Danaher Motion s200 User manual

S200 Position Node User’s Guide
Installation Manual
M-SS-S2B-11
Revision B Oct 23, 2007
Keep all product manuals as a product component during the life span of the servo amplifier.
Pass all product manuals to future users/owners of the servo amplifier.
Helping you build a better machine faster.

Record of Revisions
Date Issue Description
9/28/07 A Broke apart Installation and Users – Rewrite
10/23/07 B Grammar Issues and minor additions
©2006 2007 Danaher Motion - All rights reserved. Printed in the USA.
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
WARNING
Warnings alert users to potential physical danger or harm. Failure to follow
warning notices could result in personal injury or death.
CAUTION
Cautions direct attention to general precautions which, if not followed, could
result in personal injury and/or equipment damage.
NOTE
Notes highlight information critical to your understanding or use of the
product.
Safety
WARNING
READ these instructions before connecting power. Damage can result from
MISWIRING at the power terminals.
DANGEROUS voltages are present on power input and motor output terminals.
Only qualified personnel are permitted to transport, assemble, commission, and maintain this equipment. Properly
qualified personnel are persons who are familiar with the transport, assembly, installation, commissioning and
operation of motors, and who have the appropriate qualifications for their jobs.
Read all available documentation before assembling and using. Incorrect handling of products described in this
manual can result in injury and damage to people and/or machinery. Strictly adhere to the technical information
regarding installation requirements.
Keep all covers and cabinet doors shut during operation.
Be aware that during operation, the product has electrically charged components and hot surfaces. Control
and power cables can carry a high voltage, even when the motor is not rotating.
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.

Danaher Motion 07/06 Table of Contents
S200 Position Node User’s Guide i
Table of Contents
Table of Contents................................................................................................... i
1.0 Product Documentation .............................................................................................................1
2.0 Product Overview ......................................................................................................................2
2.1 Model Number Scheme .................................................................................................3
2.1.1 Valid Drive Model Numbers for the S200 Position Node........................................................3
2.2 How to use this manual..................................................................................................5
2.3 Software and Firmware Version Notes..........................................................................5
2.4 Terminology Discussion ................................................................................................5
3.0 Drive Memory and File Discussion ...........................................................................................8
4.0 S200 Position Node Applications ............................................................................................10
4.1 Velocity controller .......................................................................................................10
4.2 Electronic gear box / Line shaft ...................................................................................10
4.3 Step / Pulse and Direction Drive..................................................................................11
4.4 Indexer .........................................................................................................................12
4.5 Configurable Positioner ...............................................................................................12
4.6 Registration Indexer.....................................................................................................13
5.0 S200 Position Node Theory of Operation................................................................................14
5.1 S200 OC Tools.............................................................................................................14
5.2 Drive Enable ................................................................................................................14
5.3 Setting Position Units ..................................................................................................14
5.4 Discrete / Digital inputs ...............................................................................................15
5.5 Discrete / Digital Outputs ............................................................................................17
5.6 Homing Routines .........................................................................................................18
5.7 Analog Outputs ............................................................................................................19
5.8 End Travel Limits ........................................................................................................19
5.9 Stop .............................................................................................................................20
5.10 Encoder Feedback......................................................................................................20
5.11 Triggering Motion Task Moves.................................................................................21
5.12 Move Types ...............................................................................................................22
5.13 With Modbus RTU Interface .....................................................................................24
5.14 Operator Interface Terminal .....................................................................................24
5.15 As a CAN bus peripheral ...........................................................................................24
5.16 Ramp Control.............................................................................................................25
5.17 Reversing Direction ...................................................................................................25
5.18 Control Loops ............................................................................................................25
5.19 Fault Detection Notes ................................................................................................25
5.20 Configuring Drive from Existing File........................................................................26
5.21 Using motors not in the database..............................................................................26
6.0 Switch Settings .......................................................................................................................29
7.0 Setup Software.........................................................................................................................31
7.1 Basic GUI Description.................................................................................................32
7.2 System Tools................................................................................................................38
7.2.1 Status Screen..........................................................................................................................38
7.2.2 Communication Wizard .........................................................................................................39
7.2.3 Mouse Flags ...........................................................................................................................39
7.2.4 Variable Editor.......................................................................................................................40
7.2.5 Digital Oscilloscope...............................................................................................................41

