AUTOMATION SYSTEM

AUTOMATION SYSTEM
AUTOMATION
SYSTEM
M3000
HIGH-PERFORMANCE
DIGITAL MOTION CONTROL SYSTEM FOR ELECTRIC
AND HYDRAULIC DRIVES
What moves your world
2
MOOG • Automation System • M3000
M3000
GENERAL
CHAPTER
PAGE
Overview M3000
5
EXCELLENCE IN DRIVE TECHNOLOGY
Moog Servo Controller MSC
6
For over 50 years Moog has ranked amongst the leading
providers of drive technology with a focus on the
production and application of high performance products.
Today, Moog offers innovative products using state of the
art control techniques that contribute to the performance
improvement of machines.
Moog Servo Controller MSC II
12
Moog Axis Control Software 18
Analog Module QAIO 2/2
22
Analog Module QAIO 16/4
24
Digital Module QDIO 16/16
26
Extension Module QEBUS-CAN
28
Digital Extension Module RDIO 16/16 30
Operator Panel RDISP 22 32
Dialog Controller Display
34
Global Support
39
Moog designs and manufactures products including
servovalves, servo-proportional valves, pumps, integrated
hydraulic manifold systems, servomotors and drives, motion
controllers and electronics and electromechanical actuators.
Moog expertise and close collaboration with customers
ensure solutions that meet today’s toughest machine
challenges – contact us!
Our Quality Management System conforms to DIN EN ISO 9001.
NOTICE
This catalog is for users with technical knowledge. To ensure that all
necessary characteristics for function and safety of the system are covered,
the user must check the suitability of the products described herein. Product
descriptions provided herein are subject to changes that may be applied
without prior notification. In case of doubt, please contact Moog.
Moog is a registered trademark of Moog Inc. and its subsidiaries. Unless
stated otherwise, all trademarks mentioned herein are the property of Moog
Inc. and its subsidiaries. For the full disclaimer refer to www.moog.com/
literature/disclaimers.
©Moog Inc. 2008. All rights reserved. Changes reserved
For the most current information, visit www.moog.com/industrial
MOOG • Automation System • M3000
3
M3000
PRODUCT OVERVIEW
Moog
Servo Controller MSC
Moog Servo
Controller MSC II
Moog Axis Control
Software
Analog Module
QAIO 2/2
Analog Module
QAIO 16/4
Digital Module
QDIO 16/16
Extension Module
QEBUS-CAN
Digital Extension
Module RDIO 16/16
Operator Panel
RDISP 22
Dialog Controller
Display
4
MOOG • Automation System • M3000
M3000
OVERVIEW
M3000 AUTOMATION SYSTEM
M3000 is Moog’s digital motion control system, which offers high performance for hydraulic and electric drive products.
This easy-to-use system offers rapid implementation and set-up to save users time and money.
M3000 Automation System
Programmable Multi-Axis Controller
• Moog Servo Controller (MSC)
• Extension Modules
• User Displays
Software
• Moog Axis Control Software (MACS)
• Special function blocks for closed-
loop control
Components
• Servomotors and Servodrives
• Servovalves
• Servo-Proportional Valves
• Radial Piston Pumps RKP
Performance
• Cycle time for closed-loop axis
control as fast as 100 microseconds
• Complex multi-axis (2 or more)
motion control functions
• High performance closed-loop control functions designed by Moog experts
Integration
• Ethernet, USB, CAN bus, EIA/TIA 232
onboard
• Profibus-DP and EtherCAT optional
• Various sensor inputs (e.g. SSI, incremental encoder) plus analog
and digital input/output
• Interface to multiple products,
including Moog servodrives,
servovalves, and pumps
• One easy-to-use software for all M3000 products called MACS
• All programming, debugging,
simulation, parameterization,
visualization, and tracing with one software tool
Use of Standards
• User-friendly programming tool based on CoDeSys, IEC 61131-3
• All five IEC 61131-3 programming languages supported:
- Function Block Diagram (FBD)
- Instruction List (IL)
- Sequential Function Chart (SFC)
- Structured Text (ST)
- Ladder Diagram (LD)
• Latest graphical programming
language for easy closed-loop design Continuous Function Chart (CFC)
• Standard protocols:
CANopen, TCP/IP, DDE, OPC
• A CoDeSys Automation Alliance (CAA) certified product
• Motion control functions according to PLCopen standard
Scope of Supply and Services
• Primary Feature: High Performance Motion Control
• Plus: PLC Automation Solutions
• Plus: Electric Motion Systems
• Plus: Hydraulic Motion Systems
• Plus: Training & Global Support of System Solutions
• Plus: Easy and Quick Implementation
MOOG • Automation System • M3000
5
MSC
MOOG SERVO CONTROLLER
BRIEF DESCRIPTION
MOOG SERVO CONTROLLER MSC
FEATURES
• Freely programmable multi-axis controller
• Programming with IEC 61131 development environment
MACS (Moog Axis Control Software)
• Integrated PLC functionality
• Realization of fast and precise controls
(e.g. for position, speed and force)
• Suitable for electrical and hydraulic drives
• Freely definable controller structures with cycle times
from 400 μs
• Hardware functionality can be parameterized via MACS
software
• PowerPC-based processor
• Memory: 4 MB RAM; 4 MB Flash EEPROM
• Tool-free assembly on DIN top-hat rail mounting
• Simple wiring with terminal strips
• Sustained short circuit protection for analog and
digital outputs
• Overvoltage protection up to ±36 V of
analog inputs and outputs
• No parts subject to wear, no jumpers, no battery
or rechargeable battery
• LEDs for status and error display
• Wire fault monitoring for all digital sensor inputs
and analog current outputs
• Additional digital or analog inputs and outputs
with M3000 extension modules
• Simple connection of the M3000 modules via
extension bus (E-bus)
• Profibus-DP slave as option
OVERVIEW: INTERFACES, CONNECTIONS AND LED’S
Profibus
DP-Slave
(Option)
Reset
button
6
MOOG • Automation System • M3000
MSC
MOOG SERVO CONTROLLER
SET-UP
LOCAL EXTENSION POSSIBILITIES
WITH M3000 MODULES VIA E-BUS
• Up to 7 additional M3000 modules can be connected to
the extension bus (E-bus) of the MSC
• M3000 modules are put together and locked on the
top-hat rail. The E-bus connection is simply and reliably
built via the side connectors
• In this way, further digital and/or analog inputs and
outputs can be added as required
• The control and signal processing is done by the MSC.
The connected extension modules do not require their
own intelligence
ARRANGEMENT OF M3000 MODULES VIA E-BUS
CAN bus cable
MSC
additional M3000 modules
QCAN
DECENTRALIzed SET-UP
• Additional M3000 modules can be independently
networked via the CAN bus
• Extension modules can also be connected to each
decentralized Moog Servo Controller MSC
• In addition, M3000 remote modules (e.g. displays,
digital inputs/outputs) can also be connected via
the CAN bus
• Further components with CAN or CANopen interfaces
can be networked. For this, Moog provides an
extensive selection of motor controllers, hydraulic
valves and radial piston pumps
• This enables a flexible set-up of automatic solutions
• Further details can be found in the relevant catalogs
ARRANGEMENT OF M3000 MODULES VIA FIELD BUS
Field bus
MOOG • Automation System • M3000
7
MSC
MOOG SERVO CONTROLLER
INPUTS/OUTPUTS BASIC CIRCUIT DIAGRAMS
Digital Inputs/Outputs
Voltage supply of the digital I/O
24 V DC (18-36 V DC) SELV pursuant to DIN EN 60950-1
Current consumption of the digital I/O
0.3 A in idling; all digital outputs active: 4 A
8 digital inputs and outputs
Individually configurable in MACS as input or output.
