Installation manual

ManualsBrandsDanaher Motion ManualsComputer equipmentS200-VTS

S200 Position Node with CANOpen/

DeviceNet

Installation Manual

M-SS-S2-11

Revision J June 25 2007

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.

NOTICE:

1.) This S200 Option requires the use of special user interface software called S200 OC Tools. This

software can be installed using the included CD ROM. This device will not communicate with the

standard S200 Tools software.

2.) Common Problems

a.) If all dip switches are set to ON (Toggled to the right), the unit enters a perpetual rest state and

does not communicate. Change dip switch settings.

b.) When selecting a non-SFD motor, be certain to enter the ‘motor poles’ data.

c.) Always remember to Save the configuration to Non-volatile memory.

d.) Remember that COLDSTART is required before using the drive after changing I/O configuration.

Helping you build a better machine faster.

Summary of content (109 pages)

PAGE 1
S200 Position Node with CANOpen/ DeviceNet Installation Manual M-SS-S2-11 Revision J June 25 2007 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. NOTICE: 1.) This S200 Option requires the use of special user interface software called S200 OC Tools. This software can be installed using the included CD ROM. This device will not communicate with the standard S200 Tools software. 2.
PAGE 2
Record of Revisions Date Issue 2/1/07 D 2/19/07 E 4/4/07 F 5/21/07 G 6/13/07 H 6/25/07 J Description Revised Input definitions Major rewrite Added Modbus information Made clarifications in Modbus Section Added Page Numbers, modified encoder input circuit Corrected J12 pin-out information ©2006 Danaher Motion - All rights reserved. Printed in the USA. NOTICE: Danaher Motion® is a registered trademark of the Danaher Corporation.
PAGE 3
Danaher Motion 07/06 Table of Contents Table of Contents 1 2 Table of Contents .................................................................................................. i Product Overview ................................................................................................. 1 1.1 Highlights ................................................................................................... 1 1.2 Increased Machine Throughput & Longer Life ...........................................
PAGE 4
Table of Contents 07/06 Danaher Motion 2.8.10 LED2..............................................................................................46 Operational Notes ...............................................................................................47 3.1 Encoder Input Channels ...........................................................................47 3.2 Pulse (Step) and Direction........................................................................48 3.3 Digital Input Notes ............
PAGE 5
Table of Contents 07/06 Danaher Motion B.3 CE EMC Compliance ............................................................................... 91 B.3.1. CE Test Setup............................................................................... 92 B.3.2 CE Test Setup ............................................................................... 93 B.4 Declaration of Conformity................................................................. 94 B.5 Installation and Commissioning .........................
PAGE 6
PAGE 7
1 PRODUCT OVERVIEW TM The S200 Position Node with CANOpen/DeviceNet brings greater flexibility to the S200 drive platform by adding profile generation and field bus capabilities. It also brings added I/O, Digital Oscilloscope emulation, and the ability to use incremental encoder with commutation tracks (ComCoder) for motor feedback.
PAGE 8
Flash memory allows for quick and easy firmware updates via the serial interface Incremental Encoder Input port allows ComCoder motor feedback for position loop control.
PAGE 9
1.2 INCREASED MACHINE THROUGHPUT & LONGER LIFE Servo system performance is synonymous with machine throughput. The S200 POSITION NODE family takes servo performance to new heights. Industry-leading current loop bandwidth up to 5 kHz and velocity loop bandwidth up to 800 Hz means machine throughput can be increased by as much as 2 to 3 times. Robust design including full fault protection, locking connectors and optical isolation promise greater machine “up-time”.
PAGE 10
1.5.
PAGE 11
