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Reliance electric PSC7000 Instruction Manual

Control card for psc7000 controller
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PSC7000 Control Card
for PSC7000 Controller
Instruction Manual
Instruction Manual 23030-6E
Reliance Electric Limited

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Summary of Contents for Reliance electric PSC7000

  • Page 1 PSC7000 Control Card for PSC7000 Controller Instruction Manual Instruction Manual 23030-6E Reliance Electric Limited...
  • Page 2 The information in this instruction manual is subject to change without notice. Reliance Electric assumes no responsibility for errors that may appear in this manual. Reproduction of a part or an entirety of this instruction manual is prohibited without any writ- ten approval of Reliance Electric Limited in advance.

  • Page 3: Table Of Contents

    Table of Contents Contents ........................i Preface ........................v Outline ....................... 1-1 Components Formation ................2-1 PSC7000 Control Card ................2-1 Perpheral Devces ..................2-2 Description of Mother Chassis ..............3-1 Status Indcator ................... 3-2 System Swtch .................... 3-2 Termnal Connector ..................3-2 Up &...
  • Page 4 12.1 CPU OK Lamp s Off ................. 12-1 12.2 BAT. OK Lamp s Off ................. 12-1 Appendix ....................13-1 13.1 Devces for PSC7000 Seres Controllers ..........13-1 13.2 Use Restrctons of PSC Opton Cards ............. 13-2 PSC7000 Control Card Unit...
  • Page 5 Fgure 1-1 PSC7000 Control Card ...............1.1 Fgure 1-2 PSC7000 Controller (System) ............1-1 Fgure 2-1 Components Formaton for PSC7000 Control Card ......2-1 Fgure 2-2 Perpheral Devces for PSC7000 Controller........2-2 Fgure 3-1 Names of Indcators, Buttons & Inlet ..........3-1 Fgure 4-1 Boundary Dmensons of Mother Chasss .........
  • Page 6 Lst of Tables Table 2-1 Lst of Components for PSC7000 Control CardFgure ......2.1 Table 4-1 Specifications for Mother Chassis ............4-1 Table 4-2 Specifications for DSP Modules ............4-2 Table 4-3 Specifications for PG Modules ............4-3 Table 4-4 Specifications for SERCOS Module ............ 4-4 Table 9-1 Lst for PG Module Sgnals ..............

  • Page 7: Preface

    This revised instruction manual contains the update contents as of April 2008. The ver- sion of the operating system (OS) of the PSC7000 Controller is 0.67. The version of the PSC Terminal software is 0.22.
  • Page 8 10) Please observe the mounting, adjusting, testing, or dismounting procedures described in this manual. Otherwise, unexpected damage or trouble of the product might be caused. 11) When disconnecting cables, please pull out their connectors instead of the cables in order to avoid damage on cable connection. Preface...

  • Page 9: Outline

    Three slots mountable for various modules are provided at the lower part of the PSC7000 control card. At the present time, the following modules such as DSP mod- ule, PG module or the like can be mounted into the slots in the case of need.
  • Page 10 PSC7000 control card. Therefore, these downloaded programs are not disap- peared in the control card even though its power source is turned off or the PSC7000 control card is dismounted from the PSC backplane. The battery for the DSP module is used to save nonvolatile variables (NVMEMDEF and NVLOCAL variables).

  • Page 11: Components Formation

    The various modules shown above are mounted on the slots (Conform to Compact- PCI Standard, see the note ) located at the lower part of the PSC7000 control card (conform to the compact PCI standard, see the note ) if necessary. The PSC7000 controller applicable to various applications can be organized.
  • Page 12 Peripheral Devices The following peripheral devices are provided for the PSC7000 controller. PSC 256 PSC 512 CompactFlash Memory Card (256MB & 512MB) Terminal Block for PG Module Cable for PG Module Battery for DSPM-1A Module (For Replacement) PSC Terminal USB Cable...

