SPiiPlusCMnt-1/2-320

Transcription

1 SPiiPlusCMnt-1/2-320 Dual Axis Control Module, 15 April 2012 COPYRIGHT Copyright 2012 ACS Motion Control Ltd. Changes are periodically made to the information in this document. Changes are published as release notes and are subsequently incorporated into revisions of this document. No part of this document may be reproduced in any form without prior written permission from ACS Motion Control. TRADEMARKS ACS Motion Control, PEG and SPiiPlus are trademarks of ACS Motion Control Ltd. Visual Basic and Windows are trademarks of Microsoft Corporation. Any other companies and product names mentioned herein may be the trademarks of their respective owners. ACS Motion Control, Ltd. Ramat Gabriel Industrial Park POB 5668 Migdal HaEmek, ISRAEL Tel: (972) (4) Fax: (972) (4) Web Site: Information: Tech Support:

2 About this Document This document presents the hardware details of the SPiiPlusCMnt-1/2-320 and consists of the following sections: Product Overview... 2 Connectivity and Interfaces... 2 Feedback... 4 Power Supplies... 5 Digital Inputs and Outputs... 6 Analog Inputs and Outputs... 7 Safety... 7 Fault Indications... 8 Communication... 9 Thermal Considerations Grounding and Shielding Personnel Safety Guidelines Dimensions and Installation SpiiPlusCMnt-1/2-320 Specifications SpiiPlusCMnt-1/2-320 Connectors Encoder Configurations Product Overview The SpiiPlusCMnt-1/2-320 (shown in Figure 1) is a state-ofthe-art line of EtherCAT network multi-axis machine and motion controllers with two built-in universal drives. Its open architecture operates in conjunction with ACS line of EtherCAT servo and step motor drives (UDMnt and MC4Udc) and I/Os modules, as well as with any certified EtherCAT module that complies with the Can over EtherCAT (CoE) protocol. The SpiiPlusCMnt-1/2-320 is offered with two current levels: 5A/10A (continuous/peak) 7.5A/15A The product can be provided with an optional Safe Torque Off (STO) module that prevents the moving of the motors without removing the power source. The module is powered by a single phase 85 to 230Vac and by a separate 24Vdc control supply that keeps all low voltage signals alive during emergency conditions. Connectivity and Interfaces Motor Connection The built-in universal drives support 2- and 3-phase AC synchronous, AC induction, 2- and 3-phase step, and DC brush motors. Selection of motor and parameter setting is done using the Adjuster Wizard of the SPiiPlus MMI Application Studio (refer to SPiiPlus MMI Application Studio User Guide). A 3-phase motor connection is depicted in Figure 2. An optional motor filter is shown in series between the drive and the motor. A shielded cable should be used, terminated in the EGND pin which is internally connected to the chassis (PE). If needed, the shield/gnd may be connected to the motor s chassis to provide a seamless common ground reference. Figure 1: SpiiPlusCMnt-1/2-320 All drives are highly synchronized by a distributed clock with accuracy better than 0.1 microsecond, and execute the control algorithms at a 20 khz rate. It supports a 1 or 2 khz EtherCAT cycle rates. As an EtherCAT Master, it can manage up to 32 axes and practically an unlimited number of I/Os. The SpiiPlusCMnt-1/2-320 is complemented by the SPiiPlus suite of software tools (such as the SPiiPlus MMI Application Studio) with a built-in simulator. As network master, it supports all ACS drives and devices, as well as ACS-certified network devices made by other vendors. Figure 2: 3-Phase Motor Connection For DC brush motor connections do not connect phase T (refer to Figure 3). 2

3 J9 Motor 0 J8 Motor 1 $ 0,1 PE R_$ S_$ T_$ EGND RBK_$+ 1 CMnt DC motor connection Motor R Motor S Shield/GND Figure 3: DC Brush Motor Connection For 2-phase step motors connect the motor phases between S-R and between T-R as shown in Figure 4. J9 Motor 0 J8 Motor 1 $ 0,1 PE R_$ S_$ T_$ EGND RBK_$+ BRK_$ BRK_$ Motor R Motor S Motor T Shield/GND Figure 4: 2-Phase Step Motor Connection Electro-Magnetic Immunity and Interference Considerations Due consideration should be given to the following recommendations in order to minimize electromagnetic interference to power supply and neighboring equipment, and in order to improve electromagnetic immunity. Use AC line filter and surge protection. Use motor filters, such as the MC4U-MF, between the drive and the motor. The filters should be connected as close as possible to the drive s output connectors. Note that the filters require air flow cooling. Use a EPCOS B84142-B25-R filter, or its equivalent, for AC supply interference protection. M For motor cables use shielded (meshwork of tinned, copper wire with high optical covering), high voltage withstand and very low capacitance cables. ACS specifies and tests its products using motor cable lengths of up to 10m lengths. Motor cables should be routed as far as possible from sensitive-signal carrying cables such as encoder cables. Encoder cables should be according to manufacturer s recommendation. The motor cables shield should be connected to motor connector pin 4. Lightning protection on the supply AC lines should be provided in the cabinet/machine where the ACS product is being used. It is recommended to install power surge lightning arrestors (varistors) between the AC terminals (L-N, L-PE, N-PE). ACS recommends using the MNF Wurth Electronic, MNF P/N varistor. Regeneration In order to absorb excess mechanical reverse energy translated into electrical energy during deceleration, and to avoid a voltage rise beyond the drive s overvoltage protection level, an external active regeneration device should be used. A connectivity schematic is depicted in Figure 5. The rectified voltage bus (VBUS) is provided in the J10 connector. An external Regeneration unit (such as, Copley s Model 125 & 145) should be used, selected based on peak and continuous current, power, energy and bus voltages. Figure 5: Regeneration Connection 3

