- Techno-Isel
Contents
1. fault lamp The fault lamp indicates an error within the safety circuit 9 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 the motor power supply will be switched off immediately DIN EN 60204 1 stop category 0 and any axes motion will be stopped The main power supply voltage of 115 230VAC lies still on the device only the motor power supply voltage for the amplifiers is switched off 10 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 Be sure that the contacts for external emergency stop switch on the remote connector are bridged If power supply voltage is successfully switched on the power button is lighted green 11 stop button If you press the stop button in CNC mode an active user program axis motion will be stopped You can continue the execution of the user program by pressing the start button If you press the stop button in DNC mode an active user program axis motion will be stopped To continue the execution of the user program you have to use the controller software Pr2. for the isel interface cards UI Install PAL PC Install Setup programs Important notes Browse CD Visit our homepage Manuals Install Acrobat Reader isel From Components to Systems 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 24 IMC M iMC MP Operating Instruction 3 Click on Install PAL PC and follow the installation instructions PALPC installation assistant gt installation dialog Fu iG Setup PALPC u Es Welcome to the PALPC Setup Wizard This will install PALPC 2 1 on your computer It is recommended that you close all other applications before continuing Click Next to continue or Cancel to exit Setup www isel com Next gt Cancel 4 Start PALPC exe via start menu entry or desktop shortcut On first startup an activation window will be shown Enter delivered registration data serial number and activation code into the dialogs edit fields K i Aktivierung l xj Um mit dem Produkt zu arbeiten ist es nun erforderlich die Seriennummer und den Aktvierungscode einzugeben Diese Informationen finden Sie auf dem Lieferschein auf der Rechnung oder auf dem Lizenzwertrag der Ihnen zusammen mit dem Installationsdatentr ger geliefert wurde Serennummer Aktvierungscode Abbruch 6 3 2 PALPC operation The use o
3. iMC MP Operating Instruction Current reduction DIP switch 4 Use the DIP switch 4 to set the automatic current reduction If the DIP switch is set to ON the automatic current reduction is deactivated DIP switch in state OFF means that the current is set to 60 of the motor current if the motor standstill current reduction in 0 reduction deactivated 60 reduction If the holding torque is sufficient the activated automatic current reduction is recommended Step resolution DIP switch 5 6 7 8 Use the DIP switches 5 6 7 and 8 to set the step resolution Setting the factor to a higher value causes a smooth motion of the motor but the maximum reachable velocity will taking down Also the motor torque will be reduced to 75 in microstep mode The following table shows the DIP switch settings for the different step resolutions The Factory set of the step resolution is 800 steps rev for all motor power amplifiers page 21 IMC M iMC MP Operating Instruction 6 Operation modes and operation The processors operating system firmware processor core provides the following operation modes e DNC mode PC Laptop is permanent connected to the 4 axis controller via serial interface Software Remote ProNC is used to drive the controller e CNC mode 4 axis controller executes user programs stand alone without a connected PC Laptop Software PALPC 2 1 is used for programming and download of user pro
4. 4 ProNC Operating instruction status 2003 Operating instructions and manuals for download you can find here www isel data de manuals 9 Index installation dialog 25 H intended use 4 Interface cable 27 control 26 interface impulse control 13 steps 26 A oo Low voltage directive 4 ACK 10 activation code 25 O Analog Out 15 Operation mode switch 9 C output file 24 CNC mode 8 23 p core modul 6 Cover 15 PALPC compiler 24 current reduction 21 PALPC exe 24 current setting 20 peak current 8 power button 10 D program memory 7 ProNC 27 digital inputs 8 digital outputs 8 R DNC mode 8 DNC mode 27 rated current 8 Remote 27 E RS232 16 emergency stop switch 10 S external emergency stop 13 security circuit interface 12 F serial number 25 Spindle 15 flash memory 27 start button 10 step resolution 21 H stop button 10 harmonized standards 31 T I text editor 24 input frequency 7
