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MAN442

1. OV I O o Output circuit Figure 6 Isolated Input and output circuits Note the outputs include protection from reverse voltage and over current but only within the rated device voltage and the printed circuit track rating So take care to connect supplies and loads correctly Page 20 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 10 Board Configurations 10 1 General This section gives details of the configuration options of the board used in the Qmanager It is described here for completeness although the settings are not normally changed The board is set up as described below when shipped J1 J2 J3 J4 Encoder connection select Jumpers J1 J2 J3 J4 allows pin 1 and pin 4 of the Qcontrol4 encoder sockets to be varied They are not relevant to the Qmanager and are omitted J5 Processor start mode Jumpers JS set the processor start up mode Standard jumper 2 3 allow the CF command to work normally Omission of 2 3 forces RS232 default and software handshake plus Ethernet default IP address jumper 3 4 then inserted forces diagnostic mode at start up and 1 2 allows processor flash programming J5 Enable processor VPP 0 volts Test input MDA30 Output MDA31 Enc 5 mode AOU N gt J6 Serial output override Jumpers J6 allows processor serial communications with no PLDs programmed Standard jumper 2 3 allows programmed selection to work as normal other setting
2. Ber di Description Drawing CBA137 SERVOnet cable QDV 2 2 007 CBA137 A SERVOnet power feed QDV 2 2 007 CBA137 B SERVOnet terminator QDV 2 2 007 CBA139 PTS programming cable QDV 2 2 015 CBA168 SERVOnet to CANopen encoder I O box QDV 2 2 007 CBA188 Test cables QCT 4 2 008 Table 5 Cable Cross reference Quin can supply these cable pre assembled Copyright 2008 Quin Systems Ltd Qmanager Installation Manual Page 35 Page 36 Copyright 2008 Quin Systems Ltd TS Third Angle Projection View of solder da buckets on a Servonet CANbus 9 way D type Servonet CANbus cable Pe feed lead Plug and Socket CA2049 or CA 2050 x SOX APN 0 volts ms 2A 2 SRO _ 9 120R Hozo CCTC e So 0000000000 Diode BAV21 100R 2W 12 Volts CBA137 A lt Lenth PT _ gt as per numeric part no suffix Thus for example CBA137 2 2 metres User option on Terminator l eee CAN H to CANopen encoder or I O es per controller amp options mo j Bla Colour Socket plug CAN_V White Blue CAN_L White Orange CAN_Gnd White Green Ends should reserved White Brown be crimped CAN_SHLD Screen with ferrules CAN_Gnd Blue CAN_H Orange Error line Green reserved Brown o ND NARUN Ee Servonet CANbus feed lead Not Modification Record Material Finish dl type issue Date Comment Drawn Approved n a
3. e For use as both a data source and a programming terminal link the SK command is used to enter function ethernet with the correct version plus a licence key The internet IP address is entered using command CF for port E After next switch on a Toolkit connection may be made and give a terminal port output is directed to this whilst it is the route receiving last input A data connection may also be made using the DDE or OPC server supplied as part of the licence or other connection to the specified interface protocol For a QLC using CANbus real time network the ethernet port is the recommended programming link needing no licence to enable see below re address selection The connection is made with a CAT 5 cable either via a hub or using a crossed cable 10baseT or 100baseTX is established using autonegotiation The IP address can be forced to a default of 192 168 200 201 by removing the J5 link from the middle pair of pins This then allows access at that address over Ethernet the PTS CF command will accept a new non default address and store it for use when J5 is restored Similarly CoDeSys may be used to connect to a QLC unit and its browser can be used to set a new non default address CoDeSys can also connect via serial port A allowing the browser to be used to set up for Ethernet access For EtherCAT network usage the front panel ethernet port is the real time network connected with CAT 5 cable to the first axis nod
4. QUIN CONTROL Quin Systems Limited Qmanager Installation Manual Issue 4 Amdt A December 2008 MAN442 Quin Systems Limited Qmanager Installation Manual Issue 4 Amdt A December 2008 MAN442 Important Notice Quin Systems reserves the right to make changes in the products described in this document in order to improve design or performance and for further product development Examples given are for illustration only and no responsibility is assumed for their suitability in particular applications Reproduction of any part hereof without the prior written consent of Quin Systems is prohibited Although every attempt has been made to ensure the accuracy of the information in this document Quin Systems assumes no liability for inadvertent errors Suggestions for improvements in either the products or the documentation are welcome Relevant Directives The product is designed to be incorporated into a system for the control of machinery and needs external equipment to enable it to fulfil this function It must not be relied upon to provide safety critical features such as guarding or emergency stop functions It must not be put into service until the machinery into which it has been incorporated has been declared in conformity with the Machinery Directive 89 392 EEC and or its relevant amendments The installation instructions in this manual should be followed in constructing a system which meets requirements T
5. isolated inputs and outputs J JTAG diagnostics jumper locations K key for optional software L license key limit switches M machine guards Machinery Directive Mains filter mains supply installation memory bank battery supply Modbus connections Modbus unit number mounting details O Operator s Panel connections optional software output drivers output line testing output lines P PB port B setup power down power supplies digital i o external installation power supply Profibus configure Page 40 16 20 19 16 25 16 33 22 24 24 17 11 25 QC RS 232 RS 485 S screw terminal connections self test serial data format serial port connections override testing serial port configuration service department address SER VOnet connections SER VOnet network shutdown signal separation SK software license key start up mode system tests T telephone number temperature range testing digital inputs and outputs interfaces RAM test serial port trunking W weight width Issue 4 26 25 25 13 29 11 21 18 25 12 17 14 24 24 21 18 19 31 31 18 14 Copyright 2008 Quin Systems Ltd
6. 35 Copyright 2008 Quin Systems Ltd Page 3 Qmanager Installation Manual Issue 4 Page 4 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 1 Introduction This document is the Installation Manual for the Qmanager a member of the Quin Systems digital Programmable Transmission System PTS range Machine Manager units are used in SERVOnet based PTS and QLC soft PLC systems These are distributed systems consisting of a number of servo motor axis controllers and a manager or host unit providing overall system control external communications and user interfaces The manager is linked to the axis controller modules via SERVOnet a high speed network system based on either CANbus or EtherCAT Three models of manager are available and this document includes installation details for the newest of the three the Qmanager The Qmanager has a MPCSSS processor with 4 Mbyte or more of flash memory for firmware and 2 Mbyte ram space available The flash includes the system firmware It is programmed via an RS 232 serial port or an Ethernet link and uses 256k of flash memory for configuration user program and map retention 1 Mb of RAM has battery hold up some of this is used for variables approximately 10000 variables or array elements The processor uses a 32 bit bus at 40MHz PLEASE READ THIS MANUAL BEFORE INSTALLATION It is very important that the guidelines for installation are observed otherwise damage
