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MDC Family

1. Mate DB37P Pin Name Description 1 NC No Connection 20 NC No Connection 2 NC No Connection 21 GND Ground 3 BIT32 Digital I O Bank 3 Bit 32 22 NC No Connection 4 BIT31 Digital I O Bank 3 Bit 31 23 GND Ground 5 BIT30 Digital I O Bank 3 Bit 30 24 NC No Connection 6 BIT29 Digital I O Bank 3 Bit 29 25 GND Ground 7 BIT28 Digital I O Bank 3 Bit 28 26 NC No Connection 8 BIT27 Digital I O Bank 3 Bit 27 27 GND Ground 9 BIT26 Digital I O Bank 3 Bit 26 28 NC No Connection 10 BIT25 Digital I O Bank 3 Bit 25 29 GND Ground 11 BIT24 Digital I O Bank 2 Bit 24 30 NC No Connection 12 BIT23 Digital I O Bank 2 Bit 23 31 GND Ground 13 BIT22 Digital I O Bank 2 Bit 22 32 NC No Connection 14 BIT21 Digital I O Bank 2 Bit 21 33 GND Ground 15 BIT20 Digital I O Bank 2 Bit 20 34 NC No Connection 16 BIT19 Digital I O Bank 2 Bit 19 35 GND Ground 17 BIT18 Digital I O Bank 2 Bit 18 36 NC No Connection 18 BIT17 Digital I O Bank 2 Bit 17 37 GND Ground 19 5V No Connection 38 MDC Rari SN ee MNNNE 8 2 DMC 21x3 Connectors for the MDC1800 8 2 1 Communication Ports RS 232 Ethernet Communication to the integrated Galil DMC 21x3 can be via the RS 232 port or Ethernet port as indicated The RS 232 port operates at 19 2K The Ethernet port is a 10BaseT port R
2. Specifications Motor Type Brushless servo with sinusoidal commutation Drive Type Current PWM 20 kHz Current 3A cont 9A peak Voltage 20 90VDC Bandwidth 3 0 kHz Connector Servo Brushless Axis Fuse 5A SB 5x20mm Figure 6 5 Brushless Motor Digital Drive Card o 9 FWO LIMIT REV LIMIT HOME SENSOR TEMP SENSOR AMP OK Programming Port for Encoder Output 1111111111115 umm 1 27 MDC EI e Table 6 6 Brushless Servo Axis Connector Pin out 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 K ENC SHLD Shield for encoder signals connect to encoder case L LIMIT 12V 12VDC Power supply for home and limit sensors switchable to 5V M LIMIT COM _ power supply return for home and limit sensors 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 5V Hall sensor power output 5VDC U HALL OV return for Hall sensor power output V ENC 0V Return for Encoder power W ENC l Encoder channel l X ENC I Encoder channel I Y FLS Forward
3. Figure 9 2 Step 3 To insert a new card line up the PCB with the grooves found in the plastic guides The plastic guides are outlined in Figure 5 12 FWD LIMIT REV LIMIT HOME SENSOR TEMP SENSOR AMP OK Figure 9 3 55 MDC a m CL Step 4 The card should slide in with no resistance but it should be securely within the grooves of each guide Push the card firmly to seat it into the backplane The cover panel will be flush with the case and other cards Figure 9 4 Step 5 Once in place secure the four retaining screws Figure 9 5 56 MDC FAU o ISTA 9 2 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 9 3 Service Should your device require factory service contact the factory for a Return Materials Authorization RMA When inquiring about an RMA please have the following information available o Your contact information name phone email address o Unit Serial Number located on label near the power switch o Symptom of problem o History of troubleshooting steps already taken 57
4. Maintenance Manual 3 2 MDC1800 OPTIONS SAMPLE MODEL NUMBER MDCTS00 TRE A 48 N20 D DS DS DARE SXXAK Model Series VB ANS Avr arr hd MDC1800 Chassis Configuration Rack Controller 1 5 dg ES saa senes res R Desktop Controller lt saad d 0 cece eee e eens D Number of Axes HIS A S 5 s 1 SAMS cG 2 5 5 2 E 2 BAR Li coser s 6 d AXIS icon o sor votis S L AXIS oe rro 7 BANS Save 4 BARE ensure 8 Amplifier Bus Voltage 48V RR R gR USES PEE ETRId 48V TON a wee sag aeui e Uefa 9 75V Chassis Power Output 100 Walls uenerat W1 1500 Walls ccc caine tins wares c 10 Ear 9 W2 U Walls TTT W4 Driver Card specify one for each axis Brushless Servo Trapezoidal iss D1 Brushed Seno vE oec ac xr d CNN vd D3 Microstepping Step Drive sss D4 Brushless Servo Sinusoidal Digital Drives D7 User ANS 5 suo tue icine 470 5 a ee velie mre rebos D9 Customization Code optional Leave blank for 110VAC operation 220VAC operation with a NEMA 6 15 plug 220US 220VAC operation with a European Schuko plug 220EU 220VAC operation with a British Standard plug 220BS Other codes assigned by factory The Drive Options are based on the following D1 Trap drive 6A continuous 12A peak 20 85V D3 Trap drive configured for brush operations 6A continuous 12A peak 20 85V D4 Step drive 5A RMS 7A peak 24 75V D7 Digital sinusoidal drive 3A continuous 9A peak 20 85V D9 User axis MDC
5. e HALL C Hall sensor C input 17 MDC Faray Eie enean Dance Hau TN 6 1 1 Brushless Servo Mating Connector Information Connector Parts Manufacturer ITT Cannon Similar parts also available from FCI Description Cannon P N Remark Connector Body Connector Body cable mount 28 pins 192922 1290 Mates with panel mount 28 sockets Backshell 192922 1350 Use with any connector body Contacts Pins crimp 26 24 AWG 192990 0020 Use with Crimp Tool Pins crimp 22 20 AWG 192990 0040 Use with Crimp Tool Pins crimp 18 16 AWG 192990 0060 Use with Crimp Tool Pins crimp 16 14 AWG 192990 1240 Use with Crimp Tool Pins solder cup 192900 0632 Solder to conductors up to 14 AWG Keying pin 192990 0000 Use in position a for sevo axes Hand Assembly Tools Extraction Tool 192922 1450 Used with all contacts Crimp Tool ratcheted 112108 0014 Used with crimp contacts 26 16 AWG Crimp Tool low cost low volume 192922 1440 Used with crimp contacts 26 14 AWG Connector Kits Kit Model Connection Kit 28 Position Pin Cable Remark Primatics P N 0 3064 1300 which consists of 1 cable mount connector body for pins 1 backshell 5 crimp pins 16 18 AWG 30 crimp pins 20 22 AWG 1 keying pin Connection Tool Kit Crimp and Extraction Cable Assemblies Primatics P N 0
6. o a z 449 3mm Desktop 449 3mm Desktop 482 1mm Rack Mount 482 6mm Rack Mount e e o O a z 449 3mm Desktop 449 3mm Desktop 482 1mm Rack Mount 482 6mm Rack Mount 10 MDC STI co EDU DN 5 2 Front Panel Indicators and Controls Figure 5 3 Front Panel System Power i STOP Motor Power pi Primatics Sto Motor Drive Chassis Fault CB1 Motor Power Im CB2 Motor Power Supply Input Supply Output 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 Safety Port on the rear panel described in Section 5 3 1 CB1 is a circuit breaker for the input to the motor power supply CB2 is a circuit breaker for the output of the motor power supply 11 MDC Family Reference amp Maintenance Manual 5 3 Rear Panel Information All connections to the MDC are made at the Rear Panel Figures 5 4 and 5 5 show the Rear Panel views of a typical MDC1400 amp MDC1800 respectively Note that the Motor Drive Cards Axis Cards are identified as Axes 1 through 8 The Galil Motion Controller will associate the drive card in Axis 1 with Galil Axis A the drive card in Axis 2 with Galil Axis B and so on Figure 5 4 Axis Cards and
