Installing Your 1394 Drive Interface Module

Transcription

1 Installation Instructions Installing Your Drive Interface Module (Catalog Number -DIM) Introduction This publication provides installation instructions for adding the Drive Interface Module to your system. Use these instructions in conjunction with the Digital, AC, Multi-Axis Motion Control System User Manual (publication -.0). Note: For instructions on using GML Commander to configure your -DIM, refer to the GML Commander Reference Manual (publication GMLC-.). The -DIM acts as an interface between one GMC/GMC Turbo system module and an external axis drive(s). On the x-sjtxx-c, -C-RL, -T, and -T-RL, the -DIM acts in place of one to four axis modules. On the C-SJTxx-L and -L-RL the -DIM acts in place of one axis module. The -DIM passes a standard servo output signal from the system module to each external drive connected to the -DIM. Using a -DIM as part of a system lets you control external drives and motors of any size. Specifications The table below lists the -DIM specifications. The: For the -DIM is: Firmware version. or higher with x-sjtxx-c-xx and -T-xx systems. or higher with C-SJTxx-L-xx systems Software GML Commander, version.0 or higher Input voltage V, 0 khz provided by the x-sjt-xx system module Analog output information (Px-,) Voltage 0 to ± 0V analog Signal isolation 00V rms Resolution bits,.88 mv Impedance 0 ohms Offset ± 80 mv maximum, compensated to 0 through software setup Drive OK V ma supplied by the DIM Drive enable output 0V A Operating temperature 0 to 0 C ( to F) Relative humidity -% Weight kg (6.6 lb) Certification The certified -DIM product displays the following: UL Listed (File E) CUL Listed CE marked for all applicable directives Publication -. December

2 Status Installing Your Drive Interface Module Dimensions The -DIM dimensions are shown below. Figure -DIM Dimensions.0 (0.8) 8.0 (0.) 80 (.0) Dimensions are in millimeters and (inches) Mounting Hole Detail 00.0 (.) 0.0 (.8) 8.0 (fastener location) (.6) 8.0 (0.) 0. (0.0). (0.6) 8.0 (0.) 0 (.8).0 (0.) All slots accept M6 or /-0 mtg. screws 0.0 (.) Dimension shown is for mounting hardware location and does not reflect the location of the lower slot radius. -DIM System Examples In the figure below, the -DIM is connected to a GMC Turbo with two axis modules. A 6AB-Bxxxx motor is directly connected to each of the axis modules. Two servo amplifiers with motors are connected to the -DIM. It can accept two because there are two axis modules connected to the GMC Turbo. The encoders attached to the motors have encoder feedback cables connected to the system module. Figure -DIM Connected to a GMC or GMC Turbo Axis Modules -DIM -DIM ground connector GML GMC or GMC Turbo System Module RS-/- See Figure for Auxiliary Encoder input pin-outs and Figure 0 to view the Auxiliary Encoder Connectors on a bottom view of the GMC/GMC Turbo system module. Axis 0 Axis Axis connections located on the underside of DIM 6AB 6AB DIM B axis connector DIM A axis connector Servo Amplifier Encoder +/- 0V reference Drive Enable Drive OK (see Figure 6) Servo Amplifier Encoder Motor Motor -GE Encoder Feedback Cable Encoder Feedback Cable 6-CEU-xxx (if A-B 8H) Publication -. December

