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Wiring. System Power Connections 43

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Wiring

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System Power Connections

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DANGER

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The is responsible for conforming to NEC and all other applicable local codes. Wiring, grounding, disconnects and overcurrent protection are of particular importance. Failure to observe this precaution could result in severe bodily injury or loss of life.

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IQ-2OOO PCM

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The PCM-10, PCM-20 and PCM-30 require single phase AC power, lo}-24o vAC. The pcM-75 requires single or three phase AC power, 100-U.O VAC. The input power may be optionally isolated through a transformer. Field wiring must be copper, with a minimum rating of 60"C. The phasing of L1 and L2lI.{ to the PCM-10, PCM-20 and PCM-30 is arbitrary. The phasing of rhe PCM-75 is Ll, L2A.{ and L3 The earth ground connection is required for safe and proper system operation. Terminal block connections should be torqued to 11 lb-in (1.25 Nm). The IQ-2000 does not contain supply fuses or disconnecting devices. These must be supplied by the machine builder and co¡nected externally for safety

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and maintenance pu4)oses.

Refer to üe following drawings for complete power wiring details.

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PCM-10, -2O ar:Ld -30 Power Wiring Diagram, drawing 9l0l-Zlg5 on page 76 PCM-75 Power Wiring Diagram, drawing 9LOI-1453 onpageTT

These drawings show an optional AC line filter, and shielded motor cable. These can be used in conjunction with the grounded metal enclosure to meet tle Electromagnetic Compatibiüty requirements of the European Machinery Directive. A discussion of EMC can be found in "system Installation for Elec-

lQ 2000/5000 lnstallation Manual

44

Wiring. System Power Connections tromagnetic Clmpatibili ty" otpage 25.

DANGER Shielded power cables must be grounded at a minimum of one point for safety. Failure to ground a shield power cable will result in potentially lethal voltages on the shield and anything connected to it. Auxiliary Logic Power Single phase AC power, IOO-240 VAC, may be supplied to the internal logic supply through and

Ll

ALIX

L2lN ALIX.

Supply power to the logic supply is useful if the PCM logic must stay ON when üe motor power must üis would be useful, since position information is maintained as long as logic power is on. Another example would be mahtaining PCM logic power so the PCM serial interface could be used for troubleshooting and diagnostics. be turned OFF. Absolute positioning is one example of when

IQ.5OOO PCM Power Supply Module (PSM) The Power Supply Module (PSM) can supply DC power to as many as six PCM modules. Three phase AC power, ll5l23Ü VAC, is the only required input power for the PSM. The input power may be optionally isolated through a transformer. Field wiring must be copper, with a minimum rating of 60"C. The phasing of üe input power L1, L2, andL3, is arbitrary. The earth ground connection is required for safe and proper system operation. Terminal block connections should be torqued to 11 lb-in (1.25 Nm). on the PSM-50 ard24lb-rn (2.75 Nm) on the PSM-125. The IQ-5000 does not contain supply fuses or disconnecting deüces. These must be supplied by the machine builder and connected externally for safety and maintenance purposes. The Power Suppty Modules will continue to operate with reduced capacity with the loss of one phase. The red phase loss LED on the front of the PSM will turn ON to indicate the loss of the phase.

CAUTION The power supply module allows for operation to continue even in the event of loss of one phase or during power disruption on the three phase AC inputs. Under these conditions, the Phase Loss LED will light, but the power supply is not disabled. Extended operation of this product with an AC phase input missing will reduce the life of the product. Refer to drawing 9101-0411 on page 74 for details. This drawing shows an optional AC line filter, and shielded motor cable. These can be used in conjunction with the grounded metal enclosure to meet the Electromagnetic Compatibility requirements of the European Machinery Directive. A discussion of EMC can be fouud in "System Installation for Electromagnetic Compatibiüty' otpage 25.

Positioning Drive Modules (DC Bus Power) The DC bus from the PSM supptes power to the IQ-5000 PCMs. The DC bus must be connected as shown in drawing 9101-0411 on page T4,wifhthe PSM in the center, ¡¡sing the connection wires pro-

vided.


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Wiring. System Power Connections 45

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CAUTION

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b b h LY L l\t b L tv L LY L LY L LY L LY L

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Do nof substitute the DC bus wires provided with other wires. Failure to observe this precaution may result in damage to or destruction of the equipment.

Auxiliary Logic Supply An auxiliary power supply module (PSM-AUX) is available to supply DC power to the logic supplies of up to four PCMs if the PSM is OFF. The PSM-ALIX uses single phase 115 VAC power as the input. The PSM-AUX option is usefrrl if PCM logic power must stay on even when the motor supply (the PSM) is off. Absolute positioning is one example of when the PSM-AIIX would be useful, since position i¡formation is maintained as long as logic power is on. Another example would be maintaining PCM logic power so the PCM serial interface could be used for troubleshooting and diagnostics. Refer to the drawing 9l0l-OL34 on page 75 for wiring information on the PSM-AUX and optional PSM-ALX isolation ffansformer. PSM Interface

logic

The Status signal and the Enable signal on the PSM are proüded to interface the PSM wiü the PCM or another control. The following drawings illustrate typical internal circuitry for the interface connections, and sample external connections of the PCMs.

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POI.IE

R SU?PLY

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F F

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XIE RNAL ENABLE

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PSM Interface - Internal Circuit Examples

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Wiring . System Power Connections

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-f PSM Interface - External Connection Examples Pin #

Signal Name

P1

I

Status-

General

2

Status +

Purpose

J

PSM Enable-

Inputs/Outputs

4

PSM Enable +

PSM Connector

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L lQ 2000/5000 lnstallation Manual

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Wiring'System PowerConnections 47 Status

E" P

F P P

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F F

lrr

p

The Status outputs are the s of a normally open relay, which closes to indicate that the PSM is operating properly. An open relay signals that no AC power is applied to the PSM or that a PSM fault has occurred. Refer to the above drawing for connection examples. Enable The PSM Enable input is an optically isolated input which controls the power output of the power supply module. The PSM Enable input is turned on by sourcing current through the opto-isolator. Refer to the above drawing for connection examples. The input is only functional ifjumper Wl is il the optional

position, A (see figure below).

With the jumper in the enable input activated position (optional Position A), the PSM is enabled if the enable input is ON. With the enable input OFF, üe PSM DC bus is turned OFF and the dissipative shunt is turned ON to quickly discharge the DC bus capacitors and dynamically brake synchronous motors. This is to allow time for the PCMs to power-up and apply the enable signal to the PSM if the PSM is to remain on.

WARNING lf the PSM is disabled during a power up, the DC bus voltage will be present for at least two (2) seconds before returning to a zerc (0) Volt condition.

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With the jumper in the enable input deactivated position (standard Position B), the enable input has no effect on the PSM operation and the PSM activates itself when tkee phase voltage in the proper voltage range is connected to the input.

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DIAGNOSTTC INDICATOR LIGHTS

POWER SUPPLY MODULE CIRCUIT BOARD

(COMPONENTSIDE)

TB1

L F p

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INTERFACE CONNECTOR

W1 JUMPER SETTING

SELECTS:

SHORTING JUMPER ACROSS TOP 2 PINS (POS|T|ON A)

EXTERNAL ENABLE INPUT IS SELECTED.

MANUAL FOR SIGNAL SPECIFICATION

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AND DETAILS OF OPERATION BEFORE

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EXTERNAL CONNECTION IS REQUIRED

TO CONNECTOR TB1 SIGNALS ENABLE+ AND ENABLE-. REFERTO INSTRUCTION USING POSITION A,

SHORTING JUMPER ACROSS BOTTOM 2 P|NS (POSTTTON B) (STANDARD SETTING)

EXTERNAL ENABLE INPUT IS DE.ACTIVATED, POWER SUPPLY I\4ODULE IS ENABLED WHENEVER INPUT POWER IS APPLIED AND NO POWER SUPPLY I\4ODULE FAULT CONDITIONS ARE DETECTED,

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Power Supply Module Jumper Location

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Wiring r System Power C"onnections Replacing the PSM Shunt Fuse (IQ-5000 only) To check anÜor replace this fuse: The DC Bus shunt fuse is located in the Power Supply Module.

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incoming power is OFF Make sure Measure voltages atLl,L2,and L3 phase to phase to ensure cover' the PSM Remove OFF that the green PSM READY LED is Remove the shunt fuse and test with an ohmmeter'

WARNING when replacing the PSM 50 and PSM 125 s-hunt fuse a DC rated fuse must be used'

J.

Replace the shunt fuse.

4.

Install the PSM cover.

Shunt Resistor

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Power SuPPIY Modulg (lQ 5000 OnlY) .

PSM-125 20 AmpeE KLKD-2o or KLitr2O PSM - 50

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PSlr-125 wiih exterml shuot

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DC Bus Terminals

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Wiring'System PowerConnections 49

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Opárator Termina!

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The Operator Terminal may be powered from 115/230 VAC single phase or optionally, *om24 VDC or 24yAC. The Operator Terminal must be properly grounded to prevent it from radiating radio frequency noise.

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The following diagram illustrates the power connections to the operator Terminal.

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GROUND (EARTH) 115/230 VAC (NEUTBAL) 11s1230 VAC

HOT)

Operator lbrminal Power Connections (1.15/230 \4\C Version)

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GROUND (EARTH) 24 VDC (DC-), 24 VAC (NEUTRAL)

24vDC (DC+), 24 VAC (HOT)

Operator Terminal Power Connections (24 VDC, 24VAC Version)

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50

Wiring. System Power Connections t

Motor Power Connections The phasing of the three phase drive module outputs R, S, and T must conform to the motor R, S, and T leads for proper operation. Connect the earth ground to ensure a safe installation and proper operation.

Refer to the following motor connection üagrams for connector, pin, and signal identification.

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IlAT.NG

IVE

P0\"iE a CONNE CTOR

CONNECTOR

R

.6600

fi0T0R

IlOTOR PCi./ER

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TERY I NALS

DR

I-5300

S-SER]E5 AND F-5ERIE5 IIOTORS

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Notes:

1. 2.

Do not interchange any connections in this cable.

Ground Connections: lQ-2000 IQ-5000

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Terminal - Screw MG Stud Wire colors shown are for

cables supplied by Electro-Craft

Motor Power Connections

WARNING High voltage may be present on the terminals of the lQ-Series Positioning Control Module. Remove power and disconnect the power cable before making or removing any connection.

Cab1e sizes are

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inücated in the appropriate drawings:

910l-2195 on page 76 for the PCM-10, PCM-20 and PCM-30 (IQ-2000) 910l-1453 on page 77 for the PCM-75 (IQ-2000) 9101-0411 on page 74 for the IQ-5000.

Standard cables supplied by Electro-Craft are not intended for applications where frequent flexing occurs. The motor connectors are intended to be connected or disconnected only when the system power is off, and must zol be used to disconnect live equipment.

WARNING Motor power connectors are for assembly purposes only. They should notbe connected or disconnected while power is applied to the drive.


I

Wiring. System Power Connections

51

CAUTION Do nottin (solder) the exposed leads on cables. Solder contracts over time and may loosen the connection.

Shield Termination of Power Cables

DANGER Shielded power cables must be grounded at a minimum of one point for safety. Failure to ground a shielded power cable will result in potentially lethal voltages on the shield and anything connected to it. F-, H-, N- and S-Series Power Cables Electro-Craft motor power cables are shielded. The power cable is designed to be terminated at the drive during ilstallation. A small portion of the cable jacket is stripped, which exposes the shield wires. The exposed area must be clamped at the left front of the drive chassis using the clamp provided near the bottom. It is critical for EMC performance that the shield wires be clamped against the area of the chassis which is not painted. This section of thp chassis is labeled with the chassis ground symbol.

Cable Jacket

Motor Power EMC Shield Connection Drawings which illustrate the power connections for specifi.c F-Series, H-Series, N-Series, S-Series, WSeries, and I-Series motors are supplied with the motors and are available in the Electro-Craft catalog or via the Electro-Craft BBS.

i lQ 2000/5000 lnstallation Manual

52

Wiring . Control Connections a

Control Connect¡ons This section covers the control and interface connections between the PCM and the rest of üe system. This includes: Digital VO, Analog VO, Relay Outputs, Encoders, Step and direction Inputs, and Serial Ports.

The following diagram illustrates all control connections to the PCM. OPERATER STATlO\

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PRO6RAMMI NG TERMI NAL

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PCM Control Connections

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Wiring. Control Connections

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Oigital lnputs and Outputs Each IQ-Series PCM provides 16 optically isolated inputs and 8 optically isolated outputs fo¡ machine confol and interface. The general purpose VO uses a24 voltDCsuppty voltage. rire pcvt has an internal24YDC @ 500 mA power supply for üis pu{pose, isolated rrom t¡e logic common. The 24 volt common must be tied to machine ground to provide a corrrmon ground reference. The 1A fuse, Fl, on the PCM protecrs the hternal 24VDC supply.

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Note:

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The may supply externar 24vDower by removing wire jumpÁ the PCM logic board, and connecting the external supply to t¡e iz+únc mon on connectors P1 and p2.

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and

Pin

1 of the interface connectors P1,P2, and P3 is located at the bottom of the connector and is indicated on the front of the pCM.

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IN|ITERNAL

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INTEFÍ{AL 24 VDC §UFPLY

75M mS PER 56emA TOir=Al.

