Motion Controllers
Contents
1. According to the license key used assigned functionality of MACS ts enabled for usage The license keys contain M LH e P address e PROFIBUS DP station address e CANopen node ID Designation Color Ordering number Controls Gray MACS runtime license with basic functionality D138 002 001 e Moog control technology library e Communication library Initialization and data exchange network variables e Hardware library e Visualization package See section Functionality of MACS for details Motion Green All functions of Controls license key and additionally D138 002 002 Motion control technology library Transfer functions Matlab Simulink integration Generating motion profiles library Communication library Graphical configuration Visualization package Web based visualization Professional Blue All functions of Motion license key and additionally D138 002 003 e Generating motion profiles library Soft motion System Program parts and or complete application programs produced specifically Specific to the upon customer request order BACKGROUND APPLICATION EXAMPLES We have provided some typical examples of how Motion Controllers can be used in conjunction with hardware and communication interfaces to effectively achieve specific objectives for machine performance Applications with MSC I and MSC II Motion Controllers Up to 7 additional I O or communication modules can be connected to the right Extension2. e Reduce your downtime by keeping critical machines www moog com industrial service running tn peak performance e Protect your investment by ensuring reliability versatility and long life of products e Better plan your maintenance activities and make systematic upgrades e Leverage our flexible programs to meet the unique service requirements of your facility MOO CG Look to Moog for global support including GLO BAL e Repair services using OEM parts are performed by SUPPO RT trained technicians to the latest specifications e Stock management of spare parts and products to prevent unplanned downtime Rev B September 2013 39 ORDERING INFORMATION Motion Controllers MSC I Motion Controller To be mounted on DIN rail 2 D136 001 007 2 D136 001 008 Ethernet EtherCAT master PROFIBUS DP slave Position transducer USB 1 1 host j Nin o 8 analog inputs 2 analog outputs 8 digital 1 0 each configurable as input or output 2 sensor interfaces Expandable with extension modules via E Bus D136 002 002 D136 002 003 D136 002 004 D136 002 005 To be mounted on DIN rail 4 digital 1 0 each configurable as input or output 2 sensor interfaces NU Expandable with extension modules via E Bus Ruggedized Motion Controller e IP67 protection and high vibration resistance for harsh D136 003 001 environments 1 D136 003 002 e 2digital I O each configurable as input or output D136 003 004 MSD Motion Con
3. IEC 60068 2 6 IEC 61131 2 test voltage 500 V MSC II MOTION CONTROLLER Ordering number Power supply Voltage supply of module electronics Current consumption of module electronics Idling Full load Potential separation Internal voltages Behavior at voltage failure cut off of supply voltage Interfaces Ethernet CAN EtherCAT master EtherCAT slave PROFIBUS DP slave USB E Bus Digital inputs outputs Type of digital inputs Number of digital inputs outputs Configuration Voltage supply Maximum current consumption of single output Protection Sustained short circuit Thermal overload D136 002 002 D136 002 003 D136 002 004 D136 002 005 24 Voc 18 to 36 V SELV according to EN 60950 1 0 3 A 0 8 A Separate potentials for e Module electronics e 24 V supply e Digital inputs outputs e Ethernet Generated via internal DC DC converters Necessary data is permanently stored If the supply voltage fails lt 18 V buffer capacitors provide the necessary energy 10 100 MBit s with 8 pole RJ45 connector 100Base T Two independent CAN interfaces transmission rate adjustable from 10 kBit s to 1 MBit s e WideCAN 2 x D Sub WCAN connectors on the front cover connected internally 1 1 e LocalCAN For communication with other Motion Controller via the side Q connectors or with the QEBUS module to further devices 100 MBit s n 100 MBit s 100 MBit s p 12 MBit s USB 1 1 host USB A connec
4. M12 connectors power supply and I Os Terminal strips Mounting Powder coated aluminium housing mounting on a backing plate Dimensions WxDxH 161 x 105 x 57 7 mm 6 34 x 4 13 x 2 27 in Operating temperature range 40 to 70 C 40 to 158 F Storage temperature range 40 to 80 C 13 to 176 F CC E Standards Operating equipment demands and examinations IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2 27 IEC 60068 2 6 IEC 61131 2 test voltage 500 VDC Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength Power supply Voltage supply of module electronics 24 Vpc 18 to 36 V SELV according to EN 60950 1 0 3 A Between module electronics and supply for digital I Os Maximum current consumption of module electronics Potential separation Protection against reverse polarity Yes Digital inputs outputs Type of digital inputs Type 1 current consuming according to IEC 61131 2 Number of digital inputs outputs 16 digital inputs 8 digital outputs Voltage supply 24 Vpc 18 to 36 V SELV according to EN 60950 1 0 5 A Current consumption all digital outputs active 8 outputs lt 4 A L2 fuse Maximum output current of a single output Protection Sustained short circuit Yes Thermal overload Yes Temperature sensor interface Sensor type 1 channel PT100 Resolution 8 bit value representing 50 to 205 C 58 to 401 F
5. 2 lines 14 mm 0 55 in 4 lines 7 mm 0 28 in 8 lines 4 mm 0 16 in IBM set 2 and Cyrillic other character sets possible Push buttons 22 including numeric keypad Aluminum disc behind polyester cover secured against vandalism Galvanized steel plate with clamping lid Tree structure or other structure Adjustable using keys and program Flashing normal and inverse display With PC and ITE Designer editor Numeric keyboard Up to 104 per page number of pages typically gt 700 only limited by memory size Flash EEPROM to store texts images messages operating system etc CAN or EIA 232 EIA 232 recommended CAN or EIA 232 CANopen recommended Galvanic insulation termination switchable with DIP switch 9 pin D Sub connector D Sub connector TECHNICAL DATA Moog Motion Controllers DIALOG CONTROLLER Overview The Dialog Controller is a freely programmable real time controller with the Moog Axis Control Software MACS development environment The Dialog Controller is available in 3 sizes with 5 7 10 4 or 12 1 color TFT touch screens for brilliant colors With IP65 protection at the front IP20 at the rear the Dialog Controller is designed for harsh industrial environments It is equipped with interfaces for USB Ethernet CAN bus EIA 232 and ElA 485 Data can be stored on MMC SD memory cards The user can define and examine device and communication parameters as well as device states It
6. Plug in terminal strips for screwing or clamping NS 35 7 5 mounting rail according to EN 50022 DIN rail 160 x 170 x 85 5 mm 6 30 x 6 69 x 3 36 in W 149 154 5 mm 5 87 6 08 in 5 to 55 C 41 to 131 F 25 to 70 C 13 to 158 F SOEC F 10 to 95 non condensing 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft lI IP20 IEC 6S I EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2 27 IEC 60068 2 6 IEC 61131 2 test voltage 500 V 24 Vpc 18 to 36 V SELV according to EN 60950 1 0 5 A 2 Separate potentials for e Module electronics e 24 V supply e Digital inputs outputs e Ethernet MSC I MOTION CONTROLLER Ordering number Internal voltages Behavior at voltage failure cut off of supply voltage Interfaces Ethernet CAN PROFIBUS DP slave Serial port Extension bus E Bus Digital inputs outputs Type of digital inputs Number of digital inputs outputs Configuration Voltage supply Maximum current consumption of single output Protection Sustained short circuit Thermal overload Overvoltage D136 001 007 D136 001 008 Generated via internal DC DC converters Necessary data is permanently stored If the supply voltage fails lt 18 V buffer capacitors provide the necessary energy 10 MBit s with 8 pole RJ45 connector 10Base T Two independent CAN interfaces transmission rate adjustable from 10 kBit s to 1 MBit s e WideCAN 2 x D Sub WCAN connec
7. Wiring configuration Four wire configuration MSC R I0 16 8 DIGITAL AND PT100 MODULE Circuit Diagrams inputs outputs Digital output Digital input Signal source 24 Vpc To Decoupling evaluation 58 4 2 30 557 160 2 19 B 6 3 47 1 150 1 85 p 5 9 _ 12 0 47 D lt lt i 105 4 13 TECHNICAL DATA DISPLAYS RDISP 22 Operator Panel Rev B September 2013 Moog Motion Controllers Operator Panel for supervision and control of machines and processes See page 45 Freely programmable Dialog Controller to create visualization screens available in 3 sizes with 5 7 10 4 or 12 1 See page 47 44 TECHNICAL DATA RDISP 22 OPERATOR PANEL Overview The RDISP 22 Operator Panel 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 as well as visualization structures e LCD display for text and graphics with 240 x 64 points and LED background lighting e 8function keys and 8 LEDs for signal display e Numeric keypad for value input e 22keys 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 an
