Yaskawa SMC-3010 LEGEND-MC Installation guide
The YASKAWA SGDG LEGEND is a single-axis Ethernet motion controller designed for use exclusively with Yaskawa’s LEGEND Digital Torque Amplifier, providing a structured text programming environment and the ability to perform many modes of motion, including camming, gearing, contouring, and high-speed product registration.
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LEGEND-MC Installation Guide
LEGEND-MC Installation Guide
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain for future reference.
LEGEND-MC Installation Guide
LEGEND-MC Installation Guide
WARNING
YASKAWA manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of YASKAWA products remain the responsibility of the equipment designer or end user. YASKAWA accepts no responsibility for the way its products may be incorporated into the final system design.
Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically under all circumstances. All products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to that part’s safe use and operation. Any warnings provided by Yaskawa must be promptly provided to the end user.
YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in YASKAWA’S manual. NO OTHER WARRANTY,
EXPRESS OR IMPLIED, IS OFFERED. YASKAWA assumes no liability for any personal injury, property damage, losses or claims arising from misapplication of its products.
LEGEND-MC Installation Guide
LEGEND-MC Installation Guide
TABLE OF CONTENTS
Introduction .......................................................................... 1
Part Numbers ....................................................................... 2
Startup ................................................................................. 3
Mounting the LEGEND-MC to the LEGEND Amplifier.... 3
Mounting Orientation ...................................................... 3
Front Panel Description ....................................................... 4
Power/Connections Wiring - Single Phase .......................... 5
Power/Connections Wiring - Three Phase ........................... 6
Cable Shielding, Segregation and Noise Immunity ............. 7
I/O Connections (50-pin CN5) ............................................. 8
Analog I/O ............................................................................ 9
Analog Input ................................................................... 9
Analog Output .............................................................. 10
Digital I/O ........................................................................... 11
Digital Input .................................................................. 11
Digital Output .............................................................. 12
Emergency Stop Chain ....................................................... 13
Serial Communication ........................................................ 14
External encoder Specifications ......................................... 15
Dedicated Inputs ................................................................. 16
Physical Specifications ....................................................... 17
Hardware Specifications ..................................................... 17
Cable Diagram and Dimensional Drawings ........................ 18
LEGEND-MC Installation Guide
NOTES:
LEGEND-MC Installation Guide
Introduction
The LEGEND-MC is a single axis Ethernet motion controller designed for use exclusively with
Yaskawa’s LEGEND Digital Torque Amplifier.
It provides a structured text programming environment and the ability to perform many modes of motion including camming, gearing, and contouring. High speed product registration is also available as a standard feature.
Additionally, point-to-point control and communications over the Ethernet connections are standard features. The Ethernet function allows multiple handles or devices to communicate with the controller.
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LEGEND-MC Installation Guide
Part Numbers
Description Part Number
a)
Motion Controller with Ethernet Interface SMC3010 b)
1.0m 50 Pin I/O Cable
2.0m 50 Pin I/O Cable
3.0m 50 Pin I/O Cable
1.0m 50 Pin I/O Cable (with terminal block)
JZSP-CKI01-1 (A)
JZSP-CKI01-2 (A)
JZSP-CKI01-3 (A)
JUSP-TA50P c) 3.0m Port #1 Cable SMCCBL7 d)
YTerm Programming Software SMCGUI1
2
LEGEND-MC Installation Guide
Startup
Mounting the LEGEND-MC to the LEGEND Amplifier
1.
Insert the lower two mounting notches of the LEGEND-MC into the mounting holes at the bottom of the right side of the LEGEND.
2.
Push the LEGEND-MC in the direction indicated by the arrow in the figure below, and insert the upper mounting notches of the LEGEND-
MC into the upper mounting holes on the right side of the LEGEND.
Mounting Orientation
Mount the LEGEND-MC and LEGEND vertically for proper cooling, as shown below. Allow a minimum spacing of 10mm around the left and right sides and 30mm around the top and bottom of the LEGEND-MC/LEGEND unit.
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LEGEND-MC Installation Guide
Front Panel Description
No.
Name Description
(1) Power
ON
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
Alarm/
Error
CN6
CN5
RST
Ethernet status
Ethernet status
CN4
FG
A green LED that indicates +5 VDC power is applied properly from the LEGEND-MC amplifier to the controller.
(2)
A red LED that will flash on initially at power up and stay lit for approximately 1-8 seconds. After power up, the LED will illuminate for the following reasons:
•The axis has a position error greater than the error limit. The error limit is set by using the command
ER.
•The reset line on the controller is held low or is being affected by noise.
•There is a failure in the controller and the processor is resetting itself.
•There is a failure in the output IC which drives the error signal.
(3)
(4)
9 pin male D-Sub serial port connector
3M 50 pin high density I/O connector
Reset switch. Causes the controller to reboot, and load the application program and parameters from flash. If the program contains an #AUTO label, it will automatically execute.
A green LED that is lit when there is an Ethernet connection to the controller. This LED tests only for the physical connection, not for an active or enabled link.
(5)
(7)
(8)
(9)
The yellow LED indicates traffic across the
Ethernet connection. This LED will show both transmit and receive activity across the connection. If there is no Ethernet connection or
IP address assigned, the LED will flash at regular intervals to show that the BOOTP packets are being broadcast.
10 BaseT Ethernet RJ485 Connector
Frame ground spade terminal. Connect to ground terminal on LEGEND Amplifier
(1)
(6)
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LEGEND-MC Installation Guide
Power/Connections Wiring - Single Phase
1MCCB
R T
Noise Filter
Control
Power
ON
Control
Power
OFF
1MC
Servo ON
Servo
Power
OFF
Emergency
Stop
1MC
2MC
YASKAWA
1MC
SUP
2MC
SUP
2MC
1MC
U
V
W
L1C
L2C
B1
B2
B3
L
EGEND
01
CHARGE POWER
L1
L2
L3
1
2
C
N
1
C
N
2
T
C
N
R
S
4
F
G
C
N
5
C
N
6
Notes: The LEGEND-MC receives its power from the LEGEND amplifier through the side interface connector, however, the digital I/O receives its power from pins 46, 47, 48, and 49 on the I/O connector.
For maximum noise immunity, connect the FG to a ground terminal on the sub panel or to the ground terminal on the LEGEND.
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LEGEND-MC Installation Guide
Power/Connections Wiring - Three Phase
1MCCB
R
S
T
Noise Filter
Control
Power
ON
Control
Power
OFF
1MC
Servo ON
Servo
Power
OFF
Emergency
Stop
1MC
2MC
YASKAWA
1MC
SUP
2MC
SUP
2MC
1MC
U
V
W
L1C
L2C
B1
B2
B3
L
EGEND
01
CHARGE
POWER
L1
L2
L3
1
2
C
N
1
C
N
2
R
S
T
C
N
4
F
G
C
N
5
C
N
6
6
Notes: The LEGEND-MC receives its power from the LEGEND amplifier through the side interface connector, however, the digital I/O receives its power from pins 46, 47, 48, and 49 on the I/O connector.
For maximum noise immunity, connect the FG to a ground terminal on the sub panel or to the ground terminal on the LEGEND.
LEGEND-MC Installation Guide
Cable Shielding, Segregation and Noise
Immunity
Proper
SMC 3010
Connector
Case
Terminal Block
Shields tied back at device
a)
Connector
Case
Terminal Block
PROPER
Shield connected across terminal block.
Shields tied back at device
b)
PROPER
Shield tied back at terminal block.
Wrong
Connector
Case
Terminal Block
a)
PROPER
Shields of field cables grounded at one point
Shields tied back at device
WRONG
Shield grounded at more than one point.
Connector
Case
Terminal Block
Shields tied back at device
b)
WRONG
Shields of field cables ungrounded
7
LEGEND-MC Installation Guide
I/O Connections (50-pin CN5)
CN5
37
38
39
40
41
42
32
33
34
35
36
28
29
30
31
10
11
12
13
14
15
16
17
18
19
20
21
7
8
5
6
9
3
4
22
23
24
25
26
27
1
1
2
43
44
45
46
47
48
49
50
Analog 1
Analog 2
+5 Filtered Output power
-12 Filtered Output power
+12 Filtered Output power
Output compare
External encoder A-
External encoder A+
External encoder B-
External encoder B+
Abort Input
Reverse limit switch
Home Input
Forward limit switch
Reset Input
Digital Input 2
Digital Input 1
Digital Input 7
Digital Input 8
Digital Output 4
Digital Output 3
Digital Output 2
Digital Output 1
E STOP2
Analog Output
Digital Input 6
Digital Input 5
Digital Input 4
Digital Input 3
24V GND Input
24V Power Input
24V GND Input
24V Power Input
E STOP1
LEGEND-MC Signal Ground
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LEGEND-MC Installation Guide
Analog I/O
Analog Input
Item
Input Voltage
Input Impedance
Resolution
Specifications
± 10 V
Approximately 10k
Ω
12 bits over a ± 10V range or 4.88 mV per bit
Internal Circuitry
12V
DG403
MUX
VCC
-12V
Legend-MC I/O
Connector CN5
12V
4 -12V
1
2
Analog 1
Analog 2
-12V
SMC Signal
Ground
5
28
+12V
Field Wiring
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LEGEND-MC Installation Guide
Analog Output
Item
D/A Output Resolution
Output short circuit duration
Maximum output current
Specifications
16 bit over a ± 10 V range or 328 µV/bit
Infinite
60 mA
Internal Circuitry
Legend-MC I/O
Connector CN5 Field Wiring
TL084CN
26
Analog
Output
28
Signal
Ground
External Device
-10 ~ 10 V
L
10
LEGEND-MC Installation Guide
Digital I/O
Digital Input
Item
Number of Input Points
Input Format
Isolation
Voltage
Current Rating (ON)
Input Impedance
Operation Voltage
OFF Current
Response Time
Latch response time
Minimum latch width
Specifications
8
Sinking
Optical
24 VDC ± 20%
5.3 mA to activate
2.2k
Ω
Logic 0 <5V
Logic 1 >15V
0.9 mA or less
OFF to ON: <0.5 ms
ON to OFF: <1.5 ms
Less than 25 µsec
9 µsec
Internal Circuitry
2.2k
Legend-MC I/O
Connector CN5
47
49
18
17
Field Wiring
Digital Input 1
(Main Latch)
Digital Input 2
(External Latch)
Digital Input 3 45
44
43
Digital Input 4
Digital Input 5
24VDC
42 Digital Input 6
19
20
Digital Input 7
Digital Input 8
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LEGEND-MC Installation Guide
Digital Output
Item
Number of Output Points
Output Format
Output Classification
Isolation
Load Voltage
Load Current
Response Time
External Common Power
Common User Fuse Rating
Individual User Fuse Rating
Specifications
4
Sinking
Transistor Output
Optical
24 VDC ± 20%
200 mA/Output (600 mA if activated individually)
OFF to ON <0.25 ms
ON to OFF <0.5 ms
24 VDC ± 20% 15 mA
1A
200 mA recommended
Note: The ULN 2803 output chip is capable of 600 mA at a single output, or
800mA for the four outputs simultaneously.
Internal Circuitry
Legend-MC I/O
Connector CN5
47
49
Field Wiring
Fuse
24VDC
PS2505-4
ULN2803
10k
24
23
22
21
Digital Output 1
L
Digital Output 2
L
Digital Output 3
L
Digital Output 4
L
46
48
12
LEGEND-MC Installation Guide
Emergency Stop Chain
Internal Circuitry
VCC
U17
Legend-MC I/O
Connector CN5 Field Wiring
50
25
E STOP1
E STOP2
Q1
-EROUT
1k
2N7002
The LEGEND-MC closes the relay contact under normal operating conditions.
13
LEGEND-MC Installation Guide
Serial Communication
Item
Baud Rate
Data Bits
Parity
Stop Bits
Specifications
9600 or 19200 settable by jumper JP1, default is 19200
8
None
1
Internal Circuitry
.1 UF
.1 UF
C1+
C1-
C2+
C2-
T1IN
U7
V+
V-
T1OUT
T2IN T2OUT
A1IN
A1OUT
A2OUT
MAX232A
A2IN
Legend-MC Serial
Port Connector CN6
VCC
.1 UF
.1 UF
4
9
5
3
7
8
2
1
6
Field Wiring
CTS Output
CTS Output
CTS Output
Transmit Output
Receive Input
RTS Input
RTS Input
N/C
Signal Ground
Note: Hardware handshaking must be used with the LEGEND-MC. If it is impossible to implement hardware handshaking, use a jumper between pins 1 and 4 in the connector.
Note: Do not connect pin 5 to a 24V ground.
14
LEGEND-MC Installation Guide
External Encoder Specifications
Item
Input Format
Maximum Frequency
Specifications
Quadrature
Pulse and Direction
12 MHz
Internal Circuitry
VCC
3486
3486
Legend-MC I/O
Connector CN5 Field Wiring
Digital
Ground
9
8
34
10
11
34
Digital
Ground
Shield
A+phase
A-phase
External Encoder
+5V or +12V
0V
B-phase
B+phase
Frame
Ground
Standard voltage levels are TTL (0V to 5V), however, voltage levels up to 12V are acceptable. If using differential 12V signals, no modification is required. Single ended 12V signals require a bias voltage applied to the complimentary input, i.e.; use two 10k resistors, one connected to +12V and the other connected to the LEGEND signal ground to hold the /A phase and /B phase at 6VDC. Do not use a 24VDC encoder.
15
LEGEND-MC Installation Guide
Dedicated Inputs
Item
Number of Input Points
Input Format
Isolation
Voltage
Current Rating (ON)
Input Impedance
Operation Voltage
OFF Current
Limit Switch Response
Time
Specifications
Forward limit, Reverse limit, Home, Abort, Reset
Sinking
Optical
24 VDC ± 20%
5.3 mA to activate
2.2k
Ω
Logic 0 <5V
Logic 1 >15V
0.9 mA or less
OFF to ON: <0.5 ms
ON to OFF: <1.5 ms
Internal Circuitry
2.2k
Legend-MC I/O
Connector CN5
47
49
15
Field Wiring
Forward Limit Switch
24VDC
13
14
12
16
Reverse Limit Switch
Home Input
Abort Input
Reset Input
16
LEGEND-MC Installation Guide
Physical Specifications
Description
Depth:
Width:
Height:
Weight:
Vibration:
Ambient temperature:
Humidity:
Noise:
Specifications
130mm (5.12 in)
20 mm (.79 in)
142 mm (5.6 in)
.18 kg (.4 lb.)
9.8 msec
2
(1.0g)
0 ~ 70
° C (32 ~ 158 ° F)
Less than 95%
IEC Level 3
Hardware Specifications
Description
CPU:
Servo update:
Digital inputs:
Dedicated inputs:
Digital Outputs:
Analog inputs:
Analog outputs:
Serial port:
Ethernet:
Specifications
25 mHz Motorola
1000 µs default, 250 µs minimum
(8), +24VDC
(5), +24VDC
(4), +24VDC
(2) +/- 10 V 12 bit resolution
(1) +/- 10 V 16 bit resolution
(1) 9600 or 19200 baud
(1) 10-base-T
17
LEGEND-MC Installation Guide
Cable Diagram and Dimensional Drawings
I/O Cable with Terminal Block JUSP-TA50P
CN5
Length of cable supplied: 19.69 (500)
+10%
-0%
50-pin connector plug
MR-50RMD2
50-pin terminal block
M3.5 screws
1
2
9.74 (247.5)
Connector Terminal Block Converter Unit
JUSP-TA50P* (cable included)
Mounting Hole Diagram
49
50
10.01 (254.2)
0.14 (3.5) 0.14 (3.5)
0.27 (7.0)
10.28 (261.2)
0.27 (7.0)
*Terminal specifications : see I/O connections, page 8
18
(0.79)
20
LEGEND MOUNTING
CLIP
SERIAL PORT
C
N
6
STATUS LED'S
ETHERNET LED'S
I/O
ETHERNET
C
N
5
R
S
T
C
N
4
F
G
RESET
GROUND
MODEL NP
APPROX. MASS: 0.18kg
DIMENSIONS: MM (IN)
(5.12)
130
LEGEND MOUNTING
CLIP
MOUNTING CLIPS
SIDE PIN CONNECTOR
CLIP ATTACHMENT TO LEGEND AMP
LEGEND-MC Installation Guide
NOTES:
20
LEGEND-MC Installation Guide
YASKAWA ELECTRIC AMERICA, INC.
Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: (847) 887-7000 Fax: (847) 887-7310 Internet: http://www.yaskawa.com
MOTOMAN INC.
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone: (937) 847-6200 Fax: (937) 847-6277 Internet: http://www.motoman.com
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan
Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 Internet: http://www.yaskawa.co.jp
YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.
Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000
Phone: 55-11-5071-2552 Fax: 55-11-5581-8795 Internet: http://www.yaskawa.com.br
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone: 49-6196-569-300 Fax: 49-6196-888-301 Internet: http://www.yaskawa.de
MOTOMAN ROBOTICS AB
Box 504 S38525, Torsas, Sweden
Phone: 46-486-48800 Fax: 46-486-41410
MOTOMAN ROBOTEC GmbH
Kammerfeldstrabe 1, 85391 Allershausen, Germany
Phone: 49-8166-900 Fax: 49-8166-9039
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, Scotland, United Kingdom
Phone: 44-12-3673-5000 Fax: 44-12-3645-8182
YASKAWA ELECTRIC KOREA CORPORATION
Paik Nam Bldg. 901 188-3, 1-Ga Euljiro, Joong-Gu, Seoul, Korea
Phone: 82-2-776-7844 Fax: 82-2-753-2639
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
Head Office: 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SINGAPORE
Phone: 65-282-3003 Fax: 65-289-3003
TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)
10F 146 Sung Chiang Road, Taipei, Taiwan
Phone: 886-2-2563-0010 Fax: 886-2-2567-4677
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone: 852-2803-2385 Fax: 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club,
21 Jianguomanwai Avenue, Beijing 100020, China
Phone: 86-10-6532-1850 Fax: 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6553-6600 Fax: 86-21-6531-4242
SHANGHAI YASKAWA-TONJI M & E CO., LTD.
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6533-2828 Fax: 86-21-6553-6677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.
30 Xue Yuan Road, Haidian, Beijing 100083 China
Phone: 86-10-6232-9943 Fax: 86-10-6234-5002
SHOUGANG MOTOMAN ROBOT CO., LTD.
7, Yongchang-North Street, Beijing Economic & Technological Development Area,
Beijing 100076 China
Phone: 86-10-6788-0551 Fax: 86-10-6788-2878
YEA, TAICHUNG OFFICE IN TAIWAN
B1, 6F, No. 51, Section 2, Kung-Yi Road, Taichung City, Taiwan, R.O.C.Phone: 886-4-2320-2227 Fax: 886-4-2320-2239
Phone: 55-11-5071-2552 Fax: 55-11-5581-8795 Internet: http://www.yaskawa.com.br
Yaskawa Electric America, Inc., August 2001 YEA-TOA-SMC-1.3A Printed in U.S.A.
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