4 Mechanical Motor Braking Two 24V/1A mechanical brake control outputs are available, one output per axis. These outputs are powered by the 24V logic supply. The outputs are opto-isolated, and protected against shorts. Digital AqB Encoder Each internal drive has one or two incremental digital AqB encoders. The number of supported incremental encoders is factory installed and cannot be changed in the field. The interface of each of the encoder s A, B and Index signal is depicted in Figure 7. Figure 6: Mechanical Brake Feedback Encoder Assignment The SpiiPlusCMnt-1/2-320 supports the following feedback devices per each axis: one or two AqB incremental digital encoders, an optional one Sin-Cos analog encoder, one resolver and one absolute encoder and one set of Hall sensors. Dual feedback (dual loop) is supported. The number of digital incremental encoders is equal to the number of network axes. The unit can be provided with one or two digital quadrature encoder interfaces per axis. For example, if dual loop is needed, then it should be ordered with two encoders per axis. When a unit is ordered with two digital incremental encoders per axis, it takes up an additional axis per each axis with two encoders and reduces the maximum number of axes that can be connected to the EtherCAT master accordingly. Be advised that it may affect the maximum number of axes needed. All possible encoder configurations for the SpiiPlusCMnt-1/2-320 are given in Encoder Configurations. Figure 7: Digital AqB Encoder Connections The connection is a protected RS-422 differential line with 120Ω termination. Maximum rate: 12.5MHz which equals 50 million Quadrature counts/sec. Fault detection: Encoder error (due to noise), and encoder not connected. Encoders are fed by a 5V±5% 250mA supply (the total available current to all encoders) referenced to a digital ground. By special factory order, an additional encoder current supply of 5V/1A can be provided thorough the same line by connecting an external supply to the J6 connector and by an appropriate internal jumper setting. A, B, I and Clk/Dir modes of operation are supported. Sin-Cos Encoders Optionally, the product supports one Sin-Cos encoder per axis. This option is factory installed and cannot be changed afterwards. The interface for the Sine, Cosine and Index signals (Figure 8) is differential, 1Vptp±10% with 52dBm SNR. The maximum frequency is 250 khz. Encoder Power Supply The unit includes a built-in 5V/250mA encoder supply. If more current is needed or the encoder (such as the Hiperface encoder) requires a different voltage level, then use an external supply and connect it to connector J2. 4

5 Figure 8: Sin-Cos Encoder Connections Sin and Cos s are sampled in 20kHz at 12 bit resolution. A multiplication factor of 4 up to 16,384 (practically measured to be better than 4,096) is supported. A software based Offset, Gain and Phase compensation can be set using the SPiiPlus MMI Application Studio Sin Cos Encoder Compensation tool which optimizes and sets the compensation values, stores the optimized values and displays the results graphically. Encoder error and Encoder Not Connected are reported as faults. Encoder Support Hiperface, Endat2.2, Tamagawa SmartABS, Panasonic and BiSS-C encoders are supported check with ACS regarding availability. The specific encoder support is factory installed according to the order. It should be noted that for encoders that require voltage supplies other than 5V (such as Hiperface), an external feed from the ENC_EXT_SUPPLY and RTN pins of J6 must be provided. All other 5V encoders are supplied internally. Position Event Generation (PEG) The SpiiPlusCMnt-1/2-320 supports advanced Position Event Generator (referred to also as Output Compare) output signals for synchronous random and incremental timing generation. The two PEG pulses and two PEG STATE signals can be associated with any of the incremental or Sin-Cos encoders, to be used by any of the two axes, and can be programmed for polarity and shape. Their functionality is determined by three independent PEG engines. The PEG mode provides the ability to generate a fixed width pulse whenever a fixed position interval has passed, starting at a predefined start point and ending at a predefined end point. The Random PEG mode provides the ability to control a PEG pulse and a two-bit STATE vector at pre-defined positions, which are stored as a 256 member user-defined array. Refer to the SpiiPlusNT PEG and MARK Operations Application Notes for more details. Power Supplies The SpiiPlusCMnt-1/2-320 is fed by two supply sources: a Vac from an AC power supply to the motors and a 24Vdc supply to the logic and control circuitry. The AC supply is rectified and the DC voltage feeds the motor drives. The AC supply (range of 85 to 265Vac single motor drive supply) is internally rectified to 120 to 370Vdc bus voltage. The DC supply: 24Vdc (±10%, maximal rating 4A/100W ) serves for control. Regular operation consumes 2A. Maximum of an additional 1A per axis is needed during motor mechanical brake activation. Maximal continuous/peak Input currents as functions of maximal continuous/peak Output power (at a given AC voltage ) is presented in Table 1: Table 1: Input Current vs. Output Power Cont./Peak Current Cont./Peak Power AC Voltage 11.7/11.7A 12.9/17.4A 16/32A 3676/ 16.3/34A 4304/ To increase motor speed, it is recommended using the ACSPL+ SLILI variable (refer to the SPiiPlus Command & Variable Reference Guide) for increasing the output voltage. This is done by entering: SLILI(axis_index)=97 (97 being the recommended value). 5

6 Digital Inputs and Outputs Digital Outputs SpiiPlusCMnt-1/2-320 provides 8 opto-isolated, current driving outputs, with 0.5A per output. Up to 3A per 8 outputs. 24V (±20%) is externally user-provided, common to all signals. The digital output connection is shown in Figure 9. HALL Sensors One HALL sensor per drive (set of 3 single ended, current driving lines) is available. The lines are opto-isolated with current sensitivity of 7mA. The connection for a HALL sensor is shown in Figure 11. Figure 11: HALL Sensor Connection Figure 9: Digital Output Connections Over current protection (per pin) is activated above 0.7 to 1.7A, causing the output enter a protected mode, without any message given to the user. The output self recovers upon returning to specified performance values. Digital Inputs SpiiPlusCMnt-1/2-320 provides 8 single ended, opto-isolated, 24V±20%, source current driving s. The digital connection is shown in Figure 10. Registration MARK Inputs The following MARK s are supported: MARK0 and MARK1 (RS422), and two shared opto-isolated interfaces (IN6 and IN7, referred to as MARK2 and MARK3), and two regular digital s: IN4 and IN5. Each of the two encoders available per axis can be latched independently to two latching-registers (A and B, used as variables "MARK" and "MARK2", respectively) by the above MARK signal sources, as detailed in Table 2. Table 2: Registration MARK Sources per Encoder Axis/Encoder Latching Register Dedicated Opto- Isolated RS422 Source Shared Opto- Isolated Source Shared Regular Input Figure 10: Digital Input Connections Digital s 6,7 are available in parallel as non-isolated fast s, shared with MARK#2 and MARK#3 s. A 5V and sink option is available by special order. The RTN line is common for all Digital Inputs. Axis 0 Encoder 0 Axis 0 Encoder 1 Axis 1 Encoder 0 Axis 1 Encoder 1 A MARK0 IN6 B MARK1 IN7 A MARK0 MARK1 IN6 IN4 B MARK1 IN7 IN5 A MARK0 IN6 B MARK1 IN6 IN7 A MARK0 MARK1 IN6 B MARK1 IN7 6