8. 21 e ag a Application with PLC MSD Motion Controller Servo Drive and Servo Valve Ethernet EtherCAT MSD Motion Controller Dialog Controller MSD Servo Drive Application with MSD Motion Controller Dialog Controller and Servo Drive Rev B September 2013 57 BACKGROUND Moog Motion Controllers ABOUT MOOG Moog Inc is a worldwide designer manufacturer and integrator of precision control components and systems Moog s Industrial Group designs and manufactures high performance motion control solutions combining electric hydraulic and hybrid technologies with expert consultative support in a range of applications including energy production and generation machinery industrial production machinery and simulation and test equipment We help performance driven companies design and develop their next generation machines Moog Industrial Group with fiscal year 2012 sales of USD 634 million and locations in 26 countries is part of Moog Inc NYSE MOG A and MOG B which has sales of USD 2 47 billion RAC OE Servo Drives Moog maintains facilities in 25 countries around the globe This vast scope ensures that our engineers remain close to the needs of machine builders and provide flexible design solutions and technical expertise tailored to our customers toughest challenges Moog experts work tn close collaboration with machine builders and application engineers to design motion control systems for grea
9. 60068 2227 IEC 60068 2 6 IEC 61131 2 test voltage 500 Vpc 24 Vpc 18 to 36 V SELV according to EN 60950 1 0 3 mA Yes opto decoupled towards E Bus No separation between power supply and analog channels Generated via internal DC DC converters Yes 20 mA 10 V 16 12 Bit multiplex operation Up to 50 mA Up to 36 V Voltage output 10 V 4 12 Bit Yes Up to 36 V 5 mA 10 V5 5 mA Yes Up to 36 V QAIO 16 4 ANALOG MODULE Circuit Diagrams inputs outputs Analog input 15V 15 V eee eee Shield Dimensional Drawing mm in 124 4 88 85 5 3 36 113 4 45 Analog output TECHNICAL DATA QDIO 16 16 DIGITAL MODULE Overview The QDIO 16 16 digital module is used for extension of the local inputs and outputs 1 0 of the MSC or MSC II Motion Controller The module is mounted ona DIN rail and directly connected to an MSC I or MSC II Motion Controller or a remote digital I O module RDIO via the internal Extension bus E Bus The configuration of the digital 1 0 is carried out per software via the central control configuration in the Moog Axis Control Software development environment LEDs on the front provide information about the status of the 1 0 The arrangement of the LEDs corresponds to the I O connections The
10. CLK SSI Master SSI Transmitter CLK Mod X D ode CLK SSI Cycle CLK GND DGND DGND SSI Slave Mode DGND Dimensional Drawing mm in 124 4 88 a 113 4 45 5 5 0 22 4 i a S O N m TECHNICAL DATA Moog Motion Controllers RUGGEDIZED MOTION CONTROLLER Overview The Ruggedized Motion Controller MSC R is a freely programmable motion controller designed for harsh environments It is suitable for use with both electric and hydraulic motion control The Ruggedized Motion Controller has similar computing power as the MSC II Motion Controller but can be mounted directly at the machine without the need for an additional electronic cabinet The innovative combination of ruggedized design computing power and fieldbus support CAN Ethernet EtherCAT PROFIBUS DP makes the Ruggedized Motion Controller an excellent choice for high performance embedded control solutions Interfaces Activated by application or error display LocalCAN transmission activity LAN transmission activity LocalCAN LAN EtherCAT transmission L1 and 5 V ok activity Power supply x2 7 ei x x yy EtherCAT Fieldbus transmission activity USB Fieldbus interface State of digital I Os Fieldbus transmission activity Digital 1 0 Fieldbus interface Rev B September 2013 I7 RUGGEDIZED MOTION CONTROLLER Technical Data Ordering
11. INFORMATION Moog Axis Control Software MACS MACS Development environment according to IEC 61131 one license per developer necessary l license D138 001 001 Additional license D138 001 002 5 licenses D138 001 005 10 licenses D138 001 010 MACS HMI For full screen display of visualizations which were created with MACS does not contain development environment 1 license per machine necessary I license D138 003 001 10 licenses D138 003 010 Includes support and updates for 1 year B95914 001 MACS License Keys Controls For a description of the license key functions see D138 002 001 Motion section License Key D138 002 002 Professional D138 002 003 System Specific to the order Operator Panels RDISP 22 Operator panel for supervision and control of machines D137 004 003 and processes Dialog Controllers TFT Display 5 7 Color TFT touch screen display D137 004 004 320 x 240 pixels resolution TFT Display 10 4 Color TFT touch screen display D137 004 005 640 x 480 pixels resolution TFT Display 12 1 Color TFT touch screen display D137 004 006 800 x 600 pixels resolution ORDERING INFORMATION Terminal Strips for MSC Number of Pole Connector name on required count module connectors Terminal Strips for MSCII Number of Pole Connector name on required count module connectors X6 X7 X9 X10 0 5 mm2 20 AWG Maximum conductor cross section 2 5 mm 14 AWG 2 5 mm 14 AWG
12. In case of doubt please contact Moog Moog is aregistered trademark of Moog Inc and its subsidiaries All trademarks as indicated herein are the property of Moog Inc and its subsidiaries For the full disclaimer refer to www moog com literature disclaimers For the most current information visit www moog com industrial or contact your local Moog office Rev B September 2013 2 INTRODUCTION Moog Motion Controllers PRODUCT OVERVIEW Moog offers a variety of freely programmable Motion Controllers each of them designed with specialized functionality to meet a range of customer requirements Regardless of your application we have a Motion Controller that will meet your requirements MSC I and MSC II Motion Controllers The MSC I and MSC II Motion Controllers are high performance motion controllers with PLC functionality that are ideal for complex centralized and decentralized applications The modules are desigend for similar kinds of tasks just the interfaces and performance are different These Motion Controllers have a IP20 protection built in and are fitted on DIN rails in an electronic cabinet The MSC I Motion Controller offers high resolution analog inputs outputs and position sensor interfaces It is designed for fast and accurate closed loop control of two axes MSC Motion Controller is best suited for applications where one or two actuators need to be controlled via an analog interface The MSC II Motion Controller
13. Maximum conductor cross section 2 5 mm2 14 AWG Terminal Strips for MSD Motion Controller Spring power clamps for X3 X9 and X10 are included Terminal Strips for QAIO 2 2 Number of Pole Connector name on required count module connectors Maximum conductor cross section 2 5 mm 14 AWG 2 5 mm 14 AWG Ordering number Screw Terminal version VKO55 018 Phoenix Contact FRONT MSTB2 5 18 ST 5 08 or Spring power clamp version B95907 018 Phoenix Contact FKC 2 5 18 ST 5 08 Screw Terminal version VKO55 009 Phoenix Contact FRONT MSTB2 5 9 ST 5 08 or Spring power clamp version B95907 009 Phoenix Contact FKC 2 5 9 ST 5 08 Ordering number Screw Terminal version VKO55 009 Phoenix Contact FRONT MSTB2 5 9 ST 5 08 or Spring power clamp version B95907 009 Phoenix Contact FKC 2 5 9 ST 5 08 Spring power clamp version CA45260 010 Phoenix Contact FK MC 0 5 10 ST 2 5 Ordering number Screw Terminal version VKO55 018 Phoenix Contact FRONT MSTB2 5 18 ST 5 08 or Spring power clamp version B95907 018 Phoenix Contact FKC 2 5 18 ST 5 08 Screw Terminal version VKO55 009 Phoenix Contact FRONT MSTB2 5 9 ST 5 08 or Spring power clamp version B95907 009 Phoenix Contact FKC 2 5 9 ST 5 08 ORDERING INFORMATION Terminal Strips for QAIO 16 4 Maximum conductor cross section Number of Pole Connector name on required count module connectors X1 X2 X3 X5 X
14. Plug in Terminal strip for screwing or clamping CAN bus 2 x D Sub connector NS 35 7 5 mounting rail according to EN 50022 DIN rail 65 x 170 x 85 5 mm 2 56 x 6 69 x 3 36 in W 59 5 mm 2 34 in 5 to 55 C 41 to 131 F 25 te O AC oS E 10 to 95 non condensing 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft i IP20 IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2 27 IEC 60068 2 6 IEC 61131 2 test voltage 500 V None passive module 2 x D Sub connected 1 1 internallly 120 Q termination resistor can be switch on off with jumper Contains the LocalCAN of the MSC l or MSC II The E Bus is not passed through the module QEBUS CAN MODULE Pin Assignments CAN supply Local CAN Local CAN ON OFF termination Dimensional Drawing mm in 65 2 56 Be 54 2 12 D E 85 5 3 36 5 5 0 22 lt a A X1 CAN supply CAN V CAN supply DGND Digital ground X2 X3 Local CAN bus DGND Digital ground CAN supply TECHNICAL DATA Moog Motion Controllers RDIO 16 16 DIGITAL MODULE Overview The RDIO digital module is used as aremote extension of the local inputs and outputs 1 0 of a MSC l or MSC II Motion Controller The module is mounted ona DIN rail and connected to the Motion Controller via CAN Digital 1 0 extension module e 16 digital inputs 24V e 16 digital I O 24 V individually configur
15. connected to the left E Bus connector of the RDIO 16 16 module Several RDIO modules can be connected via the CAN connector QEBUS CAN Module The QEBUS CAN module ts designed for using the LocalCAN bus for external CAN bus nodes The module does not count as an E Bus node It can be used in addition to the maximum number of E Bus modules The E Bus does not pass through the module Therefore the module can be placed either at the far left or far right in an E Bus segment Displays An operator panel of one size and dialog controllers of three different sizes can be used for MSC I and MSC Il applications The RDISP 22 Operator Panel is designed for supervision and control of machines and processes The Dialog Controller is a freely programmable real time controller Other Devices Further components with Ethernet or fieldbus interfaces can be connected with MSC I and MSC II Motion Controller Moog provides an extensive selection of Servo Drives Servo Motors Hydraulic Valves and Radial Piston Pumps This enables a flexible set up of industrial machinery solutions QAIO 16 4 QDIO 16 16 QDIO 16 16 QEBUS mes Extension bus BSS SSS 2888899995 54 BACKGROUND Moog Motion Controllers APPLICATION EXAMPLES MSCI QAIO 2 2 QDIO16 16 QDIO 16 16 5 E D Extension bus ERR EEE eee ERR D EERE eee WideCAN PROFIBUS DP To Host Computer NL F0 NC A Servo Valve Servo Valve Appl