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The lQ-series uses sinking (NpN) styre inputs and outputs. This is the most common interface used ¡n the usA. rf a ground fault occurs on an input, it can become active and may result in a potentially hazardous unanticipated machine state. Electro-Craft for more information.

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CAUTION

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Typical Digital VO Wiring

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The IQ 2000/5000 has sinking (active low) vo which is common in the uS, but sourchg (active high) V o is preferred in Europe. Electro-craft offers a DIN rail mounted interface board which converts the vo from sinking to sourcing (active high). This hterface board must be mounted in the same enclosure as the drive. The interface board and cables are listed below:

. . .

9103-0t52

24YDC Sourcing VO Conversion Card

44-0t41_o03

IQ-Series to VO Conversion Card, 3-foot Cable

44-0141-OLO

IQ-Series to VO Conversion Card, l0-foot Cable

IQ 2000/5000 lnstallation Manuat

54

Wiring . Control Connections

Digital tnpirts The opücally isolated inputs are connected with an internal pu[-up resistor to +24 YDC. Making a connection fo the 24 volt common (closing a switch) will allow curent to flow through üe opto-isolator, turning it on. In general, inputs are considered ON in this state, and OFF when there is no connection from the nputto )4 volt common. The Forward and Reverse Limit switches are exceptions, with the switch open indicating that a limit has been hit. The Home Switch input parameter defi.nes the Home switch input to be open or closed to indicate the home position, and the PAUSE parameter can select the Pause input as active open or active closed.

The general purpose inputs on the PCM are referred to as I1 through 116 in program statemetrts. Inputs 11 through I10 can be assigned the predefined functions shown in the table below. Inputs I11 andll2 may be used as Intemrpt inputs. Inputs I12 to 116 may be used as program select inputs. Any of these input functions may be üsabled and the inputs used as general purpose inputs. ,

In adütion to the input functions defined below, other functions may be assigned to any available input. These optional input functions are Hardware Reset, Kill program, and Define Home Connector P1

Pin

Signal Name

Assignable Function

1

24YDC Common

2

Input 1 (I1)

Forward Limit

J

Input 2 (I2)

Reverse

4

Input 3 (I3)

Enable

5

Input 4 (I4)

Start Program

6

Input 5

(5)

Home Switch

7

Input 6 (16)

Home Command

8

Input 7 (I7)

Jog Reverse

9

Input 8 Q8)

Jog Forward

10

Input 9

11

Input 10 (I10)

Emergency Return

t2

Input

(I11)

Intl / Program Select

t3

Input 12 (I12)

Int2 / Program Select

T4

Input 13 (I13)

Program Select

General Purpose Inputs

(9)

11

Limit

Pause


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Wiring ' Control Connections

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Connector P2

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General

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Purpose Inputs

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Pin

Signal Name

Assignable Function

1

Input 14 (I14)

Program Select

2

Input 15 (I15)

Program Select

3

Input 16 (I16)

Program Select MSB

t2

+24YDC

and Outputs

Note: Even if an input is assigned a function it may be used

as a general purpose

input.

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Digital OutPuts outputs are The general purpose outputs are referred to as 01 through 08 in progfam statements' The These inputs. purpose general the by used supply 24 volt same on the optiáIy isolated and operate and 06, 07, Outputs 1 volt. less than to driven continuously, mA 75 ootprrt.-*" all capable of sinking however, outputs, Error and In Position, Complete, Sequence Home 08 are defined respectively as Optionally' these output functions may be disabled and the outputs used as general purpo§e ouQuts' as an At be enabled may 05 Output and output, Running Program as a Output O+^uy be enabled

Home output.

External circuitry must be used to ensure the state of digital outputs in an emergency stop situation. The lQ-series will nof automaticallY turn outputs off.

Connector P2

Pin

Signal Name

Assignable Function

4

Output 1 (O1)

5

Output 2(O2)

6

Output 3 (O3)

1

Output 4 (O4)

Program Running

8

Output 5 (O5)

At Home

9

Ouput 6 (06)

Home Sequence Complete

10

Output 7 (O7)

In Position

11

Output 8 (O8)

Error

t2

+24YDC

+24YDC

P2

General Purpose Inputs and Outputs

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Connecting Inputs and Outputs Tbgether

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A digital output from a PCM may be connected to an input on the same controller or another controller. A single wire connection between the output pin and the input pin is all that is required. If conaecting V conO between controllers, the 24 VDC common (Pl pin 1) also needs to be connected between each troller.

Multiple digital outputs may be wired together to form a wire OR connection. If any one of the outputs turns on, tfre me is pulled low (on). This is useful for connecting the Error output§ (O8) from each axis of a system to a host PLC or machine controller to indicate an eüor in any of the axes. Multiple ügital inputs may be wired together. If the line is pulled low, all connected inputs will turn on. This is .r*"ñrl fo, connecting an input on each axis of a system to an output from a host PLC or machine conüoller to sYnchronize event§.


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Wiring. Control Connections 57

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Anrlog lnput

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The Analog to Digital converter (ADC) input, ADCl, on P3-5 may be used to read any analog signal with a range of +10V. The analog signal ground must be connected to the Analog Common on connector P3-4. The Analog Common is tied to earth ground internally. The 10 bit ADC has a resolution of approximately 20 mV. This anaput may be used as a general purpose anaput or as the feedrate input. Refer to the IQ Master Manual for detailed information on the use of this input.

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Signal Name

Connector

Pin #

P3

4

Analog Common

5

Anaput (ADCI)

Analog UO and Status

E

Anatog Input and Output -

§pical Internal Circuits

ilir"Jr"r"'H:g

converter (DAC) ouq)ut, DAC1, on pin p3-6 outputs an analog signal with a The analog signal ground must be connected to the Analog Common on pin P3-4. range of t10 volt. has resolution of approximately 5 mV. Refer to the IQ Master Manual for detailed The 12 bit DAC a ouput. the use of üris information on Signal Name

Connector

Pin #

P3

4

Analog Common

6

Analog Output (DAC)

Analog VO and Status


58

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Wiring'ControlConnections

Monitor OutPut variable to be moniThe Programmable Monitor output allows a system variable to be monitored' The output is a t10 monitor The tored is selected in tle Monitor menu, Variable Monitor Set Up dialog box. on the information for detailed volt analog signal with 8 bit resolution. Refer to the IQ Master Manual use of this output.

Signal Name

Connector

Pin #

P3

4

Analog Common

7

Programmable Monitor


Ready Relay OutPut powered up and The Ready output @3-1) is a normally open relay that closes when the PCM is This is no faults exist withi¡ the PCM. Relay Common (P3-3) is the common of this . rated 0.3 A af 24 VDC. The Ready output will open if a system fault occurs.

Connector P3

Pin #

Signal Name

1

Ready (Relay output)

J

Relay Common


P3

I Brr DAC OUT (MONITOR) 12BIT DAC OUT 1O BIT A/D IN ANALOG COMMON RELAY COMMON

NORMALLY NORMALLY

Enable and Ready Relay - Typicat Internal Circuits


Wiring' Control Connections

Enabled Relay Output The Enabled output (P3-2) is a normally open relay . The Enabled oulput closes when the PCM is enabled, and opens when the PCM is disabled. Relay Common (P3-3) is üe common of this . This is rated 0.3 A at 24YDC.

Connector

Pin #

P3

2

Enabled (Relay outpu|

J

Relay Common

Signal Name


External circuitry must be used to ensure the state of digital outputs in an emergency stop situation. The lQ-Series will nof automatically turn outputs off.

J


L-

60

Wiring'ControlConnections ¡

Encoders The pCM provides interfaces for two separate encoder connections. The PCM will accept with encoder inputs at a maximum frequency of 750 kHz on a single channel (A or B) for encoders input to encoder the on multiplier four times is a phase erroi of less than or equal to 45 degrees. There to one is equivalent counts pCM four encoder so on both the encoder 1 and encoder 2 inputs, the per revoluencoder line. With a standard 2000 line encoder, the PCM will count 8000 encoder pulses

:

tion. accept differential (line driver) quadrature signals from a 5 volt incremental encoder. The facaccepts A, B, and I (Index) signals from the encoder, with A leading B for clockwise rotation

The pCM

pCM

will

ing the motor drive shaft. Connections afe provided for A+, A-, B+, B-, I+, I-, +5 VDC, and common signals.

L Encoder Input Circuitry ExamPle Encoder

I

Encoder 1 must connect to the encoder mounted to fhe motor. This is the only motor mounted necessary for control of the motor velocity. This encoder is also nomrally used for position . The Encoder 1 interface also i¡cludes connections for the normally closed thermostat in the motor windings, and for an analog start-up signal required for proper operation'

glOl-2On-)C{J(' on page 81 for connecRefer to the drawings of cable 9101-2031-XX on page 80 and tions to H-, F-, or S-Series motors.

t


'!D

Wiring

t

. Control Connections

¡l

i

Connector

t17

t t t

Signal Name

Pin # 1

A+

2

A-

¡r

3

B+

f..

4

B-

5

I+ (Index)

6

Common

7

Common

8

No Connecúon

9

+5 VDC

10

I- (Index)

11

TS- (thermostat)

t2

TS+ (thermostat)

13

Analog (Absolute Posi-

P5

Encoder

Input I

f'o

tr ¡t

f't f'r F

l'r l'r

F, FI

F,

l',

b

tu

F, F, F,

l't F

r'

tion)

t4

+5 VDC

15

Shield

F"

H

F"

FI F?

E F"

FI

F=v F'

b

tr


62

Wiring. Control Connections D

p5_156_snrELD_ P5-14 < p5-13

*5 VDC

6AMLG-

ps-tz< TS* P5-11 <

TS-

ps-rceL *5

VDC

P5-9 < NC P5-8 < coMMoN P5_7 ( coMMoN P5_5 < na,

,B-

^E^

Z--

ñE

^

A-

¿-:_:-

A* P5-1 (

Encoder 1 Connections Encoder 2 The Encoder 2 input interfaces to an optional second encoder which can be used as position directly from the load, or as a master input for relative positioning, master-follower systems, or for elec-

tronic gearing. As an alternative, the Encoder 2 portmay also be used to output encoder 1 signals when only the motor mounted encoder is used. The function of the Encoder 2port is selected as input or ouq)ut in the Parameter menu, Configuration dialog box. Refer to the 1Q Master Manual for detailed information.

will accept differential Qine driver) quadrature signals from a 5 volt incremental encoder. The PCM accepts A, B, and I (ndex) signals from the encoder, wiü A leading B for clockwise rotation. Connections are provided for A+, A-, B+, B-, I+, I-, +5 voLts, and common signals. The I+ and I- signals do not need to be connected ifnot needed. The PCM

The Encoder 2 signal wires to the PCM should be shielded. The shield should be connected only at the encoder end. However, in some applications it may be necessary to connect the shield at the PCM end of the cable also. Connector P4 includes a separate pin (Pin 15) for this purpose. Refer to the drawing of cable9l9l-203l-X)O( on page 80.


ü

lE Wiring'ControlConnections 63

Connector

;

Pin #

Signal Name

1

A+

2

A.

3

B+

4

B.

5

I+ (Index)

1

Common

9

+5 VDC

P4 Encoder

Inpt2

(250 mA maximum)

P4_15

P4-14 P4-13

10

I- (Index)

15

Shield

=§!LE!Q_ ( +5 vDc

< DIRP4-le. STEP' STEP* P4-11 <

p¿-loJ

( P4-B . P4-g MASTER ENCODER

+5 VDC DIR+

coMMoN

P4_7 < coMMoN P4_6 <

P4-s

l*

P4-4 , B-' P4-3 < B* -

P4-2 l-

P4-; +41

Encoder 2 Connections Slaving One IQ to Another

tt

al

In applications where an IQ needs to "follow" another IQ-Series controller using electronic geariag, the P4 connections may be used to provide a simple method of wiring the motor encoder signals from the master IQ to the Encoder 2 input of the follower (slave) IQ. The master IQ needs to be configured to output its motor encoder signals on P4. Refer to the lQ-Series Master Manual for detaied fuformation.

A standard cable, 9101-2127-OO2,is available for this purpose. Refer to üe drawing of this cable on page 80.


64

Wiring

. Control Connections

Step and direction lnputs The PCM can accept step and direction inputs on P4 which provide a standard interface to an indexer.

If

the step and direction inputs on P4 are used, the encoder 2 port may still be used as encoder 1 out, but not for connections to an auxiliary encoder input. The step and direction inputs require a source to drive a 10 mA load at 5 VDC. TTL levels are compatible as long as the input current is sufficient. These opti-

L

cally isolated inputs are suitable for open-collector drivers on the inputs. The source ofthe step and direction signals must provide power for tle opto-isolators as well as step and direction signals. The figure below illustrates the connections for active high and active low signals to the step and direction inputs.

Connector P4

Pin #

Signal Name

8

DIR+

11

STEP+

l2

STEP-

13

DIR-

15

Shield

Encoder Input 2

Step and DiÉcl¡on

Step and D¡Ec't¡on

Act¡ve

Active High

Lil

Step and Direction Input Connections The input resistauce provides the proper current limit for a +5 VDC signal. External resistance in series with the step and direction lines to limit current to 10 mA allows operation with voltages greater than 5 Volts.

Re Re

= =

vcc-1'8 10

-0.470

External Resistance GC¿)

Vcc = Signal Voltage The step input is active low and will accept a square wave input with a maximum frequency of 800 kHz. The direction input is high for motion in the forward direction. The direction input should change a minimum of 4 microseconds before the.first step pulse ir that direction.

lQ 2000/5000 lnstallaüon Manual

L

Q

Wiring'ControlConnections 65

,

, a-,

The distance moved given an input of N step pulses is a function of the software gear ratio set in PCM. The number of encoder counts moved is:

Motor Encoder Counts

= (N step pulses, (;)

Motor Encoder Counts

= The distance

N step pulses a

b

=

üe

the motor moves

= The number of pulses from an indexer

The software gear ratio

The signal wires from the indexer should be shielded, and the shield con¡ected to the chassis of the

device generating the signals. In some cases it may be necessary to cónnect the shield at the PCM end of the cable, at P4- 15.

Serial Ports There are two serial ports on a PCM. Serial port 1 is on connector P7 and serial port 2 is.on connector P6. The optional Operator Terminal is connected to the PCM through serial port 1 on P7. Serial port 2 on P6 is used as the programming port for a PC that is running IQ Master. Serial port 2 is also üe serial port used for Host communications. Data may be sent to, or received from either serial port by an application program. The application may use a PRINT statemert to send data and a READ statement to receive data. Refer to fhe IQSeries Master Manual for detailed information.

Several parameters select the operating mode for serial communications. Both ports either RS-232C or RS-422 communications. The ports operate at baud rates of 12OO,2400,4800, 9600, or 19200. Refer to the lQ-Series Master Manual for detatled information The default setup for the serial ports is: Serial Port

.l

Serial Port 2

9600 baud

9600 baud

No parity

No parity

8 dat¿ bits

8 data bits

1 stop

bit

1 stop

bit

Handshaking ON

Handshaking ON

RS-232C protocol

RS-232C protocol

Host Computer Serial Port 2 on connector P6 provides the communication interface between the PCM and the personal computer used for programming and configuration. This is also üe serial port that must be used for

Host communications. One or more IQs may be installed on an RS-422 multi-drop network or an RS-232C daisy-chain network. If more than one IQ is in the network, each must have a unique address selected on the SW1 dip switch. Refer to"Networking IQ-Series Controls" on page 69 for more information.


66

Wiring.ControlConnections u

Signal Name

Connector P6

Pin #

RS-422

RS-232

1

No Connection

RXD+

2

RXD

RXD-

3

TXD

TXD-

4

No Connection

TXD+

5

Common

Common

6

Shield

Shield

Serial Port 2

Below are figures showing the typical RS-232C connections between a personal computer (PC) and the PCM. These diagrams illustrates the connections required for programming a single PCM.

IQ P6

PC 9-pin Serial

Connector

Connector

2

RXD- P6-2 TXD- P6-3 COM P6.5

RXD

3 TXD 5 GND

Shieid P6-6

P6

PC 25-pin Serial

Connector

Connector

IQ

2 rxD

RXD- P6-2 TXD- P6-3

coM

3 7

P6-5

RXD GND

Shield P6-6

Personal Computer RS-232C Connections For RS-422 connections between an IQ and the host computer, refer to "Networking IQ-series Con-

trols" on page 69. F'stablishing Communications between IQ Master and the PCM

1. 2.

ConnecÍ the serial cable between PCM connector P6 and a serial communications port on the PC. Start IQ Master.


Wiring. Control Connections 67

3.

áo to tfr" Diagnostics menu and select Version. If

4.

If you have selected an address

a dialog box with the version is displayed, your get you an error message proceed with step 4. communications are working properly. If on the address DIP switches, that the same address is selected

in üe Communications menu, Axis Select dialog box.

5.

If you get

6. 7.

that the serial cable is constructed properly

8.

If you still have not been able to communicate with the PCM, Electro-Craft Product Sup-

an "IQ not responding" error message, go to the Communications menu, PC Setup and check your communications setup. You should first that the communications port that you have selected is the one that your cable is connected to. Then verifu that the communications protocol matches the protocol in the PCM. If this is not a new PCM any of these setti:rg may have been changed by the preüous . The factory settings for a new PCM are listed above.

that your system has the serial communication port that you have selected. With Windows, you received the Microsoft Diagnostic program, MSD.EXE. Exit IQ Master and Windows and type msd at the DOS prompt. Select the Com Ports button. that there is a port address for the serial port that you have selected. Return to Windows and IQ Master. port.

'#"':;'":#::^*rrerminat

connecrs to connects to the pcM through seriat port t onw.*" "*r" the COM1 connector on the back of the Operator terminal. The COM1 coilnector is a twenty-five pin male D connector. The IQ Operator Terrninal may be wired using RS-232C for distances up to 15.2 meter (50 feet). For longer distauces, RS-422 should be used. Refer to the lQ-Series Master Manual for details on configuring serial port 1 for RS-422 use. Refer to the following diagrams for wiring details.

As an option, any generic operator terminal may be connected to the PCM Serial Port 1. In the default confi.guration, the PCM expects an IQ Operator Terminal to be connected, so if a generic terminal is used, the PCM must be configured properly. Refer to the lQ-Series Master Manual,PartZ o IQ Master Environment, Parameter menu, Serial for details. Signal Name

PCM Pin #

Connector P7

Serial Port

1

RS-422

RS-232

1

No Connection

RXD+

2

RXD

RXD-

J

TXD

TXD-

4

No Connection

TXD+

5

Common

Common

6

Shield

Shield


Wiring . Gontrol Connections

, IQ Operator Terminal Connector

COMl

Pin #

Signal Name

1

Chassis ground

2

TXD (RS-232 transmit)

3

ru(D GS-232 receive)

l4

T)Oi

15

TXD- (RS-422 transmit)

t6

RXD+ (RS-422 receive)

t7

RXD- (RS-422 receive)

7

Signal ground

IQ

Operator Terminal

P7

Connector

coMl Connector

RXD- P7-2 TXD- P7-3

coM P7-5 Shield P7-6

2

(RS-422 transmir)

§

TXD

3 RXD 7 GND

IQ Operator Terminal RS-232 Connections

IQ P7

Operator Terminal

Connector RXD+ P7-1

RXD- P7-2 TXD- P7-3 TXD+ P7-4

coM

P7-5 Shield P7-6

coMl Connector 14 TXD+

15 TXD-

17 RXD16 RXD+

7

COM

IQ Operator Terminal RS-422 Connections


.T

E Wiring'ControlConnections

E

69

Nelworking the IQ Operator Terminal

.¡17

An additional option is to connect one Operator Terminal to multiple PCMs. This method requires RS422 contecttons as shown in the following drawing. A PCM may be selected from the terminal by usiag the NO key followed by the numeric key corresponding to the PCM Operator Terminal address which must be set up in IQ Master. Refer to the IQ Master Manual for configuration details.

IQ Operator Terminal RS-422 Multi-Drop Connections Networking lQ-Series Controls One or more PCM may be i¡rstalled on an RS-422 multi-drop network or an RS-232C daisy-chain network. If more than one PCM is on the network, each PCM must have a unique address selected on the

SWl DIP switch. 12345678

EEEEEEEE Dip Switch SlVl Switches SW1-1 through SW1-6 are used to select the address. Switch SWl-1 is the least significant bit and SW1-6 is the most significant bit of the binary address. If the address is set to anything other than 0, the PCM witl not communicate until its address has been selected (use Axis Select under the Communications menu). Changing the address on the dip switch will not be recognized by the PCM until a Hard Reset is performed (or power is removed). The following diagram illustrates the dip switch setting for address 5.

I

2345678

HHHHHIE Dip Switch SWl Set For Address 5 Example Switch SW1-7 is used to select the mode of operation of the serial port 1..If SW1-7 is OFF, serial port 1 functions as an independent serial port. If SW1-7 is ON, serial port 1 and serial port2 are linked together (daisy-chained). Any data that is received on one serial port is automatically transmitted out the other serial port. The following diagram illustrates the setting of SW1-7 ON for the daisy-chain mode.


70

Wiring. Control Connections t

12345678

o

EEEEEEHE OFF

Dip Switch SWI-7 Set ON For Daisy-Chain Mode Example Switch 8 on the dip switch is not used. The PCM is shipped with all switches set to OFF, for independent operation of the serial ports and the address set to 0. If there is only one PCM in the sysfem, all of the switches on dip switch SW1 should be OFF.

Multiple PCMs can be connected together using an RS-422 multi-drop configuration. Thefigure below illustrates the required connections. to set a different address on dip switch SW1 for each PCM on the RS-422 network. The cable used for these connections should be 22 AWG tyisted pair wittl an overall shield grounded at one point.

A)(ISl

AXIS2

Port 2

Port 2

TXD+ P6.4 TXD- P6-3 RXD+ P6-1 RXD- P6-2

coM

AXIS n

Port2

TXD+ p64 TXD- P6-3

TXD+ P6-4 TXD- P6-3

'ru(D+ p6-1

RXD+ P6-1

RXD- P6.2

RXD- P6-2

coM

coM

P6-5

P6-5

S1,vl-7 OFF

SW1-7 OFF

§A4-7 oFF

P6-5

RS-422 Multi-Drop Connections RS-232C Daisy-Chain The two serial ports can also operate as one port with the transmit and receive lines fed through for multiple connections. Switch 7 on dip switch SW1 selects the independent or daisy-chain operation of the two serial ports. to set a different address for each PCM in the chain. The cable used for these connections should be 22 AVIG twisted pair with an overall shield grounded at one point.

r--

Host TXD RXD

__l

GND

XD RXD

(3) (2)

GNE

(5)

rXD RXD GND

(3) (2)

P6 Ponf2

P7 Pon*1

sw1-7 0N AXIS #1

(5)

TxD RXD GND

(3) (2)

(5)

xD

RXD GND

(3) (2)

(5)

P7 Port#'1

P6 Port#2

SW1-7 ON AXIS 'T2

RS-232C Daisy-Chain Connections


XD RXD

GND (5) P7 Port#1

(3) (2)

Wiring'ControlConnections

71

Expanded l/O and Memory

Note: J

Firmware Version 2.00 or higher is required to use an Expanded VO card or an Expanded VO and Memory card.

Additional memory and UO may be added with

a Memory and VO Expansion card or an UO Expansion Card (Part numbers are listed in "Component Ordering Information" on page 105). The expansion card provides the following additional capabilities:

. . . .

32 TTL I4puts (I17 through I48), 16

TTL Outputs (O9 through O24),

4 twelve-bit Anaputs (ADC2 through ADC5) [only available on Memory and UO card], and up to 32 KB of nonvolatile memory to the basic PDM forprograrr.r storage [only available on Mem-

ory and VO cardl.

"Option Card Installation" on page 15 describes the installation and mounting of the Expanded UO card or the Expanded UO and Memory card. The first eight positions on P1 and P2 are outputs and correspond to module positions 16-23 on a24-channel expansion board. The following table defines the relationship between Pl and P2 connections on the IQ and terminals on the expansion board.

IQ

Expanded VO Card

Connector §pe and and Pin No. P1-1 Output 9

1,

at

Ix r(

H

t( (

!

Memory Module

Terminal No.

IQ Connector §pe and and Pin No.

P1-3 P1-5 Pl-7 P1-9 P1 11 P1-13 P1-15 P1 I7

Output 16

t6

JJ

Input

17

15

3l

Pz-l P2-3 P2-5 P2-7 P2-9 P2-I1 P2-13 P2-15 P2-17

79

Input

18

t4

29

P2-19

Input 20

t2

25

Input 19

t3

27

Input 21

11

23

Ínp'atZ2

10

2t

Input 23

9

t9

lnputZ4

8

t7

Input25

7

15

Input26

6

t3

Input2T

5

11

Input 28

4

9

Input 29

3

7

Input 30

2

5

P1

Pl-23 P1-21 P1-25 Pl-27

PI-29 P1-31 P1-33 P1-35 Pl-37 P1-39 Pl-41 Pl-43

23

47

Output 10

22

45

Output

11

2t

43

Output 12

20

4l

Output 13

19

39

Output 14

18

37

Output 15

n

35

P2-23 P2-21 P2-25 P2-27 P2-29 P2-31 P2-33 P2-35 P2-37 P2-39 P2-41 P2-43

ExpandedVOCard Memory Module

Terminal No.

Output 17

23

48

Ou@ut 18

22

46

Output 19

2l

44

Ouput 20

20

42

Output 21

79

40

Output 22

18

38

Output 23

t7

36

Output 24

16

34

Input 33

15

32

Input 34

L4

30

Input 36

t2

26

Input 35

t3

28

Input 37

11

24

Input 38

10

22

Input 39

9

20

Input 40

8

18

Input 41

7

16

Input42

6

74

Input 43

5

12

Input 44

4

10

Input 45

3

8

Input46

2

6


72

Wiring. Control Connections

¡ IQ

Expanded VO Card

Connector §pe and and Pin No.

Pl-45 P7-47

Input

P3-6

Memory

Terminal

Module

No.

31

1

J

Input32

0

1

5V

Pl Logic

w1

IQ Connector §pe and and Pin No.

P2-45 P2-47 P3-7

ExpandedVOCard Memory Module

Terminal No.

Input4T

1

4

Input4S

0

2

5V

w2

P2

Power

L'

Logic Power

Crimp connectors and a colnector housing for expanded analog signals are included in the expansion card kit. Use 0.34-0.08 mm2 (22-28 AWG) stranded wire. Noise sensitive applications may require twisted shielded wire pairs, in which case the shield is grounded at one end only. The following table defines the relationship between P3 crimped leads and the housing supplied with the kit.

IQ

Expanded Memory and VO Card

Connector Analog and Pin No.

Connector and Pin No.

P3-1 P3-2 P3-3

ADC2ADC2+ ADC3-

J3-2

P3-4

ADC3+

t3-4

P3-5

ADC4-

J3-5

P3-11 P3-t2 P3-13

ADC4+ ADC5ADC5+

J3-6

J3-1

J3-3

t_:

J3-'1

J3-8

The Monitor menu provides expanded VO status. Refer to the IQ Master software manual for additional information on expanded VO display and status.

t: lQ 2000/5000 lnstallation Manual

I I

-

Reference Electrical Drawings' Electrical

Schematics

73

J

Reference Electrical Drawings

9101-0134

Description IQ-5000 Power Wiriug PSM-AUX Connections

9tot-2195

IQ-2000 Power Wiring for PDM-10, -20 and

9rot-t453 gtor-2061

IQ-2000 Power Wiring for

Drawing 9101-0411

v

Page

74 75

-30

76

9t0r-2024-§x

PDM-75 Expansion Card UO Connections Cable: IQ P7 to Operator Terminal Cable: IQ P6 to PC Serial Port (9 pin)

9101-2031-)OO(

Cable: IQ P4 or P5 to Auxiliary Encoder (Unterminated) 80

9t0l-2127-OO2

Cable: IQ P4 to

9rol-2027-xxx

Cable: IQ P5 to S-, H-, or F-Series Motor

9101-2025-)cC(.

77 78

79 79

P4,2foot

80

Encoder

81

lO 2000/5000 lnstallation Manual

74


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78


. Electrical

Schematics

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Reference Electrical Drawings . Cables

79

Cables OPERATOR TERMINAL SERIAL PORT CONNECTOR

POSITIONING MODULE CONNECTOR

25 PIN FEMALE

P7

9 PIN MALE POSITIONING MODULE

OPERATOB TERI\¡INAL SERIAL PORT CONNECTOR

CONNECTOR P7

!L-.

.: :

-r

^l:: _

¡P::u

- J-, ti

:,-

f-

|^

T¡l

r

\

?

t*

'rr-,< i-i-

!H]T'

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úN!

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r'

.

Rrl

SHIEL!

v\

P7 to Operator Terminal Cable

POSTT|ON|NG

\J

I¡oquLE ,§{ coNNEcToR §\ p6

!i

,..1J--

- i"

- Drawing 9L01-2025-XXX

---

..-:

ltt

PC SERIAL PORT

coNNECroR qLEr 9 ptN FEMALE

,/. \:*\' "§/

9 PIN MALE

POSITIONING

M6UE couEcron

rol

.o!

.*,

SffihL PORT CONNEClOF

I

PC

ñ ^F r

-.._

)"-oI r

Buf- .,

I

<

ú!!

*

!o'.t') I r V

DA^

P6 to PC Serial Port (9 pin) Cable - Drawing 9101-2024-XXX

I

a_t

lQ 2000/5000 Installation Manual

80


. Cables

i

POSITIONING MODULE CONNECTOR

,1}.--. ri

§a

\.-

P4

INDEXER/ ENCODER

coNNEcloNS

L.

..,

15 PIN MALE HIGH-DENSITY

POSIfION NG MOOULE CONNECTOR

!l!L:

F,

,

r

-D,F-

p¿

ta ,

cDM

!:

s'ovru

f

" -l

,,e*

!-

< er-z 4

<

P4-?

B

,*r.-l-:i ros_U

I+

." .rr;-li

I +5V

a¡f

sHiEL¡

I

V"

Note: This cable riay be used on the P5 connector (to motor ), with the following differences: Pin 8 is unused, Pin 11 and 12 are TS- and TS+, respectively Pin 13 is ABS

e_

Reference "Encoder 1" on page 60.

P4 or P5 to Auxiliary Encoder (Unterminated) Cable - Drawing 9l0l-203L-XXX

MASTER

AXIS

CoNNECTOR

P4

/@.----

2c

^,/ p._-óU "{,/(ó*

r-,-to.r | \_

-- ----fu

Y§

MALE \/§ DENSITY

»..// \»"

15 PIN HIGH

MASTER AXIS CONNECTOR

A+ _-,1 -L-..p4-2 81B l+ I

FOLLO\ryER

p4

1s ptN MALE HIGH DENSITY

trIS

CONNECTOR

P4 I

P4 1 P4-2 ..-

,t

P4 3

P4-3 ..

(

P44

P4

_,p4-s

SHIELD ¿

FOLLOWER AX|S CoNNECTOR

P41o

a

-_-_ P¿-5 ._ P4-10 \

A+

_. _L 8J

L l+

l-

p4-] s

VS

P4toP4,2foot Cable - Drawing 910l-2127-002 Master/Follower connections between two IQ-series Controllers


0\?

Reference Electrical Drawings . Cables

re=F

srl-----=:r#Eii IEL

\9#_:-.:rl_

\\ _p /

HTGHDENSTfl r0

81

s=R¡E5

CONNECfOR

9rcr-2027 ot0

P5

üOTOP

CABLE

e#

¡-Ps2

7-16Qd\ -(o\\

/[@)r A85

l5!QL__<

ps-s

a L010 o\ro\

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ps-t: <

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^ir

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+5!,

-,

R+ s+ e----;+ "

CABLE IER¡INATION AT ¡ATINC CONN:CTOE (SOLDER PINS SHOIN)

El3p,,o

NOTE: Cable 9101-2135-XXX provides the same connections using

a

right angle motor connector.

P5 to S-, H-, or F-Series Motor Encoder Cable - Drawing 9L01-2027-XXX

(,


Applying Power for the First Time. Start-up Procedure for lQ-2000

PDMs

83

q

Applying Power for the First Ti me

\*{7

Outlined below are the steps that should be followed when applying power to the equipment for the first time. This procedure covers IQ-2000 PDMs, IQ-5000 PDMs, IQ-5000 PSM, Motors and the Operator Terminal. These start-up procedures assume that the equipment has previously been mounted and wired, but has not had power applied to it.

Start-up Procedure for lQ-2000 PDMs WARNING Dangerous voltages may exist after power is removedl Check DC bus voltage each time power is removed before working on the PDM.

1.

Prior to applying power to the PDM, ensure that the supply voltage is in the proper range (lOO-240

vAC). With power off, ensure that proper connections have been made to: . PDM-10, -2O and -30 terminals Ll and L7N. Ensure that a proper ground is connected also.

.

PDM-75 terminals L1, L2l¡{ and L3. Ensure that a proper ground is connected also.

If auxiliary power

a

1r

is used, ensure proper connections are made to terrninals L1 AUX and L2A{

AUX. With input power still off, disconnect motor leads from PDM terminals R, S, aud T. with an ohmmeter that the resistance between PDM terminals R to GND, S to GND, and T to GND is


84

Applying Power for the First Time

'

Start-uP Procedure for lQ-2000 PDMs

aUove SOOi< ohms. If the resistance is acceptable, reconnect the motor leads to the PDM termi¡als marked R, S, and T. 4.

Turn power on.

5.

Double-click the IQ Master icon to run the IQ Master software. Select InitializePM from üe File menu. The following dialog box will appear.

6.

lrl

lQ Se¡ies

Faclory

EStl

Ddv* Type:

PDI'l-10

I'lotol Type:

H-30[7-H-H

lrlotur Encode¡ Size:

2t}00

Iefault niti¿li¡¡tion I

lines/¡ev

Percent f,omplete:

lffi

l*4,

Eil,ffiffiÍA

Initialize PM Dialog Box Note: The IQ 2000/5000 carnotbe operated until the Personality Module (NVRAM) memory is initialized with proper information about the drive and motor being used. The following information is defined when you select the appropriate Drive Type and Motor Type/Encoder choices in Steps 8, 9 and 10 below:

Drive Peak Current

The amount of current in Amps appüed to the motor when the IQ 2000/5000 commands ñ¡11current (10 V ICMD sig-

nal)

7. 8. 9.

Motor Torque Constant

The amount oftorque in inch-pounds produced when one Amp of current is applied to the motor

Motor Inertia

The inertia of the motor in inch-pounds-seconds squared.

Motor Encoder Lines per Rev.

The number of encoder lines for one revolution of the motor. Note: IQ Master requires an encoder value between 52 and 60000. Refer to the following steps.

Click the IQ-Series tab. Select IQ 2000 from the Drive Type window. Select the appropriate drive model from the Motor Type list box. Ver§ the Encoder selection is correct. The last letter of the Motor Type defines the encoder resolution (encoder lines per revolu-

tion).

10. Click

the Update PM button to initialize the Personality Module. The Percent Complete indicator

displays the status of the initialization.

.

When the Percent Complete indicator reaches lo07o the PM is initialized, click the Close button to exit the Initialize PM dialog box.

Manual

L

Applying Power for the First Time . Start-up Procedure for lQ-5000

.

85

If you get an "IQ not responding" error message, follow the instructions below.

a. b.

c.

Click the Close button to exit the Initialize PM dialog box. Click PC Setup from the Communications menu and check your communications setup. You should fust that the communications port that you have selected is the one that your cable is connected to. Then that the communications protocol matches the protocol in the IQ. If this is not a new IQ, any of these setting may have been changed by the previous . The default serial port seftings for a new IQ are listed on page 40.

Veriff that the serial cable is constructed properly. Refer to "Serial Ports" beginning on page 40.

d.

If you have selected an address on the address dip switches, veriff that the same

address is

selected in the Communications menu, Axis Select dialog box.

e. 11.

Click Initialize PM from üe File menu and continue wi$ Step 7 above.

Make sure that the motor is not connected to the load when applying power to prevent any mechan-

ical damage in case of a fault. Ensure the PDM is disabled (turn the Enable input off, or select Disable from the Run menu of IQ Master after power is applied). Apply input power and check the LEDs.

. .

The green DC BUS LED should turn on and the bicolor STAruS LED should turn green.

If the STAIUS LED is red rather than green, the PDM is in a fault condition. Select

Status

from the Monitor menu to find out the type of fault. Correct the fault (the STATUS LED turn green when the fault has been clea¡ed and a reset or hard reset performed).

.

will

Check that ai¡ is coming out of the top of the PDM to ensure that the fan is operating.

12. Ensure the PDM is disabled. Select Encoder frorir the Diagnostics menu. that the Counts value increases positively when the motor shaft is rotated clockwise as viewed facing the motor shaft. 13. Enable the PDM using the Enable input or Enable from the Run menu. the motor is stationary and has holding torque. 14. Command motion using the jog inputs or the Run Control dialog box of IQ Master. the motor rotates in the proper direction. 15. Remove

input power. The LEDs should turn off within ten seconds.

Start-up Procedure for lQ-5000 Start-up of an IQ-5000 system involves starting a Power Supply Module (PSM) and at least one Positioning Drive Module (PDM). The PSM is checked first and then the PDMS. Perform the start-up procedure on all the PDMs attached to the PSM at the same time.

WARN¡NG Dangerous voltages may exist after power is removed! Check DC bus voltage each time power is removed before working on the lQ-5000 Power Supply Module or lQ-5000 Positioning Drive Module.

Power Supply Module

1.

Prior to applyfug power to the PSM, ensure that the supply voltage is in the proper range (100-240

VAC 3 phase).

2.

With power off, remove the PSM cover and ensure proper con¡ections have been made to terminals Ll, L2, and L3 and that a proper ground is connected. Phasing of the input power connections is arbitrary.


86

Applying Power for the First Time . Start-uP Procedure for lQ-5000

3.

4. 5.

Disconnecf a[ wires from the PSM DC bus termina] posts marked + and -. Install the PSM cover, then turn on input power. Ver§ that DC bus voltage is in the proper range (325 VDC nominal with 230 VAC inpu|. Check that the green PSM READY LED is on and that all three red LEDs are off and that the PSM fans are operating.

,

Disconnect input power and check that the green LED goes off and the DC bus voltage falls to less than 15 VDC within one second. Remove PSM cover. Reconnect the DC bus wires to the PSM terminals marked + and - ensuring that proper polarity is maintained. Install the PSM cover.

Failu¡e to observe this precaution may result in damage to or destruction of the PDM.

I

I

1

I

I

I

I

I

I

I

Ur,

I

I

I

I

l

I

I

¡

I

I

I

*1



87

a

Start-up Procedure for PDM

¡ v

l. 2.

Ensure input power to the PSM is off.

3. 4.

Turn power on.

Disconnect all interface cables @1-P7) from each PDM and remove all PDM covers. Disconnect all motor leads from the PDM terminals marked R, S, and T. with an ohmmeter that the resistance between PDM terminals R to GND, S to GND, and T to GND is above 500k ohms. If the resistance is acceptable, reconnect the motor leads to the PDM terminals marked R, S, and T. that the DC bus wires are connected to the PDM with the correct polarity. Install the IQ Master software on the PC. Refer to part 1 of the IQ Master Manual for installation instructions. The IQ 2000/5000 caffiot be operated until the Personality Module (NVRAM) memory is initialized with proper information about the drive and motor being used. The following information is defi.ned when you select the appropriate Drive Type and Motor Type/Encoder choices in Steps 8, 9 and 10 below:

\_\, 5. 6.

Drive Peak Current

The amount of current ia Amps applied to üe motor when the IQ 2000/5000 commands full current (10 V ICMD signal)



Motor Torque Constant

The amount of torque in inch-pounds produced when one Amp of current is applied to the motor

Motor Inertia

The inertia of the motor in inch-pounds-seconds squared.



Double-click the IQ Master icon to run the IQ Master software. Select Initialize PM from the File menu. The following dialog box

Factor-u

Drive Type:

PDht-ltl

I'lotol Type:

5-3[ft7-H-H

I'loto¡ Eneoder Size:

D ef

appear.

ault nitiali¡ation I

20fI0

lines/rev

0z

Percent Complete:

[ffiB

will

f--::t:------::

I

ftáre

I

Initialize PM Dialog Box lQ 2000/5000 lnstallation Manual

88


7. 8. 9.

Click the tf,-Series

taU.

Select IQ 5000 from the Drive Type window.

Click the Update PM button to initialize the Personality Module. The Percent Complete indicator

1t-ff"h:H:",,:tr;T#:T;:;".,""ches

L,

1002a rhe pM is initiarized, choose the crose

button to exit the Initialize PM dialog box.

If you get

a. b.

a.

an

"IQ not responding" error

message, follow the instructions below.

Click the Close button to exit the Initialize PM dialog box. Select PC Setup from the Communications menu and check your communications setup. You should fust veriff that the communications port that you have selected is the one that your cable is connected to. Then that the communications protocol matches the protocol in the IQ. If this is not a new IQ, any of these setting may have been changed by the previous . The default serial port settings for a new IQ are listed on page 40.

that the serial cable is constructed properly. Refer to "Serial Ports" beginning on page 4O.

d.

Ifyou have selected an address selected

i¡

on the address dip switchés, veriff that the same address is the Communications menu, Axis Select dialog box.

10. Select Initialize PM from the File menu and continue with Step 7 above. Make

sure that the motor is not connected to the load when applying power to prevent any mechanical damage in case of a fault. Ensure the PDM is disabled (turn üe Enable input off, or select Disable from the Run menu of IQ Master after power is applied). Apply input power and check the LEDs. The green PSM READY LED should turn on and the bicolor STATUS LED should turn green. If üe STATUS LED is red rather than green, the PDM is in a fault condition. Select Status from the Monitor menu to find out the type of fault. Correct the fault (the STATUS LED will turn green when the fault has been cleared and a reset or hard reset perfonned). Check that air is coming out of the top of the PDM to ensure that the fan is operating. The green PSM READY LED should tum on and remain on.

e

PDM is üsabled. Select Encoder from the Diagnostics menu. that the Counts value increases positively when the motor shaft is rotated clockwise as viewed facing the motor

11. Ensure the

shaft.

t2. Enable the PDM using the Enable input or Enable from the Run menu. the motor is stationary and has holding torque.

t3.

Command motion using the jog inputs or the Run ConÍol dialog box of IQ Master. Veriff the motor rotates in the proper direction.

t4. Remove input power. The LEDs should turn off within one second.

t lQ 2000/5000 lnstallation Manual

L. \

Applying Power for the First Time. Motor Start-up Procedure

¡a {

Motor Start-up Procedure

¡a

\a

89

!7

WARNING

\ \ \ \

Motor power connectors are for assembly purposes only. They should notbe connected or disconnected while power is applied to the drive.

\r

WARNING

\ lra

Rotating motor shafts can cause extensive damage and ¡njury. Motors must be properly guarded during testing and in the final installation.

I I !l

F. Fr

F.

1.

The motor(s) should be disconnected from the mechanicai load(s) when initially checking out the system. If this is not possible, take adequate precautions in case of a fault.

2.

Disconnect all futerface cables from the PDM and remove the PDM cover (IQ-5000 only). Connect the 4 motor wires (R, S, T, and ground) to the proper PDM. Instali all PDM covers and connect all interface cables to the PDM. With each PDM disabled, reapply input power and check for proper power up diagnostics as shown by the STATUS LED on each unit.

¡r F,t li §§' ¡r

Select Gains from the Parameter menu. Set trimit to a low value (25Vo of peak current is a typical value). Select Velocity/Acceleration from the Parameter menu and set the Jog Velocity to a relatively low speed, such as 50 RPM. Enable each PDM and make sure there is no shaft motion. Activate the Jog forward input and check for clockwise rotation of each motor shaft as viewed facing the motor shaft. If motor does not turn clockwise, then check that motor power wires and encoder wires are connected to the PDM properly.

FI Ft Fr

4.

Disable all PDMs and turn off input power. Measure the DC bus voltage to be sure that it is below 15 VDC.

5.

Now that the system installation is verifled, return the Ilimit parameter to

a value

to suit the appli-

cation.

F F

L

Operator Terminal

F F

The Operator Terminal requires no special start-up procedure. Simply apply power to the operator terminal as described under "Operator Terminal" on page 49. The operator terminal should sound a tone on power up and the üsplay LED should be iit. No message will appear on the screen unless the operator terminal is connected to the PDM serial port and the PDM sends a message to the operafor termfural. If the Operator Terminal is connected to a PDM, press the Status key to the Operator Terminal is communicating properly.

Fr Fr F.. F..

tt

Backing Up the Personality Module

F

l.a

tL L tt

tr

I

a

After correct§ setting up the system, back up the contents of the Personality Module (NVRAM) to a file on your PC, usiag File Transfer. Refer to the IQ Master Manual,Part 2 o IQ Master Environment, File menu, Transfer for details.


Diagnostics/Troubleshooting. Light Emitting Diodes

D

i

(LED)

91

ag nosti cs/Trou b les hooti n g

The IQ-Series system is designed to provide troubleshooting aids that help isolate any problems to a "module" in the system. A module may be incoming power, PSM (IQ-5000 only), PDM, Personality Module, motor and encoder, cables, or the mechanical system. The IQ-Series circuitry is designed to prevent problems in any one module from damaging any other module. The modular package allows very simple field replacement. If a PDM is replaced, the personality module is transferred to the replacement module and all programs, parameters, and other information are moved to the new PDM. The Personality Module, system firmware, and fuses are the only field replaceable items in the system.

Maintenance of the lQ-Series system is virhrally unnecessary. The primary consideration is to ensure that the fans are operational and PDM is operated in a propedy sized and ventilated enclosure with proper fusing.

Light Emitting Diodes (LED) The PDM and PSM each have LEDs on the front. These LEDs provide a first level of diagnostics.

Positioning Drive Module STATUS LED All PDMs have a STATUS LED on the top, front, right hand corner. This LED may or opaque

appear green, red,

(OIf).

Green The LED on the IQ-Series PDM indicates the present status of the PDM. During normal operation, when no fault conditions exist, this LED is green. This LED turns red to indicate that the PDM has detected a fault.

a

§

Red

If a fault is detected,

the LED turning red indicates there is a fault in the system. This does not indicate that thS:PDM should be replaced immediately; many fault conditions are caused by problems extemal to the PDM. The specific fault information is available from the serial ports. Fault messages.are dis-


92

Diagnostics/Troubleshooting. ¡¡n¡, Emitting Diodes (LED) played oo,t

"

of,".rror terminal screen if the operator terminal is present. The LED labeled SYS FAULT will turn on (red) to indicate that a fault has occurred.

on the operator terminal also Opaque (OFF)

When power to the PDM is off, the STATUS LED is not lit and is opaque. If the PDM DC BUS LED is ON and the STATUS LED is OFF, there may be a failure in the logic power supply.

DC Bus Power (lO-2000) Above terminal block

I

is a DC BUS LED. This LED indicates that the DC Bus is charged.

Power Supply Module LEDs (lQ-5000 systems only) LED Label

LED Color

PHASE

RED

Description OFF = OK (Normal Operation)

LOSS

ON = Loss of one phase of incoming AC. power. The PSM will continue to run on two phases and the fault LED ON.

OVERTEMP

RED

OFF

-

OK (Normal Operation

ON = Excessive main heatsink temperature

DISABLED

RED

OFF = Not disabled (Normal Operation)

ON = DC bus disabled by extemal enable

c

input PSM

GREEN

OFF = No DC bus voltage

READY ON = DC bus charged (Normal Operation

If noue of the LEDs are ON (either red or green), and incoming line voltages

are found to be correct,

there may be a PSM failure. Replace the PSM with another module.

L lQ 2000/5000 lnstallation Manual

L

E

Lt

Diagnostics/Troubleshooting.OperatorTerminal

E.

I. L L L L

93

Operator Terminal Operator Terminal Status Screens

L

The operator terminal has 9 status screens that may be accessed by pressing the STATUS key. Each time the STMUS key is pressed the next status screen is displayed. The BACKSPACE key can be used to scroll backwards through the status screens. The CLEAR Key will remove the status display or clear the peak values. The following variables are available on status screens:

tL

Name

Description: ence

L

Refer to the IQ Master Manual, Part 5 o Language Referfor detailed information on each flag and vaúable.

Status Flags

ATHOME, HSEQL, INPOSN, ERROR, XFER, READY, ENABLED, PAUSE

L

Program Status

Program Number. If compiled with the debug option ON, the instruction that is executing will also be displayed.

H

Position Status

PCMD, POSN, FE

Velocity Status

VCMD, FVELI, VEL2

Input Status

Inputs 1 through 16. Inputs 17 through 48 if an Expansion VO or Memory and Expansion VO card is installed.

Output Status

Outputs 1 through 8. Outputs 9 through 24lf an Expansion VO or Memory and Expansion VO card is installed.

Current Status

ICMD, IAVE, IN PEAK CURRENT

Commanded Position Status

PGEN, PJOG, PEXT

Peak Status

PFE, PVEL1, PICMD

F.

\t1

All position values displayed on the operator terminal status screens

are in units, velocity values are in units per timebase, and current (torque) variables are in amps.


94

Diagnostics/Troubleshooting. p"r"onality Module Default lnitialization

Personality Module Default ¡nitialization An inoperable NVRAM may be recovered by initializing the PM to the factory default settings. This command zeroes the NVRAM and performs a series of NVRAM integrity tests before installing factory default NVRAM settings.

Note: This selection erases the existing Personality Module parameters and motion programs. If the pM was prograÍrmed, be prepared to restore the PM settings and motion programs from your backup files. Refer to 'Applying Power for the First Time" on page 83 to initiatize the PM with drive and motor data and Part 2 ' IQ Master Environment of the IQ Master Instruction Manual for instructions on the Save Program to IQ G7) command.

To reinitialize a Personality Module to the factory default settfurgs perform the following:

'l:

1. 2.

Select Initialize PM from the File menu. The Initialize Personality Module window

will

appear.

Click the Factory Default Initialization tab to display the following window.

i

:l i

lQ

Serle*

ll

lt¡

S¡n §

Factory Default Initialization

l#AEI.IIHG

Al! personality module inlormation. parameter+. and programs le*iding in the l8 a¡e PEHI'IAHEHTLY HEI'IUVED by thir operation- lf you r+i*h to *ave the eni+ting per*onality module dala- cho*e EIo*e and perform a file tran*fe¡_ Pe¡cent Complele:

OE

LEil_-l t.*;;;;;l:r:*-;-il Click the Factory hitialize PM button to initialize the PM. The Percent Complete indicator displays the status of the initialization.


L

I 2

9 H

L L L LÚ L L L L L L L L L L L L L L tL Lry L L h-

S

L hr L L L L L L L L L L LL L L II

T

Diagnostics/Troubleshooting

.

Error Messages and Error Output

(08)

95

Error Messages and Error Output (08) If there is a fault, IQ Master can provide specific error messages. If a personal computer running IQ Master is connected to the P6 connector, the error message can be displayed in the Monitor menu, Status dialog box. The effor messages are also displayed on the optional Operator Termi¡al. The Error output may be disabled and used as a general purpose output. Therefore, this output may not be available for diagnostic purposes. The remainder of the discussion about the Error output assumes that output 8 is assigned as the Error output. The output can be assigned in the Parameter menu, Outputs dialog box of IQ Master. Refer to the IQ Master Manual,Pm2 ¡ IQ Master Environment, Parameter menu, Outputs for more detailed information. The Error ou@ut becomes active whenever the IQ detects a fault. The IQ will not begin to execute motion programs while a fault is present. After removing the cause of the fault, toggling the ENABLE input OFF and back ON, or issuing a RESET command will clear the fault and allow execution of motion programs. Some faults, however, can only be cleared by an HRESET command. These faults include numbers 42,45-54, 68,69,73, and 74. Refer to üe table below for a description of each fault.

On some machines you may want üe IQ to continue running even after some faults occur. This is accomplished by setting Disable on Fault to Partial. In this case, the following faults are disabled: Iavg fault, Motor Overtemperatwe, Soft Forward Limit, and Soft Reverse Limit. All faults will cause the Error output to turn ON (if enabled). However, if Disable on Fault is set to Partial, and a fault listed above occurs, the IQ will remail enabled and execute motion progfams normally. The Error output in this case serves as an alarm, and a programmable logic controller (PLC) or other controller can then gracefirlly shut down the machine without damaging the tooling or work piece. This setting is made fur the Parameter menu, System dialog box of IQ Master, or with the FLIDIS Host Language Command. Refer to the IQ Master Manual, Part2 o IQ Master Environment, Parameter menu, System, or to Part 6 ¡ Host Language Commands. The following table lists the faults that activate the Error output. The number preceding the fault is the error number.

No. J

Error Message 2ms Reentrancy

Fault

Description The system did not finish the required calculations in the previous 2ms position ioop update in time for the next position loop update.

4

Math Overflow

A maü overflow occurred (a calculation exceeded the internal system limit). Check the values of the variables used in the program.

5

Divide by Zero

A division by

LOOP variable range

A variable used as the count for a LOOP statement was out range. The valid range of a LOOP count is 0 to 65535.

PRECISION Out

Decimal point precision is not within the range of 0 to 4.

6

8

zero calculation was attempted. Check the values the variables used in the program.

of

of

ofRange 9

BCD Input Range

A number larger than 9 was read in as a BCD number in a BCD statement in a program. Check the inputs that are being used for the BCD input.


T.

96


. Etrot Messages and Error Output (08)

, t2

LOOP Count Out

Loop constant value is not within the range of 0 to 65535.

ofRange 73

Profile Calculation

The move carrot be made based on the parameters for the move: distance, velocity, acceleration, or time. Possible causes are variable values used for the move parameters that result in an acceleration or time of 0.

r6

Invalid Opcode

The PDM fied to execute a program opcode that was not valid (programs are compiled into opcodes that the PDM executes). Compile the program again to make sure it compiles corectly.

11

Home Not Defined

Home has not been defined when trying to execute a MOVP (absolute) move. Run the Home program or Defi¡e Home and execute the MOVP command again.

t9

Delay Out of

Time value for a Delay statement is greater than 65,535 seconds.

t

Range

2I

KP Out of Range KFF Out ofRange

22

KI Out of Range

23

KPZ Out ofRange

24

Gear O.ut Of Range

The calculated value for the gear ratio denominator is greater than 32,767. Check that the value is correct.

Calculations: S-Curve

The calculation listed has exceeded the internal system limit. The limit is determined at run time based on the Scale parameter. Check

Accel Velocity

the velocity and acceleration values under üe Parameter menu.

32 JJ

Iavg Fault

The average current output ofthe PDM exceeded safe levels for the motor or PDM. Check for correct conne'ction of üe motor encoder to the PDM or of the motor leads to the PDM. Other possible causes are motor stall or end oftravel condition, excessive duty cycle, or no DC bus voltage. This can also occur if the drive is enabled and there is power supplied to the L1 and L2/N AC AUX inputs, but not to the L1 and LzlN AC main inputs (this provides logic voltage, but no DC bus voltage).

34

Excessive FE

The following effor has exceeded the Following Error Limit for a time greater than the Following Error Time. Possible causes are loss of encoder , low gain settings, a commanded velocity or acceleration that exceeds system capabilities, or entries for Following Error Limit and/or Following Error Time that are beyond system capabilities.

35

Excessive Speed

Commanded velocity of a move exceeded the Overspeed value set under Velocity / Acceleration in the P¿Lr¿rmeter menu.

20

30 31

¿


The parameter listed has exceeded the internal system iimit. The limit is determined at run time based on the Scale parameter. Check the gain values unde¡ the Parameter menu.

t

Diagnostics/Troubleshooting o Error Messages and Error Output

36

Cam Profile

Overflow

3t

POS Track

(08)

97

The target follower position in a cam profile could not be calculated.

Overflow

The target follower position with tracking mode acúve could not be calculated

38

Serial Port #2 Busy

A PRINT or READ statement was attempted to serial port #2 while the system was reserving the port for other functions.

39

Drive Not Ready

IQ-550 only. The Ready to Run signal from the drive i¡rdicates a

fault in the drive. 40

Motor Overtemperature

4t

Power Module

Fault or Heat Si¡k Overtemperature

The temperature sensor in the motor windings indicated that the motor temperature has exceeded the rating. Check for mechanical binding, undersized motor, or duty cycle too high.

This fault typically indicates that the amplifier is trying to supply currents above its rating to the motor. Check for mechanical binding, excessive du§ cycle, or faulty motor wiring. IQ-2000: The IQ-2000 power module has detected excessive internal temperature or excessive curent to the motor. On earlier power modules, this fault indicates the heat sink temperature has exceeded the rated temperature. IQ-5000: The heat sink temperature has exceeded the rating.

42

Bus Undervoltage

of

The DC Bus voltage is too low, or power supplies for the amplifier circuitry were below the nominal output voltage. This indicates a

Logic Supply Fault

problem in the PDM internal power supply

43

Peak Overcurrent

The PDM current sensors detected a short ci¡cuit in the motor leads. Check motor power cables for shorts.

44

Bus Overvoltage

The DC bus voltage exceeded safe levels. This error usually indicates that the power supply shunt is not operating properly. Check the shunt fuse on the Power Supply Module (IQ-5000 only). See "Shunt Fuse Location" on page 48.

45

Encoder

46

Encoder 2 Fault

Incorrect encoder signals were detected by the IQ circuitry. The encoder signals may be out of quadrature or an encoder signal is missing (broken wire).

47

Watchdog Test

48

1

Fault

Fault

The Watchdog circuitry test (performed at power up) failed. The PDM should be replaced.

Personality Fault

A checksum error was detected in the personality PDM. Reload the Personality Module from or replace üe Personality Module.

a

data for the

previously sayed file,


98


49

.

5rto¡. Messages and Error Output (08)

Watchdog Reset

The watchdog timer is pulsed by the microprocessor every millisecond to ensure that the microprocessor is running properly. If üe microprocessor fails to pulse the watchdog, a Watchdog Reset fault occurs.

50

RAM R/W Fault

The stafic RAM failed a test. The PDM should be replaced.

51

EPROM

One of the EPROMs failed the checksum test at power up. All three EPROMs, U66,U67, and U87 should be replaced.

Checksum 52

TEXT Checksum

The text EPROM failed the checksum test at power up. The text EPROM, U57. should be replaced.

53

NVRAM R/W Fault

The NVRAM @ersonality Module) failed a reaüwrite test and should be replaced.

Parameter Checksum

When parameters are entered or changed, a checksum is computed and stored. When powering up, the PDM recalculates the check-

54

¿

sum and compares it with the stored value. If the two sums differ, the contents of the NVRAM are assumed to be invalid. The most Likely cause of this will be a power failure while entering new data. When a Parameter Checksum error occurs, use the Parameter menu to check for invalid values.

BlankNVRAM

The Personality Module is blank. To reload the contents of the PM, use the File, Transfer menu command.

Limits:

A limit input activated @ard limit). If the error is a soft limit, a software ffavel limit has been exceeded. The Jog inputs can be used to move the PDM offthe limit (in the opposite direction).

63

Hard Forward Hard Reverse Soft Forward Soft Reverse

66

Compiler Version

Indicates that one or more programs need to be recompiled (the program was compiled with an older version of the compiler). Open the program, compile the program, and save the new compiled program to the PDM. This may have to be done for every program in the PDM (this error may occur when a new version of IQ Master is installed). After compiling and saving all programs to the PDM, do a Hard Reset to clear the error. If you do not compile üe programs before doing the Hard Reset, any executable programs that have not been recompiled will be deleted (howeve¿ any source programs will still be intact in the PDM).

57

60

6t 62


L

P Diagnostics/Troubleshooting

.

Error Messages and Error Output (08)

I

6',7

Firmware Version

Indicates that a compiled program reqüres newer firmware to run (this error may occur when trying to run a program compiled under a newer version of IQ Master using an older version of PDM firmware). For example, the error can occur if an NVRAM with programs compiled under a newer version of IQ Master is taken from a PDM with newer firmware and installed in a PDM with an older version of firmware. The error occurs because the newer PDM firmware may have new features/program statements not ed in the old firmware. Update the firmware in the PDM.

68

Program Directory

Indicates a checksum error in the program directory. Perform a Hard Reset, then check the progra4 directory. Due to the unpreüctable results of losing the directóry information, this error may cause the loss of some programs.

69

Program File

When programs are entered or changed, the PDM computes and stores a checksum for the source program and a checksum for the executable program. At power up and other times during PDM operation, the checksums are recalculated and compared to the stored checksums. If the sums differ, the PDM will deterrrine if the error is i¡ the source or executable program. If the error is in the source program, a warning message is generated. If the error is in the executable program, the executable program is deleted, but the sss¡ss ¡gmains intact. The source shouid then be recompiled to create the executable program.

Illegal Pgm Number

An invalid program number was used with the Start or Run command. Check to see if the program exists, or, if selecting a progülm to run from inputs, check that the inputs are set correctly.

1t

File Transfer Active

An attempt was made to run a progr¿un while a f,le transfer was in progres§.

72

Home Sw Not Found

The Home Switch or the Encoder Index was not seen by the home program between the hardware limits.

73

Uninitialized PM

The Personality Module does not contain proper drive or motor data needed to operate.

74

I{VRAM

The program directory structure (stored in the NVRAM) is incompatible with the current version of üe IQ 2000i5000 firmware. Perform a Hard Reset to delete all programs and update the directory

70

Compatibility

structure.

Y


Specifications

. PDM-10, PDM-20, PDM-30 Specifications

101

Spec¡fications

PDM-1 0, PDM-2O, PDM-30 Model

Specifications PDM-10

PDM-20

PDM-30

Units

Continuous Drive Currentl

5

10

15

Amperes

Peak Drive Currentl

10

20

30

Amperes

Input Voltage

100-240 VACrms single phase Internal DC bus 141-340 VDC (325 VDC wittr 230 VAC Input)

Shunt Power

Watts

Continuous

50

Peak

Ambient Temperature Operating Storage

Relative Humidity Weight Field Wiring Terminal Block Torque

4,500

32"-140"F (0'-50"C) -40"-158"F (-40'-70'C) 57o

to 957o non-condensing 15 lb. (6.8 kg)

Copper, rated 60"C minimum 11

lb-in (1.25 Nm)

l.peak value of sine wave per phase


102

Specifications. PDM-75 Specifications t

PDM-75 Specifications Model

Units

PDM.75 Three Phase

Single Phase Continuous Drive Currentl

15

35

Amperes

Peak Drive Currentl

50

15

Amperes

Input Voltage

lO0--240 VACrms Internal DC bus 141-340 VDC (325 VDC wiü 230 VAC InpuQ

Shunt Power

Continuous

50

Peak

Watts

10,000

Ambient Temperature 32"-140"F (0"-50"C) -40"-158"F (-40"-70"C)

Operating Storage

Relative Humidity

57a Ío 957o non-condensing

Weight

21.3 lbs. (6.7 kg)

Field Wiring

Copper, rated 60"C minimum

Terminal Block Torque

11 lb-in (1.25 Nm)

1.peak value of sine wave per phase

PDM-25, PDM-50, PDM-I00, PDM-I50/150X Specifications The IQ-2000 modules include an integral power supply.

Model

PDM-25 PDM-50 PDM-1OO PDM-150 PDM-150X

Units

Continuous Drive Currentl

20

40

50

b5

85

Amperes

Peak Drive Currentl

25

50

100

150

150

Amperes

t25175

Input Bus Voltage Ambient Temperature

Watts

32"-122"F (0"-50"C) -40"-158"F (-40"-70"C)

Operating Storage

Relative Humidity

57o fo 95Vo non-condensing

Weight

24.2Lb. (11.0 kg)

Field Wiring


Terminal Block Torque 1. Peak value of


sile wave per phase

VDC

1l lb-in (1.25 Nm)

.

Specifications

Power Supply Module

Specifications

103

Power Supply Module Specifications y

The Power Supply Module (PSM) is necessary only for IQ-5000 eDM-25, PDM-50, PDM-100, and PDM-150) modules.

Model

PSM-50

Units

PSM-125

Conti¡uous Current @C)

50

100

Amperes

PeakAmps @C)

150

450

Amperes

Input Voltage

100-240 VACrms three phase 100-340 vDC (325 VDC with 230 VA§ InpuQ

Output Voltage Shunt Power

Watts

Continuous

t200

600 20,000

Peak

40,000

Ambient Temperature 32" - t22"F (0 - 60"C) -40" - 158"F (-40 - 70"C)

Operatirg Storage

Weight

26.2rb. (11.9 kg)

Field Wiring


Terminal Block Torque

11.0

24.0

lb-in

1.25

2.75

Nm

y

Operator Terminal Specifications. Item

Operator Terminal

Specification

Input voltage Standard

LI0/24OYAC +15%,

Optional

24YDC or24YAC

lnput Power U

P/I\I9101-2017 P/r{ 9101-2064

25 Watts

Temperature

(0'-55'C) ambient

Operating

32" -137"F

Storage

-40"-158"F (-40"-70'C) ambient

IE,C 68-2-2, Test Bb

Vibration

5 - 15.3 H2,0.25 inch d.a 15.3-500 Hz,39

IE,C 68-2-6, Test FC

Shock

40g, 9 msec, Vz sine, l8shocks total

TEC 68-2-2'7, Test Ea

Humidiry

5Vo

Weight

7Ib. (3 kg)

Display

Vacuum Fluorescent Display, 4 lines by 20 characters Characters 0.12" wide by 0.2" high

Front Seal

Water tight

!

IEC 68-2-1, Test Ab

to 957a non-condensing

IE'C 68-2-3, Test Ca

NEMA 4 (rP64) NEMA t2 (rP66\

Dust tight Exposed Materials

Bezel: LEXAN@ covered with POLANE@ T paint Gasket: PORON@ high density cellular urethane Keyboard: textured polyester with UV hard coatilg


104

Specifications.TransformerSpecifications

,

Transformer Specif ications

\]

Multi-tap isolation transformers are available for line voltage matching. The IQ-2000 (PDM-10, PDM-

I

20 ard PDM-30) modules use a single phase transformer. The IQ-5000 (PDM-25, PDM-50, PDM-100 and PDM-150) modules have a separate power supply module and use a three phase transformer.

Single Phase Transformer Specificat¡ons Specification

Units

Value

Rating

3.0

Inputl

220 t230 t240 I 440 / 460 / 480

VAC RMS

tt5t230

VAC RMS

Outputl Ambient Temperature

KVA

32"-122"F (0"-50"C)

1. Single phase input and output (5O/60H2)

Three Phase Transformer Specifications Specification

Model

Units

TF-03

TF-06

TF-I2

TF-18

Rating

3

6

t2

18

Weight

86

135

200

325

lb

3t

6t

91

148

kg

Inputl Outputl Ambient Temperature 1. Three phase

KVA

208/230 / 240 / 380I 460 I 480

VAC RMS

tIS/230

VAC RMS

32"-122"F (0"-50"C)

input and output (50160ru)

Refer to drawing 9101-0131 on page 36 and drawing 9LOt-0132 on page 37 for transformer outline drawings and load regulaüon data.

t lQ 2000/5000 lnstallation Manual

I

b -

Component Ordering lnformation

. Positioning Drive Modules

105


Positioning Drive Modules Y

Part Number

Descnphon

9t0r-2t6t

PDM-10 Positioning Drive Module

groL-2t62


9lo1-2163


9101-3045


9t0t-3046


9t0t-2t64


9t0t-3047


9101-3048


9101-3049

PDM-150X Positioning Drive Module

9loL-0228

Fuse, Drive Module F1 I Amp (for 24 VDC circuits Bussman MDL 1 or Litteltuse 313 001)

9101-2005

Connector

Kit

Mating connectors for PDM P1-P7 9101-0098

DC Bus Connection Kit Pos, Neg, Gnd wires - IQ-5000 oniy

9t01-2036

IQ-Series- Series Control Station

9t01-20t7 9t0t-2064 9tot-2073

IQ-Series Operator Terminal, IQ-Series VO Expansion Card

9101-2038

IQ-Series Memory and IiO Expansion Card

ll0 l24O YAC

IQ-Series Operator Terminal, 24 Yolt


106

Component Ordering lnformation. Power Supply Modules

Power Supply Modules -_/

Part Number

Description

9101-3000

PSM-50 Power Supply Module

9101-3001

PSM-125 Power Supply Module

glot-0120

PSM-AUX

9r0r-1076

Fuse Fl, PSM-125 Shunt Fuse Bussman KLM-20 or Littelfuse

9tot-0225

KLK D 20

Fuse F1, PSM-50 Shunt Fuse

Bussman KLM-8 or Littelfuse

KLK D

8

9to1-0123 Bussman MDX-7 or Litteltuse 313

OO7

9101-0111

Connector TB1, PSM Screw Terminal

Part Number

T'lescription

gtot-2024-xrI,.r

IQ Programming Terminal Cable(RS-232) (P6 Connector)2

gt0t-2025-)C§I'.r

IQ Operator Terminal Cable(RS-232) (P7 Connector)2

gtor-2027-rc
IQ Motor Encoder Cable @5 Connector) IQ Motor Encoder Cable for N-Series Motors @5 Connector) IQ Motor Encoder Cable for N-Series Motors §o P5 Connecfor)

910l-2135-025 or 050

IQ Motor Encoder Cable - 90" Motor Con¡ector (P5 Connector)

9101-2031-X)O(1

IQ Encoder Cable3

9to1-2t27-OO2

IQ P4 to P4 Master/Follower Cable

9101-2030-010

IQ Control Station Cable

9101-025o-X)O(1

IQ-5000/S- or H-3000 Motor Power Cable with Motor Connector

9101-0251-X)O(1

IQ-5000/S- or H-4000/F-4000 Motor Power Cable

9101-0252-X)O(1


9101-0253-X)O(1

IQ-5000/S- or H-8000 Motor Power Cable

Cables

gtot-t474-)Crr'.r

9101-1080-)O(Xr

IQ-2000iS- or H-2000/S- or H-3000 Motor Power Cable

9101-1081-)O(Xl


910r-1467-lrfcr'.r

IQ-20004{-Series Motor Power Cable

910t-2r79-]/JCI'.\


44-0141-oo3

IQ-series to VO Conversion Card, 3-foot Cable

44-0t4t-0t0

IQ-Series to VO Conversion Card, 1O-foot Cable

m(25 ft),050 = 15 m (50 ft), 075 = 23 m (75 ft), 100 = 30 m (100 ft). )OO( in the part number denotes the cable length-in"f.eet 2.RS-232 cables are available in 3m and 7.68m (10 ard25 ft) lengths only 3. Cable terminated on PDM end only. 1. Standard cable lengths are 010 = 3m (10 ft),O25 =7.68

q lQ 2000/5000 lnstallation Manual

\

B t


.

Personality

Modules

1O7

Personality Modules IQC25AS4l]3OPH-CX

X = Cr¡stoner- Special No Le-iter' = Stanoend

0 - lVotor without Fo.n 2 = Mcton with Fan Feedhack [ncoden ine Count n = 2000 (StondonC fon S crnd f Motor Vino ng Ke (Volts,z10C0 RP¡4) Moro^ Yoder Nr roe'

motons)

PIN'l Switching Fr-equency

A = 5KHz (IA 5000 Stondor d) B = 10KHz (1e a00C Stando.r'd)

Dnive luJodule Peok lur PPnsonoLity

r'ent

Ro.ting

lvloCule

Personality Module Model Number Description Note: IQ Master version 3.2 artd above provide software selection and programming of PMs.

Motors H-4030 --8-E _0q I.

i , FACTORY DESIGNATED SPECTAL OPTIONS AA = STANDARDFLANGE

AN =

NEMASoC FLANGE

OPTIONS

OO = 01 = 04 =

STANDARD 90Vdc BRAKE

24VdcBRAKE

OPTICAL ENCODER LINE COUNT

F H J K L M N

= 1000 = 2000 (sTANpARp) = 2500 = 5000 =500 = 3000 = 1500

MOTOR WINDING K6 DESIGNATOR NOTE: SPECIAL ORDER WINDINGS AVAILABLE FRAME SIZE SERIES DESIGNATOR FEBRITE MAGNET LOW INERTIA |NDUCT|ON RARE EARTH MAGNET RARE EARTH MAGNET

. Not all

F H | N S W

= = = = = =

WASHDOWN

Iine counts are available on all motors

Motor Model Number Description


108

Component Ordering lnformation. Motor Mating Connectors

Motor Mating Connectors Part Number

Description

gtor-0325

Motor power connector kit, A1l 2000 and 3000 motors MS3 106F1 8-4S connector

9tot-0326

Motor power connector kit, All 4000 motors MS3 I 06F208-4S connector

910t-0327

Motor power connector kit, All 6000 motors MS3106F24-22S connector

9101-0328

Motor power connector kit, All 8000 motors MS3106F32-17S connector

9tor-0329

Encoder connector kit, H-Series, S-Series and F-Series motors

MS3106F20-29S connector) 9101-0330

Brake connector kit, H-Series, S-Series and F-Series motors MS3106F12S-3S connector

Motor Shaft Seal Kits Part Number

T)escription

0041-5056

Shaft seal kit, H-2000 and 5-2000 motor 22mr¡¡ O. Dia. x 12 mm I. Dia. x 7 mm Wide Seal

0041-5057

Shaft seal kit, H-3000 and 5-3000 motor x L5 mm I. Dia. x 7 mm Wide Seal

28 mm O. Dia.

0041-5058

Shaft seal kit, H-4000 and 5-4000 motor 47 r¡:rr¡t O. Dia. x 20 mm I. Dia. x 7 mm Wide Seal

0041-5059

Shaft seal kit, H-6000 and 5-6000 motor 80 mm O. Dia. x 38 mm I. Dia. x 8 mm Wide Seal

0041-5053-005

Shaft seal kit, H-8000 and 5-8000 motor 85 mm O. Dia. x 45 mm I. Dia. x 8 mm Wide Seal

0041-5060

Shaft seal kit, F-4000 motor 1.437 lnch O. Dia. x 0.875 inch I. Dia. x 0.25 inch Wide Seal

0041-5061

Shaft seal kit, F-6000 motor 2.L25 lnch O. Dia. x 1.438 inch I. Dia. x 0.31 inch Wide Seal

Transformers Part Number

Description

0020-5091-001

3 KVA three phase transformer (IQ-5000)

0020-5091-002


0020-5091-003


0020-5091-004


0020-5093

PSM-ALX transformer (IQ-5000)

0020-5097

3 KVA single phase transformer (IQ-2000)



'

lnterface

Cards

109

lnterface Cards Part Number

Description

9t03-ot52

24V Sourcing UO Conversion Card

-i'

r.


lndex

.. ...96 lnput . ....57 Output ...57 Auxiliary Power Supply Module (lQ-5000 Only) . .....7

Connections.. ......52 lnput .......57 Output .....57 lnputs ......54 Outputs .....56 Output . . .59 Encoders .....60 MonitorOutput .....58 PSM and PDM lnterface Logic ......45 Ready RelayOutput .....58 Step and Direction lnputs ......64 Current Rating Short Circuit .. .... . 10

B

D

Numerics 24V Sourcing !/O Conversion Card Outline

Diagram . . .35 2msReentrancyFault .......95 A Accel Calculation . Analog Analog

Range NVRAM Overvoltage Undervoltage

BCD lnput Blank Bus Bus

.....95 ...98

......97 .....97

\,

c Cables

.

.7,106

Overflow ... ... .97 Defined .......v Communications, see Serial Ports CompilerVersion ......98

Cam Profile Caution

Control Analog Analog Digital Digital Enabled Relay

Daisy-chain... ...7O Danger Defined .......v DC Bus Power LED ...92 Delay Out of Range ...96 Diagnostics DC Bus Power LED .....92 ErrorMessages ....95 ErrorOutput(08). .......95 LED . ...91 OperatorTerminal .......93 Personality Module Default lnitialization 94

Digital

lnputs

....54

lQ-2000/lQ-5000 lnstallation Manual

.

lndex

112

Outputs DipSwitches DividebyZero Drive Not Ready

a

Digital

.. .56

H

...95

Hard Foruvard Hard Heat SinkOvertemperature Home Not Home Sw Not

....14

......97

E

Limit ReverseLimit Defined.... Found

....98 ....98

L

.......97 ......96 .......99

Noise

Electrical .......25 ElectroMagnetic Compatibility (EMC) . . .25 ElectroMagnetic lnterference (EMl) . . . . . 25 EMI Source-Victim ...25

Model EnableOutput Enabled RelayOutput Encoderl Fault Encoder2 Fault Encoders EPROM Checksum ErrorMessages ErrorOutput(08).

Mounting Expansion ".....59 Card .......91 lnterfaceCard .......97 .. .60 lavgFault..... lllegal Pgm Number . .. .98

.....24

....6 .....6

I/O l/O Expansion l/O

.......95

.....95

Di

or ....33 Card . ....33 .... .....33 Cables . . ... .33 ExcessiveFE.. .......96 Excessive Speed ......96 Emergency Stop I/O Conversion LowVoltage Directive Motors and

......6

.......96 . . .99

lndexer lnputs, see Step and Direction lnputs

Analoglnput Digital lnputs

rective

3T

.......57 ......54

lnstallation for European Union Compliance Electromagnetic Compatibility Directive 31

EmergencyStopor ....33

l/O Conversion Card LowVoltage Directive .... Motorsand Cables ... lnterface Cards

... . . 33 .....33

........33

Ordering'lhformation ....109 Opcodq. .......96 !Q-2000 ¿'' PDM '.":'.'.. ...:. ..4,43 Invalid

F

TransferActive ....99 lnstallation ... 13 Version . ....99 .. .......53 Requirements. .. . 10 Festrictions.... .......10 Fuse, Shunt .48,106 FusingRequirements . ......10 File Firmware Firmware Fuse F1 Fuse

Transformer Load Regulation Curve .35 Transformer Outline Diagram . . . . . . . 35 lQ-5000

f ,?Y,i;

;,;;,i; á¿bliáii"; ¿:;*i;o' t!

Transformer Outline Diagram . ,.,..r,,.. . 35 '

Gear Out Of

...

.96

GenericOperatorTerminal .......67

.....v

.......28 . lndex

Jumper Location . .

Jumpers

r'

,. : i'.'.:; :11.... 'tii"t{}1. , ',rf,[

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J

G


l/O Conversion Card

...47

European Directive Compliance Electromagnetic Com patibil ity

Range Graphical Symbols Grounding Types Single Point

I

...

.'.,.:'..

dA

....

.::,1:SI

L4,53

t

113

K

N

KFF Out of Range Kl OutofRange KP Out of Range

KPZOutofRange L LED . LogicSupply Fault LOOP CountOutof Range

..

.. .96

Networking

OperatorTerminal .......69 Networking lQ-SeriesControls ....69 96 .....96 Noise ......25 NVRAM Compatibility .. .....99 NVRAMRAIVFau|t ....98

.......96

......91 .....97

o

Environment .....17 Diagram ......5 Mounting .....23 M Networking... .....69 PowerConnections... ...49 Manuals . .. .5 Serial Port. ...67 Math Overflow . ... .. ..95 Specifications . .... 103 Memoryand l/O Expansion ........6 Start-up ......89 MonitorOutput ...58 Status Screen .....93 Motor Option Cards Compatibility with lQ-Series Control . .4 lnstallation ...15 Mating Connectors . .. 7, 108 Ordering lnformation Mounting .....22 Cables ......106 Ordering lnformation .... .....107 Motor Mating Connectors. .. . . 108 PowerConnection .... .......50 Motor Shaft Seal Kits . . . 108 Shaft Seal Kits ,* o-. . . . . 108 Motors ......1O7 Motor Overload Protection ..:,:. . . . . . . 10 PersonalityModules ....1O7 Motor Overtemperature . .. .. ..97 Positioning Drive Modules ... . 105 ;::: Mounting .¿:a.¡,:,,L7,2I,35 Power Supply Modules . . . 106, 109 Sourcing l/O Card . . ... . 109 24V Sourcing l/O Conversion Card ..35 Transformers. ....108 AuxiliaryFSM Transformer ....22 Outputs Environrñent... ....17 Anaput .....57 IQ-2000 Transformer Outline Diagram Digital Outputs .....56 35 Enabled RelayOutput ...59 19:5000 Transfgrmer Outline Diagram MonitorOutput .....58 35 'i'l Ready RelayOutput .....58 .t Motors....':"... ....22 Overview ....3 OpeiatorTeiminal ... ....23 Positioning Drive Module ......2I Shunt Resistor . .. . .35 P Ventilation ....17 :t4punting Requirements . .... 18 ParameterChecksum... ....98 PDM, see Positioning Drive Module PeakOvercurrent .....97 Personal Computer(PC). ....5 LOOP Variable

Range

.......96

Operating

.. .. ..95

'


. lndex

114

,

Fault ......97 Module . .. . .5 BackingUp.. ......89 Factory Default lnitialization . . .94 lnstallation ...11 Ordering lnformation .... ..... 107 POS Track Overflow .......97 Positioning Drive Module . . .4,21,1O5 DC Bus Connections ....44 LEDs ...91 Mounting .....27 Ordering lnformation .... ..... 105 Personality Personality

Power Connections Auxiliary Logic Power lQ-2000 . . . . . . 44 Auxiliary Logic Supply lQ-5000 . . .. . . 45

lQ-2000PDM ......43 lQ-s000PDM ......M Motor Power Connection .. . ...50 OperatorTerminal ......49 Positioning Drive Modules (DC Bus Power).. ...44 PowerSupply Module (PSM) .......44 PSMAUX Outline and Connection Dia-

gram .......35 Power Module Fault ...97 PowerSupply Module ........4 EnableOutput .....47 JumperLocation ...47 LEDs ...92 Mounting .....21 Operating Environment .......17 Ordering lnformation .. .. . . ... 106 PowerConnections... ...44 Specification.. ....103 PRECISION Out of Range .. .95 Product ......123 ProfileCalculation... .......96 Program Directory .....99 Program File .. ...99 PSMAUX Outline and Connection Diagram 35

Pulse and Direction, see Step and Direction lnputs

Requirements

Fusing

.......10

S

Calculation ...96 Assistance . .123 Ports ......65 Daisy-chain... .....7O HostComputer .....65 Networking... .!... .....69 OperatorTerminal .......67 Personal Computer ......65 RS.422 Multi-Drop .......70 Service, see Technical Assistance Shoft CircuitCurrent Rating ...... 10 ShortCircuitProtection .....10 Shunt Fuse ......48 Shunt Resistor ...35 Connection Diagram .....35 Mounting .....35 Single Point Ground Types .......28 Soft Forward Limit .....98 Soft Reverse Limit ... ..98 Sourcing l/O Card Mounting Dimensions .... .....24 S-Curve see Technical Serial

Ordering lnformation . " . ..- .,. r.r . . .. .,.109 Specifications . t}r, toz

lQ-2000 lQ-5000 .....\o2 OperatorTenninal ...... 103 PowerSupplyModule ...103 Start-up Procedure . . .. 83 rQ-2000 PDM ......83 rQ-5000 ......8s 1Q-5000 PDM .. "...87 rQ-5000 PSM . .....8s Step and Direcüon lnputs . . . .64 , see Technical Assistance SystemOverview ......3 System Power

Connections

...

-, ,43

T R

RAMRAA/FauIt .......98 ReadyRelayOutput ...58 lQ-2000/lQ-5000 lnstallation Manual

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Technical Assistance Applications Engineers

BBS

.

"

.

723

r23

115

-

Distributors:.... ..123 Europe ......123 Field Service Engineers .. ....123 Representatives ...L23 United States .....L23 TEXT Checksum ......98 TransformerSizing ....18 Transformers.. ....7, 108 Troubleshootin g, see Diagnostics

U

Uninitialized

PM

.......99

V

....

Velocity Calculation

Ventilation

.....96

.......L7

w Warning

:-

Defined

WarningClassifications Watchdog Reset . .. .. watchdog Test Fault

.......v

.

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European Union - Low Voltage Dircctive Declaration of Conformity by the Manufacturer

t-

Application of Council Directive

Manufacturer: Address:

7

2123 |EEC, 93 I 68 |EEC

Reliance Motion Control 6950 Washington Avenue South Eden Prairie, Minnesota 55344, USA Í.

A ed ISO 9001 Company Herewith declares that all servo drives listed below IQ-Series Positioning Drive Modules, models:

-

PDM-010 PDM-020 PDM-030 PDM-010 PDM-020 PDM-030 PDM-075

PA{ PIN PA{ P/N PIN P/N P/N

9101-2141 9lOI-2142 9101-2143 9101-2161 9LOL-2162 9101-2163 9101-2164

(16MHz Clock) (16MHz Clock) (16MHz Clock) (2Olvfrlz Clock) (20WHz Clock) (ZONlLlz Clock) (201vfr12 Clock)

When operating any of the following motor families: S-, H-, F- and LD-Series motors

And when operated with or without the IF2 24V Sourcing Module, P/NI9103-0152. And when operated with or without the Operator Terminal, P/I{ 9101-2017. When installed in accordance with the installation instructions, contained in the "IQ-2000Installation Requirements for Compliance to European Directives" conforms to the following standard. EN 60204-1

Signed: (John Durrant, Technical Manager)

iqt? Date: lE*É'r¿'¿ I

Electro-Cruff,Ltd, Fourth Avenue, Crewe, Cheshire, CWI 1XL, UK

Euopean union - Eleclrromagneüc compatibility Directive Declaration of Incorporation by the Manufacturer Applic ation of Council Directive Manufacturer: Address:

89 / 33 6 IEEC, 92 I 3

I

t

IEF;C, 93 I 68 IEEC

Reliance Motion Control 6950 Washington Avenue South Eden Prairie, Minnesota 55344, USA

A ed ISO 9001 Company Herewith declares All products sold or distributed by Reliance Motion Control or Electro-Craft Ltd., under the Electro-Craft@ Motomatic@ IQ-Series@ or BRU AdvantagerM fademarks, consisting of servo motors, amplifiers or confrol systems, and accessories as speciñed in üe product manuals:

.

Are classified as components;

'

Are intended to be incorporated into a drive or control system or to be assembled with other machinery to constitute machinery covered by directives listed above;

'

Do therefore not in every respect comply with the provisions of directive as supplied;

The manufacturer further declares that it is not allowed to put the product into service until the machinery into which any of the above products are to be incorporated or of which they are to be a component has been found and declared to be in conformity with the provisions of the directives and with the national implementing legislation, i.e. as a whole including the equipment referred to in this declaration. :# /ir,.

.: ;

)ifr

i

The product which is the subject of this declaration is detailérién page 2 of this dgclaiation.

Signed: (John Durrant, Technical Manager)

Daúe:

?ÜrE

flafi'trt

l??t

Electro-Craft,Ltd, Fourth Avenue, Crewe, Cheshire, CWl 1XL, UK

-

Products covered by this declaration are IQ-2000 servo amplifiers as follows: (16MHz Clock) PDM-O1O PAI9101-2141 (16MHz Clock) PDM-O2O PtN 9701-2742 (16MHz Clock) PDM.O3O PnY 9101-2143 (ZOlN{Hz Clock) P/N 9101-2161 PDM-O1O (ZOIN{Hz Clock) PDM-O20 PA{ 9101-2162 (20MHz Clock) PDM-O3O PA{ 9101-2163 (ZOiN{}{z Clock) PDM-075 PA{ 9101-2164 These amplifiers must be used as part of a system incorporating motors and shielded motor cables supplied by Reliance Motion Control, and installed in accordance with the installation instruc-

tions contained in the document "IQ-2000Installation Requirements for Compliance to European Directives", available by request from the manufacturer, and the specific insffuctions in the product manual

Installation must be in a grounded metallic enclosure and all shields must be bonded to the enclosure wall where they through it. An AC line filter of an approved type must be used for the supply to the amplifier. When so installed the EMC requirements of the following European standards are met: Emissions:

EN 5501

1993

(CISPR 11) Group 1 class

Immunity ,:e'l:,rri

j1...

Electrostatic Discharge Radiated RF Electrical' Fait Transient Conducted RF Magnetic Fields

<¡

I:

A

EN 50082-2:1995 ...

ii

¡-r'.

EN 61000-4-2 IEC 801-3 "tfu8'too o-4-4 Er{v 50141 EN 61000-4-8

Electro-Craft,Ltd, Founh Avenue, Crewe, Cheshire, CWI lXL, UK

s\ü Products covered by this declaration are IQ-2000 servo amplifiers as follows: (16MHz Clock) PDM-010 PA{ (16MHz Clock) PDM-020 PIN (16MHz Clock) PDM-030 PIN (2OMHz Clock) PDM-010 P/N (ZOMHz Clock) PDM-020 P/N (2O}l[}Iz Clock) PDM-030 PA{ (ZOMHz Clock) PDM-075 P/I,[

9101-2141 910I-214'2

910l-2143

9101-2161 9101-2162 9101-2163 9101-2164

These amplifiers must be used as part of a system incorporating motors and shielded motor cables supplied by Reliance Motion Conúol, and installed in accordance with the installation instruc-

tions contained in the document "IQ-2000Installation Requirements for Compliance to European Directives", available by request from the manufacturer, and the specific instructions in the product manual

Installation must be in a grounded metallic enclosure and all shields must be bonded to the enclosure wall where they through it. An AC line filter of an approved type must be used for the supply to the amplifier. When so installed the EMC requirements of the following European standards are met:

Emissions:

EN 5501t: L993 (CISPR 11) Group 1 class A

Immunity j',;i,iir:'i

.'l'^.'

-"

Electrostatic Radiated

EN 50082-2:1995

Discharge

r.rij"i,.

RF

EN 6L000-4-2 IEC 801-3

RF Fields

ENV 50141 EN 61000-4-8

Elecrical'FástTransient otft8fooo-4-4 Conducted Magnetic

Electro-Craft, Ltd, Fourth Avenue, Crewe, Cheshire, CWl lXL, UK

Mail or

Fax: *o"Oror, Automation

Technical Writing Internal Use:

Technical Group 6950 Washington Avenue South Eden Prairie, MN 55344 Fax: 612-942-3636

DIF#

Documentation Improvement Form Manual Number: Page

Number:_

Comments: Please give page numbers and specific paragraphs that the change document or attach additional pages if necessary.

will affect. Include markups from the

What improvements will this suggestion provide?.

Originator:

City:

Company:

Phone:

Address:

Date:

State:

Technical Writing Internal Use:

Follow-Up Action

lD RocI«weII Automation

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Product

Electro-Craft product is available over the phone. When you call, you should be at your computer and have the hardware and software manuals at hand. Be prepared to give the following information:

. . ' .

The version numbers of the Electro-Craft hardware and software products. The type of hardwate that you are using. The fault indicators and the exact wording of any messages that appears on your screen. How you have tried to solve the problem.

Distributor & Representative Network Rockwell Automation has a wide network of Electro-Craft distributors that are trained to our If you encounter problems, call the distributor or rqpresentative where you purchased the product before ing the factory. products.

Applications Engineers and Field Service In the United States you can reach the Rockwell Automation factory based staff by phone between 7:00 AM and 5:00 PM (CST) Monday through Friday at 1-800-328-3983. The applications engineers can assist you with programming difficulties as well as ideas for how to approach your automation task. Should yourproblem require on-site assistance, field service is available. The applications engineers can also be reached via fax at l-612-942-3636. The fax machine is open 24 hours 7 days a week. Faxes will be answered during regular business hours only. In Europe, can be obtained through Electro-Craft Limited. The suppof staff may be reached by telephone between 8:30 and 17:30local time, Monday through Friday at0l1 441270-58}14},or via fax

at0ll

441210-580141.

Bulletin Board Service (BBS) If you have a modem, you can reach the BBS for Electro-Craft products 24 hours a day,7 days a week at 1-612-942-3618. The following services are available through rhe BBS:

. . . . . .

Example application programs Technical bulletins CAD .DXF files of standard products Software Upgrades, the latest versions of Electro-Craft software Leave messages and files for the application engineers

Help with your application.

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