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G&L MMC-A2 Hardware Manual

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Standalone MMC
Hardware Manual
Version 15.0
G & L Motion Control Inc.

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Summary of Contents for G&L MMC-A2

  • Page 1 Standalone MMC Hardware Manual Version 15.0 G & L Motion Control Inc.
  • Page 3 NOTE Progress is an on-going commitment at G & L Motion Control Inc. We continually strive to offer the most advanced products in the industry; therefore, information in this document is subject to change without notice. The illustrations and specifications are not binding in detail. G & L Motion Control Inc.
  • Page 4 Belden® is a registered trademark of Cooper Industries, Inc. IBM is a registered trademark of International Business Machines Corp. Windows 95, 98, NT, Microsoft, and MS-DOS are registered trademarks of Microsoft Corporation. MOD HUB is a trademark of Contemporary Control Systems, Inc. ARCNET®...

  • Page 5: Table Of Contents

    Table of Contents: MMC Hardware Manual 1 Introduction to the Standalone MMC ..............1.1 Overview....................... 1.2 Contents of This Manual................1.3 Software and Manuals .................. 1.3.1 Required Software and Manuals ............1.3.2 Suggested Manuals ................1.4 G&L Motion Control Support Contact ............2 Safety Precautions....................
  • Page 6 3.8.5 Run-time Diagnostic Status ..............3.8.6 Diagnostic Error Codes ............... 4 Standalone MMC Control..................4.1 Introduction....................4.2 Features ......................4.3 Overview....................... 4.4 Major Components ..................4.4.1 Machine Control Board ..............4.4.2 Motion Control Board ................. 4.4.2.1 Analog Servo board ............. 4.4.2.2 SERCOS board ..............
  • Page 7 5.5.4 Ethernet Port ..................5.5.5 Digital Link Ports ................5.5.6 User USB Port ..................5.5.7 User USB Port ..................5.5.8 Power Connection ................5.6 Replacing the MMC Battery................. 5.7 Specifications ....................6 MMC Ethernet TCP/IP Option Module..............6.1 Introduction....................6.2 Connections ....................6.2.1 The Ethernet Port ................
  • Page 8 11.3 RFI Emission and Immunity............... 11.4 Classes of EMC Operating Environments ..........11.5 Conformance with the EMC Directive ............11.6 Conformance With the Low Voltage Directive .......... 11.7 Changes to the PiC Products............... 11.7.1 Changes Affecting the User .............. 11.8 Using CE/EMC and Non-CE/EMC Modules ..........11.9 Declarations of Conformity ................

  • Page 9: Introduction To The Standalone Mmc

    Introduction to the Standalone MMC Introduction to the Standalone MMC Overview The Standalone Machine and Motion Control (MMC) product line consists of three distinct products: The Standalone MMC Control, which is available in two configu- • rations to control: Analog Interfaced drives (such as the Analog Interfaced •...

  • Page 10: Software And Manuals

    Introduction to the Standalone MMC Part numbers and descriptions for the MMC Control, MMC • Option Modules, and related equipment. Software and Manuals 1.3.1 Required Software and Manuals For use with the Standalone MMC Digital Control, V16.0 or • higher of one of the following, and for use with the Standalone MMC Control, V11.0 or higher of one of the following: Professional Edition •...

  • Page 11: Safety Precautions

    Safety Precautions Safety Precautions READ AND UNDERSTAND THIS SECTION IN ITS ENTIRETY BEFORE UNDERTAKING INSTALLATION OR ADJUSTMENT OF MMC CONTROL EQUIPMENT The advice contained in this section will help users to operate and maintain the equipment in a safe manner at all times. PLEASE REMEMBER THAT SAFETY IS EVERYONE'S RESPONSIBILITY System Safety The basic rules of safety set forth in this section are intended as a guide for...

  • Page 12: Safety Labels

    Safety Precautions ATTENTION - DANGER TO LIFE Do not touch the main power supply fuses or any components internal to the power modules while the main power supply switch is ON. Note that when the main power switch is OFF, the incoming supply cable may be live.

  • Page 13: Danger, Warning, Or Caution Warning

    Safety Precautions 2.2.2 Danger, Warning, or Caution Warning Symbol plus DANGER, WARNING or CAUTION When you see this safety label on a system, it gives a warning of a hazard or possibility of a hazard existing. This type of warning is given by the pictorial representation on the label plus text if used, and provides information intended to prevent potential injury and/ or equipment damage.

  • Page 14: Safety First

    Safety Precautions Safety First G&L Motion Control equipment is designed and manufactured with consideration and care to generally accepted safety standards. However, the proper and safe performance of the equipment depends upon the use of sound and prudent operating, maintenance and servicing procedures by trained personnel under adequate supervision.

  • Page 15: Electrical Service & Maintenance Safety

    Safety Precautions Where access to the control system is permitted for manual operation, only those doors which provide that access should be unlocked. They should be locked immediately after the particular operation is com- pleted. Never remove warnings that are displayed on the equipment. Torn or worn labels should be replaced.

  • Page 16: Safe Cleaning Practices

    Safety Precautions • Make sure your tools and body are clear of the areas of equipment which may be live. • Extra safety measures should be taken in damp areas. • Be alert and avoid any outside distractions. • Make certain another qualified person is in attendance. Before applying power to any equipment, make certain that all per- sonnel are clear of associated equipment.

  • Page 17: Installation, Operation, & Maintenance

    Installation, Operation, & Maintenance Installation, Operation, & Maintenance Mounting the MMC Control Mount the unit to your cabinet using the mounting slots on the MMC as shown. (Note: the Standalone MMC Digital Control requires a minimum of 1/2 in clearance on the left side, for proper fan air movement). The MMC unit must be mounted vertically.

  • Page 18: Adding An Option Module To The Mmc Control

    Several Option Modules are available to add functionality to the MMC system. These modules are described in the later sections of this manual. The standard Standalone MMC Control (MMC-A2, MMC-A4, and MMC- S8) accepts up to two MMC Option Modules. The Standalone MMC Control MMC Hardware Manual G &...
  • Page 19 Installation, Operation, & Maintenance Plus (MMC-A2 Plus and MMC-A4 Plus), as well as the Standalone Digital MMC Control (MMC-D32 and MMC-D64), accepts up to four MMC Option Modules. Option modules are shipped with a 50-pin square post connector and screws needed to attach the module to the MMC (or to another option module).

  • Page 20: Dimensions And Mounting Of Mmc With Option Modules Attached

    Installation, Operation, & Maintenance Figure 3-2: Location of Screws on the MMC Control (MMC A-4 Servo Unit Shown) Top Screws Cover Side of Module Side Screw Bottom Screws Dimensions and Mounting of MMC with Option Modules Attached After attaching option modules to the MMC module, mount the unit to your cabinet using the mounting slots on the MMC and the option module.

  • Page 21: System Power And Environment Requirements

    Installation, Operation, & Maintenance Figure 3-3: MMC Mounting Dimensions with 2 Option Modules Attached 1.05" (26.27 mm) .218" (5.54 mm) 1.28" (32.51 mm) 1.69" (42.93 mm) Note: Unit is 5.3” (134.62 mm) deep. Option Option Module Module Module Side Cover .040"...

  • Page 22: Control Cabinet Specifications

    Installation, Operation, & Maintenance You are not required to install the system rack in a control cabinet. However a cabinet protects the system from dust and mechanical damage and is recommended. Power distribution is shown in Figure 3-4 on page 15.
  • Page 23 Installation, Operation, & Maintenance supplied via the MMC in this example. If the drive has its own external 24 VDC supply, the +24 V line would not be connected. Figure 3-4: Example of 24 VDC Power Distribution to an MMC System Analog Interfaced MMC-SD Drive...

  • Page 24: Grounding The System

    Installation, Operation, & Maintenance It is recommended that the same main disconnect switch be used for the MMC system and for all devices in the application. IMPORTANT No matter how the system is installed, before you con- nect the MMC to the application, make sure that power is off to the system and to the devices that are wired to the MMC.

  • Page 25: Controlling Heat Within The System

    Installation, Operation, & Maintenance • AC common line from the noise filter, if any. • The ground of the power source of the computer worksta- tion, if any, from which you monitor the system operation. An AC outlet in the control cabinet is recommended. •...

  • Page 26: Handling An Mmc

    Installation, Operation, & Maintenance spots do not exceed specifications. For example, when heat- generating components such as transformers, drives or motor controls are installed, separate them from the system by doing one of the following: • Place them near the top of the control cabinet so their heat output rises away from the MMC.

