Home

User Manual for Motion Controllers - Extension Module

1. sess 8 2 2 9 NULO WIN ANA SEIS dia 9 2 2 6 Transportation and StOrage ooccocccooccccncociccnconoconnccnnonnonnnonnnnnnnonononnnnnonnnnnnnnnnnnnnnnninaninns 10 3 Environmental Conditions eeeeeeeeee eren nnne nnn nnn 11 3 1 Requirements of IEC 61131 2 uice ckiastusx xta vo Pup s yuusEVEn ER VINNERR URS xEFKEI E EEURVUSuR EYE FEUEDER CR VES RNRR AE ENS 11 3 2 Use In Special Environments coepi er a a ar eRasa eger S VER VES ax EN RE VER EP EN EFE uS REN FPE A E VE REB TENFEEYKSMNVS 12 4 Mechanical Installation crisi 13 AI MOUNN Pn 13 42 ROMMOVUNG RERO TETTE TL IP EI 13 Rev A May 2014 Extension Module for Moog Ruggedized Motion Controller MSC R IO Table of Contents 5 Project Planning and Installation 14 5 1 Grounding CONCE Cuil 15 5 1 1 Front Panel Connectors Grounding ccoocccccnnccnconncncnnoncnnncncncncnnnnnnnnnnnnnnnnnnanonannnnnnnnnnnos 15 92 POWE SUPPI aee c aadacind seca cura ea baa ona seen tise dens cauea cana tana caste aaoe henna uaveseaneaweneeeaa 16 5 2 1 Power Supply Characteristics occooocccocccccncccnoconoconocnononnnonannonnnonanonanonannnnrnnnnnenenes 16 5 2 2 Connecting the Power oupply successo pu a ee eee a a a ee ela 17 9 23 Conheclihg SENSO abad 18 5 3 Connecting Signal Gabl65 ia id 19 O AN 19 6 Shutdown and SO VICO pitan 20 6 1 SSnutdloWb iso iR ad 20 o2 Ser VICO dida 21
2. 0 2 T Malritendee oervICIIIQ eu oet ec eu PE BD rep dee tenatadaitesGce sable ds da a a adan aaa Teea 21 Don ROPA 21 7 Transportation dnd Storage unitaria 22 TA Environmental CONAM Sii 22 8 MSGR IO m n 23 9 1 Performance C haracteriSEICS oic eco vac sevo ui ooa o rusas ia 23 okr Merna eS TU LEER 23 81 2 VOS UM DUts COUIDULS anna 23 9 2 General SDecifIC allons a 23 5 2 1 VIEW Of th Module otto pae dua oua ed rp apri aerei au du eot quu eua Pa Puma dedu Ra us 23 0 2 2 DIMENSIONS asi ai DM EPI iM eK D EU IMMO PLU UE doen 24 9 2 9 Mechanical MOUDUDG cn aote toro opo eie ulna ere cona Ebene En Toc ue eub Se eto s tareas pcdes e oie MES 25 5 2 4 Environmental ConaltlOFiS sss xis ura ore erp e E ED uds Vom E vp E Doc eve Ea aaa 26 9 9 DOCK UB e i n o meer RET 27 8 4 View of the Module and Terminal Assignment eeeeeeeeeeseee eene nnne nnn nnns 28 8 4 1 Terminal AssigAMEnNt ios bcm qa Date eta 29 ga EEDS eb NM IMEEM ELA UM CUM Re Re aaa a a 32 8 4 3 EtherCAT Slave Interface c cccssccsecsseccsetsetsaeccuetseesacccsesaeecusensesasecsectensasenseeaeesaes 32 9 9 o1 i eli jvjol aser 34 9 0 DIOHaIMOS ad n EE 35 8 6 1 Status Display of Digital l OS ooccconnoconoconoconncocncconococononononnonononnnnnnnnnnnnnonnnnnnnnns 35 9 0 2 Power Supply of tne Digital Osuna 35 9 09 DIgllal OD ccc N 36 9 04
3. O gt A Rev A May 2014 30 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO View of the Module and Terminal Assignment connector no Assignment rea Input AS e Ud AS Input AAA DE cos RN Japa AO Digtial Input gt Q T gt O E PT100 Input E99 1 Table 3 Terminal Assignment of MSC R IO s Connectors Section 3 of 3 Rev A May 2014 31 Extension Module for Moog Ruggedized Motion Controller MSC R 10 8 MSC R IO View of the Module and Terminal Assignment 8 4 2 LEDs or Flashes INITIALIZATION or BOOTSTRAP On OPERATIONAL Communication activity Blinks when communication is active Supply voltage OK Illuminates when the power supply for the MSC R IO s internal electronics is OK and the internal voltages are OK Supply voltage OK Illuminates when the power supply for the MSC R IO s digital outputs is OK Table 4 LEDs of the MSC R IO 8 4 3 EtherCAT Slave Interface 8 4 3 1 Connection of the EtherCAT Slave Interface The following connector type is required to connect the EtherCAT Slave In EtherCAT Slave Interface X2 and the EtherCAT Slave Out connector X3 of the MSC R IO e M12 D coded connector 8 4 3 2 Pin assignment of M12 EtherCAT connectors lees MB Los EtherCAT connectors EtherCAT transmit data Tx EtherCAT transmit data EtherCAT receive data Table 5 Pin assignment o
4. 3 2 Use in Special Environments In the following cases M3000 modules must not be used without taking ad ditional measures except where explicitly specified e At sites with difficult operating conditions like those caused by Aggressive vapors or gases Corrosive atmospheres Potentially explosive environments In these cases the suitable additional measures to be taken may in clude for example installation in specially designed cabinets e In systems that require special monitoring such as Elevators Electrical systems located in particularly potentially hazardous environments n residential commercial and light industrial environments n medical environments Examples of suitable additional measures in these cases may include e Installation in grounded shielded metal cabinets e Installation of filters in the power supply cables Use of shielded cables outside of cabinets Rev A May 2014 3 Environmental Conditions Use in Special Environments Limitations of Using M3000 Modules 12 Extension Module for Moog Ruggedized Motion Controller MSC R IO 4 Mechanical Installation 4 1 Mounting WARNING No work of any kind such as mounting removing wir ing or repairs to the M30009 modules may be performed while the modules are in operation There is a danger of e Uncontrolled movements e Permanent damage e Malfunctions Before performing any work on M30009 modules it is ess
5. 5 2 Power Supply The internal electronics of M30009 modules is usually supplied with power via the power supply terminals of the connectors of the M30009 modules Connecting the power supply for the internal electronics c 5 2 2 Connecting the Power Supply on page 17 Power supply terminals of the MSC R IO c 8 4 1 Terminal Assignment on page 29 Gi Refer to the relevant documentation for the exact designations of the power supply terminals of the other M3000 modules 5 2 1 Power Supply Characteristics Output voltage Rated voltage 24 V DC operates at no load SELV according to EN 60950 1 gt 5 2 1 1 Safety Extra Low Voltage SELV on page 17 Run up time 10 to 90 lt 0 2 sec i To ensure compatibility with other components Moog recommends maintaining the power supply tolerance band specified in IEC 61131 2 19 2 V to 30 V i Refer to the relevant documentation for the specified voltage ranges of the M3000 modules i Besides the specified voltage ranges a total alternating voltage component with a peak value of 5 of the rated voltage is also permitted Output current If the output current of the power supply is greater than the maximum current of the connector then the power cable to each M30009 module must be fused to the maximum current of the connector or a lower value or the current must be limited in another way Current limits of power connectors are 12A for MSC I MSC II E Bus extension
6. 8 6 3 4 Insulation Resistance Insulation resistance Rated voltage 0 50 V DC Test voltage for 2 000 m 6 562 ft operating elevation 500 V DC 8 6 4 Digital Inputs The digital inputs are of the type 1 according to IEC 61131 2 They are de signed for an input voltage rating of 24 V The input values 0 1 state are read synchronized to the EtherCAT telegrams An open input is interpreted as the O state 8 6 4 1 Basic Wiring Diagram MSC R IO Opto ae Decoupling to Input Circuit M3 M4 GND Figure 9 Basic Wiring Diagram of a Digital Input of the MSC R IO Current Consuming Rev A May 2014 8 MSC R IO Digital I Os Insulation Resistance of MSC R IO s Digital Outputs Digital Inputs of the MSC R IO Basic Wiring Diagram of a Digital Input of the MSC R IO Current Consuming 38 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO Digital I Os 8 6 4 2 Pulse Detection and Disturbance Suppression The digital inputs are read synchronized to the EtherCAT telegrams The Pulse Detection and sampling time corresponds to the telegram interval time from the EtherCAT Disturbance Suppression master of MSC R IO s Digital Inputs For input pulses to be reliably detected they must be longer than the commu nication cycle interval of the EtherCAT master When defining the minimum pulse duration that can be detected by digital I Os the following differentiation is made e Pulses that
7. May 2014 Protect the M3000 automation system M3000 mod ules and the license key from electrostatic discharges Electrostatic discharges might damage the device s internal components or delete the device s internal memory 2 Safety Instructions Safety Instructions Safety Instructions Environmental Conditions Safety Instructions ESD Extension Module for Moog Ruggedized Motion Controller MSC R IO 2 2 4 Project Planning and Installation WARNING WARNING WARNING WARNING Rev A May 2014 The vent holes of M30009 modules facilitate convection cooling and must never be covered Covered vent holes might result in overheating and fire No work of any kind such as mounting removing wir ing or repairs to the M30009 modules may be performed while the modules are in operation There is a danger of e Uncontrolled movements e Permanent damage e Malfunctions Before performing any work on M30009 modules it is essen tial that the system is stopped and the power supply is dis connected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc M30009 modules must be protected from overvoltages and or reverse energization from the sensor to the mod ule There is a danger of e Permanent damage by overheating or fire e Malfunctions M30009 modules must have the correct voltage polarity and termin
8. Power Supply STOP If the polarity of these power supply terminals is reversed the Safety Instructions modules will not work WARNING No work of any kind such as mounting removing wir ing or repairs to the M30009 modules may be performed while the modules are in operation There is a danger of e Uncontrolled movements e Permanent damage e Malfunctions Before performing any work on M30009 modules it is essen tial that the system is stopped and the power supply is dis connected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc WARNING M30009 modules must be protected from overvoltages and or reverse energization from the sensor to the mod AN ule There is a danger of e Permanent damage by overheating or fire e Malfunctions M3000 modules must have the correct voltage polarity and terminal assignments WARNING The internal electronics of M3000 modules and at tached sensors must be supplied with power from a per manently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics o