Inputs: type 1 (current-consuming) pursuant to IEC 61131-2
Outputs: max. 0.5 A
Sustained short-circuit protection, thermal overload protection
Watchdog output:
“Outputs enabled“ signal
Analog and digital outputs in operation
In the event of a fault, the watchdog output goes to a
high impedance state
DIGITAL INPUT
DIGITAL OUTPUT
MSC
MSC
Analog Inputs/Outputs
Voltage supply to analog I/O
Via internal DC/DC converter
8 analog inputs
16 Bit; individually configurable in the MACS software as
±10 V, ±10 mA or 4–20 mA; overvoltage protection up to ±36 V
2 analog outputs
16 Bit; each ±10 V, additionally individually configurable in the
MACS software as ±10 mA, ±50 mA or 4–20 mA
Overvoltage protection up to ±36 V; short-circuit protected
analog INPUT (CURRENT/VOLTAGE)
MSC
8
MOOG • Automation System • M3000
analog outPUT (CURRENT/VOLTAGE)
MSC
MSC
MOOG SERVO CONTROLLER
SENSOR INTERFACES DIMENSIONS
Reference for Sensors
Reference voltage output
+10 V; can bear up to max. 5 mA
overvoltage protection up to ±36 V; short-circuit protected
Sensor Interfaces
2 Sensor interfaces
each configurable as
a) Incremental encoder
b) SSI transmitter
INCREMENTAL ENCODER
Signals corresponding to TIA/EIA 422 (previously RS 422)
Wire fault monitoring of inputs
Configurable in MACS software:
a) Incremental encoder
four-edge evaluation, max. pulse frequency 8 MHz
b) SSI sensor master or slave
data format: gray code or binary; data bits 8 to 32 Bit
transmission frequency: 78 kHz to 5 MHz
SSI MASTER
SSI SLAVE
DIMENSIONS
MOOG • Automation System • M3000
9
MSC
MOOG SERVO CONTROLLER
ACCESSORIES
LICENSE KEY
(One license key is needed per MSC)
The license key contains the runtime license for the MSC. According to the license key used, additional functionality of the
MACS software is enabled for usage.
Designation
Scope of Functions
Order number
Controls
(Color: Grey)
•MACS runtime license for
application program to DIN EN 60950-1
•CoDeSys operators and standard IEC 61131 library
•MSC hardware library
•Moog control technique library
•Interface library for TIA/EIA 232 and CAN bus
•Support for OPC and DDE interfaces
•Ethernet communication to MACS development environment
D138-002-001
Motion
(Color: green)
All functions of "Controls" and additionally:
• Motion control library according to PLCopen
• Moog motion control function blocks
• Library with transfer functions (Z functions)
• CANopen and TCP/IP libraries
• Profibus DP slave (depending on hardware option)
D138-002-002
System
(Color: red)
Program parts and/or complete application programs, produced
specifically upon customer’s request
Is stipulated
specific to the order
Accessories Plug-in terminal strips (five 18-pole and one 9-pole are needed per module)
Designation
Description
Screw terminal, 18-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
VK055-018
Screw terminal, 9-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
VK055-009
Spring-power clamp, 18-pole
Up to max. conductor cross-section of 2.5 mm2 (14 AWG)
B95907-018
Spring-power clamp, 9-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
B95907-009
10
Order number
2
2
MOOG • Automation System • M3000
2
MSC
MOOG SERVO CONTROLLER
TECHNICAL DATA
Module Data
Digital Control Module
Designation
Moog Servo Controller MSC
Order number
D136-001-008 MSC
D136-001-007 MSC with Profibus-DP slave interface
Connection technique
Plug-in terminal strips for screwing or clamping
Assembly
NS 35/7.5 mounting rail pursuant to EN 50022 (DIN top-hat rail)
Dimensions W x D x H (mm)
160 x 170 x 85.5 (attachment dimension: W = 149/154.5)
Temperature range
+5 °C (+41 °F) to 55 °C (+131 °F) (operation) and
-25 °C (-13 °F) to +70 °C (+158 °F) (storage)
Mean temperature in operation for 24 hrs.: max. +50°C (+122°F)
Relative air humidity
10 % to 95 % (non-condensing)
Operation height
Max. 2000 m (6500 feet); storage/transport max. 3000 m (9800 feet)
Processor
PowerPC Processor, 32 Bit, RISC architecture with floating point unit
Memory
4 MB Flash EEPROM; data maintenance: typically 10 years
Standards
Operating equipment demands and examinations
IEC 61131-2
Interference emission / immunity
EN 61000-6-4 / EN 61000-6-2, industrial part
Shock / vibration
IEC 60068 part 2-27 / IEC 60068 part 2-6
Protection class / protection system
III / IP20
Insulation strength
IEC 61131-2; test voltage 500 V DC
Energy Supply
Voltage supply of module electronics
24 V DC (18-36 V DC) SELV pursuant to DIN EN 60950-1
Current consumption of module electronics
0.5 A / 2 A (idling / full load)
Potential separation
Separate potentials for:
module electronics, 24 V supply, digital inputs/outputs, Ethernet
Internal voltages
Generated via internal DC/DC converters
Behavior at voltage failures/
cut-off of supply voltage
Necessary data are permanently stored (Flash EEPROM,
data maintenance typically 10 years). If the supply voltage fails
(<18 V), buffer capacitors provide the necessary energy
Interfaces
Ethernet (10BaseT)
10 MBit/s with 8-pole RJ45 connection
2 independent CAN interfaces
"WCAN"
LocalCAN
Transmission rate adjustable, 10 kBit/s to 1 MBit/s
WideCAN: 2 D-Sub "WCAN" connectors on the front cover
(are connected internally 1:1)
LocalCAN: in the side Q-connectors
Profibus-DP slave (option)
Transmission rate up to 12 MBit/s
"MACS" on front cover (TIA/EIA 232)
Communication with the MACS software on the PC
"SIO" on front cover (TIA/EIA 232)
For free use in the application program
Extension bus (E-bus)
Q-connectors on right and left of module for connecting up to
7 additional M3000 modules
Contains a serial bus (5 to 10 MBit/s) and the LocalCAN bus
MOOG • Automation System • M3000
11
MSC II
MOOG SERVO CONTROLLER
BRIEF DESCRIPTION
MOOG SERVO CONTROLLER (MSC II)
The MSC II is a freely programmable multi-axis controller
that facilitates rapid and precise control of process
variables such as position, speed, and power. It is suitable
for use with both electric and hydraulic drives.
MSC II is offered in addition to MSC. Compared to the MSC
it offers higher computation power, shorter cycle times and
additional field bus options, such as EtherCAT.
The MSC II does not include analog inputs and outputs.
The analog extension modules QAIO 16/4 or QAIO 2/2 are
recommended for applications where analog inputs and
outputs are required.
