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CNC-Servo-Controller

1. ProNC Operating instruction in printed form Option frequency inverter 750W for working spindle gt max 4 axis possible X number of power amplifiers 2 6 page 6 IMC B IMC V Operating Instruction 3 Technical data controler WER iMC V BLDC servo motors brushless DC EC maximum numberofaxis 115 230 VAC 60 60 Hz 1000 W MD20 48 VDC 12 A 25 A 16 x digital inputs 8 inputs useable 8 inputs internal used 16 x digital outputs 8 outputs useable 8 outputs internal used I O extension board 1 x 115 230V relais output max 6 A option 1 x analog output 8 Bit 0 10 V TF T display 10 2 TFT display with touchscreen Integrated keyboard mini keyboard 1 6 GHz processor control PC RAM 2 1 GB hard disk 2 5 SATA 2 80 GB 2 x USB 2 0 in case front Dimensions Wx Hx D page IMC B iMC V Operating Instruction 4 Hardware description 4 1 Controller front side iMC B iMC V 1 emergency stop switch Turns off the power supply for the motor power amplifiers and the working spindle in case of any danger This means dangers for the users health or machine safety The integrated security circuit is applicable till safety category 3 DIN EN945 1 If you push the emergency stop switch any axes motion will be slow down controlled and the motor power supply will be time lag switched off stop category 1 The main power supply voltage of 115 230VAC lies still on the device
2. IMC V Operating Instruction 5 Initial operation Preparation Before power up of the controller please check the scope of delivery Following parts should be included net cable operating instruction Make all necessary connections connect net cable connect motor and encoder lines motors with the connectors on the back side of the controller Check all other connected cables Initial operation switch on controller main switch back side switch on control computer via green computer start button on the back side of the controller control computer start button will be green lighted gt control computer is booting the installed operating system install control software if not preinstalled ProNC 1 or Remote install setup software if not preinstalled DCSetup 1 ACSetup 2 check if Emergency stop switch is pulled push Power button on the controller front side motor power amplifier voltage should be switched on parameterize power amplifiers with ACSetup exe DCSetup exe setup axes kinematic of your machine system with CANSet exe Control operate the connected axes with the control and programming software ProNC or Remote page 17 IMC B iMC V Operating Instruction 6 Software 6 1 Installing setup software Setup initial operation of the integrated power amplifiers inside the controller s iMC B IMC V and iMC VP takes place by the following setup software DCSetup exe 1 for BDC servo
3. and will be analyzed by the security circuit module iSM5 If all safety related conditions are complied the 115 230 V AC voltage is switched on the connector Please note the pin assignment for the spindle start signal in the table for the CAN I O module in chapter 4 2 The net input module consists of net input socket net filter fuse holder und net main switch Connect the controller via delivered net cable to a free receptacle After that you can switch on the controller with the net main switch aD Main spindle drive connector optional Use this connector to tap speed controlled working spindle asynchronous motor The optional frequency inverter is mounted inside the controller and will be controlled over the security circuit and I O module page 15 IMC B iMC V Operating Instruction 4 3 Assembly iMC B iMC V CAN I O 16 16 O module Power supply unit 115 230VAC 48VDC 1000W for motors iMD10 iMD20 power amplifiers for brushed DC ISR11 3 control computer with integrated CAN PCl card and CAN I O module ISM 5 security circuit module Function keys module for control elements servo motors brushless DC servo motors BER SES ENER SERRERDODO Power supply unit ee Pie Ne li Bee SI 115 230VAC WS penises estes Sale 24V DC 60W for logic 10 2 TFT display with touchscreen buttons switches on the controllers front side mini keyboard page 16 IMC B