9. 5 Project Planning and Installation Grounding Concept 5 1 Grounding Concept Grounding Concept L1 MSC R IO module L2 n Thread forming screw L3 EN Toothed washer 4 N Washer PE Cable RZS Ring connector PED Il Il Control Cabinet iud 2C max 6A 4 uN O U3 O e QD L1 L2 L3 N PE max 6A A max 6A Grounding Bar within Control Cabinet Figure 1 Grounding Concept For reasons of functional safety all circuits must be grounded at a cen tralized point The PE conductor of the module must have a low resistance connection to the protective earth conductor PE 8 Every circuit must be fused If the output current of the power supply is greater than the maxi mum current of the connector then the power cable to each M30009 module must be fused to the maximum current of the con nector or a lower value or the current must be limited in another way Current limits of power connectors are 12A for MSC I MSC II E Bus extension modules MSD Motion Controller and DialogController displays 4A for MSC R 6A for MSC R IO Load controlled distribution of the circuits U1 U3 5 1 1 Front Panel Connectors Grounding The metal housings of all front panel connectors of the MSC R IO are con Front Panel Connectors nected internally to the grounding of the housing Grounding Rev A May 2014 15 Extension Module for Moog Ruggedized Motion Controller MSC R IO
10. Digital I Os Power Supply of the Digital I Os of the MSC R IO Safety Instructions 35 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO Digital I Os WARNING The internal electronics of M3000 modules and at tached sensors must be supplied with power from a per manently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors gt table 1 on page 18 e Invalid sensor data The power supply for the digital I Os of the MSC R IO is independent of the power supply for the MSC R IO s internal electronics 24 V GND e 1 M1 to supply the module electronics e L2 M2 to supply the digital outputs e M3 as O Volt reference for digital inputs Di01 to Di08 e L3 and L4 can be used to supply sensors connected to the appropri ate digital inputs gt 8 6 4 1 Basic Wiring Diagram on page 38 e M4 as O Volt reference for digital inputs Di09 to Di16 Power supply characteristics gt 5 2 1 Power Supply Characteristics on page 16 Connecting sensors to the power supply c 5 2 3 Connecting Sensors on page 18 Connecting the power supply for the internal ele
11. From 1 to 0 max 100 us Sampling time The sampling time corresponds to the telegram interval time from the EtherCAT master gt 8 6 4 2 Pulse Detection and Disturbance Suppression on page 39 Input capacitance Max 10 nF Rev A May 2014 39 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO Temperature Sensor Input Power consumption for the internal control circuit L3 M3 and L4 M4 O mA L3 and L4 are not used for internal electronics they may be used for supply of external sensors Reverse energization protection Yes Insulation resistance Rated voltage 0 50 V DC Test voltage for 2 000 m 6 562 ft operating elevation 500 V DC 8 6 4 4 U I Working Ranges A Type 1 U I Working Ranges of i MSC R IO s Digital Inputs Current Consuming 20 L oy 4 E 20 ME N 530 JA ttt tet TA 5 10 15 20 25 30 V V Figure 10 U I Working Ranges of MSC R IO s Digital Inputs Current Consuming Input voltage DC of the external power supply L2 rated voltage Ue 24V 24 V upper limit Ue max 36 V lower limit Ue min 18 V Limits for the 1 state upper limit UHmax 30V lHmax 15 mA lower limit UH min 15V IHmin 2 mA Limits for the O state upper limit ULmax 15 5 V ILmax 0 5 15 mA lower limit UL min 3 V ILmin ND Table 10 U I Working Ranges of MSC R IO s Digital Inputs Current Consuming 8 7 Temperature Sensor Input Sensor
12. German Institute for Standardization http www din de Draft International Standard preliminary standard Draft Standard draft standard Extension bus of DIN rail modules Electrically Erasable Programmable Read Only Memory Electronic Industries Alliance http www eia org EMC Electromagnetic Compatibility Europa Norm European Standard Erasable Programmable Read Only Memory Electrostatic Discharge EtherCAT Ethernet based industrial real time communication system Function Block Diagram programming language for creating PLC programs Fieldbus an industrial communication system such as Profibus High speed EEPROM Field Programmable Gate Array programmable logic component Flash EEPROM Graphical User Interface High Frequency Human Machine Interface MACS HMI Visualization package which can be run without MACS Identifier IEC International Electrotechnical Commission http www iec ch Institute of Electrical and Electronics Engineers Inc http www ieee org l Instruction List programming language for creating PLC programs I O Input Output International Protection protection type Internet Protocol International Organization for Standardizing http www iso org LAN Local Area Network LCD Liquid Crystal Display D Ladder Diagram programming language for creating PLC programs Table 13 Abbreviations Section 1 of 3 Rev A May 2014 45 Extension Module for Moog Ruggedized Moti
13. M30009 modules 22 Copying prohibition for this manual A Copyright for software that is installed on M3000 products 5 for this manual A Current maximum admissible current for the power supply terminals of the MSC R IO 18 D Digital terminal assignment 30 Digital input of the MSC R IO digital terminal assignment 31 Digital outputs of the MSC R IO 30 Dimensions MSC R IO 23 24 DIN rail mounting kit for the MSC R IO 25 part numbers 43 Disposing M30009 modules 4 Disturbance suppression of digital inputs 39 Drop height permissible M3000 modules 22 MSC R IO 26 Duplication prohibition for this manual A Rev A May 2014 11 Index E Electromagnetic Compatibility 4 EMC 4 EMC compatible installation 25 Environmental conditions for operating M30009 modules 11 for operating the MSC R IO 26 climatic conditions 26 electrical conditions and requirements 26 mechanical conditions and requirements 26 for transporting and storing M30009 modules 22 limitations of using M3000 modules 12 requirements from IEC 61131 2 11 resistance to corrosion 26 safety instructions 7 11 26 Environmental protection disposing M30009 modules 4 no harmful emissions from M30009 modules when used properly 4 ESD safety instructions 7 EtherCAT interface MSC R IO 42 Ethernet Ethernet interface of the MSC R IO terminal assignment 29 Ethernet LAN connector 29 F Figures list
14. Part 6 4 Generic Standards Emission Standard for Industrial Environments EN 60204 oafety of Machinery Electrical Equipment of Machines 10 3 4 IEC IEC 60068 Quoted Standards IEC Environmental Testing IEC 60068 2 6 Environmental Testing Part 2 Tests Test Fc Vibration Sinusoidal IEC 60068 2 27 Environmental Testing Part 2 27 Tests Test Ea and Guidance Shock IEC 60068 2 31 Environmental Testing Part 2 Tests Test Ec Drop and Topple Primarily for Equipment Type Specimens IEC 60364 4 44 Electrical Installations of Buildings Part 4 44 Protection for Safety Protection against Voltage Disturbances and Electromagnetic Distur bances IEC 60068 2 52 Environmental testing Part 2 Tests Test Kb Salt mist cyclic sodium chloride solution IEC 60529 Degrees of Protection Provided by Enclosures IP Code IEC 60664 Insulation Coordination for Equipment within Low Voltage Systems IEC 60801 2 Electromagnetic Compatibility for Industrial Process Measurement and Control Equipment Part 2 Electrostatic Discharge Immunity Require ments IEC 61131 Programmable Controllers IEC 61131 1 Programmable Controllers Part 1 General Information IEC 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests IEC 61131 3 Programmable Controllers Part 3 Programming Languages IEC 61131 4 Programmable Controllers Part 1 User Guidelines 10 3 5 ISO DIS ISO DIS
15. are never detected pulse duration lt 50 us e Pulses that can be detected if the system reads the input when the pulse appears pulse duration gt 50 us e Pulses that are always detected pulse duration gt the communication cycle interval of the EtherCAT master The user may implement multiple sampling in the application program in or der to suppress disturbance impulses In doing so the user must consider the tradeoff between the desired level of disturbance suppression and the re quired reaction time of the system 8 6 4 3 Specifications Number of the digital inputs Specifications of 16 inputs in 2 groups MSC R IO s Digital gt 8 6 Digital I Os on page 35 Inputs Type Type 1 according to IEC 61131 2 current consuming Wire lengths In the control cabinet The voltage drop must be taken into consideration when choosing the wire cross section there are no other practical limitations Field wiring All relevant national regulations as well as the re quirements of IEC 61131 3 must be fulfilled Rated voltage L3 L4 24 V 24 V DC safety extra low voltage SELV according to EN 60950 1 Reverse polarity protection Digital inputs are protected against reverse polarity Potential isolation Achieved with optocouplers Status display One status LED per input gt 8 6 1 Status Display of Digital I Os on page 35 Alarms Can be implemented in the application program Input delay hardware From 0 to 1 max 100 us
16. automation system and M3000 modules or the equipment in which they are installed Rev A May 2014 1 General Information About this Manual About this Manual Using M3000 Safely Prerequisites Reservation of Changes and Validity for this Manual Exclusion of Liability for this Manual Completeness of this Manual Place of Storage for this Manual Extension Module for Moog Ruggedized Motion Controller MSC R IO 1 General Information Selection and Qualification of Personnel 1 2 Selection and Qualification of Personnel Only qualified users may work with and on the M30009 automation sys Qualified Users tem or M30009 modules Qualified users are properly trained experts with the required knowledge and experience In particular these experts must have the authorization to bring into operation ground and label devices systems and power circuits in ac cordance with safety engineering standards Those people working on a proj ect must be familiar with safety concepts common in automation 1 3 Proper Use The M30009 modular automation system is suitable for control applications in Proper Use the medium to high end performance ranges M3000 is designed for use within the overvoltage category defined by IEC 60364 4 44 for controlling machines and industrial processes in low volt age systems in which the rated supply voltage does not exceed 1 000 V alter nating current 50 60 Hz or 1 500 V direct current Qua
17. faults and material damage 2 1 Typographical Conventions The following symbols and styles are used for identifying the different types of Safety Instructions safety instructions Typographical Conventions DANGER Identifies safety instructions that are intended to warn of an immediate and impending danger to life and limb or STOP major property damage Failure to observe these safety instructions will lead in evitably to death serious personal injury disablement or major property damage WARNING Identifies safety instructions that are intended to warn of potential danger to life and limb or the potential for ma jor property damage Failure to observe these safety instructions might lead to death serious personal injury disablement or major property damage CAUTION Identifies safety instructions that are intended to warn of slight personal injury or minor property damage Failure to observe these safety instructions might lead to slight personal injury or minor property damage Additional typographical conventions gt 10 1 Typographical Conventions on page 44 2 2 Safety Instructions 2 2 1 Safety Related Systems WARNING As with any electronic automation system the failure of Safety Instructions Safety certain components when using M3000 or M3000 mod Related Systems ules might lead to an uncontrolled and or unpredictable operational condition The user should take into consid eration the system
