Home

User Manual

1. Pin ACSPL Signal Description Designator 1 ETH _TX Positive transmit signal 2 ETH _TX Negative transmit signal 3 ETH _ RX Positive receive signal 4 Not connected 5 Not connected 6 ETH RX Negative receive signal T Not connected 8 Not connected Version 6 50 118 MC4U Specifications MC4U Control Module Hardware Guide 2 5 7 9 Label J19 and J20 RS 232 Communication Connectors J19 COMI J20 COM2 Connector Type D type 9 pin male sockets Mating type D type 9 pin female The pinout for the connectors is given in Table 108 Table 108 J19 and J20 RS 232 Communication Pinout Pin ACSPL Signal Description Designator 1 SHIELD Cable shield connection 2 RX232 RS 232 receive signal for the communication port J19 for COM1 and J20 for COM2 3 TX232 RS 232 transmit signal for communication port J19 for COM1 and J20 for COM2 4 Not connected 5 DGND Digital ground 6 Not connected 7 Not connected 8 Not connected 9 Not connected 2 5 7 10 J14 Drive Supply Voltage Connector J14 DRIVE SUPPLY Connector Type Phoenix FRONT 4V 7 62 Label Mating Type None screw terminal AC power is provided through J14 The pinout for the connector is provided in Table 109 Table 109 J14 Drive Supply Voltage Pinout Pin ACSPL Signal Description Remarks Designato
2. Version 6 50 158 Circuit Protection MC4U Control Module Hardware Guide 5 MC4U Connectivity This chapter details the MC4U Control Module connectivity 5 1 Incremental Digital Encoder Interface The digital encoder channel A Channel B and Index inputs are built around 26C32 line receivers with 120Q termination resistors The use of encoders with built in line drivers such as AM26C31 or similar is recommended Figure 34 is an example for the X axis of an incremental encoder connection MC4U Power Supply 5 V Supply AN X CHA mace E ma xe X CHH Incremental to SPiiPlus Differential X CHB Outputs X CHB DGND SHIELD V Figure 34 Incremental Digital Encoder Interface X axis Version 6 50 159 MC4U Connectivity MC4U Control Module Hardware Guide 5 2 Motor Temperature Input Figure 35 shows the motor temperature input for the X axis MC4U V SUP IO X OVER T Motor Temperature V RET IO Sensor Figure35 Connection to Motor Temperature Input X axis 5 3 Emergency Stop Input Figure 36 illustrates the emergency stop input interface for an X axis MC4U OMM DM dala ik i J22 5V or 24V i T6 Pin i Power Supply Safety Circuit a o ES 1 24 t to SPiiPlus By i PT 25 ES Figure 36 Connection for Emergency Stop Input Version 6 50 160 MC4U Connectivity MC4U Control Module H
3. Pin ACSPL Signal Description Designator 1 Y_STATE2 Reserved for future use 2 Y STATE1 Reserved for future use 3 Y STATEO0 Reserved for future use 4 X STATE2 State Digital output non inverted 5 X_STATEI State Digital output non inverted Version 6 50 84 MCAU Specifications MC4U Control Module Hardware Guide Table 70 J21 PEG and Mark Fast I O Pinout page 2 of 2 Pin ACSPL Signal Description Designator 6 X_STATEO State Digital output non inverted 7 Not connected 8 Not connected 9 DGND Internal digital supply return 10 DGND Internal digital supply return 11 T PEG PEG Digital output non inverted 12 Z PEG PEG Digital output non inverted 13 Y PEG PEG Digital output non inverted 14 X PEG PEG Digital output non inverted 15 T MARK2 Reserved for future use 16 Y STATE2 Reserved for future use 17 Y STATEI Reserved for future use 18 Y STATEO Reserved for future use 19 X STATE2 State Digital output inverted 20 X STATEI State Digital output inverted 21 X STATEO State Digital output inverted 22 Not connected 23 Not connected 24 Not connected 25 Not connected 26 T PEG PEG Digital output inverted 27 Z PEG PEG Digital output inverted 28 Y PEG PEG Digital output inverted 29 X PEG PEG Digital output inverted 30 T MARK2
4. Three phase motor Step motor drive MOTOR STEPPER DC Servo motor drive DC motor Figure 24 MB5U ZZW J152 Motor Drive Connections 2 5 8 14 J125 External DC Drive Supply Input Label J125 EXTERNAL DC Connector Type Phoenix EMSTBV 2 5 2 GF BK Mating Type Phoenix MSTB2 5 2 STF BK J125 serves for supplying input to an external DC drive Model This connector is valid only if the DDM3U 4 60 Motor Drive is installed The J125 pinout is given in Table 126 Version 6 50 135 MCAU Specifications MC4U Control Module Hardware Guide Table 126 J125 External DC Drive Support Pinout Pin ACSPL Signal Description Designator 1 VP_2 24 48V external supply for DDM3U 4 60 2 VP2 RTN Drive supply return 2 5 8 15 J121 J124 Low Power Motor Connectors Label J121 D0 J122 D1 J123 D2 J124 D3 Connector Type Phoenix MCV 1 5 4 GF 3 Mating Type Phoenix MC 1 5 4 STF 3 81 The connectors are allocated as follows Connector Axis Connector Axis J122 D1 Drive I J124 D3 Drive 3 J121 DO Drive 0 J123 D2 Drive 2 The pinout for the Low Power Motor Drive connectors is given in Table 127 Table 127 J121 J124 Low Power Motor Pinout Pin ACSPL Signal Description Designator 1 R Motor R phase 2 S5 Motor S phase 3 T Motor T phase 4 EGND Electrical Ground Version 6 50
5. llelelleseen 136 MBSU LDM3U Motherboard nirrccrricrersie nedera e reniant enel 138 MBSU LDM3U Functionality secr ocres rcrcssencenirusianer incs 138 MC4U CS Control Module Hardware Guide 2 5 9 2 2 5 9 3 2 6 2 6 1 2 6 1 1 2 6 1 2 2 6 1 3 2 6 1 4 2 6 1 5 2 6 2 3 3 1 3 2 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 3 2 6 3 2 7 3 2 8 3 3 3 3 1 3 3 2 3 3 3 3 3 4 3 3 5 3 3 5 1 3 3 5 2 3 4 4 4 1 4 1 1 4 1 2 4 1 3 4 1 3 1 4 1 3 2 4 1 3 3 4 1 3 4 4 2 4 3 4 3 1 4 3 1 1 4 3 1 2 4 3 1 3 4 3 2 4 3 2 1 J2 Drive Motor Connector reres 2 cee EY 138 MB5U LDM3U Jumper Configuration 000 c eee eee ee 139 MCAU ACCESSORIES Lu cs pepe bp RR e dain a aide ae MO ws RR Ron 140 Motor Filter uo died eti p ask D ERA CE ORC CPG Roe eas 140 Motor Filter Operational Specifications liliis 140 Jl Drive Connector odora m kote et RU REOR S sed ques 141 J2 Motor Connector cecs seeiis a a 141 Motor Filter Physical Specifications 00 0 cece eee eee 141 Connecting the MC4U MF 560V 1 ee nes 143 Regeneration Module 0 cece cee eee eee nee eee ee 143 Safety and EMC Guidelines 0 0 ccc eee 144 CertiDieation aue eee E eee eee eth oda RE aaa aad abet dee 144 General Safety Guidelines 0 0 0 0 cette eens 145 MC4U Handling amp Maintenance 0 0c 145 Emergency Stop Device 0 cece eee Eni DisS 145 Fail Safe Logic Recommendation
6. 0 2 0 0 eee cece eee eee 145 Initial Logic State of Outputs 2 0 00 0 eee eee 146 Electrical Separation wc herskere cb E Saeed Mead PE ahd le 146 Over Travel Protecti n ss ris gcd bn a pe ge AN Ea ee ee E 146 Thermal Detection 22m ERRARE ERR sage ket eee 146 Power Supply and Motor Cable Ground 0 cece eee 146 General Wiring and Electromagnetic Compatibility EMC Guidelines 146 External AC Dine Filters i c ieee seeks dia pet de ses al RR edes 146 ACS Motor Falters oe cecaca t dean ed Skee dea DR MEG HOS Bead ess 147 Routing Signal and Power Cables 00sec eee eee eee eee 147 Cable Eque mL 148 Grounding MTM 148 Safety Grounding 2 2 0 0 esana venn vennene E ES 149 High Frequency Grounding 00 0 cee eee ene nee 149 Cooling Venis Larasesises ek SS eae nae MUS TI ASIE PR BE ae St 150 Circuit Protection 2 0 0 es 151 Internal Integrated Drive Protection Circuits 2 2 0 0 0 0 0 e eee eee eee 151 SOL Start CIECUIU icc hosed tes cee eka do Roe oid bakk eek RUE eie 151 Motor Regeneration Circuit 0 0 keene 151 PC Crcut PC 152 PSM3U Low Power PS 0 eee eee eens 152 PSM3U High Power PS soia npepe sca Bae Gade aan ea Ov eo G ER 153 DDM3U Low Power Motor Drive 00 000 eee eee eee 153 DDM3U High Power Motor Drive 2 0 0 c cece 154 Cooling Vent i isses dee Deer Seka RASA ida Grade fet ideas 154 BUSES Lu svete akser dye preke reker Me
7. 000 50 PWM Power Bridge Specifications 0 ce eee eee cece ee 51 LDM3U Input Power Specifications 0 ccc ec eee ee eee 53 LDM3U Output Power Specifications lees 54 Control Supply Input sa v ecssee rr biekke Xr eS ee Nu d ae oye ewe ee 55 Drive Protection PUSES 95 0455 ies sdb t3XA M PEOR DRE RUE DR e Rer 55 Drive Protection CICUlts 4 3 oi n4 0 prac RR Bh Eas GLIR PREGE SELEN HET IG ENG 55 LDM3U Dynamic Braking 5 5 5 05042545404 eR p RE UR EUER RR RS 56 Encoder Hall Connector Pinotti s e sers cece s newer e eme hr bm es 58 J10 Digital and Analog I O Pinout 0 eee eee 59 J20 Safety and Fast I O Pinout pis escrire tonii uetan cette ee 61 J3 and J4 Drive Motor Pinout 2 2 sorire transir aE EEE vennen 62 Jo and J 7 Ethernet Pinouts cuu Jons ea noes beste beens bee Beene PEE AES 64 J8 HSSI Pinout i cce e uk eh RR ee sa eds dave RE RR E A eed 64 J19 RS 232 Communicationi Pinout lese 65 J13 External Drive Control Signals Pinout ele 65 Version 6 50 viii MC4U Control Module Hardware Guide Table 50 Table 51 Table 52 Table 53 Table 54 Table 55 Table 56 Table 57 Table 58 Table 59 Table 60 Table 61 Table 62 Table 63 Table 64 Table 65 Table 66 Table 67 Table 68 Table 69 Table 70 Table 71 Table 72 Table 73 Table 74 Table 75 Table 76 Table 77 Table 78 Table 79 Table 80 Table 81 Table 82 Table 83 Table 84 Table 85 Table 86 Ta
8. MC4U Control Module Hardware Guide 2 4 1 2 DDM3U X 60V 4A Controller Drive Interface The SPiiPlus Motion Controller via the Controller Drive interface controls the output current for each of eight PWM Power Bridges The DDM3U X 60V 4A Controller Drive interface provides the connection between control signals of the DDM3U X 60V 4A power block and the controller The DDM3U X 60V 4A Controller Drive interface includes the following types of control signals total for eight PWM Power Bridges PWM signals 3x4 Control of the power transistors in PWM Power Bridge Drive Enable signals 1x4 Enables and disables the PWM Power Bridge Goto 0 logic level upon Drive Enable command e Goto I logic level upon Drive Disable command or in case of drive fault condition one of the drive protection circuit is activated Drive Brake signals 1x4 Used for shorting the motor phases by the low side transistors of PWM Power Bridge Drive Fault signals 1x4 Disable by internal HW circuit PWM Power Bridge in the event of a drive fault condition one of the drive protection circuit is activated Drive Current Feedback signals 4x4 Converts the measured motor phase currents to a differential voltage signal These signals are fed to the controller and used as current feedback in digital current loop IC bus x5 Diagnostics card and fault identification bus 2 4 2 DDM3U 2 320V YY High Power Motor Dri
9. Pin ACSPL Signal Description Designator 12 CHI Encoder Index non inverted input 13 HA Motor Hall A 14 HC Motor Hall C 15 LL Left limit 16 SIN SIN non inverted input 17 COS Encoder COS non inverted input 18 SCH Encoder SIN COS Index non inverted input 19 5U 5V user supply for the digital encoder and Hall 20 5U RTN 5V return user supply for the digital encoder and Hall 21 Shield Shield 22 MTMP Motor temperature sensor input 23 V RTN IO A return for the Motor temperature sensor 24 V RTN SFTY A return for the limits input 25 5F 5V user supply for the analog encoder and Hall 26 5F RTN 5V return user supply for the analog encoder and Hall 2 5 7 3 J8 Digital and Analog I O Connector Label J8 DIGITAL amp ANALOG I O Connector Type D type 44 pin HD male Mating Type D type 44 pin HD female for easy prototyping a Phoenix FLKM HDSUB 44 M Sub D to Screw Terminal converter can be used J8 serves for controlling Digital and Analog I O signal formats The pinout for J8 is given in Table 102 Table 102 J8 Digital and Analog I O Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 OUTI Digital Output 1 2 OUT3 Digital Output 3 3 OUTS Digital Output 5 4 OUT7 Digital Output 7 5 INI Digital Input 1 6 IN3 Digital Input 3 7 AGND Analog ground 8 AIN10 Analog input inverted 9 AINII Analog input inverted 10 AIN14 Analog input inverted 11 AIN15
10. Table9 SPiiPlus 3U LT Specifications page 4 of 6 Description Remarks General Purpose Outputs Referenced to V RET IO Sink or V SUP IO Source ACSPL Designations OUTO OUT1 OUT2 OUT3 OUT4 OUTS SPiiPlus 3U LT does not have a OUT6 OUT7 dedicated mechanical brake connection Rather the same pins of connectors can be defined either as digital outputs or mechanical brake outputs see Section 2 5 3 3 Default Digital output OUT6 OUT can be shared with X axis PEG and Y axis PEG by JP9 setup Default Digital output Quantity Eight Type Single ended opto isolated Can be Configuration by JP2 configured by the user as sink or source 5Vdc 10 to 24Vdc 20 Short protected Maximum current per single output 100mA Drop voltage lt 2 5 V Default state Upon power up signal is high impedance no current through the output transistor FPGA logic state 0 Maximum current per all outputs 800mA Protection All outputs are protected against overloads and short currents PEG Outputs ACSPL Designations PEG pulse PEG 19 MC4U only PEG State X STATEO0 X STATEI4 X STATE24 Position compare with digital encoders Resolution Quadrature counts Quantity 9 MC4U One PEG pulse per X axis 11 MC4U Two one PEG pluse per X and one PEG pulse per Y axis 19 MC4U One PEG pulse per X Y Z T axes Three PEG states per X axis
11. Figure32 Shielded Cable 3 3 4 Cable Length Use short cable runs and route cables as far from other EMI sources as possible The motor phase cable should not be more than 10 meters in length shielded and the shield wire should be connected to both the motor and the MC4U motor connector PE terminal e The encoder cable should not be more than 10 meters in length shielded and the shield wire should be connected to both the motor and the MC4U encoder connector 3 3 5 Grounding Grounding of the system electrical components is crucial in two aspects Version 6 50 148 Safety and EMC Guidelines MC4U Control Module Hardware Guide 3 3 5 4 Safety Grounding Warning Verify that all electric circuits and electrical components including motion controllers power drives motors etc have a grounding system The grounding of AC and DC equipment shall be in accordance with 29 CFR 1910 304 f 3 3 5 2 High Frequency Grounding The primary objective of a high frequency ground system is to provide a well defined path for HF currents and to minimize the loop area of the HF current paths It is also important to separate HF grounds from sensitive circuit grounds A single point parallel connected ground system is recommended The power supply cable and the motor cable must have a ground wire that is connected to the protective earth terminal located on the motors A connection must also be made between the protec
12. Type RS422 compatible OUT6 OUT can be shared with X axis PEG and Y axis PEG by JP9 setup Version 6 50 17 MCAU Specifications MC4U Control Module Hardware Guide Table9 SPiiPlus 3U LT Specifications page 5 of 6 Description Remarks Propagation delay 0 1uSec Propagation delay The delay from the moment that the encoder reaches the set position until the output PEG pulse is generated It includes both the delay generated by the encoder processing logic and the delay of the PEG logic PEG generated pulse 25nSec to 1 6mSec programmable width range Edge separation gt 200nSec between two PEG events Number of random Up to 30 000 PEG events table based mode Default state Logic 0 by pull down Upon power up SpiiPlus output logic state Z General Purpose Analog Inputs SPiiPlus 3U LT does not support general purpose analog inputs General Purpose Analog Outputs ACSPL Designations SPiiPlus 3U LT 4 AOUT 2 AOUT 6 SPiiPlus 3U LT 8 AOUT 2 AOUT 6 AOUT 10 AOUT 14 No offset compensation Quantity 9 MC4U One 11 MC4U Two 19 MC4U Four Type Single ended 10V Output short protected Maximum output inaccuracy 8 in maximum output voltage at 25 C and loading lt SmA Default state Upon power up output is OV Resolution 10 bits Offset 100mV at
13. Version 6 50 5 Introduction MC4U Control Module Hardware Guide Warning A Warning describes a condition that may result in serious bodily injury or death Advanced Indicates a topic for advanced users Model Highlights a specification procedure condition or statement that depends on the product model 1 5 Terms and Definitions The following terms specific to the MC4U and their definitions are given in the table below Table 3 Terms and Definitions Term Definition EMC Electromagnetic Compatibility PEG Position Event Generator PWM Pulse Width Modulation TVS Transient Voltage Suppressor Version 6 50 6 Introduction MC4U Control Module Hardware Guide 2 MC4U Specifications This chapter provides detailed specifications of the MC4U family and its components The components consist of SPiPlus Motion Controller e PSM3U Power Supply DDM3U Motor Drive up to a maximum of 3 units e MCAU Interface Connectors Model The functionality of any specific MC4U Control Module is determined by the motherboard that is installed See Section 2 5 for details of the various motherboards incorporated in the MC4U Control Module models MC4U Interface DDM3U Motor Drives SPiiPlus Motion Controller PSM3U Power Supply Figure4 MC4U Components Version 6 50 7 MCAU Specifications MC4U Control Mo
14. Warning It is absolutely forbidden to touch the MC4U unit or component whenever power is being applied for maintenance purposes Whenever any MC4U maintenance has to be performed all cables and input power to the unit have to been disconnected A period of 30 minutes to allow complete voltage discharge must be strictly adhered to before removing the MC4U or disassembling any of its components 3 2 2 Emergency Stop Device Warning An emergency stop device must be located at each operator control station and other operating stations where an emergency stop may be required The emergency stop device must be able to disconnect any electrical equipment connected to the unit from the power supply It will not be possible to restore the circuit until the operator manually resets the emergency stop In situations with multiple emergency stop devices the circuit shall not be restored until all emergency stops devices have been manually reset 3 2 3 Fail Safe Logic Recommendation ACS Motion Control recommends connecting all safety inputs limit inputs and emergency stop input with a fail safe logic whenever the normal operation the inputs are active Note When an unsafe event happens the input becomes zero and the controller identifies this as a fault Version 6 50 145 Safety and EMC Guidelines MC4U Control Module Hardware Guide 3 2 4 Initial Logic State of Outputs The rele
15. Supplied by 5VCC Max current lt 7mA Description Remarks Drive Fault Reset Output Input ACSPL Designation Drive Fault Reset DRV RST Output used for backward compatibility Input used as additional logic inputs Spare Quantity One Type Output Opto isolated open collector Reference defined by internal jumper Default DGND Can be configured by internal jumpers as input or output Default input Default state Input default state no current Output default state no current through the output transistor FPGA logic state 1 FPGA logic state 0 Output voltage drop in active state lt 0 3V Limit Switches configured as either source or sink 5Vdc 10 or 24Vdc 420 with automatic detection Requires an external supply Input current 2 8 14mA Reference V SUP SFTY ACSPL Designations Right limit RL Left limit LL Quantity One Left Limit and one Right Limit per axis Type Single ended opto isolated Can be Configured by JP1 The user has to supply the V SUP SFTY value Default state No limit no current FPGA logic state 1 Propagation delay from input to measured output delay lt 3mS From Fault Input occurrence to response output E Stop ACSPL Designation E Stop ES E Stop should be used to indicate to the controller that there is an emergency condition and should not be relied
16. The general purpose analog inputs are shared with the IS current feedback set the following jumpers as needed Table 100 General Purpose Analog Input Setup JP22 JP28 JP23 JP29 JP24 JP25 JP26 JP27 When Z axis is in use no AINIO Remove X X X support When C axis is in use no AINI1 X Remove X X support When T axis is in use no AINI4 X X Remove X support When D axis is in use no AIN15 X X X Remove support Version 6 50 110 MCAU Specifications MC4U Control Module Hardware Guide 2 5 7 MB5U ZZZ Motherboard The MBSU ZZZ is installed in the 19 MCAU The connectors associated with the MB5U ZZZ motherboard are shown in Figure 21 Figure21 MBSU ZZZ Connectors 2 5 7 1 MB5U ZZZ Functionality The MB5U ZZZ accomodates the SPiiPlus 3U LT HP motion controller four DDM3U 2 320V XX up to 10A 20A drives and one PSM3U 320V 8KW power supply It supports the following functionality e 8x Digital encoders e 8x SIN COS encoders optional e 8x Hall effect sensors e 8x Motor Temperature sensors 16x Safety inputs e 1x E stop e 8x Digital outputs Mechanical brakes e 8x Digital inputs e 4x Analog I O 5x MARK signals e 8xSquared SIN COS signals 4x PEG signals plus 3 x STATE signals 6x Motor output signals e 2x Ethernet channels 2xHSSI channel 2x RS232 channels e 2x External Drive controls T D Version 6 50 111 MCAU Specifications
17. Position registration General purpose High Speed Synchronous Interface HSSI for IO expansion and interfacing with external user s devices Multi communication channels one USB one CAN bus two Ethernet and two RS 232 All channels can be used simultaneously This section provides technical details of the SPiiPlus 3U LT Motion Controller Version 6 50 13 MCAU Specifications MC4U Control Module Hardware Guide 2 2 2 2 SPiiPlus 3U LT Specifications Table 9 presents the SPiiPlus 3U LT specifications Table9 SPiiPlus 3U LT Specifications page 1 of 6 Description Remarks Supported Axes Number of axes Four 19 MC4U Up to 8 ACSPL axis Primary axes designations X A for 9 MC4U Optional additional two encoders Y B X Y A B for 11 MC4U XYZT for 19 MC4U Optional secondary axes A B C D Supported motor types Brush Brushless Two Phase Brushless and With appropriate firmware support Two Phase Step Digital Encoder Inputs Outputs ACSPL Designations A CHA B CHB I CHI Quantity One per axis In dual loop A B C and D encoders can be used as secondary encoders for the X Y Z and T axes Format A B I Interface type RS422 compatible Input impedance 120Q Maximum input 7 5MHz 7 5MHz A amp B input frequency frequency appropriate to 30 million counts per second Diagnostic Default Not Connected stat
18. 0 00 cece eee eee ee eee 39 DDM3U Motor Drive 0 0 RR RR RR es 43 DDM3U X 60V 4A Low Power Motor Drive 0 000 000 cee eee 43 DDM3U X 60V 4A Specifications 0 0 eee jd DDM3U X 60V 4A Controller Drive Interface sees 47 DDM3U 2 320V Y Y High Power Motor Drive 0 00 00000 47 DDM3U 2 320V YY Specifications 0 usuau eee ee 48 Pulse Width Modulation Power Bridge Specification 51 LDM3U Single Axis Linear Amplifier 2 0 00 00 cece eee eee 52 LDM3U Amplifier Input Power Specifications 0 0200 53 LDM3U Drive Amplifier Output Power Specifications 54 LDM3U DC DC Control Supply Specifications 00 000 0050 55 LDM3U Drive Protection 0 00 e ven 55 Version 6 50 MC4U CS Control Module Hardware Guide 2 5 MCA4U Motherboards x bue ERE bk sete kar One eee Reyne 57 2 5 MBSU Z Motherboard sa esses eee Ser ERE e XM bee en 57 2 5 1 1 MBSU Z Functionality re or esaesa e ree EE Ee EEEE EEEE 57 2 5 1 2 Encoder and Hall Connectors esscr o crrrcsissircsi iirreessisiiussi 58 2 5 1 3 J10 Digital and Analog I O Connector 0 00 cee eee eee 59 2 5 1 4 J20 Safety amp Fast I O Inputs Connector 00 0000 c eee eee 61 2 5 1 5 J3 J4 Drive Motor Connectors 0 0 00 eee eae 62 2 5 1 6 J6 and J7 Ethernet Connectors 0 ccc eens 64 2 5 7 J8 HSSI Connector zi esee Rhe Reset ER
19. Negative transmit signal 3 ETH _ RX Positive receive signal 4 Not connected 5 Not connected 6 ETH RX Negative receive signal T Not connected 8 Not connected Version 6 50 87 MC4U Specifications MC4U Control Module Hardware Guide 2 5 3 9 Label J19 and J20 RS 232 Communication Connectors J19 COMI J20 COM2 Connector Type D type 9 pin male sockets Mating type D type 9 pin female The pinout for the sockets is given in Table 74 Table 74 J19 and J20 RS 232 Communication Pinout Pin ACSPL Signal Description Designator 1 SHIELD Cable shield connection 2 RX232 RS 232 receive signal for the communication port J19 for COM1 and J20 for COM2 3 TX232 RS 232 transmit signal for communication port J19 for COM1 and J20 for COM2 4 Not connected 5 DGND Digital ground 6 Not connected 7 Not connected 8 Not connected 9 Not connected 2 5 3 10 J14 Drive Supply Voltage Connector J14 DRIVE SUPPLY Connector Type Phoenix FRONT 4V 7 62 Label Mating Type None screw terminal AC power is provided through J14 The pinout for J14 is provided in Table 75 Table 75 J14 Drive Supply Voltage Pinout Pin ACSPL Signal Description Remarks Designator 1 EGND Earth Ground shield 2 L3 AC input phase L3 3 L2 AC input phase L2 When using AC single phase the voltage has to be connecte
20. e 4x PEG signals plus 3 x STATE signals e 8x Motor output signals 2x Ethernet channels 2xHSSI channel 2x RS 232 channels Version 6 50 124 MCAU Specifications MC4U Control Module Hardware Guide 2 5 8 2 Encoder and Hall Connectors Label J10 T ENC J11 Z ENC J12 Y ENC J13 X ENC J15 D ENC J16 C ENC J17 B ENC J18 A ENC Connector Type D type 26 pin HD female Mating Type D type 26 pin HD male for easy prototyping a Phoenix FLKM HDSUB 26 M Sub D to Screw Terminal converter can be used The connectors are allocated as follows Connector Axis Connector Axis J10 T ENC T J15 D ENC D J11 Z ENC Z J16 C ENC C J12 Y ENC Y J17 B ENC B J13 X ENC X J18 A ENC A The pinout for the Encoder Hall Connectors is given in Table 114 Note rt The dollar sign stands for the given axis for example LL can be X LL Y LL etc Table 114 Encoder Hall Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 CHA Encoder A inverted input 2 CHB Encoder B inverted input 3 CHI Encoder index inverted input 4 HB Motor Hall B 5 V_SUP_SFTY Supply for the limits input 6 RL Right limit 7 _SIN Encoder SIN inverted input 8 _COS Encoder COS inverted input 9 SC I Encoder SIN COS Index inverted input 10 CHA Encoder A non inverted input 11 CHB Encoder B non inverted input Ver
21. 1 25Vptp Offset compensation User programmable parameter will be saved in the Flash memory by the user application Range 0 05V Resolution 16 bit Maximum frequency 2 5MHz Internal multiplier 2 where n 2 to 16 ADC Resolution 14 bit SNR gt 72dB Diagnostics Encoder error Detection of Encoder Not Connected is incorporated in the software Non Fast 2 5MHz Sin Cos Encoders Input Input impedance 1209 Encoder voltage range 1 Vptp 10 Input Voltage range 1 25Vptp ACSPL Designations Sine Cosine Index Sin SIN Cos COS Index SC I Quantity 4 Fast 2 5MHz encoders for X Y A B Note For the C and D axes the Sin 4 normal 250kHz encoders for Z T C D Cos interface share the same A to D as AIN10 AIN11 AIN14 AIN15 There are separate input pins for each function 8 normal 250kHz encoders for X Y A B Z When AIN10 AIN11 AIN14 AIN15 T C D are used as Sin Cos there is no offset compensation See General Purpose Analog Inputs below Type Differential input Offset compensation User programmable parameter will be saved in the Flash memory by the user application Range 10 from Input range Resolution 16 bit Maximum frequency 250kHz Version 6 50 22 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 4 of 12 Description
22. 2 5 8 5 2 5 8 6 2 5 8 7 2 5 8 8 2 5 8 9 2 5 8 10 2 5 8 11 2 5 8 12 2 5 8 13 2 5 8 14 2 5 8 15 2 5 9 2 5 9 Version 6 50 MBSU YYYY Motherboard ec es n RE EYE hes eee on CER 97 MBSU YYYY Functionality cessere aan varene vnr ene 97 Encoder and Hall Connectors prcsi ererig tE rnn eens 98 J8 Digital and Analog I O Connector 0000 e eee ee eee 99 J9 Regeneration Connector 0 eee ee 101 J21 Fast I O PEG amp Mark Connector 00 000 e ee eee 101 J22 Motor Limits Connector 0 0 0c cee eee 103 J4 J5 and J6 HSSI Connectors 0 0 cece eee 104 J2 and J3 Ethernet Connectors 0 0 0c cece 104 J19 and J20 RS 232 Communication Connectors 0 005 105 J14 Drive Supply Voltage Connector 0 000 e eee eee 105 J1 24V Logic Supply Connector 00 0 ccc ene 106 J40 T and D External Drive Control Signals 0004 106 1152 Motor Drive Output Connectors 25 cres eee eb de eave das en 107 MBSU YYYY Jumper Configuration 2 0 0 0 cee eee eee 108 MBSU ZZZ Motherboard 0 ccc teen ees 111 MBSU ZZZ Functionality 02 0 ee eee 111 Encoder and Hall Connectors 00 0 ccc teens 112 J8 Digital and Analog I O Connector 0 00 c cee eee 113 J9 Regeneration Connector 0 ccc teens 115 J21 Fast I O PEG amp Mark Connector 00 cece eee 115 J22 Motor Limits Connec
