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Danaher Motion S20630 Installation Manual

s200 series position node with canopen/ devicenet
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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.

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Summary of Contents for Danaher Motion S20630

  • 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.
  • 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.

  • Page 3: Table Of Contents

    Danaher Motion 07/06 Table of Contents Table of Contents Table of Contents ....................i Product Overview ....................1 Highlights ....................1 Increased Machine Throughput & Longer Life ........... 3 Reduced Engineering & Support Time ............3 CE- / UL- Conformity.................. 3 Model Number Scheme ................
  • Page 4 Table of Contents 07/06 Danaher Motion 2.8.10 LED2....................46 Operational Notes ....................47 Encoder Input Channels ................47 Pulse (Step) and Direction................48 Digital Input Notes ..................48 Ramp Control ...................49 Homing .....................50 Saving Drive Settings ................50 Configuring Drive from Existing File ............51 Upgrading Firmware Procedure..............52 Faults and Errors....................54...
  • Page 5 Table of Contents 07/06 Danaher Motion CE EMC Compliance ................91 B.3.1. CE Test Setup................92 B.3.2 CE Test Setup ................93 B.4 Declaration of Conformity..............94 Installation and Commissioning ............... 96 Safety requirements................. 96 European Compliance ................96 UL and cUL Conformance ............... 98 B.10 Additional Safety Precautions ..............

  • Page 7: Product Overview

    1 PRODUCT OVERVIEW 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: Increased Machine Throughput & Longer Life

    1.2 I & L NCREASED ACHINE HROUGHPUT ONGER 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.

  • Page 10: Valid Drive Model Numbers

    1.5.1 Valid Drive Model Numbers DC Input Power Drive Models S20330-VTS: 90 V , 3/9 A Base Unit S20630-VTS: 90 V , 6,18 A Base Unit S20330-CNS: 90 V , 3/9 A Base Unit, CAN/Indexer option card S20630-CNS: 90 V...

  • Page 11: Specifications

    1.6 S PECIFICATIONS 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 " $ % & $ % & " "...
  • Page 12 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 A to A(0-pk), multiply A * 1.414.

  • Page 13: Ac Input Drives - Control And Power

    1.6.2 AC Input Drives - Control and Power !# $ 5 & - # 0 " # = > ! $( " $( # = > ? " # = > 4 5 # = > ? # = > 4 5 # = >...

  • Page 14: Dc Input Drives - Control And Power

    1.6.3 DC Input Drives - Control and Power 5 $ 5 F '! 5 , - (20 watt min supply recommended) Refer to the DC Power Supply Section for detailed application information and requirements. $ * - # 0 : 6 # A9 : $ 5 F '! A9 : :...
  • Page 15 3 1 # !6 E ! 6 E # !6 E ! 6 E # !6 E ! 6 E # !6 E 6 E !

  • Page 16: Velocity Loop

    1.6.4 Velocity Loop * & = > * & @ ( - # 1 3 ( # , . E E = > ? !! = > ? ##!" = > ? ##!" Values for ARF0, ARF1; from 3012 to 24873 Hz cannot be set. 1.6.5 Mechanical "...

  • Page 17: I/O Specifications

    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. " &A " B . &.A &, @ - 5 5 5 H 5 AE ' 4 6 @ - 5 5 @ - 5 5 ;...

  • Page 18: Environmental

    1.6.7 Environmental 7 @ - 5 5 5 4 ( - - - #"6 ) 5 5 - " 1.6.8 Smart Feedback Device (SFD) L K ! + B K " ' " 8 @ 5 = > 5 ) 5 @ 5 = >...

  • Page 19: General

    1.6.11 General ? #3 3 - @ &...

  • Page 20: Getting Started

    2 GETTING STARTED 2.1 U NPACKING AND NSPECTING Open the box and remove all the contents. Check to ensure there is no visible damage to any of the equipment. Use proper procedures when handling electronic components to avoid damage to equipment. CAUTION Remove all packing material and equipment from the shipping container.

  • Page 21: Dimensions

    2.2.1 Dimensions " * " * " " ( + = & ( + 1 & 9 & ( + ( & " ! " ! " = > " < " " = & = # #" # #" "...

  • Page 22: Mounting Outline

    2.2.2 Mounting Outline DEPTH 0.18 mm 4.57 in RECOMMENDED MOUNTING HARDWARE M4 OR #8 0.18 mm 4.57 in TOP VIEW HORIZONTAL MOUNTING OFFSET (F) WIDTH VERTICAL MOUNTING OFFSET (G) VERTICAL MOUNTING HEIGHT HEIGHT (H) VERTICAL MOUNTING OFFSET (G) RIGHT SIDE VIEW REAR VIEW FRONT VIEW...