  • Page 27: System Wiring Guidelines

    Installation, Operation, & Maintenance the appendices are included with modules that have replaceable components. System Wiring Guidelines The MMC relies on electrical signals to report what is going on in the application and to send commands to it. In addition, signals are constantly being exchanged within the system.
  • Page 28 Installation, Operation, & Maintenance Figure 3-5: Recommended EMC Compliant Connections COMMUNICATIONS ENCODER, ANALOG DC INPUT/OUTPUT Power Connector Capacitor (.001 uf) AC INPUT POWER DC POWER SUPPLY SINGLE-POINT GROUND SINGLE-POINT GROUND Inside a control cabinet, connect the shields of shielded cables at the MMC.
  • Page 29 Installation, Operation, & Maintenance Figure 3-6: Connecting Shielded Cable External Drive Cabinet Enclosure The two different methods of terminating shields are used to accommodate two different immunity requirements. Immunity required inside an enclosure is considered lower because cables are typically less than three meters in length and/or can be separated from each other and from noise sources.

  • Page 30: Differential Devices For Analog And Encoder Signals

    Installation, Operation, & Maintenance for high-frequency welders and for pulse-width-modulated motor drives. WARNING Use care when wiring I/O devices to the MMC and when plugging in cables. Wiring the wrong device to the con- nector or plugging a connector into the wrong location could cause intermittent or incorrect machine operation.

  • Page 31: Starting An Application

    Installation, Operation, & Maintenance Starting an Application To start an application: Turn off the main disconnect switch in the control cabinet. If some devices are not powered from the control cabinet, turn them off also. Connect the connectors according to your diagrams. Turn on power to the system.

  • Page 32: Basic Setup And Maintenance Procedures

    Installation, Operation, & Maintenance Basic Setup and Maintenance Procedures Table 3-2 below summarizes how to proceed when performing certain maintenance and/or setup functions. Table 3-2: Maintenance Procedure Summary In order to: Turn off the entire application. Turn off main disconnect (which should also turn off all external power supplies to the application);...

  • Page 33: Power Status

    Installation, Operation, & Maintenance information including power supply status, battery status, diagnostic status, and system status. Figure 3-8: Status Lights 3.8.1 Power Status The green Power light (P) indicates that the power supplies internal to the MMC are working properly. If the power light (P) does not go on, or goes off during operation of the system, check that the proper voltage is present at the MMC power connector.

  • Page 34: Run-Time Diagnostic Status

    Installation, Operation, & Maintenance diagnostics run, the Diagnostic light will be in one of the following states: • off, indicating that the MMC is operating correctly. • on, indicating that the power-up diagnostics found a hard- ware problem with the MMC. NOTE Power-up diagnostics are run only when the system is powered up.

  • Page 35: Diagnostic Error Codes

    Installation, Operation, & Maintenance 3.8.6 Diagnostic Error Codes While the MMC is running, the Diagnostic light (D) on the CPU module will flash a three digit code signal if there is an error. For example, if there is a long pause-flash-pause-flash-flash-pause- flash-flash-flash-long pause, the code is 123.
  • Page 36 Installation, Operation, & Maintenance MMC Hardware Manual G & L Motion Control Inc.

  • Page 37: Standalone Mmc Control

    The Standalone MMC family includes these models: MMC-A2 (2 1/2 axis analog servo control) • MMC-A2 Plus (2 1/2 axis analog servo control, expandable) • MMC-A4 (4 1/2 axis analog servo control) • G & L Motion Control Inc.

  • Page 38: Major Components

    (24 VDC)] can be expanded using G&L Motion Control serially distributed block I/O. There are also eight (four) low current DC and four (two) DC inputs on the Axis connectors of the MMC-A4 and MMC-A2. Field-installable options for the MMC include an Ethernet TCP/IP interface, a DeviceNet™...

  • Page 39: Machine Control Board

    Side (Common to all (Common to all MMC Controls) MMC Controls) MMC-A4 (or MMC-A2) Servo Control MMC SERCOS Control (One-Ring Port) 4.4.1 Machine Control Board A Machine Control Board and it’s related external connections are located on the right side of the control. The Machine Control Board contains the CPU.

  • Page 40: Motion Control Board

    Standalone MMC Control control. This board also provides a PiCPro Port (RS-232 serial interface for communicating with a computer), User Port (RS-232/ RS-485 serial interface for communicating with a serial device), Block I/O Port (proprietary serial interface for communicating with Block I/O Expansion Modules), and a General I/O Port (16 DC out- puts and 16 DC inputs).

  • Page 41: Sercos Board

    Standalone MMC Control Table 4-2: Available Analog Servo Board I/O Available I/O 2 1/2 Axis 4 1/2 Axis Analog Inputs Analog Outputs Encoder Inputs Axis DC Inputs Axis DC Outputs Axis Fast DC Inputs AUX I/O Port DC Inputs 4.4.2.2 SERCOS board The SERCOS Motion Control board provides a fiber optic input and output for one SERCOS ring.
  • Page 42 Standalone MMC Control supplies. For example, the Axis I/O on an MMC A2 module can be powered from the MMC, from the drive, or from another external power supply. Refer to Table 4-4 to size the power supply required by your application. Refer to Table 4-5 to calculate the maximum current required for a...
  • Page 43 Line MMC Module Subtotal Current (mA) Units (mA) (mA) MMC-A2 or MMC-A4 (PLUS) (450) MMC SERCOS (PLUS) (500) Axis I/O Option Module MMC Ethernet Option Module MMC DeviceNet Option Module MMC 32 In/32 Out Option Module Subtotal, Power Bus 1 (Add Column A (3000 mA max)
  • Page 44 Line MMC Module Subtotal Current (mA) Units (mA) (mA) MMC-A2 or MMC-A4 (PLUS) (450) MMC SERCOS (PLUS) (500) Axis I/O Option Module MMC Ethernet Option Module MMC DeviceNet Option Module MMC 32 In/32 Out Option Module Subtotal, Power Bus 1 (Add Column A (3000 mA max)

  • Page 45: Machine Control Connection & Operation

    Standalone MMC Control Machine Control Connection & Operation This section provides theory-of-operation and connection information on the Machine Control board, which is located on the right side of an MMC Control. Three lights on the front of the Control (Scan, Power, and Diagnostic) provide operational and diagnostic information, as described in Section 3.8 on page...

  • Page 46: Picpro Port

    Standalone MMC Control 4.6.1 PiCPro Port The 9-pin male D-sub PiCPro Port connector (labeled “PiCPro” on the front of the Control) provides serial communication between the Control and a computer for the PiCPro programming interface. Pin descriptions for are provided in Table 4-6 •...

  • Page 47: Block I/O Port

    Standalone MMC Control Table 4-8: PiCPr0 Port to PC Cable M.1302.8250 Part Number: 4 M (13 ft) Length: Cable type: 24 AWG, shielded, twisted pair, 4 conductor. 9-Pin female D-sub 9-Pin female D-sub (to PiCPro Port, face (to PC COM Port, view) face view) Signal...
  • Page 48 Standalone MMC Control Table 4-9: Block I/O Port Pin Descriptions Function Notes Transmit Data + Transmits data to Block I/O Modules. Transmit Data - Transmits data to Block I/O Modules. Receive Data + Receives data from Block I/O Modules. Receive Data - Receives data from Block I/O Modules.
  • Page 49 Standalone MMC Control Table 4-11: Block I/O Port to Flying Lead Cable M.1016.2568 Part Number: 3 M (10 ft) Length: Cable type: 24 AWG, twisted pair (individually shielded), 4 conductor. 9-Pin male D-sub (to Block I/O Port, face view) Signal Color Notes Transmit Data +...
  • Page 50 Standalone MMC Control Table 4-12: Block I/O Port to Block I/O Module Wiring Use this table to wire from the Block I/O Port to the first Block I/O Module. 5-Pin Pluggable Screw 9-Pin male D-sub (to Block Terminal (to Block I/O I/O Port, face view) Module, face view) Signal...