1.6 SPECIFICATIONS Unless otherwise specified, the specifications are worse case limits and apply over the specified operating ambient temperature and over the specified operating line voltage. NOTE 1.6.1 Drive Family Power ! ! " # # ! ! ! ! $ ! $ " $( $ % $ % $ $ % )& $ % )& ! $ % )& " $( * & & # ! " ' * * * ' ! " * * ' ' )& )& )& % +,)/ 0 0# ) .)* . 1 )* * 3 (-4 45 6 $ 5 - 2 $ 1 1 2 03 4 $( 8 59: " $( 9: * & % ; +5 $( # 6 7! 89 :1 1 # ;# 8 " $( " ' ' ' ' ' ' ! !" ( ' ' ! ! .
PAGE 12
1 2 3 4 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 Operation above Above 40o C ambient: Derate linearly to 67% at 50o C . At higher ambient temperatures (above 30o C) the S20360 drive needs to be mounted on a thermally conductive surface to limit the heatsink temperature to less than 75o C.
PAGE 13
1.6.2 AC Input Drives - Control and Power # # 3 $ - #0 : 0 0 " ! ! ( ! ! !# $ 5 & # => $( " $( $ # =>? " # => 45 $ # =>? # => 45 $ # =>? # => 45 # 3 - #0 0 - !# ! 00 :=! < ( =- & 1 Maximum AC Line is specified to limit the mains surges to the drive. $ . & $* * : $* $* 0 - #0 " #$ - # 0 " #$ - # 0 #0 6 # #0 $ - 6 # - #0 :6 # ! $( $( @ 4( -5 8 " $( A 6 B " C9-D$ B " $( 8 >6 ? 1 3 ! ! ! ' : : :6 0( % , $ )& $ )& $ )& #36 999- ( ' ( ' ( ' 999- # ? 1 0% ( ' ( ' ( ' >6 .
PAGE 14
1.6.3 DC Input Drives - Control and Power # 5$ 5 $( F' F'! A A 5, - * * ! 1 (20 watt min supply recommended) Refer to the DC Power Supply Section for detailed application information and requirements. $* - # 0 A9: $ 5 $( A9: : + 5 @ -5 A9: D+ + 5 @ -5 F' :6 # F'! A! A A " $( A $( 5 5 #3 5) * 5 ( +D 5 # )& 3 ' 1 + , 0HC( + , @9 ! 7 ) .
PAGE 15
! ! 3 1# !6 E ! !6 E! !6 E! !6 E 9 ? 6 E# 6 E# 6 E# 6E!
PAGE 16
1.6.4 Velocity Loop : 3 ) 59 ; * & =>* & @( % 5 - L 5 5 - #1 3( 0$) ( , . # , . E E 0$) 5 6 0$, => ? !! 0$, 5 6 @ => ! ? ##!" @ => ! ? ##!" 1 Values for ARF0, ARF1; from 3012 to 24873 Hz cannot be set. 1.6.5 Mechanical " * -2 ;;- ( += & ( +1 &9 ( +( & 0 8 : ? 0 1 ! # ! " " * ;@@ ;@@ ! # " ;;- ;@@ " # # ! ! # -2 ;@@ ;@@ " # " # ! # # ! # # " M M . 5 . 5 M !. 5 "*& M M "" . # 5 . #5 Depth measurement is for drive only. Add approximately 50.
PAGE 17
1.6.6 I/O Specifications Analog command is not allowed in this product. Digital Velocity and Motion Task position loop control is the only possibilities. #0 "&A 1 " B . &.A &, 3 +5 @-5 5 5H 5 6 H4 51 J 4 6 @-5 5 5 D D 7 AE ' L L !' L ! $ ( ;$E 4 C C : H4 , -$ 5 , -H 3 - J @ G- 4 # (, 8) D @-5 5 5 8 $ B& ;&.A &, 5 5 ! %HHJ %( =>G- 5 - -5 0 # " &;.A " , -$ 5 # : 8 B& ;& A& ' !!E ' 3 ND 5 3 #! . => D K ;E B. ;.
PAGE 18
1.6.7 Environmental D D J H - H 7( -- - 5 4( )5 5 - 7 @-5 5 7 #"6 ( ! H =- - 46 '! ' 5- 1.6.8 " L Smart Feedback Device (SFD) 5 - E + ! B ' 54 LK ! +B K " 8 @5 => => 5 ) 5 @5 5 ) 5 @5 ! ! 4 # 0 0 ! 11 L! + + + + E B B B # ! B E 13 K !' K !' % : ) ; +B K " +B K ! Emulated Encoder Output Signals #4# 9 4 ( 5 # ! % !% ! %! ! % % %! 3 - D- - J @ G- % %! 4 => ! 3 !"# )) !! 3 # 3 )) #% % !% # % # # )) . )-5 1 & P O- 1.6.
PAGE 19
1.6.11 General 3H . ? 3 3H ! . 3 - @ 13 # 5 .
PAGE 20
2 GETTING STARTED 2.1 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 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.
PAGE 21
2.2.1 Dimensions " * " * -2 ! # ( += & ( +1 &9 ( +( && # H -2 " # # ! ! # " # !" ! ! !" ! ! ! # ! # " # # #" " # " # # #" ! # # " 1 7 9 ( / 0 = > 5 - D @ $ 5 - D $ 5 - = & = ( + ( + - 08 : ! # " < F # # # # ! # M M M . . . ? 0 5 5 #5 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.
PAGE 22
2.2.2 Mounting Outline DEPTH (C) 0.18 mm 4.57 in RECOMMENDED MOUNTING HARDWARE M4 OR #8 F TOP VIEW 0.18 mm 4.
PAGE 23
2.
PAGE 24
2.
PAGE 25
2.5 CONNECTORS 2.5.1 J1 – AC Input Power Models 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.
PAGE 26
J1-5 J1-6 J1-7 J1-8 J1-9 20 C2 CTRL VAC – Logic control Power C1 CTRL VAC – Logic Control Power L3 240 VAC – Main Line L2 240/120 VAC – Main Line L1 240/120 VAC – Main Line
PAGE 27
J1 Mating Connector Information 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 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 www.phoenixcon.com.
PAGE 28
NOTE After powering down the drive, monitor the BUS voltage by connecting a meter from J1-4 (+BUS) to J1-3 (-BUS) to verify the internal BUS capacitors have discharged prior to working on the drive. J1-5, J1-6 C2 CTRL VAC C1 CTRL VAC These terminals connect 120/240 VAC power to the drive’s control voltage power supply. - #0 # 6 0 : $ !# $ " # => ! $( " $( 5 & ' * &! , - $ # 0 9- ( 7Q For maximum ride through capability a 240 VAC input is recommended.
PAGE 29
