information
about installation, please see MEI's Technical Support website.
4.2.2
S200 Tools Software Installation
Follow the installation instructions from the CD-ROM or zip file. See S200 Tools Software
Installation Guide.
S200 Tools supports the following Operating Systems:
• Windows 2003 Server
• Windows XP, All Service Packs - (SP)
• Windows 2000, SP2
• Windows XP embedded
• Windows NT4, SP6
22
S200-VTS Product Manual
Danaher Motion
4.2.3
Hardware Setup
4.2.3.1
Drive Setup
05/2008
Quick Start Guides
NOTE: The drive serial port (J5) is disabled on SynqNet drives.
If you are using an S200 SynqNet Drive, you need to establish SynqNet communication link
between the S200 SynqNet Drive and the SynqNet motion controller.
Plug one end of an Ethernet communications cable to J11 (SynqNet IN) of the S200 drive and
the other end to the SynqNet controller's OUT port.
One Drive/Node
Use another Ethernet communications cable to connect J12 (SynqNet OUT) of the S200 drive
to the XMP-SynqNet controller's SynqNet IN port.
Multiple Drives/Nodes
Connect an Ethernet communications cable from the XMP-SynqNet controller's OUT port to the
SynqNet IN port (J11) of the first drive/node. Connect an Ethernet cable from the node's
SynqNet OUT port (J12) to the SynqNet IN port (J11) of the next node. Connect another cable
from the SynqNet OUT port (J12) of the last node in the topology to the SynqNet IN port of the
XMP-SynqNet controller.
NOTE: Although you can connect other SynqNet supported nodes/drives on the SynqNet
network, you will only be able to configure the S200 Series Drives with the S200 Tools
software. S200 Tools will only communicate with S200 Series Drives.
S200-VTS Product Manual
23
Quick Start Guides
4.2.3.2
05/2008
Danaher Motion
Motor Setup
Depending on the type of motor feedback that is used, you will need to use the appropriate
feedback connector.
Motor Feedback
J3 Feedback
J14 AUX FB
X
-
X
X
X
SFD
SinCos (with Endat 2.1/2.2)
SinCos (with Halls)
ComCoder (Incremental + Halls)
4.2.4
S200 Tools Communication Wizard
4.2.4.1
Launch S200 Tools
Launch the S200 Tools program by clicking the desktop icon or from the Windows Start button
(Programs > Danaher Motion > S200Tools). The default location for S200Tools.exe, is
(C:\Program Files\Danaher Motion\S200Tools).
When the S200 Tools program is launched for the first time, no drives should be listed under
the Online or Offline Communications Mode.
24
S200-VTS Product Manual
Danaher Motion
4.2.4.2
05/2008
Quick Start Guides
Start Communication Wizard
Open the Communication Wizard by selecting it from the toolbar (Utilities > Communication
Wizard) or clicking the shortcut icon.
Select SynqNet as the Communications Mode.
If you do not know which type of drive is connected, click the Test button. The returned
message will either say that there is no connection, confirm that you have an S200 connected,
or tell you that the connected node is NOT an S200 drive.
After you have confirmed your setup, click the OK button.
The installed S200 drive(s) will now be listed as "Online" and will list its configuration and status
options. If there are additional S200 nodes on the network, they are automatically discovered.
When using a network with multiple SynqNet nodes, use the SynqNet controller/node pulldown
bars to select a particular node on the network to display in the Online mode.
S200-VTS Product Manual
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Quick Start Guides
05/2008
Danaher Motion
NOTE for SynqNet: Although the S200 Tools software maintains communication with all
properly connected S200 drives drives on the SynqNet network, only one SynqNet node will be
displayed at a time under the Online display.
4.2.5
SynqNet Configuration
The next step is to set the proper drive and motor feedback configurations.
Under the SynqNet Options tab, select the source for motor feedback (Feedback Source).
Select Base Unit Feedback if the motor feedback is connected to J3 on the S200 Drive.
Select Option Card Feedback if the motor feedback is connected to J14 on the S200 Drive.
4.2.6
Motor Feedback Configuration
The next step is to set the proper motor feedback configurations.
4.2.6.1
SFD
If you are using SFD motor feedback, no further configuration is needed.
26
S200-VTS Product Manual
Danaher Motion
4.2.6.2
05/2008
Quick Start Guides
SinCos or ComCoder
If you are using SinCos or ComCoder as motor feedback, use the equations below to
determine the appropriate parameters for setup.
Kip
Kip = 2*PI()*2000*(motor line to line inductance)
Ex: l-l inductance = 0.018 H
Kip = 2*PI()*2000*(0.018)
Kip = 226 V/A
I2TF0
I2TF0 = 5/(2*PI()*(motor time constant in minutes)*60))
Ex: Mtc = 20 minutes
I2TF0 = 5/(2*PI()*20*60)
I2TF0 = 0..000663 Hz
I2TTrip
I2TTrip = (motor continuious current)*1.25
Ex: Ics = 4 Arms
I2TTrip = 4*1.25
I2TTrip = 5 Arms
ILmtPlus
ILmtPlus = (motor peak current)/(drive peak current)*100
Ex: Motor Ip = 4.5 Arms, Drive Ip = 9 Arms
Motor Ip = (4.5/9)*100
Motor Ip = 50%
ILmtMinus
Typically ILmtMinus is set to the same value as ILmtMPlus. Although there can be asymetrical
current limits in the drive.
Dpoles
Dpoles = motor poles
4.2.7
Save Options
There are three types of Save options. It is important to know how to use each type to ensure
that configurations are not lost.
Download NV - This button will save the parameter settings displayed in S200 Tools to the
selected drive. These parameters are saved to the drive's permanent memory and are recalled
during a power-up cycle.
Download Drive - This button will save the parameter settings displayed in S200 Tools to the
selected drive/node. However, unlike Download NV, these parameters are only saved to the
drive's temporary RAM and will not be recalled at a power-up cycle. It is recommended that you
use the Download Drive button when testing settings. Once you are satisfied with the settings,
click the Download NV button to permanently save the settings to the drive.
Save/Save As - You can also save the settings of a drive as a configuration file (*.S2C).
Remember, saving a configuration file does NOT save the settings to the drive. Configuration
files can be helpful for saving multiple drive setups. You can easily download a setting to a
drive by opening the configuration file in the Offline mode and clicking the Download NV/Drive
buttons once the proper drive is selected in the Online mode. It is recommended that you save
a configuration file for each setup.
S200-VTS Product Manual
27
Mounting the Drive
5
05/2008
Danaher Motion
MOUNTING THE DRIVE
The S200 drives are designed for operation in a cabinet using the following installation
instructions:
Mount the drives vertically inside a cabinet on a flat, solid, electrically conductive mounting
surface that is connected to PE (Protective Earth Ground) and capable of supporting the weight
of the unit.
Provide a good connection to PE. Remove the paint on the mounting surface over an area
extending at least 12 mm (0.5 in) from the mounting bolts to achieve good electrical connection
over a large area between the drive and grounded mounting surface.
Ensure that the environment within the cabinet meets the requirements listed in the
Specifications.
5.1
Mounting Dimensions
AC INPUT DRIVES
AC1
AC2
S20260
S20360
AC3
S20660
AC4
AC5
S21260
S22448
177 mm
6.97 in
213 mm
8.39 in
76 mm
3.00 in
96.4 mm
3.80 in
152 mm
5.98 in
192 mm
7.57 in
12.7 mm
0.50 in
12.7 mm
0.50 in
12.7 mm
0.50 in
12.7 mm
0.50 in
19 mm
0.75 in
19 mm
0.75 in
25.6 mm
1.01 in
31.7 mm
1.25 in
4.3 mm
0.17 in
166.4
mm 6.55
in
2.1 mm
0.08 in
169.5
mm 6.67
in
DC INPUT DRIVES
DC Base
w/
Drive
Option
S20330S20330VTS
x
S20630S20630VTS
x
Drive Dimensions
Drive Height (A)
Drive Width (B)
Drive Depth1 (C)
175.0 mm
6.90 in
54.8 mm
2.16 in
64.0 mm
2.52 in
131.6 mm
5.18 in
Clearance Requirements
Top and Bottom
12.7 mm
(D)
0.50 in
12.7 mm
Side to Side (E)
0.50 in
Mounting Dimensions
Horizontal
25.6 mm
Mounting Offset
1.01 in
(F)
Vertical Mounting
4.3 mm
Offset (G)
0.17 in
166.4
Vertical Mounting
mm
Height (H)
6.55 in
57.5 mm
& 6.5
mm
5.0 mm
0.20 in
202.5
mm 7.97
in
115.4
mm 4.54
in
152.4 mm
6.00 in
28.7 mm
1.13 in
48.3 mm
1.90 in
100.8 mm
3.97 in
12.7 mm
0.50 in
12.7 mm
0.50 in
12.7 mm
0.50 in
12.7 mm
0.50 in
24.6 mm
0.97 in
24.6 mm
0.97 in
4.1 mm
0.16 in
144.3
mm
5.68 in
41.40
mm
1.63 in
4.1 mm
0.16 in
144.3
mm
5.68 in
60.96
mm
2.40 in
Drive to Drive
Mounting (J)
67.5 mm
2.66 in
76.7 mm
3.02 in
88.7 mm
3.39 in
Mounting
Hardware
Drive Weight
(no option card)
M4 or #8
M4 or #8
M4 or #8
M4 or #8
M4 or #8
M4 or #8
0.77 kg
1.69 lb
0.85 kg
1.86 lb
1.33 kg
2.93 lb
2.56 kg
5.64 lb
0.40 kg
0.88 lb
0.5 kg
1.10 lb
1
Depth measurement is for drive only. Add approximately 50.8 mm (2 in) to depth
given in the table to accommodate mating connectors and wire bend radius.
28
S200-VTS Product Manual
Danaher Motion
05/2008
Horizontial
Mounting Offset
(F)
Top Clearance
(D)
Mounting the Drive
Drive Width
(B)
Vertical
Mounting
Offset
(G)
For Drive
Mounting
use M4 or #8
Hardware
Vertical
Mounting
Height
(H)
Side Clearance
(E)
Bottom
Clearance
(D)
Drive
Height
(A)
For Drive
Mounting
use M4 or #8
Hardware
Drive to Drive Mounting
(J)
Side Clearance
(E)
Mounting Dimensions - Front View
See the preceding table for mounting dimensions.
S200-VTS Product Manual
29
Mounting the Drive
05/2008
5.2
Mechanical Outline Drawings
5.2.1
Base AC Drive (S20260-, S20360-, S20660-VTS)
Danaher Motion
Note: All S20660-VTS dimensions are exactly as shown above except for the product width.
The 2.16 in [54.75 mm] width above changes to 2.52 in [64.0 mm] for the S20660-VTS.
Enclosure and mounting dimensions for Option card equipped units are the same.
30
S200-VTS Product Manual
Danaher Motion
5.2.2
05/2008
Mounting the Drive
Base AC Drive (S21260-VTS)
150.5 [5.93]
DETAIL A
SCALE 1 : 1
4.6 [0.18] 2 Places
Ø4.6 [Ø0.181] 2 Places
TOP VIEW
31.7 [1.25]
76.1 [3.00]
4.8 [0.19]
169.5 [6.67]
178.8 [7.04]
FRONT VIEW
RIGHT SIDE VIEW
REAR VIEW
4.6 [0.18]
Dimensions are mm [inches]
Note: Enclosure and mounting dimensions for Option card equipped units are the same.
S200-VTS Product Manual
31
Mounting the Drive
5.2.3
05/2008
Danaher Motion
Base AC Drive (S22460-VTS)
Note: Enclosure and mounting dimensions for Option card equipped units are the same.
32
S200-VTS Product Manual
Danaher Motion
5.2.4
05/2008
Mounting the Drive
Base DC Drive (S20330-, S20630-VTS)
Note: Enclosure and mounting dimensions for Option card equipped units are NOT the same.
See Section 5.2.6 for details.
S200-VTS Product Manual
33
Mounting the Drive
5.2.5
05/2008
Danaher Motion
SynqNet AC Drive (S20260-, S20360-, S20660-SRS)
5.18
[ 131.57 ]
0.18
[ 4.57 ]
Ø
RECOMMENDED MOUNTING
HARDWARE: #8 or M4
0.18
[ 4.57 ]
TOPVIEW
1.01
[ 25.56 ]
2.16
[ 54.75 ]
0.17
[ 4.32 ]
6.89
[ 175.01 ]
FRONT VIEW
RIGHTSIDEVIEW
6.55
[ 166.37]
REARVIEW
0.17
[ 4.32 ]
DIMENSIONS ARE IN INCHES [MM]
Note: All S20660-SRS, S20660-SDS dimensions are exactly as shown above except for the
product width. The 2.16 in [54.75 mm] width above changes to 2.52 in [64.0 mm] for the
S20660-SRS, S20660-SDS.
34
S200-VTS Product Manual
Danaher Motion
5.2.6
05/2008
Mounting the Drive
SynqNet DC Drive (S20330-, S20630-SRS)
3.97
[ 100.84 ]
0.18
[ 4.57 ]
Ø 0.18
RECOMMENDED MOUNTING
HARDWARE: #8 or M4
[ 4.57 ]
TOPVIEW
0.97
[ 24.64 ]
1.90
[ 48.26 ]
0.16
[ 4.06 ]
6.00
[ 152.40 ]
FRONT VIEW
RIGHT SIDEVIEW
5.68
[ 144.27 ]
REARVIEW
0.16
[ 4.06 ]
DIMENSIONS ARE IN INCHES [MM]
S200-VTS Product Manual
35
9
10
8
7
5
6
4
3
2
23
NC
TX232
6
5
4
3
2
1
26
J5
J1
9
8
7
6
5
4
3
2
1
4
3
2
1
36 Ohm
Optional
External
Regen Resistor
240/120 VAC
47 - 63 Hz
240/120 VAC
47 - 63 Hz
MOTOR
SFD OR
HALLS
Notes:
1. For S2xx50 voltager doubler models see
Appendix for ac line interface details.
2. The motor and feedback cable shielding
shown is for individual cables. Kollmorgen
also offers a combined motor and feedback
cable.
L1 240/120 VAC NEUTRAL
L2 240/120 VAC HOT
L3 240 VAC
C1 CTRL VAC
C2 CTRL VAC
+BUS
-BUS
REGEN
PE
PHASE U
PHASE V
PHASE W
PE
NC/CW
NC/CV
SFD COM+/CU
SFD COM-
SFD +5 RTN
SFD +5V
05/2008
I/O RTN
I/O RTN
RX232
NC
I/O RTN
24
ANA CMD25
ANA CMD+
I/O RTN
22
J2
6
5
4
3
2
1
AC Drive (S20260-, S20360-, S20660-VTS)
21
AC
INPUT
DRIVE
S200
J3
6.1.1
CH B OUT / CH B IN
20
19
18
17
16
15
14
13
J4
AC Input Drive Wiring
CH B OUT / CH B IN
CH A OUT / CH A IN
CH A OUT / CH A IN
CH Z OUT
CH Z OUT
I/O RTN
DAC MON2
DAC MON1
I/O RTN
11
SFD BAT+
12
HSINP1-
HSINP1+ (STEP/PWM)
DOUT2DOUT2+ (RUN)
DOUT1DOUT1+ (FAULT)
MSINP1 (DIRECTION)
DINP3 (INHIBIT-)
DINP2 (INHIBIT+)
1
COMMAND I/O
DINP COM
FEEDBACK
36
DINP1 (ENABLE)
6.1
SERIAL
PORT
WARNING
MOTOR
POWER
6
AC
POWER
Wiring the Drive
Danaher Motion
WIRING THE DRIVE
READ these instructions before connecting power. Damage can
result from MISWIRING at the power terminals.
DANGEROUS voltages are present on power input and motor output
terminals.
S200-VTS Product Manual
Danaher Motion
6.1.2
05/2008
Wiring the Drive
AC Drive (S21260-, S22460-VTS)
S200-VTS Product Manual
37
Wiring the Drive
6.2
05/2008
Danaher Motion
J1 – AC Input Drive Power
The S200 AC input drives are capable of direct line operation. All units are fully isolated and do
not require external isolation transformers. The inrush current on the connection to the line is
internally limited to a safe level for the drive. There are no voltage selection or ranging switches
required to operate within the specified voltage input ranges.
The S200 series drives are functionally compatible with all standard forms of three phase AC
lines:
Grounded neutral WYE
Open-Delta Grounded Leg
TEE
NOTE
The customer is responsible for supplying the appropriate fuses or
circuit breakers in the J1 AC motor power lines to comply with local
electrical codes.
The control input power required is between 5 and 10 watts. The AC input motor power
depends on output power and losses in the power stage.
CAUTION
Appendix G – Regulatory Information of this manual contains
additional information needed to ensure regulatory compliance.
On AC input drives with peak current < 18 Arms, J1 is a 9 pin pluggable connector (shown
below). On larger AC input drives connections are to fixed terminal block TB1 that needs no
mating connector. See wiring diagrams for full connection details.
J1 Connector view from front of drive.
Pin
Description
J1-1
PE (Protective Earth)
J1-2
REGEN
J1-3
-BUS
J1-4
+BUS
J1-5
C2 CTRL VAC
J1-6
C1 CTRL VAC
J1-7
L3 240 VAC
J1-8
L2 240/120 VAC
J1-9
L1 240/120 VAC
Mating Connector Information for S20260, S20250, S20360, S20560, S20660
Screw Terminal Connector
12 – 24 AWG Wire Range, Phoenix MSTB2,5/9-STF-5,08-BK
OR
Spring Cage Clamp Connector
12 – 24 AWG Wire Range, Phoenix FKC 2,5/9-SFT-5,08-BK
OR
Crimp Connector
Crimp Shell
14-20 AWG Wire Range, Phoenix MSTBC 2,5/9-STZF-5,08-BK
Crimp Contact
14-16 AWG Wire Range, Phoenix MSTBC-MT 1,5-2,5
Crimp Contact
18-20 AWG Wire Range, Phoenix MSTBC-MT 0,5-1,0
Refer to http://www.phoenixcon.com.
38
S200-VTS Product Manual
Danaher Motion
05/2008
Wiring the Drive
To avoid damage to the connector and drive, NEVER plug or unplug J1 with
power applied.
CAUTION
J1-1 or Chassis
Screw PE
Protective Earth
J1-2 or TB1-5
REGEN
WARNING
NOTE
WARNING
This chassis ground point must be connected to
Protective Earth ground. The connection at the
Protective Earth ground end must be hard wired
(do not use a pluggable connection). A ground
fault detector (RCD) cannot be depended on for
safety.
Connection for an optional regeneration power
resistor to absorb regenerated energy from the
motor. Models S20260 and S20360 typically use
36 Ω. S20660, S21260 typically use 12.5 Ω, and
S22460 typically uses 8 Ω. Other values within
the min to max resistance specification range can
be used. Use a Wire wound resistor with 1500
VRMS isolation between terminals and case. Many
applications do not require a regen resistor. If
over-voltage faults occur during motor
deceleration, then the more kinetic energy is being
returned to the bus capacitors than they can
handle. Connect the proper Ohmage 50 to 1000
watt power resistor from this terminal, to terminal
J1-4 (+BUS) in order to eliminate the over-voltage
faults. The power rating of the regen resistor
depends on the amount of regenerated energy
that needs to be dissipated.
The regen input is not short circuit protected. The regen resistance MUST
be within specified ranges to prevent damage to the drive. For example,
S20260, S20360 drives must be between 25 to 50 Ω.
For safety, either mount the external resistor on a grounded panel or wire it
to a grounded connection. The terminals of the resistor MUST NOT be
grounded.
Wait 5 minutes after power is removed for the bus cap voltage to decay to a
safe level before touching the regen resistor or wiring. Monitor the voltage
on the bus caps with a voltmeter from +BUS (J1-4) to -BUS (J1-3).
J1-3 or TB1-6
-BUS
J1-4 or TB1-7
+BUS
J1-5, J1-6
or J1-2, J1-3
C2 CTRL VAC
C1 CTRL VAC
The -BUS terminal is usually left open during
normal operation. In special multi-axis
applications, drive buses can be wired in parallel
to allow returned energy from one motor to power
another and limit high regen powers.
The +BUS terminal is used with the J1-2, REGEN,
terminal to add a regen resistor to the drive to
absorb regenerated energy.
These terminals connect 120/240 VAC power to
the drive’s control voltage power supply.
S21260, S2460 on separate 3 pin pluggable J1.
These terminals are NOT connected to the bus
power L1, L2 (J1-8,9) inside the drive.
Input Voltage Range (RMS)
85 VAC to 265 VAC single phase
47 to 63 Hz
120 VDC to 375 VDC
Inrush Peak Current
10 A 0-p with 240 VAC Input
Inrush pulse width
1.60 ms
Fusing
Bussmann MDA – ½
S200-VTS Product Manual
39
Wiring the Drive
05/2008
Danaher Motion
For maximum ride through capability a 240 VAC input is recommended.
NOTE
J1-7, J1-8, J1-9
or TB1-8,9,10
L3 240 VAC
L2 240/120 VAC
L1 240/120 VAC
These terminals connect 120/240 VAC power to
the drive’s output power stage BUS for motor
power.
For single-phase operation, 120/240 use inputs
J1-8, L2, and J1-9, L1.
Input Voltage Range (RMS)
Phases
Transformer
(recommended KVA if
transformer is required.)
Maximum AC Line KVA1
1
S20260, S20360, S20660: 0 to 265 VAC
S21260, S22460: 120 to 265 VAC
1 or 3
S20260: 1.5 to 2 kVA
S20360: 2.0 to 3 kVA
S20660: 3.0 to 5 kVA
S21260: 4.5 to 6 kVA
S22460: 8.0 to 12 kVA
S20260, S20360, S20660: 100
S21260, S22460: 250
Maximum AC Line is specified to limit the mains surges to the drive.
Recommended Fusing
Line Inputs
S20260
S20360
S20660
S21260
S22460
Type – 250 VAC Time Delay Fuse
40
240 VAC 3 Phase
(ARMS)
Bussmann
FRN-R-5
Bussmann
FRN-R-8
Bussmann
FRN-R-15
Bussmann
JKS-20
Bussmann
JKS-30
240 VAC 1 Phase
(ARMS)
Bussmann
FRN-R -5
Bussmann
FRN-R-10
Bussmann
FRN-R-20
Bussmann
JKS-30
Bussmann
JKS-30
120 VAC 1 Phase
(ARMS)
Bussmann
FRN-R -5
Bussmann
FRN-R-10
Bussmann
FRN-R-20
NA
NA
S200-VTS Product Manual
DINP COM
9
10
8
7
5
6
4
3
2
1
22
21
20
19
18
17
16
15
14
13
NC
TX232
6
5
4
3
2
1
26
J4
J5
DC
INPUT
DRIVE
S200
J3
J2
J1
3
2
1
4
3
2
1
6
5
4
3
2
1
TB1
+CTRL
+BUS
BUS/CTRL GND
+
-
+
-
Main Power
20 - 90 VDC
Control Power
10 - 90 VDC
Alternate Dual Supply Wiring
3
2
1
- Main Power
+ 20 - 90 VDC
MOTOR
SFD OR
HALLS
I/O RTN and BUS/CTRL GND pins are
connected together in the drive
NOTE:
CHASSIS/PE
+BUS
BUS/CTRL GND
+CTRL
PHASE U
PHASE V
PHASE W
GND
NC/CW
NC/CV
SFD COM+/CU
SFD COM-
SFD +5 RTN
SFD +5V
05/2008
I/O RTN
I/O RTN
RX232
NC
I/O RTN
24
ANA CMD25
I/O RTN 23
ANA CMD+
CH B OUT / CH B IN
CH B OUT / CH B IN
CH A OUT / CH A IN
CH A OUT / CH A IN
CH Z OUT
CH Z OUT
I/O RTN
DAC MON2
DAC MON1
I/O RTN
11
SFD BAT+
12
HSINP1-
HSINP1+ (STEP/ PWM)
DOUT2DOUT2+ (RUN)
DOUT1DOUT1+ (FAULT)
MSINP1 (DIRECTION)
DINP3 (INHIBIT-)
DINP2 (INHIBIT+)
DINP1 (ENABLE)
COMMAND I/O
SERIAL
PORT
FEEDBACK
MOTOR
POWER
S200-VTS Product Manual
DC
POWER
6.3
DC
POWER
Danaher Motion
Wiring the Drive
DC Input Drive Wiring
41
Wiring the Drive
6.4
05/2008
Danaher Motion
J1 – DC Input Drive Power
The S200 DC input drives should be powered from power supplies with reinforced isolation.
On DC input drives, J1 is a 3 pin pluggable connector.
Pin
1
3
(J1 Connector view from
front of drive).
CAUTION
Description
J1-1
+CTRL
J1-2
BUS/CTRL GND
J1-3
+BUS
To avoid damage to the connector and drive, NEVER plug or unplug J1 with power
applied.
Mating Connector Information
Screw Terminal Connector
12 – 24 AWG Wire Range, Phoenix MSTB2,5/3-STF-5,08-BK
OR
Spring Cage Clamp Connector
12 – 24 AWG Wire Range, Phoenix FKC 2,5/3-SFT-5,08-BK
OR
Crimp Connector
Crimp Shell
14-20 AWG Wire Range, Phoenix MSTBC 2,5/3-STZF-5,08-BK
Crimp Contact
14-16 AWG Wire Range, Phoenix MSTBC-MT 1,5-2,5
Crimp Contact
18-20 AWG Wire Range, Phoenix MSTBC-MT 0,5-1,0
Refer to www.phoenixcon.com.
J1-1
Control power input. The DC drive accepts +10 to +90 VDC on this
+CTRL
input referenced to J1-2. An isolated regulated or isolated unregulated
power supply can be used. This input can be connected to +Bus input
(J1-3) and powered by the same supply as +Bus. The control power
supply should be rated for 20 watts. While the power drain typically is 2
W to 8 W, a 20 W supply ensures reliable starting of the drive.
J1-2
Power return for the control and BUS power supplies. The
BUS/CTRL GND
BUS/CTRL GND is connected to I/O RTN internally in the drive.
J1-3
Main power input to the drive. The DC drive accepts +20 to +90 VDC
+BUS
on this input referenced to J1-2. An isolated regulated or isolated
unregulated power supply can be used. The +Bus power drain with +Bus
voltage at 75 VDC is in the range shown below. It varies according to the
application and motor.
+Bus (Continuous Power)
+Bus (Peak Power)
NOTE
PE
Screw
Connection
42
S20330 (3 Amp)
S20630 (6 AMP)
250 watt
750 watt
500 watt
1,500 watt
Refer to the DC Power Supply Requirements section for detailed requirements
selecting a compatible power supply.