4. circuit module Additionally a 10 2 LC Display and a keyboard are integrated A CANopen PCl card that works as interface is mounted into the control computer This card works as CAN master to communicate with the power amplifiers for the axes and other CAN peripheral devices such as l O module The CNC Motion control allows the interpolation of up to 6 axes linear circular and helix on line and look ahead continuous path CP machining as well as the control of up to 6 handling axes The CAN controllers series IMC B are able to drive up to 6 brushed DC servo motors The used power amplifiers type IMD10 have a jerk limit and standstill monitoring till safety category 3 Controllers series iMC V are able to drive up to 6 brushless DC servo motors The used power amplifiers type iIMD20 have a jerk limit and standstill monitoring till safety category 3 1 1 Safety symbols Warning This symbol indicates dangers that cause damages for person s health physical injury or death Warning Dangerous voltage Warning of danger from electricity Ignoring can lead to serious injury or death Attention This Symbol indicates important notes Ignoring this symbol leads to damages and malfunctions of the machinery Information This symbol indicates important information and notes page 4 IMC B IMC V Operating Instruction 1 2 Safety instructions A The CNC controllers IMC B and iMC V are designed in conformability to
5. motors brushed DC servos with motor power amplifiers IMD10 or ACSetup exe 2 for BLDC servo motors brushless DC servos with motor power amplifiers IMD2O Do the following steps to install setup software additional 1 Connect ProNC Remote install medium delivered CD or USB stick with the control computer 2 Following Auto start window will be shown when installing from CD proNc CAN ki al From Components to Systems P ro N C Installation of ProNC Installation of control software Important notes Welcome to the installation of ProNC the universal programming Browse CD software for your automation tasks Ea Visit our homepage Manuals Installation of Acrobat Reader Back up control configuration Deutsch Exit If Auto Start window is not shown start the Windows Explorer and open the root directory of the CD DVD or USB drive Double click on the file Autorun exe page 18 IMC B IMC V Operating Instruction 3 Click on the entry Installation of control software The following window will be shown proNc CAN r S el From Components to Systems On this page you will find the CAN control software as well as configuration and commissioning programs for the various hardware components of the isel CAN controller Installation of CAN control software Installation of AC Setup Installaticinstatiation of ACSetup _ The utility program AC S
6. only the motor power supply voltage for the amplifiers is switched off 2 power button Use this button to switch on motor power supply voltage for the motor power amplifiers Conditions for switch on Main power switch on the controller back side is switched on Emergency stop button is pulled out lf power supply voltage is successfully switched on the power button is lighted green page 8 IMC B iMC V Operating Instruction 3 operation mode switch key switch Use this switch to choose between automatic and setup mode the machine if no axis is in motion and the mounted working N In automatic mode you can only open the cover or safety door of spindle is switched off means that spindle does not turn In the setup mode you can only open the cover or safety door of the machine if the mounted working spindle is switched off means that spindle does not turn You can just move the axes at opened cover or safety door if you press the ACK button Ensure that in setup mode key switch on TEST only authorized personal operates on the machine 4 start button If you press the start button an opened user program in the operator software ProNC ISO PAL or NCP file resp user program in control software Remote ISO NCP or CNC file will be started If there is no user program opened a dialog window is shown where you can select an user program 5 stop button With the stop button you can stop a
