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Danaher Motion S200-VTS Product Manual Download Page 63

Danaher Motion 

05/2008 

Wiring the Drive

 

S200-VTS Product Manual 

 

63

 

 

6.12.1 

J13 – Discrete I/O Connection Schematic 

 

+3_3V

GNDD

D

+3_3V

+3_3V

+3_3V

PS2805-4

+3_3V

+3_3V

+3_3V

GNDD

D

GNDD

D

GND

VCC

DS26LV32ATM

DS26LV32SO16

+

-

-

+

-

+

-

+

GNDD

D

+3_3V

GNDD

D

SHLD1

SHLD2

PE

BZX84-C33

SCHEMATIC

NONE

SQNODE S200 OPTION CARD

1

7

6

5

4

3

A

B

C

D

E

F

G

H

UNLESS OTHERWISE SPECIFIED:

RESISTORS: VALUES ARE OHMS, 1/4W,+/-1%

CAPACITORS: VALUES ARE IN MICROFARADS

DIODES :ARE 1N914B

SEE CUSTOMIZATION SHEET FOR FEATURES

DATE:

FILE:

SCALE

APP'D:

APP'D:

CHK:

DWN:

NOTES:

PACIFIC SCIENTIFIC

TITLE

REV

DRAWING NO.

SIZE

D

SHEET    OF

APPR

CK

REVISION RECORD

DATE

SYM

DR

SEE SHEET ONE

6

8

7

5

4

3

8

Motion Technology Division

110 Fordham Road, Wilmington MA 01887

BZXB4-C33

A

NC

K

SOT23

IO CONNECTOR

RS-422 Receivers for Position_Capture

Receiver delay 35ns

Input common mode voltage range: -7V to +7V

()

(INHIBIT-)

(ENABLE)

|Voff| Spec.: < 1.5V

0.65mA to 6.7mA

|VOn| Spec.:  4.0V to 30V

MALE PINS

I/O RTN

OINP4

GP_RS

GP_RS422_IN2-

OINP3

GP_RS

OINP2

GP_RS

GP_RS422_IN3-

OINP1

I/O RTN

GP_RS

OINP COM

GP_RS422_IN-

GP_RS422_IN0-

DINPx to DINP_COM

DO NOT STUFF

DO NOT STUFF

I/O CIRCUITS

3-105-030301

1

1

J13-IO

1

12-17-2007_14:04

9DS0-0114

.

GP_RS422_IN3-

GP_RS

GP_RS

GP_RS422_IN2-

0

R108

R75

0

GP_RS422_IN2-

2

3

41

U15

3

1

D2

33V

150

R73

OOUT1

GP_RS

C118

1000PF

10

11

12

13

14

15

2

3

4

5

6

7

8

9

16

17

1

J13

100NF

C67

C69

100NF

100NF

C70

DINP_COM

NODE_DISABLE

POS_LIMIT

HOME

DINP_COM

NODE_DISABLE_IN

NEGLIMIT_IN

POSLIMIT_IN

HOME_IN

R57

4.32K

4.32K

R56

R55

4.32K

4.32K

R54

C46

4700PF

R60

4.64K

4.64K

R81

C61

4700PF

C45

4700PF

R83

4.64K

4.64K

R84

R53

4.64K

GP_RS422_IN3-

NEG_LIMIT

R61

46.4K

GP_RS422_IN3

GP_RS422_IN1-

GP_RS

GP_RS422_IN0-

GP_RS

GP_RS422_IN2

2

1

3

6

7

5

10

9

11

14

15

13

4

8

16

12

U14

GP_RS422_IN0

GP_RS422_IN1

GP_RS422_IN1-

GP_RS

GP_RS422_IN2-

GNDD

GNDD

GP_RS422_IN0-

GP_RS

HOME_IN

POSLIMIT_IN

NEGLIMIT_IN

NODE_DISABLE_IN

GP_RS

1

2

3

4

5

6

7

8

10

12

14

16

11

13

15

9

U12

C44

4700PF

46.4K

R63

R64

46.4K

46.4K

R65

GP_RS

4.64K

R52

  

 

Summary of Contents for S200-VTS

Page 1: ...nstallation Manual Control Logic Version 3 0 or Higher Revision C1 May 08 2008 Keep all product manuals as a product component during the life span of the servo amplifier Pass all product manuals to f...

