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9-2

In the following table is a list of signals prepared for each shaft of a servomotor. With in each
signal category, interfaces for five shafts are configured. CHX indicates CH1 to CH5.

Table 9-1 List of PG Module Signals

Signals

Terminals

Descriptions

PG Signal Input

Phase A

CHX A(12)

12V input

CHX A(5)

5V differential plus-side input

CH* /A

0V of the 12V input or 5V differential
minus-side input

Phase B

CHX B(12)

12V input

CHX B(5)

5V differential plus-side input

CHX /B

0V of the 12V input or 5V differential
minus-side input

PhaseZ

CHX Z(12)

12V input

CHX Z(5)

5V differential plus-side input

CHX /Z

0V of the 12V input or 5V differential
minus-side input

Mark Signal Input

CHX MK

Mark signal input

CHX /MK

0V of the mark signal input

Origin Point Signal Input

CHX OG

Origin point signal input

CHX /OG

0V of the origin point signal input

Analog Signal Output

CHX REF8

±8V analog output

CHX /REF8

0V of the ±8V analog output

CHX REF10

±10V analog output

CHX /REF10

0V of the ±10V analog output

Содержание PSC7000

Страница 1: ...Operating Instructions for PSC7000 Control Card Programmable Servo Controller PSC7000 Instructions Manual 23030 10E Reliance Electric Limited...

Страница 3: ...nformation on how to check the version of the PSC Terminal see Section 10 5 of the PSC Terminal for PSC7000 Series Controllers Operating Instructions Manual Document Purpose The manual provides detail...

Страница 4: ...document The illustrations charts sample programs and circuit diagram used in this document are intended only as reference views and may not match the actual configuration at your worksite Some adapt...

Страница 5: ...ATTENTION indicates installation operation maintenance or valuable information that is not hazard related It provides a tip guidance or advice emphasizes important information or provides a reference...

Страница 6: ...cal shock can cause serious or fatal injury If damage incomplete or missing components is found do not use unit otherwise serious personal injuries may occur Have unit repaired by an authorized servic...

Страница 7: ...lent resistance to abrasion Failure to heed this caution may lead to electric shock or fire The protective earth terminal and conductor should be physically durable to ensure reliable operation and sh...

Страница 8: ...he technical specifications Do not operate or store unit in a place subject to direct sunlight high temperature heat and humidity Install the unit in a location that is well ventilated so that the hea...

Страница 9: ...installing or uninstalling the unit starting any configuration wiring or maintenance tasks Failure to observe this caution could result in bodily injury or damage to the unit and related equipment Th...

Страница 10: ......

Страница 11: ...3 6 Battery Change 6 1 6 1 DSPM 1A 6 1 6 2 DSPM 2A 6 3 7 CompactFlash CF Memory Card 7 1 7 1 Out line of CF Memory Card 7 1 7 2 Appearance 7 2 7 3 Inserting CF Memory Card 7 2 7 4 Removing CF Memory C...

Страница 12: ...utorun Permission Variable AutorunPermission 10 12 10 2 How to Use System Variables 10 12 10 3 List of System Variables 10 13 10 4 Wire Breaking Detection of PG Module MCIM 2 Only 10 17 11 Error Code...

Страница 13: ...attached or removed DSP Module The DSP module contains a DSP processor to run servo control program and is indispensable to operate the PSC7000 Control Card PG Module The PG Module provides 5 channel...

Страница 14: ...PSC terminal The PSC7000 Control Card is the enhanced version of the PSC5000 Control Card It is compatible with each control card of PSC series PSC3000 PSC4000 and PSC5000 with the same dimensions and...

Страница 15: ...PSC7000 Control Card Name Type Drawing No Part No Descriptions Motherboard Mother Chassis WR D4008 B40843301XXX Modules depending on the intended use are mounted in the slots DSP Module DSPM 1A S D403...

Страница 16: ...erminal Block for PG Module Cable for PG Module PSC 256 PSC 512 CompactFlash Memory Card 256MB 512MB PSC Terminal CD ROM USB Cable Battery for DSPM 1A Module for replacement Battery for DSPM 2A Module...

Страница 17: ...n program CompactFlash Memory Card 512MB MB D4015 B40882302XXX Stores data including user application program PSC terminal CD ROM MH D5009 CD ROM B40881030KXX Software tool to perform programming and...

