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SPiiPlusCMnt
Dual Axis Drive Module
Installation Guide
August
2016
Document Revision NT2.25.
2
0
SPiiPlusCMnt Installation Guide
SPiiPlusCMnt
Release Date: August 2016
COPYRIGHT
© ACS Motion Control Ltd. 2016. All rights reserved.
Changes are periodically made to the information in this document. Changes are published as release notes and later incorporated into revisions of this document.
No part of this document may be reproduced in any form without prior written permission from ACS Motion Control.
TRADEMARKS
ACS Motion Control, SPiiPlus, PEG, MARK, ServoBoost, MotionBoost, NetworkBoost and NanoPWM are trademarks of ACS Motion Control
Ltd.
Windows and Visual Basic are trademarks of Microsoft Corporation.
EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Any other companies and product names mentioned herein may be the trademarks of their respective owners.
ACS Motion Control Ltd
1 Hataasia St
Ramat Gabriel Industrial Park
Migdal Ha’Emek 2307037 Israel
T +972 4 654 6440
F +972 4 654 6443 www.acsmotioncontrol.com [email protected]
NOTICE
The information in this document is deemed to be correct at the time of publishing. ACS Motion Control reserves the right to change specifications without notice. ACS Motion Control is not responsible for incidental, consequential, or special damages of any kind in connection with using this document.
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Conventions Used in this Guide
Revision History
Conventions Used in this Guide
Text Formats
Bold
BOLD+ UPPERCASE
Format
Monospace + grey background
Italic
Blue
[ ]
|
Description
Names of GUI objects or commands.
ACSPL+ variables and commands
Code example.
Names of other documents.
Web pages and e-mail addresses.
In commands indicates optional item(s)
In commands indicates either/or items
Flagged Text
The following symbols are used in flagging text:
Notes - includes additional information or programming tips.
Caution - describes a condition that may result in damage to equipment.
Warning - describes a condition that may result in serious bodily injury or death.
Model - highlights a specification, procedure, condition, or statement that depends on the product model.
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Related Documents
Related Documents
Documents listed in Table 1 provide additional information related to this document.
The most updated version of the documents can be downloaded by authorized users from www.acsmotioncontrol.com/downloads .
SPiiPlus Utilities User Guide
SPiiPlus ACSPL+ Programmer's guide
HSSI Expansion Modules Hardware and Software
Guide
NT PEG and MARK Operations
AN STO Safe Torque Off Function
Table 1. Related Documents
Document
SPiiPlus Command & Variable Reference Guide
SPiiPlus C Library Programmer's Guide
SPiiPlus COM Library Programmer's Guide
SPiiPlus MMI Application Studio User Guide
Description
Describes all of the variables and commands available in the ACSPL+ programming language.
C++ and Visual Basic® libraries for host PC applications. This guide is applicable for all the
SPiiPlus motion control products
COM Methods, Properties, and Events for
Communication with the Controller.
Explains how to use the SPiiPlus MMI
Application Studio and associated monitoring tools.
A guide for using the SPiiPlus User Mode Driver
(UMD) for setting up communication with the
SPiiPlus motion controller.
Provides practical instruction on how to use
ACSPL+ to program your motion controller.
High-Speed Synchronous Serial Interface (HSSI) for expanded I/O, distributed axes, and nonstandard devices.
Provides detailed description, specification and operation instructions for PEG capabilities
Provides the technical details for implementing the STO function for drives installed in ACS
Motion Control systems.
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Table of Contents
Table of Contents
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Table of Contents
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Table of Contents
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Table of Contents
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List of Figures
List of Figures
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List of Figures
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List of Tables
List of Tables
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Product Overview
1 Product Overview
The SPiiPlusCMnt (Figure 1) is a state-of-the-art line of EtherCAT
®
network multi-axis machine and motion controllers with two built-in universal drives. Its open architecture operates in conjunction with ACS’ line of EtherCAT servo and step motor drives and I/Os modules, as well as with any certified EtherCAT module that complies with the CAN application protocol over EtherCAT (CoE).
Figure 1: SPiiPlusCMnt
All drives are highly synchronized by a distributed clock with accuracy better than 0.1 microseconds, and execute the control algorithms at a 20 kHz rate. As an EtherCAT Master, it can manage up to 32 axes and practically an unlimited number of I/Os. The product supports 1 or 2 kHz EtherCAT cycle rates. The SPiiPlusCMnt is complemented by the SPiiPlus suite of software tools (such as the SPiiPlus
MMI Application Studio) with a built-in simulator. As network master, it supports all ACS drives and devices, as well as ACS-certified network devices made by other vendors.
The SPiiPlusCMnt is offered with two current levels:
• 5A/10A (continuous/peak)
•
7.5A/15A
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Product Overview
The product can be provided with an optional Safe Torque Off (STO) module that prevents the moving of the motors without removing the power source.
The product is powered by a single phase 85 to 230Vac and by a separate 24Vdc control supply that keeps all low voltage signals alive during emergency conditions.
1.1
Kits and Accessories
The SPiiPlusCMnt has several associated kits and accessories. Each kit has a specific function as detailed below.
• Cable Mating kit (PN SPiiPlusCMntUDMpm-ACC1) provides a set of mating connectors for the product which enables you to prepare the various cables required, the kit includes:
•
1 x PHOENIX screw terminal connector, MC 1,5/3-STF-3,81 for DRIVE SUPPLY (J2)
•
2 x PHOENIX screw terminal connectors, MC 1,5/4-STF-3,81 for MOTOR OUTPUT (J3,J4)
•
2 x 3M Wiremount sockets, 20 contacts, 891 series with strain relief for ENCODER (J6,J7)
•
1 x 3M Wiremount socket, 16 contacts, 891 series with strain relief for DIGITAL,ANALOG AND
Limit I/O (J5)
•
1 x JST housing, 10 pin 2mm pitch PADP-10V-1-S for PEG (J10)
•
10 x crimping pins SPND-001T-C0.5 for PEG (J10)
•
STO Cable Mating kit (PN STO-ACC1), provides a cable with flying leads used to connect the optional STO module.
•
J11 Cable kit (PN SPiiPlusCMntUDMpm-ACC2) provides a prepared cable with one end open and the other with a SCSI connector.
Figure 2: J11 Cable Kit
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Operation
2 Operation
The product can be operated as a standalone 2 axes control module, or as network master supporting up to 32 axes, of which 2 are internal to the product. For out-of-the-box operation, follow the stages detailed below, referring to the detailed information provided in this manual and to the referred ACS documents. The product's operation depends on ordered features.
2.1
2 Axes Control Module Operation
Product set up consists of the following stages:
Follow the safety instructions in section 8 on page 30.
1.
Supply and control cable connection (refer to Figure 3) using pre-wired cables. For cable pin out
and connector details, refer to CMnt-1/2-320 Connectors.
2.
Apply control and drive supply voltages and observe LEDs. If STO is included in the product, apply control supply to both STO1 and STO2 inputs to enable drives operation.
3.
Establish communication with control module by using SPiiPlus MMI Application Studio and
SPiiPlus User Mode Driver, using either the connection via J1 connector or the serial connection via J13. Refer to the
SPiiPlus Setup Guide
for details.
4.
Set up the product: refer to the
SPiiPlus Setup Guide
.
5.
Operation and programming: refer to the ACSPL+
Programmer’s Guide
.
2.2
Network Master Operation
Setting up the product as a network EtherCAT master, when ordered for up to 32 axes, IOs and Non-
ACS network elements, requires additional stages in addition to those described above for 2 axes control module operation. All network elements must be powered and interfaced according to their hardware guides. CAT5 cables have to be connected in a daisy chain mode from the CMnt-2-320
EtherCAT Out (J2) connector to the first element's EtherCAT In port, and further connected from the first element's EtherCAT Out port to the next in line element's EtherCAT In port.