  • Page 51: User Port

    Standalone MMC Control Figure 4-2: Block I/O Breakout Box Dimensions 1.750” 3.000” 1.750” 2.250” 4.6.3 User Port The 15-pin HD male D-sub User Port connector (labeled “USER PORT” on the front of the Control) provides RS232 and RS485 serial communication between a serial device and the Control Pin descriptions are provided in Table 4-14 •...
  • Page 52 Standalone MMC Control Table 4-14: User Port Pin Descriptions Function Notes RS232 Receive Data RS232-level signal that receives serial data from the connected serial device. RS232 Transmit Data RS232-level signal that sends serial data to the connected serial device. RS232 Request-to-send RS232-level signal that indicates to the connected serial device that it can transmit data to the Con- trol.
  • Page 53 Standalone MMC Control Table 4-15: User Port Pin Assignments Signal In/Out Connector Pinout 15-pin HD male D-sub RS232 Data-terminal-ready (12 Vdc) RS232 Request-to-Send RS232 Clear- to-Send Signal Ground In/Out RS232 Receive Data RS232 Transmit Data Connector Shell RS485 Receive Data + RS485 Receive Data - RS485 Transmit Data + RS485 Transmit Data -...
  • Page 54 Standalone MMC Control Table 4-16: User Port to Flying Lead Cable M.1016.2565 Part Number: 3 M (10 ft) Length: Cable type: 28 AWG, shielded, twisted pair, 16 conductor. 15-Pin HD female D-sub (to User Port, face view) Signal Color Notes Blue Twisted Signal Ground...
  • Page 55 Standalone MMC Control Table 4-17: User Port to RS-232 Exter HMI Cable M.1302.8453 Part Number: 4 M (13 ft) Length: Cable type: 24 AWG, shielded, twisted pair, 4 conductor. 9-Pin female D-sub 15-Pin HD female D- sub (to User Port, face (to Exter HMI COM2 view) Port, face view)
  • Page 56 Standalone MMC Control Table 4-18: User Port to RS-485 Exter HMI Cable M.1302.8454 Part Number: 4 M (13 ft) Length: Cable type: 24 AWG, shielded, twisted pair, 6 conductor. 25-Pin male D-sub (to 15-Pin HD female D- sub (to User Port, face Exter HMI COM1 view) Port, face view)

  • Page 57: General I/O Port

    Standalone MMC Control Figure 4-3: User Port Breakout Box Dimensions 1.750” 3.000” 2.250” 2.250” 4.6.4 General I/O Port The 44-pin HD male D-sub General I/O Port connectors (labeled “GEN I/O” on the front of the Control) provides connection between user I/O devices and the Control. This port provides 16 source-only outputs (described in detail in Section 4.6.4.1 on page 53), and 16 sink or source inputs (described in detail in...
  • Page 58 Standalone MMC Control Pin descriptions are provided in Table 4-20 • Pin assignments are provided in Table 4-21 • The available Flying Lead cable is described in Table 4-22. • Available Breakout Boxes and Cables are described in • Table 4-23.
  • Page 59 Standalone MMC Control Table 4-21: General I/O Port Pin Assignments Signal In/Out Connector Pinout DCOUT1 44-pin HD male D-sub DCOUT2 DCOUT3 DCOUT4 DCOUT5 DCOUT6 DCOUT7 DCOUT8 DCOUT9 DCOUT10 DCOUT11 DCOUT12 Connector DCOUT13 Shell DCOUT14 DCOUT15 DCOUT16 17-19 Signal In/Out IO24V IO24V DCSS1 DCSS2...
  • Page 60 Standalone MMC Control Table 4-22: General I/O Port to Flying Lead Cable M.1016.2567 Part Number: 3 M (10 ft) Length: Cable type: 28 AWG, shielded, twisted pair, 44 conductor. 44-Pin HD female D-sub (to Gen I/O Port, face view) Signal Color Notes Signal...

  • Page 61: Dc Output Operation

    Standalone MMC Control Table 4-23: General I/O Port Breakout Box and Cables Description Length Part Number MMC Gen I/O Breakout Box M.1016.2532 MMC Gen I/O & Aux I/O Connector to .3 M (1 ft) M.1016.2539 Breakout Box Cable MMC Gen I/O & Aux I/O Connector to .6 M (2 ft) M.1016.2540 Breakout Box Cable...
  • Page 62 Standalone MMC Control outputs in the group are turned off and remain off for approximately 100 ms regardless of ladder activity. After 100 ms, the ladder again controls the outputs. In addition, each output is protected with internal clamping diodes. Without clamping, high voltage transients (kickback) from inductive loads might damage the module.
  • Page 63 Standalone MMC Control Figure 4-5: General I/O Outputs Connected to Loads GENERAL CONNECTOR DC OUTPUT PINS LOAD DCOUT1 DCOUT2 DCOUT3 DCOUT4 DCOUT5 DCOUT6 DCOUT7 DCOUT8 DCOUT9 DCOUT10 DCOUT11 DCOUT12 DCOUT13 DCOUT14 DCOUT15 DCOUT16 Power Connector DC Power Supply Common G & L Motion Control Inc. MMC Hardware Manual...

  • Page 64: Dc Input Operation

    Standalone MMC Control 4.6.4.2 DC Input Operation The General I/O Port provides sixteen 24 Vdc inputs. There are two groups of eight inputs: group A = input 1 through output 8, group B = input 9 through output 16. Each group can be configured as sourcing or sinking. Connect the DCSS pin (DCSS1 for Group A, DCSS2 for Group B) to IO24C for a sourcing configuration.

  • Page 65: Power Connection

    Standalone MMC Control Figure 4-6: General I/O Inputs Connected to Devices GENERAL CONNECTOR DC OUTPUT PINS DCSS1 SWITCHING I/O 24V DEVICE DCIN1 DCIN2 DCIN3 SINK DCIN4 DCIN5 DCIN6 DCIN7 DCIN8 DCSS2 I/O 24C DCIN9 DCIN10 DCIN11 SOURCE DCIN12 DCIN13 DCIN14 DCIN15 DCIN16 Power...
  • Page 66 Standalone MMC Control This +24 Vdc appears as an output at several points on the MMC connectors. Figure 4-7 illustrates the pin-out. The MMC converts +24 Vdc power from this connector to DC power at voltages of +5 Vdc, + 15 Vdc, and -15 Vdc and supplies them to the logic side of the system.

  • Page 67: Analog Motion Control Connections & Operation

    Standalone MMC Control Analog Motion Control Connections & Operation This section provides theory-of-operation and connection information on the Analog Motion Control board, which is located on the left side of an MMC Control. 4.7.1 Axis I/O Ports The 15-pin HD female D-sub Axis I/O Port connectors (labeled “A1”, “A2”, “A3”, and “A4”...
  • Page 68 Standalone MMC Control Table 4-24: Axis I/O Port Pin Descriptions Function Notes Encoder Input (A, A/, Provides connections to an incremental encoder 1-5, 10 B, B/, I, I/) having differential outputs. D/A Output (DA+, DA- +/- 10V D/A output for controlling an analog 8, 9 drive having a differential input.
  • Page 69 Standalone MMC Control Table 4-26: Axis I/O Port to MMC Smart Drive Cable Part Numbers: .5 M (1.6 ft): M.1302.5990 2.5 M (8.2 ft): M.1302.7714 1 M (3.3 ft): M.1302.5991 3.5 M (11.5 ft): M.1302.7715 1.5 M (4.9 ft): M.1301.5992 5 M (16.4 ft): M.1302.7537 2 M (6.6 ft):...
  • Page 70 Standalone MMC Control Table 4-27: Axis I/O Port to Flying Lead Cable M.1016.2519 Part Number: 3 M (10 ft) Length: Cable type: 28 AWG, shielded, twisted pair, 16 conductor. 15-Pin HD male D-sub (to Axis I/O Port, face view) Signal Color Notes Blue...
  • Page 71 Standalone MMC Control Table 4-28: Axis I/O Port Breakout Box and Cables Description Length Part Number Axis Connector Breakout Box M.1016.2529 MMC Axis A”n” to Breakout Box Cable .3 M (1 ft) M.1016.2535 MMC Axis A”n” to Breakout Box Cable .6 M (2 ft) M.1016.2536 MMC Axis A”n”...

  • Page 72: Axis I/O Port Dc Outputs

    Standalone MMC Control 4.7.1.1 Axis I/O Port DC Outputs Each Axis I/O Port provides 2 sink or source 24 Vdc outputs. Each of the 2 outputs on is a solid state switch rated at 100 ma. When the DCOSS pin is tied to the +24V, the outputs will be in a source configuration as shown in Figure...
  • Page 73 Standalone MMC Control Figure 4-10: Axis I/O DC Output Sink Configuration MMC Axis I/O Connector Drive +24V DC OUT 1 Drive Enable DCOSS +24V DC OUT 2 Drive Reset +24V Sinking Outputs Sourcing Inputs G & L Motion Control Inc. MMC Hardware Manual...