7. CB14 WT100 SB14 WT100 CF 1 EN DBR 1 CB8 DBR1 1 EN DBR2 CB16 DBR2 1 EN DIM1 CB4 DIM1 1 EN DIM2 CB12 DIM2 1 EN EBR1 SB8 EBR1 1 EN EBR2 SB16 EBR2 1 EN ELA S 1 UJ EB A Z D D D ll Z LD 1 UJ E EB Q e Q zi D w w ll Z n 1 UJ E EB O Q zi D Q Q ll Z n tU p Q z D S c ll z LH we wn O W LD 9 UJ M X MO MRN MRN gt o Z S OS U Q Z l m T T Il Z U POFF CB5 CB13 MPOFF 1 1 PON MO CB5 CB13 WT 50 SB5 SB13 MPON 1 EN TA ial z 52 MDC Farny d EVE M Mae C MAINE SB7 SB15 TAVAL INT _TI0 16 _TI1 amp FO TA 1 EN TBR1 TBR1VAL 1 JP TBR1A _OP0 amp 128 TBR1VAL 0 BR1A TBR1 1 EN TBR2 TBR2VAL 1 JP TBR2A OP0 amp 32768 TBR2VAL 0 BR2A TBR2 1 EN TD CB7 CB15 TDVAL INT _TI0 16 _TI1 amp FO TD 1 EN 53 MDC Rari NEN rere eee NN 9 Troubleshooting amp Service 9 1 Removing a Card Step 1 Use a small blade screwdriver to loosen each screw in all four corners of the card Note that these screws are captive screws and can not be pulled out all the way Figure 11 1 54 MDC Earail m Maintenance ane Step 2 Pull the card out by the handle as shown in Figure 5 11
8. Crimp Tool Pins solder cup 192900 0632 Solder to conductors up to 14 AWG Keying pin 192990 0000 Usein position D for stepper axes Hand Assembly Tools Extraction Tool 192922 1450 Used with all contacts Crimp Tool ratcheted 112108 0014 Used with crimp contacts 26 14 AWG Crimp Tool low cost low volume 192992 1440 Used with crimp contacts 26 14 AWG Connector Kits Kit Model Remark Connection Kit 28 Position Pin Cable Connection Tool Kit Crimp and Extraction Primatics P N 0 3064 1300 which consists of 1 cable mount connector body for pins 1 backshell 5 crimp pins 16 18 AWG 30 crimp pins 20 22 AWG 1 keying pin Primatics P N 0 3064 1400 which consists of 1 extraction tool 1 crimp tool low cost low volume Used with any of the contacts in the kits listed Only one kit required per user and tools can be reused on many connectors Cable Assemblies CABLE STEP MDC STAGE to connect MDC to Primatics Step Axis CABLE STEP MDC PIGTAIL to connect MDC to User Supplied Step Axis 26 MDC EAN e SEEEEEENEUUCIZOIUENUCZSTTUT TENE 6 4 D7 option Brushless motor digital drive The D7 option is a digital drive for a brushless motor axis The drive uses the hall switches and the encoder to sinusoidally commutate the drive The drive must be programmed at the factory There are no user configurable options for this card
9. Multiplexer allows these inputs to reflect either motor power control circuit status or amplifier status Table 8 4 Controller Digital Outputs MDC 1400 1800 Outputs MDC 1800 only Output 1 User Output 1 9 User Output 9 2 User Output 2 10 User Output 10 3 User Output 3 11 User Output 11 4 MDCt1 Input Multiplexer 12 MDC 2 Input Multiplexer 5 MDC1 Motor Power Enable 13 User Output 13 6 MDC1 Reset Faults 14 User Output 14 7 MDC1 Status Multiplexer 15 MDC 2 Status Multiplexer 8 MDC1 Brake Release Enable 16 MDC 2 Brake Release Enable The signals routed to the digital inputs are determined by the state of the Input Multiplexer and Status Multiplexer for each MDC 44 MDC EI Table 8 5 MDC1400 and 1800 Inputs MDC 1400 1800 Input Multiplexer Off MDC 1400 1800 Input Multiplexer On 1 User Input 1 Axis A Encoder Index 2 User Input 2 Axis B Encoder Index 3 User Input 3 Axis C Encoder Index 4 User Input 4 Axis D Encoder Index MDC 1400 1800 Status Multiplexer Off MDC 1400 1800 Status Multiplexer On 5 MDC 1 Motor Power is Off Axis A Amp Fault 6 MDC 1 Hardware Fault Axis B Amp Fault 7 MDC 1 ESTOP Fault Axis C Amp Fault 8 MDC 1 Logic Power Fault Axis D Amp Fault Table 8 6 MDC1800 only Inputs MDC 1800 Input Multiplexer Off MDC 1800 Input Multiplexer On 9 User Input 9 Axis E Encoder Index 10 User Input 10 Axis F Encoder Ind
10. TBR1 Tell brake release status drive 1 TBR2 Tell brake release status drive 2 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 turn off the enable brake release output for MDC1 disabling the brake release for axes A D The EBR1 program turns on the brake release output for MDC1 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 The programs DBR2 and EBR2 control the enable brake release signal for axes E H The program TBR2 in conjunction with the variable TBR2VAL reports the status of the second brake release 47 MDC Faray o E 8 4 4 Latching the Encoder Index Pulse Table 8 10 Encoder Index Latching Programs Program Description ELA Enable index pulse latch A axis ELB Enable index pulse latch B axis ELC Enable index pulse latch C axis ELD Enable index pulse latch D axis ELE Enable index pulse latch E axis ELF Enable index pulse latch F axis ELG Enable index pulse latch G axis ELH Enable index pulse latch H axis The ELA program sets up the controller to latch the position of the axis A when the encoder index pulse makes a low to high transition The program turns on the InputMux1 output routing the index pulses for
11. axes A D to inputs 1 4 and then arms the latch for axis A After the ELA program is executed the user interrogates the Galil AL command to determine if the latch has occurred After the position is latched the Galil RL command is used to obtain the latched position The programs ELB ELC and ELD all are similar in that they require InputMux1 to be on The programs ELE ELF ELG and ELH all are similar but they require InputMux2 to be on and route the index pulses for axes E H to inputs 9 12 and then arms the latch for axis E F G or H Note It is not possible to latch a position of axis A D and simultaneously read user inputs 1 4 The same restriction holds true for axis E H and user inputs 9 12 To read user inputs see the user inputs section below 8 4 5 User Inputs Table 8 11 Input Multiplexer Disable Programs Program Description DIM1 Disable input multiplex Drive 1 DIM2 Disable input multiplex Drive 2 Description The input multiplexer output for drive 1 determines whether axis A D encoder index signals or external user inputs 1 4 are multiplexed to user inputs 1 4 The command DIM1 disables the drive 1 input multiplexer output causing the external input signals 1 4 to be routed to user inputs 1 4 Similarly the command DIM2 disables the multiplexer output for drive 2 This causes the external input signals 9 12 to be routed to user inputs 9 12 48 AUDI Mane Danes SUA NN 8 5 Softwar
12. is closed to DOCOM HOME SENSOR is illuminated when Home Input is closed to DOCOM TEMP SENSOR is illuminated when Temperature Input is closed to DCCOM AMP OK is illuminated when Drive is powered on enabled and has no faults pem X 7 3 Motor Output Signals 7 3 1 Brushless Servo Motor The brushless servo motor drives control current through the three phases of a brushless motor For the D1 drive option the motor is typically commutated with hall sensors or special encoder channels for this purpose Figure 7 1 shows the timing diagram for the motor phases and commutation sensors Positive Direction of Motion Figure 7 1 Motor commutation chart For the D7 digital drive the motor is initially commutated by the hall sensors but ultimately commutated by the encoder This drive operates the motor in sinusoidal commutation which provides for smoother operation with lower torque and velocity ripple 32 MDC EAN e ETE 7 3 2 Step Motor The step motor drive operates 2 phase 4 wire step motors Both 6 wire and 8 wire motors may be used with the drive but must be connected in a 4 wire fashion The step motor drive is capable of micro stepping the motor up to 256 micro steps per step Figure 7 2 shows the timing of the step motor drive in half step mode 2 micro steps per step stepclock J L J LI UT L UU LT LI L Phase A AA o Phase A ES G PasB L Phase B LT Figure 7 2 Step motor phase timin
