SPiiPlus LF. Motion Controller. Hardware Guide. Version NT 2.20

SPiiPlus LF Motion Controller Hardware Guide Version NT 2.20

Version NT 2.20, 31 January 2013 Copyright 1999-2013 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 SPii are trademarks of ACS Motion Control Ltd. EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. 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. Web Site: www.acsmotioncontrol.com Information: info@acsmotioncontrol.com Tech Support: support@acsmotioncontrol.com ACS Motion Control, Ltd. Ramat Gabriel Industrial Park POB 5668 Migdal HaEmek, 10500 ISRAEL Tel: (972) (4) 6546440 Fax: (972) (4) 6546443 ACS Motion Control, Inc. 6575 City West Parkway Eden Prairie, MN 55344 USA Tel: (1) (763) 559-7669 (800-545-2980 in USA) Fax: (1) (763) 559-0110 ACS Motion Control (Korea) Digital Empire Building D-191 980-3, Youngtong-dong, Youngtong-gu, Suwon, Geonggi-do, 443-813, Korea Tel: +82-31-202-3541 Fax: +82-31-202-3542 ACS Motion Control Europe GmbH Neckartal 172 D-78628 Rottweil Germany Cell: +49-172-587-7240 ACS Motion Control (China) Room 301G No. 798 Zhaojiabang Rd Shanghai, 200030, China Tel: +86-21-54830819 Fax: +86-21-64453191 Cell: +86-13601639842 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. Version NT 2.20 ii Hardware Guide

Changes in Version NT 2.20 Page Change Conventions Used in this Guide Text Conventions Several text formats and fonts, illustrated in Table 1, are used in the text to convey information about the text. Table 1 Text Conventions Text Bold Monospace Italic monospace Italic Blue Bold Blue Description ACSPL+ elements (commands, functions, operators, standard variables, etc.) when mentioned in the text. Software tool menus, menu items, dialog box names and dialog box elements. Code examples. Information in code examples that the user provides. Indicates other documents Links within this document, to web pages, and to e-mail addresses. Symbol used in nested menu items and dialog box options leading to a final action. For example, the sequence: Debug New Watch Real-time directs the user to open the Debug menu in the MMI, choose the New Watch command, and select the Real-time option. Version NT 2.20 iii Hardware Guide

Flagged Text The following symbols are used to flag text in this document: Note Notes include helpful information or tips. Caution A Caution describes a condition that may result in damage to equipment. Warning A Warning describes a condition that may result in serious bodily injury or death. Advanced Indicates a topic for advanced users. Model Highlights a specification, procedure, condition, or statement that depends on the product model. Version NT 2.20 iv Hardware Guide

SPiiPlus Related Documents The followinging documents are relevant to this guide: Table 2 Document SPiiPlus Related Documents SPiiPlus C Library Reference SPiiPlus COM Library Reference Guide SPiiPlus Command & Variable Reference Guide SPiiPlus Programmer's Guide SPiiPlus Utilities User Guide SPiiPlus Getting Started Hardware and Software Guide SPiiPlus Setup Guide Low Level Host Communication SPiiPlus MODbus Setup Guide SPiiPlus 3U-LT and SPiiPlus 3U-HP Motion Controller Hardware Guide SPiiPlus SAR and SAR-LT Hardware Guide Description C++ and Visual Basic libraries for host PC applications. This guide is applicable for all the SPiiPlus motion control products. COM Methods, Properties, and Events for Communication with the Controller. Complete reference to the command and variables of the ACSPL+ high level language for programming SPiiPlus controllers. An overview for programming SPiiPlus controllers. Describes the SPiiPlus User Mode Driver (UMD), and firmware management applications included in the SPiiPlus Tools package. A guide for using the SPiiPlus MMI (Motion Machine Interface). Contains communication, configuration and adjustment procedures for SPiiPlus motion control products. Provides information concerning the host protocol. This information is relevant in case the host application runs on a non- Windows operating system. Guide for use in setting up the MODbus for SPiiPlus motion controllers. Installation and hardware connection with the SPiiPlus 3U-LT and SPiiPlus 3U-HP Motion Controllers. Installation and hardware connection with the SPiiPlus SAR and SAR-LT Controllers SPiiPlus PCI-4-8 Hardware Guide Installation and hardware connection with the SPiiPlus PCI 4 or 8 axes SPiiPlus CM Hardware Guide Installation and hardware connection with the SPiiPlus Control Module SPiiPlus LF-CM Motion Controller MC4U Control Module Hardware Guide HSSI Expansion Modules Guide SPiiPlus FRF Analyzer User s Guide Detailed hardware information concerning the SPiiPlus LF-CM motion controller. Detailed hardware information concerning the MC4U Control Module and its associated components. High-Speed Synchronous Serial Interface (HSSI) for expanded I/O, distributed axes, and nonstandard devices. Guide for using the SPiiPlus FRF (Frequency Response Function) Analyzer for servo analysis of SPiiPlus motion controllers. Version NT 2.20 v Hardware Guide

About this Document This guide provides detailed hardware information concerning the SPiiPlus LF Motion Controller. The document is organized as follows: Chapter 1 - Overview Provides a descriptive overview of the Chapter 2 - Specifications Provides the technical specifications of the Chapter 3 - Installation Provides instructions for installing the Chapter 4 - Safety and EMC Guidelines Provides guidelines for safety and EMC Chapter 5 - Electrical Interface Provides details of the connectors Chapter 6 - Jumpers Identifies the jumper locations and their function Chapter 7 - LED Indicators Describes the meanings of the LED indicators on the Version NT 2.20 vi Hardware Guide