7. 2 2007 EMV Pr f und Messverfahren Pr fung der St rfestigkeit gegen Entladung statischer Elektrizit t ESD EMC Testing and measurement techniques Electrostatic discharge immunity test EN 61000 4 4 2004 EMV Pr f und Messverfahren Pr fung der St rfestigkeit gegen schnelle transiente elektrische St rgr en Burst EMC Testing and measurement techniques Electrical fast transient burst immunity test EN 61000 4 5 2006 EMV Pr f und Messverfahren Pr fung der St rfestigkeit gegen energiereiche Impulse Surge EMC Testing and measurement techniques Surge immunity test EN 61000 4 11 2004 EMV Pr f und Messverfahren Pr fung der St rfestigkeit gegen Spannungseinbr che Spannungsunterbrechungen EMC Testing and measurement techniques Voltage dips short interruptions and voltage variations immunity tests EN 61000 6 4 2007 EMV Fachgrundnorm St raussendung Industriebereich EMC Generic standards Emission standard for industrial environments DIN EN 55011 2007 Industrielle wissenschaftliche und medizinische Hochfrequenzger te ISM Ger te Funkst rungen Grenzwerte und Messverfahren Industrial scientific and medical ISM radio frequency equipment Electromagnetic disturbance characteristics Limits and methods of measurement Dermbach 13 01 2009 f J f Ka LJ ite Hugo Isert Vorstandsvorsitzender Chairman page 23 IMC B iMC V Operating Instruction 8 Bibliography 1 i
8. ND 9 PE yellow green protected earth PE encoder signal connector 15 pin Sub D socket pin signal necor desecrpion _ _ HALL_A _IN Hall signal A VCC_Encoder digital 5V DC ENC_Z orange black encoder line Z ENC_B brown black encoder line B ENC_A grey black encoder line A 6 VCC_Logic Pf logic 24V DC LIMIT _SW1 pti mit switch 1 8 GND_24V Look GND 9 HALL B_IN Hall signal B D_GND digital GND ENC Z ENC_B encoder line B ENC_A HALL_C_IN Hall signal C LIMIT _SW2 limit switch 2 page 11 IMC B iMC V Operating Instruction hand control unit 25 pin Sub D optional version This connector is only available on controller without integrated function keys in the case front lt is possible to connect function keys switches buttons from an external hand control unit anisel CNC control panel with the corresponding connectors on the security circuit module inside the controller case pin signal description 6 POWERBTN Input power button o Z o 8 ZT RAV 9 KEY SWITCH Test Input key switch testmode 11 GND KEE BE oo S O N A DDDMNDD SS Ot amp Go PO O oN NO O1 The maximum length of the connection cable for the hand control unit CNC control panel should not exceed 5m page 12 IMC B iMC V Operating Instruction External additional control console connector 15 pin Sub D opt
9. current technical and recognized rules The device may only be used if it is in correct condition Any faults have to be eliminated immediately Neither children nor non authorized persons are allowed to put the device into operation The device may only be used for the intended purpose control of 2 up to 6 linear or rotational axes with brushed DC Servo iMC B or brushless DC servo motors iMC V both motor types with integrated incremental measurement system encoder All work with the controllers IMC B and iMC V especially initial operation installation as well as external wiring must be executed by authorized personal regarding electrical industry rules and accident prevention regulations Assembly and use of operating material has to be according to Machine directive 98 37 EC valid until 28 12 2009 resp 2006 42 EC becomes operative from 29 12 2009 and Low voltage directive 73 23 EWC In case of in proper use even the observation of the respective rules and standards does not protect against physical damages and damage to property Do not expose the device to high humidity or high vibrations Please take care of the instruction manual Be sure that all users know the instructions Ignoring the instruction manual can lead to damage heavy physical damage or to death page 5 IMC B IMC V Operating Instruction 2 Controller types Controller power Brushed isel DC servo motors BDC wg Brushless isel DC
10. etup is required for config Installatiororcrusetup The utility program ACSetup is the configuration and adjustment software for power amplifiers of type IMD20 for brushless DC servo motors and IMD40 for servo synchronous and servo asynchronous motors on Hack Exit t Choose now the setup software depending on your motor type and click on the entry to start the installation in this example Installation of ACSetup Follow the instructions of the setup assistant After finishing the installation click on button Est to close the Auto Start menu Start DCSetup exe ACSetup exe via the desktop shortcut or via the start menu entry Start gt Programs ACSetup gt ACSetup DCSetup Information on parameterization of motor power amplifiers iMD10 you will find in the manual 1 DC Servo positioning module with CANopen interface UVE8112 iMD10 Therefore open the file i dcsetup_eng pdf via shortcut in the start menu Information on parameterization of motor power amplifiers iMD20 you will find in the manual 2 AC Servo positioning module with CANopen interface iMD20 iMD40 Therefore open the file acsetup_eng pdf via shortcut in the start menu page 19 IMC B iMC V Operating Instruction 6 2 ProNC Remote installation and first steps Operation of the controller IMC B IMC V takes place either with the control software Remote or with the control programming software ProNC lf there is no o
