Motion controller Modicon LMC058

Transcription

1 General presentation Motion controller Modicon LMC0 Flexile modular system 0 Motion controller Modicon LMC0 The Motion controller Modicon LMC0 is the optimum solution for axis control and positioning, including automation functions. Part of Schneider Electric's Flexile Machine Control concept, it meets the needs of a wide range of applications in all usiness sectors. This motion controller is designed for machine manufacturers (OEMs) who require synchronized axes, focusing on applications such as packaging, conveying and storage machines, metal and wood working machines, etc. and offers highperformance solutions for velocity control, counting, axis control and communication functions. To this end, the LMC0 master motion controller includes as standard: A CANopen master A CANmotion master dedicated to control of up to synchronized axes, with a performance of ms for axes With Motion controllers Modicon LMC0, Lexium and Lexium SD drives, and BSH and BDH servo motors, Schneider Electric offers a complete, highperformance and cost-effective solution. Applications The motion controller Modicon LMC0 performs axis synchronization and coordination, via a fi eldus, for applications requiring control of up to synchronized axes. It integrates the standard motion control functions: Velocity control and torque control Relative or asolute positioning Cam profi les for slave axes and control of programmale cam switches Virtual axes Electronic gearing function for velocity and position, linear and circular interpolations (½D) Master axis using an external encoder Distance measurement and position capture on high-speed (0 μs) discrete input This is specifi cally designed for applications such as: Material handling machines (conveyors, palletizers, storage and retrieval systems, etc.) and transfer machines (cranes, etc.) Assemly machines (tool fi xing, clamping, etc.) Inspection and quality control machines Packaging machines working on the fl y (fl ying shear, printing, marking, etc.) Wood and metal working machines Performance In terms of performance, the motion controller Modicon LMC0 has a Dual-Core processor: Core is dedicated exclusively to managing program tasks and offers the maximum resources for real-time execution of synchronized axis control and the application code. Core is dedicated to executing communication tasks, which then have no further impact on the application execution performance. Execution of the Motion task is synchronized with the CANmotion us cycle time. This task calculates the position of the synchronized axes and is programmed with SoMachine V.0 software, which offers six IEC - programming languages: v v v v v v Instruction List (IL) Ladder (LD) Function Block Diagram (FBD) Grafcet (SFC) Structured Text (ST) Continuous Function Chart (CFC) The ease of use of PLCopen function locks signifi cantly reduces the time taken to program motion control and control independent and synchronized axes on machines. The aility to comine motion functions with standard automation functions offers oth maximum fl exiility and a high level of performance. The LMC0 master motion controller is ale to control synchronization of real, remote and virtual axes. version:.0 0-EN.indd

2 General presentation Motion controller Modicon LMC0 Flexile modular system SoMachine V.0 software platform Performance (continued) To improve the performance and reliaility of your machines, the LMC0 motion controller has a -way SUB-D connection for a master encoder (incremental or SSI). With an execution speed of ns for a Boolean instruction i.e. more than,000 Boolean instructions per ms, the capacity to manage up to 00 I/O, a MB RAM that can store data and programs as well as a MB Flash memory for application and data ackup, the motion controller Modicon LMC0 eliminates any douts aout the machine's capailities. In developing the motion controller Modicon LMC0, the cost aspect was taken into account, and the CPUs are equipped as standard with: discrete I/O Emedded serial link and Ethernet port analog inputs (reference LMC0 LFS0) A CANopen master A CANmotion master Development and technology In all its characteristics, the motion controller Modicon LMC0 has een developed to minimize the costs of assemly, caling, commissioning and maintenance. To this end: All the modules have removale terminals. All the electrical connections are made on spring terminals, speeding up the wiring process and also avoiding the need for periodic retightening. In addition, each terminal has a test point for a voltage sensing device. The emedded serial link and Ethernet port on the motion controller Modicon LMC0 have an RJ connection at for quick visile connection of the communication channels. The modularity of the various ases and extension modules has een optimized in order to signifi cantly reduce the numer of references to e ordered and assemled, while ensuring the minimum investment in your confi guration is necessary, thanks to a capacity of etween and channels per extension module. Mechanical assemly of the various parts has een designed to save a considerale amount of time during assemly. Software configuration Confi guration and programming of all motion controller Modicon LMC0s and equipment in Schneider Electric's Flexile Machine Control concept are oth designed to cut costs and optimize machine performance, using SoMachine V.0. To reduce the confi guration time of device, a selection of function locks is availale in the Motion Lirary : Lirary for ATV on CANopen Lexium lirary for Lexium and Lexium SD on CANopen and CANmotion Lexium lirary for the whole ILx range on CANopen This PLCopen-compliant lirary consists of administrative function locks (read/ write parameters, states, etc.) and single-axis and multi-axis function locks. The main functions are as follows: Power On, stop, reset Relative, asolute or additional positioning Continuous positioning (reaching a position at a predefined speed) Velocity control Velocity profi le Position profile Cam profi le Electronic gearing Phasing Programmale cam switch Linear or circular interpolation User lirary With SoMachine V.0 software, it is very easy to create your own function locks (user lirary) to reduce programming times. Creating a user lirary simplifi es the standardization and reuse of programs and also allows you to protect your knowhow. 0 0-EN.indd version:.0