Pin 3 1 (J1 Connector view from front of drive). 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.
PAGE 30
)$ )$ ! " * * * % * Refer to the DC Power Supply Requirements section for detailed requirements selecting a compatible power supply. NOTE PE Screw Connection 24 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).
PAGE 31
2.5.3 DC Input Power Model Power Supply Requirements $ - # 0 B&; B&; $* # 3 ! -) . ! # -) . $* 1 1 ! ! # Bus Supply Characteristics A ! $( A $( .G$* ( # 1 ( 1 #" ( ! 1 ! ( # 1 .
PAGE 32
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 under-voltage or over-voltage fault. Under-voltage and over-voltage faults self clear when the fault condition clears. NOTE Do Not allow the Bus Voltage to exceed + 90 VDC. This causes damage to the drive. Target design center voltage for unregulated supply is + 70 to + 75 VDC.
PAGE 33
NOTE 2.5.6 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 DC input S200. This capacitor is needed to absorb energy during motor deceleration and motor disable and to help 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.
PAGE 34
2.5.7 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.
PAGE 35
J2-1 PE Motor Case Ground On S200 AC Input Drives this point is connected to Chassis Ground. J2-2, 3, 4 Motor Phases These three terminals provide the 3-phase power output to the motor. NOTE Observe motor polarity, connect phase U on the drive to phase U on the motor, etc. For nonstandard motor drive combinations consult the factory for proper phase orientation. 2.7 J3 – FEEDBACK CONNECTOR J3 is a 6-pin plugable IEEE 1394 style connector for the feedback device.
PAGE 36
30 J3 –1 SFD +5 V This terminal provides a 5 VDC output to power the feedback device. For example, motor equipped with SFD, Halls or commutation encoder. The load current should not exceed 200 mA. J3-2 SFD +5 RTN 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. J3-3 SFD COM- SFD serial communications port when using the SFD feedback device.
PAGE 37
2.8 J4 – COMMAND I/O CONNECTOR J4 is a 26-Position High Density D subminiature female connector. 26 19 18 10 9 1 (J4 Connector view from front of drive.
PAGE 38
2.8.1 Base Drive Unit General Purpose Inputs General Purpose Inputs DINP1-3 J4-2, 3, 4 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 volts. DINP4 J4-5 General purpose inputs are compatible with either sourcing or sinking currents to provide maximum flexibility for interfacing to field wiring. Common Input Terminal J4-1 Common Rail for Inputs 1 through 4.
PAGE 39
The list below describes the factory defaults for each of the inputs. A logic input is active when current is flowing through the photo diode. Inactive inputs are open circuited. Default Input Functions DINP1 (ENABLE) Input 1: This input enables the drive. When input 1 is activated (current flowing in the photo diode), the drive is enabled. This input must be actively driven to enable the drive. An open circuited input disables the drive.
PAGE 40
TTL and CMOS Drivers 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.
PAGE 41
DINP5 (and10) J4-10, 11 General Purpose input default assigned as ‘No Function’. One of two inputs that can be assigned as end-travel limit switch inputs. Tie pin 10 or 11 to common rail for normal operation. J4-10 DINP5+/ HSINP1+ J4-11 DINP5-/ HSINP1- 221 Ω 2.21 k The high speed input works directly with 5 volt input, 3.0 to 6.0 volt range, without the use of a current limiting resistor.
PAGE 42
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 shows the connections to drive the highspeed input from sinking logic. J4-10 HSINP1+ + External 4 - 30 VDC Power Supply DC - J4-11 HSINP1External Current Limiting Resistor for supply > 5.
PAGE 43
2.8.2 Base Drive Unit 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 volt zener diode wired in parallel to clamp voltage transients. J4-6,7 DOUT1 FAULT J4-7 DO UT1+ (FAULT) J4-8,9 J4-6 DOUT1- DOUT2 RUN 33V J4-9 DOUT2+ (RUN) J4-8 DOUT2- 33V The following table lists the maximum output rating.
PAGE 44
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 Lim iting Resistor 50 m A MAX - An opto isolator 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.
PAGE 45
2.8.3 SFD BAT+ NOTE 2.8.4 SFD BAT is not implemented. 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 volts with a source impedance of 2.9 kΩ, 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. I/O RTN is the ground reference for the DAC MON, Analog Command, Encoder output/inputs, and SFD BAT+.