  • Page 74: Axis I/O Port Dc Input

    Standalone MMC Control 4.7.1.2 Axis I/O Port DC Input Each Axis I/O Port provides one 24 Vdc input. Each input is an optically isolated solid state switch. It turns on or off according to the logic state sent to it by the CPU.

  • Page 75: Axis I/O Port Analog Output

    Standalone MMC Control 4.7.1.3 Axis I/O Port Analog Output The Axis I/O Port provides a +/-10 V differential Analog Output. The Analog Output is typically connected to the drive Command Input. Only shielded twisted pair wire should be used to make the connection between the analog output and the drive as shown in Figure 4-12.

  • Page 76: Aux I/O Port

    Standalone MMC Control encoder input for each axis. The Axis I/O Port encoder input accepts RS422 differential inputs. The encoder signals should be quadrature type. All encoder wiring between the MMC and the drive should be shielded twisted pair as shown in Figure 4-13.
  • Page 77 Standalone MMC Control incremental encoder and various I/O devices by providing the following inputs to the Control: Five fast DC inputs, described in detail in Section 4.7.2.2 on • page 12 optically isolated DC inputs, described in detail in Sec- •...

  • Page 78: Standalone Mmc Control

    Standalone MMC Control Table 4-29: Aux I/O Port Pin Descriptions Function Notes Encoder Input (A, A/, B, Provides connections to an incremental encoder B/, I, I/) having differential outputs. DC Input 1-6 (DCIN1- Provides connection to an input device (sink or 32-37 DCIN12) source).
  • Page 79 ANLGIN- DCIN5 Connector Shell Shield DCIN6 FASTIN1+ In/Out DCSSB FASTIN1- DCIN7 Shield DCIN8 FASTIN2+ DCIN9 FASTIN2- DCIN10 Shield DCIN11 FASTIN3+ DCIN12 Shell Drain FASTIN3- Shield a. Signal not available on MMC-A2 G & L Motion Control Inc. MMC Hardware Manual...
  • Page 80 DCIN8 Shield Twisted White Twisted DCIN9 Shield Blue Pair Brown Pair DCIN10 Fastin2+ Twisted White Twisted DCIN11 Fastin2- Yellow Pair Orange Pair DCIN12 Shell Drain a. Signal not available on MMC-A2 MMC Hardware Manual G & L Motion Control Inc.
  • Page 81 Standalone MMC Control Table 4-32: Aux I/O Port Breakout Box and Cables Description Length Part Number M.1016.2531 MMC Aux I/O Breakout Box MMC Aux I/O Breakout Box with Encoder M.1017.4236 Isolation MMC Gen I/O & Aux I/O Connector to .3 M (1 ft) M.1016.2539 Breakout Box Cable MMC Gen I/O &...

  • Page 82: Isolated Breakout Box Details

    Standalone MMC Control 4.7.2.1 Isolated Breakout Box Details The Isolated Breakout Box is different then the Standard Breakout Box in three ways: The Isolated Breakout Box provides optical isola- • tion between the encoder (A, A/, B, B/, I, I/) signals and the Control.
  • Page 83 Standalone MMC Control Figure 4-16: Encoder and Power Connections for Encoder Isolator Isolated Breakout Box Encoder Control AUX I/O AUX I/O Single Point Power Supply Ground (SPG) Table 4-33: Encoder Specifications Item Specification Encoder Driver Required RS-422 differential Recommended Encoder Drivers 7272, 75183, 8830, 75114, 9614, 26LS31 (or equivalent) Differential Input Voltage Range...

  • Page 84: Aux I/O Port Fast Inputs

    Standalone MMC Control IMPORTANT When using the Isolated Breakout Box, the “index” in- puts (I, I/) must be connected. If the connected encoder does not provide the index function, connect I on the Breakout Box to +5 Vdc, and I/ to +5 Vdc Common. Failure to connect I and I/ will result in a “loss-of-feed- back”...

  • Page 85: Aux I/O Port Dc Inputs

    Standalone MMC Control Figure 4-17: Fast Inputs Connected Using Shielded Twisted Pair (Source) MMC AUX I/O Connector Source +24V FI 1+ Switch FI 1- Shielded Twisted Pair Shield Figure 4-18: Fast Inputs Connected Using Shielded Twisted Pair (Sink) MMC AUX I/O Connector +24V FI 1+ FI 1-...
  • Page 86 Standalone MMC Control configuration by connecting the DCSS pin to either the COM pin on the Aux I/O Port or to the Common of an external supply. Connect the DCSS pin to +24 Vdc for a sinking configuration by connecting the DCSS pin to either the +24 Vdc pin on the Aux I/O Port or to the +24 Vdc of an external supply.

  • Page 87: Aux I/O Port Encoder Input

    Standalone MMC Control Figure 4-19: Aux I/O Port Inputs MMC AUX I/O Connector +24V DCSSA DC IN 1 DC IN 2 DC IN 3 SINKING INPUTS DC IN 4 DC IN 5 DC IN 6 DCSSB DC IN 7 DC IN 8 DC IN 9 SOURCING DC IN 10...

  • Page 88: Aux I/O Port Analog Input

    Standalone MMC Control For more information on the Encoder input operation, refer to Section A.4 on page 175 of Appendix NOTE The power supply that powers the encoder must be referenced to the power supply that powers the MMC. This is done by connecting the “common”...

  • Page 89: Sercos Motion Control Connections & Operation

    Standalone MMC Control A/D converter. These filters improve the noise immunity of the module. SERCOS Motion Control Connections & Operation This section provides information on connecting to the SERCOS Motion Control board, which is located on the left side of a SERCOS MMC Control. The MMC SERCOS board is an alternate type of motion control used as part of an MMC base unit.
  • Page 90 Standalone MMC Control Table 4-34: SERCOS Cables Description Model Number Length Part Number Heavy Duty SERCOS-0.50m-6mm-AA .5 M (1.6 ft) M.1302.6379 SERCOS SERCOS-1.00m-6mm-AA 1 M (3.3 ft) M.1302.6400 Cable SERCOS-2.00m-6mm-AA 2 M (6.6 ft) M.1302.6401 SERCOS-3.00m-6mm-AA 3 M (9.8 ft) M.1302.6402 SERCOS-5.00m-6mm-AA 5 M (16.4 ft)

  • Page 91: Loader Port

    Standalone MMC Control Figure 4-21: SERCOS Connections - One Ring MMC/SERCOS Module S P D RECV XMIT USER PORT LOADER PC connected to RS232 port for Field Updates of +24V G&L Motion Control system software Feedback and Diagnostics Position, Velocity, or Torque Commands Fiber Optic Ring (Up to eight SERCOS slaves) 4.8.2 Loader Port...
  • Page 92 Standalone MMC Control Table 4-35: SERCOS Loader Port Pin Descriptions Function Notes Receive Data RS232-level signal that receives serial data from the connected PC running PiCPro. Transmit Data RS232-level signal that transmits serial data to the connected PC running PiCPro. Signal Ground Provides the return path for signals Shield Ground...

  • Page 93: Replacing The Mmc Battery

    Standalone MMC Control Table 4-37: SERCOS Loader Port to PC Cable M.1302.8250 Part Number: 4 M (13 ft) Length: Cable type: 24 AWG, shielded, twisted pair, 4 conductor. 9-Pin female D-sub 9-Pin female D-sub (to SERCOS Loader (to PC COM Port, Port, face view) face view) Signal...
  • Page 94 Standalone MMC Control If there are one or more optional modules attached, remove the four screws that attach the first optional module and remove the MMC from the optional mod- ules. WARNING DO NOT touch any of the capacitors. Do not touch the pins on any of the ICs.

  • Page 95: Specifications

    Connect the power cable. Turn on power and check the lights. 4.10 Specifications Table 4-38: Part Numbers Number of servo axes available Characteristic MMC Specifications at six update rates* User Model Part Number Speed MMC-A2 M.1017.3772 Std. 256K 128K MMC-A2 M.1302.7095 256K 128K Plus MMC-A4 M.1017.3774 Std.
  • Page 96 Standalone MMC Control CE Marked Conforms to Directives 73/23/EEC, 89/336/EEC, 92/31/EEC, 93/ 68/EEC by conforming to the following standards: EN 50081-2:1993EMC Generic Industrial Emissions EN 50082-2:1995EMC Generic Industrial Immunity EN 61131-2:1994/A11:1996 Low voltage directive requirements for programmable controllers Operates with emissions below EN55011/ CISPR 11 Class A limits Immune to: •Electrostatic discharge (4K V contact mode, 8K V air discharge)
  • Page 97 Standalone MMC Control Axis Port & Aux Port Encoder Input Input channels 3 or 5 Input receiver 26C32 differential RS422 receiver Recommended Encoder Drivers 7272, 75183, 8830, 75114, 9614, 26LS31 (or equivalent) Encoder signals Differential quadrature Input threshold ±750 mV Input termination 120 ohm, provided on board Maximum input voltage...