23. Designations Pulse PWMO The P D pair shares pins with PWM Dir PWMI signals Version 6 50 23 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 5 of 12 Description Remarks Quantity Four pairs For X Y Z and T axes Type TTL Load current lt 6mA Maximum pulse rate 4 000 000 pulse second Pulse width Min Pulse width 25 nS Max Pulse width 57 175uS Resolution Command time resolution 25nS Default state Power up output state Z Drive Enable Output ACSPL Designation Drive enable ENA Quantity One per axis Type Opto isolated source output open collector up to 24V 7mA active low Reference V RET IO or DGND Upon power up the signal is high impedance no current through the output transistor Reference defined by internal jumper DGND default Power up output state Z Voltage drop in active state lt 0 3V Drive Fault Input ACSPL Designation Axis Fault 4 FLT Note Fault status code readable via the PC interface Quantity One per axis Type Opto isolated sink input open cathode Supplied by V SUP IO or 5VCC Fault no current Maximum current in active no fault state lt 6mA A Reference defined by Internal jumper Default 5VCC Default state No current Input logic state 0 Propagation dela
24. MC4U Control Module Hardware Guide 2 5 7 2 Encoder and Hall Connectors Label J10 T ENC J11 Z ENC J12 Y ENC J13 X ENC J15 D ENC J16 C ENC J17 B ENC J18 A ENC Connector Type D type 26 pin HD female Mating Type D type 26 pin HD male for easy prototyping a Phoenix FLKM HDSUB 26 M Sub D to Screw Terminal converter can be used The connectors are allocated as follows Connector Axis Connector Axis J10 T ENC T J15 D ENC D J11 Z ENC Z J16 C ENC C J12 Y ENC Y J17 B ENC B J13 X ENC X J18 A ENC A The pinout for the Encoder Hall Connectors is given in Table 101 Note The dollar sign stands for the given axis for example _LL can be X LL or Y LL etc Table 101 Encoder Hall Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 CHA Encoder A inverted input 2 CHB Encoder B inverted input 3 CHI Encoder index inverted input 4 HB Motor Hall B 5 V_SUP_SFTY Supply for the limits input 6 RL Right limit 7 _SIN Encoder SIN inverted input 8 _COS Encoder COS inverted input 9 SC I Encoder SIN COS Index inverted input 10 CHA Encoder A non inverted input 11 CHB Encoder B non inverted input Version 6 50 112 MCAU Specifications MC4U Control Module Hardware Guide Table 101 Encoder Hall Pinout page 2 of 2
25. Not Applicable AOUT15 16 OUTO Digital Output 0 17 OUT2 Digital Output 2 18 OUT4 Digital Output 4 19 OUT6 Digital Output 6 20 INO Digital Input 0 21 IN2 Digital Input 2 22 Not connected 23 AIN10 Analog input non inverted Not Applicable 24 AINI 1 Analog input non inverted Not Applicable 25 AIN14 Analog input non inverted Not Applicable 26 AIN15 Analog input non inverted Not Applicable 27 AOUT 6 Analog output CS non inverted Not Applicable 28 AOUT_CC Analog output CC non inverted Not Applicable AOUTI11 29 AOUT 2 Analog output DC non inverted 30 AOUT DC Analog output DC non inverted Not Applicable AOUT15 31 V SUP IO Input Output Supply 32 V_RTN IO Input Output Supply Return 33 IN4 Digital Input 4 34 INS Digital Input 5 35 IN6 Digital Input 6 36 IN7 Digital Input 7 37 AGND Analog ground 38 AGND Analog ground 39 Not connected 40 Not connected 41 Not connected 42 Not connected 43 Not connected 44 Not connected Version 6 50 60 MC4U Specifications MC4U Control Module Hardware Guide 2 5 1 4 Label J20 Safety amp Fast I O Inputs Connector J20 SAFETY amp FAST I O Connector Type D type 25 pin male Mating Type D type 25 pin female for easy prototyping a Phoenix FLKM HDSUB 25 M Sub D to Screw Terminal converter can be used The connectory serves for controlling Safety and Fast I O input signals The pinout for J20 is given in Table 44 Table
26. eee eee eee 52 MBSU Z Connectors ss ros cse REFER ERPUER VR NH nee Mose vos amas 57 MBSU Z Motor Drive Connections 0 0 00000 cece eee ees 63 MBSU ZZ Conn cftorsuu save Sa ere 69 MBSU ZZ Motor Drive Connections 0 0 000 cece eee es 75 MB5U CON PS Connectors 0 0 0 cee eens 80 MBS5U 2 Connectors 0 0 0 serete cstu Eyn Ea EE EE EE EEG E 91 MB5U 2 Motor Drive Connections nananana cece eee eee 92 MB5U 4 Connectors ici ccd sa ee xx EAR ER AR ee RR ee LR 94 MBSU 4 Motor Drive Connections 0 0 0 0 000 ccc ene ee 95 MBS5U YYYY Connectors 0 n 97 MBSU YYYY Motor Drive Connections 0000 cee eee ees 108 MB5SU ZZZ COnnectors vaar T ees Hu og same snek ne 111 MBSU ZZZ Motor Drive Connections nonna 000 ccc eee eee 122 MBSU ZZ W Connectors 22d epos p ERA HACER Rd ee de met 124 MBSU ZZW J152 Motor Drive Connections 0 0 00 e eee 135 MBSU ZZW J121 J124 Motor Drive Connections 0005 137 MBS5U LDM3U Connectors avvvav vr av vnr een eens 138 MCAU MF 560V Motor Filter vauvavavvrvvvr rar nv erverve 140 MCAU MF 560V Motor Filter External Dimensions 142 MC4U Regeneration Module 0 cee eee eee eee nee 143 Standards Organization Marks 1 0 0 2 0 e cece eee eee eee 144 Cable Spa ngs occ 6 ncn oo ba eee dete had ews sake sesam eee NOR PEU ds 148 Shielded Cables 1er ween vies KESEN KEDR RERA wee kake 148 MC4U Groundin
27. 04 3809 58 4785 38 5761 19 9095 74 10986 37 12876 99 Pin peak W Version 6 50 40 MCAU Specifications MC4U Control Module Hardware Guide Table 17 Maximum Input Power Three Phase Input 195 265Vac Parameter 195Vac 230Vac 265Vac Input power nominal 7140 70 8460 91 9781 12 Pin W Input power peak Pin 18063 55 21622 37 25181 20 peak W Table 18 Maximum Input Current Single Phase Input 85 265Vac Parameter 85Vac 100Vac 115Vac 130Vac 195Vac 230Vac 265Vac Input current 22 95 23 58 24 28 24 81 25 18 25 52 25 76 nominal Iin Arms Input current peak 36 63 38 97 41 61 43 56 46 53 47 77 48 68 lin peak Arms Table 19 Maximum Input Current Three Phase Input 195 265Vac Parameter 195Vac 230Vac 265Vac Input current nominal 21 09 21 24 21 35 lin A rms Input current peak 53 35 54 28 54 97 lin peak Arms Table 20 Output Voltage Single Phase Input 85 130Vac Parameter 85Vac 100Vac 115Vac 130Vac Maximum output voltage 118 98 135 24 159 63 184 03 Vout_max Vdc Nominal output voltage 98 98 115 24 139 63 164 03 nominal output current 16A Vout_nom Vdc Minimum output voltage 38 98 55 24 79 63 104 03 peak output current 32A Vout peak Vdc Version 6 50 41 MCAU Specifications MC4U C
28. 129 provides details of the MB5U LDM3U jumper configuration Table 129 MB5U LDM3U Jumper Configuration Name Description Functionality JP1 18AWG Wire OFF Power Sequence Control circuit is used ON Power Sequence Control circuit is bypassed JP2 JP3 ON 12Vde from Power Sequence Control JP4 circuit is used OFF Not Connected JP5 JP6 ON Is It drive current feedback signals are JP7 JP8 used OFF Not Connected JP9 1 2 AGND is connected to 12 RTN 3 2 AGND is connected to DGND JP10 JP11 ON R_CMD analog command for phase R is used OFF Not Connected JP12 JP13 I2C AO Al A2 Used for setting the IC address JP14 Set the JP12 JP13 amp J14 to 000 when the motherboard assembled is slot number 0 001 when the motherboard assembled is slot number 1 010 when the motherboard assembled is slot number 2 011 when the motherboard assembled is slot number 3 100 when the motherboard assembled is slot number 4 101 when the motherboard assembled is slot number 5 110 when the motherboard assembled is slot number 6 111 when the motherboard assembled is slot number 7 0 the jumper is installed I the jumper is removed Version 6 50 139 MCAU Specifications MCAU Control Module Hardware Guide 2 6 MC4U Accessories There are a number of optional accessories for the MC4U Control Module These include Motor Filter Regneration This
29. 19 MC4U Dimensions Side Front 4586 x5 Rear Version 6 50 10 MCAU Specifications MC4U Control Module Hardware Guide 2 1 4 Weight The 9 MC4U has a maximum weight of 5 2 kg The 11 MC4U has a maximum weight of 6 5 kg The 19 MC4U has a maximum weight of 11 5 kg 2 1 5 MC4U Power Dissipation Table 7 provides the power dissipation ofthe modules for both the low and high power versions of the MC4U Table7 MC4U Power Dissipation Component Power Loss SPiiPlus 3U 8 E Motion Controller 25W SPiiPlus 3U LT Motion Controller 12W PSM3U 48V 0 7kW Power Supply 85W PSM3U 320V 8kW Power Supply 150W DDM3U 4 06 02 Motor Drive 25W DDM3U 2 30 20 Motor Drive 175W 2 1 6 MC4U Environmental Parameters Table 8 provides the environmental parameters for MC4U operation Table 8 MC4U Environmental Specification Parameter Value Ambient Temperature Rated range of operation from 0 to 40 C Environmental conditions IEC 60721 3 1 class 1K3 and 1M3 Storage Environmental conditions IEC 60721 3 2 class 2K4 and 2M3 Transportation Environmental conditions IEC 60721 3 3 class 3K3 and 3M4 Operating Version 6 50 11 MCAU Specifications MC4U Control Module Hardware Guide 2 2 SPiiPlus Motion Controller The SPiiPlus Motion Controller that is incorporated in the MC4U Control Module may be one of following SPiiPlus 3U LT Motion Cont
30. 2 L2 AC input phase L2 Neutral when using a single phase motor 3 L3 AC input phase L3 Not Connected 5 EGND Earth Ground shield 2 5 2 11 J5 24V Logic Supply Connector Label J5 LOGIC SUPPLY Connector Type Phoenix MCV 1 5 5 GF 3 81 Mating Type Phoenix MC 1 5 5 STF 3 81 24Vdc is supplied through J5 The pinout for J5 is given in Table 64 Version 6 50 TT MCAU Specifications MC4U Control Module Hardware Guide Table 64 J5 24V Logic Supply Pinout Pin Signal Description Designator 1 24V_SUP 24V logic supply 2 24V_RTN 24V logic supply return 3 5V ENC EXT External 5V supply for encoder 4 5V ENC EXT RTN External SV supply return for encoder 5 EGND Earth Ground shield 2 5 2 12 MB5U ZZ Jumper Configuration This section details the setup of the MB5U ZZ motherboard jumper configuration Warning Only a qualified technician should make any changes to the factory settings of the jumpers Remove the back cover of the unit to access the jumpers Note m In the tables that follow X means don t care Table 65 I O Jumpers Setup JP1 JP3 JP5 JP7 I O supply external X Remove Remove X I O supply internal 5V X 1 2 1 2 X I O supply internal 24V X 2 3 2 3 X Safety supply external Remove X X Remove Safety supply internal 5V 1 2 X X 1 2 Safety supply internal 24V 2 3 X X 2 3 Note When using the 5
31. 3 Pin ACSPL Signal Description Designator 12 AOUT_CS Analog output CS inverted Not used when MC4U is with SPiiPlus 3U LT controller 13 AOUT_CC Analog output CC inverted Not used when MC4U is with SPiiPlus 3U LT controller 14 AOUT_DS Analog output DC inverted Not used when MC4U is with SPiiPlus 3U LT controller 15 AOUT_DC Analog output DS inverted Not used when MC4U is with SPiiPlus 3U LT controller 16 OUTO Digital Output 0 17 OUT2 Digital Output 2 18 OUT4 Digital Output 4 19 OUT6 Digital Output 6 20 INO Digital Input 0 21 IN2 Digital Input 2 22 Not connected 23 AIN10 Analog input non inverted 24 AIN11 Analog input non inverted 25 AIN14 Analog input non inverted 26 AIN15 Analog input non inverted 27 AOUT_CS Analog output CS non inverted AOUT6 Signal desigator when MC4U is with SPiiPlus 3U LT controller 28 AOUT_CC Analog output CC non inverted AOUT14 Signal desigator when MC4U is with SPiiPlus 3U LT controller 29 AOUT_DS Analog output DC non inverted AOUT2 Signal desigator when MC4U is with SPiiPlus 3U LT controller 30 AOUT DC Analog output DC non inverted AOUT10 Signal desigator when MC4U is with SPiiPlus 3U LT controller 31 V SUP IO Input Output Supply 32 V_RTN IO Input Output Supply Return 33 IN4 Digital Input 4 34 INS Digital Input 5 35 IN6 Dig
32. 6 50 42 MCAU Specifications MC4U Control Module Hardware Guide Table 25 Output Power Three Phase Input 195 265Vac Parameter 195Vac 230Vac 265Vac Nominal output power 6069 59 7191 77 8313 95 nominal output current 23A Pout_nom W Peak output power peak 15354 02 18379 02 21404 02 output current 62A Pout_peak W 2 4 DDM3U Motor Drive The DDM3U Motor Drive supplies the driving power for the motors connected to the MC4U There are two types of motor drives e DDM3U X 60V 4A for low power motors Where X can be 2 or 4 Model The DDM3U X 60V 4A is applicable only to the 19 MC4U e DDM3U 2 320V YY for high power motors Where YY can be 5A 10A 15A or 20A This section provides details for both types 2 4 1 DDM3U X 60V 4A Low Power Motor Drive The DDM3U X 60V 4A has 2 or 4 Pulse Width Modulation PWM Power Bridges amplifiers for 2 or 4 Servo DC Brushless DC Brush and or 2 or 4 Step motors There are two different assembly options available for DDM3U X 60V 4A power block as detailed in Table 26 Table 26 DDM3U X 60V 4A Power Block Assembly Options page 1 of 2 Power Block Number of Number of PWM Bridge Input Power Name PWM Axes Continuous Supply Nominal Bridges 3 Sec Peak Voltage Range Output Current Vdc A 2 DC Brushless 4 5 DDM3U 2 60V 2A 2 2 DC Brush 2 8 5 18 60 2 Step 2 8 3 5 Version 6 50 43 MCAU Sp
33. A Left Limit 5 Y LL Y Left Limit 6 B LL B Left Limit 7 Z LL Z Left Limit 8 C LL C Left Limit 9 T LL T Left Limit 10 D LL D Left Limit 11 Not connected 12 Not connected 13 Not connected 14 V RTN SFTY Safety Supply Return 15 Not connected 16 X RL X Right Limit 17 A RL A Right Limit 18 Y RL Y Right Limit 19 B RL B Right Limit 20 Z RL Z Right Limit 21 C RL C Right Limit 22 T RL T Right Limit 23 D RL D Right Limit 24 ES Emergency stop non inverted 25 ES Emergency stop inverted Version 6 50 130 MC4U Specifications MC4U Control Module Hardware Guide 2 5 8 7 Label J4 J5 and J6 HSSI Connectors J4 HSSIO X amp axes J5 HSSI 1 Y amp B axes J6 HSSI2 Z amp C axes Connector Type RJ45 8 pin sockets Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 119 Table 119 J4 J5 and J6 HSSI Pinout Pin ACSPL Signal Description Designator 1 CONTROL Control signal non inverted output for channel 0 2 CONTROL Control signal inverted output for channel 0 3 SER DI Serial data non inverted input for channel 0 4 SER DI Serial data inverted input for channel 0 5 SER DO Serial data non inverted output for channel 0 6 SER DO Serial data inverted output for channel 0 7 DGND Digital ground for 5L 8 DGND Digital ground for 5L 2 5 8 8 J2 and J3 Ethernet Connectors Label J2 ETHI1 J3 ETH2 Connecto
34. Analog input inverted 12 AOUT_CS Analog output CS inverted Not used when MC4U is with SPiiPlus 3U LT controller Version 6 50 113 MCAU Specifications MC4U Control Module Hardware Guide Table 102 J8 Digital and Analog I O Pinout page 2 of 2 Pin ACSPL Signal Description Designator 13 AOUT_CC Analog output CC inverted Not used when MC4U is with SPiiPlus 3U LT controller 14 AOUT_DS Analog output DC inverted Not used when MC4U is with SPiiPlus 3U LT controller 15 AOUT_DC Analog output DS inverted Not used when MC4U is with SPiiPlus 3U LT controller 16 OUTO Digital Output 0 17 OUT2 Digital Output 2 18 OUT4 Digital Output 4 19 OUT6 Digital Output 6 20 INO Digital Input 0 21 IN2 Digital Input 2 22 Not connected 23 AIN10 Analog input non inverted 24 AIN11 Analog input non inverted 25 AIN14 Analog input non inverted 26 AIN15 Analog input non inverted 27 AOUT_CS Analog output CS non inverted AOUT6 Signal desigator when MC4U is with SPiiPlus 3U LT controller 28 AOUT_CC Analog output CC non inverted AOUT14 Signal desigator when MC4U is with SPiiPlus 3U LT controller 29 AOUT_DS Analog output DC non inverted AOUT2 Signal desigator when MC4U is with SPiiPlus 3U LT controller 30 AOUT DC Analog output DC non inverted AOUTI10 Signal desigator when MC4U is with SPiiPlus 3U LT controller 3
35. BRAKE C OUT6 BRAKE D OUT7 Repeatable time lt 3mSec The same pins of connectors can be defined as digital outputs or mechanical brake Default Digital output Quanity One per axis Default state No current through the output transistor Default FPGA output 0 Limit Switches configured as either source or sink 5Vdc 10 or 24Vdc 20 external or internal supply with automatic detection Input current 2 8 14mA Reference V SUP SFTY ACSPL Designations Right limit RL Left limit LL Quantity One Left Limit and one Right Limit per axis Type Single ended opto isolated Can be The user has to supply the V SUP SFTY value On SpiiPlus 3U LT controller board the JP1 jumper should be installed in position 1 2 for sink and 2 3 for source The default is sink See Section 5 7 Default state No limit no current Version 6 50 15 MCAU Specifications MC4U Control Module Hardware Guide Table9 SPiiPlus 3U LT Specifications page 3 of 6 Description Remarks E Stop ACSPL Designation E Stop ES E Stop should be used to indicate to the controller that there is an emergency condition and should not be relied upon as the E Stop safety mechanism Quantity One Type Opto isolated floating cathode and anode two pins 5Vdc 10 or 24Vde 20 automatically detected Input current 2 8 14mA D
36. EMC Guidelines MC4U Control Module Hardware Guide Table 134 Line Filters for Single Phase AC Input Input Current Line Filter Type A rms 8 B84142B0008R000 Epcos 12 B84142B0012R000 Epcos 16 B84142B0016R000 Epcos 25 B84142B0025R000 Epcos 36 B84143B0036R 110 Epcos Table 135 Line Filters for Three Phase AC Input Input Current Line Filter Type A rms 8 B84143B0008R000 Epcos 12 B84143B0012R000 Epcos 16 B84143B0016R000 Epcos 25 B84134B0025R110 Epcos 36 B84143B0036R110 Epcos 3 3 2 ACS Motor Filters In order to comply with the EN 61326 2002 ACS motor filters must be employed 3 3 3 Routing Signal and Power Cables Power cables to the motors mains outlet etc and signal cables to I O encoder RS 232 etc must be kept as far apart as possible Keep at least an inch 2 5 cm for each 3 feet 1 m of between cables running in parallel as illustrated in Figure 31 For example if the motor and encoder cables run parallel for 6 feet 2 m maintain a 2 inch 5 cm separation between them Version 6 50 147 Safety and EMC Guidelines MC4U Control Module Hardware Guide Motor Cable Separation of 1 inch for every 3 feet 1 inch 2 5 cm Encoder RS 232 Cable cable spacing Figure 31 Cable Spacing It is recommended to use completely shielded cables as illustrated in Figure 32 Cable Sheath Cable en cable
37. ETH2 Connector Type RJ45 8 pin socket Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 59 Table 59 J6 and J7 Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 ETH TX Positive transmit signal 2 ETH TX Negative transmit signal 3 ETH RX Positive receive signal 4 Not connected 5 Not connected 6 ETH _RX Negative receive signal Version 6 50 75 MCAU Specifications MC4U Control Module Hardware Guide Table 59 J6 and J7 Pinout page 2 of 2 Pin ACSPL Signal Description Designator 7 Not connected 8 Not connected 2 5 2 7 J8 and J9 HSSI Connectors Label J8 HSSIO X amp A axes J9 HSSII Y amp Baxes Connector Type RJ45 8 pin sockets Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 60 Table 60 J8 and J9 HSSI Pinout Pin Signal Description Designator 1 CONTROL Control signal non inverted output for channel 0 2 CONTROL Control signal inverted output for channel 0 3 SER DI Serial data non inverted input for channel 0 4 SER DI Serial data inverted input for channel 0 gt SER_DO_ Serial data non inverted output for channel 0 6 SER DO Serial data inverted output for channel 0 7 DGND Digital ground for 5L 8 DGND Digital ground for 5L 2 5 2 8 J19 RS 232 Communication Connector Label J19 COMI Con
38. Isolated interface CAN Bus ACSPL Designations CAN H CAN L Number of channels One Connector located on the front of the module HSSD pins can be used as CAN bus in SA configuration Protocol CANopen Frequency Up to IMHz Line impedance 120 2 Galvanic isolated CAN power supply Internal Galvanic isolated Version 6 50 31 MCAU Specifications MC4U Control Module Hardware Guide 2 2 4 J3 CAN Bus Connector SPiiPlus 3U LT and SPiiPlus 3U HP come equipped with a connector J3 that can be used for connecting the MC4U to the CAN bus for details of the connectivity see Section 5 12 J3 is an RJ 45 female connector The pinout for the CAN bus connector is given in Table 11 Table 11 CAN Bus Pinout Pin Signal Description Remarks Designator 1 CAN_H CAN_H bus line 2 CAN L CAN L bus line 3 CAN GND Ground return CAN supply Optional Not connected 5 Not connected 6 CAN_SHLD CAN shield Optional 7 CAN_GND Ground return CAN supply Optional 8 CAN_V CAN external positive supply Optional Shell Shield Shield Drain Wire Version 6 50 32 MCAU Specifications MC4U Control Module Hardware Guide 2 2 5 SPiiPlus 3U LED Indicators The LED indicators are located on the front panel of the module and indicate the status of the power supplies and axes as shown in the example given in Figure 8 Axis LEDs Power Supply LEDs Figure 8 SPiiPlus 3U LED Indic
39. Module Hardware Guide Table 40 Drive Protection Circuits Protection Type LDM3U 55V 8A LDM3U 55V 16A and phase to ground Short current phase to phase lin gt 10A 5 lin gt 20A 5 Over temperature T heatsink gt 95 100 C T heatsink gt 95 100 C Note The software does not enable the display of an undervoltage warning message Table 41 provides the dynamic braking specifications for the LDM3U Table 41 LDM3U Dynamic Braking 0 50 10 20 40 DC Brushless Motor Ibr max maximum allowed braking current 16Arms 16Arms 16Arms 16Arms Vmot ph ph max maximum allowed phase to phase motor voltage before braking 13 9Vrms 27 7Vrms 28 17Vrms limited by drive supply 28 17Vrms limited by drive supply DC Brush Motor Ibr max maximum allowed braking current 16Arms 16Arms 16Arms 16Arms Vmot ph ph max maximum allowed phase to phase motor voltage before braking 8Vrms 16Vrms 32Vrms 46Vrms Version 6 50 56 MCAU Specifications MC4U Control Module Hardware Guide 2 5 MC4U Motherboards This section provides details of the motherboards installed in the various MC4U Control Module models For each motherboard the supported functions are listed details of each interface connector associated with the motherboard are prov
40. Motor Drive Output Pinout sess 0 cee eens 107 MBSU YYY Y MMII CUS cs a ba te Seca dote re Reuter d ea ee cree et ed d 108 TO Jumper Setup cederet dier ette eroe redd ente NUR Has ue E 109 Eucoder Supply soenoe ee oe E fases ec RR Run RR cR UR OSA SR Hose pP e cR eu n 110 General Purpose Analog Input 0 0 0 0 cece cette e 110 Encoder Hall Pmoit sess cascade sons nn DR meh scr Meda KO ead Ba 112 Version 6 50 ix MC4U Control Module Hardware Guide Table 102 Table 103 Table 104 Table 105 Table 106 Table 107 Table 108 Table 109 Table 110 Table 1 11 Table 112 Table 113 Table 114 Table 115 Table 116 Table 117 Table 118 Table 119 Table 120 Table 121 Table 122 Table 123 Table 124 Table 125 Table 126 Table 127 Table 128 Table 129 Table 130 Table 131 Table 132 Table 133 Table 134 Table 135 Table 136 Table 137 J8 Digital and Analog I O Pinout 00 0 cece 113 J9 Regeneration Pinot a tU esee tom s dered dee qubd 115 J21 5 East VO Pinout Larssen eee tibiam 115 J22 Motor Limits Pinout 00 ccc eee eens 117 14 J5 and JO HSSI Pino t 1 1 seres ege d de tuer merece Eton ie eee suter 118 J2 and J3 Ethernet Pinout eies cd uuceter ee LE x eR eR RU Ce dioe 118 J19 and J20 RS 232 Communication Pinout llis eese 119 J14 Drive Supply Voltage Pinout 00 0 eens 119 J1 24V Logic Supply Pinout 2 0 0 cena 120 J40 External Drive Control Signals Pinout 00
41. Not connected 13 Not connected 14 V RTN SFTY Safety Supply Return 15 Not connected 16 X RL X Right Limit 17 A RL A Right Limit 18 Y RL Y Right Limit 19 B RL B Right Limit 20 Z RL Z Right Limit 21 C RL C Right Limit 22 T RL T Right Limit 23 D RL D Right Limit 24 ES Emergency stop non inverted 25 ES Emergency stop inverted Version 6 50 117 MC4U Specifications MC4U Control Module Hardware Guide 2 5 7 7 Label J4 J5 and J6 HSSI Connectors J4 HSSIO X amp axes J5 HSSI 1 Y amp B axes J6 HSSI2 Z amp C axes Connector Type RJ45 8 pin sockets Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 106 Table 106 J4 J5 and J6 HSSI Pinout Pin ACSPL Signal Description Designator 1 CONTROL Control signal non inverted output for channel 0 2 CONTROL Control signal inverted output for channel 0 3 SER DI Serial data non inverted input for channel 0 4 SER DI Serial data inverted input for channel 0 5 SER DO Serial data non inverted output for channel 0 6 SER DO Serial data inverted output for channel 0 7 DGND Digital ground for 5L 8 DGND Digital ground for 5L 2 5 7 8 J2 and J3 Ethernet Connectors Label J2 ETHI J3 ETH2 Connector Type RJ45 8 pin socket Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 107 Table 107 J2 and J3 Ethernet Pinout
42. OV at 25 C HSSI ACSPL Designations Control signal H CON Input signal H_DI Output signal H DO Quantity 9 MC4U One 11 MC4U Two 19 MC4U Three Input word size 16x4 64 per HSSI channel Version 6 50 18 MCAU Specifications MC4U Control Module Hardware Guide Table9 SPiiPlus 3U LT Specifications page 6 of 6 Description Remarks Output word size 16x4 64 per HSSI channel TX RX type RS422 compatible Input impedance 120 2 Distance 10m Sampling rate AII the 64 input bits are sampled and all the 64 output bits are updated every 50 uS HSSI connection HSSI channels can be commutated as external or internal Ethernet ACSPL Designations Transmit ETH1 TX Receive ETHI RX Transmit ETH2 TX Receive ETH2_RX Quantity Two ETH1 ETH2 Line impedance 10002 Galvanic Isolated Transmit COMI TX Receive COMI RX COM2 Transmit COM2 TX Receive COM2 RX Protocol TPC IP 10 100Mbps RS 232 ACSPL Designations COMI ESD protected Number of channels 9 MC4U and 11 MC4U One 19 MC4U Two Maximum Baud rate 115 200 CAN Bus ACSPL Designations CAN H CAN_L Number of channels 1 The CAN bus connector J3 is located on the front of the module Protocol CANopen Frequency Up to IMHz Line impedance 120Q Galvanic isolated CAN power supply Internal Galvanic is
43. Remarks Internal multiplier 2 where n 2 to 16 ADC Resolution 14 bit SNR gt 72dB Diagnostics Encoder error Detection of Encoder Not Connected is incorporated in the software Squared Sin Cos Output ACSPL Designations A CHA In the SIN COS mode the same pins B _CHB are used as those of the digital encoder I _CHI inputs Quantity 4 for axes X Y A and B Format A B I Type RS422 Output impedance 100 120Q Protection Output short protected Analog Drive Commands Output Optional PWM filtered by third order filter ACSPL Designations Current commands for two phases Phase S ft IS CMD Phase T 4 IT CMD Quantity Two per axis Type Differential 10V Upon power up output is OV Maximum output 5 in max output voltage at 25 C inaccuracy Resolution 16 bit resolution Maximum zero offset 50mV at OV at 25 C Programmable Maximum load 5mA Output short protected PWM Drive Command Output ACSPL Designations Three PWM signals controlling a three phase bridge Bridge leg R 4 PWMO Bridge leg S PWMI Bridge leg T PWM2 Quantity Three per axis Type TTL Load current lt 6mA Base frequency 20kHz Pulse width Min Pulse width 16 6nS Max Pulse width 49 84uS Command range 3000 Resolution Command time resolution 16 6nSec 12 bit Default Power up output state Z P D Drive Command ACSPL
44. Reserved for future use 31 X MARK1 Mark Digital input non inverted 32 X MARKI Mark Digital input inverted 33 X MARK2 Mark Digital input non inverted 34 X MARK2 Mark Digital input inverted 35 Y MARK1 Mark Digital input non inverted 36 Y MARKI Mark Digital input inverted 37 Y MARK2 Reserved for future use 38 Y MARK2 Reserved for future use 39 Z MARKI Mark Digital input non inverted 40 Z MARKI Mark Digital input inverted 41 Z MARK2 Reserved for future use 42 Z MARK2 Reserved for future use 43 T MARK 1 Mark Digital input non inverted 44 T MARKI Mark Digital input inverted Version 6 50 85 MCAU Specifications MC4U Control Module Hardware Guide 2 5 3 6 Label J22 Motor Limits Connector J22 LIMITS Connector Type D type 25 pin male Mating Type D type 25 pin female for easy prototyping a Phoenix FLKM HDSUB 25 M Sub D to Screw Terminal converter can be used The pinout for J22 is given in Table 71 Table 71 J22 Motor Limits Pinout Pin ACSPL Signal Description Designator 1 V_SUP_SFTY Safety Supply 2 Not connected 3 X LL X Left Limit 4 A LL A Left Limit 5 Y LL Y Left Limit 6 B LL B Left Limit 7 Z LL Z Left Limit 8 C LL C Left Limit 9 T LL T Left Limit 10 D LL D Left Limit 11 Not connected 12 Not connected 13 Not connected 14 V RTN SFTY Safety Supply Return 15 Not connected 16 X RL X