3 Status Installing Your Drive Interface Module In the figure below, the -DIM is connected to a GMC Turbo with two axis modules and a 8-DDM-xxx servo controller. A 6AB-Bxxxx motor is directly connected to each of the axis modules. One servo amplifier with motor is connected to the -DIM. Figure -DIM Connected to a 8-DDM-xxx Axis Modules -DIM 8-DDM-xxx GMC or GMC Turbo System Module Axis Axis Axis 0 Encoder J Breakout Board (Refer to Figure ) 6AB Motor Power 0- Encoder TB!? H, F, Y, or N Series Motor J J J J J 6-CEU-xxx (If A-B 8H) -GE Encoder 6AB 6-CEU-xxx (If A-B 8H) J Breakout Board 0- Figure shows the J breakout board interconnect details between the -DIM and the 8-DDM-xxx. Refer to ULTRA 00 User Manual (publication 8-.0) and ULTRA 00 User Manual (publication 8-.) for more information. Figure -DIM to J Breakout Board Pinouts -DIM Cable Connector + Analog Out Px- Analog Out Px- Drive Enable Px- + Drive Enable Px- + DROK Px- DROK Px-6 Shield Px- Belden 86 cable or equivalent J Breakout Board J- J-6 J- CMND + J- CMND - J-0 Enable J-6 I/O PWR J- Ready - J- Ready + V I/O Power Supply Required on ULTRA 00 only x = axis controlled by DIM Publication -. December

4 Installing Your Drive Interface Module Mounting Your -DIM To mount your -DIM hardware:. Install the top mounting fastener on the system panel. The head of the fastener must be at least 0. inches from the panel.. Hang the -DIM on the top mounting fastener. Important: The -DIM must be the last (or right-most) module in the system.. Engage the alignment tabs, as shown in the figure below. Figure Engaging the Alignment Tab Engaged alignment tab. Slide the slide-and-lock mechanism on the -DIM to the left until it locks into place, as shown in the figure below. Figure 6 Attaching the Slide-and-Lock Mechanism Slide-and-lock mechanism Publication -. December

5 Installing Your Drive Interface Module. Attach the terminator to the -DIM and slide it to the left until it locks into place, as shown in the figure below. Figure Attaching the Terminator Attaching the Terminator 6. Install the lower fastener.. Tighten the upper and lower fasteners. -DIM Configurations The identity and number of the axes you can connect to a -DIM depends upon the number of axis modules connected to your system in addition to the -DIM. The figure below shows the input connections located on the bottom of a typical system and a -DIM. Figure 8 A -DIM Connected to a GMC or GMC Turbo Front of the units Bottom of the -DIM -DIM ground connector Bottom of the GMC or GMC Turbo System Rear of the units A x-sjtxx-c, -C-RL, -T, and -T-RL system module can control a maximum of four physical axes. The C-SJTxx-L and -L-RL can control only one axis. Each axis module added to the system reduces the number of external drives and axes the -DIM can control by one. Publication -. December

6 6 Installing Your Drive Interface Module For example, if your system includes three axis modules, the -DIM can control only one external drive and axis. Refer to the table below for configuration combinations. Maximum number of Number of axes: DIM-controlled axes: 0 0 Important: You can add only one -DIM to a system. Important: The system requires 60/80V AC three-phase input power to run, even if the -DIM is configured for four external drives. Configuration Examples The following examples show a variety of ways to incorporate the -DIM into a GMC/GMC Turbo System. The examples show the input connections located on the bottom of a typical system and a -DIM. The example below shows two axes and two DIM output axes. Figure -DIM with Multiple Axis Modules Axis 0 Axis Axis (J) Auxillary Encoder Input Axis (J0) Auxillary Encoder Input Axis 0 (J) Motor Resolver Feedback Input Axis (J6) Motor Resolver Feedback Input Axis (J) DIM Plug Axis (J0) DIM Plug DIM Axis A Axis on DIM Axis B Axis on GMC or GMC Turbo System x-amxx x-amxx -DIM Publication -. December

7 Installing Your Drive Interface Module The example below shows one axis and one DIM output axis. Figure 0 -DIM with Single Axis Module Axis 0 DIM Axis A Axis on Axis (J) Auxillary Encoder Input Axis 0 (J) Motor Resolver Feedback Input Axis (J6) DIM Plug GMC or GMC Turbo System x-amxx -DIM The example below shows no axes and four DIM output axes. Figure -DIM Not Connected to Axis Module Axis 0 (J) Auxillary Encoder Input Axis (J) Auxillary Encoder Input Axis (J) Auxillary Encoder Input Axis (J0) Auxillary Encoder Input Axis 0 (J) DIM Plug Axis (J6) DIM Plug Axis (J) DIM Plug Axis (0) DIM Plug DIM Axis A Axis 0 on DIM Axis B Axis on DIM Axis C Axis on DIM Axis D Axis on GMC Turbo System -DIM Publication -. December