For all (ACS or non-ACS devices) connected network elements:
1.
Connect to power supply and to relevant interfaces, according to each product's installation and operation guides.
2.
Apply control and bus voltages as needed, and verify defined operation.
Setup of CMnt-2-320 as network master:
1.
Establish communication with the CM-2-320 control module by using SPiiPlus MMI Application
Studio and SPiiPlus User Mode Driver, using either the connection via J1 connector or the serial connection via J13. Refer to
SPiiPlus Setup Guide
for details.
2.
Setup CM-2-320: refer to
SPiiPlus Setup Guide
.
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Operation
3.
Setup of EtherCAT network: use the SPiiPlus MMI Application Studio EtherCAT Configurator module to define the network according to ordered elements and needed network configuration. Refer to the
SPiiPlus MMI Application Studio User Guide
for details.
4.
Configure the network elements, axes, and IOs: use the SPiiPlus MMI Application Studio System
Configuration Wizard module to configure all network elements, numbering and configuration.
Refer to the
SPiiPlus MMI Application Studio User Guide
for details.
5.
CMnt-2-320 operation and programming: refer to the AC
SP L+ Programmer’s Guide
, and
SPiiPlus Command & Variable Reference Guide
.
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3 Connectivity and Interfaces
SPiiPlusCMnt Installation Guide
Connectivity and Interfaces
Figure 3: CMnt-2-320 Connector Schematic
3.1
Motor Connection
The built-in universal drives support 2- and 3-phase AC synchronous, AC induction, 2 and 3-phase step and DC brush motors. Selection of motor and parameter setting is done using the Adjuster
Wizard of the SPiiPlus MMI Application Studio (refer to
SPiiPlus MMI Application Studio User Guide
).
A 3-phase motor connection is shown in Figure 4. An optional motor filter is shown in series between
the drive and the motor. A shielded cable should be used, terminated in the EGND pin which is internally connected to the chassis (PE). If needed, the shield/GND may be connected to the motor’s chassis to provide a seamless common ground reference.
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Connectivity and Interfaces
Figure 4: 3-Phase Motor Connection
For DC brush motor connections, do NOT connect phase T (refer to Figure 5).
Figure 5: DC Brush Motor Connection
For 2-phase step motors, connect the motor phases between S-R and between T-R as shown in
Figure 6: 2-Phase Step Motor Connection
3.2
Electro-Magnetic Immunity and Interference Considerations
Follow the recommendations below to minimize electromagnetic interference to power supply and neighboring equipment, and to improve electromagnetic immunity.
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Connectivity and Interfaces
•
Use AC line filter and surge protection.
•
Use motor filters, such as the MC4U-MF, between the drive and the motor. The filters should be connected as close as possible to the drive’s output connectors. Note that the filters require air flow cooling.
• Use an EPCOS B84142-B25-R filter (or equivalent) for AC supply interference protection.
• For motor cables, use shielded (meshwork of tinned, copper wire with high optical covering), high voltage and very low capacitance cables. ACS specifies and tests its products using motor cable lengths of up to 10m lengths. Motor cables should be routed as far as possible from sensitivesignal carrying cables such as encoder cables. Encoder cables should be according to manufacturer’s recommendation. The motor cables’ shield should be connected to motor connector pin 4.
•
Lightning protection on the supply AC lines should be provided in the cabinet/machine where the
ACS product is being used. It is recommended to install power surge lightning arrestors (varistors) between the AC terminals (L-N, L-PE, N-PE). ACS recommends using the MNF Wurth Electronic
MNF varistor, P/N 820422711.
3.3
Regeneration
To absorb excess mechanical reverse energy translated into electrical energy during deceleration, and to avoid a voltage rise beyond the drive’s overvoltage protection level, an external active
regeneration device should be used. A connection diagram is shown in Figure 7. The rectified voltage
bus (VBUS) is provided in the J10 connector. An external Regeneration unit (such as, Copley’s Model
125 & 145) should be used, selected based on peak and continuous current, power, energy and bus voltages.
Figure 7: Regeneration Connection
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Connectivity and Interfaces
3.4
Mechanical Motor Braking
Two 24V/1A mechanical brake control outputs are available, one output per axis. These outputs are powered by the 24V logic supply. The outputs are opto-isolated, and protected against shorts.
Figure 8: Mechanical Brake
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Feedback
4 Feedback
4.1
Encoder Types and Assignment
The SPiiPlusCMnt supports multiple feedback types per each axis: Incremental digital (1 or 2 per axis), Sin-Cos analog (optional 1 per axis), Resolver (optional 1 per axis), Hall sensors (1 set per axis) and a variety of absolute encoders (optional 1 per axis, both axes having the same type). The type of encoder and the number of encoders per axis have to be specified when ordered, and cannot be modified at field level.
Certain constraints result from sharing internal resources and connector pins; detailed data for the
SPiiPlusCMnt is provided in the Encoder Configurations tables.
Dual feedback (dual loop) topology per axis is supported. The number of utilized network axes is identical to the number of digital encoders used. For example, when a dual feedback scheme is implemented for both axes, 4 network axes are consumed out of the total number of network axes supported and ordered for the specific CMnt-2-320 master.
4.2
Encoder Power Supply
The unit includes a built-in 5V/250mA encoder supply. Optional special factory setup: If more current is needed or if the encoder (such as the Hiperface encoder) requires a different supply voltage level, an external supply can be connected to connector J6 (pins 5V_ENC_EXT and 5V_ENC_EXT_RTN). Note that this arrangement replaces the internal 5V/250mA supply, yet must be pre-ordered from ACS
since it involves an internal hardware setup. Figure 9 shows the external supply's connection to the
product.
Figure 9: External Power Connection
4.3
Incremental Digital AqB Encoder
Each internal drive supports one or two incremental digital AqB encoders. The number of supported incremental encoders is factory installed and cannot be changed in the field.
The interface of each of the encoder’s A, B and Index signal is shown in Figure 10.
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Feedback
Figure 10: Incremental Digital AqB Encoder Connections
The connection is a protected RS-422 differential line with 120 Ω termination.
• Maximum rate: 12.5MHz, which equals 50 million qadrature counts/sec.
• Fault detection: Encoder error (due to noise), and encoder not connected.
Encoders are fed by a 5V±5% 250mA supply (the total available current to all encoders) referenced to a digital ground. By special factory order, an additional encoder current supply of 5V/1A can be provided through the same line by connecting an external supply to the J6 connector and by an appropriate internal jumper setting.
A, B, I and Clk/Dir modes of operation are supported.
4.4
Sin-Cos Encoders
Optionally, the product supports one Sin-Cos encoder per axis. This option is factory installed and
cannot be changed afterwards. The interface for the Sine, Cosine and Index signals (Figure 11) is
differential, 1Vptp±10% with 52dBm SNR. The maximum input frequency is 250 kHz.
Figure 11: Sin-Cos Encoder Connections
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Feedback
Sin and Cos inputs are sampled at 20kHz, 12 bit resolution. A multiplication factor of 4 up to 16,384
(practically measured to be better than 4,096) is supported. A software based Offset, Gain and Phase compensation can be set using the MMI Application Studio Sin Cos Encoder Compensation tool which optimizes and sets the compensation values, stores the optimized values and displays the results graphically. ‘Encoder error’ and ‘Encoder Not Connected’ are reported as faults.
