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MDC2100

1. DIM2 CB12 DIM2 1 EN EBR1 SB8 EBR1 1 EN EBR2 SB16 EBR2 1 EN ELA SB4 CN 1 ALA ELA 1 EN ELB SB4 CN 1 ALB ELB 1 EN ELC SB4 CN ALC ELC 1 EN ELD SB4 CN 1 ALD ELD 1 EN ELE SB12 CN 1 ALE ELE 1 EN ELF SB12 CN 1 ALF ELF 1 EN ELG SB12 CN 1 ALG ELG 1 EN ELH SB12 CN 1 ALH ELH 1 EN MPOFF MO CB5 CB13 MPOFF 1 EN MPON MO CB5 CB13 WT 50 SB5 SB13 MPON 1 EN TA SB7 SB15 TAVAL INT _TI0 16 _TI1 amp SFO TA 1 EN TBR1 TBRIVAL 1 JP TBRIA _OP0 amp 128 TBRIVAL 0 TBR1A TBR1 1 EN TBR2 TBR2VAL 1 JP TBR2A _OP0 amp 32768 TBR2VAL 0 TBR2A TBR2 1 EN TD CB7 CB15 TDVAL INT _TI0 16 _TI1 amp FO TD 1 1 Z 27 M DC OO Reference amp Maintenance Manual S LAR ESS ESR 8 Troubleshooting amp Service 8 1 Troubleshooting Help For further assistance contact the factory M F 8AM to 5PM Pacific Time Phone 541 791 9678 Fax 541 791 9410 Toll Free 888 754 3111 Web www primatics com E mail service primatics com 8 2 Service Should your device require factory service contact the factory for a Return Materials Authorization RMA When inquiring about an RMA please have the fol
2. NO NO Primatics Inc NO MDCOptima API NO Version 1 0 NO NO Terminology NO MDC0200 Motor Drive Chassis NO x Axis A B C D E F G H NO d MDCO200 1 2 NO Programs NO CF Clear faults both MDCs NO DBRd Turn off brake releas nable MDC0200 d NO DIMd Disable input multiplexer MDC0200 d NO EBRd Enable brake release MDC0200 d NO ELx Enable latching of index pulse x axis NO MPOFF Turn motor power off both MDCs NO MPON Turn motor power on both MDCs NO TA Axes amplifier status NO TAVAL Bitwise amp status NO Bits 0 7 Axes A H 1 Faulted NO TBRd Tell if brake releas nable is on MDC0200 d NO TBRdVAL 1 Enable brake release output is on NO TD MDCO0200 amp 2 status NO TDVAL Bitwise MDC0200 status NO Bits O0 3 MDC1 4 7 MDC2 NO Bit Description 1 NO 0 4 Motor Power On Off NO 175 Hardware Ok Faulted NO 2 6 Logic Power Ok Faulted NO 37 f ESTOP Ok Faulted NO Labels NO TBRIA TBR2A NO Variables used NO Completion codes NO CF DBR1 DBR2 DIM1 DIM2 EBR1 EBR2 NO ELA ELB ELC ELD ELE ELF ELG ELH NO POFF MPON TA TBR1 TBR2 TD NO Status variables NO TAVAL TBRIVAL TBR2VAL TDVAL CF CB6 WT100 SB6 WT100 CB14 WT100 SB14 WT100 CB6 WT100 SB6 WT100 CB14 WT100 SB14 WT100 CF 1 EN DBR1 CB8 DBR1 1 EN DBR2 CB16 DBR2 1 EN DIM1 CB4 DIM1 1 EN 26 MDC 2 100 N T rece Neo Rel Sees SE
3. K ENC SHLD Shield for encoder signals connect to encoder case L LIMIT 12V_ Power supply for limit switches 12VDC M LIMIT COM power supply return for limit switches N HOME Home signal input P BRAKE Failsafe brake power output 24VDC to release brake R BRAKE return for brake power output S SHIELD Shield for cable T HALL V Limit switch power output 5VDC U HALL V return for limit switch power output V ENC V Return for Encoder power W ENC l Encoder channel l X ENC l Encoder channel l Y FLS Forward limit switch input Connect to LIMIT COM for normal operation Z RLS Reverse limit switch input Connect to LIMIT COM for normal operation a not used b HALL A Hall sensor A input Cc HALL B Hall sensor B input d TEMP Motor temperature switch input Connect to LIMIT COM for normal operation e HALL C Hall sensor C input 14 MDC Family Peerence amp Maintenance Manual 6 Operations 6 1 Fault Detection and Motor Power Control For the MDC a fault is any condition that will prevent power from being applied to the motor drives There are two DC power systems in the MDC chassis the Logic supply and the Motor supply The Logic supply provides DC power to all internal circuits as well as externally connected encoders limit and home sensors and optional brakes The Logic supply is on anytime AC power is supplied and the power switch is on This condition is indicated with the illumination of the S