3 General presentation (continued) Motion controller Modicon LMC0 Flexile modular system CANopen ( Mps) Master encoder Up to highspeed counters (00 khz) High-speed counter function (one-phase or two-phase) Lexium servo drives: monitoring cutting to length Application function locks (AFB) This is a lirary of functions developed specifi cally y Schneider Electric. It contains application functions currently encountered in applications in the fi elds of assemly, material handling and cutting to length. Each function lock has a large numer of mechanical and application variants. The use of function locks: Saves programming time Saves setup time Simplifi es reading The function locks availale in the lirary are: Flying shear Rotary knife Grouping/ungrouping Clamping with torque control Etc. Functions Analog functions For machines that require functions to process data issued y analog sensors/ actuators (voltage or current), temperature sensors or PID control sensors, a complete range of extension modules (compact or slice ) as well as advanced programming functions are included in the motion controller Modicon LMC0 offer. In order to minimize the numer of machine product references, optimize assemly time and cut costs, the LMC0 LFS0 motion controller includes voltage or current analog inputs with -it resolution as standard. The different extension modules are availale in, or -channel versions and with either or -it resolution. The powerful performance of the LMC0 motion controller enales up to 00 analog I/O and/or temperature modules to e connected, thus extending the limits of machine requirements. High-speed counter function (HSC) In order to meet requirements for machine productivity, the LMC0 motion controller has emedded high-speed counters with a counting frequency of 00 khz for each channel and refl ex outputs. These emedded counters, together with the CANopen master link, make it quick and easy to create cost-effective, high-performance multi-axis functions to suit the machines' limitations. With the availaility of PLCopen function locks specifi c to the motion control functions in the SoMachine V.0 software, you can e sure that developing your applications will e quick and reliale. Moreover, a complete range of high-speed counter modules is availale so you can adapt your confi guration to your machine's specifi c requirements. Position control function Several options are offered in terms of position control: v Creating a sequence in Lexium servo drives, with communication with the LMC0 motion controller achieved y the use of discrete I/O v Creating an application in the LMC0 motion controller and controlling Lexium drives and servo drives and/or Lexium SD stepper drives via the integrated CANopen master link availale on LMC0 motion controllers (in this case the Motion tasks are independent axis Motion tasks) v Creating an application in the LMC0 motion controller and controlling the Lexium drives and servo drives and/or Lexium SD stepper drives via the integrated CANmotion master link availale on all LMC0 motion controllers (in this case the Motion tasks are independent and/or synchronized axis Motion tasks - cam profi les, electronic gearing, interpolation) 0 version:.0 0-EN.indd

4 General presentation Motion controller Modicon LMC0 Flexile modular system Ethernet communication All motion controller Modicon LMC0 references have an emedded RJ Ethernet port (0/00 Mps, MDI/MDIX) with Ethernet TCP Modus, Ethernet IP Device, SoMachine V.0 on Ethernet, UDP, TCP and SNMP protocols. LMC0 motion controller CANopen Altivar CANmotion LXMp LXMp LXMp LXMp Servo motor In addition, all the LMC0 motion controllers have an emedded We Server and FTP Server. As well as the default address ased on the MAC address, it is possile to assign a motion controller IP address via a DHCP server or BOOTP server. CANmotion/CANopen communication The CANopen machine us is now very widely used in industry ecause of its high performance. In accordance with international standard ISO promoted y the CAN in Automation association of users and manufacturers, it offers a high level of openness and interoperaility thanks to its standardized communication and equipment profi les. CANmotion and CANopen uses use a doule shielded twisted pair. Each end of the us must e equipped with a line terminator. A staged CANmotion and CANopen connectivity solution reduces costs and optimizes your architecture, thanks to: Reduced caling time Greater reliaility of the caling Flexiility should you need to add or remove a device CANmotion All motion controller Modicon LMC0 references have an emedded CANmotion master. This us is dedicated to synchronizing the drives (conforming to standard CiA DSP 0, the Device Profi le for Drives & Motion Control). This CANmotion link can e confi gured etween 0 kps and Mps, and offers the option of confi guring and controlling up to Lexium servo drives and/or Lexium SD stepper drives. The CANmotion us cycle time ensures that the axis positions will e refreshed. To ensure maximum performance on the motion us, we recommend using a daisy chain caling architecture. CANopen All motion controller Modicon LMC0 references have an emedded CANopen master. This us is dedicated to expansion of the automation capailities, such as the I/O, drives, encoders, etc. The link can e confi gured etween kps and Mps and supports up to slaves. Architectures ased on CANopen can e used to distriute I/O modules as close to the sensors and actuators as possile, thus reducing wiring costs and times, and to communicate with different devices such as variale speed drives, servo drives, etc. The CANopen confi gurator is integrated in the SoMachine V.0 software and can also e used to import standard description fi les in EDS format. Modus communication All motion controllers Modicon LMC0 have a serial link as standard that can e confi gured as either RS or RS and incorporates the two most commonly used protocols on the market: v v Modus ASCII/RTU Master or Slave Character string (ASCII) Integration in the Schneider Electric product offer Comined with other products dedicated to machine manufacturers in the Schneider Electric offer, such as ATV variale speed drives, Lexium servo drives, Magelis HMI terminals, TeSys motor starters and contactors, the motion controller Modicon LMC0 is now a must-have element in machine architectures, with hitherto unrivalled ease and speed of installation. 0 0-EN.indd version:.0

