S200 Base Unit Reference Manual Rev C

S200 High Performance Compact
Brushless Servo Drives

Base and SynqNet® Units
Control Logic Version 3.0 or Higher
Reference Manual
M-SM-200-01
Revision C
®
C US
Revision History
Date Issue Description
05/2004 - Initial Release
03/2006 A Addition of SynqNet information
10/2007 B Add S21260 12/30 Arms base unit
2/2008 C Add S22460 24/48 Arms base unit
© 2006, 2007, 2008 Danaher Motion - All rights reserved.

Printed in the United States of America.
NOTICE:
Danaher Motion® is a registered trademark of the Danaher Corporation. Danaher Motion makes every
attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are
subject to change without notice. Danaher Motion 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.

Failure to follow warning notices could result in personal
WARNING
injury or death.
Cautions - direct attention to general precautions. Personal

injury and/or equipment damage could result if precautions
CAUTION are ignored.
Notes - highlight information critical to your understanding

NOTE or use of the product.
Danaher Motion 2/2008 Table of Contents
Table of Contents
1 S200 Series Drives ...................................................................................1
1.1 Manual Scope ...................................................................................................1
1.2 Model Number...................................................................................................2
1.3 Drive Model Numbers and Descriptions ...........................................................2
2 Before You Begin .....................................................................................3
2.1 Safety ................................................................................................................3
2.2 Unpacking and Inspecting.................................................................................3
3 Specifications...........................................................................................4
3.1 Drive Family Power ...........................................................................................4
3.2 AC Input Drives - Control and Power................................................................6
3.2.1 AC Control Power Supply ......................................................................6
3.2.2 AC Motor Power Supply.........................................................................6
3.2.3 AC Bus Voltage and Faults....................................................................6
3.2.4 AC Motor Power Inrush Current & Fusing .............................................6
3.2.5 AC Control Power Inrush Current & Fusing...........................................7
3.2.6 AC Power On Delay...............................................................................7
3.3 DC Input Drives - Control and Power................................................................7
3.3.1 DC Control Power Supply ......................................................................7
3.3.2 DC Bus Voltage and Faults....................................................................7
3.3.3 DC Control Power On Delay ..................................................................7
3.4 Motor Current Control .......................................................................................7
3.4.1 Current Loop Bandwidth ........................................................................8
3.4.2 Offset Current ........................................................................................8
3.5 Velocity Loop.....................................................................................................8
3.5.1 Velocity Loop Compensation .................................................................8
3.6 Command I/O....................................................................................................9
3.6.1 Analog Command ..................................................................................9
3.6.2 Analog Output (DacMon) .......................................................................9
3.6.3 HSINP – Step/PWM Command .............................................................9
3.6.4 MSINP - Direction Command.................................................................9
3.6.5 Quadrature Input..................................................................................10
3.6.6 General Purpose Inputs .......................................................................10
3.6.7 General Purpose Outputs ....................................................................10
3.6.8 Quadrature Outputs .............................................................................10
3.7 Mechanical ......................................................................................................11
3.8 Environmental .................................................................................................11
3.9 Smart Feedback Device (SFD) .......................................................................11
3.9.1 Position Signal .....................................................................................11
3.9.2 Velocity Signal .....................................................................................12
3.9.3 Emulated Encoder Output Signals.......................................................12
3.9.4 General SFD Specifications.................................................................12
4 Quick Start Guides.................................................................................13
4.1 S200 Base Unit Drive......................................................................................13
4.1.1 S200 Tools Software Installation .........................................................13
4.1.2 Hardware Setup ...................................................................................13
4.1.3 S200 Tools Communications Wizard...................................................14
4.1.4 Motor Feedback Configuration ............................................................16
S200 Base/SynqNet Reference Manual M-SM-200-01 C i
4.1.5 Save Options .......................................................................................16

4.2 S200 SynqNet Drive........................................................................................16
4.2.1 MDK and SynqNet Controller Installation ............................................16
4.2.2 S200 Tools Software Installation .........................................................17
4.2.3 Hardware Setup ...................................................................................17
4.2.4 S200 Tools Communication Wizard ....................................................18
4.2.5 SynqNet Configuration.........................................................................20
4.2.6 Motor Feedback Configuration ............................................................20
4.2.7 Save Options .......................................................................................21
5 Mounting the Drive.................................................................................22
5.1 Mounting Dimensions......................................................................................22
5.2 Mechanical Outline Drawings..........................................................................24
5.2.1 Base AC Drive (S20260-, S20360-, S20660-VTS)..............................24
5.2.2 Base AC Drive (S21260-VTS) .............................................................25
5.2.3 Base AC Drive (S22460-VTS) .............................................................26
5.2.4 Base DC Drive (S20330-, S20630-VTS) .............................................27
5.2.5 SynqNet AC Drive (S20260-, S20360-, S20660-SRS)........................28
5.2.6 SynqNet DC Drive (S20330-, S20630-SRS) .......................................29
6 Wiring the Drive......................................................................................30
6.1 AC Input Drive Wiring......................................................................................30
6.1.1 AC Drive (S20260-, S20360-, S20660-VTS) .......................................30
6.1.2 AC Drive (S21260-, S22460-VTS).......................................................31
6.2 J1 – AC Input Drive Power..............................................................................32
6.3 DC Input Drive Wiring .....................................................................................35
6.4 J1 – DC Input Drive Power..............................................................................36
6.4.1 DC Power Supply Requirements .........................................................37
6.4.2 Bus Voltage..........................................................................................38
6.4.3 Control Voltage ....................................................................................38
6.4.4 Grounding ............................................................................................39
6.4.5 Bus Capacitance..................................................................................39
6.4.6 Bus Switching and Fusing....................................................................39
6.5 J2 – Motor Power Connector ..........................................................................40
6.6 J3 – Feedback Connector ...............................................................................41
6.7 J4 – Command I/O Connector ........................................................................42
6.7.1 General Purpose Inputs .......................................................................42
6.7.2 General Purpose Outputs ....................................................................46
6.7.3 High Speed Input .................................................................................48
6.7.4 SFD BAT+............................................................................................49
6.7.5 DAC Monitors.......................................................................................50
6.7.6 Encoder Outputs/Inputs .......................................................................50
6.7.7 Analog Command Input .......................................................................52
6.8 J5 – Serial Port Connector ..............................................................................53
6.8.2 Serial Interface Specification ...............................................................54
6.8.3 RS-232 Wiring......................................................................................54
6.9 SynqNet Option Card Wiring...........................................................................55
6.10 J11 – SynqNet IN Port Connector...................................................................56
6.10.1 SynqNet LEDs .....................................................................................56
6.11 J12 – SynqNet OUT Port Connector...............................................................57
6.11.1 SynqNet LEDs .....................................................................................57
S200 Base/SynqNet Reference Manual M-SM-200-01 C ii

6.12 J13 – Discrete I/O Connector..........................................................................58

6.12.1 J13 – Discrete I/O Connection Schematic ...........................................59
6.13 J14 – AUX FB Connector................................................................................60
6.13.1 Auxiliary Feedback Device Port...........................................................60
6.13.2 Auxiliary Feedback Sin-Cos Interpolation Scaling...............................61
7 Basic Configuration ...............................................................................62
7.1 Switch Settings................................................................................................62
7.1.1 S2 - DIP Setup Switch .........................................................................62
7.1.2 S1 - Rotary Setup Switch.....................................................................63
7.1.3 S11, S12 - Rotary SynqNet ID Switches .............................................64
7.2 Configuring for Brush Motors ..........................................................................66
7.3 Configuring with 6-Step (Hall) Feedback ........................................................67
7.3.1 6-Step Feedback Wiring ......................................................................67
7.3.2 6-Step Torque/Current Mode...............................................................67
7.3.3 6-Step Velocity Mode...........................................................................68
7.4 Configuring with SFD Feedback .....................................................................69
7.4.1 SFD Motor Parameters ........................................................................69
7.4.2 SFD Torque/Current Mode ..................................................................70
7.4.3 SFD Velocity Mode ..............................................................................71
7.4.4 SFD Position Mode ..............................................................................72
7.5 Reversing Motion Direction .............................................................................73
8 Advanced Configuration .......................................................................74
8.1 Base Drive Torque/Velocity Control Block Diagram .......................................75
8.2 Base Drive Position Control Block Diagram....................................................76
8.3 SynqNet Drive Torque Control Block Diagram ...............................................77
8.4 SynqNet Drive Velocity Control Block Diagram ..............................................78
8.5 Parameters and Variables...............................................................................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 Variables...............................................................90
9 SynqNet Configuration ..........................................................................95
9.1 Drive FPGA Table ...........................................................................................95
9.2 Drive Monitor...................................................................................................96
9.2.1 Drive Monitor Table..............................................................................96
9.2.2 Monitoring Real-time Data from Drive .................................................96
9.3 Accessing Drive Parameters over SynqNet....................................................97
9.3.1 Introduction ..........................................................................................97
9.3.2 Memory Operations on Drive Parameters ...........................................97
9.3.3 Accessing Individual Parameters.........................................................98
9.3.4 Accessing an Entire Parameter Set.....................................................98
10 Accessories, Connector Kits, and Cables .........................................102
10.1 Accessories ...................................................................................................102
10.2 Connector Kits...............................................................................................102
10.3 Cables ...........................................................................................................103
11 Diagnostics and Troubleshooting ......................................................104
11.1 Drive Fault Codes .........................................................................................104
11.2 Diagnostics....................................................................................................106
S200 Base/SynqNet Reference Manual M-SM-200-01 C iii
11.2.1 Fault Generation ................................................................................109

Appendix A – DC Power Supply Design ........................................................110
A.1 Design ...........................................................................................................110
A.1.1 Single Power Supply Operation.........................................................110
A.1.2 Main Supply Output Capacitance (J1-3 to J1-2)................................112
A.2 Two Power Supply Operation .......................................................................115
A.2.1 Control Supply (J1-1 to J1-2) .............................................................115
A.3 Multi-Axis Considerations..............................................................................115
A.4 Bus Energy & Power Numerical Examples...................................................116
A.4.1 Min. External Bus Capacitance..........................................................116
A.4.2 Energy from Acceleration Time .........................................................116
A.4.3 Capacitor Energy Absorb/Deliver ......................................................116
A.4.4 Bus DC Input Power ..........................................................................116
Appendix B – Cables .......................................................................................118
B.1 Long Cables ..................................................................................................118
B.2 Custom Composite Cables ...........................................................................118
Appendix C – Danaher Motion Linear Motor Wiring .....................................121
Appendix D – Process to Setup Non-Danaher Motors .................................122
D.1 Detailed Drive Motor Wiring Discovery Procedure .......................................123
Appendix E – Voltage Sag Standard – Semi F47, F42 ..................................126
Appendix F – Using a Voltage Doubler Mode Drive .....................................127
F.1 S2xx50 AC Line Voltage Doubling Drive Power Specifications...................128
Appendix G – Regulatory Information ...........................................................129
G.1 Conformance Requirements .........................................................................129
G.2 CE Approval ..................................................................................................129
G.2 CE EMC Compliance ....................................................................................129
G.2.1. CE Test Setup....................................................................................130
G.2.2 CE Test Setup....................................................................................130
G.2.3 Declaration of Conformity ..................................................................131
G.3 Installation and Commissioning ....................................................................133
G.4 Safety requirements ......................................................................................133
G.5 European Compliance...................................................................................133
G.6 Low Voltage Directive and EN50178 ............................................................134
G.7 UL and cUL Conformance.............................................................................135
G.8 Additional Safety Precautions .......................................................................136
G.9 EMC Compliance with EN61800-3 ...............................................................137
G.10 AC Mains Conducted Emissions...................................................................137
G.11 Regen Resistor .............................................................................................139
G.12 Additional EMC Information Sources ............................................................139
G.13 Customer Support .........................................................................................139
S200 Base/SynqNet Reference Manual M-SM-200-01 C iv

Danaher Motion 2/2008 S200 Series Drives
1 S200 SERIES DRIVES

Industry-Leading Performance In A Small Package
Danaher Motion’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 S200 family provides a higher performing more robust option
than was previously possible without having to compromise on reliability or package size.
Coupling an S200 drive with Danaher Motion's AKM 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.
Danaher Motion's S200 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 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 S200 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.
1.1 MANUAL SCOPE

This manual documents the S200 base drives and the S200 drives with the SynqNet
motion bus option card installed. See the separate S200 Position Node User’s Guide
and S200 Position Node Installation Guide part numbers M-SS-S2B-11 and M-SS-S2A-
11 respectively for S200 drives equipped with the Position Node option card.
S200 Base/SynqNet Reference Manual M-SM-200-01 C 1

Danaher Motion 2/2008 S200 Series Drives
1.2 MODEL NUMBER
S2 03 3 0 - VT S - 002
Family Customization - omit for standard drives
S2 - 200 Servo Family 000 - 019 Reserved for factory use
020 - 999 Reserved for customers
Current Rating
02 - 1.5 ARMS continuous,
Feedback Support
4.5 ARMS peak
S - SFD/Halls - All Units
03 - 3 ARMS continuous,
SFD/Comcoder - CAN Option card
9 ARMS peak
Sine encoder - SynqNet Option Card
EnDat 2.1 - SynqNet Option Card
18 ARMS peak
30 ARMS peak Functionality
24 - 24 ARMS continuous, VT - Velocity/Torque modes
48 ARMS peak 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
• 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)
AC Drive Description
S20260-VTS S200 120/240 VAC, 1/3-phase, 1.5/4.5 ARMS Base Unit
S20360-VTS S200 120/240 VAC, 1/3-phase, 3/9 ARMS Base Unit
S20250-VTS S200 120 VAC, doubler/240 VAC 1 ph 1.5/4.5 ARMS Base Unit
S20350-VTS S200 120 VAC, doubler/240 VAC 1 ph 3.9 ARMS Base Unit
S20660-VTS S200 120/240 VAC, 1/3-phase, 6/18 ARMS Base Unit
S21260-VTS S200 240 VAC, 1/3-phase, 12/30 ARMS Base Unit
S22460-VTS S200 240 VAC, 3-phase, 24/48 ARMS Base Unit
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
DC Drive Description
S20330-VTS S200 90 VDC, 3/9 ARMS Base Unit
S20630-VTS S200 90 VDC, 6/18 ARMS Base Unit
S2xx30-SRS 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

Danaher Motion 2/2008 Before You Begin
2 BEFORE YOU BEGIN

2.1 SAFETY
READ these instructions before connecting power. Damage can
result from MISWIRING at the power terminals.
WARNING 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.
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.
2.2 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
Remove all packing material and equipment from the
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
NOTE
shipping material for connector kits, documentation,
diskettes, CD-ROM, or other small pieces of equipment.

