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User Manual M3000® and MSC

1. 133 E 134 or 135 Dor 136 We a va teas ava tes cu canvas A EI CR RRRRNAARERE E ERR EREXRARRERRRARNRAREERARVRRRRRRRARRRKERRREE ER 137 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 v List of Tables List of Tables Table 1 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 Dimensions of DIN Rail Modules ssrin aena eene nennen nennen nennen nannten nnn 29 Power Consumption by DIN Rail Modules ssssseenenemeeneemeennnnneren enn 39 Power Supply Conditions of the Module s Internal Electronics and the Sensors 40 M30009 Modules with CAN Bus Interfaces cccccccsssssecececscscscscscscsesesecacsescscsescseeecacsestseeeeeees 51 Maximum Cable Lengths in CAN Bus Networks Depending on the Transmission Rate 54 Maximum Permissible Stub Cable Lengths in CAN Bus Networks sssee 54 Suitable Cables for CAN Bus Interface Cables
2. 23 3 5 Application Prograims iere terrre ceaeeessasscdeabueuasstencnesceesescuse du sa PA Dua en DELE Runde RR EOS 24 3 6 MACS Development Environment eeeeeeeseseeeeeeeeesi essen nennen nennen nnn nnne n nette 24 3 6 1 MACS HMI Visualization Package sse nnnm 25 4 Environmental Conditions ceceeeeeeee eese eee eene nennen nnn 26 4 1 Requirements of IEC 61131 2200 cee ceeeeeeceeeeeee eee eeee eee eeeeeeeneaeeaaneeseeseeeeeeseeeseaseeaneaneeseeeeeeeeneens 26 4 2 Use in Special Environments ccccececesceeeeeeeee cence eee eeeeeeeeeaeeaeeeseeeeeeeeeeseee sea seeaneeseseeeesneeeeeens 27 5 Mechanical Structure s anco oia eiecti a audios deed einer ee ecient ee eetettrereeerren et 28 5 1 DIN Rail Modules rnnt nen kx e xxxn Eo de gunninnd ER RR ENRRAR VETE ERR AR EERNKRRRRANSRRNN RE RE RER ER ERA Aaaa Ea SNE a 28 5 1 1 Views of the Module sssssssssssssesseeeeme eere nennen nren nsn sn nn nnne nennen 28 MEE 29 5 1 3 Arrangement on DIN Top Hat Rails ssssseeen mee eene 30 5 1 4 Mounting and Removing sssssssssssssssseseeseen enne nen nennen rennes 32 6 Project Planning and Installation eeeeeeess 36 6 1 Grounding Condcept 4 iere eren
3. 0000000000000000 0000000000000000 e000 0000000 i pannaananaannaannun B 95ssessssssssssss pagoanaanaugnnunounr pacandnandnananunt pssesssesssessssss poss569595659955655s iO paagaoaagaogagangaanr poagagagaaaaaadaagaaaau sseosssesossossssss pssesssossssosssss Figure 23 Pulling apart DIN Rail Modules 3 Lift off the module from the DIN top hat rail Figure 24 Lifting off a DIN Rail Module from the DIN Top Hat Rail 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 35 6 Project Planning and Installation 6 Project Planning and Installation The following instructions must be observed in order to ensure that the M3000 control system will be safely integrated into its application environ ment 2004 Moog GmbH IEC 61131 Especially the information contained in IEC 61131 4 Safety All safety and accident prevention regulations applicable to the specific application such as machinery directives safety instructions contained in documentation etc Emergency stop The emergency stop devices DIN EN 60204 must remain in effect dur ing all of the system s or facility s operational modes Restarting Unlocking of the em
4. sse enne 122 11 5 2 Software for R Modules eccentric etna trn na d tra ea ER Rada ad 122 11 6 Interface Cables etii eet eee nen ecc ARAS ANO KAN Exo RNAAR NKAN ux ASSE 123 11 7 CAN Bus Accessories eiie iren nieieccint ie rennen erra ei irap Ln nione tun ast RANNA RANAS Ana 123 11 8 Plug In Terminal Strips enne nne tu tonne tnn nnn bn ARA ANANS ANAN AR SANANA KRA ds 124 11 8 1 Number of Required Plug In Terminal Strips sssssssseeeeee 124 11 9 Training Programs me 125 12 1 dee v 126 12 1 Typographical Conventions eeeeeeeeeeeeeeee eene nne nennen nnn nnn nnne annie nnn inni nns 126 12 2 Oicunme R 127 12 3 Quoted Standards iei cec icm End Eve EC ga se Eee ka eee aa iode 129 QUAE DIDI M 129 12 3 2 DIN aiid iz c 129 12 9 9 EG iii iti irri ei ae o Bro roO o Brot ba ae ttererert rerereererrererecee cree 130 JE ERIS E 130 JAMES 130 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 iv Table of Contents EX esses set 131 por H 131 Dpco 132 E
5. ssssssssseeeee enn 55 Permissible Masters and Slaves in E Bus Groups sssssssssseseeeeeemI trnns nene 56 Update Rate of E Bus Messages ccecieesenccenenecececcutensececeeenstececheteeececersesecddersesuaedenseseeceeereseee 57 Update Order for Inputs and Outputs of QDIO and QAIO 19 4 58 DIN Rail Modules with CAN and E Bus Interfaces sssssssseeenem een 59 Terminal Assignment of MSC s Connectors sssssssssssssssseeeeeeeenemeere nnne 73 LEDsvof the lec 77 LEDs for Displaying Elementary Operational States and Errors after Switching on or Resetting the MSC ssssssssssssssssseee enne ener en nennen nee rr rennen nennen nennen 79 Possible States of the Internal Module Control of the MSC sssssseseen ene 88 U I Working Ranges of MSC s Digital Outputs Current Consuming sseeeeee 98 Output Ranges of MSC s Analog Outputs ssssssssseeeee eene ennemis 100 Rise Time T49 g9 of MSC s Analog Outputs sss nennen 100 Permissible Measurement Range of MSC s analog inputs ssse 103 Designations of Incremental Sensor Terminals MSC and Incremental Sensors from Various Manufacturers esssseeee 112 Product Range M3000 Starter Kit nnne 118 Product Range MSG 4er iiber ende dern e a e HERR etd dee ead ae ad A e Ra eek ceeds 118 Product Range Q Module
6. Power Supply 6 2 3 1 Connecting to Several Power Supplies ot Correct Connection of U1 o DIN Rail Modules to Several Power Supplies U2 a Figure 26 Correct Connection of DIN Rail Modules to Several Power Supplies DIN rail modules do not have any protective earth conductor terminals However they are conductively connected to the DIN top hat rail after they are engaged and locked onto it The DIN rail modules thereby re ceive signal grounding gt 6 1 Grounding Concept on page 37 6 2 3 2 Connecting to a Single Power Supply Assuming that the power limits are observed the internal electronics of DIN rail modules and the attached sensors may also be supplied from a single power supply ot Correct Connection of ui T DIN Rail Modules to a Single Power Supply L2 M2 QAIO 16 4 Figure 27 Correct Connection of DIN Rail Modules to a Single Power Supply DIN rail modules do not have any protective earth conductor terminals However they are conductively connected to the DIN top hat rail after they are engaged and locked onto it The DIN rail modules thereby re ceive signal grounding gt 6 1 Grounding Concept on page 37 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 41 6 Project Planning and Installation Power Supply 6 2 3 3 Maximum Admissible Current All of the power supply terminals of M30009 modules and the associated in ternal connections are designed for a
7. Figure 4 QDIO Figure 5 QAIO 16 4 QDIO and QAIO 16 4 I O extension modules can be used to locally extend the inputs and outputs of an MSC They have no internal intelligence In stead the MSC actuates them via I O operation directly over the internal E bus QDIO 16 16 0 5 is a digital I O extension module with 16 digital inputs and QDIO 16 16 0 5 16 individually configurable digital I Os QDIO 16 16 0 5 provides positive switching inputs and l Os QDIO 16 16 0 5N provides zero switching inputs and I Os QAIO 16 4 is an analog I O extension module with 16 analog inputs and QAIO 16 4 4 analog voltage outputs 10 V QAIO 16 4 V provides 16 voltage inputs 10 V QAIO 16 4 A provides 16 current inputs 0 20 mA 2004 Moog GmbH User Manual M30009 and MSC B95906 001 Version 1 1 06 04 19 3 Short M30009 System Overview M30009 Modules 3 3 2 2 QCAN QCAN Figure 6 QCAN CAN Extension Module QCAN is a CAN extension module which can be used to make available the LocalCAN bus of an E bus group for external CAN bus network stations over a D sub front panel connector 3 3 3 R Modules Remote Modules The following R modules are available from Moog R Modules RDIO remote module with digital I Os and CANopen interface Remote Modules c 3 3 3 1 RDIO on page 21 RTEMP temperature control module c 3 3 3 2 RTEMP on page 21 RDISP display and operating terminal c 3 3 3 3 RDISP on page 22
8. sss 102 Shielding the Signal Cable when Connecting an Analog Sensor to the MSC 104 Connecting an Isolated Analog Sensor to the MSC Voltage Signal sssesssss 105 Connecting an Isolated Analog Sensor to the MSC Current Signal sess 105 Connecting a Non Isolated Analog Sensor Voltage Signal with its Own Auxiliary Energy Connection to the MSC ssssssse ene 105 Connecting a Non Isolated Analog Sensor Current Signal with its Own Auxiliary Energy Connection to the MSC ssssssseem ee 106 Connecting a Non Isolated Analog Sensor Voltage Signal with the Same Auxiliary Energy Connection as the MSC sssssssee nn 106 Connecting a Non Isolated Analog Sensor Current Signal with the Same Auxiliary Energy Connection as the MSC sssssssseee nn 106 Connecting a Non Isolated Two Wire Analog Sensor Voltage Signal with the Same Auxiliary Energy Connection as the MSC ssssssseen nn 107 Connecting a Non Isolated Two Wire Analog Sensor Current Signal with the Same Auxiliary Energy Connection as the MSC ssssssssee enn 107 Connecting a Potentiometer to the MSC Using the MSC s Internal Reference Voltage 107 Connecting an Analog 4 Wire Sensor to the MSC Using the MSC s Internal Reference Voltage 108 Connection Diagram of the MSC in Master Mode ssssseeeem
9. The plug in terminal strips that may be needed for connection of power and signal cables are not included in delivery The plug in terminal strips are available from Moog as accessories gt 11 8 Plug In Terminal Strips on page 124 2004 Moog GmbH Product Range R Modules Remote Modules User Manual M3000 and MSC B95906 001 Version 1 1 06 04 120 11 Product Range Power Supply for M30009 Modules 11 3 Power Supply for M30009 Modules Power Supply for Power supply 24 V 10A Power supply for mounting on D137 003 001 M30009 Modules DIN top hat rails with short circuit protection Input 230 VAC or 115 V AC Output 24 V DC 10 A max Table 25 Product Range Power Supply for M30009 Modules 11 4 License Keys item Designation Remarks PartNumber product Range License Keys License key Controls gray D138 002 001 License key Motion green D138 002 002 Table 26 Product Range License Keys License Key License Keys Features Controls Run time license of the MSC CoDeSys operators and standard IEC 61131 library Library with hardware related functions M HW MSC Lib Library for control engineering M Control Lib Library for the TIA EIA 232 and CAN bus interface M SIO Lib Support for OPC and DDE interfaces Ethernet and TIA EIA 232 communication with the MACS development environment Library for motion control according to PLCopen M PLCopen Lib Library with tran
10. nvalid sensor data Sensors that are connected to digital inputs of DIN rail modules with several I O groups such as MSC QDIO or RDIO must under all conditions be supplied from the same power supply as the corresponding I O group to which the sensor is connected Otherwise if the power supply for the internal electronics of the module is switched off there might be reverse energiza tion from the sensor to the module There is a danger of Uncontrolled movements Fault or failure of a manual control Permanent damage to the module Malfunctions Maximum Admissible Current for M3000 Modules Connecting Sensors Safety Instructions User Manual M3000 and MSC B95906 001 Version 1 1 06 04 42 6 Project Planning and Installation Power Supply Correct Power Supply M 24 V sWitched Connection of Sensors via 24 V not switched a QDIO OV QDIO 16 16 0 5 I O Group 1 I O Group 2 I O Group 3 V1 1013 I 3 N OV 24 V 1 02 Signal 8 M1 L2 L3 24 VIS Mi lov z 1 013 Signal 3 Actuator Actuator Sensor Sensor Figure 28 Correct Power Supply Connection of Sensors via a QDIO The attached sensors must be supplied with power from a permanently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply Power must not as shown in figure 29 on page 44 be supplie
11. Activating the single step mode Downloading application programs Writing or forcing values Therefore the operator must always consider the effects and take appropriate precautions before altering the operational state of the MSC with MACS More on this subject c 10 5 Programming and Configuration on page 80 2004 Moog GmbH Safety Instructions Transportation and Storage Safety Instructions Communication Between MSC and MACS User Manual M3000 and MSC B95906 001 Version 1 1 06 04 11 2 Safety Instructions Safety Instructions 2 2 9 License Key of the MSC WARNING The license key of the MSC must be protected from elec Safety Instructions trostatic discharges License Key of the MSC Electrical discharges might damage the license key or delete the contents of the license key s memory WARNING The license key may be inserted or removed only when the MSC is powered down Attempting to insert or remove the license key during opera tion might damage the license key or the MSC permanently D WARNING The license key must always remain inserted while the MSC is in operation Otherwise the MSC will not func A N tion If the license key is removed during operation the application program will stop after a few minutes If the MSC is con nected online to the MACS development environment a cor responding error message will appear in MACS In addition the digital output Outputs Enabled will b
12. Additional Slaves eee Figure 42 E Bus Group RDIO as E Bus Master Number of slaves that may be attached to the RDIO gt Table 8 on page 56 7 5 3 LocalCAN Bus Groups LocalCAN bus groups are formed by joining MSCs and RTEMPSs together at the Q connectors The modules within LocalCAN bus groups communicate over the internal LocalCAN bus Observe the following when establishing LocalCAN bus groups The number of modules in a LocalCAN bus group is limited to 64 be cause CAN bus networks can only include a maximum of 64 network stations c 7 3 5 3 Number of Network Stations on page 53 The switchable CAN bus termination resistor of the MSC can be used as a termination resistor for the LocalCAN bus group c 10 15 1 CAN Bus Termination Resistor on page 114 e f a QCAN is attached to the right then the LocalCAN bus can be made available using the QCAN for other CAN bus network stations that do not belong to the LocalCAN bus group Information about arranging DIN rail modules gt 5 1 3 Arrangement on DIN Top Hat Rails on page 30 E Bus Group MSC as E Bus Master E Bus Group RDIO as E Bus Master LocalCAN Bus Groups 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 61 7 Networking M30009 Modules Networking DIN Rail Modules 7 5 3 1 Example O LocalCAN Bus Group CAN Bus CAN Bus CAN Bus Network Network Network Station CAN Bus CAN Bus Network N
13. conduit is sufficiently large Using a Shielding Bar when Connecting a Signal Cable to the MSC E ppnpor punu Runt IS Shield Shielding Bar Insulating Bar Holder Shield Connection Terminals e g Phoenix Type SK 8 Insulating Bar Holder Signal Cable Figure 16 Using a Shielding Bar when Connecting a Signal Cable to the MSC Detail from figure 15 Additional information about shielding signal cables when connecting analog sensors to an MSC 10 12 3 1 Shielding Signal Cables on page 104 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 31 5 Mechanical Structure DIN Rail Modules 5 1 4 Mounting and Removing 5 1 4 1 Mounting DIN Rail Modules WARNING No work of any kind such as mounting removing wir ing or repairs to the M3000 control system or DIN rail modules may be performed while the control system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M30008 control system or DIN rail modules it is essential that the system be stopped and the power supply disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied
14. An E bus message would be started cyclically every 100 ms 10 ms 10 However since no E bus message is sent more frequently than 50 ms the I O extension modules will disable their outputs The out puts will be re enabled with the next E bus message Table 9 Update Rate of E Bus Messages 7 4 3 3 Duration of Transmission of E Bus Messages The duration of transmission of the E bus message i e the length of time re quired to transmit the E bus message is determined by the E bus clock fre quency The E bus clock frequency is defined by setting the E bus module parameter Frequency in the PLC configuration of the MACS development environment e Clock frequency 10 MHz Duration of transmission 42 us e Clock frequency 5 MHz Duration of transmission 84 us The selected E bus clock frequency does not influence the time required to execute the tasks When the E bus group contains QAIOs 16 4 the clock frequency must be set to 5 MHz The duration of transmission of E bus messages is not influenced by the number of DIN rail modules in the E bus group E Bus Communication Message Update Rate E Bus Communication Duration of Message Transmission 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 57 7 Networking M30009 Modules E Bus 7 4 3 4 Scope of E Bus Messages The scope of the E bus message depends on the slave types attached to the master Communicatio
15. Tool required for Mounting and Removing Mounting the License Key Safety Instructions User Manual M3000 and MSC B95906 001 Version 1 1 06 04 82 10 MSC Moog Servo Controller License Key WARNING CAUTION If an M3000 module is to be taken out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M3000 module must be protected against uninten tional restarting If the M3000 module is connected to other devices and or facilities always consider the full consequences and take ap propriate precautions before switching off the module When using a screwdriver use caution to avoid slipping and causing personal injury or damage to the MSC Procedure for mounting the license key 1 Switch off the MSC power supply 2 Insert the license key into the slot labeled LK far right on the front panel of the MSC 3 Fix the license key in place by carefully tightening the attachment screws Incorrectly tightened attachment screws might cause license key errors 10 6 3 3 Removing the License Key WARNING WARNING CAUTION 2004 Moog GmbH The license key may be inserted or removed only when the MSC is powered down Attempting to insert or remove the license key
16. with its Own Auxiliary Energy Connection to the MSC 2004 Moog GmbH Connecting Isolated Analog Sensors to the MSC Connecting Non Isolated Analog Sensors with their Own Auxiliary Energy Connection to the MSC User Manual M3000 and MSC B95906 001 Version 1 1 06 04 105 10 MSC Moog Servo Controller Analog Inputs z M 75 7 e Sd ex eod ex RRR UN 54 v o KIO KEY OA RRRS PATERE USUS LRR LKK ILRES ex RS bes TS bese SS SOS SOOO SOS bo E Sensor Insulation Sensor Supply Figure 64 Connecting a Non Isolated Analog Sensor Current Signal with its Own Auxiliary Energy Connection to the MSC Sensors with the same auxiliary energy connection as the MSC Connecting Non Isolated Analog Sensors with the Same Auxiliary Energy Connection as the MSC ed u eq od Nh d xod OC ox CX X994 i9 e T e XS RX KOSS KR Re SOK OO OO See KX OK CX IA TUR RRS SS IRS ee ee e P Se RS RX ES oS ES S Sensor Insulation Figure 65 Connecting a Non Isolated Analog Sensor Voltage Signal with the Same Auxiliary Energy Connection as the MSC x lt iN o ox LS m Nt Z XX S a it R v vs tete DOO RRR IIIZ RRRS EEA NNI RX PRR KS e v t b L b Sensor Insulation Figure 66 Connecting a Non Isolated Analog Sensor Current Signal wit
17. 16 bit Data format in the application program 32 bit floating point Load impedance range Voltage output 10 V gt 1 000 Q Current output 10 mA x 1 000 Q Current output 50 mA 200 Q Current output 4 20 mA lt 500 O The load impedance range of the current output 4 20 mA does not comply with IEC 61131 2 IEC 61131 2 requires a load impedance range of lt 600 Update time The update time corresponds to the task interval of the application pro gram that actuates the output The task interval and thereby the update time of the outputs is set in the task configuration of the MACS development environment Rise time T4 0 90 Step Voltage Output 10 V 10 V 10V 21 0000 140 us Current Output 10 mA 50 mA 4 20 mA 20 mA Table 18 Rise Time T49 99 of MSC s Analog Outputs Protection Continuous short circuit protection overvoltage protection up to 36 V Short circuit current lymax Voltage output 10 V Ikmax x15 mA Current output x10 mA Ikmax 10 92 mA Current output x50 mA Ikmax 54 61 mA Current output 4 20 mA Ikmax 20 74 mA 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 100 10 MSC Moog Servo Controller Reference Voltage Output Recommended cable types Specifications of Use only shielded cables MSC s Analog Outputs The shield must be made of copper braiding with at least 8096 coverage The wire must be made of copper with
18. B95906 001 Version 1 1 06 04 68 10 MSC Moog Servo Controller General Specifications 10 2 1 Dimensions 102 mm 4 02in L 149 mm 5 87 in Module Width 160 mm 6 30 in Overall Width 85 5 mm 3 37 in 55mm 0 22 in 5 5 mm 0 22 in d m BS S999999999999999663 oor000000000000000 q S99999999999999968 tinpnuapaggamaaudaauu q unk ps o a os o LAN MOOG Ethernet 170 mm 6 69 in O Ooooooooooooo0ooog n ISS 898HH8HH8HHSHSSA ooo0o00000000000000 n ISS 888888 HHSHHNSHNSNA inamnmuaagaagpnunaunmauanunt 0 1 Figure 46 Dimensions of the MSC 10 2 2 Environmental Conditions WARNING WARNING WARNING 2004 Moog GmbH Maintain under all circumstances the required environ mental conditions specified for the control system M3000 or M3000 modules This ensures fault free reliable and safe operation It is not permissible to operate the M3000 control sys tem or M30009 modules in a potentially explosive environment The M3000 control system and M30009 modules must not come into direct contact with liquids Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit
19. Digital I O 6 Digital I O 7 Digital I O 8 TIA EIA 422 output SSI sensor signal 2 clock gt 10 13 Digital Sensor Interfaces on page 108 TIA EIA 422 output SSI sensor signal 2 clock TIA EIA 422 input incremental sensor signal 2 A or SSI sensor signal 2 data Digital I Os 99999999998998968 68 TIA EIA 422 input incremental sensor signal 2 A or SSI sensor signal 2 data TIA EIA 422 input incremental sensor signal 2 B or SSI sensor signal 2 slave clock TIA EIA 422 input incremental sensor signal 2 B or SSI sensor signal 2 slave clock TIA EIA 422 input incremental sensor signal 2 Z Digital Sensor Interface 2 TIA EIA 422 input incremental sensor signal 2 Z Ground for the digital sensor interface Optional shield Table 12 Terminal Assignment of MSC s Connectors Section 1 of 5 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 73 10 MSC Moog Servo Controller View of the Module and Terminal Assignment X3 CI Analog voltage output 1 referenced on AGND gt 10 10 Analog Outputs on page 99 Analog current output 1 referenced on AGND Ground for the analog I Os Optional shield Analog voltage output 2 referenced on AGND gt 10 10 Analog Outputs on page 99 Analog cur
20. If the most recent status in the online mode MACS logged in was Start before the MSC was switched off or reset the boot project will always be started after the MSC is switched back on or reset This will occur regardless of which application program was previously running In other words the application program that will be started automatically after the MSC is switched on or reset might be different from the application program that was executing im mediately prior c 10 8 1 3 Examples on page 87 Pressing the reset button will reset the MSC The processor will stop as soon as the reset button is pressed No variables will be saved at that time When the reset button is released the MSC will behave as if the power sup ply has been switched on c 10 8 1 1 Switching on the Power Supply on page 86 In addition the MSC can be reset with the MACS development environment Refer to the documentation of the MACS development environment for de tailed information about this 2004 Moog GmbH Removing the License Key Reset Button of the MSC User Manual M3000 and MSC B95906 001 Version 1 1 06 04 84 10 MSC Moog Servo Controller Power Supply 10 8 Power Supply DANGER The L2 M2 power supply terminals of the MSC type D136E001 001 are not protected against reverse polarity STOP in deviation from the requirements of IEC 61131 2 Reverse polarity on terminals L2 and M2 will lead to permanent d
21. Information about CAN bus and CANopen c 7 3 CAN Bus and CANopen on page 50 Information about the CAN bus interface cable gt 7 3 6 CAN Bus Interface Cable on page 54 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 113 10 MSC Moog Servo Controller CAN Bus Interfaces 10 15 1 CAN Bus Termination Resistor The LocalCAN interface of the MSC is equipped with a switchable CAN bus termination resistor The termination resistor can be switched on in the PLC configuration of the MACS development environment D The TRM front panel status LED of the MSC illuminates when the ter mination resistor of the LocalCAN interface is switched on c 10 4 2 LEDs on page 77 The switchable CAN bus termination resistor of the MSC can be used as a termination resistor only on LocalCAN bus groups c 7 5 3 LocalCAN Bus Groups on page 61 In WideCAN bus groups the switchable CAN bus termination resistor of the MSC cannot be used as a termination resistor Separate pluggable CAN ter mination resistors must be used for this c 7 5 4 WideCAN Bus Groups on page 62 D sub connectors with CAN bus termination resistors are available from Moog c 11 7 CAN Bus Accessories on page 123 10 15 2 Setting the CANopen Node ID The CANopen node ID of the CAN bus interface of the MSC can be set or modified in the following places n the application program With the PLC browser in the MACS developmen
22. International Electrotechnical Commission http www iec ch Institute of Electrical and Electronics Engineers Inc http www ieee org Instruction List programming language for creating PLC programs Input Output International Protection protection type Internet Protocol International Organization for Standardizing http www iso org Local Area Network 2004 Moog GmbH Liquid Crystal Display Table 35 Abbreviations Section 1 of 3 User Manual M3000 and MSC B95906 001 Version 1 1 06 04 Table 35 Abbreviations 127 12 Appendix Abbreviations Abbreviation LD Explanation Ladder Diagram programming language for creating PLC programs LED Light Emitting Diode LSB Least Significant Bit Moog Control System Moog Axis Control Software Development environment according to IEC 61131 for solving complex control tasks Most Significant Bit Moog Servo Controller Control module for DIN top hat rail mounting Mean Sea Level Not Connected Not Defined Programming And Diagnostic Tool programming and diagnostic tool in IEC 61131 here PC on which the MACS development environment is installed PC Personal Computer PE Protective Earth PLC Programmable Logic Control ler Q Modules DIN rail modules for local extension of MSCs connected over E bus Q Connector 40 pole lateral connector of D
23. Number of Wires gt 4 twisted pairs Wire Cross 0 22 0 34 mm When the network is spread out over a Section for Cu 24 22 AWG greater distance a larger wire cross section will provide a better signal to noise ratio Cable Structure 2 twisted pairs Electrically connect the shield to the mating with shielding connector s housing and the shielding shroud of the plug in devices Impedance 1200 If different cables are used make sure they 1 MHz have the same impedance Table 7 Suitable Cables for CAN Bus Interface Cables The selection of a suitable cable also depends on site conditions towing ap plication environmental considerations etc For normal use Moog recommends the CAN bus data cable UNITRONIC BUS LD supplied by LAPP KABEL http www lapp de or 577 FlexLife Thin Cable or the 5710 FlexLife Mid Cable or the 575 FlexLife Thick Cable supplied by Hans Turck GmbH amp Co KG http www turck com D CAN bus interface cables are available from Moog as accessories in a variety of lengths c 11 6 Interface Cables on page 123 7 4 E Bus Communication within E bus groups is done over the E bus Notes on establishing E bus groups c 7 5 2 E Bus Groups on page 60 Examples of E bus groups c 7 5 2 1 Examples on page 61 7 4 1 E Bus Interface The E bus interface is set up as a serial cyclic shift register Every communi cation cycle reserves for each extension modu
24. cooling and must never be covered Covered vent holes might result in overheating and fire DIN rail modules must be arranged next to each other on a DIN top hat rail TH 35 7 5 in accordance with DIN EN 60715 sso55999999959599595 3 ssoss99999999959953 joo oo0000000000000q jinungnandnununuuur ssssssoesssesesssss sssssosssesessscss Oo000o0000000000000 O0000000000000000N Arrangement of DIN Rail Modules on a Vertical Mounting Plate sssessscs ssesseoescssessssoss panananud jjoanananananannnnr paunananananannnur icananoanananannnur p59s559595555955555953 5959595959595 5555 ioanananananananur linanananananannnur ssesssescesesssssss lsesssosssosssoscoss 0000000000000000 0000 iounggugacuuunuuurj Besssses99599959993 Figure 14 Arrangement of DIN Rail Modules on a Vertical Mounting Plate The DIN top hat rail must be attached to a vertical metal mounting plate and connected to the protective earth conductor Additional information about the grounding concept for DIN rail modules c 6 1 Grounding Concept on page 37 Information about mounting removing DIN rail modules c 5 1 4 Mounting and Removing on
25. immediately notify Moog or the re sponsible supplier It is advisable to retain the original packaging for any future transport or stor Retain the Original age needs Packaging 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 3 1 General Information Environmental Protection 1 6 Environmental Protection 1 6 1 Emissions M30009 modules do not have any harmful emissions when used properly 1 6 2 Disposal D The applicable disposal regulations must be observed when disposing of M30009 modules 1 7 Standards 1 7 1 CE Labeling of M3000 Modules All M30009 modules comply with the standards specified in C their relevant declaration of conformity CE labeling of the M30009 modules is based on proper in stallation of the control system with proven electromagnetic compatibility EMC 1 7 2 IEC 61131 2 The M3000 control system and M30009 modules comply with the require ments of IEC 61131 2 Where technical requirements lead to deviations from the standard these are specified in this manual or in the documentation of the relevant M3000 modules 1 7 3 Electromagnetic Compatibility EMC M30009 modules comply with the requirements and protection targets of the EU directive 89 336 EEC Electromagnetic Compatibility EMC directive and comply with the harmonized European standards EN that were pub lished in the Official Journals of the European Union for programmable con trolle
26. 11 Product Range on page 118 Information about the CAN bus interface cable c 7 3 6 CAN Bus Interface Cable on page 54 Information about the CAN bus interfaces of the MSC c 10 15 CAN Bus Interfaces on page 113 Refer to the relevant documentation for detailed information about the CAN bus interfaces of the other M3000 modules 2004 Moog GmbH CANopen CANopen Device Profiles M3000 Modules with CAN Bus Interfaces User Manual M3000 and MSC B95906 001 Version 1 1 06 04 51 7 Networking M30009 Modules CAN Bus and CANopen 7 3 5 CAN Bus Networks 7 3 5 1 Wiring Always observe the following when wiring CAN bus networks Wiring CAN Bus Networks ISO DIS 11898 The cables mating connectors and termination resistors used in CAN bus networks must comply with ISO DIS 11898 Specifications for interface cables When connecting CAN bus network stations always use shielded ca bles with 4 twisted pair wires and an impedance of 120 Q c 7 3 6 CAN Bus Interface Cable on page 54 Linear structure of CAN bus Avoid branching Short stub cables with a T adapter are permitted c 7 3 5 2 Bus Structure of the CAN Bus on page 53 Stub cables as short as possible Maximum stub cable length gt table 6 on page 54 CAN bus termination resistors At both ends of the CAN bus a termination resistor of 120 Q 10 96 must be connected between CAN L and CAN H Adapt transmission rate to cable length It is nece