7 Latching register A is associated with the ACSPL+ variable: MARK; and latching register B is associated with the ACSPL+ variable: M2ARK. See SPiiPlus Command & Variable Reference Guide for details on these variables. The way to read Table 2: Encoder 1 of axis 0 has two latching registers (A,B). Latching register A can be triggered by either MARK0, MARK1, IN4 or IN6. For the circuit description, refer to the digital optoisolated interface description in Digital Inputs. The opto-isolated MARK s have a propagation delay of up to 200 ns. Regular Input MARK signals have a propagation delay of 50 ns. The selection of the specific MARK signal is done by using the ACSPL+ ASSIGNFINS command for setting pins assignment and mapping between FGP_IN signals to the bits of the IN variable (refer to the SPiiPlus Command & Variable Reference Guide). Safety Safe Torque Off (STO) SpiiPlusCMnt-1/2-320 supports two Safe Torque Off (designated as STO1±, STO2±, 18-33V ) s. The STO signals disable (by SIL-3 level hardware based circuitry) the PWM control signals (controlling upper and lower bridge) to the power stage after 80ms<t<350ms from the safety event. During this time the user s application may perform a controlled slow-down or stop of the motor. Details for handling STO are provided in the Safe Torque Off Function Application Notes. The STO module draws 20-45mA, with an inrush current of 500mA. Analog Inputs and Outputs General Purpose Analog Inputs SpiiPlusCMnt-1/2-320 provides four differential, ±10V±5%, 12bit accuracy, 100mV compensated offset, bandwidth of 10kHz. The General Purpose Analog Input connections are shown in Figure 12. Figure 13: STO Connection There is a delay between an STO event (activation of any of the STO signals) till the actual hardware-based drive disable. This delay varies as function of the number of axis being enable and the STO s control signal supply voltage. Refer to Table 3, which relates to each signal separately. Table 3: STO Activation vs Drive Shut-Off Number of Enabled Axes STO Activation to Drive Shut-Off Delay, [msec] 18V 24V 33V Figure 12: General Purpose Analog Inputs General Purpose Analog Outputs SpiiPlusCMnt-1/2-320 provides two General Purpose Analog Outputs. The outputs are characterized by 10 bit resolution, differential ±10V±10%, 50mV maximal offset, with 50mVp_p maximal ripple, and linearity better than 1%. Minimal 10KΩ load required. The outputs can be used for external drive control being updated at the 20kHz servo rate

8 Right and Left Limits Right Limit and Left Limit per axis are provided. The limit connections are shown in Figure 14. Figure 14: Limit Connections The s are single-ended, fed by a 24V ±20% driving source, referenced to a common return signal, and optoisolated. The current is limited to 14mA. The internal resistor is 5.6kΩ. The sink configuration and 5V feed are available by special order. Emergency Stop The Emergency Stop is a two line, opto-isolated signal, fed from a 24V supply and activated at above 14mA as depicted in Figure 15: Fault Indications The SpiiPlusCMnt-1/2-320 supports hardware- and softwarebased fault indications for: Bus Over Voltage ( V) Bus Under Voltage (76 84V) AC Power Down Power Supply Not Ready ( sec during transitional powering up, soft start ) Over Temperature This is measured on the heat sink and activated at C Motor Phase faults: Phase-to-Phase Short and Short-to- Ground Over Current Measured per axis and reported to the user s application by software. Motor Over Temperature A per axis indication is available through the ACSPL+ FAULT variable. Motor Over Temperature Fault The SPiiPlusCMnt-1/2-320 provides one signal per axis for connecting Motor Over Temperature fault sensors. The signal is single-ended, opto-isolated and referenced to a common ground for all faults as shown in Figure 16. Figure 15: Emergency Stop Input Figure 16: Motor Over Temperature Connection Indication is ON when the motor PTC is > 10kΩ, and is OFF when motor PTC impedance is < 1kΩ. 8

9 LED Indicators Table 4 summarizes the meaning of the SpiiPlusCMnt-1/2-320 LED indicators. Table 4: SpiiPlusCMnt-1/2-320 LED Indicators Indication Description Control Supply Link/Activity Run System Axis DC drive supply Green, when on power is applied Green Off No link On Link exists, no data transferred Blinking Data being transferred Yellow. Off INIT state On - Normal operation Bicolor. Red Communication Fault Green Communication ok Blinking SW command Bicolor, one per axis, indicates axis status. Off Disabled Green Enabled Red Fault Red, voltage bus indication. On voltage applied Off no voltage applied. SpiiPlusCMnt-1/2-320 Jumper The SpiiPlusCMnt-1/2-320 has one jumper: JP1, the location of which is shown in Figure 17. Figure 17: Jumper Location The JP1 jumper is employed when running the SPiiPlus MMI Application Studio Upgrade and Recovery Wizard Recovery Task (see the SPiiPlus MMI Application Studio User Guide for details). Communication Host Communication Host communication with the SpiiPlusCMnt-1/2-320 can be via RS-232 or by Ethernet. The Ethernet connection may be either a direct connection (host to controller using a cross cable) or over a network. Selection of the communication channel and its parameters is done using the SPiiPlus MMI Application Studio (refer to the SPiiPlus Setup Guide for details). Whenever possible, an Ethernet connection is preferred over RS232 because of the communication rate. Network (EtherCAT) Communication Being an EtherCAT master, the SpiiPlusCMnt-1/2-320 has a single EtherCAT OUT port which connects to the first network element in the network (see Figure 18). Figure 18: EtherCAT Network Connections Cable type use CAT5 or higher high quality cables. ACS provides such cables at varying lengths of 30 cm to 50 m. Cable lengths all ACS products have been tested with 50 m cables between adjacent nodes. At lengths of up to 100 m one should carefully test performance as function of network complexity and operating environment. 9

