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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.

Содержание S20630

Страница 1: ...oftware 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...

Страница 2: ...derstanding or use of the product Safety WARNING READ these instructions before connecting power Damage can result from MISWIRING at the power terminals DANGEROUS voltages are present on power input a...

Страница 3: ...10 Current Loop 12 1 6 11 General 13 2 Getting Started 14 2 1 Unpacking and Inspecting 14 2 2 Mounting 14 2 2 1 Dimensions 15 2 2 2 Mounting Outline 16 2 3 S200 Position Node AC Drive Wiring Diagram...

Страница 4: ...tion Wizard 69 6 3 Variable Editor 69 6 4 Digital Oscilloscope 70 6 5 Configuration Summary Screen 71 7 Serial Communications and Modbus RTU 72 7 1 General information 72 7 2 Abbreviations 72 7 3 RS23...

Страница 5: ...4 Declaration of Conformity 94 B 5 Installation and Commissioning 96 B 6 Safety requirements 96 B 7 European Compliance 96 B 9 UL and cUL Conformance 98 B 10 Additional Safety Precautions 98 B 9 EMC...

Страница 6: ......

Страница 7: ...nce Smart feedback and industry leading high bandwidth deliver fast and accurate commissioning by eliminating the need for servo loop tuning in most applications A separate keep alive power input allo...

Страница 8: ...2 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...

Страница 9: ...found in Explorer so learning is quick and easy Digital Oscilloscope emulator for easier setup Easy to debug with full fault diagnostics reduce engineering support time Field bus connectivity 1 4 CE...

Страница 10: ...et S20350 CNS 120VAC doubler 240VAC 1 phase 3 9 ARMS Base Unit Profile Node with CanOpen S20350 DNS 120VAC doubler 240VAC 1 phase 3 9 ARMS Base Unit Profile Node with DeviceNet S20360 CNS 120 240 VAC...

Страница 11: ...the specifications are worse case limits and apply over the specified operating ambient temperature and over the specified operating line voltage 1 6 1 Drive Family Power 0 0 1 2 2 2 2 2 2 3 4 45 6 2...

Страница 12: ...y ARMS 1 414 2 For Operation above Above 40o C ambient Derate linearly to 67 at 50o C At higher ambient temperatures above 30o C the S20360 drive needs to be mounted on a thermally conductive surface...

Страница 13: ...Drives Control and Power 3 0 0 5 0 45 45 45 3 0 0 0 0 1 Maximum AC Line is specified to limit the mains surges to the drive 0 6 0 0 0 6 4 5 8 0 6 A 6 0 0 B C 9 D B 8 5 6 0 1 6 0 3 36 9 9 9 9 9 9 9 9 6...

Страница 14: ...min supply recommended Refer to the DC Power Supply Section for detailed application information and requirements 0 6 A9 5 F F A A A9 5 5 A 5 A9 D 5 5 A 5 3 5 5 D 5 1 3 G B 0HC 9 5 3 7 0 0 0 1 5 5 40...

Страница 15: ...9 3 1 6 E 6 E 6 E 6 E 6 E 6 E 6 E 6 E...

Страница 16: ...1 Values for ARF0 ARF1 from 3012 to 24873 Hz cannot be set 1 6 5 Mechanical 2 2 1 9 0 8 M M M M M 0 5 5 5 5 5 1 Depth measurement is for drive only Add approximately 50 8 mm 2 in to depth given in the...

Страница 17: ...loop control is the only possibilities 0 1 A B A 3 5 7 5 5 5H 5 6 H4 51 AE K J 4 6 5 5 5 L L 5 5 5 D L D E 4 C C 8 B A 8 B A H4 E 5 3 N D 5 5 HHJ 5 5 H 3 3 J G 4 G 5 D 0 A E B B 5 8 D F K 5 H F 8 B A...

Страница 18: ...H 7 J 5 4 6 7 5 5 H 4 6 5 L 1 6 8 Smart Feedback Device SFD 5 E B 5 4 LK BK 8 5 L B 5 5 5 L B 5 5 5 L B L E B E 4 1 1 1 3 0 K BK 0 K BK 1 6 9 Emulated Encoder Output Signals 4 9 4 5 3 D J G 4 3 3 3 5...

