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Related Manuals for Danaher Motion s200
Summary of Contents for Danaher Motion s200
- Page 1 S200 Position Node User’s Guide Installation Manual M-SS-S2B-11 Revision B Oct 23, 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.
- Page 2 Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" and disclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application.
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Page 3: Table Of Contents
....................i 1.0 Product Documentation ......................1 2.0 Product Overview ........................2 2.1 Model Number Scheme ....................3 2.1.1 Valid Drive Model Numbers for the S200 Position Node............3 2.2 How to use this manual....................5 2.3 Software and Firmware Version Notes................5 2.4 Terminology Discussion ....................5 3.0 Drive Memory and File Discussion ...................8... - Page 4 8.4.4 Clearing Fault Conditions ......................47 8.4.5 Conditional Settings .......................47 8.4.6 S200 Position Controller Faults .....................47 8.4.7 Extended Fault Information ....................50 8.4.8 S200 Base Unit Faults (b-faults) ....................51 8.4.9 System Warnings ........................52 9.0 Serial Communications and Modbus RTU ................53 9.1 General information .....................53 9.1.1 Abbreviations .........................53...
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Page 5: Product Documentation
It is required to properly mount and wire the S200 Position Node product. User’s Operation Manual This document provides all information required to get an S200 Position Node product set up and configured for operation in the application. It includes functional descriptions, interface details, and troubleshooting information. -
Page 6: Product Overview
Couple a S200 position node drive with an AKM servo motor for a complete servo control solution designed to excel in applications such as semiconductor fabrication, electronic assembly, packaging, medical, and woodworking equipment. -
Page 7: Model Number Scheme
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 400 Hz means machine throughput can be increased by as much as 2 to 3 times. - Page 8 DC Input Power Drive Models S20330-CNS: 90 V , 3/9 A Base Unit, Profile Node with CanOpen S20330-DNS: 90 V , 3/9 A Base Unit, Profile Node with DeviceNet S20630-CNS: 90 V , 6/18 A Base Unit, Profile Node with CanOpen S20630-DNS: 90 V , 6/18 A Base Unit, Profile Node with DeviceNet...
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Page 9: How To Use This Manual
The S200 PN is a configurable device that is easy to setup by a novice without programming skills. The trade-off is that the S200 PN does not offer the flexibility of a programming language capable of making ‘decisions’... - Page 10 Absolute position data always references the home position. Homing is always required on the S200 PN but there is a method to configure the S200 PN so that the process is automatic and transparent. See the section on Homing, below.
- Page 11 SFD stands for Smart Feedback Device. This is a Danaher Motion feedback device available on the AKM series motor. It communicates feedback position over a high-speed serial link with minimum number of wires. It also contains information about the motor that allows the motor and S200 Position Node to be virtually ‘plug and play’.
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Page 12: Drive Memory And File Discussion
The operating system, or drive firmware, is resident in flash memory and may be upgraded using the S200 OC Tools GUI program. A portion of this program is called the Boot Loader and is not updated at the time of firmware load. When the Boot-loader executes an ‘I’ is put in the seven segment display. - Page 13 A Coldstart is required after changing of some variables only – typically an input function. The need for execution of the COLDSTART is prompted by the S200 OC Tools and by a status bar at the bottom of the GUI. Modifying some variables within the configuration and NOT allowing a COLDSTART to take place prevents those changes from being compiled, and hence, result in no changes to the drive’s performance or functionality.