10 When employing the SpiiPlusCMnt-1/2-320 in an EtherCAT network, the SPiiPlus MMI Application Studio EtherCAT Configurator tool is used for setting it up (refer to the SPiiPlus MMI Application Studio User Guide for details). HSSI Serial Interface to ACS Peripherals One port is provided for communication with ACS peripherals such as HSSI-ED2 and HSSI-IO-16. Thermal Considerations SpiiPlusCMnt-1/2-320 operates with or without forced air, and can be ordered with an additional fin-based heat sink. As a guideline, use Table 5 to determine the maximal operating ambient temperature at maximal power. The standard unit generates maximal power with 115CFM air flow in ambient temperatures of up to 47 C (3.5Arms each axis in 5A model) and 36 C (5.3Arms each axis in 7A model). The addition of an optional heat sink allows operation in all defined temperature ranges of up to 50 C. In order to determine the need and amount of air flow and the need for the optional heat sink, use the charts below. Figure 19 displays the losses (Watts) for 5A and 7.5A (peak sine Amps) drives as a function of rms current (Amps). Figure 20: Dissipated Power vs Temperature For example, to determine the overall power losses of both axes as a function of their rms current: from the chart in Figure 19 if the two 7.5A drives operate at 3.2Arms, a total of 2x50=100W has to be dissipated. Then from the chart in Figure 20 for 100 Watt dissipation, it can be seen that one must use forced air flow since no values are displayed for 100 Watt with a heat-sink and no air-flow (0CFM, w HS) and also without a heat-sink (0CFM, no HS). On the other hand, with a minimal forced air flow of 24CFM with the standard provided heat-sink (24CFM, no HS) the SpiiPlusCMnt-1/2-320 can be operated at its maximal ambient temperature rating of 50 C. Figure 19: Dissipated Power vs Current Figure 20 displays the maximal allowable ambient temperature ( C) at which the SpiiPlusCMnt-1/2-320 can operate with and without an additional optional heat-sink, with and without forced air flow (CFM) of various values. 10

11 Output Power and Current The power bridge output voltage [Vrms] and maximal output power [Watt] per current rating and per axis, as function of single phase AC voltage, is given in Table 5. Table 5: Power Output vs. Current Cont/ Peak No. Axes 85Vac 115Vac 230Vac 265Vac Motor Filter For dv/dt noise reduction it is recommended connecting the ACS Motor Filter (shown in Figure 21) in series between the drive and the motor. The motor filter is designed for 20/40A (RMS Continuous/Peak) current, 440/620Vac (RMS/Peak) voltage. For further details refer to the MC4U Control Module. 5/10A 1 62V/ 380W 86V/ 529W 184V/ 1128W 214V/ 1307W 52V/ 637W 76V/ 936W 174V/ 2134W 204V/ 2493W 2 52V /637W 76V/ V/ 2134W 204V/ 2493W 52V /637W 76V/ 936W 154V/ 3778W 184V/ 4496W Figure 21: ACS Motor Filter 7.5/ 15A 1 57V/ 524W 81V/ 748W 179V/ 1646W 209V/ 1915W 42V/ 772W 66V/ 1221W 164V/ 3017W 194V/ 3555W 2 51V/ 656W 75V/ 970W 172V/ V/ 2770W 42V/ 772W 66V/ 1221W 134V/ 4932W 164V/ 6010W 11

12 Grounding and Shielding Figure 22 depicts the recommended scheme for shielding, cable connections and type of grounding. Functional earth Regeneration Device (active) PE Protective Earth Digital GND CMnt-2-320V Analog GND AC L1 N Input fuse Vp(+) Vp(-) PWM inverter R S T Analog signals Motor 4 PE Supply to PWR module control Isolated control Enc.supply 24Vdc Digital circuitry Sin Cos AqB Encoder supply & signals Digital GND 24V RTN Analog circuitry DC/DC Analog GND PE Figure 22: Grounding and Shielding 12

13 Personnel Safety Guidelines Make sure that the following guidelines and procedures are addressed and observed prior to powering and while handling any of the network elements. Observing these procedures is crucial in order to achieve safe and optimal operation of ACS networking provisions. Installation and maintenance must be performed by qualified personnel only. Such a person must be trained and certified to install and maintain high power electrical and electro-mechanical equipment, servo systems, power conversion equipment and distributed networks. Prior to powering up the system, ensure that all network components are properly installed mechanically, properly grounded and that all attached power and signal cables are in good operating conditions. Maintenance should be performed only after the relevant network element has been powered down, and all associated and surrounding moving parts have settled in their safe mode of operation. Certain drives require longer times in order to fully discharge. In order to ensure that the internally stored energy has been fully discharged to a safe level that will not harm personnel exposed to the energy, allow a minimum of 5 minutes after powering down the SpiiPlusCMnt-1/2-320 until handling or touching the unit. Special care should be provided while applying, removing or touching connector J10 that contains (VBUS+ and VBUS- ) bus voltage carrying wires. Follow the hardware guide of each element and observe the residual discharge time specified. Avoid contact with electrostatic-sensitive components and take the required precautions. All power terminals remain live for at least 5 minutes after the mains have been disconnected. The SpiiPlusCMnt-1/2-320 is powered up as long as an ACS inlet is connected to it. Therefore it is the responsibility of the user to provide an in-series switch or circuit breaker that disconnects all power-carrying signals which is readily and rapidly accessible to the operator. The disconnecting device must meet the requirements of IEC or IEC and the current rating must be not more than 20A. The disconnecting device must be in close proximity to the equipment and within easy reach of the operator and be clearly marked as the disconnecting device for the SpiiPlusCMnt A power cord with conductor area of not less than 0.75mm², with a voltage rating of not less than 300V, rated to 105ºC or more, and complying with IEC60227 or IEC60245 must be used for the AC drive supply. Only the Green Yellow wire of the cable is to be used for connection to the protective conductor terminal. Dimensions and Installation Dimensions The dimensions of the SpiiPlusCMnt-1/2-320 are shown in Figure 23. Figure 23: SpiiPlusCMnt-1/2-320 Dimensions Figure 24: Heat Sink Back Panel Dimensions Figure 25: Heat Sink Base Panel Dimensions 13

