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2 Imprint Legal notice All rights reserved to ELAU GmbH, also in case of patent right applications. No part of this documentation or the accompanying software and firmware may be reproduced, transferred, paraphrased, saved to a storage medium or translated to another language or computer language without the written consent of ELAU GmbH. Any possible measure was taken to ensure that this product documentation is complete and correct. However, since hardware and software are continuously improved, ELAU makes no representations or warranties with respect to the contents of this documentation. All information on our products in this manual are given purely for the purpose of product description and is not binding. Misprints, errors and modifications -without prior notice in the course of product development- are reserved. If details contained in this manual are explicitly a part of an agreement made with ELAU GmbH, then the details of the agreements in this manual are exclusively to determine the agreed condition of the object of agreement, on behalf of the 434 BGB (condition guarantee on behalf of legal regulations). Trademark PacDrive is a registered trademark of ELAU GmbH. All other trademarks mentioned in this documentation are the exclusive property of their manufacturers. ELAU GmbH Dillberg Marktheidenfeld, Germany Tel.: +49 (0) 939 / Fax: +49 (0) 939 / info@elau.de Internet: Page 2 PacDrive Controller C600 ELAU GmbH
3 Overview Figure -: PacDrive System Overview C600 Controller Controller based architecture The PacDrive C600 Controller is based on an Intel module processor. It uses the realtime operating system VxWorks. VxWorks provides logic and motion functions for a production or packaging machine. A PacDrive Controller synchronizes, coordinates and generates the positioning functions for up to 99 servo drives, which are connected via the SERCOS bus interface. Several standardized field bus interfaces are available: PROFIBUS DP, CAN, CANopen or DeviceNet. A variety of standard HMI systems, ranging from low-cost text displays to industrial PCs, can be used for the HMI functions. CPU: Intel Module,.6 GHz, 256 MB RAM Real-Time operating system: VxWorks IEC 63-3 programming languages for PLC and Motion Control SERCOS interface Profibus DP, CAN, CANopen, DeviceNet, or Ethernet/IP Digital inputs, digital outputs, analog, interrupt and Touchprobe inputs Communication interfaces: RS 232, RS 485, Ethernet (TCP/IP) CompactFlash card ( 28 MB) Includes OPC server for Windows-based HMIs Teleservice via web server or modem ELAU GmbH PacDrive Controller C600 Page 3
4 2 Technical data 2 Technical data 2. Ambient conditions Procedure Parameters Value Basis Operation Class 3K3 IEC/EN Ambient temperature Condensation Icing Another water +5 C C Relative humidity 5%... 85% Transport Class 2K3 IEC/EN Long time storage in transport packaging Ambient temperature Condensation Icing Another water -25 C C Relative humidity 5%... 95% Class K4 IEC/EN Ambient temperature Condensation Icing Another water -25 C C Relative humidity 5%... 95% Table 2-: Ambient conditions PacDrive C600 Controller Procedure Parameters Value Basis Operation Class 3K3 IEC/EN Ambient temperature Condensation Icing Another water +5 C C Relative humidity 5%... 85% Transport Class 2K3 IEC/EN Long time storage in transport packaging Ambient temperature Condensation Icing Another water -25 C C Relative humidity 5%... 95% Class K3 IEC/EN Ambient temperature Condensation Icing Another water -5 C C Relative humidity 5%... 95% Table 2-2: Ambient conditions PacDrive C600 Controller (with UPS) Page 4 PacDrive Controller C600 ELAU GmbH