Danaher Motion 2/2008 Specifications
3 SPECIFICATIONS
Unless otherwise specified, the specifications are worse-case limits
and apply over the specified operating ambient temperature and
NOTE over the specified operating line voltage.
3.1 DRIVE FAMILY POWER

240 VAC Input 20-90 Vdc Input
S20260 S20360 S20660 S21260 S22460 S20330 S20630
1
Peak Output Current (RMS)
(0 to 50°C) Amb (ARMS) 4.5 9.0 18.0 30.0 48 9.0 18.0
Minimum Peak Current Time
Start from 0 ARMS (sec) 3.0
2
Continuous Output Current Convection
0 to 30° C amb (ARMS) 2.3 4.5 9.0 15.0 30.0 4.5 7.5
40° C amb (ARMS) 1.5 3.0 6.0 12.0 24.0 3.0 6.0
50° C amb (ARMS) 1.0 2.0 4.0 8.0 16.0 2.3 4.5
Peak Output Power (1 sec)
240 Vac (VA) 3 Phase 1500 3000 6000 10000 16000 - -
240 Vac (VA) 1 Phase 1400 2600 5000 8000 - - -
120 Vac (VA) 1 Phase 700 1300 2500 - - - -
75 Vdc (VA) - - - - - 750 1500
Drive Continuous Output Power
240 Vac 3 Phase (W) 600 1100 2000 4000 8000 - -
240 Vac 1 Phase (W) 500 900 1500 2500 3000 - -
6 6
120 Vac 1 Phase (W) 250 450 750 - - - -
75 Vdc (W) - - - - - 250 500
Continuous Motor Shaft Power @3000 RPM (Nominal Bus –10% 3 Phase/DC)
0 to 30° C amb (W) 3-ph 300 750 1500 2500 5000 180 315
0 to 30° C amb (W) 1-ph 300 750 1300 2200 2500 - -
40° C amb (W) 200 500 1000 2000 4000 125 250
RMS Line Current at Continuous Output Power
240 Vac 3Phase (ARMS) 2.7 5.0 9.0 16 24 - -
3 3 3
240 Vac 1 Phase (ARMS) 3.4 6.5 12 18 22 - -
3
120 Vac 1 Phase (ARMS) 3.4 6.5 12 - - - -
Maximum AC Line kVA (limits mains surges to drive)
AC Line kVA max 100 250 NA
+BUS Current With 75 VDC at Continuous Output Power
Average (ADC) NA 3.0 6.7
Inst. Peak (APeaK) NA 12.7 25.5
Power Stage Diss. at
5 15 25 60 110 175 3 10
Icont, 40°C PCOnt (W)
Shunt Regulator
Peak Power kW (500 mSec) 4.4 6.4 10 10 15
@36Ω @25Ω @15Ω @15Ω @10Ω
Continuous Power (W) 440 640 1000 1500 2500 NA
@36Ω @25Ω @15Ω @15Ω @10Ω
Maximum Regen Duty 10 10 10 15 15
Cycle (%) @36Ω @25Ω @15Ω @15Ω @10Ω

240 VAC Input 20-90 Vdc Input

S20260 S20360 S20660 S21260 S22460 S20330 S20630
Regen Resistance (Ω) 25 – 50 25 – 50 12 – 50 8 – 50 8 – 50 NA
Bus Capacitance Energy Absorption (joules)
340 VDC Nominal BUS 15.5 15.5 20 45 60 -
75 VDC BUS 4,000 µf
- - - - 1.5
(75 to 80 VDC delta)
Output Current Ripple Freq
20 20 16 16 16 31.2 31.2
fS (kHz)
Minimum Motor Inductance
5 2.5 1.5 0.9 0.6 - -
l-l (mH)
At 75 VDC - - - - - 0.4 0.2
Maximum Motor
300 150 75 45 30 30 15
Inductance l-l (mH)
4
Maximum Motor Power Cable Length
18 AWG cable (m) 50 50 25 NA NA 50 25
14 AWG Cable (m) 50 50 NA 50 50
12 AWG Cable (m) 50
Peak Output Current listed is for sine mode. In six-step mode, the peak output currents are
1
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.
2 o o
For intermediate ambient temperatures linearly derate between adjacent provided 0-30 C, 40
o
C, or 50 C ratings.
o
At higher ambient temperatures (above 30 C) the mounting surface temperature must be
o
thermally conductive enough to limit the mounting temperature to less than 75 C.
3
Single phase operation of the S20660, S21260, S2460 requires derating of continuous output
power to avoid excessive ac line front end currents.
4
See Manual Appendix for voltage loss vs cable length.
5
Total drive dissipation = power stage dissipation + control power. Control power adder is:
Base unit only = 7W
Base plus option card = 10W
6
For 120 Vac voltage doubled operation of S20250, S20350 units see Appendix D for power
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 > 0.78 60 Hz cycles
Line Drop 120 VAC 60 Hz > 3.3 60 Hz cycles
240 VAC 60 Hz >18.5 60 Hz cycles
3.2.2 AC Motor Power Supply

Input Voltage Range (RMS) S20260, S20360, S20660: 0 to 265 VAC
S21260, S22460: 120 to 265 VAC
Phases 1 or 3
Transformer Suggested KVA S20260: 1.5 to 2 kVA
S20360: 2.0 to 3 kVA
S20660: 3.0 to 5 kVA
S21260: 4.5 to 6 kVA
S22460: 8.0 to 12 kVA
Maximum AC Line KVA1 S20260, S20360, S20660: 100
S21260, S22460: 250
1
Maximum AC Line is specified to limit the mains surges to the drive.
3.2.3 AC Bus Voltage and Faults

240 VAC Input Nominal Bus 320 VDC
Voltage
120 VAC Input Nominal Bus 155 VDC
Voltage
BUS Undervoltage Fault S20260, S20360, S20660 Default is None
S21260, S22460: 150 VDC
BUS Overvoltge (BusOV) 407 VDC + 5%
Fault
BUS Regen Voltage = 0.974*BusOV = 397 VDC Nominal
3.2.4 AC Motor Power Inrush Current & Fusing

S21260,
S20260 S20360 S20660
S22460
Worse Case Inrush Peak 140 A 0-p 140 A 0-p 240 A 0-p None, soft
Current at 240 VAC start
Inrush pulse width 1.5 ms 1.5 ms 2.0 ms NA
Recommended
S20260 S20360 S20660 S21260 S22460
Fusing Line Inputs
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
(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
3.2.5 AC Control Power Inrush Current & Fusing

Worse Case Inrush Peak Current at 240 VAC 10 A 0-p
Inrush Pulse Width 1.60 ms
Fusing – Control Inputs Bussmann MDA – 1/2
Nominal Power draw Base: 7 W
With Option Card: 10 W
3.2.6 AC Power On Delay

Control Power Applied to Drive Operational 1.25 seconds
Bus Power To Full Bus On Soft Start Units 1.0 seconds
3.3 DC INPUT DRIVES - CONTROL AND POWER

3.3.1 DC Control Power Supply
Control Voltage Range (VDC) +10 to +90
(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.
3.3.2 DC Bus Voltage and Faults

+BUS Voltage Range (VDC) (J1-3 to J1-2) +20 to +90
+BUS Undervoltage Fault +17 VDC nominal
+BUS Overvoltage Fault +91 VDC nominal
3.3.3 DC Control Power On Delay

Control Power Applied to Drive Operational 1.5 seconds
3.4 MOTOR CURRENT CONTROL

Motor Phase Current Waveform
(In Sine or six-step mode output torque = Motor Pure sinusoidal or six-step,
KT*Drive IFB) depending on feedback
device
Motor Shaft Torque (Ignoring motor magnetic saturation)
Peak (hot motor winding) KT (N-m/ARMS)*Drive
Multiply KT by 1.06 for cold motor winding (AKM Ipeak (ARMS)
or PMA motors).
Instantaneous KT (N-m/ARMS)*IFB
(ARMS)

3.4.1 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 2
Bandwidth Variation For Fixed Motor L ± 2.5
(% regulated independent of bus voltage)
Update Period (µs) 0.8
Recommended Max Motor Electrical Frequency (Hz)
AC Input Drive (Hz) 600
DC Input Drive (Hz) 900
3.4.2 Offset Current

Drive Typical Worst Case Over Temp
S20250, S20260 0.2% / 12 mA 0.5% / 32 mA
S20350, S20360 0.2% / 25 mA 0.5% / 64 mA
S20660 0.2% / 50 mA 0.5% / 128 mA
S21260 0.2% / 85 mA 0.5% / 210 mA
S22460 0.2% / 135 mA 0.5% / 340 mA
S20330 0.2% / 25 mA 0.5% / 64 mA
S20630 0.2% / 50 mA 0.5% / 128 mA
3.5 VELOCITY LOOP

Maximum Stable Bandwidth (Hz with SFD) 800
Update Period (µs) 0.8
Range (rpm) 0 to 18,300
Command Resolution < 0.001 rpm analog
0.558 rpm serial
3.5.1 Velocity Loop Compensation

KVP Range (Depends on Ipeak) 0.00044 to 0.106 (Ipeak)
(1/rad/sec)
KVP Resolution (%) 5
KVI Range (Hz) 0 or 0, 0.0238 to 753.9
KVI Resolution (%) 5
ARF0 Range (Hz) 1.518 to 96382
ARF1 Range (Hz) 1.518 to 96382

3.6 COMMAND I/O

3.6.1 Analog Command
Maximum Differential Range (volts) ±12.5
Maximum Single Ended Range (volts) -12.5 to +16.0
Full Scale Tolerance (%)
Worse Case ±3.5
Typical ±1
Linearity (% Full Scale) < 0.1
Monotonic to < 2-16 Full Scale
S/N Ratio Referred to Full Scale (bitsRMS nominal)
3000 Hz A/D Bandwidth 14
Offset Adjustable to 0
Maximum Unadjusted Offset (mV) 50
Offset Drift (µV/° C typ.) 250
CMRR > 30 dB at 60 Hz
3.6.2 Analog Output (DacMon)

Resolution (bits) 14
Maximum Range (volts) 0.5 – 4.5
Full Scale Tolerance (%)
Worse Case ±5
Typical ±1
Linearity (% Full Scale) <0.1
Monotonic to < 2-16 Full Scale
Offset (mV) < 100
Offset Drift (µV/°C typ.) 250
3.6.3 HSINP – Step/PWM Command

HSINP - J4-10, J4-11
Input Voltage (volts) 3.0 – 6.0
Input Current (mA) 9.0 – 24.0
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 – 100% Duty Cycle
Pulse Width Distortion (ns) 250 maximum
3.6.4 MSINP - Direction Command

MSINP - J4-5, J4-1
Input Voltage (volts) ± (4.0 - 30.0)

Input Current (mA) 0.65 - 6.7

Direction Setup Time (µs) 100
Minimum Pulse Width (µs) 200
3.6.5 Quadrature Input

Quadrature Input CHA - J4-19, 20 CHB J4-21,22
Type RS-422/RS-485
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)
3.6.6 General Purpose Inputs

DINP1, DINP2, DINP3 – J4-2, 3, 4
Input Voltage (volts) ± (4.0 - 30.0)
Referenced to DINPCOM (J4-5)
Input Current (mA) 0.65 - 6.7
Response Time 1.0 ms
3.6.7 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%
Maximum Output Current 50 mA
1.0 V at 10 mA
On voltage (volts)
1.2 V at 50 mA
Response Time (ms) 1.0
3.6.8 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) 5.0 V Differential Output -

Unloaded
1/2 Quadrature Count
Hysteresis corresponding to 1/8
Encoder Line Count

3.7 MECHANICAL
S200 AC INPUT DRIVES S200 DC INPUT DRIVES
w/ Option
Base or w/ Option Card Base Drive
Card
S20260 S20630-VT S20630-XX
S20660 S21260 S22460
S20360 S20330-VT S20330-XX
Drive Dimensions
175 mm 177 mm 213 mm 152.4 mm
Drive Height (A)
6.90 in 6.97 in 8.39 in 6.00 in
54.8 mm 64.0 mm 76 mm 96.4 mm 28.7 mm 48.3 mm
Drive Width (B)
2.16 in 2.52 in 3.00 in 3.80 in 1.13 in 1.90 in
131.6mm 152 mm 192 mm 100.8 mm
Drive Depth1 (C)
5.18 in 5.98 in 7.57 in 3.97 in
Mounting
M4 or #8 M4 or #8 M4 or #8 M4 or #8 M4 or #8 M4 or #8
Hardware
0.77 kg 0.82 kg 1.33 kg 2.56 kg
1.69 lb, 1.80 lb, 2.93 lb, 5.64 lb, 0.40 kg 0.50 kg
Drive Weight w/ option w/ option w/ option w/ option
0.88 lb 1.10 lb
0.84 kg 0.89 kg 1.40 kg 2.63 kg
1.86 lb 1.97 lb 3.09 lb 5.80 lb
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 (°C) – Full Rating 0 to 40
Operating Temperature (°C) – Derated
Linearly Derate Continuous Current to 40 to 50
specified 50 oC Rating
Pollution Degree 2
Storage Temperature (°C) -35 to 85
Humidity (% non-condensing) 10 to 90
Altitude <1500 m (5000 feet)
3.9 SMART FEEDBACK DEVICE (SFD)

3.9.1 Position Signal
Resolution/Rev (arc min) 24 bits = 0.0013
Repeatability (arc min RMS) < ± 2-19 Rev = ± 0.04
Noise
No Filtering (RMS) < 2-17 Rev RMS = 0.16 arc-min
150 Hz Single Pole Filtered (RMS) < 2-18 Rev RMS = 0.08 arc-min
10 Hz Single Pole Filtered (RMS) < 2-19 Rev RMS = 0.02 arc-min
DC Offset Temperature Drift < 2-18 Rev/°C = 0.08 arc min/°C
Absolute Accuracy
AKM1 (arc min) ± 2-10.3 Rev = ±17
AKM2 or 3, 4, 5, 6, 7 (arc min) ± 2-11.1 Rev = ±10
Communications Update Period (µs) 51.2

3.9.2 Velocity Signal

Resolution (rpm) < 0.001
Quanta (rpm) 0.07
Noise
No Filtering (rpm RMS) <4
150 Hz Single Pole Filtered (rpm RMS) < 0.6
10 Hz Single Pole Filtered (rpm RMS) < 0.06
DC Accuracy
Typical at 25° C (%) ± 0.01
Worse case (%) ± 0.05
Ripple
AKM1 (% p-p at 1200 rpm) 2.5
AKM2, 3, 4, 5, 6, 7 (% p-p at 1200 rpm) 1.5
Offset (rpm) < 0.0001
Communications Update Period (µs) 51.2
Hardware Interpolation Period (µs) 0.1
3.9.3 Emulated Encoder Output Signals

Available Resolutions (PPR)
Selectable By Rotary Switch S1 500, 512, 1000, 1024,
2000, 2048, 4096, 5000,
8192, 10000
Programmable Values See EncOutPPR 0 - 65535 integer
Maximum Output Line Frequency (MHz) 2.5
Max Recommended Speed at 32768 PPR (rpm) 2200
Marker Pulse Width ~ 2 Quadrature Pulses
3.9.4 General SFD Specifications

-3 dB Bandwidth (Hz) > 2000
-45° Phase Lag (Hz) > 1000
Max Tracking Rate (rpm) > 48600
Max Recommended Rate (rpm) 25000
Max Tracking Acceleration (rpm/sec) > 16x106
Maximum Feedback Cable Length 50 m (164 ft)

Danaher Motion 2/2008 Quick Start Guides
4 QUICK START GUIDES

There are two types of Quick Start Guides depending on the Communication Mode of the
drive.
If you are not using an S200 Base Unit Drive (no SynqNet Option Card), follow the S200
Base Unit Drive Quick Start Guide.
If you are using an S200 SynqNet Drive, follow the S200 SynqNet Drive Quick Start
Guide.
4.1 S200 BASE UNIT DRIVE

This Quick Start Guide is designed to help a user quickly setup one of the following S200
Drives. See Drive Model Numbers and Descriptions for a complete list of S200 drives.
• S20330-VTS, S20630-VTS, S20260-VTS, S20360-VTS, S20250-VTS, S20350-
VTS
The setup consists of the following steps:

1. S200 Tools Software Installation
2. Hardware Setup
3. S200 Tools Communication Wizard
4. Motor Feedback Configuration
5. Save Options
4.1.1 S200 Tools Software Installation

Follow the installation instructions from the CD-ROM or zip file.
S200 Tools supports the following Operating Systems:
• Windows 2003 Server
• Windows XP, All Service Packs – (SP)
• Windows 2000, SP2
• Windows XP embedded
• Windows NT4, SP6
4.1.2 Hardware Setup

4.1.2.1. DRIVE SETUP
Connect a serial communication cable between the drive and host computer to establish a
communication link between the host computer and the S200 Base Unit drive.
1. Plug one end of a serial communications cable to J5 (Serial Port) of the S200 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 must be
ordered separately.

4.1.2.2. 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.
4.1.3 S200 Tools Communications Wizard

4.1.3.1. LAUNCH S200 TOOLS
Launch the S200 Tools program by clicking the desktop icon or from the Windows Start
button (Programs > Danaher Motion > S200Tools). The default location for S200Tools.exe,
is (C:\Program Files\Danaher Motion\S200Tools).
When the S200 Tools program is launched for the first time, no drives should be listed
under the Online or Offline Communications Mode.
4.1.3.2. START COMMUNICATION WIZARD

Open the Communication Wizard by selecting it from the toolbar (Utilities > Communication
Wizard) or clicking the shortcut icon.

Select Serial as the Communications Mode and select the appropriate COM port.
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.
Troubleshooting
If you receive the "No Connection" message, check the hardware connections.
After you have confirmed your setup, click the OK button.
The installed S200 drive(s) will now be listed as "Online" and will list its configuration and
status options.

4.1.4 Motor Feedback Configuration

The S200 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.
4.1.5 Save 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 S200
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/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.
4.2 S200 SYNQNET DRIVE

Follow the instructions below if you are using one of the following S200 Series Drives:
• S20250-SRS, S20260-SRS, S20350-SRS,
S20360-SRS, S20330-SRS, S20630-SRS,
S20250-SDS, S20260-SDS, S20350-SDS,
S20360-SDS, S20330-SDS, S20630-SDS
The setup consists of the following steps:

1. MDK and SynqNet Controller Installation
2. S200 Tools Software Installation
3. Hardware Setup
4. S200 Tools Communication Wizard
5. SynqNet Configuration
6. Motor Feedback Configuration
7. Save Options
4.2.1 MDK 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 MEI's Technical Support website.