27. 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 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 M3000 System Architecture Example cccccccccccccscscscsssesesesesesscscsescsssesasasscscscsesesesecacscsescsesees 16 M3000 Starter Kifissias Toda dum hd capiet Ehe odd amd 17 MSC Control Module 1 rupta a a a dv vana g ep ned edd v oodd 18 epo 19 eren 19 QCAN CAN Extension Module 22 ccccccccccceeeeeceedecdencceeeeecanecneededaneeeedecaneceeeedeaneeeeeeeeneeeeeeaneeeetee 20 RDIO 16 16 0 5 Remote I O Module ccccccecceeeeeeeeeeeeeceeeeeeceaeeceeeeeesaeeeseneeeseaeeeeeeeeetseeeeeneeees 21 RTEMP 8 CAN Temperature Control Module ssssssssesseseeeeeeeeenennen nnne 21 RDISP 22 Display and Operating Terminal ssssssesseeeene enne 22 License Key iiie ner nr e dev a deste edd Rd E ra e RR RR RR 23 Front View of DIN Rail Modules rita poda intact iae ARAE p Rau e eee aec pud 28 Side View of DIN Rail Modules sssessseeneenee enn eee nnnm nre nn nennen 28 Dimensions of DIN Rail Modules sssseeeeeee enne RREA NA ESRA 29 Arrangement of DIN Rail Modules on a Vertical Mountin
28. 2 000 m 2 187 yd operating elevation 500 V DC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 98 10 MSC Moog Servo Controller Analog Outputs 10 10 Analog Outputs 10 10 1 Basic Wiring Diagram Basic Wiring Diagram Voltage Output of an Analog Output S S of the MSC xe x xe pS PC PC PC b RS cas Ny Ny Ny Ny E B b B Y bs M P E HM Ky P RL Ny Output Current Monitoring Figure 58 Basic Wiring Diagram of an Analog Output Aox of the MSC when Used as a Voltage and Current Output 10 10 2 Specifications Number of analog outputs Specifications of 2 MSC s Analog Outputs Analog output type Voltage output 10 V nominal Additionally one current output each configurable as 10 mA 50 mA or 4 20 mA each nominal The analog outputs are configured in the PLC configuration of the MACS development environment Output impedance within nominal signal range lt 0 2 Q voltage output Approx 1 MO current outputs Greatest error over the entire temperature range 1 96 of full scale value 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 99 10 MSC Moog Servo Controller Analog Outputs Output ranges Specifications of MSC s Analog Outputs LSB Value 10 92 V 0 333 mV 10 92 mA 0 333 uA 54 61 mA 1 667 pA 0 267 uA Table 17 Output Ranges of MSC s Analog Outputs Digital resolution
29. 2 Power Supply on page 38 2 Power supply for the MSC s internal electronics 24 V DC SELV 3 Ground for the internal electronics power supply 4 M1 Ground for the internal electronics power supply Power supply for the MSC s digital I Os 24 V DC SELV gt 10 9 2 Power Supply on page 92 Power supply for the MSC s digital I Os 24 V DC SELV Ground for the digital l Os power supply Power Supply Digital I Os Digital output Outputs Enabled gt 10 17 2 Outputs Enabled Output LED OutEN on page 116 TIA EIA 422 output SSI sensor signal 1 clock gt 10 13 Digital Sensor Interfaces on page 108 TIA EIA 422 output SSI sensor signal 1 clock TIA EIA 422 input incremental sensor signal 1 A or SSI sensor signal 1 data S99999999998998968 686 TIA EIA 422 input incremental sensor signal 1 A or SSI sensor signal 1 data TIA EIA 422 input incremental sensor signal 1 B or SSI sensor signal 1 slave clock TIA EIA 422 input incremental sensor signal 1 B or SSI sensor signal 1 slave clock TIA EIA 422 input incremental sensor signal 1 Z Digital Sensor Interface 1 TIA EIA 422 input incremental sensor signal 1 Z Ground for the digital sensor interface Optional shield Digital I O 1 gt 10 9 Digital I Os on page 91 Digital I O 2 Digital I O 3 Digital I O 4 Digital I O 5
30. 6 License Key WARNING The license key of the MSC must be protected from elec License Key of the MSC trostatic discharges Safety Instructions Electrical discharges might damage the license key or delete the contents of the license key s memory WARNING The license key may be inserted or removed only when the MSC is powered down Attempting to insert or remove the license key during opera tion might damage the license key or the MSC permanently WARNING The license key must always remain inserted while the MSC is in operation Otherwise the MSC will not func N N tion If the license key is removed during operation the application program will stop after a few minutes If the MSC is con nected online to the MACS development environment a cor responding error message will appear in MACS In addition the digital output Outputs Enabled will be switched to the 0 state thereby disabling all of MSC s digital and analog outputs and terminating the E bus communica tion c 10 17 2 Outputs Enabled Output LED OutEN on page 116 After switching off the MSC and inserting the license key the MSC can be brought back into operation 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 81 10 MSC Moog Servo Controller License Key 10 6 1 Run Time License and Accessible Libraries The run time license of the MSC is saved in the license key The accessible MACS libraries also depend on the
31. 70 permissible for transportation and storage of M30009 modules 66 MSC 70 Air pressure permissible for transportation and storage of M30009 modules 66 MSC 70 Ambient temperature permissible for operating the MSC 70 permissible for transportation and storage of M3000 modules 66 MSC 70 Ao1b Ao2b see LEDs of the MSC Application programs for MSCs creating with MACS 24 Arrangement of DIN rail modules between cable conduits 31 minimum distances between control groups 31 on a vertical mounting plate 30 Attachment screws for the license key of the MSC see license key of the MSC attachment screws Aux1 Aux2 see LEDs of the MSC B B1 B2 see LEDs of the MSC Basic wiring diagrams analog I Os of the MSC analog input of the MSC 102 analog output of the MSC 99 digital I Os of the MSC digital input of the MSC 96 digital output of the MSC 93 Block diagrams MSC 71 Booting the MSC see resetting the MSC Brands see trademarks C CAN bus 50 55 characteristics 50 linear structure 53 CAN bus accessories part numbers 123 CAN bus interface cables see interface cables CAN bus interface cables 2004 Moog GmbH CAN bus interfaces MSC 51 59 113 114 CANopen node ID 82 114 LCAN LED of the MSC for displaying LocalCAN transmission activity 78 113 WCAN LED of the MSC for displaying WideCAN transmission activity e 77 113 WCAN MSC front panel
32. AA EA 49 7 3 CAN Bus and CANoOpen rn entiende nena nana ran aninda nadaanan HEU o ERE aiii idan iasan 50 17 951 XEANI BUS ire idera terree decente rer ee aeo ecran eee idu cst E 50 7 3 2 CAN Bus Characteristics emere nnne nennen 50 yo xen e a E E a E A a N 51 7 3 4 M3000 Modules with CAN Bus Interfaces cccccccecccsccesessscetessscseessssescesstenensesenenses 51 14 3 5 CAN Bus N tWOIKS eir n tete aust le eel eie e ree nde E e beu iadi 52 7 3 6 CAN Bus Interface Cable sss mener rennen 54 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 ii Table of Contents TA EBUS iraina 55 TANT EBUS IMEMA CE nnc aaa a aeaa a E EE 55 7 4 2 E Bus Communication sssssssssssssssesse eene emere nennen EEEE EEEn 56 T43 MSC as E Bus MAaSI6I iir ete etie tee t er aveo De e e Ed eX aa even i d Ea ede 56 7 5 Networking DIN Rail Modules cernere nnne nnn nennen nennen nenne nnn nnn nnne 59 7 5 1 CAN and E Bus Interfaces ssssssssssssssssessse ener n nene 59 9 2 E BUS GroUps dace ttt een pa eq e n dedu shadscqessadaddeanaataccedavabadeads a a aA 60 7 5 3 bocalCAN IBUS GrOUDps e reet nnn Re Rua UR HERE A Rn BERN EX MEER R GE RR a XR E aa 61 7 5 4 WIdeCAN Bus GIOUDS iret a Rh ete t ec gudette eue Miwa et deae did dagumnanels 62 8 Shutdown and SOrviCG soo
33. IEC 61131 application programs cannot run on R modules R modules connect to other network stations over the CAN bus c 7 3 CAN Bus and CANopen on page 50 Refer to the R modules documentation for more detailed information 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 20 3 Short M30009 System Overview M30009 Modules 3 3 3 1 RDIO RDIO Figure 7 RDIO 16 16 0 5 Remote I O Module RDIO is a remote module with digital I Os and CANopen interface RDIOs can be parameterized as a CANopen slave according to CiA DS 401 RDIO 16 16 0 5 provides 16 positive switching digital inputs and 16 positive RDIO 16 16 0 5 switching digital I Os 3 3 3 2 RTEMP RTEMP Figure 8 RTEMP 8 CAN Temperature Control Module RTEMP is a precise temperature control module with TIA EIA 232 and CANopen interface setpoint adaptation without oscillation automatic soft start control variable transfer when sensor breaks heating current monitor ing measurement control circuit alarm and configurable alarm outputs Its self optimizing feature ensures the shortest possible startup times RTEMP 8 CAN is an 8 channel controller RTEMP 8 CAN The CPRTEMP software needed to program and configure the RTEMP CPRTEMP is not included with RTEMP CPRTEMP is available ffom Moog as an ac cessory gt 11 5 2 Software for R Modules on page 122 2004 Moog GmbH User Manual M30009 and MSC B95906 001 Version 1 1 0
34. Ld RD 1 1 TD RD 2 T T 2 RD TD 3 I I I I 3 RD i i i TD 6 m 6 V i Vd 7 Atenas adim id d e cus cua mi mcs eee es Sree igi Ira Rt Ra ei un ow Figure 33 10BaseT Cable with Non Crossed Twisted Pair Wires with 8 Pole RJ45 Mating Connectors Cable Category 5 Wire Cross Section gt 0 22 mm 24 AWG For the terminal assignment of the Ethernet front panel connector of the MSC control module see gt Ethernet connector on page 77 7 2 Serial TIA EIA Interface Cables The following variants of serial TIA EIA interface cables are possible Null modem cables c 7 2 1 TIA EIA 232 Interface Cables on page 48 gt 7 2 2 TIA EIA 422 Interface Cables on page 49 Interface cables with 1 1 connection For example when connecting terminals or displays c 7 2 1 TIA EIA 232 Interface Cables on page 48 gt 7 2 2 TIA EIA 422 Interface Cables on page 49 c 7 2 3 TIA EIA 485 Interface Cables on page 49 2004 Moog GmbH 10BaseT Cable with Crossed Twisted Pair Wires 10BaseT Cable with Non Crossed Twisted Pair Wires Serial TIA EIA Interface Cables User Manual M3000 and MSC B95906 001 Version 1 1 06 04 47 7 Networking M30009 Modules Serial TIA EIA Interface Cables 7 2 1 TIA EIA 232 Interface Cables A TIA EIA 232 null modem cable can be used as a programming cable to connect the MSC and PC Mating Connector Mating Connector TIA EIA 232 socket contacts pin con
35. Permanent damage by overheating or fire Malfunctions M3000 modules must have the correct voltage polarity and terminal assignments The internal electronics of DIN rail modules and attached sensors must be supplied with power from a perma nently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors gt table 3 on page 40 Reverse energization from sensor to module nvalid sensor data Sensors that are connected to digital inputs of DIN rail modules with several I O groups such as MSC QDIO or RDIO must under all conditions be supplied from the same power supply as the corresponding I O group to which the sensor is connected Otherwise if the power supply for the internal electronics of the module is switched off there might be reverse energiza tion from the sensor to the module There is a danger of Uncontrolled movements Fault or failure of a manual control Permanent damage to the module Malfunctions Power Supply of the Digital I Os of the MSC Safety Instructions User Manual M3000 and MSC B95906 001 Version 1 1 06 04 92 10 MSC Moog Servo Contro
36. Switching on the Power Supply on page 86 e o0 eO 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 89 10 MSC Moog Servo Controller Power Supply 10 8 2 3 Short Duration Low Voltage A low voltage condition is designated as short duration when the input volt age U falls below the threshold limit for longer than 5 seconds and then ex ceeds 18 V before the internal data has been saved in the flash EEPROM The MSC will behave in the manner shown below during short duration low voltage conditions U V States of the MSC During Short Duration Low Voltage Conditions Figure 53 States of the MSC During Short Duration Low Voltage Conditions As long as the input voltage is above the threshold limit the MSC will be in the RUN state i e the application program will be executed Explanations of the states gt table 15 on page 88 If the voltage falls below the threshold limit the MSC will go into the SAVE state The MSC will remain in the SAVE state until the internal data has been completely saved This means that the outputs will also remain disabled as long as the internal data is being saved even if the voltage has al ready exceeded 18 V o When the internal data has been completely saved the MSC will behave as if the power supply had been switched on c 10 8 1 1 Switching on the Power Supply on page 86 2004 Moog GmbH User Manual M3000 and MSC B95906 001
37. User Manual M3000 and MSC B95906 001 Version 1 1 06 04 101 10 MSC Moog Servo Controller Analog Inputs 10 12 Analog Inputs 10 12 1 Basic Wiring Diagram Voltage Filter Current 16 Filter Figure 59 Basic Wiring Diagram of the Analog Inputs Ai1 Ai8 of the MSC The upper analog input Aix in figure 59 is configured as a voltage input the lower analog input Aiy as a current input D An analog input Aix can only be used as a current input if the terminal Cxa is connected to the terminal Cxb Example If Ai4 will be used as an analog current input C4a must be connected to C4b Insertion bridges for connecting the MSC terminals Cxa and Cxb are available from Moog as accessories c 11 8 Plug In Terminal Strips on page 124 10 12 2 Specifications Basic Wiring Diagram of an Analog Input of the MSC Number of analog inputs Specifications of 8 MSC s Analog Inputs Type of analog inputs Differential configurable as 10 V 10 mA or 4 20 mA each nominal The analog inputs are configured in the PLC configuration of the MACS development environment Common mode properties Common mode rejection gt 85 dB Common mode voltage range 17 V Input impedance within nominal signal range gt 100 kQ on voltage inputs 200 Q on current inputs 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 102 10 MSC Moog Servo Controller Analo
38. Version 1 1 06 04 90 10 MSC Moog Servo Controller Digital I Os 10 9 Digital I Os Each of the 8 digital terminals l O1 1 O8 of the MSC can be used as either Digital I Os 1 01 1 08 an input or an output Each digital output is internally connected back to a of the MSC digital input This enables the application program to read the status of the digital outputs and compare it to the requested value Whether a terminal will be used as an input or an output is set in the PLC configuration of the MACS development environment The following digital output circuits are available Open emitter outputs switches to 24 V L2 Open collector outputs switches to ground M2 Basic wiring diagrams of these circuits gt figure 54 on page 93 When ordering the MSC the wiring of the digital outputs must be specified 10 9 1 Display of the Operational State The yellow status LEDs I O1 l O8 on the front panel of the MSC show Yellow Status LEDs the internal operational state of the digital I Os These status LEDs are acti I O1 1 O8 vated only when the application program is running If a terminal is configured to be an input the associated LED will illuminate when it is internally detected that the input is in the 1 state and the input is used in the application program When a terminal is configured to be an output the associated LED will illumi nate if the output in the application program is in the 1 s
39. ably qualified technician Dimensions of the MSC Environmental Conditions Safety Instructions User Manual M3000 and MSC B95906 001 Version 1 1 06 04 69 10 MSC Moog Servo Controller General Specifications 10 2 2 1 Climatic Conditions Ambient temperature IEC 61131 2 For operation when installed properly 5 C to 55 C 41 F to 131 F Average temp over 24 hours max 50 C 122 F For transportation and storage in the original packaging 25 C to 70 C 13 F to 158 F Relative air humidity IEC 61131 2 For operation 10 96 to 95 non condensing For transportation and storage in the original packaging 5 to 95 non condensing Contamination level IEC 60664 2 Resistance to corrosion IEC 60068 No protection Operating Elevation IEC 61131 2 lt 2 000 m 2 187 yd above MSL Air pressure for transportation IEC 61131 2 70 kPa corresponds to an elevation of 3 000 m 3 280 yd 10 2 2 2 Mechanical Conditions and Requirements Sinusoidal oscillations IEC 60068 2 6 10 Hz lt f lt 57 Hz 0 0357 mm 0 0014 in continual amplitude 0 075 mm 0 00295 in random amplitude 57 Hz lt f lt 150 Hz 0 5 g continuous constant acceleration 1 0 g random constant acceleration f 150 Hz not defined Shock IEC 60068 2 27 Random peaks up to 15 g longer than 11 ms half sine wave in each of the three orthogonal axes Drop height freefall in the original p
40. and Service WARNING WARNING WARNING WARNING To avoid damage to M3000 modules or accessories cleaning maintenance and repair tasks may be per formed only by Moog or Moog s authorized service agents Warranty and liability claims for personal and material dam age are excluded when among other reasons they are due to unauthorized repairs or other unauthorized interventions c 1 4 Warranty and Liability on page 3 No work of any kind such as mounting removing wir ing or repairs to the M3000 control system or M30009 modules may be performed while the control system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M30008 control system or M3000 modules it is essential that the system be stopped and the power supply disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc The M3000 control system and M3000 modules must not come into direct contact with liquids Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician If an M30009 module is to be taken
41. ao The other pins are not connected Figure 37 TIA EIA 422 Interface Cable with 1 1 Connection with 9 Pole D Sub Mating Connectors according to DIN 41652 7 2 3 TIA EIA 485 Interface Cables TIA EIA interface cables with 1 1 connection can be used to connect termi nals or displays Mating Connector Mating Connector socket contacts pin contacts Wire Cross Section gt 0 22 mm 24 AWG 2 Data H 5 Data 2 Data Data 3 Tt 1 3 GND GND 5 5 EREE i AE E E EE Shoe ES E E The other pins are not connected Figure 38 TIA EIA 485 Interface Cable with 1 1 Connection with 9 Pole D Sub Mating Connectors according to DIN 41652 TIA EIA 422 Null Modem Cable TIA EIA 422 Interface Cable with 1 1 Connection TIA EIA 485 Interface Cable with 1 1 Connection 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 49 7 Networking M30009 Modules CAN Bus and CANopen 7 3 CAN Bus and CANopen 7 3 1 CAN Bus The CAN bus is a differential two wire bus that was originally developed to fa CAN Bus cilitate rapid and reliable networking of components in motor vehicles The many advantages and high reliability of the CAN bus have also made it suitable for use in automation systems and have contributed to it becoming a widespread standard 7 3 2 CAN Bus Characteristics CAN bus exhibits the following characteristics CAN Bus Characteristics Linear topology that can be structured
42. are protected against reverse polarity The L1 M1 power supply terminals of all MSC types and the power supply terminals of the other M30009 modules are protected against reverse polarity If the polarity of these power supply terminals is reversed the modules will not function WARNING No work of any kind such as mounting removing wir ing or repairs to the M3000 control system or M30009 modules may be performed while the control system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M30008 control system or M30009 modules it is essential that the system be stopped and the power supply disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc WARNING M30009 modules must be protected from overvoltages and or reverse energization from the sensor to the mod AN N ule There is a danger of Permanent damage by overheating or fire Malfunctions M3000 modules must have the correct voltage polarity and terminal assignments 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 39 6 Project Planning and Installation Power Supply WARNING The internal electronics of DIN rail modules and attached sensors must be supplied with power from a perma nently connected u
43. be observed as fundamental elements of safety when using the M3000 control system and M3000 modules All safety instructions contained in this manual All safety instructions contained in the documentation of the M30009 modules All safety instructions contained in the product related hardware and software documentation required for the relevant application All relevant nationally and internationally applicable safety and accident prevention regulations and standards 1 1 1 Reservation of Changes and Validity The information contained in this manual is valid at the time of this version s release See footer for version number and release date of this manual Moog reserves the right to make changes to this manual at any time without specified reasons 1 1 2 Exclusion of Liability This manual was prepared with great care and the contents reflect the au thors best knowledge However the possibility of error remains and improve ments are possible Please feel free to submit any comments regarding errors or incomplete infor mation to Moog Moog does not offer any guarantee that the contents conform to applicable legal regulations nor does Moog accept any liability for incorrect or incom plete information and the consequences thereof 1 1 3 Completeness This manual is complete only when used in conjunction with the product re lated hardware and software documentation required for the relevant applica tion 1 1 4 Place of S
44. bus 2 Q connectors lateral CAN bus controller 0 E bus 2 Q connectors lateral QAIO 16 4 QAIO 16 4 CAN Bus 2 Q connectors lateral CAN bus controller 0 E bus 2 Q connectors lateral CAN bus 2 D sub front panel connectors CAN bus controller 1 E bus 1 Q connector right Table 11 DIN Rail Modules with CAN and E Bus Interfaces Section 1 of 2 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 59 7 Networking M30009 Modules Networking DIN Rail Modules Number of DIN Rail Module Connectors and Controllers CAN bus 2 Q connectors lateral 2 D sub front panel connectors CAN Bus CAN Bus CAN bus controller 1 CAN bus 1 Q connector lateral 1 D sub connector CAN Bus front CAN bus controller 0 Table 11 DIN Rail Modules with CAN and E Bus Interfaces Section 2 of 2 7 5 2 E Bus Groups E bus groups are formed by joining DIN rail modules together at the Q con E Bus Groups nectors The modules within E bus groups communicate over the internal E bus c 7 4 E Bus on page 55 Observe the following when establishing E bus groups An E bus group can have only one master to which the slaves attach c Table 8 on page 56 The module located farthest to the left of an E bus group must be the master The number of slaves that may be attached to a master is limited c Table 8 on page 56 The slaves may be attached in
45. c 10 9 1 Display of the Operational State on page 91 Diagnosis function The operational state of the digital I Os can be queried with the aid of function blocks in the application program Power consumption for the internal control circuit L2 M2 lt 200 mA 10 9 3 5 Load Connection Total load 100 4 A 8 x 0 5 A when all 8 terminals are used as outputs Overload protection Electronic current limiting and thermal overload protection c 10 9 3 2 Current Limiting and Overload Protection on page 94 Threshold limit of the overload or short circuit protection Min 0 7 A typ 1 1 A Output delay hardware From 0 to 1 max 100 us From 1 to 0 max 100 us Update time The update time corresponds to the task interval of the application pro gram that actuates the output The task interval and thereby the update time of the outputs is set in the task configuration of the MACS development environment Output capacitance lt 20 nF Rated voltage 24 V DC Voltage loss at rated current lt 2V Rated current in 1 state 0 5A Leakage current in 0 state Max 0 1 mA Parallel connection of outputs Not permissible Specifications of MSC s Digital Outputs Load Connection of MSC s Digital Outputs 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 95 10 MSC Moog Servo Controller Digital I Os 10 9 3 6 Insulation Resistance Insulation resistance Rated voltage 0 5
46. circuit with a limiting voltage of 50 V with respect to 24 V L2 for open emitter outputs or with respect to ground M2 for open collector out puts protects all outputs against induced voltage spikes when there are in ductive loads Reverse energization or induced voltage spikes might cause the overload protection of unaffected outputs to trigger prematurely 10 9 3 3 Overload Behavior I A Typical Output Current Limiting T C 0 20 40 60 80 100 120 140 160 Figure 55 Typical Output Current Limiting of MSC s Digital Outputs verses the Temperature T of the Transistor Digital Outputs on the Outputs Enabled Signal Current Limiting and Overload Protection for Digital Outputs of the MSC Overload Behavior of MSC s Digital Outputs 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 94 10 MSC Moog Servo Controller Digital I Os 10 9 3 4 Specifications Number of digital outputs Maximum 8 c 10 9 Digital I Os on page 91 Type of outputs Semiconductor non capacitive Protective circuitry for inductive loads Limiting voltage of 50 V typ with respect to 24 V L2 for open emit ter outputs or with respect to ground M2 for open collector outputs Power dissipation of protection devices when limiting Max 0 5 W per output Max 4 W per MSC Status display One yellow status LED per I O
47. emen 109 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 viii List of Figures Figure 72 Connection Diagram of the MSC in Slave Mode sssssseee emm nens 110 Figure 73 Signals Between the MSC and a 16 Bit SSI Sensor Example sse 110 Figure 74 Connection Diagram of the MSC with an Incremental Sensor esse 111 Figure 75 Incremental Sensor Signals A and B with Reversal Point and Speed Change 111 Figure 76 CAN Bus Interfaces of the MSC sssssssssssssseseeneenen nnne enne enn nennen nnne rennes 113 Figure 77 Position of the Nameplate on the MSC sssssssssssseeeeeenee nenne eene nennen nennen 117 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 ix 1 General Information About this Manual 1 General Information 1 1 About this Manual This manual is valid only for the M3000 control system and M30009 mod ules It contains most important instructions that must be observed in order to operate the M3000 control system and M30009 modules in a safe manner Every person responsible for machinery planning mounting and operation must read understand and follow all points covered in this manual This ap plies especially to the safety instructions Following the safety instructions helps to avoid accidents faults and material damage The following items must
48. hierarchically Message oriented protocol Prioritization of messages Multi master capability Zero loss bus arbitration Short block length High security of data transmission with very short error recovery times Network data consistency Detection and disconnection of defective network stations Short reaction time for high priority messages e Standardization ISO DIS 11898 Cost effective protocol implementation CAN bus network stations can exchange messages between each other in real time over the CAN bus For example set points actual values control messages status messages as well as configuration and parameter data can be transmitted over the CAN bus Identifiers act as message labels in the CAN protocol The messages can be received by all network stations simultaneously which is very important for consistency of the data in the network and synchronization of the applica tions The identifier determines the message s bus access priority CAN bus is a multi master system i e every station in the network can send messages If several stations attempt to send messages at the same time the highest priority messages will be sent first This method guarantees bus assignment without destroying the contents of the messages 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 50 7 Networking M30009 Modules CAN Bus and CANopen 7 3 3 CANopen CANopen is a standardized communications
49. in Special Environments In the following cases M3000 modules must not be used without taking ad Limitations of Using ditional measures M3000 Modules Atsites with difficult operating conditions like those caused by Large amounts of dust Elevated air humidity Aggressive vapors or gases Corrosive atmospheres Potentially explosive environments In these cases the suitable additional measures to be taken may in clude for example installation in specially designed cabinets e n systems that require special monitoring such as Elevators Electrical systems located in particularly potentially hazardous environments In residential commercial and light industrial environments n medical environments Examples of suitable additional measures in these cases may include Installation in grounded shielded metal cabinets Installation of filters in the power supply cables Use of shielded cables outside of cabinets 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 27 5 Mechanical Structure DIN Rail Modules 5 Mechanical Structure M3000 modules are divided according to their mechanical construction into the following categories DIN rail modules such as MSC QAIO 16 4 or QDIO Other M3000 modules such as RDISP Information about the DIN rail modules gt 5 1 DIN Rail Modules on page 28 Refer to the relevant documentation for the d
50. in the analog current output 1 Wire fault in the analog current output 2 llluminates when the application program activates the LED Illuminates when no receiver is attached to the corresponding current output the load resistance is too great or there is a wire fault c Wire fault monitoring of the analog current outputs on page 101 Wire fault in the digital sensor input A1 Wire fault in the digital sensor input B1 Wire fault in the digital sensor input Z1 Wire fault in the digital sensor input A2 Wire fault in the digital sensor input B2 Wire fault in the digital sensor input Z2 SIO receiver activity llluminates when no receiver is attached to the corresponding digital sensor interface or when there is a wire fault gt 10 13 1 1 Wire Fault Display LEDs on page 108 Illuminates when the MSC is receiving data over the SIO interface SIO transmission activity Illuminates when the MSC is sending data over the SIO interfaces If Tx2 illuminates in addition to Tx1 this indicates an error during loading of the hardware driver gt Table 14 on page 79 MACS receiver activity Illuminates when the MSC is receiving data over the MACS interface MACS transmission activity Activated by application program or error display Activated by application program or error display Activated by application program or error display Illuminates when the MSC is sending data ov