Страница 18: ...2 4...

Страница 19: ...ules can be applied to slot 1 slot 2 and slot 3 respectively The DSP module must be inserted into slot 3 rightmost The following figure shows the location and name of the components of the motherboard...

Страница 20: ...ad and execute the user task from CF Memory Card release the switch while the CF Memory Card remains inserted For details about the CF Card see Chapter 7 CompactFlash CF Memory Card Terminal connector...

Страница 21: ...3 3 CF Card insertion It is a slot in which the CF Card is inserted Insert the card with its face towards the Access LED...

Страница 22: ...3 4...

Страница 23: ...BAT OK Green The light turns on when the battery voltage is 2 7V or more CF access Red The light turns on when the CompactFlash Memory Card is being accessed System switch Switch between AutoRun Enab...

Страница 24: ...ts 0 013 0 08 microseconds Consumed Current 700mA 3 3V Temperature for operation storage Operation 0to55degreeC Storage 20 to 85 degree C Boundary dimensions W20XH130XD213mm Weight 193gramsforDSPM 2A...

Страница 25: ...plers Threshold 5V differential input terminal 2 3V or above 12V input terminal 5V or above Line current MCIM 1 5V 2 5V 16mA standard Impedance 150 3 0V 32mA standard Impedance 100 12V 10V 9mA standar...

Страница 26: ...Class 1 LED lights that emit invisible infrared light Class 1 LED lights are considered as harmless under all operating conditions For the safety of your eyes do not look into the cross section of th...

Страница 27: ...or larger ground to ground at DC500V insulation tester Regular voltage resistance AC1000V minute ground to ground Thunder impulse 1 2 50uSec at 1500V ground to ground transient overvoltage protection...

Страница 28: ...4 6 4 6 2 Terminal Block of PG Module and Cable Fig 4 2 Dimensions of Terminal Block...

Страница 29: ...lation Dimensions Common to PSC7001 and PSC7000 Fig 4 3 Installation Dimensions The above figure shows the PSC7000 with 4 slots FSBP 1 indicates dimensions for 5 lots FSBP 2 indicates dimensions for 6...

Страница 30: ...erature controlled environment that meets the requirements given in the technical specifications If there are effects of electrical noise exposure it is necessary to implement noise control measures T...

Страница 31: ...ity resistor and other devices that generate heat When installing controllers drives and converters in the same control cabinet Provide adequate ventilation around the unit to prevent heat from stagna...

Страница 32: ...airflow for ventilation and enough capacity for cooling fans in the cabinet The maximum power dissipation of PSC7000 series is 75W per controller unit 4 PSC7000 must be placed at least 200 mm away fro...

Страница 33: ...ignal cables separately Do not bundle them together 3 Run coaxial cables connected to Network Cards and or T Boxes and other cables separately Do not bundle them together 4 Use twisted pair of wires o...

Страница 34: ...4 12...

Страница 35: ...ed from the slot 5 1 Mounting 1 Press the red button and hold the lever down as shown in the figure below 2 Fit the top and bottom edges in the slot then slide the board into place When you insert the...

Страница 36: ...e is snuggled securely in to the slot the lever gets locked Make sure that the module is firmly attached Slowly insert the module without pushing the faceplate or otherwise cause damage to the board o...

Страница 37: ...on the lever by pressing the red button then push down the lever The module will be removed from the slot connector of the motherboard Be careful not to hurt your fingers with a hook 2 Hold the lever...

Страница 38: ...5 4...

Страница 39: ...ulting in the loss of the nonvolatile variables Be sure to change the battery while PSC7000 is powered on so user tasks will be protected 6 1 DSPM 1A Be sure to use and replace with the Panasonic batt...

Страница 40: ...nnected to the two pole connector 3 Attach a new battery to the two pole connector Insert the two pole connector into the square hole until it clicks into place The connector is designed to protect th...

Страница 41: ...asts five years After 5 years of use it is recommended to change the battery regardless of the remaining voltage level 1 Remove the screws on the top of the battery compartment 2 Pull out the battery...

Страница 42: ...6 4...

Страница 43: ...tery so the user data on the DSP module remains intact when the PSC7000 is turned off If data loss accidentally occurs on the DSP module the lost data can be recovered through the use of the CF Memory...