14 Horizontal Installation with Cooling Fan When an external cooling fan is used, the SpiiPlusCMnt-1/2-320 should be mounted horizontally such that the air flow is as shown below. Figure 26: Heat Sink Side Dimensions Installation The SpiiPlusCMnt-1/2-320 can be mounted on a wall, either horizontally or vertically, using four M4 retaining screws, two on each side (as shown in Figure 27). Vertical Installation with Cooling Fan When an external cooling fan is used, the SpiiPlusCMnt-1/2-320 should be mounted vertically such that the air flow is as shown below. Figure 27: Retaining Screw Locations When installing the SpiiPlusCMnt-2-320, An Earth-ground must be connected to the Heat Sink as shown in Figure 28. Figure 28: Grounding Screw 14

15 SpiiPlusCMnt-1/2-320 Specifications This section presents the specifications for the SpiiPlusCMnt product line. General Part Number X number of axes YY special options SpiiPlusCMnt-X YY SpiiPlusCMnt-X YY Number of internal axes 1 or 2 MPU MPU Cycle Rate: 2,4,6,8,16 axes: 2kHz, 32 axes: 1kHz MPU-User Memory: RAM: 128Mb. Non-volatile memory (Flash): 128Mb. Power up Time: 25sec. Input voltage range [Vac] 85 to 265 Phase Current Cont./Peak, sine amplitude [A] 5 / / 15 Phase Current Cont./Peak, RMS [A] 3.6 / / 10.6 Peak current time [sec] 1 Max. output voltage Max. Input Cont./Peak power per at 230Vac [kva] 1.7/ /4.8 Max. output power (Cont./Peak) per 230Vac [kw] 1.1/ /3 Minimum load Inductance, at maximum motor voltage [mh] 0.05 With a lower voltage, the minimum inductance value can be reduced proportionally. Max. Heat dissipation per 230Vac [W] Weight without / with additional heat sink [gram] 2,000 / 2,750 Dimensions without / with additional heat sink [mm] 270 x 157 x 67 / 270 x 157 x 78 Input Power Control DC Power Input AC Power 24Vdc ± 10% Maximum current / power: 4A / 100W (2A (50W) during regular operation, plus an additional 2A during external motor brake activation) During emergency conditions there is no need to remove the 24Vdc control supply Vac or Vdc to 34A peak current, 1000 to 9000Watt. Efficiency of 68% at continuous and 66% at peak current performance. 3.75Arms inrush current for first 20ms following power-up. The current is limited by a protective fuse and connector to 15A. 15

16 Drives Control Protection Motor types Motor brake Type: digital current control with field-oriented control and space vector modulation. Current ripple frequency: 40 khz Current loop sampling rate: 20 khz Programmable Current loop bandwidth 3 khz. Commutation type: sinusoidal. Initiation with and without hall sensors. Switching method: advanced unipolar PWM. Over voltage, Phase-to-phase short circuit, Short to ground, Over-current, Over-temperature supply 2- and 3-phase permanent magnet synchronous 2- and 3-phase step (micro-stepping or servo) 3-phase induction. DC. Voice coil. Two, 1 per axis. 24V, 1A, opto-isolated. Powered by external 24Vdc Control Supply. Communication EtherCAT Ethernet port RS-232 port HSSI port Node-to-node connectivity w/o redundancy. One port (Out), 100 Mbit/sec, CoE and FoE protocols. 100m between adjacent nodes using ACS EtherCAT cables. 100 Mbs standard Ethernet. TCP/IP, 10/100 Mbits/sec. Cable length of up to 100m between adjacent network elements. Up to 115,200 baud serial communication for host communication. Rx, Tx and GND cross cable. Supports Modbus protocol as master or as slave. One. Used for ED2 and IO-16 accessory connectivity. RS-422 differential. Up to 10m length. ACS proprietary protocol. Check support of HSSI modules with ACS. Network Nodes Supported axes Being an EtherCAT network master, the product is ordered with the maximum number of supported network axes, whether ACS or non-acs products (that have been approved by ACS). The profile update rate is a function of this number: For up to 16 axes a profile update rate of 1 khz and 2 khz is provided. For 17 to 32 axes an update rate of 1 khz is provided. Number of I/O nodes does not impact the update rate. 16

17 Encoders Sin-Cos Sin-Cos digital digital AqB HALL Up to 2 Sin-Cos differential (depending on number of internal axes, 1 or 2), 120Ω termination, consisting of Sine, Cosine and Index signals, 1Vptp±10%, 250kHz bandwidth and better than 52dBm SNR. 12 bit resolution. Multiplication factor of 4 up to 16,384 (in practice measured to be better than 4,096). Offset, Gain and Phase compensation supported. Fault detection: Encoder error, Encoder No Connected. The Sin-Cos s are available as digital (after filtering and limiting) outputs via STATE and PEG outputs One or two per axis encoders, as function of configuration, supporting A&B,I and Clk/Dir modes of operation. Differential RS-422 with 120Ω termination interface. Max. rate:12.5mhz for A and B, equivalent to 50 million encoder counts/sec. Fault detection : Encoder error, and encoder not connected. Encoders are fed by a 5V±5% 250mA supply (total available current to all encoders). A set of three per axis. Single-ended, 5V, source, opto-isolated. Input current: <7mA. Consists of HA, HB and HC lines per axis Two sensor s are available, 1 per axis. 12bit resolution (4,096 counts/rev). Excitation provided by a differential 10Vp-p ±5%/20KHz 35mA signal (RSV_EXT). Inputs are 2 Sin-Cos differential 3.15V±25% signals. Digital Inputs/Outputs Inputs Outputs Registration MARK Inputs 8 per product, single ended, opto-isolated, 24V±20%, source current driving s. Consult ACS for 5V and sink options. 8 per product, Single ended, opto-isolated, source (current driving) outputs, 0.5A max per output, up to a total of 3A for all outputs, fed from external user supplied 24V±20% power source. Four. Two are RS-422 differential, and two single ended, 24V opto-isolated current-driving signals. 120Ω termination. The 2 differential signals, when used, are at the expense of digital s 6 and 7. Registration MARK: Four. Two are RS-422 with dedicated s and can be used as General Purpose (GP) Inputs. Two share GP Inputs 6, 7 For further information, see SPiiPlus Command & Variables Reference Guide. Analog Inputs/Outputs Inputs Outputs 2 per axis. Differential, ±10V, 12bit accuracy, 100mV compensated offset, maximal sampling rate 250kHz A total of 2 per product. 10 bit resolution, differential ±10V±10%, 50mV maximal offset, 50mVp_p maximal ripple, linearity better than 1%. Minimal 10KΩ load required. 17