Страница 19: ...13 1 6 11 General 3H 3 3H 5 E 3 3 5J...

Страница 20: ...damage is detected notify the carrier immediately Check all shipping material for connector kits documentation diskettes CD ROM or other small pieces of equipment 2 2 MOUNTING The S200 drives are desi...

Страница 21: ...Dimensions 2 2 1 9 1 7 H 9 0 5 D 5 D 5 F 08 M M M 0 5 5 5 1 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 ben...

Страница 22: ...B REAR VIEW RIGHT SIDE VIEW FRONT VIEW HEIGHT A VERTICAL MOUNTING HEIGHT H VERTICAL MOUNTING OFFSET G VERTICAL MOUNTING OFFSET G HORIZONTAL MOUNTING OFFSET F TOP VIEW RECOMMENDED MOUNTING HARDWARE M4...

Страница 23: ...I O RET I O RET I O RET 15 SFD 1 2 3 6 4 5 MOTOR PE U V W 1 2 3 4 1 2 3 4 5 1 2 3 6 4 5 120 240VAC Mains 47 63Hz Fused 120 240VAC Control Power 47 63Hz Fused Protective Earth Optional Regen Resistor...

Страница 24: ...P 5V COM I O RET I O RET I O RET I O RET 15 SFD 1 2 3 6 4 5 MOTOR PE U V W 1 2 3 4 1 2 3 4 5 1 2 3 6 4 5 Main Power 20 90 VDC 1 2 3 Protective Earth Tx Data RX Data I O RET I O RET NC CAN H CAN L V V...

Страница 25: ...y to supply appropriate fuses or circuit breakers in the J1 AC drive power lines to comply with local electrical codes The control input power required is between 5 and 10 watts The AC motor input pow...

Страница 26: ...20 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...

Страница 27: ...50 to 300 watt power resistor from this terminal to terminal J1 4 BUS The power rating of the regen resistor depends on the amount of regenerated energy that needs to be dissipated WARNING The Regen...

Страница 28: ...through capability a 240 VAC input is recommended J1 7 J1 8 J1 9 L3 240 VAC L2 240 120 VAC L1 240 120 VAC These terminals connect 120 240 VAC power to the drive s output power stage BUS For single pha...

Страница 29: ...rol power input The DC drive accepts 10 to 90 VDC on this input referenced to J1 2 An isolated regulated or isolated unregulated power supply can be used This input can be connected to Bus input J1 3...

Страница 30: ...uirements selecting a compatible power supply PE Screw Connection Protective Earth connection point This chassis ground point must be connected to Protective Earth ground The connection at the Protect...

Страница 31: ...secondary rectified into capacitive filter BUS Supply Return is connected to earth ground Wiring from BUS Supply to Drive 10 ft maximum 16 AWG minimum Twisted pair Daisy chaining of multiple drive OK...

Страница 32: ...to be powered down for safety while drive status and fault information remain available A single 10 VDC to 30 VDC supply can be shared by Control and I O NOTE Do Not allow the Control Voltage to exce...

Страница 33: ...eration and motor disable and to help provide energy during motor acceleration For multiple S200 drives operated from one supply the recommendation is to increase the capacitance according to the numb...

Страница 34: ...ched capacitor 1 000 f 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...

Страница 35: ...R J3 is a 6 pin plugable IEEE 1394 style connector for the feedback device Although this connector mechanically accepts standard IEEE 1394 cables it is electrically not an IEEE 1394 interface The base...

Страница 36: ...connection when using Hall feedback J3 4 SFD COM CU SFD serial communications port when using the SFD feedback device CU Commutation Phase U input when using open collector Hall feedback This input h...

Страница 37: ...r 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 1 1 F 8 D F D 8 F 8...

Страница 38: ...ield wiring Common Rail for Inputs 1 through 4 Common can be tied to positive supply or negative supply depending on the application need J4 1 DINP COM J4 2 DINP1 ENABLE J4 4 DINP3 J4 5 DINP4 MSINP1 4...

Страница 39: ...gned to Move Select Bit One of two inputs that can be assigned as end travel limit switch inputs Sinking Logic For compatibility with sinking outputs the DINP COM terminal is connected to the positive...