7. n a LE i Scal Stock Cod X 4 twisted pairs plus screen 7 0 16 mm CA2049 subject a euof gee AM CT or o tota vott rop latine cli Ci de Y 2 cores 16 02 Red and Blac twisted Cic II Serrone Schl Quin Systems Ltd ithi aklands Business Centre cable assembly Sleeve component leads within plugs For CBAI 37 A dress iti AD Oakland Pask ss Centr feed terminator position of 2 watt resistor to be in free space within 7 Wokingham h LA Berkshire Tel 0118 9771077 Drg No metal shell not touching other leads staz Fax 0118 9776728 i ODV 2 2 007 Qmanager Installation Manual Issue 4 Issue 4 Qmanager Installation Manual Third Angle Projection View of solder buckets on a 9 way D type Socket To connect to PC COM port lt __ength as standar gt 3 metres but for example CBA139 2 2 metres maximum approved is 3 metres Ring Terminal and jackscrew to connect to D type socket screw PC chassis 30 cm 12 green yellow lead yellow lead Socket Assembled cable Modification Record Issue Date Comment 24 Jul 97 First Issue as wiring schedule only 11 Sep oq Earth tails added Notes Cable type X 5 cores plus screen 0 25 sqmm Y 16 0 2 Green yellow am Berkshire RG41 2FD Copyright 2008 Quin Systems Ltd 1 metre green QUIN Quin Systems Ltd Oaklands Business Centre P View of solder buckets on a 9 way D type Plu
8. safety considerations and to comply with Health and Safety requirements It can also prevent any unwanted interference with the machine while it is running All moving machinery must be guarded so that it cannot be reached by anybody while in motion The guards should be fitted with guard switches or sensors connected so as to immediately cut power from the motors when any guard is opened On some machines it may be useful to lock the guards closed by means of a solenoid to prevent them from being opened while the machine is running This allows the machine to detect any attempt to open a guard and shut down the machine cleanly before unlocking the guard and allowing it to open Motors which have constraints or limits on their range of motion should be fitted with hard wired limit switches These should cut power from the motors if any motor goes outside its limits of travel The machine must also have one or more locking emergency stop pushbutton switches accessible from several positions around the machine Anyone operating or working on the machine must be able to instantly stop the machine at any time by hitting an emergency stop switch Guards emergency stop and limit switches may be connected into the PTS or QLC motor control systems by using the digital input lines However the programmable input functions on these units should only be used in addition to the conventional hard wired guard and limit switches not to replace them The digi
9. Explorer Some pins need to be linked as shown allowing the combined access chain to function from TDI into pin 12 through to TDO out from pin 3 SK3 TRST 1 2 0 volts RSTCONF TDO from MPC555 3 4 0 volts n c MPC555 TDI 5 6 n c TDO TMS MPC555 7 8 TMS PLDs TCK MPC555 9 10 n c TCK PLDs 11 12 TDI to PLDs Copyright 2008 Quin Systems Ltd Page 33 Qmanager Installation Manual Issue 4 Note that SK3 pins must be left blank for normal operation or for processor or PLD programming Test procedures using JTAG access are documented elsewhere 12 5 PTS Language Diagnostics Certain tests need a relatively complicated set up to run in a standalone mode yet can be tested easily using the interfaces in the PTS firmware The standard firmware includes a test of the Anybus card socket A card is fitted without enabling the software licence Then executing the Anybus PB setup shell runs a short test of access to the dual port memory on the card and reports results Page 34 Copyright 2008 Quin Systems Ltd Issue 4 A Standard Cable Drawings A 1 Introduction This appendix contains the assembly drawings for the standard cable configurations used with Qmanager QDV 2 2 007 SERVOnet Synchrolink cable assembly feed terminator QDV 2 2 015 Programming cable assembly QCT 4 2 008 Qcontrol 4 CANbus IR link test cables The cable part numbers are as follows
10. L command runs the above in sequence reporting the presence of options for test Install all loopback links first And finally QUIT back to the main menu There is no provision for diagnostic mode analogue testing nor for tests of encoder counting both these features can readily be checked with PTS code instructions where provided by the Qcontrol 4 version of the card 12 1 6 Exit to PTS QLC code This uses the b command from the top level menu after removing jumper J5 off pin 4 and normally putting it on 2 3 Restart on the PTS Toolkit window toolbar will give the b command and change the terminal baud rate back to 9600 12 2 BDM port access The connector P1 near the centre of the board provides access to the processor s Basic Diagnostic Monitor port with pinout to suit download pods or debug interfaces as follows P1 VFLSO 1 2 SRESET 0 volts 3 4 DSCK 0 volts 5 6 VFLS1 HRESET 7 8 DSDI 3 3 volts 9 10 DSDO The port may be used for initial download of the flashboot sector or of a complete program using P amp E Microcomputer Systems PowerPC cable and download software the process normally uses command files as a DOS batch process Page 32 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 12 3 CPLD Download The connector PL2 near the centre of the board connects to the programming chain for the Lattice CPLDs which implement much of the unit s hard logi
11. VOnet high speed network based on CANbus 9 way double D type plug socket S5 for the CANopen device interface or inter manager linking with SynchroLink again on CANbus 8 way RJ45 socket SK4 for Ethernet 10baseT or 100baseTX Page 10 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 3 off 10 way two part screw terminal connectors T1 T2 and T3 for the isolated 24V digital inputs and outputs 2 way two part terminal connector T4 for 24 volt I O supply input space for 10 way and 5 way two part screw terminal connectors T5 T6 T7 T8 and T9 for expansion analogue inputs and outputs 6 way two part screw terminal connector T10 for the input of power for the unit supply volts 5 1 Serial Data The RS 232 serial port A on the controller uses the left half of socket S3 The pin connections to this are shown below S3 pin no Signal S3 pin no Signal 1 6 2 ITXD 7 RTS 3 RXD 8 CTS 4 9 5 GND Table 1 RS232 port A port B connections It is important that static charge from portable equipment is not discharged by connection to the serial ports the electronics may be damaged and machine operation affected Equipment should be earthed by prior connection of a ground lead and we recommend use of cable CBA13 007 and initial connection of its earth tails to PC chassis and a panel earth terminal The serial port B for the Operator s Panel or Modbus interface uses the