Protective Earth connection point. This chassis ground point must be
connected to Protective Earth ground. The connection at the Protective
Earth ground end must be hard wired (do not use a pluggable
connection).
A ground fault detector (RCD) cannot be depended on for safety.
S200-VTS Product Manual
Danaher Motion
6.4.1
05/2008
Wiring the Drive
DC Power Supply Requirements
Bus Voltage (J1-3 to J1-2)
+ 20 VDC to + 90 VDC
BUS Supply Current
48 VDC BUS
75 VDC BUS
S20330 Continuous Peak (3 sec)
3.3 ADC at 160 W
10 ADC at 480 W
3.3 ADC at 250 W
10 ADC at 750 W
S20630 Continuous Peak (3 sec)
6.7 ADC at 320 W
20 ADC at 960 W
6.7 ADC at 500 W
20 ADC at 3,000 W
Bus Supply Characteristics
The BUS Supply should have the following
characteristics:
Must provide safety isolation from the power line.
Can be regulated or unregulated.
Bus Supply Return is connected to the Control
Supply Return and I/O RTN in the drive.
Typical BUS Supply:
Unregulated, Isolating, step-down transformer
with secondary rectified into capacitive filter.
BUS Supply Return is connected to earth
ground.
6.4.2
Wiring from BUS Supply to
Drive
10 ft maximum
16 AWG (minimum)
Twisted pair
Daisy chaining of multiple drive OK.
No contactor or switching in the BUS wiring.
Control Voltage
(J1-1 to J1-2)
+ 10 VDC to +90 VDC
Control Supply Type
Isolating
Unregulated or Regulated
Common GND with bus supply and I/O RTN.
20 watt supply or 1 amp short circuit.
Control Supply Wiring
Wire control (J1-1) to bus (J1-3)
or
Wire control (J1-1) to separate supply to preserve
status and fault information. (+ 10 VDC to + 30 VDC
supply can be shared by Control and I/O)
Control Supply Current
20 to 110 mA at 75 VDC
60 to 330 mA at 24 VDC
125 to 660 mA at 12 VDC
Bus Voltage
Bus voltage outside the operating range (20 to 90 V) causes an undervoltage or overvoltage
fault. Undervoltage and overvoltage faults are self-cleared when the fault conditions are
cleared.
NOTE
Do Not allow the Bus Voltage to exceed + 90 VDC as it can
damage the drive.
Target design center voltage for unregulated supply is +70 to
+75 VDC. This provides 15 to 20 VDC margin for line tolerance, transformer regulation, and
regen pump up. Design center voltage for a regulated supply can be up to +80 VDC.
S200-VTS Product Manual
43
Wiring the Drive
6.4.3
05/2008
Danaher Motion
Control Voltage
The control voltage range for normal operation is +10 VDC to +90 VDC. The control voltage
can either be wired to the bus voltage so one supply can power the drive, or from a separate
supply. Separately powering the control from the bus allows the bus to be powered down for
safety while drive status and fault information remain available.
NOTE: Control and I/O can share a single +10 VDC to +30 VDC power supply.
NOTE
6.4.4
Do NOT allow the Control Voltage to exceed + 90 VDC as it can
damage the drive.
Grounding
Provide safety isolation with the external bus and control supplies from the power line.
NOTE
The drive cannot be powered from an electrically Hot supply
as it does not contain an isolation barrier.
The Ctrl and Bus voltages and non-opto coupled I/O grounds (I/O RTN) are commoned inside
the drive. The Ctrl and Bus power supplies share a ground pin (Bus/Ctrl Gnd). Join and connect
to the negative terminals of the Ctrl and Bus power supplies. The I/O RTNs are normally
connected to the signal ground of the system. (Some of the I/O is opto coupled and have
separate returns. Be sure to thoroughly review this document for details.)
The power supply negative terminal should be grounded somewhere in the cabinet. The
chassis should also be grounded. In normal operation there should be no significant voltage
between ground and the Bus/Ctrl Gnd and I/O RTNs.
NOTE
6.4.5
The maximum voltage allowed between Bus/Ctrl Gnd and
chassis is 100 VDC.
Bus Capacitance
There is a minimum requirement on the output capacitance of the bus power supply for the
S200 DC Input Drives. This capacitor is needed to absorb energy during motor deceleration
and motor disable. It also helps provide energy during motor acceleration. For multiple S200
drives operated from one supply, the recommendation is to increase the capacitance according
to the number of drives. For example, for four 6 A / 18 ARMS DC S200 drives powered from
one 75 VDC supply, the recommended minimum bus output capacitance of the supply is 4 x
4,000 µf = 16,000 µf. Bus capacitor voltage rating should be 100 V. Bus capacitor type is
aluminum electrolytic.
6.4.6
Bus Switching and Fusing
Do NOT put E-Stop switches or contactors between the drive bus pin (J1-3) and the power
supply bus capacitor. There is a risk of damage to the drive if the bus is disconnected from the
power supply capacitor when the drive is enabled. The motor does not need to be rotating to
regenerate energy. The motor windings store magnetic energy that regenerates back to the
supply when the drive is disabled.
E-stop switches can safely be located in series with the primary winding of a step down
transformer. If individual axis E-Stop switches are required, connect a local (unswitched)
capacitor (1,000 µf, 100 V) across the drive bus terminals (J1-3 to J1-2). If the buses of
individual drives are to be fused, select the fuse type and rating for high margin.
S20330 (3 amp)
7 A, Slo-Blo (Bussmann MDA-7)
44
S20630 (6 amp)
15 A, Slo-Blo (Bussmann MDA-15)
S200-VTS Product Manual
Danaher Motion
6.5
05/2008
Wiring the Drive
J2 – Motor Power Connector
On smaller drives with Drive Ipeak 18 Arms or less J2 is a 4 pin pluggable connector. On
larger drives the motor power connection is made on fixed terminal block TB1 and needs no
mating connector.
(J2 Connector view from front of
drive).
4
1
Pin
Description
J2-1
S200 AC Input Drives: PE (Physical Earth)
S200 DC Input Drives: BUS/CTRL GND
J2-2
Motor Phase W
J2-3
Motor Phase V
J2-4
Motor Phase U
Mating Connector Information
Screw Terminal Connector
12 – 24 AWG Wire Range, Phoenix MSTB2,5/4-STF-5,08-BK
OR
Spring Cage Clamp Connector
12 – 24 AWG Wire Range, Phoenix FKC 2,5/4-SFT-5,08-BK
OR
Crimp Connector
Crimp Shell
14-20 AWG Wire Range, Phoenix MSTBC 2,
5/4-STZF-5,08-BK
Crimp Contact
14-16 AWG Wire Range, Phoenix MSTBC-MT 1,5-2,5
Crimp Contact
18-20 AWG Wire Range, Phoenix MSTBC-MT 0,5-1,0
Refer to www.phoenixcon.com.
J2-1 or TB1-1
PE
Motor Case
Ground
NOTE
On S200 AC Input Drives this point is connected to
Chassis Ground.
On S200 DC Input Drives this point is connected to
BUS/CTRL GND.
In either case this termination provides a convenient
point for the motor ground connection and motor
power wire shield.
Local electrical code may require using the Earth
Ground Chassis stud for this function.
These three terminals provide the 3-phase power
output from the drive to the motor.
J2-2, 3, 4
or TB1-2,3,4
Motor Phases
Observe motor polarity, connect phase U on the drive to phase U on
the motor, etc.
For nonstandard motor drive combinations see Appendix D –
Process To Set Up Non-Danaher Motors or consult the factory for
proper phase orientation.
S200-VTS Product Manual
45
Wiring the Drive
6.6
05/2008
Danaher Motion
J3 – Feedback Connector
J3 is a 6-pin pluggable IEEE 1394 style connector for the feedback device. Although this
connector mechanically accepts standard IEEE 1394 cables, it is electrically not a 1394
interface. The base drive accepts either SFD (Smart Feedback Device) or Hall inputs.
1
2
3
4
5
6
(J3 Connector view from front of
drive)
Pin
Description
J3-1
SFD +5 V (200 mA)
J3-2
SFD +5 RTN
J3-3
SFD COM-
J3-4
SFD COM+/CU
J3-5
NC/CV
J3-6
NC/CW
Shell
Shield Connection
Mating Connector Information
IEEE1394, Firewire type, 2.0 mm plug set
22 AWG Max., Molex 55100-0600
Refer to www.molex.com for assembly instructions.
J3 –1
SFD +5 V
J3-2
SFD +5 RTN
J3-3
SFD COMJ3-4
SFD COM+ / CU
J3-5
NC / CV
J3-6
NC / CW
Shell
46
This terminal provides a 5 VDC output to power
the feedback device. For example, motors
equipped with SFD, Halls or a commutation
encoder. The load current should not exceed 200
mA.
This terminal is the return connection for the 5
VDC supply. An inner feedback cable shield can
be connected to this point. Outer shields should
connect to the shell which is PE.
SFD serial communications port when using the
SFD feedback device. No connection when using
Hall feedback.
SFD serial communications port when using the
SFD feedback device. CU (Commutation Phase
U) input when using open collector Hall feedback.
This input has a 2.21 kW pull-up resistor to 3.3 V.
No connection when using the SFD feedback
device. CV (Commutation Phase V) input when
using open collector Hall feedback. This input has
a 2.21 kW pull-up resistor to 3.3 V.
No connection when using the SFD feedback
device. CW (Commutation Phase W) input when
using open collector Hall feedback. This input has
a 2.21 kW pull-up resistor to 3.3 V.
Outer shield connection (wired to PE in the drive).
S200-VTS Product Manual
Danaher Motion
6.7
05/2008
Wiring the Drive
J4 – Command I/O Connector
1
9
10
18
26
19
J4 is a 26-Position High Density D subminiature
female connector.
(J4 Connector view from front of drive.)
Pin
J4-1
J4-2
J4-3
J4-4
J4-5
Description
DINP COM
DINP1 (Enable)
DINP2 (Inhibit +)
DINP3 (Inhibit -)
MSINP1 (Direction)
Pin
J4-14
J4-15
J4-16
J4-17
J4-18
Description
DAC MON1
DAC MON2
I/O RTN
Encoder Output Channel Z
J4-6
J4-7
DOUT1DOUT1+ (Fault)
J4-19
J4-20
Channel A Encoder Output/Input
J4-8
J4-9
DOUT2-
Channel B Encoder Output /Input
DOUT2+ ( RUN )
J4-21
J4-22
J4-10
J4-11
J4-12
J4-13
HSINP1+ (Step/PWM)
HSINP1SFD BAT+
I/O RTN
J4-23
J4-24
J4-25
J4-26
I/O RTN
Analog Command Input +
Analog Command Input I/O RTN
Encoder Output Channel Z
Channel A Encoder Output /Input
Channel B Encoder Output /Input
Mating Connector Information
26-Pin Male High Density D-Sub with Back shell Kit
24 AWG Max., NorComp 180-026-102-001 – D-Sub Connector
NorComp 978-015-010-03-1 – Back shell Kit
Refer to www.norcomp.net.
6.7.1
General Purpose Inputs
DINP1-3
J4-2, 3, 4
MSINP1
J4-5
Common Input
Terminal
J4-1
S200-VTS Product Manual
The general purpose inputs are a bank of
four inputs that share a common terminal
(DINP COM) on J4-1. The inputs operate
over a wide input voltage range of ± 4.0 to
± 30 V. General purpose inputs are
compatible with either sourcing or sinking
currents to provide maximum flexibility for
interfacing to field wiring.
47
Wiring the Drive
05/2008
Danaher Motion
J4-1
DINP COM
4.32 k
J4-2
DINP1 (ENABLE)
4.64 k
4.32 k
4.64 k
J4-3
DINP2 (INHIBIT+)
4.32 k
4.64 k
J4-4
DINP3 (INHIBIT-)
J4-5
MSINP1 (DIRECTION)
4.32 k
4.64 k
Input current is a function of the input voltage and listed in the following
table.
Input Voltage (±)
Input Current (±)
4.0 volts
0.65 mA
5.0 volts
0.95 mA
12 volts
2.5 mA
24 volts
5.3 mA
30 volts
6.7 mA
The response time for DINP1, DINP2, and DINP3 is less than 1 ms.
DINP4 has a response time of less than 100 µs.
NOTE
48
For fastest response to an input, configure the drive to respond when the
input optoisolator is turned on (current starts flowing in the photo diode).
Response time is cut approximately in half.
S200-VTS Product Manual
Danaher Motion
6.7.1.1
05/2008
Wiring the Drive
Default Input Functions
The list below describes the factory default functions for each of these inputs. A logic input
hardware is active when current is flowing through its photo diode. Inactive logic input
hardware is open circuited (has no photo diode current). The active control logic polarity of
each input can be set by the corresponding DInpXPol NV Parameter. In other words,
depending on the state of DinpXPol, a given hardware input driven active, will activate or not
activate a drive control function.
DINP1 (ENABLE)
DINP2 (INHIBIT+)
DINP3 (INHIBIT-)
DINP4
(DIRECTION)
Input 1: The ENABLE control function mapped to this input
enables/disables the drive and resets the latched drive faults.
With default logic polarity (DInp1Pol = Normal), the drive can
enable when input 1 is activated (current flowing in the photo
diode) and will be disabled when open circuited. This input will
disable a drive independent of any other parameters. Successful
enabling requires no drive faults and SWEnable, SynqNet drive
enable active as appropriate.
Setting this input to the inactive state clears any latched drive
faults.
Input 2: The INHIBIT+ control function mapped to this input
prevents further motion in the clockwise shaft motion direction
when activated by current flowing in the photo diode. This input
has no effect on motion in the counter-clockwise direction. This
function can be turned on or off by setting EnhibitCW. DInp2Pol
sets the control logic active polarity for this hardware input.
This input is useful for a clockwise over travel limit switch. Broken
wire “failsafe” over travel limit switch operation requires that
DInp1Pol be set to Invert by the user to change the factory
default.
NOTE: For S200 drives with the SynqNet option, the base drive
INHIBIT+ function is turned off by EnhibitCW = Off. Over travel
limit switch inputs must be wired directly to J13 on the SynqNet
option card.
Input 3: This input operates symmetrically to DINP2 with the
INHIBIT- control function preventing further motion in the counterclockwise shaft motion direction. This function can be turned on
or off by setting EnInhibitCCW. DInp3Pol sets the control logic
polarity.
Input 4: This input is the direction input when the drive is in
Position Mode with the PosCmdSrc set to Step & Direction. Open
circuit/no LED current positively increments the position
command/motor goes CW. Set up time for direction is 100 µs.
Minimum pulse width is 200 µs. Refer to DInp4.
Driving the General Purpose Inputs
For compatibility with sinking outputs, the DINP COM terminal is
Sinking Logic
connected to the positive terminal of a power source (4.0 to 30
VDC). The input (DINP1-4) is connected to the sinking logic
output of the field device as shown in the diagram below.
S200-VTS Product Manual
49
Wiring the Drive
05/2008
Danaher Motion
J4-1
DINP COM
+
External
4 - 30 VDC
Pow er Supply
J4-2, 3, 4, 5
DINP1-4
DC
4.32 k
4.64 k
Sinking Logic Output
f rom Field Device
.
Sourcing Logic
External
4 - 30 VDC
Pow er Supply
For compatibility with sourcing outputs, the DINP COM
terminal is connected to the negative terminal of the
power source (4.0 to 30 VDC). The input (DINP1-4) is
connected to the sourcing logic output on the field device
as shown in the diagram below.
Sourcing Logic
Output from Field
Device
+
J4-1
DINP COM
DC
-
4.32 k
J4-2, 3, 4, 5
DINP1-4
TTL and CMOS
Drivers
4.64 k
.
The following are examples of driving with TTL or CMOS
output devices.
+5 VDC
4.32 k
4.64 k
SINKING TTL or CMOS
+5 VDC
4.32 k
4.64 k
SOURCING CMOS
50
S200-VTS Product Manual
Danaher Motion
6.7.2
05/2008
Wiring the Drive
General Purpose Outputs
General
Purpose
Outputs
DOUT1 and DOUT2 are optically isolated outputs that
provide information about the state of the drive. The
outputs are Darlington phototransistors with a 33 V zener
diode wired in parallel to clamp voltage transients.
J4-7
DOUT1+ (FAULT)
J4-6,7
DOUT1
(FAULT)
33V
J4-6
DOUT1-
J4-9
DOUT2+ (RUN)
J4-8,9
DOUT2
( RUN )
J4-8
DOUT2-
33V
The following table lists the maximum output rating.
Maximum Voltage
30 VDC
Maximum Current
50 mA
VON
1.0 V at 10 mA
1.2 V at 50 mA
IOFF
5 µA
Response Time
1 ms
Clamp Voltage
33 V (nominal)
CAUTION
S200-VTS Product Manual
The outputs are not short circuit protected. Configure the application
to ensure the maximum current is not exceeded.
51
Wiring the Drive
6.7.2.1
05/2008
Danaher Motion
Default Output Functions
The list below describes the factory defaults for each of the outputs.
Output 1: This output provides the FAULT state of the
DOUT1
drive. When the drive is powered and not faulted, the
(FAULT)
output transistor is turned ON. When the drive is faulted or
not powered, the output transistor is turned OFF.
Output 2: This output provides the RUN state of the drive.
When the drive is powered, not faulted and enabled, the
output transistor is turned ON. When the drive is faulted,
not enabled or not powered, the output transistor is turned
OFF. This output indicates when the drive is capable of
running the motor.
DOUT2
(RUN)
6.7.2.2
Outputs Driving Typical Loads
Both the collector and emitter of the phototransistor are on J4, providing the capability to drive
either sinking or sourcing loads.
Sinking Load
+
External
Power Supply
30 VDC MAX
DC
-
Current Limiting Resistor
50 mA MAX
An optoisolator is being driven in this example. The current through the output needs to be
limited to 50 mA or less, which is accomplished by selecting an appropriate current limiting
resistor. The voltage of the external power source needs to be 30 VDC or less, and can be the
same source used to provide power to the inputs.
Sourcing Load
Clamp
Diode
+
External
Power Supply
30 VDC MAX
Relay
Coil
Current Limiting Resistor
50 mA MAX
DC
-
In this example, a relay coil is being driven. The current through the coil needs to be limited to
50 mA or less, which is accomplished by selecting an appropriate value of current limiting
resistor.
The voltage of the external power source needs to be 30 VDC or less and can be the same
source used to provide power to the inputs. A clamp diode must be added across the coil to
clamp the voltage during turn-off.
52
S200-VTS Product Manual
Danaher Motion
6.7.3
05/2008
Wiring the Drive
High Speed Input
High Speed Input
J4-10, 11
(Step or PWM)
The S200 has one high speed input for use with PWM input
commands or with Step Input in Position Mode.
221 Ω
J4-10
HSINP1+
2.21 k
J4-11
HSINP1-
The high speed input works directly with 5 V input, 3.0 to 6.0
V range, without the use of a current limiting resistor. To
operate the input with voltages higher than 5 V, an external
current limiting resistor is required in series with the input.
The input current should be in the range of 9 to 24 mA for
proper operation. The following table lists the recommended
current limiting resistors for supply voltages greater than 5 V.
Supply Voltage
Current Limiting Resistor
5V
None
12 V
360 Ohms, ¼ watt, resistor
24 V
1000 Ohms, ½ watt, resistor
In Step-Dir Position Mode the transition edge from LED
current to no LED current yields a step count. The transition
edge from no LED current to LED current yields no action.
NOTE
Maximum step frequency is 1.5 MHz
Minimum pulse width is 250 ns
NOTE
For single ended operation, it is recommended that both wires (J4-10 and
J4-11) run in the cable be terminated at the control source (differential
noise).
High Speed Input
Differential Drive
A differential drive is recommended for the Step Input. To
provide maximum noise immunity, drive the high speed
input differentially from 5 V logic through twisted pair wiring.
The differential driver needs to deliver a minimum of 3.0 V
to the input terminals on J4. A CMOS driver is
recommended.
Twisted Pair
Wiring
J4-10
HSINP1+
3.0 V Min.
5 V Differential
Driver - CMOS
S200-VTS Product Manual
J4-11
HSINP1-
53
Wiring the Drive
05/2008
Danaher Motion
Sinking Load
For single ended operation, both terminals of the high speed input are available on J4, allowing
the input to be connected to either sinking or sourcing logic. The following diagram shows the
connections to drive the high-speed input from sinking logic.
J4-10
HSINP1+
+
DC
External
4 - 30 VDC
Power Supply
-
J4-11
HSINP1External Current Limiting
Resistor for supply > 5.0 V
Sinking Logic Output
from Field Device
Sourcing Load
The following shows the connections to drive the high-speed input from sourcing logic. The
power supply can be the same power source used to provide power for the general purpose
inputs.
+
External
4 - 30 VDC
Power Supply
DC
-
Sourcing Logic
Output from Field
Device
External Current Limiting
Resistor for supply > 5.0 V
J4-10
HSINP1+
J4-11
HSINP1-
6.7.4
SFD BAT+
J4-12
SFD BAT+
J4-13
I/O RTN
6.7.5
The SFD BAT+ terminal is an optional feature and is not
required for proper operation of the drive. It is only required if
battery backup of the multi-turn information is required from
the SFD. If the feedback device is not an SFD, then the
battery does nothing.
The I/O RTN is the ground reference for the SFD BAT+ input.
DAC Monitors
J4-14
DAC MON1
J4-15
DAC MON2
J4-13, 16, 23, 26
I/O RTN
The DAC Monitors are general-purpose analog monitor
points. The output range is 0.5 to 4.5 V with a source
impedance of 2.9 kW, which limits the short circuit to I/O
RTN to 2 mA. Each DAC Monitor can be mapped by
software to one of a number of internal variables.
/O RTN is the ground reference for the DAC MON, Analog
Command, Encoder output/inputs, and SFD BAT+. These
pins are electrically shorted together inside the drive.
Connect one of the I/O RTN pins to an earth ground point in the cabinet
reserved for single point grounding of all returns (drives and supplies) to
control common mode voltage.
54
S200-VTS Product Manual
Danaher Motion
6.7.6
05/2008
Wiring the Drive
Encoder Outputs/Inputs
Channels A and B are RS-485 compliant differential I/O that can be
configured as either inputs or outputs. Default is as outputs. When
configured as outputs and with high resolution feedback such as the SFD
device, Channels A and B provide position signals generated from the
feedback device that emulate a quadrature encoder.
The outputs are buffered by 5.0 V, 75LBC170 type RS-422 compatible line
drivers. Recommended load current is ±20 mA, which corresponds to a
line-to-line load resistance of 100 Ω. These outputs can handle shorts to
I/O RTN indefinitely without damage.
The resolution of the Encoder Outputs (number of pulses per motor
revolution), is set by S1 (rotary switch), as follows:
J4-19
CH A OUT/IN
J4-20
CH A OUT/IN
J4-21
CH B OUT/IN
J4-22
CH B OUT/IN
Outputs
S1
Position
0
Encoder Pulses/Revolution
User settable1 (factory default = 500)
1
2
3
4
5
6
7
8
9
512
1000
1024
2000
2048
4096
5000
8192
10000
1
NOTE
Inputs
S200-VTS Product Manual
User settable non-volatile PPR via the serial port.
Possible PPR are:
128, 512, 1024, 2048, 4096, 8192, 16384, 32768,
125, 500, 1000, 2000, 2500, 5000, 10000, 20000
The maximum output line frequency is 2.5 MHz. Limit line frequency to below
1.25 MHz, which corresponds to quadrature count frequency below 5 MHz, for
robust operation.
The emulated encoder output is only available when using a high
resolution feedback device such as the SFD feedback to the base unit
or Encoder feedback to the option card. The emulated encoder outputs
have no signals when there is only base unit 6-step feedback.
Channels A and B can be configured as inputs by setting NV Parameter
PosCmdSrc to AQUADB. With NV Parameter OpMode set to Position and
PosCmdSrc to AQUADB, the motor shaft position command comes from the
quadrature decode of channels A and B input scaled by the ratio of NV
Parameters GearOut over GearIn. In Input mode, Channels A & B accept
quadrature position commands. The command signals need to be differential
quadrature signals.
Channel A leading B generates a CW position command while Channel B
leading A generates a CCW position command. The magnitude of the
command position is set by GearIn and GearOut. The maximum input line
frequency for reliable operation is 625 kHz, which corresponds to a maximum
quadrature pulse rate of 2.5 MHz.
55
Wiring the Drive
05/2008
J4-17, 18
CH Z OUT
CH Z OUT
Danaher Motion
The CH Z Output is only available when using SFD Feedback. These
two terminals function as a differential, TTL marker pulse. The output
pulse occurs once per motor shaft revolution, starting at feedback
device position = 0. Its width is one line width or two quadrature
encoder widths. The CH Z uses the same differential driver as
described for CH A and CH B.
PosFB – EncOutZoffset = 0
Encoder
Phasing
A
B
Z
Encoder Phasing for Clockwise Motor Rotation
6.7.7
Analog Command Input
ANA CMD
J4-24, 25
(+), (-) Inputs
This differential input accepts the analog command from the user. It
has a maximum single ended input range with respect to I/O RTN on
either input of –12.5 to +15.5 VDC, a differential input impedance of
> 300 kΩ, and a single ended impedance of > 150 kΩ. The
recommended full-scale differential command input range is ±10 V,
but the input can handle up to ±12 V to accommodate noise and
overshoot spikes. Default setup has ±10 V corresponding to ±Ipeak
or ± maximum velocity depending on the OpMode.
The offset, gain (including polarity), and low pass filter bandwidth of
this input are set by the following NV Parameters: CmdGain,
CmdOffset, and CmdF0 respectively and can be adjusted by the
PC setup software. Defaults are ±10 V range, 0 offset, 1500 Hz
bandwidth. Positive ANA CMD yields clockwise torque when
looking at the shaft at the front of the motor.
- Vad +
20 k
ANA
CMD +
J4-24
ANA
CMD -
J4-25
I/O RTN
Z
33.2 k
15.0 k
OP AMP
15.0 k
33.2 k
J4-26
130 k
100 pf
130 k
100 pf
-
+
+
To
A/D
20 k
Z
1.575 V
NOTE
56
Always connect I/O RTN (J4-26) to the signal ground of the
source. Failure to do so may result in erratic operation.
Both J4-24 and J4-25 need to be wired. For single ended
operation connect the unused input to the signal ground of the
source. Best signal fidelity uses a separate wire all the way back
to the source for the unused input connection to the source’s
signal ground.
The direction of rotation of the motor can be changed by
swapping the ANA CMD input connections or changing the sign
of the CmdGain NV Parameter.