18. level effects of all types of failures and implement corresponding safety measures More on this subject gt 1 3 1 Safety Related Systems on page 2 Rev A May 2014 6 Extension Module for Moog Ruggedized Motion Controller MSC R IO 2 2 2 Environmental Conditions WARNING gt WARNING gt WARNING gt WARNING gt Maintain under all circumstances the required environ mental conditions specified for the M3000 automation system or M3000 modules This ensures fault free reliable and safe operation The PC on which tools such as MACS development envi ronment are installed must be suitable for the environ mental conditions in which it will operate This ensures fault free reliable and safe operation It is not permissible to operate the M3000 automation system or M3000 modules in a potentially explosive environment The M3000 automation system and M3000 modules must not come into direct contact with liquids except where explicitly specified Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician More on this subject gt 3 Environmental Conditions on page 11 gt 8 2 4 Environmental Conditions on page 26 2 2 3 ESD WARNING gt Rev A
19. modules MSD Motion Controller and DialogController displays 4A for MSC R 6A for MSC R IO Maximum permissible duration of power interruptions Under full load severity class PS1 of voltage dips according to IEC 61131 2 lt 1 ms duration of interruption during voltage drops and interruptions to the in put voltage i During primary side voltage drops that are 1 ms or shorter in dura tion the output voltage must not fall under 19 2 V when under full load In addition the interval between the primary side drops must not be shorter than 1 s Rev A May 2014 5 Project Planning and Installation Power Supply Power Supply for M30009 Modules Power Supply Characteristics of M30009 Modules 16 Extension Module for Moog Ruggedized Motion Controller MSC R IO 5 Project Planning and Installation Power Supply 5 2 1 1 Safety Extra Low Voltage SELV The safety extra low voltage is a voltage that will not exceed 25 V AC or Safety Extra Low Voltage 60 V DC peak or direct voltage as measured between conductors or between SELV a conductor and ground The circuit in which SELV is used must be separated from the mains power supply by a safety transformer or something of equal functionality Always observe national regulations when choosing the rated in sulation voltage 5 2 2 Connecting the Power Supply DANGER The 24 V power supply terminals of all M30009 modules are Connecting the protected against reverse polarity
20. of v Front panel MSC R IO 28 Front view MSC R IO 23 G Grounding grounding concept 15 signal grounding of the MSC R IO 15 50 Extension Module for Moog Ruggedized Motion Controller MSC R IO I Os of the MSC R IO digital 23 35 40 digital inputs 38 40 basic wiring diagram 38 disturbance suppression 39 insulation resistance 40 pulse detection 39 specifications 39 U I working ranges 40 digital outputs 36 38 basic wiring diagram 36 insulation resistance 38 load connection 37 open collector outputs 36 open emitter outputs 36 overload protection 37 specifications 37 LEDs of the MSC R IO for displaying the operational state 35 power supply 35 Insensitivity to corrosion M30009 modules 22 MSC R IO 26 Installation 14 safety instructions 8 13 17 18 Insulation resistance digital inputs of the MSC R IO 38 digital outputs of the MSC R IO 40 Interfaces of the MSC R IO 23 terminal assignment 28 31 L LAN LAN interface of the MSC R IO terminal assignment of the X2 connector 29 LEDs of the MSC R IO 32 display the operational state of the digital I Os 35 Liability exclusion of liability 3 exclusion of liability for this manual 1 List of figures v List of tables iv Load connection of digital outputs 37 Maintenance 21 safety instructions 9 20 Maximum admissible current for the power supply terminals of the MSC R IO 18 Moog Glo
21. the VDE e Improper deployment of the M30009 automation system or M3000 modules such as in a potentially explosive excessively warm or excessively cold environment e Improper storage transportation mounting removing connection bringing into operation operation cleaning or maintenance of the M3000 automation system or M3000 modules e Storage or transportation of M30009 modules or accessories outside of the original packaging gt 7 Transportation and Storage on page 22 e Unauthorized or improperly executed structural changes to the M3000 automation system or M3000 modules e Unauthorized or improperly executed repairs on the M3000 automation system or M3000 modules gt 6 2 2 Repair on page 21 e Damage due to the intrusion of foreign objects or acts of God 1 5 Inspection of Delivery After receiving the delivery please check the original packaging and its con Inspection of Delivery tents for any damage If the packaging or contents exhibit any damage do not bring the items into operation In this case immediately notify Moog or the responsible supplier In addition the packaging should be retained The packaging might be needed to enforce damage compensation claims on the transport company After taking the delivery please check whether all items listed on the delivery docket are present If anything is missing immediately notify Moog or the re sponsible supplier It is advisable to retain th
22. type Temperature Sensor Input 1 channel PT100 Temperature range 8 bit value representing 50 to 205 C 58 to 401 F Resolution 1 C per digit Update rate time between two temperature measurements 1s Wiring configuration Four wire configuration Tolerance 3 C Rev A May 2014 40 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO Temperature Sensor Input 8 7 1 PT Connection Diagram The PT100 interface is designed for 4 wire connection PT Connection Diagram RL R PT100 R RL Figure 11 PT connection diagram Rev A May 2014 41 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO EtherCAT Interface 8 8 EtherCAT Interface The MSC R IO provides an EtherCAT slave interface at X3 and X4 EtherCAT interface of the MSC R IO The configuration of the network nodes is done in the PLC Configuration of the development environment MACS or MASS or any other EtherCAT mas ter configurator if no Moog Motion Controller or Machine Controller is used as EtherCAT master WARNING Do not connect EtherCAT to any other Ethernet networks The high rate of broadcast telegrams which are transmitted by EtherCAT will prevent other devices like computers and servers on the network from transmitting data There is a danger of Network overload breakdown Malfunction of connected devices Data loss at connected devices It is
23. 11898 Quoted Standards Road Vehicles Controller Area Network CAN ISO DIS Rev A May 2014 48 Extension Module for Moog Ruggedized Motion Controller MSC R 10 10 3 6 TIA EIA TIA EIA 232 previously RS 232 Interface Between Data Terminal Equipment and Data Circuit Termi nating Equipment Employing Serial Binary Data Interchange TIA EIA 422 previously RS 422 Electrical Characteristics of Balanced Voltage Digital Interface Circuits TIA EIA 485 previously RS 485 Electrical Characteristics of Generators and Receivers for Use in Bal anced Digital Multipoint Systems Rev A May 2014 10 Appendix Quoted Standards Quoted Standards TIA EIA 49 Extension Module for Moog Ruggedized Motion Controller MSC R IO 11 Index A Abbreviations used 45 Air humidity relative permissible for operating the MSC R IO 26 permissible for transportation and storage M3000 modules 22 MSC R IO 26 Air pressure permissible for transportation and storage M30009 modules 22 MSC R IO 26 Ambient temperature permissible for operating the MSC R IO 26 permissible for transportation and storage M3000 modules 22 MSC R IO 26 Arrangement of the MSC R IO 25 B Basic wiring diagram digital input of the MSC R IO 38 digital output of the MSC R IO 36 Block diagrams Block Diagram of the MSC R IO 27 C CE labeling of the M30009 modules A 4 Cleaning safety instructions 9 20 Contamination level
24. 4 3 Electrical Conditions and Requirements Power supply 24 V DC Safety Extra Low Voltage SELV according to EN 60950 1 opecified voltage range 18 to 36 V DC gt 5 2 Power Supply on page 16 Rev A May 2014 8 MSC R IO General Specifications Environmental Conditions Safety Instructions Environmental Conditions Environmental Conditions Environmental Conditions Mechanical Conditions and Requirements Environmental Conditions Electrical Conditions and Requirements 26 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO Block Diagram 8 3 Block Diagram Rev A May 2014 M3 L2 M2 8x Digital Input 8x Digital Output isolated isolated M4 8x Digital Input isolated PT100 Temperature Sensor L1 M1 Supply EtherCAT In EtherCAT Out Figure 6 Block Diagram of the MSC R IO 27 Extension Module for Moog Ruggedized Motion Controller MSC R 10 8 4 View of the Module and Terminal Assignment X1 3 X2 Supply EtherCAT Slave In M12 4 pins 4 L4 D coded female 2 Lit AU s 3 M TAR 4 M1 3 o pe 4 Rx X5 Digital Output 1 L2 2 L2 3 M2 4 M2 5 Dol 6 Do2 7 Do3 8 Do4 9 Dod 10 Do6 11 Do7 12 Do8 X6 Digital Input 1 L3 2 L3 3 M3 4 M3 5 Di01 6 Di02 7 Di03 8 Di04 9 Di05 10 Di06 11 Di07 12 Di08 Rev A May 2014 Figure 7 View of the MSC R IO and Terminal Assignment 8 MSC R IO Vie
25. A DS CiA DS 201 207 CiA Draft Standard CAN Application Layer CAL CiA DS 301 CIA Draft Standard CANopen Communication Profile for Industrial Systems Based on CAL CiA DS 401 CIA Draft Standard CANopen Device Profile for Generic I O Modules 10 3 2 DIN DIN 41652 Rack and Panel Connectors Trapezoidal Round Contacts 1 mm 10 3 3 EN EN ISO 9227 Corrosion tests in artificial atmospheres Salt spray tests EN 60715 Dimensions of Low Voltage Switchgear and Controlgear Standardized Mounting on Rails for Mechanical Support of Electrical Devices in owitchgear and Controlgear Installations EN 60950 1 Information Technology Equipment Safety Part 1 General Require ments EN 61000 6 1 Electromagnetic Compatibility EMC Part 6 1 Generic Standards Im munity for Residential Commercial and Light Industrial Environments EN 61000 6 2 Electromagnetic Compatibility EMC Part 6 2 Generic Standards Im munity for Industrial Environments Rev A May 2014 10 Appendix Quoted Standards Table 13 Abbreviations Quoted Standards CiA DS Quoted Standards DIN Quoted Standards EN 47 Extension Module for Moog Ruggedized Motion Controller MSC R 10 10 Appendix Quoted Standards EN 61000 6 3 Electromagnetic Compatibility EMC Part 6 3 Generic Standards Emission Standard for Residential Commercial and Light Industrial Environments EN 61000 6 4 Electromagnetic Compatibility EMC
