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GFK-1866
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S2K Series Brushless Servo Amplifier
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GFK-1866
New In Stock!
GE Fanuc Manuals
http://www.pdfsupply.com/automation/ge-fanuc-manuals/motion-
solutions/GFK-1866
motion-solutions
1-919-535-3180
S2K Series Brushless Servo Amplifier
www.pdfsupply.com
Email: sales@pdfsupply.com
GE Fanuc Automation
Programmable Control Products
S2K Series
Brushless Servo Amplifier
User's Manual
GFK-1866A September 2002
GFL-002
Warnings, Cautions, and Notes
as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages,
currents, temperatures, or other conditions that could cause personal injury exist in this
equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage to
equipment, a Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes no
obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory

with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
The following are trademarks of GE Fanuc Automation North America, Inc.

Alarm Master Genius PowerMotion VersaMax
CIMPLICITY Helpmate PowerTRAC VersaPro
CIMPLICITY 90–ADS Logicmaster Series 90 VuMaster
CIMSTAR Modelmaster Series Five Workmaster
Field Control Motion Mate Series One
FrameworX ProLoop Series Six
GEnet PROMACRO Series Three
©Copyright 1989-2002 GE Fanuc Automation North America, Inc.

All Rights Reserved.
Preface
Content of This Manual

Chapter 1. Before Operation: Unpacking and inspecting components, storage, and product
part number reference.
Chapter 2 Hardware Overview: Product specifications, motor speed/torque curves.
Chapter 3 Installation: Heat load ratings, mounting and wiring.
Chapter 4 Getting Started: Connecting the system, establishing communications with the
amplifier, configuring the system.
Chapter 5 Software Reference: Command and register listing.
Chapter 6 Diagnostics: Status codes, command messages, and diagnostics.
Appendix A. Tables and Formulas: ASCII codes, temperature conversion, wire size
conversion, English to metric conversion.
Appendix B. Installing and Registering Motion Developer: How to install the software on
your PC and register it with GE Fanuc.
Appendix C. Interfacing with GE Fanuc APM or DSM Series Motion Controllers: How to
connect the S2K amplifier to work with a GE Fanuc APM or DSM series motion
controller.
Related Publications
GFK-1464, Motion Mate DSM302 for Series 90-30 PLCs User’s Manual
GFK-1742, Motion Mate DSM314 for Series 90-30 PLCs User’s Manual
GFK-0840, Power Mate APM for Series 90-30 PLC Standard Mode User’s Manual
GFK-0781, Power Mate APM for Series 90-30 PLC Follower Mode User’s Manual

Motion Mate and Series 90 are trademarks of GE Fanuc, Power Mate is a trademark of Fanuc
GFK-1866A iii
Contents
Chapter 1 Before Operation .................................................................................................1-1

1.1 System Overview .......................................................................................... 1-1
1.2 Unpacking Components ................................................................................ 1-2
1.3 Storage........................................................................................................... 1-2
1.4 Part Numbers................................................................................................. 1-2
1.4.1 Cable and Connector Part Numbers........................................................ 1-2
1.4.2 Motor Part Numbers ............................................................................... 1-3
1.4.3 S2K Series Brushless Servo Amplifier Part Numbers ............................ 1-4
1.4.4 Accessory Part Numbers......................................................................... 1-4
1.4.4.1 Regeneration Resistors................................................................................. 1-4
1.4.4.2 Terminal Block Assemblies ......................................................................... 1-4
1.5 Confirming System Components .................................................................. 1-5
1.6 Agency Approvals......................................................................................... 1-7
Chapter 2 Hardware Overview ............................................................................................2-1

2.1 Specifications ................................................................................................ 2-1
2.1.1 Electrical Specifications.......................................................................... 2-1
2.1.2 Isolation Transformer.............................................................................. 2-2
2.1.3 Environmental Specifications ................................................................. 2-2
2.1.4 Communication Specifications ............................................................... 2-3
2.1.5 Input And Output Specifications ............................................................ 2-3
2.1.6 Encoder Input And Output Specifications .............................................. 2-4
2.1.7 Servo Motor Specifications..................................................................... 2-5
2.2 Motor Speed/Torque Curves ....................................................................... 2-12
2.2.1 S-Series Servo Motor / Controller Curves ............................................ 2-12
2.3 S-Series Motor Derating Based on Ambient Temperature.......................... 2-15
2.4 Servo Motor Sealing.................................................................................... 2-16
2.5 Servo Motor Holding Brakes ...................................................................... 2-16
2.6 Motor Mounting .......................................................................................... 2-17
Chapter 3 Installation ...........................................................................................................3-1

3.1 Heat Load and Cooling.................................................................................. 3-1
3.2 Amplifier Mounting Guidelines and Environmental Conditions .................. 3-1
3.3 Installing the Amplifier ................................................................................. 3-2
3.4 Installing the Motor ....................................................................................... 3-3
3.5 Mounting Dimensions ................................................................................... 3-4
3.5.1 Amplifier Dimensions............................................................................. 3-4
3.5.2 S-Series Servo Motor Dimensions.......................................................... 3-6
3.5.3 MTR-3T Series Servo Motor Dimensions............................................ 3-12
3.6 Wiring.......................................................................................................... 3-22
3.6.1 General Wiring Considerations............................................................. 3-22
3.6.2 AC Supply and Motor Wiring and Grounding...................................... 3-22
GFK-1866A v
Contents
3.6.3 S-Series Servo Motor Encoder Wiring ................................................. 3-25

3.6.4 S-Series Servo Motor Power and Brake Wiring and Grounding .......... 3-26
3.6.5 MTR-Series Servo Motor Power and Brake Wiring and Grounding.... 3-27
3.6.6 MTR-Series Servo Motor Resolver Wiring.......................................... 3-28
3.6.7 Serial Communications Wiring............................................................. 3-30
3.6.8 Auxiliary I/O Wiring............................................................................. 3-30
3.6.9 Connection Diagrams............................................................................ 3-37
3.6.10 Cables and Connector Mates ............................................................... 3-45
3.7 Wiring The Optional Motor Brake .............................................................. 3-47
3.8 Regenerative Discharge Resistor Selection and Wiring.............................. 3-48
3.8.1 Calculating Regenerative Power and Selecting a Resistor ................... 3-51
3.9 Dynamic Braking Contact and Operation ................................................... 3-55
Chapter 4 Getting Started.....................................................................................................4-1

4.1 Establishing Communications....................................................................... 4-1
4.1.1 Connect The Serial Cable ....................................................................... 4-1
4.1.2 Start The Terminal Emulation Software ................................................. 4-1
4.1.2.1 Using Hyper Terminal ................................................................................. 4-2
4.1.2.2 Using Motion Developer.............................................................................. 4-6
Software Introduction................................................................................................ 4-6
Setting up the Motion Developer Screen................................................................... 4-7
Creating a New Project ............................................................................................. 4-8
Turning the Motion Toolbar ON or OFF ................................................................ 4-10
4.2 Configuring The Operating Mode ............................................................... 4-13
4.2.1 Torque Mode Operation........................................................................ 4-13
4.2.1.1 Example of Scaling The Torque Command Input ..................................... 4-14
4.2.2 Velocity Mode Operation ..................................................................... 4-15
4.2.2.1 Example of Scaling The Velocity Command Input ................................... 4-16
4.2.3 Position Mode Operation ...................................................................... 4-16
4.2.3.1 Examples of Scaling The Pulse Command Input....................................... 4-17
4.2.3.2 Configuring The Encoder Output .............................................................. 4-18
4.3 Setting The Torque Limit ............................................................................ 4-20
4.4 Setting Motor Direction............................................................................... 4-20
4.5 Enable Input ................................................................................................ 4-20
4.6 Configuration Parameters............................................................................ 4-21
4.7 Tuning ......................................................................................................... 4-23
4.7.1 Using Autotuning.................................................................................. 4-23
4.7.2 Manually Setting the Tuning Parameters.............................................. 4-24
Chapter 5 Software Reference..............................................................................................5-1

5.1 Software Overview........................................................................................ 5-1
5.2 Alphabetical Command and Register Guide ................................................. 5-2
5.3 Commands and Registers .............................................................................. 5-3
vi S2K Series Brushless Servo Amplifier User's Manual–September 2002 GFK-1866A

Contents
Chapter 6 Diagnostics ...........................................................................................................6-1

6.1 LED Display Status Codes ............................................................................ 6-1
6.2 Status Register Messages .............................................................................. 6-2
6.2.1 Fault Code Register (FC) ........................................................................ 6-2
6.2.2 Fault Input Register (FI) ......................................................................... 6-4
6.2.3 General I/O Register (IO) ....................................................................... 6-5
6.2.4 Axis Status Register (SRA) .................................................................... 6-6
6.3 Query Registers for Current Data (Q, ?) ....................................................... 6-6
6.4 Troubleshooting Flow Chart ......................................................................... 6-7
Appendix A Tables and Formulas.......................................................................................... A-1

Standard ASCII (American Standard Code for Information Interchange) Codes ........... A-1
AWG to Metric Wire Size Conversion ............................................................................ A-2
Temperature Conversion.................................................................................................. A-3
Formulas................................................................................................................... A-3
Table......................................................................................................................... A-3
Miscellaneous Equivalents............................................................................................... A-4
Fraction-Decimal-Metric Equivalents.............................................................................. A-5
English and Metric Equivalents ....................................................................................... A-6
Appendix B Installing and Registering Motion Developer .................................................. B-1

B.1 Installing Motion Developer .................................................................. B-1
B.1.1 Computer System Requirements............................................................ B-1
Hardware ...................................................................................................................B-1
Software ....................................................................................................................B-1
B.1.2 Installation ............................................................................................. B-1
To Install Motion Developer from a CD: ..................................................................B-1
B.2 Product Authorization............................................................................ B-2
B.2.1 To Authorize Motion Developer:........................................................... B-2
B.2.2 To Move the Authorization to Another Computer................................. B-2
B.3 Technical Support for Motion Developer Software............................... B-4
Contact Choices .................................................................................................B-4
For Most Efficient Service .................................................................................B-4
Appendix C Interfacing With GE Fanuc APM or DSM Series Motion Controllers......... C-1
C.1 Wiring the S2K Amplifier to the APM300 Motion Controller.............. C-1
C.2 Wiring the S2K Amplifier to a DSM Motion Controller....................... C-2
C.1.1 Auxiliary Terminal Board Description and Mounting Dimensions....... C-4
C.1.2 Converting the Terminal Board From DIN-Rail to Panel Mounting..... C-5
C.1.3 Auxiliary Terminal Block Pin Assignments .......................................... C-6
GFK-1866A Contents vii

Contents
Figure 3-1. SSD104, SSD107 and SSD407 S2K Series Amplifier Dimensions and Weight....................... 3-4
Figure 3-2. SSD216, SSD228 and SSD420 S2K Series Amplifier Dimensions and Weight....................... 3-5
Figure 3-3. Dimensions for 30-100 Watt SL Series Motors......................................................................... 3-6
Figure 3-4. Dimensions for 200 Watt S-Series Servo Motor ....................................................................... 3-7
Figure 3-7. Dimensions for 1000 Watt and 2500 W S-Series Servo Motors ............................................. 3-10
Figure 3-8. Dimensions for 4500 Watt and 5000 W S-Series Servo Motors ............................................. 3-11
Figure 3-9. Dimensions for MTR-3T1x-Series Servo Motors ................................................................... 3-12
Figure 3-10. Dimensions for MTR-3T2x-Series Servo Motors .................................................................. 3-13
Figure 3-14. Dimensions for MTR-3N2x-Series Servo Motors .................................................................. 3-15
Figure 3-15. Dimensions for MTR-3N3x-Series Servo Motors .................................................................. 3-16
Figure 3-16. Dimensions for MTR-3S2x-Series Servo Motors................................................................... 3-17
Figure 3-20. S-Series Servo Motor Serial Encoder Feedback Connectors.................................................. 3-25
Figure 3-21. S-Series Motor Power Connections ........................................................................................ 3-27
Figure 3-22. MTR-3T Series Motor/Brake Power Connections.................................................................. 3-28
Figure 3-23. MTR-3N and MTR-3S Series Motor Power Connections..................................................... 3-28
Figure 3-24. MTR-3N and MTR-3S Series Optional Brake Power Connections ...................................... 3-28
Figure 3-25. MTR-Series Resolver Feedback Connections ........................................................................ 3-29
Figure 3-26. Connection Diagram for the 4.3 A 115/230 VAC Serial Encoder-Based Servo Amplifier
(SSD104) ........................................................................................................................... 3-37
Figure 3-27. Connection Diagram for the 4.3 A 115/230 VAC Resolver-Based Servo Amplifier
(SSD104R) ........................................................................................................................ 3-38
Figure 3-28. Connection Diagram for the 7.2A 115/230 VAC Serial Encoder-Based Servo Amplifier
(SSD107) ........................................................................................................................... 3-39
Figure 3-29. Connection Diagram for the 7.2A 115/230 VAC Resolver-Based Servo Amplifier (SSD107R)3-40
Figure 3-30. Connection Diagram for the 16 A & 28 A 230 VAC Serial Encoder-Based Servo Amplifiers
(SSD216 & SSD228)......................................................................................................... 3-41
Figure 3-31. Connection Diagram for the 16 A & 28 A 230 VAC Resolver-Based Servo Amplifiers
(SSD216R & SSD228R) ................................................................................................... 3-42
viii S2K Series Brushless Servo Amplifier User's Manual–September 2002 GFK-1866A
Contents
Figure 3-32. Connection Diagram for the 7.2A 460 VAC Resolver-Based Servo Amplifier (SSD407R).. 3-43
Figure 3-33. Connection Diagram for the 20A 460 VAC Resolver-Based Servo Amplifier (SSD420R)... 3-44
Figure 3-34. Typical Brake Wiring Diagram............................................................................................... 3-47
Figure 3-35. Regenerative Discharge Resistor Mounting and Wiring Dimensions .................................... 3-50
Figure 3-36. Typical External Dynamic Brake Circuit............................................................................... 3-55
Figure C-1. APM300 Terminal Block and Cable Connections ................................................................... C-1
Figure C-2. APM300 to S2K Amplifier Connections Using Terminal Block 44A726268-001.................. C-2
Figure C-3. DSM Terminal Boards and Cables for S2K Amplifier Interface ............................................. C-3
Figure C-4. Auxiliary Terminal Board with Mounting Dimensions ........................................................... C-4
Figure C-5. Auxiliary Terminal Board Assembly Drawings....................................................................... C-5
Figure C-6. Auxiliary Terminal Board Assembly Side View ..................................................................... C-6
Figure C-7. DSM Analog Interface to SSD104, SSD107, and SSD407 Amplifier (With external Enable) C-8
Figure C-8. DSM Analog Interface to SSD216, SSD228, and SSD420 Amplifier (With external Enable) C-8
GFK-1866A Contents ix
Contents
Table 1-1. S-Series Motor/Amplifier Compatibility for Serial Encoder-based Amplifiers.......................... 1-5
Table 1-2. MTR-Series Motor/Amplifier Compatibility for Resolver-based Amplifiers............................. 1-6
Table 2-1. Hardware Resources.................................................................................................................... 2-1
Table 2-2. Amplifier Power Specifications .................................................................................................. 2-2
Table 2-3. Environmental Specifications ..................................................................................................... 2-2
Table 2-4. Serial Communication Specifications ......................................................................................... 2-3
Table 2-5. Input and Output Specifications .................................................................................................. 2-3
Table 2-6. Encoder and Resolver Input/Output Specifications .................................................................... 2-4
Table 2-7. S-Series Motor Specifications ..................................................................................................... 2-5
Table 2-8. MTR-3N Series Motor Specifications......................................................................................... 2-7
Table 2-9. MTR-3S Series Motor Specifications ......................................................................................... 2-8
Table 2-10. MTR-3T Series Motor Specifications ..................................................................................... 2-10
Table 2-11 Mounting Configurations for Servo Motors.............................................................................. 2-17
Table 3-1. Power Terminal Connections and Wire Sizes for SSD104 4.3 A Amplifier ............................ 3-23
Table 3-2. Power Terminal Connections and Wire Sizes for SSD107 7.2 A Amplifier ............................ 3-23
Table 3-3. Power Terminal Connections and Wire Sizes for SSD216 16A & SSD228 28A Amplifier .... 3-24
Table 3-4. Power Terminal Connections and Wire Sizes for SSD407 7.2 A 460 VAC Amplifier ........... 3-24
Table 3-5. Power Terminal Connections and Wire Sizes for SSD420 20A Amplifier .............................. 3-25
Table 3-6. Serial Encoder Position Feedback Connections........................................................................ 3-26
Table 3-7. Resolver Position Feedback Connections ................................................................................. 3-29
Table 3-8. Auxiliary I/O Connector Pin-out............................................................................................... 3-31
Table 3-9. Cables Available from GE Fanuc.............................................................................................. 3-45
Table 3-10. S-Series Servo Motor Connector Mates.................................................................................. 3-46
Table 3-11. Regenerative Discharge Resistor Kits...................................................................................... 3-48
Table 3-12. Amplifier Regenerative Discharge Ratings............................................................................. 3-52
Table 6-1. LED Display Status Codes .......................................................................................................... 6-1
Table C-1. Auxiliary Terminal Board Components .................................................................................... C-5
Table C-2. Terminal Block Pin Assignments for DSM300 Analog Servo Axes.......................................... C-7
x S2K Series Brushless Servo Amplifier User's Manual–September 2002 GFK-1866A

Before Operation
Chapter
1.1 System Overview

S2K Series Brushless Servo Amplifiers are high performance amplifiers with user-configurable
command interface and I/O functions. The amplifiers can accept either an analog torque or speed
command, or a pulse (stepper) command interface. Amplifiers are available in models configured
for either resolver or serial encoder motor feedback. Encoder based S2K models can only be used
with GE Fanuc S-Series (SLM, SDM or SGM) servo motors. An S2K amplifier configured for
resolver feedback can use GE Fanuc MTR-Series servo motors or third party motors with
appropriate ratings and resolver specifications. The resolver must be a control transmitter type with
a transformation ratio of 0.5. The ratio of motor poles to resolver poles must be an integer value 1,
2, or 3. For resolver motor requirements, refer to “Encoder Input and Output Specifications” in
chapter 2. Please consult the factory for assistance in controlling non-GE Fanuc motors.
The following table lists the S2K Series servo amplifier power ratings that are available:
Voltage Rating Current Rating Input Power Peak Current Feedback Type
230 VAC 4.3 amps continuous 115 VAC single phase or 2X continuous rating resolver or serial
7.2 amps continuous 230 VAC 3-phase
16 amps continuous 230 VAC 3-phase
28 amps continuous
460 VAC 7.2 amps continuous 460 VAC 3-phase 1.5X continuous rating resolver only
20 amps continuous
S2K Series amplifiers are optimized for use with the GE Fanuc S-Series or MTR series servo
motors. Overload and possible component damage may occur if the motor and amplifier are not
properly matched. Tables 1-1 and 1-2 show the proper pairing of the components.
The 30—1000W S-Series servo motors (SLM models) are designed with standard NEMA shaft and
flange mounting configurations for easy mounting to off-the-shelf gear reducers and couplings. The
750W motor uses an oversized shaft diameter (0.625 in.) for the NEMA 34 mounting to handle the
peak torque rating of this model. SLM motors from 2.5 to 5kW, and all SDM and SGM models
have metric mounting configurations. All servo motors are available with an optional 24VDC
holding brake for holding stationary loads that is spring-set and electrically-released. You must
supply a separate 24 VDC brake power supply. The 30—750W S-Series and all MTR-series
motors have a pigtail cable with box style connectors for motor power, encoder, and brake
connections for MTR-3T and 1-SKW S-Series motors. The 1000—5000W motors have MS style
connectors, and brake power is integrated with the motor power connections in a common power
connector/cable.
S2K Series amplifiers are configured using Motion Developer software running on a personal
computer. This software is a standalone application that works in the Machine Edition software
environment.
The following sections outline what should be accomplished before operating the S2K Series
amplifiers.
1-1
1
1.2 Unpacking Components

After opening the S2K Series package, please verify the following:
1. Did you receive the correct model components? The model number of each component is
shown on the carton and product labels.
2. Did you receive all items shown on the packing list?
3. Was anything damaged during shipment?
Note
If you find any damage, please contact your local dealer/distributor or GE Fanuc
directly.
1.3 Storage
Store S2K components in a clean, dry location that is not exposed to direct sunlight, rain, excessive
temperatures (exceeding -20°C to 80°C), corrosive gasses or liquids.
For maximum protection, store all components in the original shipping container.
1.4 Part Numbers

The following figures show how to read the model number on the motors and S2K amplifiers.
1.4.1 Cable and Connector Part Numbers

GE Fanuc offers a variety of prefabricated and tested cables to simplify system installation. Part
numbers for these cables and mating connectors are shown in Section 3.6.7.
1-2 S2K Series User's Manual – September 2002

Before Operation 1
1.4.2 Motor Part Numbers
IC800 SL M ttt m v b e rr
Series Encoder Resolution
SL = Low Inertia Series 25 = 2500 lines
SD = Med. Inertia Series
SG = High Inertia Series
Encoder Type
E = Incremental data with serial commutation
Motor Brake
Power N = No Key and No Brake (Std. On 30 to 100 W models)
003 = 30 Watt B = Brake and No Key (Opt.on 30 to 100 W models)
005 = 50 Watt K = Key and No Brake (Std. On 200 W and larger models)
010 = 100 Watt X = Brake and Key (Opt.on 200 W and larger models)
020 = 200 Watt
040 = 400 Watt
075 = 750 Watt Voltage
100 = 1000 Watt
1 = 115 VAC Motor (100 to 400 W models only)
250 = 2500 Watt
350 = 3500 Watt 2 = 230 VAC Motor
450 = 4500 Watt 3 = 115/230 VAC Motor
(available only for 30 & 50 W models)
500 = 5000 Watt
Mounting
N = NEMA
M = Metric
MTR- 3N - fs -w -R- b - m - s
Shaft Seal
Series 0 = No seal (3T4x, 3T5x & 3T6x only)
S = Shaft seal (standard on all models except 3T4x, 3T5x
3N = Neodymium
and 3T6x)
3S = Samarium
3T = Metric Mounting Flange
N = NEMA (NEMA23; 3N2x, 3S2x; NEMA34: 3N3x, 3S3x)
E = English (standard on 3S4x, 3S6x or 3S8x)
Frame/Stack C = NEMA 56C (option on 3S4x only)
M = Metric (standard on 3T)
3N Series:
21, 22, 24, 31, 32, 33
Brake
3S Series: 0 = No Brake
22, 23, 32, 33, 34, 35, 43, 45, B = 24 Vdc Brake (not available for 3S20 series)
46, 63, 65, 67, 84, 86, 88
3T Series: Feedback
11, 12, 13, 21, 22, 23, 24, 42, R = Resolver
43, 44, 45, 53, 54, 55, 57, 65,
66, 67, 69
Winding
Chapter 1 Before Operation 1-3

1
1.4.3 S2K Series Brushless Servo Amplifier Part Numbers
IC800 SSD104 R S1
S2K Options
Type S1 = Standard Amplifier Configuration
S = Servo
Motor Feedback Type
Blank = GE Fanuc serial encoder (S-Series motors only)
Power R = Resolver
D = Servo Drive Only
Continuous Current
Supply Voltage 04 = 4.3 Amp Servo Model (230 Vac only)
07 = 7.2 Amp Servo Model (230 or 460 VAC)
1 = 90 – 250 VAC (4.3 & 7.2 amp models only) 16 = 16 Amp Servo Model (230 VAC only)
2 = 180-250 VAC (16 & 28 amp models only) 20 = 20 Amp Servo Model (460 VAC only)
4 = 324-528 VAC (7.2 or 20 amp models only) 28 = 28 Amp Servo Model (230 VAC only)
1.4.4 Accessory Part Numbers
1.4.4.1 Regeneration Resistors
IC800SL R xxx
SL Series
Regen Resistor Kits
Type
001 = 50 ohm, 100 W w/mounting
002 = 100 ohm, 225 W w/mounting hardware
1.4.4.2 Terminal Block Assemblies

44A726268-001 – This terminal block can be used to interface a GE Fanuc APM300 series motion
controller for the Series 90-30 PLC or other third party motion controller to the S2K amplifier.
IC693ACC336 – This terminal block assembly can be used to interface a GE Fanuc DSM300
series motion control module for the Series 90-30 PLC to the S2K amplifier.

Before Operation 1
1.5 Confirming System Components

The S2K Series system consists of an amplifier and a servo motor from GE Fanuc. Each amplifier
is optimized for use with specific GE Fanuc motors. However, a larger amplifier can be used if the
continuous (CURC) and peak (CURP) current limit registers are set accordingly. Please refer to the
following table for the correct combination of amplifier and motor.
Table 1-1. S-Series Motor/Amplifier Compatibility for Serial Encoder-based Amplifiers

Applicable S-Series Motor
Amplifier
Cont. Encoder
Model # Rated Torque Max. Resolution
Motor Model # Voltage
Output Speed
(Quad Counts)
IC800SLM003N3NE25
30 W 0.84 in-lb 115/230VAC 5000 10,000 Counts
IC800SLM003N3BE25*
IC800SLM005N3NE25
50 W 1.42 in-lb 115/230VAC 5000 10,000 Counts
IC800SLM005N3BE25*
IC800SLM010N1NE25
100 W 2.83 in-lb 115VAC 5000 10,000 Counts
IC800SLM010N1BE25*
IC800SLM010N2NE25
100 W 2.83 in-lb 230VAC 5000 10,000 Counts
IC800SLM010N2BE25*
IC800SLM020N1KE25
IC800SSD104S1 200 W 5.7 in-lb 115VAC 5000 10,000 Counts
IC800SLM020N1XE25*
IC800SLM020N2KE25
200 W 5.7 in-lb 230VAC 5000 10,000 Counts
IC800SLM020N2XE25*
IC800SLM040N1KE25
400 W 11.5 in-lb 115VAC 5000 10,000 Counts
IC800SLM040N1XE25*
IC800SLM040N2KE25
400 W 11.5 in-lb 230VAC 5000 10,000 Counts
IC800SLM040N2XE25*
IC800SLM075N2KE25
750 W 21 in-lb 230VAC 5000 10,000 Counts
IC800SLM075N2XE25*
IC800SLM100N2KE25
1000 W 28 in-lb 230VAC 5000 10,000 Counts
IC800SLM100N2XE25*
IC800SSD107S1
IC800SDM100M2KE25
1000 W 43 in-lb 230VAC 3000 10,000 Counts
IC800SDM100M2XE25*
IC800SLM250M2KE25
2500 W 70 in-lb 230VAC 5000 10,000 Counts
IC800SLM250M2XE25*
IC800SSD216S1
IC800SDM250M2KE25
2500 W 104 in-lb 230VAC 3000 10,000 Counts
IC800SDM250M2XE25*
IC800SLM350M2KE25
5000 W 140 in-lb 230VAC 5000 10,000 Counts
IC800SLM350M2XE25*
IC800SLM500M2KE25
5000 W 140 in-lb 230VAC 4500 10,000 Counts
IC800SLM500M2XE25*
IC800SSD228S1
IC800SDM500M2KE25
5000 W 210 in-lb 230VAC 3000 10,000 Counts
IC800SDM500M2XE25*
IC800SGM450M2KE25
4500 W 322 in-lb 230VAC 2000 10,000 Counts
IC800SGM450M2XE25*
* Denotes motors that have the optional 24 VDC holding brake (requires customer supplied power supply)

1
Table 1-2. MTR-Series Motor/Amplifier Compatibility for Resolver-based Amplifiers

Applicable MTR-Series Motor
Amplifier
Cont.
Model # Max. Resolver
Motor Model # Stall Voltage
Speed Resolution
Torque
MTR-3N21-H 4 in-lb 230VAC 14000 4096 counts
MTR-3N24-G 13.8 in-lb 230VAC 5000 4096 counts
MTR-3N32-G 36 in-lb 230VAC 3000 4096 counts
MTR-3N33-G 45 in-lb 230VAC 2100 4096 counts
MTR-3S22-G 4.8 in-lb 230VAC 8000 4096 counts
MTR-3S23-G 8 in-lb 230VAC 4700 4096 counts
IC800SSD104RS1
MTR-3T11-G 2.3 in-lb 230VAC 6000 4096 counts
MTR-3T13-G 8 in-lb 230VAC 6000 4096 counts
MTR-3T24-H 23 in-lb 230VAC 4350 4096 counts
MTR-3S43-H 33 in-lb 230VAC 4200 4096 counts
IC800SSD107RS1 MTR-3S45-G 48 in-lb 230VAC 2800 4096 counts
MTR-3T43-J 54 in-lb 230VAC 4000 4096 counts

Before Operation 1
Applicable MTR-Series Motor

Amplifier
Cont.
Model # Max. Resolver
Motor Model # Stall Voltage
Speed Resolution
Torque
IC800SSD216RS1
MTR-3T45-I 90 in-lb 230VAC 3300 4096 counts
IC800SSD228RS1
IC800SSD407RS1
IC800SSD420RS1 MTR-3T55-H 151 in-lb 460VAC 4300 4096 counts
1.6 Agency Approvals

Product Series UL/UR CUL/CUR CE
S2K Amplifiers UL CUL EN50178
MTR-3N Series Motors UR No EN60034-1
MTR-3S Series Motors UR No EN60034-1
MTR-3T Series Motors UR CUR EN60034-1

Chapter Hardware Overview
2
2.1 Specifications
The S2K Series amplifiers are available in two 115/230 VAC ratings, two 230 VAC ratings and
two 460 VAC ratings. The 115/230 VAC and 230 VAC models are available with either a serial
encoder or resolver motor feedback interface while the 460 VAC models are only available with a
resolver feedback interface. The S2K series encoder-based amplifiers are used with the S-Series
servo motors while the resolver-based amplifiers are used with MTR-Series servo motors. This
chapter contains the specifications for each of these components. Table 2-1 shows the hardware
resources available on the S2K amplifiers.
Table 2-1. Hardware Resources

S2K
Hardware Resources
Amplifier
Motor Feedback Input (serial encoder or resolver) 1
Auxiliary Encoder Input 1
Encoder Output 1
Enable Digital Inputs 1
OK Digital Outputs 1
Analog Inputs 2
Analog Outputs 1
Serial Ports 1
2.1.1 Electrical Specifications

The Servo Controller models are suitable for use on a circuit capable of delivering not more than
5,000 rms symmetrical amperes, 250 volts maximum when protected by RK5 class fuses. Table 2-2
summarizes the maximum continuous input power requirements. The actual input power and
current is a function of the motor's operating point and the duty cycle.
2-1
2
Table 2-2. Amplifier Power Specifications

Rating
Specification Units
SSD104 SSD107 SSD216 SSD228 SSD407 SSD420
AC Input Voltage Range VAC 90-250, 1 or 3 phase 180-250, 3 phase 324-528, 3 phase
AC Input Frequency Range Hz 50 - 440
PWM Frequency to Motor kHz 16.4 8.2
Motor Minimum Inductance mH 1 (per phase)
Cont. Output Current1 Arms 4.3 7.2 16 28 7.2 20
Peak Output Current Arms 8.6 14.4 32 56 10.8 20
Max. Input Current 1-phase Arms 7 15 N/A N/A N/A N/A
3-phase Arms 4 8 18 30 8 22
KVA @
Max. Input Power 1.6 3.8 8.5 14.3 6.4 18
Rated VAC
Logic Input Power VAC N/A N/A 90-250 @ 0.5 A +18-30 VDC@ 1.5 A
DC Power Outputs3 VDC +5 @ 0.25 A; +12 @ 0.5 A
Logic Supply Fuses SSD104: No internal fuses
SSD107, SSD216, and SSD228: 2A, 250 volt fuse (Littelfuse #224002) on the 2L1 input only. The 2L2
input is not fused. This fuse is soldered in and is not considered field replaceable.
IC800SSD407 and IC800SSD420: 5A, 125 volt fuse (Littelfuse #251005) on the +24 V input only. The
COM input is not fused. This fuse is soldered in and is not considered field replaceable.
Branch Circuit Fuse2 1-phase Arms 10 15 N/A N/A N/A N/A
3-phase Arms 5 15 20 30 10 25
Notes:
1) Outputs are provided with an internal overload protection
2) Use RK5 class time delay fuses for the supply line
3) The +5 Vdc output is also used to power the S-Series motor encoder. The +5V supply can source 0.5 A but the motor encoder requires 0.25 amp max.
(0.15 amp typical). This supply is protected against overload but overloading will cause a loss of motor feedback and the system will fault.
2.1.2 Isolation Transformer

An isolation transformer is not specifically required when using the S2K Series amplifiers. If the
supply voltage is above the maximum of the range specified for each model a transformer is
required to drop the voltage to within the acceptable range. The transformer should be sized to
provide adequate power under all operating conditions. Choose a transformer rated for a minimum
of 125% of the drive maximum continuous input KVA.
2.1.3 Environmental Specifications
Table 2-3. Environmental Specifications

Operating Temperature1 32 to 122 oF (0 to 50 oC)
Storage and Shipping Temperature -40 to 176 oF (-40 to 80 oC)
2
Altitude 3300 Feet (1000 m)
Relative Humidity (non-condensing) 5 to 95 %
Notes:
1) Assumes heat sink orientation is vertical
2) Operation at higher altitudes requires controller derating. Please consult GE Fanuc.