Page 2: ...nges to improve the performance of the equipment may be made without prior notice Printed in the Federal Republic of Germany All rights reserved No part of this work may be reproduced in any form by p...

Page 3: ...aults 13 3 3 3 DC Control Power On Delay 13 3 4 Motor Current Control 13 3 4 1 Current Loop Bandwidth 14 3 4 2 Offset Current 14 3 5 Velocity Loop 14 3 5 1 Velocity Loop Compensation 14 3 6 Command I...

Page 4: ...ve Wiring 36 6 1 1 AC Drive S20260 S20360 S20660 VTS 36 6 1 2 AC Drive S21260 S22460 VTS 37 6 2 J1 AC Input Drive Power 38 6 3 DC Input Drive Wiring 41 6 4 J1 DC Input Drive Power 42 6 4 1 DC Power Su...

Page 5: ...figuration 78 8 1 Base Drive Torque Velocity Control Block Diagram 79 8 2 Base Drive Position Control Block Diagram 80 8 3 SynqNet Drive Torque Control Block Diagram 81 8 4 SynqNet Drive Velocity Cont...

Page 6: ...ing 121 Appendix D Process to Setup Non Danaher Motors 122 D 1 Detailed Drive Motor Wiring Discovery Procedure 123 Appendix E Voltage Sag Standard Semi F47 F42 125 Appendix F Using a Voltage Doubler M...

Page 7: ...s Comcoder 1 Vp p Sin Cos EnDat 2 1 and EnDat 2 2 running in 2 1 compatibility mode The option card EnDat interface accommodates single and multi turn absolute rotary or incremental and absolute linea...

Page 8: ...ptions Here is a list of the various S200 Series Drives VTS Analog Velocity Torque Base Drive SDS SynqNet option card with Micro D connectors SRS SynqNet option card with RJ 45 connectors CNS CAN Inde...

Page 9: ...even when the motor is not rotating Never disconnect or connect the product while the power source is energized After removing the power source from the equipment wait at least 5 minutes before touch...

Page 10: ...VA 750 1500 Drive Continuous Output Power 240 Vac 3 Phase W 600 1100 2000 4000 8000 240 Vac 1 Phase W 500 900 1500 2500 3000 120 Vac 1 Phase W 250 6 450 6 750 75 Vdc W 250 500 Continuous Motor Shaft P...

Page 11: ...scaled to give the same output torque as in sine mode with a pure sinusoidal Back EMF motor To convert ARMS to A 0 pk multiply ARMS 1 414 2 For intermediate ambient temperatures linearly derate betwee...

Page 12: ...the mains surges to the drive 3 2 3 AC Bus Voltage and Faults 240 VAC Input Nominal Bus Voltage 320 VDC 120 VAC Input Nominal Bus Voltage 155 VDC BUS Undervoltage Fault S20260 S20360 S20660 Default i...

Page 13: ...atts 1 2 to 8 1 20 watt min supply recommended Refer to the DC Power Supply Section for detailed application information and requirements 3 3 2 DC Bus Voltage and Faults BUS Voltage Range VDC J1 3 to...

Page 14: ...2 Offset Current Drive Typical Worst Case Over Temp S20250 S20260 0 2 12 mA 0 5 32 mA S20350 S20360 0 2 25 mA 0 5 64 mA S20660 0 2 50 mA 0 5 128 mA S21260 0 2 85 mA 0 5 210 mA S22460 0 2 135 mA 0 5 3...

Page 15: ...0 CMRR 30 dB at 60 Hz 3 6 2 Analog Output DacMon Resolution bits 14 Maximum Range volts 0 5 4 5 Full Scale Tolerance Worse Case 5 Typical 1 Linearity Full Scale 0 1 Monotonic to 2 16 Full Scale Offset...

Page 16: ...NP2 DINP3 J4 2 3 4 Input Voltage volts Referenced to DINPCOM J4 5 4 0 30 0 Input Current mA 0 65 6 7 Response Time 1 0 ms 3 6 7 General Purpose Outputs DOUT1 DOUT2 J4 6 7 and J4 8 9 Maximum Output Vol...