51. license key If the applica tion program attempts to access a MACS library that is not released by the li cense key used the application program will not be able to start D Detailed information about the MACS libraries accessible with the vari ous license keys c Table 27 on page 121 10 6 2 CANopen Node ID and IP Address The CANopen node ID of the MSC s CAN bus interfaces and the IP address of the MSC s Ethernet interface are saved in the license key The CANopen node ID and IP address can be set or modified in the following places n the application program With the PLC browser in the MACS development environment The IP address is read from the license key only when the power supply is Switched on or when the MSC is reset 10 6 3 Mounting and Removing Attachment Screw Attachment Screw Figure 50 License Key of the MSC with Attachment Screws 10 6 3 1 Required Tool The following tool is required to mount and remove the license key e 3mm screwdriver 10 6 3 2 Mounting the License Key WARNING The license key may be inserted or removed only when the MSC is powered down Attempting to insert or remove the license key during opera tion might damage the license key or the MSC permanently 2004 Moog GmbH License Key of the MSC Run Time License and Accessible Libraries License Key of the MSC CANopen Node ID and IP Address License Key of the MSC with Attachment Screws License Key of the MSC
52. maximum current of 12 A If the current is greater than the maximum current the following must be em ployed Several separately fused circuits or Several separate power supplies in separated circuits 6 2 4 Connecting Sensors DANGER WARNING WARNING 2004 Moog GmbH The L2 M2 power supply terminals of the MSC type D136E001 001 are not protected against reverse polarity in deviation from the requirements of IEC 61131 2 Reverse polarity on terminals L2 and M2 will lead to permanent damage to the MSC The L2 M2 power supply terminals of the other MSC types are protected against reverse polarity The L1 M1 power supply terminals of all MSC types and the power supply terminals of the other M30009 modules are protected against reverse polarity If the polarity of these power supply terminals is reversed the modules will not function The internal electronics of DIN rail modules and attached sensors must be supplied with power from a perma nently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors gt table 3 on page 40 Reverse energization from sensor to module
53. moog com QDIO http www moog com QCAN http Awww moog com MACS All rights reserved Neither this manual nor parts of it may be reproduced in any form print photocopy microfilm or any other process or processed duplicated or distributed through the use of electronic systems without Moog s written approval Offenders will be held liable for the payment of damages Subject to changes without prior notice All M3000 modules comply with the standards specified in their relevant declaration of conformity CE labeling of the M3000 modules is based on proper installation of the control system with proven electromagnetic compatibility EMC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 A Table of Contents Table of Contents BW WE T C vi uode m vii 1 General Informati n cocco asecepexbau e oov tea Coo Na TUE cd teu EE ate 1 1 4 About this Manual cet enn prie eter nro santana EE SERERE KEY EL EN RANK ERES RS ERR RE EEE CR RR E ARENA RAE SEN ERA RA GRE 1 1 1 1 Reservation of Changes and Validity sese 1 1 1 2 Exclusion of Liability tiet ttd e ttes 1 1 1 3 Completeness eee 1 1 14 Place Tos ro E 1 1 2 Selection and Qualification of PersOnmell ceeceeeeeeeeeeeeeeeeseeeeeeeeeeeeeeeeseeeeeesneaaneeseeeeeeees 2 1 3 Proper Use coe tr RR RRERRRRRMNRRE RR RRRDRXRRKREE nERRERR
54. not necessarily shut down all of the outputs securely The digital output Outputs Enabled indicates the enabled state of all digital outputs analog outputs and the MSC s E bus communication It can be used to tell another controller that all of the MSC s outputs were disabled As long as the Outputs Enabled output is in the 1 state the application pro gram will control all outputs and the E bus communication If the Outputs Enabled output is switched to the 0 state all outputs will be disabled and the E bus communication will be terminated If the digital output Outputs Enabled is in the 0 state LED OutEN does not illuminate all other outputs are disabled In this case although the internal states of the digital outputs are shown on the front panel status LEDs l O1 I O8 of the MSC they are not con nected through to the output The digital output Outputs Enabled will be switched to the 1 state only if the following conditions are fulfilled simultaneously An error free application program has been loaded onto the MSC and will be started once after every reset of the MSC A valid license key is inserted e The M WATCHDOOG function block is not used or the M WATCHDOG function block is used in the application program and is actuated cyclically within the set time If any one of these conditions is not fulfilled the Outputs Enabled output will be switched to the 0 state thereby disabling all of th
55. on page 116 Power Supply of the Digital I Os of the MSC Digital Outputs of the MSC Basic Wiring Diagram of a Digital Output of the MSC Open Emitter Output Open Collector Output 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 93 10 MSC Moog Servo Controller Digital I Os 10 9 3 1 Dependence on the Outputs Enabled Signal If the digital output Outputs Enabled is in the 0 state LED OutEN does not Dependence of MSC s illuminate all other outputs are disabled In this case although the internal states of the digital outputs are shown on the front panel status LEDs l O1 I O8 of the MSC they are not con nected through to the output c 10 17 2 Outputs Enabled Output LED OutEN on page 116 Behavior of the digital outputs when the power supply for the MSC s internal electronics is switched off or fails c 10 8 1 2 Switching off or Failure of the Power Supply on page 86 10 9 3 2 Current Limiting and Overload Protection All digital outputs are protected by an integrated power limiter and a thermal overload protection device In an overload condition the affected output will be automatically disabled After the overload has been removed and thermal cooling is complete the application program can re enable the output To re enable the output the overloaded output must first be switched to the O state It will then be avail able as normal A protective
56. profile that makes it easy to es tablish a network of CANopen compatible devices from a variety of manufac turers CANopen is based on CAN bus The communication profile complies with the standard CiA DS 301 Various device profiles have been defined by the CiA in order to facilitate the connection of various devices classes such as drives controllers angle transmitters valves etc These device profiles enable uniform control of sev eral devices with the same functionality regardless of manufacturer and model 7 3 4 M3000 Modules with CAN Bus Interfaces CAN Bus Termination Resistor Number of CAN Bus M3000 Module Number of Connectors Controllers MSC LocalCAN 2 Q connectors lateral WideCAN 2 D sub front panel connectors 1 switchable RDIO 2 D sub front panel connectors 1 RTEMP 2 Q connectors lateral 2 D sub front panel connectors 1 RDISP 1 D sub connector on the rear QCAN LocalCAN 1 Q connector lateral fix 1 D sub connector front switchable Table 4 M3000 Modules with CAN Bus Interfaces 1 The WCAN or CAN front panel connectors are connected internally 1 1 with each other As a result the M30009 module can be connected directly to the CAN bus without a T adapter D The M3000 modules mentioned here represent only a part of Moog s current product range In addition to other M30009 modules Moog s product range includes a large variety of accessories c
57. programming and configur D138 004 001 ing RTEMP c 3 3 3 2 RTEMP on page 21 CPRDISP Software for programming and configur D138 006 001 ing RDISP c 3 3 3 3 RDISP on page 22 Table 29 Product Range Software for R Modules 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 122 11 Product Range Interface Cables 11 6 Interface Cables iode dara Interface Cables Crossed TIA EIA 232 Null modem cable which can be used as B95884 001 interface cable 5 m 5 47 yd programming cable for connecting the MSC and PC MACS with 9 pole D sub mating connectors gt figure 34 on page 48 Crossed Ethernet interface 10BaseT Cable with Crossed Twisted B95909 001 cable 10 m 10 94 yd Pair Wires with 8 pole RJ45 mating connectors gt figure 32 on page 47 Non crossed Ethernet 10BaseT Cable with Non Crossed B95909 004 interface cable Twisted Pair Wires 1m 1 09 yd with 8 pole RJ45 mating connectors gt figure 33 on page 47 Non crossed Ethernet 10BaseT Cable with Non Crossed B95909 002 interface cable Twisted Pair Wires 10 m 10 94 yd with 8 pole RJ45 mating connectors gt figure 33 on page 47 Connection cable for RTEMP Cable for connecting RTEMP to a PC B95908 001 with Western Phone and 9 pole D sub mating connector CAN bus interface cable c 7 3 6 CAN Bus Interface Cable on B95863 001 3 m 3 28 yd page 54 CAN bus interface cable c 7 3 6 CAN Bus Interface C
58. reset This will occur regardless of which application program was previously running In other words the application program that will be started automatically after the MSC is switched on or reset might be different from the application program that was executing im mediately prior c 10 8 1 3 Examples on page 87 After the power supply for the MSC s internal electronics L1 M1 is switched MSC s Behavior on the MSC will perform the following actions at Switching on the Power Supply 1 The boot project if one exists is loaded into RAM 2 The values of the RETAIN variables are loaded assuming that variables of this type are used 3 The boot project starts if one exists and the most recent status in the on line mode MACS logged in was Start After these actions are complete the MSC is ready to communicate with the MACS development environment 10 8 1 2 Switching off or Failure of the Power Supply The low voltage detection of the MSC ensures that the internal module con MSC s Behavior at trol state will always be RUN SAVE IDLE or OFF even after the power Switching off or Failure supply for the MSC s internal electronics L1 M1 is switched off or fails of the Power Supply Explanations of these states gt table 15 on page 88 Behavior of the MSC after the power supply for the MSC s internal electronics L1 M1 is switched off or fails c 10 8 2 1 Power Failures on page 88 c
59. see R modules software for R modules Software maintenance contract for MACS see MACS software maintenance contract Spring loaded terminals see plug in terminal strips for DIN rail modules SSI sensor connecting to the MSC 109 110 connection diagram MSC in master mode 109 MSC in slave mode 110 Standards overview of quoted standards 129 130 Starter kit see M3000 starter kit States of the MSC s internal module control IDLE 88 OFF 88 RUN 88 SAVE 88 Storing M30009 modules environmental conditions 66 air pressure permissible 66 ambient temperature permissible 66 contamination level 66 70 insensitivity to corrosion 66 70 relative air humidity permissible 66 safety instructions 11 66 Storing manuals place of storage 1 Styles and symbols used in this manual see typographical conventions Symbols and styles used in this manual see typographical conventions System see M30009 System architecture see M3000 system architecture System overview see M3000 system overview User Manual M3000 and MSC B95906 001 Version 1 1 06 04 136 13 Index T Table of contents i Tables list of vi Temperature control module see R modules RTEMP Terminal assignment M3000 modules 22 MSC 73 77 Termination resistors see CAN bus termination resistors TIA EIA interface cable see interface cables serial interface cables Top hat rail see DIN top hat rail TH 35 7 5 Tr
60. signal dominant low CAN SHLD CAN Shield optional shield CFC Continuous Function Chart random graphics functional chart editor programming language for creating PLC programs CiA CAN in Automation e V international organization of manufacturers and users for CAN users http www can cia org CLK Clock CPU Central Processing Unit DAC Digital to Analog Converter DC Direct Current DGND Digital Ground Ground for the digital sensor interface of the MSC DIN Deutsches Institut f r Normung e V German Institute for Standardization http www din de DIS Draft International Standard preliminary standard DS Draft Standard draft standard E Bus Extension bus of DIN rail modules EEPROM Electrically Erasable Programmable Read Only Memory EIA Electronic Industries Alliance http www eia org EMC Electromagnetic Compatibility EN Europa Norm European Standard EPROM Erasable Programmable Read Only Memory ESD Electrostatic Discharge FBD Function Block Diagram programming language for creating PLC programs Flash EEPROM High speed EEPROM FPGA Field Programmable Gate Array programmable logic component GUI Graphical User Interface HF High Frequency Human Machine Interface MACS HMI Visualization package which can be run without MACS Identifier
61. testers arca Sra ran EE C DEI et REA eI eqs dE Pai pus 64 8 1 SUT OW E 64 Bi 2S ORV ICS ei ucts ins ED 65 8 2 1 Maintenance Servicing sorires inan E AE EEE EA NEENA EENE ETE 65 8 2 2 R pai ciiisean a a A a E AEE EAE EA O aa sade ELE AA A aa 65 9 Transportation and Storage 11111 eeeee rene eren nnn 66 9 1 Environmental Conditions eerie treu nannten Eran nuu eoP BERE FE ER XAR RR YRRRRE Ra CREER PN EEKR ARENA RR RRDRES 66 10 MSC Moog Servo Controller eese 67 10 1 Performance Characteristics seeseseseeeseeeeeeeeee nennen enne nnne nnne nnne nnn nnn 67 10 1 1 NMG ACES as RS 67 10 1 2 I Os Inputs OUtpUtS 00 eee cece eee e etter ee eee ae ee eee tate eene rne nnne 68 10 1 3 Safety FUNCtONS 68 10 2 General Speciflcatlons rrt ette caveccsessensnceecseycceeenscvsanbebasacneetiedieevaedesssseanecreeteneereie 68 10 2 1 DIMENSIONS iiit a eee exeo cene bra tune Rte aE e Rua tena REPE ied actions SERRE UTERIS 69 10 2 2 Environmental Conditions ssssssssssssseeseeeeee nere 69 10 3 BIOCK SPIDICuM R 71 10 4 View of the Module and Terminal Assignment cccceeeeecceeeeeeneeeeeeeeneeeeeeeeeeeeseeeeseeeeeeeeeneanes 72 10 4 1 Terminal ASSIQNIM ety eco riter decer A rne d etd dene Fal d de en denen ad 73 1042 LEDS 5 cie te RR RR RO RED
62. the current load connect with C4a Analog input 4 inverting Ground for the analog I Os Optional shield Analog input 5 not inverting gt 10 12 Analog Inputs on page 102 Analog Input 4 B Connect the current load connect with C5b Connect the current load connect with C5a Analog input 5 inverting Ground for the analog I Os SEES MESES ES MESS E MESES ESSE MESE Optional shield Analog input 6 not inverting gt 10 12 Analog Inputs on page 102 Connect the current load connect with C6b Connect the current load connect with C6a Analog input 6 inverting Ground for the analog I Os Optional shield Reference voltage output 10 V gt 10 11 Reference Voltage Output on page 101 Ground for the analog I Os Optional shield Analog input 7 not inverting gt 10 12 Analog Inputs on page 102 Connect the current load connect with C7b Connect the current load connect with C7a Analog input 7 inverting Ground for the analog I Os Optional shield Reference voltage output 10 V gt 10 11 Reference Voltage Output on page 101 SPESE MESES ES MESES E MESES ESSE MESES Ground for the analog I Os O
63. transmitters programming devices etc No tools are needed to mount DIN rail modules Procedure for mounting DIN rail modules 1 Unlock the module to be mounted by pulling out the two red locking slides LWEN 1 y 1 q Oo A Je o c DB AL Figure 17 Unlocking a DIN Rail Module 2 If you wish to attach the module next to the right of a previously mounted DIN top hat rail then follow step 1 to also unlock the module that is al ready located on DIN top hat rail Additional information about arranging the modules c 5 1 3 Arrangement on DIN Top Hat Rails on page 30 gt 7 5 2 E Bus Groups on page 60 CAUTION To avoid damaging the locating pins of the DIN rail mod ules make sure the modules are at least 1 cm apart when placing them on the DIN top hat rail Mounting DIN Rail Modules Safety Instructions Mounting DIN Rail Modules 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 32 5 Mechanical Structure DIN Rail Modules 3 Place the module to be mounted on the DIN top hat rail and carefully Mounting push the module towards the DIN top hat rail until the module engages DIN Rail Modules Do not yet push the red locking slides back into the module If you do push them back in you will no longer be able to slide the module on the DIN top hat rail DIN top hat rails n We Me
64. 0 2 Specifications ssssssssssssssssesssseeeeeeeer e rene enne nenne ner enr nn enn nennen 99 10 11 Reference Voltage Output seseeeeeeeeeeeenee eene enne nnne nnn nnn arn n innen inne nnn irri 101 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 iii Table of Contents LURPANUEIPMBDPIICHE 102 10 12 1 Basic Wiring Diagram niue idee tazen tee kac ere etude kao ene Ehud ri 102 10 12 2 Specifications sssssssssssssssssssssesseeeeenere eren e rrere tns n n nnne nnns 102 10 12 3 Connecting Analog S NSOms ccccceccceeeeecccceeeeeesaeeeeeeesaeeeeseeaaeeeeeeeaaeaeeeseeeaaeeneneeas 104 10 13 Digital Sensor Interfaces onn rient inn nnne nn bn nnnm nnne Eae annua in 108 10 13 1 Wire Fault Monitoring 2 ect iue tad exe tb ae keen ia aded de aede nh pua Eon Ran 108 10 13 2 Connecting SSI Sensors crac caer tecta a md cc pad dea ba bo ead d de 109 10 13 3 Connecting Incremental Sensors sssssssesseeenee eene nennen 111 10 14 E Bus Interface sison iore eme t etie nene NNA Ln RENE IY RUNE REL EE RE Le ER Po cs 112 10 14 1 Configuration of the E Bus Interface sssssss eene enne 112 10 15 CAN Bus Interfaces ieei eee Leere tice ne kac na Rar ek ko Rx R me CE ERR ERR MER EEEE 113 10 15 1 CAN Bus Termination Resistor esssesssseeennn eene 114
65. 0 V DC Test voltage for 2 000 m 2 187 yd operating elevation 500 V DC 10 9 4 Digital Inputs The digital inputs are current consuming inputs of the type 1 according to IEC 61131 2 They are designed for an input voltage rating of 24 V The input values 0 1 state are read cyclically An open input is interpreted as the 0 state 10 9 4 1 Basic Wiring Diagram Signal Source Opto Decoupling to Input Circuit Figure 56 Basic Wiring Diagram of a Digital Input of the MSC Current Consuming 10 9 4 2 Pulse Detection and Disturbance Suppression The digital inputs are read cyclically The sampling time corresponds to the task interval of the application program that reads the input D The task interval and thereby the sampling time of the inputs is set in the task configuration of the MACS development environment For input pulses to be reliably detected they must be longer than the task in terval specified in the application program When defining the minimum pulse duration that can be detected by digital I Os the following differentiation is made Pulses that are never detected pulse duration lt 50 us Pulses that can be detected if the system reads the input when the pulse appears pulse duration 50 us Pulses that are always detected pulse duration the set task interval The user may implement multiple sampling in the application program in or der to suppress disturbance impulses I
66. 10 15 2 Setting the CANopen Node ID sseee enne nennen nnns 114 10 15 3 Setting the CAN Bus Baud Rate sssssssssseeeeeeeeeen eem 114 10 16 Serial Interfaces consen ertet cete tk kun annu E LE aa e tk XE xu RR nk Lao Ran Aa na Rue ma iE 115 10 17 Safety Functlons ecii cerne inier he cd Conn nac rt kane una eta EE Xu ck EE cR RS o E AE Deae ta Aou R RS ed AE ERR unma ds 115 FOV Wath dg e 115 10 17 2 Outputs Enabled Output LED OUutEN seeemm emen 116 10 17 3 Stopping the Application Program ccccccceeececesecceceeeeeeeeeteeeeceneaaeeeeeeeeeeseeeeeseenaees 116 10 18 NANO abe rreri aaa aE aAa SAE E E Ea Aaaa e aaa Ea EErEE 117 11 Product Range a aa aR EREEREER EXNENKKEE SENE eicScc cud 118 11 1 M3000 Starter Wb oo e teo aee d Li e aea EA tee 118 11 2 M3000 Wi MNS ores d tte e iaar innear ar ZRMAD ASA ea risana Kaa nz A Ke IM A CREE 118 11 2 1 MSC Moog Servo Controller sess 118 11 2 2 Q Modules tritt tta iav ete drop A ear ka eddy Ra ey E ped dd pud 119 11 2 3 R Modules Remote Modules sse enne nennen 120 11 3 Power Supply for M30009 Modules eee nennen tnter tents 121 11 4 LICENSE 121 11 5 TORULIIDM 122 11 5 1 MACS Moog Axis Control Software
67. 10 8 2 2 Long Duration Low Voltage on page 89 c 10 8 2 3 Short Duration Low Voltage on page 90 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 86 10 MSC Moog Servo Controller Power Supply 10 8 1 3 Examples For a new or changed application program to start automatically after the power supply for the MSC s internal electronics is switched on or the MSC is reset it must be saved as a boot project In addition the most recent status in the online mode MACS logged in must have been Start Example 1 An application program will be loaded and started on an MSC which has no boot project saved in it However the applicaton program will not be saved as a boot project Behavior after switch off or reset The next time the power supply is switched back on or the MSC is reset no application program will be started because nothing has been saved as a boot project Example 2 An application program is saved in the MSC as a boot project After sav ing it is changed in the MACS development environment and is exe cuted in RAM The changed application program is not saved as a boot project The most recent status in online mode MACS logged in is Start Behavior after switch off or reset The next time the power supply is switched on or the MSC is reset the changed application program will not be loaded instead the saved boot project will be loaded and started Example 3 There is alre
68. 6 04 21 3 Short M30009 System Overview M30009 Modules 3 3 3 3 RDISP Figure 9 RDISP 22 Display and Operating Terminal RDISP is a versatile display and operating terminal with TIA EIA 232 and CANopen interface as well as a graphical LCD display and function keys which can be labelled A small slip of paper can be inserted below the keys RDISP 22 provides 22 function keys and a display with max 8 lines of 40 characters each or random graphics Dimensions of RDISP 22 187 mm x 120 mm x 56 mm 7 36 in x 4 72 in x 2 2 in The CPRDISP software needed to program and configure the RDISP is not included with RDISP CPRDISP is available from Moog as an ac cessory c 11 5 2 Software for R Modules on page 122 3 3 4 Identification M30009 modules can be identified by their nameplate Nameplate of the MSC gt 10 18 Nameplate on page 117 The DIN rail module s I O designations are located on the front panel Terminal assignment of the MSC c 10 4 View of the Module and Terminal Assignment on page 72 Refer to the relevant documentation for detailed information about the nameplate and terminal assignment of the other M30009 modules RDISP RDISP 22 CPRDISP Identification of M3000 Modules 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 22 3 Short M30009 System Overview License Key 3 4 License Key License Key Figure 10 License Key The license key has to be i
69. 78 113 LED1 LED3 activated by application program or error display 78 79 Link displays Ethernet link pulse 78 OutEN displays the states of all outputs and E bus communication 78 Rx1 and Tx1 displays receive transmission activity of the SIO interface 78 Rx2 and Tx2 displays receive transmission activity of the MACS interface 78 TRM indicates that the LocalCAN interface s termination resistor is switched on 77 114 Tx1 Tx2 error display 79 Tx1 und Rx1 displays receive transmission activity of the SIO interface 78 Tx2 and Rx2 displays receive transmission activity of the MACS interface 78 WCAN displays WideCAN transmission activity 77 113 Z1 Z2 wire fault display for digital sensor interfaces 78 108 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 133 13 Index Liability exclusion of liability 3 exclusion of liability for this manual 1 License key of the MSC 23 81 82 attachment screws 82 features provided by the various license keys 121 license key slot LK 72 83 84 mounting 83 required tool 82 part numbers 121 removing 84 required tool 82 run time license 82 safety instructions 12 81 82 83 Link see LEDs of the MSC List of figures vii List of tables vi LK on the front panel of the MSC see license key of the MSC license key
70. 9 modules must be powered from a power supply with SELV Safety Extra Low Voltage according to DIN EN 60950 1 Therefore the EU low volt age directive is not relevant for the M3000 control system because the spec ified voltage levels lie below the limits 1 8 Trademarks Moog and Moog Authentic Repair are registered trademarks of Moog Inc and its subsidiaries M3000 is a trademark of Moog GmbH that is registered in the EU All product and company names mentioned in this manual might be pro tected trademarks or brands of the relevant manufacturer The absence of the symbols or does not indicate that the name is free from trademark protection 1 9 Software Copyrights The software that is installed on M3000 products at the time of delivery is the property of the manufacturer At the time of delivery every piece of in stalled software is covered by copyright protection It may be reproduced only with the approval of the manufacturer or in accordance with the license agreements Trademarks Software Copyrights 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 5 2 Safety Instructions Typographical Conventions 2 Safety Instructions This chapter summarizes the most important safety instructions When han dling the M3000 control system or M30009 modules the safety instructions in the other chapters of this manual must be followed as well as the safety in structions in the product r
71. AER SEURKRRRKRNRRR RR RRARRRO Eea Aaaa Ei aai saaana a aN 2 1 3 1 Safety Related Systems nid erdt e ER ce Ende RE EENET 2 1 4 Warranty and Liability rere reete reote cete eh ANANASA NANSA NANNA jactecessseccuerssjectees 3 1 5 Inspection of Delivery soriire neuen RANNA enne non ROS te X RxR REPE u uuo Re eR S NER RE PN ARARSA NAAA 3 1 6 Environmental Protectio sisisi ttr t nnn aae Ru ER o RESP S OERK EE FEDEXR RR ERREAR NERA AS EEENRERRRRRRNRS 4 1 6 1 EMISSIONS nc E 4 1 6 2 Disposal rrenari aa aE A adn east ed ea eed 4 1 7 St nda rdS EM HR 4 1 7 1 CE Labeling of M30009 Modules cccccscscssssssssecesecccesesessscssesesesesesesseceseneseseseseees 4 1 7 2 lO ee een 4 1 7 3 Electromagnetic Compatibility EMC esee ene 4 1 8 CIEL CIEMM E M 5 LESE CXendgncme M 5 VACUAM ig sic M 6 2 1 Typographical Conventions 1 cerent nnt eene ine trn reae E RR RR Re Den Enea Pre nnn 6 LEGrgabtapuD TP c M 6 2 2 1 Safety Related Systeris uertice tees oxi bed ex Renee beu eoe ex parie R Oh ede dius 6 2 2 2 Environmental Conditions irit nt i e lo iie Pe uide Reto Penes 7 PPM andia E aaa aadA AAS AEA TA AE A A IRE ELE 7 2 2 4 Pr
72. CS Development Environment on page 24 c 10 5 1 Communication Between MSC and MACS on page 80 Application programs can be saved and executed in the MSC in the following manner As a boot project in the flash EEPROM In RAM An application program saved as a boot project will be loaded into RAM whenever the MSC s power supply is switched on or when the MSC is reset An application program that is only executed in RAM without being saved as a boot project will not be saved in the MSC when it is switched off or when the power supply fails After the power supply is switched back on the application program must be downloaded once more from the MACS development environment Behavior of the MSC at switching on and switching off the power supply c 10 8 1 Behavior at Switching on and Switching off on page 85 3 6 MACS Development Environment WARNING The PC on which the MACS development environment is installed must be suitable for the environmental condi tions in which it will operate This ensures fault free reliable and safe operation MACS must be installed on a personal computer PC This PC then repre sents the PADT programming and diagnostic tool specified in IEC 61131 Scope of functionality of MACS Programming testing and optimization of IEC 61131 application programs Documentation of IEC 61131 application programs Visualization of IEC 61131 application programs Hardware configuration of M30009 modu
73. I Sensor Example The signal levels comply with the standard TIA EIA 422 previously RS 422 SSI sensors can be used that supply either gray code or binary coded data The maximum possible resolution is 32 bits The adaptation for the application program is done in the MACS development environment For this the proper function blocks as appropriate for the cod ing of the sensor must be inserted into the application program The external SSI master must be capable of driving two TIA EIA 422 in puts including the termination resistors 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 110 10 MSC Moog Servo Controller Digital Sensor Interfaces 10 13 3 Connecting Incremental Sensors Incremental sensors supply a relative position or angle signal that the MSC Connecting Incremental can read In doing so it can detect and evaluate without error impulse se Sensors to the MSC quences with frequencies up to 8 MHz The adjustable 32 bit actual value in the MSC is varied dependent on the leading or lagging sequence of A and B signals Only 4 egdes evaluation is used for this Example With 4 egdes evaluation a sensor with 1 024 dashes per revolution will sup ply to the application program 4 096 increments per revolution A check will be performed with every rising and falling egde of the A and B signals to determine whether the B signal is lagging behind the A signal If this is the case the
74. IN rail modules QAIO Analog I O extension module for local extension of the inputs and outputs of MSCs connection over E bus QCAN CAN extension module which can be used to make available the LocalCAN bus of an E bus group for external CAN bus network stations over a D sub front panel connector QDIO Digital I O extension module for local extension of the inputs and outputs of MSCs connection over E bus R Modules Remote modules such as RDIO RTEMP and RDISP connection over CAN bus RAM Random Access Memory read and write memory that loses its contents when power is removed RD Receive Data Remote module with digital I Os and CANopen interface connection over CAN bus Remote Display display and operating terminal with TIA EIA 232 and CANopen interface connection over CAN bus Reference voltage Reduced Instruction Set Computer Temperature control module with TIA EIA 232 and CANopen interface connection over CAN bus Safety Extra Low Voltage according to DIN EN 60950 1 Sequential Function Chart programming language for creating PLC programs Shield Serial I O serial interface of the MSC Synchronous Serial Interface digital interface for transferring positioning information like with position transducers Structured Text programming language for creating PLC programs Transmit Data Telecommunications Industry Associatio
75. IN top hat rail must have a low resistance connection to the pro tective earth conductor PE It is essential that the DIN top hat rail is grounded over a connection with the largest possible cross section G Every circuit must be fused maximum 12 A Load controlled distribution of the circuits U1 U3 6 1 1 Front Panel Connectors Signal Grounding The metal housings of all front panel connectors of the MSC are connected internally in a capacitive manner to the signal grounding of the DIN top hat rail The metal housings of the front panel connectors of the other DIN rail mod ules are connected directly to the signal grounding of the DIN top hat rail Grounding Concept Front Panel Connectors Signal Grounding 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 37 6 Project Planning and Installation Power Supply 6 2 Power Supply The internal electronics of M30009 modules is usually supplied with power via the power supply terminals of the connectors of the M30009 modules Connecting the power supply for the internal electronics c 6 2 3 Connecting the Power Supply on page 39 Power supply terminals of the MSC c 10 4 1 Terminal Assignment on page 73 Refer to the relevant documentation for the exact designations of the power supply terminals of the other M30009 modules 6 2 1 Power Supply Characteristics Output voltage Rated voltage 24 V DC operates at no load SEL