4. AUXD A Auxiliary Encoder Axis D A 12 AUXD B Auxiliary Encoder Axis D B 25 AUXD B Auxiliary Encoder Axis D B 13 CHASSIS Chassis Connection 11 MDC FAU N TR 5 4 The Safety Port At the rear of the MDC chassis is a pluggable terminal strip labeled Safety Port The Safety Port provides connection access to two features the Stop Loop and the Stop Switch 5 4 1 Stop Loop and Stop Switch To enhance the safety of an application the motor power supply in the MDC uses an external Stop Loop to control the state of its motor power circuit For normal operation of the motor power supply the Stop Loop found on pins 3 and 4 of the Safety Port must form a closed circuit An open Stop Loop will generate internal STOP and hardware faults killing power to the motors The Stop Switch on the front panel of the MDC chassis is a normally closed switch connected between pins 1 and 2 of the Safety Port If no external devices are to be connected to the Stop Loop the Stop Switch must be connected as shown in Figure 5 5 Stop Switch Normally Closed If no external safety devices are connected to the MDC chassis the two jumpers shown must be installed This circuit connects the Stop Stop Circuit requires Switch into the Stop Circuit externally closed circuit connection for normal operation Figure 5 5 Stop Switch and Stop Loop connections pins 1 2 3 and 4 of Safety Port To connect the MDC safety system to
5. EEEE EaR 19 6 1 Fault Detection and Motor Power Control s ssssseeesesssesseeesressesreeteesssstaresesresesrestesteseerestestesesereseeseene 15 6 2 Motor Output Signals sesh ai a E A A ERR 16 6 2 1 Brushless Servo Motoknenene nenen unen a re e dine tisr ne ECEE FEE REE EEOC R EEEE 16 6 3 Encoder Input erenn eee a KaR EEE OVEA EREEREER EERE EE EEEE EEEE REE 17 6 4 Limit Home amp Temp Sensors eyes es a a E E E E E E RARER 18 6 5 Brake Release Output eee eceeeeeeeseeecseescsecseecseeecseeecseesesecsceesscasseeecseeaseesasssessssesseeesseeesseeaees 18 7 The Galil DMC Interface ssssssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 19 TA The O Pott A E A 19 GOAL O MA A oy ore ELECTR REE REPO Ey Aes EEE ATER CPE EE E a PEELE TEESE 19 7 2 1 MDC Digital Inputs and Outputs cece eseeeeseesceecseeecseeecseescsecsseecacesseeesseeesseesseesaseesaeeees 20 7 3 The MDCOptima Application Programming Interface o ee eseeeseeeeeseseeeeseeecseeeeseeeeseeseesaeeesseeees 21 PSV TMC ARI sessescteccesesssecd sovsesierctestinsloesaceierehactat E E acaee tates 21 1 3 2 Motor Power Control ccccicchectecicceihicieeeitene teas E 21 Jaro BEAK OS ierre i ize ERO EEE bees chee chee ches aces Ges EEE EOE R cece chee EOE EOE ROERO ERE 22 TA Software Installation esros a E AR A R OER S R as heen 23 7 4 1 Set the Controller Parameters a r E EANA 23 7 4 2 Setting Motion Control Parameters for each axis cesses eeeeeeeeesceeeseescseese
6. contains controller API and utility programs and another file is called README TXT and has instructions on how to use the other two files configure the motion control card turn on power close the servo loop home the axes set the cycle speeds and start and stop the program The motion control parameters used at the factory are supplied with each stage Some parameters will need to be modified depending on the particular application e g tuning parameters 7 4 1 Set the Controller Parameters Set the BA command to specify which axes require sinusoidal commutation Use the CN command to specify the limit switch polarity 7 4 2 Setting Motion Control Parameters for each axis Appendix A contains a sample motion control parameters sheet provided with PLG and PLR series stages Using the Galil DMC Terminal Program or the Set up and Configure Form of the Servo Design Kit enter the motion control parameters Don t forget to save the setting in nonvolatile memory 7 4 3 Loading the API To use the API it must be included with the application code and downloaded to the motion card The examples below are in the form of a DMC Terminal program session In these terminal sessions the characters typed by the user are in regular type and the controller response is in bold italics 7 4 4 Example 1 Brushless Servo Trapezoidal Drive It is an example of a controller with one brushless servo trapezoidal drive The drive is connected
