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S200 High Performance Compact Brushless Servo Drives

1. 4 2012 Base AC Drive S22460 VTS Mounting the Drive TOP VIEW o c C 2 i Dimensions are mm inches gt 2 rdi C 2 4 5 0 18 D D 5 0 0 20 C 5 0 0 20 C pi 192 4 7 58 7 RECOMMENDED MOUNTING V HARDWARE 8 OR 4 5 0 0 20 8 0 0 31 DETAIL B DETAIL SCALE 3 0 SCALE 3 0 2 82 4 SEE 6 4 0 25 zu 5 0 0 20 2 re as NE iit Dx i 2 i p E C g ad WM n 4 WY Ws EU
2. 58 6 12 1 J13 Discrete Connection 5 o9 613 ADXFBOOBDDeCIOL uie ueteres Apta 60 6 13 1 Auxiliary Feedback Device 221 60 6 13 2 Auxiliary Feedback Sin Cos Interpolation Scaling 61 7 Basic Configuration sus lesse 62 7 1 SWIC SCTINGS PE 62 Tl 92 DIPsSelup OoWIIC Lits 62 11 2 Setup ut dde eei tate 63 7 1 3 11 12 Rotary SynqNet ID Switches 64 42 Ooniguring Tor Br sh 66 Z3 Configuring with 6 Step Hall Feedback 0 0000000000000 000000 67 7 3 1 6 Step Feedback WING ui ciis eos ea itia sentia e wie ei 67 7 3 2 6 Step Torque Current 67 1 3 3 6 Step Velocity iei e edis 68 7 4 Configuring with SFD Feedback 0 000 000000000000 69 TAT SFD Motor Parameters c Pot hec tre ied 69 7 4 2 SFD Torque Current 70 7 4 3 SFD Velocity 71 7 4 4 SED Position Mode ie ce es
3. 39 6 4 6 Bus Switching and 39 6 5 J2 Motor Power 0 eiiis eene 40 6 6 SB Feedback 0 41 67 J4 Command W O 42 6 7 1 General Purpose 42 6 7 2 General Purpose OUIDUlS ios e cote a eme tesi 46 6 7 9 FONSECA cu ade 48 ONG ME E 49 6 7 5 DAC MONIO oo dore Piae teen eau 50 0 70 Encoder OuIDUIS IA DUNS ott i 50 0 7 7 Analog Command rato 52 66 d5eoe8nal Port CONMCCION oct tbe t pae a aes 53 6 8 2 Serial Interface Specification 54 0S ce 54 6 9 SynqNet Option Card 22 2 2 000000000500000000 nnn 55 6 10 J11 SynqNet IN Port Connector eese 56 10 1 SyhdlNet BEDS tod radeon ipe Metu eei 56 6 11 J12 SynqNet OUT Port 1 57 DEDS uri oou o ce team 57 5200 Base SynqNet Reference Manual M SM 200 01 D i Kollmorgen 4 2012 Table of Contents 6 12 JI3 Discrele
4. Range CmdInNullEnb Enable Disable CmdlnNullEnb enables or disables the Command ADC Null function CmdlnNullEnb enabled allows the user to null the base drive Cmdln ADC by asserting 4 for a minimum of one second The CmdlnNull function will update the variable CmdOffset to null out the DC offset that is present and the Cmdln ADC at the time DInp4 is asserted This function updates the drive NV memory copy of CmdOffset as well 0 Enable ADC Null function 1 Disable Cmdln ADC Null function default setting Cmd Offset Volts or Percent CmdOffset is added to the user input on the Command I O connector J4 to allow any constant offset present in the source to be cancelled Because the input to the command processing block can be an analog voltage or a digital duty cycle there are two possible units See CmdSrc for this setting and CmdGain for scaling the of the input command 200 Base SynqNet Reference Manual M SM 200 01 D 82 Kollmorgen 4 2012 Advanced Configuration Expressed as an equation User Input CmdOffset CmdGain NOTE The range and resolution of CmdOffset is affected by the value of CmdGain Its range covers the entire range of Cmdln CmdSrc Analog PWM CMD or Command Variable 5 selects the source of the command It selects between using the command I O connector analog input or PWM CMD digital input or the serial command parameter
5. E See 4 H 202 5 1 m 24320 7 97 ng aa a 8 38 N P 0229 5 as HE i i t 96 4 mw 5 8 0 23 bo _ _ RIGHT SIDE VIEW SEE 2 34 2 DETAILA REAR VIEW FRONT VIEW Note Enclosure and mounting dimensions for Option card equipped units are the same 5200 Base SynqNet Reference Manual M SM 200 01 D 26 Kollmorgen 4 2012 Mounting the Drive 0 2 4 Base DC Drive 520330 520630 5 00000000 uh _ m 4 57 RECOMMENDED MOUNTING HARDWARE 8 OR M4 00 18 04 57 0 97 24 64 0 16 4 06 2 6 00 5 68 152 40 144 27 0 16 4 06 4 06 FRONT VIEW RIGHT SIDE VIEW REAR VIEW DIMENSIONS IN INCHES MM Note Enclosure and mounting dimensions for Option card equipped units are NOT the same See Section 5 2 6 for details S200 Base SynqNet Reference Manual M SM 200 01 D 27 Kollmorgen 4 2012 Mounting the
6. 24 5 2 1 Base AC Drive 520260 520360 520660 5 24 95 2 2 Base AC 521260 25 5 2 3 Base AC Drive 522460 5 26 5 2 4 Base DC Drive 520330 520630 5 22 27 5 2 5 SynqNet AC Drive 520260 520360 520660 5 5 28 5 2 6 SynqNet DC Drive 520330 S20630 SRS 29 6 30 30 6 1 1 AC Drive 520260 520360 520660 5 30 6 1 2 AC Drive S21260 522460 5 31 62 wl AC Input Drive POWOF ee ee a a 32 6 0 Input Drve WIHg e b OR Ub e 35 64d heDGC Input o RO o ete et as ahead 36 6 4 1 DC Power Supply Requirements 37 38 043 Control 38 CEU 39 04 5
7. 941 4 9 p gt 9es pey epo N JENDUAS 0025 19 SeN gt jeNbu S UOIISOd adoosoy uo xeed 519 8996 juan 9 qegu Y put 4 enbJo UO A UB 1 y y _ S doo a 5 IAM ye d 92261 4 4 juang 5564 MOT 310d c JO 9AUG ION 5109 lt lt 4J3I9A l gon 2 98900 2 5 78 M SM 200 01 D 200 Base SynqNet Reference Manual Kollmorgen 8 5 9 5 1 4 2012 Advanced Configuration PARAMETERS AND VARIABLES Setup parameter values control the operation and configuration of an 5200 and read only variables give status information about the present operation of the drive The below defines the three types of parameters and variables e NV Parameter A type of variable stored in the non volatile NV permanent memory on the drive See NV Parameters for a complete list and
8. 7 3 3 3 DC Control Power On 94 Motor Gurrent Control iue rtt t tete a es a eno ede essen Eee sap 7 3 4 1 Current Loop Bandwidth 8 92 8 3 5 8 3 5 1 Velocity Loop Compensation 8 20 COMMING PN 9 S621 ANAlOG GOMIMANG aya Mec D bus 9 2 62 9 3 6 9 Step PWM cease aeta ie 9 3 64 MSINP Direction Command m Bee a beiden 9 3 65 Quadrature InpulL o o e us ase 10 3 6 6 General Purpose 10 3 6 7 General Purpose 10 3 6 8 Quadrature Outputs aaia 10 iol AIGA r 11 3 8 EDOM Al m P 11 3 9 Smart Feedback Device 5 11 39T M TEE 11 3 92 Velocity SIGN All 12 3 9 3 Emulated Encoder Output 5 5 12 3 9 4 General SFD 5 12 4 Quick Start Guide
9. Grounded Leg e TEE The customer is responsible for supplying the appropriate fuses or circuit breakers in the J1 AC motor power lines to comply with local electrical codes The control input power required is between 5 and 10 watts The AC input motor power depends on output power and losses in the power stage Appendix G Regulatory Information of this manual contains additional information needed to ensure regulatory compliance On AC input drives with peak current 18 Arms J1 is a 9 pin pluggable connector shown below On larger AC input drives connections are to fixed terminal block TB1 that needs no mating connector See wiring diagrams for full connection details Description PE Protective Earth J1 Connector view from front of drive Mating Connector Information for 520260 520250 520360 520560 520660 Screw Terminal Connector 12 24 AWG Wire Range Phoenix MSTB2 5 9 STF 5 08 BK opring Cage Clamp Connector 12 24 AWG Wire Range Phoenix FKC 2 5 9 SFT 5 08 BK Crimp Connector Crimp Shell 14 20 AWG Wire Range Phoenix MSTBC 2 5 9 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 http www phoenixcon com 5200 Base SynqNet Reference Manual M SM 200 01 D 32 4 2012 Wiring the Drive AN Kollmorgen CAUTION WARNING amp NOTE WARN
10. KVI Resolution 9 Range Hz 1 518 to 96382 ARF1 Range Hz 1 518 to 96382 5200 Base SynqNet Reference Manual M SM 200 01 D 8 Kollmorgen 4 2012 Specifications 3 6 COMMAND I O 3 6 1 Analog Command 125 535 TE lt 27 Full Scale Oe Adysabieto Maximum Unadjusted Offset mV Maximum Unadjusted Offset mV Offset Drift uV C typ 250 CMRR gt 30 dB at 60 Hz 3 6 2 A Analog Output DacMon Resolution bits 14 Maximum Range volts 5 4 Full Scale Tolerance 96 3 6 3 HSINP Step PWM Command Minimum Pulse Width ns 250 HSINP as Step Command Maximum Step Frequency MHz 1 5 HSINP as PWM Command PWM Frequency kHz 0 25 to 250 Pulse Width 0 10096 Duty Cycle Pulse Width Distortion ns 3 6 4 MSINP Direction Command MSINP J4 5 J4 1 Input Voltage volts 4 0 30 0 5200 Base SynqNet Reference Manual M SM 200 01 D 9 Kollmorgen 3 6 5 3 6 6 3 6 7 3 6 8 4 2012 Minimum Pulse Width us Quadrature Input Quadrature Input CHA J4 19 20 CHB J4 21 22 Input Voltage Differential 0 2 to 12 volts Common Mode 7 to 12 volts Input Termination None internal to the drive Maximum Line Frequency kHz 625 corresponds to 2 5 MHz quadrature pulse rate General Purpose Inputs DINP1 DINP2 DINP3 J4 2 3 4 Input Voltage volts 4 0 30 0 Referenced to DINPCOM
11. Ene Mn 97 9 3 2 Memory Operations on Drive Parameters 97 9 3 3 Accessing Individual 98 9 3 4 Accessing an Entire Parameter 98 10 Accessories Connector Kits and Cables 102 10 1 ACCCSSONCS i nad eu MM D M E 102 10 2 dcm m 102 103 11 Diagnostics and Troubleshooting 104 tkt Dive se PR 104 11 2 Ee 106 5200 Base SynqNet Reference Manual M SM 200 01 D iii Kollmorgen 4 2012 1122 1 lecto Conte 109 Appendix A DC Power Supply Design 110 duse tors M MAUS 110 A 1 1 Single Power Supply 110 A 1 2 Main Supply Output Capacitance J1 3 to 1 2 112 2 TWO Power Supply Operation esee eese 115 A21 Control Supply esteso 115 AG C nsiderati NS dm 115 A 4 Bus Energy amp Po
12. se qeo JO SI UMOUS Duip eius e qeo x oeqpes pue Sjle ep eoej19jur eui 26 xipueddy oes Jej qnop QOGXXZS 104 ON INOO dNIG S9JON ZEZXY ON 2 ZH 9 Zv TWHLAAN OVA 00 11 INVA 0c L OrZ OVA 01 0 21 CO OVA Orc 1 GIND E ZH 9 18H19 LO IVA OcL Ot C NIHON 0 A NI 8 H2 E 101615 C9 NI 8 H2 HO ES jeuondo sng NI V H LNO V oD 9 1 NI V 1 V Z CN dd 1nozHo 2 SSS socer 3 i HOLOIN cNOW ova ANN LP S INOW Va wisi CN iva 835 ed Y LdNISH dd ____ Y IWMd d3 LS LdNISH o i E d Lu 118 S reo Q 12 WO2 daS J gt SES 11 gt WO9 d3s ale lt xL S TIVH 1 V vr 318VN3 HO 155 6 1 1 30 M SM 200 01 D 5200 Base SynqNet Reference Manual Wiring the Drive ON ZEZXL gt NLY NLY 4527 ZH 9 ZP OWA TALO LO ON IVA 021 002 WA 1819 25 EE Y x BS Nid GIND E 0 YNY
13. eyeg ger Sd NI LNO 8 HO oegn p 9 9esn p9 002 Lc vr Y Y T NI LNO V HO 4 urea 2 975 NAO WHO ire Pal 1 NNI ra 6L vf sjunoj p noeg INOO es odo 4 5 90099 Svr oJSpuuosod m ANG dais deis og LdNISH 76 M SM 200 01 D 200 Base SynqNet Reference Manual Advanced Configuration 4 2012 SYNQNET DRIVE TORQUE CONTROL BLOCK DIAGRAM Kollmorgen 8 3 JojeujeJeg dnjesSs AN 9e qelJeA uonisog 4010 peunsee w JUSIIND JOJON peunsee u opo N enbJo 1eNbu S 0025 4 50 92261 pueuJulo2 4 pz Jejsej 9550 gt jeNbufS uonisog gt 20005001 UO 510 9996 Y UO pu ve 5 i MO enbJo JON Jojse N 1eNbu AS 77 M SM 200 01 D 200 Base SynqNet Reference Manual Advanced Configuration 4 2012 SYNQNET DRIVE VELOCITY CONTROL BLOCK DIAGRAM Kollmorgen 8 4 JojeuJeJeg dnjes AN XXXX uonisog 4010 peunsee w JOJO yoeqpee peunsee u d4sod
14. Heat sink temperateure value Torque derotated current value Non torque derotated current value Motor temperature A D value frm the Multi turn feedback data Lower 16 bits of the feedback Upper 8 bits of the feedback Motor power voltage Shaft velocity feedback 9 2 2 Monitoring Real time Data from Drive Some data from the drive is not part of the standard MEI I O However it be monitored in real time from the drive For more information on how to monitor real time data from the drive see Drive Monitor List of real time monitor fields This is a partial list of supported fields Consult your drive manual for a complete list 96 5200 Base SynqNet Reference Manual M SM 200 01 D Kollmorgen 4 2012 SynqNet Configuration Cmdin HSTemp e IdFb Pos PosFbMTrn PosFbLSBS PosFb PosFbMSBS PosFb e e VelFB 9 3 ACCESSING DRIVE PARAMETERS OVER SYNQNET 9 3 1 Introduction The drive s functionality is designed to use various drive parameters and instructions which are communicated over SynqNet Some parameters have read only access whereas other parameters may have read write access The parameters can be stored in non volatile memory on the drive and are used on each power up cycle Examples of read only drive parameters are e drive command value CMD IN e drive model number MODEL e drive bus voltage V BUS Exampl
15. lt c oXd AINO awo NI d HO LNO a HO NI 8 H LNO 8 HO NI V LO V HO NI V LNO V HO INO ZHO LNO Z HO GNON LNOW 19 dis LdNISH INMd d31S LdNISH cLnoa LLnOGd NOILO3UIQ LdNISIN LIBIHNI LIGIHNI J18VN3 INOO dNIG 35 M SM 200 01 D 5200 Base SynqNet Reference Manual Kollmorgen 4 2012 Wiring the Drive 6 4 J1 DC INPUT DRIVE POWER The 5200 DC input drives should be powered from power supplies with reinforced isolation On DC input drives J1 is a 3 pin pluggable connector rin Description Ole BUS CTRL GND J1 Connector view from front of drive To avoid damage to the connector drive NEVER plug or unplug J1 with power applied CAUTION Mating Connector Information Screw Terminal Connector 12 24 AWG Wire Range Phoenix MSTB2 5 3 STF 5 08 BK opring Cage Clamp Connector 12 24 AWG Wire Range Phoenix FKC 2 5 3 SFT 5 08 BK Crimp Connector Crimp Shell 14 20 AWG Wire Range Phoenix MSTBC 2 5 3 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 J1 1 Control power input The DC drive accepts 10 to 90
16. 00 Analog input sets command default 01 PWM input sets command 10 Software Command Variable sets command analog input Cmd proc 11 Software Command Variable sets command PWMCMD input Cmd proc Command 18 310 rpm Not supported over SynqNet Sets the value of the command when is set to Command variable as opposed to the standard Analog or PWM CMD digital hardware inputs The parameter units depend on whether the drive is in current or velocity control mode When OpMode is set to Position this variable is not used CommMode SetupS2 2 SFD 6 Step Brush Selects the commutation mode of the drive The following table describes the different values for this parameter SetupS2 2 DIP switch S2 position 2 selects between 6 step and SFD commutation feedback Forces the drive to use SFD for feedback Forces the drive to use 6 step Forces 6 step commutation with CU CV CW 1 1 O CommOff 180 Degrees Offsets the origin for the electrical commutation angle in degrees Normally set to zero Non zero allows matching non standard motors or systems In 6 step mode this parameter must be set to WARNING 0 for proper operation See also CommMode Dinp1Pol Invert or Normal This parameter selects the polarity of the Dinp1 When this parameter is set the input to the FPGA is inverted before it is used by the logic This parameter affects the sense of the enable I O input
17. 200 Base SynqNet Reference Manual M SM 200 01 D 127 Kollmorgen 4 2012 Appendix F Using a Voltage Doubler Mode Drive F 1 52 50 AC LINE VOLTAGE DOUBLING DRIVE POWER SPECIFICATIONS 120 VAC Voltage Doubling 520250 520350 Peak Output Current ARMS 0 to 40 C 4 5 Ambient Minimum Peak Current TimeStarting 3 0 3 0 from 0 Amps Cont Output Current ARMS 0 to 40 C 1 5 3 0 Ambient WARNING 200 Base SynqNet Reference Manual M SM 200 01 D 128 Continuous Output Power Watts Peak Output Power Watts RMS Line Current at Continuous Output Power RMS Fusing Line Inputs FRN R 10 FRN R 20 5200 units with the voltage doubling option manufactured before June 2004 have the function of L1 and L3 reversed Using 240 VAC on old voltage doubled units with this new documentation will lead to catastrophic failure of the drive Requirements for Safe Operation of the Drive It is the machine builder s responsibility Kollmorgen 4 2012 Appendix G Regulatory Information APPENDIX G REGULATORY INFORMATION G 1 CONFORMANCE REQUIREMENTS The equipment described herein has been developed produced tested and documented in accordance with the corresponding standards During use conforming with requirements the equipment is not dangerous for people or equipment Use conforming with requirements means that the safety recommendations and warnings detailed in this manual are complied with and that the applicable regula
18. 5200 High Performance Compact Brushless Servo Drives Base and SyngNef Units Control Logic Version 3 0 or Higher Reference Manual M SM 200 01 Revision D lol Because Motion Matters Revision History Date Issue Description 05 2004 Initial Release 03 2006 A Addition of SynqNet information 10 2007 B 521260 12 30 Arms base unit 2 2008 C 522460 24 48 Arms base unit 4 2012 D Update branding to Kollmorgen 2006 2007 2008 Kollmorgen All rights reserved Printed in the United States of America NOTICE Kollmorgen is a registered trademark of the Danaher Corporation Kollmorgen makes every attempt to ensure accuracy and reliability of the specifications in this publication Specifications are subject to change without notice Kollmorgen provides this information AS IS and disclaims all warranties express or implied including but not limited to implied warranties of merchantability and fitness for a particular purpose It is the responsibility of the product user to determine the suitability of this product for a specific application Safety Symbols Warnings alert users to potential physical danger or harm WARNING Failure to follow warning notices could result in personal injury or death Cautions direct attention to general precautions Personal AN injury and or equipment damage could result if precautions CAUTION are ignored Notes highlight information crit
19. e Excessive current fault foldback Depending on drive setup when excessive I t is detected either the peak output current limit is dropped to 67 of maximum or the drive faults Excessive motor current l t protection Invalid smart feedback device SFD shaft feedback signal Motor over temperature on SFD equipped motors Option card detected faults e g Aux Feedback interface faults 11 1 DRIVE FAULT 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 m Output stage is enabled and controlling power to the motor VN iani voltage applied Drive is not enabled not faulted Output stage is not enabled no power to the motor Slow Blinking Drive is blinking a fault code ONU a pause The number of blinks corresponds to the fault code as follows Blink C 6 5200 Base SynqNet Reference Manual M SM 200 01 D 104 Kollmorgen Fault Generation 4 2012 Diagnostics and Troubleshooting The following sequence occurs when the protection circuits generate a fault e more faults are detected by the control logic The fault source is latched only for latched faults The output stage is disabled The LED indicates the appropriate fault code For non latched faults when the fault condition is cleared the drive re enables automatically Latched faults are cleared by setting the Enable input to the disabl
20. 0 0 je Controler Synghet Made 1 Loop Gains General Info SunqMet Made 2 Synghet Made 3 5yngMet 4 SyngMet Made 5 Synghet Synghet Made 7 NOTE for SynqNet Although the S200 Tools software maintains communication with all properly connected 5200 drives drives on the SynqNet network only one SynqNet node will be displayed at a time under the Online display oynqNet Configuration 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 feedback is connected to J3 on the S200 Drive Select Option Card Feedback if the motor feedback is connected to J14 on the S200 Drive Feedback Settings Auxilary Feedback Type Incremental Quad B AuxFBDivisor 6782215 counts per mechanical rev Feedback Source Base Unit Feedback gt Motor Feedback Configuration The next step is to set the proper motor feedback configurations SFD If you are using SFD motor feedback no further configuration is needed SINCOS OR COMCODER If you are using SinCos or ComCoder as motor feedback use the equations below to determine the appropriate parameters for setup Kip Kip 2 PI 2000 motor line to line inductance Ex inductance 0 018 H Kip 2 PI 2000 0 018 Kip 226 V A 5200 Base SynqN
21. 0100 Maximum Regen Duty 10 10 10 15 15 Cycle 96 0360 0250 00150 0150 0100 5200 Base SynqNet Reference Manual M SM 200 01 D 4 Kollmorgen 4 2012 Specifications 240 VAC Input 20 90 Vdc Input E 520250 1520960 s2060 521200 5226 520830 520630 NA Bus Capacitance Energy Absorption joules 340 VDC Nominal BUS X owe ox 75 VDC BUS 4 000 uf 15 75 to 80 VDC delta Output Current Ripple Freq 20 20 16 16 16 31 2 31 2 fs kHz At 75 VDC CwwGcmem 9 0 w so _ _ Peak Output Current listed is for sine mode In six step mode the peak output currents are 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 mH I s dE 02 For intermediate ambient temperatures linearly derate between adjacent provided 0 30 C 40 C or 50 C ratings At higher ambient temperatures above 30 C the mounting surface temperature must be thermally conductive enough to limit the mounting temperature to less than 75 C Typically this is only an issue for the S20360 unit The other model s power dissipation is either too low to matter or they include integral fan cooling Single phase operation of the 520660 521260 52460 requires derating of continuous output power to avoid excessive ac line front end
22. Add clamp on ferrites to cables Adding clamp on ferrites to noisy cables can reduce emissions by absorbing RF energy before it is radiated e Use the appropriate line filter A line filter is required for CE applications more information on line filter selection can be found in D 10 e Add a balun to the motor power cable adding a balun in series with the V and W phases of the motor power cable can attenuate both conducted and radiated emissions e Ensure that cables shields have a good RF ground more information on this can be found in D 10 G 10 AC MAINS CONDUCTED EMISSIONS Line Filter To meet the CE conducted EMC requirements an external line filter in series with the AC mains is necessary It is the responsibility of the machine builder to choose filter s appropriate for the application Kollmorgen is willing to assist in this choice Often the decision is made to filter the machine as a whole instead of filtering the individual drives Mount the line filter as close as possible to the point where incoming power enters the machine cabinet Locate the drive s as close as possible to the line filter To provide maximum high frequency filtering remove any paint from between the filter the drive and the conductive surface ground plane to which they are bonded For maximum benefit separate input wiring to the line filter and output wiring from the line filter from each other During CE testing multiple line fil
23. CmdF0 1 518 93254 Hz CmdFO sets the break frequency in Hz for two cascaded single pole low pass filters on the hardware command input There are two ranges of values for CmdFO from 2915 to 24873 Hz cannot be set The lower range is the active range suggested for velocity control and the upper range is used to effectively turn the filter off for velocity control or for use with torque current control This parameter is particularly useful when CmdSrc selects the PWM input for the command source CmdFO should be less than the input PWM frequency divided by 10 and preferably divided by 50 or more See the Base Drive Torque Velocity Control Block Diagram for more information CmdGain Chart CmdGain sets the scale factor from the user input on the Command 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 analog voltage or a digital duty cycle and the servo loop could be Torque Current or velocity there are four combinations of units listed below See CmdSrc and OpMode for these settings See CmdOffset for adding an offset to the command Expressed as an equation Cmdln User Input CmdOffset CmdGain NOTE The Range of CmdGain is clipped by the value of CmdOffset The chart below gives CmdGain units and numerical range assuming that CmdOffset is 0 V 50 OpMode
24. Co NLY TWULNAN OVA 01 09 V1 ZH 9 LY NI 8 1 8 HO S e 021 0 OVA 021 02 21 NI 110 8 NVA 072 21 LNO WHO 9 JojsiseM 5 jeu1eyx3 2 INO ZH jJeuondo 110 Z ceres 7 NLY YOLOIN ZNOW ovd ee NM INOW OVa 3SVHd NLY dl p M d NERO TANISH gt 16 LdNISH 7 g z1nod C Ti zinoa dae L z ee gt INOD ia 2 FCLISIHND ME STIVH er a18VN3 was V Y Foo Kollmorgen 6 1 2 31 M SM 200 01 D 5200 Base SynqNet Reference Manual Kollmorgen 6 2 NOTE CAUTION 4 2012 Wiring the Drive J1 AC INPUT DRIVE POWER The 5200 AC input drives are capable of direct line operation All units are fully isolated and do not require external isolation transformers The inrush current on the connection to the line is internally limited to a safe level for the drive There are no voltage selection or ranging switches required to operate within the specified voltage input ranges The S200 series drives are functionally compatible with all standard forms of three phase AC lines e Grounded neutral WYE e
25. Description J5 2 X232 J5 Connector view J5 4 from front of drive J5 5 Mating Connector Information RJ12 RJ11 Phone Style Standard RJ12 RJ11 plug J5 1 J5 6 These terminals are not used or connected to the drive No Connection J5 2 RS 232 receiver input to the drive This terminal connects to RX232 the user s RS 232 transmitter output J5 3 J5 4 These terminals are the common ground connection for the IO RTN RS 232 serial port The ground from the user s RS 232 needs to connect to this terminal Cable shielding is also connected to this point J5 5 RS 232 Transmitter output from the drive This terminal TX232 connects to the user s RS 232 receiver input Do NOT use the serial connector cable when using an S200 SynqNet Series Drive SynqNet cables not a serial cable should be used for CAUTION communication between the drive and SynqNet motion controller If you connect to an S200 SynqNet Series Drive using a serial cable and select Serial instead of SynqNet as the Communications Mode in the S200Tools Communication Wizard the drive will appear configured in the interface but the SynqNet Options tab will not appear under the Drive Setup options 200 Base SynqNet Reference Manual M SM 200 01 D 53 Kollmorgen 4 2012 Wiring the Drive 6 8 1 1 STATUS LED J5 1 SERIAL 5 The Status LED is located below the Serial Port connector located at J5 Please see the Drive Fault Codes section for descriptions
26. NI gO pauio 22754 dD NIN O I INI 2253 db NE COPE LT DDA 2 SNId ATUN sugg RIVEEATISZSQ HOLOSNNOO OI AL O3 AL epou uouuoo ndur e 79 7 eanqdep ZZv Su O EM a INO I3SHS 338 E addy NOISIANN WAS 8 L 9 S 59 M SM 200 01 D 200 Base SynqNet Reference Manual Kollmorgen 6 13 6 13 1 4 2012 J14 AUX FB CONNECTOR J14 is a Standard D Sub 15 pin Female connector CP J14 Connector view from front of drive Pin Description J14 1 AUX CU J14 4 5V I O J14 10 5V J14 14 AUX B J14 15 AUX B Mating Connector Information 15 Pin Female High Density D Sub NorComp 180 015 102 001 Male D Sub connector solder NorComp 978 009 020 121 Metalized plastic back shell kit Refer to www norcomp net Auxiliary Feedback Device Port X Motor Feedback Options ED EE DF EG EM EH EN X 1 EnDat 2 1 Sin Cos Encoder Single turn absolute AKM Motor Feedback Option DA or other EnDat 2 1 EnDat 2 1 Sin Cos Encoder Multi turn Absolute AKM Motor Feedback Option DB or other EnDat 2 1 rotary and linear including absolute types Run
27. The file has a one line header that identifies the following node number e drive number e drive identification e firmware version number The drive configuration file must match the map file the firmware version of the drive being addressed and the location of that drive on the SynqNet network Here is an example of the header line i sqNode 5 drive 0 Kollmorgen 5200 This header shows that the file contains data for the S200 SynqNet drive that is located on Node 3 The header also specifies that the drive has firmware version 2 0a If the drive does not have this version an error message will be displayed The rest of the file consists of parameter command strings followed by their values For an example see the Sample Drive Map File The easiest way to create a template for the drive configuration file is to read a file of data from a drive It is important that the map file exists and is valid 200 Base SynqNet Reference Manual M SM 200 01 D 101 Kollmorgen 4 2012 Accessories Connector Kits and Cables 10 ACCESSORIES CONNECTOR KITS AND CABLES 5200 drives are not shipped with a connector kit or serial communication cable Customers are responsible for ordering the proper connector kit s and other accessories necessary for drive setup For assistance in proper selection please contact a sales representative 10 1 ACCESSORIES Part Number P7S2 232 9D RS232 serial communication cable DB 9 to Mod Ja