18 PEG Outputs Signals GP Outputs Two differential RS-422 outputs (PEG0 and PEG1), and two PEG state TTL signals. Supports incremental and random (256 events per burst) modes. Two GP opto-isolated outputs can be programmed to be used as the PEG Pulse outputs. Pulse width (RS-422): 26nSec to 1.75mSec. at maximal rate of 10MHz. Pulse width (GP outputs): 0.75mSec to 1.75mSec. at maximal rate of 1kHz. In random mode the maximal burst rate of the 256 pulses is 10Mhz. For further information, see SpiiPlusNT PEG and MARK Operations Application Notes. Safety and Faults Limits Emergency Stop STO Mechanical Brake Over temperature Over current Bus over voltage Bus under voltage Power Supply Not Ready Motor short circuit Right Limit and Left Limit per axis. Opto-isolated, single-ended 24V± 20%, referenced to a common return signal. Activation at above 14mA. One opto-isolated, 24V, 2-teminal signal. Activation above 14mA. Return line is common to Over-Temperature indication and Hall signals. 2 signals per product, 24V and GND lines each, activated at 10mA min. Provides a standard, SIL-3 level delayed PWM drive discontinuation when activated. STO1 deactivates lower bridge and STO2 deactivates upper bridge of both drives. One output per axis. 24V ±20%, opto-isolated current driving signals, 1A each. Protection against short circuit is provided. Power is provided internally from the 24V logic supply without additional protection. Single-ended, opto-isolated, reference to 5U_RTN. Measured on the product heat sink, activated at ºc. A per axis software indication when within the range below or higher: 5A model: 15A ±5% (14 16A) 7.5A model: 22A ±5% (21 23A) A software indication at V A software indication at 76 84V A software indication, active during the initial phase following power-up (soft start) for s Phase-to-phase or phase-to-ground short detection by software. 5A model: 20A ±5% (19 21A) 7.5A model: 30A ±5% (28 32A) 18

19 Environment Operating Storage Humidity 0 to + 50 C. Refer to operating condition section. -25 to +70 C 5% to 90% non-condensing Applicable Standards The SpiiPlusCMnt-1/2-320 Dual Axis Control Module meets the requirements of the following standards: EN :2006 IEC :2001 SEMI F :1999 SEMI F :2000 IEC Class 4M4 IEC Class 4M4 IEC Class 4K3 Industrial locations equipment, class A standard, under article 6(2) of EMC Directive 2004/108/EC (ACSEMC_EN.22513C) Safety conformance, 2 nd edition. Voltage sag immunity Sine vibration during operation (5-150 Hz, 3 axes, 10 m/s^2) 600 shocks, 150m/s 2, 6ms 93%, 30C 19

20 SpiiPlusCMnt-1/2-320 Connectors J1 Ethernet Input Connector Label: J1 ETHERNET Connector Type: RJ45 Mating Type: Ethernet plug Table 6: J1 Connector Pinout 1 TD+ Positive transmit signal 2 TD- Negative transmit signal 3 RD+ Positive receive signal 4 N/C Not connected 5 N/C Not connected 6 RD- Negative receive signal 7 N/C Not connected 8 N/C Not connected J2 Ethernet Output Connector Label: J2 ETHERNET Connector Type: RJ45 Mating Type: Ethernet plug Table 7: J2 Connector Pinout 1 TD+ Positive transmit signal 2 TD- Negative transmit signal 3 RD+ Positive receive signal 4 N/C Not connected 5 N/C Not connected 6 RD- Negative receive signal 7 N/C Not connected 8 N/C Not connected J3 Input/Output Connector Label: J3 I/O Connector Type: DB44 high density male Mating Type: DB44 high density female Table 8: J3 Connector Pinout 1 OUT1 Digital Output 1 2 OUT3 Digital Output 3 3 OUT5 Digital Output 5 4 OUT7/IN9 Digital Output 7 or Digital Input 9 5 IN1 Digital Input 1 6 IN3 Digital Input 3 7 0_LL Axis 0 Left Limit 8 1_LL Axis 1 Left Limit 9 ES+ E-STOP non-inverted 10 AIN0- Analog Input 0 inverted 11 AOUT0+ Analog Output 0 non-inverted 12 MARK1+ MARK 1 non-inverted 13 PEG0+ PEG 0 Output non-inverted 14 PEG1+ PEG 1 Output non-inverted 15 DGND Digital ground 16 OUT0 Digital Output 0 17 OUT2 Digital Output 2 18 OUT4 Digital Output 4 19 OUT6/IN8 Digital Output 6 or Digital Input 8 20 IN0 Digital Input 0 21 IN2 Digital Input _RL Axis 0 Right Limit 23 1_RL Axis 1 Right Limit 24 ES- E-STOP inverted 25 AIN0+ Analog Input 0 non-inverted 26 AIN1+ Analog Input 1 non-inverted 27 AOUT0- Analog Output 0 inverted 20