PAGE 46
2 1: & # F : 4 # 5 -5B ! ! ! ! ! # " # ! 1 User settable non-volatile PPR via the serial port is more flexible with the following PPR: 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. NOTE J4-17, 18 CH Z OUT CH Z OUT 2.8.
PAGE 47
F F F F F J11-1 41 V- ' '! ' ' ' 1 $' 8UJ &5 8U= $A 1" 95 . 95 9 1& # Return on power supply to CAN physical layer J11-2 CAN_L Low level CAN transmission signal J11-3 Shield Shield connection point. Tied to chassis ground through 1MΩ resistor in parallel with 0.01 µF capacitor J11-4 CAN_H High level CAN transmission signal J11-5 V+ Power supply input for CAN physical layer. Rated 11-26 volts dc.
PAGE 48
2.8.7 J12 J12, Option Card General Purpose I/O is a 15-Position High Density D subminiature male connector.
PAGE 49
Shell Outer shield connection (wired to PE in the drive). J12-12 CMD CH A+ Channel A and B inputs can be configured to receive position commands in 1 of 4 modes. The command channels can be placed in quadrature, step and direction, up/down, or hold modes. Either differential or single ended inputs can be received. The drive defaults to differential quadrature mode. In quadrature mode A leads B is a negative count, which corresponds to CCW direction looking into the motor shaft.
PAGE 50
2.8.8 J13 F ) + & . 1 F F F F F F F F ' '! ' ' ' '# '" ' : $ 1 8D , E D /8 /8 )H D88/ H H8 =RA =R' F F F F F F F ' ' ' ' ! ' ' ' & ! + 1 )H H8 A $( , E D H8 /8 = A /8 = ' /8 =9A /8 =9' J13-1 CU CU (Commutation Phase U) input when using open collector Hall feedback. This input has a 2.21 k pull-up resistor to 3.3 volts. J13-2 CV CV (Commutation Phase V) input when using open collector Hall feedback. This input has a 2.21 k pull-up resistor to 3.3 volts.
PAGE 51
J13-12 CMD CH A+ J13-13 CMD CH A- Channel A and B inputs that can be configured to receive differential, quadrature feedback. Channel A leads B is a negative count, which corresponds to CCW direction looking into the motor shaft. The maximum line frequency is 2 MHz, the maximum quadrature count frequency is 8 MHz, and the minimum pulse width is 250 ns. J13-14 CMD CH B+ J13-15 CMD CH B- 2.8.9 Switch Settings Address Switch S11 & S12 set the MAC ID.
PAGE 52
2.8.10 LED2 (2 D@@ 5 /( 2 Bicolor LED2. The module/network status LED -2 2 " D '5 ( + 5 @5 5 5 + ( + ( + 5< 95. 95.
PAGE 53
3 OPERATIONAL NOTES The S200 Position Node product is simple and intuitive to setup and use. Chapter 5 is designed to help the user step through the User Interface Software, S200 OC TOOLS, explaining much of the operation and setup. Chapter 4 is designed to provide some insight on the application setup for the product and to discuss some details about the product operation. 3.1 ENCODER INPUT CHANNELS The S200 CNS Option has the ability to accept pulsed position command input.
PAGE 54
3.2 PULSE (STEP) AND DIRECTION When using pulse and direction the pulses for command come in on the A channel and the direction on the B channel. The data in Section 3.1 will facilitate the electrical interface design. Select the ‘Mode of Operation (Drive Setup Menu) to ‘Electronic Gearing. Set the ‘Command Mode’ (Gearing menu) to ‘Pulse and Direction. And finally, set the pulses per revolution as the ‘Electronic Gearing Command Ration as revs / pulses.
PAGE 55
Gearing With and Without Correction: Used for Electronic gear modes to lock or unlock to / from the master signal. These inputs are edge triggered and must see an off-to-on transition while the drive is ready and enabled for motion in order to get motor motion. Selecting Gearing Without Correction causes the motor to ramp to commanded speed from the master and lock on once the speed is reached.
PAGE 56
when using Motion Tasking or Electronic Gearing Modes. Because values of ACC and DEC are velocity loop parameters low values will appear to cause instability and severe overshoot when the product is in a position loop control mode. 3.5 HOMING Homing is always required. If the application does not require homing then simply go into the Profile Setup / Homing tab and select ‘Set Current Position as Home Position’ and ‘Auto Home Move Upon Enabling the Drive’. 3.
PAGE 57
3.7 CONFIGURING DRIVE FROM EXISTING FILE It is often desirable to configure a drive exactly like another one. This is often the case when reproducing a machine design or changing out a drive on an existing machine. The configuration of the drive is saved as described in section above. S200 OC TOOLS User Interface Software is used to configure the connected drive. The file must first be loaded into S200 OC TOOLS by using the file menus ‘File / Open’. Locate and select the desired configuration file.
