Introduction to Class 5 Connectivity

Transcription

1 Introduction to Class Connectivity APPENDIX SOFTWARE GEAR HEADS POWER SUPPLIES & SHUNTS IP MODELS & CONNECTIVITY PERIPHERALS CONNECTIVITY LINEAR SYSTEMS MOTOR SPECIFICATIONS OVERVIEW Power: Each SmartMotor is operated from to 8VDC. Some of the larger SmartMotor servos can draw high current. It is highly recommended to use heavy gage wire to connect the larger motors. As a result, the Add-A-Motor is recommended for the and frame series only. Communications: Each SmartMotor has a primary RS- serial port and a secondary RS-8 port by re-assignment of ports E and F of the I/O points. Up to 00 SmartMotor servos may be separately addressed and are identifiable on either RS- or RS-8. The most common and cost effective solution is typically RS- serial communications. Under this structure, each motor is placed in an electrical serial connection such that the transmit line of one motor is connected to the receive line of the next. Each motor will be set to echo the incoming data to the next motor down with approximately millisecond propagation delay. There is no signal integrity loss from one motor to the next, which results in highly reliable communications. The following cables/devices are used for RS- and Power connectivity: CBLPWRCOM-xM Power and communications cable with flying leads or in conjunction with DIN-RS 8 channel isolated communications board CBLSM-xM Power and communications cable with DB-9 serial connector and power supply connector that fits our enclosed power supplies CBLSM-DEMO Testing cable used with our PWR laptop type power supply CBLSM-x-y-z Custom length multi-drop RS- daisy chain cable The following cables are used for RS-8 and Power connectivity: RS8-ISO Converts primary RS- to isolated RS-8 (Note: uses Port G I/O pin) CBLSM-x-y-z Custom multi drop isolated RS-8 (multiple RS8-ISO adapters) Interfacing with I/O devices: Each SmartMotor has TTL level user-configurable I/O. Each can be used as either inputs or outputs. The following is a quick review of I/O interfacing connectivity options: CBLIOV-xM Direct connection to V TTL I/O CBLIOV-xM via OPTO VDC isolation and conversion of V signals CBLIOV-xM via DINIO Motor breakout board to industry standard OPTO relays CBLIO-ISO-xM Isolated VDC logic conversion cable 8 SHUNTV00W or SHUNTV00W CBLSM-xM PSV8AG-0 or PSVAG-0 The following pages are a roadmap to motor connectivity. These pages show the physical layout of how cables are used including power, communications and I/O interconnection. Animatics Corporation All integrated motor products made by Animatics are covered by patent number,9, tel: fax: CBLDC

2 Class Connector Pinouts PIN MAIN POWER Specifications: P I/O GP or G command mamp Sink or Source Redundant connection on 0Bit 0-VDC A/D I/O connector W Combo +VDC out 0mAmps Max (total) D-sub Connector RS- Transmit Channel(0).KBaud Max 9 RS- Receive Channel(0).KBaud Max 0 SIG Ground A A A Main Power: +0-8VDC A Ground PIN I/O CONNECTOR (VTTL I/O) Specifications: P I/O 0 GP or Enc. A or Step Input mamp Sink or Source 0Bit 0-VDC A/D.MHz max as Enc or Step input I/O GP or Enc. B or Dir. Input mamp Sink or Source 0Bit 0-VDC A/D.MHz max as Enc or Dir. Input I/O Positive Over Travel or GP mamp Sink or Source 0Bit 0-VDC A/D I/O Negative Over Travel or GP mamp Sink or Source 0Bit 0-VDC A/D I/O GP or RS-8 A Channel() mamp Sink or Source.KBaud Max P DB- D-sub Connector 0Bit 0-VDC A/D 8 I/O GP or RS-8 B Channel() mamp Sink or Source.KBaud Max 0Bit 0-VDC A/D 0 9 I/O GP or G command mamp Sink or Source 0Bit 0-VDC A/D Redundant connection on Main Power Connector 8 Phase A Encoder Output 9 Phase B Encoder Output 0 RS- Transmit Channel(0).KBaud Max RS- Receive Channel(0).KBaud Max +VDC Out 0mAmps Max (total) SIG Ground Ground Main Power: +0-8VDC if -DE Option, Control Power separate from Main Power PIN CAN bus Connection: P NC NC M -PIN NC NC FEMALE END VIEW GND_CAN Isolated CAN ground CAN-H M Baud max CAN-L M Baud max PIN Isolated VDC I/O Connector Max Load (sourcing) P I/O GP 0mAmps I/O GP 0mAmps M -PIN I/O 8 GP 0mAmps FEMALE END VIEW I/O 9 GP 0mAmps I/O 0 GP 00mAmps I/O GP 00mAmps I/O GP 00mAmps 8 I/O GP 00mAmps 9 I/O GP 00mAmps 0 I/O GP 00mAmps +Volts Input 8-VDC GND-I/O Animatics Corporation All integrated motor products made by Animatics are covered by patent number,9, tel: fax: OVERVIEW MOTOR SPECIFICATIONS LINEAR SYSTEMS CONNECTIVITY PERIPHERALS IP MODELS & CONNECTIVITY POWER SUPPLIES & SHUNTS GEAR HEADS SOFTWARE APPENDIX

