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MUSCLE Corporation COOL MUSCLE 2 User Manual

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Integrated AC Servo System
MDUG-CM2/08215E-01

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  • Page 1 Integrated AC Servo System MDUG-CM2/08215E-01...
  • Page 2 This User's Guide is only intended to provide information about the product, and dose not guarantee any results from usage of the product. Muscle Corporation is not responsible for any damages and/or injuries resulting from the implementation in accordance with the contents of this User's Guide.

  • Page 3: Instructions For Safety

    Instructions for Safety 【Be sure to read before use for safety】 To ensure safe use To ensure the safe and proper use of our products, it is important that you read this User's Guide thoroughly prior to its use. Failure to read, fully understand and implement following instructions and precautions may result in damage to the product, the machine to which it is installed, or operator injury.
  • Page 4 In this User's Guide, safety precautions are classified as either “Warning” or “Caution”, indicating the level of hazard seriousness possibly occurred when handling the product incorrectly. The symbols are explaind below. Indicates an imminently hazardous situation which, if not handled Warning properly, may result in death or serious injury.
  • Page 5 Warning Never touch the rotating part of the motor while operating. The failure could result in injuries. Take a measure for safety to keep away contact by personel. Do not touch the motor and driver while power is ON or for some time after power-OFF.
  • Page 6 Caution (transportation) The product is precision mechanical equipment. Do not drop or give any strong impact to the product. The failure could result in damages or malfunction. Do not hold the cables or motor shaft when transporting the product. The failure could result in damages or malfunction. Do not climb, stand, or put heavy objects on the product.
  • Page 7 Caution (wiring) Wiring must always be performed properly and reliably. Ensure that terminal connection or porarity (+, -) is correct. The failure could result in damages or malfunction. Carefully consider the cable clamping method, and make sure that bending stress and the stress of the cable’s own weight are not applied on the cable connection section.
  • Page 8 Incorrect handling or operation could cause electric shocks or damages. Do not perform a dielectric voltage-withstand test. The failure could result in destruction of circuit element. Muscle Corporation is not responsible for any damages resulting from modifications or repairs made to the product. About processing of waste This product should be treated as an industrial waste when it is disposed.
  • Page 9 I NDEX Chapter 1 Functions and Structure ���������������������������������������������������001 1.1. Overview ��������������������������������������������������������������������001 1.2. Block Diagram ���������������������������������������������������������������002 1.3. Product Code Scheme �������������������������������������������������������002 1.4. Parts Description ������������������������������������������������������������003 1.5. Motor's Rotating Direction ����������������������������������������������������003 1.6. Status LED ������������������������������������������������������������������004 1.7. Control Type �����������������������������������������������������������������005 1.7.1. Pulse Type (P Type) �����������������������������������������������������005 1.7.2.
  • Page 10 3.4.3. Digital Input/Output ����������������������������������������������������� 016 3.4.4. Connection for Analog Input/Output �������������������������������������� 016 3.4.5. +5V Output ������������������������������������������������������������� 016 3.5. I/O Circuit ������������������������������������������������������������������ 017 3.6. Connection Example ��������������������������������������������������������� 018 Chapter 4 Communication Functions ������������������������������������������������� 019 4.1. Communication Software Overview ������������������������������������������� 019 4.2. Confirming Communication ��������������������������������������������������� 019 4.3.
  • Page 11 7.5. Arithmetic/Logical Operation Function ���������������������������������������� 031 7.6. PLC Function ���������������������������������������������������������������� 031 7.7. Reversal of Coordinate �������������������������������������������������������032 7.8. Circular / Linear Interpolation (optional) ���������������������������������������032 7.9. Protection/Safety Features ���������������������������������������������������032 Chapter 8 Maintenance and Inspection �����������������������������������������������033 8.1. Maintenance �����������������������������������������������������������������033 8.2. Troubleshooting ��������������������������������������������������������������034 8.2.1. Communications ���������������������������������������������������������034 8.2.2.