Hardware Overview 2
2.1.4 Communication Specifications

Table 2-4. Serial Communication Specifications
Serial Communication
Available Ports 1
Format RS-232
Maximum Addressable Units 1
Maximum Length of Serial Data Link 50 feet
Communication Rate 9600 baud
Data Bits 7
Parity Odd
Stop Bits 1
Flow Control XON/XOFF
2.1.5 Input And Output Specifications

Table 2-5. Input and Output Specifications
Digital Inputs and Outputs
Operating Range 12-24 VDC, 30 VDC maximum
Interface Format optically isolated, source/sink user-configurable
Maximum Off Voltage 4 VDC
Inputs Minimum On Voltage 10 VDC
Load 2 kΩ
Maximum On Resistance 35 Ohms
Outputs Maximum Load Current 100 mA
Maximum Off Leakage Current 200 nA
Analog Inputs
Number Available 2
Operating Range +/-10 VDC
Resolution 12 Bits
Input Impedance 50 kΩ
Analog Outputs
Number Available 1
Functional Assignment User configurable as velocity, current or following error
Operating Range +/-10 VDC
Resolution 8 Bits
Output Current 5mA
Chapter 2 Hardware Overview 2-3

2
2.1.6 Encoder Input And Output Specifications

Table 2-6. Encoder and Resolver Input/Output Specifications
Auxiliary Encoder Input
Number Available 1
Input Voltage 5, 12 or 15 VDC
Single-ended or Differential
Input Format Sine or Square Wave
Quadrature, Pulse/Direction or CW/CCW Pulse
Max. Line Count Frequency 3 MHz (12 MHz quadrature)
+5 Supply1 0.35 A max. (0.25 A typical)
Encoder Output
Number Available 1
Output Voltage 5 VDC
Differential
Output Format Square Wave
Quadrature, Pulse/Direction or CW/CCW Pulse
Max. Line Count Frequency 250 kHz
Motor Encoder Feedback Input (Serial encoder-based models only)
Number Available 1
Resolution 2500 lines per revolution
Data Input Format Differential, Quadrature
Commutation Input Format Serial (S-Series motors)
Max. Line Count Frequency 3 MHz (12 MHz quadrature)
Motor Encoder Current Requirement1 typical 0.150 A
maximum 0.250 A
Motor Resolver Feedback Input (Resolver-based models only)
Number Available 1
Resolution 4096 pulses per revolution
Maximum Speed 15,000 RPM
Type Control Transmitter
Phase Shift ± 5.0 degrees @ 5kHz
Null Voltage < 20 mV @ 5 kHz
Transformation Ratio 0.5
Notes
1) The +5 Vdc output power supply available to power the auxiliary encoder ( pin 19 of the Auxiliary I/O connector for
models SSD104, SSD107 and SSD407 or the Pulse Input connector on models SSD216, SSD228 and SSD420) is also
used to power the motor encoder. The motor encoder requires a maximum of 0.25 amps but typically draws 0.15 amp.
Overloading the 5V supply will cause a loss of feedback and fault the amplifier.

Hardware Overview 2
2.1.7 Servo Motor Specifications

Table 2-7. S-Series Motor Specifications
Motor Rating @ 20oC
Specification Units SLM003 SLM005 SLM010 SLM020 SLM040 SLM075
115/230V 115/230V 115V 230V 115V 230V 115V 230V 230V
Output Power W 30 50 100 200 400 750

Continuous Stall in-lb 0.84 1.42 2.83 5.66 11.5 21.2
Torque1 [Nm] [0.095] [0.16] [0.32] [0.64] [1.3] [2.4]
in-lb 2.48 4.25 8.0 16.9 33.6 46.0
Peak Torque
[Nm] [0.28] [0.48] [0.95] [1.91] [3.8] [5.2]
Rated Speed RPM 3000 3000 3000 3000 3000 3000
Maximum Speed RPM 5000 5000 5000 5000 5000 4500
Feedback 2500 lines (10,000 counts/rev) Incremental Encoder (5 VDC±5% @ 0.3A; 250 kHz max.)
lb 0.59 0.75 1.23 2.2 3.52 7.0
Weight
[kg] [0.27] [0.34] [0.56] [1.0] [1.6] [3.2]
in-lb-s2 x 10-4 0.139 0.225 0.546 1.474 3.208 11.62
Rotor Inertia
[kg-m2 x 10-4] [0.016] [0.025] [0.062] [0.17] [0.36] [1.31]
lb 6.6 13.2 13.2 22 22 33
Shaft Thrust Load
[kg] [3] [6] [6] [10] [10] [15]
lb 11 15.4 15.4 55 55 88
Shaft Radial Load2
[kg] [5] [7] [7] [25] [25] [40]
Mechanical Time
ms 1.8 1.2 0.8 0.77 0.62 0.63 0.48 0.54 0.45
Constant
in-lb/A(rms) 0.91 1.42 1.86 3.28 2.39 3.72 2.66 4.78 5.4
Torque Constant
[Nm/A(rms)] [0.103] [0.16] [0.21] [0.37] [0.27] [0.42] [0.30] [0.54] [0.61]
Resistance (phase) Ohms 4.0 4.2 1.9 5.7 0.91 2.3 0.41 1.46 0.43
Inductance (phase) mH 2.4 2.8 1.7 5.0 3.2 7.8 1.9 5.1 3.2
Electrical Time
ms 0.6 0.67 0.89 0.88 3.5 3.4 4.6 3.5 7.4
Constant
Continuous Current A(rms) 1.0 1.0 1.6 1.0 2.5 1.6 4.3 2.5 4.3
Optional Brake Data @ 20 oC (backlash = ±0.1o)

in-lb-s2 x 10-4 0.026 0.026 0.026 0.26 0.26 0.78
Inertia Adder
[kg-m2 x10-4] [0.003] [0.003] [0.003] [0.03] [0.03] [0.09]
lb 0.44 0.42 0.44 0.88 0.88 1.54
Weight Adder
[kg] [0.2] [0.19] [0.2] [0.4] [0.4] [0.7]
Voltage VDC± 10% 24 24 24 24 24 24
Current A 0.26 0.26 0.26 0.36 0.36 0.43
Engage Time ms ≤ 25 ≤ 25 ≤ 25 ≤ 50 ≤ 50 ≤ 60
Release Time ms ≤ 20 ≤ 20 ≤ 20 ≤ 15 ≤ 15 ≤ 15
in-lb 2.6 2.6 2.6 10.8 10.8 21.7
Torque
[Nm] [0.29] [0.29] [0.29] [1.3] [1.3] [2.5]
Environmental Data
Humidity (non-
RH 85%
condensing)
Ambient Temperature o
C 0 to 40
(operating)
o
Storage Temperature C -20 to 80
Vibration3 G 5
Shock G 10
1. Torque shown is available up to a certain ambient temperature. See Speed/Torque curve notes.
2. Radial shaft loads are specified at a position centered along the length of the shaft
3. Vibration tests are described in the section “Motor Vibration Testing” later in this chapter.

2
Motor Rating @ 20oC

Specification Units
SDM100 SLM100 SLM250 SDM250 SLM350 SLM500 SDM500 SGM450
Output Power W 1000 1000 2500 2500 3500 5000 5000 5000
Continuous Stall in-lb 43 28 70 104 97 140 210 322
Torque1 [Nm] [4.8] [3.18] [7.94] [11.8] [11] [15.8] [23.8] [36.3]
in-lb 110 56 140 240 252 421 420 644
Peak Torque
[Nm] [12.4] [6.3] [15.8] [27.1] [28.5] [47.6] [47.5] [72.8]
Rated Speed RPM 2000 3000 3000 2000 3000 3000 2000 3000
Maximum Speed RPM 3000 5000 5000 3000 5000 4500 3000 4500
Feedback 2500 lines (10,000 counts/rev) Incremental Encoder (5 VDC ±5% @0.3 A; 250 kHz max.)
lb 15 9.9 16.5 28.2 24 38 55 38
Weight
[kg] [6.8] [4.5] [7.5] [12.8] [10.9] [17.3] [25] [17.3]
in-lb-s2 x 10-4 54.6 14.91 38.14 169.9 69.92 157.5 537.2 157.5
Rotor Inertia
[kg-m2 x 10-4] [6.17] [1.69] [4.31] [19.2] [7.90] [17.8] [60.7] [17.8]
lb 44 33 44 77 44 77 77 77
Shaft Thrust Load
[kg] [20] [15] [20] [35] [20] [35] [35] [35]
lb 110 88 110 176 110 176 176 176
Shaft Radial Load2
[kg] [50] [40] [50] [80] [50] [80] [80] [80]
Mechanical Time
ms 0.70 0.78 0.52 0.72 0.45 0.46 0.9 0.46
Constant
in-lb/A(rms) 7.61 3.9 4.34 7.52 4.51 5.04 7.52 11.5
Torque Constant
[Nm/A(rms)] [0.86] [0.44] [0.49] [0.85] [0.51] [0.57] [0.85] [1.3]
Resistance (phase) Ohms 0.56 0.27 0.1 0.18 0.05 0.028 0.068 0.028
Inductance (phase) mH 10.0 1.8 1.1 3.8 1 1.12 2.2 0.56
Electrical Time Constant ms 18 6.7 11 21 20 20 32 20

Continuous Current A(rms) 5.6 7.2 15.9 14 21.6 28 28 28.5
o o
Optional Brake Data @ 20 C (backlash = ± 0.1 )
in-lb-s2 x 10-4 5.49 2.25 3.81 16.82 6.99 16.82 53.1 16.82
Inertia Adder
[kg-m2 x10-4] [0.62] [0.26] [0.43] [1.9] [0.79] [1.9] [6] [1.9]
lb 4.2 1.32 3.08 4.2 3.74 4.18 7.7 4.18
Weight Adder
[kg] [1.9] [0.6] [1.4] [1.9] [1.7] [1.9] [3.5] [1.9]
Voltage VDC± 10% 24 24 24 24 24 24 24 24
Current A 0.59 0.74 0.81 0.9 0.81 0.90 1.3 0.90
Engage Time ms ≤ 80 ≤ 50 ≤ 50 ≤ 110 ≤ 80 ≤ 110 ≤ 80 ≤ 110
Release Time ms ≤ 70 ≤ 15 ≤ 15 ≤ 50 ≤ 15 ≤ 50 ≤ 25 ≤ 50
in-lb 43.3 43.3 69 143 104 143 217 143
Torque
[Nm] [4.9] [4.9] [7.8] [16.1] [11.8] [16.2] [24.5] [16.2]
Environmental Data
Humidity (non-
RH 85%
condensing)
C 0 to 40
(operating)
o
Storage Temperature C -20 to 80
1. Torque shown is available up to a certain ambient temperature. See Speed/Torque curve notes.
2. Radial shaft loads are specified at a position centered along the length of the shaft
3. Vibration tests are described in the section “Motor Vibration Testing” later in this chapter.

Hardware Overview 2
Table 2-8. MTR-3N Series Motor Specifications
Specification Units 3N21-H 3N22-H 3N24-G 3N31-H 3N32-G 3N32-H 3N33-G 3N33-H
Continuous Stall in-lb 4 9 13.8 18 36 36 45 45

Torque1 [Nm] [0.45] [1.02] [1.56] [2.03] [4.07] [4.07] [5.08] [5.08]
in-lb 12 23.4 43.7 55 100 100 135 224
Peak Torque3
[Nm] [1.36] [2.64] [4.94] [6.2] [11.3] [11.3] [15.3] [25.3]
Maximum Speed RPM 14,000 11,000 5000 5500 3000 6000 2100 4000
Feedback 4096 counts/rev resolver (control transmitter; 0.5 transformation ratio)
lb 3.1 4.2 6.0 7.1 10.7 10.7 14.2 14.2
Weight
[kg] [1.4] [1.9] [2.7] [3.2] [4.9] [4.9] [6.5] [6.5]
in-lb-s2 x 10-4 3.8 5.6 8.9 29.8 42.8 42.8 56.8 56.8
Rotor Inertia
[kg-m2 x 10-4] [0.42] [0.64] [1.0] [3.4] [4.8] [4.8] [6.4] [6.4]
Shaft Thrust lb 20 20 20 35 35 35 35 35
Load 2 [kg] [9.1] [9.1] [9.1] [15.9] [15.9] [15.9] [15.9] [15.9]
Shaft Radial lb 50 50 50 85 85 85 85 85
Load2 [kg] [22.7] [22.7] [22.7] [38.6] [38.6] [38.6] [38.6] [38.6]
in-lb/A(rms) 1.8 2.7 5.3 6.2 11.5 6.2 16.8 8.0
Torque Constant
[Nm/A(rms)] [0.26] [0.3] [0.6] [0.7] [1.3] [0.7] [1.9] [0.9]
Resistance
Ohms 3.0 4.2 6.8 4.1 6.2 1.6 8.4 2.1
(line-line)
Inductance
mH 3.7 5.7 9.3 10.3 18 4.5 25.2 6.3
(line-line)
Electrical Time
ms 1.23 1.36 1.37 2.51 2.9 2.81 3.0 3.0
Constant
Continuous
A(rms) 3.1 2.9 2.6 3.3 3.1 5.1 2.8 5.6
Current
Optional Brake Data
in-lb-s2 x 10-4 0.45 0.45 0.45 2.5 2.5 2.5 2.5 2.5
Inertia Adder
[kg-m2 x10-4] [0.05] [0.05] [0.05] [0.282] [0.282] [0.282] [0.282] [0.282]
lb 1.1 1.1 1.1 2.5 2.5 2.5 2.5 2.5
Weight Adder
[kg] [0.5] [0.5] [0.5] [1.14] [1.14] [1.14] [1.14] [1.14]
Voltage VDC± 10% 24 24 24 24 24 24 24 24
Current A 0.38 0.38 0.38 0.72 0.72 0.72 0.72 0.72
Engage Time ms 40 40 40 10 10 10 10 10
Release Time ms 25 25 25 30 30 30 30 30
in-lb 10 10 10 32 32 32 32 32
Torque
[Nm] [1.1] [1.1] [1.1] [3.62] [3.62] [3.62] [3.62] [3.62]
Environmental Data
Humidity (non-
RH 98%
condensing)
Ambient
o
Temperature C -20 to 40
(operating)
Storage o
C -30 to 150
Temperature
o
1. Torque shown is available up to an ambient temperature of 25 C with motor mounted to a 10’ x10’ x 0.25’ aluminum heat sink.
2. Shaft loads are based on L10 bearing life at 3000 rpm and assume force is applied to center of shaft.
3. Peak torque ratings are for the motor only and may be limited by the specific amplifier based on the amplifiers peak current
limitations.

2
Table 2-9. MTR-3S Series Motor Specifications
Specification Units 3S22-G 3S23-G 3S32-G 3S33-G 3S34-G 3S35-G 3S43-G 3S43-H 3S45-G 3S45-H
Continuous Stall in-lb 4.8 8.0 14 21 27 32 33 33 48 48

Torque1 [Nm] [0.54] [0.9] [1.58] [2.37] [3.05] [3.62] [3.73] [3.73] [5.42] [5.42]
in-lb 14.3 22.5 39 57.9 73.5 89.4 92.1 92.1 134 134
Peak Torque 3
[Nm] [1.62] [2.54] [4.4] [6.54] [8.30] [10.1] [10.4] [10.4] [15.1] [15.1]
Maximum Speed RPM 8000 4700 5500 4400 3300 2500 2600 4200 2800 2350
lb 2.1 2.8 5.5 7.1 8.7 10.2 15 15 20 20
Weight
[kg] [0.95] [1.3] [2.5] [3.2] [3.9] [4.6] [6.8] [6.8] [9.1] [9.1]
in-lb-s2 x 10-4 1.2 1.6 6.3 8.2 10.0 11.9 19.8 19.8 27.8 27.8
Rotor Inertia
[kg-m2 x 10-4] [0.14] [0.18] [0.71] [0.93] [1.1] [1.3] [2.2] [2.2] [3.1] [3.1]
lb 20 20 35 35 35 35 50 50 50 50
Shaft Thrust Load 2
[kg] [9.1] [9.1] [15.9] [15.9] [15.9] [15.9] [22.7] [22.7] [22.7] [22.7]
lb 50 50 90 90 90 90 125 125 125 125
Shaft Radial Load2
[kg] [22.7] [22.7] [40.9] [40.9] [40.9] [40.9] [56.8] [56.8] [56.8] [56.8]
in-lb/A(rms) 3.5 5.3 5.3 7.1 9.7 11.5 11.5 6.2 8.9 4.4
Torque Constant
[Nm/A(rms)] [0.4] [0.6] [0.6] [0.8] [1.1] [1.3] [1.3] [0.7] [1.0] [0.5]
Resistance (phase) Ohms 22 20 7.3 6.9 8.1 9.2 10 2.5 3.2 0.81
Inductance (phase) mH 21 26 23 22 30 42 53 13.3 20 4.9
Electrical Time
ms 0.95 1.3 3.2 3.2 3.7 4.6 5.3 5.3 6.3 6.1
Constant
Continuous Current A(rms) 1.4 1.5 2.9 3.2 3.0 2.9 2.9 5.6 5.5 10.9
Optional Brake Data
in-lb-s2 x 10-4 0.34 0.34 0.34 0.34 5.0 5.0 5.0 5.0
Inertia Adder N/A N/A
[kg-m2 x10-4] [0.38] [0.38] [0.38] [0.38] [0.565] [0.565] [0.565] [0.565]
lb 2.5 2.5 2.5 2.5 4.0 4.0 4.0 4.0
Weight Adder N/A N/A
[kg] [1.14] [1.14] [1.14] [1.14] [1.82] [1.82] [1.82] [1.82]
Voltage VDC± 10% N/A N/A 24 24 24 24 24 24 24 24
Current A N/A N/A 0.72 0.72 0.72 0.72 0.71 0.71 0.71 0.71
Engage Time ms N/A N/A 10 10 10 10 20 20 20 20
Release Time ms N/A N/A 30 30 30 30 120 120 120 120
in-lb 32 32 32 32 72 72 72 72
Torque N/A N/A
[Nm] [3.62] [3.62] [3.62] [3.62] [8.14] [8.14] [8.14] [8.14]
Environmental Data
Humidity
RH 98%
(non-condensing)
Ambient
o
(operating)
Storage o
C -30 to 150
Temperature
1. Torque shown is available up to an ambient temperature of 25o C with motor mounted to a 10’ x10’ x
0.25’ aluminum heat sink.
3. Peak torque ratings are for the motor only and may be limited by the specific amplifier based on
the amplifiers peak current limitations.

Hardware Overview 2
Specification Units 3S46-G 3S46-H 3S63-G 3S63-H 3S65-G 3S65-H 3S67-G 3S67-H 3S84-G 3S86-G 3S88-G
Continuous Stall in-lb 64 64 70 70 115 115 168 168 190 255 338
Torque1 [Nm] [7.23] [7.23] [7.9] [7.9] [13] [13] [19] [19] [21.5] [28.8] [38.2]
in-lb 179 179 181 181 295 295 433 433 394 590 762
Peak Torque 3
[Nm] [20.2] [20.2] [20.5] [20.5] [33.3] [33.3] [48.9] [48.9] [44.5] [66.6] [86.1]
Maximum Speed RPM 2100 4200 3850 7700 2300 4600 1650 3300 3400 2600 2600
lb 25 25 29 29 39 39 49 49 60 77 94
Weight
[kg] [11.3] [11.3] [13] [13] [18] [18] [22] [22] [27] [35] [43]
in-lb-s2 x 10-4 35.8 35.8 72 72 112 112 152 152 392 582 762
Rotor Inertia
[kg-m2 x 10-4] [4.0] [4.0] [8.1] [8.1] [12.6] [12.6] [17.2] [17.2] [44.3] [65.7] [86.1]
lb 50 50 70 70 70 70 70 70 100 100 100
Shaft Thrust Load 2
[kg] [22.7] [22.7] [32] [32] [32] [32] [32] [32] [45] [45] [45]
lb 125 125 185 185 185 185 185 185 250 250 250
Shaft Radial Load 2
[kg] [56.8] [56.8] [84] [84] [84] [84] [84] [84] [114] [114] [114]
in-lb/A(rms) 12.4 6.2 7.1 3.5 11.5 5.3 15.9 8.0 7.1 9.7 12.4
Torque Constant
[Nm/A(rms)] [1.4] [0.7] [0.8] [0.40] [1.30] [0.6] [1.8] [0.9] [0.8] [1.1] [1.4]
Resistance (phase) Ohms 3.7 0.93 0.93 0.23 1.2 0.34 1.5 0.37 0.26 0.25 0.28
Inductance (phase) mH 25 6.2 8.9 2.2 13.7 3.4 18.2 4.6 3.2 3.6 4.0
Electrical Time
ms 6.8 6.7 9.6 9.6 11.4 10.0 12.1 12.4 12.3 14.4 14.2
Constant
Continuous Current A(rms) 5.5 11 11 22 10.7 21.4 11.3 22.5 26.9 30.2 29.4
Optional Brake Data
in-lb-s2 x 10-4 5.0 5.0 3.7 3.7 3.7 3.7 3.7 3.7 14.9 14.9 14.9
Inertia Adder
[kg-m2 x10-4] [0.565] [0.565] [0.418] [0.418] [0.418] [0.418] [0.418] [0.418] [1.68] [1.68] [1.68]
lb 4.0 4.0 9 9 9 9 9 9 15 15 15
Weight Adder
[kg] [1.82] [1.82] [4.1] [4.1] [4.1] [4.1] [4.1] [4.1] [6.82] [6.82] [6.82]
Voltage VDC± 10% 24 24 24 24 24 24 24 24 24 24 24
Current A 0.71 0.71 1.14 1.14 1.14 1.14 1.14 1.14 1.51 1.51 1.51
Engage Time ms 20 20 25 25 25 25 25 25 50 50 50
Release Time ms 120 120 50 50 50 50 50 50 100 100 100
in-lb 72 72 180 180 180 180 180 180 180 180 180
Torque
[Nm] [8.14] [8.14] [20.3] [20.3] [20.3] [20.3] [20.3] [20.3] [20.3] [20.3] [20.3]
Environmental Data
Humidity (non-
RH 98%
condensing)
Ambient
o
(operating)
Storage o
C -30 to 150
Temperature
1. Torque shown is available up to an ambient temperature of 25o C with motor mounted to a 10’ x10’ x 0.25’
aluminum heat sink.
3. Peak torque ratings are for the motor only and may be limited by the specific amplifier based on the
amplifiers peak current limitations.

2
Table 2-10. MTR-3T Series Motor Specifications
Units 3T11-G 3T12-G 3T13-G 3T21-G 3T22-G 3T23-G 3T24-H 3T42-H 3T43-H 3T43-J 3T44-J
Specification
Continuous Stall in-lb 2.3 5.3 8 5.6 11.5 17.7 23 33 54 54 72
Torque1 [Nm] [0.26] [0.6] [0.9] [0.63] [1.3] [2.0] [2.6] [3.72] [6.1] [6.1] [8.13]
in-lb 12.4 25.6 38 20.4 41.6 63.7 85 129 192 192 260
Peak Torque 3
[Nm] [1.4] [2.9] [4.3] [2.3] [4.7] [7.2] [9.6] [14.6] [21.7] [21.7] [29.4]
Maximum Speed RPM 6000 6000 6000 9250 7100 4700 4350 4000 2600 4000 3000
lb 2.6 3.3 4.2 3.7 5.0 6.4 7.7 13.6 16.7 16.7 20
Weight
[kg] [1.2] [1.5] [1.9] [1.7] [2.3] [2.9] [3.5] [6.2] [7.6] [7.6] [9.0]
in-lb-s2 x 10-4 1.02 1.64 2.26 1.9 3.4 4.9 6.4 32 46 46 60
Rotor Inertia
[kg-m2 x 10-4] [0.12] [0.19] [0.26] [0.22] [0.38] [0.55] [0.72] [3.6] [5.2] [5.2] [6.8]
lb 17 17 17 17 41.5 41.5 41.5 41.5
Shaft Thrust Load 2 N/A N/A N/A
[kg] [7.7] [7.7] [7.7] [7.7] [18.9] [18.9] [18.9] [18.9]
lb 62 62 62 62 157 157 157 157
Shaft Radial Load 2 N/A N/A N/A
[kg] [28.1] [28.1] [28.1] [28.1] [71.5] [71.5] [71.5] [71.5]
in-lb/A(rms) 2.4 2.9 2.9 3.3 4.3 6.5 7.0 7.7 11.9 7.5 10.2
Torque Constant
[Nm/A(rms)] [0.27] [0.32] [0.32] [0.37] [0.49] [0.74] [0.79] [0.87] [1.34] [0.85] [1.15]
Resistance (phase) Ohms 16.3 6.8 3.9 8.8 4.81 6.1 4.6 3.2 3.9 1.54 1.8
Inductance (phase) mH 7.1 4.3 2.7 10.5 7.4 10.6 8.9 8.9 13.0 5.3 7.1
Electrical Time
ms 0.43 0.63 0.69 1.19 1.54 1.73 1.93 2.78 3.33 3.44 3.94
Constant
Continuous
A(rms) 0.96 1.88 2.73 1.72 2.65 2.7 3.3 4.7 4.6 7.2 7.2
Current
Optional Brake Data
in-lb-s2 x 10-4 5.49 2.25 3.81 16.82 6.99 16.82 53.1 16.82 16.82 16.82 16.82
Inertia Adder
[kg-m2 x10-4] [0.62] [0.26] [0.43] [1.9] [0.79] [1.9] [6] [1.9] [1.9] [1.9] [1.9]
lb 0.4 0.4 0.4 0.4 0.4 0.4 0.4 1.3 1.3 1.3 1.3
Weight Adder
[kg] [0.2] [0.2] [0.2] [0.2] [0.2] [0.2] [0.2] [0.6] [0.6] [0.6] [0.6]
Voltage VDC± 10% 24 24 24 24 24 24 24 24 24 24 24
Current A 0.33 0.33 0.33 0.33 0.33 0.33 0.33 0.66 0.66 0.66 0.66
Engage Time ms 25 25 25 25 25 25 25 20 20 20 20
Release Time ms 25 25 25 25 25 25 25 30 30 30 30
in-lb 10.6 10.6 10.6 10.6 10.6 10.6 10.6 88.5 88.5 88.5 88.5
Torque
[Nm] [1.2] [1.2] [1.2] [1.2] [1.2] [1.2] [1.2] [10] [10] [10] [10]
Environmental Data
Humidity (non-
RH 98%
condensing)
Ambient
o
(operating)
Storage o
C -30 to 150
Temperature
1. Torque shown is available up to an ambient temperature of 25o C with motor mounted to a 10’ x10’ x 0.25’ aluminum heat sink.
3. Peak torque ratings are for the motor only and may be limited by the specific amplifier based on the amplifiers peak current limitations.

Hardware Overview 2
Specification
Units 3T45-H 3T45-I 3T54-H 3T55-H 3T55-I 3T57-H 3T66-H 3T67-G 3T69-G
Continuous Stall in-lb 90.3 90.3 120 151 151 195 266 372 478
Torque1 [Nm] [10.2] [10.2] [13.5] [17.0] [17.0] [22] [30] [42] [54]
in-lb 326 326 363 456 456 611 1009 1177 1505
Peak Torque3
[Nm] [36.8] [36.8] [41] [51.5] [51.5] [69] [114] [133] [170]
Maximum Speed RPM 2350 3300 2700 2150 4300 3050 2000 1700 1300
lb 22.9 22.9 28.6 33 33 41.9 79.3 92.5 54
Weight
[kg] [10.4] [10.4] [13] [15] [15] [19] [36] [42] [119]
in-lb-s2 x 10-4 74 74 220 271 271 373 833 965 1230
Rotor Inertia
[kg-m2 x 10-4] [8.4] [8.4] [24.9] [30.6] [30.6] [42.1] [94] [109] [139]
lb 41.5 41.5 31.5 31.5 31.5 31.5 48.3 48.3 48.3
Shaft Thrust Load 2
[kg] [18.9] [18.9] [18.9] [18.9] [18.9] [18.9] [21.9] [21.9] [21.9]
lb 157 157 115 115 115 115 200 200 200
Shaft Radial Load 2
[kg] [71.5] [71.5] [52.3] [52.3] [52.3] [52.3] [45] [45] [45]
in-lb/A(rms) 12.9 9.2 11.3 14.2 7.1 10 15.4 18 23.3
Torque Constant
[Nm/A(rms)] [1.46] [1.04] [1.27] [1.6] [0.8] [1.13] [1.74] [2.04] [2.63]
Resistance (phase) Ohms 2.1 1.1 0.8 0.9 0.2 0.3 0.32 0.35 0.41
Inductance (phase) mH 8.7 4.4 7.1 8.8 2.2 3.1 6.5 7.7 10
Electrical Time
ms 4.1 4 8.9 9.8 11 10.3 20.3 22 24.4
Constant
Continuous Current A(rms) 7.1 10 10.6 10.6 21.3 19.5 20.7 20.7 20.6
Optional Brake Data
in-lb-s2 x 10-4 9.7 9.7 31.9 31.9 31.9 31.9 84.1 84.1 84.1
Inertia Adder
[kg-m2 x10-4] [1.1] [1.1] [3.6] [3.6] [3.6] [3.6] [9.5] [9.5] [9.5]
lb 1.3 1.3 3.3 3.3 3.3 3.3 4.8 4.8 4.8
Weight Adder
[kg] [0.6] [0.6] [1.5] [1.5] [1.5] [1.5] [2.2] [2.2] [2.2]
Voltage VDC± 10% 24 24 24 24 24 24 24 24 24
Current A 0.48 0.48 0.41 0.41 0.41 0.41 0.73 0.73 0.73
Engage Time ms 20 20 25 25 25 25 25 25 25
Release Time ms 30 30 50 50 50 50 75 75 75
in-lb 88.5 88.5 15 159 159 159 354 354 354
Torque
[Nm] [10] [10] [16] [16] [16] [16] [40] [40] [40]
Environmental Data
Humidity
RH 98%
(non-condensing)
C -20 to 40
(operating)
Storage o
C -30 to 150
Temperature
1. Torque shown is available up to an ambient temperature of 25o C with motor mounted to a
10’ x10’ x 0.25’ aluminum heat sink.
3. Peak torque ratings are for the motor only and may be limited by the specific amplifier based on
the amplifiers peak current limitations.