13. limit switch input Z RLS Reverse limit switch input a key b HALL A Hall sensor A input C 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 Table 6 7 Programming Port Encoder Output Pin Name Function 2 TxD RS232 transmit to Drive 3 RxD RS232 receive from Drive 5 COM RS232 common 6 A Encoder output channel A 7 A Encoder output channel A 8 B Encoder output channel B 9 B Encoder output channel B 28 MDC Faray Eie enean Dance Hau TN 6 4 1 Brushless Servo Mating Connector Information Connector Parts Manufacturer ITT Cannon Similar parts also available from FCI Description Cannon P N Remark Connector Body Connector Body cable mount 28 pins 192922 1290 Mates with panel mount 28 sockets Backshell 192922 1350 Use with any connector body Contacts Pins crimp 26 24 AWG 192990 0020 Use with Crimp Tool Pins crimp 22 20 AWG 192990 0040 Use with Crimp Tool Pins crimp 18 16 AWG 192990 0060 Use with Crimp Tool Pins crimp 16 14 AWG 192990 1240 Use with Crimp Tool Pins solder cup 192900 0632 Solder to conductors up to 14 AWG Keying pin 192990 0000 Use in position a for sevo axes Hand Assembly Tools Extraction Tool 192922 1450 Used with all contacts Crimp Tool ratcheted 112108
14. option Step MOtOI 2e ee et rettet Er tal oud Pe E atero mer rer tato ee p qe cote te en 22 6 3 1 Step Mating Connector Information sees sees ee ee eee eee eee 26 6 4 D7 option Brushless motor digital drive sees 27 6 4 1 Brushless Servo Mating Connector Information eese ener 29 6 5 D9 optionz User AXIS zer no e m tees dee OR UBER EN EEEN ef ORE etl ee E etn 30 7 Operations cuis ier duxi l n6 SG ae c crdUS N 7 1 Fault Detection and Motor Power Control ente eene nennen enne neni 31 7 2 Axis Card IndiCatorss sss curd eee mere abi ee e br en REY 32 7 3 Motor Output Srenals ood ede a eM ial aia nid qae 32 723 1 Brushless Servo Motor eec deett daca ttes ee ee lees Ede edere de about e edet 32 TDD Step Ie encre o ete dee Dre e t e Savane e ee eee uie 33 TA Encoder T 5 hee e e De te d et e er REA Seis 33 7 5 Limit Home amp Terip Sensors cobarde feret Deep to ert REED e eee sei DE cade 34 7 6 Brake Release Output tte ete Dee e RR oie oie eei i s pete Seeks 34 9 The Galil DMC 21x9 syaratnya dO 8 1 DMC 21x3 Connectors for the MDC1400 sees eee 35 8 1 1 Communication Ports RS 232 Ethernet sse ee eee eee eee 35 8 1 2 The T7 O Portion ae E EE 36 8 1 3 Auxiliary Encoder Tnput piesiniai n epe te REE RE KRAE bes 37 8 1 4 External I O Port Optional cee esscssncecsseceeceecesecesneecaecsececeeeeenaeceeeeeaeeceeeseneeceaeeeeneees 38 8 2 DMC 21x3 Connectors for the MDC1800 sees
15. the Step Motor Drive card The Drive card also features has a feature to reduce the current when a move is complete thus reducing motor and driver heating when no motion is commanded These currents are adjusted with two resistors on the board R2 and R3 Let IRUN peak running current and IHOLD peak holding current The resistors should have a power rating of 1 4W or higher Operating Current Adjustment The value of R2 is set for the desired operating current according to the following formula R2 Ohms IRUN X 500 where IRUN 1 0A min 7 0A max Current Reduction Resistor The value of R3 is set for the desired holding current according to the following formula R3 Ohms 500 X IRUN x IHOLD IRUN IHOLD where IHOLD 0 5A min 7 0A max Motor Inductance The Maximum motor inductance mH per Phase is determined by Max Inductance mH per Phase 0 2 x Minimum Supply Voltage Motors whose inductance exceeds the computed value will have problems moving at high speed 24 MDC EI o e Table 6 5 Step Axis Connector Pin out Pin Name Function A MOT A Motor phase A B MOT B Motor phase B C MOT B Motor phase B D key E ENC 5V Encoder 5V F ENC A Encoder A G ENC A Encoder A H ENC B Encoder B J ENC B Encoder B K ENC Encoder shield SHIELD L 12VDC 12VDC Power supply for home and limit sensors swi
16. 0014 Used with crimp contacts 26 16 AWG Crimp Tool low cost low volume 192922 1440 Used with crimp contacts 26 14 AWG Connector Kits Kit Model Connection Kit 28 Position Pin Cable Remark Primatics P N 0 3064 1300 which consists of 1 cable mount connector body for pins 1 backshell 5 crimp pins 16 18 AWG 30 crimp pins 20 22 AWG 1 keying pin Connection Tool Kit Crimp and Extraction Cable Assemblies Primatics P N 0 3064 1400 which consists of 1 extraction tool 1 crimp tool low cost low volume Used with any of the contacts in the kits listed Only one kit required per user and tools can be reused on many connectors CABLE SERVO MDC STAGE to connect MDC to Primatics Servo Axis CABLE SERVO MDC PIGTAIL to connect MDC to User Supplied Servo Axis 29 MDC EI o E 6 5 D9 option User Axis The User Axis card is used in place of an internal motor drive for connecting to an external drive or encoder The signals from the attached motion controller are accessible on the Axis connector in Table 6 6 Table 6 8 User Axis Connector DB25S Mate DB25P Pin Name Function 1 ENC 5V Encoder power supply 5VDC 2 ENC A Encoder channel A 3 ENC B Encoder channel B 4 ENC l Encoder channel l 5 ELS Forward limit switch input Connect to LIMIT COM for normal operation 6 HOME Home signal input 7 CMDI Analog to
17. 13 M DC Fa mily Reference amp Maintenance Manual Figure 5 7 Stop Switch and Stop Loop connections pins 1 2 3 and 4 of Safety Port Stop Circuits requires externally closed circuit connection for normal operation If no external safety devices are connected to the MDC chassis the two jumpers shown must be installed This circuit connects the Stop Stop Switch Normally Closed Switch into the Stop Circuit To connect the MDC safety system to 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 7 Assure that the safety circuit is a dry contact 5 3 1 2 Fault Bus The Fault Bus is used to propagate internal hardware faults from one MDC to another A multiple MDC system can use the Fault Bus on pins 5 and 6 of the Safety Port to connect the safety systems between MDC chassis In such a system connect the Fault Buses as shown in Figure 5 8 When multiple MDCs are connected to the Fault Bus an ESTOP or other hardware faults in one MDC will cause a hardware fault in all other MDCs on the bus Up to four MDCs can be connected with the Fault Bus Single MDC systems have no connection to the Fault Bus Figure 5 8 Fault Bus Connections pins 5 amp 6 of Safety Port MDC 1 MDC 2 Safety Port Safety Port 14 MDC EI 6 Connecting Motors to the MDC IMPORTANT ALL CONNECTIONS ARE TO BE MADE WI