7. external devices such as an external STOP switch light curtain etc insert the normally closed circuit from the safety devices into one of the two loops show in Figure 5 5 Assure that the safety circuit is a dry contact 12 MDC FAU Ne Ee 5 5 Axis Information Primatics linear and rotary stages are connected to the MDC chassis using the Servo Axis Cable accessory The standard cable is 12 ft long but cables up to 50 ft in length can be used Connect the cable from the appropriate axis connector at the rear of the MDC chassis to the stage The Axis connectors are associated to Galil axes A through D Only those connectors for the ordered configuration are present For example a 2 axis MDC2100 will have connectors for axes A amp B only Axis A X Axis B Y Axis C Z Axis D W Figure 5 6 Axis Connectors and Galil Association 13 MDC Family Feference amp Maintenance Manual Table 5 3 shows the pin out of the Axis connectors Table 5 3 Servo Axis Connector Pin out Connector FCI UTG020 S Mate FCI UTG620 28PN Pin Name Function A MOT A Motor phase A B MOT B Motor phase B C MOT C Motor phase C D MOT SHLD Shield for motor signals connect to motor case E ENC 5V Encoder power supply 5VDC F ENC A Encoder channel A G ENC A Encoder channel A H ENC B Encoder channel B J ENC B Encoder channel B
8. of Axes TARS tr oer cere cre suet Ae crave aaa sae on Meee aS AR 1 ZASIS EDA O 2m cies 2G te ame ae SRI eae 2 SAIS 2 cz aaan a a a a O e 3 AI AXIS E AE A A A A eo 4 Amplifier Bus Voltage ABV LOO W re se ire awe EIEE AE ae EREE 48VW1 BOV OOW kaai bee eaa cee E cae E eat aed Gers 60VW1 Driver Card Brushless SOIVO wer an tere tex aen a ie wee D1 Customization Code optional XXXX Present only if the chassis is customized in some fashion Refer to addendums Specify each axis Call factory for custom controller interfaces MDC Family Peterence amp Maintenance Mawa AN 4 Personal Safety ZN Please review before installing your motion system Observe common industrial safety practices when installing and operating automated equipment 9 Have power connections made by qualified personnel Keep fingers and other items out of any opening in the stage while it is in operation since injury or damage may result Provide a safe access route and adequate room for servicing Perform the recommended periodic maintenance described in this document Verify that the work envelope is free of obstructions before the positioning stage is powered Insure that for servo motors the encoder must be working properly and the polarity of the encoder needs to match the polarity of the motor before enabling the servo drive Improper feedback connections can cause a motor run away condition that has the pote
9. the encoder input CHA CHB INDEX Figure 6 2 Encoder signal timing diagram for positive motion 17 M DC Fa mily Reference amp Maintenance Manual 6 4 Limit Home amp Temp Sensors The MDC2100 supports monitoring a forward limit reverse limit and home sensor for each axis Figure 6 3 shows an equivalent schematic for the limit home and temperature inputs Note that the MDC2100 has a 12V supply available to power external sensor circuits MDC Sensor Typical for Forward Limit Reverse Limit Home and Temp Inputs Switch Shown Normally Open Figure 6 3 Sensor Input Circuit Diagram 6 5 Brake Release Output Each axis includes a circuit to energize supply power to a fail safe brake A fail safe brake will hold an axis from moving when no power is applied to the brake The brake release output will supply 24VDC to a brake when the output is on The brake release output is on only when all of these conditions are satisfied Motor power supply is on The drive amplifier is enabled by the motion controller The drive amplifier has no faults The brake release enable output bit from the motion controller is on 18 M DC OO Reference amp Maintenance Manual S LASERS ESR 7 The Galil DMC Interface 7 1 The I O Port This port provides access to certain Input Output Status and Control signals from the Galil motion control card The pin definition for this port is shown in
