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AUTOMATION SYSTEM

1. 6 6 9 9 9 9 9 9 9 9 9 9 9 99 e Automation System 0 9 SERVO CONTROLLER ACCESSORIES LICENSE KEY One license key is needed per MSC The license key contains the runtime license for the MSC According to the license key used additional functionality of the MACS software is enabled for usage Controls e MACS runtime license for D138 002 001 Color Grey application program to DIN EN 60950 1 e CoDeSys operators and standard IEC 61131 library e MSC hardware library e Moog control technique library e Interface library for TIA EIA 232 and CAN bus 0 e Support for OPC and DDE interfaces e Ethernet communication to MACS development environment Motion All functions of Controls and additionally D138 002 002 Color green e Motion control library according to PLCopen Moog motion control function blocks e Library with transfer functions Z functions e CANopen and TCP IP libraries e Profibus DP slave depending on hardware option System Program parts and or complete application programs produced _ Is stipulated Color red specifically upon customer s request specific to the order Accessories Plug in terminal strips five 18 pole and one 9 pole are needed per module Designation Description Order number Screw terminal 18 pole Up to max conductor cross section of 2 5 mm 14 AWG VK055 018 Screw term
2. HIGH PERFORMANCE DIGITAL MOTION CONTROL SYSTEM FOR ELECTRIC AND HYDRAULIC DRIVES WHAT MOVES YOUR WORLD MOOC GENERAL CHAPTER Overview M3000 Moog Servo Controller MSC Moog Servo Controller MSC Moog Axis Control Software Analog Module QAIO 2 2 Analog Module QAIO 16 4 Digital Module QDIO 16 16 Extension Module QEBUS CAN Digital Extension Module RDIO 16 16 Operator Panel RDISP 22 Dialog Controller Display Global Support PAGE 12 18 22 24 26 28 30 32 34 39 EXCELLENCE IN DRIVE TECHNOLOGY For over 50 years Moog has ranked amongst the leading providers of drive technology with a focus on the production and application of high performance products Today Moog offers innovative products using state of the art control techniques that contribute to the performance improvement of machines Moog designs and manufactures products including servovalves servo proportional valves pumps integrated hydraulic manifold systems servomotors and drives motion controllers and electronics and electromechanical actuators Moog expertise and close collaboration with customers ensure solutions that meet today s toughest machine challenges contact us Our Quality Management System conforms to DIN EN ISO 9001 NOTICE This catalog is for users with technical knowledge To ensure that all necessary characteristics for function and safety of the system are covered the user must check the suitab
3. e Automation System 0 SERVO CONTROLLER TECHNICAL DATA Module Data Designation Order number Connection technique Assembly Dimensions W x D x H mm Temperature range Relative air humidity Operation height Processor Memory Standards Operating equipment demands and examinations Interference emission immunity Shock vibration Protection class protection system Insulation strength Energy Supply Voltage supply of module electronics Current consumption of module electronics Potential separation Internal voltages Behavior at voltage failures cut off of supply voltage Interfaces Ethernet 100BaseT EtherCAT optional Profibus DP slave optional 2 independent CAN interfaces WCAN LCAN 2 USB 1 1 interfaces SIO on front cover TIA EIA 232 Extension bus E bus Digital Control Module Moog Servo Controller II MSC II D136 002 002 MSC II D136 002 001 MSCII As 0136 002 002 but additional Profibus DP interface D136 002 003 MSCII As 0136 002 002 but additional dual EtherCAT Master interface Plug in terminal strips for screwing or clamping NS 35 7 5 mounting rail pursuant to EN 50022 DIN top hat rail 124 x 170 x 85 5 attachment dimension W 113 118 5 5 C 41 F to 55 C 131 F operation and 25 C 13 F to 70 C 158 F storage Mean temperature in operation for 24 hrs Max 50 C 122 F 10 to 95 non condensing
4. Max 2000 m 6500 feet storage transport max 3000 m 9800 feet PowerPC Processor 32 Bit RISC architecture with floating point unit 128 MB RAM 32 MB Flash EEPROM data maintenance typically 10 years IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 part 2 27 IEC 60068 part 2 6 III IP20 IEC 61131 2 test voltage 500 V DC 24 V DC 18 36 V DC SELV pursuant to DIN EN 60950 1 0 5 A 2 A idling full load Separate potentials for Module electronics 24 V supply digital inputs outputs Ethernet Generated via internal DC DC converters Necessary data are permanently stored Flash EEPROM data maintenance typically 10 years 100 MBit s with 8 pole RJ45 connection Dual EtherCAT Master Interface Slave in preparation Transmission rate adjustable up to 12 MBit s Transmission rate adjustable 10 kBit s to 1 MBit s WCAN 2 D Sub WCAN connectors on the front cover are connected internally 1 1 LCAN in the side Q connectors Host interface s via USB A connector For free use in the application program Q connectors on right and left of module for connecting up to 7 additional M3000 modules Contains a serial bus 5 to 10 MBit s and the LCAN bus MOOG e Automation System M3000 17 AXIS CONTROL SOFTWARE BRIEF DESCRIPTION GENERAL FEATURES The Moog Axis Control Software MACS offers a Extensive libraries with Moog state of the art development environment for solving functi
5. 113 118 5 mm 4 88 x 6 69 x 3 37 attachment dimension W 4 45 4 67 inch 5 C 41 F to 50 C 122 F operation and 25 C 13 F to 70 C 158 F storage 10 to 95 non condensing EN 61000 6 4 EN 61000 6 2 industrial portion III IP20 IEC 61131 2 test voltage 500 V DC 24 V DC 18 32 V DC SELV pursuant to DIN EN 60950 1 Max 0 15 A 24 V DC SELV divided into 6 groups At 24 V DC in idling max 300 mA all digital I O active approx 8 A Yes between E bus and digital I O 16 16 each useable as inputs or outputs Max 0 5 A Yes yes all digital outputs Accessories Plug in terminal strips 6 are required per module Designation Screw terminal 18 pole Spring power clamp 18 pole Description Order number Up to max conductor cross section of 2 5 mm 14 AWG VK055 018 Up to max conductor cross section of 2 5 mm 14 AWG B95907 018 Detailed information and integration tips can be obtained from the user manual e Automation System M3000 7 EXTENSION MODULE BRIEF DESCRIPTION GENERAL The QEBUS CAN module is designed for using the LocalCAN bus for external CAN bus nodes The LocalCAN bus is integrated in the extension bus plug and is accessed via the QEBUS CAN module by means of two D Sub mating connectors Furthermore the QEBUS CAN module offers the option of using a jumper to connect disconnect a CAN termination resistor The module is mounted onto a