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Page 14: S200 Position Node Applications
To use discrete inputs the user has up to nine inputs that can be assigned as jog functions. The S200 Position Node is set up to operate in Motion Task mode. DINP1 is the hardware enable line. This input must be asserted to get power to the motor. DINP2-DINP10 can then be assigned such that each has a different speed. -
Page 15: Step / Pulse And Direction Drive
Locking onto the master signal typically takes one-of-three forms. The simplest form just locks the signals when the master is at rest. As the master begins to move the S200 Position Node is a slave motor controller that then follows the master per the defined ‘gear ratio’. Applications that require locking onto a moving master can have one-of-two different needs. -
Page 16: Indexer
(index) begins. It has no concern about any other position information. The S200 PN provides extremely flexible options in indexing applications. Up to 180 index moves can be defined in the ‘Motion Tasking Table’. The S200 Motion Tasking table can combine indexing and positioning and can offer ‘registration indexing’... -
Page 17: Registration Indexer
A positioner differentiates itself from an indexer in that it always remembers where the motor is at and must be ‘homed’ or calibrated upon power up. Commanded positions are always relative to that home location. The S200 PN must always be homed but there are ways around this that will be described later in this chapter. -
Page 18: S200 Position Node Theory Of Operation
5.1 S200 OC T OOLS The use of S200 OC Tools is described in detail later in this manual. S2000 OC Tools GUI is a simple translator program that converts data between the drive and the user screens. The user is presented data in a form that is useful and easy to understand. -
Page 19: Discrete / Digital Inputs
ISCRETE IGITAL INPUTS There are 10 digital inputs on the S200 Position Node for customer use. Digital input 1 is assigned as a hardware enable and must be asserted to enable the power stage. The other 9 inputs can be configured by the user for specific functions. Not all inputs can be assigned to all functions. - Page 20 Pertains only to Operational mode: Electronic Gearing. If selected as this function, the input must be active (on) to allow the S200 PN motor to lock onto the master gearing signal. Any loss of position between the Master position, at the time this signal is asserted, and the S200 PN's motor due to acceleration limits is 'made up' with a velocity overshoot.
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Page 21: Discrete / Digital Outputs
IGITAL UTPUTS The S200 Position Node provides 3 digital outputs for the user. Two of these are dedicated and the function cannot be changed: The Fault and Run outputs. The fault output, DOUT1, is normally closed and will open to indicate a fault condition sensed within the S200 PN. -
Page 22: Homing Routines
If the S200 is commanded, under these methods, to move home The S200 PN will first look to see if the home limit switch is active. If the home limit switch is active the motor will go in the opposite direction that it was programmed to seek home at until the limit switch becomes inactive. -
Page 23: Analog Outputs
The S200 Position Node provides two configurable analog outputs for customer use. Detailed hardware information is available in the S200 Position Node Installation guide. These outputs can be configured according to the drop-down list in the I/O Setup\Analog output screen. This screen also provides the scaling and offset information when the function is selected. -
Page 24: Stop
NCODER EEDBACK The S200 Position node has an auxiliary encoder feedback channel that can be used for the motor shaft position feedback device instead of the SFD. The main encoder data channels are incremental devices meaning that they power up with no information about how they are aligned to the motor shaft. -
Page 25: Triggering Motion Task Moves
The encoder line count is received and multiplied by a factor of 4 for internal use. So the position resolution within the S200 PN is 4 times the line count of the encoder. The line count is entered on the Motor and Mechanical \ Feedback screen. -
Page 26: Move Types
A couple of finer points to be noted: The user does not need to assign any inputs as Move Select Bit (BCD). In this case the S200 PN will always execute Motion Task 0 (Homing) when the Start Move BCD input is executed. - Page 27 removed during the motion. Re-energizing the assigned execution input will cause the same move to be executed, as defined in the distance entry of the Motion Task. Move Discrete w/ Memory is an index. The distance entered in the Motion Task is incremental (relative to where the starting position was).
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Page 28: With Modbus Rtu Interface
There are different ways of approaching a field bus system design. On the simple side the S200 PN can be pre-configured using the S200 OC Tools GUI and the field bus can be used to execute moves, modify move data, and keep a pulse on system status. A more complex system may rely on no previous setups by the user and rely on all drive data settings to be configured over the CANbus. -
Page 29: Ramp Control
The S200 PN has a dedicated hardware enable input. There a software enable. TO get power to the power stage, and motor, both must be enabled. The S200 has the ability to allow the user to set the default state of the software enable at power up. A variable named AENA (Auto Enable) defaults to ‘1’... -
Page 30: Configuring Drive From Existing File
S200 OC TOOLS by using the file menu ‘File / Open’. Locate and select the desired configuration file. It will be loaded into S200 OC TOOLS ‘folder- side’ as though there was a second drive talking to the software noted as ‘Off Line’. The tree structure will show the file as ‘Offline’ and normally as Node1. - Page 31 Selecting a non-SFD motor automatically sets a related setting: Use SFD Parameters (Under Drive Setup Menu) to ‘Do Not Use SFD Parameters’. Should the user go back to using an SFD supported motor the ‘Use SFD Parameters’ setting is not automatically changed and should be changed by the user.