3 Class LEDs and Connectors APPENDIX SOFTWARE GEAR HEADS POWER SUPPLIES & SHUNTS IP MODELS & CONNECTIVITY PERIPHERALS CONNECTIVITY LINEAR SYSTEMS MOTOR SPECIFICATIONS OVERVIEW LED Status Power-up: with no program the travel limit inputs are not grounded: LED0 will be solid red indicating the motor is in a fault state due travel limit fault. LED will be off LED Status Power-up: with no program and the travel limits are hard wired to ground: LED0 will be solid red for 00 milliseconds and then begin flashing green. LED will be off LED Status Power-up: with a program that only disables travel limits and nothing else LED0 will be solid red for 00 milliseconds and then begin flashing green. LED will be off 0 LED0: LED: P (I/O Connector) LED 0 P (Main Power) P (CANopen option) LED Drive Status Indicator Off :No Power Solid green :Drive On Flashing green :Drive Off Flashing red :Watchdog Fault Solid red :Major Fault Alt. red/green :In Boot Load, Needs Firmware Trajectory Status Indicator Off :Not Busy Solid green :Drive On, Trajectory In Progress LED P (EXPANDED I/O option) LED LED P (EXPANDED I/O option) LED CAN Bus Network Fault (Red LED) Off :No Error Single Flash. :At least One Error exceeded Limit Double Flash :Heartbeat or Guard Error Solid :Busy Off State LED: CAN Bus Network Status (Green LED) Blinking :Pre-Operational State, (during boot-up) Solid :Normal Operation Single :Device is in Stopped State Animatics Corporation All integrated motor products made by Animatics are covered by patent number,9, tel: fax: P (I/O Connector) LED LED 0 P (Main Power) LED P (CANopen option)

4 B Class Connection Maps PIN PIN A A DESCRIPTION A I/O B I/O C I/O D I/O E I/O F I/O G I/O Encoder A Out Encoder B Out RS Transmit RS Receive +V Out Ground Power Ground Power DESCRIPTION +0V to +8V DC Power Ground Sync or I/O +V Out RS Transmit RS Receive RS Ground SMD-C-AD Pin Combo D-Sub Power & I/O A 0 9 Pin D-Sub I/O A CBLSM-xM CBLIO-ISO-xM CBLIP-CAN-FL-xMRA ( Pin) CBLIP-IO-FL-xMRA ( Pin) KITUSB8 Pin Expanded I/O Connector Pin CAN Animatics Corporation All integrated motor products made by Animatics are covered by patent number,9, tel: fax: USB8 PIN PIN PSV8AG-0 or PSVAG-0 DESCRIPTION I/O- GP I/O- GP I/O-8 GP I/O-9 GP I/O-0 GP I/O-GP I/O- GP I/O-GP I/O- GP I/O- GP + Volts Input GND I/O DESCRIPTION NC NC GND CAN CAN-H CAN-L OVERVIEW MOTOR SPECIFICATIONS LINEAR SYSTEMS CONNECTIVITY PERIPHERALS IP MODELS & CONNECTIVITY POWER SUPPLIES & SHUNTS GEAR HEADS SOFTWARE APPENDIX