6. 3 conductor front wiring Mounting rail NS 35 7 5 pursuant to EN 50022 DIN top hat rail 1 Status LED per I O 124 x 170 x 85 5 attachment dimension W 113 118 5 mm 4 88 x 6 69 x 3 37 attachment dimension W 4 45 4 67 inch Operation 5 C to 50 C 41 F to 122 F Storage 25 C to 70 C 13 F to 158 F 10 to 95 non condensing EN 61000 6 4 EN 61000 6 2 industrial portion III IP20 IEC 61131 2 test voltage 500 V DC 24 V DC 18 32 V DC SELV pursuant to DIN EN 60950 1 Max 0 15 A 24 V DC SELV divided into 6 groups At U 24 V DC in idling max 300 mA all digital I O active approx 8 A Yes between CAN and digital I O 16 16 each useable as input or output Max 0 5 A Yes yes all digital outputs Accessories Connectors six 18 poled are needed per module Designation Screw terminal 18 pole Spring power clamp 18 pole CAN connection cable 3 meters 9 8 foot CAN connection cable 10 meters 32 8 foot CAN bus termination resistor 1209 CAN bus termination resistor 120 with grounding Description Up to max conductor cross section of 2 5 mm 14 AWG Up to max conductor cross section of 2 5 mm 14 AWG 9 pole D sub plug in connection pin contacts to jack contacts 9 pole D sub plug in connection pin contacts to jack contacts 9 pole D sub plug in connection with Jack contacts 9 pole D sub plug in connection with pin contacts CAN GND connected to SL PE
7. 13 F to 70 C 158 F storage Mean temperature in operation for 24 hrs max 50 122 F 10 to 95 non condensing Max 2000 m 6500 feet storage transport max 3000 m 9800 feet PowerPC Processor 32 Bit RISC architecture with floating point unit 4 MB Flash EEPROM data maintenance typically 10 years IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 part 2 27 IEC 60068 part 2 6 Ill IP20 IEC 61131 2 test voltage 500 V DC 24 V DC 18 36 V DC SELV pursuant to DIN EN 60950 1 0 5 A 2 A idling full load Separate potentials for module electronics 24 V supply digital inputs outputs Ethernet Generated via internal DC DC converters Necessary data are permanently stored Flash EEPROM data maintenance typically 10 years If the supply voltage fails 18 V buffer capacitors provide the necessary energy 10 MBit s with 8 pole RJ45 connection Transmission rate adjustable 10 kBit s to 1 MBit s WideCAN 2 D Sub WCAN connectors on the front cover are connected internally 1 1 LocalCAN in the side Q connectors Transmission rate up to 12 MBit s Communication with the MACS software on the PC For free use in the application program Q connectors on right and left of module for connecting up to 7 additional M3000 modules Contains a serial bus 5 to 10 MBit s and the LocalCAN bus MOOG e Automation System M3000 1 SERVO CONTROLLER BRIEF DESCRIPTION MOOG SERVO
8. 6 kg approx 13 2 Ibs Operation 0 C 32 F to 50 C 112 F fanless technology Transport storage 20 C 4 F to 70 C 158 F 10 to 95 non condensing Max 2000 m 6500 feet storage transport max 3000 m 9800 feet PowerPC Processor 32 Bit RISC architecture with floating point unit 32 MB 24 MB for application 16 kByte Yes battery buffered MACS 2 x CoDeSys 2 3 CoDeSys 2 3 with Target Visualization real time operating system with multitasking EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 part 2 27 IEC 60068 part 2 6 III IP20 front IP 65 IEC 61131 2 test voltage 500 V DC 24 V DC 15 20 SELV pursuant to DIN EN 60950 1 1 A typical 2 A maximum Yes between CAN bus and 5 10 100 MBit s with 8 pole RJ45 connection recommended as interface to MSC MSC II 1 x host USB Rev 1 1 on front 1 x host USB Rev 1 1 on rear Transmission rate adjustable 10 kBit s to 1 MBit s 2 x TIA EIA 232 1 x TIA EIA 485 MOOG e Automation System M3000 35 NOTICE 36 e Automation System 0 NOTICE e Automation System M3000 37 NOTICE 38 MOOG Automation System 0 GLOBAL SUPPORT GLOBAL SUPPORT As a recognized leader in motion control technologies FOR MORE INFORMATION VISIT Moog offers a full range of services to support our products http www moog com industrial and ensure that they meet the expectations of customers Moog experts are the best
9. Detailed information and integration tips can be obtained from the user manual Order number VK055 018 B95907 018 B95863 001 B95863 002 B95864 001 B95865 001 e Automation System M3000 1 OPERATOR PANEL BRIEF DESCRIPTION GENERAL The operator panel RDISP 22 is designed for supervision and control of machines and processes Its main advantage is the easy and fast creation of visualization screens with text and graphical elements and visualization structures DISPLAY The LCD display with graphics capabilities permits optimum graphical display of your visualization solution Up to 8 x 40 4 x 20 2 x 10 characters per page and any combination of these pictograms and graphical display images in BMP format can be displayed Contrast and brightness can be adjusted via the program or keys KEYS The keys are built as push buttons and are covered by arobust foil They grant a good haptic feedback INTERFACES CAN CANopen TIA EIA 232 MEMORY All data parameters images and messages are stored in the maintenance free flash memory INTERFACE The Moog Axis Control Software MACS includes a library with function blocks to interface the RDISP via CANopen This ensures simple integration into the Moog M3000 control system e g to Moog Servo Controller MSC or MSC Il Accessories Designation CPRDISP CAN connection cable 3 meters 9 8 foot CAN connection cable 10 meters 132 8 foot CAN bus t
10. MSC Opto Dacoupling MOOG e Automation System e M3000 MISC II ta eval lie CUtEM 2 MOOG SERVO CONTROLLER SENSOR INTERFACES DIMENSIONS SENSOR INTERFACES 4 Sensor interfaces each configurable as a Incremental encoder e Standard e Pulse train e Frequency measurement b SSI transmitter INCREMENTAL ENCODER Incremerttal Encoder 7 8 Encoder Mode DIMENSIONS 124 mm 4 48 in 113 mm 4 45 in Height 85 5 mm 3 37 in 102 mm 4 02 in with License Key 5 E N without License Key Signals corresponding to TIA EIA 422 previously RS 422 with protection against 24 Volt Wire fault monitoring of inputs Configurable in MACS software a Incremental encoder four edge evaluation max pulse frequency 8 MHz b SSI sensor master or slave data format gray or binary code data bits 8 to 32 Bit transmission frequency 78 kHz to 5 MHz SSI MASTER Data Sig 554 Transmitter 551 Master FLELs Node Cycle OLE SSI SLAVE Cute gral Master SSi Tranamittor 20H dh DD 9951 Slave e Automation System M3000 15 SERVO CONTROLLER ACCESSORIES LICENSE KEY One license key is needed per MSC II The license key
11. an output e CANopen slave complying with CiA DS 401 CANopen INTERFACE The I Os are accessed via CANopen interface The RDIO can be extended locally by connecting up to 6 QDIO modules The I Os of the QDIO modules are also accessed via CANopen interface of the RDIO HARDWARE CONFIGURATION e No modules shall be connected to the left Extension module Bus E Bus connector of the module e The CAN interface is only accessible via the CAN connectors on the front cover e Up to 6 QDIO modules can be connected to the right E Bus connector of the module Several RDIOs can be connected via CAN connector DIGITAL REMOTE I O EXTENSION MODULE TECHNICAL DATA Module Data Order number Designation Types of inputs outputs Interfaces Connection technique Connection of the I O Assembly Status LEDs Dimensions W x H x D Temperature range Relative air humidity Standards Interference emission immunity Protection class protection system Insulation strength Energy Supply Voltage supply of module electronics Current consumption of module electronics Voltage supply of the digital I O Current consumption of the digital I O Potential separation Digital Inputs Outputs Number of inputs Number of inputs outputs Output current Short circuit reverse polarity protection Digital Remote I O Extension Module D137 002 001 RDIO 16 16 0 5 Plus switching CAN E Bus Plug in terminal strips for screwing or clamping
