Related Manuals for Reliance electric PSC7000
Summary of Contents for Reliance electric PSC7000
- Page 1 Operating Instructions for PSC7000 Control Card Programmable Servo Controller PSC7000 Instructions Manual 23030-10E Reliance Electric Limited...
- Page 2 Copyright©2015 Reliance Electric Limited, All rights reserved...
- Page 3 November 2014. For information on how to check the version of the Operating System, see Section 3.1 of this document or Section 7.1 Property of the “PSC Terminal for PSC7000 Series Controllers Operating Instructions Manual”. The version of the PSC Terminal software is 1.08.
- Page 4 Some adaptations and modifications may need to be applied to be tailored to meet your specific needs. The information contained herein is designed only for use with the product. Reliance Electric Limited is not responsible for any use of this information as applied to other devices.
- Page 5 Safety Precautions The safety alert symbols and signal words are used throughout this manual to alert you to potential personal injury hazards. Obey all safety messages that follow this symbol to avoid possible injury or death. The following symbols definitions describe the level of severity for each signal word: Indicates a potentially hazardous situation that could result in WARNING death or serious injury.
- Page 6 WARNING Use only attachments or accessories of the correct type and rating specified by the manufacturer. Likewise, never use attachments or accessories for any other products. Improper use of replacement components may result in a fire, serious or fatal injury. Do not use unit in explosive atmospheres, such as in the presence of flammable liquids, gasses, or dust.
- Page 7 life, serious bodily injury, or destruction of the device. Ensure that all users are protected against electrical shock burns and other potential electrical safety hazards as well as comply with regulatory requirements. The unit must be connected to ground terminal/protective earth to reduce the risk of fire and electric shock.
- Page 8 CAUTION Do not place electric heating element close to the unit. The unit has openings for ventilation to protect it from overheating. Do not block or cover any of the ventilation openings. Keep them clean to avoid overheating. Do not mount or use unit in a location where excessive vibration or impact is present.
- Page 9 The unit should be used only for the purpose it is designed and directed. Do not use for other than its intended connectors. Be sure to turn off the power source before installing or uninstalling the unit, starting any configuration, wiring, or maintenance tasks. Failure to observe this caution could result in bodily injury or damage to the unit and related equipment.
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Page 11: Table Of Contents
Table of Contents Outline ........................1-1 Mechanical Structure ....................2-1 PSC7000 Control Card ..................2-1 External Devices ....................2-2 Description of Motherboard Chassis ................ 3-1 Specifications......................4-1 Motherboard Chassis.................... 4-1 DSP Module (DSPM-1A/DSPM-2A) ..............4-2 PG Module (MCIM-1 / MCIM-2) ................4-3 SERCOS Module (SRCS-1) ................. - Page 12 List of System Variables ................... 10-13 10.4 Wire-Breaking Detection of PG Module (MCIM-2 Only) ........10-17 Error Code ......................11-1 11.1 PSC7000 System Error ..................11-1 Internal Errors ..................... 11-1 11.1.1 Basic Task Program Errors ................. 11-2 11.1.2 CF Memory Error Codes ..................11-3 11.1.3...
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Page 13: Outline
1 Outline The PSC7000 Control Card is an integrated controller system, combining all the primary functions into one unit. The user can implement servo control on PSC7000 programming inverter operation patterns. The PSC7000 provides SERCOS module as well as input/output circuits required for servo control including feedback input (response from motors) and analog output. - Page 14 CF Memory Card: Ensures reliability for consistent performance with a small, fast, removable mass storage device. Dot matrix LED display: Displays the status of the PSC7000 Control Card. In the event of a failure, an error code appears.
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Page 15: Mechanical Structure
Depending on your choice and intended use, the controller can be created in combination with the above modules. The modules are mounted in the slots in the lower part of the PSC7000 Control Card (compliant with CompactPCI Standard). The DSP module must be inserted into Slot 3. -
Page 16: External Devices
2.2 External Devices The following devices are provided for the PSC7000 controller. CompactFlash Memory Card （256MB, 512MB） Terminal Block for PG Module Cable for PG Module Battery for DSPM-1A Module (for replacement) PSC Terminal（CD-ROM） USB Cable Battery for DSPM-2A Module (for replacement) - Page 17 Table 2-2 Peripheral Devices for PSC7000 Control Card Device Model Part No. Descriptions Relays external wires Terminal block PS7XW-10080 B40365705XXX connected to PG module. for PG module Installed in the control cabinet. Cable for PG Connects between PG module MB-D5021...