  • Page 23: S200 Position Node Ac Drive Wiring Diagram

    2.3 S200 P AC D OSITION RIVE IRING IAGRAM S200 Drive DINP COM AC Input Power DINP1 I/O RET Models DINP2 CH Z IN DINP3 CH Z IN DINP4 Optional DOUT 1 - PTC RET Encoder DOUT 1 + 5V SOURCE Feedback DOUT 2 - I/O RET...

  • Page 24: S200 Position Node Dc Drive Wiring Diagram

    2.4 S200 P DC D OSITION RIVE IRING IAGRAM S200 Drive DINP DC Input Power DINP I/O RET DINP Models CH Z IN DINP CH Z IN DINP Optional DOUT 1 Encoder PTC RET DOUT 1 Feedback 5V SOURCE DOUT 2 I/O RET DOUT 2 CH A IN...

  • Page 25: Connectors

    (400 V ^2 / x ). For example, 25 to 50 for the S20260 and 20360 drives or 15 to 50 for the S20630 and S20330. J1-3 -BUS DC – Internal DC Bus negative connection (Not normally used) J1-4 +BUS –...
  • Page 26 J1-5 C2 CTRL VAC – Logic control Power J1-6 C1 CTRL VAC – Logic Control Power J1-7 L3 240 VAC – Main Line J1-8 L2 240/120 VAC – Main Line J1-9 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: J1 - Dc Input Power Models Drive Power Connector

    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. NOTE J1-5, J1-6 These terminals connect 120/240 VAC power to the drive’s control voltage C2 CTRL VAC power supply.
  • Page 29 Description J1-1 +CTRL J1-2 BUS/CTRL GND J1-3 +BUS (J1 Connector view from front of drive). To avoid damage to the connector and drive, NEVER plug or unplug J1 with power applied. CAUTION Mating Connector Information Screw Terminal Connector 12 – 24 AWG Wire Range, Phoenix MSTB2,5/3-STF-5,08-BK OR Spring Cage Clamp Connector 12 –...
  • Page 30 " Refer to the DC Power Supply Requirements section for detailed requirements selecting a compatible power supply. NOTE Protective Earth connection point. This chassis ground point must be connected to Protective Earth ground. The connection at the Protective Screw Connection Earth ground end must be hard wired (do not use a pluggable connection).

  • Page 31: Dc Input Power Model Power Supply Requirements

    2.5.3 DC Input Power Model Power Supply Requirements - # 0 B &; B &; A ! $( .G - + , - " # " ( # " ( .G - + , - ; % # $ ; % # $ Bus Supply Characteristics The BUS Supply should have the following characteristics: Must provide safety isolation from the power line...

  • Page 32: Control Voltage

    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.

  • Page 33: Bus Capacitance

    The maximum voltage allowed between Bus/Ctrl Gnd and chassis is 100 VDC. NOTE 2.5.6 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.

  • Page 34: Bus Switching And Fusing

    (unswitched) capacitor (1,000 µf, 100 V) across the drive bus terminals (J1-3 to J1-2). If the buses of individual drives are to be fused, select the fuse type and rating for high margin. S20630 (6 amp) S20330 (3 amp) 15 A, Slo-Blo (Bussmann MDA- 7 A, Slo-Blo (Bussmann MDA-7) 2.6 J2 –...

  • Page 35: J3 - Feedback Connector

    On S200 AC Input Drives this point is connected to Chassis Ground. J2-1 PE Motor Case Ground J2-2, 3, 4 These three terminals provide the 3-phase power output to the motor. Motor Phases Observe motor polarity, connect phase U on the drive to phase U on the motor, etc.
  • Page 36 J3 –1 This terminal provides a 5 VDC output to power the feedback device. For SFD +5 V example, motor equipped with SFD, Halls or commutation encoder. The load current should not exceed 200 mA. J3-2 This terminal is the return connection for the 5 VDC supply. An inner feedback SFD +5 RTN cable shield can be connected to this point.

  • Page 37: J4 - Command I/O Connector

    2.8 J4 – C I/O C OMMAND ONNECTOR J4 is a 26-Position High Density D subminiature female connector. (J4 Connector view from front of drive.) (, 8) D F '! (, 8) / D 8! (, 8) ! F ' # , E D H8 (, 8) F ' "...