10. MDC2100 A STOP f Primatics Motor Drive Chassis Reference amp Maintenance Manual o p Primatics Linear Positioning Rotary Positioning Motion Controls Engineered Solutions MDC Family Peerence amp Maintenance Manual p Primatics 32114 Mallard Ave PO Box 409 Tangent OR 97389 0409 U S A Phone 541 791 9678 Fax 541 791 9410 Toll Free 888 754 3111 Web www primatics com E mail info primatics com MDC2100 Manual Revision Information Publication Date Notes December 2003 First Release April 2005 Updated look amp formatting November 2006 Manual Maintenance amp Pinout Update December 2006 Modified Table 7 3 Notice Any descriptions drawings and specifications contained herein are subject to change Primatics is not responsible for errors or omissions herein or for incidental damages in connection with the furnishing or use of this information This document shall not be reproduced photocopied or duplicated in whole or in part without prior written approval of Primatics Corporation For additional specifications dimensioned drawings and additional information refer to the MDC2100 Datasheet available from our website at www primatics com Copyright 2007 by Primatics Inc All Rights Reserved Primatics the Primatics logo PrimaFlex PrimaSeal amp SimpleMatch are trademarks of Primatics Inc MDC Family Pee
11. Table 7 1 Please note that many of the signals in the I O Port are TTL logic levels Power supply signals are included in the port for users that want to provide external signal conditioning If you want internal signal conditioning for your application contact the factory Table 7 1 I O Port Pinout Connector DB25S Mate DB25P Pin Name Description 1 USER IN 1 TTL input 14 USER IN 2 TTL input 2 USERIN3 TTL input 15 USER IN 4 TTL input 3 USER OUT 1 TTL output 16 USER OUT 2 TTL output 4 USEROUT 3 TTL output 17 ANALOG IN 1_ AIN 1 of Galil card 5 ANALOG IN 2_ AIN 2 of Galil card 18 ANALOG IN 3 AIN 3 of Galil card 6 ANALOG IN 4 AIN 4 of Galil card 19 ANALOG IN 5 AIN 5 of Galil card 7 ANALOG IN 6 AIN 6 of Galil card 20 ANALOG IN 7 AIN 7 of Galil card 8 ANALOG IN 8 AIN 8 of Galil card 21 ABORT TTL input Abort input of Galil card Active low 9 ENC CMP TTL output Encoder Compare output of Galil card 22 ERROR TTL output Error output 10 NC No connection 23 NC No connection 11 12VDC Power supply 12VDC 100mA max 24 12VDC Power supply 12VDC 100mA max 12 GND DC common for power supplies and signals 25 GND see pin 12 13 5VDC Power supply 5VDC 200mA max 7 2 Overview The Galil DMC 21x3 series controllers provide motion control for up to four axes of
12. YSTEM POWER indicator on the front panel The Motor supply provides the DC power to all of the motor drives This power supply is on only if there are no fault conditions and the motion controller has turned on the supply through its I O signals A fault condition will override the signals from the motion controller and turn off the motor supply If a fault condition occurs the source of the fault must be removed and the condition must be re set using I O signals from the motion controller A Fault condition is indicated by the illuminated FAULT indicator on the front panel This condition is caused when any of the following occur e System power turn on e Power Supply Fault e STOP LOOP on SAFETY PORT is open The state of the Fault as well as the cause of the fault may be determined through input signals to the motion controller 15 MDC FAU i ee 6 2 Motor Output Signals 6 2 1 Brushless Servo Motor The brushless servo motor drives control current through the three phases of a brushless motor The motor is commutated with hall sensors Figure 6 1 shows the timing diagram for the motor phases and commutation sensors Positive Direction of Motion Figure 6 1 Motor commutation chart 16 MDC FAU N TR 6 3 Encoder Input The encoder input is necessary to operate the motor The encoder inputs are compatible with RS 422 differential signals commonly used on industrial encoders Figure 6 2 shows the timing diagram for