76. MOOG User Manual M3000 Control System Control System MSC Moog Servo Controller Control Module MSC PROGRAM Controller Digital l os F Pd controller UM PID S npe m eens BaxistT M HW MSCJib 29 10 02 17 49 04 INTI MINTEGRAL Rm PENSIEI Bl Axis1T2 n Iz Conti UE ORE z Range limiter M PLCopen lb 3 11 02 17 47 14 FGENI MOWAVE GEN T MUNISLAIHI de MS ISA P REAl m oe a TE E eo ace x i B Be a E Bus eet 53 Pous T Dynamic Function Blocks T Pow P B M_DERIVATIVE FB rgo Po ihon M INTEGRAL FB i ERI PO Beans M_LPF FB MAT Maan EM MC MoveAksplute 5 E H Thoneitiiis DMATEXe Execute E E Dane cK i i Noneiscu IMAI Pos Position CommandAno CM Nrrmandaboried b M_PT1 FB asst 1 velocity I CLEAR ih oneioru M_PT2 FB rai GAIN B PO PeMoneseo Genetic Function E fenai i i Noneisco Fl Mask 3 License nev a M_TIMER F i Logic Function B e gap CAN slot eii i jE M COMPAR i aa onnur e i e tessssuGangus Copyright 2004 Moog GmbH Hanns Klemm Strasse 28 71034 B blingen Germany Telephone 49 7031 622 0 Fax 49 7031 622 100 E Mail Info moog de M3000 Support moog de Internet http www moog de http www moog com M3000 http www moog com MSC http Awww moog com QAIO http www
77. MSC digital 68 91 98 digital inputs e 96 98 basic wiring diagram 96 disturbance suppression 96 insulation resistance 98 pulse detection 96 specifications 97 U I working ranges 98 digital outputs 93 96 basic wiring diagram 93 insulation resistance 96 load connection 95 open collector outputs 93 open emitter outputs 93 overload behavior 94 overload protection 94 specifications 95 I O1 I O8 LEDs of the MSC for displaying the operational state of the digital I Os 77 91 power supply 92 terminal assignment 73 IP address of the MSC 81 82 Item number see part numbers L L1 see LEDs of the MSC LAN see LEDs of the MSC LCAN see LEDs of the MSC LED1 LED3 see LEDs of the MSC LEDs of the MSC 72 77 79 A1 A2 wire fault display for digital sensor interfaces 78 108 Ao1b Ao2b wire fault display for analog current outputs 78 101 Aux1 Aux2 activated by application program 78 B1 B2 wire fault display for digital sensor interfaces 78 108 D1 D7 field bus 78 EBus displays E bus transmission activity 78 Error error display 78 79 I O1 l O8 display the operational state of the digital I Os 77 91 L1 displays the state of the power supply for the internal electronics 77 LAN displays Ethernet activity 78 LCAN displays LocalCAN transmission activity
78. N Figure 1 M30009 System Architecture Example 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 16 3 Short M30009 System Overview M30008 Starter Kit 3 2 M3000 Starter Kit ap ile Naor Figure 2 M3000 Starter Kit The M3000 starter kit includes everything needed to get started MSC with digital open emitter outputs 2 MB RAM Power supply 24 V 10A License key green QDIO 16 16 0 5 MACS development environment Software maintenance contract Crossed TIA EIA 232 interface cable 5 m 5 47 yd Crossed Ethernet interface cable 10 m 10 94 yd CAN bus interface cable 3 m 3 28 yd 11 Plug in terminal strips with screw terminals 18 pole Plug in terminal strip with screw terminals 9 pole The included DIN rail modules MSC and QDIO are mounted together with the power supply on a single mounting plate A suitable power cord is the only additional item required to facilitate connec tion to the power source 2004 Moog GmbH User Manual M30009 and MSC B95906 001 Version 1 1 06 04 M3000 Starter Kit 3 Short M30009 System Overview M30009 Modules 3 3 M30009 Modules D The M30009 modules mentioned here represent only a part of Moog s current product range In addition to other M30009 modules Moog s product range includes a large variety of accessories c 11 Product Range on page 118 3 3 1 MSC MSC Figure 3 MSC Control Module The MSC digital cont
79. SC Moog Servo Controller Digital Sensor Interfaces 10 13 2 2 SSI Slave Mode When in SSI slave mode the MSC does not generate its own SSI clock in MSC in SSI Slave Mode stead it reads the data in synchronization with an externally generated clock signal When it is an SSI slave the MSC influences neither the SSI clock fre quency nor the update rate with which new data is requested from the SSI sensor In this mode the MSC reads the data signal with every falling egde of the clock With a symmetrical clock the sensor interface can evaluate signals in the fre quency range of 78 kHz to 5 MHz When the clock signal is asymmetrical the width of the positive pulse must be smaller than 6 3 us so that the sensor interface that is configured as an SSI slave will not perceive prematurely that the data transmission is concluded The clock signal must be in the 1 state for longer than 6 5 us so that the sen sor interface will save the value that has been read Connection Diagram of the MSC in Slave Mode Data Signal SSI Sensor SSI Master SSI Clock CLK SSI Slave Mode Figure 72 Connection Diagram of the MSC in Slave Mode CLK Signals Between the MSC LLU UU ELLE LU LU EL LT LE and a 16 Bit SSI Sensor SE ON S SE MER M NEN MCN E E Example Data spi D15 D14 D13 p12 p11 p10 po J ps D7 De ps pa ps J D2 Lss Figure 73 Signals Between the MSC and a 16 Bit SS
80. The sampling time corresponds to the task interval of the application program that reads the input c 10 9 4 2 Pulse Detection and Disturbance Suppression on page 96 The task interval and thereby the sampling time of the inputs is set in the task configuration of the MACS development environment Input capacitance Max 10 nF Power consumption for the internal control circuit L2 M2 lt 200 mA 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 97 10 MSC Moog Servo Controller Digital I Os 10 9 4 4 U I Working Ranges ULV Typical Characteristic Input Curve of a Digital Input U vs I U I Working Ranges of MSC s Digital Outputs Current Consuming SS ee ORO OSCR XX SB 2 mA Figure 57 U I Working Ranges of MSC s Digital Outputs Current Consuming Input voltage DC of the external power supply L2 rated voltage Ue 24V upper limit Ue max 36 V lower limit Ue min 18 V Limits for the 1 state upper limit UHmax 30V IHmax 15 mA lower limit UH min 15 V IHmin 2 mA Limits for the O state upper limit ULmax 15 5 V ILmax 15 mA lower limit ULg 3 V Lmin ND Table 16 U I Working Ranges of MSC s Digital Outputs Current Consuming 10 9 4 5 Insulation Resistance Insulation resistance Insulation Resistance Rated voltage 0 50 V DC of MSC s Digital Inputs Test voltage for
81. Transmission Activity to LocalCAN State of LocalCAN Transmission Activity Outputs Enabled L1 and 5 V OK Digital I Os Activated by Application Program Programming Interface OT Voz 03 lO4 WO5 WO6 VO7 VO WCANLCAN EBus OutEN A MACS 0 00000090000060 M 1 5 9 10 L2 12 OutEN CLK1 CLK1 AT A1 B1 B1 zw Z1 DGND 1 s Button 7 8 11 12 13 14 15 16 17 1 06 1 07 uoa CLK2 CLK2 A2 A2 B2 B2 Z2 z2 rd 25 26 27 2 29 30 31 32 33 34 Serial Aola 24 ps eit TA Ao2b e e Interface Reset Ethernet Link Pulse License WideCAN Key Slot internally connected 1 1 Ethernet Ait Cla i1 i2 AGND SHLD i C3b i3 AGND SHLD Activity 55 56 63 69 T Ai4 C4a i4 i5 C6b 73 74 L 78 79 81 87 REF AGND i C7b Ai7 AGND SHLD REF AGND SHLD C8b 91 92 96 97 98 99 100 101 102 105 Field Bus OO Ethernet Extension Aoib Ao2b wA1 B1 Z1 A2 B2 RJ45 T B 10BaseT Wire Fault Display for Activated by Analog Current Outputs Application Program SIO Transmission Activity or Error Display Wire Fault Display for SIO Receiver Activity MACS Receiver Activity MACS Transmission Activity Digital Sensor Inputs Figure 49 Front Panel of the MSC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 72 10 MSC Moog Servo Controller View of the Module and Terminal Assignment 10 4 1 Terminal Assignment Power supply for the MSC s internal electronics 24 V DC SELV gt 6
82. V according to DIN EN 60950 1 c 6 2 1 1 Safety Extra Low Voltage SELV on page 38 Run up time 10 90 96 x 0 2 sec In the interest of compatibility with other components Moog recom mends maintaining the power supply tolerance band specified in IEC 61131 2 19 2 V to 30 V Refer to the relevant documentation for the specified voltage ranges of the M3000 modules Besides the specified voltage ranges a total alternating voltage component with a peak value of 5 of the rated voltage is also permitted Output current If the output current of the power supply is greater than 12 A the power cable to each M3000 module must be fused to lt 12 A or the current must be limited in another way Maximum permissible duration of power interruptions Under full load PS2 intensity lt 10 ms duration of interruption during voltage drops and interruptions to the in put voltage During primary side voltage drops that are 10 ms or shorter in dura tion the output voltage must not fall under 19 2 V when under full load In addition the interval between the primary side drops must not be shorter than 1 s 6 2 1 1 Safety Extra Low Voltage SELV The safety extra low voltage is a voltage that will not under any operating conditions exceed 42 4 V peak or direct voltage as measured between con ductors or between a conductor and ground The circuit in which SELV is used must be separated from the mains power supply by a
83. a cross section of at least 0 25 mm 23 AWG In environments with a high amount of disturbance use cables with twisted pair wires Calibration The MSC is calibrated at the factory and does not require any additional calibration Permissible load types Resistive load according to Load impedance range on page 100 The stability of the current outputs is ensured up to an inductive load of 100 mH The stability of the voltage outputs is ensured up to a capacitive load of 10 pF Output current of the voltage output Max 10 mA Wire fault monitoring of the analog current outputs The analog current outputs are monitored for wire faults The status of the wire fault monitoring can be evaluated in the application program The Ao1b or Ao2b front panel error LEDs of the MSC illuminate if No load is attached to the corresponding analog current output The load resistance is too great the current output can no longer drive the required current There is a wire break 10 11 Reference Voltage Output Reference voltage Reference Voltage Output 10 V DC of the MSC Load current Max 5 mA Precision 0 3 of full scale value Temperature coefficient lt 280 yu V K Output impedance 0 20 Protection Continuous short circuit protection overvoltage protection up to 36 V Short circuit current Ikmax 15 mA residual current of the terminals 91 REF and 100 REF of the connector X6 2004 Moog GmbH
84. abels Insertion bridge For connecting adjoining terminals of the A69102 plug in terminal strips Coding tab For coding plug in terminal strips C43145 001 Coding profile For coding plug in terminal strip connec C43146 001 tors of M30009 modules Table 32 Product Range Plug In Terminal Strips The various DIN rail modules require different numbers of plug in terminal strips c 11 8 1 Number of Required Plug In Terminal Strips on page 124 11 8 1 Number of Required Plug In Terminal Strips Number of Plug In Terminal Strips Required Number of Required DIN Rail Modul 8 Pol 9 Pol 18 Pol Plug In Terminal Strips M cata a ac for DIN Rail Modules MSC 5 RDIO RDISP RTEMP QDIO QAIO 16 4 QCAN Table 33 Number of Plug In Terminal Strips Required for Various DIN Rail Modules 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 124 11 Product Range Training Programs 11 9 Training Programs Software training English Content of the training B95992 MACS and IEC 61131 Programming testing optimizing and documenting IEC 61131 application programs Visualization of IEC 61131 application programs Product Range Training Programs Software training German Content of the training B95993 MACS and IEC 61131 Programming testing optimizing and documenting IEC 61131 application programs Visualization of IEC 61131 application programs Hard
85. able on B95863 002 10 m 10 94 yd page 54 Table 30 Product Range Interface Cables 11 7 CAN Bus Accessories Product Range CAN Bus Accessories USB CAN adapter Adapter USB1 1 to CAN bus with C43094 001 9 pole D sub mating connector with pin contacts CAN bus termination resistor 9 pole D sub mating connector with B95864 001 120 Q socket contacts CAN bus termination resistor 9 pole D sub mating connector with pin B95865 001 120 Q GND contacts CAN GND internally con nected to signal ground Table 31 Product Range CAN Bus Accessories 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 123 11 Product Range Plug In Terminal Strips 11 8 Plug In Terminal Strips aa ET Plug In Terminal Strips Plug in terminal strip with 8 pole up to max 2 5 mm 14 AWG VK055 008 for DIN Rail Modules screw terminals wire cross section 9 pole up to max 2 5 mm 14 AWG VK055 009 wire cross section 18 pole up to max 2 5 mm 14 AWG VK055 018 wire cross section Plug in terminal strip with 8 pole up to max 2 5 mm 14 AWG B95907 008 spring loaded terminals wire cross section 9 pole up to max 2 5 mm 14 AWG B95907 009 wire cross section 18 pole up to max 2 5 mm 14 AWG B95907 018 wire cross section Labels for plug in terminal For labeling plug in terminal strips B95885 001 strips Printed with the numbers 1 108 Includes six l
86. ackaging IEC 60068 2 31 lt 1 m 39 in Protection class IEC 60529 IP20 10 2 2 3 Electrical Conditions and Requirements Power supply 24 V DC Safety Extra Low Voltage SELV according to DIN EN 60950 1 Specified voltage range 18 36 V DC c 6 2 Power Supply on page 38 Insulation resistance Rated voltage 0 50 V DC Test voltage for 2 000 m 2 187 yd operating elevation 500 V DC Environmental Conditions Climatic Conditions Environmental Conditions Mechanical Conditions and Requirements Environmental Conditions Electrical Conditions and Requirements 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 70 10 MSC Moog Servo Controller Block Diagram 10 3 Block Diagram Q Connector E Bus LocalCAN Bus Go jeld Bus Key i icence F Bus Interface Key Interface X10 TIA EIA 232 Ethernet E RJ45 MACS Oo Interface Interface 10BaseT x9 Serial 1 2 SIO 9 Je Interface E Bus Interface X8 O WCAN oe WideCAN CAN Bus L Reset Button Interface X7 wean CERO TIA EIA 422 Interface REF Reference Voltage REF Output pes Interface Aota Voltage Output Ao1b Current Output Ao2a Voltage Output Ao2b Current Output Ai1 L1 Ai2 M1 Ai3 L2 Ai4 8 Digital Inputs Outputs id Ai6 Outputs Enabled Ai Digital Output Ai8 M2 Q Connector E Bus LocalCAN Bus Figure 47 Block Diagram of the MSC 1 Hardwa
87. actual value will be increased by 1 If the A signal lags behind the B signal the actual value will be decreased by 1 Connection Diagram of the MSC with an Incremental Sensor Signal A Signal B Incremental Incremental Sensor Mode Sensor Signal Z Figure 74 Connection Diagram of the MSC with an Incremental Sensor 4 Incremental Sensor xd 2 125 ns 9 MHz l Signals A and B with Reversal Point Reversal Point and a L US Ln change s MUL H Figure 75 Incremental Sensor Signals A and B with Reversal Point and Speed Change To the left of the reversal point in figure 75 signal B leads the signal A The actual value is decreased by 1 with every egde of A and B To the right of the reversal point signal A leads as a result the actual value is increased by 1 with every egde of A and B The signal levels comply with the standard TIA EIA 422 previously RS 422 The terminal designations will vary depending on the manufacturer of the in cremental sensor 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 111 10 MSC Moog Servo Controller E Bus Interface MSC Sensor supplied by Heidenhain Sensor supplied by Hengstler N Sensor supplied by Stegmann a B M M Sensor supplied by Allen Bradley a B Z Table 20 Designations of Incremental Sensor Terminals MSC and Increment
88. ademarks 5 Training programs part numbers 125 Transporting M3000 modules environmental conditions 66 air pressure permissible 66 ambient temperature permissible 66 contamination level 66 70 insensitivity to corrosion 66 70 relative air humidity permissible 66 safety instructions 11 66 TRM see LEDs of the MSC Tx1 Tx2 see LEDs of the MSC Type plate see nameplate Typographical conventions 126 U U I working ranges MSC s digital inputs 98 User manual M3000 and MSC abbreviations used see abbreviations used copyright A date of release 1 duplication prohibition A exclusion of liability 1 place of storage 1 reproduction prohibition A reservation of changes A 1 styles and symbols used See typographical conventions typographical conventions see typographical conventions version number 1 Users qualified see personnel selection and qualification 2004 Moog GmbH V Version number of this manual 1 View of the module DIN rail modules 28 MSC 72 Visualization package see MACS MACS HMI W Warranty exclusion of warranty 3 Watchdog of the MSC 115 WCAN front panel connectors of the MSC see CAN bus interfaces MSC WCAN LED see LEDs of the MSC Weight of the MSC 68 WideCAN 15 WideCAN bus groups 62 WideCAN bus interface of the MSC 51 59 113 terminal assignment of the WCAN front panel connectors 76 Wire fault display LEDs o
89. ady a boot project on the MSC A new application program is created in the MACS development environment and is loaded and started on the MSC The application program is not saved as a boot project The most recent status in online mode MACS logged in is Start Behavior after switch off or reset The next time the power supply is switched on or the MSC is reset the previously executed application program will not be loaded instead the saved boot project will be loaded and started 10 8 2 Low Voltage Detection The MSC provides an integrated low voltage detection for the power supply for the MSC s internal electronics L1 M1 If the power supply is interrupted for longer than 5 ms the low voltage detec tion will respond The threshold limit is lt 18 V typ 16 V If the voltage falls below the threshold limit the MSC will go into the SAVE state The low voltage detection of the MSC ensures that the internal module con trol state will always be RUN SAVE IDLE or OFF even after the power supply for the MSC s internal electronics L1 M1 is switched off or fails Explanations of these states gt table 15 on page 88 MSC s Behavior after Switching off or Resetting Examples Low Voltage Detection of the MSC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 87 10 MSC Moog Servo Controller Power Supply La u dca dd Normal program sequence acc
90. ailable from Moog as an acces sory c 11 4 License Keys on page 121 Product Range M3000 Starter Kit Product Range MSC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 118 11 Product Range M30009 Modules 11 2 2 Q Modules inae ditas Q Modules QDIO 16 16 0 5 Digital I O extension module for local D137 001 005 extension of the inputs and outputs of MSCs connection over E bus 16 inputs and 16 I Os Positive switching gt 3 3 2 Q Modules on page 19 QDIO 16 16 0 5N Digital I O extension module for local D137 001 004 extension of the inputs and outputs of MSCs connection over E bus 16 inputs and 16 I Os Zero switching gt 3 3 2 Q Modules on page 19 QAIO 16 4 V Analog I O extension module for local D137 001 007 extension of the inputs and outputs of MSCs connection over E bus 16 voltage inputs 10 V 4 voltage outputs 10 V gt 3 3 2 Q Modules on page 19 QAIO 16 4 A Analog I O extension module for local D137 001 006 extension of the inputs and outputs of MSCs connection over E bus 16 current inputs 0 20 mA 4 voltage outputs 10 V gt 3 3 2 Q Modules on page 19 CAN extension module which can be D137 001 003 used to make available the LocalCAN bus of an E bus group for external CAN bus network stations over a D sub front panel connector gt 3 3 2 2 QCAN on page 20 Table 23 Product Range Q Modules D The plug in termina
91. al Sensors from Various Manufacturers The adaptation for the application program is done in the MACS development environment For this the proper function blocks as appropriate for the cod ing of the sensor must be inserted into the application program 10 14 E Bus Interface The MSC s inputs and outputs can be extended locally by establishing an E bus group by attaching up to 7 E bus slaves to the E bus interface Examples After 7 QDIO 16 16 0 5 extension modules are attached an additional 112 digital inputs and 112 individually configurable digital I Os will be available After attaching 4 QAIO 16 4 extension modules and 3 QDIO 16 16 0 5 extension modules an additional 64 analog inputs 16 analog outputs 48 digital inputs and 48 individually configurable digital I Os will be available Additional information about the E bus interface and E bus groups c 7 4 1 E Bus Interface on page 55 c 7 4 2 E Bus Communication on page 56 c 7 5 2 E Bus Groups on page 60 10 14 1 Configuration of the E Bus Interface The E bus interface of the MSC is configured in the PLC configuration of the MACS development environment The number and type of attached E bus slaves must be specified in the configuration The inputs and outputs of the attached E bus slaves are also configured in the PLC configuration Designations of Incremen tal Sensor Terminals E Bus Interface of the MSC Configuration of the E Bus Inter
92. amage to the MSC The L2 M2 power supply terminals of the other MSC types are protected against reverse polarity The L1 M1 power supply terminals of all MSC types and the power supply terminals of the other M30009 modules are protected against reverse polarity If the polarity of these power supply terminals is reversed the modules will not function WARNING M3000 modules must be protected from overvoltages and or reverse energization from the sensor to the mod f N ule There is a danger of Permanent damage by overheating or fire Malfunctions M30009 modules must have the correct voltage polarity and terminal assignments Additional information about the power supply c 10 2 2 3 Electrical Conditions and Requirements on page 70 c 6 2 Power Supply on page 38 10 8 1 Behavior at Switching on and Switching off The following internal data will be saved in the flash EEPROM of the MSC Values of the RETAIN variables Boot projects Error messages The MSC provides an energy reserve used to save this data even when the power supply for the MSC s internal electronics L1 M1 is switched off or has failed There is no battery buffered memory area The MSC is maintenance free WARNING If the most recent status in the online mode MACS logged in was Start before the MSC was switched off or reset the boot project will always be started after the MSC is switched back on or reset This will occur rega
93. an be used for networking of individual control groups or re mote modules Usually WideCAN ist used for synchronization and data exchange between the control groups and operating stations of a ma chine or system c 3 3 3 R Modules Remote Modules on page 20 c 7 5 4 WideCAN Bus Groups on page 62 In addition the WideCAN network can integrate other components with a CAN bus or CANopen interface such as motor controllers hydraulic valves and radial piston pumps Moog s current product range offers an extensive selection of motor controllers hydraulic valves and radial piston pumps LocalCAN connects the DIN rail modules within a LocalCAN bus group and if applicable the QCAN to the connected LocalCAN bus groups or CAN sensors actuators c 3 3 2 2 QCAN on page 20 c 7 5 3 LocalCAN Bus Groups on page 61 M3000 System Architecture TIA EIA 232 Ethernet CAN Bus WideCAN LocalCAN 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 15 3 Short M30009 System Overview M3000 System Architecture TIA EIA 232 MSC MSC QAIO S S e eS PC with Development Environment MACS Remote Servicing S PC with Visualization Package MACS HMI Motor Controller Radial Piston MSC Pump Hydraulic Valve RDISP LocalCAN CAN Sensor CAN Actuator QCAN eo oe 7 i B pus EHE LocalCAN WideCAN LocalCAN CAN Sensor CAN Actuator QCAN MSC QAIO QCA
94. and i pooononononononong psessssesssssssssss pacandnandnunanund pssesssesceseosossss ssesssoossessssss paouguooougunuunnr sssssosss nannnaunr 0000000000000000 oooo 0000000 0000000000000000 paouuugounugunuuunt pssesssesssessssss o paananaaanaaanaaanr p 5555555555955555s puaganaanaunuuunuunr sssesssesssesossss Figure 20 DIN Rail Modules Joined Without Gaps on a DIN Top Hat Rail 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 33 5 Mechanical Structure DIN Rail Modules 6 Push the two red locking slides back into all of the modules This fixes the modules onto the DIN top hat rail establishes an electrical connec tion with the top hat rail and locks the modules together with a secure contact Figure 21 Fixing and Locking a DIN Rail Module 5 1 4 2 Removing DIN Rail Modules WARNING No work of any kind such as mounting removing wir ing or repairs to the M3000 control system or DIN rail modules may be performed while the control system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfun
95. any order QCANS can be attached only at the far right because they do not have a Q connector on the right side QCANS are not slaves and may therefore be attached additionally at the right regardless of the number of slaves Only the master can communicate with the slaves Direct communication between the slaves of an E bus group over the E bus is not possible gt 7 4 2 E Bus Communication on page 56 Slaves must be attached to the master in direct succession Modules that do not belong to this E bus group must not be connected to this E bus group by the Q connector RDIOs are not permissible slaves in E bus groups and therefore must not be attached to the right of an MSC Q module or R module RTEMPs interrupt the E bus communication because only the CAN bus is implemented on their Q connector RTEMPs may be attached to the far right or far left of an E bus group in order to establish a CAN bus connection over the Q connector Information about arranging DIN rail modules c 5 1 3 Arrangement on DIN Top Hat Rails on page 30 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 60 7 Networking M30009 Modules Networking DIN Rail Modules 7 5 2 1 Examples Master Slave Slave Slave Slave Slave QAIO Additional Slaves Figure 41 E Bus Group MSC as E Bus Master Number of slaves that may be attached to the MSC gt Table 8 on page 56 Master Slave Slave Slave Slave Slave
96. as Start before the MSC was switched off or Switching Back on or reset the boot project will always be started after the Resetting the MSC MSC is switched back on or reset This will occur regardless of which application program was previously running In other words the application program that will be started automatically after the MSC is switched on or reset might be different from the application program that was executing im mediately prior c 10 8 1 3 Examples on page 87 More on this subject c 10 8 1 Behavior at Switching on and Switching off on page 85 2 2 12 Outputs Enabled Output of the MSC WARNING If there is a defect in an output stage the Outputs En Safety Instructions abled signal will not necessarily shut down all of the Outputs Enabled Output outputs securely of the MSC More on this subject c 10 17 2 Outputs Enabled Output LED OutEN on page 116 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 13 3 Short M30009 System Overview 3 Short M3000 System Overview The M3000 control system comprises the following hardware and software Short M30009 components System Overview M3000 starter kit Complete package including everything needed to get started c 3 2 M30008 Starter Kit on page 17 M30009 modules MSC Moog Servo Controller Control module for DIN top hat rail mounting c 3 3 1 MSC on page 18 QDIO Digital I O exten
97. ast 80 coverage The wire must be made of copper with a cross section of at least 0 25 mm 23 AWG In environments with a high amount of disturbance use cables with twisted pair wires Calibration The MSC is calibrated at the factory and does not require any additional calibration Crosstalk between inputs lt 0 02 96 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 103 10 MSC Moog Servo Controller Analog Inputs 10 12 3 Connecting Analog Sensors Recommended cable types Connecting Analog Use only shielded cables Sensors to the MSC The shield must be made of copper braiding with at least 8096 coverage The wire must be made of copper with a cross section of at least 0 25 mm 23 AWG In environments with a high amount of disturbance use cables with twisted pair wires 10 12 3 1 Shielding Signal Cables Shielding the Signal Cable when Connecting an Analog Sensor to the MSC Preferred Shielding x ed L xy NS NS 7 x lt gt e S e SRK bt x QS ee oS S t OS RX XXX R 99 t ISLS RS ee ex s uN T4 ooo 46 07 XD CX ROKR OSS NN xX PS x POSENT RX E RX ieee ROS i bes BOSS ES Sensor Insulation Alternative Shielding Shield zo x lt o M 7j ae X4 ed SA lt gt S XX ms R s
98. connectors 72 113 terminal assignment 76 Q modules 51 59 R modules 51 59 CAN bus network node see CAN bus network stations CAN bus networks permissible cable lengths 54 permissible number of network stations 53 permissible stub cable lengths 54 potential equalization 52 53 suitable cables 55 wiring 52 CAN bus network stations permissible number of network stations 53 CAN bus termination resistors 52 53 MSC s termination resistor switchable termination resistor of the LocalCAN interface 114 TRM LED of the MSC indicates that the resistor is switched on 77 part numbers 123 CAN extension module see Q modules QCAN CANopen 51 CANopen node ID of the MSC 82 114 profiles for various device classes 51 CE labeling of the M30009 modules A 4 Cleaning safety instructions 10 64 Communication between MSC and MACS 80 MACS communication parameters Ethernet interface 81 MACS interface 80 programming cable 48 safety instructions 11 80 Configuration of the MSC 80 Connector assignment see terminal assignment Contact address A Contamination level M30009 modules 66 MSC 70 Control groups E bus groups 60 LocalCAN bus groups 61 WideCAN bus groups 62 Control module see MSC Control system see M30009 Copying prohibition for this manual A Copyright for software that is installed on M30009 products 5 for this manual A Corrosion insensitivity to see insensitivity
99. ct 122 MACS front panel connector of the MSC see interfaces of the MSC serial MACS interface MACS HMI see MACS MACS HMI MACS interface of the MSC see interfaces of the MSC serial MACS interface Maintenance 65 safety instructions 10 64 Maintenance contract for MACS see MACS software maintenance contract Manual see user manual M3000 and MSC Manufacturer s address A Maximum admissible current for the power supply terminals of M30009 modules 42 Memory of the MSC 68 Module width of an M30009 module see dimensions Moog Authentic Repairs see repair Moog Authentic Repairs Moog Authentic Repair seal see repair repair seal Mounting DIN rail modules on DIN top hat rails 32 license key of the MSC 83 required tool 82 MSC 18 67 117 as master of E bus groups 56 block diagram 71 environmental conditions for operation 70 climatic conditions 70 electrical conditions and requirements 70 mechanical conditions and requirements 70 front panel 72 front view 72 part numbers 118 view of the module 72 N Nameplate M30009 modules 22 MSC 117 Networking M3000 modules CAN bus networks see CAN bus networks Ethernet networks see Ethernet networks networking DIN rail modules see DIN rail modules networking Network nodes see CAN bus network stations Networks CAN bus networks see CAN bus networks Ethernet networks see Ethernet networks M3000 system architecture example 16
