Installation manual

Table of Contents 07/06 Danaher Motion
ii S200 Position Node with CANOpen/ DeviceNet
2.8.10 LED2..............................................................................................46
3 Operational Notes ...............................................................................................47
3.1 Encoder Input Channels...........................................................................47
3.2 Pulse (Step) and Direction........................................................................48
3.3 Digital Input Notes ....................................................................................48
3.4 Ramp Control ...........................................................................................49
3.5 Homing .....................................................................................................50
3.6 Saving Drive Settings ...............................................................................50
3.7 Configuring Drive from Existing File .........................................................51
3.8 Upgrading Firmware Procedure................................................................52
4 Faults and Errors.................................................................................................54
4.1 CAN Bus Status Indicator.........................................................................54
4.2 Normal indicator operation .......................................................................54
4.3 Clearing Fault Conditions .........................................................................55
4.4 Conditional Settings..................................................................................55
4.5 S200 Position Controller Faults ................................................................55
4.6 Extended Fault Information ......................................................................56
4.7 S200 Base Unit Faults (b-faults)...............................................................58
4.8 System Warnings .....................................................................................59
5 Setup Software....................................................................................................60
6 System Tools ......................................................................................................68
6.1 Status Screen...........................................................................................68
6.2 Communication Wizard ............................................................................69
6.3 Variable Editor..........................................................................................69
6.4 Digital Oscilloscope ..................................................................................70
6.5 Configuration Summary Screen................................................................71
7 Serial Communications and Modbus RTU ..........................................................72
7.1 General information..................................................................................72
7.2 Abbreviations............................................................................................72
7.3 RS232 Serial Port Configuration...............................................................73
7.4 Exception Messages ................................................................................73
7.5 Communication Strategy ..........................................................................74
7.6 ModBus functions.....................................................................................75
7.6.1 Reading Variables .........................................................................75
7.6.2 Writing Variables............................................................................76
7.6.3 Example: Read the ACC parameter ..............................................77
7.6.4 Example: Write the ACC parameter...............................................77
7.6.5 Example: Change Speeds in Digital Velocity Mode.......................78
7.7 Manufacturer specific function Codes.......................................................79
7.7.1 Command functions.......................................................................79
7.7.2 Command Execution: FC 65..........................................................79
7.7.3 Command execution status ...........................................................80
7.7.4 Drive Status ...................................................................................80
7.7.5 Set Motion Task.............................................................................81
7.7.6 Clear All Motion Tasks...................................................................82
7.8 Mobus Address and function Tables ........................................................82
Appendix A - Cables ......................................................................................................89
Long Cables........................................................................................................89
Custom Composite Cables..................................................................................89
Appendix B - Regulatory Information .............................................................................91
B.1 Conformance Requirements.....................................................................91
B.2 CE Approval .............................................................................................91