Table of Contents Table of Contents Changes in Version 6.60..................................................... iii Conventions Used in this Guide............................................... iii Text Conventions........................................................ iii Flagged Text............................................................ iv SPiiPlus Related Documents................................................. v About this Document....................................................... vi 1 Overview.............................. 1 1.1 Main Board........................... 2 1.2 Optional 4-Axis Extension Board.......... 3 1.3 Ordering.............................. 3 2 Specifications.......................... 5 2.1 General Specifications............................................ 5 2.2 Dimensions..................................................... 6 2.3 MPU Board........................... 7 2.4 Axis Support.......................... 7 2.5 Input & Output Specifications...................................... 8 3 Installation...................................................... 14 3.1 Assembly............................ 14 3.1.1 Assembly Hardware.................. 14 3.1.2 Assembly........................... 15 3.2 Mounting the......................... 16 4 Safety and EMC Guidelines........................................ 17 4.1 General Safety Guidelines........................................ 17 4.1.1 Emergency Stop Device........................................ 17 4.1.2 Fail-Safe Logic Recommendation................................. 17 4.1.3 Initial Logic State of Outputs.................................... 17 4.1.4 Electrical Separation........................................... 17 4.1.5 Protective Precautions.......................................... 18 4.2 General Wiring and Electromagnetic Compatibility (EMC) Guidelines..... 18 4.2.1 Routing Signal and Power Cables................................. 18 4.2.2 Cable Length................................................. 19 4.2.3 Shielding.................................................... 19 4.2.4 Grounding................................................... 19 5 Electrical Interface............................................... 20 5.1 Main Board Connectors.......................................... 20 5.1.1 J3 - General Purpose I/O........................................ 20 5.1.2 J4 - Drive Interface Connector................................... 22 5.1.3 J5 - Safety and Encoder Interface Connector........................ 23 5.1.4 J7 - CAN Bus Connection....................................... 24 5.1.5 J8 - HSSI X Connector......................................... 25 5.1.6 J11 - Power Connector......................................... 25 5.2 MPU Board Connectors.......................................... 26 5.2.1 CN5 - Communication Connector................................. 26 5.2.2 JP8 - Ethernet Connector........................................ 27 Version NT 2.20 i Hardware Guide

Table of Contents 6 Jumpers........................................................ 28 6.1 Jumpers............................. 28 6.2 Jumper Functions...................... 28 7 LED Indicators.................................................. 30 7.1 Main Board LEDs.............................................. 30 7.2 MPU Board LED............................................... 31 Version NT 2.20 ii Hardware Guide

List of Figures List of Figures Figure 1...................................... 1 Figure 2 Ordering Code Elements.................. 4 Figure 3 Dimensions............................ 6 Figure 4 Assembly Diagram..................... 15 Figure 5 Cable Spacing.................................................. 18 Figure 6 Shielded Cable.................................................. 19 Figure 7 Improved Shielding.............................................. 19 Figure 8 Connector Locations.................... 20 Figure 9 Jumper Locations...................... 28 Figure 10 LED Indicators........................ 30 Version NT 2.20 iii Hardware Guide

List of Tables List of Tables Table 1 Text Conventions................................................. iii Table 2 SPiiPlus Related Documents........................................ v Table 3 Ordering Code Description................ 4 Table 4 Controller and Power Supply....................................... 5 Table 5 Environment.................................................... 5 Table 6 MPU................................. 7 Table 7 SW1 COM Settings............................................... 7 Table 8 Axis Support........................... 7 Table 9 Input/Output Specifications............... 8 Table 10 Parts List............................. 14 Table 11 J3 Connector Connector Pinout..................................... 20 Table 12 J4 Connector Pinout............................................. 22 Table 13 J5 Connector Pinout............................................. 23 Table 14 J7 Connector Pinout............................................. 24 Table 15 J8 Connector Pinout............................................. 25 Table 16 J11 Connector Pinout............................................ 25 Table 17 CN5 Connector Pinout........................................... 26 Table 18 J8 Connector Pinout............................................. 27 Table 19 Main Board Jumpers and Setting.......... 28 Table 20 Main Board LED Indicators....................................... 30 Table 21 MPUBoard LED Indicator........................................ 31 Version NT 2.20 iv Hardware Guide

Overview 1 Overview This chapter provides a general overview of the. Figure 1 The is a stand-alone 4-axes motion controller. The unit consists of an MPU board, mounted on a mother board (referred to as the Main board), and a CAN board, and contains provisions for mounting on a DIN rail. Note As an option, the Main board can be customized to be mounted on a a usersupplied mother board. The is designed for flexibility that enables connecting optional cards to extend its functionality, for example, support for an additional 4 axes, CAN bus support, and the like. The has the following features: Controller - The controller is manufactured under ISO 9001 certified quality management system. Communication Channels - Communication with the controller through all channels can be done simultaneously. The communication channels are as follows: One RS-232 and one RS-422/485/232 serial communication channel Version NT 2.20 1 Hardware Guide