S200-VTS Product Manual
Danaher Motion
6.8
05/2008
Wiring the Drive
J5 – Serial Port Connector
J5 a 6-pin RJ-12/RJ-11 connector provides RS-232 serial communication to the drive. The RS232 transceiver is an industry standard RS-232 configuration using the MAX3221.
Pin
1
6
(J5 Connector view from
front of drive)
Description
J5-1
No Connection
J5-2
RX232
J5-3
I/O RTN
J5-4
I/O RTN
J5-5
TX232
J5-6
No Connection
Mating Connector Information
RJ12/RJ11 – Phone Style -Standard RJ12/RJ11 plug
J5-1, J5-6
No Connection
J5-2
RX232
J5-3, J5-4
I/O RTN
J5-5
TX232
CAUTION
S200-VTS Product Manual
These terminals are not used or connected to the drive.
RS-232 receiver input to the drive. This terminal connects to the user's
RS-232 transmitter output.
These terminals are the common/ground connection for the RS-232
serial port. The ground from the user's RS-232 needs to connect to this
terminal. Cable shielding is also connected to this point.
RS-232 Transmitter output from the drive. This terminal connects to the
user's RS-232 receiver input.
Do NOT use the serial connector/cable when using an S200
SynqNet Series Drive. SynqNet cables, not a serial cable, should
be used for communication between the drive and SynqNet
motion controller. If you connect to an S200 SynqNet Series Drive
using a serial cable and select 'Serial' instead of 'SynqNet' as the
Communications Mode in the S200Tools Communication Wizard,
the drive will appear configured in the interface, but the SynqNet
Options tab will not appear under the Drive Setup options.
57
Wiring the Drive
6.8.1.1
05/2008
Danaher Motion
Status LED
The Status LED is located below the Serial Port connector located at J5. Please see the Drive
Fault Codes section for descriptions.
6.8.2
Serial Interface Specification
Parameter
6.8.3
Specification
Baud rate
19,200
Electrical Interface
RS-232, Full duplex
Transfer format
UART, 1 start bit (mark), 8 data bits, odd parity bit
and 1 stop bit (space).
RS-232 Wiring
Cable wiring diagrams for connecting to either 9 or 25-pin serial ports of most computers are
also shown.
NOTE
Pinouts vary among computer manufacturers. Check the
hardware reference manual for your machine before wiring.
To PC
9 Pin Female
To PC
25 Pin Female
58
2
5
3
2
5
3
3
5
2
2
7
3
To J5
on Drive
To J5
on Drive
S200-VTS Product Manual
Danaher Motion
Wiring the Drive
SynqNet Option Card Wiring
+5V I/O
I/O RTN
FCOM+/Z+/DATA+
FCOM-/Z-/DATAAUX PTC
I/O RTN/PTC RTN
+5V I/O
J14
1
6
11
4
5
6
7
8
9
10
I/O RTN
11
AUX A+
5
10
15
12
AUX A13
AUX B+
14
OINP COM
OINP1 (HOME IN)
OINP2 (POSLIMIT IN)
OINP3 (NEGLIMIT IN)
OINP4 (NODE DISABLE)
GP RS422 IN3+
GP RS422 IN3OOUT1+
OOUT1I/O RTN
1
2
3
5
6
7
8
9
10
11
12
GP RS422 IN013
GP RS422 IN1+
14
GP RS422 IN0+
S200-VTS Product Manual
CONN_RD1+
2
CONN_RD1-
3
CONN_TD1+
4
5
CONN_RTERM1
CONN_RTERM1
6
CONN_TD1-
7
CONN_TTERM1
8
CONN_TTERM1
1
CONN_TD0+
2
CONN_TD0-
3
CONN_RD0+
J13
5
4
I/O RTN
GP RS422 IN1-
1
15
DISCRETE IO
AUX B-
J12
SynQNet Out
AUX CW/CLOCK-
1
2
3
1
10
6
15
J11
11
SynQNet In
AUX CU
AUX CV/CLOCK+
AUX FB
6.9
05/2008
4
5
CONN_TTERM0
CONN_TTERM0
6
CONN_RD0-
7
CONN_RTERM0
8
CONN_RTERM0
15
59
Wiring the Drive
6.10
05/2008
Danaher Motion
J11 – SynqNet IN Port Connector
J11 is a Standard CAT5 connector.
(J11 Connector view from front of drive.)
Pin
Description
J11-1
CONN_TD0+
J11-2
CONN_TD0-
J11-3
CONN_RD0+
J11-4
CONN_TTERM0
J11-5
CONN_TTERM0
J11-6
CONN_RD0-
J11-7
CONN_RTERM0
J11-8
CONN_RTERM0
-
SHLD
Mating Connector Information
8-Pin Male PN 5-557315 (not shielded)
8-Pin Male PN 5-569552-3 (shielded)
6.10.1
SynqNet LEDs
Pin
Meaning
Description
ON = Tx and Rx active (cyclic phase)
STAT
Network Status Activity
BLINK = Tx only active (discovery phase)
OFF = Idle (shutdown phase)
LNK
60
Link Activity
ON = Link Active
OFF = Link Inactive
S200-VTS Product Manual
Danaher Motion
6.11
05/2008
Wiring the Drive
J12 – SynqNet OUT Port Connector
J12 is a Standard CAT5 connector.
(J12 Connector view from front of drive.)
Pin
Description
J12-1
CONN_RD1+
J12-2
CONN_RD1-
J12-3
CONN_TD1+
J12-4
CONN_RTERM1
J12-5
CONN_ RTERM1
J12-6
CONN_TD1-
J12-7
CONN_TTERM1
J12-8
CONN_ TTERM1
-
SHLD
Mating Connector Information
8-Pin Male PN 5-557315 (not shielded)
8-Pin Male PN 5-569552-3 (shielded)
6.11.1
SynqNet LEDs
Pin
Meaning
Description
ON = Repeater on, network cyclic
RPTR
Repeater
BLINK = Repeater on, network not cyclic
OFF = Repeater off, power off, or reset
LNK
S200-VTS Product Manual
Link Activity
ON = Link Active
OFF = Link Inactive
61
Wiring the Drive
6.12
05/2008
Danaher Motion
J13 – Discrete I/O Connector
15
10
11
5
1
J13 is a Standard D-Sub 15-pin Male connector.
6
Pin
(J13 Connector view from front of drive.)
Description
J13-1
OINP COM
J13-2
OINP1 (HOME IN)
J13-3
OINP2 (POSLIMIT IN)
J13-4
OINP3 (NEGLIMIT IN)
J13-5
OINP4 (NODE_DISABLE)
J13-6
GP RS422 IN3+
J13-7
GP RS422 IN3-
J13-8
OOUT1+
J13-9
OOUT1-
J13-10
I/O RTN
J13-11
I/O RTN
J13-12
GP RS422 IN0+
J13-13
GP RS422 IN0-
J13-14
GP RS422 IN1+
J13-15
GP RS422 IN1-
Mating Connector Information
15-Pin Female High Density D-Sub
NorComp 180-015-202-001 – Female D-Sub connector solder
NorComp 978-009-020-121 – Metalized plastic back shell kit
Refer to www.norcomp.net.
The optically isolated digital I/O on connector J13 is based on the exact same circuitry used on
the base unit on connector J4. For detailed electrical specifications and information on how to
interface to this I/O refer to Sections
6.7.1 General Purpose Inputs and 6.7.2 General Purpose Outputs.
J13 also includes 3 channels of very fast RS-422 compatible direct coupled differential digital
inputs that can be used for very high speed registration or probing functions.
62
S200-VTS Product Manual
S200-VTS Product Manual
GP_RS422_IN2-
GP_RS422_IN2+
33V
BZX84-C33
D2
NC
SOT23
K
BZXB4-C33
A
1
3
GP_RS422_INI/O RTN
OINP4
GP_RS422_IN1+
GP_RS422_IN2OINP3
GP_RS422_IN0GP_RS422_IN2+
OINP2
GP_RS422_IN0+
GP_RS422_IN3OINP1
I/O RTN
GP_RS422_IN3+
OINP COM
6
7
8
9
PE
16
SHLD1
1
2
3
4
5
15
11
12
14
13
J13
10
SHLD2
17
4
4
3
4
C118
1000PF
U15
D
2
1
GNDD
GP_RS422_IN1GNDD
NODE_DISABLE_IN
GP_RS422_IN1+
GP_RS422_IN2NEGLIMIT_IN
GP_RS422_IN0GP_RS422_IN2+
POSLIMIT_IN
GP_RS422_IN0+
GP_RS422_IN3HOME_IN
GNDD
GP_RS422_IN3+
DINP_COM
IO CONNECTOR
MALE PINS
R73
150
C67
GNDD
5
OOUT1
+3_3V
D
100NF
100NF
C69
100NF
C70
Receiver delay 35ns
DO NOT STUFF
R83
(ENABLE)
NODE_DISABLE_IN
4.64K
7
6
5
4
3
2
1
7
U12
GNDD
8
13
11
5
3
16
D
NOTES:
PS2805-4
GND
63
6
SHEET
FILE:
TITLE
10
11
12
13
14
15
16
D
GNDD
+3_3V
46.4K
R64
+3_3V
46.4K
R63
+3_3V
46.4K
R61
+3_3V
9
Motion Technology Division
NONE
CHK:
DWN:
1
J13-IO . 1
D
SIZE
APP'D:
8
3-105-030301
DRAWING NO.
NEG_LIMIT
CK
12-17-2007_14:04
NODE_DISABLE
APP'D:
I/O CIRCUITS
SCHEMATIC
SQNODE S200 OPTION CARD
HOME
DR
POS_LIMIT
GP_RS422_IN3
GP_RS422_IN2
GP_RS422_IN1
GP_RS422_IN0
110 Fordham Road, Wilmington MA 01887
SCALE
8
REVISION RECORD
SEE SHEET ONE
PACIFIC SCIENTIFIC
OF 1
9DS0-0114
DATE:
8
UNLESS OTHERWISE SPECIFIED:
4700PF
C46
-
DS26LV32SO16
15
+
-
RESISTORS: VALUES ARE OHMS, 1/4W,+/-1%
CAPACITORS: VALUES ARE IN MICROFARADS
DIODES :ARE 1N914B
SEE CUSTOMIZATION SHEET FOR FEATURES
4.32K
R60
4700PF
C61
4700PF
C45
D
9
14
+
-
+
-
+
VCC
SYM
46.4K
4.64K
R81
4.64K
C44
4700PF
GNDD
4.64K
R53
0
10
7
6
1
2
+3_3V
DATE
R65
R54
R84
4.64K
0
R75
4
12
U14
DS26LV32ATM
7
NEGLIMIT_IN
4.32K
R55
4.32K
R56
4.32K
R57
4.0V to 30V
0.65mA to 6.7mA
GP_RS422_IN3-
GP_RS422_IN3+
R108
GP_RS422_IN1-
GP_RS422_IN1+
GP_RS422_IN0-
GP_RS422_IN0+
4.64K
R52
+3_3V
(INHIBIT-)
POSLIMIT_IN
(INHIBIT+)
HOME_IN
DINP_COM
6
DO NOT STUFF
|Voff| Spec.: < 1.5V
|VOn| Spec.:
DINPx to DINP_COM
GP_RS422_IN2-
GP_RS422_IN2+
Input common mode voltage range: -7V to +7V
RS-422 Receivers for Position_Capture
+3_3V
5
1
REV
APPR
A
B
C
D
E
F
G
H
6.12.1
05/2008
3
3
Danaher Motion
Wiring the Drive
J13 – Discrete I/O Connection Schematic
Wiring the Drive
6.13
05/2008
Danaher Motion
J14 – AUX FB Connector
J14 is a Standard D-Sub 15-pin Female connector.
15
11
10
6
5
1
Pin
(J14 Connector view from front of drive.)
Description
J14-1
AUX CU
J14-2
AUX CV/CLOCK+
J14-3
AUX CW/CLOCK-
J14-4
+5V I/O
J14-5
I/O RTN
J14-6
FCOMZ+ / DATA+
J14-7
FCOMZ- / DATA-
J14-8
AUX PTC
J14-9
I/O RTN
J14-10
+5V I/O
J14-11
I/O RTN
J14-12
AUX A+
J14-13
AUX A-
J14-14
AUX B+
J14-15
AUX B-
Mating Connector Information
15-Pin Female High Density D-Sub
NorComp 180-015-102-001 – Male D-Sub connector solder
NorComp 978-009-020-121 – Metalized plastic back shell kit
Refer to www.norcomp.net.
6.13.1
Auxiliary Feedback Device Port
Run
FB
Type
X
Incremental Encoder
X
X
Incremental Encoder + Halls
AKM Motor Feedback Options:ED, EE, DF, EG, EM, EH, EN, EJ
X
1 Vp-p Sin-Cos 65536x Interpolator
X
X
1 Vp-p Sin-Cos 65536x Interpolator + Halls
X
X
EnDat 2.1 Sin-Cos Encoder Single-turn absolute
AKM Motor Feedback Option DA or other EnDat 2.1
X
X
EnDat 2.1 Sin-Cos Encoder Multi-turn Absolute
AKM Motor Feedback Option DB or other EnDat 2.1
X
X
EnDat 2.2 Encoders operating in 2.1 compatibility mode both
rotary and linear including absolute types
Run - Commutate the motor and close the servo loops.
FB - Use as a secondary feedback to SynqNet master.
64
S200-VTS Product Manual
Danaher Motion
6.13.2
05/2008
Wiring the Drive
Auxiliary Feedback Sin-Cos Interpolation Scaling
The J14 1 Vp-p analog Sin-Cos feedback interface has a 65536x (16 bit) interpolator that is
followed by a programmable scalar to create the final measured position in counts. The
following diagram shows the scaling path. When J14 is used a an Auxiliary or second feedback
the user is free to select whatever value for the scaling parameter AuxFBDivisor best suits the
application. However, if the NV parameter FBSrc is set to Option Card, then AuxFBDivisor
must be set to the specific value which will properly electronically commutate the motor work.
S200-VTS Product Manual
65
Basic Configuration
7
05/2008
Danaher Motion
BASIC CONFIGURATION
When connected to a motor equipped with the Smart Feedback Device (SFD), the S200 drive
will automatically configure most of its operating parameters. For many applications requiring
an analog torque or analog velocity block, no additional set up beyond the setting of the two
switches is required to fully commission the drive. For such cases, connection to a computer to
commission the drive is not required. The quick setup is useful for simplifying machine field
upgrades/repairs and for reducing spare part inventory. See Configuring with SFD Feedback.
The drive can also be configured for a simple analog Torque/Current control with 6-Step (Hall)
Feedback type by simply setting the switches. See Configuring Current Mode with 6-Step (Hall)
Feedback.
The S200 drive has many advanced capabilities to aid machine design through its diagnostic
and measurement capabilities accessed through the Windows compatible S200Tools GUI
utility. The drive also has many advanced motion capabilities that can be set up through the
S200Tools utility. For example, if desired, the settings of the switches can be overridden in
drive non-volatile memory to eliminate any accidental miss-adjustment of the drive in the field.
See the Advanced Configuration section for more details.
7.1
Switch Settings
The configuration switches S1 and S2 are located on the top of the drive. Although the drive
can be configured to not use the switches, the factory default configuration uses the switches
for selecting Torque/Current versus Velocity operational mode, SFD or 6-step feedback device,
and emulated encoder line count.
S1
S2
9 0 1
1
7.1.1
2
3
4
7 8
Dow n/Closed
4 5 6
2 3
Up/Open
S2 - DIP Setup Switch
S2 is a 4-position DIP switch. Switch positions 1 and 2 can set the operational mode and
feedback types when enabled. Setting the drive parameters as shown in the following table
enables the switch and is the factory default configuration. Switch positions 3 and 4 are
reserved for future functionality and should be left in the down/closed factory default position.
Switch
Position
Parameter
Setting
Switch State
Function
Down/Closed
Up/Open
S2-1
OpMode =
SetupS2-1
Operational
Mode
Torque/Current
Control
Velocity
Control
S2-2
CommMode
= SetupS2-2
Feedback
Type
SFD
6-Step
S2-3
Reserved
Default
Reserved
S2-4
Reserved
Default
Reserved
Drive parameter settings can override the S2 switch settings. To enable S2
for setup verify that the following drive parameters are set as shown below.
The factory default is to ship the drive with the switches enabled:
NOTE
66
Parameter
Value
OpMode
SetupS2-1
CommMode
SetupS2-2
S200-VTS Product Manual
Danaher Motion
7.1.2
05/2008
Basic Configuration
S1 - Rotary Setup Switch
Switch S1 is a 10-position rotary switch. The function of switch S1 depends on the feedback
mode in which the drive is configured.
7.1.2.1
S1 Function with SFD Feedback
When using the Smart Feedback Device (SFD), S1 sets the emulated encoder line count.
S1
Position
Emulated Encoder
Lines/Revolution
S1 Position
Emulated Encoder
Lines/Revolution
5
2048
6
4096
5000
1
1
User settable
(factory default = 500)
512
2
1000
7
3
1024
8
8192
4
2000
9
10000
0
1
S1 position 0 allows setting the non-volatile line count via the drive
parameter EncOut to any of the following values:
128, 512, 1024, 2048, 4096, 8192, 16384, 32768
125, 500, 1000, 2000, 2500, 5000, 10000, 20000
The value written replaces the factory default value listed in position 0 of
the table.
NOTE
S200-VTS Product Manual
The emulated encoder output is only available when using
SFD feedback to the base unit or a high-resolution feedback
device connected to the option card.
67
Basic Configuration
7.1.2.2
05/2008
Danaher Motion
S1 Function with 6-Step Feedback
In 6-step mode, S1 sets the current loop proportional gain, KIP. Set S1 to the value listed in the
table for your drive type and motor inductance. Consult the factory if the motor inductance is
lower or higher than what can be accommodated by S1. An incorrect setting of KIP can cause
current loop instability or oscillation potentially resulting in damage to the drive or application.
Motor Inductance Table for 6-Step Commutation (L in mH)
AC Input Drive
DC Input Drive
S1
Position
S20260
S20360
S20660
S20330
S20630
User
1
Settable
(factory
default =
96.932)
User
Settable1
(factory
default =
48.416)
User
Settable1
(factory
default =
24.208)
User
Settable1
(factory
default =
12.104)
User
Settable1
(factory
default =
6.052)
01
6.17 - 9.03
3.09 - 4.50
1.55 - 2.25
0.52 - 0.75
0.27 - 0.38
1
9.04 13.39
4.51 - 6.69
2.26 - 3.34
0.76 - 1.11
0.39 - 0.56
2
13.40 19.56
6.70 - 9.78
3.35 - 4.89
1.12 - 1.63
0.57 - 0.81
3
19.57 28.89
9.79 14.44
4.90 - 7.22
1.64 - 2.41
0.82 - 1.20
4
28.90 43.34
14.45 21.67
7.23 10.83
2.42 - 3.61
1.21 - 1.80
5
43.35 63.80
21.68 31.90
10.84 15.95
3.62 - 5.32
1.81 - 2.65
6
63.81 95.11
31.91 47.55
15.96 23.76
5.33 - 7.92
2.66 - 3.96
7
95.12 144.49
47.56 72.24
23.77 36.12
7.93 12.04
3.97 - 6.02
8
144.50 216.74
72.25 108.4
36.13 54.20
12.05 18.06
6.03 - 9.03
9
1
S1 position 0 allows setting the non-volatile KIP via the serial port to any
valid value in 6-Step mode. The value written will replace the default value
listed in position 0 of the table.
7.1.3
S11, S12 - Rotary SynqNet ID Switches
The SynqNet ID switches can be used to help distinguish and differentiate a drive on the
network by assigning a unique ID to the drive.
To set a SynqNet ID to an S200 drive, turn the S11 LSB (Least Significant Bit) and S12 MSB
(Most Significant Bit) switches to a desired letter/number combination.
The SynqNet ID can then be read using the following utilities: Motion Console and Version.exe
Utility.
68
S200-VTS Product Manual
Danaher Motion
7.1.3.1
05/2008
Basic Configuration
Motion Console
In the SqNode Summary window, under the Info tab, the SynqNet ID is displayed in the Switch
ID field. See screenshot below.
SYNQNET ID
S11 = 5
S12 = A
7.1.3.2
Version.exe Utility
The version.exe utility also displays the Switch ID field. See screenshot below.
SYNQNET ID
S11 = 5
S12 = A
S200-VTS Product Manual
69
Basic Configuration
7.2
05/2008
Danaher Motion
Configuring for Brush Motors
NOTE
With a SynqNet option card the S200 Drive must be set with FBSrc =
Base Unit.
To drive a brush motor connect to the S200 as shown below.
1
S200
2
3
4
No
Connection
Brush M otor W iring
5
6
J2
1
M OTOR
POW ER
FEEDBACK
J3
3
PE
2
Motor Motor +
4
BRUSH
M OTOR
To finish configuring the S200 to drive a brush motor, set the following parameters using the
S200Tools utility. Once configured, the parameters should be saved to non-volatile MEMORY
(click the NV Save button). The configuration will then be recalled on drive power up. Refer to
Advanced Configuration for detailed descriptions of the parameters. The relevant parameters
are listed in the table below.
Parameter
70
Value
CommMode
Brush
CommOff
0 Degrees
OpMode
Torque/Current
Or
SetupS2-1 with switch S2-1 set to the down position labeled, I
on the drive.
KIP
Set directly with the serial port when S1 is set to position 0.
Or
Set S1 to the appropriate position for the inductance of the
motor be used, refer to S1 Function with 6-Step Feedback.
I2TF0
Set to the motor’s thermal time constant.
I2TTrip
Set to the motor’s continuous current rating.
IlmtPlus
ILmtMinus
Set to the lower of 100% or the percent of the motor’s peak
current rating divided by the drives peak current.
CmdSrc
Selects Analog, PWM, or Command variable for command.
CmdGain
Sets the command gain for the command input.
CmdOffset
Sets the command offset for the command input.
CMDF0
Sets the filtering on analog input commands.
EnInhibitCW
EnInhibitCCW
Enables the hardware over travel limits.
S200-VTS Product Manual
Danaher Motion
05/2008
Basic Configuration
7.3
Configuring with 6-Step (Hall) Feedback
7.3.1
6-Step Feedback Wiring
3
CU
4
CV
5
CW
6
PE
1
M OTOR
POW ER
7.3.2
HALL
+5 RTN
2
FEEDBACK
J2
+5V
1
J3
PHASE W
2
PHASE V
3
PHASE U
4
M OTOR
6-Step Torque/Current Mode
In 6-Step mode with Hall or Hall equivalent feedback, the drive can be configured either using
the S200Tools utility or the S1 and S2 switches. Configuring the drive with the S200 Tools
provides the advantage of setting the drive's current limits and motor thermal protection. When
using S200Tools the configuration parameters should be saved to non-volatile memory to allow
the configuration to be recalled on power up.
To configure the drive for 6-Step feedback set the following parameters:
Parameter
Value
CommMode
SetupS2-2 (Default value) with switch S2-2 set to the up position labeled, 6 on
the drive.
or
6-Step
CommOff
0 Degrees (Default value)
OpMode
SetupS2-1 (Default value) with switch S2-1 set to the down position labeled, I
on the drive.
or
Torque/Current
KIP
Set directly with the serial port when S1 is set to position 0
or
Set S1 to the appropriate position for the inductance of the motor be used,
refer to Configuring Current Mode with 6-Step (Hall) Feedback.
I2TF0
Set to the motor’s thermal time constant.
I2TTrip
Set to the motor’s continuous current rating.
ILmtPlus
ILmtMinus
Set to the lower of 100% or the percent of the motor’s peak current rating
divided by the drives peak current.
CmdSrc
Sets the source of the command, analog or command variable.
CmdGain
Sets the command gain for the command input.
CmdOffset
Sets the command offset for the command input.
CmdF0
Sets the filtering on analog input commands.
S200-VTS Product Manual
71
Basic Configuration
05/2008
Danaher Motion
The following are optional parameters that can be set.
7.3.3
Parameter
EncOut
Function
Sets the line count of the emulated encoder output. With 6-Step feedback the
emulated encoder output works by interpolating between the edges. So, at low
speeds signal quality will be poor.
EnInhibitCW
EnInhibitCCW
Enables the hardware over travel limits.
6-Step Velocity Mode
In 6-Step mode with Hall or Hall equivalent feedback, the drive can be configured to control
shaft velocity. But, because of the coarse resolution of 6-Step feedback the velocity bandwidth
and smoothness will not be as good as other feedback options.
To configure the drive for 6-Step feedback Velocity mode set the following parameters:
Parameter
CommMode
CommOff
OpMode
ARF0
ARF1
KVI
CmdSrc
CmdGain
CmdOffset
CmdF0
Value
SetupS2-2 (Default value) with switch S2-2 set to the up position labeled, 6 on
the drive.
or
6-Step
0 Degrees (Default value)
Velocity
or
SetupS2-1 with switch S2-1 set to the up position labeled, V as shown on the
drive.
Single pole filters in the velocity loop forward path. Set to accommodate the
effects of mechanical resonance
Sets the velocity loop break out frequency from integral to proportional
compensation.
Selects Analog, PWM, or Command variable for command.
Sets the command gain for the command input.
Sets the command offset for the command input.
Sets the filtering on analog input command.
The following are optional parameters that can be set.
72
Parameter
EncOut
Function
Sets the line count of the emulated encoder output. With 6-Step feedback the
emulated encoder output works by interpolating between the edges. So, at low
speeds signal quality will be poor.
EnInhibitCW
EnInhibitCCW
Enables the hardware over travel limits.
S200-VTS Product Manual
Danaher Motion
05/2008
Basic Configuration
7.4
Configuring with SFD Feedback
7.4.1
SFD Motor Parameters
When the drive is powered up and connected to a motor with SFD feedback, the drive will
automatically configure itself for the attached motor by loading the default motor parameters.
The default motor parameters provide robust performance of current and velocity loops with
optimized settings to protect the motor from thermal overload. For most applications, these
default motor parameter settings are recommended because they provide excellent
performance and require no additional tuning. To use the default motor parameters verify that
SelSFDParam is set to SFD, which is the factory default setting.
If the response time and/or stability of the system needs to be further optimized for the specific
application, the motor parameters will need to be modified. To modify the motor parameters, set
SelSFDParam to Drive. This setting unlocks the motor parameters and allows the parameters
to be individually set with the S200Tools utility. The modified motor parameters will need to be
saved to the drive’s non-volatile memory (click the NV Save button) to ensure that the changed
settings are loaded when the drive is powered up.
Incorrect motor parameter settings can cause damage to the motor and/or drive.
