muscle CM2 User Manual

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Integrated AC Servo System

MDUG-CM2/17301E-01

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Page 1 Integrated AC Servo System MDUG-CM2/17301E-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 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. Indicates a potentially hazardous situation which, if not handled Caution properly, may result in injury or property damage.
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 polarity (+, -) 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 N DEX 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. Computer Type (C Type) � ��005 1.7.3.
Page 10 3.4.3. Digital Input/Output�� 017 3.4.4. Connection for Analog Input/Output � �� 017 3.4.5. +5V Output�� 017 3.5. I/O Circuit �� 018 3.6. Connection Example�� 019 Chapter 4 Communication Functions��020 4.1. Communication Software Overview ��020 4.2.ConfirmingCommunication��020 4.3. Communication Method��022 4.4. Communication Time�� 023 4.4.1.
Page 11 9.2.ElectricSpecifications � ��042 9.3. Dimensions��043 Chapter 10 Peripherals��048 10.1. Cables � ��048 Chapter 11 Conformity to CE (reference)��051 11.1. EC Directive�� 051 11.2. Conformance of CM2 � �� 051 11.2.1. EMC Directive�� 051 11.2.2. Low Voltage Directive�� 051 11.2.3. Machine Directive��052 IN-003...
Page 12 11.3. To Meet the EC Directives � ��052 11.3.1. Installation Environment � ��052 11.3.2. Power Supply��052 11.3.3.TheConfigurationoftheCM2ModelSystem��053 11.3.4. Grounding��054 Revision History ��055 IN-004...
Page 13: 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 500mm one side connector Accessory power supply cable...
Page 14: Reference To Standards
Reference to standards Standard Content ANSI Z535 Product Safety (symbols, colors, information) IEC 60034 Rotating electrical machines IEC 60417 Graphical symbols for use on equipment IEC 60529 Protection categories by housing (IP Code) IEC 60664 Insulation coordination for equipment within low-voltage systems IEC 61000 Electromagnetic compatibility (EMC) IEC 61800...
Page 15: 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 16: Block Diagram
Keyway 60mm 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- * -56B10C- * COOLMUSCLE2 CM2 56 200W * Type CM2- * -56B20C- *...
Page 17: Parts Description
DRAFT Chapter Functions and Structure 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.
Page 18: Status Led
Chapter Functions and Structure 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...
Page 19: Control Type
CM2 operates in accordance with a pre-defined program using CML. For the application which requires repetitive motion, it is realized by executing pre-programmed positioning program stored in CM2, eliminating the need for an external controll unit. Pre-loaded programs in CM2 can be set to run using a switch connected to input, PC or PLC.
Page 20: Installation
Mounting Direction CM2 can be mounted horizontally or vertically. Impact / Vibration Please avoid mounting CM2 where excessive impact and vibrations occur. Protect CM2 from impact such as hammering during mouting. Never apply any direct impact to the motor shaft.
Page 21 Chapter Mounting CM2 Installation Method Mount the motor on the smooth and rigid surface of a metal plate. When installing the motor, secure it with four bolts (not supplied) through the four mounting holes provided in the motor's installation surface, so as to leave no gaps between the installaion surface and metal plate.
Page 22 Chapter Mounting CM2 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...
Page 23 Chapter Mounting CM2 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 24 Do not connect or disconnect connectors when the motor is powered. Make sure that the power is OFF before connecting or disconnecting the connector. Do not pull the cable forcefully or use the cable to carry or hang CM2. This may damage the connectors.
Page 25: Wiring And Connections
Single Phase = 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 ③ to host...
Page 26 Chapter Cabling and Connections 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...
Page 27 Chapter Cabling and Connections Recommended Wire Power supply cable : AWG18 UL1015 (105℃ / 600V) Communication cable : AWG26 UL1007 (80℃ / 300V) I/O cable : AWG26 UL1007 (80℃ / 300V) Connector Pin Function List Connector Cable Name Pin name Functions 1 R / L1 3-phase / Single phase AC input...
Page 28: Connecting To Power Supply
Chapter Cabling and Connections 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.
Page 29: Connecting To Equipments
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. And if necessary, connect the I/O connector with each external equipment by using an I/O cable.
Page 30 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-.
Page 31 Apply analog voltage 0-5V between ANALOG IN (16pin) and GND (19, 20pin) of CM2. ANALOG OUT Analog voltage will be output between ANALOG OUT (17pin) and control GND (19, 20pin) of CM2. You can monitor the analog voltage by Oscilloscope.
Page 32 Chapter Cabling and Connections 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...
Page 33: Connection Example
Chapter Cabling and Connections 3.6. Connection Example Controller COOL MUSCLE...
Page 34: 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 35 5) Save communication settings. Power-OFF CM2, and click the X at the top right corner of Hyper Terminal Window. Dialog box will appear and ask if you want to save the settings as the name you entered in step 3. Click [Yes] to save the settings.
Page 36: Communication Method
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. Enter CML commands in the terminal window and press "Enter "...
Page 37: 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 38: Response Time
Communication Functions 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 39: 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.
Page 40 Time 5.2. Multiple Axes Control Motion Parameters, Program Banks, and Ladder Logic Banks can be set to each CM2 on the daisy-chain network. Since all the status and I/O information can be shared between motors, CM2 realizes the high performance multiple axes control.
Page 41: 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...
Page 42: Digital Output
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.
Page 43 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.
Page 44: Analog Output
Chapter Input/Output Functions 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)
Page 45: Various Other Functions
The speed, acceleration and direction for origin search can be set by parameters. 7.2. Push Motion CM2 can perform push motion within the set torque limit. The diagram below shows the push motion towards P2 with S1 after passing P1 with S3.
Page 46: Torque Control
The processing of PLC function runs in the background along with the operation of motor and makes it possible to execute various processes in conjunction with motor status, I/O status and etc. PLC function implemented in CM2 supports complex motion without equipping external PLC as a host controller.
Page 47 7.9. Protection/Safety Features When an alarm is triggered, the motor automatically goes into a motor free status (servo OFF), preventing the motor or equipment from being damaged. Following are the alarm and protection functions in CM2. Protection Function Position error over flow alarm...
Page 48 Chapter Various Other functions Safety Features Item Content Position error overflow alarm Alarm is detected when the position error is over set value Over voltage alarm Over voltage alarm is detected when the main power supply voltage is over setting (default value). Overload alarm Overload alarm is detected when the state of motor torque over rated value continues for more than set time.
Page 49 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. For resistance isolation measurement testing, please disconnect all external devices.
Page 50: Troubleshooting
Please close the applications. applications running? Did you wait for a few minutes? It may take a few minutes to establish communication between CM2 and PC for the first time. 8.2.2. Motor Symptom Check How to solve...
Page 51 CM2 motor windings is small. Therefore we can neglect the transient torque in this case. After that, the CM2 driver controls the motor and it's behavior is given by the torque-speed characteristic of CM2. 2) Single-phase or three-phase short-circuit at the terminals of an a.c. motor If there exists short-circuit between the motor windings then the CM2 will detect this abnormal current at the driver side and stop the motor from running by given alarms.
Page 52: Basic Specifications
Chapter Characteristics Specification Changes without Notice 9.1. Basic Speciﬁcations MODEL CM2- -56B10C- CM2- -56B20C- Single-phase or Three-phase 100~240 ±10% Input AC Supply [V] (Frequency :50/60Hz±5%) Single-phase 100V/60Hz Rated Current Three-phase 100V/60Hz [Arms] Single-phase 200V/60Hz (Reference value in ratings driving) Three-phase 200V/60Hz...
Page 53 Chapter Characteristics * ---- Refer to chapter 11 for EC conformance MODEL CM2- -60A10C- CM2- -60A20C- CM2- -60A40C- Single-phase or Three- Single-phase or Three-phase 200~240 ±10% ※ Input AC Supply [V] phase 100~240 ±10% (Frequency :50/60Hz±5%) (Frequency :50/60Hz±5%) Single-phase 100V/60Hz...
Page 54 　　　　　　　　　　　　　　　　　　　(with grounded neutral point) (Notes) ・Single-phase supply operation possible ・There is a danger of electric shock if CM2 isn't properly grounded ・An isolating transformer is always required for supply networks that are asymmetrically grounded. CE Marking Compliant Product : CM2- * -60A10C- *...
Page 55 Chapter Characteristics Torque-Rotational speed characteristic red line : AC200V, blue line : AC100V, green line : CONT. ZONE CM2-*-56B10C-* (100W) CM2-*-56B20C-* (200W) 2000 4000 6000 8000 10000 2000 4000 6000 8000 10000 Speed (min Speed (min CM2-*-60A10C-* (100W) CM2-*-60A20C-* (200W)
Page 56: Electric Specifications
Chapter Characteristics 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 57 Chapter Characteristics 9.3. Dimensions CM2- -56B10C- [ Unit : mm ]...
Page 58 Chapter Characteristics CM2- -56B20C- [ Unit : mm ]...
Page 59 Chapter Characteristics CM2- -60A10C- [ Unit : mm ]...
Page 60 Chapter Characteristics CM2- -60A20C- [ Unit : mm ]...
Page 61 Chapter Characteristics CM2- -60A40C- * with radiation fin [ Unit : mm ]...
Page 62 Chapter Peripherals 10.1. Cables Naming scheme for CM2 cables are as bellow. C M2 - RS 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 63 Chapter Peripherals 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 64: Daisy Chain Cable
Chapter Peripherals 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 65: Emc Directive
CM2 is a safety component that is intended to be incorporated into machines and equipment for industrial use. When CM2 is built into machines or equipment, it must be established that the machine or equipment fulfills the requirements of the EC Directives.
Page 66: Installation Environment
11.3. To Meet the EC Directive 11.3.1. Installation Environment Use CM2 in environment of Pollution Degree 1 or 2 prescribed in IEC60664-1. For this purpose, install CM2 in an environment which is protected against water, oil, carbon, dust, dirt, etc. 11.3.2. Power Supply CM2 Type...
Page 67 11.3.3. The Configuration of the CM2 Model System A model system for CM2 application to meet the EMC directives is composed of a noise filter, a surge protector to the AC power supplier line and a CM2 motor. The maximum lengths of wires between the noise filter, surge protector and CM2 motor are also given in the model system.
Page 68: Noise Filter
Okaya Electric Industies Co. Ltd Type Wire Type Model No. RCM-781BUZ-4 Diagram of the Circuit 11.3.4. Grounding To prevent an electric shock, connect the earth wire of CM2 power supply cable to the protective earth (PE) of the power system.
Page 69: Revision History
Connection Example is changed. CH4-20 Figure of No.4 is changed. CH7-32 "7.7. Reversal of Coordinate" is changed. Average Life of Motor in chart of CM2 Parts life time CH8-33 is changed. CH9-35 Model # "- " is added. Single-phase or Three-phase in chart of "Input AC Supply [V] of 60A40A"...
Page 70 Revised Item May, 2014 MDUG-CM2/14501E-01 CH9-040 Technical Information is added. Product Code is changed from A to C for Driver Series CH9-041 CM2-*-60A20C-* is added. CH9-042 Output voltage value of +5V Output is amended. CH9-046 CM2-*-60A20C-* is added. CH11-051 Chapter11, Conformity to CE is added.