  • Page 13: Description Of Mother Chassis

    Chapter 3 Description of Mother Chassis The mother chassis of the PSC7000 control card is used by mounting it into the slot 0 of the base unit for the PSC7000 controller. Various modules applicable to various applications can be mounted on the slots (slot , slot 2, and slot 3 from the left side) at the lower part of the mother chassis.

  • Page 14: Status IndCator

    The system switch sets up the AUTORUN of the tasks at the time of starting of the PSC7000 controller. The tasks will automatically run if this system switch is set at the neutral position. When pushing down the system button more than three seconds, the PSC7000 controller will restart, and is initialized.

  • Page 15: Specifications

    4.1 Mother Chassis The mother chassis is the main body of the PSC7000 control card. The mother chas- sis is provided with three compactPCI type slots for mounting various modules, and the indicators and system switches can display the operational status of these mod- ules.

  • Page 16: Dsp Modules (Dspm-1A & Dspm-2A)

    The DSP modules have the built-in high speed processors, and are the modules to execute servo controlling programs programmed by users. This DSP modules are inserted at the far right side of the slots in the PSC7000 control card. Table 4-2 Specifications for DSP Modules Processing Type Multitask &...

  • Page 17: Pg Modules (Mcim-1 & Mcim-2)

    4.3 PG Modules (MCIM-1 & MCIM-2) The PG modules are modules with feedback signal input and analog signal output. The modules are inserted into the slot of the PSC7000 control card if necessary. Table 4-3 Specifications for PG Modules 5 channels (Signal COM common) No. of Channel Analog Refer-...

  • Page 18: Sercos Module (Srcs-1)

    The SERCOS module is a module to be used for SERCOS communication with the drive system. This module is mounted on the PSC7000 control card if necessary. This module emits invisible radiant light. Therefore, do not look at the sectioned fac- es of the connectors and optical cables, or any connectors of optical transmission products to the connection destination, or direrectly red light.

  • Page 19: Boundary DMensOns

    4.6 Boundary Dimensions 4.6.1 Mother Chassis (include Modules) Figure 4-1 Boundary Dimensions of Mother Chassis 4.6.2 Terminal Block of PG Module and Cable Figure 4-2 Boundary Dimensions for Terminal Block of PG Module and Cable Specifications...

  • Page 20: InstallatOn DMensOns

    4.7 Installation Dimensions The Figure 4-3 shows the installation dimensions for 4 slots (FSPB-). ): Dimensions for 5 slots (FSBP-2) ]: Dimensions for 6 slots (SSBP-2) Figure 4-3 Installation Dimensions PSC7000 Control Card...

  • Page 21: Mounting And Dismounting Of Modules

    Chapter 5 Mounting and Dismounting of Modules The DSP module, PG module, and Sercos module are mounted into the slots at the lower part of the mother chassis. Their mounting and dismounting can be carried out under the following procedures. Mounting Procedures of Modules ) Unlock an insert-type handle installed on the front face of the modules while push- ing the red button of the locking device of the handle.
  • Page 22 4) The screws located on the most-upper part of the module and the lower part of the insert-type handle are tightened to fix on the mother chassis. Fixed with screws PSC7000 Control Card...

  • Page 23: DSmountNg Procedures Of Modules

    Dismounting Procedures of Modules ) Loosen the screws located at the most-upper part of the module and under the insert-type handle. Loosen screws 2) Unlock the insert-type handle located on the front and lower parts of the modules while pushing the red button on the handle for loosening the unlocking mechanism. Then, the module is removed from the slot connector in the mother chassis.
  • Page 24 PSC7000 Control Card...

  • Page 25: Change Of Battery

    The battery for the DSP module can hold the nonvolatile variables. The battery can be replaced as described in the following procedures without turning off the power sup- ply when the green LED lamp at the front of the PSC7000 control card showing the OK state of the battery is turned off.
  • Page 26 (Reverse insertion of the con- nector is prevented). 4) The battery box is covered on the battery, and it is fixed by the screws at the two places. Fix screws PSC7000 Control Card...

  • Page 27: Battery Replacement For Dspm-2A

    Battery Replacement for DSPM-2A The following battery is strongly recommended to use as the replaced battery. If dif- ferent specifications of the battery are used, performance of the control card might be unstable. CR2032 (Made by FDK or Maxel) ATTENTION: The recommended use limit is about 5 years. Therefore, we recommend to replace the battery every 5 years even though its voltage reduction is still small.
  • Page 28 PSC7000 Control Card...

  • Page 29: Compactflash(Cf) Memory Card

    User data (library, configuration task, application tasks, values of NVMEMDEF and NV- LOCAL variables) and the OS of the PSC7000 controller are saved in the CF memory card, and are downloaded from the CF memory card. When the DSP module of the PSC7000 control card is exchanged, the same user data should be again downloaded.

  • Page 30: InsertNg Method Of Cf Memory Card

    Inserting Method of CF Memory Card The CF memory card is inserted into the CF memory card inlet of the PSC7000 con- trol card. The card is directly inserted into the inlet until it reaches to the end of the in- let, while keeping the front side of the card to your side as shown in figure 7-2.

  • Page 31: DownloadNg Method From Cf Memory Card

    The CF memory card saving both user data and OS of the PSC7000 controller, or one of them is first inserted, and then, the system switch of the PSC7000 control card is kept to push down at least three seconds as shown in the figure 7-. When the CPU-OK LED indicator is turned off three seconds later after turning the switch, let your hand go off from the switch.
  • Page 32 PSC7000 Control Card...

  • Page 33: Connection With Psc Terminal

    The PSC Terminal is the software product for programming and maintenance of user tasks used for the PSC7000 controller. The PSC terminal software is supplied to the users at the form of CD-ROM, and it will be installed into the PC of a user (Installing procedures, operating methods of the PSC terminal are described in the separate instruction manual "Operating Manual for PSC Terminal")

  • Page 34: ConnectNg Method For Dcs Programmer Cable

    P/N of Reliance Electric: 88405 First, the 5-pin connector of the DCS programmer cable is connected with the "Port-B" of the power supply card mounted on the rack of the PSC7000 controller. The connecting and disconnecting of the DCS programmer cable is acceptable while the power source of the PSC7000 controller is turned on.

  • Page 35: Connect Pg Module And External Wiring

    Chapter 9 Connect PG Module and External Wiring The PG module (MCIM-) functions as an interface for various signals necessary for controlling of the servo motors. The terminal block (PS7XW-0080) for the PG mod- ule and the cable (MB-D502) of the PG module are necessary for connection. Connect with the connector of PG module Connect with the center connector of PG module terminal block.

  • Page 36: Connect Pg SGnal Input

    47 ohms 1/8W 1/8 W Notes: Same circuit for A, B, & Z phases ※Ａ相、Ｂ相、Ｚ相入力とも同一の回路 47Ω 47 ohms 1/8 W 1/8W 1KΩ 1K ohms 180pF 1/8 W 1/8W Figure 9-3 Interface Circuit for PG Signal Input of MCIM-2 PSC7000 Control Card...