28. ULUUUUUUUUODOGCUUUVSU HAUL 40 d i FRONT VIEW RIGHT SIDE VIEW REAR VIEW DIMENSIONS ARE IN INCHES MM a 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 for the 520660 VTS Enclosure and mounting dimensions for Option card equipped units are the same 5200 Base SynqNet Reference Manual M SM 200 01 D 24 Kollmorgen 4 2012 Mounting the Drive 5 2 2 Base AC Drive 521260 5 ob DETAIL A 150 5 5 93 SCALE 1 1 p 4 6 0 18 2 Places _ 04 6 00 181 2 Places am 31 7 1 25 4 8 0 19 6 67 8 7 04 4 6 0 18 FRONT VIEW RIGHT SIDE VIEW REAR VIEW s Dimensions are mm inches Note Enclosure and mounting dimensions for Option card equipped units are the same 5200 Base SynqNet Reference Manual M SM 200 01 D 25 Kollmorgen 9 2 9
29. Vertical A ounting Height H For Drive Side Clearance Mounting E use M4 or 8 Hardware pa LS Bottom Drive to Drive Mounting Clearance J D Side Clearance E Mounting Dimensions Front View See the preceding table for mounting dimensions 5200 Base SynqNet Reference Manual M SM 200 01 D 23 Kollmorgen 4 2012 Mounting the Drive 5 2 MECHANICAL OUTLINE DRAWINGS 5 2 1 Base AC Drive 520260 520360 S20660 VTS gt CD e C3 Cy e CD gt AT 0 18 4 57 RECOMMENDED MOUNTING 4 ues E HARDWARE 8 OR M4 04 57 TOP VIEW 1 01 25 56 216 __ 0 18 54 75 445 6 EL 7 18402011 5 90 6 55 75 28 166 37 5 2 z JH
30. lowering the temperature of the capacitor in the hottest drive 200 Base SynqNet Reference Manual M SM 200 01 D 115 Kollmorgen A 4 4 1 4 2 4 3 4 4 4 2012 Appendix A DC Power Supply Design Bus ENERGY amp POWER NUMERICAL EXAMPLES The energy flows in the drive bus are In Motoring mechanical energy Motor losses motor accelerates e Out Regenerated mechanical energy Motor losses motor decelerates Out Regenerated motor inductive energy disable or fault Min External Bus Capacitance Inductance in motors mated to 52005 can be as high as 5 mH line to line The inductive energy stored in a 5 mH motor at 18 ARMS is calculated as E winding 0 75 x Inductance line to line x lays X 5 0 75 x 0 005 henry x 18 RMS X 18 RMS 1 2 joules The bus capacitor needed to absorb the regenerated energy Erecen is sized using the general rule that the energy stored in the capacitor be a minimum of 5 Erecen This limits the voltage increase on the bus due to regeneration to 10 of the DC value Using this general rule to find the minimum bus capacitance for the motor in the above example for simplicity ignore that a fraction of regenerated inductive energy is dissipated in the motor E bus cap 5x 1 2 joules 6 joules E bus cap 1 2 Cbus x DC voltage x DC voltage Assume the bus DC voltage is 75 volts Cbus 2 x Ebus cap 75 V x 75 V 2 x 6 joules 75 V x 75 V 2 133 UF The
31. 1 input count per step input or per input quadrature count depending on the position command source selected by PosCmdsSrc See Also Gearln and OpMode HSInp1Pol Invert or Normal This parameter selects the polarity of the HSInp1 When this parameter is set the input to the FPGA is inverted before it is used by the logic This parameter affects the sense of the HSInp1 I O input 0 Normal 1 Invert 2 23 16 6 1 470 Hz I2TO sets the break frequency in Hz for the I2T filter used to protect the motor coils from transient thermal overload caused by very high peak currents compared to the motor s continuous current capability I2 TfO should be set based on the motor coil s thermal constant However typical motor data sheets only give the thermal time constant for the entire motor coil back iron housing and no data for the coil s time constant Since the coil thermal time constant is much faster than the entire motor time constant I2TfO is typically set to between 4 and 10 times faster than the motor s bulk thermal time constant published in the data sheet Given a desired time constant set the I2TFO value to I2TFO 1 2rr Motor Thermal Time Constant in sec DTTrip 0 to 1 19 DIpeak I2TTrip sets the fault trip level for the I2T fault used to protect the motor coils from transient thermal overload caused by very high peak currents compared to the motor s continuous current capability It is typically set equal to the
32. 20 to 90 BUS Undervoltage Fault 17 VDC nominal BUS Overvoltage Fault 91 VDC nominal 3 3 3 Control Power On Delay 3 4 MOTOR CURRENT CONTROL Motor Phase Current Waveform In Sine or six step mode output torque Motor Pure sinusoidal or six step depending on feedback device Motor Shaft Torque Ignoring motor magnetic saturation Peak hot motor winding Kr N m ARMS Drive Multiply Kr by 1 06 for cold motor winding ARMS or PMA motors Instantaneous Kr N m ARMS IFB ARMS 5200 Base SynqNet Reference Manual M SM 200 01 D Specifications Kollmorgen 4 2012 Specifications 3 4 1 Current Loop Bandwidth AC input Dive He SFD Auto Set kHz AC amp DC Bandwidth Variation For Fixed Motor L 6 regulated independent of bus voltage AmuDwe DC input ve He Jo _ 3 4 2 Offset Current 520350 520360 0 296 25 mA 0 5 64 mA 520660 0 296 50 mA 0 5 128 mA Ssmus 02 6 9 20 02 5 _ sms 02 _ _ 3 5 VELOCITY LOOP Maximum Stable Bandwidth Hz with SFD Range rpm 0 to 18 300 Command Resolution lt 0 001 rpm analog 0 558 rpm serial 3 5 1 Velocity Loop Compensation KVP Range Depends on 0 00044 to 0 106 Ipeak 1 rad sec KVP Resolution 5 KVI Range Hz 0 or 0 0 0238 to 753 9
33. 48 ARMS peak Their compact footprint ranges from 1 1 in 28 7 mm wide and 6 0 in 152 4 mm tall to 3 8 in 94 6 mm wide and 6 39 in 213 mm tall with depths ranging from 3 9 in 100 8 mm to 7 57 in 192 4 mm allow them to fit into tight spaces They are UL 508C recognized CE marked and conform to EN50178 and EN61800 3 standards The original 5200 family included lead in the soldering Units manufactured after November 2007 are fully compliant with the EU RoHS environmental directive The RoHS units also all have control logic version 3 0A or newer See parameter VerLW Separate Keep Alive control power input allows communications and diagnostics to continue during emergency stop conditions with no power to the motor It also allows rapid recovery from emergency stops Optically isolated inputs and outputs positive locking connectors and full fault protection promise long machine life and immunity to accidental damage The single motor power or feedback cable option simplifies connectivity All connectors and LED status indicators are easily accessible from the front of the drive MANUAL SCOPE This manual documents the 5200 base drives and the 5200 drives with the SynqNet motion bus option card installed See the separate S200 Position Node User s Guide and 5200 Position Node Installation Guide part numbers M SS S2B 11 55 52 11 respectively for 5200 drives equipped with the Position Node option card 5200 Base SynqNet Re
34. 5200 configuration and adjustments 5200 Tools configuration software changes 5200 settings 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 Download Drive button sends the values to the drive s temporary memory Clicking the Download NV button sends the values to the drive s NV permanent memory In the latter case the drive s control power must be cycled to get the drive to load the values into active use When downloading or uploading to the 5200 from S200Tools software all drive settings are copied It is not possible to upload or download only one parameter or variable In the online branch of S200Tools the Drive Setup screen of S200Tools operates differently than in offline Under the Drive Setup screen any change to a parameter is automatically communicated to the drive s temporary memory Once all the parameters are set you should use the File menu to do a file save on the PC to save the drive configuration S2C If a drive is connected you can click the Download Drive or the Download NV buttons to send the parameter set into the drive In the online section of S200Tools the Status screen allows a custom selection of NV Parameters and variables to be selected This screen is useful for interactively making setup changes and to view drive status When changes are made to an NV Parameter or a
35. 6 8 2 Serial Interface Specification 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 5 232 Wiring Cable wiring diagrams for connecting to either 9 or 25 pin serial ports of most computers are also shown Pinouts vary among computer manufacturers Check the hardware NOTE reference manual for your machine before wiring To PC 9 Pin Female To J5 on Drive To J5 on Drive To PC 25 Pin Female 200 Base SynqNet Reference Manual M SM 200 01 D 54 Kollmorgen 4 2012 Wiring the Drive 6 9 SYNQNET OPTION CARD WIRING Aux cU f AUX CV CLOCK AUX 3 T 4 RTN C O 5 FCOM Z DATA 6 O J12 1 CONN_RD1 FCOM Z DATA gt NE CONN RD1 AUX PTC 8 C C 4 CONN TD1 I O RTN PTC S CONN 1 5V C C C E VO RTN 10 15 o AUX A Se AUX D CONN TTERMI AUX B AUX B OINP COM OINP1 HOME IN OINP2 POSLIMIT IN OINP3 NEGLIMIT IN OINP4 NODE DISABLE 1 CONN TDO0 GP RS422 IN3 bd CONN 0 GP RS422 IN3 E c CONN_RDO OOUT1 LLI TTERMO OOUT1 2 TTERMO VO T RTN a CONN RTERMO GP RS422 INO RTERMO GP RS422 INO GP RS422 IN1 GP RS422
36. 9 ARMS Base Unit S20630 VTS S200 90 VDC 6 18 ARMS Base Unit 52 30 5 5 One of the above drives with optional SynqNet with RJ 45 connectors S2xx30 SDS One of the above drives with optional SynqNet with Micro D connectors 5200 Base SynqNet Reference Manual M SM 200 01 D 2 Kollmorgen 2 1 WARNING 2 2 4 2012 Before You Begin BEFORE YOU BEGIN SAFETY READ these instructions before connecting power Damage can result from MISWIRING at the power terminals DANGEROUS voltages are present on power input and motor output terminals Only qualified personnel are permitted to transport assemble 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 appropriate qualifications for their jobs Read all available documentation before assembling and using Incorrect handling of products described in this manual can result in injury and damage to people and or machinery Strictly adhere to the technical information regarding installation requirements Keep all covers and cabinet doors shut during operation Be aware that during operation the product has electrically charged components and hot surfaces Control and power cables can carry a high voltage even when the motor is not rotating e Never disconnect or connect the product while the power source is energized
37. Aux Feedback NV Setup Note When Aux Feeback commutates the AuxF BDivisor motor AuxFBDivisor must be set Motor Magnetic Pitch Encoder Pitch A 20 micron linear encoder and a 32 mm pitch motor requires AuxFBDivisor 32 mm 20 micron 1600 XXXX Variable Parameter 200 Base SynqNet Reference Manual M SM 200 01 D 61 Kollmorgen 4 2012 Basic Configuration 7 BASIC CONFIGURATION When connected to motor equipped with the Smart Feedback Device SFD the 5200 drive will automatically configure most of its operating parameters For many applications requiring an analog torque or analog velocity block no additional set up beyond the setting of the two switches is required to fully commission the drive For such cases connection to a computer to commission the drive is not required The quick setup is useful for simplifying machine field upgrades repairs and for reducing spare part inventory See Configuring with SFD Feedback The drive can also be configured for a simple analog Torque Current control with 6 Step Hall Feedback type by simply setting the switches See Configuring Current Mode with 6 Step Hall Feedback The 5200 drive has many advanced capabilities to aid machine design through its diagnostic and measurement capabilities accessed through the Windows compatible S200Tools GUI utility The drive also has many advanced motion capabilities that can be set up through the
38. BUS 3 3 ADC at 520330 Continuous Peak 160 W 3 3 ADC at 250 W 3 sec 10 ADC at 10 ADC at 750 W 480 W 6 7 ADC at 520630 Continuous Peak 320 W 6 7 ADC at 500W 3 sec 20 ADC at 20 ADC at 3 000 W BUS Supply Current 48 VDC BUS 75 VDC BUS 20330 Continuous Peak 3 3 ADC at 250 W 3 sec 10 ADC at 10 ADC at 750 W 480 W 6 7 ADC at 520630 Continuous Peak 320 W 6 7 ADC at 500W 3 sec 20 ADC at 20 ADC at 3 000 W 960 W 5200 Base SynqNet Reference Manual M SM 200 01 D Refer to the DC Power Supply Requirements section for detailed requirements Wiring the Drive 37 Kollmorgen 4 2012 Wiring the Drive Bus Supply The BUS Supply should have the following characteristics Characteristics e Must provide safety isolation from the power line e be regulated or unregulated e Bus Supply Return is connected to the Control Supply Return and RTN in the drive Typical BUS Supply e Unregulated Isolating step down transformer with secondary rectified into capacitive filter e BUS Supply Return is connected to earth ground Wiring from BUS 10 ft maximum Supply to Drive 16 AWG minimum Twisted pair Daisy chaining of multiple drive OK No contactor or switching in the BUS wiring Control Voltage J1 1 to J1 2 Control Supply Type Isolating Unregulated or Regulated Common GND with bus supply and 20 watt supply or 1 amp short circuit Control Supply Wiring Wire control J1 1 to bus J1 3 or
39. Base Unit drives only support SFD motor feedback If you are using SFD motor feedback no further configuration is needed If you want to use SinCos or ComCoder as motor feedback you must use the AUX FB J14 connector which is not available on Base Unit drives oave Options There are three types of Save options It is important to know how to use each type to ensure that configurations 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 power up cycle Download Drive This button will save the parameter settings displayed in 5200 Tools to the selected drive node However unlike Download NV these parameters are only saved to the drive s temporary RAM and will not be recalled at a power up cycle It is recommended that you use the Download Drive button when testing settings Once you are satisfied with the settings click the Download NV button to permanently save the settings to the drive e Save Save As You can also save the settings of a drive as a configuration file S2C Remember saving 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 configuration file in the Offline mode and clicking the Download NV Drive buttons once the proper dri
40. Continuous Current to 40 to 50 specified 50 C Rating Pollution Degree 500 5000 fec 3 9 SMART FEEDBACK DEVICE SFD 3 9 1 Position Signal Resolution Rev arc min 24 bits 0 0013 Repeatability arc min RMS lt 2 Rev 0 04 No Filtering RMS 2 Rev RMS 0 16 arc min 150 Hz Single Pole Filtered RMS lt 2 Rev RMS 0 08 arc min 10 Hz Single Pole Filtered RMS lt 2 Rev RMS 0 02 arc min lt 2 Rev C 0 08 arc min C Communications Update Period us 5200 Base SynqNet Reference Manual M SM 200 01 D 11 Kollmorgen 4 2012 Specifications 3 9 2 Velocity Signal Noise O T lt 0 6 006 0 01 0 05 25 2 3 4 5 6 7 at 1200 rpm 3 9 3 Encoder Output Signals Selectable By Rotary Switch S1 500 512 1000 1024 2000 2048 4096 5000 8192 10000 0 66635 integer 25 2200 4600 18300 2 Quadrature Pulses 3 9 4 General SFD Specifications 3 dB Bandwidth Hz gt 2000 45 Phase Lag Hz gt 1000 Max Tracking Rate rpm gt 48600 Max Recommended Rate rpm 25000 Max Tracking Acceleration rpm sec 16x10 Maximum Feedback Cable Length 50 m 164 ft 5200 Base SynqNet Reference Manual M SM 200 01 D 12 Kollmorgen 4 4 1 4 1 1 4 1 2 4 1 2 1 4 2012 Quick Start Guides QUICK START GUIDES There are two types of Quick Start Guides depending on the Communication Mode of the drive If you are using S2
41. Default is None 521260 522460 150 VDC BUS BusOV 407 VDC 5 Fault BUS Regen Voltage 0 974 BusOV 397 VDC Nominal 3 2 4 Motor Power Inrush Current amp Fusing 521260 Worse Case Inrush Peak 140 A 0 140A0 p 240A 0 p None soft Current at 240 VAC AE CNN Recommended Type 250 VAC Time Delay Fuse 240 VAC 3 Phase Bussmann Bussmann Bussmann Bussmann Bussmann ARMS FRN R 5 FRN R 8 FRN R 15 JKS 20 JKS 30 240 VAC 1 Phase Bussmann Bussmann Bussmann Bussmann Bussmann ARMS FRN R 5 FRN R 10 FRN R 20 JKS 30 JKS 30 120 VAC 1 Phase Bussmann Bussmann Bussmann NA NA ARMS FRN R 5 FRN R 10 FRN R 20 5200 Base SynqNet Reference Manual M SM 200 01 D 6 Kollmorgen 4 2012 3 2 9 Control Power Inrush Current amp Fusing Worse Case Inrush Peak Current at 240 VAC 10 0 Fusing Control Inputs Bussmann MDA 1 2 Nominal Power draw Base 7 W With Option Card 10 W 3 2 6 Power On Delay Control Power Applied to Drive Operational 1 25 seconds Bus Power To Full Bus On Soft Start Units 3 3 DC INPUT DRIVES CONTROL AND POWER 221 DC Control Power Supply Control Voltage Range VDC 10 to 90 J1 1 to 41 2 Control Input Power watts 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 J1 2
42. Drives BUS CTRL GND Motor Phase W Motor Phase V Motor Phase U Mating Connector Information ocrew Terminal Connector 12 24 AWG Wire Range Phoenix MSTB2 5 4 STF 5 08 BK OR opring Cage Clamp Connector 12 24 AWG Wire Range Phoenix 2 5 4 SFT 5 08 BK Crimp Connector Crimp Shell 14 20 AWG Wire Range Phoenix MSTBC 2 5 A 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 TB1 1 On 5200 AC Input Drives this point is connected to PE Chassis Ground Motor Case On 5200 DC Input Drives this point is connected to Ground BUS CTRL GND In either case this termination provides a convenient point for the motor ground connection and motor power wire shield Local electrical code may require using the Earth Ground Chassis stud for this function J2 2 3 4 These three terminals provide the 3 phase power or TB1 2 3 4 output from the drive to the motor Motor Phases Observe motor polarity connect phase U on the drive to phase U the motor etc For nonstandard motor drive combinations see Appendix D NOTE Process To Set Up Non Kollmorgen Motors or consult the factory for proper phase orientation 5200 Base SynqNet Reference Manual M SM 200 01 D 40 Kollmorgen Wiring the Drive 6 6 5200 Base SynqNet Reference Manual 4 2012 J3 FEEDBACK CONNECTOR J3 is a 6 pin pluggabl
43. J4 5 Input Current mA 0 65 6 7 General Purpose Outputs DOUT1 DOUT2 J4 6 7 and J4 8 9 Maximum Output Voltage volts 0 30 to 30 0 Clamp Voltage volts 33 V 6 1 0 V at 10 mA 1 2 V at 50 mA Quadrature Outputs Quadrature Output CHA J4 19 20 CH B J4 21 22 CHZ J4 17 18 Type RS 422 RS 485 Output Voltage volts 4 Output On voltage volts 1 2 Quadrature Count Hysteresis corresponding to 1 8 Encoder Line Count 5200 Base SynqNet Reference Manual M SM 200 01 D Specifications 10 Kollmorgen 4 2012 Specifications 3 7 MECHANICAL 5200 AC INPUT DRIVES 5200 DC INPUT DRIVES Base or w Option Card Base Drive W Option Card 520260 520630 S20630 XX 520360 240000 921200 E 520330 520330 152 4 6 00 in Drive Dimensions 175 mm 177 mm 213mm 54 8 64 0 mm 76 mm 96 4 1 131 6mm 152mm 192 mm 28 7 mm 48 3 mm 1 13 in 1 90 in 100 8 mm 3 97 in Mounting 4 8 M4or 8 M4or 8 M4or 8 or 8 M4 or 8 0 77kg 0 82kg 1 33kg 2 56 kg 1 69 Ib 1 80 Ib 2 93 Ib 5 64 Ib Drive Weight w option w option w option w option xm is 0 84 kg 0 89 kg 1 40 kg 2 63 kg 1 86 Ib 1 97 Ib 3 09 Ib 5 80 Ib 1 Depth measurement is for drive only Add approximately 50 8 mm 2 in to accommodate mating connectors and wire bend radius 3 8 ENVIRONMENTAL Operating Temperature Derated Linearly Derate
44. NOTE Emulated Encoder Outputs are not available when the PosSrcCmd is set to AQuadB EninhibitCW E EnInhibitCCW Enables the hardware over travel limits 200 Base SynqNet Reference Manual M SM 200 01 D 72 Kollmorgen 4 2012 Basic Configuration 7 5 REVERSING MOTION DIRECTION In order to reverse the motion direction of the drive the command to the drive needs to be reversed In addition the emulated encoder output polarity needs to be reversed if an external controller is using the emulated encoder outputs for feedback To reverse the command to the drive in Torque or Velocity Modes either change the wiring or change the parameters CmdSrc Setting Wiring Method Parameter Method Analog Command Swap the analog Change the sign of CmdGain command connections J4 24 and J4 25 Command Variable Change the sign of Command PWM Input Swap the PWM Change the sign of CmdGain connections J4 10 and J4 11 To reverse the command to the drive in Position Modes PosCmdSrc Setting Wiring Method PosCmdSrc AQuadB Reverse the Ch A input to the drive by swapping J4 19 and J4 20 5 Step Dir The Direction command J4 5 to the drive needs to be inverted by the user s controller To reverse the Emulated Encoder Outputs from the drive e Reverse the Emulated Encoder Outputs if the external control loops use the emulated encoder outputs for feedback Swap the CHA CHA emulated encoder outputs J4 19 a
45. Save As You can also save the settings of a drive as a configuration file S2C Remember saving 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 configuration file in the Offline mode and clicking the Download NV Drive buttons once the proper drive is selected in the Online mode It is recommended that you save a configuration file for each setup 5200 Base SynqNet Reference Manual M SM 200 01 D 21 Kollmorgen 4 2012 Mounting the Drive 5 MOUNTING THE DRIVE The S200 drives are designed for operation in a cabinet using the following installation instructions e Mount the drives vertically inside a cabinet on flat solid electrically conductive mounting surface that is connected to PE Protective Earth Ground and capable of supporting the weight of the unit e Provide a good connection to PE Remove the paint on the mounting surface over an area extending at least 12 mm 0 5 in from the mounting bolts to achieve good electrical connection over a large area between the drive and grounded mounting surface e Ensure that the environment within the cabinet meets the requirements listed in the Specifications 5 1 MOUNTING DIMENSIONS AC INPUT DRIVES AC1 DC Base w AC2 Drive Option 520330 520330 520260 VTS X 520360 20660 21260 522460 20630 20630 VTS Drive Dimensions 1
46. The following describes the different values for this parameter 0 Normal 1 Invert Dinp2Pol Invert or Normal This parameter selects the polarity of the Dinp2 When this parameter is set the input to the FPGA is inverted before it is used by the logic This parameter affects the sense of the InhibitCW input The following describes the different values for this parameter 0 Normal 1 Invert Dinp3Pol Invert or Normal This parameter selects the polarity of the Dinp3 When this parameter is set the input to 200 Base SynqNet Reference Manual M SM 200 01 D 83 Kollmorgen 4 2012 Advanced Configuration the FPGA is inverted before it is used by the logic This parameter affects the sense of the InhibitCCW I O input The following describes the different values for this parameter 0 Normal 1 Invert Dinp4Pol Invert or Normal This parameter selects the polarity of the Dinp4 When this parameter is set the input to the FPGA is inverted before it is used by the logic This parameter affects the sense of the MSInp1 I O input The following describes the different values for this parameter 0 Normal 1 Invert DMIMap DM2Map See Chart Selects the variable sent to DACMon1 DACMon analog output pins on Command 1 0 connector J4 The DACMon1 2 output pins have a 2 0 V range centered around a 2 5 V bias that is the output varies from 0 5 to 4 5 V and is 2 5 V when the selected DAC signal is zero These DAC outputs are n
47. Torque Current Mode Velocity Mode default Setup DIP switch S2 position 1 SetupS2 1 0 Velocity Position Mode Note With SynqNet OpMode is written to by the SynqNet master over the network each network update period SynqNet master versions that support the 5200 can work in Torque Current mode Newer SynqNet master versions can optionally be set to run the drive in Velocity Mode PosCmdSrc Step Dir AQuadB Not supported over SynqNet PosCmdsSrc selects the source of the position command It selects between using Command I O connector J4 optically isolated inputs for Step Dir and the emulated encoder port used as an A quad B differential input J4 10 11 and J4 5 for Step Dir and J4 19 20 and J4 21 22 for A quad B inputs See the Base Drive Torque Velocity Control Block Diagram for more information 0 AQuadB 1 Step Dir default PosErrorMax 0 to 255 996 Rev Not supported over SynqNet PosErrorMax sets the following error limit When commanded position PosFB gt PosErrorMax 200 Base SynqNet Reference Manual M SM 200 01 D 88 Kollmorgen 4 2012 Advanced Configuration The drive will fault with a following error fault The following error fault and thus 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 following parameters KVP Velocity oop proportional ga
48. Variable in this screen the value in the 5200 Tools PC memory is automatically copied to the 5200 RAM memory for that particular parameter Clicking NV Save on the Status screen uploads the current state of the drive temporary RAM and downloads all these settings to the 5200 non volatile memory This step should be done before power cycling the drive control power and losing the drive setup changes 200 Base SynqNet Reference Manual M SM 200 01 D 79 Kollmorgen 4 2012 Advanced Configuration 8 5 2 Model Dependent Scale Factors The Model Dependent Scale Factors are used to calculate limits for some of the drive parameters The following table lists the model dependent scale factors Model Dependent Scale Factors Model VBusScale Tum 520260 240 4 5 5 520660 240 VAC 18 ARMS peak S20630 90 VDC 18 ARMS peak 9200 1 MOVACSARMSpe 200 Base SynqNet Reference Manual M SM 200 01 D 80 Kollmorgen 9 5 3 4 2012 Advanced Configuration Read Write NV Parameters 1 518 96382 Hz ARF1 1 518 96382 Hz ARFO and ARF1 set the break frequency in Hz for the two single pole anti resonance low pass filters in the forward path of the velocity loop They are used to help accommodate mechanical resonance in the system introduced by the load connected to the motor See the Base Drive Torque Velocity Control Block Diagram for more information AuxFBDivisor 1 to 2 147 483 647 Option C
49. When finished setting the motor parameters and any other parameters save the parameters to NV Memory by clicking the NV Save button The following drive setup parameters controlled by SelSFDParam Current loop poportonalgain 2 0 Speed of response for motor transient thermal protection l2TTrip Fault trip level for motor transient thermal protection LA Clamps drive maximum lout based on motor Ipeak 200 Base SynqNet Reference Manual M SM 200 01 D 69 Kollmorgen 7 4 2 4 2012 Basic Configuration SFD Torque Current Mode The S200 can drive a brushless motor in Torque Current Mode using SFD Feedback The drive can be configured either with the S200Tools over the serial port or configured using the 51 and S2 switches Configuring the drive with the S200Tools utility provides increased flexibility in setting parameters that are not available through the setup switches When using the S200Tools utility the configuration parameters should be saved to non volatile memory click the NV Save button to allow the configuration to be recalled on power up To configure the drive for Current Mode with SFD feedback set the following parameters CommMode SetupS2 2 Default value with switch S2 2 set to the down position labeled S on the drive or SFD 0 Degrees for AKM motor series check with your sales representative for the correct commutation offset angle for other motor series OpMode SetupS
50. Wire control J1 1 to separate supply to preserve status and fault information 10 VDC to 30 VDC supply can be shared by Control and Control Supply 20 to 110 mA at 75 VDC Current 60 to 330 mA at 24 VDC 125 to 660 mA at 12 VDC 10 VDC to 90 VDC 6 4 2 Bus Voltage Bus voltage outside the operating range 20 to 90 V causes an undervoltage or overvoltage fault Undervoltage and overvoltage faults are self cleared when the fault conditions are cleared Do Not allow the Bus Voltage to exceed 90 VDC as it can damage the drive NOTE Target design center voltage for unregulated supply is 70 to 75 VDC This provides 15 to 20 VDC margin for line tolerance transformer regulation and regen pump up Design center voltage for a regulated supply can be up to 80 VDC 6 4 3 Control Voltage The control voltage range for normal operation is 10 VDC to 90 VDC The control voltage can either be wired to the bus voltage so one supply can power the drive or from a separate supply Separately powering the control from the bus allows the bus to be powered down for safety while drive status and fault information remain available NOTE Control and I O can share a single 10 VDC to 30 VDC power supply Do NOT allow the Control Voltage to exceed 90 VDC as it NOTE can damage the drive 5200 Base SynqNet Reference Manual M SM 200 01 D 38 Kollmorgen 6 4 4 amp NOTE NOTE 6 4 5 6 4 6 4 2012 Wiring t