5 Class Connection Maps (Continued) APPENDIX SOFTWARE GEAR HEADS POWER SUPPLIES & SHUNTS IP MODELS & CONNECTIVITY PERIPHERALS CONNECTIVITY LINEAR SYSTEMS MOTOR SPECIFICATIONS OVERVIEW Class Multi-Axis Connection Maps RS Multidrop using Add-A-Motor Cable CBLSM-xM PSV8AG-0 or PSVAG-0 Amps maximum continuous load Hardware "DE" Option: The DE option allows the controller and driveamplifier to be powered from separate -8 VDC power supplies. Controller can be powered from a standard VDC supply Position will not be lost on loss-ofdrive-power No need to re-home Load surges will not cause power surge on controller Standard battery options are made simpler CBLSMADD-xM SMD CAN Bus Multidrop using CAN Bus Y Cables HMI or PLC HMI or PLC (or another SmartMotor) HIGHLY RECOMMENDED OPTION. PLEASE READ! Note: The same supply may be used for Control and Drive power, but maximum protection is provided with separate power supplies. E-Stop Switch Drive Amp Power Supply: (0-8VDC) Control Power Supply: (0-8VDC) DRV PWR GND DRV POWER CONTROL POWER CONTROL PWR GND SMD-C Animatics Corporation All integrated motor products made by Animatics are covered by patent number,9, tel: fax: CBLIP-CAN-Y-xM Protective Shunt see pages 8 to 9 Note: All IP sealed SmartMotors are designed to always have seperate drive and control power. As a result, no DE designation is available for IP sealed SmartMotors. Control power on IP sealed SmartMorors is rated for VDC, maximum of VDC. CBLIP- TRM0

6 B Class Connection Maps (Continued) PSV8AG-0 or PSVAG-0 KITUSB8 USB8 CBLSM-xM RS- Communications with Power Supply & Protective Shunt RS Multidrop using Add-A-Motor Cable CBLSM-xM PSV8AG-0 or PSVAG-0 RS- Multidrop using Custom Order Cable CBLSMADD-xM RS-8 Isolated Communication using Custom Order Cable RS8 RS8 ISO CBLSM-X-Y-Z RS8 ISO RS Communications with Power Supply & Protective Shunt SHUNTV00W or SHUNTV00W RS- Communications CBLSM-xM PSV8AG-0 or PSVAG-0 Using USB Adapter RS- Multidrop using Custom Order Cable RS8 ISO Terminating Resistor CBLSM-X-Y-Z CBLDC RS- Multidrop using Add-A-Motor Cables RS-8 Isolated Communications Using Custom Order Cable Animatics Corporation All integrated motor products made by Animatics are covered by patent number,9, tel: fax: OVERVIEW MOTOR SPECIFICATIONS LINEAR SYSTEMS CONNECTIVITY PERIPHERALS IP MODELS & CONNECTIVITY POWER SUPPLIES & SHUNTS GEAR HEADS SOFTWARE APPENDIX

7 < V Logic Side +V PWR 0 0 < V Logic-side is open-collector (Sinking-only) Direction is as follows: "Input" (to V side) OUT OUT "Output" (from V side) OPTO G V Ret -- Power Input -- -Channel (8 In, 8 Out) Optically Isolated VTTL to V Logic V Control side > is Sourcing-Only. Outputs are rated at 0mAmps Max. -- Ground Input -- Opto Isolation Board V Control Side > PWR +V IN 0 IN IN IN IN IN IN IN OUT OUT OUT 0 OUT OUT OUT V Ret G B A D C E G F ENC ENC RX TX RS PWR PWR SIG +V GND GND (-8VDC) NC A- A+ B- B+ ENC A- A+ IN B- B+ IN IN ENC A ENC A ENC B ENC B V Good Bus A B B C C D D E E F F G G A AUX A AUX B AUX B AUX AUX AUX AUX AUX RS8 BIAS BUS BUS - B + - E + Class Connection Maps (Continued) APPENDIX SOFTWARE GEAR HEADS POWER SUPPLIES & SHUNTS IP MODELS & CONNECTIVITY PERIPHERALS CONNECTIVITY LINEAR SYSTEMS MOTOR SPECIFICATIONS OVERVIEW DIN-RS Servo Power Input CBLIO-ISO-xM CBLPWRCOM-xM CBLPWRCOM-xM Demonstration & Development Configurations Isolated RS-8 Communications RS8T RS8T V I/O Devices RS Communications Servo Power Interfacing with v IO Devices CBLIOV-xM RS8-ISO PSV8AG-0 or PSVAG-0 CBLPWRCOM-xM User Supplied Cable Interfacing with V I/O Devices OPTO RS Communications Servo Power RS8 ISO Isolated 8 Communications to other SmartMotors or other RS-8 devices V I/O Devices Isolated RS- Communications for up to 8 SmartMotor servos CBLSM-DEMO CBLIOV-xM PWRV Isolated RS-8 Communications CBLPWRCOM-xM Recommended Power Supply PSV0AF series Animatics Corporation All integrated motor products made by Animatics are covered by patent number,9, tel: fax: CBLAC DINIO ENC ENC ENC ENC ENC ENC ENC IN OUT OUT OUT OUT ENC ENC AMotor RS- AniLink SmartMotor I/O RS Communications Servo Power - G + - F + - D + - C + - A + Recommended Shunts SHUNTV00W-OF SHUNTV00W-OF

8 I/O Cables CBLIO-ISO-xM Cables CBLIO-ISO VDC TTL I/O Converter Cable The CBLIO-ISO cable provide optically isolated VDC I/O interface to the controller. The cable is user configurable as inputs and outputs OR inputs and outputs. Additionally, this cable provides direct connection to: RS- Primary Communications Port (Ch. 0) Encoder Output Control Power Input Part Number Length CBLIO-ISO-M meter CBLIO-ISO-M meter CBLIO-ISO-0M 0 meter It can be used with standard or DE option Animatics SmartMotor PIN D-SUB 9 (MALE) OPTICALLY ISOLATED I/O DIRECT CONNECTION TO ENCODER OUTPUT, RS-, AND CONTROL POWER 8 0mm mm MINIMUM BENDING 80 mm INPUT COMMON A-G INPUT A INPUT B INPUT C INPUT D INPUT G OUTPUT E (+) OUTPUT E (-) OUTPUT F (+) OUTPUT F (-) OUTPUT G (+) OUTPUT G (-) RS Rx RS Tx RS Common Enc. A Out Enc. B Out Enc. Common CONTROL PWR IN (-) CONTROL PWR IN (+) ORANGE/WHITE ORANGE/BLACK YELLOW/WHITE YELLOW/BLACK VIOLET/WHITE VIOLET/BLACK GREEN/BLACK GREEN/WHITE BROWN Animatics Corporation All integrated motor products made by Animatics are covered by patent number,9, tel: fax: FUNCTION: LENGTH COLOR: WHITE BLUE YELLOW GREEN VIOLET ORANGE BLUE/WHITE BLUE/BLACK BROWN BLACK RED SHIELD AND DRAIN WIRES DO NOT CONTACT CIRCUIT BOARD OR CONNECTOR SHELL AWG OVERVIEW MOTOR SPECIFICATIONS LINEAR SYSTEMS CONNECTIVITY PERIPHERALS IP MODELS & CONNECTIVITY POWER SUPPLIES & SHUNTS GEAR HEADS SOFTWARE APPENDIX