  • Page 98: Axis I/O Port

    Standalone MMC Control Axis Port DC Outputs Number of outputs 2 outputs per axis Configuration Each set of axis outputs can be configured as sourcing or sinking. Maximum current 100 mA per output Voltage range 24 VDC nominal, 5 to 30 VDC range Scan loss response Outputs turn off Aux Port +5 Vdc Output...

  • Page 99: Standalone Digital Mmc Control

    Standalone Digital MMC Control Standalone Digital MMC Control Introduction This section contains information for the Standalone Digital MMC Control only. Information on the Standalone MMC Control is contained in Section 4 on page 29. Block I/O information can be found in the Block I/O Hardware Manual.

  • Page 100: Power Supply Requirements

    Standalone Digital MMC Control control. I/O can be added using G&L Motion Control’s serially distributed Block I/O. Additionally, a maximum of four field-installable Option Modules can be added directly to the Control, as follows: Up to two MMC Communications Option Modules (Profibus or •...

  • Page 101: Connectors & Operation

    Standalone Digital MMC Control Connectors & Operation This section provides theory-of-operation and connection information for the Standalone Digital MMC Control. See Figure 5-1 for connector locations. Figure 5-1: Standalone Digital MMC Control Lights (S P D) PiCPro Port (PiCPRO) Ethernet Port (ENET) Block I/O Port (BLK IO) Digital Link Port, Branch 1 (B1)
  • Page 102 Standalone Digital MMC Control The Standalone Digital MMC Control converts +24 Vdc input power to various DC voltage levels that power the logic side of the Control. This same 24 Vdc power is also routed to any MMC Option Modules that may be connected to the Control. Three lights on the front of the Control (Scan, Power, and Diagnostic) provide operational and diagnostic information, as described in...

  • Page 103: Block I/O Port

    Standalone Digital MMC Control 5.5.1 Block I/O Port The 9-pin female D-sub PiCPro Port connector (labeled “BLK IO” on the front of the Control) provides serial communication between 1 to 77 Block I/O modules and the Control. Pin descriptions for are provided in Table 5-2.
  • Page 104 Standalone Digital MMC Control NOTE Pin 7 of the Block I/O port connector is connected to the connector shell within the MMC. Therefore, the shield may be connected to either pin 7 or the connector shell. Table 5-4: Block I/O Port to Flying Lead Cable M.1016.2568 Part Number: 3 M (10 ft)
  • Page 105 Standalone Digital MMC Control Table 5-5: Block I/O Port to Block I/O Module Wiring Use this table to wire from the Block I/O Port to the first Block I/O Module. 5-Pin Pluggable Screw 9-Pin male D-sub (to Block Terminal (to Block I/O I/O Port, face view) Module, face view) Signal...

  • Page 106: User Port

    Standalone Digital MMC Control Figure 5-2: Block I/O Breakout Box Dimensions 1.750” 3.000” 1.750” 2.250” 5.5.2 User Port The 15-pin HD male D-sub User Port connector (labeled “USER PORT” on the front of the Control) provides RS232 and RS485 serial communication between a serial device and the Control Pin descriptions are provided in Table 5-7 •...
  • Page 107 Standalone Digital MMC Control Table 5-7: User Port Pin Descriptions Function Notes RS232 Receive Data RS232-level signal that receives serial data from the connected serial device. RS232 Transmit Data RS232-level signal that sends serial data to the connected serial device. RS232 Request-to-send RS232-level signal that indicates to the connected serial device that it can transmit data to the Con-...
  • Page 108 Standalone Digital MMC Control Table 5-8: User Port Pin Assignments Signal In/Out Connector Pinout 15-pin HD male D-sub RS232 Data-terminal-ready (5 Vdc) RS232 Request-to-Send RS232 Clear- to-Send Signal Ground In/Out RS232 Receive Data RS232 Transmit Data Connector Shell RS485 Receive Data + RS485 Receive Data - RS485 Transmit Data + RS485 Transmit Data -...
  • Page 109 Standalone Digital MMC Control Table 5-9: User Port to Flying Lead Cable M.1016.2565 Part Number: 3 M (10 ft) Length: Cable type: 28 AWG, shielded, twisted pair, 16 conductor. 15-Pin HD female D-sub (to User Port, face view) Signal Color Notes Blue Twisted...
  • Page 110 Standalone Digital MMC Control Table 5-10: User Port to RS-232 Exter HMI Cable M.1302.8453 Part Number: 4 M (13 ft) Length: Cable type: 24 AWG, shielded, twisted pair, 4 conductor. 15-Pin HD female D- 9-Pin female D-sub (to Exter HMI COM2 sub (to User Port, face Port, face view) view)
  • Page 111 Standalone Digital MMC Control Table 5-11: User Port to RS-485 Exter HMI Cable M.1302.8454 Part Number: 4 M (13 ft) Length: Cable type: 24 AWG, shielded, twisted pair, 6 conductor. 15-Pin HD female D- 25-Pin male D-sub (to Exter HMI COM1 sub (to User Port, face Port, face view) view)

  • Page 112: Picpro Port

    Standalone Digital MMC Control Figure 5-3: User Port Breakout Box Dimensions 1.750” 3.000” 2.250” 2.250” 5.5.3 PiCPro Port The 6-pin circular DIN PiCPro Port connector (labeled “PiCPro” on the front of the Control) provides serial communication for the PiCPro programming interface. Pin descriptions for are provided in Table 5-14 •...
  • Page 113 Standalone Digital MMC Control Table 5-14: PiCPro Port Pin Descriptions Function Notes Receive Data RS232-level signal that receives serial data from the connected PC running PiCPro. Transmit Data RS232-level signal that transmits serial data to the connected PC running PiCPro. Signal Ground Provides the return path for signals 3 and 5...

  • Page 114: Ethernet Port

    Standalone Digital MMC Control Table 5-16: PiCPr0 Port to PC Cable M.1302.8284 Part Number: 4 M (13 ft) Length: Cable type: 24 AWG, shielded, twisted pair, 4 conductor. 6-Pin male Miniature 9-Pin female D-sub Circular DIN (to (to PC COM Port, PiCPro Port, face view) face view) Signal...
  • Page 115 Standalone Digital MMC Control The available Ethernet Port to Ethernet Device cables are • described in Table 5-19 Table 5-17: Ethernet Port Pin Descriptions Function Notes Receive Data + Receives data from connected device. Receive Data - Receives data from connected device. Transmit Data + Transmits data to connected device.

  • Page 116: Digital Link Ports

    Standalone Digital MMC Control Table 5-19: Ethernet Port to Ethernet Device Cables Part Numbers: .3 M (1.0 ft): M.1302.8285 .6 M (2.0 ft): M.1302.8286 1 M (3.3 ft): M.1302.8287 2 M (6.6 ft): M.1302.8288 3 M (9.8 ft): M.1302.8289 5 M (16.4 ft): M.1302.8300 10 M (32.8 ft): M.1302.8301 15 M (49.2 ft): M.1302.8302 30 M (98.4 ft): M.1302.8303...
  • Page 117 Standalone Digital MMC Control Pin assignments are provided in Table 5-21 • The available Digital Link Port to Digital Drive cables are • described in Table 5-22 Table 5-20: Digital Link Port Pin Descriptions Function Notes Receive Data + Receives data from connected drives. Receive Data - Receives data from connected drives.
  • Page 118 Standalone Digital MMC Control Table 5-22: Digital Link Port to Digital Drive Cables Part Numbers: .3 M (1.0 ft): M.1302.8285 .6 M (2.0 ft): M.1302.8286 1 M (3.3 ft): M.1302.8287 2 M (6.6 ft): M.1302.8288 3 M (9.8 ft): M.1302.8289 5 M (16.4 ft): M.1302.8300 10 M (32.8 ft): M.1302.8301 15 M (49.2 ft): M.1302.8302...