12. contains the runtime license for the MSC II According to the license key used additional functionality of the MACS software is enabled for usage Designation Scope of Functions Order number Controls MACS runtime license for application program D138 002 001 Color Grey CoDeSys operators and standard IEC 61131 library e MSC II hardware library Moog control technique library MM e nterface library for TIA EIA 232 and CAN bus e Support for OPC and DDE interfaces e Ethernet communication to MACS development environment Motion All functions of Controls and additionally D138 002 002 Color green e Motion control library according to PLCopen Moog motion control function blocks e Library with transfer functions Z functions e CANopen and TCP IP libraries e Profibus DP slave depending on hardware option e EtherCAT master depending on hardware option System Program parts and or complete application programs Is stipulated specific to the Color red produced specifically upon customers request order Accessories Plug in terminal strips four 10 pole and two 9 pole are needed per module Designation Description Order number Screw terminal 9 pole Up to max conductor cross section of 2 5 mm 14 AWG VK055 009 Spring power clamp 9 pole Up to max conductor cross section of 2 5 mm 14 AWG B95907 009 Spring power clamp 10 pole Up to max conductor cross section of 0 5 mm 20 AWG CA45260 010 16
13. cross section of 2 5 mm 14 AWG One side 9 pole D Sub plug in connector with pin contacts to DIN 41652 Other side 9 pole D Sub plug in connector with jack contacts to DIN 41652 One side 9 pole D Sub plug in connector with pin contacts to DIN 41652 Other side 9 pole D Sub plug in connector with jack contacts to DIN 41652 Detailed information and integration tips can be obtained from the user manual Order number VK055 002 B95907 002 B95863 001 B95863 002 MOOG e Automation System M3000 9 DIGITAL REMOTE I O EXTENSION MODULE BRIEF DESCRIPTION GENERAL The RDIO digital module is used as a remote extension of the local inputs and outputs I O of a Moog Servo Controller MSC or MSC Il The module is mounted on a DIN top hat rail and connected to an MSC or MSC II via CAN INTERFACE The Moog Axis Control Software MACS includes a library with function blocks to interface the RDIO via CANopen This ensures simple integration into the Moog M3000 control system e g to Moog Servo Controller MSC and MSC II STATUS LEDs LEDs on the front provide information about the status of each I O The arrangement of the LEDs corresponds to the I O connections BASIC CIRCUIT DIAGRAM DIGITAL INPUT internal M Internal 30 Automation System 0 FEATURES Digital I O extension module e 16 digital inputs 24 V e 16 digital I O 24 V individually configurable as an input or
14. screens FEATURES e Programmable with MACS CoDeSys no additional editor tool required e TFT technology for brilliant colors e Fanless operation e Communication to MSC MSC Il via Ethernet 34 MOOG e Automation System 0 DIALOG CONTROLLER TECHNICAL DATA Module Data Designation Order number Dimensions W x D x H in mm in Weight Temperature range Relative air humidity Operation height Processor Memory Retain memory Real time clock Development environment Runtime software Standards Interference emission immunity Shock vibration Protection class protection system Insulation strength Energy Supply Voltage supply of module electronics Current consumption Potential separation Interfaces Ethernet 100BaseT USB CAN interface Serial port TFT Touch Screen Display DialogController D137 004 004 Display 5 7 color TFT 1 4 VGA resolution 320 x 240 pixels with touch screen D137 004 005 Display 10 4 color TFT VGA resolution 640 x 480 pixels with touch screen D137 004 006 Display 12 1 color TFT SVGA resolution 800 x 600 pixels with touch screen Dialog Controller 5 7 194x 172x 52 7 6x 6 8 x 2 0 in Dialog Controller 10 4 360 x 260 x 77 14 2 x 10 2 x 3 0 in Dialog Controller 12 1 440 x 300 x 77 17 3 x 11 8 x 3 0 in Dialog Controller 5 7 ca 1 5 kg approx 3 3 Ibs Dialog Controller 10 4 ca 5 kg approx 11 lbs Dialog Controller 12 1 ca
15. to connect the module to an MSC D136X001 001 or D136E001 001 Combination with QAIO 16 4 A on one E bus segment is not possible Plug in terminal strips for screwing or clamping Mounting rail NS 35 7 5 pursuant to EN 50022 DIN top hat rail Module functions and diagnosis 124 x 170 x 85 5 attachment dimension W 113 118 5 mm 4 88 x 6 69 x 3 37 attachment dimension W 4 45 4 67 inch 5 C 41 F to 55 C 131 F operation and 25 13 F to 70 C 158 F storage Mean temperature in operation for 24 hrs max 50 C 122 F 10 to 95 non condensing Max 2000 m 6500 ft storage transport max 3000 m 9800 ft IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 part 2 27 IEC 60068 part 2 6 III IP20 IEC 61131 2 test voltage 500 V DC 24 V DC 18 36 V DC SELV pursuant to DIN EN 60950 1 Max 0 25 A Separate potentials for module electronics 24 V energy supply pulse input Internally generated via DC DC converters Yes 16 Bit individually configurable in the MACS development environment as x10 V x10 mA or 4 20 mA overvoltage protection up to 36 V 16 Bit each x10 V additionally individually configurable in the MACS development environment as x10 mA x50 mA or 4 20 mA Overvoltage protection up to 36 V short circuit protected 10 V max load 5 mA Overvoltage protection up to 36V short circuit protected 24 V digital input can be used as input pursuant to I
16. 16 analog inputs differential Resolution Input impedance in signal area Analog Outputs 4 analog outputs Resolution Output current Load resistance In phase area Reference Voltage Source Reference voltage Load current Precision Analog I O extension module QAIO 16 4 V D137 001 007 QAIO 16 4 A D137 001 006 Via E bus 5 MHz Plug in terminal strips for screwing or clamping 3 conductor front wiring Mounting rail NS 35 7 5 according to EN 50022 DIN top hat rail Module functions and diagnosis 124 170 x 85 5 attachment dimension W 113 118 5 mm 4 88 x 6 69 x 3 37 attachment dimension W 4 45 4 67 inch 5 41 F to 50 C 122 F operation and 25 C 13 F to 70 C 158 F storage 10 to 95 non condensing EN 61000 6 4 EN 61000 6 2 industrial portion III IP20 IEC 61131 2 test voltage 500 V DC 24 V DC 18 32 V DC SELV pursuant to DIN EN 60950 1 Max 0 3 A Internally supplied via DC DC converters Yes opto decoupled towards E bus No separation between energy supply and analog channels Yes QAIO 16 4 V x10 V OAIO 16 4 A x20 mA 12 Bit multiplex operation QAIO 16 4 V 10 MO QAIO 16 4 A 50 Q 10 V 12 Bit Max 5 mA Min 2 kQ 2 V 10 V DC sustained short circuit protection Max 5 mA 0 1 Accessories Plug in terminal strips 5 are required per module Designation Screw terminal 18 pole Spring power clamp 18 pole Description Order nu
