Related Manuals for Tolomatic ACS
Summary of Contents for Tolomatic ACS
- Page 1 SteppeR HARDWARE & INSTALLATION GUIDE ACS – Actuator Control Solutions Stepper drive/Controller and Motors 3604-4183_02_ACS_Ste LINEAR SOLUTIONS MADE EASY LINEAR SOLUTIONS MADE EASY...
- Page 2 Tolomatic reserves 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. 201611181522...
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Page 3: Table Of Contents
Handling and Unpacking ................vii Product Warnings..................vii 1. Product Overview ................. 1_1 1.1 The ACS Drive/Controller for Actuator Control Solutions ......1_1 1.1.1 The ACS Drive Overview ............. 1_1 1.1.2 Optional Accessories ..............1_2 2. Environment, Dimensions & Mounting ..........2_1 2.1 Operating Environment ............... - Page 4 LED Codes and Faults ................. 9_1 9.1 LED Codes ..................9_1 9.2 Fault Descriptions and Recovery ............9_1 10. Troubleshooting ................. 10_1 10.1.1 Troubleshooting the ACS Drive ........... 10_1 Appendix 1 ....................A1_1 Motors ....................A1_1 Appendix 2 ....................A2_1 Product Warranty .................
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Page 5: List Of Figures
ACS Drive Logic and Main Power Supplies ........... 6_7 Figure 6-13 ACS Drive Single Supply – Main Power ..........6_7 Figure 6-14 ACS Drive External Cutoff Switch for Emergency Stop ......6_7 Figure 6-15 Unregulated Power Supply Configuration with Shunt Regulator ....6_9 Figure 6-16 Regulated Power Supply Configuration with Blocking Diode .... - Page 6 Brake Output Specifications ..............6_6 Table 6-6 ACS Internal Drive Specifications ............6_6 Table 6-7 Maximum Power Supply Current for Tolomatic Motors ......6_8 Table 8-1 4 Move Commands Mode Logic ............8_1 Table 8-2 8 Move Commands Mode Logic ............8_1 Table 8-3 16 Move Commands Mode Logic ............
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Page 7: Health And Safety Regulations
Indicates a potentially hazardous situation which, if not avoided, may result in property damage, minor or moderate injury. CAUTION! Indicates hot surfaces. Avoid contact. NOTE! Information that requires special attention is stated here. Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • v •... -
Page 8: Emc Wiring Guidelines
Guidelines Cable routing It is recommended that the power and signal cables for the ACS Drive be routed as far apart as possible to minimize system noise. NOTE! The standard cables from Tolomatic are not flex rated and have a minimum bend radii of 3.75 inches. -
Page 9: Handling And Unpacking
• Do not plug and unplug cables while the drive is energized. wiring for Ce Compliance • Use a braided shield motor cable such as Igus Chainflex CF140US-07-04. • See Section 5-2 for motor cable description. Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • vii •... -
Page 10: Product Overview
• #3604-9666 - ACS Stepper Drive/Controller, EtherNet/IP (Analog Output) - firmware 36043183UD.tol • #3604-9667 - ACS Stepper Drive/Controller, Modbus TCP (Analog Output) -firmware 36043183UD.tol NOTE: They will collectively be referred to as ACS Drive throughout this guide 1.1.1 ACS Stepper drive/Controller — Overview ETHERNET (OPTION) -
Page 11: Optional Accessories
24/48 VDC stepper motors • Adjustable motion profile parameters (velocity, accel/decel, force). Parameters are independently configurable for each move ACS drive/Controller (3604-9666, 3604-9667) Additional Capabilities • EtherNet mode provides infinite • Dual EtherNet port with internal switch for positioning using EtherNet/IP and... -
Page 12: Environment, Dimensions & Mounting
Environment, Dimensions & Mounting 2.1 Operating environment The ACS Drive is designed to be operated in ambient conditions from 0° – 40°C WARNING! (32° – 104°F), and humidity from 0 – 90% non-condensing. There is no ingress Do not expose the drive to... -
Page 13: Mounting The Acs Drive
Metal Metal Mounting Mounting Surface Surface Clearance Clearance for Air for Air Vents Vents BOOK MOUNT FLAT MOUNT Figure 2-2 Mounting the ACS Drive Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 2_2 •... -
Page 14: Cd & Usb Cable
CD & USB Cable 3.1 Cd & USB Cable Tolomatic offers a CD with Tolomatic Motion Interface software, drive firmware and NOTE: The most current firmware upgrade utility. A USB type B cable is also available for connecting your version of software and computer to the ACS drive. -
Page 15: Acs Drive Setup
ACS Drive Setup 4.1 ACS drive and Actuator Basic Setup Figure 4-1 shows the simple setup of the ACS Drive, the Tolomatic ERD actuator and the necessary cables and power source. Customer Supplied Power Cable to Power Input on Drive... -
Page 16: Setup Procedures