Страница 40: ...34 TTL and CMOS Drivers The following are examples of driving with TTL or CMOS output devices 5 VDC SINKING TTL or CMOS 4 32 k 4 64 k 5 VDC SOURCING CMOS 4 32 k 4 64 k...

Страница 41: ...d input works directly with 5 volt input 3 0 to 6 0 volt range without the use of a current limiting resistor To operate the input with voltages higher than 5 volts an external current limiting resist...

Страница 42: ...r Supply Sinking Logic Output from Field Device External Current Limiting Resistor for supply 5 0 V J4 10 HSINP1 J4 11 HSINP1 DC Sourcing Load The following shows the connections to drive the high spe...

Страница 43: ...ors with a 33 volt 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 output rating 0 6 6 0 5...

Страница 44: ...external power source needs to be 30 VDC or less and can be the same source used to provide power to the inputs Sourcing Load Current Limiting Resistor 50 mA MAX External Power Supply 30 VDC MAX Rela...

Страница 45: ...f the I O RTN pins to an earth ground point in the cabinet reserved for single point grounding of all returns drives and supplies to control common mode voltage 2 8 5 Encoder Outputs J4 19 CH A OUT IN...

Страница 46: ...ce such as the SFD feedback to the base unit or Encoder feedback to the option card The emulated encoder outputs have no signals when there is only base unit 6 step feedback J4 17 18 CH Z OUT CH Z OUT...

Страница 47: ...1 2 CAN_L Low level CAN transmission signal J11 3 Shield Shield connection point Tied to chassis ground through 1M resistor in parallel with 0 01 F capacitor J11 4 CAN_H High level CAN transmission si...

Страница 48: ...nts to provide maximum flexibility for interfacing to field wiring OUT3 J12 6 7 This output pair provides a general purpose output configurable by software to perform one of a variety of functions DIN...

Страница 49: ...erential quadrature mode In quadrature mode A leads B is a negative count which corresponds to CCW direction looking into the motor shaft In step and direction mode channel B positive commands positiv...

Страница 50: ...onnected to PTC return An inner feedback cable shield can be connected to this point Outer shields should connect to the shell which is PE J13 6 CH Z J13 7 CH Z The CH Z differential input The minimum...

Страница 51: ...uency is 2 MHz the maximum quadrature count frequency is 8 MHz and the minimum pulse width is 250 ns 2 8 9 Switch Settings Address Switch S11 S12 set the MAC ID The two rotary decimal switches are use...

Страница 52: ...46 2 8 10 LED2 Bicolor LED2 The module network status LED 2 2 2 2 D D 5 5 5 5 5 5 5 4 5 5 5 5 5 5 9 5 5 5 45 H 5 9 5 8 5 5 5 5...

Страница 53: ...nd direction controller pulse and direction or count up down The inputs for these modes come in the encoder input connections on J12 pins 12 15 The internal circuitry of these 4 inputs is shown in the...

Страница 54: ...the input is edge triggered meaning that it must go from off to on while the drive is ready and enabled More on With and Without Correction in Section 3 3 3 3 DIGITAL INPUT NOTES Inputs selected for...

Страница 55: ...registration mark once per product and the machine will have a detector device capable of detecting this mark The S200 is set up with a indexing Relative Move motion task whose feed length is slightly...

Страница 56: ...me Position and Auto Home Move Upon Enabling the Drive 3 6 SAVING DRIVE SETTINGS It is highly recommended that the properly configured drive have its settings archived on external media for future rec...

Страница 57: ...e and select the desired configuration file It will be loaded into S200 OC TOOLS folder side as though there was a second drive talking to the software The tree structure will show the file as Offline...

Страница 58: ...menu bar select Utilities Download new firmware to drive The drive must be disabled If the drive is enabled the software will ask you to disable it A file locator box will pop up allowing you to loca...

Страница 59: ...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 box S200 OC TOO...

Страница 60: ...re can provide different functions Details about this status indicator are located in the appropriate reference manuals for the can bus interface If the CAN bus portion of this product is not used not...

Страница 61: ...what faults it can actually reset Details of the Clear Fault input are listed in the below tables 4 4 CONDITIONAL SETTINGS It is possible that the actions of some less fatal fault conditions have cond...

Страница 62: ...ilities Edit Variables On Line feature The below table gives the meaning of each bit in the Status word Fault Code Status Bit Extended fault Definition 1 SFD UART parity error The SFD UART received a...