FEATURES
• Freely programmable multi-axis motion controller
• Freely definable controller structures with
cycle times from 100 µs
• Very low jitter (variation of time base) for optimum closed loop accuracy
• Programming with IEC 61131 development environment MACS (Moog Axis Control Software)
• Integrated PLC functionality
• Hardware functionality can be parameterized
via MACS software
• Tool-free assembly on DIN top-hat rail
• Simple wiring with terminal strips
• Sustained short circuit protection for digital outputs
• No parts subject to wear, no jumpers, no battery
or rechargeable battery
• LEDs for status and error display
• Wire fault monitoring for all digital sensor inputs
• Additional digital or analog inputs and outputs
with M3000 extension modules
• EtherCAT Realtime Ethernet interface as option
• Profibus-DP slave as option
OVERVIEW: INTERFACES, CONNECTIONS AND LED’S
State of Digital
I/Os
WideCANTransmission
Activity
LocalCAN-Transmission
Activity
Termination Resistor
at LocalCAN
SIO-Receiver Activity
E-Bus-Transmission
Activity
SIO-Transmission
Activity
Activated by
Application Program
Outputs Enabled
L1+ and +5 V OK
WideCAN X1 + X3
(internally
connected 1:1)
WideCAN X1 + X3
(internally
connected 1:1)
Run/Stop/Reset
Switch
License Key Slot
USB
Interface
RJ45 10/100MBit/s
Realtime Ethernet
Interface (Option)
RJ45
10/100MBit/s
LAN and
Programming
Interface
Serial
Interface SIO
12
Wire Fault Display for
Digital Sensor Inputs
MOOG • Automation System • M3000
Activated by Application
Program or Error Display
Field bus interface
(Option)
MSC II
MOOG SERVO CONTROLLER
LOCAL EXTENSION POSSIBILITIES
WITH M3000 MODULES VIA E-BUS
• Up to 7 additional M3000 extension modules can be
connected to the extension bus (E-bus) of the MSC II
• M3000 modules are put together and locked on the
top-hat rail. The E-bus connection is simply and reliably
built via the side connectors
• In this way, further digital and/or analog inputs and
outputs can be added as required
• The control and signal processing is done by the MSC II.
The connected extension modules do not require their own intelligence
ARRANGEMENT OF M3000 MODULES VIA E-BUS
CAN bus cable
MSC II
additional M3000 modules
QCAN
DECENTRALIzed SET-UP
Additional M3000 modules can be independently
networked:
• M3000 extension modules: With analog I/Os
and digital I/Os
• M3000 remote modules (e.g. displays, digital inputs/
outputs)
• Electrical servo drives (MSD Servo Controllers)
• Servo and proportional valves with digital interface like Moog DIV (Digital Interface Valve),
Moog ACV (Axis Control Valve)
• Pumps with digital interface
(Moog RKP-D Radial Piston Pumps)
This enables a flexible set-up of automation solutions.
Further details can be found in the relevant catalogs.
ARRANGEMENT OF M3000 MODULES VIA FIELD BUS
Field bus
MOOG • Automation System • M3000
13
MSC II
MOOG SERVO CONTROLLER
INPUTS/OUTPUTS BASIC CIRCUIT DIAGRAMS
Digital Inputs/Outputs
Voltage supply of the digital I/O
24 V DC (18-36 V DC) SELV pursuant to DIN EN 60950-1
Current consumption of the digital I/O
0.3 A in idling; all digital outputs active: 2 A
4 digital inputs and outputs
Individually configurable in MACS as input or output
Inputs: type 2 (current-consuming) pursuant to IEC 61131-2
Outputs: max. 0.5 A
Sustained short-circuit protected, thermal overload protection
Watchdog output:
"Outputs enabled" signal
Outputs in operation. In the event of a fault,
the watchdog output goes to a high impedance state
Digital input
Digital Output
MSC II
14
MOOG • Automation System • M3000
MSC II
MSC II
MOOG SERVO CONTROLLER
SENSOR INTERFACES DIMENSIONS
Sensor Interfaces
4 Sensor interfaces each configurable as
a) Incremental encoder
• Standard
• Pulse train
• Frequency measurement
b) SSI transmitter
Signals corresponding to TIA/EIA 422 (previously RS 422)
with protection against 24 Volt. Wire fault monitoring of
inputs. Configurable in MACS software:
a)Incremental encoder
four-edge evaluation, max. pulse frequency 8 MHz
b)SSI sensor master or slave data format: gray or binary code; data bits 8 to 32 Bit;
transmission frequency: 78 kHz to 5 MHz
Incremental Encoder
SSI Master
MSC II
MSC II
SSI Slave
MSC II
DIMENSIONS
124 mm (4.48 in)
113 mm (4.45 in)
Height:
170 mm (6.69 in)
•
85.5 mm (3.37 in)
without License Key
• 102
mm (4.02 in)
with License Key
MOOG • Automation System • M3000
15
MSC II
MOOG SERVO CONTROLLER
ACCESSORIES
LICENSE KEY
(One license key is needed per MSC II)
The license key contains the runtime license for the MSC II. According to the license key used, additional functionality of
the MACS software is enabled for usage.
Designation
Scope of Functions
Order number
Controls
(Color: Grey)
MACS runtime license for application program
• CoDeSys operators and standard IEC 61131 library
• MSC II hardware library
• Moog control technique library
• Interface library for TIA/EIA 232 and CAN bus
• Support for OPC and DDE interfaces
• Ethernet communication to MACS development
environment
D138-002-001
Motion
(Color: green)
All functions of "Controls" and additionally:
• Motion control library according to PLCopen
• Moog motion control function blocks
• Library with transfer functions (Z functions)
• CANopen and TCP/IP libraries
• Profibus-DP slave (depending on hardware option)
• EtherCAT master (depending on hardware option)
D138-002-002
System
(Color: red)
Program parts and/or complete application programs,
produced specifically upon customers request
Is stipulated specific to the
order
Accessories Plug-in terminal strips (four 10-pole and two 9-pole are needed per module)
Designation
Description
Order number
Screw terminal, 9-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
VK055-009
Spring-power clamp, 9-pole
Up to max. conductor cross-section of 2.5 mm2 (14 AWG)
B95907-009
Spring-power clamp, 10-pole
Up to max. conductor cross-section of 0.5 mm (20 AWG)
CA45260-010
16
2
MOOG • Automation System • M3000
2
MSC II
MOOG SERVO CONTROLLER
TECHNICAL DATA
Module Data
Digital Control Module
Designation
Moog Servo Controller II (MSC II)
Order number
D136-002-002 MSC II
D136-002-001 MSC II : As D136-002-002
but additional Profibus-DP interface
D136-002-003 MSC II : As D136-002-002
but additional dual EtherCAT Master interface
Connection technique
Plug-in terminal strips for screwing or clamping
Assembly
NS 35/7.5 mounting rail pursuant to EN 50022 (DIN top-hat rail)
Dimensions W x D x H (mm)
124 × 170 × 85.5 (attachment dimension: W = 113 / 118.5)
Temperature range
+5 °C (+41 °F) to 55 °C (+131 °F) (operation) and
-25 °C (-13 °F) to +70 °C (+158 °F) (storage)
Mean temperature in operation for 24 hrs.: Max. +50 °C (+122 °F)
Relative air humidity
10 % to 95 % (non-condensing)
Operation height
Max. 2000 m (6500 feet); storage/transport max. 3000 m (9800 feet)
Processor
PowerPC Processor, 32 Bit, RISC architecture with floating point unit
Memory
128 MB RAM, 32 MB Flash EEPROM;
data maintenance: typically 10 years
Standards
Operating equipment demands and examinations
IEC 61131-2
Interference emission / immunity
EN 61000-6-4 / EN 61000-6-2, industrial part
Shock / vibration
IEC 60068 part 2-27 / IEC 60068 part 2-6
Protection class / protection system
III / IP20
Insulation strength
IEC 61131-2; test voltage 500 V DC
Energy Supply
Voltage supply of module electronics
24 V DC (18-36 V DC) SELV pursuant to DIN EN 60950-1
Current consumption of module electronics
0.5 A / 2 A (idling / full load)
Potential separation
Separate potentials for: Module electronics, 24 V supply,
digital inputs/outputs, Ethernet
Internal voltages
Generated via internal DC/DC converters
Behavior at voltage failures /
cut-off of supply voltage
Necessary data are permanently stored
(Flash EEPROM, data maintenance typically 10 years)
Interfaces
Ethernet (100BaseT)
100 MBit/s with 8-pole RJ45 connection
EtherCAT (optional)
Dual EtherCAT Master Interface, Slave in preparation
Profibus-DP slave (optional)
Transmission rate adjustable up to 12 MBit/s
2 independent CAN interfaces
"WCAN"
"LCAN"
Transmission rate adjustable, 10 kBit/s to 1 MBit/s
WCAN: 2 D-Sub "WCAN" connectors on the front cover
(are connected internally 1:1)
LCAN: in the side Q-connectors
2 USB 1.1 interfaces
Host interface(s) via USB-A connector
"SIO" on front cover (TIA/EIA 232)
For free use in the application program
Extension bus (E-bus)
Q-connectors on right and left of module for connecting up
to 7 additional M3000 modules
Contains a serial bus (5 to 10 MBit/s) and the LCAN bus
MOOG • Automation System • M3000
17
Moog Axis Control Software
MACS
BRIEF DESCRIPTION
GENERAL
FEATURES
The Moog Axis Control Software (MACS) offers a
state-of-the-art development environment for solving
demanding control tasks on the basis of the IEC 61131
standard.
