Home

DMCNET Remote Module User Manual

1. 1 35 1 8 3 ASD DMC RMO4DA Module and Connectors 1 36 Revised April 2012 iii 1 9 5 1 38 1 9 1 ASD DMC RMO4AD Product Profile 1 38 1 9 2 ASD DMC RMOAAD Part Names 1 38 1 9 3 ASD DMC RMO4AD Module and Connectors 1 39 1 10 ASD DMC RM32PT 1 41 1 10 1 ASD DMC RM32PT Product Profile 1 41 1 10 2 ASD DMC RM32PT Part Names 1 41 1 10 3 ASD DMC RM32PT Module and Connectors 1 42 1 11 ASD DMC RM64MN1 1 45 1 11 1 ASD DMC RM64MN 1 Product Profile 1 45 1 11 2 ASD DMC RM64MN1 Part Names 1 45 1 11 3 ASD DMC RM64MN 1 Module and Connectors 1 46 1 12 ASD DMC RM64N11 1 49 1 12 1 ASD DMC RM64NT1 Product Profile 1 49 1 12 2 ASD
2. Slave O 3 Figure 2 16 Open ASD DMC RMO4PI Interrupt Factor Control Interface aW Interrupt Factor Even fo fo b Pp fo fo jo jo 0 e o f f p fo fo fo fo Moe SES eee es UN ae ss O Normal Stop C Hest Buffer m QO Acceleration End m Deceleration Start u ul SdoFiish ss Cycle Start p AMDAPLFIFO DENM ME DU OO User detine m Figure 2 17 RMO4PI Interrupt Factor Control Interface Event Type of trigger event Count Event rigger counter 6 NodelD Select Node to enable Interrupt This event can only be used in Mode2 Normal Stop Triggers at the end of any motion This event can only be used in Mode2 Next Buffer Triggers when executing Buffer action This event can only be used in Mode2 Q Acceleration End Triggers when acceleration ends This event can only be used in Mode2 Deceleration Start Triggers when deceleration starts This event can only be used in Mode2 Sdo Finish Function not available Revised April 2012 2 13 2 14 DMC Cycle Start Triggers when DMC Cycle starts RMO4PI FIFO Triggers when 04PI FIFO starts This event
3. lol x PF PCI DMC 401 CardlD 0 basen 3D 04 Model Slave 0 Ee RPCI DMC 401 CardlD 0 oe AM O4PI Mode Slave 0 1 49 04 Mode Slave 0 2 4 AM O4PI Slave 0 3 4 AM O4PI Slave O 4 Slave Hardware PCI DMC 801 CardlD 0 b 32 Slave 0 1 fifa O 167 Pratacal 3 i Retry 0 OMBox 0 82 289 35 285 DD DFF DI DFF E Figure 2 2 Finding the connected Remote module RM32 RM64 RMO4PI Revised April 2012 2 2 Remote Module Interface 2 3 1 ASD DMC RM32MN 2 PCI_Card No 0 Slave No 1 DIO Carda Node Slot xi 000000000000000 a Ad ATO All 12 Als Ald AIR Figure 2 3 RM32MN Digital Input Signal Display RM32MN module s firmware version RM32MN module information In this example the module is Node 2 connected to Card 0 RM32MN module s software filter In this example it is set to 1ms RM32MN module s Input signal display 2 3 2 ASD DMC RM32NT PCI_Card No 0 Slave No 1 DIO 2 3 EE IEEE NN UP Error handle 12 Mo Yi4 5 Port 1 Yl 2 Td 5 Ye YZ Y Yo TIA 15 Figure 2 4 RM32NT Digital Output Signal Control RM32NT module s firmware version RM32NT module information In this example the module is Node 1 connected to Card 0 Error Handle option Choose whether to keep after power off Check to
4. Figure 1 22 CN5 Pin definition Figure 1 23 CN6 Pin definition A Figure 1 24 CN7 Pin definition Label Description Total voltage Output at 24V is 1 5A Label Description X Output from one GPIO is 0 1 A Max Label Description Revised April 2012 Label Description AE Aii Pin definition Label Description Te e le Pin definition ET Oonnaoronnnunnnunnnunon JTF tt LL E ti th ENEN ENEN EL E A Figure 1 27 LED definition Revised April 2012 Label Description POWER Voltage status indicator Operation indicator DMC communication DMC oo indicator PO 0 15 signal Output PO 0 15 at Indicator P1 0 15 signal Output P1 0 15 MM indicator 1 13 1 5 ASD DMC RM64MN 1 5 1 ASD DMC RM64MN Product Profile Figure 1 28 Front view of module 1 5 2 ASD DMC RM64MN Part Names RSW1 CN4 CN10 ie 1 4 CN3 CN5 CN6 CN7 CN8 CN9 11 CN12 CN13 14 15 Figure 1 29 RM64MN Part Names 1 14 Revised April 2012 1 5 3 ASD DMC RM64MN Module and Connectors Pin Label Description y p Node Number Node ID A F X Invalid when dial is turned to 0 D F X Each module takes up one Node ID Pin Label Description 1 RS485 Signal 3 RS485T_2 274 RS485 Signel 6 RS485T2 2 RS485Signal 8 2545 Ground Signal Figure 1 31CNtandCN2 8
5. A B 1 Y 4 k i CN2 ASD DMC RM64MN1 COENEN ee CN3 DSW1 CN29 CN30 Figure 1 115 RM64MN1 Part Names 52 e T WP 64 CH DIGITAL INPU Revised April 2012 1 45 1 11 3 ASD DMC RM64MN1 Module and Connectors Label Description 1 9 T Node Number Node ID A F X Invalid when dial is turned to 0 D F X Each module takes up one Node ID Pin Label Description 1 RS485 Signal 3 RS485T_2 274 RS485 Signel 6 RS485T2 2 RS485Signal 8 R5485 Ground Signal _ Figure 1 117 CNTandCN2 8 GND RS485GroundSignal Pin definitions Pin Label Description 12 3 Figure 1 118 CN3 Pin definition Label Description Common Input Signal GND PowerGround _ X This connector is used with the Input signal common point for Pull high or Pull low COM to 24V set to position marked as 1 Low active Pull high XCOM to GND High active Pull low Total Input voltage is 3 0A Max Figure 1 119 DSW1 Pin definition 1 46 Revised April 2012 Figure 1 120 CN29 amp CN30 Figure 1 121 CN6 Pin definition Revised April 2012 This is a metallic fastener used for connecting and securing the customer s own daughter board Pin Description Pin Description 03 PO GPIO 3 Input 04 PO GPIO 4 Input 05 POGPIOSInput 06
6. Login Status Head Write Password Data Verily Key Write Save Serial Ma User e Read Serialo M J i y Figure 2 19 RMO4PI Slave Encryption User Post Login Interface User login and status display field Data read Select Page then click on Read to read data Data write Select Page to write to Input data click on Write to write to buffer then click on Save to save data to the 04PI module Change password field otep 1 Enter two new passwords in the Password field Each is 1 to 8 bits in length and take hexadecimal values between 0 and F Step 2 Enter the same password from Password in Confirmation again for verification Revised April 2012 2 15 Step 3 If the two passwords in Password and Confirmation match clicking on Write will change the password If the passwords do not match then block s status will show the error message Confirmation Error The change password procedure must now be repeated again G Generate verify key Step 1 Click on Read SerialNO button read the product serial number This gives two sets of 1 to 8 bit values made up of hexadecimal values between and F Step 2 User enters a custom User Key then click on Make Verify Key to generate a verify key Input and Output will be 1 8 bit hexadecimal values between 0 F Step 3 Click on Write Verify Key to write the generated Verify Key