4.2.2 S200 Tools Software Installation

Follow the installation instructions from the CD-ROM or zip file. See S200 Tools Software
Installation Guide.
S200 Tools supports the following Operating Systems:
• Windows 2003 Server
• Windows XP, All Service Packs - (SP)
• Windows 2000, SP2
• Windows XP embedded
• 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
S200 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
S200 drive to the XMP-SynqNet controller's SynqNet IN port.
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.
NOTE: Although you can connect other SynqNet supported nodes/drives on the
SynqNet network, you will only be able to configure the S200 Series Drives with the
S200 Tools software. S200 Tools will only communicate with S200 Series Drives.
4.2.3.2. MOTOR SETUP

Depending on the type of motor feedback that is used, you will need to use the appropriate
feedback connector.
Motor Feedback J3 Feedback J14 AUX FB

SFD X -
SinCos (with Endat 2.1/2.2) - X
SinCos (with Halls) - X
ComCoder (Incremental + Halls) - X
4.2.4 S200 Tools Communication Wizard

4.2.4.1. LAUNCH S200 TOOLS
Launch the S200 Tools program by clicking the desktop icon or from the Windows Start
button (Programs > Danaher Motion > S200Tools). The default location for S200Tools.exe,
is (C:\Program Files\Danaher Motion\S200Tools).
When the S200 Tools program is launched for the first time, no drives should be listed
under the Online or Offline Communications Mode.

4.2.4.2. START COMMUNICATION WIZARD

Open the Communication Wizard by selecting it from the toolbar (Utilities > Communication
Wizard) or clicking the shortcut icon.
Select SynqNet as the Communications Mode.
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.
The installed S200 drive(s) will now be listed as "Online" and will list its configuration and
status options. If there are additional S200 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.
NOTE for SynqNet: Although the S200 Tools software maintains communication with all
properly connected S200 drives drives on the SynqNet network, only one SynqNet node
will be displayed at a time under the Online display.
4.2.5 SynqNet 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.
4.2.6 Motor Feedback Configuration

The next step is to set the proper motor feedback configurations.
4.2.6.1. SFD
If you are using SFD motor feedback, no further configuration is needed.
4.2.6.2. 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: l-l inductance = 0.018 H
Kip = 2*PI()*2000*(0.018)
Kip = 226 V/A

I2TF0
I2TF0 = 5/(2*PI()*(motor time constant in minutes)*60))
Ex: Mtc = 20 minutes
I2TF0 = 5/(2*PI()*20*60)
I2TF0 = 0..000663 Hz
I2TTrip
I2TTrip = (motor continuious current)*1.25
Ex: Ics = 4 Arms
I2TTrip = 4*1.25
I2TTrip = 5 Arms
ILmtPlus
ILmtPlus = (motor peak current)/(drive peak current)*100
Ex: Motor Ip = 4.5 Arms, Drive Ip = 9 Arms
Motor Ip = (4.5/9)*100
Motor Ip = 50%
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
4.2.7 Save 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 S200
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/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.

Danaher Motion 2/2008 Mounting the Drive
5 MOUNTING THE DRIVE

The S200 drives are designed for operation in a cabinet using the following installation
instructions:
Mount the drives vertically inside a cabinet on a flat, solid, electrically conductive
mounting surface that is connected to PE (Protective Earth Ground) and capable
of supporting the weight of the unit.
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.
Ensure that the environment within the cabinet meets the requirements listed in
the Specifications.
5.1 MOUNTING DIMENSIONS

AC INPUT DRIVES DC INPUT DRIVES
AC1 DC Base w/
AC3 AC4 AC5
AC2 Drive Option
S20330- S20330-
S20260 VTS x
S20660 S21260 S22448
S20360 S20630- S20630-
VTS x
Drive Dimensions
175.0 mm 177 mm 213 mm 152.4 mm
Drive Height (A)
6.90 in 6.97 in 8.39 in 6.00 in
54.8 mm 64.0 mm 76 mm 96.4 mm 28.7 mm 48.3 mm
Drive Width (B)
2.16 in 2.52 in 3.00 in 3.80 in 1.13 in 1.90 in
131.6 mm 152 mm 192 mm 100.8 mm
Drive Depth1 (C) 5.98 in 7.57 in
5.18 in 3.97 in
Clearance Requirements
Top and Bottom 12.7 mm 12.7 mm 12.7 mm 19 mm 12.7 mm 12.7 mm
(D) 0.50 in 0.50 in 0.50 in 0.75 in 0.50 in 0.50 in
12.7 mm 12.7 mm 12.7 mm 19 mm 12.7 mm 12.7 mm
Side to Side (E)
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 mm 31.7 mm 24.6 mm 24.6 mm
Mounting Offset & 6.5
1.01 in 1.01 in 1.25 in 0.97 in 0.97 in
(F) mm
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
166.4 166.4 169.5 202.5 144.3 144.3
Vertical Mounting
mm mm 6.55 mm 6.67 mm 7.97 mm mm
Height (H)
6.55 in in in in 5.68 in 5.68 in
115.4 41.40 60.96
Drive to Drive 67.5 mm 76.7 mm 88.7 mm
mm 4.54 mm mm
Mounting (J) 2.66 in 3.02 in 3.39 in
in 1.63 in 2.40 in
Mounting
M4 or #8 M4 or #8 M4 or #8 M4 or #8 M4 or #8 M4 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 lb 1.86 lb 2.93 lb 5.64 lb 0.88 lb 1.10 lb
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.

Horizontial
Top Clearance
M ounting Offset Drive W idth
(D)
(F) (B)
Vertical
M ounting
Offset
(G)
For Drive
M ounting
use M 4 or #8
Hardw are
Drive
Height
(A)
Vertical
M ounting
Height
(H)
For Drive
M ounting
Side Clearance
(E) use M 4 or #8
Hardw are
Bottom Drive to Drive M ounting

Clearance (J)
(D)
Side Clearance
(E)
Mounting Dim ensions - Front View
See the preceding table for mounting dimensions.

5.2 MECHANICAL OUTLINE DRAWINGS

5.2.1 Base AC Drive (S20260-, S20360-, S20660-VTS)
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 S20660-
VTS.
Enclosure and mounting dimensions for Option card equipped units are the same.

5.2.2 Base AC Drive (S21260-VTS)
DETAIL A
150.5 [5.93] SCALE 1 : 1
4.6 [0.18] 2 Places
Ø4.6 [Ø0.181] 2 Places

TOP VIEW
31.7 [1.25]
76.1 [3.00]
4.8 [0.19]
169.5 [6.67]
178.8 [7.04]
4.6 [0.18]
FRONT VIEW RIGHT SIDE VIEW REAR VIEW
Dimensions are mm [inches]
Note: Enclosure and mounting dimensions for Option card equipped units are the same.

5.2.3 Base AC Drive (S22460-VTS)

TOP VIEW
Dimensions are mm [inches]

4.5 [ 0.18]
5.0 [ 0.20]
5.0 [0.20]
192.4
[7.58]
RECOMMENDED MOUNTING
HARDWARE #8 OR M4
5.0 [0.20] 8.0 [ 0.31]
DETAIL A DETAIL B
SCALE 3.0 SCALE 3.0
2 PL
82.4
[3.24]
SEE 6.4 [0.25]
DETAIL B 5.0 [0.20] 2
202.5
213.0 [7.97]
[8.38]
59.5 5.8 [0.23]

96.4
[3.80] RIGHT SIDE VIEW SEE [2.34]
DETAIL A
FRONT VIEW REAR VIEW
Note: Enclosure and mounting dimensions for Option card equipped units are the same.

5.2.4 Base DC Drive (S20330-, S20630-VTS)
Note: Enclosure and mounting dimensions for Option card equipped units are NOT the
same. See Section 5.2.6 for details.

5.2.5 SynqNet AC Drive (S20260-, S20360-, S20660-SRS)
5.18 0.18
[ 131.57 ] [ 4.57 ]
RECOMMENDED MOUNTING Ø 0.18

HARDWARE: #8 or M4 [ 4.57 ]
TOPVIEW
1.01
[ 25.56 ]
2.16
0.17
[ 54.75 ] [ 4.32 ]
6.89
[ 175.01 ] 6.55
[ 166.37]
REARVIEW 0.17
FRONT VIEW RIGHTSIDEVIEW
[ 4.32 ]
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.

5.2.6 SynqNet DC Drive (S20330-, S20630-SRS)
3.97
[ 100.84 ]
0.18
[ 4.57 ]
RECOMMENDED MOUNTING
Ø 0.18
HARDWARE: #8 or M4 [ 4.57 ]
TOPVIEW
0.97
1.90 [ 24.64 ]
[ 48.26 ] 0.16
[ 4.06 ]
6.00 5.68
[ 152.40 ] [ 144.27 ]
0.16
FRONT VIEW RIGHT SIDEVIEW REARVIEW [ 4.06 ]
DIMENSIONS ARE IN INCHES [MM]

6
6.1
6.1.1
WARNING
DINP COM 1
SFD OR
SFD +5V
Danaher Motion
DINP1 (ENABLE) J4 J3 1 HALLS

2
DINP2 (INHIBIT+) SFD +5 RTN
3 S200 2
DINP3 (INHIBIT-) SFD COM-
4 3
MSINP1 (DIRECTION)
5 AC SFD COM+/CU
DOUT1-
4
terminals.
6 NC/CV
DOUT1+ (FAULT) 5
7 INPUT NC/CW
FEEDBACK
DOUT2-
8 6
COMMAND I/O
DOUT2+ (RUN)
S200 Base/SynqNet Reference Manual

9
HSINP1+ (STEP/PWM) DRIVE
10 PE
HSINP1-
J2 1
11
SFD BAT+ PHASE W
12 2
I/O RTN PHASE V
13 3
DAC MON1
14 PHASE U
POWER
MOTOR
DAC MON2 4 MOTOR
15
I/O RTN
WIRING THE DRIVE
16
CH Z OUT PE
17
AC INPUT DRIVE WIRING
J1 1
CH Z OUT
18 REGEN
CH A OUT / CH A IN 2
2/2008
19 36 Ohm
CH A OUT / CH A IN -BUS Optional
20 3
M-SM-200-01 C
External
result from MISWIRING at the power terminals.
CH B OUT / CH B IN +BUS
21 4 Regen Resistor
CH B OUT / CH B IN
22 C2 CTRL VAC
AC
POWER
I/O RTN 5
23 240/120 VAC
ANA CMD+ C1 CTRL VAC 47 - 63 Hz
24 6
ANA CMD- L3 240 VAC
25 7
I/O RTN
26 L2 240/120 VAC HOT 240/120 VAC
8
READ these instructions before connecting power. Damage can
L1 240/120 VAC NEUTRAL 47 - 63 Hz

9
NC 1
DANGEROUS voltages are present on power input and motor output
J5
RX232
2 Notes:
AC Drive (S20260-, S20360-, S20660-VTS)
I/O RTN
3 1. For S2xx50 voltager doubler models see
I/O RTN
4 Appendix for ac line interface details.
TX232
SERIAL
PORT
5 2. The motor and feedback cable shielding
NC
6 shown is for individual cables. Kollmorgen
also offers a combined motor and feedback
cable.
30
Wiring the Drive
Danaher Motion 2/2008 Wiring the Drive
6.1.2 AC Drive (S21260-, S22460-VTS)

6.2 J1 – AC INPUT DRIVE POWER

The S200 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:
Grounded neutral WYE
Open-Delta Grounded Leg
TEE
The customer is responsible for supplying the appropriate fuses or

circuit breakers in the J1 AC motor power lines to comply with local
NOTE 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

CAUTION 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.
Pin Description
J1-1 PE (Protective Earth)
J1-2 REGEN
J1-3 -BUS
J1-4 +BUS
J1-5 C2 CTRL VAC
J1 Connector view from front of drive. J1-6 C1 CTRL VAC
J1-7 L3 240 VAC
J1-8 L2 240/120 VAC
J1-9 L1 240/120 VAC
Mating Connector Information for S20260, S20250, S20360, S20560, S20660

Screw Terminal Connector
12 – 24 AWG Wire Range, Phoenix MSTB2,5/9-STF-5,08-BK
OR
Spring Cage Clamp Connector
12 – 24 AWG Wire Range, Phoenix FKC 2,5/9-SFT-5,08-BK
OR
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
Refer to http://www.phoenixcon.com.
To avoid damage to the connector and drive, NEVER plug or unplug J1 with
power applied.
CAUTION
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 S20260 and S20360 typically use
36 Ω. S20660, S21260 typically use 12.5 Ω, and
S22460 typically uses 8 Ω. 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. If
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
J1-4 (+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,
WARNING S20260, S20360 drives must be between 25 to 50 Ω.
For safety, either mount the external resistor on a grounded panel or wire it
to a grounded connection. The terminals of the resistor MUST NOT be
NOTE 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
WARNING 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, REGEN,
+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
S21260, S2460 on separate 3 pin pluggable J1.
C1 CTRL VAC
These terminals are NOT connected to the bus
power L1, L2 (J1-8,9) inside 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 A 0-p with 240 VAC Input
Inrush pulse width 1.60 ms
Fusing Bussmann MDA – ½
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 VAC power.
L2 240/120 VAC
For single-phase operation, 120/240 use inputs J1-8,
L1 240/120 VAC L2, and J1-9, L1.
Input Voltage Range (RMS) S20260, S20360, S20660: 0 to 265 VAC

S21260, S22460: 120 to 265 VAC
Phases 1 or 3
Transformer S20260: 1.5 to 2 kVA
(recommended KVA if S20360: 2.0 to 3 kVA
transformer is required.) S20660: 3.0 to 5 kVA
S21260: 4.5 to 6 kVA
S22460: 8.0 to 12 kVA
Maximum AC Line KVA1 S20260, S20360, S20660: 100
S21260, S22460: 250
1
Maximum AC Line is specified to limit the mains surges to the drive.
Recommended Fusing
S20260 S20360 S20660 S21260 S22460
Line Inputs
Type – 250 VAC Time Delay Fuse
(ARMS) FRN-R-5 FRN-R-8 FRN-R-15 JKS-20 JKS-30
(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

6.3
DINP COM 1
SFD OR
SFD +5V
J4 1
Danaher Motion
DINP1 (ENABLE) J3 HALLS

2 S200
DINP2 (INHIBIT+) SFD +5 RTN
3 2
DINP3 (INHIBIT-) SFD COM-
4 DC 3
MSINP1 (DIRECTION)
5 SFD COM+/CU
4
DOUT1-
6 INPUT NC/CV
DOUT1+ (FAULT) 5
7
FEEDBACK
DOUT2- NC/CW
8 6
COMMAND I/O
DOUT2+ (RUN)
DRIVE

9
HSINP1+ (STEP/ PWM)
10 GND
HSINP1-
J2 1
11
SFD BAT+ PHASE W
12 2
I/O RTN PHASE V
13 3
DAC MON1 PHASE U
14
POWER
MOTOR
DAC MON2 4 MOTOR
15
I/O RTN
16
CH Z OUT J1 +CTRL
DC INPUT DRIVE WIRING
17 1
CH Z OUT
18 BUS/CTRL GND
2/2008
CH A OUT / CH A IN 2 - Main Power

19
CH A OUT / CH A IN +BUS
M-SM-200-01 C
20 3 + 20 - 90 VDC
CH B OUT / CH B IN
DC
POWER
21
CH B OUT / CH B IN - Control Power
22 TB1 +CTRL
CHASSIS/PE 1 + 10 - 90 VDC
I/O RTN 23 BUS/CTRL GND
2 - Main Power
ANA CMD+ +BUS + 20 - 90 VDC
24 3
DC
POWER
ANA CMD-
25
I/O RTN
26
Alternate Dual Supply Wiring
NC 1 J5 NOTE:
RX232
2
I/O RTN I/O RTN and BUS/CTRL GND pins are
3
I/O RTN connected together in the drive
4
TX232
SERIAL
PORT
5
NC
6
35
Wiring the Drive
6.4 J1 – DC INPUT DRIVE POWER

The S200 DC input drives should be powered from power supplies with reinforced isolation.
On DC input drives, J1 is a 3 pin pluggable connector.
Pin Description
J1-1 +CTRL
1 3
J1-2 BUS/CTRL GND
(J1 Connector view J1-3 +BUS
from front of drive).
To avoid damage to the connector and drive, NEVER plug or unplug J1 with power
applied.
CAUTION
Mating Connector Information

OR
OR
Crimp Connector
Crimp Shell
14-20 AWG Wire Range, Phoenix MSTBC 2,5/3-STZF-5,08-BK
Crimp Contact
Crimp Contact
Refer to www.phoenixcon.com.
J1-1 Control power input. The DC drive accepts +10 to +90 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 W, a 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 RTN 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
750 watt 1,500 watt
Peak Power

Refer to the DC Power Supply Requirements section for detailed requirements

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 BUS

3.3 ADC at
S20330 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
(3 sec) 20 ADC at 20 ADC at 3,000 W
960 W
BUS Supply Current 48 VDC BUS 75 VDC BUS
3.3 ADC at
(3 sec) 10 ADC at 10 ADC at 750 W
480 W
6.7 ADC at
(3 sec) 20 ADC at 20 ADC at 3,000 W
960 W

Bus Supply The BUS Supply should have the following characteristics:
Characteristics Must provide safety isolation from the power line.
Can be regulated or unregulated.
Bus Supply Return is connected to the Control Supply
Return and I/O RTN in the drive.
Typical BUS Supply:
Unregulated, Isolating, step-down transformer with
secondary rectified into capacitive filter.
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
+ 10 VDC to +90 VDC
(J1-1 to J1-2)
Control Supply Type Isolating
Unregulated or Regulated
Common GND with bus supply and I/O RTN.
20 watt supply or 1 amp short circuit.
Control Supply Wiring Wire control (J1-1) to bus (J1-3)
or
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 I/O)
Control Supply 20 to 110 mA at 75 VDC
Current 60 to 330 mA at 24 VDC
125 to 660 mA at 12 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

can damage the drive.
NOTE

6.4.4 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.
NOTE
The Ctrl and Bus voltages and non-opto coupled I/O grounds (I/O RTN) 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 I/O RTNs
are normally connected to the signal ground of the system. (Some of the I/O 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 I/O RTNs.
The maximum voltage allowed between Bus/Ctrl Gnd and

chassis is 100 VDC.
NOTE
6.4.5 Bus Capacitance

There is a minimum requirement on the output capacitance of the bus power supply for the
S200 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 S200 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
S200 drives powered from one 75 VDC supply, the recommended minimum bus output
capacitance of the supply is 4 x 4,000 µf = 16,000 µf. Bus capacitor voltage rating should
be 100 V. Bus capacitor type is aluminum electrolytic.
6.4.6 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 µf, 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)

6.5 J2 – MOTOR POWER CONNECTOR

On smaller drives with Drive Ipeak 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

1 4 drive).
Pin Description
S200 AC Input Drives: PE (Physical Earth)
J2-1
S200 DC Input Drives: BUS/CTRL GND
J2-2 Motor Phase W
J2-3 Motor Phase V
J2-4 Motor Phase U

OR
OR
Crimp Connector
Crimp Shell
14-20 AWG Wire Range, Phoenix MSTBC 2,
5/4-STZF-5,08-BK
Crimp Contact
Crimp Contact
Refer to www.phoenixcon.com.
J2-1 or TB1-1 On S200 AC Input Drives this point is connected to

PE Chassis Ground.
Motor Case On S200 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
on the motor, etc.
For nonstandard motor drive combinations see Appendix D –
NOTE Process To Set Up Non-Danaher Motors or consult the factory for
proper phase orientation.

6.6 J3 – FEEDBACK CONNECTOR

J3 is a 6-pin pluggable 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 2
(J3 Connector view from front of
3 4
drive)
5 6
Pin Description
J3-1 SFD +5 V (200 mA)
J3-2 SFD +5 RTN
J3-3 SFD COM-
J3-4 SFD COM+/CU
J3-5 NC/CV
J3-6 NC/CW
Shell Shield Connection

IEEE1394, Firewire type, 2.0 mm plug set
22 AWG Max., Molex 55100-0600
Refer to www.molex.com for assembly instructions.
J3 –1 This terminal provides a 5 VDC output to power
SFD +5 V the feedback device. For example, motors
equipped with SFD, Halls or a commutation
encoder. The load current should not exceed 200
mA.
J3-2 This terminal is the return connection for the 5
SFD +5 RTN VDC supply. An inner feedback cable shield can
be connected to this point. Outer shields should
connect to the shell which is PE.
J3-3 SFD serial communications port when using the
SFD COM- SFD feedback device. No connection when using
Hall feedback.
J3-4 SFD serial communications port when using the
SFD COM+ / CU 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.
J3-5 No connection when using the SFD feedback
NC / CV device. CV (Commutation Phase V) input when
using open collector Hall feedback. This input has
a 2.21 kW pull-up resistor to 3.3 V.
J3-6 No connection when using the SFD feedback
NC / CW 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.
Shell Outer shield connection (wired to PE in the drive).

6.7 J4 – COMMAND I/O CONNECTOR

J4 is a 26-Position High Density D
9 1
subminiature female connector.
10
18
26 19 (J4 Connector view from front of
drive.)
Pin Description Pin Description

J4-1 DINP COM J4-14 DAC MON1
J4-2 DINP1 (Enable) J4-15 DAC MON2
J4-3 DINP2 (Inhibit +) J4-16 I/O RTN
J4-4 DINP3 (Inhibit -) J4-17 Encoder Output Channel Z
J4-5 MSINP1 (Direction) J4-18 Encoder Output Channel Z
J4-6 DOUT1- J4-19 Channel A Encoder

Output/Input
J4-7 DOUT1+ (Fault) J4-20 Channel A Encoder Output
/Input
J4-8 DOUT2- J4-21 Channel B Encoder Output
/Input
J4-9 DOUT2+ ( RUN ) J4-22 Channel B Encoder Output
/Input
J4-10 HSINP1+ (Step/PWM) J4-23 I/O RTN
J4-11 HSINP1- J4-24 Analog Command Input +
J4-12 SFD BAT+ J4-25 Analog Command Input -
J4-13 I/O RTN J4-26 I/O RTN

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.
6.7.1 General Purpose Inputs

General Purpose
The general purpose inputs are a bank of
Inputs DINP1-3
four inputs that share a common terminal
J4-2, 3, 4
(DINP COM) on J4-1. The inputs operate
over a wide input voltage range of ± 4.0 to
MSINP1
± 30 V. General purpose inputs are
J4-5
compatible with either sourcing or sinking
currents to provide maximum flexibility for
Common Input interfacing to field wiring.
Terminal
J4-1

J4-1
DINP COM
4.32 k
4.64 k
J4-2
DINP1 (ENABLE)
4.32 k
4.64 k
J4-3
DINP2 (INHIBIT+)
4.32 k
4.64 k
J4-4
DINP3 (INHIBIT-)
4.32 k
J4-5
MSINP1 (DIRECTION) 4.64 k
Input current is a function of the input voltage and listed

in the following table.
Input Voltage (±) Input Current (±)
4.0 volts 0.65 mA
5.0 volts 0.95 mA
12 volts 2.5 mA
24 volts 5.3 mA
30 volts 6.7 mA
The response time for DINP1, DINP2, and DINP3 is
less than 1 ms. DINP4 has a response time of less
than 100 µs.
For fastest response to an input, configure the drive to respond

NOTE
when the input optoisolator is turned on (current starts flowing
in the photo diode). Response time is cut approximately in half.

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 Input 1: The ENABLE control function mapped to this input

(ENABLE) 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.
DINP2 Input 2: The INHIBIT+ control function mapped to this input
(INHIBIT+) 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.
DINP3 Input 3: This input operates symmetrically to DINP2 with the
(INHIBIT-) INHIBIT- control function preventing 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.
DINP4 Input 4: This input is the direction input when the drive is in
(DIRECTION) Position Mode with the PosCmdSrc set to Step & Direction.
Open circuit/no LED current positively increments the
position command/motor goes CW. Set up time for direction
is 100 µs. Minimum pulse width is 200 µs. Refer to DInp4.
6.7.1.2. DRIVING THE GENERAL PURPOSE INPUTS

Sinking Logic 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.

J4-1
DINP COM
4.32 k
+ J4-2, 3, 4, 5
External 4.64 k
DINP1-4
4 - 30 VDC DC
Pow er Supply
-
Sinking Logic Output
f rom 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
External +
4 - 30 VDC J4-1
Pow er Supply DC DINP COM
- 4.32 k
4.64 k
J4-2, 3, 4, 5
DINP1-4
.
TTL and CMOS The following are examples of driving with TTL or
Drivers CMOS output devices.
+5 VDC
4.32 k
4.64 k
SINKING TTL or CMOS

+5 VDC
4.32 k
4.64 k
SOURCING CMOS
6.7.2 General Purpose Outputs

General DOUT1 and DOUT2 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
DOUT1+ (FAULT)
J4-6,7
DOUT1
33V
(FAULT)
J4-6
DOUT1-
J4-9
J4-8,9 DOUT2+ (RUN)
DOUT2
( RUN )
33V
J4-8
DOUT2-
The following table lists the maximum output rating.

Maximum Voltage 30 VDC
Maximum Current 50 mA
VON 1.0 V at 10 mA
1.2 V at 50 mA
IOFF 5 µA
Response Time 1 ms
Clamp Voltage 33 V (nominal)
The outputs are not short circuit protected. Configure the application to
ensure the maximum current is not exceeded.
CAUTION

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.
When the drive is powered, not faulted and enabled, the
(RUN)
output transistor is turned ON. When the drive is faulted,
not enabled or not powered, the output transistor is turned
OFF. This output indicates when the drive is capable of
running the motor.
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 DC Current Limiting Resistor
Power Supply 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
Clamp Coil
Diode
Current Limiting Resistor

+ 50 mA MAX
External
DC
Power Supply
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.

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.
6.7.3 High Speed Input

High Speed The S200 has one high speed input for use with PWM
Input input commands or with Step Input in Position Mode.
J4-10, 11
(Step or PWM)
J4-10 221 Ω
HSINP1+
2.21 k
J4-11
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.
Supply Current Limiting
Voltage Resistor
5V None
12 V 360 , ¼ watt, resistor
24 V 1000 , ½ 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

NOTE 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
Wiring HSINP1+
3.0 V Min.
5 V Differential J4-11
Driver - CMOS HSINP1-

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+
+
J4-11
DC HSINP1-
External
4 - 30 VDC
Power Supply - External Current Limiting
Resistor for supply > 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
DC Resistor for supply > 5.0 V
External
4 - 30 VDC
Power Supply
- J4-10
HSINP1+
J4-11
HSINP1-
6.7.4 SFD BAT+

J4-12 The SFD BAT+ terminal is an optional feature and is not
SFD BAT+ 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+
I/O RTN input.

6.7.5 DAC Monitors

J4-14
The DAC Monitors are general-purpose analog monitor
DAC MON1
points. The output range is 0.5 to 4.5 V with a source
J4-15 impedance of 2.9 kW, which limits the short circuit to I/O
DAC MON2 RTN to 2 mA. Each DAC Monitor can be mapped by
software to one of a number of internal variables.
J4-13, 16, 23, 26
/O RTN is the ground reference for the DAC MON, Analog
I/O RTN
Command, Encoder output/inputs, and SFD BAT+. These
pins are electrically shorted together inside the drive.
Connect one of the I/O RTN pins to an earth ground point in the cabinet reserved
for single point grounding of all returns (drives and supplies) to control common
mode voltage.
6.7.6 Encoder Outputs/Inputs

J4-19 Channels A and B are RS-485 compliant differential I/O
CH A OUT/IN that can be configured as either inputs or outputs. Default
is as outputs. When configured as outputs and with high
J4-20 resolution feedback such as the SFD device, Channels A
and B provide position signals generated from the feedback
CH A OUT/IN
device that emulate a quadrature encoder.
The outputs are buffered by 5.0 V, 75LBC170 type RS-422
J4-21 compatible line drivers. Recommended load current is ±20
CH B OUT/IN mA, which corresponds to a line-to-line load resistance of
100 Ω. These outputs can handle shorts to I/O RTN
J4-22 indefinitely without damage.
CH B OUT/IN The resolution of the Encoder Outputs (number of pulses
per motor revolution), is set by S1 (rotary switch), as
follows:
Outputs

S1 Encoder
Position Pulses/Revolution
0 User settable1
(factory default = 500)
1 512
2 1000
3 1024
4 2000
5 2048
6 4096
7 5000
8 8192
9 10000
1
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 GearIn. In Input mode, Channels A
& B accept quadrature position commands. The command
signals need to be differential quadrature signals.
Channel A leading B generates a CW position command while
Channel B leading A generates a CCW position command.
The magnitude of the command position is set by GearIn 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.

J4-17, 18 The CH Z Output is only available when using SFD

CH Z OUT Feedback. These two terminals function as a differential,
CH Z OUT 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.
Encoder PosFB – EncOutZoffset = 0

Phasing
A
Z
Encoder Phasing for Clockwise Motor Rotation
6.7.7 Analog Command Input

ANA CMD This differential input accepts the analog command from
J4-24, 25 the user. It has a maximum single ended input range with
(+), (-) Inputs respect to I/O RTN on either input of –12.5 to +15.5 VDC,
a differential input impedance of > 300 kΩ, and a single
ended impedance of > 150 kΩ. The recommended full-
scale differential command input range is ±10 V, but the
input can handle up to ±12 V to accommodate noise and
overshoot spikes. Default setup has ±10 V corresponding
to ±Ipeak 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.
- Vad +
20 k
J4-24 Z
ANA
CMD + 33.2 k 130 k
100 pf - To
15.0 k OP AMP
J4-25 A/D
ANA
CMD -
33.2 k 130 k
+
100 pf 20 k
15.0 k
J4-26
I/O RTN
- + Z
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.
NOTE
Both J4-24 and J4-25 need to be wired. For single ended
operation connect the unused input to the signal ground

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.
Pin Description
1 6 J5-1 No Connection
J5-2 RX232
J5-3 I/O RTN
(J5 Connector view J5-4 I/O RTN
from front of drive) J5-5 TX232
J5-6 No Connection

RJ12/RJ11 – Phone Style -Standard RJ12/RJ11 plug
J5-1, J5-6 These terminals are not used or connected to the drive.
No Connection
RS-232 receiver input to the drive. This terminal connects to
J5-2
the user's RS-232 transmitter output.
RX232
These terminals are the common/ground connection for the
J5-3, J5-4
RS-232 serial port. The ground from the user's RS-232 needs
I/O RTN
to connect to this terminal. Cable shielding is also connected
to this point.
RS-232 Transmitter output from the drive. This terminal
J5-5
connects to the user's RS-232 receiver input.
TX232
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.

6.8.1.1. STATUS LED
The Status LED is located below the Serial Port connector located at J5. Please see the
Drive Fault Codes section for descriptions.
6.8.2 Serial Interface Specification

Parameter 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 RS-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.
2 5
To PC To J5
3 2 on Drive
9 Pin Female
5 3
3 5
To PC To J5
2 2 on Drive
25 Pin Female
7 3

6.9 SYNQNET OPTION CARD WIRING
AUX CU
1
AUX CV/CLOCK+ J14
2
AUX CW/CLOCK- 6
3 1 11
+5V I/O
4
I/O RTN
5 CONN_RD1+
FCOM+/Z+/DATA+ J12 1
AUX FB
6
FCOM-/Z-/DATA- CONN_RD1-
2
SynQNet Out
7 CONN_TD1+
AUX PTC 3
8 CONN_RTERM1
I/O RTN/PTC RTN 4
9 CONN_RTERM1
+5V I/O 5
10
10 CONN_TD1-
I/O RTN 15 6
11 5 CONN_TTERM1
AUX A+ 7
12 CONN_TTERM1
AUX A- 8
13
AUX B+
14
AUX B-
15
OINP COM 1
OINP1 (HOME IN) J13
2
OINP2 (POSLIMIT IN)
3
OINP3 (NEGLIMIT IN)
4 5 15
OINP4 (NODE DISABLE) 10 CONN_TD0+
5 J11 1
DISCRETE IO
GP RS422 IN3+ CONN_TD0-

6 2
GP RS422 IN3-
SynQNet In
7 CONN_RD0+
3
OOUT1+ CONN_TTERM0
8 4
OOUT1- CONN_TTERM0
9 5
I/O RTN CONN_RD0-
10 6
I/O RTN CONN_RTERM0
11 7
GP RS422 IN0+ CONN_RTERM0
12 1 11 8
GP RS422 IN0-
13 6
GP RS422 IN1+
14
GP RS422 IN1-
15

6.10 J11 – SYNQNET IN PORT CONNECTOR

J11 is a Standard CAT5 connector.
(J11 Connector view from front of drive.)
Pin Description
J11-1 CONN_TD0+
J11-2 CONN_TD0-
J11-3 CONN_RD0+
J11-4 CONN_TTERM0
J11-5 CONN_TTERM0
J11-6 CONN_RD0-
J11-7 CONN_RTERM0
J11-8 CONN_RTERM0
- SHLD
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 on the PCB to reduce
noise. When using a 2 pair cable, these pins are left unconnected in the cable.

8-Pin Male PN 5-557315 (not shielded)
8-Pin Male PN 5-569552-3 (shielded)
6.10.1 SynqNet LEDs
Pin Meaning Description

ON = Tx and Rx active (cyclic phase)
STAT Network Status Activity BLINK = Tx only active (discovery phase)
OFF = Idle (shutdown phase)
ON = Link Active
LNK Link Activity
OFF = Link Inactive

6.11 J12 – SYNQNET OUT PORT CONNECTOR

J12 is a Standard CAT5 connector.
Pin Description
J12-1 CONN_RD1+
J12-2 CONN_RD1-
J12-3 CONN_TD1+
J12-4 CONN_RTERM1
J12-5 CONN_ RTERM1
J12-6 CONN_TD1-
J12-7 CONN_TTERM1
J12-8 CONN_ TTERM1
- SHLD
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 on the PCB to reduce
noise. When using a 2 pair cable, these pins are left unconnected in the cable.