Overview Ethernet 10/100 channel Digital and Analog I/Os - The comes with digital and analog I/Os that can be used for general purpose. In addition, there are hardware-based position registration digital outputs (PEG) and hardware-based position capture (MARK) digital inputs. ACSPL+ - Complex applications are easy to develop with ACSPL+, a powerful, compiled, true multitasking, high-level language that is optimized for motion control applications. Ten programs can run simultaneously, enabling multiple interacting and synchronized processes. ACSPL+ enables implementation of highly complex motion-time-event sequences with accurate positioning and timing. The program can run directly on the controller or can be implemented in a host PC application using libraries provided for C, C++, and COM. Suite of Tools - Powerful software tools are also provided for setup, tuning, and programming. Application development is particularly easy with the integrated four-channel soft scope and multi-axis motion simulator. 1.1 Main Board The Main board with which the comes provides the following: AMD Geode LX800 (500MHz) MPU 128MB user RAM (DDR 200MHz) 128MB flash memory for user backup & firmware One RS-232 and one RS-422/485/232 serial interfaces. One 10/100Mbit Ethernet interface 4 axes, each including: Incremental digital encoder differential inputs (RS422). Two analog outputs/commands, type differential ±10V, or a single-ended -10V to +10V (supported by jumper settings on the board). Drive enable output: single-ended, sink only, and high voltage. Drive fault input: single-ended, sink only, high voltage. Two 5/24V limit switches with opto-isolation, single-ended, sink/source configurable (as a group by jumper). Two Pulse-Dir commands, single-ended, TTL level. The board can support four analog axes and two P/D axes; however only two axes can be active at any given time. E-stop input with opto-isolation, two terminals. Eight General Purpose Digital inputs single-ended, TTL level, opto-22 compatible. Eight General Purpose Digital outputs (which can be used for mechanical brake support by ASCPL+) single-ended, TTL level, opto-22 compatible. Four Registration Mark inputs (two for each primary axis), RS422 compatible. Version NT 2.20 2 Hardware Guide

Overview Note Optionally, the can be configured via the software with these inputs as single-ended, opto-22 compatible instead of General Purpose Digital Inputs (IN4 to IN7). Two PEG outputs (one for each primary axis), differential RS422. Note Optionally, the can be configured via the software with these inputs as single-ended, opto-22 compatible instead of General Purpose Digital Outputs (OUT6 and OUT7). Two HSSI channels (connected to X and Y axes), differential RS422 compatible. 5-pin connector for power supply input (5V, +12V, -12V, GND, and Shield). Note SPiiPlus LF provides easy prototyping through Phoenix-like break-out boxes. 1.2 Optional 4-Axis Extension Board The 4-Axis Extension Board is an optional accessory that provides support for four additional axes. 1.3 Ordering The following sections detail the ordering options for the Motion Controller. The comes with the SPiiPlus ADK (Advanced Development Kit) CD which is intended for aiding programmers in developing ACSPL+ based applications and host based programs. The CD contains: SPiiPlus MMI - for axis configuration, servo tuning, programming and viewing parameters SPiiPlus Library - for host programming in C/C++ or Visual Basic SPiiPlus Utilities -for upgrading or reinstalling firmware Version NT 2.20 3 Hardware Guide

Overview Caution If you decide to upgrade or downgrade the firmware be sure and use Upgrader version 6.0 or above. Never downgrade the firmware to versions below 6.0. Doing this may cause the controller to become inoperable. SPiiPlus Simulator controller simulator for fast application development SPiiPlus FRF Analyzer SPiiPlus Command & Variables Reference Guide - complete details of ACSPL+ commands and variables as well as error messages Hardware, software, setup, and programming guides in PDF format ACSPL+ and C/C++ training files and programming examples In addition, the comes with a set of cables to support connecting various elements to the outside world. Figure 2 illustrates the ordering code elements. These elements and options are described in Table 3. SPiiPlus-LF-4-[C]-[D] Figure 2 Ordering Code Elements Table 3 Ordering Code Description Element Description 4 Four axes controller. Currently this is the only option available [C] CANopen Network - PLC enabled (optional) [D] Din Rail mounting (optional) In addition to the SPiiPlus LF, the following optional accessories may also be ordered: SPiiPlus-LF-ACC - Mating connectors kit SPiiPlus-LF-BOB - Break-out box kit Version NT 2.20 4 Hardware Guide

Specifications 2 Specifications This chapter provides detailed specifications for the Motion Controller. 2.1 General Specifications Table 4 Element User Memory Powerup Time Power Supply Voltage/Current Safety Supply Voltage Current LEDs Controller and Power Supply Description RAM: 128 MB, Flash: 128 MB 25sec +5Vdc ±2% /4A, ±12Vdc ±5%/0.6A +5Vdc ±10%/1A or 24Vdc ±20%/1A Three located on the Main board, and one located on the MPU board (see Chapter 7 for details). Table 5 Environment Element Description Operating Temperature 0 0 C to 40 0 C Storage Temperature -40 0 C to 70 0 C Humidity 90% RH, non condensing Version NT 2.20 5 Hardware Guide

Specifications 2.2 Dimensions The dimensions (in mm) are given in Figure 3. Figure 3 Dimensions Version NT 2.20 6 Hardware Guide

Specifications 2.3 MPU Board Table 6 details the specifications for the MPU board. Table 6 1 x RS-232 MPU Description COM1 Remarks CN5 connector on the MPU board 1 x RS-422/485/232 COM2 Default: RS-232, for other options see the following table. 1 x Ethernet interface 10/100Mbit channel. JP8 connector on the MPU board. Table 7 SW1 COM Settings SW1 1 2 3 4 5 6 7 8 RS-232 OFF OFF OFF OFF ON OFF OFF N/A RS-422 OFF OFF ON ON OFF ON ON N/A RS-485 ON ON OFF ON OFF OFF ON N/A 2.4 Axis Support Table 8 presents the axes support by the. Table 8 Axis Support Description Remarks Number of axes Four ACSPL+ axis designations Supported motor types Data swap between axes An additional four if the optional 4-Axis Extension board is incorporated. Basic board: Primary axes: X, Y Secondary axes: A, B Optional 4-Axis Extension board: Primary axes: Z, T Secondary axes: C, D Brush, Brushless, P/D Stepper (half of the axes), and Piazo-ceramic (Nano- Motion) Each primary axis can swap data with its secondary axis. Other axes can swap data through SPiiSwap mechanism. With appropriate firmware support. Version NT 2.20 7 Hardware Guide

