Danaher Motion S200-CNS Assembly instructions

S200-CNS Product Manual
Hardware Installation Manual
Revision B1 May 08, 2008
Keep all product manuals as a product
component during the life span of the
servo amplifier. Pass all product manuals
to future users/owners of the servo amplifier.

Record of Revisions
Date Issue Description
9/14/07 A Separated Installation and Operation into separate manuals
11/13/07 B Reversed Polarity of DINP10 on Schematics
05/08/08 B1 Restructured, siza A4
©2006 2007 Danaher Motion - All rights reserved. Printed in the Germany.
Danaher Motion®is a registered trademark of the Danaher Corporation.
Technical changes which improve the performance of the equipment may be made without prior notice!
All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying, microfilm
or any other method) or stored, processed, copied or distributed by electronic means without the written
permission of Danaher Motion.

Danaher Motion 05/2008 Table of Contents
S200-CNS Product Manual 3
Table of Contents
1Product Documentation.................................................................................................................5
2Safety...............................................................................................................................................6
2.1 Safety Symbols.........................................................................................................................6
2.2 Safety Notes .............................................................................................................................6
3Product Overview ..........................................................................................................................8
3.1 Highlights.................................................................................................................................8
3.2 Increased Machine Throughput & Longer Life........................................................................9
3.3 Reduced Engineering & Support Time ....................................................................................9
3.4 CE- / UL- Conformity..............................................................................................................9
3.5 Model Number Scheme..........................................................................................................10
3.6 Valid Drive Model Numbers..................................................................................................10
4Specifications................................................................................................................................11
4.1 Drive Family Power ............................................................................................................... 11
4.2 Input Power Specifications.....................................................................................................13
4.3 DC Input Drives - Control and Power....................................................................................14
4.4 Control Loop Performance.....................................................................................................14
4.5 Mechanical Specifications......................................................................................................16
4.6 I/O Specifications...................................................................................................................16
4.7 Environmental Specifications.................................................................................................17
4.8 Smart Feedback Device (SFD)...............................................................................................18
5Accessories....................................................................................................................................19
5.1 Cables.....................................................................................................................................19
5.1.1 Motor and feedback cables............................................................................19
5.1.2 Serial Communications Cable .......................................................................19
5.2 Connector Kits........................................................................................................................20
5.2.1 Base Unit Connector Kits..............................................................................20
5.2.2 Position Node Connector Kits.......................................................................23
5.3 Regen Resistor........................................................................................................................23
5.4 Din Rail Terminal Break Outs................................................................................................24
5.5 Operator Interface Terminals .................................................................................................24
5.6 Systems Capabilities...............................................................................................................24
6Installation....................................................................................................................................25
6.1 Unpacking and Inspecting......................................................................................................25
6.2 Mounting................................................................................................................................25
6.3 Dimensions.............................................................................................................................26
6.4 Mounting Outline...................................................................................................................27
7Wiring Diagrams..........................................................................................................................28
7.1 Low Power AC Drive Wiring Diagram..................................................................................28
7.2 High Power AC Wiring Diagram...........................................................................................29
7.3 DC Models Drive Wiring Diagram........................................................................................30
8Connector Pinout and DEscriptions...........................................................................................31
8.1 PE All Drive Models..............................................................................................................31
8.2 J1 – Low Power AC Input Power Models Drive Power.........................................................32
8.3 J1 – AC Input Control Power High Power AC Models .........................................................34
8.4 TB1: High Power AC Power Connections.............................................................................35
8.5 J1 – DC Input Power Models Drive Power Connector ..........................................................36
8.6 J2 – Motor Power Connector..................................................................................................37
8.7 J3 – SFD Feedback Connector...............................................................................................37
8.8 J4 – Command I/O Connector................................................................................................38
8.9 J5: Serial Port Connections ....................................................................................................39
8.10 J11 CAN bus Connections .....................................................................................................39
8.11 J12 Connector.........................................................................................................................40
8.12 J13 Encoder Feedback Connector..........................................................................................41
9DC Input Power Model Power Supply Requirements..............................................................42
9.1 Control Voltage......................................................................................................................43
9.2 Grounding...............................................................................................................................43
9.3 Bus Capacitance.....................................................................................................................43
9.4 Bus Switching and Fusing......................................................................................................44

Table of Contents 05/2008 Danaher Motion
4 S200-CNS Product Manual
10 Detailed Wiring Information......................................................................................................45
10.1 Cables.....................................................................................................................................45
10.1.1 Long Cables...................................................................................................45
10.1.2 Custom Composite Cables.............................................................................45
10.2 Definitions Discussion............................................................................................................47
10.3 PE Earth Ground Connections................................................................................................47
10.4 Serial port Wiring...................................................................................................................48
10.5 Wiring Discrete Digital Inputs ...............................................................................................48
10.6 Typical wiring with sinking switches:....................................................................................49
10.7 Typical Wiring with Sourcing Switches.................................................................................50
10.8 Wiring DINP5 and DINP10 ...................................................................................................51
10.9 Wiring Discrete Digital Outputs.............................................................................................52
10.10 Using the DAC Monitors........................................................................................................53
10.11 Wiring Encoder Output Signals..............................................................................................53
10.12 Motor Wiring..........................................................................................................................53
10.13 Regen Resistor Wiring ...........................................................................................................54
10.14 Step and Direction or Electronic Gearing Wiring..................................................................54
10.15 Encoder Motor Feedback .......................................................................................................56
11 System Startup.............................................................................................................................58
11.1 Wiring Checks........................................................................................................................58
11.2 Switch Settings.......................................................................................................................58
11.3 Apply control Power...............................................................................................................58
11.4 Control Wiring Checks...........................................................................................................59
11.5 Additional Safety Checks.......................................................................................................59
11.6 Applying Bus Power ..............................................................................................................59
11.7 Motor Motion Checks.............................................................................................................60
11.8 System Tuning........................................................................................................................60
12 Regulatory Information...............................................................................................................61
12.1 Conformance Requirements...................................................................................................61
12.2 UL and cUL Conformance.....................................................................................................61
12.3 CE Approval...........................................................................................................................61
12.4 CE EMC Compliance.............................................................................................................61
12.5 CE Test Setup.........................................................................................................................62
12.6 CE Test Setup.........................................................................................................................62
12.7 Declaration of Conformity .....................................................................................................63
12.8 Installation and Commissioning.............................................................................................64
12.9 European Compliance ............................................................................................................64
12.10 Low Voltage Directive and EN50178....................................................................................64
12.11 EMC Compliance with EN61800-3 .......................................................................................65
12.12 AC Mains Conducted Emissions............................................................................................66
12.13 Regen Resistor........................................................................................................................67
12.14 Additional EMC Information Sources....................................................................................67

Danaher Motion 05/2008 Product Documentation
S200-CNS Product Manual 5
1 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 its 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 the companion S200 Position Node User’s Guide.
Abbreviations and Definitions
Some common abbreviations used in this document are defined at the first use but the reader may
note the following:
S200 PN: 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.
Home: A reference position to which other positioning motion is referenced.
PE: Protective Earth Ground
REGEN: 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 to burn off
excessive REGEN energy.
Hall Channel: 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: Short for Main Internal DC Bus Power Supply that is the DC voltage source for motor power.
OIT: Operator Interface Terminal; Same as HMI
HMI: Human Interface Terminal; Same as OIT

Safety 05/2008 Danaher Motion
6 S200-CNS Product Manual
2 SAFETY
2.1 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.
2.2 SAFETY NOTES
•As the user or person applying this unit, you are responsible for determining the suitability of this
product for the application. In no event will Danaher Motion be responsible or liable for indirect or
consequential damage resulting from the misuse of this product.
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 05/2008 Safety
S200-CNS Product Manual 7
Motor Case Grounding
Ensure that the motor’s case is connected to PE ground. The fourth wire in the motor cable
connecting J2,1 to the motor case accomplishes this.
CAUTION
If the motor is not properly grounded, dangerous voltages can be present on the
motor case due to capacitive coupling between the motor windings and case.
Requirements for Safe Operation of the Drive
It is the machine builder’s responsibility to insure that the complete machine complies with the
Machine Directive (EN60204). The following requirements relate directly to the servo amplifier:
Emergency Stop
CAUTION
If personal injury can result from motor motion, the user must provide an external
hardwired emergency stop circuit outside the drive. This circuit must simultaneously
remove power from the drive’s motor power terminal J2-2, J2-3, and J2-4 and disable
the drive (by open circuiting the connection to J4 pin 2).
NOTE
The motor will coast under this condition with no braking torque.
CAUTION
If braking torque is required to quickly stop the motor, a dynamic brake can be added
that loads the motor’s windings resistively. The motor should not be loaded until the
servo drive is disabled. The holding brake, optional on Danaher Motion motors, is
not intended to stop a spinning motor. It is designed to prevent a stopped motor
from rotating due to an applied torque.
Avoid Unexpected Motion
CAUTION
Always remove power from J1 and wait 5 minutes before working on the machine or
working anywhere where injury can occur due to machine motion.
Avoid Electrical Shock
CAUTION
Never power the servo drive with the cover removed or with anything attached
to circuitry inside the cover.
If the drive must be removed from the cabinet, wait at least five minutes
after turning off power before removing any cables from the drive or
removing the drive from the mounting panel.
Never connect or disconnect any wiring to the drive while power is applied.
Always power down and wait five minutes before connecting or disconnecting
any wires to the terminals.
Avoid Burns
CAUTION
The temperature of the drive’s heat sink and housing as well as an external regen
resistor may exceed 60° C. Therefore, there is a danger of severe burns if these
regions are touched.
Prevent Damage to the Drive
Follow these guidelines to prevent damage to the servo drive during operation:
•Never plug or unplug connectors with power applied.
•Never connect or disconnect any wires to terminals with power applied.
•If the drive indicates a fault condition, find the cause of the fault and fix it prior to resetting the
fault or power-cycling the drive.

Product Overview 05/2008 Danaher Motion
8 S200-CNS Product Manual
3 PRODUCT OVERVIEW
The S200 Position Node with CANopen/DeviceNetTM brings greater flexibility to the S200 drive
platform by adding profile generation and field bus capabilities. It also brings added I/O, Digital
Oscilloscope emulation, and the ability to use incremental encoder with commutation tracks
(ComCoder) for motor feedback.
The S200 Position Node brushless position node servo drives with CANopen push high
performance servo technology into lower power applications than was previously possible without
having to compromise on reliability or package size. Couple a S200 position node drive with an AKM
servo motor for a complete servo control solution designed to excel in applications such as
semiconductor fabrication, electronic assembly, packaging, medical, and woodworking equipment.
The S200 position node servo drives with CANopen communication are the first all digital industrial
drives with a velocity loop bandwidth up to 400 Hz offering unmatched system throughput and
simplified tuning. High resolution (24 bit) feedback and high performance 3-5 kHz current loop
bandwidth provide smooth motion and rapid start and stop action to optimize machine performance.
Smart feedback and industry leading high bandwidth deliver fast and accurate commissioning by
eliminating the need for servo loop tuning in most applications.
A separate "keep alive" power input allows rapid recovery from emergency stop conditions. Optically
isolated inputs/outputs, positive locking connectors and full fault protection promise long machine life
and immunity to accidental damage. A single motor power/feedback cable simplifies connectivity. All
connectors and LED status indicators are easily accessible from the front of the drive.
3.1 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 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.

Danaher Motion 05/2008 Product Overview
S200-CNS Product Manual 9
3.2 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 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
3.3 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.
3.4 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

Product Overview 05/2008 Danaher Motion
10 S200-CNS Product Manual
3.5 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
3.6 VALID DRIVE MODEL NUMBERS
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 6/18 ARMS Base Unit, Profile Node with CanOpen
S21260-DNS: 120/240 VAC, 1/3-phase 6/18 ARMS Base Unit, Profile Node with DeviceNet

Danaher Motion 05/2008 Specifications
S200-CNS Product Manual 11
4 SPECIFICATIONS
NOTE
Unless otherwise specified, the specifications are worst
case limits and apply over the specified operating ambient
temperature and over the specified operating line voltage.
4.1 DRIVE FAMILY POWER
AC Input DC Input
Drive Model Number S20260 S20360 S20660 S212660 S20330 S20630
Peak Output Current (ARMS)1
(0 to 40°C) Ambient (ARMS) 4.5 9 18 30 9 18
Minimum Peak Current Time
(Starting from 0 amps) seconds 3 3 3 3 3 3
Continuous Output Current (ARMS)2
0 to 30°C ambient (ARMS) 2.3 4.5 9 15 4.5 7.5
40° C ambient (ARMS) 1.5 3 6 12 3 6
50° C ambient (ARMS) 1 2 4 8 2 4
Peak Output Power
240 VAC (VA), 3 phase 1500 3000 6000 10000 - -
120 VAC (VA), 1 phase 750 1500 2400 - - -
75 VDC (VA) - - - - 750 1500
Drive Continuous Output Power
240 VAC, 3 Phase (watts) 600 1100 2000 4000 - -
240 VAC, 1 Phase (watts) 500 900 1500 2500 - -
120 VAC, 1 Phase (watts) 250 450 - - - -
75 VDC (watts) - - - - 250 500
Continuous Motor Shaft Power at 3000 RPM (Nominal Bus – 10%)
0 to 30°C ambient (watts) 3-ph 300 750 1500 2500 - -
0 to 30°C ambient (watts) 1-ph 300 750 1300 2200 180 315
40° C ambient (watts) 200 500 1000 2000 125 250
RMS Line Current at Continuous Output Power
240 VAC 3 Phase (ARMS) 2.7 5 9 16 - -
240 VAC 1 Phase (ARMS) 3.4 6.5
12 (Note 3) 18 (Note 3) - -
120 VAC 1 Phase (ARMS) 3.4 6.5 12 (Note 3) - - -
+BUS Current – 75 VDC at Continuous Output Power3
Average (ADC) - - - - 3 6.7
Instantaneous Peak (APEAK) - - - - 12.7 25.5
Power Dissipation at 40°C
PCONT (watts)
17 29 60 110 8 12

Specifications 05/2008 Danaher Motion
12 S200-CNS Product Manual
AC Input DC Input
Drive Model Number: S20260 S20360 S20660 S212660 S20330 S20630
Shunt Regulator
Peak Power kW (500 ms) 4.4 at 366.4 at 2510 at 1510 at 15- -
Cont. Power watts 440 at 36640 at 251000 at
15
1500 at
15
- -
Maximum Regen Duty Cycle (%) 10 at 3610 at 2510 at 1515 at 15- -
Regen Value ()25 – 50 25 – 50 12 – 50 8 – 50 - -
Bus Capacitance Energy Absorption (joules)
340 VDC Nominal BUS 15.5 15.5 20 45 - -
75 VDC BUS with 4,000 µf -
(5 volt increase to 80 VDC)
- - - 1.5 1.5
Output Current Ripple Freq fS
(kHz) 20 20 20 >16 31.2 31.2
Minimum Motor Inductance l-l
(mH) 5 2.5 1.25 0.9 - -
At 75 VDC - - - - 0.4 0.2
Maximum Motor Inductance l-l
(mH) 300 150 75 45 30 15
Maximum Motor Power Cable Length4
18 AWG cable (m) 50 50 25 - 50 25
14 AWG Cable (m) 50 50 50 50 50 50
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 ARMS to A(0-pk), multiply ARMS * 1.414.
2 For Operation above 40o C ambient: Derate linearly to 67% at 50o C .
At higher ambient temperatures (above 30o C) the S20360 drive needs to be mounted on
a thermally conductive surface to limit the heatsink temperature to less than 75o 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.

Danaher Motion 05/2008 Specifications
S200-CNS Product Manual 13
4.2 INPUT POWER SPECIFICATIONS
AC Motor Power Supply
Input Voltage Range (RMS) VAC 90 to 265
Phases 1 or 3
Transformer Suggested KVA 2 to 3
Maximum AC Line KVA1100
1Maximum AC Line is specified to limit the mains surges to the drive.
AC Bus Voltage and Faults
240 VAC Input Nominal Bus Voltage 320 VDC
120 VAC Input Nominal Bus Voltage 155 VDC
BUS Under voltage Fault Factory Default is None
BUS Over voltage (BusOV) Fault 407 VDC + 5%
BUS Regen Voltage = 0.974*BusOV = 397 VDC Nominal
AC Inrush Current & Fusing
Worse Case Inrush Peak Current at 240 VAC 140 A 0-p
Inrush pulse width 1.5 ms
Recommended Fusing Line Inputs
Type – 250 VAC Time Delay Fuse
S20260 S20360 S20660 S21260
240 VAC 3 Phase
(ARMS)
FRN-R-5 FRN-R-8 FRNR-15 FRN-R-25
240 VAC 1 Phase
(ARMS)
FRN-R-5 FRN-R-10 FRN-R-20 FRN-R-30
120 VAC 1 Phase
(ARMS)
FRN-R-5 FRN-R-10 FRN-R-20
-
AC Power on Delay
Control Power Applied to Drive Operational 1.25 seconds
AC Control Power Supply
85 VAC to 265 VAC single phase
47 to 63 Hz
Input Voltage Range (RMS)
120 VDC to 375 VDC
85 VAC 60 Hz > 0.78 60 Hz cycles
120 VAC 60 Hz > 3.3 60 Hz cycles
Ride Through Time for AC Line Drop
240 VAC 60 Hz >18.5 60 Hz cycles

Specifications 05/2008 Danaher Motion
14 S200-CNS Product Manual
4.3 DC INPUT DRIVES -CONTROL AND POWER
DC Control Power
Control Voltage Range (VDC)
(J1-1 to J1-2)
+10 to +90
Control Input power (watts)12 to 8
1(20 watt min supply recommended) Refer to the DC Power Supply Section for detailed
application information and requirements.
DC BUS Voltage and Faults
+BUS Voltage Range (VDC)
(J1-3 to J1-2)
+20 to +90
+BUS Under voltage Fault +17 VDC nominal
+BUS Overvoltage Fault +91 VDC nominal
DC Power On Delay
Control Power Applied to Drive
Operational
1.5 seconds
4.4 CONTROL LOOP PERFORMANCE
Motor Current Control
Motor Phase Current Waveform Pure sinusoidal or six-step, depending on
feedback device
(In Sine or six-step mode output torque = Motor KT*Drive IFB)
Motor Shaft Torque (Ignoring motor magnetic saturation)
Peak KT(N-m/ARMS)*Drive Ipeak (ARMS)
Instantaneous KT(N-m/ARMS)*IFB (ARMS)

Danaher Motion 05/2008 Specifications
S200-CNS Product Manual 15
Velocity Loop Performance
Maximum Stable Bandwidth (Hz with SFD) 400
Update Period (µs) 0.8
Range (rpm) 0 to 18,300
< 0.001 rpm analogCommand Resolution
0.558 rpm serial
Velocity Loop Compensation
KVP Range (Depends on Ipeak) 0.00044 to 0.106 (Ipeak)(1/rad/sec)
KVP Resolution (%) 10
KVI Range (Hz) 0 to > 22
KVI Resolution (%) 10
ARF01Range (Hz) 24.3 to > 46627
ARF11Range (Hz) 24.3 to > 46627
1Values for ARF0, ARF1; from 3012 to 24873 Hz cannot be set.
Current Loop Specifications
- 3 dB Bandwidth (Hz) > 2000
- 45° Phase Lag (Hz) > 1000
General Performance
Max Tracking Rate (rpm) > 48600
Max Recommended Rate (rpm) 25000
Max Tracking Acceleration (rpm/sec) > 16x106
Maximum Feedback Cable Length 50 m (164 ft)
Current Loop Bandwidth
Maximum Bandwidth
AC Input Drive (kHz) 3
DC Input Drive (kHz) 5
Recommended Bandwidth
AC Input Drive (kHz) 2
DC Input Drive (kHz) 3
SFD Auto Set (kHz) AC & DC 2
Bandwidth Variation For Fixed Motor L
(% regulated independent of bus volt)
± 2.5
Update Period (µs) 0.8
Recommended Max Motor Electrical Frequency (Hz)
AC Input Drive (Hz) 600
DC Input Drive (Hz) 900

Specifications 05/2008 Danaher Motion
16 S200-CNS Product Manual
4.5 MECHANICAL SPECIFICATIONS
Physical Dimensions and Specifications
S20330-CNS
S20330-DNS
S20630-CNS
S20630-DNS
S20250-CNS
S20250-DNS
S20260-CNS
S20260-DNS
S20350-CNS
S20350-DNS
S20360-CNS
S20360-DNS
S20650-CNS
S20650-DNS
S20660-CNS
S20660-DNS S21260-CNS
S21260-DNS
Drive Height (A) 152.4 mm 152.4 mm 175.0 mm 175.0 mm 177.0 mm
6.00 in 6.00 in 6.9 in 6.90 in 6.97 in
Drive Width (B) 28.7 mm 48.3 mm 54.8 mm 54.8 mm 76.2 mm
1.90 in 1.90 in 2.16 in 2.16 in 3.0 in
Drive Depth1(C) 100.8 mm 100.8 mm 131.6 mm 131.6 mm 152 mm
3.97 in 3.97 in 5.18 in 5.18 in 5.98 in
Mounting
Hardware M4 or #8 M4 or #8
M4 or #8
M4 or #8 M4 or #8
Drive Weight 0.40 kg 0.5 kg 0.77 kg 0.82 kg 1.5 kg
Nominal 1.00lb 1.10 lb 1.69 lb 1.80 lb 3.2 lb
1Depth measurement is for drive only. Add ap
p
roximately 50.8 mm (2 in) to depth given in the
table to accommodate mating connectors and wire bend radius.
4.6 I/O SPECIFICATIONS
Note: Analog command is not allowed in this product. Digital Velocity and Motion Task position loop
control is the only possibilities.
Analog Output (DacMon)
DACMON1, DACMON 2 (J4 14,15)
Maximum Range (volts) 0.5 – 4.5
Full Scale Tolerance (%)
Typical (Worse Case) +/- 1 (± 5)
Linearity (% Full Scale) <0.1
Monotonic to < 2-16 Full Scale
Offset (mV) < 100
Offset Drift (µV/°C typ.) 250
Quadrature Input
Quadrature Input CHA (J12-12, 13) CHB (J12-14,15)
Type RS-422/RS-485, TTL, Open Collector
compatible
Input Voltage +/- 200mV Differential
Input Termination Please see diagrams in manual
Maximum Line Frequency 625 kHz (corresponds to 2.5 MHz
quadrature pulse rate)

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S200-CNS Product Manual 17
General Purpose Digital Inputs
DINP1-4, DINP6-9 (J4 2-5 and J12 2-5)
Input Voltage ± ( 4.0 - 30.0) volts
Referenced to DINPCOM (J4-5)
Input Current 0.65 - 6.7 mA
Response Time 1.0 ms
DINP5/DINP10 (J4-10 & 11, J12-8 & 9)
Input Voltage 3.0 – 6.0 volts
Input Current 9.0 – 24.0 mA
General Purpose Outputs
DOUT1, DOUT2, DOUT3 (J4-6,7,8,9 J12-6,7)
Maximum Output Voltage - 0.30 to 30.0 volts
Clamp Voltage 33 volt ± 6%
Maximum Output Current 50 mA
On voltage 1.0 volts at 10 mA
1.2 volts at 50 mA
Response Time 1.0 ms
Quadrature Outputs
Quadrature Output (CHA- J4-19, 20 CHB- J4-21,22 CHZ- J4-17,18)
Type RS-422/RS-485
Output Voltage 5.0 V Differential Output - Unloaded
Hysteresis 1/2 Quadrature Count corresponding to
1/8 Encoder Line Count
Resolution
(With SFD)
125, 128, 500, 512, 1000, 1024, 2000,
2048, 2500, 4096, 5000, 8192, 10000,
16384, 20000, 32768
Maximum Output Frequency 2.5 MHz
Marker Pulse Width Approximately 120 degrees
Kollmorgen branded products do not support encoder output when using encoder
feedback on motor. Products branded Danaher Motion do.
4.7 ENVIRONMENTAL SPECIFICATIONS
Environmental Specifications
Operating Temperature (° C) – Full
Rating 0 to 40
Operating Temperature (° C) – Derated
Linearly Derate Continuous Current to
67% of 40o C Rating 40 – 50
Pollution Degree 2
Storage Temperature (° C) -20 to 70
Humidity (% non-condensing) 10 to 90
Altitude <1500 m (5000 feet)

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18 S200-CNS Product Manual
4.8 SMART FEEDBACK DEVICE (SFD)
SFD (Smart Feedback Device)
Resolution/Rev (arc min) 24 bits = 0.0013
Repeatability (arc min RMS) < ± 2-19 Rev = ± 0.04
Noise
No Filtering (arc min RMS) < 2-17 Rev RMS = 0.16
150 Hz Single Pole Filtered (arc min
RMS)
< 2-18 Rev RMS = 0.08
10 Hz Single Pole Filtered (arc min
RMS)
< 2-19 Rev RMS = 0.02
DC Offset Temperature Drift < 2-18 Rev/° C = 0.08 arc min/° C
Absolute Accuracy
AKM1 (arc min) ± 2-10.3 Rev = ±17
AKM2 or 3, 4 (arc min) ± 2-11.1 Rev = ±10
Communications Update Period (µs) 51.2

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5 ACCESSORIES
5.1 CABLES
Danaher Motion offers pre-made high quality cables for help in installation.
5.1.1 Motor and feedback cables
Motor and Feedback cable selections are covered in our Motioneering package to help select the
correct sets based on motor and drive size selection.
5.1.2 Serial Communications Cable
Danaher Motion offers a 6 ft serial communications cable designed to connect directly between the
S200 Position Node and standard PC 9 Pin communications port. Order Part Number P7S2-232-D.

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5.2 CONNECTOR KITS
Danaher Motion offers several connector kit options to help interface drive connections. Please note
that there are connector kits that are designed to interface to just the base unit drive and connector
kits designed for the auxiliary S200 Position Node auxiliary features. More than one connector kit
may be required.
5.2.1 Base Unit Connector Kits
CK-S200-MF connector kit includes motor
and feedback connectors for all low
power base unit models. (JJ2 and J4).
This connector kit is useful in applications
and customers not using Danaher Motion
Cables Sets.
Applicable Drive Models:
S202x0-xNS, S20350-xNS, S20360-xNS,
S20660-xNS.
CK-S200-MP-AC connector kit includes
motor and power connectors for all low
power AC Input base unit models. (J1
and J2).
This connector kit is useful in applications
and customers not using Danaher Motion
Armature cables.
Applicable Drive Models:
S20250-xNS, S20260-xNS, S20350-xNS,
S20360-xNS, S20660-xNS.