CLBIO43-52x1 USER'S MANUAL Overview The CBLIO43-52x
Contents
1. WHILE LOOP gate waiting for PLC read ready signal reset the fault output if any if input A triggered UAI will read 0 otherwise ab 0 is 1 if input B triggered UBI will read 0 otherwise ab 1 is 2 summing up the binary values comparing each binary value with the SWITCH CASE statement CASE 0 when B A triggered 0 0 PRINT CASE 0 move to P 8000 13 P 8000 GOSUBO BREAK CASE 1 set position value GO to SUBroutine CO to start motion and error handling BREAK out of SWITCH statement CASE 1 when B _ triggered 01 PRINT CASE 1 move to P 10000 13 P 10000 GOSUBO BREAK CASE 2 set position value GO to SUBroutine CO to start motion and error handling CASE 2 when _ A triggered 10 PRINT CASE 2 move to P 8000 13 8000 GOSUBO BREAK CASE 3 set position value GO to SUBroutine CO to start motion and error handling CASE 3 when __ triggered 00 PRINT CASE 3 move to P 10000 13 P 10000 GOSUBO BREAK ENDS LOOP END co UE 0 G TWAIT UE 1 IF Be PRINT excessive position error occured 13 UF 0 ENDIF IF Bp PRINT RT Limit reached 13 UF 0 ENDIF IF Bm PRINT LT Limit reached 13 UF 0 ENDIF IF Bh PRINT Over Temperature Occured 13 UF 0 ENDIF RETURN set position value GO to SUBroutine CO to start motion and error handling ENDS for closing SWITCH statement LOO2. CLBIO43 52x USER S MANUAL Overview The CBLIO43 52x is a cable with a DB15 connector that converts 5VDC Servida Motor I O to 24VDC I O The user has the option of using the CBLIO43 52 cable with four digital inputs and three digital outputs or five digital inputs and two outputs This cable connects directly into the Servida Motor s DB 15 I O connector CN2 on the SV23xxD and SV34xxD series 94900009 e 1703 ja foc a jion S I 70 E e 0r 7 I 70 G a ENCA OUT 9 __ JENCB OUT to RSe32_Tx he Sv_ouT_ LEN 3 CABLE 1940 LEN 1 LEN 2 MULT CONDUCTOR FUNCTION coro si NPUT COMMON A D BLACK WHITE NPUT A BLUE NPUT B GREEN _ NPUT C ORANGE NPUT D RED RED ZVHITE RED BLACK CABLE LUE WHITE LENGTH BLUE BLACK LABEL LENGTH DSCRPT ALL 1 0s ARE DIODE PROTECTED ISOLATED AND 24 VIC LEN 1 15 ft GRAY OUTPUTS SINK DR SDURCE AS NUCH AS 100n A LEN a in 20 26 LEN 3 OS in AWG AN INPUT CANNOT BE USED IF IT EXCEEDS 30 VOLTS mA MUL TICONDUCTOR AN OUTPUT CANNOT BE USED IF IT EXCEEDS 30 VOLTS 100nA HOOD COLOR BLACK JACKET COLOR GRAY xPORT G CAN ONLY BE USED AS ECTHER INPUT OR OUTPUT CONDUCTOR 20 26 AWG 1T CANNOT BE USED AS INPUT AND OUTPUT THE SAME TIME Inputs A to D can be set to either all sourcing or sinking inputs Port G input is independent from input A to D Outputs E F and G are wired independently so they can either be sourcing or sinking RATING Input
3. G off output line open UG 1 set output G on output line close UEO initialize port E as output UE 1 set output E off output line open UE 0 set output E on output line close UFO initialize port F as output UF 1 set output F off output line open UF 0 set output F on output line close d UCI store the input state value of port C into variable d IF UAI using with IF statement true gt UAI is 1 ENDIF IF UAl 0 using with IF statement true gt UAI is 0 ENDIF CLBIO43 52x USER S MANUAL Sample Wiring Diagram 24 Vode SJ SOURCING CONNECT DRY CONTACT SINKING CONNECT DRY CONTACT 24 Vode DC SINKING SENSOR CONNECTION 5 WIRE LABEL FUNCTION IN PUT COM MD N A DIBLACK WHITE j INPUT A BLUE 9 INPUT B GREEN oj INPUT D Reo ol OUTPUT G t GREEN WHITE_o DUTPUT G GREEN BLACK E CABLE aes CBLID43 S2 CABLE IQUTPUT E _IREQ WaITe O OUTPUT F t BLUE WHITE 24 Vac DUTPUT F lt gt BLUE BLACK_ SINKING CONNECTION For further details about I O commands and program flows please refer to the Servida Motor Users Guide