7. An LTA DELTA ELECTRONICS CO LTD DMCNET Remote Module Remote Digital I O Module User Manual Revised 1 11 1 Revised April 2012 About this Manual User Information Please keep this manual in a safe place This manual is subject to change without notice due to the release of new products improvements and changes in technologies and or modifications to data and forms This manual may not be copied or reproduced in whole or in part without the express written consent of Delta Electronics Co Ltd Trademarks Windows 2000 XP Visual Studio Visual C and Visual BASIC are all registered trademarks owned by Microsoft BCB Borland C Builder is a registered trademark of Borland Corporation The names of other products are only used for identification purposes All registered trademarks remain the property of their respective owners Technical Support and Service If you need any technical support service or other information or should you have any questions in using the products please visit our website http www delta com tw ia or contact us directly We are looking forward to serve your needs and willing to offer our best support and service to you Our contact details are provided below Reach us by the following ways ASIA DELTA ELECTRONICS INC Taoyuan Plant 1 31 1 XINGBANG ROAD GUISHAN INDUSTRIAL ZONE TAOYUAN COUNTY 33370 TAIWAN R O C TEL 886 3 362 6301 FAX 886 3 362
8. POGPIOS input _ or POGPIOTImu 08 POGPIOSImu _ POGPIOSInput 10 POGPIO10Imput 15 16 PO GPIO 15 Input PO GPIO 16 Input 27 P1 GPIO 7 Input 28 P1 GPIO 8 Input 1 47 Pin Description Pin Description L0 P26P 0 Input 02 P2OPOZ P2 GPIO 3 Input P2 GPIO 4 Input os P2GPIOSInut 06 P2 GPIO 6 Input Lor P2GPIO7 Input 08 P2 GPIO 8 Input _ P2GPIOSImput 10 P2GPIO 10 Input P2 GPIO 15 Input P2 GPIO 16 Input _ P3GPIOSinpu Soros P3 GPIO 7 Input P3 GPIO 8 Input zo pseroomu 30 P3 GPIO 10 Input Power Guns 39 PowerGrond 39 24V Voltage Output 40 24V Voltage Output Pin definition COL C O ooo 0 Figure 1 123 LED definition Label Description POWER Voltage status indicator RUN Operation indicator Error indicator EN NN DMC communication indicator 1 48 Revised April 2012 1 12 ASD DMC RM64NT 1 1 12 1 ASD DMC RM64NT1 Product Profile 5 8 ee bn 4 60 9 8 4 0 u 80 0 0 6 A 6 B 6 6 6 8 Bak 68 6 a 6 8 8 8 8 8 8 NT1 ASD DMC RM64 64 CH DIGITAL OUTPUT Figure 1 124 Front view of module 1 12 2 ASD DMC RM64NT1 Part Names RSW1 CN6 CN7 4 9 8 8 4 0 4 8 6 6 a Ie Ras ARA 8 CN1 CN3 DSW1 CN29 CN30 Figure 1 125
9. 2 4 Revised April 2012 PCI_Card No 0 Slave No 1 DIO Carda Node Slot Filter 210 All 2 Ala Ald 15 Ad 210 11 l2 lo 14 15 AID 11 512 213 14 15 Ab Af 210 All 2 ala Ald 15 Figure 2 7 RM64MN a Block Functions RM64MN module s firmware version Checkbox for enabling RM64MN MPG interface RM64MN module information In this example the module is Node 12 connected to Card 0 RM64MN module s software filter In this example it is set to 1ms RM64MN module s Input signal display ARIS MULL HULL NULL NULL Figure 2 8 RM64MN b Block Functions O Selects servo drive node to control using RM64MN module s MPG mode Max of 4 sets RM64MN MPG enable MPG mode operation information from left to right Increase Encoder Target displacement position for selected axis ID Output pulse ratio for each click of MPG Sets ratio numerator denominator of one full MPG turn to pulse Output motor rotations When ratio is set to 1 this means 1 click of MPG is equal to 1 100 of motor rotation G Sets maximum allowable MPG speed PPS sec Max 1000 Revised April 2012 2 5 Figure 2 9 RM64MN Block Functions Check to enable RM64MN JOG function Sets JOG operation mode Mode 0 Each axis corresponds to a JOG XJ1 J1 2 2 Z gt J3 J3 Mode 1 Select axis X Y Z to correspond to J1 J1 Maximum velo
10. 2 axis Digital Signal Input 1 Revised April 2012 SER QE sm sm 11 s le NN Figure 1 79 CN12 Pin definition wx Ni De 00 90 Figure 1 80 CN13 Pin definition Revised April 2012 Description 5V Voltage Output Description 3 axis Motor Clockwise Rotation Signal Input 5V Voltage Output oor Digtal Signal Ouput2 _ 1 33 1 34 KENNEN O A Preah Figure 1 81 LED definition Label Description POWER Voltage status indicator indicator DMC communication indicator Axis QA DO2 0 Signal Output Indicator Axis 1 QA DO2 1 axis Signal Output Indicator Axis 2 QA DO2 2 axis Signal Output Indicator Axis 3 QA DO2 3 axis Signal Output Indicator Revised April 2012 1 8 ASD DMC RM04DA 1 8 1 ASD DMC RMO04DA Product Profile Figure 1 82 Front view of module 1 8 2 ASD DMC RMO4DA Part Names CN3 CN4 CN5 CN6 CN7 Figure 1 83 RMO4DA Part Names Revised April 2012 1 35 1 8 3 ASD DMC RMO4DA Module and Connectors 1 8 Figure 1 85 CN1 and CN2 Pin definitions 12 3 Figure 1 86 CN3 Pin definition NA Figure 1 87 CN4 Pin definition 1 36 Pin Label Description Node Number Starting Node ID Pin Label RS485T 1 Description 1 RS485 Signal RS4
11. EGND 5485 Ground Signal Pin definitions Description E24V 24V Voltage Input 2 GND PowrGrud 1 FG Case Ground Earth 12 3 Figure 1 96 CN3 Pin definition Description Voltage Input 1 Current Ds 1 Figure 1 97 CN4 Case Ground Earth Pin definition Revised April 2012 1 39 Pin Label Description Case Ground Earth Figure 1 98 CN5 Pin definition Pin Label Description Figure 1 99 CN6 Pin definition ADC3 Pin Label Description a OND Figure 1 100 CN7 Pin definition Figure 1 101 LED definition Description POWER Voltage status indicator RUN Operation indicator DMC DMC communication indicator 1 40 Revised April 2012 1 10 ASD DMC RM32PT 1 10 1 ASD DMC RM32PT Product Profile Figure 1 102 Front view of module 1 10 2 ASD DMC RM32PT Part Names CN1 CN2 CN3 CN5 6 8 CNY Figure 1 103 RM32PT Part Names Revised April 2012 1 41 1 10 3 ASD DMC RM32PT Module and Connectors Pin Label Description 1 9 Node Number Node ID A F X Invalid when dial is turned to 0 D F X Each module takes up one Node ID Pin Label Description 1 RS485T 1 15 RS485 Signal 2 mST 10 19 Signal 274 85485 Signal 6 2 29 RS485 Signal 1 8 7 EGND RS485 Ground Signal Figure 1 105 CN1 and CN2 EGND RS485 Ground Signal 1 42 Pin definitions Description
12. 2 ASD DMC RM32NT Part Names 1 10 1 4 3 ASD DMC RM32NT Module and Connectors 1 11 1 5 ASD DMC RM64MN 1 14 1 5 1 ASD DMC RM64MN Product Profile 1 14 ASD DMC RM64MN Part Names 1 14 1 9 9 ASD DMC RM64MN Module and Connectors 1 15 1 6 ASD DMC RMGANT 1 21 1 6 1 ASD DMC RM64NT Product Profile 1 21 1 6 2 ASD DMC RM64NT Part Names 1 21 1 6 3 ASD DMC RM64NT Module and Connectors 1 22 17 ASD DMC RMOAPI 1 28 1 7 1 ASD DMC RMO4PI Product Profile 1 28 1 7 2 ASD DMC RMO4PI Part Names 1 28 MS ASD DMC RMO4PI Module and Connectors 1 29 1 8 ASD DMC RM04DA 1 35 1 8 1 ASD DMC RMO4DA Product Profile 1 35 1 8 2 ASD DMC RMO4DA Part Names
13. 2012 1 5 1 3 ASD DMC RM32MN 1 3 1 ASD DMC RM32MN Product Profile 8 Q A amp A e BD Figure 1 4 Front view of module 1 3 2 ASD DMC RM32MN Part Names RSW1 CN4 6 B od e dW d Aad CN1 S JEL nnnnnnnnonnnnnnn CN3 CN5 CN6 CN7 8 9 Figure 1 5 RM32MN Part Names 1 6 Revised April 2012 1 3 3 ASD DMC RM32MN Module and Connectors Pin Label Description Node Number Node ID X Invalid when dial is turned to 0 D F X Each module takes up one Node ID Description 1 RS485T 1 1 RS485 Signal RS485T 1 1 RS485 Signal RS485T_2 274 RS485 Signal 6 RS485T_2 274 RS485 Signal 1 8 7 EGND RS485 Ground Signal Figure 1 7 CN1 and CN2 EGND RS485 Ground Signal Pin definitions Description 24V Voltage Input FG Case Ground Earth 12 3 Figure 1 8 CN3 Pin definition Description E24V 24V Voltage Output X This connector is used with the Input signal common point for Pull high or Pull low COM to 24V Low active Pull high XCOM to GND High active Pull low Figure 1 9 CN4 Pin definition Revised April 2012 1 7 Figure 1 10 CN5 Pin definition Figure 1 11 CN6 Pin definition Figure 1 12 CN7 Pin definition Description 24V 24V Voltage Output 24V 24V Voltage Output Total voltage Output at 24V is 1 5A Description X00 PO GPIO 1 Input Label Descr
