VisualMotion 8 (GPP) Multi-Axis Motion Control. Project Planning Manual DOK-VISMOT-VM*-08VRS**-PR03-AE-P

Transcription

1 VisualMotion (GPP) Multi-Axis Motion Control Project Planning Manual DOK-VISMOT-VM*-RS**-PR0-AE-P

2 About this Documentation VisualMotion Project Planning Title VisualMotion (GPP) Multi-Axis Motion Control Type of Documentation Project Planning Manual Document Typecode DOK-VISMOT-VM*-RS**-PR0-AE-P Internal File Reference Document Number, 0-00-B-0/AE Part of Box Set, 0--EN(Material No.: ) Purpose of Documentation This documentation describes the components used with the VisualMotion multi-axis motion control system and optional interfaces, such as Fieldbus, Option Card PLS, Link Ring. Record of Revisions Description Release Date Notes 0 0/0 Updated Copyright 00 Rexroth Indramat GmbH Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN -). Validity The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract. All rights are reserved with respect to the content of this documentation and the availability of the product. Published by Rexroth Indramat GmbH Bgm.-Dr.-Nebel-Str. D- Lohr a. Main Germany Tel.: + (0) /0-0 Fax: + (0) /0- Telex: Bosch Rexroth Corporation Electric Drives and Controls 0 Prairie Stone Parkway Hoffman Estates, IL 0 USA Tel.: --00 Fax: Dept. ESG (DPJ) Note This document has been printed on chlorine-free bleached paper. DOK-VISMOT-VM*-RS**-PR0-AE-P

3 VisualMotion Project Planning Table of Contents I Table of Contents VisualMotion Overview -. System Overview GPP System Overview... - GPP System Components... - GPP PLC Support... - GPP Interface Support Supporting Documentation... - Additional VisualMotion Documentation for GPP Firmware... - RECO0. SERCOS I/O Modules... - DIAX0 Digital Drive Documentation for SSE Firmware... - DIAX0 Digital Drive Documentation for ELS Firmware... - ECODRIVE0 Digital Drive Documentation for SMT0 Firmware... - ECODRIVE0 Digital Drive Documentation for SMT0 Firmware... - ECODRIVE0 Digital Drive Documentation for SGP0 Firmware... - Windows Help System for Drives... - Control and Drive Systems Electronic Documentation Rexroth Indramat s Digital Drive Families... - DIAX0 Digital Drive Family... - ECODRIVE0 Digital Drive Family... - Important Usage Directions -. Appropriate Use... - Introduction... - Areas of Use and Application Inappropriate Use... - Safety Instructions for Electric Drives and Controls -. Introduction Explanations Hazards by Improper Use General Information Protection Against Contact with Electrical Parts Protection Against Electric Shock by Protective Low Voltage (PELV) Protection Against Dangerous Movements Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting Protection Against Contact with Hot Parts Protection During Handling and Mounting Battery Safety Protection Against Pressurized Systems... - Notes... - DOK-VISMOT-VM*-RS**-PR0-AE-P

4 II Table of Contents VisualMotion Project Planning VisualMotion GPP System Installation -. PPC-R Overview... - PPC-R Hardware PPC-R Specifications... - General... - Supply Voltage... - Digital Input and Output...- Battery Backup... - EMC... - Interfaces... - Connecting Supply Voltage, Digital Inputs and Watchdog... - PPC-R Serial Communication... - PPC-R Diagnostic Displays... - PSM0. Memory Card... - PPC-R SERCOS MTS-R Overview... - MTS-R Hardware MTS-R Specifications... - General Supply Voltage EMC Interfaces Connecting Supply Voltage and Watchdog... - Rechargeable Battery... - Setting the Parameters of the PROG Interface... - Setting the Parameters of the COM Interface... - Interface Pin Assignments... - MTS-R H Status and Diagnostic Display Connecting the PPC-R and MTS-R... - Brief Description of the SUP-E0*-MTC00-R Accessories... - Versions RECO 0 Hardware... - RECO0 I/O Modules... - Remote SERCOS Coupling Unit... - Mounting the RECO RMB Base Rack... - Slot Addressing of the RMB0. Racks... - System Grounding...-0 Accessing of RECO0 I/O Modules -. PPC-R Motion Control System... - Configuring RECO0 I/O Modules for the PPC-R... - VisualMotion n Register Definition... - RECO I/O Error Reaction Bits MTS-R and PPC-R Motion Control System... - Configuring Local RECO I/O Modules for the MTS-R... - Configuring SERCOS I/O Devices... - DOK-VISMOT-VM*-RS**-PR0-AE-P

5 VisualMotion Project Planning Table of Contents III Fieldbus Interface -. Profibus-DP Fieldbus Slave Interface...- Pin Assignment of Connector X... - Profibus Diagnostics... - Profibus Specifications DeviceNet Fieldbus Slave Interface... - Pin Assignment of Connector X... - DeviceNet Diagnostics... - DeviceNet Specifications...-. ControlNet Fieldbus Slave Interface... - Channel A ControlNet Interface... - Channel B ControlNet Interface... - ControlNet Network Access Port... - ControlNet Diagnostics... - ControlNet Specifications Interbus Fieldbus Slave Interface Pin Assignment of Connector X Pin Assignment of Connector X Interbus Diagnostics... - Interbus Specifications... - Additional Interfaces -. Programmable Limit Switch Interface (Option Card PLS)... - Connecting Supply Voltage... - Option Card PLS Specifications Ethernet... - Ethernet Network Access Port... - Ethernet Diagnostics... - Link Ring -. Overview... - Link Ring Configurations...- Link Ring Addressing... - Configuring Link Master and Slaves Single Link Ring Double Link Ring Clearing Link Ring Errors... - Clearing a Redundancy Loss... - VisualMotion Human Machine Interfaces -. Overview BTC BTC0 Specifications... - Standard Features... - Optional Features... - Safety Concept... - DOK-VISMOT-VM*-RS**-PR0-AE-P

6 IV Table of Contents VisualMotion Project Planning Enclosure Dimensions...- BTC0 Accessories... - BTC0 Connections... - Enclosure Connection from BTC to Control BTC0 to PPC-R Connections BTV Human Machine Interface... - BTV0/0/0 Overview... - BTV Features... - Typical Applications Fiber Optic Cable(LWL) 0-0. Data Transmission Ring Structure Fiber Optic Transmission Path Installation Fiber Optic Cable Types Fiber Optic Cable Accessories Project Planning Notes Maximum Transmission Length Technical Data General Safety Guidelines Handling System Setup Preparations SERCOS Drive Address Settings Changing the SERCOS Transmission Baudrate Setting the Optic Transmitter Output Power Hardware and Firmware Configurations -. PPC-R Hardware and Firmware... - PPC-R0. Hardware Configurations... - PPC-R0. Hardware Configurations Upgrading Control Firmware... - GPP and Boot Loader Firmware BTC0. Hardware and Firmware... - BTC0. Hardware... - BTC0 Firmware BTV Hardware BTV Firmware... - Accessories -. List of Connectors and Cable Sets Typecode Description... - PPC-R0. Typecode... - PPC-R0. Typecode... - BTC0. Typecode... - BTV0. Typecode... - BTV0. Typecode... - DOK-VISMOT-VM*-RS**-PR0-AE-P

7 VisualMotion Project Planning Table of Contents V BTV0. Typecode... - BTZ0. Typecode... - Appendix -. Dimensional Sheets, Wiring Diagrams RECO... - Mounting Dimensions Module Carrier RMB Mounting Dimensions Module Carrier RMB PPC-R0. and PPC-R DAQ0.R... - Profibus Fieldbus Slave Interface DPS Interbus Fieldbus Slave Interface IBS DeviceNet Fieldbus Slave Interface DNS ControlNet Fieldbus Slave Interface CNS RME0.--DC0 Input Module... - RME0.--DC0 Input Module... - RME0.--AC Input Module... - RMA0.--DC0-00 Output Module... - RMA0.--DC0-00 Output Module... - RMA0.--AC0-00 Output Module... - RMA0.--RE0-00 Output Module... - RMC0.-E-A Analog Module Dimensional Sheet, Terminal Diagrams Drives... - SERCOS interface DSS0.M... - Input / Output interface DEA... - Analog interface with Actual Position Value Output DAE0.M... - Index - Service & Support - DOK-VISMOT-VM*-RS**-PR0-AE-P

8 VI Table of Contents VisualMotion Project Planning DOK-VISMOT-VM*-RS**-PR0-AE-P

9 VisualMotion Project Planning VisualMotion Overview - VisualMotion Overview. System Overview. GPP System Overview VisualMotion is a programmable multi-axis motion control system capable of controlling up to intelligent digital drives from Rexroth Indramat. The PC software used for motion control management is named VisualMotion Toolkit. The PPC-R is a stand-alone multi-axis motion control. It has the RECO0 form factor, a form factor used by Rexroth Indramat for motion controls, PLCs and I/O modules. These devices share the RECO0 back-plane bus for data exchange. It is recommended to use the VisualMotion motion control with Rexroth Indramat's DIAX0 and/or ECODRIVE0 digital servo drives. The communication between control and digital servo drives is performed using the SERCOS fiber optic interface, the international standard for real-time communication. VisualMotion can provide multi-axis coordinated or non-coordinated motion control with tightly integrated RECO0 I/O logic control functions. The flexibility of GPP firmware supports a variety of applications, from general motion control to sophisticated multiple master electronic line shafting (ELS) and robotics. PPC-R0. PPC-R0. RECO RECO H H S S RESET U S H DIST TX RESET U S H DIST TX RX RX X U X0 X U X0 U X U Q Q I I I Ve e Bb Bb V PROG Q Q I I I Ve e Bb Bb V PROG COM PPC-R0. PPC-R0. Fig. -: PPC-R Motion Control PPCR_Overview.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

10 - VisualMotion Overview VisualMotion Project Planning GPP System Components The VisualMotion GPP system is composed of the following components: PPC-R control using GPP firmware RECO0 I/O modules (Local and SERCOS) VisualMotion Toolkit (VMT) Windows program for motion control programming, parametrization, system diagnostics and motion control management. VMT also includes a DDE Server (communication protocol between Windows programs and the control). DIAX0 (with SSE0 or ELS0 firmware) or ECODRIVE0 (SMT0, SMT0, SGP0 or SGP0 firmware) drives and motors. Up to intelligent digital drives can be connected to one control over the SERCOS fiber optic ring. HMI interfaces (BTC0, BTV0, BTV0, BTV0) GPP PLC Support The Rexroth Indramat MTS-R is a PLC unit that interfaces with the VisualMotion control (PPC-R) and is available preconfigured in two sizes. MTS-R0. with one expansion slot MTS-R0. with three expansion slot Note: The expansion slot(s) can be configured with, e.g., fieldbus master or serial interface cards. GPP Interface Support VisualMotion GPP supports the following interfaces: Fieldbus Interfaces Profibus-DP slave interface ( words) DeviceNet slave interface ( words) Interbus slave interface ( words) ControlNet slave interface ( words) Note: The word size in parenthesis indicates the maximum number of words allowed in the cyclic telegram for both the Input and Output directions. Additional Interfaces: Ethernet Interface Option Card Programmable Limit Switch ( or outputs) Link Ring for Master/Slave interfacing of VisualMotion controls DOK-VISMOT-VM*-RS**-PR0-AE-P

11 VisualMotion Project Planning VisualMotion Overview -. Supporting Documentation The information in this manual is intended for users and programmers of Rexroth Indramat's VisualMotion control. In addition to this manual, the following supporting documentation is available: Additional VisualMotion Documentation for GPP Firmware Type of Manual Typecode Material Number Application Manual DOK-VISMOT-VM*-RS**-AW0-EN-P Functional Description DOK-VISMOT-VM*-RS**-FK0-EN-P Troubleshooting Guide DOK-VISMOT-VM*-RS**-WA0-EN-P Table -: Additional VisualMotion Documentation RECO0. SERCOS I/O Modules Type of Manual Typecode Material Number Configuration DOK-CONTRL-RECO0.**-PR0-EN-P Table -: RECO0. Module Documentation DIAX0 Digital Drive Documentation for SSE Firmware Type of Manual Typecode Material Number Functional Description DOK-DIAX0-SSE-RS**-FK0-EN-P 00 Parameter Description DOK-DIAX0-SSE-RS**-PA0-EN-P 0 Troubleshooting DOK-DIAX0-SSE-RS**-WA0-EN-P 0 Drive Configurations DOK-DIAX0-SSE-RS**-IF0-EN-P 0 Firmware Version Notes DOK-DIAX0-SSE-RS**-FV0-EN-P 0 Table -: DIAX0 SSE0 Documentation DIAX0 Digital Drive Documentation for ELS Firmware Type of Manual Typecode Material Number Functional Description DOK-DIAX0-ELS-RS**-FKB-EN-P 0 Troubleshooting DOK-DIAX0-ELS-RS**-WAR-EN-P Drive Configurations DOK-DIAX0-ELS-RS**-IF0-EN-P Firmware Version Notes DOK-DIAX0-ELS-RS**-FVN-EN-P Table -: DIAX0 ELS0 Documentation ECODRIVE0 Digital Drive Documentation for SMT0 Firmware Type of Manual Typecode Material Number Project Planning DOK-ECODR-DKC**.****-PR0-EN-P 00 Functional Description DOK-ECODR-SMT-RS**-FKB-EN-P 0 Troubleshooting DOK-ECODR-SMT-RS**-WAR-EN-P 0 Firmware Version Notes DOK-ECODR-SMT-RS**-FVN-EN-P 00 Table -: ECODRIVE0 SMT0 Documentation DOK-VISMOT-VM*-RS**-PR0-AE-P

12 - VisualMotion Overview VisualMotion Project Planning ECODRIVE0 Digital Drive Documentation for SMT0 Firmware Type of Manual Typecode Material Number Project Planning DOK-ECODR-DKC**.****-PR0-EN-P 00 Functional Description DOK-ECODR-SMT-RS**-FK0-EN-P Troubleshooting DOK-ECODR-SMT-RS**-WA0-EN-P Firmware Version Notes DOK-ECODR-SMT-RS**-FV0-EN-P Table -: ECODRIVE0 SMT0 Documentation ECODRIVE0 Digital Drive Documentation for SGP0 Firmware Type of Manual Typecode Material Number Project Planning DOK-ECODR-DKC**.****-PR0-EN-P 00 Functional Description DOK-ECODR-SGP-RS**-FKB-EN-P 0 Parameter Description DOK-ECODR-SGP-RS**-PAR-EN-P Troubleshooting DOK-ECODR-SGP-RS**-WAR-EN-P 0 Firmware Version Notes DOK-ECODR-SGP-RS**-FVN-EN-P 0 Windows Help System for Drives Table -: ECODRIVE0 SGP0 Documentation Windows help systems for all of Rexroth Indramat's digital drives are available on CD-ROM: Description Typecode Material Number DRIVEHELP - Help files for drives DOK-GENERL-DRIVEHELP**-GN0-MS-D000 Table -: DRIVEHELP CD-ROM Control and Drive Systems Electronic Documentation The documents refer to in this manual are available on Rexroth Indramat's documentation CD-ROM. This CD-ROM contains the current control and drive systems documentation for products sold by Rexroth Indramat. Description Typecode Material Number Electronic Documentation for Control DOK-GENERL-CONTR*DRIVE-GN0-EN-D000 and Drive Systems Table -: Documentation CD-ROM DOK-VISMOT-VM*-RS**-PR0-AE-P

13 VisualMotion Project Planning VisualMotion Overview -. Rexroth Indramat s Digital Drive Families DIAX0 Digital Drive Family Rexroth Indramat s digital drive families are comprised of power supplies, drive controllers and their associated motors. The DIAX0 and ECODRIVE0 digital drive families are fully capable of using the functions available in the VisualMotion control. The modular concept in Rexroth Indramat s DIAX0 digital drive family enables a flexible combination of digital drive controllers to one power supply unit. Note: Power supplies and digital drive controllers are combined based on their power requirements. Refer to the following application manual: DIAX0 HVE and HVR nd Generation Power Supply Units Material Number: 0 DOK-POWER*-HVE+HVR**G-AW0-EN-P DOK-VISMOT-VM*-RS**-PR0-AE-P

14 - VisualMotion Overview VisualMotion Project Planning DIAX0 Power Supplies Power supply units of the HV* line support the power and control voltage of Rexroth Indramat digital drive controllers of the HD* line. DIAX0 power supplies require a mains voltage of x AC V. HVE: The HVE power supply uses a bleeder resistor to absorb regenerative power that is fed back from the attached digital drive controllers. The following HVE power supplies are available: HVE0. can output a continuous mechanical power of up to kw. HVE0. can output a continuous mechanical power of up to kw. HVE0. can output a continuous mechanical power of up to 0kW. HVR: The HVR power supply uses current regeneration to regenerate power that is fed back from the attached digital drive controllers. The following HVR power supplies are available: HVR0. can output a continuous mechanical power of up to kw. HVR0. can output a continuous mechanical power of up to kw. HVE0. HVE0. HVE0. Fig. -: DIAX0 HVE Power Supplies DX0_HVE.FH HVR0. HVR0. Fig. -: DIAX0 HVR Power Supplies DX0_HVR.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

15 VisualMotion Project Planning VisualMotion Overview - DIAX0 Digital Drive Controllers The following digital drive controllers are part of the DIAX0 drive family. HDD: The HDD0. is a dual axes digital drive controller with two slots for plug-in cards (one per axis) and a continuous drive output of up to approximately. kw. HDS: The HDS digital drive controller is designed with three slots (HDS0.) or four slots (HDS0/0) for plug-in cards. The following HDS drives are available: HDS0. can output a continuous mechanical power of up to.kw. HDS0. can output a continuous mechanical power of up to.kw. HDS0. can output a continuous mechanical power of up to kw. X L+ L- X L+ L- X L+ L- X L+ L- A A A A A A HDD0. HDS0. HDS0. HDS0. DX0_HDS.FH Fig. -: DIAX0 Digital Drive Controllers ECODRIVE0 Digital Drive Family The ECODRIVE0 digital drive family incorporates a power supply section with a drive controller in one package. ECODRIVE0 Digital Drive Controllers The following DKC digital drive controllers using SGP or SMT firmware are supported by GPP firmware. DKC0.-00 can output a continuous mechanical power of up to kw. DKC0.-00 can output a continuous mechanical power of up to kw. DKC0.-00 can output a continuous mechanical power of up to kw. DOK-VISMOT-VM*-RS**-PR0-AE-P