5 2.2 Standards and regulations 2.2 Standards and regulations Certifications CE, UL, cul Table 2-3: Standards and regulations PacDrive C600 Controller 2.3 Mechanical and electrical data Category Parameters Value Product configuration Processor Operating system Programming languages Type key C600 up to 99 SER COS slaves (SERCOS slaves = MC-4, SCL, ish) Order number- C600 up to 99 SERCOS slaves CPU RAM L2 Cache NVRAM CompactFlashTM card Real time clock (RTC) PacDrive C600 / 0 / / / / Intel Pentium M.6 GHz 256 MB MB 256 kb 28 MB Yes (battery maintenance interval: 5 years) Watchdog Yes (max. 60 V < 2 A) Diagnosis Real-time operating system Programming languages IEC 63-3 Alphanumeric diagnosis display Status LEDs VxWorks Instruction list (IL) Ladder diagram (LD) Function block diagram (FBD) Sequential function chart (SFC) Structured text (ST) Continuous function chart (CFC) ELAU GmbH PacDrive Controller C600 Page 5
6 2 Technical data Category Parameters Value Interfaces Output SPS output Cam Switch Group Digital inputs (X3) Serial interfaces Network connection Field bus connection COM: RS232 (X7) COM2: RS485 (X8) Ethernet (0/00 Base-T) (X0) PROFIBUS DP Master/Slave (2 MBaud) (X20) and CAN (2.0A) or CANopen (X9) DeviceNet Slave (cable adapter required) EtherNet/IP Slave (optional hardware module required) EtherNet/IP Scanner (optional hardware module required) Real-time bus interface SERCOS interface (6 MBaud) (X4, X5) PacNet interface 2 PacNet interfaces (X2, X3) Master encoder interface HMI interface Diagnostic interface for remote maintenance Communications protocols Iintegrated trace recorder (software oscilloscope) Integrated data logger for diagnostic messages Actuator power SinCos master encoder or incremental master encoder (X) RS485 (Modbus or PROFIBUS DP) HMI software tools: OPC server (for Windows NT/2000/XP or Windows CE) Modem Http Ftp SMTP ( ) 8 channels, resolution ms 27 kb Time for 000 Bit instructions 4 µs Number of PLC processes Type of PLC processes 99 servo axes with all SERCOS cycle times Max. of 255 parallel motion profiles possible Unlimited Continuous periodic or Cycle time fast task 250 µs Nominal I/O response time Event-controlled Number of cams Max. 256 Sequential circuit Outputs Inputs 500 µs (read in data, process, set output) Dynamic Memory or digital outputs External master encoder Virtual master encoder Axis position Processing time 250 µs Number 20 (IEC63-2 type ) Range U IN 0 Voltage Range U IN Voltage Input data Polarized Input filter DC V DC V I IN = 5 ma by U IN = 24 V Yes or 5 ms can be parameterized Page 6 PacDrive Controller C600 ELAU GmbH
7 2.3 Mechanical and electrical data Category Parameters Value Analog inputs (X5) Interrupt inputs (X4) Touchprobe inputs (X4) Digital outputs (X2) Analog outputs (X5) Additional digital and analog I/Os Additional fast digital I/Os Additional Touchprobe inputs Power supply Number 2 Range U IN Resolution Range I IN Resolution V 2 Bit (5 mv, resistor 00 kohm) ma 2 Bit (5 µa, resistor 500 Ohm) Number 4 (IEC63-2 type ) Range U IN 0 Voltage Range U IN Voltage Input data Polarized Input filter DC V DC V I IN = 5 ma by U IN = 24 V Yes 0. or ms can be parameterized Number: 6 (IEC63-2 type ) Range U IN 0 Voltage Range U IN Voltage Input data Polarized Input filter TP0 to TP5 DC V DC V I IN = 5 