PAGE 58
3.8 UPGRADING FIRMWARE PROCEDURE Firmware can be downloaded to the drive using the S200 OC TOOLS User Interface Software. The firmware to download must be accessible by the computer via local media (hard drive, floppy, CDROM, memory stick, etc.). The proper procedure for upgrading firmware is as follows: 1.) Archive drive settings as described in Saving Drive Settings, above. 2.) Execute the following firmware upgrade procedure. 3.) Clear memory by ‘Utilities / Reset Variables to Factory Default’ 4.
PAGE 59
A progress window will come up to indicate the firmware load is taking place. Upon completion S200 OC TOOLS will put up a status box asking you to turn S13 back to it’s original (UP) position and cycle power on the drive BEFORE clicking the ‘OK’ box. S200 OC TOOLS will then begin to operate normally with a data refresh.
PAGE 60
4 FAULTS AND ERRORS The S200 Position Node product has internal fault and error monitoring systems. Constructed of a base-unit drive and a position controller board the product actually has two monitoring systems and three annunciation systems. The Base Unit is the drive-portion of the product and is an S200 Series AC Motor Drive with a single green status LED that signals status of the base unit. The position controller card has a seven segment status display used to indicate faults.
PAGE 61
4.3 CLEARING FAULT CONDITIONS There may be several ways to clear any given fault. The tables located below will provide more information directed at explaining the recovery method for a particular fault. There are a couple of guidelines that should be noted. To clear a fault the condition that caused the fault must no longer exist. (i.e.: short circuit of motor leads has be cleared). All faults can be reset with a power cycle of the logic control power.
PAGE 62
Display Error Code Description of Fault Drive Action Reset Method V ( + )* @!" ' @ @! % 45 + 4 * ( + 5 * & )* 45 @ -5 & -5 ( + 5 * & 5 @ -5 -% @ -5 ( 5E / 5% 5 V ( + W9- % )* 5 4 H& ,Y - 5 5 4 5 5 + - *& 4 + )H 5 !7 ! W9- 4 G- ( + ') - *& . %<:, 45 + 8 *@ * H& & && + 4 -5 & -5 4 5 + 5 & + ( + : ( + 4 & .- 5* & ) * 45% @ -5 ( -5) 5 ( + 5 5* 4 5* & ( + V @ 4 @ -5 ( -5 & + + -5 4 + * 5 % 5 5* 4 5 Table 4.1: Position Controller Fault List 4.
PAGE 63
6 SFD CRC error(s) 7 SFD Motor Data timeout 3 8 Drive over temperature The drive has an over temperature fault Drive Over/Under 9 9 Drive under temperature The drive has an under temperature fault 10 Drive short circuit l-n Short 11 Drive output over current One or both the current sensor A/D has been in positive current saturation for longer then 10 microseconds.
PAGE 64
4.7 S200 BASE UNIT FAULTS (B-FAULTS) As previously stated the base unit Status LED will flash a code if the drive is in a faulted condition. The following table explains the fault code.
PAGE 65
4.8 SYSTEM WARNINGS Warnings are like faults in that they can terminate motion.
PAGE 66
5 SETUP SOFTWARE The User Interface software package is called S200 OC TOOLS. Begin by installing the S200OCTools software. Follow the prompts. Once the software is installed, connect the computer’s RS232 port to the wired and powered drive and motor. Double-click on the S200OCTools icon to open the software.
PAGE 67
Open Existing Backup File Open New Backup File Enable Communication Wizard Open Oscilloscope Disable COLDSTART Set Home Stop Motion Save to Nonvolatile Mem Close Backup File Save Backup File Jog CCW Jog CW Jog Speed Drive Data File View Backup File View Drive Model Fault Status Operational Mode 61 Drive Enable Status
PAGE 68
open an existing drive back up file to work offline. Once invoked, S200 OC TOOLS will need to retrieve the data from the drive. If no drive is connected S200 OCTOOLS cannot be navigated unless you Once the data upload is complete, the wizard screen will appear. (Or can be invoked using ‘Utilities / Full Setup Configuration Utility’ The wizard will guide you through the necessarily steps to complete the drive configuration.
PAGE 69