16 - VisualMotion Overview VisualMotion Project Planning Note: The DKC digital drive controller requires additional components to output the mechanical power listed above. Refer to the following project planning manual for complete details: ECODRIVE0 Drive Controllers DOK-ECODR-DKC**.****-PR0-EN-P DKC.-00 DKC.-00 DKC.-00 Fig. -: ECODRIVE0 Digital Drive Controllers ECO_DKC.FH Motors used with DIAX0 and ECODRIVE0 All DIAX0 and ECODRIVE0 digital drive controllers are capable of operating all rotating and linear motors of the MHE, MKD, MKD, AD, MB, MBS, MBW, ADF, LAF and LSF series. MKE MHD MKD AD MB,MBS MBW ADF Fig. -: Motors used with DIAX0 and ECODRIVE0 LAF,LSF MOTORS.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

17 VisualMotion Project Planning Important Usage Directions - Important Usage Directions. Appropriate Use Introduction Rexroth Indramat products represent state-of-the-art developments and manufacturing. They are tested prior to delivery to ensure operating safety and reliability. The products may only be used in the manner that is defined as appropriate. If they are used in an inappropriate manner, then situations can develop that may lead to property damage or injury to personnel. Note: Rexroth Indramat, as manufacturer, is not liable for any damages resulting from inappropriate use. In such cases, the guarantee and the right to payment of damages resulting from inappropriate use are forfeited. The user alone carries all responsibility of the risks. Before using Rexroth Indramat products, make sure that all the prerequisites for appropriate use of the products are satisfied: Personnel that in any way, shape or form uses our products must first read and understand the relevant safety instructions and be familiar with appropriate use. If the product takes the form of hardware, then they must remain in their original state, in other words, no structural changes are permitted. It is not permitted to decompile software products or alter source codes. Do not mount damaged or faulty products or use them in operation. Make sure that the products have been installed in the manner described in the relevant documentation. DOK-VISMOT-VM*-RS**-PR0-AE-P

18 - Important Usage Directions VisualMotion Project Planning Areas of Use and Application VisualMotion made by Rexroth Indramat is designed for the control of servo drives. Control and monitoring of the drive system may require additional sensors and actors. Note: The components may only be used with the accessories and parts specified in this document. If a component has not been specifically named, then it may not be either mounted or connected. The same applies to cables and lines. Operation is only permitted in the specified configurations and combinations of components using the software and firmware as specified in the relevant function descriptions.. Inappropriate Use The motion control and every drive controller has to be parameterized/ programmed before starting it up, making it possible for the motor to execute the specific functions of an application. VisualMotion, the motion control solution, has been developed for use in single or multiple axis drives and control tasks. Typical applications of VisualMotion are: motion control in general automation, handling and assembly systems, packaging and foodstuff machines, printing and paper converting machines and textile machines. The motion control and drive system may only be operated under the assembly, installation and ambient conditions as described in this document (temperature, system of protection, humidity, EMC requirements, etc.) and in the position specified. Using VisualMotion components outside of the above referenced areas of application or under operating conditions other than those described in this document and in specified technical data is defined as inappropriate use". VisualMotion components may not be used if they are subject to operating conditions that do not meet the specified ambient conditions in this document. This includes, for example, operation under water, in the case of extreme temperature fluctuations or extremely high maximum temperatures or if Rexroth Indramat has not specifically released them for that intended purpose. Please note the specifications outlined in the general Safety Guidelines! DOK-VISMOT-VM*-RS**-PR0-AE-P

19 VisualMotion Project Planning Safety Instructions for Electric Drives and Controls - Safety Instructions for Electric Drives and Controls. Introduction Read these instructions before the initial startup of the equipment in order to eliminate the risk of bodily harm or material damage. Follow these safety instructions at all times. Do not attempt to install or start up this equipment without first reading all documentation provided with the product. Read and understand these safety instructions and all user documentation of the equipment prior to working with the equipment at any time. If you do not have the user documentation for your equipment, contact your local Rexroth Indramat representative to send this documentation immediately to the person or persons responsible for the safe operation of this equipment. If the equipment is resold, rented or transferred or passed on to others, then these safety instructions must be delivered with the equipment. WARNING Improper use of this equipment, failure to follow the safety instructions in this document or tampering with the product, including disabling of safety devices, may result in material damage, bodily harm, electric shock or even death!. Explanations The safety instructions describe the following degrees of hazard seriousness in compliance with ANSI Z. The degree of hazard seriousness informs about the consequences resulting from noncompliance with the safety instructions. Warning symbol with signal word Degree of hazard seriousness according to ANSI Death or severe bodily harm will occur. DANGER Death or severe bodily harm may occur. WARNING Bodily harm or material damage may occur. CAUTION Fig. -: Hazard classification (according to ANSI Z) DOK-VISMOT-VM*-RS**-PR0-AE-P

20 - Safety Instructions for Electric Drives and Controls VisualMotion Project Planning. Hazards by Improper Use DANGER High voltage and high discharge current! Danger to life or severe bodily harm by electric shock! DANGER Dangerous movements! Danger to life, severe bodily harm or material damage by unintentional motor movements! WARNING High electrical voltage due to wrong connections! Danger to life or bodily harm by electric shock! WARNING Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electrical equipment! Surface of machine housing could be extremely hot! Danger of injury! Danger of burns! CAUTION CAUTION Risk of injury due to improper handling! Bodily harm caused by crushing, shearing, cutting and mechanical shock or incorrect handling of pressurized systems! Risk of injury due to incorrect handling of batteries! CAUTION DOK-VISMOT-VM*-RS**-PR0-AE-P

21 VisualMotion Project Planning Safety Instructions for Electric Drives and Controls -. General Information Rexroth Indramat GmbH is not liable for damages resulting from failure to observe the warnings provided in this documentation. Read the operating, maintenance and safety instructions in your language before starting up the machine. If you find that you cannot completely understand the documentation for your product, please ask your supplier to clarify. Proper and correct transport, storage, assembly and installation as well as care in operation and maintenance are prerequisites for optimal and safe operation of this equipment. Only persons who are trained and qualified for the use and operation of the equipment may work on this equipment or within its proximity. The persons are qualified if they have sufficient knowledge of the assembly, installation and operation of the equipment as well as an understanding of all warnings and precautionary measures noted in these instructions. Furthermore, they must be trained, instructed and qualified to switch electrical circuits and equipment on and off in accordance with technical safety regulations, to ground them and to mark them according to the requirements of safe work practices. They must have adequate safety equipment and be trained in first aid. Only use spare parts and accessories approved by the manufacturer. Follow all safety regulations and requirements for the specific application as practiced in the country of use. The equipment is designed for installation in industrial machinery. The ambient conditions given in the product documentation must be observed. Use only safety features and applications that are clearly and explicitly approved in the Project Planning Manual. For example, the following areas of use are not permitted: construction cranes, elevators used for people or freight, devices and vehicles to transport people, medical applications, refinery plants, transport of hazardous goods, nuclear applications, applications sensitive to high frequency, mining, food processing, control of protection equipment (also in a machine). The information given in this documentation with regard to the use of the delivered components contains only examples of applications and suggestions. The machine and installation manufacturer must make sure that the delivered components are suited for his individual application and check the information given in this documentation with regard to the use of the components, make sure that his application complies with the applicable safety regulations and standards and carry out the required measures, modifications and complements. Startup of the delivered components is only permitted once it is sure that the machine or installation in which they are installed complies with the national regulations, safety specifications and standards of the application. DOK-VISMOT-VM*-RS**-PR0-AE-P

22 - Safety Instructions for Electric Drives and Controls VisualMotion Project Planning Operation is only permitted if the national EMC regulations for the application are met. The instructions for installation in accordance with EMC requirements can be found in the documentation "EMC in Drive and Control Systems". The machine or installation manufacturer is responsible for compliance with the limiting values as prescribed in the national regulations. Technical data, connections and operational conditions are specified in the product documentation and must be followed at all times. DOK-VISMOT-VM*-RS**-PR0-AE-P

23 VisualMotion Project Planning Safety Instructions for Electric Drives and Controls -. Protection Against Contact with Electrical Parts Note: This section refers to equipment and drive components with voltages above 0 Volts. Touching live parts with voltages of 0 Volts and more with bare hands or conductive tools or touching ungrounded housings can be dangerous and cause electric shock. In order to operate electrical equipment, certain parts must unavoidably have dangerous voltages applied to them. DANGER High electrical voltage! Danger to life, severe bodily harm by electric shock! Only those trained and qualified to work with or on electrical equipment are permitted to operate, maintain or repair this equipment. Follow general construction and safety regulations when working on high voltage installations. Before switching on power the ground wire must be permanently connected to all electrical units according to the connection diagram. Do not operate electrical equipment at any time, even for brief measurements or tests, if the ground wire is not permanently connected to the points of the components provided for this purpose. Before working with electrical parts with voltage higher than 0 V, the equipment must be disconnected from the mains voltage or power supply. Make sure the equipment cannot be switched on again unintended. The following should be observed with electrical drive and filter components: Wait five () minutes after switching off power to allow capacitors to discharge before beginning to work. Measure the voltage on the capacitors before beginning to work to make sure that the equipment is safe to touch. Never touch the electrical connection points of a component while power is turned on. Install the covers and guards provided with the equipment properly before switching the equipment on. Prevent contact with live parts at any time. A residual-current-operated protective device (RCD) must not be used on electric drives! Indirect contact must be prevented by other means, for example, by an overcurrent protective device. Electrical components with exposed live parts and uncovered high voltage terminals must be installed in a protective housing, for example, in a control cabinet. DOK-VISMOT-VM*-RS**-PR0-AE-P

24 - Safety Instructions for Electric Drives and Controls VisualMotion Project Planning To be observed with electrical drive and filter components: DANGER High electrical voltage on the housing! High leakage current! Danger to life, danger of injury by electric shock! Connect the electrical equipment, the housings of all electrical units and motors permanently with the safety conductor at the ground points before power is switched on. Look at the connection diagram. This is even necessary for brief tests. Connect the safety conductor of the electrical equipment always permanently and firmly to the supply mains. Leakage current exceeds. ma in normal operation. Use a copper conductor with at least 0 mm² cross section over its entire course for this safety conductor connection! Prior to startups, even for brief tests, always connect the protective conductor or connect with ground wire. Otherwise, high voltages can occur on the housing that lead to electric shock.. Protection Against Electric Shock by Protective Low Voltage (PELV) All connections and terminals with voltages between 0 and 0 Volts on Rexroth Indramat products are protective low voltages designed in accordance with international standards on electrical safety. WARNING High electrical voltage due to wrong connections! Danger to life, bodily harm by electric shock! Only connect equipment, electrical components and cables of the protective low voltage type (PELV = Protective Extra Low Voltage) to all terminals and clamps with voltages of 0 to 0 Volts. Only electrical circuits may be connected which are safely isolated against high voltage circuits. Safe isolation is achieved, for example, with an isolating transformer, an opto-electronic coupler or when battery-operated. DOK-VISMOT-VM*-RS**-PR0-AE-P

25 VisualMotion Project Planning Safety Instructions for Electric Drives and Controls -. Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of the connected motors. Some common examples are: improper or wrong wiring of cable connections incorrect operation of the equipment components wrong input of parameters before operation malfunction of sensors, encoders and monitoring devices defective components software or firmware errors Dangerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble-free operation. The monitoring in the drive components will normally be sufficient to avoid faulty operation in the connected drives. Regarding personal safety, especially the danger of bodily injury and material damage, this alone cannot be relied upon to ensure complete safety. Until the integrated monitoring functions become effective, it must be assumed in any case that faulty drive movements will occur. The extent of faulty drive movements depends upon the type of control and the state of operation. DOK-VISMOT-VM*-RS**-PR0-AE-P

26 - Safety Instructions for Electric Drives and Controls VisualMotion Project Planning DANGER Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage! Ensure personal safety by means of qualified and tested higher-level monitoring devices or measures integrated in the installation. Unintended machine motion is possible if monitoring devices are disabled, bypassed or not activated. Pay attention to unintended machine motion or other malfunction in any mode of operation. Keep free and clear of the machine s range of motion and moving parts. Possible measures to prevent people from accidentally entering the machine s range of motion: - use safety fences - use safety guards - use protective coverings - install light curtains or light barriers Fences and coverings must be strong enough to resist maximum possible momentum, especially if there is a possibility of loose parts flying off. Mount the emergency stop switch in the immediate reach of the operator. Verify that the emergency stop works before startup. Don t operate the machine if the emergency stop is not working. Isolate the drive power connection by means of an emergency stop circuit or use a starting lockout to prevent unintentional start. Make sure that the drives are brought to a safe standstill before accessing or entering the danger zone. Safe standstill can be achieved by switching off the power supply contactor or by safe mechanical locking of moving parts. Secure vertical axes against falling or dropping after switching off the motor power by, for example: - mechanically securing the vertical axes - adding an external braking/ arrester/ clamping mechanism - ensuring sufficient equilibration of the vertical axes The standard equipment motor brake or an external brake controlled directly by the drive controller are not sufficient to guarantee personal safety! DOK-VISMOT-VM*-RS**-PR0-AE-P

27 VisualMotion Project Planning Safety Instructions for Electric Drives and Controls - Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for: - maintenance and repair work - cleaning of equipment - long periods of discontinued equipment use Prevent the operation of high-frequency, remote control and radio equipment near electronics circuits and supply leads. If the use of such equipment cannot be avoided, verify the system and the installation for possible malfunctions in all possible positions of normal use before initial startup. If necessary, perform a special electromagnetic compatibility (EMC) test on the installation.. Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting Magnetic and electromagnetic fields generated near current-carrying conductors and permanent magnets in motors represent a serious health hazard to persons with heart pacemakers, metal implants and hearing aids. WARNING Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electrical equipment! Persons with heart pacemakers, hearing aids and metal implants are not permitted to enter the following areas: - Areas in which electrical equipment and parts are mounted, being operated or started up. - Areas in which parts of motors with permanent magnets are being stored, operated, repaired or mounted. If it is necessary for a person with a heart pacemaker to enter such an area, then a doctor must be consulted prior to doing so. Heart pacemakers that are already implanted or will be implanted in the future, have a considerable variation in their electrical noise immunity. Therefore there are no rules with general validity. Persons with hearing aids, metal implants or metal pieces must consult a doctor before they enter the areas described above. Otherwise, health hazards will occur. DOK-VISMOT-VM*-RS**-PR0-AE-P

28 -0 Safety Instructions for Electric Drives and Controls VisualMotion Project Planning. Protection Against Contact with Hot Parts CAUTION Housing surfaces could be extremely hot! Danger of injury! Danger of burns! Do not touch housing surfaces near sources of heat! Danger of burns! After switching the equipment off, wait at least ten (0) minutes to allow it to cool down before touching it. Do not touch hot parts of the equipment, such as housings with integrated heat sinks and resistors. Danger of burns!.0 Protection During Handling and Mounting Under certain conditions, incorrect handling and mounting of parts and components may cause injuries. CAUTION Risk of injury by incorrect handling! Bodily harm caused by crushing, shearing, cutting and mechanical shock! Observe general installation and safety instructions with regard to handling and mounting. Use appropriate mounting and transport equipment. Take precautions to avoid pinching and crushing. Use only appropriate tools. If specified by the product documentation, special tools must be used. Use lifting devices and tools correctly and safely. For safe protection wear appropriate protective clothing, e.g. safety glasses, safety shoes and safety gloves. Never stand under suspended loads. Clean up liquids from the floor immediately to prevent slipping. DOK-VISMOT-VM*-RS**-PR0-AE-P

29 VisualMotion Project Planning Safety Instructions for Electric Drives and Controls -. Battery Safety Batteries contain reactive chemicals in a solid housing. Inappropriate handling may result in injuries or material damage. CAUTION Risk of injury by incorrect handling! Do not attempt to reactivate discharged batteries by heating or other methods (danger of explosion and cauterization). Never charge non-chargeable batteries (danger of leakage and explosion). Never throw batteries into a fire. Do not dismantle batteries. Do not damage electrical components installed in the equipment. Note: Be aware of environmental protection and disposal! The batteries contained in the product should be considered as hazardous material for land, air and sea transport in the sense of the legal requirements (danger of explosion). Dispose batteries separately from other waste. Observe the legal requirements in the country of installation.. Protection Against Pressurized Systems Certain motors and drive controllers, corresponding to the information in the respective Project Planning Manual, must be provided with pressurized media, such as compressed air, hydraulic oil, cooling fluid and cooling lubricant supplied by external systems. Incorrect handling of the supply and connections of pressurized systems can lead to injuries or accidents. In these cases, improper handling of external supply systems, supply lines or connections can cause injuries or material damage. CAUTION Danger of injury by incorrect handling of pressurized systems! Do not attempt to disassemble, to open or to cut a pressurized system (danger of explosion). Observe the operation instructions of the respective manufacturer. Before disassembling pressurized systems, release pressure and drain off the fluid or gas. Use suitable protective clothing (for example safety glasses, safety shoes and safety gloves) Remove any fluid that has leaked out onto the floor immediately. Note: Environmental protection and disposal! The media used in the operation of the pressurized system equipment may not be environmentally compatible. Media that are damaging the environment must be disposed separately from normal waste. Observe the legal requirements in the country of installation. DOK-VISMOT-VM*-RS**-PR0-AE-P

30 - Safety Instructions for Electric Drives and Controls VisualMotion Project Planning Notes DOK-VISMOT-VM*-RS**-PR0-AE-P

31 VisualMotion Project Planning VisualMotion GPP System Installation - VisualMotion GPP System Installation. PPC-R Overview The PPC-R control can be used with VisualMotion s GPP firmware and is designed to plug directly into the RECO0 rack from Rexroth Indramat. The RECO0 rack can hold the PPC-R along with RECO I/O modules allowing communications along the RECO0 s back-plane bus. The PPC-R is preconfigured to contain the necessary options at the time of order. PPC-R0. PPC-R0. H S RECO H S RECO Display Toggle Button S, also used for other functions Expansion Slot for PC Card - Compatible Firmware Module S Reset Button RESET U S H DIST TX RX COM X 0 RESET U S H DIST TX RX H Indicator for Sercos Interface Fiber Optic Sercos Interface Transmitter Fiber Optic Sercos Interface Receiver X Power Supply and Watchdog Status Indicator H Optional Expansion Slot X Q Q I I I Ve e Bb Bb V PPC-R0. PROG U X0 X Q Q I I I Ve e Bb Bb V PPC-R0. PROG U X0 COM U X U 0 0 X Programming Interface (COM) X0 Serial Interface (PROG) Grounding Bolt X BT-Bus (currently not supported by GPP firmware) Fig. -: PPC-R0. and PPC-R0. PPC_R_list.FH PPC-R Hardware Note: Refer to chapter for a complete listing of available hardware and firmware configurations for the PPC-R motion control. Single or double slot width versions PPC-R0., with one expansion slot PPC-R0., with three expansion slots Fieldbus slave interface cards (only one fieldbus slave interface card canbeusedinappc-ratonetime) Profibus fieldbus slave interface DeviceNet fieldbus slave interface ControlNet fieldbus slave interface Interbus fieldbus slave interface Additional interfaces Ethernet Card Optional Programmable Limit Switch Card Link Ring (DAQ0) -digit alphanumeric display (H) PCMCIA flash memory card (U) DOK-VISMOT-VM*-RS**-PR0-AE-P