Page 17: ...g 5 64 lb w option 2 63 kg 5 80 lb 0 40 kg 0 88 lb 0 50 kg 1 10 lb 1 Depth measurement is for drive only Add approximately 50 8 mm 2 in to accommodate mating connectors and wire bend radius 3 8 Enviro...

Page 18: ...od s 0 1 3 9 3 Emulated Encoder Output Signals Available Resolutions PPR Selectable By Rotary Switch S1 500 512 1000 1024 2000 2048 4096 5000 8192 10000 Programmable Values See EncOutPPR 0 65535 integ...

Page 19: ...designed to help a user quickly setup one of the following S200 Drives See Drive Model Numbers and Descriptions for a complete list of S200 drives S20330 VTS S20630 VTS S20260 VTS S20360 VTS S20250 VT...

Page 20: ...e using an S200 Base Unit drive use the J3 connector for motor feedback Only SFD motor feedback is supported on Base Unit drives If you want to use SinCos or ComCoder as motor feedback you must use th...

Page 21: ...COM port 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...

Page 22: ...g a configuration file does NOT save the settings to the drive Configuration files can be helpful for saving multiple drive setups You can easily download a setting to a drive by opening the configura...

Page 23: ...onnect J12 SynqNet OUT of the S200 drive to the XMP SynqNet controller s SynqNet IN port Multiple Drives Nodes Connect an Ethernet communications cable from the XMP SynqNet controller s OUT port to th...

Page 24: ...2 2 X SinCos with Halls X ComCoder Incremental Halls X 4 2 4 S200 Tools Communication Wizard 4 2 4 1 Launch S200 Tools Launch the S200 Tools program by clicking the desktop icon or from the Windows S...

Page 25: ...sage 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 After you have confirmed your setup click the OK butto...

Page 26: ...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 Select Base Unit Feedback if the motor fe...

Page 27: ...are not lost Download NV This button will save the parameter settings displayed in S200 Tools to the selected drive These parameters are saved to the drive s permanent memory and are recalled during a...

Page 28: ...52 in 76 mm 3 00 in 96 4 mm 3 80 in 28 7 mm 1 13 in 48 3 mm 1 90 in Drive Depth 1 C 131 6 mm 5 18 in 152 mm 5 98 in 192 mm 7 57 in 100 8 mm 3 97 in Clearance Requirements Top and Bottom D 12 7 mm 0 50...

Page 29: ...ounting Offset F Vertical Mounting Offset G Drive to Drive Mounting J Drive Height A Drive Width B Vertical Mounting Height H For Drive Mounting use M4 or 8 Hardware For Drive Mounting use M4 or 8 Har...

Page 30: ...wings 5 2 1 Base AC Drive S20260 S20360 S20660 VTS 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 fo...

Page 31: ...21260 VTS 76 1 3 00 150 5 5 93 178 8 7 04 4 6 0 18 169 5 6 67 4 8 0 19 31 7 1 25 4 6 0 18 2 Places 4 6 0 181 2 Places DETAIL A SCALE 1 1 Dimensions are mm inches FRONT VIEW RIGHT SIDE VIEW REAR VIEW T...

Page 32: ...Mounting the Drive 05 2008 Danaher Motion 32 S200 VTS Product Manual 5 2 3 Base AC Drive S22460 VTS Note Enclosure and mounting dimensions for Option card equipped units are the same...

Page 33: ...on 05 2008 Mounting the Drive S200 VTS Product Manual 33 5 2 4 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...

Page 34: ...131 57 6 89 175 01 0 17 4 32 0 17 4 32 0 18 4 57 0 18 4 57 TOPVIEW FRONTVIEW RIGHTSIDEVIEW REARVIEW RECOMMENDED MOUNTING HARDWARE 8 or M4 DIMENSIONS ARE IN INCHES MM Note All S20660 SRS S20660 SDS di...

Page 35: ...t Manual 35 5 2 6 SynqNet DC Drive S20330 S20630 SRS FRONTVIEW RIGHTSIDEVIEW REARVIEW DIMENSIONS ARE IN INCHES MM TOPVIEW 3 97 100 84 1 90 48 26 0 18 4 57 0 18 4 57 RECOMMENDED MOUNTING HARDWARE 8 or...