ma by U IN = 24 V Yes 00 µs resolution 0 µs at a cycle time of, 2, 4 ms Number 6 (IEC63-2 type ) Output voltage Rated current Inrush current Leakage current with 0 signal (+UL-3 V) < U OUT < +UL I e = 250 ma per output I emax < 2 A for s < 0.4 ma Transmission time 00 µs short circuit proof Supply output Number 2 Range U OUT Resolution Load Via field bus Via PacNet Via PacNet Power supply unit Power consumption Uninterruptible Power Supply (UPS) Yes DC 24 V (-5% / +25%) / 3 A V 2 Bit (5 mv) > 5 kohm (max. Offset < +/-75 mv) Max. 3,584 bytes digital/analog inputs and Max. 3,584 bytes digital/analog outputs Max. number of stations: 26 (PROFIBUS) Max. 28 inputs and 28 outputs Max. 28 Touchprobe inputs DC 24 V (-5% / +25%) / max. 3.0 A without UPS and 4.5 A with UPS Max. 85 W Internal, optional (maintenance interval 3 years) Dimensions Dimensions packaging DxWxH (mm): 300x30x400 Weight Weight (with packaging) 3.5 kg (4. kg) Protection class Housing IP 20 ELAU GmbH PacDrive Controller C600 Page 7
8 2 Technical data Category Parameters Value Isolation class Degree of pollution 2 Table 2-4: Technical data PacDrive C600 Controller 2.4 Electrical connections X PacDrive 24V/wd X C600 pow wd err bus err X2 cf-card X2 cf-card enter battery X2 digital out X2 com rs232 X7 X7 X3 digital in X3 eth 0 com2 rs485 X8 X8 X0 X4 tp/fast phys enc X can 9 X9 X X2 X5 X4 analog in/out X5 Made in Germany pacnet profibus dp 20 X3 X4 X20 X5 Connection Meaning max. terminal cross-section [mm 2 ]/ [AWG] X Control voltage/ Watchdog.50 mm X2 Digital outputs.50 mm X3 Digital inputs.50 mm X4 Touchprobe and fast digital inputs.50 mm X5 Analog inputs/outputs.50 mm X0 Ethernet connection - - X Master encoder (SinCos) 0.25 mm 2 - X Master encoder (incremental) 0.25 mm 2 - X2/X3 PacNet - - X7 Com (RS232) 0.25 mm 2 - X8 Com 2 (RS485) 0.25 mm 2 - X9 CAN 0.25 mm 2 - X20 PROFIBUS db 0.25 mm 2 - Shielded connector - - Table 2-5: Connection overview PacDrive C600 Controller Page 8 PacDrive Controller C600 ELAU GmbH
9 2.4 Electrical connections X - Control voltage and watchdog DC +24 V Supply voltage - 5 % / +25 % 2 DC 0 V Supply voltage 3 +UL For digital outputs DC +24 V -5 % / +25 % 4 L0 For digital inputs/outputs 5 6 DC +24 V DC 0 V 7 WD Watchdog relay 8 WD Watchdog relay Table 2-6: Connection X Pin X Supply voltage (with pin bridged, max. ampacity 4A) Supply voltage (with pin 2 bridged, max. ampacity 4A) -5 % / +25 % Pin5 2 Pin2 Pin6 Pin3 3 Pin4 Figure 2-: Connection X - Input connection Internal wiring diagram - input connection of power supply (simplified) 2 Internal supply voltage 3 Supply voltage for digital outputs/inputs ELAU GmbH PacDrive Controller C600 Page 9
10 2 Technical data X2 - Digital outputs O.00 Digital output DC V 2 O.0 Digital output 2 DC V 3 O.02 Digital output 3 DC V 4 O.03 Digital output 4 DC V 5 O.04 Digital output 5 DC V 6 O.05 Digital output 6 DC V 7 O.06 Digital output 7 DC V 8 O.07 Digital output 8 DC V 9 O.08 Digital output 9 DC V 0 O.09 Digital output 0 DC V O.0 Digital output DC V 2 O. Digital output 2 DC V 3 O.2 Digital output 3 DC V 4 O.3 Digital output 4 DC V 5 O.4 Digital output 5 DC V 6 O.5 Digital output 6 DC V Table 2-7: Connection X2 X3 - Digital inputs 0 20 l.00 Digital input 0 DC V 2 l.0 Digital input DC V 3 l.02 Digital input 2 DC V 4 l.03 Digital input 3 DC V 5 l.04 Digital input 4 DC V 6 l.05 Digital input 5 DC V 7 l.06 Digital input 6 DC V 8 l.07 Digital input 7 DC V 9 l.08 Digital input 8 DC V 0 l.09 Digital input 9 DC V l.0 Digital input 0 DC V 2 l. Digital input DC V 3 l.2 Digital input 2 DC V 4 l.3 Digital input 3 DC V 5 l.4 Digital input 4 DC V 6 l.5 Digital input 5 DC V 7 l.6 Digital input 6 DC V 8 l.7 Digital input 7 DC V 9 l.8 Digital input 8 DC V 20 l.9 Digital input 9 DC V Table 2-8: Connection X3 Page 0 PacDrive Controller C600 ELAU GmbH