32 - VisualMotion GPP System Installation VisualMotion Project Planning SERCOSInterfaceforuptodrives Two serial interface ports available with a software selectable baudrate of 00 to 00 (Default: 00) PPC-R0.: X0 (second serial port configuration in slot U when no other configuration is used.) PPC-R0.: X0 and X. Note: The standard RS- interface cable used for connecting to VisualMotionToolkit,viaapinPCCOMport,istheIKB000.. PPC-R Specifications PPC-R0. PPC-R0.,,,, RECO RECO H H S S RESET S H DIST U RESET S H DIST U TX TX RX RX X U X0 X U X0 U X U Q Q I I I Ve e Bb Bb V PROG Q Q I I I Ve e Bb Bb V PROG COM PPC-R0. PPC-R0. Fig. -: PPC-R0. and PPC-R0. Dimensions PPC_R_Dim.FH General Permissible cable cross section for incoming power: Up to. mm Mounting style: Using RMB0. racks on TS xx DIN rails Protection rating: IP0, DIN VDE 00, EN 0 Humidity: Atmospheric pressure: Ambient operating temperature: Storage and transport temperature: Weight: PPC-R0. PPC-R0. %, no condensation (operating) %, no condensation (transport) DIN 0 00 Class F 0 00 hpa, 00 m (operating) 0 00 hpa, 00 m (transport) 0 C ( F), DIN 0 00 Class KV 0 C (- F).00 kg (. lbs.). kg (. lbs.) DOK-VISMOT-VM*-RS**-PR0-AE-P

33 VisualMotion Project Planning VisualMotion GPP System Installation - Supply Voltage Nominal value: Permissible ripples: Permissible voltage range: Maximum current consumption: PPC-R0. PPC-R0. VDC Vss within the permissible voltage range 0 VDC, including ripples 0. A (+ supply voltage for I/O modules up to. A). A (+ supply voltage for I/O modules up to. A) Digital Input and Output Digital Input: Digital Output: Current draw, isolated V i,low = V:V i,high = V Current rating = 0. A, isolated Response (delay) time = 00 µs max. Battery Backup Internal clock: An Real-time clock that maintains accurate time of diagnostic logs during a power down condition..v lithium battery (Material number: ) Only Available if PPC-R is ordered configured with a battery. Replace battery once a year. EMC Noise emission to EN 0: Noise immunity to IEC (ESD): Noise immunity to IEC (Burst): Noise immunity to IEC (Surge): Class of an industry environment Judgement criterion B Judgement criterion B Judgement criterion B Interfaces Programming interface PROG (X0): General purpose serial interface COM (X): Optional interfaces: RS- (D-sub, pin, female) RS- (D-sub, pin, female) RS- / RS- / RS- (D-sub, pin, female) Profibus-DP slave (D-sub, pin, female) DeviceNet slave (Phoenix, pin, female) Interbus slave (Outgoing: D-sub, pin, female) (Incoming: D-sub, pin, male) ControlNet slave DOK-VISMOT-VM*-RS**-PR0-AE-P

34 - VisualMotion GPP System Installation VisualMotion Project Planning Connecting Supply Voltage, Digital Inputs and Watchdog Power is supplied to the PPC-R through the X Phoenix connector. X Pin Assignment Pin Signal Description Digital Output (Q) Digital Output (Q) Digital Input (I) Digital Input (I) Digital Input (I) V external GND external BB relay (Watchdog) BB relay (Watchdog) 0 V (control supply voltage) GND Table -: X Pin Assignment PPC-R Power Supply Voltage Faultless operation of the PPC-R requires the supply voltage to fulfill the following criteria: The supply voltage must never drop below +DC. If this occurs, a POWER-FAIL signal will become activate and shutdown the motion control. Note: The power supply unit used with the PPC-R should be a switching power supply with an inrush current as high as 0 A. Do not connect another PPC-R unit to the same supply voltage. The high inrush current may cause the supply voltage to breakdown and activate the POWER-FAIL signal. X PPC-R Digital Output Digital Output Digital Input Power Supply +VDC x0. mm 0 Digital Input Digital Input V external external WD Contact Rating: U = V WD I max = 0 ma +VDC +/-0% Fig. -: PPC-R Power Supply Voltage Ground Screw PPC_R_power.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

35 VisualMotion Project Planning VisualMotion GPP System Installation - Digital Input / Output Supply Voltage Power Supply +VDC X PPC-R Digital Output Digital Output Digital Input Digital Input Digital Input V external x0. mm external WD Contact Rating: U = V WD I max = 0 ma 0 +VDC +/-0% Fig. -: Digital Input / Output Supply Voltage Ground Screw PPC_R_IO.FH Note: The digital inputs on connector X are not functional unless V are supplied to pins and. These digital inputs can be used to trigger program events. Digital outputs and are currently under development to provide an error status. DOK-VISMOT-VM*-RS**-PR0-AE-P

36 - VisualMotion GPP System Installation VisualMotion Project Planning PPC-R Serial Communication Two serial port interfaces are available on the PPC-R. Note: Refer to chapter for a complete listing of available hardware and firmware configurations for the PPC-R motion control. Each serial port can be setup using VisualMotion Toolkit. Both ports always operate with bit, stop bit and no parity. Select Settings Control Serial Ports Port or Port and configure each port as follows: Baudrate options: 00 to 00 Baudrate options: 00 to 00 Mode options: RS (default) RS RS Protocol: Mode options: Type: Host RS (default) Off RS ASCII Host RS Teach Pendant Fig. -: VisualMotion Toolkit communication settings for PPC-R PPC_R_serial.tif Serial Interface Pin Assignment The two interface ports, PROG (X0) and COM (X) have the following pin assignments. Pin Signal Pin Signal Protected Ground not used Transmit Data + for RS Transmit Data for RS 0 Ground Receive Data for RS Transmit Data for RS RS+ / Receive Data + for RS +V RS- / Receive Data for RS Request To Send Data Set Ready Clear To Send Signal Ground Data Terminal Ready Data Carrier Detect Table -: Pin Assignment for PROG Interface X0 and COM Interface X. DOK-VISMOT-VM*-RS**-PR0-AE-P

37 VisualMotion Project Planning VisualMotion GPP System Installation - PPC-R Diagnostic Displays The PPC-R s -digit alphanumeric display (H) scrolls from right to left. It displays the current mode of operation or any error conditions that may exist. Normal Operations During normal operating conditions, the PPC display shows the current mode of operation. The PPC-R display scrolls the -digit number along with the description. PPC-R H Scrolling Display 00 Parameter Mode 00 Manual Mode 00 Automatic Mode: A 00 Program Running: A Table -: Normal Operating Conditions Error Codes When an error is encountered by the PPC, the display automatically displays an E, indicating an error, followed by the corresponding digit diagnostic code. Code E00 E E00 E PF.. Error Type Warning Shutdown Error Power Failure Table -: Error Codes PSM0. Memory Card PPC-R SERCOS The PPC-R uses a special PCMCIA flash memory card. This card contains the GPP firmware and all data necessary to operate the PPC-R: GPP Firmware VisualMotion programs, variables, etc. I/O Configurations The SERCOS port is used for loop-through, daisy-chained installation into a SERCOS fiber optic ring. The output connector Tx is connected to the SERCOS input connector, Rx, of the next SERCOS device in the ring. Each SERCOS device is interconnected output to input, with the output of the last device returning to the SERCOS input, Rx, of the PPC-R. DOK-VISMOT-VM*-RS**-PR0-AE-P

38 VisualMotion GPP System Installation VisualMotion Project Planning. MTS-R Overview The MTS-R is a miniature PLC unit compatible with VisualMotion GPP and designed to interface with the PPC-R directly in the RECO0 rack. The MTS-R is connected directly to the PPC-R by means of a local bus board (SUP-E0*-MTC00-R) connected in the back of each unit. RECO RECO Device Number: 0- H H X0 Programming Interface (PROG) RS-/RS- RESET- All PLC and Control Diagnostic Connector (for service only) 0 DEVICE-NO X0 X0 IBS- MASTER X 0 DEVICE-NO X0 X0 IBS- MASTER X X RS C X X0 RS X Status Indicator H Optional Expansion Slots X Serial Interface (COM) RS-/RS-/RS- X Power Supply and Watchdog: PLC Ready Grounding Bolt PROG RESET U X PROG RESET U U U X X +V GND NC WD X +V GND NC WD COM COM MTS-R0. MTS-R0. Fig. -: MTS-R0. and MTS-R0. MTS_R_list.FH MTS-R Hardware Single or double width versions MTS-R0., with one expansion slot, contains two build-in serial ports (X0, X) and can be preconfigured with a Fieldbus interface card or an additional serial interface in expansion slot U. MTS-R0., with three expansion slots, contains two build-in serial ports (X0, X) and can be preconfigured with one Fieldbus interface card and/or additional serial interface modules in expansion slots U, U, or U. Fieldbus interface cards (configured at time of order) Profibus-DP master interface Profibus-DP slave interface Interbus master interface Additional serial interfaces xrs- xrs- Single digit -segment alphanumeric display (H) DOK-VISMOT-VM*-RS**-PR0-AE-P

39 VisualMotion Project Planning VisualMotion GPP System Installation -. MTS-R Specifications,,, RECO RECO H H X0 X0 X X0 DEVICE-NO X0 X +V GND NC WD PROG RESET MTS-R0. COM IBS- MASTER X U X DEVICE-NO X +V GND NC WD X0 PROG RESET MTS-R0. COM IBS- MASTER X X RS C X RS X U U U M grounding bolt, approx. 0, DIN rail TS x x Fig. -: MTS-R0. and MTS-R0. Dimensions MTS_R_Dim.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

40 -0 VisualMotion GPP System Installation VisualMotion Project Planning General Permissible cable cross section for incoming power: Up to. mm Mounting style: Using RMB0. racks on TS xx DIN rails Protection rating: IP0, DIN VDE 00, EN 0 Humidity: Atmospheric pressure: Ambient operating temperature: Storage and transport temperature: Weight: MTS-R0. MTS-R0. %, no condensation (operating) %, no condensation (transport) DIN 0 00 Class F 0 00 hpa, 00 m (operating) 0 00 hpa, 00 m (transport) 0 C ( F), DIN 0 00 Class KV 0 C (- F).00 kg (. lbs.). kg (. lbs.) Supply Voltage Nominal value: Permissible ripples: Permissible voltage range: Maximum heat loss: MTS-R0. MTS-R0. Maximum current consumption: MTS-R0. MTS-R0. VDC Vss within the permissible voltage range VDC, including ripples. W. W 0 ma (+ supply voltage for I/O modules up to. A) 00 ma (+ supply voltage for I/O modules up to. A) EMC Noise emission to EN 0: Noise immunity to IEC (ESD): Noise immunity to IEC (Burst): Noise immunity to IEC (Surge): Class of an industry environment Judgement criterion B Judgement criterion B Judgement criterion B Interfaces Programming interface PROG (X0): General purpose serial interface COM (X): Optional interfaces: RS- / RS- (D-sub, pin, female) RS- / RS- / RS- (D-sub, pin, female) Profibus-DP (D-sub, pin, female) Interbus (D-sub, pin, female) xrs- and xrs- (D-sub, pin, male) DOK-VISMOT-VM*-RS**-PR0-AE-P

41 VisualMotion Project Planning VisualMotion GPP System Installation - Connecting Supply Voltage and Watchdog Faultless operation of the MTS-R unit requires the supply voltage to fulfill the following criteria: The supply voltage must never drop below +VDC. If this occurs, a POWER-FAIL signal will become activate and stop the PLC operating program. Note: The power supply unit used with the MTS-R should be a switching power supply with an inrush current as high as 0 A. Do not connect another MTS-R unit to the same supply voltage. The high inrush current may cause the supply voltage to breakdown and activate the POWER-FAIL signal. power supply unit +VDC x0, mm X MTS-R +VDC +/-0% GND GND +VDC WD WD contact rating: U = V I max = 0 ma PLC READY Fig. -: MTS-R X Power Supply Voltage MTS_R_power.FH Rechargeable Battery The MTS-R comes equipped with an internal rechargeable battery used for user-specific PLC data. CAUTION Loss of user-specific PLC data If an MTS-R unit is not used or stored for more than months, all user-specific PLC data can be loss. Affected data This affects the following data: PLC user program Retentive data Recharging the rechargeable battery The rechargeable battery is recharged when an MTS-R unit is powered up. A completely discharged battery requires the following charging times: Charging time: hour -> approximately 00 hours backup time Charging time: 0 hour -> approximately 000 hours backup time (full battery) Under normal operating conditions, the service life of the rechargeable battery is between and 0 years. Continuous charging of the rechargeable battery does not have a detrimental effect on the service life. DOK-VISMOT-VM*-RS**-PR0-AE-P

42 - VisualMotion GPP System Installation VisualMotion Project Planning Setting the Parameters of the PROG Interface A DIP switch at the top (under the grill) of the unit is used for setting the parameter values for the PROG interface port X0 of the MTS-R unit. Using a pointed tool (small screwdriver), this DIP switch can be reached even if the housing is closed. If the setting proves difficult, the housing can be opened completely. It consists of two half-shells that can easily be disassembled after the two screws at the rear of the unit have been removed. lock (top and bottom) OFF Diagnostic connector (for service only) Default setting: OFF O P E N ON Fig. -: DIP Switch setting for PROG port X0 MTS_R_dip.FH The table below shows the possible settings and the related DIP switch configurations. Affected parameter Baud rate 00 ON ON ON X X X X X Baud rate 00 OFF OFF OFF X X X X X Baud rate 00 ON OFF OFF X X X X X Baud rate 00 OFF ON OFF X X X X X Baud rate 00 ON ON OFF X X X X X No parity X X X OFF X X X X Even parity X X X ON X X X X RS X X X X OFF OFF X X RS X X X X ON OFF X X RS X X X X OFF ON X X Boot lock OFF X X X X X X X OFF Boot lock ON X X X X X X X ON Table -: Setting the X0 port for MTS-R0. and MTS-R0. DOK-VISMOT-VM*-RS**-PR0-AE-P

43 VisualMotion Project Planning VisualMotion GPP System Installation - Setting the Parameters of the COM Interface Interface Pin Assignments In contrast to the parameters of the PROG interface X0, the parameter values of the COM interface X cannot be set via the hardware. All parameter values are assigned via the PROG interface X0 using the System Configurator program for Windows. Rexroth Indramat's System Configurator program uses a wizard to step the user through all the necessary settings for X. The two interfaces COM and PROG have the following assignments: PIN Signal name PIN Signal name Protected Ground Transmit Data (RS) Receive Data (RS) RS+ or RxD+ (RS) RS- or RxD- (RS) Data Set Ready (Modem) Signal Ground Data Carrier Detected (Mod.) TxD+ (RS) 0 GND TxD- (RS) +V Request To Send (Modem) Clear To Send (Modem) Data Terminal Ready (Mod.) MTS-R H Status and Diagnostic Display Table -: Connector pin assignments of PROG interface X0 and COM interface X Operating state display The MTS-R's -segment H display displays the current operating state and error conditions for the MTS-R. The following -digit error codes are used for indicating the diagnosis results. Code b Meaning Operational (PLC is running) 0. Power-on state (reset test) F. Firmware in Flash EPROM invalid J. Boot lock for firmware active P. Local bus is not connected Table -: Operating states of the MTS-R unit Note: Please notify Service immediately if any other single digit code with a period is displayed. DOK-VISMOT-VM*-RS**-PR0-AE-P

44 - VisualMotion GPP System Installation VisualMotion Project Planning Error display A -segment display that flashes in succession is used for displaying - digit error states. The listed error codes correspond to the system error messages of the user interface. Code Meaning 00 Software version error 00 Self-test failed 0 Invalid PLC program 0 Maximum PLC cycle time exceeded 0 PLC operating voltage is low 0 Time-out ms implementation 0 INTERBUS malfunction 0 INTERBUS memory overflow 0 INTERBUS configuration error 0 INTERBUS bus error 0 INTERBUS hardware/firmware error 0 INTERBUS I/O bus module error 0 INTERBUS not ready 0 INTERBUS general generation error 0 PPC not found Table -: MTS-R error codes. Connecting the PPC-R and MTS-R Brief Description of the SUP-E0*-MTC00-R Accessories The electrical connection between the MTS-R and the PPC-R is established via a local bus. This local bus is implemented in the form of a local bus board and is required as an accessory part of the PPC-R. SUP-E0-MTC00-R SUP-E0-MTC00-R SUP_E_E.FH Fig. -0: SUP-E0-MTC00 and SUP-E0-MTC00 Local Bus Boards Versions There are two versions of the local bus board available: As SUP-E0-MTC00-R, mm long Material No.: 0 As SUP-E0-MTC00-R, 00 mm long Material No.: 0 DOK-VISMOT-VM*-RS**-PR0-AE-P

45 VisualMotion Project Planning VisualMotion GPP System Installation - Selection Criterion The following figure illustrates the possible applications of the local bus boards. SUP-E0-MT00-R SUP-E0-MT00-R MTS-R0 PPC-R0 MTS-R0 PPC-R0 SUP-E0-MT00-R SUP-E0-MT00-R MTS-R0 PPC-R0 MTS-R0 PPC-R0 Fig. -: Application of SUP-E0*-MTC00 Local Bus Board SUP_E0.FH Installation Notes The SUP-E0*-MTC00-R local bus board must be installed at the rear of the MTS-R and PPC-R. Afterwards, the two modules can be installed in the RMB0. rack. When removing the MTS-R or PPC-R from the RMB0. rack, both modules (MTS-R and PPC-R) must be removed from the rack at the same time. Note: The local bus board may be damaged if the two modules are not removed simultaneously. DOK-VISMOT-VM*-RS**-PR0-AE-P