2
2.2 Motor Speed/Torque Curves

The curves below illustrate the relationship between motor speed and output torque when used with
the specified S2K amplifier model. The motor can operate continuously at any combination of
speed and torque within the prescribed continuous operating zone. Curves are shown for a 230 Vac
nominal supply.
2.2.1 S-Series Servo Motor / Controller Curves

The curves below illustrate the relationship between motor speed and output torque when used with
the specified S2K series model. The motor can operate continuously at any combination of speed
and torque within the prescribed continuous operating zone. Curves are shown for a 230 Vac
nominal supply.
SLM003 (30 Watt) SLM005 (50 Watt)
6000 6000
Speed (RPM)
Speed (RPM)
5000 5000
4000 4000
3000 3000
2000 2000
1000 1000
0 0.5 1 1.5 2 2.5 3 0 1 2 3 4 5 6

Torque (in-lb) Torque (in-lb)
6000 6000
Speed (RPM)
Speed (RPM)
5000 5000
4000 4000
115 VAC
3000 3000
2000 2000
1000 1000
0 1.5 3 4.5 6 7.5 9 0 3 6 9 12 15 18


Hardware Overview 2
6000 6000
Speed (RPM)
Speed (RPM)
5000 5000
4000 4000
3000 115 VAC 3000
2000 2000
1000 1000
0 6 12 18 24 30 36 0 10 20 30 40 50 60
SDM100 (1000 Watt) SLM100 (1000 Watt)
3000 6000
Speed (RPM)
Speed (RPM)
2500 5000
2000 4000
1500 3000
1000 2000
500 1000
0 20 40 60 80 100 120 0 10 20 30 40 50 60
SDM250 (2500 Watt) SLM250 (2500 Watt)
3000 6000
Speed (RPM)
Speed (RPM)
2500 5000
2000 4000
1500 3000
1000 2000
500 1000
0 40 80 120 160 200 240 0 25 50 75 100 125 150

SLM350 (3500 Watt) SDM500 (5000 Watt)
6000 3000
Speed (RPM)
2500
Speed (RPM)
5000
4000 2000
3000 1500
2000 1000
1000 500
0 50 100 150 200 250 300 0 70 140 210 280 350 420

2
Note: Continuous torque available for each motor model depends on the ambient temperature.
These curves depict the maximum continuous torque available for each model up to the
following ambient temperatures:
• SLM003, SLM100, SDM100, SDM250 & SGM450 = 40 oC
• SLM005, SLM250, SLM500 = 20oC
• SLM350 = 25 oC
• SDM500 = 35oC
Higher ambient temperatures require motor derating as shown in the temperature derating
curves in Section 2.3.

Hardware Overview 2
2.3 S-Series Motor Derating Based on Ambient Temperature

The S-Series servo motors produce the continuous torque shown in the speed/torque curves
(Section 0), up to certain ambient temperature limits depending on the motor model. The following
curves depict the continuous torque derating required for operation in ambient temperatures above
this rating and up to the 40 oC limit. The intermittent torque available from each motor does not
need to be derated.
SLM005 / SLM040 SLM010

100 100
Motor Rated Torque Output (%)

95
90
0 10 20 30 40 50 0 10 20 30 40 50
Motor Ambient Temperature ( oC) Motor Ambient Temperature ( oC)
SLM020 SLM003 / SLM075 / SLM100

100 100

95
90 90
0 10 20 30 40 50 0 10 20 30 40 50
Motor Ambient Temperature ( oC) Motor Ambient Temperature ( oC)
SDM500 SLM250 / SLM500

100 100
90 70
0 10 20 30 40 50 0 10 20 30 40 50
Motor Ambient Temperature ( oC ) Motor Ambient Temperature ( oC )
SLM350
100
70
0 10 20 30 40 50
Motor Ambient Temperature ( oC)

2
2.4 Servo Motor Sealing

The S-Series and MTR-Series servo motors are designed to comply with an IP65 protection rating
excluding the cable connector and shaft. The 1-5 kW rated S-Series motors include a shaft oil seal
as a standard feature while the 30-750 W S-Series motors do not include a shaft seal. All MTR-
Series motors except 3T40, 3T50 and 3T60 models include a shaft oil seal as standard. Adequate
precautions should be taken when mounting the motors to ensure proper protection against
excessive exposure to fluids and spray.
2.5 Servo Motor Holding Brakes

As an option the servo motors are available with an integral 24 VDC parking brake. The brakes are
designed for failsafe operation and must be energized to release the brake.
Caution
The brake should only be used to hold motor position once the axis is
stopped. Using the brake to stop a moving load may result in damage or
premature failure of the brake mechanism. Use an external mechanical
brake to stop moving loads during an emergency stop or loss of power.
The brakes require a finite time to engage and release the load as shown in the brake specifications
in Table 2-7. These times must be considered in the brake sequencing logic when employing brake
motors on vertical axes to prevent the load from falling. The amplifier must remain enabled until
the brake is fully engaged or the load will not be adequately restrained.
The brake power supply is the user’s responsibility and must comply with the brake specifications
shown in Tables 2-7 to 2-10. GE Fanuc offers a 24VDC, 5-amp DIN-rail mounted power supply
(IC690PWR024) that may be appropriate as a brake supply on multi-axis systems. A panel
mounting conversion kit is also available (IC690PAC001). Brake power cables are available from
GE Fanuc in several pre-finished lengths as shown in Table 3-9.

Hardware Overview 2
2.6 Motor Mounting

The S-Series servo motors with ratings up to 1000 Watt (SLM models) are designed with standard
NEMA shaft and flange sizes as shown in Table 2-11 to facilitate mounting to readily available
gear reducers and actuators. SDM, SGM and all SLM models larger than 1kW have metric
mounting configurations. For dimensional information on these motors (including mounting
dimensions), please see the mechanical drawings in Chapter 3.
Table 2-11 Mounting Configurations for Servo Motors
Motor Motor Mounting

Mounting
NEMA 23 NEMA 34 NEMA 42 NEMA 56C Metric English
SLM003 X
SLM005 X
SLM010 X
SLM020 X
SLM040 X
SLM075 X
SLM100 X
SDM100 X
SLM250 X
SDM250 X
SLM350 X
SLM500 X
SDM500 X
3N2x X
3N3x X
3S2x X
3S3x X
3S4x X X
3S6x X
3S8x X
3T1x X
3T2x X
3T4x X
3T5x X
3T6X X
* The SLM075 (750 Watt) model has an oversized shaft diameter for the NEMA 34 frame size. This is required because the
torque rating of this motor exceeds the capacity of the standard NEMA 34 shaft size. This condition is typical of high
performance brushless servo motors that produce high peak torque relative to their frame size. For details about motor
installation and dimensions, see Chapter 3.

Chapter Installation
3
3.1 Heat Load and Cooling

The heat load of the S2K Series amplifiers is dependent on the model as shown below:
Model SSD104: Heat Load = 25 watts + (35 * duty_cycle) watts or 60 watts max.
Duty cycle is defined as the percent of time the amplifier is at full rated output divided by the total
cycle time. The SSD104 and SSD107 models are designed to operate at full rated current with only
natural convection cooling at ambient temperatures up to 50 degrees C. The remaining models have
built-in fan cooling.
The amplifiers must be installed vertically for effective cooling. Allow a minimum clearance of 3
inches (76 mm) above and below the unit. A minimum of 2 to 3 inches (50 to 75 mm) clearance is
also recommended on the right and left sides of the unit where possible.
3.2 Amplifier Mounting Guidelines and Environmental

Conditions
It is the user’s responsibility to install the components in a suitable location. The S2K amplifier must
be installed in a location that satisfies the following environmental conditions:
1. Atmosphere: The circuitry must not be exposed to any corrosive or conductive contaminants.
2. Ambient temperature: 0°C to +50°C (operating)

-40°C to 80°C (storage)
Install the amplifier into ambient temperature conditions within the range of 0° C to +50° C. If
the temperature exceeds this range, it may cause malfunction or damage to the amplifier. The
amplifier heat sink and motor generate high temperatures. If the amplifier is housed in an
enclosed control cabinet this heat load must be considered when evaluating the enclosure cooling
requirements (see Section 3.1-Heat Load and Cooling for details on amplifier losses). Use heat
exchangers or cooling devices to maintain an ambient temperature of 50° C or less.
GFK-1866A 3-1
3
3. Humidity: 95% relative humidity or less (non-condensing)

4. Altitude: No more than 1000m (3300 ft) above sea level for full rating. Contact GE Fanuc
Applications Engineering for derating at higher elevations.
5. Ventilation: This amplifier is designed for vertical installation to ensure proper cooling. Install
the amplifier with sufficient space for ventilation. Avoid mounting wireways and other adjacent
components too close to the heat sink, top or bottom of the amplifier.
6. Location: Keep the following location guidelines in mind when selecting a site for the
amplifier:
• Do not install in places with high temperature, high humidity, dust, dirt, conductive powder
or particulate, combustible gasses, or metal chips.
• Avoid places exposed to direct sunlight.
• Mount only to noncombustible materials such as metal.
• Do not stand/step on or put heavy articles on the amplifier or motor.
• The amplifier housing is not a waterproof enclosure. Do not use outdoors or in any
unprotected environment. The amplifiers are designed with "open" construction and must be
installed in an enclosure that protects personnel from contact with wiring terminals and
provides a pollution degree 2 environment.
• Avoid locations where there is exposure to radiation such as microwave, ultraviolet, laser
light or X-rays.
• Do not apply excessive stress, put heavy articles on, or pinch the cables.
• Do not install the amplifier near heating elements such as cabinet heaters or large wire
wound resistors. When such installation is unavoidable, provide a thermal shield between
the servo amplifier and the heating elements.
• Mount amplifier and other heat producing components higher in the enclosure to avoid
overheating other sensitive electronics installed in the same cabinet.
3.3 Installing the Amplifier

The S2K Series amplifiers are designed for panel mounting in electrical enclosures designed for
industrial applications. Enclosure cooling or ventilation must be adequate to maintain the ambient
temperature to within the component’s specifications. Mount amplifiers vertically for proper cooling.
1. Firmly install the amplifier with screws and bolts without applying stress such as bending and
twisting to the amplifier main unit.
2. Allow reasonable mounting clearance between adjacent units to ensure proper ventilation.
Caution
Since a misuse of the amplifier may lead to improper operation, or may
damage the amplifier, carefully read the following cautions and warnings:
• Be sure to ground the amplifier properly using the ground terminals on the front of the
amplifier. Proper grounding includes conforming to applicable national and local electrical
codes.
• Do not apply higher than rated voltage to the power input terminals (L1, L2 and L3)
3-2 S2K Series Brushless Servo Amplifier User's Manual – September 2002 GFK-1866A
Installation 3
• Do not apply the main input power to terminals other than terminals L1, L2 and L3 or
damage will occur. Refer to Section 3.6 for wiring information.
• The power supply uses a capacitor filter. When you turn on power, a high charging current
flows and you may see a large voltage drop. We recommend that you install line reactors to
limit the charging current if this presents problems with other equipment on the machine.
• Do not perform a dielectric strength test or megger test on the amplifier or damage may
occur. (When you perform a dielectric strength test or megger test to an external circuit,
please disconnect all terminals to the amplifier so that no test voltage is applied to the
amplifier.)
• Do not operate the amplifier under overload conditions (such as continuous overcurrent
operation).
• If you use a ground fault breaker, use one rated for "Inverter," to withstand high frequency
leakage current.
• Use the motor and amplifiers only in the designated combinations (Table 1-1).
• When transporting, use caution to prevent damage to the S2K components. Do not grasp the
cables when carrying the amplifier.
3.4 Installing the Motor

The S-Series and MTR-Series servo motors are designed for either vertical or horizontal mounting
and have a protection rating of IP65 (not including the connectors and shaft). The motors should be
mounted in a location where the environmental conditions are within the specifications stated in
Chapter 2. Use the following guidelines when mounting the motors:
• Observe the shaft radial and thrust load limits. Loads exceeding these limits will cause
premature failure of the motor. Excessive belt tension could cause bearing or shaft failure.
• Be sure to ground the motor using the ground wire in the motor power cable.
• Ensure that the motor cables are free from excessive stress, stretching, pinching or bending.
• To avoid damage, do not carry a motor by holding the cables or shaft.
• Do not apply excessive axial force or impact loads when installing the motor coupling or
shaft pulley or the encoder may be damaged. See axial load limit ratings in Chapter 2.
• Install the motor in a location free from corrosive contaminants, dust, excessive water spray,
or combustible gas.
• The shaft of the S-Series motors are treated with grease (Shell Oil Alvania No. 2) for
corrosion protection during storage. Consider the effect of the grease on any plastic parts
that are mated with the shaft.
• The optional motor brake should be used for holding stationary loads only. Do not use this
brake to stop a moving load or reduced life or damage to the brake may occur. Apply this
brake only after the motor is stopped.
GFK-1866A Chapter 3 Installation 3-3

3
3.5 Mounting Dimensions
3.5.1 Amplifier Dimensions

Code in
Feature Units SSD104 SSD107 SSD407
Diagram
N/A Weight lb (kg) 3.6 (1.64) 5.5 (2.5) 6.0 (2.7)
A Depth inch (mm) 6.05 (153.7) 8.15 (207) 8.15 (207)
B Total Width inch (mm) 3.20 (81.3) 3.45 (87.6) 4.34 (110.2)
C Height inch (mm) 8.50 (215.9) 8.50 (215.9) 8.50 (215.9)
Position Feedback Connector
D (includes mating connector inch (mm) 1.26 (32) 1.26 (32) 1.26 (32)
supplied on GE Fanuc cable)
Figure 3-1. SSD104, SSD107 and SSD407 S2K Series Amplifier Dimensions and Weight
Installation 3
SSD216
Code in
Feature Units SSD228
Diagram
SSD420
N/A Weight lb (kg) 14 (6.4)
A Depth inch (mm) 10.15 (258)
B Total Width inch (mm) 5.25 (133.4)
C Height inch (mm) 12.20 (309.9)
Position Feedback Connector Depth
D (includes mating connector supplied inch (mm) 1.26 (32)
on GE Fanuc cable)
E User I/O Connector Depth inch (mm) 0.75 (19)
Figure 3-2. SSD216, SSD228 and SSD420 S2K Series Amplifier Dimensions and Weight

3
3.5.2 S-Series Servo Motor Dimensions
Lead Lengths
C1 (encoder cable) = 9.055 inches (230 mm)

C2 (both motor and brake cables) = 7.874 inches (200 mm)
C1 L1
AH
L2
BB 4 x H dia on
Bolt circle AJ
2
C
AJ
U AK
G
A
L
Model Units A AH AJ AK BB G
SLM003 inches 2.27 ± 0.024 0.7874 ± 0.028 2.625 ± 0.024 1.502+−00.001 0.118 ± 0.008 0.236 ± 0.012
(30 Watts) mm 57.658 ± 0.6 20 ± 0.7 66.675 ± 0.6 38.1508+−00.025 3 ± 0.2 6 ± 0.3
SLM005 inches 2.27 ± 0.024 0.7874 ± 0.028 2.625 ± 0.024 1.502+−00.001 0.118 ± 0.008 0.236 ± 0.012
(50 Watts) mm 57.658 ± 0.6 20 ± 0.7 66.675 ± 0.6 38.1508+−00.025 3 ± 0.2 6 ± 0.3
SLM010 inches 2.27 ± 0.024 0.7874 ± 0.028 2.625 ± 0.024 1.502+−00.001 0.118 ± 0.008 0.236 ± 0.012
(100 Watts) mm 57.658 ± 0.6 20 ± 0.7 66.675 ± 0.6 38.1508+−00.025 3 ± 0.2 6 ± 0.3
L L1
L2 (With or
Model Units H U L (With L1 (With
Without Brake)
Brake) Brake)
SLM003 inches 0.1968 ± 0.010 0.25+−00.0004 2.559 3.819 1.772 3.031 0.709
(30 Watts) mm 5 ± 0.25 6.35+−00.009 65 97 45 77 18
SLM005 inches 0.1968 ± 0.010 0.25+−00.0004 2.874 4.134 2.087 3.346 1.024
(50 Watts) mm 5 ± 0.25 6.35+−00.009 73 105 53 85 26
SLM010 inches 0.1968 ± 0.010 0.25+−00.0004 4.055 5.315 3.268 4.528 2.205
(100 Watts) mm 5 ± 0.25 6.35+−00.009 103 135 83 115 56
Figure 3-3. Dimensions for 30-100 Watt SL Series Motors
Installation 3
L1
C1
AH
L2
4 x H dia on
BB Bolt circle AJ
2
C
AJ
XD S
R
U AK R
L A
Model Units A AH AJ AK BB G H
0.2165 ± 0.010
inch 3.42 ± 0.024 1.181 ± 0.028 3.875 ± 0.024 2.877+−00.0012 0.118 ± 0.008 0.315 ± 0.012
SLM020
(200 Watt)
mm 86.868 ± 0.6 30 ± 0.7 98.425 ± 0.6 73.0758+−00.030 3 ± 0.2 8 ± 0.3 5.5 ± 0.25
L2 (With or Without
Model Units C1 C2 L1 L1 (With Brake)
Brake)
SLM020 inch 8.662 7.874 2.854 4.154 1.535
(200 Watt) mm 220 200 72.5 105.5 39
L
Model Units U L R S XD
(With Brake)
inch 0.375+−00.0004 3.701 5.000 0.3018+−00.015 0.125+−00.002 0.75+−00.016

SLM020
(200 Watt)
mm 9.5250+−00.009 94 127 7.666+−00.381 3.175+−00.051 19.050+−00.4
Figure 3-4. Dimensions for 200 Watt S-Series Servo Motor

3
L1
C1
AH
L2
4 x H dia on
BB Bolt circle AJ
2
C
AJ
XD S
R
U AK R
L A
inch 3.42 ± 0.024 1.181 ± 0.028 3.875 ± 0.024 2.877+−00.0012 0.118 ± 0.008 0.315 ± 0.012 0.2165 ± 0.010
SLM040
(400 Watt)
mm 86.868 ± 0.6 30 ± 0.7 98.425 ± 0.6 73.0758+−00.030 3 ± 0.2 8 ± 0.3 5.5 ± 0.25
L2 (With or Without
Brake)
SLM040 inch 8.662 7.874 4.016 5.315 2.697
(400 Watt) mm 220 200 102 135 68.5
L (Without L
Model Units U R S XD
Brake) (With Brake)
inch 0.375+−00.0004 4.862 6.161 0.3018+−00.015 0.125+−00.002 0.75+−00.016

SLM040
(400 Watt)
mm 9.5250+−00.009 123.5 156.5 7.666+−00.381 3.175+−00.051 19.050+−00.4
Installation 3
L1
C1
AH
L2
4 x H dia on
BB Bolt circle AJ
2
C
AJ
XD S
R
U AK R
L A
inch 3.42 ± 0.024 1.181 ± 0.028 3.875 ± 0.024 2.877+−00.0012 0.118 ± 0.008 0.315 ± 0.012 0.2165 ± 0.010
SLM075
(750 Watt)
mm 86.868 ± 0.6 30 ± 0.7 98.425 ± 0.6 73.0758+−00.030 3 ± 0.2 8 ± 0.3 5.5 ± 0.25
L2 (With or Without
Brake)
SLM075 inch 8.662 7.874 4.764 6.142 3.346
(750 Watt) mm 220 200 121 156 85
L (Without L
Model Units U R S XD
Brake) (With Brake)
inch 0.625+−00.0004 5.610 6.988 0.5165+−00.015 0.1885+−00.002 0.952+−00.016

SLM075
(750 Watt)
mm 15.875+−00.011 142.5 177.5 13.120+−00.383 4.788+−00.051 24.200+−00.4

3
L1
L2
AH
BB 4 x H dia on
Bolt Circle AJ
C2 C1
AJ
S
XD
U AK R
T
AL
G
L
A
Note: Shaft end play (axial) = 0.0118” (0.3 mm) or less
Model Units A AH AJ AK AL BB G
inch 4.38 1.378 4.95 2.188+−00.004 5.512 0.118 0.394

SLM100
mm 111.25 35 125.73 55.575+−00.1 140 3 10
SDM100 mm 130 55 145 100+−00.035 165 6 12
SLM250 mm 100 55 115 95+−00.035 135 3 10
SDM250 mm 130 65 145 100+−00.035 165 6 12
Model Units C1 C2 L1 L1 (W/Brake) L2 L2 (W/Brake)

inch 3.31 3.62 6.012 7.087 3.858 4.843
SLM100
mm 84 92 155 180 98 123
SDM100 mm 84 112 130 155 75 100
SLM250 mm 84 97 207 232 153 178
SDM250 mm 84 112 205 230 150 175
Model Units H U L L (W/Brake) R S T XD
inch 0.2600 0.625+−00.0005 6.890 7.874 0.5165+−00.015 0.1885+−00.002 0.1885 1.000

SLM100
mm 6.6 15.875+−00.013 175 200 13.120+−00.383 4.788+−00.051 4.788 25.4
SDM100 mm 9 22 +−00.013 150 175 18 8+−00.036 7 41
SLM250 mm 9 19+−00.013 227 252 15.5 6+−00.036 6 42
SDM250 mm 9 24 +−00.013 225 250 20 8+−00.036 7 41
Figure 3-7. Dimensions for 1000 Watt and 2500 W S-Series Servo Motors
Installation 3
L1
L2
AH
BB 4 x H dia on
Bolt Circle AJ
C2 C1
AJ
S
XD
U AK R
T
AL
G
L
A
Note: Shaft end play (axial) = 0.0118” (0.3 mm) or less
Model Units A AH AJ AK AL BB G
SLM350 mm 120 55 130/145* 110+−00.035 162 3 12
SLM500 mm 130 65 145 110+−00.035 165 6 12
SDM500 mm 176 70 200 114.3 +−00.035 233 3.2 18
SGM450 mm 176 113 200 114.3 +−00.035 233 3.2 24
Model Units C1 C2 L1 L1 (W/Brake) L2 L2 (W/Brake)

SLM350 mm 84 111 214 239 160 185
SLM500 mm 84 119 257 282 202 227
SDM500 mm 84 143 202 227 145 170
SGM450 mm 84 143 269 317.5 212 260.5
Model Units H U L L (W/Brake) R S T XD
SLM350 mm 9 22+−00.013 234 259 18 8+−00.036 7 41
SLM500 mm 9 24+−00.013 277 302 20 8+−00.036 7 51
SDM500 mm 13.5 35 +−00.016 222 247 30 10 +−00.036 7 50
42 +−00.016 8
SGM450 mm 13.5 289 337.5 37 +−00.2 12 +−00.043 90
Figure 3-8. Dimensions for 4500 Watt and 5000 W S-Series Servo Motors

3
3.5.3 MTR-3T Series Servo Motor Dimensions
L Max
Motor mm Inches
3T11 125 4.921
3T12 150 5.906
3T13 175 6.890
Figure 3-9. Dimensions for MTR-3T1x-Series Servo Motors
Installation 3
L Max
Motor
mm Inches
3T21 143 5.6
3T22 168 6.6
3T23 193 7.6
3T24 218 8.6
L Max
Motor
mm Inches
3T42 185 7.3
3T43 210 8.3
3T44 235 9.2
3T45 260 10.2

3
L Max
Motor
mm Inches
3T54 230 9.0
3T55 255 10.0
3T57 305 12.0
L Max
Motor
mm Inches
3T66 320 12.6
3T67 345 13.6
3T69 395 15.6
Installation 3
X L Max L Max (With Brake)

Motor
mm Inches mm Inches mm Inches
3N21 78.7 3.1 124.5 4.9 185.7 7.31
3N22 104.1 4.1 149.9 5.9 211.1 8.31
3N24 154.9 6.1 200.7 7.9 261.9 10.31
Figure 3-14. Dimensions for MTR-3N2x-Series Servo Motors

3
X L Max L Max (With Brake)

Motor
3N31 97.5 3.84 130.3 5.13 197.9 7.79
3N32 135.6 5.34 168.4 6.63 235.9 9.29
3N33 173.7 6.84 206.5 8.13 274.1 10.79
Figure 3-15. Dimensions for MTR-3N3x-Series Servo Motors
Installation 3
L1 Max L2
Motor
mm Inches mm Inches
3S22 187.9 7.4 149.9 5.9
3S23 212.9 8.38 176.0 6.93
Figure 3-16. Dimensions for MTR-3S2x-Series Servo Motors

3
L1 Max L2
Motor Brake
mm Inches mm Inches
No 180.1 7.09 142.7 5.62
3S32
Yes 236.5 9.31 142.7 5.62
No 205.5 8.09 168.1 6.62
3S33
Yes 261.9 10.31 168.1 6.62
No 230.9 9.09 193.5 7.62
3S34
Yes 287.3 11.31 193.5 7.62
No 256.3 10.09 218.9 8.62
3S35
Yes 312.7 12.31 218.9 8.62
Installation 3
Optional
Brake Connector
Location
Optional
NEMA 56C Flange
L1 Max L1 Max (with Brake) L2

Motor
3S43 213.4 8.4 275.3 10.84 178.1 7.01
3S45 251.5 9.9 313.4 12.34 216.2 8.51
3S46 289.6 11.4 351.5 13.84 254.3 10.01

3
3.95

Motor
3S63 237.7 9.36 305.3 12.02 206.2 8.12
3S65 288.5 11.36 356.1 14.02 257.1 10.12
3S67 339.3 13.36 406.9 16.02 307.8 12.12
Installation 3
3.95

Motor
3S84 277.6 10.93 350.8 13.81 242.8 9.56
3S86 328.4 12.93 401.6 15.81 293.6 11.56
3S88 379.2 14.93 452.4 17.81 344.4 13.56

3
3.6 Wiring
3.6.1 General Wiring Considerations

See Chapter 2 for AC supply power requirements, fusing and isolation transformer ratings.
All input and output power must be in accordance with Class I, Division 2 wiring methods as defined
in Article 501-4(b) of the National Electrical Code, NFPA 70 for installations within the United
States, or as specified in Section 18-152 of the Canadian Electrical Code for installation within
Canada.
Attach wiring connections for the main circuit according to Tables 3-1 and 3-5 while observing the
following cautions:
Caution
Use vinyl-sheathed or equivalent wire rated at 250 VAC or greater for 230
VAC S2K models or 600VAC or greater for 460 VAC S2K models . Wire size
should be determined considering ampacity and codes.
Never connect AC main power to motor output terminals.

Never allow wire leads to contact the enclosure.
Never operate the S2K amplifiers without an earth ground.
Warning
When using this equipment in a Hazardous (classified) location:
Explosion hazard--substitution of components may impair suitability for Class I,

Division 2.
Explosion hazard--when in hazardous locations, turn off power before replacing or

wiring modules.
Explosion hazard--do not disconnect equipment unless power has been switched
off or the area is known to be non-hazardous.
3.6.2 AC Supply and Motor Wiring and Grounding

The mains input and motor output connections are made to the screw terminal connector located on
the bottom of the S2K amplifier (see Figures 3-27 to 3-34). The amplifiers are designed to operate with
input voltages as shown in the specifications in Chapter 2. No isolation transformer is required if the
supply voltage is within the specified range. For the S2K servo amplifiers, the maximum achievable
motor speed is directly related to the input voltage. For best performance connect these amplifiers to a
three-phase 230 or 460 VAC power source depending on the rated voltage.
All of the terminals marked with the symbol are connected to the chassis ground. Connect the
terminal at the mains input end of the connector to the panel earth ground. Connect the terminal
near the motor output terminals to the motor frame ground wire in the motor power cable. DO NOT
OPERATE THE S2K AMPLIFIERS WITHOUT AN EARTH GROUND.
Installation 3
Table 3-1. Power Terminal Connections and Wire Sizes for SSD104 4.3 A Amplifier
Terminal Wire Size
Description Connect to…
Symbol AWG
Ground Motor Ground 18-14
T Motor Output Phase T Motor Phase T 18-14
S Motor Output Phase S Motor Phase S 18-14
R Motor Output Phase R Motor Phase R 18-14
Ground Power System Ground 18-14
Drive input power 90 - 250 VAC 18-14
L3
(do not connect for 1 phase input)
L2 Drive Input Power 90 - 250 VAC 18-14
L1 Drive Input Power 90 - 250 VAC 18-14
Table 3-2. Power Terminal Connections and Wire Sizes for SSD107 7.2 A Amplifier
Terminal Wire Size
Symbol AWG1
Ground Motor Ground 18-14
2L2
Logic Input Power 90 - 250 VAC 18-14
2L1
Drive Input Power
1L3 90 - 250 VAC 18-14
(do not connect for 1 phase input)
1L2
Drive Input Power 90 - 250 VAC 18-14
1L1
EXT External Regen Resistor2 INT 18-14
INT Internal Regen Resistor2 EXT 18-14
DC+ High Voltage DC Bus Ext. Regen Resistor 18-14
1) AWG size for stranded copper wire. Minimum wire size required will depend on motor and load.
Consult National Electrical Code Handbook ampacities tables for proper wire size.
2) The S2K amplifiers dissipate regenerated energy in an internal regeneration resistor. If the application produces more
regenerated power than the rating of the internal resistor, the amplifier will report an EC fault code (excessive clamp
dissipation). Contact GE Fanuc to determine if an external clamp resistor is required.