11 2.4 Electrical connections X4 - Touchprobe and fast digital inputs 0 20 T.00 Touchprobe input 0 DC V 2 T.0 Touchprobe input DC V 3 T.02 Touchprobe input 2 DC V 4 T.03 Touchprobe input 3 DC V 5 T.04 Touchprobe input 4 DC V 6 T.05 Touchprobe input 5 DC V 7 T.06 Touchprobe input 6 DC V 8 T.07 Touchprobe input 7 DC V 9 T.08 Touchprobe input 8 DC V 0 T.09 Touchprobe input 9 DC V T.0 Touchprobe input 0 DC V 2 T. Touchprobe input DC V 3 T.2 Touchprobe input 2 DC V 4 T.3 Touchprobe input 3 DC V 5 T.4 Touchprobe input 4 DC V 6 T.5 Touchprobe input 5 DC V 7 F.00 Fast input DC V 8 F.0 Fast input 2 DC V 9 F.02 Fast input 3 DC V 20 F.03 Fast input 4 DC V Table 2-9: Connection X4 X5 - Analog inputs/outputs AI.0 + Analog input V (*) ma (**) 2 J.0 + Br. current input AI.0 - Analog input 0-4 A.GND 0 Analog ground V Out 0 Output voltage 0 2 V 6 PE Shield 7 AO.0 Analog output V 8 A.GND AO.0 Analog ground 0 9 PE Shield 0 AI. + Analog input V (*) ma (**) J. + Br. current input + 2 AI. - Analog input - 3 A.GND Analog ground 4 2 V Out Output voltage 2 V 5 PE Shield 6 AO. Analog output V 7 A.GND AO. Analog ground 8 PE Shield (*) Voltage metering and (**) current measurement on AI.0+ / AI.0- (Pin / Pin 3) and AI.+ / AI.- (Pin 0 / Pin 2) (**) Current measurement by bridging to J.0+ (Pin 2) or. J.+ (Pin ). Table 2-0: Connection X5 ELAU GmbH PacDrive Controller C600 Page
12 2 Technical data Pin Pin3 Pin2 Pin0 Pin2 Pin Pin4 Pin8 Pin5 Pin4 Pin6 Pin9 X5 PE R R2 AGND R7 R8 R3 R4 R5 R6 +2V +2V R, R2 = 500R R3 - R8 = k 2 3 Figure 2-2: Connection X5 - Input connection Internal wiring diagram - input connections for analog inputs (simplified) 2 Analog Input 3 Analog Input 2 X0 - Ethernet 8 Tx+ OutputTransmitData+ 2 Tx- OutputTransmitData- 3 Rx+ InputReceiveData+ 4 - (PE) 5 - (PE) 6 Rx- InputReceiveData- 7 - (PE) 8 - (PE) Table 2-: Connection X0 Depending on the application, you will need different cables to connect the controller via the RJ-45 outlet. Component A Component B required cable PacDrive Controller "Firm network" with RJ-45 Commercially available patch cable PacDrive Controller Hub Commercially available patch cable PacDrive Controller PC Crossed RJ-45 network cable In case of doubt, ask your network administrator. Page 2 PacDrive Controller C600 ELAU GmbH
13 2.4 Electrical connections X - Master encoder (SinCos) REFSIN Reference Signal Sinus 2 SIN Sinus trace 3 REFCOS Reference Signal Cosinus 4 COS Cosinus trace 5 +9 V Supply voltage 6 RS485- Parameter channel - 7 RS485+ Parameter channel + 8 SC_SEL Master encoder plugged in (bridge to GND) 9 GND Supply voltage Table 2-2: Connection X - Master encoder (SinCos) X - Master encoder (incremental) _UA Track A 2 UA Track A 3 _UB Track B 4 UB Track B 5 +5 V Supply voltage 6 _UO Track O 7 UO Track O GND Ground Table 2-3: Connection X - Master encoder (incremental) CAUTION PLUGGING IN/UNPLUGGING THE MASTER ENCODER PLUG WHEN SWITCHED ON Only unplug or plug in master encoder when off-circuit. Disconnect controller from the 24 V supply voltage. Failure to follow these instructions can result in equipment damage. X2/3 - PacNet 8 8 TxD+ OutputTransmitData+ 2 TxD- OutputTransmitData- 3 RxD+ InputReceiveData+ 4 TxC- OutputTransmitClock- 5 TXC+ OutputTransmitClock+ 6 RxD- InputReceiveData- 7 RxC+ InputReceiveClock+ 8 RxC- InputReceiveClock- ELAU GmbH PacDrive Controller C600 Page 3