12. allation 9 5 Connections 10 5 1 Serial Data 11 5 2 Process Logic and Supplies 12 6 Electrical Installation 14 6 1 General 14 6 2 Mains Power supply 15 6 3 Earth connections 15 6 4 Digital inputs and outputs 16 7 Safety Using Guards and Limits 17 Testing the System 18 8 1 General 18 8 2 Serial port 18 8 3 Digital signals 19 9 Electrical Details 20 9 1 Isolated input and output circuits 20 10 Board Configurations 21 10 1 General 21 10 2 Anybus board 23 11 PTS System Configuration 24 11 1 Configuration Commands 24 11 2 Ports and Interfaces 26 12 Diagnostics and Tests 29 12 1 SRV400Flashboot Sector 29 12 2 BDM port access 32 12 3 CPLD Download 33 12 4 JTAG 33 12 5 PTS Language Diagnostics 34 A Standard Cable Drawings 35 A l Introduction 35 Copyright 2008 Quin Systems Ltd Page 1 Qmanager Installation Manual Issue 4 Page 2 Copyright 2008 Quin Systems Ltd Issue 4 Figure 1 Figure 2 Table 1 Table 2 Table 3 Table 4 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Table 5 Qmanager Installation Manual Figures and Tables Fixing centres for the Servo Controller 9 Connector Layout 10 RS232 port port B connections 11 RS485 port B connections 11 CANbus connections 12 Back screw terminal connections 13 General installation arrangement 14 Input and output circuits 16 Testing the digital signals 19 Isolated Input and output circuits 20 Qmanager jumper locations 22 Cable Cross reference
13. arth connection for the power supplies Copyright 2008 Quin Systems Ltd Page 15 Qmanager Installation Manual Issue 4 6 4 Digital inputs and outputs The Qmanager provides sixteen digital inputs and eight digital outputs all fully isolated These may be used for several functions such as monitoring pushbuttons or guards controlling external solenoids or relays subject to the quoted current limits or signalling to a programmable logic controller The isolated interface allows 24V logic signals to be used This diagram shows typical input and output circuits with any protection components shown as well Input 1 PNP sensor y OV o ov ro Fast Input circuit World Qmanager oe Input 2 1 O Pushbutton OV o ov io Standard Input circuit Qmanager World 24V I O o Ga Output 1 a OV I O Output circuit Figure 4 Input and output circuits Note the commutating diode local to the output load This is important for avoiding interference from inductive loads do not rely on the small protection diode in the Qmanager Page 16 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual xi Safety Using Guards and Limits All machines should include comprehensive safety features This is essential both for normal
14. ata is exchanged between axis units and commands and status are exchanged with the host Qmanager The cabling is described in manual MAN529 e Analogue and digital I O may be added using a CANopen connection The SK command must be used to enable canopen version 0 the CANopen coupler must have node number of 61 matching the Qmanager The CANopen module configuration and interface needs to be set with the QC command see manual MANS29 for full details CANopen and SERVOnet can coexist subject to traffic load The upper port is labelled CANopen and can be used for peer to peer map linking between Qmanager modules The linking mode is enabled with the SK command for feature synchro2 version 0 and the data rate is set with the CF command as described above Standard cables CBA10 003 plus adaptors terminators CBA10 001 CBA10 002 should be used for the SERVOnet and similar traffic and drawings in the appendix give examples for a CANopen I O module Copyright 2008 Quin Systems Ltd Page 27 Qmanager Installation Manual Issue 4 11 2 4 Ethernet The Ethernet port can be used at several levels For use as a programming terminal link only the SK command is used to enter function ethernet with version 0 needing no key The internet IP address is entered using command CF for port E After next switch on a Toolkit connection may be made and give a terminal port output is directed to this whilst it is the route receiving last input
15. board requires a modified metal chassis for the unit to give access to the interface connectors It is fitted on and retained by three brass pillars and plugs into the 34 way miniature connector Usage from the system requires a keyed licence entered with the SK command for PTS or PLC browser for QLC A QLC system using EtherCAT real time network is programmed through an Anybus Ethernet card since the front panel Ethernet port is used for the real time connections This programming Ethernet address is set by means of the CoDeSys browser and is overridden for default access by removal of the jumper on JS pins 2 to 3 as described for the CANbus QLC Qmanager at 11 2 4 As a result there is no scope for any other Anybus card within the EtherCAT Qmanager Copyright 2008 Quin Systems Ltd Page 23 Qmanager Installation Manual Issue 4 11 PTS System Configuration Certain commands have specific actions in the Qmanager system and may need to be used together to achieve standard settings for some of the interfaces The next two sections cover the commands used to set up the hardware and its configuration for use with PTS for full details of all commands refer to the PTS Reference Manual MANS33 The command descriptions are followed by description of the standard combinations needed for some of the options Note that early versions may not have all options refer to the firmware version release note for definition QLC configuration is ge
16. c Pinouts are PL2 5 volts supply 1 TDO4 2 TDI 3 ENABLE 4 no pin 5 TMS 6 0 volts 7 TCK 8 PLD download uses Lattice VM or PRO software with Lattice download pod and a chain command file to specify the JEDEC files and their order Note that the JTAG connector described below must be left blank during PLD programming as it links the programming chains for fault finding 12 4 JTAG JTAG or boundary scan testing is a method of fault finding using a series of interface registers to allow access to the pins of an IC using ICs equipped with the JTAG interface shift registers On this board the main processor and the Lattice PLDs have such interfaces Once the interfaces are accessed testing is analogous to point to point buzzing between pins or can set up patterns to run tests such as memory access The processor JTAG pins are the same pins as used for BDM access described above and it is necessary to stop the processor for this form of testing this is accomplished by powering up with control pin RSTCONF grounded and we ensure that data bus pins D11 and D16 are high during a hard reset The PLD access uses the same JTAG chain as used to program them and these pins need to be connected in a single series chain with the processor pins For these reasons the JTAG signals are brought together to the socket SK3 which allows the linking and the connection of a JTAG controller such as JTAG Technologies BV s