51. XX X CP 102ACN XX X CP 102AAAN XX X CC D01CO2N XX X CC D01AO2N XX X 200 Base SynqNet Reference Manual RS232 serial communication cable DB9 to Mod Jack 6 feet Feedback Cable value series Euro connector at the motor end to IEEE1394 connector at the drive end for Smart Feedback Device support Power Cable value series Molex connector at the motor end to S200 crimp pin pluggable connector at the drive end Power Cable value series Euro connector at the motor end to S200 crimp pin pluggable connector at the drive end Composite Cable value series Single Molex connector at the motor end to IEEE1394 connector and 5200 crimp pin pluggable connector at the drive end for Smart Feedback Device and power support in the single cable Composite Cable value series Euro style connector for power and feedback at the motor end to IEEE1394 connector and S200 crimp pin pluggable connector at the drive end for Smart Feedback Device and power support in a single cable Only available on AKM3 and AKM4 series motors M SM 200 01 D 103 Kollmorgen 4 2012 Diagnostics and Troubleshooting 11 DIAGNOSTICS AND TROUBLESHOOTING The 5200 drive incorporates e Output motor short circuit protection line to line line to neutral and line to PE e Internal monitoring of the power stage heat sink temperature for drive over temperature e Bus over voltage and under voltage detection e Control under voltage detection
52. be used for very high speed registration or probing functions 200 Base SynqNet Reference Manual M SM 200 01 D 58 ive the Dr iring 4 2012 Kollmorgen J13 Discrete Connection Schematic 6 12 1 0 T LOOZ LI ZI 8 L 9 S I 105050 SOT a T 1 5 ASIMYAHLO 5 56 1 MvV I SWHO HNV SANTIYA SHNOLSISSHN ANH SNIMVNG 8215 01 SavuvaONOIN NI NV SAATVA SHOLIOVdVO STI6NI 849 5 OILVWSHOS 404 5 NOILWZIWOLSOD 445 SLINDYID O I NOILdO 0055 5 m TXHO NON 08 6 371425 L88T0 VW peow OTT uotstatq af OIJIINSIOS OI4IOVd c 5 NI HIHVSIG dd00LV Avo 9v2 093 6 8 psa IHVSIG SION oT L NV 9v NI LIWITOSN 594 LISIHNI 440047 49977 9 T92 8 E Xe DEN t ZT S M ssa WP 9F 79
53. cable connecting J2 1 or TB1 1 to the motor case accomplishes this AN 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 CAUTION m c gt CAUTION gt CAUTION AN CAUTION AN CAUTION 1 Emergency Stop 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 The motor will coast under this condition with no braking torque 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 Kollmorgen motors is not intended to stop a spinning motor t is designed to prevent a stopped motor from rotating due to an applied torque 2 Avoid Unexpected Motion Always remove power from J1 or TB1 J1 and wait 5 m
54. capacitor closer to the drive or b Twist the bus and ground wires between the drive and supply or c Add extra capacitance 470 uf or more near the drive bus terminals 12 Recommended External Bus Capacitors Aluminum electrolytic computer grade screw top cans are available with panel mount hardware The voltage rating should exceed the maximum bus voltage Choose a cap with a 100 V rating for operation at 75 V bus nominal The important capacitor 200 Base SynqNet Reference Manual M SM 200 01 D 114 Kollmorgen A 2 NOTE A 2 1 A 3 NOTE 4 2012 Appendix A DC Power Supply Design parameter is capacitance energy storage so an 85 C general purpose type such as are listed below is acceptable Panasonic G AA series 1 375 x 4 125 8 200 uf 100 V EEGAA2A822CKE 2 x4 125 22 000 uf 100 V EEGAA2A223FKE 3 x 4 125 47 000 uf 100 V EEGAA2A473HKE Cornell Dubilier DCMC series 1 375 x 4 125 8 600 uf 100 V DCMC862U100AC2B 2 4 125 20 000 uf 100 V DCMC203U100BC2B 3 x 4 125 49 000 yf 100 V DCMC493U100DC2B United Chemicon U36D series 1 375 x 4 625 8 200 uf 100 V U36D100LG822M35X117HP 2 4 625 18 000 yf 100 V U36D100LG183M51X117HP 3 x 4 625 47 000 uf 100 V U36D100LG473M76X117HP Two POWER SUPPLY OPERATION Powering the drive control power separately from the bus power has the advantage that fault and status information is preserved when bus power is down for safety Wire the control supply positive terminal to J1 1 CTR
55. connector and SWEnable must be active for power to flow to the motor Base units have SWEnable active at power up This variable is provided for convenience when working with a PC set utility 0 Disables drive 1 Enable set by state of hardware enable input default VBus 0 to 523 volts AC Input Drives 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 instantaneous sample of the shaft velocity feedback It has a resolution of 0 5588 rpm When measuring speed use Velocity for least noise and maximum accuracy Velocity 18 310 rpm to 18 310 rpm This variable reads back a filtered version of the shaft velocity feedback It has the same units as VelFB but it is much more precise for careful measurements of shaft speed because the filtering greatly lowers noise To implement the filtered velocity value the drive subtracts two consecutive PosFB values sampled at a 26 21 mSec sample period which corresponds to a 38 15 Hz sample rate This filter is equivalent to adding 512 consecutive samples of VelFB and dividing by 512 VerLW 0 0a to 255 9z VerLW gives the version number of the drives logicware as three integer bytes This manual documents VerLW 3 0A and newer 200 Base SynqNet Reference Manual M SM 200 01 D 94 Kollmorgen 4 2012 SynqNet Configuration 9 SYNQNET CONFIGURATI
56. currents See Manual Appendix for voltage loss vs cable length Also make sure that the cable amperage capacity exceeds the motor s continuous capability AWG 18 7 Arms AWG 14 15 Arms AWG 12 20 Arms AWG 10 30 Arms Total drive dissipation power stage dissipation control power Control power adder is Base unit only 7W Base plus option card 10W For 120 Vac voltage doubled operation of 20250 520350 units see Appendix D for power specifications 5200 Base SynqNet Reference Manual M SM 200 01 D 5 Kollmorgen 4 2012 Specifications 3 2 AC INPUT DRIVES CONTROL AND POWER 3 2 1 AC Control Power Supply Input Voltage Range RMS 85 VAC to 265 VAC 1 phase 47 to 410 Hz Or 120 VDC to 375 VDC Ride Through Time for AC 85 VAC 60 Hz gt 0 78 60 Hz cycles Line Drop 120 VAC 60 Hz gt 3 3 60 Hz cycles 240 VAC 60 Hz gt 18 5 60 Hz cycles 3 2 2 Motor Power Supply Input Voltage Range RMS 520260 S20360 S20660 0 to 265 VAC 521260 522460 120 to 265 VAC Phases itor Transformer Suggested KVA 520260 1 5 to 2 kVA 520360 2 0 to 3 kVA 520660 3 0 to 5 521260 4 5 to 6 kVA 522460 8 0 to 12 kVA Maximum AC Line KVA 520260 520360 520660 100 521260 522460 250 1 Maximum AC Line is specified to limit the mains surges to the drive 3 2 3 Bus Voltage and Faults 240 VAC Input Nominal Bus 320 VDC Voltage 120 VAC Input Nominal Bus 155 VDC Voltage BUS Undervoltage Fault 520260 520360 520660
57. descriptions e Status Variable Gives information about the present state of the drive Most of these variables are Read Only meaning that you cannot directly change them their value is controlled by the drive itself for example measured shaft speed See Status and Control Variables for a complete list and descriptions e Control Variable A variable that controls a particular function on the drive Control Variables are volatile erased when power is removed and are initialized at fixed default values every time that the drive is turned on See Status and Control Variables for a complete list and descriptions The next section gives more details on the memory structure of the drive and how values are initialized The succeeding two sections give detailed lists and descriptions of NV Parameters and Status Control Variables respectively The functionality of the drive may be updated from time to time which may add to these lists Parameter and Variable Storage The 5200 has two types of memory non volatile memory and RAM 5200 non volatile memory NV memory is similar to disk memory in a personal computer in that it can be written to and read from and maintains its settings without power The 5200 memory RAM is temporary memory When control power is applied all NV parameter values are automatically copied from NV memory into 5200 RAM memory The S200 operates out of temporary memory that is the temporary memory parameter values set the
58. 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 number of distinguishable multi turns a rotary encoder can resolve EnDatPPR 0 602 1 Supported over SynqNet If an EnDat 2 1 2 2 encoder is present this variable holds the number of signal periods per revolution for a rotary encoder or signal period length in nm 0 001um for linear encoders ExtFaults Status Value This variable gives the extended fault status of the drive Each bit represents an individual fault that is logically OR ed with other faults Note that this variable remembers its last active value and can be used as a one deep fault log 1 SFD UART parity error 9 Drive under temperature SFD CRC error s SFD Motor Data timeout Drive over temperature 200 Base SynqNet Reference Manual M SM 200 01 D 91 Kollmorgen 4 2012 Advanced Configuration FaultCode Status Value This variable gives the fault status of the drive The below table lists the possible fault states and gives the number of blinks that the drive s front panel Status LED will blink to indicate the fault See also ExtFaults for further specifics on a given fault i 6 Optional Batterylow 16 SFDUARTEmr 002 SFD Communication Error E Bus Under Voltage Option card Watch Dog timeout Motor or Short Position error too large Output O
59. drive on the network by assigning a unique ID to the drive To set a SynqNet ID to 5200 drive turn the 511 LSB Least Significant Bit and 512 MSB Most Significant Bit switches to a desired letter number combination The SynqNet ID can then be read using the following utilities Motion Console and Version exe Utility 200 Base SynqNet Reference Manual M SM 200 01 D 64 Kollmorgen 4 2012 7 1 3 1 MOTION CONSOLE Basic Configuration In the Sq Node Summary window under the Info tab the SynqNet ID is displayed in the Switch ID field See screenshot below SYNQNET ID 51125 512 Se 5qNode Summary Controller j oj x config 10 Abort Info Info _ Kallmargen 5200 Motor Count Motor Offzet FPGA Type Out Port Object Mone 7 1 3 2 VERSION EXE UTILITY The version exe utility also displays the Switch ID field See screenshot below SYNQNET ID 11 5 512 Command Prompt z MEI H3 83 BH ZMP hin WinHNT uersion PI version 63 63 66 firmware version 575 option H MP firmware version 575 revision sub revision 2 option hranchId 6 version 3 00 version 46611 option 2 92 version HxH233 package BHx72H1 TH14 HBH2 Serial Humber 44H 743 ungnet 1 Modes String Out port 1 nodes In port nodes 91 Kollmorgen 52880 Node Type HxBHBHBHB38HB3H FPGA ID BxCHFEHB36 Option H HxHHBHHBHHH FPGA Uer 5 88346 Serial 45
60. e After removing the power source from the equipment wait at least 5 minutes before touching or disconnecting sections of the equipment that normally carry electrical charges e g capacitors contacts screw connections To be safe measure the electrical contact points to each other and to electrical safety earth with a meter before touching the equipment UNPACKING AND INSPECTING Open the box and remove all the contents Check to ensure there is no visible damage to any of the equipment Use proper procedures when handling electronic components to avoid damage to equipment CAUTION p g Remove all packing material and equipment from the A shipping container Be aware that some connector kits and CAUTION other equipment pieces may be quite small and can be accidentally discarded Do not dispose of shipping materials until the packing list has been checked Upon receipt of the equipment inspect components to ensure that no 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 NOTE 5200 Base SynqNet Reference Manual M SM 200 01 D 3 Kollmorgen 4 2012 Specifications 3 SPECIFICATIONS A Unless otherwise specified the specifications are worse case limits and apply over the specified operating ambient temperature and NOTE over the specified operating line volta
61. external resistor on a grounded panel or wire it to a grounded connection The terminals of the resistor MUST NOT be grounded Wait 5 minutes after power is removed for the bus cap voltage to decay to a safe level before touching the regen resistor or wiring Monitor the voltage on the bus caps with a voltmeter from BUS J1 4 to BUS J1 3 J1 3 or TB1 6 The BUS terminal is usually left open during BUS normal operation In special multi axis applications drive buses can be wired in parallel to allow returned energy from one motor to power another and limit high regen powers J1 4 or TB1 7 The BUS terminal is used with the J1 2 BUS terminal to add a regen resistor to the drive to absorb regenerated energy J1 5 J1 6 These terminals connect 120 240 VAC power to the or J1 2 J1 3 drive s control voltage power supply C2 CTRL VAC 21260 S2460 on separate 3 pin pluggable J1 These terminals are NOT connected to the bus power L1 L2 J1 8 9 inside the drive C1 CTRL VAC 5200 Base SynqNet Reference Manual M SM 200 01 D 33 Kollmorgen 4 2012 Wiring the Drive Input Voltage Range RMS 85 VAC to 265 VAC single phase 47 to 63 Hz 120 VDC to 375 VDC Inrush Peak Current 10 0 with 240 Input For maximum ride through capability a 240 VAC input is recommended NOTE J1 7 J1 8 J1 9 These terminals connect 120 240 VAC power to or TB1 8 9 10 the drive s output power stage BUS for motor L3 240
62. following drive parameters are set as shown below The factory default is to ship the drive with the switches enabled NOTE Parameter OpMode SetupS2 1 CommMode SetupS2 2 7 1 2 51 Rotary Setup Switch Switch 51 is a 10 position rotary switch The function of switch 51 depends on the feedback mode in which the drive is configured 7 1 2 1 51 FUNCTION WITH SFD FEEDBACK When using the Smart Feedback Device SFD 51 sets the emulated encoder line count Emulated Encoder Emulated Encoder Lines Revolution Lines Revolution User settable factory default 5 2048 500 151 position 0 allows setting the non volatile line count via the drive parameter EncOut to any of the following values 128 512 1024 2048 4096 8192 16384 32768 125 500 1000 2000 2500 5000 10000 20000 The value written replaces the factory default value listed in position 0 of the table The emulated encoder output is only available when using SFD feedback to the base unit or a high resolution feedback device NOTE connected to the option card 200 Base SynqNet Reference Manual M SM 200 01 D 63 Kollmorgen 7 1 2 2 7 1 3 4 2012 Basic Configuration o1 FUNCTION WITH 6 STEP FEEDBACK In 6 step mode S1 sets the current loop proportional gain KIP Set S1 to the value listed in the table for your drive type and motor inductance Consult the factory if the motor inductance is lower or higher than what be accommodated by 51 An i
63. possible without having to compromise on reliability or package size Coupling an 5200 drive with Kollmorgen s servomotor provides a complete servo control solution designed to excel in applications such as semiconductor fabrication electronic assembly packaging medical and woodworking equipment among others Kollmorgen s 5200 servo drives are the first all digital industrial drives with a velocity loop bandwidth up to 800 Hz offering unmatched system throughput and simplified tuning High resolution 24 bit feedback and high performance 3 5 kHz current loop bandwidth provide smooth motion and rapid start and stop action to optimize machine performance Smart feedback and industry leading high bandwidth deliver fast and accurate plug and play commissioning by eliminating the need for servo loop tuning in most applications Base S200 servo drives come standard with torque or velocity control as well as with factory options that support the SynqNet motion network or add pre settable Indexing with CANopen communications The factory option cards also add interfaces to additional motor feedback devices such as 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 linear encoders The drives operate with AC 120 240 VAC or DC 20 90 VDC power sources and have current ratings from 1 5 ARMS continuous to
64. semiconductor equipment tolerate transient voltage sags or dips on the AC power line Voltage dip to 5096 of nominal for 200 ms 70 of nominal for 0 5 second 8096 of nominal for one second F42 specifies how to test for compliance with F47 To robust the S200 for F47 type voltage sags power the 5200 using AC line voltage and phasing as described below 5200 Control Power 240 VAC one phase AC S200 Bus Power Three Phase 240 VAC DC S200 DC power supply operated from three phase 240 AC line AC Control Power The use of 240 VAC single phase nominal for control power results in the control voltage remaining within the drive control voltage specification 85 VAC to 265 VAC during F47 50 sag deepest F47 specified sag Powering the control with 240 VAC also maximizes the ride through time for larger amplitude sags because more energy is stored in the control bus capacitor AC Bus Power If three phase 240 VAC is available for bus power it provides much better F47 ride through than either single phase 240 VAC or 120 VAC because F47 and F42 standards mandate that in a three phase system only one phase of the three phases is sagged at a time If the AC S200 is powered by three phase 240 VAC it keeps its bus capacitors reasonably well charged 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 volt
65. the total SFD 5 and RTN resistance within specification on long cables without having large diameters NOTE 3 Feedback Characteristic Impedance Kollmorgen s S200 feedback cables are designed to have a feedback data pair differential impedance of 81 at 1 MHz Impedances in the range of 50 to 100 o while not tested will likely work properly with the S200 Two suggestions simplify the design of customer composite cable 1 Purchase the raw composite cable from Kollmorgen The cable has good shielding properties 2 Purchase a composite feedback cable built by Kollmorgen Review its construction and test its performance There are many ways to connect the multiple shields of a composite cable A good way to understand how the Kollmorgen composite cable is built is to buy a short Kollmorgen S200 composite cable open it up and see how the shields at both the motor and drive end are connected 200 Base SynqNet Reference Manual M SM 200 01 D 120 Kollmorgen 4 2012 Appendix C Kollmorgen Linear Motor Wiring APPENDIX C KOLLMORGEN LINEAR MOTOR WIRING The S200 Drive with SynqNet option card runs linear motors with a linear feedback device connected to 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 drive NV parameters to their proper values AuxFBType to match the feedback devic
66. these settings will produce force in the wrong negative direction at one half the expected force level Use the value that produces positive direction force with the higher force level NOTE The above last step assumes that the motor was built conventionally and the Hall Commutation logic edges mechanically lined up with the motor line line back EMF zero crossings If the Hall commutation sensor has random alignment then you may need to make more careful measures to set CommOff to the optimal value which will give you the most force per amp of drive current 200 Base SynqNet Reference Manual M SM 200 01 D 124 Kollmorgen 4 2012 Appendix D Process to Setup Non Kollmorgen Motors oummary The S200 drive is now properly configured to run the non catalog motor Do an NVSave in the 5200 Tools to save the settings do a file save to save the settings for future reference and document the working motor to drive wiring If you would like to help others who might someday run the same motor email the setup file and wiring connections to your Kollmorgen products application engineer so they can share it with others 200 Base SynqNet Reference Manual M SM 200 01 D 125 Kollmorgen 4 2012 Appendix E Voltage Sag Standard Semi 47 F42 APPENDIX E VOLTAGE SAG STANDARD SEMI F47 42 Semiconductor 47 and F42 standards relate to the ability of equipment to ride through voltage dips of various magnitudes and duration F47 requires that
67. to step it down to 240 VAC for use as AC bus power for the 5200 drives the machine This is also a robust option 200 Base SynqNet Reference Manual M SM 200 01 D 126 Kollmorgen 4 2012 Appendix F Using a Voltage Doubler Mode Drive APPENDIX F USING A VOLTAGE DOUBLER MODE DRIVE J1 9 L1 120VAC Hot 240VAC J1 8 L2 240VAC J1 7 L3 120VAC Neutral PE 2 22 222 2 2 2 Figure 1 Main Power Line Connection of the 52 50 AC Input Voltage Doubler Drive In the 52 50 AC input voltage doubler drives AC line L3 is shorted to the center point of the two series connected bus capacitors as shown in Figure 1 For voltage doubling connect single phase 120 VAC to J1 9 L1 and J1 7 L3 On the same unit connecting 240 VAC to J1 9 L1 and J1 8 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 52 050 AC input voltage doubler models In fact connection to a three phase source will damage the drive Please use the standard 52 60 AC input version of the product When doubling a 120 VAC line the drive continuous power specification is derated to about 70 of standard single phase ratings The following table gives the power specifications for 120 VAC voltage doubled operation Refer to the ratings in Voltage Sag Standard for 240 VAC single phase operation
68. with Step Input in Position Mode J4 10 11 Step or PWM J4 10 2210 HSINP1 9 44 11 FK HSINP1 The high speed input works directly with 5 V input 3 0 to 6 0 V range without the use of a current limiting resistor To operate the input with voltages higher than 5 V an external current limiting resistor is required in series with the input The input current should be in the range of 9 to 24 mA for proper operation The following table lists the recommended current limiting resistors for supply voltages greater than 5 V Voltage Resistor 1000 gt gt watt resistor In Step Dir Position Mode the transition edge from LED current to no LED current yields a step count The transition edge from no LED current to LED current yields no action Maximum step frequency is 1 5 MHz Minimum pulse width is 250 ns For single ended operation it is recommended that both wires J4 10 and J4 11 run in the cable be terminated at the control source differential NOTE noise High Speed A differential drive is recommended for the Step Input To Input provide maximum noise immunity drive the high speed Differential input differentially from 5 V logic through twisted pair Drive wiring The differential driver needs to deliver a minimum of 3 0 V to the input terminals on J4 A CMOS driver is recommended Twisted Pair J4 10 p 3 0 V Min 5 V Differential J4 11 Driver CMOS HSINP1 200 Base SynqNet Referen
69. 0 Base SynqNet Reference Manual M SM 200 01 D 123 Kollmorgen 4 2012 Appendix D Process to Setup Non Kollmorgen Motors Positive 3 Monitor and confirm positive motor coil wiring This step will be the first time the drive is enabled and the motor will have current in it Make sure that the motor current loop gain parameter KIP in the drive is set to 2 pi 2000 motor L line line in Henry and NV saved by using S200 Tools The drive SynqNet master will be set to output fixed current vectors independent of actual motor position and the motor will be moved in small increments like a stepper motor Set the MEI filter gains to zero In S200 Tools set the drive to stepper motor mode no commutation by setting DPoles 0 Set the S200 parameter CommOff to 0 Command a positive current in the coil via MoCon by setting a low but nonzero positive and negative current limit say 2500 counts each The rms current in the motor will be this value times the drive Ipeak divided by the scaling number 19336 counts For example in 520660 18 Arms peak drive 2500 corresponds to 18 2500 19336 2 3 Arms Make sure the current selected is low enough not to overheat the motor coils but high enough to get the motor to move Enable the drive and the motor should move to a magnetic pole alignment position That is the motor will swing to its pole position oscillate around that position and stop Note the encoder position Now command a small try 10 pos
70. 00 Base Unit Drive no SynqNet Option Card follow the 5200 Base Unit Drive Quick Start Guide section 4 1 If you are using an S200 SynqNet Drive follow the S200 SynqNet Drive Quick Start Guide section 4 2 5200 BASE UNIT DRIVE QUICK START This Quick Start Guide is designed to help a user quickly setup a base no option card 5200 Drive Follow the instructions below if you are using one of the following S200 series 5200 drives S20xx0 VTS where xx is any legal number combination See Drive Model Numbers and Descriptions for a complete list of S200 drives The setup consists of the following steps 1 5200 Tools Software Installation Hardware Setup 5200 Tools Communication Wizard Motor Feedback Configuration Save Options E E IN 5200 Tools Software Installation Follow the installation instructions from the CD ROM or zip file 5200 Tools supports the following Operating Systems e Windows 2003 Server Windows XP All Service Packs SP e Windows 2000 SP2 e Windows XP embedded e Windows NT4 SP6 Hardware Setup DRIVE SETUP Connect a serial communication cable between the drive and host computer to establish a communication link between the host computer and the 5200 Base Unit drive 1 Plug one end of a serial communications cable to J5 Serial Port of the 5200 drive and the other end of the cable to the host computer s serial COM port NOTE The serial communications cable is not shipped with the drive It
71. 2 1 with switch S2 1 set to the down position labeled on the drive or Current SelSFDParam SFD Default value recommended setting This setting will automatically set the motor parameters To change motor parameters refer to Configuring with SFD Feedback Motor Parameters The following are optional parameters that can be set Parameter Sets the line count of the emulated encoder output EninhibitCW EnlnhibitCCW Enables the hardware over travel limits 200 Base SynqNet Reference Manual M SM 200 01 D 70 Kollmorgen 4 2012 Basic Configuration 7 4 3 SFD Velocity Mode The S200 can drive a brushless motor in Velocity Mode using SFD Feedback The drive can be configured either with the 5200 tools over the serial port or configured using the 51 and S2 switches Configuring the drive with the S200Tools utility provides increased flexibility in setting parameters that are not available through the setup switches When using the S200Tools utility the configuration parameters should be saved to non volatile memory click the NV Save button to allow the configuration to be recalled on power up To configure the drive for SFD feedback set the following parameters Parameter Value CommMode SetupS2 2 Default value with switch 52 2 set to the down position labeled S on the drive or SFD CommOff 0 Degrees for motor series Check with your sales representative for t
72. 4 6 a NI LINITSOd 440047 Xv9 v 504 PT G tt2 vaxza 9 22105 594 4 a 954 ST _ Att ej Y NI AWOH ZNI 02754 db TINOO d E AEE 997v 4004 OST 25 tco vaxza pea re 28 408264 T 9 a NI ZZvSN dD woo E STA S LSA AS T gt 5 NU 9 O3 9 0 AOE 4 WOO 4 N d aana 2x01 axo 4000 179 695 199 9 052 1925 ESA 8112 8 9 ENI 20964 db E ENI ZZv8U dd E woo i WOO XS 27758 dD SENIE CEPON ID 5 22554 dd m uo NIN O I ZNI 0964 d ZO 5 dd TE 0 44015 LON od ENI 22754 49 a ENI 26754 dD ZZS dD ONI 22754 dD GLa 015 LON OG Piir ald alt S os NI LINITSOd _ INI 22784 49 E oc SS ZNI ZZ 8N 49 22588 40 Ts 22988 40 ONI 00954 dd INI 22554 dD KI IINIISIN _ i B dO ENI 2 db NI 00958 db 8 Aure cni INT FO INI 22554 db a
73. 4 1 5200 Base SynqNet Reference Manual M SM 200 01 D Wiring the Drive 42 Kollmorgen 4 2012 Wiring the Drive J4 1 4 32 4 64 1259 1323 CIS J4 2 DINP1 ENABLE 4 32 4 64 k 04 3 DINP2 INHIBIT 4 32 4 64 Input current is a function of the input voltage and listed in the following table Input Voltage x Input Current x 4 0 volts 5 0 volts 12 volts 30 volts The response time for DINP1 DINP2 and DINP3 is less than 1 ms DINP4 has a response time of less than 100 us 24 volts For fastest response to an input configure the drive to respond when the input optoisolator is turned on current starts flowing idi in the photo diode Response time is cut approximately in half 5200 Base SynqNet Reference Manual M SM 200 01 D 43 Kollmorgen 4 2012 Wiring the Drive 6 7 1 1 DEFAULT INPUT FUNCTIONS The list below describes the factory default functions for each of these inputs A logic input hardware is active when current is flowing through its photo diode Inactive logic input hardware is open circuited has no photo diode current The active control logic polarity of each input can be set by the corresponding DInpXPol NV Parameter In other words depending on the state of DinpXPol a given hardware input driven active will activate or not activate a drive control function DINP1 ENABLE DINP2 DINP3 INH