Equipped’ AKM-Series motor. The first step is to confirm that the drive is configured for the motor being used. This information is automaticall y gathered from a system using an ‘SFD- This system is using an AKM21C motor with SFD. Enter the load-to-motor inertia ratio. You can set the Inertia Ratio or select a different motor. The user can elect to set the drive up to use customized position units. Set the desired mechanical user units by clicking on the Mechanical tab.
PAGE 70
The Drive Setup tab is where the drive’s mode of operation is set for Digital Velocity, Electronic Gearing or Motion tasks. This example has selected Motion Tasks that will allow indexing and absolute positioning. Additional boxes and tabs for gearing, tuning, faults, and thresholds and other system limits should be explored. See Chapter 7 for more details on Digital Velocity Mode. The I/O Setup tabs provide an easy and convenient way to link inputs and outputs to execute moves and report status.
PAGE 71
The Profile Setup menu allows you to set homing and motion tasks. This screen shows a handy method to set home when the system doesn’t really need to have a home reference. Homing always has to be done. Shown above is a method to home without ever having to know that you homed. You can not change motion task 0. It follows then that executing a BCD code of 0 executes a homing routine.
PAGE 72
Next Motion Task can set the motion task that will be blended to the present move (if blended move is selected) or can be used to automatically start another move without the need for an additional input signal; the ‘next motion task’ will be executed upon completion of the present move. A ‘Next Motion Task’ of ‘none’ places a ‘0’ in the table but does not mean to execute a home (motion task 0); it is interpreted as ‘do nothing’. An In-Position output will not come on until all moves are complete.
PAGE 73
For demonstration purposes; the system shown on the left will index one motor turn (User Units are set to 65536 counts per rev) each time input 6 is turned on. Input 7 will cause the motor to turn back to its original locations. Always remember to hit the Save to Non-volatile memory to save your configuration. (Button circled in Red).
PAGE 74
6 SYSTEM TOOLS 6.1 STATUS SCREEN The Status screen can be helpful to understand system operation. Drive Status should read ‘OK’. If not Drive OK then a Indicator LED meaningful fault code will be shown. General information about drive size and firmware version is shown. Energizing a drive input causes the green ‘Virtual LED’ to illuminate. If an output is on then it’s Virtual LED will illuminate. Position and velocity information can be monitored.
PAGE 75
6.2 COMMUNICATION WIZARD A communications wizard can be found under the Utilities menu. This allows you to select the RS232 communications port for the computer being used and allows a simple test of communications. Baud rate is always 38.4k Baud. Other port parameters are automatically set by S200 OC TOOLS. 6.3 VARIABLE EDITOR Although the variables available in the S200 Position Node product are not well documented there may be a reason that a user wants to view or change them.
PAGE 76
6.4 DIGITAL OSCILLOSCOPE Up to 4 channels of data can be recorded simultaneously. Set the channels for the desired data, the sample rate for an appropriate buffer size, and a trigger level suitable for the capture. Press Start. The scope data plots will be presented after the trigger occurs. It is important to note that each plot has an independent vertical axis scalar. plot to the left has AVGTIME set to 64. A variable called AVGTIME can be changed using the above-mentioned variable editor.
PAGE 77
6.5 CONFIGURATION SUMMARY SCREEN The configuration Summary screen allows the user to see all the drive settings in one location without having to navigate through each possible GUI menu.
PAGE 78
7 SERIAL COMMUNICATIONS AND MODBUS RTU 7.1 GENERAL INFORMATION The serial communications port on the S200 Position Node product uses an RS232 physical layer and communicates using a protocol known as Modbus RTU. The Modbus protocol implementation of the S200 -CNS/ -DNS options is based on the on the documents: MODBUS over Serial Line V1.0 MODBUS Application Protocol Specification V1.1 Details of the protocol itself are not covered in this document. Both aforementioned documents can be obtained at www.
PAGE 79
7.3 RS232 SERIAL PORT CONFIGURATION Baud rate: Data bit: Stop bit: Parity: 38400 8 1 Odd 7.4 EXCEPTION MESSAGES The Modbus protocol defines exceptions (error identification methods). The S200 implements exceptions according to the requirements and defines additional exception codes. The following table lists all proprietary codes.
