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S20630
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Kollmorgen S20260, S212660, S20360, S20630, S20330 Installation Manual

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S200 Position Node Installation Guide
Hardware Installation Manual
M-SS-S2A-11 Revision A Sept 25, 2007 Revision B Nov 13, 2007 Revision C Apr 30, 2010 Revision D Apr 13, 2012
Keep all product manuals as a product component during the life span of the servo amplifier.
Pass all product manuals to future users/owners of the servo amplifier.
Record of Revisions Date Issue Description
9/14/07 A Separated Installation and Operation into separate manuals 10/13/07 B Reversed Polarity of DINP10 on Schematics 4/30/10 C Corrected J11 Labels section 6.1. Updated Branding, general grammar and
clarity
4/13/12 D Update Branding
©2006 2007 Kollmorgen - All rights reserved. Printed in the USA.
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
WARNING
warning notices could result in personal injury or death.
Cautions direct attention to general precautions that, if not followed, could
Warnings alert users to potential physical danger or harm. Failure to follow
CAUTION
result in personal injury and/or equipment damage.
Notes highlight information critical to your understanding or use of the
NOTE
Safety
WARNING
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. Never disconnect or connect the product while the power source is energized. 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.
product.
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.
Kollmorgen 4/13/2012 Table of Contents
Table of Contents
1.0 Product Documentation .......................................................................................................3
2.0 Product Overview ......................................................................................................................4
2.1 Model Number Scheme .................................................................................................5
2.2 Valid Drive Model Numbers for the S200 Position Node.............................................6
3.0 Specifications.............................................................................................................................7
3.1 Drive Family Power.......................................................................................................7
3.2 Input Power Specifications............................................................................................9
3.3 DC Input Drives - Control and Power .........................................................................10
3.4 Control Loop Performance ..........................................................................................10
3.5 Mechanical Specifications...........................................................................................12
3.6 I/O Specifications.........................................................................................................12
3.7 Environmental Specifications......................................................................................14
3.8 Smart Feedback Device (SFD) ....................................................................................14
4.0 accessories................................................................................................................................15
4.1 Cables...........................................................................................................................15
4.1.1 Motor and feedback cables.....................................................................................................15
4.1.2 Serial Communications Cable................................................................................................15
4.2 Connector Kits.............................................................................................................16
4.2.1 Base Unit Connector Kits.......................................................................................................16
4.2.2 Position Node Connector Kits................................................................................................19
4.3 Din Rail Terminal Break Outs.....................................................................................20
4.4 Operator Interface Terminals.......................................................................................20
4.5 Systems Capabilities....................................................................................................20
5.0 Installation................................................................................................................................21
5.1 Unpacking and Inspecting............................................................................................21
5.2 Mounting......................................................................................................................21
5.3 Dimensions ..................................................................................................................22
5.4 Mounting Outline.........................................................................................................23
6.0 Wiring Diagrams......................................................................................................................24
6.1 Low Power AC Drive Wiring Diagram.......................................................................24
6.2 High Power AC Wiring Diagram ................................................................................25
6.3 DC Models Drive Wiring Diagram..............................................................................26
7.0 Connector Pinout and Discriptions..........................................................................................27
7.1 PE All Drive Models....................................................................................................27
7.2 J1 – Low Power AC Input Power Models Drive Power..............................................28
7.3 J1 – AC Input Control Power High Power AC Models...............................................30
7.4 TB1: High Power AC Power Connections ..................................................................31
7.5 J1 – DC Input Power Models Drive Power Connector................................................33
7.6 J2 – Motor Power Connector.......................................................................................34
7.7 J3 – SFD Feedback Connector.....................................................................................34
7.8 J4 – Command I/O Connector .....................................................................................35
7.9 J5: Serial Port Connections..........................................................................................36
7.10 J11 CAN bus Connections.........................................................................................36
7.11 J12 Connector ............................................................................................................37
7.12 J13 Encoder Feedback Connector..............................................................................38
8.0 DC Input Power Model Power Supply Requirements.............................................................39
8.1 Control Voltage............................................................................................................40
8.2 Grounding....................................................................................................................40
8.3 Bus Capacitance...........................................................................................................40
8.4 Bus Switching and Fusing ...........................................................................................41