17. CONTROLLER MSC II The MSC II is a freely programmable multi axis controller that facilitates rapid and precise control of process variables such as position speed and power It is suitable for use with both electric and hydraulic drives MSC Il is offered in addition to MSC Compared to the MSC it offers higher computation power shorter cycle times and additional field bus options such as EtherCAT FEATURES Freely programmable multi axis motion controller Freely definable controller structures with cycle times from 100 us Very low jitter variation of time base for optimum closed loop accuracy e Programming with IEC 61131 development environment MACS Moog Axis Control Software Integrated PLC functionality e Hardware functionality can be parameterized via MACS software OVERVIEW INTERFACES CONNECTIONS AND LED S State of Digital WideCAN LocalCAN Transmission I Os Transmission Activity Activity Termination Resistor at LocalCAN L1 and 5 V OK WideCAN X1 X3 internally connected 1 1 Run Stop Reset Switch USB Interface RJ45 10 100MBit s LAN and Programming Interface Serial Interface SIO Wire Fault Display for Digital Sensor Inputs 12 MOOG e Automation System 0 The MSC II does not include analog inputs and outputs The analog extension modules QAIO 16 4 or QAIO 2 2 are recommended for applications where analog inputs and outputs are required e Tool free assembly on DIN t
18. Controllers ARRANGEMENT OF M3000 MODULES VIA FIELD BUS EE HA E LPT III II e n this way further digital and or analog inputs and outputs can be added as required e The control and signal processing is done by the MSC Il The connected extension modules do not require their own intelligence CAN bus cable HL QCAN Servo and proportional valves with digital interface like Moog DIV Digital Interface Valve Moog ACV Axis Control Valve Pumps with digital interface Moog RKP D Radial Piston Pumps This enables a flexible set up of automation solutions Further details can be found in the relevant catalogs Field bus MOOG e Automation System M3000 13 SERVO CONTROLLER INPUTS OUTPUTS BASIC CIRCUIT DIAGRAMS Digital Inputs Outputs Voltage supply of the digital I O Current consumption of the digital I O 4 digital inputs and outputs Watchdog output Outputs enabled signal DIGITAL INPUT z Wr DE 14 24 V DC 18 36 V DC SELV pursuant to DIN EN 60950 1 0 3 A in idling all digital outputs active 2 A Individually configurable in MACS as input or output Inputs type 2 current consuming pursuant to IEC 61131 2 Outputs max 0 5 A Sustained short circuit protected thermal overload protection Outputs in operation In the event of a fault the watchdog output goes to a high impedance state DIGITAL OUTPUT Signal
19. DIN top hat rail and is directly attached to an MSC or MSC II or extension module via the Q connector CONNECTORS Jumper position CAN bus not terminated CONNECTION ASSIGNMENTS X1 CAN supply connection assignments Nr Assignment Connection 1 CAN_V CAN bus supply 2 DGND Digital ground 28 MOOG Automation System 0 FEATURES The QEBUS CAN module does not count as an E bus node it can be used in addition to the maximum number of E bus modules e The module can be placed either at the far left or far right in an E bus segment e The module has a smaller width than the QDIO QAIO and RDIO modules e The module does not need to be configured e The E bus does not pass through the module e Both D Sub mating connectors are identically wired The CAN bus can be connected to a power supply via X1 Jumper position CAN bus terminated Connection assignment LocalCAN X2 and X3 Nr Assignment Connection 1 2 CAN L CAN 3 DGND Digital ground 4 5 6 7 CAN H CAN 8 9 CAN_V CAN bus supply Non assigned contacts are not connected EXTENSION MODULE TECHNICAL DATA Module Data Designation Order number Connection to M3000 modules Connection technology Installation Dimensions W x Hx D Temperature range Relative humidity Operating height Standards Operational equipment demands and examinations Interference emission immunity Shock vibration Protection class pro
20. EC 61131 2 type 1 positive switching input OE or ground switching input OC Accessories Plug in terminal strips two 18 pole and one 9 pole are required per module Designation Description Order number Screw terminal 18 pole Up to max conductor cross section of 2 5 mm 14 AWG VK055 018 Screw terminal 9 pole Up to max conductor cross section of 2 5 mm 14 AWG VK055 009 Spring latch clamp 18 pole Up to max conductor cross section of 2 5 14 AWG B95907 018 Spring latch clamp 9 pole Up to max conductor cross section of 2 5 mm 14 AWG B95907 009 Detailed information and integration tips can be obtained from the user manual MOOG e Automation System M3000 3 ANALOG MODULE BRIEF DESCRIPTION GENERAL The QAIO 16 4 analog module is used for local extension of the inputs and outputs 1 0 of the Moog Servo Controller MSC or MSC II The module is mounted on a DIN top hat rail and directly connected to an MSC MSC II via the internal extension bus E bus INPUTS OUTPUTS e 16 voltage or current inputs The input channels are converted in multiplex operation The measurement range is x10 V QAIO 16 4 V or x20 mA QAIO 16 4 A e 1 reference voltage output The reference voltage source provides a short circuit protected voltage of 10 V CONFIGURATION The configuration of the analog I O is carried out per software via the central control configuration in the Moog Axis Control Software MACS development enviro
21. RIEF DESCRIPTION GENERAL The QAIO 2 2 analog module is used for local extension of the inputs and outputs I O of the Moog Servo Controller MSC or MSC Il The analog levels are identical to the levels of the MSC The module is mounted on a DIN top hat rail and directly connected to an MSC or MSC II via the internal extension bus E bus OUTPUTS INPUTS e 2 analog inputs each configurable in the MACS development environment as 10 V x10 mA or 4 20 mA The inputs are converted in multiplex operation 1 reference voltage output The reference voltage source provides a short circuit protected voltage of 10 V 2 analog outputs each 10 V additionally individually configurable in the MACS software as 10 mA 50 mA or 4 20 mA with wire fault monitoring e 1 pulse input 24 V useable as counter input or frequency measurement input MODULE STATUS LEDS On the front 4 LEDs provide information about the status of important module functions ANALOG INPUT CURRENT VOLTAGE Voltage Current Signal Source Opto to eval Decoupling uation 24 V DC 22 Automation System 0 FEATURES Analog I O extension module with pulse input e 2 analog inputs e 2 analog outputs e 1 reference voltage output 10 V e Pulse input e Connection via E bus CONFIGURATION The configuration of the analog I O is carried out per software via the central control configuration in the Moog Axis Contr
22. acts to jack contacts 9 pole D sub plug in connection with jack contacts B95864 001 9 pole D sub plug in connection with B95865 001 CAN bus termination resistor 1209 with grounding 32 Automation System 0 pin contacts CAN GND connected to SL PE OPERATOR PANEL TECHNICAL DATA Module Data Order number Designation Housing Dimensions W x D x H in mm in Mounting hole W x D in mm in Temperature range Relative air humidity Standards Interference emission immunity Protection class protection system Shock vibration Energy Supply Voltage supply Current consumption at 24 V DC Fuse Connection of power supply Display Display Number of characters per line max min Line height 2 4 8 lines in mm in Standard character set Keys Number of keys Key top Rear Weight Functions Menu structures Contrast and brightness Character attributes Programming Value entry Variables Variable types Memory Interface to PC Editor CPRDISP Interface to controller e g MSC MSC II Interfaces CAN RS 232 Operator Panel D137 004 001 RDISP 22 Integrated case 196 x 129 x 53 7 72 x 5 08 x 2 09 in front with plug 187 x 120 7 36 x 4 72 in 10 C to 60 C 14 F to 140 F 10 to 95 non condensing EN 61000 6 4 EN 61000 6 2 industrial portion III IP65 front side IP20 rear side IEC 60068 Part 2 27 IEC 60068 Part 2 6 24 V DC 17 32 V DC SELV with revers