13. ach program a variable with the same name is provided to indicate routine completion The program variable is set to 1 when the routine completes execution A program running on the PC can set the variable to zero execute an API routine and then poll the value of the variable to determine when the routine has finished Appendix A contains a program listing 7 3 2 Motor Power Control Table 7 4 Motor Power Control Programs Program Description CF Clear faults MPOFF Turn motor power off MPON Turn motor power on The CF program attempts to reset the hardware faults First the ESTOP fault and logic power fault latches are reset and then the hardware fault latch is reset The fault latch cannot be reset if faults are still active The MPOFF program is used to turn off motor power to all axes It turns off the enable motor power output turning motor power off to all motor drivers amplifiers In addition the Galil motor off MO command is issued to all axes This turns off the amplifier enable signal and opens the servo loop for each axis The MPON program is used to turn motor power on for all axes First it issues a Galil motor off command for all axes This is done so that the actuators will not jump when motor power is applied Next the enable motor power is turned off and then on If there are no faults this action will turn on the motor power relay providing power to the motor drivers The user must then issu
14. al is intended for use by application engineers and technicians involved with Primatics positioning equipment The MDC2100 is a complete motion PC with Programmable control system in a small package It Motion Controller combines a programmable motion controller Galil DMC 21x3 servo drives power supplies and all necessary wiring into a single package The MDC2100 is optimized for controlling Primatics positioning stages and mechanisms but can also be used with third party positioning stages or axes A i variety of cable assemblies are available J MDC to connect positioning stages or axes to S Motion Controller the MDC The diagram to the left shows the role of a MDC in a motion control d e a system O 2 O The integrated Galil DMC 21x3 i programmable motion control card Positioning Stages makes the MDC a powerful element in a motion control system The DMC 21x3 can be programmed via its integrated RS 232 or 10BaseT Ethernet connection and operates as a stand alone system using the Galil s internal program memory storage capability The Galil DMC 21x3 is a multi tasking multi axis high performance motion controller Refer to the Galil DMC 21x3 programming and users manuals for more information M DC Fa mily Reference amp Maintenance Manual 3 Model Configuration OPTIONS SAMPLE MODEL NUMBER MDC2100 4 48VW1 D1 D1 D1 au XXXX Model Series TAANS Controller cesses ahs cei ore at teers MDC2100 Number
15. e the Galil servo here SH command to activate the amplifier enable signal and close the servo loop at the current position for all axes to be powered up Note The API programs TA TD ELA ELB amp DIM1 are not used with the MDC2100 21 M DC OO Reference amp Maintenance Manual S RORI ETRS EGR 7 3 3 Brakes Table 7 5 Brake Programs Program Description DBR1 Disable brake release drive 1 EBR1 Enable brake release drive 1 TBR1 Tell brake release status drive 1 Each axis has a failsafe brake circuit The brake release signal for an axis is activated if motor power is on the amplifier is enabled and not faulted and the brake release is enabled The DBR1 program turns off the enable brake release output for the MDC2100 disabling the brake release for axes A and B The EBR1program turns on the brake release output The TBR1 program is used to obtain the state of the brake release output It sets the variable TBR1VAL to 1 if the enable brake release output is on and 0 otherwise 22 M DC OO Reference amp Maintenance Manual S Ae ESS ESR 7 4 Software Installation This section discusses the steps required to configure motion cards for the Primatics motor drive chassis and stages The MDCOptima API is provided on the disk labeled Primatics MDCOptima API Part Number 0 6950 0001 One file on the disc contains motion control parameters another file
