IL05003023E.pdf
5011641701-MC01
2007-05-08
ELC-MC01
Motion Control Unit
Instruction Sheet
1
WARNING
•
This Instruction Sheet only provides descriptions for installation, wiring and trial run. For further
infromation, please refer to special module of ELC Application Manual.
•
Do NOT touch terminals when power on. Please must power OFF before wiring.
•
This is an OPEN TYPE ELC. The ELC should be kept in an enclosure away from airborne dust, humidity,
electric shock risk and vibration. Also, it is equipped with protective methods such as some special tools
or keys to open the enclosure in order to prevent hazard to users or damage the ELC.
•
Do NOT connect the AC input power to any of the input/output terminals, or it may damage the ELC.
Check all the wiring prior to power up.
•
Warning – Do not disconnect while circuit is live unless area is known to be non-hazardous.
•
Power, input and output (I/O) wiring must be in accordance with Class 1, Div. 2 wiring methods - Article
501-10(B)(1) of the National Electrical Code.
•
Suitable for use in Class 1, Division 2, Groups A, B, C, D or Non-Hazardous locations only.
•
Warning – Explosion hazard - Substitution of components may impair suitability for Class 1, Division 2.
•
Warning – Explosion hazard - Do not disconnect equipment unless power has been switched off or the
area is known to be Non-Hazardous.
2
INTRODUCTION
2.1
Model Description and Peripherals
MC01 (positioning unit) is mainly applied to the speed/position control of step/servo driven system. The
maximum output pulse can be up to 200 KPPS, and built-in various route control modes. The EATON ELC
PB/PC/PH/PA series can read/write MC01 via FROM/TO instrucitons. There are 49 CRs (Control Register) with
16-bit for each register in MC01. The 32-bits data is composed of 2 continuous CR number.
2.2
Product Profile and Outline (LED Indicator and Terminal Block)
¡
´
RP
FP
CLR
¡
´
¡
´
¡
´
¡
´
START
PG0
A
B
LSN
LSP
DOG
STOP
ERROR
L. V
s
s
POWER
3.00
90
.0
0
3.00
25.20
60.00
3.40
1
2
3
14
4
5
6
8
10
3
7
9
12
11
13
EL
C
-M
C
0
1
15
16
Unit: mm
1. Status Indicator (Power, L.V. and ERROR)
2. Model name
Upper Row Lower Row
3. DIN rail clip
4. Terminal
S/S
A-
5. Terminal
layout
6.
Mounting
hole
START
B+
7. Nameplate
8. Extension port to connect extension module
STOP
B-
9. Extension unit/module clip
10. DIN rail track (35mm)
DOG
CLR+
11. RS-485 communication port
12. Clip for combining extension modules
LSP
CLR-
13. Power input
14. Extension port to connect extension module
LSN
FP+
15. Upper row terminals
16. Lower row terminals
PG0+
FP-
PG0-
RP+
A+
RP-
2.3 LED
Display
POWER : Power indicator, +5V internal power
START : Start input
LV
: Low voltage indicator
STOP : Stop input
lit when external input power is lower than 19.5V
DOG
: DOG (near point signal) input
ERROR : Error indicator (ON/OFF blinking).
FP
: CW pulse output
It will blink when CR#39 is not 0.
RP
: CCW pulse output
LSP
: Right limit input indicator
Φ
A
: A-phase input of manual pulse generator
LSN
: Left limit input indicator
Φ
B
: B-phase input of manual pulse generator
PG0
: Zero signal input indicator
CLR
: Output clear signal
2.4 Input/Output
Terminal
Description
Terminal name
Content
Response
Power supply
+24V, 0V
Power input/DC24V (-15~+20%)
±
Current consumption 70 10mA; Startup peak current 1.3 A
-
Input
START
Start input terminal
4ms/12ms
STOP
Stop input terminal
4ms
LSP / LSN
Limit Stroke of right/left limit
1ms
Φ
A+,
Φ
A-
A-phase terminal (+, -) of manual pulse generator input (line driver input)
200KHz
Φ
B+,
Φ
B-
B-phase terminal (+, -) of manual pulse generator input (line driver input)
200KHz
PG0+, PG0-
Zero signal input te, - (line driver input)
4ms
Input
DOG
Offers two different functions depending on operation mode.
(1) It is near-point signal in zero return mode.
(2) It is start signal on interrupt 1st or interrupt 2nd speed mode.
1ms
S/S
Signal common terminal of these Inputs (START, STOP, DOG, LSP, LSN)
-
Output
CLR+, CLR-
Clear signal (clear signal of internal error counter for Servo drive)
4ms
FP+, FP-
FP/RP mode: CW pulse output
I/O mode: Output pulse
AB-phase mode: A-phase output
200KHz
RP+, RP-
FP/RP mode: CCW pulse output
I/O mode: direction output
AB-phase mode: B-phase output
200KHz
Input/Output Circuit
ELC-MC01
START
STOP
LSP
LSN
DOG
S/S
+24V
5-24VDC
+24VDC IN
24V
0V
FP+
FP-
RP+
RP-
CLR+
CLR-
A-phase
Φ
A+
Φ
A-
Φ
B+
PG0+
PG0-
5-24VDC
B-phase
Φ
B-
Servo drive
Manual pulse generator
Shielded cable
Note:
1. Do NOT arrange the wiring of I/O signal wires or power supply in the same wiring duct.
2. Make sure the terminals
of power module and ELC-MC01 are properly grounded or connects to machine
cover.
3. Do NOT wire to null terminal .
3
SPECIFICATIONS
3.1 Function
Specifications
Item
Content
Power supply
DC24V(-15% ~ +20%)
Current consumption 70
±
10mA; Startup peak current 1.3 A
Max. number of
connected axes
8 units; (PB/PC/PA/PH series MPU can connect up to 8 extension modules without occupying any I/O.)
Distance instruction
Distance value is set by CR.
1. Setting range: -2, 147,483,648~+2,147,483,647; 2. Selectable unit: um, mdeg, 10
-4
inch, Pulse
3. Selectable rate: 10
0
, 10
1
, 10
2
, 10
3
; 4. Selectable position: absolute and relative position instruction
Speed instruction
Speed value is set by CR.
1. Setting range: -2,147,483,648~+2,147,483,647 (conversion value of 10~200KPPS pulse)
2. Selectable unit: pulse/s, cm/min, 10deg/min, inch/min
External output
Photo coupler is for insulation and there are LED indications for all output/input signals.
Outputs: FP and RP (line driver output 5V)
Output: CLR is the type of NPN open collector transistor output (5~24VDC, less than 20mA)
External input
Photo coupler is for insulation and there are LED indications for all output/input signals.
±
Input point: START, STOP, LSP, LSN, DOG(contact or open collector transistor, 24VDC 10%, 5
±
1mA)
Φ
Φ
Inputs:
A,
B(line driver or open collector transistor, 5~24VDC, 6~15mA)
Input: PG0 (line driver or open collector transistor, 5~24VDC, 6~15mA)
Pulse output format
Three selectable modes: Pulse/Dir, FP (CW)/RP (CCW), A/B (all modes are line driver output)
Position program & data
transmission
CR data can be read/write via FROM/TO intruction of ELC MPU. The 32-bit data is composed of 2
continuous CR number. The range of 16-bit CR is CR#0 ~ CR#48.
Connect to EATON ELC
series
Modules are numbered from 0~7 with 0 closet and 7 farthest to the MPU. Up to 8 modules can be
connected without occupying any digital I/O.
3.2 Other
Specification
Environmental specifications
Operation/Storage
1. Operation: 0
~55
(Temperature), 50~95%(Humidity), pollution degree 2
（
）
℃
℃
℃
℃
2. Storage: -25
~70
(Temperature), 5~95%
Humidity
Noise Immunity
ESD(IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge
EFT(IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Digital I/O: 1KV, Analog & Communication I/O: 1KV
RS(IEC 61131-2, IEC 61000-4-3): 26MHz~1GHz, 10V/m
Grounding
The diameter of the grounding wire cannot be smaller than that of terminals 24V and 0V (if numerous
ELCs are used at the same time, make sure that each ELC is grounded respectively to the ground
poles)
Agency Approvals
UL508
UL1604, Class1,Div2 Operating temperature code: T5
European community EMC Directive 89/336/EEC and Low Voltage Directive 73/23/EEC
Vibration/Shock
immunity
Standard: IEC61131-2, IEC 68-2-6 (TEST Fc)/ IEC61131-2 & IEC 68-2-27 (TEST Ea)
4
CR (Control Register)
ELC-MC01 Motion control Unit
CR No.
Content
Setting Range
HW LW
Address
Latch
ed
Attr
ibut
e
#0
H’4190
O
R
Model No.
System setting, Read-only (The model number of ELC-MC01 is H’0110.)
#2 #1
H’4191 O R/W Pulse
rate
(A)
Range: 1 ~ +2,147,483,647 PPS/REV, factory setting: 2,000
Pulse/Revolution (PLS/REV)
#4 #3
H’4193 O
R/W Feed rate (B)
Range: 1 ~ +2,147,483,647 unit/REV,
Factory setting: 1,000 (unit*1/REV)
#5
H’4195
O
R/W
Parameter setting
Factory setting:
H’0000
b15 b14 b13 b12 b11 b10
b9 b8 b7
b6 b5 b4 b3 b2 b1 b0
ST
OP
inp
u
t p
o
lar
ity
ST
AR
T
i
npu
t p
o
la
ri
ty
ST
AR
T
respo
n
se
time
Acceleratio
n
curv
e o
p
ti
ons
D
OG pol
ar
it
y
D
OG tr
igger
ti
m
e
Pul
s
e di
re
cti
o
n
Ze
ro
re
tu
rn d
ire
ct
ion
LSN
i
np
ut
pol
ar
it
y
LSP
i
n
put
pol
ar
it
y
Pul
s
e out
put for
m
at
Position
r
a
te s
e
ttin
g
Un
it se
tting
b1 b0
Unit
Motor
unit
Combined
unit
Machine
unit
b3 b2
Position rate setting
b5 b4 Pulse output format
0 0 Motor
Position
pulse um 0
0
10
0
0
0
FP + RP
0 1
Machine
pulse
m
deg
0
1
10
1
0
1
Pulse + direction
1 0
Combined
pulse 10
-4
inch 1
0
10
2
1
0
A/B Phase pulse
1 1
Sp
e
e
d
pulse/sec cm/min
1
1 10
3
1
1
pulse/sec
10deg/min
pulse/sec inch/min
bit #
Content
6
When b[6]=0: positive logic. LSP input signal is ON and LPS signal is given.
When b[6]=1: negative logic. LSP input signal is OFF and LPS signal is given.
7
When b[7]=0: positive logic. LSN input signal is ON and LSN signal is given.
When b[7]=1: negative logic. LSN input signal is OFF and LSN signal is given.
8
When b[8]=0: zero return is executed to the direction of CP’s decreasing value. When b[8]=1, zero return is executed to the
direction of CP’s increasing value.
9
When CW running is executed, b[9]=0 is for increasing CP value, but [9]=1 for decreasing.
10
When b[10]=0: DOG rising-edge is triggered. When b[10]=1,DOG falling-edge is triggered. (available for Interrupt 1st and
interrupt 2nd speed position modes)
11
When b[11]=0: positive logic. When DOG input signal is ON, DOG near point signal is given.
When b[11]=1: negative logic. When DOG input signal is OFF, DOG near point signal is given.
12
When b[12]=0: trapezoid acceleration line is chosen. When b[12]=1, S acceleration line is chosen.
13
When b[13]=0: 4ms; when b[13]=1: 12ms(for noise filter).
14
When b[14]=0: positive logic. When START input signal is ON, START input.
When b[14]=1: negative logic When START input signal is OFF, START input.
15
When b[15]=0: positive logic. When STOP input signal is ON, STOP input.
When b[15]=1: negative logic. When STOP input signal is OFF, STOP input.
#7
#6 H’4196
O
R/W
Maximum speed V
max
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS) *2
Factory setting: 200,000 unit*1
#9
#8 H’4198
O
R/W
Bias speed V
bias
Range: 0 ~ +2,147,483,647 unit*1 (0 ~ 200K PPS pulse transfer value) *2
Factory setting: 0 unit*1
#11 #10
H’419A O
R/W
JOG speed V
JOG
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value) *2
Factory setting: 5,000 unit*1
#13 #12
H’419C
O
R/W
Zero return speed
V
RT
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value) *2
Factory setting: 50,000 unit*1
#15 #14
H’419E
O
R/W
Zero return
deceleration speed
V
CR
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value) *2
Factory setting: 1,000 unit*1
#16 H’41A0
O
R/W
The number of PG0
in zero return mode N
Range: 0~+32,767 PLS
Factory setting: 0 PLS
#17 H’41A1
O
R/W
The number of pulse
in zero return mode P
Range: -32,768 ~+32,767 PLS
Factory setting: 0 PLS
#18 H’41A2
O
R/W
Zero return mode
H Mode
b0: Zero return mode, b1: detect DOG falling-edge in zero return mode
bit #
Content
0
b[0]=0: normal mode, b[0]=1: override mode
1
b[1]=0: DOG falling-edge detecting is on in zero return mode. b[1]=1: DOG falling-edge detecting is off in zero return mode.
#20
#19 H’41A3 O
R/W Zero point setting (HP)
Range: 0 ~
±
999,999 unit*1; factory setting: 0 unit*1
#21 H’41A5
O
R/W Acceleration
time
T
acc
Range: 10 ~ +32,767 ms; factory setting: 100 ms
#22 H’41A6 O
R/W Deceleration
time
T
dec
Range: 10 ~ +32,767 ms; factory setting: 100 ms
#24
#23 H’41A7 X
R/W Target position (I) P(I)
Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (-2,147,483,648 ~
+2,147,483,647 pulse transfer value) *2; factory setting: 0 unit*1
#26
#25 H’41A9 X
R/W Running speed (I) V(I)
Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
transfer value) *2; factory setting: 1,000 unit*1
#28
#27 H’41AB X
R/W Target
position
(II)P(II)
Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (-2,147,483,648 ~
+2,147,483,647 pulse transfer value) *2, factory setting: 0 unit*1
#30
#29 H’41AD X
R/W Running speed (II) V(II)
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value)
*2, factory setting: 2,000 unit*1
.