9.0 Detailed Wiring Information....................................................................................................42
S200 Position Node Installation Guide i
Product Overview 4/13/2012 Kollmorgen
9.1 Definitions Discussion.................................................................................................42
9.2 PE Earth Ground Connections.....................................................................................42
9.3 Serial port Wiring ........................................................................................................42
9.4 Wiring Discrete Digital Inputs.....................................................................................43
9.4.1 Typical wiring with sinking switches: ...................................................................................43
9.4.2 Typical Wiring with Sourcing Switches ................................................................................44
9.4.3 Wiring DINP5 and DINP10...................................................................................................44
9.5 Wiring Discrete Digital Outputs..................................................................................45
9.6 Using the DAC Monitors.............................................................................................46
9.7 Wiring Encoder Output Signals...................................................................................46
9.8 Motor Wiring...............................................................................................................46
9.9 Regen Resistor Wiring.................................................................................................47
9.10 Step and Direction or Electronic Gearing Wiring......................................................47
9.11 Encoder Motor Feedback...........................................................................................48
10.0 System Startup.......................................................................................................................52
10.1 Wiring Checks ...........................................................................................................52
10.2 Switch Settings ..........................................................................................................52
10.3 Apply control Power..................................................................................................52
10.4 Control Wiring Checks..............................................................................................53
10.5 Additional Safety Checks ..........................................................................................53
10.6 Applying Bus Power..................................................................................................53
10.7 Motor Motion Checks................................................................................................54
10.8 System Tuning...........................................................................................................54
Appendix A - Cables......................................................................................................................55
A.1 Long Cables ................................................................................................................55
A.2 Custom Composite Cables..........................................................................................55
Appendix B - Regulatory Information...........................................................................................57
B.1 Conformance Requirements...................................................................................57
B.2 CE Approval ..........................................................................................................57
B.3 CE EMC Compliance ............................................................................................57
B.3.1. CE Test Setup...................................................................................................................57
B.3.2 CE Test Setup....................................................................................................................58
B.3.3 Declaration of Conformity.................................................................................................58
B.4 Installation and Commissioning ............................................................................60
B.5 Safety requirements ...............................................................................................60
B.6 European Compliance............................................................................................60
B.7 UL and cUL Conformance.....................................................................................62
B.8 Additional Safety Precautions................................................................................62
B.9 EMC Compliance with EN61800-3.......................................................................63
B.10 AC Mains Conducted Emissions...........................................................................64
B.11 Regen Resistor.......................................................................................................66
B.12 Additional EMC Information Sources...................................................................66
Sales and Service......................................................................................................67
ii S200 Position Node Installation Guide
Kollmorgen 4/13/2012 Product Documentation
1.0 PRODUCT DOCUMENTATION
The S200 Position node system documentation contains information broken into several manuals and documents. Not all documents are required but no document stands alone. The documents are:
Hardware Installation Manual
This document includes all aspects of product specifications and installation procedures. Wiring diagrams, mounting dimensions and recommendations, and physical properties can be found here. It is required to properly mount and wire the S200 Position Node product.
User’s Operation Manual
This document provides all information required to get an S200 Position Node product set up and configured for operation in the application. It includes functional descriptions, interface details, and troubleshooting information. Information regarding serial communications using Modbus is also provided in this document.
S200 Position Node with CANopen Reference Manual
This document provides reference material and examples for communicating to the S200 Position Node over the CANopen field bus protocol.
S200 Position Node with DeviceNet Reference Manual
This document provides reference material and examples for communicating to the S200 Position Node over the DeviceNet field bus protocol.
Support materials
There may be a number of supporting documents located at our web site. Please check for the latest information.
Locating Support Materials
All support materials are posted on the Kollmorgen website at www.Kollmorgen.com under Drives \ AC Servo Drives \ S200.
Firmware and Software Updates A good general practice remains: If it’s not broken, don’t fix it. There are times when firmware and software upgrade is required. These files can also be found at www.Kollmorgen.com companion S200 Position Node User’s Guide.
Abbreviations and Definitions Some common abbreviations used in this document are defined at the first use but the reader may note the following:
S200 PN
‘x
’ : A lower case x may be used to signify a ‘don’t care’ character in a string, number, or model number.
GUI Home PE REGEN REGEN Resistor
excessive REGEN energy.
Hall Channel
information. Three channels provide 1-part-in-6 resolution per motor electrical cycle.
Bus OIT HMI: Human Interface Terminal; Same as OIT
: Short hand notation for the S200 Position Node product.