• Extensive libraries with Moog function blocks, based on
50 years of experience in electric
and hydraulic drive
engineering
• Freely programmable controller
structures
• Maximum flexibility by a complete scope of functions in all IEC 61131 programming languages
• Simultaneous realization of control, regulation and PLC applications in one application program
• Open standard interfaces for communication on machine and process guidance levels
• Motion control functions corresponding to PLCopen standard
MACS includes tools for:
• Programming
• Testing and optimizing
• Debugging
• Documentation
• Visualization
• Configuration
MACS
INTERFACES
Process guidance level:
• OPC server
• DDE interface
18
YOUR BENEFITS
Machine level:
• CAN
• CANopen
• Ethernet TCP/IP
• Profibus DP
• TIA/EIA 232
• EtherCAT
MOOG • Automation System • M3000
• Quick project realization
• Low programming efforts
• One tool for programming, visualizing, documentation
• Compatibility to products of member companies of the
CoDeSys Automation Alliance
MACS
Moog Axis Control Software
PROGRAMMING LANGUAGES
PROGRAM CREATION
EDITORS
• All IEC 61131 programming languages and CFC
(Continuous Function Chart)
• Full scope of function in all programming languages,
provides maximum flexibility in creation of user
programs
• Each module can call other modules regardless of the
programming language they have been created in
• Context-sensitive input help
• Automatic formatting
• Context menus in all editors
• Syntax coloring
• Multi-level undo/redo
• Display of the current values of all variables
in online operation
CONTINUOUS FUNCTION CHART (CFC)
FUNCTION BLOCK DIAGRAM (FBD)
STRUCTURED TEXT (st)
SEQUENCE FUNCTION CHART (SFC)
LADDER DIAGRAM (LD)
INSTRUCTION LIST (IL)
MOOG • Automation System • M3000
19
Moog Axis Control Software
MACS
LIBRARIES
TECHNICAL DATA
MACS is based on CoDeSys which is the most modern
IEC 61131 programming system. It has been extended in the
areas of control technique and motion control by Moog. In
this way, even complex automation projects can be
simplified.
Overview: Scope of Function of the Moog Libraries
Regulation and Control Technique
• Controller
- I, D, PID standard, PID extended
• Filter
- high-pass, low-pass
• Transmission functions
- continuous, time discrete
• Non-linear functions
- dead band, non-linear
- dual-gain, look-up table
• Simulation of control routes
- PT1, PT2
• Function generator
• Signal delay
• Counter, timer
PLCopen function blocks
According to the specification “function blocks
for motion control” for single and multi-axis
applications:
• Absolute and relative positioning
• Speed functions
• Homing
• Cam functions
• Gearbox functions
Communication, Ethernet, CAN and TIA/EIA 232
• Initialization
• Transmission and receiving of data
Hardware Related Functions
• Signal conditioning for analog
inputs/outputs and position sensor
• Evaluation of status information
• Time evaluation
• Monitoring
- temperature, watchdog, wire breakage
Designation
Description
Order
MACS
(Moog Axis Control Software)
Development environment pursuant to IEC 61131
One license per developer
1 license: D138-001-001
10 licenses: D138-001-010
MACS HMI
(Human Machine Interface)
Visualization version
For full-screen display of visualizations which
were created with MACS.
Without development environment.
One license per machine.
1 license: D138-003-001
10 licenses: D138-003-010
Software maintenance contract
Includes support and updates for 1 year
B95914-001
20
MOOG • Automation System • M3000
Moog Axis Control Software
MACS
THE COMPONENTS
VISUALIZATION
• Commissioning tool
• Creation of visualizations for end users
HARDWARE CONFIGURATION
• Configuration of all M3000 modules
on one screen
OSCILLOSCOPE
• Recording of up to 20 channels
• Various triggering possibilities
DOCUMENTATION
• Automatic creation of the project documentation with all components
DEBUGGING
• Break points
• Single step/single cycle
• Writing and forcing of variables
• Simulation possible without hardware
• Display of all the current values
TASK CONFIGURATION
• Enables division of the application program into a number of tasks
• Call of the tasks optionally time-based (cyclic) or
event triggered
• Priority and time base of each task adjustable
MOOG • Automation System • M3000
21
QAIO 2/2
analog modulE
BRIEF DESCRIPTION
GENERAL
Features
The QAIO 2/2 analog module is used for local extension of
the inputs and outputs (I/O) of the Moog Servo Controller
MSC or MSC II. The analog levels are identical to the levels
of the MSC.
The module is mounted on a DIN top-hat rail and directly
connected to an MSC or MSC II via the internal extension
bus (E-bus).
Analog I/O extension module with
pulse input.
• 2 analog inputs
• 2 analog outputs
• 1 reference voltage output +10 V
• Pulse input
• Connection via E-bus
OUTPUTS/INPUTS
CONFIGURATION
• 2 analog inputs, each configurable in the MACS
development environment as ±10 V, ±10 mA or 4-20 mA. The inputs are converted in multiplex operation
• 1 reference voltage output:
The reference voltage source provides a short
circuit protected voltage of +10 V
• 2 analog outputs, each ±10 V, additionally
individually configurable in the MACS software as
±10 mA, ±50 mA or 4–20 mA with wire fault
monitoring
• 1 pulse input 24 V useable as counter input or
frequency measurement input
The configuration of the analog I/O is carried out per
software via the central control configuration in the Moog
Axis Control Software (MACS) development environment.
Either the two analog inputs or the pulse input can be used.
ACTUATION
The I/O of the analog extension module is actuated
directly from an MSC or MSC II (not D136X001-001 and
D136E001-001) via the extension bus (E-bus). All input- and
output-data are transferred within one cycle of the E-bus.
E-BUS
MODULE STATUS LEDS
On the front, 4 LEDs provide information about the status
of important module functions.
One MSC or MSC II can be extended with a maximum of
7 QAIO 2/2-AV modules. It is not possible to combine it
with QAIO 16/4 on one E-bus segment.