46 - VisualMotion GPP System Installation VisualMotion Project Planning. RECO 0 Hardware RECO0 defines a form factor for controllers and I/O modules from Rexroth Indramat. RECO I/O modules are installed directly in a RMB four slot rack unit and provide I/O data to the PPC-R controller via the RMB s back-plane. A maximum of four RMB racks can be connected and mounted side by side. Each rack contains an addressing DIP switch for configuring the order of installation as illustrated in Fig. -. Note: For complete details, refer to the RECO0. Configuration Manual DOK-CONTRL-RECO0.***-PRJ-EN-P A control system is composed of: a RECO0 RMB base rack unit MTS-R0. or 0. PLC units PPC-R0. or 0. controls using GPP firmware and a combination of RME, RMA I/O and RMC modules RECO0 I/O Modules RECO0 I/O modules can be combined in any order beginning with the next available adjacent slot next to the PPC-R. Description Type Details Material Number RMB0.-0 Base rack, slots accommodates up to modules RME0.--DC0 Input module x inputs, VDC 0 RME0.--DC0 Input module x inputs, VDC 0 RME0.--AC Input module x inputs, VAC 0 RMA0.--DC0-00 Output module x outputs, VDC, A 00 RMA0.--DC0-00 Output module x outputs, VDC, 00mA 0 RMA0.--AC0-00 Output module x outputs, 0 VDC, A 0 RMA0.--RE0-00 Output module x relay outputs, 0 VAC, A 0 RMC0.-E-A Analog module analog module x inputs, x output 0 Remote SERCOS Coupling Unit Table -: RECO0 I/O Module Overview RECO0 I/O modules can be used remotely to the PPC-R. In this case, a SERCOS coupling RMK unit is necessary. The remote RECO0 rack is then connected via the SERCOS ring to the PPC-R. Description Type Details Material Number RMK0.-LWL-SER-FW SERCOS coupling unit SERCOS Interface 0 Table -0: Remote SERCOS Coupling Unit DOK-VISMOT-VM*-RS**-PR0-AE-P

47 VisualMotion Project Planning VisualMotion GPP System Installation - Mounting the RECO RMB Base Rack The RMB0.-0 base racks can be mounted onto a TS xx DIN rail, and secured with a set screw. If necessary, the RMB racks can be mounted directly onto a mounting panel within the cabinet using the holes provided in the racks. Rack arrangement x RMB0.-0 with a total of module slots for accommodating the PPC-R and different RECO0 I/O modules Fig. -: RMB0.-0 Maximum Configuration Word Art RMB0.-0 Installation Dimensions DIN Rail Locking screw,,, 0 S DIN Rail TS x x Local bus conector Fig. -: RMB0.-0 Installation Dimensions RMB0._0.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

48 - VisualMotion GPP System Installation VisualMotion Project Planning S S 0 Fig. -: Connecting Multiple RMB0.-0 Racks RMB0._0_conn.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

49 VisualMotion Project Planning VisualMotion GPP System Installation - Slot Addressing of the RMB0. Racks A DIP switch on the rack s bus board enables up to four () RMB0.-0 racks to be addressed individually. Each rack must have its own unique address. Number of racks used in a given application should be addressed as shown in Fig. -. slot S S S S S setting for S setting for S setting for S base rack no. base rack no. base rack no. setting for base rack no. Base rack Base rack slot 00 slot 0 slot 0 slot 0 slot 0 slot 0 slot 0 slot 0 bit number byte number byte number I/Q 0... I/Q I/Q... I/Q Base rack Base rack slot 0 slot 0 slot 0 slot slot slot slot slot bit number byte number byte number I/Q 0... I/Q... 0 I/Q... I/Q Fig. -: Setting the RECO Rack Addresses RMB0._Address.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

50 -0 VisualMotion GPP System Installation VisualMotion Project Planning System Grounding Each electronic component within an enclosure (controls, drives, etc.) should be grounded individually to a central grounding point on the machine as per Fig. -. To ensure proper grounding use a ground wire of at least 0 mm² ( American Wire Gauge). Voltage supply grounding should also be performed in the same manner. User Terminal Machine User Terminal Devices must be grounded individually to Machine Central Ground! PPC-R I/O I/O I/O PPC-R I/O I/O I/O Drive Drive Drive Machine Central Ground Fig. -: System Grounding sys_ground.fh DOK-VISMOT-VM*-RS**-PR0-AE-P

51 Indramat H S RESET S H DIST X Q Q I I I Ve GNDe Bb Bb V GND PPC-R0.x RECO X X U X TX RX U U U X0 X X I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. L RME0.--DC0 0 0 H ERR TX RX E E E E E E +U L L S HIGH S LOW X X X X I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. L RME0.--DC0 A X 0 X 0 RMA0.--AC H ERR TX RX E E E E E E +U L L S HIGH S LOW Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. X 0 X 0 RMA0.--DC0-00 A Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL +UL L L Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +UL +UL L L X 0 X 0 X 0 X 0 RMA0.--DC H ERR TX RX E E E E E E +U L L Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +UL L A DIA X X 0 RMA0.--DC0- DEVICE- RMK0.-LWL-SER 0 LWL MO < - 0 > 0 GLA SERC REC X H +VD R X T I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. RME0.--DC0 X X X X I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. RME0.--DC0 X X X X I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. RME0.--DC0 X X Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. X X Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U +U X 0 X 0 X X Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U X 0 X 0 X X Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U RMA0.--AC0- RMA0.--DC0- RMA0.--DC0- VisualMotion Project Planning Accessing of RECO0 I/O Modules - Accessing of RECO0 I/O Modules. PPC-R Motion Control System When a PPC-R is used as a stand-alone control, it is installed in the left most slot of an RMB rack. This slot is identified as slot 00. The device installed in slot 00, in this case the PPC-R, controls all backplane communication of installed Local RECO0 I/O modules. Local RECO0 modules are defined as I/O modules that are installed either on the same RMB rack as the control or as I/O modules installed in an adjacent RMB rack. Two adjacent RMB racks communicate via the local bus connection created between two racks, up to a maximum of RMB racks. In addition to Local RECO I/O modules, the PPC-R can also communicate, via SERCOS, with remote SERCOS RECO racks and Drive I/O cards. Accessing of I/O modules for RECO and Drive systems is controlled by the PPC-R. X X RX X 0 TX S HIGH X X RX X 0 TX S LOW Local RECO Rack SERCOS RECO Rack PPC-R X X RX X 0 TX Local RECO0 Modules SERCOS RECO0 Modules X L+ L- X L+ L- X L+ L- A A A A A A SERCOS Drive I/O Fig. -: PPC-R Motion Control Configuration PPC_motion system.fh DOK-VISMOT-VM*-RS**-PR0-AE-P

52 - Accessing of RECO0 I/O Modules VisualMotion Project Planning Configuring RECO0 I/O Modules for the PPC-R VisualMotion communicates with RECO0 I/O modules by assigning registers to specific modules. The assignment of registers to I/O devices is performed using VisualMotion's I/O Configuration tool. Refer to the VisualMotion Functional Description manual for details. This section describes how RECO0 I/O modules are assigned to VisualMotion registers. The labeling of RECO0 modules is illustrated in Fig. -. X I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. L I*.0. Bit number Byte number Slot number in RMB rack Q = output / I = input RME0.--DC0 Fig. -: RECO0 Bit Label reco_label.fh RECO0 -Bit I/O Modules The RME0.- (Input) and RMA0.- (Output) modules each use VisualMotion register for accessing their respective bits. The lower VisualMotion register bits are assigned to the lower connector X (Byte 0) and the upper bits are assigned to the upper connector X (Byte ). RECO0 -Bit I/O Modules The RME0.- (Input) and RMA0.- (Output) modules each use VisualMotion registers for accessing their respective bits. The first VisualMotion register (n) is assigned to the lower two connectors (X and X). The second adjacent VisualMotion register (n+) is assigned to the upper two connectors (X and X). Bit distribution of each register is similar to that of the -bit input module. Note: A VisualMotion register is equivalent to Bytes or Word. Each RECO0 module connector is identified as a Byte. RECO0 module connectors begin at Byte 0 (lowest connector) up to Byte (in the case of a -bit module with connectors). The bits on a RECO0 module are labeled from 0- for the lower Byte and 0- for the upper Byte. VisualMotion assigns bit numbers - for the lower Byte and - for the upper Byte. DOK-VISMOT-VM*-RS**-PR0-AE-P

53 VisualMotion Project Planning Accessing of RECO0 I/O Modules - VisualMotion n Register Definition This document makes mention of a (n) register and a (n +) register. During the configuration of RECO0 I/O modules in VisualMotion's GPP I/O Configuration interface, a RECO Module Setup window is used to identify the Slot Number for the module as well as the register number that will be assigned to the inputs or outputs, if applicable. The Number assigned to the inputs or outputs is considered the (n) register. The (n + ) register is the next adjacent register number assigned to -Bit RECO0 modules. -Bit modules only use one register (n). For example, If register 00 is assigned to the inputs of a RECO0 I/O module, then register 0 is the (n + ) register. RECO0 -Bit I/O Module RECO0 -Bit I/O Module VisualMotion Register (n) Upper Byte Access RECO Bit Designation VisualMotion Bit Designation VisualMotion Register (n) Lower Byte Access RECO Bit Designation VisualMotion Bit Designation X 0 X 0 Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U +U I=Input / Q=Output Byte (0,, or ) Bit (0-) VisualMotion Register (n) Upper Byte Access RECO Bit Designation VisualMotion Bit Designation Lower Byte Access RECO Bit Designation VisualMotion Bit Designation X X X X I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. L VisualMotion Register (n +) Upper Byte Access RECO Bit Designation VisualMotion Bit Designation Lower Byte Access RECO Bit Designation VisualMotion Bit Designation RMA0.--DC0-00 RME0.--DC0 Fig. -: RECO0 Digital Input and Output Module Bit Access RECO0.FH / Word Art DOK-VISMOT-VM*-RS**-PR0-AE-P

54 - Accessing of RECO0 I/O Modules VisualMotion Project Planning RMC0.-E Analog Input and Output Module The RMC0. analog RECO0 module uses VisualMotion register for accessing the X and X input connectors and VisualMotion register for accessing the X output connector. A second VisualMotion register is used for scaling the output value of X. The first (n) VisualMotion input register is assigned to the upper X connector. The second (n + ) adjacent VisualMotion input register is assigned to the center X connector. For output, the lower X connector is assigned to the first (n) VisualMotion output register. The second (n +) adjacent VisualMotion output register is reserved for the output scaling of connector X. Refer to the SERCOS I/O Unit RECO0. configuration manual for details. Note: The scaling for the output is done in VisualMotion Toolkit's GPP I/O Configuration interface when configuring an analog RECO0 module. RECO0 Analog I/O Module UANALOG X IA CONST IIN U IIN UI + UI - GND A GND A ANALOG-INPUT The first VisualMotion input register (n) is assigned to X X IA CONST IIN U IIN UIN + UIN - GND A GND A The second VisualMotion input register (n +)is assigned to X ANALOG-INPUT X IO 0-0mA UO ± GND A GND A ANALOG-OUTPUT RMC0.-E-A The first VisualMotion output register (n) is assigned to X The second VisualMotion output register (n +)is reserved for scaling of the outputs Fig. -: RECO0 Analog Input and Output Module Bit Access RMC0_.FH / Word Art DOK-VISMOT-VM*-RS**-PR0-AE-P

55 VisualMotion Project Planning Accessing of RECO0 I/O Modules - RECO I/O Error Reaction Bits Bits and of control parameter C (System Options) are used to specify how VisualMotion responds to errors reported by RECO I/O modules. The bit settings are as follows: Bit Bit Reaction 0 0 Ignore (default) 0 Warning x Fatal Error (shutdown) Table -: RECO I/O Error Reaction Bits (C-0-000) Ignore The control ignores any errors reported by the RECO I/O modules. This is the system s default reaction. This reaction is selected if the user program is to handle RECO I/O errors. In this case, the User I/O Configuration tool would be used to map the RECO I/O modules -bit status words to a VisualMotion register, where the user program can monitor them. Note: This reaction provides default backwards compatibility to older versions of GPP firmware that are not capable of directly responding to RECO I/O errors. Warning The control responds to errors reported by the RECO I/O modules by generating a " RECO I/O Failure" warning. This reaction is selected if the user is to be notified of any RECO I/O errors, while still allowing the user program to continue executing. Fatal Error The control responds to errors reported by the RECO I/O modules by generating a " RECO I/O Failure" error, stopping program execution and motion. This reaction is selected if the application requires program execution and motion to be stopped as soon as a RECO I/O error is detected. DOK-VISMOT-VM*-RS**-PR0-AE-P

56 0 0 DEVICE-NO X0 X +V GND NC WD PROG RESET MTS-R0. COM H X0 REC X H DIA I*..0 I*.. I*.. DEVICE- I*.. I*.. I*.. MO I*.. I*.. < - 0 > 0 GLA LWL IBS- MASTER X X RS C X X0 RS X U U U X RECO H S U RESET S H DIST TX RX U X X0 Q Q I I I Ve GNDe Bb Bb V GND PPC-R0.x 0 0 H ERR TX E E E E E +U L L RMA0.--DC0- X 0 0 SERC R I*.0.0 I*.0. X T I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. +VD RMK0.-LWL-SER RME0.--DC0 X X X X X I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. RME0.--DC0 X X X X I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. RME0.--DC0 X X Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. X X Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U +U X 0 X 0 X X Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U X 0 X 0 X X Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U RMA0.--AC0- RMA0.--DC0- RMA0.--DC0- - Accessing of RECO0 I/O Modules VisualMotion Project Planning. MTS-R and PPC-R Motion Control System When an MTS-R is used in conjunction with a PPC-R, both devices are connected via the SUP-E0*-MTC00-R local bus board. Refer to on page for details. The MTS-R is connected to the left of the PPC-R and both devices are installed in the left most position (slot 00) of the first RMB rack, as shown in Fig. -. The device installed in slot 00, in this case the MTS-R, controls all backplane communication of installed Local RECO0 I/O modules. Local RECO0 modules are defined as I/O modules that are installed either on the same RMB rack as the MTS-R/PPC-R combination or as I/O modules installed in an adjacent RMB rack. Two adjacent RMB racks communicate via the local bus connection created between two racks, up to a maximum of RMB racks. All SERCOS RECO and drive I/O devices are directly controlled by the PPC-R over the fiber optic ring. The MTS-R can access all SERCOS and drive I/O devices across the local bus connection and the PPC-R can access all local RECO I/O modules across the local bus connection. X X RX X 0 TX RX E S HIGH S LOW U X U RECO X Q*..0 Q*.. Q*.. Q*.. 0 Q*.. Q*.. Q*.. Q*.. X Q*.0.0 Q*.0. Q*.0. Q*.0. 0 Q*.0. Q*.0. Q*.0. Q*.0. RMA0.--AC H ERR E E E E E +U L L X X RX X 0 TX 0 TX RX E S HIGH S LOW X 0 X 0 Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL +UL L L Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +UL +UL L L RMA0.--DC0-00 H ERR E E E E E +U L L X X RX X 0 TX 0 0 X 0 X 0 X 0 X 0 TX RX E S HIGH S LOW Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +UL L RMA0.--DC0-00 Local RECO Rack SERCOS RECO Rack MTS-R PPC-R Local RECO0 Modules SERCOS RECO0 Modules X L+ L- X L+ L- X L+ L- A A A A A A A A A SERCOS Drive I/O Fig. -: MTS-R and PPC-R Motion Control Configuration MTS_PPC_system.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

57 0 0 DEVICE-NO X0 X +V GND NC WD PROG RESET MTS-R0. COM H X0 IBS- MASTER X X RS C X X0 RS X U U U X RECO U RESET S H DIST TX RX X Q Q I I I Ve GNDe Bb Bb V GND PPC-R0.x RECO X 0 X 0 Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. RMA0.--AC0-00 X 0 X 0 Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL +UL L L Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +UL +UL L L RMA0.--DC0-00 X 0 X 0 X 0 X 0 Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +UL L RMA0.--DC0-00 VisualMotion Project Planning Accessing of RECO0 I/O Modules - Configuring Local RECO I/O Modules for the MTS-R The configuration of local RECO I/O modules is done using the WinPCL software program. WinPCL interfaces with the MTS-R using the standard IKB000 serial cable on X0, as shown in Fig. -. Local RECO Rack WinPCL X0 IKB000 H S U U U X0 X MTS-R Fig. -: MTS-R Serial Connection to WinPCL PPC-R Local RECO0 Modules MTS-R_Serial.FH Configuring SERCOS I/O Devices WinPCL configures the dual port RAM, shared by both the MTS-R and PPC-R, with starting memory locations for inputs and outputs. Once configured, the MTS-R can directly access any local I/O bit by writing a program in WinPCL. The PPC-R can access the configured memory locations using any of the following communication methods: Cyclic data Non-cyclic (service channel) input registers and output registers The configuration of SERCOS I/O (RECO0 and drive) is done using the I/O Configuration Tool is VisualMotion. Once all the SERCOS I/O is configured and downloaded to the PPC-R, the MTS-R can access the configured dual-port RAM location for accessing SERCOS I/O. DOK-VISMOT-VM*-RS**-PR0-AE-P

58 - Accessing of RECO0 I/O Modules VisualMotion Project Planning DOK-VISMOT-VM*-RS**-PR0-AE-P

59 VisualMotion Project Planning Fieldbus Interface - Fieldbus Interface The PPC-R can be ordered preconfigured with one of the following Fieldbus slave interfaces: Profibus Fieldbus slave interface DeviceNet Fieldbus slave interface Interbus Fieldbus slave interface ControlNet Fieldbus salve interface The Fieldbus interface is installed in an expansion slot of the PPC-R. Note: Only one fieldbus slave interface can be installed in a PPC-R at one time. Note: When an MTS-R PLC unit is used in conjunction with a PPC-R, all fieldbus interface support is disabled in the PPC-R. Fieldbus support will be handled in the MTS-R.. Profibus-DP Fieldbus Slave Interface Profibus-DP Interface PROFIBUS-DP Slave module X Receive/Transmit Data P Repeater Control Signal P Bus Gnd Bus V Receive/Transmit Data N Repeater Control Signal N not used RxD/TxD-P CNTR-P Bus Gnd VP not used RxD/TxD-N CNTR-N X X PROFIBUS interface (slave) X PROFIBUS diagnosis interface RS C X DP-SLAVE RDY RUN ERRSTA Fig. -: Front Panel of DPS0 Profibus-DP Slave Interface Profibus_card.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