The motor parameters need to be set correctly to match the drive to the motor. The
correct parameter settings ensure:
The drive is matched to the motor inductance and pole count.
CAUTION
The current and velocity loops are stable with good bandwidth.
The motor is protected from thermal overload.
A good starting point to setting the motor parameters is to obtain the default motor
parameters and then edit only the parameters that need to be changed
Using the S200 Tools, set SelSFDParam to SFD, this loads the default motor
parameters.
NOTE
Next, set SelSFDParam to DRIVE. This will allow the motor parameters to be
edited. Change only the parameters you are looking to optimize.
When finished setting the motor parameters (and any other parameters),
save the parameters to NV Memory by clicking the NV Save button.
The following drive setup parameters controlled by SelSFDParam:
Parameter
Value
KVP
Velocity loop proportional gain.
KIP
Current loop proportional gain.
DPoles
Drive pole pairs.
I2TF0
Speed of response for motor transient thermal protection.
I2TTrip
Fault trip level for motor transient thermal protection.
IlmtPlus,
IlmtMinus
Clamps drive maximum Iout based on motor Ipeak.
S200-VTS Product Manual
73
Basic Configuration
7.4.2
05/2008
Danaher Motion
SFD Torque/Current Mode
The S200 can drive a brushless motor in Torque/Current Mode using SFD Feedback. The drive
can be configured either with the S200Tools over the serial port or configured using the S1 and
S2 switches. Configuring the drive with the S200Tools utility provides increased flexibility in
setting parameters that are not available through the setup switches. When using the
S200Tools utility, the configuration parameters should be saved to non-volatile memory (click
the NV Save button) to allow the configuration to be recalled on power up.
To configure the drive for Current Mode with SFD feedback, set the following parameters:
Parameter
CommMode
CommOff
OpMode
SelSFDParam
CmdSrc
CmdGain
CmdOffset
CMDF0
Value
SetupS2-2 (Default value) with switch S2-2 set to the
down position labeled, S on the drive.
or
SFD
0 Degrees – for AKM motor series, check with your sales
representative for the correct commutation offset angle for
other motor series.
SetupS2-1 with switch S2-1 set to the down position
labeled, I, on the drive.
or
Current
SFD (Default value) – recommended setting.
This setting will automatically set the motor parameters.
To change motor parameters refer to Configuring with
SFD Feedback Motor Parameters.
Sets the source of the command.
Sets the command gain for the command input.
Sets the command offset for the command input.
Sets the filtering on analog input commands.
The following are optional parameters that can be set.
Parameter
EncOut
EnInhibitCW
EnInhibitCCW
74
Function
Sets the line count of the emulated encoder output.
Enables the hardware over travel limits.
S200-VTS Product Manual
Danaher Motion
7.4.3
05/2008
Basic Configuration
SFD Velocity Mode
The S200 can drive a brushless motor in Velocity Mode using SFD Feedback. The drive can be
configured either with the S200 tools over the serial port or configured using the S1 and S2
switches. Configuring the drive with the S200Tools utility provides increased flexibility in setting
parameters that are not available through the setup switches. When using the S200Tools utility,
the configuration parameters should be saved to non-volatile memory (click the NV Save
button) to allow the configuration to be recalled on power up.
To configure the drive for SFD feedback set the following parameters:
Parameter
CommMode
CommOff
OpMode
SelSFDParam
ARF0
ARF1
KVI
CmdSrc
CmdGain
CmdOffset
CmdF0
Value
SetupS2-2 (Default value) with switch S2-2 set to the
down position labeled, S on the drive.
or
SFD
0 Degrees – for AKM motor series. Check with your sales
representative for the correct commutation offset angle for
other motor series.
Velocity
or
SetupS2-1 with switch S2-1 set to the up position labeled,
V as shown on the drive.
SFD (Default value) – recommended setting
This setting automatically sets the motor parameters.
KVP is set for 75 Hz nominal velocity loop bandwidth with
an unloaded motor.
To change KVP or other motor parameters, refer to
Configuring with SFD Feedback Motor Parameters.
Single pole filters in the velocity loop forward path. Set to
accommodate the effects of mechanical resonance
Sets the velocity loop break out frequency from integral to
proportional compensation.
Selects Analog, PWM, or Command variable for
command.
Sets the command gain for the command input.
Sets the command offset for the command input.
Sets the filtering on analog input command.
The following are optional parameters that can be set.
Parameter
EncOut
EnInhibitCW
EnInhibitCCW
S200-VTS Product Manual
Function
Sets the line count of the emulated encoder output.
Enables the hardware over travel limits.
75
Basic Configuration
7.4.4
05/2008
Danaher Motion
SFD Position Mode
The base S200 can drive a motor in Position Mode using SFD Feedback. The source of the
command can either be Step and Direction, or A,B differential quadrature signals. The drive
needs to be configured using the S200Tools utility. The configuration parameters should be
saved to non-volatile memory (click the NV Save button) to allow the configuration to be
recalled on power up.
To configure the drive for SFD feedback set the following parameters:
Parameter
CommMode
CommOff
OpMode
PosCmdSrc
GearIn
GearOut
KPP
KVFF
SelSFDParam
KVI
ARF0
ARF1
Value
SetupS2-2 (Default value) with switch S2-2 set to the
down position labeled, S on the drive.
or
SFD
0 Degrees – for AKM motor series. Check with your sales
representative for the correct commutation offset angle for
other motor series.
Position
Selects the source of the command, either Step-Dir or
AquadB.
Sets the distance the shaft moves for each input position
command pulse/count.
Sets the proportional gain of the position loop.
Sets the feed forward gain of the derivative or the position
command to the internal velocity command.
SFD (Default value) – recommended setting
This setting will automatically set the motor parameters.
KVP will be set for 75 Hz nominal velocity loop bandwidth
with an unloaded motor.
To change KVP or other motor parameters refer to
Configuring with SFD Feedback Motor Parameters.
Sets the velocity loop break out frequency from integral to
proportional compensation.
Single pole filters in the velocity loop forward path. Set to
accommodate the effects of mechanical resonance.
The following are optional parameters that can be set.
Parameter
EncOut
EnInhibitCW
EnInhibitCCW
76
Function
Sets the line count of the emulated encoder output.
NOTE: Emulated Encoder Outputs are not available when
the PosSrcCmd is set to AQuadB.
Enables the hardware over travel limits
S200-VTS Product Manual
Danaher Motion
7.5
05/2008
Basic Configuration
Reversing Motion Direction
In order to reverse the motion direction of the drive, the command to the drive needs to be
reversed. In addition, the emulated encoder output polarity needs to be reversed if an external
controller is using the emulated encoder outputs for feedback.
To reverse the command to the drive in Torque or Velocity Modes either change the wiring or
change the parameters:
CmdSrc Setting
Wiring Method
Parameter Method
Analog Command
Swap the analog
command connections
(J4-24 and J4-25)
Change the sign of CmdGain
Command Variable
None
Change the sign of Command
PWM Input
Swap the PWM
connections (J4-10 and
J4-11)
Change the sign of CmdGain
To reverse the command to the drive in Position Modes:
PosCmdSrc Setting
Wiring Method
PosCmdSrc = AQuadB
Reverse the Ch A input to the drive by swapping J4-19
and J4-20.
PosCmdSrc = Step-Dir
The Direction command, J4-5, to the drive needs to be
inverted by the user’s controller.
To reverse the Emulated Encoder Outputs from the drive:
•
Reverse the Emulated Encoder Outputs if the external control loops use the emulated
encoder outputs for feedback.
•
Swap the CHA and CHA/ emulated encoder outputs (J4-19 and J4-20) going to the
external controller.
S200-VTS Product Manual
77
Advanced Configuration
8
05/2008
Danaher Motion
ADVANCED CONFIGURATION
The S200 is shipped with a factory configuration that is designed to work with a Smart
Feedback Device (SFD) equipped motor to implement an analog commanded Torque/Current
block.
•
The +10 V input (factory configuration) yields a maximum clockwise torque/current.
•
The –10 V input yields a maximum counter clockwise torque/current.
By adjusting the rotary switch (S1) to set the emulated quadrature encoder output, a completed
setup of the drive is now ready for many applications.
To configure the drive as an analog velocity loop with medium velocity loop bandwidth/stiffness,
adjust the DIP switch (S2) so that pin 1 is in the up position.
If this functionality serves the application need, the factory setup can be used as is in an
application.
For applications other than the two standard configurations described above, such as using a
PWM digital line for the command or implementing a position loop with Step and Direction
command, the drive configuration will have to be customized through the Windows® PC
compatible setup software called, S200Tools.
The rest of this chapter describes the S200 configuration options through diagrams of the
control loops, reference lists of setup parameters with their definitions and range, and further
explanations of drive capabilities.
78
S200-VTS Product Manual
S200-VTS Product Manual
Net Drive
Enable
Net
Velocity
Command
HSInp1 -
HSInp1 +
Σ
Σ
ARF0
-
VelErr
+
J4-11
J4-10
J4-25
+
-
Analog
2 Pole
Low Pass
Filter
PWM
CmdSrc
+
Σ
+
Σ
Reset
Hold
2π* KVI .
s
KVP
X
Velocity Loop
Integrator
+
ARF1
CmdGain
CmdOffset
+
CmdF0
Velocity
or
Position
Trq/I
ILmtMinus
Clamp
On
ILmtPlus
CmdSrc
Serial
Current
IFB
Arms
+=CW
Measured
Feedback
Variable
NV Setup
Parameter
xxxx
xxxx
ICmd
VelFB
+=CW
Arms
Net
Torque
Command
OpMode
Velocity
or
Trq/I
VelCmd Position
Position
Velocity Feedback
Rad/sec
OpMode
Command
2 Pole
Low Pass
Filter
Analog
or
PWM
CmdIn
8.1
Ana Cmd -
Ana Cmd +
J4-24
Danaher Motion
05/2008
Advanced Configuration
Base Drive Torque/Velocity Control Block Diagram
79
80
HSINP1 J4-5
J4-11
J4-10
J4-21
J4-20
Net
Position
Command
+
Σ
CH B OUT/IN +
J4-22
CH B OUT/IN -
CH A OUT/IN -
CH A OUT/IN +
J4-19
-
Rad
PosErr
AQuadB
Step-Dir
+
Σ
+
PosCmdSrc
2π* KPP .
RS-485
Inputs
Quadrature
Decode
StepDirection
Decode
Opto
Inputs
200 nSec
Digital
Accum
100
KVFF
819.2 µSec
Delta
d
dt
GearIn
GearOut
+=CW
Rad/Sec
VelCmd
Position
Counts
Net
Velocity
Command
Counts
to
Rad
6.4 µSec
Digital
Accum
Variable
NV Setup
Parameter
xxxx
xxxx
Measured
Position Feedback
PosFB
Feedback
Rad
6.4 µSec
Delta
d
dt
8.2
DINP4
Dir
J4-1
DINP COM
Step
HSINP1 +
Advanced Configuration
05/2008
Danaher Motion
Base Drive Position Control Block Diagram
S200-VTS Product Manual
S200-VTS Product Manual
ICmd
PosFB
+=CW
Arms
Position Feedback to SynqNet
Master 24 bits/Rev
ILmtMinus
Clamp
On
IFB
+=CW
Current Feedback
9668 Cnts = Ipeak on MoScope
Command
Variable
NV Setup
Parameter
xxxx
xxxx
Measured
Motor Position
Measured
Motor Current
Net
Torque
Command
8.3
S200 SynqNet Torque Mode
SynqNet Master
Current Command
19336 Cnts = Ipeak
ILmtPlus
Danaher Motion
05/2008
Advanced Configuration
SynqNet Drive Torque Control Block Diagram
81
82
Net Drive
Enable
-
2 Pole
Low Pass
Filter
Cnts
+
+
ILmtMinus
Clamp
On
xxxx
NV Setup
Parameter
Variable
Measured
Motor Position
Measured
Motor Current
Measured
Feedback
ICmd
Net
Torque
Command
xxxx
PosFB
Position Feedback to SynqNet
Master 24 bits/Rev
Velocity Feedback
VelFB
Rad/sec
+
ILmtPlus
IFB
Hold
KVP
ICmdFF
Current Feedback
9668 Cnts = Ipeak on MoScope
Reset
2 * KVI .
s
Velocity Loop
Integrator
+
ARF1
SynqNet Master
Current Feed
Forward
19336 = Ipeak
S200 SynqNet Velocity Mode
VelErr
+
ARF0
0.058517
Command
8.4
Rad/sec
SynqNet Master
Velocity
Command
Advanced Configuration
05/2008
Danaher Motion
SynqNet Drive Velocity Control Block Diagram
S200-VTS Product Manual
Danaher Motion
8.5
05/2008
Advanced Configuration
Parameters and Variables
Setup parameter values control the operation and configuration of an S200 and read only
variables give status information about the present operation of the drive. The below defines
the three types of parameters and variables.
NV Parameter: A type of variable stored in the non-volatile (NV) permanent memory on
the drive. See NV Parameters for a complete list and descriptions.
Status Variable: Gives information about the present state of the drive. Most of these
variables are Read-Only, meaning that you cannot directly change them; their value is
controlled by the drive itself, for example, measured shaft speed. See Status and Control
Variables for a complete list and descriptions.
Control Variable: A variable that controls a particular function on the drive. Control
Variables are volatile (erased when power is removed) and are initialized at fixed default values
every time that the drive is turned on. See Status and Control Variables for a complete list and
descriptions.
The next section gives more details on the memory structure of the drive and how values are
initialized. The succeeding two sections give detailed lists and descriptions of NV Parameters
and Status, Control Variables respectively. The functionality of the drive may be updated from
time to time, which may add to these lists.
8.5.1
Parameter and Variable Storage
The S200 has two types of memory: non-volatile memory and RAM. S200 non-volatile memory
(NV memory) is similar to disk memory in a personal computer in that it can be written to and
read from and maintains its settings without power. The S200 memory RAM is temporary
memory. When control power is applied, all NV parameter values are automatically copied from
NV memory into S200 RAM memory. The S200 operates out of temporary memory; that is the
temporary memory parameter values set the S200 configuration and adjustments.
S200 Tools configuration software changes S200 settings, which include both parameters and
variables. In the Offline branches of S200Tools configuration software, changes made to a
setting are made only in the PC S200Tools memory on the PC. Clicking the Download Drive
button sends the values to the drive’s temporary memory. Clicking the Download NV button
sends the values to the drive’s NV permanent memory. In the latter case the drive’s control
power must be cycled to get the drive to load the values into active use. When downloading or
uploading to the S200 from S200Tools software, all drive settings are copied. It is not possible
to upload or download only one parameter or variable.
In the online branch of S200Tools, the Drive Setup screen of S200Tools operates differently
than in offline. Under the Drive Setup screen, any change to a parameter is automatically
communicated to the drive's temporary memory. Once all the parameters are set you should
use the File menu to do a file save on the PC to save the drive configuration (*.S2C). If a drive
is connected, you can click the Download Drive button to send the parameters into the drive.
In the online section of S200Tools the Status screen allows a custom selection of NV
Parameters and variables to be selected. This screen is useful for interactively making setup
changes and to view drive status. When changes are made to an NV Parameter or a Variable
in this screen, the value in the S200 Tools PC memory is automatically copied to the S200
RAM memory for that particular parameter. Clicking NV Save on the Status screen uploads the
current state of the drive temporary RAM and downloads all these settings to the S200 nonvolatile memory. This step should be done before power cycling the drive control power and
losing the drive setup changes.
8.5.2
Model Dependent Scale Factors
The Model Dependent Scale Factors are used to calculate limits for some of the drive
parameters. The following table lists the model dependent scale factors.
Model Dependent Scale Factors
Model User
DIpeak ARMS
VBusScale Relative x
S20260
4.5
1
240 VAC 4.5 ARMS peak
S20360
9
1
240 VAC 9 ARMS peak
S20660
18
1
240 VAC 18 ARMS peak
S20330
9
0.25
90 VDC 9 ARMS peak
S20630
18
0.25
90 VDC 18 ARMS peak
S200-VTS Product Manual
Description
83
Advanced Configuration
8.5.3
05/2008
Danaher Motion
Read/Write NV Parameters
ARF0
1.518 – 96382 Hz
ARF1
1.518 – 96382 Hz
ARF0 and ARF1 set the break frequency in Hz for the two single-pole anti-resonance low pass
filters in the forward path of the velocity loop. They are used to help accommodate mechanical
resonance in the system introduced by the load connected to the motor. See the Base Drive
Torque/Velocity Control Block Diagram for more information.
AuxFBDivisor
1 to 2,147,483,647
(Option Card Only)
Supported over SynqNet.
This parameter is the divisor used to scale the raw incremental encoder counts or the Sin-Cos
encoder interpolated counts from the Aux Feedback interface to the Aux position word. If the
Aux Feedback device is used only for controller feedback then this parameter may be set to
any value convenient for the application. If the Aux Feedback device is used to commutate the
motor then it must be set to a specific value. For rotary motor commutation, this scaling
converts the Aux Feedback position word to a word with 24 bits per revolution. For linear motor
commutation, it converts to 24 bits per motor magnetic pole pitch distance. The table below lists
a number of commonly desired settings for AuxFBDivisor.
Incremental (A quad B) encoder
24
No motor commutation, 1 encoder
quadrature count = 1 Aux Feedback count:
AuxFBDivisor = 2
Commutating a rotary motor or 24 bits per
revolution:
AuxFBDivisor = number of quadrature
counts per mechanical revolution
Commutating a linear motor or 24 bits per
magnetic pole pitch:
AuxFBDivisor = number of quadrature
counts per magnetic pole pitch
= 16,777,216
1 Vp-p Sin-Cos
No motor commutation, 1 interpolation lsb = AuxFBDivisor = 28 = 256
1 Aux Feedback count or 65536 counts/SinCos cyle:
Commutating a rotary motor or 24 bits per
revolution:
AuxFBDivisor = number of Sin-Cos cycles
per mechanical revolution
Commutating a linear motor or 24 bits per
magnetic pole pitch:
AuxFBDivisor = number of Sin-Cos cycles
per magnetic pole pitch
AuxFBType
Type
(Option Card Only)
Supported over SynqNet.
This parameter selects the type of feedback wired to the AuxFB connector. It is a combination
of the following single bit parameters:
AFBHallDis, AFBDivisorSrc, AFBEnDatEnb, and AFBFBSrc.
The following table defines the state of these parameters for each supported feedback device.
Type
84
AFBHallDis AFBEnDatEnb
AFBDivisorSrc
AFBFBSrc
Incremental A Quad B
Disable
Disable
AuxFBDivisor
AQB
Incremental A Quad B
with Halls
Enable
Disable
AuxFBDivisor
AQB
1 Vp-p Sin-Cos
Incremental
Disable
Disable
AuxFBDivisor
SCD
1 Vp-p Sin-Cos Inc. with
Halls
Enable
Disable
AuxFBDivisor
SCD
EnDat 2.1
Disable
Enable
AuxPPR
SCD
EnDat 2.1 Linear
Disable
Enable
AuxFBDivisor
SCD
S200-VTS Product Manual
Danaher Motion
05/2008
Advanced Configuration
See AuxFBDivisor to complete the setup of the Aux Feedback interface.
Note: Many EnDat 2.2 devices can be wired to the J14 AuxFB Connector as long as the 1 Vp-p
Sin-Cos analog signals are also wired and the device will run in EnDat 2.1 compatibility mode.
Power up initialization of absolute position will work.
BatFDis
Enable/Disable
This parameter enables or disables the Battery Low fault. The Battery input on the command
I/O connector is an optional feature and is not required for proper operation of the drive. It is
only required if the battery backup of the multi-turn information is required from the SFD. If the
feedback device is not an SFD, then the battery does nothing.
0 - Enable Battery Fault
1 - Disable Battery Fault
CmdF0
1.518 – 93254 Hz
CmdF0 sets the break frequency in Hz for two cascaded single pole low pass filters on the
hardware command input. There are two ranges of values for CmdF0; from 2915 to 24873 Hz
cannot be set. The lower range is the active range suggested for velocity control and the upper
range is used to effectively turn the filter off for velocity control or for use with torque/current
control. This parameter is particularly useful when CmdSrc selects the PWM input for the
command source. CmdF0 should be less than the input PWM frequency divided by 10 and
preferably divided by 50 or more. See the Base Drive Torque/Velocity Control Block Diagram
for more information.
CmdGain
See Chart
CmdGain sets the scale factor from the user input on the Command I/O connector (J4) to the
internal servo loop command. CmdGain can be negative or positive, which allows the direction
polarity to be changed. Because the input to the command processing block can be an analog
voltage or a digital duty cycle and the servo loop could be Torque/Current or velocity there are
four combinations of units listed below. See CmdSrc and OpMode for these settings. See
CmdOffset for adding an offset to the command.
Expressed as an equation:
CmdIn = [(User Input) – CmdOffset] * CmdGain
NOTE: The Range of CmdGain is clipped by the value of CmdOffset. The chart below gives
CmdGain units and numerical range assuming that CmdOffset is 0 V/50%.
CmdSrc
OpMode
CmdGain Units
+/- CmdGain Range
Analog
Torque / Current
ARMS / V
ARMS / V
Analog
Velocity
krpm / V
krpm / V
PWM
Torque / Current
ARMS / %
ARMS / %
PWM
Velocity
krpm / %
krpm / %
CmdInNullEnb
Enable/Disable
CmdInNullEnb enables or disables the Command In ADC Null function. CmdInNullEnb enabled
allows the user to null the base drive CmdIn ADC by asserting DInp4 for a minimum of one
second. The CmdInNull function will update the variable CmdOffset to null out the DC offset
that is present and the CmdIn ADC at the time DInp4 is asserted. This function updates the
drive NV memory copy of CmdOffset as well.
0 - Enable CmdIn ADC Null function
1 - Disable CmdIn ADC Null function (default setting)
CmdOffset
Volts or Percent
CmdOffset is added to the user input on the Command I/O connector J4 to allow any constant
offset present in the source to be cancelled. Because the input to the command processing
block can be an analog voltage or a digital duty cycle, there are two possible units. See
CmdSrc for this setting and CmdGain for scaling the gain of the input command.
Expressed as an equation:
CmdIn = [(User Input) – CmdOffset] * CmdGain
S200-VTS Product Manual
85
Advanced Configuration
05/2008
Danaher Motion
NOTE: The range and resolution of CmdOffset is affected by the value of CmdGain. Its range
covers the entire range of CmdIn.
CmdSrc
Analog, PWM CMD, or Command Variable
CmdSrc selects the source of the command. It selects between using the command I/O
connector analog input or PWM CMD digital input or the serial command parameter.
00 - Analog input sets command (default).
01 - PWM input sets command.
10 - Software Command Variable sets command
(analog input Cmd proc).
11 - Software Command Variable sets command
(PWMCMD input Cmd proc).
Command
± DIpeak or ± 18,310 rpm
Not supported over SynqNet.
Sets the value of the command when CmdSrc is set to Command variable as opposed to the
standard Analog or PWM CMD digital hardware inputs. The parameter units depend on
whether the drive is in current or velocity control mode. When OpMode is set to Position, this
variable is not used.
CommMode
SetupS2-2, SFD, 6-Step, Brush
Selects the commutation mode of the drive. The following table describes the different values
for this parameter.
Mode
Description
SetupS2-2
DIP switch S2 position 2 selects between 6-step and SFD
commutation, feedback.
SFD
Forces the drive to use SFD for feedback.
6-Step
Forces the drive to use 6-step.
Brush
Forces 6-step commutation with CU, CV, CW = 1 1 0.
CommOff
± 180 Degrees
Offsets the origin for the electrical commutation angle in degrees. Normally set to zero. Nonzero allows matching non-standard motors or systems.
WARNING
In 6-step mode, this parameter must be set to
0 for proper operation. See also CommMode.
Dinp1Pol
Invert or Normal
This parameter selects the polarity of the Dinp1. When this parameter is set, the input to the
FPGA is inverted before it is used by the logic. This parameter affects the sense of the enable
I/O input. The following describes the different values for this parameter.
0 - Normal
1 - Invert
Dinp2Pol
Invert or Normal
This parameter selects the polarity of the Dinp2. When this parameter is set, the input to the
FPGA is inverted before it is used by the logic. This parameter affects the sense of the
InhibitCW I/O input. The following describes the different values for this parameter.
0 - Normal
1 - Invert
Dinp3Pol
Invert or Normal
This parameter selects the polarity of the Dinp3. When this parameter is set, the input to the
FPGA is inverted before it is used by the logic. This parameter affects the sense of the
InhibitCCW I/O input. The following describes the different values for this parameter.
0 - Normal
1 - Invert
86
S200-VTS Product Manual
Danaher Motion
05/2008
Advanced Configuration
Dinp4Pol
Invert or Normal
This parameter selects the polarity of the Dinp4. When this parameter is set, the input to the
FPGA is inverted before it is used by the logic. This parameter affects the sense of the MSInp1
I/O input. The following describes the different values for this parameter.
0 - Normal
1 - Invert
DM1Map/DM2Map
See Chart
Selects the variable sent to DACMon1, DACMon2 analog output pins on Command I/O
connector J4. The DACMon1/2 output pins have a ± 2.0 V range centered around a 2.5 V bias,
that is the output varies from 0.5 to 4.5 V and is 2.5 V when the selected DAC signal is zero.
NOTE
These DAC outputs are not clamped at maximum analog range.
When the signal reaches maximum analog output, further signal
increases cause it to wrap around to the opposite range
extreme.
DM1Map:
Parameter Value
Definition
Velocity error.
Position big bits.
Non-torque current.
Velocity little bits.
Velocity big bits.
Position loop position error.
Quadrature voltage command.
Position little bits.
VelErr 286 rpm/V
PosFB 0.25 rev/V
IdFB 0.8474 * DIpeak ARMS /V
VelFB 2288 rpm/V
VelFB 9155 rpm/V
PosErr 0.0625 Rev/V
VdCmd 134.5 * VBusScale/V
PosFB 244.1e-6 rev/V
DM2Map:
Parameter Value
Velocity mode
Parameter Value
Torque mode
VBus 380 * VBusScale
V/V
CmdIn 9155 rpm/V
-
IFB 0.8474 * DIpeak/V
VelFB 1144 rpm/V
I2TFilt0.7152*
2
2
(DIpeak ) A /V
VU 812 * VBusScale /V
CmdIn 0.8474 *
DIpeak/V
-
VqCmd 134.5 *
VbusScale /V
ICMD 0.8474 * DIpeak
ARMS /V
-
Definition
Bus voltage.
Command.
Torque current.
Velocity.
I*I*t filtered value.
U phase l-n voltage
command.
Torque voltage
command.
Torque Current
command.