- Page 32 T fault. This can be configured in the Drive Setup\Fault Thresholds tab. Version 2.0.2 and early S200 OC Tools is recognized to have an error in its construction. The Drive I T should not be configurable by the user while the Motor I2t should be.
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Page 33: Switch Settings
6.0 SWITCH SETTINGS The S200 Position Node has 5 switches that can be adjusted for the user to configure functions. Each is described in this section. All switches are read at power-up only. Changing of a switch setting requires power cycling to have the new setting take effect. - Page 34 S13 Switch Functions S13-1Can Baud Rate Select 1 S13-2Can Baud Rate Select 2 S13-3Up: Odd Parity, Down is Even Parity on RS232 S13-4Flash Protect: Keep Up until firmware download procedure requests change CAN bus baud rate is established according to the following switch settings: CAN baud Rate S13-1 S13-2...
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Page 35: Setup Software
7.0 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 36: Basic Gui Description
7.1 B GUI D ASIC ESCRIPTION The left-side of the screen is the ‘Folder-side’. The folder side shows what drives is connected and any open backup files. Some until the drive is selected by clicking on the appropriate folder. Open Existing Backup File Enable Open New Backup File Communication Wizard... - Page 37 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 open an existing drive back up file to work offline. Once the data upload...
- Page 38 The first step is to confirm that the drive is configured for the motor being used. This information is automatically gathered from a system using an ‘SFD-Equipped’ AKM- Series motor. This system is using an AKM21C motor with SFD. Enter the load-to-motor inertia ratio.
- Page 39 The I/O Setup tabs provide an easy and convenient way to link inputs and outputs to execute moves and report status. Not all inputs can serve all functions. Pull down the menus and browse around. Set up inputs for both the base unit and the option card functions.
- Page 40 End of Task condition can be a blended move. A Blended move concatenates two moves together without having to go to zero speed to begin the second move. The actual index distance will be the sum of the blended move distances. Distance move is based on actual motor position, not commanded motor position.
- Page 41 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.
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Page 42: System Tools
7.2 S YSTEM OOLS 7.2.1 Status Screen The Status screen can be helpful to understand system operation. Drive Status should read ‘OK’. If not then a 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’... -
Page 43: Communication Wizard
RS232 communications port for the computer, Modbus address of the unit to communicate to (S11 And S12), and the baud rate (Default to 38400). A simple test of communications. Other port parameters are automatically set by S200 OC TOOLS. 7.2.3 Mouse Flags Hovering the mouse pointer over data locations on the GUI will cause the name of the associated variable to show. -
Page 44: Variable Editor
7.2.4 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. The Utilities/Edit Variables On- Line tool brings up this box which can be used to monitor or modify up to 8 variables at a time. -
Page 45: Digital Oscilloscope
7.2.5 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. -
Page 46: Configuration Summary Screen
7.2.6 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 47: Troubleshooting
8.1.1 Device Address The rotary dip switches on the front of the S200 Position Node set the address of the S200 PN. Switch 12 and 13 are the MS and LS address settings – 0 through 99, respectively. The Communication Wizard in the S200 OC Tools GUI program has an address setting of the device it is supposed to talk to. -
Page 48: Parity Setting
8.1.4 Parity Setting Dip switch S13-3 sets the drive parity. It should be in the up position for operation with S200 OC Tools. 8.2 M ISCELLANEOUS ROBLEMS This section contains information about more common issues that users have experienced in the past. -
Page 49: The Display Shows An 'I
Y-axis scales. 8.2.15 System is Noisy Although this problem can occur as the result of tuning the gains too high the S200 Position Node does exhibit some current loop hash noise. This is normal and does not affect operation. Check user-settable gains. -
Page 50: Common Error Code Nodes
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 51: Base Unit Status Led
8.4.5 Conditional Settings It is possible that the actions of some ‘less fatal’ fault conditions have conditional settings configurable within the User Interface Software. The following tables do not explain conditional occurrences rather only the default actions. 8.4.6 S200 Position Controller Faults... - Page 52 Table 4.1 lists the S200 Position Controller faults, the action that the drive will take upon sensing the fault condition, and the fault recovery methods allowed. Some of these faults can have multiple source reasons. Display Description of Fault Drive Action...