3
Table 3-3. Power Terminal Connections and Wire Sizes for SSD216 16A & SSD228 28A Amplifier
Terminal Wire Size
Symbol AWG1
Ground Motor Ground Terminal 16-10
DC+ High Voltage DC bus External Regen Resistor 16-10
INT Internal Regen Resistor2 EXT 16-10
EXT External Regen Resistor2 INT 16-10
DC- High Voltage DC bus No Connection 16-10
1L1
1L2 Drive Input Power 180 - 250 VAC 16-10
1L3
2L1
Logic Input Power 180 - 250 VAC 18-14
2L2
Table 3-4. Power Terminal Connections and Wire Sizes for SSD407 7.2 A 460 VAC Amplifier
Terminal Description Connect to Wire Size
Symbol AWG1
Ground Motor ground terminal 16-10
T Output phase T Motor phase T 16-10
S Output phase S Motor phase S 16-10
R Output phase R Motor phase R 16-10
DC+ High voltage motor power bus External clamp resistor 16-10
INT Internal clamp resistor EXT 16-10
EXT External clamp resistor INT 16-10
1L1
1L2 Drive input power 324 – 528 VAC 16-10
1L3
Ground Power system ground 16-10
COM
Logic input power 18 – 30 VDC 18-14
+24V
Installation 3
Table 3-5. Power Terminal Connections and Wire Sizes for SSD420 20A Amplifier
Terminal Description Connect to Wire Size
Symbol AWG1
R Output phase R Motor phase R 16-10
S Output phase S Motor phase S 16-10
T Output phase T Motor phase T 16-10
Ground Motor ground terminal 16-10
DC+ High voltage motor power bus External clamp resistor 16-10
INT Internal clamp resistor EXT 16-10
EXT External clamp resistor INT 16-10
DC- High voltage motor power bus No connection
1L1 i
1L2 Drive input power 324 – 528 VAC 16-10
1L3
Ground Power system ground 16-10
COM
Logic input power 18 – 30 VDC 18-14
+24V
3.6.3 S-Series Servo Motor Encoder Wiring

Encoder feedback cables as shown in Table 3-9 are available from GE Fanuc for the S2K Series
encoder-based amplifiers used with S-Series motors. Plug the motor end of the encoder cable into the
connector on the motor and the DB-type connector end of the cable into the DB-15 socket on the
front of the amplifier labeled Position Feedback. The best system reliability is achieved when the
encoder cable is returned in a separate conduit from that housing the motor power cable. The
feedback cable should use 24-28 AWG twisted pair wire and must be shielded. The shields must be
terminated to the isolated ground pins on the Position Feedback (DB-15) connector on the S2K
amplifier as shown in Table 3-6. Maximum serial encoder cable length is 15 meters. If two parallel 24
AWG wires are connected to both the +5v and ground (GND), as shown in Table 3-6, longer cable
runs require the wire gauge to be increased to reduce the signal voltage drop. The S-Series motors
require a 5V ±5% (4.75 to 5.25 VDC) power source for proper operation. See Section 3.6.9,
“Connection Diagrams,” for additional wiring detail.
A B
M C
1 2 3 4 5 L T N P D
6 7 8 9 10
K S R E
11 12 13 14 15
J
F
H G
30-750 W Motor 1-5 kW Motor

Encoder Connector Encoder Connector
(Pin-End View) (Pin-End View)
Figure 3-21. S-Series Servo Motor Serial Encoder Feedback Connectors

3
Table 3-6. Serial Encoder Position Feedback Connections

Connect From S2K DB-15P… Connect To…
Position Signal 30-750 W 1000-5000 W
Feedback Name S-Series S-Series Motor
Connector Pin Motor AMP MS-Style
Number Connector Connector
1 A+ 1 A
2 B+ 3 C
3 Z+ 5 E
4 RX+ 11 P
5 +5V 13 H
6 GND 14 G
7 NC NC NC
8 NC NC NC
9 A- 2 B
10 B- 4 D
11 Z- 6 F
12 RX - 12 R
13 +5V 13 H
14 GND 14 G
15 Shield 15 J
Note
The S2K amplifiers with encoder feedback include a proprietary serial
encoder interface (RX, TX) that determines the motor rotor position to
properly commutate the motor currents. Only GE Fanuc S-Series servo
motors can be used with these S2K amplifiers.
3.6.4 S-Series Servo Motor Power and Brake Wiring and Grounding
Motor power and brake cables as shown in Table 3-9 are available from GE Fanuc for the S2K Series
Servo Amplifiers. Cables for S-Series motors with brakes include two 18 AWG leads for connection
of a 24Vdc brake power supply (see Table 2.1 for brake power requirements) and brake control logic.
The brakes are of a fail-safe design, engaged by internal springs and disengaged by the application of
24 Vdc power.
The motor cable must have a motor ground wire that connects one of the frame ground terminals on
the amplifier to the frame ground pin on the motor connector. Tables 3-1 to 3-5 show the proper wire
size and Figure 3-22 shows the motor connector pin-out for each S-Series motor model. For noise
sensitive applications a shielded motor power cable may be necessary. When used, the power cable
shield should connect to the frame ground stud on the bottom of the amplifier and to the connector at
the motor end. GE Fanuc’s standard motor power cables do not include a shield.
On the 30 – 750 Watt S-series motors, the power connectors shown below are wired to the motors
with short leads and include a separate connector (and require a separate brake cable) when the
optional holding brake is included. On the 1.0 – 5.0 kW motors, the MS-style connectors shown are
mounted directly on the motor’s frame and the brake connections are included in the same connector
and cable.
Installation 3
G H A
F I B D A
E D C
1 2 1
C B
3 4 2
Motor Brake With Brake Without Brake
30-750 W (Front View) 1.0 – 2.5 kW (Front View)
A B C
Wiring Side
D E F D A
G H I
1 2 C B
3 4
Front
Side With Brake Without Brake
Connector View Definition 3.5 – 5.0 kW (Front View)

30-750 W 30-750 W 1-2.5 kW With 3.5-5 kW With 1-5 kW Without
Motor Power Brake Brake Brake Brake
Pin No. Signal Pin No. Signal Pin No. Signal Pin No. Signal Pin No. Signal
1 T 1 Brake A & C NC A & B Brake A T
2 R 2 Brake E &D GND C&I NC B R
3 S B S D T C S
4 GND I R E R D GND
F T F S
G & H Brake G & H GND
Figure 3-22. S-Series Motor Power Connections
3.6.5 MTR-Series Servo Motor Power and Brake Wiring and Grounding
Motor power and brake cables as shown in Table 3-9 are available from GE Fanuc for the S2K Series
Servo Amplifiers. MTR-3T series motors with brakes include two additional leads for connection of a
24Vdc brake power supply (see Tables 2-8 through 2-10 for brake power requirements) and brake
control logic into the motor power cable. MTR-3N and MTR-3S series motors with brakes use a
physically separate brake power cable and connector. The brakes are of a fail-safe design, engaged by
internal springs and disengaged by the application of 24 Vdc power.
The motor cable must have a motor ground wire that connects one of the frame ground terminals on
the amplifier to the frame ground pin on the motor connector. Tables 3-1 to 3-5 show the proper wire
size and Figures 3-23 and 3-24 show the motor connector pin-out for each motor model. For noise
sensitive applications a shielded motor power cable may be necessary. When used, the power cable
shield should connect to the frame ground stud on the bottom of the amplifier and to the connector at
the motor end. GE Fanuc’s standard motor power cables do not include a shield.

3
Connector Pin Motor

1 Phase T
2 Phase S
Ground Earth Case
4 Optional Brake -
5 Phase R
E Optional Brake +
Figure 3-23. MTR-3T Series Motor/Brake Power Connections
Connector Pin Motor

D A
A Phase T
B Phase R
C Phase S
C B
D Earth Case
Figure 3-24. MTR-3N and MTR-3S Series Motor Power Connections
Connector Pin Motor

B A
A Brake +
B Brake -
Figure 3-25. MTR-3N and MTR-3S Series Optional Brake Power Connections
3.6.6 MTR-Series Servo Motor Resolver Wiring

Resolver feedback cables as shown in Table 3-9 are available from GE Fanuc for the S2K Series
resolver-based amplifiers used with MTR-Series motors. Plug the motor end of the resolver cable into
the connector on the motor and the DB-type connector end of the cable into the DB-15 socket on the
front of the amplifier labeled Position Feedback. The best system reliability is achieved when the
encoder cable is returned in a separate conduit from that housing the motor power cable. The
feedback cable should use 24-28 AWG twisted pair wire and must be shielded. The shields must be
terminated to the isolated ground pins on the Position Feedback (DB-15) connector on the S2K
amplifier as shown in Table 3-7. The maximum cable length for resolver feedback cables is 50
meters. See Section 3.6.9, “Connection Diagrams,” for additional wiring detail.
Installation 3
Table 3-7. Resolver Position Feedback Connections

Connect From S2K DB-15P… Connect To…
Position Signal MTR-3T MTR-3N or MTR-3S
Feedback Name Series Motor Series Motor
Connector Pin Connector Connector
Number
1 R1 5 E
2 R2 6 F
3 S1 1 D
4 S3 2 B
5 S2 4 C
6 S4 3 A
7 Therm 7 G
8 Therm 8 H
9 Shield NC NC
10 NC NC NC
11 Shield NC NC
12 NC NC NC
13 Shield NC NC
14 NC NC NC
15 Shield NC NC
A B
M C
L T N P D
K S R E
J
F
H G
MTR-3T Series Motors MTR-3N and MTR-3S Series Motors
Figure 3-26. MTR-Series Resolver Feedback Connections

3
3.6.7 Serial Communications Wiring

The S2K amplifiers include a 9-pin male D-Shell connector labeled Serial Port for RS-232 serial
communications. This port allows you to connect a terminal emulator program or GE Fanuc’s Motion
Developer software in order to configure and tune the S2K amplifier for your application. GE Fanuc
offers a 3 meter serial cable (IC800SKCS030) or you can make your own cable. Cable should be
Belden 8723 shielded cable or equivalent. Pin-out for the serial cable is as follows:
S2K PC Port
Connector Pin Number
Signal Signal
Pin Number
1 No connection 1 No connection
2 Receive 2 Receive
3 Transmit 3 Transmit
4 Jumper to pin 7 on S2K 4 No connection
connector
5 Ground 5 Ground/Shield
7 Jumper to pin 4 on S2K 7 No connection
connector
Settings for the serial port are fixed at 9600 baud, 7 bits and odd parity. XON/XOFF flow control is
used.
3.6.8 Auxiliary I/O Wiring

The Auxiliary I/O connector includes a number of diverse signals used to interface the S2K amplifier
to your motion controller and machine. The functions available include:
• Analog Command Input (AI1)
• Torque Limit Analog Input (AI2)
• Analog Output (AO)
• +5 Vdc Output (for auxiliary encoder) (on the Pulse Input on SSD216 & SSD228 models)
• +12 Vdc Output (for Enable input)
• Enable Input
• OK Output
• Encoder Output
• Auxiliary Encoder Input (on the Pulse Input on SSD216, SSD228 & SSD420 models)
The Enable input and OK output may be wired for either sinking or sourcing operation. The
operational voltage range is 12 to 24 volts DC. The OK output can sink or source 100 mA maximum.
The wiring to the Auxiliary I/O connector should be of appropriate size and insulation quality for the
application.
Installation 3
SSD104, SSD107 and SSD407 Models

The Auxiliary I/O connector on these models is a standard 25-pin female D-shell connector and is
wired according to the pin-out shown in Table 3-8 and the connection diagrams in section 3.6.9.
GE Fanuc offers several prefabricated connection options for the Auxiliary I/O signals. A breakout
terminal board assembly (44A726268-001) and associated “plug-and play” interface cables
(IC800SKCIxxx) make all of the signals available on screw terminals from a compact terminal block
that can be panel or DIN-rail mounted. There are also flying lead cables (IC800SKCFLYxxx) that
make all of the signals available on individual wires for direct connection into a user supplied
terminal strip or the machine controller. See Table 3-9 for cable selection.
SSD216, SSD228 and SSD420 Models
The Auxiliary I/O connector on these models is a standard screw terminal connector and is wired
according to the pin-out shown in Table 3-8 and the connection diagrams in section 3.6.9. Because
the connections are made to screw terminals, no prefabricated cable is offered for Auxiliary I/O
connections for these models.
Detailed descriptions for each signal on the Auxiliary I/O connector are shown below.
Table 3-8. Auxiliary I/O Connector Pin-out

SSD104 SSD216 Signal Description
SSD107 SSD228 Name
SSD407 SSD420
Pin # Pin #
1 1 AI1+ Positive for differential analog input 1 used for the ± 10Vdc command interface
2 3 AI2+ Positive for differential analog input 2 used as a ± 10Vdc torque limit input
3 6 AO Positive for the general purpose analog output
4 Pulse IN_A+ Positive for the A channel of the auxiliary encoder input
Input
5 Pulse IN_B+ Positive for the B channel of the auxiliary encoder input
Input
6 Pulse Tie Used to bias the auxiliary encoder inputs when used in single-ended mode
Input
7 19 +12 Vdc 12 Vdc regulated power output for use with Enable and OK signals (0.5 A max.)
8 8 Out_A+ Positive for the A channel of the encoder output
9 10 Out_B+ Positive for the B channel of the encoder output
10 12 Index + Positive for the index (marker) channel of the auxiliary encoder output
11 14 Common Signal common for internal 5 and 12 Vdc supplies. Not referenced to frame.
12 N/A Enable - Negative for the power output enable discrete input
13 N/A OK - Negative for the amplifier OK discrete output
14 2 AI1 - Negative for differential analog input 1 used for the ± 10Vdc command interface
15 4 AI2 - Negative for differential analog input 2 used as a ± 10Vdc torque limit input
16 5&7 Analog Common reference for analog inputs and outputs
Common
17 Pulse IN_A- Negative for the A channel of the auxiliary encoder input
Input
18 Pulse IN_B- Negative for the B channel of the auxiliary encoder input
Input
19 Pulse + 5 Vdc 5 Vdc regulated power output (0.25 A max. current) for auxiliary encoder power
Input

3
SSD104 SSD216 Signal Description

SSD107 SSD228 Name
SSD407 SSD420
Pin # Pin #
20 14 & 20 Common Signal common for discrete inputs and outputs
21 9 Out_A - Negative for the A channel of the encoder output
22 11 Out_B – Negative for the B channel of the encoder output
23 13 Index - Negative for the index (marker) channel of the auxiliary encoder output
24 15 Enable + Positive for the power output enable discrete input
25 16 OK + Positive for the amplifier OK discrete output
N/A 17 Input Common side of the Enable discrete input optocoupler. Not referenced to any
Common internal voltages or ground points.
N/A 18 Output Common side of the OK SS relay output. Not referenced to any internal voltages
Common or ground points.
Installation 3
Command Input (Analog Input 1)

The differential command input is intended to be used as a ± 10Vdc torque or velocity command
interface to a host motion controller when the amplifier is configured for either velocity or torque
(default) operating mode. The Motion Type (MT) parameter determines the amplifier operating
mode. The Analog Input Deadband (AIB1) and Analog Input Offset (AIO1) parameters are used to
configure the deadband and voltage offset for this input. See Chapter 5 for detailed descriptions of
these parameters.
The gearing ratio parameters (GRN and GRD) can be used to scale the command voltage to represent
a specific motor speed or torque at a given voltage input. The base scaling of the command input for a
ratio of 1 (GRN/GRD = 1) for each operating mode is as follows:
Velocity Mode (MT=VEL): 1228.8 Motor RPM/Command Volt
Torque Mode (MT=TORQ): 10% Amplifier Peak Current/Command Volt
To enable the scaling, the Gearing Enable parameter must be set (GRE=1).
Use 20-28 AWG twisted-pair wire with an overall shield for this cable. For best noise immunity
connect the shield to the low side of the differential command input on the sourcing (host) side of the
cable. Also, as a common mode reference, tie the analog common pin on the Auxiliary I/O connector
to the common reference for the command signal on the host controller. (See connection diagrams in
Section 3.6.9). The internal schematic for the analog input circuit is shown below.
25 K
25 K
AIx +
OP-AMP
25 K
AIx -
25 K
Analog
Common
Torque Limit Analog Input (Analog Input 2)

This differential input is intended to be used as a ± 10Vdc torque limit reference input when the
amplifier is configured for either velocity or torque (default) mode. The Motion Type (MT) parameter
determines the amplifier operating mode. The S2K amplifiers can be configured to allow the torque
limit setting to be changed on-the-fly using this analog input. When the Torque Limit Enable (TLE)
parameter is set to 2, the absolute value of analog input 2 sets the torque (current) limit of the
amplifier as follows:
10V = Full continuous rated torque (current)
If your application requires a fixed torque limit, you should use the TLC parameter rather than the
torque limit analog input. The Analog Input Deadband (AIB2) and Analog Input Offset (AIO2)
parameters are used to configure the input deadband and voltage offset for this input. See Chapter 5
for detailed descriptions of these parameters.
Use 20-28 AWG twisted-pair wire with an overall shield for this cable. For best noise immunity
connect the shield to the low side of the differential command input on the sourcing (host) side of the
cable. Also, as a common mode reference. tie the analog common pin on the Auxiliary I/O connector
to the common reference for the command signal on the host controller. (See connection diagrams in
Section 3.6.9.) The internal schematic for the analog input circuit is shown above.

3
Analog Output (AO)

The hardware analog output is primarily used as a diagnostic output for various signals used in the
tuning and debugging process. The Analog Common pin is used for the signal return. The Analog
Output (AO) software parameter allows you to configure this output to represent one of the following
signals:
• Actual velocity (AO = VLA)
• Actual output current (AO = CMD)
• Following error (AO = FE)
The output can also be forced to a specific voltage value by setting the AO parameter to the desired
voltage from a PC terminal emulator or Motion Developer terminal window. This operation is useful
during system start-up and tuning by using the analog output as a command source for either velocity
or torque mode. By wiring the analog output directly into the command input (AI1) on the amplifier
you can force discrete command settings to jog the axis and verify machine operation.
Use 20-28 AWG twisted-pair wire with an overall shield for this signal interface. For best noise
immunity connect the shield to the Analog Common pin on the Auxiliary I/O connector. The internal
schematic for the analog output circuit is shown below.
20 K
.0022
20 K +12V
AO
100
-12V Analog
Common
Auxiliary Encoder Input (IN_A, IN_B)

The S2K amplifier includes an electronic gearing mode that allows the motor to follow a master
encoder (follower) or pulse command source (stepper emulator). The Auxiliary Encoder Type (QTX)
register configures this input for one of the following signal types:
• Pulse/Direction input
• CCW/CW pulse input
• Quadrature (encoder) input
By setting the Motion Type register to position mode (MT = POS) you configure the gearing mode,
and the amplifier will follow pulses on the auxiliary encoder input based on the gearing ratio. This
ratio is set using the Gearing Numerator (GRN) and Gearing Denominator (GRD) registers. The
Gearing Enable (GRE) register is then used to enable or disable the gearing mode and the Gearing
Bound (GRB) register sets the maximum velocity (pulses/second) that the electronic gearing mode
can command. The auxiliary encoder input does not include an index (marker) input since it is used
for simple pulse following and so there is no need for a master reference position. When the auxiliary
encoder inputs are used with a single ended signal source, see the section titled “Tie” below.
Note that on the SSD216 and SSD228 models, the auxiliary encoder input and the +5Vdc output are
located on the Pulse Input connector on the bottom of the amplifier. The internal schematic for the
encoder input circuit is shown below.
IN_A +
26L533
IN_A -
Installation 3
Tie (For single ended encoder input)

The Tie point allows the auxiliary encoder inputs to be used as single-ended inputs. This terminal is
internally connected to a 2.5 Vdc source through a 1 kΩ current limiting resistor. Typically, the Tie
point is connected to the IN_A- and IN_B- input terminals to bias the line receiver. Note that on the
SSD216 and SSD228 models, this terminal is located on the Pulse Input connector on the bottom of
the amplifier. For single-ended open collector encoder signals, a 470 Ω pull-up resistor is required.
The internal schematic for the tie terminal is shown below.
OP-AMP
Tie
+ 2.5 V 1K
Encoder Output (Out_A, Out_B, Index)

The S2K amplifier is typically used in applications controlling motor position where a host motion
controller closes the position loop and interfaces to the amplifier using either an analog velocity or
torque command. Since the S2K amplifier requires position feedback from the motor to properly
commutate the currents, the motor position feedback must connect to the amplifier. The host
controller also requires position feedback from the motor (unless a second feedback device is
mounted to the load) to close the position loop. For S-Series motors the encoder output buffers the
motor encoder input and makes it available as quadrature (A-channel, B-channel & index) signals to
the motion controller. The S-Series motor encoder resolution is 2500 pulses per revolution, so the
feedback to the host controller supports a maximum 10,000 quadrature counts/revolution. For MTR-
Series motors the resolver-based S2K derives quadrature encoder signals from the resolver feedback
with a maximum resolution of 1024 pulses per revolution (4096 quadrature counts per revolution).
This maximum resolution can be scaled down to one of several predefined lower resolution values
using the Encoder Output Type (EOT) register.
For best results use 20-28 AWG twisted-pair wires with individual shields on each wire pair and an
overall shield. For best noise immunity connect the cable shield to one of the common inputs on the
Auxiliary I/O connector. The typical internal schematic for each of the encoder output circuits is
shown below.
OUT_A +
26L531
OUT_A -

3
Enable Input
The Enable discrete input allows the host controller to enable or disable the power output stage of the
amplifier. The Enable input must be active to run the servo motor. The Enable input is also use to
reset faults on the amplifier. When a fault occurs the Enable input must be cycled low to high to reset
the faults. The current state of the Enable input can be queried using the Fault Code (FC) register in
the terminal window. The Enable input should be connected as shown in the connection diagrams in
Section 3.6.9. The internal schematic for the enable input circuit is shown below.
OPTOCOUPLER
2000
ENABLE +
499
ENABLE - (SSD104 & SSD107)

Input Common (SSD216 & SSD228)
OK Output
The OK discrete output allows the S2K to communicate status information to the host controller. The
OK output is active when the amplifier is enabled and no faults are present. The S2K LED status
register will display OK when this output is active. The internal schematic for the OK output circuit is
shown below.
SOLID STATE
RELAY OK +
OK - (SSD104 & SSD107)

Output Common (SSD216 & SSD228)
Installation 3
3.6.9 Connection Diagrams
Figure 3-27. Connection Diagram for the 4.3 A 115/230 VAC Serial Encoder-Based Servo Amplifier (SSD104)

3
Figure 3-28. Connection Diagram for the 4.3 A 115/230 VAC Resolver-Based Servo Amplifier (SSD104R)
Installation 3
Figure 3-29. Connection Diagram for the 7.2A 115/230 VAC Serial Encoder-Based Servo Amplifier (SSD107)

3
Figure 3-30. Connection Diagram for the 7.2A 115/230 VAC Resolver-Based Servo Amplifier (SSD107R)
Installation 3
Figure 3-31. Connection Diagram for the 16 A & 28 A 230 VAC Serial Encoder-Based Servo Amplifiers (SSD216 & SSD228)

3
Figure 3-32. Connection Diagram for the 16 A & 28 A 230 VAC Resolver-Based Servo Amplifiers (SSD216R & SSD228R)
Installation 3
Figure 3-33. Connection Diagram for the 7.2A 460 VAC Resolver-Based Servo Amplifier (SSD407R)

3
Figure 3-34. Connection Diagram for the 20A 460 VAC Resolver-Based Servo Amplifier (SSD420R)
Installation 3
3.6.10 Cables and Connector Mates

Cables in several lengths are available from GE Fanuc for motor to amplifier connections and various
other amplifier functions. It is strongly recommended that you use the cables available from GE
Fanuc as shown in Table 3-9. GE Fanuc does not ship mating connectors for the MTR-Series motors
or S-Series motors along with the motor; however, Table 3-10 shows details for the S-Series motor
connector kits that can be separately ordered from GE Fanuc.
Note: GE Fanuc cables and connectors shown are not rated for IP67 environments, or washdown
applications. GE Fanuc cables are not designed for high flex or cable track applications.
Table 3-9. Cables Available from GE Fanuc

GE Fanuc Catalog
S2K Series Cable Number
Description
IC800SKCI010 Interface Cable, S2K Auxiliary I/O to 44A726268-001 Terminal Board Assembly, 1 m
IC800SKCI030 Interface Cable, S2K Auxiliary I/O to 44A726268-001 Terminal Board Assembly, 3 m
Aux. I/O Interface
IC800SKCFLY010 Interface Cable, S2K Auxiliary I/O connector to Flying Leads, 1 m
IC800SKCFLY030 Interface Cable, S2K Auxiliary I/O connector to Flying Leads, 3 m
Serial IC800SKCS030 S2K Serial Communication Cable for PC (Motion Developer) Interface, 3 m
S-Series Servo IC800SKCEZxxx Encoder Cable, S2K to 30-750 W S-Series Motor, x xx=050 (5 m) or 100 (10 m)
Motor Encoder IC800SKCEVxxx Encoder Cable, S2K to 1 kW-5 kW S-Series Motor, xxx=050 (5 m) or 100 (10 m)
IC800SKCPZxxx Power Cable, S2K to 30 - 750 W S-Series Motor, xxx=050 (5 m) or 100 (10 m)
IC800SKCPVxxx Power Cable, S2K to 1 kW-2.5 kW S-Series Motor, xxx=050 (5 m) or 100 (10 m)
S-Series Servo
IC800SKCPVLxxx Power Cable, S2K to 4.5 kW-5 kW S-Series Motor, xxx=050 (5 m) or 100 (10 m)
Motor Power
IC800SKCBVxxx* Power/Brake Cable, 1 kW-2.5 kW S-Series Motor with Brake, xxx=050 (5 m) or 100 (10 m)
IC800SKCBVLxxx* Power/Brake Cable, 4.5 kW-5 kW S-Series Motor with Brake, xxx=050 (5 m) or 100 (10 m)
S-Series Servo
Motor Brake IC800SLCBZ0xxx Brake Cable, 30 - 750 W S-Series Motor with Brake, xxx=050 (5 m) or 100 (10 m)
(30-750 W Motors Only)
MTR-Series Motor CBL-3C-RD-xx Resolver Cable, S2K to MTR-3N or MTR-3S Series Servo Motor, xx=10, 20 or 30 (feet)
Resolver CBL-3T-RD-xx Resolver Cable, S2K to MTR-3T Series Servo Motor, xx=10, 20 or 30 (feet)
CBL-34-MP-xx Power Cable, S2K to MTR-3N Servo Motor, xx=10, 20 or 30 (feet)
CBL-34-MP-xx Power Cable, S2K to MTR-3S2x, 3S3x & MTR-3S43-H Servo Motor, xx=10, 20 or 30 (feet)
CBL-38-MP-xx Power Cable, S2K to MTR-3S8x Servo Motor, xx=10, 20 or 30 (feet)
MTR-Series Motor Power Cable, S2K to MTR-3S43-G, 3S45, 3S46 & 3S6x-G Servo Motor, xx=10, 20 or 30
CBL-3C-MP-xx
Power (f ) Cable, S2K to MTR-3S6x-H Servo Motor, xx=10, 20 or 30 (feet)
CBL-3P-MP-xx Power
CBL-3T-MP-xx Power Cable, S2K to MTR-3T4x, 3T5x & 3T6x Servo Motor, xx=10, 20 or 30 (feet)
CBL-T7-MP-xx Power Cable, S2K to MTR-3T1x & 3T2x Servo Motor, xx=10, 20 or 30 (feet)
Power/Brake Cable, S2K to MTR-3T4x, 3T5x & 3T6x Servo Motor with Brake, xx=10, 20
CBL-3T-MB-xx
or 30 (feet)
MTR-Series Motor Power/Brake Cable, S2K to MTR-3T1x & 3T2x Series Servo Motor with Brake, xx=10, 20
Brake CBL-T7-MB-xx
or 30 (feet)
CBL-30-BT-xx Brake Cable, S2K to MTR-3N & 3S Series Servo Motor with Brake, xx=10, 20 or 30 (feet)
*The 1kW-5kW S-Series servo motors incorporate the brake power and motor power into a single cable. When a brake is required this cable
should be used in place of the motor power cable IC800SKCPVxxx or IC800SKCPVLxxx. The 30–750W S-Series servo motors require a
separate cable (IC800SLCBZxxx) for motor brake power when the brake option is required.

3
Table 3-10. S-Series Servo Motor Connector Mates

Connector Connector
Connector Kit Qty Connector Part Number Manufacturer
Function Description
1 Socket 172163-1
IC800SLMCONKITZ Encoder
15 Contact 794058-3 or 770834-3 AMP, Inc.
30 to 750 Watt S-Series
or
1 Socket 172159-1 equivalent
Motors without Brake Power
4 Contact 170366-1 or 170362-1
1 Socket 172163-1
Encoder
15 Contact 794058-3 or 770834-3
IC800SLMCONKITZB 1 Socket 172159-1 AMP, Inc.
Power or
30 to 750 Watt S-Series 4 Contact 170366-1 or 170362-1
Motors with Brake equivalent
1 Socket 172157-1
Brake
2 Contact 170366-1 or 170362-1
1 MS-Shell* MS3106B20-29S
1 Cable Clamp MS3057-12A (97-3057-1012)
IC800SLMCONKITV Encoder
3420-12
1 Bushing Amphenol
(9779-513-12)
1000 to 2500 Watt or
S-Series Motors 1 MS-Shell* MS3106B20-4S equivalent
without Brake Power 1 Cable Clamp MS3057-12A (97-3057-1012)
(No Brake) 3420-12
1 Bushing
(9779-513-12)
1 Cable Clamp MS3057-12A (97-3057-1012)
IC800SLMCONKITVB Encoder
3420-12
1 Bushing Amphenol
(9779-513-12)
1000 to 2500 Watt or
1 MS-Shell* MS3106B20-18S equivalent
S-Series Motors
with Brake Power & 1 Cable Clamp MS3057-12A (97-3057-1012)
Brake 3420-12
1 Bushing
(9779-513-12)
1 Cable Clamp MS3057-12A (97-3057-1012)
IC800SLMCONKITVL Encoder
3420-12
1 Bushing Amphenol
3500 to 5000 Watt (9779-513-12)
or
without Brake Power 1 Cable Clamp MS3057-12A (97-3057-1012)
(No Brake) 3420-12
1 Bushing
(9779-513-12)
1 Cable Clamp MS3057-12A (97-3057-1012)
IC800SLMCONKITVLB Encoder
3420-12
1 Bushing Amphenol
3500 to 5000 Watt (9779-513-12)
or
with Brake Power & 1 Cable Clamp MS3057-16A (97-3057-1016)
Brake 3420-16
1 Bushing
(9779-513-16)
* The connector shells shown for the 1-5 kW model servo motors are for straight mating connectors. For right angle connectors substitute
MS3108 for MS3106 in the part number.
Installation 3
3.7 Wiring The Optional Motor Brake

The following figure shows a typical wiring example for the optional S-Series and MTR-Series servo
motor holding brake. The brake must be energized using a 24 VDC power supply to release its hold
on the motor. Chapter 2 contains motor brake specifications showing the current requirements for
each model motor. GE Fanuc offers a 24 VDC, 5 amp DIN-rail mounted power supply (Part Number
IC690PWR024) that may be used. If the brake control contact is rated for switching the inductive
load of the Motor Brake Coil, the control relay (CR1) may not be required.
120 VAC
L N
24 VDC Power Supply

GE Fanuc IC690PWR024
+ -
CR1
Low Power Brake
Control Contact
(Close to release brake)
D1
Motor Brake Coil

CR1 24 VDC
D2
Customer Supplied Components:
CR1 – Control relay, Coil: 24 VDC/50mA or less,

Contact: rated for 1Amp DC continuous and break
D1 – Diode, 1A, 100 VDC, 1N4002 or equivalent
D2 – Diode, 3A, 100 VDC, 1N5401 or equivalent
Figure 3-35. Typical Brake Wiring Diagram

3
3.8 Regenerative Discharge Resistor Selection and Wiring

Regenerative energy is normally created in applications with a high load inertia, high speed, vertical
axes and/or frequent acceleration and deceleration. When decelerating a load, the stored kinetic
energy of the load creates generator action in the motor causing energy to be returned to the servo
amplifier. For light loads and low acceleration rates, the amplifier may be able to absorb and store
this energy in the DC link filter capacitors or dissipate it in an internal regenerative resistor.
Otherwise, an optional external regenerative discharge unit must be installed.
The S2K Series amplifiers include an internal regenerative discharge resistor that will control the
regenerative energy in most applications. When an Over Voltage fault (LED Status Code OV) or an
Excessive Clamp Duty Cycle fault (LED Status Code EC) occurs during motor deceleration, the
cause is usually excessive regeneration and requires an optional external regenerative resistor kit. The
SSD104 amplifier has no provisions for connecting an external resistor. As an alternative to adding
an external resistor you can try a combination of the following actions:
• Reduce the deceleration rate and/or increase deceleration time
• Lower the top speed of the motor
• Reduce machine cycle rate
• Reduce load inertia connected to the motor
• Increase vertical axis counterbalance
GE Fanuc offers several different resistor kits (all kits include resistor mounting brackets) as shown
in Table 3-11. Wiring between the resistor and the amplifier’s power terminals is not included in the
kit and is the user’s responsibility. Connections to the resistor can be made by soldering, using a fast-
on type terminal of appropriate size, or using a ring terminal bolted through the hole in the resistor
terminal tab. See Figure 3-36.
Caution
Under normal operation the regenerative discharge resistor may become very
hot. To prevent being burned, never touch the resistor. Mount the resistor well
away from heat sensitive components or wiring to prevent damage. Also, the
terminals of this resistor are at a high voltage potential. Either insulate the
connections or provide adequate shielding to eliminate this shock hazard.
Table 3-11. Regenerative Discharge Resistor Kits
GE Fanuc Resistor Kit Specifications

Regenerative Peak Peak
Discharge Resistor Resistance Continuous
Power for 230 VAC Power for 460 VAC
Kits Power1
Models2 Models2
IC800SLR001 50 Ω 100 W 3362 W 13612
IC800SLR002 100 Ω 225 W 1681 W 6806
IC800SLR003 20 Ω 300 W 8405 W 34031
IC800SLR004 15 Ω 1000 W 11207 W 45375
1) Resistor continuous power ratings are at 25oC ambient temperature. Derate power linearly at 0.3% per oC above 25oC.
2) Peak power is based on an average discharge circuit turn-on voltage of 410 VDC for models rated 230 VAC and 825 VDC
for models rated 460 VAC.
Installation 3
The resistor values included with the kits are average values for a variety of conditions. Smaller
capacity (wattage) resistors may work in some applications and larger resistors may be required in
others. The lower the resistance value, the faster the regenerative energy can be dissipated.
Applications with large inertial loads, high speeds, and high deceleration rates regenerate more
energy and may require a resistor with a lower resistance and/or larger capacity (wattage). As an
alternative, when the capacity or resistance of the standard external regenerative resistor is
insufficient for the application, reducing load inertia, maximum speed, deceleration rate, increasing
vertical axis counterbalance or some combination of these measures can decrease the regenerative
energy. See Section 3.8.1 for details on selecting the proper resistor based on application
requirements.
The wiring between the amplifier and the regenerative resistor should be kept as short as possible
(less than 20 inches or 50cm) to prevent possible damage to the switching transistor from voltage
transients due to cable inductance. The regenerative resistor may become very hot during normal
operation. Therefore, route all wiring away from the resistor so that the wiring does not touch the
resistor and has a minimum clearance of 3 inches (76mm).
Connect one terminal of the resistor to the amplifier’s “EXT” power terminal and the other resistor
terminal to the “DC+” amplifier power terminal. See Figures 3-30 and 3-34.
Note: If you are not using an external resistor, a wire jumper must be connected
between the power terminals “INT” and “EXT” as shown in the “Clamp
Connections-External” section of Figures 3-30 and 3-34. If this jumper is
not installed, the internal resistor is disabled and the amplifier may exhibit
symptoms associated with excessive regeneration. This note does not
apply to the SSD104 model amplifier.
When mounting the resistor, tighten the lock nut sufficiently to compress the lock washer. Although
the lock nut should be tightened securely, avoid over-tightening so as not to strip the bolt threads.