3. Wire input and output signals to the desired logic device. See Section 5: Connections and Cables. 4. Attach motor and encoder cables. 5. Attach programming cable and install the Tolomatic Motion Interface software. 6. Configure ACS Drive. 7. Program the logic device. -
Page 17: Connections & Cables
Connections & Cables 5.1 Connections and Cables Overview All cables for the ACS Drive can be ordered through Tolomatic with the exception of the power supply. When using cables other than those provided by Tolomatic, reference the cable mating connector style to ensure the proper cabling is supplied. -
Page 18: Encoder Connection And Cable
Igus Chainflex CF140US-07-04. See Appendix 1 for motor pinout chart. 5.3 encoder Connection and Cable The ACS Drive has an encoder port that supports differential signal quadrature encoders. Single ended encoders may be used with additional external circuitry. It is highly recommended to use differential encoders as they are more resistant to signal noise. -
Page 19: I/O Connection And Cable
15-04-5104 14-60-0058 Table 5-4: Encoder Cable and Connector Parts NOTE: See Appendix 1 for encoder pinout chart 5.4 I/O Connection and Cable Figure 5-5: I/O Connection on ACS Drive JSt #pHdR-30VS pIN NUMBeRS SIGNAL CABLe wIRe COLOR Input ISO 1... -
Page 20: Figure 5-6 I/O Cable 3604-1770 / 1771
MAtING CONtACtS BLK/RED pARt NO. I/O: 3-meter 3604-1770 JST PN: PHDR-30VS JST PN: SPHD-001T-P0.5 I/O: 5-meter 3604-1771 JST PN: PHDR-30VS JST PN: SPHD-001T-P0.5 Table 5-6: I/O Cable and Connector Parts Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 5_4 •... -
Page 21: Input Power Connection
5: C O N N E C T I O N S & C A B L E S 5.5 Input power Connection The input power is connected via pins on the drive with customer supplied cabling. CAUTION! The input power mating connector is supplied by Tolomatic. Reversing polarity of the input power will damage the drive electronics. -
Page 22: Usb 2.0 Connection
Figure 5-10: USB 2.0 Connection 5.8 RS-485 Connection The ACS RS485 connection requires an RJ45 plug with 3 conductors. The ACS controller/drive uses a two-wire configuration for RS485 connection. This requires three signals: A, B, and Common. Signals A and B are a differential pair. Signals A and B are duplicated on pins 7 and 8. -
Page 23: Rs-485 Grounding
The following parts have two Ethernet ports with a built-in switch to be used for daisy chaining. 3604-9666 - ACS Stepper Drive/Controller, EtherNet/IP 3604-9667 - ACS Stepper Drive/Controller, Modbus TCP Figure 5-13 EtherNet/IP Connection for ACS Drive Programmability Pin 1 FUNCtION NUMBeR... -
Page 24: Ethernet Cable
Due to high data rate and reliability considerations, at the minimum, Cat5e cables should be used with the ACS Drive. If the cables are made on site, they must be tested to meet performance criteria set according to TIA/EIA -568-B standard. -
Page 25: Table 5-11 Cable Wire Type Versus Cable Length
LeNGtH HORIZONtAL tOtAL LeNGtH CABLe pAtCH pAtCH OF pAtCH, LeNGtH pAtCH ANd GAUGe deRAtING LeNGtH eQUIpMeNt ANd (H+C<=100M) eQUIpMeNt HORIZONtAL Table 5-11: Cable Wire Type versus Cable Length Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 5_9 •... -
Page 26: Specifications And Wiring
6.1 digital Inputs 6.1.1 Specifications The ACS Drive has a total of 8 opto-isolated digital inputs. These digital inputs are opto-isolated from the controller's drive circuitry and can be wired either as sinking or sourcing. All of the digital inputs have a common return. -
Page 27: Digital Outputs
6.2 digital Outputs 6.2.1 Specifications The ACS Drive has four digital outputs. These digital outputs are opto-isolated from the drive circuitry and can be configured for sinking or sourcing. The outputs are protected against over current and short circuit conditions. If an over current condition is present, the output turns off until the load is removed. -
Page 28: Typical Wiring Diagrams
OUTPUT Figure 6-7: Digital Output Sinking Connection DIGITAL OUTPUT SINKING WIRING DIAGRAM OUTPUT OUTPUT 24V POWER SUPPLY LOAD Figure 6-8: Digital Output Sourcing Connection DIGITAL OUTPUT SOURCING WIRING DIAGRAM Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 6_3 •... -
Page 29: Analog Input
6: S P E C I F I C A T I O N S & W I R I N G 6.3 Analog Input 6.3.1 Specifications The ACS Drive comes with one analog input. The input is configurable through software to be 0-10V or 4-20mA input. The analog input is referenced to the analog ground pin. -
Page 30: Analog Output
6: S P E C I F I C A T I O N S & W I R I N G 6.4 Analog Output 6.4.1 Specifications The ACS Drive can have one analog output capable of 0-10V or 4-20mA operation (on selected models). The analog output is referenced to the analog output ground pin. parameter... -
Page 31: Brake Output