Specifications 2.5 Input & Output Specifications Table 9 details the input and output. Note In the signal designations given in the specifications the pound sign (#) stands in place of the actual axis designation, for example, #_RL can be X_RL, Y_RL, A_RL, and so forth. Table 9 Input/Output Specifications (page 1 of 6) Description Remarks Digital Encoder Inputs/Outputs Signal Designations A: #_CHA± B: #_CHB± I: #_CHI± Quantity One (6 signals) per axis. In dual loop, A and B encoders can be used as secondary encoders for X and Y axes. Format A, B, I Interface type RS422 compatible. Input impedance: 120. Maximum input frequency 7.5MHz Analog Drive Commands Output Signal Designations Phase S: #_IS_CMD± Phase T: #_IT_CMD± Quantity Two per axis. Type ±10V, differential. Upon power-up output is 0V. Maximum output inaccuracy Resolution Maximum zero offset Maximum load 5% in max output voltage at 25 o C 12-bit resolution ±50mV at 0V at 25 o C 5mA for differential output 1mA for single-ended output 7.5MHz A & B input frequency appropriate to 30 million counts per second. Can be configured by Jumper JP2B to be ±10V, single-ended output (valid only for the #_CMD+ signal). See Section 6.2. Offset compensation can be made via the software (0.3 mv resolution) and the on-board potentiometers for fine tuning. See note in Section 5.1.2. Output short protected Version NT 2.20 8 Hardware Guide

Specifications Table 9 Input/Output Specifications (page 2 of 6) Description Remarks Pulse/Direction Drive Command Output Signal Designations Pulse: #_PWM0 Dir: #_PWM1 Quanity Two commands per primary axis. Type TTL, buffered Maximum pulse rate 4,000,000 pulse/second Pulse width Min. Pulse width - 25nS Max. Pulse width - 51S Resolution Command time resolution 25nS. Default state Power-up output state "Z" Maximum load Load current < 6mA Diagnostic Pulse/Direction output signals for stepper motors. Drive Enable Output Signal Designation #_ENA Quanity One per axis. Type High voltage open collector, active low. Default state Upon power-up signal is high impedance (output state "Z") Max. rating Up to 25V/7mA Voltage drop in < 0.4 V active state Diagnostic High voltage output, active low Drive Fault Input Signal Designation #_FLT Quanity One per axis Type Sink input Default state Input is high/high impedance Input logic state 0 Max. ratings Current: Up to 0.4mA In active (no fault) state Propagation delay Diagnostic Voltage: Up to 30V Less than 1V ½ from input to measured output delay < 3mS Input. Normal operation: Input is low Fault: Input is high/high impedance In fault state In active (no fault) state From Fault Input occurrence to response/activity in CTIME=1 Input logic state 1 Input logic state 0 Version NT 2.20 9 Hardware Guide

Specifications Table 9 Mechanical Brake Limit Switches Signal Designations Quantity Type Voltage Right limit: #_RL Left limit: #_LL One Left Limit and one Right Limit per axis Single-ended, opto-isolated input. Configurable by the user as either source or sink (as a group). 5V ±10% or 24V ±20%, automatically detected. Supported only by way of the General Purpose Digital I/O - configurable via the software. Configuration by jumper JP1 (see Section 6.2) User has to supply V_SUP_SFTY and V_RTN_SFTY. Input current 2.8-14mA Reference: V_SUP_SFTY Default state No limit, no current. Propagation delay ½ from input to measured output delay <3mS From Fault Input occurrence to response/activity in CTIME=1 Diagnostic Limit active - current through the optocoupler No limit - no current through the optocoupler E-Stop Signal Designations ES± E-Stop should be used to indicate to the controller that there is an emergency condition and should not be relied upon as the E-Stop safety mechanism. Quantity One Type Two ports, opto-isolated, input, with automatic voltage detection Voltage 5V ±10% or 24V ±20%, automatically No external supply is required. detected. Input current 2.8-14 ma Default state No ES, no current. Propagation delay Diagnostic Input/Output Specifications (page 3 of 6) Description Remarks ½ from input to measured output delay <3mS ES active - current through the optocoupler No ES - no current through the optocoupler From Fault Input occurrence to response/activity in CTIME=1 Version NT 2.20 10 Hardware Guide