  • Page 119: User Usb Port

    Standalone Digital MMC Control 5.5.6 User USB Port The User USB Port connector (labeled “USER USB” on the front of the Control) is for future use. Do not connect any cables or devices to this port. 5.5.7 User USB Port The PiCPro USB Port connector (labeled “PiCPro USB”...

  • Page 120: Replacing The Mmc Battery

    Standalone Digital MMC Control Figure 5-4: Pin Out for the 3-pin Power Supply Screw Terminal Connection Power Source 24V DC +24V 24V DC 24V DC Common GROUND Replacing the MMC Battery Follow the procedure below to replace the Standalone Digital MMC Control’s battery as a preventative maintenance procedure (approximately every 5 years) or when the Diagnostic Light flashes the “Replace Battery”...
  • Page 121 Standalone Digital MMC Control Figure 5-5: Battery Location Not all components shown Clip Battery Use a screwdriver to gently pry up the battery clip. Slide the battery out. Replace it with a 3V coin cell, BR3032 battery, + side up. Screw the cover or optional modules back on.

  • Page 122: Specifications

    Standalone Digital MMC Control Specifications Table 5-23: Part Numbers Number of servo axes available at indicated update rate* Model Part Number 8 ms 4 ms 2 ms 1 ms .5 ms .25 ms MMC-D32 M.1302.5109 MMC-D64 M.1302.5110 * Using features such as servo tasks, S-curve, RATIO_RL, M_LINCIR, M_SCRVLC, PLS, and CAM_OUT places a heavier burden on available CPU time.
  • Page 123 Standalone Digital MMC Control Time-of-day clock Access via PiCPro 16.0 and above or your application program At 25°C (77°F),±1 second per day Clock tolerance Over temperature, voltage and aging variation, +2/-12 seconds per day Operating temperature range 5°C to 55°C (41°F to 131°F) Storage temperature range -40°C to 85°C (-40°F to 185°F) Humidity...
  • Page 124 Standalone Digital MMC Control MMC Hardware Manual G & L Motion Control Inc.

  • Page 125: Mmc Ethernet Tcp/Ip Option Module

    MMC Ethernet TCP/IP Option Mod- MMC Ethernet TCP/IP Option Module Introduction The ETHERNET - TCP/IP Option Module provides the Standalone MMC Control (cannot be used with the Standalone Digital MMC Control) with Ethernet access and Internet connectivity. A 10Base T connection is provided following the IEEE 802.3 specification.

  • Page 126: Connections

    MMC Ethernet TCP/IP Option Module Connections A serial cable is used to make a connection between the PC and the MMC Control, or between the PC and the Ethernet TCP/IP Option Module. Connect the PC to the RS232 Com 2 Port on the Ethernet - TCP/IP module to download the TCP/IP configuration file (connection 1 as shown in Figure...

  • Page 127: The Ethernet Port

    MMC Ethernet TCP/IP Option Mod- A typical MMC 10Base T connection is shown below. Figure 6-3: Ethernet - TCP/IP 10Base T Connections ETHERNET DIAG GDLNK EO EI COL PREV OUT IN COM1 OUT IN COM2 Enable Disable REMOTE PROGRAMMER ACCESS 10 BaseT COM1 COM2...
  • Page 128 MMC Ethernet TCP/IP Option Module Table 6-2: Ethernet Port Pin Descriptions Function Notes Receive Data + Receives data from connected drives. Receive Data - Receives data from connected drives. Transmit Data + Transmits data to connected drives. Transmit Data - Transmits data to connected drives.

  • Page 129: The Rs232 Comm Ports

    MMC Ethernet TCP/IP Option Mod- Table 6-4: Ethernet Port to Ethernet Device Cables Part Numbers: .3 M (1.0 ft): M.1302.8285 .6 M (2.0 ft): M.1302.8286 1 M (3.3 ft): M.1302.8287 2 M (6.6 ft): M.1302.8288 3 M (9.8 ft): M.1302.8289 5 M (16.4 ft): M.1302.8300 10 M (32.8 ft): M.1302.8301 15 M (49.2 ft): M.1302.8302...
  • Page 130 MMC Ethernet TCP/IP Option Module Table 6-5: COMM Port Pin Descriptions Function Notes Receive Data RS232-level signal that receives serial data from the connected PC running PiCPro. Transmit Data RS232-level signal that transmits serial data to the connected PC running PiCPro. Signal Ground Provides the return path for signals Data Terminal...

  • Page 131: Leds

    MMC Ethernet TCP/IP Option Mod- Table 6-7: COMM Port to PC Cable M.1302.8250 Part Number: 4 M (13 ft) Length: Cable type: 24 AWG, shielded, twisted pair, 4 conductor. 9-Pin female D-sub 9-Pin female D-sub (to PC COM Port, (to COMM Port, face face view) view) Signal...

  • Page 132: Firmware Update

    MMC Ethernet TCP/IP Option Module Figure 6-4: Ethernet - TCP/IP LEDs (yellow) Diagnostic DIAG GDLNK Ethernet 10Base-T good link (green) Ethernet transmitting data (green) Ethernet receiving data (green) PREV Ethernet collision (yellow) Polarity reversed on 10Base-T receiver (yellow) Com 1 transmit data (green) Com 1 receive data (green) Com 2 receive data (green) Com 2 transmit data (green)
  • Page 133 MMC Ethernet TCP/IP Option Mod- Figure 6-5: MMC Ethernet - TCP/IP Overview Ethernet - TCP/IP Module Software Application Program Transmission Control Protocol User Datagram Protocol Internet Protocol Ethernet - TCP/IP Module (FUTURE) Hardware Ethernet Point to Point Network Protocol Interface RS232 Ethernet Physical Mediums Modem...

  • Page 134: Specifications Table

    MMC Ethernet TCP/IP Option Module Specifications Table Characteristics Ethernet - TCP/IP Module Specifications Function Provides the MMC with Ethernet access and Internet connectivity Part number M.1017.3888 RS232 Port 1 Com Port 1 modem (future) RS232 Port 2 Com Port 2 (for firmware and configuration loading) 10Base T RJ-45 8-pin connector Maximum twisted pair length is 100 M (328 ft).
  • Page 135 MMC Ethernet TCP/IP Option Mod- http://www.standards.ieee.org/catalog/IEEE802.3.html http://www.3com.com/nsc/glossary/main.htm http://www.alliedtelesyn.com/prd_tran.htm#microtrans http://www.lothlorien.net/collections/computer/ethernet_frames.html http://www.lantronix.com/htmfiles/mrktg/catalog/etntba.htm http://www.warehouse.com/datacomm/ G & L Motion Control Inc. MMC Hardware Manual...
  • Page 136 MMC Ethernet TCP/IP Option Module MMC Hardware Manual G & L Motion Control Inc.

  • Page 137: Mmc Devicenet Option Module

    MMC DeviceNet Option Module MMC DeviceNet Option Module Introduction The MMC DeviceNet scanner module is an interface between the MMC ™ and a DeviceNet network. The module contains an on-board processor, a DeviceNet compliant interface, and firmware that makes it act as the master to all other nodes on the network.

  • Page 138: Connections

    MMC DeviceNet Option Module Connections DeviceNet connections are illustrated in Figure 7-2. Up to 63 DeviceNet Nodes may be attached to the DeviceNet scanner module. Figure 7-2: DeviceNet Connections MMC DeviceNet DeviceNet DIAG CNFG PORT PC connected to RS232 port NETWORK SCANNER STATUS...

  • Page 139: The Devicenet Port

    MMC DeviceNet Option Module 7.2.1 The DeviceNet Port The DeviceNet port is on the front of the module near the center as shown in Figure 7-1 on page 129. The pinout for the DeviceNet port is shown below: Pin # Signal Name Standard Wire Colors black...

  • Page 140: Leds

    MMC DeviceNet Option Module LEDs The two configuration port LEDs and the two DeviceNet port LEDs are described below. Color State Definition Network status None Off-line DeviceNet Port Green On-line and connected to at least one node Flashing On-line but connection nodes not established Unrecoverable Fault (dupli- cate MAC ID check failed,...

  • Page 141: Theory Of Operation

    MMC DeviceNet Option Module Theory of Operation The DeviceNet scanner module provides a memory image of the nodes (slaves) connected to a DeviceNet network. It is this memory image that is controlled by your LDO created in PiCPro. The module’s on-board processor continually transfers data between this memory image and the actual DeviceNet nodes.