17. e and through that to the further nodes Programming uses an Anybus Ethernet interface see section 10 2 Page 28 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 12 Diagnostics and Tests 12 1 SRV400 Flashboot Sector The flashboot functions of the SRV400 have more features than we have implemented on previous products At a general level we provide better diagnostic facilities to aid fault finding On a more specific level the card contains interfaces needing special tests for strike up or user validation of the unit 12 1 1 Switch on Self Test The processor performs a brief system self test following switch on The LED numeric displays show testing status The non processor logic turns on all LED segments giving 8 8 8 8 The processor primes and starts the QSPI controller to give a blank display The processor reads the RSR reset status and displays letter r plus three hexadecimal digits for the top 12 bits plus a decimal point if SRESET saw a glitch for a brief while e The display shows 0000 during data line test then letter d plus a line number if faulty e The display shows 0001 during address line test then letter A plus a line number if faulty e On satisfactory test PASS is shown briefly Start of the host code gives display 0000 during system start indicated by serial port Copyright message and channel checks then data restore and channel status display 12 1 2 Entry
18. emory gt Two new menu entries are added for this unit debug monitor Debug Monitor sub menu test Memory interface test sub menu These can be shortened to d and t like the other commands 12 1 3 Update Commands The erase definition of sectors is enhanced and the range of sector numbers given by the bnn file name is increased in both cases the sector or base address is defined as a hexadecimal number of 64kbyte blocks Thus to erase from or write starting at address 82 0000 the user would select sector 82 or a file with extension b82 when prompted in response to the Erase or Program command As far as possible the user can upgrade a unit or change mode without needing any deep understanding The erase function is normally automatic before programming and the user is given a file already named so need not know the details of sector numbering For a basic unit upgrade of version using Toolkit the following steps are needed e Fit jumper J5 pins 1 2 to enable write to the processor s internal flash memory Select Tools Firmware upgrade and for PTS choose Flashboot V2 x If the terminal was not already live select Unlock and switch on when prompted Select Program and choose a file then click Download The toolkit issues the necessary commands for erase and programming When complete as indicated by the bar Close the download box The internal processor flas
19. g PTS Port A connection Blade Terminal to connect to control system earth TxD Gnd RTS CTS Screen earth PC chassis Earth Material Finish n a n a Scale Stock Code Not to scale CBA139 Tittle Programming cable assembly Tel 01189 771077 Drg No Fax 01189 776728 QDV 2 2 015 Page 37 Page 38 Copyright 2008 Quin Systems Ltd Third Angle Projection CANopen View of back on a LiteLink IR adaptor 9 way D type Socket and plug View of back on 9 way D type Plug r 9 way ribbon lead Note break of pin 8 of ribbon lead Port B View of back on 9 way D type Plug Cable set CBA188 Ch 4 Notes Cable type X 9 way 05 ribbon Y 2 cores 16 0 2 Red and Black twisted Sleeve component leads within plugs Qmanager Installation Manual Quin Systems Ltd Oaklands Business Centre SERVOnet View of back on a 9 way D type Plug and Socket Servonet CANbus feed lead 0 volts Black Diode BAV21 100R 2W 12 vol s Red CBA137 A Ethernet loopback connector Contacts view clip on back Material Finish n a n a Scale Stock Code Not to scale CBA188 Tittle Qcontrol4 CANbus IR link test cables Drg No QCT4 2 008 Tel 01189 771077 Fax 01189 776728 Issue 4 Issue 4 A address for service or repair analogue input range B backup power battery memory baud rate C cable layou
20. h is then programmed automatically after verifying that J5 has been set up Revised memory allocation at V2 3 3 2 or QLC means that update from earlier than that needs command m a before calling Program say n to internal update at that point To exit now back to PTS QLC code Remove any jumpers now on J5 and fit the centre jumper on pins 2 3 Select Restart or Reset to run the new firmware just loaded Page 30 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 12 1 4 Debug Monitor This gives a simple method of viewing memory for debug diagnosis and of changing items in writable memory A program section can also be run The commands are mm bhw address Modify a Byte Half Word or Word at address Example mmw 3fc000 md bhw address View Memory as Byte H Word or Word at address mdh 800000 bf start end value Fill Memory from start to end with value bf 800000 810000 FFFF go address Go execute a program at address go 6000000 exit Return to Main Menu ex Use with extreme care These commands work on RAM not flash It may also be useful to erase flash on occasions using the main menu e command For example e 16 16 will clear the QLC user program area 12 1 5 Test Functions The following tests provide ready coverage of functions in manufacturing strike up and are available to a user or servicing engineer Drawing QCT 4 2 008 in Appe
21. he product has been tested in typical configurations and meets the EMC Directive 89 336 EEC when fed from power supplies which meet 89 336 EEC and 92 31 EEC The product uses only low voltages and is therefore exempt under 73 23 EEC as amended by 93 68 EEC The product as normally supplied has low voltages accessible to touch and must be mounted within a suitable cabinet to meet any required IP rating to BS EN 60529 Issue 4 Qmanager Installation Manual Copyright Notice Copyright 2008 Quin Systems Limited All rights reserved Reproduction of this document in part or whole by any means without the prior written consent of Quin Systems Limited is strictly prohibited Version History Issue Date Update Reason 1 Aug 2003 June 2004 JTAG Anybus testing July 2007 minor corrections Sept 2008 Add QLC and Ethercat info AR amp wv Amendment Record Date Issue Amdt Pages By Reason Dec 08 4 A 11 RF RS485 signal names Copyright 2008 Quin Systems Ltd Page i Qmanager Installation Manual Issue 4 Page ii Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual Contents 1 Introduction 5 2 Unpacking and Inspection 6 System Specifications 7 3 1 Mechanical Specification 7 3 2 Environmental specification 7 3 3 Power supply specification 7 3 4 Electrical specification 8 3 5 Relevant directives 8 4 Mechanical Inst
22. in co uk Web site http www quin co uk index html Page 6 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 3 System Specifications This section gives the overall specifications of the system including mechanical details and environmental requirements 3 1 Mechanical Specification The dimensions of the Qmanager are as follows Height 314 mm Width 66 mm 120 mm including connectors Depth 199 mm Weight 2 kg Sufficient additional clearance must be left above the top connectors and in front of the serial port connectors for plugs and cables and adjacent to the terminals for cable connection The system is designed to be mounted in the normal orientation with the circuit board vertical to allow cooling air circulation by convection If the unit cannot be mounted with the board vertical then a fan must be fitted to blow air over the unit 3 2 Environmental specification Temperature storage 0 to 70 C operating O to 40 C Relative humidity 20 to 80 non condensing The system may be operated at higher ambient temperatures but will require additional cooling such as forced air ventilation in order to do so 3 3 Power supply specification The power supply requirement for the Qmanager system is nominally 24V 0 35A d c The system accepts a supply voltage in the range 19 28V d c The power supply input is protected against reverse voltage connection Additional power supplies are required for the ex
23. n of port B is set using the SK command Modbus is selected with function word modbus and version number and licence key and Data Highway later firmware uses function datahw with version and licence key The SK command is also used to enable or disable the software for the Operator s Panel and VTSO panel as they use the same serial port as the above PLC interfaces In this case the required software is enabled without a license key by entering function operator or VT50 plus a version number and licence key The CF command must also be used to set required interfaces e Modbus can use RS232 or RS485 The handshake setting is not relevant the software operates on a request reply system RS232 is 3 wire point to point but RS485 can use two wire or 4 wire multi drop plus a 0 volts common See the Modbus handbook for connections and RS485 bias resistors Unit number can be set as if port M Data Highway is only point to point DF1 protocol subset and normally needs to be set for RS232 Unit number is set as if port D Operator panel or VT50 panel must be set for RS485 and the software forces point to point The standard cable sets are used Page 26 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 11 2 3 CANbus The lower CANbus port is labelled SERVOnet The primary purpose of this is to link to axis modules on CANbus SERVOnet running at 500kbit and with sync clock coming from the host Mapping d
24. ndix A shows the loopback test cables needed for various tests Set up the links for the tests required then from the Test sub menu type the initial letter and follow prompts RAM test of SRAM mapped on chip select CS1 address 40 0000 to 4f ffff and low power CS2 500000 up to 5dffff avoiding the variables storage CAN ports the user loops back the CANopen port to the SERVOnet port and powers terminates the CANbus the test sends data packets between ports Additionally separately each channel Error output feeds its input the loopback cable is not to loop the error line across so that both error drivers can be tested without interaction IRDA send receive for later firmware needing an external IRDA adaptor either driven from Port B or buffered off SCI port 2 via the expander card The test expander board has interfaces to suit a Parallax LiteLink adaptor The alternative conversion cable necessary to use Port B is drawn in appendix A and uses the CANbus error signal The adaptor is aligned some 12 30 cm in front of the IR port and the test is then a simple serial send receive both ways Copyright 2008 Quin Systems Ltd Page 31 Qmanager Installation Manual Issue 4 e Ethernet port requires a RJ45 connector to loop back the net at the front panel socket linking pin 1 to 3 and 2 to 6 The test uses loopback mode in full duplex TPU tests serial encoder channels when the flashboot is in a Qcontrol4 AL
25. nerally part of the CoDeSys program but see 11 2 4 below 11 1 Configuration Commands SK Set software license key restricted The Qmanager supports a number of optional software packages such as the Modbus interface or the Motion Generator option Some of these options are chargeable and are controlled by a license key feature to prevent them being enabled in the field without authorisation Systems which are ordered with a particular feature will normally have the license key installed before delivery The SK command lists the serial number for the unit and all currently enabled software options It allows license key values to be entered enabling or disabling these software options The license key values are unique for each optional software package and for each unit as they are calculated using the unit serial number To upgrade a system and enable a new option it is necessary to obtain a license key value from your sales office for the specific system To disable a previously enabled option enter the option name and press Enter or CR when the system prompts for the version number All changes in port configuration set by the SK command take effect next time the system is powered off and on Example System User Ta SK lt CR gt Serial number 001234 Feature Version Key modbus Tl 0EE2 New feature motion Version 1 1 Key FOER1 OK 1 Page 24 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installati
26. o the 24V and OV I O connections Connect the multimeter in turn to each output line and using the SO set output and CO clear output commands for example SO8 1 check the operation of the line The SO command turns on the output optical isolator pulling the output signal up to 24V and the CO command turns the output isolator off Input circuit Input 1 24V 9 Z Wo ays OV I O 5 Output circuit 24V I O o o 24V HT 27 VN N Papan Output 1 v Meter OV I O Figure 5 Testing the digital signals These tests for a QLC unit require a CoDeSys program such as that used for factory testing apply to Quin for a copy Copyright 2008 Quin Systems Ltd Page 19 Qmanager Installation Manual Issue 4 9 Electrical Details 9 1 Isolated input and output circuits Circuit diagrams for the isolated digital inputs and outputs are shown in the diagram below The Qmanager includes extra protection components as shown The reversed diode on the input lines and the diodes on the output lines provide reverse voltage protection HCPL 0631 2 chan a Yy Fast Input circuit TLP281 4 4 chan Input 2 1 2 2kQ A BAW56 y7 K ovo Standard Input circuit ES3B 24V I O qs gt Output 1 o SFH6943 TPD2005F i 4 chan 8chan 5V1
27. on Manual The Qmanager may also need configuration of serial ports for use with communications interfaces to PLCs such as Modbus or Data Highway and to set channel numbers or addresses The CF command is used for this CF Configure port options The CF command lists the current serial port configuration and then prompts for a port to be changed Port A supports both RS 232 and RS 485 operation and also supports either hardware or software handshake in RS 232 mode Port B supports RS 232 and RS 485 modes but its handshake and tristate control options are determined by which particular software option is using port B as set by the SK command Ing JE Port Type Handshake A RS232 S W B RS485 N A Port bs Port C is used to set the baud rate for the second CANbus port labelled CANopen when it is enabled for SynchroLink with feature synchro2 this enabling uses the SK command If the Data Highway option is used then port D refers to the unit number The CF command is also used to set the Internet network number for the optional Ethernet port The command uses port E to refer to the Ethernet port La ef Port Configuration E 192 9 200 20 Port de If the Modbus option is used then port M is used to set the unit number If this has not been set then the unit number defaults to 0 and the value of YJ on channel 1 is used instead All changes in port configuration set by the CF command take effect next time the