23. at helping customers select the right products and ensuring that they run reliably for a long time When it is time for new machine commissioning refurbishment or routine maintenance our engineers can help to optimize machine performance minimize downtime and ensure the smooth application of our products Known for the ability to customize products for the unique needs of our customers we are uniquely able to handle customer needs and supply services throughout the life cycle of the product Moog Authentic Repair is designed to provide the highest quality repair services using original equipment parts the latest design specifications and highly trained technicians This ensures that our repaired products will run as well as when they were new With facilities in over 28 countries Moog is committed to offering convenient local service to our customers Visit www moog com industrial globallocator to find the location nearest you for application engineering repair or field services MOOG Automation System e M3000 39 TAKE A CLOSER LOOK Moog solutions are only a click away Visit our worldwide Web site for more information and the Moog facility nearest you Argentina 54 0 11 4326 5916 info argentina moog com Australia 61 0 395616044 info australia moog com Austria 43 0 664 144 6580 info austria Qmoog com Brazil 55 0 1135720400 info brazil moog com China 86 0 21 2893 1600 info china moog com Finla
24. ction of the M3000 modules via extension bus E bus e Profibus DP slave as option E Bus Transmission Activity Outputs active L1 and 5 V OK Digital I Os Freely Programmable Programming nte rfa ce Li O1 02 1 03 04 1 05 1 06 1 07 IO amp 8 WCAN LCAN EBus OutEN f A P rofi b us MACS 00000000000000 11 L1 M M1 L2 L2 M2 OutEN CLK1 1 1 1 1 1 21 21 DGND SHLD M 1 2 3 4 5 6 7 8 9 10 44 1 13 14 15 1 17 18 X1 Option 1 01 1 02 1 03 1 04 1 05 1 06 1 07 1 08 CLK2 CLK2 A2 A2 B2 B2 Z2 2 DGND SHLD 19 20 21 22 3 24 25 26 27 28 29 30 31 32 33 34 35 36 X2 1 n c Aola Ao1b AGND SHLD X62a Ao2b AGND SHLD Seria 46 47 48 49 5071 51 52 53 54 X3 Interface Reset Reset AA button Link O Ethernet Link Pulse LK O License WideCAN LAN MOOG internally Ethernet connected 1 1 SIO MACS erne Ai1 C1a C1b Ai1 AGND SHLD Ai2 C2a C2b Ai2 AGND SHLD Ai3 C3a C3b Ai3 AGND SHLD 55 58 59 60 61 62 64 66 67 68 69 70 71 72 X4 Et h ern et Ai4 C4a C4b Ai4 AGND SHLD Ai5 C5a Ai5 Ai6 C6a C6b Ai6 AGN SHLD IVI 73 74 75 76 7T 78 79 80 82 84 85 86 87 88 89 90 X5 Activity REF AGND SHLD Ai7 C7a C7b Ai7 AGND SHLD REF SHLD Ai8 C8a C8b Ai8 AGND SHLD X6 91 92 3 94 95 96 97 98 99 100 102 103 104 105 106 107 108 rror Status User 6 AO 0 6 0 0 0 0 Feet Aotb 000000 Rxt Txt 2 T RJ45 05 Rack Cable Breakage Display of the Ana
25. ctions e High performance closed loop control functions designed by Moog experts Integration Ethernet USB CAN bus EIA TIA 232 onboard Profibus DP and EtherCAT optional Various sensor inputs e g SSI incremental encoder plus analog and digital input output Interface to multiple products including Moog servodrives servovalves and pumps One easy to use software for all M3000 products called MACS All programming debugging simulation parameterization visualization and tracing with one software tool Software Moog Axis Control Software MACS e Special function blocks for closed loop control AI i 1 Use of Standards e User friendly programming tool based on CoDeSys IEC 61131 3 All five IEC 61131 3 programming languages supported Function Block Diagram FBD Instruction List IL Sequential Function Chart SFC Structured Text ST Ladder Diagram LD Latest graphical programming language for easy closed loop design Continuous Function Chart CFC Standard protocols CANopen TCP IP DDE OPC A CoDeSys Automation Alliance CAA certified product Motion control functions according to PLCopen standard Components Servomotors and Servodrives e Servovalves e Servo Proportional Valves e Radial Piston Pumps RKP Scope of Supply and Services e Primary Feature High Performance Motion Control Plus PLC Automation Soluti
26. d in EDITORS e Context sensitive input help e Automatic formatting e Context menus in all editors e Syntax coloring e Multi level undo redo e Display of the current values of all variables in online operation CONTINUOUS FUNCTION CHART CFC p BH H FS 8 THERE el Bete mimm STRUCTURED TEXT ST p LADDER DIAGRAM LD FUNCTION BLOCK DIAGRAMI FBD T NE nmm or 7 1 fi 1 omm i s Lan SEQUENCE FUNCTION CHART SFC e Automation System 0 19 AXIS CONTROL SOFTWARE LIBRARIES TECHNICAL DATA MACS is based on CoDeSys which is the most modern IEC 61131 programming system It has been extended in the areas of control technique and motion control by Moog In this way even complex automation projects can be simplified Overview Scope of Function of the Moog Libraries Regulation and Control Technique e Controller D PID standard PID extended e Filter high pass low pass e Transmission functions continuous time discrete e Non linear functions dead band non linear dual gain look up table e Simulation of control routes PT1 PT2 e Function generator e Signal delay e Counte
27. e voltage protection 500 mA max depending on display brightness Electronic with automatic reset 6 pole AMP crimp connector LCD Supertwist 240 x 64 points LED background lighting 40 10 14 7 4 0 55 0 28 0 16 in IBM set 2 and Cyrillic other characters possible Push buttons 22 including numeric keypad Aluminum disc behind polyester cover secured against vandalism Galvanized steel plate with clamping lid 1 4 kg 3 08 Ibs Tree structure or other structure Adjustable using keys and program Flashing normal and inverse display With PC and CPRDISP editor Numeric keyboard Up to 104 per page number of pages typically 700 only limited by memory size Binary integer fixed point bit pattern and others Flash EEPROM to store texts images messages operating system etc CAN or TIA EIA 232 TIA EIA 232 recommended as interface to PC CAN or TIA EIA 232 CANopen recommended as interface to controller Galvanic insulation termination switchable with DIP switch 9 pin D Sub connector 9 pin D Sub connector Detailed information and integration tips can be obtained from the user manual MOOG e Automation System M3000 3 DIALOG CONTROLLER BRIEF DESCRIPTION DIALOG CONTROLLER The display is freely programmable with the Moog Axis Control Software MACS development environment The predefined visualization elements such as buttons bar graphs meters tables and histograms makes it easy to create visualization