  • Page 37: Connect Mark & OrGN PoNt SGnal Inputs

    Connect Mark & Origin Point Signal Inputs The mark signals and origin point signals are signals transmitted from sensors mounted on machines. The signals connectable to the PG module (terminal block for PG module) should be set as signals with 2 to 24V of voltage. The interface circuit including the terminal block circuit is designed as shown below.
  • Page 38 Frame Grounding Connect with cable via the hood of the FG (two terminals) cable connector. Open Terminals Not marked Being open on the terminal block. (five terminals) Do not use this terminal. PSC7000 Control Card...
  • Page 39 PSC7000 controller. When the PG module is mounted on the slot 1 of the PSC7000 control card, the com- mon system variable is used for the channels 1 to 5. When the PG module is mounted on the slot 2 of the PSC7000 control card, the common system variable can be used for the channels 6 to 10.
  • Page 40 (+/-1 pulse or less) in spite of both forward and backward rotation. A Phase B Phase Z Pulse Counter N - 1 N - 1 Z Pulse Latch N - 1 Figure 10-2 Example for Transition of Z Pulse Latch Variable 10-2 PSC7000 Control Card...
  • Page 41 PSC7000 controller without connecting with external wiring in parallel.
  • Page 42 When the pulse tachometer is prepared by negative logic output, the logic can be also reversed so that the Z pulse latch in the PSC7000 controller is captured by the edges of the signals. Such idea is the same as that of the logic reverse of the marked signal.
  • Page 43 (A) Z Pulse Input Logic Variable (CHn_Z_POL@) When connecting the pulse tachometer for negative logic output, and when wanted to use this variable by reversing this Z pulse input logic variable, the direction of an edge can be reversed when wanted to used this variable by reversing its logic if the Z pulse input logic variable is set to be “True”.
  • Page 44 Down edge of mark signal for channel 1 (CH1). (MCIM-2 only) Can not set up. Down edge of origin point signal for channel 1 (CH1). (MCIM-2 only) Down edge of origin point signal for channel 1 (CH1). (MCIM-2 only) Can not set up. 10-6 PSC7000 Control Card...
  • Page 45 Table 10-2 Selected Items for Standard Latch Input Selection Variable (Channels 4 and 5) Value of Standard Latch Explanation for Edge Detecting Method to be Captured Input Selection Variable Up edge of mark signal for channel 4 (CH4). Up edge of mark signal for channel 5 (CH5). Can not set up. Up edge of origin point signal for channel 4 (CH4). Up edge of origin point signal for channel 5 (CH5). Can not set up.
  • Page 46 Down edge of mark signal for channel 10 (CH10). (MCIM-2 only) Can not set up. Down edge of origin point signal for channel 9 (CH9). (MCIM-2 only) Down edge of origin point signal for channel 10 (CH10). (MCIM-2 only) Can not set up. 10-8 PSC7000 Control Card...
  • Page 47 Table 10-4 Selected Items for Standard Latch Input Selection Variable (Channels 9 to 10) Explanation for Edge Detecting Method to be Captured Value of Standard Latch Input Selection Variable Up edge of mark signal for channel 9 (CH9). Up edge of mark signal for channel 10 (CH10). Can not set up. Up edge of origin point signal for channel 9 (CH9). Up edge of origin point signal for channel 10 (CH10). Can not set up.
  • Page 48 Captured timing Origin Signal Figure 10-7 Variable 0 (Up Edge of Origin Signal at Reverse Rotation) A Phase B Phase Captured timing Origin Signal Figure 10-8 Variable 1 (Up Edge of Origin Signal at Forward Rotation) 10-10 PSC7000 Control Card...

  • Page 49: Programming

    A Phase B Phase Captured timing Captured timing Origin Signal Figure 10-9 Variable 2 (Up Edge of Origin Signal at Both of Forward and Reverse Rotation) A Phase B Phase Z Pulse Origin Signal Captured timing Figure 10-10 Variable 3 (Up Edge of Origin Signal When Z Pulse is True at Reverse Rotation) A Phase B Phase Z Pulse...
  • Page 50 Figure 10-14 Variable 7 (Up Edge of Z Pulse When Origin Signal is True at Forward Rotation) A Phase B Phase Z Pulse Origin Signal Captured timing Captured timing Figure 10-15 Variable 8 (Equal to OR of Variables 6 and 7) 10-12 PSC7000 Control Card...

  • Page 51: Analog Output VarAble (Chn_Analog_Out!)

    The analog output variable is used to output the results of digital processing in the PSC7000 controller. This variable is a real type variable handling the range of integer values from -8192 to +8192. The value of this variable is transmitted to the analog output circuit, and equivalent voltage to the value of the variable is output.