45. Right Limit 17 A RL A Right Limit 18 Y RL Y Right Limit 19 B RL B Right Limit 20 Z RL Z Right Limit 21 C RL C Right Limit 22 T RL T Right Limit 23 D RL D Right Limit 24 ES Emergency stop non inverted 25 ES Emergency stop inverted Version 6 50 86 MC4U Specifications MC4U Control Module Hardware Guide 2 5 3 7 Label J4 J5 and J6 HSSI Connectors J4 HSSIO X amp A axes J5 HSSI1 Y amp B axes J6 HSSI2 Z amp C axes Connector Type RJ45 8 pin sockets Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 72 Table 72 J4 J5 and J6 HSSI Pinout Pin ACSPL Signal Description Designator 1 CONTROL Control signal non inverted output for channel 0 2 CONTROL Control signal inverted output for channel 0 3 SER DI Serial data non inverted input for channel 0 4 SER DI Serial data inverted input for channel 0 5 SER DO Serial data non inverted output for channel 0 6 SER DO Serial data inverted output for channel 0 7 DGND Digital ground for 5L 8 DGND Digital ground for 5L 2 5 3 8 J2 and J3 Ethernet Connectors Label J2 ETHI1 J3 ETH2 Connector Type RJ45 8 pin socket Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 73 Table 73 J2 and J3 Ethernet Pinout Pin ACSPL Signal Description Designator 1 ETH _TX Positive transmit signal 2 ETH _TX
46. Storage temperatures 25 to 60 C 2 6 1 2 J1 Drive Connector J1 is a Phoenix PCV 4 5 G 7 62 high current power 5 pin header It is designed for a 20Arms continuous contact current and a working voltage of 400Vrms The connector can handle a minimum of 500 couplings The pinout for J1 is provided in Table 131 Table 131 J1 Pinout Pin Name Description 1 T L1_D Input Driver phase 2 S L2 D Input Driver phase 3 R L3 D Input Driver phase 4 Not connected 5 PE EGND Shield 2 6 1 3 J2 Motor Connector J2 1s a Phoenix PC 4 4 G 7 62 high current power 4 pin header It is designed for a 20Arms continuous contact current and a working voltage of 400Vrms The connector can handle a minimum of 500 couplings The pinout for J2 is provided in Table 132 Table 132 J1 Pinout Pin Name Description 1 T L1 M Output Motor phase 2 S L2 M Output Motor phase 3 R L3 M Output Motor phase 4 PE EGND Shield 2 6 1 4 Motor Filter Physical Specifications The MC4U MF 560V Motor Filter is designed for rack mounting although as an option it can be wall mounted Figure 28gives the external dimensions in mm of the MCAU MF 560V Motor Filter Version 6 50 141 MCAU Specifications MC4U Control Module Hardware Guide L N Figure 28 MC4U MF 560V Motor Filter External Dimensions Version 6 50 142 MCAU Specifications MC4U Cont
47. X axis Version 6 50 165 MC4U Connectivity MC4U Control Module Hardware Guide Caution A user supplied 100 1200 resistor must be installed between the differential signals of the PEG outputs 5 10 Sin Cos Encoder Input Figure 46 illustrates the Sin Cos encoder interface for an X axis MC4U System Power Supply COS Incremental Encoder having Differential Outputs SHIELD Figure 46 Sin Cos Encoder Interface Version 6 50 166 MC4U Connectivity MC4U Control Module Hardware Guide 5 11 Joystick Input Interface To configure the differential analog inputs not Sin Cos to work with 0 to 10V 39 kQ resistors have to be connected in series to the analog input pins as shown in Figure 47 Note The user should be aware that in this configuration the resolution is reduced by a factor of 2 MC4U External 0 10 V device Figure 47 Analog Inputs with 0 10V Configuration Figure 48 illustrates a typlical joystick configuration User MC4U 5V Supply Return 5V Figure 48 A 5V Differential Joystick through AIN Version 6 50 167 MC4U Connectivity MC4U Control Module Hardware Guide 5 12 CAN Bus Connectivity This section details connecting the MC4U Control Module to a CAN bus 5 12 1 CAN Bus Topology Figure 49 depicts the CAN bus topology when connected to the MC4U CAN V Optional Power Supply 7 24V CAN bus controller
48. circuit is used for the following non real time purposes Power supply fault cause status reading If a power supply fault signal goes to 0 due to one of the following conditions component fault power down will be read via C the controller however is not able to differentiate between the four root causes Drive Supply Alarm Power supply is missing AC input is missing Drive Supply Alarm Temperature too high Drive Supply Alarm Drive supply too high Drive Supply Alarm Over current e Power supply card identification reading The power supply card identification information is located in C memory and can be read or written by the motion controller Power supply card serial number Power supply card revision Power supply card date of production Power supply type Version 6 50 152 Circuit Protection MC4U Control Module Hardware Guide 4 1 3 2 PSM3U High Power PS In PS3U 11a 23a 30N XX power supplies the IC circuit is used for the following non real time purposes Power supply fault cause status reading If a power supply fault signal goes to 0 due to a power supply fault condition the following fault cause status information can be read Drive Supply Alarm component fault phase lost Drive Supply Alarm component fault power down Drive Supply Alarm component fault power supply not ready Drive Supply Alarm component fault regeneration fault Drive Supply Ala
49. eee eee eee 120 1152 Motor Drive Pinout oh bed bete bee tad hes dom dieses 121 MBSU ZZZ Jumpers vred Sadr 122 Encoder Halll Pinot 2 222 brc er eek le ser Guacdoe Poe Sedna sates 125 J8 Digital and Analog I O Pinout 1 e 126 JO Regeneration Pinout 2r betreut RV IRURE Ee ec hoe FORE E ps 128 121 s Bast IO Pin ut cc 2er tdi ener ated Sae ad AG ad dc siu Rd med 128 J22 Motor Limits Pinout sses od ess eee IDs cete RR M WR RUN 130 J4 J5 and J6 ASSL Pino t eec eter metet Pa gs peisen qus 131 J2 and J3 Ethernet Pmout s saseerarser cei ea t re ketrimen mete 131 J19 and J20 RS 232 Communication Pinout llle leen 132 J14 Drive Supply Voltage Pinout 00 0 0 cen 132 I1 24V Logic Supply Pino t soseer s etit ekem sexi Gees geek Ale eben 133 J40 External Drive Control Signals Pinout llle 133 J152 Motor Drive Pinout 0 0 re 134 J125 External DC Drive Support Pinout 2 eese 136 J121 J124 Low Power Motor Pinout anunn 0 cece eee 136 12 Drive Motor PInQut 5 nece sarte sorbet E Ld ecd uem 138 MBSU LDM3U Jumper Configuration lese 139 MCAU MF 560V Motor Filter Operational Specifications 05 140 TIUPIBOUL res ostendo etse Rd EE Eu E 141 NE r ae EEE EEE EEE EE tee oe eros 141 International Standards amp Certificates Applicable to MC4U issue 144 Line Filters for Single Phase AC Input 00 0 eee cece ene 147 Line F
50. is provided in an enclosed case this warranty does not apply if the case has been opened ACS Motion Control is not liable for any damages material financial or physical caused by the products or the failure of the products to perform These limits of liability shall including but not limited to any lost profits lost savings lost earnings loss of programs or other data business interruption incidental damages consequential damages or personal injury These limitations apply whether damages are sought or a claim made under this warranty or as a tort claim including negligence and strict product liability or any other claim These limitations of liability will be effective even if you have advised Motion Control of the possibility of any such damages ACS Motion Control makes no other warranties expressed or implied including any implied warranties of merchantability or fitness of any product for a particular purpose ACS Motion Control expressly disclaims all warranties not stated in this warranty ACS Motion Control reserves the right to make change to this warranty without notice Version 6 50 174 MC4U CS Warranty
51. regeneration resistor must be disconnected from connector J5 otherwise it will work in parallel with the external resistor and just heat the power supply heatsink without any reason The internal regeneration resistor value is 100Q 100W 2kW peak Version 6 50 151 Circuit Protection MC4U Control Module Hardware Guide An external regeneration resistor can be used to absorb the motor regeneration energies of more than 100W rms This resistor can be connected to REGI user connector that is located on the power supply motherboard The external regeneration resistor value depends on the application The minimum value is 156 4 4 3 PC Circuit The IPC circuit is card and fault identification bus that serves to identify faults that may occur in the MC4U components There are two signals associated with the I C circuit Table 136 provides the general characteristics of the I C signals Each component of MC4U has its own local address defined by jumpers on the motherboard according system configuration Table 136 C Signals Signal ACSPL Designation Type Default Value CLOCK DC CLK Single ended TTL input 1 logic level DATA DC DATA Single ended TTL input output 1 logic level The signals are handled by the SPiiPlus 3U controller The sections that follow detail what can be reported via the I C bus for each of the MC4U modules 4 1 3 1 PSM3U Low Power PS In PSM3U 48V XXkW power supplies the IC
52. 0 3 SER DI Serial data non inverted input for channel 0 4 SER DI Serial data inverted input for channel 0 5 SER DO Serial data non inverted output for channel 0 6 SER DO Serial data inverted output for channel 0 T DGND Digital ground for 5L 8 DGND Digital ground for 5L 2 5 1 8 J19 RS 232 Communication Connector Label J19 COMI Connector Type D type 9 pin male Mating type D type 9 pin female Version 6 50 64 MC4U Specifications MC4U Control Module Hardware Guide The pinout of J19 is given in Table 48 Table 48 J19 RS 232 Communicationi Pinout Pin Signal Description Designator 1 SHIELD Cable shield connection 2 RX232 RS 232 receive signal for the communication port COM1 3 TX232 RS 232 transmit signal for communication port COM1 4 Not connected 5 DGND Digital ground 6 Not connected 7 Not connected 8 Not connected 9 Not connected 2 5 1 9 J13 Y and B External Drive Control Signals Connector Label J13 EXTERNAL DRIVE Connector Type D type HD 15 pin female Mating Type D type HD 15 pin male J13 serves for connecting an external drive Note e It is possible to use external drives and control two additional axes designated Y and B through J13 In this case the interface to both drives is through J13 however for encoder feedback you have to use connectors J 14 for the Y axis and J16 for the
53. 00005 171 19 MC4U Panel Mounting 0 0 0 0 171 19 MCAU Rack Mount 206 c46 406 che eed edie ned ere eer a eed 172 Version 6 50 vii MC4U Control Module Hardware Guide List of Tables Table I Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Table 33 Table 34 Table 35 Table 36 Table 37 Table 38 Table 39 Table 40 Table 41 Table 42 Table 43 Table 44 Table 45 Table 46 Table 47 Table 48 Table 49 Collateral Documehtation s estie epp UE E RES DUREE AURA ade ees 1 Text Conyertiolis 3 92 oro 9395 operer andre neser raet kapre LEO eder 5 Terms and Definitions x52 ERA ees Tara Sea ees SSS ENERO RAE 6 9 MCAU Dimensions iss lbs ie ska ee aka er Re ES 8 I1 MC4U Dimensions or RRLR Ebr shee ORES Soe ET Are 9 19 MCAU Dimensioni ose nie aed CER QUY rai pa gea 10 MCAU Power Dissipation 0 cece cece EENE R ENE 11 MC4U Environmental Specification 0 eee eee eee 11 SPuPlus 3U LT Specifications avanavvavrn near even e 14 SPuPlus 3U HP Specifications sss sos co ERR dee eke oda ERRARE need wee aa bee 20 CAN B s Pinout xvni URRSPERR TCU PERRA eee peu 32 SPuPlus 3U LED Indicators 5i 3 os eens RR ARR E Rp ete beatae 33 PSM3U 48V XXkW Low P
54. 0ms the inrush current value will continuously decrease and drop below 0 2A rms within 1sec Drive supply maximum input power for 2 axes operated simultaneously 2791W continuous and 5582W peak for DDM3U 2 320V 5A 5551W continuous and 11102W peak for DDM3U 2 320V 10A 8330W continuous and 11102W peak for DDM3U 2 320V 20A During motor regeneration a rapid increase in the input voltage up to 420V is allowed If the voltage ripple during regeneration exceeds this 420V then the over voltage protection is activated It should be noted that the maximum input power cannot be more than 11 102W due to the maximum input current that is limited by the maximum available PCB fuse size 30A 600Vdc Version 6 50 48 MCAU Specifications MC4U Control Module Hardware Guide Table 31 DDM3U 2 320V YY Specifications page 2 of 2 Description Remarks Input Current Drive supply maximum input current for 2 axes operated simultaneously 7 5A continuous and 15A peak for DDM3U 2 320V 5A 15A continuous and 30A peak for DDM3U 2 320V 10A 22A continuous and 30A peak for DDM3U 2 320V 20A Input Control Supply Control supply input voltage Nominal voltage 24Vde Minimum voltage 19Vdc Maximum voltage 29Vde Control supply input power 15W max Control supply input current 0 8A max 19V control supply input voltage Control supply inrush current Maximum inrush current value is less than 2
55. 1 Propagation delay from input to measured output delay lt 3mS From Fault Input occurrence to response activity in CTIME 1 Registration Mark ACSPL Designations Mark 1 4 MARK 1 Can also be used for general purpose Mark 2 4 MARK2 input Quantity Two per X Y Z and T axes Type MARKI RS422 compatible ING shared with X axis MARK2 Input impedance 1202 IN7 shared with Y axis MARK2 IN4 shared with Z axis MARK2 MARK shared with GP inputs INS shared with T axis MARK2 See General Purpose Logic Inputs Default state Vin lt 0 2V Input logic 0 Open state No Input Current Input logic 1 Propagation delay For differential outputs lt 0 3uS For opto isolated inputs not more 50S Version 6 50 27 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 9 of 12 Description Remarks General Purpose Outputs ACSPL Designations OUTO0 OUTI OUT2 OUT3 OUT4 OUTS OUT6 OUT7 The same pins of connectors can be defined by FPGA as digital outputs or mechanical brake See Mechanical Brake Through setting the JP9 jumper the same pins of the connectors can be defined as opto isolated PEGs OUT6 shared with X axis PEG OUTT shared with Y axis PEG OUT4 shared with Z axis PEG OUTS shared with T axis PEG Default Digital output Quantity 8 Type Single ended opto iso
56. 1 010 when the motherboard assembled is slot number 2 011 when the motherboard assembled is slot number 3 100 when the motherboard assembled is slot number 4 101 when the motherboard assembled is slot number 5 110 when the motherboard assembled is slot number 6 111 when the motherboard assembled is slot number 7 0 the jumper is installed I the jumper is removed Version 6 50 96 MCAU Specifications MC4U Control Module Hardware Guide 2 5 6 MB5U YYYY Motherboard The MBSU YYYY is installed in the 19 MC4U The connectors associated with the MB5U Y Y Y Y motherboard are shown in Figure 19 Figure 19 MBSU YYYY Connectors 2 5 6 1 MB5U YYYY Functionality The MBSU YYY Y accomodates the SPiiPlus 3U LT HP motion controller four DDM3U 2 320V XX up to 10A 20A drives and one PSM3U 320V 8KW power supply It supports the following functionality e 8x Digital encoders e 8xSIN COS encoders optional e 8x Hall effect sensors 8x Motor Temperature sensors 16x Safety inputs e xE stop e 8 x Digital outputs Mechanical brakes e 8x Digital inputs e 4x Analog I O 5x MARK signals e 8xSquared SIN COS signals e 4x PEG signals plus 3 x STATE signals e 8 x Motor output signals e 2x Ethernet channels e 2xHSSI channel e 2x RS 232 channels Version 6 50 97 MCAU Specifications MC4U Control Module Hardware Guide 2 5 6 2 Encoder and Hall Connectors Label
57. 1 V SUP IO Input Output Supply 32 V RTN IO Input Output Supply Return 33 INA Digital Input 4 34 INS Digital Input 5 35 IN6 Digital Input 6 36 IN7 Digital Input 7 37 AGND Analog ground 38 AGND Analog ground 39 Not connected 40 Not connected 41 Not connected 42 12V1 12V for joystick optional need 0Q resistor Not Applicable 43 12V1 RTN 12V return for joystick optional need 0Q resistor Not Applicable 44 12V1 12V for joystick optional need 0 resistor Not Applicable Version 6 50 114 MCAU Specifications MC4U Control Module Hardware Guide 2 5 7 4 J9 Regeneration Connector Model J9 is relevant only if the PSM3U 320V XXkW high power supply is being used Label J9 REGENERATION Connector Type Phoenix FRONT 2 5 V SA 10 Mating Type None screw terminal The pinout for J9 is provided in Table 103 Table 103 J9 Regeneration Pinout Pin ACSPL Signal Description Designator 1 REGI 1 Regeneration resistor for PS 1 V1 on the motherboard 2 REGI 2 Regeneration resistor for PS I 3 REG2 1 Regeneration resistor for PS 2 V2 on the motherboard 4 REG2 2 Regeneration resistor for PS 2 2 5 7 5 J21 Fast I O PEG amp Mark Connector Label J21 FAST I O Connector Type D type 44 pin HD female Mating Type D type 44 pin HD male for easy prototyping a Phoenix FLKM HDSUB 44 M Sub D to Screw Terminal converter can be used The pinout fo
58. 13 HA Motor Hall A 14 HC Motor Hall C 15 LL Left limit 16 SIN SIN non inverted input 17 COS Encoder COS non inverted input 18 SCH Encoder SIN COS Index non inverted input 19 5U 5V user supply for the digital encoder and Hall 20 5U RTN 5V return user supply for the digital encoder and Hall 21 Shield Shield 22 MTMP Motor temperature sensor input 23 V RTN IO A return for the Motor temperature sensor 24 V RTN SFTY A return for the limits input 25 5F 5V user supply for the analog encoder and Hall 26 5F RTN 5V return user supply for the analog encoder and Hall 2 5 6 3 J8 Digital and Analog I O Connector Label J8 DIGITAL amp ANALOG I O Connector Type D type 44 pin HD male Mating Type D type 44 pin HD female for easy prototyping a Phoenix FLKM HDSUB 44 M Sub D to Screw Terminal converter can be used J8 serves for controlling Digital and Analog I O signal formats The pinout for J8 is given in Table 86 Table 86 J8 Digital and Analog I O Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 OUTI Digital Output 1 2 OUT3 Digital Output 3 3 OUTS Digital Output 5 4 OUT7 Digital Output 7 5 INI Digital Input 1 6 IN3 Digital Input 3 7 AGND Analog ground 8 AIN10 Analog input inverted 9 AINII Analog input inverted 10 AIN14 Analog input inverted 11 AIN15 Analog input inverted 12 AOUT_CS Analog output CS inverted Not used when MC4U is with SPiiPlu
59. 136 MCAU Specifications MC4U Control Module Hardware Guide The diagrams in Figure 25illustrate how motors are to be connected Three phase servo motor drive 1 R phase 2 S 3 4 Three phase motor DC Serv o motor drive GND motor shield DC motor stepper motor drive MOTOR STEPPER Figure 25 MBSU ZZW J121 J124 Motor Drive Connections Version 6 50 137 MCAU Specifications MC4U Control Module Hardware Guide 2 5 9 MB5U LDM3U Motherboard The MBSU LDM3U is installed in the 19 MC4U The connectors associated with the MBSU LDM3U motherboard are shown in Figure 26 Figure 26 MBSU LDM3U Connectors 2 5 9 MB5U LDM3U Functionality The MB5U LDM3U accomodates the LDM3U Single Axis Linear Amplifier see Section 2 4 3 2 5 9 2 J2 Drive Motor Connector J2 DRIVE MOTOR is a Phoenix MCV 1 5 4 GF 3 81 connector Mating type Phoenix MC 1 5 4 STF 3 81 Table 128 provides the pinout for J2 Table 128 J2 Drive Motor Pinout Pin Name Description 1 R Motor R phase 2 S Motor S phase 3 T Motor T phase 4 Electrical Ground Electrical Ground Version 6 50 138 MCAU Specifications MC4U Control Module Hardware Guide 2 5 9 3 MB5U LDM3U Jumper Configuration Warning Only a qualified technician should make any changes to the factory settings of the jumpers Remove the back cover of the unit to access the jumpers Table
60. 20A 1 216 85 265 84 314 78 Vout min Vde 30A sine peak p 159 85 209 17 258 33 motor phase current DDM3U 2 320 20A 1 197 95 247 04 296 06 Vout_min Vdc 40A sine peak 2 121 70 171 34 220 68 motor phase current Table 34 Minimum Output Voltage Three Phase Input 195 265Vac DDM3U 2 320V YY Number of 195Vac 230Vac 265Vac Motors DDM3U 2 320V 5A 1 267 19 316 00 364 80 Vout_min Vdc 10A sine peak 2 260 90 309 73 358 54 motor phase current DDM3U 2 320V 10A 1 260 94 309 77 358 58 Vout_min Vdc 20A sine peak 2 248 39 297 26 346 10 motor phase current DDM3U 2 320V 20A 1 254 64 303 49 352 32 Vout min Vdc 30A sine peak 2 235 76 284 68 333 57 motor phase current DDM3U 2 320 20A 1 248 37 297 24 346 09 Vout min Vdc 40A sine peak 2 223 20 272 17 321 09 motor phase current Caution Drive output peak current can be 80A at 1 7 duty peak idle cycle any current over this value causes the fuse to blow Version 6 50 50 MCAU Specifications MC4U Control Module Hardware Guide 2 4 2 2 Pulse Width Modulation Power Bridge Specification There are two identical PWM Power Bridges on the DDM3U 2 320V YY board Three types with different current levels Cont Peak are available 5 10A DDM3U 2 320V 5A e 10 20A DDM3U 2 320V 10A 15 304 DDM3U 2 320V 15A e 20 40A DDM3U 2 320V 20A Table 35 provides the detailed PWM specificat
61. 44 J20 Safety and Fast I O Pinout Pin Signal Description Designator 1 V SUP SFTY Safety Supply 2 Not Connected 3 X LL X Left Limit 4 A LL A Left Limit 5 Y LL Y Left Limit 6 B LL B Left Limit 7 DGND Digital ground 8 Y MARKI Non inverted MARKI for Y axis 9 X MARK1 Non inverted MARKI for X axis 10 Y PEG Non inverted PEG for Y axis 11 X PEG Non inverted PEG for X axis 12 Not Connected 13 Not Connected 14 V RTN SFTY Safety Supply Return 15 Not Connected 16 X RL X Right Limit 17 A RL A Right Limit 18 Y RL Y Right Limit 19 B RL B Right Limit 20 Y MARKI Inverted MARK for Y axis 21 X MARKI Inverted MARK for X axis 22 Y PEG Inverted PEG for Y axis 23 X PEG Inverted PEG for X axis 24 ES Non inverted Emergency Stop 25 ES Inverted Emergency Stop Version 6 50 61 MCAU Specifications MC4U Control Module Hardware Guide 2 5 1 5 J3 J4 Drive Motor Connectors Label J3 A MOTOR J4 X MOTOR Connector Type Phoenix PCV 4 4 G 7 62 BK Mating Type Phoenix PC 4 4 STF 7 62 They serve for connecting the A axis drive motor and the X axis drive motor respectively to the controller The pinout of the connectors is given in Table 45 Note The dollar sign stands for the given axis for example 8 R can be A R or X R etc Table 45 J3 and J4 Drive Motor Pinout Pin ACSPL
62. 5U ZZZ Jumper Configuration Warning Only a qualified technician should make any changes to the factory settings of the jumpers Remove the back cover of the unit to access the jumpers Table 113 MB5U ZZZ Jumpers page 1 of 2 Name Description Functionality Use for JP1 5 24Vdc internal Safety 1 2 5Vdc internal Safety supply configuration supply 2 3 24Vdc internal JP2 Internal external safety 1 2 external supply Safety supply configuration supply 2 3 internal supply Version 6 50 122 MCAU Specifications MC4U Control Module Hardware Guide Table 113 MB5U ZZZ Jumpers page 2 of 2 JP3 5 24Vdc internal I O 1 2 5Vdc internal IO supply configuration supply 2 3 24Vdc internal JP4 Internal external IO 1 2 external supply IO supply configuration supply 2 3 internal supply JP5 24 RTN DGND IO 1 2 DGND IO supply configuration supply return 2 3 24V RTN JP6 External Internal IO 1 2 external supply return IO supply configuration supply return 2 3 internal supply return JP7 24 RTN DGND safety 1 2 DGND Safety supply configuration supply return 2 3 24V RTN JP8 External Internal safety 1 2 external supply return Safety supply configuration supply return 2 3 internal supply return JP9 Internal or external 1 2 External Encoder supply analog encoder supply 2 3 Internal JP10 Internal or external digital 1 2 External Encoder supply enco
63. 6 7 8 4 444 552 Version 6 50 45 MCAU Specifications MC4U Control Module Hardware Guide Table 29 DDM3U X 60V 4A Total Output Current and Output Power Number Maximum Maximum Maximum Maximum of Axes Continuous Peak Total Continuous Peak Total Total Output Total Output Output Current Output Power Current 3 Sec Power 3 Sec W Arms Sin Arms Sin W Peak Peak DDM3U 2 60V 4A 2DC 5 6 8 7 1 10 352 440 Brushless DDM3U 4 06V 4A 4DC 11 2 16 14 1 20 704 880 Brushless DDM3U 2 60V 4A 2 DC Brush 5 6 NA 10 NA 336 600 2 Step 4 5 6 7 1 10 212 264 DDM3U 4 60V 4A 4 DC Brush 11 2 NA 20 NA 672 1200 4 Step 8 11 2 14 2 20 424 528 Table 30 DDM3U X 60V 4A Power Motor Output Parameters Type of Maximum Maximum Maximum Maximum Maximum Connected Continuous Peak Phase to Continuous Peak Motor Phase Output Phase Phase Output Output Current Output Output Power W Power Arms Sine Current Voltage V 3 Sec Peak 3 Sec MW Arms Sin Peak DC Brushless 2 8 4 3 5 5 36 176 220 DC Brush 2 8 NA 5 NA 52 168 300 Step 2 2 8 2 8 3 5 52 see note 106 132 o e D The maximum output voltage for a Step motor Phase S to Phase T is 52V but for Phase S or Phase T to Phase R it is 36V Z o e D los The power output parameters are based on 40 C ambient temperature Version 6 50 46 MC4U Specifications
64. 8 Y PEG PEG Digital output inverted 29 X PEG PEG Digital output inverted 30 T MARK2 Reserved for future use 31 X MARK1 Mark Digital input non inverted 32 X MARKI Mark Digital input inverted 33 X MARK2 Mark Digital input non inverted 34 X MARK2 Mark Digital input inverted 35 Y MARK1 Mark Digital input non inverted 36 Y MARKI Mark Digital input inverted 37 Y MARK2 Reserved for future use 38 Y MARK2 Reserved for future use 39 Z MARKI1 Mark Digital input non inverted 40 Z MARKI Mark Digital input inverted 41 Z MARK2 Reserved for future use 42 Z MARK2 Reserved for future use 43 T MARK 1 Mark Digital input non inverted 44 T MARKI Mark Digital input inverted Version 6 50 116 MCAU Specifications MC4U Control Module Hardware Guide 2 5 7 6 Label J22 Motor Limits Connector J22 LIMITS Connector Type D type 25 pin male Mating Type D type 25 pin female for easy prototyping a Phoenix FLKM HDSUB 25 M Sub D to Screw Terminal converter can be used The pinout for J22 is given in Table 105 Table 105 J22 Motor Limits Pinout Pin ACSPL Signal Description Designator 1 V_SUP_SFTY Safety Supply 2 Not connected 3 X LL X Left Limit 4 A LL A Left Limit 5 Y LL Y Left Limit 6 B LL B Left Limit 7 Z LL Z Left Limit 8 C LL C Left Limit 9 T LL T Left Limit 10 D LL D Left Limit 11 Not connected 12
65. A rms measured within first 200ms after drive supply input voltage is applied After the first 200ms the inrush current value will continuously decrease and drop below 1 25A within Isec Control supply input voltage ripple Maximum input voltage ripple amplitude 5V peak to peak at 100Hz frequency In any condition the input voltage level including the voltage ripple amplitude must not be lower than 19V and not greater than 29V Table 32 Minimum Output Voltage Single Phase Input 85 130Vac DDM3U 2 320V YY Number of 85Vac 100Vac 115Vac 130Vac Motors DDM3U 2 320V 5A 1 99 55 115 94 140 46 164 95 motor phase current DDM3U 2 320V 10A 1 80 15 96 69 121 36 145 95 motor phase current DDM3U 2 320V 20A 1 60 18 76 96 101 91 126 68 Vout_min Ydc 30A sine peak 7 0 00 16 24 42 71 68 33 motor phase current DDM3U 2 320V 20A 1 40 05 57 21 82 48 107 43 Vout_min Vdc 40A sine peak 7 0 00 0 00 1 76 28 65 motor phase current Version 6 50 49 MC4U Specifications MC4U Control Module Hardware Guide Table 33 Minimum Output Voltage Single Phase Input 195 265Vac DDM3U 2 320V YY Number of 195Vac 230Vac 265Vac Motors DDM3U 2 320V 5A 1 254 60 303 44 352 28 motor phase current DDM3U 2 320V 10A 1 235 83 284 74 333 61 Vout min Vde 20A sine peak 2 198 03 247 12 296 11 motor phase current DDM3U 2 320
66. ACS Motrontontrol HEGE Your Competitive Advantage MC4U Control Module Hardware Guide Version 6 50 MC4U CS Control Module MC4U CS Control Module Version 6 50 15 February 2009 Copyright O 2006 2009 ACS Motion Control Ltd Changes are periodically made to the information in this document Changes are published as release notes and will be incorporated into future revisions of this document No part of this document may be reproduced in any form without prior written permission from ACS Motion Control TRADEMARKS ACS Motion Control PEG and SPiiPlus are trademarks of ACS Motion Control Ltd Visual Basic and Windows are trademarks of Microsoft Corporation All other companies and product names mentioned herein may be the trademarks of their respective owners ACS NM Of Or e Onti o Web Site www AcsMotionControl com Your Competitive Ac antage Information info AcsMotionControl com Tech Support support AcsMotionControl com ACS Motion Control Ltd Ramat Gabriel Industrial Park POB 5668 Migdal HaEmek 10500 ISRAEL Tel 972 4 6546440 Fax 972 4 6546443 ACS Motion Control Inc 6575 City West Parkway Eden Prairie MN 55334 USA Tel 1 763 559 7669 800 545 2980 in USA Fax 1 763 559 0110 ACS Motion Control Korea Digital Empire Building D 191 980 3 Youngtong dong Youngtong gu Suwon Geonggi do 443 813 Korea Tel 82 31 202 3541 Fax 82 31 202 3542 NOTICE The infor