Страница 44: ...7 3 Inserting CF Memory Card Insert the CF Memory Card into the slot of the PSC7000 Control Card until it clicks Make sure that the CF Memory Card is facing to the left as shown in Fig 7 2 Once the C...

Страница 45: ...taining user data and or OS of the PSC7000 controller then hold down the system switch of the PSC7000 Control Card at least three seconds as shown in Fig 7 3 In three seconds the CPU OK LED indicator...

Страница 46: ...7 4 Fig 7 3 Download from CF Memory Card to PSC7000 Controller Downloading OS from the CF Memory Card will erase libraries and all the application tasks in the PSC7000 controller ATTENTION...

Страница 47: ...puter The USB cable is suitable for high speed communication 8 1 USB Cable The B type USB cable approved by the USB IF is used to connect the PSC7000 controller and your computer First connect the B t...

Страница 48: ...nector of the DCS programming cable to the Port B of the power supply card mounted on the rack of the PSC7000 controller You can connect or remove the DCS programming cable while the PSC7000 controlle...

Страница 49: ...of interface of some signals necessary for controlling the servomotors For connection use the terminal block PS7XW 10080 and cable MB D5021 for the PG module respectively Fig 9 1 Connecting Cable for...

Страница 50: ...input Phase B CHX B 12 12V input CHX B 5 5V differential plus side input CHX B 0V of the 12V input or 5V differential minus side input PhaseZ CHX Z 12 12V input CHX Z 5 5V differential plus side input...

Страница 51: ...e 5V differential signal 12V emitter follower signal 12V totem pole signal 12V open collector signal 5V differential signal and 12V signal have separate input terminals respectively You cannot directl...

Страница 52: ...Signal Inputs The mark signals and origin point signals are transmitted from sensors encoders The signals with 12 to 24V can be connected to the PG module terminal block The interface circuit includi...

Страница 53: ...ther than the PG signal input mark signal input origin point signal input and the analog signal output Table 9 2 List of Other Terminals of PG Module Signals Terminals Descriptions Control signal term...

Страница 54: ...9 3 Wiring Conditions for Terminals of PG Module Terminal Size TB1 0 49 TB2 0 49 Wire mm2 1 25 Wire AWG 16 Terminal screw M3 Fastening torque N m 0 5 0 75 Applicable pressure terminal FN 1 25 3 JST Mf...

Страница 55: ...MCIM 2 There are some restrictions in setting the CHn_MULT and CHn_REF_SEL of MCIM 1 10 1 1 Counter Variable CHn_COUNTER The signals transmitted from the pulse input circuit are entered into the count...

Страница 56: ...y the latches will be enabled by means of the control output The difference between the count with a latch and the count during scanning can be obtained through the LATCH_READ block of the control blo...

Страница 57: ...TCH This variable is used to detect the origin point in position control The counter variable cannot be reset so the origin point can be detected by capturing the count when the counter reaches the or...

Страница 58: ...ed by the edges of the signals so the logic can be reversed This concept is the same as the logic reverse of the mark signal When the input logic variable is False use the input logic as it is and whe...

Страница 59: ...in which the signal is entered The two types of PG modules are MCIM 1 and MCIM 2 There are some restrictions in setting the CHn_REF_SEL of the MCIM 1 module Table 10 1 Reference Latch Input Selection...

Страница 60: ...Not available 12 Channel 1 CH1 on rising edge MCIM 2 only 13 Channel 2 CH2 on rising edge MCIM 2 only 14 Channel 3 CH3 on rising edge MCIM 2 only 15 Channel 1 CH1 origin point on rising edge MCIM 2 o...

Страница 61: ...Channel 6 CH6 origin point on falling edge 10 Channel 7 CH7 origin point on falling edge 11 Channel 8 CH8 origin point on falling edge 12 Channel 9 CH9 on rising edge MCIM 2 only 13 Channel 10 CH10 on...

Страница 62: ...only 16 Channel 7 CH7 origin point on rising edge MCIM 2 only 17 Channel 8 CH8 origin point on rising edge MCIM 2 only 18 Channel 6 CH6 mark signal on falling edge MCIM 2 only 19 Channel 7 CH7 mark s...

Страница 63: ...l is on rising edge 4 Forward rotation Z pulse is true The origin point signal is on rising edge 5 Forward reverse rotation Z pulse is True The origin point signal is on rising edge 6 Reverse rotation...

Страница 64: ...se Origin Capture Fig 10 10 Variable 3 Phase A Phase B Z Pulse Origin Capture Fig 10 11 Variable 4 Phase A Phase B Z Pulse Origin Capture Capture Fig 10 12 Variable 5 Phase A Phase B Z Pulse Origin Ca...

Страница 65: ...to the closest maximum or minimum value In case of MCIM 1 a value given by the analog output variable multiplied by 976 5625uV is output to the 8V output terminal Likewise a value given by the analog...

Страница 66: ...down below 2 9V the variable should be False If the level is at least 2 9V it should be True 10 1 11 SynchroCard Synchronizing Status Variable SYNC1_LOCKED This variable indicates the synchronization...

Страница 67: ...in point latch input selection R W CH1_ANALOG_OUT Analog output R W 2 CH1ZZZ Z pulse status R 1 CH1MRK Mark signal status R 1 CH1ORG Origin point status R 1 Channel 2 CH2_COUNTER Counter R CH2_Z_LATCH...

Страница 68: ...LT 3 Pulse rate multiplication R W CH4_Z_POL Z pulse input logic R W CH4_ORG_POL Origin point input logic R W CH4_MARK_POL Mark signal input logic R W CH4_REF_SEL 3 Reference latch input selection R W...

Страница 69: ...LT 3 Pulse rate multiplication R W CH7_Z_POL Z pulse input logic R W CH7_ORG_POL Origin point input logic R W CH7_MARK_POL Mark signal input logic R W CH7_REF_SEL 3 Reference latch input selection R W...

Страница 70: ...erence latch R CH10_ORG_LATCH Origin point latch R CH10_MULT 3 Pulse rate multiplication R W CH10_Z_POL Z pulse input logic R W CH10_ORG_POL Origin point input logic R W CH10_MARK_POL Mark signal inpu...

Страница 71: ...task The default is 0 OFF PCIDEF CH1_DIF_MODE BUS 1 SLOT s REGISTER 45 BIT 03 PCIDEF CH2_DIF_MODE BUS 1 SLOT s REGISTER 45 BIT 09 PCIDEF CH3_DIF_MODE BUS 1 SLOT s REGISTER 45 BIT 15 PCIDEF CH4_DIF_MOD...

Страница 72: ...10 18...

Страница 73: ...F002 Watchdog Firmware of the PSC7000 controller was not running properly A watchdog timeout error has occurred and finally stopped 1 Make sure that a proper card is inserted in the correct slot loca...

Страница 74: ...card is inserted in the correct slot location 2 Make sure that the configuration task card and slot are correctly connected 3 Make sure that I O of the application task is properly used 4 Replace the...

Страница 75: ...rd Restart the PSC7000 controller then read or write again F940 Communication error A communication error occurred between the CF Memory Card and PSC7000 controller The current session has been stoppe...

Страница 76: ...11 4...

Страница 77: ...ery Replacement A hardware failure has occurred If PSC Control Card reset does not work replace the PSC7000 Control Card BAT OK lamp is blinking The battery is falling to the regular voltage below 2 9...

Страница 78: ...12 2...

Страница 79: ...13 1 13 Appendix 13 1 PSC Series This section introduces PSC series option cards to be used in combination with the PSC7000 Control Card Fig 13 1 PSC Series Serial...

Страница 80: ...X Backplane 6 slots SSBP 2 S D4022 B40842617XXX Remote IO card PRIO 1 S D4020 B40842615XXX Remote IO backplane SSBP 1 S D4017 B40842614XXX 13 2 Restrictions on PSC Option Cards There are some restrict...

Страница 81: ...SELV SELV Safety Extra Low Voltage Secondary circuit that is designed to be safely separated from other circuits that carry higher voltages isolated from earth and isolated from the protective earth c...

Страница 82: ...13 4...

Страница 83: ......

Страница 84: ...701 1770 FAX 045 783 7486 Yokohama Sales Office 3 2 Fukuura 2 chome Kanazawa ku Yokohama 236 8641 Phone 045 791 3115 FAX 045 785 0276 Osaka Sales Office 4 17 Nishi Nakajima 7 chome Yodogawa ku Osaka...

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