100. ctions Before performing any work on the M3000 control system or DIN rail modules it is essential that the system be stopped and the power supply disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc No tools are needed to remove DIN rail modules 2004 Moog GmbH Mounting DIN Rail Modules Removing DIN Rail Modules Safety Instructions User Manual M3000 and MSC B95906 001 Version 1 1 06 04 34 5 Mechanical Structure DIN Rail Modules Procedure for removing DIN rail modules Removing DIN Rail Modules 1 Unlock the module to be removed and if needed adjacent modules by pulling out the two red locking slides Figure 22 Unlocking a DIN Rail Module 2 Pull the modules at least 1 cm apart CAUTION To avoid damaging the locating pins of the modules make sure the DIN rail modules are at least 1 cm apart when removing them from the DIN top hat rail ssesssesssessssss Dsssssssessoossssss pnoungnuuuuuuununnur pogapnogapaganpuaoanpu ssssesoocsoosssosss sssssoescssssssocss Q00000000000000000 a poanangnangmnanananrn sssssscss pssesssesssessssss n pano noun pananapnandpananund
101. d from switched power circuits 2 The sensors within an I O group must always be supplied with power from the same power supply that supplies the relevant I O group They must not as shown in figure 29 on page 44 be supplied from a separate power supply due to the danger of reverse energization Outputs may be supplied with power from a switched power supply for example with intermediate devices emergency stop manual operation etc 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 43 6 Project Planning and Installation Power Supply Not this Way Reverse Energization Wrong Power Supply 24 V switched 24 V not switched a QDIO OV Not this Way Switched Circuit QDIO 16 16 0 5 I O Group 1 212 L2 24V N 1 02 Signal Actuator Sensor Figure 29 Wrong Power Supply Connection of Sensors via a QDIO The attached sensors must be supplied with power from a permanently connected unswitched power supply that cannot be individually Switched off without switching off the module s power supply Power must not as shown here be supplied from switched power circuits The sensors within an I O group must always be supplied with power from the same power supply that supplies the relevant I O group They must not as shown here be supplied from a separate power sup ply due to the danger of
102. dule and sensors gt table 3 on page 40 Reverse energization from sensor to module nvalid sensor data WARNING Sensors that are connected to digital inputs of DIN rail modules with several I O groups such as MSC QDIO or RDIO must under all conditions be supplied from the same power supply as the corresponding I O group to which the sensor is connected Otherwise if the power supply for the internal electronics of the module is switched off there might be reverse energiza tion from the sensor to the module There is a danger of Uncontrolled movements Fault or failure of a manual control Permanent damage to the module Malfunctions More on these subjects c 5 Mechanical Structure on page 28 or c 6 Project Planning and Installation on page 36 2 2 5 Update Rate of E Bus Messages WARNING The I O extension modules QDIO and QAIO 16 4 monitor Safety Instructions the E bus activity and disable their outputs if they do not Update Rate of E Bus receive an E bus message more frequently than 50 ms Messages To avoid this go to the MACS development environment and set the value of the task interval or the value of UpdateRate so that the product of the two values is less than 50 ms More on this subject c 7 4 3 2 Update Rate of E Bus Messages on page 57 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 9 2 Safety Instructions Safety Instructions 2 2 6 Shutdown
103. during opera tion might damage the license key or the MSC permanently If an M3000 module is to be taken out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M3000 module must be protected against uninten tional restarting If the M3000 module is connected to other devices and or facilities always consider the full consequences and take ap propriate precautions before switching off the module When using a screwdriver use caution to avoid slipping and causing personal injury or damage to the MSC Mounting the License Key Removing the License Key Safety Instructions User Manual M3000 and MSC B95906 001 Version 1 1 06 04 83 10 MSC Moog Servo Controller Reset Button Procedure for removing the license key 1 If it is running stop the application program in the MACS development environment 2 Switch off the power supply for the MSC 3 Loosen the license key s attachment screws 4 Remove the license key from the slot labeled LK far right on the front panel of the MSC 10 7 Reset Button WARNING WARNING To avoid damage use only a suitable electrically non conductive tool to actuate the reset button on the front panel of the MSC A light pressure is sufficient
104. e or end DIN Rail Modules module Installed As Individual Module Row Module End Module Installation Module width Module width Module width Width 11 mm 0 43 in locating pins disappear 5 5 mm 0 22 in locating pins protrude into the adjacent modules locating pins protrude at the left and right on only one side Height 170 mm 6 69 in Depth 85 5 mm 3 37 in without accessories like mating connectors or plug in terminal strips When accessories like mating connectors or plug in terminal strips are used an installation depth of 50 mm 2 in is usually required Table 1 Dimensions of DIN Rail Modules D Refer to the relevant documentation for the overall widths of the various DIN rail modules Dimensions of the MSC c 10 2 General Specifications on page 68 Overall Width Module Width 5 5 mm 0 22 in m D 85 5 mm 3 37 in 5 5 mm 0 22 in gmnpaunannnunanuguuud Gd SS So SS GGG GGGGGGSG pmnpaagnanannanannguuud o pjigangagananguguuungn 170 mm 6 69 in H ugmuauagaagagaagaagauauuur tu Figure 13 Dimensions of DIN Rail Modules 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 29 5 Mechanical Structure DIN Rail Modules 5 1 3 Arrangement on DIN Top Hat Rails WARNING The vent holes of DIN rail modules facilitate convection
105. e switched to the 0 state thereby disabling all of MSC s digital and analog outputs and terminating the E bus communica tion c 10 17 2 Outputs Enabled Output LED OutEN on page 116 After switching off the MSC and inserting the license key the MSC can be brought back into operation More on this subject gt 10 6 License Key on page 81 2 2 10 Reset Button of the MSC WARNING To avoid damage use only a suitable electrically non Safety Instructions conductive tool to actuate the reset button on the front Reset Button of the MSC panel of the MSC A light pressure is sufficient WARNING If the most recent status in the online mode MACS logged in was Start before the MSC was switched off or reset the boot project will always be started after the MSC is switched back on or reset This will occur regardless of which application program was previously running In other words the application program that will be started automatically after the MSC is switched on or reset might be different from the application program that was executing im mediately prior c 10 8 1 3 Examples on page 87 More on this subject gt 10 7 Reset Button on page 84 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 12 2 Safety Instructions Safety Instructions 2 2 11 Switching Back on or Resetting the MSC WARNING If the most recent status in the online mode MACS Safety Instructions logged in w
106. e MSC s other outputs In addition the E bus communication will be terminated 10 17 2 1 OutEN LED The front panel LED OutEN located of the MSC indicates the status of the Outputs Enabled output The LED OutEN illuminates when the Outputs Enabled output is in the 1 state 10 17 3 Stopping the Application Program An application program executed in the MSC can be stopped in the MACS development environment After an application program stops all analog and digital outputs will automat ically be switched to a secure state This secure value can be set for each output individually by modifying the Secure channel parameter in the PLC configuration D If the OutEN LED does not illuminate when the Outputs Enabled output is in the 0 state this secure value will not be at the outputs be cause the outputs will be disabled c 10 17 2 Outputs Enabled Output LED OutEN on page 116 Outputs Enabled Output LED OutEN of the MSC OutEN LED of the MSC Stopping the Application Program 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 116 10 MSC Moog Servo Controller Nameplate 10 18 Nameplate MOOG Mod D136 001 001 Moog GmbH D 71034 B blingen S N D0101 Made in Germany ID Date in the format MM YY month year od HE M Nee ul T AN amp T MOOG Qo e ON o jw e Ethernet i ee F
107. e O state the E bus communication will be terminated and the LED Ebus will be turned off c 10 17 2 Outputs Enabled Output LED OutEN on page 116 E Bus Communication Permissible Masters and Slaves in E Bus Groups Starting the E Bus Communication 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 56 7 Networking M30009 Modules E Bus 7 4 3 2 Update Rate of E Bus Messages WARNING The I O extension modules QDIO and QAIO 16 4 monitor the E bus activity and disable their outputs if they do not receive an E bus message more frequently than 50 ms To avoid this go to the MACS development environment and set the value of the task interval or the value of UpdateRate so that the product of the two values is less than 50 ms The update rate setting of the E bus depends on the task interval The short est task interval set in the task configuration serves as the time basis for the E bus The update rate is defined by setting the E bus module parameter Update Rate in the PLC configuration of the MACS development environment UpdateRate can be set so that an E bus message will always be sent at the end of this task s cycle or after 2 3 5 10 15 or 20 cycles Shortest E Bus Module Parameter Task Interval UpdateRate Update Rate of E Bus Messages 1 ms every third cycle An E bus message is started cyclically every 3 ms 1 ms 3 10 ms every tenth cycle
108. e control system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M3000 control system or M30009 modules it is essential that the system be stopped and the power supply disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc The M3000 control system and M30009 modules must not come into direct contact with liquids Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician 8 1 Shutdown WARNING 2004 Moog GmbH If an M30009 module is to be taken out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M3000 module must be protected against uninten tional restarting If the M30009 module is connected to other devices and or facilities always consider the full consequences and take ap propriate precautions before switching off the module Shutdown and S
109. e reset button of the MSC safety instructions 13 85 Restarting the MSC see resetting the MSC Retain the original packaging 3 Reverse energization is to be avoided 39 42 44 92 R modules 20 part numbers 120 power consumption 39 RDIO 21 as master of E bus groups 56 RDISP 22 RTEMP 21 software for R modules CPRDISP 22 122 CPRTEMP 21 122 part numbers 122 RTEMP see R modules RTEMP RUN see states of the MSC s internal module control Run time license of the MSC in license key 82 Rx1 Rx2 see LEDs of the MSC S Safety extra low voltage SELV 38 Safety instructions arrangement of DIN rail modules 30 cleaning 10 64 communication between MSC and MACS 11 80 environmental conditions 7 26 69 ESD 7 installation 8 30 32 34 39 42 license key of the MSC 12 81 82 83 maintenance 10 64 mounting DIN rail modules 32 license key of the MSC 82 Outputs Enabled output of the MSC 13 116 project planning 8 39 42 removing DIN rail modules 34 license key of the MSC 83 repair 10 64 reset button of the MSC 12 84 resetting the MSC 13 85 safety related systems 2 6 service 10 64 shutdown 10 64 storing M3000 modules 11 66 transporting M30009 modules 11 66 typographical conventions 6 126 update rate of E bus messages 9 57 Safety related systems 2 safety instructions 2 6 SAVE see states of the MSC s internal module c
110. e the user LEDs LED1 LED2 and LED3 illuminate during the initialization phase 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 79 10 MSC Moog Servo Controller Programming and Configuration 10 5 Programming and Configuration The MACS development environment is needed to create IEC 61131 applica tion programs and configure the MSC c 3 5 Application Programs on page 24 10 5 1 Communication Between MSC and MACS WARNING The MSC s operational state can be altered with the MACS development environment when the MSC is con nected online with MACS This can be done by means of the following actions for ex ample Stopping or resetting the program Setting breakpoints Activating the single step mode Downloading application programs Writing or forcing values Therefore the operator must always consider the effects and take appropriate precautions before altering the operational state of the MSC with MACS The MSC can use the following interfaces to communicate with the PC on which MACS is installed MACS interface according to TIA EIA 232 previously RS 232 with MACS front panel connector of the MSC c 10 5 1 1 MACS Communication Interface on page 80 c 7 2 1 TIA EIA 232 Interface Cables on page 48 Ethernet interface with Ethernet front panel connector of the MSC c 7 1 Ethernet on page 46 c 10 5 1 2 Ethernet Communication Interface on pa
111. elated hardware and software documentation re quired for the specific application Following the safety instructions helps to avoid accidents faults and material damage 2 1 Typographical Conventions The following symbols and styles are used for identifying the different types of Safety Instructions safety instructions Typographical Conventions DANGER Identifies safety instructions that are intended to warn of an immediate and impending danger to life and limb or STOP major property damage Failure to observe these safety instructions will lead in evitably to death serious personal injury disablement or major property damage WARNING Identifies safety instructions that are intended to warn of potential danger to life and limb or the potential for ma jor property damage Failure to observe these safety instructions might lead to death serious personal injury disablement or major property damage CAUTION Identifies safety instructions that are intended to warn of slight personal injury or minor property damage Failure to observe these safety instructions might lead to slight personal injury or minor property damage Additional typographical conventions c 12 1 Typographical Conventions on page 126 2 2 Safety Instructions 2 2 1 Safety Related Systems WARNING As with any electronic control system the failure of cer Safety Instructions Safety tain components when using M3000 or M30009 mod Related Syst
112. ems ules might lead to an uncontrolled and or unpredictable operational condition The user should take into consid eration the system level effects of all types of failures and implement corresponding safety measures More on this subject gt 1 3 1 Safety Related Systems on page 2 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 6 2 Safety Instructions Safety Instructions 2 2 2 Environmental Conditions WARNING D WARNING D WARNING D a z z D Maintain under all circumstances the required environ mental conditions specified for the control system M3000 or M3000 modules This ensures fault free reliable and safe operation The PC on which the MACS development environment is installed must be suitable for the environmental condi tions in which it will operate This ensures fault free reliable and safe operation It is not permissible to operate the M3000 control sys tem or M30009 modules in a potentially explosive environment The M3000 control system and M30009 modules must not come into direct contact with liquids Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician More on this subject c 4 Environm
113. ental Conditions on page 26 c 10 2 2 Environmental Conditions on page 69 2 2 3 ESD WARNING gt 2004 Moog GmbH Protect the M3000 control system M3000 modules and the license key from electrostatic discharges Electrostatic discharges might damage the device s internal components or delete the device s internal memory Safety Instructions Environmental Conditions Safety Instructions ESD User Manual M3000 and MSC B95906 001 Version 1 1 06 04 7 2 Safety Instructions Safety Instructions 2 2 4 Project Planning and Installation DANGER WARNING WARNING WARNING 2004 Moog GmbH The L2 M2 power supply terminals of the MSC type D136E001 001 are not protected against reverse polarity in deviation from the requirements of IEC 61131 2 Reverse polarity on terminals L2 and M2 will lead to permanent damage to the MSC The L2 M2 power supply terminals of the other MSC types are protected against reverse polarity The L1 M1 power supply terminals of all MSC types and the power supply terminals of the other M30009 modules are protected against reverse polarity If the polarity of these power supply terminals is reversed the modules will not function The vent holes of M30009 modules facilitate convection cooling and must never be covered Covered vent holes might result in overheating and fire No work of any kind such as mounting removing wir ing or repairs to the M3000 contro
114. er the MACS interface If Tx1 illuminates in addition to Tx2 this indicates an error during loading of the hardware driver gt Table 14 on page 79 As long as LED Error does not illuminate the application program can activate these LEDs provided that the MSC has successfully started and that the application program has started The states that these LEDs will indicate while the application program is running are set in the application program If Error illuminates or flashes in addition to these LEDs this indicates MSC s elementary operational states or errors gt Table 14 on page 79 Error display Ethernet link pulse Illuminates when there is an error The type of error is specified in LED1 LED2 and LED3 gt Table 14 on page 79 Illuminates when the Ethernet link pulse is available Ethernet activity Illuminates when the MSC is receiving or sending data over the Ether net interface The LEDs D1 through D7 are provided for optional field bus extensions such as Profibus The assignment of the LEDs D1 through D7 will depend on the field bus type Table 13 LEDs of the MSC Section 2 of 2 User Manual M3000 and MSC B95906 001 Version 1 1 06 04 78 10 MSC Moog Servo Controller View of the Module and Terminal Assignment 10 4 2 1 Display of Elementary Operational States and Errors Status User LEDs LEDs N e a a ul ul 4 2 0 0 Explanati
115. ergency stop devices must not lead to uncontrolled or undefined restarting Dangerous operational conditions of any kind must not arise following in terruption or failure of the power supply Voltage Deviations and fluctuations of the supply and load voltages must not fall below or exceed the specified tolerances Deviations outside the specified operating range might lead to danger ous conditions and functional disturbances in the control system Power supply 24 V DC M30009 modules must be supplied only with 24 V DC SELV Safety Ex tra Low Voltage according to DIN EN 60950 1 c 6 2 1 Power Supply Characteristics on page 38 Wire fault A cable or wire fault must not lead to undefined conditions All necessary safety precautions must be taken in the hardware and software Connection All connection and signal cables must be installed in such a way that in ductive or capacitive interferences will not impair the M30009 control system Project Planning and Installation User Manual M3000 and MSC B95906 001 Version 1 1 06 04 36 6 Project Planning and Installation Grounding Concept 6 1 Grounding Concept L1 L2 L3 N PE Il Il Control Cabinet DIN Top Hat Rail L1L2 L3 N PE Grounding Bar within Control Cabinet Figure 25 Grounding Concept For reasons of functional safety all circuits must be grounded at a cen tralized point The D
116. ervice Safety Instructions Shutdown Safety Instructions User Manual M3000 and MSC B95906 001 Version 1 1 06 04 64 8 Shutdown and Service Service 8 2 Service WARNING To avoid damage to M30009 modules or accessories cleaning maintenance and repair tasks may be per formed only by Moog or Moog s authorized service agents Warranty and liability claims for personal and material dam age are excluded when among other reasons they are due to unauthorized repairs or other unauthorized interventions c 1 4 Warranty and Liability on page 3 CAUTION To avoid damage to the internal components never attempt D to open M30009 modules 8 2 1 Maintenance Servicing M30009 modules are maintenance free They do not contain any compo nents such as batteries that must be maintained or replaced 8 2 2 Repair Only Moog and Moog s authorized service stations perform Moog Authentic Repairs Only Moog and Moog s authorized service agents can access the required and most up to date specifications These specifications make it possible to restore the M30009 modules original performance and ensure the same high reliability and long service life of the M3000 modules after re pairs are completed Figure 45 Repair Seal Moog s repair seal is the guarantee that a Moog Authentic Repair has been carried out If Moog receives a repair order for defective M30009 modules Moog and Moog s authorized service agents r
117. eserve the right to repair the de fective module or alternatively to replace the defective module with a module of identical or compatible specifications D If Moog receives a repair order for defective M30009 modules Moog and Moog s authorized service agents accept no liability for software and data installed by the customer Like new modules repaired modules or replacement modules are delivered only with a bootloader Maintenance Repair Safety Instructions Maintenance Servicing Repair Repair Seal 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 65 9 Transportation and Storage Environmental Conditions 9 Transportation and Storage WARNING Maintain under all circumstances the required environ Transportation mental conditions specified for transportation and stor and Storage age of the control system M30009 or M30009 modules Safety Instructions c 9 1 Environmental Conditions on page 66 This ensures fault free reliable and safe operation CAUTION To avoid condensation do not start M30009 modules until n they have reached ambient temperature CAUTION To avoid damage M30009 modules and accessories must Q be transported and stored in their original packaging Warranty and liability claims for personal or material damage will be excluded when they are the result of among other things storing or transporting M3000 modules or accesso ries outside of their original packag
118. etwork Station Station Station Station Additional CAN Bus Net work Stations eee Figure 43 LocalCAN Bus Group MSCs and RTEMPs as CAN Bus Network Stations The internal CAN bus termination resistor is switched on for MSCs that are used as the first or last CAN bus network station of a LocalCAN bus group c 10 15 1 CAN Bus Termination Resistor on page 114 The internal CAN bus termination resistor is not switched on for MSCs that are located between the first and final CAN bus network stations of a LocalCAN bus group CAN bus networks with M30009 modules can only include a maximum of 64 CAN bus network stations c 7 3 5 3 Number of Network Stations on page 53 7 5 4 WideCAN Bus Groups WideCAN bus groups are formed by connecting the WideCAN terminal of the WideCAN Bus Groups MSC to additional CAN bus network stations CAN bus network stations use the internal WideCAN bus to communicate within WideCAN bus groups Observe the following when establishing WideCAN bus groups The switchable CAN bus termination resistor of the MSC cannot be used as a termination resistor for the WideCAN bus group Separate pluggable CAN termination resistors must be used for this c 10 15 1 CAN Bus Termination Resistor on page 114 Notes on project planning for CAN bus networks c 7 3 5 CAN Bus Networks on page 52 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 62 7 Networki
119. f the MSC A1 B1 Z1 A2 B2 and Z2 wire fault display LEDs for digital sensor interfaces 78 108 Ao1b and Ao2b wire fault display LEDs for analog current outputs 78 101 Wire fault monitoring current outputs analog 101 wire fault display LEDs 78 101 sensor interfaces digital 108 wire fault display LEDs 78 108 Wiring of CAN bus networks 52 X X1 X6 Plug in terminal strip connectors of the MSC front view of the MSC with plug in terminal strip connectors 72 terminal assignment 73 75 Z Z1 Z2 see LEDs of the MSC User Manual M3000 and MSC B95906 001 Version 1 1 06 04 137 Argentina Australia Austria Brazil China Finland France Germany India Ireland EnG 5 5 E EIS m a E F a T I PROGRAM Controller Controller AR Analog l Os FIX T 2 PID1 M PID S 03 EAs TA 1ib 29 10 a i INT1 M INTEGRAL BI Analog BEDS EIT y Axis T2 fi ua 105 E Range limiter 2 Loops Wok z j FGENT M WAVE GI axis output 0 5 soes SAT AN4 REALE Dynamic Function Blocks j E M_DERIVATIVE FB MAIPos Position SELIO TMATVel velocity TMATACC celeration TMATDec_ Dereleration ont TEE 5 8 Loge Function Blocks TS Em i Daieebaisid ee emer O mme 9 Italy Japan Korea Luxembourg Norway Philippines Russia Singapore Spain South Africa Sweden United Kingdo
120. face 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 112 10 MSC Moog Servo Controller CAN Bus Interfaces 10 15 CAN Bus Interfaces The MSC is equipped with the following independent CAN bus interfaces that CAN Bus Interfaces can be operated within CAN bus networks of the MSC WideCAN 2 WCAN front panel connectors of the MSC LocalCAN 2 internally on the lateral Q connectors of the MSC A separate CAN bus controller is included for every CAN bus interface i CAN Bus l g Controller Wd CAN Bus i Controller l Figure 76 CAN Bus Interfaces of the MSC CAN Bus Interfaces of the MSC WideCAN LocalCAN Q Connector Although both CAN bus interfaces are equally fast and have equal priority WideCAN is typically used for communication between all the network sta tions of a wide area control system while LocalCAN is preferred for rapid lo cal communication between fewer network stations The WCAN and LCAN front panel status LEDs of the MSC flash Status LEDs WCAN and synchronously to the flow of data that the MSC is sending over the LCAN of the MSC WideCAN or LocalCAN interface respectively The WCAN front panel connectors are connected internally 1 1 with each other As a result the MSC can be connected directly to the CAN bus without a T adapter The functionality of the CAN bus interfaces is defined in the application program
121. for the TIA EIA 485 interface SIO TIA EIA 485 O OO NID a BR WwW MyM gt olo INI OD oa AJ OJN optional 2004 Moog GmbH SIO TIA EIA 485 SIO TIA EIA 422 SIO TIA EIA 232 WCAN WideCAN Table 12 Terminal Assignment of MSC s Connectors Section 4 of 5 User Manual M3000 and MSC B95906 001 Version 1 1 06 04 76 10 MSC Moog Servo Controller View of the Module and Terminal Assignment Assign Connector No ment Circuit Q Rx Receive data Send data Ground for the MACS interface MACS X11 The front panel connector F Bus is provided for optional field bus extensions such as Profi bus The terminal assignment and circuit of the F bus interface will depend on the type of field bus B Ethernet Send data Send data Receive data reserved reserved Ethernet Receive data reserved CO NID a BR wl nm gt OO NI OD oO BR wl hd reserved Table 12 Terminal Assignment of MSC s Connectors Section 5 of 5 10 4 2 LEDs Display Explanation L1 M1 and internal 5 V ok llluminates when the power supply for the MSC s internal electronics is OK and the internal power pack is supplying 5 V gt 6 2 Power Supply on page 38 Termination resistor on LocalCAN Illuminates when the termination resistor of the LocalCAN interface is Switched on c 10 15 1 CAN Bus Ter
122. g Inputs Greatest error over the entire temperature range Specifications of 0 5 of full scale value MSC s Analog Inputs Permissible measurement range 10 92 V 10 92 V 10 92 mA 10 92 mA 3 262 mA 20 74 mA Table 19 Permissible Measurement Range of MSC s analog inputs Max permissible continuous overload higher load results in damage 36 V on voltage inputs 36 mA on current inputs or x6 4 V without current limiting Digital resolution 16 bit Data format in the application program 32 bit floating point Output values when below or above measurement range Maximum or minimum values gt table 19 on page 103 Conversion method Successive approximation Duration of conversion per input Typ 12 5 us Sampling time The sampling time corresponds to the task interval of the application program that reads the input All 8 analog inputs are sampled continuously in succession i e every analog input is updated every 100 us max 8 inputs 12 5 us of conver sion time The most recent value is used in the application program The task interval and thereby the sampling time of the inputs is set in the task configuration of the MACS development environment Input filter Filter type low pass of 3rd order with Bessel characteristic Crossover frequency typ 1 5 kHz Protective device Diodes Recommended cable types Use only shielded cables The shield must be made of copper braiding with at le
123. g Plate eeee 30 Arrangement of DIN Rail Modules between Cable Conduits sse 31 Using a Shielding Bar when Connecting a Signal Cable to the MSC ssssseesssess 31 Unlocking a DIN Rall Module rt nnt dr inte exer bt ao br d t Rb o or ade 32 Placing a DIN Rail Module onto a DIN Top Hat Rail snnm 33 Sliding a DIN Rail Module on a DIN Top Hat Rail ssessee mn 33 DIN Rail Modules Joined Without Gaps on a DIN Top Hat Rail ssesssssssses 33 Fixing and Locking a DIN Rail Module ssssseeeeee nennen nemen nnne nnn 34 Unlocking a DIN Rail Module ssseesssseeeneenenne enne nne nennen nennen a 35 Pulling apart DIN Rail Modules sesine a deadetencddecenesdectaetendddeannseecdanaeneeeds 35 Lifting off a DIN Rail Module from the DIN Top Hat Rail ss 35 Grou nding GORhCepl i citi tree Ca Maud aec ed rcr S 37 Correct Connection of DIN Rail Modules to Several Power Supplies sssesessessss 41 Correct Connection of DIN Rail Modules to a Single Power Supply ssseeeeeees 41 Correct Power Supply Connection of Sensors via a QDIO ssssssssssssssse 43 Wrong Power Supply Connection of Sensors via a QDIO ssssse 44 Ethernet Network with exactly 2 Network Stations ssssssse eee 46 Ethernet Network with more than 2 Ne
124. ge Failure to observe these safety instructions might lead to death serious personal injury disablement or major property damage Identifies safety instructions that are intended to warn of slight personal injury or minor property damage Failure to observe these safety instructions might lead to slight personal injury or minor property damage Identifies listings Identifies references to another chapter another page table or figure in this manual Identifies a hyperlink within the PDF file Identifies important information Identifies steps in a procedure that should be performed in consecutive order Identifies items in a figure that are explained separately Identifies terminals or connectors such as WCAN and light emitting diodes such as l O1 of an M30009 module Identifies parameters of the MACS development environment such as Frequency and outputs of M30009 modules such as Outputs Enabled Typographical Conventions User Manual M3000 and MSC B95906 001 Version 1 1 06 04 12 Appendix Abbreviations 12 2 Abbreviations Abbreviation AC Explanation Alternating Current ADC Analog to Digital Converter AGND CAL Analog Ground Ground for the analog I Os of the MSC CAN Application Layer according to CiA DS 201 207 CAN Controller Area Network CAN GND CAN Ground CAN H CAN High CAN bus signal dominant high CAN L CAN Low CAN bus