16. ed The RS 232 port operates at 19 2K The Ethernet port is a 10BaseT port Refer to the Galil DMC 21x3 User Manual Chapter 4 for detailed information about both of these interfaces The factory default IP address is 192 168 0 60 MDC Family Perence amp Maintenance Manual 5 3 2 The I O Port Pinout The third connector is the I O connector located on the rear of the MDC chassis This port provides access to certain Input Output Status and Control signals from the Galil motion control card The pin definition for this port is shown Table 5 1 below Please note that many of the signals in the I O Port are TTL logic levels Power supply signals are included in the port for users that want to provide external signal conditioning If you want internal signal conditioning for your application contact the factory Table 5 1 I O Port Pinout Connector DB25S Mate DB25P Pin Name Description 1 USER IN 1 TTL input 14 USER IN 2 TTL input 2 USER IN 3 TTL input 15 USER IN 4 TTL input 3 USER OUT 1 TTL output 16 USER OUT 2 TTL output 4 USER OUT 3 TTL output 17 AIN1 Analog Input 1 5 AIN 2 Analog Input 2 18 AIN3 Analog Input 3 6 AIN 4 Analog Input 4 19 AIN5 Analog Input 5 7 AIN 6 Analog Input 6 20 AIN7 Analog Input 7 8 AIN 8 Analog Input 8 21 ABORT TTL input Abort input of Galil card Active low 9 ENC CMP TTL output E
17. esseeesseeeeeeseeeaeees 23 TAB Loading the APDscesccscccssccscssscascccescucevcuseuessiescusacesscasscissctosoussssesustansesusbsnsscveusnicscdesebeswesceesosseetesclsseess 23 7 4 4 Example 1 Brushless Servo Trapezoidal Drive oo eects eseeeeseeeeseeeeeeeseecseeesseeeeseesseeaeees 23 TD APPeOMdices ic celacs acevesteactecelaseesctvassussscesncacatnonsasseeeulactessateststensesesnescece sE Nsa T a ESSAS SR EEN EEEE nese Esei ks 26 7 5 1 Appendix A MDCOptima API s sissisisisrsisesisesisesssenssesssnoeuinauisesssrsisrbioku svevevesesesi suss bosse oksino ins oov 26 8 Troubleshooting amp Service cccccscsseseeeeeeeeeeeeeeeeeseeeeensneeeeeteeeees 2O 8 1 Troubleshooting Helpi rieien n e E EC EA O O OE NE O e 28 8 2 SELVICE E E ENEO REO OOO OE O AON E cuesetee the 28 MDC Family Reference amp Maintenance Manual 1 Overview This user guide is designed to help you install and maintain your MDC Series motion control Follow these steps to ensure correct installation and maximum life Step 1 Review this entire user manual Become familiar with all installation procedures prior to integrating your system Step 2 Review the safety summary to develop an understanding of standard safety practices when installing and operating automated equipment Step 3 Review installation procedures For best results follow these procedures carefully MDC FAU N ee 2 Introduction About the MDC2100 Family This manu
18. it 0 is 0 indicating motor power is on 16 SHA Close servo loop XQ TA Obtain amplifier status TAVAL Bit 0 is 0 indicating the A axis amplifier is OK 30 XQ EBR1 Activate the MDC1 failsafe brake release enable signal Now the axis A failsafe brake will release since motor power is on the SH command has been issued and the amplifier is OK 24 Reference amp Maintenance Manual MDC2100 EGR 7 4 4 4 Home using encoder latching Instruction Interpretation CN 1 Home switch active low SPA 40000 Set speed to 50mm sec FEA BGA Move to the home sensor transition neighborhood AMA TPA When the motion is complete report the current position 39921 XQ ELA Route encoder index signal to input 1 and arm latch SPA 20000 Set the move speed do not exceed 20000 counts sec PRA 8000 Setup a relative move of 10mm BGA Initiate move AMA TPA When the motion is complete report the current position 47921 MG _ALA The latch is not armed indicating the encoder index transition was detected 0 0 RLA Report the latched position 41239 PAA _RLA Setup a move to the latched position BGA AMA Start move and wait for move completion DPA 0 Define the latched position to be the home position 25 MD C2100 Sees Rol SE es a 7 5 Appendices 7 5 1 Appendix A MDCOptima API
19. lowing information available O O O O Your contact information name phone email address Unit Serial Number located on label near the power switch Symptom of problem History of troubleshooting steps already taken 28
