Tolomatic SmartActuator ICMSV1P PLUS User Manual Download

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USER GUIDE

LINEAR SOLUTIONS MADE EASY

Smart

Actuator Series

Integrated Control

Rod Style Actuator & Motor

I C R S V 1 B

BASIC

I C R S V 1 P

PLUS

I C M S V 1 P

PLUS

2100-4001_04_ICR_USeRGUIde

Summary of Contents for SmartActuator ICMSV1P PLUS

Page 1: ...USER GUIDE LINEAR SOLUTIONS MADE EASY LINEAR SOLUTIONS MADE EASY SmartActuator Series Integrated Control Rod Style Actuator Motor ICRSV1B BASIC ICRSV1P PLUS ICMSV1P PLUS 2100 4001_04_ICR_Use...

Page 2: ...equipment described herein and any associated motion products without notice Information in this document is subject to change without notice 201503261442 Original Instructions English Translations w...

Page 3: ...Mechanical Specs 1 8 1 1 12 ICM Plus Motor Speed vs Torque 1 8 2 ICR SV1B Basic Electrical Interface Specs Wiring 2 1 2 1 Cabling and Connectors ICR SV1B Basic Actuator 2 1 2 1 1 Power Cables and Pin...

Page 4: ...14 4 Power Supply Recommendations 4 1 Regulated and Unregulated Power Supplies 4 1 4 1 1 Power Supply Sizing Guidelines 4 1 4 1 2 System Power Overloading Considerations 4 2 4 1 3 Suggested Power Sup...

Page 5: ...er Files 6 6 6 7 2 Saving Amplifier Files 6 6 6 8 Command Sources 6 7 6 8 1 Programmable Command 6 7 6 8 2 Analog Command 6 8 6 8 3 Digital Input Command 6 9 6 8 4 Communication Commands 6 9 6 9 Diagn...

Page 6: ...Figure 2 14 ICR SV1B Basic Actuator Single Supply Main Power 2 10 Figure 2 15 ICR SV1B Basic Actuator Single Supply External Cut off Switch for Emergency Stop 2 10 Figure 2 16 ICR SV1B Basic Actuator...

Page 7: ...Actuator Extend Velocity Potentiometer 5 6 Figure 5 7 ICR SV1B Basic Actuator Retract Velocity Potentiometer 5 7 Figure 5 8 ICR SV1B Basic Actuator Force Control Potentiometer 5 7 Figure 5 9 ICR SV1B...

Page 8: ...hat are specifically marked DANGER WARNING CAUTION or NOTE are arranged in a hierarchical system and have the following meaning DANGER Indicated a very hazardous situation which if not avoided could r...

Page 9: ...e to protect the actuator and power supply from any potential over current conditions that may occur In addition if regenerative energy will be present especially in vertical applications a means for...

Page 10: ...ent contact with hot surfaces In addition the case ground should be tied to an earth ground to prevent the presence of case voltage Handling and Unpacking When unpacking and handling the actuator care...

Page 11: ...0 duty cycle for continuous operation 4 inputs Enable E Stop Fwd Rev 2 outputs 24V line driver fault in position 24 Vdc opto isolated inputs NPN or PNP IP65 option For protection against water and dus...

Page 12: ...isolated sinking sourcing 24 Vdc opto isolated input NPN or PNP IP65 option For protection against water and dust ingress Modes of Operation 1 Stand alone mode Logic device or switches sensors send co...

Page 13: ...details on cabling wiring and setup procedures Section 3 ICR ICM SV1P Plus Electrical Interface Specs Wiring Section 4 Power Supply Recommendations The ICR Plus actuator utilizes Copley Controls Corp...

Page 14: ...omatic also provides 5 meter signal and power cables for both the ICR Basic and ICR Plus An additional communication cable is available in either 1 meter or 5 meter lengths for the ICR Plus All cables...

Page 15: ...Weight LMI lb 9 31 7 77 kg 4 22 3 52 Base Weight RP 1 1 lb 11 79 10 25 kg 5 35 4 65 Base Weight RP 2 1 lb 11 99 10 45 kg 5 44 4 74 Weight unit of stroke lb in 0 345 0 313 kg mm 0 0062 0 0056 Min temp...

Page 16: ...0 200 400 600 800 0 200 400 600 800 0 890 1 779 2 669 3 559 SPEED in sec LMI 1 1 RP 1 1 RP 2 1 BN05 SPEED mm sec THRUST lbf THRUST N 0 2 4 6 SPEED in sec SPEED mm sec 8 10 0 51 102 152 203 254 0 2 4 6...

Page 17: ...Where TRMS RMS Thrust VRMS RMS Velocity Ti Thrust during interval i Vi Velocity during interval i ti Time interval i VRMS sum Vi 2 x ti sum ti 1 1 7 ICR Screw Life The L10 expected life of a ball scr...

Page 18: ...lowing the actuator to hold position when unpowered Add SAB to the ordering code for the optional Spring Applied Electronically Released Brake not available for service part ordering NOTE The optional...

Page 19: ...s other than those provided by Tolomatic reference the cable mating connector style to ensure the proper cabling is supplied to the ICR actuator 2 1 1 Power Cables and Pin outs Cable tolomatic Part no...

Page 20: ...s PIN numbers Std IP65 description cable wire color Technical info page No 1 A 2 B 3 C 4 D 5 E 6 F 7 G 8 H 9 J Enable Orange Black 2 5 10 K E Stop Red White 11 L 12 M Extend Command Blue White 2 5 13...

Page 21: ...09 030R121 NORCOMP P N REF 171 025 203L001 PIN 1 979 025 030R121 WIRE TIE CAROL P N C 748A 171 025 203L001 979 025 030R121 171 009 203L001 979 009 030R121 NORCOMP P N NORCOMP P N RED BLK WHT ORG GRN G...

Page 22: ...COMMON INPUT TO INTERNAL CIRCUITRY 2 I C R S V 1 B B A S I C electrical interface S pecs W iring 2 1 3 Cable Routing Over time liquid contaminants such as oil and cleaning solutions may accumulate on...

Page 23: ...um 2 ms ICR SV1B Basic Actuator Digital Input Functionality signal name description Extend Command Commands the actuator to move in the extend direction Forward is defined as extend Retract Command Co...

Page 24: ...ON INPUT GND 24V POWER SUPPLY INPUT COMMON INPUT GND 24V POWER SUPPLY INPUT COMMON INPUT GND 24V POWER SUPPLY 2 2 1 Typical Wiring Connections cont Figure 2 8 ICR SV1B Basic Actuator Input Source PNP...

Page 25: ...lly Figure 2 11 ICR SV1B Basic Actuator Output Interface Circuit Diagram ICR SV1B Basic Actuator Digital Output Specifications Output high minimum 10 mA source 24 V power 20 V Output low maximum 10 mA...

Page 26: ...or a 24V power source is needed The brake power is on pin 22 for the standard cable and on pin Y for IP65 cable The return is on pin 23 for the standard cable and on pin Z for IP65 cable See I O Cable...

Page 27: ...current will depend on temperature 2 Drive will shut down at 56V any voltage above the absolute max voltage can result in permanent damage 3 Drive will turn off below this voltage 4 Logic current for...

Page 28: ...sic Actuator Single Supply Main Power Figure 2 15 ICR SV1B Basic Actuator Single Supply External Cut off Switch for Emergency Stop 24 48VDC POWER POWER GROUND CASE SHIELD GROUND HIGH POWER POWER SUPPL...

Page 29: ...ure 50 158 F 10 70 C Humidity 0 95 non condensing IP Rating 40 standard 65 optional 2 7 ICR SV1B Basic Actuator Setup Figure 2 16 shows the simple setup of the ICR Basic and the necessary cables and p...

Page 30: ...2 12 Tolomatic User Guide ICR Rod Style Integrated Control Actuator 2 I C R S V 1 B B A S I C electrical interface S pecs W iring This page intentionally left blank...

Page 31: ...32C10029X This type of mating connection is used on Tolomatic supplied cables Reference this type of mating connector for customer designed cables PIN numbers Std IP65 description cable wire color A1...

Page 32: ...ed cables PIN numbers Std IP65 description cable wire color 1 A RS232 RX Red Black White 2 B RS232 TX Orange Green 3 C Pulse White 4 D Direction Orange 5 E Reference in Blue 6 F Reference in Blue Blac...

Page 33: ...0R121 NORCOMP P N REF 171 025 203L001 PIN 1 979 025 030R121 WIRE TIE CAROL P N C 748A 171 025 203L001 979 025 030R121 171 009 203L001 979 009 030R121 NORCOMP P N NORCOMP P N RED BLK WHT ORG GRN GRN 1...

Page 34: ...C HMI or other intelligent device Cable tolomatic Part no Communication Cable 1 Meter 3604 1659 Communication Cable 5 Meter 3604 1660 Figure 3 5 ICR ICM SV1P Plus Optional Communications Cable When cu...

Page 35: ...0 to 4 Vdc On State Current 10 Vdc minimum 1 5 mA 24 Vdc nominal 5 mA 26 Vdc maximum 5 5 mA Nominal input impedance 24V 4 8K Ohm Off State Current maximum 0 4 mA Update rate maximum 0 3 ms 3 2 2 High...

Page 36: ...ing Connections Figure 3 8 ICR ICM SV1P Plus Source switched Connection Figure 3 9 ICR ICM SV1P Plus Source PNP Connection Figure 3 10 ICR ICM SV1P Plus Sink switched Connection Figure 3 11 ICR ICM SV...

Page 37: ...Maximum Switched Voltage 30 V Output low maximum 20 mA sink 4 V Maximum continuous current 20 mA Fold back current 80 mA Maximum output sink source voltage 24 V Update rate 1 ms Output Leakage Current...

Page 38: ...pecs W iring 47 47 OUTPUT OUTPUT INTERNAL CIRCUITRY Figure 3 14 ICR ICM SV1P Plus Digital Output Circuitry Figure 3 15 ICR ICM SV1P Plus Digital Output Sinking Wiring Diagram Figure 3 16 ICR ICM SV1P...

Page 39: ...erature 2 Drive will shut down at 56V any voltage above the absolute max voltage can result in permanent damage 3 Drive will turn off below this voltage 4 Logic current for keep alive no outputs activ...

Page 40: ...ICM SV1P Plus Single Supply Main Power Figure 3 19 ICR ICM SV1P Plus Single Supply External Cutoff Switch for Emergency Stop 24 48VDC POWER POWER GROUND CASE SHIELD GROUND HIGH POWER POWER SUPPLY 24 t...

Page 41: ...r a 24V power source will be needed The brake power is on pin 22 for the standard cable and on pin Y for IP65 cable The return is on pin 23 for the standard cable and on pin Z for IP65 cable See I O C...

Page 42: ...ons from the drop down menus Product Line Electric Linear Motion Resource Type Software Figure 3 21 ICR ICM SV1P Plus Single Actuator Setup for optional CANopen Position Control 3 7 2 Multi drop RS 23...

Page 43: ...to multi drop RS 232 Figure 3 22 ICR ICM SV1P Plus Multi drop RS 232 Setup RS 232 to optional CANopen S U P P L I E D P O W E R S O U R C E SUPPLIED POWER SOURCE SUPPLIED POWER SOURCE ACTUATOR 1 CAN...

Page 44: ...D POWER SOURCE Terminator Male 3604 1653 Female 3604 1654 CAN IN CAN IN CAN IN CAN OUT CAN OUT CAN OUT ACTUATOR 1 CAN Node required ACTUATOR 2 CAN Node CAN Address 2 optional ACTUATOR 3 CAN Node CAN A...

Page 45: ...the installation If operating more than one actuator on the same power supply add the required power supply rating for each actuator 4 1 1 Power Supply Sizing Guidelines Use the following tables to h...

Page 46: ...464 498 127 6 99 167 237 309 381 456 532 570 152 7 119 196 275 355 436 517 600 642 178 8 141 228 315 403 491 580 670 203 9 165 261 356 452 548 229 10 191 295 399 254 11 219 332 444 279 12 249 305 178...

Page 47: ...3 Regulated Power Supply Configuration with Blocking Diode and Added Capacitance Figure 4 4 Regulated Power Supply with Blocking Diode and Shunt Regulator power supply recommendations 4 24 48VDC POWE...

Page 48: ...l trip voltage If additional power dissipation is needed additional regulators may be paralleled Figure 4 5 Shunt Regulator Input Wiring Diagram 4 1 5 Diodes A diode with a minimum blocking voltage of...

Page 49: ...d the actuator is free to back drive unless an electronic brake option is installed Using this option when the Enable input command is de activated signals the drive to apply the brake to the actuator...

Page 50: ...ter initial power up Velocity and Acceleration Homing Sequence Hard Codes VELOCITY ACCELERATION 2 turn per inch ball screw 3 333 in sec 2 turn per inch ball screw 55 5 in sec2 5 turn per inch ball scr...

Page 51: ...tuator will decelerate to a stop hold its position and activate a Fault output signal VELOCITY ACCELERATION 2 turn per inch ball screw 3 333 in sec 2 turn per inch ball screw 55 5 in sec2 5 turn per i...

Page 52: ...celerate to a stop hold its position and activate a Fault output signal VELOCITY ACCELERATION 2 turn per inch ball screw 3 333 in sec 2 turn per inch ball screw 55 5 in sec2 5 turn per inch ball screw...

Page 53: ...output for the logic device indicating that a fault has occurred in the actuator Valid faults are for e stop following error over under voltage current limit and over temperature PCB and motor CAUTIO...

Page 54: ...e Extend velocity potentiometer is used to set the Extend velocity of the actuator s rod The velocity range is stated from 2 100 of maximum velocity Changes made to the Extend velocity potentiometer s...

Page 55: ...gure 5 7 ICR SV1B Basic Actuator Retract Velocity Potentiometer 5 8 3 Force Control Potentiometer The Force control potentiometer is used to set the actuator s force limit allowing it to stop and hold...

Page 56: ...V1B Manufactured before 4 2013 The Extend velocity potentiometer is used to set the Extend velocity of the actuator s rod The velocity range is stated from 2 100 of maximum velocity Changes made to th...

Page 57: ...ure 5 11 ICR SV1B Basic Actuator Retract Velocity Potentiometer 5 9 3 Force Control Potentiometer SV1B Manufactured before 4 2013 The Force control potentiometer is used to set the actuator s force li...

Page 58: ...5 10 Tolomatic User Guide ICR Rod Style Integrated Control Actuator 5 how to use the icr sv 1 b basic actuator This page intentionally left blank...

Page 59: ...ication software be sure the supplied devices have the minimal host requirements indicated below 6 1 1 Hardware Requirements CPU 400 Mhz RAM 128 MB 6 1 2 Operating Systems Supported Windows NT 2000 XP...

Page 60: ...ctuator Setup Software v6 0 link 5 Click and save the Installer zip file to the selected folder 6 Extract the contents of the zip file to the same location The folder should contain the Setup exe file...

Page 61: ...eNet One or more serial ports on a PC can be used to connect amplifiers Use the following instructions to add ports for amplifiers choose baud rates for the ports and remove ports for amplifiers This...

Page 62: ...e Serial Ports Screen 5 From the Selected Ports list highlight the port desired and select a Baud Rate Repeat for each port selected and click Finish to save changes 6 5 Configure CAN Network Paramete...

Page 63: ...1 Mbit s The CME 2 User Interface features are illustrated in Figure 6 6 below Screen details will vary depending on amplifier model and mode selection Figure 6 6 CME 2 User Interface Features The CME...

Page 64: ...y Amplifier Data then load the ICRSVIP ccx file provided with the ICR ICM SV1P Plus IN1 Enable IN11 Motor Temp Switch 6 7 2 Saving Amplifier Files If any changes to setup motor or tuning have been mad...

Page 65: ...The numbers of sequences which have been programmed with steps will be displayed with a green background as some of the sequences shown below The I O Line States screen shows real time status of the...

Page 66: ...a factory modification in order to utilize the current and velocity mode scaling parameters Contact Tolomatic if current or velocity modes of operation are required To program the ICR Plus actuator u...

Page 67: ...ngs for complete information on using the digital position parameter settings 6 8 4 Communication Commands There are three interfaces that can be configured to communicate with the ICR Plus actuator 1...

Page 68: ...ctuators This command can be received from a PC PLC HMI or other device For illustrations on setting up the ICR Plus actuator using optional CANopen refer to page 3 14 For complete details on CANopen...

Page 69: ...cators monitor channels and functions refer to Section 14 Control Panel on the CME 2 User Guide provided on the CD ROM shipped with the ICR Plus actuator 6 9 2 Scope Tool The Scope is used for monitor...

Page 70: ...lighted below are features of the Scope Tool Figure 6 14 CME 2 Scope Tool Screen For more details on features function generator and profile tabs trace channels trigger setup display and control loop...

Page 71: ...en Option CAN Open Option M8 1 25 0 75 19 0 M5 0 8 0 79 20 0 BN02 14 33 364 0 STROKE BN05 11 63 295 4 STROKE BN02 6 32 160 5 STROKE BN05 3 62 92 1 STROKE 0 64 16 3 0 77 19 5 1 06 26 9 M5 x 0 8 6H 0 25...

Page 72: ...ORS BRAKE OPTION LENGTH 0 81 20 6 KEYWAY LENGTH 1 500 1 498 38 10 38 05 500 499 12 70 12 67 3 23 3 18 KEYWAY 127 125 0 430 10 92 KEYWAY 4 000 101 60 BOLT CIRCLE 194 4 93 THRU 4 0 06 1 5 1 36 34 6 0 30...

Page 73: ...1 22 31 1 4 05 102 8 4 00 101 6 3 39 86 0 0 45 11 5 0 45 11 5 563 14 29 4717 11 981 0 4728 12 009 BN02 16 40 416 5 STROKE BNO5 13 70 348 0 STROKE BN02 14 60 370 8 STROKE BNO5 11 90 302 3 STROKE BN02 7...

Page 74: ...5 3 50 88 9 22 5 6 1 03 26 2 1 22 31 1 MOUNTING PLATEM P TUBE CLAMPT C BRAKE IP65 1 06 27 0 0 69 17 5 1 240 31 50 500 498 12 70 12 65 1 10 28 0 1 98 50 3 BN02 10 82 274 8 STROKE BN05 8 08 205 2 STROKE...

Page 75: ...4 0 319 8 10 0 318 8 07 PIN INCLUDED OPTIONAL External Threaded Rod End MET OPTIONAL Clevis Rod End CLV INTERNALLYTHREADED END SPECIFIED EXTERNALLYTHREADED END SPECIFIED 315 8 00 0 904 22 95 0 457 11...

Page 76: ...oduct Warranty Tolomatic Inc warrants all products manufactured by it to be free from defects in material and workmanship for a period of one year from date of shipment by Tolomatic If within this per...

Page 77: ...urn is connected to signal ground 5 Check signal cable for proper connection and wiring Actuator cannot move load 1 The load is too large 2 There is too much friction 3 Side load is excessive 4 Push f...

Page 78: ...apability 5 Current limits are set too low ICR ICM is overheating 1 Ambient temperature is too high 2 Operation is outside of the continuous ratings 3 Cooling is insufficient Communication does not wo...

Page 79: ...ts Reserved CME 2 is a registered trademark of Copley Controls Incorporated All brand and product names are trademarks of their respective owners Information in this document is believed to be accurat...

Page 80: ...3800 County Road 116 Hamel MN 55340 Phone 763 478 8000 Toll Free 1 800 328 2174 Fax 763 478 8080 Email help tolomatic com www tolomatic com...

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