67. B axis The pinout of J13 is given in Table 49 Table 49 J13 External Drive Control Signals Pinout page 1 of 2 Pin Signal Description Designator 1 Y_CMD0 Y Drive Command 0 2 Y CMDO Y Drive Command 0 3 Y CMDI Y Drive Command 1 4 Y CMDI Y Drive Command 1 5 Y ENA Y axis enable signal 6 B CMDO0 B Drive Command 0 7 B CMDO B Drive Command 0 8 B CMDI B Drive Command 1 9 B CMDI B Drive Command 1 10 Y FLT Y axis fault signal Version 6 50 65 MCAU Specifications MC4U Control Module Hardware Guide Table 49 J13 External Drive Control Signals Pinout page 2 of 2 Pin Signal Description Designator 11 AGND Analog Ground 12 DGND Digital Ground 13 5U 5V user supply for digital encoder and Hall sensor 14 B ENA B axis enable signal 15 B FLT B axis fault signal 2 5 1 10 J11 External Regeneration J11 EXTERNAL REGENERATION Connector Type Phoenix PCV 5 2 GF 7 62 Mating Type Phoenix PC 5 2 STF 7 62 Label The pinout for J11 is given in Table 50 Table 50 J11 External Regeneration Pinout Pin Signal Description Designator 1 REGI External Regeneration resistor terminal 1 2 REG2 External Regeneration resistor terminal 2 2 5 1 11 J12 Drive Supply Connector Label J12 DRIVE SUPPLY Connector Type Phoenix PCV 5 5 GF 7 62 Mating Type Phoenix PC 5 5 STF 7 62 AC po
68. C J17 B ENC J18 A ENC Connector Type D type 26 pin HD female Mating Type D type 26 pin HD male for easy prototyping a Phoenix FLKM HDSUB 26 M Sub D to Screw Terminal converter can be used The connectors are allocated as follows Connector Axis Connector Axis J10 T ENC T J15 D ENC D J11 Z ENC Z J16 C ENC C J12 Y ENC Y J17 B ENC B J13 X ENC X J18 A ENC A The pinout for the Encoder Hall Connectors is given in Table 67 Note t The dollar sign stands for the given axis for example LL can be X LL Y LL etc Table 67 Encoder Hall Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 CHA Encoder A inverted input 2 CHB Encoder B inverted input 3 CHI Encoder index inverted input 4 HB Motor Hall B 5 V_SUP_SFTY Supply for the limits input 6 RL Right limit 7 SIN Encoder SIN inverted input 8 COS Encoder COS inverted input 9 SC I Encoder SIN COS Index inverted input 10 CHA Encoder A non inverted input 11 CHB Encoder B non inverted input Version 6 50 81 MCAU Specifications MC4U Control Module Hardware Guide Table 67 Encoder Hall Pinout page 2 of 2 Pin ACSPL Signal Description Designator 12 CHI Encoder Index non inverted input 13 HA Motor Hall A 14 HC Motor Hall C 15 LL Left limi
69. E eee ed e horde 64 2 5 1 8 J19 RS 232 Communication Connector 000 c eee eee 64 2 5 1 9 J13 Y and B External Drive Control Signals Connector 65 2 5 1 10 J11 External Regeneration 0 0 0 66 2 5 1 11 J12 Drive Supply Connector 0 0 0 ets 66 2 5 1 12 J5 24V Logic Supply Connector 0 cece ees 67 2 5 1 13 MBSU Z Jumper Configuration scese es enen eee eee 67 2 5 2 MB5U ZZ Motherboard iy oris re e aem p Kees 69 2 5 2 1 MBSU ZZ Functionality 2 0 0 0 cae 69 2 5 2 2 Encoder and Hall Connectors 2 0 0 0 ccc eee ee 70 2 5 2 3 J10 Digital and Analog I O Connector 00000 e eee eee ee 71 2 5 2 4 J20 Safety amp Fast I O Inputs Connector 00 02 essen 73 2 5 2 5 J1 J2 J3 J4 Drive Motor Connectors 0 0 0 0 74 2 5 2 6 J6 and J7 Ethernet Connectors nasaan aaaea 75 29267 J8 and JO HSSI Connectors 2 0 0 0c ees 76 2 5 2 8 J19 RS 232 Communication Connector 0000 cece eee 76 2 5 2 9 J11 External Regeneration lsssseseee eens 77 2 5 2 10 J12 Drive Supply Connector 0 0 ees 77 2 5 2 11 J5 24V Logic Supply Connector 00 eese 77 2 52 12 MBSU ZZ Jumper Configuration 00 0 eee 78 2 5 3 MBSU CON PS Motherboard 0 0 0 cece cee nae 80 2 5 3 1 MBSU CON PS Functionality 80 2 5 3 2 Encoder and Hall Connectors ia saceeceresiereeritrriieete tenti tei 81 2 5 3 3 J8 Digital and An
70. EMC EN 61326 2002 International EMC SEMI F47 0200 Figure 30 shows the standards organization marks that appear on the MC4U Control Module Figure 30 Standards Organization Marks The CE marking indicates that the MC4U meets all the essential requirements of the relevant European Directive s The C and US indicators adjacent to the Underwriters Laboratories Mark signify that the MCAU has been evaluated to the applicable CSA and ANSI UL Standards for use in Canada and the U S respectively The US indicator includes products eligible to bear the NRT indicator NRT i e National Recognized Testing Laboratory is a designation granded by the U S Occupational Safety and Health Administration OSHA to laboratories which have been recognized to perform certification to U S Standards 163785 January 25 200223301637853 Model The DDM3U 4 60V 2A Motor Drive is not UL certified It does however meet all relevant CE requirements Version 6 50 144 Safety and EMC Guidelines MC4U Control Module Hardware Guide 3 2 General Safety Guidelines Under emergency situations the MC4U must be completely disconnected from any power supply The E Stop Inputs and Left Right Limits of the MC4U are designed for use in conjunction with customer installed devices to protect driver load The operator is responsible for complying with all Electrical Codes 3 2 1 MC4U Handling amp Maintenance
71. FLT T axis fault signal Version 6 50 106 MCAU Specifications MC4U Control Modu le Hardware Guide Table 95 J40 External Drive Control Signals Pinout Pin ACSPL Signal Description Designator 11 AGND Analog ground 12 DGND Digital ground 13 5U 5V user supply for digital encoder and Hall sensor 14 D ENA D axis enable signal 15 D FLT D axis fault signal 2 5 6 13 J152_ Motor Drive Output Connectors Label J152 X J152 Y J152 Z J152 T J152 A J152 B J152 C J152 D Connector Type Phoenix PCV 4 4 G 7 62 BK Mating Type Phoenix PC 4 4 STF 7 62 The connectors are allocated as follows Connector Axis Connector Axis J152 X X J152 A A J152 Y Y J152 B B J152 Z Z J152 C C J152 T T J152 D D The J152 pinout is given in Table 96 Table 96 J152_ Motor Drive Output Pinout Pin ACSPL Signal Description Designator 1 EGND Shield 2 R Motor R phase 3 S Motor S phase 4 T Motor T phase Version 6 50 107 MCAU Specifications MC4U Control Module Hardware Guide The diagrams in Figure 20illustrate how motors are to be connected Three phase servo motor drive Three phase motor Step motor drive MOTOR STEPPER DC Servo motor drive Figure 20 MB5U YYYY Motor Drive Connections 2 5 6 14 MB5U YYYY Jumper Configuration Warning Only a qualified technician sh
72. INS Digital Input 5 35 IN6 Digital Input 6 36 IN7 Digital Input 7 37 AGND Analog ground 38 AGND Analog ground 39 Not connected 40 Not connected 41 Not connected 42 12V1 12V for joystick optional need 0Q resistor Not Applicable 43 12V1 RTN 12V return for joystick optional need 0Q resistor Not Applicable 44 12V1 12V for joystick optional need 0 resistor Not Applicable Version 6 50 100 MCAU Specifications MC4U Control Module Hardware Guide 2 5 6 4 J9 Regeneration Connector Model being used J9 is relevant only if the PSM3U 320V XXkW high power supply is Label J9 REGENERATION Connector Type external Phoenix FRONT 2 5 V SA 10 connector Mating Type None screw terminal The pinout for J9 is provided in Table 87 Table 87 J9 Regeneration Pinout Pins ACSPL Signal Description Designator 1 REGI 1 Regeneration resistor for PS 1 V1 on the motherboard 2 REGI 2 Regeneration resistor for PS I 3 REG2 1 Regeneration resistor for PS 2 V2 on the motherboard 4 REG2 2 Regeneration resistor for PS 2 2 5 6 5 J21 Fast I O PEG amp Mark Connector Label J21 FAST I O Connector Type D type 44 pin HD female connector Mating Type D type 44 pin HD male for easy prototyping a Phoenix FLKM HDSUB 44 M Sub D to Screw Terminal converter can be used The pinout for J21 is given in Table 88 Table 88 J21 Fast I O P
73. J10 T ENC J11 Z ENC J12 Y ENC J13 X ENC J15 D ENC J16 C ENC J17 B ENC J18 A ENC Connector Type D type 26 pin HD female Mating Type D type 26 pin HD male for easy prototyping a Phoenix FLKM HDSUB 26 M Sub D to Screw Terminal converter can be used The connectors are allocated as follows Connector Axis Connector Axis J10 T ENC T J15 D ENC D J11 Z ENC Z J16 C ENC C J12 Y ENC Y J17 B ENC B J13 X ENC X J18 A ENC A The pinout for the Encoder Hall Connectors is given in Table 85 Note The dollar sign stands for the given axis for example _LL can be X LL or Y LL etc Table 85 Encoder Hall Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 CHA Encoder A inverted input 2 CHB Encoder B inverted input 3 CHI Encoder index inverted input 4 HB Motor Hall B 5 V_SUP_SFTY Supply for the limits input 6 RL Right limit 7 _SIN Encoder SIN inverted input 8 COS Encoder COS inverted input 9 SC I Encoder SIN COS Index inverted input 10 CHA Encoder A non inverted input 11 CHB Encoder B non inverted input Version 6 50 98 MCAU Specifications MC4U Control Module Hardware Guide Table 85 Encoder Hall Pinout page 2 of 2 Pin ACSPL Signal Description Designator 12 CHI Encoder Index non inverted input
74. L axis Primary axes X Y ZT Secondary axes do not support Mark designations Option Secondary axes AB C D and PEG 4 pairs of primary secondary XA YB ZC TD can control step motors using the P D command Supported motor types Brush Brushless Two Phase Brushless With appropriate firmware support Two Phase Stepper P D Stepper half of the axes Piazo ceramic Nano Motion Digital Encoder Inputs Outputs ACSPL Designations A ft CHA B CHB I _CHI Quantity One per axis In dual loop A B C and D encoders can be used as secondary encoders for the X Y Z and T axes Format A B I Version 6 50 20 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 2 of 12 Diagnostic inputs logic 0 A B I inputs 1 Description Remarks Interface type RS422 compatible Input impedance 1209 Maximum input 7 5MHz 7 5MHz A amp B input frequency frequency appropriate to 30 million counts per second Diagnostic Default Not Connected state Supports Encoder Not Connected and Encoder Error faults Hall Feedback ACSPL Designations Channel A HA Channel B HB Channel C 2 HC Quantity One per axis Format A B C Interface type Opto isolated input source input type open Power supply range 5Vdc 5 cathode up to 7mA current 50mA max supply load current for A DGND re
75. MC4U Figure 49 CAN Bus Network Topology with MC4U Control Module The 120Q termination resistor is required between CAN H and CAN L at both ends of the cabling The termination resistor can be inserted on the MC4U side of the bus using JP8 on SPiiPlus 3U LT 5 12 2 CAN Bus Controller Interface Figure 50 depicts the MC4U interface with the CAN bus PROTECTION Y AS Hs Pin gt AR DERE PES LL RR 1 N f CAN bus cable 3 PCA82C250 K Figure 50 CAN Bus Interface Version 6 50 168 MC4U Connectivity MC4U Control Module Hardware Guide It is recommend that a shielded twisted pair cable for example STP cable cat 5 with an RJ 45 plug connector with a maximum length of up to 30m be used for connecting the CAN bus The MC4U does not require an external power supply for the CAN bus interface however if another network component must be used the external supply is as show in Figure 49 refer to HW guide of the component for further details Version 6 50 169 MC4U Connectivity MC4U Control Module Hardware Guide 6 MCAU Installation and Maintenance The MC4U has been designed for easy installation and is relatively maintenance free This chapter covers MCAU installation and maintenance 6 1 Installing the MC4U The MC4U may be panel mounted Model The 19 MC4U may also be rack mounted This section covers only the MC4U hardware installation For soft
76. MOTORS E of Figure 15 MBSU 2 Connectors 2 5 4 1 J152 Servo Motor Drive Label J152 Connector Type Phoneix FRONT 4V 7 62 connector Mating Type None terminal screw The pinout for J152 is given in Table 81 Table 81 J152 Servo Motor Drive Pinout Pin ACSPL Signal Description Designator 1 EGND Electrical Ground 2 RO Motor 0 R phase 3 S0 Motor 0 S phase 4 T 0 Motor 0 T phase 5 EGND Electrical Ground 6 RI Motor 1 R phase 7 S1 Motor 1 S phase 8 T 1 Motor 1 T phase Version 6 50 91 MCAU Specifications MC4U Control Module Hardware Guide The diagrams in Figure 16illustrate how motors are to be connected DC Servo motor dive 1 EGND motor shidd o Three phase servo motor driv e 1 EGND motor shidd 2 Phase motor 3 jase motor 4 ase motor T Three phase motor Three phase motor Stepper motor drive MOTOR STEPPER T phase motor 2 MOTOR STEPPER Figure 16 MBSU 2 Motor Drive Connections Version 6 50 92 MCAU Specifications MC4U Control Module Hardware Guide 2 5 4 2 MB5U 2 Jumper Configuration Warning Only a qualified technician should make any changes to the factory settings of the jumpers Remove the back cover of the unit to access the jumpers Table 82 provides details of the MBSU 2 jumper configuration Table 82 MB5U 2 Jumper Configuration Name Des
77. ND Analog ground 8 AIN10 Analog input inverted Not Applicable 9 AINII Analog input inverted Not Applicable 10 AIN14 Analog input inverted Not Applicable 11 AIN15 Analog input inverted Not Applicable 12 AOUT_CS Analog output CS inverted Not Applicable AOUT10 Version 6 50 71 MCAU Specifications MC4U Control Module Hardware Guide Table 56 J10 Digital and Analog I O Pinout page 2 of 2 Pin Signal Description Designator 13 AOUT_CC Analog output CC inverted Not Applicable AOUTI11 14 AOUT DS Analog output DC inverted Not Applicable AOUT14 15 AOUT_DC Analog output DS inverted Not Applicable AOUT15 16 OUTO Digital Output 0 BRAKE X Mechanical Brake for X axis 17 OUT2 Digital Output 2 BRAKE 2 Mechanical Brake for Z axis 18 OUT4 Digital Output 4 BRAKE A Mechanical Brake for A axis 19 OUT6 Digital Output 6 BRAKE C Mechanical Brake for C axis 20 INO Digital Input 0 21 IN2 Digital Input 2 22 Not connected 23 AIN10 Analog input non inverted Not Applicable 24 AIN11 Analog input non inverted Not Applicable 25 AIN14 Analog input non inverted Not Applicable 26 AIN15 Analog input non inverted Not Applicable 27 AOUT 6 Analog output CS non inverted 28 AOUT_CC Analog output CC non inverted Not Applicable AOUTI11 29 AOUT 2 Analog output DC non inverted 30 AOUT DC Analog output DC non inver
78. O0 D Drive Command 0 7 D CMDO D Drive Command 0 8 D CMDI D Drive Command 1 Version 6 50 120 MCAU Specifications MC4U Control Module Hardware Guide Table 111 J40 External Drive Control Signals Pinout page 2 of 2 Pin ACSPL Signal Description Designator 9 D CMDI D Drive Command 1 10 T FLT T axis fault signal 11 AGND Analog ground 12 DGND Digital ground 13 5U 5V user supply for digital encoder and Hall sensor 14 D ENA D axis enable signal 15 D FLT D axis fault signal 2 5 7 13 J152_ Motor Drive Output Label J152 X J152 Y J152 Z J152 A J152 B J152 C Connector Type Phoenix PCV 4 4 G 7 62 BK Mating Type Phoenix PC 4 4 STF 7 62 The connectors are allocated as follows Connector Axis Connector Axis J152 X X J152 A A J152 Y Y J152 B B J152 Z Z J152 C C The J152 pinout is given in Table 112 Table 112 J152 Motor Drive Pinout Pin ACSPL Signal Description Designator 1 EGND Shield 2 R Motor R phase 3 S Motor S phase 4 T Motor T phase Version 6 50 121 MCAU Specifications MC4U Control Module Hardware Guide The diagrams in Figure 22illustrate how motors are to be connected Three phase servo motor drive Three phase motor Step motor drive MOTOR STEPPER DC Servo motor drive Figure 22 MB5U ZZZ Motor Drive Connections 2 5 7 14 MB
79. QUt essit idee Ee grr Gna ened etat baie ene eae SN ee ante 87 J2 and J3 Ethernet Pinout 21 5 skuret 9o etos sn eg RES RHA RH dcs 87 J19 and J20 RS 232 Communication Pinout llle eee 88 J14 Drive Supply Voltage Pinout 0 0 0 88 J1 24V Logic Supply Pinout oou sebra Gh ben RR one eee Re s 89 OJ se 89 Encoder Supply es aker er dar Gb Rash hy dated hannes er 90 PE Address dn 90 General Purpose Analog Input Jumpers sse 90 J152 Servo Motor Drive Pinout seses icsocscrentensstrio nikikaa Kaaa nanes 91 MBSU 2 Jumper Configuration sssi ssc eesi asics e soed a ni E a aeea a eea a a 93 J121 J124 Low Power Motor Pinout nunnana nanana 95 MBSU 4 Jumper Configuration 0 0 0 eect nervene 96 Encoder Hall Pinot 4 uie e eus kar ar be ard Adele SR Aa we 98 J8 Digital and Analog I O Pinout 00 ccc cee eee 99 JO Regeneration Pinot su seiis nna s npe ae SG hase Lad br pg ehe 101 JIE Bast VO Pinout ive hon hege Gait UO qe E ente ementi tus Runs 101 J22 Motor Limits Pinout 20 00 en 103 JA J5 and J6 HSSI Pinout sess merse cee ehh 104 J2 and J3 Ethernet Pinout eer t eR ERREUR ON CC UR REESE 104 J19 and J20 RS 232 Communication Pinout llle esee 105 J14 Drive Supply Voltage Pinout 00 0 eee ne 105 J1 24V Logic Supply Pinout 22i ehe hete Heck doter toe RR ein 106 J40 External Drive Control Signals Pinout 0 0 0 0 e ee eee eee 106 J152
80. Return 15 Not connected 16 X RL X Right Limit 17 A RL A Right Limit 18 Y RL Y Right Limit 19 B RL B Right Limit 20 Z RL Z Right Limit 21 C RL C Right Limit 22 T RL T Right Limit 23 D RL D Right Limit 24 ES Emergency stop non inverted 25 ES Emergency stop inverted Version 6 50 103 MC4U Specifications MC4U Control Module Hardware Guide 2 5 6 7 Label J4 J5 and J6 HSSI Connectors J4 HSSIO X amp axes J5 HSSI 1 Y amp B axes J6 HSSI2 Z amp C axes Connector Type RJ45 8 pin sockets Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 90 Table 90 J4 J5 and J6 HSSI Pinout Pin ACSPL Signal Description Designator 1 CONTROL Control signal non inverted output for channel 0 2 CONTROL Control signal inverted output for channel 0 3 SER DI Serial data non inverted input for channel 0 4 SER DI Serial data inverted input for channel 0 5 SER DO Serial data non inverted output for channel 0 6 SER DO Serial data inverted output for channel 0 7 DGND Digital ground for 5L 8 DGND Digital ground for 5L 2 5 6 8 J2 and J3 Ethernet Connectors Label J2 ETHI1 J3 ETH2 Connector Type RJ45 8 pin socket Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 91 Table 91 J2 and J3 Ethernet Pinout Pin ACSPL Signal Description Designa
81. Signal Description Designator 1 EGND Shield 2 R Motor R phase 3 5 Motor S phase 4 T Motor T phase Version 6 50 62 MCAU Specifications MC4U Control Module Hardware Guide The diagrams in Figure I lillustrate how motors are to be connected Three phase servo motor drive p T phase Three phase motor Step motor drive MOTOR STEPPER DC Servo motor drive Figure 11 MBSU Z Motor Drive Connections Version 6 50 63 MCAU Specifications MC4U Control Module Hardware Guide 2 5 1 6 Label J6 and J7 Ethernet Connectors J6 ETH1 J7 ETH2 Connector Type RJ45 8 pin socet Mating Type RJ45 8 pin plug The J6 J7 pinout is given in Table 46 Table 46 J6 and J7 Ethernet Pinout Pin ACSPL Signal Description Designator 1 ETH _TX Positive transmit signal 2 ETH _TX Negative transmit signal 3 ETH RX Positive receive signal 4 Not connected 5 Not connected 6 ETH _RX Negative receive signal 7 Not connected 8 Not connected 2 5 1 7 J8 HSSI Connector Label J8 HSSIO Connector Type RJ45 8 pin socket Mating Type RJ45 8 pin plug The pinout of J8 is given in Table 47 Table 47 J8 HSSI Pinout Pin Signal Description Designator 1 CONTROL Control signal non inverted output for channel 0 2 CONTROL Control signal inverted output for channel
82. Signal desigator when MC4U is with SPiiPlus 3U LT controller 30 AOUT DC Analog output DC non inverted AOUTI10 Signal desigator when MC4U is with SPiiPlus 3U LT controller 31 V SUP IO Input Output Supply 32 V RTN IO Input Output Supply Return 33 INA Digital Input 4 34 INS Digital Input 5 35 IN6 Digital Input 6 36 IN7 Digital Input 7 37 AGND Analog ground 38 AGND Analog ground 39 Not connected 40 Not connected 41 Not connected 42 12V1 12V for joystick optional need 0Q resistor Not Applicable 43 12V1 RTN 12V return for joystick optional need 0Q resistor Not Applicable 44 12V1 12V for joystick optional need 0 resistor Not Applicable Version 6 50 127 MCAU Specifications MC4U Control Module Hardware Guide 2 5 8 4 J9 Regeneration Connector Model J9 is relevant only if the PSM3U 320V XXkW high power supply is being used Label J9 REGENERATION Connector Type Phoenix FRONT 2 5 V SA 10 Mating Type None screw terminal The pinout for J9 is provided in Table 116 Table 116 J9 Regeneration Pinout Pin ACSPL Signal Description Designator 1 REGI 1 Regeneration resistor for PS 1 V1 on the motherboard 2 REGI 2 Regeneration resistor for PS I 3 REG2 1 Regeneration resistor for PS 2 V2 on the motherboard 4 REG2 2 Regeneration resistor for PS 2 2 5 85 J21 Fast I O PEG amp Mark Connector Label J21 FAST I O Connector T
83. Specifications MC4U Control Module Hardware Guide Table 55 Encoder Hall Pinout page 2 of 2 Pin Signal Description Designator 18 SCH Encoder SIN COS Index non inverted input 19 5U 5V user supply for the digital encoder and Hall 20 5U RTN 5V return user supply for the digital encoder and Hall 21 Shield Shield 22 MTMP Motor temperature sensor input 23 V RTN IO A return for the Motor temperature sensor 24 V RTN SFTY A return for the limits input 25 5F 5V user supply for the analog encoder and Hall 26 5F RTN 5V return user supply for the analog encoder and Hall 2 5 2 3 J10 Digital and Analog I O Connector Label J10 DIGITAL amp ANALOG I O Connector Type D type 44 pin HD male Mating Type D type 44 pin HD female for easy prototyping a Phoenix FLKM HDSUB 44 M Sub D to Screw Terminal converter can be used J10 serves for controlling Digital and Analog I O signal formats The pinout for J10 is given in Table 56 Table 56 J10 Digital and Analog I O Pinout page 1 of 2 Pin Signal Description Designator 1 OUTI Digital Output 1 BRAKE Y Mechanical Brake for Y axis 2 OUT3 Digital Output 3 BRAKE T Mechanical Brake for T axis 3 OUTS Digital Output 5 BRAKE B Mechanical Brake for B axis 4 OUT7 Digital Output 7 BRAKE D Mechanical Brake for D axis 5 IN1 Digital Input 1 6 IN3 Digital Input 3 7 AG
84. T_CMD0 T Drive Command 0 2 T CMDO T Drive Command 0 3 T CMD1 T Drive Command 1 4 T CMDI T Drive Command 1 5 T ENA T axis enable signal 6 D CMDO0 D Drive Command 0 7 D CMDO D Drive Command 0 8 D CMD1 D Drive Command 1 9 D CMDI D Drive Command 1 10 T FLT T axis fault signal Version 6 50 133 MCAU Specifications MC4U Control Module Hardware Guide Table 124 J40 External Drive Control Signals Pinout page 2 of 2 Pin ACSPL Signal Description Designator 11 AGND Analog ground 12 DGND Digital ground 13 5U 5V user supply for digital encoder and Hall sensor 14 D ENA D axis enable signal 15 D FLT D axis fault signal 2 5 8 13 J152 Motor Drive Output Label J152 X J152 Y J152 Z J152 A J152 B J152 C Connector Type Phoenix PCV 4 4 G 7 62 BK Mating Type Phoenix PC 4 4 STF 7 62 The connectors are allocated as follows Connector Axis Connector Axis J152 X X J152 A A J152 Y Y J152 B B J152 Z Z J152 C C The J152 pinout is given in Table 125 Table 125 J152 Motor Drive Pinout Pin ACSPL Signal Description Designator 1 EGND Shield 2 R Motor R phase 3 S Motor S phase 4 T Motor T phase Version 6 50 134 MCAU Specifications MC4U Control Module Hardware Guide The diagrams in Figure 24illustrate how motors are to be connected Three phase servo motor drive
85. V internal supply for digital I O or Safety these I Os are not isolated Version 6 50 78 MCAU Specifications MC4U Control Module Hardware Guide Table 66 Encoder Supply Version 6 50 Setup JP9 JP10 JP11 JP12 JP21 Analog encoder external supply 1 2 X 1 2 X 1 2 Analog encoder internal supply 2 3 X 2 3 X Open Digital encoder external supply X 1 2 X 1 2 2 3 Digital encoder internal supply X 2 3 X 2 3 Open 79 MCAU Specifications MC4U Control Module Hardware Guide 2 5 3 MB5U CON PS Motherboard The MB5U CON PS is installed in the 19 MC4U The connectors associated with the MB5U CON PS motherboard are shown in Figure 14 Figure 14 MBSU CON PS Connectors 2 5 3 1 MB5U CON PS Functionality The MB5U CON PS accommodates the motion controller and the power supplies It supports the following functionality e 8x Digital encoders e 8x SIN COS encoders optional e 8x Hall effect sensors 8x Motor Temperature sensors e 16x Safety inputs e 1x E stop 8x Squared SIN COS e 8x Digital outputs Mechanical brakes e 8x Digital inputs 4x Analog I O e 5x MARK signals e 4x PEG signals plus 3 x STATE signals 2x Ethernet channels 3xHSSI channel e 2x RS 232 channels Version 6 50 80 MCAU Specifications MC4U Control Module Hardware Guide 2 5 3 2 Encoder and Hall Connectors Label J10 T ENC J11 Z ENC J12 Y ENC J13 X ENC J15 D ENC J16 C EN
86. W unit Vin 265Vac and 500W continuous Vin 85Vac Version 6 50 37 MCAU Specifications MC4U Control Module Hardware Guide Table 13 PSM3U 48V XXkW Low Power PS Specifications page 2 of 2 Description Remarks Logic Supply The Logic Supply is used to generate all necessary low voltages for the SPiiPlus Motion Controller The Logic Supply is powered from an external 24Vdc control supply and has the following characteristics Input voltage Nominal voltage 24Vdc Minimum voltage 21 6Vdc Maximum voltage 26 4Vdc nput power 55W max Input current 2 9A max 21 6V control supply input voltage Supply inrush current Maximum inrush current value is less than 4Arms measured within first 400ms after logic supply input voltage is applied After the first 400ms the inrush current value continuously decreases and drops below 2 9A within 1sec Supply input voltage ripple Maximum input voltage ripple amplitude 5V peak to peak at 100Hz frequency e Inany condition the input voltage level including the voltage ripple amplitude must not be lower than 21 6V and not greater than 26 4V Supply Output Voltages see Table 14 IC Circuit See Section 4 1 3 12V supply for third party drive DC DC unit The PSM3U 48V 0 7kW Power Supply provides the option for supporting additional 12V for third party drives Power Supply Fault output
87. alog I O Connector 0 000 cece eee eee 82 2 5 3 4 J9 Regeneration Connector 0 eee tees 84 2 5 3 5 J21 Fast I O PEG and Mark Connector 000 cee eee 84 2 5 3 6 J22 Motor Limits Connector ss orrein mre eaa EE E E EEEE 86 2 5 3 7 J4 J5 and J6 HSSI Connectors 0 0 0 ec eee 87 2 5 3 8 J2 and J3 Ethernet Connectors 0 0 00 ees 87 2 5 3 9 J19 and J20 RS 232 Communication Connectors 0 005 88 2 5 3 10 J14 Drive Supply Voltage Connector nnana 00 0 ce cece eee ee 88 25 314 J1 24V Logic Supply Connector 2 0 eee 89 2 5 3 12 MBSU CON PS Jumper Configuration 000 cee eee eee 89 2 5 4 MB5U 2 Motherboard este D A eo aS oak eee 91 2 5 4 1 J152 Servo Motor Drive 0 0 ccc n 91 2 5 4 2 MBSU 2 Jumper Configuration 0 0 eee raner 93 255 5 MBSU 4 Motherboard 0 00 cc cette teens 94 2 5 5 1 MBSU 4 Functionality sses sinita iee aa e is e eae 94 2 5 5 2 Servo Motor Drive Connectors siew rer 0 000 c cece cece nen 94 2 5 5 3 MBSU 4 Jumper Configuration 0 00 0 ees 96 Version 6 50 MC4U CS Control Module Hardware Guide 2 5 6 2 5 6 1 2 5 6 2 2 563 2 5 6 4 2 5 6 5 2 5 6 6 2 5 6 7 2 5 6 8 2 5 6 9 2 5 6 10 2 5 6 11 2 5 6 12 2 5 6 13 2 5 6 14 2 5 7 2 2 4 1 2 5 7 2 23 13 2 5 7 4 25 03 2 5 7 6 2 54 1 2 5 7 8 2 5 7 9 2 5 7 10 2 3111 2 5 7 12 2 5 7 13 2 5 7 14 2 5 8 2 5 8 1 2 5 8 2 2 5 8 3 2 5 8 4
88. ardware Guide 5 4 Limit Inputs Figure 37 is an example for the X axis of a source type switched limit input MC4U Circuit Power Supply to SPiiPlus S4 SPiiPlus 3U Jumper JP1 Figure37 Source Connection for Switched Limit Input X axis Right Limits Version 6 50 161 MCAU Connectivity MC4U Control Module Hardware Guide Figure 38 is an example for the X axis of a sink type switched limit input MC4U To Safety Circuit 5V or 24V Power Supply to SPiiPlus ax Figure38 Sink Connection for a Switched Limit Input X axis Right Limit SPiiPlus 3U Jumper JP1 5 5 General Purpose Digital Input The following examples illustrate the digital input interface Figure 39 is an example of a single ended digital input source connection voltage divider is used as a source of reference voltage MC4U SV or 24V Power Supply to SPiiPlus x x 1 Lla Figure 39 Single Ended Source Connection for a Digital Input Input 0 0 Version 6 50 162 MC4U Connectivity MC4U Control Module Hardware Guide Figure 40 is an example of a single ended digital input source connection voltage divider is used as a sosurce of reference voltage MC4U 5V or 24V Power Supply to SPiiPlus SPiiPlus 3U Jumper JP3 Figure 40 Single Ended Sink Connection for a Digital Input Input 0 0 5 6 MARK Registration Digital Input Figure 41 provides an example illustrating the MARK input
89. ase the control supply will not start to operate Version 6 50 156 Circuit Protection MC4U Control Module Hardware Guide 4 4 Fault Handling The SPiiPlus 3U Motion Controller constantly monitors the drive input supply and if it detects a fault it issues a warning message Table 137 lists the fault conditions and the actions that the MC4U takes as well as the warning messages that SPiiPlus 3U generates Table 137 Fault Handling page 1 of 2 Condition Action Taken Remarks Drive supply too high DDM3U 4 06 02 Disables all drivers when DC BUS voltage exceeds 72 5 SPiiPlus 3U generates the message Drive Alarm Power supply too high DDM3U 2 30 XX Disables all drivers when DC BUS voltage exceeds 445 5 SPiiPlus 3U generates the message Drive Alarm Power supply too high Drive supply missing Disables all drivers when the drive power supply is missing or the drive power supply voltage is less than 19 5V 5 18 5 20 5V SPiiPlus 3U generates the message Drive Alarm Power down 24V dc control supply missing Disables the drives when the drive 24Vdc control supply is missing or 24Vdc control supply input fuse is blown SPiiPlus 3U does not generate a message The protection is activated only when the 24Vdc was working properly and then stopped Phase lost for three phase AC input supply only In the event that one of the AC input supply p