PAGE 80
Exception Code Description 32 Scope: Wrong lookup number 33 String length is invalid 7.5 COMMUNICATION STRATEGY The S200 Position Node product has a lot of functionality. Decisions must be made as to how much of this should be implemented at the customer’s end of the communication network. There may be some limitations. Most limitations can be overcome. Limitations include; 1.) The S200 Position Node communications is based on RS232 physical layer.
PAGE 81
7.6 MODBUS FUNCTIONS To simplify the communications the S200 Position Node is set up with almost all data defined as 32bit values comprised of two 16-bit registers. The data type of any one of these register sets can be defined as Long, Text, or Float data types. With a few exceptions, all communications to the S200 Position Node card will be Read Holding Registers (FC=03) or Write Multiple Registers (FC = 16). The register address of each parameter is aligned to an even register address values.
PAGE 82
As defined by Modbus, the S200 Position Node product will respond with the value set in those registers: UA=xx FC=3 data length data CRC Where: UA is the unit address echoed back. FC is the function code echoed back (03) Data length will be 2 (Data count) Data will be the 32 bit value of the variable read. Variable type may be Long or Float. 7.6.2 Writing Variables To write variables use the Modbus Function ‘Write Multiple Registers’.
PAGE 83
7.6.3 Example: Read the ACC parameter The following example on how to read the value of the ACC registers is presented. The guidelines in the example are as follows: Unit address is 2 (S11 = 2, S12 = 0) The actual value of ACC in the drive is 10,000 decimal / 0x2710 From the table, the address of ACC is 2 and the data type is long. As defined in above text, all variables are 32 bit constructed with 2 contiguous 16 bit registers.
PAGE 84
An actual communications monitor report for this communication transaction looks like the following: 7.6.5 Example: Change Speeds in Digital Velocity Mode The S200 Position Node can be set up to operate in Digital Velocity Mode. Velocity is controlled by the ‘J’ parameter = PDID 1934 = Modbus Address 3868. The following communication traffic window changes the speed to 563 RPM: Note that this data traffic representation is sending the speed, 563, as a floating point data type.
PAGE 85
7.7 MANUFACTURER SPECIFIC FUNCTION CODES 7.7.1 Command functions Modbus allows a block of function codes to be assigned by the manufacturer. The S200 Position Node product has chosen to implement the following function codes. 7.7.2 Command Execution: FC 65 The following model is the general form of the commands. Function Code 65 and the command ID request triggers the execution of a command function (see table below).
PAGE 86
7.7.3 Command execution status Used to determine the status of a formerly transmitted command execution request, i.e. the command save parameters non-volatile takes some time to be performed. This request allows to check if the command is finished. UA UA FC=67 CRC FC=6 Status(16bit) CRC 7 Status Id Idle (read to execute command) 0 Busy (command execution in progress) 1 Success 2 Failed (last command execution failed) 3 7.7.
PAGE 87
Variable Name 7.7.
PAGE 88
Clear Motion Task UA FC = 65 Id = 10 UA FC = 65 Id = 10 Motion Task Number (16bit) CRC Minimum Wait Time (16bit) CRC The Minimum Wait Time is the time the master must wait at least before sending the next request. Motion Tasks are stored in the program FLASH. During write access the FLASH cannot be accessed and communication is down until the FLASH is back into normal operation. 7.7.
PAGE 89
Appendix C: Application Notes 07/06 Danaher Motion PDID Index Modbus Address Name 1 2 2 4 ACC ACCR Long Long R/W R/W 300000 300000 1 1 12000000 RPM/S 12000000 RPM/S 3 4 6 8 ACTFAULT ACTIVE Long Long R/W RO 1 -1 0 0 1 See List 0 On/Off 6 34 12 68 AENA DEC Long Long R/W R/W 1 300000 0 1 1 On/Off 12000000 RPM/S Software Auto Enable: 1 Normal, 0 Disable at power up Velocity Loop Deceleration Limit 36 37 72 74 DECR DECSTOP Long Long R/W R/W 300000 300000 1 1 12000000 RPM/S 1
PAGE 90
Serial Communications and Modbus RTU 07/06 Danaher Motion PDID Index Modbus Address 123 140 246 280 LATCH2N32 VLIM Long Long RO R/W 0 10000 -1 0 141 282 MH Long WO 0 -128 127 Start 145 163 290 326 MJOG MSPEED Long Long WO R/W 0 10000 -128 0 127 Start 16000 RPM 174 177 348 354 O1 O2 Long Long RO RO 0 0 0 0 1 On/Off 1 On/Off 180 197 360 394 OPMODE PE Long Long R/W RO 8 0 0 -1 8 List -1 Counts 198 199 396 398 PEINPOS PEMAX Long Long R/W R/W 4000 262144 0 -2.