26. Digital InpUllssnes A a pu dar pls Eder 38 9 Temperature Sensor InpULl marcada 40 8 7 1 ET Connection Diagram iia 41 9 9 EME ATINA o oia 42 9 3 rigare iE ETUDES TII SI M et 42 J Froduct Rang o p Eseecs su enisi cessus AAEE Ea EErEE aan 43 9 1 DIN Rail Mounting Kit for the MSC R IO 1 eeeeesieeeseee eee ee nennen nnne nnn n nnn nnn nn 43 9 2 Plug in Terminal STPS anita Ad wa Von Ma Rari nes 43 Rev A May 2014 li Extension Module for Moog Ruggedized Motion Controller MSC R IO Table of Contents STi i E 44 10 1 Typographical CONVENTIONS unicidad 44 10 2 Abbreviations 1 T LTIMTI 45 10 3 Quoted Standards xu cscs asa so da eon Ora UR EU qe pco ee qa ee ee wees cuum Cavo eee 47 Qs ECT B ios 47 103 A DIN pct 47 a Me rS 47 103A A o O 48 on en 48 A Rom R ipa rogus ta iine dE ien a alles a eo D d PUR nana te ETE 49 MU WINGO t n 50 Rev A May 2014 iii Extension Module for Moog Ruggedized Motion Controller MSC R IO List of Tables List of Tables Table 1 Power Supply Conditions of the Module s Internal Electronics and the Sensors 18 Table 2 Dimensions OF the Mola ads 24 Table 3 Terminal Assignment of MSC R IO s Connectors coocccocccocccocncocncociconconnconnncnnonnn
27. N bus Remote Display display and operating terminal with TIA EIA 232 and CANopen interface connection via CAN bus Reference voltage RISC RT ETH Reduced Instruction Set Computer Real Time Ethernet Interface Receive Data SELV Safety Extra Low Voltage according to EN 60950 1 SFC Sequential Function Chart programming language for creating PLC programs SHLD Serial I O serial interface of the MSC II Synchronous Serial Interface digital interface for transferring positioning information like with position transducers Structured Text programming language for creating PLC programs ST 7 TPU Time Processing Unit programmable microprocessor that processes time functions independently of the CPU A Telecommunications Industry Association http www tiaonline org T V Technischer berwachungsverein German agency performing technical inspections Table 13 Abbreviations Section 2 of 3 Rev A May 2014 46 Extension Module for Moog Ruggedized Motion Controller MSC R IO n Verband der Elektrotechnik Elektronik Informationstechnik Association for Electrical Electronic amp Information Technologies http www vde de Verband Deutscher Maschinen und Anlagenbau e V Federation of Engineering Industries http www vdma org WideCAN Naming convention to distinguish between the two CAN con troller interfaces Table 13 Abbreviations Section 3 of 3 10 3 Quoted Standards 10 3 1 CI
28. NG It is not permissible to operate the M30009 automation system or M30009 modules in a potentially explosive environment 8 2 4 1 Environmental Conditions Ambient temperature IEC 61131 2 For operation when installed properly 40 to 70 C 40 to 158 F For transportation and storage in the original packaging 40 to 80 C 40 to 176 F Relative air humidity IEC 61131 2 For operation gt 10 For transportation and storage in the original packaging 5 to 95 non condensing Resistance to corrosion IEC 60068 No protection Operating Elevation IEC 61131 2 lt 2 000 m 6 562 ft above MSL Air pressure for transportation IEC 61131 2 gt 70 kPa corresponds to an elevation of lt 3 000 m 9 843 ft 8 2 4 2 Mechanical Conditions and Requirements Sinusoidal oscillations IEC 60068 2 6 at 1 oct min sweep rate and three orthogonal axes 10 Hz x f lt 60 Hz 2 0 mm 0 08 in continuous amplitude 60 Hz lt f lt 2 000 Hz 30 g continuous constant acceleration Shocks half sine wave IEC 60068 2 27 Shocks up to 50 g for a duration of 3 ms 3 shocks in each of the six or thogonal axes X Yt Zx Continuous Shocks half sine wave IEC 60068 2 27 Continuous shocks up to 40 g for a duration of 6 ms 4 000 shocks in each of the six orthogonal axes Xt Y Zx Drop height free fall in the original packaging IEC 60068 2 31 lt 1 m 3 281 ft Protection class IEC 60529 IP 20 8 2
29. SC R IO 26 PT100 Input 31 Pulse detection of digital inputs 39 R Rated voltage of the power supply 16 Release date of this manual 1 Removing MSC R IO 25 Repair 21 Moog Global Support 21 safety instructions 9 20 Reproduction prohibition for this manual A Reservation of changes for this manual A 1 Resistance to corrosion MSC R IO 26 Retain the original packaging 3 Reverse energization is to be avoided 17 18 35 51 Extension Module for Moog Ruggedized Motion Controller MSC R IO S Safety extra low voltage SELV 17 Safety instructions cleaning 9 20 environmental conditions 7 11 26 ESD 7 installation 8 13 17 18 maintenance 9 20 mounting MSC R IO 13 project planning 8 17 18 removing MSC R IO 13 repair 9 20 safety related systems 2 6 service 9 20 shutdown 9 20 storing M30009 modules 10 22 transporting M30009 modules 10 22 typographical conventions 6 44 Safety related systems 2 safety instructions 2 6 Sensors connecting to the power supply 18 connecting with digital I O cable 19 Service safety instructions 9 20 Shock permissible for MSC R IO 26 Shutdown safety instructions 9 20 Signal cables connection with digital I O cable 19 Software copyright 5 Standards overview of quoted standards 47 49 Storing M30009 modules environmental conditions 22 air pressure permissible 22 ambient temperature permissibl
30. USER MANUAL FOR MOTION CONTROLLERS EXTENSION MODULE FOR MOOG RUGGEDIZED MOTION CONTROLLER MSC R 10 Rev A May 2014 EXTENSION MODULE WITH ETHERCAT SLAVE INTERFACE FOR HARSH ENVIRONMENTS WHAT MOVES YOUR WORLD Copyright 2014 Moog GmbH Hanns Klemm Strasse 28 71034 Boblingen Germany Telephone 49 7031 622 0 Fax 49 7031 622 100 E Mail Info germany moog com M3000 Support moog com Internet http www moog com industrial All rights reserved Neither this manual nor parts of it may be reproduced in any form print photocopy microfilm or any other process or processed duplicated or distributed through the use of electronic systems without Moog s written approval Offenders will be held liable for the payment of damages Subject to changes without prior notice All M3000 modules comply with the standards specified in their relevant declaration of conformity C 4 CE labeling of the M3000 modules is based on proper installation of the automation system with proven electromagnetic compatibility EMC Rev A May 2014 A Extension Module for Moog Ruggedized Motion Controller MSC R IO Table of Contents Table of Contents BiWenmrlori A PRE OE OU O IV A E V 1 General Tatormalloriis ioter cies Eee Ras cOnu cta S REER CR Ud Dn D dM t MSS VN CEDE DE SEDE RE 1 ET AB U T EITHER m 1 1 1 1 Reservation of Changes and Vali
31. al assignments The internal electronics of M30009 modules and at tached sensors must be supplied with power from a per manently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors gt table 1 on page 18 e Invalid sensor data 2 Safety Instructions Safety Instructions Safety Instructions Project Planning and Installation Extension Module for Moog Ruggedized Motion Controller MSC R IO WARNING Sensors that are connected to digital inputs of M30009 modules with several I O groups such as MSC I QDIO or RDIO must always be supplied from the same power supply as the corresponding I O group to which the sen sor is connected Otherwise if the power supply for the internal electronics of the module is switched off there might be reverse energiza tion from the sensor to the module There is a danger of e Uncontrolled movements e Fault or failure of a manual control e Permanent damage to the module e Malfunctions Digital l Os of MSC II MSC R IO and MSD Motion Controller are protected against reverse energization More on these subjects gt 4 Mechanical Installation
32. ation in metal grounded cabinets is preferred M30009 modules are designed for use under normal operating conditions in industrial environments and comply with the following standards e EN 61000 6 2 e EN 61000 6 4 If suitable additional measures are taken M3000 modules may also be em ployed in residential commercial and light industrial environments in compli ance with the following standards e EN 61000 6 1 e EN 61000 6 3 ouitable additional measures c 3 2 Use in Special Environments on page 12 Rev A May 2014 1 General Information Environmental Protection Environmental Protection Emissions Environmental Protection Disposal CE Labeling of M30009 Modules M3000 and M30009 Modules Comply with IEC 61131 2 Electromagnetic Compatibility EMC Extension Module for Moog Ruggedized Motion Controller MSC R IO If the system does not comply with the requirements of EN 61000 6 1 and EN 61000 6 3 despite the additional measures M30009 modules must not be used in residential commercial and light industrial environments EMC conformity may be presumed only under the following conditions e Sufficient shielding The MSC R IO must be powered from a power supply with SELV Safety Ex tra Low Voltage according to EN 60950 1 Therefore the EU low voltage di rective is not relevant for the M3000 automation system because the speci fied voltage levels are below the limits 1 8 Trademarks Moog and Moo
33. bal Support 21 Mounting MSC R IO 25 MSC R IO DIN rail mounting kit 25 MSC R DIN rail mounting kit 25 MSC R IO 23 42 dimensions 23 24 environmental conditions for operation 26 climatic conditions 26 electrical conditions and requirements 26 mechanical conditions and requirements 26 front panel 28 view of the module 23 Rev A May 2014 11 Index N Nameplate MSC R IO 42 O Operating elevation 26 Original packaging is to be retained 3 Oscillations permissible for MSC R IO 26 Overload protection of digital outputs 37 P Packaging Original packaging is to be retained 3 Part numbers DIN rail mounting kit for the MSC R IO 43 plug in terminal strips for DIN rail modules 43 Personnel selection and qualification only qualified users may work with and on M30008 2 Place of storage for manuals 1 Plug in terminal strips for DIN rail modules connection methods 19 part numbers 43 spring loaded terminals 19 Power supply 16 18 characteristics 16 connecting M3000 modules 18 digital I Os of the MSC R IO 35 maximum admissible current 18 MSC R IO 26 34 rated voltage 16 safety extra low voltage SELV 17 sensors 18 Power supply connector 29 Power supply of the MSC R IO terminal assignment of the X1 connector 29 Product range 43 Project planning 14 safety instructions 8 17 18 Proper use 2 safety related systems 2 Protection class of the M
34. ctronics c 5 2 2 Connecting the Power Supply on page 17 8 6 3 Digital Outputs The following digital output circuits are available Digital Outputs of the Open emitter outputs switches to L2 24 V MSC R IO Open Emitter Output Basic Wiring Diagram of a Digital Output of the MSC R IO Figure 8 Basic Wiring Diagram of a Digital Output of the MSC R IO O Protective circuit with a limiting voltage of 50 V as protection against in duced voltage spikes when there are inductive loads c 8 6 3 1 Current Limiting and Overload Protection on page 37 Rev A May 2014 36 Extension Module for Moog Ruggedized Motion Controller MSC R IO A digital open emitter output in the 1 state conductive connects the at tached load R to the power supply terminal L2 24 V 8 6 3 1 Current Limiting and Overload Protection All digital outputs are protected by an integrated power limiter and a thermal overload protection device In an overload condition the affected output will be automatically disabled After the output stage has been finished thermal cooling it returns to normal operation If the overload is still connected then the disable will happen again A protective circuit with a limiting voltage of 50 V with respect to L2 24 V for open emitter outputs protects all outputs against induced voltage spikes when there are inductive loads 8 6 3 2 Specifications Number of digital outputs 8 gt 8 6 Digital l Os on
