Product manual

Danaher Motion 05/2008 Appendix D – Process to Setup Non-Danaher Motors
S200-VTS Product Manual 123
D.1 Detailed Drive Motor Wiring Discovery Procedure
Initial Set Up:
Before wiring the motor, feedback device(s) to the drive turn on control power to the drive and
perform a reset to factory defaults if the drive is not brand new. Then, set the feedback device
parameters to match the feedback device type. Make sure to NV save these parameters.
With the power off, wire the motor coils, Hall commutation signals, and encoder to the drive in
any manner that seems reasonable based on the names of the terminals. For example, wire
encoder A+ to drive A+, Hall 1 to drive Hall U, etc. This initial wiring is just a starting point for
the process of finding a working set of wiring.
Positive #1: Monitor and confirm positive encoder wiring:
With the drive control power on and the drive disabled, move the motor manually in the desired
direction for positive increasing motion. In S200 Tools monitor PosFB on the Status page of
the tool. Be careful because PosFB wraps around every 2^16 full counts. For SynqNet units
the SynqNet master’s MoCon encoder count display does not wrap around and increments in
the same direction as the drive variable PosFB. If encoder counts do not increment positively,
then swap encoder leads J14-13 Aux A+ and J14-14 Aux A-.
NOTE: EnDat 2.1/2.2 devices are really two feedback devices in one. At power up a digital
communication link gets the initial position and then the analog 1 Vp-p Sin-Cos signals are
used to keep track of incremental motion after the absolute position sample. These two
directions must agree. So, with EnDat devices positive motion direction is determined by the
feedback device and can not be set by application requirement. To see the direction defined by
the internal EnDat device power up the drive, feedback device note the position reported by the
drive. Then power cycle the drive, move the position and then check the position reported by
the drive. If position increased then the moved direction is positive else it was negative.
Positive #2: Monitor and confirm positive Hall wiring:
Assign the three Hall signals U, V, and W to traces in MoScope on the SynqNet master. For a
good visual display on the MoScope software oscilloscope set the scale and offset to Ch U -
Gain 6, offset -2; Ch V - Gain 6, Offset 0; Ch W - Gain 6 Offset 2.
With the drive disabled manually move the motor in the positive direction. Hall signals U, V, W
should form a three phase set with:
V lagging U by 120 degrees and W lagging V by 120 degrees.
In truth table formate, use the following for positive direction movement:
In (Hall UVW format): (101), (100), (110), (010), (011), (001).
If the Hall sequence is not in the expected U then V then W 120 phase order, then Hall wires
will need to be swapped.
NOTE: In some non-Danaher Motion systems the Halls have 60 degree separation which is
equivalent to the Danaher Motion standard with the middle signal Hall V logically inverted. The
S200 drive is not compatible with this non-standard Hall format. The inverted logic Hall
commutation signal will have to be inverted by circuitry outside of the S200 to get the system to
work.
Positive #3: Monitor and confirm positive motor coil wiring:
This step will be the first time the drive is enabled and the motor will have current in it. Make
sure that the motor current loop gain parameter KIP in the drive is set to 2*pi*2000*(motor L
line-line in Henry) and NV saved by using S200 Tools. The drive, SynqNet master will be set to
output fixed current vectors independent of actual motor position and the motor will be moved
in small increments like a stepper motor.