60 - Fieldbus Interface VisualMotion Project Planning Pin Assignment of Connector X Pin Signal Function --- not used --- not used RS+ Receive / Transmit Data Plus CNTR-P Repeater Control Signal Ground +V Repeater Supply --- not used RS- Receive / Transmit Data Minus Ground Table -: Pin Assignment of Connector X Profibus Diagnostics The Profibus interface has LEDs on the front panel. They allow diagnosis of the bus status and communications between the Profibus slave interface and the PPC-R. LED Color code Ready Yellow Run Green Status Yellow Error Red Table -: Designation and Color of LEDs for Profibus Interface LED State Meaning READY (yellow) On Hardware O.K. Flashing (continuous) Flashing (irregular) Off Initial configuration O.K. Hardware or system O.K. Hardware defective RUN (green) On Fieldbus communication with master is active Flashing (continuous) Flashing (irregular) Off Ready for Fieldbus communications Parameterization error Hardware defective STATUS (yellow) On Bus token active ERROR (red) On Internal slave error Table -: LED Diagnostics for Profibus Interface DOK-VISMOT-VM*-RS**-PR0-AE-P

61 VisualMotion Project Planning Fieldbus Interface - Profibus Specifications Hardware Description Performance Max. Baudrate Connector Type Operating Temperature Details. KBaud- MBaud RS- optically isolated Standard pin Profibus D-sub 0 C ( F) Software Description Slave Type I/O Capacity Details Profibus DP only bytes input / bytes output Note: A ControlNet configuration file (*.gsd) is available in the VisualMotion installation CD. Certifications Description Certifications Details Profibus NutzerOrganisaton Profibus Trade Organization CE Marked DOK-VISMOT-VM*-RS**-PR0-AE-P

62 - Fieldbus Interface VisualMotion Project Planning. DeviceNet Fieldbus Slave Interface X Supply Voltage + CAN HIGH Signal Reference Potential CAN LOW Signal Supply Voltage - V+ CAN_H Shield/Drain CAN_L V- X DeviceNet interface (slave) X X DeviceNet diagnosis interface RS C RDY X RUN NET MOD DN-SLAVE Fig. -: Front Panel of DNS0 DeviceNet Slave Interface devicenet_card.fh Pin Assignment of Connector X Pin Signal Function V- CAN_L Differential low signal Shield/Drain Shield connection CAN_H Differential high signal V+ + V Interface supply (Maximum 0 V) Table -: Pin Assignment of Connector X DOK-VISMOT-VM*-RS**-PR0-AE-P

63 VisualMotion Project Planning Fieldbus Interface - DeviceNet Diagnostics The DeviceNet interface has LEDs on the front panel. They allow diagnosis of the bus status and communications between the DeviceNet slave interface and the PPC-R. LED Ready Run Network Status Module Status Color code Yellow Green White / Red / Green White / Red / Green Table -: Designation and Color of LEDs for DeviceNet interface LED State Meaning READY (yellow) On Hardware O.K. Flashing (continuous) Flashing (irregular) Off Initial configuration O.K. Hardware or system O.K. Hardware defective RUN (green) On Fieldbus communication with master is active Flashing (continuous) Flashing (irregular) Off Ready for Fieldbus communications Parameterization error Hardware defective NET * RED on Critical link failure (Network Status) RED flashing Connection timeout GREEN on GREEN flashing White On-line, link O.K. On-line, not connected Device not power from DeviceNet master, Baudrate error MODUL * RED on Unrecoverable error (Module Status) RED flashing Minor fault GREEN on GREEN flashing White Normal operation Configuration failure Device not power from DeviceNet master, Baudrate error * NET and MODUL LED's are based on the DeviceNet specification. Table -: LED Diagnostics for DeviceNet DOK-VISMOT-VM*-RS**-PR0-AE-P

64 - Fieldbus Interface VisualMotion Project Planning DeviceNet Specifications Hardware Description Performance max. baud rate Transceiver Information Connector type Operating Temperature Details 00 KBaud optically isolated V pin "Open Style" terminal block 0 C ( F) Software Description Slave type Message types Polled I/O Capacity Details Group only server Polled I/O, Explicit bytes input / bytes output Note: A DeviceNet configuration file (*.eds) is available in the VisualMotion installation CD. Certifications Description Certifications Details Open DeviceNet Vendor Association CE Marked DOK-VISMOT-VM*-RS**-PR0-AE-P

65 VisualMotion Project Planning Fieldbus Interface -. ControlNet Fieldbus Slave Interface ControlNet Network Access Port (NAP) A Ch_A ControlNet interface B Ch_B ControlNet interface RDY RUN A B CN-SLAVE Fig. -: Front Panel of the CNS0 ControlNet Slave Interface controlnet_card.eps Channel A ControlNet Interface Channel B ControlNet Interface A standard quad shield coax RG- cable, using a BNC coaxial connector, is used to connect the ControlNet slave (Ch_A) to the ControlNet network (Ch_A) via a passive tap. A standard quad shield coax RG- cable, using a BNC coaxial connector, is used to connect the ControlNet slave (Ch_B) to the ControlNet network (Ch_B) via a passive tap. Note: Either Ch_A or Ch_B can be used to create the ControlNet network path. To create a Redundant Parallel network path, both Ch_A and Ch_B are connected to the independent network. ControlNet Network Access Port The Network Access Port (NAP) can be used to connect to a Laptop (using a PCMCIA ControlNet Interface card) or a equivalent device for configuration and diagnostics on the ControlNet network. A standard - pin RJ- connector using shield cable is used. DOK-VISMOT-VM*-RS**-PR0-AE-P

66 - Fieldbus Interface VisualMotion Project Planning ControlNet Diagnostics The ControlNet interface has LEDs on the front panel. They allow diagnosis of the bus status and communications between the ControlNet slave interface and the PPC-R. LED RDY RUN Ch_A Ch_B Color code Yellow Green Clear Clear Table -: Designation and Color of LEDs for ControlNet LED State Meaning RDY On Hardware O.K. Flashing (continuous) Flashing (irregular) Off Initial configuration O.K. no firmware loaded Hardware or system error Hardware defective RUN On Fieldbus communication with master is active Flashing (continuous) Flashing (irregular) Off Communication stopped Missing or faulty configuration No communication Ch_A * Both off Reset or no power and Ch_B Both red Failed link interface (Redundant Option) Alternating red / green Alternating red / off Both green Self test Bad node configuration Normal operation Ch_A Both off Channel disabled or Ch_B Flashing red / green Invalid link configuration Flashing red / off Flashing green / off On green Link fault or no MAC frames received Temporary channel error or listen only Normal operation * C_A and Ch_B LED's are based on the ControlNet Specification. Table -: LED Diagnostics for ControlNet Interface DOK-VISMOT-VM*-RS**-PR0-AE-P

67 VisualMotion Project Planning Fieldbus Interface - ControlNet Specifications This Fieldbus slave card is designed based on the ControlNet specification, Rev..0, March. Hardware Description Performance max. baud rate Connector type Redundant configuration supported = yes NAP port supported = yes Operating Temperature Details MBaud fixed BNC RG- connector (Ch_A and Ch_B -pin RJ- connector (NAP) According to ControlNet specs. According to ControlNet specs. 0 C ( F) Software Description Slave type Message types Polled I/O Capacity Details Adapter, messaging Polled I/O, Explicit bytes input / bytes output Note: A ControlNet configuration file (*.eds) is available in the VisualMotion installation CD. Certifications Description Certifications Details ControlNet International CE Marked DOK-VISMOT-VM*-RS**-PR0-AE-P

68 -0 Fieldbus Interface VisualMotion Project Planning. Interbus Fieldbus Slave Interface Outgoing Bus X DO DI GND not used +V DO DI not used RBST INTERBUS module X INTERBUS interface (outgoing) (slave) Incoming Bus X DO DI GND not used not used DO DI not used not used X X IBS-SLAVE RDY RUN TR X INTERBUS interface (incoming) UL RC BA RD Fig. -: Front Panel of the IBS0 Interbus Slave Interface Interbus_carrd.FH Pin Assignment of Connector X Pin Assignment of Connector X Pin Signal Function DO RS (Out) DI RS (In) GND reference ground --- not used +V /DO RS (Out) /DI RS (In) --- not used RBST remote bus control Table -: Pin assignment of Connector X (outgoing bus) Pin Signal Function DO RS (Out) DI RS (In) GND reference ground --- not used --- not used /DO RS (Out) /DI RS (In) --- not used --- not used Table -0: Pin assignment of Connector X (incoming bus) DOK-VISMOT-VM*-RS**-PR0-AE-P

69 VisualMotion Project Planning Fieldbus Interface - Interbus Diagnostics The Interbus interface has LEDs on the front panel. They allow diagnosis of the bus status and communications between the Interbus slave interface and the PPC-R. LED Color code RDY Yellow RUN Green TR Green UL Green RC Yellow BA Green RD Red Table -: Designation and Color of LEDs for Interbus LED State Meaning RDY On Hardware O.K. Flashing (continuous) Flashing (irregular) Off Initial configuration O.K. no firmware loaded Hardware or system O.K. Hardware defective RUN On Fieldbus communication with master is active Flashing (continuous) Flashing (irregular) Off Communication stopped Missing configuration No communication TR On PCP communication O.K. Off No PCP communication UL On Bus power supply O.K. Off Power supply low RC On No error from incoming remote bus Off No connection to device BA On Active data telegram Off No data exchange on Interbus RD On Outgoing remote bus interface switched off Off Table -: LED Diagnostics for Interbus Interface Outgoing remote bus interface switched on DOK-VISMOT-VM*-RS**-PR0-AE-P

70 - Fieldbus Interface VisualMotion Project Planning Interbus Specifications Hardware Description Performance max. baud rate Connector type Operating Temperature Details 00 Kbaud (X) optically isolated (X) non-isolated Standard pin D-sub X - female connector X - male connector 0 C ( F) Software Description Card type Message types Max. length of PD channel Length of PCP channel Details Interbus slave with Generation and Loop support PD (Process Data) PCP (Peripheral Communication Protocol) up to bytes input / bytes output Configurable via Fieldbus Mapper tool (OFF or ON at words) Certifications Description Certifications Details CE Marked DOK-VISMOT-VM*-RS**-PR0-AE-P

71 VisualMotion Project Planning Additional Interfaces - Additional Interfaces. Programmable Limit Switch Interface (Option Card PLS) The PPC-R can be preconfigured with up to two Option Card PLSs containing outputs each for a total of outputs. Each Option Card PLS features the following: outputs per card mini-phoenix connectors with outputs each (X and X) LED indicator for each output Current draw per output is 0 V Note: PLS outputs updated every 0 µs Note: The maximum current draw of each output is limited to about 00 ma. However, the sum of all output currents per connector (X or X) should not exceed amps. Option Card PLS Labels S H V X V X RECO V X V Phoenix connectors will be provided with matching output numbers and voltage markings. RESET S H DIST U TX RX X Q Q I I I Ve e Bb Bb V PPC-R0. PROG 0 V X U X0 COM 0 V X U X U 0 V X 0 V NSW0.R Fig. -: NSW0 Option Card PLS NSW0_card.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

72 - Additional Interfaces VisualMotion Project Planning Connecting Supply Voltage Each connector on the PLS card (X and X) requires a V input for the outputs to function. The label on the Option Card PLC identifies the V and connections. Refer to Fig. - for details. The V LED indicator will be lit when power is applied. X and X Pin Assignment Phoenix Connector Numbering for X and X Label on X Label on X Signal Description Digital Output 0 Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output V V V V Ground Table -: X and X Pin Assignment NSW0 Power Supply Voltage Power Supply +VDC x0. mm X or X V NSW0.-R Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output +VDC -%+0% Fig. -: Option Card PLS Power Supply Voltage Ground Screw Card_PLS_power.FH CAUTION Damage due to component overload! Exceeding the maximum current draw of the Option Card PLS can cause damage to the internal components. DOK-VISMOT-VM*-RS**-PR0-AE-P

73 VisualMotion Project Planning Additional Interfaces - Option Card PLS Specifications Hardware Description Details Protection rating IP 0, EN 0 Relative humidity Atmospheric pressure Ambient operating temperature Storage and transportation temperature Power Supply - %, no condensation (operating) - %, no condensation (transport) 0-00 hpa 0 C ( F) - 0 C (- F) Description Input voltage Maximum current Details VDC, -%+0%, EN- The maximum input current per outputs (X or X) should be limited to Amps.. Ethernet The Ethernet option card resides in the PPC-R control and contains it's own TCP/IP (Transmission Control Protocol/Internet Protocol) stack. The TCP/IP stack enables the Ethernet interface to transmit data over the network or Internet and communicate with VisualMotion Toolkit via the DDE Server. The PPC-R control can be ordered preconfigured with an Ethernet card. Note: Refer to chapter for available PPC-R hardware configurations using Ethernet. X Ethernet Network Access Port X ETHERNET RDY RUN ERR STA ethernet_card.eps Fig. -: ETH0 Ethernet Card DOK-VISMOT-VM*-RS**-PR0-AE-P

74 - Additional Interfaces VisualMotion Project Planning Ethernet Network Access Port The Ethernet network access port is used to connect to a LAN by using a standard RJ- cable. Ethernet Diagnostics The Ethernet interface has LEDs on the front panel. They allow diagnosis of the communication between the Ethernet interface and the control. LED Color code Ready Yellow Run Green Error Red Status Yellow Table -: Designation and Color of LEDs on Ethernet LED State Meaning READY (yellow) On Hardware O.K. Flashing (continuous) Flashing (irregular) Off Initial configuration O.K. Hardware or system O.K. Hardware defective RUN (green) Flashing (continuous) Ready for Fieldbus communications Flashing (irregular) Parameterization error ERROR (red) Not used Currently no function assigned STATUS (yellow) Flashing Ethernet-Frame detected on network Table -: LED Diagnostics for Ethernet DOK-VISMOT-VM*-RS**-PR0-AE-P

75 VisualMotion Project Planning Link Ring - Link Ring. Overview VisualMotion's Link Ring can interface up to PPC-R controls within a fiber optic ring referred to as the Link Ring. A VisualMotion Link Ring consists of one PPC-R configured as the Link Master and up to PPC-Rs configured as Link Slave controls. Every PPC-R participating in a Link Ring is also referred to as a Link Node. All Link Nodes can export one position and import up to regardless if they are Link Slaves or a Link Master. The cross communication capability of the Link Ring makes it possible to distribute the Link Master axes positions to all following Link Slave axes. The hardware used to create a Link Ring is the DAQ0 expansion card. Each PPC-R used in a Link Ring must be ordered configured with a DAQ0 expansion card. DAQ0 DAQ0.R X ARCNET connection (Not supported in GPP) LWL primary ring LWL secondary ring H X TX X RX RUN/ARC PRIMARY H, H, H, H M S S P X0 TX X RX SECONDARY H (P) "error primary ring" H (S) "error secondary ring" H (S) "slave circuit" H (M) "master circuit" Fig. -: Front View of the DAQ0 Expansion Card DAQ0_card.FH Note: Refer to chapter for a complete listing of available hardware and firmware configurations for the PPC-R motion control. DOK-VISMOT-VM*-RS**-PR0-AE-P

76 - Link Ring VisualMotion Project Planning Link Ring Configurations A Link Ring can be structured in two different configuration: Single Ring: Primary Ring Double Ring: Primary and Secondary Ring Link Ring Addressing A single ring is connecting all DAQ0 cards with one fiber optic ring. A double ring is connecting all DAQ0 cards with two fiber optic rings. The primary and secondary fiber optic loops are connected in opposite directions. Each PPC-R control participating in a Link Ring must have a unique address setting. The link address is set in control parameter C-0-000, Unit Number using VisualMotion toolkit. The link address is transmitted from the PPC-R to the DAQ0 card across the PC0 bus. The link address must be with the range of or error " Link Ring Error" will be issued. Configuring Link Master and Slaves Link Master Link Slave Passive Participant (Repeater) The PPC-R control can have three different functions in a Link Ring. a Link Master a Link Slave passive participant (repeater) In a Link Ring, one PPC-R control must be configured as a Link Master while all remaining controls are either configured as Link Slaves or as passive participants. There can be any number of passive participants in a Link Ring. The Link Master controls cross communications of all participants in a Link Ring. It controls the cycle time ( ms, fixed) of all Link Slaves and SERCOS drive rings of each respective slave that participant in the Link Ring. The Link Master collects and distributes the master axes positions cyclically to all slaves within the link. A Link Slave synchronizes telegram processing with it's SERCOS drive ring, collecting positional data from the slave axes and returning it to the Link Master control using cross communication. Those slaves who are integrated into the Link Ring, but are not parameterized as active participants of it, remain passive. This means that they merely transmit the signal arriving at their input onto their output (repeater function). They do not participate in communication. PPC-R Link Ring Control Word Link ring configuration of PPC-R controls is set in control parameter C-0-000, Link Ring Control Word using VisualMotion Toolkit. C-0-000, Bit C-0-000, Bit Link Ring Behavior Link Ring Function Active participant Link master 0 Active participant Link slave 0 N/A Passive participant repeater Table -: Link Participant Configuration DOK-VISMOT-VM*-RS**-PR0-AE-P

77 H S RESET U S H DIST X Q Q I I I Ve e Bb Bb V H S RESET U S H DIST TX RX U X X0 Q Q I I I Ve e Bb Bb V PPC-R0. H S RESET U S H DIST X Q Q I I I Ve e Bb Bb V TX RX PPC-R0. TX RX PPC-R0. PROG PROG PROG DAQ U U X0 X DAQ DAQ COM COM U U X0 X COM U U U X U RECO RECO RECO VisualMotion Project Planning Link Ring -. Single Link Ring Link ring structure type is set in card parameter C-0-000, Bit. C-0-000, Bit Ring Structure 0 Single ring Double ring Table -: Link Ring Type Setting Optical Output Power The transmission power for a single ring (between adjacent DAQ0 cards) is set in card parameter C-0-00, Link Ring Primary Fiber Optic Length. C-0-00, Link Ring Secondary Fiber Optic Length, sets the transmission power for a double ring. Parameter C-0-00 is not used when the system is configured as a single ring. However, both parameters must be set correctly for a system configured as a double ring. drive drive... drive n PPC-R + DAQ SERCOS drive ring drive drive... drive n SERCOS drive ring PPC-R + DAQ Link Ring drive drive... drive n SERCOS drive ring PPC-R + DAQ Fig. -: Single Link Ring single_link_ring.fh DOK-VISMOT-VM*-RS**-PR0-AE-P