4.5
Absolute Encoder Interface
Absolute encoder's interfaces (pins and electrical circuitry) are shared with Digital Incremental (AqB) and with Sin-Cos encoder's interfaces, according to the following table:
Absolute encoder type
Endat 2.2
SmartABS/ Panasonic
BiSS C/ SSI
Hiperface
Table 2: Absolute Encoder Reference
Encoder's Interface
RS485 bidirectional Data
RS422 Clock (encoder input)
RS485 bidirectional Data
RS485 bidirectional Data
RS422 Clock (encoder input)
RS485 bidirectional Data
Sin output
Cos output
Controller's interface
CHA
CHB (controller's output)
CHA
CHA
CHB (controller's output)
CHA
Cos input
Sin input
The digital bidirectional communication data channel is shared with CHA (data).
The Clock line interfaces to the controller's CHB.
In addition to the digital bidirectional data channel, Hiperface uses the analog Sin and Cos interfaces
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Feedback
Figure 12: Absolute Encoder Hiperface Schematic Diagram
Bi-directional RS485 data channels uses CHA of the digital incremental encoder, and when the clock is provided to the encoder, then CHB of the corresponding digital incremental encoder is used, See
The setting is performed by software.
Figure 13: Absolute Encoder Schematic Diagram
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Feedback
Figure 14: Absolute Encoder Bidirectional Schematic Diagram
4.6
Position Event Generator (PEG)
The SPiiPlusCMnt supports advanced Position Event Generator (referred to also as Output Compare) output signals for synchronous random and incremental timing generation. The two PEG pulses and two PEG STATE signals can be associated with any of the incremental or Sin-Cos encoders, to be used by any of the two axes, and can be programmed for polarity and shape. Their functionality is determined by three independent PEG engines.
The Incremental PEG mode provides the ability to generate a fixed width pulse whenever a fixed position interval has passed, starting at a predefined start point and ending at a predefined end point.
The Random PEG mode provides the ability to control a PEG pulse and a two-bit STATE vector at predefined positions, which are stored as a 256 member user-defined array.
Refer to the
PEG and MARK Operations Application Notes
for more details.
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Power Supplies
5 Power Supplies
The SPiiPlusCMnt is fed by two supply sources: an 85-265Vac from an AC power supply to the motors and a 24Vdc supply to the logic and control circuitry.
The AC supply is rectified and the DC voltage feeds the motor drives.
The AC supply (range of 85 to 265Vac single motor drive supply) is internally rectified to 120 to
370Vdc bus voltage.
The DC supply: 24Vdc (±10%, maximum rating 4A/100W) serves for control. Regular operation consumes 2A. Maximum of an additional 1A per axis is needed during motor mechanical brake activation.
Maximum continuous/peak Input currents as functions of maximum continuous/peak Output power
(at a given AC voltage input) are listed in Table 3:
Cont./Peak Current
11.7/11.7A
12.9/17.4A
16/32A
16.3/34A
Table 3: Input Current vs. Output Power
Cont./Peak Power
1007/1007W
1485/2005W
3676/ 7350W
4304/ 8977W
@85Vac
AC Voltage
@115Vac
@230Vac
@265Vac
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Digital Inputs and Outputs
6 Digital Inputs and Outputs
6.1
Digital Outputs
SPiiPlusCMnt provides 8 opto-isolated, current driving outputs, with 0.5A per output, up to 3A per 8 outputs. 24V (±20%) is externally user-provided, common to all signals. The digital output connection
Figure 15: Digital Output Connections
Over current protection (per pin) is activated above 0.7 to 1.7A, causing the output to enter a protected mode, without any message displayed to the user. The output recovers on returning to specified performance values.
6.2
Digital Inputs
SPiiPlusCMnt provides 8 single ended, opto-isolated, 24V±20%, ‘source’ current driving inputs.
The digital input connection is shown in Figure 16.
Figure 16: Digital Input Connections
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Digital Inputs and Outputs
Digital inputs 6,7 are available in parallel as non-isolated fast inputs, shared with MARK#2 and
MARK#3 inputs. A 5V and ‘sink’ option is available by special order. Note that the RTN line is common for all Digital Inputs.
6.3
HALL Sensors
One HALL sensor per drive (set of 3 single ended, current driving lines) is available.
The lines are opto-isolated with current sensitivity of 7mA. The connection for a HALL sensor is
Figure 17: HALL Sensor Connection
6.4
Registration MARK Inputs
The following MARK inputs are supported: MARK0 and MARK1 (RS422), two shared opto-isolated interfaces (IN6 and IN7, referred to as MARK2 and MARK3), and two regular digital inputs: IN4 and
IN5. Each of the two encoders available per axis can be latched independently to two latchingregisters (A and B, used as variables "MARK" and "MARK2", respectively) by the above MARK input
signal sources, as detailed in Table 4.
Axis/Encoder Latching
Register
Axis 0
Encoder 0
A
B
Axis 0
Encoder 1
A
Axis 1
Encoder 0
B
A
B
Axis 1
Encoder 1
A
Table 4: Registration MARK Sources per Encoder
Dedicated Opto-Isolated
RS422 Source
MARK0
MARK1
MARK0
MARK1
MARK1
MARK0
MARK1
MARK0
MARK1
Shared Opto-Isolated
IN6
IN7
IN6
IN7
IN6
IN6
IN7
IN6
Source
Shared Regular
IN4
IN5
Input
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Digital Inputs and Outputs
Axis/Encoder Latching
Register
B
Dedicated Opto-Isolated
RS422 Source
MARK1
Shared Opto-Isolated
Source
IN7
Shared Regular
Input
Latching register A is associated with the ACSPL+ variable: MARK; and latching register B is associated with the ACSPL+ variable: M2ARK. See
Command &
Variable Reference Guide
for details on these variables.
Encoder 1 of axis 0 has two latching registers (A,B). Latching register A can be triggered by either MARK0, MARK1, IN4 or IN6.
The opto-isolated MARK inputs have a propagation delay of up to 200 ns. Regular Input MARK signals have a propagation delay of 50 ns.
The selection of the specific MARK signal is done by using the ACSPL+ ASSIGNFINS command for setting input pins assignment and mapping between FGP_IN signals to the bits of the IN variable
(refer to the
Command & Variable Reference Guide
).
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Analog Inputs and Outputs
7 Analog Inputs and Outputs
7.1
General Purpose Analog Inputs
SPiiPlusCMnt provides four differential, ±10 V ±5%, 12bit accuracy, 100 mV compensated offset,
bandwidth of 10kHz. The General Purpose Analog Input connections are shown in Figure 18.
Figure 18: General Purpose Analog Inputs
The user should ensure that the analog input's signal range does not exceed 20% of the specified range of ±10 V.
Higher signals may cause abnormal behavior of the drive and affect its performance.
7.2
General Purpose Analog Outputs
SPiiPlusCMnt provides two General Purpose Analog Outputs. The outputs are characterized by 10 bit resolution, differential ±10V±10%, 50mV maximum offset, with 50mVp_p maximum ripple, and linearity better than 1%. Minimum 10K
Ω
load required.
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Safety
8 Safety
8.1
Safe Torque Off (STO)
STO is an optional feature. The STO circuit functionality is designed and tested by
ACS to comply with the requirements of EN ISO 13849-1, EN 62061, and IEC
61800-5-2 standards.
STO (The Safe Torque Off) is the fundamental safety capability needed to prevent moving of motors upon a safety event.
STO capability prevents the moving of the motor using two hardware inputs, STO1 and STO2, that block the PWM signals to the power stage of the drive. A 24V supply (18Vdc to 33Vdc) must be connected to both inputs to enable the drive's regular operation. When the 24V supply is removed from one or both STO inputs, the PWM signals are blocked for at least 50msec afterwards but not more than 200msec afterwards. In addition, the controller is informed about this event. This delay
(between informing the controller and blocking of the PWM signals of the drive) provides the controller the ability to bring all axes to a complete stop (or low velocity movement) in an orderly manner. The implementation of the STO guarantees that under any foreseen circumstances, failure or damage, any of following types of motors will not move:
• AC synchronous (DC brushless)
• Step motor
• AC asynchronous (AC induction)
For DC brush motor, removing the 24V from both STO inputs guarantees that under any foreseen circumstances, failure or damage, the motor will not move.
Usually, STO1 and STO2 are connected to a 24V source via an industry-standard safety switch. This device disconnects the 24V on opening a door, a light current tripping or other safety-related events.
Figure 19 describes a wiring scheme of a safety relay, controlled in this example by a PLC safety device.
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Safety
Figure 19: STO Wiring Scheme
The STO inputs can be also fed from a door switch, a light-curtain or any other safety related controller.
Figure 20 describes a schematic STO implementation: the STO inputs feed the power (through additional circuitry which is not shown in the figure) to the upper and lower PWM drivers of the corresponding transistors.
The STO circuit is implemented on a dedicated module that plugs into all ACS products that support this functionality.
Figure 20: STO Implementation
8.1.1
STO Module Connector Type and Pinout
Connector Name
Connector type
Table 5: STO Connector Type
SM05B-PASS-1
STO Input
JST 5 PIN 2mm male
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Safety
Connector Name
Mating connector type
STO Input
JST 5 PIN 2mm female
PAP-05V-S
Pin: SPHD-001T-P0.5
3
4
1
2
5
Table 6: STO Pinout
Pin Name Description
STO1- Safety torque input 1 inverted input
STO1+ Safety torque input 1 non inverted input
EGND Electrical ground
STO2+ Safety torque input 2 non inverted input
STO2- Safety torque input 2 inverted input
8.2
Right and Left Limits
Right Limit and Left Limit per axis are provided. The limit connections are shown in Figure 21.
Figure 21: Limit Connections
The inputs are single-ended, fed by a 24V ±20% driving ‘source’, referenced to a common return signal, and opto-isolated. The input current is limited to 14mA. The internal resistor is 5.6kΩ. The
‘sink’ configuration and 5V feed are available by special order.
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Safety
8.3
Emergency Stop
The Emergency Stop input is a two line, opto-isolated signal, fed from a 24V supply and activated
above 14mA as shown in Figure 22:
Figure 22: Emergency Stop Input
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Fault Indications
9 Fault Indications
The SPiiPlusCMnt supports hardware- and software-based fault indications for:
• Bus Over Voltage (442…467V)
•
Bus Under Voltage (76…84V)
• AC Power Down
• Power Supply Not Ready (4.5…5.5 sec during transitional powering up, ‘soft start’)
•
Over Temperature - measured on the heat sink and activated at 85-90°C
•
Motor Phase faults: Phase-to-Phase Short and Short-to-Ground
• Over Current - measured per axis and reported to the user’s application by software.
•
Motor Over Temperature
9.1
Motor Over Temperature Fault
The SPiiPlusCMnt provides one input signal per axis for connecting Motor Over Temperature fault sensors. The signal is single-ended, opto-isolated and referenced to a common ground for all faults as
Figure 23: Motor Over Temperature Connection
Indication is ON when the motor PTC is > 10k
Ω
, and is OFF when motor PTC impedance is < 1k
Ω
.
9.2
LED Indicators
Table 7 summarizes the meaning of the SPiiPlusCMnt LED indicators.
Table 7: SPiiPlusCMnt LED Indicators
Indication
Control Supply Green
•
On – power is applied
Description
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Fault Indications
Indication
Link/Activity
Run
System
Axis
DC drive supply
Description
Green
•
Off – No link
•
On – Link exists, no data transferred
•
Blinking – Data being transferred
Yellow
•
Off – INIT state
•
On - Normal operation
Bicolor
•
Red – Communication Fault
•
Green – Communication ok
•
Blinking – SW command
Bicolor, one per axis, indicates axis’ status.
•
Off – Disabled
•
Green – Enabled
•
Red – Fault
Red, voltage bus indication.
•
On – voltage applied
• Off – no voltage applied.
9.3
SPiiPlusCMnt Jumper
The SPiiPlusCMnt has one jumper: JP1, the location of which is shown in Figure 24.
Figure 24: Jumper Location
The JP1 jumper is employed when running the MMI Application Studio Upgrade and Recovery
Wizard Recovery Task (see the
MMI Application Studio User Guide
for details).
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SPiiPlusCMnt Installation Guide
Communication
10 Communication
10.1
Host Communication
Host communication with the SPiiPlusCMnt can be via RS-232 or by Ethernet. The Ethernet connection may be either a direct connection (host to controller using a cross cable) or over a network. Selection of the communication channel and its parameters is done using the MMI
Application Studio (refer to the
Setup Guide
for details). Whenever possible, a connection is preferred over RS232 because of the communication rate.
10.1.1
Network (EtherCAT) Communication
Being an EtherCAT master, the SPiiPlusCMnt has a single EtherCAT OUT port which connects to the
first network element in the network (see Figure 25).
Figure 25: EtherCAT Network Connections
Cable type – use CAT5 or higher high quality cables. ACS provides such cables at varying lengths of 30 cm to 50 m.
Cable lengths – all ACS products have been tested with 50 m cables between adjacent nodes. At lengths of up to 100 m one should carefully test performance as function of network complexity and operating environment.
When employing the SPiiPlusCMnt in an EtherCAT network, the MMI Application Studio EtherCAT
Configurator tool is used for setting it up (refer to the
MMI Application Studio User Guide
for details).
10.1.2
HSSI – Serial Interface to ACS Peripherals
One port is provided for communication with ACS peripherals such as HSSI-IO-16.
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SPiiPlusCMnt Installation Guide
Thermal Considerations
11 Thermal Considerations
SPiiPlusCMnt should be operated with forced air ventilation.
Heat dissipated by the CMnt negatively affects the operation of the MPU and the operation of the entire EtherCAT network controlled by it.
To generate maximum power in ambient temperatures of up to 47°C (3.5Arms each axis in 5A model) and 36°C (5.3Arms each axis in 7A model), 115CFM air flow is recommended. As a guideline, use
Table 5 to determine the maximum operating ambient temperature at maximum power.
An optional heat sink is not available.
To determine the need and amount of air flow, use the charts shown in Figure 26 and Figure 27.
Figure 26 displays the losses (Watts) for 5A and 7.5A (peak sine Amps) drives as a function of rms
current (Amps).
Figure 26: Dissipated Power vs Current
Figure 27 displays the maximum allowable ambient temperature (°C) at which the SPiiPlusCMnt can
operate with and without forced air flow (CFM) of various values.
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SPiiPlusCMnt Installation Guide
Thermal Considerations
Figure 27: Dissipated Power vs Temperature
For example, to determine the overall power losses of both axes as a function of their rms current:
from the chart in Figure 26, if the two 7.5A drives operate at 3.2Arms, a total of 2x50=100W has to
be dissipated. From the chart in Figure 27, with a minimum forced air flow of 24CFM with the
standard provided heat-sink (24CFM, no HS) the SPiiPlusCMnt can be operated at its maximum
ambient temperature rating of 50°C. Note that Figure 27 also displays the maximum operational
temperature as function of dissipated power when no ventilation is applied: curves 0CFM w HS,
0CFM no HS.
11.1
Output Power and Current
The power bridge output voltage [Vrms] and maximum output power [W] per current rating and per
axis, as function of single phase AC input voltage, is listed in Table 8.