8 Status 8 Installing Your Drive Interface Module Wiring the System Module Input Power When Not Using Axis Modules The figure below shows how to wire the system module for input power when no axis modules are used. The transformer is rated for 80V AC secondary and 00 VA. The fuse is a Bussmann 600V AC, 0A (FRS-R-0A). The contactor is an Allen-Bradley Bulletin 00-Cx0 contactor. Figure System Module Wired for Input Power Without Using Axis Modules System Module -DIM Transformer 80V AC F F F Fuse Contactor M L M L M L U V W Understanding DIM Signals DROK The +/- DROK is a drive fault input from each external drive to the -DIM. It consists of two wires connected to the external drive s DROK, an unpowered (dry) contact. The respective isolated + V DC for this input is supplied by the -DIM. Figure Drive OK Input Axis DROK+ -DIM +V DC Px- Axis DROK- Px-6 Note: x = axis connector number Publication -. December

9 Installing Your Drive Interface Module Drive Enable Output The +/- Axis Enable is a signal from the system module that is used to control a DPDT relay in the -DIM. This enable output is a normally open, unpowered (dry) signal. Figure Drive Enable Output Axis Enable+ -DIM Px- Normally Open Relay Axis Enable- Px- Note: x = axis connector number Analog Output The analog output is an isolated signal provided by the -DIM and has a range of 0V. The signal is either a torque or velocity command, depending on the configuration of the remote drive. The command is processed by the Bulletin System Module through a -bit Digital-Analog Converter (DAC). An output offset of 80 mv can be compensated to 0V through software configuration. Figure Analog Output Axis OUT+ Px- -DIM Axis OUT- Px- Note: x = axis connector number For additional DIM signal descriptions refer to the Specifications section in the manual. Publication -. December

10 0 Installing Your Drive Interface Module Wiring and Configuring an External Drive to the -DIM This section includes the following steps for wiring and configuring an external drive to the -DIM: Connecting the remote drive to the DIM connector that provides the 0V output, the drive enable output, and the drive status input. Connecting the position feedback encoder to the auxiliary feedback input on the GMC/GMC Turbo system module. This provides position information for closing the position and velocity loop for the drive. Connecting the DIM ground wire to the system module. Installing the resolver feedback input plug for each DIM axis to prevent resolver loss faults.! ATTENTION: To avoid personal injury as a result of unexpected motion or acceleration of the drive, insert the resolver plug in the correct location. Connecting the Remote Drive to the DIM Connector The customer supplied DIM cable leads require terminating at the DIM cable connector. Follow one of the example configurations, as shown in the figure below. Figure 6 DIM Connector Wiring Examples Belden 86 or equivalent + Analog Out Px- Analog Out Px- Drive Enable Px- + Drive Enable Px- + DROK Px- DROK Px-6 Shield Px- + Analog Out Px- Analog Out Px- Drive Enable Px- + Drive Enable Px- + DROK Px- DROK Px-6 Shield Px- DIM cable connector DIM cable connector Publication -. December

11 Installing Your Drive Interface Module To wire the cable flying leads to the DIM cable connector:. Turn off the power to the system (i.e., system external drives and other control hardware).! ATTENTION: To avoid a shock hazard or personal injury, verify that all power has been removed before proceeding. This system may have multiple sources of power. More than one disconnect switch may be required to de-energize the system.! ATTENTION: To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair or remove this unit. This product contains stored energy devices. You should attempt the procedures in this document only if you are qualified to do so, and are familiar with solid-state control equipment and the safety procedures in publication NFPA 0E.. Look at the cable connector to make sure the terminal is open. The figure below shows a terminal open and a terminal closed. Figure Open and Closed Terminal Terminal closed Terminal open. Using the table below, follow the correct procedure for each termination point: If the terminal is: Do this: Closed Go to step. Open Go to step.. Turn the clamping screw counter-clockwise several times with a small, flat-head screwdriver to open the termination point. Publication -. December