28. ermination resistor 1209 Description PC based editor to build menu pages FEATURES e LCD Display to display text and graphics with 240 x 64 points and LED background lighting e 8 function keys and 8 LEDs for signal display e Numeric keypad for value input e 22 keys all together IMAGES AND MESSAGES The RDISP22 offers the display types images and messages They can be activated independently e Images Images are graphical elements pictograms BMP files in which text and variables are displayed both numerically and graphically or as bar charts or as X Y charts A menu structure out of different images can be defined by the programmer An image can be selected by an image number or via a menu structure by using keys e Messages Messages can be inserted into a page in addition as texts with variables Messages are activated by using the message number LABELING The function keys can be labeled freely This is done by using strips of paper and inserting them between the keys and the front cover PROGRAMMING Programming is carried out on the PC via an user friendly editor Easy operation enables clear and quick implementation Programming of menus menu structures message texts and multi language display is easy to achieve with the CPRDISP PC editor Order number D138 006 001 9 pole D sub plug in connection B95863 001 pin contacts to jack contacts 9 pole D sub plug in connection B95863 002 pin cont
29. ility of the products described herein Product descriptions provided herein are subject to changes that may be applied without prior notification In case of doubt please contact Moog Moog is a registered trademark of Moog Inc and its subsidiaries Unless stated otherwise all trademarks mentioned herein are the property of Moog Inc and its subsidiaries For the full disclaimer refer to www moog com literature disclaimers Moog Inc 2008 All rights reserved Changes reserved For the most current information visit www moog com industrial e Automation System e M3000 3 PRODUCT OVERVIEW Moog Moog Servo Moog Axis Control Analog Module Analog Module Servo Controller MSC Controller MSC II Software QAIO 2 2 QAIO 16 4 Digital Module Extension Module Digital Extension Operator Panel Dialog Controller QDIO 16 16 QEBUS CAN Module RDIO 16 16 RDISP 22 Display 4 MOOG Automation System e M3000 OVERVIEW M3000 AUTOMATION SYSTEM M3000 is Moog s digital motion control system which offers high performance for hydraulic and electric drive products This easy to use system offers rapid implementation and set up to save users time and money M3000 Automation System Programmable Multi Axis Controller Moog Servo Controller MSC e Extension Modules e User Displays Performance e Cycle time for closed loop axis control as fast as 100 microseconds e Complex multi axis 2 or more motion control fun
30. inal 9 pole Up to max conductor cross section of 2 5 mm 14 AWG VK055 009 Spring power clamp 18 pole Up to max conductor cross section of 2 5 mm 14 AWG B95907 018 Spring power clamp 9 pole Up to max conductor cross section of 2 5 mm 14 AWG B95907 009 10 e Automation System 0 MOOG SERVO CONTROLLER TECHNICAL DATA Module Data Designation Order number Connection technique Assembly Dimensions W x D x H mm Temperature range Relative air humidity Operation height Processor Memory Standards Operating equipment demands and examinations Interference emission immunity Shock vibration Protection class protection system Insulation strength Energy Supply Voltage supply of module electronics Current consumption of module electronics Potential separation Internal voltages Behavior at voltage failures cut off of supply voltage Interfaces Ethernet 10BaseT 2 independent CAN interfaces WCAN LocalCAN Profibus DP slave option MACS on front cover TIA EIA 232 SIO on front cover TIA EIA 232 Extension bus E bus Digital Control Module Moog Servo Controller MSC D136 001 008 MSC D136 001 007 MSC with Profibus DP slave interface Plug in terminal strips for screwing or clamping NS 35 7 5 mounting rail pursuant to EN 50022 DIN top hat rail 160 x 170 x 85 5 attachment dimension W 149 154 5 5 C 41 F to 55 C 131 F operation and 25 C
31. log Current Outputs SIO Transmission Activity Cable Breakage Display of the Digital Sensor Inputs SIO Receipt Activity 6 Automation System e M3000 Error Display MACS Transmission Activity MACS Receipt Activity SERVO CONTROLLER SET UP LOCAL EXTENSION POSSIBILITIES WITH M3000 MODULES VIA E BUS e Up to 7 additional M3000 modules can be connected to the extension bus E bus of the MSC e M3000 modules are put together and locked on the top hat rail The E bus connection is simply and reliably built via the side connectors ARRANGEMENT OF M3000 MODULES VIA E BUS MSC additional M3000 modules DECENTRALIZED SET UP e Additional M3000 modules can be independently networked via the CAN bus e Extension modules can also be connected to each decentralized Moog Servo Controller MSC e n addition M3000 remote modules e g displays digital inputs outputs can also be connected via the CAN bus ARRANGEMENT OF M3000 MODULES VIA FIELD BUS Z 2 ETT i A 24 e n this way further digital and or analog inputs and outputs can be added as required e The control and signal processing is done by the MSC The connected extension modules do not require their own intelligence CAN bus cable e Further components with CAN or CANopen interfaces can be networked For this Moog provides an exte
32. mber Up to max conductor cross section of 2 5 mm 14 AWG VK055 018 Up to max conductor cross section of 2 5 mm 14 AWG B95907 018 Detailed information and integration tips can be obtained from the user manual MOOG e Automation System M3000 25 DIGITAL MODULE BRIEF DESCRIPTION GENERAL The QDIO digital module is used for extension of the local inputs and outputs I O of the Moog Servo Controller MSC or MSC Il The module is mounted on a DIN top hat rail and directly connected to an MSC or MSC II or a remote digital I O module RDIO via the internal extension bus E bus CONFIGURATION The configuration of the digital I O is carried out per software via the central control configuration in the Moog Axis Control Software MACS development environment STATUS LEDs LEDs on the front provide information about the status of the I O The arrangement of the LEDs corresponds to the I O connections BASIC CIRCUIT DIAGRAM DIGITAL INPUT Plus switching internal BASIC CIRCUIT DIAGRAM DIGITAL OUTPUT Plus switching M Internal 26 e Automation System 0 FEATURES Digital I O extension module QDIO 16 16 0 5 I O positive switching QDIO 16 16 0 5N I O zero switching e 16 digital inputs 24 V e 16 digital I O 24 V individually configurable as an input or an output e Connection via E bus ACTUATION The I O of the digital extension module are actuated directly from a
33. n MSC MSC II or RDIO via the extension bus E bus E BUS One MSC or MSC II can be extended with a maximum of 7 modules e g QDIO or QAIO Further digital I O can be actuated via RDIO modules which are connected with an MSC or MSC via CANopen Zero switching 24V L internal GND LM Zero switchino DIGITAL REMOTE I O EXTENSION MODULE TECHNICAL DATA Module Data Order number Designation Types of inputs outputs Connection to M3000 modules Connection technique Connection of the I O Assembly Status LEDs Dimensions W x H x D Temperature range Relative air humidity Standards Interference emission immunity Protection class protection system Insulation strength Energy Supply Voltage supply of module electronics Current consumption of module electronics Voltage supply of the digital I O Current consumption of the digital I O Potential separation Digital Inputs Outputs Number of inputs Number of inputs outputs Output current Short circuit reverse polarity protection Digital Remote I O Extension Module QDIO 16 16 0 5 D137 001 005 QDIO 16 16 0 5N D137 001 004 QDIO 16 16 0 5 plus switching QDIO 16 16 0 5N zero switching Via E bus max 10 MHz Plug in terminal strips for screwing or clamping 3 conductor front wiring Mounting rail NS 35 7 5 pursuant to EN 50022 DIN top hat rail 1 Status LED per I O 124 x 170 x 85 5 attachment dimension W