18. 1400 R 4 48V W4 D1 D3 D3 D XXXX Model Series 1 4 AXIS t e eve 21 Shan enna Ca eee MDC1400 Chassis Configuration Rack Controller 1 oec cce coe orn ns R Desktop Controller 0 cece eee eens D Number of Axes TAXIS rior tts fear ce coe tine Donna 1 DANS cease s iae qr deas ce dua erede eon m a AUF 2 RP a 0 HZ0 K GERE RT Coan te Bye ITO E E EE 3 WANS odere ERES SUr de Ged Yon Ets 4 Amplifier Bus Voltage 48V MODA KE L l 48V TOV ener ERN Ae N Raa 75V Chassis Power Output TOO Walls conos Me xot testi vete etel W1 1000 Walls 5 ree ra cett ic WA Driver Card specify one for each axis Brushless Servo Trapezoidal D1 Br shediS8rvo 7 dias ede teresa Prater D3 Microstepping Step De 0 0 ee eee D4 Brushless Servo Sinusoidal Digital Drives D7 USer AXIS s te rere e Seren be ae Ate D9 Customization Code optional Leave blank for 110VAC operation 220VAC operation with a NEMA 6 15 plug 220US 220VAC operation with a European Schuko plug 220EU 220VAC operation with a British Standard plug 220BS Other codes assigned by factory The Drive Options are based on the following D1 Trap drive 6A continuous 12A peak 20 85V D3 Trap drive configured for brush operations 6A continuous 12A peak 20 85V D4 Step drive 5A RMS 7A peak 24 75V D7 Digital sinusoidal drive 3A continuous 9A peak 20 85V D9 User axis M DC Fa ry ly Reference amp
19. 20 80 VDC Min Load Inductance 200 uH Bandwidth 2 5 kHz Connector Servo Brushless Axis Fuse 6A SB 5x20mm Figure 6 1 Brushless Motor Trapezoidal Card E o FWOL T HOME SENSOR TEMP SENSOR amp OK a j d pm du LC 16 MDC EI e Table 6 2 Brushless Servo Axis Connector Pin out 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 K ENC SHLD Shield for encoder signals connect to encoder case L LIMIT 12V 12VDC Power supply for home and limit sensors switchable to 5V M LIMIT COM _ power supply return for home and limit sensors 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 5V Hall sensor power output 5VDC U HALL OV return for Hall sensor power output V ENC 0V Return for Encoder power W ENC l Encoder channel l X ENC I Encoder channel I Y FLS Forward limit switch input Z RLS Reverse limit switch input a key b HALL A Hall sensor A input C HALL B Hall sensor B input d TEMP Motor temperature switch input Connect to LIMIT COM for normal operation
20. 3064 1400 which consists of 1 extraction tool 1 crimp tool low cost low volume Used with any of the contacts in the kits listed Only one kit required per user and tools can be reused on many connectors CABLE SERVO MDC STAGE to connect MDC to Primatics Servo Axis CABLE SERVO MDC PIGTAIL to connect MDC to User Supplied Servo Axis 18 MDC EAN EN 0o co EDU DN 6 2 D3 option Brush servo motor motors The D3 option is for brush servo motors Specifications Motor Type Brush DC Servo Drive Type Current PWM 33 kHz Current 6A cont 12A peak Voltage 20 80 VDC Min Load 200 uH Inductance Bandwidth 2 5 kHz Connector Servo Brushless Axis Fuse 6A SB 5x20mm Figure 6 2 Brush Motor Card 09 e FWD UMIT 6 REV LIMIT HOME SENSOR TEMP SENSOR amp OK a a wm O LC 19 MDC lai e EE Ee Table 6 3 Brush Servo Axis Connector Pin out Pin Name Function A MOTA Motor phase A B MOT B Motor phase B C not used 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 K ENC SHLD Shield for encoder signals connect to encoder case L LIMIT 12V 12VDC Power supply for home and limit sensors switchable to 5V M LIMIT COM power s
21. 3b Aux 2 Pinout Connector High Density DB26S Mate HD DB26P Pin Name Description 1 ENC BV 5V encoder power supply 2 ENCOV Ground for 5V encoder power supply 3 CHASSIS Chassis to ground encoder shield 4 ENC BV 5V encoder power supply 5 ENC OV Ground for 5V encoder power supply 6 ENC 5V 5V encoder power supply 7 ENC OV Ground for 5V encoder power supply 8 ENC 5V 5V encoder power supply 9 ENC OV Ground for 5V encoder power supply 10 AUX EA Secondary Encoder input A for Axis E 11 AUX EA Secondary Encoder input A for Axis E 12 AUX FA Secondary Encoder input A for Axis F 13 AUX FA Secondary Encoder input A for Axis F 14 AUX GA Secondary Encoder input A for Axis G 15 AUX GA Secondary Encoder input A for Axis G 16 CHASSIS Chassis to ground encoder shield 17 AUX HA Secondary Encoder input A for Axis H 18 AUX HA Secondary Encoder input A for Axis H 19 AUX EB Secondary Encoder input B for Axis E 20 AUX EB Secondary Encoder input B for Axis E 21 AUX FB Secondary Encoder input B for Axis F 22 AUX FB Secondary Encoder input B for Axis F 23 AUX GB Secondary Encoder input B for Axis G 24 AUX GB Secondary Encoder input B for Axis G 25 AUX HB Secondary Encoder input B for Axis H 26 AUX HB Secondary Encoder input B for Axis H 43 MDC Farai a E 8 3 Overview The
22. 6 1 Appendix A MDCOptima API Zee E AA ee eS ee uS u v VY A OOOO OOOO OO ODO OOOO COCO Primatics Inc MDCOptima API Version 1 0 Terminology MDC0200 Motor Drive Chassis x Axis A B C D E F G H d MDC 0200 1 2 Programs CF Clear faults both MDCs DBRd Turn off brake releas nable MDC0200 d DIMd Disable input multiplexer MDC0200 d EBRd Enable brake release MDC0200 d ELx Enable latching of index pulse x axis MPOFF Turn motor power off both MDCs MPON Turn motor power on both MDCs TA Axes amplifier status TAVAL Bitwise amp status Bits 0 7 Axes A H 1 Faulted TBRd Tell if brake releas nable is on MDC0200 d 51 MDC STI AMEN E MAIUUEEEUE TBRAVAL 1 Enable brake release output is on TD MDCO200 1 amp 2 status TDVAL Bitwise MDC0200 status Bits 0 3 2MDC1 4 7 MDC2 Bit Description 1 0 4 Motor Power On Off 1 5 Hardware Ok Faulted 2 6 Logic Power Ok Faulted 3d ESTOP Ok Faulted Labels TBRI1A TBR2A Variables used Completion codes CF DBR1 DBR2 DIM1 DIM2 EBR1 EBR2 ELA ELB ELC ELD ELE ELF ELG ELH MPOFF MPON TA TBR1 TBR2 TD Status variables TAVAL TBRIVAL TBR2VAL TDVAL Z Z Z Z uz A A A zu v A Z Z ZA OLO OO Q O O OQ OQ OQOOOQO Qoo Z CF CB6 WT100 SB6 WT100 CB14 WT100 SB14 WT100 CB6 WT100 SB6 WT100
23. AL 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 Bit 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 50 8 15 Home using encoder latching MDC Farai e EE EE 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 8 6 Appendices 8
24. Farai a EE A 4 Personal Safety A Please review before installing your motion system Observe common industrial safety practices when installing and operating automated equipment o Have power connections made by qualified personnel o Keep fingers and other items out of any opening in the stage while it is in operation since injury or damage may result o Provide a safe access route and adequate room for servicing o Perform the recommended periodic maintenance described in this document o Verify that the work envelope is free of obstructions before the positioning stage is powered o 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 potential to damage the stage and injure an operator o Only trained operators of the positioning stage should be allowed near the work environment o 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 o Note the places in the workcell where pinch points occur and provide adequate safety clearance or safety curtain o 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 thi