78 H S RESET U S H DIST X Q Q I I I Ve e Bb Bb V H S RESET U S H DIST TX RX U X X0 Q Q I I I Ve e Bb Bb V PPC-R0. H S RESET U S H DIST X Q Q I I I Ve e Bb Bb V TX RX PPC-R0. TX RX PPC-R0. PROG PROG PROG DAQ U X0 DAQ DAQ COM COM U U X0 X COM U U X U U X U RECO RECO RECO - Link Ring VisualMotion Project Planning Single Ring: Primary Ring A single ring only uses the primary ring. connected. The secondary ring is not DAQ0 DAQ0 DAQ0 X TX X TX X TX X RX X RX X RX X0 X0 X0 TX X TX X TX X RX RX RX Fig. -: DAQ0 Connection for Single Link Ring single_link_conn.fh. Double Link Ring drive drive... drive n PPC-R + DAQ SERCOS drive ring Primary Ring drive drive... drive n Secondary Ring PPC-R + DAQ SERCOS drive ring drive drive... drive n PPC-R + DAQ SERCOS drive ring Fig. -: Double Link Ring double_link_ring.fh DOK-VISMOT-VM*-RS**-PR0-AE-P

79 VisualMotion Project Planning Link Ring - Double Ring: Primary Ring and Secondary Ring The primary ring is generally used for communication. The secondary ring only transmits diagnostics signals when the primary ring is active. The secondary ring is used to transmit redundant/backup signal in case the primary ring stops transmitting. Note: The secondary ring must be connected as shown in an opposite direction to the primary ring. Secondary Ring DAQ0 DAQ0 Primary Ring DAQ0 X TX X TX X TX X RX X0 TX X RX X0 TX X RX X0 TX X RX X RX X RX Fig. -: DAQ0 Connection for Double Link Ring double_link_conn.fh. Clearing Link Ring Errors When a Link Ring error occurs, the H display on the PPC-R will display ", Link Ring Error ". For detailed information, refer to the extended diagnostic message in Table -. Link ring errors are clear with a low-tohigh (0-) transition of Bit in System_Control register 00. PPC-R H Display Diagnostic Code C-0-0 Diagnostic Message C-0-0 E Link Ring Error Table -: Link Ring Diagnostic Code Extended Diagnostics C-0-0 Other Link Master already active Link not possible Transmission path defective Master position fault (MDT) Master position fault (AT) Meaning There is more than on Link Master in the Link Ring. The hardware combination of PPC-R and DAQ does not permit a control link. The link participant has detected a fiber optic cable break in the Link Ring. The transmission of the master axis position by the Link Master to the link subscriber is experiencing problems. The transmission of the master axis position by the Link Slave to the Link Master is experiencing interference. DOK-VISMOT-VM*-RS**-PR0-AE-P

80 - Link Ring VisualMotion Project Planning Clearing a Redundancy Loss Extended Diagnostics C-0-0 Selected link address not permitted DAQ: SERCOS interface ASIC: initialization error DAQ: Master interrupt error DAQ: Slave interrupt error DAQ: card not found Meaning Table -: Link Ring Extended Diagnostics The Link Ring address, as set by control s Unit Number parameter (C-0-000), must be between and. A hardware error occurred during the initialization of the DAQ card. Master interrupt hardware error. Verify that the DAQ0's jumpers are correct. Slave interrupt hardware error. Verify that the DAQ0's jumpers are correct. A control was configured as a participant but no DAQ0 card was installed. Hardware problem with installed DAQ0 card. If a Redundancy Loss (register 0, bit ) is indicated on any node of a given link ring, the following step should be used:. Locate and correct the fiber optic problem.. DO NOT set the Clear_All_Errors input (register, bit ) high on any of the nodes, yet! This input does not force the node to execute a Rebuild Double Ring. You will still be left with a Redundancy Loss.. Hold the Rebuild Double Ring input (register, bit ) on ALL nodes high until every node's Redundancy Loss bit goes low (this is similar to handshake). You may want to set a timeout in your logic in case the bit doesn't go low after about 0 seconds. This step must be done with all nodes in drive-ring SERCOS phase.. Set the Clear_All_Errors input of all nodes that have their Error output (register, bit ) set. You can also use the Link Error output (register 0, bit ) as the flag. This bit will only go high for Link Ringrelated errors. You can drop the Clear_All_Errors input when the error output goes low. This step does not need to be performed to all nodes simultaneously, like the Rebuild in step. DOK-VISMOT-VM*-RS**-PR0-AE-P

81 VisualMotion Project Planning VisualMotion Human Machine Interfaces - VisualMotion Human Machine Interfaces. Overview. BTC0 Rexroth Indramat's BTC and BTV Human Machine Interface units are used to interface with the control, providing the operator with a wide variety of functionality. The operator can view and modify parameters, jog axes, and interface with machine operations. Using Screen Manager software, a machine builder can create customized screens that are specific to an application. The BTC0 is a portable, compact interface that allows a user the flexibility of movement for a better perspective of the function being performed. An RS/ combination interface allows connection of the BTC0 to Rexroth Indramat's VisualMotion control (PPC-R). SYSTEM00 BTC0 F F F F F F F F L HELP MAIN MENU R A+ A- X+ X- B+ B- Y+ Y- C+ C- Z+ Z- ABC JKL DEF MNO GHI PQR STU VW XYZ TEACH TASK EDIT 0 DEL ESC + -. NEXT OK Fig. -: BTC0 Front Face BTC0_front.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

82 - VisualMotion Human Machine Interfaces VisualMotion Project Planning BTC0 Specifications Basic BTC0 Unit Basic BTC0 Unit Supply voltage Power consumption Display Keyboard Enclosure material Protection Temperature range Weight Table -: Electrical Data V (0 to 0 V) DC max. 00 ma LCD 0 x pixel, b/w, full graphics function LED, backlit visible area 0 x mm (." x.") Polyester film with keys Polycarbonate IP (Main connection cable plugged in, RS- connector provided with protective cap) 0to+ C(Operation) ( to F) -0to+0 C(Storage) (- to F) approx.. Kg (. lbs.) Emergency Stop Switch Emergency Stop Switch elements Twist release with two floating normally closed contacts, electrically isolated Rated voltage V DC / V AC Rated current A DC / A AC Operating cycles > 00,000 Table -: Emergency Stop Switch Data Live-Man Switch Live-Man switch Threepositionswitch Switch elements Rated voltage Rated current Operating cycles Control category Table -: Live-Man Switch Data Position Off Position Live-Man Position - Panic Two floating N.O. contacts, electrically isolated V DC / V AC A DC / A AC > 00,000 for Live-Man range > 00,000 for Panic position in accordance with EN- Note: TÜV/BG certified integrated safety circuitry, category, according to EN-, ensure that the live-man switch will not be activated after a panic event when returning over position to position. DOK-VISMOT-VM*-RS**-PR0-AE-P

83 VisualMotion Project Planning VisualMotion Human Machine Interfaces - Handwheel The handwheel option has the following characteristics: Internal bit absolute counter (in conjunction with Screen Manager software). A two-place relative counter from - to +. Display reset by pressing the handwheel for an extended period (about two seconds). Hardware Components Mbyte Flash Kbytes SRAM RS- programming interface for downloading firmware and for programming of custom displays Communications interface in accordance with Indramat standard, i.e. bus-capable RS and RS Standard Features BG Test Certifications EN 00 Part : "Safety of Machinery - Electrical Equipment of Industrial Machinery; Part : General Requirements" EN : "Industrial Robots Safety" EN : "Safety of Machinery - Emergency Shut-Off Equipment, Functional Aspects, Design Guidelines" Integrated Safety Circuitry, Category, according to EN- for Live- Man Switches Emergency Shut-Off The emergency stop button is designed to shut-off the system operation in any mode (stop category 0). For category emergency stop functions, appropriate measures must be taken in addition to the electronic safety equipment (DIN EN 00-). The emergency stop button is a dualcircuit switch. Live-Man Switch The live-man switch is activated with the holding hand. Enclosure and shape of the live-man switch have been ergonomically optimized for righthand and left-hand operation. The live-man switch directly affects the post-connected system (drive amplifier, SPS/PLC, robot). It is designed to allow hazardous machine movement only upon intentional activation of the operator, when the operator has to work within the hazardous zone of the machine. The BTC0 interface cable includes the power supply line for the device, the connection cable for the emergency stop button, and the live-man switch as well as the data cables for data transfers between the BTC0 and the controller. When the user disconnects the connector, the emergency stop circuit and the live-man circuit will be interrupted. DOK-VISMOT-VM*-RS**-PR0-AE-P

84 - VisualMotion Human Machine Interfaces VisualMotion Project Planning Optional Features The BTC0 may be equipped with an optional -bit override switch and a -bit handwheel. Feedrate Override Used with Screen Manager version of VT-00 software. Handwheel Used with custom Screen manager screens. Safety Concept If the BTC0 is equipped with the appropriate optional features (emergency stop and live-man switch), it can be used for operation with industrial drive and robot controllers. It includes a dual-circuit -position, live-man switch. Both circuits are electrically isolated and operate redundantly. It is important that the subsequent control interprets the switch in accordance with the machine-specific or system-specific standards and rules. If appropriate interlocks with the safety contacts of the drive or robot control are provided, hazardous movements in certain modes (e.g., manual or test mode) can only be activated if the live-man switch is held in the center (= enabled) position. If this switch is not depressed, or if it is pressed all the way down to the panic position, any movement will be stopped immediately. The return from the panic position is activated electrically, whereby the switch returns to the non-activated position. To start a new movement, enter a command and re-activate the live-man switch. The live-man switch of the BTC0 provides integrated safety circuitry. A postconnected control must be used to ensure compliance with machine-specific or system-specific standards and rules. It must be linked to the control in a way that meets the safety requirements for the power circuits in accordance with EN, EN00, EN-, EN0, VDI, and VDI. DOK-VISMOT-VM*-RS**-PR0-AE-P

85 VisualMotion Project Planning VisualMotion Human Machine Interfaces - Enclosure Dimensions Outer Dimensions 0 (.0 ) SYSTEM00 BTC0 F F F F F F F F L A+ A- B+ HELP B- MAIN MENU X+ Y+ R X- Y- (.0 ) (. ) Depth =mm(.0 ) without E-Stop Depth =mm(. ) with E-Stop C+ C- Z+ Z- ABC JKL DEF MNO GHI PQR STU VW XYZ TEACH TASK EDIT 0 DEL ESC + -. NEXT OK 00 (.0 ) Fig. -: BTC0 Enclosure Dimensions BTC0_dim.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

86 - VisualMotion Human Machine Interfaces VisualMotion Project Planning Rear View Phillips screws, please note different lengths! Type Code Label Live Man Switch Main Connection Fig. -: Rear View BTC0 Programming Interface BTC0_back.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

87 VisualMotion Project Planning VisualMotion Human Machine Interfaces - BTC0 Accessories SUP-M0-BTC0 Wall-Mounting Bracket Fig. -: Wall Mounting Bracket BTC0_mount.TIF The mounting bracket is provided to attach the BTC0 to a wall or to a machine part. When fastened at the proper height, the display can be read and the device can be operated without removing it from the bracket. The user can mount the two-piece wall bracket so that the live-man switch is enabled when the device is inserted into the bracket. However, this mounting method should be used only if the device is mounted outside of a hazardous zone. In this case, the system must have provisions in accordance with DIN EN to ensure that no persons are present within the room that is equipped with protective safety features. DOK-VISMOT-VM*-RS**-PR0-AE-P

88 - VisualMotion Human Machine Interfaces VisualMotion Project Planning BTC0 Connections RS/ Main Connection This pin circular connection is used for RS/ communications to the BTC0. Table - contains a pin-out of the necessary connections to the BTC0 for communications as well as machine interfacing. Programming Interface Fig. -: BTC0 Main Connection Main Connection BTC0_main_conn.FH Pin Assignment 0 V + V Live-manswitchin Live-man switch in Live-man switch out Live-man switch out E-STOP in E-STOP in E-STOP out 0 RS TxD- RS - RS TxD+ RS + RS RxD- RS RxD+ Signal Ground E-STOP out Not used Table -: Pin-out of the -Pin Connector DOK-VISMOT-VM*-RS**-PR0-AE-P

89 VisualMotion Project Planning VisualMotion Human Machine Interfaces - RS Firmware Download and Projecting Interface Fig. -: RS Interface BTC0_rs.FH Pin Assignment not used TxD RxD Signal Ground Table -: Pin-out of the RS Interface IKB000 PC Connection Cable The IKB000 is a RS interface connection cable used to download firmware to the BTC0 and for transferring Screen Manager programs. Refer to Accessories for ordering information. Note: The firmware for this device is supplied on diskette. Therefore, an OEM needs this cable to load the firmware. DOK-VISMOT-VM*-RS**-PR0-AE-P

90 -0 VisualMotion Human Machine Interfaces VisualMotion Project Planning Enclosure Connection from BTC to Control The following components are used for connecting the BTC0 to a VisualMotion control (EMC compliant). IKS0 connection cable INS0 bulkhead connector IKB00 serial cable is used for connecting to a PPC-R Refer to Accessories for ordering information. The connections for the live-man switch and the emergency stop function inside the control cabinet are wired via the two pin Phoenix connectors on the BTZ0. junction box. BTZ0. Junction Box Connection to BTC0 Live Man and E-Stop Functions To Control Unit 0 0 BARCODE Label Fig. -: BTZ0. Junction Box BTZ0_box.FH The junction box ensures that the connections for the live-man switch and the emergency stop function can be accessed externally. The IKS0 connection cable establishes the connection to the INS0 bulkhead connector. Inside the box, the individual functional units are distributed/wired to the respective connectors on the front panel. The live-man circuits and the emergency stop function as well as the voltage supply are connected at a -pin Phoenix terminal. The connection to the BTC0 is established through a -pin female circular connector. From the BTZ to the PPC-R, the IKB00 serial communication cable is used. RS and RS ports are connected to the control in accordance with Indramat standards. Note: In order to establish communications between the BTC0 and the control, the serial port on the control, to which the BTZ0. is connected, must be set to the same settings as that of the BTC0. DOK-VISMOT-VM*-RS**-PR0-AE-P

91 Q Q I I I Ve GNDe Bb Bb V GND VisualMotion Project Planning VisualMotion Human Machine Interfaces - BTC0 to PPC-R Connections Using a BTZ0. (EMC Compliant) PPC-R Cabinet BTC0 Indramat RECO H BTC0 S U RESET S H DIST TX RX U U U BTZ0. IKB 00 X X PPC-R0.x X0 X X X 0 0 IKS 0 INS0 IKS 0 PPC-R X INS/K0 Termination on INS/K0 Termination off X BTZ0. TxD+ RxD+ TxD- RxD- GND RxD+ GND TxD+ RxD- TxD- IKB 00 X X + VDC L + VDC L BTC0 X RxD+ TxD+ RxD- TxD- GND TxD+ GND RxD+ + VDC L ~ TxD- V 0 0 RxD- V IKS 0 The Cabinet Bulkhead INS0 is optional! The signals remain unchanged. Fig. -: BTC0 to PPC-R through a BTZ0. BTZ0_emc.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

92 ABC JKL HELP DEF MNO GHI PQR STU VW XYZ DEL MAIN MENU NEXT TEACH TASK EDIT - VisualMotion Human Machine Interfaces VisualMotion Project Planning Optional Terminal Strip Connection Remove housing at one end of cable assembly IKB00. If the color code matches X shown below, you have removed the correct housing. If not, reassemble housing and remove opposite end. Remove conductors from X and wire to terminal strip according to wiring scheme shown below. X in Connector Green Yellow White Brown Gray RxD+ RxD- TxD+ TxD- SGND SYSTEM00 BTC0 F F F F F F F F Indramat H S RECO Pin numbers match X wiring in connector S 0W 0 0W 0W 0 +V GND L A+ A- B+ B- C+ C- X+ Y+ Z+ R X- Y- Z U RESET S H DIST TX RX U X X0 Q Q I I I Ve GNDe Bb Bb V GND PPC-R0.x U X U to X on PPC-R BTC 0 Current draw: * VDC Input Voltage (0,...0 VDC) max. 00 ma. RXD Brown TXD Yellow RXD White TXD Green GND Gray Brown Blue White Red (Clear) Green Black Vio/Black Yel/Black Violet Yellow Gray Pink Pink/Black Gray/Black TXD RXD TXD RXD Signal GND * +V Liveman In Liveman Out Liveman In Liveman Out E-Stop In E-Stop Out E-Stop In E-Stop Out IKS0 INS0 IKS0 ESC OK Terminal Strip Notes: * MACHINE E-STOP/LIVEMAN CHAIN ) Due to the various I/O schemes available for Visual Motion Control and the ability to map I/O points, refer to the I/O register setup for the correct input points. ) The BTC E-Stop Contacts are rated for VDC/A max. or VAC/A max. ) The BTC Liveman Contacts are rated for VDC/A max. or VAC/A max. ) Due to the various machine configurations available, Hard wiring of E-Stop and Liveman signals other than to Control inputs are considerations to be made by the machine builder. Fig. -: BTC0 to PPC-R Terminal Strip Connection BTZ0_term_strip.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

93 VisualMotion Project Planning VisualMotion Human Machine Interfaces -. BTV Human Machine Interface BTV0/0/0 Overview The BTV0/0/0 control panels provide a graphical user interface to the machine. The BTV control panels provide ease of use and convenience to the user. This is achieved by a clearly structured keypad. The number of keys has been reduced to the most necessary functions. In order to be able to communicate with other controllers or a PC, the BTV units are equipped with an RS and an RS serial interface. The user can program seven keys on the keypad. Insert strips can be used to clearly label key functions as required. Its combined RS/ interface makes the BTV units particularly suitable for the connection to any Rexroth Indramat controller. SYSTEM00 BTV0 F F F F F F ABC JKL STU. 0 DEF MNO VW + - GHI PQR XYZ JOG+ CLEAR JOG- DEL ESC NEXT HELP MAIN MENU OK = Identifies Programmable Keys! Fig. -0: BTV0 Front View BTV0_front.FH SYSTEM00 BTV0 L R ABC JKL DEF GHI MNO PQR HELP F F F F F F F F MAIN MENU STU VW XYZ. 0 DEL + NEXT - ESC OK Fig. -: BTV0 Front View Programmable Keys BTV0_front.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