34. nd 358 0 925172730 info finland moog com France 33 0 145607000 info france moog com Germany 49 0 70316220 info germany moog com Hong Kong 852 26353200 info hongkong moog com India 91 0 8041208785 info india moog com Ireland 353 0 21 451 9000 info ireland moog com Italy 39 0332421111 info italy moog com Japan 81 0 463553767 info japan moog com Korea 82 0 317646711 info korea moog com Luxembourg 352 4046401 info luxembourg moog com Netherlands 31 0 252462000 info netherlands Qmoog com Norway 47 64941948 info norway moog com Russia 7 0 317131811 info russia moog com Singapore 65 677 36238 info singapore moog com South Africa 27 0 126536768 info southafrica moog com Spain 34 902133 240 info spain moog com Sweden 46 0 31 680 060 info sweden moog com Switzerland 41 0 71 3945010 info switzerland Omoog com United Kingdom 44 0 168 429 6600 info unitedkingdom moog com USA 1 1 7166522000 info usa moog com 2008 Moog Inc Moog is a registered trademark of Moog Inc and its subsidiaries All quoted trademarks are the property of Moog Inc and its subsidiaries All rights reserved M3000 en 6 2008 WHAT MOVES YOUR WORLD
35. nment MODULE STATUS LEDS On the front 4 LEDs provide information about the status of important module functions BASIC CIRCUIT DIAGRAM ANALOG INPUT A Shield 15V 15 V 24 MOOG Automation System 0 FEATURES Analog I O extension module e QAIO 16 4 V 16 voltage inputs 10 V or QAIO 16 4 A 16 current inputs x20 mA 4 voltage outputs 10 V e 1 reference voltage output 10 V e Connection via E bus e 4 voltage outputs The output channels provide a voltage signal in the range of x10 V The maximum output current is 5 mA overload protection ACTUATION The I O of the analog extension module is actuated directly from an MSC or MSC II via the extension bus E bus E BUS One MSC or MSC II can be extended with a maximum of 7 modules e g QAIO or QDIO BASIC CIRCUIT DIAGRAM ANALOG OUTPUT RL Shield ANALOG MODULE TECHNICAL DATA Module Data Order number Connection to M3000 modules Connection technique Connection of the I O Mounting 4 module status LEDs Dimensions WxHxD Temperature range Relative air humidity Standards Interference emission immunity Protection class protection system Insulation strength Energy Supply Voltage supply of module electronics Current consumption of module electronics Voltage supply of the analog I O Potential separation Protection against reverse polarity Analog Inputs
36. nsive selection of motor controllers hydraulic valves and radial piston pumps e This enables a flexible set up of automatic solutions e Further details can be found in the relevant catalogs Field bus Automation System 0 7 SERVO CONTROLLER INPUTS OUTPUTS BASIC CIRCUIT DIAGRAMS Digital Inputs Outputs Voltage supply of the digital I O Current consumption of the digital I O 8 digital inputs and outputs Watchdog output Outputs enabled signal DIGITAL INPUT Signal Source Opto Decoupling 24V DC Analog Inputs Outputs Voltage supply to analog I O 8 analog inputs 2 analog outputs ANALOG INPUT CURRENT VOLTAGE Voltage Current 8 e Automation System e M3000 24 V DC 18 36 V DC SELV pursuant to DIN EN 60950 1 0 3 A in idling all digital outputs active 4 A Individually configurable in MACS as input or output Inputs type 1 current consuming pursuant to IEC 61131 2 Outputs max 0 5 A Sustained short circuit protection thermal overload protection Analog and digital outputs in operation In the event of a fault the watchdog output goes to a high impedance state DIGITAL OUTPUT 24 V DC I Ox EAR Via internal DC DC converter 16 Bit individually configurable in the MACS software as 10 V 10 mA or 4 20 mA overvoltage protection up to 36 V 16 Bit each 10 V additionally individually configurable in the MACS software as x10 mA x50 mA
37. ol Software MACS development environment Either the two analog inputs or the pulse input can be used ACTUATION The I O of the analog extension module is actuated directly from an MSC or MSC II not D136X001 001 and D136E001 001 via the extension bus E bus All input and output data are transferred within one cycle of the E bus E BUS One MSC or MSC II can be extended with a maximum of 7 QAIO 2 2 AV modules It is not possible to combine it with QAIO 16 4 on one E bus segment ANALOG OUTPUT CURRENT VOLTAGE QAIO 2 2 Aoxa Voltage Signal Source to eval Decoupling uation 24V DC ANALOG MODULE TECHNICAL DATA Module Data Order number Connection to M3000 modules Connection technique Mounting 4 module status LEDs Dimensions WxHxD Temperature range Relative air humidity Operation height Standards Operating equipment demands and examinations Interference emission immunity Shock vibration Protection class protection system Insulation strength Energy Supply Voltage supply of module electronics Current consumption of module electronics Potential separation Internal voltages Protection against reverse polarity Analog Inputs Outputs 2 analog inputs 2 analog outputs Reference for sensors Reference voltage output Pulse input Pulse input QAIO 2 2 AV I O extension module D137 001 011 Via E Bus 10 MHz please note It is not possible
38. on blocks based on demanding control tasks on the basis of the IEC 61131 50 years of experience in electric standard and hydraulic drive engineering MACS includes tools for Freely programmable controller e Programming structures e Testing and optimizing Maximum flexibility by a complete scope of functions in e Debugging all IEC 61131 programming languages e Documentation e Simultaneous realization of control regulation and PLC e Visualization applications in one application program e Configuration Open standard interfaces for communication on machine and process guidance levels e Motion control functions corresponding to PLCopen standard Standard IEC 61131 INTERFACES YOUR BENEFITS Process guidance level Machine level e Quick project realization OPC server e CAN Low programming efforts e DDE interface e CANopen One tool for programming visualizing documentation e Ethernet TCP IP Compatibility to products of member companies of the e Profibus DP CoDeSys Automation Alliance e TIA EIA 232 e EtherCAT 18 MOOG e Automation System 0 MOOG AXIS CONTROL SOFTWARE MACS PROGRAMMING LANGUAGES PROGRAM CREATION e All IEC 61131 programming languages and CFC Continuous Function Chart e Full scope of function in all programming languages provides maximum flexibility in creation of user programs e Each module can call other modules regardless of the programming language they have been create