5. 4 x stepper motor IT s i input 115 230 VAC output 48VDC 500W switching power supply input 115 230 VAC output 24VDC 60W function keys module with switches buttons in the controller case front security circuit board with safety relays page 19 IMC M iMC MP Operating Instruction 5 5 1 IMC MP DIP Switch settings The controller iMC MP has four stepper motor power amplifiers MD24 Settings for rated current step resolution and current reduction takes place by the DIP switch on the top side of the amplifiers case Configuration of the controller should be done before first start up so that a connected motor will not be damaged because of an incorrect power setting To configure the step resolution and motor current open the cover and set the jumper on each amplifier as follows more information 1 Microstepping Driver MD24 MD28 DIP Switch MD24 in iMC MP current setting 1 current setting 2 current setting 3 current reduction step resolution 1 step resolution 2 step resolution 3 step resolution 4 123456 78 on off namen Current setting DIP switch 1 2 3 Use the DIP switches 1 2 and 3 to set the current of the motor The following table shows the motor current RMS setting for the different switch positions ON ON ON OFF ON ON ON OFF ON OFF ON OFF OFF OFF OFF OFF The factory set of the motor current is 2 03 A RMS on all motor power amplifiers page 20 IMC M
6. C 65 C humidity maximum 95 not condensing maximum 90 not condensing Embedded controller data tee 32Bit RISC processor 32Bit RISC processor l embedded controller embedded controller program memory 128 Kbyte flash 128 Kbyte flash RS232 19200 baud 8 data bit RS232 19200 baud 8 data bit 1 stop bit no parity 1 stop bit no parity communication via USB USB OnTheGo in preparation USB OnTheGo in preparation stepper motor amplifier stepper motor driver IC stepper motor power amplifier MD24 maximum input frequency 15 kHz full step 40 kHz full step RS485 interface 1 x for interconnection of external devices 1 x for interconnection of external devices l in preparation in preparation communication via RS232 page 7 IMC M iMC MP Operating Instruction power supply voltage 115 230VAC 50 60 Hz peak current per amplifier A2A rated current per amplifier 3 5 A power supply voltage of ihe 36 VDC 48 VDC amplifiers automatic current reduction to 50 to 60 dote Bum 8 x inputs ae 8 x transistor outputs 24VDC 300 mA 8 x transistor outputs 24VDC 300 mA H SE 1 x relay output 230V 6A 1 x relay output 230V 6A _ 1x analog output 0 10V for speed control 1 x analog output 0 10V for speed control analog outputs setting to a frequency inverter setting to a frequency inverter cover door control yes motor brake on Zaxis je yes safety category stopcategory o0 o fuse 4 A 250V ti
7. all users know the instructions Ignoring the instruction manual can lead to damage heavy physical damage or to death page 4 IMC M iMC MP Operating Instruction 2 1 Intended use The stepper motor controllers iMC M and iMC MP are freely programmable compact controls for four linear or rotational units with 2 phase stepper motors The controller integrates four motor power amplifiers with step direction interface a processor core with flash memory to interpret the user programs and generating step direction signals for the power amplifiers power supply units security circuit module and a table housing with net input filter and control elements The processors operating system firmware provides following operation modes e DNC mode The controller is permanent connected with a PC laptop via serial interface e CNC mode The controller works Stand Alone after a user program is downloaded to the processors flash memory Both controllers are able to drive stepper motors in micro stepping mode The power amplifiers of the IMC M generates up to 16 micro steps per full step and the power amplifiers of the IMC MP up to 128 micro steps per full step This allows a smoothly run of the connected motors An automatic current reduction reduces the power loss in the amplifier and motor The peak current amounts 3 3A iIMC M resp 4 2A IMC MP and is adjustable via DIP switches With the impulse input it s possible to control
