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Danaher Motion 

05/2008 

Appendix G – Regulatory Information

 

S200-VTS Product Manual 

 

135

 

G.8 

Additional Safety Precautions 

Motor Case Grounding 
Insure that the motor’s case is connected to PE ground. The fourth wire in the motor cable 
connecting J2-1 or TB1-1 to the motor case accomplishes this.

 

CAUTION

 

If the motor is not properly grounded, dangerous voltages can be 
present on the motor case due to capacitive coupling between the 
motor windings and case. 

Requirements for Safe Operation of the Drive 
It is the machine builder’s responsibility to insure that the complete machine complies with the 
Machine Directive (EN60204). 
The following requirements relate directly to the servo controller: 
1.   Emergency Stop 

CAUTION

 

If personal injury can result from motor motion, the user must provide an 
external hardwired emergency stop circuit outside the drive. This circuit 
must simultaneously remove power from the drive’s motor power terminal 
J2-2, J2-3, and J2-4 or TB1-2, TB1-3, and TB1-4 and disable the drive (by 
open circuiting the connection to J4 pin 2). 

NOTE

 

The motor will coast under this condition with no braking torque. 

CAUTION

 

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 not intended to stop a spinning motor. It is 
designed to prevent a stopped motor from rotating due to an applied torque. 

2.   Avoid Unexpected Motion 

CAUTION

 

Always remove power from J1 or TB1, J1 and wait 5 minutes before working 
on the machine or working anywhere where injury can occur due to machine 
motion. 

3.   Avoid Electrical Shock 

CAUTION

 

 

Never power the servo drive with the cover removed or with anything 
attached to circuitry inside the cover. 

 

If the drive must be removed from the cabinet, wait at least five minutes 
after turning off power before removing any cables from the drive or 
removing the drive from the mounting panel.  

 

Never connect or disconnect any wiring to the drive while power is 
applied. Always power down and wait five minutes before connecting or 
disconnecting any wires to the terminals. 

4.   Avoid Burns 

CAUTION

 

The temperature of the drive’s heat sink and housing as well as an external 
regen resistor may exceed 60° C. Therefore, there is a danger of severe 
burns if these regions are touched. 

5.   Prevent Damage to the Drive 
Follow these guidelines to prevent damage to the servo drive during operation: 

  Never plug or unplug connectors with power applied. 
  Never connect or disconnect any wires to terminals with power applied. 
  If the drive indicates a fault condition, find the cause of the fault and fix it prior to resetting 

the fault or power-cycling the drive. 

Содержание S200-VTS

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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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