90. ators Example The LED are detailed in Table 12 Table 12 SPiiPlus 3U LED Indicators page 1 of 2 LED Description Axis ON Dual Color Green Red LEDs Eight One per each axis Green On Axis enabled and functional Red On Axis enabled but non functional Off Axis disabled MPU ON Green LED On Control unit working properly When the control unit detects an incoming message this LED goes off fora fraction of a second This indicates that the processor and communications are functioning properly Version 6 50 33 MCAU Specifications MC4U Control Module Hardware Guide Table 12 SPiiPlus 3U LED Indicators page 2 of 2 LED Description 5V Green LED On 5V voltage is available Off 5V voltage is not available 12V Green LED On 12V available Off 12V is not available 12V Green LED On 12V available Off 12V is not available SUP_IO Green LED On Supply voltage is available Off Supply voltage is not available SUP_SFTY Green LED On The Emergency Stop voltage is available Off The Emergency Stop voltage is not available 2 3 PSM3U Power Supplies There are five types of PSM3U Power Supplies only two of which may be installed in the 9 MC4U or the 11 MC4U All power supplies need two input voltage supplies e 24Vdc input supply for internal logic circuit e AC drive supply for motor operation Caution The 24Vdc input power supply cannot
91. aximum inrush current value is 3 75A rms measured for the first 20ms after power supply input voltage is applied After the first 20ms the inrush current value continuously decreases and drops below 1 3A rms within 5sec Efficiency 80 for 85 265 Vac single phase supply 8596 for 195 265Vac three phase supply Input Voltage see Table 16 and Table 17 Input Current see Table 18 and Table 19 Power Output Maximum output current 16A continuous 32A peak for 85 130Vac single phase input supply 15 5A continuous 31A peak for 195 265Vac single phase input supply 23A continuous 62A peak for 195 265Vac three phase input supply Output Voltage see Table 20 Table 21 and Table 22 Output Power see Table 23 Version 6 50 39 MCAU Specifications MC4U Control Module Hardware Guide Table 15 PSM3U 320V XXkW High Power PS Specifications page 2 of 2 Description Remarks Logic Supply The Logic Supply is used to generate all necessary low voltages for the SPiiPlus Motion Controller The Logic Supply is powered from an external 24Vdc control supply and has the following characteristics Input voltage Nominal voltage 24Vdc Minimum voltage 21 6Vdc Maximum voltage 26 4Vdc Input power 55W max Input current 2 9A max 21 6V control supply input voltage Supply inrush current Maximum inrush current value is less than 4Arms measured within firs
92. be connected to a DC distribution network rather an external AC DC supply with a 24Vdc 5A output must be used The two power supplies that can be installed in any MC4U model are e PSM3U 48V 0 7kW The PSM3U 48V 0 7kW is a low power regulated power supply and supplies e One 51Vde nominal BUS voltage up to 700W motor supply for motor drivers such as DDM3U 4 drive or the like If 700W is not enough power use the PSM3U 48V 1 4kW power supply All voltages for the SpiiPlus Motion Controller The PSM3U 48V 0 7kW is supplied from Single AC external power supply within the voltage fluctuation range 85 265Vac e 24Vdc 10 for logic supply e PSM3U 320V 8kW The PSM3U 320V 8kW is a high power non regulated power supply and supplies Version 6 50 34 MCAU Specifications MC4U Control Module Hardware Guide VACIn x 1 4 nominal BUS voltage up to 8 3kW motor supply for the motor drivers such as DDM3U 2 or the like If 8 3kW is not enough power use the PSM3U 320V I 1kW power supply e All voltages for SpiiPlus Motion Controller The PSM3U 320V 8kW is supplied from Single or three phase AC external power supply within the voltage fluctuation range 85 265 Vac e 24Vdc 10 for logic supply The three power supplies that can be installed only in the 19 MC4U model are PSM3U 48V 1 4kW The PSM3U 48V 1 4kW is a low power regulated power supply with dual DC bus voltage outputs up to 1 4kW a
93. ble 87 Table 88 Table 89 Table 90 Table 91 Table 92 Table 93 Table 94 Table 95 Table 96 Table 97 Table 98 Table 99 Table 100 Table 101 J11 External Regeneration Pinout 20 0 66 J12 Drive Supply Pinout i esses these meets b I CR UR oer seer 66 J5 24V Logic Supply Pinout 0 00 teens 67 TOP TMNT S Ne 67 Enc der Supply PET 68 Encoder Hall Pxno lt aeo o oec tto ee pie ee oS od actos Ros 70 J10 Digital and Analog I O Pinout lssseeleeeee I 71 J20 Safety and Fast I O Inputs Pinout 2 20 00 0 cee 73 J1 J2 J3 and J4 Drive Motor Pinout llle 74 JG amid J7 Pinout ud rec eric ct dtm dte db don eu ee Sd a debate 75 Js and J9 ASSL Pinout ecce 465 tne RR ERR SERRE leserene 76 J19 RS 232 Communication Pinout vvnarararvnrvrvrr eee 76 J11 External Regeneration Pinout avvunavvvnnrra vanen eee eee 77 JI2 Drive Supply Pinout 2 e ert CERE we Sao Ra ae ke Masten 77 J5 gt 24V Logic Supply Pinout s sete viesim cee ete ect a nen eine ete Reg ee re oa 78 DO Tuners Se 78 Encoder Supply vassere rta elucet S N Ar od ea Oaks ae ee 79 Encoder Hall Pinot obs act ete dodo pr don ob Rp don d Rd 81 J8 Digital and Analog I O Pinout 2 0 00 cece eee 82 J9 Regeneration Pinout s s sises eek ee m e hg emere eh ne ae 84 J21 PEG and Mark Fast I O Pinout 0 0 84 J22 Motor Limits Pinout 6 06 nck eR e ede eh eee ec awa ER eS 86 J4 J5 and J6 HSSI Pifi
94. ck for an axis How to adjust tune the parameters of an axis Version 6 50 3 Introduction MC4U Control Module Hardware Guide The remaining tasks involved in operating the MC4U are described in the SPiiPlus Programmer s Guide including How to program motion How to program I O events e Additional product features 1 3 Related MC4U Documentation Table 1 Collateral Documentation Document Description SPiiPlus Setup Guide Provides communication configuration and adjustment procedures for the MC4U Control Module motion controller SPiiPlus 3U LT SPiiPlus 3U HP Hardware Provides details for the SPiiPlus 3U LT and SPiiPlus 3U HP Guide motion controllers one which is installed in the MC4U Control Module SPiiPlus Programmer s Guide Provides the command set and high level language for programming the MC4U Control Module motion controller SPiiPlus C Library Reference Provides C and Visual Basic libraries for host PC applications This reference is specifically applicable for the MC4U Control Module motion controller SPiiPlus COM Library Reference Provides COM Methods Properties and Events for Communication with the MC4U Control Module motion controller SPiiPlus Command amp Variable Reference Provides commands and variables of high level language for Guide programming the MC4U Control Module motion controller SPiiPlus Utilities User s Guide Provides MC4U Control Module firmware
95. cription Functionality JP2 JP3 I2C AO Al Used for setting the C address Set the JP2 amp JP3 to 00 when the motherboard assembled is slot number 0 01 when the motherboard assembled is slot number 1 10 when the motherboard assembled is slot number 2 11 when the motherboard assembled is slot number 3 0 the jumper is installed I the jumper is removed Version 6 50 93 MCAU Specifications MC4U Control Module Hardware Guide 2 5 5 MB5U 4 Motherboard The MB5U 4 motherboard is installed in the 19 MC4U The connectors associated with the MB5U 4 motherboard are shown in Figure 17 Figure 17 MBSU 4 Connectors 2 5 5 1 MB5U 4 Functionality The MB5U 4 accomodates the SPuPlus 3U LT HP Motion Controller the DDM3U X 60V 4A low power motor drives and power supplies The motherboard includes a rear panel with four Servo Motor Drive connectors that are wired to the DDM3U X 60V 4A motor drive and as such the number of connectors depends on the number of Motor Drives installed in the MC4U 2 5 5 2 Servo Motor Drive Connectors Label J121 J122 J123 J124 Connector Type Phoenix MCV 1 5 4 GF 3 81 Mating Type Phoenix MC 1 5 4 STF 3 81 The Servo Motor Drive connectors are for use with low power motor drives such as the DDM3U 4 60V 2A Motor Drive and as such the number of connectors depends on the number of Motor Drives 1 or 2 installed i
96. ctly control up to four axes and contains the following A SPiiPlus controller A power supply Two high power dual axis DDM3U 2 320V Y Y motor drives e A specific motherboard that accommodates the plug in components and external interface connectors Note The unit can only be panel mounted Figure2 11 MC4U Version 6 50 2 Introduction MC4U Control Module Hardware Guide 1 1 3 19 MC4U Enclosure The 19 MC4U can control up to 8 axes It provides the most flexibility with regards to type of drives PWM linear matching power supplies and accessories It can contain the following e A SPiiPlus controller A power supply with one or two motor voltages Up to four multi axis motor drives One or more motherboards that accommodate the plug in components and the external interface connectors Note n The unit can either rack mounted or panel mounted Figure3 19 MC4U 1 2 About this Guide The guide covers all three versions of the MC4U Control Module and provides detailed hardware information For each version this guide includes the following information e Detailed mechanical and electrical descriptions of the components making up the MC4U Control Module Installation instructions For a setup procedure of the MC4U Control Module refer to the SPiiPlus Setup Guide It includes How to establish communication How to configure the drive motor feedba
97. ctor is provided in Table 122 Table 122 J14 Drive Supply Voltage Pinout Pin ACSPL Signal Description Remarks Designator 1 EGND Earth Ground shield 2 L3 AC input phase L3 3 L2 AC input phase L2 When using AC single phase the voltage has to be connected between L1 and L2 4 L1 AC input phase L1 Version 6 50 132 MCAU Specifications MC4U Control Module Hardware Guide 2 5 8 11 J1 24V Logic Supply Connector Label J1 24V LOGIC SUPPLY Connector Type Phoenix MCV 1 5 5 GF 3 81 Mating Type Phoenix MC 1 5 5 STF 3 81 24Vdc is provided through J1 The J1 pinout is provided in Table 123 Table 123 J1 24V Logic Supply Pinout Pin ACSPL Signal Description Designator 1 24V_SUP 24V logic supply 2 24V_RTN 24V logic supply return 3 5V ENC EXT External 5V supply for encoder d 5V ENC EXT RTN External 5V supply return for encoder 5 EGND Electrical Ground 2 5 8 12 J40 T and D External Drive Control Signals Label J40 EXTERNAL Connector Type D type HD 15 pin female Mating Type D type HD 15 pin male J40 serves for supplying control signals to external drives The J40 pinout is given in Table 124 Model If SPiiPlus 3U LT is installed this connector is inactive Table 124 J40 External Drive Control Signals Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1
98. d between L1 and L2 4 L1 AC input phase L1 Version 6 50 88 MCAU Specifications MC4U Control Module Hardware Guide 2 5 3 11 J1 24V Logic Supply Connector Label J1 24V LOGIC SUPPLY Connector Type Phoenix MCV 1 5 5 GF 3 81 Mating Type Phoenix MC 1 5 5 STF 3 81 24Vdc is provided through J1 The J1 pinout is provided in Table 76 Table 76 J1 24V Logic Supply Pinout Pin ACSPL Signal Description Designator 1 24V_SUP 24V logic supply 2 24V_RTN 24V logic supply return 3 5V ENC EXT External 5V supply for encoder 4 5V ENC EXT RTN External 5V supply return for encoder 5 EGND Electrical Ground 2 5 3 12 MB5U CON PS Jumper Configuration This section details the setup of the MB5U CON PS jumper configuration Warning Only a qualified technician should make any changes to the factory settings of the jumpers Remove the back cover of the unit to access the jumpers Note m In the tables that follow X means don t care Table 77 1 0 Jumpers Setup JP1 JP3 JP5 JP7 I O supply external X Remove Remove X I O supply internal 5V X 1 2 1 2 X I O supply internal 24V X 2 3 2 3 X Safety supply external Remove X X Remove Safety supply internal 5V 1 2 X X 1 2 Safety supply internal 24V 2 3 X X 2 3 Version 6 50 89 MCAU Specifications MC4U Control Module Hardware Guide Note When using the 5V inte
99. der supply 2 3 Internal JP11 Internal or external 1 2 External Encoder supply analog encoder supply 2 3 Internal AGND return JP21 Encoder external supply 1 2 encoder external supply Encoder supply return common ground connect to AGND 2 3 encoder external supply connect to DGND JP12 Internal or external digital 1 2 External Encoder supply encoder supply return 2 3 Internal DGND JP13 Digital ground to shield Install galvanic connection Internal use only connection between digital ground to shield JP14 Digital ground to analog Install galvanic connection Internal use only ground connection between digital ground to analog ground Version 6 50 123 MCAU Specifications MC4U Control Module Hardware Guide 2 5 8 MBS5U ZZW Motherboard The MB5U ZZW is installed in the 19 MC4U The connectors associated with the MB5U ZZW motherboard are shown in Figure 23 Figure 23 MB5U ZZW Connectors 2 5 8 1 MB5U ZZW Functionality The MB5U ZZW accomodates the SPiiPlus 3U LT HP motion controller two DDM3U 2 320V XX up to 10A 20A drives one DDM3U 4 60V XX dive and PSM3U 320V 8KW and PSM3U 48V 0 7KW power supplies It supports the following functionality e 8 x Digital encoders 8x SIN COS encoders optional 8x Hall effect sensors 8x Motor Temperature sensors e 16x Safety inputs e 1 x E stop e 8x Digital outputs Mechanical brakes e 8x Digital inputs 4x Analog I O 5x MARK signals e 8x Squared SIN COS signals
100. differential outputs 0 3uSec The delay is from the moment that the For opto isolated outputs lt 700uSec encoder reaches the set position until the output PEG pulse is generated It includes both the delay generated by the encoder processing logic and the delay of the PEG logic PEG generated pulse 25nSec to 1 6mSec programmable for Edge separation between two PEG events gt 200nSec for differential outputs Number of random PEG events table based mode Up to 30 000 Default state Logic 0 by pull down Upon power up SpiiPlus output logic state Z XY State Output ACSPL Designation XY State 0 The two pins of the X State 2 can be shared with the XY State 0 pins Setup by JP10 Default state X State 2 Note XY State 0 output is a logical AND of the X State 0 and Y State 0 signals Quantity One Type RS422 compatible Propagation delay lt 0 3uSec From X PEG and Y PEG generation in defined positions to XY State 0 output Default state Logic 0 by pull down General Purpose Analog Inputs ACSPL Designations AIN10 C sine Each of the analog inputs can be used AIN11 C cosine as an encoder Sin Cos input or can be AIN14 D sine used for general purposes AINIS D cosine Analog inputs have a 10V entry in parallel to the 0 625V entry For Sin Cos inputs see the Sin Cos Encoder sections above Quantity 16 Typ
101. dule Hardware Guide 2 1 MC4U Physical Specifications 2 1 1 9 MC4U Dimensions Table 4 provides the mechanical dimensions of the 9 MC4U unit Table 4 9 MC4U Dimensions Height 221 5 1mm Width 273 8 1mm with extractors 287 3mm Length 211 1mm with mounting bracket 250 7 1mm Figure 5 displays the overall dimensions of the 9 MC4U unit 273 8 221 5 Figure5 9 MC4U Dimensions Version 6 50 8 MCAU Specifications MC4U Control Module Hardware Guide 2 1 2 11 MC4U Dimensions Table 5 provides the mechanical dimensions of the 11 MC4U unit Table 5 11 MC4U Dimensions Height 221 5 1mm Width 273 8 1mm with extractors 287 3mm Length 276 7 1mm with mounting bracket 316 7 1mm Figure 6 displays the overall dimensions of the 11 MC4U unit 273 8 221 5 Figure6 11 MC4U Dimensions Version 6 50 9 MCAU Specifications MC4U Control Module Hardware Guide 2 1 3 19 MC4U Dimensions Table 6 provides the mechanical dimensions of the 19 MC4U unit Table 6 19 MC4U Dimensions Height 221 5 1mm Width 483 1mm with front bracket 476 1mm with rear bracket 436 1mm with no bracket Length 292 lmm Figure 7 displays the overall dimensions of the 19 MC4U unit Figure 7
102. e 10V differential Input impedance gt 20kQ Maximum input 3 in maximum input voltage and at 25 C Inaccuracy Version 6 50 29 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 11 of 12 Description Remarks Resolution 14 bits 2LSB The effective resolution can be SNR gt 72 enhanced to 16 bits by the over sampling technique General Purpose Analog Outputs Optional PWM filtered by second order filter ACSPL Designations AOUT_CS AOUT10 No offset compensation AOUT CC AOUT11 AOUT_DS AOUTIA AOUT_DC AOUTIS Quantity 16 4 Signals not used for drive commands can be used as analog outputs Note The four signals AOUT_CS AOUT_CC AOUT_DS and AOUT DC are generated by the controller and controlled by the MPU and updated at during the MPU update cycle 1kHz Type 10V Output short protected Differential load lt 5mA Maximum output inaccuracy 5 in maximum output voltage and at 25 C Default state Upon power up output is 0V Resolution 16 bits Offset 50mV at OV at 25 C HSSI ACSPL Designations Control signal H CON Input signal H_DI Output signal H_DO_ Quantity 3 A fourth HSSI channel HSSI3 can be HSSIO HSSI1 and HSSI2 effected through jumper settings on SPiiPlus 3U HP Input word size 16x4 64 per HSSI channel Output wo
103. e Supports Encoder Not Connected and Diagnostic inputs logic 0 Encoder Error faults A B I inputs 1 Hall Feedback ACSPL Designations Channel A HA Channel B HB Channel C HC Quantity One per axis Format A B C Interface type Opto isolated input Power supply range 5Vdc 5 Source input type open cathode 50mA max supply load current for A Up to 7mA current B C Hall sensors in one motor DGND referenced Default Non active no current inputs state 1 1 1 Version 6 50 14 MCAU Specifications MC4U Control Module Hardware Guide Table9 SPiiPlus 3U LT Specifications page 2 of 6 Description Remarks Diagnostics Default state 1 1 1 Inputs logic state 1 1 1 Maximum input frequency 2kHz PWM Drive Command Output Applicable only for 19 MC4U ACSPL Designations Three PWM signals controlling a three phase bridge Bridge leg R PWMO Bridge leg S PWMI Bridge leg T PWM2 Quantity Three per axis Type TTL Load current 6mA Base frequency 20kHz Pulse width Min Pulse width 16 6 nSec Max Pulse width 49 84 uSec Command range 3000 Resolution Command time resolution 16 6nSec 12 bit Default Power up output state Z Mechanical Brake ACSPL Designation Same as Digital Output pins BRAKE X OUTO BRAKE Y OUTI BRAKE Z OUT2 BRAKE T OUT3 BRAKE A OUT4 BRAKE B OUT5
104. ecifications MC4U Control Module Hardware Guide Table 26 DDM3U X 60V 4A Power Block Assembly Options page 2 of 2 Power Block Number of Number of PWM Bridge Input Power Name PWM Axes Continuous Supply Nominal Bridges 3 Sec Peak Voltage Range Output Current Vdc A 4 DC Brushless 4 5 DDM3U 4 60V 2A 4 4 DC Brush 2 8 5 18 60 4 Step 2 8 3 5 2 4 1 1 DDM3U X 60V 4A Specifications Table 27 provides detailed DDM3U X 60V 4A specifications Note All power for the DDM3U X 60V 4A is supplied through the PSM3U 48V 0 7kW Power Supply Table 27 DDM3U X 60V 4A Specifications page 1 of 2 Description Remarks Motor types supported Brush Brushless or Step Number of axes supported Four for Brush Brushless or two for Step motors Input Power Nominal Input Supply Voltage 18 60Vdc Input Current amp Power see Table 28 Inrush current Maximum inrush current value is less than 1A rms measured within first 10ms after drive supply input voltage is applied After the first 10ms the inrush current value will gradually decrease to below 0 2A rms within 1sec The drive supply voltage may reach 66V during motor regeneration If the voltage ripple during regeneration value 72V protection is exceeds the specified then the over voltage activated Version 6 50 44 MCAU Specifications MC4U Control Mod
105. ected 16 X RL X Right Limit 17 A RL A Right Limit 18 Y RL Y Right Limit 19 B RL B Right Limit 20 Y MARKI Inverted MARK for Y axis 21 X MARKI Inverted MARK for X axis 22 Y PEG Inverted PEG for Y axis 23 X PEG Inverted PEG for X axis 24 ES Non inverted Emergency Stop 25 ES Inverted Emergency Stop Version 6 50 73 MCAU Specifications MC4U Control Module Hardware Guide 2 5 2 5 Label J1 J2 J3 J4 Drive Motor Connectors Jl B MOTOR J2 A MOTOR J3 Y MOTOR JA X MOTOR Connector Type Phoenix PCV 4 4 G 7 62 BK Mating Type Phoenix PC 4 4 STF 7 62 They serve for connecting the B axis drive motor A axis drive motor Y axis drive motor and the X axis drive motor respectively to the controller The pinout of the connectors is given in Table 58 Note The dollar sign stands for the given axis for example R can be A_R ne X R etc Table 58 J1 J2 J3 and J4 Drive Motor Pinout Pin ACSPL Signal Description Designator 1 EGND Shield 2 R Motor R phase 3 S Motor S phase 4 T Motor T phase Version 6 50 74 MCAU Specifications MC4U Control Module Hardware Guide The diagrams in Figure 13illustrate how motors are to be connected Three phase servo motor drive Three phase motor MOTOR STEPPER DC Servo motor drive DC motor Figure 13 MB5U ZZ Motor Drive Connections 2 5 2 6 J6 and J7 Ethernet Connectors Label J6 ETHI J7
106. ee NUR M IR oes 155 PSM3U Power Supply sax sea vert err aeg her b ges Sor RR a eee 155 PSM3U Low Power AC Input Power 0 0 0 c cece eee ee 155 PSM3U Low Power 24Vdc Logic Supply Input 04 155 PSM3U High Power AC Input Power 00002 e eee eee ee 155 DDM3U Motor Drives 0 0000 n 156 DDM3U X 60V 4A Low Power Motor Drive 0000000 156 Version 6 50 iv MC4U CS Control Module Hardware Guide 4 3 2 2 DDM3U 2 320V YY High Power Motor Drive 0 0 20005 156 4 4 Fault Handling oc esee rear n Se el ve Seed eee eee 157 5 MC4U Connectivity 0 0 0 0 ene ee 159 5 1 Incremental Digital Encoder Interface 0 cece eee 159 5 2 Motor Temper ture Input seas va dws wath acta walk ae aks Ake Mee i NS 160 5 3 Emergency Stop Input ois wins dep tee te akan sw astern ee Olden eee bee 160 5 4 Limit Inputs uc tn 4S du S ERE SPP dradd ee bie ede EN t 161 5 5 General Purpose Digital Input llle ees 162 5 6 MARK Registration Digital Input 20 00 0000 cece eee 163 57 General Purpose Digital Outputs lle ees 164 5 8 SPuPlus 3U JUMpers sere fee sige RR ERE headed RENE dead 165 5 9 PEG Pulse Output isses esee bees ee ba dea dee e dob e oS n 165 5 10 Sin Cos Encoder Input llsseseeseeeeeeeeee ee 166 5 11 Joystick Input Interface sre saie eet ce ee eer Ae RI n 167 5 12 CAN Bus Connectivity sese 168 5 12 1 CAN Bis Topology eneetee eee et ber ded e
107. efault state No emergency stop no current Motor Over Temperature Inputs ACSPL Designation Motor over temperature OVER T Quanity One per axis Type Single ended opto isolated When using PTC when the motor is Reference V RTN IO Threshold resistance 3 6 kQ 5 cold the resistance should be below 1650Q and when hot above 4000 Default state Low impedance lt 3K No Over Temperature General Purpose Logic Inputs ACSPL Designations INO INI IN2 IN3 INA INS IN6 IN7 IN6 IN7 can be shared with X axis MARKI MARK2 and Y axis MARK2 can be shared with X axis MARK2 by JP9 setup Quantity Eight Type Single ended opto isolated Can be Configuration by JP3 configured by the user as sink or source 5Vde 10 or 24Vdc 20 Referenced to V SUP IO Sink or V RET IO Source Automatic voltage detection Input current 2 8 14mA Default state No input current Registration Mark ACSPL Designations MARK1 Can also be used for general purposes MARK2 Quantity Two For 19 MC4U only Two per X and one per Y Z T Type RS422 compatible IN6 IN7 can be shared with X axis Input impedance 120Q MARK1 MARK2 and Y axis MARK2 can be shared with X axis MARK2 by JP9 setup Default state Vin lt 0 2V Open state Version 6 50 16 MCAU Specifications MC4U Control Module Hardware Guide
108. en eens 5 Documentation Conventions 0 0 0 ccc ect ene nes 5 Statement Text and Icons Used in this Guide 0 00 00 c cee eee 5 Terms and Definitions sus sex ser o alec DOE CE add ea 6 MC4U Specifications asauavvvvva vnr rever eee ra rann 7 MC4U Physical Specifications 0 cece eee eee 8 9 MC4U Dimensions 0 erit RR IRR 3 eh 8 11 MC4U Dimensions 20 000 0 RR Rp Rr 9 19 MCAU Dimensions Lara cee ow eee es re es es fast 10 Weight s Beta eva Seter erre as eons 11 MCAU Power Dissipation llis 11 MCAU Environmental Parameters leeeeeee ee 11 SPuPlus Motion Controller 4 porol4RPRTe4G 396942 ERR SEMEL 12 SPiiPlus 3U Motion Controller seeeee narr rann 13 SPiiPlus 3U LT Motion Controller eee 13 SPuPlus 3U LT Features 44i oa ske s RR ORR ws wee wae as 13 SPiiPlus 3U LT Specifications 0 0 0 cece eens 14 SPiiPlus 3U HP Motion Controller 0 000 eee 19 SPiiPlus 3U HP Features 0000s cc eee cece eens eeeeereeeeveeees 19 SPiiPlus 3U HP Specifications 2 0 0 eee eee eee 20 J3 CAN Bus Connector 0 0 00 c cc eee een nee 32 SPuPlus 3U LED Indicators i 2 ez R9 xe ee eae eee 33 PSM3U Power Supplies lt 2 sce0s4 Ep CER chev EASY Yd X EACUS Ras 34 PSM3U Specifications sus ous es eh oes Rey Bae e e e Bed RR de UR 37 PSM3U 48V XXkW Low Power PS ssseeeeee eee 37 PSM3U High Power Power Supply
109. ferenced B C Hall sensors in one motor Default Non active no current inputs state 1 1 1 Diagnostics Default state 1 1 1 Inputs logic state Maximum input frequency 2kHz Analog Drive Commands Output OV ACSPL Designations Current commands for one phase Phase S ft IS CMD Quantity One per axis Type 10V differential Upon power up output is Possible full range spike not more than a duration of 3mSec Maximum output 5 in max output voltage at 25 C inaccuracy Resolution 12 bit resolution Maximum zero offset 50mV at OV at 25 C Maximum load 5mA Fast 2 5MHz Sin Cos Encoders Input ACSPL Designations Sine Cosine Index Sin FSIN Cos FCOS Index FSC Version 6 50 21 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 3 of 12 Description Remarks Quantity 4 Fast 2 5MHz encoders for X Y A B 4 normal 250kHz encoders for Z T C D Note For the C and D axes the Sin Cos interface share the same A to D as AIN10 AIN11 AIN14 AIN15 There are separate input pins for each function When AIN10 AIN1 1 AIN14 AIN15 are used as Sin Cos there is no offset compensation See General Purpose Analog Inputs below Type Differential input Input impedance 1200 Encoder voltage range 1 Vptp 10 Input Voltage range
110. g Post ch eser cea ie ab aaa se ee Ged 149 Incremental Digital Encoder Interface X axis 0 00 ce eens 159 Connection to Motor Temperature Input X axis 2 0 0 0 0 ce eee 160 Connection for Emergency Stop Input 00 eee ee 160 Source Connection for Switched Limit Input X axis Right Limits 161 Sink Connection for a Switched Limit Input X axis Right Limit 162 Single Ended Source Connection for a Digital Input Input 0 0 162 Single Ended Sink Connection for a Digital Input Input 0 0 163 Diffential Connection for MARKI Input X axis 000000005 163 Single Ended General Purpose Digital Output Source Connection OUTO 0 Axis 164 Single Ended General Purpose Digital Output Sink Connection OUTO 0 164 SPiiPlus 3U Jumper Locations 165 Version 6 50 vi MC4U Control Module Hardware Guide Figure 45 Figure 46 Figure 47 Figure 48 Figure 49 Figure 50 Figure 51 Figure 52 Figure 53 PEG Pulse Digital Output Connection X axis slsseee esses 165 Sin Cos Encoder Interface 2 1 eee eae 166 Analog Inputs with 0 10V Configuration 000 ce eee eee 167 A 5V Differential Joystick through AIN 0 0000s eee eee eee 167 CAN Bus Network Topology with MC4U Control Module 168 CAN Bus Interface ccu vad dean onde ota a end dg eee DERI Oates 168 9 MC4U and 11 MC4U Panel Mounting 0 0