analog input (current/voltage)
analog output (current/voltage)
QAIO 2/2
QAIO 2/2
Aix+
±10 V
Voltage
A
Cxb
Voltage
Aoxa
D
Cxa
RL
AGND
A
D
Aix-
Filter
AGND
MUX
±10 mA
Aoxb
4–20 mA
Aix+
Current
RL
AGND
Cxa
Current
Cxb
±50 mA
Aix-
Filter
AGND
Output Current
Monitoring
PUlSe input positive switching
PUlSe input ground switching
QAIO 2/2
SignalSource
L2+
OptoDecoupling
to evaluation
M2
22
MOOG • Automation System • M3000
24 V DC
24 V DC
L2+
OE
QAIO 2/2
SignalSource
OC
M2
OptoDecoupling
to evaluation
QAIO 2/2
analog modulE
TECHNICAL DATA
Module Data
QAIO 2/2-AV I/O extension module
Order number
D137-001-011
Connection to M3000 modules
Via E-Bus (10 MHz); please note:
- It is not possible to connect the module to an MSC D136X001-001
or D136E001-001
- Combination with QAIO 16/4 A on one E-bus segment is not possible
Connection technique
Plug-in terminal strips for screwing or clamping
Mounting
Mounting rail NS 35/7.5 pursuant to EN 50022 (DIN top-hat rail)
4 module status LEDs
Module functions and diagnosis
Dimensions, W x H x D
124 x 170 x 85.5 (attachment dimension: W = 113/118.5) mm
4.88 x 6.69 x 3.37 (attachment dimension: W = 4.45/4.67) inch
Temperature range
+5 °C (+41 °F) to +55 °C (+131 °F) (operation) and
-25 °C (-13 °F) to +70 °C (+158 °F) (storage)
Mean temperature in operation for 24 hrs.: max. +50 °C (+122 °F)
Relative air humidity
10 % to 95 % (non-condensing)
Operation height
Max. 2000 m (6500 ft); storage/transport max. 3000 m (9800 ft)
Standards
Operating equipment demands and examinations IEC 61131-2
Interference emission / immunity
EN 61000-6-4 / EN 61000-6-2, industrial part
Shock / vibration
IEC 60068 part 2-27 / IEC 60068 part 2-6
Protection class / protection system
III / IP20
Insulation strength
IEC 61131-2; test voltage 500 V DC
Energy Supply
Voltage supply of module electronics
24 V DC (18-36 V DC) SELV pursuant to DIN EN 60950-1
Current consumption of module electronics
Max. 0.25 A
Potential separation
Separate potentials for: module electronics, 24 V energy supply, pulse input
Internal voltages
Internally generated via DC/DC converters
Protection against reverse polarity
Yes
Analog Inputs/Outputs
2 analog inputs
16 Bit; individually configurable in the MACS development environment
as ±10 V, ±10 mA or 4–20 mA; overvoltage protection up to ±36 V
2 analog outputs
16 Bit; each ±10 V, additionally individually configurable in the MACS
development environment as ±10 mA, ±50 mA or 4–20 mA
Overvoltage protection up to ±36 V; short-circuit protected
Reference for sensors
Reference voltage output
+10 V; max. load: 5 mA
Overvoltage protection up to ±36V; short circuit protected
Pulse input
Pulse input
24 V digital input can be used as input pursuant to IEC 61131-2 type 1
positive switching (input OE) or ground switching (input OC)
Accessories Plug-in terminal strips ( two 18-pole and one 9-pole are required per module)
Designation
Description
Order number
Screw terminal 18-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
VK055-018
Screw terminal 9-pole
Up to max. conductor cross-section of 2.5 mm2 (14 AWG)
VK055-009
Spring latch clamp 18-pole
Up to max. conductor cross-section of 2.5 mm2 (14 AWG)
B95907-018
Spring latch clamp 9-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
B95907-009
2
2
Detailed information and integration tips can be obtained from the user manual.
MOOG • Automation System • M3000
23
QAIO 16/4
analog modulE
BRIEF DESCRIPTION
GENERAL
Features
The QAIO 16/4 analog module is used for local extension of
the inputs and outputs (I/O) of the Moog Servo Controller
MSC or MSC II.
Analog I/O extension module
The module is mounted on a DIN top-hat rail and directly
connected to an MSC or MSC II via the internal extension bus
(E-bus).
• QAIO 16/4-V 16 voltage inputs ±10 V; or
QAIO 16/4-A 16 current inputs ±20 mA
• 4 voltage outputs, ±10 V
• 1 reference voltage output +10 V
• Connection via E-bus
INPUTS/OUTPUTS
• 16 voltage or current inputs:
The input channels are converted in multiplex operation. The measurement range is ±10 V (QAIO 16/4-V)
or ±20 mA (QAIO 16/4-A)
• 4 voltage outputs:
The output channels provide a voltage signal in the range of ±10 V. The maximum output current is 5 mA (overload protection)
• 1 reference voltage output:
The reference voltage source provides a short circuit protected voltage of +10 V
CONFIGURATION
ACTUATION
The configuration of the analog I/O is carried out per
software via the central control configuration in the Moog
Axis Control Software (MACS) development environment.
The I/O of the analog extension module is actuated directly
from an MSC or MSC II via the extension bus (E-bus).
MODULE STATUS LEDS
E-BUS
On the front, 4 LEDs provide information about the status
of important module functions.
One MSC or MSC II can be extended with a maximum of
7 modules (e.g. QAIO or QDIO).
BASIC CIRCUIT DIAGRAM, ANALOG INPUT
BASIC CIRCUIT DIAGRAM, ANALOG OUTPUT
24
MOOG • Automation System • M3000
QAIO 16/4
analog modulE
TECHNICAL DATA
Module Data
Analog I/O extension module
Order number
QAIO 16/4-V: D137-001-007; QAIO 16/4-A: D137-001-006
Connection to M3000 modules
Via E-bus (5 MHz)
Connection technique
Plug-in terminal strips for screwing or clamping
Connection of the I/O
3-conductor front wiring
Mounting
Mounting rail NS 35/7.5 according to EN 50022 (DIN-top hat rail)
4 module status LEDs
Module functions and diagnosis
Dimensions, W x H x D
124 x 170 x 85.5 (attachment dimension: W = 113 / 118.5) mm;
4.88 x 6.69 x 3.37 (attachment dimension W = 4.45/4.67) inch
Temperature range
+5 °C (+41 °F) to +50 °C (+122 °F) (operation) and
-25 °C (-13 °F) to +70 °C (+158 °F) (storage)
Relative air humidity
10 % to 95 % (non-condensing)
Standards
Interference emission / immunity
EN 61000-6-4 / EN 61000-6-2, industrial portion
Protection class / protection system
III / IP20
Insulation strength
IEC 61131-2; test voltage 500 V DC
Energy Supply
Voltage supply of module electronics
24 V DC (18-32 V DC) SELV pursuant to DIN EN 60950-1
Current consumption of module electronics
Max. 0.3 A
Voltage supply of the analog I/O
Internally supplied via DC/DC converters
Potential separation
Yes, opto-decoupled towards E-bus;
No separation between energy supply and analog channels
Protection against reverse polarity
Yes
Analog Inputs
16 analog inputs, differential
QAIO 16/4-V: ±10 V; QAIO 16/4-A: ±20 mA
Resolution
12 Bit (multiplex operation)
Input impedance in signal area
QAIO 16/4-V: 10 MΩ; QAIO 16/4-A: 50 Ω
Analog Outputs
4 analog outputs
±10 V
Resolution
12 Bit
Output current
Max. 5 mA
Load resistance
Min. 2 kΩ
In-phase area
±2 V
Reference Voltage Source
Reference voltage
+10 V DC sustained short circuit protection
Load current
Max. 5 mA
Precision
0.1 %
Accessories Plug-in terminal strips (5 are required per module)
Designation
Description
Order number
Screw terminal, 18-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
VK055-018
Spring-power clamp, 18-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
B95907-018
2
2
Detailed information and integration tips can be obtained from the user manual.
MOOG • Automation System • M3000
25
digital modulE
QDIO 16/16
BRIEF DESCRIPTION
GENERAL
Features The QDIO digital module is used for extension of the local
inputs and outputs (I/O) of the Moog Servo Controller MSC
or MSC II.
Digital I/O extension module
QDIO 16/16-0.5: I/O positive switching
QDIO 16/16-0.5N: I/O zero switching
The module is mounted on a DIN top-hat rail and directly
connected to an MSC or MSC II, or a remote digital I/O
module (RDIO) via the internal extension bus (E-bus).
• 16 digital inputs 24 V
• 16 digital I/O, 24 V, individually configurable
as an input or an output
• Connection via E-bus
CONFIGURATION
ACTUATION
The configuration of the digital I/O is carried out per
software via the central control configuration in the Moog
Axis Control Software (MACS) development environment.