PAGE 91
Serial Communications and Modbus RTU 07/06 Danaher Motion PDID Index Modbus Address Name 263 526 ARHPD Float R/W 0 0 10 NA 264 528 ARHPF Float R/W 1000 80 4000 Hz 266 532 ARLPD Float R/W 0 0 10 NA 267 279 280 534 558 560 ARLPF UVLTMODE V Float Long Float R/W R/W RO 160 0 0 0 0 4294968 282 564 VBUS Long RO 0 -1 -1 Volts 289 578 VJOG Float R/W 60 -10000 10000 RPM Jog command while in Motion Tasking or Gearing Modes 295 296 590 592 VOSPD VREF Float Float
PAGE 92
Serial Communications and Modbus RTU 07/06 Danaher Motion PDID Index Modbus Address 511 513 1022 1026 IN8MODE IN9 Long Long R/W RO 9 0 0 0 90 List 1 On/Off Sets function of DINP9 Returns the state of DINP10 514 1028 IN9MODE Long R/W 9 0 90 List Sets function of DINP10 549 550 1098 1100 O3 O3MODE Long Long R/W R/W 0 0 0 0 551 1008 1102 2016 O3TRIG Motor.Name Long String R/W R/W 0 -2.15E+09 1009 1010 2018 2020 KVP KVI Float Float R/W R/W 0.014 100 0.
PAGE 93
Serial Communications and Modbus RTU PDID Index Modbus Address 1934 3868 87 Name J 07/06 Danaher Motion Data Default Type Rights Value Float R/W Min Value Max Value Units 0 -3.40E+38 3.
PAGE 94
PAGE 95
Appendix C: Application Notes 07/06 Danaher Motion APPENDIX A - CABLES 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.
PAGE 96
Appendix A - Cables 07/06 Danaher Motion O uter Jacket SFD +5 VDC Outer Shield Motor Connector Shield Feedback O uter Shield (Connect to SFD Shell) Feedback Inner Shield (Connect to Logic G ND) M otor W ires SFD Com m unication twisted pair O ptional Foil Shield Shield SFD Return (Inner Drain W ire and inner shield) PE W ire 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.
PAGE 97
Appendix B - Regulatory Information 07/06 Danaher Motion APPENDIX B - REGULATORY INFORMATION B.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.
PAGE 98
Appendix B - Regulatory Information B.3.1.
PAGE 99
Appendix B - Regulatory Information B.3.
PAGE 100
Appendix B - Regulatory Information B.4 07/06 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). For the S20260-VTS, S20360-VTS, S20330-VTS, and S20630-VTS, EMC testing was done according to EN61800-3:1997 with the incorporation of amendment A11:2000 (Emission limits according to chapter 6.3.1 of that regulation, First environment / restricted distribution).
PAGE 101
Appendix B - Regulatory Information 07/06 Danaher Motion CE Declaration of Conformity This is to certify that: 0 5 5 ! , - 5( + .
PAGE 102
Appendix B - Regulatory Information B.5 07/06 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.
PAGE 103
Appendix B - Regulatory Information 07/06 Danaher Motion 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.
PAGE 104
Appendix B - Regulatory Information 07/06 Danaher Motion B.9 UL AND CUL CONFORMANCE B.10 ADDITIONAL SAFETY PRECAUTIONS 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.
PAGE 105
Appendix B - Regulatory Information 07/06 Danaher Motion 2. Avoid Unexpected Motion Always remove power from J1 and wait 5 minutes before working on the machine or working anywhere where injury can occur due to machine motion. CAUTION 3. Avoid Electrical Shock Never power the servo drive with the cover removed or with anything attached to circuitry inside the cover.
PAGE 106
Appendix B - Regulatory Information 07/06 Danaher Motion 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.
PAGE 107
Appendix B - Regulatory Information CAUTION 07/06 Danaher Motion 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. Avoid Cross talk CAUTION To avoid the risk of cross talk, keep the motor and feedback cables away from sensitive signal cables (i.e., telephone and intercommunication lines).
PAGE 108
Appendix B - Regulatory Information B.11 07/06 Danaher Motion REGEN RESISTOR Regen Wiring (AC drives) For complete instructions pertaining to an external regen resistor with an AC input drive, refer to the System Wiring Diagrams. 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.
PAGE 109
SALES AND SERVICE Danaher Motion is committed to quality customer service. Our products are available world-wide through an extensive authorized distributor network. 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 Service Europe Email: Phone: Fax: Web: support@danahermotion.net +49(0)203 9979 9 +49(0)203 9979 155 www.DanaherMotion.