5 Selection guide Motion controller Modicon LMC0 Compact ases Applications Industrial machines: packaging, conveying, material handling, assemly, wood and metal working, ceramics, etc. discrete I/O User memory RAM MB (program + data) Flash MB Typical Boolean instruction time User program size Power supply ns program Kinstructions V c Channel connection Via removale spring terminal locks (supplied) Inputs Discrete x V c inputs including counter inputs (00 khz) Analog Discrete outputs Transistor outputs (0. A) including refl ex outputs Relay Built-in communication ports USB-B mini-port USB-A port Programming port for SoMachine V.0 software Connection of a USB memory stick for transferring programs, data fi les, fi rmware updates RJ port (MBS) SUB-D connector (-way male) (CAN0) SUB-D connector (-way male) (CAN) SUB-D connector (-way female) (Encoder) RJ port (Ethernet) RS serial link RS serial link (supplies 0 ma, V for HMI power supply) Protocols: Modus ASCII/RTU Master/Slave, ASCII (character string) CANopen us master ( slaves) CANmotion us master Encoder input (incremental or SSI) Ethernet TCP IP, We Server, FTP, Ethernet Modus TCP Optional communication ports Logic controller type Page 0/ LMC0 LFS0 0 version:.0 0-EN.indd

6 Industrial machines: packaging, conveying, material handling, assemly, wood and metal working, ceramics, etc. discrete I/O + analog inputs MB (program + data) MB ns program Kinstructions V c Via removale spring terminal locks (supplied) x V c inputs including counter inputs (00 khz) inputs + 0 V/- 0 V, -0 ma/0-0 ma -it resolution outputs (0. A) including refl ex outputs Programming port for SoMachine V.0 software Connection of a USB memory stick for transferring programs, data fi les, fi rmware updates RS serial link, RS serial link (supplies 0 ma, V for HMI power supply) Protocols: Modus ASCII/RTU Master/Slave, ASCII (character string) CANopen us master ( slaves) CANmotion us master Encoder input (incremental or SSI) Ethernet TCP IP Modus slave, We Server, FTP PCI slots availale on controller for optional communication modules () LMC0 LFS0 0/ () To e ordered separately 0 0-EN.indd version:.0

7 Presentation Motion controller Modicon LMC0 Compact ases Presentation Range The LMC0 motion controller range is divided into two sizes: v The LMC0 LFS0 motion controller is mm wide. v The LMC0 LFS0 motion controller is. mm wide as it has two free PCI slots for optional communication modules (serial link or Profi us DP). LMC0 LFS0 motion controller LMC0 LFS0 motion controller TM PCpp communication modules This range is completed y an extensive extension module offer: v Discrete/analog compact I/O extension modules (availale second half of 00) v Slice discrete I/O extension modules v Slice analog I/O extension modules v Slice counter modules v Slice common distriution modules v Slice power distriution modules v Slice us extension modules Functions The main component in a system is the motion controller: two LMC0 motion controller models are offered to cover different control requirements (pressure, temperature, counting, velocity, positioning, motion, etc.). LMC0 motion controllers and I/O modules are programmed using SoMachine V.0 software. Reference LMC0 LFS0 Emedded functions discrete I/O including high-speed counters (00 khz) CANopen master CANmotion master TM C compact discrete or analog I/O extension module r TM SD slice discrete I/O module LMC0 LFS0 discrete I/O including high-speed counters (00 khz) voltage/current analog inputs CANopen master CANmotion master TM SA slice analog I/O module TM SPD slice common distriution module TM SE slice counter module TM SPS slice power distriution modules All LMC0 motion controllers have two groups of high-speed I/O with, for each group: v Four sink type high-speed inputs (up to 00 khz), standard inputs and source type high-speed outputs (up to 00 khz) dedicated to HSC or PWM functions v A high-speed input which can e used as an Encoder capture input v Two commons for the inputs v One common for the outputs v A power supply ( V c) consisting of units: - One for the CPU - One for the high-speed I/O modules - One for other modules (internal I/O Bus) Assemly and mounting The components of this system have een designed for simple interlocking mechanical assemly. An -way us extension connection ( for the power supply, for the us and for the data) is used to distriute data and the power supply when assemling the components: the LMC0 motion controller with compact I/O extension modules and slice modules (I/O extension, counting, common distriution, power distriution, us extension). All the elements which make up the system are mounted on a symmetrical rail using the locking clips located on top of each device. TM SBET slice us extension module (transmitter) TM SBER slice us extension module (receiver) Wiring and maintenance of devices is simplifi ed y the use of removale spring terminals. The spring terminals are undone y pressing a locking ta. The system is integrated into communication networks: all connectors (RJ, USB, mini-usb and SUB-D type) are accessile, as they are located on the motion controller front panels. 0 r Availale second half of 00 version:.0 0-EN.indd