Specifications Table 9 General Purpose Logic Inputs Signal Designations Quantity Type Input current Max. voltage Input/Output Specifications (page 4 of 6) Description Remarks IN0, IN1, IN2, IN3, IN4, IN5, IN6, IN7 Eight. TTL, opto-22 compatible, input 1 ma 5 V Default state Logic state 1 Propagation delay ½ from input to measured output delay <3mS Diagnostic Input active - Logic state 0 Input inactive - Logic state 1 Registration Mark Signal Designations #_MARK1± #_MARK2± Quantity Four per each primary axis. Type RS422 compatible, TTL input (through General Purpose Digital I/O: IN4 through IN7) Input current >1 ma Max. voltage 5 V Default state Logic state 0 Minimum pulse 100ns width Diagnostic Input active - Logic state 1 Input inactive - Logic state 0 General Purpose Outputs Signal Designations OUT0, OUT1, OUT2, OUT3, OUT4, OUT5, OUT6, OUT7 From Fault Input occurrence to response/activity in CTIME=1 Can also be used for general purposes. User can program through the software using MARK instead of General Purpose Digital Input. does not have a dedicated mechanical brake connection. However, the same pins of connectors can be defined, through the software, either as digital outputs or as mechanical brake outputs. Default: Digital output. Quantity Eight Type TTL, opto-22 compatible output Maximum current ±30 ma ±60 ma total (for all outputs) per single output Default state Logic state 0 Version NT 2.20 11 Hardware Guide

Specifications Table 9 Propagation delay ½ from input to measured output delay <3mS Diagnostic Output active - Logic state 1 Output inactive - Logic state 0 PEG Outputs Signal Designations #_PEG± Position compared with digital encoders. Resolution: Quadrature counts. Quantity One per each primary axis Type Input/Output Specifications (page 5 of 6) Description Remarks RS422 or opto-22 compatible (with buffer), output The user can, via the software, program PEG to be used instead of General Purpose Digital Outputs (OUT6 and OUT7) Propagation delay <0.3S Propagation delay - The delay from the moment that the encoder reaches the set position until the output PEG pulse is generated. It includes both the delay generated by the encoder processing logic and the delay of the PEG logic. PEG generated pulse 25nSec to 1.6mSec, programmable width range Edge separation >200nSec between two PEG events Number of random Up to 30,000 PEG events (table based mode) Default state Logic 0 by pull down. Diagnostic Output active - 1 logic Output inactive - 0 logic HSSI Signal Designations Control signal:h_con_#± Input signal:h_di_#± Output signal:h_do_#± Quantity Four internal X, Y, Z and T Input word size Output word size One external 16x4 = 64 per HSSI channel. 16x4 = 64 per HSSI channel. X only Version NT 2.20 12 Hardware Guide

Specifications Table 9 TX / RX type Sampling rate HSSI connection Default state Ethernet Signal Designations Input/Output Specifications (page 6 of 6) Description Remarks RS422 compatible. Input impedance 120 Distance <10m. All the 64 input bits are sampled and all the 64 output bits are updated every 50 S. HSSI channels can be commutated as external or internal. External mode Transmit: ETH1_TX± Receive: ETH1_RX± One Ethernet port In internal commutated configuration SPii communication swapping is possible via the software. Quantity Line impedance 100 Galvanic Isolated Protocol TPC/IP 10/100Mbps RS232 Signal Designations COM1: ESD protected Transmit:COM1_TX Receive:COM1_RX COM2: Transmit:COM2_TX Receive:COM2_RX Quantity Two RS232 ports Maximum Baud rate 115,200 CAN Bus Signal Designations CAN_H CAN_L Quantity One The CAN bus connector, J7, is located on the CAN board that is connected to the Main board (see Section 5.1.4). Protocol CANopen Frequency 1kHz Line impedance 120- galvanic isolated When jumper JP1on the CAN board is installed (see Section 6.2). CAN power supply Internal Galvanic isolated Version NT 2.20 13 Hardware Guide

Installation 3 Installation This chapter provides instructions for assembling and mounting the SPiiPlus LF Motion Controller. 3.1 Assembly Note These assembly instructions apply to the complete SPiiPlus LF Motion Controller including the optional DIN rail, CAN card, and 4 Axis Extension card. 3.1.1 Assembly Hardware The parts required for assembly is given in Table 10. Table 10 Parts List Item Part Number Description Qty 1 MO-EBC22-LAN/LF EBC220 PC/104 CPU+LAN MODULE NPB 1 2 SP-20345-122 4.5 MM HEX M/F SS STANDOFF 12 MM 4 3 GG-14701-400 BRACKET FOR SP+LF 1 4 SB-14730-400/LF SP+LF CAN BUS CARD 1 5 SB-14730-000/LF SP+LF BASIC 4 AXIS CARD ASSY 1 6 SB-14730-402/LF SP+LF 4 AXIS EXTENSION CARD 1 7 SP-20345-142 4.5 MM HEX M/F SS STANDOFF 14 MM 2 8 SP-20345-152 4.5 MM HEX M/F NY STANDOFF 15 MM 4 9 SP-30345-052 4.5 MM HEX F/F SS STANDOFF 5 MM 3 10 GG-0HSSI-002 RAIL ADAPTER 2 11 SC-08036-220 SCREW PHILLIPS PAN M3x8 RoHS 4 12 WA-00003-000 FLAT WASHER SS FOR M3 RoHS 12 13 SC-05035-222 SCREW PHILLIPS PAN M3x5 RoHS 6 14 SC-04033-248 SCREW PHILLIPS PAN M3x4 RoHS 6 15 SP-00WS3-560 FLAT WASHER NYLON FOR M3 RoHS 4 Version NT 2.20 14 Hardware Guide

Installation 3.1.2 Assembly Assembling the is as shown in Figure 4. Note The numbers in the diagram refer to the Item numbers in Table 10. Figure 4 Assembly Diagram There is a definite order in assembling the, that is, it is assembled from back to front: 1. The CAN card is connected to the Main Board. 2. The 4-Axis Extension card (if there is one, otherwise the Main Board) is first connect to the DIN rail. 3. The MPU Board is then connected to the Main Board. Version NT 2.20 15 Hardware Guide