25. Galil DMC 21x3 series controllers provide motion control for up to eight axes of motion Cards that support 1 to 4 axes of motion supply eight inputs and eight outputs Cards that provide from 5 to 8 axes of motion supply 16 inputs and 16 outputs For controllers of up to four axes Galil uses XYZW to label axes For controllers of more than four axes the labels ABCDEFGH are used An MDC 1400 supports up to four axes of motion Output bits 4 8 and input bits 5 8 are dedicated to providing the interface to the MDC leaving 3 uncommitted outputs and 4 uncommitted inputs available to the user through the I O Port An MDC 1800 supports up to four axes of motion Output bits 4 8 12 15 16 and input bits 5 8 and 13 16 are dedicated to providing the interface to the MDC leaving 8 uncommitted outputs and 8 uncommitted inputs available to the user through the I O Port 8 3 1 MDC Digital Inputs and Outputs Five outputs are dedicated to programmatic operation of every MDC1400 Eight outputs are dedicated to programmatic operation of every MDC1800 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 The Input Multiplexer routes the encoder index signals to inputs allowing the user to latch the stage position corresponding to the encoder index transition Four dedicated inputs provide MDC1400 status Eight dedicated inputs provide MDC1800 status The Status
26. MDC FAMILY MOTOR DRIVE CHASSIS MDC Family E E rt GEETE PP T T 2222222727 tttm th umm ARA T up Eaa E E terriere K 14 x tt PTT 6 EN MDC1400 amp MDC1800 Reference amp Maintenance Manual p Primatics Motion Controls Engineered Solutions Linear Positioning Rotary Positioning MDC Farai Ca forensic ae 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 MDC1400 amp MDC1800 Manual Revision Information Publication Date Notes October 2003 First Release July 2004 Correct Formatting and Typos April 2005 Updated Look amp Formatting August 2005 Correct errors for MDC1800 and I O January 2006 Revised Table 6 4 November 2006 Updated Chassis Dimensions June 2007 Updated Figure 6 5 Added Programming Port Table October 2007 Added Motion Control Card connection section March 2008 Incorporated Aux Encoders into Section 8 1 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 Corp
27. Motion Control Card Association in MDC1400 Axis 2 Y Axis 3 Z HOME SENSOR TEMP SENSOR AMP OK L oO o 6 ro c 5 6 6 c L 6 p n 1 ae NEM RM DOS BON RN BM aS at msd AT jo T Le Vie cic ho lu i E 8 e ES Axis 1 A Axis 2 B Axis3 C Axis4 D Axis SE Axis6 F Axis7 G Axis8 H 12 MDC EAN EN ETE 5 3 1 The Safety Port At the rear of the MDC is a pluggable terminal strip labeled Safety Port see Figure 5 6 The Safety Port has two functions connecting the MDC into the safety system of an application Stop Loop and interlocking the safety circuits in multiple MDC systems Fault Bus Safety Port SAFETY PORT z Power Switch Power Inlet Figure 5 6 Safety Port 5 3 1 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 7
28. TH NO POWER APPLIED TO THE MDC This section contains information about all of the drive card options It includes pin outs of the cable connectors on each card as well as specifications Note that some of the information may not apply to your specific MDC An axis consists of a motor encoder forward limit reverse limit home sensor and motor temperature switch All servo axes require encoder feedback For step axes this feedback is optional Different drive options are available for various motor types Table 6 1 lists the standard drive options and a description of the drive Table 6 1 Drive Options Option Drive Type Amps Voltage Connector Section D1 Brushless Servo 6A Cont 12A Peak 20 85 V Brushless 6 2 Trapezoidal Servo D3 Brushed Servo 6A Cont 12A Peak 20 85V Brush Servo 6 3 D4 Mircrostepping 5A RMS 7A Peak 24 75V Stepper 6 4 D7 Brushless Servo 3A Cont 9A Peak 20 85V Brushless 6 5 Digital Sinusoidal Servo D9 User Axis User Axis 6 6 The following sections describe the connection for the different drive types 15 MDC EAN e a cetera 6 1 D1 option Brushless servo motor trapezoidal drive The D1 option is for brushless servo motors that are commutated with hall sensors trapezoidal commutation Specifications Motor Type Brushless servo with commutation hall sensors Drive Type PWM 33 kHz Current 6A cont 12A peak Voltage
29. 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 The brake release enable output bit is described in Section 8 34 MDC SI TN 8 The Galil DMC 21x3 8 1 DMC 21x3 Connectors for the MDC1400 8 1 1 Communication Ports RS 232 Ethernet Communication to the integrated Galil DMC 21x3 can be via the RS 232 port or Ethernet port as indicated The RS 232 port operates at 19 2K The Ethernet port is a 10BaseT port Refer to the Galil DMC 21x2 21x3 User Manual Chapter 4 for detailed information about both of these interfaces The factory default IP address is 192 168 0 10 Figure 8 1 Galil Communications Connections for MDC1400 Safety Part 35 MDC EI 8 1 2 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 the table 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 8 1a I O Port Pinout C
30. bles below Table 8 3a Aux 1 Pinout Connector High Density DB26S Mate HD DB26P Pin Name Description 1 ENC 5V 5V encoder power supply 2 ENCOV Ground for 5V encoder power supply 3 CHASSIS Chassis to ground encoder shield 4 ENC5V 5V encoder power supply 5 ENC OV Ground for 5V encoder power supply 6 ENC 5V 5V encoder power supply 7 ENC OV Ground for 5V encoder power supply 8 ENC 5V 5V encoder power supply 9 ENCOV Ground for 5V encoder power supply 10 AUX AA Secondary Encoder input A for Axis A 11 AUX AA Secondary Encoder input A for Axis A 12 AUX BA Secondary Encoder input A for Axis B 13 AUX BA Secondary Encoder input A for Axis B 14 AUX CAL Secondary Encoder input A for Axis C 15 AUX CA Secondary Encoder input A for Axis C 16 CHASSIS Chassis to ground encoder shield 17 AUX DA Secondary Encoder input A for Axis D 18 AUX DA Secondary Encoder input A for Axis D 19 AUX AB Secondary Encoder input B for Axis A 20 AUX AB Secondary Encoder input B for Axis A 21 AUX BB Secondary Encoder input B for Axis B 22 AUX BB Secondary Encoder input B for Axis B 23 AUX CB Secondary Encoder input B for Axis C 24 AUX CB Secondary Encoder input B for Axis C 25 AUX DB Secondary Encoder input B for Axis D 26 AUX DB Secondary Encoder input B for Axis D 42 MDC EI Table 8
31. e 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 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 8 5 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 8 5 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 8 5 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 ses