14. 43mm Power Supply Voltage 24 VDC 15 2096 ESD 8KV Air Discharge EFT Power Line 2KV Digital 1KV RS 80MHz 1GHz 10V m Operating Temperature 0 C 50 C Digital Signal Input Point RM32MN amp RM64MN amp RM32PT amp RM64MN1 Input Circuit Type Single end Common Input Input Signal Type SINK SOURCE Input Signal Voltage 24VDC 5mA Response Time 0 3ms Adjustable Trigger Level OFF gt ON gt 16 5VDC Trigger Level ON gt OFF 8VDC Pulse Interface Input Port RMOAPI Input Input Circuit Type Single end Common Input Input Signal Type SINK SOURCE Input Signal Voltage Sensor 24VDC 5mA Response Time 1ms Trigger Level OFF gt ON gt 16 5VDC Trigger Level ON gt OFF 8VDC Input signal is 5VDC and SINK type only Maximum Switching Operating Frequency QA QB QZ 200KHz 5mA 1 point DI1 DI2 1KHz 5mA 1 point Digital Signal Output Point RM32NT amp RM64NT amp RM32PT amp RM64NT1 Output Circuit Type Transistor Output Signal Type SINK Maximum Switching Operating Frequency 1KHz Current Specifications 0 1A 1 point Voltage Specifications 24VDC Response Time OFF gt ON 20us Response Time ON OFF 30us Pulse Interface Output Port RMOAPI Output Output Circuit Type Transistor Output Signal Type SINK Output Signal Voltage 5 24VDC 30mA 1 point Maximum Switching Operating Frequency CW CCW 200KHz 30mA 1 point DO1
15. 7267 NORTH SOUTH AMERICA DELTA PRODUCTS CORPORATION USA Raleigh Office P O BOX 12173 5101 DAVIS DRIVE RESEARCH TRIANGLE PARK NC 27709 U S A TEL 1 919 767 3813 FAX 1 919 767 3969 JAPAN DELTA ELECTRONICS JAPAN INC Tokyo Office DELTA SHIBADAIMON BUILDING 2 1 14 SHIBADAIMON MINATO KU TOKYO 105 0012 JAPAN TEL 81 3 5733 1111 FAX 81 3 5733 1211 EUROPE DELTRONICS THE NETHERLANDS B V Eindhoven Office DE WITBOGT 15 5652 AG EINDHOVEN THE NETHERLANDS TEL 31 40 259 2850 FAX 31 40 259 2851 Revised April 2012 Table of Contents Chapter 1 Installation Environment 1 1 1 1 Connection Examples 1 1 1 2 Electrical Specifications 1 4 1 3 ASD DMC RM32MN 1 6 1 27 ASD DMC RM32MN Product Profile 1 6 1 3 2 ASD DMC RM32MN Part Names 1 6 1 3 3 ASD DMC RM32MN Module and Connectors 1 7 14 ASD DMC RM32NT 1 10 1 4 1 ASD DMC RM32NT Product Profile 1 10 1 4
16. Buffer TDec Operate Mode Homing C Velocity PAR ON 27 mel o OO Operation Index SubType DO D1 D2 D3 SDOOP Pead 6060 2 E 3 MEL O CMD 591 COBID 6004 Data 0400000000 1 191 ole e JO Figure 2 14 RMO4PI MODE 2 1 Axis Control Interface e Q Displays the counter values for motion displacement These include position velocity torque number of buffered commands position reset and sync motion this function matches the values of Command and Feedback Sets the motion command This includes motion distance starting velocity maximum velocity and acceleration deceleration time Selects the operate mode for motion displacement Executes motion commands such as clockwise rotation CCW rotation and stop Includes velocity cross section selection reference coordinates selection and repeat option Firmware version of connected RMOA4PI Q Sets CANopen command User can control the module by using this to read send CANopen commands Displays the status indicators of the IO port for that axis on RMO4PI Sets the excite reset alarm and motion displacement status functions for that axis Instructions are the same as those for section 2 3 5 block a Q Sets the Homing mode and offset value Displays error indicator See following table Opens Slave Encryption interface Please see section 2 3 7 Revised April 2012 2 How t
17. DMC RM64NT1 Part Names 1 49 1 12 3 ASD DMC RM64NT1 Module and Connectors 1 50 1 13 Wiring Example 1 53 1 13 1 Wiring of RM32MN RM32PT RM64MN RM64MN1 Input Points 1 53 1 13 2 Wiring of RM32NT RM32PT RM64NT RM64NT1 Output Points 1 53 1 13 3 Wiring of RMO4PI Input point MEL PEL ORG SLD 1 54 1 13 4 Wiring of RMO4PI Output point CW CCW D01 002 1 54 1 13 5 Connecting RMO4PI to Stepping Motor Drive 1 55 1 13 6 Connecting RMO4PI to Encoder 1 57 1 13 7 Connecting RM64MN to MPG 1 57 1 13 8 Wiring Diagram for RMO4DA Output Point 1 58 1 13 9 Wiring Diagram for RMO4AD Input Point 1 58 Chapter 2 Using EZDMC 2 1 2 1 Launching the Program 2 1 2 2 Connecting to Remote Module 2 2 2 3 Remote Module Interface 2
18. DO2 1KHz 30mA 1 point Revised April 2012 Digital to Analog Output Point RMOADA Channel 4 channels unit Voltage Output Range 10 10 V 5 5V 0 10V 0 5V Current Output Range 0 24mA 0 20mA 4 20mA Excess Limit Voltage 1096 Maximum Output Current Voltage 24mA Allowable Load Resistance Current 0 5000 Digital Data Range 0 4096 Resolution 16 bits DC Output Resistance 0 30 Response Time 1ms Digital Data Format 16 valid data bits Isolation method Internal circuit and analog output are isolated using an optical coupler B Protection Voltage output circuit has short circuit protection but extended time short circuit may damage the internal circuit and open path to current output Digital to Analog Input Point RMO4AD Channel 4 channels unit Voltage Analog Input Range 10 10V 5 5V 0 10V 0 5V Current Analog Input Range 0 20mA Digital Conversion Range 0 65535 Resolution 16bits Voltage Input Resistance 140KQ Current Input Resistance 2490 General Precision Within 0 5 25 C 77 F at full scale Within 1 0 55 32 131 F at full scale Response Time Minimum of 1ms maximum of 3ms x number of channels Isolation method Internal circuit and analog input isolated using optical coupler Current Absolute Input Range 15 15 Voltage Absolute Input Range 32mA Digital Data Format 16 valid data bits Averaging function Modes 2 4 8 16 32 provided Revised April
19. RM64NT1 Part Names Revised April 2012 1 49 1 12 3 ASD DMC RM64NT1 Module and Connectors Pin Label Description 0 9 Node Number Node ID A F X Invalid when dial is turned to 0 D F X Each module takes up one Node ID Label Description 1 RS485 Signal 274 85485 Signal 1 8 GND 25485 Ground Signal Figure 1 127 and CN2 GND RS485 Ground Signal Pin definitions Pin Label Description 1 2 3 Figure 1 128 CN3 Pin definition Label Description Pin definition 1 50 Revised April 2012 Figure 1 130 CN29 amp CN30 Figure 1 131 CN7 Pin definition Revised April 2012 This is a metallic fastener used for connecting and securing the customer s own daughter board Pin Description Pin Description _01 _POGPIO tOuiput 02 PO GPIO 2 Output PO GPIO 3 Output PO GPIO 4 Output 7457 Po GPO 5 Ouput 06 P0 GPIO 8 Outpt POGPIO7 Output 08 PO GPIO 8 Output 08 POGPIO9 Output 10 Po GPIO 10 Output PO GPIO 15 Output PO GPIO 16 Output _25 P1GPIOSOuput 26 P1 GPIO 6 ouput P1 GPIO 7 Output P1 GPIO 8 Output zo PIGPOSOupu 30 P1 GPIO 10 Output 1 51 Pin Description Pin Description 03 P2 GPIO 3 Output 04 P2 GPIO 4 Output 05 P2GPIOSOuput 06 P2GPIO6 Output or P2GPIO7Ouput 06 P2GPIO8 Output 08 P2GPIOSOuput 10 P2GPIO 10 Output 15 16 P2 GPIO 15 Output P2 GPIO 16 Output 27 P3 GPIO 7 Output 28 P