The I/O of the digital extension module are actuated directly
from an MSC, MSC II or RDIO via the extension bus (E-bus).
E-BUS
STATUS LEDs
LEDs on the front provide information about the status of
the I/O. The arrangement of the LEDs corresponds to the I/O
connections.
One MSC or MSC II can be extended with a maximum of
7 modules (e.g. QDIO or QAIO). Further digital I/O can be
actuated via RDIO modules, which are connected with an
MSC or MSC II via CANopen.
BASIC CIRCUIT DIAGRAM, DIGITAL INPUT
Plus switching
Zero switching
BASIC CIRCUIT DIAGRAM, DIGITAL OUTPUT
Plus switching
Zero switching
26
MOOG • Automation System • M3000
QDIO 16/16
digital REMOTE I/O
EXTENSION modulE
TECHNICAL DATA
Module Data
Digital Remote I/O Extension Module
Order number / Designation
QDIO 16/16-0.5: D137-001-005
QDIO 16/16-0.5N: D137-001-004
Types of inputs/outputs
QDIO 16/16-0.5: plus switching
QDIO 16/16-0.5N: zero switching
Connection to M3000 modules
Via E-bus (max. 10 MHz)
Connection technique
Plug-in terminal strips for screwing or clamping
Connection of the I/O
3-conductor front wiring
Assembly
Mounting rail NS 35/7.5 pursuant to EN 50022 (DIN top-hat rail)
Status LEDs
1 Status LED per I/O
Dimensions W x H x D
124 x 170 x 85.5 (attachment dimension: W = 113/118.5) mm;
4.88 x 6.69 x 3.37 (attachment dimension W = 4.45/4.67) inch
Temperature range
+5 °C (+41 °F) to +50 °C (+122 °F) (operation) and
-25 °C (-13 °F) to +70 °C (+158 °F) (storage)
Relative air humidity
10 % to 95 % (non-condensing)
Standards
Interference emission / immunity
EN 61000-6-4 / EN 61000-6-2, industrial portion
Protection class / protection system
III / IP20
Insulation strength
IEC 61131-2; test voltage 500 V DC
Energy Supply
Voltage supply of module electronics
24 V DC (18-32 V DC) SELV pursuant to DIN EN 60950-1
Current consumption of module electronics
Max. 0.15 A
Voltage supply of the digital I/O
24 V DC (SELV), divided into 6 groups
Current consumption of the digital I/O
At U = +24 V DC in idling, max. 300 mA; all digital I/O active, approx. 8 A
Potential separation
Yes, between E-bus and digital I/O
Digital Inputs/Outputs
Number of inputs
16
Number of inputs/outputs
16, each useable as inputs or outputs
Output current
Max. 0.5 A
Short-circuit / reverse polarity protection
Yes / yes, all digital outputs
Accessories Plug-in terminal strips (6 are required per module)
Designation
Description
Order number
Screw terminal, 18-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
VK055-018
Spring-power clamp, 18-pole
Up to max. conductor cross-section of 2.5 mm2 (14 AWG)
B95907-018
2
Detailed information and integration tips can be obtained from the user manual.
MOOG • Automation System • M3000
27
QEBUS-CAN
EXTENSION MODULE
BRIEF DESCRIPTION
GENERAL
FEATURES
The QEBUS-CAN module is designed for using the LocalCAN
bus for external CAN bus nodes.
The LocalCAN bus is integrated in the extension bus plug
and is accessed via the QEBUS-CAN module by means of
two D-Sub mating connectors.
Furthermore, the QEBUS-CAN module offers the option of
using a jumper to connect/disconnect a CAN termination
resistor.
The module is mounted onto a DIN top-hat rail and is
directly attached to an MSC or MSC II or extension module
via the Q-connector.
• The QEBUS-CAN module does not count
as an E-bus node, it can be used in
addition to the maximum number
of E-bus modules
• The module can be placed either at the
far left or far right in an E-bus segment
• The module has a smaller width than the
QDIO, QAIO and RDIO modules
• The module does not need to be configured
• The E-bus does not pass through the module
• Both D-Sub mating connectors are identically wired
• The CAN bus can be connected to a power supply via X1
CONNECTORS
X1
X1
1 2
1 2
J1
J1
J2
X2
X3
J2
X2
J3
X3
J3
Jumper position
CAN bus not terminated
Jumper position
CAN bus terminated
CONNECTION ASSIGNMENTS
X1 CAN supply connection assignments
Connection assignment LocalCAN X2 and X3
Nr.
Assignment
Connection
Nr.
1
CAN_V+
CAN bus supply
1
2
DGND
Digital ground
Assignment
Connection
2
CAN-L
CAN-
3
DGND
Digital ground
CAN-H
CAN+
CAN_V+
CAN bus supply
4
5
6
7
8
9
Non assigned contacts are not connected.
28
MOOG • Automation System • M3000
QEBUS-CAN
EXTENSION MODULE
TECHNICAL DATA
Module Data
QEBUS-CAN Extension Module
Designation
QEBUS-CAN
Order number
D137-001-010
Connection to M3000 modules
Via Q-connector
Connection technology
Optional CAN power supply: plug-in terminal strip for screwing or
clamping, CAN bus: 2 D-Sub connections
Installation
Mounting rail NS 35/7.5 according to EN 50022 (DIN top-hat rail)
Dimensions W x Hx D
65 x 170 x 85.5 (attachment dimension W = 59.5) mm
2.55 x 6.69 x 3.37 (attachment dimension W = 2.34) inch
Temperature range
+5 °C (+41 °F) to +55 °C (+131 °F) (operation) and -25 °C (-13 °F) to
+70 °C (+158 °F) (storage).
Mean temperature during operation over 24 hours: max. 50 °C (+122 °F)
Relative humidity
10% to 95% (non-condensing)
Operating height
Max. 2000 m (6500 feet); storage/transport: max. 3000 m (9800 feet)
Standards
Operational equipment demands
and examinations
IEC 61131-2
Interference emission / immunity
EN 61000-6-4 / EN 6100-6-2, industrial range
Shock / vibration
IEC 60068 Part 2-27 / IEC 60068 Part 2-6
Protection class / protection system
III / IP20
Insulation strength
IEC 61131-2; test voltage 500 V DC
Energy supply
Voltage supply of module electronics
None (passive module)
Interfaces
Q-connector
Contains the LocalCAN bus of the MSC ;
E-bus is not passed through the module
LocalCAN Bus
2 D-Sub connections (these are connected internally); 120Ω termination
resistor can be connected / disconnected with jumper J3
Accessories Plug-in terminal strip (1 piece per module)
Designation
Description
Screw terminal, 2-pole
Up to max. conductor cross-section of 2.5 mm2 (14 AWG)
Order number
VK055-002
Spring-power clamp, 2-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
B95907-002
CAN connection cable,
3 meters / 9.8 feet
One side: 9-pole D-Sub plug-in connector
with pin contacts (to DIN 41652)
Other side: 9-pole D-Sub plug-in connector
with jack contacts (to DIN 41652)
B95863-001
CAN connection cable,
10 meters / 32.8 feet
One side: 9-pole D-Sub plug-in connector
with pin contacts (to DIN 41652)
Other side: 9-pole D-Sub plug-in connector
with jack contacts (to DIN 41652)
B95863-002
2
Detailed information and integration tips can be obtained from the user manual
MOOG • Automation System • M3000
29
DIGITAL REMOTE I/O
EXTENSION MODULE
RDIO 16/16
BRIEF DESCRIPTION
GENERAL
Features
The RDIO digital module is used as a remote extension
of the local inputs and outputs (I/O) of a Moog Servo
Controller MSC or MSC II.
The module is mounted on a DIN top-hat rail and
connected to an MSC or MSC II via CAN.