74. 40 639 4162 Email sales europe kollmorgen com Email support Kollmorgen com Website www Kollmorgen com Website www Kollmorgen com 200 Base SynqNet Reference Manual M SM 200 01 D 139
75. 6 67 ADC at 75 V Main Peak 3 sec owe 1 500 watt 10 ADC at 75 V 20 ADC at 75 V The next figures provide representative connection diagrams and some detailed recommendations 424 V 448 V 75 V Regulated AC Cbus Supply Line Gnd AC Optional Regulated Isolated Supply 200 Base SynqNet Reference Manual M SM 200 01 D 110 Kollmorgen 4 2012 Appendix A DC Power Supply Design 10 ft max 16 24 V 48 V 75 V AWG 11 3 e eaten AC 7 x m lode p see below Cbus Rectifier Bus Ctrl Gnd 11 2 ane e a 16 Isolating AW DC Input 200 2 Transformer Unregulated Isolated Supply J How to Size Cbus J1 3 Ctr 3 Agma cont 5200 8 Agus cont 5200 2 000 pf drive at 75 V bus 4 000 uf drive at 75 V bus 4 000 uf drive at 48 V bus 8 000 uf drive at 48 V bus 16 000 uf drive at 24 V bus 32 000 yf drive at 24 V bus Bus Ctrl Gnd e 7 J1 2 Local Cap only required for stand alone 6 S200 that runs warm gt 470 100V lowers aluminum within 1 ft of drive if HsTemp gt 65C DC Input S200 CAUTION amp NOTE 200 Base SynqNet Reference Manual WIRING MULTIPLE DC DRIVES An appropriately sized output capacitor in the main power supply is the key to economically delivering high peak powe
76. 6132 FPGA Branch 4 Model H FPGA Type RUHT I ME Unique 2 FPGA Default YES Switch 5 4 ID Match YES 1 Firmware version Z Ha perating system Windows build 2688 Service Pack 1 PU x86 Family 15 Model 2 Stepping 9 InteltK gt PentiumtR gt 4 CPU 2 8GHz Clock 2793 MHz SMEI H3 83 HBH 4 MP bin gt 200 Base SynqNet Reference Manual M SM 200 01 D 65 Kollmorgen 4 2012 Basic Configuration 7 2 CONFIGURING FOR BRUSH MOTORS With a SynqNet option card the S200 Drive must be set with FBSrc NOTE Base Unit To drive a brush motor connect to the S200 as shown below 5200 Brush Motor Wiring No Connection FEEDBACK MOTOR POWER To finish configuring the S200 to drive a brush motor set the following parameters using the S200Tools utility Once configured the parameters should be saved to non volatile MEMORY click the NV Save button The configuration will then be recalled on drive power up Refer to Advanced Configuration for detailed descriptions of the parameters The relevant parameters are listed in the table below Parameter CommMode Brush CommOff 0 Degrees OpMode Torque Current Or SetupS2 1 with switch S2 1 set to the down position labeled on the drive Set directly with the serial port when S1 is set to position O Or Set S1 to the appropriate position for the in
77. 75 0 mm 177 mm I mm 152 4 mm 54 8 mm 64 0mm 76 mm IET mm 28 7 mm 48 3 mm 1 131 6 mm 152 mm 192 mm 100 8 mm Clearance Requirements D 0 50 in 0 50 in 0 50 in 0 75 in 0 50 in 0 50 in Side to Side E 12 7 mm 12 7 mm 12 7 mm 19 mm 12 7 mm 12 7 mm 0 50 in 0 50 in 0 50 in 0 75 in 0 50 in 0 50 in Mounting Dimensions Horizontal 57 5 mm 25 6 mm 25 6 31 7 mm 24 6 mm 24 6 mm Es Offset 4 04 in 0 97 0 97 in Vertical Mounting 4 3 mm 4 3 mm 2 1 mm 5 0 mm 4 1 mm 4 1 mm Offset G 0 17 in 0 17 in 0 08 in 0 20 in 0 16 in 0 16 in Vertical MSuntin 166 4 166 4 169 5 202 5 144 3 144 3 Height H 9 mm mm 6 55 mm 6 67 mm T 9 mm mm 9 6 55in in 5 68in 5 68in Drive to Drive 67 5 mm 76 7 mm 88 7 mm L 4 54 S se 96 Mounting J 2 66 in 3 02 in 3 39 in S in 5 n T Mounting M4 or 8 4 8 M4or 8 M4or 8 M4or 8 or 8 Hardware Drive Weight 0 77 kg 0 85 kg 1 33 kg 2 56 kg 0 40 kg 0 5 kg no option card 1 69 Ib 1 86 Ib 2 93 Ib 5 64 Ib 0 88 Ib 1 10 Ib 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 bend radius 5200 Base SynqNet Reference Manual M SM 200 01 D 22 Kollmorgen 4 2012 Mounting the Drive Horizontial Top Clearance Mounting Offset D Drive Width F B Vertical Mounting 4 Offset G For Drive Mounting use M4 or 8 Hardware Deus Height
78. Commutate the motor and close the servo loops FB Use as a secondary feedback to SynqNet master 200 Base SynqNet Reference Manual M SM 200 01 D Wiring the Drive 60 Kollmorgen 6 13 2 4 2012 Wiring the Drive Auxiliary Feedback Sin Cos Interpolation Scaling The J14 1 Vp p analog Sin Cos feedback interface has 65536 16 bit interpolator that is followed by a programmable 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 for the scaling parameter AuxFBDivisor best suits the application However if the NV parameter FBSrc is set to Option Card then AuxFBbDivisor must be set to the specific value which will properly electronically commutate the motor work 1 Vp p Inputs Example J14 12 FPGA Interpolate and Scale Sint J14 13 Recirculating Sin gt 16 bit cycle Remainder Scaler 46 pit aie range Eam m M p 24 bit per To SynqNet Master Or Base Unit to Commutate 14 14 Cost 1 cycle J14 1 5 Motor Cos 20 micron pitch linear encoder with AuxFBDivisor 1600 Internal interpolator Isb or count 20 micron cycle 65536 cnt 0 305 nanometer cnt Output AuxPosFB Isb or count 0 305 nanometer cnt 1600 256 1 907 nanometer 5200 SynqNet Sin Cos
79. Drive 0 2 5 SynqNet AC Drive 520260 520360 S20660 SRS T bic i C CD D lt em h d CD H 5 18 NNI 131 57 T RECOMMENDED MOUNTING 0 18 HARDWARE 8 or 4 4 57 E 1 01 25 56 0 17 __ 432 1 08 08 P DX CN PX FR MS 6 89
80. EO TERIS T E D 130 Mac am qua tpa 130 G 2 3 Declaration of Conformity 131 G 3 Installation and Commissioning 2 0000000000000000000050000 nana 133 Q4 regulremefnls eoo 133 European 133 G 6 Low Voltage Directive and 50178 134 CN COL Goles idee ino mnm 135 G 8 X Additional Safety Precautions 136 G 9 Compliance with 61800 3 137 G 10 AC Mains Conducted 0000000000000000 eese eene nnne nnn nana 137 GIT FOGG cols 139 G 12 Additional EMC Information 5 2 11 000000000000000000000000 139 4213 lt CUSIOME SUDDOM tos dee lel odeur aeo ee Eae o OL Oo 139 Table of Contents 5200 Base SynqNet Reference Manual M SM 200 01 D Kollmorgen 1 1 1 4 2012 200 Series Drives 5200 SERIES DRIVES Industry Leading Performance In A Small Package Kollmorgen s S200 brushless servo drives puts high performance servo technology into a full power range family with dc input and ac input family members Particularly for lower power applications the 5200 family provides a higher performing more robust option than was previously
81. G Regulatory Information G 2 1 CE Test Setup AC MODELS S2XX6X XXX S2XX5X XXX Example of Test Setup 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 emissions 4 MOTOR KOLLMORGEN 00 5 LINE FILTER MTE RF30006 4 see below 6 CORDS FOR AC MAINS CONNECTION 7 5V POWER SUPPLY FOR ENABLE 8 PERSONAL COMPUTER 9 SERIAL CABLE for setup and diagnostics 10 SHIELDED CABLE WITH DSUB SHELL GROUNDED AT EACH END cable between filter and drive shielded with shield tied to PE with a 360 degree termination at each end of the cable G 2 2 CE Test Setup DC MODELS S2XX3X XXX Example of Test Setup 1 5200 DC DRIVE 20630 2 MOTOR FEEDBACK CABLE CF DA0111N 05 0 CF DA0111N 50 0 for conducted emissions 3 MOTOR POWER CABLE 102 05 0 CP 102AAAN 50 0 for conducted emissions 4 MOTOR KOLLMORGEN 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 SHIELDED CABLE WITH DSUB SHELL GROUNDED AT EACH END 200 Base SynqNet Reference Manual M SM 200 01 D 130 Kollmorgen G 2 3 4 2012 Appendix G Regulatory Information Declaration of Conformity In our Declaration
82. H OUT pulse a the exact desired position EncOutZOffset 0 to 65535 Counts Supported over SynqNet EncOutZOffset sets the location of the emulated encoder marker or Z pulse on the J4 17 18 CH Z OUT Base unit PosFB EncOutZOffset is sent to the decoding logic to 200 Base SynqNet Reference Manual M SM 200 01 D 85 Kollmorgen 4 2012 Advanced Configuration make the CH Z OUT so EncOutZOffset allows electronically setting the exact mechanical location for the emulated Z pulse See diagram for exact phase of the Z pulse PosFB EncOutZoffset 0 A B zo ST Encoder Phasing for Clockwise Motor Rotation EnInhibitCCW On or Off Not supported over SynqNet Enables or disables the hardware input that prevents motion in the counter clockwise direction When enabled and the hardware input is active current torque operation clamps the current command to 0 or positive clockwise With a velocity loop function enabled and the hardware input active the velocity command is clamped to 0 or positive clockwise When both InhibitCCW and InhibitCW are enabled and both hardware inputs are active the motion command is clamped to 0 0 OFF 1 EnInhibitCW On or Off Not supported over SynqNet Enables or disables the hardware input that prevents motion in the clockwise direction When enabled and the hardware input is active current torque operation clamps the current command to be 0 or negative counter clockwise With a velocit
83. IBIT DINP4 DIRECTION Input 1 The ENABLE control function mapped to this input enables disables the drive and resets the latched drive faults With default logic polarity DInp1Pol Normal the drive can enable when input 1 is activated current flowing in the photo diode and will be disabled when open circuited This input will disable a drive independent of any other parameters Successful enabling requires no drive faults and SWEnable SynqNet drive enable active as appropriate Setting this input to the inactive state clears any latched drive faults Input 2 The INHIBIT control function mapped to this input prevents further motion in the clockwise shaft motion direction when activated by current flowing 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 polarity for this hardware input This input is useful for a clockwise over travel limit switch Broken wire failsafe over travel limit switch operation requires that DInp1Pol be set to Invert by the user to change the factory default NOTE For S200 drives with the SynqNet option the base drive INHIBIT function is turned off by EnhibitCW Off Over travel limit switch inputs must be wired directly to J13 on the SynqNet option card Input 3 This input operates symmetrically to DINP2 with the INHIBIT control function prevent
84. IN1 9200 SYNQNET OPTION CARD 200 Base SynqNet Reference Manual M SM 200 01 D 55 Kollmorgen 4 2012 Wiring the Drive 6 10 J11 SYNQNET IN PORT CONNECTOR 4 J11 is a Standard CAT5 connector STAT LNK J11 Connector view from front of drive Pm Description UUP1 and UUP2 are unused pair 1 and 2 When using a standard CAT5 cable these pairs are connected to the two unused pairs in the 4 pair 8 wire cable NOTE Standard CAT5 design practice is to terminate these pairs the PCB to reduce noise When using a 2 pair cable these pins are left unconnected in the cable Mating Connector Information 8 Male PN 5 557315 not shielded 8 Male PN 5 569552 3 shielded 6 10 1 SynqNet LEDs Pm Meaning ON 7 Tx and Rx active cyclic phase Network Status Activity BLINK Tx only active discovery phase OFF Idle shutdown phase i ON Link Active LNK Link Activity OFF Link Inactive 200 Base SynqNet Reference Manual M SM 200 01 D 56 Kollmorgen 4 2012 Wiring the Drive 6 11 J12 OUT PORT CONNECTOR J12 J12 is a Standard CAT5 connector SQ OUT LNK 8 J12 Connector view from front of drive Description UUP1 and UUP2 are unused pair 1 and 2 When using a standard CAT5 cable these pairs are connected to the two unused pairs in the 4 pair 8 wire cable NOTE Standard CAT5 desig
85. ING To avoid damage to the connector and drive NEVER plug or unplug J1 with power applied J1 1 or Chassis This chassis ground point must be connected to Screw PE Protective Earth ground The connection at the Protective Earth Protective Earth ground end must be hard wired do not use a pluggable connection A ground fault detector RCD cannot be depended on for safety J1 2 or TB1 5 Connection for an optional regeneration power REGEN resistor to absorb regenerated energy from the motor Models 520260 and 520360 typically use 36 520660 521260 typically use 12 5 522460 typically uses 8 Other values within the min to max resistance specification range can be used Use a Wire wound resistor with 1500 Vrms Isolation between terminals and case Many applications do not require a regen resistor over voltage faults occur during motor deceleration then the more kinetic energy is being returned to the bus capacitors than they can handle Connect the proper Ohmage 50 to 1000 watt power resistor from this terminal to terminal 41 4 BUS in order to eliminate the over voltage faults The power rating of the regen resistor depends on the amount of regenerated energy that needs to be dissipated The regen input is not short circuit protected The regen resistance MUST be within specified ranges to prevent damage to the drive For example 520260 520360 drives must be between 25 to 50 For safety either mount the
86. ION with the shield connected to PE High Frequency Grounding of Regen Cable Shield When using a regen resistor in a CE installation the cable should be appropriately rated and have a braided shield connected to PE for safety and NOTE clamped to the ground plane with a 360 clamp for EMC purposes G 12 ADDITIONAL EMC INFORMATION SOURCES Additional information on EMC performance and noise reduction techniques can be found on the Kollmorgen website www Kollmorgen com Kollmorgen Application Note Noise Checklist Pacific Scientific Application Note 106 Reducing Motor Drive Line Noise Pacific Scientific Application Note 107 Reducing Motor Drive Radiated Emissions G 13 CUSTOMER SUPPORT Kollmorgen products are available world wide through an extensive authorized distributor network These distributors offer literature technical assistance and a wide range of models off the shelf for the fastest possible delivery Kollmorgen sales and application engineers are conveniently located to provide prompt attention to customer needs world wide Call the nearest office for ordering and application information and assistance or for the address of the closest authorized distributor If you do not know who your sales representative is contact us at Europe North America Kollmorgen Customer Service Europe Kollmorgen Customer Service North America Phone 49 0 203 9979 0 Phone 1 540 633 3545 Fax 49 0 203 9979 155 Fax 1 5
87. L and the control supply negative terminal to J1 2 Bus Ctrl Gnd Wire the main supply positive terminal to J1 3 and its negative terminal to J1 2 J1 2 is a shared ground for control power and main power Separate ground wires from the two supplies should join at or near the shared drive ground pin J1 2 The drive can be damaged if the supply voltage exceeds 90 V even briefly Control Supply J1 1 to J1 2 The voltage range of the control supply is 10 to 90 V This supply can be either unregulated or regulated However it must be isolated from the power line as its negative terminal is typically earthed for safety and commoned with main power negative terminal For reliable starting the control supply should have a peak power rating of at least 20 W A typical continuous control power drawn 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 power for multiple drives MULTI AXIS CONSIDERATIONS In multi axis applications the drive s power terminals can either be wired separately to the power supplies or paralleled locally daisy chained and then wired to the power supplies In the latter case increase the wire size to handle the higher current Locally paralleling the main power terminals of multiple drives parallels the internal bus capacitors of the drives 200 uf per drive This allows the PWM currents of the drives to spread out thereby
88. NI 17501 6 55 166 37 0m 08 m A A 9 N b 2 q V MV M Y g U FRONT VIEW RIGHT SIDE VIEW REAR VIEW 0 17 DIMENSIONS ARE IN INCHES MM Note All S20660 SRS S20660 SDS 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 for the S20660 SRS S20660 SDS 5200 Base SynqNet Reference Manual M SM 200 01 D 28 Kollmorgen 4 2012 Mounting the Drive 5 26 SynqNet DC Drive S20330 S20630 SRS 3 97 100 84 RECOMMENDED MOUNTING HARDWARE 8 or M4 0 18 4 57 6 00 152 40 FRONT VIEW RIGHT SIDE VIEW DIMENSIONS ARE IN INCHES MM 5200 Base SynqNet Reference Manual M SM 200 01 D 5 68 14427 M i 0 16 4 06 29 Wiring the Drive 4 2012 DANGEROUS voltages are present on power input and motor output READ these instructions before connecting power Damage can terminals result from MISWIRING at the power terminals WIRING THE DRIVE AC INPUT DRIVE WIRING WARNING Kollmorgen 6 6 1 S qeo xoeqpes pue e osje
89. ON For S200 Series drives that support SynqNet the following sections explain proper drive configuration 9 1 DRIVE FPGA TABLE Node Type Option Valid FPGAs 0x00030030 0x00000000 OxCOFE0036 For more information about FPGAs visit Motion Engineering Inc s Technical Support site http support motioneng com Go to Hardware gt Drives gt FPGA Images Drive Count _ 20O0 SqNode Digital Out Count 0 SqNode Digital In Count Analog Out Count 0 rSaNode Analog In Gount 0 200 Base SynqNet Reference Manual M SM 200 01 D 95 Kollmorgen 4 2012 SynqNet Configuration General 0 54221 0 ___ 0 23 1 542103 ___ 0 02 0 1 DNS 0 11 DINP4 ___0 12 9 2 DRIVE MONITOR 9 2 1 Drive Monitor Table kollmorgen s200 h Drive Monitor Table typedef enum S200MonitorAddressCMD_IN 0x3938 processor block S200MonitorAddressHS TEMP 0 8726 S200MonitorAddressIFB 0x4544 S200MonitorAddressIDFB 0 4746 S200MonitorAddressM_TEMP 0x8700 SED S200MonitorAddressPOS_MTRN 0x5756 S200MonitorAddressPOS_FB_LSBS Ox2E2D S200MonitorAddressPOS_FB MSBS 0x872F S200MonitorAddressVBUS 0 3736 S200MonitorAddressVEL_FB 0x1D1C S200MonitorAddress Value of the output of the command
90. S200Tools utility For example if desired the settings of the switches can be overridden in drive non volatile memory to eliminate 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 51 S2 are located on the top of the drive Although the drive can be configured to not use the switches the factory default configuration uses the switches for selecting Torque Current versus Velocity operational mode SFD or 6 step feedback device and emulated encoder line count S1 Up Open x 23 gt Down Closed 9 L 7 1 1 S2 DIP Setup Switch 92 is a 4 position DIP switch Switch positions 1 and 2 can set the operational mode and feedback types when enabled Setting the drive parameters as shown in the following table enables the switch and is the factory default configuration Switch positions 3 and 4 are reserved for future functionality and should be left in the down closed factory default position 200 Base SynqNet Reference Manual M SM 200 01 D 62 Kollmorgen 4 2012 Basic Configuration Down Closed Up Open 52 1 OpMode Operational Torque Current Velocity SetupS2 1 Mode Control Control Position Setting Function 52 2 CommMode Feedback SFD 6 Step SetupS2 2 Type 52 3 Reserved Default Reserved Drive parameter settings can override the S2 switch settings To enable S2 for setup verify that the
91. Some regulated supplies do not tolerate an increase in voltage above the supply voltage set point In this case insert a diode between the positive supply terminal and the positive capacitor terminal to prevent reverse current flow into the supply The diode should be a rectifier diode with a voltage and current rating equal to or greater than the supply A low ohm 1 power resistor between the power supply and the capacitor may be desirable By reducing the stiffness of the voltage across the capacitor it enhances the ability of the capacitor to supply current to the drive during motor acceleration and prevents the current limit of the regulated supply from cutting in 10 Bus wire resistance 11 Bus wire current is the sum of DC current providing power to the drive and AC current between the drive and external capacitor The wire between the drive and external bus capacitance should be a low enough resistance so peak currents do not cause excessive voltage drop in the wire Peak instantaneous bus current can be up to 25 A per drive Size the positive Bus wiring to minimize the peak voltage drop As a general guide use no smaller than 16 AWG wire to span 10 feet from the drive to the shared energy leveling capacitor The AC and DC bus currents also flow in the Control or Bus terminal Size the ground wire to the drive to be no smaller than the positive Bus wire A larger wire size yields a cleaner ground If a separate control supp
92. TL or CMOS 5200 Base SynqNet Reference Manual M SM 200 01 D 45 Kollmorgen 4 2012 Wiring the Drive 5 VDC ien V SOURCING CMOS 6 7 2 General Purpose Outputs General DOUT1 and 00072 are optically isolated outputs that Purpose provide information about the state of the drive The Outputs outputs are Darlington phototransistors with a 33 V zener diode wired in parallel to clamp voltage transients J4 7 J4 6 7 DOUT1 FAULT DOUT1 say FAULT 14 6 DOUT1 J4 9 J4 8 9 DOUT2 RUN DOUT2 RUN J4 8 io DOUT2 The following table lists the maximum output rating Sid E T e 7 Clamp Voltage 33 V nominal The outputs are not short circuit protected Configure the application to AN ensure the maximum current is not exceeded CAUTION 200 Base SynqNet Reference Manual M SM 200 01 D 46 Kollmorgen 4 2012 Wiring the Drive 6 7 2 1 DEFAULT OUTPUT FUNCTIONS The list below describes the factory defaults for each of the outputs DOUT1 Output 1 This output provides the FAULT state of the FAULT drive When the drive is powered and not faulted the output transistor is turned ON When the drive is faulted or not powered the output transistor is turned OFF DOUT2 Output 2 This output provides the RUN state of the drive RUN When the drive is powered not faulted and enabled the output transistor is turned ON When the drive is faulted not enabled or not powered the output transistor is turned OFF Th
93. V to accommodate noise and overshoot spikes Default setup has 10 V corresponding to or maximum velocity depending on the OpMode The offset gain including polarity and low pass filter bandwidth of this input are set by the following NV Parameters CmdGain CmdOffset and CmdF0 respectively and can be adjusted by the PC setup software Defaults are 10 V range 0 offset 1500 Hz bandwidth Positive ANA CMD yields clockwise torque when looking at the shaft at the front of the motor V 20 k ANA 344 EG CMD 33 2 k 130 k 100 pf To OP AMP ANA 54 25 15 0 V AD CMD T 33 2 k 130 k 150k J4 26 i RTN V V 1 575 V Always connect I O RTN J4 26 to the signal ground of the source Failure to do so may result in erratic operation Both J4 24 and J4 25 need to be wired For single ended operation connect the unused input to the signal ground M SM 200 01 D 52 Kollmorgen 4 2012 Wiring the Drive of the source Best signal fidelity uses a separate wire all the way back to the source for the unused input connection to the source s signal ground The direction of rotation of the motor can be changed by swapping the ANA CMD input connections or changing the sign of the CmdGain NV Parameter 6 8 J5 SERIAL PORT CONNECTOR J5 a 6 pin RJ 12 RJ 11 connector provides RS 232 serial communication to the drive The RS 232 transceiver is an industry standard RS 232 configuration using the MAX3221
94. VAC L2 240 120 VAC For single phase operation 120 240 use inputs J1 8 L1 240 120 VAC L2 and 1 9 L1 521260 522460 120 to 265 VAC Phases 17729 2 Transformer 20260 1 5 to 2 kVA recommended KVA if 520360 2 0 to 3 kVA transformer is required S20660 3 0to 5 kVA 521260 4 5 to 6 kVA 522460 8 0 to 12 kVA Maximum AC Line KVA S20260 S20360 S20660 100 S21260 S22460 250 Maximum AC Line is specified to limit the mains surges to the drive Recommended Fusing Type 250 VAC Time Delay Fuse 240 VAC 3 Phase Bussmann Bussmann Bussmann Bussmann Bussmann ARMS FRN R 5 FRN R 8 FRN R 15 JKS 20 JKS 30 240 VAC 1 Phase Bussmann Bussmann Bussmann Bussmann Bussmann ARMS FRN R 5 FRN R 10 FRN R 20 JKS 30 JKS 30 120 VAC 1 Phase Bussmann Bussmann Bussmann NA NA ARMS FRN R 5 FRN R 10 FRN R 20 5200 Base SynqNet Reference Manual M SM 200 01 D 34 Wiring the Drive 4 2012 DC INPUT DRIVE WIRING Kollmorgen 6 3 y pejoeuuoo suid 19 5 PUe N H ALON Ajddns jeng 79 06 05 1H19 Sn8 06 01 1 O1 U0D 781 ral UIEN 744 lt 3SVHd M 3SVHd 8035 WOO 835 AS 835 HOLON m 22 4 MOvadsss GNVININOO
95. VDC CTRL 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 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 20 W supply ensures reliable starting of the drive J1 2 Power return for the control and BUS power supplies The BUS CTRL BUS CTRL GND is connected to I O internally in the drive GND J1 3 Main power input to the drive The DC drive accepts 20 to BUS 90 VDC on this input referenced to J1 2 An isolated regulated or isolated unregulated power supply can be used The Bus power drain with Bus voltage at 75 VDC is in the range shown below It varies according to the application and motor S20330 3 Amp S20630 6 AMP Bus 250 watt 500 watt Continuous Power Bus 5200 Base SynqNet Reference Manual M SM 200 01 D 36 Kollmorgen 4 2012 amp selecting a compatible power supply NOTE PE Protective Earth connection point This chassis ground point Screw must be connected to Protective Earth ground The Connection connection at the Protective Earth ground end must be hard wired do not use a pluggable connection A ground fault detector RCD cannot be depended on for safety 6 4 1 DC Power Supply Requirements Bus Voltage J1 3 to J1 2 20 VDC to 90 VDC BUS Supply Current 48 VDC BUS 75 VDC
96. VTS S22460 VTS 520330 5 5 520630 5 5 S20260 SRS 520250 5 5 520360 5 5 520350 5 5 S20660 SRS 521260 5 5 522460 5 5 520330 505 520630 505 S20260 SDS 520250 505 20360 0 S20350 SDS 520660 5 5 21260 SDS 22460 0 With the following standards e Low Voltage Directive 73 23 EEC e EMC Directive 89 336 EEC European Harmonized National amp International Standards EN 50178 EN 61800 3 Product has been reviewed tested and found to be in conformity with the above standards Product has also been reviewed per UL508C IEC 721 3 2 and IEC 721 3 3 For recommended configurations see the installation manual or instructions M SM 200 01 This Declaration does not contain any assurance of properties in the meaning of product liability The notes on safety and protection in the operating instruction must always be observed The above mentioned company has the following technical documentation for examination e Proper operating instruction e Diagrams e Other technical documentation for EU authority only e Technical construction file for EU authority only Legally binding Signature pm 2 wu 200 Base SynqNet Reference Manual M SM 200 01 D 132 Kollmorgen 4 2012 Appendix G Regulatory Information G 3 INSTALLATION AND COMMISSIONING Installation and wiring of the drive must be completed only by qualified personnel having a basic knowledge of electronics installation of electronic and mechanical compone
97. able Cable voltage drop vs cable length is shown in the table below Cable Voltage Drop vs Length Cable V line line Vioss in cable as Length AWG 18 0 at 0 866 a percent of 75 V bus 2 x Rphase x 18 ARMS meter AWG 18 cable AWG 18 cable AWG 14 cable 22 7 30 3 12 0 50 m not recommended with N A 24 0 96 DC 6 18 ARMS B 2 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 isolation between the power and feedback wires With 240 VAC connected drives the power wires can have up to 400 Vpeak peak fast switching PWM waveforms that can couple to the feedback wiring These coupled signals can cause communication errors between the omart Feedback Device SFD and the drive 200 Base SynqNet Reference Manual M SM 200 01 D 118 Kollmorgen 4 2012 Appendix B Cables Kollmorgen has developed and sells a composite cable that has very good isolation between the power and feedback sections It is strongly recommended that this raw cable be used for custom composite cable designs Contact your Kollmorgen sales representative for additional information If this cable does not meet your specifications the following are some guidelines for custom composite cable development Due to the complexity of modeling and understanding cable coupling a new composite cable needs to be prototype