  • Page 142: Specifications

    MMC DeviceNet Option Module Specifications Characteristics DeviceNet Module Specifications Function Interfaces to a DeviceNet network with up to 63 other nodes Part number M.1017.3889 DeviceNet Port Phoenix style 5-pin male connector Configuration Port RS232 interface 24 V DC Power from the MMC 100 mA Operating temperature range 7°...

  • Page 143: Mmc Profibus Option Module

    MMC Profibus Option Module MMC Profibus Option Module Introduction The MMC Profibus scanner module is an interface between the MMC and a Profibus network. The module contains an on-board processor, a Profibus compliant interface, and firmware that makes it act as the master to all other nodes on the network.

  • Page 144: Connections

    MMC Profibus Option Module Connections Profibus connections are illustrated in Figure 8-2. Up to 31 Profibus nodes, without repeaters, may be attached to the Profibus scanner. Up to 125 other Profibus Nodes, using repeaters, may be attached to the Profibus scanner module.

  • Page 145: The Profibus Port

    MMC Profibus Option Module 8.2.1 The Profibus Port The Profibus port is on the front of the module near the center as shown in Figure 8-1 on page 135. The pinout for the Profibus port is shown below. Table 8-1: Pinout for Profibus Port Pin # Signal Name Note:...

  • Page 146: Leds

    MMC Profibus Option Module LEDs The two configuration port LEDs and the two Profibus port LEDs are described below. Table 8-3: Description of Profibus Port LEDs Color State Definition Profibus Port Network status Green Off-line On-line, no physical layer or data layer errors (or Profibus cable not connected) On-line, bus error (baud rate or...

  • Page 147: Theory Of Operation

    MMC Profibus Option Module Theory of Operation The Profibus scanner module provides a memory image of the nodes (slaves) connected to a Profibus network. It is this memory image that is controlled by your LDO created in PiCPro. The module’s on-board processor continually transfers data between this memory image and the actual Profibus nodes.

  • Page 148: Specifications For Profibus Module

    MMC Profibus Option Module Specifications for Profibus Module Characteristics Profibus Module Specifications Function Interfaces (acts as DP Master - Class 1), to a Profibus net- work with up to 125 other nodes, using repeaters Part number M.1300.7167 Profibus Port 9-pin female D-sub connector Configuration Port RS232 interface 24 V DC Power from the MMC...

  • Page 149: Mmc Axis I/O Option Module

    MMC Axis I/O Option Module MMC Axis I/O Option Module The MMC Axis I/O Option Module provides conventional analog/digital interfacing to four analog drives. The typical signals needed to interface to an analog drive are provided by the MMC Axis I/O Option Module. The drive command is in the form of an analog voltage (±10V).

  • Page 150: Specifications

    MMC Axis I/O Option Module Specifications General Operating temperature range 5°C to 55°C (41°F to 131°F) Storage temperature range -40°C to 85°C (-40°F to 185°F) Humidity 5 to 95%, non-condensing CE Marked Conforms to Directives 73/23/EEC, 89/336/EEC, 92/31/EEC, 93/ 68/EEC by conforming to the following standards: EN 50081-2:1993EMC Generic Industrial Emissions EN 50082-2:1995EMC Generic Industrial Immunity EN 61131-2:1994/A11:1996 Low voltage directive requirements for...
  • Page 151 MMC Axis I/O Option Module Axis Port Analog Output Output channels 2 or 4 Resolution 16 bits Output voltage range ±10 VDC Maximum output current (1K Ω load) ±10 mA Power on output voltage 0 V ±100 mV Scan loss output voltage 0V ±100 mV Accuracy ±0.375% of FSR Drift ±...

  • Page 152: Axis I/O Port

    MMC Axis I/O Option Module Axis Port & Aux Port Encoder Input Input channels 3 or 5 Input receiver 26632 differential RS422 receiver Recommended Encoder Drivers 7272, 75183, 8830, 75114, 9614, 26LS31 (or equivalent) Encoder signals Differential quadrature Input threshold ±750 mV Input termination 120 ohm, provided on board...

  • Page 153: Mmc 32In/32Out Option Module

    MMC 32In/32Out Option Module 10 MMC 32In/32Out Option Module 10.1 Introduction The MMC 32In/32 Out Option Module (shown in Figure 10-1) contains two 44-pin HD male D-sub connectors, labeled “GEN I/O A”, and “GEN I/O B”. Each connector provides 16 sink or source (user selectable, in groups of 8) 24 Vdc inputs.
  • Page 154 MMC 32In/32Out Option Module Figure 10-1: MMC 32 In/32 Out Option Module Diagnostic Light (DIAG) General I/O Connector “A” (GEN IO A) General I/O Connector “B” (GEN IO B) MMC Hardware Manual G & L Motion Control Inc.

  • Page 155: Connections & Operation

    MMC 32In/32Out Option Module 10.2 Connections & Operation The two 44-pin HD male D-sub I/O connectors (labeled “GEN I/O A” and “GEN I/O B” on the front of the Module) provides connection between the user I/O devices the Control. This port provides 16 source-only outputs (described in detail in section 10.2.1 on page 150), and 16 sink or source...
  • Page 156 MMC 32In/32Out Option Module Table 10-2: General I/O Port Pin Assignments Signal In/Out Connector Pinout DCOUT1 44-pin HD male D-sub DCOUT2 DCOUT3 DCOUT4 DCOUT5 DCOUT6 DCOUT7 DCOUT8 DCOUT9 DCOUT10 DCOUT11 DCOUT12 Connector DCOUT13 Shell DCOUT14 DCOUT15 DCOUT16 DCOUTPWR1 Signal In/Out DCOUTPWR2 DCOUTC 19, 20...
  • Page 157 MMC 32In/32Out Option Module Table 10-3: General I/O Port to Flying Lead Cable M.1016.2567 Part Number: 3 M (10 ft) Length: Cable type: 28 AWG, shielded, twisted pair, 44 conductor. 44-Pin HD female D-sub (to Gen I/O Port, face view) Signal Color Notes...

  • Page 158: Dc Output Operation

    MMC 32In/32Out Option Module Table 10-4: General I/O Port Breakout Box and Cables Description Length Part Num- MMC Gen I/O Breakout Box M.1016.25 MMC Gen I/O & Aux I/O Connec- .3 M (1 M.1016.25 tor to Breakout Box Cable MMC Gen I/O & Aux I/O Connec- .6 M (2 M.1016.25 tor to Breakout Box Cable...
  • Page 159 MMC 32In/32Out Option Module When a short circuit or over-current condition is sensed, all outputs in the group are turned off and remain off for approximately 100 ms regardless of ladder activity. After 100 ms, the ladder again controls the outputs. In addition, each output is protected with internal clamping diodes.
  • Page 160 MMC 32In/32Out Option Module Figure 10-3: Gen I/O Port Output Connections GENERAL CONNECTOR DC OUTPUT PINS LOAD DCOUT1 DCOUT2 DCOUT3 DCOUT4 DCOUT5 DCOUT6 DCOUT7 DCOUT8 DCOUT9 DCOUT10 DCOUT11 DCOUT12 DCOUT13 DCOUT14 DCOUT15 DCOUT16 DCOUTPWR1 17,31 DCOUTPWR2 18,32 DCOUTC 24 Vdc Power Supply Common MMC Hardware Manual G &...

  • Page 161: Dc Input Operation

    MMC 32In/32Out Option Module 10.2.2 DC Input Operation Each General I/O Port provides sixteen 24 Vdc inputs. Each Port contains two groups of eight inputs: group A = input 1 through output 8, group B = input 9 through output 16. Each group can be configured as sourcing or sinking.
  • Page 162 MMC 32In/32Out Option Module Figure 10-4: General Input Connections GENERAL CONNECTOR DC INPUT PINS DCSS1 SWITCHING DEVICE DCIN1 DCIN2 DCIN3 SINK DCIN4 DCIN5 DCIN6 DCIN7 DCIN8 DCSS2 DCIN9 DCIN10 DCIN11 SOURCE DCIN12 DCIN13 DCIN14 DCIN15 DCIN16 +24V 24 Vdc Power Supply Common MMC Hardware Manual G &...

  • Page 163: Specifications

    MMC 32In/32Out Option Module 10.3 Specifications Table 10-5: Specifications Part Number M.3000.0043 Physical size 1.28" wide x 9.6" high x 5.3" deep 52.51 mm x 243.84 mm x 134.62 mm DC Inputs Number of Inputs 32 Inputs (16 on each connector) Configuration On each of two connectors, the General Inputs are divided into two groups of eight.
  • Page 164 MMC 32In/32Out Option Module Shock (per IEC 68-2-27) Four shocks per axis (15g/11 msec) CE Marked Conforms to Directives 73/23/EEC, 89/336/EEC, 92/31/EEC, 93/ 68/EEC by conforming to the following standards: EN 50081-2:1993EMC Generic Industrial Emissions EN 50082-2:1995EMC Generic Industrial Immunity EN 61131-2:1994/A11:1996 Low voltage directive requirements for programmable controllers Operates with emissions below EN55011/ CISPR 11...

  • Page 165: Ce And Emc Guidelines

    CE and EMC Guidelines 11 CE and EMC Guidelines NOTE The CE mark on PiC products assures compliance with both the EMC and low voltage European directives. Prior to this CE mark, EMC on the product label only assured compliance with the EMC directives. 11.1 Background on EMC (Electromagnetic Compatibility) Compliance In order to market products in the European Union after January 1, 1996, an...

  • Page 166: Rfi Emission And Immunity

    CE and EMC Guidelines 11.3 RFI Emission and Immunity The EMC product characteristics are classified by the emission and immunity performance. Emissions not only include radiated noise from the product enclosure and cabling, but also that which is conducted away from the product along the cables connected to it.

  • Page 167: Classes Of Emc Operating Environments

    CE and EMC Guidelines 11.4 Classes of EMC Operating Environments Before the correct level of EMC can be designed into equipment, the EMC operating environment must be defined. For example in industrial locations where high power equipment is in use, high levels of background electrical noise would be expected when compared to a household or office environment.

  • Page 168: Conformance With The Emc Directive

    CE and EMC Guidelines 11.5 Conformance with the EMC Directive G&L Motion Control will be complying to the Directive by self-certification to the following generic EMC standards: EN50081-2 for industrial emissions using EN55011 (based upon CISPR 11A) EN50082-2 for industrial immunity using: IEC 61000-4-2 (ESD- 4KV contact mode, 8 KV air discharge) IEC 61000-4-3 (Radiated susceptibility) IEC 61000-4-4 (Electrical fast transient)

  • Page 169: Changes Affecting The User

    CE and EMC Guidelines 11.7.1 Changes Affecting the User Many of the changes G&L Motion Control has implemented are transparent to the user. However, there are some changes affecting user installation. G&L Motion Control continues to recommend separation of low level signals (encoder, analog, communications, fast DC inputs) from high voltage or high current lines from any of the above.
  • Page 170 CE and EMC Guidelines There is now a provision for shield termination to the CPU modules for peer-to-peer communication. Shielded cable must be used to reduce emissions. Inside a control cabinet, the practice of connecting the shields of shielded cables at the modules should be continued. For an example of a shielded cable entering/leaving the cabinet see Figure 11-3 on page...
  • Page 171 CE and EMC Guidelines Under the stated conditions, there will be no disturbance of digital I/O, encoder, or stepper operation. For analog signals, there may be momentary disturbances but there will be self-recovery when the noise subsides. In order to meet the EU directive requirement for emissions and immunity, fiber optics must be used for I/O expansion.

  • Page 172: Using Ce/Emc And Non-Ce/Emc Modules

    CE and EMC Guidelines 11.8 Using CE/EMC and Non-CE/EMC Modules IMPORTANT Failure to follow these guidelines may result in undesired system performance. NOTE CE indicates compliance to both the EMC and low voltage directives. EMC indicates compliance to the EMC directive. There are several issues that must be considered when using CE/EMC compliant and Non-CE/EMC compliant Modules.
  • Page 173 CE and EMC Guidelines If your rack contains one or more Non-CE/EMC modules that perform D/A • conversion or provide an Encoder interface, you must use a non-CE/EMC CSM, RSM, or CSM/CPU (PiC90). If your rack does not contain one or more Non-CE/EMC modules that per- •...

  • Page 174: Declarations Of Conformity

    CE and EMC Guidelines 11.9 Declarations of Conformity MMC Hardware Manual G & L Motion Control Inc.
  • Page 175 CE and EMC Guidelines G & L Motion Control Inc. MMC Hardware Manual...
  • Page 176 CE and EMC Guidelines MMC Hardware Manual G & L Motion Control Inc.
  • Page 177 CE and EMC Guidelines G & L Motion Control Inc. MMC Hardware Manual...
  • Page 178 CE and EMC Guidelines MMC Hardware Manual G & L Motion Control Inc.

  • Page 179: Appendix A - Operation Details

    Appendix A Operation Details Appendix A - Operation Details A.1 Introduction This appendix describes in detail the operation of many of the sub-systems found within the MMC Control and Option Modules. A.2 DC Inputs Each input is guaranteed “on” at 14 to 30 VDC and guaranteed “off”...
  • Page 180 Appendix A Operation Details Figure A-1: Input Characteristics Compared to IEC Standards U in Volts MIN MAX “ON” REGION TRANSITION REGION “OFF” REGION I in mAMPS INPUT CURRENT MMC Hardware Manual G & L Motion Control Inc.

  • Page 181: Dc Outputs

    Appendix A Operation Details IMPORTANT Switching devices can sometimes have a leakage current that ex- ceeds the IT (current allowed when off) of an input module. In or- der to use such a device, an impedance (typically, a resistor) needs to be used in parallel with the input.

  • Page 182: Inductive Loads

    Appendix A Operation Details application program updates the logic state for each switch every time it scans the program. The logic side of the switch is optically isolated from the field side. If you need to know whether voltage is actually present at the field side, use a voltmeter. A.3.1 Inductive Loads Resistive and inductive loads can be connected to DC outputs and controlled by the system with no precautions other than making...

  • Page 183: Encoder Inputs

    Appendix A Operation Details Figure A-2: Diagram of Internal Protection for Inductive Loads DC Power Supply DC Power Supply MMC POWER DC Output DC Output MMC POWER CONNECTOR CONNECTOR Output Output Switching INDUCTIVE Switching Device INDUCTIVE LOAD Device LOAD DCOUT1 DCOUT1 a) Output Energized b) Output De-energized...
  • Page 184 Appendix A Operation Details Figure A-3: Signals Transmitted by a Quadrature Encoder with Differential Outputs ROTATION SPEED OUTPUT The maximum input frequency is 250,000 lines per second, which results in 1,000,000 Feedback Units (FUs) per second. Figure A-4: Counting Quadrature Pulses The module counts positive transitions at both channel A and channel B.
  • Page 185 Appendix A Operation Details the response to a fast input signal is independent of ladder scan time. The • module can be programmed to latch a position count as soon as this input is detected. G & L Motion Control Inc. MMC Hardware Manual...
  • Page 186 Appendix A Operation Details MMC Hardware Manual G & L Motion Control Inc.

  • Page 187: Index

    INDEX in Standalone Digital MMC Control in Standalone MMC Control block I/O port Numerics Standalone Digital MMC Control 32In/32Out module Standalone MMC Control DC input operation breakout box DC output operation isolated encoder front view general I/O port introduction caution specifications label CE guidelines...

  • Page 188: Ethernet Port

    DC input operation PiC products 32In/32Out module wiring guidelines for Standalone MMC Control EMC directive DC inputs conformance aux I/O port EMC guidelines general operation encoder input DC output operation aux I/O port 32In/32Out module axis I/O port Standalone MMC Control encoder inputs DC outputs general operation...

  • Page 189: Introduction

    hot surface safety general I/O port warning 32In/32Out module lights Standalone MMC Control battery status ground DeviceNet module single point diagnostic status (D) grounding Ethernet module protective earth power status (P) system Profibus module guidelines scan status (S) system status loader port SERCOS motion board low voltage directive...
  • Page 190 DC inputs Profibus port DC outputs specifications DeviceNet module Profibus port encoder inputs Profibus module Ethernet module protective earth MMC Control grounding Profibus module SERCOS motion Standalone Digital MMC Control emission starting immunity option module run-time diagnostics adding dimensions mounting safety 3, overview cleaning...
  • Page 191 Ethernet module Ethernet port connection Profibus module operation Standalone Digital MMC Control major components Standalone MMC Control motion control board Standalone Digital MMC Control overview battery replacement part numbers block I/O port PiCPro port connections power connector digital link ports power supply requirements Ethernet port SERCOS board...
  • Page 192 application EMC compliant warning for EMC compliance label guidelines warranty support wiring MMC Hardware Manual G & L Motion Control Inc.

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