12 Installing Your Drive Interface Module. Strip the wire insulation back on the cable lead. Important: Use -0 gauge wire to ensure proper system operation. 6. Trim the cable lead to expose.0 mm (0. in.) of metal wire.. Insert the cable lead in the appropriate terminal. Figure 8 Cable Connector Insert cable wires into the connector openings here 8. Use a screwdriver to tighten the clamping screw to the correct torque (0. N-m/. lb-in.) until the cable lead cannot be pulled out of the terminal.. Using the table below, complete the termination connections. If the cable lead: Do this: Pulls out of the terminal Go to step. Does not pull out of the terminal 0. Connect each external drive to the -DIM.. Move to the next terminal and go to step.. When all seven terminals are wired, go to step 0. Important: Connect all DIM axes in succession (from the front of the unit to the back of the unit) starting with DIM Axis A regardless of the number of servo axis modules in the system. Publication -. December

13 Installing Your Drive Interface Module Connecting the Position Feedback Encoder to the Feedback Input The figure below shows the pinouts and interconnect information for the auxiliary encoder input to the -GMC. Figure -GE Cable Connections Encoder Feedback Connector NC 6 8 Cable is Belden 0 Black Yellow White Black Green Black Blue Black Red Black Shield Flying Leads to Incremental Encoder or Customer-Supplied Termination NC Strobe A High A Low B High B Low Z High Z Low +V Out Common Out 0 Cable is Belden 0 Shield Red Black Encoder Power (ENC. PWR) +V Input Common In Customer supplied V DC power source is required for encoder board whether encoder supply voltage is V or not. To connect the encoder feedback cable to the system module:. Plug the -GE cable for each DIM Axis into the correct auxiliary encoder input on the system module as shown in the table below. Refer to Figures, 0, and for encoder input locations. When this axis is used: Install the Position Feedback Input plug for: DIM axis A into: DIM axis B into: DIM axis C into: DIM axis D into: 0 (no axis installed) J J J J0 (axis 0 installed) J J J0 N/A (axis 0, installed) J J0 N/A N/A (axis 0,, installed) J0 N/A N/A N/A Note: Note: The other end of the -GE cable provides flying leads and must be connected to correct signals on a quadrature encoder. The feedback inputs for axis 0,, and (on x-sjtxx- C and -T systems) and for axis 0 and (on x-sjtxx- L systems) run from front to back (see Figure 0). Publication -. December

14 Installing Your Drive Interface Module. Connect the cable s overall braided shield to the system ground bar. For more information on grounding the system, refer to the Digital, AC, Multi-Axis Motion Control System User Manual (publication -.0). Connecting the DIM Ground Wire to the System Ground Connect one end of the ground wire to the connector on the - DIM (refer to Figure 8 for location) and connect the other end to the system ground bar. Installing the Resolver Feedback Input Plug For each axis controlled by the -DIM, insert a -DIM feedback plug into the 0-pin resolver feedback input on the system module, as shown in the table below. Refer to Figures, 0, and for input locations and Figure 0 for the system module interconnect information. Install the Resolver Feedback Input plug for: When this axis is used: DIM axis A into: DIM axis B into: DIM axis C into: DIM axis D into: 0 (no axis installed) J J6 J J0 (axis 0 installed) J6 J J0 N/A (axis 0, installed) J J0 N/A N/A (axis 0,, installed) J0 N/A N/A N/A Important: Unused DIM axis modules do not require a feedback plug to be installed.! ATTENTION: To avoid personal injury because of unexpected motion or acceleration of the drive, the resolver plug must be inserted in the correct location. If you do not insert a -DIM feedback plug into a 0-pin resolver feedback input for each DIM axis, a Resolver Loss Fault occurs for that axis if Transducer Loss Detection is selected in the Feedback page of the Configure Axis Use dialog box in GML Commander. Important: -DIM axes do not use the system module s thermal fault inputs. You can use these inputs for any other purpose your hardware configuration allows. Publication -. December