Страница 63: ...r both the current sensor A D has been in positive current saturation for longer then 10 microseconds 9 Motor l l or l n Short 11 Drive output over current Drive over current 12 Option card read timeo...

Страница 64: ...Disabled with fault Clear Fault input Disable Enable Coldstart GUI Drive Reset Button or Cycle Power 10 Output Over Current Drive Disabled with fault Clear Fault input Disable Enable Coldstart GUI Dr...

Страница 65: ...served N03 Position Error Warning N04 Watchdog Limit Reached N05 Reserved N06 Software Limit Switch 1 Active N07 Software Limit Switch 2 Active N08 Invalid Motion Task Has Been Initiated N09 Home Refe...

Страница 66: ...ic setup requirements The wizard can be defeated by checking the Do not show this wizard again box It can be invoked anytime using the Utilities Full Setup Configuration Utility menu bar While there a...

Страница 67: ...kup File Save Backup File Communication Wizard Open Oscilloscope Save to Nonvolatile Mem COLDSTART Set Home Disable Enable Jog Speed Jog CW Stop Motion Jog CCW Backup File View Drive Data File View Dr...

Страница 68: ...OOLS 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 appear Or can be invoked using Utilities Full Setup Conf...

Страница 69: ...stem is using an AKM21C motor with SFD Enter the load to motor inertia ratio You can set the Inertia Ratio or select a different motor The user can elect to set the drive up to use customized position...

Страница 70: ...aring tuning faults and thresholds and other system limits should be explored See Chapter 7 for more details on Digital Velocity Mode The I O Setup tabs provide an easy and convenient way to link inpu...

Страница 71: ...to a switch there are options to simply find the switch and stop or to find the switch stop and move back to home Set up motion tasks as required Motion task 0 will always be a homing routine The tas...

Страница 72: ...ask after Homing available There is no other way to do that since you can not directly edit Motion Task 0 Coldstart is a process whereby the firmware generates custom internal code compiles for extrem...

Страница 73: ...ndex 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...

Страница 74: ...information about drive size and firmware version is shown Energizing a drive input causes the green Virtual LED to illuminate If an output is on then it s Virtual LED will illuminate Position and ve...

Страница 75: ...munications Baud rate is always 38 4k Baud Other port parameters are automatically set by S200 OC TOOLS 6 3 VARIABLE EDITOR Although the variables available in the S200 Position Node product are not w...

Страница 76: ...independent vertical axis scalar A variable called AVGTIME can be changed using the above mentioned variable editor AVGTIME will allow averaging of data to make it more presentable form The plot to t...

Страница 77: ...71 6 5 CONFIGURATION SUMMARY SCREEN The configuration Summary screen allows the user to see all the drive settings in one location without having to navigate through each possible GUI menu...

Страница 78: ...s that the user is knowledgeable about the information contained in those documents and has some level of knowledge about serial communications in general It is not the intent of this document to prov...

Страница 79: ...nvalid package number 13 Command is in execution 14 Unknown command ID 15 Command requires disabled drive 16 Invalid Motion Task number 17 Next Motion Task number is invalid 18 Enable Drive rejected 1...

Страница 80: ...loop It may be better to define the input functions in the GUI and associated drive setup configuration file and leave it static 3 Certain functions require Manufacturer Specific Function Codes to exe...

Страница 81: ...ultiple Registers quantity 2 the Position Node does support write of a single register 1 To synchronize the write access when using single register access both registers of a parameter need to be writ...

Страница 82: ...esented as follows UA FC 16 Address 16bit Register count 16bit Length Data CRC Where UA is the unit address of the drive as set by rotary switches S11 and S12 FC is the Write Multiple Registers functi...

Страница 83: ...guous 16 bit registers Transmit the request to read the value of ACC 0x02 0x03 0x00 0x02 0x00 0x02 CRC low CRC hi Response from the S200 Position Node 0x02 0x03 0x04 0x00 0x00 0x27 0x10 CRC low CRC hi...

Страница 84: ...igital 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 traffi...

Страница 85: ...ds Function Code 65 and the command ID request triggers the execution of a command function see table below Transmit the command to the S200 Position Node UA xx FC 65 command id CRC Response Received...