125. ge 81 The MACS and Ethernet interface are configured in the PLC configura tion of the MACS development environment Refer to the documentation of the MACS development environment for detailed information about this 10 5 1 1 MACS Communication Interface Settings in the MACS development environment communication parameters Port COM1 depending on which PC serial interface is selected Baud rate 38400 Bit s Parity No Stop Bits 1 Motorola Byteorder Yes Interface cables gt 7 2 Serial TIA EIA Interface Cables on page 47 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 Programming and Configuration of the MSC Communication Between MSC and MACS Communication Parameters of the MACS Interface 06 04 80 10 MSC Moog Servo Controller License Key 10 5 1 2 Ethernet Communication Interface Settings in the MACS development environment Communication communication parameters Parameters of the IP address at delivery 10 49 40 1 identical for all MSCs Ethernet Interface Port 1200 Targetld 0 Motorola Byteorder Yes Each IP address may be used only once within a network Therefore when operating the MSC within a network the IP ad dress should be changed only after consulting with the responsible system administrator The IP address is saved in the license key c 10 6 License Key on page 81 Interface cables c 7 1 3 Ethernet Interface Cables on page 47 10
126. gurable as 10 V 10 mA or 4 20 mA each nominal c 10 12 Analog Inputs on page 102 1 Digital output Outputs Enabled c 10 17 2 Outputs Enabled Output LED OutEN on page 116 D The I Os are configured in the PLC configuration of the MACS develop ment environment 10 1 3 Safety Functions The MSC provides the following safety functions Safety Functions Watchdog for monitoring the functionality of hardware and software of the MSC gt 10 17 1 Watchdog on page 115 Output Outputs Enabled for signaling the activation of all outputs as well as E bus communication c 10 17 2 Outputs Enabled Output LED OutEN on page 116 10 2 General Specifications Dimensions General Specifications Overall width module width x H x T in mm in of the MSC 160 149 x 170 x 85 5 6 3 5 87 x 6 69 x 3 37 c Figure 46 on page 69 Dimensions of the other DIN rail modules c 5 1 2 Dimensions on page 29 Weight Approx 1 kg 2 2 Ib without plug in terminal strips with license key Processor PowerPC CPU 40 MHz 32 Bit RISC architecture with floating point unit Memory 4 MB flash EEPROM 2 4 MB RAM Data retention 10 Years for all data that is saved in the flash EEPROM i e boot project RETAIN variables and error messages Behavior during power supply failure The data to be saved during a power supply failure is specified in the MACS development environment 2004 Moog GmbH User Manual M3000 and MSC
127. h the Same Auxiliary Energy Connection as the MSC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 106 10 MSC Moog Servo Controller Analog Inputs Kx Bx bod KA E E Ez BS KS RS XA xX bese pod Lx IS oo KX XA Ox BS B CN EX E NO EX B NS E KS NS Ed E Su b LX xx Cen Sensor Insulation Figure 67 Connecting a Non Isolated Two Wire Analog Sensor Voltage Signal with the Same Auxiliary Energy Connection as the MSC KX D oxox o e M neat Red pel be Be sed S psej Pes Rey Bey be Bl i NE S be ps3 ed S bo Poo boo ooo Kose 20 QSA lt A bo pe 00 RS bx bx LX LX Sensor Insulation Figure 68 Connecting a Non Isolated Two Wire Analog Sensor Current Signal with the Same Auxiliary Energy Connection as the MSC 10 12 3 4 Using the MSC s Internal Reference Voltage TERI III NXXXXXXXNA ee OO OOO UO OOD OOD SSS IILL RRRS D Es v lt gt aate tata ta tata anas D Boo lt x lt Potentiometer Insulation Figure 69 Connecting a Potentiometer to the MSC Using the MSC s Internal Reference Voltage 2004 Moog GmbH Connecting Non Isolated Analog Two Wire Sensors with the Same Auxiliary Energy Connection as the MSC Connecting a Potentiometer to the MSC Using the MSC s Internal Reference Voltage User Manual M3000 a
128. he application program The user is responsible for evaluating these signals and defining the appropriate reaction to the appearance of a wire fault The status of wire fault monitoring is displayed by 6 front panel error LEDs of the MSC Each of the 6 TIA EIA 422 inputs is assigned to one LED c 10 13 1 1 Wire Fault Display LEDs on page 108 10 13 1 1 Wire Fault Display LEDs The 6 front panel error LEDs A1 B1 Z1 A2 B2 and Z2 of the MSC will illuminate if No sensor is attached to the corresponding sensor interface There is a wire break Connecting an Analog 4 Wire Sensor to the MSC Using the MSC s Internal Reference Voltage Digital Sensor Interfaces of the MSC Wire Fault Monitoring of MSC s Digital Sensor Interfaces Wire Fault Display LEDs of MSC s Digital Sensor interfaces 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 108 10 MSC Moog Servo Controller Digital Sensor Interfaces 10 13 2 Connecting SSI Sensors An SSI sensor supplies an absolute position signal or angle signal that can be read through the MSC s sensor interface The current value is available in the application program continuously If an SSI sensor is attached to the sensor interface of the MSC the MSC can be used as a master or a slave The sensor interface must then be inserted and configured as a master or slave respectively in the PLC configuration of the MACS development en
129. he MSC I Os see I Os of the MSC Outputs Enabled output see l Os of the MSC Outputs Enabled output watchdog see watchdog of the MSC Personnel selection and qualification only qualified users may work with and on M3000 2 Pin assignment see terminal assignment Place of storage for manuals 1 Plug assignment see terminal assignment Plug in terminal strips for DIN rail modules connection methods 45 connectors for plug in terminal strips front view of the DIN rail module 28 X1 X6 connectors of the MSC 72 terminal assignment 73 75 part numbers 124 required number 124 side view of DIN rail modules with plug in terminal strips 28 spring loaded terminals 45 Potential equalization in CAN bus networks see CAN bus networks potential equalization Power consumption by DIN rail modules 39 2004 Moog GmbH Power supply 38 44 characteristics 38 connecting M3000 modules 40 digital I Os of the MSC 92 low voltage detection of the MSC see low voltage detection of the MSC maximum admissible current 42 MSC 70 85 90 L1 LED for displaying the state of the power supply for the internal electronics 77 power supply device part number 121 power supply failure behavior of the MSC 68 86 88 rated voltage 38 safety extra low voltage SELV 38 sensors 42 44 Switching off the power supply behavior of the MSC 86 Switching on the power supply behavior of the MSC 86 Processo
130. he front panel of the MSC control module gt 10 4 1 Terminal Assignment on page 73 7 3 6 2 Cable Lengths The maximum expansion of a CAN bus network will be determined by a vari ety of variables such as cable length transmission rate and resistance in the cable 1 000 kBit s 25 m 27 yd 800 kBit s 50 m 54 yd 500 kBit s 100 m 109 yd 250 kBit s 250 m 273 yd 125 kBit s 500 m 546 yd 100 kBit s 650 m 710 yd 50 kBit s 1 000 m 1 093 yd 20 kBit s 2 500 m 2 734 yd 10 kBit s 5 000 m 5 468 yd Table 5 Maximum Cable Lengths in CAN Bus Networks Depending on the Transmission Rate Transmission Rate Maximum Stub Cable Length Maximum Cumulated 1 000 kBit s 2 m 2 1 yd 20 m 21 8 yd 500 kBit s 6 m 6 5 yd 39 m 42 6 yd 250 kBit s 6 m 6 5 yd 78 m 85 3 yd 125 kBit s 6 m 6 5 yd 156 m 170 6 yd Table 6 Maximum Permissible Stub Cable Lengths in CAN Bus Networks The guiding values in tables 5 and 6 are valid only for CAN bus networks that were established in compliance with the requirements in 7 3 5 1 Wiring on page 52 2004 Moog GmbH CAN Bus Interface Cable Maximum Cable Lengths in CAN Bus Networks Permissible Stub Cable Lengths in CAN Bus Networks User Manual M3000 and MSC B95906 001 Version 1 1 06 04 54 7 Networking M30009 Modules E Bus 7 3 6 3 Suitable Cables Parameters M000 Recommendation Remarks
131. igure 77 Position of the Nameplate on the MSC Nameplate of the MSC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 117 11 Product Range M3000 Starter Kit 11 Product Range The following chapter describes only a small part of Moog s extensive product range In addition to the many different M3000 modules Moog s current product range includes a large variety of accessories 11 1 M3000 Starter Kit Item Designation Part Number M30008 Starter Kit Complete package including everything D147E001 002 needed to get started gt 3 2 M3000 Starter Kit on page 17 Table 21 Product Range M3000 Starter Kit 11 2 M3000 Modules 11 2 1 MSC Moog Servo Controller MSC Programmable multi axis controller D136E001 001 gt 3 3 1 MSC on page 18 MSC with digital open emitter outputs 2 MB RAM gt figure 54 on page 93 MSC 4 MB Programmable multi axis controller D136 001 008 gt 3 3 1 MSC on page 18 MSC with digital open emitter outputs 4 MB RAM gt figure 54 on page 93 Table 22 Product Range MSC The plug in terminal strips that may be needed for connection of power and signal cables are not included in delivery The plug in terminal strips are available from Moog as accessories gt 11 8 Plug In Terminal Strips on page 124 The MSC does not function without license key This license key is not included in the standard delivery It is av
132. imensions of the other M30009 modules and information about their mounting removing 5 1 DIN Rail Modules 5 1 1 Views of the Module Locking Slide SSS9999999999999985 OOOOOO00OO0O0O00000000 S SS9999999999999999 OOOOOO0OO0OO0O0000000 SSS9999999999999585 OOOOOO00O0O0O000000000 _ Connectors for Plug In Terminal Strips Locating Pin __ Front Panel Q Connector E Bus LocalCAN Bus Q Connector E Bus LocalCAN Bus Locating Pin oo000000o0000000000 SSH8HHHHNHNHNHINIHIII o OOOOOO0000O000000000 SYSSSHSVH NHHNVHNH9N9NgNNA oo00000o0o0o0o00000000 SS8HHHHHHNHSHSSNINIH Connectors lu for Plug In r Terminal Strips m Locking Slide Connectors with Plug In Terminal Strips Q Connector E Bus LocalCAN Bus Locking Slide Locating Pin Connectors with Plug In Terminal Strips TUR la Figure 12 Side View of DIN Rail Modules 2004 Moog GmbH Categories of M3000 Modules Front View of DIN Rail Modules Side View of DIN Rail Modules User Manual M3000 and MSC B95906 001 Version 1 1 06 04 28 5 Mechanical Structure DIN Rail Modules 5 1 2 Dimensions Due to the lateral locating pins the DIN rail module s installation width will de Dimensions of pend on whether it will be installed as a single module row modul
133. ing gt 1 4 Warranty and Liability on page 3 9 1 Environmental Conditions Ambient temperature IEC 61131 2 Transportation 25 C to 70 C 13 F to 158 F and Storage Environmental Conditions Relative air humidity IEC 61131 2 5 to 95 96 non condensing Contamination level IEC 60664 2 Resistance to corrosion IEC 60068 No protection Air pressure IEC 61131 2 70 kPa corresponds to an elevation of 3 000 m 3 280 yd Drop height freefall in the original packaging IEC 60068 2 31 lt 1m 39 in 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 66 10 MSC Moog Servo Controller Performance Characteristics 10 MSC Moog Servo Controller The MSC is a programmable multi axis controller that facilitates rapid and precise control of process variables such as position speed and power It is suitable for use with both electric and hydraulic drives The MSC is programmed and configured with the MACS development envi ronment complies with IEC 61131 c 3 5 Application Programs on page 24 10 1 Performance Characteristics 10 1 1 Interfaces The MSC provides the following interfaces 2 Serial interfaces MACS front panel connector for use as a programming interface SIO front panel connector for use as a free user interface c 10 16 Serial Interfaces on page 115 e 1 E bus interface on both lateral Q connectors for establishing E bus gro
134. is LS A ris tet XX RRR OT Ne OS LS OO LLS Doo coc oco en oe p3 ed R Ee E Eus RSI b R esq S054 Insulation Sensor Figure 60 Shielding the Signal Cable when Connecting an Analog Sensor to the MSC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 104 10 MSC Moog Servo Controller Analog Inputs 10 12 3 2 Isolated Sensors x lt C E E E3 K t atas i eS z L ee ee L lt x OS 26 67 OS 5657 RRR SS LS lt x PS XC SONS EX SK SSS RRS SO UGG xx R a PN X ON DO R D K E gs OX bs Sensor Insulation Shield Dx we L Sox on E RY CN ES E E KS 2504 PSA ee EX KS NE EM NS Ex E Bo RS pesed Pe Les S4 E E CN E BM E BS E E E BS E ES E Ed Insulation Sensor Figure 62 Connecting an Isolated Analog Sensor to the MSC Current Signal 10 12 3 3 Non Isolated Sensors Sensors with their own auxiliary energy connection Rd LSe e Nt x Lsd Kx SOS TNX RRS SK LS SS Se SP SO SP SO SO PS i te 4 Lo LS L L 9 9 0 00 0 07 ROI NAE RRR SKK OPS SS SSS oe RS lt gt Lo Sensor Insulation Sensor Supply Figure 63 Connecting a Non Isolated Analog Sensor Voltage Signal
135. l strips that may be needed for connection of power and signal cables are not included in delivery The plug in terminal strips are available from Moog as accessories gt 11 8 Plug In Terminal Strips on page 124 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 119 11 Product Range M30009 Modules 11 2 3 R Modules Remote Modules Item Designation RDIO 16 16 0 5 RTEMP 8 CAN Remote module with digital I Os and CANopen interface connection over CAN bus 16 inputs and 16 I Os Positive switching c 3 3 3 R Modules Remote Modules on page 20 Temperature control module with TIA EIA 232 and CANopen interface connection over CAN bus 8 channel controllers c 3 3 3 R Modules Remote Modules on page 20 The CPRTEMP software needed to program and configure the RTEMP is not included with RTEMP CPRTEMP is available from Moog as an accessory gt 11 5 2 Software for R Mod ules on page 122 D137 002 001 D137 002 002 RDISP 22 Display and operating terminal with TIA EIA 232 and CANopen interface and 22 keys connection over CAN bus c 3 3 3 R Modules Remote Modules on page 20 The CPRDISP software needed to program and configure the RDISP is not included with RDISP CPRDISP is available from Moog as an accessory gt 11 5 2 Software for R Mod ules on page 122 D137 004 001 Table 24 Product Range R Modules Remote Modules
136. l system or M30009 modules may be performed while the control system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M3000 control system or M30009 modules it is essential that the system be stopped and the power supply disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc M30009 modules must be protected from overvoltages and or reverse energization from the sensor to the mod ule There is a danger of Permanent damage by overheating or fire Malfunctions M3000 modules must have the correct voltage polarity and terminal assignments User Manual M3000 and MSC B95906 001 Version 1 1 06 04 Safety Instructions Project Planning and Installation 2 Safety Instructions Safety Instructions WARNING The internal electronics of DIN rail modules and attached sensors must be supplied with power from a perma nently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the mo
137. le four bytes each in the send and receive messages The 40 pole Q connectors are located laterally on the DIN rail modules that have an E bus interface When the modules are joined with no gaps and are locked on the DIN top hat rail the E bus connection will be properly established over the Q connectors Views of DIN rail modules c 5 1 1 Views of the Module on page 28 Mounting DIN rail modules gt 5 1 4 1 Mounting DIN Rail Modules on page 32 E bus interface of the MSC c 10 14 E Bus Interface on page 112 Suitable Cables for CAN Bus Interface Cables E Bus E Bus Interface Q Connector 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 55 7 Networking M30009 Modules E Bus 7 4 2 E Bus Communication Communication within E bus groups takes place exclusively between the E bus master and the E bus slaves The master sends E bus messages with output data to the slaves within its E bus group and receives from the slaves E bus messages with input data Direct communication between the slaves of an E bus group over the E bus is not possible 7 4 2 1 E Bus Master and E Bus Slaves The following DIN rail modules can be employed as E bus master in an E bus group MSC RDIO Permissible Permissible Slaves Masters Number Modules MSC I O extension modules such E bus groups with MSCs as masters as QAIO 16 4 and QDIO function as stand alone groups E bus must be carried C
138. les Application Programs Scope of Functionality of MACS 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 24 3 Short M30009 System Overview MACS Development Environment MACS supports the following programming languages Programming Languages Instruction List IL of MACS Structured Text ST Ladder Diagram LD Function Block Diagram FBD Sequential Function Chart SFC Continuous Function Chart CFC Refer to the documentation for the MACS development environment for more detailed information Moog web site on MACS http www moog com MACS D The MACS development environment is available from Moog as an accessory c 11 5 Software on page 122 3 6 1 MACS HMI Visualization Package MACS is also available from Moog as a MACS HMI visualization package MACS HMI c 11 5 Software on page 122 Visualization Package MACS HMI can be used only for the visualization of an application program It does not include any functionality for creating or editing application programs 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 25 4 Environmental Conditions Requirements of IEC 61131 2 4 Environmental Conditions WARNING Maintain under all circumstances the required environ Environmental mental conditions specified for the control system Conditions M30009 or M30009 modules Safety Instructions D This ensures fault free reliable and safe ope
139. ller Digital I Os The power supply for the digital I Os of the MSC is independent of the power supply for the MSC s internal electronics L1 M1 and is established over the terminals L2 and M2 Power supply characteristics c 6 2 1 Power Supply Characteristics on page 38 Connecting sensors to the power supply 6 2 4 Connecting Sensors on page 42 Connecting the power supply for the internal electronics c 6 2 3 Connecting the Power Supply on page 39 10 9 3 Digital Outputs The following digital output circuits are available Open emitter outputs switches to 24 V L2 Open collector outputs switches to ground M2 Open Emitter Output Open Collector Output Figure 54 Basic Wiring Diagram of a Digital Open Emitter Collector Output of the MSC Protective circuit with a limiting voltage of 50 V as protection against in duced voltage spikes when there are inductive loads c 10 9 3 2 Current Limiting and Overload Protection on page 94 A digital open emitter output in the 1 state conductive connects the at tached load R to the power supply terminal L2 A digital open collector output in the 1 state connects the attached load R to the ground potential terminal M2 of the power supply When ordering the MSC the wiring of the digital outputs must be specified D The output Outputs Enabled is always an open emitter output c 10 17 2 Outputs Enabled Output LED OutEN
140. m USA MOOG Moog GmbH Hanns Klemm Strake 28 71034 B blingen Germany Telephone 49 7031 622 0 Fax 49 7031 622 100 E Mail info moog de For the location nearest you contact www moog com worldwide TET I GmbH G M MUEA PDF only B95906 001 Version 1 1 06 04
141. messages 58 starting the communication within E bus groups 56 E bus groups 60 permissible masters 56 permissible slaves 56 E bus interfaces MSC 59 112 EBus LED of the MSC for displaying E bus transmission activity 78 Q modules 59 R modules 59 Electromagnetic Compatibility 4 EMC 4 Emissions see environmental protection 2004 Moog GmbH Environmental conditions for operating M30009 modules 26 for operating the MSC 70 climatic conditions 70 electrical conditions and requirements 70 mechanical conditions and requirements 70 for transporting and storing M30009 modules 66 limitations of using M30009 modules 27 requirements from IEC 61131 2 26 safety instructions 7 26 69 Environmental protection disposing M3000 modules 4 no harmful emissions from M3000 modules when used properly 4 Error see LEDs of the MSC ESD safety instructions 7 Ethernet communication between MSC and MACS communication parameters of the Ethernet interface 81 Ethernet interface of the MSC 67 communication parameters 81 terminal assignment 77 IP address of the MSC 81 82 LEDs of the MSC LAN displays Ethernet activity 78 Link displays Ethernet link pulse 78 networks with exactly 2 network stations 46 with more than 2 network stations 46 Ethernet interface cables see interface cables Ethernet interface cables Extension modules CAN extension module see Q mod
142. mination Resistor on page 114 Internal status of the digital I O 1 gt 10 9 1 Display of the Operational State on page 91 Internal status of the digital I O 2 Internal status of the digital I O 3 Internal status of the digital I O 4 Internal status of the digital I O 5 Internal status of the digital I O 6 Internal status of the digital I O 7 Internal status of the digital I O 8 WideCAN transmission activity Flashes in synchronization with the data that the MSC is sending over the WideCAN interface c 10 15 CAN Bus Interfaces on page 113 Table 13 LEDs of the MSC Section 1 of 2 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 77 10 MSC Moog Servo Controller View of the Module and Terminal Assignment Ethernet 2004 Moog GmbH Display LocalCAN transmission activity Explanation Flashes in synchronization with the data that the MSC is sending over the LocalCAN interface gt 10 15 CAN Bus Interfaces on page 113 E bus transmission activity Illuminates when the MSC is sending data over the E bus gt 7 4 3 MSC as E Bus Master on page 56 Outputs enabled llluminates when all outputs and the E bus communication are under the control of the application program c 10 17 2 Outputs Enabled Output LED OutEN on page 116 Activated by application program Activated by application program Wire fault
143. n http www tiaonline org 2004 Moog GmbH Time Processing Unit programmable microprocessor that processes time functions independently of the CPU Table 35 Abbreviations Section 2 of 3 User Manual M3000 and MSC B95906 001 Version 1 1 06 04 Table 35 Abbreviations 128 12 Appendix Quoted Standards Abbreviation Explanation Technischer berwachungsverein German agency performing technical inspections Volt Direct Current unit of direct voltage Verband der Elektrotechnik Elektronik Informationstechnik Association for Electrical Electronic amp Information Technologies http www vde de Verband Deutscher Maschinen und Anlagenbau e V Federation of Engineering Industries http www vdma org Wire Fault Table 35 Abbreviations Section 3 of 3 12 3 Quoted Standards 12 3 1 CiA DS CiA DS 201 207 CiA Draft Standard CAN Application Layer CAL CiA DS 301 CiA Draft Standard CANopen Communication Profile for Industrial Systems Based on CAL CiA DS 401 CiA Draft Standard CANopen Device Profile for Generic I O Modules 12 3 2 DIN and DIN EN DIN 41652 Rack and Panel Connectors Trapezoidal Round Contacts 1 mm DIN EN 60715 Dimensions of Low Voltage Switchgear and Controlgear Standardized Mounting on Rails for Mechanical Support of Electrical Devices in Switchgear and Controlgear Installations DIN EN 60950 1 Information Technology Equipment Safety Pa
144. n doing so the user must consider the tradeoff between the desired level of disturbance suppression and the re quired reaction time of the system Insulation Resistance of MSC s Digital Outputs Digital Inputs of the MSC Basic Wiring Diagram of a Digital Input of the MSC Current Consuming Pulse Detection and Disturbance Suppression of MSC s Digital Inputs 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 96 10 MSC Moog Servo Controller Digital I Os 10 9 4 3 Specifications Number of the digital inputs Specifications of Maximum 8 MSC s Digital Inputs c 10 9 Digital I Os on page 91 Type Type 1 according to IEC 61131 2 current consuming Wire lengths In the control cabinet The voltage drop must be taken into consideration when choosing the wire cross section there are no other practical limitations Field wiring All relevant national regulations as well as the re quirements of IEC 61131 3 must be fulfilled Load rated voltage L2 24 V DC safety extra low voltage SELV according to DIN EN 60950 1 Reverse polarity protection Digital inputs are protected against reverse polarity Potential isolation Achieved with optocouplers Status display One yellow status LED per I O c 10 9 1 Display of the Operational State on page 91 Alarms Can be implemented in the application program Input delay hardware From 0 to 1 max 100 us From 1 to 0 max 100 us Sampling time
145. n with digital I O extension modules such as QDIO All input and output data of every digital I O extension module is trans mitted during every E bus cycle Communication with analog I O extension modules such as QAIO 16 4 The data for one output and one input from each analog I O extension module will be transmitted during every E bus cycle Only the input and output data that is used in the application program will be transmitted 7 4 3 5 Example One analog and one digital I O extension module is connected to an MSC The E bus interface of the MSC and the inputs and outputs of the I O ex tension modules are configured in the PLC configuration of the MACS development environment c 10 14 1 Configuration of the E Bus Interface on page 112 The following inputs and outputs are used in the application program QAIO 16 4 7 analog inputs QAIO IN1 to QAIO IN7 3 analog outputs QAIO OUT1 to QAIO OUT3 QDIO 3 digital inputs QDIO IN5 to QDIO IN7 3 digital outputs QDIO I O13 to QDIO I O 15 The shortest task interval is 1 ms The module parameter UpdateRate is set to each cycle Accordingly the E bus message starts cyclically every millisecond c 7 4 3 2 Update Rate of E Bus Messages on page 57 The digital inputs and outputs of the QDIO are updated in every E bus cycle once every millisecond in this example However only one analog input and one analog output of the QAIO 16 4 will be updated with each E bus cycle F
146. nal condition The user should take into consid eration the system level effects of all types of failures and implement corresponding safety measures Special measures are required to use control technology in safety related systems When planning to use control technology in a safety related system the user should seek detailed advice in addition to any available standards or guide lines for safety installations 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 2 1 General Information Warranty and Liability 1 4 Warranty and Liability Moog s standard delivery and payment conditions apply The owner operator will have access to these by the time the contract is closed at the latest Warranty and liability claims for personal and material damage will be ex Exclusion of Warranty and cluded when they are the result of the following among others Liability Improper use of the M3000 control system or M3000 modules c 1 3 Proper Use on page 2 Use of the M3000 control system or M3000 modules in a technically imperfect condition Use of the M3000 control system or M30009 modules by unqualified users c 1 2 Selection and Qualification of Personnel on page 2 Failure to comply with this manual the documentation of the M3000 modules or the product related hardware and software documentation required for the relevant application Failure to comply with the relevant nationally and i
147. nd MSC B95906 001 Version 1 1 06 04 107 10 MSC Moog Servo Controller Digital Sensor Interfaces Ls POSEN nee Sooo LSS IA Xd XX XS SEMINE TINTE WG SO Se ee lt gt X L a e O A ee x BSS o ia bees pc Ke P X Ko Pe L bo Bo BS Rd RS A ES pes D pu Insulation 4 Wire Sensor Figure 70 Connecting an Analog 4 Wire Sensor to the MSC Using the MSC s Internal Reference Voltage 10 13 Digital Sensor Interfaces The MSC provides 2 digital sensor interfaces according to TIA EIA 422 pre viously RS 422 that can be used with devices such as position transducers or shaft encoders with an SSI interface or incremental sensor signals c 10 13 2 Connecting SSI Sensors on page 109 c 10 13 3 Connecting Incremental Sensors on page 111 D The sensor interfaces are configured in the PLC configuration of the MACS development environment Recommended cable types Use only shielded cables The shield must be made of copper braiding with at least 8096 coverage The wire must be made of copper with a cross section of at least 0 25 mm 23 AWG In environments with a high amount of disturbance use cables with twisted pair wires 10 13 1 Wire Fault Monitoring The inputs A B and Z of the digital sensor interfaces of the MSC are moni tored for wire faults regardless of which type of sensor is attached The signals supplied by the wire fault monitoring function are available in t
148. nennen nnn 61 LocalCAN Bus Group MSCs and RTEMPs as CAN Bus Network Stations 62 WideCAN Bus Group MSCs and R Modules as CAN Bus Network Stations 63 IBI ISTIS TETIEES QOL TIO TL LTEM 65 Dimensions of the MSQ ac een renta doen e ha dL d e Eu RYE EY RAE e ERE e nM L ee Yan IdA 69 Block Diagram of the MS GC ioci i p idee tus suid feces p cec et utto ek ud dee bae ey Eua de age e gud ee tuta 71 Front View of the MSC EEEEEEEEMEMMMMMM 72 Front Panel olhe MSG iret rre mte Seit e ee rar ys a Pu LUKE zu ER eu epa 72 License Key of the MSC with Attachment Screws ssssesseee eee 82 States of the MSC when the Input Voltage U Fails sessseee m 88 States of the MSC During Long Duration Low Voltage Conditions essssssssss 89 States of the MSC During Short Duration Low Voltage Conditions 90 Basic Wiring Diagram of a Digital Open Emitter Collector Output of the MSC ee 93 Typical Output Current Limiting of MSC s Digital Outputs verses the Temperature T of the Transistor erts 94 Basic Wiring Diagram of a Digital Input of the MSC Current Consuming esses 96 U I Working Ranges of MSC s Digital Outputs Current Consuming ssesssssss 98 Basic Wiring Diagram of an Analog Output Aox of the MSC sssssssseee 99 Basic Wiring Diagram of the Analog Inputs Ai1 Ai8 of the MSC
149. networking DIN rail modules see DIN rail modules networking User Manual M3000 and MSC B95906 001 Version 1 1 06 04 134 13 Index O OFF see states of the MSC s internal module control Open collector output of the MSC see I Os of the MSC digital digital outputs Open emitter output of the MSC see I Os of the MSC digital digital outputs Operating elevation 70 Operating instructions see user manual M30009 and MSC Order number see part numbers Original packaging is to be retained 3 Oscillations permissible for MSC e 70 OutEN see LEDs of the MSC Outputs Enabled see l Os of the MSC Outputs Enabled output Outputs of the MSC see l Os of the MSC Overall width of an M3000 module see dimensions Overload behavior of MSC s digital outputs 94 Overload protection of MSC s digital outputs 94 P Packaging Original packaging is to be retained 3 Part numbers CAN bus accessories 123 CAN bus termination resistors 123 interface cables 123 license key of the MSC 121 M3000 and MSC user manual 140 M3000 Starter Kit 118 MSC 118 plug in terminal strips for DIN rail modules 124 power supply device 121 Q modules 119 R modules 120 software MACS 122 software for R modules 122 software maintenance contract 122 training programs 125 Peer to peer connection of 2 network stations Ethernet 46 Performance characteristics of the MSC 68 interfaces see interfaces of t