Table 8: Power Output vs. Current
Cont/Peak
5/10A
7.5/
15A
1
No. Axes
2
1
85Vac
62V/
380W
52V/
637W
52V
/637W
52V
/637W
57V/
524W
115Vac
86V/
529W
76V/
936W
76V/
936
76V/
936W
81V/
748W
230Vac
184V/
1128W
174V/
2134W
174V/
2134W
154V/
3778W
179V/
1646W
265Vac
214V/
1307W
204V/
2493W
204V/
2493W
184V/
4496W
209V/
1915W
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SPiiPlusCMnt Installation Guide
Thermal Considerations
Cont/Peak
2
No. Axes 85Vac
42V/
772W
51V/
656W
42V/
772W
115Vac
66V/
1221W
75V/
970W
66V/
1221W
230Vac
164V/
3017W
172V/
2366
134V/
4932W
265Vac
194V/
3555W
201V/
2770W
164V/
6010W
11.2
Motor Filter
For dv/dt noise reduction, it is recommended connecting the ACS Motor Filter (shown in Figure 28) in
series between the drive and the motor. The motor filter is designed for 20/40A (RMS
Continuous/Peak) current, 440/620Vac (RMS/Peak) voltage. For further details, refer to the
MC4U
Control Module Hardware Guide
.
Figure 28: ACS Motor Filter
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SPiiPlusCMnt Installation Guide
Grounding and Shielding
12 Grounding and Shielding
Figure 29 shows the recommended scheme for shielding, cable connections and type of grounding.
Figure 29: Grounding and Shielding
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SPiiPlusCMnt Installation Guide
Personnel Safety Guidelines
13 Personnel Safety Guidelines
Make sure that the following guidelines and procedures are addressed and observed prior to powering and while handling any of the network elements. Observing these procedures is crucial to achieve safe and optimal operation of ACS networking provisions.
Installation and maintenance must be performed by qualified personnel only. Such a person must be trained and certified to install and maintain high power electrical and electro-mechanical equipment, servo systems, power conversion equipment and distributed networks. Prior to powering up the system, ensure that all network components are properly installed mechanically, properly grounded and that all attached power and signal cables are in good operating conditions. Maintenance should be performed only after the relevant network element has been powered down, and all associated and surrounding moving parts have settled in their safe mode of operation. Certain drives require longer times to fully discharge.
To ensure that the internally stored energy has been fully discharged to a safe level that will not harm personnel exposed to the energy, allow a minimum of 5 minutes after powering down the SPiiPlusCMnt until handling or touching the unit. Special care should be provided while applying, removing or touching connector J10 that contains bus voltage carrying wires (VBUS+ and VBUS- ).
Follow the hardware guide of each element and observe the residual discharge time specified. Avoid contact with electrostatic-sensitive components and take the required precautions.
All power terminals remain live for at least 5 minutes after the mains have been disconnected.
The SPiiPlusCMnt is powered up as long as an ACS inlet is connected to it. Therefore it is the responsibility of the user to provide an in-series switch or circuit breaker that disconnects all powercarrying signals which is readily and rapidly accessible to the operator. The disconnecting device must meet the requirements of IEC60947-1 or IEC60947-3 and the current rating must be not more than 20A. The disconnecting device must be in close proximity to the equipment and within easy reach of the operator and be clearly marked as the disconnecting device for the CMnt-2-320. A power cord with conductor area of not less than 0.75mm², with a voltage rating of not less than
300V, rated to 105ºC or more, and complying with IEC60227 or IEC60245 must be used for the AC drive supply input. Only the Green –Yellow wire of the cable is to be used for connection to the protective conductor terminal.
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14 Dimensions and Installation
14.1
Dimensions
The dimensions of the SPiiPlusCMnt are shown in Figure 30.
SPiiPlusCMnt Installation Guide
Dimensions and Installation
Figure 30: SPiiPlusCMnt Dimensions
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SPiiPlusCMnt Installation Guide
Dimensions and Installation
14.2
Installation
The SPiiPlusCMnt can be mounted on a wall vertically, using four M4 retaining screws, two on each
Figure 31: Retaining Screw Locations
When installing the CMnt-2-320, An Earth-ground must be connected to the Heat Sink as shown in
Figure 32: Grounding Screw
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SPiiPlusCMnt Installation Guide
Dimensions and Installation
14.2.1
Vertical Installation with Cooling Fan
Airflow is provided by an external device, such as a fixed cooling fan.
The device should be positioned to ensure a continuous airflow thorough the bottom and top ventilation holes, as shown in the following figure.
Figure 33: Airflow
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Specifications
15 SPiiPlusCMnt Specifications
This section presents the specifications for the CMnt product line.
15.1
General
Number of internal axes
MPU
Part Number
X – number of axes
YY – special options
CMnt-X-320-
002-YY
CMnt-X-320-
005-YY
CMnt-X-320-
007- YY
Drive supply voltage range [Vac]
Phase Current Cont./Peak, sine amplitude
[A]
Phase Current Cont./Peak, RMS [A]
Peak current time [sec]
Max. output voltage [Vdc]
Max. Input Cont./Peak power per axis @
230Vac [kVA]
Max. output power (Cont./Peak) per axis @
230Vac [kW]
Minimum load Inductance, at maximum motor voltage [mH]
Max. Heat dissipation per axis @ 230Vac
[W]
Weight [gram]
Dimensions [mm]
1 or 2
MPU Cycle update rate:
•
For 2,4,6,8,16 axes: 2kHz
•
For 32 axes: 1kHz
MPU-User Memory: RAM: 128Mb. Nonvolatile memory (Flash): 128Mb. Power up
Time: 25sec.
85 to 265
2.5 / 5 5 / 10 7.5 / 15
1.8 / 3.6
1
3.6 / 7.1
(Vac in) x1.41 x 88%
0.9/1.8 1.8/3.6
0.55/1.1
0.05
25
2,000
270 x 157 x 67
1.1/2.1
50
5.3 / 10.6
2.5/5
1.6/3
75
15.2
Drive Supply
Control DC
Power
24Vdc ± 10% Maximum input current / power: 4A / 100W (2A / 50W) during regular operation, plus an additional 2A during external motor brake activation)
During emergency conditions there is no need to remove the 24Vdc control supply.
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Specifications
Input AC Power 85-265Vac. 11.7 to 34A peak current, 1000 to 9000Watt. Efficiency of
68% at continuous and 66% at peak current performance. 3.75Arms in rush current for first 20ms following power-up. The current is limited by a protective fuse and connector to 15A. The drive supply input fuse is rated 20A at 250Vac or 125Vdc. When supplying DC voltages higher than 125Vdc, an appropriate external protection device (voltage and current ratings) must be used.
15.3
Drives
Control
Protection
Motor types
Motor brake
Type: digital current control with field-oriented control and space vector modulation.
Current ripple frequency: 40 kHz
Current loop sampling rate: 20 kHz Programmable Current loop bandwidth up to 5 kHz.
Commutation type: sinusoidal. Initiation with and without hall sensors.
Switching method: advanced unipolar PWM.
Over voltage, Phase-to-phase short circuit, Short to ground, Overcurrent, Over-temperature supply
2- and 3-phase DC brush motors
2- and 3-phase DC Brushless (AC servo)
3-phase AC induction.
Two, 1 per axis. 24V, 1A, opto-isolated.
Powered by external 24Vdc Control Supply.
15.4
Communication
EtherCAT
®
Ethernet port
RS-232 port
HSSI port
Node-to-node connectivity w/o redundancy. Two In & Out ports, 100
Mbit/sec, CoE and FoE protocols. 100m between adjacent nodes using ACS EtherCAT cables.
100 Mbps standard. TCP/IP, 10/100 Mbps.
Cable length of up to 100m between adjacent network elements.
Up to 115,200 baud serial communication for host communication.
Rx, Tx and GND cross cable. Supports Modbus protocol as master or as slave.
One. Used for IO-16 accessory connectivity. RS-422 differential. Up to
10m length. ACS proprietary protocol. Check support of HSSI modules with ACS.
15.5
Network Nodes
Supported axes Being an EtherCAT network master, the product is ordered with the maximum number of supported network axes, whether ACS or non-ACS products (that have been approved by ACS). The profile update rate is a function of this number:
For up to 16 axes a profile update rate of 1 kHz and 2 kHz is provided.
For 17 to 32 axes an update rate of 1 kHz is provided.
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Specifications
Number of I/O nodes does not impact the update rate.
15.6
Encoders
Sin-Cos
Sin-Cos digital
Incremental digital
AqB
HALL
Up to 2 Sin-Cos differential (depending on number of internal axes, 1 or 2), 120Ω termination, consisting of Sine, Cosine and
Index signals, 1Vptp±10%, 250kHz bandwidth and better than
52dBm SNR. 12 bit resolution. Multiplication factor From x4, to x4096 4.
Offset, Gain and Phase compensation supported.
Fault detection: Encoder error, Encoder No Connected.
The Sin-Cos inputs are available as digital (after filtering and limiting) outputs via STATE and PEG outputs
One or two per axis, as function of configuration, supporting
A&B,I and Clk/Dir modes of operation. Differential RS-422 with
120
Ω
termination interface. Max. rate: 50 million encoder counts/sec. Fault detection : Encoder error, and encoder not connected.
A set of three per axis. Single-ended, 5V, source, opto-isolated.
Input current: <7mA.
Resolver
Consists of HA, HB and HC lines per axis
Two sensor inputs are available, 1 per axis. 12bit resolution (4,096 counts/rev). Excitation provided by a differential 10Vp-p
±5%/20KHz 35mA signal (RSV_EXT). Inputs are 2 Sin-Cos differential 3.15V±25% signals.
Absolute encoders EnDat 2.1/ 2.2, Smart-Abs, Panasonic, BiSS-C, Hiperface
5V feedback supply Total current available for feedback devices: 250mA
15.7
Digital Inputs/Outputs
Inputs
Outputs
Registration MARK
Inputs
8 per product, single ended, opto-isolated, 24V±20%, source current driving inputs. Consult ACS for 5V and ‘sink’ options.
8 per product, Single ended, opto-isolated, ‘source’ (current driving) outputs, 0.5A max per output, up to a total of 3A for all outputs, fed from external user supplied 24V±20% power source.
Four. Two are RS-422 differential, and two single ended, 24V opto-isolated current-driving signals. 120 Ω termination. The 2 differential signals, when used, are at the expense of digital inputs
6 and 7.
For further information, see Command & Variables Reference
Guide.
15.8
Analog Inputs/Outputs
Inputs 2 per axis. Differential, ±10V, 12bit accuracy, 100mV compensated offset, maximum sampling rate 250kHz
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Specifications
Outputs 1 per axis. 10 bit resolution, differential ±10V±10%, 50mV maximum offset, 50mVp_p maximum ripple, linearity better than
1%. Minimum 10K
Ω
load required.
15.9
PEG Outputs
Signals Two differential RS-422 outputs (PEG0 and PEG1), and two PEG state TTL signals.
Supports incremental and random (256 events per burst) modes.
GP Outputs Two GP opto-isolated outputs can be programmed to be used as
the PEG Pulse outputs. Pulse width (RS-422): 26nSec to 1.75mSec. at maximum rate of 10MHz. Pulse width (GP outputs): 0.75mSec to 1.75mSec. at maximum rate of 1kHz. In random mode the maximum burst rate of the 256 pulses is 10Mhz.
For further information, see PEG and MARK Operations
Application Notes.
15.10
Safety and Faults
Limit Switches
Emergency Stop
STO
Right Limit and Left Limit per axis. Opto-isolated, single-ended
24V± 20%, referenced to a common return signal. Activation at above 14mA.
One opto-isolated, 24V, 2-teminal signal. Activation above 14mA.
Return line is common to Over-Temperature indication and Hall signals.
2 signals per product, 24V and GND lines each, activated at 27mA min. Provides a standard, SIL-3 level delayed PWM drive discontinuation when activated. STO1 deactivates lower bridge and STO2 deactivates upper bridge of both drives.
Mechanical Brake One output per axis. 24V ±20%, opto-isolated current driving signals, 1A each. Protection against short circuit is provided.
Over temperature Single-ended, opto-isolated, reference to 5U_RTN. Measured on the product heat sink, activated at 85-90 ºc.
Over current
Power is provided internally from the 24V logic supply without additional protection.
Power Supply Not
Ready
A per axis software indication when within the range below or higher:
•
5A model: 15A ±5% (14 – 16A)
•
7.5A model: 22A ±5% (21 – 23A)
Bus over voltage A software indication at 442 – 467V
Bus under voltage A software indication at 76 – 84V
A software indication, active during the initial phase following power-up (soft start) for
4.5 – 5.5s
Motor short circuit Phase-to-phase or phase-to-ground short detection by software.
•
5A model: 20A ±5% (19 – 21A)
•
7.5A model: 30A ±5% (28 – 32A)
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SPiiPlusCMnt Installation Guide
15.11
Environment
Operating
Storage
Humidity
0 to + 50°C. Refer to operating condition section.
-25 to +70°C
5% to 90% non-condensing
15.12
Applicable Standards
The SPiiPlusCMnt Dual Axis Control Module meets the requirements of the following standards:
EN 61326-1:2006
IEC 61010-1:2001
SEMI F42-
0999:1999
SEMI F47-
0200:2000
IEC 60068-2-6 Class
4M4
IEC 60068-2-29
Class 4M4
IEC 60068-2-56
Class 4K3
Industrial locations equipment, class A standard, under article
6(2) of EMC Directive 2004/108/EC (ACSEMC_EN.22513C)
Safety conformance, 2 nd
Voltage sag immunity
edition.
Sine vibration during operation (5-150 Hz, 3 axes, 10 m/s^2) 600 shocks, 150m/s 2 , 6ms 93%, 30C
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
16 SPiiPlusCMnt Connectors
16.1
J1 – Input Connector
Label: J1
Connector Type: RJ45
Mating Type: plug
6
7
8
3
4
1
2
5
Pin
TD+
TD-
RD+
N/C
N/C
RD-
N/C
N/C
Name
Table 9: J1 Connector Pinout
Description
Positive transmit signal
Negative transmit signal
Positive receive signal
Not connected
Not connected
Negative receive signal
Not connected
Not connected
16.2
J2 – Output Connector
Label: J2
Connector Type: RJ45
Mating Type: plug
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
5
6
3
4
7
8
1
2
Pin
TD+
TD-
RD+
N/C
N/C
RD-
N/C
N/C
Name
Table 10: J2 Connector Pinout
Description
Positive transmit signal
Negative transmit signal
Positive receive signal
Not connected
Not connected
Negative receive signal
Not connected
Not connected
16.3
J3 – Input/Output Connector
Label: J3 I/O
Connector Type: DB44 high density male
10
11
12
8
9
6
7
3
4
1
2
5
Pin
Mating Type: DB44 high density female
OUT1
OUT3
OUT5
OUT7
IN1
Name
IN3
0_LL
1_LL
ES+
AIN0-
AOUT0+
MARK1+
Table 11: J3 Connector Pinout
Description
Digital Output 1
Digital Output 3
Digital Output 5
Digital Output 7
Digital Input 1
Digital Input 3
Axis 0 Left Limit
Axis 1 Left Limit
E-STOP non-inverted input
Analog Input 0 inverted
Analog Output 0 non-inverted
MARK 1 non-inverted
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32
33
34
35
36
37
28
29
30
31
24
25
26
27
42
43
44
38
39
40
41
21
22
23
17
18
19
20
13
14
15
16
Pin Name
ES-
AIN0+
AIN1+
AOUT0-
MARK1-
PEG0-
PEG1-
V_SUP_IO
V_RTN_IO
IN4
IN5
IN6/MARK2
IN7/MARK3
V_SUP_SFTY
PEG0+
PEG1+
DGND
OUT0
OUT2
OUT4
OUT6
IN0
IN2
0_RL
1_RL
V_RTN_SFTY
ANGD
AIN1-
AOUT1+
AOUT1-
MARK0+
MARK0-
SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
PEG 0 Output non-inverted
Description
PEG 1 Output non-inverted
Digital ground
Digital Output 0
Digital Output 2
Digital Output 4
Digital Output 6
Digital Input 0
Digital Input 2
Axis 0 Right Limit
Axis 1 Right Limit
E-STOP inverted input
Analog Input 0 non-inverted
Analog Input 1 non-inverted
Analog Output 0 inverted
MARK 1 inverted
PEG 0 Output inverted
PEG 1 Output inverted
IO supply
IO supply return
Digital Input 4
Digital Input 5
Digital Input 6 or MARK 2
Digital Input 7 or MARK 3
Safety Supply
Safety Supply Return
Analog ground
Analog Input 1 inverted
Analog Output 1 non-inverted
Analog Output 1 inverted
MARK 0 non-inverted
MARK 0 inverted
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
16.4
J4 & J5 – Encoder Connectors
Label: J4 1(Y)
J5 0(X)
Connector Type: DB26 high density female
Mating Type: DB26 high density male
12
13
14
8
9
10
11
15
16
17
18
19
5
6
7
3
4
1
2
Pin
$_COS-
$_SC_I-
$_CHA+
$_CHB+
$_CHI+
$_HA
$_HC
$_LL
$_SIN+
$_COS+
$_SC_I+
5U
Name
$_CHA-
$_CHB-
$_CHI-
$_HB
V_SUP_SFTY
$_RL
$_SIN-
The dollar sign ($) in the table refers to the axis designations which can be 0 or 1 depending on the connector.
Table 12: J4 & J5 Connectors Pinout
Description
$ Encoder A inverted input
$ Encoder B inverted input
$ Encoder Index inverted input
$ Motor Hall B
Supply for limits input
$ Right Limit
$ Encoder SIN inverted input
$ Encoder COS inverted input
$ Encoder SIN-COS Index inverted input
$ Encoder A non-inverted input
$ Encoder B non-inverted input
$ Encoder Index non-inverted input
$ Motor Hall A
$ Motor Hall C
$ Left Limit
$ SIN non-inverted input
$ COS non-inverted input
$ Encoder SIN-COS Index non-inverted input
5V user supply for Digital Encoder and HALL
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
20
Pin
21
22
23
24
25
26
Name
5U_RTN
Shield
$_MTMP
V_RTN_IO
V_RTN_SFTY
5F
5F_RTN
Description
5V return user supply for Digital Encoder, a return for $ Motor temperature sensor, and return for HALL
Shield
$ Motor Over-Temperature
Return supply IO (not used)
A return for Right and Left Limits input
5V user supply for Analog Encoder and HALL
5V return user supply for Analog Encoder and HALL
16.5
J6 – Control Supply Connector
1
4
5
2
3
Label: J6 CONTROL SUPPLY
Connector Type: PHOENIX 5 pin, MC-1.5/5 GF 3.81
Mating Type: PHOENIX 5 pin, MC-1.5/5 STF 3.81
Pin
Table 13: J6 Connector Pinout
Name
24V_SUP 24V control supply
Description
24V_RTN
5V_ENC_EXT
24V control supply return
External 5V supply for Encoder
5V_ENC_EXT_RTN External 5V supply return for Encoder
EGND Shield
16.6
J7 – 24V Output Supply Connector
Label: J7 24V OUTPUT SUPPLY
Connector Type: PHOENIX 2 pin, MC-1.5/2 GF 3.81
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
Mating Type: PHOENIX 2 pin, MC-1.5/2 STF 3.81
1
2
Pin Name
24V_SUP_OUT
24V_RTN
Table 14: J7 Connector Pinout
Description
24V logic supply output (up to 5A)
24V logic supply return
16.7
J8 & J9 – Motor Connectors
Label: J8- MOTOR1
J9 –MOTOR0
Connector Type: PHOENIX 6 pin, MC 1,5/ 6-GF-5,08
Mating Type: PHOENIX 6 pin, MC-1.5/6 STF 5,08
The dollar sign ($) in the table refers to the axis designations which can be 0 or 1 depending on the connector.
3
4
1
2
5
6
Pin Name
R_$
S_$
T_$
EGND
BRK_$+
BRK_$-
Table 15: J8 & J9 Connectors Pinout
Description
Motor $ R phase
Motor $ S phase
Motor $ T phase
EGND, protected earth.
Mechanical brake non-inverted output
Mechanical brake inverted output
16.8
J10 – Drive Supply Connector
Label: J10 DRIVE SUPPLY
Connector Type: Degson 2EDGRM-5.0 7-pin, male
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
Mating Type: Degson 2EDGKFM-5.0 7-pin, female
1
2
3
4
5
6
7
Pin
VBUS+
Name
N/C (REG)
VBUS-
PE
N/C (L3)
N (L2)
L1
Table 16: J10 Connector Pinout
Description
DC drive supply positive, for external regeneration circuit, increasing bus capacitance and parallel connection
Not connected (regeneration resistor output in case of internal regeneration version).
DC drive supply return, for external regeneration circuit, increasing bus capacitance and parallel connection
EGND, protected earth.
Not connected (AC input phase 3 in case of three phase version)
AC input neutral (AC input phase 2 in case of three phase version)
AC input phase
16.9
J11 – General Purpose Connector
5
6
7
3
4
1
2
Label: J11 GP
Connector Type: Amtek 36 pin female 1,27mm
Mating Type: Amtek 36 pin SCSI male (P/N HPCENS-MM36SAB-A6P-L)
Pin Name
2_CHA+
2_CHA-
2_CHB+
2_CHB-
2_CHI+
2_CHI-
5U
Table 17: J11 Connector Pinout
Description
Axis 2 Encoder A non-inverted input
Axis 2 Encoder A inverted input
Axis 2 Encoder B non-inverted input
Axis 2 Encoder B inverted input
Axis 2 Encoder Index non-inverted input
Axis 2 Encoder Index inverted input
5V user supply for Digital Encoder and Hall
Version NT2.25.
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
8
Pin
22
23
24
25
18
19
20
21
26
9
10
15
16
17
11
12
13
14
31
32
33
34
35
36
27
28
29
30
Name Description
STATE0+/ENC_0+ PEG STATE 0 non-inverted output or Encoder 0 non-inverted output
STATE0-/ENC_0- PEG STATE 0 inverted output or Encoder 0 inverted output
ANGD Analog ground
AIN2+
AIN2-
0_RSV_SIN+
0_RSV_SIN-
0_RSV_COS+
0_RSV_COS-
0_RSV_EXT+
Analog Input 2 non-inverted
Analog Input 2 inverted
Axis 0 Resolver SIN non-inverted input
Axis 0 Resolver SIN inverted input
Axis 0 Resolver COS non-inverted input
Axis 0 Resolver COS inverted input
Axis 0 Resolver EXT non-inverted output
0_RSV_EXT-
3_CHA+
3_CHA-
3_CHB+
3_CHB-
3_CHI+
3_CHI-
DGND
Axis 0 Resolver EXT inverted output
Axis 3 Encoder A non-inverted input
Axis 3 Encoder A inverted input
Axis 3 Encoder B non-inverted input
Axis 3 Encoder B inverted input
Axis 3 Encoder Index non-inverted input
Axis 3 Encoder Index inverted input
Digital ground
STATE1+/ENC_1+ PEG STATE 1 non-inverted output or Encoder 1 non-inverted output
STATE1-/ENC_1- PEG STATE 1 inverted output or Encoder 1 inverted output
EGND Shield
AIN3+
AIN3-
Analog Input 3 non-inverted
Analog Input 3 inverted
1_RSV_SIN+
1_RSV_SIN-
1_RSV_COS+
1_RSV_COS-
1_RSV_EXT+
1_RSV_EXT-
Axis 1 Resolver SIN non-inverted input
Axis 1 Resolver SIN inverted input
Axis 1 Resolver COS non-inverted input
Axis 1 Resolver COS inverted input
Axis 1 Resolver EXT non-inverted output
Axis 1 Resolver EXT inverted output
Version NT2.25.