8. ction keys module with switches buttons in the controller case front IMC M iMC MP Operating Instruction 5 3 1 IMC M jumper settings The controller iMC M has four stepper motor driver Ce Settings for rated current und step resolution takes place via a jumper field on the inner side of the base board jumper J1 step resolution 1 J2 step resolution 2 J3 current setting 1 J4 current setting 2 Configuration of the controller should be done before first start up so that a connected motor will not be damaged because of an incorrect power setting To configure the step resolution and motor current please open the cover and set the jumper as follows Step resolution jumper 1 2 Use the jumper 1 and 2 to set the step resolution Setting the factor to a higher value causes a smooth motion The following table shows the jumper settings for the different step resolutions closed open A200 open closed The Factory set of the step resolution is 400 steps rev Current setting jumper 3 4 Use the jumper 3 and 4 to set the current for the motor It is possible to set the current in four steps open closed Loi The factory set of the motor current is 1 75 A page 18 IMC M iMC MP Operating Instruction 5 4 Assembly iMC MP base board with embedded controller and relays i net input module with net filter main switch and fuses IR mean BT m may LI mE LU fr O
9. er Installation of the control software Remote Do the following steps to install setup software 1 Insert Remote installation medium delivered CD or USB stick with the control computer 2 An Auto start window will be shown when installing from CD Welcome to the installation of Remote the universal CNC processing software designed for isel controls Deutsch Installation of Remote Important notes Manuals Browse CD Visit our homepage Installation of Acrobat Reader Back up control configuration and open the root directory of the CD DVD or USB drive Double info If Auto Start window is not shown start the Windows Explorer click on the file Autorun exe 3 Click on the entry Installation of Remote Choose your language and follow the instructions of the setup assistant page 28 IMC M iMC MP Operating Instruction d Mark on setup window Select control the option Stepper motor control IMC4 to install the IMC4 stepper motor driver module ie Setup Remote Select control Please select the controls for which you would like to install the interface DLL s Stepper motor control IMC4 Interface card IFC5 C142 Logosol components via RS485 Stepper motor PCI control card PSPCI DC Servo control card UPMY4 12 CAN Bus Control Stepper motor controller type IML4 PSK4 control via LPT www isel com lt Back Next gt Cancel A
10. et_port time 1 set_port time 1 set_port time 1 set_port time 1 set_port time 1 set_port time 1 set_port time 1 set_port time 10 set_port time 1 set_port time 1 set_port time 1 ER m Dr cken Sie FL um Hilfe zu erhalten COML 9600 Bd bin ren Ausgang 41 2 setzen bin ren Ausgang Al 3 setzen 1 2 Ta 4 0 0 0 0 0 0 0 0 0 0 0 0 0 bin ren Ausgang Al A setzen S 1 bin ren Ausgang 41 5 setzen 6 1 bin ren Ausgang Al 6 setzen rl bin ren Ausgang Al setzen EA bin ren Ausgang 41 8 setzen 128 0 00 Port Al 41 1 bis Al H rucksetzen 128 0xFF Port Al Al 1 bis Al 3 setzen 1 0 bin ren Ausgang Al 1 rucksetzen 2 0 bin ren Ausgang Al 2 r cksetzen _3 0 bin ren Ausgang Al 3 rucksetzen 1 The declaration control IMC4 defines target controller as 4 axis controller IMC M or iMC MP 2 The declaration axis xyza defines the axis that will be used in this case four axis x y z anda 3 The declaration steps 800 defines the step resolution set by DIP switch e g steps 800 4 micro steps per full step 200 full steps motor revolution 4 The declaration defines the spindle elevation of the connected linear axis e g elev 5 5 5 4 elevation 5mm for xyz axis 4mm for a axis elev 360 7 transmission ratio defines the transmission ratio of the connected rotary axis e g ZR20 with transmission ratio 1 20 EE ER el
