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Specifications 4/13/2012 Kollmorgen

S200 Position Node Installation Guide

Velocity Loop Performance

Maximum Stable Bandwidth (Hz with SFD)

400

Update Period (µs)

0.8

Range (rpm)

0 to 18,300

< 0.001 rpm analog

Command Resolution

0.558 rpm serial

Velocity Loop Compensation

KVP Range (Depends on Ipeak)

0.00044 to 0.106 (Ipeak)(1/rad/sec)

KVP Resolution (%)

KVI Range (Hz)

0 to > 22

KVI Resolution (%)

ARF0

Range (Hz)

24.3 to > 46627

ARF1

Range (Hz)

24.3 to > 46627

Values for ARF0, ARF1; from 3012 to 24873 Hz cannot be set.

Current Loop Specifications

- 3 dB Bandwidth (Hz)

> 2000

- 45° Phase Lag (Hz)

> 1000

Current Loop Bandwidth

Maximum Bandwidth

AC Input Drive (kHz)

DC Input Drive (kHz)

Recommended Bandwidth

AC Input Drive (kHz)

DC Input Drive (kHz)

SFD Auto Set (kHz) AC &

Bandwidth Variation For

Fixed Motor L
(% regulated independent of
bus volt)

± 2.5

Update Period (µs)

0.8

Recommended Max Motor Electrical Frequency (Hz)

AC Input Drive (Hz)

600

DC Input Drive (Hz)

900

Содержание S20260

Страница 1: ...M SS S2A 11 Revision A Sept 25 2007 Revision B Nov 13 2007 Revision C Apr 30 2010 Revision D Apr 13 2012 Keep all product manuals as a product component during the life span of the servo amplifier Pas...

Страница 2: ...g 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 and motor o...

Страница 3: ...Terminals 20 4 5 Systems Capabilities 20 5 0 Installation 21 5 1 Unpacking and Inspecting 21 5 2 Mounting 21 5 3 Dimensions 22 5 4 Mounting Outline 23 6 0 Wiring Diagrams 24 6 1 Low Power AC Drive Wi...

Страница 4: ...10 1 Wiring Checks 52 10 2 Switch Settings 52 10 3 Apply control Power 52 10 4 Control Wiring Checks 53 10 5 Additional Safety Checks 53 10 6 Applying Bus Power 53 10 7 Motor Motion Checks 54 10 8 Sys...

Страница 5: ...documents located at our web site Please check for the latest information Locating Support Materials All support materials are posted on the Kollmorgen website at www Kollmorgen com These files can be...

Страница 6: ...k 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 allows rapid recovery...

Страница 7: ...ser Interface models the tree format 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...

Страница 8: ...CanOpen S20260 DNS 120 240 VAC 1 3 phase 1 5 4 5 ARMS Base Unit Profile Node with DeviceNet S20350 CNS 120VAC doubler 240VAC 1 phase 3 9 ARMS Base Unit Profile Node with CanOpen S20350 DNS 120VAC dou...

Страница 9: ...C ambient ARMS 1 2 4 8 2 4 Peak Output Power 240 VAC VA 3 phase 1500 3000 6000 10000 120 VAC VA 1 phase 750 1500 2400 75 VDC VA 750 1500 Drive Continuous Output Power 240 VAC 3 Phase watts 600 1100 20...

Страница 10: ...0 9 At 75 VDC 0 4 0 2 Maximum Motor Inductance l l mH 300 150 75 45 30 15 Maximum Motor Power Cable Length 4 18 AWG cable m 50 50 25 50 25 14 AWG Cable m 50 50 50 50 50 50 Peak Output Current listed i...

Страница 11: ...BUS Regen Voltage 0 974 BusOV 397 VDC Nominal AC Inrush Current Fusing Worse Case Inrush Peak Current at 240 VAC 140 A 0 p Inrush pulse width 1 5 ms Recommended Fusing Line Inputs Type 250 VAC Time De...

Страница 12: ...DC BUS Voltage and Faults BUS Voltage Range VDC J1 3 to J1 2 20 to 90 BUS Under voltage Fault 17 VDC nominal BUS Overvoltage Fault 91 VDC nominal DC Power On Delay Control Power Applied to Drive Oper...

Страница 13: ...KVI Resolution 10 ARF01 Range Hz 24 3 to 46627 ARF11 Range Hz 24 3 to 46627 1 Values for ARF0 ARF1 from 3012 to 24873 Hz cannot be set Current Loop Specifications 3 dB Bandwidth Hz 2000 45 Phase Lag H...

Страница 14: ...54 8 mm 54 8 mm 76 2 mm 1 90 in 1 90 in 2 16 in 2 16 in 3 0 in Drive Depth1 C 100 8 mm 100 8 mm 131 6 mm 131 6 mm 152 mm 3 97 in 3 97 in 5 18 in 5 18 in 5 98 in Mounting Hardware M4 or 8 M4 or 8 M4 o...