: Graphical User Interface also called S200 OC Tools.
: A reference position to which other positioning motion is referenced.
: Protective Earth Ground
: Regenerated energy from a back-driven motor pumping energy back into the drive.
: An external power resistor attached to the drive that allows the drive to burn off
: A term used for a motor feedback signal that provides coarse absolute positioning
: Short for Main Internal DC Bus Power Supply that is the DC voltage source for motor power.
: Operator Interface Terminal; Same as HMI
. Procedures can be found in the
. These files can be found
S200 Position Node Installation Guide 3
Kollmorgen 4/13/2012 Product Overview
2.0 PRODUCT OVERVIEW
The S200 Position Node with CANopen/DeviceNetTM brings greater flexibility to the S200 drive platform by adding profile generation and field bus capabilities. It also brings added I/O, Digital Oscilloscope emulation, and the ability to use incremental encoder with commutation tracks (ComCoder) for motor feedback.
The S200 Position Node brushless position node servo drives with CANopen push high performance servo technology into lower power applications than was previously possible without having to compromise on reliability or package size. Couple a S200 position node drive with an AKM servo motor for a complete servo control solution designed to excel in applications such as semiconductor fabrication, electronic assembly, packaging, medical, and woodworking equipment.
The S200 position node servo drives with CANopen communication are the first all digital industrial drives with a velocity loop bandwidth up to 400 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 commissioning by eliminating the need for servo loop tuning in most applications.
A separate "keep alive" power input allows rapid recovery from emergency stop conditions. Optically isolated inputs/outputs, positive locking connectors and full fault protection promise long machine life and immunity to accidental damage. A single motor power/feedback cable simplifies connectivity. All connectors and LED status indicators are easily accessible from the front of the drive.
HIGHLIGHTS
DC or AC input voltage:
DC type: 20 V ... 90 V AC type: 110 V ... 240 V, 1Ø or 3Ø, 50/60 Hz
Highest performance all digital servo in the industry Operation and Setup via a PC using the S200 OC Tools setup software Easy set up and tuning with Smart Feedback Device Optimized performance with Kollmorgen AKM motors Rugged optically isolated I/O UL508C recognition, CE (EN50178, EN61800-3) Very compact footprint Full fault protection Velocity, Position, and Electronic Gearing, Step and Direction control Indexing - 180 unique motion tasks can be defined and initiated via the serial port, Can
Port, or discrete inputs
Jogs, Relative, Absolute, Simple Registration, and Home motion tasks can be easily
setup and executed
Individual motion tasks can be linked or blended with each other Digital Oscilloscope Functions Built-in CANopen / DeviceNet Communication bus Incremental Encoder Input port allows ComCoder motor feedback for position loop
control.
S200 Position Node Installation Guide 4
Product Overview 4/13/2012 Kollmorgen
INCREASED MACHINE THROUGHPUT & LONGER LIFE
Servo system performance is synonymous with machine throughput. The S200 POSITION NODE
family takes servo performance to new heights.
Industry-leading current loop bandwidth up to 5 kHz and velocity loop bandwidth up to
400 Hz means machine throughput can be increased by as much as 2 to 3 times.
Robust design including full fault protection, locking connectors and optical isolation
promise greater machine “up-time”.
Smooth motion, a benefit of sinusoidal current control and high resolution (24 bit)
feedback minimizes harsh torque disturbances that can cut short the life of mechanical components.
Both the AC and the DC input drives are equipped with separate control power input to
speed recovery from “E-Stop” conditions.
CANopen Field Bus or DeviceNet communications
REDUCED ENGINEERING & SUPPORT TIME
Simplified tuning, friendly Graphical User Interface and shared components with Stepper
products.
Windows-based Graphical User Interface models the tree format found in Explorer so
learning is quick and easy.
Digital Oscilloscope emulator for easier setup. Easy to debug with full fault diagnostics reduce engineering support time. Field bus connectivity.