11. ev 18 20 page 26 IMC M iMC MP Operating Instruction 6 4 DNC Betriebsart iMC M iMC MP mit Core Modul In DNC mode the 4 axis controller controller IMC M and iMC MP with core module is connected permanently via RS 232 interface with a control PC IBM compatible PC or Notebook A user program stored in flash memory will not be executed The commands to execute an action motion e g reference motion motion of the axis or I O actions will be sent by user software from the PC with the new Remote ProNC motion control for 4 axis controller IMC4 compatibility mode Necessary COM interface on PC 9 pin Sub D male COM interface on controller serial interface cable 9 pin Sub D male labeled with 9 pin Sub D female to 9 pin RS 232 PC Sub D female is within the scope of delivery Image serial connection RS 232 between PC Notebook and IMC M iMC MP via interface cable Likewise in this configuration can be done PALPC 2 1 user program download into the flash memory of the 4 axis controller IMC M iMC MP COM Interface for PALPC 19200 Bit sec PalPC exe page 27 IMC M iMC MP Operating Instruction 6 5 Initial operation und user programming in DNC mode User programming and control of the 4 axis controller IMC M IMC MP in DNC mode takes place by the programs Remote or ProNC by binding the corresponding motion control DLL file Commands in the user program will be send to the 4 axis controll
12. f PALPC and user programming are described in 1 PALPC user manual and 2 PALPC programming instruction For 4 axis controller iMC M iMC MP note following specialties page 25 IMC M iMC MP Operating Instruction F PALPC SetPortAl ppc Datei Bearbeiten Transfer Ansicht Einstellungen Fenster a x Dep Soo SB Mee DAF d z HEHEHE HEHE HEHEHE HEHE HEHEHE HEHEHE EH EH EEE HEHEHE EEE HEHEHE RR FR RR EE EE EE EE EE EE EE EE EE EE EE EE EE EE EEN a Datei SetPort 1 ppc Controller 4 Achs Controller iMC M iMC P von isel Germany 2009 Inhalt Testprogramm im CNC Mode gt Setzen der bin ren Ausg nge Al 1 bis 41 8 Al Port 65532 Analogausgang und Spindel Start A2 Port 65528 erstellt 2070772009 isel Germany ESSE NEN NS OR FFHFFRFRERRRRRRHRRERHRRHRRRRRRERFERRRFERFRRRRERERRRRRRRRRRERRRRRRRRRRRRRRRRRRRRRRRHR FR RR RR FR FH FR FR KHK HH FH FH KR RN control IMC4 Festlegung des Ziel Controllers gt nur f r O ffline Betrieb ohne Controller wichtig taxis EYZAa 4 Achsenwahl steps 500 800 800 800 Schrittaufl sung 4 Mikroschritte 200 Vollschritte U telev RR BB A Steigung der Achsen input nachfolgende Anweisungen speichern 4 JG zum offline Test test_mode on reference xyza Referenzfahrt Achsen repeat Schleifenanfang Hinweis Al steht bei der iMC M P fur die Portsdresse 0 Bin rausgabe set_port binaren Ausgang Al 1 setzen time 1 set_port time 1 s
13. figuration ex works i e 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 09 2009 Technical specifications subject to change Up to date Operating instructions and manuals for download you can find here www isel data de manuals Table of contents 1 1 1 2 2 1 9 1 9 2 9 3 5 3 1 9 4 5 9 1 6 1 6 2 6 3 6 3 1 6 3 2 6 4 6 5 ITFOGUCUIION BE 4 SalelySsymbOls EE 4 SEV INSTUCUONS siisi 4 Jee ce WE 5 elatio e Ae EE 6 TECHNICA Ko d EE 7 Hardware description EE 9 Frontside IMOM IMC MP usa 9 Back Side IMIG Nig IMIG MIP asus a 11 une Ei EE 17 Ile Ree ed LEE 18 A une A Oe EE 19 I Ee EI EE HIG EE 20 Operation modes and operation uuussuauuennannnnnnnnnnnnnnnnnnnnnnnnnunnnnnunnnnnnnns 22 Controler ei ee de E 22 CNC mode iMC M IMC MP with CGore mocdulel Rennen 23 Initial Operation and user programming in CN mode 00 24 Install programming software DA H eye nennen 24 PARP ODE A 1 0 0 Seel esse ee see ee us esse ne el ech ee tee ee eae el Leere 25 DNC Betriebsart IMC M IMC MP mit CGore Modult Rene 27 Initial operation und user programming in DN mode 28 EC Declaration of Conformily 31 BIDIIOQTAPNV nee 32 ING OX a a a a ae Se ae Sea Be Sue ae ae mE are En Et ana a nen amen ner ay 32 IMC M iMC MP Operating Instruction 1 Introducti
14. fter finishing the installation click on button Exit to close the Auto Start menu 5 Open the control software Remote via shortcut on the windows desktop or the start menu entry Start gt Programs gt CNCworkbench gt Remote 6 On first startup of the software Remote you have to type in a serialnumber and an activation code You will find this information on the delivered registration formular vi Aktivierung x Um mit dem Fradukt zu arbeiten ist es nun erforderlich de Seriennummer und den Aktivierungscode einzugeben Diese Informationen finden Sie auf dem Lieferschein auf der Rechnung oder auf dem Lizenzvertrag der Ihnen zusammen mit dem Installationsdatentrager geliefert wurde Seriennummer Aktvierungscode Click on button Next to check the registration data If the data is ok Remote will starting page 29 IMC M iMC MP Operating Instruction Use of the controller iMC M iMC MP with Remote Using IMC M iMC MP with Core module with Remote via serial interface 1 Start control software Remote If you dont have activated Remote you have to do it now 2 After installation of Remote for a specific control in this case IMC4 all module DLL s for the motion control I O module spindle module and security circuit module are set correctly You only have to set the paramters to your machine configuration Click in the main menu to the entry Settings Control Control modules and settings