20. motion Cards that support 1 to 4 axes of motion supply eight inputs and eight outputs Output bits 4 8 and input bits 5 8 are dedicated to internal functions leaving 3 uncommitted outputs and 4 uncommitted inputs available to the user through I O connector 1 19 M DC OO Reference amp Maintenance Manual S RUR ETRS EGR 7 2 1 MDC Digital Inputs and Outputs Five outputs are dedicated to programmatic operation of the MDC2100 Motor Power Enable and Reset Faults are used to control the motor power circuit The Brake Release Enable is used to enable the release of failsafe brakes Table 7 2 Controller Digital Outputs MDC 1 Outputs User Output 1 User Output 2 User Output 3 Unused MDC1 Motor Power Enable MDC1 Reset Faults Unused MDC1 Brake Release Enable i NI O1 By GO PO Table 7 3 Inputs MDC 1 Inputs User Input 1 User Input 2 User Input 3 User Input 4 MDC 1 Motor Power is Off MDC 1 Hardware Fault MDC 1 ESTOP Fault MDC 1 Logic Power Fault 00 NI O gt A B OO PO 20 M DC OO Reference amp Maintenance Manual S Ae ESS ESR 7 3 The MDCOptima Application Programming Interface 7 3 1 The API The application programming interface API for the MDC Optima is a set of programs which reside on the controller card The programs provide motor power control and brake control For e
21. ncoder Compare output of Galil card 22 ERROR TTL output Error output 10 USER OUT 4 TTL output 23 NC No connection 11 12VDC Power supply 12VDC 150mA max 24 12VDC Power supply 12VDC 100mA max 12 GND DC common for power supplies and signals 25 GND see pin 12 13 5VDC Power supply 5VDC 200mA max 10 MDC Family Feference amp Maintenance Manual 5 3 3 Auxiliary Encoder Option An available option for the MDG2100 is the Auxiliary Encoder Connector This allows connection to secondary encoders for dual loop operation Table 5 2 Auxiliary Encoder Pinout Connector DB25S Mate DB25P Pin Name Description 1 5VDC Encoder Power 14 DCCOM Power Common 2 AUXA A Auxiliary Encoder Axis A A 15 AUXA A Auxiliary Encoder Axis A A 3 AUXA B Auxiliary Encoder Axis A B 16 AUXA B Auxiliary Encoder Axis A B 4 5VDC Encoder Power 17 DCCOM Power Common 5 AUXB A Auxiliary Encoder Axis B A 18 AUXB A Auxiliary Encoder Axis B A 6 AUXB B Auxiliary Encoder Axis B B 19 AUXB B Auxiliary Encoder Axis B B 7 5VDC Encoder Power 20 DCCOM Power Common 8 AUXC A Auxiliary Encoder Axis C A 21 AUXC A Auxiliary Encoder Axis C A 9 AUXC B Auxiliary Encoder Axis C B 22 AUXC B Auxiliary Encoder Axis C B 10 5VDC Encoder Power 23 DCCOM Power Common 11 AUXD A Auxiliary Encoder Axis D A 24
22. ntial to damage the stage and injure an operator Only trained operators of the positioning stage should be allowed near the work environment Identify emergency stop circuits and actuators in the workcell In an emergency press the yellow stop button on the drive chassis front panel This cuts power to all axes amplifiers Note the places in the workcell where pinch points occur and provide adequate safety clearance or safety curtain Never operate the motor in a location that could be splashed by water exposed to corrosive or flammable gases or is near combustible substances since this may cause an electric shock fire or malfunction Never touch the motor driver or peripheral devices when the power is on or immediately after the power is turned off The high temperature of these parts may cause burns MDE EGA e ieierenee Manne 5 Installation 5 1 Locating the MDC2100 A typical motion system consists of the MDC axis cables and positioning stages The Motion Controller Card is housed inside the MDC The MDC also includes Motor Drive Connectors for each axis of travel these Motor Drive Connectors connect to stages with axis cables Figure 5 1 shows a typical system Non dedicated PC Non dedicated PC Local Access Remotel Access Main Serial RS 232 POPP Axis 1 Axis 2 Axis 3 Axis 4 X Stop Loop Ethernet Figure 5 1 MDC2100 Motion System The MDC must be placed in a convenient location for connection to bo
