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Control Techniques AXIMA 2000 Installation Manual

Control Techniques AXIMA 2000 Installation Manual

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AXIMA 2000/4000
Multi-Axis Controller
Installation Manual
P/N 400266-00
Revision: A8
Date: December 8, 2005
© Control Techniques Drives, Inc. 1997, 2001, 2005

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  • Page 1 AXIMA 2000/4000 Multi-Axis Controller Installation Manual P/N 400266-00 Revision: A8 Date: December 8, 2005 © Control Techniques Drives, Inc. 1997, 2001, 2005...
  • Page 3 However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no responsibility for any errors that may appear in this document.
  • Page 4 Control Techniques. The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Control Techniques: EMERSON Motion Control, EMERSON Motion Control PowerTools, AXIMA, “Motion Made Easy.”...
  • Page 5 Control Techniques support information 24 hours a day, seven days a week. Our wide range of services include: (952) 995-8099 You can FAX questions and comments to Control Techniques. Just send a FAX to the number listed above. Website and Email www.emersonct.com...
  • Page 6 What you were doing when the problem occurred • How you tried to solve the problem Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’ technical support center when on-site service or maintenance is required.
  • Page 7 In addition, you will find the following typographic conventions throughout this manual. This Represents Characters that you must type exactly as they appear. For example, if you are directed to type bold a:setup, you should type all the bold characters exactly as they are printed. Placeholders for information you must provide.
  • Page 8 Qualified Person For the purpose of this manual and product, a “qualified person” is one who is familiar with the installation, construction and operation of the equipment and the hazards involved. In addition, this individual has the following qualifications: • Is trained and authorized to energize, de-energize, clear and ground and tag circuits and equipment in accordance with established safety practices.
  • Page 9 Installation Manual CE Declaration of Conformity The AXIMA 2000/4000 Multi-axis Controllers are marked with the “Conformite Europeenne Mark” (CE mark) after passing a rigorous set of design and testing criteria. This label indicates that this product meets safety and noise immunity and emmisions (EMC) standards when installed according to the installation guidelines and used within the product specifications.
  • Page 10 Eden Prairie, MN 55344 Declares that the following products: AXIMA 2000/4000 Multi-axis Controller Products Description: AXIMA 2000 and AXIMA 4000 Model Number: This declaration covers the above products with the stepper axis, source mode expanded I/O, System Options: analog inputs, Modbus and Data Highway Plus.

  • Page 11: Table Of Contents

    AXIMA® 2000/4000 Multi-axis Controller Installation Manual Table of Contents Introduction Connections and Features ............3 Installation Safety Considerations .
  • Page 12 AXIMA® 2000/4000 Multi-axis Controller Installation Manual Stepper Option Specifications AXIMA® 2000/4000 Controller Options ......... . 77 Specifications .

  • Page 13: Introduction

    Figure 1: AXIMA 2000 and 4000 Multi-Axis Controllers The AXIMA 2000/4000 controller uses a 32-bit floating point Digital Signal Processor (DSP). The DSP gives the AXIMA 2000/4000 controller the processing power, flexibility and functionality to handle the wide range of multi-axis applications found in plant automation...
  • Page 14 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual With AXIMA 2000/4000 controller, as many as four Motion, eight PLC and eleven Auxiliary Programs can be operating simultaneously and control up to four separate coordinate systems, with one axis of motion each, one coordinate system with up to four axes of motion, or any combination of up to four coordinate systems and up to four axes of motion.

  • Page 15: Connections And Features

    Introduction Connections and Features Figure 2: AXIMA 2000/4000 Controller Front Panel Connections...
  • Page 16 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual...