16. has several fieldbus interfaces and four position transducer interfaces It is designed for closed loop control with or without profile generation of multiple electric or hydraulic axes The comprehensive functions of MSC and MSC II Motion Controllers can be extended by additional high resolution analog and digital 1 0 and communication modules The extension modules are clipped on the side of the Motion Controller and are electronically connected by the internal Extension bus E Bus MSC II Motion Controller To control complex decentralized applications two CAN bus interfaces are included Ruggedized Motion Controller The Ruggedized Motion Controller MSC R is a freely programmable motion controller designed for harsh environments It is suitable for use with both electric and hydraulic motion control The Ruggedized Motion Controller is offered in addition to MSC I and MSC II Motion Controllers to enable high speed control under demanding industrial environmental conditions The computing power ts the same as the MSC II Ruggedized Motion Controller Motion Controller The Ruggedized Motion Controller can be mounted directly at the machine without the need for an additional electronic cabinet The innovative combination of ruggedized design with IP67 protection computing power and fieldbus support makes the Ruggedized Motion Controller an excellent choice for high performance embedded control solutions Rev B September
17. info india moog com Ireland 353 21 451 9000 info ireland moog com Italy 39 0332421111 info italy moog com Japan 81 46 355 3767 info japan moog com Korea 82 31 7646711 info korea moog com Luxembourg 352 40 46 401 info luxembourg moog com The Netherlands 31 252 462 000 info thenetherlands moog com Norway 47 6494 1948 info norway moog com Russia 7831 131811 info russia moog com Singapore 65 677 36238 info singapore moog com South Africa 27 12 653 6768 info southafrica moog com Spain 34 902 133 240 info spain moog com Sweden 46 31 680 060 info sweden moog com Switzerland 41 71 3945010 info switzerland moog com Turkey 90 216 663 6020 info turkey moog com United Kingdom 44 0 168 429 858 000 info uk moog com USA 1716652 2000 info usa moog com Moog is a registered trademark of Moog Inc and its subsidiaries All trademarks as indicated herein are the property of Moog Inc and its subsidiaries CANopen is a registered trademark of CAN in Automation CiA EtherCAT is aregistered trademark of Beckhoff Automation GmbH PROFIBUS DP is aregistered trademark of PROFIBUS Nutzerorganisation e V 2013 Moog Inc All rights reserved All changes are reserved Moog Motion Controllers PIM Rev B September 2013 Id CDL30267 en MOOG WHAT MOVES YOUR WORLD
18. menus in all editors e Syntax coloring e Multi level undo redo e Display of the current values of all variables in online operation Bussi feng STRING START eT Instruction List IL 50 MOOG AXIS CONTROL SOFTWARE Functionality of MACS MACS is based on CODESYS which is the standard for IEC 61131 programming It has been enhanced by Moog by adding motion control functionality In this way even complex automation projects can be simplified MACS includes the following functionality T a g JHE eS Functionality included with license key Sissi Motion control technology Function block library including e Controller I D PID standard extended e Filter high pass low pass e Non linear functions Dead band non linear dual gain look up table e Simulation of the process PT1 PT2 e Function generator e Signal delay e Counter e Timer e Transfer functions Continuous time X discrete Matlab Simulink integration Execution X of Matlab Simulink models inside the IEC 61131 application program Generating motion profiles PLCopen function blocks according to the specification Function Blocks for a Motion Control for single and multi axis applications e Absolute and relative position e Velocity functions e Homing Moog Motion Control Function Blocks Function blocks similar to PLCopen function blocks but with additional Time parameter to allow smoother movements if the required movement can be ex
19. 1 0 of the digital extension module are actuated directly from an MSC I MSC II Motion Controller or RDIO via the E Bus A MSC Il or MSC II Motion Controller can be extended with a maximum of 7 modules e g QDIO or QAIO Further digital 1 0 can be actuated via RDIO modules which are connected with an MSC or MSC II Motion Controller via CANopen Technical Data Designation Ordering number Connection to MSCI MSCII General technical data Connection technique Connecting of the 1 0 Mounting Dimensions W x D x H Attachment dimensions Operating temperature range Storage temperature range Relative air humidity Maximum operation height Maxmimum storage height Maximum transport height Protection class Degree of protection Rev B September 2013 Moog Motion Controllers QDIO 16 16 0 5 D137 001 005 Via E Bus 10 MHz QDIO 16 16 0 5N D137 001 004 Plug in terminal strips for screwing or clamping 3 conductor front wiring NS 35 7 5 mounting rail according to EN 50022 DIN rail 124 x 170 x 85 5 mm 4 88 x 6 69 x 3 36 in W 113 118 5 mm 4 45 4 66 in PS do IO AC lees tio 2 122 lt p 25 to 70 C 13 to 158 F 10 to 95 non condensing 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft II IP20 32 QDIO 16 16 DIGITAL MODULE Designation Standards Operating equipment demands and examinations Interference emission Interference immunity Shock resistance Vibration resistance Insula
20. 1 x Digital 1 0 cable Length 1 5 m 4 8 ft length 2 m M12 A coded 5 pole socket and open cable end 1 x Power supply cable Length 1 5 m 4 8 ft M12 A coded 5 pole socket and open cable end 1 x USB cable Length 0 5 m 1 6 ft M12 A coded 5 pole socket and USB A socket 2 x LAN cable Length 2 m 6 4 ft M12 D coded 4 pole pin contacts and RJ45 connector cable category 5 USB cable 1 x USB cable CA98502 001 Length 0 5 m 1 6 ft M12 A coded 5 pole socket contacts and USB A socket ORDERING INFORMATION Documents Note Visit www moog com industrial literature to download the most recent user manuals using the document number in the search Visit the Motion Controllers and Software web page for online information TAKE A CLOSER LOOK Moog designs arange of motion control products that complement the performance of those featured in this catalog Visit our website for more information and contact the Moog facility nearest you Argentina 5411 4326 5916 info argentina moog com Australia 61 39561 6044 info australia moog com Brazil 55 11 3572 0400 info brazi moog com Canada 1 716652 2000 info canada moog com China 86 21 2893 1600 info china moog com Finland 358 10 422 1840 info finland moog com France 33 1 4560 7000 info france moog com Germany 49 7031 6220 info germany moog com Hong Kong 852 2 635 3200 info hongkong moog com www moog com industrial India 91 80 4057 6666
21. 2013 3 NTM TTIMN INTRODUCTION NI KAA LS D No l LIN PRODUCT OVERVIEW MSD Motion Controller The MSD Motion Controller is part of the Programmable Multi Axis MSD Servo Drive System and is best used in combination with Moog Servo Drives The MSD Motion Controller coordinates and synchronizes axes and communicates with host computers and other PLCs via multiple fieldbus protocols With its PLC functionality the MSD Motion Controller can control processes of the machine It is designed for closed loop control of velocity and position for up to 30 axes The MSD Servo Drives are described in detail in the Programmable Multi Axis Servo Drives catalog Moog Axis Control Software All Moog Motion Controllers can be programmed using Moog Axis Control Software MACS the standard development environment based on CODESYS The use of only one software development environment simplifies the creation of applications with different Motion Controllers Libraries with special functions MSD Motion Controller dedicated to a variety of application requirements support the program development MSC MSCR mo D136 002 D136 003 G391 001 004 005 004 001 D 5 Cerises 2 iii 2 REC AR AE EE A AE A EE EE EE Use TT het o rores se 1 LL Li tit Lil BE AE RE A EE Position transducer 2 Analog 1 0 inputs a o o e o Outputs SSS e See Digital 1 0 2 2 Sensor interfaces 2 AP Degree of protection IP20 Proces
22. 6 2 5 mm2 14 AWG Terminal Strips for QDIO 16 16 Maximum conductor cross section Number of Pole Connector name on required count module connectors HE X1 to X6 2 5 mm 14 AWG Terminal Strips for RDIO 16 16 Maximum conductor cross section Number of Pole Connector name on required count module connectors HE X1 to X6 2 5 mm 14 AWG Terminal Strips for QEBUS CAN Ordering number Screw Terminal version VKO55 018 Phoenix Contact FRONT MSTB2 5 18 ST 5 08 or Spring power clamp version B95907 018 Phoenix Contact FKC 2 5 18 ST 5 08 Ordering number Screw Terminal version VKO55 018 Phoenix Contact FRONT MSTB2 5 18 ST 5 08 or Spring power clamp version B95907 018 Phoenix Contact FKC 2 5 18 ST 5 08 Ordering number Screw Terminal version VKO55 018 Phoenix Contact FRONT MSTB2 5 18 ST 5 08 or Spring power clamp version B95907 018 Phoenix Contact FKC 2 5 18 ST 5 08 only required when the optional 24 V power supply of the CAN bus is used Connector name on Maximum conductor cross section Number of Pole required count module connectors Ordering number Screw Terminal version VKO55 002 Phoenix Contact FRONT MSTB2 5 2 ST 5 08 or Spring power clamp version B95907 002 Phoenix Contact FKC 2 5 2 ST 5 08 ORDERING INFORMATION Terminal Strips for MSC R I0 Number of Pole Connector name on Maximum conductor Ordering number required co