- Page 53 Display Description of Fault Drive Action Reset Method Error Code when a severe error occurs during system startup. Motor over temp (PTC) Drive disable with Fault Clear Fault input, Disable/Enable, when using incremental Coldstart, GUI ‘Drive Reset’ Button, encoder feedback option. or Cycle Power o02 –...
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Page 54: Extended Fault Information
8.4.7 Extended Fault Information As stated in the above section the Position Controller fault may come from different sources. A Status word can be viewed using the GUI Utilities/Edit Variables On Line feature. The below table gives the meaning of each bit in the Status word. Fault Code Status Bit Extended fault... -
Page 55: S200 Base Unit Faults (B-Faults)
8.4.8 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. Flash Status Resulting Drive Action Reset Method... -
Page 56: System Warnings
8.4.9 System Warnings Warnings are like faults in that they can terminate motion. In most cases they will not cause the drive to disable. Warnings can be reset using Clear Fault input or GUI Drive Reset input. Warning Code Description Reserved Reserved Position Error Warning... -
Page 57: Serial Communications And Modbus Rtu
9.1 G ENERAL 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 documents: MODBUS over Serial Line V1.0... -
Page 58: Communication Strategy
OMMUNICATION TRATEGY 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;... - Page 59 3.) Certain functions require Manufacturer-Specific Function Codes to execute. This is normally not a problem unless you have a pre-manufactured terminal that has limited communications configuration capability that can not easily support manufacture-specific function codes. For example; Modifications to Motion Task table requires a customized Function Code.
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Page 60: Modbus Functions
9.4 M ODBUS 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). -
Page 61: Writing Variables
Register Count - 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 As defined by Modbus, the S200 Position Node product will respond with the value set in those registers:... -
Page 62: Example: Write The Acc Parameter
9.8.5 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 63: Motion Task Control
9.5 M OTION ONTROL 9.5.1 Command functions Motion Task data can be considered a set of arrays: One array for each Motion Task. Modbus interface to the Motion Tasks is set up this way. Name Description PDID Register MT.Number Writing a number to this register populates 1210 2420 MTTargetPositionHi to MTDelay (PDID... -
Page 64: Mobus Address And Function Tables
8.6.2 Motion Task Error Table Description MT.Error Comment Invalid Task Number Task number out of range Invalid Next Task Number Next Task number out of range Drive is enabled Motion Task not stored, because drive is enabled. Disable drive and try again Command in progress Command state machine is busy, i. - Page 65 Returns the state of the IN Position bit of the Status Register IPEAK Float 2.25 4.5 Amps Allows the user to lower the peak application current LATCH2P32 Long -1 Counts Returns Positive edge latch position S200 Position Node User’s Guide...
- Page 66 127 Start Set present position as home STAT Long 0 4.295E+09 Bits Returns a compressed 16-Bit status word STATUS Long 0 4.295E+09 Bits Returns full status word STOP Long -128 127 Start Force velocity to 0 S200 Position Node User’s Guide...
- Page 67 IN6MODE Long 90 List Sets function of DINP7 1014 Long 1 On/Off Returns the state of DINP8 1016 IN7MODE Long 90 List Sets function of DINP8 1020 Long 1 On/Off Returns the state of DINP9 S200 Position Node User’s Guide...
- Page 68 Sets the number of reads used to average data over for presentation to the user. 1200 2400 Save Long 1 Command Writing a 1 to this location causes the S200 Position Node to save parameters to non- volatile memory. 1201 2402 Fault Reset Long...
- Page 69 This register holds the error code of an unsuccessful attempt to write a motion task. 1212 2424 MT.Set Long 1 Command Writing a 1 to this register causes the S200 Position Node to accept and process the Motion Task Data in PDID 1215-1224. 1213 2426 MT.Clear Long 1 Command Writing a ‘1’...
- Page 71 Internal Use - Should be masked Not Saved New Data has not been saved to NV memory Unused Reserved, should be masked Reserved Internal Use - Should be masked Nov-31 Unused Reserved, should be masked S200 Position Node User’s Guide...
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Page 72: Upgrading Firmware Procedure
Danaher Motion 10.0 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.). - Page 73 NOTE d. 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’...
- Page 74 10.0 Upgrading Firmware Procedure 07/06 Danaher Motion S200 Position Node User’s Guide...
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Page 75: Sales And Service
Danaher Motion 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.