Model Dependent Scale Factors
Model
User
DIpeak
ARMS
VBusScale
Relative x
Description
S20250
4.5
1
240 VAC 4.5 ARMS peak
S20260
4.5
1
240 VAC 4.5 ARMS peak
S20330
9
0.25
90 VDC 9 ARMS peak
S20350
9
1
240 VAC 9 ARMS peak
S20360
9
1
240 VAC 9 ARMS peak
S20630
18
0.25
90 VDC 18 ARMS peak
S200-VTS Product Manual
87
Advanced Configuration
05/2008
Danaher Motion
DPoles
0 – 62 Poles (even numbers only)
DPoles sets the drive for the appropriate motor pole count. Typically set to match the motor
pole count. With a feedback device that has multiple cycles per revolution, DPoles is set to
twice the ratio of motor electrical cycles to feedback device electrical cycles per revolution.
Setting DPoles to zero turns electronic commutation off.
Binary 0 = 0 Poles
Binary 1 = 2 Poles
...
Binary 31 = 62 Poles
WARNING
When the DPoles setting does not match the actual motor pole
count, the motor's operation will be erratic and could be
dangerous.
EncOut
125 to 32768 Lines Via Rotary Switch S1, See Chart
Supported over SynqNet.
Sets the J4-17 to J4-22 emulated encoder output signal’s line count (pulses per revolution)
when the EMU setup rotary switch S1 on the base drive is set to position 0. All other settings for
rotary switch S1 have fixed line counts. (EncOut * 4) = the number of quadrature counts per
revolution.
EncOut
Line Count
EncOut
Line Count
0
500
8
8192
1
512
9
10000
2
1000
10
125
3
1024
11
128
4
2000
12
16384
5
2048
13
20000
6
4096
14
Programmable by
EncOutPPR
Default = 32768
7
5000
15
2500
EncOutPPR
0 to 65535 Lines
Supported over SynqNet.
Sets an arbitrary emulated encoder output line count, also know as pulses per revolution, for
J4-17 to J4-22 outputs. EncOutPPR is only used if the EMU setup switch S1 on the base drive
is set to position 0 and the EncOut NV parameter is set to Programmable.
Note that if EncOutPPR is set to 0 with EncOut set to programmable the J4-17,18 Z-pulse can
be turned off. A SynqNet master application program can then switch EncOut from 14 to an
appropriate other value to enable and disable the Z CH output at the right point in a machine
cycle to be used to trigger an action like a camera. EncOutZOffset can be used to position the
Z CH OUT pulse a the exact desired position.
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Advanced Configuration
EncOutZOffset
0 to 65535 Counts
Supported over SynqNet.
EncOutZOffset sets the location of the emulated encoder marker or Z-pulse on the J4-17,18 CH
Z OUT. Base unit (PosFB – EncOutZOffset) is sent to the decoding logic to make the CH Z
OUT so EncOutZOffset allows electronically setting the exact mechanical location for the
emulated Z pulse. See diagram for exact phase of the Z-pulse.
PosFB – EncOutZoffset = 0
A
B
Z
Encoder Phasing for Clockwise Motor Rotation
EnInhibitCCW
On or Off
Not supported over SynqNet.
Enables or disables the hardware input that prevents motion in the counter clockwise direction.
When enabled and the hardware input is active, current/torque operation clamps the current
command to 0 or positive/clockwise. With a velocity loop, function enabled, and the hardware
input active, the velocity command is clamped to 0 or positive/clockwise. When both
InhibitCCW and InhibitCW are enabled and both hardware inputs are active, the motion
command is clamped to 0.
0 - OFF
1 - ON
EnInhibitCW
On or Off
Not supported over SynqNet.
Enables or disables the hardware input that prevents motion in the clockwise direction. When
enabled and the hardware input is active, current/torque operation clamps the current
command to be 0 or negative/counter clockwise. With a velocity loop, function enabled, and the
hardware input active the velocity command is clamped to be 0 or negative/counter clockwise.
When both InhibitCCW and InhibitCW are enabled and both hardware inputs are active, the
motion command is clamped to 0.
0 - OFF
1 - ON
(Option Card Only)
FBSrc
Base Unit Feedback, Option Card Feedback
Supported over SynqNet.
Enables When this bit is set to the Option Card Feedback position, it disables both the SFD and
Hall feedback faults and device interfaces on the base unit. This bit also forces the feedback
position word from the SFD to be zero. The drive is set for sine commutation. In this mode,
writing to the CommOff parameter will change the motor position. This mode is used when an
Option card is attached and the primary feedback device is a Comcoder.
0 - Base Unit feedback device connected.
1 - Option card feedback device connected.
FltDiag
Off or Diagnostic Blink Code
FltDiag selects between the DOUT1 (Fault) line being static low for no fault and static high for
drive off and/or faulted, to low for no fault and toggle high low N number of times with the
diagnostic LED fault blink code. The DOUT1 line output is still static high for drive off. See
FaultCode entry for a chart giving the blink counts for each fault.
0 - OFF (default)
1 - Diagnostic Blink Code
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FltRstMode
Edge or Level
FltrstMode selects how faults are reset by the hardware enable input DInp1 on J4-2. When set
to Level, faults are reset when the drive is in the hardware disabled state. When set to Edge,
faults are reset when DInp1 hardware enable transitions from disabled to enabled.
0 – Edge - Reset faults on DInp1 disabled to enabled transition.
1 – Level - Reset faults on hardware disabled state. (Default)
GearIn
0 – 65535
Not supported over SynqNet.
GearIn is used to scale the input position command when configured as a position controller
(OpMode = Position). This parameter is the divisor used to calculate the revs per step for the
position mode. The formula for calculating motor shaft revs per input count is:
[GearOut/GearIn]/256 = revs per input count
There is 1 input count per step input or per input quadrature count depending on the position
command source selected by PosCmdSrc.
See Also: GearOut and OpMode.
GearOut
-32768 – +32767
Not supported over SynqNet.
GearOut is used to scale the input position command when configured as a position controller
(OpMode = Position). This parameter is the dividend used to calculate the revs per step for the
position mode. Typically, this parameter is 256, which allows GearIn to be numerically equal to
the number of steps per rev. GearOut negative reverses the direction of motion for a given
command. The formula for calculating motor shaft revs per input step is:
[GearOut/GearIn]/256 = revs per input step
There is 1 input count per step input or per input quadrature count depending on the position
command source selected by PosCmdSrc.
See Also: GearIn and OpMode.
HSInp1Pol
Invert or Normal
This parameter selects the polarity of the HSInp1. When this parameter is set, the input to the
FPGA is inverted before it is used by the logic. This parameter affects the sense of the HSInp1
I/O input.
0 - Normal
1 - Invert
I2TF0
23.16e-6 – 1.470 Hz
I2T0 sets the break frequency in Hz for the I2T filter used to protect the motor coils from
transient thermal overload caused by very high peak currents compared to the motor’s
continuous current capability. I2Tf0 should be set based on the motor coil’s thermal time
constant. However, typical motor data sheets only give the thermal time constant for the entire
motor (coil+back iron+housing) and no data for the coil’s time constant. Since the coil thermal
time constant is much faster than the entire motor time constant I2Tf0 is typically set to
between 4 and 10 times faster than the motor’s bulk thermal time constant published in the
data sheet. Given a desired time constant, set the I2TF0 value to:
I2TF0 = 1/[(2π)*(Motor Thermal Time Constant in sec)]
I2TTrip
0 to 1.19 DIpeak
I2TTrip sets the fault trip level for the I2T fault used to protect the motor coils from transient
thermal overload caused by very high peak currents compared to the motor’s continuous
current capability. It is typically set equal to the motor data sheet continuous current capability
when the motor has no internal thermal shut down sensor. When the motor includes a thermal
sensor I2TTrip is typically set 1.25 times larger than the motor’s continuous current capability
with the motor’s internal thermal sensor providing protection against small overloads.
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Advanced Configuration
ILmtPlus/ILmtMinus
% of DIpeak
IlmtPlus and ILmtMinus are the clockwise and counter-clockwise current limits, respectively.
They set the maximum allowable torque current command in their respective directions. They
are a percentage of the drive’s peak current rating DIpeak.
ITMode
Fault/Foldback
Selects whether the drive faults on too much peak current for too long, i.e., excessive I*t, or
folds the current limits back by clamping them to 67% (IFldBack) or less. If IlmtPlus and
IlmtMinus are set to 67% or less, fold back has no effect. See FoldBack for related information.
KIP
79.226*VBusScale/DIpeak to 19014*VbusScale / DIpeak V / A
KIP sets the proportional gain of the current loops. The bandwidth of the current loop in Hz is =
KIP/(Motor l-l L)/(2π). See the drive specification section for recommended bandwidths.
KPP
0.379 – 93.99 Hz
Not supported over SynqNet.
Sets KPP sets the proportional gain of the position loop in Hz. When OpMode = Position the
net velocity command (VelCmd) in rad/sec is:
VelCmd = KPP*(2π)*(PosErr) + KVFF/100*d/dt(PosCmd)
KVFF
0 – 199 %
Sets the feed forward gain from the derivative of the position command directly to the velocity
command of the velocity loop and has the units of percent. When OpMode = Position the net
velocity command (VelCmd) in rad/sec is:
VelCmd = KPP*(2π)*(PosErr) + KVFF/100*d/dt(PosCmd)
KVI
0, 0.0238 – 753.9 Hz
KVI adjusts the velocity loop integral compensation. It sets the break out frequency between
predominantly integral compensation and predominantly proportional compensation. Higher
KVI values give higher integral gain and shorter time constants. A value of below 0.19 Hz turns
off KVI. There is no integral compensation only proportional from KVP. See the Base Drive
Torque/Velocity Control Block Diagram for more information.
KVP
221.0e-6*DIpeak to 25.09*DIpeak ARMS/rad/sec
KVP sets the proportional gain of the velocity loop and has the units of ARMS/rad/sec. The
idealized velocity loop bandwidth in Hz is KVP*KT/JTOT/(2π) where KT is the motor’s torque
constant, JTOT is the total shaft inertia and the units of KT/JTOT should come out to
rad/sec2/ARMS. See the Base Drive Torque/Velocity Control Block Diagram for more
information.
OpMode
Current, Velocity, SetupS2-1, Position
Not supported over SynqNet.
OpMode selects between current/torque, velocity, and position control modes or whether the
SETUP1 hardware switch is used for selecting between current/torque or velocity operating
mode.
OpMode
Description
000
Torque/Current Mode
001
Velocity Mode (default)
010
Setup DIP switch S2 position 1 (SetupS2-1 = 0 = Velocity).
011
Position Mode
Note: With SynqNet OpMode is written to by the SynqNet master over the network each
network update period. All SynqNet master versions that support the S200 can work in
Torque/Current mode. Newer SynqNet master versions can optionally be set to run the drive in
Velocity Mode.
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PosCmdSrc
Step-Dir, AQuadB
Not supported over SynqNet.
PosCmdSrc selects the source of the position command. It selects between using Command
I/O connector J4 optically isolated inputs for Step-Dir and the emulated encoder port used as
an A quad B differential input. J4-10,11 and J4-5 for Step-Dir and J4-19,20 and J4-21,22 for A
quad B inputs. See the Base Drive Torque/Velocity Control Block Diagram for more information.
0 - AQuadB
1 - Step-Dir (default)
PosErrorMax
0 to 255.996 Rev
Not supported over SynqNet.
PosErrorMax sets the following error limit. When
|(commanded position) – (PosFB)| > PosErrorMax
The drive will fault with a following error fault. The following error fault, and thus PosErrorMax,
are only active when OpMode is Position. Default value is maximum value.
SelSFDParam
SFD or Drive
Determines whether the SFD motor parameters or drive setup values are used for the following
parameters:
KVP
KIP
DPoles
I2TF0
I2TTrip
ILmtPlus
ILmtMinus
Velocity loop proportional gain.
Current loop proportional gain.
Drive poles.
Response speed for motor transient thermal protection.
Fault trip level for motor transient thermal protection.
Sets the drive maximum Iout based on motor IPEAK.
Sets the drive maximum Iout based on motor IPEAK.
SFDSpan
Span or No Span
Sets how the drive handles single sample communication errors with the SFD. Span
interpolates SFD feedback position for isolated single sample communications errors. No Span
faults the drive on any SFD communication error. Recommended (default) setting is Span.
0 - No Span
1 - Span
SWClrFault
Not Clear or Clear
This parameter will clear the fault logic.
0 - Not Clear (default)
1 - Clear
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Advanced Configuration
Status And Control Variables
AuxFBComAng
+180° to -180°
(Option Card Only)
Supported over SynqNet.
This register is the value of the commutation position from the AFB interface. It is used to
generate the commutation angle in the drive.
AuxFBEnDatFlt
Fault, No Fault
(Option Card Only)
Supported over SynqNet.
This bit indicates that the Aux Feedback interface encountered an error when trying to read
data from an EnDat device. Sources of error are:
1 - EnDat device recover timeout from last transaction.
2 - EnDat device calculation timeout.
3 - EnDat CRC fault.
AuxFBHallFlt
Fault, No Fault
(Option Card Only)
Supported over SynqNet.
This bit indicates the AuxFB Halls are in an illegal state of either all ones or zeros.
0 - No Fault
1 - Fault
AuxFBPTCFlt
Fault, No Fault
Supported over SynqNet.
This bit indicates the AuxFB PTC has generated a fault.
0 - No Fault
1 - Fault
(Option Card Only)
AuxFBSCDFlt
Fault, No Fault
(Option Card Only)
Supported over SynqNet.
This bit indicates that the amplitude of the sum of the sine and cosine signals is not with in +/30% of the nominal 1.0 Vp-p.
0 - No Fault, amplitude in range.
1 - Fault, amplitude not with ±30%.
CmdIn (-DIpeak to +Dipeak) or (–18,310 to +18,310 rpm)
CmdIn is the value of the output of the command processing block. This variable's units depend
on whether the drive is in current or velocity control mode. See OpMode for control mode
information.
DInp1
Inactive, Active
Indicates the state of the drive’s enable input on the Command I/O connector (J4).
0 - Active state, current flows in opto isolator input diode.
1 - Inactive state, no current flow.
DInp2
Inactive, Active
For SynqNet, see mpiMotorGeneralIn.
Indicates the state of the hardware input DINP2 on the Command I/O connector (J4).
0 - Active state, current flows in opto isolator input diode.
1 - Inactive state, no current flow.
DInp3
Inactive, Active
Indicates the state of the hardware input DINP3 on the Command I/O connector (J4).
0 - Active state, current flows in opto isolator input diode.
1 - Inactive state, no current flow.
DInp4
Inactive, Active
Indicates the state of the hardware input DInP4 on the Command I/O connector (J4). For
OpMode = Position, PosCmdSrc = Step-Dir this input is the Direction input. In the inactive state,
no LED current, with positive GearOut PosCmd increments with each Step input edge, i.e. the
motor moves clockwise.
0 - Active state, current flows in opto isolator input diode.
1 - Inactive state, no current flow.
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DriveOK
Fault , No Fault
Drive fault status indicator. This signal is actually the inverse of the FAULT/ DOUT1 output of
the drive on the Command I/O connector (J4). Current flows through DOUT1 when DriveOK is
active or logic one.
0 - Drive fault, see FaultCode.
1 - Drive not faulted.
EMUAI
0, 1
This variable indicates the state of the emulated encoder channel A pin on the Command I/O
connector (J4).
0 - Input CH A OUT– more positive then CH A OUT+.
1 - Input CH A OUT+ more positive then CH A OUT–.
EMUBI
0, 1
This variable indicates the state of the emulated encoder channel B pin on the Command I/O
connector (J4).
0 - Input CH B OUT– more positive then CH B OUT+.
1 - Input CH B OUT+ more positive then CH B OUT–.
Enabled
Off, On
This variable indicates the enable state of the drive power stage. This signal is the inverse of
the active on RUN/DOUT2 output of the drive on the Command I/O connector (J4). Current
flows through DOUT2 when Enabled is active or logic one.
0 - Drive disabled power stage OFF.
1 - Drive enabled power stage ON.
EnDatDistMT
0 to 65535
Supported over SynqNet.
If an EnDat 2.1/2.2 encoder is present, this variable holds the number of distinguishable multiturns a rotary encoder can resolve.
EnDatPPR
0 to 232 - 1
Supported over SynqNet.
If an EnDat 2.1/2.2 encoder is present, this variable holds the number of signal periods per
revolution for a rotary encoder or signal period length in nm (0.001um) for linear encoders.
ExtFaults
Status Value
This variable gives the extended fault status of the drive. Each bit represents an individual fault
that is logically OR-ed with other faults. Note that this variable remembers its last active value
and can be used as a one deep fault log.
Code
1
2
3
4
5
6
7
8
94
Extended fault
SFD UART parity error
SFD UART overrun error
SFD UART framing error
SFD frame timeout
SFD transfer incomplete
SFD CRC error(s)
SFD Motor Data timeout
Drive over temperature
Code
Extended fault
9
10
11
12
13
14
15
16
Drive under temperature
Drive short circuit
Drive output over current
Option card read timeout
Option card watchdog timeout
Step size overflow
Position error overflow
AuxFB Fault
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Advanced Configuration
FaultCode
Status Value
This variable gives the fault status of the drive. The below table lists the possible fault states
and gives the number of blinks that the drive’s front panel Status LED will blink to indicate the
fault. See also ExtFaults for further specifics on a given fault.
Blink
Count
Status
Blink
Count
1
2
3
4
5
6
7
8
Not Assigned
Motor Over Temp
Drive Over/Under Temp
Drive I*t Too High
Motor I*I*t Too High
Optional Battery low
Bus Over Voltage
Bus Under Voltage
11
12
13
14
15
16
17
18
9
10
Motor l-l or l-n Short
Output Over Current
19
20
Status
Hall Fault
SFD Configuration Error
SFD Short
SFD Motor Data Error
SFD Sensor Failure
SFD UART Error
SFD Communication Error
Option card Watch Dog
timeout
Position error too large
Open Card Fault
FoldBack
Normal, Foldback
Indicates whether the drive is actively folding back the peak current limits because of excessive
I*t. ITMode can be set to fault the drive on either excessive I*t or fold back.
0 - Not in fold back/Not asserting I*t fault.
1 - Fold back/I*t fault.
HallInp
0-7 Decimal
This variable reads back the state of the Hall inputs to the drive on the drive feedback
connector.
Input Bit
Description
IN8
Hall A
IN9
Hall B
IN10
Hall C
Input
CW
Input
CU
Input
CV
HallInp
Value
1
1
1
7
1
0
1
6
1
1
0
5
1
0
0
4
0
1
1
3
0
0
1
2
0
1
0
1
0
0
0
0
HSInp1
Inactive, Active
Indicates the state of the hardware input HSInp+, HSInp- on the Command I/O connector (J4).
For OpMode = Position, PosCmdSrc = Step-Dir this input is the Step input. Input transitions
from LED current to no LED current yields a step count while input transitions from no LED
current to LED current yields no action.
0 - Active state, current flows in opto isolator input diode.
1 - Inactive state, no current flow.
HSOT
-50º C to 137.6º C
Read only variable HSOT is the temperature at which the drive will generate a Heat Sink over
temperature fault. Comparing HSOT minus ambient temp to HSTemp minus ambient temp can
give an indication of the amount of head room from thermal overload that the drive has during
normal operation.
HSTemp
-41.1º C to 125.8º C
HSTemp reads back the heat sink temperature. HSTemp determines how close the drive is to
thermal shut down by comparing the temperature rise above ambient to the potential rise above
ambient at the drive over temperature fault trip, which can be read as HSOT.
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IFB, IdFB
-DIpeak to +DIpeak
These variables read back the torque (IFB) and non-torque (IdFB) derated current values.
IFB - Motor torque current.
IdFB - Motor non-torque current.
LogicVer
0 - 15 Decimal
LogicVer gives the version number of the drive logic as a 4-bit unsigned integer. Versions are
assigned sequentially and if necessary, the numbers wrap around (if there are more than 16
versions). Primarily indicates control logic hardware revisions. See variable VerLW for the
control logic version.
Model
0 - 31 Decimal
Model is the base unit identity code for the drive. The only codes defined are in the chart below.
Other codes are configuration errors.
S20260
S20360
S20660
S21260
S22460
S20330
S20630
Base Model
240 VAC 4.5 ARMS
240 VAC 9 ARMS
240 VAC 18 ARMS
240 VAC 30 ARMS
240 VAC 48 ARMS
90 VDC 9 ARMS
90 VDC 18 ARMS
MTemp
0 - 864,870 Ohms
This variable reads back the motor temperature A/D value from the SFD. The value is read
back as the thermal sensor resistance. Using the motor thermal sensor specification this value
can then be converted to a winding temperature.
PosFBMTrn
-2048 to +2047 Turns
This variable reads back an instantaneous sample of the shaft position multi-turn from the SFD
feedback port (J3).
PosFB
0 to 65535.9961 Counts
This variable reads back an instantaneous sample of the shaft position within one rev. There
are 24 bits within one rev, but the displayed value is scaled for 65536 counts per rev (i.e. bits
17 through 24 show up as a fractional count after the decimal point). See PosFBMtrn for
integral revolutions.
PWMLo
Base, Half Base
Indicates whether the drive has switched to half base PWM frequency. The drive switches to
half base PWM frequency; when the measured motor current is above 0.53 * DIpeak and the
electrical commutation frequency is less than 2.9 Hz. The PWM frequency returns to base if the
measured motor current reduces below 0.32 * DIpeak or the drive speeds up beyond 4.77 Hz
commutation electrical frequency.
0 - Drive uses base PWM frequency.
1 - Drive uses half base PWM frequency
SetupS1
0-9
This variable reads back the state of the rotary user setup switch S1 that determines the line
count of the emulated encoder EMUA and EMUB outputs with SFD feedback or the current
loop proportional gain KIP for 6-step feedback. See Configuring with SFD Feedback.
SetupS2
0-15 decimal
This variable reads back the state of the 4 position DIP setup switch S2 on the drive. Switch
position #1 is LSB.
Open (high)
Closed (low)
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Advanced Configuration
SFDExtFaults
Status Value
This variable gives the detailed fault code of the SFD.
FaultCode
000
001
010
011
100
101
110
111
Status
No Fault
Sensor Error
No Fault
Multi-turn Fault
No Fault
No Fault
No Fault
No Fault
SixStep
SFD, 6-Step
This variable indicates whether the drive is in 6-step or sinusoidal current control.
SWEnable
Disable, Enable
Serial communications channel motor power enable. Both the hardware enable input on the
command I/O connector and SWEnable must be active for power to flow to the motor. Base
units have SWEnable active at power up. This variable is provided for convenience when
working with a PC set utility.
0 - Disables drive.
1 - Enable set by state of hardware enable input (default).
VBus
0 to 523 volts : AC Input Drives
0 to 131 volts : DC Input Drives
This variable reads back an instantaneous sample of the voltage of the bus supplying power to
the motor.
VelFB
–18,310 rpm to +18,310 rpm
This variable reads back an instantaneous sample of the shaft velocity feedback. It has a
resolution of 0.5588 rpm. When measuring speed, use Velocity for least noise and maximum
accuracy.
Velocity
–18,310 rpm to +18,310 rpm
This variable reads back a filtered version of the shaft velocity feedback. It has the same units
as VelFB, but it is much more precise for careful measurements of shaft speed because the
filtering greatly lowers noise. To implement the filtered velocity value the drive subtracts two
consecutive PosFB values sampled at a 26.21 mSec sample period which corresponds to a
38.15 Hz sample rate. This filter is equivalent to adding 512 consecutive samples of VelFB and
dividing by 512.
VerLW
0.0a to 255.9z
VerLW gives the version number of the drives logicware as three integer bytes.
This manual documents VerLW 3.0A and newer.
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SynqNet Configuration
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Danaher Motion
SYNQNET CONFIGURATION
For S200 Series drives that support SynqNet, the following sections explain proper drive
configuration.
9.1
Drive FPGA Table
Node Type
0x00030030
Option
0x00000000
Valid FPGAs
0xC0FE0036
For more information about FPGAs, visit Motion Engineering, Inc.’s Technical Support site.
(http://support.motioneng.com)
Go to Hardware -> Drives -> FPGA Images
Parameter
Node Type
Option
FPGA
Motor Count
Drive Count
Secondary Encoder Count
SqNode Digital Out Count
SqNode Digital In Count
SqNode Analog Out Count
SqNode Analog In Count
Parameter
Capture Count
Probe Count
Pulse Count
Dedicated In 0 – Amp Fault
Dedicated In 1 – Brake Applied
Dedicated In 2 – Home
Dedicated In 3 – Limit HW Pos
Dedicated In 4 – Limit HW Neg
Dedicated In 5 – Index Primary
Dedicated In 6 – Feedback Fault
Dedicated In 7 – Captured
Dedicated In 8 – Hall A
Dedicated In 9 – Hall B
Dedicated In 10 – Hall C
Dedicated In 11 – Amp Active
Dedicated In 12 – Index Secondary
Dedicated In 13 – Warning
Dedicated In 14 – Drive Status 9
Dedicated In 15 – Drive Status 10
Dedicated Out 0 – Amp Enable
Dedicated Out 0 – Brake Release
98
Specification
0x00000000
0x00000000
0xC0FE0036
1
0
1
0
0
0
0
Motor0
1
1
0
1
0
1
1
1
1
1
0
1
1
1
1
1
1
1
0
1
0
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Motor
0
0
0
0
0
0
0
0
0
0
0
0
0
General
Purpose I/O Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
9.2
Drive Monitor
9.2.1
Drive Monitor Table
SynqNet Configuration
Name
Valid Configurations
RS422 IN 0
RS422 IN 1
RS422 IN 2
RS422 IN 3
RH 1
RH 2
RH 3
PS OK
IO SHORT
DINP2
DINP3
DINP4
HSINP1
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
/* kollmorgen_s200.h */
/*
* Drive Monitor Table
*/
typedef enum {
S200MonitorAddressCMD_IN = 0x3938, /* Value of the output of the command processor
block */
S200MonitorAddressHS_TEMP = 0x8726, /* Heat sink temperateure value */
S200MonitorAddressIFB = 0x4544,
/* Torque derotated current value */
S200MonitorAddressIDFB = 0x4746,
/* Non-torque derotated current value */
S200MonitorAddressM_TEMP
= 0x8700, /* Motor temperature A/D value frm the SFD */
S200MonitorAddressPOS_MTRN = 0x5756, /* Multi turn feedback data */
S200MonitorAddressPOS_FB_LSBS = 0x2E2D, /* Lower 16 bits of the feedback */
S200MonitorAddressPOS_FB_MSBS = 0x872F, /* Upper 8 bits of the feedback */
S200MonitorAddressVBUS
= 0x3736, /* Motor power voltage */
S200MonitorAddressVEL_FB
= 0x1D1C /* Shaft velocity feedback */
} S200MonitorAddress;
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Monitoring Real-time Data from Drive
Some data from the drive is not part of the standard MEI I/O. However, it can be monitored in
real-time from the drive. For more information on how to monitor real-time data from the drive,
see Drive Monitor.