CE- / UL- CONFORMITY
The S200 position node with CANopen meets all relevant standards:
EMC Directive 89/336/EWG, standard used ENG61800-3 Low Voltage Directive 73/23/EWG, standard used 50178
UL / cUL 508C recognized
2.1 MODEL NUMBER SCHEME
S2 03 3 0 CN S - 002
Family S2 - S200 Servo Family
Current Rating
- 1.5 A
02
4.5 A
03 - 3 A
9 A
06
- 6 A
18 A
Voltage
- 20-90 VDC
3
- 120 VAC doubler/240 VAC 1-phase
5
- 120/240 VAC
6
RMS
RMS
continuous,
RMS
peak
RMS
continuous,
RMS
RMS
continuous,
peak
peak
Electrical Option
- No Electrical Option
0
Customization - omit for standard drives 000 - 019 Reserved for factory use only 020 - 999
Feedback Support S - SFD/Halls - Base Unit
SFD/Comcoder - CAN option card Smart Feedback Device (SFD) - SynqNet Option Card Sine encoder - SynqNet Option Card EnDat 2.1 - SynqNet Option Card
Functionality VT - Velocity/Torque modes
DN - Position Node w/DeviceNet Interface CN ­SD - SynqNet option card w/ micro-D connectors SR - SynqNet option card w/ standard RJ connectors
Reserved for customers only
Position Node w/CANOpen Interface
5 S200 Position Node Installation Guide
Product Overview 4/13/2012 Kollmorgen
2.2 VALID DRIVE MODEL NUMBERS FOR THE S200 POSITION NODE
DC Input Power Drive Models
S20330-CNS: 90 VDC, 3/9 A
S20330-DNS: 90 V
S20630-CNS: 90 V
S20630-DNS: 90 VDC, 6/18 A
, 3/9 A
DC
, 6/18 A
DC
AC Input Power Drive Models
S20250-CNS: 120VAC doubler/240VAC, 1 phase, 1.5/4.5 ARMS Base Unit, Profile Node with CanOpen
S20250-DNS: 120VAC doubler/240VAC, 1 phase, 1.5/4.5 ARMS Base Unit, Profile Node with DeviceNet
S20260-CNS: 120/240 VAC, 1/3-phase, 1.5/4.5 ARMS Base Unit, Profile Node with CanOpen
S20260-DNS: 120/240 VAC, 1/3-phase, 1.5/4.5 ARMS Base Unit, Profile Node with DeviceNet
S20350-CNS: 120VAC doubler/240VAC, 1 phase, 3/9 ARMS Base Unit, Profile Node with CanOpen
S20350-DNS: 120VAC doubler/240VAC, 1 phase, 3/9 ARMS Base Unit, Profile Node with DeviceNet
S20360-CNS: 120/240 VAC, 1/3-phase, 3/9 ARMS Base Unit, Profile Node with CanOpen
S20360-DNS: 120/240 VAC, 1/3-phase, 3/9 ARMS Base Unit, Profile Node with DeviceNet
S20650-CNS: 120VAC doubler/240VAC, 6/18 ARMS Base Unit, Profile Node with CanOpen
S20650-DNS: 120VAC doubler/240VAC, 6/18 ARMS Base Unit, Profile Node with DeviceNet
S20660-CNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with CanOpen
S20660-DNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with DeviceNet
S21260-CNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with CanOpen
S21260-DNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with DeviceNet
Base Unit, Profile Node with CanOpen
RMS
Base Unit, Profile Node with DeviceNet
RMS
Base Unit, Profile Node with CanOpen
RMS
Base Unit, Profile Node with DeviceNet
RMS
6 S200 Position Node Installation Guide
Kollmorgen 4/13/2012 Specifications
3.0 SPECIFICATIONS
Unless otherwise specified, the specifications are worst case limits and apply over the specified operating ambient
NOTE
3.1 DRIVE FAMILY POWER
Drive Model Number S20260 S20360 S20660 S212660 S20330 S20630
Peak Output Current (A
(0 to 40°C) Ambient (A
Minimum Peak Current Time
(Starting from 0 amps) seconds 3 3 3 3 3 3
temperature and over the specified operating line voltage.
