AXIMA 2000/4000 Installation Manual

AXIMA 2000/4000 Installation Manual
AXIMA 2000/4000
Installation
Manual
P/N 400266-00
Rev.: A2
Date: October 31, 1997
© 1997 EMERSON Motion Control. All Rights Reserved.
P/N 400260-0
AXIMA 2000/4000
Installation
Manual
Information furnished by EMERSON Motion Control is believed to be accurate and
reliable. However, no responsibility is assumed by EMERSON Motion Control for its use.
EMERSON Motion Control reserves the right to change the design or operation of the
equipment described herein and any associated motion products without notice.
EMERSON Motion Control also assumes no responsibility for any errors that may
appear in this document. Information in document is subject to change without notice.
P/N 400266-00
Rev.: A2
Date: October 31, 1997
© 1997 EMERSON Motion Control. All Rights Reserved.
P/N 400290-00
AXIMA 2000/4000 Installation Manual
© 1997 EMERSON Motion Control. All Rights Reserved.
Document Number: 400266-00
No part of this manual may be reproduced by any means without the written permission
of EMERSON Motion Control.
EMERSON Motion Control is a registered trademark of EMERSON Motion Control.
Printed in U.S.A.
October 1997, A2
Modbus is a registered trademark of Modicon Inc.
Data Highway Plus is a registered trademark of Allen-Bradley.
FLM-2 SLO-BLO and Littlefuse are registered trademarks of Littlefuse Incorporated.
Pheoenix is a registered trademark of Phoenix Contact Inc.
Opto22 is a registered trademark of Opto22.
This document has been prepared to conform to the current released version of hardware
and software system. Because of our extensive development efforts and our desire to
further improve and enhance the product, inconsistencies may exist between the product
and documentation in some instances. Call your customer support representative if you
encounter an inconsistency.
ii
Customer Service
EMERSON Motion Control offers a wide range of services to support
our customer’s needs. Listed below are some examples:
Service Support (612) 474-8833
EMERSON Motion Control’s products are backed by a team of
professionals who will service your installation wherever it may be.
Our customer service center in Minneapolis, Minnesota is ready to
help you solve those occasional problems over the telephone. Our
customer service center is available 24 hours a day for emergency
service to help speed any problem solving. Also, all hardware
replacement parts, should they ever be needed, are available through
our customer service organization.
Need on-site help? EMERSON Motion Control provides service, in
most cases, the next day. Just call EMERSON’s customer service
center when on-site service or maintenance is required.
Training Services (612) 474-1116
EMERSON Motion Control maintains a highly trained staff of
instructors to familiarize customers with EMERSON Motion
Control’s products and their applications. A number of courses are
offered, many of which can be taught in your plant upon request.
Application Engineering
An experienced staff of factory application engineers provided
complete customer support for tough or complex applications. Our
engineers offer you a broad base of experience and knowledge of
electronic motion control applications.
Bulletin Board System
(612) 474-8835
EMERSON Motion Control maintains a BBS which provides you
access to software updates, and technical information and services.
Communications protocol: 300 to 28,800 baud, N, 8, 1
FAX
(612) 474-8711
Internet Website
www.emersonemc.com
iii
AXIMA 2000/4000 InTable of Contents
Introduction
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Hardware Installation
Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . 5
Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . 7
Selecting an Enclosure . . . . . . . . . . . . . . . . . . . . . 8
System Grounding Requirements . . . . . . . . . . . . . . . . 8
AXIMA 2000/4000 Grounding . . . . . . . . . . . . . . . 8
AXIMA/E Series Drives Grounding Example . . . 9
AXIMA/MX Drives Grounding Example . . . . . . . 10
AXIMA/LX Drives Grounding Example . . . . . . . . 11
Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 12
External Fusing Requirement . . . . . . . . . . . . . . . 12
Connections and Cabling
Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . 15
COM 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
COM 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Controller ID Number/Address . . . . . . . . . . . . . . . . . . 26
Multi-Drop Installations . . . . . . . . . . . . . . . . . . . . 27
Axis Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Encoder Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Encoder Power Supply . . . . . . . . . . . . . . . . . . . . . 32
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Drive Enable (Enable Contact) . . . . . . . . . . . . . . . 32
Drive Status and Overtravel. . . . . . . . . . . . . . . . . 33
Example Axis Connections . . . . . . . . . . . . . . . . . . 34
Encoder 1 or 3 Output Connection . . . . . . . . . . . . . . . 39
Input/Output Connections. . . . . . . . . . . . . . . . . . . . . . 40
Dedicated I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
User Defined I/O . . . . . . . . . . . . . . . . . . . . . . . . . . 42
I/O Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . 47
Diagnostics Status Display . . . . . . . . . . . . . . . . . . . . . 49
v
AXIMA 2000/4000 Installation Manual
Analog Input Option
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Axis Inputs Connector Wiring . . . . . . . . . . . . . . . . . . 52
Analog Inputs Connector Wiring . . . . . . . . . . . . . . . . 52
Expanded I/O Options
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sinking Versus Sourcing . . . . . . . . . . . . . . . . . . . . . .
Direct Wiring Option . . . . . . . . . . . . . . . . . . . . . . . . .
I/O Setup and Wiring . . . . . . . . . . . . . . . . . . . . . .
External Components Option . . . . . . . . . . . . . . . . . . .
I/O Setup and Wiring . . . . . . . . . . . . . . . . . . . . . .
55
55
57
58
61
62
Connectivity Options
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Modbus Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Data Highway Plus Connection . . . . . . . . . . . . . . . . . 72
Index
vi
AXIMA 2000/4000 InIntroduction
Overview
The AXIMA 2000 or AXIMA 4000 multi-axis controller from
EMERSON Motion Control (referred to as AXIMA 2000/4000
throughtout this manual) provides a fully integrated solution for
servo control motors. It also provides a simple operator interface,
machine I/O and host communications in one unit. Housed in an
industrial hardened chassis, AXIMA 2000/4000 combines digital
servo control and 28 optically isolated I/O lines to create a powerful
tool for solving motion control applications that require coordinated
control of up to four axes.
Figure 1
AXIMA 2000/4000
1
P/N 400290-00
AXIMA 2000/4000 Installation Manual
The AXIMA 2000/4000 controller uses a 32-bit floating point Digital
Signal Processor (DSP). The DSP gives the AXIMA 2000/4000 the
processing power, flexibility and functionality to handle the wide
range of multi-axis applications found in plant automation and
industrial machinery.
With AXIMA 2000/4000, as many as four Motion, eight PLC and
eleven Auxiliary Programs can be operating simultaneously and
control up to four separate coordinate systems, one coordinate
system with four axes of motion, or any combination with four
coordinate systems and four axes of motion.
The onboard executive program allows axis assignments to be made
to create one or multiple coordinate systems. Each coordinate system
operates from an independent program. This allows the programmer
to concentrate on one coordinate system at time.
Features
The AXIMA 2000/4000 controller is designed for the industrial
environment and easily back mounts into most NEMA type
enclosures. The following are additional features of the AXIMA
2000/4000 controller.
2
•
Easy to mount configuration.
•
Two and four axes controller options.
•
28 optically isolated I/O lines (16 input and 12 output).
•
Two optically isolated serial ports providing communications up
to 38.4 Kbaud.
•
User programmable 14 segment status display.
•
Analog Input (factory) option allows the AXIMA 2000/4000 to
accept eight single-ended or four differential inputs.
•
Expanded I/O option which adds 32 optically isolated inputs
and 32 optically isolated outputs.
•
Connectivity option (Com 3 and Com 4) for Modbus® or Data
Highway Plus®.
Introduction
Access Panel
Status LED
Com 1
Inputs
Com 2
Axis 4
(Encoder 4 for 2000)
Axis LEDs
24V I/O
Power Supply
Enable Drives
Axis 3
(Encoder 3 for 2000)
Watchdog Output
Axis 2
Outputs
Axis 1
Encoder 1 Output
(for 4000)
or
Encoder 3 Output
(for 2000)
Figure 2
AXIMA 2000/4000 Front Panel Connections
3
AXIMA 2000/4000 InHardware Installation
The following installation requirements, methods and procedures are
provided to assure reliable, trouble free installation and operation of
your AXIMA 2000/4000 controller. The methods and procedures
outlined on the following pages include safety considerations,
mounting, grounding, and power requirements.
Safety Considerations
This multi-axis controller product is intended for professional
incorporation into a complete system. If installed incorrectly it may
present a safety hazard. The product uses high voltages and is used
to control mechanical equipment which can cause injury. Close
attention is required to the electrical installation and the system
design to avoid hazards either in normal operation or in the event of
equipment malfunction. System design, installation, commissioning
and maintenance must be carried out by personnel who have the
necessary training and experience. They must read this safety
information and the instruction manual carefully.
It is your responsibility to comply with the safety requirements of
your system. This includes installing the system with an appropriate
master interlock switch for emergency shutdown that will remove AC
power from the system any time the equipment is not running or the
emergency stop is activated. This reduces the possibility of
electrocution or unwanted motion.
Enclosure
The controller is intended to be mounted in an enclosure which
prevents access except by trained and authorized personnel, and
which prevents the ingress of contamination.
5
P/N 400290-00
AXIMA 2000/4000 Installation Manual
!
WARNING
General warning
Failure to follow safe installation guidelines can cause death or serious injury. The
voltages used in the unit can cause severe electric shock and/or burns, and could be
lethal. Extreme care is necessary at all times when working with or adjacent to it. The
installation must comply with all relevant safety legislation in the country of use.
AC supply Isolation device
The AC supply must be removed from the controller using an approved isolation
device or disconnect before any servicing work is performed, other than adjustments
to the settings or parameters specified in the manual.
Grounding (Earthing, equipotential bonding)
The controller must be grounded by a conductor sufficient to carry the prospective
fault current in the event of a fault. The ground connections shown in the manual must
be adhered to.
Fuses
Fuses or over-current protection must be provided at the input in accordance with the
instructions in the manual. Failure to observe the instructions closely may cause a fire
hazard.
Isolation of control circuits
The control circuits are isolated from the power circuits in the controller by basic
insulation only. The installer must ensure that the external control circuits are
isolated from human contact by at least one layer of insulation rated for use at the
applied AC supply voltage.
Setting up, commissioning and maintenance
It is essential that changes to the controller settings are given careful
consideration. Depending on the application, a change could have an
impact on safety. Appropriate precautions must be taken against
inadvertent changes or tampering.
Restoring default parameters set in certain applications may cause
unpredictable or hazardous operation.
6
Hardware Installation
Mounting Requirements
The AXIMA 2000/4000 should be back mounted vertically in a metal
NEMA enclosure. A minimum spacing of four inches must be
maintained above and below the controller for ventilation. The
following diagram shows the dimensions of the AXIMA 2000/4000
controller.
Figure 3
Mounting Dimensions
7
AXIMA 2000/4000 Installation Manual
Selecting an Enclosure
The AXIMA 2000/4000 multi-axis controller is designed for most
industrial environments. However, no sophisticated electronic
system can tolerate atmospheric contaminants such as moisture,
oils, conductive dust, chemical contaminants and metallic particles.
If the AXIMA 2000/4000 is going to be subject to this type of
environment, it must be mounted in a metal enclosure with a
minimum rating of NEMA 12.
!
WARNING
The temperature inside the enclosure should not exceed 45° C (113° F).
System Grounding Requirements
AXIMA 2000/4000 Grounding
The GND terminal of the AXIMA 2000/4000 is internally bonded to
the chassis. The enclosure GND and the AXIMA 2000/4000 GND
should be a common signal point that ultimately is a continuous path
to earth ground. These ground wires of the AXIMA 2000/4000 should
not be shared with other equipment in the enclosure.
L1
L2
GND
COM
L1
L2
EARTH GROUND
LOGIC COMMON
96 TO 264 VOLTS AC
@ 50 TO 60 Hz
Figure 4
8
AXIMA 2000/4000 Grounding Point
Hardware Installation
AXIMA/E Series Drives Grounding Example
Figure 5
E Series Drive and AXIMA System Grounding Diagram
9
AXIMA 2000/4000 Installation Manual
AXIMA/MX Drives Grounding Example
Figure 6
10
MX Drive and AXIMA System Grounding Diagram
Hardware Installation
AXIMA/LX Drives Grounding Example
Figure 7
LX Drive and AXIMA System Grounding Diagram
11
AXIMA 2000/4000 Installation Manual
Power Requirements
The AC power connects to a removable connector on the top of the
AXIMA 2000/4000 chassis. The AC power input must be between 96
and 264 VAC, single phase, and 50 to 60 Hertz. At 115 VAC, 1.0 amps
RMS is required, or at 230 VAC, 0.5 amps RMS is required. However,
at power-up the logic supply has an inrush current that is typically
20 amps at 115 VAC and 40 amps at 230 VAC for 2 milliseconds. This
inrush current must be considered when choosing AC power fusing.
L1
L2
GND
COM
L1
L2
EARTH GROUND
LOGIC COMMON
96 TO 264 VOLTS AC
@ 50 TO 60 Hz
Figure 8
AC Power Connector
Inrush
Current
(2 ms)
AC Supply
Range
AC Supply
Voltage
Current
96 to 264
VAC
115 VAC
1 Amp
20 Amps
FLM-2 or
equivalent
23 VAC
0.5 Amp
40 Amps
2 Amp Slo-Blo
Fusing
External Fusing Requirement
The AC power supply must be fused with a 2 amp fuse. Littlefuse's
FLM-2 SLO-BLO® type fuse or an equivalent can be used.
12
Hardware Installation
A significant AC power problem occurs when the secondary of the AC
distribution transformer is not electrically referenced to earth
ground (i.e., left floating). In this case, the voltages that develop
between the AC power lines and earth ground can continuously
exceed the rated voltage of 264 VAC. When this happens the
protection circuit in the AXIMA 2000/4000 will try to suppress this
excess voltage. If the condition is prolonged, the AXIMA 2000/4000
protection circuits will fail.
13
AXIMA 2000/4000 InConnections
and Cabling
Serial Communications
The AXIMA 2000/4000 has two optically isolated serial ports (COM
1 and COM 2). COM 1 is an RS232C port. COM 2 can be configured
for RS232C, RS422 or RS485 using DIP switches located behind the
removable access panel on the top front of the AXIMA 2000/4000
controller.
Com 2
Com 1
Com 2
5
4
8
Tx
Com
3
7
2
1
Rx+
Rx-
Figure 9
485
Tx+
Tx-
6
232
Shld
Rx
9
AXIMA 2000/4000 Communication Ports, Com 1 and
Com 2
15
P/N 400290-00
AXIMA 2000/4000 Installation Manual
COM 1
The AXIMA 2000/4000 COM 1 connection is a RS232C serial
communication port. The COM 1 port is activated and will
automatically detect the baud rate by receiving one carriage return
after power up. Both serial ports, COM 1 and COM 2, can be open
simultaneously and attached to different programs. For example, one
port could be used as a programming and diagnostics port while the
second port is communicating with an operator interface panel such
as the EMERSON Motion Control T-60 panel.
Serial Port and Cable Specifications
It is recommended that all communication lines be twisted pair
shielded cable. Cables should be routed away from motor power and
other high voltage or noisy wiring.
Table 1
Serial Communications Port Setup
Serial Communication Setup
Max baud rate
38.4 K
Stop bit
1
Data bits
8
Parity
none
The RS232C serial communication cables should be no longer than
50 feet to comply with RS232C specifications. However, longer cables
may be used at slower baud rates (less than 9600). The wiring
diagrams on the next page show the TIX and TIA serial cables which
are available from EMERSON Motion Control in 10, 25 and 50 foot
lengths. Non-standard lengths can be special ordered.
16
Connections and Cabling
13
25
12
24
11
23
10
22
9
TIX-XXX CABLE
COMPUTER
21
2
8
20
7
19
3
6
18
5
7
COM 1
XMIT
REC
REC
XMIT
GND
GND
SHLD
17
4
16
PIN
NUMBER
3
2
3
5
2
9
4
3
8
7
2
1 6
1
PIN
NUMBER
15
5
9 PIN
"D" CONNECTOR
MALE
14
1
25 PIN
"D" CONNECTOR
FEMALE
TIA-XXX CABLE
COMPUTER
5
9
4
8
3
2
7
1 6
9 PIN
"D" CONNECTOR
FEMALE
3
2
5
COM 1
XMIT
REC
REC
XMIT
GND
GND
PIN
NUMBER
SHLD
2
3
5
3
5
9
4
2
8
7
1 6
1
PIN
NUMBER
9 PIN
"D" CONNECTOR
MALE
Figure 10 RS232C Serial Communication Cables Wiring Diagram
17
AXIMA 2000/4000 Installation Manual
COM 2
To communicate with more than one AXIMA 2000/4000 controller,
and using the AXIMA Software or other host controller, you must use
COM 2 configured as an RS485. The COM 2 serial communication
port is shipped as a RS232C as default.
DIP Switch Settings
COM 2 can be configured for RS232C, RS422 or RS485 using
switches located behind the removable access panel on the top front
of the AXIMA 2000/4000 controller.
E
4 4 CO
2 8 H F S
2 5 O F D
1
2
3
4
8
5
4
ON
OFF
2
3
2
ACCESS PANEL
REMOVAL INSTRUCTIONS
EO
CN
H
O
R
T
S
THE ACCESS PANEL IS REMOVED
BY GRASPING THE PLASTIC PANEL
FIRMLY, PUSHING DOWN ON THE
TOP OF THE PANEL, AND PULLING
OUT WITH SLIGHT PRESSURE.
Figure 11
18
AXIMA 2000/4000 DIP Switches Location
4
2
2
Connections and Cabling
Table 2
COM2 DIP Switch Settings
DIP Switch Settings
1
RS232C
2
3
4
DOWN
RS422
UP
DOWN
DOWN
DOWN
RS485 (2 wire/SD)
UP
UP
UP
UP
RS485 (4 wire/SD)
UP
DOWN
UP
UP
RS485 (4 wire/RTS)
UP
DOWN
DOWN
UP
Mode Selection
RS232C Mode (Default Mode)
The AXIMA 2000/4000 is shipped with COM 2 in RS232C mode.
Com 2
XMIT
REC
GND
3 Tx
4 Com
7 Rx+
8 Rx-
485
5 Tx+
6 Tx-
232
RS232C
DEVICE
1 Shld
2 Rx
Figure 12 COM 2, RS232C Configuration
RS422 Mode
With COM 2 in RS422 mode, the transmitter is not put into a tristate mode. The Tx (Transmit) lines of multiple AXIMA 2000/4000’s
CAN NOT be wired together. The receive line of the last AXIMA
should be terminated with a 120 ½ watt resister. See Figure 12,
COM 2, RS232C Configuration, on page 19.
19
AXIMA 2000/4000 Installation Manual
RS485 Mode
RS422 and RS485 modes are similar because they both use
differential drivers and receivers. RS485 mode adds the ability to
enable and disable the receivers and transmitters as required for
multidrop installations. See Figure 13, RS422 Wiring Diagram, on
page 21.
The enable and disable operations of the AXIMA 2000/4000
controller serial port can be selected to operate in two different
transmission methods. These methods are selectable with a DIP
switch behind the access panel on the top front of the controller. It is
labeled, SD (Send Data) or RTS (Ready to Send). See Figure 16, COM
2, RS485 Configuration, on page 24.
SD (Send Data) Method: This is the simplest mode. Whenever the
AXIMA 2000/4000 controller serial port senses that data is present
the transmitter is enabled. The transmitter stays enabled long
enough to assure the last bit has been sent then is disables or tristates the transmission. It does this for baud rates down to 9600
baud. The transmitter is in tri-state mode or disabled when data is
not being sent so it can receive data.
RTS (Ready to Send) Method: This method enables the
transmitter under two conditions.
1. When a particular AXIMA 2000/4000 controller has been
chosen by the host to be online, the command, CTRL A - “Axis
ID #” - Enter, is issued. The transmitter stays enabled until a
“CTRL B” command is received.
2. When the AXIMA Software Application executes an Open Com
Instruction, the transmitter is enabled. The transmitter goes
back to tri-state mode when a Close Com Instruction is issued.
See the AXIMA Software User’s Guide (P/N 400263-00) for more
information.
The Echo On/Off DIP switch controls the enable/disable function of
the AXIMA receiver. With the switch “On”, the receiver is always
enabled. This switch should be “On” for RS422 and RS485 four wire
operation. With the switch “Off”, the receiver is disabled whenever
the transmitter is enabled. This is needed for two wire mode. This is
to prevent the AXIMA 2000/4000 from receiving the same characters
it just transmitted.
20
Connections and Cabling
The figure below shows a wiring diagram for serial communications
of a RS422 configuration.
NC
NC
TYPICALLY
UP TO 10
SLAVES
NC
SEE NOTE
BELOW
NC
15
F
Figure 13 RS422 Wiring Diagram
NOTE:
A standard RS-422 host transmitter can drive up to 10
slaves. However, the AXIMA transmitter can drive up to 32
slaves in RS-422 mode.
21
AXIMA 2000/4000 Installation Manual
The figure below shows a wiring diagram for serial communications
in an RS485 four wire multi-drop configuration.
UP TO 32
SLAVES
15
F
Figure 14
22
RS485 Four Wire Multi-Drop Wiring Diagram
Connections and Cabling
The figure below shows a wiring diagram for serial communications
of a RS485 two wire termination connection.
UP TO 32
NODES
TOTAL
15
F
Figure 15 RS485 Two Wire Termination Connection Wiring
Diagram
RS485 termination
Two 120 , ½ watt resisters must be installed on an RS-485 network,
one at the node (RS-485 port) physically at the beginning of the cable
and one on the node at the end.
23
AXIMA 2000/4000 Installation Manual
Com 2
RS485
OR
RS422
DEVICE
Figure 16
GND
REC +
REC XMIT +
XMIT -
1 Shld
2 Rx
3 Tx
4 Com
5 Tx+
6 Tx7 Rx+
8 Rx-
COM 2, RS485 Configuration
Serial Port Grounding
The AXIMA 2000/4000 provides an isolated logic supply for its
communication circuitry. ISO-COM is the circuit common for both
COM port circuits. COM 1 and COM 2 devices, such as PC serial
ports, typically have signal ground connected to earth ground
internally in the PC.
If your COM devices do not have signal grounds that are common
with respect to each other (such as both connected to earth ground)
then you must connect them together. Failure to connect device
grounds together could cause damage to the device or the AXIMA
2000/4000 controller.
24
Connections and Cabling
COM 1 DEVICE
(RS232C)
COM 1
5
9
4
8
3
2
SIGNAL
COMMON
7
GROUND
1 6
9 PIN
"D" CONECTOR
INTERNALLY
CONNECTED
COM 2
1 Shld
3 Tx
4 Com
7 Rx+
8 Rx-
COM 2 DEVICE
(RS422 OR RS485)
485
5 Tx+
6 Tx-
232
2 Rx
SIGNAL
COMMON
GROUND
Figure 17 Serial Communications Grounding Diagram
Serial Port and Cable Specifications
It is recommended that all communication lines be twisted pair
shielded cable. Low capacitance shielded twisted pair cable, such as
EMERSON Motion Control CCR4 or CCR6, will deliver optimum
performance especially with long cable lengths and high baud rates.
Cables should be routed away from motor power and other high
voltage or noisy wiring.
25
AXIMA 2000/4000 Installation Manual
Table 3
Serial Communications Setup
Serial Communication Setup
Max baud rate
38.4 K
Stop bit
1
Data bits
8
Parity
none
NOTE:
As baud rates increase or cable lengths get longer your
susceptibility to noise increases. Therefore, if you are
experiencing communication problems, it is
recommended that you install a ½ watt terminating
resister, 100 for RS422 and 120 for RS485.
Controller ID Number/Address
The following table shows how the Address DIP switch positions
relate to the AXIMA 2000/4000 controller axis ID number. The DIP
switches are located behind the top front access panel of the AXIMA
2000/4000.
ADDRESS
1
2
3
4
ON
OFF
ACCESS PANEL
REMOVAL INSTRUCTIONS
THE ACCESS PANEL IS REMOVED
BY GRASPING THE PLASTIC PANEL
FIRMLY, PUSHING DOWN ON THE
TOP OF THE PANEL, AND PULLING
OUT WITH SLIGHT PRESSURE.
Figure 18
26
AXIMA 2000/4000 Address DIP Switch Location
Connections and Cabling
Table 4
Controller ID Numbers (Address DIP Switch Settings)
AXIMA ID
Address DIP Switch Settings
1
2
3
4
0
OFF
OFF
OFF
OFF
1
OFF
OFF
OFF
ON
2
OFF
OFF
ON
OFF
3
OFF
OFF
ON
ON
4
OFF
ON
OFF
OFF
5
OFF
ON
OFF
ON
6
OFF
ON
ON
OFF
7
OFF
ON
ON
ON
8
ON
OFF
OFF
OFF
9
ON
OFF
OFF
ON
A
ON
OFF
ON
OFF
B
ON
OFF
ON
ON
C
ON
ON
OFF
OFF
D
ON
ON
OFF
ON
E
ON
ON
ON
OFF
F
ON
ON
ON
ON
Multi-Drop Installations
If your application uses more than one AXIMA 2000/4000 controller
(up to 16 can be linked serially), each must have a different ID
number. This allows each AXIMA 2000/4000 to be addressed
individually over the same multi-drop serial cable in the RS422 and
RS485 modes.
27
AXIMA 2000/4000 Installation Manual
Axis Connections
The AXIMA 2000 has two axes and two auxiliary encoder
connections, while the AXIMA 4000 has four axes connections. On
the front panel of the AXIMA 2000/4000 there are four, 25 pin female
“D-sub” connectors.
DIAGNOSTICS
STATUS LED
COM 2
INPUTS
COM 1
AXIS 4 (ENCODER 4)
AXIS 3 (ENCODER 3)
OUTPUTS
AXIS 2
ENCODER 1 OUTPUT
(ENCODER 3 OUTPUT)
Figure 19
AXIS 1
AXIMA 2000/4000 Connectors (4 Axes)
These axis connectors are used to connect the AXIMA 2000/4000
controller to the individual amplifiers (E Series, MX, LX, etc.). The
following table shows the pinout of the 25 pin female “D-sub”
connectors.
28
Connections and Cabling
Table 5
Axis and Auxiliary Encoder Connector Pinouts
Pin
Number
Signal Name
13
A Encoder Input Signal
25
A/ Encoder Input Signal
12
B Encoder Input Signal
24
B/ Encoder Input Signal
11
Z Encoder Input Signal
23
Z/ Encoder Input Signal
10
+5 VDC for Encoder Feedback
22
+5 VDC Common
-
Pulse
5
Pulse/
17
Direction
-
Direction/
8
Analog Command Output -
20
Analog Command Output +
9
Enable Contact
21
Enable Contact
14
Ø V I/O Supply Common
2
+24 V I/O Supply
3
Discrete Input (CCW Travel Limit)
16
Discrete Input (CW Travel Limit)
15
Discrete Input (Drive Status)
18
Low Current Mode
7
Analog Input 1
6
Analog Input 2
19
Analog Common
18
N/C
4
Overall Shield
Pair
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
* Grayed-out Pin Numbers are not available in the AXIMA
2000’s Encoder Connection 3 and 4.
29
AXIMA 2000/4000 Installation Manual
Encoder Inputs
Encoder signals are low voltage, high frequency signals susceptible
to noise if not properly shielded. For reliable operation it is important
that encoder cables be shielded and routed away from motor power
or other high voltage signals. Shields should be connected at the
controller end.
Table 6
Encoder Signals
Specifications
Input Signal
Quadrature square wave
Maximum Rate
8 MHz
Type
Differential Receiver, DS26LS32
Voltage
5 VDC maximum, 2 VDC minimum
Supply
5 VDC, 250 mA maximum per axis
The encoder signals may come from an encoder or from the encoder
simulation output of a brushless servo drive (see wiring diagrams
below).
ENCODER
SIMULATION
FROM
SERVO DRIVE
AXIS
CONNECTION
13
A
A
13
A/
A/
25
B
B
12
B/
B/
Z
Z
Z/
Z/
SHLD
24
25
12
24
11
23
10
22
9
21
8
20
7
19
6
11
23
18
5
17
4
16
4
3
15
2
PIN
NUMBER
14
1
25 PIN
"D" CONNECTOR
Figure 20
30
Encoder Simulation Wiring Diagram
Connections and Cabling
AXIS 1 (FOR 4000)
ENCODER 3 (FOR 2000)
ENCODER 1 OUTPUT (FOR 4000)
ENCODER 3 OUTPUT (FOR 2000)
25 PIN
"D" CONNECTOR
13
25
12
24
11
23
10
22
9
A
13
A/
25
B
21
8
20
7
19
6
12
B/
24
Z
11
Z/
23
18
5
17
N/C
3
15
BLU/WHT
BLK/WHT
YEL
BLU
5
A
9
A/
4
B
8
B/
3
Z
9 PIN
"D" CONNECTOR
5
9
4
8
3
2
7
1 6
Z/
7
N/C
RED
N/C
2
YEL/WHT
BLK
4
16
RED/WHT
N/C
14
1
SHIELD
LOGIC
COMMON
4
6
PIN
NUMBER
PIN
NUMBER
EARTH
GROUND
EARTH
GROUND
LOGIC
COMMON
Figure 21 Encoder 1 Signal to another AXIMA Wiring Diagram
Shown below is the wiring diagram for the AX4-ENC-XXX cable
which is available fom EMERSON Motion Control in 15, 25 and 50
foot lengths for connection to EMERSON Motion Control’s SCS LD
encoders.
AXIMA 2000/4000
CONTROLLER
ENCODER
25 PIN
"D" CONNECTOR
13
25
12
24
11
23
10
22
9
21
A
13
A/
25
B
12
B/
24
8
20
Z
11
Z/
23
7
19
6
18
5
ENC COM 0V
17
22
4
ENC SUP +5V
16
3
10
RED/WHT
YEL/WHT
BLU/WHT
BLK/WHT
YEL
BLU
BLK
RED
A
A
H
A/
B
B
I
B/
G
I
C
Z
F
J
J
Z/
F
ØV
D
5V
10 PIN
"MS" CONNECTOR
H
E
A
B
C
D
15
2
14
1
SHIELD
4
PIN
NUMBER
LOGIC
COMMON
EARTH
GROUND
Figure 22 AX4-ENC Encoder Cable Wiring Diagram
31
AXIMA 2000/4000 Installation Manual
Encoder Power Supply
The AXIMA 2000/4000 can be used to provide the 5 volt power source
for external encoders. Connections are provided on each axis I/O
connector. The current on the 5 volts must be limited to 250
milliamps per axis and the maximum current for 4 encoders must be
limited to 1 amp. Each 5 volt Encoder Supply has a 0.5 amp fuse in
series with the internal 5 volt logic supply, thus excessive currents
will blow the fuse.
Analog Outputs
AXIMA 2000/4000's analog command output to the servo amplifier
is a precision 16 bit output. These signals are susceptible to noise if
not properly shielded. For reliable operation it is important that
command cables be shielded and routed away from motor power or
other high voltage signals. Shields should be connected at the AXIMA
2000/4000 end. The input stage of the amplifier should be a
differential circuit. The output voltage is ±10 VDC, output current is
5 milliamps maximum.
20
8
Figure 23
Command Output
Drive Enable (Enable Contact)
Each axis has an Enable Relay Contact . The contact has a rating of
30 VDC and is capable of switching 0.5 amps for a resistive load. All
Enable relays are interlocked with the Watchdog relay as well as the
Enable Drives input. Each relay is also individually controlled by the
pre-defined Drive Enable output. See Figure 33, Watchdog, Drive
Enable Circuit, on page 41.
32
Connections and Cabling
9
ENABLE
CONTACT
21
Figure 24 Drive Enable (Enable Contact) Circuit
!
CAUTION
It is recommended that the Enable Contact be used. If these contacts
are not used, physically connecting a drive (E Series, MX, LX or other)
to the controller while that drive is enabled may cause unwanted
motion.
In the event the Enable Contact is not used, the following power
sequence must be followed:
1.
2.
3.
4.
5.
6.
Apply power to the AXIMA 2000/4000 controller
Apply power to the drives
Enable the drives
Normal machine operation
Disable or power down the drives
Power down the AXIMA 2000/4000 controller
Drive Status and Overtravel
Drive Status or Overtravel inputs do not perform any pre-defined
action in the controller. They are available as pre-defined bits and
may be used in the AXIMA Software’s PLC, Motion or Auxiliary
Programs to perform desired logic.
LED
INPUT
+5
2.21K
1.2K
+ 24 V
COMMON 2.21K
AXIMA INPUT
GND
Figure 25 Drive Status and Overtravel Input Circuit
33
AXIMA 2000/4000 Installation Manual
Example Axis Connections
If desired, the AXIMA 2000/4000 can be used to generate a torque or
current command instead of a speed command. When the drives are
used in torque mode, the drive velocity loop gain adjustments no
longer need to be considered. This can simplify the tuning procedure
for some applications.
E Series Drives
All command and I/O signals are accessed using the 44 pin command
connector located on the front of the E Series drive.
The wiring diagram below shows the typical command connections
between the AXIMA 2000/4000 controller and an E Series drive
using the AX-CEN-XXX cable.
AXIMA 2000/4000
CONTROLLER
E SERIES DRIVE
A 13
A/ 25
B 12
25 PIN
"D" CONNECTOR
B/ 24
Z 11
13
25
12
24
11
23
10
22
9
Z/ 23
I/O COM -
8
20
14
I/O SUPPLY +
2
ANALOG CMD OUT -
8
21
7
19
6
ANALOG CMD OUT +
20
18
5
17
4
9
DRV ENABLE
21
16
3
15
CCW LIMIT
3
14
CW LIMIT
16
2
1
DRIVE STATUS
15
PRP/BLU
BLU/PRP
PRP/ORG
ORG/PRP
PRP/BRN
BRN/PRP
BRN/YEL
YEL/BRN
WHT/BLU
BLU/WHT
BLK/GRN
GRN/BLK
BRN/BLK
BLK/BRN
YEL/GRY
8
A
9
A/
23
B
24
B/
37
Z
44 PIN
"D" CONNECTOR
15
14
13
Z/
38
12
31
I/O COM -
33
I/O SUPPLY +
10
14
ANALOG CMD IN -
9
11
15
ANALOG CMD IN +
8
16
DRV ENABLE IN
7
34
I/O SUPPLY +
17
OUTPUT #3
18
OUTPUT #2
3
OUTPUT #1
19
GRY/YEL
N/C
7
ANALOG IN 2
6
ANALOG COM
19
LOGIC COMMON
5
Figure 26
34
44
ANALOG OUT 2
41
26
40
25
39
24
38
23
37
22
36
21
35
20
34
19
33
18
32
17
31
16
ANALOG COM
29
GRN/PRP
PULSE INPUT B
26
N/C
PULSE INPUT A/
41
N/C
4
10
PIN
NUMBER
EARTH
GROUND
ANALOG OUT 1
42
27
PRP/GRN
N/C
LOGIC
COMMON
GRY/PRP
PRP/GRY
N/C
SHIELD
WHT/RED
1
43
43
28
N/C
17
PULSE/ CMD OUT
GRN/WHT
2
44
29
RED/WHT
N/C
DIRECTION CMD OUT
WHT/GRN
5
4
N/C
ANALOG IN 1
6
30
PIN
NUMBER
PE
AXIMA 2000/4000 to E Series Drive Connections
Connections and Cabling
NOTE:
See Figure 5, E Series Drive and AXIMA System
Grounding Diagram.
MX Drives
To operate an MX drive in torque mode, set the command selector bit
bØ6 in the MX drive, to 1. Refer to the MX Drives Setup and
Programming Operator’s Manual (P/N 400268-00) for detailed
information on setting and saving this bit status.
AXIMA 2000/4000 to MX Drive Connections (Torque Mode)
The wiring diagram below shows the typical command connections
between the AXIMA 2000/4000 controller and an MX amplifier.
AXIMA 2000/4000
CONTROLLER
25 PIN
"D" CONNECTOR
13
25
12
24
11
23
10
22
9
MX
AMPLIFIER
A
13
A/
25
B
12
B/
24
Z
11
Z/
23
ANALOG CMD OUT -
8
20
7
19
ANALOG CMD OUT +
20
6
18
5
17
9
DRV ENABLE
21
4
16
3
15
CCW LIMIT
3
14
CW LIMIT
16
DRIVE STATUS
15
2
1
PRP/ORG
ORG/PRP
PRP/BRN
BRN/PRP
1
A
2
A/
3
B
5
4
B/
3
5
Z
6
Z/
9 PIN
"D" CONNECTOR
9
4
ANALOG IN 1
7
ANALOG IN 2
6
ANALOG COM
19
LOGIC
COMMON
8
2
7
1 6
BLU/WHT
BLK/GRN
GRN/BLK
BRN/BLK
BLK/BRN
YEL/GRY
9
CMD -
10
CMD +
14
ENABLE
13
+10V
4
PROG INPUT (CCW)
5
PROG INPUT (CW)
15
WHT/GRN
GRN/WHT
17
16
TACH OUT
ANALOG OUT
WHT/RED
RESERVED
N/C
11
4
PIN
NUMBER
DR OK
N/C
RED/WHT
N/C
SHIELD
WHT/BLU
GRY/YEL
N/C
LOGIC
COMMON
BLU/PRP
"B" CONNECTOR STRIP
21
8
PRP/BLU
PIN
NUMBER
TO PANEL
GROUND
EARTH
GROUND
Figure 27 AXIMA 2000/4000 to MX Amplifier Connections Using
The AX4-MX cable (Torque Mode)
35
AXIMA 2000/4000 Installation Manual
NOTE:
Make sure AXIMA Logic Common is connected to the
same point in the cabinet as the MX Logic Common. See
Figure 6, MX Drive and AXIMA System Grounding
Diagram.
LX Drives
AXIMA 2000/4000 to LX Drive Connections (Torque Mode)
To operate an LX drive in torque mode, connect the AXIMA 2000/
4000 command wires to the Current CMD and Common inputs on the
LX drive (terminal pins 2 and 3) as shown in the wiring diagram
below.
AXIMA 2000/4000
CONTROLLER
LX AMPLIFIER
A 13
A/ 25
B 12
B/ 24
Z 11
Z/ 23
ENC COM ØV 22
ENC SUP +5V 10
25 PIN
"D" CONNECTOR
ANALOG CMD OUT -
8
ANALOG CMD OUT + 20
13
25
12
24
11
23
10
22
9
9
DRV ENABLE
21
CCW LIMIT
3
21
CW LIMIT 16
8
20
7
19
DRIVE STATUS
15
18
(STEPPER) LOW CURR MODE
18
6
5
17
4
ANALOG IN 1
7
ANALOG IN 2
6
16
3
15
2
ANALOG COM 19
14
1
LOGIC
COMMON
17
5
EARTH
GROUND
Figure 28
36
ORG/PRP
PRP/BRN
BRN/PRP
A
37
A/
40
B
39
B/
42
Z
41
Z/
BLU/RED
RED/BLU
WHT/BLU
BLU/WHT
BLK/GRN
GRN/BLK
BRN/BLK
3
COMMON
2
CUR CMD
4
ENABLE
5
+10V
12
HIGH IRMS
10
DRIVE OK
9
DRIVE OK
BLK/BRN
YEL/GRY
GRY/YEL
WHT/GRN
GRN/WHT
WHT/RED
GRY/PRP
GRN/PRP
PRP/GRN
N/C
I/O COM - 14
LOGIC
COMMON
PRP/ORG
38
PRP/GRY
N/C
PULSE/ CMD OUT
BLU/PRP
RED/WHT
N/C
DIRECTION CMD OUT
PRP/BLU
I/O SUPPLY +
2
SHIELD
4
BRN/YEL
YEL/BRN
PIN
NUMBER
AXIMA 2000/4000 to LX Amplifier Connections Using
The AX4-GP Cable (Torque Mode)
Connections and Cabling
NOTE:
Make sure AXIMA Logic Common is connected to the
same point in the cabinet as the LX Logic Common. See
Figure 7, LX Drive and AXIMA System Grounding
Diagram.
The current command input of the LX amplifier is a single ended
input not a differential input. Refer to the LX Drives Setup and
Programming Operator’s Manual (P/N 400272-00) for more detailed
information.
!
WARNING
If the CMD output of the AXIMA 2000/4000 is mistakenly connected to
the common input of the LX drive, this could damage the AXIMA 2000/
4000 analog output signal.
Since the input is single ended, it will be more susceptible to noise.
Be sure the LX common pin number 11 is connected to a single point
ground as shown in the system grounding illustration.
When the LX amplifier is used in current mode, the LX I2t (high
RMS) circuitry is by-passed and does not fold back the current to the
motor.
To prevent damage to the amplifier or motor, the high RMS output of
the LX must be connected to an AXIMA 2000/4000 input. This input
would then be programmed to limit the AXIMA 2000/4000 command
voltage using the command limit instruction to decrease or shut off
the analog command. This input could also be used to turn off the
drive enable output.
When using the LX drive in current mode the LX limit switch inputs
are inactive.
37
AXIMA 2000/4000 Installation Manual
AXIMA 2000/4000 to LX Drive Connections (Velocity Mode)
The wiring diagram below shows the typical command connections
between the AXIMA 2000/4000 controller and an LX amplifier
operating in velocity mode.
AXIMA 2000/4000
CONTROLLER
LX AMPLIFIER
A 13
A/ 25
B 12
B/ 24
Z 11
Z/ 23
ENC COM ØV 22
ENC SUP +5V 10
25 PIN
"D" CONNECTOR
ANALOG CMD OUT -
8
ANALOG CMD OUT + 20
13
25
9
12
24
11
23
10
22
9
DRV ENABLE
21
CCW LIMIT
3
21
CW LIMIT 16
8
20
7
19
DRIVE STATUS 15
18
(STEPPER) LOW CURR MODE 18
6
5
17
4
ANALOG IN 1
7
ANALOG IN 2
6
16
3
15
2
ANALOG COM 19
14
1
LOGIC
COMMON
DIRECTION CMD OUT 17
I/O COM - 14
I/O SUPPLY + 2
Figure 29
NOTE:
38
ORG/PRP
PRP/BRN
BRN/PRP
A
37
A/
40
B
39
B/
42
Z
41
Z/
8
SPEED CMD -
7
SPEED CMD +
4
ENABLE
BLU/RED
RED/BLU
WHT/BLU
BLU/WHT
BLK/GRN
GRN/BLK
BRN/BLK
BLK/BRN
YEL/GRY
5
+10V
43
CCW LIMIT
45
CW LIMIT
10
DRIVE OK
9
DRIVE OK
GRY/YEL
WHT/GRN
GRN/WHT
WHT/RED
GRY/PRP
GRN/PRP
PRP/GRN
N/C
EARTH
GROUND
PRP/ORG
38
PRP/GRY
N/C
PULSE/ CMD OUT 5
LOGIC
COMMON
BLU/PRP
RED/WHT
N/C
SHIELD
PRP/BLU
BRN/YEL
YEL/BRN
4
PIN
NUMBER
AXIMA 2000/4000 to LX Amplifier Connections Using
The AX4-GP Cable (Velocity Mode)
Make sure AXIMA Logic Common is connected to the
same point in the cabinet as the LX Logic Common. See
Figure 7, LX Drive and AXIMA System Grounding
Diagram.
Connections and Cabling
Encoder 1 or 3 Output Connection
An encoder output port is provided to allow easy cable connections
between multiple AXIMA 2000/4000’s for line shafting type
applications using the AX4-ED-XXX cable.
ENCODER 1 OUTPUT (for 4000)
AXIS 1 (for 4000)
OR
OR
ENCODER 3 (for 2000)
ENCODER 3 OUTPUT (for 2000)
13
25
12
24
11
23
10
22
9
21
13
25
8
20
7
12
19
6
18
5
24
17
11
16
23
4
3
A
A
A/
A/
B
B
B/
B/
5
Z
Z
Z/
Z/
9
4
8
3
7
15
2
5
9
4
8
3
2
7
1 6
9 PIN
"D" CONNECTOR
PIN
NUMBER
14
1
PIN
NUMBER
25 PIN
"D" CONNECTOR
AXIMA INTERNAL CONNECTIONS
Figure 30 Internal Encoder Connections for AXIMA 2000/4000
AXIMA 2000
AXIMA 4000
ENCODER 3
AXIS 1
ENCODER
1 OUTPUT
ENCODER 1 OUTPUT
TO
AXIS 1 CONNECTION
ENCODER
3 OUTPUT
ENCODER 3 OUTPUT
TO
ENCODER 3 CONNECTION
Figure 31 Front Panels of AXIMA 2000/4000 Controllers
39
AXIMA 2000/4000 Installation Manual
Input/Output Connections
Dedicated I/O
+
-
Enable
Drives
Watchdog
Output
Figure 32
Enable Drives and Watchdog Output Locations on the
Front Panel of the AXIMA 2000/4000
Enable Drives Input
The Enable Drives input provides the +24 volts supply to one side of
all the drive enable relays. The + Enable Drives input is connected to
the +24 volts terminal.
40
Connections and Cabling
Watchdog Output
This relay contact is closed and the LED is ON under normal
conditions. The contact is rated for 30 VDC and .5 amps maximum.
FUSE F103 (LOCATED UNDER ACCESS PANEL)
+
+ 24 V
2A
24 V
SUPPLY
24 V
LED
24 V COMMON
ENABLE
DRIVES
ENABLE
DRIVES
LED
+
+5V
CUSTOMER
CONTACT OR
PLC OUTPUT
PRE-DEFINED AXIMA OUTPUT
(SEE SOFTWARE MANUAL)
TYPICAL DRIVE ENABLE CKT
2 FOR AXIMA 2000
4 FOR AXIMA 4000
DRIVE
ENABLE
LED
DRIVE ENABLE
RELAY
ENABLE CONTACTS ON
AXIS CONNECTOR
EN
+ 24 V
+5V
WATCH DOG
OUTPUT
WD
WATCH DOG
OUTPUT RELAY
WD
WATCHDOG LED
WD
+ 24 COMMON
CONTROLLER
WATCHDOG
OUTPUT
STATUS
DISPLAY
DECIMAL
POINT
Figure 33 Watchdog, Drive Enable Circuit
41
AXIMA 2000/4000 Installation Manual
User Defined I/O
Inputs
1
2
3
4
5
6
C
9
10
11
Inputs
7
8
12
13
14
15
16
C
Figure 34
Inputs Location on the Front Panel of the AXIMA 2000/
4000
The inputs can be wired for either sink or source mode in groups of
eight. The input voltage range is 10 to 30 VDC. Each input line
requires a minimum of 5 milliamps at 10 VDC to be recognized as a
valid input.
42
Connections and Cabling
+5V
AXIMA
2K
1.33K
+5V
2K
+5V
1.33K
2K
+5V
1.33K
2K
1.33K
C1 THROUGH C8
Figure 35 Sinking Mode Input Diagram
+5V
AXIMA
2K
1.33K
+5V
2K
+5V
1.33K
2K
+5V
1.33K
2K
1.33K
C1 THROUGH C8
Figure 36 Sourcing Mode Input Diagram
43
AXIMA 2000/4000 Installation Manual
Special Purpose Inputs
Inputs 13 through 16 can be assigned to trigger the high speed
hardware encoder position capture function. These inputs and the Z
encoder channels have direct connection to the encoder DSP gate
arrays. If your application requires accurate positioning or
measurements based on inputs from sensors or switches, inputs 13
through 16 should be used. See position capture input table below.
See the Encoder Capture Instruction in the AXIMA Software
Reference Manual (P/N 400262-00) for more information.
Table 7
Special Purpose Inputs
Encoder Input Number
Position Capture Input #
1
13 or 14
2
13 or 14
3
15 or 16
4
15 or 16
Since these inputs go through filtering and optoisolation, there is a
10 microsecond delay from the time the input is turned on until the
position is captured. The capture can be programmed to trigger on
rising or falling edge of the input. Due to the switching
characteristics of the optoisolaters, faster triggering speeds can be
obtained by using the rising edge rather than the falling edge. The
encoder Z channel time delay is significantly less at .1 microsecond.
44
Connections and Cabling
Outputs
1
2
3
7
8
Outputs
4
5
6
9
10
11
12
Figure 37 Outputs Location on the Front Panel of the AXIMA
2000/4000
Outputs can be operated in source mode only. Maximum allowable
output voltage is 18 to 30 VDC, maximum current is 150 milliamps
per output continuously.
NOTE:
It is your responsibility to limit the current to 150
milliamps or less.
45
AXIMA 2000/4000 Installation Manual
AXIMA
OUTPUT
LED
MACHINE
+ 24 V
COMMON
+ 24
+5V
CONTROLLER
OUTPUT
SIGNAL
1 - 12
TO ALL
OUTPUT
CIRCUITS
Figure 38
46
Output Circuit Diagram
DIODE REQUIRED
FOR ALL INDUCTIVE
LOADS
Connections and Cabling
I/O Power Supply
The AXIMA requires a customer supplied I/O power supply, usually
24 volts. This power supply must be connected to the 24V ±
terminals. The 24 volts are protected against reverse polarity if the
polarity is reversed the 24 volts fuse blows. The fuse is located under
the front access panel. This supply is the "machine side" of the inputs
and outputs and also provides power for the Enable Drive relay coils.
The system is designed to operate from a 24 VDC power supply but
will function with between 18 and 30 VDC.
2A
FUSE F103
2 AMPS
+
24V
-
Figure 39 I/O Power Supply Location on the Front Panel of the
AXIMA 2000/4000
NOTE:
For situations where all 16 inputs, 12 outputs at full load
and 4 relays are being used simultaneously, your power
supply must supply at least 2.5 amps @ 24 volts.
Each input requires 12 mA @ 24 VDC (5 mA @ 10 VDC).
Each output can source up to 150 mA to drive a load.
47
AXIMA 2000/4000 Installation Manual
Your power supply must be capable of supplying enough current for
the dedicated load requirements. (Enable Drive, Drive Status,
Overtravel L.S.) as well as the input and output load requirements.
Each Input:
Each Output:
(# of inputs) * (12 mA)
(# of outputs) * (Load Current)
Dedicated Circuits:
Inputs:
CW Limits SW
CCW Limit SW
Status
5 mA
5 mA
5 mA
Output:
Enable Drives
8 mA
For example
Suppose you had four axes of dedicated I/O, four inputs (# 1 through
4), and four outputs (# 1 through 4) with a 150 mA load, and your
power supply was 24 VDC, in the worst case scenario (all inputs and
outputs are being used simultaneously) the current load on the power
supply would be 0.74 amps. This value was found using the following
formula:
(12 mA * 4 IN) + (150 mA * 4 OT) + (8 mA * 4 R) + 4 axis (5 mA * 3 D)
= 0.74 Amps
Where
IN = inputs
OT = outputs
R = relays for Enable Drives
D = dedicated inputs
48
Connections and Cabling
Diagnostics Status Display
The Diagnostic Status display on the top front of the AXIMA 2000/
4000 is controlled by the programmer and can be used to display
machine status or fault codes. During the download of an AXIMA
Software Application an asterisk (*) is displayed.
The decimal point is lit when the controller Watchdog is “On”.
NOTE:
The very first time power is applied to the AXIMA
controller the diagnostic status will display a random
character.
49
AXIMA 2000/4000 InAnalog Input Option
Overview
An Analog Input feature is available as a factory option only. It
allows the AXIMA 2000/4000 to accept single-ended and differential
inputs. You can configure these inputs with up to eight single-ended
inputs, four differential inputs or combinations of single and
differential inputs.
NOTE:
If you wish to add the Analog Input option to an existing
AXIMA 2000/4000 controller, it must be returned to the
factory.
The source of each analog input can be selected to be either from the
analog input connector on the left side of the unit or the axis
connector on the front of the unit. This is done by setting a DIP switch
located behind the left side panel, of the AXIMA 2000/4000
controller. This selection is provided to allow easy interface to the
analog signal from an E Series drive.
NOTE: DIP SWITCHES ARE MOUNTED
BEHIND THE LEFT PANEL OF THE AXIMA
CONTROLLER
1
1
2
3
4
1
2
3
2
3
4
1
2
3
4
4
AXIS INPUTS (DEFAULT)
EXTERNAL INPUTS
Figure 40 Analog DIP Switch Location Behind the Left-Side Panel
of the AXIMA 2000/4000
51
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The AXIMA 2000/4000 takes raw voltage (±10 volts) from the analog
input terminal and, with the AXIMA Software, converts it to user
units. Each analog input channel can be assigned to a Pre-defined
Variable, within the AXIMA Software, which can be used in a Motion
or an Auxiliary Program.
Axis Inputs Connector Wiring
Using the AXIMA Software, any software channel can be attached to
any hardware channel or pair of hardware channels. This gives you
the flexibility to determine how the channel attachments are
configured.
Analog Inputs Connector Wiring
ANALOG INPUTS
1
2
3
4
ANALOG INPUTS
123456 78C
Figure 41
52
Location of Analog Inputs
5
6
7
8
C
Analog Input Option
The following diagrams show single-ended and differential
configurations. Single-ended wiring configurations are with respect
to the common “C” terminal. For example, voltages between input
terminals 1 and C, input terminals 2 and C, etc. Differential wiring
means that the resultant analog value is the difference in voltage
measured between a pair of input terminals. For example, voltage
between input terminals 1 and 2, 3 and 4.
NOTE:
All signals, single-ended or differential, must be
referenced to Pin “C”.
!
CAUTION
The maximum voltage between any input terminal and 'C' is ±10 VDC.
Figure 42 Single Ended Versus Differential Wiring
Figure 43 Analog Input Circuit Diagram
53
AXIMA 2000/4000 Installation Manual
Using the AXIMA Software, any software channel can be attached to
any hardware channel or pair of hardware channels. This gives you
the flexibility to determine how the channel attachments are
configured. If you choose a single-ended connection type, the negative
terminal is automatically connected to terminal C. A reverse-polarity
single-ended channel is not allowed.
When using a differential configuration, the AXIMA 2000/4000 A/D
converter measures the difference between two hardware channels
and directs the value to a software channel. The AXIMA 2000/4000
controller does not allow you to assign terminal number 1 as the
negative input. To measure differential values between terminal 1
and another terminal, the polarity must be reversed by connecting
the positive input to terminal 1, and connecting the negative input to
the desired terminal.
54
AXIMA 2000/4000 InExpanded I/O Options
Overview
There are two options for wiring the expanded I/O; by using direct
wiring or external components. The direct wiring option is exactly
that. All connections are directly wired from the AXIMA 2000/4000
controller. The external components option uses the XIOR-32
mounting rack and digital input and output modules to control the I/
O connections.
Sinking Versus Sourcing
In a sourcing input situation the current flows from the external
source to the input terminal. The input terminal voltage is high. In a
sinking situation the current flows from the input terminal to the
external circuit. The input terminal voltage is low.
In a sinking output situation the current can flow from the external
circuit into the output terminal. The output terminal voltage is low.
In a sourcing output situation the current can flow from the terminal
to the external circuit. The output terminal voltage is high.
55
P/N 400290-00
AXIMA 2000/4000 Installation Manual
+24 VDC
OPTICAL
ISOLATION
+24 VDC
INPUT
TERMINAL
LOAD
1.5K
24V
COMMON
OPTICAL
ISOLATION
OUTPUT
TERMINAL
+24 VDC
NOTE: DIODE REQUIRED
FOR ALL INDUCTIVE LOADS.
24V
COMMON
Figure 44
Sinking Inputs and Outputs
+24 VDC
+24 VDC
OPTICAL
ISOLATION
NOTE: DIODE REQUIRED
FOR ALL INDUCTIVE LOADS.
OPTICAL
ISOLATION
OUTPUT
TERMINAL
1.5K
INPUT
TERMINAL
LOAD
24V
COMMON
24V
COMMON
Figure 45
56
Sourcing Inputs and Outputs
24V
COMMON
Expanded I/O Options
Direct Wiring Option
If your I/O devices do not meet the criteria established for the
external components option, then direct wiring may be required.
These components must be assembled and wired by the user.
Components include STI-32s or STI-50s and connectorized ribbon
cables, all of which are available from EMERSON Motion Control.
CABLE
XIOC-XXX
CABLE
XIOC-XXX
OUTPUTS BANK 0
INPUTS
STI-32
INPUTS BANK 0
AXIMA 2000/4000
CONTROLLER
OUTPUTS
STI-32
Figure 46 AXIMA 2000/4000 Direct Wiring Option Using STI-32’s
AXIMA 2000/4000
CONTROLLER
CABLE
XIOC-XXX
INPUTS BANK 0
CABLE
XIOC-XXX
OUTPUTS BANK 0
INPUTS
STI-50
OUTPUTS
STI-50
Figure 47 AXIMA 2000/4000 Direct Wiring Option Using STI-50’s
57
AXIMA 2000/4000 Installation Manual
Components of the Direct Wiring Option
Quantities of the components required for the direct wiring option
depend on the number of I/O used.
For example:
For the full use of 32 expanded inputs and 32 expanded outputs, the
required quantities are:
(1) AXIMA 2000/4000 controller
(2) STI-32 or STI-50 for digital I/O
(2) Connectorized ribbon cables (50 pin) (P/N XIOC-XXX)
Dimensions of STI-50 and STI-32 Components
STI-32
STI-50
3.00
(76.2)
5.28
(134.11)
3.53
(89.76)
7.423
(188.54)
Dimensions in () are millimeters
Figure 48
STI-50 and STI-32 Components
I/O Setup and Wiring
Using the direct wiring option, the inputs and outputs can be wired
directly to the STI-32 (sourcing only) or STI-50 (sinking or sourcing)
using ribbon cables.
To use the direct wiring option, you must meet the following criteria:
For Inputs:
Electrical specifications of 24 VDC and a minimum of 11 mA of
current.
58
Expanded I/O Options
For Outputs:
Electrical specifications of 24 VDC and less than 40 mA of current.
Specifications For Direct Wiring Option
The equivalent circuits of the I/O, electrical specifications and the pin
assignments are shown on next page. You are responsible for
determining if your 24 VDC supply can handle the additional current
load.
AXIMA 2000/4000
STI-32
RIBBON
CABLE
+24 VDC
OUTPUT
TERMINAL
OPTICAL
ISOLATION
LED
24V
COMMON
24V
COMMON
AXIMA 2000/4000
24V
COMMON
STI-32
RIBBON
CABLE
+24 VDC
INPUT
TERMINAL
1.5K
LED
OPTICAL
ISOLATION
24V
COMMON
Figure 49 Outputs and Inputs Equivalent Circuit (Sourcing)
59
AXIMA 2000/4000 Installation Manual
Use the table below to determine the pin assignments of the STI-50
inputs and outputs.
Inputs Pin Assignments
60
Outputs Pin Assignments
Input Number
Pin Number
Input Number
Pin Number
0
37
0
37
1
39
1
39
2
38
2
38
3
40
3
40
4
35
4
35
5
42
5
42
6
36
6
36
7
41
7
41
8
47
8
47
9
50
9
50
10
44
10
44
11
48
11
48
12
49
12
49
13
43
13
43
14
46
14
46
15
45
15
45
16
14
16
14
17
12
17
12
18
13
18
13
19
11
19
11
20
16
20
16
21
9
21
9
22
15
22
15
23
10
23
10
24
4
24
4
25
1
25
1
26
7
26
7
27
3
27
3
28
2
28
2
29
8
29
8
30
5
30
5
31
6
31
6
Expanded I/O Options
External Components Option
If your I/O devices do not meet the criteria established for the direct
wiring option, then external components are required. These
components must be assembled and wired by the user. External
components include; I/O mounting rack(s), digital input modules,
digital output modules and connectorized ribbon cables, all of which
are available from EMERSON Motion Control.
With the external components option your electrical specifications
are determined by the module you select. These modules allow you to
wire the I/O for sinking or sourcing. There is some time delay
inherent in these devices that should be accounted for in time critical
applications.
DIGITAL INPUTS
XIOR WITH G4-IDC24's
CABLE
XIOC-XXX
INPUTS BANK 0
CABLE
XIOC-XXX
OUTPUTS BANK 0
AXIMA 2000/4000
CONTROLLER
DIGITAL OUTPUTS
XIOR WITH G4-ODC24's
Figure 50 AXIMA 2000/4000 External Components Option
61
AXIMA 2000/4000 Installation Manual
Components of the External Components Option
Quantities of the external components required depend on the
number of expanded I/O used.
For example:
For the full use of 32 expanded inputs and 32 expanded outputs, the
required quantities are:
(1) AXIMA 2000/4000 controller
(2) XIOR I/O mounting racks
(32) Digital input modules (P/N IDC-24-G4 or IAC-24-G4)
(32) Digital output modules (P/N ODC-24-G4 or
OAC-24-G4)
(2) Connectorized ribbon cables (50 pin) (P/N XIOC-XXX)
I/O Setup and Wiring
You need to supply 24 VDC to the XIOR-32 for the Digital I/O
modules.
62
Expanded I/O Options
Specifications For Digital Modules
From these specifications you can choose the type of module needed
for your particular application. Additional Digital I/O modules are
also available from Opto 22® in a variety of specifications.
Digital Input And Output Module Specifications
G4ODC24
G4OAC24
Digital DC output
module
Digital AC output
module
Input voltage range
10-32 VDC
90-140 VAC
Input voltage nominal
24 VDC
120 VAC
Input current @ nominal
16 mA
9 ma rms
Logic voltage nominal
24 VDC
24 VDC
Logic current @ 24 VDC
18 mA
18 mA
Turn on time
5 ms
20 ms
Turn off time
5 ms
20 ms
G4ODC24
G4OAC24
Digital DC output
module
Digital AC output
module
Output voltage range
5-60 VDC
12-140 VAC
Output voltage maximum
60 VDC
120 VAC
Output current @ max
voltage
3 amps
3 amps rms
Off state leakage @ max
voltage
1 mA
5 ma rms
Logic voltage nominal
24 VDC
24 VDC
Logic current @ 24 VDC
18 mA
18 mA
Logic pickup voltage
19.5 VDC
19.5 VDC
Logic dropout voltage
1 VDC
1 VDC
Turn on time
50 usec
8.3 msec
Turn off time
50 usec
8.3 msec
63
AXIMA 2000/4000 Installation Manual
24 VDC Power Supply Loading
You are responsible for determining if your 24 VDC supply can
handle the additional current load.
When using 24 VDC modules:
Inputs (on): 45 mA per input.
Outputs (on): (Load current + 21 mA) per output.*
Outputs (off): 3 mA per output.
When using 120 VAC modules:
Inputs (on): 29 mA per input.
Outputs (on): 21 mA per output.
Outputs (off): 2.4 mA per output.
* The load current for the output modules must be limited to
no more than 3 amps.
Figure 51
Power Wiring for External I/O Mounting Racks
EMERSON Motion Control recommends that you use twisted pairs
for the 24 VDC power wiring.
64
Expanded I/O Options
Connection Diagrams For Mounting Rack
Input Connections
Figure 52 24 VDC Digital Input Module Connection Diagram
For sinking inputs
Switch on the 24 VDC common as shown in the diagram above and
wire 24 VDC to the other terminal.
For sourcing inputs
Switch 24 VDC as shown in the diagram above, and wire 24 VDC
common to the other terminal.
When wiring inputs, you can wire the switch to either the Odd or
Even Terminal.
65
AXIMA 2000/4000 Installation Manual
Figure 53
120 VAC Digital Input Module Connection Diagram
For sinking inputs
Switch on the neutral as shown in the diagram above and wire 120
VAC to the other terminal.
For sourcing inputs
Switch 120 VAC as shown in the diagram above, and wire neutral to
the other terminal.
When wiring inputs, you can wire the switch to either the Odd or
Even Terminal.
66
Expanded I/O Options
Output Connections
Figure 54 24 VDC Digital Output Module Connection Diagram
For sinking outputs
Wire the load to the Odd # Terminal on the mounting rack. Tie the
other side of the load to 24 VDC. The 24 volt common should be wired
to the Even # Terminal.
For sourcing outputs
Wire 24 VDC to the Odd # Terminal on the mounting rack. Wire the
load to the Even # Terminal. Tie the other side of the load to 24 volt
common.
If your load is inductive, it is recommended to use a commutating
diode across the load to clamp any voltage transients during
switching.
67
AXIMA 2000/4000 Installation Manual
Figure 55
120 VAC Digital Output Module Connection Diagram
For sinking outputs
Wire the load to the Odd # Terminal on the mounting rack. Tie the
other side of the load to 120 VAC. Neutral should be wired to the
Even # Terminal.
For sourcing outputs
Wire 120 VAC to the Odd # Terminal on the mounting rack. Wire the
load to the Even # Terminal. Tie the other side of the load to Neutral.
68
AXIMA 2000/4000 InConnectivity Options
Overview
Modbus® and Data Highway Plus® (DH+) are factory options that
allow the AXIMA 2000/4000 controller to communicate with the
Modicon Modbus serial communication protocol or Allen Bradley’s
Data Highway Plus.
NOTE:
AXIMA 2000/4000 controllers can be equipped with either
Modbus or DH+. They cannot be used simultaneously.
AXIMA 2000/4000 controllers equipped with the Modbus option
have two serial connectors on the left-side of the AXIMA 2000/4000,
Com 3 and Com 4. Com 3 is an RS-232C nine-pin DB connector and
Com 4 is an RS-485 six-pin Phoenix® connector used for multi-drop
systems.
AXIMA 2000/4000 controllers equipped with the DH+ option are
equipped with one serial connector (Com 4) on the left-side of the
AXIMA 2000/4000. Com 4 is an RS-485 six-pin Phoenix connector.
69
P/N 400290-00
AXIMA 2000/4000 Installation Manual
RS-232C
CONNECTOR
PIN 1
PIN 1
RS-485
CONNECTOR
COM 3
COM 4
Figure 56
Left-side of AXIMA 2000/4000
The previous figure shows the Modbus configuration with the Com 3
and Com 4 connectors. When equipped with the DH+ option, only
Com 4 (six-pin Phoenix connector) would be available.
70
Connectivity Options
Modbus Connection
The RS-232C serial port Com 3 (nine pin DB connector) pin-out is
shown below.
Pin
Signal
1
Shield
2
RX (Receive)
3
TX (Transmit)
4
485 Data (+)
5
Signal Ground
6
NC (No Connect)
7
RTS (Request to Send)
8
CTS (Clear to Send)
9
485 Data (-)
The RS-485 serial port Com 4 (six-pin Phoenix connector) pin-out is
shown below. Pin 1 is internally connected to 4, pin 2 is connected to
pin 5, and pin 3 is connected to pin 6.
Pin
Signal
1
485 Data (+)
2
Signal Ground
3
485 Data (-)
4
485 Data (+)
5
Signal Ground
6
485 Data (-)
71
AXIMA 2000/4000 Installation Manual
Data Highway Plus Connection
The DH+ network connections are available using the six-pin
Phoenix connector (Com 4). The connector pin-out is shown below.
Pin
1
SH
2
NOTE:
72
Signal
"Blue Hose" wires
Line 1 (485 Data +)
Clear
Shield
(bare)
Line 2 (485 Data -)
Blue
The nodes at the two physical ends of the network should
have terminating resistors. All other nodes should not.
Every network should have exactly two terminators. The
AXIMA controller does not have an internal terminator. If
you require a terminator, it consists of a resistor between
the blue and clear wires. The Data Highway Plus
specifications recommend a 150 ohm resistor at 57.6 and
115.2 kbaud and an 82 ohm resistor at 230.4 kbaud.
AXIMA 2000/4000 InIndex
A
AC power connector, 12
access panel
location, 18
removal, 18
address DIP switches
location, 26
analog input
circuit diagram, 53
differential wiring, 53
location, 52
overview, 51
single ended wiring, 53
wiring, 52
analog outputs, 32
auxiliary encoder connections
cable pinout, 29
AXIMA 2000
description, 1
dimensions, 7
features, 2
grounding, 8
installation, 5
mounting, 7
power, 12
AXIMA 4000
description, 1
dimensions, 7
features, 2
front panel, 3
grounding, 8
installation, 5
mounting, 7
power, 12
axis connections
cable pinout , 29
description , 28
examples , 34
axis ID number, 26
C
COM1 , 15
cable specification, 16
description , 16
grounding , 24
location, 15
RS232C , 16
serial port specification , 16
COM2 , 15
cable specifications., 25
description , 18
DIP switches
location, 18
settings, 19
DIP switches location , 15
grounding , 24
location, 15
mode types, 19
RS232C mode, 19
RS422 mode , 19
RS485 mode , 20
serial port specifications , 25
settings, 15, 18
communication port
location, 15
type , 15
connections
analog outputs , 32
axis, 28
examples , 34
73
dedicated I/O, 40
drive enable, 32
drive status, 33
enable drives , 40
encoder inputs, 30
encoder outputs , 39
encoder power supply , 32
I/O, 40
I/O power supply , 47
overtravel , 33
user defined I/O, 42
watchdog output , 41
controller ID number , 26
settings, 27
D
diagnostics status display, 49
Digital Signal Processor , 2
DIP switches
location , 18
drive enable, 32
circuit diagram , 33
power sequence , 33
DSP , 2
encoder outputs, 39
internal wiring, 39
encoder power supply, 32
examples
axis connections, 34
E Series, 34
LX Drives, 36
MX Drives, 35
external fusing, 12
F
front panel
description, 3
fusing, 12
G
grounding, 8
grounding point, 8
H
hardware installation, 5
E
I
E Series
grounding example , 9
enable contact, 32
enable drives input, 40
enclosure , 8
ENCO cable
wiring diagram , 31
encoder connections
signal wiring diagram, 31
simulation wiring diagram, 30
encoder inputs, 30
signal specification, 30
74
I/O
output circuit diagram, 46
power supply, 47
location, 47
sinking mode, 43
sourcing mode, 43
I/O connections, 40
installation, 5
RTS method, 20
SD method, 20
Send Data method, 20
settings, 19
two wire termination wiring diagram,
23
L
LX Drives
grounding example , 11
M
S
mounting requirements , 7
dimensions , 7
multi-drop installations, 27
MX Drives
grounding example , 10
power requirements , 12
safety considerations, 5
electrical, 6
enclosure, 5
installation and maintenance, 6
serial communication, 15
cables, 17
RS422 mode, 19
RS485 mode, 20
serial communications
grounding, 24
diagram, 25
serial port
location, 15
type, 15
special purpose inputs, 44
R
T
requirements
external fusing , 12
grounding , 8
mounting, 7
power , 12
RS422 mode, 19
settings, 19
wiring diagram , 21
RS485 mode, 20
configuration, 24
four wire multi-drop wiring diagram,
22
Ready to Send method , 20
TIA cable, 16
wiring diagram, 17
TIX cable, 16
wiring diagram, 17
O
options
analog input, 51
P
75
U
user defined I/O
inputs, 42
location, 42
outputs, 45
location, 45
sinking mode , 43
sourcing mode , 43
special purpose inputs , 44
W
watchdog output , 41
76
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