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Page 19: Description Of Motherboard Chassis
Description of Motherboard Chassis The motherboard chassis of the PSC7000 Control Card is mounted on Slot 0 for a PSC base unit. Depending on the intended use, modules can be applied to slot 1, slot 2 and slot 3, respectively. - Page 20 Dot Matrix LED indicator The status indicator shows the error status of the PSC7000 Control Card when a failure occurs in a system. For details about errors, see Chapter 12 Error Codes. It also shows the current status of the PSC7000 Control Card when a specific operation (e.g.
- Page 21 CF Card insertion It is a slot in which the CF Card is inserted. Insert the card with its face towards the Access LED.
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Page 23: Specifications
4 Specifications 4.1 Motherboard Chassis The motherboard chassis is the main body of the PSC7000 Control Card. It consists of the LED indicator lights that indicate the status of operation, system switch, and three types of CompactPCI modules. The specifications of the motherboard are summarized in Table 4-1. -
Page 24: Dsp Module (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... -
Page 25: Pg Module (Mcim-1 / Mcim-2)
PG Module (MCIM-1 / MCIM-2) The PG module has feedback signal input and analog signal output. The module is mounted on the slot of the PSC7000 Control Card depending on the intended use. Table 4-3 PG Module Specifications Channels 5 channels (signal common) Output type Resolution: ±13 bits... -
Page 26: Sercos Module (Srcs-1)
The SERCOS interface modules use a single, digital fibre-optic link to communicate with an inverter, mounted on the PSC7000 Control Card. Detailed drive status information is transferred from the inverter to the PSC7000 controller and from the controller to drive. WARNING The TX connector is equipped with Class 1 LED lights that emit invisible infrared light. -
Page 27: Pg Module Terminal Block
0.5 - 0.75Nm (in the use of pressure terminal) terminal screw Storage & operating temp. Storage: -30 - 85℃ Operating: -20 - 55℃ Relative humidity 45 - 85% 4.6 Dimensions 4.6.1 Motherboard including Modules Common to PSC7001 and PSC7000 Fig. 4-1 Dimensions of Motherboard... -
Page 28: Terminal Block Of Pg Module And Cable
4.6.2 Terminal Block of PG Module and Cable Fig. 4-2 Dimensions of Terminal Block... -
Page 29: Installation Dimensions
4.7 Installation Dimensions Common to PSC7001 and PSC7000 The above figure shows the PSC7000 with 4 slots (FSBP-1) ( ) indicates dimensions for 5 lots (FSBP-2). [ ] indicates dimensions for 6 slots (SSBP-2). Fig. 4-3 Installation Dimensions... -
Page 30: External Wiring For
Ambient temperature of the unit should be within a range of 0 to +55 degrees C. Relative humidity should be within a range of 20% to 85% without condensation. Do not install a unit at heights above 1000 meters. For details, contact Reliance Electric. -
Page 31: Mounting In Control Cabinet
4.9.2 Mounting in Control Cabinet PSC7000 series is categorized in a PLC-system (Programmable controllers system) specified in European (EN) Standards. Make sure that the unit is intended for use in overvoltage category II. The structure of the unit is classified into "open equipment", The unit must be installed in the control cabinet of robust build and proper configuration. - Page 32 The maximum power dissipation of PSC7000 series is 75W per controller unit. 4. PSC7000 must be placed at least 200 mm away from power cable as shown in Fig. 4-5. Control Cabinet...
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Page 33: Wiring In Control Cabinet
4.9.3 Wiring in Control Cabinet Special caution must be exercised when the unit is wired: 1. Route the unit power supply cable separately from other equipment power supply cables. 2. Run the power supply cable and signal cables separately. Do not bundle them together. 3. - Page 34 4-12...
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Page 35: Mounting And Dismounting Modules
5 Mounting and Dismounting Modules This chapter explains how the DSP module, PG module and SERCOS module are mounted and removed from the slot. 5.1 Mounting 1) Press the red button and hold the lever down as shown in the figure below. 2) Fit the top and bottom edges in the slot then slide the board into place. - Page 36 3) Keep pressing the lever and push it until the module fits into place. When the module is snuggled securely in to the slot, the lever gets locked. Make sure that the module is firmly attached. CAUTION Slowly insert the module without pushing the faceplate, or otherwise cause damage to the board or bend pins.
