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Tolomatic Hardware & Installation Guide:

ACS Drive/Controller

• 1-1 •

Product Overview

1

1.1 the ACS Stepper drive/Controller for Actuator Control Solutions

Tolomatic’s ACS Drive/Controller is a stepper drive and controller intended for use
with electric actuators. Tolomatic's Motion Interface software allows the user to
select the compatible Tolomatic electric linear actuator of choice. The software
automatically sets most of the necessary parameters to create the desired motion
of the selected actuator reducing setup and programming time. (See Tolomatic
Motion Interface Software Manual 3600-4167 for more information).
Currently there are three ACS Drive/Controller choices:

• #3604-9651 - ACS Stepper Drive/Controller, Modbus RTU over RS485

- firmware 36043144SD.hex

• #3604-9654 - ACS Stepper Drive/Controller, EtherNet/IP (Analog Output)

- firmware 36043175ED.hex

• #3604-9655 - ACS Stepper Drive/Controller, Modbus TCP (Analog Output)

-firmware 36043176MD.hex

NOTE: They will collectively be referred to as ACS Drive throughout this guide

1.1.1 ACS Stepper drive/Controller — Overview

Dual EthErNEt ports

(optioN)

Digital i/0

aNalog i/0

rs232 CoM port

lED iNDiCators

rs485 CoM port

Dual purposE hEat siNk

powEr

CoNNECtioN

Motor powEr

FEEDbaCk

• Internal switch for daisy chaining up to 255 ACS axes

Protocols:

• EtherNet/IP • Modbus TCP

• 8 Digital Inputs
• 4 Digital Outputs
•24 Vdc Opto-Isolated
• NPN or PNP
• Configurable

• 0-10 Vdc or 4-20mA
• 1 Analog Input
• 1 Analog Output

(Optional)

• Drive Configuration Port

• Networking Port

• Removes heat from drive

for optimal performance

• Panel

mounting

• 24Vdc

•24Vdc Stepper Motors

•Power & Fault indicators

•For Digital Encoder

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Содержание 3604-9651

Страница 1: ...HARDWARE INSTALLATION GUIDE LINEAR SOLUTIONS MADE EASY LINEAR SOLUTIONS MADE EASY 3604 4173_05_ACS_Hd ACS Actuator Control Solutions Stepper Drive Controller and Motors...

Страница 2: ...serves the right to change the design or operation of the equipment described herein and any associated motion products without notice Information in this document is subject to change without notice...

Страница 3: ...mensions Mounting 2 1 2 1 Operating Environment 2 1 2 2 Dimensions 2 1 2 3 Mounting the ACS Drive 2 2 3 Starter Kit 3 1 4 ACS Drive Setup 4 1 4 1 ACS Drive and Actuator Basic Setup 4 1 4 1 1 Setup Pro...

Страница 4: ...og Output Specifications 6 5 6 4 2 Equivalent Circuit 6 5 6 5 Input Power 6 6 6 5 1 Drive Specifications 6 6 6 5 2 Typical Input Power Wiring 6 6 6 5 3 Power Supply Selection 6 7 6 5 4 Suggested Power...

Страница 5: ...nection for ACS Drive Programmability 5 7 Figure 5 12 Cable Routing for Top and Side Mounted Connectors 5 7 Figure 6 1 Digital Input Circuit 6 1 Figure 6 2 Input Source switched Connection 6 1 Figure...

Страница 6: ...al Output Specifications 6 3 Table 6 3 Analog Input Specifications 6 5 Table 6 4 Analog Output Specifications 6 6 Table 6 5 ACS Internal Drive Specifications 6 6 Table 6 6 Maximum Power Supply Current...

Страница 7: ...are specifically marked DANGER WARNING CAUTION or NOTE are arranged in a hierarchical system and have the following meaning DANGER Indicates a very hazardous situation which if not avoided could resu...

Страница 8: ...tect the drive controller and power supply from any potential over current conditions that may occur See Section 6 Specifications Wiring page 6 6i Fail Safe Emergency Stop Recommendations A means for...

Страница 9: ...ing so may damage the drive power electronics The motor cable is part of the current regulation circuitry For a short occurring in a motor the motor leads should provide enough resistance and inductan...

Страница 10: ...ller Modbus RTU over RS485 firmware 36043144SD hex 3604 9654 ACS Stepper Drive Controller EtherNet IP Analog Output firmware 36043175ED hex 3604 9655 ACS Stepper Drive Controller Modbus TCP Analog Out...

Страница 11: ...ng Adjustable motion profile parameters velocity accel decel force Parameters are independently configurable for each move ACS Drive Controller 3604 9654 3604 9655 Additional Capabilities EtherNet mod...

Страница 12: ...edures should be observed to prevent static discharge and damage to electronic components ACS Drive Operating Conditions Ambient Temperature 77 F 25 C Nominal Operating Temperature 32 104 F 0 40 C Non...

Страница 13: ...sipation A 2 inch head space is recommended from the drive vents to another surface to ensure the proper ambient temperature ratings are maintained It is recommended to have a minimum of 1 inch spacin...

Страница 14: ...d a CD with the Tolomatic Motion Interface software ACS Drive Starter Kit PN 3604 9044 ITEM TOLOMATIC PART NUMBER MFR PART NUMBER RJ12 Cable 3604 1783 Assmann PN AT S 26 6 6 B 7 R R D sub to RJ Conver...

Страница 15: ...r 3 2 3 S ta r t e r K i t The D sub to RJ12 converter should to be wired as follows WIRE COLOR D SUB Yellow 2 Green 3 Red 4 Black 5 White 7 Table 3 2 D Sub to RJ12 Converter Wiring NOTE The brown wir...

Страница 16: ...ns and page numbers for cable part numbers and wiring specifications Motor Power Cable Section 5 pages 5 1 to 5 2 Encoder Cable Section 5 pages 5 2 to 5 3 I O Cable Section 5 pages 5 3 to 5 4 RS 232 C...

Страница 17: ...into appropriate fixtures 2 Wire the 24Vdc power supply to the drive See Section 6 Power Supply Selection 3 Wire input and output signals to the desired logic device See Section 5 Connections and Cab...

Страница 18: ...3 4 1 Figure 5 1 Motor Power Connection on ACS Drive PIN numbers SIGNAL cable wire color 1 Motor A Red 2 Shield Shield 3 Motor B Green 4 Motor A White 6 Motor B Black Table 5 1 Motor Power Connection...

Страница 19: ...acts Motor mating connector Motor Contacts Motor Power 3 meter 3604 1766 Tyco PN 794954 6 Tyco PN 1586315 3 Tyco PN 1586000 6 Tyco PN 1586314 3 Motor Power 5 meter 3604 1767 Tyco PN 794954 6 Tyco PN 1...

Страница 20: ...79 8100 Encoder 5 meter 3604 1769 JST PN PHDR 14VS JST PN SPHD 001T P0 5 Molex PN 51021 0600 Molex PN 50079 8100 Table 5 4 Encoder Cable and Connector Parts 1 2 29 30 Figure 5 5 I O Connection on ACS...

Страница 21: ...P N PHDR 30VS SHRINK TUBING FLYING LEADS ALL CONDUCTORS ARE 20 AWG USE OVERALL SHIELD WITH 20 AWG DRAIN WIRE CONDUCTOR COLORS ARE UNIQUE RoHS COMPLIANT MUST BE RATED 60 C OR BETTER COLOR OF JACKET IS...

Страница 22: ...port connector is a standard RJ12 type connector and will mate with standard RJ12 connectors and cables Figure 5 8 RS 232 Connection The ACS Drive uses five signals from the RS 232 port and will need...

Страница 23: ...ave a wide 7V to 12V common mode range This differential signal has good noise immunity for long distance transmission lines The absolute maximum cable length of the trunk is 4 000 feet If more than o...

Страница 24: ...A 5 NA 6 Receive Port Data Terminal 7 NA 8 NA Table 5 11 EtherNet pinouts and Connections Over time liquid contaminants such as oil and cleaning solutions may accumulate on the cables and in the conne...

Страница 25: ...Cord Length EtherNet IP specifications limit the channel to 100 meters or up to 90 meters horizontal wiring with two 5 meter patch cords Some applications will require longer patch cords In these app...

Страница 26: ...D H W C T patch derating horizontal length H C 100m patch length total length patch and equipment total length of patch equipment and horizontal 24 0 2 100 0 0 100 24 0 2 0 80 85 85 24 0 2 25 59 64 89...

Страница 27: ...TO INTERNAL CIRCUITRY INPUT CIRCUIT DIAGRAM Figure 6 1 Digital Input Circuit Opto isolated Digital Input Specifications Input Voltage Range 0 to 28Vdc On State Voltage Range 16 to 28Vdc Off State Vol...

Страница 28: ...Input Sink switched Connection INPUT INPUT COMMON INPUT SINK NPN CONNECTION 24V POWER SUPPLY Figure 6 5 Input Sink NPN Connection 6 2 1 Specifications The ACS Drive has four digital outputs These digi...

Страница 29: ...Voltage drop 20mA 2V Maximum Continuous Current 20mA Fold Back Current 80mA Update Rate 10KOhm Load 2ms Output Leakage Current 30uA Table 6 2 Digital Output Specifications 6 2 2 Typical Wiring Diagram...

Страница 30: ...tware to be 0 10V or 0 20mA input The analog input is referenced to the analog ground pin Parameter Value Units Voltage Mode Input Voltage min 0 V Voltage Mode Input Voltage max 10 V Current Mode Inpu...

Страница 31: ...alog output ground pin Parameter Value Units Output Voltage min 0 V Output Voltage max 10 V Output Current min 0 mA Output Current max 20 mA Resolution 12 Bits Table 6 4 Analog Output Specifications 6...

Страница 32: ...ive Specifications ACS Internal Drive Specifications Current Maximum 4 A Voltage Nominal 20 28 V Over Voltage1 30 V Under Voltage2 18 V Absolute Maximum Voltage 35 V Logic Current Draw Maximum 24V 100...

Страница 33: ...one drive on the same power supply add the required power supply rating for each actuator Maximum power supply current for Tolomatic motors are shown below Maximum Power Supply Requirements for Toloma...

Страница 34: ...W CUI PN VGS 75 24 75W TDK Lambda PN LS150 24 150W Table 6 7 Recommended Switching Power Supplies Linear Regulated Power Supplies Power Output Power One PN HB24 1 2 AG 28W Power One PN HN24 3 6 AG 80W...

Страница 35: ...witches are used If limit switches are used careful consideration should be used to prevent missed triggering due to high velocities Output timing assumes 10K load INPUT 2ms min 2ms min INPUT REQUIREM...

Страница 36: ...ECT LINES 2ms min 2ms min OUTPUT MOTION COMPLETE START MOTION TIMING 2ms min 2ms max Figure 7 4 Absolute Incremental Move Timing 7 1 1 Move Timing Rules 1 While the Motion Complete signal is low the d...

Страница 37: ...led Move Select 1 through 4 MS1 MS4 in the digital input map To select the desired move command refer to the three logic tables below NOTE 1 MS stands for Move Select NOTE 2 1 On 0 Off 4 Move Commands...

Страница 38: ...l e c t L o g i c 16 Move Commands Mode Logic Table move ms1 ms2 ms3 ms4 1 0 0 0 0 2 1 0 0 0 3 0 1 0 0 4 1 1 0 0 5 0 0 1 0 6 1 0 1 0 7 0 1 1 0 8 1 1 1 0 9 0 0 0 1 10 1 0 0 1 11 0 1 0 1 12 1 1 0 1 13 0...

Страница 39: ...gured for disable motor the fault will be latched until it is cleared in the same manner as the critical faults described at left All Critical Faults will disable the motor when they occur To clear th...

Страница 40: ...input is configured as an E stop and fault is enabled this fault will be activated when the signal level on the pin is high This fault is configured as a stop motion it will be cleared once the E sto...

Страница 41: ...ure is too high 2 Cooling is insufficient Actuator is operating erratically 1 Current is set to low 2 Following error is set too low 3 Determine if power supply has enough current 4 Check to see if an...

Страница 42: ...ms Maximum Torque 0 813 in lbs 4 4 in lbs 6 25 in lbs Maximum RPM 1500 RPM 900 RPM 1050 RPM Degree per Step 1 8 1 8 1 8 Rotor Inertia 0 006 lb in 2 0 028 lb in 2 0 075 lb in 2 Table A 1 Tolomatic Moto...

Страница 43: ...AL Black 6 1 B Green 3 3 B Red 1 4 A Blue 4 6 A Table A 5 NEMA17 Motor Connection pinouts NEMA23 Motor Connections TYCO Mating Connector XHP 6 JST Terminals SXH 001T P0 5 WIRE COLOR TYCO PIN JST PIN S...

Страница 44: ...ply to 1 Products not manufactured by Tolomatic Warranty of these products will conform and be limited to the warranty actually extended to Tolomatic by its supplier 2 Damage to the product caused by...

Страница 45: ...ight 2012 Tolomatic Inc All rights Reserved All brand and product names are trademarks of their respective owners Information in this document is believed to be accurate at time of publication 2012090...

Страница 46: ...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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