8 Presentation Motion controller Modicon LMC0 Compact ases Local or remote architecture Local I/O A PLC confi guration can e local or remote. It consists of an LMC0 motion controller with its emedded input and output channels, used in conjunction with compact or slice I/O extension modules which are used to increase the numer of channels and/or application-specifi c functions. Ethernet Modus Ethernet Modus/ TCP Local I/O Emedded I/O I/O I/O extension extension Compact modules represent a way of adding a large numer of I/O with a single component, and thus only a single product reference. Slice I/O extension modules (comination of a us ase, an electronic module and a terminal lock) complete this confi guration and, eing modular with etween and channels, make it possile to adjust the numer of channels to exactly that required. The addition of slice discrete or analog I/O extension modules, temperature or high-speed counter modules increases the processing capailities of applications. Local I/O configuration XBT GT supervisory graphic touch screen terminal LMC0 motion controller Compact or slice I/O extension modules Modus Ethernet TCP Emedded I/O I/O extension I/O extension Remote I/O Because of its ackplane us management, the TM system can e used to control I/O modules remotely. The same modules can e used in either a local and/or remote confi guration, linked together with us extension cales. The maximum distance etween two remote islands is 00 m and the maximum numer of islands is, i.e. a total distance of up to 00 m. This function ensures a high level of fl exiility, while retaining synchronization of all data acquisition, since all the extension modules are on the same ackplane us. Remote I/O configuration XBT GT supervisory graphic touch screen terminal LMC0 motion controller Compact or slice I/O extension modules Slice us transmitter extension modules Slice us receiver extension modules TM us extension cales Slice common distriution modules Remote I/O extension Remote I/O extension 0 Remote I/O 0-EN.indd version:.0

9 General presentation Motion controller Modicon LMC0 Compact ases Communication LMC0 motion controllers have the following uilt-in communication ports: References Communication ports Use LMC0LFS0 RJ Confi gurale as RS or RS ASCII or RTU exchange with Modus communication protocol x RJ (MDI/MDIX port) v FTP server v We server v Modus TCP server v Modus TCP client v SoMachine V.0 Manager v SNMP v Ethernet IP device v Modus device x USB-A Connection of a USB memory stick for transferring (uploading/ downloading) programs, data and/ or fi rmware x mini-usb Programming port (0 Mps) x -way male SUB-D CANopen master connection LMC0LFS0 x -way male SUB-D CANmotion master connection x -way female SUB-D Master encoder x RJ Confi gurale as RS or RS ASCII or RTU exchange with Modus communication protocol x RJ (MDI/MDIX port) v FTP server v We server v Modus TCP server v Modus TCP client v SoMachine V.0 Manager v SNMP v Ethernet IP device v Modus device x USB-A Connection of a USB memory stick for transferring (uploading/ downloading) programs, data and/ or fi rmware x mini-usb Programming port (0 Mps) x -way male SUB-D CANopen master connection x -way male SUB-D CANmotion master connection x -way female SUB-D Master encoder 0 PCI slots for communication modules = x -way male SUB-D Optional addition of communication modules for a serial link or Profi us DP Emedded Ethernet LMC0 motion controllers have an emedded Ethernet link via a direct connection to their RJ port. v Speed: 0 BaseT and 00 BaseTX with auto-negotiation v RJ port (MDI/MDIX): automatic adaptation to a straight or crossed cale References Protocols Numer of connections LMC0LFS0 Modus server LMC0LFS0 Modus device Ethernet IP device FTP server We server 0 0 version:.0 0-EN.indd