Page 36: ...ENABLE 2 1 DINP COM DINP2 INHIBIT 3 DINP3 INHIBIT 4 MSINP1 DIRECTION 5 DOUT1 6 DOUT1 FAULT 7 DOUT2 8 DOUT2 RUN 9 HSINP1 STEP PWM 10 HSINP1 11 SFD BAT 12 I O RTN 13 DAC MON1 14 DAC MON2 15 I O RTN 16...

Page 37: ...Danaher Motion 05 2008 Wiring the Drive S200 VTS Product Manual 37 6 1 2 AC Drive S21260 S22460 VTS...

Page 38: ...er and losses in the power stage CAUTION Appendix G Regulatory Information of this manual contains additional information needed to ensure regulatory compliance On AC input drives with peak current 18...

Page 39: ...ted energy that needs to be dissipated WARNING The regen input is not short circuit protected The regen resistance MUST be within specified ranges to prevent damage to the drive For example S20260 S20...

Page 40: ...ansformer recommended KVA if transformer is required S20260 1 5 to 2 kVA S20360 2 0 to 3 kVA S20660 3 0 to 5 kVA S21260 4 5 to 6 kVA S22460 8 0 to 12 kVA Maximum AC Line KVA1 S20260 S20360 S20660 100...

Page 41: ...NABLE 2 1 DINP COM DINP2 INHIBIT 3 DINP3 INHIBIT 4 MSINP1 DIRECTION 5 DOUT1 6 DOUT1 FAULT 7 DOUT2 8 DOUT2 RUN 9 HSINP1 STEP PWM 10 HSINP1 11 SFD BAT 12 I O RTN 13 DAC MON1 14 DAC MON2 15 I O RTN 16 CH...

Page 42: ...upply can be used This input can be connected to Bus input J1 3 and powered by the same supply as Bus The control power supply should be rated for 20 watts While the power drain typically is 2 W to 8...

Page 43: ...pair Daisy chaining of multiple drive OK No contactor or switching in the BUS wiring Control Voltage J1 1 to J1 2 10 VDC to 90 VDC Control Supply Type Isolating Unregulated or Regulated Common GND wit...

Page 44: ...s Ctrl Gnd and I O RTNs NOTE The maximum voltage allowed between Bus Ctrl Gnd and chassis is 100 VDC 6 4 5 Bus Capacitance There is a minimum requirement on the output capacitance of the bus power sup...

Page 45: ...Wire Range Phoenix MSTBC 2 5 4 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 J2 1 or...

Page 46: ...or a commutation encoder The load current should not exceed 200 mA J3 2 SFD 5 RTN This terminal is the return connection for the 5 VDC supply An inner feedback cable shield can be connected to this po...

Page 47: ...nput J4 9 DOUT2 RUN J4 22 Channel B Encoder Output Input J4 10 HSINP1 Step PWM J4 23 I O RTN J4 11 HSINP1 J4 24 Analog Command Input J4 12 SFD BAT J4 25 Analog Command Input J4 13 I O RTN J4 26 I O RT...

Page 48: ...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...

Page 49: ...owing in the photo diode This input has no effect on motion in the counter clockwise direction This function can be turned on or off by setting EnhibitCW DInp2Pol sets the control logic active polarit...

Page 50: ...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 J4 1 DINP COM J4 2 3...

Page 51: ...e Darlington phototransistors with a 33 V zener diode wired in parallel to clamp voltage transients 33V 33V J4 6 DOUT1 J4 7 DOUT1 FAULT J4 8 DOUT2 J4 9 DOUT2 RUN The following table lists the maximum...

Page 52: ...e on J4 providing the capability to drive either sinking or sourcing loads Sinking Load Current Limiting Resistor 50 mA MAX External Power Supply 30 VDC MAX DC An optoisolator is being driven in this...

Page 53: ...ge Current Limiting Resistor 5 V None 12 V 360 Ohms watt resistor 24 V 1000 Ohms watt resistor In Step Dir Position Mode the transition edge from LED current to no LED current yields a step count The...

Page 54: ...P1 DC 6 7 4 SFD BAT J4 12 SFD BAT The SFD BAT terminal is an optional feature and is not required for proper operation of the drive It is only required if battery backup of the multi turn information...

Page 55: ...are 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...