39. ons Plus Electric Motion Systems e Plus Hydraulic Motion Systems Plus Training amp Global Support of System Solutions Plus Easy and Quick Implementation MOOG Automation System e M3000 5 SERVO CONTROLLER BRIEF DESCRIPTION MOOG SERVO CONTROLLER MSC e Freely programmable multi axis controller e Programming with IEC 61131 development environment MACS Moog Axis Control Software e Integrated PLC functionality e Realization of fast and precise controls e g for position speed and force e Suitable for electrical and hydraulic drives e Freely definable controller structures with cycle times from 400 us e Hardware functionality can be parameterized via MACS software e PowerPC based processor e Memory 4 MB RAM 4 MB Flash EEPROM OVERVIEW INTERFACES CONNECTIONS AND LED S Terminal Resistor to LocalCAN WideCAN Transmission Activity State of the LocalCAN Transmission Activity FEATURES Tool free assembly on DIN top hat rail mounting e Simple wiring with terminal strips Sustained short circuit protection for analog and digital outputs Overvoltage protection up to 36 V of analog inputs and outputs No parts subject to wear no jumpers no battery or rechargeable battery e LEDs for status and error display e Wire fault monitoring for all digital sensor inputs and analog current outputs e Additional digital or analog inputs and outputs with M3000 extension modules e Simple conne
40. op hat rail e Simple wiring with terminal strips e Sustained short circuit protection for digital outputs e No parts subject to wear no jumpers no battery or rechargeable battery e LEDs for status and error display e Wire fault monitoring for all digital sensor inputs e Additional digital or analog inputs and outputs with M3000 extension modules e EtherCAT Realtime Ethernet interface as option e Profibus DP slave as option SIO Receiver Activity SIO Transmission Activity E Bus Transmission Activated by U Application Program Outputs Enabled WideCAN X1 X3 internally connected 1 1 License Key Slot RJ45 10 100MBit s Realtime Ethernet Interface Option Field bus interface Option Activated by Application Program or Error Display MOOG SERVO CONTROLLER LOCAL EXTENSION POSSIBILITIES WITH M3000 MODULES VIA E BUS e Up to 7 additional M3000 extension modules can be connected to the extension bus E bus of the MSC II M3000 modules are put together and locked on the top hat rail The E bus connection is simply and reliably built via the side connectors ARRANGEMENT OF M3000 MODULES VIA E BUS MSC II additional M3000 modules DECENTRALIZED SET UP Additional M3000 modules can be independently networked e M3000 extension modules With analog 1 05 and digital 1 05 e M3000 remote modules e g displays digital inputs outputs e Electrical servo drives MSD Servo
41. or 4 20 mA Overvoltage protection up to 36 V short circuit protected ANALOG OUTPUT CURRENT VOLTAGE SERVO CONTROLLER SENSOR INTERFACES DIMENSIONS Reference for Sensors Reference voltage output 10 V can bear up to max 5 mA overvoltage protection up to 36 V short circuit protected Sensor Interfaces 2 Sensor interfaces each configurable as a Incremental encoder b SSI transmitter Signals corresponding to TIA EIA 422 previously RS 422 Wire fault monitoring of inputs Configurable in MACS software a Incremental encoder four edge evaluation max pulse frequency 8 MHz b SSI sensor master or slave data format gray code or binary data bits 8 to 32 Bit transmission frequency 78 kHz to 5 MHz INCREMENTAL ENCODER SSI MASTER pun au tg E ie 351 Serres 51 Pari ens a Ez bonu B pp ys E gil W e GR b s b mne TUR 1 T T WE rT i wn w SSI SLAVE 551 Eae i eT DIMENSIONS 160 mm 6 30 in 102 mm 4 02 in 149 mm 5 87 in 85 5 mm 3 37 in 5 5 mm 0 22 in S 6 9 9 9 9 9 9 9 9 9 98 9 9 6 0 _ 718 170 mm 6 69 in
42. r timer Communication Ethernet CAN and TIA EIA 232 e Initialization PLCopen function blocks e Transmission and receiving of data According to the specification function blocks for motion control for single and multi axis Hardware Related Functions applications e Signal conditioning for analog e Absolute and relative positioning inputs outputs and position sensor e Speed functions e Evaluation of status information e Homing e Time evaluation e Cam functions e Monitoring e Gearbox functions temperature watchdog wire breakage Designation Description Order MACS Development environment pursuant to IEC 61131 1 license 0138 001 001 Moog Axis Control Software One license per developer 10 licenses D138 001 010 MACS HMI Visualization version 1 license 0138 003 001 Human Machine Interface For full screen display of visualizations which 10 licenses D138 003 010 were created with MACS Without development environment One license per machine Software maintenance contract Includes support and updates for 1 year B95914 001 20 MOOG e Automation System 0 MOOG AXIS CONTROL SOFTWARE MACS THE COMPONENTS VISUALIZATION HARDWARE CONFIGURATION e Commissioning tool e Configuration of all M3000 modules e Creation of visualizations for end users On one screen og 5 dmm d Nc T l W 1 4 Ea RCM ML LE AE Bim F al mm p ss OSCILLOSCOPE DOCUMENTATION e Recording of up to 20 channels e Au
43. tection system Insulation strength Energy supply Voltage supply of module electronics Interfaces Q connector LocalCAN Bus QEBUS CAN Extension Module QEBUS CAN D137 001 010 Via Q connector Optional CAN power supply plug in terminal strip for screwing or clamping CAN bus 2 D Sub connections Mounting rail NS 35 7 5 according to EN 50022 DIN top hat rail 65 x 170 x 85 5 attachment dimension W 59 5 mm 2 55 x 6 69 x 3 37 attachment dimension W 2 34 inch 5 C 41 F to 55 C 131 F operation and 25 C 13 F to 70 C 158 F storage Mean temperature during operation over 24 hours max 50 C 122 F 10 to 95 non condensing Max 2000 m 6500 feet storage transport max 3000 m 9800 feet IEC 61131 2 EN 61000 6 4 EN 6100 6 2 industrial range IEC 60068 Part 2 27 IEC 60068 Part 2 6 III IP20 IEC 61131 2 test voltage 500 V DC None passive module Contains the LocalCAN bus of the MSC E bus is not passed through the module 2 D Sub connections these are connected internally 120 termination resistor can be connected disconnected with jumper J3 Accessories Plug in terminal strip 1 piece per module Designation Screw terminal 2 pole Spring power clamp 2 pole CAN connection cable 3 meters 9 8 feet CAN connection cable 10 meters 32 8 feet Description Up to max conductor cross section of 2 5 mm 14 AWG Up to max conductor
44. tomatic creation of the project documentation with all e Various triggering possibilities components CFC_WG PRG CFC 0001 PROGRAM CFC_WG 0002 VAR 0003 0004 0005 0006 Wgen M_WAVE_GEN 0007 PID2 M_PID 0008 Intgral1 M INTEGRAL 0009 END VAR 0 Wgen M_WAVE_GEN TRUE ENABLE REAL OUTPUT SYNC IN DERIV OUTPUT SINU WAVE TYPE DINT OUTPUT 100 AMP DIF OUTPUT FREQ AMP REACH OFFSET SYNC FLAG SMOOTH ENABLE SMOOTH RATE m gt Intgral1 3 M Integral INPUT OUTPUT 1 GAIN MAX FLAG I MAX MIN FLAG I MIN SET VALUE SET I HOLD L CLEAR DEBUGGING TASK CONFIGURATION e Break points e Enables division of the application program into a number e Single step single cycle of tasks e Writing and forcing of variables e Call of the tasks optionally time based cyclic or e Simulation possible without hardware event triggered e Display of all the current values e Priority and time base of each task adjustable vw iS ee ee 1 Fm MELLE NE Be at Tr I rute rirumr arum LT DE BRA Et E EE E a Te DIU UH lL Tests ffi wd r Automation System M3000 21 ANALOG MODULE B

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