11. ional This connector is used if an additional isel control console is used pin siongl description S GND control console 6 LAMPACK Output ACKlamp o O S 8 ACK TI Acknowledge channel 1 connector 12 9 ACK 2 Acknowledge channel 2 connector 21 15 Le The maximum length of the connection cable for the hand control unit CNC control panel should not exceed 5m 4 Cover connector 9 pin Sub D socket Use this connector to integrate a cover or door control in the security circuit of the controller 5 switch 2 2 6 coil break contact page 13 IMC B iMC V Operating Instruction Digital output port 8 pin left to right A2 1 A2 8 The mounted I O board has two digital output ports each with 8 digital switches The first output port A1 1 A1 8 is internal used for signalization The second output port can free configured by the user Properties Wiring 8x electronic outputs max lt 350mA 24VDC Thermic protection short circuit proof intern extern pin output description 1 Out output A2 1 2 Out2 output A2 2 3 Out3 output A2 3 4 Out4 output A2 4 5 Out5 output A2 5 6 Out6 output A2 6 7 Out7 output A2 7 8 Out8 output A2 8 Please note the default connection of the first output port A1 1 A1 8 in the control software Remote ProNC under the menu entry Signalization These outputs are directly wired with the modules inside the controlle
12. isel From Components to Systems CNC Servo Controller IMC B IMC V Operating Instruction isel Germany AG D 36124 Eichenzell Burgermeister Ebert Str 40 06659 981 0 06659 981 776 IMC B IMC V Operating Instruction All information technical data and dimensions contained in this booklet correspond to the technical state at the moment of publication However possible misprints or mistakes cannot be ruled out We will appreciate all suggestions for improvement and error notes We would like to point out that all used software and hardware names of the respective companies generally are subject to protection by brand trademark and patent law All rights reserved It is prohibited to process duplicate or reproduce this booklet partially or on the whole in any form print copy or other procedure without written permission of isel Germany AG This booklet has been translated from the original German version into English language It does not lay claim to completeness nor flawlessness In case of doubt the German original has validity isel controllers are concurrent with CE norms and marked accordingly Commissioning of all other parts or components for which CE safety regulations apply is prohibited until all respective requests are met isel Germany AG as the manufacturer cannot take over guarantee if you change the controller in any way The EMC test is valid only for the controllers original configuration ex wo
13. le initialization file IC CN Cworkbench Control CAN CAN_PC 2 As s ini gt gt Version Setup Diagnosis Status Close amp x Close Ae Initialize Click on button Close amp Initialize to take effect the new settings 6 Perform a software reset and a reference run 2 to check correct behavior of the machine system Additional information to configure ProNC Remote you can find in the online help menu help F1 key page 22 IMC B IMC V Operating Instruction 7 EC Declaration of Conformity Der Hersteller C The manufacturer isel Germany AG B rgermeister Ebert Str 40 D 36124 Eichenzell erkl rt hiermit dass folgendes Produkt hereby declares that the following product Ger teart CAN Servo Controller Device CAN servo controller Typ IMC B iMC V Type Art Nr IMC B 354000 10X0 Product No IMC V 354000 20X0 mit den Vorschriften folgender Europ ischer Richtlinien bereinstimmt complies with the requirements of the European Directives EG Richtlinie 2004 108 EG EMV Richtlinie EC Directive 2004 108 EC EMC directive EG Richtlinie 73 23 EWG Niederspannungsrichtlinie EC Directive 73 23 ECC Low voltage directive Folgende harmonisierte Normen wurden angewandt Following harmonized standards have been applied EN 61000 6 2 2005 EMV Fachgrundnorm St rfestigkeit f r Industriebereich EMC Generic standards Immunity for industrial environments EN 61000 4