AC Input DC Input
)1
RMS
) 4.5 9 18 30 9 18
RMS
Continuous Output Current (A
0 to 30°C ambient (A
40° C ambient (A
50° C ambient (A
RMS
RMS
) 2.3 4.5 9 15 4.5 7.5
RMS
) 1.5 3 6 12 3 6
) 1 2 4 8 2 4
RMS
)2
Peak Output Power
240 VAC (VA), 3 phase 1500 3000 6000 10000 - -
120 VAC (VA), 1 phase 750 1500 2400 - - -
75 VDC (VA) - - - - 750 1500
Drive Continuous Output Power
240 VAC, 3 Phase (watts) 600 1100 2000 4000 - -
240 VAC, 1 Phase (watts) 500 900 1500 2500 - -
120 VAC, 1 Phase (watts) 250 450 - - - -
75 VDC (watts) - - - - 250 500
Continuous Motor Shaft Power at 3000 RPM (Nominal Bus – 10%)
0 to 30°C ambient (watts) 3-ph 300 750 1500 2500 - -
0 to 30°C ambient (watts) 1-ph 300 750 1300 2200 180 315
40° C ambient (watts) 200 500 1000 2000 125 250
RMS Line Current at Continuous Output Power
240 VAC 3 Phase (A
240 VAC 1 Phase (A
120 VAC 1 Phase (A
) 2.7 5 9 16 - -
RMS
) 3.4 6.5
RMS
) 3.4 6.5 12 (Note 3) - - -
RMS
12
(Note 3)
18 (Note 3) - -
+BUS Current – 75 VDC at Continuous Output Power3
Average (ADC) - - - - 3 6.7
Instantaneous Peak (A
Power Dissipation at 40°C
(watts)
P
CONT
) - - - - 12.7 25.5
PEAK
17 29 60 110 8 12
S200 Position Node Installation Guide 7
Specifications 4/13/2012 Kollmorgen
1
Drive Model Number: S20260 S20360 S20660 S212660 S20330 S20630
Shunt Regulator
Peak Power kW (500 ms) 4.4 at 366.4 at 2510 at 1510 at 15 - -
Cont. Power watts 440 at 36640 at 25 1000 at
Maximum Regen Duty Cycle (%) 10 at 3610 at 2510 at 1515 at 15 - -
Regen Value () 25 – 50 25 – 50 12 – 50 8 – 50 - -
Bus Capacitance Energy Absorption (joules)
340 VDC Nominal BUS 15.5 15.5 20 45 - -
75 VDC BUS with 4,000 µf -
(5 volt increase to 80 VDC)
Output Current Ripple Freq fS (kHz)
- - -
20 20 20 >16 31.2 31.2
AC Input DC Input
15
1500 at
15
- -
1.5 1.5
Minimum Motor Inductance l-l
5 2.5 1.25 0.9 - -
(mH)
At 75 VDC - - - - 0.4 0.2
Maximum Motor Inductance l-l
300 150 75 45 30 15
(mH)
Maximum Motor Power Cable Length4
18 AWG cable (m) 50 50 25 - 50 25
14 AWG Cable (m) 50 50 50 50 50 50
2 3 4
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 A For Operation above 40 At higher ambient temperatures (above 30 a thermally conductive surface to limit the heatsink temperature to less than 75
to A(0-pk), multiply A
RMS
o
C ambient: Derate linearly to 67% at 50o C .
* 1.414.
RMS
o
C) the S20360 drive needs to be mounted on
o
C. Single phase operation of the S20660 requires derating of continuous output power to avoid excessive AC line front-end currents. See Appendix – Cables for voltage loss vs cable length.
8 S200 Position Node Installation Guide
Specifications 4/13/2012 Kollmorgen
3.2 INPUT POWER SPECIFICATIONS
AC Control Power Supply
Input Voltage Range (RMS)
Ride Through Time for AC Line Drop
AC Motor Power Supply
Input Voltage Range (RMS) VAC 90 to 265 Phases 1 or 3 Transformer Suggested KVA 2 to 3 Maximum AC Line KVA1 100
1
Maximum AC Line is specified to limit the mains surges to the drive.
AC Bus Voltage and Faults
240 VAC Input Nominal Bus Voltage 320 VDC 120 VAC Input Nominal Bus Voltage 155 VDC BUS Under voltage Fault Factory Default is None BUS Over voltage (BusOV) Fault 407 VDC + 5% BUS Regen Voltage = 0.974*BusOV = 397 VDC Nominal
85 VAC to 265 VAC single phase 47 to 63 Hz 120 VDC to 375 VDC 85 VAC 60 Hz > 0.78 60 Hz cycles
120 VAC 60 Hz > 3.3 60 Hz cycles
240 VAC 60 Hz >18.5 60 Hz cycles
AC Inrush Current & Fusing
Worse Case Inrush Peak Current at 240 VAC 140 A 0-p
Inrush pulse width 1.5 ms
Recommended Fusing Line Inputs
Type – 250 VAC Time Delay Fuse
240 VAC 3 Phase (A
)
RMS
240 VAC 1 Phase (A
)
RMS
120 VAC 1 Phase (A
)
RMS
Control Power Applied to Drive Operational 1.25 seconds
S20260 S20360 S20660 S21260
FRN-R-5 FRN-R-8 FRNR-15 FRN-R-25
FRN-R-5 FRN-R-10 FRN-R-20 FRN-R-30
FRN-R-5 FRN-R-10 FRN-R-20
AC Power on Delay
-
9 S200 Position Node Installation Guide
Specifications 4/13/2012 Kollmorgen
3.3 DC INPUT DRIVES - CONTROL AND POWER
DC Control Power
Control Voltage Range (VDC) (J1-1 to J1-2)
Control Input power (watts)1 2 to 8
1
(20 watt min supply recommended) Refer to the DC Power Supply Section for detailed
application information and requirements.