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
16.10
J12 – HSSI Connector
Label: J12 HSSI
Connector Type: RJ45
Mating Type: plug
1
6
7
8
4
5
2
3
Pin Name
CONTROL_#+
CONTROL_#-
SER_DI_#+
SER_DI_#-
SER_DO_#+
SER_DO_#-
DGND
DGND
16.11
J13 - COM1 Port Connector
Table 18: J12 Connector Pinout
Description
Control signal non-inverted output for channel 0
Control signal inverted output for channel 0
Serial data non-inverted input for channel 0
Serial data inverted input for channel 0
Serial data non-inverted output for channel 0
Serial data inverted output for channel 0
Digital ground
Digital ground
1
2
3
Label: J13 RS232
Connector Type: Modular jack – 4P4C
Mating Type: RJ11 plug for 4P4C
Table 19: J13 Connector Pinout
Pin
RX232
TX232
DGND
Name Description
RS-232 receive signal for communication port 1 (COM1)
RS-232 transmit signal for communication port 1 (COM1)
Digital ground.
Version NT2.25.
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SPiiPlusCMnt Installation Guide
SPiiPlusCMnt Connectors
3
4
1
2
5
4
Pin Name
SHIELD Cable shield connection
Description
16.12
J14 - STO Input Connector (optional)
Label: J14 STO
Connector Type: JST 5 pin 2mm male SM05B-PASS-1
Mating Type: JST 5 pin 2mm female PAP-05V-S Pin: SPHD-
001T-P0.5
Pin
STO1-
STO1+
EGND
STO2+
STO2-
Name
Table 20: J14 Connector Pinout
Description
Safety torque input 1 inverted input
Safety torque input 1 non-inverted input
Electrical ground
Safety torque input 2 non-inverted input
Safety torque input 2 inverted input
Version NT2.25.
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SPiiPlusCMnt Installation Guide
Encoder Configurations
17 Encoder Configurations
Table 21 details all possible encoder configurations for the SPiiPlusCMnt if a Resolver is employed.
Incremental
Digital Encoder
2 (1 per axis)
Ordered
SIN COS
Encoder
0
2 (1 per axis)
2 (1 per axis)
2 (1 per axis)
2 (1 per axis)
2 (1 per axis)
2 (1 per axis)
4 (2 per axis)
4 (2 per axis)
4 (2 per axis)
4 (2 per axis)
4 (2 per axis)
4 (2 per axis)
0
0
1
1
2
2
0
0
0
1
1
2
Table 21: CMnt Encoder Configurations with Resolver
Possible Combination
0
Resolver Encoder 0 (J5) Encoder 1 (J4) Resolver 0
(J11)
Incremental Incremental Not used
1
Incremental
Incremental
Incremental
2
Incremental
Incremental
Incremental Resolver
Incremental
Incremental
Resolver 1
(J11)
Resolver
Resolver
Incremental Resolver
Resolver Resolver
Incremental
0 Incremental
SIN-COS
Incremental
Incremental
SIN-COS
Incremental
Incremental
Resolver
1 Incremental
SIN-COS
SIN-COS
Incremental Resolver
SIN-COS
Incremental
Resolver
0
Incremental
Incremental
SIN-COS
SIN-COS
SIN-COS
Incremental
SIN-COS
Incremental
SIN-COS
Resolver
Not Used
2 Any Any
Resolver if SIN-
COS is not used by J5
Resolver if SIN-
COS is not used by J4
0
1
Incremental
Incremental
Incremental
2
0
1
0
Incremental
Incremental
Incremental
Incremental
SIN-COS
Incremental
Incremental
Incremental
SIN-COS
SIN-COS
Incremental
Incremental
SIN-COS
Incremental
Incremental
Resolver
Incremental Resolver
Incremental
Resolver
Incremental Resolver
Resolver Resolver
Incremental
SIN-COS
Incremental
Incremental
Resolver
Incremental Resolver
SIN-COS
Incremental
Resolver
SIN-COS
Incremental
SIN-COS
Incremental
Resolver
Encoder 2
(J11)
Encoder 3
(J11)
Version NT2.25.
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SPiiPlusCMnt Installation Guide
Encoder Configurations
Incremental
Digital Encoder
Ordered
SIN COS
Encoder
4 (2 per axis) 2 2
Possible Combination
Resolver Encoder 0 (J5) Encoder 1 (J4) Resolver 0
(J11)
Resolver 1
(J11)
SIN-COS SIN-COS
Any Any
Resolver if SIN-
COS is not used by J5
Resolver if SIN-
COS is not used by J4
Encoder 2
(J11)
Encoder 3
(J11)
Table 22 details all possible encoder configurations for the SPiiPlusCMnt if a Resolver is not
employed.
Incremental
Digital Encoder
2 (1 per axis)
Ordered
0
SIN COS
Encoder
2 (1 per axis)
2 (1 per axis)
2 (1 per axis)
2 (1 per axis)
2 (1 per axis)
0
0
1
1
2
Table 22: CMnt Encoder Configurations without Resolver
0
Absolute
Encoder
1
2
0
1
0
Encoder 0
(J5)
Encoder 1
(J4)
Incremental Incremental
Incremental Incremental
Incremental Absolute
Absolute Incremental
Incremental Incremental
Incremental Absolute
Absolute Incremental
Absolute Absolute
Incremental Incremental
Incremental SIN-COS
SIN-COS Incremental
Incremental Incremental
Incremental Absolute
Absolute Incremental
Incremental SIN-COS
SIN-COS Incremental
SIN-COS Absolute
Absolute SIN-COS
Incremental Incremental
Incremental SIN-COS
SIN-COS
SIN-COS
Incremental
SIN-COS
Any
Possible Combination
Encoder 2
(J11)
Encoder 3
(J11)
Resolver 0
(J11)
2 (1 per axis) 2 2 Any
Resolver 1
(J11)
4 (2 per axis)
4 (2 per axis)
4 (2 per axis)
4 (2 per axis)
4 (2 per axis)
0
0
0
1
1
0
1
2
0
1
Incremental Incremental
Incremental Incremental
Incremental Absolute
Absolute Incremental
Incremental Incremental
Incremental Absolute
Absolute Incremental
Absolute Absolute
Incremental Incremental
Incremental SIN-COS
SIN-COS Incremental
Incremental Incremental
Incremental Absolute
Absolute Incremental
Version NT2.25.
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SPiiPlusCMnt Installation Guide
Encoder Configurations
Incremental
Digital Encoder
Ordered
SIN COS
Encoder
4 (2 per axis)
4 (2 per axis)
2
2
0
2
Absolute
Encoder
Encoder 0
(J5)
Possible Combination
Encoder 1
(J4)
Incremental SIN-COS
SIN-COS
SIN-COS
Incremental
Absolute
Absolute SIN-COS
Encoder 2
(J11)
Encoder 3
(J11)
Resolver 0
(J11)
Incremental Incremental
Incremental SIN-COS
SIN-COS
SIN-COS
Incremental
SIN-COS
Any Any
Resolver 1
(J11)
Version NT2.25.
2 0 62
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Ramat Gabriel Industrial Park
Migdal Ha’Emek 2307037 Israel
Tel: (+972) (4) 654 6440 Fax: (+972) (4) 654 6443
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