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.
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 ...................
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.
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.
Table of Contents 05/2008 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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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).
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
Danaher Motion 6.1.
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.
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.
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.
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
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.
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.
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.
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).
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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).
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
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.
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.
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.
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_
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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 .
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.
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.
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 .
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.
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.
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.
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.
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.
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 ...
Danaher Motion 05/2008 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.
Advanced Configuration 05/2008 Danaher Motion 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.
Danaher Motion 05/2008 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.
Advanced Configuration 05/2008 Danaher Motion 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.
Danaher Motion 8.5.4 05/2008 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.
Advanced Configuration 05/2008 Danaher Motion 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+.
Danaher Motion 05/2008 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.
Advanced Configuration 05/2008 Danaher Motion 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.
Danaher Motion 05/2008 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.
SynqNet Configuration 9 05/2008 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.
Danaher Motion 05/2008 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.
SynqNet Configuration 9.2.2 05/2008 Danaher Motion 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.
Danaher Motion 9.3.2 05/2008 SynqNet Configuration 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.
SynqNet Configuration 9.3.4.1 05/2008 Danaher Motion 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.
Danaher Motion 05/2008 SynqNet Configuration 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).
SynqNet Configuration 9.3.4.2 05/2008 Danaher Motion 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.
Danaher Motion 10 05/2008 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.
Diagnostics and Troubleshooting 11 05/2008 Danaher Motion 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.
Danaher Motion 05/2008 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.
Diagnostics and Troubleshooting 11.2 05/2008 Danaher Motion 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.
Danaher Motion 05/2008 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.
Diagnostics and Troubleshooting Status LED Blink Code 20 110 05/2008 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.
Danaher Motion 11.2.1 05/2008 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.
Appendix A – DC Power Supply Design 05/2008 Danaher Motion 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.
Danaher Motion 05/2008 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 ---------------
Appendix A – DC Power Supply Design A.1.2 05/2008 Danaher Motion 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.
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.
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.
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.
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).
Danaher Motion 05/2008 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.
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.
Danaher Motion 05/2008 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.
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.
Danaher Motion 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.
Appendix D – Process to Setup Non-Danaher Motors 05/2008 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.
Danaher Motion 05/2008 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.
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.
Danaher Motion F.1 05/2008 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.
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.
Danaher Motion G.2.1.
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.
Danaher Motion 05/2008 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-S
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.
Danaher Motion G.6 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.
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.
Danaher Motion G.8 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.
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.
Danaher Motion 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.
Appendix G – Regulatory Information 05/2008 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.
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.