  • Page 38: Base Drive Unit General Purpose Inputs

    2.8.1 Base Drive Unit General Purpose Inputs General Purpose The general purpose inputs are a bank of four inputs that share Inputs DINP1-3 a common terminal, DINP COM, on J4-1. The inputs operate J4-2, 3, 4 over a wide input voltage range of 4.0 to 30 volts.
  • 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 Input 1: This input enables the drive. When input 1 is activated (current (ENABLE) flowing in the photo diode), the drive is enabled.
  • 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 4.64 k SOURCING CMOS...
  • Page 41 DINP5 (and10) General Purpose input default assigned as ‘No Function’. One of two inputs J4-10, 11 that can be assigned as end-travel limit switch inputs. Tie pin 10 or 11 to common rail for normal operation. J4-10 221 Ω DINP5+/ HSINP1+ 2.21 k J4-11...
  • 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 high- speed input from sinking logic. J4-10 HSINP1+ J4-11...

  • Page 43: Base Drive Unit Outputs

    2.8.2 Base Drive Unit Outputs General DOUT1 and DOUT2 are optically isolated outputs that provide information Purpose about the state of the drive. The outputs are Darlington phototransistors with a Outputs 33 volt zener diode wired in parallel to clamp voltage transients. J4-6,7 J4-7 DOUT1...
  • 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 Current Lim iting Resistor 50 m A MAX External Power Supply 30 VDC 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: Sfd Bat

    2.8.3 SFD BAT+ SFD BAT is not implemented. NOTE 2.8.4 DAC Monitors J4-14 The DAC Monitors are general-purpose analog monitor points. The output DAC MON1 range is 0.5 to 4.5 volts with a source impedance of 2.9 k , which limits the Ω...

  • Page 46: J11

    2 1 : & - 5 B " 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.
  • Page 47 1 " 9 5 . F '! 8U J 9 5 - & 5 8U = 1& J11-1 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...

  • Page 48: J12

    2.8.7 J12, Option Card General Purpose I/O is a 15-Position High Density D subminiature male connector. F !' (, 8) D F !' (, 8) A F !'! (, 8) # F !' A $( F !' (, 8) " F !' , E D H8 F !'...
  • Page 49 Shell Outer shield connection (wired to PE in the drive). J12-12 Channel A and B inputs can be configured to receive position CMD CH A+ 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.

  • Page 50: J13

    2.8.8 F ) + & & ! F '! A $( , E D H8 8D D 88/ H F ' ! , E D H8 F '# = R A = 9 A F '" = R ' = 9 ' J13-1 CU (Commutation Phase U) input when using open collector Hall feedback.

  • Page 51: Switch Settings

    J13-12 Channel A and B inputs that can be configured to receive differential, CMD CH A+ quadrature feedback. Channel A leads B is a negative count, which corresponds to CCW direction looking into the motor shaft. J13-13 The maximum line frequency is 2 MHz, the maximum quadrature count CMD CH A- frequency is 8 MHz, and the minimum pulse width is 250 ns.

  • Page 52: Led2

    2.8.10 LED2 Bicolor LED2. The module/network status LED " " D @ @ D '5 5 / ( 5 5 - 5 < 9 5 . @ - 5 ( + & - 5 4 5 H& + & - & 9 5 .

  • Page 53: Operational Notes

    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.

  • Page 54: Pulse (Step) And Direction

    3.2 P ULSE IRECTION 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.

  • Page 55: Ramp Control

    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.

  • Page 56: Homing

    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 H OMING Homing is always required.

  • Page 57: Configuring Drive From Existing File

    3.7 C ONFIGURING RIVE FROM XISTING 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.

  • Page 58: Upgrading Firmware Procedure

    3.8 U PGRADING IRMWARE ROCEDURE 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.
  • 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’...

  • Page 60: Faults And Errors

    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.

  • Page 61: Clearing Fault Conditions

    4.3 C LEARING AULT ONDITIONS 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.

  • Page 62: Extended Fault Information

    Display Description of Fault Drive Action Reset Method Error Code V ( + W 9 - @ !" ' @ 5 * & @ - 5 & - 5 H& 5 5 4 5 5 * & * & - 5 * &...
  • Page 63 SFD CRC error(s) In SFD Span mode, this indicates that there was more then one CRC error over 256 transfers. If not in SFD Span mode, any CRC error will fault. SFD Motor Data timeout SFD configuration did not complete within 49.2 milliseconds.