20. definition i E a 4 1 gt A E i L i L r mL SS 1 p Ia LM Je I g LE H I q _ wil Nn 1 TENTE E 1 E L SR LA T A Ow gem 1 in MM uer n aic me 1 18 Revised April 2012 Description GPIO mode MPG mode PSGPO Tu X PSGPIO2mu yv Pin definition Description Label GPIO mode MPG mode Revised April 2012 1 19 Y ECKE CE CE OK OF OY F CHE OAE CE CE O CC UE OE A 0 00 0 E D 4 CE C C CH UO El CH A D T 40 G 0 E CH C 1 Y CH Y Figure 1 45 LED definition Label Description POWER Voltage status indicator RUN Operation indicator P1 0 15 P1 0 15 signal Input indicator 1 20 Revised April 2012 1 6 ASD DMC RM64NT 1 6 1 ASD DMC RM64NT Product Profile PUP ERP IA Figure 1 46 Front view of module 1 6 2 ASD DMC RM64NT Part Names RSW1 CN4 CN10 Pe TR RR AP LR PIER Li B 7 k CN3 CN5 CN6 CN7 CN8 CN9 CN11 12 13 14 CN15 Figure 1 47 RM64NT Part Names Revised April 2012 1 21 1 6 3 ASD DMC RM64NT Module and Connectors Pin Label Description 0 9 Node Number Node ID A F X Invalid when dial is turned to 0 D F X Each module takes up one Node ID Label Description 1 RS485 Signa
21. module to 24V CN4 s Pin2 and Pin3 so that the module will display normally if the device is High active then connect the COM port to GND Only turn the power on once you have checked that all hardware is connected properly Wait for the power indicators on the device and module to light up before running the program EZDMC exe on the CD to control the module w w v v v fito 0 228 Protocal 3 0 Rety 0 PCI OMBox 0 88 0 340 54 349 DO OFF DI OFF 4 Figure 2 1 Launching the EZDMC Program Revised April 2012 2 1 2 2 2 2 Connecting to Remote Module After launching the EZDMC program click on the Search Card button When the program has found the PCI DMC A01 interface on the system select the icon for the card and then click on the Scan Slave button to find the connected Remote module For a more detailed description of the EZDMC program interface and operating instructions please refer to the User Guide of PCI DMC A01 B01 DMCNET Motion Control Card lol xil Slave Hardware PUECHLDMCAD 0 2 DIO Slave 0 1 PCLOMCADI 0 FIM 32MN DIO Slave 0 2 DID Slave 0 1 DIO Slave 0 3 File F Hardware H Option O Simulation S About 5 ANS HardWare H Option O Simulation S About Slave Hardware M Slave Hardware
22. to the module If write is successful block s status will display Done Failed is displayed otherwise 2 3 9 ASD DMC RM04DA EM 04D4 Model PCI Card No 12 Slave 1 Offset Set Clear Error Made 3 AQ 7 10s Offset Apply Sel Sy Error Q Handle Clear Error Channel 2 3 10 7 Appro 10024 Readjpon4 Y 3107 10 1 Channel 3 Mode Appro 10024 Readjpon4 Y Ja 10 7 10v 7 M 1 Apply Clear Error Figure 2 20 RMO4DA Interface Revised April 2012 The voltage current return values and Output mode percentage settings for each Channel Appro Approximate Output voltage current based on the percentage setting Read Actual Output voltage current Must click on Apply button to sync with Appro The values will differ slightly The settings and returned status for each Channel A detailed description is provided on the next page Offset Offset setting 128 127 Clear Error Clear error status When an error occurs set Offset to 0 then click on Clear Error to clear the error RMO4DA module information Below is a more detailed description of block in Fig 2 20 1 5 Appl Overfiange 2 4 anche E 3 Figure 2 21 RMO4DA Block Functions 1 Mode Set voltage current Output mode 2 OverRange Increase the maximum value by 10 based o
23. 3 2 3 1 ASD DMC RM32MN 2 3 2 9 2 ASD DMC RM32NT 2 3 2 5 3 ASD DMC RM64MN 1 2 4 2 3 4 5 1 2 6 Revised April 2012 2 3 5 2 3 6 2 3 2 3 8 2 3 9 2 3 10 2 3 11 Appendix A Revised April 2012 ASD lt DIMC2RMO4PI MODE 1 eem 2 7 ASD DMC RMOAPI MODE 2 2 10 ASD DMC RMO4PI Interrupt Factor Control Interface 2 13 ASD DMC RMO4PI Slave Encryption Control Interface 2 14 ASD DMC RMOADA 2 16 ASD DMC RMOAAD 2 18 ASD DMC RM32PT 2 20 1 1 Installation Environment Chapter 1 Connection Examples 1 1 Tb ER pm a c pep Uu ps et pin z En ih emm
24. 3 GPIO 8 Output Pin definition MT AC Figure 1 133 LED definition Label Description Error indicator P1 0 15 P1 0 15 signal output indicator P2 0 15 P2 0 15 signal output indicator PS 0 15 P3 0 15 signal output indicator 1 52 Revised April 2012 1 13 Wiring Example 1 13 1 Wiring of RM32MN RM32PT RM64MN RM64MN1 Input Points Connection Type Type 1 SINK Type 2 SOURCE Current flows into common point Current flows out of common point 24v O Internal i a Internal irei GND Circit Figure 1 134 Figure 1 135 SINK type wiring SOURCE type wirin Input point loop equivalent circuit Input point loop equivalent circuit 5 ower Supply Power Supply M 24VDC Internal Circuit Figure 1 136 Figure 1 137 1 13 2 Wiring of RM32NT RM32PT RM64NT RM64NT1 Output Points Connection Type Transistor T Internal Circuit Figure 1 138 Revised April 2012 1 53 1 13 3 Wiring of RMO4PI Input Point MEL PEL ORG SLD Connection Type SINK SINK SINK type connection Current flows into common point Input point loop equivalent circuit 24 cou AD MEL C O co gl RE Internal GND Circit Figure 1 139 Figure 1 140 1 13 4 Wiring of RMO4PI Output Point C
25. 85T_1 1 RS485 Signal RS485T_2 6 RS485T_2 274 RS485 Signal 274 RS485 Signal EGND RS485 Ground Signal BEEN EGND RS485 Ground Signal Description 24V Voltage Input Case Ground Earth Description Voltage Output 1 10 10V Current Output 1 0 24mA Case Ground Earth Revised April 2012 Pin Label Description Voltage Output 2 10 10V Current Output 2 0 24mA Case Ground Earth NA Figure 1 88 CN5 Pin definition Pin Label Description Voltage Output 3 10 10V Current Output 3 0 24mA Case Ground Earth Figure 1 89 CN6 Pin definition Description Voltage Output 4 10 10V Current Output 4 0 24mA Case Ground Earth Figure 1 90 CN7 Pin definition Figure 1 91 LED definition Description POWER Voltage status indicator RUN Operation indicator DMC DMC communication indicator Revised April 2012 1 37 1 9 ASD DMC RM04AD 1 9 1 ASD DMC RMO04AD Product Profile Figure 1 92 Front view of module 1 9 2 ASD DMC RM04AD Part Names RSW CN3 CN4 5 CN6 CN7 Figure 1 93 RMO4AD Part Names 1 38 Revised April 2012 1 9 3 ASD DMC RMO4AD Module and Connectors Pin Label Description Node Number Starting Node ID Pin Label Description 1 RS485 Signal 2 RS485T1 1 RS485Signal 274 RS485 Signal 6 RS485T_ 2 274 RS485 Signal i Figure 1 95 and CN2
