S200 Position Node User’s Guide

Installation Manual
M-SS-S2B-11
Revision D April 13, 2012

Keep all product manuals as a product component during the life span of the servo amplifier.
Pass all product manuals to future users/owners of the servo amplifier.
Record of Revisions
Date Issue Description
9/28/07 A Broke apart Installation and Users – Rewrite
10/23/07 B Grammar Issues and minor additions
03/10/11 C Correct error code, correct Modbus address, add motion task example
04/13/12 D Updated Branding, removed no encoder output

©2006 2007 Kollmorgen - All rights reserved. Printed in the USA.

NOTICE:
Kollmorgen® is a registered trademark of the Danaher Corporation. Kollmorgen makes every attempt to ensure
accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice.
Kollmorgen provides this information "AS IS" and disclaims all warranties, express or implied, including, but not
limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the
product user to determine the suitability of this product for a specific application.
Safety Symbols

Warnings alert users to potential physical danger or harm. Failure to follow

WARNING
warning notices could result in personal injury or death.

Cautions direct attention to general precautions which, if not followed, could

CAUTION result in personal injury and/or equipment damage.

Notes highlight information critical to your understanding or use of the

NOTE product.

Safety
READ these instructions before connecting power. Damage can result from
MISWIRING at the power terminals.
WARNING
DANGEROUS voltages are present on power input and motor output terminals.

Only qualified personnel are permitted to transport, assemble, commission, and maintain this equipment. Properly
qualified personnel are persons who are familiar with the transport, assembly, installation, commissioning and
operation of motors, and who have the appropriate qualifications for their jobs.
Read all available documentation before assembling and using. Incorrect handling of products described in this
manual can result in injury and damage to people and/or machinery. Strictly adhere to the technical information
regarding installation requirements.
Keep all covers and cabinet doors shut during operation.
Be aware that during operation, the product has electrically charged components and hot surfaces. Control
and power cables can carry a high voltage, even when the motor is not rotating.
Never disconnect or connect the product while the power source is energized.
After removing the power source from the equipment, wait at least 5 minutes before touching or
disconnecting sections of the equipment that normally carry electrical charges (e.g., capacitors, contacts,
screw connections). To be safe, measure the electrical contact points to each other and to electrical safety
earth with a meter before touching the equipment.
Kollmorgen 04/12 Table of Contents

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........................................................4
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 ...............................................................................................13
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
5.7.1 DACMON1 Functions ..............................................................................................19
5.7.2 DACMON2 Functions ..............................................................................................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
5.22 I2T Foldback...............................................................................................................28
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

S200 Position Node User’s Guide i

Table of Contents 04/12 Kollmorgen
7.2.2 Communication Wizard .........................................................................................................39
7.2.3 Mouse Flags ...........................................................................................................................39
7.2.4 Variable Editor.......................................................................................................................40
7.2.5 Digital Oscilloscope...............................................................................................................41
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 Motor Settings Seem Incorrect...............................................................................................44
8.2.3 Can’t modify motor parameters .............................................................................................44
8.2.4 Motor appears to move more than the Motion Task Setting ..................................................44
8.2.5 Motor Moves Upon Drive Enable..........................................................................................44
8.2.6 Outputs are always on ............................................................................................................44
8.2.7 In Position Output is unreliable..............................................................................................44
8.2.8 The Display shows an ‘I’ .......................................................................................................45
8.2.9 Firmware Will Not Load........................................................................................................45
8.2.10 Communication ‘MNS’ LED is Red ....................................................................................45
8.2.11 GUI Reports ‘Communication Lost’....................................................................................45
8.2.12 I/O Is not functioning ...........................................................................................................45
8.2.13 Scope Traces seem incorrect ................................................................................................45
8.2.14 System is Noisy....................................................................................................................45
8.2.15 Fault Output does not capture all faults................................................................................45
8.3 Common Error Code Nodes.........................................................................................46
8.3.1 F20n031 .................................................................................................................................46
8.3.2 F09 46
8.3.3 n10 and n11............................................................................................................................46
8.4 Faults and Errors ..........................................................................................................46
8.4.1 MNS LED 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
9.4.2 Writing Variables...................................................................................................................57
9.4.3 Example: Read the ACC parameter .......................................................................................57
9.4.4 Example: Write the ACC parameter ......................................................................................58
9.4.5 Example: Change Speeds in Digital Velocity Mode..............................................................58
9.5 Motion Task Control....................................................................................................59
9.5.1 Command functions ...............................................................................................................59
9.5.2 Creating and Editing Motion Tasks .......................................................................................59
9.5.3 Motion Task Error Table........................................................................................................60
9.5.4 Example: Editing Motion Tasks Though Modbus While Enabled.........................................60
9.6 Mobus Address and function Tables............................................................................61
9.7 Stat and Status Word Information................................................................................67
ii S200 Position Node User’s Guide
Table of Contents 04/12 Kollmorgen
9.7.1 Status Word............................................................................................................................67
9.7.2 Stat Word ...............................................................................................................................67
10.0 Upgrading Firmware Procedure.............................................................................................68
10.1 Overall Firmware Load Procedure.............................................................................68
10.2 Detailed Firmware Load Procedure ...........................................................................68
Sales and Service ..................................................................................................................71

iii S200 Position Node User’s Guide

1.0 PRODUCT DOCUMENTATION
The S200 Position node system documentation contains information broken into several manuals
and documents. Not all documents are required but no document stands alone. The documents
are:

Hardware Installation Manual

This document includes all aspects of product specifications and installation procedures. Wiring
diagrams, mounting dimensions and recommendations, and physical properties can be found
here. It is required to properly mount and wire the S200 Position Node product.

User’s Operation Manual

This document provides all information required to get an S200 Position Node product set up and
configured for operation in the application. It includes functional descriptions, interface details,
and troubleshooting information. Information regarding serial communications using Modbus is
also provided in this document.

S200 Position Node with CANopen Reference Manual

This document provides reference material and examples for communicating to the S200 Position
Node over the CANopen field bus protocol.

S200 Position Node with DeviceNet Reference Manual

This document provides reference material and examples for communicating to the S200 Position
Node over the DeviceNet field bus protocol.

Support materials
There may be a number of supporting documents located at our web site. Please check for the
latest information.

Locating Support Materials

All support materials are posted on the Kollmorgen website at www.Kollmorgen.com. 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.Kollmorgen.com. Procedures
can be found in this document.

1
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 Kollmorgen AKM motors
Rugged optically isolated I/O
UL508C recognition, CE (EN50178, EN61800-3)
Very compact footprint
Full fault protection
Velocity, Position, and Electronic Gearing, Step and Direction control
Indexing - 180 unique motion tasks can be defined and initiated via the
serial port, Can Port, or discrete inputs
Jogs, Relative, Absolute, Simple Registration, and Home motion tasks
can be easily setup and executed
Individual motion tasks can be linked or blended with each other
Digital Oscilloscope Functions
Built-in CANopen / DeviceNet Communication bus
Incremental Encoder Input port allows ComCoder motor feedback for
position loop control.

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

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 Customization - omit for standard drives
S2 - S200 Servo Family 000 - 019 Reserved for factory use only
020 - 999 Reserved for customers only
Current Rating
02 - 1.5 A RMS continuous, Feedback Support
4.5 A RMS peak S - SFD/Halls - Base Unit
03 - 3 A RMS continuous, SFD/Comcoder - CAN option card
9 A RMS peak Smart Feedback Device (SFD) - SynqNet Option Card
06 - 6 A RMS continuous, Sine encoder - SynqNet Option Card
18 A RMS peak EnDat 2.1 - SynqNet Option Card

Voltage Functionality
3 - 20-90 VDC VT - Velocity/Torque modes
5 - 120 VAC doubler/240 VAC 1-phase DN - Position Node w/DeviceNet Interface
6 - 120/240 VAC CN - Position Node w/CANOpen Interface
SD - SynqNet option card w/ micro-D connectors
Electrical Option SR - SynqNet option card w/ standard RJ connectors
0 - No Electrical Option

3
2.1.1 Valid Drive Model Numbers for the S200 Position Node

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

4
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.

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
NOTE 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.

5
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.

6
SFD stands for Smart Feedback Device. This is a Kollmorgen 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.
.

7
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 Kollmorgen’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.

8
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!

9
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.

10
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

11
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

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
NOTE 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

12
4.5 CONFIGURABLE POSITIONER
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

13
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.

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.

NOTE

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

14
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.

15
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.

16
5.5 DISCRETE / DIGITAL OUTPUTS
The S200 Position Node provides 3 digital outputs for the user. Two of these are dedicated and
the function cannot be changed: The Fault and Run outputs.

The fault output, DOUT1, is normally closed and will open to indicate a fault condition sensed
within the S200 PN. It will remain open until the fault condition is reset.

The RUN output, DOUT2, is representative of the Power Stage Enable control. Anytime that the
power stage is enabled this output will be closed. Anytime that the power stage is disabled this
output will be open. This is the normally required logic to control a motor’s holding brake.

The 3rd output, DOUT3, is user configurable. The user configures the output under the Drive
Setup \ Digital Outputs screen. The following table shows the allowable choices and describes
them.

Function Description
No Function The output is unassigned.
Motor Velocity < Threshold Output will turn on if the actual motor velocity is less than the
threshold setting. (Threshold is set in box below O3 Function).

Motor Velocity > Threshold Output will turn on if the actual motor velocity is greater than the
threshold setting. (Threshold is set in box below O3 Function).

Position > Threshold Output will turn on if the absolute motor position is greater than the
threshold setting. (Threshold is set in box below O3 Function).

Excessive Position Error Output will come on if the difference between the motor's
commanded position and the following error limit (defined on Drive
Setup screen) is exceeded: A following Error Fault

In Position Output comes on when the Motion Task, included blended or next
tasks, are all completed. The output is turned on when the actual
motor position is at the final target position with a tolerance specified
by the user in the In-Position Window.

In Position (Linked Tasks) Output comes on at the completion of every-other motion task
segment of a blended move task or linked move sequence..

DC Bus < Threshold Output will turn on if the DC Bus voltage falles below the level set by
the threshold. The Threshold level is set in the following box.

DC Bus > Threshold Output will turn on if the DC Bus voltage is greater than the
threshold. The threshold value I set in the following box.

Home Complete The output powers up in the off state and remains off until a homing
process has been completed at which time the output turns on.

17
Logical OR: Output comes on of the logical OR of the drive status word,
DRVSTAT + O3TRIG DRVSTAT, and the OR Mask, O3TIRG evaluates to TRUE. O3
TRIG is the masking word that can be entered in the window below
this choice.
Logical AND: Output comes on of the logical AND of the drive status word,
DRVSTAT * O3TRIG DRVSTAT, and the AND Mask, O3TIRG evaluates to TRUE. O3
TRIG is the masking word that can be entered in the window below
this choice.
All others in list For factory use only

5.6 HOMING ROUTINES

Homing is simply a term used to refer to calibrating the S200 PN to determine the machine
position after power is applied. The idea becomes obvious in an application that drives a ball
screw or other limited-motion applications. Power can be shut down at anytime so the motor
position is uncertain at power up. A method to ‘calibrate’ the S200 to an absolute position on the
lead screw is required. This is called Homing.

As stated earlier, the S200 PN always requires homing regardless of the Operational Mode
selected. Any motion command without prior homing of the drive after the last power cycle will
cause a warning and not perform motion. There are times when an application, in and of itself,
would not require homing. To accomplish homing in these cases the S200 PN can be configured
(Under the Profile Setup \ Homing Tab) to ‘Auto-home upon Enabling the Drive’ with ‘Set current
position as Home’.

When homing is a machine requirement the S200 PN offers a few common methods:
1. The present motor position can be assigned as the home position.
2. The S200 can be commanded to move to a home limit switch and stop. The position at
which the home limit switch was activated is the home, or reference position.
3. The S200 can be commanded to move to a home limit switch. The position at which the
home limit switch was activated is the home, or reference position. The motor moves
back to the home position.
The user can adjust ramp, speed, and direction for the homing process.

For systems implementing methods 2 or 3 the mechanical activation of the home limit switch
must be designed such that the home limit switch is active at any possible position that the motor
could be at that is considered beyond the home position. If the S200 is commanded, under these
methods, to move home The S200 PN will first look to see if the home limit switch is active. If the
home limit switch is active the motor will go in the opposite direction that it was programmed to
seek home at until the limit switch becomes inactive. At that point the S200 PN will act as stated
in 2 and 3, above. Failure to design a home limit switch system that is maintained when the
machine is past home will not invoke the reversal process and possibly cause a machine crash.

The Home move (execute homing) is always the first motion task – Motion Task 0. This is not
something that the user can change. Execute the homing task can be set as ‘Automatic upon
enabling the drive” or not. If the user chooses to not Auto-Home then the Motion Task 0 must be
executed. A digital Input must be assigned as ‘Start Move BCD’. When BCD code 0 is applied
and the Start Move BCD is activated the homing process will begin. If the user has no other need
for BCD Select inputs then no inputs need to be assigned for that function as the code will default
to 0 and allow the single Start Move BCD to execute the homing process. Being a Start Move
BCD the input is level-sensitive so the input must be maintained during the process. If the input is
removed the homing process will be stopped.

18
Related Drive Settings:
I/O Setup\ Digital Inputs: Home Limit, Start Move BCD

5.7 ANALOG OUTPUTS

The S200 Position Node provides two configurable analog outputs for customer use. Detailed
hardware information is available in the S200 Position Node Installation guide. These outputs can
be configured according to the drop-down list in the I/O Setup\Analog output screen. This screen
also provides the scaling and offset information when the function is selected.

5.7.1 DACMON1 FUNCTIONS

Parameter Value Definition
Position Feedback (Coarse) Actual Position scaled .25Revs/Volt
Idfb D-Axis Current Scaled 0.8474 * DiPeak Arms/V
Velocity Feedback (Medium) Medium resolution velocity scaled 2288 RPM/Volt
Velocity Feedback (Coarse) Coarse resolution Velocity Feedback scaled 9155 RPM/V
VdCmd Q-Axis Voltage Command Scaled 134.5 V / Volt for AC Models
Scaled 33.6*V / Volt for DC Models
Position Feedback (Fine) Position Feedback Scaled 0.000244 Revs/V

5.7.2 DACMON2 FUNCTIONS

Parameter Value Definition
Bus Voltage DC Bus Voltage Scaled 380 * V / Volt for AC Models
Scaled 95*V / Volt for DC Models
Current Feedback Actual motor current scaled 0.8474 * DiPeak Arms/V
Velocity Feedback (Fine) Fine Resolution Velocity feedback scaled 1144 RPM/V
2 2
I2TFilt I*I*t filtered value Scaled 0.7152*DiPeak A /V
VU U phase line-to-Neutral Voltage Command Scaled 812V/V for AC Models
Scaled 203 V/V for DC Models
VqCmd Q-Axis Voltage Command Scaled 134.5 V/V for AC Models
Scaled 33.6 V/V for DC Models
Current Command Current Command scaled 0.8474 * DiPeak Arms/V

5.8 END TRAVEL LIMITS

End limit travels can be useful on machines that have limited capability for motion in both
directions, such as a linear slide. Hardware switches are set up so that they are activated by the
slide (or traverse saddle) and can be wired into digital inputs (only inputs 3,4,and 5 can be
assigned as end travel limits). The digital inputs are configured for Clockwise Inhibit and Counter
Clockwise Inhibit. The activation of these inputs halts motion in that direction but not in the
opposite direction. The power stage is not disabled. A warning (n01) is annunciated in the 7-
segment display.

19
When a digital input is assigned as a CW/CCW limit it automatic takes the invert state. This is to
say that the input MUST BE active (input on) to allow travel in that direction. This provides fail-
safe logic should a switch fail.

It is worth noting for applications using electronic gearing that the CW / CCW limits do not stop
the position command register from accumulating position due to incoming pulses. ( An input
configured for Gearing Active will do that). What this means is that a release of the CW/CCW
Inhibit input will cause the motor to move to its commanded position. This is not a common
application issue as most Electronic Gearing applications need an absolute position lock and the
fact that the Gearing Active Input can be used.

5.9 STOP
The S200 Position Node allows assignment of digital inputs to Stop. The function causes the
drive to bring the motor to 0 speed at a controlled rate and maintain the motor at standstill. The
Stop Command is not an Emergency Stop. It is intended for use in applications where a quick halt
of motion is desired. It is not intended to be a Machine System Emergency Stop.

The Stop function is not to be confused or construed to be sufficient

for any machine application Emergency Stop. The Machine Builder is
WARNING responsible to provide appropriate controls for the safety of
personnel and equipment according to industry standards, local and
national codes, or industry specific codes.

5.10 ENCODER FEEDBACK

The S200 Position node has an auxiliary encoder feedback channel that can be used for the
motor shaft position feedback device instead of the SFD. The main encoder data channels are
incremental devices meaning that they power up with no information about how they are aligned
to the motor shaft. This is not compatible with brushless permanent magnet servo motors. For
this reason the encoder wiring must include commutation tracks. Sometimes these commutation
tracks are integrated into the encoder and may be called ‘hall emulation’ tracks. We refer to these
types of encoders as Comcoders. Other motor systems may have actual discrete hall effect
devices built into the motor.

Selecting Encoder Feedback on the S200 Position Node automatically sets

a related setting: Use SFD Parameters (Under Drive Setup Menu) to not
use data from an SFD. Should the user go back to using an SFD feedback
device after having configured the S200 PN for encoder feedback the Use
SFD Parameters setting is not automatically changed and must be
NOTE changed by the user.

20
The encoder line count is received and multiplied by a factor of 4 for internal use. So the position
resolution within the S200 PN is 4 times the line count of the encoder. The line count is entered
on the Motor and Mechanical \ Feedback screen.

The Advanced button shows the ability to adjust an offset for encoders. This offset is a
commutation offset that can compensate for encoders that are not correctly aligned so that the
Halls align with the motor BEMF. There is more detail on that subject in the S200 Position Node
Installation Manual.

Since the Comcoder that will be used does not have the ability to store motor data parameters in
it the user wishing to have an encoder feedback system must define the motor to be used, as
well. The Motor setup screen has a pull down menu to select the motor to be used. The database
contains only Kollmorgen’s AKM series. If the applied motor is in the database it can simply be
selected. If the motor is not present then the user will need to create a database entry for that
motor: See the section on Using Motors not in the Database.

Related Drive Settings:

Motor and Mechanical Setup\ Feedback: Type, Encoder counts per motor Rev, and
possibly Advanced \ Offset.
Motor Database Editor

5.11 TRIGGERING MOTION TASK MOVES

A move, regardless of type, can be executed in a number of ways with the S200 Position Node.
The user has a choice to directly link an input to a single motion task, assign inputs as a BCD
pointer and execute, command over the serial or CAN bus ports, or tasks can be automatically
executed as the result of the completion of another move event. To use digital inputs as motion
triggers the user first sets up the input function under the I/O Setup tab of S200 OC Tools and
then assigns the I/O to tasks under the Profile\Task Lists menu. This section discusses the
choices for the I/O setup form

Start Move Discrete (Level) is an edge-sensitive trigger but level sensitive termination.
The motion task associated with this input on the Motion Task List is executed upon the
off-to-on transition of the digital input. The input signal must be maintained to complete
the move. Motion will be terminated if the input is removed during the move.

Start Move Discrete (Edge) is an edge-sensitive trigger. The motion task associated
with this input on the Motion Task List is executed upon the off-to-on transition of the
digital input. The input signal may be removed and motion will not be terminate as a
result of the removal.

Start Move BCD is an edge-sensitive trigger but level sensitive termination. The motion
task is executed upon the off-to-on transition of the digital input. The input signal must be
maintained to complete the move. Motion will be terminated if the input is removed during
the move. The motion task that will be executed is selected within Motion Task List by the
Move Select bit (BCD) codes.

Move Select Bit (BCD) is not an input that causes motion but needs to be discussed at
this point. Any number of inputs can be assigned as Move Select Bit (BCD) and used to
point to a Motion Task that can then be executed using the Start Move BCD input. Motion
tasks are numbered in the Motion Task List from 0 to 180. The user assigns as many
Move Select BCD inputs as required for the number of desired Motion Tasks. A binary
code (Base 2 number) is applied to the Move Select Inputs which represents the number

21
 of the motion task desired to be executed. The Start Move BCD can the be activated to
execute the move. A couple of finer points to be noted:
The user does not need to assign any inputs as Move Select Bit (BCD). In this
case the S200 PN will always execute Motion Task 0 (Homing) when the Start
Move BCD input is executed.
The Move Select bit weight is assigned with the lower number input have the
least significance. (Input 2 would have to be the LSB while input 10 would have
to be the MSB).
It does not matter where the user chooses to begin the Move Select Bit BCD
inputs.

The level-sensitive input modes are subject to issues resulting from switch
contact bounce. The S200 Position Node has limited ability to debounce
the switch as any attempt to do so would add an inherent delay penalizing
some applications. Switch Contact bounce can cause erratic motion for
WARNING both indexing and positioning moves. Contact bounce can cause
unpredicted feed distances when used with indexing moves.

The S200 Position Node can also trigger moves automatically. Auto-Homing upon enable is one
example of a move starting automatically. A Motion Task can be set to trigger automatically after
the completion of a homing sequence. In addition, the Motion Task table allows the user to
configure ether a ‘Begin next Motion Task as Blended Move’ or a ‘Next Motion Task’. A blended
move is the execution of two motion tasks where the first move does not come to 0 speed before
executing the next move. Rather the first move completes its assigned distance, at speed, and
the ramps into the following move. Setting the End of Task Condition to ‘None’ still allows the
user to select another Motion Task as the ‘Next Motion Task’ for automatic execution for which
the customer may insert a dwell time between the execution of the two moves. Any number of
moves can be linked to start automatically and the moves do not have to reside contiguously in
the Motion Tasking Table.

5.12 MOVE TYPES

In the Motion Task List and form the user can select the type of move for the Motion Task.
Possible Move Types are Relative Move with or without memory), absolute move, or registration
move. This section explains each of these move types.

Relative Move w/o Memory is an index. The distance entered in the Motion Task is
incremental (relative to where the starting position was). Activating the assigned input will
cause the Motion Task to begin execution. If the input type is selected to be ether Start
Move Discrete (Level) or Start Move BCD then motion will terminate should the input be
removed during the motion. Re-energizing the assigned execution input will cause the
same move to be executed, as defined in the distance entry of the Motion Task.

Move Discrete w/ Memory is an index. The distance entered in the Motion Task is
incremental (relative to where the starting position was). Activating the assigned input will
cause the Motion Task to begin execution. If the input type is selected to be ether Start
Move Discrete (Level) or Start Move BCD then motion will terminate should the input be
removed during the motion. If the input remains on for the complete cycle the index
distance is exactly as configured for the Motion Task. If the input is terminated early then

22
 the next execution will index the motor the sum of the configured distance Plus the ‘lost’
distance on the last move.

Absolute Move is a positioning move. The distance in the Motion Task entry is an
absolute position relative to the home (zero) position. The actual distance traveled may
vary because the task is to move the motor to a specific position. Early termination of a
position command followed by re-execution logically moves the motor to the absolute
commanded position.

Relative Reg Move (+Latch) is a part of an index move. The concept of registration is
explained elsewhere in this document. Selecting this move type allows the user to
configure the distance AFTER the registration mark is detected before the motor comes
to stop. +Latch means that the registration input, Digital Input 2, triggers the move on the
rising edge of the input.

Relative Reg Move (-Latch) is a part of an index move. The concept of registration is
explained elsewhere in this document. Selecting this move type allows the user to
configure the distance AFTER the registration mark is detected before the motor comes
to stop. -Latch means that the registration input, Digital Input 2, triggers the move on the
falling edge of the input.

23
5.13 WITH MODBUS RTU INTERFACE
The S200 position Node talks to a computer hosting the user interface program, S200 OC Tools,
via serial communications over RS232. The format of the communications is a well-known
standard called Modbus RTU. Any function that the S200 OC Tools GUI performs can be
emulated via the Modbus system with the exception of the digital oscilloscope functions which are
not supported with documentation.

Modbus RTU is an open protocol that supports addressing. Addressed communications allows
multiple devices to be connected on one serial port line and each Modbus node accepts
messages only addressed to it. The Modbus address is set via the rotary dipswitches on the front
of the product – S12 and S13.

The S200 PN supports only RS232 physical layer which is not a multiple device design. Systems
wishing to talk to multiple S200 PN devices (or other devices on the same bus) would typically
require external conversion hardware such as an RS485-to-RS232 converter.

5.14 OPERATOR INTERFACE TERMINAL

There are many companies who make operator interface terminals (OIT) for industrial markets.
There are also many application needs with varying demand for OIT capability. Kollmorgen does
not presently offer OITs nor do we have recommendations for the user. It is not the intent of this
section to explain OIT program design but rather to simply provide some basic guideline
information.

To choose an OIT you must understand what the intent is. It more likely than not is going to be to
allow the user to modify some S200 PN settings. Whichever OIT is chosen the screen capability
and keypad must be sufficient to allow those adjustments. Beyond this, the only requirements for
an OIT are basic. First, there must be some method to provide the required RS232 physical layer
protocol at 9600, 19.2k, or 38.4k baud rates. Next, it must support Modbus RTU communications
in both long-integer (32 Bit) and floating point formats. Often times it is convenient to choose an
OIT device that has capability to perform simple arithmetic functions so that units can be adjusted
between what the machine operator may want and what the S200 PN requires.

5.15 AS A CAN BUS PERIPHERAL

The S200 PN offers resident CAN bus port. It is normally configured to use a protocol called
CANopen but is available with a DeviceNet option. Each protocol requires a lot of documentation
to explain and is available in auxiliary support documents. The protocols include physical and
application layer details and are not explained here.

There are different ways of approaching a field bus system design. On the simple side the S200
PN can be pre-configured using the S200 OC Tools GUI and the field bus can be used to execute
moves, modify move data, and keep a pulse on system status. A more complex system may rely
on no previous setups by the user and rely on all drive data settings to be configured over the
CANbus.

There are a few points worth mentioning on this topic in this document. First, there is only one set
of address switches on the S200 PN; S12 and S13 providing 1-of-100 address possibilities.
Whatever the CANbus address is so will be the Modbus address and vice-versa. Baud rate
choices are available – see the section on DIP switch settings. More important to this topic is the
idea of drive enable.

24
The S200 PN has a dedicated hardware enable input. There a software enable. TO get power to
the power stage, and motor, both must be enabled. The S200 has the ability to allow the user to
set the default state of the software enable at power up. A variable named AENA (Auto Enable)
defaults to ‘1’ (Logic true) when the drive is set to factory default values. The user can modify the
state of this variable (Auto enable = 0) to allow the drive to not software enable at power up. This
feature is most often used with field bus controllers. Most system designers will choose when to
enable the drive over the serial port versus the hardware input. The hardware input is still
required to be active but may be hard-wired on or placed in some machine safety chain.

5.16 RAMP CONTROL

Ramp control refers the acceleration (accel) and deceleration (decal) rates the motor will have.
The S200 PN has many settings for ramp control. Each motion task can be defined with its own
accel and decal rates. Homing can be set to have its own accel and decal rate. And a Stop, or
Emergency Stop command can have its own deceleration rate. All velocity moves, such as Digital
Velocity mode and Jogs use the accel and decel settings established for the homing procedure.

5.17 REVERSING DIRECTION

Occasionally the system may be better served if the direction of motor operation was reversed.
This makes sense when the machine operator thinks in positive numbers but the desired direction
would take negative numbers. Although direction change is not directly supported in the GUI it is
possible to reverse the direction using the Online Variable Editor. The DIR variable is normally
set to a value of 21 by default. Modifying the value to 0 will change the direction of reference for
Motion Tasking moves. Reference change only affects the position loop data. CW/CCW inhibits
and jogs stay referenced to CW/CCW always.

5.18 CONTROL LOOPS

Current Loop: The S200 Position Node closes the current loop at 1.6 MHz for extremely good
performance. The current loop is automatically tuned after receiving the motor inductance value.
No further adjustments are required.

Velocity Loop: The S200 Position Node closes the velocity loop at the rate of 16kHz allowing
extremely good velocity loop control with very little phase lag.

Position Loop: The S200 Position Node closes the Potion Loop at the rate of 4 kHz allowing
extremely good performance.

5.19 FAULT DETECTION NOTES

The S200 Position Node has internal fault diagnostics. Many are self-explanatory and the last
section in this document provides information about the faults. In general it is often times better to
trap faults that occur. The S200 Position Node defaults to disable under voltage detection. The
user is advised to set the under voltage detection level to a reasonable level.

25
5.20 CONFIGURING DRIVE FROM EXISTING FILE
It is often desirable to configure a drive exactly like another one. This is often the case when
reproducing a machine design or changing out a drive on an existing machine. S200 OC TOOLS
User Interface Software is used to configure the connected drive. The file must first be loaded into
S200 OC TOOLS by using the file menu ‘File / Open’. Locate and select the desired configuration
file. It will be loaded into S200 OC TOOLS ‘folder- side’ as though there was a second drive
talking to the software noted as ‘Off Line’. The tree structure will show the file as ‘Offline’ and
normally as Node1. The full filename, with path, will be under Node 1. Select this filename with a
single click of the left mouse button. The file can be sent to the connected drive by a right-click of
the mouse button and selecting ‘Download offline Configuration to an Online drive. Save the
configuration to Non Volatile memory.

Save configuration to
Non-Volatile Memory.
(Drive must be selected
to have this function
available).

Right-Click on Node 1
and select Download
Off Line Configuration to
On Line Drive.

5.21 USING MOTORS NOT IN THE DATABASE.

The S200 Position Node requires information about the motor connected to it. When applied to a
motor with an SFD that information is automatically transferred to the drive from the SFD and
nothing more need be done. There are times when this is inappropriate or not even possible. For
these situations the S200 OC Tools allows the user to enter his own data. This is required
anytime the S200 Position Node is set to ‘Do Not Use SFD Parameters’.

26
 Selecting a non-SFD motor automatically sets a related setting: Use SFD
Parameters (Under Drive Setup Menu) to ‘Do Not Use SFD Parameters’.
Should the user go back to using an SFD supported motor the ‘Use SFD
Parameters’ setting is not automatically changed and should be changed
by the user.
NOTE
When the SFD parameters are not to be used the user must select the motor under the Motor
Setup menu. If the motor is not present in the motor data base the user must enter it into the
database. The Utilities Menu \ Motor Database editor is used. Run the database editor, Select
‘New Motor’, fill out the data sheet, press ‘Add’ and exit. The new motor will appear as a choice in
the Motor Selection Combo box.

To be clear, the above table represents the data stored in an SFD device. If ‘Do Not Use SFD
Parameters’ is selected in the Drive Setup screen the customer’s entered data will be used. If
‘Use SFD Parameters’ is selected this data will be over-written with the data in the SFD.

27
5.22 I2T FOLDBACK
The S200 incorporates an RMS output current protection algorithms sometimes called Foldback
or I2t (I-squared-t). There are two algorithms; One to protect the motor and one to protect the
drive. The purpose of the Foldback algorithm is to prevent excessive rms current from being
delivered which could cause damage to the motor or the drive.

The motor’s I2T Filter sets the break frequency in Hz for the I2T filter used to protect the motor
from transient thermal overload caused by very high peak currents compared to the motor’s
continuous current capability. Typically set to between 4 and 10 times faster than the motor’s bulk
thermal time constant published in the data sheet. Given a desired time constant set the I^2T
Filer (I2TF0) value to:
I2TF0 = 1/[(2π)*(Motor Thermal Time Constant in sec)]

The user can lower the value but not raise it above this calculation.

The I2T algorithm monitors the current delivered over time. In the event that the RMS value is
exceeded the S200 Position Node will take action. The Drive I2T condition can be configured to
take one-of-two actions. First, and by default, the I2T detection will shut down the drive and
announce the fault condition. An F20b03 on the 7-Segment display while the Base Unit Led will
flash a code of 3 for Drive exceeded ratings. For the Motor I2T a code of F20b04 will be on the 7-
segment display while the base unit will flash a code of 4. Alternately, the user can configure the
action to be a reduction in output current versus an actual fault. Under this condition the drive will
automatically clamp the current level of 2/3 DiPeak. It may be obvious that if the current limits are
not set to greater than 67% there can never be an I2T fault.

This can be configured in the Drive Setup\Fault Thresholds tab.

Version 2.0.2 and early S200 OC Tools is recognized to have an error in its
construction. The Drive I2T should not be configurable by the user while the
Motor I2t should be. The GUI is reverse. Please do not change the Drive
I2t Filter value. A new GUI will be posted at Kollmorgen.com with the fix.

NOTE

28
6.0 SWITCH SETTINGS
The S200 Position Node has 5 switches that can be adjusted for the user to configure functions.
Each is described in this section. All switches are read at power-up only. Changing of a switch
setting requires power cycling to have the new setting take effect.

Switch Number: S1
Location: Top of Product
Type: 10-Position Rotary Switch
Function: Set Encoder Equivalent Output Resolution

S1
Position Encoder Pulse / Revolution
0 Defined by S200 OC Tools
1 512 Lines Per Rev
2 1000 Lines Per Rev
3 1024 Lines Per Rev
4 2000 Lines Per Rev
5 2048 Lines Per Rev
6 4096 Lines Per Rev
7 5000 Lines Per Rev
8 8192 Lines Per Rev
9 10,000 Lines Per Rev

Switch Number: S2
Location: Top of Product
Switch Type: 4 Position Piano Switch
Function: No function: All switches should be down

Switch Number: S11

Location Front of Product
Switch Type: 10-Position Rotary
Function: Sets the LS part of Modbus, CANopen or DeviceNet
communication address. Used in conjunction with S12 allows address to
be 0-99. Must be ‘2’ for firmware download.

Switch Number: S12

Location Front of Product
Switch Type: 10-Position Rotary
Function: Sets the MS part of Modbus, CANopen or DeviceNet
communication address. Used in conjunction with S11 allows address to
be 0-99. Must be ‘0’ for firmware download.

Switch Number: S13

Location: Top of Product
Switch Type: 4-Postion Rotary
Function: According to table below, CAN bus baud rate.

29
 S13 Switch Functions
S13-1Can Baud Rate Select 1
S13-2Can Baud Rate Select 2
S13-3Up: Odd Parity, Down is Even Parity on RS232
S13-4Flash Protect: Keep Up until firmware
download procedure requests change

CAN bus baud rate is established according to the following switch settings:

CAN baud Rate S13-1 S13-2

125 kbps Down Down
250 kbps Up Down
500 kbps Down Up
1 Mbps Up Up

30
7.0 SETUP SOFTWARE
The User Interface software package is called S200 OC TOOLS. Begin by installing the
S200OCTools software. Follow the prompts. Once the software is installed, connect the
computer’s RS232 port to the wired and powered drive and motor. Double-click on the
S200OCTools icon to open the software. The software, when opened for the first time, will
automatically invoke a startup wizard that will take the user through a guided setup tour meant to
bring attention to some of the basic setup requirements. The wizard can be defeated by checking
the ‘Do not show this wizard again’ box. It can be invoked anytime using the ‘Utilities / Full Setup
Configuration Utility’ menu bar. While there are many options this section of the manual will guide
the reader through some basic setup parameters. After going through this section the software
should be easy to understand and the drive ready to run. The user should be comfortable enough
to proceed without further guidance.

It is important to understand that any change made to the drive is not saved in
non-volatile memory until the NVSAVE function is executed ether through the
NOTE
Utilities Menu or the NV save button

31
7.1 BASIC GUI DESCRIPTION
The left-side of the screen is the ‘Folder-side’. The folder side shows what drives is connected
and any open backup files. Some until the drive is selected by clicking on the appropriate folder.

Open Existing Backup File

Open New Backup File Enable

Communication Wizard

Open
Disable

COLDSTAR

Set Home

Stop Motion
Save to Nonvolatile Mem
Close Backup File Save Backup File
Jog CCW Jog CW

Jog Speed

Drive Data File View

Backup File View

Drive Model Fault Status Drive Enable Status

Operational Mode

32
 Once invoked, S200
OC TOOLS will need to
retrieve the data from
the drive. If no drive is
connected S200
OCTOOLS cannot be
navigated unless you
open an existing drive
back up file to work
offline.

Once the data upload

is complete, the
wizard screen will
appear. (Or can be
invoked using
‘Utilities / Full Setup
Configuration Utility’
The wizard will guide
you through the
necessarily steps to
complete the drive
configuration.

33
 The first step is to confirm that
the drive is configured for the
motor being used. This
information is automatically
gathered from a system using
an ‘SFD-Equipped’ AKM-
Series motor.

This system is using an

AKM21C motor with SFD.
Enter the load-to-motor inertia
ratio. You can set the Inertia
Ratio or select a different
motor.

The user can elect to set the

drive up to use customized
position units. Set the desired
mechanical user units by
clicking on the Mechanical tab.
Specify how many units per
motor revolution. Here we have
the drive set up for 65536
counts per motor revolution.

The Drive Setup tab is where

the drive’s mode of operation
is set for Digital Velocity,
Electronic Gearing or Motion
tasks. This example has
selected Motion Tasks that
will allow indexing and
absolute positioning.
Additional boxes and tabs for
gearing, tuning, faults, and
thresholds and other system
limits should be explored.

34
 The I/O Setup tabs provide an
easy and convenient way to
link inputs and outputs to
execute moves and report
status. Not all inputs can
serve all functions. Pull down
the menus and browse
around. Set up inputs for both
the base unit and the option
card functions.

Note: When inputs are

changed a ColdStart is
required.

The Profile Setup menu

allows you to set homing and
motion tasks. This screen
shows a handy method to set
home when the system
doesn’t really need to have a
home reference. Homing
always has to be done.
Shown above is a method to
home without ever having to
know that you homed. You
can not change motion task 0.
It follows then that executing a
BCD code of 0 executes a
homing routine.

For systems requiring homing

to a switch there are options
to simply find the switch and
stop or to find the switch, stop,
and move back to home.

Set up motion tasks as

required. Motion task 0 will
always be a homing routine.
The task number is the binary
code if BCD select is used.
See section 4 about more
information on inputs and
move types.

35
End of Task condition can be a blended move. A Blended move concatenates two moves
together without having to go to zero speed to begin the second move. The actual index distance
will be the sum of the blended move distances. Distance move is based on actual motor position,
not commanded motor position.

Next Motion Task can set the motion task that will be blended to the present move (if blended
move is selected) or can be used to automatically start another move without the need for an
additional input signal; the ‘next motion task’ will be executed upon completion of the present
move. A ‘Next Motion Task’ of ‘none’ places a ‘0’ in the table but does not mean to execute a
home (motion task 0); it is interpreted as ‘do nothing’. An In-Position output will not come on until
all moves are complete.

A Dwell Time can be added which occurs at the end of the move. The dwell time’s purpose is to
add a delay to moves linked with Next Motion Task (not blended moves). If there is no Next
Motion Task then the dwell timer performs no function.

The check box ‘Executes after home’ is simply a means of making an equivalent function of ‘Next
Motion Task’ after ‘Homing’ available. (There is no other way to do that since you can not directly
edit Motion Task 0).

Coldstart is a process whereby the firmware generates custom internal code (compiles) for
extremely fast execution. It is good practice to hit the Coldstart button after changing motion tasks
and I/O assignments. Without it you may get results that indicate that your changes did not take
affect.

Move types include:

Relative move with Memory:
When indexing (relative moves)
an early termination of prior
moves is remembered.
Choosing this Move Type
calculates the next move
distance as the sum of the
entered move distance PLUS
the distance that did not get
made in earlier moves due to
early termination of the index.

Relative Move Without Memory: When indexing (relative moves) this input cause the index
distance in the associated motion task to be executed. There is no reference to earlier lost
motion.
Absolute Move: Moves to an absolute position relative to the home location.
Relative Registration Moves: Index length can be ‘trimmed’ by registration input signal.

36
 For demonstration purposes; the
system shown on the left will index
one motor turn (User Units are set to
65536 counts per rev) each time
input 6 is turned on. Input 7 will
cause the motor to turn back to its
original locations.

Always remember to hit the Save to

Non-volatile memory to save your
configuration.

37
7.2 SYSTEM TOOLS

7.2.1 Status Screen

The Status screen can be helpful to understand system operation. Drive Status should read ‘OK’.
If not then a meaningful fault code will be shown.
General information about drive size and firmware version is shown.

Energizing a drive input causes

the green ‘Virtual LED’ to
illuminate. If an output is on then
it’s Virtual LED will illuminate.
Position and velocity information
can be monitored.

Drive OK
Indicator LED

Jog Counter-
Clockwise

Jog
If the system is safe to accept
Clockwise motion then the motor can be
jogged from the status screen.

38
7.2.2 Communication Wizard

A communications wizard can be found under the Utilities menu. This allows you to select the
RS232 communications port for the computer, Modbus address of the unit to communicate to
(S11 And S12), and the baud rate (Default to 38400). A simple test of communications. Other port
parameters are automatically set by S200 OC TOOLS.

7.2.3 Mouse Flags

Hovering the mouse pointer over data locations on the GUI will cause the name of the associated
variable to show. The Variable browser or On-Line Variable editor can then be used with
knowledge of the association.

39
7.2.4 Variable Editor

Although the variables available in the S200 Position Node product are not well documented
there may be a reason that a user wants to view or change them. The Utilities/Edit Variables On-
Line tool brings up this box which can be used to monitor or modify up to 8 variables at a time.

40
7.2.5 Digital Oscilloscope

Up to 4 channels of data can

be recorded simultaneously.
Set the channels for the
desired data, the sample rate
for an appropriate buffer
size, and a trigger level
suitable for the capture.
Press Start. The scope data
plots will be presented after
the trigger occurs. It is
important to note that each
plot has an independent
vertical axis scalar.

A variable called AVGTIME

can be changed using the
above-mentioned variable
editor. AVGTIME will allow
averaging of data to make it
more presentable form. The
plot to the left has AVGTIME set to 64.

The plot to the left has

AVGTIME set to 0. The
effect of having AVGTIME
set to a value is smoothing
but setting AVGTIME to a
large number can
sometimes prevent the
data from showing proper
detail and relationship – as
any low pass filter would.
AVGTIME is the number of
reads summed in the
average calculation.

41
7.2.6 Configuration Summary Screen

The configuration
Summary screen allows the
user to see all the drive
settings in one location
without having to navigate
through each possible GUI
menu.

42
8.0 TROUBLESHOOTING
This section provides tips on some common problems that may occur when trying to get the S200
Position Node up and running.

8.1 DRIVE WILL NOT COMMUNICATE WITH GUI

Communications problems are usually set-up issues. If we assume that the drive is connected to
the computer’s RS232 port correctly then there are some obvious reasons for communication
problems:

8.1.1 Device Address

The rotary dip switches on the front of the S200 Position Node set the address of the S200 PN.
Switch 12 and 13 are the MS and LS address settings – 0 through 99, respectively. The
Communication Wizard in the S200 OC Tools GUI program has an address setting of the device
it is supposed to talk to. These two settings must match.

8.1.2 Baud Rate

The serial communication baud rate of the computer must match the serial communication baud
rate of the drive. The drive defaults to 38,400 baud. Be sure the GUI is set for this. If the baud
rate of the drive was changed to 19,200 or 9600 baud then the only way to determine this is to try
to set the GUI for these rates and see if it will communicate.

8.1.3 COM Port

The Communication Wizard will allow the user to direct the GUI to use a particular com port on
the computer. This Wizard allows the user to set COM1-COM5 but it does not check if these ports
are actually available. To see what ports are available on the computer look at the computer
operating system under System Properties / Hardware/Device Manager: On XP systems you can
right click on the My Computer Icon and select properties.

This computer only has 1 com port – COM1.

43
8.1.4 Parity Setting
Dip switch S13-3 sets the drive parity. It should be in the up position for operation with S200 OC
Tools.

8.2 MISCELLANEOUS PROBLEMS

This section contains information about more common issues that users have experienced in the
past.

8.2.1 Changes in settings don’t take affect

The drive requires a COLDSTART. Changing motion or I/O assignments without doing a COLDSTART
(Saying ‘No’ to the pop-up box) will not re-compile the changes and make it look like your changes did
nothing.

8.2.2 Motor Settings Seem Incorrect

When using AKM Motors with the SFD feedback please check the drive setup screen to be sure
that the selection ‘Use SFD Parameters’ is selected. This box automatically gets unchecked when
setting the feedback for incremental encoders but does not get reset when you select SFD as the
feedback device.

8.2.3 Can’t modify motor parameters

If motor name-plate parameters need to be changed then you must use the Motor Database
Editor to create and name a new motor. If the motor has an SFD be sure to go to the drive setup
screen and set the drive for ‘Do Not Use SFD Parameters’.

8.2.4 Motor appears to move more than the Motion Task Setting
As stated in this manual, using ‘Start Move – Level’ or Start Move BCD (Will have a –Level
appendix in the future versions) as motion execution input types is subject to issues with switch
contact bounce. This problem is caused ether by that or slipping couplings on the motor shaft.

8.2.5 Motor Moves Upon Drive Enable

In the Profile Setup Tab under Homing there is the option to have ‘Auto Home upon Enable’ this
feature is activated.

8.2.6 Outputs are always on

The Outputs will show off in the Status Screen but the load is always on. The outputs are
‘uncommitted’ meaning that they have both the collector and emitter of an opto coupler device for
field wiring. The polarity of these outputs is wired incorrectly and the back-diode on the opto
coupler is driving the load. Reverse the polarity of the wiring.

8.2.7 In Position Output is unreliable

The In Position output uses the actual motor position compared to the commanded motor target
position +/- an allowable window. This allowable wind is adjustable in the Digital Output screen
under I/O Setup. The motor is not coming to the correct position. The user can widen the window,
increase the position loop gain or integrator, or the load may have too much friction for the gain
settings to come into position.

44
8.2.8 The Display shows an ‘I’
The display ‘I’dle indicator means that there is no core program executing in the S200 Position
Node. There are two ways that this can happen: Switch S13-4 is down or an error occurred in the
firmware download. If S13-4 is in the correct position then please contact customer support for
further instructions.

8.2.9 Firmware Will Not Load

S200 OC Tools version 2.0.0 has a known shortcoming where the Firmware Download code
initializes the COM port to 38,400 Baud. This problem is most likely to occur as a result of a Baud
Rate change in the drive. You must reset the drive (RS232.BAUDRATE) to 38400, do an NV
Save and power cycle the drive.

Also, GUI Versions up to and including 2.0.x will not support firmware download fro a drive whose
root directory is write-protected. To overcome this, place the firmware to be downloaded on the
local hard drive.

8.2.10 Communication ‘MNS’ LED is Red

The MNS LED becomes a steady red when a DeviceNet unit (-DNS Suffix) is not connected to an
active DeviceNet bus.

8.2.11 GUI Reports ‘Communication Lost’

This problem exhibited itself with S200 OC Tools prior to version 2.0.0. Please go to
Danahermotion.com and download a newer version.

8.2.12 I/O Is not functioning

The Status screen on the GUI has emulated LEDs showing the status of each input and can be
used to debug I/O wiring. An external supply voltage is required and the inputs must see current
flow to be on. Check field wiring.

8.2.13 Scope Traces seem incorrect

GUI Versions up to, and including, 2.0.0 plot independent ‘Y’ Axis variables. We have had issues
with some customers miss-interpreting the data due to multiple Y-axis scales.

8.2.14 System is Noisy

Although this problem can occur as the result of tuning the gains too high the S200 Position Node
does exhibit some current loop hash noise. This is normal and does not affect operation. Check
user-settable gains.

8.2.15 Fault Output does not capture all faults

This shortcoming existed in firmware versions prior to 2.0.0. Please upgrade the firmware.

45
8.3 COMMON ERROR CODE NODES
Although the following tables describe common error codes it is worth noting a few here in more
detail.

8.3.1 F20n031
This warning occurs after new firmware is loaded into the drive. It is merely an announcement
that the firmware has been changed and that the user is strongly advised to reload the
configuration file into the drive as the non-volatile memory may be corrupt. The only way to get rid
of this error is to cycle power – it is a one-shot warning to the user.

8.3.2 F09
This is a non-volatile memory checksum error and is common after loading new firmware. The
user is advised to ‘Reset to Factory Defaults’, Save, Coldstart, and then load his configuration file,
Save and Coldstart again.

8.3.3 n10 and n11

These two warnings are announcing that ether the CW or CCW end travel limits are inactive.
These two inputs are fail-safe. This means that the input must be ON to signal that there is no
over travel limit. All motion in the associated direction of travel will be suppressed while this
warning is displayed. If need be – the user can reassign the associated digital input to ‘No
Function’ to work around temporary issues and incontinences.

8.4 FAULTS AND ERRORS

The S200 Position Node product has internal fault and error monitoring systems. Constructed of a
base-unit drive and a position controller board the product actually has two monitoring systems
and three annunciation systems. The Base Unit is the drive-portion of the product and is an S200
Series AC Motor Drive with a single green status LED that signals status of the base unit. The
position controller card has a seven segment status display used to indicate faults. Finally, the
CAN bus firmware has access to a separate MNS bi-color LED to signal bus status. This section
provides information about these 3 status indicators, the faults they represent, the conditions that
can cause the faults, and how to recover from the faults.

Faults can occur with primary detection by the drive base-unit. These faults are called ‘b-faults’.
(‘b’ Is for Base Unit’). Faults that are primarily detected by the position controller card are called
‘F-faults’ (‘F’ for fault’) or ‘o-faults’ (letter O). Base unit errors are detected by the position
controller card and become F20 faults be definition. The position controller card annunciates
these with an ‘F20’ in the seven segment display followed by the ‘b-code’ (base unit) fault.
The user interface software, S200 OC Tools, displays drive status information on the Status
Menu real-time. The status block will indicate both a Position Card Fault and the Base-unit fault, if
applicable.

8.4.1 MNS LED Status Indicator

The MNS status indicator’s function operates differently on CANopen units (-CNS) than
on DeviceNet Units (-DNS). For Device Net it is guided by the rules and definitions of the
DeviceNet interface standards.

46
 MNS LED State indicator Table for CNS product
LED state Bus Communication Indication
State
OFF Off-line Drive not on line
Solid RED Failed Critical failure on drive
or
Communication failure (bus off)
Drive may need to be replaced.
Solid Green Drive is enabled. Drive is enabled, no fault on Bus
Blinking RED Faulted The drive has faulted or a time out has
occurred.

Blinking Green Drive Disabled Drive is disabled, no bus fault

8.4.2 Base Unit Status LED

The green status LED on the Base Unit will flash at a constant (2 times per second) rate if the
drive is disabled and there is no base-unit fault condition. The green status LED will remain
illuminated if the drive is enabled and there is no base-unit fault condition. At anytime a base-unit
fault condition exists this LED will flash a code. The code is signaled by a 2 second LED off-time
followed by a series of flashes. Counting the number of flashes indicates the numerical fault code.

8.4.3 7-Segment Display

The 7-segment display is under control of the position loop controller. The decimal point is always
on and has no meaning. The display will flash a series of numbers on power-up indicating the
drive model number. The display then goes into normal operation. Power-up indicator may flash
b-S-2-0-3-6 indicating that the base unit drive model is ‘S2036(0 implied)’ model. Under normal
operation the 7-segment display simply displays a ‘d’ for disabled without faults or an ‘E’ for
enabled without faults. Anytime that a fault condition is detected by the position controller card the
display will flash code sequence. The Status display displays drive state, fault code, or warning
condition.

8.4.4 Clearing Fault Conditions

There may be several ways to clear any given fault. The tables located below will provide more
information directed at explaining the recovery method for a particular fault. There are a couple of
guidelines that should be noted. To clear a fault the condition that caused the fault must no longer
exist. (i.e.: short circuit of motor leads has be cleared). All faults can be reset with a power cycle
of the logic control power. The GUI executing a Coldstart procedure can clear all faults. The
product can be configured to have an input serve a ‘Clear Fault’ input. The Clear Fault input is
limited as to what faults it can actually reset. Details of the Clear Fault input are listed in the below
tables. Definition of these codes can be found below.

8.4.5 Conditional Settings

It is possible that the actions of some ‘less fatal’ fault conditions have conditional settings
configurable within the User Interface Software. The following tables do not explain conditional
occurrences rather only the default actions.

8.4.6 S200 Position Controller Faults

47
Table 4.1 lists the S200 Position Controller faults, the action that the drive will take upon sensing
the fault condition, and the fault recovery methods allowed. Some of these faults can have
multiple source reasons.

Display Description of Fault Drive Action Reset Method

Error Code
Fo1 Heat Sink Over Drive disable with Fault Cycle power after heat sink cools
Temperature down
Fo2 Over Voltage Drive disable with Fault This fault is not latched but may
cause other faults. Clear Fault input,
Disable/Enable, Coldstart, GUI ‘Drive
Reset’ Button, or Cycle Power
Fo4 SFD Error: Short, Drive disable with Fault Power Cycle
configuration corrupt,
sensor failure, Uart error
Fo5 Under Voltage: Bus Drive disable with Fault Clear Fault input, Disable/Enable,
voltage has sagged below Coldstart, GUI ‘Drive Reset’ Button,
the threshold value or Cycle Power
Fo6 Motor Over Temperature: Drive disable with Fault Clear Fault input, Disable/Enable,
SFD sensed over Coldstart, GUI ‘Drive Reset’ Button,
temperature or Cycle Power
F08 Over speed motor runs Drive disable with Fault Clear Fault input, Disable/Enable,
away, speed is too high Coldstart, GUI ‘Drive Reset’ Button,
or Cycle Power
F09 EEPROM Checksum Drive Disabled with Drive must be re-configured.
Error: Internal memory Fault
corrupt
F12 Motor Phase short or open Drive disable with Fault Power cycle required.
F15 I²t maximum value Drive disable with Fault Clear Fault input, Disable/Enable,
exceeded Coldstart, GUI ‘Drive Reset’ Button,
(Note: The base unit can or Cycle Power
report an I2T fault as well.)

F16 – F19 Reserved

F20 Option Card / Base Unit See ‘b-faults’ See ‘b-faults’
error
F21 – F23 Reserved
F24 Warning is displayed as Drive disabled with fault Clear Fault input, Disable/Enable,
fault. Coldstart, GUI ‘Drive Reset’ Button,
(Advanced note: WMASK or Cycle Power
determines which warning
will cause F24.)
F25 Reserved
F26 Limit switch error on No Motion Clear Fault input, Disable/Enable,
homing move Coldstart, GUI ‘Drive Reset’ Button,
or Cycle Power
F27 - F31 Reserved
F32 System software not Drive disabled with Fault Power Cycle Required. Drive should
responding correctly be reconfigured.
This is internally called
System-Panic. It's set

48
 Display Description of Fault Drive Action Reset Method
Error Code
when a severe error
occurs during system
startup.

01 Motor over temp (PTC) Drive disable with Fault Clear Fault input, Disable/Enable,
when using incremental Coldstart, GUI ‘Drive Reset’ Button,
encoder feedback option. or Cycle Power
o02 – o30 Reserved
F20o31 New Firmware detected. Drive disable with Fault Power Cycle: Code is a one-shot
This is a reminder that the warning.
user area of the drive
memory could be corrupt
and should be reset by
reloading variables to the
drive.
o32 User memory checksum Drive disable with Fault Drive must be ‘Reset to Factory
error. Default or have a previously saved
setup down loaded to it, followed by
Colstart.

49
8.4.7 Extended Fault Information
As stated in the above section the Position Controller fault may come from different sources. A
Status word can be viewed using the GUI Utilities/Edit Variables On Line feature. The below table
gives the meaning of each bit in the Status word.

Fault Code Status Bit Extended fault Definition

16 1 SFD UART parity error The SFD UART received a parity error.
SFD UART 2 SFD UART overrun error The SFD UART received a second transfer
Error without reading the first.
3 SFD UART framing error SFD UART stop bit was not the correct polarity.

17 4 SFD Frame timeout Indicates that more then 89.6 uSecs has elapsed
since last frame was received.
SFD Comm
Error 5 SFD transfer incomplete Indicates that a transfer started but did not
complete in 18.4 microseconds.
6 SFD CRC error(s) In SFD Span mode, this indicates that there was
more then one CRC error over 256 transfers. If
not in SFD Span mode, any CRC error will fault.
7 SFD Motor Data timeout SFD configuration did not complete within 49.2
milliseconds.

3 8 Drive over temperature The drive has an over temperature fault

Drive
9 Drive under temperature The drive has an under temperature fault
Over/Under
9 10 Drive short circuit One or both the current sensor A/D has been in
positive current saturation for longer then 10
Motor l-l or
microseconds.
l-n Short
11 Drive output over current Drive over current

18 12 Option card read timeout OC response time out

Option Card 13 Option card watchdog time OC Watchdog timer timed out
Watch Dog out
Time out
19 14 Step size overflow Size of revs per step greater than 255 revs per
step.
PosErr Too
Large 15 PosErr overflow Position loop position error greater then +/-128
revs.

20 16 Option Card Feedback Fault with the option card encoder feedback
Fault
OC Fault

50
8.4.8 S200 Base Unit Faults (b-faults)
As previously stated the base unit Status LED will flash a code if the drive is in a faulted
condition. The following table explains the fault code.

Flash Status Resulting Drive Action Reset Method

Count
1 No Fault drive disabled Normal Operation
2 Motor Over Temp sensor Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
has tripped ‘Drive Reset’ Button, or Cycle Power
3 Drive Over/Under Temp Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
4 Drive I*t Too High; Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
Exceeded RMS ratings of ‘Drive Reset’ Button, or Cycle Power
the drive.
5 Motor I*I*t Too High; Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
Exceeded RMS ratings of ‘Drive Reset’ Button, or Cycle Power
the motor.
6 Reserved
7 Bus Over Voltage; Mains Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
high-line or excessive ‘Drive Reset’ Button, or Cycle Power
regeneration.
8 Bus Under Voltage Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
9 Motor l-l or l-n Short Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
10 Output Over Current Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
11 Hall Fault Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
12 SFD Configuration Error Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
13 SFD Short Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
14 SFD Motor Data Error Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
15 SFD Sensor Failure Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
16 SFD UART Error Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
17 SFD Comm Error Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
18 Option Card Watch Dog Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
Time out ‘Drive Reset’ Button, or Cycle Power
19 PosErr Too Large Drive Disabled with fault Clear Fault input, Disable/Enable, Coldstart, GUI
‘Drive Reset’ Button, or Cycle Power
20

51
8.4.9 System Warnings
Warnings are like faults in that they can terminate motion. In most cases they will not cause the
drive to disable. Warnings can be reset using Clear Fault input or GUI Drive Reset input.

Warning Code Description

N01 Reserved
N02 Reserved
N03 Position Error Warning
N04 Watchdog Limit Reached
N05 Reserved
N06 Software Limit Switch 1 Active
N07 Software Limit Switch 2 Active
N08 Invalid Motion Task Has Been Initiated
N09 Home Reference Point Not Set
n10 Positive Hardware Limit Switch Activated
n11 Negative Hardware Limit Switch Activated
n12 Reserved
n13 Reserved
n14 Reserved
n15 Reserved
n16…n31 Reserved
n32 Current Drive Firmware Version is a Beta Release

52
9.0 SERIAL COMMUNICATIONS AND
MODBUS RTU
9.1 GENERAL INFORMATION
The serial communications port on the S200 Position Node product uses an RS232 physical layer
and communicates using a protocol known as Modbus RTU. The Modbus protocol
implementation of the S200 -CNS/ -DNS options is based on the documents:

MODBUS over Serial Line V1.0

MODBUS Application Protocol Specification V1.1

Details of the protocol itself are not covered in this document. Both aforementioned documents
can be obtained at www.modbus.org.

This document assumes that the user is knowledgeable about the information contained in those
documents and has some level of knowledge about serial communications, in general. It is not
the intent of this document to provide that basic information.

Section 7.6 will reiterate this, but the Modbus strategy is kept simple: always 2-16 bit word
transfers (Defined by most interfaces as the ‘swapped mode’) using either integer or floating point
data types. The tables at the end of this section identify the data types for each variable.

9.1.1 Abbreviations
Abbreviation Description
UA Unit Address
The unit address of the option card
configured through the rotary switches; S11
and S12.
FC ModBus Function Code (Defined by
standard)
CRC 16bit Cyclic Redundancy Check Value

9.2 RS232 SERIAL PORT CONFIGURATION

The S200 Position Node defaults the serial port settings as follows:
Baud rate: 38400
Data bit: 8
Stop bit: 1
Parity: Odd (can be changed to Even using S13 Switch 3)

8.3 EXCEPTION MESSAGES

The Modbus protocol defines exceptions (error identification methods). The S200 implements
exceptions according to the requirements and defines additional exception codes. The following
table lists all proprietary codes.

53
 Exception Code Description
10 Invalid Quantity
11 Invalid register address
12 Invalid package number
13 Command is in execution
14 Unknown command ID
15 Command requires disabled drive
16 Invalid Motion Task number
17 Next Motion Task number is invalid
18 Enable Drive rejected
19 Writing data to FLASH failed
20 Parameter is not of type String
21 Scope: Internal error
22 Scope: Invalid Signal Name
23 Scope: Invalid Signal Size
24 Scope: Invalid record data
25 Step: Invalid Step length
26 Step: Velocity 1 for Step is out of
range
27 Step: Velocity 2 for Step is out of
range
28 Step: Velocity Mode is required
29 Memory Allocation Error
30 Internal error
31 Scope: No lookup table available
32 Scope: Wrong lookup number
33 String length is invalid

9.3 COMMUNICATION STRATEGY

The S200 Position Node product has a lot of functionality. Decisions must be made as to how
much of this should be implemented at the customer’s end of the communication network. There
may be some limitations. Most limitations can be overcome. Limitations include;

1.) The S200 Position Node communications is based on RS232 physical layer. This is to
say that multidrop communications is not directly supported by the S200 Position Node
hardware. This can be overcome with external RS485-to-RS232 converters.

2.) Changing the function of a discrete input on the S200 Position Node (Inx) requires a
Coldstart function. A Coldstart function can be a little complex on the Modbus scheme as
it requires a Manufacture-Specific Function Code and a status-check loop. It may be
better to define the input functions in the GUI and associated drive setup configuration file
and leave it static.

54
 3.) Certain functions require Manufacturer-Specific Function Codes to execute. This is
normally not a problem unless you have a pre-manufactured terminal that has limited
communications configuration capability that cannot easily support manufacture-specific
function codes. For example; Modifications to Motion Task table requires a customized
Function Code.

4.) Setup of motor parameters over Modbus is not supported. Please use the GUI software
and/or configuration backup files for setting these parameters.

5.) Variables regarding the digital inputs can be misleading. In documentation and wiring
diagrams we label the inputs DINP1 through DINP 10. In the Modbus protocol we call
these Enable through IN9. Enable relates to DINP1, IN1 related to DINP2, IN2 relates to
DINP3, etc.

6.) When using third-party Modbus software such as Modbus Poll the data types may have
to be set to Long Inverse or Float Inverse to make the data easily readable.

55
9.4 MODBUS FUNCTIONS
To simplify the communications the S200 Position Node is set up with almost all data defined as
32bit values comprised of two 16-bit registers. The data type of any one of these register sets can
be defined as Long, Text, or Float data types. With a few exceptions, all communications to the
S200 Position Node card will be Read Holding Registers (FC=03) or Write Multiple Registers (FC
= 16).
The register address of each parameter is aligned to an even register address values. Variable
address in the GUI software is set up as 32-bit address space and is called the PDID (using
variable browser utility). The Modbus registers, being 16 bit address space, are addressed at 2 *
PDID value. Please see address table at the end of this chapter.
The first register (even address) is the high word of the 32 bit value, the second register (odd
address) the low word.

Important: Although data transfer should be done using FC 16 (Write Multiple Registers,
quantity 2) the Position Node does support write of a single register:
1. To synchronize the write access when using single register access both registers
of a parameter need to be written to starting with the high word (even address). If
the low word is accessed first, an error exception occurs.
2. The firmware supports only a block read/write access of up to 2 registers. Both
registers must belong to the same parameter.

Each parameter has a set of attributes like minimum value, maximum value, default value, read
only, data type, etc., which can be uploaded from the option card. See tables at the end of this
section for details.

9.4.1 Reading Variables

To read a variable use the Modbus Function ‘Read Holding Registers’. As found in the Modbus
documents the serial communication model for a variable read is presented as follows:

UA=xx FC = 3 Address (16bit) Number of registers (16bit) CRC

Where:
UA is the unit address of the drive as set by rotary switches S11 and S12.
FC is the Read Multiple Holding Register Function Code (03).
Address is the variable register address (even number).
Number of registers to read should be set to 2.

As defined by Modbus, the S200 Position Node product will respond with the value set in those
registers:

UA=xx FC=3 data length data CRC

Where:
UA is the unit address echoed back.
FC is the function code echoed back (03)
Data length will be 2 (Data count)
Data will be the 32 bit value of the variable read. Variable type may be Long or Float.

56
9.4.2 Writing Variables
To write variables use the Modbus Function ‘Write Multiple Registers’. As found in the Modbus
documents the serial communications model for a variable write is presented as follows:

UA FC = 16 Address(16bit) Register count (16bit) Length Data CRC

Where:
UA is the unit address of the drive as set by rotary switches S11 and S12.
FC is the Write Multiple Registers function code (16 decimal = 0x10)
Register Count - Data length will be 2 (Data count)
Data will be the 32 bit value of the variable read. Variable type may be Long or Float

As defined by Modbus, the S200 Position Node product will respond with the value set in those
registers:

UA FC = 16 Address(16bit) Number of Registers(16bit) CRC

Where:
UA is the unit address echoed back.
FC is the function code echoed back (16d / 0x10).
Address is the address of the registers written echoed back.
Number of registers (written) echoed back - will be 2 (Data count)

9.4.3 Example: Read the ACC parameter

The following example on how to read the value of the ACC registers is presented. The
guidelines in the example are as follows:
Unit address is 2 (S11 = 2, S12 = 0)
The actual value of ACC in the drive is 10,000 decimal / 0x2710
From the table, the address of ACC is 2 and the data type is long.
As defined in above text, all variables are 32 bit constructed with 2 contiguous 16 bit registers.

Transmit the request to read the value of ACC:

0x02 0x03 0x00 0x02 0x00 0x02 CRC low CRC hi

Response from the S200 Position Node:

0x02 0x03 0x04 0x00 0x00 0x27 0x10 CRC low CRC hi

An actual communications monitor report for this communication transaction looks like the
following:

57
9.4.4 Example: Write the ACC parameter
Assume we wish to change the value of ACC to 20,000 in the above example:

Transmit the request to write:

0x02 0x10 0x00 0x02 0x00 0x02 0x04 0x00 0x00 0x4E 0x20 CRC low CRC high

Response from the S200 Position Node:

0x02 0x10 0x00 0x02 0x00 0x02 CRC low CRC high

An actual communications monitor report for this communication transaction looks like the
following:

9.4.5 Example: Change Speeds in Digital Velocity Mode

The S200 Position Node can be set up to operate in Digital Velocity Mode. Velocity is controlled
by the ‘J’ parameter = PDID 1934 = Modbus Address 3868. The following communication traffic
window changes the speed to 563 RPM:

Note that this data traffic representation is sending the speed, 563, as a floating point data type.

58
9.5 MOTION TASK CONTROL
9.5.1 Command functions
Motion Task data can be considered a set of arrays: One array for each Motion Task. Modbus
interface to the Motion Tasks is set up this way.

Name Description PDID Register

MT.Number Writing a number to this register populates 1210 2420
MTTargetPositionHi to MTDelay (PDID
1215 to 1224) to the values of this Motion
Task. If a ModBus error response is sent,
check MotionTaskError for the error code.
MT.Error Error code, if Motion Task operation failed 1211 2422

MT.Set Writing a value of 1 stores the values of 1212 2424

MTTargetPositionHi to MTDelay to
MotionTaskNumber
MT.Clear Clears MotionTaskNumber 1213 2426
MT.Clear.All Clears all Motion Tasks 1214 2428
MT.Target.Hi Reserved 1215 2430
MT.Target.Lo Lo-Word (32bit) of TargetPosition 1216 2432
MT.Velocity Motion Task Velocity in SI units (O_V) 1217 2432
MT.Acc Acceleration (O_ACC) 1218 2436
MT.Dec Deceleration (O_DEC) 1219 2438
MT.Control Control Word (O_C) 1220 2440
MT.Tab.Number Reserved, Not Supported 1221 2442
MT.Next.Task Next Motion Task to execute (O_FN) 1222 2444
MT.Delay Delay between Motion Tasks (O_FT) 1223 24446

The user can choose to enter each datum and execute MT.Set or recall all the present data with
MT.Number, modify the desired data, and then re-write the data with MT.Set. See Modbus
Register Table for additional information.

9.5.2 Creating and Editing Motion Tasks

To define a motion task, specify a value for each parameter. In the S200 OCTools, the task can
be selected in the table or selected from the Motion Task number drop-down box. A motion task
that consists of all parameter values set to zero is empty or available.

The S200 Position Node has 300 motion tasks. Motion tasks 1 – 200 are saved into non-volatile
memory in the drive. The drive is required to be disabled while saving a task. Once a task is
saved into memory in the drive, the task can be executed. Motion tasks 201 – 300 are stored in

59
RAM and will be erased when the drive is powered down. Motion tasks 1 – 300 can be set in
S200 OCTools or directly through Modbus communications.

The RAM-based tasks can be created, edited, saved, and executed without disabling the drive. A
RAM-based task can be edited while that same task is running. The new values will take affect
the next time the task is started.

On powering up the drive, tasks 1 – 100 are copied into tasks 201 – 300.

See section 9.5.4 for an example.

If it is necessary to edit a task without disabling the drive, use tasks 201 – 300. To eliminate
recreating a task, create the task in one of the motion tasks from 1 – 100. On the next power-up
(and all subsequent power-ups) that task will be copied to the corresponding task in 201 – 300.
For example, task 1 copies to task 201, task 201 can then be edited and executed “on-the-fly”.
Create task 1 with the closest values to what will be needed in task 201, so that minimal changes
will be required for task 201.

9.5.3 Motion Task Error Table

Description MT.Error Comment

Invalid Task Number 1 Task number out of range
Invalid Next Task Number 2 Next Task number out of range
Drive is enabled 3 Motion Task not stored, because drive is enabled. Disable
drive and try again
Command in progress 4 Command state machine is busy, i. e. with saving
parameters non-volatile. Execution of storing a motion task
is refused. Wait and try again.

9.5.4 Example: Editing Motion Tasks Though Modbus While Enabled

The procedure for writing to a motion task through Modbus consists of defining the task, writing
the parameter values, and sending the values to the motion task registers.

The step-by-step sequence is as follows:

1. Set MT.Number to the number of the task to be modified.
2. Set the “MT.” parameters to define the acceleration, velocity, deceleration, distance, and other
motion task settings.
3. For tasks 1 – 200, disable the drive. (For tasks 201 – 300, there is no need to disable the
drive.)
4. Set MT.Set = 1. This will write all of the current “MT.” parameters to the registers associated
with the motion task specified by the value of MT.Number.
5. Set MT.Set = 0, so it will be ready to be set to 1 next time.

For example, to change the distance and velocity of task 3 that has already been created:
1. Set MT.Number = 3.
2. Set MT.Target.Lo and MT.Velocity to the new values.
3. Disable the drive.
4. Set MT.Set = 1.
5. Set MT.Set = 0.

60
To read the values of a motion task, set MT.Number to the task number. Then read the values of
the “MT.” parameters.

For example, to read the acceleration of task 205:

1. Set MT.Number = 205
2. Read MT.Acc.

9.6 MOBUS ADDRESS AND FUNCTION TABLES

The following tables contain the required data for implementing Modbus commands. The
advanced user may determine that functions other than these will show up in the GUI Variable
browser. The functions listed here are the only functions supported by the Modbus
communication.

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Appendix C: Application Notes 04/12 Kollmorgen

PDID Modbus Name Data Rights Default Min Value Max Units Comments
Index Address Type Value Value
1 2 ACC Long R/W 300000 1 12000000 RPM/S Velocity Loop Acceleration Limits
2 4 ACCR Long R/W 300000 1 12000000 RPM/S Jog and Homing Acceleration Limits
3 6 ACTFAULT Long R/W 1 0 1 See List What to do upon fault
4 8 ACTIVE Long RO -1 0 0 On/Off Returns 1 if drive active, else 0
6 12 AENA Long R/W 1 0 1 On/Off Software Auto Enable: 1 Normal, 0 Disable at
power up
34 68 DEC Long R/W 300000 1 12000000 RPM/S Velocity Loop Deceleration Limit
36 72 DECR Long R/W 300000 1 12000000 RPM/S Jog and Homing Deceleration Limits
37 74 DECSTOP Long R/W 300000 1 12000000 RPM/S Priority Stop Deceleration Rate (See Vel0)
41 82 DIPEAK Float RO 0 4294968 4294968 Amps Returns Drive's Peak Current (RMS) Rating
44 88 DREF Long R/W 0 0 34 CW/CCW Set Homing Direction
45 90 DRVSTAT Long RO 0 -1 -1 Bit Coded Return Drive Status Bit Word
50 100 ENCIN Long R/W 1024 16 32767 LPR Encoder Resolution for Encoder Feedback
Systems
62 124 GEARI Long R/W 1024 -2.15E+09 2.147E+09 Counts Gearing mode: Sets GEARI pulses within
GEARO motor turns
63 126 GEARMODE Long R/W 0 0 9 See List Sets Electronic Gearing Mode
64 128 GEARO Long R/W 1 0 2.147E+09 Counts Gearing mode: Sets GEARI pulses within
GEARO motor turns
88 176 I Float RO 0 4294968 4294968 Amps Returns actual motor current
97 194 IN1 Long RO 0 0 0 On/Off Returns the state of DINP2
98 196 IN1MODE Long R/W List Sets the function of DINP2
100 200 IN2 Long RO 0 0 0 On/Off Returns the state of DINP3
101 202 IN2MODE Long R/W 17 0 90 List Sets function of DINP3
103 206 IN3 Long RO 0 0 0 On/Off Returns the state of DINP4
104 208 IN3MODE Long R/W 9 0 90 List Sets function of DINP4
106 212 IN4 Long RO 0 0 0 On/Off Returns the state of DINP5
107 214 IN4MODE Long R/W 0 0 90 List Sets function of DINP5
109 218 INPOS Long RO 0 0 0 On/Off Returns the state of the IN Position bit of the
Status Register
110 220 IPEAK Float R/W 2.25 0 4.5 Amps Allows the user to lower the peak application
current
122 244 LATCH2P32 Long RO 0 -1 -1 Counts Returns Positive edge latch position

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PDID Modbus Name Data Rights Default Min Value Max Units Comments
Index Address Type Value Value
123 246 LATCH2N32 Long RO 0 -1 -1 Counts Returns Negative Edge Latch Position
140 280 VLIM Long R/W 10000 0 10000 RPM Defines the maximum application velocity
141 282 MH Long WO 0 -128 127 Start Move to home
145 290 MJOG Long WO 0 -128 127 Start Jog at VJOG speed and ACCR / DECR Ramps

163 326 MSPEED Long R/W 10000 0 16000 RPM Motor's rated speed
174 348 O1 Long RO 0 0 1 On/Off Returns the state of DOUT1
177 354 O2 Long RO 0 0 1 On/Off Returns the state of DOUT2
180 360 OPMODE Long R/W 8 0 8 List Sets the drive's mode of operation
197 394 PE Long RO 0 -1 -1 Counts Returns the position error
198 396 PEINPOS Long R/W 4000 0 2.147E+09 Counts Sets the allowable window condition for the In
Window for Pos flag, status bit, In Pos Output
199 398 PEMAX Long R/W 262144 -2.15E+09 2.147E+09 Counts Sets the maximum allowable position error
200 400 PFB Long RO -1 -1 -1 Counts Returns the Position Feedback value
201 402 PFB0 Long RO -1 -1 -1 Counts Returns the position counter of the external
encoder
202 404 PGEARI Long R/W 65536 1 2.147E+09 NA Numerator (with PGEARO) used in setting user
position and velocity units
203 406 PGEARO Long R/W 1 1 32768 NA Denominator (with PGEARI) used in setting
user position and velocity units
210 420 PRD Long RO 0 -1 -1 Counts Returns the inter-revolution feedback position

215 430 PV Long RO 0 -1 -1 RPM Returns the actual velocity as seen by the
position control loop
216 432 PVMAX Long R/W 10000 0 10000 RPM Sets the maximum velocity allowed in a motion
task
221 442 READY Long RO 0 0 0 On/Off Returns the state of the software enable bit
228 456 REMOTE Long RO 0 0 0 On/Off Returns the state of the hardware enable input,
DINP1
234 468 S Long WO 0 -128 127 Start Stop: Decel at DECSTOP and disable drive
240 480 SETREF Long WO 0 -128 127 Start Set present position as home
251 502 STAT Long RO 0 0 4.295E+09 Bits Returns a compressed 16-Bit status word
253 506 STATUS Long RO 0 0 4.295E+09 Bits Returns full status word
254 508 STOP Long WO 0 -128 127 Start Force velocity to 0

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PDID Modbus Name Data Rights Default Min Value Max Units Comments
Index Address Type Value Value
263 526 ARHPD Long R/W 0 0 10 NA High-pass damping of the velocity loop filter
(BQMODE)
264 528 ARHPF Long R/W 1000 80 4000 Hz High-pass frequency of the velocity loop filter
(BQMODE)
266 532 ARLPD Long R/W 0 0 10 NA Low-pass damping of the velocity loop filter
(BQMODE)
267 534 ARLPF Long R/W 160 0 1000 Hz Low-pass frequency of the velocity loop filter
(BQMODE)
279 558 UVLTMODE Long R/W 0 0 1 On/Off 1' Turns on under-voltage monitoring
280 560 V Float RO 0 4294968 4294968 RPM Returns the actual motor velocity
282 564 VBUS Long RO 0 -1 -1 Volts Returns the DC Bus voltage value
289 578 VJOG Long R/W 60 -10000 10000 RPM Jog command while in Motion Tasking or
Gearing Modes
295 590 VOSPD Long R/W 3600 0 12000 RPM Sets the Over Speed Fault detection threshold

296 592 VREF Long R/W 60 0 10000 RPM Defines velocity for home to reference
304 608 INPT0 Long R/W 10 0 32000 Milliseconds Defines the minimum removal time of the 'In
Pos' output
322 644 MOVE Long R/W 0 0 300 Task Number Execute the motion task number of the
argument.
340 680 PTARGET Long RO 0 -1 -1 Counts Returns the last target position resulted from
Motion Task
358 716 BQMODE Long R/W 1 0 4 List BiQuad Filter Mode
466 932 NREFMT Long R/W 0 0 511 Task Number Defines which motion task to automatically
execute immediately following a homing
470 940 GEARFILT Long R/W 4 0 8 List Sets low pass filter frequency on gearing input

471 942 AUTOHOME Long R/W 0 0 2 On/Off Enables Auto Homing

501 1002 IN5 Long RO 0 0 1 On/Off Returns the state of DINP6
502 1004 IN5MODE Long R/W 9 0 90 List Sets function of DINP6
504 1008 IN6 Long RO 0 0 1 On/Off Returns the state of DINP7
505 1010 IN6MODE Long R/W 9 0 90 List Sets function of DINP7
507 1014 IN7 Long RO 0 0 1 On/Off Returns the state of DINP8
508 1016 IN7MODE Long R/W 9 0 90 List Sets function of DINP8
510 1020 IN8 Long RO 0 0 1 On/Off Returns the state of DINP9

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PDID Modbus Name Data Rights Default Min Value Max Units Comments
Index Address Type Value Value
511 1022 IN8MODE Long R/W 9 0 90 List Sets function of DINP9
513 1026 IN9 Long RO 0 0 1 On/Off Returns the state of DINP10
514 1028 IN9MODE Long R/W 9 0 90 List Sets function of DINP10
549 1098 O3 Long R/W 0 0 1 On/Off Returns the state of DOUT3 or if O3MODE=0
can turn on or off DOUT3
550 1100 O3MODE Long R/W 0 0 100 List Sets the function of DOUT3
551 1102 O3TRIG Long R/W 0 -2.15E+09 2.147E+09 Sets trigger level associated with O3MODE
1008 2016 Motor.Name String R/W ASCII Motor Name String
1009 2018 KVP Float R/W 0.014 0.001 110.769 A/(rad/s) Velocity Loop Proportional gain
1010 2020 KVI Long R/W 100 0 3000 Hz Velocity Loop Integrator Rate
1011 2022 ILmtPlus Long R/W 50 0 100 % Positive Current Limit
1012 2024 ILmtMinus Long R/W 50 0 100 % Negative Current Limit
1013 2026 BU.Error.code Long RO 0 0 4.295E+09 List Base Unit Error Code
1014 2028 OC.Error.code Long RO 0 0 4.295E+09 List Position Node fault code
1015 2030 Warning.Code Long RO 0 0 4.295E+09 List Position Node Warning Code
1017 2034 DPoles Long R/W 10 2 254 Pole-pairs Motor's pole pair
1025 2050 KPP Float R/W 16 0 300 (rad/s)/rad Position Loop Proportional gain
1026 2052 KVFF Long R/W 100 0 1000 % Position Loop Velocity Feed forward tuning
parameter
1027 2054 KTFF Long R/W 1 0 1000 % Position Loop Acceleration Feed Forward tuning
parameter
1028 2056 AVGTIME Long R/W 0 0 4.295E+09 Reads Sets the number of reads used to average data
over for presentation to the user.
1200 2400 Save Long WO 0 0 1 Command Writing a 1 to this location causes the S200
Position Node to save parameters to non-
volatile memory.
1201 2402 Fault Reset Long WO 0 0 1 Command Writing a 1 to this location causes the S200
Position Node to attempt a fault reset.
1202 2404 SW Enable Long R/W AENA 0 1 Command Writing a 0 disables the drive, writing a 1
enables the drive. Default depends on AENA.
1203 2406 En Stat Long RO AENA 0 16 Bit Code Enable Status: Bit 0 = Fault, Bit 1 = Reserved,
Bit 2 = Coldstart Required, Bit 3: Reserved.
1204 2408 Coldstart Long WO 0 0 1 Command Writing a one to this register starts the Coldstart
Process.
1210 2420 MT.Number Long R/W 0 0 180 Number Writing 0-180 to this register causes the S200
Position Node to populate the values of
PDID1215 through 1224 with the data for the
motion task whose number was written to this

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register.
PDID Modbus Name Data Rights Default Min Value Max Units Comments
Index Address Type Value Value
1211 2422 MT.Error Long RO 0 0 255 Stat Code This register holds the error code of an
unsuccessful attempt to write a motion task.
1212 2424 MT.Set Long WO 0 0 1 Command Writing a 1 to this register causes the S200
Position Node to accept and process the Motion
Task Data in PDID 1215-1224.
1213 2426 MT.Clear Long WO 0 0 1 Command Writing a ‘1’ to this register causes the Motion
Task pointed to by MT.Number to be cleared.
1214 2428 MT.ClearAll Long WO 0 0 1 Command Writing a ‘1’ to this register clears all Motion
Tasks.
1215 2430 MT.Target Hi Long R/W - -1 +1 Reserved Do Not Use this register
1216 2432 MT.Target Lo Long R/W -2.15E+09 2.147E+09 Bits Motion Task Target Distance
1217 2434 MT.Velocity Long R/W -0 0 2.147E+09 RPM Motion Task Target Velocity
1218 2436 MT.Acc Long R/W 300000 1 12000000 RPM/S Motion Task Acceleration Rate
1219 2438 MT.Decel Long R/W 300000 1 12000000 RPM/S Motion Task Deceleration Rate
1220 2440 MT.Control Long R/W - 0 65536 Bit Code See S300 Documentation for O_C
1221 2442 MT.Tab.Number Long R/W Reserved – Do not use
1222 2444 MT.Next.Task Long R/W - 0 180 Number Next task to auto execute. 0 means none.
1223 2446 MT.Delay Long R/W 0 0 65536 Milliseconds Delay before executing Next Motion Task.
1404 2808 Digital.Inputs Long RO 0 0 4.295E+09 Bit Coded Returns DINP2-DINP10 in one word weighted
2^INx
1453 2906 Motor.Lqll Float R/W 0 0 255 Henry Motor Q-Axis inductance
1454 2908 Motor.Ldll Float R/W 0 0 255 Henry Motor D-Axis Inductance
1455 2910 Motor.KVPAuto Float R/W 0 0 255 Arms/rad/sec
1456 2912 Motor.MIpeak Float R/W 0 0 255 Arms Motor's Peak Rated Current
1457 2914 Motor.MIcont Float R/W 0 0 255 Arms Motor's continuous rated current
1458 2916 Motor.MTF0 Float R/W 0 0 255 Hz
1502 3004 Error.code 0 -2.15E+09 2.147E+09
1620 3240 EncOut(BU) Long R/W 3 0 15 List Sets Encoder Output Resolution
1642 3284 HSTemp(BU) Float RO 0 0 0 Degrees C Returns the temperature of the drive heat sink

1935 3870 J Float R/W 0 -3.40E+38 3.40E+38 RPM Sets (or returns set value) for Digital Velocity
Mode Velocity

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9.7 STAT AND STATUS WORD INFORMATION

9.7.1 Status Word

The Status word is bit-coded as follows:

Status Word PDID 243, Modbus Register 506

Bit Name Description
0 No Hardware Enable Hardware Enable is not asserted
1 No Software Enable Software Enable is not present
2 Reserved Should be masked
3 Fault Disabled A fault has caused the drive to become disabled
4 Enabled Drive Power Stage is enabled
5 Reserved Should be masked
6 Reserved Should be masked
7 Reserved Should be masked
8 Task Active Motion Task is executing
9 Reference Set Drive has been Homed
10 Home Position Motor is at 0 location
11 In Position Motor is within tolerance of target position
12 Latch Positive DINP3 Registration Latch on Input #3 has been detected
13 Homing Drive is in the process of homing
14 TIP
15 Latch Negative DINP3 Registration Latch on Input #3 has been detected
16 Stop Active A Stop command is being executed (HW or SW)
17 Latch Positive DINP2 Registration Latch on Input #2 has been detected
18 Latch Negative DINP2 Registration Latch on Input #2 has been detected
19 FF Off Feed Forward gain is 0
20 Homing Complete Homing Process has completed
21-32 Reserved Should be masked

9.7.2 Stat Word

The Stat Word is bit coded as follows:

Stat Word PDID 251, Modbus Register 502

Bit Name Description
0 Drive Disabled The Drive Power Stage does not have power
1 Drive is not in operation No motion is being commanded
2 Unused Reserved, should be masked
3 StepMode
4 Unused Reserved, should be masked
5 Hardware Reset A hardware reset has occurred
6 Reserved Internal Use - Should be masked
7 Reserved Internal Use - Should be masked
8 Not Saved New Data has not been saved to NV memory
9 Unused Reserved, should be masked
10 Reserved Internal Use - Should be masked
Nov-31 Unused Reserved, should be masked

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 10.0 Upgrading Firmware Procedure 04/12 Kollmorgen

10.0 UPGRADING FIRMWARE PROCEDURE

Firmware can be downloaded to the drive using the S200 OC TOOLS User Interface Software. The firmware to
download must be accessible by the computer via local media (hard drive, floppy, CDROM, memory stick, etc.).

10.1 OVERALL FIRMWARE LOAD PROCEDURE

The proper procedure for upgrading firmware is as follows:

1.) Archive drive settings as described in Saving Drive Settings, above.

2.) Execute the following firmware upgrade procedure. (See 10.2)
3.) Clear memory by ‘Utilities / Reset Variables to Factory Default’
4.) Restore the drive settings using the procedure describes above for ‘Configuring Drive from Existing File

10.2 DETAILED FIRMWARE LOAD PROCEDURE

The drive must be selected on the ‘folder-side’ of the S200 OC TOOLS window.
1.) Record the present settings for the Modbus address switches S12, S11.
2.) Set the Modbus Address switches on the front of the panel to 02 (S12=0, S11 = 2)
3.) Use GUI ‘Edit Variables on line’ to query the setting of RS232.Baudrate and record its present value.
4.) If RS232.Baudrate is not 38400 then change it to 38400, perform a non-volatile memory save and cycle
power on the drive.
5.) Use the GUI ’Communication Wizard’ to ensure that it is set to address 02 and 38400 baud rate. Hit OK.

6.) Ensure that the drive is Disabled.

7.) Use the Utilities\Download New Firmware to Drive following the interactive instructions.
a. Select the desired firmware file and hit OK.

A file name that includes the letters ‘CAN’ (ie: S200_CAN_V1_10_00.BIN) supports
CANOpen field bus communication for –CNS product. A filename that contains the letters
‘DeviceNet’ (ie: S200_DeviceNet_V1_10_00.BIN) supports DeviceNet filed bus
NOTE communications for –DNS product.

b. The GUI will ask you to set S13-4 down.

c. The GUI will complete the download and ask you to turn S13-4 Up and cycle power.

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 10.0 Upgrading Firmware Procedure 04/12 Kollmorgen

Some Versions of S200 OC TOOLS mistakenly refer to switch S13 as S3.

NOTE

d. A progress window will come up to indicate the firmware load is taking place. Upon completion S200
OC TOOLS will put up a status box asking you to turn S13 back to it’s original (UP) position and cycle
power on the drive BEFORE clicking the ‘OK’ box. S200 OC TOOLS will then begin to operate normally
with a data refresh.

8.) Use S200 OC Tools to return RS232.Baudrate, if required, to its setting as recorded in step 4.
9.) Return the Modbus Address switches to the setting recorded in step 1, if required.
10.) Cycle Drive Power
11.) Use the Communication Wizard to adjust Modbus Address and Baud rate accordingly.

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 Sales and Service 04/12 Kollmorgen

SALES AND SERVICE

Kollmorgen is committed to quality customer service. Our products are available world-wide through an extensive authorized
distributor network. To serve in the most effective way, please contact your local sales representative for assistance. If you are
unaware of your local sales representative, please contact us.
Europe
Kollmorgen Customer Service Europe
Email: sales.europe@kollmorgen.com
Phone: +49(0)203 9979 0
Fax: +49(0)203 9979 155
Web: www.Kollmorgen.com
North America
Kollmorgen Customer Service North America
Email: support@kollmorgen.com
Phone: 1-540-633-3545
Fax: 1-540-639-4162
Web: www.Kollmorgen.com

71 S200 Position Node User’s Guide