8-Pin Male PN 5-557315 (not shielded)
8-Pin Male PN 5-569552-3 (shielded)
6.11.1 SynqNet LEDs
Pin Meaning Description

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

6.12 J13 – DISCRETE I/O CONNECTOR

J13 is a Standard D-Sub 15-pin Male
15 11 connector.
10 6
5 1 (J13 Connector view from front of drive.)
Pin Description
J13-1 OINP COM
J13-2 OINP1 (HOME IN)
J13-3 OINP2 (POSLIMIT IN)
J13-4 OINP3 (NEGLIMIT IN)
J13-5 OINP4 (NODE_DISABLE)
J13-6 GP RS422 IN3+
J13-7 GP RS422 IN3-
J13-8 OOUT1+
J13-9 OOUT1-
J13-10 I/O RTN
J13-11 I/O RTN
J13-12 GP RS422 IN0+
J13-13 GP RS422 IN0-
J13-14 GP RS422 IN1+
J13-15 GP RS422 IN1-

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
The optically isolated digital I/O 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 be used for very high speed registration or probing functions.

3 4 5 6 7 8
DATE SYM REVISION RECORD DR CK APPR
+3_3V SEE SHEET ONE
H
RS-422 Receivers for Position_Capture R52
6.12.1
4.64K +3_3V
Input common mode voltage range: -7V to +7V U14
IO CONNECTOR DS26LV32ATM
Receiver delay 35ns
MALE PINS 16
Danaher Motion
J13 4 VCC
17
SHLD2 12
15 GP_RS422_IN1-
GP_RS422_IN-
10 GNDD
I/O RTN GP_RS422_IN0+ 2
5 NODE_DISABLE_IN +
OINP4 3 GP_RS422_IN0
14 GP_RS422_IN1+
GP_RS422_IN1+ GP_RS422_IN0- 1 -
9 GP_RS422_IN2-
GP_RS422_IN2-
4 NEGLIMIT_IN
OINP3 GP_RS422_IN1+ 6
13 GP_RS422_IN0- +
GP_RS422_IN0- 5 GP_RS422_IN1
8 GP_RS422_IN2+ G
GP_RS422_IN2+ GP_RS422_IN1- 7 -
3 POSLIMIT_IN
OINP2
12 GP_RS422_IN0+ DO NOT STUFF R75
GP_RS422_IN0+ GP_RS422_IN2+ 10
7 GP_RS422_IN3- +
GP_RS422_IN3- DO NOT STUFF 0 11 GP_RS422_IN2
2 HOME_IN R108
OINP1 GP_RS422_IN2- 9 -
11 GNDD
I/O RTN 0
6 GP_RS422_IN3+
GP_RS422_IN3+ GP_RS422_IN3+ 14
1 DINP_COM +
OINP COM +3_3V 13 GP_RS422_IN3
SHLD1
16 GP_RS422_IN3- 15 -
8
GND
C118

R53 DS26LV32SO16
C67 C69 C70 4.64K

1000PF F
100NF 100NF 100NF
GNDD
GNDD GNDD
D
PE D D
GNDD DINPx to DINP_COM

D |VOn| Spec.: 4.0V to 30V
0.65mA to 6.7mA
|Voff| Spec.: < 1.5V
+3_3V
R57
U15 +3_3V DINP_COM
GP_RS422_IN2+ 4.32K U12

R73 R61
4 1
3 PS2805-4 46.4K E
D2 R84 C44
BZX84-C33 150 4700PF
4.64K
1 16 HOME
33V 3 2 OOUT1
1
GP_RS422_IN2- HOME_IN
+3_3V
2 15
K
R56
R63
2/2008
SOT23 4.32K
46.4K
A NC
BZXB4-C33 R83 C45 3 14 POS_LIMIT
D
M-SM-200-01 C
4.64K 4700PF
(INHIBIT+) +3_3V
POSLIMIT_IN 4 13
R64
46.4K
R55
5 12 NEG_LIMIT
4.32K
+3_3V
6 11
R81 C61
4.64K 4700PF C
(INHIBIT-) R65
NEGLIMIT_IN 46.4K
7 10 NODE_DISABLE
R54
4.32K
J13 – Discrete I/O Connection Schematic
8 9
R60 C46
4.64K 4700PF
(ENABLE)
GNDD B
NODE_DISABLE_IN D
NOTES:
PACIFIC SCIENTIFIC
Motion Technology Division
110 Fordham Road, Wilmington MA 01887
SCALE DWN: APP'D:
9DS0-0114 NONE
CHK: APP'D:
TITLE
SQNODE S200 OPTION CARD
I/O CIRCUITS A
SEE CUSTOMIZATION SHEET FOR FEATURES
DIODES :ARE 1N914B
SCHEMATIC
CAPACITORS: VALUES ARE IN MICROFARADS FILE: J13-IO . 1 SIZE DRAWING NO. REV
RESISTORS: VALUES ARE OHMS, 1/4W,+/-1% DATE:
UNLESS OTHERWISE SPECIFIED: SHEET OF 1 1
D 3-105-030301 1
3 4 5 6 7 8 12-17-2007_14:04
Wiring the Drive
59
6.13 J14 – AUX FB CONNECTOR

J14 is a Standard D-Sub 15-pin Female
11 15
connector.
6 10
1 5
Pin Description
J14-1 AUX CU
J14-2 AUX CV/CLOCK+
J14-3 AUX CW/CLOCK-
J14-4 +5V I/O
J14-5 I/O RTN
J14-6 FCOMZ+ / DATA+
J14-7 FCOMZ- / DATA-
J14-8 AUX PTC
J14-9 I/O RTN
J14-10 +5V I/O
J14-11 I/O RTN
J14-12 AUX A+
J14-13 AUX A-
J14-14 AUX B+
J14-15 AUX B-

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
6.13.1 Auxiliary Feedback Device Port

Run FB Type
X Incremental Encoder
X X Incremental Encoder + Halls
AKM Motor Feedback Options:ED, EE, DF, EG, EM, EH, EN, EJ
X 1 Vp-p Sin-Cos 65536x Interpolator
X X 1 Vp-p Sin-Cos 65536x Interpolator + Halls
X X EnDat 2.1 Sin-Cos Encoder Single-turn absolute
AKM Motor Feedback Option DA or other EnDat 2.1
X X EnDat 2.1 Sin-Cos Encoder Multi-turn Absolute
AKM Motor Feedback Option DB or other EnDat 2.1
X X EnDat 2.2 Encoders operating in 2.1 compatibility mode both
rotary and linear including absolute types
Run - Commutate the motor and close the servo loops.
FB - Use as a secondary feedback to SynqNet master.
6.13.2 Auxiliary Feedback Sin-Cos Interpolation Scaling

The J14 1 Vp-p analog Sin-Cos feedback interface has a 65536x (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
AuxFBDivisor must be set to the specific value which will properly electronically commutate
the motor work.

Danaher Motion 2/2008 Basic Configuration
7 BASIC CONFIGURATION
When connected to a motor equipped with the Smart Feedback Device (SFD), the S200
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 S200 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 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 S1 and 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.
S2 S1
Up/Open 2 3
4 5 6
9 0 1
Dow n/Closed
7 8
1 2 3 4
7.1.1 S2 - DIP Setup Switch

S2 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.

Switch Parameter Switch State

Position Setting Function Down/Closed Up/Open
S2-1 OpMode = Operational Torque/Current Velocity
SetupS2-1 Mode Control Control
S2-2 CommMode Feedback SFD 6-Step
= SetupS2-2 Type
S2-3 Reserved Default Reserved
S2-4 Reserved Default Reserved
Drive parameter settings can override the S2 switch settings. To

enable S2 for setup verify that the following drive parameters are set
as shown below. The factory default is to ship the drive with the
switches enabled:
Parameter Value
NOTE
OpMode SetupS2-1
CommMode SetupS2-2
7.1.2 S1 - Rotary Setup Switch

Switch S1 is a 10-position rotary switch. The function of switch S1 depends on the
feedback mode in which the drive is configured.
7.1.2.1. S1 FUNCTION WITH SFD FEEDBACK

When using the Smart Feedback Device (SFD), S1 sets the emulated encoder line count.
S1 Emulated Encoder Emulated Encoder
S1 Position
Position Lines/Revolution Lines/Revolution
1
User settable
0 (factory default = 5 2048
500)
1 512 6 4096
2 1000 7 5000
3 1024 8 8192
4 2000 9 10000
1
S1 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.

7.1.2.2. S1 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 can be accommodated by S1. An incorrect 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)
AC Input Drive DC Input Drive S1
S20260 S20360 S20660 S20330 S20630 Position
User User User User User

1
Settable1 Settable1 1
Settable Settable Settable1
(factory (factory (factory (factory (factory
default = default = default = default = default =
96.932) 48.416) 24.208) 12.104) 6.052) 01
6.17 - 9.03 3.09 - 4.50 1.55 - 2.25 0.52 - 0.75 0.27 - 0.38 1
9.04 -
13.39 4.51 - 6.69 2.26 - 3.34 0.76 - 1.11 0.39 - 0.56 2
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 6
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 8
144.50 - 72.25 - 36.13 - 12.05 -
216.74 108.4 54.20 18.06 6.03 - 9.03 9
1
S1 position 0 allows setting the non-volatile KIP via the serial port to any
valid value in 6-Step mode. The value written will replace the default value
listed in position 0 of the table.
7.1.3 S11, S12 - Rotary SynqNet ID Switches
The SynqNet ID switches can be used to help distinguish and differentiate a drive on the
network by assigning a unique ID to the drive.
To set a SynqNet ID to an S200 drive, turn the S11 LSB (Least Significant Bit) and S12
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.

7.1.3.1. MOTION CONSOLE

In the SqNode Summary window, under the Info tab, the SynqNet ID is displayed in the
Switch ID field. See screenshot below.
SYNQNET ID
S11 = 5
S12 = A
7.1.3.2. VERSION.EXE UTILITY

The version.exe utility also displays the Switch ID field. See screenshot below.
SYNQNET ID
S11 = 5
S12 = A

7.2 CONFIGURING FOR BRUSH MOTORS

With a SynqNet option card the S200 Drive must be set with FBSrc =
Base Unit.
NOTE
To drive a brush motor connect to the S200 as shown below.
J3 1
2 S200
FEEDBACK
No
3
Connection
Brush M otor W iring
4
J2 1
PE
POW ER
M OTOR
2
Motor -
3 BRUSH
Motor +
4 M OTOR
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 Value
CommMode Brush
CommOff 0 Degrees
OpMode Torque/Current
Or
SetupS2-1 with switch S2-1 set to the down position labeled, I
on the drive.
KIP Set directly with the serial port when S1 is set to position 0.
Or
Set S1 to the appropriate position for the inductance of the
motor be used, refer to S1 Function with 6-Step Feedback.
I2TF0 Set to the motor’s thermal time constant.
I2TTrip Set to the motor’s continuous current rating.
IlmtPlus Set to the lower of 100% or the percent of the motor’s peak
ILmtMinus current rating divided by the drives peak current.
CmdSrc Selects Analog, PWM, or Command variable for command.
CmdGain Sets the command gain for the command input.
CmdOffset Sets the command offset for the command input.
CMDF0 Sets the filtering on analog input commands.
EnInhibitCW
Enables the hardware over travel limits.
EnInhibitCCW

7.3 CONFIGURING WITH 6-STEP (HALL) FEEDBACK

7.3.1 6-Step Feedback Wiring
1
+5V HALL
J3
+5 RTN
2
FEEDBACK
3
CU
4
CV
5
CW
6
J2 PE
1
POW ER
PHASE W
M OTOR
2
PHASE V
3
PHASE U
4 M OTOR
7.3.2 6-Step 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 S1 and S2 switches. Configuring the drive with the S200
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 0 Degrees (Default value)
OpMode SetupS2-1 (Default value) with switch S2-1 set to the down
position labeled, I on the drive.
or
Torque/Current
KIP Set directly with the serial port when S1 is set to position 0
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.
I2TF0 Set to the motor’s thermal time constant.
I2TTrip Set to the motor’s continuous current rating.
ILmtPlus Set to the lower of 100% or the percent of the motor’s peak
ILmtMinus current rating divided by the drives peak current.
CmdSrc Sets the source of the command, analog or command
variable.

Parameter Value
CmdF0 Sets the filtering on analog input commands.
The following are optional parameters that can be set.

Parameter Function
EncOut 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.
EnInhibitCW
EnInhibitCCW
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 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 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.
ARF0 Single pole filters in the velocity loop forward path. Set to
ARF1 accommodate the effects of mechanical resonance
KVI Sets the velocity loop break out frequency from integral to
proportional compensation.
CmdSrc Selects Analog, PWM, or Command variable for command.
CmdF0 Sets the filtering on analog input command.

Parameter Function
With 6-Step feedback the emulated encoder output
works by interpolating between the edges. So, at low
speeds signal quality will be poor.
EnInhibitCW
EnInhibitCCW

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 performance 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:
The drive is matched to the motor inductance and pole count.
CAUTION
The current and velocity loops are stable with good bandwidth.
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
Using the S200 Tools, set SelSFDParam to SFD, this loads the default motor
parameters.
Next, set SelSFDParam to DRIVE. This will allow the motor parameters to be
NOTE edited. Change only the parameters you are looking to optimize.
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:

Parameter Value
KVP Velocity loop proportional gain.
KIP Current loop proportional gain.
DPoles Drive pole pairs.
I2TF0 Speed of response for motor transient thermal protection.
I2TTrip Fault trip level for motor transient thermal protection.
IlmtPlus, Clamps drive maximum Iout based on motor Ipeak.
IlmtMinus

7.4.2 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 S1 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:
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 AKM motor series, check with your sales
representative for the correct commutation offset angle for
other motor series.
OpMode SetupS2-1 with switch S2-1 set to the down position
labeled, I, 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.
CmdSrc Sets the source of the command.
CMDF0 Sets the filtering on analog input commands.

Parameter Function
EnInhibitCW
EnInhibitCCW

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 S200 tools over the serial port or configured using the S1
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
or
SFD
CommOff 0 Degrees – for AKM motor series. Check with your sales
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.
ARF1 accommodate the effects of mechanical resonance
CmdSrc Selects Analog, PWM, or Command variable for
command.
CmdF0 Sets the filtering on analog input command.

Parameter Function
EnInhibitCW
EnInhibitCCW

7.4.4 SFD Position Mode

The base S200 can drive a motor in Position Mode using SFD Feedback. The source of the
command can either be Step and Direction, or A,B differential quadrature signals. The drive
needs to be configured 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
or
SFD
CommOff 0 Degrees – for AKM motor series. Check with your sales
other motor series.
OpMode Position
PosCmdSrc Selects the source of the command, either Step-Dir or
AquadB.
GearIn Sets the distance the shaft moves for each input position
GearOut command pulse/count.
KPP Sets the 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.
ARF1 accommodate the effects of mechanical resonance.

Parameter Function
NOTE: Emulated Encoder Outputs are not available
when the PosSrcCmd is set to AQuadB.
EnInhibitCW
Enables the hardware over travel limits
EnInhibitCCW

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 None 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.
PosCmdSrc = 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:

• Reverse the Emulated Encoder Outputs if the external control loops use the
emulated encoder outputs for feedback.
• Swap the CHA and CHA/ emulated encoder outputs (J4-19 and J4-20) going to the
external controller.

Danaher Motion 2/2008 Advanced Configuration
8 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 (S1) 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 DIP switch (S2) so that pin 1 is in the up position.
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 S200 configuration options through diagrams of the
control loops, reference lists of setup parameters with their definitions and range, and
further explanations of drive capabilities.

8.1
Danaher Motion
CmdSrc CmdF0 CmdIn

J4-24 Analog Analog VelCmd Position +=CW
+ or
Ana Cmd + Σ 2 Pole PWM Position
- + Low Pass
J4-25 Σ X Velocity
Ana Cmd - PWM + Filter
or
DIAGRAM
Serial Trq/I

J4-10 CmdOffset
HSInp1 + OpMode
J4-11 CmdGain Command CmdSrc
HSInp1 -
ARF0 ARF1 OpMode ILmtPlus Net

Trq/I Torque
Net VelErr
Velocity Command
2/2008
2 Pole +=CW
Command + Low Pass +
Σ Σ KVP ICmd
M-SM-200-01 C
Velocity Clamp Arms
- Filter + On
or
Position
Velocity Loop
Integrator ILmtMinus
2π* KVI .
s
Reset Hold
Velocity Feedback Measured
VelFB
Rad/sec Feedback
Net Drive
Enable xxxx Variable
Current
IFB NV Setup
BASE DRIVE TORQUE/VELOCITY CONTROL BLOCK
Arms xxxx
Parameter
Advanced Configuration
75
8.2
Danaher Motion
J4-10
HSINP1 + Step-
Step J4-11 PosCmdSrc
HSINP1 - Direction
J4-5 Decode
DINP4 Opto Step-Dir
Dir J4-1 Inputs
DINP COM GearOut
Digital d Digital Counts

J4-19 Accum dt Accum
CH A OUT/IN + GearIn
J4-20
Quadrature
AQuadB
CH A OUT/IN - Decode
J4-21 200 nSec 6.4 µSec 6.4 µSec
CH B OUT/IN + RS-485 Delta
J4-22 Inputs
CH B OUT/IN -
Counts
to
Rad
2/2008
KVFF d
dt
M-SM-200-01 C
100 Net
PosErr
Net Velocity
Position + 819.2 µSec Command
Command + + Delta +=CW VelCmd
Σ 2π* KPP . Σ
Rad Rad/Sec Position
-
Position Feedback Measured

PosFB
Rad Feedback
xxxx Variable
NV Setup
BASE DRIVE POSITION CONTROL BLOCK DIAGRAM
xxxx
Parameter
76
8.3
Danaher Motion
ILmtPlus Net
Torque
+=CW Command
SynqNet Master +=CW

Current Command Command ICmd
19336 Cnts = Ipeak Clamp Arms
On
ILmtMinus
Current Feedback Measured

IFB
9668 Cnts = Ipeak on MoScope Motor Current
2/2008
Position Feedback to SynqNet Measured

PosFB
M-SM-200-01 C
Master 24 bits/Rev Motor Position
xxxx Variable
S200 SynqNet Torque Mode NV Setup
xxxx
Parameter
SYNQNET DRIVE TORQUE CONTROL BLOCK DIAGRAM
77
8.4
Danaher Motion
SynqNet Master SynqNet Master

Velocity Command Current Feed ICmdFF
Command Forward
19336 = Ipeak
0.058517
Rad/sec Cnts

ARF0 ARF1 ILmtPlus Net
Torque
VelErr + Command
2 Pole
+ Low Pass + +
KVP ICmd
Clamp
- Filter + On
Velocity Loop
Integrator ILmtMinus
2 * KVI .
2/2008
M-SM-200-01 C
Reset Hold
Net Drive
Enable Velocity Feedback Measured
VelFB
Rad/sec Feedback
Current Feedback Measured
IFB
9668 Cnts = Ipeak on MoScope Motor Current
Position Feedback to SynqNet Measured
PosFB
Master 24 bits/Rev Motor Position
xxxx Variable
S200 SynqNet Velocity Mode NV Setup
xxxx
Parameter
SYNQNET DRIVE VELOCITY CONTROL BLOCK DIAGRAM
78
8.5 PARAMETERS AND VARIABLES

Setup parameter values control the operation and configuration of an S200 and read only
variables give status information about the present operation of the drive. The below
defines the three types of parameters and variables.
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 descriptions.
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.
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.
8.5.1 Parameter and Variable Storage

The S200 has two types of memory: non-volatile memory and RAM. S200 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 S200 memory RAM
is temporary memory. When control power is applied, all NV parameter values are
automatically copied from NV memory into S200 RAM memory. The S200 operates out of
temporary memory; that is the temporary memory parameter values set the S200
configuration and adjustments.
S200 Tools configuration software changes S200 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 S200 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
Variable in this screen, the value in the S200 Tools PC memory is automatically copied to
the S200 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 S200 non-volatile memory. This step should be done before power cycling
the drive control power and losing the drive setup changes.

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 DIpeak VBusScale
Description
User ARMS Relative x
S20260 4.5 1 240 VAC 4.5 ARMS peak
S20360 9 1 240 VAC 9 ARMS peak
S20660 18 1 240 VAC 18 ARMS peak
S20330 9 0.25 90 VDC 9 ARMS peak
S20630 18 0.25 90 VDC 18 ARMS peak

8.5.3 Read/Write NV Parameters

ARF0 1.518 – 96382 Hz
ARF1 1.518 – 96382 Hz
ARF0 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 Card 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 = 224 = 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 lsb = AuxFBDivisor = 28 = 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 Sin-Cos cycles
magnetic pole pitch: per magnetic pole pitch
AuxFBType Type (Option Card Only)

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.
Type AFBHallDis AFBEnDatEnb AFBDivisorSrc AFBFBSrc
Incremental A Quad B Disable Disable AuxFBDivisor AQB
Incremental A Quad B
Enable Disable AuxFBDivisor AQB
with Halls
1 Vp-p Sin-Cos
Disable Disable AuxFBDivisor SCD
Incremental
1 Vp-p Sin-Cos Inc. with
Enable Disable AuxFBDivisor SCD
Halls

EnDat 2.1 Disable Enable AuxPPR SCD

EnDat 2.1 Linear Disable Enable AuxFBDivisor SCD
See AuxFBDivisor 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 I/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
CmdF0 1.518 – 93254 Hz
CmdF0 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 CmdF0; 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. CmdF0 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 See 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:
CmdIn = [(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%.
CmdSrc OpMode CmdGain Units +/- CmdGain Range
Analog Torque / Current ARMS / V ARMS / V
Analog Velocity krpm / V krpm / V
PWM Torque / Current ARMS / % ARMS / %
PWM Velocity krpm / % krpm / %
CmdInNullEnb Enable/Disable
CmdInNullEnb enables or disables the Command In ADC Null function. CmdInNullEnb
enabled allows the user to null the base drive CmdIn ADC by asserting DInp4 for a
minimum of one second. The CmdInNull function will update the variable CmdOffset to null
out the DC offset that is present and the CmdIn ADC at the time DInp4 is asserted. This
function updates the drive NV memory copy of CmdOffset as well.
0 - Enable CmdIn ADC Null function
1 - Disable CmdIn ADC Null function (default setting)
CmdOffset 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 gain of the input command.
Expressed as an equation:
CmdIn = [(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 CmdIn.
CmdSrc Analog, PWM CMD, or Command Variable
CmdSrc 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.
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 ± DIpeak or ± 18,310 rpm
Not supported over SynqNet.
Sets the value of the command when CmdSrc 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.
Mode Description
SetupS2-2 DIP switch S2 position 2 selects between 6-step and SFD
commutation, feedback.
SFD Forces the drive to use SFD for feedback.
6-Step Forces the drive to use 6-step.
Brush Forces 6-step commutation with CU, CV, CW = 1 1 0.
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. The following describes the different values for this parameter.
0 - Normal
1 - Invert
InhibitCW I/O input. The following describes the different values for this parameter.
0 - Normal
1 - Invert
InhibitCCW I/O input. The following describes the different values for this parameter.
0 - Normal
1 - Invert
MSInp1 I/O input. The following describes the different values for this parameter.
0 - Normal
1 - Invert
DM1Map/DM2Map See Chart
Selects the variable sent to DACMon1, DACMon2 analog output pins on Command I/O
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 not 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:
Parameter Value Definition

VelErr 286 rpm/V Velocity error.
PosFB 0.25 rev/V Position big bits.
IdFB 0.8474 * DIpeak ARMS /V Non-torque current.
VelFB 2288 rpm/V Velocity little bits.
VelFB 9155 rpm/V Velocity big bits.
PosErr 0.0625 Rev/V Position loop position error.
VdCmd 134.5 * VBusScale/V Quadrature voltage command.
PosFB 244.1e-6 rev/V Position little bits.
DM2Map:
Parameter Value Parameter Value Definition
Velocity mode Torque mode
VBus 380 * VBusScale - Bus voltage.
V/V
CmdIn 9155 rpm/V CmdIn 0.8474 * Command.
DIpeak/V
IFB 0.8474 * DIpeak/V - Torque current.
VelFB 1144 rpm/V - Velocity.
I2TFilt0.7152* - I*I*t filtered value.
(DIpeak2) A2/V
VU 812 * VBusScale /V - U phase l-n voltage
command.
VqCmd 134.5 * - Torque voltage
VbusScale /V command.
ICMD 0.8474 * DIpeak - Torque Current
ARMS /V command.
Model Dependent Scale Factors

Model DIpeak VBusScale
Description
User ARMS Relative x
S20250 4.5 1 240 VAC 4.5 ARMS peak

S20260 4.5 1 240 VAC 4.5 ARMS peak

S20330 9 0.25 90 VDC 9 ARMS peak
S20630 18 0.25 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 feedback device electrical cycles per revolution.
Setting DPoles to zero turns electronic commutation off.
Binary 0 = 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
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 0. All other
settings for rotary switch S1 have fixed line counts. (EncOut * 4) = the number of
quadrature counts per revolution.
EncOut Line Count EncOut Line Count
0 500 8 8192
1 512 9 10000
2 1000 10 125
3 1024 11 128
4 2000 12 16384
5 2048 13 20000
6 4096 14 Programmable by
EncOutPPR
Default = 32768
7 5000 15 2500
EncOutPPR 0 to 65535 Lines

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 S1 on the
base drive is set to position 0 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 CH OUT pulse a the exact desired position.
EncOutZOffset 0 to 65535 Counts
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
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
Z
Encoder Phasing for Clockwise Motor Rotation
EnInhibitCCW On or Off
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 - ON
EnInhibitCW On or Off
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 velocity 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 0.
0 - OFF
1 - ON
FBSrc Base Unit Feedback, Option Card Feedback (Option Card Only)
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
FltDiag selects between the DOUT1 (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 DOUT1 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
FltRstMode Edge or Level
FltrstMode selects how faults are reset by the hardware enable input DInp1 on J4-2. When
set to Level, faults are reset 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
GearIn is used to scale the input position command when configured as a position
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/GearIn]/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 PosCmdSrc.
See Also: GearOut and OpMode.
GearOut -32768 – +32767
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 GearIn 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
is:
[GearOut/GearIn]/256 = revs per input step
There is 1 input count per step input or per input quadrature count depending on the
position command source selected by PosCmdSrc.
See Also: GearIn and OpMode.
HSInp1Pol Invert or Normal
This parameter selects the polarity of the HSInp1. When this parameter is set, the input to
HSInp1 I/O input.
0 - Normal
1 - Invert
I2TF0 23.16e-6 – 1.470 Hz
I2T0 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. I2Tf0 should be set based on the motor coil’s thermal time
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 I2Tf0 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 I2TF0 value to:
I2TF0 = 1/[(2π)*(Motor Thermal Time Constant in sec)]
I2TTrip 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 motor data sheet continuous current
capability when the motor has no internal thermal shut down sensor. When the motor
includes a thermal sensor I2TTrip 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 DIpeak.
ITMode Fault/Foldback
Selects whether the drive faults on too much peak current for too long, i.e., excessive I*t, 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.
KIP 79.226*VBusScale/DIpeak to 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 l-l L)/(2π). See the drive specification section for recommended bandwidths.
KPP 0.379 – 93.99 Hz

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*(2π)*(PosErr) + 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*(2π)*(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 KVI values give higher integral gain and shorter time constants. A
value of below 0.19 Hz turns off KVI. There is no integral compensation only proportional
from KVP. See the Base Drive Torque/Velocity Control Block Diagram for more information.
KVP 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/(2π) 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
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.
OpMode Description
000 Torque/Current Mode
001 Velocity Mode (default)
010 Setup DIP switch S2 position 1 (SetupS2-1 = 0 = Velocity).
011 Position Mode
Note: With SynqNet OpMode is written to by the SynqNet master over the network each
network update period. All SynqNet master versions that support the S200 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
PosCmdSrc 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
PosErrorMax sets the following error limit. When
|(commanded position) – (PosFB)| > PosErrorMax

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 loop proportional gain.
KIP Current loop proportional gain.
DPoles Drive poles.
I2TF0 Response speed for motor transient thermal protection.
I2TTrip Fault trip level for motor transient thermal protection.
ILmtPlus Sets the drive maximum Iout based on motor IPEAK.
ILmtMinus Sets the drive maximum Iout based on motor IPEAK.
SFDSpan Span or 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
Span 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

8.5.4 Status And Control Variables

AuxFBComAng +180° to -180° (Option Card Only)
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)

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)

This bit indicates the AuxFB Halls are in an illegal state of either all ones or zeros.
0 - No Fault
1 - Fault
AuxFBPTCFlt Fault, No Fault (Option Card Only)

This bit indicates the AuxFB PTC has generated a fault.
0 - No Fault
1 - Fault
AuxFBSCDFlt Fault, No Fault (Option Card Only)

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)
CmdIn 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 I/O connector (J4).
0 - Active state, current flows in opto isolator input diode.
1 - Inactive state, no current flow.

For SynqNet, see mpiMotorGeneralIn.
Indicates the state of the hardware input DINP2 on the Command I/O connector (J4).

Indicates the state of the hardware input DINP3 on the Command I/O connector (J4).


Indicates the state of the hardware input DInP4 on the Command I/O 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.
DriveOK Fault , No Fault
Drive fault status indicator. This signal is actually the inverse of the FAULT/ DOUT1 output
of the drive on the Command I/O 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 (J4).
Current flows through DOUT2 when Enabled is active or logic one.
0 - Drive disabled power stage OFF.
1 - Drive enabled power stage ON.
EnDatDistMT 0 to 65535
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 to 232 - 1
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.
Code Extended fault Code Extended fault
1 SFD UART parity error 9 Drive under temperature
2 SFD UART overrun error 10 Drive short circuit
3 SFD UART framing error 11 Drive output over current
4 SFD frame timeout 12 Option card read timeout
5 SFD transfer incomplete 13 Option card watchdog timeout
6 SFD CRC error(s) 14 Step size overflow
7 SFD Motor Data timeout 15 Position error overflow
8 Drive over temperature 16 AuxFB Fault

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.
Blink Blink
Status Status
Count Count
1 Not Assigned 11 Hall Fault
2 Motor Over Temp 12 SFD Configuration Error
3 Drive Over/Under Temp 13 SFD Short
4 Drive I*t Too High 14 SFD Motor Data Error
5 Motor I*I*t Too High 15 SFD Sensor Failure
6 Optional Battery low 16 SFD UART Error
7 Bus Over Voltage 17 SFD Communication Error
8 Bus Under Voltage 18 Option card Watch Dog
timeout
9 Motor l-l or l-n Short 19 Position error too large
10 Output Over Current 20 Open Card Fault
FoldBack Normal, Foldback

Indicates whether the drive is actively folding back the peak current limits because of
excessive I*t. ITMode can be set to fault the drive on either excessive I*t or fold back.
0 - Not in fold back/Not asserting I*t 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 Input HallInp
CW CU CV Value
1 1 1 7
1 0 1 6
Input Bit Description
1 1 0 5
IN8 Hall A
1 0 0 4
IN9 Hall B
0 1 1 3
IN10 Hall C
0 0 1 2
0 1 0 1
0 0 0 0
HSInp1 Inactive, Active

Indicates the state of the hardware input HSInp+, HSInp- on the Command I/O connector
(J4). 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.
HSOT -50º C to 137.6º C

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.

HSTemp -41.1º C to 125.8º C

HSTemp reads back the heat sink temperature. HSTemp determines how close the drive is
to thermal shut down 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 +DIpeak
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.
Base Model
S20260 240 VAC 4.5 ARMS
S20360 240 VAC 9 ARMS
S20660 240 VAC 18 ARMS
S21260 240 VAC 30 ARMS
S22460 240 VAC 48 ARMS
S20330 90 VDC 9 ARMS
S20630 90 VDC 18 ARMS
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 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 * DIpeak 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)
SFDExtFaults Status Value

This variable gives the detailed fault code of the SFD.
FaultCode Status
000 No Fault
001 Sensor Error
010 No Fault
011 Multi-turn Fault
100 No Fault
101 No Fault
110 No Fault
111 No Fault
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 I/O 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.

Danaher Motion 2/2008 SynqNet Configuration
9 SYNQNET CONFIGURATION
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 0xC0FE0036
For more information about FPGAs, visit Motion Engineering, Inc.’s Technical Support site.
(http://support.motioneng.com)
Go to Hardware -> Drives -> FPGA Images
Parameter Specification
Node Type 0x00000000
Option 0x00000000
FPGA 0xC0FE0036
Motor Count 1
Drive Count 0
Secondary Encoder Count 1
SqNode Digital Out Count 0
SqNode Digital In Count 0
SqNode Analog Out Count 0
SqNode Analog In Count 0
Parameter Motor0
Capture Count 1
Probe Count 1
Pulse Count 0
Dedicated In 0 – Amp Fault 1
Dedicated In 1 – Brake Applied 0
Dedicated In 2 – Home 1
Dedicated In 3 – Limit HW Pos 1
Dedicated In 4 – Limit HW Neg 1
Dedicated In 5 – Index Primary 1
Dedicated In 6 – Feedback Fault 1
Dedicated In 7 – Captured 0
Dedicated In 8 – Hall A 1
Dedicated In 9 – Hall B 1
Dedicated In 10 – Hall C 1
Dedicated In 11 – Amp Active 1
Dedicated In 12 – Index Secondary 1
Dedicated In 13 – Warning 1
Dedicated In 14 – Drive Status 9 1
Dedicated In 15 – Drive Status 10 0
Dedicated Out 0 – Amp Enable 1
Dedicated Out 0 – Brake Release 0

Motor General Name Valid Configurations

Purpose I/O Bit
0 0 RS422 IN 0 Input
0 4 RH 1 Input
0 5 RH 2 Input
0 6 RH 3 Input
0 7 PS OK Input
0 8 IO SHORT Input
0 9 DINP2 Input
0 10 DINP3 Input
0 11 DINP4 Input
0 12 HSINP1 Input
9.2 DRIVE MONITOR
9.2.1 Drive Monitor Table

/* kollmorgen_s200.h */
/*
* Drive Monitor Table
*/
typedef enum {
S200MonitorAddressCMD_IN = 0x3938, /* Value of the output of the command

processor block */
S200MonitorAddressHS_TEMP = 0x8726, /* Heat sink temperateure value */
S200MonitorAddressIFB = 0x4544, /* Torque derotated current value */
S200MonitorAddressIDFB = 0x4746, /* Non-torque derotated current value */
S200MonitorAddressM_TEMP = 0x8700, /* Motor temperature A/D value frm the
SFD */
S200MonitorAddressPOS_MTRN = 0x5756, /* Multi turn feedback data */
S200MonitorAddressPOS_FB_LSBS = 0x2E2D, /* Lower 16 bits of the feedback */
S200MonitorAddressPOS_FB_MSBS = 0x872F, /* Upper 8 bits of the feedback */
S200MonitorAddressVBUS = 0x3736, /* Motor power voltage */
S200MonitorAddressVEL_FB = 0x1D1C /* Shaft velocity feedback */
} S200MonitorAddress;
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 can 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.

• CmdIn
• HSTemp
• IFB
• IdFb
• MTemp
• Pos_MTrn (PosFbMTrn)
• PosFbLSBS (PosFb)
• PosFbMSBS (PosFb)
• VBus
• 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:

• drive command value (CMD_IN)
• drive model number (MODEL)
• drive bus voltage (V_BUS)
Examples of read/write drive parameters are:

• commutation offset value (COMM_OFF)
• proportional gain of the current loop (KIP)
• 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 MPI methods or with the sqDriveParam Utility. A list of drive parameters can also be
set (or read) using MPI 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 in 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 also be cleared. Parameters may

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

Command SynqNet Direct
Description Notes
String Command
Save Save all parameters to
SAVE 0x1C
Parameters non-volatile memory.
9.3.3 Accessing Individual Parameters

Use the sqDriveParam Utility for accessing individual parameters. The syntax follows the
conventions listed below.
• x is the node number. Nodes are numbered starting from zero.
• y is the 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> -node x -drive y -read 0x3
Set the encoder resolution to 2048:

sqdriveparam -server <ip address> -node x -drive y -write 0x7 -data
2048
9.3.4 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>

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>
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.
9.3.4.1. DRIVE PARAMETER MAP 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 contains 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.
File Header
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.
#”Manufacturer and Model” “drive firmware version” (file-
specific)
For the S200-SynqNet, the “Manufacturer and Model” text will always be “Kollmorgen
S200."
Examples
# "Kollmorgen S200" "2.0a"
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.
Parameter Identification
Name Description
number Drive parameter number (in hex).
name Drive parameter name, or command string.
read/write access Read/write (rw) or read-only (ro).
data type One of the pre-defined data types (see the Data Types
table).
values List 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.

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.
Data Types
Name Description
unsigned8 An 8-bit unsigned binary number.
unisigned16 A 16-bit unsigned binary number.
unsigned32 A 32-bit unsigned binary number.
signed8 An 8-bit binary, twos-complement number.
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).
character An ASCII character.
Single 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"
0x03 DIPEAK ro 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:
ARF0
ARF1
BAT_F_DIS
CMD_F0
// – 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.
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.
File Footer
#end – Designates the end of the parameter map file.
9.3.4.2. DRIVE CONFIGURATION FILE

The drive configuration file contains the actual parameter values. The file has a one-line
header that identifies the following:
• node number
• drive number
• drive identification
• 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:

# sqNode[3] drive[0] "Kollmorgen S200" "2.0a"
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.

Danaher Motion 2/2008 Accessories, Connector Kits, and Cables
10 ACCESSORIES, CONNECTOR KITS, AND CABLES

S200 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 Description
P7S2-232-9D RS232 serial communication cable (DB-9 to Mod Jack) -- 6
feet.
768-026902-01 Terminal Block adaptor for J4 I/O connector.
MSM20001 S200 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 S200 AC drives
S20260, S20360, S20660.
CK-S200-IP-ACL I/O and input AC control power mating connectors for base
S200 AC drives S21260, S22460.
CK-S200-IP-AC-TB Terminal block adaptor I/O connector and input power mating
connectors for base S200 AC drives S20260, S20360, S20660.
CK-S200-IP-ACL-TB Terminal block adaptor I/O connector and input AC control
power mating connectors for base S200 AC drives S21260,
S22460.
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 I/O 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.

Danaher Motion 2/2008 Accessories, Connector Kits, and Cables
10.3 CABLES
P7S2-232-9D RS232 serial communication cable (DB9 to Mod
Jack) -- 6 feet.
CF-DA0111N-XX-X Feedback Cable "value series" - Euro connector at
the motor end to IEEE1394 connector at the drive
end for Smart Feedback Device support.
CP-102ACN-XX-X Power Cable "value series" - Molex connector at the
motor end to S200 crimp pin pluggable connector at
the drive end.
CP-102AAAN-XX-X Power Cable "value series" - Euro connector at the
motor end to S200 crimp pin pluggable connector at
the drive end.
CC-D01CO2N-XX-X Composite Cable "value series" - Single Molex
connector 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
the single cable.
CC-D01AO2N-XX-X 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.

Danaher Motion 2/2008 Diagnostics and Troubleshooting
11 DIAGNOSTICS AND TROUBLESHOOTING

The S200 drive incorporates:
Output motor short circuit protection line-to-line, line-to-neutral and line-to-PE.
Internal monitoring of the power stage heat sink temperature for drive over-
temperature.
Bus over-voltage and under-voltage detection.
Control under voltage detection.
Excessive current I*t 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 I2t 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.
Status LED Drive Status
ON Drive is enabled, not faulted.
Output stage is enabled and controlling power to the motor
OFF Drive control power input is not powered or has insufficient
voltage applied
Fast Blinking Drive is not enabled, not faulted.
Output stage is not enabled – no power to the motor
Slow Blinking Drive is blinking a fault code
(with a pause)
The number of blinks corresponds to the fault code as follows:
Blink
Fault Code
Count
1 Not Fault
2 Motor Over Temp
3 Drive Over/Under Temp
4 Drive I*t Too High
5 Motor I2T Too High
6 Optional Battery low
7 Bus Over Voltage
8 Bus Under Voltage
9 Motor l-l or l-n Short
10 Output Over Current
11 Hall Fault
12 SFD Configuration Error
13 SFD Short
14 SFD Motor Data Error
15 SFD Sensor Failure
16 SFD UART Error
17 SFD Communication Error
18 Option Card Watch Dog Timeout
19 Position Error Too Large
20 OC Fault

Fault The following sequence occurs when the protection circuits

Generation 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 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.

11.2 DIAGNOSTICS
The following table lists the S200 fault codes and possible causes of the fault condition.
Status
LED
Fault Description Possible Cause
Blink
Code
ON No faults, power Normal Operation
stage Enabled
OFF Control power not Loose or open circuit wiring of control power input.
applied or insufficient Low input voltage to control power supply.
control power applied
Fast Blink No faults, power Hardware or Software Enable inactive, to enable
stage Disabled drive apply hardware enable and set software
enable.
1 Not Assigned
2 Motor Over Temp High ambient temperature at motor.
Insufficient motor heat sinking from motor mounting.
Motor temperature
exceeds allowed limit Operating above the motor’s continuous current
rating.
Motor temperature sensor failure or not connected.
3 Drive Over/Under High or low drive ambient temperature.
Temp Restriction of cooling air due to insufficient space
around unit..
Temperature of drive Operating above the drive’s continuous current
heatsink/chassis is rating.
outside of allowed
limits
4 Drive I*t Too High Mechanically-jammed motor.
The product of the Motion profile acceleration requires peak current for
drives output current too long of a time duration.
multiplied by time has Machine load on the motor increased by friction.
exceeded allowed
limits. Wiring problem between drive and motor yielding
improper motion.
Motor commutation error.
If current foldback is
enabled the drive Drive under-sized for application, friction or load.
peak output current
automatically reduces
to 0.67% of DIpeak. If
foldback is not
enabled, the drive will
fault.
5 Motor I*I*t Too High 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.
Motor current
amplitude squared
multiplied by time has
exceed allowed limits
6 Optional Battery low Battery low fault enabled and battery is not installed.
SFD Battery backup voltage is low.
Optional fault used to
indicate SFD battery
supply voltage is low

Status
LED
Blink
Code
7 Bus Over Voltage - AC Line voltage (AC unit) or DC bus power supply
Self Resetting voltage (DC unit) is too high.
Regenative energy during deceleration is causing
The BUS voltage has the BUS to rise:
exceed the upper On AC Drives add regen resistor.
threshold limit
On S200 DC input drives external BUS capacitor is
too small; add capacitance.
8 Bus Under Voltage - On S200 DC input drives:
Self Resetting BUS voltage is too low.
BUS voltage is pulled down during high acceleration
S200 DC drive fault or loading.
only
External BUS capacitor is too small.
BUS voltage is below

specified 20 VDC
minimum
9 Motor l-l or l-n Short Motor power wiring short circuit - line-to-ground /
neutral.
Motor cable short line-to-line.
Line-to-Line, Line-to-
Neutral or Line-to-PE Motor power cable length exceeds the data sheet
short on the motor specification causing excessive motor line-to-earth
output causing an ground/neutral capacitance.
instantaneous over Internal motor winding short circuit.
current. Motor L too small.
KIP set too large.
10 Output Over Current Insufficient motor inductance
KIP or KII improperly set causing excessive output
current overshoots.
11 Hall Fault Invalid configuration.
Motor overspeed.
Valid only when drive Invalid hall state.
is set for 6 Step (Hall Invalid hall transition.
feedback) operation
12 SFD Configuration SFD UART error during SFD initialization.
Error Bad motor data check sum.
The drive will attempt to initialize the SFD up to 4
times. If it fails this error is reported.
13 J3 FB +5V Short Excessive loading on SFD +5 supply.
Short in the feedback cable on SFD +5 (J3-1) to
Excessive current ground.
drain on SFD +5
supply output
14 SFD Motor Data Error Motor and Drive are not compatible. Auto setup
Motor data in SFD is calculation yielded a desired parameter value
outside drive limits or outside valid range.
is inconsistent Incorrect/inconsistent motor data loaded into the
SFD.
15 SFD Sensor Failure Internal SFD failure.
Excessive electrical noise in the drive environment
causing communications interference.
16 SFD UART Error Internal SFD failure.

Status
LED
Blink
Code
17 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.
18 Option Card Watch Communication error between option card and main
Dog Time out board.
19 Position Error Too Check ExtFaults:
Large ExtFaults = Step size over flow means
GearOut/GearIn is too large.
ExtFaults = Position error over flow means that the
following error, = PosErr, has exceeded ±128 revs.
Check if the motor is stalling or if the commanded
speed is higher than the motor can achieve at the
present bus voltage.
20 Option Card Fault Check ExtFaults:
If ExtFaults is AuxFBFault, then the AuxFB device
is in error.
Check the AuxFB faults: AuxFBEnDatFlt,
AuxFBPTCFlt or AuxFBSCDFlt.
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.

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 faults 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.

Danaher Motion 2/2008 Appendix A – DC Power Supply Design
APPENDIX A – DC POWER SUPPLY DESIGN

A.1 DESIGN
This section has additional considerations for DC power supplies.
A.1.1 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
NOTE NEVER exceed 90 V.
Wire the single supply +terminal to J1-3 (+Bus) and to J1-1 (+CTRL) 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
S200 DC drives is shown in the table below.
3/9 ARMS S200 DC 6/18 ARMS S200 DC
250 watts 500 watts
Main (continuous)
3.33 ADC at 75 V 6.67 ADC at 75 V
750 watt 1,500 watt
Main Peak (3 sec)
10 ADC at 75 V 20 ADC at 75 V
The next figures provide representative connection diagrams and some detailed
recommendations.
+24 V, +48 V, +75 V
+ AC
+ Regulated AC
Cbus Supply Line
Gnd
- AC
(Optional) Regulated, Isolated Supply

10 ft max
16
+Bus +24 V, +48 V, +75 V AWG
J1-3 + AC
+Ctrl
J1-1 + + AC
see below
Diode Line
Cbus Rectifier
Bus/Ctrl Gnd Gnd

J1-2 - AC
16 Isolating
AWG Transformer
DC Input S200
Unregulated, Isolated Supply
+Bus How to Size Cbus

J1-3
3 ARMS cont S200 6 ARMS cont S200
+Ctrl ------------------------------ ---------------------
---------
J1-1 -
2,000 µf / drive at 75 V bus 4,000 µf / drive at 75 V bus
Bus/Ctrl Gnd
J1-2 Local Cap only required for stand alone 6 ARMS S200 that runs warm
PE (470 µf , 100V, lowers aluminum within 1 ft of drive if HsTemp>65C)
DC Input S200
WIRING MULTIPLE DC DRIVES
An appropriately-sized output capacitor in the main power supply
is the key to economically delivering high peak power. In most
applications, the capacitor supplies much of the peak power
needed to accelerate the motor and inertia (under 20 ms). It also
CAUTION 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
NOTE very important in selecting or designing the power supply.

A.1.2 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
NOTE
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 is for the supply to have
an appropriately-sized output capacitor.
Capacitance Requirements
3/9 ARMS DC S200 6/18 ARMS DC S200
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
NOTE 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
NOTE 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) during 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
NOTE threshold.
3. Bus capacitance improves motor dynamics by holding the bus voltage stable
during acceleration.
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, inverter 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. In most cases, a 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:
3/9 ARMS DC S200
6/18 ARMS DC S200 with HSTemp less than 65° C
6/18 ARMS DC S200 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 S200 drive running hot
(HSTemp > 65° C). In this case, connect across the bus within 1 ft of the drive,
using twisted wire, a 470 µf (min), 100 V, low ESR, and 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 & Power Numerical Examples.
Bus capacitance can be tweaked experimentally. Increase bus
capacitance if there are overvoltage trips. In general, there is
sufficient bus capacitance if the bus voltage variation is ± 5 V (from
75 VDC) during the machine cycle. Check the bus voltage with an
NOTE oscilloscope. Scope ground on J1-2 (Bus/Ctrl Gnd) and probe on J1-
3 (+bus), Hor: 5 ms / div.
Some bus voltage variation is normal and required for the output
bus capacitor to supply or absorb energy.
NOTE
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.

9. Regulated power supply

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 Ω) 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
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 supply is used, connect the control supply ground and main bus
supply ground together at or near the drives not at the supplies.
11. 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 (> 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 capacitor closer to the drive
or
b. Twist the bus and ground wires between the drive and supply
or
c. Add extra capacitance (470 µf 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
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 µf 100 V EEGAA2A822CKE
2 x 4.125 22,000 µf 100 V EEGAA2A223FKE
3 x 4.125 47,000 µf 100 V EEGAA2A473HKE
Cornell Dubilier DCMC series
1.375 x 4.125 8,600 µf 100 V DCMC862U100AC2B
2 x 4.125 20,000 µf 100 V DCMC203U100BC2B
3 x 4.125 49,000 µf 100 V DCMC493U100DC2B
United Chemicon U36D series
1.375 x 4.625 8,200 µf 100 V U36D100LG822M35X117HP
2 x 4.625 18,000 µf 100 V U36D100LG183M51X117HP
3 x 4.625 47,000 µf 100 V U36D100LG473M76X117HP
A.2 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 (+CTRL) 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.
NOTE
A.2.1 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 I/O power
for multiple drives.
A.3 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 µf per drive).
This allows the PWM currents of the drives to spread out, thereby
NOTE lowering the temperature of the capacitor in the hottest drive.

A.4 BUS ENERGY & POWER NUMERICAL EXAMPLES

The energy flows in the drive bus are:
• In - Motoring mechanical energy + Motor losses (motor accelerates).
• Out - Regenerated mechanical energy – Motor losses (motor decelerates).
• Out - Regenerated motor inductive energy (disable or fault).
A.4.1 Min. External Bus Capacitance

Inductance in AKM motors mated to S200s 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 IRMS x IRMS
= 0.75 x 0.005 henry x 18 RMS x 18 RMS
= 1.2 joules
The bus capacitor needed to absorb the regenerated energy (EREGEN) is sized using the
general rule that the energy stored in the capacitor be a minimum of 5 * EREGEN. 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 = 5 x 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 µF
The internal S200 bus capacitance is 200 µf, which is less than 10% of the required
capacitance for energy absorption.
A.4.2 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 EMF),
the energy delivered vs. acceleration time is:
5 ms 2.5 joules
10 ms 5.0 joules
15 ms 7.5 joules
A.4.3 Capacitor Energy Absorb/Deliver

The capacitor energy absorbed or delivered for a 5 V change from a 75 bias is:
3 joules for 8,000 µf
A.4.4 Bus DC Input Power

Bus input power 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 2π
The equation for motor resistive (heat) loss is:

Winding loss (watt) = 1.5 x Rline-to-line x IRMS x IRMS

Danaher Motion 2/2008 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 cable. Cable voltage drop vs. cable length is shown in the table
below.
Cable Voltage Drop vs. Length
Cable V line-line VLOSS in cable as

Length AWG 18 0-peak at 0.866 a percent of 75 V bus
(meter) 2 x Rphase x 18 ARMS
(ohm) AWG 18 cable AWG 18 cable AWG 14 cable
3 0.126 2.77 3.7 % 1.5 %

10 0.413 9.09 12.1 % 4.8 %
25 1.03 22.7 30.3 % 12.0 %
50 (50 m not recommended with N/A 24.0 %
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
Smart Feedback Device (SFD) and the drive.

Danaher Motion 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 Danaher Motion 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 prototyped 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 S200
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 Outer Shield

Outer Shield Motor Connector Shield
(Connect to SFD Shell)
Feedback
Inner Shield Motor W ires
(Connect to Logic GND)
SFD Com m unication

twisted pair PE W ire
Optional Foil Shield Shield
Drain W ire
SFD Return
(Inner Drain W ire
and inner shield) Jacket
Inner Jacket
Composite Cable Cross-Section

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 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
NOTE
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 Ω (at 20° C). In
practice, this means that for long cables, the AWG wire gage needs to be considered.
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 the total SFD +5 and RTN
NOTE
resistance within specification on long cables without having
large diameters.
3) Feedback Characteristic Impedance
Danaher Motion's S200 feedback cables are designed to have a feedback data pair
differential impedance of 81 Ω (at 1 MHz). Impedances in the range of 50 to 100 Ω,
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 Danaher Motion. The cable has good shielding
properties.
2. Purchase a composite feedback cable built by Danaher Motion. 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 Danaher Motion
composite cable is built is to buy a short Danaher Motion S200 composite cable, open
it up, and see how the shields at both the motor and drive end are connected.

Danaher Motion 2/2008 Appendix C – Danaher Motion Linear Motor Wiring
APPENDIX C – DANAHER MOTION 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 device 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

Danaher Motion 2/2008 Appendix D – Process to Setup Non-Danaher Motors
APPENDIX D – PROCESS TO SETUP NON-DANAHER

MOTORS
The S200 drive family is available with a full set of plug and run accessories and aids for
the Danaher Motion AKM family of high performance general purpose rotary servo motors.
However, S200 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 Comment

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 power discover proper
1 Vp-p Analog Sin-Cos
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 Danaher S200 drives you need to
figure out the wiring between the motor coils, the Hall commutation sensors, and the
encoder feedback device to the drive. 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 S200 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, Danaher
Motion 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.

D.1 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 factory 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 A+ to drive A+, Hall 1 to drive Hall U, 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 S200 Tools monitor PosFB on the
Status 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 A+ 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 by 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-Danaher Motion systems the Halls have 60 degree separation which
is equivalent to the Danaher Motion standard with the middle signal Hall V logically
inverted. The S200 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.

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 an S20660
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) positive 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 you 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.
Set 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 S200 Tools to -120, 0, +120. Two of 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.
Summary:
The S200 drive is now properly configured to run the non-catalog motor. Do an NVSave in
the S200 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 Danaher
Motion products application engineer so they can share it with others.

Danaher Motion 2/2008 Appendix E – Voltage Sag Standard – Semi F47, F42
APPENDIX E – VOLTAGE SAG STANDARD – SEMI F47, F42

Semiconductor F47 and F42 standards relate to the ability of equipment to ride-through
voltage dips of various magnitudes and duration. F47 requires that semiconductor
equipment tolerate transient voltage sags or dips on the AC power line. Voltage dip to:
50% of nominal for 200 ms
70% of nominal for 0.5 second
80% 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 S200 using AC line voltage and phasing as described below.
AC S200 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 an 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 voltage sag has the potential to drag the bus voltage down. If
only the internal bus capacitors of a 3 A / 9 ARMS S200 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% F47 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 F47 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 50% is tolerated with little or no effect on motor performance.
e) If three-phase power is available within the plant, but at higher voltage than 240
VAC, consider adding a power transformer to step it down to 240 VAC for use as
AC bus power for the S200 drives in the machine. This is also a robust option.

Danaher Motion 2/2008 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
Drive
Figure 1. Main Power Line Connection of the S2xx50 AC Input Voltage Doubler Drive
In the S2xx50 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 S2xx050 AC input voltage doubler
models. In fact, connection to a three-phase source will damage the drive. Please use the
standard S2xx60 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.

Danaher Motion 2/2008 Appendix F – Using a Voltage Doubler Mode Drive
F.1 S2XX50 AC LINE VOLTAGE DOUBLING DRIVE

POWER SPECIFICATIONS
120 VAC Voltage Doubling S20350 S20250
Peak Output Current (ARMS) 0 to 40ºC 9.0 4.5
Ambient
Minimum Peak Current TimeStarting 3.0 3.0
from 0 Amps
Cont. Output Current (ARMS) 0 to 40ºC 3.0 1.5
Ambient
Continuous Output Power (Watts) 750 350
Peak Output Power (Watts) 2400 1200
RMS Line Current at Continuous 10 5
Output Power (RMS)
Fusing – Line Inputs MDA-15 MDA-10
S200 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
WARNING will lead to catastrophic failure of the drive.
Requirements for Safe Operation of the Drive
It is the machine builder’s responsibility.

Danaher Motion 2/2008 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 regulations 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 S200 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.

G.2.1. CE Test Setup

AC MODELS S2XX6X-XXX, S2XX5X-XXX
10 4
9
3
2
5
6
1
6
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 AKM43K-ANCNC-00
5) LINE FILTER: MTE RF30006-4 (see * below)
6) CORDS FOR AC MAINS CONNECTION
7) 5V POWER SUPPLY FOR ENABLE OPTO
8) PERSONAL COMPUTER
9) SERIAL CABLE (for setup and diagnostics)
10) SHIELDED I/O CABLE WITH DSUB SHELL GROUNDED AT EACH END
* (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)
4
9 10 2 3
6
Example of Test Setup
1) S200 DC DRIVE: S20630-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 AKM43K-ANCNC-00
5) SAFETY ISOLATED DC BUS POWER SUPPLY
6) CORDS FOR AC MAINS CONNECTION
7) 5V POWER SUPPLY FOR ENABLE OPTO
8) PERSONAL COMPUTER
9) SERIAL CABLE (for setup and diagnostics)
10) SHIELDED I/O CABLE WITH DSUB SHELL GROUNDED AT EACH END

G.2.3 Declaration of Conformity

In our Declaration of Conformity, we affirm our compliance with Directive 73/23/EEC (Low
voltage Directive) and with Directive 89/336/EEC (EMC 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:
• S20260-VTS, S20360-VTS, S20330-VTS, S20630-VTS,
S20260-SRS, S20360-SRS, S20330-SRS, S20630-
SRS, S20260-SDS, S20360-SDS, S20330-SDS,
S20630-SDS, S20660-VTS, S20660-SRS, S20660-
SDS, S21260-VTS, S21260-SRS, S21260-SDS
• Pending CE approval S22460-VTS, S22460-SRS,
S22460-SDS. Consult factory for up to date information.
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.

CE Declaration of Conformity
We, the company
Danaher Motion
Kollmorgen
201 West Rock Road
Radford, VA 24141
Hereby in sole responsibility declare the conformity of the product series

Danaher Motion S200 Digital Servo Drives
Which includes the models:
S20330-VTS, S20630-VTS, S20260-VTS, S20250-VTS, S20360-VTS, S20350-VTS, S20660-VTS,
S21260-VTS,
S20330-SRS, S20630-SRS, S20260-SRS, S20250-SRS, S20360-SRS, S20350-SRS, S20660-SRS,
S21260-SRS,
S20330-SDS, S20630-SDS, S20260-SDS, S20250-SDS, S20360-SDS, S20350-SDS, S20660-SDS,
S21260-SDS,
With the following standards:

• Low Voltage Directive 73/23/EEC
• EMC Directive 89/336/EEC
European Harmonized, National, & 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:
• Proper operating instruction
• Diagrams
• Other technical documentation (for EU authority only)
• Technical construction file (for EU authority only)
Legally binding
Signature

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 components, 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
S200 drive. General information on installation and wiring are explained in 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 Danaher Motion 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 S200.
G.5 EUROPEAN COMPLIANCE

In Germany, these include:
DIN VDE 0100 (instructions for setting up power installations with rated voltages
below 1000 V).
DIN - EN 60204 - Part 1, (VDE 0113, part 1) instructions relative to electric
equipment in machines for industrial use.
DIN EN 50178, (VDE 0160) instructions relative to electronic equipment for use in
power installations.

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 IP4X.
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 according 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 S1
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 mm2 Cu. The S200 drives are
designed to Protective Class I.
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
S200 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-carrying capacity in the event of a short-circuit
between the core and the screen.
When installing the S200 into its operating location, it shall be ensured that any
existing protective separation according to 5.2.18 of EN50178 is maintained
throughout the entire 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.

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:
The drive should be used within its specified ratings.
The drive should be mounted in the intended manner in an enclosure having
adequate strength and thickness with acceptable spacing for the end product
classification.
The spacing from the exposed live-metal parts to the enclosure wall should be in
accordance with the requirements for the overall equipment.
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.
The 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.
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.
The DC models were evaluated by UL for use with an isolated power supply rated
no more than 150 V open circuit secondary voltage and 10 kVA secondary power.
This combination shall be maintained to satisfy UL requirements.

G.8 ADDITIONAL SAFETY PRECAUTIONS

Motor Case Grounding
Insure that the motor’s case is connected to PE ground. The fourth wire in the motor cable
connecting J2-1 or TB1-1 to the motor case accomplishes this.
If the motor is not properly grounded, dangerous voltages can be
present on the motor case due to capacitive coupling between the
CAUTION 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:
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
CAUTION
open circuiting the connection to J4 pin 2).
The motor will coast under this condition with no braking torque.
NOTE
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
Danaher Motion motors, is not intended to stop a spinning motor. It is
CAUTION
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 minutes before working
on the machine or working anywhere where injury can occur due to machine
motion.
CAUTION
3. Avoid Electrical Shock

Never power the servo drive with the cover removed or with anything
attached to circuitry inside the cover.
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.
CAUTION 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
CAUTION burns if these regions are touched.
5. Prevent Damage to the Drive

Follow these guidelines to prevent damage to the servo drive during operation:
Never plug or unplug connectors with power applied.
Never connect or disconnect any wires to terminals with power applied.
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.

G.9 EMC COMPLIANCE WITH EN61800-3

Use in a Domestic Environment
The products covered in this manual are of the restricted sales distribution
class according to IEC 61800-3. In a domestic environment this product
may cause radio interference in which case the user may be required to
WARNING 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
CAUTION techniques than Danaher Motion had to use in the EMC test setups.
General Suggestions to Improve Machine EMC Performance
Use Danaher Motion cables – Danaher Motion cables have been designed with
EMC considerations in mind. Because subtle differences in cable construction can
cause dramatic changes in EMC performance use of Danaher Motion's motor
power and feedback cables is recommended.
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.
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.
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.
Add clamp-on ferrites to cables – Adding clamp-on ferrites to noisy cables can
reduce emissions by absorbing RF energy before it is radiated.
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
Add a balun to the motor power cable – adding a balun in series with the U, V and
W phases of the motor power cable can attenuate both conducted and radiated
emissions.
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. Danaher Motion 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 filters 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)

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
NOTE 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 Application Notes 106 (Reducing
Motor Drive Line Noise) and 107 (Reducing Motor Drive Radiated Emissions).
Balun PN: 104-090003-01

NOTE
Current Rating 60 A sinewave pk (42 ARMS) 5 sec

20 A sinewave pk (14 ARMS) cont
Inductance 340 µh nominal
Energy Rating 7,200 µJ nominal
Resistance 0.021 Ω nominal
Gap 10 mil
Ground Cable Shields
The Motor Power (J2 or TB1), Feedback (J3), Command I/O (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,
CAUTION 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
CAUTION 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 noise.
High Frequency Grounding of Cable Shields
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°-
NOTE
type clamp.
If a 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
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
CAUTION VDC 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 Danaher Motion website (www.DanaherMotion.com):
Kollmorgen Application Note EMI 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

Danaher Motion 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.
Danaher Motion 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:
Danaher Motion
203A West Rock Road
Radford, VA 24141 USA
Phone: 1-540-633-3400
Email: [email protected]
Website: www.DanaherMotion.com

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S200 High Performance Compact

Brushless Servo Drives

© 2006, 2007, 2008 Danaher Motion - All rights reserved.

Warnings - alert users to potential physical danger or harm.

Cautions - direct attention to general precautions. Personal

Notes - highlight information critical to your understanding

4.1.5 Save Options .......................................................................................16

S200 Base/SynqNet Reference Manual M-SM-200-01 C ii

6.12 J13 – Discrete I/O Connector..........................................................................58

11.2.1 Fault Generation ................................................................................109

S200 Base/SynqNet Reference Manual M-SM-200-01 C iv

1 S200 SERIES DRIVES

1.1 MANUAL SCOPE

S200 Base/SynqNet Reference Manual M-SM-200-01 C 1

1.2 MODEL NUMBER

1.3 DRIVE MODEL NUMBERS AND DESCRIPTIONS

S200 Base/SynqNet Reference Manual M-SM-200-01 C 2

2 BEFORE YOU BEGIN

2.2 UNPACKING AND INSPECTING

Use proper procedures when handling electronic

S200 Base/SynqNet Reference Manual M-SM-200-01 C 3

3.1 DRIVE FAMILY POWER

S200 Base/SynqNet Reference Manual M-SM-200-01 C 4

240 VAC Input 20-90 Vdc Input

S200 Base/SynqNet Reference Manual M-SM-200-01 C 5

3.2 AC INPUT DRIVES - CONTROL AND POWER

3.2.2 AC Motor Power Supply

3.2.3 AC Bus Voltage and Faults

3.2.4 AC Motor Power Inrush Current & Fusing

3.2.5 AC Control Power Inrush Current & Fusing

3.2.6 AC Power On Delay

3.3 DC INPUT DRIVES - CONTROL AND POWER

3.3.2 DC Bus Voltage and Faults

3.3.3 DC Control Power On Delay

3.4 MOTOR CURRENT CONTROL

S200 Base/SynqNet Reference Manual M-SM-200-01 C 7

3.4.1 Current Loop Bandwidth

3.4.2 Offset Current

3.5 VELOCITY LOOP

3.5.1 Velocity Loop Compensation

S200 Base/SynqNet Reference Manual M-SM-200-01 C 8

3.6 COMMAND I/O

3.6.2 Analog Output (DacMon)

3.6.3 HSINP – Step/PWM Command

3.6.4 MSINP - Direction Command

S200 Base/SynqNet Reference Manual M-SM-200-01 C 9

Input Current (mA) 0.65 - 6.7

3.6.5 Quadrature Input

3.6.6 General Purpose Inputs

3.6.7 General Purpose Outputs

3.6.8 Quadrature Outputs

Output Voltage (volts) 5.0 V Differential Output -

S200 Base/SynqNet Reference Manual M-SM-200-01 C 10

3.9 SMART FEEDBACK DEVICE (SFD)

S200 Base/SynqNet Reference Manual M-SM-200-01 C 11

3.9.2 Velocity Signal

3.9.3 Emulated Encoder Output Signals

3.9.4 General SFD Specifications

S200 Base/SynqNet Reference Manual M-SM-200-01 C 12

4 QUICK START GUIDES