  • Page 64: S200 Base Unit Faults (B-Faults)

    4.7 S200 B AULTS 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 Count Status Resulting Drive Action Reset Method No Fault drive disabled Normal Operation Motor Over Temp sensor has...

  • Page 65: System Warnings

    4.8 S YSTEM ARNINGS Warnings are like faults in that they can terminate motion. In most cases they will not cause the Warning Code Description Reserved Reserved Position Error Warning Watchdog Limit Reached Reserved Software Limit Switch 1 Active Software Limit Switch 2 Active Invalid Motion Task Has Been Initiated Home Reference Point Not Set Positive Hardware Limit Switch Activated...

  • Page 66: Setup Software

    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 Enable Open New Backup File Communication Wizard Open Oscilloscope Disable COLDSTART Set Home Stop Motion Save to Nonvolatile Mem Close Backup File Save Backup File Jog CW Jog CCW Jog Speed Drive Data File View Backup File View Drive Model Drive Enable Status Fault Status...
  • Page 68 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 is complete, the wizard screen will...
  • Page 69 The first step is to confirm that the drive is configured for the motor being used. This information automaticall y 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 70 The Drive Setup tab is where drive’s mode of operation is set for Digital Velocity, Electronic Gearing or Motion tasks. This example 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.
  • 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.
  • 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’...
  • Page 73 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.

  • Page 74: System Tools

    6 SYSTEM TOOLS 6.1 S TATUS CREEN 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.

  • Page 75: Communication Wizard

    6.2 C OMMUNICATION IZARD 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.

  • Page 76: Digital Oscilloscope

    6.4 D IGITAL SCILLOSCOPE 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 77: Configuration Summary Screen

    6.5 C ONFIGURATION UMMARY CREEN 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: Serial Communications And Modbus Rtu

    SERIAL COMMUNICATIONS AND MODBUS RTU 7.1 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 on the documents: MODBUS over Serial Line V1.0 MODBUS Application Protocol Specification V1.1...

  • Page 79: Rs232 Serial Port Configuration

    7.3 RS232 S ERIAL ONFIGURATION Baud rate: 38400 Data bit: Stop bit: Parity: 7.4 E XCEPTION ESSAGES 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. Exception Description Code...

  • Page 80: Communication Strategy

    Exception Description Code Scope: Wrong lookup number String length is invalid 7.5 C 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.

  • Page 81: Modbus Functions

    7.6 M US 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 82: Writing Variables

    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 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.

  • Page 83: Example: Read The Acc Parameter

    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.

  • Page 84: Example: Change Speeds In Digital Velocity Mode

    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: Manufacturer Specific Function Codes

    7.7 M ANUFACTURER SPECIFIC FUNCTION ODES 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.

  • Page 86: Command Execution Status

    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. FC=67 FC=6 Status(16bit) CRC Status Idle (read to execute command)

  • Page 87: Set Motion Task

    Variable Description Name Position Command Velocity Feedback VCMD Velocity Command ICMD Torque Command STATUS Software Status Word STAT Second Software Status Word Panic Panic Flags word errCode Error Code Flags INPUT State of digital inputs OUTPUT State of digital outputs buErrCode Base Unit Error Code Flags ocErrCode...

  • Page 88: Clear All Motion Tasks

    Clear Motion Task UA FC = 65 Id = 10 Motion Task Number (16bit) UA FC = 65 Id = 10 Minimum Wait Time (16bit) The Minimum Wait Time is the time the master must wait at least before sending the next request.
  • Page 89 Appendix C: Application Notes 07/06 Danaher Motion PDID Modbus Data Default Index Address Name Type Rights Value Min Value Max Value Units Comments Long 300000 12000000 RPM/S Velocity Loop Acceleration Limits ACCR Long 300000 12000000 RPM/S Jog and Homing Acceleration Limits...
  • Page 90 Serial Communications and Modbus RTU 07/06 Danaher Motion PDID Modbus Data Default Index Address Name Type Rights Value Min Value Max Value Units Comments LATCH2N32 Long -1 Counts Returns Negative Edge Latch Position VLIM Long 10000 10000 RPM Defines the maximum application velocity...
  • Page 91 Serial Communications and Modbus RTU 07/06 Danaher Motion PDID Modbus Data Default Index Address Name Type Rights Value Min Value Max Value Units Comments High-pass damping of the velocity loop filter ARHPD Float 10 NA (BQMODE) High-pass frequency of the velocity loop filter...
  • Page 92 Serial Communications and Modbus RTU 07/06 Danaher Motion PDID Modbus Data Default Index Address Name Type Rights Value Min Value Max Value Units Comments 1022 IN8MODE Long 90 List Sets function of DINP9 1026 Long 1 On/Off Returns the state of DINP10...
  • Page 93 Serial Communications and Modbus RTU 07/06 Danaher Motion PDID Modbus Data Default Index Address Name Type Rights Value Min Value Max Value Units Comments Sets (or returns set value) for Digital Velocity Mode 1934 3868 Float -3.40E+38 3.40E+38 RPM Velocity...

  • Page 95: Appendix A - Cables

    Drive and the Smart Feedback Device (SFD). Danaher Motion has developed and sells a composite cable that has very good isolation between the power and feedback sections. It is strongly recommended that this raw cable be used for custom composite cable designs.
  • Page 96 There are many ways to connect the multiple shields of a composite cable. A good way to understand how the Danaher Motion composite cable is built is to buy a short Danaher Motion S200 composite cable, open it up, and see how the shields at both the motor and drive end are connected.

  • Page 97: Appendix B - Regulatory Information

    Appendix B - Regulatory Information 07/06 Danaher Motion APPENDIX B - REGULATORY INFORMATION ONFORMANCE EQUIREMENTS 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. Use conforming with requirements means that the safety recommendations and warnings detailed in this manual are complied with and that the applicable regulations for safety (machine directives, etc.) and noise suppression (EMC...

  • Page 98: Ce Test Setup

    Appendix B - Regulatory Information 07/06 Danaher Motion B.3.1. CE Test Setup AC MODELS S2XX6X-VTS 1) S200 AC DRIVE: S20360-VTS 2) MOTOR FEEDBACK CABLE: CF-DA0111N-05-0 (CF-DA0111N-50-0 for conducted emissions) 3) MOTOR POWER CABLE: CP-102AAAN-05-0 (CP-102AAAN-50-0 for conducted emissions) 4) MOTOR: KOLLMORGEN AKM43K-ANCNC-00...

  • Page 99: Ce Test Setup

    Appendix B - Regulatory Information 07/06 Danaher Motion B.3.2 CE Test Setup (DC MODELS S2XX3X-VTS) 1) S200 DC DRIVE: S20630-VTS 2) MOTOR FEEDBACK CABLE: CF-DA0111N-05-0 (CF-DA0111N-50-0 for conducted emissions) 3) MOTOR POWER CABLE: CP-102AAAN-05-0 (CP-102AAAN-50-0 for conducted emissions) 4) MOTOR: KOLLMORGEN AKM43K-ANCNC-00...

  • Page 100: 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 (, < , H J / $D ( , $/ Type S20260-DNS, S20360-DNS, S20330-DNS, S20630-DNS, S20250-DNS, S20350- DNS, S20260-CNS, S20360-CNS, S20330-CNS, S20630-CNS, S20250-CNS, and S20350-CNS comply with the following relevant regulations: CE Guideline Low Voltage Directive "!E ! E / / Applied harmonized standards: / 8 "...

  • Page 102: Installation And Commissioning

    As the user or person applying this unit, you are responsible for determining the suitability of this product for the application. In no event will Danaher Motion be responsible or liable for indirect or consequential damage resulting from the misuse of this product.
  • 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.

  • Page 104: Ul And Cul Conformance

    The motor should not be loaded until the servo drive is disabled. The holding brake, optional on Danaher Motion motors, is not intended to stop a spinning motor. It is designed to prevent a stopped motor from rotating due to an applied torque.

  • Page 105: Emc Compliance With En61800-3

    Use Danaher Motion cables – Danaher Motion cables have been designed with EMC considerations in mind. Because subtle differences in cable construction can cause dramatic changes in EMC performance use of Danaher Motion' s Kollmorgen motor power and feedback cables is recommended.

  • Page 106: Ac Mains Conducted Emissions

    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.
  • Page 107 Appendix B - Regulatory Information 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.

  • Page 108: Regen Resistor

    NFORMATION OURCES Additional information on EMC performance and noise reduction techniques can be found on the Danaher Motion website (www.DanaherMotion.com): Kollmorgen Application Note EMI Noise Checklist Pacific Scientific Application Note 106 - Reducing Motor Drive Line Noise Pacific Scientific Application Note 107 - Reducing Motor Drive Radiated Emissions...

  • Page 109: Sales And Service

    ALES AND ERVICE 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.

This manual is also suitable for:

S20330S20660S20360S20260

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