3
MICA WASHER
(2 REQ.)
Connect tabs
to amplifier
terminals CENTERING WASHER
LOCK
(2 REQ.)
WASHER
THREADED
BOLT
LOCK H TERM. HOLE DIA

NUT TD
L CH
SLOT SIZE
TERMINAL
SS THICKNESS
TT TH
TW
LL
TERMINAL DETAIL
CC
Dimensions (in inches)

Part Resistor Bracket Terminal
Number L D
H CH CC LL SS TH TW TT TD
+/-.062 Max.
IC800SLR001 6.50 .910 1.75 1.25 7.562 .750 .218 X.437 .562 .250 .020 .166
IC800SLR002 10.5 1.312 2.13 1.5 11.562 .875 .281 X.562 .625 .375 .020 .173
IC800SLR003 8.5 1.125 1.75 1.25 9.562 .750 .218 X.437 .625 .375 .020 .173
IC800SLR004 15 2.50 4.25 3.0 17.0 1.25 .281 X.562 .625 .500 .025 .188
Figure 3-36. Regenerative Discharge Resistor Mounting and Wiring Dimensions
Installation 3
3.8.1 Calculating Regenerative Power and Selecting a Resistor

Use the following calculation to determine the average regenerative power that will be released in
your application. These calculations ignore any losses due to resistance in the motor armature and
lead wire. Based on the calculations, select the appropriate regeneration resistor kit from Table 3-11.
The continuous power rating of the selected resistor must exceed the average calculated regenerative
power from the equation below:
Average Rotational Energy Energy to be (only in vertical axis operation)
Regenerative to be Released Consumed
= – + Vertical Axis Energy to be
Energy during Through Axis
Released During Downward
(Joules) Deceleration Friction
Motion
(STEP 1) (STEP 2)
(STEP 3)
STEP 1: Rotational Energy to be Released During Deceleration (Ed)

(
Ed = 6.19×10
−4
)× (J m
+ JL )× (ωi − ωf )
2 2
Joules
Where:
Jm Motor rotor inertia (lb-in-s2)
(See Motor Specification table in Chapter 2)
JL Load inertia reflected to motor shaft (lb-in-s2)
ωi Initial motor speed at the beginning of deceleration (RPM)
ωf Final motor speed at the end of deceleration (RPM)
This step must be calculated for each deceleration in the motion profile and then the values summed
to arrive at a total regenerated energy for this step. For multi-speed (compound) moves, the starting
and ending velocity must be used for ωI and ωf for each deceleration segment.
STEP 2: Energy to be Consumed Through Axis Friction (Ef)
Ef = (5.91 × 10 )× t
−3
a
× (ω i − ω f ) × Tf Joules
Where:
ωi Initial motor speed at the beginning of deceleration (RPM)
ωf Final motor speed at the end of deceleration (RPM)
ta Deceleration time (Sec)
Tf Axis friction torque (as seen by the motor) (in-lb)
This step must be calculated for each deceleration in the motion profile and then the values summed
to arrive at a total regenerated energy for this step. For multi-speed (compound) moves the starting
and ending velocity must be used for ωI and ωf for each deceleration segment.

3
STEP 3: Vertical Axis Energy to be Released During Downward Motion (Ev)

(This term applies only in vertical axis operation)
Ev = (1.182 × 10 )×T−2
h
×ω m × t d Joules
where:
Th Upward supporting torque applied by the motor during (in-lb)
downward rapid traverse to hold the load against gravity
td Time of downward motion (Sec)
ωm Motor speed during downward rapid traverse (RPM)
STEP 4: Determine if an External Regenerative Discharge Resistor Is Required

Determine the Average Regenerative Energy using the equation in the beginning of this section. To
compare this to the regenerative capacity of the amplifier, you must first perform the following
calculations:
a) Account for the energy stored in the DC link filter capacitors:
Net Energy = Average Regenerative Energy – Capacitor Energy Storage (from Table 3-12)
b) Convert the Net Energy to Average Regenerative Power using the equation below:
1
Average Regenerative Power (Watts) = Net Regenerative Energy (Joules) x
T
where:
T = Total profile cycle time (seconds)
If the Average Regenerative Power exceeds the Maximum Continuous Power indicated in Table 3-12
for the amplifier you are using, an external regenerative discharge resistor is required:
Table 3-12. Amplifier Regenerative Discharge Ratings

Internal Resistor Ratings
Amplifier Capacitor Energy Min. External Max.
Rating
Model Storage * Resistance Resistance Continuous
Power
SSD104 4.3 Amp, 115/230 VAC 17.5 Joules N/A 50 Ω 39 Watts
SSD107 7.2 Amp, 115/230 VAC 34.9 Joules 50 Ω 50 Ω 24 Watts
SSD216 16 Amp, 230 VAC 69.8 Joules 25 Ω 25 Ω 95 Watts
SSD228 28 Amp, 230 VAC 104.7 Joules 12 Ω 12.5 Ω 189 Watts
SSD407 7.2 Amp, 460 VAC 84.9 Joules 50 Ω 50 Ω 48 Watts
SSD420 20 Amp, 460 VAC 255 Joules 25 Ω 25 Ω 193 Watts
*Assumes nominal AC line voltage of 230 VAC. High line voltage will dramatically reduce the amount of regenerated energy
the amplifier capacitors can absorb (for example, a 10% high line voltage will reduce the maximum regenerated energy to 43%
of the values shown).
If the calculated value exceeds the storage capability of the amplifier, then an external regenerative
resistor is required (see Step 5).
Installation 3
STEP 5: Selecting a Regenerative Discharge Resistor Kit

If an external regenerative resistor kit is required it must meet the following criteria:
1. The resistance of the selected resistor must exceed the Minimum External Resistance value
shown in Table 3-9 for your specific amplifier.
2. The value calculated for the Average Regenerative Power must be less than the Continuous
Power rating shown in Table 3-8 for the selected resistor kit.
Contact GE Fanuc if you require assistance in selecting the appropriate value.
STEP 6: Determine the Peak Power Requirements for the Resistor
The peak power determines the maximum rate at which the regenerated energy must be dissipated to
prevent overvoltage faults on the amplifier. The peak power must be calculated for each deceleration
period of the profile by dividing the regenerated energy for that period by the time over which the
energy is released.
Peak Power = Regenerated Energy/ Regeneration Time
This value must be lower than the Peak Power rating for the resistor selected (see Table 3-11). If a
non-standard resistor is substituted, its peak power can be calculated as follows:
230 VAC Models Peak Power = 4102 / R Watts

460 VAC Models Peak Power = 8252 / R Watts
where R is the resistance value in ohms for the selected resistor.

_________________________________________________________________________________
Regeneration Application Example:
Assume a vertical axis using an SLM100 motor (Jm = 0.001491 lb-in-s2) with a load inertia (JL) of
0.0139 lb-in-s2. The SLM100 motor uses an SSD107 amplifier. The friction torque in the axis (Tf) is
10 in-lb and the torque that is required to support the load against gravity (Th) is 15 in-lb. The axis
requires the following compound velocity profile:
Up 2000 RPM
1000 RPM
Total Cycle Time = 2 seconds
t1
t3
0
t2
t1 = 0.2 seconds
t2 = 0.2 seconds
t3 = 1.0 seconds
Down 2000 RPM
Since the example machine cycle involves a number of periods where regeneration occurs, the
determination of the regenerated energy is more complicated. Regeneration occurs for each
deceleration period when the axis is moving in the upward direction (against gravity) and during the
period when the axis is moving in the downward direction. These areas are shaded in the profile
shown above. The regeneration for each of these periods must be calculated as follows:

3
STEP 1a: Calculate the rotational energy during period t1:

Ed1 = (6.19x10-4) x (0.001491+0.0139) x (20002 – 10002)= 28.58 Joules
STEP 1b: Calculate the rotational energy during period t2:
Ed2 = (6.19x10-4) x (0.001491+0.0139) x (10002 – 02) = 9.53 Joules
STEP 2a: Calculate the energy absorbed by friction during period t1:
Ef1 = (5.91x10-3) x 0.2 sec x (2000 RPM-1000 RPM) x 10 in-lb = 11.82 Joules
STEP 2b: Calculate the energy absorbed by friction during period t2:
Ef2 = (5.91x10-3) x 0.2 sec x 1000 RPM x 10 in-lb = 11.82 Joules
STEP 3: Calculate the regenerative energy for downward motion during period t3:
Ev = (1.182x10-2) x 15 in-lb x 2000 RPM x 1 Sec = 354.6 Joules
STEP 4: Calculate the Average Regenerative Energy for the entire cycle (Eavg):
Eavg = 28.58 + 9.53 – 11.28 – 11.82 + 354.6 = 369.1 Joules
To determine if the SSD107 amplifier can absorb this amount of energy, first determine the net
energy the regeneration resistors must dissipate. To find this Net Energy value, subtract the energy
stored in the amplifiers bus filter capacitors as shown under the Capacitor Energy Storage heading in
Table 3-12.
Net Energy = 369.1 Joules – 41.1 Joules = 328 Joules
Next, we must convert this Net Energy to power so we can compare the result with the dissipation
capability of the amplifier’s internal regeneration resistor.
Average Power = Net Energy / Total Cycle Time = 328 / 2 Sec = 164 Watts
We now compare this result to the amplifier’s Max. Continuous Power rating from Table 3-12. Since
the 164 Watts required is more than the 25 watts allowed by the SSD107 amplifier, an external
regenerative resistor is required.
STEP 5: Determine the proper external regeneration resistor size:
If we refer to the resistor selection criteria shown in Step 5 above, we must first select a resistor that
has a resistance value larger than the Min. External Resistance for the SSD107 amplifier shown in
Table 3-9. Therefore, our resistor must be at least 50 Ω. From the second criteria our calculated value
of 164 Watts for the Average Regenerative Power must be less than the Continuous Power rating of
the resistor we select.
From Table 3-11 we see that resistor kit IC800SLR002 has a resistance of 100Ω and a continuous
power rating of 225 Watts which meets both of the selection criteria.
STEP 6: Check the peak power (Ppk) requirements for each regeneration period:
For period t1: Ppk1 = 28.58 Joules / 0.2 seconds = 142.9 Watts
For period t2: Ppk2 = 9.53 Joules / 0.2 seconds = 47.65 Watts
For period t3: Ppk3 = 369.1 Joules / 1 second = 369.1 Watts
The largest of these values, 369.1 Watts, is still less than the 2880 Watt Peak Power rating of the
IC800SLR001 resistor kit so this standard resistor can be used.
Installation 3
3.9 Dynamic Braking Contact and Operation

For amplifier models SSD216, SSD228 and SSD420 it is possible to configure a dynamic braking
(DB) function that will use the internal regeneration resistor to dynamically brake the motor when
power is removed from the amplifier. The DB function requires a normally closed auxiliary contact
from the main AC line contact that feeds power to the amplifier. This contact (Maux) must be wired
between the “EXT” and “INT” power terminals as shown in the section titled “Clamp Connections”
on Figures 3-31, 3-32 and 3-34.
For the other controller models it is necessary to use an external dynamic brake circuit as shown in
the diagram below. The resistor value should be approximately equal to the motor armature
resistance.
Enable
S
S2K Motor
T
DB Contactor
Resistor
Resistor
Resistor
Figure 3-37. Typical External Dynamic Brake Circuit

Chapter Getting Started
4
This chapter documents the process for completing a basic setup for an S2K amplifier for the
various modes of operation. Various software parameters can be configured which allow you to
configure the amplifier for your application requirements. Chapter 5 includes a detailed reference
for the software commands and registers supported by the S2K Series amplifiers.
This chapter assumes that the amplifier power, motor power, and motor encoder have been wired
correctly according to the guideline in Chapter 3, and that power is applied. The motor should not
be connected to a load until the basic setup has been completed.
4.1 Establishing Communications

In order to configure the amplifier software setting, you must first establish communications with
the amplifier using a VT100-compliant terminal emulation program. The Windows Hyper
Terminal or the Terminal window in GE Fanuc’s Motion Developer software are two that will be
discussed in this manual. When using a third party terminal program you must prefix each line with
a node address between 0 and 9. This is not required when using the Motion Developer terminal
window.
4.1.1 Connect The Serial Cable

The first step is to connect the serial cable between the serial communication port on your PC and
the amplifier’s Serial Port connector. GE Fanuc offers a prefabricated cable (part number
IC800SKCS020) or you can make your own (see Chapter 3 for wiring details). Tighten the screws
to fasten the connector.
4.1.2 Start The Terminal Emulation Software

The next step is to start the terminal emulation software you wish to use. The following sections
will discuss using the Window’s Hyper Terminal and Motion Developer.

Windows is a registered trademark of Microsoft, Incorporated
4-1
4
4.1.2.1 Using Hyper Terminal

In the Windows Start menu, select the Hyper Terminal option or search for the file called
Hypertrm.exe to open the terminal software. The main window looks like the screen below.
From the File menu, select New Connection and the Connection Description screen will be
displayed.
Select an icon from the scrolled list and enter a name for the connection (the example uses S2K
Amplifier). Click the OK button.
The Phone Number screen should be displayed as shown below. On this screen, in the Connect
Using list box, you must select the serial port associated with the physical port where you
connected your serial cable to the amplifier. Our example uses the Direct to Com 1 option. Click
the OK button.

Getting Started 4
The COM1 Properties box will appear next. Configure the settings for the COM port as shown in
the example below and then click OK.
Chapter 4 Getting Started 4-3

4
You will be returned to the main Hyper Terminal screen. You must now configure the properties of
the connection by selecting Properties from the File menu as shown below:
The Properties dialog box will be displayed as shown below. In the emulation list box, select
VT100 and then click the OK button.
You are now in the main terminal window and should be properly connected to the amplifier. Press
the Enter key on your keyboard several times and the “INVALID COMMAND” prompt should be
displayed on the screen as shown below.

Getting Started 4
If this prompt does not appear, then you are not communicating with the amplifier. Make sure your
serial cable is properly connected, the Hyper Terminal connection properties are correct, and AC
power has been applied to the amplifier.
The INVALID COMMAND message is displayed because the S2K amplifier is expecting a node
address as a prefix to the terminal command. Any digit between 0 and 9 will work and no space is
required as a separator from the command text. In the terminal, type 1 and then press the
<ENTER> key, and the “GE Fanuc S2K Series” prompt should be displayed.
Next, try to query the contents of the Fault Code register (FC) using the query command (Q or ?).
In the terminal window, type 1FC? and then press the <Enter> key. The Lost Enable and Power
Failure messages should be displayed as shown below. This is normal since the Enable digital input
is not yet connected and the power failure fault is present each time the amplifier is energized.

4
Congratulations, you have successfully established communications with the amplifier and are
ready to move on to Configuring the Operating Mode.
4.1.2.2 Using Motion Developer

The Motion Developer software primarily supports the S2K Series motion controller models, but
the terminal window also can be used to configure and troubleshoot the S2K amplifier models.
Appendix B reviews the installation and registration for this software. If you have not yet installed
the software, please refer to Appendix B before proceeding with this section.
Software Introduction
Motion Developer software runs inside the GE Fanuc CIMPLICITY Machine Edition environment.
Those using additional Machine Edition applications will appreciate the benefits and convenience
of using this one common programming environment. For the S2K amplifier only models, the
terminal window is the only feature required. Therefore, many of the optional windows are not
used and can be turned off as described in this section.

Getting Started 4
Setting up the Motion Developer Screen

The Motion screen shown below appears with most of the optional windows open.
Navigator
Toolchest
Inspector
Editor
Workspace
Companion Data Watch
Wizard Tab InfoViewer Tab Feedback Zone
You will probably want to turn most of the individual windows off since they are not used for the
S2K amplifier-only models. Keep only the Navigator and Inspector windows open.
To close the windows you do not want to display simply click the appropriate toolbar buttons or
use the keyboard hot keys as shown below:
2 4 6 8
1 3 5 7
1. Navigator (Shift + F4) 5. Toolchest (Shift + F9)

2. Feedback Zone (Shift + F6) 6. Wizard (Shift + F10)
3. Inspector (Shift + F7) 7. Companion (Shift + F11)
4. Data Watch (Shift + F8) 8. InfoViewer (Shift + F12)
To access the Motion Developer terminal window, you must first create a new project as follows.

4
Creating a New Project

Click the Manager tab on the Navigator window. The Navigator window will display the Manager
file structure.
Right-click My Computer and choose New Project from the drop-down menu. The “New Project”
window will appear. See next figure.
My Computer
Navigator Window
Manager Tab
Enter the name of your project, then click the OK button. The “Motion Developer Wizards”
window will appear, shown in the next figure. Do not click any of the options on this window.
They apply only to the S2K controller models.

Getting Started 4
Next you must select your Drive Series, Drive Model and Motor from the pop-up dialog.
At this point the Motion Toolbar should be active and we can activate the terminal window or run
the Motion Expert wizard.

4
Turning the Motion Toolbar ON or OFF

The Motion toolbar provides access to the terminal window and should appear by default. If you do
not see the Motion Toolbar, it can be turned on using the Tools option on the Menu bar:
To turn the Motion toolbar on, (1) click Tools on the Menu bar, (2) click Toolbars on the Tools
menu, then (3) click Motion on the submenu.
Once activated the Motion Toolbar appears as shown below:
Terminal Window Button
Clicking the Terminal Window Button will cause the Terminal Window page to be displayed and
the terminal communications settings will appear in the Inspector window as shown below.

Getting Started 4
The default communication settings should be correct for the S2K amplifier and not require any
changes. Make sure that the Port assignment agrees with the physical COM port to which you
connected your serial cable. If you need to change the Port setting you must do the following:
In the Navigator, right-click the Target1 entry and choose Properties from the shortcut
menu.
The Inspector window should now display the settings shown in the example below and
you can select a new Com Port by clicking on the entry to display the drop-down list box.
At this point, assuming your serial cable connections and port assignment are correct, you are ready
to communicate with the amplifier.
Place the mouse cursor anywhere in the terminal window and click once to place the Windows
focus on the terminal, and then press the Enter key on your keyboard several times. The “*GE
Fanuc S2K Series” prompt should eventually be displayed as shown below.

4
Next, try to query the contents of the Fault Code register (FC) using the query command (Q or ?).
In the terminal window, type FC? and then the <Enter> key. The Lost Enable and Power Failure
messages should be displayed as shown below. This is normal since the Enable digital input is not
yet connected and the power failure fault is present each time the amplifier is energized.
Congratulations, you have successfully established communications with the amplifier and are
ready to move on to Configuring the Operating Mode.

Getting Started 4
4.2 Configuring The Operating Mode

The S2K series amplifiers can be configured for operation in any of the following modes:
Torque (current) control mode In torque mode, the analog command input (AI1) tells the amplifier
how much torque to generate as a function of the command input
voltage. This mode requires an external controller to handle position
control with the S2K amplifier.
Velocity control mode In velocity mode, the analog command input (AI1) tells the amplifier
how much velocity to generate as a function of the command input
voltage. This mode requires an external controller to handle position
control with the S2K amplifier.
Position (follower) mode Position mode makes use of the auxiliary encoder input (IN_A and
IN_B) when using a pulse input from an external source such as a
pulse generator card, a quadrature encoder, or a handwheel.
You must first decide which mode is appropriate for your application and then wire the Auxiliary
I/O connections and configure the amplifier for that mode. The Motion Type (MT) parameter is
used to select which of these control modes the amplifier will use. Motion Developer includes a
Motion Expert wizard that will guide you through the various steps required to configure an S2K
amplifier for each of the control modes. The following sections describe the configuration process
for each operating mode.
4.2.1 Torque Mode Operation

Torque mode is the default mode in firmware for a new amplifier, and so the mode should not have
to be changed. The Motion Developer Motion Expert wizard uses velocity mode as the default
configuration. To verify the mode setting, do a query on the MT parameter by typing MT? <Enter>
in the terminal window. The response should be “TORQ” as shown in the following screen.

4
You can change the mode by typing “MT=” followed by the desired mode keyword.
In torque mode the differential command input is intended to be used as a ± 10Vdc torque
command interface to a host motion. The Analog Input Deadband (AIB1) and Analog Input Offset
(AIO1) parameters are used to configure the deadband and voltage offset for this input if necessary
for your application. See Chapter 5 for detailed descriptions of these parameters.
Usually, it is necessary to scale the analog torque command input based on the application
requirements. In the S2K amplifier the gearing ratio parameters (GRN and GRD) can be used to
scale the command to represent a specific motor torque at a given voltage input. The base scaling
of the torque command input for the default ratio of 1 (GRN/GRD = 1) is as follows:
1 Volt Command = 10% Amplifier Peak Current
The process for rescaling the torque command input is shown in the example below. Keep in mind
that servo amplifiers control motor torque by regulating the current delivered to the motor. When
we refer to torque scaling or limiting we are really scaling or limiting the current output from the
amplifier. The constant of proportionality that relates these two factors is the Torque Constant of
the motor. The motor specifications in Chapter 2 show the nominal value for each motor. The
actual value can vary from this nominal value by as much as ± 10% from one motor to the next. It
is important to understand these limits when trying to precisely control motor torque. Applications
that require greater precision must use an in-line torque transducer and separate torque regulator.
There is an OK digital output available on the S2K amplifier that can be wired back to the host
controller to indicate amplifier status. See Chapter 3 for more details on the Auxiliary I/O
connections.
4.2.1.1 Example of Scaling The Torque Command Input

For our application we want to scale the torque command input so that 5 volts equals 84 in-lb peak
torque on an SLM100 motor. The base scaling for the torque command input is 10% Amplifier
Peak Current/Volt assuming a gearing ratio of 1. Therefore, we can calculate the required scaling
ratio as follows:
The peak torque rating of motors shown in the specifications in Chapter 2 generally equates to the
full peak current rating of the amplifier recommended for use with that motor (see Section 1.5 for
valid motor/amplifier combinations). Therefore, the SLM100 motor peak rating of 84 in-lb would
normally be produced at 100% of the SSD107 amplifier’s peak current rating. This means that
percent peak current is the same as percent peak torque and we can use the two factors
interchangeably. From the base scale factor we know that 100% peak current = 10 Volts and this is
the same as 100% peak torque = 10 Volts. But we need to generate 100% current (torque) at 5
Volts. The following equation can be used to determine the correct scaling ratio:
GRN DesiredScaling (% PeakTorque / Volt )

=
GRD BaseScaling (% PeakTorque / Volt )
100% / 5Volts
= =2
10% / Volt
Therefore, we need to set GRN=2 and GRD=1.

In order to enable the new command, scaling the Gearing Enable parameter must be set (GRE=1)
in the terminal window.

Getting Started 4
4.2.2 Velocity Mode Operation

Since torque mode is the default for a new amplifier, the Motion Type parameter must be changed
to enable velocity mode. The Motion Developer Motion Expert wizard can be used to change the
mode or you can change the mode manually by typing “MT=VEL” in the terminal window. You
can verify the mode setting by doing a query on the MT parameter by typing MT? <Enter> in the
terminal window. The response should be “VEL” as shown below.
The differential command input is intended to be used as a ± 10Vdc velocity command interface to
a host motion controller. The Analog Input Deadband (AIB1) and Analog Input Offset (AIO1)
parameters are used to configure the deadband and voltage offset for this input if necessary for your
application. See Chapter 5 for detailed descriptions of these parameters.
Usually, it is necessary to scale the analog torque command input based on the application
requirements. In the S2K amplifier the gearing ratio parameters (GRN and GRD) can be used to
scale the command to represent a specific motor velocity at a given voltage input. The base scaling
of the velocity command input for the default ratio of 1 (GRN/GRD = 1) is as follows:
1 Volt Command = 1228.8 Motor RPM
The Motion Developer Motion Expert wizard can be used to configure this scaling or you can set
the parameters manually. The process for rescaling the velocity command input is shown in the
example below.
There is an OK digital output available on the S2K amplifier that can be wired back to the host
controller to indicate amplifier status. See Chapter 3 for more details on the Auxiliary I/O
connections.

4
4.2.2.1 Example of Scaling The Velocity Command Input

For our application we want to scale the velocity command input so that 10 volts equals 3000 rpm
on the motor. The base scaling for the velocity command input is 1228.8 RPM/Volt assuming the
default gearing ratio of 1. Therefore, we can calculate the required ratio as follows:
GRN DesiredScaling ( RPM / Volt )
=
GRD BaseScaling ( RPM / Volt )
300
= = 0.2441406
1228.8
1000
=
4096

In order to enable the new velocity command scaling, the Gearing Enable parameter must be set
(GRE=1) in the terminal window.
4.2.3 Position Mode Operation

The S2K amplifiers can operate in a position (pulse follower) mode, which allows them to be
connected to stepper controllers such as the GE Fanuc OCS or to be used for simple fixed ratio
following of a master encoder or other pulse source.
You can change to the position control mode using the Motion Developer Motion Expert wizards
or by typing “MT=POS” in the terminal window. You can verify the mode setting by doing a query
on the MT parameter by typing MT? <Enter> in the terminal window. The response should be
“POS” as shown below.

Getting Started 4
Next, you must configure the type of pulse input that will be used to control the amplifier. The
Auxiliary Encoder Type (QTX) parameter is used to select the required pulse command signal type
from the following options:
Q4 (quadrature x4) Sets the input for two pulse waveforms in quadrature with a pulse multiplier
of 4. Use this option for a master encoder interface.(Default)
PD (pulse/direction) Sets the input for a pulse input on channel A and a direction input on
channel B.
CW (CW/CCW) Sets the input for a pulse input on channel A for CW motion and a pulse
input on channel B for CCW motion.
To change the input type enter “QTX=” followed by one of the 2-letter options above and then
press <Enter>.
Next, you must configure the pulse-scaling ratio that determines how far the motor will move for
each input pulse. This ratio is set using the Gearing Numerator (GRN) and Gearing Denominator
(GRD) registers. Together they form the scaling ratio as GRN/GRD and relate the input pulses to
motor pulses as shown in the following formula:
Motor Pulses = Gearing Input Pulses * GRN/GRD
See the example below for more detail on how to determine the proper ratio.
The Gearing Enable register must then be set (GRE=1) to enable the gearing mode and the Gearing
Bound (GRB) register sets a limit, if required, on the maximum velocity (pulses/second) that the
electronic gearing mode can command. There is also a smoothing algorithm included in the S2K
amplifier for electronic gearing applications that are too sensitive. The Gearing Filter Constant
(GRF) parameter configures the level of filtering based on the application requirements. Finally,
the Gearing Input Source Selection (GRI) parameter provides a way to run the motor at a fixed
speed (jog) using an internal pulse generator, which runs at a fixed 2048 pulses/second. This
function may be useful during machine start-up. See Chapter 5 for more detail on using these
parameters.
Make sure your pulse source is properly connected to the Auxiliary I/O connector or Pulse Input
connector (SSD216 and SSD228) on the amplifier as shown in Chapter 3 – Auxiliary I/O Wiring.
4.2.3.1 Examples of Scaling The Pulse Command Input

In this example we want to scale the amplifier so that a 1000 line auxiliary encoder will produce
one motor revolution for each encoder revolution.
The GE Fanuc S-Series motors include 2500 line encoders which generate 10,000 quadrature
pulses/motor revolution. The MTR-Series resolver-based motors generate 4096 pulses per motor
revolution. So, for an application using a 1000 line auxiliary encoder (4000 quadrature pulses), we
can determine the required ratio as follows:
S-Series Motors:
10,000 motor pulses/rev * (motor rev/encoder rev) = (4000 gearing pulses/rev) * GRN/GRD
Solving for the gearing ratio we have:
GRN/GRD = 10,000/4000
Therefore, by setting GRN = 10,000 and GRD = 4000 the motor will make one revolution for each
revolution of the master encoder.

4
MTR-Series Motors:
4096 motor pulses/rev * (motor rev/encoder rev) = (4000 gearing pulses/rev) * GRN/GRD
Solving for the gearing ratio we have:
GRN/GRD = 4096/4000
Therefore, by setting GRN = 4096 and GRD = 4000 the motor will make one revolution for each
If instead, we wanted the motor to make ¼ revolution for each encoder revolution, the following
ratio would be required:
S-Series Motors:
10,000 motor pulses/rev * (0.25 motor rev/encoder rev) = (4000 gearing pulses/rev) * GRN/GRD
Again, solving for the gearing ratio we have:
GRN/GRD = (10,000)(0.25)/4000 = 2500/4000
Therefore, by setting GRN = 2500 and GRD = 4000, the motor will make ¼ revolution for each
MTR-Series Motors:
4096 motor pulses/rev * (0.25 motor rev/encoder rev) = (4000 gearing pulses/rev) * GRN/GRD
Again, solving for the gearing ratio we have:
GRN/GRD = (4096)(0.25)/4000 = 1024/4000
Therefore, by setting GRN = 1024 and GRD = 4000, the motor will make ¼ revolution for each
4.2.3.2 Configuring The Encoder Output

The S2K amplifier is equipped with a quadrature encoder output. The electrical specifications for
this output are shown in Chapter 2.
The encoder output buffers either the motor feedback (resolver or encoder depending on the S2K
model) or auxiliary encoder signals and makes them available as quadrature (A-Channel, B-
Channel and Index) signals to another S2K controller or amplifier for electronic gearing or cam
following or to a host controller for position feedback.
The S-Series motor encoder resolution is 2500 lines per revolution, so the encoder output supports
a maximum resolution of 10,000 quadrature counts/revolution of the motor. MTR-Series motors
use resolver feedback and when matched with a resolver-based S2K amplifier the maximum
feedback resolution is 4096 counts/revolution of the motor.
The encoder output is a differential output source (see Section 2.1 for specifications) with user
selectable source via the Encoder Output Type (EOT) parameter. The EOT parameter determines
whether this output tracks the auxiliary encoder input or the motor feedback:

Getting Started 4
• When EOT=0 (default) the encoder output buffers the auxiliary encoder input pulse-for-
pulse. If the auxiliary input is a quadrature encoder the output will be quadrature. If the
auxiliary input is CW/CCW pulses, the output will be in this same format.
• When EOT is non-zero the output tracks the motor feedback (up to the full resolution of
2500 or 1024 lines/rev based on feedback type), and the setting of the EOT register
determines the output resolution. The allowed values for this resolution are 500, 625, 1000,
1250, 2000, and 2500 lines/revolution for encoder-based models and 250, 256, 500, 512,
1000, and 1024 lines/revolution for resolver-based models. The quadrature resolution would
be four times greater than the EOT setting.
The marker pulse width is fixed at 1/5000th of the source encoder revolution (auxiliary encoder or
motor feedback based on setting of EOT). This implies that the marker pulse output width will vary
with encoder speed and the smallest width will occur at the highest speed. For example, if the
source device is rotating at 1000 RPM or 16.667 rev/sec then the encoder takes 0.06 seconds per
revolution. Therefore, 1/5000th of this value, or 12 µS, represents the marker pulse width at that
speed. The encoder output is connected on the Auxiliary I/O connector. Addition details can be
found in Chapter 3 – Auxiliary I/O Wiring-Encoder Output.

4
4.3 Setting The Torque Limit

The S2K amplifiers include the ability to limit the continuous torque that the motor can deliver if
required by the application. There are two methods of torque limiting that are selected using the
Torque Limit Enable (TLE) command:
TLE = 1: Fixed limit based on the Torque Limit Command (TLC)
TLE = 2: Dynamic limit based on the voltage level on Analog Input 2 (AI2)
To select the desired method, type TLE = 1 or TLE = 2 in the terminal window followed by the
<Enter> key. By default, the torque limit is disabled (TLE=0). Remember to set the value for the
Torque Limit Command (TLC) if you select TLE=1. See Chapter 5 for more detail on using these
parameters.
4.4 Setting Motor Direction

There are two parameter that can affect the direction the motor will rotate based on a particular
polarity of the command input. The Direction (DIR) parameter is normally used for this purpose
and defaults to Clockwise (CW). This means that for a positive command the motor will rotate in
the clockwise direction viewing into the motor shaft. See the Direction (DIR) parameter in chapter
5 for a definition for a positive command based on the selected operating mode. To change the
motor direction type DIR=CCW in the terminal window.
The Gearing Denominator (GRD) parameter can also be used to reverse the directional sense of the
motor when the command scaling ratio is enabled (GRE=1). When GRD is set to a negative value
the motor will rotate counterclockwise for a positive command input.
Note
When both DIR = CCW and GRD is negative the two factors cancel and the
motor will rotate in the clockwise direction for a positive command input.
The Fault Code register (FC) can be queried in the terminal window to examine the current state of
the Direction parameter.
4.5 Enable Input

The S2K amplifier has an Enable discrete input that must be connected before the amplifier will
run the motor. The Enable input is also used to reset amplifier fault conditions. Each time
power is applied to the amplifier the Power Failure (PF) fault is activated and must be cleared by
activating the Enable input AFTER power-up. Therefore the Enable input cannot be hardwired
using a wire jumper. It must be connected to a logic output on the host controller.
Use the guidelines provided in Chapter 3, “Auxiliary I/O Wiring,” to wire your amplifier in either a
sinking or sourcing configuration.
The Fault Code register (FC) can be queried in the terminal window to examine the current state of
the enable input and the front panel LED display will show the LE fault code when the Enable
input is inactive.

Getting Started 4
4.6 Configuration Parameters

The S2K amplifiers use various configuration and servo tuning parameters to optimize system
performance. Some of these parameters are determined based on the specific motor you are using.
The first step in the configuration process is to identify your motor and amplifier combination from
the part numbers shown in Table 1-1 and then configure the CURC, CURP and KL parameters
using the Motion Developer Motion Expert wizard or terminal window.
For example, assume we are configuring an SDM100 with an SSD107 amplifier using Motion
Developer. Type the following in the terminal window:
CURC=77 <Enter>
CURP=100 <Enter>
KL=10 <Enter>
The screen should appear similar to the example below:
If your application requirements dictate limiting the peak torque of the motor to a value less than its
full rating, you must set the CURP parameter to a lower value. Since the CURP values shown in
Chapter 5 correspond to the full peak torque for each motor, you can use this value as a baseline
from which to scale the required CURP value. For example, if you wanted to limit the SLM040
motor which has a peak torque rating of 33.6 in-lb (from S-Series Motor Specifications Table in
Chapter 2) to a peak torque of 25 in-lb you can calculate the CURP value as follows:
1. Determine ratio of required peak torque to rated peak torque
Ratio = (required peak torque/rated peak torque)
= (25 in-lb/33.6 in-lb)
= 0.744

4
2. Determine the new CURP value

CURP = Ratio * (Standard CURP from Chapter 5)
= 0.744 * (90%)
= 66.9 %
3. Enter the new CURP value in the terminal window by typing CURP=66.9 <Enter>.
You are now ready to tune the servo.

Getting Started 4
4.7 Tuning
If you have completed all of the previous sections and have verified your wiring connections you
are now ready to run the motor and set the tuning parameters.
Caution
For the initial test we recommend that you disconnect the motor from any
load in order to ensure that the system is under control before trying to
move the machine.
4.7.1 Using Autotuning

The S2K amplifiers support an autotuning function that attempts to determine the proper gain
settings (KP, KD, KI and KT) by moving the motor a short distance. On robust machines with low
backlash or lost motion and system resonances that are higher in the frequency range, the
autotuning will typically work well. The motor peak torque to system inertia ratio (Tp/J) must be
greater than 125 rad/sec2 but less than 125,000 rad/sec2 for AUTOTUNE to work properly. See
Chapter 5 for more detail on the AUTOTUNE command.
It may be necessary to optimize the settings manually if system performance dictates.
We will now use the autotuning function to set the first pass at the unloaded system gains. Servo
tuning is dependent on the connected load and friction. It is recommended that you tune the system
initially with no load connected to verify proper operation of the servo. Then, once the machine is
operational and the normal running load is connected, it is necessary to repeat the tuning process.
Warning
When the AUTOTUNE function runs, it will automatically turn the motor
shaft a few turns in each direction. You must insure that the motor shaft can
be turned safely before starting the AUTOTUNE function. Also, you should
have a way to stop the motor quickly, should it be required. All personnel
working in the area should be alerted that the motor will be run, and any
machinery or mechanism connected to the motor should be secured and in
safe running condition. All safety equipment and guarding should be
installed and functional. Failure to heed this warning could result in injury
to personnel and damage to equipment.
The Autotune function can be run from the Autotune wizard in Motion Developer or manually
from the terminal window.
To initiate the Autotune function from the terminal window follow the procedure below:
1. Set the Enable input to false
2. Type AUTOTUNE <Enter> in the terminal window
3. Within 10 seconds activate the Enable input
4. When complete, autotune will disable the drive and display the Lost Enable (LE) fault code on
the LED display. An asterisk will be displayed in the terminal window.
5. If AUTOTUNE fails an error message preceded by a question mark will be displayed in the
terminal window.

4
4.7.2 Manually Setting the Tuning Parameters

The S2K amplifier uses several gain parameters to optimize the servo response for each
application. Most of the gain settings are dependent on the torque/inertia ratio of the servo/machine
system. The following gain settings can be manually adjusted using the terminal window.
Proportional Gain (KP): constant gain applied to the following error
Derivative Gain (KD): gain constant multiplied by the time derivative of the following
error
Integral Gain (KI): gain constant multiplied by the time integral of the following error
Filter Time Constant (KT): eliminates dither
Chapter 5 provides more detail on each parameter, including a formula to calculate an appropriate
starting value based on system data. You should use these values as a starting point or use the
AUTOTUNE command to determine initial gain values.
To change a gain in the terminal window, simply type the parameter, for example KP=100
followed by the Enter key. If desired, you can use the query command (? or Q) to determine the
current or new value for each gain setting. The following procedure can be used to manually tune
the servo:
1. Activate the Enable input to clear any faults and ready the drive for operation.
2. Apply a command from the host controller to run the motor at a slow speed using low
acceleration and deceleration rates. While running, check for smooth, stable response.
3. Gradually increase the velocity and acceleration/deceleration rate while running the motor and
check for smooth, stable response.
4. Continue to repeat the previous step, increasing velocity and acceleration/deceleration rate
each time until you reach the desired final operating values. To decrease instability and to tune
for optimum response, use the following guidelines to adjust the tuning parameters:
• Increase KD until the motor makes an audible “whine,” and then reduce KD to 75 – 85%
of this value.
• Increase KI until the motor becomes unstable, and then reduce KI to 75 – 85% of this
value.

Chapter Software Reference
5
5.1 Software Overview

This chapter contains a comprehensive listing of all registers and commands for the S2K Series
amplifiers. Commands are arranged in alphabetical order with symbolic commands listed first.
The diagram below shows an example of the typical page layout for each command or register.
There is also an alphabetical quick reference summary guide to make locating a particular
command even easier.
Command
Analog Input Mnemonic
Class: Input/Output Register
Syntax: AIp1
Parameters allowed values

p1 1 or 2 (analog input number)
Range: Range of values for

units volts registers
Limits on use minimum -10.000 (not applicable to
maximum 10.000 commands)
Restrictions: Read only.

Description and Use: Defines the value in volts of one of the two general-purpose
how to use the hardware analog inputs.
register or
command Related Registers: AO
The Motion Developer terminal window or other VT100-compliant terminal emulator can be used
to set or query the values of the amplifier registers as well as execute commands such as
AUTOTUNE. To set a register value, simply type the register name followed by the equal sign and
the desired value. Hitting the Enter key will load the new value into amplifier memory (examples:
TLE=1, DIR=CW). To query the current value of a register, type the command followed by a
question mark (examples: FC?, TLC?, GRN?) or the letter Q (FCQ, TLCQ, GRNQ) followed by
pressing the Enter key.
5-1
5
5.2 Alphabetical Command and Register Guide

Reg/Cmd Class Description Page
? Diagnostic reports value of register 3
AI Input/Output analog input 3
AIB Input/Output analog input deadband 4
AIO Input/Output analog input offset 4
AO Input/Output analog output 5
AUTOTUNE System automatically sets up tuning parameters 6
CLM System clears user memory; resets registers to defaults 7
CMD Axis command output 7
CMO Axis commutation angle offset 8
CMR Axis motor poles to resolver poles commutation ratio 9
CURC Axis continuous current limit 10
CURP Axis peak current limit 11
DIR Axis direction of motor 12
EOT Axis encoder output type 13
FC System fault code register 14
FE Axis following error 15
FEB Axis following error bound 15
FI System fault input 16
FR Axis feedback resolution 17
GRB Motion gearing bound 17
GRD Motion gearing denominator 18
GRE Motion gearing enable 20
GRF Motion gearing filter constant 20
GRI Motion Gearing input source selection 21
GRN Motion gearing numerator 22
IO Input/Output general I/O 24
KD Axis derivative control gain 25
KI Axis integral control gain 26
KL Axis motor inductance 27
KP Axis proportional control gain 28
KT Axis filter time constant 29
MOTORSET System automatically sets up motor constants 30
MT Motion motion type 31
Q Diagnostic reports value of register 31
QTX Axis auxiliary encoder type 32
REVISION Diagnostic reports firmware revision 32
SRA System axis status 33
STEP Motion step input 34
TLC Axis torque limit command 35
TLE Axis torque limit enable 36

Software Reference 5
5.3 Commands and Registers
? Reports Value of Register
Class: Diagnostic Command
Syntax: p1? (e.g., CURC? FC?)
Parameters: allowed values description

p1 any register register
Use: This command is used in the terminal window to report the

value of any register. It is identical to the Q command.
Related Commands: Q
AI Analog Input
Syntax: AIp1

Range:
units volts
minimum -10.00
maximum 10.00
Use: Reports the instantaneous value in volts of the two hardware

analog inputs located on the Auxiliary I/O connector.
Examples:
AI1? (* report value of analog input one from the terminal window)
AI2? (* report value of analog input two from the terminal window)
Related Registers: AO
Chapter 5 Software Reference 5-3

5
AIB Analog Input Deadband

Syntax: AIBp1 (e.g., AIB1 AIB2)

Range:
units volts
default 0
minimum 0
maximum 10.00
Use: Defines a range over which the analog input remains constant
at zero volts. Deadband reduces hunting around the zero
command level. When the analog input AI1 is less than or
equal to AIB1, the analog input is set to 0. When the analog
input AI2 is less than or equal to AIB2, the analog input is set
to 0. The deadband resolution is in 10 mV increments.
Examples:
AIB2=1.5 (* set analog input deadband for AI2 equal to 1.5 V)
AIB2? (* report value of analog input deadband from the terminal
window)
Related Registers: AI, AIO
AIO Analog Input Offset

Syntax: AIOp1 (e.g., AIO1 AIO2)
Parameters allowed values description

p1 1 or 2 analog input number
Range:
units volts
default 0
minimum -10.00
maximum 10.00
Use: The analog input offset one, AIO1, is used to add a voltage
offset to analog input one, AI1. Analog input offset two,
AIO2, is used to add a voltage offset to analog input two, AI2.
Often the analog command output from a host controller will
generate a small voltage even at zero command. The offset
should be adjusted to counteract this voltage to eliminate drift.
If the host controller is closing a position loop, the controller
should be run open loop, if possible, while making the offset
adjustment. The offset resolution is in 10mV increments.
Examples:
AIO1=2.5 (* set analog input offset for AI1 equal to 2.5 V)
AIO1? (* report offset value of analog input 1 from Terminal window)
Related Registers: AI

AO Analog Output
Syntax: AO
Range:
units volts
default 0
allowed values -10.000 through 10.000
VLA (actual velocity of axis motor)
CMD (instantaneous value of amplifier output current)
FE (following error)
Restrictions: FE valid only when amplifier is in position mode (MT=POS).
Use: Defines the value in volts of the hardware analog output.
Remarks: Setting the analog output to VLA, CMD, or FE enables the

analog output to assume a value based on the following scaling:
VLA (10 Volts = 20 Krpm on the motor)

CMD (10 Volts = maximum peak current rating of controller)
FE (10 Volts = 128 pulses of following error)
Examples:
AO=1.5 (* set analog output equal to 1.5 V)
AO=CMD (* set analog output equal to current output)
AO? (* report value of analog output from the terminal window)
Related Registers: AI

5
AUTOTUNE Automatically Sets Up Servo Tuning Constants

Class: System Command
Syntax: AUTOTUNE
Restrictions: Valid only when amplifier is in position mode (MT=POS) or

velocity mode (MT=VEL).
Use: This command automatically sets up the control tuning

constants, which are KD, KI, KP, and KT.
Remarks: This command can only be initiated when the amplifier is not
enabled. Servo tuning is dependent on the connected load and
friction. It is often necessary to tune the system initially with
no load connected to verify proper operation of the servo.
Then, once the machine is operational and the normal running
load is connected, it is necessary to repeat the tuning process.
For final tuning on the machine, the motor should be connected
to the load when using this command. When executed, it
causes the axis to move half a revolution in the forward
direction. Be sure that the axis is free to move this far before
executing this command.
Use the following procedure:

1. Ensure motor is connected to the load and free to move at
least one revolution in each direction
3. Set Motion Type (MT) to POS or VEL
4. Type AUTOTUNE <Enter> in the terminal window.
5. Set Enable input true within 10 seconds
6. When complete, AUTOTUNE will fault the drive on Lost
Enable (LE).
This command takes about two seconds to execute. When

executed from the terminal window and the autotuning is
finished, the controller will return either an asterisk (*)
indicating successful completion or a question mark (?)
followed by the appropriate error message. The possible error
messages are as follows:
1. TORQUE TO INERTIA RATIO TOO LOW — the torque

to inertia ratio of the axis is less than 125 radians/sec2.
2. TORQUE TO INERTIA RATIO TOO HIGH — the torque
to inertia ratio of the axis is greater than 125,000 radians/sec2.
3. TORQUE RESPONSE NON-LINEAR — autotuning won’t
work.
If Autotune fails the controller gains must be set manually
using the terminal.
Related Commands: MOTORSET
Registers Used: KD, KI, KP, KT

CLM Clears User Memory; Resets Registers to Defaults
Syntax: CLM
Use: This resets all registers to default values.
Remarks: 1. This command is irreversible; you cannot retrieve any

registers that you have previously set after you execute this
command.
2. This command is entered in the terminal window and will
execute only when the amplifier is not enabled.
CMD Command Output

Class: Axis Register
Syntax: CMD
Range:
units %
minimum -20,000.0
maximum 20,000.0
Use: The command output is used to control the current to the axis
motor. It is a percentage of the controller continuous current
setting, CURC.
Example: CMD? (* report position command output from the terminal

window)
Related Registers: CURC

5
CMO Commutation Angle Offset
Syntax: CMO
Range:
units degrees
default Encoder Feedback: -90.0
Resolver Feedback: 90.0
minimum -180.0
maximum 180.0
Use: The commutation angle offset of the motor is determined by

the motor selected for use with the amplifier. For GE Fanuc
motors the correct value is:
S-Series Motors: -90
MTR-3S Series Motors: -90
MTR-3N Series Motors: 90
MTR-3T Series Motors: 90
If necessary, this value can be set automatically by the
MOTORSET command. Only experienced users should make
adjustments to this setting after consulting GE Fanuc for
assistance.
Related Commands: CMR, MOTORSET

CMR Motor Poles to Resolver Poles Commutation Ratio
Syntax: CMR
Range:
units degrees
default Encoder Feedback: 1
Resolver Feedback: 3
minimum 1
maximum 16
Use: The motor poles to resolver poles ratio is one of the

commutation configuration constants required to run the motor.
For motors with resolver feedback this ratio must be set to a
value equal to the ratio of the number of motor poles to the
number of poles for the feedback resolver. For GE Fanuc
motors the correct value is:
S-Series Motors: 1
MTR-3S Series Motors: 2
MTR-3N Series Motors: 3
MTR-3T Series Motors: 3
If necessary, this value can be set automatically by the

MOTORSET command. Only experienced users should make
adjustments to this setting after consulting GE Fanuc for
assistance.
Related Commands: CMO, MOTORSET

5
CURC Continuous Current Limit

Syntax: CURC
Range:
Units %
default 100.0
minimum 1.0
maximum 100.0
Use: Limits the current that the drive will continuously supply to the
motor. It is a percentage of the maximum continuous current
rating of the amplifier.
Remarks: The Terminal window can be used to set CURC manually or the
Motion Expert Wizard in Motion Developer will set CURC
automatically when you select your GE Fanuc motor and amplifier
model from the selection lists. The values for a specific motor can
be calculated as follows:
100% x (motor cont. current rating / drive cont. current rating)
For example, when using an SDM100 motor with a continuous

current rating of 5.6 Amp with an SSD107 amplifier rated 7.2
Amp continuous:
CURC = 100% x (5.6 Amps / 7.2 Amps) = 77 %.
Do not use the CURC parameter as an application torque

limit. For applications that require torque limiting to a value
less than rated motor torque use the Torque Limit Current
(TLC) command. The TLC setting will reduce the maximum
continuous current the drive can output relative to the CURC
setting. For example, if CURC is set to 55% on the SSD104
the continuous current output is limited to 2.37 amps (0.55 x
4.3 A). Now, if TLC is set to 50% the amplifier will be further
limited to 1.18 amps continuous (0.5 x 2.37 A).
Related Registers: CURP, TLC

CURP Peak Current Limit

Syntax: CURP
Range:
units %
default 100.0
minimum 1.0
maximum 100.0
Use: The peak current setting limits the peak value of the current
that the drive will supply to the motor. It is a percentage of the
maximum peak current rating of the drive.
Remarks: The terminal window can be used to set CURP manually or the
Motion Expert Wizard in Motion Developer will set CURP
automatically when you select your GE Fanuc motor and
amplifier model from the selection lists. The values for a
specific motor can be calculated as follows:
100% x (motor peak current rating / drive peak current rating)
For example, when using an SLM040 motor rated 7.75 amps

peak with an SSD104 amplifier rated 8.6 Amp peak,
CURP = 100% x (7.75 Amps / 8.6 Amps) = 90%.
Related Registers: CURC

5
DIR Direction of Motor
Syntax: DIR
Range:
default CW
allowed values CW, CCW
Use: This register is used to define the direction of the motor. If

DIR is set to CW, a positive command will cause the motor to
rotate clockwise, facing the motor drive shaft. If DIR is set to
CCW, a positive command will cause the motor to rotate
counterclockwise, facing the motor drive shaft.
A positive command is defined based on the operating mode as

follows:
Velocity or Torque Mode (MT=TORQ or VEL)

A positive voltage on the Command Input AI1+ terminal with
respect to the AI1- terminal.
Position Mode (MT=POS)

The directional conventions stated above assume the pulse
inputs conventions as described in the QTX parameter in
Chapter 5 represent a positive command.
NOTE: If the Gearing Numerator (GRN) parameter is

negative, the directional conventions will be opposite of
those stated above.
The Axis Status Register (SRA) can be queried from the

terminal window to determine the current direction of axis
motion. The SRA does NOT indicate the current setting for
the DIR register.

EOT Encoder Output Type

Type: Integer
Syntax: EOT
Range:
units lines per revolution
default 0
allowed values Encoder Feedback: 0; 500; 625; 1,000; 1,250; 2,000, 2,500
Resolver Feedback: 0; 250; 256; 500; 512; 1,000; 1024
Use: This register sets the output type for the encoder output. When
this register is set to zero, the encoder output buffers the
auxiliary encoder input pulse for pulse. If the input is a
quadrature encoder the output will be quadrature. If the input
is CW/CCW pulses the output will be the same format. When
the EOT register is non-zero, the encoder output tracks the
motor feedback (encoder or resolver) at the resolution set by
the EOT value. For encoder-based models the lines per
revolution of the motor encoder is 2500 (10,000
counts/revolution) while for the resolver-based models the
maximum resolution is 1024 lines per revolution (4096
counts/revolution). The encoder output can use the maximum
resolution or divide down this resolution based on the allowed
values shown above.
The encoder output marker pulse width is fixed at 1/5000th of a
revolution of the source encoder. This implies that the marker
pulse output width will vary with encoder speed and the
smallest width will occur at the highest speed. For example, if
the source encoder is rotating at 1000 RPM or 16.667 rev/sec
then the encoder takes 0.06 seconds per revolution. Therefore,
1/5000th of this value, or 12 µS, represents the marker pulse
width at that speed.
There is a 40 nanosecond delay between the encoder input and
encoder output signals when EOT=0.
Examples:
EOT=0 (* encoder output uses the auxiliary encoder input)
EOT=1000 (* encoder output provides 1,000 lines per revolution of the
motor)

5
FC Fault Code
Class: System Register
Syntax: FC
Restrictions: Read only
Use: The fault code register is used to identify the type of fault that has
occurred.
Remarks: When the FC? command is executed in the terminal window the text
message as shown in the table below will be displayed for any active
fault codes. If more than one fault code is active, then multiple
messages will be displayed. If no fault has occurred, the message
given is Controller functional.
Bit Message Equivalent LED Display Code

0 Power Failure PF
1 Reserved -
2 Reserved -
3 Lost Enable LE
4 Reserved -
5 Excessive Following Error FE
6 Excessive Command Increment EI
7 Reserved -
8 Feedback Lost (Resolver feedback only) FL
9 Motor Power Over-Voltage OV
10 Motor Power Clamp Excessive Duty Cycle EC
11 Reserved -
12 Motor Over-Current Fault OC
13 Motor Over-Temperature (Resolver feedback only) MT
14 Driver Over-Temperature DT
15 Reserved -

FE Following Error
Syntax: FE
Range:
units pulses
minimum 0 pulses
maximum 16,000 pulses
Use: When the amplifier is configured for position mode, following

error is the difference between the instantaneous value of the
accumulated difference between the motor position (pulses)
and the auxiliary encoder input pulses from the time the
electronic gearing was enabled (GRE=1).
When the amplifier is configured for velocity mode it is still
possible to generate a following error fault. In this mode the
amplifier is monitoring feedback pulses/second relative to the
commanded position in time. With excessive load conditions,
low loop gains, etc. the amplifier may fault on following error.
Therefore, the Following Error Bound (FEB) must me
increased or the load decreased.
Related Registers: FEB
FEB Following Error Bound

Syntax: FEB
Range:
units pulses
defaults Encoder Feedback: 1,000 pulses
Resolver Feedback: 400 pulses
minimum 0 pulses
maximum 16,000 pulses
Use: The following error bound is a limit set on the following error.
If this limit is exceeded, the amplifier will fault and display the
FE code on the LED display and in the fault code (FC) register.
Examples:
FEB=0.5 (* set following error bound)
FEB? (* report value of following error bound)
Related Registers: FE

5
FI Fault Input
Syntax: FI
Use: The fault input register is used to identify what type of faults are
currently active.
Remarks: When the FI? command is executed from the terminal window, the
fault input register value will be given as an English statement as
shown in the message column in the table below. If no faults are
active, the message given is No fault input is active.
bit message
0 Feedback lost input active (resolver feedback only)
1 Motor power over-voltage input active
2 Motor power clamp input active
3 Reserved
4 Reserved
5 Motor over-temperature input active
6 Drive over-temperature input active
7–15 Reserved

FR Feedback Resolution
Syntax: FR
Range:
units pulses/revolution
default Encoder Feedback: 10,000
Resolver Feedback: 4,096
minimum 500
maximum 1,000,000
Use: The feedback resolution is defined as the number of feedback

pulses per revolution of the motor. The GE Fanuc S-Series
motors use a 2500 line encoder, which yields 10,000
quadrature pulses per motor revolution, so the default value
should be used. GE Fanuc MTR-Series motors yield 4096
pulses per motor revolution. This parameter must be set
before executing the AUTOTUNE function.
Related Commands: AUTOTUNE
GRB Gearing Bound
Class: Motion Register
Syntax: GRB
Range:
units pulses/sec
default 0 pulses/sec
minimum 0 pulses/sec
maximum 16,000,000 pulses/sec
Use: This register sets a bound on the maximum motor

pulses/second that the electronic gearing mode can command.
If the auxiliary encoder pulse input rate times the GRN/GRD
ratio results in a value greater than the bound, then the extra
pulses are discarded. When the value of GRB is zero, there is
no bound on the electronic gearing command.
Related Registers: GRN, GRD

5
GRD Gearing Denominator
Syntax: GRD
Range:
default 1
minimum 1
maximum 10,000
Use: The gearing denominator is a parameter used to scale the

command input to the amplifier. Typically used in electronic
gearing it is defined as the denominator of the gearing ratio
between the motor and the gearing input. However, this ratio
can also be used to scale the analog command input (AI1)
when the amplifier is set to velocity or torque mode. Ratios in
the range of 0.0001 to 10,000 can be used. The gearing input is
the source connected to the auxiliary encoder input and can be
a pulse source or an encoder (see QTX register). The gearing
ratio formula is shown below:
Position mode (MT=POS)
Motor pulses = gearing input pulses * GRN/GRD
Position Mode Example: The GE Fanuc MTR-Series motors

have 4096 pulses/revolution. So, for an application using a
1000 line auxiliary encoder (4000 quadrature pulses) and a
gearing ratio of 4096/4000, the motor will make one revolution
for each revolution of the master encoder.
Motor pulses = (4000 gearing pulses/rev) * 4096/4000

= 4096 pulses per auxiliary encoder rev.
Torque or Velocity mode (MT=TORQ or VEL)
Command voltage = command voltage input * (GRN/GRD)
Velocity Mode Example: For our application we want to scale

the velocity command input so that 10 volts equals 3000 rpm
on the motor. The base scaling for the velocity command input
is 1228.8 RPM/Volt assuming a gearing ratio of 1. Therefore,
we can calculate the required ratio as follows:

=
300
= = 0.2441406
1228.8
1000
=
4096

Torque Mode Example: For our application we want to scale

the torque command input so that 5 volts equals 84 in-lb peak
torque on an SLM100 motor. The base scaling for the torque
command input is 10% Amplifier Peak Current/Volt, assuming
a gearing ratio of 1. Therefore, we can calculate the required
scaling ratio as follows:
The peak torque rating of the S-Series motor shown in the

specifications in Chapter 2 generally equates to the full peak
current rating of the amplifier recommended for use with that
motor. Therefore, the SLM100 motor peak rating of 84 in-lb
would normally be produced at 100% of the SSD107
amplifier’s peak current rating. This means that percent current
is the same as percent torque, so we can use the two factors
interchangeably. From the base scale factor we know that
100% peak current = 10 Volts and this is the same as 100%
peak torque = 10 Volts. But we need to generate 100% current
at 5 Volts. The following equation can be used to determine
the correct scaling ratio:

=
100% / 5Volts
= =2
10% / Volt
Note: To change the direction the motor rotates relative to

the gearing or analog command input, use a negative value
for the GRD parameter or change the direction parameter
(DIR) to the opposite value (CW if set to CCW or vice
versa).
Related Registers: GRN, GRE, QTX, MT

5
GRE Gearing Enable
Syntax: GRE
Range:
default 0
allowed values 0, 1
Use: The gearing enable is used to enable the use of the GRN/GRD
scaling ratio for either electronic gearing (if MT=POS) or for
the analog command input AI1 (if MT=TORQ or VEL). If
GRE is set to 1, electronic gearing or command scaling is
enabled. If GRE is set to 0, it is disabled.
Registers Used: GRD, GRI, GRN, GRB, GRF, MT
GRF Gearing Filter Constant
Syntax: GRF
Range:
default 0
minimum 0
maximum 8
Use: The gearing filter constant is used to filter (smooth) the

electronic gearing command output. The amount of filtering
increases by the value as a power of two from 0 (no filter) to 8
(a filter of 256 samples).
Related Registers: GRB, GRN, GRD

GRI Gearing Input Source Selection
Syntax: GRI
Range:
default PSX
allowed values FREQ 2048 pulses/sec
PSX auxiliary encoder input
Restrictions: Valid only in position mode (MT=POS)
Use: The gearing input is used when the electronic gearing mode is
enabled (GRE=1) to define the command source for the gearing
input. When set to PSX, the gearing function will follow
pulses input on the auxiliary encoder input. When set to
FREQ, the gearing function will follow a fixed frequency
internal oscillator. This mode is useful for jogging the motor
during start-up and system validation. By changing the gearing
ratio (GRN/GRD) from the terminal window, you can vary the
motor speed.
In both cases the following rate of the axis motor is determined

based on the selected source input rate multiplied by the
gearing ratio as shown below:
Motor pulses = gearing input pulses * GRN/GRD.
Related Registers: GRD, GRE, GRN, GRB

5
GRN Gearing Numerator
Syntax: GRN
Range:
default 1
minimum -10,000
maximum 10,000
Use: The gearing numerator is a parameter used to scale the

command input to the amplifier. Typically used in electronic
gearing, it is defined as the numerator of the gearing ratio
between the motor and the gearing input. However, this ratio
can also be used to scale the analog command input (AI1)
when the amplifier is set to velocity or torque mode. Ratios in
the range of 0.0001 to 10,000 can be used. The gearing input is
the source connected to the auxiliary encoder input and can be
a pulse source or an encoder (see QTX register). The gearing
ratio formula is shown below:
Position mode (MT=POS)
Motor pulses = gearing input pulses * GRN/GRD
Position Mode Example: The GE Fanuc S-Series motors have

10,000 pulses/revolution. So, for an application using a 1000
line auxiliary encoder (4000 quadrature pulses) and a gearing
ratio of 10,000/4000, the motor will make one revolution for
each revolution of the master encoder.
Motor pulses = (4000 gearing pulses/rev) * 10,000/4000

= 10,000 pulses per auxiliary encoder rev.
Torque or Velocity mode (MT=TORQ or VEL)
Command voltage = command voltage input * (GRN/GRD)
Velocity Mode Example: For our application we want to scale

the velocity command input so that 10 volts equals 3000 rpm
on the motor. The base scaling for the velocity command input
is 1228.8 RPM/Volt assuming a gearing ratio of 1. Therefore,
we can calculate the required ratio as follows:

=
300
= = 0.2441406
1228.8
1000
=
4096

Torque Mode Example: For our application we want to scale

the torque command input so that 5 volts equals 84 in-lb peak
torque on an SLM100 motor. The base scaling for the torque
command input is 10% Amplifier Peak Current/Volt, assuming
a gearing ratio of 1. Therefore, we can calculate the required
scaling ratio as follows:
The peak torque rating of the S-Series motor shown in the

specifications in Chapter 2 generally equates to the full peak
current rating of the amplifier recommended for use with that
motor. Therefore, the SLM100 motor peak rating of 84 in-lb
would normally be produced at 100% of the SSD107
amplifier’s peak current rating. This means that percent current
is the same as percent torque, so we can use the two factors
interchangeably. From the base scale factor we know that
100% peak current = 10 Volts and this is the same as 100%
peak torque = 10 Volts. But we need to generate 100% current
at 5 Volts. The following equation can be used to determine
the correct scaling ratio:

=
100% / 5Volts
= =2
10% / Volt
Note: to change the direction the motor rotates relative to

the gearing or analog command input, use a negative value
for the GRD parameter or change the direction parameter
(DIR) to the opposite value (CW if set to CCW or vice
versa).
Related Registers: GRD, GRE, GRI, GRF, GRB

5
IO General I/O
Syntax: IO
Use: The general I/O register is used to identify what inputs and
outputs are active.
Remarks: When the IO? command is executed, the general I/O register
will be given as an English statement that says what inputs or
outputs, if any, are active. If none of the inputs or outputs are
active, the message given is No I/O is active.
bit message
0 Reserved
1 Reserved
2 Reserved
3 Reserved
4 Auxiliary channel A input active
5 Auxiliary channel B input active
6 Reserved
7 Marker input active
8 Reserved
9 Reserved
10 Reserved
11 Enable input active
12 Reserved
13 Reserved
14 Reserved
15 OK output active
Related Registers: DI, DO, CIE

KD Derivative Control Gain
Syntax: KD
Range:
minimum 0
maximum 8,000
Use: The derivative control gain is used to multiply the time

derivative of the following error to control the position of the
motor. The equation for setting KD based on the torque to
inertia ratio and the axis feedback resolution (FR) is:
316,022,860 1
KD = ×
FR torque
inertia
where torque is the continuous torque of the motor in in-lbs,

and inertia is the system inertia in in-lb-sec2. This value along
with the values of all the other tuning parameters can be set
automatically by the AUTOTUNE command.
Related Registers: FR, AUTOTUNE

5
KI Integral Control Gain
Syntax: KI
Range:
default 0
minimum 0
maximum 64,000
Use: The integral control gain is used to multiply the time integral of the
following error to control the position of the axis. The equation for
setting KI based on the torque to inertia ratio and the axis feedback
resolution (FR) is:
686,310 torque
KI = ×
FR inertia
where torque is the continuous torque of the motor in in-lbs and inertia
is the system inertia in in-lb-sec2. This value along with the values of
all the other tuning parameters can be set automatically by the
AUTOTUNE command.
Related Registers: FR

KL Motor Inductance
Syntax: KL
Range:
units mH
default 4 mH
minimum 1 mH
maximum 100 mH
Use: The motor inductance is used to tune the digital current controller to
the attached motor. S2K drives are designed to operate with a
minimum line-line inductance of 2 mH. This register should be set to
the motor’s line-line inductance in mH—use the following table for
your KL values:
GE Fanuc KL GE Fanuc KL GE Fanuc KL

Motor Value Motor Value Motor Value
SLM003 5 MTR-3S32-G 23 MTR-3T42-G 26
SLM005 6 MTR-3S33-G 22 MTR-3T42-H 8
SLM010-115V 3 MTR-3S33-H 6 MTR-3T43-G 20
SLM010-230V 10 MTR-3S34-G 30 MTR-3T43-H 13
SLM020-115V 6 MTR-3S35-G 42 MTR-3T43-I 3
SLM020-230V 16 MTR-3S43-G 53 MTR-3T43-J 5
SLM040-115V 4 MTR-3S43-H 13 MTR-3T44-G 27
SLM040-230V 10 MTR-3S45-G 20 MTR-3T44-H 12
SLM070 6 MTR-3S45-H 5 MTR-3T44-I 4
SLM100 4 MTR-3S46-G 25 MTR-3T44-J 7
SDM100 10 MTR-3S46-H 6 MTR-3T45-G 33
SDM250 4 MTR-3S63-G 9 MTR-3T45-H 8
SLM250 2 MTR-3S63-H 2 MTR-3T45-I 4
SLM350 2 MTR-3S65-G 13 MTR-3T53-G 15
SLM500 1 MTR-3S65-H 3 MTR-3T53-H 7
SDM500 2 MTR-3S67-G 18 MTR-3T54-G 16
SGM450 4 MTR-3S67-H 4 MTR-3T54-H 7
MTR-3N21-G 14 MTR-3S84-G 3 MTR-3T55-G 20
MTR-3N21-H 4 MTR-3S86-G 3 MTR-3T55-H 8
MTR-3N22-H 5 MTR-3S88-G 4 MTR-3T55-I 2
MTR-3N24-G 9 MTR-3T11-G 7 MTR-3T57-G 13
MTR-3N31-H 10 MTR-3T12-G 4 MTR-3T57-H 3
MTR-3N32-G 18 MTR-3T13-G 2 MTR-3T65-G 20
MTR-3N32-H 4 MTR-3T21-G 10 MTR-3T66-G 24
MTR-3N33-G 22 MTR-3T22-G 7 MTR-3T66-H 6
MTR-3N33-H 4 MTR-3T23-G 10 MTR-3T67-G 7
MTR-3S22-G 21 MTR-3T24-H 7 MTR-3T69-G 10
MTR-3S23-G 26 MTR-3T24-I 4

5
KP Proportional Control Gain
Syntax: KP
Range:
default 10
minimum 0
maximum 8,000
Use: The proportional control gain is used to multiply the following

error to control the position of the axis. The equation for setting
KP based on the axis feedback resolution (FR) is:
327,680
KP =
FR
Since FR is 10,000 for the S-Series motor encoders, KP should
be set to 32. For MTR-Series motors FR=4096 and Kp should
be set to 80. This value, along with the values of all the other
tuning gains, can be set automatically by the AUTOTUNE
command.
Related Registers: FR, AUTOTUNE

KT Filter Time Constant
Syntax: KT
Range:
minimum 0
maximum 5
Use: The filter time constant is used to eliminate dither. Generally,

the lower the bandwidth of a servo system, the higher the filter
time constant should be. The equation for setting KT based on
the torque to inertia ratio is:
Encoder Feedback:
 
 
 280
KT = + 0.5
 torque 
 
 inertia 
Resolver Feedback:
 
 
 120
KT = + 0.5
 torque 
 
 inertia 
where torque is the continuous torque of the motor in in-lbs,

and inertia is the system inertia in in-lb-sec2. The brackets
mean to take the integer part of the number only. This value
along with the values of all the other control constants can be
set automatically by the AUTOTUNE command.

5
MOTORSET Automatically Sets Up Motor Constants

Syntax: MOTORSET
Use: This command automatically sets up the motor Commutation

Angle Offset (CMO) and Motor Poles to Resolver Poles
Commutation Ratio (CMR) parameters. These registers are set
automatically when you select a GE Fanuc motor and S2K
drive from the Motion Expert wizard in the Motion Developer
software. Normally this command should only be executed to
determine CMO and CMR for a non-GE Fanuc resolver-based
motor or to confirm that a GE Fanuc motor is properly
configured when troubleshooting a system.
Remarks: This command will execute only when the controller is faulted,
the axis Enable input is true, and no programs or motion blocks
are executing. The motor must not be connected to a load
when you use this command.
To execute MOTORSET use the following procedure:

1. Ensure that the motor is NOT connected to the load
3. Type MOTORSET <Enter> in the terminal window
4. Set the Enable input true within 10 seconds
5. When complete, the drive will fault due to lost enable (LE)
When executed, it causes the motor rotor to line up with two

locations of the stator vector. This command must be executed
from the terminal window and takes from 2 to 30 seconds to
execute; when finished, the controller or system will return
either an asterisk (*) indicating successful completion, or a
question mark and the following error message:
SWITCH MOTOR LEADS — two motor leads should be

switched.
Registers Used: CMO, CMR, CURC

MT Motion Type
Syntax: MT
Range:
default TORQ
allowed values VEL (velocity mode)
POS (position mode)
TORQ (torque mode)
Use: The motion type register is used to define the operating mode
of the amplifier. In torque mode the amplifier uses the
command analog input (AI1) to control the amount of torque
the motor will generate. In position mode the amplifier uses
the auxiliary encoder input (IN_A and IN_B) to control the
position of the motor shaft using electronic gearing (following).
In velocity mode the analog command input (AI1) is used to
control the velocity of the motor.
Examples: MT=VEL (* set motion type to velocity)

MT? (* report motion type for the amplifier)
Q Reports Value of Register
Syntax: p1Q (e.g., SRAQ, FCQ)

p1 any register register
Use: This command is used to report the value of any register. It

works exactly the same as the “?” command.
Related Commands: ?

5
QTX Auxiliary Encoder Type
Syntax: QTX
Range:
default Q4
allowed values Q4 (quadrature x4)
PD (pulse/direction)
CW (clockwise/counterclockwise)
Use: This register is used to define the signal type for the auxiliary encoder
input. The possibilities are listed below:
Q4 (quadrature x4) Sets the input for two pulse waveforms in quadrature with a pulse
multiplier of 4.
PD (pulse/direction) Sets the input for a pulse input on channel A and a direction input on
channel B.
CW (CW/CCW) Sets the input for a pulse input on channel A for CW motion and a
pulse input on channel B for CCW motion.
Remarks: With DIR=CW the auxiliary encoder output will cause the motor to
move in the clockwise direction (viewing into the shaft) when:
1) QTX=Q4 and channel A leads channel B

2) QTX=PD and channel B+ > channel B-
3) QTX=CW and channel A has a pulse waveform and channel B does
not.
REVISION Reports Firmware Revision
Syntax: REVISION
Use: This command reports the revision of the amplifier firmware in

the terminal window. The response looks similar to the
following:
IC800SSD104S1A Revision 2.4 © 2000 Whedco, Inc.

IC800SSD104RS1A Revision 2.4 © 2000 Whedco, Inc.

SRA Axis Status
Syntax: SRA
Restrictions: Read only
Use: The axis status register is used to determine the status of the
axis.
Remarks: When the SRA? command is executed from the terminal

window the text message as shown in the table below will be
displayed for any active conditions.
Bit Message
0 Axis moving
1 Gearing enabled
2 Reserved
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Axis direction forward
8 Reserved
9 Axis at torque limit
10 Reserved
11 Reserved
12 Reserved
13 AXIS FAULT
14 Reserved
15 Reserved

5
STEP Step Input
Class: Motion Command
Syntax: STEPp1 (e.g., STEP100)

p1 -16,000 through 16,000 number of pulses
Use: This command applies a step command input to the amplifier.

This command can be useful when tuning the amplifier
response to a step input.
Remarks: The step input cannot be larger than the following error bound,
FEB or a following error fault will occur when the command is
executed.
Related Registers: FEB

TLC Torque Limit Command
Syntax: TLC
Range:
units %
default 100.0
minimum 1.0
maximum 100.0
Use: This command sets the torque (current) limit as a percentage of

the amplifier’s continuous current setting, CURC.
For example, if CURC is set to 55% and TLC is set to 100% on

the SSD104 amplifier, the amplifiers maximum current output
is limited to 2.37 amps (0.55 x 4.3 A). Now, if TLC is reduced
to 50%, the amplifier will be further limited to 1.18 amps
continuous (0.5 x 2.37 A). TLC can only scale torque to values
between 0 – 100% of the motors continuous torque rating.
Remarks: The torque limit is enabled by the TLE command.
NOTE: Servo motors translate current from the amplifier

into torque at the motor’s shaft based on a winding factor
called the Torque Constant. Because there are
manufacturing variations from motor to motor (even of the
same part number), this conversion factor can vary as
much as ± 10% from the nominal values shown in Chapter
2 – Motor Specifications. For an application requiring
torque limiting better than this tolerance, an in-line torque
transducer is required.

terminal window to determine if the axis is at the torque limit.
Related Registers: TLE, CURC

5
TLE Torque Limit Enable
Syntax: TLE
Range:
default 0
allowed values 0, 1, 2
Use: This command is used to enable the torque limit. If TLE is set
to 1, then the torque limit is enabled and the amplifier current
will be restricted based on the set value for the Torque Limit
Command (TLC). If TLE is set to 0, the torque limit is
disabled. When TLE = 2 the torque limit is set by the absolute
value of analog input 2 (AI2) with a scale factor as follows:
10V on AI2 = Amplifier Full Continuous Current Rating
The word Full implies any limit imposed by the CURC

parameter is NOT used by the analog torque limit input.

terminal window to determine if gearing is enabled.
Registers Used: TLC, AI

Chapter Diagnostics
6
6.1 LED Display Status Codes

The S2K Series drives are equipped with a two-digit LED status display on the front panel. The
drive will display all active codes in a round robin fashion. The status register will display OK
when there are no faults and the drive is in an operational mode.
Table 6-1. LED Display Status Codes

Display
Status Description
Code
OK okay Drive enabled, CPUs and operating system functional
CC faulted Motor power clamp over current
DT faulted Drive over temperature
EC faulted Motor power clamp excessive duty cycle
EI faulted Excessive command increment
FL faulted Feedback lost
FE faulted Excess following error
LE faulted Lost enable
MT faulted Motor over temperature (resolver feedback only)
OC faulted Motor over current
OV Faulted Motor over voltage
PF faulted Power failure (occurs each time the amplifier is energized)
. Ok/faulted Flashing decimal indicates serial communication is occurring
For example, if the drive is faulted due to FE and LE, the unit will alternately display FE, LE… FE,
LE… etc.
Faults are reset using the Enable input. When a fault occurs, the Enable input must make a logic
low to logic high transition to clear the faults.
6-1
6
6.2 Status Register Messages

The S2K amplifiers have the following status registers that can provide valuable information on the
current state of system resources:
• Fault Code (FC) Register
• Axis Status Register (SRA)
The contents of any status register can be queried using either the terminal window in the Motion
Developer software or other VT100-compliant terminal emulation program such as Windows
Hyper Terminal. The following tables show the contents of each status register. Also, see Chapter
5 for descriptions of the register commands.
6.2.1 Fault Code Register (FC)

Bit System Fault Possible Cause(s) Possible Solution(s)
Code Message
All Bits Set To Amplifier The amplifier is not faulted and is enabled. Continue with normal operation
Zero Functional
Power Failure A power failure has occurred. This fault Cycle the enable input from low to
0
always occurs when the system is powered-up. high to reset the fault condition.
1 Reserved
2 Reserved
3 Lost Enable The enable discrete input was deactivated. Reactivate the enable input.
4 Reserved
Excessive The axis Following Error (FE) was greater than Make sure that the tuning
Following Error the Following Error Bound (FEB) limit. This parameters are set up properly.
error can occur regardless of the amplifier Make sure that the motor encoder
5 operating mode configured by the Motion Type feedback wiring is correct.
(MT) parameter.
Make sure that the motor has
sufficient torque for the
commanded motion profiles.
Excessive The program simultaneously executed too Make sure that the program does
6 Command many motions. not execute too many motions
Increment simultaneously.
7 Reserved
8 Reserved
Motor Power The amplifier DC bus voltage was greater than The regeneration circuit did not
Over-Voltage 475 Vdc. function correctly. Make sure that
9 the wiring is correct. If applicable,
an external regeneration resistor
may be required
Motor Power The internal regeneration circuit was operated Reduce deceleration rate, maximum
Clamp Excessive past its continuous rating: velocity or connected load inertia.
Duty Cycle SSD104 & SSD107: 25 Watt If applicable, add an external
10
regeneration resistor with greater
SSD216 & SSD228: 50 Watt
capacity. Make sure that the resistor
value is at least 50 ohms.
11 Reserved

Diagnostics 6
Bit System Fault Possible Cause(s) Possible Solution(s)

Code Message
Motor Over- The external regeneration clamp resistor is Make sure the resistor leads are not
Current Fault shorted (SSD216 or SSD228 models only) or shorted.
the amplifier was putting out excessive current Check the wiring of the motor
12 through the motor leads. leads.
Make sure that the motor leads are
not shorted.
13 Reserved
Drive Over- The temperature of the amplifier heat sink was Check the amplifier for adequate air
Temperature greater than 80oC. flow and proper clearance around
heat sink.
Check enclosure for excessive
14
ambient temperature.
Additional cabinet cooling or
amplifier fan cooling may be
required.
15 Reserved
Chapter 6 Diagnostics 6-3

6
6.2.2 Fault Input Register (FI)

Bit Fault Input Message Possible Solution(s)
All Bits Set To No fault input active There are no currently active fault inputs.
Zero
0 Feedback lost input active (resolver feedback The motor feedback for resolver-based models has
only) been lost due to broken wires, connections, a failed
resolver or resolver receiving circuit
1 Motor power over-voltage input active The controller DC bus voltage is greater than 475
Vdc for drives rated 115/230 or 230 VAC. For
models rated 460 VAC this input is active when the
DC bus voltage exceeds 855 Vdc.
2 Motor power clamp input active The internal regeneration circuit is on.
3 Reserved
4 Reserved
5 Motor over-temperature input active The motor thermal protector is an open circuit The
S2K is designed for use with normally-closed
motor thermal switches or positive-temperature-
coefficient (PTC) thermistor devices. If PTC device
is used it should exhibit a resistance less than 1,000
ohms at acceptable motor operating temperatures
and greater than 10,000 ohms at temperatures that
exceed the motors thermal rating. All GE Fanuc
MTR-Series motors include a PTC thermistor that
should be connected to the appropriate terminals on
the Position Feedback connector.
6 Drive over-temperature input active The temperature of the controller heat sink is
greater than 80o C.
7 - 15 Reserved

Diagnostics 6
6.2.3 General I/O Register (IO)

Bit General I/O Message Description
All Bits Set To No I/O is active None of the I/O in this table is active.
Zero
0 Reserved
1 Reserved
2 Reserved
3 Reserved
4 Auxiliary channel A input active Channel A of the auxiliary encoder is active.
5 Auxiliary channel B input active Channel B of the auxiliary encoder is active.
6 Reserved
7 Marker input active The index input of the motor encoder is active.
8 Reserved
9 Reserved
10 Reserved
11 Enable input active The enable input is active.
12 Reserved
13 Reserved
14 Reserved
15 OK output active The OK output is active.

6
6.2.4 Axis Status Register (SRA)

Bit Axis Status Message Description
0 Reserved
1 Gearing enabled Electronic gearing is enabled (GRE=1).
2 Reserved
3 Reserved
4 Reserved
5 Reserved
6 Reserved
Axis direction forward The axis is moving or has last moved in the
forward direction. When this bit is set to zero the
7
axis is moving or has last moved in the reverse
direction.
8 Reserved
Axis at torque limit The Torque Limit Enable (TLE) parameter is
9 enabled and the axis is at the torque limit set by the
Torque Limit Current (TLC) parameter.
10 Reserved
11 Reserved
12 Reserved
13 AXIS FAULT A fault specific to the axis has occurred.
14 Reserved
15 Reserved
6.3 Query Registers for Current Data (Q, ?)

The query commands (Q or ?) for the terminal window displays the current state of almost any
parameter while the amplifier is operating. The value displayed is a one-time “snapshot” for that
instant in time. To view the value again the query command must executed again. For example:
*FC? (query the Fault Code register)
* Lost enable (terminal window displays the lost enable error message

Diagnostics 6
6.4 Troubleshooting Flow Chart
Is the LED on?
yes
Is the LED no
displaying the O.K.
code?
yes
The LED O.K; the controller is

functional
yes
Does the
Is the terminal no LED display decimal no
communicating with the point flicker when you type
drive? on the terminal?
yes
yes
The S2K is receiving characters,
but is not transmitting them back
Is the Enable input yes
to the terminal
functional?
no
Check if the PC serial port baud rate is
Make sure that the voltages set to 9600. Also, check that the serial
across the inputs are OK. cable is plugged into the Serial Port
connector and that the cable is wired
correctly.
yes
If problems persist, check the serial port
cable by disconnecting the terminal
cable from the display or controller.
no Connect a jumper wire from pin 2
(receive) to pin 3 (transmit) and type on
Make sure the analog output value is the terminal. The characters you type in
set to your satisfaction, if in use. should be echoed back to the terminal.
(next page)

6
(from previous page)
no Correct Enable input wiring or signal state.

Is the drive enabled?
(FC3 = 0)
yes
Make sure that the CURC and CURP
no values are set correctly.
Is there torque on
the motor?
If torque limiting is enabled (TLE=1) make
yes
sure torque limit current (TLC) is a
sufficient non-zero value.
Make sure the servo gains KI and KP are

set to suitable non-zero values
Make sure velocity or torque command

no voltage is present on Analog Input 1 is a
Does motor move
when commanded? non-zero value (AI1≠ 0)
yes
Make sure Following Error Bound is a
sufficient non-zero value (FEB ≠ 0)
END

Appendix Tables and Formulas
Standard ASCII (American Standard Code for Information Interchange) Codes

Char. Dec. Hex. Char. Dec. Hex. Char. Dec. Hex.
NUL 0 00 + 43 2B V 86 56
SOH 1 01 , 44 2C W 87 57
STX 2 02 - 45 2D X 88 58
ETX 3 03 . 46 2E Y 89 59
EOT 4 04 / 47 2F Z 90 5A
ENQ 5 05 0 48 30 [ 91 5B
ACK 6 06 1 49 31 \ 92 5C
BEL 7 07 2 50 32 ] 93 5D
BS 8 08 3 51 33 ^ 94 5E
HT 9 09 4 52 34 _ 95 5F
LF 10 0A 5 53 35 ` 96 60
VT 11 0B 6 54 36 a 97 61
FF 12 0C 7 55 37 b 98 62
CR 13 0D 8 56 38 c 99 63
SO 14 0E 9 57 39 d 100 64
SI 15 0F : 58 3A e 101 65
DLE 16 10 ; 59 3B f 012 66
DC1 17 11 < 60 3C g 103 67
DC2 18 12 = 61 3D h 104 68
DC3 19 13 > 62 3E i 105 69
DC4 20 14 ? 63 3F j 106 6A
NAK 21 15 @ 64 40 k 107 6B
SYN 22 16 A 65 41 l 108 6C
ETB 23 17 B 66 42 m 109 6D
CAN 24 18 C 67 43 n 110 6E
EM 25 19 D 68 44 o 111 6F
SUB 26 1A E 69 45 p 112 70
ESC 27 1B F 70 46 q 113 71
FS 28 1C G 71 47 r 114 72
GS 29 1D H 72 48 s 115 73
RS 30 1E I 73 49 t 116 74
US 31 1F J 74 4A u 117 75
SP 32 20 K 75 4B v 118 76
! 33 21 L 76 4C w 119 77
” 34 22 M 77 4D x 120 78
# 35 23 N 78 4E y 121 79
$ 36 24 O 79 4F z 122 7A
% 37 25 P 80 50 { 123 7B
& 38 26 Q 81 51 | 124 7C
′ 39 27 R 82 52 } 125 7D
( 40 28 S 83 53 ~ 126 7E
) 41 29 T 84 54 “ 127 7F
* 42 2A U 85 55
A-1
A
AWG to Metric Wire Size Conversion

Since there is not an exact correspondence between American AWG wire sizes and metric sizes,
the metric values in the following table are close approximations. If you need greater precision,
contact your wire supplier.
AWG to Metric Wire Size Conversion
AWG Size Metric Cross Section in

square millimeters (mm2 )
1 42.4
2 33.6
4 21.2
6 13.2
8 8.37
10 5.26
12 3.31
14 2.08
16 1.31
18 0.82
20 0.52
22 0.32
24 0.21
26 0.13
28 0.081
30 0.051
A-2 S2K Series User's Manual – September 2002

Tables and Formulas A
Temperature Conversion
Formulas
°C = 5/9(°F – 32)
°F = (9/5 x °C) + 32
Table
Celsius to Fahrenheit Conversion (to nearest degree)
Degrees Degrees Degrees Degrees Degrees Degrees

Celsius Fahrenheit Celsius Fahrenheit Celsius Fahrenheit
-50 -58 50 122 145 293
-45 -49 55 131 150 302
-40 -40 60 140 155 311
-30 -22 65 149 160 320
-25 -13 70 158 165 329
-20 -4 75 167 170 338
-15 5 80 176 175 347
-10 14 85 185 180 356
-5 23 90 194 185 365
0 32 95 203 190 374
5 41 100 212 195 383
10 50 105 221 200 392
15 59 110 230 205 401
20 68 115 239 210 410
25 77 120 248 215 419
30 86 125 257 220 428
35 95 130 266 225 437
40 104 135 275 230 446
45 113 140 284 235 455
Appendix A Tables and Formulas A-3

A
Miscellaneous Equivalents
1 ounce (weight) = 28.35 grams
1 pound (weight) = 453.6 grams
1 pound (weight) = 16 ounces
1 pound (force) = 4.448 newtons
1 short ton (weight)= 907.2 kilograms
1 short ton (weight)= 2,000 pounds
1 horsepower (power)= 550 foot-pounds per second
1 horsepower (power) = 746 watts of electrical power
1 kilowatt (power) = 1.341 horsepower
1 kilowatt-hour (energy or work) = 3,412.142 Btu
1 kilowatt-hour (energy or work) = 1,000 watts/hr.
1 watt (power) = 3.412 Btu/hr.
1 watt (power) = 1 joule/sec.
1 joule/sec. (power) = 1 watt
1 joule (energy)= 1 newton-meter
1 Btu = 0.293 watt
1 Btu = 778.2 foot-pounds
1 Btu = 252 gram-calories
1 Btu (energy)= 1055 joules
1 newton-meter (torque or work) = 0.7376 pound-feet
1 newton-meter (torque or work) = 8.851 pound-inches
1 pound-foot (torque or work) = 1.3558 newton-meters
1 pound-inch (torque or work) = 0.113 newton-meters
1 ounce-inch (torque or work) = 72 gram-centimeters
1 degree (angular) = 0.0175 radians
1 minute (angular) = 0.01667 degrees
1 radian (angular) = 57.3 degrees
1 quadrant (angular) = 90 degrees

Fraction-Decimal-Metric Equivalents
Fraction Decimal Metric Fraction Decimal Metric
(Inch) (Inch) (mm) (Inch) (Inch) (mm)
1/64 0.01562 0.397 33/64 0.51562 13.097
1/32 0.03125 0.794 17/32 0.53125 13.494
3/64 0.04688 1.191 35/64 0.54688 13.891
1/16 0.06250 1.588 9/16 0.56250 14.288
5/64 0.07812 1.984 37/64 0.57812 14.684
3/32 0.09375 2.381 19/32 0.59375 15.081
7/64 0.10938 2.778 39/64 0.60938 15.478
1/8 0.12500 3.175 5/8 0.62500 15.875
9/64 0.14062 3.572 41/64 0.64062 16.272
5/32 0.15625 3.969 21/32 0.65625 16.669
11/64 0.17188 4.366 43/64 0.67188 17.066
3/16 0.18750 4.763 11/16 0.68750 17.463
13/64 0.20312 5.159 45/64 0.70312 17.859
7/32 0.21875 5.556 23/32 0.71875 18.256
15/64 0.23438 5.953 47/64 0.73438 18.653
1/4 0.25000 6.350 3/4 0.75000 19.050
17/64 0.26562 6.747 49/64 0.76562 19.447
9/32 0.28125 7.144 25/32 0.78125 19.844
19/64 0.29688 7.541 51/64 0.79688 20.241
5/16 0.31250 7.938 13/16 0.81250 20.638
21/64 0.32812 8.334 53/64 0.82812 21.034
11/32 0.34375 8.731 27/32 0.84375 21.431
23/64 0.35938 9.128 55/64 0.85938 21.828
3/8 0.37500 9.525 7/8 0.87500 22.225
25/64 0.39062 9.922 57/64 0.89062 22.622
13/32 0.40625 10.319 29/32 0.90625 23.019
27/64 0.42188 10.716 59/64 0.92188 23.416
7/16 0.43750 11.113 15/16 0.93750 23.813
29/64 0.45312 11.509 61/64 0.95312 24.209
15/32 0.46875 11.906 31/32 0.96875 24.606
31/64 0.48438 12.303 63/64 0.98438 25.003
1/2 0.50000 12.700 1 1.00000 25.400

A
English and Metric Equivalents

This section is based upon information published on the World Wide Web by the U.S.
government’s National Institute of Standards and Technology (NIST). For further information,
visit their web site at www.nist.gov.
Units of Length (Underlined Figures are Exact)
Units Inches Feet Yards Millimeters Centimeters Meters
1 inch = 1 0.083 333 0.027 777 25.4 2.54 0.025 4
1 foot = 12 1 0.333 333 304.8 30.48 0.304 8
1 yard = 36 3 1 914.4 91.44 0.914 4
1 mile = 63,360 5,280 1,760 1,609,344 160,934.4 1,609.344
1 mm = 0.0393 700 0.003 280 8 0.001 093 6 1 .1 .001
1 cm = 0.393 700 8 0.032 808 0.010 936 10 1 0.01
1 meter = 39.370 08 3.280 840 1.093 613 1000 100 1
Units of Area (Underlined Figures are Exact)
Units Square Square Feet Square Square Square Meters

Inches Yards Centimeters
1 square inch = 1 0.006944 0.000 771 604 9 6.451 6 0.000 645 16
1 square foot = 144 1 0.111111 929.030 4 0.092 903 04
1 square yard = 1296 9 1 8,361.273 6 0.836 127 36
1 square mile = 4,014,489,600 27,878,400 3,097,600 25,899,881,103.36 2,589,988.110 336
1 square 0.155 000 3 0.001 076 391 0.0001195990 1 0.0001

centimeter =
1 square meter = 1,550.003 10.763 91 1.195 990 10,000 1

Units of Volume (Underlined Figures are Exact)
Units Cubic Inches Cubic Feet Cubic Yards
1 cubic inch = 1 0.000 578 703 7 0.000 021 433 47
1 cubic foot = 1,728 1 0.037 037 04
1 cubic yard = 46,656 27 1
1 cubic centimeter = 0.061 023 74 0.000 035 314 67 0.000 001 307 951
1 cubic decimeter = 61.023 74 0.035 314 67 0.001 307 951
1 cubic meter 61,023.74 35.314 67 1.307 951
Units of Volume (Underlined Figures are Exact)
Units Milliliters Liters Cubic Meters

(Cubic Centimeters) (Cubic Decimeters)
1 cubic Inch = 16.387 064 0.016 387 064 0.000 016 387 064
1 cubic foot = 28,316.846 592 28.316 846 592 0.028 316 846 592
1 cubic yard = 764,554.857 984 764.554 857 984 0.764 554 857 984
1 cubic centimeter = 1 0.001 0.000 001
1 cubic decimeter = 1,000 1 0.001
1 cubic meter = 1,000,000 1,000 1

Appendix Installing and Registering Motion Developer
B.1 Installing Motion Developer
B.1.1 Computer System Requirements

The following describes the minimum requirements to install and run Motion Developer software.
(Catalog Number BC646MODEV)
Hardware
200 MHz Pentium-based workstation
64 MB RAM
200 MB free hard disk space
CD ROM drive or access to one via parallel port or network
800 by 600 resolution, 256 color display and video adapter
Software
Windows ® NT operating system version 4.0 with service pack 4 or later
Windows 98, Windows ME, Windows 2000 & Windows XP operating system
B.1.2 Installation
To Install Motion Developer from a CD:

1. Shut down all other application programs.
2. Insert the CD into your CD-ROM drive. Windows will automatically start the setup
program. If the setup program does not automatically start, use the Windows Start/Run
utility. Run the setup.exe file in the root directory of the CD.
3. Click Install CIMPLICITY Machine Edition to start the install process.
4. Follow the instructions as they appear on the screen.
B-1
B
B.2 Product Authorization

Before you can use Motion Developer, you must authorize the software with a program called
Product Authorization. If you don’t authorize the software, you will only be able to use it for a
four-day trial period. This procedure will only take a few moments and will allow you to take
advantage of any product support for which you qualify. You will need to contact us by telephone,
fax, or email as part of the authorization process.
B.2.1 To Authorize Motion Developer:

Have your serial number(s) ready. The serial numbers can be found on the License Key sheet that
came with your product.
1. Run the Product Authorization utility from the Start menu/Programs/CIMPLICITY Machine
Edition/Product Authorization. The Product Authorization dialog box appears.
2. Click Software, and then click Add.
3. You can authorize the software by means of the Internet, email, phone, fax, or disk (disk is
used if transferring authorization from another computer). Make your selection, then click
Next.
4. Under Mandatory, fill in the fields. If you are authorizing by fax, fill in the fields under
Optional. Click Next.
5. You will be prompted for a key code. You can request your key code through the following
means:
Phone. Our phone number is listed on the screen.
Fax. Click Print FAX and fax the Product Authorization Request to us (our fax number
will be on the print out). We will then fax you back with your new key code(s).
Internet. Go to www.gefanuc.com, select the Support link, then choose the Software
Registration link on the Support page.
Product Authorization is complete once you type in the new key code and it has been accepted.
Depending on the product you’ve purchased, you may need to run the Product Authorization
program a number of times.
B.2.2 To Move the Authorization to Another Computer

You can only run the software on the computer on which the Product Authorization was installed.
If you want to develop your projects on a different computer, you will need to complete the
following steps to move the authorization from one computer to another.
1. Install CIMPLICITY Motion Developer on the computer to which the authorization will be
moved.
2. Run the Product Authorization program from the Start menu/Programs/CIMPLICITY Machine
Edition/Product Authorization. The Product Authorization dialog box appears.
3. Click Software. There is a site code on the top right hand side of the screen. Write down this
site code carefully. This has to be accurate in order for the move to work. You will need it
(Target Site Code) when you move the authorized software from the source computer.
4. Click Add. The Product Authorization wizard appears.
B-2 S2K Series User's Manual – September 2002

Using Motion Developer B
5. Click Authorize by disk. At this point, you need to go to the source computer that has the
authorized software, and move the authorization to a disk.
6. From the source computer, run the Product Authorization program and click Software.
7. Click Move, and then click OK. Enter the target site code that you wrote down from Step 3 and
click Next. Verify that the site code is correct and click OK.
8. Insert a blank formatted floppy disk into the floppy drive and click Next. The authorization
code will be moved to the disk and a dialog box should appear telling you it was successful.
Click OK.
9. Go back to the computer to which you are moving the authorization and insert the floppy disk.
(The screen that is asking for an authorization disk should be displayed.) Click Next.
10. Click Finish. A screen should appear telling you the move was successful. Click OK. The
authorization has now been moved to the new computer.
Appendix B Installing and Registering Motion Developer B-3

B
B.3 Technical Support for Motion Developer Software

Support is available to registered Motion Developer users at no charge for one year. The SAFE
Gold renewal (SA646MODEV) can be purchased from your local GE Fanuc distributor after the
first year. If problems arise that can’t be solved using the information in this guide or the online
Help system, contact us by telephone, fax, or mail.
Contact Choices
You have several contact choices if you need help with your GE Fanuc products:
• Fax. Send a message via the Technical Support Fax number at (780) 420 - 2049
• Internet. Use the address www.gefanuc.com to reach the GE Fanuc home page, then click
the Support link to reach the main Support page. The Support pages allow you to look up
technical information, download useful files, register software, or send a question to our
support experts.
• Telephone. Call 1-800 GEFANUC (1-800 433-2682)
• e-mail. Address your message to support@gefanuc.com
For Most Efficient Service

Motion Developer Software Help. When contacting us about a Motion Developer software
problem, include the information listed below in your fax or message. If telephoning, call from a
telephone near your computer and have your Motion Developer software running, if practical, and
have the following information available to help us assist you as quickly as possible:
The GE Fanuc software product name, serial number, and version number.
The brand and model of computer system hardware (computer, monitor, etc).
Computer operating system and version number.
The steps you performed prior to the problem occurrence.
S2K Motor and Controller Help. When contacting us about an S2K hardware problem, include
the information listed below in your fax or message. If telephoning, call from a telephone near
your installation, if practical, and have the following information available to help us assist you as
quickly as possible:
The S2K model and serial number for controller and motor
The circumstances leading up to the problem occurrence.
B-4 S2K Series User's Manual – September 2002

Appendix Interfacing With GE Fanuc APM or DSM Series
Motion Controllers
C
C.1 Wiring the S2K Amplifier to the APM300 Motion

Controller
The APM300 series motion controller modules for the Series90-30 PLC are available in a 1-axis
(IC693APU301) or 2-axis (IC693APU302) model. Connections are made through a 24-pin, male
high-density connectors for each axis. The pin-out for the amplifier connections for each axis of
the 2-axis model are the same. In order to connect the SSD104, SSD107 or SSD407 model S2K
amplifiers to the APM module, an intermediate terminal block (part number 44A726268-001) is
used. A 3-meter cable (IC693CBL311) connects the terminal block to the APM module as shown
in Figure C-1 below.
a45113
B
A
PM-APM MODULE CABLE(S) TERMINAL BLOCK(S)
Figure C-1. APM300 Terminal Block and Cable Connections

Connections between the terminal block and the SSD104, SSD107 or SSD407 model S2K
amplifier are made using a flying lead cable that plugs into the 25-pin D-shell Auxiliary on the
amplifier. For the SSD216, SSD228 or SSD420 model amplifiers the Auxiliary I/O connections
are available on screw terminals. Although GE Fanuc does not offer a prefabricated cable to
directly make these connections a connector kit for the APM faceplate connectors (IC693ACC316)
is available so that you can make your own cable. As an alternative, the optional terminal block
assembly described above can also be used for the larger S2K amplifiers but you still need to
C-1
C
supply the wiring between the S2K Auxiliary I/O connector and terminal block screw terminals.
Figure C-2 below shows the typical wiring between the APM terminal block and the S2K
amplifier. For complete wiring details for the APM modules please refer to the APM User’s
Manuals, publication GFK-0781 for follower mode, or GFK-0840 for standard mode.
S2K Amplifier
Auxiliary I/O Connector
APM300 Aux TB
SSD104
SSD104, SSD107 SSD216
SSD216, SSD228
Connector Terminal SSD407 SSD420
VEL + SSD107 SSD228
A8 4 (1) AI1+ (1) AI1+
VEL COM
B7 17 (14) AI1 - (2) AI1 -
EN +
A7 3 (7) +12 Vdc (19) +12 Vdc
EN -
B6 16 (24) Enable + (15) Enable +
(12) Enable - (17) Input Com

Wire Jumper
(20) Common (20) Common
{
(25) OK + (16) OK +
No Connection
(13) OK - (18) Output Com
SHIELD
B12 13
A+
B11 18 (8) Out_A+ (8) Out_A+
A-
A12 5 (21) Out_A- (9) Out_A-
B+
B10 19 (9) Out_B+ (10) Out_B+
B-
A11 6 (22) Out_B- (11) Out_B-
Z+
B9 20 (10) Index + (12) Out_Index +
Z-
A10 7 (23) Index - (13) Out_Index -
Figure C-2. APM300 to S2K Amplifier Connections Using Terminal Block 44A726268-001
C.2 Wiring the S2K Amplifier to a DSM Motion Controller

The GE Fanuc IC693DSM302 motion controller module for the Series90™ -30 PLC can be
configured to control one or two analog servos axes using a standard ± 10 Vdc command interface.
The IC693DSM314 module can control up to four analog servo axes. When using the S2K
amplifier with one of the DSM modules, an intermediate terminal board is required to facilitate the
connections. The Auxiliary Terminal Board (part number IC693ACC336) can be either panel or
DIN-rail mounted (see Section C.2.2 for conversion instructions) and includes screw terminals for
connecting the S2K amplifier and any field wiring to the DSM. See the DSM302 User’s Manual,
GFK-1464, or DSM314 manual, GFK-1742, for more details on wiring the controller.
The figure below illustrates the Auxiliary Terminal board and cables associated with the DSM300
interface. Only two axes are shown for clarity.
C-2 S2K Series User's Manual – September 2002

C
IC693ACC336 SSD104 or SSD107

Auxiliary Terminal Board Amplifier
Code
S
S
19
1
20
2
21
3
22
DSM Module Fwd/Rev
23
5
24
6
25
STA Serial
7
Port
T
26
O Flying Lead Cables
8
K
27
CF IC800SKCFLY010 (1M)
9
G
28
IC800SKCFLY030 (3M)
10
29
EN 3 EN 1 Auxiliary
11
I/O
30
EN 4 EN 2
12
31
C A
13
ANALOG
32
14
SERVO
33
15
AXIS 1 Position
34
Feedback
16
35
17
36
18
DSM to Terminal
Board Cables:
IC693ACC336 SSD216SSD228
SSD216, or SSD228
or SSD420
IC693CBL324 (1M)
D B Auxiliary Terminal Board Amplifier
Amplifier
IC693CBL325 (3M)
Code
S
S
19
1
20
2
21
3
ANALOG Fwd/Rev
22
4
SERVO
23
5
AXIS 2
24
Serial
Port
6
25
7
26
8
Customer
27
9
Supplied Cable
28
10
29
Auxiliary
11
I/O
30
12
31
13
32
14
33
15
34
Position
16
Feedback
35
17
36
18
Note: The DSM314 supports axis-3 and axis-4 connections on the C and D faceplate connectors using an identical wiring interface
Figure C-3. DSM Terminal Boards and Cables for S2K Amplifier Interface
Appendix C Interfacing With GE Fanuc APM or DSM Series Motion Controllers C-3
C
C.2.1 Auxiliary Terminal Board Description and Mounting Dimensions

The IC693ACC336 Auxiliary Terminal Board used to connect the DSM contains one 36 pin
connector, labeled DSM. A cable, IC693CBL324 (1 meter) or IC693CBL325 (3 meters), connects
the DSM connector (PL2) to the DSM module faceplate.
Thirty-eight screw terminals are provided on the Auxiliary Terminal Board for connections to the
S2K amplifier and user devices. These screw terminals have the same pin labels as the 36 pin
DSM faceplate connector.
Caution
The maximum voltage that should be applied to I/O terminals 16-18 and 34-36 is 30
VDC. The maximum voltage for any other input terminal is 5 VDC.
Six 130V MOVs are installed between selected I/O points and the shield (frame
ground) for noise suppression. The I/O terminal points so connected are 16, 17, 18,
34, 35, and 36.
The I/O terminals support a wire gauge of 14-28 AWG. Maximum screw torque that
may be applied is 5 inch-pounds.
Two of the screw terminals are labeled S for Shield. A short earth ground wire should be connected
from one of the S terminals directly to a panel earth ground. The cable shields for any shielded
cables from user devices should connect to either of the S terminals.
1.8" (45mm)
18
36
17
35
16
34
15
33
14
32
13
31
Height
12
30
Din Rail Mount

11
29
Din Rail Mount 4.95" (125mm)

10
28
1.95" (48mm)
9
27
Panel Mount
8
26
Panel Mount 5.6" (141mm)

7
25
1.65" (42mm)
6
24
5
23
4
22
3
21
2
20
1
19
S
S
IC693ACC336
Auxiliary Terminal Board
Figure C-4. Auxiliary Terminal Board with Mounting Dimensions

C
C.2.2 Converting the Terminal Board From DIN-Rail to Panel Mounting

The following parts are used in either the DIN-rail or Panel mount assembly options. The auxiliary
terminal board is shipped configured for DIN-rail mounting. The instructions in this section guide
you in converting the board to its panel mounting optional configuration.
The following table and drawings describe the various plastic parts which make up the auxiliary
terminal board assembly and show a side view of the board configured for DIN-rail mounting.
Table C-1. Auxiliary Terminal Board Components

Phoenix Contact Part Number Description Quantity
UM45 Profil 105.25 PCB Carrier 1
UM 45-SEFE with 2 screws Side element with Foot 2
UMK 45-SES with 2 screws* Side Element 2
UMK-BF* Mounting Ear 2
* Parts shipped with auxiliary terminal board for optional panel mounting.
105.25 +0.25
UM 45-SEFE UM 45-SES
10 11
6
45 45
21 21
Figure C-5. Auxiliary Terminal Board Assembly Drawings
C
Figure C-6. Auxiliary Terminal Board Assembly Side View

The following procedure should be used to convert the auxiliary terminal board to it panel
mounting form. Remember to save all removed parts for possible later conversion back to DIN-rail
mounting.
1. Using a small bladed Phillips screwdriver, carefully remove the two screws holding one UM-
45 SEFE side element with foot to the UM 45 Profil PCB carrier. Save this part for possible
future use in converting the terminal board back to its DIN-rail mounting configuration.
2. Attach one UMK 45-SES side element to the PCB carrier in place of the side removed in step
1 above, again using the two screws. Be careful to not over tighten the screws.
3. Insert one UMK-BF mounting ear into the appropriate two holes in the side element. Note that
the mounting ear has a recessed hole for later inserting a (user supplied) mounting screw. The
recessed hole should face upwards to accommodate the mounting screw.
4. Repeat steps 1-3 above for the other side of the terminal board.
C.2.3 Auxiliary Terminal Block Pin Assignments

Table C-2 identifies all circuits and pin assignments for the DSM Analog Servo Axes. The items in
bold text are signals that specifically connect the DSM to the S2K amplifier. The shaded areas
indicate signals that are unused and not available for user connections.

C
Table C-2. Terminal Block Pin Assignments for DSM300 Analog Servo Axes
Circuit Type Circuit Function DSM Analog DSM Aux Term
Axis Signal Faceplate Board
Name Connector Terminal
Pin
Encoder Chan A (+) IN1P_x 1 1
Encoder Chan A (-) IN1M_x 19 19
Single Ended Or
Encoder Chan B (+) IN2P_x 2 2
Differential
Encoder Chan B (-) IN2M_x 20 20
5V Inputs
Encoder Marker (+) IN3P_x 3 3
Encoder Marker (-) IN3M_x 21 21
5V Power 5v Encoder Power P5V_x 4 4
0V 0V 0V_x 22,23 22,23
Single ended 5V input Servo Ready Input IN4_x 5 5
Strobe 1 Input IO5_x 9 9
Single Ended Strobe 2 Input IO6_x 10 10
5V Inputs /Outputs Not Used IO7_x 11 11
Not Used IO8_x 12 12
0V 0v 0V_x 27-30 27-30
Overtravel (+) IN9_x 16 16
24v Optically
Overtravel (-) IN10_x 34 34
Isolated Inputs
Home Switch IN11_x 17 17
24v Input Common 24v Input Common INCOM_x 35 35
24 v, 125 ma PLC 24v Output (+) OUT1P_ x 18 18
DC SSR Output PLC 24v Output (-) OUT1M_x 36 36
Not Used OUT2P_x 13 13
Differential Not Used OUT2M_x 31 31
5V Outputs PLC 5v Output (+) OUT3P_x 14 14
PLC 5v Output (-) OUT3M_x 32 32
24v, 30 ma Servo Enable (+) ENBL1_x 15 15
SSR Output Servo Enable (-) ENBL2_x 33 33
PLC Analog In (+) AIN1P_x 7 7
Differential
PLC Analog In (-) AIN1M_x 25 25
+/- 10v
PLC Analog In (+) AIN2P_x 8 8
Analog Inputs
PLC Analog In (-) AIN2M_x 26 26
+/- 10v Analog Out Servo Vel Cmd (+) AOUT_x 6 6
Analog Out com Servo Vel Cmd Com ACOM_x 24 24
Cable Shield Cable Shield SHIELD_x S
Figures C-7 and C-8 show typical connections between the DSM module and the S2K amplifier for
each analog servo axis. Since the position feedback from the servo motor must be connected to the
S2K amplifier to ensure proper commutation, the signals from the S2K amplifier encoder output
are connected to the terminal board. This provides position feedback to close the loop so the DSM
module can control the position of the motor.
C
SSD104, SSD107, SSD407

DSM Aux. Terminal Board
S2K Amp Aux I/O Connector
CMD+ 6 1 AI1+
CMD- 24 14 AI1-
Rdy In 5 25 OK+
0 Vdc 22 11 common
S 13 OK-
A+ 1 8 Out A+
A- 19 21 Out A-
B+ 2 9 Out B+
B- 20 22 Out B-
Mkr + 3 10 Index+
Mkr - 21 23 Index-
20 Common
E-Stop
12 Enab-
EN Out 15 24 Enab +
EN Com 33 7 12Vdc+
• IC693ACC336 Terminal Board

• IC800SKCFLY030 Cable, (3m) S2K to Flying Leads
• IC693CBL324 Cable, (3m) DSM to terminal board
Figure C-7. DSM Analog Interface to SSD104, SSD107, and SSD407 Amplifier (With external Enable)
SSD216, SSD228, SSD420

DSM Aux. Terminal Board S2K Amp Aux I/O Connector
CMD+ 6 1 AI1+
CMD- 24 2 AI1-
Rdy In 5 16 OK
0 Vdc 22 14 common
S 18 Out Com
A+ 1 8 Out A+
A- 19 9 Out A-
B+ 2 10 Out B+
B- 20 11 Out B-
Mkr + 3 12 Index+
Mkr - 21 13 Index-
20 Common
E-Stop
17 IN Com
EN Out 15 15 Enab
EN Com 33 19 12Vdc+
• IC693ACC336 Terminal Board

• IC693CBL324 Cable, (3meter) DSM to terminal board
• User supplies 22 AWG wire between terminal connectors
Figure C-8. DSM Analog Interface to SSD216, SSD228, and SSD420 Amplifier (With external Enable)

Index
C
? Cables, 3-45
?, 5-3 APM terminal block interface, C-1
CE agency approvals, 1-7
A Clear user memory, 5-7
CLM, 5-7
AC Supply, 2-2 CMD, 5-7
Agency approvals, 1-7 CMO, 5-8
AI, 5-3 CMR, 5-9
AIB, 5-4 Command
AIO, 5-4 input scaling, 3-33, 4-14, 4-15
Altitude, 2-2, 3-2 step input, 5-34
Ambient temperature, 2-2, 3-1 Command input, 3-33, 4-14, 4-15
motor derating, 2-15 Command output, 5-7
Amplifier Communications
Installation, 3-2 establishing with amplifier, 4-1
Analog input serial, specifications, 2-3
command input description, 3-33, 4-14, 4-15 Commutation angle offset, 5-8
deadband adjustment, 5-4 Commutation poles ratio, 5-9
offset, 5-4 Compatibility
scaling, 3-33, 4-14, 4-15 motor and amplifier combinations, 1-5
software register, 5-3 Computer requirements
specifications, 2-3 for Motion Developer, B-1
torque limit input description, 3-33 Configuration parameters, 4-21
Analog output, 3-34, 5-5 Connection diagrams
specifications, 2-3 SSD104 model, 3-37
AO, 3-34, 5-5 SSD216 &SSD228 models, 3-44
APM300, connection to, C-1 to APM motion controller, C-2
ASCII codes, A-1 to DSM motion controller, C-7
Atmosphere, 3-1 Connections
Authorization motor brake, 3-26, 3-27
Motion Developer, B-2 motor encoder, 3-25, 3-28
AUTOTUNE, 4-23, 5-6 motor power, 3-26, 3-27
CURC, 5-6 S2K amplifier to APM300, C-1
FR, 5-6 S2K amplifier to DSM300, C-2
KD, 5-6 serial port, 3-30
KI, 5-6 Connector mates, 3-45
KP, 5-6 Conversion table
KT, 5-6 English to Metric, A-4
Auxiliary encoder CUL/CUR agency approvals, 1-7
input type selection, 5-32 CURC, 5-10
using single ended inputs, 3-35 CURC, 4-21
Auxiliary Terminal Board CURP, 5-11
Assembly Drawings, C-5 CURP, 4-21
description and mounting dimensions, C-4 Current
Axis Status Register, 5-33 amplifier ratings, 2-2
continuous limit, 5-10
B peak limit, 5-11
Baud rates, 2-3

Brake
D
cables, 3-45 Deadband adjustment
power supply, 2-16, 3-47 analog input, 5-4
wiring diagram, 3-47 Derating
motor, due to ambient temperature, 2-15
Derivative control gain, 5-25
GFK-1866A Index-1
Index
Diagnostics FE, 5-15

axis status register, 5-33 FE fault code, 5-14
fault code register, 5-14 FEB, 5-15
fault input register, 5-16, 6-4 Feedback
general I/O register, 5-24 specifications, 2-4
Digital input Feedback resolution, 5-17
enable, 3-36 FI, 5-16, 6-4
specifications, 2-3
wiring, 3-30
Filter time constant, 5-29
Digital output Firmware
view revision number, 5-32
OK signal, 3-36
specifications, 2-3 FL fault code, 5-14
wiring, 3-30 Following error, 5-15
DIR, 5-12 Following error bound, 5-15
Direction of motor, 4-20, 5-12 FR, 5-17
Dither Frequency
eliminate using filter time constant, 5-29 ac supply, 2-2
DSM300, wiring to, C-2 PWM output, 2-2
DT fault code, 5-14 Fuses
Dynamic brake function, 3-55 branch circuit, 2-2
logic supply, 2-2
E G
EC fault code, 5-14
Gain
EI fault code, 5-14 manual adjustment, 4-24
Electrical specifications, 2-1 setting parameters, 4-23
Enable Gearing
digital input, 3-36 bound, 5-17
reset faults using, 3-36, 4-20, 6-1 enable register, 5-20
torque limit, 5-36 filter constant, 5-20
Encoder input source selection, 5-21
auxiliary encoder input specifications, 2-4 ratio used to scale analog command input, 3-33,
auxiliary input type, 5-32 4-14, 4-15
cables, 3-45 ratio, numerator register, 5-18, 5-22
encoder output specifications, 2-4 General IO register, 5-24
motor encoder input specifications, 2-4 GRB, 3-34, 4-17, 5-17
motor feedback specifications, 2-4
GRD, 3-34, 4-17, 5-18
Encoder output, 3-35, 4-18
GRE, 3-33, 3-34, 4-14, 4-16, 4-17, 5-20
functional description, 4-18
marker pulse width, 4-19, 5-13 GRF, 5-20
type assignment (EOT), 5-13 GRI, 5-21
Environmental specifications, 3-1 GRN, 3-34, 4-17, 5-22
amplifier, 2-2 Ground fault breaker, 3-3
EOT, 5-13
selecting encoder output, 4-18
Equivalent units
H
English and Metric, A-6 Hardware resources, 2-1
fraction, decimal, mm, A-5 Humidity, 2-2, 3-2
Hyper Terminal
F using to configure amplifier, 4-2
Fault code register, 5-14

Fault input register, 6-4 I
Faults Input current, 2-2
resetting, 3-36, 4-20, 6-1 Installation
FC, 5-14 Amplifier, 3-2
Index-2 S2K Series Brushless Servo Amplifier User's Manual–September 2002 GFK-1866A
Index
Location, 3-2 Mounting

Motion Developer, B-1 Amplifier. See Installation, Amplifier
motor, 3-3 motor, 2-17. See Installation, motor
Integral control gain, 5-26 MT, 5-31
IO register, 5-24 MT fault code, 5-14
Isolation transformer, 2-2
O
K OC fault code, 5-14
KD, 4-24, 5-25 Offset
KI, 4-24, 5-26 add to analog input, 5-4
KL, 4-21, 5-27 OK output, 3-36
KP, 4-24, 5-28 Operating mode, 5-31
KT, 5-29 configuring, 4-13
KT, 4-24 Operating temperature, 2-2
Output
L amplifier OK, 3-36
analog, 5-5
LE fault code, 5-14 OV fault code, 5-14
Limits
continuous current, 5-10
continuous torque, 5-35
P
peak current, 5-11 Parity, serial port, 2-3
Location, 3-2 Part numbers, 1-2
Logic power supply, 2-2 amplifier, 1-3
motor, 1-3
regenerative resistor kits, 1-4
M terminal block assemblies, 1-4
Performance curves, 2-12
Marker pulse width
servo motors, 2-12
encoder output, 4-19
PF fault code, 5-14
Memory
Pin assignments
clear user, 5-7
DSM300 auxiliary terminal block, C-6
Motion IC800SKCS030 serial cable, 3-30
using to configure the amplifier, 4-6
Position command
Motion Developer scaling the input, 4-17
authorization, B-2
computer requirements, B-1
Position mode
configuring, 4-13
creating a new project, 4-8
operation, 4-16
Installation, B-1
motion toolbar, 4-10 Proportional control gain, 5-28
setting up screen, 4-7
technical support, B-4
Motion type, 5-31
Q
Motor Q, 5-31
brake overview, 2-16 QTX, 3-34, 5-32
brake wiring, 3-47 Query command, 5-3, 5-31
brakes, 2-16 Query machine parameters
cables, 3-45 real-time values, 6-6
derating due to ambient temperature, 2-15
direction setting, 4-20, 5-12
inductance register, 5-27
installation, 3-3
R
mounting, 2-17 Regenerative discharge
performance curves, 2-12 application example, 3-53
sealing, 2-16 calculating power, 3-51
MOTORSET, 5-30 resistor sizing, 3-51
GFK-1866A Index Index-3

Index
Regenerative resistor
part numbers, 1-4 T
selection, 3-48
Tables and formulas
wiring, 3-48
appendix, A-1
Register Technical support
query value of, 5-31
Motion Developer, B-4
Reset Temperature conversion
faults, 3-36, 4-20, 6-1
formulas and table, A-3
Resolver Terminal block assemblies
specifications, 2-4
part numbers, 1-4
REVISION, 5-32 Terminal board assemblies
components, C-5
S converting from DIN rail to panel mounting, C-
5
Scaling S2K to APM300, C-1
position command input, 4-17 S2K to DSM300, C-4
torque command input, 4-14 Terminal window
velocity command input, 4-16 emulation software, 4-1
Sealing, motor, 2-16 Motion Developer toolbar button, 4-10
Serial communications Tie terminal, 3-35
cable, 3-45, 4-1 TLC, 5-35
establishing with amplifier, 4-1 TLE, 4-20, 5-36
specifications, 2-3 Toolbars, Motion Developer
Serial number Motion, 4-10
Motion Developer, B-2 Torque command
Servo motor scaling the input, 4-14
performance curves, 2-12 Torque derating, 2-15
Shaft Seal, 2-16 Torque limit
Software enable, 5-36
Hyper Terminal, 4-2 setting, 4-20, 5-35
Motion Developer, 4-6 Torque limit input, 3-33
terminal emulation, 4-1 Torque mode
Specifications configuring, 4-13
amplifier power, 2-2 operation, 4-13
analog inputs, 2-3 Transformer, 2-2
analog outputs, 2-3
Troubleshooting flowchart, 6-7
auxiliary encoder input, 2-4
digital inputs, 2-3
Tuning, 4-23
digital outputs, 2-3 autotune, 4-23, 5-6
electrical, 2-1 derivative gain register, 5-25
encoder output, 2-4 filter time constant, 5-29
environmental, 3-1 integral gain register, 5-26
environmental, amplifier, 2-2 manual gain adjustment, 4-24
motor encoder input, 2-4 motor inductance register, 5-27
motor resolver input, 2-4 proportional gain register, 5-28
serial communications, 2-3
Speed/torque curves
servo motors, 2-12
U
Speed/Torque curves, 2-12 UL/UR agency approvals, 1-7
SRA, 5-33 Unpacking, 1-2
STEP, 5-34
Step input, 5-34
Storage, 1-2
V
System components, 1-5 Velocity command
System overview, 1-1 scaling the input, 4-16
Index-4 S2K Series Brushless Servo Amplifier User's Manual–September 2002 GFK-1866A
Index
Velocity mode
configuring, 4-13
operation, 4-15
Ventilation, 3-2
W
Wire size
English to Metric, A-2
Wiring
AC supply, 3-22
analog output, 3-34
auxiliary encoder input, 3-34
auxiliary I/O, 3-30
command input (AI1), 3-33, 4-14
dynamic brake function, 3-55
enable input, 3-36
encoder output, 3-35, 4-18
grounding, 3-22
motor brake, 3-26, 3-27
motor encoder feedback, 3-25, 3-28
motor power, 3-22, 3-26, 3-27
OK output, 3-36
S2K amplifier to APM300, C-1
S2K amplifier to DSM300, C-2
serial port, 3-30
torque limit input (AI2), 3-33
GFK-1866A Index Index-5

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GFK-1866

S2K Series Brushless Servo Amplifier

S2K Series Brushless Servo Amplifier

Programmable Control Products

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory

The following are trademarks of GE Fanuc Automation North America, Inc.

©Copyright 1989-2002 GE Fanuc Automation North America, Inc.

Content of This Manual

Chapter 1 Before Operation .................................................................................................1-1

Chapter 2 Hardware Overview ............................................................................................2-1

Chapter 3 Installation ...........................................................................................................3-1

3.6.3 S-Series Servo Motor Encoder Wiring ................................................. 3-25

Chapter 4 Getting Started.....................................................................................................4-1

Chapter 5 Software Reference..............................................................................................5-1

vi S2K Series Brushless Servo Amplifier User's Manual–September 2002 GFK-1866A

Chapter 6 Diagnostics ...........................................................................................................6-1

Appendix A Tables and Formulas.......................................................................................... A-1

Appendix B Installing and Registering Motion Developer .................................................. B-1

GFK-1866A Contents vii

x S2K Series Brushless Servo Amplifier User's Manual–September 2002 GFK-1866A

1.1 System Overview

1.2 Unpacking Components

1.4 Part Numbers

1.4.1 Cable and Connector Part Numbers

1-2 S2K Series User's Manual – September 2002

1.4.2 Motor Part Numbers

Chapter 1 Before Operation 1-3

1.4.3 S2K Series Brushless Servo Amplifier Part Numbers

1.4.4 Accessory Part Numbers

1.4.4.1 Regeneration Resistors

1.4.4.2 Terminal Block Assemblies

1-4 S2K Series User's Manual – September 2002

1.5 Confirming System Components

Table 1-1. S-Series Motor/Amplifier Compatibility for Serial Encoder-based Amplifiers

Chapter 1 Before Operation 1-5

Table 1-2. MTR-Series Motor/Amplifier Compatibility for Resolver-based Amplifiers

1-6 S2K Series User's Manual – September 2002

Applicable MTR-Series Motor

1.6 Agency Approvals

Chapter 1 Before Operation 1-7

Table 2-1. Hardware Resources

2.1.1 Electrical Specifications

Table 2-2. Amplifier Power Specifications

2.1.2 Isolation Transformer

2.1.3 Environmental Specifications

Table 2-3. Environmental Specifications

2-2 S2K Series User's Manual – September 2002

2.1.4 Communication Specifications

2.1.5 Input And Output Specifications

Chapter 2 Hardware Overview 2-3

2.1.6 Encoder Input And Output Specifications

2-4 S2K Series User's Manual – September 2002

2.1.7 Servo Motor Specifications

115/230V 115/230V 115V 230V 115V 230V 115V 230V 230V

Output Power W 30 50 100 200 400 750

Optional Brake Data @ 20 oC (backlash = ±0.1o)

Chapter 2 Hardware Overview 2-5

Motor Rating @ 20oC

Inductance (phase) mH 10.0 1.8 1.1 3.8 1 1.12 2.2 0.56