14. or start menu entry Start gt Programs gt isel CAN CNC Control gt CANSet to setup machine specific parameters CAN interface used axes axis type Lorian atroe Coortinates aut Ase Ceompthrwstet den Wurde d cosdas V Catros Cowdrate Seen leew Pat Sim ow peanon wert Save your configuration to an initialization file ini file The saved file will be used later in the control software ProNC Remote as motion control initialization file page 21 IMC B IMC V Operating Instruction 5 Open the control software ProNC Remote via shortcut on the windows desktop or the start menu entry Start gt Programs gt CNCworkbench gt ProNC Remote Click on entry control in menu settings Mark the entry Motion control modules gt Axis system 1 In the bottom right side of the window you will find the settings for the selected axis system In the edit field Module initialization file you must choose your previously with CANSet exe generated and saved INI file Control modules and settings D 4 Motion control modules Configuration preset Mig Axis system 1 SC z Dm eer Load KM Save s pid Handling axes Spindle drives Settings of Axis system 1 DRY 10 modules 1 Dp Tool administration e Security installations EP Other components x Iw Enable module usage Description Mo CAN Module DLL IC CN Cworkbench Control CAN Can4pi dll gt gt Modu
15. peration software installed ex factory do the following steps to install the software later 1 Connect ProNC Remote install medium delivered CD or USB stick with the control computer 2 Following Auto start window will be shown when installing from CD proNc CAN isel ProNC Welcome to the installation of ProNc the universal programming software for your automation tasks From Components to Systems Installation of ProNC Installation of control software Important notes Browse CD Visit our homepage Manuals Installation of Acrobat Reader Back up control configuration Deutsch Exit If Auto Start window is not shown start the Windows Explorer and open the root directory of the CD DVD or USB drive Double click on the file Autorun exe page 20 IMC B IMC V Operating Instruction 3 Click on the entry Installation of ProNC Choose your language and follow the instructions of the setup assistant ie Setup ProNC Select control Please select the controls for which you would like to install the interface DLL s J CAN Bus Control www isel com P lt Back Next gt p Cancel Mark on setup window Select control the option CAN Bus Control to install the CAN bus software module After finishing the installation click on button Exit to close the Auto Start menu 4 Open the configuration program CANSet exe shortcut on windows desktop
16. r You cannot longer use these outputs in the user program Digital input port 8 pin left to right E1 1 E1 8 The mounted I O board has two digital input ports each with 8 digital inputs The second input port E2 1 E2 8 is internal used for signalization The first input port can free configured by the user Properties Wiring opt coupled inputs input current ca 8mA intern extern 24VDC Din input description dE A h In x N 6 np InputE2 6 ES page 14 IMC B iMC V Operating Instruction Please note the default connection of the second input port E2 1 i E2 8 in the control software Remote ProNC under the menu entry Signalization These inputs are directly wired with the modules inside the controller You cannot longer use these inputs in the user program GND 8 pin 24VDC 8 pin AC Input net input module 115 230 VAC 50 60 Hz The net input module consists of net input socket net filter fuse holder and net main switch Connect the controller via delivered net cable to a free receptacle After that you can switch on the controller with the net main switch Spindle 115V 230V connector Use this output connector to directly tap a working spindle without speed control Use the delivered mating connector Maximum load of the relay output is 115 230 V AC 6A The spindle start signal is switched by the integrated CAN O module