98. age sag has the potential to drag the bus voltage down If only the internal bus capacitors of a 3 A 9 ARMS 5200 are supplying the full 3 kW peak output power the bus voltage sag rate is 13 V ms A single 10 to 20 ms motor acceleration during a 50 47 voltage sag has the potential to drop the bus voltage about 50 Options to handle this problem are a Limited hold up time of 20 to 30 ms is achieved by adding additional capacitance on the bus Wire an external 1 500 uf or higher 450 VDC aluminum cap across the bus to bus In this case simply wire a rectifier or surge limiter between the drive AC terminals and the cap to help charge the external capacitance at power up The bus voltage does not return to normal until the line returns to normal so multiple accelerations during the sag are a problem with this option b Monitor the line voltage and quickly pause the machine when the voltage sags c Combination of a and b d A robust costly option to ride through all FA7 mandated voltage sags when three phase 240 VAC is not available is either to double the peak power capability of the motor drive system or to derate the motor s maximum speed 50 If a motor s top speed can be achieved with a 50 low bus voltage the worse case F47 voltage sag of 5096 is tolerated with little or no effect on motor performance e Ifthree phase power is available within the plant but at higher voltage than 240 VAC consider adding a power transformer
99. ard Only Supported over SynqNet This parameter is the divisor used to scale the raw incremental encoder counts or the Sin Cos encoder interpolated counts from the Aux Feedback interface to the Aux position word If the Aux Feedback device is used only for controller feedback then this parameter may be set to any value convenient for the application If the Aux Feedback device is used to commutate the motor then it must be set to a specific value For rotary motor commutation this scaling converts the Aux Feedback position word to a word with 24 bits per revolution For linear motor commutation it converts to 24 bits per motor magnetic pole pitch distance The table below lists a number of commonly desired settings for AuxFBDivisor Incremental A quad B encoder No motor commutation 1 encoder AuxFBDivisor 27 16 777 216 quadrature count 1 Aux Feedback count Commutating a rotary motor or 24 bits per AuxFBDivisor number of quadrature revolution counts per mechanical revolution Commutating a linear motor or 24 bits per AuxFBDivisor number of quadrature magnetic pole pitch counts per magnetic pole pitch 1 Vp p Sin Cos No motor commutation 1 interpolation Isb AuxFBDivisor 2 256 1 Aux Feedback count or 65536 counts Sin Cos cyle Commutating a rotary motor or 24 bits per AuxFBDivisor number of Sin Cos cycles revolution per mechanical revolution Commutating a linear motor or 24 bits per AuxFBDivisor number of S
100. arrying capacity in the event of a short circuit between the core and the screen When installing the 5200 into its operating location it shall be ensured that existing protective separation according to 5 2 18 of EN50178 is maintained throughout the entire length of the circuit in question In installations the compliance for of the measures for protective separation shall be checked by visual inspection Refer to Sections 1 and 4 of this manual for external fusing information Motor cable shield must be connected to protective earth During periods of extreme regeneration or excessively high input voltage the temperature of the regen resistor may exceed 70 C When using an external regen resistor if regen cabling is accessible during normal machine operation regen resistor cable should be rated at 300 Vac and shielded with shield connected to PE 200 Base SynqNet Reference Manual M SM 200 01 D 134 Kollmorgen 4 2012 Appendix G Regulatory Information e Consult the factory before using this product on a circuit protected by a residual current operated protective device RCD All covers shall be closed during operation The S200 drives should be used within their specified ratings G 7 UL AND CUL CONFORMANCE The S200 drives are UL and cUL Recognized to UL 508C under UL File number E137798 Consider the following points to ensure that final installation meets UL requirements e drive should be used within its specif
101. aults occur the highest priority fault is reported After the fault is cleared and the drive is reset by cycling the enable input the next highest priority fault that still exists will be displayed 200 Base SynqNet Reference Manual M SM 200 01 D 109 Kollmorgen 4 2012 Appendix A DC Power Supply Design APPENDIX A DC POWER SUPPLY DESIGN A 1 A 1 1 amp NOTE DESIGN This section has additional considerations for DC power supplies single Power Supply Operation A single power supply can be used to provide main or motor power and control power for the DC power input The voltage range of a single supply is 20 V to 90 V The drive can be damaged if the supply voltage exceeds 90 V even briefly The DC level plus transients plus regenerative pump up MUST NEVER exceed 90 V Wire the single supply terminal to J1 3 Bus and to J1 1 C TRL and the power 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 Information for more details on isolation requirements Wire both the power supply negative terminal and the drive chassis to earth for safety The maximum continuous and peak 3 sec main power and current at 75 V bus for the 5200 DC drives is shown in the table below 83 9 ARMSS200DC 6 18 ARMS S200 DC Main continuous 250 watts 500 watts 3 33 ADC at 75 V
102. capabilities 200 Base SynqNet Reference Manual M SM 200 01 D 74 Advanced Configuration 4 2012 BASE DRIVE TORQUE VELOCITY CONTROL BLOCK DIAGRAM Kollmorgen 8 1 JojeuJeJeg dnies AN 21 jueJn eigeueA 7 9 qeu JON yoeqpee 4 gJIoA x oeqpee J Y _ Jo e169 u doo i90 o9A uonisoqd husoje ISTE ET 11 TT mee 1 01 JON 9 JON 11079 pondo f leues oa J93J 4 5524 MOT T du SH pup euy euy Vc vr 75 M SM 200 01 D 200 Base SynqNet Reference Manual Advanced Configuration 4 2012 BASE DRIVE POSITION CONTROL BLOCK DIAGRAM Kollmorgen 8 2 TTE uonisog JON XXXX 93304 xoeqpee uonisog 998S PeY eyeq oegn 2618 2 puewwoy uonisog
103. ce Manual M SM 200 01 D 48 Kollmorgen 4 2012 Wiring the Drive Sinking Load For single ended operation both terminals of the high speed input are available on J4 allowing the input to be connected to either sinking or sourcing logic The following diagram shows the connections to drive the high speed input from sinking logic J4 10 HSINP1 External 4 30 VDC Power Supply External Current Limiting Resistor for supply gt 5 0 V Sinking Logic Output from Field Device Sourcing Load The following shows the connections to drive the high speed input from sourcing logic The power supply can be the same power source used to provide power for the general purpose inputs Sourcing Logic Output from Field Device External Current Limiting Resistor for supply gt 5 0 V External 4 30VDC Power Supply J4 11 HSINP1 6 4 SFD BAT J4 12 The SFD BAT terminal is an optional feature and is not SFD required for proper operation of the drive It is only required if battery backup of the multi turn information is required from the SFD If the feedback device is not an SFD then the battery does nothing J4 13 The I O RTN is the ground reference for the SFD BAT input 5200 Base SynqNet Reference Manual M SM 200 01 D 49 Kollmorgen 4 2012 Wiring the Drive 6 7 5 DAC Monitors J4 14 DAC MON1 J4 15 DAC MON2 J4 13 16 23 26 The DAC Monitors are general purpose anal
104. ck 6 feet 768 026902 01 Terminal Block adaptor for J4 I O connector MSM20001 5200 Base SynqNet User Manual 10 2 CONNECTOR KITS CK S200 MF Motor power and feedback mating connectors for S200 AC or DC units CK S200 IP DC I O and input power mating connectors for base S200 DC drive CK S200 IP DC TB I O and input power mating connectors for base S200 DC drive with terminal block adaptor for I O connector CK S200 IP AC I O and input power mating connectors for base 5200 AC drives 520260 520360 520660 CK S200 IP ACL and input AC control power mating connectors for base 5200 AC drives 521260 522460 5200 Terminal block adaptor I O connector and input power mating connectors for base 5200 AC drives 520260 520360 520660 CK S200 IP ACL TB Terminal block adaptor I O connector and input AC control power mating connectors for base S200 AC drives 21260 522460 CK S200 SQ Option card SynqNet SRS SDS I O Aux Feedback mating connectors CK S200 SQ TB Option card SynqNet SRS SDS terminal block adaptors for I O Aux Feedback CK S200 CNDN Option card CD DN and mating connectors for S200 CK S200 CNDN TB Option card CD DN and I O mating connectors terminal block adaptors for I O and feedback connector for S200 200 Base SynqNet Reference Manual M SM 200 01 D 102 Kollmorgen 10 3 CABLES 4 2012 Accessories Connector Kits and Cables Part Number P7S2 232 9D CF DA0111N
105. ck device electrical cycles per revolution Setting DPoles to zero turns electronic commutation off Binary O 0 Poles Binary 1 2 Poles Binary 31 62 Poles When the DPoles setting does not match the actual motor pole count the motor s operation will be erratic and could be WARNING dangerous EncOut 125 to 32768 Lines Via Rotary Switch S1 See Chart Supported over SynqNet Sets the J4 17 to J4 22 emulated encoder output signal s line count pulses per revolution when the EMU setup rotary switch S1 on the base drive is set to position O All other settings for rotary switch S1 have fixed line counts EncOut 4 the number of quadrature counts per revolution Line Count encou Programmable by EncOutPPR Default 32768 EncOutPPR 0 to 65535 Lines Supported over SynqNet Sets an arbitrary emulated encoder output line count also know as pulses per revolution for J4 17 to J4 22 outputs EncOutPPR is only used if the EMU setup switch 51 on the base drive is set to position O and the EncOut NV parameter is set to Programmable Note that if EncOutPPR is set to 0 with EncOut set to programmable the J4 17 18 Z pulse can be turned off A SynqNet master application program can then switch EncOut from 14 to an appropriate other value to enable and disable the Z CH output at the right point in a machine cycle to be used to trigger an action like a camera EncOutZOffset can be used to position the Z C
106. d and tested to have confidence that it will be reliable 1 Composite cable should have double concentric feedback shields one shield within another The raw composite cable that has been tested and is known to work well with the 5200 has the following structure double concentric shields around the feedback wires plus an outer shield around the whole cable see diagram below This type of raw cable is strongly recommended Testing shows double concentric shielding is ten times better than single shielding at reducing coupling from the power wires to the feedback data wires SFD 5 VDC Outer Jacket Feedback p o Ww Outer Shield Outer Shield B Motor Connector Shield Connect to SFD Shell Feedback Inner Shield Motor Wires Connect to Logic GND SFD Communication twisted pair Optional Foil Shield Shield lt 5 LQ SFD Return Inner Drain Wire and inner shield Jacket Inner Jacket Composite Cable Cross Section 200 Base SynqNet Reference Manual M SM 200 01 D 119 Kollmorgen 4 2012 Appendix B Cables There can be substantial capacitance between the power wires and adjacent feedback shield in a composite cable Some of the PWM ampere level spikes tend to return in this adjacent shield affecting the power stage voltage and current drive the feedback shield nearest to the power wires In a single shielded feedback cable this driven shield is also around the feedback data wires so some coupling can
107. dows XP embedded e Windows NT4 SP6 4 2 3 Hardware Setup 4 2 3 1 DRIVE SETUP NOTE The drive serial port J5 is disabled on SynqNet drives If you are using an S200 SynqNet Drive you need to establish SynqNet communication link between the S200 SynqNet Drive and the SynqNet motion controller 1 Plug one end of an Ethernet communications cable to J11 SynqNet IN of the 5200 drive and the other end to the SynqNet controller s OUT port 2 One Drive Node Use another Ethernet communications cable to connect J12 SynqNet OUT of the 5200 drive to the XMP SynqNet controller s SynqNet IN port Host Computer 5200 OUT SynqNet Controller IN Ethernet J11 Cables Multiple Drives Nodes Connect an Ethernet communications cable from the XMP SynqNet controller s OUT port to the SynqNet IN port J11 of the first drive node Connect an Ethernet cable from the node s SynqNet OUT port J12 to the SynqNet IN port J11 of the next node Connect another cable from the SynqNet OUT port J12 of the last node in the topology to the SynqNet IN port of the XMP SynqNet controller 5200 Node 1 Host Computer Ethernet Cables OUT IN SynqNet i Controller IN NOTE Although you can connect other SynqNet supported nodes drives on the 5200 Base SynqNet Reference Manual M SM 200 01 D 17 Kollmorgen 4 2 3 2 4 2 4 4 2 4 1 4 2012 Quick Start Guides SynqNet network you will only be able to conf
108. ductance of the motor be used refer to S1 Function with 6 Step Feedback 2 0 Set to the motor s thermal time constant l2TTrip Set to the motor s continuous current rating IimtPlus Set to the lower of 100 or the percent of the motor s peak ILmtMinus current rating divided by the drives peak current EninhibitCW EnInhibitCCW Enables the hardware over travel limits S200 Base SynqNet Reference Manual M SM 200 01 D 66 Kollmorgen 4 2012 Basic Configuration 7 3 CONFIGURING WITH 6 STEP HALL FEEDBACK 7 3 1 6 Step Feedback Wiring 5V FEEDBACK PE PHASEW PHASE V MOTOR POWER 7 3 2 6 5 Torque Current Mode In 6 Step mode with Hall or Hall equivalent feedback the drive can be configured either using the S200Tools utility or the 51 and S2 switches Configuring the drive with the 5200 Tools provides the advantage of setting the drive s current limits and motor thermal protection When using S200Tools the configuration parameters should be saved to non volatile memory to allow the configuration to be recalled on power up To configure the drive for 6 Step feedback set the 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 Degrees Default value OpMode SetupS2 1 Default value with switch S2 1 set to the down position labeled on the drive or Torque Current Se
109. e IEEE 1394 style connector for the feedback device Although this connector mechanically accepts standard IEEE 1394 cables it is electrically not a 1394 interface The base drive accepts either SFD Smart Feedback Device or Hall inputs 1 3 5 2 4 6 Pin J3 Connector view from front of drive SFD COM CU NC CV NC CW Shield Connection Mating Connector Information IEEE1394 Firewire type 2 0 mm plug set 22 AWG Max Molex 55100 0600 Refer to www molex com for assembly instructions 43 41 SFD 45V J3 2 SFD 5 RTN J3 3 SFD COM J3 4 SFD COM CU J3 5 CV J3 6 NC CW Shell This terminal provides a 5 VDC output to power the feedback device For example motors equipped with SFD Halls or a commutation encoder The load current should not exceed 200 mA This terminal is the return connection for the 5 VDC supply An inner feedback cable shield can be connected to this point Outer shields should connect to the shell which is PE SFD serial communications port when using the SFD feedback device No connection when using Hall feedback SFD serial communications port when using the SFD feedback device CU Commutation Phase U input when using open collector Hall feedback This input has a 2 21 kW pull up resistor to 3 3 V No connection when using the SFD feedback device CV Commutation Phase V input when using open collector Hall feedback This input has a 2 21 kW pull up resistor
110. e state or by cycling off on the Control Power NOTE The large bus capacitors store substantial energy To use the control power to reset a fault the power should be removed for at least 30 seconds to ensure that the fault resets Self resetting faults disable the drive and do not return it to normal operation until 50 100 ms after the fault condition clears When multiple faults occur the highest priority fault is reported After that fault is cleared and the drive is reset by cycling the enable input the next highest priority fault that still exists will be displayed 200 Base SynqNet Reference Manual M SM 200 01 D 105 Kollmorgen 11 2 DIAGNOSTICS 4 2012 Diagnostics and Troubleshooting The following table lists the 5200 fault codes and possible causes of the fault condition Status Control power not applied or insufficient control power applied Fast Blink No faults power stage Disabled Possible Cause Loose or open circuit wiring of control power input Low input voltage to control power supply Hardware or Software Enable inactive to enable drive apply hardware enable and set software enable Motor Over Temp Motor temperature exceeds allowed limit Drive Over Under Temp Temperature of drive heatsink chassis is outside of allowed limits 4 Drive 14 Too High The product of the drives output current multiplied by time has exceeded allowed limits If current foldback is enabled the dr
111. e type connected to J14 FBSrc to Option Card to use the J14 Aux Feedback to commutate the motor AuxFBDivisor to the proper value to allow commutation with DPoles 2 e e m J1 POWER gt aa a A E E E S200 Base SynqNet Reference Manual M SM 200 01 D 121 Kollmorgen 4 2012 Appendix D Process to Setup Non Kollmorgen Motors APPENDIX D PROCESS TO SETUP NON KOLLMORGEN MOTORS The S200 drive family is available with a full set of plug and run accessories and aids for the Kollmorgen AKM family of high performance general purpose rotary servo motors However 5200 drives should be able to run any three phase permanent magnet motor that has a compatible feedback device Table D 1 Possible combinations of S200 drive and non catalog or custom motors Model Feedback Type Wiring SFD to J3 Chapter 6 Drive to motor Should Base or auto set up Base SynqNet S200 6 step Hall to J3 Section 7 3 Wire set KIP and run Incremental Hall to J14 Chapter 6 Use this Appendix to synqNet 1 Vp p Analog Sin Cos power discover proper Option Card wiring and manually Hall to J14 Section 6 9 Only set up drive motor EnDat 2 1 2 2 from feedback parameters Heidenhain to J14 For motors not already catalog setup to work with the Kollmorgen 5200 drives you need to figure out the wiring between the motor coils the Hall commutation sensors and the encoder feedback device to the dri
112. ent bus capacitance if the bus voltage variation is 5 V from 75 VDC during the machine cycle Check the bus voltage with an oscilloscope Scope ground on J1 2 Bus Ctrl Gnd and probe on J1 3 bus Hor 5 ms div NOTE Some bus voltage variation is normal and required for the output NOTE bus capacitor to supply or absorb energy 7 Bus over voltage fault non latching If regeneration is too high while bus capacitance is too low the bus voltage rises to the bus over voltage fault threshold and disables the drive transistors It typically takes 1 to 2 ms for the motor current and torque to go to zero After it has reached zero there is no further rise in the bus voltage When the bus capacitors discharge to below the over voltage threshold 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 motor torque 8 Unregulated power supply External bus capacitance requirements are usually met by the output capacitor in an unregulated power supply as long as there is no diode between the drives and bus capacitor The same capacitor that filters the 120 Hz or 360 Hz line ripple also provides energy leveling and regeneration absorption capability 200 Base SynqNet Reference Manual M SM 200 01 D 113 Kollmorgen 9 4 2012 Appendix A DC Power Supply Design Regulated power supply
113. es of read write drive parameters are commutation offset value COMM OFF e proportional gain of the current loop e motor pole count D POLES Drives are shipped from the factory with motor parameters set to zero and application parameters set to their default values Parameters are identified by their command string and index The index is used when accessing a parameter over SynqNet Drive parameters are implemented for particular drive models and firmware versions NOTE Supported parameters for a drive may be different depending on the version of firmware The MPI library contains a general drive parameter interface that is able to handle any set of drive parameters independent of the MPI library version It uses a drive parameter map file to determine the valid drive parameters Individual drive parameters can be set or read using methods or with the sqDriveParam Utility A list of drive parameters can also be set or read using methods or with the sqDriveConfig Utility The following sections describe the syntax of utilities used when accessing parameters These utilities are typically executed from a DOS window the XMP bin WinNT directory 9 3 2 Memory Operations on Drive Parameters The drive firmware operates by using parameters stored in RAM However these parameters can also be saved in non volatile memory E2PROM where they are loaded into RAM upon power up The non volatile memory can a
114. estic environment this product may cause radio interference in which case the user may be required to take adequate measures Because applications differ it is impossible for the drive manufacturer to guarantee machine EMC compliance In some applications it may be necessary for the machine builder to incorporate more EMC mitigation techniques than Kollmorgen had to use in the EMC test setups CAUTION General Suggestions to Improve Machine EMC Performance e Use Kollmorgen cables Kollmorgen cables have been designed with considerations in mind Because subtle differences in cable construction can cause dramatic changes in EMC performance use of Kollmorgen s motor power and feedback cables is recommended e When joining or splicing sections of cable be sure to maintain the integrity of the cable shield along the entire length of the finished cable e Separate cables according to type AC Mains input motor power and signal cables should be separated from each other by at least 100 mm 4 in to avoid cross coupling between them If cables of different types have to cross they should do so at a 90 angle e Route wiring close to machine frame It is a good practice to run wires along the machine frame local ground whenever practical this couples some high frequency noise signals that could otherwise be troublesome directly to the local ground Remove paint from all drive filter and cable clamp mounting locations
115. et Reference Manual M SM 200 01 D 20 Kollmorgen 4 2 7 4 2012 Quick Start Guides I2TFO I2TFO 5 2 PI motor time constant minutes 60 Ex Mtc 20 minutes I2TFO 5 2 PI 20 60 I2TFO 0 000663 Hz l2TTrip I2TTrip motor continuious current 1 25 Ex lcs 4 Arms I2TTrip 4 1 25 I2T Trip 5 Arms ILmtPlus ILmtPlus motor peak current drive peak current 100 Ex Motor 1 4 5 Arms Drive 1 9 Arms Motor 1 4 5 9 100 Motor Ip 5096 ILmtMinus Typically ILmtMinus is set to the same value as ILmtMPlus Although there can be asymetrical current limits in the drive Dpoles Dpoles motor poles oave Options There are three types of Save options It is important to know how to use each type to ensure that configurations are not lost Download NV This button will save the parameter settings displayed in 5200 Tools to the selected drive These parameters are saved to the drive s permanent memory and are recalled during a power up cycle Download Drive This button will save the parameter settings displayed 5200 Tools to the selected drive node However unlike Download NV these parameters are only saved to the drive s temporary RAM and will not be recalled at a power up cycle It is recommended that you use the Download Drive button when testing settings Once you are satisfied with the settings click the Download NV button to permanently save the settings to the drive Save
116. et when the drive is in the hardware disabled state When set to Edge faults are reset when DInp1 hardware enable transitions from disabled to enabled 0 Edge Reset faults on DInp1 disabled to enabled transition 1 Level Reset faults on hardware disabled state Default GearIn 0 65535 Not supported over SynqNet Gearln is used to scale the input position command when configured as a position 200 Base SynqNet Reference Manual M SM 200 01 D 86 Kollmorgen 4 2012 Advanced Configuration controller OpMode Position This parameter is the divisor used to calculate the revs per step for the position mode The formula for calculating motor shaft revs per input count is GearOut Gearln 256 revs per input count There is 1 input count per step input or per input quadrature count depending on the position command source selected by PosCmdsSrc See Also GearOut and OpMode GearOut 32768 32767 Not supported over SynqNet GearOut is used to scale the input position command when configured as a position controller OpMode Position This parameter is the dividend used to calculate the revs per step for the position mode Typically this parameter is 256 which allows Gearln to be numerically equal to the number of steps per rev GearOut negative reverses the direction of motion for a given command The formula for calculating motor shaft revs per input step S GearOut Gearln 256 revs per input step There is
117. ference Manual M SM 200 01 D 1 Kollmorgen 4 2012 5200 Series Drives 1 2 MODEL NUMBER 52 03 3 0 5 002 Customization omit for standard drives 000 019 Reserved for factory use 020 999 Reserved for customers Family 52 200 Servo Family Current Ratin 02 1 5 ARMS continuous 4 5 ARMS peak 03 3 ARMS continuous 9 ARMS peak 06 6 ARMS continuous 18 ARMS peak 12 12 ARMS continuous 30 ARMS peak 24 24 ARMS continuous 48 ARMS peak Feedback Support S SFD Halls All Units SFD Comcoder CAN Option card Sine encoder SynqNet Option Card EnDat 2 1 SynqNet Option Card Functionalit VT Velocity Torque modes SD SynqNet option card w micro D connectors Voltage SR SynqNet option card w standard RJ connectors 3 20 90 VDC 03 06 Current CN Position Node w CANOpen Interface 5 120 VAC doubler 240 VAC 1 ph 02 03 Currents Only Electrical Option 6 120 240 VAC All Currents 0 No Electrical Option 1 3 DRIVE MODEL NUMBERS AND DESCRIPTIONS Here is a list of the various S200 Series Drives VTS Analog Velocity Torque Base Drive e SDS SynqNet option card with Micro D connectors SRS SynqNet option card with RJ 45 connectors CNS CAN Indexer option card Not documented in this manual S2xxx0 SRS One of the above drives with optional SynqNet with RJ 45 connectors S2xxx0 SDS One of the above drives with optional SynqNet with Micro D connectors S20330 VTS S200 90 VDC 3
118. g to IEC 364 4 412 3 and IEC 364 4 412 4 Follow IEC 536 2 and IEC 1140 for installation protection against electric shock Installation shall be performed in accordance with local electric codes local accident prevention rules EN 50178 and EN 61800 3 Never connect or disconnect any drive connectors or terminals while the power is switched on Due to high leakage current permanently install this drive hard wired or fixed type 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 51 between the earth ground and the PE terminal s on the drive or by a protective conductor having a cross section of at least 10 Cu The S200 drives designed to Protective Class l The discharge time for the bus capacitors may be as long as 5 minutes After disconnecting the drive from the ac mains be sure to wait 5 minutes before removing the drive s cover and exposing live parts The finished installation shall comply with the requirements of the IEC 364 4 41 series of standards The cables and leads except the protective conductors used in the erection of the 9200 in an installation which are accessible for contact without opening or removing a barrier or are laid on extraneous conductive parts shall have double or reinforced insulation between the core and the surface or shall be surrounded by a metal screen having a satisfactory current c
119. gal state of either all ones or zeros 0 No Fault 1 Fault AuxFBPTCFIt Fault No Fault Option Card Only Supported over SynqNet This bit indicates the AuxFB PTC has generated a fault 0 No Fault 1 Fault AuxFBSCDFIt Fault No Fault Option Card Only Supported over SynqNet This bit indicates that the amplitude of the sum of the sine and cosine signals is not with in 30 of the nominal 1 0 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 Cmdln is the value of the output of the command processing block This variable s units depend on whether the drive is in current or velocity control mode See OpMode for control mode information DInp1 Inactive Active Indicates the state of the drive s enable input on the Command connector 44 0 Active state current flows in opto isolator input diode 1 Inactive state no current flow DInp2 Inactive Active For SynqNet see mpiMotorGeneralln Indicates the state of the hardware input DINP2 on the Command connector J4 0 Active state current flows in opto isolator input diode 1 Inactive state no current flow DInp3 Inactive Active Indicates the state of the hardware input DINP3 on the Command connector J4 0 Active state current flows in opto isolator input diode 1 Inactive state no current flow 200 Base SynqNet Reference Manual M SM 200 01 D 90 Koll
120. ge 3 1 DRIVE FAMILY POWER 240 VAC Input 20 90 Vdc Input _________ 240 VAC Input 520260 520360 520660 21260 522460 520330 520630 Peak Output Current RMS Peak Output Curent AMS 010 50 C Amb Aas 45 00 9 00 90 Minimum Peak Minimum Peak Current Time 40 Ans __ 15 30 60 120 30 50 Camb Aas __ 10 20 40 160 25 45 Peak Output Power 1 sec 75 Vdc VA Drive Continuous Output Power 240 2 1100 2000 4000 sx _ BOVaciPhase Ww 0 eoo to 2500 x _ 120Vac 1Phase w 260 o _ _ _ _ 250 50 75 W Continuous Motor Shaft Power 23000 RPM Nominal Bus 10 3 Phase DC ots s00 750 1300 2200 2500 40 C amb 4 RMS Line Current at Continuous Output Power 240 vac sPhase Ams 27 59 99 movar Phase ams 34 2 __ Phase Ams 34 65 1 Maximum AC Line kVA limits mains surges to drive AC Line kVA max BUS Current With 75 VDC at Continuous Output Power Power Stage Diss at Shunt Regulator Peak Power kW 500 mSec 4 4 6 4 10 10 15 0360 0250 0150 0150 0100 Continuous Power W 440 640 1000 1500 2500 NA 0360 0250 0150 0150
121. gen 4 2012 Appendix G Regulatory Information G 6 Low VOLTAGE DIRECTIVE AND EN50178 To ensure compliance with the Low Voltage Directive and EN50178 following these requirements Electronic drives contain 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 contacting drive The climatic conditions shall be in accordance with EN 50178 climatic class Type B temperature and relative humidity Class 3K3 The drives shall be installed in an environment of Pollution Degree 2 or better The S200 drives are not considered portable and are to be mounted in the intended manner in a motor control cabinet having adequate strength and thickness with acceptable spacing for the end product classification accessible by qualified personnel only The enclosure cabinet shall meet at least the requirements of Protective Type IP2X according to 5 1 of EN 60529 If the top surface of the enclosure cabinet is easily accessible it shall meet at least the requirements of the Protective Type IPAX Care shall be taken to ensure that the larger device or enclosure that accommodates the built in device provides protection against direct contact The S200 drives may be erected in closed electrical operating areas if a protection against direct contact is available or assigned for by means of obstacles and or a distance accordin
122. he BUS voltage has exceed the upper threshold limit Bus Under Voltage Self Resetting 200 DC drive fault only BUS voltage is below specified 20 VDC minimum Motor l l or l n Short Line to Line Line to Neutral or Line to PE short on the motor output causing an instantaneous over current Output Over Current Hall Fault Valid only when drive is set for 6 Step Hall feedback operation SFD Configuration Error J3 FB 5V Short Excessive current drain on SFD 5 supply output SFD Motor Data Error Motor data in SFD is outside drive limits or is inconsistent SFD Sensor Failure 4 2012 Diagnostics and Troubleshooting Possible Cause AC Line voltage AC unit or DC bus power supply voltage DC unit is too high Regenative energy during deceleration is causing the BUS to rise On AC Drives add regen resistor On 5200 DC input drives external BUS capacitor is too small add capacitance On 5200 DC input drives BUS voltage is too low BUS voltage is pulled down during high acceleration or loading External BUS capacitor is too small Motor power wiring short circuit line to ground neutral Motor cable short line to line Motor power cable length exceeds the data sheet specification causing excessive motor line to earth ground neutral capacitance Internal motor winding short circuit Motor L too small KIP set too large Insufficient motor inductance KIP or KII impro
123. he Drive Grounding Provide safety isolation with the external bus and control supplies from the power line The drive cannot be powered from an electrically Hot supply as It does not contain an isolation barrier The Ctrl and Bus voltages and non opto coupled grounds 1 are commoned inside the drive The Ctrl and Bus power supplies share a ground pin Bus Ctrl Gnd Join and connect to the negative terminals of the Ctrl and Bus power supplies The RTNs are normally connected to the signal ground of the system Some of the is opto coupled and have separate returns Be sure to thoroughly review this document for details The power supply negative terminal should be grounded somewhere in the cabinet The chassis should also be grounded In normal operation there should be no significant voltage between ground and the Bus Ctrl Gnd and RTNs The maximum voltage allowed between Bus Ctrl Gnd and chassis is 100 VDC Bus Capacitance There is a minimum requirement on the output capacitance of the bus power supply for the 9200 DC Input Drives This capacitor is needed to absorb energy during motor deceleration and motor disable It also helps provide energy during motor acceleration For multiple 5200 drives operated from one supply the recommendation is to increase the capacitance according to the number of drives For example for four 6 A 18 ARMS DC 5200 drives powered from one 75 VDC supply the recommended m
124. he 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 value recommended setting This setting automatically sets the motor parameters KVP is set for 75 Hz nominal velocity loop bandwidth with an unloaded motor To change KVP or other motor parameters refer to Configuring with SFD Feedback Motor Parameters Single pole filters in the velocity loop forward path Set to ARF1 accommodate the effects of mechanical resonance Sets the velocity loop break out frequency from integral to proportional compensation Selects Analog PWM or Command variable for command Sets the command gain for the command input CmdOffset Sets the command offset for the command input Sets the filtering analog input command The following are optional parameters that can be set Paramter Funcion 0 Sets the line count of the emulated encoder output EN Enables the hardware over travel limits 200 Base SynqNet Reference Manual M SM 200 01 D 71 Kollmorgen 4 2012 Basic Configuration 7 4 4 SFD Position Mode The base 5200 can drive a motor in Position Mode using SFD Feedback The source of the command can either be Step and Direction or differential quadrature signals The drive needs to be configured using the S200Tools utility The configuration parame
125. ical to your understanding NOTE or use of the product Kollmorgen 4 2012 Table of Contents Table of Contents 1 9200 Series DEVE 1 1 1 Manual SCOD Cw M 1 1 20 2 13 Drive Model Numbers and 99 2 2 Before A 3 2 1 3 2 2 Unpacking esee nennen nena rnnt 3 3 c 4 3 1 4 3 2 Input Drives Control and Power sss 6 9 251 AG Control F ower a 6 9 2 2 Motor Power od 6 3 2 9 AG Bus Voltage and iii over as 6 3 2 4 AC Motor Power Inrush Current amp Fusing 6 3 2 5 AC Control Power Inrush Current amp 111 7 3 2 60 ANG On s 7 3 3 DC Input Drives Control 2 2 406 000000000000000000006000 7 3 3 1 DC Control Power 7 3 3 2 DC Bus Voltage
126. ied ratings e drive should be mounted in the intended manner an enclosure having adequate strength and thickness with acceptable spacing for the end product classification e spacing from the exposed live metal parts to the enclosure wall should be in accordance with the requirements for the overall equipment e 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 e UL temperature tests were done with a metal heat plate with overall dimensions 6 in x 12 in x 1 8 in The machine builder is responsible for ensuring adequate heat sinking capability in the final installation e The thermal protective device s provided integral to the motor drives were not evaluated by UL The terminals are suitable for factory wiring only These motor drives have not been evaluated to provide solid state overload or over speed protection e he models were evaluated by UL for use with an isolated power supply rated no more than 150 V open circuit secondary voltage and 10 secondary power This combination shall be maintained to satisfy UL requirements 200 Base SynqNet Reference Manual M SM 200 01 D 135 Kollmorgen G 8 200 Base SynqNet Reference Manual 4 2012 Appendix G Regulatory Information ADDITIONAL SAFETY PRECAUTIONS Motor Case Grounding Insure that the motor s case is connected to PE ground The fourth wire in the motor
127. igure the S200 Series Drives with the 5200 Tools software 5200 Tools will only communicate with 5200 Series Drives MOTOR SETUP Depending on the type of motor feedback that is used you will need to use the appropriate feedback connector SFD 4 2 2 SinCos with Endat 2 1 2 2 SinCos with Halls ComCoder Incremental Halls S200 Tools Communication Wizard LAUNCH S200 TOOLS Launch the S200 Tools program by clicking the desktop icon or from the Windows Start button Programs gt Kollmorgen gt S200Tools The default location for S200Tools exe is C Program Files Kollmorgen S200Tools i 5200 Tools Base Unit iXD62EMarit fuma eami Casert When the 5200 Tools program is launched for the first time no drives should be listed under the Online or Offline Communications Mode 200 Base SynqNet Reference Manual M SM 200 01 D 18 Kollmorgen 4 2012 Quick Start Guides 4 2 4 2 START COMMUNICATION WIZARD Open the Communication Wizard by selecting it from the toolbar Utilities gt Communication Wizard or clicking the shortcut icon 1 5200 Tools Units 1 200 Tools Files view Utilities Help Files View Ukilities Communication Wizard Tuning wizard Restore Factory Defaults variable Statistics Select SynqNet as the Communications Mode Communication Wizard Communicati
128. in kip Curtkoppopotondgan 2 Fault trip level for motor transient thermal protection I LmtPlus Sets the drive maximum lout based on motor I LmtMinus Sets the drive maximum lout based on motor SFDSpan Span No Span Sets how the drive handles single sample communication errors with the SFD Span interpolates SFD feedback position for isolated single sample communications errors No opan faults the drive on any SFD communication error Recommended default setting is Span 0 No Span 1 Span SWClrFault Not Clear or Clear This parameter will clear the fault logic 0 Not Clear default 1 Clear 200 Base SynqNet Reference Manual M SM 200 01 D 89 Kollmorgen 4 2012 Advanced Configuration 8 5 4 Status And Control Variables AuxFBComAng 180 to 180 Option Card Only Supported over SynqNet This register is the value of the commutation position from the AFB interface It is used to generate the commutation angle in the drive AuxFBEnDatFlt Fault No Fault Option Card Only Supported over SynqNet This bit indicates that the Aux Feedback interface encountered an error when trying to read data from an EnDat device Sources of error are 1 EnDat device recover timeout from last transaction 2 EnDat device calculation timeout 3 EnDat CRC fault AuxFBHallFlt Fault No Fault Option Card Only Supported over SynqNet This bit indicates the AuxFB Halls are in an ille
129. in Cos cycles magnetic pole pitch per magnetic pole pitch AuxFBType Type Option Card Only Supported over SynqNet This parameter selects the type of feedback wired to the AuxFB connector It is a combination of the following single bit parameters AFBHallDis AFBDivisorSrc AFBEnDatEnb and AFBFBSrc The following table defines the state of these parameters for each supported feedback device AFBHallDis AFBEnDatEnb AFBDivisorSrc AFBFBSrc Incremental A Quad B AuxFBbDivisor Incremental A Quad Enable Disable AuxEBDivisor with Halls 1 Vp p Sin Cos Disable Disable AuxFBDivisor SCD Incremental S200 Base SynqNet Reference Manual M SM 200 01 D 81 Kollmorgen 4 2012 Advanced Configuration See AuxFBbDivisor to complete the setup of the Aux Feedback interface Note Many EnDat 2 2 devices can be wired to the J14 AuxFB Connector as long as the 1 Vp p Sin Cos analog signals are also wired and the device will run in EnDat 2 1 compatibility mode Power up initialization of absolute position will work BatFDis Enable Disable This parameter enables or disables the Battery Low fault The Battery input on the command l O connector is an optional feature and is not required for proper operation of the drive It is only required if the battery backup of the multi turn information is required from the SFD If the feedback device is not an SFD then the battery does nothing 0 Enable Battery Fault 1 Disable Battery Fault
130. ing further motion in the counter clockwise shaft motion direction This function can be turned on or off by setting EnInhibitCCW Dinp3Pol sets the control logic polarity Input 4 This input is the direction input when the drive is in Position Mode with the PosCmdSrc set to Step amp Direction Open circuit no LED current positively increments the position command motor goes CW Set up time for direction is 100 us Minimum pulse width is 200 us Refer to DInp4 6 7 1 2 DRIVING THE GENERAL PURPOSE INPUTS Sinking Logic 5200 Base SynqNet Reference Manual For compatibility with sinking outputs the DINP COM terminal is connected to the positive terminal of a power source 4 0 to 30 VDC The input DINP1 4 is connected to the sinking logic output of the field device as shown in the diagram below M SM 200 01 D 44 Kollmorgen 4 2012 Wiring the Drive J4 1 DINP COM External 4 30 VDC Power Supply Sinking Logic Output from Field Device Sourcing Logic For compatibility with sourcing outputs the DINP COM terminal is 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 Sourcing Logic Output from Field Device J4 1 T External 4 30 VDC Power Supply TTL and CMOS The following are examples of driving with TTL or Drivers CMOS output devices 5 VDC LE SINKING T
131. ing parameters 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 Velocity or SetupS2 1 with switch S2 1 set to the up position labeled V as shown on the drive ARF1 accommodate the effects of mechanical resonance Sets the velocity loop break out frequency from integral to proportional compensation CmdOffset Sets the command offset for the command input Sets the filtering analog input command The following are optional parameters that can be set Parameter Funcion Sets the line count of the emulated encoder output With 6 Step feedback the emulated encoder output works by interpolating between the edges So at low speeds signal quality will be poor Enables the hardware over travel limits 200 Base SynqNet Reference Manual M SM 200 01 D 68 Kollmorgen 4 2012 Basic Configuration 7 4 CONFIGURING WITH SFD FEEDBACK 7 4 1 SFD Motor Parameters When the drive is powered up and connected to a motor with SFD feedback the drive will automatically configure itself for the attached motor by loading the default motor parameters The default motor parameters provide robust performance of current and velocity loops with optimized settings to protect the motor from thermal overload For most applications these default motor parameter settings are recommended because they provide excellent perfor
132. inimum bus output capacitance of the supply is 4 x 4 000 uf 16 000 uf Bus capacitor voltage rating should be 100 V Bus capacitor type is aluminum electrolytic Bus Switching and Fusing Do NOT put E Stop switches or contactors between the drive bus pin J1 3 and the power supply bus capacitor There is a risk of damage to the drive if 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 regenerates back to the supply when the drive is disabled E stop switches can safely be located in series with the primary winding of a step down transformer If individual axis E Stop switches are required connect a local unswitched capacitor 1 000 uf 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 S20330 3 amp S20630 6 amp 7 A Slo Blo Bussmann MDA 7 15 A Slo Blo Bussmann MDA 15 5200 Base SynqNet Reference Manual M SM 200 01 D 39 Kollmorgen 4 2012 Wiring the Drive 6 5 J2 MoTOR POWER CONNECTOR On smaller drives with Drive 18 Arms or less J2 is a 4 pin pluggable connector On larger drives the motor power connection is made on fixed terminal block TB1 and needs no mating connector J2 Connector view from front of drive 5200 AC Input Drives PE Physical Earth 200 DC Input
133. internal S200 bus capacitance is 200 uf which is less than 10 of the required capacitance for energy absorption Energy from 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 excessive bus voltage variation The peak output power of a 6 18 ARMS DC S200 can be as high as 1 5 kW 1 5 kW 18 ARMS x rt 2 x 60 V emf IR This is an energy flow of 3 joules for 2 ms or 15 joules for 10 ms Mechanical energy is estimated by considering the load to be pure inertia and measuring the velocity transition times A full torque acceleration or deceleration of an inertia load yields a triangle power pulse with an energy in joules half of the peak power in watts multiplied by the velocity ramp time in seconds from zero speed Monitor the motor acceleration by mapping velocity and torque to DAC monitor pins J4 14 15 and then looking at them with a scope Set DM1Map to VelFB and DM2Map to IFB See the I O Setting tab in S200Tools At a peak power flow to the shaft of 1 kW 25 A x 40 V the energy delivered vs acceleration time is o ms 2 5 joules 10 ms 5 0 joules 15 ms 7 5 joules Capacitor Energy Absorb Deliver The capacitor energy absorbed or delivered for a 5 V change from a 75 bias is joules for 8 000 uf 7 joules for 20 000 uf 16 joules for 45 000 uf Bus DC Input Power Bus input p
134. inutes before working on the machine or working anywhere where injury can occur due to machine motion 3 Avoid Electrical Shock e Never power the servo drive with the cover removed or with anything attached to circuitry inside the cover e 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 e 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 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 e Never plug or unplug connectors with power applied e Never connect or disconnect any wires to terminals with power applied e 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 M SM 200 01 D 136 Kollmorgen 4 2012 Appendix G Regulatory Information G 9 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 dom
135. is output indicates when the drive is capable of running the motor This output can be used to drive a relay to turn a motor brake coil on and off 6 7 2 2 OUTPUTS DRIVING TYPICAL LOADS Both the collector and emitter of the phototransistor are on J4 providing the capability to drive either sinking or sourcing loads Sinking Load External Current Limiting Resistor Power Suppl 50 mA MAX 30 VDC MAX An optoisolator is being driven in this example The current through the output needs to be limited to 50 mA or less which is accomplished by selecting an appropriate current limiting resistor The voltage of the 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 Relay Coil Current Limiting Resistor 50 mA MAX External Power Suppl 30 VDC MAX In this example a relay coil is being driven The current through the coil needs to be limited to 50 mA or less which is accomplished by selecting an appropriate value of current limiting resistor 5200 Base SynqNet Reference Manual M SM 200 01 D 47 Kollmorgen 4 2012 Wiring the Drive The voltage of the external power source needs to be 30 VDC or less and can be the same source used to provide power to the inputs A clamp diode must be added across the coil to clamp the voltage during turn off 6 3 High Speed Input High Speed The 5200 has one high speed input for use with PWM Input input commands or
136. ist of valid values range of valid values or an address default value Parameter value to be used if value is not specified help string Simple string to provide help to user 200 Base SynqNet Reference Manual M SM 200 01 D 99 Kollmorgen 4 2012 SynqNet Configuration All service commands and drive parameters are accessed over the service channel as 32 bit quantities but the 32 bits of data can represent different types of data To support various data types with generic software tools the supported data types have been predefined Here are the data type names that are supported for the drive parameter map file Name Descipion hex32 An 32 bit unsigned hexadecimal number same as unsigned32 but displayed as hexadecimal enumerated A list of numbers 1 2 3 4 where each number has a specific meaning same as unsigned32 but displayed as a selectable list mask A set of bits 1 2 4 8 where each bit has a specific meaning same as unsigned32 but displayed as a set of selectable flags An ASCII character A 32 bit floating point number according to IEEE754 action A write only parameter where the data is always zero Performs an action command on the drive that does not need any data A few examples from the CD SynqNet and the PicoDAD are 0x01 MBEMFCOMP rw signed 16 0 100 0 Back EMF compensation percentage 0x02 DICONT ro signed 16 10 1100 0 Drive rated continuous current DIPEAK ro
137. itive CommOff The resulting motion should be in the positive encoder direction That is the encoder counts should have increased If there is enough friction in the system may need to adjust the current higher just make sure the current is within the motor coil rating You can also try going further by setting CommOff to higher angles up to 180 degrees If the resulting motion was in the negative encoder direction you will need to swap any pair of motor power leads The setup now has the motor coils the Hall commutation sensor and the encoder all agreeing on the same positive direction Disable the drive oet Commutation Offset Angle Zero the 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 of magnetic poles per revolution For linear motors make sure AuxFBDivsor is set correctly to get commutation to work See Chapter 8 Advanced Configuration for help with these NV parameters Enable the drive while holding the motor There should be 0 current command and there should be no force yet Now apply a small for example 1000 counts current command in the MEI MoCon utility as described above The motor should show a uniform force that doesn t vary as a function of magnetic cycle Don t worry about the force direction Now try setting CommOff in 5200 Tools to 120 0 120 Two of
138. ive peak output current automatically reduces to 0 67 of DIpeak If foldback is not enabled the drive will fault Motor I I t Too High Motor current amplitude squared multiplied by time has exceed allowed limits Optional Battery low Optional fault used to indicate SFD battery supply voltage is low 200 Base SynqNet Reference Manual High ambient temperature at motor Insufficient motor heat sinking from motor mounting Operating above the motor s continuous current rating Motor temperature sensor failure or not connected High or low drive ambient temperature Restriction of cooling air due to insufficient space around unit Operating above the drive s continuous current rating Mechanically jammed motor Motion profile acceleration requires peak current for too long of a time duration Machine load on the motor increased by friction Wiring problem between drive and motor yielding improper motion Motor commutation error Drive under sized for application friction or load Mechanically jammed motor Motion profile acceleration requires peak current for too long of a time duration Machine load on the motor increased by friction Motor commutation error Motor under sized for application friction or load Battery low fault enabled and battery is not installed SFD Battery backup voltage is low M SM 200 01 D 106 Kollmorgen Fault Description Bus Over Voltage Self Resetting T
139. lso be cleared Parameters may 200 Base SynqNet Reference Manual M SM 200 01 D 97 Kollmorgen 9 3 3 9 3 4 4 2012 SynqNet Configuration be reset to their default values and a set of saved parameters may be loaded from the non volatile memory into the RAM The operations described above are executed using SynqNet Direct Commands which are listed in the table below The command string is used to identify the specific command It also indicates the syntax of the command used when communicating with the drive over the serial port SynqNet Direct Commands T Command SynqNet Direct Save SAVE 0x1C Save all parameters to Parameters non volatile memory Accessing Individual Parameters Use the sqDriveParam Utility for accessing individual parameters The syntax follows the conventions listed below xis the node number Nodes are numbered starting from zero e yisthe drive or axis number on that node Drives are numbered starting from Zero parameter index identifies the parameter being accessed data value is the data being written to the parameter Syntax for reading drive parameters Sqdriveparam server ip address node x drive y read parameter index Syntax 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 gt
140. ly is used connect the control supply ground and main bus supply ground together at or near the drives not at the supplies Bus wire inductance and bus resonance The time domain of motor related energy flow is measured in milliseconds The inductive voltage drop in the bus and ground wiring for these times is small For this reason the energy leveling bus capacitor does not need to be located near the drive and a single bus capacitor can be shared by multiple drives Be aware of bus resonance NOTE Current can oscillate between capacitors in any distributed DC power system with the capacitor located apart and connected in parallel with wires The capacitors and wiring inductance form an underdamped LC circuit that can ring when excited by PWM currents The easiest way to monitor the current in the bus wiring of the drive is with a current probe The ringing occurs if the current probe shows a large gt 10 A quasi sinusoidal current in the 1 to 10 kHz range While more difficult to see in voltage it does cause small sinusoidal voltage few volts to occur across the drive positive Bus J1 3 to Gnd J1 2 terminals Occasional bursts of bus ringing are usually not too serious but sustained or too frequent ringing is undesirable because high currents can cause heating of wires and capacitors The simplest way to squelch bus ringing is to lower or change the inductance of the bus wiring with the following a Move the external bus
141. mance and require no additional tuning To use the default motor parameters verify that SelSFDParam is set to SFD which is the factory default setting If the response time and or stability of the system needs to be further optimized for the specific application the motor parameters will need to be modified To modify the motor parameters set SelSFDParam to Drive This setting unlocks the motor parameters and allows the parameters to be individually set with the S200Tools utility The modified motor parameters will need to be saved to the drive s non volatile memory click the NV Save button to ensure that the changed settings are loaded when the drive is powered up Incorrect motor parameter settings can cause damage to the motor and or drive The motor parameters need to be set correctly to match the drive to the motor The correct parameter settings ensure A e The drive is matched to the motor inductance and pole count e Thecurrent and velocity loops are stable with good bandwidth e The motor is protected from thermal overload A good starting point to setting the motor parameters is to obtain the default motor parameters and then edit only the parameters that need to be changed e Using the S200 Tools set SelSFDParam to SFD this loads the default motor parameters e Next set SelSFDParam to DRIVE This will allow the motor parameters to be edited Change only the parameters you are looking to optimize NOTE e
142. morgen 4 2012 Advanced Configuration DInp4 Inactive Active Indicates the state of the hardware input DInP4 on the Command connector J4 For OpMode Position PosCmdSrc Step Dir this input is the Direction input In the inactive state no LED current with positive GearOut PosCmd increments with each Step input edge i e the motor moves clockwise 0 Active state current flows in opto isolator input diode 1 Inactive state no current flow DriveOK Fault No Fault Drive fault status indicator This signal is actually the inverse of the FAULT DOUT 1 output of the drive on the Command connector J4 Current flows through DOUT1 when DriveOK is active or logic one 0 Drive fault see FaultCode 1 Drive not faulted EMUAI 0 1 This variable indicates the state of the emulated encoder channel A pin on the Command I O connector J4 0 Input CH A OUT more positive then CH A OUT 1 Input CH A OUT more positive then CH A OUT EMUBI 0 1 This variable indicates the state of the emulated encoder channel B pin on the Command I O connector J4 0 Input CH B OUT more positive then CH B OUT 1 Input CH B OUT more positive then CH B OUT Enabled Off On This variable indicates the enable state of the drive power stage This signal is the inverse of the active on RUN DOUT2 output of the drive on the Command I O connector Current flows through DOUT2 when Enabled is active or logic one 0 Drive
143. motor data sheet continuous current capability when the motor has no internal thermal shut down sensor When the motor includes a thermal sensor I2T Trip is typically set 1 25 times larger than the motor s continuous current capability with the motor s internal thermal sensor providing protection against small overloads ILmtPlus ILmtMinus of DIpeak IlmtPlus and ILmtMinus are the clockwise and counter clockwise current limits respectively They set the maximum allowable torque current command in their respective directions They are a percentage of the drive s peak current rating ITMode Fault Foldback Selects whether the drive faults on too much peak current for too long i e excessive or folds the current limits back by clamping them to 67 IFldBack or less If IlmtPlus and IlmtMinus are set to 67 or less fold back has no effect See FoldBack for related information 79 226 VBusScale DIpeak 19014 VbusScale DIpeak V A KIP sets the proportional gain of the current loops The bandwidth of the current loop in Hz is KIP Motor 1 1 L 2rr See the drive specification section for recommended bandwidths 200 Base SynqNet Reference Manual M SM 200 01 D 87 Kollmorgen 4 2012 Advanced Configuration KPP 0 379 93 99 Hz Not supported over SynqNet Sets KPP sets the proportional gain of the position loop in Hz When OpMode Position the net velocity command VelCmd in rad sec is VelCmd KPP 2z Po
144. mpatible line drivers Recommended load current is 20 mA which corresponds to a line to line load resistance of 100 These outputs can handle shorts to I O indefinitely without damage The resolution of the Encoder Outputs number of pulses per motor revolution is set by S1 rotary switch as follows Kollmorgen 4 2012 Wiring the Drive Encoder Pulses Revolution User settable factory default 500 1000 7 10000 User settable non volatile PPR via the serial port Possible PPR 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 count frequency below 5 MHz for robust operation The emulated encoder output is only available when using a high resolution feedback device such as the SFD feedback to the base unit or Encoder feedback to the NOTE option card The emulated encoder outputs have no signals when there is only base unit 6 step feedback Inputs Channels A and B can be configured as inputs by setting NV Parameter PosCmdSrc to AQUADB With NV Parameter OpMode set to Position and PosCmdSrc to AQUADB the motor shaft position command comes from the quadrature decode of channels A and B input scaled by the ratio of NV Parameters GearOut over Gearln In Input mode Channels A amp B accept quadrature position commands The comma
145. must be ordered separately 5200 Base SynqNet Reference Manual M SM 200 01 D 13 Kollmorgen 4 1 2 2 4 1 3 4 1 3 1 4 1 3 2 4 2012 Quick Start Guides Host Computer Serial Serial Cables Serial Port 5200 MOTOR SETUP If you are 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 the AUX FB J14 connector which is not available on Base Unit drives See Drive Model Numbers and Descriptions for a complete list of S200 drives 5200 Tools Communications Wizard LAUNCH 5200 TOOLS Launch the S200 Tools program by clicking the desktop icon or from the Windows Start button Programs gt Kollmorgen gt S200Tools The default location for S200Tools exe is C Program Files Kollmorgen S200Tools M n 17 5200 Tools Base Unit 005 1 ee peut When the S200 Tools program is launched for the first time no drives should be listed under the Online or Offline Communications Mode START COMMUNICATION WIZARD Open the Communication Wizard by selecting it from the toolbar Utilities gt Communication Wizard or clicking the shortcut icon ci 200 Tools Base Unit 7 200 Tools Base Unit Files wiew Utilities Help Files View Utilities Communication Wizard Tuning Wizard Restore Fac
146. n practice is to terminate these pairs the PCB to reduce noise When using a 2 pair cable these pins are left unconnected in the cable Mating Connector Information 8 Male PN 5 557315 not shielded 8 Male PN 5 569552 3 shielded 6 11 1 SynqNet LEDs Pm Meaning ON Repeater on network cyclic RPTR Repeater BLINK Repeater on network not cyclic OFF Repeater off power off or reset ON Link Active LNK Link Activity OFF Link Inactive 200 Base SynqNet Reference Manual M SM 200 01 D 57 Kollmorgen 4 2012 Wiring the Drive 6 12 J13 DISCRETE l O CONNECTOR J13 is a Standard D Sub 15 pin Male 19 9e 9 11 connector 10 50 e e e 1 J13 Connector view from front of drive J13 5 OINP4 NODE DISABLE 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 norcomp net The optically isolated digital on connector J13 is based on the exact same circuitry used on the base unit on connector J4 For detailed electrical specifications and information on how to interface to this I O refer to Sections 6 7 1 General Purpose Inputs and 6 7 2 General Purpose Outputs J13 also includes 3 channels of very fast RS 422 compatible direct coupled differential digital inputs that can
147. ncorrect setting of KIP can cause current loop instability or oscillation potentially resulting in damage to the drive or application Motor Inductance Table for 6 Step Commutation L in mH S20260 520360 520660 520330 520630 Position User User User User User Settable Settable Settable Settable Settable factory factory factory factory factory default default default default default 96 932 48 416 24 208 12 104 6 052 6 17 9 03 3 09 4 50 1 55 2 25 0 52 0 75 0 27 0 38 9 04 13 39 4 51 6 69 2 26 3 34 0 76 1 11 0 39 0 56 13 40 19 56 6 70 9 78 3 35 4 89 1 12 1 63 0 57 0 81 3 19 57 9 79 28 89 14 44 4 90 7 22 1 64 2 41 0 82 1 20 4 28 90 14 45 7 23 43 34 21 67 10 83 2 42 3 61 1 21 1 80 5 43 35 21 68 10 84 63 80 31 90 15 95 3 62 5 32 1 81 2 65 63 81 31 91 15 96 95 11 47 55 23 76 5 33 7 92 2 66 3 96 7 95 12 47 56 23 77 7 93 144 49 72 24 36 12 12 04 3 97 6 02 144 50 72 25 36 13 12 05 216 74 108 4 54 20 18 06 6 03 9 03 151 position 0 allows setting the non volatile via the serial port to valid value in 6 Step mode The value written will replace the default value listed in position 0 of the table 511 12 Rotary SynqNet ID Switches SYNQNET ID 5 512 MSB 11 LSB The SynqNet ID switches can be used to help distinguish and differentiate a
148. nd signals need to be differential quadrature signals Channel A leading B generates a CW position command while Channel B leading generates a CCW position command The magnitude of the command position is set by Gearln and GearOut The maximum input line frequency for reliable operation is 625 kHz which corresponds to a maximum quadrature pulse rate of 2 5 MHz 200 Base SynqNet Reference Manual M SM 200 01 D 51 Kollmorgen J4 17 18 CH Z OUT CH Z OUT Encoder Phasing 6 7 7 ANA CMD J4 24 25 C Inputs amp NOTE 200 Base SynqNet Reference Manual 4 2012 Wiring the Drive The CH Z Output is only available when using SFD Feedback These two terminals function as a differential TTL marker pulse The output pulse occurs once per motor shaft revolution starting at feedback device position 0 Its width is one line width or two quadrature encoder widths The CH Z uses the same differential driver as described for CH A and CH B PosFB EncOutZoffset 0 A B 2 2 Encoder Phasing for Clockwise Motor Rotation Analog Command Input This differential input accepts the analog command from the user It has a maximum single ended input range with respect to on either input of 12 5 to 15 5 VDC a differential input impedance of 300 kO and a single ended impedance of 150 kO The recommended full scale differential command input range is 10 V but the input can handle up to 12
149. nd J4 20 going to the external controller 200 Base SynqNet Reference Manual M SM 200 01 D 73 Kollmorgen 8 4 2012 Advanced Configuration ADVANCED CONFIGURATION The S200 is shipped with a factory configuration that is designed to work with a Smart Feedback Device SFD equipped motor to implement an analog commanded Torque Current block The 10 V input factory configuration yields a maximum clockwise torque current The 10 V input yields a maximum counter clockwise torque current By adjusting the rotary switch 51 to set the emulated quadrature encoder output a completed setup of the drive is now ready for many applications To configure the drive as an analog velocity loop with medium velocity loop bandwidth stiffness adjust the switch 52 so that pin 1 is in the up position 52 12 3 4 If this functionality serves the application need the factory setup can be used as is in an application For applications other than the two standard configurations described above such as using a PWM digital line for the command or implementing a position loop with Step and Direction command the drive configuration will have to be customized through the Windows PC compatible setup software called S200Tools The rest of this chapter describes the 200 configuration options through diagrams of the control loops reference lists of setup parameters with their definitions and range and further explanations of drive
150. node x drive y read 0x3 Set the encoder resolution to 2048 Sqdriveparam server ip address gt node x drive y write 0 7 data 2048 Accessing an Entire Parameter Set Use the sqDriveConfig Utility for reading or writing an entire set of drive parameters The utility uses a Drive Parameter Map File that contains definitions and properties of the drive parameters The map file needs to match the drive processor firmware version in terms of version number and in terms of the set of supported parameters Syntax for reading an entire set of parameters to a file SqDriveConfig server ip address node x drive y get destination file name map map file name 200 Base SynqNet Reference Manual M SM 200 01 D 98 Kollmorgen 9 3 4 1 File Header 4 2012 SynqNet Configuration Syntax for writing an entire set of parameters from a file SqDriveConfig server ip address node x drive y set source file name map map file name gt Map files for each drive are delivered with the MPI installation and can be found in the XMP bin subdirectory In addition the map file matched to a specific version of drive firmware can be downloaded from the Drive Firmware section Simply select the drive and retrieve the appropriate firmware and map file information DRIVE PARAMETER FILE The drive parameter map file is a text file that contains a list of valid drive parameters for a particular drive model The file con
151. nts and all applicable wiring regulations Only qualified personnel having broad knowledge of electronics and motion control technology are to commission the machine utilizing the drives This manual should be read in its entirety This appendix contains important regulatory information not necessarily covered in earlier chapters The material in this section should be taken into consideration to ensure compliance with applicable regulatory requirements This section alone does not contain all the information needed to install and operate an 5200 drive General information on installation and wiring are explained detail in previous sections G 4 SAFETY REQUIREMENTS As the user or person applying this unit you are responsible for determining the suitability of this product for the application In no event will Kollmorgen be responsible or liable for indirect or consequential damage resulting from the misuse of this product Read this manual completely to effectively and safely operate the 5200 G 5 EUROPEAN COMPLIANCE In Germany these include e DIN VDE 0100 instructions for setting up power installations with rated voltages below 1000 V e DIN EN 60204 Part 1 VDE 0113 part 1 instructions relative to electric equipment in machines for industrial use e DIN EN 50178 VDE 0160 instructions relative to electronic equipment for use power installations 200 Base SynqNet Reference Manual M SM 200 01 D 133 Kollmor
152. occur With double concentric feedback shields the driven shield is the outer of the two feedback shields and interposed between the driven shield and feedback data wires is the inner feedback shield Typically the inner feedback shield is isolated from the connector shells and is connected to the return for the power supply powering the feedback device A raw cable with two pairs of twisted shielded feedback sections inside a composite cable is electrically the same as single feedback shielding There may physically be two feedback shields in such a cable but these shields are not concentric There is only one shield between the power and feedback wires 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 specification the voltage drop total in the SFD 5 V wire and SFD 5 V RTN wire must not be greater than 0 5 V at 150 mA For this reason a cable requirement is that the total resistance of the feedback SFD 5 V wire plus SFD 5 V RTN wire must be 3 33 o at 20 C In practice this means that for long cables the AWG wire gage needs to be considered NOTE The inner shield of the a double concentric feedback cable when isolated from the terminating connector shells can also function as a conductor to carry some or all of the SFD 5 V RTN current This is useful to keep
153. of Conformity we affirm our compliance with Directive 73 23 EEC Low voltage Directive and with Directive 89 336 Directive EMC testing was done according to EN61800 3 Emission limits according to chapter 6 3 1 of that regulation First environment restricted distribution for the following drives 20260 VTS S20360 VTS S20330 VTS S20630 VTS 520260 5 5 520360 5 5 S20330 SRS S20630 SRS 520260 505 520360 505 520330 505 520630 505 S20660 VTS S20660 SRS S20660 SDS 521260 5 S21260 SRS 521260 505 922460 VTS S22460 SRS 522460 505 During assembly of our product in a machine startup that is normal operation is prohibited until the end product complies with Directive 89 392 EEC Machine Directive and directive 89 336 EEC EMC Directive The machine manufacturer must prove that the complete system conforms with all relevant European Directives Drive conformance to specified standards is certified by the Declaration of Conformity in this manual 200 Base SynqNet Reference Manual M SM 200 01 D 131 Kollmorgen 4 2012 Appendix G Regulatory Information CE Declaration of Conformity We the company Kollmorgen 201 West Rock Road Radford VA 24141 Hereby in sole responsibility declare the conformity of the product series Kollmorgen Motion S200 Digital Servo Drives Which includes the models 20330 VTS S20630 VTS 20260 20250 520360 5 520350 5 S20660 VTS 21260
154. og monitor points The output range is 0 5 to 4 5 V with a source impedance of 2 9 which limits the short circuit to RTN to 2 mA Each DAC Monitor can be mapped by software to one of a number of internal variables O RTN is the ground reference for the DAC MON Analog Command Encoder output inputs and SFD BAT These pins are electrically shorted together inside the drive These I O points not connected to PE chassis inside the drive except by small value EMI suppression capacitors can float with respect to PE chassis by up to 50 One of these I O pins should connect to an earth ground point in the cabinet reserved for single point grounding of all returns drives and supplies to control common mode voltage Not connecting one of the I O pins to system common will cause electrical noise problems on signals 6 6 Encoder Outputs Inputs J4 19 CH OUT IN J4 20 CH OUT IN J4 21 CH B OUT IN J4 22 CH B OUT IN Outputs M SM 200 01 D 50 5200 Base SynqNet Reference Manual Channels and B are RS 485 compliant differential I O that can be configured as either inputs or outputs Default is as outputs When configured as outputs and with high resolution feedback such as the SFD device Channels A and B provide position signals generated from the feedback device that emulate a quadrature encoder The outputs are buffered by 5 0 V 75LBC170 type RS 422 co
155. ons Mode C Serial SynqNet SynqNet Settings Select Controller Controller 0 Y Select Node 0 Serial Port Settings Select Port COM1 M Select Baud Rate 13200 2m 04 Test OK Cancel 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 that the connected node is NOT an S200 drive After you have confirmed your setup click the OK button 5200 Tools Base Synqhet Units zi 0 2M Vac Xam Molo fires NODE 0 52036 24 3 9 ms Status Drive Setup Motor Summary i Offline Dwee 52035 ima Opasan Hode Ha Fat The installed 5200 drive s will now be listed as Online and will list its configuration and status options If there are additional 5200 nodes on the network they are automatically discovered When using a network with multiple SynqNet nodes use the SynqNet controller node pulldown bars to select a particular node on the network to display in the Online mode 5200 Base SynqNet Reference M SM 200 01D 9 Kollmorgen 4 2 5 4 2 6 4 2 6 1 4 2 6 2 4 2012 Quick Start Guides
156. or is stalling or if the commanded speed is higher than the motor can achieve at the present bus voltage Option Card Fault Check ExtFaults If ExtFaults is AuxFBFault then the AuxFB device Is in error Check the AuxFB faults t AuxFBPTCFIt or AuxFBSCDFIt Check to make sure that the drive is set up for the correct feedback device and that the device is functioning correctly If ExtFaults is No Extended Fault then this was a fault induced by the controller such as SynqLost 200 Base SynqNet Reference Manual M SM 200 01 D 108 Kollmorgen 4 2012 Diagnostics and Troubleshooting 11 2 1 Fault Generation The following sequence occurs when the protection circuits generate a fault One or more faults are detected by the control logic The fault source is latched only for latched faults The output stage is disabled The LED indicates the appropriate fault code For non latched faults When the fault condition is cleared the drive re enables automatically 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 to reset a fault the power should be removed for at least 30 seconds to ensure that the fault resets Self resetting faults disable the drive and do not return it to normal operation until 50 100 ms after the fault condition clears When multiple f
157. ory defaults if the drive is not brand new Then set the feedback device parameters to match the feedback device type Make sure to NV save these parameters With the power off wire the motor coils Hall commutation signals and encoder to the drive in any manner that seems reasonable based on the names of the terminals For example wire encoder to drive Hall 1 to drive Hall etc This initial wiring is just a starting point for the process of finding a working set of wiring Positive 1 Monitor and confirm positive encoder wiring With the drive control power on and the drive disabled move the motor manually in the desired direction for positive increasing motion In 5200 Tools monitor PosFB on the otatus page of the tool Be careful because PosFB wraps around every 2 16 full counts For SynqNet units the SynqNet master s MoCon encoder count display does not wrap around and increments in the same direction as the drive variable PosFB If encoder counts do not increment positively then swap encoder leads J14 13 Aux and J14 14 Aux A NOTE EnDat 2 1 2 2 devices are really two feedback devices in one At power up a digital communication link gets the initial position and then the analog 1 Vp p Sin Cos signals are used to keep track of incremental motion after the absolute position sample These two directions must agree So with EnDat devices positive motion direction is determined by the feedback device and can not be set b
158. ot clamped at maximum analog range When the signal reaches maximum analog output further signal increases cause it to wrap around to the opposite range NOTE extreme DM1Map Velocity error Position big bits Non torque current Velocity little bits Velocity big bits Position loop position error Quadrature voltage command Position little bits DM2Map Parameter Value Parameter Value Definition Velocity mode Torque mode VBus 380 VBusScale Bus voltage V V CmdIn 9155 rpm V 0 8474 Command DIpeak V IFB 0 8474 DIpeak V VelFB 1144 rpm V Velocity DTFilt0 7152 filtered value DIpeak AUN VqCmd 134 5 Torque voltage VbusScale V command ICMD 0 8474 DIpeak Torque Current ARMS V command Model Dependent Scale Factors Dipeak VBusScale e ARMS 520250 240 VAG 4 5 ARMS peak 200 Base SynqNet Reference Manual M SM 200 01 D 84 VU 812 VBusScale V U phase voltage command Kollmorgen 4 2012 Advanced Configuration 520260 240 4 5 ARMS 52030 9 _ 025 90VDC9ARMS peak 52030 9 4 240 VAC9 ARMS 52030 9 4 240VAC9ARMS 520630 90 VDC 18 ARMS peak DPoles 0 62 Poles even numbers only DPoles sets the drive for the appropriate motor pole count Typically set to match the motor pole count With a feedback device that has multiple cycles per revolution DPoles is set to twice the ratio of motor electrical cycles to feedba
159. ower can be estimated by adding motor shaft power and motor resistive winding loss The shaft power equation is Shaft power watt Torque N m x Speed rad sec where rad sec rpm 60 x 2 200 Base SynqNet Reference Manual M SM 200 01 D 116 Kollmorgen 4 2012 Appendix A DC Power Supply Design The equation for motor resistive heat loss is Winding loss watt 1 5 Rliine to line X X In Ms 200 Base SynqNet Reference Manual M SM 200 01 D 117 Kollmorgen 4 2012 Appendix B Cables APPENDIX B CABLES B 1 LONG CABLES The DC resistance of long motor power cables steals some of the available voltage when motor current is high The principal effect of this is some reduction in peak motor power so acceleration and deceleration times can be longer The cable resistance has no significant effect on lower speed torque or top speed For most applications the loss of performance is small with cables up to the maximum cable length specification Do not operate an S200 DC Input Drive with long cables at the lower end of the bus voltage range because too much of the available voltage is stolen by the cable resistance For S200 AC Input Drives the DC resistance of the motor power cable is rarely an issue because the voltage drop across the resistance is usually a small fraction of the available nominal bus voltage For S200 DC Input Drives with long cables and demanding dynamics the 14 AWG cable is preferred over the 18 AWG c
160. pe oda 72 7 5 Heversing Motion eene nhanh nans anna 73 8 Advanced Configuration 74 8 1 Base Drive Torque Velocity Control Block Diagram 75 8 2 Base Drive Position Control Block 76 8 3 SynqNet Drive Torque Control Block Diagram 77 84 SynqNet Drive Velocity Control Block Diagram 78 8 5 Parameters and 79 8 5 1 Parameter and Variable Storage 79 8 5 2 Model Dependent Scale Factors 80 8 5 3 Read Write NV Parameters 81 8 5 4 Status And Control 90 9 SynqNet Configuration 95 9 1 DAVE ER GA Table utere e eu eiu RM ed 95 g2 SBHUVe MODIDOR oisi A Oddo aon 96 922 1 Drive Monitor i e ete eei o tone 96 9 2 2 Monitoring Real time Data from Drive 96 9 3 Accessing Drive Parameters over 5 0000000000 000000000000 97 al IBIFOGUC ION a tacet tudo ptu ee
161. perly set causing excessive output current overshoots Invalid configuration Motor overspeed Invalid hall state Invalid hall transition SFD UART error during SFD initialization Bad motor data check sum The drive will attempt to initialize the SFD up to 4 times If it fails this error is reported Excessive loading on SFD 5 supply Short in the feedback cable on SFD 5 J3 1 to ground Motor and Drive are not compatible Auto setup calculation yielded a desired parameter value outside valid range Incorrect inconsistent motor data loaded into the SFD Internal SFD failure Excessive electrical noise in the drive environment causing communications interference SFD UART Error Internal SFD failure 200 Base SynqNet Reference Manual M SM 200 01 D 107 Kollmorgen 4 2012 Diagnostics and Troubleshooting Fault Description Possible Cause SFD Communication Feedback cable not connected at the drive or at the Error motor Feedback cable shield not connected Defective feedback cable Internal SFD failure Excessive electrical noise in the drive environment causing communications interference Option Card Watch Communication error between option card and main Dog Time out board Position Error Too Check ExtFaults ExtFaults Step size over flow means GearOut GearlIn is too large ExtFaults Position error over flow means that the following error PosErr has exceeded 128 revs Check if the mot
162. plication Notes 106 Reducing Motor Drive Line Noise and 107 Reducing Motor Drive Radiated Emissions Balun PN 104 090003 01 Current Rating 60 sinewave pk 42 ARMS 5 sec 20 A sinewave pk 14 ARMS cont Inductance 340 uh nominal Energy Rating 7 200 uJ nominal Resistance 0 021 Q nominal Gap 10 mil Ground Cable Shields The Motor Power J2 or TB1 Feedback J3 Command J4 and Serial Port J5 cables must be shielded and the shields should be connected to PE The safety PE connection can be made through connector pin or shell All cables used with the S200 drives should be shielded with the shields connected to PE Dangerous voltages resulting from cable capacitance exist on some cable shields if the shields are not connected to PE ground Avoid Crosstalk To avoid the risk of crosstalk keep the motor and feedback cables away from sensitive signal cables i e telephone and intercommunication lines Shield all cables used with the S200 drives with the shields connected to PE EMC testing was performed using a single drive with standard wiring When a machine incorporates several drives or is designed for use in an environment requiring very low emissions additional steps may be necessary to reduce the 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 self generated noi
163. r In most applications the capacitor supplies much of the peak power needed to accelerate the motor and inertia under 20 ms It also lowers the cost of the supply by reducing its silicon current In addition it also absorbs regenerated energy with a limited pump up of voltage and stabilizes the bus voltage for better dynamics While the maximum peak to continuous power capability is 3 1 most applications have much higher ratios The requirement that the main supply have a high peak to continuous power ratio is very important in selecting or designing the power supply M SM 200 01 D 111 Kollmorgen A 1 2 amp NOTE gt NOTE gt NOTE amp NOTE 4 2012 Appendix A DC Power Supply Design Main Supply Output Capacitance J1 3 to J1 2 The location of the main output capacitor is not critical Up to 10 ft from the drive is an acceptable length as long as the wire is sized so resistive drops at peak current are low Voltage clipping of the inverter can cause the peak bus current to equal the motor current A good rule is to size the bus wiring for 18 ARMS x rt 2 25 4 ARMS peak per drive Use at least 16 AWG The inductance of the bus and ground wiring is not critical because the internal drive bus capacitance can handle all the PWM current in most cases Servos put high peak power demands on the power supply The easiest and best way to build a power supply to deliver and absorb pulses of peak power i
164. rter voltage saturation occurs with loss of motor torque 4 Bus capacitance lowers peak current requirements in the silicon of the power supply Sizing the power supply for average power rather than peak power lowers power supply cost and size 5 most cases bus capacitor does not need to be mounted close to the drive The inductance of the bus and ground wiring is not critical because the internal drive bus capacitance generally handles all the PWM current of the drive A local capacitor is not needed in the following cases e 3 9 ARMS DC 5200 e 6 18 ARMS DC S200 with HSTemp less than 65 C e 6 18 ARMS DC 5200 mounted adjacent to other S200 drives with main bus supplies tied locally together The internal bus capacitors of the adjacent drives should provide the needed capacitance The exception is a single isolated 6 18 ARMS DC 5200 drive running hot HSTemp gt 65 C In this case connect across the bus within 1 ft of the drive using twisted wire a 470 uf min 100 V low ESR an aluminum bus capacitor 6 Bus capacitor for multiple drives A conservative rule is to scale up the recommended output capacitance for one drive by the number of drives If this value is too large the capacitor can be calculated from energy flows See the A 4 Bus Energy amp Power Numerical Examples Bus capacitance can be tweaked experimentally Increase bus capacitance if there are overvoltage trips In general there is suffici
165. s 13 4 1 S200 Base Unit Dye t E edet o desee t iota oen 13 4 1 1 5200 Tools Software Installation 13 4 1 2 Hardware od cene oS 13 4 1 3 5200 Tools Communications 2 14 4 1 4 Motor Feedback Configuration 16 5200 Base SynqNet Reference Manual M SM 200 01 D Kollmorgen 4 2012 Table of Contents 41 5 Save ODONIS aui iid 16 42 O200 Medea M 16 4 2 1 and SynqNet Controller Installation 16 4 2 2 5200 Tools Software Installation 17 4 2 5 Hardware Setup o a hewn a Be eee ee ee 17 4 2 4 5200 Tools Communication Wizard 18 42 5 Configuration ctun aon pU tad c m 20 4 2 6 Motor Feedback Configuration 20 42 1 ave EO atico de dete 21 5 22 5 1 MOUNTING DIMENSIONS VERLO Duk uso DUE tn 22 5 2 Mechanical Outline 5
166. s for the supply to have an appropriately sized output capacitor This can be the output capacitor of an unregulated power supply or a capacitor in parallel with the output of a regulated supply In most cases this capacitor does not need to be close to the drive so a single capacitor can be shared by multiple drives This capacitor does several jobs 1 Bus capacitance absorbs net regenerated mechanical energy from the inertia when the motor decelerates If the bus capacitance is sufficient regeneration causes a controlled limited rise in bus voltage and the over voltage fault is not tripped If the regenerated mechanical energy is high additional bus capacitors can be added in parallel The bus capacitance can be increased almost without limit The over voltage fault is a non latching fault that turns off the inverter transistors when the bus voltage is above the over voltage threshold 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 cycle is affected In most cases it is undesirable to allow the bus voltage to pump up to the over voltage fault threshold In many applications much or all of the rotational mechanical energy is dissipated as heat in the motor windings when the motor decelerates The maximum regenerated rotation energy back to the bus occurs counter intuitively d
167. sErr KVFF 100 d dt PosCmd KVFF 0 199 Sets the feed forward gain from the derivative of the position command directly to the velocity command of the velocity loop and has the units of percent When OpMode Position the net velocity command VelCmd in rad sec is VelCmd KPP 2n PosErr 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 proportional compensation Higher values give higher integral gain and shorter time constants value of below 0 19 Hz turns off There is no integral compensation only proportional from KVP See the Base Drive Torque Velocity Control Block Diagram for more information 221 0e 6 DIpeak to 25 09 DIpeak ARMS rad sec KVP sets the proportional gain of the velocity loop and has the units of ARMS rad sec The idealized velocity loop bandwidth in Hz is KVP KT JTOT 21Tr where KT is the motor s torque constant JTOT is the total shaft inertia and the units of KT JTOT should come out to rad sec2 ARMS See the Base Drive Torque Velocity Control Block Diagram for more information OpMode Current Velocity SetupS2 1 Position Not supported over SynqNet OpMode selects between current torque velocity and position control modes or whether the SETUP1 hardware switch is used for selecting between current torque or velocity operating mode
168. se High Frequency Grounding of Cable Shields e When a cable with a separate inner foil shield and outer braided shield is used EMC performance may be improved by connecting the foil shield to the PE location on the connector and removing about 10 mm 0 5 in of the outer cable jacket close to the drive within 0 6 m 2 ft of the drive to expose the braided shield and clamping the outer braided shield to the ground plane with a 360 type clamp e fa ground plane is available at the motor end of these cables similar use of a conductive clamp at that end to connect the shield to the ground plane may 200 Base SynqNet Reference Manual M SM 200 01 D 138 Kollmorgen 4 2012 Appendix G Regulatory Information help as well Clamping the cable shields to PE typically reduces the level of emissions and increases the level of immunity to interference Example of 360 clamping of cable shields G 11 REGEN RESISTOR Regen Wiring AC drives For complete instructions pertaining to an external regen resistor with an AC input drive refer to Base AC Drive Wiring In addition to the information in that section users installing drives for use in a CE installation should use an appropriately grounded shielded regen cable to reduce overall system emissions Accessible Regen Cables When using an external regen resistor if regen cabling is accessible during normal machine operation the cable should be a shielded cable rated at 450 CAUT
169. signed 16 10 1100 0 Drive rated peak current 0x04 ICONT rw signed 16 0 1000 0 Application rated continuous current Parameter Configuration Section The Configuration Section lists the parameters that will be downloaded to a drive from a drive configuration file or uploaded from a drive to a configuration file using the sqDriveConfig Utility The section begins with the following header line config The header is followed by a list of drive parameter names names only not values For example ARF1 BALI F DIS CMD FO Indicates a comment and the line is ignored by the parser The sequence of names does not need to correspond to the sequence in the Parameter Identification section However it does need to follow the sequence of parameters required by the drive 200 Base SynqNet Reference Manual M SM 200 01 D 100 Kollmorgen File Footer 9 3 4 2 4 2012 SynqNet Configuration The configuration section typically ends with a 1 This code is used to instruct the sqDriveConfig Utility to execute a drive CONFIG after the parameters have been downloaded After changing certain drive parameters primarily motor and feedback parameters the drive will be in a Not Configured state and will require the execution of CONFIG to configure the drive end Designates the end of the parameter map file DRIVE CONFIGURATION FILE The drive configuration file contains the actual parameter values
170. t directly with the serial port when S1 is set to position O or Set S1 to the appropriate position for the inductance of the motor be used refer to Configuring Current Mode with 6 Step Hall Feedback I2TFO Set to the motor s thermal time constant l2TTrip Set to the motor s continuous current rating ILmtPlus Set to the lower of 100 or the percent of the motor s peak IL mtMinus current rating divided by the drives peak current CmdSrc Sets the source of the command analog or command variable Sets the command gain for the command input 200 Base SynqNet Reference Manual M SM 200 01 D 67 Kollmorgen 4 2012 Basic Configuration Parameter Value CmdOffset Sets the command offset for the command input Sets the filtering analog input commands The following are optional parameters that can be set Parameter Sets the line count of the emulated encoder output With 6 Step feedback the emulated encoder output works by interpolating between the edges So at low speeds signal quality will be poor E ACC Enables the hardware over travel limits 7 3 3 6 Step Velocity Mode In 6 Step mode with Hall or Hall equivalent feedback the drive can be configured to control shaft velocity But because of the coarse resolution of 6 Step feedback the velocity bandwidth and smoothness will not be as good as other feedback options To configure the drive for 6 Step feedback Velocity mode set the follow
171. tains five sections File Header Drive Identification Parameter Identification Configuration and File Footer Each Drive Identification section is matched with a Parameter Identification and Configuration section Depending on the firmware version there may be more than one parameter section The format is described below A sample map file for the S200 SynqNet drive is shown in the Sample Drive Map File The file header contains one line MPI Drive Parameters Drive Identification Section This section contains one line which describes the name of the manufacturer the model number and the drive firmware versions that are compatible with the drive parameter list i Manufacturer and Model drive firmware version file Specific For the 5200 5 the Manufacturer and Mode text will always be Kollmorgen 5200 Examples i Kollmorgen 2007 2 Parameter Identification Section This section contains definitions of the parameters that are valid for the firmware version s listed in the Drive Identification section The section begins with the following header line parameters Each line in this section contains the following parameter identification information ____ Drive parameter number in hex Drive parameter name or command string Read write rw or read only ro data type One of the pre defined data types see the Data Types table values L
172. ters should be saved to non volatile memory click the NV Save button to allow the configuration to be recalled on power up To configure the drive for SFD feedback set the following parameters Parameter 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 motor series Check with your sales representative for the correct commutation offset angle for other motor series OpMode Position Selects the source of the command either Step Dir or AquadB Sets the distance the shaft moves for each input position GearOut command pulse count J J Setsthe proportional gain of the position loop KVFF Sets the feed forward gain of the derivative or the position command to the internal velocity command SelSFDParam SFD Default value recommended setting This setting will automatically set the motor parameters KVP will be set for 75 Hz nominal velocity loop bandwidth with an unloaded motor To change KVP or other motor parameters refer to Configuring with SFD Feedback Motor Parameters Sets the velocity loop break out frequency from integral to proportional compensation ARFO Single pole filters in the velocity loop forward path Set to ARF1 accommodate the effects of mechanical resonance The following are optional parameters that can be set Parameter Funcio Sets the line count of the emulated encoder output
173. ters were qualified for use with 50 m motor and feedback cables to represent worse case conducted emissions compliance The below lists filters used during CE testing Match filter rating to drive input ac ratings for proper combinations Corcom 6EQ1 single phase Corcom 36FCD10 three phase MTE RF30006 4 three phase Schaffner FN258 7 FN258 16 FN258 30 FN3258 16 FN3258 30 three phase 200 Base SynqNet Reference Manual M SM 200 01 D 137 Kollmorgen NOTE NOTE AN CAUTION CAUTION 4 2012 Appendix G Regulatory Information Information on these and other filters can be found at Corcom Inc MTE Corporation Schaffner USA 1 800 468 2023 or USA 1 800 455 4MTE USA 1 800367 5566 847 680 7400 Germany 49 89 International 1 262 253 Switzerland 41 32 6816 857920 8200 626 http www cor com http www mtecorp com http www schaffner com For complete instructions on wiring an AC version S200 drive refer to AC Input Drive Wiring of this manual For complete instructions on wiring a DC version S200 drive refer to the DC Input Drive Wiring Motor Power Cable Filtering In typical applications the S200 drives do not require additional filtering in the motor leads Machines with many drives and long motor power cables may require an external balun in series with the power motor power cable to reduce the machine s conducted emissions Additional information can be found in Pacific Scientific Ap
174. tions for safety machine directives etc and noise suppression EMC Directives are observed while operating the drive At the end of its lifetime dispose of or recycle the drive according to the regulations applicable at that time G 2 CE APPROVAL The CE initials confirm that the 5200 drives satisfy all 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 installation The test installation with all peripheral devices as well as the test results and measurements are recorded in detail in documentation that is available from the manufacturer on request G 2 CE EMC COMPLIANCE If the connection method on your machine is different from the ones pictured in this manual or in the event of use of components other than those specified adherence to CE interference limit values cannot be guaranteed The machine builder should incorporate good EMC installation and wiring practices in the machine design Some machine designs NOTE require more EMC consideration than others For example a multi axis machine generates more noise than a single axis machine Therefore multi axis machines may require additional noise reduction techniques such as a metal enclosure or clamping of cables shields to an RF ground 200 Base SynqNet Reference Manual M SM 200 01 D 129 Kollmorgen 4 2012 Appendix
175. to 3 3 V No connection when using the SFD feedback device CW Commutation Phase W input when using open collector Hall feedback This input has a 2 21 kW pull up resistor to 3 3 V Outer shield connection wired to PE in the drive M SM 200 01 D 41 Kollmorgen 4 2012 6 7 6 7 1 J4 COMMAND I O CONNECTOR J4 is a 26 Position High Density D DU d subminiature female connector iB COP OTI IN COO Or Oi J4 Connector view from front of drive Description Pin Description MSINP1 Direction J4 18 Encoder Output Channel Z J4 6 DOUT 1 J4 19 Channel A Encoder Output Input DOUT1 Fault 44 20 Channel Encoder Output Input DOUT2 J4 21 Channel B Encoder Output Input 4 9 2 RUN 44 22 Channel B Encoder Output Input Mating Connector 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 General Purpose Inputs General Purpose Inputs DINP1 3 The general purpose inputs are a bank of four inputs that share a common terminal dmm DINP COM on J4 1 The inputs operate MSINP1 over a wide input voltage range of 4 0 to 30 V General purpose inputs are J4 5 Hun compatible with either sourcing or sinking currents to provide maximum flexibility for Common Input interfacing to field wiring Terminal J
176. tory Defaults Variable Statistics 200 Base SynqNet Reference Manual M SM 200 01 D 14 Kollmorgen 4 2012 Quick Start Guides Select Serial as the Communications Mode and select the appropriate COM port Communication Wizard Communications Serial C SwngMet Synghet Settings Select Controller Controller Select Made Node 0 Serial Port Settings Select Port cow Select Baud Rate 13200 Test Cancel 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 that the connected node is NOT an S200 drive ENT gt gt lt Connection Currently connected with a 5200 Drive Base Uniti Troubleshooting If you receive the No Connection message check the hardware connections After you have confirmed your setup click the OK button Cin 2 A 0 504 gum Tucci Biip m s 1 5200 Tools Base SynqNet Unit Drive Setup Motor Summary i Offline The installed 5200 drive s will now be listed as Online and will list its configuration and status options 200 Base SynqNet Reference Manual M SM 200 01 D 15 Kollmorgen 4 1 4 4 1 5 4 2 4 2 1 4 2012 Quick Start Guides Motor Feedback Configuration The 5200
177. up as a fractional count after the decimal point See PosFBMtrn for integral revolutions PWMLo Base Half Base Indicates whether the drive has switched to half base PWM frequency The drive switches to half base PWM frequency when the measured motor current is above 0 53 DIpeak and the electrical commutation frequency is less than 2 9 Hz The PWM frequency returns to base if the measured motor current reduces below 0 32 Dlpeak or the drive speeds up beyond 4 77 Hz commutation electrical frequency 0 Drive uses base PWM frequency 1 Drive uses half base PWM frequency SetupS1 0 9 This variable reads back the state of the rotary user setup switch S1 that determines the line count of the emulated encoder EMUA and EMUB outputs with SFD feedback or the current loop proportional gain KIP for 6 step feedback See Configuring with SFD Feedback SetupS2 0 15 decimal This variable reads back the state of the 4 position DIP setup switch S2 on the drive Switch position 1 is LSB Open high Closed low 200 Base SynqNet Reference Manual M SM 200 01 D 93 Kollmorgen 4 2012 Advanced Configuration SFDExtFaults Status Value This variable gives the detailed fault code of the SFD FaultCode Sixstep SFD 6 Step This variable indicates whether the drive is in 6 step or sinusoidal current control SWEnable Disable Enable Serial communications channel motor power enable Both the hardware enable input on the command
178. uring a low torque deceleration from high speed In this case the resistive losses in the motor are low If mechanical drag is low much of the stored rotational energy is regenerated to the bus 2 Bus capacitance absorbs net regenerated inductive energy from the motor winding when the drive is disabled or faulted The worse case regenerated inductive bus voltage rise is a trip of the bus over voltage fault when decelerating the motor at full torque Tripping the bus over voltage fault while stopping the flow of regenerative mechanical energy back to the bus causes a fraction of the inductive energy stored in the windings to regenerate to the bus causing the bus voltage to go higher than the over voltage threshold If there is insufficient bus capacitance to absorb this energy the bus voltage rise is excessive and can damage the drive Failure to provide adequate external capacitance on the main bus can damage the drive The regeneration of motor inductive energy allows some pump up of the bus voltage above the bus over voltage threshold 3 Bus capacitance improves motor dynamics by holding the bus voltage stable during acceleration S200 Base SynqNet Reference Manual M SM 200 01 D 112 Kollmorgen 4 2012 Appendix A DC Power Supply Design An adequately sized bus capacitor helps provide the high peak bus current needed for rapid motor acceleration with minimum bus voltage sag If the bus voltage sags excessively during acceleration inve
179. ve There is no industry standard definition for the designation of the motor coil terminals the Hall terminals or the feedback device terminals Each manufacturer has their own definitions and the proper wiring between the drive and the motor feedback device s must be found experimentally Each of these three connection sets can be done multiple different ways To get a consistent working set of wiring the motion direction for the motor coils and the feedback device s must be the same The following procedure gives a step by step set of tests to figure out a working set of wiring between a SynqNet equipped 5200 drive and the non catalog motor During the process the drive is configured for that motor The goal of each of the below steps is to insure that positive motion as defined by the application is actually positive sequence wiring for each element in the system For reference Kollmorgen standard for positive direction is clockwise motion when facing the motor shaft for rotary motors and coil motion in the direction of the motor cable lead exit In short you could call the following a procedure to insure the 3 Positives 200 Base SynqNet Reference Manual M SM 200 01 D 122 Kollmorgen D 1 4 2012 Appendix D Process to Setup Non Kollmorgen Motors DETAILED DRIVE MoTOR WiRING DISCOVERY PROCEDURE Initial Set Up Before wiring the motor feedback device s to the drive turn on control power to the drive and perform a reset to fact
180. ve is selected in the Online mode It is recommended that you save a configuration file for each setup 5200 SYNQNET DRIVE QUICK START This Quick Start Guide is designed to help a user quickly setup a SynqNet option card equipped S200 Drive Follow the instructions below if you are using one of the following 9200 Series Drives S20xx0 SRS where is any legal number combination S20xx0 SDS where is any legal number combination See Drive Model Numbers and Descriptions for a complete list of S200 drives The setup consists of the following steps 1 MDK and SynqNet Controller Installation 5200 Tools Software Installation Hardware Setup 5200 Tools Communication Wizard oynqNet Configuration Motor Feedback Configuration Save Options 2205201 33259 qv and SynqNet Controller Installation Before you can use an S200 SynqNet Drive you must first install the Motion Developer s Kit Software package and SynqNet controller from Motion Engineering Inc For more information about installation please see Technical Support website 5200 Base SynqNet Reference Manual M SM 200 01 D 16 Kollmorgen 4 2012 Quick Start Guides 4 2 2 200 Tools Software Installation Follow the installation instructions from the CD ROM or zip file See 5200 Tools Software Installation Guide 5200 Tools supports the following Operating Systems Windows 2003 Server e Windows XP All Service Packs SP Windows 2000 SP2 Win
181. ver Current Open Card Fault FoldBack Normal Foldback Indicates whether the drive is actively folding back the peak current limits because of excessive ITMode can be set to fault the drive on either excessive 1 or fold back 0 Not in fold back Not asserting 1 fault 1 Fold back I t fault HallInp 0 7 Decimal This variable reads back the state of the Hall inputs to the drive on the drive feedback connector Input Input Halllnp CU HSInp1 Inactive Active Indicates the state of the hardware input HSInp HSInp on the Command I O connector For OpMode Position PosCmdSrc Step Dir this input is the Step input Input transitions from LED current to no LED current yields a step count while input transitions from no LED current to LED current yields no action 0 Active state current flows in opto isolator input diode 1 Inactive state no current flow HSOT 50 137 6 Read only variable HSOT is the temperature at which the drive will generate a Heat Sink over temperature fault Comparing HSOT minus ambient temp to HSTemp minus ambient temp can give an indication of the amount of head room from thermal overload that the drive has during normal operation 200 Base SynqNet Reference Manual M SM 200 01 D 92 Kollmorgen 4 2012 Advanced Configuration HSTemp 41 1 C to 125 8 HSTemp reads back the heat sink temperature HSTemp determines how close the drive is to thermal shut do
182. wer Numerical 116 A 4 1 Min External Bus 116 A 4 2 Energy from Acceleration Time 116 4 3 Capacitor Energy Absorb Deliver 116 Add BUS DO Input xci rub ee Dre ete 116 ADDENGIX Cables m 118 BA LONG 118 B 2 Custom Composite Cables 118 Appendix C Kollmorgen Linear Motor Wiring 121 Appendix D Process to Setup Non Kollmorgen Motors 122 D 1 Detailed Drive Motor Wiring Discovery Procedure 123 Appendix E Voltage Sag Standard Semi F47 F42 126 Appendix Using a Voltage Doubler Mode Drive 127 F 1 S2xx50 AC Line Voltage Doubling Drive Power Specifications 128 Appendix Regulatory Information seus 129 G 1 Conformance Hequirements 2 2 00 0020000000000000000055000 0 129 G2 OR Appr Oval E pan IE 129 Q2 COmpliabe aeneae trio io weenie Rada cu eoa tv au Pea 129 X M
183. wn by comparing the temperature rise above ambient to the potential rise above ambient at the drive over temperature fault trip which can be read as HSOT IFB IdFB Dipeak to DI peak These variables read back the torque IFB and non torque IdFB derated current values IFB Motor torque current IdFB Motor non torque current LogicVer 0 15 Decimal LogicVer gives the version number of the drive logic as a 4 bit unsigned integer Versions are assigned sequentially and if necessary the numbers wrap around if there are more than 16 versions Primarily indicates control logic hardware revisions See variable VerLW for the control logic version Model 0 31 Decimal Model is the base unit identity code for the drive The only codes defined are in the chart below Other codes are configuration errors MTemp 0 864 870 Ohms This variable reads back the motor temperature A D value from the SFD The value is read back as the thermal sensor resistance Using the motor thermal sensor specification this value can then be converted to a winding temperature PosFBMTrn 2048 to 2047 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 the shaft position within one rev There are 24 bits within one rev but the displayed value is scaled for 65536 counts per rev i e bits 17 through 24 show
184. y 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 move the position and then check the position reported by the drive If position increased then the moved direction is positive else it was negative Positive 2 Monitor and confirm positive Hall wiring Assign the three Hall signals U V and W to traces in MoScope on the SynqNet master For a good visual display on the MoScope software oscilloscope set the scale and offset to Ch U Gain 6 offset 2 Ch V Gain 6 Offset 0 Ch W Gain 6 Offset 2 With the drive disabled manually move the motor in the positive direction Hall signals U V W should form a three phase set with V lagging U by 120 degrees and W lagging V by 120 degrees In truth table formate use the following for positive direction movement In Hall UVW format 101 100 110 010 011 001 If the Hall sequence is not in the expected U then V then W 120 phase order then Hall wires will need to be swapped NOTE In some non Kollmorgen systems the Halls have 60 degree separation which is equivalent to the Kollmorgen standard with the middle signal Hall V logically inverted The 5200 drive is not compatible with this non standard Hall format The inverted logic Hall commutation signal will have to be inverted by circuitry outside of the S200 to get the system to work 20
185. y loop function enabled and the hardware input active the velocity command is clamped to be 0 or negative counter clockwise When both InhibitCCW and InhibitCW are enabled and both hardware inputs are active the motion command is clamped to O 0 OFF 1 FBSrc Base Unit Feedback Option Card Feedback Option Card Only Supported over SynqNet Enables When this bit is set to the Option Card Feedback position it disables both the SFD and Hall feedback faults and device interfaces on the base unit This bit also forces the feedback position word from the SFD to be zero The drive is set for sine commutation In this mode writing to the CommOff parameter will change the motor position This mode is used when an Option card is attached and the primary feedback device is a Comcoder 0 Base Unit feedback device connected 1 Option card feedback device connected FltDiag Off or Diagnostic Blink Code FiltDiag selects between the DOUT 1 Fault line being static low for no fault and static high for drive off and or faulted to low for no fault and toggle high low N number of times with the diagnostic LED fault blink code The DOUT 1 line output is still static high for drive off See FaultCode entry for a chart giving the blink counts for each fault 0 OFF default 1 Diagnostic Blink Code FItRstMode Edge or Level FItrstMode selects how faults are reset by the hardware enable input DInp1 on J4 2 When set to Level faults are res

S200 High Performance Compact Brushless Servo Drives

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