150. ng M30009 Modules Networking DIN Rail Modules 7 5 4 1 Example CAN Bus CAN Bus CAN Bus Network Network Network Station Station Station CAN Bus Termination Resistor with Signal Grounding CAN Bus Network Station Additional CAN Bus Net work Stations eee G Figure 44 WideCAN Bus Group MSCs and R Modules as CAN Bus Network Stations D sub connectors with CAN bus termination resistors are available from Moog c 11 7 CAN Bus Accessories on page 123 CAN bus networks with M3000 modules can only include a maximum of 64 CAN bus network stations c 7 3 5 3 Number of Network Stations on page 53 CAN bus interface cable c 7 3 6 CAN Bus Interface Cable on page 54 WideCAN Bus Group 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 63 8 Shutdown and Service Shutdown 8 Shutdown and Service WARNING WARNING WARNING To avoid damage to M30009 modules or accessories cleaning maintenance and repair tasks may be per formed only by Moog or Moog s authorized service agents Warranty and liability claims for personal and material dam age are excluded when among other reasons they are due to unauthorized repairs or other unauthorized interventions c 1 4 Warranty and Liability on page 3 No work of any kind such as mounting removing wir ing or repairs to the M3000 control system or M30009 modules may be performed while th
151. nserted into the MSC s license key slot LK far right on the front panel of the MSC The MSC does not function without license key c 10 6 License Key on page 81 The following information is saved in the license key Run time license of the MSC and list of accessible MACS libraries c 10 6 1 Run Time License and Accessible Libraries on page 82 CANopen node ID of the MSC s CAN bus interfaces c 10 6 2 CANopen Node ID and IP Address on page 82 P address of the MSC s Ethernet interface c 10 6 2 CANopen Node ID and IP Address on page 82 If the MSC is replaced this information will remain saved in the license key If the license key is inserted into a different MSC the run time license CANopen node ID and IP address can be used from that MSC The extent of the MSC s features depends on the license key used License keys enabling varying types of features are available from Moog as accessories c 11 4 License Keys on page 121 2004 Moog GmbH User Manual M30009 and MSC B95906 001 Version 1 1 06 04 23 3 Short M30009 System Overview Application Programs 3 5 Application Programs Application programs have to be downloaded onto the MSC control module and started to be executed by the MSC The MACS development environment is needed to create executable IEC 61131 application programs for the MSC With MACS the application program can be programmed compiled downloaded and started c 3 6 MA
152. nswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors gt table 3 on page 40 Reverse energization from sensor to module nvalid sensor data Power Supply Power Supply for the Internal Electroni s Module s Internal assistit iani Electronics and the Module and sensors are in operation Sensors Reverse energization from sensor to module Invalid sensor data Module and sensors are not in operation Table 3 Power Supply Conditions of the Module s Internal Electronics and the Sensors Power supply terminals of the MSC c 10 4 1 Terminal Assignment on page 73 Refer to the relevant documentation for information about the power supply terminals of the other M3000 modules D Internal module capacities might cause power spikes of up to 50 A when switching on the power supply for the internal electronics of the DIN rail module The duration of these spikes is strongly dependent on the inter nal resistance of the power supply 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 40 6 Project Planning and Installation
153. nternationally applicable regulations such as the regulations of a professional association the T V or the VDE Improper deployment of the M3000 control system or M3000 modules such as in a potentially explosive excessively warm or excessively cold environment Improper storage transportation mounting removing connection bringing into operation operation cleaning or maintenance of the M3000 control system or M30009 modules Storage or transportation of M30009 modules or accessories outside of the original packaging c 9 Transportation and Storage on page 66 Unauthorized or improperly executed structural changes to the M3000 control system or M3000 modules Unauthorized or improperly executed repairs on the M3000 control system or M30009 modules c 8 2 2 Repair on page 65 Damage due to the intrusion of foreign objects or acts of God 1 5 Inspection of Delivery After receiving the delivery please check the original packaging and its con Inspection of Delivery tents for any damage If the packaging or contents exhibit any damage do not bring the items into operation In this case immediately notify Moog or the responsible supplier In addition the packaging should be retained The packaging might be needed to enforce damage compensation claims on the transport company After taking the delivery please check whether all items listed on the delivery docket are present If anything is missing
154. oject Planning and Installation scrisese aana aaa 8 2 2 5 Update Rate of E Bus Messages sssssssssee eene eene nennen nnns 9 2 2 6 Shutdown and S6rviGe cebat piden AAE ce Mir ed den iu ce epo ye d Ebay 10 2 2 7 Transportation and Storage sssssssssssessseeeeneee nennen enn 11 2 2 8 Communication Between MSC and MACS sssssssseeeeeeeenne nennen 11 2 2 9 License Key of the MSC sese desee ta daa ce Fk cuv ha dude ha E Ed a d 12 2 2 10 Reset Button of the MSC ssssssssssssssseeeeenee nennen enne emnes 12 2 2 11 Switching Back on or Resetting the MSC sssssssssse eene 13 2 2 12 Outputs Enabled Output of the MSC sssssssssssssssssseee enne 13 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 i Table of Contents 3 Short M3000 System Overview eee 14 3 1 M30009 System Architecture sssssscscsossssssssssssseseesseaeessesessseseasseaeaesesseseseosonaeseessessses 15 3 2 M3000 Starter KIbissesiicnimaditiitorr i exas Eon d EX E bier ert cR MED CER dE cEelun ice rR nra 17 3 3 M3000 Sr SS 18 EM NIS 18 3 9 2 Q Modul6s 1 edere age revela a cov ELA Od uv ER LES V ERA ERR RARE Su ELA Eee Ln 19 3 3 3 R Modules Remote Modules sssssssssennemnem eene 20 3 9 4 Identfication 2 eer Fe ter dene eigen i de Hi deve aiai 22 3 4 LICENSE
155. on The MSC was started successfully The user LEDs LED1 LED2 and LED3 are now available for the application program An error occurred during starting of the run time system If this error occurs please contact Moog or Moog s authorized service agents An error occured during loading of the TPU If this error occurs please contact Moog or Moog s authorized service agents Load procedures FPGA was loaded successfully TPU was loaded successfully Initialization Initialization of the flash file system The initialization phase after the firmware loads or updates can take up to several minutes The MSC must not be switched off or reset during the initializa tion phase If it is switched off or reset during the initialization phase the firm ware must be reloaded An error occured during loading of the hardware driver If this error occurs please contact Moog or Moog s authorized service agents 1 LED illuminates 0 LED does not illuminate Display not relevant Table 14 LEDs for Displaying Elementary Operational States and Errors after Switching on or Resetting the MSC When the MSC starts successfully FPGA and TPU will load automatically and the flash file system will initialize automatically The load proceeds so quickly that it is difficult to see the user LEDs LED1 and LED2 illuminate with the naked eye It is possible to observ
156. onfiguration of the E bus interface through on the Q connector of the MSC and the slaves gt 10 14 1 Configuration of the E Bus Interface on page 112 QDIOs E bus groups with RDIOs as master Other M30009 mod must be actuated over the CAN bus ules must not be at tached to an RDIO Table 8 Permissible Masters and Slaves in E Bus Groups The duration of transmission of E bus messages is not influenced by the number of DIN rail modules in the E bus group c 7 4 3 3 Duration of Transmission of E Bus Messages on page 57 7 4 3 MSC as E Bus Master 7 4 3 1 Starting the E Bus Communication Immediately after logging in with the MACS development environment the E bus configuration contained in the PLC configuration will be transferred to the MSC If slaves are set in the E bus configuration the MSC checks whether the configured slaves are actually attached Communication over the E bus is possible only when the slaves actually attached correspond with the arrangement set in the PLC configuration Otherwise an error message will be displayed in the MACS development environment The E bus communication will be started automatically after an application program is started If communication over the E bus is successful the LED Ebus will illuminate on the front panel of the MSC c 10 4 2 LEDs on page 77 If an error occurs during the communication or if the digital output Outputs Enabled of the MSC is switched to th
157. ontrol SELV see safety extra low voltage SELV Sensor interfaces of the MSC digital e 108 112 connecting incremental sensors 111 112 connecting SSI sensors 109 110 connection diagram MSC in master mode 109 connection diagram MSC in slave mode 110 terminal assignment 73 wire fault monitoring 108 wire fault display LEDs 78 108 2004 Moog GmbH Sensors connecting analog sensors to the MSC 104 108 connecting incremental sensors to the MSC 111 112 wire fault monitoring 108 connecting signal cables over plug in terminal strips 45 connecting SSI sensors to the MSC 109 110 wire fault monitoring 108 connecting to the power supply 42 44 Service cleaning see cleaning maintenance see maintenance repair see repair safety instructions 10 64 servicing see maintenance Servicing see maintenance Shielding signal cables of analog sensors 104 Shock permissible for MSC 70 Shutdown safety instructions 10 64 Signal cables connection over plug in terminal strips 45 shielding when connecting analog sensors 104 Signal grounding CAN bus termination resistor with signal grounding see grounding DIN rail modules see grounding SIO front panel connector of the MSC see interfaces of the MSC serial SIO interface SIO interface of the MSC see interfaces of the MSC serial SIO interface Software copyright 5 development environment MACS see MACS MACS see MACS software for R modules
158. or monitoring whether the hardware and soft ware are functioning properly When there is a fault this function can disable all outputs Depending on the selected output type this will mean that the out put is switched either to a currentless or zero potential condition As a result the user can set up systems that have a greatly reduced risk of fatal malfunc tions In the MSC this function is implemented in the M WATCHDOG function block which can be used in the application program to be monitored If this function block is used it must be actuated cyclically in order to keep the out puts enabled When there is a fault when the application program can no longer actuate the function block within the set time period the outputs will be disabled If the M WATCHDOG function block is not used in the application program the MSC s watchdog will not operate In this case the outputs will always be enabled and they will output the value calculated in the application program The digital output Outputs Enabled indicates the enabled state of all digital outputs analog outputs and the MSC s E bus communication Serial Interfaces of the MSC Watchdog of the MSC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 115 10 MSC Moog Servo Controller Safety Functions 10 17 2 Outputs Enabled Output LED OutEN WARNING If there is a defect in an output stage the Outputs En abled signal will
159. or this reason each analog input is up dated only every 7 ms and every analog output is updated only every 3 ms in this example Update Cycle No Outputs Inputs Message No QDIO QAIO 16 4 QDIO QAIO 16 4 2 3 4 5 6 7 8 9 Table 10 Update Order for Inputs and Outputs of QDIO and QAIO 16 4 E Bus Communication Scope of Messages E Bus Communication Example 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 58 7 Networking M30009 Modules Networking DIN Rail Modules 7 5 Networking DIN Rail Modules When networking DIN rail modules a distinction is made between the follow Networking ing control groups DIN Rail Modules E Bus Groups gt 7 5 2 E Bus Groups on page 60 LocalCAN Bus Groups c 7 5 3 LocalCAN Bus Groups on page 61 WideCAN Bus Groups gt 7 5 4 WideCAN Bus Groups on page 62 7 5 1 CAN and E Bus Interfaces The M3000 modules mentioned here represent only a part of Moog s current product range In addition to other M3000 modules Moog s product range includes a large variety of accessories c 11 Product Range on page 118 Number of DIN Rail Modules with DIN Rail Module Connectors and Controllers CAN and E Bus Interfaces LocalCAN bus 2 Q connectors lateral E Bus E Bus WideCAN bus LocalCAN LocalCAN 2 D sub front panel connectors CAN bus controller 2 E bus 2 Q connectors lateral CAN
160. ording to the programmed application program The application program is stopped However this does not guarantee that the cur rent cycle is terminated In other words the program execution is stopped at the point where the loss of power supply is detected All outputs are disabled the output Outputs Enabled is switched to the 0 state and the LED OutEN extinguishes gt 10 17 2 Outputs Enabled Output LED OutEN on page 116 The internal data the values saved in the RETAIN variables the boot project and any error messages is saved permanently in the flash EEPROM The MSC provides the energy reserves required to do this Waiting to restart according to the programmed application program as long as the energy reserve is sufficient MSC inactive Table 15 Possible States of the Internal Module Control of the MSC 10 8 2 1 Power Failures If the input voltage U fails falls to zero and does not recover the MSC will behave in the manner shown below U IV States of the MSC when the Input Voltage U Fails SAVE IDLE OFF 24 18 16 Figure 51 States of the MSC when the Input Voltage U Fails As long as the input voltage is above the threshold limit the MSC will be in the RUN state i e the application program will be executed Explanations of the states gt table 15 on page 88 If the voltage falls below the threshold limit the MSC will go into the SAVE sta
161. ork stations c 7 3 5 3 Number of Network Stations on page 53 CAN bus interface cable gt 7 3 6 CAN Bus Interface Cable on page 54 7 3 5 3 Number of Network Stations CAN bus networks with M3000 modules can only include a maximum of 64 CAN bus network stations ISO DIS 11898 only specifies networks with up to 30 CAN bus network sta tions As a result when integrating non system products into a CAN bus network with M30009 modules the maximum number of CAN bus network stations might be limited by any existing older CAN bus drivers Linear Structure of the CAN Bus CAN Bus Networks with M30009 Modules max 64 Network Stations 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 53 7 Networking M30009 Modules CAN Bus and CANopen 7 3 6 CAN Bus Interface Cable 7 3 6 1 Terminal Assignment Mating Mating Connector Connector socket contacts pin contacts Wire Cross Section gt 0 22 mm 24 AWG 2 CAN_L E oe a ad UN CAN L I Li I 1 7 CAN_H o NC CAN H 4 CAN_GND rog i CAN GND I l I 1 CAN GND 1 CAN GND a 6 optional 7 ET optional pem ae ar 2 The other pins are not connected Figure 40 CAN Bus Interface Cable with 9 Pole D Sub Mating Connectors according to DIN 41652 To ensure disturbance free operation it is required that a CAN_GND wire is used in the cable Terminal assignment of the CAN connectors on t
162. out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M30009 module must be protected against uninten tional restarting If the M30009 module is connected to other devices and or facilities always consider the full consequences and take ap propriate precautions before switching off the module More on these subjects c 8 Shutdown and Service on page 64 2004 Moog GmbH Safety Instructions Shutdown and Service User Manual M3000 and MSC B95906 001 Version 1 1 06 04 2 Safety Instructions Safety Instructions 2 2 7 Transportation and Storage WARNING Maintain under all circumstances the required environ mental conditions specified for transportation and stor age of the control system M3000 or M3000 modules c 9 1 Environmental Conditions on page 66 This ensures fault free reliable and safe operation More on this subject gt 9 Transportation and Storage on page 66 2 2 8 Communication Between MSC and MACS WARNING The MSC s operational state can be altered with the MACS development environment when the MSC is con nected online with MACS This can be done by means of the following actions for ex ample Stopping or resetting the program Setting breakpoints
163. page 32 Maintain the minimum distances shown in figure 15 on page 31 to ensure Sufficient room for connecting the supply and signal cables Sufficient room for mounting or removing the DIN rail modules Convection cooling If operational reasons force the selection of other arrangements the perfor mance ratings of the DIN rail modules will decrease or forced cooling mea sures will be needed Additional information about arranging DIN rail modules c 7 5 2 E Bus Groups on page 60 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 30 5 Mechanical Structure DIN Rail Modules Arrangement of Cable Conduit E gt 30 mm 1 18 in gt 30 mm 1 18 in ES DIN Rail Modules iz ia ot between Cable Conduits Cable Conduit Y A Y 1 A 1 18 in gt 30 mm Detail Enlargement gt Figure 16 Figure 15 Arrangement of DIN Rail Modules between Cable Conduits If shielding is required for the signal cables when connecting the signal ca bles make sure the distance between the DIN rail modules and the cable
164. pole 6 etc c Figure 32 on page 47 Network Station 1 Network Station 2 e g PC e g MSC Figure 30 Ethernet Network with exactly 2 Network Stations 10BaseT cables with crossed twisted pair wires 7 1 2 Networking of More Than 2 Network Stations A hub is needed for Ethernet networks that have more than 2 stations The hub transfers the signals sent from one of the stations to every other station in the network All network stations must be connected radially to the hub us ing 10BaseT cables with non crossed twisted pair wires The connectors should be directly wired pole 1 to pole 1 pole 2 to pole 2 etc gt Figure 33 on page 47 Network Station 1 e g PC Network Station 2 e g MSC Network Station N e g MSC Figure 31 Ethernet Network with more than 2 Network Stations 10BaseT cables with non crossed twisted pair wires Peer to Peer Connection of 2 Network Stations Ethernet Network with more than 2 Network Stations 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 46 7 Networking M30009 Modules Serial TIA EIA Interface Cables 7 1 3 Ethernet Interface Cables RJ45 Mating Connector RJ45 Mating Connector Figure 32 10BaseT Cable with Crossed Twisted Pair Wires with 8 Pole RJ45 Mating Connectors Cable Category 5 Wire Cross Section gt 0 22 mm 24 AWG RJ45 Mating RJ45 Mating Connector Connector MDA GOR ee ee Deum
165. ptional shield Analog input 8 not inverting gt 10 12 Analog Inputs on page 102 Connect the current load connect with C8b Connect the current load connect with C8a Analog input 8 inverting Ground for the analog I Os Optional shield wo gt Q o 9 c lt E o o 9 c lt N E o o 9 c lt v 2 Q o 9 c lt Table 12 Terminal Assignment of MSC s Connectors Section 3 of 5 User Manual M3000 and MSC B95906 001 Version 1 1 06 04 75 2004 Moog GmbH 10 MSC Moog Servo Controller View of the Module and Terminal Assignment No Circuit CAN Ground for the CAN bus interface 1 2 3 4 5 6 7 7 w WCAN WideCAN CAN Ground for the CAN bus interface X C X C AN AN Ww 8 9 X TIA EIA 232 receive data TIA EIA 232 send data Ground for the TIA EIA 232 interface B SIO TIA EIA 232 wo joj o o 5 o m do o o oOo AJ wl Dry TIA EIA 422 Send data TIA EIA 422 Receive data TIA EIA 422 Send data Ground for the TIA EIA 422 interface B SIO TIA EIA 422 optional TIA EIA 422 Receive data TIA EIA 485 data bidirectional send and receive data TIA EIA 485 data bidirectional send and receive data Ground
166. r of the MSC 68 Product range 118 125 Programming cable 48 Programming languages in MACS 25 Programming the MSC 80 programming cable 48 Project planning 36 safety instructions 8 39 42 Proper operation see proper use Proper use 2 safety related systems 2 Protection class of the MSC 70 Pulse detection of MSC s digital inputs 96 Q QAIO 16 4 see Q modules QAIO 16 4 QCAN see Q modules QCAN Q connector 40 pole connector of the E bus interface 55 front and side views of DIN rail modules 28 front view of the MSC 72 QDIO see Q modules QDIO Q modules 19 part numbers 119 power consumption 39 QAIO 16 4 19 QCAN 20 QDIO 19 Qualified users see personnel selection and qualification R Rated voltage of the power supply 38 RDIO see R modules RDIO RDISP see R modules RDISP Rebooting the MSC see resetting the MSC Reference voltage output of the MSC 68 101 Release date of this manual 1 Remote modules see R modules Removing DIN rail modules from the DIN top hat rail 35 license key of the MSC 84 required tool 82 Repair 65 Moog Authentic Repairs 65 repair seal 65 safety instructions 10 64 User Manual M3000 and MSC B95906 001 Version 1 1 06 04 135 13 Index Reproduction prohibition for this manual A Reservation of changes for this manual A 1 Reset button of the MSC 72 84 safety instructions 12 84 Resetting the MSC 84 reset button se
167. ration WARNING The PC on which the MACS development environment is installed must be suitable for the environmental condi tions in which it will operate This ensures fault free reliable and safe operation D WARNI zZ G It is not permissible to operate the M3000 control sys tem or M30009 modules in a potentially explosive environment gt WARNING The M3000 control system and M3000 modules must not come into direct contact with liquids Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician gt 4 1 Requirements of IEC 61131 2 The M3000 control system and M3000 modules comply with the require Environmental ments of IEC 61131 2 Conditions Requirements of IEC 61131 2 Where technical requirements lead to deviations from the standard these are specified in this manual or in the documentation of the relevant M3000 modules Environmental conditions for the MSC c 10 2 2 Environmental Conditions on page 69 Refer to the relevant documentation for the specified environmental con ditions for the other M30009 modules 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 26 4 Environmental Conditions Use in Special Environments 4 2 Use
168. rdless of which application program was previously running In other words the application program that will be started automatically after the MSC is switched on or reset might be different from the application program that was executing im mediately prior c 10 8 1 3 Examples on page 87 Power Supply of the MSC Safety Instructions Contents of the Flash EEPROM Switching Back on or Resetting the MSC Safety Instructions 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 85 10 MSC Moog Servo Controller Power Supply Application programs can be saved and executed in the MSC in the following manner As a boot project in the flash EEPROM In RAM An application program saved as a boot project will be loaded into RAM whenever the MSC s power supply is switched on or when the MSC is reset An application program that is only executed in RAM without being saved as a boot project will not be saved in the MSC when it is switched off or when the power supply fails After the power supply is switched back on the application program must be downloaded once more from the MACS development environment 10 8 1 1 Switching on the Power Supply WARNING If the most recent status in the online mode MACS Switching on the logged in was Start before the MSC was switched off or Power Supply reset the boot project will always be started after the Safety Instructions MSC is switched back on or
169. re option When ordering the MSC the type of the field bus interface must be specified 2 Available serial interfaces TIA EIA 232 previously RS 232 TIA EIA 422 previously RS 422 or TIA EIA 485 previously RS 485 3 wire fault monitoring of the analog current outputs 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 71 10 MSC Moog Servo Controller View of the Module and Terminal Assignment 10 4 View of the Module and Terminal Assignment Goo ooo OOo GOGGGGG Ss Connectors for Plug In Terminal Strips Locking Slide Terminal Assignment of Locating Pin 7 ome X mee Connectors X1 to X3 Front Panel Q Connector i E Bus LocalCAN Bus Q Connector Vega E Bus LocalCAN Bus ER ro Ethernet LECHE E 3 eh EE 1 Terminal Assignment of Locking Slide Connectors X4 to X6 Connectors for Plug In _ Terminal Sttrips Locating Pin SS ooo PVPGNVGVgggs Figure 48 Front View of the MSC Termination Resistor WideCAN Transmission Activity E Bus
170. rent output 2 referenced on AGND SS MESE MESES Ground for the analog I Os Optional shield Analog input 1 not inverting gt 10 12 Analog Inputs on page 102 Connect the current load connect with C1b Connect the current load connect with C1a Analog input 1 inverting Ground for the analog I Os Optional shield Analog input 2 not inverting gt 10 12 Analog Inputs on page 102 Connect the current load connect with C2b Connect the current load connect with C2a Analog input 2 inverting Ground for the analog I Os SEE MESES E MESES ES MESES ESSE MESES Optional shield Analog input 3 not inverting gt 10 12 Analog Inputs on page 102 Connect the current load connect with C3b Connect the current load connect with C3a Analog input 3 inverting Ground for the analog I Os Optional shield Table 12 Terminal Assignment of MSC s Connectors Section 2 of 5 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 74 10 MSC Moog Servo Controller View of the Module and Terminal Assignment No Circuit Analog input 4 not inverting gt 10 12 Analog Inputs on page 102 Connect the current load connect with C4b Connect
171. reverse energization 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 Connection of Sensors via 44 6 Project Planning and Installation Connecting Signal Cables 6 3 Connecting Signal Cables WARNING No work of any kind such as mounting removing wir ing or repairs to the M30009 control system or M30009 modules may be performed while the control system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M3000 control system or M30009 modules it is essential that the system be stopped and the power supply disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc The signal cables of DIN rail modules are connected over plug in terminal strips that are inserted into the relevant connectors on the front of the module 6 3 1 Plug In Terminal Strips Plug in terminal strips for the following methods are available from Moog Screw terminals Spring loaded terminals All plug in terminal strips are suitable for wire cross sections of up to 2 5 mm 14 AWG c 11 8 Plug In Terminal Strips on page 124 6 3 1 1 Spring Loaded Terminals CAUTION When connecting a wire insert the screwdriver only into the rectangular opening of the spring loaded terminal n If a scre
172. rol module is a fully programmable multi axis controller The inputs and outputs of the MSC can be extended locally by attaching Q modules The MSC and the attached modules then form an E bus group MSCs and Q modules within E bus groups communicate over the internal E bus c 7 5 2 E Bus Groups on page 60 The MSC is programmed and configured with the MACS development envi ronment complies with IEC 61131 c 3 5 Application Programs on page 24 D Detailed information about the MSC c 10 MSC Moog Servo Controller on page 67 Moog web site on the MSC http Awww moog com MSC 2004 Moog GmbH User Manual M30009 and MSC B95906 001 Version 1 1 06 04 18 3 Short M30009 System Overview M30009 Modules 3 3 2 Q Modules The following Q modules are available from Moog Q Modules e QDIO digital I O extension module c 3 3 2 1 QDIO and QAIO 16 4 on page 19 QAIO 16 4 analog I O extension module c 3 3 2 1 QDIO and QAIO 16 4 on page 19 QCAN CAN extension module c 3 3 2 2 QCAN on page 20 Q modules can be used only as E bus slaves within E bus groups c 7 5 2 E Bus Groups on page 60 When using an RDIO as E bus master only QDIOs can be used as E bus slaves c 7 4 2 1 E Bus Master and E Bus Slaves on page 56 Refer to the Q modules documentation for more detailed information Moog web site on the Q modules http www moog com Q Modules 3 3 2 1 QDIO and QAIO 16 4 QDIO and QAIO 16 4
173. rotection Provided by Enclosures IP Code IEC 60664 Insulation Coordination for Equipment within Low Voltage Systems IEC 60801 2 Electromagnetic Compatibility for Industrial Process Measurement and Control Equipment Part 2 Electrostatic Discharge Immunity Require ments IEC 61131 Programmable Controllers IEC 61131 1 Programmable Controllers Part 1 General Information IEC 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests IEC 61131 3 Programmable Controllers Part 3 Programming Languages IEC 61131 4 Programmable Controllers Part 1 User Guidelines 12 3 4 ISO DIS ISO DIS 11898 Quoted Standards Road Vehicles Controller Area Network CAN ISO DIS 12 3 5 TIA EIA TIA EIA 232 previously RS 232 Quoted Standards Interface Between Data Terminal Equipment and Data Circuit Termi TIA EIA nating Equipment Employing Serial Binary Data Interchange TIA EIA 422 previously RS 422 Electrical Characteristics of Balanced Voltage Digital Interface Circuits TIA EIA 485 previously RS 485 Electrical Characteristics of Generators and Receivers for Use in Bal anced Digital Multipoint Systems 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 130 13 Index 13 Index A A1 A2 see LEDs of the MSC Abbreviations used 127 Accessories see product range Addresses Moog GmbH A Air humidity relative permissible for operating the MSC
174. rs Especially important are the rules for proper EMC wiring in cabinets and buildings according to IEC 61131 4 Installation in metal grounded cabinets is preferred M3000 modules are designed for use under normal operating conditions in industrial environments and comply with the following standards DIN EN 61000 6 2 DIN EN 61000 6 4 If suitable additional measures are taken M30009 modules may also be em ployed in residential commercial and light industrial environments in compli ance with the following standards DIN EN 61000 6 1 DIN EN 61000 6 3 Suitable additional measures c 4 2 Use in Special Environments on page 27 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 Environmental Protection Emissions Environmental Protection Disposal CE Labeling of M30009 Modules M30009 and M30009 Modules Comply with IEC 61131 2 Electromagnetic Compatibility EMC 1 General Information Trademarks If the system does not comply with the requirements of DIN EN 61000 6 1 and DIN EN 61000 6 3 despite the additional measures M30009 modules must not be used in residential commercial and light industrial environments EMC conformity may be presumed only under the following conditions e Sufficient shielding Mounting of the DIN rail module onto a DIN top hat rail that is attached to an electrically conductive grounded mounting plate c figure 14 on page 30 M3000
175. rt 1 General Require ments DIN EN 61000 6 1 Electromagnetic Compatibility EMC Part 6 1 Generic Standards Im munity for Residential Commercial and Light Industrial Environments DIN EN 61000 6 2 Electromagnetic Compatibility EMC Part 6 2 Generic Standards Im munity for Industrial Environments DIN EN 61000 6 3 Electromagnetic Compatibility EMC Part 6 3 Generic Standards Emission Standard for Residential Commercial and Light Industrial Environments DIN EN 61000 6 4 Electromagnetic Compatibility EMC Part 6 4 Generic Standards Emission Standard for Industrial Environments DIN EN 60204 Safety of Machinery Electrical Equipment of Machines Table 35 Abbreviations Quoted Standards CiA DS Quoted Standards DIN and DIN EN 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 129 12 Appendix Quoted Standards 12 3 3 IEC IEC 60068 Quoted Standards IEC Environmental Testing IEC 60068 2 6 Environmental Testing Part 2 Tests Test Fc Vibration Sinusoidal IEC 60068 2 27 Environmental Testing Part 2 Tests Test Ea and Guidance Shock IEC 60068 2 31 Environmental Testing Part2 Tests Test Ec Drop and Topple Primarily for Equipment Type Specimens IEC 60364 4 44 Electrical Installations of Buildings Part 4 44 Protection for Safety Protection against Voltage Disturbances and Electromagnetic Distur bances IEC 60529 Degrees of P