26. DI3 MESO DI3 HOSO DI3 MESO Q WR O MDS1 O WR Q MOST Q WR O MOSI Q re Aa re STOP O m 3 JJ p me n Q _ JA 5 Curve Abs Figure 2 15 RMO4PI MODE 2 Multi axis Control Interface Selects the operating axis displays motion displacement counter values excite function position reset and the status indicators for that axis lO port Motion displacement parameter settings The selection mode in Block will change the parameters displayed Selects the operate mode for motion displacement Executes motion commands such as clockwise rotation CCW rotation and stop Includes velocity cross section selection reference coordinates selection and repeat option Checking Repeat will continue to move forward and back displacement along the set Distance Checking S Curve will use the S Curve velocity cross section during acceleration deceleration The T Curve velocity cross section is used otherwise Checking Abs means motion displacement commands will use absolute coordinates Relative coordinates will be used otherwise 2 12 Revised April 2012 2 3 7 ASD DMC RM04PI Interrupt Factor Control Interface File E HardwWarecH Simulation S About Axis Group gt P VA 42F Capture Compare DMC Compare Slave Security SE EC Cardi 0 JD RM O4PI Slave 0 1 E 4 RM D4PI Mode Slave 0 2 A RM DAPI
27. E24V 24V Voltage Input 1 2 3 Case Ground Earth Figure 1 106 CN3 Pin definition Description E24V 24V Voltage Output Common Input Signal X This connector is used with the Input signal common point for Figure 1 107 CN4 Pull high or Pull low Pin definition COM to 24V Low active Pull high XCOM to GND High active Pull low Revised April 2012 Figure 1 108 CN5 Pin definition 109 CN6 Pin definition Figure 1 Figure 1 110 CN7 Pin definition Revised April 2012 Description 24V 24V Voltage Output 24V 24V Voltage Output Total voltage Output at 24V is 1 5A Description X00 PO GPIO 1 Input Label Description 1 43 Label Description Pin definition X Output from one GPIO is 0 1 PHI Label Description e Pin definition Label Description POWER Voltage status indicator Operation indicator ae We Nt DMC communication DMC TES Indicator Figure 1 113 LED definition Indicator P1 0 15 signal Input indicator 1 44 Revised April 2012 1 11 ASD DMC RM64MN1 1 11 1 ASD DMC RM64MN 1 Product Profile 6 8 A W 8 A ASD DMC RM64MN1 GENE L4 c m lt 1 64 CH DIGITAL INPUT Figure 1 114 Front view of module 1 11 2 ASD DMC RM64MN1 Part Names RSW1 CN6 CN7 lt
28. GND RS485GroundSignal Pin definitions Pin Label Description 12 3 Figure 1 32 CN3 Pin definition Label Description EE Common Input Signal GND PowrOnmd _ i X This connector is used with the Input signal common point for Figure 1 33 CN4 Pull high or Pull low Pin definition XX COM to 24V Low active Pull high XCOM to GND High active Pull low X Total Input voltage is 3 0A Max Revised April 2012 1 15 1 16 Figure 1 34 CN5 Pin definition Figure 1 35 CN6 Pin definition Figure 1 36 CN7 Pin definition Label Description Total voltage Output at 24V is 1 5A Max Description X00 PO GPIO 1 Input Description 24V Voltage Output PO GPIO 9 Input PO GPIO 10 Input PO GPIO 11 Input Revised April 2012 Figure 1 37 CN8 Pin definition Figure 1 38 CN9 Pin definition Figure 1 39 CN10 Pin definition Revised April 2012 Label Description a X PORO pat Label Description a aoe NN PERO Input Label Description EE N Common Input Signal 1 17 Description 24V 24V Voltage Output 24V 24V Voltage Output Pin definition Total voltage Output at 24V is 1 5A Max Description X00 P2 GPIO 1 Input X When P3H P3L GPIO 3 is set to MPG mode Pin 9 P2 X00 and Pin 8 P2 X01 cannot be used Figure 1 41 CN12 Pin definition Label Description 24V Voltage Output Pin
29. LY E A A rrr O AAA DC Figure 1 63 LED definition Label Description POWER Voltage status indicator RUN Operation indicator 0 15 P1 0 15 signal Output indicator Revised April 2012 1 27 1 7 ASD DMC RMO0A4Pl ASD DMC RMO4PI Product Profile 1 7 1 I im Tm LL rij E mn El Ta E en AAA A A EE EE TIE AEETEERTE AAA cerne AO B 109 B 2 oem uw mmi 15 lM r HB 6 i fos Figure 1 64 Front view of module DMC RMO4PI Part Names 1 7 2 ASD DSW2 RSW1 RSW2 DSW1 eee re ee a A oh im Iw ry EJ E E E a LEIA CN1 MESE 7 A 1 hector Ba 109 mg TTE De oom wenn 4 h en eenn rs UM me OE ee BRRRRRR E ireen EE Dn ad NN e CS fos CN10 CN11 CN12 CN6 CNG CN13 CN9 Figure 1 65 RMO4PI Part Names Revised April 2012 1 28 1 7 3 ASD DMC RMO4PI Module and Connectors Figure 1 66 RSW1 and RSW2 Figure 1 67 DSW1 Pin Label Description Node Number Starting Node ID RSW1 _ Node Number End Node ID RSW2 X When DSW1 is switched to 1 mode 1
30. Sets the motion and software limit settings for motion displacement e Motion displacement parameter settings Parameters will vary depending on the mode selected in block F f Axis selection and motion displacement operation mode g Opens Slave Encryption interface Please see section 2 3 7 h Executes motion commands such as clockwise rotation CCW rotation and stop Includes velocity cross section selection reference coordinates selection and repeat option i Error return value and the firmware version of the connected RMOAPI module Sets SLD port functions Revised April 2012 2 7 2 8 Blocks a d are described in greater detail below Information 25150 5 eedBac 1 Speed Reset CMD Stop 5 Q eye ipuse Ral L ON opuse DO prep Figure 2 12 RMOAPI MODE 1 a Block Functions Q Displays the motion displacement commands for each axis and other information Clears all current motion displacement commands Sets module s Output level when SVON button is pressed Select H for High active Select L to set Output as Low active Displays current motion displacement status Buffer Length counter If more data is being added when buffer is full the value 299 is displayed Q Sets the module s Input Output phase The phase can be changed according to user requirements AB phase Velocity must not be set higher than 500Kpps CW phase
31. Velocity must not be set higher than 200Kpps Resets IO error on module Q Controls the second set of Digital Outputs Revised April 2012 Revised April 2012 O Gear Uhange PChange 8 imit numerator MewSpeed sec MewPas SLD 10000 1 5000 0 1 5000 4 Lirrit denominator Logic 10000 0000 1 Y Change P Change ema stop sop Figure 2 13 RMOAPI MODE 1 d Block Functions Sets software limit First set the positive limit PLimit and negative limit NLimit and then click on the SoftLimit button to set the software limits Gear functions like electronic gear ratios New motion displacement distance original motion displacement distance x numerator value denominator value This function is used to set the new velocity value NewSpeed and the new acceleration deceleration time sec Click on V Change button to change to the new velocity displacement settings This changes the displacement position First set the new position NewPos and then click on P Change to apply the new setting G Sets the SLD First select emg stop or sd stop mode and then set the Logic 0 is always on Normal high and 1 is always off Normal low 2 9 2 10 2 3 6 ASD DMC RMO4PI MODE 2 1 Axis Control Interface hinda ort Claw 1 a a of a Distance 1280000 p Start Yel Max Vel ActCMD