  • Page 12: Important Points

    Explanation of icon Icons used in this User's Guide. Warnings and notices Important points Supplemental explanations Bundled Items CM2 package includes CM2 and following cables.( 　 　　: Refer to 3.1) Cable Application 400mm one side connector accessory power supply cable 400mm one side connector accessory communication cable...

  • Page 13: Functions And Structure

    Functions and Structure 1.1. Overview The COOL MUSCLE 2 (CM2) is the world smallest integrated AC servo system that combines motor, encoder, driver, controller, PLC and power supply. The use of its own program language " CML " ( COOL MUSCLE Language ) allows easy creation and control of motion.

  • Page 14: Block Diagram

    Keyway R Interpolation 400W D-cut Double D-cut CM2 Model numbers are as below. Cool Muscle 2 names Model # COOLMUSCLE2 CM2 56 100W * Type CM2- * -56B10A- * COOLMUSCLE2 CM2 56 200W * Type CM2- * -56B20A- * COOLMUSCLE2 CM2 60 100W * Type...

  • Page 15: Parts Description

    Functions and Structure Chapter 1.4. Parts Description Each part of CM2 is as below. Status LED LED Cover Power Supply Connector Power Supply Cable Mounting holes (4 corners) I/O Connector Driver Case Shaft Host Connector Slave Connector Flange I/O Cable 1.5. Motor's Rotating Direction The rotationg direction means as drawn in right.

  • Page 16: Status Led

    Functions and Structure Chapter 1.6. Status LED Status LED lights as follows by the status of CM2. (Status LED can be inactivated by parameter setting) Status LED Pattern of lighting / blinking Status of CM2 5 SEC Light Blue Lighting Servo ON Light Motor free Lighting...

  • Page 17: Control Type

    Functions and Structure Chapter 1.7. Control Type Control types of CM2 include Computer, Pulse and Interpolation allowing you to choose the appropriate type for your application. 1.7.1. Pulse Type  (P Type) Pulse type CM2 can replace the existing pulse controll unit. Input methods for Pulse type include CW/CCW pulses and Pulse/ Direction style. This input method can be selected by parameter K36.

  • Page 18: Installation

    Chapter Installation Installing in an improper location or mounting to machinary incorrectly, CM2 could result in abnormal behavior or an unpredictable accident. Please read the following cautions to ensure safe and proper use of CM2. 2.1. Operating Condition Please refer to Section 9.1 for operating and storage conditions. The following instructions should also be fully noted.
  • Page 19 Mounting CM2 Chapter 2.2.2. Coupling / Centering Use a coupling when connecting the motor to a machine Motor to avoid unnecessary load. Make sure that the motor shaft and the machine center are properly aligned. Use a flexible coupling with high torsional stiffness. Use of machine center motor axis center a flexible coupling with low torsional stiffness may cause...
  • Page 20 Mounting CM2 Chapter 2.2.4. Notes for Shaft Load Radial Load Excessive radial load could damage the motor bearings. Belt Drive When a pulley is directly mounted onto the shaft, take note of radial load caused by belt tension. To prevent slipping and respond to overload, a wide belt with strong tension tends to be used for design on the safe side.
  • Page 21 Mounting CM2 Chapter Thrust Load Large thrust load could damage the motor shaft bearings. A large thrust load could even move the shaft , damaging an encoder that is mounted at the other end of the shaft. When mounting a worm gear directly onto the motor shaft, a large thrust load occurs.