4. Output min voltage max voltage min current max current max voltage max current 24 VDC 30 VDC 5 mA 8 mA 30 Vdc 100 mA Damage may occur if these maximum ratings are exceeded l If x is H cable is 5m long If x is 10M cable is 10m long CLBIO43 52x USER S MANUAL 2 Servida Motor Interface The CBLIO43 52 cable uses the Servida Motor s I O pins as listed SIGNAL DESCRIPTION Digital input A Encoder input A Step input input frequency 50kHz Digital input B Encoder input B direction input input frequency 50kHz Digital input C Positive Limit Digital input D Negative Limit Digital output E 6 outputF Digital output F input output G Digital input G Digital output G can only use either input or output 5Vde output Signal Ground Schematic INPUT COMMON BLACK MWHITE GND pin 13 INPUT A BLUE PORT A nin 1 INPUT B GREEN INPUT C ORANGE INPUT D RED INPUT G lt WHITE NPUT G BLACK OUTPUT G GREEN BLACK OUTPUT G GREEN WHITE OUTPUT E RED BLACK DUTPUT E RED WHNE PORT F pin BY OUTPUT F BLUE WHITE 5V0C pin 12 CLBIO43 52x USER S MANUAL Application The CBLIO43 52 cable is used to interface the Servida Motor with a PLC and some coil relay A sample application wiring is shown below SOUR URC SOURCING INPUT 1 WIRE LABEL eo SO
5. P for closing WHILE statement END marks end of program Label for subroutine CO output high trajectory started start trajectory motion wait until trajectory ends motion stopped reset signal to RESET MOTION low signal to PLC checking excessive position error bit print to terminal window set fault signal high checking RT limit bit print to terminal window set fault signal high checking LT limit bit print to terminal window set fault signal high checking over temperature bit print to terminal window set fault signal high RETURN to main program CLBIO43 52x USER S MANUAL You probably noticed that the motor is reading the signal low when high signal is being sent to the CBLIO43 52 cable If you prefer the motor to read a high signal when high signal is being sent to the cable you can mask the input value by using the following command a UAI 0 this sets a to 1 if UAI is trun which in this case if UAI is 0 i low O Commands UAI initialize port A as input UBI initialize port B as input UCI initialize port C as input UDI initialize port D as input UCP initialize port C as Right Limit Port C is right limit by default UDM initialize port D as Left Limit Port D is left limit by default UGI initialize port G as input port G can only be used as either UGO initialize port G as output input or output UG 1 set output
6. URCING CONNECT DRY CONTACT e SOURCING CONNECT DRY CONTACT CABLE CRLI043 52 CABLE The above diagram is an example of using the CBLIO43 52 cable to interface the Servida Motor with a PLC The sample program below reads output signal from the PLC to determine which predefined profile to run After a move completed the Servida Motor will signal back to the PLC Also the Servida Motor will send outputs to if the an error occurred SAMPLE PROGRAM USING I O INPUT A to C for PLC profile selection INPUT D for read ready OUTPUT G motor signal PLC after motion completed OUTPUT E and F to turn on off pump and value initialize I O ports UAI initialize port A as input signal input bit 0 UBI initialize port B as input signal input bit 1 UCP initialize port C as RT Limit input UDM initialize port D as LT Limit input UE 1 set output E off UEO initialize port E as output trajectory start high ended low UF 1 set output F off UFO initialize port F as output fault high UGI initialize port G as input read ready trigger set Acceleration velocity MP set motor to ModePosition A 8 100 set acceleration to 100 rps 2 for motors with 500 line encoder V 32212 30 set velocity to 30 rps for motors with 500 line encoder CLBIO43 52x USER S MANUAL read check input loop WHILE 1 WHILE UGI 1 LOOP UF 1 ab 0 UAI ab 1 UBI 2 a ab 0 ab 1 SWITCHa CASE 0 infinite
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