ACS internal drive Absolute Maximum Voltage components. Logic Current Draw Maximum (24V) Table 6-6: ACS Internal Drive Specifications WARNING! Drive will fault at 55V; any voltage above the absolute max voltage can result in permanent damage. Do not reverse bias the power inputs. -
Page 32: Power Supply Selection
6.6.3 power Supply Selection Both unregulated and regulated power supply can be used to power the ACS Drive. Unregulated supply can be a better choice depending on the application as they have a larger output capacitance. This characteristic makes an unregulated power supply a better energy absorption source. -
Page 33: Suggested Power Supplies
A shunt regulator is available Part Number 2180-1163. The ACS Drive is intended to run off of an isolated DC power source. The power supply required will depend on the application. A 48V supply will allow the actuator to operate at maximum speed. -
Page 34: Figure 6-15 Unregulated Power Supply Configuration With Shunt Regulator
KEEP ALIVE POWER SUPPLY DIODE E-STOP FUSE SHUNT POWER REGULATOR REGULATED POWER SUPPLY POWER GROUND CASE / SHIELD GROUND Figure 6-17: Regulated Power Supply with Blocking Diode and Shunt Regulator Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 6_9 •... -
Page 35: I/O Timing Diagrams
1.15 ms Avg ENABLE 1.49 ms INPUT START MOTION 1.15 ms Avg MOTION SELECT LINES 1.15 ms Avg 1.15 ms Avg OUTPUT MOTION COMPLETE Figure 7-3 Jog Move Timing JOG TIMING Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 7_1 •... -
Page 36: Figure 7-4 Absolute & Incremental Move Timing
ENABLED OUTPUT MOTOR ENABLED Enable Brake Response Delay DRIVE ENABLED ENABLE DETECTED Max. Brake Delay BRAKE ENABLED OUTPUT MOTOR ENABLED Disable Brake Response Delay Figure 7-5 Brake Subsystem Timing Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 7_2 •... -
Page 37: Move Timing Rules
1. While the Motion Complete signal is low, the drive will ignore Start Motion pulses and Motion Selection lines. 2. If the enable signal is low or Software Stop signal is high, the drive will ignore start motion pulses. Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 7_3 •... -
Page 38: Move Select Logic
NOTE 2: 1 = On; 0 = Off 4 Move Commands Mode Logic table MOVe Table 8-1: 4 Move Commands Mode Logic 8 Move Commands Mode Logic table MOVe Table 8-2: 8 Move Commands Mode Logic Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 8_1 •... -
Page 39: Table 8-3 16 Move Commands Mode Logic
8: M O V E S E L E C T L O G I C 16 Move Commands Mode Logic table MOVe Table 8-3: 16 Move Commands Mode Logic Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 8_2 •... -
Page 40: Led Codes And Faults
The fault will be cleared once the negative limit switch input is no longer active and there is motion in the positive direction. Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 9_1 •... - Page 41 This fault can also occur if the power supply is too small for the drive, actuator & load and the supply faults and resets, typically occurring during deceleration portion of a move. Table 9-3: Critical Faults Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • 9_2 •...
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Page 42: Troubleshooting
Troubleshooting 10.1 troubleshooting 10.1.1 troubleshooting the ACS Stepper drive SYMptOM / tROUBLe pOSSIBLe CAUSe / ReSOLUtION No communication to drive 1. Check power connection. (See page 6_6 for wiring) 2. Try another USB cable. 3. Verify that the communication cable is plugged in securely. -
Page 43: Table 10-1 Troubleshooting Descriptions
1. Running TMI and connecting using a virtual server when TMI is connected over has been known to cause USB connection issues. It is not recommended to control ACS drives using a virtual machine 2. Check different USB ports. 3. Check different computers. -
Page 44: Motors
There are currently four frame sizes– NEMA 11, NEMA 17, NEMA 23 and NEMA 34 available from Tolomatic (six different motors) – available for operation with the ACS Drive. Each motor is available with an optional differential incremental encoder. All motors come with a short 150mm cable and connector on the motor body. -
Page 45: Table A-4 Nema11, 17, 23 Motor Connection Pinouts
MOLeX pIN SIGNAL Blue ENC A+ Orange ENC A- Yellow ENC B+ Gray ENC B- Black Signal Ground +5VDC Table A-7: NEMA 34 - Encoder Connections and Connector pinouts Tolomatic Hardware & Installation Guide: ACS Stepper Drive/Controller • A1_2 •... -
Page 46: Product Warranty
Tolomatic. If, within this period, any product is proven to be defective by Tolomatic, the product will either be repaired or replaced at Tolomatic’s option. - Page 47 Copyright © 2016 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. 201611181522...
- Page 48 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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