Installation 3.2 Mounting the To mount the controller in the rack, do the following: 1. Verify the settings of the jumpers according to the digital I/O configuration and as your application requires (see Chapter 6 for details). 2. Power up the unit. 3. Verify that after ~30sec the MPU_ON LED blinks and then stops blinking (until you establish communication with the controller). 4. Establish communication and verify/upload your application software into the controller using your host computer or the SPiiPlus MMI Application Loader. 5. Save your application in the controller Flash memory using your host computer or the SPiiPlus MMI Main menu Save. Version NT 2.20 16 Hardware Guide

Safety and EMC Guidelines 4 Safety and EMC Guidelines Warning Read and understand the following guidelines and procedures before operating the SPiiPlus LF. 4.1 General Safety Guidelines Under emergency situations the unit should be completely disconnected from any power supply. The E-Stop Inputs and Left/Right Limits on ACS Motion Control products are designed for use in conjunction with customer-installed devices to protect driver load. The end user is responsible for complying with all Electrical Codes. 4.1.1 Emergency Stop Device 1. Locate an emergency stop device at each operator control station and other operating stations where an emergency stop may be required. 2. The emergency stop device shall disconnect all electrical equipment connected to the from their respective power supplies. 3. It will not be possible to restore the circuit until the operator manually resets the emergency stop. 4. In situations with multiple emergency stop devices the circuit shall not be restored until all emergency stops devices are manually reset. 4.1.2 Fail-Safe Logic Recommendation ACS Motion Control recommends connecting all safety inputs (limit inputs and emergency stop input) with a fail safe logic. The intention is that during normal operation the inputs are active. When a safety event happens (or the input wire is cut) the input becomes zero and the controller identifies that as a fault. 4.1.3 Initial Logic State of Outputs The relevance of analog and digital output pins is product and model dependent. The initial logic state of the inactive analog and digital pins is undefined. They may carry a potential of 5V relative to ground. 4.1.4 Electrical Separation Electrical separation is required between the control and power supply cables to prevent electrical shock or damage to the. Version NT 2.20 17 Hardware Guide

Safety and EMC Guidelines 4.1.5 Protective Precautions Warning Read and understand the following precautions before operating the SPiiPlus LF. Digital outputs are protected against short circuits with ground. Over-travel Protection Provides over-travel limit protection where over-travel is hazardous. Design and install the over-travel limiting device to interrupt the power circuit. Over-current Protection Use the software Current/Torque Limit parameters in the MMI Adjuster to provide over-current protection for the motors. Thermal Detection Use suitable thermal detection devices to interrupt the power circuit where abnormal temperatures can cause a hazardous condition. Cooling Fans Make sure the cooling fan remains unobstructed at all times. In order to insure good heat dissipation, make sure that the cooling vents remain clean at all times. 4.2 General Wiring and Electromagnetic Compatibility (EMC) Guidelines 4.2.1 Routing Signal and Power Cables Power cables (to the motor, mains outlet, etc.) and signal cables (to I/O, encoder, RS-232, etc.) must be kept as far apart as possible. Keep at least an inch (2.5 cm) for each 3 feet (1 m) of parallel run as illustrated in Figure 5. For example, if the motor and encoder cables run parallel for 6 feet (2 m), maintain a 2 inch (5 cm) separation between them. Figure 5 Cable Spacing Version NT 2.20 18 Hardware Guide

Safety and EMC Guidelines It is recommended to use completely shielded cables as illustrated in Figure 6. Figure 6 Shielded Cable 4.2.2 Cable Length Use short cable runs, and route cables as far from other EMI sources as possible. 4.2.3 Shielding To reduce EMI radiation, do the following: Use shielded cables Install a ferrite core around the cable as close to the as possible as illustrated in Figure 7. Figure 7 Improved Shielding 4.2.4 Grounding Grounding system electrical components is crucial. Warning Verify that all electric circuits and electrical components, including motion controllers, power drives, motors, etc., have a grounding system. Grounding of AC and DC equipment must be in accordance with 29 CFR 1910.304(f). Version NT 2.20 19 Hardware Guide

Electrical Interface 5 Electrical Interface This chapter provides details for the connectors and electrical interfaces. Figure 8 Connector Locations 5.1 Main Board Connectors 5.1.1 J3 - General Purpose I/O The General Purpose I/O connnector serves for connecting all General Purpose I/O signals. it is a male, header with box, 34-pin, 2.54mm pitch connector and is opto-22 compatible. Table 11 provides the pinout for the connector. Table 11 J3 Connector Connector Pinout (page 1 of 2) Pin # Signal Designator Remarks 1 IN0 2 DGND 3 IN1 Version NT 2.20 20 Hardware Guide

Electrical Interface Table 11 J3 Connector Connector Pinout (page 2 of 2) Pin # Signal Designator Remarks 4 DGND 5 IN2 6 DGND 7 IN3 8 DGND 9 IN4 Can also be programmed as X_MARK1 through ACSPL+. 10 DGND 11 IN5 Can also be programmed as X_MARK2 through ACSPL+. 12 DGND 13 IN6 Can also be programmed as Y_MARK1 through ACSPL+. 14 DGND 15 IN7 Can also be programmed as Y_MARK2 through ACSPL+. 16 DGND 17 OUT0 18 DGND 19 OUT1 20 DGND 21 OUT2 22 DGND 23 OUT3 24 DGND 25 OUT4 26 DGND 27 OUT5 28 DGND 29 OUT6 Can also be programmed as X_PEG through ACSPL+. 30 DGND 31 OUT7 Can also be programmed as Y_PEG through ACSPL+. 32 DGND 33 5V 34 DGND Version NT 2.20 21 Hardware Guide