Страница 15: ...0 ms DINP5 DINP10 J4 10 11 J12 8 9 Input Voltage 3 0 6 0 volts Input Current 9 0 24 0 mA General Purpose Outputs DOUT1 DOUT2 DOUT3 J4 6 7 8 9 J12 6 7 Maximum Output Voltage 0 30 to 30 0 volts Clamp Vo...

Страница 16: ...Humidity non condensing 10 to 90 Altitude 1500 m 5000 feet 3 8 SMART FEEDBACK DEVICE SFD SFD Smart Feedback Device Resolution Rev arc min 24 bits 0 0013 Repeatability arc min RMS 2 19 Rev 0 04 Noise...

Страница 17: ...and feedback cables Motor and Feedback cable selections are covered in our Motioneering package to help select the correct sets based on motor and drive size selection 4 1 2 Serial Communications Cabl...

Страница 18: ...uired 4 2 1 Base Unit Connector Kits CK S200 MF connector kit includes motor and feedback connectors for all low power base unit models JJ2 and J4 This connector kit is useful in applications and cust...

Страница 19: ...erminal block break out for the DC S200 Base Unit models J1 and J4 This connector kit provides the auxiliary connectors required when purchasing Kollmorgen Cable sets when screw terminals are preferre...

Страница 20: ...quired when purchasing Kollmorgen Cable sets where terminal screws are preferred over soldering of J4 Applicable Drive Models S20250 xNS S20260 xNS S20350 xNS S20360 xNS x20660 xNS CK S200 IN AC conne...

Страница 21: ...s command signal connector J12 and the encoder connector J13 for the S200 Position Node auxiliary functions For applications desiring screw terminal cage clamp over soldered connections Applicable Dri...

Страница 22: ...in the general industrial equipment market place Virtually any terminal that has the ability to be configured for your application and has support for MODbus RTU with the ability to read and write re...

Страница 23: ...damage has occurred in shipment If damage is detected notify the carrier immediately Check all shipping material for connector kits documentation diskettes CD ROM or other small pieces of equipment 5...

Страница 24: ...mm 0 50 in 1 0 in 1 0 in 1 0 in Side to Side E 12 7 mm 25 4 mm 25 4 mm 25 4 mm 0 50 in 1 0 in 1 0 in 1 0 in Mounting Dimensions Horizontal Mounting Offset F 24 6 mm 25 6 mm 25 6 mm 31 7 mm 0 97 in 1...

Страница 25: ...5 4 MOUNTING OUTLINE DEPTH C WIDTH 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 VI...

Страница 26: ...3 4 5 6 7 8 9 10 11 14 12 13 CH A Step CH A Step CH B DIR CH B DIR DINP COM 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 5 120 240VAC Mains 47 6...

Страница 27: ...Step CH A Step CH B DIR CH B DIR DINP COM 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 5 120 240VAC Mains 47 63Hz Fused 120 240VAC Control Powe...

Страница 28: ...A Step CH A Step CH B DIR CH B DIR DINP COM 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 RX Da...

Страница 29: ...els J1 and TB1 vary according to the model Please refer to the proper description for your model 7 1 PE ALL DRIVE MODELS Each S200 Position Node product has at least one screw terminal from its frame...

Страница 30: ...d Leg TEE 1 9 Figure 7 1 J1 Connector view from front of drive Pin Description J1 1 PE Protective Earth Must be tied back to central earth bar J1 2 REGEN Connection for optional external regen resisto...

Страница 31: ...5Vac WARNING After powering down the drive monitor the BUS voltage by connecting a meter from J1 4 BUS to J1 3 BUS to verify the internal BUS capacitors have discharged prior to working on the drive W...

Страница 32: ...id damage to the connector and drive NEVER plug or unplug J1 with power applied Mating Connector Information Screw Terminal Connector 12 24 AWG Wire Range Phoenix MSTB2 5 3 STF 5 08 BK OR Spring Cage...

Страница 33: ...tion 2 W Motor Output Phase W 3 V Motor Output Phase V 4 U Motor Output Phase U 5 Regen Optional Regen Resistor Connection See Wiring Detail Section 6 Bus Main DC Bus Output Normally not connected 7 B...

Страница 34: ...ting a meter from TB1 7 BUS to TB1 6 BUS to verify the internal BUS capacitors have discharged prior to working on the drive WARNING The Regen input is not short circuit protected The Regen Resistance...

Страница 35: ...1 2 BUS CNTL GND Logic and Bus Return J1 3 DC BUS Input Power 20 to 90Vdcc CAUTION To avoid damage to the connector and drive NEVER plug or unplug J1 with power applied NOTE Refer to the DC Power Supp...

Страница 36: ...Range Phoenix FKC 2 5 4 SFT 5 08 BK OR Crimp Connector Crimp Shell 14 20 AWG 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 2...

Страница 37: ...rComp 180 026 102 001 D Sub Connector NorComp 978 015 010 03 1 Back shell Kit Refer to www norcomp net Pin Description Pin Description J4 1 DINP COM J4 14 DAC MON1 J4 2 DINP1 Enable J4 15 DAC MON2 J4...

Страница 38: ...Drive Transmit RS232 Data 6 NC Mating Connector Information Standard RJ11 cord Or Plug Example AMP 5 555426 3 7 10 J11 CAN BUS CONNECTIONS J11 is a five pin plugable connector to the CAN physical laye...

Страница 39: ...NP7 Digital Input 7 4 to 30V DC Operation J12 4 DINP8 Digital Input 8 4 to 30V DC Operation J12 5 DINP9 Digital Input 9 4 to 30V DC Operation J12 6 DOUT3 DOUT 3 Opto Isolator Emitter J12 7 DOUT3 DOUT3...

Страница 40: ...dex Diff High J13 7 CH Z Encoder Z Channel Input Marker Index Diff Low J13 8 PTC Motor Thermostat J13 9 I O RET Motor Thermostat Return to 5V Common J13 10 5VDC 5V Encoder Source 200mA max J13 11 I O...

Страница 41: ...e the following characteristics Must provide safety isolation from the power line Can be regulated or unregulated Bus Supply Return is connected to the Control Supply Return and I O RTN in the drive T...

Страница 42: ...an damage the drive 8 2 GROUNDING Provide safety isolation with the external bus and control supplies from the power line NOTE The drive cannot be powered from an electrically Hot supply as it does no...

Страница 43: ...f the bus is disconnected from the power supply capacitor when the drive is enabled The motor does not need to be rotating to regenerate energy The motor windings store magnetic energy that regenerate...

Страница 44: ...te arrangement of souring inputs where a current to ground must be supplied to the input Sinking current to ground These are used with sourcing output devices Some manufacturers of driving devices ref...

Страница 45: ...Bipolar means that the input will function regardless of the connection polarity Input DINP1 is a dedicated hardware enable and it must be asserted to get the drive to enable the motor DINP2 DINP10 ar...

Страница 46: ...0 As noted DINP5 and DINP10 are high speed opto isolated input devices that do not have a connection to a common rail They are designed for 5 volt operation and the polarity of the power supply used i...

Страница 47: ...urn this output off This method is considered fail safe in that many failure modes of this circuit will cause the host to detect a fault Run Output The Run output is a dedicated normally closed output...

Страница 48: ...for the motor driven by the S200 Position Node and can be used by a host controller or monitor The signals are differential driven and are RS 485 RS 422 compliant The use of terminating resistors at t...

Страница 49: ...The chosen resistor must be self protecting against overheating failure This can be done any number of ways including thermal snap action fuse protection a series thermal overload heater relay or with...

Страница 50: ...how to wire an encoder feedback to the S200 Position Node drive The information provided pertains to Kollmorgen AKM Series motors Other motors or encoder manufacturers may use different conventions w...

Страница 51: ...Also called Marker or Index to drive Z 7 6 VIO BLK 6 Z Complement Differential driver to drive PTC 8 8 ORG 8 Motor Thermostat Active Open PTC RET 9 9 ORG BLK 9 Motor Thermostat Return Common 5VDC 10 1...

Страница 52: ...The following phase diagram will indicate the proper alignment S200 OC Tools and the S200 PN support a phase offset adjustment when the hall tracks cannot be properly aligned but the actual determinat...

Страница 53: ...Detailed Wiring Information 4 13 2012 Kollmorgen 51 S200 Position Node Installation Guide...

Страница 54: ...Segment display should flash a sequence indicating the drive model number For example an S20360 drive will flash b S 2 0 3 6 3 That flash should be followed by a steady d in the display indicating th...

Страница 55: ...xt steps will allow motor motion Care must be taken to allow the motor to move freely without any possibility of damage to equipment or personnel The motor should be mounted or clamped in a way that w...

Страница 56: ...icated in the above screen shot The drive can be disabled Jogged CCW or CW The jog speed 30 RPM can be changed or the motor can be stopped Note The difference be the DIS and STOP functions is that the...

Страница 57: ...4 0 A 2 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 between...

Страница 58: ...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 59: ...itional installations cable motor etc Thus all necessary tests and measurements had to be made on a typical installation The test installation with all peripheral devices as well as the test results a...

Страница 60: ...KOLLMORGEN AKM43K ANCNC 00 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 SHIEL...

Страница 61: ...S20330 CNS S20630 CNS S20250 CNS and S20350 CNS comply with the following relevant regulations CE Guideline 72 23 EEC Low Voltage Directive Applied harmonized standards EN 50178 1998 CE Guideline 89 3...

Страница 62: ...ectrostatic 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 contacting drive...

Страница 63: ...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 entire leng...

Страница 64: ...ted no more than 150 V open circuit secondary voltage and 10 kVA secondary power This combination shall be maintained to satisfy UL requirements B 9 ADDITIONAL SAFETY PRECAUTIONS Motor Case Grounding...

Страница 65: ...10 EMC 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 enviro...

Страница 66: ...d For maximum benefit separate input wiring to 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...

Страница 67: ...l 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 self gene...

Страница 68: ...ring 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 resistor in a...

Страница 69: ...e in the most effective way please contact your local sales representative for assistance If you are unaware of your local sales representative please contact us Europe Kollmorgen Customer Service Eur...

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