94 - VisualMotion Human Machine Interfaces VisualMotion Project Planning SYSTEM00 BTV0 L R ABC JKL DEF GHI MNO PQR HELP F F F F F F F F MAIN MENU STU VW XYZ. 0 DEL + NEXT - ESC OK Programmable Keys Fig. -: BTV0 Front View BTV0_front.FH BTV Features Enclosure, Control and Display Element Front panel interface with keypad BTV0 has keys BTV0, 0 have keys Graphical LC display with LED back lighting BTV0: x pixel BTV0: x pixel BTV0: 0x Protection Class BTV0: IP aluminum front panel BTV0, 0: impact resistant ergonomic IP enclosure Plug-in connecting cables programmable machine control keys with LEDs, insert strips for customized labeling Hardware Features MB flash memory kb RAM Standard RS and RS/RS Interface BTV0 uses RS and RS BTV0, 0 use RS and RS/RS 0xV inputs V IN = typical 0 V potential free I IN = minimum ma xv outputs for external wiring V OUT = typical 0 V potential free I OUT = typical 00 ma DOK-VISMOT-VM*-RS**-PR0-AE-P

95 VisualMotion Project Planning VisualMotion Human Machine Interfaces - Communications Interfaces The communication interfaces comply with the Rexroth Indramat standard (i.e., RS/ and RS). The BTV0 unit features serial interfaces (not isolated!): COM : RS interface COM : RS interface BTV Project Planning Manual Rexroth Indramat's BTV units are outlined in more detail (dimensions and specifications) in the following documentation. System00 BTV0. DOK-SUPPL*-BTV0.****-FK0-EN-P System00 BTV0. DOK-SUPPL*-BTV0.****-FK0-EN-P System00 BTV0. DOK-SUPPL*-BTV0.****-PR0-EN-P DOK-VISMOT-VM*-RS**-PR0-AE-P

96 Indramat U RESET S H DIST TX X Q Q I I I Ve GNDe Bb Bb V GND RX Indramat U RESET S H DIST TX X Q Q I I I Ve GNDe Bb Bb V GND RX Indramat U RESET S H DIST TX X Q Q I I I Ve GNDe Bb Bb V GND RX RECO RECO RECO JKL STU DEF MNO VW GHI PQR XYZ JOG+ DEL AUTO CLEAR HELP STOP JOG- NEXT - VisualMotion Human Machine Interfaces VisualMotion Project Planning Typical Applications RS Communication to PPC-R PPC-R BTV0 H SYSTEM00 BTV0 S F F F F F F ABC U X0 U X U X IKB MAIN ESC MENU OK PPC-R0.x BTV0 H S SYSTEM00 BTV0 ABC DEF GHI L JKL MNO PQR R U X0 U X U X IKB00 HELP MAIN F F F F F F F F MENU STU VW XYZ. 0 DEL + NEXT - ESC OK PPC-R0.x BTV0 H S SYSTEM00 BTV0 ABC DEF GHI U X0 U X U X IKB00 JKL MNO PQR L R STU VW XYZ. 0 MAIN HELP F F F F F F F F MENU DEL + NEXT - ESC OK PPC-R0.x PPC-R TxD RxD INS/K0 Termination ON IKB00 INS/K0 Termination OFF RS+ BTV0,0,0 COM X RS- RS+ SGND RS- SGND TxD RxD X + VDC L X + VDC L + VDC L ~ Fig. -: Connecting to a PPC-R Control BTV_PPC_conn.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

97 Indramat U RESET S H DIST TX X Q Q I I I Ve GNDe Bb Bb V GND RX RECO I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. L RME0.--DC0 0 0 H ERR E E E E E E +U L L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. L I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. L RME0.--DC0 S S LOW 0 0 Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. RMA0.--AC H ERR E E E E E E +U L L S S LOW 0 0 Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL +UL L L Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +UL +UL L L RMA0.--DC Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L RMA0.--DC H ERR E E E E E E +U L L S S LOW Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +UL L Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +UL L 0 RMK0.-LWL-SER 0 > 0 GLA LWL REC +VD I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. RME0.--DC0 I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. RME0.--DC0 0 0 I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*..0 I*.. I*.. I*.. I*.. I*.. I*.. I*.. I*.0.0 I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. I*.0. RME0.--DC0 H ERR E E E E E E +U L L S S LOW Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q* H ERR E E E E E E +U L L S S LOW Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U +U 0 0 Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U 0 0 H ERR E E E E E E +U L L S S LOW 0 0 Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*..0 Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. Q*.. +U Q*.0.0 Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. Q*.0. +U RMA0.--AC0- RMA0.--DC0- RMA0.--DC0- RMA0.--DC0- VisualMotion Project Planning Fiber Optic Cable(LWL) 0-0 Fiber Optic Cable(LWL) 0. Data Transmission Ring Structure The communications between the control (PPC) and the digital drives is accomplished using the standard SERCOS interface (IEC ) via fiber optic cables (LWL). A SERCOS fiber optic ring structure is illustrated in Fig. 0-. H S PPC-R0.x U X0 U X U X X X X X X X X X X X X X X X X DIA DEVICE- X X MO < - 0 SERC H R T X X X X X X X X X X X X X X X X X X X X X X TX RX X X RX HIGH X 0 TX TX RX X X RX HIGH X 0 TX TX RX X X RX HIGH X 0 TX TX RX X X RX HIGH X 0 TX TX RX X X RX HIGH X 0 TX TX RX X X RX HIGH X 0 TX X L+ L- X L+ L- X L+ L- X L+ L- X L+ L- X L+ L- A A A A A A A A A A A A A A A A A A Fig. 0-: Fiber Optic Ring Structure Fiber_optic_ring.FH Fiber Optic Transmission Path Installation The SERCOS ring starts and end at the control. The optical output (TX) of the control is connected with the optical input (RX) of the first drive. It's output is then connected to the input of the next drive until all drives are connected. The output of the final drive is connected to the input (RX) of the control, thus completing the SERCOS ring. A fiber optic transmission path starts at a transmitter output (TX) and ends at a receiver input (RX). Fiber Optic Cable Connection Points The transmission path is made up of fiber optic cables and fiber optic cable bulkhead connectors. Bulkhead connectors are used as coupling units between two fiber optic cables installed through a cabinet wall. FSMA Connector Standard The connectors used on Rexroth Indramat fiber optic cable correspond to the FSMA standards (IEC -). DOK-VISMOT-VM*-RS**-PR0-AE-P

98 0- Fiber Optic Cable(LWL) VisualMotion Project Planning Fiber Optic Cable Types The fiber used in Rexroth Indramat's fiber optic cable assembling is constructed of both plastic or glass. Plastic fiber optic cables can be used for transmission lengths up to 0 m and glass fiber optic cables for lengths up to 00 m. Fiber optic cable assemblies are available in three different types: IKO 0 Plastic Fiber Optic Cable (. mm ) The IKO 0 fiber optic cable assembly has an outer diameter of. mm and is recommend for internal control cabinet connections. LWL cable ø. mm connector Fig. 0-: IKO 0 Fiber Optic Cable Assembly protective cap IKO0.FH IKO 0 Plastic Fiber Optic Cable (.0 mm) The IKO 0 fiber optic cable assembly has an outer diameter of.0 mm and is recommended for both internal and external control cabinet connections. This fiber optic cable assembly contains the smaller. mm fiber optic cable within a red reinforced outer jacketing. LWL cable ø.0 mm Fig. 0-: IKO 0 Fiber Optic Cable Assembly connector protective cap IKO0.FH IKO Glass Fiber Optic Cable Glass fiber optic cable assemblies are recommended for both internal and external control cabinet connections. Glass fiber optic cable assemblies are available in two types: IKO 000 glass fiber optic cable available in 0, and 00 m lengths with an outer diameter of mm. 0-0 glass fiber optic cable assembled only in the United States in predetermined lengths with an outer diameter of mm. Contact customer service for available lengths. DOK-VISMOT-VM*-RS**-PR0-AE-P

99 VisualMotion Project Planning Fiber Optic Cable(LWL) 0- Fiber Optic Cable Accessories The following accessories are available for fiber optic cables: fiber optic bulkhead connector FSMA fiber optic connector wrench Fig. 0-: Fiber Optic Bulkhead Connector Fiber_bulkhead.FH Fig. 0-: FSMA Fiber Optic Connector Wrench FSMA_wrench.FH Note: The fiber optic connector wrench can be helpful when installing fiber optic cable onto the ECODRIVE0 digital controllers. Description Material Number Fiber Optic Bulkhead Connector Fiber Optic Connector Wrench 0 Table 0-: Fiber Optic Cable Accessories 0. Project Planning Notes Before planning a project, make certain that you fully understand the requirements and recommendation of Rexroth Indramat's fiber optic cable assemblies. Note the following details: Transmission Path Length The maximum length of fiber optic cables is limited by the amount of attenuation (light loss) in the transmission path between fiber optic transmitters. Combining Fiber Optic Cable Types Rexroth Indramat does not recommended the combining of plastic and glass fiber optic cable assemblies through a bulkhead connector. Mechanical Limits Observe all mechanical limit values (e.g., bend radii, pulling tensions, cross tension, bending cycles) when installing fiber optic cable assemblies. Temperature Limits Never exceed the temperature limit values for fiber optic cable assemblies. DOK-VISMOT-VM*-RS**-PR0-AE-P

100 0- Fiber Optic Cable(LWL) VisualMotion Project Planning Maximum Transmission Length Fiber Type Without Bulkhead Bulkhead Connection Bulkhead Connections Plastic 0 m 0 m 0 m Glass 00 m 00 m 00 m Table 0-: Maximum Transmission Length Technical Data Description IKO 0 IKO 0 IKO Outer jacketing Polyamide (PA) Polyurethane (PUR) Polyurethane (PUR) Polyurethane (PUR) Outer diameter. mm ± 0.0 mm.0 mm ± 0. mm.0 mm ± 0.0 mm.0 mm ± 0. mm Bend radius (min.) 0 mm 0 mm mm mm Bend radius in cable track installations (min.) Pulling tension resistance (one time) Pulling tension resistance (continuous) Cross tension resistance (crush) Bending cycle endurance Temperature (operating/storage) Fiber core diameter Specific optic attenuation General Safety Guidelines Not recommended 00 mm Not recommended Not recommended 0 N 0 N 0 N 0 N 00 N 00 N N N 0 N/cm 0 N/cm 000 N/cm 000 N/cm >,000 Cycles ± 0 >00,000 Cycles ± 0 >0,000 Cycles ± 0 >0,000 Cycles ± 0-0 C.. + C -0 C.. +0 C -0 C.. + C -0 C.. + C 000 µm (Plastic) 000 µm (Plastic) 00 µm (Glass) 00 µm (Glass) < 0 db/km < 0 db/km < db/km < db/km Table 0-: Technical Data for Fiber Optic Cables DANGER Eye injury due to high-energy light! Do not look into the light (transmitter output or fiber optic cable end). CAUTION Damage to fiber optic components due to handling and mounting! Do not over tighten fiber optic cable connectors. DOK-VISMOT-VM*-RS**-PR0-AE-P

101 VisualMotion Project Planning Fiber Optic Cable(LWL) 0- CAUTION Damage to fiber optic cable due to handling and mounting! Mechanical and thermal limit values must be maintained. Handling Connecting the Fiber Optic Cables Note the following transmitter locations when connecting fiber optic cable in a SERCOS ring. Transmitter End Connections Fiber optic cable assemblies are connected to the transmitting end as follows: TX (PPC-R) X0 (DSS in DIAX0) X0 (DKC0.) X (RMK0.-LWL-SER) Receiver End Connections Fiber optic cable assemblies are connected to the receiver end as follows: RX (PPC-R) X (DSS in DIAX0) X (DKC0.) X (RMK0.-LWL-SER) Storage When storage fiber optic cable assemblies, please not that the protective caps must be in place the mechanical limits values are not exceeded the temperature limit values are not exceeded Routing and Mounting When routing and mounting fiber optic cable assemblies, make certain that all mechanical limits are not exceeded. Bend Radius Do not exceed the minimum bending radius when routing around corners or cable tracks. Cross Tension Do not exceed the maximum cross tension (e.g., when routing around corners). Do not expose fiber optic cables to excessive weight stress from larger power cables. Avoid routing over sharp edges or pointy uneven surfaces. Any cuts or punctures to the cable's outer jacketing can cause interference. Cable Twist Remove all the twist out of the fiber optic cables before routing them. DOK-VISMOT-VM*-RS**-PR0-AE-P

102 Fiber Optic Cable(LWL) VisualMotion Project Planning 0. System Setup Preparations Make certain that all fiber optic cables are connected between transmitter output (TX) and receivers (RX) and that the SERCOS fiber optic ring terminates back at the control. Indramat RECO H S fiber optic ring TX RX U RESET S H DIST TX RX X Q Q I I I U X0 U X U Ve GNDe Bb Bb V GND PPC-R0.x Fig. 0-: SERCOS Connections for PPC-R PPC_fiber_conn.FH SERCOS Drive Address Settings In order to achieve proper drive addressing, set the S (low) and S(high) rotary selector switches on the DSS0.M and DKC0. firmware module to a unique number for each drive contained in the SERCOS ring. The allowable addresses range in a VisualMotion system is between 0... Refer to Fig. 0- and Fig. 0-. H ERR X0 TX S HIGH S LOW X RX Fig. 0-: SERCOS Connections for DSS0.M (DIAX0) DSS0_address.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

103 0 0 VisualMotion Project Planning Fiber Optic Cable(LWL) 0- S S X0 TX X RX HIGH LOW Fig. 0-: SERCOS Connections for DKC0. DKC0_address.FH Any RMK0.-LWL-SER (SERCOS RECO0 I/O stations) must also be addressed in the SERCOS ring to a unique number not used by any other device. RECO DIAG H Diagnostics Display DEVICE-NO Device Address MON < m - 0 m > 0 m GLASS F-OPTIC ERR Transmitter Output Setting Fig. 0-: SERCOS Connections for the RMK-LWL-SER RMK_address.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

104 0- Fiber Optic Cable(LWL) VisualMotion Project Planning Changing the SERCOS Transmission Baudrate Rexroth Indramat sets a SERCOS transmission baudrate of Mbits/s at time of production for both the control and drives. This is to ensure that all devices will initially communicate at the same rate. Note: When changing the SERCOS transmission baudrate, make sure that all the SERCOS devices on the same fiber optic ring have the same or Mbits/s baudrate. Why Increase the SERCOS Transmission Baudrate? The SERCOS transmission baudrate for a system can be increased for applications using more than axis. Some benefits for an increased SERCOS transmission baudrate are:. A higher number of cyclic SERCOS drive telegrams (more data) can be processed by the control at the same SERCOS cycle time.. The same number of cyclic SERCOS drive telegrams can be processed by the control at a reduced SERCOS cycle time. PPC-R The SERCOS transmission baudrate for GPP is set in control parameter C (System Options) bit. Setting bit to increases the baudrate from to Mbits/s. The control must be in parameter mode to modify control parameter C SERCOS_baudrate_para.tif Fig. 0-0: SERCOS Transmission Baudrate parameter DIAX0 (DSS0.M) The SERCOS transmission baudrate for each DIAX0 drive is set on DIP switch S on the DSS0.M. For a SERCOS transmission baudrate of Mbits/s, set S to the OFF position. DSS0.M S S grounding pin Fig. 0-: DIP Switches on DSS0.M DSS_baudrate_switch.FH DOK-VISMOT-VM*-RS**-PR0-AE-P

105 VisualMotion Project Planning Fiber Optic Cable(LWL) 0- ECODRIVE0 (DKC0.) The SERCOS transmission baudrate for each DKC0. drive is set on DIP switch S0/ on the SERCOS interface card. For a SERCOS transmission baudrate of Mbit/s, set S0/ to the OFF position. Distortion LED of the SERCOS interface OFF S0 Switch for setting the transmitter power Switch for setting the data rate ON Fig. 0-: DIP Switches on DKC0. SERCOS Interface Setting the Optic Transmitter Output Power PPC-R DIAX0 (DSS0.M) DKC0_baudrate_switch.FH The transmitter output power (TX) on the PPC-R is set with control parameter C-0-000, Transmitter Fiber Optic Length. When using plastic fiber optic cable assemblies, set this parameter to match the length of the cable that is used between the PPC-R and the first drive's receiver (RX). When using glass fiber optic cable assemblies, set this parameter to 0 m. The transmitter output power (TX) on the DSS0.M is set via DIP switches SA and SB. Refer to Fig. 0-. ECODRIVE0 (DKC0.) The transmitter output power (TX) on the DKC0. is set via DIP switches S0/ and S0/. Refer to Fig. 0-. Cable Length 0.. m m.. 0 m 0 m.. 0 m DIAX0 SA = OFF SA = ON SA = ON SB = OFF SB = OFF SB = ON DKC0. S0/ = OFF S0/ = OFF S0/ = ON S0/ = OFF S0/ = ON S0/ = ON Table 0-: Setting the Transmitter Output Power for Plastic Fiber Optic Cables Cable Length DIAX0 DKC m SA = ON SB = ON S0/ = ON S0/ = ON Table 0-: Setting the Transmitter Output Power for Glass Fiber Optic Cables DOK-VISMOT-VM*-RS**-PR0-AE-P

106 0-0 Fiber Optic Cable(LWL) VisualMotion Project Planning DOK-VISMOT-VM*-RS**-PR0-AE-P

107 VisualMotion Project Planning Hardware and Firmware Configurations - Hardware and Firmware Configurations. PPC-R Hardware and Firmware The PPC-R control unit is available preconfigured as a single slot or double slot unit. Firmware must be ordered separately for each hardware configuration using the appropriate FWA typecode. The FWA typecode includes additional firmware that might be required for interfaces that are part of the configuration, such as fieldbus or Ethernet. These additional firmware typecodes will be listed for all FWA typecodes in the following sections. Note: A battery backup option is available. This battery is used for maintaining the control's real-time clock during a shutdown condition. The real-time clock is used for time stamping of the control's diagnostic log. If the battery backup option is required, contact your representative for ordering information. PPC-R0. Hardware Configurations The standard PPC-R0. hardware configuration comes equipped with one serial COM port (X0) and a PSM memory module in slot U. Note: If a configuration is ordered without an optional interface (i.e., DAQ0 card), the unit will be equipped with a second serial COM port (X) in slot U. PPC-R0. using GPP Firmware The hardware configurations in the following table are ordered preconfigured with GPP firmware. Hardware Typecode U (Expansion Slot) Description Material Number PPC-R0.N-N-S-FW Serial card Second serial com port (X) PPC-R0.N-N-Q-FW DAQ0 Link Ring cross communication Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP Firmware FWA-PPCR0*-GPP-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with each hardware configurations in Table -. Includes Description Location GPP firmware with boot loader Table -: FWA-PPCR0*-GPP-RS-MS Firmware PSM memory card DOK-VISMOT-VM*-RS**-PR0-AE-P