10 Description Motion controller Modicon LMC0 Compact ases 0 Description The LMC0LFS0 motion controller comprises: A display lock with: - motion controller status LEDs (RUN/MS, BATTERY, APP0 and APP) - uilt-in communication port status LEDs (Eth LA, Eth ST, Eth NS, USB Host, MBS COM, CAN 0 STS, CAN STS) Locking clip for mounting/dismounting on symmetrical rail A V c power supply module with removale terminal lock and locking clip, display lock and slot for a lael I/O modules, each one with a removale terminal lock with locking clip, a display lock showing the I/O states and a slot for a lael-holder Removale terminal lock with locking clip for locking/unlocking On the side, a us extension connector for connecting to the next module A slot for the RTC (Real Time Clock) attery A USB-A connector (marked Host) for connecting a USB memory stick for transferring programs, data or fi rmware updates A USB-B mini-connector (marked Pgr Port) for connecting to the programming PC 0 An RJ connector (marked Ethernet) for connecting to the Ethernet network and/or Magelis XBT GT graphic terminal An RJ connector (marked MBS) for the RS or RS serial link A -way female SUB-D connector, marked ENCODER, for connecting the master encoder and a selector switch for the encoder supply voltage states ( V, Off, V) A -way male SUB-D connector, marked CAN0, for connecting to the CANopen us A -way male SUB-D connector, marked CAN, for connecting to the CANmotion us 0 The LMC0LFS0 motion controller comprises: A display lock with: - motion controller status LEDs (RUN/MS, BATTERY, APP0 and APP) - uilt-in communication port status LEDs (Eth LA, Eth ST, Eth NS, USB Host, MBS COM, CAN 0 STS, CAN STS) Locking clip for mounting/dismounting on symmetrical rail Two free PCI slots for the communication modules A V c power supply module with removale terminal lock and locking clip, display lock and slot for a lael I/O modules, each one with a removale terminal lock with locking clip, a display lock showing the I/O states and a slot for a lael-holder Removale terminal lock with locking clip for locking/unlocking On the side, a us extension connection for the link with the next module A slot for the RTC (Real Time Clock) attery A USB-A connector (marked Host) for connecting a USB memory stick for transferring programs, data or fi rmware updates 0 A USB-B mini-connector (marked Pgr Port) for connecting to the programming PC An RJ connector (marked Ethernet) for connecting to the Ethernet network and/or Magelis XBT GT graphic terminal An RJ connector (marked MBS) for the RS or RS serial link A -way female SUB-D connector, marked ENCODER, for connecting the master encoder and a selector switch for the encoder supply voltage states ( V, Off, V) A -way male SUB-D connector, marked CAN0, for connecting to the CANopen us A -way male SUB-D connector, marked CAN, for connecting to the CANmotion us 0 0-EN.indd version:.0

11 References Motion controller Modicon LMC0 Compact ases LMC0LFS0 References LMC0 motion controllers, V c power supply No. of I/O Inputs Outputs Built-in communication ports Reference Weight (kg) I/O x V c discrete inputs including counter inputs (00 khz) discrete v RJ port: Ethernet LMC0LFS0 0.0 transistor outputs v SUB-D port (-way male): (0. A) CANopen master including refl ex v SUB-D port (-way male): outputs CANmotion master v SUB-D port (-way female): master encoder v USB-A port: program transfer v USB-B mini-port: software programming v RJ port: RS/RS serial link LMC0LFS0 + I/O x V c discrete v RJ port: Ethernet LMC0LFS0 0.0 discrete inputs transistor outputs v SUB-D port (-way male): including (0. A) CANopen master counter inputs including refl ex v SUB-D port (-way male): (00 khz) analog inputs 0 V/- 0 V, -0 ma/ 0-0 ma, -it resolution outputs CANmotion master v SUB-D port (-way female): master encoder v USB-A port: program transfer v USB-B mini-port: software programming v RJ port: RS/RS serial link v + free PCI slots for optional communication modules (): RS/ RS serial link and Profi us DP () To e ordered separately 0 version:.0 0-EN.indd

12 References (continued) Motion controller Modicon LMC0 Compact ases Accessories, connection cales, USB memory stick References Accessories Designation Used for Colour Sold in lots of Terminal lock shield (laelholder) Laelling the terminal locks on the I/O channels Unit reference Weight kg Transparent 00 TM ACTCH TM ACTLC00 TM ACTCH00 Terminal lock shield locking clip (Order with terminal shield TM ACTCH00) Sheet of precut paper laels Locking terminal lock shield TM ACTCH00 Terminal lock shield TM ACTCH00 Transparent 00 TM ACTLC White 00 TM ACTLS TM ACLITW TM ACLT Coloured plastic markers Metal tool Connection cales Designation Used from Software programming cale PC USB port Baud rate: 0 Mps max. Protocol: Modus, HTTP, FTP, Codesys or virtual, non-isolated Laelling connection channel terminals Inserting/removing TM ACLITp markers to White TM ACLITW 0.0 Red TM ACLITR 0.0 Blue TM ACLITB 0.0 Black TM ACLT 0.00 USB mini-port on LMC0 motion controllers, the ATV-IMC card or XBT GT graphic touch screen terminals Programming cale PC USB port USB-B mini-port on LMC0 motion controllers RS serial link cales Modus protocol RS serial link cales Character mode Cale for master encoder input () DTE: Data Terminal Equipment () DCE: Data Communication Equipment SUB-D port (-way) on RJ port on LMC0 Small Panels: XBT N0, motion controllers XBT N0, XBT R0, XBT R, XBT GT... GT RJ port on XBT GT graphic touch screen terminals SUB-D port (-way female) on DTE (): printer, hand-held ar code reader, etc. SUB-D port (-way female) on DCE (): GSM modem Incremental encoders or SSI serial asolute encoders ( stripped end) RJ port on LMC0 motion controllers RJ port on LMC0 motion controllers RJ port on LMC0 motion controllers -way female SUB-D port on LMC0 motion controllers ( High Density -way male SUB-D connector) Length Reference Weight kg m TCS XCN AM UMP 0.0. m BMX XCA USB H m XBT Z 0.0. m XBT m TCS MCN MFC 0.0 m TCS MCN MMS 0.0 m VW M EN.indd version:.0

13 Presentation Motion controller Modicon LMC0 Compact ases Built-in CANmotion and CANopen us ports Presentation Schneider Electric has selected CANopen for its machines and installations ecause of its wealth of functions and its resulting enefi ts in the automation world. This decision was ased on the general acceptance of CANopen, and the fact that CANopen products are increasingly used in control system architectures. CANopen is an open network supported y more than 00 companies worldwide, and promoted y CAN in Automation (CiA). CANopen conforms to standards EN 0- and ISO -. CANmotion and CANopen characteristics CANmotion and CANopen uses are multi-master uses ensuring reliale, deterministic access to real-time data in control system equipment. The CSMA/CA protocol is ased on roadcast exchanges, sent cyclically or on an event, to ensure optimum use of the andwidth. A message handling channel can also e used to defi ne slave parameters. CANmotion and CANopen uses are a set of profi les on CAN systems with the following characteristics: Open us system Data exchanges in real time without overloading the protocol Modular design allowing modifi cation of size Interconnection and interchangeaility of devices Standardized network confi guration Access to all device parameters Synchronization and circulation of cyclical and/or event-controlled process data (short system response time) TeSys U with LUL C0 communication module Lexium A Connectale Schneider Electric devices The following Schneider Electric devices can e connected to the CANopen us: v Ø mm Osicoder multi-turn asolute encoders: XCC 0P/C SCB v TeSys U starter-controllers with communication module LUL C0 v TeSys T motor management system with controller LTM RppCpp v Modicon OTB IP 0 distriuted I/O with I/O extension modules with interface module OTB C0 DMLP v Modicon FTB monoloc IP I/O splitter oxes FTB CNppppp v Preventa confi gurale safety controllers XPS MCZC/ZC v Altivar variale speed drives for asynchronous motors (0. kw) ATV H ppppp v Altivar / variale speed drives for asynchronous motors (0. 0 kw) ATV H /H ppppp v Lexium 0/Lexium servo drives (0. kw) for BSH/BSM servo motors LXM 0ApDpppp/ LXM ApDpppp v Lexium SD stepper drives v Lexium integrated drives ILAB, ILEB and ILSB Altivar Lexium ILAB 0 version:.0 0-EN.indd

14 Presentation Motion controller Modicon LMC0 Compact ases Built-in CANmotion and CANopen us ports Architecture CANopen port on LMC0 motion controllers LMC0 motion controllers include a -way male SUB-D CANopen port and act as the CANopen master. The us consists of a master station, the LMC0 motion controller and slave stations. The master is in charge of confi guration, exchanges and diagnostics to the slaves. The CANopen us is a communication us and is used to manage a variety of slaves, such as: Discrete slaves Analog slaves Variale speed drives Motor starters Etc. CANopen port Standards DS 0 V.0, DR 0- Class Conformity class M0, limited to slaves Data rate Max length (m) Data rate (kps) Numer of slaves max. with max. limit of: TDPOs/ RPDOs Connection On -way male SUB-D port CANmotion port on LMC0 motion controllers LMC0 motion controllers include a -way male SUB-D CANmotion port and act as the CANmotion master. This CANmotion connection offers the option of confi guring and controlling up to Lexium drives and/or Lexium SD stepper drives. The CANmotion us cycle time ensures that the axis positions will e refreshed. 0 0-EN.indd version:.0