+10 to +90
DC BUS Voltage and Faults
+BUS Voltage Range (VDC) (J1-3 to J1-2)
+BUS Under voltage Fault +17 VDC nominal
+BUS Overvoltage Fault +91 VDC nominal
+20 to +90
DC Power On Delay
Control Power Applied to Drive Operational
1.5 seconds
3.4 CONTROL LOOP PERFORMANCE
Motor Phase Current Waveform Pure sinusoidal or six-step, depending on
Motor Current Control
feedback device
(In Sine or six-step mode output torque = Motor KT*Drive IFB)
Motor Shaft Torque (Ignoring motor magnetic saturation)
Peak KT (N-m/A
Instantaneous KT (N-m/A
10 S200 Position Node Installation Guide
)*Drive Ipeak (A
RMS
)*IFB (A
RMS
RMS
)
RMS
)
Specifications 4/13/2012 Kollmorgen
Current Loop Bandwidth
Maximum Bandwidth
AC Input Drive (kHz) 3
DC Input Drive (kHz) 5
Recommended Bandwidth
AC Input Drive (kHz) 2
DC Input Drive (kHz) 3
SFD Auto Set (kHz) AC &
DC
Bandwidth Variation For Fixed Motor L (% regulated independent of bus volt)
Update Period (µs) 0.8
2
± 2.5
Recommended Max Motor Electrical Frequency (Hz)
AC Input Drive (Hz) 600
DC Input Drive (Hz) 900
Velocity Loop Performance
Maximum Stable Bandwidth (Hz with SFD) 400
Update Period (µs) 0.8
Range (rpm) 0 to 18,300
Command Resolution
< 0.001 rpm analog
0.558 rpm serial
Velocity Loop Compensation
KVP Range (Depends on Ipeak) 0.00044 to 0.106 (Ipeak)(1/rad/sec)
KVP Resolution (%) 10
KVI Range (Hz) 0 to > 22
KVI Resolution (%) 10
1
Range (Hz) 24.3 to > 46627
ARF0
1
ARF1
Range (Hz) 24.3 to > 46627
1
Values for ARF0, ARF1; from 3012 to 24873 Hz cannot be set.
Current Loop Specifications
- 3 dB Bandwidth (Hz) > 2000
- 45° Phase Lag (Hz) > 1000
11 S200 Position Node Installation Guide
Specifications 4/13/2012 Kollmorgen
General Performance
Max Tracking Rate (rpm) > 48600 Max Recommended Rate (rpm) 25000 Max Tracking Acceleration (rpm/sec) > 16x106
Maximum Feedback Cable Length 50 m (164 ft)
3.5 MECHANICAL SPECIFICATIONS
S20330-CNS S20330-DNS S20630-CNS S20630-DNS
Drive Height (A)
Drive Width (B)
Drive Depth1 (C)
Mounting Hardware
Drive Weight Nominal
1
Depth measurement is for drive only. Add approximately 50.8 mm (2 in) to depth given in the table
to accommodate mating connectors and wire bend radius.