108 - Hardware and Firmware Configurations VisualMotion Project Planning PPC-R0. using GPP / Profibus Slave Firmware The hardware configuration in the following table is ordered preconfigured with GPP / Profibus slave firmware. Hardware Typecode U (Expansion Slot) Description Material Number PPC-R0.N-N-P-FW DPS0 Profibus slave interface Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP / Profibus Slave Firmware FWA-PPCR0*-GP-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with the hardware configuration in Table -. Includes Description Location FWC-DPS0*-PHP-RS-NN (Material number: ) GPP firmware with boot loader Profibus slave firmware Table -: FWA-PPCR0*-GP-RS-MS Firmware PSM memory card DPS0 Profibus card PPC-R0. using GPP / DeviceNet Slave Firmware The hardware configuration in the following table is ordered preconfigured with GPP / DeviceNet slave firmware. Configuration U (Expansion slot) Description Material Number PPC-R0.N-N-V-FW DNS0 DeviceNet slave interface 00 Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP / DeviceNet Slave Firmware FWA-PPCR0*-GV-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with the hardware configuration in Table -. Includes Description Location FWC-DNS0*-PHV-RS-NN (Material number: ) GPP firmware with boot loader DeviceNet slave firmware Table -: FWA-PPCR0*-GV-RS-MS Firmware PSM memory card DNS0 DeviceNet card PPC-R0. using GPP / Interbus Slave Firmware The hardware configuration in the following table is ordered preconfigured with GPP / Interbus slave firmware. Configuration U (Expansion slot) Description Material Number PPC-R0.N-N-B-FW IBS0 Interbus slave interface Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP / Interbus Slave Firmware FWA-PPCR0*-GB-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with the hardware configuration in Table -. Includes Description Location FWC-IBS0*-PHB-RS-NN (Material number: ) GPP firmware with boot loader Interbus slave firmware Table -: FWA-PPCR0*-GB-RS-MS Firmware PSM memory card IBS0 Interbus card DOK-VISMOT-VM*-RS**-PR0-AE-P

109 VisualMotion Project Planning Hardware and Firmware Configurations - PPC-R0. using GPP / ControlNet Slave Firmware The hardware configuration in the following table is ordered preconfigured with GPP / ControlNet slave firmware. Configuration U (Expansion slot) Description Material Number PPC-R0.N-N-L-FW CNS0 ControlNet slave interface Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP / ControlNet Slave Firmware FWA-PPCR0*-GL-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with the hardware configuration in Table -. Includes Description Location FWC-CNS0*-PHL-RS-NN (Material number: ) GPP firmware with boot loader ControlNet slave firmware Table -0: FWA-PPCR0*-GL-RS-MS Firmware PPC-R0. using GPP / Ethernet Firmware PSM memory card CNS0 Interbus card The hardware configuration in the following table is ordered preconfigured with GPP / Ethernet firmware. Configuration U (Expansion slot) Description Material Number PPC-R0.N-N-T-FW ETH0 Ethernet interface 0 Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP / Ethernet Firmware FWA-PPCR0*-GT-RS-MS FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with the hardware configuration in Table -. Includes Description Location FWC-ETH0*-PHT-RS-NN (Material number: ) GPP firmware with boot loader Ethernet firmware Table -: FWA-PPCR0*-GT-RS-MS Firmware PSM memory card ETH0 Ethernet card DOK-VISMOT-VM*-RS**-PR0-AE-P

110 - Hardware and Firmware Configurations VisualMotion Project Planning PPC-R0. Hardware Configurations The standard PPC-R0. hardware configuration comes equipped with two serial COM ports (X0 and X) and a PSM memory module in slot U. PPC-R0. using GPP Firmware The hardware configurations in the following table are ordered preconfigured with GPP firmware. Hardware Expansion Slots Description Material Typecode U U U Number PPC-R0.N-N-NN-NN-NN-FW Cover Cover Cover No expansion cards 0 PPC-R0.N-N-Q-NN-NN-FW DAQ0 Cover Cover Link Ring cross communication 00 PPC-R0.N-N-N-NN-NN-FW NSW0 Cover Cover PLS interface with outputs 000 PPC-R0.N-N-N-N-NN-FW NSW0 NSW0 Cover PLS interface with outputs 0 Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP Firmware FWA-PPCR0*-GPP-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with each hardware configurations in Table -. Includes Description Location GPP firmware with boot loader Table -: FWA-PPCR0*-GPP-RS-MS Firmware PSM memory card PPC-R0. using GPP / Profibus Slave Firmware The hardware configurations in the following table are ordered preconfigured with GPP / Profibus slave firmware. Configuration Expansion Slots Description Material U U U Number PPC-R0.N-N-NN-P-NN-FW Cover DPS0 Cover Profibus slave interface 0 PPC-R0.N-N-Q-P-NN-FW DAQ0 DPS0 Cover Link Ring cross communication and Profibus slave interface 0 PPC-R0.N-N-N-P-NN-FW NSW0 DPS0 Cover PLS interface with outputs and Profibus slave interface PPC-R0.N-N-N-N-P-FW NSW0 NSW0 DPS0 PLS interface with outputs and Profibus slave interface Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP / Profibus Slave Firmware FWA-PPCR0*-GP-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with the hardware configurations in Table -. Includes Description Location FWC-DPS0*-PHP-RS-NN (Material number: ) GPP firmware with boot loader Profibus slave firmware Table -: FWA-PPCR0*-GP-RS-MS Firmware PSM memory card DPS0 Profibus card DOK-VISMOT-VM*-RS**-PR0-AE-P

111 VisualMotion Project Planning Hardware and Firmware Configurations - PPC-R0. using GPP / Profibus Slave / Ethernet Firmware The hardware configurations in the following table are ordered preconfigured with GPP / Profibus slave / Ethernet firmware. Configuration Expansion Slots Description Material U U U Number PPC-R0.N-N-T-P-NN-FW ETH0 DPS0 Cover Ethernet and Profibus slave interface PPC-R0.N-N-Q-P-T-FW DAQ0 DPS0 ETH0 Link Ring cross communication, Profibus slave interface and Ethernet PPC-R0.N-N-N-P-T-FW NSW0 DPS0 ETH0 PLS interface with outputs, Profibus slave interface and Ethernet Firmware Typecode (FWA) Material Number FWA-PPCR0*-GP-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) 0 Table -: PPC-R0. using GPP / Profibus Slave / Ethernet Firmware The following table contains the FWA typecode ordered with the hardware configurations in Table -. Includes Description Location FWC-DPS0*-PHP-RS-NN (Material number: ) FWC-ETH0*-PHT-RS-NN (Material number: ) GPP firmware with boot loader Profibus slave firmware Ethernet firmware Table -: FWA-PPCR0*-GP-RS-MS Firmware PSM memory card DPS0 Profibus card ETH0 Ethernet card PPC-R0. using GPP / DeviceNet Slave Firmware The hardware configurations in the following table are ordered preconfigured with GPP / DeviceNet slave firmware. Configuration Expansion Slots Description Material U U U Number PPC-R0.N-N-V-NN-NN-FW DNS0 Cover Cover DeviceNet slave interface PPC-R0.N-N-Q-V-NN-FW DAQ0 DNS0 Cover Link Ring cross communication and DeviceNet slave interface PPC-R0.N-N-N-V-NN-FW NSW0 DNS0 Cover PLS interface with outputs and DeviceNet slave interface PPC-R0.N-N-N-V-Q-FW NSW0 DNS0 DAQ0 PLS interface with outputs, DeviceNet slave interface and Link Ring cross communication PPC-R0.N-N-N-N-V-FW NSW0 NSW0 DNS0 PLS interface with outputs and DeviceNet slave interface Firmware Typecode (FWA) Material Number FWA-PPCR0*-GV-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) Table -: PPC-R0. using GPP / DeviceNet Slave Firmware The following table contains the FWA typecode ordered with the hardware configurations in Table -. Includes Description Location FWC-DNS0*-PHV-RS-NN (Material number: ) GPP firmware with boot loader DeviceNet slave firmware Table -0: FWA-PPCR0*-GV-RS-MS Firmware PSM memory card DNS0 DeviceNet card DOK-VISMOT-VM*-RS**-PR0-AE-P

112 - Hardware and Firmware Configurations VisualMotion Project Planning PPC-R0. using GPP / DeviceNet Slave / Ethernet Firmware The hardware configurations in the following table are ordered preconfigured with GPP / DeviceNet slave / Ethernet firmware. Configuration Expansion Slots Description Material U U U Number PPC-R0.N-N-V-T-NN-FW DNS0 ETH0 Cover Ethernet and DeviceNet slave interface PPC-R0.N-N-N-V-T-FW NSW0 DNS0 ETH0 PLS interface with outputs, DeviceNet slave interface and Ethernet PPC-R0.N-N-Q-T-V-FW DAQ0 ETH0 DNS0 Link Ring cross communication, Ethernet and DeviceNet slave interface Firmware Typecode (FWA) Material Number FWA-PPCR0*-GV-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) Table -: PPC-R0. using GPP / DeviceNet Slave / Ethernet Firmware The following table contains the FWA typecode ordered with the hardware configurations in Table -. Includes Description Location FWC-DNS0*-PHV-RS-NN (Material number: ) FWC-ETH0*-PHT-RS-NN (Material number: ) GPP firmware with boot loader DeviceNet slave firmware Ethernet firmware Table -: FWA-PPCR0*-GV-RS-MS Firmware PSM memory card DNS0 DeviceNet card ETH0 Ethernet card PPC-R0. using GPP / Interbus Slave Firmware The hardware configuration in the following table is ordered preconfigured with GPP / Interbus slave firmware. Configuration Expansion Slots Description Material U U U Number PPC-R0.N-N-NN-B-NN-FW Cover IBS0 Cover Interbus slave interface 00 Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP / Interbus Slave Firmware FWA-PPCR0*-GB-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with the hardware configuration in Table -. Includes Description Location FWC-IBS0*-PHB-RS-NN (Material number: ) GPP firmware with boot loader Interbus slave firmware Table -: FWA-PPCR0*-GB-RS-MS Firmware PSM memory card IBS0 Interbus card DOK-VISMOT-VM*-RS**-PR0-AE-P

113 VisualMotion Project Planning Hardware and Firmware Configurations - PPC-R0. using GPP / Interbus Slave / Ethernet Firmware The hardware configuration in the following table is ordered preconfigured with GPP / Interbus slave / Ethernet firmware. Configuration Expansion Slots Description Material U U U Number PPC-R0.N-N-T-B-NN-FW ETH0 IBS0 Cover Ethernet and Interbus slave interface Firmware Typecode (FWA) Material Number FWA-PPCR0*-GB-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) Table -: PPC-R0. using GPP / Interbus Slave / Ethernet Firmware The following table contains the FWA typecode ordered with the hardware configuration in Table -. Includes Description Location FWC-IBS0*-PHB-RS-NN (Material number: ) FWC-ETH0*-PHT-RS-NN (Material number: ) GPP firmware with boot loader Interbus slave firmware Ethernet firmware Table -: FWA-PPCR0*-GB-RS-MS Firmware PSM memory card IBS0 Interbus card ETH0 Ethernet card PPC-R0. using GPP / ControlNet Slave Firmware The hardware configurations in the following table is order preconfigured with GPP / ControlNet slave firmware. Configuration Expansion Slots Description Material U U U Number PPC-R0.N-N-L-NN-NN-FW CNS0 Cover Cover ControlNet slave interface 0 PPC-R0.N-N-N-L-NN-FW NSW0 CNS0 Cover PLS interface with outputs and ControlNet slave interface Firmware Typecode (FWA) Material Number FWA-PPCR0*-GL-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) Table -: PPC-R0. using GPP / ControlNet Slave Firmware The following table contains the FWA typecode ordered with the hardware configurations in Table -. Includes Description Location FWC-CNS0*-PHL-RS-NN (Material number: ) GPP firmware with boot loader ControlNet slave firmware Table -: FWA-PPCR0*-GL-RS-MS Firmware PSM memory card CNS0 ControlNet card DOK-VISMOT-VM*-RS**-PR0-AE-P

114 - Hardware and Firmware Configurations VisualMotion Project Planning PPC-R0. using GPP / ControlNet Slave / Ethernet Firmware The hardware configuration in the following table is order preconfigured with GPP / ControlNet slave / Ethernet firmware. Configuration Expansion Slots Description Material U U U Number PPC-R0.N-N-L-T-NN-FW CNS0 ETH0 Cover ControlNet slave interface and Ethernet PPC-R0.N-N-Q-L-T-FW DAQ0 CNS0 ETH0 Link Ring cross communication, ControlNet slave interface and Ethernet Firmware Typecode (FWA) Material Number FWA-PPCR0*-GL-RS-MS 00 FWB-PSM0*-GP*-RS-MS (Material number: 0) 0 Table -: PPC-R0. using GPP / ControlNet Slave / Ethernet Firmware The following table contains the FWA typecode ordered with the hardware configuration in Table -. Includes Description Location FWC-CNS0*-PHL-RS-NN (Material number: ) FWC-ETH0*-PHT-RS-NN (Material number: ) GPP firmware with boot loader ControlNet slave firmware Ethernet firmware Table -0: FWA-PPCR0*-GL-RS-MS Firmware PPC-R0. using GPP / Ethernet Firmware PSM memory card CNS0 ControlNet card ETH0 Ethernet card The hardware configurations in the following table are ordered preconfigured with GPP / Ethernet firmware. Configuration Expansion Slots Description Material U U U Number PPC-R0.N-N-T-NN-NN-FW ETH0 Cover Cover Ethernet interface 0 PPC-R0.N-N-Q-T-NN-FW DAQ0 ETH0 Cover Link Ring cross communication and Ethernet interface 00 PPC-R0.N-N-N-T-NN-FW NSW0 ETH0 Cover PLS interface with outputs and Ethernet interface PPC-R0.N-N-N-N-T-FW NSW0 NSW0 ETH0 PLS interface with outputs and Ethernet interface Firmware Typecode (FWA) Material Number Table -: PPC-R0. using GPP / Ethernet Firmware FWA-PPCR0*-GT-RS-MS FWB-PSM0*-GP*-RS-MS (Material number: 0) The following table contains the FWA typecode ordered with the hardware configurations in Table -. Includes Description Location FWC-ETH0*-PHT-RS-NN (Material number: ) GPP firmware with boot loader Ethernet firmware Table -: FWA-PPCR0*-GT-RS-MS Firmware PSM memory card ETH0 Ethernet card DOK-VISMOT-VM*-RS**-PR0-AE-P

115 VisualMotion Project Planning Hardware and Firmware Configurations -. Upgrading Control Firmware The upgrading of control firmware should only be performed by trained personnel to ensure proper installation of the following firmware types: GPP Firmware Boot loader Firmware GPP and Boot Loader Firmware GPP Firmware GPP firmware can be upgraded on a PSM module containing an older release using the following serial Dolfi software. Typecode: SWA-DOL*PC-INB-RS-MS Material Number: 0 Boot Loader Firmware A PSM module containing an older version of GPP firmware, i.e., GPP, requires the installation of new boot loader firmware. New boot loader firmware is necessary to communicate with serial Dolfi and can only be installed using a PCMCIA hardware interface on a PC. CAUTION Interrupting boot loader firmware upgrade will render the PSM memory module inoperable. When upgrading boot loader firmware of the same version, care must be taken not to turn power off or interrupt the serial Dolfi communication. If this occurs, the boot loader firmware must be reinstalled using a PCMCIA hardware interface. Firmware Typecode (FWB) Material Number GPP and Boot Loader Firmwares FWB-PSM0*-GP*-RS-MS 0 FWC-PSM0*-GP*-RS-MS (Material number: 00) The following table contains the FWB typecode containing the GPP and boot loader firmwares. Includes Description Location FWC-PSM0*-BTL-RS-NN (Material number: ) GPP firmware Boot loader firmware Table -: FWB-PSM0*-GP*-RS-MS Firmware PSM memory card PSM memory card Note: Fieldbus slave firmware cannot be upgraded using serial Dolfi. Fieldbus slave firmware upgrading should be performed by Rexroth Indramat service personnel. DOK-VISMOT-VM*-RS**-PR0-AE-P

116 -0 Hardware and Firmware Configurations VisualMotion Project Planning PSM Memory Module (Blank) The following blank PSM memory module is available. Typecode Description Material Number PSM0.-FW Blank PSM Memory Module 0 Table -: Blank PSM Memory Module Note: A blank PSM memory module requires the installation of the boot loader firmware before loading GPP firmware. DOK-VISMOT-VM*-RS**-PR0-AE-P

117 VisualMotion Project Planning Hardware and Firmware Configurations -. BTC0. Hardware and Firmware BTC0. Hardware The BTC0. handheld unit comes equipped with a standard E-Stop button and Liveman switch. Optional features can be ordered which include a feedrate override switch and handwheel. The following tables describe the available options along with typecodes and material numbers. Description Typecode Material Number BTC0 with 0 keys insert, handwheel, E-stop BTC0.A-F-EH-FW button, override switch and live-man BTC0 with 0 keys insert, E-stop button and live-man switch BTC0 with 0 keys insert, E-stop button, override switch and live-man BTC0.A-F-EN-FW BTC0.A-F-EP-FW Table -: BTC0. with Liveman and E-Stop BTC0 Firmware The BTC0 handheld unit can be ordered with any of the following firmware configurations, depending on the following application. VT00 Terminal Screen Manager VT00 Terminal Screen Manager Runtime Firmware must be ordered separately for each hardware configuration using the appropriate FWA and/or SWA typecodes. Firmware Typecode (FWB) Material Number VT00 Terminal Firmware FWA-BTC0*-DOL-RS-EN 0 FWC-BTC0*-DOL-RS-EN (Material number: 00) SWA-BTC0*-VT-RS-MS- C. VT00 Terminal firmware is used to display screens that are generated by the control firmware. This version uses control resources to provide screens to the BTC0. Includes Description Location 0 SWD-BTC0*-VT-RS-MS- C. (Material number: 0) SWD-DOL*PC-INB-RS-MS- C. (Material number: 0) Table -: VT00 Terminal Firmware Boot loader firmware VT00 terminal software Serial Dolfi Software BTC0 BTC0 PC Note: The feedrate override switch and handwheel are not supported with the VT00 terminal firmware. DOK-VISMOT-VM*-RS**-PR0-AE-P