17. rks Le the delivery state Manufacturer isel Germany AG Burgermeister Ebert StraBe 40 D 36124 Eichenzell Tel 06659 981 0 Fax 06659 981 776 Email automation isel com http www isel com Status 08 201 1 Technical specifications subject to change Up to date Operating instructions and manuals for download you can find here www isel data de manuals IMC B IMC V Operating Instruction Table of contents 1 2 3 4 5 6 7 8 Jee de EE 4 EI EM ee ee E set sent e Ee 4 1 2 Safety INSMWUCHONS eege edd 5 SSES 6 Technical Cala a see ticle 7 Hardware Q amp SCHIPLUON eege 8 4 1 Controller front side MCDB MCN 8 4 2 Controller back side MG B IMCH 10 4 3 Assembly IMC B IMC V cneneessnsensnnenennenennenennenennenennenenne nenne nenne nennenennenennenen 16 JO EUR EL UN EE 17 Eegeregie 18 6 1 Installing setup software nennen 18 6 2 ProNC Remote installation and first stenge 20 EC Declaration of Conformity s ssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nnmn 23 BIDIIOGTAPNY sciora aaa anana ENT 24 Ile a E E E E EN 24 IMC B IMC V Operating Instruction 1 Introduction The iMC series CAN controllers are compact powerful drive controllers for 2 up to 6 linear or rotational axes The shapely table housing integrates all control components that are needed for most different automation tasks They include the control computer motor power amplifiers I O module and security
18. running user program axis motion By pressing the start button you can continue the execution of the user program 6 cover button Use this button to open the machines cover or safety door This is possible only if the conditions from point 3 operation mode switch are complied An enable for opening of the cover or safety door Is signalized by a white lighted cover button 7 fault lamp The fault lamp indicates an error within the safety circuit 8 ACK ACKnowledge button Press this button to move the axes when the machine is in setup mode and the cover or safety door is open page 9 IMC B iMC V Operating Instruction 4 2 Controller back side iMC B iMC V 1 IMC B connectors for motor encoder and signal lines motor connector X Y Z A B C 6 pin M23 socket pin signal i tineccolor description 6 Brake_GND white motorbrakeGND encoder signal connector 15 pin Sub D socket pin signal tine color descripion ee 5 MG Logik Uoge2avDrc _ 7 LIMIT_SW limtswitchi S po Logik GND 8 GND 24V 9 imc 14 REF_SW_ si reference switch _ 15 LIMIT_SW2 ir mt ewen page 10 IMC B IMC V Operating Instruction IMC V connectors for motor encoder and signal lines motor connector X Y Z A B C 6 pin M23 socket pin signal neo description black 1 motor phase U black 2 motor phase V black 3 motor phase W 6 Brake_GND motor brake G
19. sel Germany AG Positioniermodul mit CanOpen Interface UVE8112 IMD 10 03 2008 2 isel Germany AG positioning module with CanOpen interface iMD20 iIMD40 03 2009 3 isel Germany AG ProNC User Manual 2003 4 isel Germany AG ISR series operating instruction 04 2009 Operating instructions and manuals for download you can find here www isel data de manuals 9 Index iIMD40 A Installation software intended use ACK 10 iSR11 ACSetup exe 21 L B a Low voltage directive BDC 6 binary user inputs 16 M BLDC 6 brushed 4 motor connector C O CAN IO Module 15 Operation mode switch CANSet exe 20 Output port control console 12 Cover 13 p Cover button 10 ProNC D R DCSetup exe 21 Remote E S Encoder 11 12 Scope of delivery H Software Synchronous motors harmonized standards 26 iMD10 8 iMD20 8 page 24 21 14 12 10 15 20 20
20. servo motors BLDC iMD20 All controllers have to be used only with the compatible motor type Please read this operation instruction manual carefully before first use of the controller Scope of delivery iMC B Part No 354000 10X 0 e Servo controller iMC B as desk device with the following components o 2 6 integrated power amplifiers iMD10 for brushed DC servo motors B DC 1 o Control PC iSR10 with CAN PCI card iCC10 o CAN IO 16 16 module o Security circuit module iSM5 not useable on CAN bus 10 2 LCD with touch screen and mini keyboard in the case front Main cable protection contact plug IEC 60320 power connector RS232 communication cable 9 pin Sub D plug to RJ45 plug Connector package Control software Remote option ProNC Operating instruction in printed form Option frequency inverter 750W for working spindle gt max 4 axis possible Scope of delivery iMC V Part No 354000 20X 0 e Servo controller iMC V as desk device with the following components o 2 6 integrated power amplifiers iMD20 for brushless DC servo motors BL DC 2 o Control PC iSR10 with CAN PCI card iCC10 o CAN IO 16 16 module o Security circuit module not useable on CAN bus 10 2 LCD with touch screen and mini keyboard in the case front Main cable protection contact plug IEC 60320 power connector RS232 communication cable 9 pin Sub D plug to RJ45 plug Connector package Control software Remote option

CNC-Servo-Controller

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