15 Installing Your Drive Interface Module Figure 0 Bottom Front of the GMC (x-sjtxx-c and -L) and GMC Turbo (x-sjtxx-t) System Modules Left Side RS-/RS- Right Side C LEAR SHIELD BLUE The RIO/AxisLink option (-RL) must be ordered with System module. It is installed at the factory. You cannot order these individually. AxisLink and RIO board connections use Allen-Bradley 0-CD (Belden 6 or equivalent). Auxiliary Encoder Encoder (Optional) A H B I C J D F FLEX I/O MODULES NOTE 0, 8 Use 00-CCF or -CCF Flex I/O cables. Cable length must not exceed 0. mm (6 inches). You must supply source power for Flex I/O (for example, -IB6 V DC and -IA8 V AC). -GE Cable Optional Encoder or -GR0 Cable (for Resolver with 00-REC or 00-AEC modules). J wiring is typical for J, J, and J0 Auxiliary Encoder Inputs. Auxiliary Encoder inputs for axis and (J and J0) are not present on the C-SJTxx-L and -L-RL. User-supplied V DC power source is required for encoder board regardless if encoder supply voltage is V or not. Auxiliary Encoder Encoder (Optional) A H B I C J D F ENCODER CONNECTOR (DRIVE END) BOTTOM VIEW 6 CHANNEL A HIGH CHANNEL A LOW CHANNEL B HIGH CHANNEL B LOW CHANNEL Z HIGH CHANNEL Z LOW +V OUT COMMON OUT SHIELD STROBE X +V INPUT COMMON INPUT CHANNEL A HIGH CHANNEL A LOW CHANNEL B HIGH CHANNEL B LOW CHANNEL Z HIGH CHANNEL Z LOW +V OUT COMMON OUT SHIELD STROBE X +V INPUT COMMON INPUT AxisLink J Flex I/O J Aux. Encoder Feedback Input J 6 AXIS Aux. Encoder Feedback Input J 6 AXIS 8 0 Aux. Encoder Feedback Input J 6 AXIS 8 0 Aux. Encoder Feedback Input J0 6 AXIS 8 0 J 6 8 RS-/RS- DH-8 J 6 8 Resolver Feedback Input J 6 AXIS Resolver Feedback Input J6 6 AXIS 8 0 Resolver Feedback Input J 6 AXIS 8 0 Resolver Feedback Input J0 6 AXIS 8 0 RS- NC TXD RXD DTR COM DSR RTS CTS NC RS- TXD+ TXD RXD TXD+ COM TXD+ RXD+ RXD+ NC WIRE # - BLACK - AXIS X R WIRE # - WHITE - AXIS X R WIRE # - SHIELD WIRE # - BLACK - AXIS X S WIRE # - RED - AXIS X S WIRE # - SHIELD WIRE # - BLACK - AXIS X S WIRE # - GREEN - AXIS X S WIRE # - SHIELD CABLE SHIELD WIRE # - BLACK - AXIS X R WIRE # - WHITE - AXIS X R WIRE # - SHIELD WIRE # - BLACK - AXIS X S WIRE # - RED - AXIS X S WIRE # - SHIELD WIRE # - BLACK - AXIS X S WIRE # - GREEN - AXIS X S WIRE # - SHIELD CABLE SHIELD Plug into connector Plug into connector A B D E H G A B D E H G J wiring is typical for J6, J, and J0 Resolver inputs. Use either Allen-Bradley Resolver cable (6-CCU-xxx) or -DIM plug. Resolver Feedback inputs for axis,, and (J6, J, and J0) are not present on the C-SJTxx-L and -L-RL. 6Ax AC SERVO MOTOR MOTOR RESOLVER MOTOR RESOLVER 6Ax AC SERVO MOTOR One -DIM plug is required for each DIM axis. Four plugs are supplied with the DIM. RESOLVER CONNECTOR (DRIVE END) BOTTOM VIEW 6 0 Publication -. December

16 Publication -. December 0(0) Supersedes Publication -.0-DU August 8 Rockwell International Corporation. All Rights Reserved. Printed in USA