32. W CCW D01 D02 Connection Type Transistor T Internal Circuit Figure 1 141 Revised April 2012 1 13 5 Connecting RMO4PI to Stepping Motor Drive Diagram of connecting to a 5 phase stepping motor drive DOCSV 244 Twist pair wire Kms CW pulse signal Pul ignal 1 Pulse signal Electromagnetic brake Unlock signal Go lt 30mA RMO4PI Corresponding Din Corresponding Signal mark Step number Step number Attention The table for external power supply and corresponding series resistor is shown below External power voltage Vo External series resistor R1 External resistor not needed 24V 2 2K0 2W O If the wiring environment has more ambient noise or involves longer wiring distances 24Vdc external power supply is recommended instead Revised April 2012 1 55 Diagram of connecting to a 2 phase stepping motor drive ASD DMC RMO0API 2 phase Microstep CMK type Vol t DCSV 24V Twist pair wire CW pulse signal Pulse signal CCW pulse oy Z Y Direction O lt 30mA R3 ml signal Vol DC5V Excite timing ze Y Output signe signal mi o Less than 10mA Figure 1 143 RMOAPI Corresponding Din RMO4PI Corresponding Signal mark number Signal mark number O Ww 4 omo 7 MEM nn 6j v 0000 2 DA 66 5 GND 11 2 Attention The table for external power supply and
33. because RMO4PI only takes up one Node at this time dials RSW1 and RSW2 must be set to the same value X When DSW1 is set to ON mode 2 because one RMO4PI can take up to 4 Nodes Axis0 to Axis3 the interval between RSW1 and RSW2 must not exceed 3 RSW1 must also be set as the starting Slot and RSW2 set as the end Node ex Change RSW1 to 5 change RSW2 to 8 Pin Label Description MODE 1 Operation mode 1 MODE 2 Operation mode 2 Adjust the operation mode based on operating requirements Label Description GND Reserved Figure 1 68 DSW2 1 8 Figure 1 69 CN1 and CN2 Pin definitions Revised April 2012 E24V SINK type XSet SINK type for 04 module based on the type of circuit connection Pin Label Description RS485T_1 1 RS485 Signal RS485T_1 1 RS485 Signal RS485T_2 274 RS485 Signal 6 RS485T_2 274 RS485 Signal EGND RS485 Ground Signal EN EGND RS485 Ground Signal 1 29 1 30 12 3 Figure 1 70 CN3 Pin definition 12 3 Figure 1 71 CN4 Pin definition Figure 1 72 CN5 Pin definition ey A Figure 1 73 6 Pin definition Pin Label Description Port ground RS232 TX Serial port TX port RS232_RX Serial port RX port X DSUBO female port i X This port is used for Pin Label s used here cable side updating the module firmware program Description E24V 24V V
34. can only be used in Mode User defined Function not available 2 3 8 ASD DMC RMO4PI Slave Encryption Control Interface Slave Encryption Data Read write Page 0 Data Status Head Data Wi Tike Save Figure 2 18 RMO4PI Slave Encryption User Login Interface Input fields in Blocks are all 1 to 8 bits and take hexadecimal values between 0 and F User login and status display field Default password If login is successful status will display Pass and grant access to the functions in 2 19 Blocks If login fails then Error is displayed User must attempt to login again If password is incorrect the correct password must be entered twice to login X After logging in user must change password or change verify key before they can leave this page Revised April 2012 Data read Select Page then click on Read to read data Data write Select Page to write to Input data click on Write to write to buffer then click on Save to save data to the 04 module Verify key confirmation field and status display Enter the 4 sets of Verify Key values in Fig 2 19 block G into the 4 fields of Check Verify Key and then click on Check Verify Key If verification is successful then Pass is displayed on the status bar below Lock is displayed otherwise im Slave Encryption Data Read write Password Page 0 Confirmation Data
35. ce Displays current voltage sets AD voltage read range Figure 2 27 RMO4AD Mode Control Interface Revised April 2012 2 20 2 3 11 ASD DMC RM32PT 301 Error hande Active Ag 210 11 13 14 15 0000000000000000 Output TT v2 YH YB Y 8 11 12 Yo 4 Figure 2 28 RM32PT Digital Input Signal Display RM32PT module information In this example the module is Node 1 connected to Card 0 RM32PT module s firmware version Error Handle option Choose whether to keep after power off Check to keep record Active option Output the selected Output signal to the connected device RM32PT module s Input signal display G Each bit of the RM32PT module s Output signal Revised April 2012 Appendix FAQ Why can t find a Remote module after changing its Node ID or mode when 1 M use the Search Slave function of EZDMC again If the Node ID or mode of a Remote module RM32 64 04PI is changed please turn off the power before making the changes and then use the search slave function after turning on the power again Why do other connected servers stop working when power to a RMOAPI 2 s module is cut If servers and RMO4PI modules are connected as slaves and power is cut to one module then other slave modules will be unable to continue performing motion displacement commands Why does a motion displacement command currently being executed Q3 disa
36. city used by each axis during motion displacement O Acceleration deceleration time used by each axis during motion displacement 2 3 4 ASD DMC RM64NT 1 d PCI_Card No 0 Slave No 1 DIO Pu 2 ru YS 4 Output Port 1 YU Y5 YE Y 13 Y14 715 Output Port 2 YO Tl Y4 Y5 YE Y7 410 HI Ws 14 Output Port 3 YO 1 Y4 Y5 YE Y7 YI Wl Y13 4 15 Figure 2 10 RM64NT Interface RM64NT module s firmware version RM64NT module information In this example the module is Node 1 connected to Card 0 Error Handle option Choose whether to keep after power off Check to keep record Active option Output the selected Output signal to the connected device G Shows each bit of the RM64NT module s Output signal In this example PortO bit 0 15 are set to ON Revised April 2012 2 3 5 ASD DMC RMO4PI MODE 1 RM 4PI Model PCI Card No 0 Slave Mo 1 Information Axist Information Anis Information Anise Information Axis Operate Setting Command Command Command Command Distance Pulse FeedBack FeedBack FeedBack FeedBack Speed Speed Speed Speed Length 0 Length 0 Length 0 D D D or po or e a Reset f CMD Reset CMD Reset CMD Reset CMD Stop POS stop POS _ Stop C POS __5 POS Start V
37. corresponding series resistor is shown below External power voltage Vo External series resistor GUB External resistor not needed 22K0W O If the wiring environment has more ambient noise or involves longer wiring distances 24Vdc external power supply is recommended instead 1 56 Revised April 2012 1 13 6 Connecting RMOAPI to Encoder ASD DMC RMOAPI Figure 1 144 1 13 7 Connecting RM64MN to MPG Revised April 2012 Amis gt Axis Y Axis U RATE RATE OD ER Figure 1 145 ES EH ETA SIGNAL PROCESSING CIRCUTRY A ii RE NDE 1 13 8 Wiring Diagram for RMO4DA Output Point Voltage output ir 10 10 CHI Variable frequency Shielding wire 1 drive recorder ES Proportional valve Current output Me recorder Proportional valve Figure 1 146 1 13 9 Wiring Diagram for RMO4AD Input Point Voltage output 10 10V Shielding wire 1 Current output Z rn amp 20 rn Shielding wire 1 Figure 1 147 1 58 Revised April 2012 Chapter 2 Using EZDMC 2 1 Launching the Program The connected device Remote module and motion control card must first be connected using CAT 5e networking cables The Remote module must also be provided with a 24VDC power supply When the DI module RM32MN RM64MN connected to the Remote is Low active please connect the COM port on the DI
38. el PPS T pypl ipuse Ralm H pyp ipuse Ralm H pypl ipuse Ralm H pup ipulse Ramf Max vel 200000 PPS opulse 02 L ON C L us see TDec sec 1 Status Status Status U Status Axis Model ere O Model O gt O Modell peer Q Model ere OQ Model Q Target O Model Q Target Q Model p Target Q Model Q Target p TEE Mode Q O Mode Q NA Q Mode OQ NA Q Mode Q p v Continue Homing Modes p MESO p O MESO p Modes p MESO p Modes OQ MESO p Linea C Arc 7 Are O Arc3 SLD p MDS1 O SLD MDS1 p SLD O MDS1 O SLD MDS C Linear Heli Linear WR o PEL O wR o PEL wR Im PEL p WR PEL Q DR OT v9 2 DR 6 r ve TG DI O TG O DI TG O DI TG PROA p O PARARON O p p p PAH OM p 012 p b SEO SoftLimit 5 Curve Index SubType DO 01 D2 D3 500 FLimit numerator NewSpeed sec 0 el 1 Send 6047 10000 1 5000 1 1 Limit denominator 0 Y Change ae Read 1 __ Change 1008 520 Repeat 0 Figure 2 11 RMO4PI MODE 1 Interface a Displays the status values excite and reset of each axis during motion displacement b Displays the status indicators of each IO port on RMOAPI c Sets CANopen command User can control the module by using this to read send CANopen commands d
39. iption Revised April 2012 Label Description ET Prepormut Pin definition Label Description Pin definition Label Description POWER Voltage status indicator RUN pers Hon indicator DMC communication DMC ae indicator a fe we 3 m 4 Figure 1 15 LED definitions PO 0 15 Indicator P1 0 15 signal Input Indicator Revised April 2012 1 9 1 4 ASD DMC RM32NT 1 4 1 ASD DMC RM32NT Product Profile aa ara arar Le er gi ers efi 4 MPG jer npcnunononornnunononuonunononutnrt Figure 1 16 Front view of module 1 4 2 ASD DMC RM32NT Part Names RSW1 CN4 LI CIE EE EE tr en B BB LE E CN3 CN5 CN6 8 9 Figure 1 17 RM32NT Part Names 1 10 Revised April 2012 1 4 3 ASD DMC RM32NT Module and Connectors Pin Label Description 1 9 Node Number Node ID A F X Invalid when dial is turned to 0 D F X Each module takes up one Node ID Pin Label Description 1 RS485 Signal 274 RS485 Signal 6 2Z RSABSQna 1 8 7 EGND RS485 Ground Signal Figure 1 19 CN1 and CN2 EGND RS485 Ground Signal Pin definitions 24V Voltage Input 12 3 Case Ground Earth Figure 1 20 CN3 Pin definition Description Le 24V Output Figure 1 21 CN4 Pin definition Revised April 2012 1 11 1 12
40. keep record Active option Output the selected Output signal to the connected device G Shows each bit of the RM32NT module s Output signal Revised April 2012 2 3 2 3 3 ASD DMC RM64MN 1 FAEZDMc _ 1Blxl File E HardwarerH Simulation S About ZM E Slave Hardware PcI_Card 0 Slave No 1 DIO CardMa Made Slot PCI DMC 401 Cardi 0 317 7 J 7 Filter 1 DIO Slave 0 1 Al AZ Aa Ad Ab Af 40 Ad Al Ald 13 A14 Alb AS 54 Ao Ab Af X3 s10 11 Al2 Ald Ald 15 AS Ad 244 AB x AB 29 ATD 11 12 213 Ald A15 0000000000000000 NULL NULL es En Ratio i Slop JOG En 3 Speed 1280000 1280000 1280000 1280000 sec 01 0 1 0 1 0 1 fifo 167 Protocal B 0 0 PCI O MBox 0 5 0 289 5 295 DO DFF E Figure 2 5 RM64MN Display Interface includes MPG mode controlled Servo Driver PCI_Card No 0 Slave No 1 DIO Cardo Hode Slot 1004 211 s12 13 Ald 15 DE eo 9 xil KIZ 3 x14 15 a 9 xil s12 s13 14 15 re Ag xil 12 x13 14 x15 e9000000000000000 Anis NULL NULL S ast zm MPG En b Ratio 1 108 T En speed 4220000 1280000 1280000 1280000 Sec 0 1 0 1 0 1 0 1 Figure 2 6 RM64MN Display Interface
41. l 274 85485 Signal 1 8 GND Figure 1 49 and CN2 GND RS485GroundSignal Pin definitions Pin Label Description Figure 1 50 N3 Pin definition Label Description Pin definition 1 22 Revised April 2012 Figure 1 52 CN5 Pin definition Figure 1 53 CN6 Pin definition Figure 1 54 CN7 Pin definition Revised April 2012 Description X Total voltage Output at 24V is 1 5A Max PO GPIO 1 Output YOO Description Label Description PO GPIO 16 Output 1 23 1 24 Figure 1 55 CN8 Pin definition Figure 1 56 CN9 Pin definition Figure 1 57 CN10 Pin definition Label Description yoo PiePotoumt 0 Label Description woe PiePosoumt Label Description Na wre Revised April 2012 Figure 1 58 CN11 Pin definition Figure 1 59 CN12 Pin definition Pin definition Revised April 2012 Label Description Total voltage Output at 24V is 1 5A Max Description YOO P2 GPIO 1 Output Label Description 1 25 1 26 Figure 1 61 CN14 Pin definition Figure 1 62 CN15 Pin definition Label Description a RA voo PSGPOTOUu Label Description Revised April 2012 MEL EEEO CHE c C CO CO CO OE X CE 01 E OCH ER C CE C 0 ALE E
42. m 3 a 4 m E T am qa A B 4 i Er L 85 3 aE 1 Jj 1 2 eg x T 1 dr L L LI y a u a 1 a L ar j Lm teert rami FE 1 A 3 ng 0000080000 i i ke n i uA m P mi 10351 JEUILUIA Rl IITT TTTIII M L i a Figure 1 1 Connection Example of Servo Drives and RM32 Modules 1 1 Revised April 2012 10 wall m m E EN TW EF P B ee 3 E H P P EH B P P NE SH J10 SIS9Y Figure 1 2 Connection Example of Servo Drives and RM64 Modules Revised April 2012 1 2 r Ro jen ome LEM NR BRE A HR d Gm ow GN D E aam J10 SIS9Y Figure 1 3 Connection Example of Servo Drives and RMOAPI Modules 1 3 Revised April 2012 1 2 Electrical Specifications General RM32 Module MN NT PT Dimensions 100mm x 75mm x 43mm RM64 Module MN NT Dimensions 168mm x 75mm x 43mm RMOAPI Module Dimensions 168mm x 75mm x 40mm RMOADA Module Dimensions 100mm x 75mm x 43mm RMOAAD Module Dimensions 100mm x 75mm x
43. n Output mode 3 Display field for returned status 4 Error Handle Choose whether to keep after power off Click to keep record 5 Apply Change actual voltage current Output to Appro value 2 17 2 3 10 ASD DMC RM04AD RM D4AD PCI Card 12 Slave No 12 me column A Figure 2 22 RMO4AD Control Interface RMO4AD module information Display current voltage Clear All Clear the voltage display Pause Pause to get the current voltage using a coordinate position Measure Figure 2 23 RMO4AD Pause and Measurement Interface amp Sets AD conversion time Function settings A detailed description is provided on the next page Zero calibration Zero Zero calibration Only the selected Channel will be calibrated Full Full scale calibration Only the selected Channel will be calibrated Q Sets the display time for each click of X axis Sets the voltage difference for each click of the Y axis 2 18 Revised April 2012 Below is a more detailed description of block in Fig 2 26 Description select the Channel to display and check to enable Channel Input Input is disabled otherwise Total Checks all Channels Figure 2 24 RMO4AD Channel Select Control Interface avg m Sets the average mode ono ava i Total Sets all channels Figure 2 25 RMO4AD Avg Control Interfa