  • Page 17: Installation

    IEC 664-1, meaning that only dry, non-conducting contamination is acceptable. Selecting an Enclosure The AXIMA 2000/4000 multi-axis controller is designed for most industrial environments. However, no sophisticated electronic system can tolerate atmospheric contaminants such as moisture, oils, conductive dust, chemical contaminants and metallic particles. If the AXIMA 2000/4000 controller is going to be subject to this type of environment, it must be mounted in a metal enclosure with a minimum rating of NEMA 12.
  • Page 18 Within the European Union all machinery in which this product is used must comply with Directive 89/392/EEC, Safety of Machinery. The AXIMA 2000/4000 hardware and PowerTools software are designed and tested to a high standard, and failures are very unlikely. However the level of integrity offered by an AXIMA 2000/4000 control function –...
  • Page 19 Installation Achieving Low Impedance Connections Immunity can be improved and emissions reduced by maintaining the components of the installation at the same ground potential. Establishing zero potential difference between components requires a low impedance connection between the components. This can be achieved by bringing the conductive surfaces of the components into direct contact.

  • Page 20: Environmental Concerns

    AXIMA® 2000/4000 Multi-Axis Controller Installation Manual Environmental Concerns If your AXIMA 2000/4000 controller will be subjected to atmospheric contaminants such as moisture, oils, conductive dust, chemical contaminants and metallic particles, you must mount it vertically in a metal NEMA type 12 enclosure.

  • Page 21: Mounting Requirements

    Mounting Requirements The AXIMA 2000/4000 controller should be back mounted vertically in a metal NEMA enclosure. A minimum spacing of four inches must be maintained above and below the controller for ventilation. The following diagram shows the dimensions of the AXIMA 2000/...

  • Page 22: System Grounding Requirements

    PE and the AXIMA 2000/4000 controller PE should have a common signal point that ultimately is a continuous path to earth ground. These ground wires of the AXIMA 2000/ 4000 controller should not be shared with other equipment in the enclosure.
  • Page 23 Figure 4: AXIMA 2000/4000 Controller Grounding Point The AXIMA 2000/4000 controller PE terminal must be connected to the equipment grounding conductor of the AXIMA’s AC supply circuit and bonded to the enclosure. This should be accomplished with a short wire from the PE terminal to a grounding block in the enclosure.
  • Page 24 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual AXIMA/E Series Drives Grounding Example Figure 5: E Series Drive and AXIMA System Grounding Diagram...
  • Page 25 Installation AXIMA/MX Drives Grounding Example AC Power Supply Enclosure + VDC Power DC I/O Supply Single Point Ground Fuses (Bonded to Enclosure) 3 Phase Line Power TE Connection Jumper from PE Connection AMP GND to "Y" Terminal Control Transformer Output Neutral Convenience Outlet...

  • Page 26: Power Requirements

    AC power must be between 96 and 204 VAC. The AC power connects to a removable connector on the top of the AXIMA 2000/4000 chassis. The AC power input must be between 96 and 264 VAC, single phase, and 50 to 60 Hertz.
  • Page 27 Installation and 40 Amps at 230 VAC for 2 milliseconds. This inrush current must be considered when choosing AC power fusing. Note The AC Power removable connector terminals are to be torqued 6 to 7 inch pounds at installation of wiring. Figure 8: AC Power Connector AC Supply...
  • Page 28 AC power lines and earth ground can continuously exceed the voltage limit of 264 VAC. When this happens the protection circuit in the AXIMA 2000/ 4000 controller will try to suppress this excess voltage. If the condition is prolonged, the AXIMA 2000/4000 controller protection circuits will fail.

  • Page 29: Connections And Cabling

    2000/4000 controller has two optically isolated serial ports (COM 1 and COM 2). COM 1 is a RS232 port. COM 2 can be configured for RS232, RS422 or RS485 using DIP switches located behind the removable access panel on the top front of the AXIMA 2000/ 4000 controller.
  • Page 30 RS232 specifications. However, longer cables may be used at slower baud rates (less than 9600). The wiring diagrams on the next page show the TIX and TIA serial cables which are available from Control Techniques in 10, 25 and 50 foot lengths. Non-standard lengths can be special ordered.

  • Page 31: Com Port 2

    RS232C Serial Communication Cables Wiring Diagram COM Port 2 To communicate with more than one AXIMA 2000/4000 controller, and using the AXIMA Software or other host controller, you must use COM 2 configured as an RS485. The COM 2 serial communication port is shipped as a RS232 as default.
  • Page 32 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual Figure 11: AXIMA 2000/4000 Controller DIP Switches Location DIP Switch Settings RS232 DOWN RS422 DOWN DOWN DOWN RS485 (2 wire/SD) RS485 (4 wire/SD) DOWN RS485 (4 wire/RTS) DOWN DOWN...
  • Page 33 RS485 mode adds the ability to enable and disable the receivers and transmitters as required for multidrop installations. See Figure 14 and 15. The enable and disable operations of the AXIMA 2000/4000 controller serial port can be selected to operate in two different transmission methods. These methods are selectable with a DIP switch behind the access panel on the top front of the controller.
  • Page 34 RS485 four wire operation. With the switch “Off”, the receiver is disabled whenever the transmitter is enabled. This is needed for two wire mode. This is to prevent the AXIMA 2000/ 4000 controller from receiving the same characters it just transmitted.
  • Page 35 Connections and Cabling TYPICALLY UP TO 10 SLAVES SEE NOTE BELOW 100 Ω ½ WATT Figure 13: RS422 Two Wire Muli-Drop Wiring Diagram Note A standard RS-422 host transmitter can drive up to 10 slaves. However, the AXIMA transmitter can drive up to 15 slaves in RS-422 mode. The figure below shows a wiring diagram for serial communications in an RS485 four wire multi-drop configuration.
  • Page 36 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual UP TO 15 SLAVES Figure 14: RS485 Four Wire Multi-Drop Wiring Diagram The figure below shows a wiring diagram for serial communications of a RS485 two wire termination connection.
  • Page 37 Connections and Cabling UP TO 15 SLAVES Figure 15: RS485 Two Wire Termination Connection Wiring Diagram RS485 termination Two 120 ohm, ½ watt resistors must be installed on an RS-485 network, one at the node (RS- 485 port) physically at the beginning of the cable and one on the node at the end.
  • Page 38 COM 2, RS485 Configuration Serial Port Grounding The AXIMA 2000/4000 controller provides an isolated logic supply for its communication circuitry. COM is the circuit common for both COM port circuits. COM 1 and COM 2 devices, such as PC serial ports, typically have signal ground connected to earth ground internally in the PC.
  • Page 39 Connections and Cabling COM 1 DEVICE COM 1 (RS232C) SIGNAL GROUND COMMON 9 PIN "D" CONECTOR INTERNALLY CONNECTED COM 2 Shld COM 2 DEVICE (RS422 OR RS485) SIGNAL GROUND COMMON Figure 17: Serial Communications Grounding Diagram Serial Port and Cable Specifications It is recommended that all communication lines be twisted pair shielded cable.

  • Page 40: Controller Id Number/Address

    AXIMA® 2000/4000 Multi-Axis Controller Installation Manual Controller ID Number/Address The following table shows how the Address DIP switch positions relate to the AXIMA 2000/ 4000 controller axis ID number. The DIP switches are located behind the top front access panel of the AXIMA 2000/4000 controller.
  • Page 41 Download the AX-WIN Application. Multi-Drop Installations If your application uses more than one AXIMA 2000/4000 controller (up to 15 can be linked serially), each must have a different ID number. This allows each AXIMA 2000/4000 controller to be addressed individually over the same multi-drop serial cable in the RS422 and...

  • Page 42: Axis Connections

    AXIMA® 2000/4000 Multi-Axis Controller Installation Manual Axis Connections The front panel of the AXIMA 2000/4000 controller has four, 25 pin female “D-sub” connectors. The AXIMA 2000 has two axes and two auxiliary encoder connections, while the AXIMA 4000 has four axes connections.
  • Page 43 Discrete Input (CCW Travel Limit) Discrete Input (CW Travel Limit) Discrete Input (Drive Status) Low Current Mode Output Analog Input 1 Analog Input 2 Analog Common Overall Shield Grayed-out Pin Numbers are NOT available in the AXIMA 2000’s Encoder Connection 3 and 4.
  • Page 44 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual Analog Inputs Note These are only active if the factory Analog Input option is installed. Pin 7 Pin 19 Axis 1 Analog Input 1 Analog Input 2 Axis 2 Analog Input 3 Analog Input 4 Axis 3 Analog Input 5 Analog Input 6...
  • Page 45 Connections and Cabling ENCODER AXIS SIMULATION CONNECTION FROM SERVO DRIVE SHLD NUMBER 25 PIN "D" CONNECTOR Figure 20: Encoder Simulation Wiring Diagram AXIS 1 (FOR 4000) ENCODER 1 OUTPUT (FOR 4000) ENCODER 3 (FOR 2000) ENCODER 3 OUTPUT (FOR 2000) 25 PIN "D"...
  • Page 46 AX4-ENC Encoder Cable Wiring Diagram Encoder Power Supply The AXIMA 2000/4000 controller can be used to provide the 5 Volt power source for external encoders. Connections are provided on each axis I/O connector. The current on the 5 Volts must be limited to 250 milliAmps per axis and the maximum current for 4 encoders must be limited to 1 Amp.
  • Page 47 (E Series, MX, LX or other) to the controller while that drive is enabled may cause unwanted motion. In the event the Enable Contact is not used, the following power sequence must be followed: Apply power to the AXIMA 2000/4000 controller Apply power to the drives Enable the drives...
  • Page 48 Drive Status and Overtravel Input Circuit Example Axis Connections If desired, the AXIMA 2000/4000 controller can be used to generate a torque or current command instead of a speed command. When the drives are used in torque mode, the drive velocity loop gain adjustments no longer need to be considered.
  • Page 49 1. Refer to the MX Drives Setup and Programming Operator’s Manual (P/N 400268-00) for detailed information on setting and saving this bit status. AXIMA 2000/4000 Controller to MX Drive Connections (Torque Mode) The wiring diagram below shows the typical command connections between the AXIMA...
  • Page 50 AXIMA 2000/4000 Controller to LX Drive Connections (Torque Mode) To operate an LX drive in torque mode, connect the AXIMA 2000/4000 controller command wires to the Current CMD and Common inputs on the LX drive (terminal pins 2 and 3) as...
  • Page 51 EARTH COMMON GROUND Figure 28: AXIMA 2000/4000 Controller to LX Amplifier Connections Using The AX4- GP Cable (Torque Mode) Note Make sure AXIMA Logic Common is connected to the same point in the cabinet as the LX Logic Common. See Figure 5 , E Series Drive and AXIMA System Grounding Diagram.
  • Page 52 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual If the CMD output of the AXIMA 2000/4000 controller is mistakenly connected to the common input of the LX drive, this could damage the AXIMA 2000/4000 controller analog output signal. Because the input is single ended, it will be more susceptible to noise. Be sure the LX common pin number 11 is connected to a single point ground as shown in the system grounding illustration.

  • Page 53: Encoder 1 Or 3 Output Connection

    LX Logic Common. See Figure 5 , E Series Drive and AXIMA System Grounding Diagram. Encoder 1 or 3 Output Connection An encoder output port is provided to allow easy cable connections between multiple AXIMA 2000/4000 controllers for line shafting type applications using the AX4-ED-XXX cable.
  • Page 54 ENCODER 3 (for 2000) 9 PIN "D" CONNECTOR NUMBER NUMBER 25 PIN AXIMA INTERNAL CONNECTIONS "D" CONNECTOR Figure 30: Internal Encoder Connections for AXIMA 2000/4000 Controller AXIMA 2000 AXIMA 4000 ENCODER 3 AXIS 1 ENCODER ENCODER 3 OUTPUT 1 OUTPUT...

  • Page 55: Input/Output Connections

    Dedicated I/O Figure 32: Enable Drives and Watchdog Output Locations on the Front Panel of the AXIMA 2000/4000 Controller Enable Drives Input The Enable Drives input provides the +24 VDC supply to one side of all the drive enable relays. The + Enable Drives input is connected to the +24 V terminal.
  • Page 56 0 VDC I/O Supply Pin 14 Enable Drives Enable Drives Predefined AXIMA Input + 5 V Typical Drive Enable CKT Customer 2 for AXIMA 2000 Enable Pre-defined AXIMA Output Contact or PLC 4 for AXIMA 4000 Drive (See Software Manual) Output Drive Enable...
  • Page 57 Inputs Figure 34: Inputs Location on the Front Panel of the AXIMA 2000/4000 Controller The inputs can be wired for either sink or source mode in groups of eight. The inputs are rated at 24VDC and the input voltage operating limit is +10 to 30 VDC. Each input line requires a minimum of 5 milliAmps at 10 VDC to be recognized as a valid input.
  • Page 58 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual + 5 V + 24 VDC + 5 V 1.33K + 5 V 1.33K + 5 V 1.33K 1.33K 0 VDC I/O SUPPLY Figure 36: Sourcing Mode Input Diagram Special Purpose Inputs Inputs 13 through 16 can be assigned to trigger the high speed hardware encoder position capture function.
  • Page 59 Connections and Cabling Outputs Figure 37: Outputs Location on the Front Panel of the AXIMA 2000/4000 Controller Outputs can be operated in source mode only. Maximum allowable output voltage is 18 to 30 VDC, maximum current is 150 milliAmps per output continuously.
  • Page 60 Enable Drive relay coils. The system is designed to operate from a 24 VDC power supply but will function between 18 and 30 VDC. Figure 39: I/O Power Supply Location on the Front Panel of the AXIMA 2000/4000 Controller Note For situations where all 16 inputs, 12 outputs at full load and 4 relays are being used simultaneously, your power supply must supply at least 2.5 Amps @ 24 Volts.

  • Page 61: Diagnostics Status Display

    D = dedicated inputs Diagnostics Status Display The Diagnostic Status display on the top front of the AXIMA 2000/4000 controller is controlled by the programmer and can be used to display machine status or fault codes. During the download of an AXIMA Software Application an asterisk (*) is displayed.
  • Page 62 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual...

  • Page 63: Analog Input Option

    ±10 VDC Note If you wish to add the Analog Input option to an existing AXIMA 2000/4000 controller, it must be returned to the factory. The source of each analog input can be selected to be either from the analog input connector on the left side of the unit or the axis connector on the front of the unit.
  • Page 64 S4-4 Analog Input 8 The AXIMA 2000/4000 controller takes raw voltage (±10 Volts) from the analog input terminal and, with the AXIMA Software, converts it to user units. Each analog input channel can be assigned to a Pre-defined Variable, within the AXIMA Software, which can be used in a Motion or an Auxiliary Program.

  • Page 65: Axis Inputs Connector Wiring

    Analog Input Option Axis Inputs Connector Wiring Using the AXIMA Software, any software channel can be attached to any hardware channel or pair of hardware channels. This gives you the flexibility to determine how the channel attachments are configured. AXIMA Left Side AXIMA Front Axis Connection Pin #6...
  • Page 66 The AXIMA 2000/4000 controller does not allow you to assign terminal number 1 as the negative input. To measure differential values between terminal 1 and another terminal, the polarity must be reversed by connecting the positive input to terminal 1, and connecting the negative input to the desired terminal.

  • Page 67: Expanded I/O Option

    ® AXIMA 2000/4000 Multi-Axis Controller Installation Manual Expanded I/O Option Two options are available for wiring the expanded I/O; by using direct wiring or external components. The direct wiring option is exactly that. All connections are directly wired from ® the AXIMA 2000/4000 controller.
  • Page 68 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual +24 VDC +24 VDC OPTICAL NOTE: DIODE REQUIRED ISOLATION FOR ALL INDUCTIVE LOADS. OPTICAL ISOLATION OUTPUT TERMINAL 1.5K INPUT TERMINAL LOAD COMMON COMMON COMMON Figure 46: Sourcing Inputs and Outputs (139.70) (76.20) 0.25 (22.86) 3.68 (6.35) (183.00)

  • Page 69: Direct Wiring Option

    Expanded I/O Option Direct Wiring Option These components must be assembled and wired by the user. Components include STI-32s or STI-50s and connectorized ribbon cables, all of which are available from Control Techniques. AXIMA 2000/4000 CONTROLLER INPUTS STI-32 CABLE AX4-XIOC-XXX ±...
  • Page 70 For example: For the full use of 32 expanded inputs and 32 expanded outputs, the required quantities are: (1) AXIMA 2000/4000 controller with X-IO option (2) STI-32 or STI-50 for digital I/O (2) Connectorized ribbon cables (50 pin) (P/N AX4-XIOC-XXX)
  • Page 71 Expanded I/O Option For Outputs: Electrical specifications of +24 VDC X-I/O Supply and less than 50 mA of current. All 32 outputs can supply 50 mA continuously or 12 outputs supply 125 mA continuously if distributed across the four output drives as follows: up to 3 outputs between #1 through #8 up to 3 outputs between...
  • Page 72 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual AXIMA 2000/4000 STI-32 RIBBON CABLE +24 VDC AX4-XIOC-XXX OUTPUT TERMINAL OPTICAL ISOLATION 0 VDC X-I/O 0 VDC Supply 0 VDC X-I/O X-I/O Supply Supply AXIMA 2000/4000 STI-32 RIBBON CABLE +24 VDC AX4-XIOC-XXX 1.5K INPUT...
  • Page 73 Expanded I/O Option Use the table below to determine the pin assignments of the STI-50 inputs and outputs. Inputs Pin Assignments Outputs Pin Assignments Input Number Pin Number Output Number Pin Number 17, 19, 21, 22, 23, 25, 26, 28, 17, 19, 21, 22, 23, 25, 26, 28, 24V Common 24V Common...
  • Page 74 DIGITAL INPUTS XIOR-32 WITH IDC-24-G4's AXIMA 2000/4000 CONTROLLER CABLE AX4-XIOC-XXX ± 24 VDC CABLE AX4-XIOC-XXX DIGITAL OUTPUTS XIOR-32 WITH ODC-24-G4's Figure 52: AXIMA 2000/4000 Controller External Components Option...
  • Page 75 Quantities of the external components required depend on the number of expanded I/O used. For example: For the full use of 32 expanded inputs and 32 expanded outputs, the required quantities are: (1) AXIMA 2000/4000 controller with X-I/O option (2) XIOR-32 I/O mounting racks (32) Digital input modules (P/N IDC-24-G4 or IAC-24-G4)
  • Page 76 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual Specifications for Digital Modules From these specifications you can choose the type of module needed for your particular application. Additional Digital I/O modules are also available from Opto-22 Corporation in a variety of specifications. Digital Input and Output Module Specifications IDC-24-G4 IAC-24-G4...
  • Page 77 + 24 VDC X-I/O SUPPLY 0 VDC X-I/O SUPPLY Figure 54: Power Wiring for External I/O Mounting Racks Control Techniques recommends that you use twisted pairs for the +24 VDC power wiring. Connection Diagrams for Mounting Rack Input Connections Figure 55:...
  • Page 78 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual For Sourcing Inputs Switch +24 VDC as shown in the diagram above, and wire +24 VDC common to the other terminal. When wiring inputs, you can wire the switch to either the Odd or Even Terminal. Figure 56: 120 VAC Digital Input Module Connection Diagram For Sinking Inputs...
  • Page 79 Expanded I/O Option Output Connections Figure 57: 24 VDC Digital Output Module Connection Diagram For Sinking Outputs Wire the load to the Odd # Terminal on the mounting rack. Tie the other side of the load to +24 VDC. The 24 volt common should be wired to the Even # Terminal. For Sourcing Outputs Wire 24 VDC to the Odd # Terminal on the mounting rack.
  • Page 80 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual For Sinking Outputs Wire the load to the Odd # Terminal on the mounting rack. Tie the other side of the load to 120 VAC. Neutral should be wired to the Even # Terminal. For Sourcing Outputs Wire 120 VAC to the Odd # Terminal on the mounting rack.

  • Page 81: Connectivity Options

    4000 controller to communicate with the Modicon Modbus serial communication protocol or Allen Bradley’s Data Highway Plus. Note AXIMA 2000/4000 controllers can be equipped with either Modbus or DH+. They cannot be used simultaneously. AXIMA 2000/4000 controllers equipped with the Modbus option have two serial connectors on the left-side of the front panel.
  • Page 82 MODBUS MULTIDROP 1 2 3 4 5 6 RS-485 COM 4 Figure 59: Left-side of AXIMA 2000/4000 Controller The previous figure shows the Modbus configuration with the connectors. When equipped with the DH+ option, only the six-pin connector would be available.
  • Page 83 Connectivity Options (139.70) (76.20) 0.25 (22.86) 3.68 (6.35) (183.00) (98.30) (76.20) 1.25 (31.75) 11.19 11.70 (284.23) (297.18) 0.20 (5.08) typ. 4 places Dimensions in ( ) are in millimeters. Figure 60: AXIMA and Cable Dimensions and Clearances...