Page 56: ...accommodate noise and overshoot spikes Default setup has 10 V corresponding to Ipeak or maximum velocity depending on the OpMode The offset gain including polarity and low pass filter bandwidth of th...

Page 57: ...s RS 232 transmitter output J5 3 J5 4 I O RTN These terminals are the common ground connection for the RS 232 serial port The ground from the user s RS 232 needs to connect to this terminal Cable shie...

Page 58: ...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 6 8 3 RS 232 Wiring Cable wiring diagrams for connecting...

Page 59: ...OINP COM 2 1 3 4 OINP3 NEGLIMIT IN 5 GP RS422 IN3 6 GP RS422 IN3 7 OOUT1 8 9 I O RTN 10 11 12 13 14 15 GP RS422 IN0 GP RS422 IN0 GP RS422 IN1 GP RS422 IN1 OINP1 HOME IN OINP2 POSLIMIT IN I O RTN OINP4...

Page 60: ...1 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 shiel...

Page 61: ...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...

Page 62: ...GP RS422 IN1 Mating Connector Information 15 Pin Female High Density D Sub NorComp 180 015 202 001 Female D Sub connector solder NorComp 978 009 020 121 Metalized plastic back shell kit Refer to www...

Page 63: ...I O RTN OINP4 GP_RS422_IN1 GP_RS422_IN2 OINP3 GP_RS422_IN2 OINP2 GP_RS422_IN0 GP_RS422_IN3 OINP1 I O RTN GP_RS422_IN3 OINP COM GP_RS422_IN GP_RS422_IN0 DINPx to DINP_COM DO NOT STUFF DO NOT STUFF I O...

Page 64: ...M EH EN EJ X 1 Vp p Sin Cos 65536x Interpolator X X 1 Vp p Sin Cos 65536x Interpolator Halls X X EnDat 2 1 Sin Cos Encoder Single turn absolute AKM Motor Feedback Option DA or other EnDat 2 1 X X EnDa...

Page 65: ...mmable 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...

Page 66: ...e any accidental miss adjustment of the drive in the field See the Advanced Configuration section for more details 7 1 Switch Settings The configuration switches S1 and S2 are located on the top of th...

Page 67: ...S1 Position Emulated Encoder Lines Revolution 0 User settable 1 factory default 500 5 2048 1 512 6 4096 2 1000 7 5000 3 1024 8 8192 4 2000 9 10000 1 S1 position 0 allows setting the non volatile line...

Page 68: ...13 39 4 51 6 69 2 26 3 34 0 76 1 11 0 39 0 56 2 13 40 19 56 6 70 9 78 3 35 4 89 1 12 1 63 0 57 0 81 3 19 57 28 89 9 79 14 44 4 90 7 22 1 64 2 41 0 82 1 20 4 28 90 43 34 14 45 21 67 7 23 10 83 2 42 3...

Page 69: ...n 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 uti...

Page 70: ...e relevant parameters are listed in the table below Parameter Value CommMode Brush CommOff 0 Degrees OpMode Torque Current Or SetupS2 1 with switch S2 1 set to the down position labeled I on the drive...

Page 71: ...following parameters Parameter Value CommMode SetupS2 2 Default value with switch S2 2 set to the up position labeled 6 on the drive or 6 Step CommOff 0 Degrees Default value OpMode SetupS2 1 Default...

Page 72: ...SetupS2 2 Default value with switch S2 2 set to the up position labeled 6 on the drive or 6 Step CommOff 0 Degrees Default value OpMode Velocity or SetupS2 1 with switch S2 1 set to the up position l...

Page 73: ...click the NV Save button to ensure that the changed settings are loaded when the drive is powered up CAUTION Incorrect motor parameter settings can cause damage to the motor and or drive The motor par...

Page 74: ...Value CommMode SetupS2 2 Default value with switch S2 2 set to the down position labeled S on the drive or SFD CommOff 0 Degrees for AKM motor series check with your sales representative for the corre...

Page 75: ...resentative for the correct commutation offset angle for other motor series OpMode Velocity or SetupS2 1 with switch S2 1 set to the up position labeled V as shown on the drive SelSFDParam SFD Default...

Page 76: ...and either Step Dir or AquadB GearIn GearOut Sets the distance the shaft moves for each input position command pulse count KPP Sets the proportional gain of the position loop KVFF Sets the feed forwar...