28. required to the OV supply on terminal T10 2 or T10 5 Page 12 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual The next table shows the connections on all the two part screw terminal blocks at the back of the unit Back screw terminals Signal Listed from top to bottom 1 1 OV i o 1 2 Input 8 1 1 3 Input 8 2 1 4 Input 8 3 1 5 Input 8 4 1 6 Input 8 5 1 7 Input 8 6 1 8 Input 8 7 1 9 Input 8 8 1 10 24V i o 2 1 OV i o 2 2 Input 9 1 2 3 Input 9 2 2 4 Input 9 3 2 5 Input 9 4 2 6 Input 9 5 2 7 Input 9 6 2 8 Input 9 7 2 9 Input 9 8 2 10 24V i o 3 1 OV i o 3 2 Output 8 1 3 3 Output 8 2 3 4 Output 8 3 3 5 Output 8 4 3 6 Output 8 5 3 7 Output 8 6 3 8 Output 8 7 3 9 Output 8 8 3 10 24V i o 4 1 24V i o 4 2 OV i o 10 1 10 2 OV supply 10 3 Screen earth termination 10 4 24V unit supply 10 5 OV supply 10 6 Screen earth termination Table 4 Back screw terminal connections Copyright 2008 Quin Systems Ltd Page 13 Qmanager Installation Manual Issue 4 6 Electrical Installation 6 1 General This section gives some guidelines for the electrical installation of the control system The diagram below shows a typical installation and will be used to highlight specific areas of interest in the following sections Note that this is only a very simplified sketch not a full installation wiring diagram Details such as isolators contactor
29. right half of socket S3 The RS232 connections to this are as Table 1 RS 485 as Table 2 below S3 pin no Signal S3 pin no Signal 1 High termination 6 Vbias 2 TXD TxB 7 ITXD TxA 3 RXD RxB 8 RXD RxA 4 Low termination 9 5 GND Table 2 RS485 port B connections Quin can supply various interface cables Copyright 2008 Quin Systems Ltd Page 11 Qmanager Installation Manual Issue 4 The Qmanager has two double 9 way D plugs and sockets for two separate CANbus interfaces The SERVOnet high speed network ports use D type plug and sockets S4 parallel connected this allows units to be daisy chained together easily with standard cables The second interface similarly uses parallel connected plug and socket S5 again allowing unit chain or power feed The connections for the CANbus interfaces on the front panel 9 way plugs are shown below The plug and socket are connected pin to pin to allow a simple daisy chain connection Note that these comply with the CAN in Automation CiA draft standard DS102 Version 2 0 CAN Physical Layer for Industrial Applications but with additional signals used for error detection Pin no Signal Pin no Signal 1 LINK1 6 CAN_OV 2 CAN_L 7 CAN_H 3 CAN_GND 8 CAN_ERR 4 LINK4 9 CAN_V 7 13V 5 CAN_SHLD screen Table 3 CANbus connections Note that each CANbus interface requires an external power supply to power the isolated network
30. s and other switching arrangements are not shown but in most cases should be used Please refer to the motor and drive manufacturer s instructions for further details on electrical installation Equipment cabinet 3 phase Noise supply filter Motor R Drive S 24V power supply Control system Encoder Isolation AT transformer Earth Figure 3 General installation arrangement Use separate trunking to keep all low voltage signal cables encoder resolver command signal away from three phase high current or high voltage wiring Page 14 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 6 2 Mains Power supply The Qmanager requires 24V d c provided by an external power supply The mains input may be taken from the same three phase mains used for the motors and drives but care must be taken to avoid introducing noise onto the supply to the control system For best results follow the recommendations below Use an isolation transformer and a line filter in the mains supply to the system In some cases a line conditioner may be required Do not tie the input and output cables from the line conditioner or filter together or run them close together in a conduit or cable duct Do not tie the three phase cables or the single phase supply cable
31. s should only be used for fault finding J6 Processor output SCI 1 Port A Tx driver 2 1C35 pin 7 3 Copyright 2008 Quin Systems Ltd Page 21 Qmanager Installation Manual Issue 4 SRV400 module component side Top EE ES EN CE 1 J1 1J2 1J3 144 Anybus Comms board option 1 pis H 1 B SK4 1 E 7 E J EG S3 1 PL2 1 DIS S5 4 J8 El B1 El EEEREN Bottom Figure 7 Qmanager jumper locations Page 22 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual J7 Memory bank battery supply Jumper J7 allows selection of direct or battery backed supply for the processor s internal RAM and the separate low power RAM Jumper 1 2 holds up the processor RAM used to store DP position or 2 3 feeds it direct not maintained Jumper 4 5 and 6 7 hold up the low power 1 Mb of RAM for variables or 3 4 and 7 8 connect it directly J7 Battery backed supply Processor RAM supply 8 3 V supply Low Power RAM supply Battery backed supply Protected chip select Low power RAM chip select Direct chip select NODI R 0 ND J8 Analogue input range Jumper J8 sets the analogue input range for Qcontrol4 tension control applications They are not relevant to the Qmanager and are omitted 10 2 Anybus board The Anybus COM
32. s together with any low voltage signal cables 6 3 Earth connections Earthing is very important in any electrical installation It is an essential safety measure to prevent electric shock in case of any failure of the equipment and is also used for screening between different units It provides a ground reference point for all units in the system Incorrect earth connection can result in erratic operation due to noise or earth loops or may prevent the system from operating at all These problems can be avoided by careful arrangement of the earth connections and by such techniques as isolation The earth connections from any isolation transformer and the power supply filter should be made in heavy gauge wire All the earth connections should be connected together at one point preferably on the electronics cabinet chassis Do not tie the earth wires together with any low voltage signal cables or run them close together in the same conduit or cable duct e All screened cables should have their screens connected directly to earth not via the system OV power supply This is very important as otherwise noise and transients picked up in the screen will pass through the system instead of being dissipated directly to earth Note that the 24V power supply input is not isolated and an earth connection should be made at the 0 volts negative side of the power supply This avoids the internal paths of the Qmanager having to provide the e
33. scribes some simple test procedures for some parts of the PTS or QLC systems These do not comprise a full system test but may be useful to verify the basic operation of the system the motor and the encoder All these tests require the use of a computer terminal with an RS 232 serial port A lap top computer and terminal is generally used Some tests require additional test equipment as given below 8 2 Serial port The system prints characters via the RS 232 serial port when it is powered up These may be detected by using the terminal or with a serial data analyser The system normally prints a version and copyright message followed by the prompt character and a network status display An example for a PTS Qmanager is shown here Qmanager Version 2 3 Copyright 2003 Quin Systems Ltd Motorl found Axis Module 1 Motor2 found Motor5 found Axis Module 3 Restoring parameters Done If there is no response from the unit or the messages are garbled then check the connections between the terminal and the system and also check that the serial data format on the terminal is set to eight data bits one stop bit no parity and 9600baud If there is still no response from the system on power up the serial data signals should be checked with a data analyser or an oscilloscope to verify whether the system is actually sending any characters out For PTS once the startup message is received try sending characters to
34. system is powered off and on PB Program Anybus restricted When an Anybus option such as Profibus or Devicenet is enabled this command can be used to configure the Anybus interface using special purpose commands For details see the PTS Anybus Interface Software User s Manual MAN543 Copyright 2008 Quin Systems Ltd Page 25 Qmanager Installation Manual Issue 4 QC CANopen I O configuration restricted When the CANopen option is enabled this command allows manual configuration and diagnostics of CANopen I O devices For details see Appendix B of the SERVOnet manual MAN529 11 2 Ports and Interfaces 11 2 1 Port A The primary release of the firmware supports only RS232 for this port with software handshake and no infra red port The standard cable set CBA13 007 eases the risk of static charge damage refer to the Quin PTS Toolkit 2000 Introductory Guide for more information The SK command only affects Port A function where it enables Ethernet to take over the programming and control function as described below When this is enabled replies and other outputs are sent to the path which last made input defaulting on switch on to port A The above default is also obtained by use of the override jumper J6 but that should only be used to obtain access to allow correction of unknown settings using CF commands For early firmware versions the Port A default is the only mode available 11 2 2 Port B The functio
35. t cables Cables cross reference CANbus baud rate CANbus connections CANopen I O configure CANopen I O enable CANopen interface CF configure CANopen I O DeviceNet Profibus configure serial ports connection details connections CANbus digital I O earth Operator s Panel power supplies screw terminals serial port SERVOnet connectors cooling CPLD download D Data Highway unit number debug monitor depth DeviceNet configure diagnostic BDM port access Qmanager Installation Manual Index 23 17 23 18 15 35 35 25 12 26 27 10 25 26 25 25 25 35 12 12 15 11 15 13 11 12 10 33 25 31 25 32 Copyright 2008 Quin Systems Ltd JTAG access digital i o power supply digital inputs and outputs download boot sector firmware PLD DQ E earth connection earth connections electrical specification electronic mail e mail address EMC Directive emergency stop encoder jumpers environmental specification Ethernet enable twisted pair ethernet address external power supplies F fax number firmware upgrade flashboot start upgrade fixing centres flashboot G guards H handshake height humidity I I O supply initial download 33 8 16 32 30 33 25 12 15 17 21 10 28 12 25 29 30 29 17 25 32 Page 39 Qmanager Installation Manual input and output circuits input line testing input lines Internet address
36. tal inputs can be used to trigger a smooth shutdown sequence or to generate a limit switch error and shut down immediately The control system can then remove power from the motors and drives if required under software control by using a digital output line to switch the motor supply contactors In all installations the limit switches and guard switches MUST remove all electrical power from the motors and drives within a reasonable time independently of any action of the control system If power is removed from the control system then again all power must be removed from the motors Note that in most cases it is not necessary to remove power from the control system only from all the high power equipment If power to the control system and encoders can be maintained even when the motors and drives are shut down then the system does not lose any position information This can allow the machine to start up again much more quickly than if the control system is powered off as well since the machine does not need to execute a complete initialization before it can be restarted For more information on programming the Qmanager and system for limit switch inputs and user defined functions please refer to the descriptions of the DL and DI commands in the Input Output Configuration section of the Reference Manual Copyright 2008 Quin Systems Ltd Page 17 Qmanager Installation Manual Issue 4 8 Testing the System 8 1 General This section de
37. ternal digital input and output signals The digital inputs and outputs use 24V d c for compatibility with PLC systems The input and output lines are fitted with clamp diodes and a diode provides some protection against reverse connection of the i o supply CANbus SERVOnet needs 12V d c and this must never be reverse connected The unit includes a battery for storage of process variables and axis position The retention period without other power is typically several weeks The battery NiMH 2 4 volt Varta type 2 15H should be replaced every 5 years with a new blob of silicone sealant to ensure retention in the socket Quin can undertake this task Copyright 2008 Quin Systems Ltd Page 7 Qmanager Installation Manual Issue 4 3 4 Electrical specification The electrical characteristics of the Qmanager module are listed here External power supplies Digital i o supply 24V Logic supply 24V 19 to 28V 350mA SERVOnet CANbus 12 V nominal 7 to 13 V range Digital inputs Voltage rating 24V nominal Input current typical 7 10 mA Threshold voltage 10 16V Reverse voltage 24V maximum Isolation voltage 250V a c peak or d c Digital outputs Saturation voltage output on 1 9V maximum at full load current Load current per signal 500 mA maximum Load current per group of 8 2 A maximum Isolation voltage 250V a c peak or d c 3 5 Relevant directives The product is designed to be incorporated into a system for the con
38. the system by typing them on the terminal keyboard Each character should be echoed printed on the terminal screen as it is typed on the keyboard Press the Return or Enter key This sends the characters to the system as a command string The system should respond probably with an error message followed by the command prompt character as before Once communications with the system are established via the serial port it is possible to use the normal command set to test most other features of the system Enter command RS and press Return to set system defaults for the tests below Page 18 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 8 3 Digital signals Equipment required Multimeter or DVM Connecting wire or pushbutton switch External power supply The digital signals for a PTS may be checked using the multimeter in conjunction with the manual input and output commands Set the external power supply to the voltage required by the digital inputs 24V Connect the 0 volts negative side to terminal T4 2 Begin with all input and output lines disconnected from the external system Type RI8 lt Return gt and check that all inputs are shown with a 0 Connect the external power supply to each of the first 8 input lines in turn and use the RI command to verify the operation of each line Then continue and test the second group of 8 using RI9 Connect the external power supply t
39. to Flashboot Diagnostics The entry to flashboot code makes use of existing Toolkit 2000 code as used for firmware upgrade with a serial port selected From standard PTS terminal Firmware Upgrade and choice of Version 2 x use the ZP command to switch the PTS to the flashboot at the same time as the terminal changes to 38400 baud Or if there is no live PTS the terminal anyway selects 38400 baud From there user selection of Unlock will await a PTS response to the UNLOCK string then act as a terminal in the faster flashboot mode Or new for this unit the user can switch on the SRV400 with jumper J5 3 4 made entering flashboot directly at 38400 baud The jumper links input MDA30 to output MDA31 and this is detected after the switch on self test QLC firmware upgrade may use the PTS Terminal Firmware upgrade tool Unlocked on the serial port or the similar tool on the QLC Terminal again connected by and unlocked on the serial port A of the unit Copyright 2008 Quin Systems Ltd Page 29 Qmanager Installation Manual Issue 4 The first level of user interaction accepts the same command s as the previous units so that existing toolbar functions can be used These are for example Flash Boot Version 2 3 05 19 03 gt h boot Restart the processor erase lt start gt lt num gt Erase lt num gt sectors from lt start gt module S or A Set module to Standalone or Axis program Program Flash memory verify Verify Flash m
40. to the system or to the machine may occur Quin Systems Limited accept no liability for damage or costs arising from incorrect or inadequate installation of the systems or from incorrect programming of the system for the required application Digital control systems are not simple but can be used successfully to control industrial machinery and provide great improvements in reliability performance and flexibility Copyright 2008 Quin Systems Ltd Page 5 Qmanager Installation Manual Issue 4 2 Unpacking and Inspection Inspect the packaging for external signs of damage if possible before signing the delivery receipt as this may indicate that it has been mishandled in transit When unpacking the system keep all the packaging materials if possible If it is necessary to ship the system to another site or to return it for service the original packing can be re used Inspect the system carefully when it is unpacked Check for any loose parts any circuit boards loose in their card guides cables not connected or any bending of the case or chassis If any defect or damage is suspected do not connect power to the system Notify the carrier immediately and contact your sales office or the Quin Systems Service Department Quin Systems Limited Service Department Oaklands Business Centre Oaklands Park Wokingham Berkshire RG41 2FD England Telephone 44 0 118 977 1077 Fax 44 0 118 977 6728 Email sales quin co uk support qu
41. transceivers each connected separately via the D type connectors Recommended cable pairing and linking for termination and break detection are given in the appendix on drawing QDV 2 2 007 and standard cables are available under stock code CBA10 003 For further information refer to the SERVOnet handbook The Qmanager also provides an Ethernet interface using a twisted pair 10baseT or 100baseTX interface This uses an 8 way RJ 45 socket with the transmit pair on pins 1 and 2 receive on 3 and 6 as standard With EtherCAT netwotk this connects to the drives with an Anybus Ethernet card for a programing port 5 2 Process Logic and Supplies Terminal blocks T1 to T4 are used for the host level digital inputs and outputs and T10 for power input T1 and T2 carry 16 digital inputs inputs 8 1 to 8 8 and 9 1 to 9 8 T3 gives 8 digital outputs 8 1 to 8 8 All the 0 volt i o T1 10 2 10 3 10 and 4 2 and all the 24 volt i o pins T1 1 2 1 3 1 and 4 1 are commoned for ease of sensor wiring They are optically isolated from other supplies Note that the 24V power supply input is not isolated from the internal logic supplies and the OV supply connection should be earthed All the screen connections are linked together to allow a single earth connection for all the cable screens They are connected to the metalwork and the D type connector shells but are not connected to the system internal OV supply A clean separate earth connection is normally
42. trol of machinery and needs external equipment to enable it to fulfil this function It must not be relied upon to provide safety critical features such as guarding or emergency stop functions It must not be put into service until the machinery into which it has been incorporated has been declared in conformity with the Machinery Directive 89 392 EEC and or its relevant amendments The installation instructions in this manual should be followed in constructing a system which meets requirements The product has been tested in typical configurations and meets the EMC Directive 89 336 EEC when fed from power supplies which meet 89 336 EEC and 92 31 EEC The product uses only low voltages and is therefore exempt under 73 23 EEC as amended by 93 68 EEC The product as normally supplied has low voltages accessible to touch and must be mounted within a suitable cabinet to meet any required IP rating to BS EN 60529 Page 8 Copyright 2008 Quin Systems Ltd Issue 4 Qmanager Installation Manual 4 Mechanical Installation The Qmanager system has mounting holes on the rear metal plate for fixing to the electrical panel inside a cabinet The unit is fixed with three MS bolts through holes at the top and bottom of the unit The fixing centres for these bolts are shown in the diagram below Note that the bottom fixing hole is slotted and the top fixing holes are keyhole shaped to allow the unit to be slotted over the heads of suitable mounting bol
43. ts i A 8 3 Terminal rail connections this side 298 8 314 1 05 2 M5 clearance 31 5 Lg SP 15 5 Dimensions in mm 47 5 63 Figure 1 Fixing centres for the Servo Controller The I O terminals are in two parts for ease of wiring and the removable part includes cable ties They protrude about 60 mm and need adequate space for cable routeing Similarly the plugs for the fieldbus at the top need space for cables and there should be 75 mm clear above and below the unit for cooling air Copyright 2008 Quin Systems Ltd Page 9 Qmanager Installation Manual Issue 4 5 Connections The Qmanager has several connectors Top view Comms expansion dl S LED d DI e sl O Les ia Back View of case IR T2 lO LED9 S Front panel Q o 0 E Ethernet 6 O LED16 o O S3 T3 1 O e LED17 Port TE O o dl o 0 S5 O O LED24 a C CAN open T41 oO o LO e o I 194 1 mo p C C SERVO Q net x ojlo T T9 4 T8 gt T7 4 T6 T5 Tae eJeJelele eleJeJele elele e e TTT Figure 2 Connector Layout 9 way double D type socket S3 for the RS 232 programming terminal port A left and for the RS 485 data port B right 9 way double D type plug socket S4 for the SER

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