152.4 mm 152.4 mm 175.0 mm 175.0 mm 177.0 mm
6.00 in 6.00 in 6.9 in 6.90 in 6.97 in
28.7 mm 48.3 mm 54.8 mm 54.8 mm 76.2 mm
1.90 in 1.90 in 2.16 in 2.16 in 3.0 in
100.8 mm 100.8 mm 131.6 mm 131.6 mm 152 mm
3.97 in 3.97 in 5.18 in 5.18 in 5.98 in
M4 or #8 M4 or #8
0.40 kg 0.5 kg 0.77 kg 0.82 kg 1.5 kg
1.00lb 1.10 lb 1.69 lb 1.80 lb 3.2 lb
S20250-CNS S20250-DNS S20260-CNS S20260-DNS
S20350-CNS S20350-DNS S20360-CNS S20360-DNS
M4 or #8
S20650-CNS S20650-DNS S20660-CNS S20660-DNS
M4 or #8 M4 or #8
S21260-CNS S21260-DNS
Physical Dimensions and Specifications
3.6 I/O SPECIFICATIONS
Note: Analog command is not allowed in this product. Digital Velocity and Motion Task position loop control is the only possibilities.
Maximum Range (volts) 0.5 – 4.5 Full Scale Tolerance (%) Typical (Worse Case) +/- 1 (± 5) Linearity (% Full Scale) <0.1 Monotonic to < 2
Offset (mV) < 100 Offset Drift (µV/°C typ.) 250
12 S200 Position Node Installation Guide
Analog Output (DacMon)
DACMON1, DACMON 2 (J4 14,15)
-16
Full Scale
Specifications 4/13/2012 Kollmorgen
Quadrature Input CHA (J12-12, 13) CHB (J12-14,15)
Type RS-422/RS-485, TTL, Open Collector
Input Voltage +/- 200mV Differential Input Termination Please see diagrams in manual Maximum Line Frequency 625 kHz (corresponds to 2.5 MHz
General Purpose Digital Inputs
DINP1-4, DINP6-9 (J4 2-5 and J12 2-5)
Input Voltage ± ( 4.0 - 30.0) volts Referenced to DINPCOM (J4-5) Input Current 0.65 - 6.7 mA Response Time 1.0 ms
DINP5/DINP10 (J4-10 & 11, J12-8 & 9)
Input Voltage 3.0 – 6.0 volts Input Current 9.0 – 24.0 mA
DOUT1, DOUT2, DOUT3 (J4-6,7,8,9 J12-6,7)
Maximum Output Voltage - 0.30 to 30.0 volts Clamp Voltage 33 volt ± 6% Maximum Output Current 50 mA On voltage 1.0 volts at 10 mA
1.2 volts at 50 mA Response Time 1.0 ms
Quadrature Output (CHA- J4-19, 20 CHB- J4-21,22 CHZ- J4-17,18)
Type RS-422/RS-485
Quadrature Input
compatible
quadrature pulse rate)
General Purpose Outputs
Quadrature Outputs
Output Voltage 5.0 V Differential Output - Unloaded
Hysteresis 1/2 Quadrature Count corresponding to
Resolution (With SFD)
13 S200 Position Node Installation Guide
Maximum Output Frequency 2.5 MHz
Marker Pulse Width Approximately 120 degrees
1/8 Encoder Line Count 125, 128, 500, 512, 1000, 1024, 2000,
2048, 2500, 4096, 5000, 8192, 10000, 16384, 20000, 32768
Specifications 4/13/2012 Kollmorgen
3.7 ENVIRONMENTAL SPECIFICATIONS
Environmental Specifications
Operating Temperature (° C) – Full Rating Operating Temperature (° C) – Derated
Linearly Derate Continuous Current to 67% of 40
o
C Rating
Pollution Degree 2 Storage Temperature (° C) -20 to 70 Humidity (% non-condensing) 10 to 90 Altitude <1500 m (5000 feet)
0 to 40
40 – 50
3.8 SMART FEEDBACK DEVICE (SFD)
SFD (Smart Feedback Device)
Resolution/Rev (arc min) 24 bits = 0.0013 Repeatability (arc min RMS) < ± 2
-19
Rev = ± 0.04
Noise No Filtering (arc min RMS) < 2
150 Hz Single Pole Filtered (arc min
< 2
RMS)
10 Hz Single Pole Filtered (arc min
< 2
-19
RMS)
DC Offset Temperature Drift < 2
-18
Absolute Accuracy AKM1 (arc min) ± 2
AKM2 or 3, 4 (arc min) ± 2
-10.3
-11.1
Communications Update Period (µs) 51.2
-17
Rev RMS = 0.16
-18
Rev RMS = 0.08
Rev RMS = 0.02
Rev/° C = 0.08 arc min/° C
Rev = ±17
Rev = ±10
14 S200 Position Node Installation Guide
Kollmorgen 4/13/2012 Accessories
4.0 ACCESSORIES
4.1 CABLES
Kollmorgen offers pre-made high quality cables for help in installation.