35. dity oocccoocccooncocncoccnnocncnonononononnnnnononnnonnnnannnnos 1 1 1 2 EXCUSA M 1 NE IE NN TE oa 1 UE reves M 1 1 2 Selection and Qualification of Personnel eeeeeeeeeeee cesses eene nennen nennt 2 ES Proper c E 2 13 1 Saf ty Related Syste S sirae noron qut tutes anon CH tuE o dacean ocn 2 1 4 Warranty and Erability i ais irasetevcacarea o dacsa sa Da ER IPo Ee Dude hana sa Cds o c2A A Vos dU Dra sed 3 to INSPEcion Of DELIVERY eec Er 3 1 6 Environmental POLE CUION uocem daas as 4 161 mini PEEL UTD 4 APA m a a A vat eae a eda came meneame A 4 MST URINALS coccinea esac a E 4 1 7 1 CE Labeling of M30009 Modules eese ran nono cono cananea nana 4 UNA MESAS di ai 4 1 7 3 Electromagnetic Compatibility EMOC oocooccccnccnnconcocncocnccncocncnccoonconncononnncnnnnnnnonnnnnnos 4 150 Trademark STREET NEUESTE 5 1 9 Software COPIONI S iia lio 5 2 Safely INSTUCUIONS RP EDD o m 6 2 1 Typographical Conventos ci osa ceret d vua arias 6 2 2 Safely INSTFUCIONS eR 6 2 2 1 Safety Iselated SY SLICING ii ia 6 2 2 2 Environmental CornadillolS x vix na EMO e Rte E uu NO Pa ak us mu rx E old ved E KUR RUL INA OR dEE 7 AS E D Nec T ods oa ead i M HE cH UE RNC M m 7 2 2 4 Project Planning and Installation
36. e 22 contamination level 22 insensitivity to corrosion 22 relative air humidity permissible 22 safety instructions 10 22 Storing manuals place of storage 1 Rev A May 2014 11 Index T Table of Contents i Tables list of iv Terminal assignment MSC R IO 28 31 Trademarks 5 Transporting M30009 modules environmental conditions 22 air pressure permissible 22 ambient temperature permissible 22 contamination level 22 insensitivity to corrosion 22 relative air humidity permissible 22 safety instructions 10 22 Typographical conventions 44 U U I working ranges of digital inputs 40 User manual M30009 and MSC R version number 1 User manual M3000 and MSC R IO copyright A date of release 1 duplication prohibition A exclusion of liability 1 place of storage 1 reproduction prohibition A reservation of changes A 1 V Version number of this manual 1 W Warranty exclusion of warranty 3 Weight of the MSC R IO 23 52 TAKE A CLOSER LOOK Moog designs a range of products that complement the performance of those featured in this user manual Visit our Web site for more information and the Moog facility nearest you Argentina 54 11 4326 5916 info argentina moog com Australia 61 39561 6044 info australia Wmoog com Brazil 55 1135720400 info brazil Wmoog com Canada 1 716652 2000 info canada moog com China 86 21 2893 1600 info china moo
37. e original packaging for any future transport or stor Retain the Original age needs Packaging Rev A May 2014 3 Extension Module for Moog Ruggedized Motion Controller MSC R IO 1 6 Environmental Protection 1 6 1 Emissions M30009 modules do not have any harmful emissions when used properly 1 6 2 Disposal i The applicable disposal regulations must be observed when disposing of M3000 modules 1 7 Standards 1 7 1 CE Labeling of M30009 Modules CE 1 7 2 IEC 61131 2 The M30009 automation system and M3000 modules comply with the re quirements of IEC 61131 2 All M3000 modules comply with the standards specified in their relevant declaration of conformity CE labeling of the M3000 modules is based on proper in stallation of the automation system with proven electromag netic compatibility EMC Where technical requirements lead to deviations from the standard these are specified in this manual or in the documentation of the relevant M3000 modules 1 7 3 Electromagnetic Compatibility EMC M3000 modules comply with the requirements and protection targets of the EU directive 2004 108 EC Electromagnetic Compatibility EMC directive and comply with the harmonized European standards EN that were pub lished in the Official Journals of the European Union for programmable con trollers Especially important are the rules for proper EMC wiring in cabinets and buildings according to IEC 61131 4 Install
38. en tial that the system is stopped and the power supply is dis connected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc Information about mounting removing the MSC R IO gt 8 2 3 Mechanical Mounting on page 25 4 2 Removing WARNING No work of any kind such as mounting removing wir ing or repairs to the M30009 modules may be performed while the modules are in operation There is a danger of e Uncontrolled movements e Permanent damage Malfunctions Before performing any work on M30009 modules it is essen tial that the system is stopped and the power supply is dis connected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc Information about mounting removing the MSC R IO gt 8 2 3 Mechanical Mounting on page 25 Rev A May 2014 4 Mechanical Installation Mounting Mounting Safety Instructions Removing Safety Instructions 13 Extension Module for Moog Ruggedized Motion Controller MSC R IO 9 Project Planning and Installation The following instructions must be observed in order to ensure that the M30009 automation system will be safely integrated into its application envi ronment IEC 61131 Especially the information contained in IEC 61131 4 Safety All sa
39. ersion CA96981 012 Phoenix Contact FMC 1 5 12 STF 3 5 1 5 X8 0 5 mm 20 AWG Spring power clamp version CA96981 005 Phoenix Contact FMC 1 5 5 STF 3 5 Table 12 Product Range Plug In Terminal Strips Rev A May 2014 9 Product Range DIN Rail Mounting Kit for the MSC R IO Product Range DIN Rail Mounting Kit for the MSC R IO Product Range Plug In Terminal Strips for DIN Rail Modules 43 Extension Module for Moog Ruggedized Motion Controller MSC R IO 10 Appendix 10 1 Typographical Conventions DANGER WARNING CAUTION blue text 00 WCAN Frequency Rev A May 2014 Identifies safety instructions that are intended to warn of an immediate and impending danger to life and limb or major property damage Failure to observe these safety instructions will lead in evitably to death serious personal injury disablement or major property damage Identifies safety instructions that are intended to warn of potential danger to life and limb or the potential for ma jor property damage Failure to observe these safety instructions might lead to death serious personal injury disablement or major property damage Identifies safety instructions that are intended to warn of slight personal injury or minor property damage Failure to observe these safety instructions might lead to slight personal injury or minor property damage Identifies listings Identifies references to ano
40. f M12 EtherCAT connectors 8 4 3 3 Cables and Connectors Use only cables and connectors that fulfill the requirements of at least cate Cables and Connectors gory 5 Cat 5 of EN 50173 or ISO 11801 The maximum cable length be tween two EtherCAT devices is 100 m 8 4 3 4 Configuration The configuration is done in the development environment of the EtherCAT Configuration master module If a Moog Motion Controller is used as EtherCAT master module then the configuration is done in the PLC configurator of the MACS or MASS development environment e Append the MSC R IO module to the EtherCAT master node in the PLC configurator e The PDO mapping is fix and not configurable e EtherCAT slaves do not need any address settings the addresses are adjusted automatically by the EtherCAT master Rev A May 2014 32 Extension Module for Moog Ruggedized Motion Controller MSC R 10 8 MSC R IO View of the Module and Terminal Assignment 8 4 3 5 PDO Mapping List Receive PDO 1 PDO Mapping List 3101 1 Digital Output X5 Digital outputs Do1 Do8 UINT8 Table 6 Receive PDO 1 Transmit PDO 1 3001 1 Digital Input X6 Digital inputs Di01 Di08 UINT8 Table 7 Transmit PDO 1 Transmit PDO 2 3101 2 Digital Input X7 Digital inputs Di09 Di16 UINT8 Table 8 Transmit PDO 2 Transmit PDO 3 PT100 Input X8 PT100 temperature sensor interface Table 9 Transmit PDO 3 8 4 3 6 Specifications Supported protocol types to read i
41. f the module and sensors gt table 1 on page 18 e Invalid sensor data Rev A May 2014 17 Extension Module for Moog Ruggedized Motion Controller MSC R IO Power Supply Internal Electronics Sensors Module and sensors are in operation eval sensor eta O Table 1 Power Supply Conditions of the Module s Internal Electronics and the Sensors Power supply terminals of the MSC R IO gt 8 4 1 Terminal Assignment on page 29 Refer to the relevant documentation for information about the power supply terminals of the other M3000 modules Internal module capacities might cause power spikes of up to 50 A when switching on the power supply for the internal electronics of the M3000 module The duration of these spikes is strongly dependent on the inter nal resistance of the power supply 5 2 2 1 Maximum Admissible Current All power supply terminals of MSC R IO and the associated internal connec tions are designed for a maximum current of 6 A If the output current of the power supply is greater than the maximum current of the connector then following must be employed e Several separately fused circuits or e Several separate power supplies in separated circuits 5 2 3 Connecting Sensors WARNING The internal electronics of M3000 modules and at tached sensors must be supplied with power from a per manently connected unswitched power supply that cannot be individually switched off without switching off the
42. fety and accident prevention regulations applicable to the specific application such as machinery directives safety instructions contained in documentation etc Emergency stop The emergency stop devices EN 60204 must remain in effect during all of the system s or facility s operational modes Restarting Unlocking of the emergency stop devices must not lead to uncontrolled or undefined restarting Dangerous operational conditions of any kind must not arise following in terruption or failure of the power supply Voltage Deviations and fluctuations of the supply and load voltages must not fall below or exceed the specified tolerances Deviations outside the specified operating range might lead to danger ous conditions and functional disturbances in the automation system Power supply 24 V DC M30009 modules must be supplied only with 24 V DC SELV Safety Ex tra Low Voltage according to EN 60950 1 c 5 2 1 Power Supply Characteristics on page 16 Wire fault A cable or wire fault must not lead to undefined conditions All necessary safety precautions must be taken in the hardware and software Connection All connection and signal cables must be installed in such a way that in ductive or capacitive interferences will not impair the M30009 automa tion system Rev A May 2014 5 Project Planning and Installation Project Planning and Installation 14 Extension Module for Moog Ruggedized Motion Controller MSC R IO
43. g Authentic Repair are registered trademarks of Moog Inc and its subsidiaries EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany M3000 is a trademark of Moog GmbH that is registered in the EU i All product and company names mentioned in this manual might be pro tected trademarks or brands of the relevant manufacturer The absence of the symbols or does not indicate that the name is free from trademark protection 1 9 Software Copyrights The software that is installed on M3000 products at the time of delivery is the property of the manufacturer At the time of delivery every piece of in stalled software is covered by copyright protection It may be reproduced only with the approval of the manufacturer or in accordance with the license agreements Rev A May 2014 1 General Information Trademarks Trademarks Software Copyrights Extension Module for Moog Ruggedized Motion Controller MSC R IO 2 Safety Instructions Typographical Conventions 2 Safety Instructions This chapter summarizes the most important safety instructions When han dling the M30009 automation system or M3000 modules the safety instruc tions in the other chapters of this manual must be followed as well as the safety instructions in the product related hardware and software documenta tion required for the specific application Following the safety instructions helps to avoid accidents
44. g com Finland 358 10 422 1840 info finiland moog com France 33 1 4560 7000 info france moog com Germany 49 7031 6220 info germany moog com Hong Kong 852 2 635 3200 info hongkong moog com www moog com industrial India 91 80 4057 6666 info india moog com Ireland 353 21 451 9000 info treland moog com Italy 39 0332 421 111 info italy Wmoog com Japan 81 46 355 3767 info japan moog com Korea 82 31 764 6711 info korea Wmoog com Luxembourg 352 40 46 401 info luxembourg moog com The Netherlands 31 252 462 000 info thenetherlands moog com Norway 47 6494 1948 info norway moog com Russia 8317131811 info russta moog com Moog is registered trademark of Moog Inc and its subsidiaries All trademarks as indicated herein are the property of Moog Inc and its subsidiaries 2014 Moog GmbH All rights reserved All changes reserved Moog Literature Name User Manual M3000 and MSC R IO Rev A May 2014 CDS40991 001 WHAT MOVES YOUR WORLD Singapore 65 677 36238 info singapore moog com South Africa 27 126536768 info southafrica moog com Spain 34 902 133 240 info spain moog com Sweden 46 31 680 060 info sweden moog com Switzerland 4171 394 5010 info switzerland moog com Turkey 90 216 663 6020 info turkey moog com United Kingdom 44 0 1684 858000 info uk moog com USA 1 716 652 2000 info usa moog com MOOG
45. ied out If Moog receives a repair order for defective M3000 modules Moog and Moog s authorized service agents reserve the right to repair the de fective module or alternatively to replace the defective module with a module of identical or compatible specifications If Moog receives a repair order for defective M3000 modules Moog and Moog s authorized service agents accept no liability for software and data installed by the customer O Please note As the MSC R IO is sealed it is not possible to repair the module Rev A May 2014 21 Extension Module for Moog Ruggedized Motion Controller MSC R IO 7 Transportation and Storage WARNING CAUTION CAUTION D Maintain under all circumstances the required environ mental conditions specified for transportation and stor age of the M30009 automation system or M3000 mod ules gt 7 1 Environmental Conditions on page 22 This ensures fault free reliable and safe operation To avoid condensation do not start M30009 modules until they have reached ambient temperature except MSC R and MSC R IO To avoid damage M30009 modules and accessories must be transported and stored in their original packaging Warranty and liability claims for personal or material damage will be excluded when they are the result of among other things storing or transporting M30009 modules or accesso ries outside of their original packaging c 1 4 Warranty and Liability o
46. lified project planning and design proper transportation storage installa tion and use are required to ensure fault free reliable and safe operation of M3000 M3000 and M3000 modules must not be brought into operation until it has been ensured that the equipment in which they are installed complies with the current version of the EU machinery directive The M3000 automation system and M3000 modules may be used only un der the conditions and situations specified in this manual and in the docu mentation of the M3000 modules Any other or more extensive use is not permissible The following is also required for proper use e Compliance with the requirements detailed in this manual e Compliance with the requirements of individual M30009 module docu mentation e Compliance with all of the product related hardware and software docu mentation required for the relevant application e Compliance with the relevant nationally and internationally applicable regulations standards and directives e g the regulations specified by a professional organization such as TUV or VDE 1 3 1 Safety Related Systems WARNING As with any electronic automation system the failure of Safety Related Systems certain components when using M3000 or M3000 mod ules might lead to an uncontrolled and or unpredictable operational condition The user should take into consid eration the system level effects of all types of failures and im
47. module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors table 1 on page 18 e Invalid sensor data Rev A May 2014 5 Project Planning and Installation Power Supply Power Supply for the Module s Internal Electronics and the Sensors Maximum Admissible Current for MSC R IO Connecting Sensors Safety Instructions 18 Extension Module for Moog Ruggedized Motion Controller MSC R IO 5 Project Planning and Installation Connecting Signal Cables 5 3 Connecting Signal Cables WARNING No work of any kind such as mounting removing wir Connecting Signal Cables ing or repairs to the M3000 modules may be performed Safety Instructions while the modules are in operation There is a danger of e Uncontrolled movements e Permanent damage e Malfunctions Before performing any work on M30009 modules it is essen tial that the system is stopped and the power supply is dis connected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc gt 8 4 1 Terminal Assignment on page 29 5 3 1 Plug In Terminal Strips Plug in terminal strips for the following methods are available f
48. n page 3 7 1 Environmental Conditions Ambient temperature IEC 61131 2 See user manual of the relevant module Relative air humidity IEC 61131 2 See user manual of the relevant module Contamination level IEC 60664 See user manual of the relevant module Resistance to corrosion IEC 60068 See user manual of the relevant module Air pressure IEC 61131 2 gt 70 kPa corresponds to an elevation of lt 3 000 m 9 843 ft Drop height free fall in the original packaging IEC 60068 2 31 lt 1 m 3 281 ft Environmental conditions of MSC R IO are described in c 8 2 4 1 Environmental Conditions on page 26 Rev A May 2014 7 Transportation and Storage Environmental Conditions Transportation and Storage Safety Instructions Transportation and Storage Environmental Conditions 22 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO The MSC R IO is used as remote extension module for the Ruggedized Mo tion Controller MSC R MSC II Motion Controller MSD Motion Controller or other EtherCAT master modules It includes an EtherCAT slave interface 8 1 Performance Characteristics 8 1 1 Interfaces The MSC R IO provides an EtherCAT slave interface for real time communi cations to a PLC host system 8 1 2 I Os Inputs Outputs The MSC R IO provides the following I Os e 8 Digital isolated outputs maximum 0 5 A each e 2x8 Digital isolated inputs e PT100 temperature measuremen
49. ned in the documentation of the M30009 modules e All safety instructions contained in the product related hardware and software documentation required for the relevant application e All relevant nationally and internationally applicable safety and accident prevention regulations and standards 1 1 1 Reservation of Changes and Validity The information contained in this manual is valid at the time of this version s release See footer for version number and release date of this manual Moog reserves the right to make changes to this manual at any time without specified reasons 1 1 2 Exclusion of Liability This manual was prepared with great care and the contents reflect the au thors best knowledge However the possibility of error remains and improve ments are possible Please feel free to submit any comments regarding errors or incomplete infor mation to Moog Moog does not offer any guarantee that the contents conform to applicable legal regulations nor does Moog accept any liability for incorrect or incom plete information and the consequences thereof 1 1 3 Completeness This manual is complete only when used in conjunction with the product re lated hardware and software documentation required for the relevant applica tion 1 1 4 Place of Storage This manual and all other associated documentation for hardware and soft ware must always be kept in a location where they will be readily accessible and close to the M3000
50. nnonnnnononanonnnnononnnnonos 29 Table4 DEDSoOrthe Me Gs O ri TAS 32 Table 5 Pin assignment of M12 EtherCAT CONNECTOFS occcoccccncccncccnconiconcocnconocononnnnononnnononnnnnnnnnnnnnnonanenons 32 WADIG G Receive LP Paw cr 33 Table 7 gt Trans mMCFRDO a ec T 33 Table Transmit PDO Zore a a A Ad A a 33 TabIe 9 MEANS OV Sinto a A dud Dub ld ocitaciacia 33 Table 10 U I Working Ranges of MSC R IO s Digital Inputs Current Consuming 40 Table 11 Product Range DIN Rail Mounting Kit for the MSC R IO o occcccccccccncncncccnoconocococonncnnnnononcnoncnnnos 43 Table 12 Product Range Plug In Terminal Strips ooccooncoccconccnnnonnconnccnconncononcnonnoncnnonnnanonnnnononanoncnnnnos 43 Fable Noe vDDEIOVIGHOLIS amasar aaa ens 45 Rev A May 2014 Iv Extension Module for Moog Ruggedized Motion Controller MSC R IO List of Figures List of Figures Figure 1 Grounding COncepi sr o 15 FIgure Z MOOG Global SUD DOM siii re IRE e ea 21 Figures E FROME VIEW Ol MS C RAIO aaee is 23 Figure 4 Dimensions of the MSC R lO cai dit 24 Figure 5 MSC R DIN Rail Mounting Kit oocccoccccocccccccccnoccnoconcnocnonanononocononnnnonnnonanonnnnnnnnonanonanonannenaninano 25 Figure 6 Block Diagram of the MSC R IO ccccccccceccceecceeeeceeeceecaueeceeseeceeeceueecueecaeesseessueseueeseeessueesagees 27 Figure 7 View of the MSC R IO and Terminal Assignmen
51. nput data and write output data Specifications Cyclic data transmission via PDO communication Non cyclic data via SDO communication is not supported Sampling of inputs digital inputs and temperature sensor The inputs are sampled with every EtherCAT PDO communication cycle The sampled data is transmitted with the next Transmit PDO Setting of outputs digital outputs The outputs are updated after every Receive PDO Timeout behavior A SynchManager watchdog can be configured by the EtherCAT master If the watchdog expires then the outputs are set to O state For the Moog Motion Controllers and Machine Controllers the setting of the watchdog is available in the PLC configuration of the MACS and MASS develop ment environment Rev A May 2014 33 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 5 Power Supply DANGER The 24 V power supply terminals of all M30009 modules are protected against reverse polarity If the polarity of these power supply terminals is reversed the modules will not work WARNING M30009 modules must be protected from overvoltages and or reverse energization from the sensor to the mod AN ule There is a danger of Permanent damage by overheating or fire e Malfunctions M30009 modules must have the correct voltage polarity and terminal assignments Additional information about the power supply gt 8 2 4 3 Electrical Conditions and Requirements on page 26 gt 5 2 Power S
52. on Controller MSC R IO 10 Appendix Abbreviations Abbreviation Explanation Table 13 Abbreviations LED Light Emitting Diode LS Least Significant Bit M30009 Moog Automation System MACS Moog Axis Control Software Development environment according to IEC 61131 for solving complex control tasks Mbit s Megabits per second Most Significant Bit MSCI Moog Servo Controller Multi axis Moog Motion Controller for DIN top hat rail mounting MSC Il Moog Servo Controller Il Multi axis Moog Motion Controller for DIN top hat rail mounting MSC R Moog Servo Controller Ruggedized Control module in IP67 rugged de sign MSC R IO Moog Servo Controller Ruggedized I O module Control module in IP20 rugged design Modular Multi Axis Programmable Motion Control Servo Drive MSD Motion Controller MSD Servo Drive S Multi Axis High Performance Motion Controller A modular family of electrical servo drives to run permanent magnet syn chronous linear and asynchronous motors Mean Sea Level Not Connected Not Defined Personal Computer O v z r UJ Protective Earth U r O Programmable Logic Control ler Q Connector R Modules Remote modules such as RDIO and RDISP connection via CAN bus 40 pole lateral connector of DIN rail modules Z O A D Random Access Memory read and write memory that loses its contents when power is removed Remote module with digital I Os and CANopen interface connection via CA
53. on page 13 or gt 5 Project Planning and Installation on page 14 2 2 5 Shutdown and Service WARNING WARNING Rev A May 2014 To avoid damage to M30009 modules or accessories cleaning maintenance and repair tasks may be per formed only by Moog or Moog s authorized service agents Warranty and liability claims for personal and material dam age are excluded when among other reasons they are due to unauthorized repairs or other unauthorized interventions c 1 4 Warranty and Liability on page 3 No work of any kind such as mounting removing wir ing or repairs to the M30009 modules may be performed while the modules are in operation There is a danger of e Uncontrolled movements e Permanent damage e Malfunctions Before performing any work on M3000 modules it is essen tial that the system is stopped and the power supply is dis connected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc 2 Safety Instructions Safety Instructions Safety Instructions Shutdown and Service Extension Module for Moog Ruggedized Motion Controller MSC R IO WARNING WARNING The M3000 automation system and M3000 modules must not come into direct contact with liquids except where explicitly specified Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the
54. onnected to the protective earth con ductor Additional information about the grounding concept for M3000 modules c 5 1 Grounding Concept on page 15 Maintain the sufficient distances to ensure e Sufficient room for connecting the supply and signal cables e Sufficient room for mounting or removing the modules 8 2 3 2 Procedure for Mounting Modules Mounting Modules 1 Mark the position for the tapped holes on the backing plate 2 Cut a tap for each fixing screw in the backing plate 3 Mount the module on the backing plate 8 2 3 3 Procedure for Removing Modules Removing Modules 1 Loosen the fixing screws 2 Remove the module 8 2 3 4 MSC R IO DIN Rail Mounting Kit MSC R IO DIN Rail Mounting Kit With the MSC R IO DIN Rail Mounting Kit the MSC R IO can be mounted on a DIN rail The following figure shows the MSC R with DIN rail mounting kit as an example Fixing screw DIN rail eval ele Fixing screw Mounting plate MSC R Figure 5 MSC R DIN Rail Mounting Kit i The MSC R IO DIN Rail Mounting Kit is available from Moog as accessory c 9 1 DIN Rail Mounting Kit for the MSC R IO on page 43 Rev A May 2014 25 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 2 4 Environmental Conditions WARNING Maintain under all circumstances the required environ mental conditions specified for the M30009 automation system or M30009 modules This ensures fault free reliable and safe operation WARNI
55. or repairs to the M30009 modules may be performed while the modules are in operation There is a danger of e Uncontrolled movements e Permanent damage e Malfunctions Before performing any work on M30009 modules it is essen tial that the system is stopped and the power supply is dis connected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc The M30009 automation system and M30009 modules must not come into direct contact with liquids except where explicitly specified Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician 6 1 Shutdown WARNING Rev A May 2014 If an M30009 module is to be taken out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M30009 module must be protected against uninten tional restarting If the M30009 module is connected to other devices and or facilities always consider the full consequences and take ap propriate precautions bef
56. ore switching off the module 6 Shutdown and Service Shutdown Shutdown and Service Safety Instructions Shutdown Safety Instructions 20 Extension Module for Moog Ruggedized Motion Controller MSC R IO 6 Shutdown and Service Service 6 2 Service WARNING To avoid damage to M3000 modules or accessories Maintenance Repair cleaning maintenance and repair tasks may be per Safety Instructions formed only by Moog or Moog s authorized service agents Warranty and liability claims for personal and material dam age are excluded when among other reasons they are due to unauthorized repairs or other unauthorized interventions gt 1 4 Warranty and Liability on page 3 CAUTION To avoid damage to the internal components never attempt D to open M30009 modules 6 2 1 Maintenance Servicing M3000 modules are maintenance free They do not contain any compo Maintenance Servicing nents such as batteries that must be maintained or replaced 6 2 2 Repair Only Moog and Moog s authorized service agents can access the required Repair and most up to date specifications These specifications make it possible to restore the M3000 modules original performance and ensure the same high reliability and long service life of the M30009 modules after repairs are com pleted Moog Global Support MOO C GLOBAL SUPPORT Figure 2 Moog Global Support Moog s Global Support Logo indicates that a Moog repair has been carr
57. page 35 Type of outputs Semiconductor non capacitive Protective circuitry for inductive loads Limiting voltage of 50 V typ with reference to L2 24 V Power dissipation of protection devices when limiting Max 0 5 W per output Max 1 W per MSC R IO Status display One status LED per output gt 8 6 1 Status Display of Digital I Os on page 35 Power consumption for the internal control circuit L2 M2 lt 100 mA 8 6 3 3 Load Connection Total load 4 A 8 x 0 5 A when all 8 outputs are used Overload protection Electronic current limiting and thermal overload protection Max short circuit current 4A L2 fuse Reverse energization protection Digital outputs are protected against reverse energization Output delay hardware From 0 to 1 max 100 us From 1 to 0 max 100 us Update time The update time corresponds to the telegram interval time from the EtherCAT master Output capacitance 20 nF Rated voltage 24 V DC Rev A May 2014 8 MSC R IO Digital I Os Open Emitter Output Current Limiting and Overload Protection for Digital Outputs of the MSC R IO Specifications of MSC R IO s Digital Outputs Load Connection of MSC R IO s Digital Outputs 37 Extension Module for Moog Ruggedized Motion Controller MSC R IO Voltage loss at rated current lt 2V Rated current in 1 state 0 5A Leakage current in 0 state Max 0 1 mA Parallel connection of outputs Not permissible
58. plement corresponding safety measures Special measures are required to use control technology in safety related systems When planning to use control technology in a safety related system the user should seek detailed advice in addition to any available standards or guide lines for safety installations Rev A May 2014 2 Extension Module for Moog Ruggedized Motion Controller MSC R IO 1 General Information Warranty and Liability 1 4 Warranty and Liability Moog s standard delivery and payment conditions apply The owner operator will have access to these by the time the contract is closed at the latest Warranty and liability claims for personal and material damage will be ex Exclusion of Warranty and cluded when they are the result of the following among others Liability e Improper use of the M3000 automation system or M3000 modules c 1 3 Proper Use on page 2 e Use of the M30009 automation system or M3000 modules in a technically imperfect condition e Use of the M30009 automation system or M30009 modules by unqualified users c 1 2 Selection and Qualification of Personnel on page 2 Failure to comply with this manual the documentation of the M3000 modules or the product related hardware and software documentation required for the relevant application Failure to comply with the relevant nationally and internationally applicable regulations such as the regulations of a professional association the TUV or
59. power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician If an M30009 module is to be taken out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M30009 module must be protected against uninten tional restarting If the M3000 module is connected to other devices and or facilities always consider the full consequences and take ap propriate precautions before switching off the module More on these subjects gt 6 Shutdown and Service on page 20 2 2 6 Transportation and Storage WARNING Maintain under all circumstances the required environ mental conditions specified for transportation and stor age of the M30009 automation system or M30009 mod ules gt 7 1 Environmental Conditions on page 22 This ensures fault free reliable and safe operation More on this subject gt 7 Transportation and Storage on page 22 Rev A May 2014 2 Safety Instructions Safety Instructions Safety Instructions Transportation and Storage 10 Extension Module for Moog Ruggedized Motion Controller MSC R IO 3 Environmental Conditions Requirements of IEC 61131 2 3 Environmen
60. rom Moog Connection Methods for Plug In Terminal Strips rew terminal Screw te als of M30009 Modules e Spring loaded terminals c 9 2 Plug In Terminal Strips on page 43 5 3 1 1 Spring Loaded Terminals CAUTION When connecting a wire insert the screwdriver only into the rectangular opening of the spring loaded terminal If a screw driver is inserted into the round opening for the wire the spring loaded terminal might be destroyed Spring loaded ter minals make it easy to rapidly connect supply and signal ca bles Procedure for connecting a wire Spring Loaded Terminals 1 Insert the tip of a screwdriver into the rectangular opening of the spring loaded terminal and press the screwdriver downward 2 Insert the wire into the corresponding round opening 3 Remove the screwdriver from the opening The spring will hold the wire in place Rev A May 2014 19 Extension Module for Moog Ruggedized Motion Controller MSC R IO 6 Shutdown and Service WARNING WARNING WARNING To avoid damage to M3000 modules or accessories cleaning maintenance and repair tasks may be per formed only by Moog or Moog s authorized service agents Warranty and liability claims for personal and material dam age are excluded when among other reasons they are due to unauthorized repairs or other unauthorized interventions gt 1 4 Warranty and Liability on page 3 No work of any kind such as mounting removing wir ing
61. strongly recommended to use cables of a special color only for EtherCAT connections 8 9 Nameplate Nameplate of the MSC R IO MOSIE Moog Ruggedized Motion Controller Model D136 006 001 0 D0101 2 NM Oma Mfg Date 2014Jan i Part number 2 Serial number Revision 4 Date in format MM month YY year Figure 12 Position of the Nameplate on the MSC R IO Rev A May 2014 42 Extension Module for Moog Ruggedized Motion Controller MSC R IO 9 Product Range D The following chapter describes only a small part of Moog s extensive product range In addition to the many different M30009 modules Moog s current product range includes a large variety of accessories 9 1 DIN Rail Mounting Kit for the MSC R IO Item Designation Remarks PartNumber DIN rail mounting kit for the MSC R or MSC R IO Accessory kit for mounting the MSC R or CA94286 001 MSC R IO on a DIN rail including DIN rail clip mounting plate and screws gt 8 2 3 4 MSC R IO DIN Rail Mounting Kit on page 25 Table 11 Product Range DIN Rail Mounting Kit for the MSC R IO 9 2 Plug In Terminal Strips Terminal strips for MSC R IO Number of Connector Maximum con required name on ductor cross connectors module section Part number 1 4 X1 0 5 mm 20 AWG Spring power clamp version CA96981 004 Phoenix Contact FMC 1 5 4 STF 3 5 3 12 X5 X6 X7 0 5 mm 20 AWG Spring power clamp v
62. t occoocccncccccccnccnnnconcnnonononocononnnonnonnnnnnnnnnnncnnncnanos 28 Figure 8 Basic Wiring Diagram of a Digital Output of the MSC R IO 00 0 ccc cceccsececeeeeeeeeseeeseeeseeeeaees 36 Figure 9 Basic Wiring Diagram of a Digital Input of the MSC R IO Current Consuming 38 Figure 10 U I Working Ranges of MSC R IO s Digital Inputs Current Consuming 40 Figure 1 12 P TCOMMeECIOMCAGI AIM Tc 41 Figure 12 Position of the Nameplate on the MSC R IO ccc ceccceecceeeeseecee cece eeseeeeeeeeseeeseeeeeeseeeseeesaeeees 42 Rev A May 2014 V Extension Module for Moog Ruggedized Motion Controller MSC R IO 1 General Information 1 1 About this Manual This manual is valid only for the M30009 automation system and M30009 modules It contains most important instructions that must be observed in or der to operate the M30009 automation system and M30009 modules in a safe manner Every person responsible for machinery planning mounting and operation must read understand and follow all points covered in this manual This ap plies especially to the safety instructions Following the safety instructions helps to avoid accidents faults and material damage The following items must be observed as fundamental elements of safety when using the M30009 automation system and M30009 modules All safety instructions contained in this manual All safety instructions contai
63. t input 8 2 General Specifications Dimensions Overall W x H x D in mm in 160 x 105 x 56 6 25 x 4 1 x 2 2 gt Figure 4 on page 24 Weight Approx 1 5 kg 3 3 Ib 8 2 1 View of the Module EtherCAT Slave In EtherCAT Slave Out Supply PT100 Input Digital output Digital input Digital input Figure 3 Front view of MSC R IO Rev A May 2014 8 MSC R IO Performance Characteristics MSC R IO Interfaces of the MSC R IO I Os Inputs Outputs of the MSC R IO General Specifications of the MSC R IO View of the Module 23 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO General Specifications 8 2 2 Dimensions 160 mm 6 30 in Dimensions 105 mm 4 13 in 58 40 mm 2 30 in Required distances of the mounting holes 150 mm 5 90 in middle to middle Width Required distances of the mounting holes 65 mm 2 56 in middle to middle Height Table 2 Dimensions of the MSC R IO 58 40 2 30 160 00 6 30 47 10 1 85 150 00 5 90 12 00 0 47 65 00 2 56 MOOG MSC RHO Figure 4 Dimensions of the MSC R IO Rev A May 2014 24 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO General Specifications 8 2 3 Mechanical Mounting 8 2 3 1 Arrangement Arrangement of the MSC R IO To attain the best result for EMC compatible installation the module must be attached to a metal mounting plate and c
64. tal Conditions WARNING Maintain under all circumstances the required environ Environmental mental conditions specified for the M30009 automation Conditions system or M30009 modules Safety Instructions This ensures fault free reliable and safe operation WARNING It is not permissible to operate the M30009 automation system or M30009 modules in a potentially explosive environment WARNING The M3000 automation system and M30009 modules must not come into direct contact with liquids except where explicitly specified Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician 3 1 Requirements of IEC 61131 2 The M3000 automation system and M3000 modules comply with the re Environmental quirements of IEC 61131 2 Conditions Requirements of IEC 61131 2 Where technical requirements lead to deviations from the standard these are specified in this manual or in the documentation of the relevant M3000 modules Environmental conditions for the MSC R IO gt 8 2 4 Environmental Conditions on page 26 Refer to the relevant documentation for the specified environmental con ditions for the other M30009 modules Rev A May 2014 11 Extension Module for Moog Ruggedized Motion Controller MSC R IO
65. ther chapter another page table or figure in this manual Identifies a hyperlink within the PDF file Identifies important information Identifies steps in a procedure that should be performed in consecutive order Identifies items in a figure that are explained separately Identifies terminals or connectors such as WCAN and light emitting diodes such as I O1 of an M30009 module Identifies parameters of the MACS development environment such as Frequency and outputs of M30009 modules such as Outputs Enabled Typographical Conventions Typographical Conventions Extension Module for Moog Ruggedized Motion Controller MSC R IO 10 Appendix Abbreviations 10 2 Abbreviations Abbreviation Explanation Table 13 Abbreviations Alternating Current O DC Analog to Digital Converter AWG American Wire Gauge standardized wire gauge system for diameters of wires CAL CAN Application Layer according to CIA DS 201 207 CAN Controller Area Network CFC Continuous Function Chart random graphics functional chart editor programming language for creating PLC programs CiA CAN in Automation e V international organization of manufacturers and users for CAN users http www can cia org L Clock CPU Central Processing Unit DAC Digital to Analog Converter O A O O Direct Current Digital Ground Ground for the digital l Os power supply of the MSC R IO Deutsches Institut f r Normung e V
66. upply on page 16 Rev A May 2014 8 MSC R IO Power Supply Power Supply of the MSC R IO Safety Instructions 34 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 6 Digital I Os There are 8 digital outputs and two groups with each 8 inputs Basic wiring diagrams gt Figure 8 on page 36 gt Figure 9 on page 38 8 6 1 Status Display of Digital I Os The status LEDs on the front panel of the MSC R IO show the internal opera tional state of the digital I Os The associated LED of an input will illuminate when it is internally detected that the input is in the 1 state The associated LED of an output will illuminate if the output is set to 1 state via the EtherCAT interface and L2 24 V and M2 GND are connected Basic wiring diagrams of the digital outputs gt Figure 8 on page 36 8 6 2 Power Supply of the Digital I Os DANGER WARNING Rev A May 2014 The 24 V power supply terminals of all M30009 modules are protected against reverse polarity If the polarity of these power supply terminals is reversed the modules will not work M30009 modules must be protected from overvoltages and or reverse energization from the sensor to the mod ule There is a danger of Permanent damage by overheating or fire e Malfunctions M3000 modules must have the correct voltage polarity and terminal assignments 8 MSC R IO Digital I Os Digital I Os of the MSC R IO Status Display of
67. w of the Module and Terminal Assignment X3 4 EtherCAT Slave Out M12 4 pins D coded female 1 Txt 2 Rx 3 TX 4 Rx OONDOBRWN I O I N I X7 Digital Input L4 X8 PT100 Input oRWN a RL Shield 28 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO View of the Module and Terminal Assignment 8 4 1 Terminal Assignment Comedor No Assignment rea X1 24 V power supply for the module Supply 24 V power supply for the module Xi Ground for the modules power supply Ground for the modules power supply EtherCAT transmit data EtherCAT receive data EtherCAT transmit data ECAT Slave In M12 D coded EtherCAT receive data A IE EtherCAT transmit data EtherCAT receive data EtherCAT transmit data ECAT Slave Out EtherCAT ved 4 pole Table 3 Terminal Assignment of MSC R IO s Connectors Section 1 of 3 EtherCAT Power Supply EtherCAT Rev A May 2014 29 Extension Module for Moog Ruggedized Motion Controller MSC R IO 8 MSC R IO View of the Module and Terminal Assignment Comedor No Assignment rea X5 24 V power supply for digital outputs Output 24 V power supply for digital outputs X5 Output A Ground for the digital output power supply as Ground for the digital output power supply il ee ll emm AA Table 3 Terminal Assignment of MSC R IO s Connectors Section 2 of 3 3 Q 3

User Manual for Motion Controllers - Extension Module

Contents

Download Pdf Manuals

Related Search

Related Contents