176. rta s eater tara sn Se tra rune ka ER RAI E da nr ek anu Ru Rm adag 37 6 1 1 Front Panel Connectors Signal Grounding sseen nn 37 6 2 Power Supply iio rie tae m e xuRERRERE RE EEECERXXX YR ER Ea SE EEUR EXER KR VAR RR EEANN aaea iadaaa 38 6 2 1 Power Supply Characteristics sss eene 38 6 2 2 Power Consumption by DIN Rail Modules eem 39 6 2 3 Connecting the Power Supply eene nnne nene 39 0 24 Connecting Sensor Ssnin a p IN IHR RR ER ERRE Qe es es eed ea eased ete 42 6 3 Connecting Signal Cables oii iccceccsiisenetiseasasncncnnacienecansannonnnnascecovetnnadenavenuwadestennniiidaedtantadontncnnnenn 45 6 3 1 Plug lri Terminal StS secet ro coe ca aad ule eh Fee ua De a eeeede sede 45 7 Networking M30009 Modules eere 46 TM UVC MINS eer xp Ene E TNER RE sien nae uae E gt aadinccsenewmeace aetna b 46 7 1 1 Peer to Peer Connections cccccccceceeeceeeeccccceceeeeeeeeecececaaanaecaeceeeeeeeeeseesensaneeeeeeeeess 46 7 1 2 Networking of More Than 2 Network Stations sssssseen en 46 7 1 3 Ethernet Interface Cables teet a aa x RR OR et XR edd 47 7 2 Serial TIA EIA Interface Cables nere reete eite n oet ee honte tna unn nhe ER nas ena raE 47 7 2 1 TIA EIA 232 Interface Cables sess 48 7 2 2 TIA EIA 422 Interface Cables sss 49 7 2 3 TIA EIA 485 Interface Cables iieii a aE
177. s current product range In addition to other M3000 modules Moog s product range includes a large variety of accessories c 11 Product Range on page 118 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 3 Short M30009 System Overview M3000 System Architecture 3 1 M3000 System Architecture The control system M3000 has the hardware and software structure neces sary for modular and flexible automation solutions with distributed intelli gence The MSC control module can use a serial TIA EIA 232 previously RS 232 connection to communicate over the MACS interface with the PC on which the MACS development environment is installed 10 5 1 Communication Between MSC and MACS on page 80 The MSC control module can use an Ethernet connection LAN company network peer to peer connection to communicate with another controller development environment or visualization package c 7 1 Ethernet on page 46 c 10 5 1 Communication Between MSC and MACS on page 80 c 10 5 1 2 Ethernet Communication Interface on page 81 To create real time capable applications even in distributed systems and to give the application a better structure M3000 can also be divided hierarchi cally into several CAN buses c 7 3 CAN Bus and CANopen on page 50 WideCAN and LocalCAN are two equal mutually independent CAN bus inter faces In a typical application they are used as follows WideCAN c
178. s see CAN bus interfaces MSC E bus interfaces see E bus interfaces MSC Ethernet interface see Ethernet Ethernet interface of the MSC field bus interface see field bus interface of the MSC sensor interfaces digital see sensor interfaces of the MSC digital serial interfaces see interfaces of the MSC serial terminal assignment 73 77 Interfaces of the MSC serial 115 MACS interface 115 Communication between MSC and MACS 80 MACS MSC front panel connector 72 77 Rx2 and Tx2 LEDs for displaying receive transmission activity 78 SIO interface 115 Rx1 and Tx1 LEDs for displaying receive transmission activity 78 SIO MSC front panel connector 72 76 I O extension modules see Q modules QAIO and QDIO I O1 l O8 see LEDs of the MSC l Os of the MSC 68 analog I Os see I Os of the MSC analog digital I Os see I Os of the MSC digital Outputs Enabled output 116 OutEN LED of the MSC for displaying the states of all outputs and E bus communication 78 116 safety instructions 13 116 reference voltage output 68 101 I Os of the MSC analog 68 99 108 analog inputs 102 108 basic wiring diagram 102 connecting analog sensors 104 108 specifications 102 analog outputs 99 101 basic wiring diagram 99 specifications 99 wire fault monitoring of the analog current outputs 101 wire fault display LEDs 78 terminal assignment 74 75 I Os of the
179. s 2o tt be t ertt Ente a Rd ied RON Xe OL eb da Re Re uad 119 Product Range R Modules Remote Modules sese eee 120 Product Range Power Supply for M30009 Modules sennne 121 Product Range License Keys c ccccccccceeeeeenccceeceencceeeeseeeeeeeesnaceeceneesenecaneeseaedeeteneeaceeteneeeeeetenes 121 Features Provided by the Various License Keys ssssssseeeeeeeemen 121 Product Range Software MACS ssssssssssssssessee ener errenen neret nennen rrerrnnnns 122 Product Range Software for R Modules sse 122 Product Range Interface Cables sssssssssssssssssssssseeeeeneerene nennen ennt 123 Product Range CAN Bus Accessories sssssssssssssseeeeeeneeemerene enne 123 Product Range Plug In Terminal Strips esssssssssssseeeeee 124 Number of Plug In Terminal Strips Required for Various DIN Rail Modules 124 Product Range Training Programs sssssesssseneeeene ee eene nnne nennen 125 Abbreviations bc ee EG eon b Cg ie ru bd eb eed ccu thai E DR FED catalan tetas ea gis 127 O 2004 Moog GmbH User Manual M30009 and MSC B95906 001 Version 1 1 06 04 vi List of Figures List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure
180. safety transformer or something of equal functionality Always observe national regulations when choosing the rated insulation voltage Power Supply for M3000 Modules Power Supply Characteristics of M3000 Modules Safety Extra Low Voltage SELV 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 38 6 Project Planning and Installation Power Supply 6 2 2 Power Consumption by DIN Rail Modules 1 Power Consumption by Power Consumption i DIN Rail Modules DIN Rail Module From 24 V DC No Load2 From 24 V DC Full Load MSC Internal Electronics about 0 5 A max 2 A Digital Outputs max 4 A RDIO max 300 mA max 10 A QDIO max 10A QAIO 16 4 about 150 mA max 300 mA Table 2 Power Consumption by DIN Rail Modules 1 These values are provided only as guidelines for estimating the amount of current required Refer to the relevant documentation for the exact power consumption by DIN rail modules 2 No load i e there are no loads external to the module drawing current 6 2 3 Connecting the Power Supply DANGER The L2 M2 power supply terminals of the MSC type Connecting the D136E001 001 are not protected against reverse polarity Power Supply STOP in deviation from the requirements of IEC 61131 2 Safety Instructions Reverse polarity on terminals L2 and M2 will lead to permanent damage to the MSC The L2 M2 power supply terminals of the other MSC types
181. sfer functions Z functions M Transfer Functions Lib Libraries for CANopen Profibus DP TCP UDP and TCP IP depending on MSC option Feature included Table 27 Features Provided by the Various License Keys D The MSC does not function without license key c 3 4 License Key on page 23 c 10 6 License Key on page 81 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 121 11 Product Range Software 11 5 Software 11 5 1 MACS Moog Axis Control Software Item Designation Remarks Part Number Product Range Software MACS MACS development Development environment according to D138 001 001 environment IEC 61131 for solving complex control tasks 1 license gt 3 5 Application Programs on page 24 1 additional license D138 001 002 5 licenses D138 001 005 10 licenses D138 001 010 MACS HMI Visualization package which can be run D138 003 001 without MACS Run time license for 1 system c 3 6 1 MACS HMI Visualization Pack age on page 25 Run time license for 10 systems D138 003 010 Run time license for 50 systems D138 003 050 Software maintenance Support and MACS updates for 1 year B95914 001 001 contract for 1 license 1 additional license B95914 001 002 5 licenses B95914 001 005 10 licenses B95914 001 010 Table 28 Product Range Software MACS 11 5 2 Software for R Modules Software for R Modules CPRTEMP Software for
182. sion module for local extension of the inputs and outputs of MSCs connection over E bus c 3 3 2 1 QDIO and QAIO 16 4 on page 19 QAIO 16 4 Analog I O extension module for local extension of the inputs and outputs of MSCs connection over E bus c 3 3 2 1 QDIO and QAIO 16 4 on page 19 QCAN CAN extension module which can be used to make available the LocalCAN bus of an E bus group for external CAN bus network sta tions over a D sub front panel connector c 3 3 2 2 QCAN on page 20 RDIO Remote module with digital I Os and CANopen interface connec tion over CAN bus c 3 3 3 1 RDIO on page 21 RTEMP Temperature control module with TIA EIA 232 and CANopen inter face connection over CAN bus c 3 3 3 2 RTEMP on page 21 RDISP Display and operating terminal with TIA EIA 232 and CANopen in terface connection over CAN bus c 3 3 3 3 RDISP on page 22 License keys Hardware keys necessary for the operation of the MSC c 3 4 License Key on page 23 MACS Moog Axis Control Software Development environment according to IEC 61131 for solving complex control tasks c 3 5 Application Programs on page 24 MACS HMI Moog Axis Control Software Human Machine Interface Visualization package which can be run without MACS c 3 6 1 MACS HMI Visualization Package on page 25 Moog web site on M3000 http www moog com M3000 The M3000 modules mentioned here represent only a part of Moog
183. slot LK Load connection of MSC s digital outputs 95 LocalCAN 15 LocalCAN bus groups 61 LocalCAN bus interface of the MSC 51 59 113 make LocalCAN bus available over QCAN 14 20 Locating pin DIN rail modules 28 MSC 72 Locking slide DIN rail modules 28 MSC 72 Low voltage detection of the MSC 87 behavior of the MSC during long duration low voltage conditions 89 power failures 88 short duration low voltage conditions 90 response time 87 threshold limit 87 M WATCHDOG see watchdog of the MSC M30009 M30009 modules see M30009 modules network topology with CAN bus 15 system architecture 15 16 system overview 14 M3000 modules 18 22 DIN rail modules see DIN rail modules identification 22 I O extension modules see Q modules QAIO and QDIO MSC see MSC networking 59 63 QAIO 16 4 see Q modules QAIO 16 4 QCAN see Q modules QCAN QDIO see Q modules QDIO Q modules see Q modules RDIO see R modules RDIO RDISP see R modules RDISP remote modules see R modules R modules see R modules RTEMP see R modules RTEMP M3000 Starter Kit 17 118 2004 Moog GmbH MACS 24 communication between MSC and MACS 80 communication parameters Ethernet interface 81 MACS interface 80 configuration of the MSC 80 MACS HMI visualization package 25 122 part number 122 programming languages 25 programming the MSC 80 scope of functionality 24 software maintenance contra
184. ssary to adapt the transmission rate to the length of the CAN bus interface cable c Table 5 on page 54 Sources of interference Do not lay CAN bus interface cables in direct proximity to sources of in terference If this cannot be avoided double shielded interface cables must be used Potential equalization at only one point The CAN GND and CAN SHLD reference potential may be connected to the signal ground at only one point at a CAN bus termination resistor for example c Figure 39 on page 53 Grounding The power supply for M30009 modules must be grounded at the same point as the CAN GND wire 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 52 7 Networking M30009 Modules CAN Bus and CANopen 7 3 5 2 Bus Structure of the CAN Bus The CAN bus has a linear structure Avoid branching Short stub cables with a T adapter are permitted CAN Bus CAN Bus CAN Bus Network Network Network Station Station Station CAN Bus Termination Resistor with Signal Grounding CAN Bus Network Station Additional CAN Bus Net work Stations eee G Figure 39 Linear Structure of the CAN Bus with CAN Bus Termination Resistors and Potential Equalization D sub connectors with CAN bus termination resistors are available from Moog gt 11 7 CAN Bus Accessories on page 123 CAN bus networks with M30009 modules can only include a maximum of 64 CAN bus netw
185. stems in which the rated supply voltage does not exceed 1 000 V alter nating current 50 60 Hz or 1 500 V direct current Qualified project management and proper transportation storage installa tion and use are required to ensure fault free reliable and safe operation of M30008 M30009 and M3000 modules must not be brought into operation until it has been ensured that the equipment in which they are installed complies with the current version of the EU machinery directive The M3000 control system and M30009 modules may be used only under the conditions and situations specified in this manual and in the documenta tion of the M30009 modules Any other or more extensive use is not permissible The following are also required for proper use Compliance with the requirements detailed in this manual Compliance with the requirements of individual M30009 module docu mentation Compliance with all of the product related hardware and software docu mentation required for the relevant application Compliance with the relevant nationally and internationally applicable regulations standards and directives e g the regulations specified by a professional organization such as T V or VDE 1 3 1 Safety Related Systems WARNING As with any electronic control system the failure of cer Safety Related Systems tain components when using M3000 or M30009 mod ules might lead to an uncontrolled and or unpredictable operatio
186. t RR RR D n E B RR d 77 10 5 Programming and Configuration esee eee nennen nnne nnn nnn rien nni nien 80 10 5 1 Communication Between MSC and MACS sss 80 10 6 License KOY E M 81 10 6 1 Run Time License and Accessible Libraries esses 82 10 6 2 CANopen Node ID and IP Address sss 82 10 6 3 Mounting and REMOVING ssssssssseeenneeeene nennen nnne nennen nennen enne 82 10 7 Reset BU ttOri eere eb aeaa aaaea A YARER ERRASSE aAa aa Adaa ERER e EUER ENT RRARRRRR 84 10 8 Power Supply 5s case scenacastenctetacs an IRR FREUE AREE aeea EA aae Aae aeara ER aURRRARERERRRRSERASREKREKEARRARRARERREEARERRTRARR R 85 10 8 1 Behavior at Switching on and Switching off sssss 85 10 8 2 Low Voltage Detection 2e ie Ene ER ce ibt e d ER bed nd 87 10 9 Incem 91 10 9 1 Display of the Operational State sssssssssssssssseeeemereeeene nennen 91 10 9 2 Power Supply ctii tn Rd ep a tn oett ada d e aA eR qua na tede a rad ede e RT E ERA 92 10 9 3 Digital OUtpUts 2 etr torn rr iren n deacedens db n EO E UE RE dia 93 JE MPIsnciBeucpm TIT 96 10 10 Analog Outpu ts eere teneret internet ence ate rut eek E De ecvivavvete kN uia ka RE Da kyX Sub Eau 99 10 10 1 Basic Wiring Diagram sssssseseeneenennn a nennen enne 99 10 1
187. t environment The CANopen node ID is saved in the license key c 10 6 2 CANopen Node ID and IP Address on page 82 10 15 3 Setting the CAN Bus Baud Rate The CAN bus baud rate is set in the application program CAN Bus Termination Resistor of the MSC Setting Modifying MSC s CANopen Node ID 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 114 10 MSC Moog Servo Controller Serial Interfaces 10 16 Serial Interfaces The MSC provides the following serial interfaces MACS interface according to TIA EIA 232 previously RS 232 with MACS front panel connector as a programming interface c 10 5 1 Communication Between MSC and MACS on page 80 The MACS interface is configured in the PLC configuration of the MACS development environment SIO interface with SIO front panel connector SIO interfaces according to the following TIA EIA standards are avail able from Moog TIA EIA 232 previously RS 232 TIA EIA 422 previously RS 422 TIA EIA 485 previously RS 485 When ordering the MSC the type of the SIO interface must be specified The SIO interface s communication parameters are set in the appli cation program Terminal assignment of the serial interfaces c 10 4 1 Terminal Assignment on page 73 Serial interface cables c 7 2 Serial TIA EIA Interface Cables on page 47 10 17 Safety Functions 10 17 1 Watchdog The MSC provides a function f
188. tacts Null Modem Cable Programming Cable Wire Cross Section gt 0 22 mm 24 AWG The other pins are not connected Figure 34 TIA EIA 232 Null Modem Cable Programming Cable with 9 Pole D Sub Mating Connectors according to DIN 41652 TIA EIA interface cables with 1 1 connection can be used to connect termi nals or displays Mating Connector Mating Connector TIA EIA 232 socket contacts pin contacts Interface Cable with 1 1 Connection Wire Cross Section gt 0 22 mm 24 AWG The other pins are not connected Figure 35 TIA EIA 232 Interface Cable with 1 1 Connection with 9 Pole D Sub Mating Connectors according to DIN 41652 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 48 7 Networking M30009 Modules Serial TIA EIA Interface Cables 7 2 2 TIA EIA 422 Interface Cables Mating Connector Mating Connector socket contacts pin contacts Wire Cross Section 0 22 mm 24 AWG o 2 Mus I I I gt Re Fog Bx I I I 1 he g t iol gt lt ty Txt 3 A eee ec ee MERGE NO oe ete f The other pins are not connected Figure 36 TIA EIA 422 Null Modem Cable with 9 Pole D Sub Mating Connectors according to DIN 41652 TIA EIA interface cables with 1 1 connection can be used to connect termi nals or displays Mating Connector Mating Connector socket contacts pin contacts Wire Cross Section gt 0 22 mm 24 AWG B ull M C N a wo N
189. tal mounting plate l amp Figure 18 Placing a DIN Rail Module onto a DIN Top Hat Rail 4 Additional modules can be attached to the right as needed Follow step 1 through step 3 to attach the additional modules 5 Slide the modules to the left on the DIN top hat rail until the modules are joined with no gaps This establishes contact between the Q connectors and pushes the lo cating pins into their mating sockets lt lt pssessosssoossssss Oo00000000000000000 sssssssossosoosssss ppBounggaagaouagaguagt D ssesssosssossssss paoguaugnougnouunur sssossesosssosssss O00000000000000000 ssessscss nang naunr s9sssooss59995555s jigngunnaudunuuuuur 0000000000000000 oooo 0000000000000000 O00000000000000000 E paoanannnanannnannt panannunonunnuunnndg p sesssessssssssss poongngnougunuuunnur pessso99999999995 psssssesossessssss pouunouunguunuununr 999999999995955553 ssssso5995995955655s pannaunnaunnnunnnr ssesssoscssossssss jpanananandnananand ssesssesssessssss pananapnandnuananunrd ssssseosceseosssss jpanananandnanan
190. tate When MSCs have open emitter outputs the LED will illuminate if the terminal is connected through to 24 V L2 When MSCs have open collector outputs the LED will illuminate if the termi nal is connected through to ground M2 Basic wiring diagrams of the digital outputs figure 54 on page 93 The status LEDs I O1 l O8 will illuminate also if L2 or M2 are not connected The operational state of the digital l Os can be queried with the aid of function blocks in the application program 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 91 10 MSC Moog Servo Controller Digital I Os 10 9 2 Power Supply DANGER WARNING WARNING WARNING 2004 Moog GmbH The L2 M2 power supply terminals of the MSC type D136E001 001 are not protected against reverse polarity in deviation from the requirements of IEC 61131 2 Reverse polarity on terminals L2 and M2 will lead to permanent damage to the MSC The L2 M2 power supply terminals of the other MSC types are protected against reverse polarity The L1 M1 power supply terminals of all MSC types and the power supply terminals of the other M3000 modules are protected against reverse polarity If the polarity of these power supply terminals is reversed the modules will not function M30009 modules must be protected from overvoltages and or reverse energization from the sensor to the mod ule There is a danger of e
191. te As soon as the internal data is saved the MSC will go into the IDLE state When the internal energy reserve is exhausted the MSC will go into the OFF state eoo Oo 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 88 10 MSC Moog Servo Controller Power Supply 10 8 2 2 Long Duration Low Voltage A low voltage condition is designated as long duration when the input volt age U falls below the threshold limit and then does not exceed 18 V until the internal data has been saved in the flash EEPROM The MSC will behave in the manner shown below during long duration low voltage conditions U V States of the MSC During Long Duration Low Voltage Conditions SAVE IDLE 24 18 16 Figure 52 States of the MSC During Long Duration Low Voltage Conditions As long as the input voltage is above the threshold limit the MSC will be in the RUN state i e the application program will be executed Explanations of the states gt table 15 on page 88 If the voltage falls below the threshold limit the MSC will go into the SAVE state As soon as the internal data is saved the MSC will go into the IDLE state As long as the input voltage does not exceed 18 V the MSC will remain in the IDLE state and the outputs will remain disabled When the input voltage again exceeds 18 V the MSC will behave as if the power supply had been switched on c 10 8 1 1
192. to corrosion CPRDISP see R modules software for R modules CPRTEMP see R modules software for R modules Current maximum admissible current for the power supply terminals of M30009 modules 42 User Manual M3000 and MSC B95906 001 Version 1 1 06 04 131 13 Index D D1 D7 see LEDs of the MSC Data retention of the MSC 68 Development environment see MACS Dimensions DIN rail modules 29 MSC 68 69 DIN rail modules arrangement between cable conduits 31 on a vertical mounting plate 30 dimensions 29 front view 28 minimum distances between control groups 31 mouting on DIN top hat rails 32 networking 59 63 control groups E bus groups 60 LocalCAN bus groups 61 WideCAN bus groups 62 removing from the DIN top hat rail 35 views of the module 28 DIN top hat rail TH 35 7 5 30 Disclaimer liability see liability exclusion of liability warranty see warranty exclusion of warranty Display and operating terminal see R modules RDISP Disposing M30009 modules 4 Disturbance suppression of MSC s digital inputs 96 Drop height permissible M30009 modules 66 MSC 70 Duplication prohibition for this manual A E E bus 55 58 clock frequency 57 configuration in the PLC configuration of MACS 112 EBus see LEDs of the MSC E bus communication duration of message transmission 57 example 58 message update rate 57 safety instructions 9 57 Scope of the E bus
193. torage This manual and all other associated documentation for hardware and soft ware must always be kept in a location where they will be readily accessible and close to the M3000 control system and M30009 modules or the equip ment in which they are installed 2004 Moog GmbH About this Manual Using M3000 Safely Prerequisites Reservation of Changes and Validity for this Manual Exclusion of Liability for this Manual Completeness of this Manual Place of Storage for this Manual User Manual M3000 and MSC B95906 001 Version 1 1 06 04 1 1 General Information Selection and Qualification of Personnel 1 2 Selection and Qualification of Personnel Only qualified users may work with and on the M3000 control system Qualified Users or M3000 modules Qualified users are properly trained experts with the required knowledge and experience In particular these experts must have the authorization to bring into operation ground and label devices systems and power circuits in ac cordance with safety engineering standards Those people working on a project must be familiar with safety concepts common in automation 1 3 Proper Use The M3000 modular control system is suitable for control applications in the Proper Use medium to high end power ranges M30009 is designed for use within the overvoltage category defined by IEC 60364 4 44 for controlling machines and industrial processes in low volt age sy
194. twork Stations sese 46 10BaseT Cable with Crossed Twisted Pair Wires sssssseen eee 47 10BaseT Cable with Non Crossed Twisted Pair Wires ssn 47 TIA EIA 232 Null Modem Cable Programming Cable semm e 48 TIA EIA 232 Interface Cable with 1 1 Connection sssssse mme 48 TIA EIA 422 Null Modem Cable 49 TIA EIA 422 Interface Cable with 1 1 Connection sssse mmm 49 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 vii List of Figures Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 Figure 44 Figure 45 Figure 46 Figure 47 Figure 48 Figure 49 Figure 50 Figure 51 Figure 52 Figure 53 Figure 54 Figure 55 Figure 56 Figure 57 Figure 58 Figure 59 Figure 60 Figure 61 Figure 62 Figure 63 Figure 64 Figure 65 Figure 66 Figure 67 Figure 68 Figure 69 Figure 70 Figure 71 TIA EIA 485 Interface Cable with 1 1 Connection sssssenn menn 49 Linear Structure of the CAN BUS seeeeeieeesesessssee eese nennen annt AAAA AAAA 53 CAN Bus Interface Cable ssssssssssssssseeene enne nennen nnn eren nnn nnn ESNEA EERE nnne 54 E Bus Group MSC as E Bus Master sssssssssessseeeeeeeee eene nennen nnne nnn 61 E Bus Group RDIO as E Bus Master ssssssssesssseeeeeenne eene
195. ules QCAN I O extension modules see Q modules QAIO and QDIO F F Bus front panel connector of the MSC see field bus interface of the MSC F Bus Field bus interface of the MSC 67 D1 D7 LEDs of the MSC 78 F Bus MSC front panel connectors 72 terminal assignment 77 Figures list of vii Front panel DIN rail modules 28 MSC 72 Front view DIN rail modules 28 MSC 72 G Grounding CAN bus networks 52 CAN bus termination resistor with signal grounding 52 53 grounding concept 37 signal grounding of DIN rail modules 37 41 User Manual M3000 and MSC B95906 001 Version 1 1 06 04 132 13 Index Identification of M3000 modules 22 IDLE see states of the MSC s internal module control Incremental sensors connecting to the MSC 111 112 terminal designations on sensors 112 Inputs of the MSC see I Os of the MSC Insensitivity to corrosion M3000 modules 66 MSC 70 Installation 36 safety instructions 8 30 32 34 39 42 Insulation resistance digital inputs of the MSC 96 digital outputs of the MSC 98 MSC 70 Interface cables CAN bus interface cables 54 part numbers 123 permissible cable lengths in CAN bus networks 54 permissible stub cable lengths in CAN bus networks 54 suitable cables 55 Ethernet interface cables 47 part numbers 123 programming cable 48 serial interface cables 47 49 Interfaces of the MSC 67 CAN bus interface
196. ups c 10 14 E Bus Interface on page 112 2 CAN bus interfaces WideCAN 2 front panel connectors WCAN connected internally 1 1 LocalCAN 2 internally on both lateral Q connectors c 10 15 CAN Bus Interfaces on page 113 1 Ethernet interface on the front panel Ethernet front panel connector c 10 5 1 2 Ethernet Communication Interface on page 81 1 Field bus interface on the front panel F Bus front panel connector provided for optional field bus extension such as Profibus e 2 Digital sensor interfaces according to TIA EIA 422 previously RS 422 for position transducers or shaft encoders with SSI interface or incre mental sensor signals c 10 13 Digital Sensor Interfaces on page 108 MSC Programmable Multi Axis Controller Interfaces of the MSC 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 67 10 MSC Moog Servo Controller General Specifications 10 1 2 I Os Inputs Outputs The MSC provides the following I Os I Os Inputs Outputs 8 Digital I Os prine MSG each individually configurable as an input or an output c 10 9 Digital I Os on page 91 2 Analog outputs each with a voltage output stage 10 V and an additional current output stage configurable as 10 mA 50 mA or 4 20 mA each nominal c 10 10 Analog Outputs on page 99 e 1 Reference voltage output 10 V c 10 11 Reference Voltage Output on page 101 8 Analog inputs confi
197. vironment D If the MSC is used as a master the terminal assignment of the SSI inter face will be different than if it is used as a slave MSC connection diagram master mode gt figure 71 on page 109 MSC connection diagram slave mode gt figure 72 on page 110 10 13 2 1 SSI Master Mode In SSI master mode the MSC generates the SSI clock internally sensor 1 CLK1 sensor 2 CLK2 with adjustable frequencies in the range between 78 kHz and 5 MHz The frequencies are set in the PLC configuration of the MACS development environment When idle the clock signal will be in the 1 state The first falling egde of the clock signal tells the SSI sensor to hold its momentary value The clock sig nal s subsequent rising egde starts the data transmission of the SSI sensor The output begins with the most significant bit MSB After a complete data set has been transmitted the SSI sensor holds the data signal in the 0 state until the SSI sensor is ready for another transmission The return of the data signal to the 1 state simultaneously fulfills the condition the SSI interface needs to trigger a new read in cycle Data Signal SSI Master SSI Sensor SSI Clock CLK Figure 71 Connection Diagram of the MSC in Master Mode Connecting SSI Sensors to the MSC MSC in SSI Master Mode Connection Diagram of the MSC in Master Mode 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 109 10 M
198. ware training English Content of the training B95994 MSC and extension modules Configuring and using MSC and extension modules Using control engineering libraries Knowledge about creating IEC 61131 application programs is required to participate in the hardware training This knowledge is imparted in the MACS and IEC 61131 software training Hardware training German Content of the training B95995 MSC and extension modules Configuring and using MSC and extension modules Using control engineering libraries Knowledge about creating IEC 61131 application programs is required to participate in the hardware training This knowledge is imparted in the MACS and IEC 61131 software training Table 34 Product Range Training Programs 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 125 12 Appendix Typographical Conventions 12 Appendix 12 1 Typographical Conventions DANGER WARNING CAUTION blue text WCAN Frequency 2004 Moog GmbH Identifies safety instructions that are intended to warn of an immediate and impending danger to life and limb or major property damage Failure to observe these safety instructions will lead in evitably to death serious personal injury disablement or major property damage Identifies safety instructions that are intended to warn of potential danger to life and limb or the potential for ma jor property dama
199. wdriver is inserted into the round opening for the wire the spring loaded terminal might be destroyed Spring loaded terminals make it easy to rapidly connect supply and signal cables Procedure for connecting a wire 1 Insert the tip of a screwdriver into the rectangular opening of the spring loaded terminal and press the screwdriver downward 2 Insert the wire into the corresponding round opening 3 Remove the screwdriver from the opening The spring will hold the wire in place Connecting Signal Cables Safety Instructions Connecting Signal Cables over Plug In Terminal Strips Connection Methods for Plug In Terminal Strips of DIN Rail Modules Spring Loaded Terminals 2004 Moog GmbH User Manual M3000 and MSC B95906 001 Version 1 1 06 04 45 7 Networking M30009 Modules Ethernet 7 Networking M3000 Modules 7 1 Ethernet Refer to the following for information about using the Ethernet interface to fa cilitate communication between the MSC control module and the MACS de velopment environment c 3 1 M3000 System Architecture on page 15 c 10 5 1 Communication Between MSC and MACS on page 80 c 10 5 1 2 Ethernet Communication Interface on page 81 7 1 1 Peer to Peer Connections To establish a peer to peer connection between 2 stations in an Ethernet net work 10BaseT cables with crossed twisted pair wires are needed The con nectors should be indirectly wired pole 1 to pole 3 pole 2 to

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User Manual M3000® and MSC