4.1.1 Motor and feedback cables
Motor and Feedback cable selections are covered in our Motioneering package to help select the correct sets based on motor and drive size selection.
4.1.2 Serial Communications Cable
Kollmorgen offers a 6 ft serial communications cable designed to connect directly between the S200 Position Node and standard PC 9 Pin communications port. Order Part Number P7S2-232-D.
S200 Position Node Installation Guide 15
Accessories 4/13/2012 Kollmorgen
4.2 CONNECTOR KITS
Kollmorgen offers several connector kit options to help interface drive connections. Please note that there are connector kits that are designed to interface to just the base unit drive and connector kits designed for the auxiliary S200 Position Node auxiliary features. More than one connector kit may be required.
4.2.1 Base Unit Connector Kits
CK-S200-MF connector kit includes motor and feedback connectors for all low power base unit models. (JJ2 and J4).
This connector kit is useful in applications and customers not using Kollmorgen Cables Sets.
Applicable Drive Models: S202x0-xNS, S20350-xNS, S20360-xNS, S20660-xNS.
CK-S200-MP-AC connector kit includes motor and power connectors for all low power AC Input base unit models. (J1 and J2).
This connector kit is useful in applications and customers not using Kollmorgen Armature cables.
Applicable Drive Models: S20250-xNS, S20260-xNS, S20350-xNS, S20360-xNS, S20660-xNS.
16 S200 Position Node Installation Guide
Accessories 4/13/2012 Kollmorgen
CK-S200-IP-DC connector kit includes power and signal connectors for the S200 Base Unit models. (J1 and J4).
This connector kit provides the auxiliary connectors required when purchasing Kollmorgen Cable sets.
Applicable Drive Models: S20330-xNS, S20630-xNS
CK-S200-IP-DC-TB connector kit includes the power connector and signal connector with terminal block break out for the DC S200 Base Unit models. (J1 and J4).
This connector kit provides the auxiliary connectors required when purchasing Kollmorgen Cable sets when screw terminals are preferred over soldering of J4.
Applicable Drive Models: S20330-xNS, S20630-xNS
CK-S200-IN-AC connector kit includes both the command signal connector, J4, and the AC power connector, J1, for the low power S200 Base Unit models. Solder cup connector.
This connector kit provides the auxiliary connectors required when purchasing Kollmorgen Cable sets.
Applicable Drive Models: S20250-xNS, S20260-xNS, S20350-xNS, S20360-xNS, x20660-xNS.
17 S200 Position Node Installation Guide
Accessories 4/13/2012 Kollmorgen
CK-S200-IN-AC-TB connector kit includes both the command signal connector, J4, and the AC power connector, J1, for the low power S200 Base Unit models. Cage Clamp connector kit.
This connector kit provides the auxiliary connectors required when purchasing Kollmorgen Cable sets where terminal screws are preferred over soldering of J4.
Applicable Drive Models: S20250-xNS, S20260-xNS, S20350-xNS, S20360-xNS, x20660-xNS.
CK-S200-IN-AC connector kit includes command signal connector, J4, for the S200 Base Unit models. Solder cup connector.
Applicable Drive Models: All models
CK-S200-IN-AC-TB connector kit includes command signal connector, J4, for the S200 Base Unit models. Cage clamp screw terminal connector.
Applicable Drive Models: All models
18 S200 Position Node Installation Guide
Accessories 4/13/2012 Kollmorgen
4.2.2 Position Node Connector Kits
CK-S200-CNDN connector kit includes: command signal connector, J12, and the encoder connector, J13 for the S200 Position Node auxiliary functions. Solder cup connectors.
Applicable Drive Models: All models with DNS or CNS suffix.
CK-S200-CNDN-TB connector kit includes: command signal connector, J12, and the encoder connector, J13 for the S200 Position Node auxiliary functions. For applications desiring screw terminal (cage clamp) over soldered connections
Applicable Drive Models: All models with DNS or CNS suffix.
4.3 REGEN RESISTOR
Kollmorgen offers the ERH-26 fully enclosed, thermally protected regen resistor rated at 26 ohms, 150 watts. The resistor has connection leads and an integrated thermal switch with fast-on type connectors. The thermal switch can be wired into the user’s safety circuit. The ERH-26 is a UL Recognized component.
19 S200 Position Node Installation Guide
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