21 Table 8: J3 Connector Pinout (Continued) 28 MARK1- MARK 1 inverted 29 PEG0- PEG 0 Output inverted 30 PEG1- PEG 1 Output inverted 31 V_SUP_IO IO supply 32 V_RTN_IO IO supply return 33 IN4 Digital Input 4 34 IN5 Digital Input 5 35 IN6/MARK2 Digital Input 6 or MARK 2 36 IN7/MARK3 Digital Input 7 or MARK 3 37 V_SUP_SFTY Safety Supply 38 V_RTN_SFTY Safety Supply Return 39 ANGD Analog ground 40 AIN1- Analog Input 1 inverted 41 AOUT1+ Analog Output 1 non-inverted 42 AOUT1- Analog Output 1 inverted 43 MARK0+ MARK 0 non-inverted 44 MARK0- MARK 0 inverted J4 & J5 Encoder Connectors Label: J4 1(Y) J5 0(X) Connector Type: DB26 high density female Mating Type: DB26 high density male The dollar sign ($) in the table refers to the axis designations which can be 0 or 1 depending on the connector. Table 9: J4 & J5 Connectors Pinout 1 $_CHA- $ Encoder A inverted 2 $_CHB- $ Encoder B inverted Table 9: J4 & J5 Connectors Pinout (Continued) 3 $_CHI- $ Encoder Index inverted 4 $_HB $ Motor Hall B 5 V_SUP_SFTY Supply for limits 6 $_RL $ Right Limit 7 $_SIN- $ Encoder SIN inverted 8 $_COS- $ Encoder COS inverted 9 $_SC_I- $ Encoder Index inverted 10 $_CHA+ $ Encoder A non-inverted 11 $_CHB+ $ Encoder B non-inverted 12 $_CHI+ $ Encoder Index noninverted 13 $_HA $ Motor Hall A 14 $_HC $ Motor Hall C 15 $_LL $ Left Limit 16 $_SIN+ $ SIN non-inverted 17 $_COS+ $ COS non-inverted 18 $_SC_I+ $ Encoder Index non-inverted 19 5U 5V user supply for Digital Encoder and HALL 20 5U_RTN 5V return user supply for Digital Encoder, a return for $ Motor temperature sensor, and return for HALL 21 Shield Shield 22 $_MTMP $ Motor Over-Temperature 23 V_RTN_IO Return supply IO (not used) 24 V_RTN_SFTY A return for Right and Left Limits 25 5F 5V user supply for Analog Encoder and HALL 26 5F_RTN 5V return user supply for Analog Encoder and HALL 21

22 J6 Control Supply Connector Label: J6 CONTROL SUPPLY Connector Type: PHOENIX 5 pin, MC-1.5/5 GF 3.81 Mating Type: PHOENIX 5 pin, MC-1.5/5 STF 3.81 Table 10: J6 Connector Pinout 1 24V_SUP 24V control supply 2 24V_RTN 24V control supply return 3 5V_ENC_EXT External 5V supply for Encoder 4 5V_ENC_EXT_RTN External 5V supply return for Encoder 5 EGND Shield J7 24V Output Supply Connector Table 12: J8 & J9 Connectors Pinout 1 R_$ Motor $ R phase 2 S_$ Motor $ S phase 3 T_$ Motor $ T phase 4 EGND EGND, protected earth. 5 BRK_$+ Mechanical brake non-inverted output 6 BRK_$- Mechanical brake inverted output J10 Drive Supply Connector Label: J10 DRIVE SUPPLY Connector Type: Degson 2EDGRM pin, male Mating Type: Degson 2EDGKFM pin female Label: J7 24V OUTPUT SUPPLY Connector Type: PHOENIX 2 pin, MC-1.5/2 GF 3.81 Mating Type: PHOENIX 2 pin, MC-1.5/2 STF 3.81 Table 11: J7 Connector Pinout 1 24V_SUP_OUT 24V logic supply output (up to 5A) 2 24V_RTN 24V logic supply return J8 & J9 Motor Connectors Label: J8- MOTOR1 J9 MOTOR0 Connector Type: PHOENIX 6 pin, MC 1,5/ 6-GF-5,08 Mating Type: PHOENIX 6 pin, MC-1.5/6 STF 5,08 Table 13: J10 Connector Pinout 1 VBUS+ DC drive supply positive, for external regeneration circuit, increasing bus capacitance and parallel connection 2 N/C (REG) Not connected (regeneration resistor output in case of internal regeneration version). 3 VBUS- DC drive supply return, for external regeneration circuit, increasing bus capacitance and parallel connection 4 PE EGND, protected earth. 5 N/C (L3) Not connected (AC phase 3 in case of three phase version) 6 N (L2) AC neutral (AC phase 2 in case of three phase version) 7 L1 AC phase The dollar sign ($) in the table refers to the axis designations which can be 0 or 1 depending on the connector. 22

23 J11 General Purpose Connector Label: J11 GP Connector Type: Amtek 36 pin female 1,27mm (P/N CO SC/LF) Mating Type: Amtek 36 pin SCSI male (P/N HPCENS- MM36SAB-A1-L) Table 14: J11 Connector Pinout 1 2_CHA+ Axis 2 Encoder A non-inverted 2 2_CHA- Axis 2 Encoder A inverted 3 2_CHB+ Axis 2 Encoder B non-inverted 4 2_CHB- Axis 2 Encoder B inverted 5 2_CHI+ Axis 2 Encoder Index noninverted 6 2_CHI- Axis 2 Encoder Index inverted 7 5U 5V user supply for Digital Encoder and Hall 8 STATE0+/ENC_0+ PEG STATE 0 non-inverted output or Encoder 0 noninverted output 9 STATE0-/ENC_0- PEG STATE 0 inverted output or Encoder 0 inverted output 10 ANGD Analog ground 11 AIN2+ Analog Input 2 non-inverted 12 AIN2- Analog Input 2 inverted 13 0_RSV_SIN+ Axis 0 SIN non-inverted 14 0_RSV_SIN- Axis 0 SIN inverted 15 0_RSV_COS+ Axis 0 COS noninverted 16 0_RSV_COS- Axis 0 COS inverted 17 0_RSV_EXT+ Axis 0 EXT non-inverted output Table 14: J11 Connector Pinout (Continued) 18 0_RSV_EXT- Axis 0 EXT inverted output 19 3_CHA+ Axis 3 Encoder A non-inverted 20 3_CHA- Axis 3 Encoder A inverted 21 3_CHB+ Axis 3 Encoder B non-inverted 22 3_CHB- Axis 3 Encoder B inverted 23 3_CHI+ Axis 3 Encoder Index noninverted 24 3_CHI- Axis 3 Encoder Index inverted 25 DGND Digital ground 26 STATE1+/ENC_1+ PEG STATE 1 non-inverted output or Encoder 1 noninverted output 27 STATE1-/ENC_1- PEG STATE 1 inverted output or Encoder 1 inverted output 28 EGND Shield 29 AIN3+ Analog Input 3 non-inverted 30 AIN3- Analog Input 3 inverted 31 1_RSV_SIN+ Axis 1 SIN non-inverted 32 1_RSV_SIN- Axis 1 SIN inverted 33 1_RSV_COS+ Axis 1 COS noninverted 34 1_RSV_COS- Axis 1 COS inverted 35 1_RSV_EXT+ Axis 1 EXT non-inverted output 36 1_RSV_EXT- Axis 1 EXT inverted output 23

