Detailed Wiring Information
4/13/2012
Kollmorgen
47
S200 Position Node Installation Guide
The motor cable must have a separate conductor that carries the motor frame back to the S200 PN’s PE terminal
designated for the motor cable.
Chosen cable should be at least 600V rated and should have relatively low capacitance. The motor cable should
have >90% shield coverage and the shield should be of braided design, not foil. The cable shield should
terminate, along with the motor case wire, to the S200 Position Node’s PE terminal designated for the motor cable
at the drive end and to the connector housing at the motor with a 360-degree bond attachment.
Motor cables should be uninterrupted from the drive to the motor. In case where this is not practical the motor
cable connection should be made with a connector type that allows 360 degree shield coverage so that the cable
shield appears uninterrupted.
Appendix A has more information on installation practices that allow for trouble-free installation. Please read that
section before proceeding.
9.9 R
EGEN
R
ESISTOR
W
IRING
Applicable Models: All AC Input units.
Many applications do not require the use of a regen resistor. Kollmorgen’s Motioneering software can predict the
need for a regen resistor. There is also an application note on the Kollmorgen website (
www.Kollmorgen.com
)
providing the equations to calculate the regenerative levels. Nuisance over voltage tripping is the symptom
indicating the need for a regen resistor. Kollmorgen offers the ERH-26 regen resistor compatible for use meeting
all the requirements of the S200 Position Node product line.
Connection for an optional regeneration power resistor to absorb regenerated energy from the motor is provided
on each S200 Position Node. If the ERH-26 is not used, then the user should choose a wire-wound resistor with
1500 V
RMS
isolation between terminals and case. The regen resistor must not have a lower ohm value than
specified for the given drive. The power rating of the regen resistor depends on the amount of regenerated energy
that needs to be dissipated. In many applications there is little need for an aggressive low-ohm value resistor. 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 a resistor value that
can limit the maximum wattage to the rating of the resistor. Any protection using contacts would have the switch
wired into a safety circuit that shut down the system in the event of a resistor over temperature to prevent a fire
hazard.
Wiring to the regen resistor should be short and the leads should be twisted together. Although never required, in
systems with sensitive electronics it is not uncommon to shield these wires with a braided cable with shields tied
to earth at both ends. Thermal overload protection is wired into the machine safety circuit such that it causes a
machine shut-down upon sensing excessive regen resistor temperatures.
9.10 S
TEP AND
D
IRECTION OR
E
LECTRONIC
G
EARING
W
IRING
The S200 Position Node has the ability to accept position commands from and external source in the form of
pulses. Typical systems use one of two devices for this command: incremental encoder signals or step (pulse)
and direction signals. The S200 Position Node electrical input circuits for these signals uses differential line
receivers and resistor biasing to allow use with differential line transmitters, open collector, or TTL driver circuits.
The circuit arrangement is shown in the following diagrams. Due to this circuit design it is very important to tie the
DC Commons of the two systems together.
Incremental encoder signals are typical of systems that are used as a gear-follower, some times called master or
line-shaft. Details of how these systems work can be found in the S200 Position Node User’s Guide. The basics
are that an encoder signal (A/B differential) is wired into the S200 Position Node’s J12 connector. These signals
are translated into quadrature pulses that increment or decrement the internal position loop command register,
subject to acceleration and deceleration limits. The S200 Position Node has no use for an encoder Z (marker or
index) channel for these applications. The source of these signals can be ether another controller with encoder
outputs or a stand-alone incremental encoder. A 5V supply is available at J12 as a power source for the stand-
alone encoder. Typical interconnect is presented below.