  • Page 22: Wiring And Connections

    Chapter Wiring and Connections 3.1. Typical Connection Example = refer to bundled items list Single-phase Three-phase = refer to 3.2 = refer to 10.1 Securely ground the earth of CM2 Noise filter Noise filter ① to power supply ⑤ ⑥ ②...
  • Page 23 Cabling and Connections Chapter 3.2. Connector Pin Layout and Functions Connector Pin layout for each CM2 cable is as below. Pin layout ① Power supply Connector 1-178128-4 (Tyco Electronics AMP) Color White Black Green-Yellow Host Connector XAP-03V-1 (JST) ② Color Brown Orange ③...
  • Page 24 Cabling and Connections Chapter Connector Pin Function List Connector Cable Name Pin name Functions 1 R / L1 3 phase / Single phase AC input ① 3 phase AC input Power supply Power supply Cable Connector 3 T / L2 3 phase AC / Single phase AC input Earth 1 RXD0 RS-232C, Receive data from host...

  • Page 25: Connecting To Power Supply

    Cabling and Connections Chapter 3.3. Connecting to Power Supply Connect CM2 Power Supply cable to AC power supply. Power supply cable Connector Power supply Power supply cable Make sure that the power is OFF while connecting the cables. Power ON after confirming the wiring is thoroughly correct. Securely ground the earth of CM2.

  • Page 26: Connecting To Equipments

    Cabling and Connections Chapter 3.4. Connecting to Equipments Up to 15 CM2s can be daisy-chained by connecting the host connector to the slave connector of each CM2. Use of a daisy chain cable (option) allows a longer distance communication between CM2s. Among plural CM2s, only the host connector of the 1st Axis (CM2) must be connected to a host such as a PC.
  • Page 27 Cabling and Connections Chapter 3.4.2. Connection for Pulse Input For Pulse type CM2, Input 1 and Input 2 are assigned to CW/CCW pulse Input or Pulse/Direction command Input. Each signal should be input between Input 1+ and Input 1-, and between Input 2+ and Input 2-. Connecting to Line Driver (Differential type) Output INPUT 1 ２...
  • Page 28 Cabling and Connections Chapter 3.4.3. Digital Input/Output INPUT 1, 2 Input 1 and Input 2 can be used as digital except for Pulse type. Please refer to 4.4.2 for connection. INPUT 3, 4, 5, 6 An optical coupler device is used for Input 3-6 circuitry shown below. Each signal should be input between Input 3,4,5,6 and Input COM.
  • Page 29 Cabling and Connections Chapter 3.5. I/O Circuit INPUT1+ INPUT2+ INPUT1,2 1KΩ Polarity Fixed INPUT1- INPUT2- INPUT COM INPUT3,4,5,6 Input No Polarity 10KΩ INPUT 3,4,5,6 10KΩ ANALOG IN ANALOG IN Polarity Fixed 0.1μF OUTPUT COM OUTPUT 1,2,3,4 1KΩ No Polarity OUTPUT 1,2,3,4 Output ANALOG OUT ANALOG OUT Polarity Fixed...

  • Page 30: Connection Example

    Cabling and Connections Chapter 3.6. Connection Example...
  • Page 31 Chapter Communication Functions Command transmission via serial communication is possible between CM2 and a host such as PC. It allows you to set parameters, create motion programs, save the data into CM2’s integrated memory, execute motion commands, and also monitor motor status. CML is available for parameter settings, creation of motion programs or command input.
  • Page 32 Communication Functions Chapter 3) Set connection settings for Hyper Terminal In the [Connection Description] Window. [Name] … Use a name that is easy to understand. ex. Cool Muscle [Icon] … Choose an Icon of your choice. Click [OK]. [Connect To] … Choose a COM port that CM2 is connected to. Click [OK].

  • Page 33: Communication Method

    Communication Functions Chapter 4.3. Communication Method In this section, communication method with Hyper Terminal is introduced. Please refer to CoolWorls Lite User Manual for CWL instructions. 1) Start up Hyper Terminal. Go to [Start] in Windows [All Programs]→[Accessories]→[Communications]→[HyperTerminal]. Select the connect settings for CM2, named in the Connection Discription and saved before. 2) Send commands and programs.

  • Page 34: Communication Time

    Communication Functions Chapter 4.4. Communication Time 4.4.1. Transmission Time Parameter When the change of parameters is performed with a host such as PC, the data shall be sent to CM2 and written into the internal memory (EEPROM) with predefined timing. The communication data processing is sometimes delayed because the writing time will take longer in proportion to the number of parameters to be changed.

  • Page 35: Response Time

    Communication Functions Chapter 4.4.2. Response Time When more CM2 are used in daisy-chained network, more time will be needed for transmission of data. Higher communication speed can realize higher response. Ex.: When the following Program Bank is executed with 38400bps in the configuration of 6 CM2s, the response time goes as follows.

  • Page 36: Operating The Motor

    Chapter Operating the Motor 5.1. Basic Motion All of CM2’s motion is operated by our unique CML Command. Please refer to CML User Manual for more information. PTP Positioning CM2 moves to P1, P2, and P3, pausing for the time set by T1 at each point. Speed Time Speed setting...
  • Page 37 Operating the motor Chapter Creeping Speed Creeping speed is the initial speed with which the motor initiates motion and also the speed at which the motor approaches the target position. By changing the creeping speeds, response time can be adjusted and tact time will be faster.

  • Page 38: Input/Output Functions

    Chapter Input/Output Functions 6.1. Input / Output Functions The CM2 has 6 Digital Inputs, 4 Digital Outputs, 1 analog input and 1 analog output (Monitoring). Various functions can be assigned to these inputs and outputs by parameters. 6.1.1. Digital Input Signal classification Functions Description General Use...

  • Page 39: Digital Output

    Input/Output Functions Chapter Use of virtual signals allows to assign more functions to each input. The CM2 generates 2 input signals with a time delay based on the actual signal. Functions can be assigned to rising edge / falling edge / target voltage level of a signal. For example, assign "stop"...
  • Page 40 Input/Output Functions Chapter 6.1.3. Analog Input ＣＷ ＣＣＷ Analog input/output functions are an ideal solution for feed systems and valves. If the analog input voltage is applied when CM2 is powered ON, it interferes with the threshold on either 0V or 5V. Therefore make sure to apply the analog voltage that adapts the motion before powered ON. Signal Functions Description...

  • Page 41: Analog Output

    Input/Output Functions Chapter 6.1.4. Analog Output OP Amp usage is recommended Signal Functions Description Target position Target position ( pulses) Target position magnified by 8 Target position data magnified by 8 Current position Current position ( pulses) Current position magnified by 8 Current position data magnified by 8 Position error Position error ( pulses) Analog Output...

  • Page 42: Various Other Functions

    Chapter Various Other Functions 7.1. Origin Search There are two origin search methods as using stopper and origin sensor. Using Stopper The origin search method using stopper function eliminates the need for origin sensor. The origin search is completed by detecting the set torque when pushing a stopper. The torque, speed, acceleration and direction for the origin search can be set by parameters.

  • Page 43: Torque Control

    Various Other functions Chapter 7.3. Manual Jog and Feed Manual jog makes the motor move incrementally by numbers of pulses set by parameter for an one-shot signal input. This is useful for fine adjustments. Manual feed makes the motor move in a specified direction continuously while the signal is ON.
  • Page 44 Various Other functions Chapter 7.7. Reversal of Coordinate Reversing the direction of motor rotation can be realized by changing the parameter. It is available with just setting a parameter instead of changing Normal Reversal of Coordinate signs of all position data, in such case where the motor mounting Forward Reverse CCW side is restricted because of the difficulty related to installation...
  • Page 45 Chapter Maintenance and Inspection 8.1. Maintenance It is important to have regular maintenance for CM2 to ensure it is operating safely. Following maintenance and checks are based on the assumption that the motor is operating under the condition of average operating temperature of 30 degrees, load % of 80%, under operation time of 18 hours per day. Before Inspection Leave CM2 for five minutes after powered OFF because circuit boards are charged with high voltage.

  • Page 46: Troubleshooting

    Maintenance and Check Chapter 8.2. Troubleshooting Please confirm the below things before a inquiry. 8.2.1. Communications Symptom Check How to solve There is no response Is the cabling between devices Please see sections 4.3, 4.4. f r o m C M 2 i n t h e connected properly? Make sure all the cabling is connected properly.

  • Page 47: Basic Specifications

    Chapter Characteristics 9.1. Basic Specifications MODEL CM2- -56B10A- CM2- -60A10A- CM2- -56B20A- CM2- -60A40A- Single-phase or Three- Single-phase or Three-phase 100~240 ±10% Input AC Supply [V] phase 200~240 ±10% (Frequency :50/60Hz±5%) (Frequency :50/60Hz±5%) Rated Current [Arms] Peak Current [Arms] Motor Output [W] Rated Speed [min 5,000 3,000...
  • Page 48 Characteristics Chapter Torque-Rotational speed characteristic red line : AC200V, blue line : AC100V, green line : CONT. ZONE CM2-*-56B10A-* (100W) CM2-*-60A10A-* (100W) 2000 4000 6000 8000 10000 1000 2000 3000 4000 5000 6000 Speed (min Speed (min CM2-*-60A40A-* (400W) CM2-*-56B20A-* (200W) 2000 4000 6000...

  • Page 49: Electric Specifications

    Characteristics Chapter 9.2. Electric Specifications Operating free-air temperature Ta is 25 ( unless otherwise noted ) ITEMS CONDITIONS MIN. TYP. MAX. UNIT 3 phase (R,S,T) Single phase Supply Voltage AC input voltage (L1,L2) / 50,60Hz Applied voltage Low-level input voltage Digital Input 1 INPUT1+ ~ INPUT1-, High-level input voltage...
  • Page 50 Characteristics Chapter 9.3. Dimensions CM2- -56B10A- [ Unit : mm ]...
  • Page 51 Characteristics Chapter CM2- -56B20A- [ Unit : mm ]...
  • Page 52 Characteristics Chapter CM2- -60A10A- [ Unit : mm ]...
  • Page 53 Characteristics Chapter CM2- -60A40A- * with radiation fin [ Unit : mm ]...
  • Page 54 Chapter Peripherals 10.1. Cables Naming scheme for CM2 cables are as bellow. C M2 - R S 2 - 2000 W Application Cable length Connector Communication Single ended 0500 500mm DC Daisy Chain W Double ended 1000 1000mm PW Power 2000 2000mm Model numbers for cables are as below.
  • Page 55 Peripherals Chapter Details of cables Power supply cable Cable spec. (SUMITOMO EIWC) WIRE H VCT 4C SIZE (AWG) Insulation DIA. Max 2.8 Connector 1-179552-4 (AMP) SIGNAL COLOR R/L1 White T/L2 Black Green Host communication cable Cable spec. (TAIYO EWC) WIRE 2464-1061/ A 3C SIZE (AWG) Connector XARR-03VF (JST)
  • Page 56 Peripherals Chapter Daisy Chain cable Cable spec. (TAIYO EWC) WIRE 2464-1061/ A 3C SIZE (AWG) I/O cable Cable spec. (TAIYO EWC) WIRE 2464-1061/ A 10P SIZE (AWG) Insulation DIA. Connector XADR-20V (JST) SIGNAL COLOR SIGNAL COLOR Orange OUTPUT1 Orange INPUT1+ Gray OUTPUT2 Gray...

  • Page 57: Revision History

    Revision History * User's Guide No. is described in the cover of this manual. Revised Date User's Guide No. Page Revised Item May, 2007 MDUG-CM2/07515J-01 New Draft Feb., 2008 MDUG-CM2/08215J-01 CH 1- 2 Shaft end is added to Model #. CH 3-14 Figure of 9 Pin is changed.

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