List of real-time monitor fields. This is a partial list of supported fields. Consult your drive
manual for a complete list.
• CmdIn
• HSTemp
• IFB
• IdFb
• MTemp
• Pos_MTrn (PosFbMTrn)
• PosFbLSBS (PosFb)
• PosFbMSBS (PosFb)
• VBus
• VelFB
9.3
Accessing Drive Parameters over SynqNet
9.3.1
Introduction
The drive's functionality is designed to use various drive parameters and instructions, which are
communicated over SynqNet. Some parameters have read-only access, whereas other
parameters may have read/write access. The parameters can be stored in non-volatile memory
on the drive and are used on each power-up cycle.
Examples of read-only drive parameters are:
• drive command value (CMD_IN)
• drive model number (MODEL)
• drive bus voltage (V_BUS)
Examples of read/write drive parameters are:
• commutation offset value (COMM_OFF)
• proportional gain of the current loop (KIP)
• motor pole count (D_POLES)
Drives are shipped from the factory with motor parameters set to zero and application
parameters set to their default values.
Parameters are identified by their command string and index. The index is used when
accessing a parameter over SynqNet. Drive parameters are implemented for particular drive
models and firmware versions.
NOTE: Supported parameters for a drive may be different, depending on the version of
firmware.
The MPI library contains a general drive parameter interface that is able to handle any set of
drive parameters, independent of the MPI library version. It uses a drive parameter map file to
determine the valid drive parameters. Individual drive parameters can be set (or read) using
MPI methods or with the sqDriveParam Utility. A list of drive parameters can also be set (or
read) using MPI methods or with the sqDriveConfig Utility.
The following sections describe the syntax of utilities used when accessing parameters. These
utilities are typically executed from a DOS window in the XMP\bin\WinNT directory.
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Memory Operations on Drive Parameters
The drive firmware operates by using parameters stored in RAM. However, these parameters
can also be saved in non-volatile memory (E2PROM), where they are loaded into RAM upon
power up. The non-volatile memory can also be cleared. Parameters may be reset to their
default values and a set of saved parameters may be loaded from the non-volatile memory into
the RAM.
The operations described above are executed using SynqNet Direct Commands, which are
listed in the table below. The command string is used to identify the specific command. It also
indicates the syntax of the command used when communicating with the drive over the serial
port.
SynqNet Direct Commands
9.3.3
Description
Command
String
SynqNet Direct
Command
Save
Parameters
SAVE
0x1C
Notes
Save all parameters to
non-volatile memory.
Accessing Individual Parameters
Use the sqDriveParam Utility for accessing individual parameters. The syntax follows the
conventions listed below.
• x is the node number. Nodes are numbered starting from zero.
• y is the drive, or axis, number on that node. Drives are numbered starting from zero.
• <parameter index> identifies the parameter being accessed.
• <data value> is the data being written to the parameter.
Syntax for reading drive parameters:
sqdriveparam -server <ip address> -node x -drive y -read <parameter index>
Syntax for writing drive parameters:
sqdriveparam -server <ip address> -node x -drive y -write <parameter index> -data <value>
Examples
To read the value of the drive rated peak current:
sqdriveparam -server <ip address> -node x -drive y -read 0x3
Set the encoder resolution to 2048:
sqdriveparam -server <ip address> -node x -drive y -write 0x7 -data 2048
9.3.4
Accessing an Entire Parameter Set
Use the sqDriveConfig Utility for reading or writing an entire set of drive parameters. The utility
uses a Drive Parameter Map File that contains definitions and properties of the drive
parameters. The map file needs to match the drive processor firmware version in terms of
version number and in terms of the set of supported parameters.
Syntax for reading an entire set of parameters to a file:
SqDriveConfig -server <ip address> –node x –drive y –get <destination file name> -map <map
file name>
Syntax for writing an entire set of parameters from a file:
SqDriveConfig -server <ip address> –node x –drive y –set <source file name> -map <map file
name>
Map files for each drive are delivered with the MPI installation and can be found in the XMP\bin
subdirectory. In addition, the map file matched to a specific version of drive firmware can be
downloaded from the Drive Firmware section. Simply select the drive and retrieve the
appropriate firmware and map file information.
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Drive Parameter Map File
The drive parameter map file is a text file that contains a list of valid drive parameters for a
particular drive model. The file contains five sections: File Header, Drive Identification,
Parameter Identification, Configuration, and File Footer. Each Drive Identification section is
matched with a Parameter Identification and Configuration section. Depending on the firmware
version, there may be more than one parameter section.
The format is described below. A sample map file, for the S200-SynqNet drive is shown in the
Sample Drive Map File.
File Header
The file header contains one line:
#MPI Drive Parameters
Drive Identification Section
This section contains one line, which describes the name of the manufacturer, the model
number, and the drive firmware versions that are compatible with the drive parameter list.
#”Manufacturer and Model” “drive firmware version” (file-specific)
For the S200-SynqNet, the “Manufacturer and Model” text will always be “Kollmorgen S200."
Examples
# "Kollmorgen S200" "2.0a"
Parameter Identification Section
This section contains definitions of the parameters that are valid for the firmware version(s)
listed in the Drive Identification section. The section begins with the following header line:
#parameters
Each line in this section contains the following parameter identification information.
Name
number
name
read/write access
data type
values
default value
help string
Parameter Identification
Description
Drive parameter number (in hex).
Drive parameter name, or command string.
Read/write (rw) or read-only (ro).
One of the pre-defined data types (see the Data Types
table).
List of valid values, range of valid values, or an
address.
Parameter value to be used if value is not specified.
Simple string to provide help to user.
All service commands and drive parameters are accessed over the service channel as 32-bit
quantities, but the 32 bits of data can represent different types of data. To support various data
types with generic software tools, the supported data types have been predefined. Here are the
data type names that are supported for the drive parameter map file.
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Data Types
Name
unsigned8
unisigned16
unsigned32
signed8
signed16
signed32
hex32
enumerated
mask
character
Single
action
Description
An 8-bit unsigned binary number.
A 16-bit unsigned binary number.
A 32-bit unsigned binary number.
An 8-bit binary, twos-complement number.
An 16-bit binary, twos-complement number.
An 32-bit binary, twos-complement number.
An 32-bit unsigned hexadecimal number (same as unsigned32
but displayed as hexadecimal).
A list of numbers 1, 2, 3, 4 where each number has a specific
meaning (same as unsigned32 but displayed as a selectable
list).
A set of bits 1, 2, 4, 8 where each bit has a specific meaning
(same as unsigned32 but displayed as a set of selectable
flags).
An ASCII character.
A 32-bit floating point number according to IEEE754.
A write-only parameter where the data is always zero.
Performs an action/command on the drive that does not need
any data.
A few examples from the CD SynqNet and the PicoDAD are:
0x01
MBEMFCOMP
rw signed 16
{0-100}
0x02
DICONT
ro signed 16
{10-1100}
0x03
0x04
DIPEAK
ICONT
ro signed 16
rw signed 16
{10-1100}
{0-1000}
0 "Back EMF
compensation percentage"
0 "Drive rated continuous
current"
0 "Drive rated peak current"
0 "Application rated
continuous current"
Parameter Configuration Section
The Configuration Section lists the parameters that will be downloaded to a drive from a drive
configuration file, or uploaded from a drive to a configuration file, using the sqDriveConfig
Utility. The section begins with the following header line:
#config
The header is followed by a list of drive parameter names (names only; not values). For
example:
ARF0
ARF1
BAT_F_DIS
CMD_F0
// – Indicates a comment and the line is ignored by the parser.
The sequence of names does not need to correspond to the sequence in the Parameter
Identification section. However, it does need to follow the sequence of parameters required by
the drive.
The configuration section typically ends with a –1. This code is used to instruct the
sqDriveConfig Utility to execute a drive CONFIG after the parameters have been downloaded.
After changing certain drive parameters (primarily motor and feedback parameters), the drive
will be in a "Not Configured" state and will require the execution of CONFIG to configure the
drive.
File Footer
#end – Designates the end of the parameter map file.
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Drive Configuration File
The drive configuration file contains the actual parameter values. The file has a one-line header
that identifies the following:
node number
drive number
drive identification
firmware version number
The drive configuration file must match the map file, the firmware version of the drive being
addressed, and the location of that drive on the SynqNet network.
Here is an example of the header line:
# sqNode[3] drive[0] "Kollmorgen S200" "2.0a"
This header shows that the file contains data for the S200-SynqNet drive that is located on
Node 3. The header also specifies that the drive has firmware version 2.0a. If the drive does
not have this version, an error message will be displayed.
The rest of the file consists of parameter command strings followed by their values. For an
example, see the Sample Drive Map File.
The easiest way to create a template for the drive configuration file is to read a file of data from
a drive. It is important that the map file exists and is valid.
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Accessories, Connector Kits, and Cables
ACCESSORIES, CONNECTOR KITS, AND CABLES
S200 drives are not shipped with a connector kit or serial communication cable. Customers are
responsible for ordering the proper connector kit(s) and other accessories necessary for drive
setup. For assistance in proper selection, please contact a sales representative.
10.1
Accessories
Part Number
P7S2-232-9D
768-026902-01
MSM20001
10.2
RS232 serial communication cable (DB-9 to Mod Jack) -- 6 feet.
Terminal Block adaptor for J4 I/O connector.
S200 Base/SynqNet User Manual.
Connector Kits
Part Number
CK-S200-MF
CK-S200-IP-DC
CK-S200-IP-DC-TB
CK-S200-IP-AC
CK-S200-IP-ACL
CK-S200-IP-AC-TB
CK-S200-IP-ACL-TB
CK-S200-SQ
CK-S200-SQ-TB
CK-S200-CNDN
CK-S200-CNDN-TB
10.3
Description
Description
Motor power and feedback mating connectors for S200 AC or DC
units.
I/O and input power mating connectors for base S200 DC drive.
I/O and input power mating connectors for base S200 DC drive with
terminal block adaptor for I/O connector.
I/O and input power mating connectors for base S200 AC drives
S20260, S20360, S20660.
I/O and input AC control power mating connectors for base S200 AC
drives S21260, S22460.
Terminal block adaptor I/O connector and input power mating
connectors for base S200 AC drives S20260, S20360, S20660.
Terminal block adaptor I/O connector and input AC control power
mating connectors for base S200 AC drives S21260, S22460.
Option card SynqNet (-SRS, -SDS) I/O, Aux Feedback mating
connectors.
Option card SynqNet (-SRS, -SDS) terminal block adaptors for I/O,
Aux Feedback.
Option card CD/DN and I/O mating connectors for S200.
Option card CD/DN and I/O mating connectors, terminal block
adaptors for I/O and feedback connector for S200.
Cables
Part Number
P7S2-232-9D
CF-DA0111N-XX-X
CP-102ACN-XX-X
CP-102AAAN-XX-X
CC-D01CO2N-XX-X
CC-D01AO2N-XX-X
S200-VTS Product Manual
Description
RS232 serial communication cable (DB9 to Mod Jack) -- 6 feet.
Feedback Cable "value series" - Euro connector at the motor end to
IEEE1394 connector at the drive end for Smart Feedback Device
support.
Power Cable "value series" - Molex connector at the motor end to S200
crimp pin pluggable connector at the drive end.
Power Cable "value series" - Euro connector at the motor end to S200
crimp pin pluggable connector at the drive end.
Composite Cable "value series" - Single Molex connector at the motor
end to IEEE1394 connector and S200 crimp pin pluggable connector at
the drive end for Smart Feedback Device and power support in the
single cable.
Composite Cable "value series" - Euro style connector for power and
feedback at the motor end to IEEE1394 connector and S200 crimp pin
pluggable connector at the drive end for Smart Feedback Device and
power support in a single cable. Only available on AKM3 and AKM4
series motors.
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DIAGNOSTICS AND TROUBLESHOOTING
The S200 drive incorporates:
Output motor short circuit protection line-to-line, line-to-neutral and line-to-PE.
Internal monitoring of the power stage heat sink temperature for drive over-temperature.
Bus over-voltage and under-voltage detection.
Control under voltage detection.
Excessive current I*t fault/foldback. Depending on drive setup, when excessive I*t is
detected either the peak output current limit is dropped to 67% of maximum or the drive faults.
Excessive motor current I2t protection.
Invalid smart feedback device (SFD) shaft feedback signal.
Motor over temperature on SFD equipped motors.
Option card detected faults e.g. Aux Feedback interface faults.
11.1
Drive Fault Codes
The Drive Status LED is located on the front panel. The drive status and fault codes are
communicated by the state of the LED.
Status LED
ON
OFF
Fast Blinking
Slow Blinking
(with a pause)
Drive Status
Drive is enabled, not faulted.
Output stage is enabled and controlling power to the motor
Drive control power input is not powered or has insufficient
voltage applied
Drive is not enabled, not faulted.
Output stage is not enabled – no power to the motor
Drive is blinking a fault code
The number of blinks corresponds to the fault code as follows:
Blink
Count
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
106
Fault Code
Not Fault
Motor Over Temp
Drive Over/Under Temp
Drive I*t Too High
Motor I2T Too High
Optional Battery low
Bus Over Voltage
Bus Under Voltage
Motor l-l or l-n Short
Output Over Current
Hall Fault
SFD Configuration Error
SFD Short
SFD Motor Data Error
SFD Sensor Failure
SFD UART Error
SFD Communication Error
Option Card Watch Dog Timeout
Position Error Too Large
OC Fault
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Fault
Generation
Diagnostics and Troubleshooting
The following sequence occurs when the protection circuits
generate a fault.
●
One or more faults are detected by the control logic
●
The fault source is latched – only for latched faults
●
The output stage is disabled.
●
The LED indicates the appropriate fault code.
●
For non-latched faults when the fault condition is
cleared the drive re-enables automatically.
Latched faults are cleared by setting the Enable/ input to
the disable state or by cycling (off/on) the Control Power.
NOTE: The large bus capacitors store substantial energy.
To use the control power to reset a fault, the power should
be removed for at least 30 seconds to ensure that the fault
resets. Self-resetting faults disable the drive and do not
return it to normal operation until 50-100 ms after the fault
condition clears.
When multiple faults occur, the highest priority fault is
reported. After that fault is cleared and the drive is reset by
cycling the enable input, the next highest priority fault that
still exists will be displayed.
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Diagnostics
The following table lists the S200 fault codes and possible causes of the fault condition.
Status
LED
Blink
Code
Fault Description
ON
No faults, power
stage Enabled
Normal Operation
OFF
Control power not
applied or insufficient
control power applied
Loose or open circuit wiring of control power input.
Low input voltage to control power supply.
No faults, power
stage Disabled
Hardware or Software Enable inactive, to enable drive apply
hardware enable and set software enable.
Fast Blink
1
Not Assigned
2
Motor Over Temp
Motor temperature
exceeds allowed limit
3
4
Drive Over/Under
Temp
Temperature of drive
heatsink/chassis is
outside of allowed
limits
Drive I*t Too High
The product of the
drives output current
multiplied by time has
exceeded allowed
limits.
5
If current foldback is
enabled the drive
peak output current
automatically reduces
to 0.67% of DIpeak. If
foldback is not
enabled, the drive will
fault.
Motor I*I*t Too High
6
Motor current
amplitude squared
multiplied by time has
exceed allowed limits
Optional Battery low
7
Optional fault used to
indicate SFD battery
supply voltage is low
Bus Over Voltage Self Resetting
The BUS voltage has
exceed the upper
threshold limit
108
Possible Cause
High ambient temperature at motor.
Insufficient motor heat sinking from motor mounting.
Operating above the motor’s continuous current rating.
Motor temperature sensor failure or not connected.
High or low drive ambient temperature.
Restriction of cooling air due to insufficient space around unit..
Operating above the drive’s continuous current rating.
Mechanically-jammed motor.
Motion profile acceleration requires peak current for too long of
a time duration.
Machine load on the motor increased by friction.
Wiring problem between drive and motor yielding improper
motion.
Motor commutation error.
Drive under-sized for application, friction or load.
Mechanically-jammed motor.
Motion profile acceleration requires peak current for too long of
a time duration.
Machine load on the motor increased by friction.
Motor commutation error.
Motor under-sized for application, friction or load.
Battery low fault enabled and battery is not installed.
SFD Battery backup voltage is low.
AC Line voltage (AC unit) or DC bus power supply voltage (DC
unit) is too high.
Regenative energy during deceleration is causing the BUS to
rise:
On AC Drives add regen resistor.
On S200 DC input drives external BUS capacitor is too small;
add capacitance.
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Status
LED
Blink
Code
8
Fault Description
Bus Under Voltage Self Resetting
S200 DC drive fault
only
9
BUS voltage is below
specified 20 VDC
minimum
Motor l-l or l-n Short
Line-to-Line, Line-toNeutral or Line-to-PE
short on the motor
output causing an
instantaneous over
current.
10
Output Over Current
11
Hall Fault
12
13
Valid only when drive
is set for 6 Step (Hall
feedback) operation
SFD Configuration
Error
J3 FB +5V Short
15
Excessive current
drain on SFD +5
supply output
SFD Motor Data Error
Motor data in SFD is
outside drive limits or
is inconsistent
SFD Sensor Failure
16
SFD UART Error
17
SFD Communication
Error
18
Option Card Watch
Dog Time out
Position Error Too
Large
14
19
S200-VTS Product Manual
Diagnostics and Troubleshooting
Possible Cause
On S200 DC input drives:
BUS voltage is too low.
BUS voltage is pulled down during high acceleration or loading.
External BUS capacitor is too small.
Motor power wiring short circuit - line-to-ground / neutral.
Motor cable short line-to-line.
Motor power cable length exceeds the data sheet specification
causing excessive motor line-to-earth ground/neutral
capacitance.
Internal motor winding short circuit.
Motor L too small.
KIP set too large.
Insufficient motor inductance
KIP or KII improperly set causing excessive output current
overshoots.
Invalid configuration.
Motor overspeed.
Invalid hall state.
Invalid hall transition.
SFD UART error during SFD initialization.
Bad motor data check sum.
The drive will attempt to initialize the SFD up to 4 times. If it fails
this error is reported.
Excessive loading on SFD +5 supply.
Short in the feedback cable on SFD +5 (J3-1) to ground.
Motor and Drive are not compatible. Auto setup calculation
yielded a desired parameter value outside valid range.
Incorrect/inconsistent motor data loaded into the SFD.
Internal SFD failure.
Excessive electrical noise in the drive environment causing
communications interference.
Internal SFD failure.
Feedback cable not connected at the drive or at the motor.
Feedback cable shield not connected.
Defective feedback cable
Internal SFD failure.
Excessive electrical noise in the drive environment causing
communications interference.
Communication error between option card and main board.
Check ExtFaults:
ExtFaults = Step size over flow means GearOut/GearIn is too
large.
ExtFaults = Position error over flow means that the following
error, = PosErr, has exceeded ±128 revs.
Check if the motor is stalling or if the commanded speed is
higher than the motor can achieve at the present bus voltage.
109
Diagnostics and Troubleshooting
Status
LED
Blink
Code
20
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Fault Description
Option Card Fault
Danaher Motion
Possible Cause
Check ExtFaults:
If ExtFaults is AuxFBFault, then the AuxFB device is in error.
Check the AuxFB faults: AuxFBEnDatFlt, AuxFBPTCFlt or
AuxFBSCDFlt.
Check to make sure that the drive is set up for the correct
feedback device and that the device is functioning correctly. If
ExtFaults is “No Extended Fault,” then this was a fault induced
by the controller, such as SynqLost.
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Diagnostics and Troubleshooting
Fault Generation
The following sequence occurs when the protection circuits generate a fault.
• One or more faults are detected by the control logic.
• The fault source is latched – only for latched faults.
• The output stage is disabled.
• The LED indicates the appropriate fault code.
• For non-latched faults. When the fault condition is cleared, the drive re-enables
automatically.
Latched faults are cleared by setting the Enable/ input to the disable state or by cycling (off/on)
the Control Power.
NOTE: The large bus capacitors store substantial energy. To use the control power to reset a
fault, the power should be removed for at least 30 seconds to ensure that the fault resets. Selfresetting faults disable the drive and do not return it to normal operation until 50-100 ms after
the fault condition clears.
When multiple faults occur, the highest priority fault is reported. After the fault is cleared and the
drive is reset by cycling the enable input, the next highest priority fault that still exists will be
displayed.
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APPENDIX A – DC POWER SUPPLY DESIGN
A.1
Design
This section has additional considerations for DC power supplies.
A.1.1
Single Power Supply Operation
A single power supply can be used to provide main or motor power and control power for the
DC power input. The voltage range of a single supply is 20 V to 90 V.
NOTE
The drive can be damaged if the supply voltage exceeds 90 V, even
briefly. The DC level plus transients plus regenerative pump up MUST
NEVER exceed 90 V.
Wire the single supply +terminal to J1-3 (+Bus) and to J1-1 (+CTRL) and the power supply –
terminal to J1-2 (Bus/Ctrl Gnd). This power supply is typically unregulated, but a regulated
supply can also be used. The power supply outputs must be isolated from the power line. See
Regulatory Information for more details on isolation requirements. Wire both the power supply
negative terminal and the drive chassis to earth for safety.
The maximum continuous and peak (3 sec) main power and current at 75 V bus for the S200
DC drives is shown in the table below.
3/9 ARMS S200 DC
250 watts
3.33 ADC at 75 V
750 watt
10 ADC at 75 V
Main (continuous)
Main Peak (3 sec)
6/18 ARMS S200 DC
500 watts
6.67 ADC at 75 V
1,500 watt
20 ADC at 75 V
The next figures provide representative connection diagrams and some detailed
recommendations.
+
+24 V, +48 V, +75 V
+
Cbus
Gnd
AC
Regulated
Supply
-
AC
Line
AC
(Optional) Regulated, Isolated Supply
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Appendix A – DC Power Supply Design
10 ft max
+Bus
J1-3
+24 V, +48 V, +75 V
16
AWG
+Ctrl
J1-1
+
+
see below
Bus/Ctrl Gnd
J1-2
Cbus
Gnd
16
AWG
DC Input S200
+
AC
AC
Line
Diode
Rectifier
-
AC
Isolating
Transformer
Unregulated, Isolated Supply
How to Size Cbus
+Bus
J1-3
3 ARMS cont S200
-----------------------------2,000 µf / drive at 75 V bus
+Ctrl
J1-1
4,000 µf / drive at 48 V bus
16,000 µf / drive at 24 V bus
Bus/Ctrl Gnd
J1-2
6 ARMS cont S200
---------------------
--------4,000 µf / drive at 75 V bus
8,000 µf / drive at 48 V bus
32,000 µf / drive at 24 V bus
Local Cap only required for stand alone 6 ARMS S200 that runs warm
PE
(470 µf , 100V, lowers aluminum within 1 ft of drive if HsTemp>65C)
DC Input S200
WIRING MULTIPLE DC DRIVES
CAUTION
NOTE
S200-VTS Product Manual
An appropriately-sized output capacitor in the main power supply
is the key to economically delivering high peak power. In most
applications, the capacitor supplies much of the peak power
needed to accelerate the motor and inertia (under 20 ms). It also
lowers the cost of the supply by reducing its silicon current. In
addition, it also absorbs regenerated energy with a limited pump
up of voltage and stabilizes the bus voltage for better dynamics.
While the maximum peak-to-continuous power capability is 3:1,
most applications have much higher ratios. The requirement that
the main supply have a high peak-to-continuous power ratio is
very important in selecting or designing the power supply.
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Appendix A – DC Power Supply Design
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Main Supply Output Capacitance (J1-3 to J1-2)
The location of the main output capacitor is not critical. Up to 10 ft
from the drive is an acceptable length, as long as the wire is sized so
resistive drops at peak current are low. Voltage clipping of the inverter
can cause the peak bus current to equal the motor current. A good
rule is to size the bus wiring for 18 ARMS x rt(2) = 25.4 ARMS peak per
drive. Use at least 16 AWG. The inductance of the bus and ground
wiring is not critical because the internal drive bus capacitance can
handle all the PWM current in most cases.
NOTE
Servos put high peak power demands on the power supply. The easiest and best way to build a
power supply to deliver and absorb pulses of peak power is for the supply to have an
appropriately-sized output capacitor.
Capacitance Requirements
3/9 ARMS DC S200
2,000 µf / drive at 75 V bus
4,000 µf / drive at 48 V bus
16,000 µf / drive at 24 V bus
6/18 ARMS DC S200
4,000 µf / drive at 75 V bus
8,000 µf / drive at 48 V bus
32,000 µf / drive at 24 V bus
This can be the output capacitor of an unregulated power supply or a capacitor in parallel with
the output of a regulated supply. In most cases, this capacitor does not need to be close to the
drive, so a single capacitor can be shared by multiple drives. This capacitor does several jobs:
1. Bus capacitance absorbs net regenerated mechanical energy from the inertia when the
motor decelerates.
If the bus capacitance is sufficient, regeneration causes a controlled, limited rise in bus voltage
and the over-voltage fault is not tripped.
NOTE
NOTE
If the regenerated mechanical energy is high, additional bus
capacitors can be added in parallel. The bus capacitance can be
increased almost without limit.
The over-voltage fault is a non-latching fault that turns off the inverter
transistors when the bus voltage is above the over-voltage threshold.
An over-voltage fault trip interrupts the regeneration of mechanical
energy back to the bus. This limits the bus voltage rise and protects
the drive. However, it interrupts motor torque, so the machine cycle is
affected. In most cases it is undesirable to allow the bus voltage to
pump up to the over-voltage fault threshold.
In many applications, much or all of the rotational mechanical energy is dissipated as heat in
the motor windings when the motor decelerates. The maximum regenerated rotation energy
back to the bus occurs (counter-intuitively) during a low torque deceleration from high speed. In
this case, the resistive losses in the motor are low. If mechanical drag is low, much of the
stored rotational energy is regenerated to the bus.
2. Bus capacitance absorbs net regenerated inductive energy from the motor winding when
the drive is disabled or faulted.
The worse case, regenerated inductive bus voltage rise is a trip of the bus over-voltage fault
when decelerating the motor at full torque. Tripping the bus over-voltage fault, while stopping
the flow of regenerative mechanical energy back to the bus, causes a fraction of the inductive
energy stored in the windings to regenerate to the bus, causing the bus voltage to go higher
than the over-voltage threshold. If there is insufficient bus capacitance to absorb this energy,
the bus voltage rise is excessive and can damage the drive.