23. AL DATA QAIO 16 4 ANALOG MODULE Overview The QAIO 16 4 analog module is used for local extension of the inputs and outputs 1 0 of the MSC or MSC II Motion Controller The module is mounted ona DIN rail and directly connected to an MSC l or MSC II Motion Controller via the internal extension bus E Bus The QAIO 16 4 has the following inputs and outputs e 16 voltage or current inputs The input channels are converted in multiplex operation The measurement range is 10 V QAIO 16 4 V or 20 mA QAIO 16 4 A e lreference voltage output The reference voltage source provides a short circuit protected voltage of 10V e 4voltage outputs The output channels provide a voltage signal in the range of 10 V The maximum output current is 5 mA overload protection 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 environment On the front 4 LEDs provide information about the status of important module functions Technical Data Designation Ordering number Connection to MSC I MSC II Motion Controller General technical data Connection technique Mounting Dimensions WxDxH Attachment dimensions Operating temperature range Storage temperature range Relative air humidity Maximum operation height Maximum storage height Maximum transport height Protection class Degree of protection Rev B September 2013 Moog Moti
24. CS Profibus DP slave option Serial port Reset button Ethernet link puls License key slot Ethernet activity Ethernet CE WideCAN internally connected 1 1 Ethernet RJ45 rack Cable breakage display Error display of analog current outputs MACS transmission activity Cable breakage display of digital sensor inputs MACS receiver activity SIO receiver activity SIO transmission activity Rev B September 2013 6 MSC I MOTION CONTROLLER Technical Data Ordering number Integrated interfaces Ethernet CAN PROFIBUS DP slave Position transducer Processor Type Flash EEPROM Data retention General technical data Connection technique Mounting Dimensions W x D x H Attachment dimensions Operating temperature range Storage temperature range Maximum mean temperature in operation for 24 hours Relative air humidity Maximum operation height Maximum storage height Maximum transport height Protection class Degree of protection Standards Operating equipment demands and examinations Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength Power supply Voltage supply of module electronics Current consumption of module electronics Idling Full load Potential separation D136 001 007 D136 001 008 1 1 2 2 1 7 2 PowerPC Processor 32 Bit RISC architecture with floating point unit 4 MB Typically 10 years
25. F 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft 85 non condensing II IP65 front side IP20 rear side 1 5 kg 3 3 lbs 5 kg 11 lbs 440 x 300 x 77 mm 17 3 x 11 8 x 3 0 in 90 non condensing 6 kg 13 2 lbs EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2 27 IEC 60068 2 6 IEC 61131 2 test voltage 500 V 24 Voc 15 20 SELV according to EN 60950 1 1 A 2A TFT touch screen display 320 x 240 pixels 640 x 480 pixels 800 x 600 pixels PowerPC Processor 32 Bit RISC architecture with floating point unit 128 MB 96 MB for application 32 MB 24 MB for application 16 KB Yes battery buffered MACS CoDesSys 2 3 CODESYS 2 3 with target visualization real time operating system with multitasking 100Base T 10 100 MBit s 8 pole RJ45 connection recommended as interface to Moog Motion Controllers 2 x USB host 1 1 1 x on front 1 x on rear Transmission rate adjustable between 10 kBit s and 1 MBit s 2 x EIA 232 1 x EIA 485 il CAL DATA MOOG AXIS CONTROL SOFTWARE General The Moog Axis Control Software MACS offers a state of the art development environment for implementing demanding motion control functions using the IEC 61131 standard for development MACS includes tools for Programming Testing and optimizing Debugging Documentation Visualization Configuration Standard IEC 61131 Moog Know how Interfaces Process guidance level OPC
26. Idling Full load Potential separation Internal voltages Behavior at voltage failure cut off of supply voltage Interfaces Ethernet CAN EtherCAT master EtherCAT slave PROFIBUS DP slave USB Digital inputs outputs Type of digital inputs Number of digital inputs outputs Configuration Voltage supply Maximum current consumption of single output Protection Sustained short circuit Thermal overload Diagnostics Watchdog output Outputs enabled signal G391 001 001 G391 001 002 G391 001 003 24 Voc 18 to 36 V SELV according to EN 60950 1 0 3 A 0 8 A Separate potentials for e Module electronics e 24 V supply e Digital inputs outputs e Ethernet Generated via internal DC DC converters Necessary data is permanently stored If the supply voltage fails lt 18 V buffer capacitors provide the necessary energy 10 100 MBit s with 8 pole RJ45 connector 100Base T Connectors on the front cover connected internally 1 1 Transmission rate adjustable from 10 kBit s to 1 MBit s 100 MBit s 100 MBit s 12 MBit s USB 1 1 host USB A connectors Type 2 current consuming according to IEC 61131 2 4 Individually configurable as input or output in the MACS software 24 V5 18 to 36 V SELV according to EN 60950 1 0 5 Yes Yes Digital outputs in operation In the event of a fault the watchdog output goes to a high impedance state TECHNICAL DATA MSD MOTION CONTROLLER Circuit Di
27. MOTION CONTROLLERS Rev B September 2013 OFFERING HIGH PERFORMANCE MOTION CONTROL FOR DEMANDING ELECTRIC AND HYDRAULIC APPLICATIONS WHAT MOVES YOUR WORLD INTRODUCTION Moog Motion Controllers Whenever the highest levels of motion control performance and design flexibility are required you ll find Moog expertise at work Through collaboration creativity and world class technological solutions we help you overcome your toughest engineering obstacles Enhance your machine s performance And help take your thinking further than you ever thought possible INTRODUCTION SSSR a ne 2 Product OVETUIEM S nee 3 Features and Benefits ane 5 P CANEADDREESS cease sact ved pemndectatecnderinonancceassactcroecsts 6 MSC Motion Controller 6 MSC Ah Motion Controller ss 12 Ruggedized Motion Controller 17 MSD Motion Controlle ssassn 21 Extension Modules for MSC I MSCIERdMeERss 25 D S peat TAE E A T TT 44 Moog Axis Control Software 49 License KEYS arune neracebenenaestanttesconseecemeiecans 53 BACE ROUND oa E E 54 Application Examples 54 About MOGE suppi aa een emneeed 58 ORDERING INFORMATIONS 60 Ordering Information 60 This catalog is for users with technical knowledge To ensure all necessary characteristics for function and safety of the system the user has to check the suitability of the products described herein The products described in this document are subject to change without notice
28. OTION CONTROLLER Technical Data Ordering number Integrated interfaces Ethernet USB EtherCAT master CAN CANopen Optional interfaces EtherCAT slave PROFIBUS DP slave Processor Type RAM Flash EEPROM Data maintenance General technical data Connection technique Mounting Dimensions W x D x H Operating temperature range Storage temperature range Maximum mean temperature in operation for 24 hours Relative air humidity Maximum operation height Maximum storage height Maximum transport height Protection class Degree of protection Standards Operating equipment demands and examinations Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength G391 001 001 G391 001 002 G391 001 003 e N Re eke me N me Ne e PowerPC Processor 32 Bit RISC architecture with floating point unit 128 MB 32 MB Typically 10 years Plug in terminal strips On a backing plate 58 5 x 355 x 224 mm 2 30 x 13 97 x 8 81 in 20 to 55 C 4 to 131 F 40 to 80 C 40 to 176 F 50 C 122 F 10 to 95 non condensing 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft lI IP20 IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2 27 IEC 60068 2 6 IEC 61131 2 test voltage 500 V MSD MOTION CONTROLLER Ordering number Power supply Voltage supply of module electronics Current consumption of module electronics
29. RDIO 16 16 gt ke T Minternal Dimensional Drawing mm in 124 4 88 85 5 3 36 et D 113 4 45 TECI i if Al q A A i t i x CH N A Moos Motion Control lers LPIINICAL DAIA Moog Motion Controllers 5 MSC R I0 16 8 DIGITAL AND PT100 MODULE Overview The MSC R IO is used as remote extension module for the Ruggedized Motion Controller MSC R MSC II Motion Controller MSD Motion Controller or other EtherCAT master modules It includes an EtherCAT slave interface The module offers e 16 digital inputs e 8digital outputs e APT100 temperature sensor interface LEDs on the front provide information about the status of each O The arrangement of the LEDs corresponds to the 1 0 connections Safe Operational Initialization or Bootstrap Operational Interfaces EtherCAT slave status EtherCAT slave in EtherCAT slave out L1 and 5 Vok X1 Supply PT100 input L2 0K Digital outputs Status of digital outputs EELELEEF Status of digital Status of digital inputs inputs Digital inputs Digital inputs MSC R I10 16 8 DIGITAL AND PT100 MODULE Technical Data Designation D136 006 001 EtherCAT slave interface Ordering number Fieldbus interface General technical data Connection technique EtherCAT slave interface
30. able as an input or an output e CANopen slave complying with CiA DS 401 The Moog Axis Control Software MACS includes a library with function blocks to interface the RDIO via CANopen This ensures simple integration into Moog Motion Controller applications LEDs on the front provide information about the status of each O The arrangement of the LEDs corresponds to the I O connections e No modules shall be connected to the left Extension bus E Bus connector of the module The I Os are accessed via CANopen interface The Os of the QDIO modules are also accessed via CANopen e The CAN interface is only accessible via the CAN interface of the RDIO connectors on the front cover e Up to 6 QDIO modules can be connected to the right E Bus connector of the module e Several RDIOs can be connected via CAN connector Interfaces Status of digital I Os Status LEDs CAN interface Serial interface SIO Status of digital I Os Rev B September 2013 38 RDIO 16 16 DIGITAL MODULE Technical Data Designation Ordering number Connection to Moog Motion Controller Interfaces General technical data Connection technique Connecting of the I O Mounting Dimensions W x D x H Attachment dimensions Operating temperature range Storage temperature range Relative air humidity Maximum operation height Maxmimum storage height Maximum transport height Protection class Degree of protection Standards Operating e
31. agrams inputs outputs Digital input Signal source Opto To Decoupling evaluation 2 30 224 8 81 Digital output Q Q I O Outen rd 2 38 5 1 51 Rev B September 2013 5 0 0 20 x M 48 0 19 29 25 1 15 m Moog Motion Controllers 24 TECHNICAL DATA Moog Motion Controllers OVERVIEW EXTENSION MODULES FOR MSC I MSC II AND MSC R QAIO 2 2 Analog Module re QDIO 16 16 Digital Module QEBUS CAN Module Rev B September 2013 e 2analog inputs e 2analog outputs e Voltage and current range configurable e 16 Bit resolution See page 26 e 16 analog inputs e 4analog outputs e 12 Bit resolution See page 29 e 16 digital inputs e 16 digital 1 O each configurable as input or output See page 32 e Connection to second CAN controller See page 35 RDIO 16 16 Digital Module Remote module to connect a Motion Controller via CANopen interface 16 digital inputs 16 digital I O each configurable as input or output See page 38 MSC R I0 16 8 Digital and PT100 Module 16 digital inputs 8 digital output
32. alog input ts configurable in the MACS software as 10 V 10 mA or 4 to 20 mA 8 16 Bit Up to 36 V Voltage output 10 V Each analog output is additionally configurable in the MACS software as 10 mA 50 mA or 4 to 20 mA 2 16 Bit Yes Up to 36 V 10 Vc 5 mA Yes Up to 36 V 2 Corresponding to EIA 422 Inputs Each sensor configurable as incremental encoder or SSI 8 MHz 4 edge evaluation Gray or binary 8 to 32 Bit 78 kHz to 5 MHz Analog and digital outputs in operation In the event of a fault the watchdog output goes to a high impedance state MSC I MOTION CONTROLLER Circuit Diagrams inputs outputs Digital input Digital output 24 Vpc Opto To Decoupling evaluation Voltage Filter MSC I MOTION CONTROLLER Circuit Diagrams Sensor Interfaces Incremental encoder Incremental Incremental Encoder Encoder Mode DGND SSI master SSI slave Data Signal aaa SSI Master ata Signa Mode SSI Cycle CLK SSI Master SSI Sensor Mode CLK SSI Cycle CLK DGND DGND CLK SSI Sensor DGND DGND SSI Slave Mode DGND Dimensional Drawing mm in 102 4 02 160 6 30 85 5 3 36 149 5 87 5 5 0 22 a O000000000000000 0000000 170 6 69 O0000000000000000 TECHNICAL DATA Moog Motion Controlle
33. ature range Storage temperature range Maximum mean temperature in operation for 24 hours Relative air humidity Maximum operation height Maxmimum storage height Maximum transport height Protection class Degree of protection Rev B September 2013 Moog Motion Controllers The 1 0 of the analog extension module is actuated directly from an MSC I or MSC II Motion Controller via the E Bus All input and output data is transferred within one cycle of the E Bus One MSC l or MSC II Motion Controller 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 QAIO 2 2 AV D137 001 011 Via E Bus 10 MHz Plug in terminal strips for screwing or clamping NS 35 7 5 mounting rail according to EN 50022 DIN rail 124x170 x 85 5 mm 4 88 x 6 69 x 3 36 in W 113 118 5 mm 4 45 4 66 in 5 to 55 C 41 to 131 F 25t0o 70 C ILS renS SE 50 C 122 F 10 to 95 non condensing 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft 1 IP20 26 QAIO 2 2 ANALOG MODULE Designation Standards Operating equipment demands and examinations Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength Power supply Voltage supply of module electronics Maximum current consumption of module electronics Potential separation Internal voltages Protection against reverse polarity Analog in
34. bus E Bus of the MSC or MSC II Motion Controller The modules are put together and locked on the DIN rail In this way further analog and or digital I O modules can be added as required Analog modules are placed next to the Motion Controller The control and signal processing is executed by an MSC or MSC II Motion Controller The extension modules connected via E Bus do not require their own intelligence Analog 1 0 Modules The QAIO modules are analog 1 0 modules and are used to extend a MSC I or a MSC II Motion Controller via the E Bus Two different analog modules QAIO 2 2 and QAIO 16 4 are available They cannot be combined on the same E Bus segment The QAIO modules cannot be connected to a RDIO module Digital 1 0 Modules The QDIO 16 16 module is a digital I O module and is used to extend MSC MSC II Motion Controller and RDIO 16 16 module via the E Bus RDIO 16 16 Module The RDIO 16 16 digital module is used as aremote extension of the local inputs and outputs of a MSC or MSC II Motion Controller The CAN interface is only accessible via the CAN connectors on the front cover MSCII QAIO 16 4 BSS SSS 288882999 o Application with a MSC II and several analog and digital 1 0 modules Rev B September 2013 Moog Motion Controllers Up to 6 QDIO modules can be connected to the right E Bus connector of the RDIO 16 16 module QAIO modules cannot be connected to a RDIO 16 16 modules No modules shall be
35. ctronics Idling Full load Internal voltages Behavior at voltage failure cut off of supply voltage Interfaces Ethernet CAN EtherCAT master EtherCAT slave PROFIBUS DP slave USB Digital inputs outputs Type of digital inputs Number of digital inputs outputs Configuration Voltage supply Maximum current consumption of single output Current consumption all digital outputs active Protection Sustained short circuit Thermal overload Diagnostics Watchdog output Outputs enabled signal D136 003 001 D136 003 002 D136 003 004 24 Vo 18 to 36 V SELV according to EN 60950 1 0 3 A 0 8 A Generated via internal DC DC converters Necessary data is permanently stored If the supply voltage fails lt 18 V buffer capacitors provide the necessary energy 10 100 MBit s with 8 pole RJ45 connector 100Base T Transmission rate adjustable from 10 kBit s to 1 MBit s 24 V proof non isolated LocalCAN M12 connector on the front cover 100 MBit s k 100 MBit s 12 MBit s USB 1 1 host USB A connectors Type 1 current consuming according to IEC 61131 2 2 Individually configurable as input or output in the MACS software 24 Voc 18 to 36 V SELV according to EN 60950 1 0 5 A lt 4 A L2 fuse Yes Yes Digital outputs in operation In the event of a fault the watchdog output goes to a high impedance state RUGGEDIZED MOTION CONTROLLER Circuit Diagrams inputs outputs Digital input Digi
36. d graphical display images in BMP format can be displayed Contrast and brightness can be adjusted via the program or keys The keys are built as push buttons They are covered by a robust foil to withstand high push forces RDISP 22 has interfaces for CAN CANopen EIA 232 The RDISP 22 offers the display types images and messages They can be activated independently 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 visual menu structure can be defined by the programmer An image can be selected by an image number or via a menu structure by using keys Messages can be inserted into a page as well as text with variables Messages are activated by using the message number Technical Data Designation Ordering number General Technical Data Housing Dimensions W x D x H front with plug Mounting dimensions W x D Operating temperature range Relative air humidity Protection class Degree of protection Weight Rev B September 2013 Moog Motion Controllers Parameters images and messages are stored in the maintenance free flash memory 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 Motion Controller applications The function keys can be labeled freely This is done by using strips o
37. ding high power enhanced productivity and ever better performance for some of the world s most demanding applications Electric Solutions Clean operation low noise generation less maintenance and reduced power consumption make Moog electric solutions ideal for applications worldwide Moog is the ideal partner for applications where transitioning technologies requires special expertise Hybrid Solutions By incorporating the advantages of existing hydraulic and electric technologies including modular flexibility increased efficiency and cleanliness into innovative hybrid solutions Moog offers new performance potential in specialized applications Moog Global Support Moog Global Support ts our promise to offer world class e Flexible programs tailored to your needs such as Repair and Maintenance Services delivered expertly by our upgrades preventative maintenance and annual multi trained technicians With the reliability only available from year contracts a leading manufacturer with facilities around the world Moog offers you service and expertise you can count on to keep your equipment operating as it should e On site services bring the expertise to you providing quicker commissioning set up and diagnostics e Access to reliable services that are guaranteed to This promise offers many benefits to our customers offer consistent quality anywhere in the world eee For more information on Moog Global Support visit
38. e SSL i SERFS gp SHRP OD Oscilloscope Documentation e Recording of up to 20 channels e Automatic creation of the project documentation with Various See elie popu all components CFC_WG PRG CFC 0001 PROGRAM CFC_WG 0002 VAR 0006 Wgen M_WAVE_GEN 0007 PID2 M_PID 0008 Intgral1 M_INTEGRAL 0009 END_VAR 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 DELAY SMOOTH_ENABLE SMOOTH_RATE Intgralt M_Integral g INPUT OUTPUT 1 I_GAIN MAX_FLAG _MAX MIN_FLAG I_MIN _SET_VALUE _SET _HOLD I_CLEAR Debugging Task Configuration Break points e Enables division of the application program into a e Single step single cycle number of tasks e Schedule tasks optionally time based cyclic or e Writing and forcing of variables Simulation possible without hardware EE ati i P e Priority and time base of each task adjustable e Display of all the current values P Gentine k aT 0 ATER Pe el k sD ees cP rege are Calusa PRY F INTERAL Ter Pi ad sben repr Tell CPL CH ea eae E PL Tek PRAT E TERA TER L PLGLepied Rev B September 2013 52 LICENSE KEYS The license keys contain the runtime license for the Moog Axis Control Software MACS
39. ecuted in the given time without reaching the limits of acceleration decelerations and velocity Soft motion X e Cam functions with graphical editor to create movement profiles e Gearing functions Communication Graphical configurator for e PROFIBUS DP slave e EtherCAT master e EtherCAT slave e CANopen master e CANopen slave a a ad a rb bb 2s 1 1a Speier irar dot 801 idea My eS es Oo ead a ra Library management Functionality included with license key x Controls Function block library for initialization and data exchange e CAN e ElA 232 e Ethernet TCP IP and UDP IP Network variables X e OPC interface e DDE interface Hardware X Function block library e Signal conditioning for analog inputs outputs and position sensors e Diagnostics wire fault power fault etc e Time evaluation e Monitoring of temperature e Watchdog Visualization Web based visualization MACS visualization pages can be displayed on a web browser MACS HMI Package for installationona PC x for full screen display of visualization pages Motion Professional TECHNICAL DATA Moog Motion Controllers MOOG AXIS CONTROL SOFTWARE Moduls Visualization Hardware Configuration e Commissioning tool e Configuration of all modules on one screen e Creation of visualizations for end users CS Le oy Banag OHF EY inni F E Arabe Dph i Getoeera aT nobi RE ir ed AT HODI REALT ae Be master hel
40. f paper and inserting them between the keys and the front cover Programming ts carried out on the PC via an user friendly editor Programming of menus menu structures message texts and multi language display is easy to achieve with the PC editor ITE Designer RDISP 22 D137 004 003 Integrated case 196 x 129 x 53 mm 7 72 x 5 08 x 2 09 in 187 x 120 mm 7 36 4 72 in 10 to 60 C 14 to 140 F 10 to 95 non condensing III IP65 front side IP20 rear side 1 4 kg 3 08 lbs 45 RDISP 22 OPERATOR PANEL Designation Standards Interference emission Interference immunity Shock resistance Vibration resistance Power supply Voltage supply of module electronics Current consumption at 24V Fuse Connection to power supply Display Type Number of characters per line minimum maximum Line height Standard character set Keys Type Number Key top Rear Functions Menu structures Contrast and brightness Character attributes Programming Value entry Vartables Memory Interface to PC editor ITE Designer Interface to controller e g MSC I MSC II Interfaces CAN EA2372 RDISP 22 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2 27 IEC 60068 2 6 24 Vpc 17 to 36 Vpc SELV with reverse voltage protection 0 5 A depending on display brightness Electronic fuse with automatic reset 6 pole AMP crimp connector LCD Superwist 240 x 64 points LED background lighting 10 40
41. ication with a MSC I Motion Controller several digital and analog 1 0 modules and two Servo Valves MSCII QAIO 2 2 QDIO 16 16 QDIO 16 16 Extension bus WideCAN alternatively i t Servo Valve Application with a MSC II Motion Controller several digital and analog 1 0 modules and a Servo Valve Rev B September 2013 55 BACKGROUND APPLICATION EXAMPLES MSCII QAIO 2 2 QEBUS RDIO 16 16 QDIO 16 16 QDIO 16 16 a En Extension bus CCC BEHA E EEE re 5 HH rrrrrr Moog Motion Controllers EtherCAT n 4 MSD Servo Drives Application with two E Bus segments and two MSD Servo Drives Applications with Ruggedized Motion Controller The Ruggedized Motion Controller has IP67 protection Other components can be connected to the Ruggedized and is designed for harsh industrial environments It is Motion Controller e g Servo Valves designed to work in environments that have fluids such as salt water mineral oil and others EtherCAT Servo Valve Application with Ruggedized Motion Controller and Servo Valve Rev B September 2013 56 BACKGROUND Moog Motion Controllers APPLICATION EXAMPLES Applications with MSD Motion Controller The MSD Motion Controller is specially designed for the use with Servo Drives from the Moog MSD Series For further information about the MSD series refertothe Programmable Multi axis Servo Drive catalog EtherCAT LS mA Lt F 17
42. ng a jumper to connect disconnect a CAN termination resistor The module is mounted onto a DIN rail and ts directly attached to a MSC l or MSC II Motion Controller or an extension module via the connector at the side of the module e 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 ODIO 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 e The CAN bus can be connected to a power supply via X1 Rev B September 2013 35 QEBUS CAN MODULE Technical Data Designation Ordering number Connection to MSCI MSCII General technical data Connection technique Mounting Dimensions W x D x H Attachment dimensions Operating temperature range Storage temperature range Relative air humidity Maximum operation height Maximum storage height Maximum transport height Protection class Degree of protection Standards Operating equipment demands and examinations Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength Power supply Voltage supply of module electronics Interfaces LocalCAN Q connector QEBUS CAN D137 001 010 Via Q connector Optional CAN power supply
43. number Integrated interfaces Ethernet USB EtherCAT master EtherCAT slave CAN CANopen PROFIBUS DP slave Processor Type RAM Flash EEPROM Data retention General technical data Connection technique Mounting Dimensions W x D x H Operating temperature range Storage temperature range Relative air humidity Maximum operation height Maximum storage height Maximum transport height Protection class Degree of protection Shock resistance Vibration resistance Standards Operating equipment demands and examinations Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength D136 003 001 D136 003 002 D136 003 004 1 1 1 1 1 1 1 1 1 1 2 2 1 PowerPC Processor 32 Bit RISC architecture with floating point unit 128 MB 32 MB Typically 10 years M12 connectors Powder coated aluminum housing mounting on a backing plate 161 x 105 x 57 7 mm 6 34 x 4 13 x 2 27 in 40 to 70 C 40 to 158 F 40 to 80 C 13 to 176 F gt 10 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft II IP67 with mounted connectors cover caps 50 g 6 directions 3 ms 30 g 3 axes 10 Hz to 2kHz 10 sweeps IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2 27 IEC 60068 2 6 IEC 61131 2 test voltage 500 V RUGGEDIZED MOTION CONTROLLER Ordering number Power supply Voltage supply of module electronics Current consumption of module ele
44. offers diagnostics functions which support service and commissioning tasks The predefined elements such as buttons bar graphs meters tables and histograms make it easy to create visualization screens e Programmable with MACS CODESYS no additional editor toolrequired e TFT technology for brilliant colors e Fanless operation e Communication to Moog Motion Controllers via Ethernet Rev B September 2013 47 DIALOG CONTROLLER Technical Data Designation Size Ordering number General technical data Dimensions WxDxH Operating temperature range Storage temperature range Transport temperature range Maximum operation height Maximum storage height Maximum transport height Maximum relative air humidity Protection class Degree of protection Weight approximately Standards Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength Power supply Voltage supply of module electronics Current consumption typical maximum Display Type Resolution Processor RAM Flash memory Retain memory Real time clock Development environment Runtime software Interfaces Ethernet USB CAN Serial port Dialog Controller SA 10 4 wi D137 004 004 D137 004 005 D137 004 006 194x 172x52 mm 360 x 260 x 77 mm 7 6 x 6 8 x 2 0 in 14 2 x 10 2 x 3 0 in O to 50 C 32 to 112 F fanless technology 20 to 70 C 4 to 158 F 20 re 7100 22 fo sell Ste I
45. on Controllers The 1 0 of the analog extension module is actuated directly from an MSC I or MSC II Motion Controller via the extension bus E Bus It is not possible to combine it with a QAIO 2 2 on one E Bus segment QAIO 16 4 A D137 001 006 Via E Bus 5 MHz QAIO 16 4 V D137 001 007 Plug in terminal strips for screwing or clamping NS 35 7 5 mounting rail according to EN 50022 DIN rail 124x170 x 85 5 mm 4 88 x 6 69 x 3 36 in W 113 118 5 mm 4 45 4 66 in 5 to 50 C 41 to 122 F 25 101706 13 te lss ih 10 to 95 non condensing 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft lI IP20 29 QAIO 16 4 ANALOG MODULE Designation Standards Operating equipment demands and examinations Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength Power supply Voltage supply of module electronics Maximum current consumption of module electronics Potential separation Internal voltages Protection against reverse polarity Analog inputs Type Number Resolution Overvoltage current protection Analog outputs Type Number Resolution Short circuit protection Overvoltage protection Maximum output current of voltage output Reference voltage outputs Reference output voltage Maximum current Short circuit protection Overvoltage protection QAIO 16 4 A QAIO 16 4 V IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC
46. puts Type Number Resolution Overvoltage protection Analog outputs Type Number Resolution Short circuit protection Overvoltage protection Maximum output current of voltage output Reference voltage outputs Reference output voltage Maximum current Short circuit protection Overvoltage protection Pulse input QAIO 2 2 AV IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2227 IEC 60068 2 6 IEC 61131 2 test voltage 500 V 24 V5 18 to 36 V SELV according to EN 60950 1 0 25 mA Separate potentials for e Module electronics e 24 V supply e Pulse input Generated via internal DC DC converters Yes Each analog input ts configurable in the MACS software as 10 V 10 mA or 4 to 20 mA 2 16 Bit Up to 36 V Voltage output 10 V Each analog output additionally configurable in the MACS software as 10 mA 50 mA or 4 to 20 mA 2 16 Bit Yes Up to 36 V 10 mA TUG 5 mA Yes Up to 36 V 24 V digital input Can be used as input according to IEC 61131 2 type 1 positive switching input OE or ground switching input OC QAIO 2 2 ANALOG MODULE Circuit Diagrams inputs outputs Analog input Analog output Voltage Filter Current Filter Opto To Decoupling evaluation Dimensional Drawing mm in 124 4 88 85 5 3 36 113 4 45 Opto Decoupling To evaluation TECHNIC
47. quipment demands and examinations Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength Power supply Voltage supply of module electronics Maximum current consumption of module electronics Potential separation Protection against reverse polarity Digital inputs outputs Type Number Voltage supply Maximum output current Short circuit protection Reverse polarity protection RDIO 16 16 0 5 D137 002 001 e CANopen to a Motion Controller e E Bus to connect up to 6 QDIO modules CAN Plug in terminal strips for screwing or clamping 3 conductor front wiring NS 35 7 5 mounting rail according to EN 50022 DIN rail 124 x 170 x 85 5 mm 4 88 x 6 69 x 3 36 in W 113 118 5 mm 4 45 4 66 in 5 to 50 C 41 to 122 F 0 PAO AEN eILS ue SEE 10 to 95 non condensing 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft II IP20 IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2 27 IEC 60068 2 6 IEC 61131 2 test voltage 500 V 24 Voc 18 to 36 V SELV according to EN 60950 1 0 15 A Yes between CAN and digital I O Yes Plus switching e 16 digital inputs e 161 0 each useable as input and output 24V pc SELV divided into 61 0 groups 0 5 A Yes Yes all digital outputs RDIO 16 16 DIGITAL MODULE Circuit Diagrams inputs outputs Digital input plus switching Digital output plus switching RDIO 16 16
48. ror display option Rev B September 2013 12 MSC II MOTION CONTROLLER Technical Data Ordering number Integrated interfaces Ethernet USB EtherCAT master EtherCAT slave PROFIBUS DP slave CAN CANopen Position transducer Processor Type RAM Flash EEPROM Data retention General technical data Connection technique Mounting Dimensions W x D x H Attachment Dimensions Operating temperature range Storage temperature range Maximum mean temperature in operation for 24 hours Relative air humidity Maximum operation height Maxmimum storage height Maximum transport height Protection class Degree of protection Standards Operating equipment demands and examinations Interference emission Interference immunity Shock resistance Vibration resistance Insulation strength D136 002 002 D136 002 003 D136 002 004 D136 002 005 1 1 2 2 2 2 2 1 1 2 2 2 2 4 4 PowerPC Processor 32 Bit RISC architecture with floating point unit 128 MB 32 MB Typically 10 years Plug in terminal strips for screwing or clamping NS 35 7 5 mounting rail according to EN 50022 DIN rail 124x170 x 85 5 mm 4 88 x 6 69 x 3 36 in W 113 118 5 mm 4 45 4 66 in 5 to 55 C 41 to 131 F 25 to 0 C 13 t0158 F 508C 1222F 10 to 95 non condensing 2 000 m 6 500 ft 3 000 m 9 800 ft 3 000 m 9 800 ft lI IP20 IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2 27
49. rs MSC II MOTION CONTROLLER Overview The MSC II Motion Controller is a freely programmable multi axis motion controller that facilitates rapid and precise control of process variables such as position speed and force It is suitable for use with both electric and hydraulic motion control Compared to the MSC Motion Controller the MSC II Motion Controller offers higher computation power shorter cycle times and additional fieldbus options such as EtherCAT The MSC II Motion Controller 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 Interfaces State of digital WideCAN LocalCAN transmission SIO receiver activity SIO transmission I Os transmission activity activity activity E Bus transmission Activated by activity application program LZ Outputs enabled WideCAN X1 X3 internally connected 1 1 Termination Resistor at LocalCAN L1 and 5 VOK WideCAN X1 X3 internally connected 1 1 AT ETHI RT ETH Run Stop Reset License key slot switch USB er interface Link RJ45 10 100 MBit s RJ45 x8 TL realtime ethernet 10 100 MBit s i sfacfex le wpa i x10 8 interface option LAN and programming 000000000000008 interface n E Serial Wire fault display for Activated by application Fieldbus interface interface SIO digital sensor inputs program or er
50. s PT100 temperature sensor interface See page 41 25 TECHNICAL DATA QAIO 2 2 ANALOG MODULE Overview The QAIO 2 2 analog module is used for local extension of the inputs and outputs 1 0 of the MSC or MSC II Motion Controller The module is mounted on a DIN rail and directly connected to an MSC I or MSC II Motion Controller via the internal Extension bus E Bus The QAIO 2 2 has the following inputs and outputs e 2 analog inputs each configurable in the Moog Axis Control Software MACS development environment astl0V lOmAor4to 20 mA The inputs are converted in multiplex operation e lreference voltage output The reference voltage source provides a short circuit protected voltage of 10V e 2analog outputs each 10 V additionally individually configurable in the MACS software as 10 mA 50 mA or 4to20 mA with wire fault monitoring e l pulse input 24 V useable as counter input or frequency measurement input On the front 4 LEDs provide information about the status of important module functions The configuration of the analog I O is carried out per software via the central control configuration in the MACS development environment Either the two analog inputs or the pulse input can be used Technical Data Designation Ordering number Connection to MSC I MSC II Motion Controller General technical data Connection technique Mounting Dimensions W x D x H Attachment dimensions Operating temper
51. server DDE interface Machine level Rev B Sep tember 2 CAN CANopen Ethernet TCP IP PROFIBUS DP EIA 232 EtherCAT I UJ Moog Motion Controllers Features Extensive libraries with Moog function blocks based on 50 years of experience in electric and hydraulic motion control Freely programmable controller structures Maximum flexibility by offering a complete scope of functions in all IEC 61131 programming languages Simultaneous realization of control regulation and PLC applications in one application program Open standard interfaces for communication on machine and process levels Motion control functions corresponding to PLCopen standard aj FED ii Pe W minia PP E Pete PEE i AT Oo 3 arg Ad PTE Aj Ci ra BA Can E ton EE Le Fe a CP eS DPF W LE SF PRG SET Benefits Quick project realization Low programming efforts One tool for programming visualizing and documentation TECHNICAL DATA MOOG AXIS CONTROL SOFTWARE Programming Languages e AlLLIEC 61131 programming languages and CFC Continuous Function Chart e Full scope of functionality in all programming languages provides maximum flexibility in creation of user programs e Each module can sequence other modules regardless of their programming language Ladder Diagram LD Rev B September 2013 Moog Motion Controllers Editors e Context sensitive input help e Automatic formatting e Context
52. sor Special features Multiple extension modules available to be Designed for harsh To be combined with connected via E Bus or remote CAN bus environments Moog Servo Drives FEATURES AND BENEFITS Short cycle times Easy to use software and flexible hardware Support of user defined open control structures Special Moog libraries of pre programmed function blocks Multiple connectivity options Remote servicing and debugging Benefit Higher machine productivity Fast start up commissioning Maximum flexibility Solve advanced control problems quickly Quick integration Convenience TECHNICAL DATA Moog Motion Controllers MSC I MOTION CONTROLLER Overview The MSC I Motion Controller is a freely programmable multi axis controller suitable for electric and hydraulic motion control It provides fast and precise control for position speed and force and features an integrated PLC functionality The Moog Axis Control Software MACS offers a modern and powerful IEC 61131 development environment The hardware functionality can be parameterized via MACS The MSC I Motion Controller allows freely definable controller structures with cycle times of 400 us Interfaces Termination resistor WideCAN transmission activity LocalCAN transmission activity E Bus transmission activity at LocalCAN L1 and 5 V OK State of digital I Os Outputs active Freely programmable Programming interface for MA
53. tal output 24 Vbc Opto To Decoupling evaluation Dimensional Drawing mm in 57 7 2 27 47 1 1 85 HMH TECHNICAL DATA MSD MOTION CONTROLLER Overview The MSD Motion Controller is based on a 32 bit microprocessor The MSD Motion Controller coordinates and synchronizes axes and communicates with host computers and other PLCs via multiple fieldbus protocols With its PLC functionality the MSD can control processes of the machine It is designed for closed loop control of velocity and position for up to 30 axes Additionally it is able to control input and visualization devices It supports various communication protocols such as EtherCAT CANopen and PROFIBUS DP to any host controller Interfaces Le Rev B September 2013 Moog Motion Controllers The MSD Motion Controller includes 2 EtherCAT master interfaces for fast real time communication with the Servo Drives Based on the IEC 61131 development standard Moog Axis Control Software with specialized motion libraries is provided to program the MSD Motion Controller ai 24 volt _ e License key Run Stop Reset switch Option Fieldbus card CAN bus USB 1 1 host connection for data up and download via USB stick Ethernet TCP IP programming interface display LAN Control terminals 2 x EtherCAT Master 21 MSD M
54. ter productivity higher reliability superior connectivity less costly maintenance and more effective operations Our regional presence industry knowledge and design flexibility ensures Moog motion control solutions are tailored to their environment from meeting operating regulations and performance standards to taking machine performance to a higher level Servo Motors Products At the heart of every Moog solution ts an array of products engineered for precision high performance and reliability For more than five decades Moog products have been specified for critical machine applications Some are developed specifically for unique operating environments Others are standard equipment on machines across many industries All are continuously improved to take advantage of the latest technology breakthroughs and advancements Servo Valves Moog products include e Servo Valves and Proportional Valves e Servo Motors and Servo Drives e Controllers and Software e Radial Piston Pumps e Actuators e Integrated Hydraulic Manifold Systems and Cartridge Valves Radial Piston Pumps e Slip Rings e Motion Bases Rev B September 2013 58 BACKGROUND Moog Motion Controllers ABOUT MOOG Hydraulic Solutions Since Bill Moog invented the first commercially viable Servo Valve in 1951 Moog has set the standard for world class hydraulic technology Today Moog products are used ina variety of applications provi
55. tion strength Power supply Voltage supply of module electronics Maximum current consumption of module electronics Potential separation Protection against reverse polarity Digital inputs outputs Type Number Voltage supply Maximum output current Short circuit protection Reverse polarity protection QDIO 16 16 0 5 QDIO 16 16 0 5N IEC 61131 2 EN 61000 6 4 EN 61000 6 2 industrial part IEC 60068 2777 IEC 60068 2 6 IEC 61131 2 test voltage 500 V 24 Vpc 18 to 36 V SELV according to EN 60950 1 0 15 Yes between E Bus and digital 1 0 Yes Plus switching Zero switching e 16 digital inputs e 161 0 each useable as input and output 24V 5 SELV divided into 6 1 0 groups 0 5 Yes Yes all digital outputs QDIO 16 16 DIGITAL MODULE Circuit Diagrams inputs outputs Digital input plus switching QDIO 16 16 M internal Dimensional Drawing mm in 124 4 88 113 4 45 85 5 3 36 lt aa Digital input zero switching QDIO 16 16 TECHNICAL DATA Moog Motion Controllers QEBUS CAN MODULE Functionality 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 E 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 usi
56. tors Q connectors on the right and left side of the module for connecting up to 7 additional modules Contains a serial bus 5 to 10 MBit s and the LocalCAN bus Type 1 current consuming according to IEC 61131 2 4 Individually configurable as input or output in the MACS software 24 Voc 18 to 36 V SELV according to EN 60950 1 0 5 A Yes Yes MSC II MOTION CONTROLLER Ordering number Sensor interfaces Number of sensor interfaces Type of signal Wire fault monitoring Configuration Incremental encoder interface Maximum pulse frequency Edge evaluation SSI interface SSI sensor master or slave data format Data bits Transmission frequency Diagnostics Watchdog output Outputs enabled signal Circuit Diagrams inputs outputs Digital input Opto Decoupling D136 002 002 D136 002 003 D136 002 004 D136 002 005 4 Corresponding to EIA 422 with protection against 24 V Inputs Each sensor configurable as incremental encoder or SSI 8 MHz 4 edge evaluation Gray or binary 8 to 32 Bit 78 kHz to 5 MHz Digital outputs in operation In the event of a fault the watchdog output switches to a high impedance state Digital output 24 Vpc o 1 1 0 Outen evaluation MSC II MOTION CONTROLLER Circuit Diagrams Sensor Interfaces Incremental encoder Incremental Incremental Encoder Encoder Mode DGND SSI master SSI slave Data Signal SSI Master Data Signal Mode SSI Cycle
57. tors on the front cover connected internally 1 1 e LocalCAN For communication with other Motion Controller via the side Q connectors or with the QEBUS module to further devices 12 MBit s DE 257 e MACS on the front cover for communication with the MACS software ona PC e SIO on the front cover for free use in the application program Q connectors on the right and left side of the module for connecting up to additional modules Contains a serial bus 5 to 10 MBit s and the LocalCAN bus Type 1 current consuming according to IEC 61131 2 8 Individually configurable as input or output in the MACS software 24 V5 18 to 36 V SELV according to EN 60950 1 0 5 A Yes Yes Up to 36 V MSC I MOTION CONTROLLER Ordering number Analog inputs outputs Voltage supply Analog inputs Type Number Resolution Overvoltage protection Analog outputs Type Number Resolution Protection Short circuit Overvoltage Reference voltage outputs Reference output voltage Maximum current Protection Short circuit Overvoltage Sensor interfaces Number of sensor interfaces Type of signal Wire fault monitoring Configuration Incremental encoder interface Maximum pulse frequency Edge evaluation SSI interface SSI sensor master or slave data format Data bits Transmission frequency Diagnostics Watchdog output Outputs enabled signal D136 001 007 D136 001 008 Via internal DC DC converter Each an
58. troller e Designed for use with Moog MSD Servo Drives lae e 4digital O each configurable as input or output l 2 lili 1 PERH errs ORDERING INFORMATION Extension Modules for MSC I MSC II and MSC R All MSC and MSC II extension modules are to be mounted on DIN rail 2 analog inputs QAIO 2 2 AV QAIO 16 4 A QAIO 16 4 V Digital I O modules for E Bus QDIO 16 16 0 5N QDIO 16 16 0 5 Connection modules QEBUS CAN Digital O modules for remote CAN bus RDIO 16 16 0 5 2 analog outputs l reference voltage output l pulse input 16 current inputs 20 mA 4 voltage outputs l reference voltage output 16 voltage inputs 10 V 4 voltage outputs l reference voltage output 16 digital inputs 24 V 16 digital 1 0 24 V each configurable as input or output Zero switching 16 digital inputs 24 V 16 digital 1 0 24 V each configurable as input or output Plus switching Extension module for using the LocalCAN bus for external CAN bus nodes 16 digital inputs 24 V 16 digital 1 0 24 V each configurable as input or output Plus switching D137 001 011 D137 001 006 D137 001 007 D137 001 004 D137 001 005 D137 001 010 D137 002 001 Ruggedized 1 0 modules can directly be mounted to the machine without the need for an extra electronic cabinet Digital O modules for EtherCAT master MSC R 10 e 16 digital inputs 24V e 8 digital outputs 24 V e 1 channel PT100 D136 006 001 ORDERING
59. unt module cross section connectors 1 4 X1 0 5 mm 20 AWG Spring power clamp version CA96981 004 Phoenix Contact FMC 1 5 4 STF 3 5 3 12 X5 X6 X7 0 5 mm 20 AWG Spring power clamp version CA96981 012 Phoenix Contact FMC 1 5 12 STF 3 5 1 5 X8 0 5 mm2 20 AWG Spring power clamp version CA96981 005 Phoenix Contact FMC 1 5 5 STF 3 5 Accessories for MSC R I0 Number of Designation Description Ordering number required connectors 2 EtherCAT slave interface M12 D coded 4 pin male Not available connector CAN Connection Cables 3 m 9 8 ft One side 9 pole D Sub plug in B95863 001 connector with pin contacts 10 m 33 ft Other side 9 pole D Sub plug in B95863 002 connector with jack contacts CAN Termination Resistors Ordering number 120 Q 9 bole D Sub plug in connector with B95864 001 jack contacts 120 Q with grounding 9 pole D Sub plug in connector with B95865 001 pin contacts CAN GND connected to SL PE ORDERING INFORMATION Accessories for Ruggedized Motion Controller DIN rail mounting kit Accessory kit for mounting the Ruggedized Motion Controller CA94286 001 modules on a DIN rail Contents DIN rail clip Mounting plate Screws Cable set 1 x CAN bus cable CB03223 001 Length 2 m 6 4 ft M12 A coded 5 pole pin contacts and D Sub socket contacts 1 x PROFIBUS DP cable Length 2 m 6 4 ft M12 A coded 5 pole pin contacts and D Sub with 1 x socket and 1 x pin connection
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