Danaher Motion S20630 User manual

S200 Position Node with CANOpen/
DeviceNet
Installation Manual
M-SS-S2-11
Revision J June 25 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.
NOTICE:
1.) This S200 Option requires the use of special user interface software called S200 OC Tools. This
software can be installed using the included CD ROM. This device will not communicate with the
standard S200 Tools software.
2.) Common Problems
a.) If all dip switches are set to ON (Toggled to the right), the unit enters a perpetual rest state and
does not communicate. Change dip switch settings.
b.) When selecting a non-SFD motor, be certain to enter the ‘motor poles’ data.
c.) Always remember to Save the configuration to Non-volatile memory.
d.) Remember that COLDSTART is required before using the drive after changing I/O configuration.
Helping you build a better machine faster.

Record of Revisions
Date Issue Description
2/1/07 D Revised Input definitions
2/19/07 E Major rewrite
4/4/07 F Added Modbus information
5/21/07 G Made clarifications in Modbus Section
6/13/07 H Added Page Numbers, modified encoder input circuit
6/25/07 J Corrected J12 pin-out information
©2006 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 with CANOpen/ DeviceNet i
Table of Contents
Table of Contents .................................................................................................. i
1 Product Overview ................................................................................................. 1
1.1 Highlights................................................................................................... 1
1.2 Increased Machine Throughput & Longer Life........................................... 3
1.3 Reduced Engineering & Support Time ...................................................... 3
1.4 CE- / UL- Conformity.................................................................................. 3
1.5 Model Number Scheme ............................................................................. 3
1.5.1 Valid Drive Model Numbers ............................................................ 4
1.6 Specifications............................................................................................. 5
1.6.1 Drive Family Power......................................................................... 5
1.6.2 AC Input Drives - Control and Power .............................................. 7
1.6.3 DC Input Drives - Control and Power.............................................. 8
1.6.4 Velocity Loop................................................................................. 10
1.6.5 Mechanical.................................................................................... 10
1.6.6 I/O Specifications .......................................................................... 11
1.6.7 Environmental ............................................................................... 12
1.6.8 Smart Feedback Device (SFD) ..................................................... 12
1.6.9 Emulated Encoder Output Signals................................................ 12
1.6.10 Current Loop................................................................................. 12
1.6.11 General ......................................................................................... 13
2 Getting Started ................................................................................................... 14
2.1 Unpacking and Inspecting........................................................................ 14
2.2 Mounting.................................................................................................. 14
2.2.1 Dimensions ................................................................................... 15
2.2.2 Mounting Outline........................................................................... 16
2.3 S200 Position Node AC Drive Wiring Diagram ........................................ 17
2.4 S200 Position Node DC Drive Wiring Diagram ........................................ 18
2.5 Connectors .............................................................................................. 19
2.5.1 J1 – AC Input Power Models Drive Power .................................... 19
2.5.2 J1 – DC Input Power Models Drive Power Connector................... 22
2.5.3 DC Input Power Model Power Supply Requirements.................... 25
2.5.4 Control Voltage ............................................................................. 26
2.5.5 Grounding ..................................................................................... 26
2.5.6 Bus Capacitance........................................................................... 27
2.5.7 Bus Switching and Fusing............................................................. 28
2.6 J2 – Motor Power Connector ................................................................... 28
2.7 J3 – Feedback Connector........................................................................ 29
2.8 J4 – Command I/O Connector ................................................................. 31
2.8.1 Base Drive Unit General Purpose Inputs ...................................... 32
2.8.2 Base Drive Unit Outputs................................................................ 37
2.8.3 SFD BAT+..................................................................................... 39
2.8.4 DAC Monitors................................................................................ 39
2.8.5 Encoder Outputs ........................................................................... 39
2.8.6 J11 ................................................................................................ 40
2.8.7 J12 ................................................................................................ 42
2.8.8 J13 ................................................................................................ 44
2.8.9 Switch Settings.............................................................................. 45

Table of Contents 07/06 Danaher Motion
ii S200 Position Node with CANOpen/ DeviceNet
2.8.10 LED2..............................................................................................46
3 Operational Notes ...............................................................................................47
3.1 Encoder Input Channels...........................................................................47
3.2 Pulse (Step) and Direction........................................................................48
3.3 Digital Input Notes ....................................................................................48
3.4 Ramp Control ...........................................................................................49
3.5 Homing.....................................................................................................50
3.6 Saving Drive Settings ...............................................................................50
3.7 Configuring Drive from Existing File .........................................................51
3.8 Upgrading Firmware Procedure................................................................52
4 Faults and Errors.................................................................................................54
4.1 CAN Bus Status Indicator.........................................................................54
4.2 Normal indicator operation .......................................................................54
4.3 Clearing Fault Conditions .........................................................................55
4.4 Conditional Settings..................................................................................55
4.5 S200 Position Controller Faults ................................................................55
4.6 Extended Fault Information ......................................................................56
4.7 S200 Base Unit Faults (b-faults)...............................................................58
4.8 System Warnings .....................................................................................59
5 Setup Software....................................................................................................60
6 System Tools ......................................................................................................68
6.1 Status Screen...........................................................................................68
6.2 Communication Wizard ............................................................................69
6.3 Variable Editor..........................................................................................69
6.4 Digital Oscilloscope ..................................................................................70
6.5 Configuration Summary Screen................................................................71
7 Serial Communications and Modbus RTU ..........................................................72
7.1 General information..................................................................................72
7.2 Abbreviations............................................................................................72
7.3 RS232 Serial Port Configuration...............................................................73
7.4 Exception Messages ................................................................................73
7.5 Communication Strategy ..........................................................................74
7.6 ModBus functions.....................................................................................75
7.6.1 Reading Variables .........................................................................75
7.6.2 Writing Variables............................................................................76
7.6.3 Example: Read the ACC parameter ..............................................77
7.6.4 Example: Write the ACC parameter...............................................77
7.6.5 Example: Change Speeds in Digital Velocity Mode.......................78
7.7 Manufacturer specific function Codes.......................................................79
7.7.1 Command functions.......................................................................79
7.7.2 Command Execution: FC 65..........................................................79
7.7.3 Command execution status ...........................................................80
7.7.4 Drive Status ...................................................................................80
7.7.5 Set Motion Task.............................................................................81
7.7.6 Clear All Motion Tasks...................................................................82
7.8 Mobus Address and function Tables ........................................................82
Appendix A - Cables ......................................................................................................89
Long Cables........................................................................................................89
Custom Composite Cables..................................................................................89
Appendix B - Regulatory Information .............................................................................91
B.1 Conformance Requirements.....................................................................91
B.2 CE Approval .............................................................................................91

Table of Contents 07/06 Danaher Motion
iii S200 Position Node with CANOpen/ DeviceNet
B.3 CE EMC Compliance............................................................................... 91
B.3.1. CE Test Setup............................................................................... 92
B.3.2 CE Test Setup ............................................................................... 93
B.4 Declaration of Conformity................................................................. 94
B.5 Installation and Commissioning ............................................................... 96
B.6 Safety requirements................................................................................. 96
B.7 European Compliance ............................................................................. 96
B.9 UL and cUL Conformance ....................................................................... 98
B.10 Additional Safety Precautions.................................................................. 98
B.9 EMC Compliance with EN61800-3 .......................................................... 99
B.10 AC Mains Conducted Emissions............................................................ 100
B.11 Regen Resistor...................................................................................... 102
B.12 Additional EMC Information Sources ..................................................... 102
Sales and Service............................................................................................. 103

1
1 PRODUCT OVERVIEW
The S200 Position Node with CANOpen/DeviceNet
TM
brings greater flexibility
to the S200 drive platform by adding profile generation and field bus
capabilities. It also brings added I/O, Digital Oscilloscope emulation, and the
ability to use incremental encoder with commutation tracks (ComCoder) for
motor feedback.
The S200 Position Node brushless position node servo drives with CANOpen
push high performance servo technology into lower power applications than
was previously possible without having to compromise on reliability or package
size. Couple a S200 position node drive with an AKM servo motor for a
complete servo control solution designed to excel in applications such as
semiconductor fabrication, electronic assembly, packaging, medical, and
woodworking equipment.
The S200 position node servo drives with CANOpen communication are the
first all digital industrial drives with a velocity loop bandwidth up to 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 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.
1.1 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 AKM motors
Rugged optically isolated I/O
UL508C recognition, CE (EN50178, EN61800-3)
Very compact footprint
Full fault protection
Velocity, Position, and Electronic Gearing control standard
Indexing - 180 unique motion tasks can be defined and initiated via the serial port
or discrete inputs
Relative, Absolute, Simple Registration, and Home motion tasks can be easily
setup and executed
Individual motion tasks can be linked with each other
Digital Oscilloscope Functions for improved tuning
Built-in CANOpen / DeviceNet Communication bus

2
Flash memory allows for quick and easy firmware updates via the serial interface
Incremental Encoder Input port allows ComCoder motor feedback for position
loop control.

3
1.2 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 800 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
1.3 REDUCED ENGINEERING & SUPPORT TIME
Simplified tuning, friendly Graphical User Interface and shared components with
Stepper products.
Windows-based Graphical User Interface models the tree format found in Explorer so
learning is quick and easy.
Digital Oscilloscope emulator for easier setup.
Easy to debug with full fault diagnostics reduce engineering support time.
Field bus connectivity.
1.4 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
1.5 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

4
1.5.1 Valid Drive Model Numbers
DC Input Power Drive Models
S20330-VTS: 90 V
DC
, 3/9 A
RMS
Base Unit
S20630-VTS: 90 V
DC
, 6,18 A
RMS
Base Unit
S20330-CNS: 90 V
DC
, 3/9 A
RMS
Base Unit, CAN/Indexer option card
S20630-CNS: 90 V
DC
, 6/18 A
RMS
Base Unit, CAN/Indexer option card
S20330-SRS: 90 V
DC
, 3/9 A
RMS
Base Unit, SynqNet option card with RJ-45
connectors
S20630-SRS: 90 V
DC
, 6/18 A
RMS
Base Unit, SynqNet option card with RJ-45
connectors
S20330-CNS: 90 V
DC
, 3/9 A
RMS
Base Unit, SynqNet with Micro-D connectors
S20630-SDS: 90 V
DC
, 6/18 A
RMS
Base Unit, SynqNet with Micro-D connectors
AC Input Power Drive Models
S20250-CNS: 120V
AC
doubler/240V
AC
, 1 phase, 1.5/4.5 A
RMS
Base Unit, Profile
Node with CanOpen
S20250-DNS: 120V
AC
doubler/240V
AC
, 1 phase, 1.5/4.5 A
RMS
Base Unit, Profile
Node with DeviceNet
S20260-CNS: 120/240 V
AC
, 1/3-phase, 1.5/4.5 A
RMS
Base Unit, Profile Node
with CanOpen
S20260-DNS: 120/240 V
AC
, 1/3-phase, 1.5/4.5 A
RMS
Base Unit, Profile Node
with DeviceNet
S20350-CNS: 120V
AC
doubler/240V
AC
, 1 phase, 3/9 A
RMS
Base Unit, Profile
Node with CanOpen
S20350-DNS: 120V
AC
doubler/240V
AC
, 1 phase, 3/9 A
RMS
Base Unit, Profile
Node with DeviceNet
S20360-CNS: 120/240 V
AC
, 1/3-phase, 3/9 A
RMS
Base Unit, Profile Node with
CanOpen
S20360-DNS: 120/240 V
AC
, 1/3-phase, 3/9 A
RMS
Base Unit, Profile Node with
DeviceNet
S20650-VTS: 120V
AC
doubler/240V
AC
, 1/3-phase 6/18 A
RMS
Base Unit
S20650-SRS: 120V
AC
doubler/240V
AC
, 6/18 A
RMS
Base Unit, SynqNet option
card with RJ-45 connectors
S20650-SDS: 120V
AC
doubler/240V
AC
, 6/18 A
RMS
Base Unit, SynqNet with
Micro-D connectors
S20650-CNS: 120V
AC
doubler/240V
AC
, 6/18 A
RMS
Base Unit, Profile Node with
CanOpen
S20650-DNS: 120V
AC
doubler/240V
AC
, 6/18 A
RMS
Base Unit, Profile Node with
DeviceNet
S20660-VTS: 120/240 V
AC
, 1/3-phase 6/18 A
RMS
Base Unit
S20660-SRS: 120/240 V
AC
, 1/3-phase 6/18 A
RMS
Base Unit, SynqNet option
card with RJ-45 connectors
S20660-SDS: 120/240 V
AC
, 1/3-phase 6/18 A
RMS
Base Unit, SynqNet with
Micro-D connectors
S20660-CNS: 120/240 V
AC
, 1/3-phase 6/18 A
RMS
Base Unit, Profile Node with
CanOpen
S20660-DNS: 120/240 V
AC
, 1/3-phase 6/18 A
RMS
Base Unit, Profile Node with
DeviceNet

5
1.6 SPECIFICATIONS
NOTE
Unless otherwise specified, the specifications are worse case
limits and apply over the specified operating ambient
temperature and over the specified operating line voltage.
1.6.1 Drive Family Power
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*!   ! !
(
!$ )&

 !"   ' '
!$)&

  # !

 ' '
!$)&

  # !

 ' '
)$*%+,-


+
(
 ' ' '  #"
,-).
)/0
 ' ' ' !" !
   ./  
"

" ! #  !
 0#
).)*.1 #2 #!2 2 ' '
)** #2 #!2 2 ' '
3-(-4456 #2 !2 2 ' '
$5-2!7 !7 !7 ' '
$1120345#
$(859:   ! ' '
"$(9:*&%;
+5$(
' ' '  
#67!

89 ! ! ! ! !
:11#;#8  ! ! ' '
"$( ' ' '  !

6
  
     
<:11#;#8   "  
<4#(0
.

1<5     !
1<5     
1
Peak Output Current listed is for sine mode. In six-step mode, the peak output currents are scaled to give the
same output torque as in sine mode with a pure sinusoidal Back EMF motor.
To convert A
RMS
to A(0-pk), multiply A
RMS
* 1.414.
2
For Operation above Above 40
o
C ambient: Derate linearly to 67% at 50
o
C .
At higher ambient temperatures (above 30
o
C) the S20360 drive needs to be mounted on a thermally conductive
surface to limit the heatsink temperature to less than 75
o
C.
3
Single phase operation of the S20660 requires derating of continuous output power to avoid excessive AC line
front-end currents.
4
See Appendix – Cables for voltage loss vs cable length.

7
1.6.2 AC Input Drives - Control and Power
##3
-#00
$!#$5&
"# =>
!$( "$(
: 0 !(
$#=>?"#=>45
!$#=>? #=>45
!$#=>?#=>45

#3
-#00- !#
   
!00:=- ! 
<(=-
&

1
Maximum AC Line is specified to limit the mains surges to the drive.
$-#0:6#
.-"#$-#0

!$(
&-"#$-#0

$(
$**:#06# @4(-58
$*#0$-6# "$(A6
$*0-#0 B"C9-D$B "$(85

 >60
? .- '
 #: 
 
1::60(
   
3%,-#36
!$ )&

 9-(' 9-(' 9-('
!$)&

 9-(' 9-('
!$)&

 9-(' 9-(' 9-('

# >60
?1 .- '
 #: #
60%# 9-(7E!

#3
##:# !

8
1.6.3 DC Input Drives - Control and Power
#
5$5$(
F'F'!

AA
5,-**

 !
1
(20 watt min supply recommended) Refer to the DC Power Supply Section for detailed
application information and requirements.
$*-#0:6#
A9:$5$(F' F'! A!A
A9::+5@-5 A"$(5
A9:D++5@-5 A$(5

#3
5)*5(+D5 

#
)&-1+
,3'--G-B
0
H
C(+,
@9

)--53'%
.+
 !70001
).&*

-5540
H
4#5*0
)
0
H
8'E

C(+,.


,- 0
H
8'E

C,@9



($::
<$::
,-(+.=> 
(,-(+.=> 
1::$::
,-(+.=> !
(,-(+.=> 
@(-.=>I( !
9*&$@@3J
 6-5-+5 
K!
:); 
1::<2#11#671389
,-(+=> #
(,-(+=> 


9
!!
 31# ?
 !6E! 6E#
 !6E! 6E#
 !6E! 6E#
 !6E 6E!

10
1.6.4 Velocity Loop
3-59*&=>*&@( 
:); 
 %
5- L5
5

-#13(
0$)(,. #,.EE
0$)5-6 
0$,=> ?!!
0$,5-6 
@

=> !?##!"
@

=> !?##!"
1
Values for ARF0, ARF1; from 3012 to 24873 Hz cannot be set.
1.6.5 Mechanical
"*
-2
"*-2

;-
;- 
;@@
;@@

;@@ ;-
;-
;@@
;@@ 

(+=& !
#
!
#
"
#
"
#
"
#
(+1&9 !"
 


#
!!

!#

!#
(+(&

 
"

"
 #

 #

 #

0
8: M M M M M
?0 
.
5
.
5
!.
5
"*&

"".
#5
.
#5
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.

11
1.6.6 I/O Specifications
Analog command is not allowed in this product. Digital Velocity and Motion
Task position loop control is the only possibilities.
#01
"&A"B.&.A&, 
3-+5 7
@-555H56
H451 AE'K
J46@-555 L
 L!
'#
@-555
D$ L
D(;$E4 !

C:
C:8B&;&A&8$B&;&.A&,
H4 '!!E'
,-$5 3ND55%HHJ%(5
5
,-H 3
3-J@G-4 #!.=>!=>G---5

D#0#
"&;.A";EB.;.:B&;,
,-$5
(,8)DF'
K' +5
,-- #'#"
H 
",F"& 8";B.;&>&&AB&G>E 
,-$5 7#+5
,-- 7!

D#
*&A*B.;A+:B.;GAE
3-D--$5 ' +5
5$5 +5K#6
3-D--- 
D+5 +5
!+5
H 

C:
C:8;B.;&EA8$;B.;&A8H;B.;&+A&G
H4 '!!E'
D--$5 $(5D--':5
=4 E!O---E/J-

12
1.6.7 Environmental
DH-7@-55 
DH-7(
J54(---#"6

 7
)55-( !
H- '!"
=-46' 
5- L
1.6.8 Smart Feedback Device (SFD)
5-E+ !B 
54 LK!
'
+BK
"
8@5 L!
'"
+B#
=>5)5@5 L!
'
+B
=>5)5@5 L!
'
+B!
!!! L!
'
+EBE
4#1113
0 K!
'
+BK"
0! % K!
'
+BK
-:); !
1.6.9 Emulated Encoder Output Signals
#4##
94 !%!%!%!%#%!%# % !"#
(5 !%%%!%!%%%!
3-D--J@G-4=> !
3 !"#)) !!
3# )) #
3#))  
.)-51& PO--)-5
1.6.10 Current Loop
' 99*&=> ?!
')&J=> ?

13
1.6.11 General
3H. ?#
3 !
3H.5E ?#3
#

3-@.5J& #

14
2 GETTING STARTED
2.1 UNPACKING AND INSPECTING
Open the box and remove all the contents. Check to ensure there
is no visible damage to any of the equipment.
CAUTION
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 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.
NOTE
Upon receipt of the equipment, inspect
components to ensure that no damage has
occurred in shipment. If damage is detected,
notify the carrier immediately. Check all shipping
material for connector kits, documentation,
diskettes, CD-ROM, or other small pieces of
equipment.
2.2 MOUNTING
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 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.
Insure the environment within the cabinet meets the requirements listed in the
environmental specifications table.