15. grams into the flash memory of the controller 6 1 Controller preparation Before first startup of the controller please check the scope of delivery The following parts should be included e 4 axis stepper motor controller IMC M or IMC MP as desk device e Net power supply cable 115 230VAC e RS232 communication cable 9 pin Sub D female to 9 pin Sub D female e Bridging connectors e Operating instruction lf all this parts are included you can begin initial operation Provide all electrical connections Connectors Connect net power supply cable Connect axis motors on the controller back side Configuration Set DIP switches jumper for motor current step resolution current reduction motor brakeq see chapter 5 3 1 and 5 5 1 Initial operation Switch on controller with main power switch on the back side Check if emergency switch is pulled out Push power button on the front of the controller gt Power button should be lighted green controller is ready for work Operation mode Use the 4 axis controller in CNC or DNC mode page 22 IMC M iMC MP Operating Instruction 6 2 CNC mode iMC M iMC MP with Core module The CNC mode automatic mode CNC mode is the program controlled mode of the 4 axis stepper motor controller IMC M IMC MP That means that a user program which is saved in the controller s memory flash will be executed till the end During the automatic mode CNC mode you can st
16. isel From Components to Systems 4 Axis Stepper Motor Controller iMC M IMG MP Operating Instruction isel Germany AG D 36124 Eichenzell B rgermeister Ebert Str 40 06659 981 0 06659 981 776 IMC M iMC MP 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 controller s original con
17. ize in the Control module and settings dialog to take effect the new settings and reinitialize the control je A Perform a software reset and a reference run 1 to check correct behaviour of the machine system info Additional information to configure Remote you can find in the online help menu help F1 key page 30 7 EC Declaration of Conformity Der Hersteller The manufacturer Ce 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 Device Typ Type Art Nr Product No 4 Achs Schrittmotor Controller 4 axis stepper motor controller IMC M IMC MP IMC M 381017 IMC MP 381016 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 EN 61000 4 2 2007 EN 61000 4 4 2004 EN 61000 4 5 2006 EN 61000 4 11 2004 EN 61000 6 4 2007 DIN EN 55011 2007 Dermbach 02 08 2009 d fife EMV Fachgrundnorm Storfestigkeit fur Industriebereich EMC Generic standards Immunity for industrial environmen
18. le as desk device with four integrated stepper motor driver IC s e Main cable protection contact plug IEC 60320 power connector e RS232 communication cable 9 pin Sub D socket to 9 pin Sub D plug e Operating instruction IMC M2 with step direction module Part No 381416 0404 e stepper motor controller IMC M with step direction module as desk device with four integrated stepper motor driver IC s e Main cable protection contact plug IEC 60320 power connector e Operating instruction iMC MP1 with core module Part No 381416 010x e stepper motor controller IMC MP with core module as desk device with maximum four integrated stepper motor amplifiers MD24 MD28 e Main cable protection contact plug IEC 60320 power connector e RS232 communication cable 9 pin Sub D socket to 9 pin Sub D plug e Operating instruction iMC MP2 with step direction module Gart No 381416 020x e stepper motor controller IMC MP with step direction module as desk device with maximum four integrated stepper motor amplifiers MD24 MD28 e Main cable protection contact plug IEC 60320 power connector e Operating instruction x number of amplifiers maximum 4 page 6 IMC M iMC MP Operating Instruction 4 Technical data Dep Gogo Ke IMC MP General data dimensions W x H x D 379 x 137 x 260 mm weight KG 3 kg maximum number of axis safety class IP20 ambient temperature 0 C 50 C storage temperature 20
19. ll modem cable for connection A software protocol realizes the faultless transmission of the ASCII characters Therefore it s necessary that both systems respect the communication protocol e The connected control PC sends a command which ends with a line end character CR char 13 e The processor unit quits the execution or storing of a command with the quitting signal O char 48 or returns an occurred error with an ASCII character unequal 0 Data transfer parameters 19200 baud 8 data bits 1 stop bit no parity Sub D9 Sub D9 female female RS485 Bus connector in preparation Not used in this version of the controller Step direction interface 25 pin Sub D connector on iMC M 2 iMC MP2 pin signal type description 6 directionZ IN direction signals for amplifier Z axis 8 directionA IN direction signals for amplifier Anis 7 9 stepA _IN_ stepsignalsfor amplifierAaxis 1825 GND reference GND page 16 IMC M iMC MP Operating Instruction 5 3 Assembly iMC M base board with embedded net input module with net filter controller driver IC s main switch and fuses and relays ee Ai Uh LL it P men IE RH HE E Ie GO ji Wi a lp mu a de 1 Yt nd switching power supply unit 115 230 VAC output 36VDC 210W I I Le L d r oi H page 1 security circuit board with safety relays fun
20. mA per output lf all outputs are switched 1 active the maximum load of the internal 24VDC power supply unit is 1 5 A ca 180mA per output I max 3 mA S Te 41 54 page 14 IMC M iMC MP Operating Instruction Analog Out Sub D9 pin connector Use this connector to drive an external frequency inverter with the corresponding working spindle via a 0 12 V analog output pin description SSS ES SE contact 1 aaen SSS Sim CT BC Io O Sm TI T Cover Sub D9 pin connector This connector is used to integrate a door lock switch to the security circuit of the controller pn ien rieseg o If no cover or safety door is used the pins 1 2 and 3 4 must be bridged Therefore use the enclosed Sub D 9 pin plug Spindle 230V output 3 poles 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 230 V AC 6A AC Input net input module 230 VAC 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 page 15 IMC M iMC MP Operating Instruction RS232 PC programming interface Communication between iMC M iMC and control PC is realized via a serial interface RS232 Use the delivered communication nu
21. me lag 4 A 250V time lag software for use with core module CNC mode PALPC 2 1 PALPC 2 1 DNC mode Remote optional ProNC Remote optional ProNC page 8 IMC M iMC MP Operating Instruction 5 Hardware description 5 1 Front side iMC M iMC MP Step Controller IMC P 9 rele WU 5 operation mode switch key switch Use this switch to choose between automatic and setup mode In automatic mode you can only open the cover or safety door of the machine if no axis is in motion and the mounted working 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 6 cover button Use this button to open the machines cover or safety door This is possible only if the conditions from point 4 operation mode switch are complied An enable for opening of the cover or safety door is signalized by a white lighted cover button page 9 IMC M iMC MP Operating Instruction 7 start button lf you press the start button in CNC mode see chapter 6 2 a saved user program in the flash memory will be executed info You cannot use the start switch in DNC mode 8
22. nd reset from the controller front side as external signal inputs pin description 6 Foutpuilamp STOP buton input length measure switch ae If the external STOP button is not used pins 2 and 3 must be bridged Input digital inputs 8 pin connector The controller has 8 digital user inputs Use these inputs to connect external devices like sensors switches or outputs from other devices All inputs are opto decoupled If 24VDC lies on the input a logical HIGH is signalized Not connected e g switch open a logical LOW is signalized Do not short 24VDC reference potential of the controller with GND or case ground page 13 IMC M iMC MP Operating Instruction The binary user inputs 1 8 must be wired as shown opposite The load of the controller internal 24V power supply unit amounts on 1 active l state 4 mA per input I co 4mA Output digital outputs 8 pin connector The controller has 8 digital user outputs Use these outputs to connect external devices like relays or inputs from other devices The maximum load of each relay output is 24 VDC 300 mA Do not short 24VDC reference potential of the controller with GND or case ground If you have pushed the emergency stop switch all states of the binary user outputs will be maintained and not reset The binary user output 1 output 8 must be wired as shown opposite The transistor outputs output 1 8 can be rated with 300