  • Page 84: Modbus Connection

    AXIMA® 2000/4000 Multi-Axis Controller Installation Manual Modbus Connection MODBUS RS-232/485 DATA HIGHWAY PLUS 2 SH 1 2 SH 1 The RS-232C/485 serial port (9-pin DB connector) pin-out is shown below. Signal Shield RX (Receive) TX (Transmit) 485 Data (+) Signal Ground NC (No Connect) RTS (Request to Send) CTS (Clear to Send)

  • Page 85: Data Highway Plus Connection

    Connectivity Options Data Highway Plus Connection MODBUS MULTIDROP 1 2 3 4 5 6 RS-485 The DH+ network connections are available using the six-pin Phoenix connector (Com 4). The connector pin-out is shown below. Signal "Blue Hose" wires Line 1 (485 Data +) Blue Shield (bare)
  • Page 86 AXIMA® 2000/4000 Multi-Axis Controller Installation Manual...

  • Page 87: Stepper Option

    50% duty cycle). No pull-up resistor is internal to the AXIMA 2000/4000 controller. For reliable operation it is important that command cables be shielded and routed away from motor power or other high voltage signals. Shields should be connected at the AXIMA 2000/ 4000 controller end.
  • Page 88 AXIMA® 2000/4000 Multi-axis Controller Installation Manual +5 VDC POWER SUPPLY 5-30 VDC PULSES RESISTOR SIZE IS BASED ON CABLE CAPACITANCE (1K Ohm recommended) MAX SINK CURRENT 40 mA IMPORTANT: AMPLIFIER MAX OUTPUT DO NOT TWIST THESE 30 V VOLTAGE RATING WIRES TOGETHER @16 mA = .4 V THIS OUTPUT...

  • Page 89: Specifications

    ® AXIMA 2000/4000 Multi-axis Controller Installation Manual Specifications ® AXIMA 2000/4000 Controller Options...
  • Page 90 AXIMA® 2000/4000 Multi-axis Controller Installation Manual...

  • Page 91: Specifications

    5 lbs 5 lbs Although you can enter up to eight coordinate systems for the AXIMA 2000/4000 controllers, the AXIMA 2000 will only use the first two coordinate systems and the AXIMA 4000 will only use the first four coordinate systems.

  • Page 92: Heat Dissipation

    AXIMA® 2000/4000 Multi-axis Controller Installation Manual Heat Dissipation Base Unit 1 X-I/O 2 X-I/O Modbus Note It using double expanded I/O and DH+ the total maximum encoder supply must not exceed 800mA. Dimensions and Clearances (139.70) (76.20) 0.25 (22.86) 3.68 (6.35) (183.00) (98.30)

  • Page 93: Cable Diagrams

    Specifications Cable Diagrams AX4-CEN AXIMA 2000/4000 E SERIES DRIVE CONTROLLER PRP/BLU BLU/PRP 44 PIN PRP/ORG "D" CONNECTOR ORG/PRP 25 PIN "D" CONNECTOR PRP/BRN BRN/PRP BRN/YEL I/O COM - I/O COM - YEL/BRN I/O SUPPLY + I/O SUPPLY + WHT/BLU ANALOG CMD OUT -...
  • Page 94 AXIMA® 2000/4000 Multi-axis Controller Installation Manual AX4-ED AXIS 1 (FOR 4000) ENCODER 1 OUTPUT (FOR 4000) ENCODER 3 (FOR 2000) ENCODER 3 OUTPUT (FOR 2000) 25 PIN "D" CONNECTOR RED/WHT 9 PIN YEL/WHT "D" CONNECTOR BLU/WHT BLK/WHT SHIELD NUMBER NUMBER EARTH LOGIC LOGIC...
  • Page 95 Specifications AX4-ENC AXIMA 2000/4000 ENCODER CONTROLLER 25 PIN "D" CONNECTOR RED/WHT YEL/WHT 10 PIN "MS" CONNECTOR BLU/WHT BLK/WHT ØV ENC COM 0V ENC SUP +5V SHIELD NUMBER LOGIC EARTH COMMON GROUND...
  • Page 96 AXIMA® 2000/4000 Multi-axis Controller Installation Manual AX4-GP AXIMA 2000/4000 LX AMPLIFIER CONTROLLER PRP/BLU BLU/PRP PRP/ORG ORG/PRP PRP/BRN BRN/PRP BLU/RED ENC COM ØV RED/BLU ENC SUP +5V WHT/BLU SPEED CMD - 25 PIN ANALOG CMD OUT - "D" CONNECTOR BLU/WHT SPEED CMD +...
  • Page 97 Specifications TIX-XXX COMPUTER COM 1 SHLD NUMBER 9 PIN "D" CONNECTOR MALE NUMBER 25 PIN "D" CONNECTOR FEMALE TIA-XXX COM 1 COMPUTER SHLD 9 PIN "D" CONNECTOR NUMBER 9 PIN FEMALE "D" CONNECTOR MALE NUMBER...
  • Page 98 AXIMA® 2000/4000 Multi-axis Controller Installation Manual AX4-MX AXIMA 2000/4000 CONTROLLER AMPLIFIER PRP/BLU BLU/PRP 9 PIN "D" CONNECTOR PRP/ORG ORG/PRP 25 PIN "D" CONNECTOR PRP/BRN BRN/PRP BLU/RED ENC COM ØV RESERVED RED/BLU "B" CONNECTOR STRIP WHT/BLU ANALOG CMD OUT - CMD -...

  • Page 99: Glossary

    ® AXIMA 2000/4000 Multi-axis Controller Installation Manual Glossary µs Microsecond. Amps. ARMS Amps (RMS). American Wire Gauge. Baud Rate The number of binary bits transmitted per second on a serial communications link such as RS- 232. (1 character is usually 10 bits.) Cyclical Redundancy Check.
  • Page 100 AXIMA® 2000/4000 Multi-axis Controller Installation Manual Hysteresis For a system with an analog input, the output tends to maintain it’s current value until the input level changes past the point that set the current output value. The difference in response of a system to an increasing input signal versus a decreasing input signal.
  • Page 101 Glossary Negative Temperature Resistor. Option Button See Radio Button. Opto-isolated A method of sending a signal from one piece of equipment to another without the usual requirement of common ground potentials. The signal is transmitted optically with a light source (usually a Light Emitting Diode) and a light sensor (usually a photosensitive transistor).
  • Page 102 AXIMA® 2000/4000 Multi-axis Controller Installation Manual Revolutions Per Minute. Serial Port A digital data communications port configured with a minimum number of signal lines. This is achieved by passing binary information signals as a time series of 1’s and Ø’s on a single line.

  • Page 103: Index

    Direct Wiring Option Using STI-50’s, 57 AX4-MX, 86 Drive Enable, 35 AX-CEN, 81 Drive Status and Overtravel, 36 AXIMA 2000/4000 Grounding, 10 AXIMA and Cable Dimensions and Clearances, Axis Connections, 30 Axis Inputs Connector Wiring, 53 Electromagnetic Compatibility, 6 EMC, 6...
  • Page 104 AXIMA® 2000/4000 Multi-axis Controller Installation Manual Glossary, 87 Power Requirements, 14 Grounded Supply, 16 Grounding Requirements, 10 RS232C Mode, 21 RS422 Mode, 21 Heat Dissipation, 80 RS485 Mode, 21 RS485 termination, 25 RTS (Ready to Send) Method, 22 I/O Power Supply, 48 I/O Setup and Wiring, 58 Input/Output Connections, 43 Safety Considerations, 5...
  • Page 105 Index User Defined I/O, 45 Watchdog Output, 43 XIOR-32, 63...
  • Page 108 Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease of use, reliability and high performance. For more information about Control Techniques “Motion Made Easy” products and services, call (800) 893-2321 or contact our website at www.emersonct.com.

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Axima 4000

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