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Appendix A

A.2 Digital Input/Output

Input Signals

Over Travel-
ing Limit
Switch Input*

nLMT+ and nLMT-

External
Deceleration/
Instantaneous
Stop Signal

nIN1 ~ 3

Input Signal for
Servo Motor
Drives*

nALARM (servo alarm); nINPOS (position
command completed)

Emergency
Stop

EMG - one emergency stop input

Max. Input Fre-
quency

4 kHz

Input Voltage

Low

3 V DC max.

High

10 V DC min.
50 V DC max.

Input Current

10 V DC

1.70 mA (typical)

12 V DC

2.10 mA (typical)

24 V DC

4.40 mA (typical)

48 V DC

9.00 mA (typical)

50 V DC

9.40 mA (typical)

Protection

2,500 V DC photo coupler isolation and
RC filtering

General Pur-
pose Output
Signals

Output Signal

nOUT4 ~ 7

Output Voltage Open Collector 5 ~ 40 V DC
Sink Current

200 mA max./channel

Protection

2,500 V DC photo coupler isolation

Note

*: “n” represents the axis (X, Y, Z or U) that is
concerned

Содержание ADAM-5240

Страница 1: ...ADAM 5240 4 axis Stepping Pulse type Servo Motor Control Module User Manual...

Страница 2: ...itten permission of Advantech Co Ltd Information provided in this manual is intended to be accurate and reliable However Advantech Co Ltd assumes no responsibility for its use nor for any infringement...

Страница 3: ...lacement materials service time and freight Please consult your dealer for more details If you think you have a defective product follow these steps 1 Collect all the information about the problem enc...

Страница 4: ...mplete description of the problem The exact wording of any error messages Packing List Before setting up the system check that the items listed below are included and in good condition If any item doe...

Страница 5: ...6 Deceleration Instantaneous Stop Switch Input 17 Figure 2 8 Deceleration Instantaneous Stop Input 17 2 7 General Purposed Input for Servo Drives 18 Figure 2 9 Input Signal for Servo Motor 18 2 8 Enco...

Страница 6: ...e 2 26 Instantaneous Stop Instruction 30 2 15 6 Deceleration Stop Timing 30 Figure 2 27 External Deceleration Stop Signal 30 Figure 2 28 Deceleration Stop Instruction 30 2 16 TTL Level Position Compar...

Страница 7: ...2 CHAPTER 1 Introduction This chapter introduces ADAM 5240 and lists features and specifications...

Страница 8: ...ovides users with the most requested motor control func tions as seen below Independent 4 axis motion control Support hand wheel and jog function 2 3 axis linear interpolation function 2 axis circular...

Страница 9: ...tion counter counts the axis pulse output number and the real position counter is recorded with the feedback pulse from the outside encoder or linear scale Speed Control The speed range of the pulse o...

Страница 10: ...real position counter The comparison result can be read from the sta tus registers The comparison result can be notified by an interrupt signal These registers can be also functioned as software limi...

Страница 11: ...trol Packaging and assembly equipment Machine control with up to 4 axes Semiconductor pick and place and testing equipment Other stepping pulse type servo motor applications 1 3 Accessories Advantech...

Страница 12: ...ADAM 5240 User Manual 6...

Страница 13: ...2 CHAPTER 2 Signal Connections This chapter provides useful informa tion about how to connect input and output signals to the ADAM 5240 via the I O connector...

Страница 14: ...tor that enables you to connect to accessories with the PCL 10251 shielded cable Figure 3 1 shows the pin assignments for the 100 pin I O connector on the ADAM 5240 and Table 3 1 shows its I O connect...

Страница 15: ...9 Chapter2 2 2 Pin Assignments Figure 2 1 I O Connector Pin Assignments...

Страница 16: ...X axis XALARM Input Servo Error at X axis XECAP Input Encoder Phase A at X axis XECAN Input Encoder Phase A at X axis XECBP Input Encoder Phase B at X axis XECBN Input Encoder Phase B at X axis XIN0P...

Страница 17: ...ut Output pulse CCW DIR of Y axis YP N GND Output Output pulse CCW DIR of Y axis VEX Input External Power DC12 24V ZLMT Input Direction Limit at Z axis ZLMT Input Direction Limit at Z axis ZIN1 Input...

Страница 18: ...4 GND Output Common Output at Z axis CMP ZOUT5 GND Output Common Output at Z axis CMP ZOUT6 GND Output Common Output at Z axis Server on ZOUT7 GND Output Common Output at Z axis Reset ZP P GND Output...

Страница 19: ...can change the output mode into Pulse Direction mode by writing specified command system register Figure 2 2 Output Signal Loop for Drive Pulses From the circuit shown above Figure 3 3 the default out...

Страница 20: ...al 14 The following figure 3 4 and 3 5 show the examples of input circuitry connection for both photo coupler and motor driver respectively Figure 2 3 Photo Coupler Input Interface Figure 2 4 Line Dri...

Страница 21: ...ur output during driving 2 5 Over Traveling Limit Switch Input Note When the axis axes is are about to stop in the decelera tion stage the axis axes will not stop totally but keep moving at a very low...

Страница 22: ...level This enables the over trav eling function if the desired level of nLMTP is set to low Figure 2 6 Movement Limit Input Signals The response time of this circuit should take about 0 2 0 4 msec be...

Страница 23: ...witch is on and xIN3 is low Furthermore these input signals can be used as general purposed input because user can get the level by reading the input register status RR4 RR5 Figure 2 8 Deceleration In...

Страница 24: ...abnormal condition they active this signal to note ADAM 5240 to stop output pulses When enable the nALARM function of ADAM 5240 the D14 bit of RR2 will set to 1 after nALARM active If ADAM 5240 is dri...

Страница 25: ...ble after setting the input pule mode nIN0P N is used for encoder phase Z signal feedback and also can be used as general purposed input or instantaneous stop input Figure 2 10 Circuit Diagram of Enco...

Страница 26: ...xample of the connection for encoder with differential output linear driver Figure 2 11 Differential output Line Driver The following figure is an example of connection for the encoder with open colle...

Страница 27: ...mode it is corresponding to the Fixed Pulse Output Mode These functions are progressed without CPU involved on host PC When the input signal is enabled during fixed pulse drive the pulse specified wi...

Страница 28: ...cuitry should take about 0 25 msec because of the delay of photo coupled and RC filter 2 11 External Power Input VEX External power is necessary for all input signals of each axis Please apply DC12 24...

Страница 29: ...the inter rupt structure of the ADAM 5240 We suggest users who want to pro gram their own interrupt service routine ISR should follow the procedures Step 1 When interrupt occurs Hardware Step 2 Progr...

Страница 30: ...UPK step drive manufactured by ORIENTAL company Note JP1 8 of ADAM 5240 are set to 5V output side 5V output for output terminals XP P and XP P Setting JP1 8 as single ended output will output 5V of A...

Страница 31: ...differential pulse output of ADAM 5240 is connected to CW CCW input of UPK drive XOUT4 can control UPK drive to hold by setting D8 of WR3 TIMING and Over HEAT signals can be read back by reading RR4 5...

Страница 32: ...e of ADAM 5240 connected to MINAS X series AC servo motor drive Figure 2 19 MINAS X Series AC Servo Motor Drive Note The servo drive must be set in pulse control drive mode and the type of pulse input...

Страница 33: ...d pair wires as the analog input cable This type of cable has its signal wires twisted together and shielded with a metal mesh The metal mesh should only be connected to one point at the signal source...

Страница 34: ...ol will be determined after 250 nsec from power on reset User can access ADAM 5240 only after 500 nsec from power on reset 2 15 2 Individual Axis Driving Figure 2 21 Individual Axis Driving The maximu...

Страница 35: ...gnal nP P is valid in 125 nsec of high level pulse signal 2 15 4 Input Pulse Timing Quadrature Pulse of Encoder Input Figure 2 23 Quadrature Pulse of Encoder Input The minimum difference time between...

Страница 36: ...on When the Stop instruction is issued during driving at most one pulse will be output and then stopped 2 15 6 Deceleration Stop Timing External Deceleration Stop Signal Figure 2 27 External Decelerat...

Страница 37: ...ingwithJP10 youcanchoosetheXOUT4pinasoriginaldesignas ADAM 5240 or TTL level output While the JP10 is in CMP position the output of XOUT4 is XOUT4 XOUT5 With this special design you can get the compar...

Страница 38: ...ADAM 5240 User Manual 32...

Страница 39: ...2 APPENDIX A Specifications...

Страница 40: ...ADAM 5240 8 388 608 8 388 607 ADAM 5240 2 147 483 648 2 147 483 648 Precision 0 1 Single Axis Movement Change of Acceler ation for S Curve 954 31 25 x 109 PPS sec Acceleration Deceleration 125 500 x 1...

Страница 41: ...Fre quency 4 kHz Input Voltage Low 3 V DC max High 10 V DC min 50 V DC max Input Current 10 V DC 1 70 mA typical 12 V DC 2 10 mA typical 24 V DC 4 40 mA typical 48 V DC 9 00 mA typical 50 V DC 9 40 mA...

Страница 42: ...ounts per Encoder Cycle x1 x2 x4 A B phase only Max Input Frequency 1 MHz Input Voltage Low 2 V DC max High Min 5V DC Max 30 V DC Protection 2 500 V DC Isolation Protection Input Signal nEXOP nEXPO Ma...

Страница 43: ...rpolation Interrupt Condition All conditions could be enabled disabled indi vidually Position Counter COMP Position Counter COMP Position Counter COMP Position Counter COMP Constant speed begins or en...

Страница 44: ...ADAM 5240 User Manual 38...

Страница 45: ...2 APPENDIX B Block Diagram...

Страница 46: ...o coupler XECA XECB XINPO Photo coupler RC filter XEXOP XEXOP Y Axis Interface Identical to the Input Output interface of X AXIS Z Axis Interface Identical to the Input Output interface of X AXIS U Ax...

Страница 47: ...2 APPENDIX C Cable Pin Assignments...

Страница 48: ...ADAM 5240 User Manual 42 Appendix C Cable Pin Assignments...

Страница 49: ...2 APPENDIX D Wiring with Third Party Motor Drivers...

Страница 50: ...ADAM 5240 User Manual 44 Appendix D Wiring with Third Party Motor Drivers Figure D 1 Mitsubishi MR J2S Series Motor Driver...

Страница 51: ...45 ChapterD Figure D 2 Oriental LIMO EZMC Motor Driver...

Страница 52: ...ADAM 5240 User Manual 46 Figure D 3 Panasonic MINAS A Series Motor Driver...

Страница 53: ...47 ChapterD Figure D 4 Yaskawa SGDM Series Motor Driver...

Страница 54: ...ADAM 5240 User Manual 48...

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