23. oNC Remote 12 ACK ACKnowledge button This button has no function on 4 axis Controller IMC M and iMC MP page 10 IMC M iMC MP Operating Instruction 5 2 Back side iMC M iMC MP IMC M RS 232 en Output Input E us Ke Analog Out Remote 000000009 00000000 JE Ep u ENEE En A Step E Impulse 24V Stepper Motor Stepper Motor Stepper Motor Stepper Motor x Y zZ A Spindle 230V ins Wi 8 mt Analog Out Remote nogseoseaoo 2 Emma FU STEELE 0G00000000D080 00808000050200 Gi Dec 24V EGSODARHHHORHDBEN e onooosgasaeonnon epi EES rar Se gogesocogso0ogeoon Spindle 250V S 00000000000 00 Stepper Motor Stepper Motor Stepper Motor Stepper Motor x Y z A gt E Step Dir RS 232 RS 485 Interface PC Bus OOBROSOOOD OBOOOOOoO SOGEUD DO DO DL og oa OD OD OW Do OG 00000000 000009000 Do0000000 goonsgF7000n oO AC Input page 11 IMC M iMC MP Operating Instruction Stepper Motor connector motor axis X Y Z A Sub D9 pin socket SubD 9 pin connector for motor modules CNC axis Connect disconnect the Sub D plug only if the controller is switched off Ignoring this instruction can lead to damage the motor cable or stepper motor amplifier description motor phase 2B a gt zech motor phase 2A motor phase 1B motor phase 1A 24VDC brake 24VDC 1 8A output with reference potential GND limit switch 2 Inout gt 24VDC if limit swi
24. on 1 1 Safety symbols A A info Attention This symbol signalizes that there is danger for persons life and health Danger This symbol signalizes that there is danger for material machine and environment Information This symbol signalizes important information 1 2 Safety instructions A The stepper motor controllers IMC M and iMC MP are designed in conformability to 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 4 linear or rotational axes with 2 phase stepper motors All work with the controllers IMC M and iMC MP 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
25. op the execution of the active user program by pressing the STOP key on front side of the controller or by using the external Stop input A following operation of the START key on the front side of the controller or the activation 1 active of the external start input effects the resumption of the automatic mode page 23 IMC M iMC MP Operating Instruction 6 3 Initial Operation and user programming in CNC mode Creating user programs for 4 axis controller IMC M iMC MP is realized with the software PALPC exe The implementation method is simple and described in 2 PAL PC programming instruction Analyze technological problem definition e Layout program algorithm solve problem definition e Implementation of the control algorithm into a PALPC source program ppc edit code with text editor e Compile PALPC source file with PALPC compiler on faultless translation an output file out is created by the compiler e Download output file out into the flash memory of 1 axis controller MC1 e Start program and check control behavior regarding technological problem definition 6 3 1 Install programming software PALPC exe To install PALPC software do the following 1 Insert PALPC 2 1 installation medium delivered CD or USB stick with the control computer 2 Following Auto start window will be shown when installing from CD e PAL PC Version 2 Welcome to the installation of PAL PC the new programming software
26. tch 2 is not actuated NC Z U limit switch 1 Input gt 24VDC if limit switch 1 is not actuated NC The connection of a stepper motor with brake is only on the connector of the Z axis possible At this jack the switching signal 24 V to pin 6 for the motor brake is provided gt H Remote security circuit interface 8 pin socket Use this connector to include the controller into a higher ranked security circuit system Please note that the external power input is only useable if the power button from the controller front is switched off That will be realized by bridging the pins 1 and 2 pn description 1 power button select power button select external power make contact external power make contact external emergency stop channel 1 brake contact 11 a external emergency stop channel 1 brake contact 12 external emergency stop channel 2 brake contact 21 external emergency stop channel 2 brake contact 22 page 12 IMC M iMC MP Operating Instruction Use external emergency stop gt pin 5 and 6 bridged gt pin 7 and 8 bridged The length of the connection cable for the external emergency stop button must not more than 5m Use external power button gt pin 1 and 2 bridged gt connect external power button make contact on pin 3 and 4 Impulse interface impulse control 8 pin connector Use this connector to integrate the function keys start button stop button a