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Page 37: Dismounting
5.2 Dismounting Loosen the screws located at the positions as shown in the figure below. 1) Release the lock on the lever by pressing the red button then push down the lever. The module will be removed from the slot connector of the motherboard. Be careful not to hurt your fingers with a hook. -
Page 39: Battery Change
Take the steps as described in Section 6.1 and 6.2. CAUTION If the battery is changed while power supply of the PSC7000 controller is disconnected, a backup power supply to the memory buffer will temporarily be disconnected, resulting in the loss of the nonvolatile variables. - Page 40 2) Pull out the battery compartment then remove the battery with a cable connected to the two pole connector. 3) Attach a new battery to the two pole connector. Insert the two pole connector into the square hole until it clicks into place. The connector is designed to protect the battery from reverse insertion.
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Page 41: Dspm-2A
6.2 DSPM-2A Be sure to use and replace with a FDK or MAXELL battery. The use of any other batteries can affect the performance of the PSC7000 controller. CR2032 (by FDK or MAXELL) Lithium manganese dioxide battery ATTENTION The average battery lasts five years. After 5 years of use, it is recommended to change the battery regardless of the remaining voltage level. -
Page 43: Compactflash (Cf) Memory Card
PSC7000 needs to be changed, the applicable operating system can be downloaded from the CF Memory Card. The DSP module of the PSC7000 Control Card has a backup battery, so the user data on the DSP module remains intact when the PSC7000 is turned off. If data loss accidentally occurs on the DSP module, the lost data can be recovered through the use of the CF Memory Card. -
Page 44: Appearance
Never forcibly pull out the card or expose it to strong physical impact. 7.3 Inserting CF Memory Card Insert the CF Memory Card into the slot of the PSC7000 Control Card until it clicks. Make sure that the CF Memory Card is facing to the left, as shown in Fig.7-2. -
Page 45: Removing Cf Memory Card
Once the download is successfully complete, the PSC7000 controller is reset and restarted. If the OS version of PSC7000 and CF Memory Card is the same, the status indicator will display “PSC7” then the task will automatically be started. The system switch must be set to Autorun (neutral). - Page 46 Fig.7-3 Download from CF Memory Card to PSC7000 Controller ATTENTION Downloading OS from the CF Memory Card will erase libraries and all the application tasks in the PSC7000 controller.
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Page 47: Connection To Psc Terminal
The PSC terminal is software for programming and maintenance of user tasks of the PSC7000 controller. The PSC terminal is provided on a CD-ROM to be installed into your computer. For information on how to install and operate the PSC terminal, see the operating instructions manual of the PSC terminal. -
Page 48: Dcs Programming Cable
First, connect the 25-pin connector of the DCS programming cable to the “Port-B” of the power supply card mounted on the rack of the PSC7000 controller. You can connect or remove the DCS programming cable while the PSC7000 controller is powered on. Be aware that disconnection of the DCS programming cable during download can cause data corruption and erratic operation. -
Page 49: Connection Of Pg Module And External Wiring
9 Connection of PG Module and External Wiring The PG modules (MCIM-1/MCIM-2) take on the role of interface of some signals necessary for controlling the servomotors. For connection, use the terminal block (PS7XW-10080) and cable (MB-D5021) for the PG module respectively. Fig.9-1 Connecting Cable for PG Module ATTENTION Tighten the screw lock after mounting the connector. - Page 50 In the following table is a list of signals prepared for each shaft of a servomotor. With in each signal category, interfaces for five shafts are configured. CHX indicates CH1 to CH5. Table 9-1 List of PG Module Signals Signals Terminals Descriptions CHX A(12)
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Page 51: Pg Signal Inputs
9.1 PG Signal Inputs The Phase A, B and Z of the PG signals are transmitted from the PG encoder mounted on the servomotor, respectively. The Phase A and B signals generate a balanced rectangular pulse signal pair having phase difference of 90 degrees, used to detect rotation directions and speed for the shafts of the servomotor. -
Page 52: Mark & Origin Point Signal Inputs
22Ω 1/8W Photocoupler Isolation Terminal Block 820Ω 1KΩ 1/2W 180pF CH* A(12) 1/8W 12V Input CH* A(5) 5V differential input 47Ω CH* /A 1/8W Same circuit for Phase A, B & Z 47Ω 1/8W 1KΩ 180pF 1/8W Fig.9-3 Interface Circuit for PG Signal Input of MCIM-2 9.2 Mark &... -
Page 53: Analog Signal Input
9.3 Analog Signal Input The analog signal outputs a full scale voltage (command voltage value) within the +/-8V or +/-10V range to inverters that run servomotors. The interface circuit including the terminal block circuit is designed as below. Photocoupler Isolation 47Ω... -
Page 54: Applicable Wires For
9.5 Applicable Wires for PG Module Applicable wire size, fastening screws and fastening torque for terminals are listed in the table below. Select appropriate wires and screw in consideration of temperature rise caused by the type of wires, wiring methods and wiring lengths. Use a cable dedicated for the applicable devices. -
Page 55: Programming
When the PG module is mounted on the slot 1 of the PSC7000 Control Card, the common system variable can be used for the channels 1 to 5. When the PG module is mounted on the slot 2, the common system variable can be used for the channels 6 to 11. -
Page 56: Latch Variable
10.1.2 Latch Variable Three types of latch variables can be captured by the respective counters. The latches are Z pulse, mark signal, and origin point signal. The signals entered from the input circuit pass through the latch control circuit, and the value of each counter is captured to the latch variables. -
Page 57: Pulse Rate Multiplication (Chn_Mult!)
The mark latch variable captures a count with the origin point signal or mark signals of other channels. It obtains a latch on a timely basis within the PSC7000 controller without having to be externally connected in parallel when you want to capture counts... -
Page 58: Input Logic Variable
“Normal Open”. In case of pulse tachometer by negative logic output, the Z pulse latch in the PSC7000 controller is captured by the edges of the signals, so the logic can be reversed. This concept is the same as the logic reverse of the mark signal. -
Page 59: Input Selection Variables
2) Origin Point Input Logic Variable (CHn_ORG_POL@) Set True when the origin point detector is the negative logic output (B contact) or the origin point signal input is not used (constantly True). 3) Mark Signal Input Logic Variable (CHn_MARK_POL@) Set True when the mark detector is the negative logic output (B contact) or the negative logic should be internally used. - Page 60 Table 10-2 Reference Latch Input Selection Variable (CH4-5) Variable Conditions Channel 4 (CH4) on rising edge Channel 5 (CH5) on rising edge Not available Channel 4 (CH4) origin point on rising edge Channel 5 (CH5) origin point on rising edge Not available Channel 4 (CH4) mark signal on falling edge Channel 5 (CH5) mark signal on falling edge...
- Page 61 Table 10-3 Reference Latch Input Selection Variable (CH6-8) Variable Conditions Channel 6 (CH6) on rising edge Channel 7 (CH7) on rising edge Channel 8 (CH8) on rising edge Channel 6 (CH6) origin point on rising edge Channel 7 (CH7) origin point on rising edge Channel 8 (CH8) origin point on rising edge Channel 6 (CH6) mark signal on falling edge Channel 7 (CH7) mark signal on falling edge...
- Page 62 Table 10-4 Reference Latch Input Selection Variable (CH9-10) Variable Conditions Channel 9 (CH9) on rising edge Channel 10 (CH10) on rising edge Not available Channel 9 (CH9) origin point on rising edge Channel 10 (CH10) origin point on rising edge Not available Channel 9 (CH9) mark signal on falling edge Channel 10 (CH10) mark signal on falling edge...
- Page 63 Table 10-5 Origin Point Latch Input Selection Variable Variable Conditions Reverse rotation. The origin point signal is on rising edge. Forward rotation. The origin point signal is on rising edge. Forward/reverse rotation. The origin point signal is on rising edge. Reverse rotation.
- Page 64 Phase A Phase B Z Pulse Origin Capture Fig.10-10 Variable = 3 Phase A Phase B Z Pulse Origin Capture Fig.10-11 Variable = 4 Phase A Phase B Z Pulse Origin Capture Capture Fig.10-12 Variable = 5 Phase A Phase B Z Pulse Origin Capture...
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Page 65: Analog Output Variable (Chn_Analog_Out!)
Fig.10-15 Variable = 8 (Variable =6 and 7 OR) 10.1.6 Analog Output Variable (CHn_ANALOG_OUT!) This variable outputs the results of digital signal processing in the PSC7000 controller. It is an integer variable from -8192 to +8191. The value of this variable is transmitted to the analog output circuit, and a comparable amount of voltage is output. -
Page 66: Latch Signal Status Input Variables (Chnzzz@, Chnmrk@, Chnorg@)
(True or False) is opposite to the input signal logic. 10.1.8 System Switch Variable (AUTORUN@) This variable indicates whether the system switch of the PSC7000 Control Card is either “Enable” or “disable”. When it is “Enable”, the variable should be True. When it is “Disable”, the variable should be False. -
Page 67: List Of System Variables
10.3 List of System Variables Table 10-6 List of Common System Variables Channel Variables Descriptions CH1_COUNTER! Counter CH1_Z_LATCH! Z pulse latch CH1_REF_LATCH! Reference latch CH1_ORG_LATCH! Origin point latch (*3) CH1_MULT! Pulse rate multiplication CH1_Z_POL@ Z pulse input logic CH1_ORG_POL@ Origin point input logic CH1_MARK_POL@ Mark signal input logic Channel 1... - Page 68 Channel Variables Descriptions CH3_COUNTER! Counter CH3_Z_LATCH! Z pulse latch CH3_REF_LATCH! Reference latch CH3_ORG_LATCH! Origin point latch (*3) CH3_MULT! Pulse rate multiplication CH3_Z_POL@ Z pulse input logic CH3_ORG_POL@ Origin point input logic Channel 3 CH3_MARK_POL@ Mark signal input logic (*3) CH3_REF_SEL! Reference latch input selection Origin point latch input CH3_ORG_SEL!