NOTE
Failure to provide adequate external capacitance on the main bus
can damage the drive. The regeneration of motor inductive energy
allows some pump up of the bus voltage above the bus over-voltage
threshold.
3. Bus capacitance improves motor dynamics by holding the bus voltage stable during
acceleration.
An adequately sized bus capacitor helps provide the high peak bus current needed for rapid
motor acceleration with minimum bus voltage sag. If the bus voltage sags excessively during
acceleration, inverter voltage saturation occurs with loss of motor torque.
4. Bus capacitance lowers peak current requirements in the silicon of the power supply.
Sizing the power supply for average power, rather than peak power, lowers power supply cost
and size.
114
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Danaher Motion
05/2008
Appendix A – DC Power Supply Design
5. In most cases, a bus capacitor does not need to be mounted close to the drive.
The inductance of the bus and ground wiring is not critical because the internal drive bus
capacitance generally handles all the PWM current of the drive. A local capacitor is not needed
in the following cases:
3/9 ARMS DC S200
6/18 ARMS DC S200 with HSTemp less than 65° C
6/18 ARMS DC S200 mounted adjacent to other S200 drives with main bus supplies tied
locally together. The internal bus capacitors of the adjacent drives should provide the needed
capacitance.
The exception is a single, isolated 6/18 ARMS DC S200 drive running hot (HSTemp > 65° C).
In this case, connect across the bus within 1 ft of the drive, using twisted wire, a 470 µf (min),
100 V, low ESR, and an aluminum bus capacitor.
6. Bus capacitor for multiple drives
A conservative rule is to scale up the recommended output capacitance for one drive by the
number of drives. If this value is too large, the capacitor can be calculated from energy flows.
See the A.4 Bus Energy & Power Numerical Examples.
NOTE
NOTE
Bus capacitance can be tweaked experimentally. Increase bus
capacitance if there are overvoltage trips. In general, there is
sufficient bus capacitance if the bus voltage variation is ± 5 V (from
75 VDC) during the machine cycle. Check the bus voltage with an
oscilloscope. Scope ground on J1-2 (Bus/Ctrl Gnd) and probe on J13 (+bus), Hor: 5 ms / div.
Some bus voltage variation is normal and required for the output
bus capacitor to supply or absorb energy.
7. Bus over-voltage fault (non-latching)
If regeneration is too high while bus capacitance is too low, the bus voltage rises to the bus
over-voltage fault threshold and disables the drive transistors. It typically takes 1 to 2 ms for the
motor current and torque to go to zero. After it has reached zero, there is no further rise in the
bus voltage. When the bus capacitors discharge to below the over-voltage threshold by a
hysteresis value, the over-voltage fault is cleared and normal operation resumes. While this
protects the drive by limiting the bus voltage rise, it may not be desirable because it interrupts
normal motor torque.
8. Unregulated power supply
External bus capacitance requirements are usually met by the output capacitor in an
unregulated power supply, as long as there is no diode between the drives and bus capacitor.
The same capacitor that filters the 120 Hz or 360 Hz line ripple also provides energy leveling
and regeneration absorption capability.
9. Regulated power supply
Some regulated supplies do not tolerate an increase in voltage above the supply voltage set
point. In this case, insert a diode between the positive supply terminal and the positive
capacitor terminal to prevent reverse current flow into the supply. The diode should be a
rectifier diode with a voltage and current rating equal to or greater than the supply.
A low ohm (< 1 Ω) power resistor between the power supply and the capacitor may be
desirable. By reducing the stiffness of the voltage across the capacitor, it enhances the ability
of the capacitor to supply current to the drive during motor acceleration and prevents the
current limit of the regulated supply from cutting in.
10. Bus wire resistance
Bus wire current is the sum of DC current providing power to the drive and AC current between
the drive and external capacitor. The wire between the drive and external bus capacitance
should be a low enough resistance, so peak currents do not cause excessive voltage drop in
the wire. Peak instantaneous bus current can be up to 25 A per drive. Size the positive Bus
wiring to minimize the peak voltage drop. As a general guide, use no smaller than 16 AWG wire
to span 10 feet from the drive to the shared energy leveling capacitor.
The AC and DC bus currents also flow in the Control or Bus terminal. Size the ground wire to
the drive to be no smaller than the positive Bus wire. A larger wire size yields a cleaner ground.
If a separate control supply is used, connect the control supply ground and main bus supply
ground together at or near the drives not at the supplies.
11. Bus wire inductance and bus resonance
S200-VTS Product Manual
115
Appendix A – DC Power Supply Design
05/2008
Danaher Motion
The time domain of motor-related energy flow is measured in milliseconds. The inductive
voltage drop in the bus and ground wiring for these times is small. For this reason, the energy
leveling bus capacitor does not need to be located near the drive and a single bus capacitor
can be shared by multiple drives.
Be aware of bus resonance.
NOTE
Current can oscillate between capacitors in any distributed DC power system with the capacitor
located apart and connected in parallel with wires. The capacitors and wiring inductance form
an underdamped LC circuit that can ring when excited by PWM currents.
The easiest way to monitor the current in the bus wiring of the drive is with a current probe.
The ringing occurs if the current probe shows a large (> 10 A) quasi-sinusoidal current in the 1
to 10 kHz range. While more difficult to see in voltage, it does cause small sinusoidal voltage
(few volts) to occur across the drive positive Bus (J1-3) to Gnd (J1-2) terminals.
Occasional bursts of bus ringing are usually not too serious, but sustained or too frequent
ringing is undesirable because high currents can cause heating of wires and capacitors.
The simplest way to squelch bus ringing is to lower or change the inductance of the bus wiring
with the following:
a. Move the external bus capacitor closer to the drive
or
b. Twist the bus and ground wires between the drive and supply
or
c. Add extra capacitance (470 µf or more) near the drive bus terminals
12. Recommended External Bus Capacitors
Aluminum electrolytic, computer-grade, screw top cans are available with panel mount
hardware. The voltage rating should exceed the maximum bus voltage. Choose a cap with a
100 V rating for operation at 75 V bus nominal. The important capacitor parameter is
capacitance (energy storage), so an 85° C, general-purpose type (such as are listed below) is
acceptable.
Panasonic G-AA series
1.375 x 4.125
2 x 4.125
3 x 4.125
A.2
8,200 µf 100 V
22,000 µf 100 V
47,000 µf 100 V
EEGAA2A822CKE
EEGAA2A223FKE
EEGAA2A473HKE
Cornell Dubilier DCMC series
1.375 x 4.125
8,600 µf 100 V
2 x 4.125
20,000 µf 100 V
3 x 4.125
49,000 µf 100 V
DCMC862U100AC2B
DCMC203U100BC2B
DCMC493U100DC2B
United Chemicon U36D series
1.375 x 4.625
8,200 µf 100 V
2 x 4.625
18,000 µf 100 V
3 x 4.625
47,000 µf 100 V
U36D100LG822M35X117HP
U36D100LG183M51X117HP
U36D100LG473M76X117HP
Two Power Supply Operation
Powering the drive control power separately from the bus power has the advantage that fault
and status information is preserved when bus power is down for safety.
Wire the control supply positive terminal to J1-1 (+CTRL) and the control supply negative
terminal to J1-2 (Bus/Ctrl Gnd). Wire the main supply positive terminal to J1-3 and its negative
terminal to J1-2. J1-2 is a shared ground for control power and main power. Separate ground
wires from the two supplies should join at or near the shared drive ground pin (J1-2).
NOTE
116
The drive can be damaged if the supply voltage exceeds
90 V, even briefly.
S200-VTS Product Manual
Danaher Motion
A.2.1
05/2008
Appendix A – DC Power Supply Design
Control Supply (J1-1 to J1-2)
The voltage range of the control supply is + 10 to + 90 V. This supply can be either unregulated
or regulated. However, it must be isolated from the power line as its negative terminal is
typically earthed for safety and commoned with main power negative terminal.
For reliable starting, the control supply should have a peak power rating of at least 20 W. A
typical continuous control power drawn by an S200 DC drive is 2 to 8 W. A single, relatively low
power, low voltage supply (+ 12 V or + 24 V) can provide control power and I/O power for
multiple drives.
A.3
Multi-Axis Considerations
In multi-axis applications, the drive’s power terminals can either be wired separately to the
power supplies or paralleled locally (daisy-chained) and then wired to the power supplies. In
the latter case, increase the wire size to handle the higher current.
NOTE
S200-VTS Product Manual
Locally paralleling the main power terminals of multiple drives
parallels the internal bus capacitors of the drives (200 µf per drive).
This allows the PWM currents of the drives to spread out, thereby
lowering the temperature of the capacitor in the hottest drive.
117
Appendix A – DC Power Supply Design
A.4
05/2008
Danaher Motion
Bus Energy & Power Numerical Examples
The energy flows in the drive bus are:
In - Motoring mechanical energy + Motor losses (motor accelerates).
Out - Regenerated mechanical energy – Motor losses (motor decelerates).
Out - Regenerated motor inductive energy (disable or fault).
A.4.1
Min. External Bus Capacitance
Inductance in AKM motors mated to S200s can be as high as 5 mH (line-to-line). The inductive
energy stored in a 5 mH motor at 18 ARMS is calculated as:
E winding = 0.75 x Inductance line-to-line x IRMS x IRMS
= 0.75 x 0.005 henry x 18 RMS x 18 RMS
= 1.2 joules
The bus capacitor needed to absorb the regenerated energy (EREGEN) is sized using the general
rule that the energy stored in the capacitor be a minimum of 5 * EREGEN. This limits the voltage
increase on the bus due to regeneration to 10% of the DC value. Using this general rule to find
the minimum bus capacitance for the motor in the above example (for simplicity, ignore that a
fraction of regenerated inductive energy is dissipated in the motor):
E bus cap = 5 x 1.2 joules = 6 joules
E bus cap = 1/2 Cbus x DC voltage x DC voltage
Assume the bus DC voltage is 75 volts
Cbus = 2 x Ebus cap/(75 V x 75 V)
= 2 x 6 joules/(75 V x 75 V)
= 2,133 µF
The internal S200 bus capacitance is 200 µf, which is less than 10% of the required
capacitance for energy absorption.
A.4.2
Energy from Acceleration Time
The bus supply for a group of S200 drives must have enough total capacitance to handle brief,
high-current bus transient flows (positive and negative) a few milliseconds without excessive
bus voltage variation. The peak output power of a 6/18 ARMS DC S200 can be as high as 1.5
kW (1.5 kW = 18 ARMS x rt(2) x 60 V (emf + IR)). This is an energy flow of 3 joules for 2 ms or
15 joules for 10 ms.
Mechanical energy is estimated by considering the load to be pure inertia and measuring the
velocity transition times. A full torque acceleration or deceleration of an inertia load yields a
triangle power pulse with an energy (in joules) half of the peak power (in watts) multiplied by the
velocity ramp time (in seconds) from zero speed. Monitor the motor acceleration by mapping
velocity and torque to DAC monitor pins (J4-14, 15), and then looking at them with a scope. Set
DM1Map to VelFB and DM2Map to IFB. See the I/O Setting tab in S200Tools. At a peak power
flow to the shaft of 1 kW = (25 A x 40 V EMF), the energy delivered vs. acceleration time is:
5 ms
2.5 joules
10 ms
5.0 joules
15 ms
7.5 joules
A.4.3
Capacitor Energy Absorb/Deliver
The capacitor energy absorbed or delivered for a 5 V change from a 75 bias is:
3 joules for 8,000 µf
7 joules for 20,000 µf
16 joules for 45,000 µf
A.4.4
Bus DC Input Power
Bus input power can be estimated by adding motor shaft power and motor resistive winding
loss. The shaft power equation is:
Shaft power (watt) = Torque (N-m) x Speed (rad/sec)
where rad/sec = rpm/60 x 2π
The equation for motor resistive (heat) loss is:
Winding loss (watt) = 1.5 x Rline-to-line x IRMS x IRMS
118
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Appendix B – Cables
APPENDIX B – CABLES
B.1
Long Cables
The DC resistance of long motor power cables steals some of the available voltage when motor
current is high. The principal effect of this is some reduction in peak motor power so
acceleration and deceleration times can be longer. The cable resistance has no significant
effect on lower speed torque or top speed. For most applications, the loss of performance is
small with cables up to the maximum cable length specification. Do not operate an S200 DC
Input Drive with long cables at the lower end of the bus voltage range because too much of the
available voltage is stolen by the cable resistance.
For S200 AC Input Drives, the DC resistance of the motor power cable is rarely an issue
because the voltage drop across the resistance is usually a small fraction of the available
nominal bus voltage.
For S200 DC Input Drives with long cables and demanding dynamics, the 14 AWG cable is
preferred over the 18 AWG cable. Cable voltage drop vs. cable length is shown in the table
below.
Cable Voltage Drop vs. Length
V line-line
0-peak at 0.866
x 18 ARMS
AWG 18 cable
AWG 18 cable
AWG 14 cable
3
0.126
2.77
3.7 %
1.5 %
10
0.413
9.09
12.1 %
4.8 %
25
1.03
22.7
30.3 %
12.0 %
N/A
24.0 %
50
B.2
VLOSS in cable as
a percent of 75 V bus
AWG 18
2 x Rphase
(ohm)
Cable
Length
(meter)
(50 m not recommended with
DC 6/18 ARMS)
Custom Composite Cables
A composite cable has both feedback and power wires within one overall cable jacket. One of
the critical requirements for a composite cable is to provide a high degree of isolation between
the power and feedback wires. With 240 VAC-connected drives the power wires can have up to
400 Vpeak-peak fast switching PWM waveforms that can couple to the feedback wiring. These
coupled signals can cause communication errors between the Smart Feedback Device (SFD)
and the drive.
Danaher Motion has developed and sells a composite cable that has very good isolation
between the power and feedback sections. It is strongly recommended that this raw cable be
used for custom composite cable designs. Contact your Danaher Motion sales representative
for additional information.
If this cable does not meet your specifications, the following are some guidelines for custom
composite cable development.
Due to the complexity of modeling and understanding cable coupling, a new composite
cable needs to be prototyped and tested to have confidence that it will be reliable.
1) Composite cable should have double concentric feedback shields – one shield within
another.
The raw composite cable that has been tested and is known to work well with the S200 has the
following structure: double, concentric shields around the feedback wires, plus an outer shield
around the whole cable (see diagram below). This type of raw cable is strongly recommended.
Testing shows double, concentric, shielding is ten times better than single shielding at reducing
coupling from the power wires to the feedback data wires.
S200-VTS Product Manual
119
Appendix B – Cables
05/2008
Danaher Motion
SFD +5 VDC
Outer Jacket
Outer Shield
Motor Connector Shield
Feedback
Outer Shield
(Connect to SFD Shell)
Feedback
Inner Shield
(Connect to Logic GND)
Motor W ires
SFD Com m unication
twisted pair
Optional Foil Shield Shield
PE W ire
SFD Return
(Inner Drain W ire
and inner shield)
Drain W ire
Jacket
Inner Jacket
Composite Cable Cross-Section
There can be substantial capacitance between the power wires and adjacent feedback shield in
a composite cable. Some of the PWM ampere level spikes tend to return in this adjacent shield,
affecting the power stage voltage and current drive the feedback shield nearest to the power
wires. In a single-shielded feedback cable this driven shield is also around the feedback data
wires, so some coupling can occur. With double, concentric feedback shields, the driven shield
is the outer of the two feedback shields, and interposed between the driven shield and
feedback data wires is the inner feedback shield. Typically, the inner feedback shield is isolated
from the connector shells and is connected to the return for the power supply powering the
feedback device.
A raw cable with two pairs of twisted, shielded feedback sections inside
a composite cable is electrically the same as single feedback shielding.
There may physically be two feedback shields in such a cable, but these
shields are not concentric. There is only one shield between the power
NOTE
and feedback wires. Whereas the double, concentric feedback shields
have two shields between the power and feedback wires.
2) SFD +5 and Gnd Resistance Spec
To insure that the SFD +5 V at the SFD inside the motor is within specification, the voltage drop
total in the SFD +5 V wire and SFD +5 V RTN wire must not be greater than 0.5 V at 150 mA.
For this reason, a cable requirement is that the total resistance of the feedback SFD +5 V wire
plus SFD +5 V RTN wire must be < 3.33 Ω (at 20° C). In practice, this means that for long
cables, the AWG wire gage needs to be considered.
The inner shield of the a double, concentric feedback cable, when
isolated from the terminating connector shells, can also function as a
conductor to carry some or all of the SFD +5 V RTN current. This is
useful to keep the total SFD +5 and RTN resistance within specification
NOTE
on long cables without having large diameters.
3) Feedback Characteristic Impedance
Danaher Motion's S200 feedback cables are designed to have a feedback data pair differential
impedance of 81 Ω (at 1 MHz). Impedances in the range of 50 to 100 Ω, while not tested, will
likely work properly with the S200.
Two suggestions simplify the design of customer composite cable:
1. Purchase the raw composite cable from Danaher Motion. The cable has good shielding
properties.
2. Purchase a composite feedback cable built by Danaher Motion. Review its construction,
and test its performance. There are many ways to connect the multiple shields of a composite
cable. A good way to understand how the Danaher Motion composite cable is built is to buy a
short Danaher Motion S200 composite cable, open it up, and see how the shields at both the
motor and drive end are connected.
120
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Appendix C – Danaher Motion Linear Motor Wiring
APPENDIX C – DANAHER MOTION LINEAR MOTOR WIRING
The S200 Drive with SynqNet option card runs linear motors with a linear feedback device
connected to J14. Feedback device possibilities include A quad B incremental encoder with
Hall, 1 Vp-p analog Sin-Cos encoder with Hall, and EnDat 2.1/2.2 with absolute linear position.
Be sure to set the following drive NV parameters to their proper values.
AuxFBType to match the feedback device type connected to J14
FBSrc to Option Card to use the J14 Aux Feedback to commutate the motor
AuxFBDivisor to the proper value to allow commutation with DPoles = 2
S200-VTS Product Manual
121
Appendix D – Process to Setup Non-Danaher Motors
05/2008
Danaher Motion
APPENDIX D – PROCESS TO SETUP NON-DANAHER MOTORS
The S200 drive family is available with a full set of plug and run accessories and aids for the
Danaher Motion AKM family of high performance general purpose rotary servo motors.
However, S200 drives should be able to run any three phase permanent magnet motor that has
a compatible feedback device.
Table D.1 Possible combinations of S200 drive and non-catalog or custom motors.
Model
Base or
Base+SynqNet
S200
Feedback Type
Wiring
Comment
SFD to J3
Chapter 6
Drive to motor Should
auto set up
6-step/Hall to J3
Section 7.3
Wire, set KIP, and
run
Incremental + Hall to J14
SynqNet
Option Card
Only
1 Vp-p Analog Sin-Cos +
Hall to J14
EnDat 2.1/2.2 from
Heidenhain to J14
Chapter 6 power
Section 6.9 feedback
Use this Appendix to
discover proper
wiring and manually
set up drive motor
parameters
For motors not already catalog setup to work with the Danaher S200 drives you need to figure
out the wiring between the motor coils, the Hall commutation sensors, and the encoder
feedback device to the drive. There is no industry standard definition for the designation of the
motor coil terminals, the Hall terminals, or the feedback device terminals. Each manufacturer
has their own definitions and the proper wiring between the drive and the motor, feedback
device(s) must be found experimentally. Each of these three connection sets can be
done multiple different ways.
To get a consistent working set of wiring the motion direction for the motor coils and the
feedback device(s) must be the same. The following procedure gives a step by step set of
tests to figure out a working set of wiring between a SynqNet equipped S200 drive and the noncatalog motor. During the process the drive is configured for that motor. The goal of each of
the below steps is to insure that positive motion as defined by the application is actually positive
sequence wiring for each element in the system. For reference, Danaher Motion standard for
positive direction is clockwise motion when facing the motor shaft for rotary motors and coil
motion in the direction of the motor cable lead exit. In short, you could call the following a
procedure to insure the 3 Positives.
122
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D.1
05/2008
Appendix D – Process to Setup Non-Danaher Motors
Detailed Drive Motor Wiring Discovery Procedure
Initial Set Up:
Before wiring the motor, feedback device(s) to the drive turn on control power to the drive and
perform a reset to factory defaults if the drive is not brand new. Then, set the feedback device
parameters to match the feedback device type. Make sure to NV save these parameters.
With the power off, wire the motor coils, Hall commutation signals, and encoder to the drive in
any manner that seems reasonable based on the names of the terminals. For example, wire
encoder A+ to drive A+, Hall 1 to drive Hall U, etc. This initial wiring is just a starting point for
the process of finding a working set of wiring.
Positive #1: Monitor and confirm positive encoder wiring:
With the drive control power on and the drive disabled, move the motor manually in the desired
direction for positive increasing motion. In S200 Tools monitor PosFB on the Status page of
the tool. Be careful because PosFB wraps around every 2^16 full counts. For SynqNet units
the SynqNet master’s MoCon encoder count display does not wrap around and increments in
the same direction as the drive variable PosFB. If encoder counts do not increment positively,
then swap encoder leads J14-13 Aux A+ and J14-14 Aux A-.
NOTE: EnDat 2.1/2.2 devices are really two feedback devices in one. At power up a digital
communication link gets the initial position and then the analog 1 Vp-p Sin-Cos signals are
used to keep track of incremental motion after the absolute position sample. These two
directions must agree. So, with EnDat devices positive motion direction is determined by the
feedback device and can not be set by application requirement. To see the direction defined by
the internal EnDat device power up the drive, feedback device note the position reported by the
drive. Then power cycle the drive, move the position and then check the position reported by
the drive. If position increased then the moved direction is positive else it was negative.
Positive #2: Monitor and confirm positive Hall wiring:
Assign the three Hall signals U, V, and W to traces in MoScope on the SynqNet master. For a
good visual display on the MoScope software oscilloscope set the scale and offset to Ch U Gain 6, offset -2; Ch V - Gain 6, Offset 0; Ch W - Gain 6 Offset 2.
With the drive disabled manually move the motor in the positive direction. Hall signals U, V, W
should form a three phase set with:
V lagging U by 120 degrees and W lagging V by 120 degrees.
In truth table formate, use the following for positive direction movement:
In (Hall UVW format): (101), (100), (110), (010), (011), (001).
If the Hall sequence is not in the expected U then V then W 120 phase order, then Hall wires
will need to be swapped.
NOTE: In some non-Danaher Motion systems the Halls have 60 degree separation which is
equivalent to the Danaher Motion standard with the middle signal Hall V logically inverted. The
S200 drive is not compatible with this non-standard Hall format. The inverted logic Hall
commutation signal will have to be inverted by circuitry outside of the S200 to get the system to
work.
Positive #3: Monitor and confirm positive motor coil wiring:
This step will be the first time the drive is enabled and the motor will have current in it. Make
sure that the motor current loop gain parameter KIP in the drive is set to 2*pi*2000*(motor L
line-line in Henry) and NV saved by using S200 Tools. The drive, SynqNet master will be set to
output fixed current vectors independent of actual motor position and the motor will be moved
in small increments like a stepper motor.
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Appendix D – Process to Setup Non-Danaher Motors
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Danaher Motion
Set the MEI filter gains to zero. In S200 Tools, set the drive to "stepper motor mode" (no
commutation) by setting DPoles = 0. Set the S200 parameter CommOff to 0. Command a
positive current in the coil via MoCon by setting a low but nonzero positive and negative current
limit (say, +2500 counts each). The rms current in the motor will be this value times the drive
Ipeak divided by the scaling number 19336 counts. For example, in an S20660 18 Arms peak
drive 2500 corresponds to 18*2500/19336 = 2.3 Arms. Make sure the current selected is low
enough not to overheat the motor coils but high enough to get the motor to move.
Enable the drive and the motor should move to a magnetic pole alignment position. That is, the
motor will swing to its pole position, oscillate around that position, and stop. Note the encoder
position. Now command a small (try 10) positive CommOff. The resulting motion should be in
the positive encoder direction. That is the encoder counts should have increased. If there is
enough friction in the system you may need to adjust the current higher, just make sure the
current is within the motor coil rating. You can also try going further by setting CommOff to
higher angles up to 180 degrees. If the resulting motion was in the negative encoder direction,
you will need to swap any pair of motor power leads.
The setup now has the motor coils, the Hall commutation sensor, and the encoder all agreeing
on the same positive direction.
Disable the drive.
Set Commutation Offset Angle:
Zero the current command in the MEI MoCon utility as done in the Positive #3 step.
Restore DPoles to its proper non-zero value. For linear motors this is usually 2 and for rotary
motors must be the actual number of magnetic poles per revolution. For linear motors make
sure AuxFBDivsor is set correctly to get commutation to work. See Chapter 8 Advanced
Configuration for help with these NV parameters.
Enable the drive while holding the motor. There should be 0 current command and there
should be no force yet. Now apply a small (for example +1000 counts) current command in the
MEI MoCon utility as described above. The motor should show a uniform force that doesn't
vary as a function of magnetic cycle. Don't worry about the force direction.
Now, try setting CommOff in S200 Tools to -120, 0, +120. Two of these settings will produce
force in the wrong (negative) direction at one-half the expected force level. Use the value that
produces positive direction force with the higher force level.
NOTE: The above last step assumes that the motor was built conventionally and the Hall
Commutation logic edges mechanically lined up with the motor line-line back EMF zero
crossings. If the Hall commutation sensor has random alignment then you may need to make
more careful measures to set CommOff to the optimal value which will give you the most force
per amp of drive current.
Summary:
The S200 drive is now properly configured to run the non-catalog motor. Do an NVSave in the
S200 Tools to save the settings, do a file save to save the settings for future reference, and
document the working motor to drive wiring. If you would like to help others who might
someday run the same motor email the setup file and wiring connections to your Danaher
Motion products application engineer so they can share it with others.
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Appendix E – Voltage Sag Standard – Semi F47, F42
APPENDIX E – VOLTAGE SAG STANDARD – SEMI F47, F42
Semiconductor F47 and F42 standards relate to the ability of equipment to ride-through voltage
dips of various magnitudes and duration. F47 requires that semiconductor equipment tolerate
transient voltage sags or dips on the AC power line. Voltage dip to:
50% of nominal for 200 ms
70% of nominal for 0.5 second
80% of nominal for one second
F42 specifies how to test for compliance with F47. To robust the S200 for F47 type voltage
sags, power the S200 using AC line voltage and phasing as described below.