111. hases is lost or one of the AC input fuses is blown all axis drivers which are supplied by this power supply are disabled SPiiPlus 3U generates the message Drive Supply Alarm Phase lost JP6 jumper should be installed in thePSM3U 320V XXkW board if a three phase input supply is used Drive phase to phase or phase to ground short circuit Disables the corresponding drive when the current through one of the outputs of the PWM Power Bridge exceeds 25A 5 for DDM3U 2 30 05 50A 5 for DDM3U 2 30 10 40A 120A 5 for DDM3U 2 30 20 7 5A 5 for DDM3U 4 06 02 SPiiPlus 3U generates the message Drive Alarm Short circuit Drive over temperature Disables the corresponding drive when the temperature in the PWM Power Bridge area is greater than 100 5 C SPiiPlus 3U generates the message Drive Alarm Temperature too high Version 6 50 157 Circuit Protection MC4U Control Module Hardware Guide Table 137 Fault Handling page 2 of 2 Condition Action Taken Remarks Power supply not ready Disables all drivers during a Soft Start period SPiiPlus 3U generates the message Drive Alarm Power supply not ready Power supply missing If the AC input supply is disconnected or one AC input fuse is blown in the case of the single phase input supply or more than one AC input fuse is blown in the case of the three phase input supply all axis dr
112. ided and jumper configuations are detailed 2 5 1 MB5U Z Motherboard The MB5U Z motherboard is installed in the 9 MC4U The connectors associated with the MB5U Z motherboard are shown in Figure 10 Figure 10 MBSU Z Connectors 2 5 1 1 MB5U Z Functionality The MB5U Z accomodates the SPiiPlus 3U LT HP motion controller one DDM3U X 320V XX up to 20A 40A drive and one PSM3U X XKW power supply It supports the following functionality e 4 x Digital encoders 4x SIN COS encoders optional 4x Hall effect sensors e 4x Motor Temperature sensors e 8 x Safety inputs e xE stop e 8 x Digital outputs Mechanical brakes 8x Digital inputs e 2x MARK signals e 2 x PEG signals 2x Motor output signals Version 6 50 57 MCAU Specifications MC4U Control Module Hardware Guide 2x Ethernet channels 1x HSSI channel e 1x RS 232 channel 2x External Drive Control Y amp B 2 5 1 2 Encoder and Hall Connectors Label J14 Y ENC J15 X ENC J16 B ENC J17 A ENC Connector Type D type 26 pin HD female Mating Type D type 26 pin HD male for easy prototyping a Phoenix FLKM HDSUB 26 M Sub D to Screw Terminal converter can be used The connectors are allocated as follows Connector Axis Connector Axis J15 X ENC X J17 A ENC A J14 Y ENC Y J16 B ENC B The pinout for the Encoder and Hall connectors is given in Table 42 Note The dollar sign stands f
113. ilters for Three Phase AC Input 00 0 0 ee ees 147 PC Sipnalss ote See 152 Fant Hodne 157 Version 6 50 X MC4U Control Module Hardware Guide 1 Introduction The MC4U Control Module is a multi axis machine and motion control module The MC4U contains a motion controller power supply and motor drives all integrated in a single unit All components are housed in upright piano enclosure that can be either panel or rack mounted The specific components controller drives and power supplies can be specifically tailored to the needs of the application thus optimizing the performance to cost ratio The controller is also a CANOpen master and up to an additional 64 nodes of I Os and axes can be added using standard available CANOpen devices that the company qualifies 1 1 MC4U Control Module Overview There are three enclosures in the MC4U family 1 9 MC4U 2 11 MC4U 3 19 MC4U 1 1 1 9 MC4U Enclosure The 9 MC4U can directly control two axes and contains the following plug in components e A SPiiPlus controller A power supply One high power dual axis DDM3U 2 320V YY motor drive e A specific motherboard that accommodates the plug in components and external interface connectors Note a7 The unit can only be panel mounted Figure1 9 MC4U Version 6 50 1 Introduction MC4U Control Module Hardware Guide 1 1 2 11 MC4U Enclosure The 11 MCAU can can dire
114. ing AC single phase the voltage has to be connected between L1 and L2 4 L1 AC input phase L1 Version 6 50 105 MCAU Specifications MC4U Control Module Hardware Guide 2 5 6 11 J1 24V Logic Supply Connector Label J1 24V LOGIC SUPPLY Connector Type Phoenix MCV 1 5 5 GF 3 81 Mating Type Phoenix MC 1 5 5 STF 3 81 24Vdc is supplied through J1 The J1 pinout is provided in Table 94 Table 94 J1 24V Logic Supply Pinout Pin ACSPL Signal Description Designator 1 24V_SUP 24V logic supply 2 24V_RTN 24V logic supply return 3 5V ENC EXT External 5V supply for encoder d 5V ENC EXT RTN External 5V supply return for encoder 5 EGND Electrical Ground 2 5 6 12 J40 T and D External Drive Control Signals Label J40 ETERNAL DRIVE Connector Type D type HD 15 pin female Mating Type D type HD 15 pin male J40 serves for supplying control signals to external drives The J40 pinout is given in Table 95 Model If SPiiPlus 3U LT is installed this connector is inactive Table 95 J40 External Drive Control Signals Pinout Pin ACSPL Signal Description Designator 1 T_CMD0 T Drive Command 0 2 T CMDO T Drive Command 0 3 T CMD1 T Drive Command 1 4 T CMDI T Drive Command 1 5 T ENA T axis enable signal 6 D CMDO0 D Drive Command 0 7 D CMDO D Drive Command 0 8 D CMDI D Drive Command 1 9 D CMDI D Drive Command 1 10 T
115. inout page 1 of 2 Pin ACSPL Signal Description Designator 1 Y STATE2 Reserved for future use 2 Y STATEI Reserved for future use 3 Y STATEO0 Reserved for future use 4 X STATE2 State Digital output non inverted 5 X STATEI State Digital output non inverted 6 X STATEO0 State Digital output non inverted 7 Not connected 8 Not connected 9 DGND Internal digital supply return 10 DGND Internal digital supply return 11 T PEG PEG Digital output non inverted Version 6 50 101 MCAU Specifications MC4U Control Module Hardware Guide Table 88 J21 Fast I O Pinout page 2 of 2 Pin ACSPL Signal Description Designator 12 Z PEG PEG Digital output non inverted 13 Y PEG PEG Digital output non inverted 14 X PEG PEG Digital output non inverted 15 T MARK2 Reserved for future use 16 Y STATE2 Reserved for future use 17 Y STATEI Reserved for future use 18 Y STATEO Reserved for future use 19 X STATE2 State Digital output inverted 20 X STATEI State Digital output inverted 21 X STATEO State Digital output inverted 22 Not connected 23 Not connected 24 Not connected 25 Not connected 26 T PEG PEG Digital output inverted 27 Z_PEG PEG Digital output inverted 28 Y_PEG PEG Digital output inverted 29 X PEG PEG Digital out
116. interface for an X axis MC4U J21 5V or 24V Power Supply X_MARK1 AN 31 UNE 1200 X MARK1 i 32 sed lj Input Sensor Figure 41 Diffential Connection for MARK1 Input X axis Version 6 50 163 MC4U Connectivity MC4U Control Module Hardware Guide 5 7 General Purpose Digital Outputs Figure 42 is an example of a single sided general purpose digital output source configuration MC4U SV or 24V Power Supply from SPiiPlus Figure 42 Single Ended General Purpose Digital Output Source Connection OUTO0 0 Axis Figure 43 is an example of a single sided general purpose digital output in sink configuration MC4U 5V or 24V Power Supply from SPiiPlus Figure 43 Single Ended General Purpose Digital Output Sink Connection OUT0 0 Version 6 50 164 MCAU Connectivity MC4U Control Module Hardware Guide 5 8 SPiiPlus 3U Jumpers Many of the circuits depend on the settings of jumpers on the SPiiPlus 3U card The SPiiPlus 3U card has three jumpers JP1 JP2 and JP3 the locations of which are shown in Figure 44 amp F1 i Figure 44 SPiiPlus 3U Jumper Locations 5 9 PEG Pulse Output Figure 45 is an example for the X axis of a PEG pulse output MC4U 14 X PEG from SPiiPlus ap6C31 es 1 100 120 Q resistor 29 termination user supplied SHIELD VJ Figure 45 PEG Pulse Digital Output Connection
117. ions Table 35 PWM Power Bridge Specifications Description Remarks Power Bridge architecture Three phase PWM bridge Supported motor types DC Brush Step Motor DC Brushless AC Induction PWM Power Bridge Output Maximum phase output current Type A 5 10A continuous peak Type B 10 20A continuous peak Type D 20 40A continuous peak Maximum output voltage phase to phase 222Vrms 5 370V dc 5 power supply input voltage For the bus voltages derived from PSM3U 320V 8KW supply powered by 265Vac single phase 212 200Vrms 5 For the bus voltages derived from PSM3U 320V 8KW supply powered by 265Vac three phase 219 216Vrms 5 Maximum output power for 370Vde Type A 1362 2724W 5 continues peak Type B 2724 5448W 5 continues peak Type D 5448 10896W 5 continues peak For the bus voltages derived from PSM3U 320V 8KW supply powered by 265Vac single phase 5 Type A 1348W continue and 2662W peak Type B 2662W continue and 5187W peak Type D 5187W continue and 9822W peak For the bus voltages derived from PSM3U 320V 8KW supply powered by 265Vac three phase 5 Type A 1360W continue and 2708W peak Type B 2709W continue and 5371 W peak Type D 5371W continue and 10558W peak Drive output peak current can be 80A at 1 7 duty peak idle cycle any current over this value causes the fuse to blow Ver
118. ital Input 6 36 IN7 Digital Input 7 37 AGND Analog ground 38 AGND Analog ground 39 Not connected 40 Not connected 41 Not connected 42 12V1 12V for joystick optional need 0Q resistor Not Applicable Version 6 50 83 MCAU Specifications MC4U Control Module Hardware Guide Table 68 J8 Digital and Analog I O Pinout page 3 of 3 Pin ACSPL Signal Description Designator 43 12V1 RTN 12V return for joystick optional need 0 resistor Not Applicable 44 12V1 12V for joystick optional need 0 resistor Not Applicable 2 5 3 4 J9 Regeneration Connector Model J9 is relevant only if the PSM3U 320V XXkW high power supply is being used Label J9 REGENERATION Connector Type Phoenix FRONT 2 5 V SA 10 Mating Type None screw terminal The pinout for J9 is provided in Table 69 Table 69 J9 Regeneration Pinout Pin ACSPL Signal Description Designator 1 REGI 1 Regeneration resistor for PS 1 V1 on the motherboard 2 REGI 2 Regeneration resistor for PS I 3 REG2 I Regeneration resistor for PS 2 V2 on the motherboard 4 REG2 2 Regeneration resistor for PS 2 2 5 3 5 J21 Fast I O PEG and Mark Connector Label J21 FAST I O Connector Type Phoenix MCV 1 5 5 GF 3 81 Mating Type Phoenix MC 1 5 5 STF 3 81 The pinout for J21 is given in Table 70 Table 70 J21 PEG and Mark Fast I O Pinout page 1 of 2
119. ivers which are supplied by this power supply are disabled SPiiPlus 3U generates the message Drive Supply Alarm Power supply is missing Power supply over voltage When the power supply output voltage is For over voltage fault more than the tolerance range 60 70V the recovery the AC input must be power supply only the 48V is shut down removed and reapplied Power supply over When the temperature in the power supply To recover from the over temperature is more than temperature fault the AC 100 130 C for the PSM3U Low Power input must be removed and PS reapplied 90 5 C for the PSM3U High Power PS The power supply is shut down All axis drivers which are supplied by the power supply are disabled SPiiPlus 3U generates the message Drive Supply Alarm Temperature too high Power supply over current When the current via the output voltage is more than 18 25A the power supply only the 48V is shut down Drive over current Disables the corresponding drive when the current through one of the outputs of the PWM Power Bridge exceeds 15A 5 for DDM3U 2 30 05 30A 5 for DDM3U 2 30 10 60A 5 for DDM3U 2 30 20 SPiiPlus 3U generates the message Drive Alarm over current Regeneration fault Disables all drivers when there is a short circuit on the regeneration resistor internal or external SPiiPlus 3U generates the message Drive Alarm Regeneration Fault
120. lated Can be configured by the user as sink or source 5Vdc 10 to 24Vde 20 Referenced to V RET IO Sink or V SUP IO Source Configuration by JP2 Short protected Maximum current per single output 100mA Drop voltage lt 2 5 V Default state Upon power up signal is high impedance no current through the output transistor FPGA logic state 0 Maximum current per all outputs 800mA Protection All outputs are protected against overloads and short currents Propagation delay from input to measured output delay lt 3mS PEG Outputs ACSPL Designations PEG pulse PEG Position compared with digital encoders PEG State Resolution Quadrature counts STATEO STATE1 STATE2 Quantity One PEG pulse per X Y Z T axes Three PEG states per X axes Type RS422 compatible Through setting the JP9 jumper the Or shared with GP outputs see General GP output pins of the connectors can Purpose Outputs be defined as opto isolated PEGs OUT6 shared with X axis PEG OUT shared with Y axis PEG OUTA shared with Z axis PEG OUTS shared with T axis PEG Default RS422 Version 6 50 28 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 10 of 12 width range differential outputs 0 7mSec to 1 6mSec programmable for opto isolated outputs Description Remarks Propagation delay For
121. le Axis Linear Amplifier stage Model The LDM3U input power can only be supplied by the PSM3U 48V 0 7kW Power Supply see Section 2 3 1 when the power supply is that coming with the MC4U otherwise a user supplied external power supply may be used Table 36 LDM3U Input Power Specifications input current Description Remarks Drive Supply Input Voltage Vin min 45Vdc With the P M3U 48V Vinen 51Vdc 0 7kW Power Supply Vin max 57V dc DC Brushless Motor Input Current lin cont driver continuous 4 24Arms lin peak driver peak input current e LDM3U 55V 8A 8 49Arms e LDM3U 55V 16A 16 97Arms DC Brushless Motor I nput Power Pin cont driver continuous input power 256 68W Pin peak driver peak input power e LDM3U 55V 8A 513 36W e LDM3U 55V 16A 1026 72W DC Brush Motor Input Current lin cont driver continuous input current 4 00Adc lin peak driver peak input current e LDM3U 55V 8A 8 00Arms LDM3U 55V 16A 16 00Arms DC Brush Motor Input Power Pin cont driver continuous input power 204 00W Pin peak driver peak input e LDM3U 55V 8A 408 00W power e LDM3U 55V 16A 816 00W Version 6 50 53 MCAU Specifications MC4U Control Module Hardware Guide 2 4 3 2 LDM3U Drive Amplifier Output Power Specifications This section provides detailed output power specificati
122. ltage up to 700W motor supply for the DDM3U 4 drive or the like All voltages for SpiiPlus Motioin Controller The PSM3U 320 48V 0 7 8kW is supplied from Single or three phase AC external power supply within the voltage fluctuation range 85 265 Vac e 24Vdc 10 for logic supply Note When using both low and high power supplies in the same unit the low voltage is connected to J30 V2 on the motherboard and the high voltage is connected to J29 V1 on the motherboard Version 6 50 36 MCAU Specifications MC4U Control Module Hardware Guide 2 3 1 PSM3U Specifications 2 3 1 1 PSM3U 48V XXkW Low Power PS Table 13 lists the PSM3U 48V XXkW Low Power specifications Table 13 PSM3U 48V XXkW Low Power PS Specifications page 1 of 2 Description Remarks Power Input AC Input voltage drive supply Fluctuation Range single phase 85 265 Vac Input frequency Nominal frequency 50Hz Minimum frequency 47Hz Maximum frequency 63Hz Inrush current 50A peak Maximum input current 10 674 085 Vac for 700W unit 21 3A Q85 Vac for 1400W unit Efficiency 8196 Power Output Maximum output current For 700W unit 14A continuous and peak Vin 265Vac 10A continuous 14A peak Vin 85 Vac Output voltage Nominal voltage 51Vdc Minimum voltage 45Vdc Maximum voltage 57Vdc Output power Maximum output power 700W continuous and peak for 700
123. ltage range 2 5V referenced to AGND Input impedance gt 5KQ Maximum input 3 in maximum input voltage and at 25 C Inaccuracy Bandwidth 3 4kHz 3dB cutoff ADC Resolution 14 bit SNR gt 72dB Drive Supply Enable Output Input 24V 7mA active low Reference V RET IO or DGND Upon power up signal is high impedance no current through the output transistor Input Opto isolated sink input open cathode Supplied by 5VCC Max current lt 7mA ACSPL Designation Drive high voltage supply enable Output used for backward DRV_SUP_ENA compatibility Input used as additional logic inputs PS fault or general component fault Quantity One common to all devices Type Output Opto isolated open collector Reference defined by internal jumper DGND default Can configured by internal jumpers as input or output Default input Default state Input default state no current Output default state no current through the output transistor FPGA logic state 1 FPGA logic state 0 Output voltage drop in active state lt 0 3V Version 6 50 25 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 7 of 12 24V 7mA active low Reference V RET IO or DGND Upon power up signal is high impedance no current through the output transistor Input Opto isolated sink input open cathode
124. mation in this document is deemed to be correct at the time of publishing ACS Motion Control reserves the right to change specifications without notice ACS Motion Control is not responsible for incidental consequential or special damages of any kind in connection with using this document Version 6 50 Hardware Guide MC4U CS Control Module Changes in Version 6 50 Page Change Page 52 Added specifications for the LDM3U Single Axis Linear Amplifier Page 138 Added specifications for the MBSU LDM3U motherboard Page 44 Updated specifications for the DDM3U X 60V 4A Low Power Motor Drive Version 6 50 Hardware Guide MC4U CS Control Module Hardware Guide Table of Contents 1 1 1 1 1 1 1 1 2 1 1 3 1 2 1 3 1 4 1 4 1 1 4 2 1 5 2 2 1 2 1 1 2 1 2 2 1 3 2 1 4 2 1 5 2 1 6 2 2 2 21 22 2 2 2 2 1 2222 2 2 3 2 2 3 1 2 2 3 2 2 2 4 2 2 5 2 3 2 3 1 2 3 1 1 2 3 1 2 2 4 2 4 1 2 4 1 1 2 4 1 2 2 4 2 2 4 2 1 2 4 2 2 2 4 3 2 4 3 1 2 4 3 2 2 4 3 3 2 4 3 4 Introduction ii kes bokse de bekk doin noe obrero greg Hb dai deb dado 1 MCAU Control Module Overview 0 00 ccc eee ences 1 9 MCAU Enclosure s ee Re Re Re XP OR RR E RR D E 1 IF MICA Enclosure tye ere er 2 19 MC4U Enclosure auvnavuvv vaar RI 3 About this Guide issues naka eas e Rope dae dae Gol eae a celo dake bape ae 3 Related MC4U Documentation 0 0 000 0 4 Conventions Used in this Guide 0 0 ccc e
125. motor drives Warning Before replacing any MC4U module disconnect all power and cables and wait for all voltages to discharge A waiting period of 30 minutes must be strictly observed To replace an MC4U module 1 Make sure that no power is being applied to the unit and that all voltages have discharged 2 Remove the MC4U unit from the machine 3 Remove the four retaining screws located in the four corners of the module 4 Push the upper extractor knob up while pushing the bottom extractor down and firmly pull the module out 5 Insert the new module being careful to align the module card on the red guiderail and gently push the component straight in using the two knobs until the component is well seated in the motherboard 6 Reinstall the four retaining screws 7 Reinstall the MC4U into the machine 8 Reconnect all cables Version 6 50 173 MCAU Installation and Maintenance MC4U Control Module Hardware Guide 7 MC4U CS Warranty ACS Motion Control warrants that its products are free from defects in materials and workmanship under normal use during the warranty period The warranty period is one 1 year from receipt by the end user This warranty does not apply to any product from which the serial number has been removed or destroyed or damage as a result of accident fire misuse abuse negligence operation outside the usage parameters unauthorized modifications or acts of G d If the product
126. mum of 120 CFM air flow for the internal cooling of the circuit boards within the Mechanical Housing The cooling vents operate off the 24V Logic Supply The current consumption of the cooling vents is 1A or less depending on the number of vents Version 6 50 154 Circuit Protection MC4U Control Module Hardware Guide 4 3 Fuses The circuitry of the MC4U is protected by a number of fuses The following sections provide details of fuses by MC4U module 4 3 1 PSM3U Power Supply The number of fuses in the PSM3U Power Supply module depends on whether the Low Power PS or the High Power PS is installed 4 3 1 1 PSM3U Low Power AC Input Power The AC input power section is protected by a fuse the parameters of which are Type Time Delay ceramic tube e Ampere rating 15A Voltage rating 250Vac Agency approvals UL CSA If this fuse blows all motor drivers supplied from the power supply are disabled 4 3 1 2 PSM3U Low Power 24Vdc Logic Supply Input The 24Vdc input circuit is protected against shorts or overloads as the result of the control supply internal circuits damage by a fuse the parameters of which are Type Very fast acting SMT Ampere rating SA e Voltage rating 125Vac dc Agency approvals UL CSA If this fuse blows all motor drivers supplied from the power supply are disabled 4 3 1 3 PSM3U High Power AC Input Power The AC input power section 1s protected by three fuses one fuse for each inp
127. n case of any of the amplifier outputs is shorted to the electrical ground EGND The maximum inrush current value is 3 75A The Soft Start circuit consists of Soft Start resistor 1000 resistance and 100W nominal power NTC resistor inrush current protection and Soft Start Relay driven by the Soft Start control circuit When AC input voltage is applied to the power section of the PSM3U 320V XXkW power supply the electrolytic capacitors are charged via the Soft Start and NTC resistors The Soft Start control circuit will switch ON the Soft Start Relay after a 4 8 7 2 Sec time delay which will bypass the Soft Start and NTC resistors If AC input voltage is disconnected for more than 36 mSec the Soft Start control circuit will be reset within 5 10 mSec 4 1 2 Motor Regeneration Circuit An internal or an external optional Regeneration resistor can be used in the Regeneration circuit to absorb the motors regeneration energy The Regeneration circuit is activated when the DC BUS output voltage exceeds 400V 3 388 412V and protects the DC BUS electrolytic capacitors from the extra DC voltage stress 450V maximum voltage surge value for these capacitors Internal regeneration resistor is used to absorb the motors regeneration energy less then 100W rms This resistor is connected to J5 connector on PSM3U 320V XXkW board when the external regeneration resistor is not used If the external regeneration resistor is used the internal
128. n the MC4U The Servo Motor Drive connectors are allocated as follows Version 6 50 94 MCAU Specifications MC4U Control Module Hardware Guide Connector Axis Connector Axis J122 D1 Drive I J124 D3 Drive 3 J121 DO Drive 0 J123 D2 Drive 2 The pinout for the Servo Motor Drive connectors is given in Table 83 Table 83 J121 J124 Low Power Motor Pinout Pin ACSPL Signal Description Designator 1 R Motor R phase 2 S5 Motor S phase 3 T Motor T phase 4 EGND Electrical Ground The diagrams in Figure 18illustrate how motors are to be connected Three phase servo motor drive Three phase motor DC Serv o motor drive 1 R phase S DC motor stepper motor drive MOTOR STEPPER Figure 18 MBSU 4 Motor Drive Connections Version 6 50 95 MCAU Specifications MC4U Control Module Hardware Guide 2 5 5 3 MB5U 4 Jumper Configuration Table 84 provides details of the MB5U 4 jumper configuration Warning Only a qualified technician should make any changes to the factory settings of the jumpers Remove the back cover of the unit to access the jumpers Table 84 MB5U 4 Jumper Configuration Jumper Description Functionality J2 J3 J4 A0 A1 A2 For setting the C address set the J2 J3 J4 to 000 when the motherboard assembled is slot number 0 001 when the motherboard assembled is slot number
129. nd Hall sensor 2 5 1 3 J10 Digital and Analog I O Connector Label J10 DIGITAL amp ANALOG I O Connector Type D type 44 pin HD male Mating Type D type 44 pin HD female for easy prototyping a Phoenix FLKM HDSUB 44 M Sub D to Screw Terminal converter can be used The connector serves for controlling Digital and Analog I O signal formats The pinout for J10 is given in Table 43 Table 43 J10 Digital and Analog I O Pinout page 1 of 2 Pin Signal Description Designator 1 OUTI Digital Output 1 2 OUT3 Digital Output 3 3 OUTS Digital Output 5 4 OUT7 Digital Output 7 5 INI Digital Input 1 6 IN3 Digital Input 3 7 AGND Analog ground 8 AIN10 Analog input inverted Not Applicable 9 AINII Analog input inverted Not Applicable 10 AIN14 Analog input inverted Not Applicable 11 AIN15 Analog input inverted Not Applicable 12 AOUT_CS Analog output CS inverted Not Applicable AOUTI10 Version 6 50 59 MCAU Specifications MC4U Control Module Hardware Guide Table 43 J10 Digital and Analog I O Pinout page 2 of 2 Pin Signal Description Designator 13 AOUT_CC Analog output CC inverted Not Applicable AOUTI11 14 AOUT DS Analog output DC inverted Not Applicable AOUT14 15 AOUT_DC Analog output DS inverted
130. nd supplies e Two 51Vdc nominal BUS voltage outputs up to 700W motor supply for each output for the motor drivers such as DDM3U 4 or the like All voltages for the SpiiPlus Motion Controller The PSM3U 48V 1 4kW is supplied from e Single AC external power supply within the voltage fluctuation range 85 265 Vac e 24Vdc 10 for logic supply PSM3U 320V 11kW The PSM3U 320V 11kW is a high power non regulated power supply with dual DC bus voltage outputs up to 11kW and supplies e Two outputs VACin x 1 4 nominal BUS voltage up to 8 3kW for each output and up to 12kW for both outputs simultaneously for the motor drivers such as DDM3U 2 or the like e All voltages for SpiiPlus Motion Controller Version 6 50 35 MCAU Specifications MC4U Control Module Hardware Guide The PSM3U 320V 11kW is supplied from Single or three phase AC external power supply within the voltage fluctuation range 85 265Vac e 24Vdc 10 for logic supply e PSM3U 320 48V 0 7 8kW Model The PSM3U 320 48V 0 7 8kW is required if the DDM3U 2 and DDM3U 4 motor drivers are installed together in the 19 MC4U The PSM3U 320 48V 0 7 8kW is a dual output mixed voltages power supply high up to 8kW and low power up to 0 7kW and supplies WVACin x 1 4 nominal BUS voltage up to 8k W motor supply for the DDM3U 2 or the like e 320Vdc nominal BUS voltage up to 8kW motor supply for the DDM3U 2 e 48Vdc nominal BUS vo
131. nector Type D type 9 pin male Mating type D type 9 pin female The pinout for the J19 is given in Table 61 Table 61 J19 RS 232 Communication Pinout page 1 of 2 Pin Signal Description Designator 1 SHIELD Cable shield connection 2 RX232 RS 232 receive signal for the communication port COM1 3 TX232 RS 232 transmit signal for communication port COM1 4 Not connected 5 DGND Digital ground 6 Not connected 7 2 Not connected Version 6 50 76 MC4U Specifications MC4U Control Module Hardware Guide Table 61 J19 RS 232 Communication Pinout page 2 of 2 Pin Signal Description Designator 8 Not connected 9 Not connected 2 5 2 9 J11 External Regeneration Label J11 EXTERNAL REGENERATION Connector Type Phoenix PCV 5 2 GF 7 62 Mating type Phoenix PC 5 2 STF 7 62 The pinout for J11 is given in Table 62 Table 62 J11 External Regeneration Pinout Pin Signal Description Designator 1 REGI External Regeneration resistor terminal 1 2 REG2 External Regeneration resistor terminal 2 2 5 2 10 J12 Drive Supply Connector J12 DRIVE SUPPLY Connector Type Phoenix PCV 5 5 GF 7 62 Mating Type Phoenix PC 5 5 STF 7 62 Label AC power is provided through J12 The pinout is given in Table 63 Table 63 J12 Drive Supply Pinout Pintt Signal Description Designator 1 Ll AC input phase L1
132. olated 2 2 3 SPiiPlus 3U HP Motion Controller 2 2 3 1 SPiiPlus 3U HP Features The SPiiPlus 3U HP high performance features High 20kHz update rate for all axes and position velocity and current control loops fast settling and outstanding smoothness at low velocities Version 6 50 19 MCAU Specifications MC4U Control Module Hardware Guide e Sub nanometer in position stability Optional input shaping support e High resolution encoder e Sin Cos encoders with up to 2 5 MHz frequencies and 65 536 multiplications Sub nanometer resolution Powerful software commutation of synchronous AC DC brushless motors e 20 kHz update rate Automatic phase recognition Powerful I O handling Position Event Generator PEG with sub microsecond delay Position registration Supports CANopen bus operation e General purpose High Speed Synchronous Interface HSSI for I O expansion and interfacing with external user s devices This section provides technical details of the SPiiPlus 3U LT Motion Controller 2 2 3 2 SPiiPlus 3U HP Specifications Table 10 presents the specifications for the SPiiPlus 3U HP Table 10 SPiiPlus 3U HP Specifications page 1 of 12 Description Remarks Supported Axes Number of axes Four Restriction on more than four axis Optional An additional four axes move coordinated or non coordinated should be applied by a factory installed protection PAL key ACSP