23. rence amp Maintenance Manual Manual Revision Information cccccccseeseeeeeeeeeeeeeeseseeeeeeeeeseeeeeeeeeeee I a 111 1 hd 11 ESSE ORO USE CoO NNER UNE UUM NNR SUNUNRUNNS usINouUMUNERRRRRRRERRRRRRRRRRRRRRR SENSO 2 Introduction About the MDC2100 Family ccsssseseeeeee 4 3 Model Configuration s cscsccssccccsssccssccscccccescts cites D i Personal Safety sssi aO 5 Installation ssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn S 5 1 eocating th MDC2 100 riie tin R E EEEO ORTER AN 7 5 2 Front Panel Indicators and Controls ccccccccsccessessesseesseeseeesecccesecesecseesecscesseeesecececseeeseceeesseseaeseeeeseesseeees 8 5 3 Rear Panel Informat om sennie Soe ceccte ecco ccs ee lec Res hes E EE OE E E E EEEE 9 5 3 1 Communication Ports RS 232 Ethernet cccccccccsseessesseesceeseeesecseeeeeeseceeeeseenseceeeeseeeseseeeeeesseenees 9 33 2 The I O Port Pinout eiseceesse cee cc esas eed a 10 5 3 3 Auxiliary Encoder Option wo cece cseeeeseeseseeseescseescsceecseesesecassessesessceecsessesessseessceesseeesseesseeeasees 11 35 4 The Safety Port cissccccesciscevessies ctescucsceescisseusscaesestesdsseucssesscbensscetescesecdtseusssdsscusscbeacassevseccesebtevdesevtsnsscoissess 12 DAD Stop Loop and Stop Switch ereen ses scscscss cess nn ai ah R RERE RRRA RRRA RREA ERE Eni 12 D D AXIS N oA a EEEE EEEE E E E A E E 13 6 Opera O Sre ear e aeaa aAa a A A EEEE EEEE aeaa
24. th the PC and your stages Access to the front panel controls and the rear panel connectors must be considered before installation There are no user serviceable parts in the chassis but axis cards and motion control interface cards are plug in assemblies that can be removed and installed from the rear of the chassis MDE Eh e rere 7 STOP r n O em 111 1mm Primatics Motor Drive Chassis 304 8mm Figure 5 2 Dimensions of MDC2100 5 2 Front Panel Indicators and Controls T Primatics Motor Drive Chassis Figure 5 3 Front Panel SYSTEM POWER is illuminated whenever power is applied to the chassis and the power switch on the rear is turned on MOTOR POWER is illuminated when the internal motor power supply is turned on FAULT is illuminated whenever any condition exists that prevents the motor power supply to be turned on STOP is connected into the STOP loop described in 5 4 MDC FAU Ne R 5 3 Rear Panel Information All connections to the MDC are made at the rear of the chassis Connections include AC power communications to the DMC 21x3 I O from the DMC 21x3 and signals for the attached positioning stages or axes 1 0 Port Power Input Safety Port Ethernet Aux Connnector Figure 5 4 Galil Communications Connections 5 3 1 Communication Ports RS 232 Ethernet Communication to the integrated Galil DMC 21x3 can use either the RS 232 port or Ethernet port as indicat
25. to the A X axis The stage has an encoder ratio of 800 counts mm and equipped with a failsafe brake The following instructions are issued via the DMC Terminal program 7 4 4 1 Controller configuration Instruction Interpretation BA All axes are cleared for sinusoidal commutation The servo driver is of Trapezoidal type CN 1 Limit switches active high 23 MDC2100 Reference amp Maintenance Manual Reale es 7 4 4 2 Axis A configuration Instruction Interpretation MTA 1 Motor type is servo CEA 0 Main encoder and auxiliary encoder are normal quadrature DVA 0 Dual loop filter mode is disabled KDA 20 Derivative constant KPA 4 Proportional constant KIA 1 Integrator ILA 2 Integrator limit TLA 9 998 Torque limit OFA 0 Offset ERA 800 Error limit OEA 1 Off on error enabled FAA 0 Acceleration feedforward FVA 0 Velocity feedforward ACA 2400000 Set acceleration 3000mm sec DCA 2400000 Set deceleration 3000mm sec MO BN Save parameters 7 4 4 3 Preparing the axis to move Instruction Interpretation XQ CF Clear latched faults XQ TD Obtain MDC0200 status TDVAL Bit 0 is 1 indicating motor power is off Bits 1 2 and 3 are 0 indicating that 17 000 there is no hardware system power or ESTOP faults XQ MPON Enable MDC0200 power XQ TD Obtain MDC0200 status TDVAL B

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