Page 77: ...analog command connections J4 24 and J4 25 Change the sign of CmdGain Command Variable None Change the sign of Command PWM Input Swap the PWM connections J4 10 and J4 11 Change the sign of CmdGain To...

Page 78: ...e the drive as an analog velocity loop with medium velocity loop bandwidth stiffness adjust the DIP switch S2 so that pin 1 is in the up position If this functionality serves the application need the...

Page 79: ...ity Loop Integrator OpMode 2 s ILmtMinus ILmtPlus Net Velocity Command Arms CW Trq I Velocity or Position IFB Net Drive Enable xxxx Variable Measured Feedback Velocity Feedback Rad sec Current Arms Cl...

Page 80: ...dback Position Feedback Rad HSINP1 J4 11 AQuadB Step Dir PosErr VelCmd Position KPP Net Velocity Command PosFB DINP4 J4 5 DINP COM J4 1 CH A OUT IN J4 19 CH A OUT IN J4 20 CH B OUT IN J4 21 CH B OUT I...

Page 81: ...NV Setup Parameter ILmtMinus ILmtPlus SynqNet Master Current Command 19336 Cnts Ipeak Arms CW xxxx Variable Clamp On S200 SynqNet Torque Mode ICmd CW Net Torque Command Command Measured Motor Position...

Page 82: ...ommand Net Drive Enable xxxx Variable Measured Feedback Velocity Feedback Rad sec Clamp On 2 Pole Low Pass Filter ARF0 ARF1 VelErr S200 SynqNet Velocity Mode ICmd KVP KVI Net Torque Command VelFB Meas...

Page 83: ...ttings which include both parameters and variables In the Offline branches of S200Tools configuration software changes made to a setting are made only in the PC S200Tools memory on the PC Clicking the...

Page 84: ...sor Incremental A quad B encoder No motor commutation 1 encoder quadrature count 1 Aux Feedback count AuxFBDivisor 2 24 16 777 216 Commutating a rotary motor or 24 bits per revolution AuxFBDivisor num...

Page 85: ...nd I O connector J4 to the internal servo loop command CmdGain can be negative or positive which allows the direction polarity to be changed Because the input to the command processing block can be an...

Page 86: ...p and SFD commutation feedback SFD Forces the drive to use SFD for feedback 6 Step Forces the drive to use 6 step Brush Forces 6 step commutation with CU CV CW 1 1 0 CommOff 180 Degrees Offsets the or...

Page 87: ...ap DM2Map Parameter Value Velocity mode Parameter Value Torque mode Definition VBus 380 VBusScale V V Bus voltage CmdIn 9155 rpm V CmdIn 0 8474 DIpeak V Command IFB 0 8474 DIpeak V Torque current VelF...

Page 88: ...drive is set to position 0 All other settings for rotary switch S1 have fixed line counts EncOut 4 the number of quadrature counts per revolution EncOut Line Count EncOut Line Count 0 500 8 8192 1 512...

Page 89: ...e hardware input is active current torque operation clamps the current command to be 0 or negative counter clockwise With a velocity loop function enabled and the hardware input active the velocity co...

Page 90: ...er step input or per input quadrature count depending on the position command source selected by PosCmdSrc See Also GearIn and OpMode HSInp1Pol Invert or Normal This parameter selects the polarity of...

Page 91: ...KVFF 100 d dt PosCmd KVI 0 0 0238 753 9 Hz KVI adjusts the velocity loop integral compensation It sets the break out frequency between predominantly integral compensation and predominantly proportiona...

Page 92: ...us PosErrorMax are only active when OpMode is Position Default value is maximum value SelSFDParam SFD or Drive Determines whether the SFD motor parameters or drive setup values are used for the follow...

Page 93: ...Vp p 0 No Fault amplitude in range 1 Fault amplitude not with 30 CmdIn DIpeak to Dipeak or 18 310 to 18 310 rpm CmdIn is the value of the output of the command processing block This variable s units...

Page 94: ...is active or logic one 0 Drive disabled power stage OFF 1 Drive enabled power stage ON EnDatDistMT 0 to 65535 Supported over SynqNet If an EnDat 2 1 2 2 encoder is present this variable holds the num...