14 2 Technical data Table 2-4: Connection X2, X3 Use only approved PacNet cables at the PacNet connection to avoid malfunction. X7 - Com (RS 232) DCD Data Carrier Detect 2 RxD Receive Data 3 TxD Transmit Data 4 DTR Data Terminal Ready 5 GND Signal Ground 6 DSR Data Set Ready Clear To Send 7 RTS Request To Send 8 CTS Clear To Send 9 RI Ring Indicator Table 2-5: Connection X7 X8 - Com 2 (RS485) VM Supply voltage 2 TxD- RS485 Transmit - 3 TxD+ RS485 Transmit+ 4 RxD+ RS485 Receive + 5 RxD- RS485 Receive - 6 GNDR GND receive RS Reserved 8 GNDM Supply voltage 9 GNDR GND receive RS485 Table 2-6: Connection X8 X9 - CAN Reserved 2 CAN_L Bus line (low) 3 GND Ground 4 - Reserved 5 - Reserved 6 - Reserved 7 CAN_H Bus line (high) 8 - Reserved 9 - Reserved Table 2-7: Connection X9 An adapter is available for the connection to DeviceNet. Page 4 PacDrive Controller C600 ELAU GmbH
15 2.4 Electrical connections X20 - profibus db PE Shield 2 - Reserved 3 RxD / TxD -P Data -P 4 CNTR-P Control signal P 5 DGND Signal ground 6 VP Supply voltage 7 - Reserved 8 RxD / TxD -N Data -N 9 Reserved Table 2-8: Connection X20 Connector A PROFIBUS connector must be used to connect to the 9 pole PROFIBUS outlet because the bus terminal resistors are in this connector. The possible PROFIBUS connectors with different cable outlets are illustrated below. Figure 2-3: PROFIBUS connector Bus terminal resistors For the first and last bus nodes, the terminal resistors must be switched on. Otherwise data transmission will not function properly. The shielding must be applied generously and on both sides Figure 2-4: Position of the bus terminal resistors Last bus slave 2 Nth bus slave 3 First bus slave 4 Bus terminator ELAU GmbH PacDrive Controller C600 Page 5
16 2 Technical data 2.5 Dimensions 268 (0.55) 24 (0.95) 30 (2.2) PacDrive 24V/wd X digital out X2 digital in X3 tp/fast X4 analog in/out X5 C600 pow wd err bus err Made in Germany X2 cf-card X2 cf-card enter 2 (0.47) 6.5 (0.26) com rs232 com2 rs485 rs232 X7 X (0.7) 296 (0.6) 7 (0.28) eth 0 phys enc X 3 battery pacnet com2 rs485 can profibus dp dp 7 (0.28) 7 (0.28) ca. 235 (9.25) ca. 260 (0.23) * 6.6 (0.65) 70 (2.76) (4.06) 6.6 (0.65) Figure 2-5: Dimensions PacDrive C600 Controller Page 6 PacDrive Controller C600 ELAU GmbH
17 3.5 Dimensions 3 Type code Product ID Code C600 / 0 / / / / 00 HW-Variant Processor = Intel Pentium M.6 GHz RAM = 256 MB Flash memory = 32 MB Optionelle Funktionen ELAU GmbH PacDrive Controller C600 Page 7
This document provided by Barr-Thorp Electric Co., Inc
Imprint Legal notice All rights reserved to ELAU GmbH, also in case of patent right applications. No part of this documentation or the accompanying software and firmware may be reproduced, transferred,
More informationThis document provided by Barr-Thorp Electric Co., Inc
Imprint Legal notice All rights reserved to ELAU GmbH, also in case of patent right applications. No part of this documentation or the accompanying software and firmware may be reproduced, transferred,
More informationThis document provided by Barr-Thorp Electric Co., Inc
Imprint Legal notice All rights reserved to ELAU GmbH, also in case of patent right applications. No part of this documentation or the accompanying software and firmware may be reproduced, transferred,
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