32. eee 39 8 2 1 Communication Ports RS 232 Ethernet sse ee eee eee 39 LEARNS RE EE 40 82 2 Auxihary Encoder Input 5 2 c irte epe ee erret dette Haee de dare ee doe tuto eae ne Poe ded 42 8 3 OVerVIe Ws eet ER d 13 RI NE QUE RII PU FEED NR is 44 111 OOo AT e EE ETE 8 3 1 MDC Digital Inputs and Outputs TTT 44 8 32 Encoder Index SiPnals toot DR EE Het e rb QE ERR Rn re etes Hader 45 8 4 The MDCOptima Application Programming Interface eese 46 HE MIS s PD 46 8 4 2 Motor Power Control kenrener a EE E E r E re EES E ESRAS iy 46 8 4 3 TTT 47 8 4 4 Latching the Encoder Index Pulse sese sese 48 SAS User Inputs tee iere e ep eee er ER ge Pme niei pid 48 8 5 Software Installation i tec rb o ERG PP a ERE CAREER E P P EH TER C BER PERSE ee 49 8 5 1 Set the Controller Parameters ccccccecssscecssssecesssececeeseececsecaececscecsesaececsecaeeessuseeeseaeeesseaaeeees 49 8 5 2 Setting Motion Control Parameters for each axis seen 49 8 5 3 Loading tlie I nint otpetltiee o mec GIO ERE poet T 49 8 5 4 Example 1 Brushless Servo Trapezoidal Drive esee 49 8 6 Appendices ae eere n i BE a eec o c e HERO ERE AUR 51 8 6 1 Appendix A MDCOptima API essent OTRE 72A nennen trennen E 51 9 Troubleshooting amp Service 54 9 1y Rem vmp Card nt uote e dh o m de dete itd 54 9 2 Troub
33. efer to the Galil DMC 21x2 21x3 User Manual Chapter 4 for detailed information about both of these interfaces The factory default IP address is 192 168 0 10 Figure 8 2 Galil Communications Connections for MDC 1800 Auxiliary Encoder Input 1 39 MDC Faray ea Mane Danes M SuS NN 8 2 2 1 O Ports These ports provide access to certain Input Output Status and Control signals from the Galil motion control card The pin definition for these ports are shown in the Tables 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 8 2a I O 1 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 USER OUT 3 TTL output 17 NC No Connection 5 NC No Connection 18 NC No Connection 6 NC No Connection 19 NC No Connection 7 NC No Connection 20 NC No Connection 8 NC No Connection 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 connec
34. ex 11 User Input 11 Axis G Encoder Index 12 User Input 12 Axis H Encoder Index MDC 1800 Status Multiplexer Off MDC 1800 Status Multiplexer On 13 MDC 2 Motor Power is Off Axis E Amp Fault 14 MDC 2 Hardware Fault Axis F Amp Fault 15 MDC 2 ESTOP Fault Axis G Amp Fault 16 MDC 2 Logic Power Fault Axis H Amp Fault 8 3 2 Encoder Index Signals The DMC 21x3 series of controllers allows position capture by latching The encoder position of an axis can be latched based upon a high to low transition of the input signal corresponding to that axis Input 1 4 corresponds to axes A D and inputs 9 12 specific to the MDC1800 correspond to axes E H The MDC1400 makes four external input signals and four encoder index signals accessible via DMC inputs The MDC1800 makes eight external input signals and eight encoder index signals accessible via DMC inputs An external input signal is one that is connected to the I O connector The Input Multiplexer output selects between these sets of signals Note In order to reliably capture the encoder index signal hi to low transition the stage speed should be less than 20000 counts per second 45 MDC Faray o enean ance Hau NN 8 4 The MDCOptima Application Programming Interface 8 4 1 The API The application programming interface API for the MDC Optima is a set of programs which reside on the controller card The API is written for an 8 axis system but will operate properly for a sys
35. g diagram for positive motion 7 4 Encoder Input All drive card options have provision for incremental encoder position input In the case of the servo motors the encoder input is necessary to operate the motor The use of the encoder input with the step motor drive is dependent on the configuration of the Galil The encoder inputs are compatible with RS 422 differential signals commonly used on industrial encoders Figure 7 3 shows the timing diagram for the encoder input Figure 7 3 Encoder signal timing diagram for positive motion 33 M D C Fa mM ly Reference amp Maintenance Manual 7 5 Limit Home amp Temp Sensors Each MDC compatible motion controller card supports monitoring a forward limit reverse limit and home sensor for each axis The temperature switch input on each motor drive card exists to enhance the operational safety of an axis and is monitored by the Fault detection circuits discussed in Section 7 1 Figure 7 4 shows an equivalent schematic for the limit home and temperature inputs Note that the MDC 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 7 4 Sensor Input Circuit Diagram 7 6 Brake Release Output Each drive card 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
36. leshooting Help uiii te Rh dent ete eeu cds 57 9 3 SerVICe eer metit eer c onde e etu meme she copes 57 MDC Farai o E 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 M DC Fa mM ly Reference amp Maintenance Manual 2 Introduction About the MDC1400 amp MDC1800 This manual is intended for use by application engineers and technicians involved with Primatics positioning equipment Non dedicated PC Non dedicated PC The MDC1400 and MDC1800 Socal Access Remote Access Series Motor Drive Chassis are programmable multi axis motion controllers They are modular system that package motor drivers encoder interfaces power supplies and safety systems into a single chassis A Galil DMC 21x3 Series Motion Control Card is Ethernet integrated into the Chassis Third party positioning stages or axes can be operated from a properly MDC1400 1800 configured MDC A variety of Step Servo Drives po e cable assemblies are available to J R c
37. onnect a positioning stage or axis to the MDC e gt KEP Positioningstases he integrated Galil DMC 21x3 programmable motion control card makes the MDC1400 1800 a powerful element in a motion control system DMC 21x3 can be programmed via its integrated RS 232 or Ethernet connection The controller can be operated as a peripheral to the User s host computer or as a stand alone system using its 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 Note that the x in the Galil nomenclature stands for the number of axes available for use There are two basic versions of the MDC1400 1800 MDC1400 for 1 to 4 drive axes in a 3U chassis MDC1800 for 1 to 8 drive axes in a 6U chassis The basic MDC models are configured with a motor power supply motion controller and motor drives They can support a mix of servo and stepper drives in one package Refer to the Model Configurations on the following pages for more information Custom versions of the MDC are also available to meet specific application needs including versions without an integrated programmable motion controller Addendums to this manual will be included for custom configurations M DC Fa mM ly Reference amp Maintenance Manual 3 Model Configuration 3 1 MDC 1400 OPTIONS SAMPLE MODEL NUMBER MDC
38. onnector DB25S Mate DB25P Pin Name Description 1 USER IN 1 TTL input 14 USER IN 2 TTL input 2 USERIN3 TTL input 15 USERIN4 TTL input 3 USER OUT 1 TTL output 16 USER OUT 2 TTL output 4 USER OUT3 TTL output 17 NC No Connection 5 NC No Connection 18 NC No Connection 6 NC No Connection 19 NC No Connection 7 NC No Connection 20 NC No Connection 8 NC No Connection 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 36 MDC ln a a NN NN 8 1 3 Auxiliary Encoder Input MDC1400 provides an auxiliary encoder input for the DMC 21x3 The pin definition for these inputs is shown in the Table below Table 8 1b Aux Encoder Input 1 Pinout Connector High Density DB26S Mate HD DB26P Pin Name Description 1 ENC 5V 5V encoder poser supply 2 ENCOV Ground for 5V encoder power supply 3 CHASSIS Chassis to ground encoder shield 4 ENC BV 5V encoder poser supply 5 ENC OV Ground for 5V encoder power su
39. ool 192922 1450 Used with all contacts Crimp Tool ratcheted 112108 0014 Used with crimp contacts 26 14 AWG Crimp Tool low cost low volume 192992 1440 Used with crimp contacts 26 14 AWG Connector Kits Kit Model Remark Connection Kit 28 Position Pin Cable Connection Tool Kit Crimp and Extraction Primatics P N 0 3064 1300 which consists of 1 cable mount connector body for pins 1 backshell 5 crimp pins 16 18 AWG 30 crimp pins 20 22 AWG 1 keying pin Primatics P N 0 3064 1400 which consists of 1 extraction tool 1 crimp tool low cost low volume Used with any of the contacts in the kits listed Only one kit required per user and tools can be reused on many connectors Cable Assemblies CABLE SERVO MDC STAGE to connect MDC to Primatics Servo Axis CABLE SERVO MDC PIGTAIL to connect MDC to User Supplied Servo Axis 21 MDC EAN o 0050505 co EDU NE 6 3 D4 option Step Motor The D4 option is for step motor with encoder axis There is a protective fuse located as shown below The step motor driver can be configured for the number of steps per revolution of the motor The configuration is set with a 4 bit DIP switch found on the motor driver The motor driver is attached to the Step Driver card with 4 screws shown below Specifications Motor Type 2 phase step motor Drive Type Current Microstepping PWM 20 kHz Current 1 0 to 7A peak ma
40. or 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 issue 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 The TA program reports the state of each amplifier in the variable TAVAL The status of axes A H is represented in Bits 0 7 respectively A bit value of 0 indicates the amplifier is Ok A value of 1 indicates the amplifier is faulted 46 MDC Faray nice ene Mane Danes HUS The TD program reports the motor power control status bits for all MDCs in the variable TDVAL Table 8 8 TDVAL Drive Status Bits Bit Drive Description Bit 0 Bit 1 0 1 Motor Power On On Off 1 1 Hardware Ok Ok Faulted 2 1 ESTOP Ok Ok Faulted 3 1 Logic Power Ok Ok Faulted 4 2 Motor Power On On Off 5 2 Hardware Ok Ok Faulted 6 2 ESTOP Ok Ok Faulted 7 2 Logic Power Ok Ok Faulted 8 4 3 Brakes Table 8 9 Brake Programs Program Description DBR1 Disable brake release drive 1 DBR2 Disable brake release drive 2 EBR1 Enable brake release drive 1 EBR2 Enable brake release drive 2
41. oration For additional specifications dimensioned drawings and additional information refer to the MDC1400 amp MDC1800 Datasheets available from our website at www primatics com Copyright 2007 2008 by Primatics Inc All Rights Reserved Primatics the Primatics logo PrimaFlex PrimaSeal amp SimpleMatch are trademarks of Primatics Inc MDC GITE enean Donee HUS NN MDC1400 amp MDC1800 Manual Revision Information 1 Vy OVER VICW Mu LEN 2 Introduction About the MDC1400 amp MDC18900 5 6 3 Model Configuration eoi itte rnc Ie Ine SLM DCT400 8 nete e b d teo ete t dte eit E OR iere 6 3 2 MDCISOQ secs ee Ge eate bed t ee ute Ra Ie Qr OR tne 7 A 4 Personal Safety 5 Installation sss sese ens sees es sees ssee eee nenen ennenen D 5 1 Locating the TS LT 9 5 2 Front Panel Indicators and Controls sese 11 5 3 Rear Panel Intotmation 42 5 ata eoa eo rb e es e ex B Ex D ete AE RS 12 5 3 1 The S tety Port nec Rare id tam et de en e P EA m e ei Ant 13 6 Connecting Motors to the MDOC 15 6 1 D1 option Brushless servo motor trapezoidal drive sss eee 16 6 1 1 Brushless Servo Mating Connector Information eese ener 18 6 2 D3 option Brush servo motor motors nennen nennen ennenne nenne trennen enne nenne 19 6 2 1 Brush Servo Mating Connector Information esee 21 6 3 D4
42. pply 6 ENC 5V 5V encoder poser supply 7 ENC OV Ground for 5V encoder power supply 8 ENC 5V 5V encoder poser supply 9 ENC OV Ground for 5V encoder power supply 10 ENC AA Secondary Encoder input A for Axis A 11 ENC AA Secondary Encoder input A for Axis A 12 ENC BA Secondary Encoder input A for Axis B 13 ENC BA Secondary Encoder input A for Axis B 14 ENC CA Secondary Encoder input A for Axis C 15 ENC CA Secondary Encoder input A for Axis C 16 CHASSIS Chassis to ground encoder shield 17 ENC DA Secondary Encoder input A for Axis D 18 ENC DA Secondary Encoder input A for Axis D 19 ENC AB Secondary Encoder input B for Axis A 20 ENC AB Secondary Encoder input B for Axis A 21 ENC BB Secondary Encoder input B for Axis B 22 ENC BB Secondary Encoder input B for Axis B 23 ENC CB Secondary Encoder input B for Axis C 24 ENC CB Secondary Encoder input B for Axis C 25 ENC DB Secondary Encoder input B for Axis D 26 ENC DB Secondary Encoder input B for Axis D 37 MDC S Slo U ISTA 8 1 4 External I O Port Optional This optional port provides access to bits 17 through 32 of external I O provided by the DMC 21x3 as well as providing power supply signals for users that want to provide external signal conditioning The pin definition for this port is shown in the Table below Table 8 1c External I O Port Pinout Connector DB37S
43. que command output 10 to 10V 8 STEP Step command output for Step Motors 9 GROUND Failsafe brake release return 10 12V 12VDC supply for external circuits 11 24V 24VDC supply for external circuits 12 VMOTOR Motor supply voltage 13 CHASSIS Earth ground 14 GROUND ENC 5V ground 15 ENC A Encoder channel A 16 ENC B Encoder channel B 17 ENC I Encoder channel I 18 RLS Reverse limit switch input Connect to LIMIT COM for normal operation 19 AMPENA Amplifier enable output 20 GND Reference for analog torque command 21 DIR Direction command output for step motors 22 BRKREL Brake release 23 GND Reference for 12VDC supply 24 24R Return for 24VDC supply 25 VMCOM Return for motor supply voltage 30 MDC Farai o E 7 Operations The operation and use of some features of the MDC are dependent on configuration The operation of each drive axis is determined by the specific drive option selected Similarly the operation of the motion controller interface is determined by the specific version selected However there are many functions and features that are common to all versions and configurations including fault detection motor power control motor outputs and sensor inputs This section describes those features 7 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 s
44. s may cause an electric shock fire or malfunction o 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 MDC EAN e EEEEEEEEELLLUXOILUPNSEHETUT TN 5 Installation 5 1 Locating the MDC 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 Cards for each axis of travel these Motor Drive Cards connect to stages with axis cables Figure 5 1 shows a typical system using the MDC1400 Figure 5 1 MDC1400 Motion System Non dedicated PC Non dedicated PC Local Access Remotel Access Internal Motion Controller Fault Bus Main Serial RS 232 PEPLO Axis 1 Axis 2 Axis 3 Axis 4 The MDC must be placed in a convenient location for connection to both the motion control card 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 are plug in assemblies that can be removed and installed from the rear of the chassis Both desktop and rack mount model dimensions can be found in Figure 5 2 The rack mount chassis includes mounting flanges for securing the chassis in an equipment rack MDC Parni RSE Nonae onu NN Figure 5 2 Dimensions of MDC e e hu
45. sion In these terminal sessions the characters typed by the user are in regular type and the controller response is in bold italics 8 5 4 Example 1 Brushless Servo Trapezoidal Drive It is an example of a controller with one brushless servo trapezoidal drive The drive is connected 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 49 MDC oa ae a cE 8 12 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 8 13 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 8 14 Preparing the axis to move Instruction Interpretation XQ CF Clear latched faults XQ TD Obtain MDC0200 status TDV
46. tchable to 5V M DCCOM power supply return for home and limit sensors N HOME Home input Connect to DCCOM to activate P BRAKE Fail safe brake power output 24VDC to release brake R BRAKE Fail safe brake power return S CHASSIS Chassis ground T MOT A Motor phase A U MOT B COM Motor Phase B common no internal connection V ENC 0V Encoder power return W ENC l Encoder Index X ENC I Encoder Index Y FLS Forward limit switch input Must be connected to DCCOM for normal operation Z RLS Reverse limit switch input Must be connected to DCCOM for normal operation a MOT SHLD shield for motor cable b MOT A COM Motor Phase A common no internal connection C DCCOM Power return for temperature sensor d TEMP Temperature sensor input Must be connected to DCCOM for normal operation e n c no connection 25 MDC Farai a NN NN NNNM 6 3 1 Step Mating Connector Information Connector Parts Manufacturer ITT Cannon Similar parts also available from FCI Description Cannon P N Remark Connector Body Connector Body cable mount 28 pins 192922 1290 Mates with panel mount 28 sockets Backshell 192922 1350 Use with any connector body Contacts Pins crimp 26 24 AWG 192990 0020 Use with Crimp Tool Pins crimp 22 20 AWG 192990 0040 Use with Crimp Tool Pins crimp 18 16 AWG 192990 0060 Use with Crimp Tool Pins crimp 16 14 AWG 192990 1250 Use with
47. tem of 4 axis system Axes 1 4 axis are identified as Drive 1 and axes 5 8 are identified as drive 2 in the following discussions The programs provide motor power control brake control and the ability to latch encoder index signals for homing For each 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 8 4 2 Motor Power Control Table 8 7 Motor Power Control Programs Program Description CF Clear faults MPOFF Turn motor power off MPON Turn motor power on TA Tell amplifier status TD Tell drive status The CF program attempts to reset the hardware faults on all MDCs First the ESTOP fault and logic power fault latches are reset and then the hardware fault latches are reset The fault latches cannot be reset if faults are still active The MPOFF program is used to turn off motor power to all axes For each MDC the MPOFF program 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 mot
48. tion 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 40 MDC S Slo U nae ISTA Table 8 2b I O Port 2 Pinout Connector DB25S Mate DB25P Pin Name Description 1 USER IN 9 TTL input 14 USER IN 10 TTL input 2 USERIN 11 TTL input 15 USER IN 12 TTL input 3 USER OUT9 TTL output 16 USER OUT 10 TTL output 4 USER OUT 11 TTL output 17 NC No Connection 5 USER OUT 13 TTL output 18 USER OUT 14 TTL output 6 NC No Connection 19 NC No Connection 7 NC No Connection 20 NC No Connection 8 NC No Connection 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 41 MDC PAra o E 8 2 2 Auxiliary Encoder Input The MDC1800 comes with 2 D Sub connectors that provides access to the auxiliary encoder inputs from the Galil motion control card The pin definition for these inputs is shown in the Ta
49. upply 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 SYSTEM 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 The specific I O signals and their operation are further explained in Section 8 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 STOP LOOP on SAFETY PORT is open e Temperature switch input on any axis 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 31 MDC EAN EN Uoc co EDU NNNM 7 2 Axis Card Indicators 9 e FORWARD LIMIT illuminated when Forward Limit Input is closed to DCCOM REVERSE LIMIT is illuminated when Reverse Limit Input
50. upply return for home and limit sensors 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 not used U not used V ENC 0V Return for Encoder power W ENC l Encoder channel l X ENC I Encoder channel I 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 key b not used C not used d TEMP Motor temperature switch input Connect to LIMIT COM for normal operation e not used 20 MDC Farai Eie enean nones aun NN 6 2 1 Brush Servo Mating Connector Information Connector Parts Manufacturer ITT Cannon Similar parts also available from FCI Description Cannon P N Remark Connector Body Connector Body cable mount 28 pins 192922 1290 Mates with panel mount 28 sockets Backshell 192922 1350 Use with any connector body Contacts Pins crimp 26 24 AWG 192990 0020 Use with Crimp Tool Pins crimp 22 20 AWG 192990 0040 Use with Crimp Tool Pins crimp 18 16 AWG 192990 0060 Use with Crimp Tool Pins crimp 16 14 AWG 192990 1250 Use with Crimp Tool Pins solder cup 192900 0632 Solder to conductors up to 14 AWG Keying pin 192990 0000 Use in position a for sevo axes Hand Assembly Tools Extraction T
51. x 5A RMS Voltage 24 to 75 VDC Max Step Fre 1 8 mHz Microsteps Revolution 400 800 1000 1600 2000 3200 5000 6400 1 8 Motor 10000 12800 25000 25600 50000 51200 Connector Step Axis Connector Fuse 5A SB 5x20mm Figure 6 3 Microstepping IMS 805 Stepper Card Tm 4 a FWD LIMIT REV LIMIT HOME SENSOR TEMP SENSOR AMP OK On Drive 22 MDC EAN e SEEEEEENEUUCIXOIUTNUCZSTTUT TN Remove the screws and unplug the driver from the card Turn the driver over and locate the DIP switch Figure 6 4 DIP switch location on driver The step resolution is set with the switch according to the following table Table 6 4 Step Driver Resolution Switch 2 uSteps Step uSteps Rev for MSELO MSEL1 MSEL2 MSELS3 1 8 motor 2 400 ON ON ON ON 4 800 OFF ON ON ON 5 1000 ON ON ON OFF 8 1600 ON OFF ON ON 10 2000 OFF ON ON OFF 16 3200 OFF OFF ON ON 25 5000 ON OFF ON OFF 32 6400 ON ON OFF ON 50 10000 OFF OFF ON OFF 64 12800 OFF ON OFF ON 125 25000 ON ON OFF OFF 128 25600 ON OFF OFF ON 250 50000 OFF ON OFF OFF 256 51200 OFF OFF OFF ON Bold Factory Default After the card is configured re install the driver onto the card Verify that the mounting screws are tight Install the card into the MDC chassis 23 MDC Farai a NN NN NNNM Step Motor Drive Card Current Adjustment Resistors The current for the step motor can be adjusted with a resistor on

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