Page 95: ...ult HallInp 0 7 Decimal This variable reads back the state of the Hall inputs to the drive on the drive feedback connector Input CW Input CU Input CV HallInp Value 1 1 1 7 1 0 1 6 1 1 0 5 1 0 0 4 0 1...

Page 96: ...7 Turns This variable reads back an instantaneous sample of the shaft position multi turn from the SFD feedback port J3 PosFB 0 to 65535 9961 Counts This variable reads back an instantaneous sample of...

Page 97: ...ves 0 to 131 volts DC Input Drives This variable reads back an instantaneous sample of the voltage of the bus supplying power to the motor VelFB 18 310 rpm to 18 310 rpm This variable reads back an in...

Page 98: ...rive Count 0 Secondary Encoder Count 1 SqNode Digital Out Count 0 SqNode Digital In Count 0 SqNode Analog Out Count 0 SqNode Analog In Count 0 Parameter Motor0 Capture Count 1 Probe Count 1 Pulse Coun...

Page 99: ...00MonitorAddressCMD_IN 0x3938 Value of the output of the command processor block S200MonitorAddressHS_TEMP 0x8726 Heat sink temperateure value S200MonitorAddressIFB 0x4544 Torque derotated current val...

Page 100: ...r MODEL drive bus voltage V_BUS Examples of read write drive parameters are commutation offset value COMM_OFF proportional gain of the current loop KIP motor pole count D_POLES Drives are shipped from...

Page 101: ...for writing drive parameters sqdriveparam server ip address node x drive y write parameter index data value Examples To read the value of the drive rated peak current sqdriveparam server ip address no...

Page 102: ...ynqNet the Manufacturer and Model text will always be Kollmorgen S200 Examples Kollmorgen S200 2 0a Parameter Identification Section This section contains definitions of the parameters that are valid...

Page 103: ...0x02 DICONT ro signed 16 10 1100 0 Drive rated continuous current 0x03 DIPEAK ro signed 16 10 1100 0 Drive rated peak current 0x04 ICONT rw signed 16 0 1000 0 Application rated continuous current Para...

Page 104: ...ve on the SynqNet network Here is an example of the header line sqNode 3 drive 0 Kollmorgen S200 2 0a This header shows that the file contains data for the S200 SynqNet drive that is located on Node 3...

Page 105: ...Terminal block adaptor I O connector and input AC control power mating connectors for base S200 AC drives S21260 S22460 CK S200 SQ Option card SynqNet SRS SDS I O Aux Feedback mating connectors CK S20...

Page 106: ...Codes The Drive Status LED is located on the front panel The drive status and fault codes are communicated by the state of the LED Status LED Drive Status ON Drive is enabled not faulted Output stage...

Page 107: ...ally Latched faults are cleared by setting the Enable input to the disable state or by cycling off on the Control Power NOTE The large bus capacitors store substantial energy To use the control power...

Page 108: ...es output current multiplied by time has exceeded allowed limits If current foldback is enabled the drive peak output current automatically reduces to 0 67 of DIpeak If foldback is not enabled the dri...

Page 109: ...Bad motor data check sum The drive will attempt to initialize the SFD up to 4 times If it fails this error is reported 13 J3 FB 5V Short Excessive current drain on SFD 5 supply output Excessive loadin...

Page 110: ...heck 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...

Page 111: ...atically Latched faults are cleared by setting the Enable input to the disable state or by cycling off on the Control Power NOTE The large bus capacitors store substantial energy To use the control po...

Page 112: ...r supply terminal to J1 2 Bus Ctrl Gnd This power supply is typically unregulated but a regulated supply can also be used The power supply outputs must be isolated from the power line See Regulatory I...

Page 113: ...NG MULTIPLE DC DRIVES Bus J1 3 Bus Ctrl Gnd Ctrl J1 1 Bus J1 3 Bus Ctrl Gnd Ctrl J1 1 J1 2 J1 2 CAUTION An appropriately sized output capacitor in the main power supply is the key to economically deli...

Page 114: ...An over voltage fault trip interrupts the regeneration of mechanical energy back to the bus This limits the bus voltage rise and protects the drive However it interrupts motor torque so the machine cy...