15 Architecture, references Motion controller Modicon LMC0 CANmotion and CANopen us Caling system CANopen architecture Modicon LMC0 HMI Example of connection of the Distriuted CANopen Optimized architecture dedicated to machines and modular installations. For other CANopen architectures, please refer to the Industrial communication networks in machines and installations catalogue. CANopen 0 a a Altivar CANmotion Modicon OTB Modicon FTB V c 0 Lexium References TSX CAN TDM VW CAN TAP TSX CAN KCD F0T TSX CAN KCD F0T TSX CAN KCD F0TP Standard tap junctions and connectors Designation Description No. Length Reference Weight kg IP 0 CANmotion/CANopen tap junction IP 0 CANmotion/CANopen connectors -way female SUB-D Switch for line termination SUB-D ports. Screw terminal lock for connection of trunk cales Line termination TSX CAN TDM 0. 0 angled TSX CAN KCDF 0T 0.0 Straight () TSX CAN KCDF 0T angled with -way SUB-D for connecting TSX CAN KCDF 0TP 0.0 a PC or diagnostic tool IP M connectors Male FTX CN M 0.00 Female FTX CN F 0.00 IP 0 CANmotion/CANopen tap junction for Altivar and Lexium RJ ports VW CAN TAP IP 0 standard cales and formed cordsets Designation Description No. Length Reference Weight kg CANmotion/CANopen cales ( x AWG x AWG ) CANmotion/CANopen formed cordsets One -way female SUB-D connector at each end. For standard environments () e marking: low smoke zero halogen Flame-retardant (IEC 0-) For standard environments () UL certifi cation e marking: fl ame-retardant (IEC 0-) For harsh environments () or moile installation e marking: low smoke zero halogen Flame-retardant (IEC 0-) Oil-resistant For standard environments () e marking: low smoke zero halogen Flame-retardant (IEC 0-) For standard environments (), UL certifi cation, e marking: fl ame-retardant (IEC 0-) 0 m TSX CAN CA m TSX CAN CA m TSX CAN CA m TSX CAN CB m TSX CAN CB m TSX CAN CB m TSX CAN CD m TSX CAN CD m TSX CAN CD m TSX CAN CADD0 0.0 m TSX CAN CADD 0. m TSX CAN CADD 0. m TSX CAN CADD m TSX CAN CBDD0 0.0 m TSX CAN CBDD 0. m TSX CAN CBDD 0. m TSX CAN CBDD 0.00 () For connection to integrated controller card Altivar IMC. () Standard environment: No particular environmental constraints, operating temperature etween + C and + 0 C, and in fi xed installations. Harsh environment: Resistance to hydrocarons, industrial oils, detergents, solder splashes, relative humidity up to 00%, saline atmosphere, signifi cant temperature variations, operating temperature etween - 0 C and + 0 C, or in moile installations. version:.0 0-EN.indd

16 References (continued) Motion controller Modicon LMC0 CANmotion and CANopen us Caling system References (continued) IP 0 standard cales and formed cordsets (continued) Designation Description No. Length Reference Weight kg CANmotion/CANopen formed cordsets Cordsets with one -way female SUB-D connector and one RJ connector a 0. m TCS CCN F M0T m TCS CCN F MT m TCS CCN F MT Cordset with one -way female SUB-D m VW M 0 R00 connector and one RJ connector with uilt-in line termination m VW M 0 R00 Cordsets with two -way SUB-D connectors, one female and one male 0. m TLA CD CBA 00. m TLA CD CBA 0 m TLA CD CBA 00 m TLA CD CBA 00 IP standard formed cordsets CANmotion/CANopen formed cordsets Cordsets with two -way M A-coded angled connectors (one male, one female) 0. m FTX CN m FTX CN m FTX CN m FTX CN m FTX CN m FTX CN VW CAN A IP 0 connection accessories CANmotion/CANopen connector for Altivar () -way female SUB-D. Switch for line termination. Cales exit at 0 VW CAN KCDF 0T Adaptor for Altivar drive CANopen adaptor SUB-D to RJ VW CAN A AM0 CA 00V000 CANmotion/CANopen formed cordsets CANmotion/CANopen us adaptor for Lexium D One RJ connector at each end 0 0. m VW CAN CARR0 m VW CAN CARR Hardware interface for a CANopencompliant link + one connector for a PC terminal AM0 CA 00V Y-connector CANopen/Modus TCS CTN0MF IP connection accessories for Modicon FTB/FTM monoloc and modular splitter oxes Designation Composition No. Length Reference Weight kg IP line terminator Equipped with one M connector (for end of us) FTX CNTL 0.00 V c power supply connection cales Equipped with two -way / connectors 0. m FTX DP0 0.0 m FTX DP0 0.0 m FTX DP0 0.0 m FTX DP0 0.0 FTX DPpp Equipped with one -way / connector at one end and fl ying leads at the other end. m FTX DP 0.0 m FTX DP0 0.0 m FTX DP T-connector for power supply Equipped with two -way / connectors FTX CNCT 0.00 () For ATV HpppM, ATV HDMX, HDMX, ATV H0N... HDN drives, this connector can e replaced y the TSX CAN KCDF 0T connector. 0 0-EN.indd version:.0