Electrical Interface 5.1.2 J4 - Drive Interface Connector J4 serves for interfacing the drives with the Main board. It is a male, header with box, 50-pin, 2.54mm pitch connector. Table 12 provides the pinout for the connector. Table 12 J4 Connector Pinout Pin # Signal Designator Pin # Signal Designator 1 Y_IS_CMD+ 26 Y_PWM3 2 Y_IS_CMD- 27 X_PWM4 3 Y_IT_CMD+ 28 Y_PWM4 4 Y_IT_CMD- 29 X_PWM5 5 B_IS_CMD+ 30 Y_PWM5 6 B_IS_CMD- 31 Y_ENA 7 B_IT_CMD+ 32 B_ENA 8 B_IT_CMD- 33 X_ENA 9 X_IS_CMD+ 34 A_ENA 10 X_IS_CMD- 35 Y_FLT 11 X_IT_CMD+ 36 B_FLT 12 X_IT_CMD- 37 X_FLT 13 A_IS_CMD+ 38 A_FLT 14 A_IS_CMD- 39 X_PEG- 15 A_IT_CMD+ 40 X_PEG+ 16 A_IT_CMD- 41 Y_PEG+ 17 AGND 42 Y_PEG- 18 DGND 43 X_MARK1+ 19 X_PWM0 44 X_MARK1-20 Y_PWM0 45 X_MARK2+ 21 X_PWM1 46 X_MARK2-22 Y_PWM1 47 Y_MARK1+ 23 X_PWM2 48 Y_MARK1-24 Y_PWM2 49 Y_MARK2+ 25 X_PWM3 50 Y_MARK2- Model The PWM signals (X_PWM#, and Y_PWM#) are for internal use only and cannot be accessed by the user. Version NT 2.20 22 Hardware Guide

Electrical Interface Note #_IS_CMD± and #_IT_CMD± offset compensation can be made via the software (0.3 mv resolution) and the on-board potentiometers (see Figure 8) for fine tuning. The signal designators and their associated potentiometers are: Signal Designator X_IS_CMD± X_IT_CMD± Y_IS_CMD± Y_IT_CMD± A_IS_CMD± A_IT_CMD± B_IS_CMD± B_IT_CMD± Potentiometer RV2 RV3 RV6 RV7 RV4 RV5 RV8 RV9 5.1.3 J5 - Safety and Encoder Interface Connector J5 serves for interfacing the Main board with the encoder and safety signals. It is a male, header with box, 50-pin, 2.54mm pitch connector. Table 13 provides the pinout for the connector. Table 13 J5 Connector Pinout (page 1 of 2) Pin # Signal Designator Pin # Signal Designator 1 X_CHA+ 26 5V 2 X_CHA- 27 X_RL (Right Limit) 3 X_CHB+ 28 X_LL (Left Limit) 4 X_CHB- 29 A_RL (Right Limit) 5 X_CHI+ 30 A_LL (Left Limit) 6 X_CHI- 31 Y_RL (Right Limit) 7 A_CHA+ 32 Y_LL (Left Limit) 8 A_CHA- 33 B_RL (Right Limit) 9 A_CHB+ 34 B_LL (Left Limit) 10 A_CHB- 35 Z_RL (Right Limit) 11 A_CHI+ 36 Z_LL (Left Limit) 12 A_CHI- 37 C_RL (Right Limit) 13 Y_CHA+ 38 C_LL (Left Limit) 14 Y_CHA- 39 T_RL (Right Limit) Version NT 2.20 23 Hardware Guide

Electrical Interface Table 13 J5 Connector Pinout (page 2 of 2) Pin # Signal Designator Pin # Signal Designator 15 Y_CHB+ 40 T_LL (Left Limit) 16 Y_CHB- 41 D_RL (Right Limit) 17 Y_CHI+ 42 D_LL (Left Limit) 18 Y_CHI- 43 V_SUP_SFTY 19 B_CHA+ 44 V_RTN_SFTY 20 B_CHA- 45 ES+ (Emergency Stop) 21 B_CHB+ 46 ES- (Emergency Stop) 22 B_CHB- 47 Not used 23 B_CHI+ 48 Not used 24 B_CHI- 49 Not used 25 DGND 50 Not used 5.1.4 J7 - CAN Bus Connection J7 serves for connecting to the CAN bus. It is a female, 8-pin, RJ-45 connector. Table 14 provides the pinout for the connector. Table 14 J7 Connector Pinout Pin # Signal Designator Description 1 CAN_H CAN high 2 CAN_L CAN low 3 CAN_GND Ground, return CAN supply 4 Not used 5 Not used 6 CAN_SHLD CAN shield 7 CAN_GND Ground, return CAN supply 8 Not used Note While pin 6 can serve as the CAN bus shield, the shield is normally supplied by the body of the connector if a drain wire is properly installed. Version NT 2.20 24 Hardware Guide