Page 115: ...by a hysteresis value the over voltage fault is cleared and normal operation resumes While this protects the drive by limiting the bus voltage rise it may not be desirable because it interrupts normal...

Page 116: ...and ground wires between the drive and supply or c Add extra capacitance 470 f or more near the drive bus terminals 12 Recommended External Bus Capacitors Aluminum electrolytic computer grade screw t...

Page 117: ...wn by an S200 DC drive is 2 to 8 W A single relatively low power low voltage supply 12 V or 24 V can provide control power and I O power for multiple drives A 3 Multi Axis Considerations In multi axis...

Page 118: ...Acceleration Time The bus supply for a group of S200 drives must have enough total capacitance to handle brief high current bus transient flows positive and negative a few milliseconds without excess...

Page 119: ...Custom Composite Cables A composite cable has both feedback and power wires within one overall cable jacket One of the critical requirements for a composite cable is to provide a high degree of isolat...

Page 120: ...es Whereas the double concentric feedback shields have two shields between the power and feedback wires 2 SFD 5 and Gnd Resistance Spec To insure that the SFD 5 V at the SFD inside the motor is within...

Page 121: ...o 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...

Page 122: ...ng between the motor coils the Hall commutation sensors and the encoder feedback device to the drive There is no industry standard definition for the designation of the motor coil terminals the Hall t...

Page 123: ...an 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...

Page 124: ...current command in the MEI MoCon utility as done in the Positive 3 step Restore DPoles to its proper non zero value For linear motors this is usually 2 and for rotary motors must be the actual number...

Page 125: ...ged by pulling power from the one line to line voltage that does not sag With single phase AC bus power a full torque acceleration of the motor to high speed during an F47 mandated voltage sag has the...

Page 126: ...L2 gives standard single phase full wave rectification In both cases the result is a 320 VDC nominal bus voltage Three phase AC line operation is not possible with the S2xx050 AC input voltage double...

Page 127: ...ent ARMS 0 to 40 C Ambient 3 0 1 5 Continuous Output Power Watts 750 350 Peak Output Power Watts 2400 1200 RMS Line Current at Continuous Output Power RMS 10 5 Fusing Line Inputs MDA 15 MDA 10 WARNING...

Page 128: ...ements of CE Directives However the equipment is not ready to operate without additional installations cable motor etc Thus all necessary tests and measurements had to be made on a typical installatio...

Page 129: ...RF30006 4 see below 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 EA...

Page 130: ...0630 VTS S20260 SRS S20360 SRS S20330 SRS S20630 SRS S20260 SDS S20360 SDS S20330 SDS S20630 SDS S20660 VTS S20660 SRS S20660 SDS S21260 VTS S21260 SRS S21260 SDS Pending CE approval S22460 VTS S22460...

Page 131: ...ndards Low Voltage Directive 73 23 EEC EMC Directive 89 336 EEC For recommended configurations see the installation manual or instructions M SM 200 01 This Declaration does not contain any assurance o...

Page 132: ...ulatory requirements This section alone does not contain all the information needed to install and operate an S200 drive General information on installation and wiring are explained in detail in previ...

Page 133: ...ype The PE connection shall be made by two separate protective conductors satisfying the requirements for protective conductors as given in 543 of HD 384 5 54 S1 between the earth ground and the PE te...

Page 134: ...all equipment These drives shall be used in a pollution degree 2 environment in order to comply with the spacing requirements of UL 840 and UL 508C The UL temperature tests were done with a metal heat...

Page 135: ...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...

Page 136: ...ng sections of cable be sure to maintain the integrity of the cable shield along the entire length of the finished cable Separate cables according to type AC Mains input motor power and signal cables...

Page 137: ...r filters can be found at Corcom Inc MTE Corporation Schaffner USA 1 800 468 2023 or 847 680 7400 USA 1 800 455 4MTE USA 1 800367 5566 Germany 49 89 857920 International 1 262 253 8200 Switzerland 41...

Page 138: ...imilar use of a conductive clamp at that end to connect the shield to the ground plane may help as well Clamping the cable shields to PE typically reduces the level of emissions and increases the leve...

Page 139: ...Danaher Motion 05 2008 Appendix G Regulatory Information S200 VTS Product Manual 139...

Page 140: ...are 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...

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