133. ons for the LDM3U Single Axis Linear Amplifier stage Table 37 LDM3U Output Power Specifications Description Remarks DC Brushless Motor Output Current Iout cont driver continuous output phase current sine amplitude r m s 4A 2 83Arms Iout peak driver peak output phase current sine amplitude r m s e LDM3U 55V 8A 8A 5 66Arms e LDM3U 55V 16A 16A 11 31Arms DC Brushless Motor Output Voltage Vout ph ph max driver phase to phase maximum output voltage r m s 28 17Vrms DC Brushless Motor Output Power Pout cont driver continuous output power W 166 50W Pout peak driver peak output power e LDM3U 55V 8A 333W e LDM3U 55V 16A 666W DC Brush Motor Ouput Current Iout cont driver continuous input current 4 00Adc Iout peak driver peak input current e LDM3U S55V 8A 8 00Arms e LDM3U 55V 16A 16 00Arms DC Brush Motor Output Voltage Vout ph ph max driver phase to phase maximum output voltage r m s 46 00Vrms DC Brush Motor Ouput Power Pout cont driver continuous input power 184W Pout peak driver peak input power e LDM3U 55V 8A 368W e LDM3U 55V 16A 736W Version 6 50 54 MC4U Specifications MC4U Control Module Hardware Guide 2 4 3 3 LDM3U DC DC Control Supply Specifications This chapter provides specifications of the LDM3U DC DC control supply Table 38 pro
134. ontrol Module Hardware Guide Table 21 Output Voltage Single Phase Input 195 265Vac Parameter 195Vac 230Vac 265Vac Maximum output voltage 273 48 322 27 371 06 Vout max Vde Nominal output voltage 254 10 302 89 351 68 nominal output current 15 5A Vout nom Vde Minimum output voltage 195 98 244 77 293 56 peak output current 31A Vout peak Vde Table 22 Output Voltage Q Three Phase Input 195 265Vac peak output current 62A Vout peak Vde Parameter 195Vac 230Vac 265Vac Maximum output voltage 273 48 322 27 371 06 Vout max Vdc Nominal output voltage 263 90 312 69 350 nominal output current 23A Vout_nom Vdc Minimum output voltage 221 81 270 60 319 39 Table 23 Output Power Single Phase Input 85 130Vac Parameter 85Vac 100Vac 115Vac 130Vac Nominal output power nominal output current 16A Pout_nom W 1583 61 1843 83 2234 15 2624 48 Peak output power peak output current 32A Pout_peak W 2527 23 3047 66 3828 31 4608 95 Table 24 Output Power Single Phase Input 195 265Vac Parameter 195Vac 230Vac 265Vac Nominal output power 3938 61 4694 86 5451 11 nominal output current 15 5A Pout_nom W Peak output power peak 7276 59 8789 09 10301 59 output current 31A Pout_peak W Version
135. or the given axis for example LL can be X LL or Y LL etc Table 42 Encoder Hall Connector Pinout page 1 of 2 Pin Signal Description Designator 1 CHA Encoder A inverted input 2 CHB Encoder B inverted input 3 CHI Encoder index inverted input HB Motor Hall B 5 V_SUP_SFTY Supply for the limits input 6 RL Right limit 7 SIN Encoder SIN inverted input 8 COS Encoder COS inverted input 9 SC I Encoder SIN COS Index inverted input 10 CHA Encoder A non inverted input 11 CHB Encoder B non inverted input 12 _CHI Encoder Index non inverted input 13 HA Motor Hall A Version 6 50 58 MCAU Specifications MC4U Control Module Hardware Guide Table 42 Encoder Hall Connector Pinout page 2 of 2 Pin Signal Description Designator 14 HC Motor Hall C 15 LL Left limit 16 SIN SIN non inverted input 17 COS Encoder COS non inverted input 18 SCH Encoder SIN COS Index non inverted input 19 5U 5V user supply for the digital encoder and Hall sensor 20 5U RTN 5V return user supply for the digital encoder and Hall sensor 21 Shield Shield 22 MTMP Motor temperature sensor input 23 V RTN IO A return for the motor temperature sensor 24 V RTN SFTY A return for the limits input 25 SF 5V user supply for the analog encoder and Hall sensor 26 5F_RTN 5V return user supply for the analog encoder a
136. ositioning and timing The program can run directly on the controller or can be implemented in a host PC application using libraries provided for C C and COM e Suite of Tools Powerful software tools are also provided for setting up the system tuning and programming Application development is particularly easy with the integrated four channel soft scope and multi axis motion simulator For complete details of the motion controllers refer to the SPiiPlus 3U LT SPiiPlus 3U HP Hardware Guide Version 6 50 12 MCAU Specifications MC4U Control Module Hardware Guide 2 2 1 SPiiPlus 3U Motion Controller This section provides technical details of the SPiiPlus 3U Motion Controller Note In the ACSPL designations given in the specifications the dollar sign stands in place of the actual axis designation for example RL can be X_RL Y_RL Z_RL and so forth 2 2 2 SPiiPlus 3U LT Motion Controller 2 2 2 1 SPiiPlus 3U LT Features The SPiiPlus 3U LT Motion Controller features High 20kHz update rate for all axes and position velocity and current control loops fast settling and outstanding smoothness at low velocities e Sub nanometer in position stability e Optional input shaping support Powerful software commutation of synchronous AC DC brushless motors 20 kHz update rate Automatic phase recognition Powerful I O handling Position Event Generator PEG with sub microsecond delay
137. ould make any changes to the factory settings of the jumpers Remove the back cover of the unit to access the jumpers Table 97 MB5U YYYY Jumpers page 1 of 2 Name Description Functionality Use for JP1 5 24Vdc internal Safety 1 2 5Vdc internal Safety supply configuration supply 2 3 24Vdc internal JP2 Internal external safety 1 2 external supply Safety supply configuration supply 2 3 internal supply Version 6 50 108 MCAU Specifications MC4U Control Module Hardware Guide Table 97 MB5U YYYY Jumpers page 2 of 2 JP3 5 24Vdc internal I O 1 2 5Vdc internal IO supply configuration supply 2 3 24Vdc internal JP4 Internal external IO 1 2 external supply IO supply configuration supply 2 3 internal supply JP5 24 RTN DGND IO 1 2 DGND IO supply configuration supply return 2 3 24V RTN JP6 External Internal IO 1 2 external supply return IO supply configuration supply return 2 3 internal supply return JP7 24 RTN DGND safety 1 2 DGND Safety supply configuration supply return 2 3 24V RTN JP8 External Internal safety 1 2 external supply return Safety supply configuration supply return 2 3 internal supply retur JP9 Internal or external 1 2 External Encoder supply analog encoder supply 2 3 Internal JP10 Internal orexternal digital 1 2 External Encoder supply encoder supply 2 3 In
138. ower PS Specifications e esses 37 Logic Supply Output Voltages 2 0 isses 38 PSM3U 320V XXKkW High Power PS Specifications slsslee esses 39 Maximum Input Power Single Phase Input 85 265Vac sslesslsss 40 Maximum Input Power Q Three Phase Input 195 265Vac 00 000005 41 Maximum Input Current Single Phase Input 85 265Vac 0 00005 41 Maximum Input Current Three Phase Input 195 265Vac 0000 41 Output Voltage Single Phase Input 85 130Vac 0 2 kee ee eee 41 Output Voltage Single Phase Input 195 265Vac 1 eee 42 Output Voltage Three Phase Input 195 265Vac l l 42 Output Power Single Phase Input 85 130Vac 0 0 eee eee 42 Output Power Single Phase Input 195 265Vac lesse 42 Output Power Three Phase Input 195 265Vac 0 eee 43 DDM3U X 60V 4A Power Block Assembly Options 0 00000 ee 43 DDM3U X 60V 4A Specifications lle 44 DDM3U X 60V 4A Maximum Input Current and Input Power 45 DDM3U X 60V 4A Total Output Current and Output Power 00 46 DDM3U X 60V 4A Power Motor Output Parameters 0 0 00 cee eee eee 46 DDM3U 2 320V YY Specifications 0 eect eee eee 48 Minimum Output Voltage Single Phase Input 85 130Vac 00 49 Minimum Output Voltage Single Phase Input 195 265Vac 0 50 Minimum Output Voltage Three Phase Input 195 265Vac
139. put 7 5 INI Digital Input 1 6 IN3 Digital Input 3 7 AGND Analog ground 8 AIN10 Analog input inverted 9 AINII Analog input inverted 10 AIN14 Analog input inverted 11 AIN15 Analog input inverted 12 AOUT_CS Analog output CS inverted Not used when MC4U is with SPiiPlus 3U LT controller Version 6 50 126 MCAU Specifications MC4U Control Module Hardware Guide Table 115 J8 Digital and Analog I O Pinout page 2 of 2 Pin ACSPL Signal Description Designator 13 AOUT_CC Analog output CC inverted Not used when MC4U is with SPiiPlus 3U LT controller 14 AOUT_DS Analog output DC inverted Not used when MC4U is with SPiiPlus 3U LT controller 15 AOUT_DC Analog output DS inverted Not used when MC4U is with SPiiPlus 3U LT controller 16 OUTO Digital Output 0 17 OUT2 Digital Output 2 18 OUT4 Digital Output 4 19 OUT6 Digital Output 6 20 INO Digital Input 0 21 IN2 Digital Input 2 22 Not connected 23 AIN10 Analog input non inverted 24 AIN11 Analog input non inverted 25 AIN14 Analog input non inverted 26 AIN15 Analog input non inverted 27 AOUT_CS Analog output CS non inverted AOUT6 Signal desigator when MC4U is with SPiiPlus 3U LT controller 28 AOUT_CC Analog output CC non inverted AOUT14 Signal desigator when MC4U is with SPiiPlus 3U LT controller 29 AOUT_DS Analog output DC non inverted AOUT2
140. put inverted 30 T_MARK2 Reserved for future use 31 X MARK1 Mark Digital input non inverted 32 X MARKI Mark Digital input inverted 33 X MARK2 Mark Digital input non inverted 34 X MARK2 Mark Digital input inverted 35 Y MARK1 Mark Digital input non inverted 36 Y MARKI Mark Digital input inverted 37 Y MARK2 Reserved for future use 38 Y MARK2 Reserved for future use 39 Z MARKI1 Mark Digital input non inverted 40 Z MARKI Mark Digital input inverted 41 Z MARK2 Reserved for future use 42 Z MARK2 Reserved for future use 43 T MARK 1 Mark Digital input non inverted 44 T MARKI Mark Digital input inverted Version 6 50 102 MCAU Specifications MC4U Control Module Hardware Guide 2 5 6 6 Label J22 Motor Limits Connector J22 LIMITS Connector Type D type 25 pin male Mating Type D type 25 pin female for easy prototyping a Phoenix FLKM HDSUB 25 M Sub D to Screw Terminal converter can be used The pinout for J22 is given in Table 89 Table 89 J22 Motor Limits Pinout Pin ACSPL Signal Description Designator 1 V_SUP_SFTY Safety Supply 2 Not connected 3 X LL X Left Limit 4 A LL A Left Limit 5 Y LL Y Left Limit 6 B LL B Left Limit 7 Z LL Z Left Limit 8 C LL C Left Limit 9 T LL T Left Limit 10 D LL D Left Limit 11 Not connected 12 Not connected 13 Not connected 14 V RTN SFTY Safety Supply
141. r 1 EGND Earth Ground shield 2 L3 AC input phase L3 3 L2 AC input phase L2 When using AC single phase the voltage has to be connected between L1 and L2 4 L1 AC input phase L1 Version 6 50 119 MCAU Specifications MC4U Control Module Hardware Guide 2 5 7 11 J1 24V Logic Supply Connector Label J1 24V LOGIC SUPPLY Connector Type Phoenix MCV 1 5 5 GF 3 81 Mating Type Phoenix MC 1 5 5 STF 3 81 24Vdc is provided through J1 The J1 pinout is provided in Table 110 Table 110 J1 24V Logic Supply Pinout Pin ACSPL Signal Description Designator 1 24V_SUP 24V logic supply 2 24V_RTN 24V logic supply return 3 5V ENC EXT External 5V supply for encoder 4 5V ENC EXT RTN External 5V supply return for encoder 5 EGND Electrical Ground 2 5 7 12 J40 T and D External Drive Control Signals Label J40 EXTERNAL DRIVE Connector Type D type HD 15 pin female Mating Type D type HD 15 pin male J40 serves for supplying control signals to external drives The J40 pinout is given in Table 111 Model If SPiiPlus 3U LT is installed this connector is inactive Table 111 J40 External Drive Control Signals Pinout page 1 0f 2 Pin ACSPL Signal Description Designator 1 T_CMD0 T Drive Command 0 2 T CMDO T Drive Command 0 3 T CMD1 T Drive Command 1 4 T CMDI T Drive Command 1 5 T ENA T axis enable signal 6 D CMD
142. r J21 is provided in Table 104 Table 104 J21 Fast I O Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 Y_STATE2 Reserved for future use 2 Y STATE1 Reserved for future use 3 Y STATEO0 Reserved for future use 4 X STATE2 State Digital output non inverted 5 X_STATEI State Digital output non inverted 6 X_STATEO State Digital output non inverted 7 Not connected 8 Not connected 9 DGND Internal digital supply return 10 DGND Internal digital supply return 11 T_PEG PEG Digital output non inverted 12 Z PEG PEG Digital output non inverted Version 6 50 115 MCAU Specifications MC4U Control Module Hardware Guide Table 104 J21 Fast I O Pinout page 2 of 2 Pin ACSPL Signal Description Designator 13 Y PEG PEG Digital output non inverted 14 X PEG PEG Digital output non inverted 15 T MARK2 Reserved for future use 16 Y STATE2 Reserved for future use 17 Y STATEI Reserved for future use 18 Y STATEO Reserved for future use 19 X STATE2 State Digital output inverted 20 X STATEI State Digital output inverted 21 X STATEO State Digital output inverted 22 Not connected 23 Not connected 24 Not connected 25 Not connected 26 T PEG PEG Digital output inverted 27 Z PEG PEG Digital output inverted 2
143. r Type RJ45 8 pin socket Mating Type RJ45 8 pin plug The pinout of the sockets is given in Table 120 Table 120 J2 and J3 Ethernet Pinout Pin ACSPL Signal Description Designator 1 ETH _TX Positive transmit signal 2 ETH _TX Negative transmit signal 3 ETH _ RX Positive receive signal 4 Not connected 5 Not connected 6 ETH RX Negative receive signal T Not connected 8 Not connected Version 6 50 131 MC4U Specifications MC4U Control Module Hardware Guide 2 5 8 9 Label J19 and J20 RS 232 Communication Connectors J19 COMI J20 COM2 Connector Type D type 9 pin male sockets Mating type D type 9 pin female The pinout for the sockets is given in Table 121 Table 121 J19 and J20 RS 232 Communication Pinout Pin ACSPL Signal Description Designator 1 SHIELD Cable shield connection 2 RX232 RS 232 receive signal for the communication port J19 for COM1 and J20 for COM2 3 TX232 RS 232 transmit signal for communication port J19 for COM1 and J20 for COM2 4 Not connected 5 DGND Digital ground 6 Not connected 7 Not connected 8 Not connected 9 Not connected 2 5 8 10 J14 Drive Supply Voltage Connector J14 DRIVE SUPPLY Connector Type Phoenix FRONT 4V 7 62 Label Mating Type None screw terminal AC power is provided through J14 The pinout for the conne
144. rd size 16x4 64 per HSSI channel TX RX type RS422 compatible Input impedance 1200 Distance lt 10m Sampling rate All the 64 input bits are sampled and all the 64 output bits are updated every 50 uSec HSSI connection HSSI channels can be commutated as external or internal Ethernet ACSPL Designations Transmit ETH1 TX Receive ETHI RX Transmit ETH2 TX Receive ETH2 RX Quantity Two ETH1 ETH2 Line impedance 10002 Galvanic Isolated Version 6 50 30 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 12 of 12 Transmit COMI TX Receive COM1 RX COM2 Transmit COM2 TX Receive COM2 RX Description Remarks Protocol TPC IP 10 100Mbps RS 232 ACSPL Designations COMI ESD protected Number of channels 2 Maximum Baud rate 115 200 USB 2 Number of connectors One Connector located on the front of the module PCI Bus Quantity One Summary bus timing Not more than 100uSec IC Bus ACSPL Designations I2C CLK Bi directional serial interface for I2C_DATA configuration and status feedback Quantity One SPiiPlus 3U HP contains master controller and slave components with EEPROM for saving card data such as serial number revision HW configuration etc Frequency 400kHz Type Open drain Optional
145. rm component fault temperature too high Power supply fault cause status resetting If a power supply fault signal goes to 0 due to a power supply fault condition the controller can reset the fault cause status information Power supply card identification reading The power supply card identification information is located in the PC I O Port memory and can be read by the motion controller e Power supply card serial number Power supply card revision Power supply card date of production Power supply type 4 1 3 3 DDM3U Low Power Motor Drive In DDM3U 4 06 XX Y power block the I C bus is used for the following non real time purposes Drive fault cause status reading Ifa Drive Fault signal goes to 1 due to a drive fault condition the following fault cause status information can be read Drive Alarm Power supply too high Drive Alarm Power supply too low Drive Alarm Short circuit Drive Alarm Temperature too high Drive fault cause status resetting Ifa Drive Fault signal goes to 1 due to a drive fault condition the controller can reset the fault cause status information Ifa Drive Enable or Brake command is issued the fault cause status information should be reset Version 6 50 153 Circuit Protection MC4U Control Module Hardware Guide Drive card identification reading The drive card identification information is located in C I O Port memory and can be read by the mo
146. rnal supply for digital I O or Safety these I Os are not isolated Table 78 Encoder Supply Setup JP9 JP10 JP11 JP12 JP21 Analog encoder external supply 1 2 x 1 2 X 1 2 Analog encoder internal supply 2 3 X 2 3 X Open Digital encoder external supply X 1 2 X 1 2 2 3 Digital encoder internal supply X 2 3 X 2 3 Open Table 79 I C Address Setup JP15 JP16 JP18 JP19 Address 5 6 for power supplies Open Install Install Open Note m The general purpose analog inputs are shared with the IS current feedback therefore the jumpers must be set as given in the table below Table 80 General Purpose Analog Input Jumpers Setup JP22 JP28 JP23 JP29 JP24 JP25 JP26 JP27 When Z axis integrated drive is used there is no AINIO support Remove X X X When C axis integrated drive is used there is no AIN11 support Remove When T axis integrated drive is used there is no AINI4 support Remove When D axis integrated drive is used there is no AINIS support Remove Version 6 50 90 MCAU Specifications MC4U Control Module Hardware Guide 2 5 4 MB5U 2 Motherboard The MB5U 2 is installed in the 19 MC4U It accommodates a DDM3U 2 320V YY dual axis drive and includes a connector for two motors The connectors associated with the MB5U 2 motherboard are shown in Figure 15 E
147. rol Module Hardware Guide 2 6 1 5 Connecting the MC4U MF 560V The filter is positioned between the drive and the motor and is designed for currents up to 20A continuous and 40A peak Caution The Motor Filter should be cooled by an external fan when input current is more than 10Arms otherwise the unit can be damaged When connecting the MC4U MF 560V the filter has to be located as close as possible to the amplifier The cable connecting the filter and amplifier should be shielded It is recommended that continuity be maintained between the shields of the two cables 2 6 2 Regeneration Module Figure 29 MC4U Regeneration Module The Regeneration Module enables the user to incorporate an external regeneration resistor into the system to absorb the motor regeneration energies of more than 100W rms The external regeneration resistor value depends on the application The resistance value in this module is 260 600W For complete details of Regeneration see Section 4 1 2 Version 6 50 143 MCAU Specifications MC4U Control Module Hardware Guide 3 Safety and EMC Guidelines 3 1 Certification The following standards and certificates apply to the MC4UControl Module Table 133 International Standards amp Certificates Applicable to MC4U Market Category Standard Europe Safety EN 61010 1 01 Canada Safety C22 2 No 0 Canada Safety C22 2 No 14 USA Safety ANSI UL 508C Europe
148. roller SPiiPlus 3U HP Motion Controller Both versions have the following features e Controller The servo control algorithm executes at an uncompromising rate of 20kHz for each axis regardless of the number of axes providing very large bandwidth exceptional dynamic tracking fast settling and excellent smoothness at low velocities The controller is manufactured under ISO 9001 certified quality management system meeting stringent safety and EMC standards and is CE marked Communication Channels Communication with the controller through all channels can be done simultaneously e The controller communicates with a computer host via an RS 232 serial channel or Ethernet 10 100 BaseT channel nadditionit can communicate with other computers via a second RS 232 serial channel 115 200 baud or Ethernet 10 100 BaseT channel Digital I O The controller comes with digital and analog I Os that can be used for general purposes In addition digital inputs can be used for hardware based position registration and outputs can be used to trigger position based events with sub uSec delays e ACSPL Complex applications are easy to develop with ACSPL a powerful true multitasking high level language that is optimized for motion control applications Ten programs can run simultaneously enabling multiple interacting and synchronized processes ACSPL enables implementation of highly complex motion time event sequences with accurate p
149. s 3U LT controller Version 6 50 99 MCAU Specifications MC4U Control Module Hardware Guide Table 86 J8 Digital and Analog I O Pinout page 2 of 2 Pin ACSPL Signal Description Designator 13 AOUT_CC Analog output CC inverted Not used when MC4U is with SPiiPlus 3U LT controller 14 AOUT_DS Analog output DC inverted Not used when MC4U is with SPiiPlus 3U LT controller 15 AOUT_DC Analog output DS inverted Not used when MC4U is with SPiiPlus 3U LT controller 16 OUTO Digital Output 0 17 OUT2 Digital Output 2 18 OUT4 Digital Output 4 19 OUT6 Digital Output 6 20 INO Digital Input 0 21 IN2 Digital Input 2 22 Not connected 23 AIN10 Analog input non inverted 24 AIN11 Analog input non inverted 25 AIN14 Analog input non inverted 26 AIN15 Analog input non inverted 27 AOUT_CS Analog output CS non inverted AOUT6 Signal desigator when MC4U is with SPiiPlus 3U LT controller 28 AOUT_CC Analog output CC non inverted AOUT14 Signal desigator when MC4U is with SPiiPlus 3U LT controller 29 AOUT_DS Analog output DC non inverted AOUT2 Signal desigator when MC4U is with SPiiPlus 3U LT controller 30 AOUT DC Analog output DC non inverted AOUTI10 Signal desigator when MC4U is with SPiiPlus 3U LT controller 31 V SUP IO Input Output Supply 32 V RTN IO Input Output Supply Return 33 INA Digital Input 4 34
150. section provides a complete description of each accessory 2 6 1 Motor Filter The MC4U MF 560V 3 phase Motor Filter shown in Figure 27 is designed for applications that are especially sensitive to electrical noise The Motor Filter is connected in series between the amplifier and the motor The filter attenuates the noise induced by the drive s high current switching Figure 27 MC4U MF 560V Motor Filter The filter is housed in a 14cm by 12 7 cm metal enclosure with power in and power out PHOENIX connectors The filter s mechanical design provides for wall mounting 2 6 1 1 Motor Filter Operational Specifications Table 130 provides details of the MC4U MF 560V Motor Filter operating parameters Table 130 MC4U MF 560V Motor Filter Operational Specifications page 1 of 2 Item Value Maximum input continuous voltage rms 440Vac Maximum input peak voltage 620V Maximum continuous input current 20A Version 6 50 140 MCAU Specifications MC4U Control Module Hardware Guide Table 130 MC4U MF 560V Motor Filter Operational Specifications page 2 of 2 Item Value Maximum input peak current up to I second from startup 40A Maximum output continuous voltage rms 440Vac Maximum output peak voltage 620V Maximum output continuous current 20A Maximum output peak current up to I second from startup 40A Safety and EMC approval UL508C Ambient operating temperatures 0 to 40 C
151. signal This signal goes to 0 logic level and remains in this level if one of the power supply protection circuits is activated For over voltage fault recovery the AC input must be removed and reapplied Table 14 Logic Supply Output Voltages Name Voltage Accuracy Max Reference Ripple amp Current Noise 5L 5V 4 75 5 1V 3A DGND 100mVp p 5L 5V 5 300mA DGND lt 100mVp p 12VA 12V 5 600mA AGND lt 70mVp p 12VA 12V 5 600mA AGND lt 70mVp p For Encoder Supply 5F 5V 4 75 5 1V 0 75A AGND 100mVp p 5U 5V 4 75 5 1V 0 75A DGND 100mVp p Version 6 50 38 MCAU Specifications MC4U Control Module Hardware Guide Note The voltages in Table 14 exist only when the 24V Logic Supply is connected 2 3 1 2 PSM3U High Power Power Supply Table 15 lists the PSM3U 320V XXkW specifications Table 15 PSM3U 320V XXkW High Power PS Specifications page 1 of 2 Description Remarks Power Input Input voltage fluctuation range The maximum input current for the Single phase 85 265 Vac input phase to neutral AC input drive supply must not Three phase 85 265Vac input phase to phase be more than 30A due to the AC Input frequency input in connector J14 of the Nominal frequency 50Hz MC4U Interface see J14 Drive Minimum frequency 47Hz Supply Voltage Connector on Maximum frequency 63Hz Page 88 Inrush current M
152. sion 6 50 51 MCAU Specifications MC4U Control Module Hardware Guide 2 4 3 LDM3U Single Axis Linear Amplifier The LDM3U is a single axis linear servo drive with digitally controlled current loop Figure9 LDM3U Single Axis Linear Amplifer The driver can be used with the following type of motors DC Brushless DC Brush Model The LDM3U Single Axis Linear Amplifier can only be installed in the 19 MC4U When installed the LDM3U requires the MB5U LDM3U motherboard Section 2 5 9 There are two different options available for the LDM3U Single Axis Linear Amplifier LDM3U 55V 8A e LDM3U 55V 16A The main features of the LDM3U are as follows Programmable Digital Current Loop bandwidth Adjustable up to 5 kHz Commutation type Sinusoidal Initialization with and without Hall sensors Fully protected against over and under voltage over current under current and over heating Built in motor dynamic braking is automatically activated when the amplifier is disabled e HW identification and fault diagnostic via C interface The following additional options are available upon request Analog current loop control Special digital control algorithm to increase maximum speed Version 6 50 52 MCAU Specifications MC4U Control Module Hardware Guide 2 4 3 1 LDM3U Amplifier Input Power Specifications This section provides detailed input power specifications for the LDM3U Sing
153. sion 6 50 125 MCAU Specifications MC4U Control Module Hardware Guide Table 114 Encoder Hall Pinout page 2 of 2 Pin ACSPL Signal Description Designator 12 CHI Encoder Index non inverted input 13 HA Motor Hall A 14 HC Motor Hall C 15 LL Left limit 16 SIN SIN non inverted input 17 COS Encoder COS non inverted input 18 SCH Encoder SIN COS Index non inverted input 19 5U 5V user supply for the digital encoder and Hall 20 5U RTN 5V return user supply for the digital encoder and Hall 21 Shield Shield 22 MTMP Motor temperature sensor input 23 V RTN IO A return for the Motor temperature sensor 24 V RTN SFTY A return for the limits input 25 5F 5V user supply for the analog encoder and Hall 26 5F RTN 5V return user supply for the analog encoder and Hall 2 5 8 3 J8 Digital and Analog I O Connector Label J8 DIGITAL amp ANALOG I O Connector Type D type 44 pin HD male Mating Type D type 44 pin HD female for easy prototyping a Phoenix FLKM HDSUB 44 M Sub D to Screw Terminal converter can be used J8 serves for controlling Digital and Analog I O signal formats The pinout for J8 is given in Table 115 Table 115 J8 Digital and Analog I O Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 OUTI Digital Output 1 2 OUT3 Digital Output 3 3 OUTS Digital Output 5 4 OUT7 Digital Out
154. supply internal 5V X 1 2 1 2 X I O supply internal 24V X 2 3 2 3 X Safety supply external Remove X X Remove Safety supply internal 5V 1 2 X X 1 2 Safety supply internal 24V 2 3 X X 2 3 Version 6 50 67 MCAU Specifications MC4U Control Module Hardware Guide Note not isolated re When using the 5V internal supply for digital I O or Safety these I Os are Table 54 Encoder Supply Setup JP9 JP10 JP11 JP12 JP21 Analog encoder external supply 1 2 X 1 2 X 1 2 Analog encoder internal supply 2 3 X 2 3 X Open Digital encoder external supply X 1 2 X 1 2 2 3 Digital encoder internal supply X 2 3 X 2 3 Open Version 6 50 68 MCAU Specifications MC4U Control Module Hardware Guide 2 5 2 MB5U ZZ Motherboard The MB5U ZZ motherboard is installed in the 11 MC4U The connectors associated with the MB5U ZZ motherboard are shown in Figure 12 Figure 12 MB5U ZZ Connectors 2 5 2 1 MB5U ZZ Functionality The MB5U ZZ accomodates the SPiiPlus 3U LT HP motion controller two DDM3U 2 320V XX drives and one PSM3U XX XX power supply It supports the following functionality 4x Digital encoders e 4x SIN COS encoders optional 4x Hall effect sensors 4x Motor Temperature sensors e 8 x Safety inputs e xE stop 8 x Digital outputs Mechanical brakes e 8x Digital inputs e 2x MARK signals e 2x PEG signals 4x Motor output signals e 2x Ethernet channels 2
