Danaher Motion S200-CNS, Hardware Installation Manual

Page 1: ...ual Hardware Installation Manual Revision B1 May 08 2008 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...

Page 2: ...reserved Printed in the Germany Danaher Motion is a registered trademark of the Danaher Corporation Technical changes which improve the performance of the equipment may be made without prior notice Al...

Page 3: ...e Connector Kits 23 5 3 Regen Resistor 23 5 4 Din Rail Terminal Break Outs 24 5 5 Operator Interface Terminals 24 5 6 Systems Capabilities 24 6 Installation 25 6 1 Unpacking and Inspecting 25 6 2 Moun...

Page 4: ...14 Step and Direction or Electronic Gearing Wiring 54 10 15 Encoder Motor Feedback 56 11 System Startup 58 11 1 Wiring Checks 58 11 2 Switch Settings 58 11 3 Apply control Power 58 11 4 Control Wirin...

Page 5: ...ocated at our web site Please check for the latest information Locating Support Materials All support materials are posted on the Danaher Motion website at www DanaherMotion com These files can be fou...

Page 6: ...ssemble commission and maintain this equipment Properly qualified personnel are persons who are familiar with the transport assembly installation commissioning and operation of motors and who have the...

Page 7: ...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 Avoid Unexpected Motion C...

Page 8: ...try 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 from emerg...

Page 9: ...e disturbances that can cut short the life of mechanical components Both the AC and the DC input drives are equipped with separate control power input to speed recovery from E Stop conditions CANopen...

Page 10: ...Unit Profile Node with CanOpen S20630 DNS 90 VDC 6 18 ARMS Base Unit Profile Node with DeviceNet AC Input Power Drive Models S20250 CNS 120VAC doubler 240VAC 1 phase 1 5 4 5 ARMS Base Unit Profile Nod...

Page 11: ...ent 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 2000 400...

Page 12: ...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 1 Peak Output Current listed is fo...

Page 13: ...egen 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 Delay F...

Page 14: ...S 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 Operationa...

Page 15: ...r ARF0 ARF1 from 3012 to 24873 Hz cannot be set Current Loop Specifications 3 dB Bandwidth Hz 2000 45 Phase Lag Hz 1000 General Performance Max Tracking Rate rpm 48600 Max Recommended Rate rpm 25000 M...

Page 16: ...rive Weight 0 40 kg 0 5 kg 0 77 kg 0 82 kg 1 5 kg Nominal 1 00lb 1 10 lb 1 69 lb 1 80 lb 3 2 lb 1 Depth measurement is for drive only Add approximately 50 8 mm 2 in to depth given in the table to acco...

Page 17: ...9 20 CHB J4 21 22 CHZ J4 17 18 Type RS 422 RS 485 Output Voltage 5 0 V Differential Output Unloaded Hysteresis 1 2 Quadrature Count corresponding to 1 8 Encoder Line Count Resolution With SFD 125 128...

Page 18: ...bility arc min RMS 2 19 Rev 0 04 Noise No Filtering arc min RMS 2 17 Rev RMS 0 16 150 Hz Single Pole Filtered arc min RMS 2 18 Rev RMS 0 08 10 Hz Single Pole Filtered arc min RMS 2 19 Rev RMS 0 02 DC...

Page 19: ...dback 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 5 1 2 Serial Communications Cable Danah...

Page 20: ...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 customers no...

Page 21: ...block break out for the DC S200 Base Unit models J1 and J4 This connector kit provides the auxiliary connectors required when purchasing Danaher Motion Cable sets when screw terminals are preferred ov...

Page 22: ...hen purchasing Danaher Motion 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 connector...

Page 23: ...d 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 Drive Model...

Page 24: ...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 registers...

Page 25: ...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 6 2 MOUN...

Page 26: ...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 01 in...

Page 27: ...OUNTING 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 VIEW REC...

Page 28: ...5 6 7 8 9 10 11 14 12 13 CH A Step CH A Step CH B DIR CH B DIR DINP 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 Fuse...

Page 29: ...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 Power 47 63Hz Fused Pr...

Page 30: ...ep 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 Data I...

Page 31: ...and TB1 vary according to the model Please refer to the proper description for your model 8 1 PE ALL DRIVE MODELS Each S200 Position Node product has at least one screw terminal from its frame exposed...

Page 32: ...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 resistor J1 3...

Page 33: ...Vac 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 WA...

Page 34: ...mage 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 Clamp...

Page 35: ...tion for fusing and rating information The S200 series drives are functionally compatible with all standard forms of three phase AC lines Grounded neutral WYE Open Delta Grounded Leg TEE NOTE It is th...

Page 36: ...S 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 Supply Req...

Page 37: ...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 20 AWG...

Page 38: ...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 3 DINP...

Page 39: ...Transmit RS232 Data 6 NC Mating Connector Information Standard RJ11 cord Or Plug Example AMP 5 555426 3 8 10 J11 CAN BUS CONNECTIONS J11 is a five pin plugable connector to the CAN physical layer and...

Page 40: ...gital 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 Opto...

Page 41: ...ff 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 RET 5V...

Page 42: ...solation 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 Typical BUS Supply Unregulated Isolating step down tra...

Page 43: ...e powered from an electrically Hot supply as it does not contain an isolation barrier The Ctrl and Bus voltages and non opto coupled I O grounds I O RTN are tied together inside the drive The Ctrl and...

Page 44: ...not need to be rotating to regenerate energy The motor windings store magnetic energy that regenerates back to the supply when the drive is disabled E stop switches can safely be located in series wit...

Page 45: ...x 18 ARMS 18 AWG cable 18 cable 14 cable 3 0 126 2 77 3 7 1 5 10 0 413 9 09 12 1 4 8 25 1 03 22 7 30 3 12 0 50 50 m not recommended with 6 18 ARMS N A 24 0 10 1 2 Custom Composite Cables A composite c...

Page 46: ...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 SFD 5 and Gnd Resistance Spec...

Page 47: ...lector drivers Some manufacturers of driving devices refer to sinking outputs as NPN devices after then name of the driving device transistor type Sinking Input A sinking input has the opposite arrang...

Page 48: ...f products 25 Pin Female 3 2 7 5 2 3 To PC To J5 on Drive To J5 on Drive 2 3 5 5 2 3 9 Pin Female To PC 10 5 WIRING DISCRETE DIGITAL INPUTS The discrete digital inputs are DINP1 10 This section discus...

Page 49: ...ground Many interface devices encountered in machine control use solid state switches that are commonly NPN transistors Internal Opto Isolators DINP1 Enable DINP6 DINP2 DINP7 DINP3 DINP8 DINP4 DINP9...

Page 50: ...e and are sometimes called PNP devices Current drain for the inputs is identified 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...

Page 51: ...he inputs can be wired for sourcing or sinking according to the need of the application For systems desiring to use input voltages exceeding the 5V rating for DINP5 and DINP10 an external current limi...

Page 52: ...quivalent to the Power Stage Enable line If the power stage is enabled the output will be on If the user disables the drive ether by hardware or software disable or if the drive detects a fault and sh...

Page 53: ...twisted shielded pairs Shields should be tied at the frame of J4 at the S200 PN and at the frame of the receiving equipment An additional wire to tie the two system s DC common together is highly reco...

Page 54: ...rd 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 b...

Page 55: ...nput signals of the S200 PN Several manufacturers of PLC with step and direction output use this method Note the required use of pull up resistors 5Vdc 225 x4 6 4k x4 100pF x4 5 9k x4 J12 12 J12 13 J1...

Page 56: ...Motor Thermostat Active Open PTC RET 9 9 ORG BLK 9 Motor Thermostat Return Common 5VDC 10 10 RED 10 5V Source from drive for encoder power I O RTN 11 Additional 5V source return common A 12 3 BLU 3 A...

Page 57: ...anaher Motion 05 2008 Detailed Wiring Information S200 CNS Product Manual 57 The following phasing diagram can be helpful when using motors other than Danaher Motion s AKM Series with encoder feedback...

Page 58: ...e will flash b S 2 0 3 6 That flash should be followed by a steady d in the display indicating that the drive is disabled A display of anything other than described above is probably a recognized faul...

Page 59: ...ity of damage to equipment or personnel The motor should be mounted or clamped in a way that will prevent jumping if exposed to high acceleration rates 11 6 APPLYING BUS POWER Assure that the hardware...

Page 60: ...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 DIS d...

Page 61: ...ponsible for ensuring adequate heat sinking capability in the final installation The thermal protective device s provided integral to the motor drives were not evaluated by UL The terminals are suitab...

Page 62: ...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 EACH END 12 6...

Page 63: ...m conforms with all relevant European Directives Drive conformance to specified standards is certified by the Declaration of Conformity in this manual CE Declaration of Conformity This is to certify t...

Page 64: ...surface of the enclosure cabinet is easily accessible it shall meet at least the requirements of the Protective Type IP4X Care shall be taken to ensure that the larger device or enclosure that accomm...

Page 65: ...setups General Suggestions to Improve Machine EMC Performance Use Danaher Motion cables Danaher Motion cables have been designed with EMC considerations in mind Because subtle differences in cable co...

Page 66: ...n be found at Corcom Inc MTE Corporation USA 1 800 468 2023 or 847 680 7400 USA 1 800 455 4MTE Germany 49 89 857920 International 1 262 253 8200 http www cor com http www mtecorp com NOTE For complete...

Page 67: ...e 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 level of immu...

Page 68: ...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...