AC S200 Control Power
240 VAC, one-phase
AC S200 Bus Power
Three-Phase, 240 VAC
DC S200
DC power supply operated from three-phase, 240 AC line
AC Control Power
The use of 240 VAC, single-phase, nominal for control power results in the control voltage
remaining within the drive control voltage specification (85 VAC to 265 VAC) during an F47
50% sag (deepest F47-specified sag). Powering the control with 240 VAC also maximizes the
ride-through time for larger amplitude sags because more energy is stored in the control bus
capacitor.
AC Bus Power
If three-phase 240 VAC is available for bus power, it provides much better F47 ride-through
than either single-phase 240 VAC or 120 VAC because F47 and F42 standards mandate that in
a three-phase system, only one phase of the three phases is sagged at a time. If the AC S200
is powered by three-phase 240 VAC, it keeps its bus capacitors reasonably well-charged by
pulling power from the one line-to-line voltage that does not sag.
With single-phase AC bus power, a full torque acceleration of the motor to high speed during
an F47-mandated voltage sag has the potential to drag the bus voltage down. If only the
internal bus capacitors of a 3 A / 9 ARMS S200 are supplying the full 3 kW peak output power,
the bus voltage sag rate is 13 V/ms.
A single 10 to 20 ms motor acceleration during a 50% F47 voltage sag has the potential to drop
the bus voltage about 50%. Options to handle this problem are:
a) Limited hold-up time of 20 to 30 ms is achieved by adding additional capacitance on the
bus. Wire an external 1,500 uf or higher, 450 VDC, aluminum cap across the +bus to -bus. In
this case, simply wire a rectifier or surge limiter between the drive AC terminals and the cap to
help charge the external capacitance at power up. The bus voltage does not return to normal
until the line returns to normal, so multiple accelerations during the sag are a problem with this
option.
b) Monitor the line voltage and quickly pause the machine when the voltage sags.
c) Combination of a) and b)
d) A robust, costly option to ride through all F47 mandated voltage sags when three-phase
240 VAC is not available is either to double the peak power capability of the motor/drive
system, or to derate the motor's maximum speed 50%. If a motor’s top speed can be achieved
with a 50% low bus voltage, the worse case F47 voltage sag of 50% is tolerated with little or no
effect on motor performance.
If three-phase power is available within the plant, but at higher voltage than 240 VAC, consider
adding a power transformer to step it down to 240 VAC for use as AC bus power for the S200
drives in the machine. This is also a robust option.
S200-VTS Product Manual
125
Appendix F – Using a Voltage Doubler Mode Drive
05/2008
Danaher Motion
APPENDIX F – USING A VOLTAGE DOUBLER MODE DRIVE
...
J1-9
L1 (120VAC Hot /240VAC)
J1-8
L2 (240VAC)
J1-7
L3 (120VAC Neutral)
...
PE
Drive
Figure 1. Main Power Line Connection of the S2xx50 AC Input Voltage Doubler Drive
In the S2xx50 AC input voltage doubler drives, AC line L3 is shorted to the center point of the
two series connected bus capacitors as shown in Figure 1. For voltage doubling, connect
single-phase 120 VAC to J1-9 L1 and J1-7 L3. On the same unit, connecting 240 VAC to J1-9
L1 and J1-8 L2 gives standard single-phase full wave rectification. In both cases, the result is a
320 VDC nominal bus voltage.
Three-phase AC line operation is not possible with the S2xx050 AC input voltage doubler
models. In fact, connection to a three-phase source will damage the drive. Please use the
standard S2xx60 AC input version of the product.
When doubling a 120 VAC line, the drive continuous power specification is derated to about
70% of standard single-phase ratings. The following table gives the power specifications for
120 VAC voltage doubled operation. Refer to the ratings in Voltage Sag Standard for 240 VAC
single-phase operation.
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Appendix F – Using a Voltage Doubler Mode Drive
S2xx50 AC Line Voltage Doubling Drive Power Specifications
120 VAC Voltage Doubling
S20350
S20250
Peak Output Current (ARMS)
0 to 40ºC Ambient
9.0
4.5
Minimum Peak Current Time
Starting from 0 Amps
3.0
3.0
Cont. Output Current (ARMS)
0 to 40ºC Ambient
3.0
1.5
Continuous Output Power (Watts)
750
350
Peak Output Power (Watts)
2400
1200
10
5
MDA-15
MDA-10
RMS Line Current at Continuous
Output Power (RMS)
Fusing – Line Inputs
WARNING
S200 units with the voltage doubling option manufactured before
June 2004 have the function of L1 and L3 reversed. Using 240
VAC on old voltage doubled units with this new documentation
will lead to catastrophic failure of the drive.
Requirements for Safe Operation of the Drive
It is the machine builder’s responsibility.
S200-VTS Product Manual
127
Appendix G – Regulatory Information
05/2008
Danaher Motion
APPENDIX G – REGULATORY INFORMATION
G.1
Conformance Requirements
The equipment described herein has been developed, produced, tested and documented in
accordance with the corresponding standards. During use conforming with requirements, the
equipment is not dangerous for people or equipment. Use conforming with requirements means
that the safety recommendations and warnings detailed in this manual are complied with and
that the applicable regulations for safety (machine directives, etc.) and noise suppression (EMC
Directives) are observed while operating the drive. At the end of its lifetime, dispose of or
recycle the drive according to the regulations applicable at that time.
G.2
CE Approval
The CE initials confirm that the S200 drives satisfy all requirements of CE Directives. However,
the equipment is not ready to operate without additional installations (cable, motor, etc.). Thus,
all necessary tests and measurements had to be made on a typical installation. The test
installation with all peripheral devices, as well as the test results and measurements are
recorded in detail in documentation that is available from the manufacturer on request.
G.2
CE EMC Compliance
NOTE
128
If the connection method on your machine is different from the ones pictured in
this manual, or in the event of use of components other than those specified,
adherence to CE interference limit values cannot be guaranteed.
The machine builder should incorporate good EMC installation and wiring
practices in the machine design. Some machine designs require more EMC
consideration than others. For example, a multi-axis machine generates more
noise than a single-axis machine. Therefore, multi-axis machines may require
additional noise reduction techniques, such as a metal enclosure or clamping of
cables shields to an RF ground.
S200-VTS Product Manual
Danaher Motion
G.2.1.
05/2008
Appendix G – Regulatory Information
CE Test Setup
AC MODELS S2XX6X-XXX, S2XX5X-XXX
10
9
4
3
2
5
6
1
6
7
6
8
Example of Test Setup
1) S200 AC DRIVE: S20360-VTS
2) MOTOR FEEDBACK CABLE: CF-DA0111N-05-0 (CF-DA0111N-50-0 for conducted emissions)
3) MOTOR POWER CABLE: CP-102AAAN-05-0 (CP-102AAAN-50-0 for conducted emissions)
4) MOTOR: KOLLMORGEN AKM43K-ANCNC-00
5) LINE FILTER: MTE RF30006-4 (see * below)
6) CORDS FOR AC MAINS CONNECTION
7) 5V POWER SUPPLY FOR ENABLE OPTO
8) PERSONAL COMPUTER
9) SERIAL CABLE (for setup and diagnostics)
10) SHIELDED I/O CABLE WITH DSUB SHELL GROUNDED AT EACH END
* (cable between filter and drive shielded with shield tied to PE with a 360 degree termination at each end of
the cable)
G.2.2
CE Test Setup
DC MODELS S2XX3X-XXX
4
10
9
2
3
6
5
1
6
7
6
8
Example of Test Setup
1) S200 DC DRIVE: S20630-VTS
2) MOTOR FEEDBACK CABLE: CF-DA0111N-05-0 (CF-DA0111N-50-0 for conducted emissions)
3) MOTOR POWER CABLE: CP-102AAAN-05-0 (CP-102AAAN-50-0 for conducted emissions)
4) MOTOR: KOLLMORGEN AKM43K-ANCNC-00
5) SAFETY ISOLATED DC BUS POWER SUPPLY
6) CORDS FOR AC MAINS CONNECTION
7) 5V POWER SUPPLY FOR ENABLE OPTO
8) PERSONAL COMPUTER
9) SERIAL CABLE (for setup and diagnostics)
10) SHIELDED I/O CABLE WITH DSUB SHELL GROUNDED AT EACH END
S200-VTS Product Manual
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Appendix G – Regulatory Information
G.2.3
05/2008
Danaher Motion
Declaration of Conformity
In our Declaration of Conformity, we affirm our compliance with Directive 73/23/EEC (Low
voltage Directive) and with Directive 89/336/EEC (EMC Directive).
EMC testing was done according to EN61800-3: (Emission limits according to chapter 6.3.1 of
that regulation, First environment / restricted distribution) for the following drives:
S20260-VTS, S20360-VTS, S20330-VTS, S20630-VTS, S20260-SRS, S20360-SRS, S20330SRS, S20630-SRS, S20260-SDS, S20360-SDS, S20330-SDS, S20630-SDS, S20660-VTS,
S20660-SRS, S20660-SDS, S21260-VTS, S21260-SRS, S21260-SDS
Pending CE approval S22460-VTS, S22460-SRS, S22460-SDS. Consult factory for up to date
information.
During assembly of our product in a machine, startup (that is, normal operation) is prohibited
until the end-product complies with Directive 89/392/EEC (Machine Directive) and directive
89/336/EEC (EMC Directive).
The machine manufacturer must prove that the complete system conforms with all relevant
European Directives.
Drive conformance to specified standards is certified by the Declaration of Conformity in this
manual.
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Appendix G – Regulatory Information
CE Declaration of Conformity
We, the company
Danaher Motion
Kollmorgen
201 West Rock Road
Radford, VA 24141
Hereby in sole responsibility declare the conformity of the product series
Danaher Motion S200 Digital Servo Drives
Which includes the models:
S20330-VTS, S20630-VTS, S20260-VTS, S20250-VTS, S20360-VTS, S20350-VTS, S20660-VTS, S21260VTS,
S20330-SRS, S20630-SRS, S20260-SRS, S20250-SRS, S20360-SRS, S20350-SRS, S20660-SRS, S21260SRS,
S20330-SDS, S20630-SDS, S20260-SDS, S20250-SDS, S20360-SDS, S20350-SDS, S20660-SDS, S21260SDS,
With the following standards:
•
Low Voltage Directive 73/23/EEC
•
EMC Directive 89/336/EEC
European Harmonized, National, & International Standards
EN 50178
EN 61800-3
Product has been reviewed, tested, and found to be in conformity with
the above standards. Product has also been reviewed per UL508C, IEC
721-3-2, and IEC 721-3-3.
For recommended configurations see the installation manual or instructions (M-SM-200-01).
This Declaration does not contain any assurance of properties in the meaning of product liability.
The notes on safety and protection in the operating instruction must always be observed.
The above-mentioned company has the following technical documentation for examination:
•
Proper operating instruction
•
Diagrams
•
Other technical documentation (for EU authority only)
•
Technical construction file (for EU authority only)
Legally binding
Signature
S200-VTS Product Manual
131
Appendix G – Regulatory Information
G.3
05/2008
Danaher Motion
Installation and Commissioning
Installation and wiring of the drive must be completed only by qualified personnel having a
basic knowledge of electronics, installation of electronic and mechanical components, and all
applicable wiring regulations.
Only qualified personnel having broad knowledge of electronics and motion control technology
are to commission the machine utilizing the drives.
This manual should be read in its entirety. This appendix contains important regulatory
information not necessarily covered in earlier chapters. The material in this section should be
taken into consideration to ensure compliance with applicable regulatory requirements. This
section alone does not contain all the information needed to install and operate an S200 drive.
General information on installation and wiring are explained in detail in previous sections.
G.4
Safety requirements
As the user or person applying this unit, you are responsible for determining the suitability of
this product for the application. In no event will Danaher Motion be responsible or liable for
indirect or consequential damage resulting from the misuse of this product.
Read this manual completely to effectively and safely operate the S200.
G.5
European Compliance
In Germany, these include:
DIN VDE 0100 (instructions for setting up power installations with rated voltages below
1000 V).
DIN - EN 60204 - Part 1, (VDE 0113, part 1) instructions relative to electric equipment in
machines for industrial use.
DIN EN 50178, (VDE 0160) instructions relative to electronic equipment for use in power
installations.
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05/2008
Appendix G – Regulatory Information
Low Voltage Directive and EN50178
To ensure compliance with the Low Voltage Directive and EN50178, following these
requirements:
Electronic drives contain electrostatic sensitive devices, that can be damaged when
handled improperly. Qualified personnel must follow ESD protection measures. For
example: wear grounded heel and wrist straps when contacting drive.
The climatic conditions shall be in accordance with EN 50178 climatic class: Type B,
temperature and relative humidity: Class 3K3.
The drives shall be installed in an environment of Pollution Degree 2 or better.
The S200 drives are not considered portable and are to be mounted in the intended
manner in a motor/control cabinet having adequate strength and thickness with acceptable
spacing for the end product classification accessible by qualified personnel only. The
enclosure/cabinet shall meet at least the requirements of Protective Type IP2X according to
5.1 of EN 60529. If the top surface of the enclosure/cabinet is easily accessible it shall
meet at least the requirements of the Protective Type IP4X.
Care shall be taken to ensure that the larger device or enclosure that accommodates the
built-in device provides protection against direct contact.
The S200 drives may be erected in closed electrical operating areas if a protection against
direct contact is available or assigned for by means of obstacles and/or a distance
according to IEC 364-4-412.3 and IEC 364-4-412.4.
Follow IEC 536-2 and IEC 1140 for installation protection against electric shock.
Installation shall be performed in accordance with local electric codes, local accident
prevention rules, EN 50178 and EN 61800-3.
Never connect or disconnect any drive connectors or terminals while the power is switched
on.
Due to high leakage current, permanently install this drive (hard wired or fixed type). The
PE connection shall be made by two separate protective conductors satisfying the
requirements for protective conductors as given in 543 of HD 384.5.54 S1 between the
earth ground and the PE terminal(s) on the drive, or by a protective conductor having a
cross section of at least 10 mm2 Cu. The S200 drives are designed to Protective Class I.
The discharge time for the bus capacitors may be as long as 5 minutes. After disconnecting
the drive from the ac mains be sure to wait 5 minutes before removing the drive’s cover and
exposing live parts.
The finished installation shall comply with the requirements of the IEC 364-4-41 series of
standards.
The cables and leads (except the protective conductors) used in the erection of the S200 in
an installation which are accessible for contact without opening or removing a barrier or are
laid on extraneous conductive parts shall have double or reinforced insulation between the
core and the surface or shall be surrounded by a metal screen having a satisfactory
current-carrying capacity in the event of a short-circuit between the core and the screen.
When installing the S200 into its operating location, it shall be ensured that any existing
protective separation according to 5.2.18 of EN50178 is maintained throughout the entire
length of the circuit in question. In installations the compliance for of the measures for
protective separation shall be checked by visual inspection.
Refer to Sections 1 and 4 of this manual for external fusing information.
Motor cable shield must be connected to protective earth.
During periods of extreme regeneration or excessively high input voltage the temperature
of the regen resistor may exceed 70 °C.
When using an external regen resistor, if regen cabling is accessible during normal
machine operation, regen resistor cable should be rated at 300 Vac and shielded with
shield connected to PE.
Consult the factory before using this product on a circuit protected by a residual-currentoperated protective device (RCD).
All covers shall be closed during operation.
The S200 drives should be used within their specified ratings.
S200-VTS Product Manual
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Appendix G – Regulatory Information
G.7
05/2008
Danaher Motion
UL and cUL Conformance
The S200 drives are UL and cUL Recognized to UL 508C under UL File number E137798.
Consider the following points to ensure that final installation meets UL requirements:
The drive should be used within its specified ratings.
The drive should be mounted in the intended manner in an enclosure having adequate
strength and thickness with acceptable spacing for the end product classification.
The spacing from the exposed live-metal parts to the enclosure wall should be in
accordance with the requirements for the overall equipment.
These drives shall be used in a pollution degree 2 environment in order to comply with the
spacing requirements of UL 840 and UL 508C.
The UL temperature tests were done with a metal heat plate with overall dimensions, 6 in x
12 in x 1/8 in. The machine builder is responsible for ensuring adequate heat sinking
capability in the final installation.
The thermal protective device(s) provided integral to the motor drives were not evaluated
by UL.
The terminals are suitable for factory wiring only.
These motor drives have not been evaluated to provide solid-state overload or over speed
protection.
The DC models were evaluated by UL for use with an isolated power supply rated no more
than 150 V open circuit secondary voltage and 10 kVA secondary power. This combination
shall be maintained to satisfy UL requirements.
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05/2008
Appendix G – Regulatory Information
Additional Safety Precautions
Motor Case Grounding
Insure that the motor’s case is connected to PE ground. The fourth wire in the motor cable
connecting J2-1 or TB1-1 to the motor case accomplishes this.
CAUTION
If the motor is not properly grounded, dangerous voltages can be
present on the motor case due to capacitive coupling between the
motor windings and case.
Requirements for Safe Operation of the Drive
It is the machine builder’s responsibility to insure that the complete machine complies with the
Machine Directive (EN60204).
The following requirements relate directly to the servo controller:
1. Emergency Stop
CAUTION
If personal injury can result from motor motion, the user must provide an
external hardwired emergency stop circuit outside the drive. This circuit
must simultaneously remove power from the drive’s motor power terminal
J2-2, J2-3, and J2-4 or TB1-2, TB1-3, and TB1-4 and disable the drive (by
open circuiting the connection to J4 pin 2).
The motor will coast under this condition with no braking torque.
NOTE
CAUTION
If braking torque is required to quickly stop the motor, a dynamic brake can
be added that loads the motor’s windings resistively. The motor should not
be loaded until the servo drive is disabled. The holding brake, optional on
Danaher Motion motors, is not intended to stop a spinning motor. It is
designed to prevent a stopped motor from rotating due to an applied torque.
2. Avoid Unexpected Motion
CAUTION
Always remove power from J1 or TB1, J1 and wait 5 minutes before working
on the machine or working anywhere where injury can occur due to machine
motion.
3. Avoid Electrical Shock
Never power the servo drive with the cover removed or with anything
attached to circuitry inside the cover.
If the drive must be removed from the cabinet, wait at least five minutes
after turning off power before removing any cables from the drive or
removing the drive from the mounting panel.
Never connect or disconnect any wiring to the drive while power is
applied. Always power down and wait five minutes before connecting or
disconnecting any wires to the terminals.
CAUTION
4. Avoid Burns
CAUTION
The temperature of the drive’s heat sink and housing as well as an external
regen resistor may exceed 60° C. Therefore, there is a danger of severe
burns if these regions are touched.
5. Prevent Damage to the Drive
Follow these guidelines to prevent damage to the servo drive during operation:
Never plug or unplug connectors with power applied.
Never connect or disconnect any wires to terminals with power applied.
If the drive indicates a fault condition, find the cause of the fault and fix it prior to resetting
the fault or power-cycling the drive.
S200-VTS Product Manual
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Appendix G – Regulatory Information
G.9
05/2008
Danaher Motion
EMC Compliance with EN61800-3
Use in a Domestic Environment
WARNING
CAUTION
The products covered in this manual are of the restricted sales distribution
class according to IEC 61800-3. In a domestic environment this product
may cause radio interference in which case the user may be required to
take adequate measures.
Because applications differ, it is impossible for the drive manufacturer to
guarantee machine EMC compliance. In some applications, it may be
necessary for the machine builder to incorporate more EMC mitigation
techniques than Danaher Motion had to use in the EMC test setups.
General Suggestions to Improve Machine EMC Performance
Use Danaher Motion cables – Danaher Motion cables have been designed with EMC
considerations in mind. Because subtle differences in cable construction can cause dramatic
changes in EMC performance use of Danaher Motion's motor power and feedback cables is
recommended.
When joining or splicing sections of cable, be sure to maintain the integrity of the cable
shield along the entire length of the finished cable.
Separate cables according to type - AC Mains input, motor power and signal cables should
be separated from each other by at least 100 mm (4 in) to avoid cross coupling between them.
If cables of different types have to cross, they should do so at a 90° angle.
Route wiring close to machine frame - It is a good practice to run wires along the machine
frame (local ground) whenever practical, this couples some high frequency noise/signals that
could otherwise be troublesome directly to the local ground.
Remove paint from all drive, filter, and cable clamp mounting locations.
Add clamp-on ferrites to cables – Adding clamp-on ferrites to noisy cables can reduce
emissions by absorbing RF energy before it is radiated.
Use the appropriate line filter – A line filter is required for CE applications, more information
on line filter selection can be found in D.10
Add a balun to the motor power cable – adding a balun in series with the U, V and W
phases of the motor power cable can attenuate both conducted and radiated emissions.
Ensure that cables shields have a good RF ground – more information on this can be found
in D.10.
136
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G.10
05/2008
Appendix G – Regulatory Information
AC Mains Conducted Emissions
Line Filter
To meet the CE-conducted EMC requirements, an external line filter (in series with the AC
mains) is necessary. It is the responsibility of the machine builder to choose filter(s) appropriate
for the application. Danaher Motion is willing to assist in this choice. Often, the decision is made
to filter the machine as a whole instead of filtering the individual drives.
Mount the line filter as close as possible to the point where incoming power enters the
machine/cabinet. Locate the drive(s) as close as possible to the line filter. To provide maximum
high frequency filtering, remove any paint from between the filter, the drive and the conductive
surface, ground plane to which they are bonded. For maximum benefit, separate input wiring to
the line filter and output wiring from the line filter from each other.
During CE testing, multiple line filters were qualified for use with 50 m motor and feedback
cables to represent worse-case, conducted emissions compliance. The below lists filters used
during CE testing. Match filter rating to drive input ac ratings for proper combinations.
Corcom 6EQ1 (single phase)
Corcom 36FCD10 (three phase)
MTE RF30006-4 (three phase)
Schaffner FN258-7, FN258-16, FN258-30, FN3258-16, FN3258-30 (three phase)
Information on these and other filters can be found at:
Corcom, Inc.
USA 1-800-468-2023
or
847-680-7400
Germany 49-89857920
http://www.cor.com
MTE Corporation
Schaffner
USA 1-800-455-4MTE
USA 1-800367-5566
International 1-262-2538200
http://www.mtecorp.com
Switzerland 41-32-6816-626
http://www.schaffner.com
For complete instructions on wiring an AC version S200 drive refer to
AC Input Drive Wiring, of this manual. For complete instructions on wiring a DC version S200
drive refer to the DC Input Drive Wiring.
NOTE
Motor Power Cable Filtering
In typical applications, the S200 drives do not require additional filtering in the motor leads.
Machines with many drives and long motor power cables may require an external balun in
series with the power motor power cable to reduce the machine’s conducted emissions.
Additional information can be found in Pacific Scientific Application Notes 106 (Reducing
Motor Drive Line Noise) and 107 (Reducing Motor Drive Radiated Emissions).
Balun PN: 104-090003-01
NOTE
Current Rating
60 A sinewave pk (42 ARMS) 5 sec
20 A sinewave pk (14 ARMS) cont
Inductance 340 µh nominal
Energy Rating
7,200 µJ nominal
Resistance 0.021 Ω nominal
Gap
10 mil
Ground Cable Shields
The Motor Power (J2 or TB1), Feedback (J3), Command I/O (J4), and Serial Port (J5) cables
must be shielded and the shields should be connected to PE. The safety PE connection can be
made through connector pin or shell.
CAUTION
All cables used with the S200 drives should be shielded with the shields
connected to PE. Dangerous voltages, resulting from cable capacitance,
exist on some cable shields if the shields are not connected to PE ground.
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Appendix G – Regulatory Information
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Danaher Motion
Avoid Crosstalk
CAUTION
To avoid the risk of crosstalk, keep the motor and feedback cables away
from sensitive signal cables (i.e., telephone and intercommunication lines).
Shield all cables used with the S200 drives with the shields connected to
PE.
EMC testing was performed using a single drive with standard wiring. When a machine
incorporates several drives or is designed for use in an environment requiring very low
emissions, additional steps may be necessary to reduce the overall machine emissions and/or
susceptibility. High frequency grounding of cable shields may help reduce radiated and
conducted emissions as well as protect against susceptibility to external and self-generated
noise.
High Frequency Grounding of Cable Shields
When a cable with a separate inner foil shield and outer braided shield is used,
EMC performance may be improved by connecting the foil shield to the PE
location on the connector and removing about 10 mm (0.5 in) of the outer cable
jacket close to the drive [within 0.6 m (2 ft) of the drive] to expose the braided
shield and clamping the outer braided shield to the ground plane with a 360°type clamp.
If a ground plane is available at the motor end of these cables, similar use of a
conductive clamp at that end to connect the shield to the ground plane may
help as well. Clamping the cable shields to PE typically reduces the level of
emissions and increases the level of immunity to interference.
NOTE
G.11
Example of 360° clamping of cable shields
Regen Resistor
Regen Wiring (AC drives)
For complete instructions pertaining to an external regen resistor with an AC input drive, refer to
Base AC Drive Wiring. In addition to the information in that section, users installing drives for
use in a CE installation should use an appropriately-grounded, shielded regen cable to reduce
overall system emissions.
Accessible Regen Cables
CAUTION
When using an external regen resistor, if regen cabling is accessible during
normal machine operation, the cable should be a shielded cable rated at 450
VDC with the shield connected to PE.
High Frequency Grounding of Regen Cable Shield
NOTE
G.12
When using a regen resistor in a CE installation, the cable should be
appropriately rated and have a braided shield connected to PE for safety, and
clamped to the ground plane with a 360° clamp for EMC purposes
Additional EMC Information Sources
Additional information on EMC performance and noise reduction techniques can be found on
the Danaher Motion website (www.DanaherMotion.com):
Kollmorgen Application Note EMI Noise Checklist
Pacific Scientific Application Note 106 - Reducing Motor Drive Line Noise
Pacific Scientific Application Note 107 - Reducing Motor Drive Radiated Emissions
138
S200-VTS Product Manual
Danaher Motion
S200-VTS Product Manual
05/2008
Appendix G – Regulatory Information
139
Sales and Service
We are committed to quality customer service. In order to serve in the most effective way,
please contact your local sales representative for assistance.
If you are unaware of your local sales representative, please contact us.
Europe
Danaher Motion Customer Support Europe
E-Mail
support_dus.germany@danahermotion.com
Internet www.DanaherMotion.net
Tel.:
+49(0)203 - 99 79 - 0
Fax:
+49(0)203 - 99 79 - 216
North America
Danaher Motion Customer Support North America
Internet www.DanaherMotion.com
E-Mail
DMAC@danahermotion.com
Phone: +1 - 540 - 633 - 3400
Fax:
+1 - 540 - 639 - 4162