Table of Contents 07/06 Danaher Motion
ii S200 Position Node User’s Guide
7.2.6 Configuration Summary Screen.............................................................................................42
8.0 TroubleShooting ......................................................................................................................43
8.1 Drive Will not communicate with GUI .......................................................................43
8.1.1 Device Address ......................................................................................................................43
8.1.2 Baud Rate...............................................................................................................................43
8.1.3 COM Port...............................................................................................................................43
8.1.4 Parity Setting..........................................................................................................................44
8.2 Miscellaneous Problems ..............................................................................................44
8.2.1 Changes in settings don’t take affect......................................................................................44
8.2.2 No Encoder Output ................................................................................................................44
8.2.3 Motor Settings Seem Incorrect...............................................................................................44
8.2.4 Can’t modify motor parameters .............................................................................................44
8.2.5 Motor appears to move more than the Motion Task Setting ..................................................44
8.2.6 Motor Moves Upon Drive Enable..........................................................................................44
8.2.7 Outputs are always on ............................................................................................................44
8.2.8 In Position Output is unreliable..............................................................................................44
8.2.9 The Display shows an ‘I’ .......................................................................................................45
8.2.10 Firmware Will Not Load......................................................................................................45
8.2.11 Communication ‘MNS’ LED is Red....................................................................................45
8.2.12 GUI Reports ‘Communication Lost’....................................................................................45
8.2.13 I/O Is not functioning...........................................................................................................45
8.2.14 Scope Traces seem incorrect................................................................................................45
8.2.15 System is Noisy....................................................................................................................45
8.2.16 Fault Output does not capture all faults................................................................................45
8.3 Common Error Code Nodes.........................................................................................46
8.3.1 F20n031 .................................................................................................................................46
8.3.2 n09 46
8.3.3 n10 and n11............................................................................................................................46
8.4 Faults and Errors..........................................................................................................46
8.4.1 CAN Bus Status Indicator......................................................................................................46
8.4.2 Base Unit Status LED ............................................................................................................47
8.4.3 7-Segment Display.................................................................................................................47
8.4.4 Clearing Fault Conditions ......................................................................................................47
8.4.5 Conditional Settings...............................................................................................................47
8.4.6 S200 Position Controller Faults .............................................................................................47
8.4.7 Extended Fault Information ...................................................................................................50
8.4.8 S200 Base Unit Faults (b-faults) ............................................................................................51
8.4.9 System Warnings ...................................................................................................................52
9.0 Serial Communications and Modbus RTU..............................................................................53
9.1 General information.....................................................................................................53
9.1.1 Abbreviations.........................................................................................................................53
9.2 RS232 Serial Port Configuration .................................................................................53
9.3 Communication Strategy .............................................................................................54
9.4 Modbus functions.........................................................................................................56
9.4.1 Reading Variables ..................................................................................................................56
9.5.2 Writing Variables...................................................................................................................57
9.6.3 Example: Read the ACC parameter .......................................................................................57
9.7.4 Example: Write the ACC parameter ......................................................................................58
9.8.5 Example: Change Speeds in Digital Velocity Mode..............................................................58
9.5 Motion Task Control....................................................................................................59
9.5.1 Command functions ...............................................................................................................59
9.6 Mobus Address and function Tables............................................................................60
10.0 Upgrading Firmware Procedure.............................................................................................67
Sales and Service..................................................................................................................71

1
1.0 PRODUCT DOCUMENTATION
The S200 Position node system documentation contains information broken into several manuals
and documents. Not all documents are required but no document stands alone. The documents
are:
Hardware Installation Manual
This document includes all aspects of product specifications and installation procedures. Wiring
diagrams, mounting dimensions and recommendations, and physical properties can be found
here. It is required to properly mount and wire the S200 Position Node product.
User’s Operation Manual
This document provides all information required to get an S200 Position Node product set up and
configured for operation in the application. It includes functional descriptions, interface details,
and troubleshooting information. Information regarding serial communications using Modbus is
also provided in this document.
S200 Position Node with CANopen Reference Manual
This document provides reference material and examples for communicating to the S200 Position
Node over the CANopen field bus protocol.
S200 Position Node with DeviceNet Reference Manual
This document provides reference material and examples for communicating to the S200 Position
Node over the DeviceNet field bus protocol.
Support materials
There may be a number of supporting documents located at our web site. Please check for the
latest information.
Locating Support Materials
All support materials are posted on the Danaher Motion website at www.DanaherMotion.com.
These files can be found under Drives \ AC Servo Drives \ S200.
Firmware and Software Updates
A good general practice remains: If it’s not broken, don’t fix it. There are times when firmware and
software upgrade is required. These files can also be found at www.DanaherMotion.com.
Procedures can be found in this document.

2
2.0 PRODUCT OVERVIEW
The S200 Position Node with CANopen/DeviceNetTM brings greater flexibility to the S200 drive
platform by adding profile generation and field bus capabilities. It also brings added I/O, Digital
Oscilloscope emulation, and the ability to use an incremental encoder with commutation tracks
(ComCoder) for motor feedback.
The S200 Position Node brushless servo drives with CANopen push high performance servo
technology into lower power applications than was previously possible without having to
compromise on reliability or package size. Couple a S200 position node drive with an AKM servo
motor for a complete servo control solution designed to excel in applications such as
semiconductor fabrication, electronic assembly, packaging, medical, and woodworking
equipment.
The S200 position node servo drives with CANopen communication are the first all digital
industrial drives with a velocity loop bandwidth up to 400 Hz offering unmatched system
throughput and simplified tuning. High resolution (24 bit) feedback and high performance 3-5 kHz
current loop bandwidth provide smooth motion and rapid start and stop action to optimize
machine performance. Smart feedback and industry leading high bandwidth deliver fast and
accurate commissioning by eliminating the need for servo loop tuning in most applications.
A separate "keep alive" power input allows rapid recovery from emergency stop conditions.
Optically isolated inputs/outputs, positive locking connectors and full fault protection promise long
machine life and immunity to accidental damage. A single motor power/feedback cable simplifies
connectivity. All connectors and LED status indicators are easily accessible from the front of the
drive. Highlights
 DC or AC input voltage:
DC type: 20 V ... 90 V
AC type: 110 V ... 240 V, 1Ø or 3Ø, 50/60 Hz
 Highest performance all digital servo in the industry
 Operation and Setup via a PC using the S200 OC Tools setup software
 Easy set up and tuning with Smart Feedback Device
 Optimized performance with Danaher Motion AKM motors
 Rugged optically isolated I/O
 UL508C recognition, CE (EN50178, EN61800-3)
 Very compact footprint
 Full fault protection
 Velocity, Position, and Electronic Gearing, Step and Direction control
 Indexing - 180 unique motion tasks can be defined and initiated via the
serial port, Can Port, or discrete inputs
 Jogs, Relative, Absolute, Simple Registration, and Home motion tasks
can be easily setup and executed
 Individual motion tasks can be linked or blended with each other
 Digital Oscilloscope Functions
 Built-in CANopen / DeviceNet Communication bus
 Incremental Encoder Input port allows ComCoder motor feedback for
position loop control.

3
Increased Machine Throughput & Longer Life
 Servo system performance is synonymous with machine throughput. The S200
POSITION NODE family takes servo performance to new heights.
 Industry-leading current loop bandwidth up to 5 kHz and velocity loop
bandwidth up to 400 Hz means machine throughput can be increased by
as much as 2 to 3 times.
 Robust design including full fault protection, locking connectors and
optical isolation promise greater machine “up-time”.
 Smooth motion, a benefit of sinusoidal current control and high resolution
(24 bit) feedback minimizes harsh torque disturbances that can cut short
the life of mechanical components.
 Both the AC and the DC input drives are equipped with separate control
power input to speed recovery from “E-Stop” conditions.
 CANopen Field Bus or DeviceNet communications
Reduced Engineering & Support Time
 Simplified tuning, friendly Graphical User Interface and shared
components with Stepper products.
 Windows-based Graphical User Interface models the tree format found in
Explorer so learning is quick and easy.
 Digital Oscilloscope emulator for easier setup.
 Easy to debug with full fault diagnostics reduces engineering support
time.
 Field bus connectivity.
CE- / UL- Conformity
 The S200 position node with CANopen meets all relevant standards:
 EMC Directive 89/336/EWG, standard used ENG61800-3
 Low Voltage Directive 73/23/EWG, standard used 50178
 UL / cUL 508C recognized
2.1 MODEL NUMBER SCHEME
S2 03 3 0 CN S - 002
Family
S2 - S200 Servo Family
Current Rating
02 - 1.5 A
RMS
continuous,
4.5 A
RMS
peak
03 - 3 A
RMS
continuous,
9 A
RMS
peak
06
- 6 A
RMS
continuous,
18 A
RMS
peak
Voltage
3- 20-90 VDC
5- 120 VAC doubler/240 VAC 1-phase
6- 120/240 VAC
Customization - omit for standard drives
000 - 019 Reserved for factory use only
020 - 999 Reserved for customers only
Feedback Support
S - SFD/Halls - Base Unit
SFD/Comcoder - CAN option card
Smart Feedback Device (SFD) - SynqNet Option Card
Sine encoder - SynqNet Option Card
EnDat 2.1 - SynqNet Option Card
Functionality
VT - Velocity/Torque modes
CN - Position Node w/CANOpen Interface
SD -SynqNet option card w/ micro-D connectors
SR -SynqNet option card w/ standard RJ connectors
Electrical Option
0- No Electrical Option
DN - Position Node w/DeviceNet Interface
2.1.1 Valid Drive Model Numbers for the S200 Position Node

4
DC Input Power Drive Models
S20330-CNS: 90 VDC, 3/9 ARMS Base Unit, Profile Node with CanOpen
S20330-DNS: 90 VDC, 3/9 ARMS Base Unit, Profile Node with DeviceNet
S20630-CNS: 90 VDC, 6/18 ARMS Base Unit, Profile Node with CanOpen
S20630-DNS: 90 VDC, 6/18 ARMS Base Unit, Profile Node with DeviceNet
AC Input Power Drive Models
S20250-CNS: 120VAC doubler/240VAC, 1 phase, 1.5/4.5 ARMS Base Unit, Profile
Node with CanOpen
S20250-DNS: 120VAC doubler/240VAC, 1 phase, 1.5/4.5 ARMS Base Unit, Profile
Node with DeviceNet
S20260-CNS: 120/240 VAC, 1/3-phase, 1.5/4.5 ARMS Base Unit, Profile Node with
CanOpen
S20260-DNS: 120/240 VAC, 1/3-phase, 1.5/4.5 ARMS Base Unit, Profile Node with
DeviceNet
S20350-CNS: 120VAC doubler/240VAC, 1 phase, 3/9 ARMS Base Unit, Profile Node
with CanOpen
S20350-DNS: 120VAC doubler/240VAC, 1 phase, 3/9 ARMS Base Unit, Profile Node
with DeviceNet
S20360-CNS: 120/240 VAC, 1/3-phase, 3/9 ARMS Base Unit, Profile Node with
CanOpen
S20360-DNS: 120/240 VAC, 1/3-phase, 3/9 ARMS Base Unit, Profile Node with
DeviceNet
S20650-CNS: 120VAC doubler/240VAC, 6/18 ARMS Base Unit, Profile Node with
CanOpen
S20650-DNS: 120VAC doubler/240VAC, 6/18 ARMS Base Unit, Profile Node with
DeviceNet
S20660-CNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with
CanOpen
S20660-DNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with
DeviceNet
S21260-CNS: 120/240 VAC, 1/3-phase 12/30 ARMS Base Unit, Profile Node with
CanOpen
S21260-DNS: 120/240 VAC, 1/3-phase 12/30 ARMS Base Unit, Profile Node with
DeviceNet

5
2.2 HOW TO USE THIS MANUAL
The S200 Potion Node product is a very flexible servo motor drive system. This manual assumes
that the user has installed, wired, and started up the drive system. The system is now ready to
configure.
NOTE
Important Notice:
Major changes to the S200 Position Node product have taken place with a
major upgrade change occurring in October of 2007. This manual was
created to document all the new features. Older GUI and software may not
support all features. Firmware and software can be upgraded. All functions
in the older product remain correctly documented here.
There are several topics covered in this manual that blend together in the final ability configure
and apply and support the product.
1.) Understanding how to apply the product and what the product can do.
2.) Understanding the switches available to the user.
3.) Understanding the S200 OC Tools Graphical Interface (GUI) program.
4.) Understanding fault messages and trouble shooting strategies.
5.) Firmware / Software updates
This document presents each topic in order. It is recommended that the reader overview the
document at a high level and then revisit the topics of main interest.
2.3 SOFTWARE AND FIRMWARE VERSION NOTES
Drive firmware version is displayed in the S200 OC Tools status screen. S200 OC Tools version
can be found using the Help\About menu. This document is based on features available at 2.0.0
and above for both firmware and software. S200 hardware has been extremely stable and there
are no issues with any product upgrading to these new versions of firmware / software. Care has
been taken to be backward compatible. The user is advised to check backward compatibility to
assure to his own satisfaction for the given application. A section at the end of this guide provides
instructions for upgrading firmware.
2.4 TERMINOLOGY DISCUSSION
We use the word ‘configurable’ in contrast to ‘programmable’ to differentiate the concept of a
user simply being required to set up some variables in the drive versus having to write a program
in some language. The S200 PN is a configurable device that is easy to setup by a novice without
programming skills. The trade-off is that the S200 PN does not offer the flexibility of a
programming language capable of making ‘decisions’
Operational Mode is abbreviated as OPMODE. The S200 Position Node drive has a very
important core setting for its mode of operation: Motion Tasks, Electronic Gearing (Master/Slave),
or Digital Velocity command. Making this selection allows the drive to configure its command
registers and control loops correctly for the application.
When using the S200 PN as a configurable indexer or positioner the user defines moves in a
table whose entries can be selected by several means. This configured table is referred to as the
Motion Task Table. Motion tasks and the Motion Tasking table are described in this chapter.

6
The following data could be categorized as; those requiring motion tasking setup and those that
do not. As a velocity controller, gear follower, or step and direction controller: no motion tasks are
required. Most other modes will require Motion Tasking configuration.
Ramp control is the control of acceleration and deceleration rates. Motion Tasking allows each
profile to have its own acceleration and deceleration rates. Acceleration of Jog and Homing
moves uses a separate velocity acceleration rate that applies globally. A ‘Stop Command’ uses
yet another acceleration rate that can be set to a more aggressive value.
Homing is the process of calibrating the S200 Position Nodes motor position to the required
reference point on a machine. Absolute position data always references the home position.
Homing is always required on the S200 PN but there is a method to configure the S200 PN so
that the process is automatic and transparent. See the section on Homing, below.
Discrete inputs and digital inputs are synonymous and may be used interchangeably
throughout this document. A discrete input is used cause the S200 execute a function.
Clockwise (CW) and Counterclockwise (CCW) are mentioned in this document as one would
view the motor shaft looking at the shaft and motor-mounting plate.
A fault is a condition detected by the S200 Position Node drive that results in the drive
automatically disabling the power stage, turning off the fault output (Normally closed for fail-safe
operation), and annunciating the fault code in the displays. An example of a fault is a motor over
temperature detection (F13).
A Warning is a condition that is annunciated as the result of an ignored command. An example of
a warning is attempting to move before the home reference point has been established (n03).
Electronic gearing, line-shafting, Master/Slave are all used synonymous throughout this
document. These refer to the S200 PN’s motor being controlled by an external master signal,
pulse-for-pulse although the ratio of movement per pulse can be adjusted by the user.
Step and Direction and Pulse and Direction are used synonymous. Both refer to a method of
feeding a position command to the S200 Position node via a pulse train command.
A profile generator is the device (usually software) that generates the desired position or
velocity for any moment in time. The profile generator is sometimes called the command
generator. It maintains the correct position for any instant of time. The profile generator is not a
servo loop but rather feeds the command into the position control loop.
Tuning refers to the process of adjusting the S200 PN loop compensation for the desired motor
performance with a given load. The S200 PN may require tuning in the velocity loop and the
position loop, depending on the application. Tuning of the current loop is automatic upon entering
the motor inductance.
BCD is short for Binary Coded Decimal. 0 to 8 input switches can be assigned as BCD Select
functions. BCD is a base-2 numbering system common in digital circuits which represent
numbers with a series of switches (bits) that can only be in an on or off state. A BCD code (Base
2 number) can be presented to these inputs whose function is simply to point to a Motion Task
(Base 10) number.
Comcoder is a term used to describe an incremental encoder that has commutation tracks,
sometimes called Hall Emulation tracks. These encoders provide coarse absolute position
information sufficient to properly commutate the motor. Comcoders hall tracks must have the
correct cycles/rev to match the motor’s pole-pair count.

7
SFD stands for Smart Feedback Device. This is a Danaher Motion feedback device available on
the AKM series motor. It communicates feedback position over a high-speed serial link with
minimum number of wires. It also contains information about the motor that allows the motor and
S200 Position Node to be virtually ‘plug and play’.
OIT or HMI means Operator Interface Terminal or Human Machine Interface. Both refer to a
keypad / display connected to a controller for simple data entry or manipulation.
S200 PN Is short hand notation for the S200 Position Node product.
‘x’ A lower case x may be used to signify a ‘don’t care’ character in a string, number, or model
number.
GUI Graphical User Interface also called S200 OC Tools.
PE Protective Earth Ground
REGEN is short for regenerated energy from a back-driven motor pumping energy back into the
drive.
REGEN Resistor. An external power resistor attached to the drive that allows the drive a means
to dissapate excessive REGENerated energy.
Hall Channel is a term used for a motor feedback signal that provides coarse absolute
positioning information. Three channels provide 1-part-in-6 resolution per motor electrical cycle.
Bus is Short for Main Internal DC Bus Power Supply that is the DC voltage source for motor
power.
.

8
3.0 DRIVE MEMORY AND FILE DISCUSSION
The S200 Position Node has the ability to store or obtain data from different locations.
The operating system, or drive firmware, is resident in flash memory and may be upgraded using
the S200 OC Tools GUI program. A portion of this program is called the Boot Loader and is not
updated at the time of firmware load. When the Boot-loader executes an ‘I’ is put in the seven
segment display.
User settings, or configuration, during run-time is stored in internal Random Access Memory
(RAM) that is subject to data loss at power cycling. All communications between the drive and the
GUI read or modify variables in RAM.
The S200 has Electrically Erasable Programmable Read Only Memory (EEPROM) to store the
user configuration, or settings. EEPROMs save data through power cycle and are called non-
volatile. The S200 Position Node will not automatically save the user settings to EEPROM. The
only time that the settings are written EEPROM are under the command of the user by ether the
menu Utility ‘Save Drive Parameters to Permanent Memory (NVSAVE), or the associated mouse
button or by a COLDSTART which all transfer the contents of the RAM variables to the
EEPROM memory.
EEPROM Memory is transferred to RAM memory automatically upon power up initialization. The
user can also force this function through the S200 OC Tools Utility: Upload Drive Parameters
From Permanent Memory (NVLOAD).
The S200 Position Node is designed to be used mainly with Danaher Motion’s AKM series of
motors which are offered with Smart Feedback Devices (SFD). The SFD motors contain the
motor-specific data within the SFD itself. The S200 Position Node powers up and looks at the
state of the ‘Use SFD Parameters Setting’. If true, the drive will upload the motor settings from the
drive and overwrite those in RAM. If false, the parameters loaded into RAM from power up
initialization are used.
Since the user can configure many variables within the S200 Position Node we desire a way to
return all these variables back to a known beginning state. The Utility ‘Reset to factory defaults’
can be used for this purpose – it resets the users settings to factory default values. The function
works with RAM variables only and does not save to NVMEM.
There are several hardware switches on the S200 PN. These are a form of memory. These are
only read at the time of power up initialization. The user wishing to change switch settings will not
notice them taking affect until power is cycled. An exception to that rule is during the firmware
load process where the operator is instructed to open S13-4.
The memory associated with remembering the baud rate (RS232.Baudrate) acts like the switches
mentioned above. To change the baud rate the user would change the value of RS232.Baudrate,
save to NVMEM and then cycle power. This method allows the drive to continue to communicate
at the present baud setting to complete the process in an orderly fashion.
The S200 Position Node has a motor data base provided with it. Users of SFD feedback devices
would only need to access the database if the drive is set up for ‘Do not use SFD Parameters’
This allows the user to configure something different than the default values of the applied AKM
motor. Users wishing to have Comcoder feedback will need to use the Motor Database and/or
Motor Database editor.

9
If the motor to be used already exists in the database then it will be selectable by the user with
the GUI Motor and Mechanical Setup\Motor screen. Motor selection is a drop-down box of all
motors Iin the database resident on the computer running the GUI. If the motor is not present
then the user must create a new motor configuration record.
To create a New Motor configuration record in the database the user will select, under the Utility
Menu, ‘Motor Database Editor. The user will press the ‘New Motor’ button and populate this table.
Clicking the ‘Add’ button completes editing. Press Exit and the new motor name will be available
in the Motor Selection drop down box.
S200 OC Tools allows the user to save the drive configuration to the computer storage. It also
allows the stored configuration to be loaded into the drive. The files are saved, at a location
directed by the user, with the file extension CNS. Files are saved using the menu File\ Save. The
files can be downloaded to the drive by using File \ Open.
The File\Open will put the saved file in a tree on the left hand-side of the GUI screen. At this point
the settings have not been transferred to the drive but are available for viewing. There are two
ways to do send the data to the drive. The Configuration Summary tab has a button ‘Downlaod
Configuration to Drive’. Alternately, a right mouse button click on any of the file tree branches will
pop up an operation to download the file to the drive. The data is loaded into RAM and would
require an NVSAVE to be stored permanently.
The S200 Position Node has an internal section of executable code that it creates itself after the
user configures the drive. By compiling its own executable motion code based on the
configuration set by the user the S200 PN can execute commands much quicker than interpreted
code that other controllers use. This is all transparent to the user with one exception – the
COLDSTART process. It is the COLDSTART process that causes the S200 to rebuild this
complied code. A Coldstart is required after changing of some variables only – typically an input
function. The need for execution of the COLDSTART is prompted by the S200 OC Tools and by a
status bar at the bottom of the GUI. Modifying some variables within the configuration and NOT
allowing a COLDSTART to take place prevents those changes from being compiled, and hence,
result in no changes to the drive’s performance or functionality.
And finally, data captured by the digital oscilloscope functions can be saved for future viewing,
printing, or further analysis. Scope data can be saved to a printable file in the Metafile (WMF),
Bitmap (BMP), JPEG (JPG), PNG, and text formats using the ‘Save Plot’ button. Data can be
saved to a comma separated variable (.CSV) file using the ‘Save Data’ button. The CSV file can
easily be imported into spread sheet programs for formatting, calculating, and analyzed. A very
handy feature!

10
4.0 S200 POSITION NODE APPLICATIONS
The S200 Position Node product is simple and intuitive to setup and use. This section of the
user’s guide discusses operation of the S200 Position Node controller in several common
applications.
4.1 VELOCITY CONTROLLER
There are two basic methods to use the S200 position node as a velocity loop controller. The
obvious way is to use serial communication commands to control the motor velocity. The second
way is to setup discrete inputs to control the velocity. Ether method provides excellent velocity
control regulation. Serial communications methods can initiate or modify velocity over the RS232
Modbus RTU connection or over the can bus port using CANopen or DeviceNet protocol.
To use discrete inputs the user has up to nine inputs that can be assigned as jog functions. The
S200 Position Node is set up to operate in Motion Task mode. DINP1 is the hardware enable line.
This input must be asserted to get power to the motor. DINP2-DINP10 can then be assigned
such that each has a different speed. The arithmetic sign of the jog speed controls direction of
travel.
For serial command velocity the drive is setup in Digital Velocity mode. The applications using the
MODbus serial communications modifies the velocity controlled by the ‘J’ parameter = PDID 1934
= Modbus Address 3868. There is an example in the section dedicated to Modbus.
For CANopen control the drive is setup to operate in Digital Velocity mode and the user would
typical configure a PDO / SDO for velocity command and feedback on a periodic basis. There are
examples in the CANopen Reference Guide document.
To setup the S200 Position node for Digital Velocity:
Drive Setup\Drive Setup; Mode of Operation: Digital Velocity Command
Profile Setup; Homing: Auto home, or as desired.
Accel / Decel: As desired
I/O Setup: As desired
Other settings: As desired
4.2 ELECTRONIC GEAR BOX / LINE SHAFT
Electronic line shafting, electronic gearing, and Step and Direction (Next section) control are all
very similar. In these modes of operation the drive is configured to follow an incoming pulse
stream. The S200 Position Node’s digital control loops are extremely accurate at following any of
these pulse streams.
Unlike the typical step and direction control, many electronic line shafting or gearing applications
require the ability to ‘lock’ onto a moving master signal. Once this lock signal occurs the position
loop control follows an arithmetically perfect track losing no position information. The ‘lock’
command is provided to the S200 Position Node typically by a discrete input on the S200PN.
In these applications the master signal is typically provided in the form of quadrature encoder
signal commands. An encoder can be mounted on the machine’s main synchronization shaft and
the signals feed into the S200 Position Node. Sometimes the application may allow the main line-
shaft motor’s drive to feed emulated encoder pulses to the S200 Position Node.

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Locking onto the master signal typically takes one-of-three forms. The simplest form just locks the
signals when the master is at rest. As the master begins to move the S200 Position Node is a
slave motor controller that then follows the master per the defined ‘gear ratio’. Applications that
require locking onto a moving master can have one-of-two different needs. The first method is a
simple ‘velocity’ lock. Under this method the drive has been configured to have a discrete input
assigned as the ‘lock’ (Gearing w/o correction) function. When the input is asserted the drive will
accelerate to the velocity of the moving master and then switch to a full position-mode lock
(pulse-for-pulse) mode. These applications require the velocity of the slave as the main
requirement. The final locking method is slightly more complicated and is used in applications
where the positional relationship to the master signal is as important as the velocity following. A
discrete input is assigned to lock onto the master (Gearing w/ correction). When the input is
asserted the S200 Position Node registers the position of the master and begins accelerating to
the master’s velocity but will overshoot the target velocity to ‘catch up’ to match the position of the
master at the time in which the lock signal was asserted. The S200PN motor overshoots the
master velocity and then decelerates once the lost position was ‘made up’. Mathematically
speaking, on a velocity vs time chart, the area under the overshot velocity equals the area lost
during the initial acceleration.
Acceleration and deceleration control in these applications can be a little tricky if the master
speed fluctuates. When locking onto a master at rest you can defeat (set to maximum value) the
ramp control on the S200PN. Locking onto a moving master requires the use of reasonable
acc/dec limits. If the speed of the master can change nearly as quickly as the limits set in the
S200PN then strange results can occur with the slave’s lagging response.
To setup the S200 Position node for Gearing:
Drive Setup\Drive Setup; Mode of Operation: Electronic Gearing
Drive Setup \ Gearing; Gearing Type: Quad Encoder
Drive Setup \ Gearing; Electronic Gearing Command Ratio: As desired
Profile Setup; Homing: Auto home, or as desired.
Accel / Decel: As desired but should be set to maximum
I/O Setup \ Digital Inputs: Gearing Active w/ (w/o) Correction
Other settings: As desired
4.3 STEP / PULSE AND DIRECTION DRIVE
Step and direction control is common in the stepper motor market. Some CNC products (such as
MACH2) also use step and direction command. Some PLCs have step and direction outputs. The
S200 Position Node can make an excellent servo replacement for stepper systems with many
advantages.
Step and direction controllers are motor shaft positioning devices controlled by two signals. One
signal provides the travel direction (An inactive high signal moves the motor clockwise while the
active state moves the motor counter clockwise. More precisely, this signal does not actually
move the motor at all. The second channel called the pulse (or step) channel is the one that
commands motor motion. Each pulse on this channel causes the motor to move one ‘pulse’ of
motion in the direction commanded by the direction channel. The reason that the motors’
movement of ‘pulse’ is in quotes is because the actual angular distance of the motor can be
configured by the user. The finer the pulse resolution the smoother the motion and the better the
positioning resolution can be. The S200 Position Node receives the command pulses in on the A
channel and the direction on the B channel of the external encoder input on J12.
It is valuable to bring a mental conceptual view to these applications. The device that generates
the step and direction pulses is a profile generator whose outputs are sent to the S200 PN that
receives these commands into a command position register. It is the S200 PN that contains and

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closes the position loop. It is usually not advisable to insert any acceleration or deceleration
control in these applications. The lagging response created by acc/dec limits can cause some
strange response performance.
To setup the S200 Position node for Step and Direction:
Drive Setup\Drive Setup; Mode of Operation: Electronic Gearing
Drive Setup \ Gearing; Gearing Type: Pulse / Direction
Drive Setup \ Gearing; Electronic Gearing Command Ratio: As desired
Profile Setup; Homing: Auto home, or as desired.
Accel / Decel: As desired but should be set to maximum
I/O Setup \ Digital Inputs: Gearing Active w/ (w/o) Correction
Other settings: As desired
NOTE
The following descriptions for Indexer, Positioner, and Registration index
are provided here in description text because of the decidedly different
needs in the application. In realty, the S200 Position Node combines all
three of these features into the same group of Motion Tasks and does not
differentiate these as Operation Modes – all three control types can be
combined into a single motion task list.
4.4 INDEXER
The term ‘Indexer’ is synonymous with ‘Feeder’ in the motion control industry. These applications
are incremental. A typical application is a ‘cut to length’ machine that feeds material into a shear
to be cut off over and over again. Each move concerns itself only with the position at which the
feed (index) begins. It has no concern about any other position information.
The S200 PN provides extremely flexible options in indexing applications. Up to 180 index moves
can be defined in the ‘Motion Tasking Table’. The S200 Motion Tasking table can combine
indexing and positioning and can offer ‘registration indexing’ or ‘automatic’ moves and dwells.
Data for the move can be modified over the CAN bus or the Modbus interface allowing flexibility
for the overall machine design.
To setup the S200 Position node for Indexing:
Drive Setup\Drive Setup; Mode of Operation: Motion Tasks
Profile Setup; Homing: Auto home, or as desired.
Accel / Decel: Affects homing and jog rates only
I/O Setup \ Digital Inputs: Assign as required which may include BCD select, start move,
and in-position output.
Profile Setup \ Motion List; Up to 180 defined moves.
Other settings: As desired
4.5 CONFIGURABLE POSITIONER

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The S200 PN has a very versatile feature called ‘Motion Tasks’ allowing great flexibility in motion
profiles. Up to 180 moves can be stored and selected for execution. Execution methods include
discrete inputs, BCD Select, and automatic start (after completion of a prior move).
A positioner differentiates itself from an indexer in that it always remembers where the motor is at
and must be ‘homed’ or calibrated upon power up. Commanded positions are always relative to
that home location. The S200 PN must always be homed but there are ways around this that will
be described later in this chapter.
The S200 PN product doesn’t force the user into choosing just positioning or just indexing. The
Motion Tasking table can be filled with a variety of move types. Moves can be ‘blended’ (meaning
that the motor does not have to stop before the next move begins) allowing multiple velocity
profiling. Registration moves can also be made but more on registration will follow.
To setup the S200 Position node for Positioning:
Drive Setup\Drive Setup; Mode of Operation: Motion Tasks
Profile Setup; Homing: Auto home, or as desired.
Accel / Decel: Affects homing and jog rates only
I/O Setup \ Digital Inputs: Assign as required which may include BCD select, start move,
and in-position output.
Profile Setup \ Motion List; Up to 180 defined moves.
Other settings: As desired
4.6 REGISTRATION INDEXER
Registration indexing is required when the actual feed length is uncertain. Such is the case with
printed web material that is subject to expansion and contraction. In the printed web example the
printing process prints a mark on the edge of the web that a photo detector can identify. The
photo detector is wired to a discrete input to the S200 PN, DINP 2 (the only valid registration
input). The S200 is set up with an indexing (Relative Move) motion task whose feed length is
slightly more than the maximum length ever required to feed one product length into the cutters.
Another motion tasking move is defined Registration Move (with ether latch) with a short distance
and triggered by the registration mark detector. The machine is ready to operate as follows: The
larger Relative Move is executed, the detector triggers the Registration Move DURING the
Relative Move, the motor comes to rest the distance defined by the Registration Move motion
task AFTER the detector fired. If the detector never trigger the motion comes to stop as defined
by the Relative Move distance. The Registration Move distance should be at least enough to
include the deceleration distance.
The S200 PN allows configuring Registration indexes in its Motion Tasking Table.
To setup the S200 Position node for Registration:
Drive Setup\Drive Setup; Mode of Operation: Motion Tasks
Profile Setup; Homing: Auto home, or as desired.
Accel / Decel: Affects homing and jog rates only
I/O Setup \ Digital Inputs: Assign as required which may include BCD select, start move,
and in-position output.
Profile Setup \ Motion List; Up to 180 defined moves.
Other settings: As desired

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5.0 S200 POSITION NODE THEORY OF
OPERATION
This section adds detail to the prior section discussing some basic functions that may be allowed
in each of the above-described applications. It also adds a great deal of background information
and insight on the products internal operation and logic behind it.
NOTE
This section does not attempt to describe all features of the drive.
Other features may be disclosed in the S200 OC Tools section of the
manual. Please read that section as well.
5.1 S200 OC TOOLS
The use of S200 OC Tools is described in detail later in this manual. S2000 OC Tools GUI is a
simple translator program that converts data between the drive and the user screens. The user is
presented data in a form that is useful and easy to understand. He can modify drive settings and
view drive settings in graphical or English language representation. The GUI communicates to the
drive over Modbus RTU is a more efficient, but cryptic, drive command variable and command
set. The drive’s command and variable set is presented by the GUI on organized screens. The
user can view or change the data. The GUI then queries or sets the proper variables in the drive.
The drive variables are listed in the Section under Modbus. The GUI is designed, whenever
possible, such that holding the mouse on a variable entry box causes a flag to pop up indicating
the variable command name in the drive’s variable set. The drive variables can be viewed or
modified directly, working around the standard GUI windows, using the Variable Browser or
Variable Editor functions. When working with the CAN bus or MODbus each variable can be
accessed by a register, according to the protocol.
5.2 DRIVE ENABLE
The S200 Position Node has a power stage enabling logic that includes 3 main sources that must
be correct to get the drive to enable the power stage. (CANopen is more complex and is covered
in the CANopen reference document). First, the drive must be fault free. Any fault will cause an
internal software disable that cannot be reset without the fault condition reset. There is a
dedicated hardware enable input, Digital Input 1 that must be asserted (on) to enable the power
stage. Lastly there is a Software enable that must be active to enable the power stage. All three
conditions must exist to enable the power stage; No Fault, Hardware Enable Asserted, Software
Enabled.
The software enable bit powers up Enabled according to the S200 Position Nodes Default
settings. The user can change the default power up state to Software Disabled under the Drive
Setup \ Drive Setup\ Software Enable setting. (Variable name is AENA).
5.3 SETTING POSITION UNITS
The S200 Position Node allows the user to set the number of counts desired in a revolution. This
can be handy when entering positional and index length information in units more meaningful to
the application. The units are provide in a numerator / denominator fashion that allows the user to
select units that are scalable in a manor that will not loose any counts if the desired ratio can be

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expressed as a rational number. The default settings provide the finest resolution possible; 1 part
in 65536. The User Units apply to the distance entries in the Motion Task List. It is important to
note that the distance entries in the Motion Task List are integer values only so the setting of the
User Units must take this into consideration.
5.4 DISCRETE / DIGITAL INPUTS
There are 10 digital inputs on the S200 Position Node for customer use. Digital input 1 is
assigned as a hardware enable and must be asserted to enable the power stage. The other 9
inputs can be configured by the user for specific functions. Not all inputs can be assigned to all
functions. The following table shows the allowable assignments as well as the ‘Reset to Factory
Default’ assignments. Areas in red (or shaded) are not allowed.
Function DINP1 DINP2 DINP3 DINP4 DINP5 DINP6 DINP7 DINP8 DINP9 DINP10
Hardware Enable Only Function
No Function √√√Default Default Default Default Default Default
Clockwise Inhibit √√√
Counter Clockwise Inhibit √√√
Fault Reset √√√√√√√√√
Gearing Active w/ Correction √√√√√√√√√
Gearing Active w/o Correction √√√√√√√√√
Home Switch Default √√√√√√√√
Start Move BCD √Default √√√√√√√
Move Select Bit √√Default √√√√√√
Start Move (Discrete-Level) √√√√√√√√√
Start Move (Discrete-Edge) √√√√√√√√√
Registration √√
Clear Following Error √√√√√√√√√
Stop √√√√√√√√√
Additional Hardware Enable √√√√√√√√√
Jog Move √√√√√√√√√
Inputs are assigned by the user according to his requirements under the Drive Setup\ Digital Input
(Base Unit) menu for inputs 1-5 (physically connected at J4) and the Drive Setup \ Digital Inputs
(Option Card) menu for inputs 6-10 (physically located at J12).
The following table provides a description of each of the Digital Input Functions:
Function Description
Hardware Enable An active input (on) enables the drive power stage (motor output power) if the software
enable is active.
No Function Unassigned Input
Clockwise Inhibit If this input is assigned and the input is inactive (off) then no further motion is allowed in
the CW direction. Power stage remains enabled. Warning n10 is annunciated. Motion
in the CCW direction is allowed.
Counter Clockwise Inhibit If this input is assigned and the input is inactive (off) then no further motion is allowed in
the CCW direction. Power stage remains enabled. Warning n11 is annunciated. Motion
in the CW direction is allowed.

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Fault Reset An Active signal (off-to-on) causes the drive to reset faults. Some fault resets may
require the COLDSTART process that is initiated by this input automatically. The
Coldstart process requires several seconds to complete.
Gearing Active w/ Correction Pertains only to Operational mode: Electronic Gearing. If selected as this function, the
input must be active (on) to allow the S200 PN motor to lock onto the master gearing
signal. Any loss of position between the Master position, at the time this signal is
asserted, and the S200 PN's motor due to acceleration limits is 'made up' with a
velocity overshoot.
Gearing Active w/o Correction Pertains only to Operational mode: Electronic Gearing. If selected as this function, the
input must be active (on) to allow the S200 PN motor to lock onto the master gearing
signal. Any loss of position between the Master position, at the time this signal is
asserted, and the S200 PN's motor due to acceleration limits is lost.
Home Switch This function sets the S200 PN to look for this input to become active (on) when the
homing process is invoked. The off-to-on transition latches the actual motor position
and causes the S200 PN to recalibrate that position as absolute 0 position.
Start Move BCD Assertion of this input causes motor Motion as defined by the Motion Task called out by
any assigned Move (BCD) Select inputs. This input is monitored and will cause motion
to stop if it is removed.
Move Select Bit Inputs assigned to Move Select Bits are those assigned to set a BCD code to be used
as a pointer into the Motion Task table that will be executed when the Start Move BCD
input is energized.
Start Move (Discrete-Level) This input function assignment is used when an input is desired to move a defined
Motion Task Function. The input is assigned to a Motion Task when completing the
Motion Task List. This function can eliminate the need for designing systems with BCD
selection logic to access Motion Tasks. This input mode is level-sensitive and removing
the signal will stop motor motion.
Start Move (Discrete-Edge) This input function assignment is used when an input is desired to move a defined
Motion Task Function. The input is assigned to a Motion Task when completing the
Motion Task List. This function can eliminate the need for designing systems with BCD
selection logic to access Motion Tasks. This input mode is off-to-on sensitive and
motion will continue even if the input signal is removed.
Registration Input 2 is the only assignable input for registration. A photo-detector or other sensor is
wired into input 2 and this function is assigned for systems using registration indexing.
Clear Following Error This function causes the S200 Position Node to make its Position Command Register
equal to its feedback's actual position thus nulling any position error. This input is not a
reset fault input.
Stop An input assigned to Stop becomes Active Low. An active signal (on) allows motor
motion. Removing the input signal (off) causes the motor to decelerate to 0 speed and
hold position. The power stage remains enabled. The deceleration rate can be set to a
different rate than other functions to allow an aggressive stop (DECSTOP).
Additional Hardware Enable An input assigned this function will provide AND logic to the hardware enable input,
Input 1 to allow the power stage to be enabled.
Jog Move Assigning an input as a jog pops up a velocity window. The user enters the desired
speed (signed direction). Activation of this input causes the motor go run at the given
speed and direction until the input is deactivated.