17 Connections, references Motion controller Modicon LMC0 Modus and Character mode serial link Caling system Modus caling system Non-isolated link (Modicon LMC0 master) Magelis XBT Modicon LMC0 Isolated link (Modicon LMC0 master) Small Panel Magelis c XBT N/R V g Phaseo Modular TeSyS U Altivar Modicon LMC0 Altivar TeSys U Twido slave - Length of cales etween Modicon LMC0 and Altivar: y 0 m max. - Total length of cales etween isolation oxes : y 000 m - Length of tap cales, or : y 0 m g Line polarization active Line termination References TWD XCA ISO TWD XCA TRJ Extension and adaptation elements for RS serial link Designation Description No. Length Reference Weight kg Isolation ox Screw terminal lock for trunk cale x RJ for tap-off Tap junction x RJ for trunk cale x RJ for tap-off - - Isolation of the RS link () Line termination (RC 0 Ω, nf) Line pre-polarization ( R 0 Ω) - V c (screw terminal lock) or V c (via RJ) power supply, Mounting on mm - Line termination (RC 0 Ω, nf) - Line pre-polarization ( R 0 Ω), Mounting on mm Modus splitter ox Mounting on mm on plate or panel Screw terminal lock for ( x Ø mm screws) trunk cale 0 x RJ for tap-off TWD XCA ISO 0.00 TWD XCA TRJ 0.00 LU GC 0.00 T-junction oxes x RJ for trunk cale integrated cale with RJ connector for tap-off dedicated to Altivar variale speed drive 0. m VW A 0 TF0 m VW A 0 TF0 LU GC Passive T-junction ox - -channel line extension and tap-off on screw terminal lock - Line termination TSX SCA TSX SCA 0 XGS Z RS C/RS line converter - Max. data rate. kps - No modem signals V c/0 ma power supply, Mounting on mm XGS Z 0.00 () Line isolation recommended for line distances > 0 m. 0 version:.0 0-EN.indd

18 References (continued) Motion controller Modicon LMC0 Modus and Character mode serial link Caling system References (continued) Cales and cordsets for RS serial link Designation Description No. Length Unit reference RS doule shielded twisted pair trunk cales Modus serial link, supplied without connector Weight kg 00 m TSX CSA m TSX CSA m TSX CSA Modus RS cordsets x RJ connectors 0. m VW A 0 R m VW A 0 R m VW A 0 R0 0.0 x RJ connector and end with fl ying leads x mini-din connector for Twido controller and x RJ connector x mini-din connector for Twido controller and x RJ connector () () x mini-din connector for Twido controller and x RJ connector Dedicated to Programming protocol () () mini-din connector for Twido controller and end with fl ying leads m TWD XCA FJ m VW A 0 D m TWD XCA RJ m TWD XCA RJ m TWD XCA RJ m TWD XCA RJP m TWD XCA RJP0P 0.0 m TWD XCA FD m TSX CX Cordsets for Modicon LMC0 (SL, SL) to Magelis display units and panels Cordset for Magelis Small Panels Line terminator x RJ connectors XBT N00/R00 XBT RT00/ XBT GTpp/ x RJ connector and x -way SUB-D connector x RJ connector and x -way SUB-D connector Small Panel XBT N0/0 XBT R0/ x RJ connectors Small Panel XBT N00/R00 XBT RT00/ For RJ connector R = 0 Ω, C = nf Sold in packs of. m XBT Z0 0.0,. m XBT Z 0.0 Advanced Panel XBT GTpp0 0 XBT GKppp0. m XBT Z m VW A 0 R0 0.0 VW A 0 RC 0.00 Cordsets for RS serial link Designation Description Length Reference Weight kg Cordset for Data Terminal Equipment (DTE) (printer) () Serial link for DTE () x RJ connector and x -way female SUB-D connector m TCS MCN MFC 0.0 Cordset for Data Serial link for DCE m TCS MCN MMS 0.0 Connection Equipment x RJ connector and x -way male SUB-D (DCE) connector (modem, converter) () Forces confi guration of the Twido controller's uilt-in RS port with the TwidoSuite programming protocol parameters. () Carries the V c voltage (supplied via the Twido controller's uilt-in RS port) required y the TWD XCA ISO isolation ox, thus avoiding the need for an external V c power supply. () Allows the Twido controller's uilt-in RS port to e used with the parameters descried in the confi guration. () If the terminal is equipped with a -way SUB-D connector, you will also need to order the -way female/-way male SUB-D adaptor TSX CTC EN.indd version:.0