  • Page 52: UsNg Method Of System VarAbles

    Note 1: Reading logic (True/False) will be reverse with the logic of input signal. Note 2: High-order byte is an indefinite value. The high-order byte at the reading side should be masked. Note 3: A part of the function of the MCIM-1 module is limited. 10-14 PSC7000 Control Card...
  • Page 53 Table 10-6 List of Common System Variables (Continued) Name of Variable Reading & Writing Channel Meaning of Variable on Tasks CH2_ORG_SEL! Origin point latch input selection CH2_ANALOG_OUT! Channel 2 Analog output R Note 2 CH2ZZZ@ Z pulse status R Note 1 CH2MRK@ Mark signal status R Note 1 CH2ORG@ Origin point signal status R Note 1 CH3_COUNTER! Counter CH3_Z_LATCH!
  • Page 54 Note 1: Reading logic (True/False) will be reverse with the logic of input signal. Note 2: High-order byte is an indefinite value. The high-order byte at the reading side should be masked. Note 3: A part of the function of the MCIM-1 module is limited. 10-16 PSC7000 Control Card...
  • Page 55 Table 10-6 List of Common System Variables (Continued) Channel Name of Variable Meaning of Variable Reading & Writing on BASIC and PC Tasks CH7_ORG_POL@ origin point signal input logic Channel 7 CH7_MARK_POL@ Mark signal input logic CH7_REF_SEL! Note 3 Reference latch input selection CH7_ORG_SEL! Origin point latch input selection CH7_ANALOG_OUT! Analog output R Note 2 CH7ZZZ@ Z pulse status R Note 1 CH7MRK@ Mark signal status...
  • Page 56 Note 1: Reading logic (True/False) will be reverse with the logic of input signal. Note 2: High-order byte is an indefinite value. The high-order byte at the reading side should be masked. Note 3: A part of the function of the MCIM-1 module is limited. 10-18 PSC7000 Control Card...
  • Page 57 10.4 Wire-Breaking Detection Function of PG Module The MCIM-2 module as the PG module has the wire-breaking detecting function which is not prepared for the conventional MCIM-1 module. Upon receiving the dif- ferential signals of A, B, & Z phases outputted by the PG module with the balance circuit, detection of wire-breaking can be possible, and troubles caused by the wire- breaking can be avoided.
  • Page 58 10-20 PSC7000 Control Card...

  • Page 59: Error Codes

    PSC terminal. Refer to the operation manual "PSC Terminal" for more information. The following error codes are prepared when there is any abnormality in the PSC7000 controller. If there exists such abnormality, the PSC7000 controller is reset, and the system should be stopped. Displayed...
  • Page 60 The following error codes are prepared to show any error when there exists any abnormality during execution of the BASIC program. When one of these error codes is displayed, the PSC7000 controller should be reset, and the system should be stopped.
  • Page 61 PSC7000 controller. F904 Version error User data read out from CF mem- 1) Store again the user data in the CF memory ory card and version of PSC7000 card. controller are not compatible with each other. F905 CRC error...
  • Page 62 11-4 PSC7000 Control Card...

  • Page 63: Troubleshooting

    2) Exchange the battery connected with the DSP module. Refer to the section 6 in this manual for more information. 3) If the PSC7000 controller is not returned, the PSC7000 control card is exchanged with a new one. Troubleshooting...
  • Page 64 12-2 PSC7000 Control Card...

  • Page 65: Appendix

    Chapter 13 Appendix 13.1 Devices for PSC7000 Series Controllers Devices such as various optional cards used in combination with the PSC7000 con- trol card are shown in the followings. Absolute Encoder Input Card II Controlnet Card CC link Card Optical Reference Output Card Digital Input/Output Card...
  • Page 66 84714 Remote IO Backplane 13.2 Use Restriction for PSC Option Cards The PSC option cards used in combination with the PSC7000 control card are given the following restriction. • The maximum three sets of the analog input & output card (AIO-1) can be used. (The maximum two sets are used for the PSC4000 and DDS5000 series controllers)
  • Page 68 Reliance Electric Limited 3-2, Fukuura 2-chome, Kanazawa-ku, Yokohama 236-8641 Phone 045 (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 Shin-Osaka IN Bldg, 5-14-5 Nishi-nakajima, Yodogawa-ku, Osaka 532-0011...

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