24 J12 HSSI Connector Label: J12 HSSI Connector Type: RJ45 Mating Type: Ethernet plug Table 15: J12 Connector Pinout 1 CONTROL_#+ Control signal non-inverted output for channel 0 2 CONTROL_#- Control signal inverted output for channel 0 3 SER_DI_#+ Serial data non-inverted for channel 0 4 SER_DI_#- Serial data inverted for channel 0 5 SER_DO_#+ Serial data non-inverted output for channel 0 6 SER_DO_#- Serial data inverted output for channel 0 7 DGND Digital ground 8 DGND Digital ground J14 - STO Input Connector Label: J14 STO Connector Type: JST 5 pin 2mm male SM05B-PASS-1 Mating Type: JST 5 pin 2mm female PAP-05V-S Pin: SPHD- 001T-P0.5 Table 17: J14 Connector Pinout 1 STO1- Safety torque 1 inverted 2 STO1+ Safety torque 1 non-inverted 3 EGND Electrical ground 4 STO2+ Safety torque 2 non-inverted 5 STO2- Safety torque 2 inverted J13 - COM1 Port Connector Label: J13 RS232 Connector Type: Modular jack 4P4C Mating Type: RJ11 plug Table 16: J13 Connector Pinout 1 RX232 RS-232 receive signal for communication port 1 (COM1) 2 TX232 RS-232 transmit signal for communication port 1 (COM1) 3 DGND Digital ground. 4 SHIELD Cable shield connection 24

25 Encoder Configurations Table 18 details all possible encoder configurations for the SPiiPlusCMnt-1/2-320 if a is employed. Table 18: CMnt Encoder Configurations with Ordered Possible Combination Digital Encoder SIN COS Encoder Encoder 0 (J5) Encoder 1 (J4) 0 (J11) 1 (J11) Encoder 2 (J11) Encoder 3 (J11) 2 (1 per axis) 0 0 Not used 2 (1 per axis) (1 per axis) (1 per axis) 1 0 Not Used 2 (1 per axis) (1 per axis) 2 0 Not Used 2 (1 per axis) 2 2 Any Any if is not used by J5 if is not used by J4 25

26 Table 18: CMnt Encoder Configurations with (Continued) Ordered Possible Combination Digital Encoder SIN COS Encoder Encoder 0 (J5) Encoder 1 (J4) 0 (J11) 1 (J11) Encoder 2 (J11) Encoder 3 (J11) 4 (2 per axis) (2 per axis) (2 per axis) (2 per axis) (2 per axis) (2 per axis) (2 per axis) 2 2 Any Any if is not used by J5 if is not used by J4 26

27 Table 19 details all possible encoder configurations for the SPiiPlusCMnt-1/2-320 if a is not employed. Table 19: CMnt Encoder Configurations without Ordered Possible Combination Digital Encoder SIN COS Encoder Encoder Encoder 0 (J5) Encoder 1 (J4) Encoder 2 (J11) Encoder 3 (J11) 0 (J11) 1 (J11) 2 (1 per axis) (1 per axis) (1 per axis) (1 per axis) 1 0 Not Used Not Used 2 (1 per axis) (1 per axis) (1 per axis) 2 2 Any Any 27

28 Table 19: CMnt Encoder Configurations without (Continued) Ordered Possible Combination Digital Encoder SIN COS Encoder Encoder Encoder 0 (J5) Encoder 1 (J4) Encoder 2 (J11) Encoder 3 (J11) 0 (J11) 1 (J11) 4 (2 per axis) (2 per axis) (2 per axis) (2 per axis) 1 0 Not Used 4 (2 per axis) (2 per axis) (2 per axis) 2 2 Any Any 28

29 NOTICE The information in this document is deemed to be correct at the time of publishing. ACS Motion Control reserves the right to change specifications without notice. ACS Motion Control is not responsible for incidental, consequential, or special damages of any kind in connection with using this document. Changes in Page Change 23 Corrected pinout order of J11 connector. 25 Added table detailing all possible encoder configurations. Related Documents The following documents provide additional details relevant to this guide: Document SPiiPlusNT Setup Guide SPiiPlus Command & Variable Reference Guide SPiiPlus C Library Reference Description A guide providing step-by-step instructions for setting up a SPiiPlusNT system. Complete description of all variables and commands in the ACSPL+ programming language. C++ and Visual Basic libraries for host PC applications. This guide is applicable for all the SPiiPlus motion control products. SPiiPlus COM Library Reference SPiiPlus MMI Application Studio User Guide SPiiPlus Utilities User Guide MC4U Control Module SPiiPlusNT PEG and MARK Operations Application Notes Safe Torque Off Function Application Notes COM Methods, Properties, and Events for Communication with the Controller. A complete guide for using the SPiiPlus MMI Application Studio. A guide for using the SPiiPlus User Mode Driver (UMD) for setting up communication with the SPiiPlus motion controller. Technical description of the MC4U Control Module integrated motion control product line. Provides details on using the PEG commands in NT systems. Provides details of the implementation of the STO function in SPiiPlusNT products. 29