Страница 86: ...in progress 1 Success 2 Failed last command execution failed 3 7 7 4 Drive Status This command requests a predefined list of status variables to be sent in one message block Each variable can be reque...

Страница 87: ...gs ocErrCode Option Card Error Code Flags Warning Warning Flags 7 7 5 Set Motion Task UA FC 65 Id 8 Block Length 16bit MotionTaskStructure CRC Motion Task Structure typedef struct unsigned short nr mo...

Страница 88: ...Id 10 Minimum Wait Time 16bit CRC The Minimum Wait Time is the time the master must wait at least before sending the next request Motion Tasks are stored in the program FLASH During write access the F...

Страница 89: ...s Bit Word 50 100 ENCIN Long R W 1024 16 32767 LPR Encoder Resolution for Encoder Feedback Systems 62 124 GEARI Long R W 1024 2 15E 09 2 147E 09 Counts Gearing mode Sets GEARI pulses within GEARO moto...

Страница 90: ...maximum allowable position error 200 400 PFB Long RO 1 1 1 Counts Returns the Position Feedback value 201 402 PFB0 Long RO 1 1 1 Counts Returns the position counter of the external encoder 202 404 PGE...

Страница 91: ...t detection threshold 296 592 VREF Float R W 60 0 10000 RPM Defines velocity for home to reference 304 608 INPT0 Long R W 10 0 32000 Milliseconds Defines the minimum removal time of the In Pos output...

Страница 92: ...g RO 0 0 4 295E 09 List Position Node fault code 1015 2030 Warning Code Long RO 0 0 4 295E 09 List Position Node Warning Code 1017 2034 DPoles Long R W 10 2 254 Pole pairs Motor s pole pair 1025 2050...

Страница 93: ...tion 87 S200 Position Node with CANOpen DeviceNet PDID Index Modbus Address Name Data Type Rights Default Value Min Value Max Value Units Comments 1934 3868 J Float R W 0 3 40E 38 3 40E 38 RPM Sets or...

Страница 94: ......

Страница 95: ...ARMS N A 24 0 CUSTOM COMPOSITE CABLES A composite cable has both feedback and power wires in one cable One of the critical requirements for a composite cable is to provide a high degree of isolation b...

Страница 96: ...cable but these shields are not concentric There is only one shield between the power wires and feedback wires where with double concentric feedback shields there are two 2 SFD 5 and Gnd Resistance S...

Страница 97: ...requirements 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 inst...

Страница 98: ...each end of the cable 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 emissi...

Страница 99: ...EDBACK 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 5 SAFETY ISOLATED DC...

Страница 100: ...00 3 1997 with the incorporation of amendment A11 2000 Emission limits according to chapter 6 3 1 of that regulation First environment restricted distribution During assembly of our product in a machi...

Страница 101: ...20260 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 E E L...

Страница 102: ...ontain electrostatic sensitive devices that can be damaged when handled improperly Qualified personnel must follow ESD protection measures For example wear grounded heel and wrist straps when contacti...

Страница 103: ...the core and the screen 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 ent...

Страница 104: ...ly rated no more than 150 V open circuit secondary voltage and 10 kVA secondary power This combination shall be maintained to satisfy UL requirements B 10 ADDITIONAL SAFETY PRECAUTIONS Motor Case Grou...

Страница 105: ...C COMPLIANCE WITH EN61800 3 Use in a Domestic Environment WARNING The products covered in this manual are of the restricted sales distribution class according to IEC 61800 3 In a domestic environment...

Страница 106: ...o the line filter and output wiring from the line filter from each other During CE testing three 3 line filters were qualified for use with 50 m motor and feedback cables to represent worse case condu...

Страница 107: ...e overall machine emissions and or susceptibility High frequency grounding of cable shields may help reduce radiated and conducted emissions as well as protect against susceptibility to external and s...

Страница 108: ...ble during normal machine operation the cable should be a shielded cable rated at 450 VDC with the shield connected to PE High Frequency Grounding of Regen Cable Shield NOTE When using a regen resisto...

Страница 109: ...al sales representative for assistance If you are unaware of your local sales representative please contact us Europe Danaher Motion Customer Service Europe Email support danahermotion net Phone 49 0...

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