27. the most important functions start stop Thereby it s also possible to connect an external control console or a higher ranked control e g PLC 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 therewith you can e Work safely fast and effective e Keep away danger from persons e Use all the power and features of the controller page 5 IMC M iMC MP Operating Instruction 3 Controller types The stepper motor controller iIMC M and iMC MP are available in two types The first type has an intelligent core module which is controlled resp programmed via RS232 or USB interface in preparation Commands in the user program will be processed and inverted to step direction signals for the stepper motor amplifiers by the core module Furthermore it s possible to save a user program for the CNC mode execution of a program without connected control PC in the flash memory of the core module The second type has instead of the core module a step direction module This module is used to connect the step direction inputs of the power amplifiers to a connector Sub D 25 pin in the back side of the controller By means of this interface different control software are able to drive the stepper motor amplifiers via step direction signals IMC M1 with core module Part No 381416 0304 e stepper motor controller iMC M with core modu
28. ts EMV Pruf und Messverfahren Pr fung der St rfestigkeit gegen Entladung statischer Elektrizit t ESD EMC Testing and measurement techniques Electrostatic discharge immunity test 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 EMV Pr f und Messverfahren Pr fung der St rfestigkeit gegen energiereiche Impulse Surge EMC Testing and measurement techniques Surge immunity test EMV Pr f und Messverfahren Pr fung der St rfestigkeit gegen Spannungs einbr che Spannungsunterbrechungen EMC Testing and measurement techniques Voltage dips short interruptions and voltage variations immunity tests EMV Fachgrundnorm St raussendung Industriebereich EMC Generic standards Emission standard for industrial environments Industrielle wissenschaftliche und medizinische Hochfrequenzgerate ISM Ger te Funkst rungen Grenzwerte und Messverfahren Industrial scientificand medical ISM radio frequency equipment Electromagnetic disturbance characteristics Limits and methods of measurement P W 4 CA Hugo Isert Vorstandsvorsitzender chairman 8 Bibliography 1 Microstepping Driver MD24 MD28 Hardware Description 02 2009 2 PAL PC 2 0 Operating instruction status 06 2004 3 PAL PC 2 0 Programming instruction status 06 2004
29. x The dialog shows all EREECHEN active and used L Motion Control MCTLIMC4 DLL METLIMC4 INI modules in a list el y Extended Motion Control settings E Initialize Spindle drive SPNIMC4 DLL SPNIMCA4 INI SC Mark the line Motion A 10 module IOIMC4 DLL IOIMCA4 INI E j ZE 10 module 2 l NR Control and click on ELY Extended ID settings button Setup on the HS Tool changer right side to show the settings for communication and axis Module interface DLL Close IC CN CwWorkbench ControlMMC4 MctiMC4 DLL gt ki nem al ICS RER Close and Module initialization file reinitialize all IC CN CWorkbench ControlMMC4 MctlIMC4 INI gt gt modules Module naming IMC4 Diagnosis Status T Assign Uh Help Settings Initialization file Data transmission Velocities Options Over the different register cards you pri Ay Adsz Anis 4 1 Software imitation can change the parameters like axis ieee direction spindle gradient gear etc Axis ype Linear Rotary for each separate axis Over the Aase ayamang dracon Mond Caen register card Data transmission you en re can change the used COM Port of the Mr I control computer Spindle elevation iG mm Gear factor 11 11 Linear axis ref run velocity 20 roms Rotary axis ref run velocity E Rpm Abbrechen 3 If you have set all parameters close the dialog with the button OK Click on button Close amp Initial
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