Electrical Interface 5.1.5 J8 - HSSI X Connector J8 serves for connecting the X axis to a High-Speed Synchronous Serial Interface (HSSI) channel. The connector is a male, dual row header with box, 8-pin, 2mm pitch connector. Table 15 provides the pinout for the connector. Note A cable with a standard RJ45 connector can be ordered for connecting with J8. Table 15 J8 Connector Pinout Pin # Signal Designator Description 1 H_CON_0+ Control signal - non-inverted output for channel X 2 H_CON_0- Control signal - inverted output for channel X 3 H_DI_0+ Serial data - non-inverted input for channel X 4 H_DI_0- Serial data - inverted input for channel X 5 H_DO_0+ Serial data - non-inverted output for channel X 6 H_DO_0- Serial data - inverted output for channel X 7 DGND Digital ground 8 DGND Digital ground 5.1.6 J11 - Power Connector J11 serves for connecting to the power supply. The connector is a 5-pin PHOENIX MC1,5/5-GF-3,81 connector. Note The pin numbers are from top to bottom when looking at the SPiiPlus LF from the top as shown in Figure 8. Table 16 J11 Connector Pinout Pin # Signal Designator Description 1 5V_IN 5V supply 2 12V_IN 12V supply 3-12V_IN -12V supply 4 DGND Digital ground 5 EGND Shield Version NT 2.20 25 Hardware Guide

Electrical Interface 5.2 MPU Board Connectors 5.2.1 CN5 - Communication Connector CN5 serves for connecing RS-232, RS-422 or RS-485 ports to the MPU. It is a male, dual row header, 20-pin, 2mm pitch connector. Table 17 provides the pinout for the connector. Note A cable set consisting of two standard D-type 9 pin connectors can be ordered for connecting with CN5. Table 17 CN5 Connector Pinout Pin # Signal Designator Pin # Signal Designator 1 DCD1 11 DCD2/(TX-)for RS422/TXRX- RS485 2 DSR1 12 DSR2 3 RXD1 13 RXD2/(TX+) for RS422/TXRX+ RS485 4 RTS1 14 RTS2 5 TXD1 15 TXD2/(RX+) for RS422 6 CTS1 16 CTS2 7 DTR1 17 DTR2/(RX-) for RS422 8 RI1 18 RI2 or +5V or +12V(for Jumper) 9 GND 19 GND 10 Not used 20 Not used Version NT 2.20 26 Hardware Guide

Electrical Interface 5.2.2 JP8 - Ethernet Connector J8 serves for connecting the MPU to the 10/100 Mbit Ethernet. It is a male, dual row header, 8- pin, 2mm pitch connector. Table 18 provides the pinout for the connector. Note A cable with a standard RJ45 connector can be ordered for connecting with J9. Table 18 J8 Connector Pinout Pin # Signal Designator Pin # Signal Designator 1 TX+ 5 Not used 2 TX- 6 RX- 3 RX+ 7 Not used 4 Not used 8 Not used Version NT 2.20 27 Hardware Guide

Jumpers 6 Jumpers This chapter provides details of the various jumpers located on the SPiiPlus LF Motion Controller. Different jumper settings affect the following features: Safety inputs in sink and source configuration Analog outputs in differential and single-ended configuration 6.1 Jumpers Figure 9 shows the locations of the jumpers. Figure 9 Jumper Locations 6.2 Jumper Functions Table 19 lists the jumper functions, and, where relevant, their settings: Table 19 Main Board Jumpers and Setting (page 1 of 2) Jumper Function Jumper Settings JP1 Safety (Limits) inputs in sink and source Position 1,2 - sink Position 2,3 - source JP1 (CAN) 120 line impedance Installed - 120 line termination Version NT 2.20 28 Hardware Guide

Jumpers Table 19 Main Board Jumpers and Setting (page 2 of 2) Jumper Function Jumper Settings JP4 Located on the back of the Main board. Used for testing the software. To recover the firmware, see MMI Utilities Emergency Wizard No jumper - Normal mode Jumper - Debug mode JP2B-1 X axis S drive command Jumper - Differential mode No Jumper - Single ended mode JP2B-2 X axis T drive command Jumper - Differential mode No Jumper - Single ended mode JP2B-3 A axis S drive command Jumper - Differential mode No Jumper - Single ended mode JP2B-4 A axis T drive command Jumper - Differential mode No Jumper - Single ended mode JP2B-5 Yaxis S drive command Jumper - Differential mode No Jumper - Single ended mode JP2B-6 Yaxis T drive command Jumper - Differential mode No Jumper - Single ended mode JP2B-7 B axis S drive command Jumper - Differential mode No Jumper - Single ended mode JP2B-8 B axis T drive command Jumper - Differential mode No Jumper - Single ended mode Version NT 2.20 29 Hardware Guide

LED Indicators 7 LED Indicators This chapter provides details of the LED indicators. There are three LEDs located on the Main board, and one LED located on the MPU board, as shown in Figure 10. Figure 10 LED Indicators 7.1 Main Board LEDs The Main board LEDs indicate the status of the power supplies and are detailed in Table 20. Table 20 Main Board LED Indicators LED Indicator Color Description MPU_ON Green Motion Processing Unit (MPU) operational. When the control unit detects a receive message, this LED goes off for a fraction of a second. This indicates that the processor and communications are functioning properly. Note: This LED can blink or light steady about 30 seconds after the connection of the control supply. +12V Green +12V available Off +12V not available -12V Green -12V available Off -12V not available Version NT 2.20 30 Hardware Guide

LED Indicators 7.2 MPU Board LED The LED on the front of the MPU board indicates the status of the 5V voltage as detailed in Table 21. Table 21 MPUBoard LED Indicator LED Indicator Color Description 5V Red 5V available Off 5V not available Version NT 2.20 31 Hardware Guide