155. t 16 SIN SIN non inverted input 17 COS Encoder COS non inverted input 18 SCH Encoder SIN COS Index non inverted input 19 5U 5V user supply for the digital encoder and Hall 20 5U RTN 5V return user supply for the digital encoder and Hall 21 Shield Shield 22 MTMP Motor temperature sensor input 23 V RTN IO A return for the Motor temperature sensor 24 V RTN SFTY A return for the limits input 25 5F 5V user supply for the analog encoder and Hall 26 5F RTN 5V return user supply for the analog encoder and Hall 2 5 3 3 J8 Digital and Analog I O Connector Label J8 DIGITAL amp ANALOG I O Connector Type D type 44 pin HD male Mating Type D type 44 pin HD female for easy prototyping a Phoenix FLKM HDSUB 44 M Sub D to Screw Terminal converter can be used J8 serves for controlling Digital and Analog I O signal formats The pinout for J8 is given in Table 68 Table 68 J8 Digital and Analog I O Pinout page 1 of 3 Pin ACSPL Signal Description Designator 1 OUTI Digital Output 1 2 OUT3 Digital Output 3 3 OUTS Digital Output 5 4 OUT7 Digital Output 7 5 INI Digital Input 1 6 IN3 Digital Input 3 7 AGND Analog ground 8 AIN10 Analog input inverted 9 AINII Analog input inverted 10 AIN14 Analog input inverted 11 AIN15 Analog input inverted Version 6 50 82 MCAU Specifications MC4U Control Module Hardware Guide Table 68 J8 Digital and Analog I O Pinout page 2 of
156. t 400ms after logic supply input voltage is applied After the first 400ms the inrush current value continuously decreases and drops below 2 9A within 1sec Supply input voltage ripple Maximum input voltage ripple amplitude 5V peak to peak at 100Hz frequency e nany condition the input voltage level including the voltage ripple amplitude must not be lower than 21 6V and not greater than 26 4V Supply Output Voltages see Table 14 PC Circuit See Section 4 1 3 External Regeneration Regeneration circuit activates when DC BUS The internal regeneration resistor output voltage exceeds 400V 3 388 412V must be disconnected from Power External regeneration resistor gt 15Q Supply J5 connector otherwise it will work in parallel with the external resistor and heat the power supply heatsink for no reason Power Supply Fault This signal goes to 0 logic level and remains in This signal is sent to the SPiiPlus output signal this level if one of the power supply protection Motion Controller over the IC bus circuit is activated A self reset circuit generates a pulse every 130mSec to reset the signal to 1 logic level when the fault condition disappears Table 16 Maximum Input Power Q Single Phase Input 85 265Vac Parameter 85Vac 100Vac 115Vac 130Vac 195Vac 230Vac 265Vac Input power 1979 52 2304 79 2792 69 3280 59 4923 26 5868 57 6813 89 nominal Pin W Input power peak 3159
157. ted Not Applicable AOUT15 31 V SUP IO Input Output Supply 32 V RTN IO Input Output Supply Return 33 INA Digital Input 4 34 INS Digital Input 5 35 IN6 Digital Input 6 36 IN7 Digital Input 7 37 AGND Analog ground 38 AGND Analog ground 39 Not connected 40 Not connected 41 Not connected 42 Not connected 43 Not connected 44 2 Not connected Version 6 50 72 MCAU Specifications MC4U Control Module Hardware Guide 2 5 2 4 J20 Safety amp Fast I O Inputs Connector Label J20 SAFETY amp FAST I O Connector Type D type 25 pin male Mating Type D type 25 pin female for easy prototyping a Phoenix FLKM HDSUB 25 M Sub D to Screw Terminal converter can be used J20 serves for controlling Safety and Fast I O input signals The pinout for J20 is given in Table 57 Table 57 J20 Safety and Fast I O Inputs Pinout Pin Signal Description Designator 1 V SUP SFTY Safety Supply 2 Not Connected 3 X LL X Left Limit 4 A LL A Left Limit 5 Y LL Y Left Limit 6 B LL B Left Limit 7 DGND Digital ground 8 Y MARKI Non inverted MARKI for Y axis 9 X MARK1 Non inverted MARKI for X axis 10 Y PEG Non inverted PEG for Y axis 11 X PEG Non inverted PEG for X axis 12 Not Connected 13 Not Connected 14 V_RTN_SFTY Safety Supply Return 15 Not Conn
158. ter queda cds 168 5 12 2 CAN Bus Controller Interface 0 0 0 eee 168 6 MC4U Installation and Maintenance 0 0 0 00 esses 170 6 1 Installing the MC4U ssssesssese s 170 6 1 1 Panel Mounting the MCAU 0 es 170 6 1 2 Rack Mounting the 19 MCAU sssesesee ees 172 6 2 Maintenance PITE 173 6 2 1 Replacing MC4U Components ao vv rav varar arv eee eee 173 7 MC4U CS Warranty 0 0 cece E E 174 Version 6 50 V MC4U Control Module Hardware Guide List of Figures Figure I Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 2 1 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 Figure 44 OP MCA i i gare dampet deed dote didult ive teo odd dekade 1 IF WAC AG Teer a e a e i 2 I9 MCAU vasset ERE ERR D e Re OIA OL DA des ske 3 MC4U Components 2 52 toda ae eeiee CAR p pea da ee 7 9 MC4U Dimensions 0 0 0 0 eee a even 8 11 MC4U Dimensions 0 0 0 0 eee re 9 19 MCA Dimensions ss DN 10 SPiiPlus 3U LED Indicators Example 0 00 000 cece eee 33 LDM3U Single Axis Linear Amplifer 000
159. ternal JP11 Internal or external 1 2 External Encoder supply analog encoder supply 2 3 Internal AGND return JP21 Encoder external supply 1 2 encoder external supply Encoder supply return common ground connect to AGND 2 3 encoder external supply connect to DGND JP12 Internal or external digital 1 2 External Encoder supply encoder supply return 2 3 Internal DGND JP13 Digital ground to shield Install galvanic connection Internal use only connection between digital ground to shield JP14 Digital ground to analog Install galvanic connection Internal use only ground connection between digital ground to analog ground Note In the tables that follow X means don t care p Table 98 1 0 Jumper Setup Setup JP1 JP3 JP5 JP7 I O supply external X Remove Remove X I O supply internal 5V X 1 2 1 2 X I O supply internal 24V X 2 3 2 3 X Safety supply external Remove X X Remove Safety supply internal 5V 1 2 X X 1 2 Safety supply internal 24V 2 3 X X 2 3 Version 6 50 109 MCAU Specifications MC4U Control Module Hardware Guide Table 99 Encoder Supply Setup JP9 JP10 JP11 JP12 JP21 Analog encoder external supply 1 2 X 1 2 X 1 2 Analog encoder internal supply 2 3 X 2 3 X Open Digital encoder external supply X 1 2 X 1 2 2 3 Digital encoder internal supply X 2 3 X 2 3 Open Note When using 5V internal supply for digital I O or Safety these I Os will not be isolated
160. tion controller Drive card serial number Drive card revision Drive card date of production Drive type Number and type of assembled power bridges Drive supply voltage Drive output current 4 1 3 4 DDM3U High Power Motor Drive In DDM3U 2 320V YY driver the IC bus is used for the following non real time purposes Drive fault cause status reading Once a Drive Fault signal goes to 1 in case of drive fault condition the following fault cause status information can be read Drive Alarm Power supply too high Drive Alarm Power supply too low Drive Alarm Short circuit Drive Alarm Over current Drive Alarm Temperature too high Drive fault cause status resetting Ifa Drive Fault signal goes to 1 due to a drive fault condition the controller can reset the fault cause status information This switches the PWM Power Bridge Power Amplifier status LED PAS to Off as well If a Drive Enable command is issued the fault cause status information should be reset Drive card identification reading The drive card identification information is located in IPC I O Port memory and can be read by the motion controller 4 2 Drive card serial number Drive card revision Drive card date of production Drive type Number of assembled power bridges Drive supply voltage Drive output current Cooling Vent The 9 MC4U has one cooling vent the 11 MC4U has two and the 19 MC4U has three Each vent provides a maxi
161. tive earth screw located in the center of the MC4U Interface shown in Figure 33 and the equi potential bar inside the Mechanical Housing Grounding Post S p Y E Figure33 MC4U Grounding Post Version 6 50 149 Safety and EMC Guidelines MC4U Control Module Hardware Guide 3 4 Cooling Vents In order to improve the MC4U MTBF it is recommended that the cooling vents be replaced after 33 000 hours of operation Note The operating time of the unit can be monitored by incorporating the TIME command see the SPiiPlus Command amp Variable Reference Guide in any program Version 6 50 150 Safety and EMC Guidelines MC4U Control Module Hardware Guide 4 Circuit Protection This chapter contains details of the various protection circuits and devices contained in the MC4U to ensure safe operation 4 1 Internal Integrated Drive Protection Circuits 4 1 1 Soft Start Circuit Caution When AC voltage is initially applied to the MC4U PSM3U Power Supply through connector J14 a 10 second delay is required until the power supply is ready and can accept an ENABLE command for any axis Otherwise the power supply may be damaged The Soft Start circuit eliminates high inrush current when AC input voltage is applied to the power section of the PSM3U 320V XXkW power supply The Soft Start circuit also protects against damage the power transistors in power amplifiers during the power up i
162. tor 00 ccc cee 117 J4 J5 and J6 HSSI Connectors eee 118 J2 and J3 Ethernet Connectors seses 2 0 0 cece eee ne 118 J19 and J20 RS 232 Communication Connectors 005 119 J14 Drive Supply Voltage Connector 0 0 00 cece eee 119 J1 24V Logic Supply Connector 00 0 cece ene 120 J40 T and D External Drive Control Signals 0000 120 J152 Motor Drive Output 0 eens 121 MBSU ZZZ Jumper Configuration 00 0 cece eee 122 MBSU ZZW Motherboard 0 0 ees 124 MBSU ZZW Functionality 0 eee 124 Encoder and Hall Connectors scssi 00 0 0 eens 125 J8 Digital and Analog I O Connector nanna 00 c cee eee 126 J9 Regeneration Connector 2 0 0 cece teens 128 J21 Fast I O PEG amp Mark Connector 00 c ee eee 128 J22 Motor Limits Connector 0 0 ccc ces 130 J4 J5 and J6 HSSI Connectors eee 131 J2 and J3 Ethernet Connectors 0 0 0 cece eee ene 131 J19 and J20 RS 232 Communication Connectors 0 005 132 J14 Drive Supply Voltage Connector 0 0 0 eee 132 J1 24V Logic Supply Connector 0 0 0 cece eee 133 J40 T and D External Drive Control Signals 4 133 J152_ Motor Drive Output vd torto 49 eos soe etos dog 134 J125 External DC Drive Supply Input 02 0 000 135 J121 J124 Low Power Motor Connectors
163. tor 1 ETH _TX Positive transmit signal 2 ETH _TX Negative transmit signal 3 ETH _ RX Positive receive signal 4 Not connected 5 Not connected 6 ETH _RX Negative receive signal T Not connected 8 Not connected Version 6 50 104 MCAU Specifications MC4U Control Module Hardware Guide 2 5 6 9 Label J19 and J20 RS 232 Communication Connectors J19 COMI J20 COM2 Connector Type D type 9 pin male sockets Mating type D type 9 pin female The pinout for the sockets is given in Table 92 Table 92 J19 and J20 RS 232 Communication Pinout Pin ACSPL Signal Description Designator 1 SHIELD Cable shield connection 2 RX232 RS 232 receive signal for the communication port J19 for COM1 and J20 for COM2 3 TX232 RS 232 transmit signal for communication port J19 for COM1 and J20 for COM2 4 Not connected 5 DGND Digital ground 6 Not connected 7 Not connected 8 Not connected 9 Not connected 2 5 6 10 J14 Drive Supply Voltage Connector J14 DRIVE SUPPLY Connector Type Phoenix FRONT 4V 7 62 Label Mating Type None screw terminal AC power is provided through J14 The pinout for J14 is provided in Table 93 Table 93 J14 Drive Supply Voltage Pinout Pin ACSPL Signal Description Remarks Designator 1 EGND Earth Ground shield 2 L3 AC input phase L3 3 L2 AC input phase L2 When us
164. ule Hardware Guide Table 27 DDM3U X 60V 4A Specifications page 2 of 2 Description Remarks Input Control Supply Control supply input voltage Nominal voltage 24Vdc Minimum voltage 19Vdc Maximum voltage 29Vdc Control supply input power 15 8W max Control supply input current 0 83A max 19V control supply input voltage Control supply inrush current Maximum inrush current value is less than 32A rms measured within first 500u Sec after drive supply input voltage is applied After the first 500uSec the inrush current gradually decreases to below 0 83A within Isec Control supply input voltage ripple Maximum input voltage ripple amplitude 5V peak to peak at 100Hz frequency Underany condition the instantaneous input voltage level including voltage ripple amplitude must be between 19V and 29V Total Output Power See Table 29 Output Power to Motor See Table 30 Table 28 DDM3U X 60V 4A Maximum Input Current and Input Power Number Maximum Maximum Maximum Maximum of Axes Continuous Peak Input Continuous Peak Input Input Current Input Power Power Current 3 Sec IW 3 Sec W Arms Arms DDM3U 2 60V 4A 2DC 5 5 6 8 362 452 Brushless DDM3U 4 60V 4A 4DC 10 9 13 7 723 904 Brushless DDM3U 2 60V 4A 2 DC Brush 5 2 9 2 341 608 2 Step 3 4 42 222 276 DDM3U 4 60V 4A 4 DC Brush 10 3 18 4 682 1216 4 Step
165. upgrade and recovery procedures for the motion controller Version 6 50 4 Introduction MC4U Control Module Hardware Guide 1 4 Conventions Used in this Guide 1 4 1 Documentation Conventions Several text formats and fonts illustrated in Table 2 are used in the text to convey information about the text Table 2 Text Conventions Text Description BOLD CAPS ACSPL elements commands functions operators standard variables etc when mentioned in the text Software tool menus menu items dialog box names and dialog box elements bold Emphasis or an introduction to a key concept Monospace Code examples Italic monospace Information in code examples that the user provides ALL CAPS Keyboard key names example SHIFT key Bold Blue Text Links within this document to web pages and to e mail addresses Used in command syntax to indicate alternate input from which the user uses one or the other gt Used in GUI descriptions to indicate nested menu items and dialog box options leading to a final action For example the sequence Debug gt New Watch Real time directs the user to open the Debug menu choose the New Watch command and select the Real time option 1 4 2 Statement Text and Icons Used in this Guide Note Notes include helpful information or tips Caution A Caution describes a condition that may result in damage to equipment
166. upon as the E Stop safety mechanism Quantity One Type Opto isolated floating cathode and anode two pins 5Vdc 10 or 24Vde 20 automatically detected Input current 2 8 14mA Version 6 50 26 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 8 of 12 Description Remarks Default state No emergency stop no current Propagation delay from input to measured output delay lt 3mS From Fault Input occurrence to response output Motor Over Temperature Inputs ACSPL Designation Motor over temperature OVER T Quanity One per axis Type Single ended opto isolated When using PTC when the motor is Reference V RTN IO cold the resistance should be below Threshold resistance 3 6 KO 5 16500 and when hot above 4000 Default state Low impedance lt 3K No Over Temperature General Purpose Logic Inputs ACSPL Designations INO INI IN2 IN3 INA INS IN6 IN7 IN6 shared with X axis MARK2 IN7 shared with Y axis MARK2 IN4 shared with Z axis MARK2 INS shared with T axis MARK2 See Registration Mark Quantity 8 Type Single ended opto isolated Can be Configuration by JP3 configured by the user as sink or source 5Vdc 10 or 24Vdc 20 Referenced to V SUP IO Sink or V RET IO Source Automatic voltage detection Input current 2 8 14mA Default state No input current FPGA logic state 1 Input logic
167. ut phase the parameters of which are Type Time Delay ceramic tube Ampere rating 30A fast Voltage rating 250Vac Agency approvals UL CSA If one or more of the fuses blows all motor drivers supplied from the power supply are disabled Version 6 50 155 Circuit Protection MC4U Control Module Hardware Guide 4 3 2 DDM3U Motor Drives 4 3 2 1 DDM3U X 60V 4A Low Power Motor Drive The DDM3U X 60V 4A Low Power Motor Drive has the following fuses Control supply input fuse e Type subminiature very fast action e Ampere rating 2A Voltage rating 125Vdc Agency approvals UL Drive supply input fuse Type very fast acting Ampere rating 15A Voltage rating 65Vdc Agency approvals UL In addition there is protection against erroneous connection of the control supply with reverse polarity in this case the control supply will not start to operate 4 3 2 2 DDM3U 2 320V YY High Power Motor Drive The DDM3U 2 320V YY High Power Motor Drive has the following fuses Control supply input fuse Type subminiature very fast action Ampere rating 2A Voltage rating 125Vdc Agency approvals UL Drive supply input fuse Type fast acting Ampere rating e 15A for DDM3U 2 320V 5A 30A for DDM3U 2 320V 10A and DDM3U 2 320V 20A Voltage rating 600Vdc Agency approvals UL In addition there is protection against erroneous connection of the control supply in reverse polarity in this c
168. utput inverted 22 Not connected 23 Not connected 24 Not connected 25 Not connected 26 T PEG PEG Digital output inverted 27 Z PEG PEG Digital output inverted 28 Y PEG PEG Digital output inverted 29 X PEG PEG Digital output inverted 30 T MARK2 Reserved for future use 31 X MARK1 Mark Digital input non inverted 32 X MARKI Mark Digital input inverted 33 X MARK2 Mark Digital input non inverted 34 X MARK2 Mark Digital input inverted 35 Y MARK1 Mark Digital input non inverted 36 Y MARKI Mark Digital input inverted 37 Y MARK2 Reserved for future use 38 Y MARK2 Reserved for future use 39 Z MARKI1 Mark Digital input non inverted 40 Z MARKI Mark Digital input inverted 41 Z MARK2 Reserved for future use 42 Z MARK2 Reserved for future use 43 T MARK 1 Mark Digital input non inverted 44 T MARKI Mark Digital input inverted Version 6 50 129 MCAU Specifications MC4U Control Module Hardware Guide 2 5 8 6 Label J22 Motor Limits Connector J22 LIMITS Connector Type D type 25 pin male Mating Type D type 25 pin female for easy prototyping a Phoenix FLKM HDSUB 25 M Sub D to Screw Terminal converter can be used The pinout for J22 is given in Table 118 Table 118 J22 Motor Limits Pinout Pin ACSPL Signal Description Designator 1 V_SUP_SFTY Safety Supply 2 Not connected 3 X LL X Left Limit 4 A LL
169. vance of analog and digital output pins is configuration dependent The initial logic state of the inactive analog and digital pins is undefined They might carry a potential of 5V relatively to ground 3 2 5 Electrical Separation Electrical separation is required between the control and power supply cables to prevent electrical shock or damage to the equipment 3 2 6 Over Travel Protection Warning Over travel limit protection must be provided where over travel is hazardous The over travel limiting device must be capable of interrupting the power circuit 3 2 7 Thermal Detection Warning Suitable thermal detection devices to interrupt the power circuit must be installed where abnormal temperatures can cause a hazardous condition 3 2 8 Power Supply and Motor Cable Ground The power supply cable and the motor cable must have a ground wire that is connected to the protective earth terminal located on the motor and power connectors A connection must also be made between the grounding post located on the MC4U enclosure and the equi potential bar inside electrical enclosure 3 3 General Wiring and Electromagnetic Compatibility EMC Guidelines 3 3 1 External AC Line Filters In order to comply with the EN 61326 2002 line filters must be employed The line filters for single phase input AC are given in Table 134 and those for three phase input AC are given in Table 135 Version 6 50 146 Safety and
170. ve The DDM3U 2 320V YY where YY relates to Amperage is a dual axis Pulse Width Modulation PWM digital universal driver for the following types of motors DC Brushless AC Induction DC Brush Step Motor The number of motors connected to the driver can be one or two The SPiiPlus Motion Controller via the Controller Driver interface controls the output current for each of two PWM digital drivers Version 6 50 47 MCAU Specifications MC4U Control Module Hardware Guide There are four different options available for DDM3U 2 320V YY dual axis digital driver e DDM3U 2 320V 5A DDM3U 2 320V 10A DDM3U 2 320V 15A e DDM3U 2 320V 20A 2 4 2 1 DDM3U 2 320V YY Specifications Table 31 lists the DDM3U 2 320V YY specifications Note All power for the DDM3U 2 320V YY is supplied through the PSM3U Power Supply Table 31 DDM3U 2 320V YY Specifications page 1 of 2 Description Remarks Supported motor types Brush Brushless or Step Number of axes Two supported Axis designations 9 MC4U X A 11 MC4U and 19 MC4U X Y also A and B If two Motor Drives are installed Input Power Drive supply input voltage range e Nominal 24Vde 320Vde e Minimal 21Vdc 24Vde 10 Maximum 370Vdc 320Vdc 15 Inrush current Maximum inrush current value is less than 1A rms measured within first 10ms after drive supply input voltage is applied After the first 1
171. vides the data of the control supply inputs Table 38 Control Supply Input Input Voltage LDM3U 55V 8A LDM3U 55V 16A Vin input voltage 12 75 12 75 range Vde Tin maximum input 0 6 0 6 current A Pin maximum input 7 5 7 5 power W Efficiency 70 70 2 4 3 4 LDM3U Drive Protection This section details the various protection elements incorporated in the LDM3U to provide both circuitry and drive protection The elements include Circuit Fuses Drive Protection Circuits Dynamic Braking Table 39 lists the fuses that are incorporated in the LDM3U card Table 39 Drive Protection Fuses Drive Circuit LDM3U 55V 8A LDM3U 55V 16A Control supply 1A 125Vde fast 1A 125Vdc fast Drive supply 15A 125Vdc fast 15A 125Vdc fast Drive output phase S 15A 125Vde fast 15A 125Vde fast Drive output phase T 15A 125Vdc fast 15A 125Vde fast Warning Should a fuse blow contact an ACS Motion Control technician for instructions Table 40 provides details of the drive protection circuits Table 40 Drive Protection Circuits Protection Type LDM3U 55V 8A LDM3U 55V 16A Under voltage Vbus lt 32V 5 Vbus lt 32V 5 Over voltage Vbus gt 67V 5 Vbus gt 67V 5 Over current Iin 8A 5 lin 16A 5 Td 2Sec 10 Td 1 2Sec 10 Version 6 50 55 MCAU Specifications MC4U Control
172. ware installation see Chapter 3 of the SPiiPlus Setup Guide 6 1 1 Panel Mounting the MC4U The MC4U comes with brackets installed on each side of the rear of the unit for panel mounting Figure 52 and Figure 52 illustrate the panel mounting the 9 MC4U and 11 MC4U and the 19 MCAU respectively Caution When connecting the wiring care must be taken to route the wiring from the top or sides so that there is no interference with the air flow of the vents in the top of the MC4U unit Version 6 50 170 MCAU Installation and Maintenance MC4U Control Module Hardware Guide Figure 51 9 MC4U and 11 MC4U Panel Mounting Figure 52 19 MC4U Panel Mounting Version 6 50 171 MCAU Installation and Maintenance MC4U Control Module Hardware Guide 6 1 2 Rack Mounting the 19 MC4U The 19 MC4U may be mounted in a rack with a shelf width of 45 cm Figure 53 illustrates the hardware needed and how the unit is mounted MASERT Figure 53 19 MC4U Rack Mount Z o er D There is an option for adding Schroff P N 10501 006 handles to the front brackets to facilitate maneuvering the 19 MC4U E Version 6 50 172 MCAU Installation and Maintenance MC4U Control Module Hardware Guide 6 2 Maintenance 6 2 1 Replacing MC4U Components The MC4U is designed for the easy swapping out any of the component SPiiPlus controller PSM3U power supplies DDM3U
173. wer is provided through J12 The pinout is given in Table 51 Table 51 J12 Drive Supply Pinout Pin Signal Description Designator 1 Ll AC input phase L1 2 L2 AC input phase L2 Neutral when using a single phase motor 3 L3 AC input phase L3 d Not Connected gt EGND Earth Ground shield Version 6 50 66 MCAU Specifications MC4U Control Module Hardware Guide 2 5 1 12 J5 24V Logic Supply Connector Label J5 24V LOGIC SUPPLY Connector Type Phoenix MCV 1 5 5 GF 3 81 connector Mating Type Phoenix MC 1 5 5 STF 3 81 24Vdc is provided through J5 The pinout of J5 1s given in Table 52 Table 52 J5 24V Logic Supply Pinout Pin Signal Description Designator 1 24V_SUP 24V logic supply 2 24V_RTN 24V logic supply return 3 5V ENC EXT External 5V supply for encoder d 5V ENC EXT RTN External SV supply return for encoder 5 EGND Earth Ground shield 2 5 1 13 MB5U Z Jumper Configuration This section details the setup of the MB5U Z motherboard jumper configuration Warning Only a qualified technician should make any changes to the factory settings of the jumpers Remove the back cover of the unit to access the jumpers Note t In the tables that follow X means don t care Table 53 I O Jumpers Setup JP1 JP3 JP5 JP7 I O supply external X Remove Remove X I O
174. xHSSI channel e 1x RS 232 channel Version 6 50 69 MCAU Specifications MC4U Control Module Hardware Guide 2 5 2 2 Encoder and Hall Connectors Label J14 Y ENC J15 X ENC J16 B ENC J17 A ENC Connector Type D type 26 pin HD female Mating Type D type 26 pin HD male for easy prototyping a Phoenix FLKM HDSUB 26 M Sub D to Screw Terminal converter can be used The connectors are allocated as follows Connector Axis Connector Axis J15 X ENC X J17 AENC A J14 Y ENC Y J16 B ENC B The pinout for the Encoder Hall Connectors is given in Table 55 Note The dollar sign stands for the given axis for example LL can be X LL or Y LL etc Table 55 Encoder Hall Pinout page 1 of 2 Pin Signal Description Designator 1 CHA Encoder A inverted input 2 CHB Encoder B inverted input 3 CHI Encoder index inverted input 4 HB Motor Hall B 5 V SUP SFTY Supply for the limits input 6 RL Right limit 7 SIN Encoder SIN inverted input 8 COS Encoder COS inverted input 9 SC I Encoder SIN COS Index inverted input 10 CHA Encoder A non inverted input 11 CHB Encoder B non inverted input 12 _CHI Encoder Index non inverted input 13 HA Motor Hall A 14 HC Motor Hall C 15 LL Left limit 16 SIN SIN non inverted input 17 COS Encoder COS non inverted input Version 6 50 70 MCAU
175. y from input to measured output delay lt 3mS Drive enable is target output Dynamic Brake ACSPL Designation Brake enable 4 BRK The same pins of connectors can be defined by internal jumpers as Dynamic Brake or Mechanical Brake Default Dynamic Brake Quantity One per axis Type Opto isolated open emitter up to 24V Tma active when current is sourcing Reference V_SUP_IO or 5VCC Upon power up signal is high impedance no current through the output transistor Repeatable time lt 3mSec Reference defined by internal jumper Default 5VCC Default state No current through the output transistor Power up output state Z Version 6 50 24 MCAU Specifications MC4U Control Module Hardware Guide Table 10 SPiiPlus 3U HP Specifications page 6 of 12 Description Remarks Voltage drop in active state lt 0 3V Mechanical Brake ACSPL Designation Same as Digital Output see General The same pins of connectors can be Purpose Outputs defined as digital outputs or Mechanical Brake Repeatable time lt 3mSec Default Digital output Quanity One per axis Default state No current through the output transistor Default FPGA output 0 Drive Current Feedback ACSPL Designations Current in two phases S T of the motor Phase S _IS Phase T _IT Quantity 16 Type Differential analog input Vo
176. ype D type 44 pin HD female Mating Type D type 44 pin HD male for easy prototyping a Phoenix FLKM HDSUB 44 M Sub D to Screw Terminal converter can be used The pinout for J21 is given in Table 117 Table 117 J21 Fast I O Pinout page 1 of 2 Pin ACSPL Signal Description Designator 1 Y_STATE2 Reserved for future use 2 Y STATE1 Reserved for future use 3 Y STATEO0 Reserved for future use 4 X STATE2 State Digital output non inverted 5 X_STATEI State Digital output non inverted 6 X_STATEO State Digital output non inverted 7 Not connected 8 Not connected 9 DGND Internal digital supply return 10 DGND Internal digital supply return 11 T_PEG PEG Digital output non inverted 12 Z PEG PEG Digital output non inverted Version 6 50 128 MCAU Specifications MC4U Control Module Hardware Guide Table 117 J21 Fast I O Pinout page 2 of 2 Pin ACSPL Signal Description Designator 13 Y PEG PEG Digital output non inverted 14 X PEG PEG Digital output non inverted 15 T MARK2 Reserved for future use 16 Y STATE2 Reserved for future use 17 Y STATEI Reserved for future use 18 Y STATEO Reserved for future use 19 X STATE2 State Digital output inverted 20 X STATEI State Digital output inverted 21 X STATEO State Digital o

User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents