Industrial Indexing Systems EMC Series Manual de usuario

IB-11B045

EMC SERIES MOTION CONTROLLER JUNE 2008

16 AXIS

MOTION

CONTROLLER

WITH

ETHERNET

INSTRUCTION BOOK

Proprietary information of Industrial Indexing Systems, Inc. furnished for customer use only.

No other uses are authorized without the prior written permission of

Industrial Indexing Systems, Inc.

Revision - A

pproved By: AW 6/26/08

INDUSTRIAL INDEXING SYSTEMS, INC.

INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11B045

EMC SERIES MOTION CONTROLLER USER’S GUIDE

JUNE 2008 TABLE OF CONTENTS ii

TABLE OF CONTENTS

List of Illustration.................................................................................................................................................. iv

Introduction...........................................................................................................................................................v

SECTION 1 - OVERVIEW

SECTION 2 - DESCRIPTION

2.1 Components.........................................................................................................................2 - 2

2.1.1 Status Indicators.....................................................................................................2 - 2

2.1.2 Connectors .............................................................................................................2 - 2

2.2 Handling ...............................................................................................................................2 - 3

2.3 Mounting...............................................................................................................................2 - 3

SECTION 3 - EMERALD SPECIFICATIONS

3.1 General.................................................................................................................................3 - 1

3.2 Power Requirement.............................................................................................................3 - 1

3.3 SERCOS Interface...............................................................................................................3 - 1

3.4 Environment.........................................................................................................................3 - 1

3.5 Communication Ports...........................................................................................................3 - 2

3.6 5 Volt Digital I/O (J3)............................................................................................................3 - 2

3.7 Watchdog Protection............................................................................................................3 - 2

SECTION 4 - EMERALD WIRING

4.1 COM 1 & COM 2..................................................................................................................4 - 1

4.2 Ethernet................................................................................................................................4 - 1

4.3 5V Digital I/O........................................................................................................................4 - 2

4.4 Power and Watchdog Connector ........................................................................................4 - 3

4.5 SERCOS Interface TX/RX...................................................................................................4 - 4

INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11B045

EMC SERIES MOTION CONTROLLER USER’S GUIDE

JUNE 2008 TABLE OF CONTENTS iii

SECTION 5 - STATUS & ERROR CODES

5.1 Controller Status ..................................................................................................................5 - 1

5.2 SERCOS Status LEDs.........................................................................................................5 - 2

5.3 Ethernet Status Displays......................................................................................................5 - 3

SECTION 6 - CABLES AND ACCESSORIES

APPENDIX A - ETHERNET OPERATION BOARD

A.1 Ethernet Overview...............................................................................................................A - 1

A.2 EDE Setup For Ethernet Communication ..........................................................................A - 1

A.2.1 Select Ethernet For Connection Type ..................................................................A - 2

A.2.2 Ethernet EDE Configuration Screen.....................................................................A - 3

A.3 Ethernet Setup ....................................................................................................................A - 3

A.4 Global Parameters..............................................................................................................A - 4

A.5 Default Web Page...............................................................................................................A - 6

A.6 Sample XML Document...................................................................................................... A - 7

A.7 Sample Global Parameter .................................................................................................. A - 8

A.8 Sample Global Parameter Value........................................................................................A - 9

A.9 Sample Setting A Global Parameter Value......................................................................A - 10

INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11B045

EMC SERIES MOTION CONTROLLER USER’S GUIDE

JUNE 2008 LIST OF ILLUSTRATIONS iv

LIST OF ILLUSTRATIONS

SECTION 1 - OVERVIEW

SECTION 2 - DESCRIPTION

Figure 2.1 EMC Layout............................................................................................................2 - 1

Figure 2.2 Mounting.................................................................................................................2 - 3

SECTION 3 - EMERALD SPECIFICATIONS

SECTION 4 - EMERALD WIRING

Figure 4.1 COM 1 & COM 2....................................................................................................4 - 1

Figure 4.2 Ethernet ..................................................................................................................4 - 1

Figure 4.3 Digital I/O Connector..............................................................................................4 - 2

Figure 4.4 Power and Watchdog Connection.........................................................................4 - 3

Figure 4.5 Typical SERCOS Ring...........................................................................................4 - 4

SECTION 5 - STATUS & ERROR CODES

Figure 5.1 Controller Status.....................................................................................................5 - 1

Figure 5.2 SERCOS Status LEDs...........................................................................................5 - 2

Table 5.1 Module Status LED ................................................................................................5 - 3

SECTION 6 - CABLES AND ACCESSORIES

APPENDIX A - EHTERNET OPERATION BOARD

INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11B045

EMC SERIES MOTION CONTROLLER USER’S GUIDE

JUNE 2008 INTRODUCTION v

INTRODUCTION

This device is a single board motion controller based upon Industrial Indexing Emerald Series products and

herein will be referred to as the EMC (Emerald Motion Controller).

The EMC incorporates a Local PCI buss to support dual processor architecture. The on board MIPS

Processor’s primary function is to control motion of up to 16 Axis over the SERCOS InterfaceTM. A second

processor of type ARM has the task of supporting TCP/IP over Ethernet.

The EMC embodies a blend of open architecture features with a true real-time operating system. The result

is a state-of-the art performance and superior connectivity to other systems and network components.

The controller is programmed using our friendly Emerald Motion Programming Language (EML) and

powerful new Emerald Development Environment (EDE) software tools for the PC. The EML incorporates

easy to use motion commands to allow fast development of a servo application. The language has

commands which accommodate PLS’s (Programmable Limit Switches) from I/O, master/slave with

Camming, and much more motion and I/O control.

INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11B045

EMC SERIES MOTION CONTROLLER USER’S GUIDE

JUNE 2008 PAGE 1 - 1

SECTION 1 - OVERVIEW

This manual is organized so that information is easy to find and easy to use. It begins by detailing how to

identify the EMC Controller and its options. This section is followed by a general description of the product

and its components. Next, a comprehensive hardware specification is provided followed by connector wiring

diagrams. The section that follows documents the controller status displays. Sections on EMC installation

guidelines and cables drawings round out the manual.

INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11B045

EMC SERIES MOTION CONTROLLER USER’S GUIDE

JUNE 2008 PAGE 2 - 1

SECTION 2 - DESCRIPTION

The Emerald EMC product is a SERCOS Master servo motion controller, with the ability to command up

to 16 SERCOS Slave Devices. The application program that operates the controller is created on a PC

using the EDE software tools and sent to the controller via an RS-232 link or Ethernet.

NOTE

All commands used by the EMC are part of the Emerald

Motion Language (EML). Refer to the Emerald Development

Environment (EDE) PC tools online help for detailed

information on the commands and their proper usage.

The external connections that exist on the EMC are shown in Figure 2.1, and consist of 2 RS-232 ports,

Ethernet, SERCOS Transmitter and Receiver, Digital I/O, as well as a Hardware Watchdog and power

connections.

Figure 2.1 - EMC Layout

INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11B045

EMC SERIES MOTION CONTROLLER USER’S GUIDE

JUNE 2008 PAGE 2 - 2

2.1 COMPONENTS

2.1.1 STATUS INDICATORS

NOTE

For indicator status information, refer to Section 5 - Status

& Error Codes.

1. Controller Status Display - This single seven-segment LED display with decimal point provides

status information of various operating conditions.

2. SERCOS Phase LEDs - This group of 4 LEDs indicates the status of the SERCOS InterfaceTM.

3. SERCOS - Error LED - This LED indicates poor Fiber Optic reception.

4. Ethernet Status LEDs - Functional indicators for Ethernet.

2.1.2 CONNECTORS

NOTE

For proper pinouts for each connector refer to Section 4 -

Emerald Wiring.

1. COM 1 - This 6-pin RJ-11 connector is an RS-232 serial communication port. It uses a custom

protocol to communicate with the EDE software tools on a PC. This port also facilitates firmware

download.

2. COM 2 - This 6-pin RJ-11 connector is an RS-232 serial communication port. It can be used to

communicate with the IIS OPI-50 or similar RS-232 type device. The protocol is selectable

through the EML programming language. This port does default to the custom protocol for

communicating with the EDE software tools on a PC.

3. P4 - This 8-pin RJ-45 connector is for Ethernet.

4. J4 - This 10-pin header is a high-speed master encoder pulse input.

5. P3 - This connector is used to connect the required 24VDC external power supply. This

connector also provides a normally open hardware watchdog output for external monitoring of the

EMC operation. The watchdog output contact will be closed when the Motion Application is

executing.

6. RX - This SMA style interface port is the SERCOS Fiber Optic Receiver. This is return connection

for SERCOS Interface Ring.

7. TX - This SMA style interface port is the SERCOS Fiber Optic Transmitter. This connection is the

start of the SERCOS Interface Ring.

INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11B045

EMC SERIES MOTION CONTROLLER USER’S GUIDE

JUNE 2008 PAGE 2 - 3

2.2 HANDLING

This is a static sensitive product. While handling this unit you should were a static discharge device such

as a wrist strap, foot straps, or other static discharge device approved within your facility. Remember to

always handle the product only when required.

2.3 MOUNTING

In Figure 2.2 there are seven locations for mounting the EMC. The mounting base should tie back to

earth ground of the system as the mounting points on the EMC are electrically tied to the earth

connection on the 24V input connector.

Hardware requirement:

Standoffs - Type M3 or #4 with a minimum of 10mm or 0.375” length.

Screws - Type M3 or #4 with a maximum head diameter of 6mm or 0.25”.

Washers - Maximum diameter of 6mm or 0.25”.

Figure 2.2 - Mounting

INDUSTRIAL INDEXING SYSTEMS, Inc. IB-11B045

EMC SERIES MOTION CONTROLLER USER’S GUIDE

JUNE 2008 PAGE 3 - 1

SECTION 3 - EMERALD SPECIFICATIONS

3.1 GENERAL

Weight 5.8 lbs / 2.2 Kgs

Dimensions Width 12.0 in (304.8 mm)

Height 6.5 in (165.1 mm)

Thickness 1.25 in (20.32 mm)

3.2 POWER REQUIREMENT

Supply Voltage 24 volts DC +10%, Class 2 power supply

Supply Current 1.0 amps max.

3.3 SERCOS INTERFACE

Interface Version V01.02

Topology Multi drop fiber optic ring

Transmission

Rates 2, 4, 8 and 16 MB/second

3.4 ENVIRONMENT

Storage

Temperature -10 to 70°C/14-158°F

Operating

Temperature 0 to 55°C/32-131°F

Humidity 35 to 90% Relative Humidity, non-condensing

Shock and

Vibration 1 G or less

Operating

Conditions Free of dust, liquids, metallic particles and corrosive gases.

Use in a pollution degree 2 environment.

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