44. o clear the How to clear the Indicator Description m Indicator Description Me indicator indicator None Indicator Collision with Move away from Normal does not come machine es AN the positive limit ON positive limit E Collision with Move away from Velocity limit Reset the velocity software the software exceeded positive limit positive limit software the software button m Ao negative limit negative limit Collision with Invalid Press the RALM operation button Move away from the machine TO the negative limit a Ecc Uu Collision with Move away from negative limit Revised April 2012 2 11 Multi axis Control Interface up to 3 axes can currently be controlled simultaneousl Please see section 3 7 of the User Manual for instructions on switching from 1 axis to multi axis control interface Servo Multi Axis SlaveNo 1 SlaveNo 1 5laveMa 1 Information Slave Information Slaves Command Command Command FeedBack FeedBack FeedBack Speed Speed Speed Buffer Buffer Depth Pitch Ipulse Ralm Start Vel ON Max Vel Reset TDec IL Status Operate Mode Linear Circle 47 Circle Model 5 E Q Q Q d n Q id C Linea3 Heli Circle3 Model OriverE rr Model DiriverE rr Model DriverE rr Spiral C Spiral RLinez Q o o o Q o Sec Made Q Target Q Made OQ Target p Made Q Target Modes Q Naa Q Modes OQ p Modes Q
45. oltage Input 2 GND Power Ground Label GND CW CCW 5V GND DI1 Description Power Ground Description Power Ground 0 axis Motor Clockwise Rotation Signal Input 0 axis Digital Signal Input 2 Revised April 2012 Label Description Input 1 axis Encoder B phase signal ICI 5 ge el BEN i 7 k 5V Voltage Output IIOP MEL GOD B M Figure 1 74 CN7 Pin definition Label Description Signal Input TS 1 axis Motor CCW Rotation Signal CCW Input GND DI1 DI2 5V 5V Voltage Output PowerGmud _ 1 axis Digital Signal Input 1 Figure 1 75 CN8 gia 21808 Input 2 Pin definition DO 1 axis Digital Signal Output 1 DO2 1 axis Digital Signal Output 2 Label Description 24V Voltage Output 24V Voltage Output Figure 1 76 9 24V Voltage Output Pin definition 24V Voltage Output Total voltage Output at 24V is 0 75A Revised April 2012 1 31 1 32 us i na a 8 E a Figure 1 77 CN10 Pin definition 002 en m x dE e cm s Figure 1 78 CN11 Pin definition Label Description 2 axis Encoder A phase signal Input 2 axis Encoder B phase signal Input 2 axis Encoder Z phase signal Input 5V Voltage Output Description 2 axis Motor Clockwise Rotation Signal Input 2 axis Motor CCW Rotation Signal Input 5V Voltage Output
46. ppear when open another EZDMC window You must open all control viewing windows before executing any motion commands for 1 axis or multi axis Performing any other actions opening another window while motion commands are being executed may lead to the loss of all command values have set and executed the motion commands for RMOA4PI module EZDMC Q4 but instead of executing the motion displacement it stops and generates the alarm indicator 9 Why Please stop the execution of the motion command and then check the settings for starting velocity and maximum velocity When Output phase is in AB mode please set velocity to less than 500Kpps when Output phase is CW please set velocity to less than 200Kpps If the initial settings exceed the above limits then current motion will be stopped The Driver Error light will light up and the alarm indicator 9 will be shown Revised April 2012 A 1 2 5 Q6 Q7 Q8 Q9 Why is the current velocity for each axis the same even though they have different distance displacement settings during multi axis linear interpolation In EZDMC the velocity displayed for each axis is the component velocity During this multi axis linear interpolation motion the actual velocity will be less than or equal to the displayed velocity depending on the distance set for each axis During arc interpolation or spiral interpolation motions however the displayed velocity will be the ac
47. rt is enabled on the RMO4PI module with EzDMC during Q10 multi axis motion displacement why is it that one axis cannot move backwards when it comes into contact with the SLD port signal When encountering this situation use the Line motion mode to back away from the SLD port signal However please be sure to first check the direction This can be confirmed using the N A light Why does an error occur with the Gear function when using EzDMC to control Q11 the RMOAPI module Gear calculates original Position numerator denominator The result is the final target position In other words the value of the P Change field in EZDMC is the original Position value The new position will be the calculated target position Even if the distance of the final position is longer than the original distance it must still be completed in the same amount of time Motion velocity will be automatically increased but if this exceeds the module limit AB 500Kpps CW 200Kpps an error will occur The above limitations must be taken into account when setting motion parameters to avoid errors X When Gear is changed from enabled to disabled make sure that the value of Position is Reset to zero as well Why do DMC 01 set command API functions sometimes not work and Q12 return error messages like Alarm 9 and Driver Error If this function is not working properly please check to ensure that the Position value is correct If it is not in
48. the right position please use the 01 set position function to adjust the position before using the _DMC 01 set command function again Revised April 2012 A 3 4 This page intentionally left blank Revised April 2012
49. tual velocity of that axis Why is it that only the Command value moves while Feedback fluctuates in single digits after setting and executing motion displacement commands for RMO4PI through EZDMC Please cancel the current motion command and then check the fields of the Output and Input modes AB phase CW CCW to ensure that they have been properly selected Next check to see if wires QA and QB are properly connected Why does the current motion command being executed stop when the motion mode is changed in the EZDMC 1 axis control window i e driver and MODE2 of RMOAPI This is a normal occurrence Manually changing the motion mode will interrupt the current motion command Why does the error light and IO status light in the control window blink when using EzDMC to control the RMO4PI module This indicates a signal anomaly in the connected Slave module Please disconnect the power source and then check the CAT5e cable connection for the Slave device Make sure that the module server at the last stop node has a terminal resistor attached to the RJ45 port If the SLD port is enabled RMO4PI module with EZDMC why does SLD enable stop working if soft limit is enabled during motion displacement To use the soft limit function please set and enable the soft limit function before executing any motion commands There is no restriction on whether SLD port is enabled or not during operation Revised April 2012 If the SLD po

DMCNET Remote Module User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents