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Related Manuals for Danaher Motion S200-CNS
Summary of Contents for Danaher Motion S200-CNS
- Page 1 S200-CNS Product Manual Hardware Installation Manual Revision B1 May 08, 2008 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 11/13/07 Reversed Polarity of DINP10 on Schematics 05/08/08 Restructured, siza A4 ©2006 2007 Danaher Motion - All rights reserved. Printed in the Germany. ® Danaher Motion is a registered trademark of the Danaher Corporation. Technical changes which improve the performance of the equipment may be made without prior notice! All rights reserved.
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Page 3: Table Of Contents
8.10 J11 CAN bus Connections ..................... 39 8.11 J12 Connector......................... 40 8.12 J13 Encoder Feedback Connector ..................41 DC Input Power Model Power Supply Requirements.............. 42 Control Voltage ........................43 Grounding..........................43 Bus Capacitance ........................43 Bus Switching and Fusing ...................... 44 S200-CNS Product Manual... - Page 4 12.8 Installation and Commissioning ..................... 64 12.9 European Compliance ......................64 12.10 Low Voltage Directive and EN50178 ..................64 12.11 EMC Compliance with EN61800-3 ..................65 12.12 AC Mains Conducted Emissions.................... 66 12.13 Regen Resistor........................67 12.14 Additional EMC Information Sources..................67 S200-CNS Product Manual...
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Page 5: Product Documentation
There may be a number of supporting documents located at our web site. Please check for the latest information. Locating Support Materials All support materials are posted on the Danaher Motion website at www.DanaherMotion.com. These files can be found under Drives \ AC Servo Drives \ S200. Firmware and Software Updates A good general practice remains: If its not broken, don’t fix it. -
Page 6: Safety
• 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 7 If braking torque is required to quickly stop the motor, a dynamic brake can be added that loads the motor’s windings resistively. The motor should not be loaded until the servo drive is disabled. The holding brake, optional on Danaher Motion motors, is CAUTION not intended to stop a spinning motor.
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Page 8: Product Overview
• Operation and Setup via a PC using the S200 OC Tools setup software • Easy set up and tuning with Smart Feedback Device • Optimized performance with Danaher Motion AKM motors • Rugged optically isolated I/O • UL508C recognition, CE (EN50178, EN61800-3) •... -
Page 9: Increased Machine Throughput & Longer Life
3.4 CE- / UL- C ONFORMITY • The S200 position node with CANopen meets all relevant standards: • EMC Directive 89/336/EWG, standard used ENG61800-3 • Low Voltage Directive 73/23/EWG, standard used 50178 • UL / cUL 508C recognized S200-CNS Product Manual... -
Page 10: Model Number Scheme
S20660-CNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with CanOpen S20660-DNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with DeviceNet S21260-CNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with CanOpen S21260-DNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with DeviceNet S200-CNS Product Manual... -
Page 11: Specifications
240 VAC 1 Phase (A (Note 3) (Note 3) 120 VAC 1 Phase (A (Note 3) +BUS Current – 75 VDC at Continuous Output Power Average (A Instantaneous Peak (A 12.7 25.5 PEAK Power Dissipation at 40°C (watts) CONT S200-CNS Product Manual... - Page 12 75 Single phase operation of the S20660 requires derating of continuous output power to avoid excessive AC line front-end currents. See Appendix – Cables for voltage loss vs cable length. S200-CNS Product Manual...
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Page 13: Input Power Specifications
S20660 S21260 240 VAC 3 Phase FRN-R-5 FRN-R-8 FRNR-15 FRN-R-25 240 VAC 1 Phase FRN-R-5 FRN-R-10 FRN-R-20 FRN-R-30 120 VAC 1 Phase FRN-R-5 FRN-R-10 FRN-R-20 AC Power on Delay Control Power Applied to Drive Operational 1.25 seconds S200-CNS Product Manual... -
Page 14: Dc Input Drives - Control And Power
Motor Phase Current Waveform Pure sinusoidal or six-step, depending on feedback device (In Sine or six-step mode output torque = Motor K *Drive I Motor Shaft Torque (Ignoring motor magnetic saturation) Peak (N-m/A )*Drive Ipeak (A Instantaneous (N-m/A )*IFB (A S200-CNS Product Manual... - Page 15 - 3 dB Bandwidth (Hz) > 2000 - 45° Phase Lag (Hz) > 1000 General Performance Max Tracking Rate (rpm) > 48600 Max Recommended Rate (rpm) 25000 Max Tracking Acceleration (rpm/sec) > 16x10 Maximum Feedback Cable Length 50 m (164 ft) S200-CNS Product Manual...
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Page 16: Mechanical Specifications
Quadrature Input CHA (J12-12, 13) CHB (J12-14,15) Type RS-422/RS-485, TTL, Open Collector compatible Input Voltage +/- 200mV Differential Input Termination Please see diagrams in manual Maximum Line Frequency 625 kHz (corresponds to 2.5 MHz quadrature pulse rate) S200-CNS Product Manual... -
Page 17: Environmental Specifications
Maximum Output Frequency 2.5 MHz Marker Pulse Width Approximately 120 degrees Kollmorgen branded products do not support encoder output when using encoder feedback on motor. Products branded Danaher Motion do. 4.7 E NVIRONMENTAL PECIFICATIONS Environmental Specifications Operating Temperature (° C) – Full... -
Page 18: Smart Feedback Device (Sfd)
< 2 Rev/° C = 0.08 arc min/° C Absolute Accuracy -10.3 AKM1 (arc min) ± 2 Rev = ±17 -11.1 AKM2 or 3, 4 (arc min) ± 2 Rev = ±10 Communications Update Period (µs) 51.2 S200-CNS Product Manual... -
Page 19: Accessories
5.1.2 Serial Communications Cable Danaher Motion offers a 6 ft serial communications cable designed to connect directly between the S200 Position Node and standard PC 9 Pin communications port. Order Part Number P7S2-232-D. -
Page 20: Connector Kits
5.2 C ONNECTOR Danaher Motion offers several connector kit options to help interface drive connections. Please note that there are connector kits that are designed to interface to just the base unit drive and connector kits designed for the auxiliary S200 Position Node auxiliary features. More than one connector kit may be required. - Page 21 DC S200 Base Unit models. (J1 and J4). This connector kit provides the auxiliary connectors required when purchasing Danaher Motion Cable sets when screw terminals are preferred over soldering of Applicable Drive Models: S20330-xNS, S20630-xNS CK-S200-IN-AC connector kit includes...
- Page 22 J1, for the low power S200 Base Unit models. Cage Clamp connector kit. This connector kit provides the auxiliary connectors required when purchasing Danaher Motion Cable sets where terminal screws are preferred over soldering of J4. Applicable Drive Models: S20250-xNS, S20260-xNS, S20350- xNS, S20360-xNS, x20660-xNS.
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Page 23: 5.2.2 Position Node Connector Kits
All models with DNS or CNS suffix. 5.3 R EGEN ESISTOR Danaher Motion offers the ERH-26 fully enclosed, thermally protected regen resistor rated at 26 ohms, 150 watts. The resistor has connection leads and an integrated thermal switch with fast-on type connectors. -
Page 24: Din Rail Terminal Break Outs
NTERFACE ERMINALS Danaher Motion does not currently offer direct purchase of Operator Interface Terminals other than with complete systems. There are many units available in the general industrial equipment market place. Virtually any terminal that has the ability to be configured for your application and has support... -
Page 25: Installation
12 mm (0.5 in) from the mounting bolts to achieve good electrical connection over a large area between the drive and grounded mounting surface. • Ensure the environment within the cabinet meets the requirements listed in the environmental specifications table. S200-CNS Product Manual... -
Page 26: Dimensions
1.5 kg Drive Weight 1.10 lb 1.86 lb 1.10 lb 3.2 lb Depth measurement is for drive only. Add approximately 50.8 mm (2 in) to depth given in the table to accommodate mating connectors and wire bend radius. S200-CNS Product Manual... -
Page 27: Mounting Outline
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 S200-CNS Product Manual... -
Page 28: Wiring Diagrams
5V Source I/O RET Configuration 5V COM I/O RET Port CH A / Step Tx Data CH A / Step CH B / DIR CH B / DIR CAN H Optional SHIELD CanBus CAN L Connection Protective Earth S200-CNS Product Manual... -
Page 29: High Power Ac Wiring Diagram
DOUT 3 + DINP 10- DINP10 + RS 232 5V Source Configuration 5V COM Port CH A / Step CH A / Step CH B / DIR CH B / DIR CAN H Optional SHIELD CAN L Connect Protective S200-CNS Product Manual... -
Page 30: Dc Models Drive Wiring Diagram
5V Source I/O RET Configuration 5V COM I/O RET Port CH A / Step CH A / Step CH B / DIR CH B / DIR CAN H Optional CAN SHIELD Bus Connection CAN L Protective Earth S200-CNS Product Manual... -
Page 31: Connector Pinout And Descriptions
Power should not be applied if this connection does not exist. PE Ground Terminals (Typical) S200-CNS Product Manual... -
Page 32: J1 - Low Power Ac Input Power Models Drive Power
Please refer to the Specifications Section for appropriate rating and fusing requirements. It is the customer’s responsibility to supply appropriate fuses or circuit breakers in the J1 AC drive power lines to comply with local electrical codes. NOTE S200-CNS Product Manual... - Page 33 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. S200-CNS Product Manual...
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Page 34: J1 - Ac Input Control Power High Power Ac Models
12 – 24 AWG Wire Range, Phoenix FKC 2,5/3-SFT-5,08-BK OR Crimp Connector Crimp Shell: 14-20 AWG Wire Range, Phoenix MSTBC 2,5/3-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. S200-CNS Product Manual... -
Page 35: Tb1: High Power Ac Power Connections
WARNING Do not apply power or operate unit without the terminal block cover in place. WARNING Recommended Mating Connectors: Spring Fork Lugs or M4 or #8 screws Hollingsworth SS20948SF Molex 19099-032 Or Equivalent S200-CNS Product Manual... -
Page 36: J1 - Dc Input Power Models Drive Power Connector
12 – 24 AWG Wire Range, Phoenix FKC 2,5/3-SFT-5,08-BK OR Crimp Connector Crimp Shell: 14-20 AWG Wire Range, Phoenix MSTBC 2,5/3-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. S200-CNS Product Manual... -
Page 37: J2 - Motor Power Connector
J3-4 SFD Communications + J3-5 J3-6 Shell Shield Connection (J3 Connector view from front of drive) Mating Connector Information IEEE1394, Firewire type, 2.0 mm plug set 22 AWG Max., Molex 55100-0600 Refer to www.molex.com for assembly instructions. S200-CNS Product Manual... -
Page 38: J4 - Command I/O Connector
See Specifications Section for ratings and Wiring Information for wiring details. Mating Connector Information 26-Pin Male High Density D-Sub with Back shell Kit 24 AWG Max., NorComp 180-026-102-001 – D-Sub Connector NorComp 978-015-010-03-1 – Back shell Kit Refer to www.norcomp.net. S200-CNS Product Manual... -
Page 39: J5: Serial Port Connections
DeviceNet Color J11-1 V-: Power of CAN Bus Black J11-2 CAN_L: Comm Low Blue J11-3 Shield Bare J11-4 CAN_H: Comm High White J11-5 V+: Power of CAN bus Mating Connector PHOENIX MSTB 2,5/ 5-STF-5,08 AU Or Equivalent S200-CNS Product Manual... -
Page 40: J12 Connector
Gearing Input Channel B J12-15 CMD CH B- Gearing Input Channel /B Shell Shield Earth Connection for 360 Bond Mating Connector Information Solder cup, Metalized Shell Norcomp 180-015-202-001 (or Equivalent) Mating Hood/Shell: Metalized Adam Tech DE09-HD-PN-SS (or Equivalent) S200-CNS Product Manual... -
Page 41: J13 Encoder Feedback Connector
Detailed information is provided later in this manual. Mating Connector Information Solder cup, Metalized Shell Adam Tech HDT-15-PD-RC (or Equivalent) Mating Hood/Shell: Metalized Adam Tech DE09-HD-PN-SS (or Equivalent) S200-CNS Product Manual... -
Page 42: Dc Input Power Model Power Supply Requirements
(+ 10 VDC to + 30 VDC supply can be shared by Control and I/O) 20 to 110 mA at 75 VDC Control Supply 60 to 330 mA at 24 VDC Current 125 to 660 mA at 12 VDC S200-CNS Product Manual... -
Page 43: Control Voltage
DC S200 drives powered from one 75 VDC supply the recommended minimum bus output capacitance of the supply is 4 x 4,000 µf = 16,000 µf. Bus capacitor voltage rating should be 100 V. Bus capacitor type is aluminum electrolytic. S200-CNS Product Manual... -
Page 44: Bus Switching And Fusing
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-15) 7 A, Slo-Blo (Bussmann MDA-7) S200-CNS Product Manual... -
Page 45: 10 Detailed Wiring Information
PWM waveforms that can couple to the feedback wiring, causing communication errors between the 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 46 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.
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Page 47: Definitions Discussion
Large gage wires consisting of many fine strands of wire are superior to other types for conducting high frequency noise and the use of high strand count wire is recommended. S200-CNS Product Manual... -
Page 48: Serial Port Wiring
ERIAL PORT IRING Connector J5 is the RS232 Serial Port. Danaher Motion offers a pre-made serial communications cable P/N P7S2-232-D for direct connect to a computers 9-pin serial communications port. The following information is supplied for applications choosing to not use this cable. -
Page 49: Typical Wiring With Sinking Switches
DINP4 (DINP9) J4-5 (J12-5) Field Wiring In the above diagram the switches conduct electrical current through the S200 PN inputs to ground. Many interface devices encountered in machine control use solid-state switches that are commonly NPN transistors. S200-CNS Product Manual... -
Page 50: Typical Wiring With Sourcing Switches
Current drain for the inputs is identified 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 S200-CNS Product Manual... -
Page 51: Wiring Dinp5 And Dinp10
The resistor should be in series with the input line. The following table indicates the recommended resistor values. Supply Voltage Resistor Value 3-6V No Resistor 470 Ohm ¼ Watt 1200 Ohm, ½ Watt S200-CNS Product Manual... -
Page 52: Wiring Discrete Digital Outputs
The above diagrams are applicable to systems implementing a solid-state load or relay connected to an S200 PN output. Load LED and resistor or relay coil (reverse diode) can be in ether leg of the power circuit. S200-CNS Product Manual... -
Page 53: Using The Dac Monitors
This switching voltage can couple capacitively in both the cable and the motor creating high frequency current flows that must be controlled. Danaher Motion offers highly engineered cables to provide the best control of these signals. -
Page 54: Regen Resistor Wiring
Motion website (www.DanaherMotion.com) providing the equations to calculate the regenerative levels. Nuisance over voltage tripping is the symptom indicating the need for a regen resistor. Danaher Motion offers the ERH-26 regen resistor compatible for use meeting all the requirements of the S200 Position Node product line. - Page 55 The above circuit shows a generic interface using open collector drives to drive the encoder input signals of the S200 PN. Several manufacturers of PLC with step and direction output use this method. Note the required use of pull up resistors. S200-CNS Product Manual...
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Page 56: Encoder Motor Feedback
The following diagrams indicate how to wire an encoder feedback to the S200 Position Node drive. The information provided pertains to Danaher Motion AKM Series motors. Other motors or encoder manufacturers may use different conventions when naming signals. Danaher Motion can not be responsible for the differences but a phasing diagram and some explanations are provided to help the user determine the proper wiring and setup for other component suppliers. - Page 57 Danaher Motion 05/2008 Detailed Wiring Information The following phasing diagram can be helpful when using motors other than Danaher Motion’s AKM Series with encoder feedback. S200-CNS Product Manual...
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Page 58: 11 System Startup
Motor and Mechanical Setup \ Motor form and select the newly added motor. All drive configuration settings made in the previous steps must be saved to non-volatile memory or the settings will be lost upon power cycle. Use the Save to NV button to NOTE accomplish this. S200-CNS Product Manual... -
Page 59: Control Wiring Checks
GUI to ensure that the drive is enabled. The above picture of the GUI keys indicates that the drive is software disabled and ready to accept an ‘EN’ command to software enable it. S200-CNS Product Manual... -
Page 60: Motor Motion Checks
UNING Remove all power to the system. At this point the motor may be coupled to the load and the system may be tuned. See the S200 Position Node User’s guide for more information on system tuning. S200-CNS Product Manual... -
Page 61: 12 Regulatory Information
NOTE others. For example, a multi-axis machine generates more noise than a single-axis machine. Therefore, multi-axis machines may require additional noise reduction techniques, such as a metal enclosure or clamping of cables shields to an RF ground. S200-CNS Product Manual... -
Page 62: Ce Test Setup
5) SAFETY ISOLATED DC BUS POWER SUPPLY 6) CORDS FOR AC MAINS CONNECTION 7) 5V POWER SUPPLY FOR ENABLE OPTO 8) PERSONAL COMPUTER 9) SERIAL CABLE (for setup and diagnostics) 10) SHIELDED I/O CABLE WITH DSUB SHELL GROUNDED AT EACH END S200-CNS Product Manual... -
Page 63: Declaration Of Conformity
89/336/EEC CE Guideline EMC Directive EN 61800-3:1997 Applied harmonized standards: Manufacturer’s Contact: Peter Deneault, Compliance Engineer Danaher Motion GPS North America Pacific Scientific Steve McClellan, Engineering Services Director Issued By: Danaher Motion GPS North America Kollmorgen Industrial Drives Radford, VA, USA 03/15/2005... -
Page 64: Installation And Commissioning
• When installing the S200 into its operating location, it shall be ensured that any existing protective separation according to 5.2.18 of EN50178 is maintained throughout the entire length of the circuit in question. In installations the compliance for of the measures for protective separation shall be checked by visual inspection. S200-CNS Product Manual... -
Page 65: Emc Compliance With En61800-3
Motion had to use in the EMC test setups. General Suggestions to Improve Machine EMC Performance • 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 66: 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 67: 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 68 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.DanaherMotion.com E-Mail DMAC@danahermotion.com Phone: +1 - 540 - 633 - 3400 Fax: +1 - 540 - 639 - 4162...
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