- Page 69 Channel Variables Descriptions CH6_COUNTER! Counter CH6_Z_LATCH! Z pulse latch CH6_REF_LATCH! Reference latch CH6_ORG_LATCH! Origin point latch (*3) CH6_MULT! Pulse rate multiplication CH6_Z_POL@ Z pulse input logic CH6_ORG_POL@ Origin point input logic Channel 6 CH6_MARK_POL@ Mark signal input logic (*3) CH6_REF_SEL! Reference latch input selection Origin point latch input CH6_ORG_SEL!
- Page 70 Channel Variables Descriptions CH9_COUNTER! Counter CH9_Z_LATCH! Z pulse latch CH9_REF_LATCH! Reference latch CH9_ORG_LATCH! Origin point latch (*3) CH9_MULT! Pulse rate multiplication CH9_Z_POL@ Z pulse input logic CH9_ORG_POL@ Origin point input logic Channel 9 CH9_MARK_POL@ Mark signal input logic (*3) CH9_REF_SEL! Reference latch input selection Origin point latch input CH9_ORG_SEL!
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Page 71: Wire-Breaking Detection Of Pg Module (Mcim-2 Only)
10.4 Wire-Breaking Detection of PG Module (MCIM-2 Only) The MCIM-2 module of the PG module provides the wire-breaking detecting function which is not supported in the conventional MCIM-1 module. By receiving the differential signals of the Phase A, B & Z outputs by the PG module with the balance circuit, detection of wire breaking is enabled and that helps avoid any problems that may arise. - Page 72 10-18...
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Page 73: Error Code
PSC terminal. For more information, see the “PSC Terminal Operation Manual”. 11.1.1 Internal Errors The following table summarizes internal errors. When an error occurs, the PSC7000 controller will be reset, and the system will be terminated. Error... -
Page 74: Basic Task Program Errors
11.1.2 Basic Task Program Errors The following table summarizes program errors of the Basic task. When an error occurs, the PSC7000 controller will be reset, and the system will be terminated. Error Name Description Corrective Action Code Make sure that the number of RETURN is RETURN was executed equal to that of GOSUB. -
Page 75: Cf Memory Error Codes
11.1.3 CF Memory Error Codes The following table summarizes errors that occurred while the PSC7000 controller is accessing the CF Memory Card. When an error occurs, the PSC7000 controller will be reset, and the system will be terminated. Error Name... - Page 76 11-4...
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Page 77: Troubleshooting
12 Troubleshooting This section discusses a general approach to solving problems related to operation of the PSC7000 controller. The following troubleshooting guide will help you narrow down the problem area and identify the source of the event. Make sure that power is supplied to the PSC Control Card. - Page 78 12-2...
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Page 79: Appendix
13 Appendix 13.1 PSC Series This section introduces PSC series option cards to be used in combination with the PSC7000 Control Card. Serial Fig.13-1 PSC Series 13-1... -
Page 80: Restrictions On Psc Option Cards
SSBP-1 (S-D4017) B40842614XXX 13.2 Restrictions on PSC Option Cards There are some restrictions in the PSC option cards used in combination with the PSC7000 Control Card as follows: Analog IO card Up to three sets of the analog input and output cards (AIO-1) can be used. -
Page 81: External Wiring For Controllers
Shielded cable must be in touch with the ground at least 10mm before the exit. ‐ External circuit connected to PSC7000 series must be SELV*. ‐ * SELV: Safety Extra Low Voltage. Secondary circuit that is designed to be safely separated from other circuits that carry higher voltages, isolated from earth and isolated from the protective earth conductors of other circuits. - Page 82 13-4...
- Page 84 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 4-17, Nishi-Nakajima, 7-chome, Yodogawa-ku, Osaka 532-0111 Phone 06 (6889)5715 FAX 06 (6889)5788...