Digital I/O extension module
• 16 digital inputs 24 V
• 16 digital I/O 24 V, individually configurable as an input or an output
• CANopen slave complying with CiA DS 401
INTERFACE
canopen INTERFACE
The Moog Axis Control Software (MACS) includes a library
with function blocks to interface the RDIO via CANopen.
This ensures simple integration into the Moog M3000
control system, e.g. to Moog Servo Controller MSC and MSC II.
The I/Os are accessed via CANopen interface.
The RDIO can be extended locally by connecting up to
6 QDIO modules. The I/Os of the QDIO modules are also
accessed via CANopen interface of the RDIO.
STATUS-LEDs
HARDWARE CONFIGURATION
LEDs on the front provide information about the status of
each I/O. The arrangement of the LEDs corresponds to the
I/O connections.
• No modules shall be connected to the left Extension- module-Bus (E-Bus) connector of the module
• The CAN interface is only accessible via the CAN connectors on the front cover
• Up to 6 QDIO modules can be connected to the right
E-Bus connector of the module
• Several RDIOs can be connected via CAN connector
BASIC CIRCUIT DIAGRAM, DIGITAL INPUT
BASIC CIRCUIT DIAGRAM, DIGITAL OUTPUT
30
MOOG • Automation System • M3000
RDIO 16/16
DIGITAL REMOTE I/O
EXTENSION MODULE
TECHNICAL DATA
Module Data
Digital Remote I/O Extension Module
Order number / Designation
D137-002-001 / RDIO 16/16-0.5
Types of inputs/outputs
Plus switching
Interfaces
CAN, E-Bus
Connection technique
Plug-in terminal strips for screwing or clamping
Connection of the I/O
3-conductor front wiring
Assembly
Mounting rail NS 35/7.5 pursuant to EN 50022 (DIN top-hat rail)
Status LEDs
1 Status LED per I/O
Dimensions W x H x D
124 x 170 x 85.5 (attachment dimension: W = 113/118.5) mm
4.88 x 6.69 x 3.37 (attachment dimension: W = 4.45/4.67) inch
Temperature range
Operation: 5 °C to 50 °C (41 °F to 122 °F)
Storage: -25 °C to 70 °C (-13 °F to 158 °F)
Relative air humidity
10 % to 95 % (non-condensing)
Standards
Interference emission / immunity
EN 61000-6-4 / EN 61000-6-2, industrial portion
Protection class / protection system
III / IP20
Insulation strength
IEC 61131-2; test voltage 500 V DC
Energy Supply
Voltage supply of module electronics
24 V DC (18-32 V DC) SELV pursuant to DIN EN 60950-1
Current consumption of module electronics
Max. 0.15 A
Voltage supply of the digital I/O
24 V DC (SELV), divided into 6 groups
Current consumption of the digital I/O
At U = 24 V DC in idling, max. 300 mA;
all digital I/O active, approx. 8 A
Potential separation
Yes, between CAN and digital I/O
Digital Inputs/Outputs
Number of inputs
16
Number of inputs/outputs
16, each useable as input or output
Output current
Max. 0.5 A
Short-circuit / reverse polarity protection
Yes / yes, all digital outputs
Accessories Connectors (six 18-poled are needed per module)
Designation
Description
Screw terminal, 18-pole
Up to max. conductor cross-section of 2.5 mm2 (14 AWG)
Order number
VK055- 018
Spring-power clamp, 18-pole
Up to max. conductor cross-section of 2.5 mm (14 AWG)
B95907-018
CAN connection cable,
3 meters / 9.8 foot
9-pole D-sub plug-in connection;
pin contacts to jack contacts
B95863-001
CAN connection cable,
10 meters / 32.8 foot
9-pole D-sub plug-in connection;
pin contacts to jack contacts
B95863-002
CAN bus termination resistor 120Ω
9-pole D-sub plug-in connection with
jack contacts
B95864-001
CAN bus termination resistor 120Ω
with grounding
9-pole D-sub plug-in connection with pin contacts;
CAN-GND connected to SL/PE
B95865-001
2
Detailed information and integration tips can be obtained from the user manual.
MOOG • Automation System • M3000
31
RDISP 22
OPERATOR PANEL
BRIEF DESCRIPTION
GENERAL
FEATURES
The operator panel RDISP 22 is designed for supervision
and control of machines and processes.
Its main advantage is the easy and fast creation of
visualization screens with text and graphical elements and
visualization structures.
• LCD-Display to display text
and graphics with
240 x 64 points and LED
background lighting
• 8 function keys and 8 LEDs for signal display
• Numeric keypad for value input
• 22 keys all together
DISPLAY
IMAGES AND MESSAGES
The LCD display with graphics capabilities permits
optimum graphical display of your visualization solution.
Up to 8 x 40, 4 x 20, 2 x 10 characters per page and any
combination of these, pictograms and graphical display
images in BMP format can be displayed.
Contrast and brightness can be adjusted via the program
or keys.
The RDISP22 offers the display types ’images’ and
´messages’. They can be activated independently.
KEYS
The keys are built as push buttons and are covered by a robust
foil. They grant a good haptic feedback.
INTERFACES
• Images:
Images are graphical elements (pictograms, BMP files),
in which text and variables are displayed both numerically
and graphically or as bar charts or as X/Y charts.
A menu structure out of different images can be defined
by the programmer. An image can be selected by an image number or via a menu structure by using keys
• Messages:
Messages can be inserted into a page in addition as texts
with variables. Messages are activated by using the message number
CAN, CANopen, TIA/EIA 232
MEMORY
LABELING
All data (parameters, images and messages) are stored in
the maintenance-free flash memory.
The function keys can be labeled freely. This is done by
using strips of paper and inserting them between the keys
and the front cover.
INTERFACE
PROGRAMMING
The Moog Axis Control Software (MACS) includes a library
with function blocks to interface the RDISP via CANopen.
This ensures simple integration into the Moog M3000
control system, e.g. to Moog Servo Controller MSC or MSC II.
Programming is carried out on the PC via an user
friendly editor. Easy operation enables clear and quick
implementation. Programming of menus, menu structures,
message texts and multi-language display is easy to achieve
with the CPRDISP PC editor.
Accessories
Designation
Description
Order number
CPRDISP
PC based editor to build menu pages
D138-006-001
CAN connection cable, 3 meters / 9.8 foot
9-pole D-sub plug-in connection;
pin contacts to jack contacts
B95863-001
CAN connection cable, 10 meters / 132.8 foot
9-pole D-sub plug-in connection;
pin contacts to jack contacts
B95863-002
CAN bus termination resistor 120Ω
9-pole D-sub plug-in connection with jack contacts
B95864-001
CAN bus termination resistor 120Ω
with grounding
9-pole D-sub plug-in connection with
pin contacts; CAN-GND connected to SL/PE
B95865-001
32
MOOG • Automation System • M3000
RDISP 22
OPERATOR PANEL
TECHNICAL DATA
Module Data
Operator Panel
Order number / Designation
D137-004-001 / RDISP 22
Housing
Integrated case
Dimensions: W x D x H in mm (in.)
196 x 129 x 53 (7.72 x 5.08 x 2.09 in.) (front with plug)
Mounting hole: W x D in mm (in.)
187 x 120 (7.36 x 4.72 in.)
Temperature range
-10 °C to 60 °C (14 °F to 140 °F)
Relative air humidity
10 % to 95 % (non-condensing)
Standards
Interference emission / immunity
EN 61000-6-4 / EN 61000-6-2, industrial portion
Protection class / protection system
III / IP65 front side, IP20 rear side
Shock / vibration
IEC 60068 Part 2-27 / IEC 60068 Part 2-6
Energy Supply
Voltage supply
24 V DC (17-32 V DC) SELV with reverse voltage protection
Current consumption at 24 V DC
500 mA max. depending on display brightness
Fuse
Electronic with automatic reset
Connection of power supply
6-pole AMP crimp connector
Display
Display
LCD-Supertwist 240 x 64 points; LED background lighting
Number of characters per line max/min
40 / 10
Line height 2-4-8 lines in mm (in.)
14 / 7 / 4 (0.55 / 0.28 / 0.16 in.)
Standard character set
IBM set 2 and Cyrillic, other characters possible
Keys
Push buttons
Number of keys
22 (including numeric keypad)
Key top
Aluminum disc behind polyester cover; secured against vandalism
Rear
Galvanized steel plate with clamping lid
Weight
1.4 kg (3.08 lbs.)
Functions
Menu structures
Tree structure or other structure
Contrast and brightness
Adjustable using keys and program
Character attributes
Flashing, normal, and inverse display
Programming
With PC and CPRDISP editor
Value entry
Numeric keyboard
Variables
Up to 104 per page, number of pages typically > 700, only limited by
memory size
Variable types
Binary, integer, fixed point, bit pattern ... and others
Memory
Flash EEPROM to store texts, images, messages, operating system etc.
Interface to PC Editor (CPRDISP)
CAN or TIA/EIA 232, TIA/EIA 232 recommended as interface to PC
Interface to controller (e.g. MSC, MSC II)
CAN or TIA/EIA 232, CANopen recommended as interface to controller
Interfaces
CAN
Galvanic insulation, termination switchable with DIP switch,
9-pin D-Sub connector
RS 232
9-pin D-Sub connector
Detailed information and integration tips can be obtained from the user manual.
MOOG • Automation System • M3000
33
DISPLAY
DIALOG CONTROLLER
BRIEF DESCRIPTION
DIALOG CONTROLLER
FEATURES
The display is freely programmable with the Moog Axis
Control Software (MACS) development environment. The
predefined visualization elements such as buttons, bar
graphs, meters, tables and histograms makes it easy to
create visualization screens.
• Programmable with MACS/CoDeSys, no additional editor
tool required
• TFT technology for brilliant colors
• Fanless operation
• Communication to MSC / MSC II via Ethernet
34
MOOG • Automation System • M3000
DISPLAY
DIALOG CONTROLLER
TECHNICAL DATA
Module Data
TFT Touch Screen Display
Designation
DialogController
Order number
D137-004-004 Display 5.7“, color TFT
¼ VGA resolution, 320 x 240 pixels with touch screen
D137-004-005 Display 10.4“, color TFT
VGA resolution, 640 x 480 pixels with touch screen
D137-004-006 Display 12.1“, color TFT
SVGA resolution, 800 x 600 pixels with touch screen
Dimensions: W x D x H in mm (in.)
Dialog Controller 5.7“: 194 x 172 x 52 (7.6 x 6.8 x 2.0 in.)
Dialog Controller 10.4“: 360 x 260 x 77 (14.2 x 10.2 x 3.0 in.)
Dialog Controller 12.1”: 440 x 300 x 77 (17.3 x 11.8 x 3.0 in.)
Weight
Dialog Controller 5.7“: ca. 1.5 kg (approx. 3.3 lbs.)
Dialog Controller 10.4“: ca. 5 kg (approx. 11 lbs.)
Dialog Controller 12.1”: ca. 6 kg (approx. 13.2 lbs.)
Temperature range
Operation: 0 °C (32 °F) to 50 °C (112 °F) fanless technology
Transport storage: -20 °C (-4 °F) to 70 °C (158 °F)
Relative air humidity
10 % to 95 % (non-condensing)
Operation height
Max. 2000 m (6500 feet); storage/transport max. 3000 m (9800 feet)
Processor
PowerPC Processor, 32 Bit, RISC architecture with floating point unit
Memory
32 MB / 24 MB for application
Retain memory
16 kByte
Real-time clock
Yes, battery buffered
Development environment
MACS 2.x / CoDeSys 2.3
Runtime software
CoDeSys 2.3 with Target-Visualization,
real time operating system with multitasking
Standards
Interference emission / immunity
EN 61000-6-4 / EN 61000-6-2, industrial part
Shock / vibration
IEC 60068 part 2-27 / IEC 60068 part 2-6
Protection class / protection system
III / IP20 (front IP 65)
Insulation strength
IEC 61131-2; test voltage 500 V DC
Energy Supply
Voltage supply of module electronics
24 V DC (-15/+20%) SELV pursuant to DIN EN 60950-1
Current consumption
1 A typical / 2 A maximum
Potential separation
Yes between CAN bus and I/Os
Interfaces
Ethernet (100BaseT)
10/100 MBit/s with 8-pole RJ45 connection
(recommended as interface to MSC / MSC II)
USB
1 x host USB Rev. 1.1 (on front)
1 x host USB Rev. 1.1 (on rear)
CAN interface
Transmission rate adjustable, 10 kBit/s to 1 MBit/s
Serial port
2 x TIA/EIA 232, 1 x TIA/EIA 485
MOOG • Automation System • M3000
35
Notice
36
MOOG • Automation System • M3000
Notice
MOOG • Automation System • M3000
37
Notice
38
MOOG • Automation System • M3000
GLOBAL SUPPORT
M3000
GLOBAL SUPPORT
As a recognized leader in motion control technologies,
Moog offers a full range of services to support our products
and ensure that they meet the expectations of customers.
Moog experts are the best at helping customers select the
right products and ensuring that they run reliably for a long
time.
FOR MORE INFORMATION VISIT
http://www.moog.com/industrial
When it is time for new machine commissioning,
refurbishment or routine maintenance, our engineers
can help to optimize machine performance, minimize
downtime and ensure the smooth application of our
products.
Known for the ability to customize products for the unique
needs of our customers, we are uniquely able to handle
customer needs and supply services throughout the life
cycle of the product. Moog Authentic Repair® is designed
to provide the highest quality repair services using original
equipment parts, the latest design specifications, and highly
trained technicians. This ensures that our repaired products
will run as well as when they were new.
With facilities in over 28 countries, Moog is committed to
offering convenient local service to our customers.
Visit www.moog.com/industrial/globallocator to find the
location nearest you for application engineering, repair, or
field services.
MOOG • Automation System • M3000
39
TAKE A CLOSER LOOK.
Moog solutions are only a click away. Visit our worldwide Web site for more information
and the Moog facility nearest you.
Argentina
+54 (0) 11 4326 5916 [email protected]
Australia
+61 (0) 3 9561 6044
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+43 (0) 664 144 6580 [email protected]
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+55 (0) 11 3572 0400 [email protected]
China
+86 (0) 21 2893 1600 [email protected]
[email protected]
Finland
+358 (0) 9 2517 2730
[email protected]
France
+33 (0) 1 4560 7000
[email protected]
Germany
+49 (0) 7031 622 0
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Hong Kong
India
Ireland
+852 2 635 3200
[email protected].com
+91 (0) 80 4120 8785 [email protected]
+353 (0)21 451 9000
[email protected]
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+39 0 332 421 111
[email protected]
Japan
+81 (0) 46 355 3767
[email protected]
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+82 (0) 31 764 6711
[email protected]
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+352 40 46 401
[email protected]
Netherlands
+31 (0) 252 462 000
[email protected]
Norway
+47 6494 1948
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+7 (0) 31 713 1811
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+65 677 36238
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+27 (0) 12 653 6768
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+34 902 133 240
[email protected]
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+46 (0) 31 680 060
[email protected]
Switzerland
+41 (0) 71 394 5010
[email protected]
United Kingdom
+44 (0) 168 429 6600 [email protected]
USA
+1 (1) 716 652 2000 [email protected]
©2008 Moog Inc.
Moog is a registered trademark of Moog, Inc.
and its subsidiaries. All quoted trademarks are
the property of Moog,Inc. and its subsidiaries.
All rights reserved.
M3000_en_6/2008
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