Inovance GR10-2PHE User Manual

User Guide
*19011286A01*
GR10-2PHE HS Differential
Pulse Positioning Module
19011286 A01

I. Overview

Thank you for purchasing the GR10-2PHE high speed differential pulse positioning
module developed and manufactured independently by Inovance. This product
delivers 2*4 MHz high-speed differential outputs. It supports multiple pulse output
modes, including direction+pulse or CW + CCW. It also supports homing positioning
and left and right limiting. It is ideal choice for applications require a large number
of axes.
This guide describes the specifications, characteristics and using methods of the Min
product. Please read this guide carefully before using to ensure safe usage. Visit our
website (www.inovance.com) for the latest version of the guide.

II. Safety Instructions

Safety Precautions
1. Before installing, using, and maintaining this equipment, read the safety
information and precautions thoroughly, and comply with them during operations.
2. To ensure the safety of humans and equipment, follow the signs on the
equipment and all the safety instructions in this user guide.
3. The "CAUTION", "WARNING" and "DANGER" signs are only supplements to the
safety instructions.
4. Use this equipment according to the designated environment requirements.
Damage caused by improper usage is not covered by warranty.
5. Inovance shall take no responsibility for any personal injuries or property damage
caused by improper usage.
Safety Levels and Definitions
: Indicates that failure to comply with the notice may result in severe
WARNING
personal injuries or even death.
: The "CAUTION" sign indicates that failure to comply with the notice may
CAUTION
result in minor or moderate personal injury or damage to the equipment.
Please keep this guide well so that it can be read when necessary and forward this
guide to the end user.
During control system design
WARNING
◆ Provide a safety circuit outside the PLC so that the control system can still work safely
once external power failure or PLC fault occurs.
◆ Add a fuse or circuit breaker because the module may smoke or catch fire due to long-
time overcurrent caused by operation above rated current or load short-circuit.
CAUTION
◆ An emergency stop circuit, a protection circuit, a forward/reverse operation inter-
locked circuit, and a upper position limit and lower position limit interlocked circuit
must be set in the external circuits of PLC to prevent damage to the machine.
◆ To ensure safe operation, for the output signals that may cause critical accidents,
please design external protection circuit and safety mechanism;
二维码
◆ Once PLC CPU detects abnormality in the system , all outputs may be closed; howev-
综合手册
er, when a fault occurs in the controller circuit, the output may not be under control.
Therefore, it is necessary to design an appropriate external control circuit to ensure
A00
normal operation;
资料编码 19010306
◆ If the PLC output units such as relays or transistors are damaged, the output may fail
to switch between ON and OFF states according to the commands;
◆ The PLC is designed to be used in indoor electrical environment (overvoltage category
II). The power supply must have a system-level lightning protection device, assuring
that overvoltage due to lightning shock cannot be applied to the PLC power supply in-
put terminals, signal input terminals and output terminals and so forth, so as to avoid
damage to the equipment.
Installation
WARNING
◆ Installation must be carried out by the specialists who have received the necessary
electrical training and understood enough electrical knowledge.
◆ Disconnect all external power supplies of the system before removing/installing the
module. Failure to do so may result in electric shock, module fault or malfunction.
◆ Do not use the PLC where there are dust, oil smoke, conductive dust, corrosive or
combustible gases, or exposed to high temperature, condensation, wind & rain, or
subject to vibration and impact. Electric shock, fire and malfunction may also result
in damage or deterioration to the product.
◆ The PLC is open-type equipment that must be installed in a control cabinet with
lock (cabinet housing protection ＞IP20). Only the personnel who have received the
necessary electrical training and understood enough electrical knowledge can open
the cabinet.
CAUTION
◆ Prevent metal filings and wire ends from dropping into ventilation holes of the PLC
during installation. Failure to comply may result in fire, fault and malfunction.
◆ Ensure there are no foreign matters on ventilation surface. Failure to comply may
result in poor ventilation, which may cause fire, fault and malfunction.
◆ Ensure the module is connected to the respective connector securely and hook the
module firmly. Improper installation may result in malfunction, fault or fall-off.
Wiring
WARNING
◆ Wiring must be carried out by personnel who have received the necessary electrical
1
training and understood enough electrical knowledge.
◆ Disconnect all external power supplies of the system before wiring. Failure to comply
may result in electric shock, module fault or malfunction.
◆ Install the terminal cover attached to the product before power-on or operation after
wiring is completed. Failure to comply may result in electric shock
◆ Perform good insulation on terminals so that insulation distance between cables will
not reduce after cables are connected to terminals. Failure to comply may result in
electric shock or damage to the equipment.
CAUTION
◆ Prevent dropping metal filings and wire ends drop into ventilation holes of the PLC at
wiring. Failure to comply may result in fire, fault and malfunction.
◆ The external wiring specification and installation method must comply with local
regulations. For details, see the wiring section in this guide.
◆ To ensure safety of equipment and operator, use cables with sufficient diameter and
connect the cables to ground reliably.
◆ Ensure that all cables are connected to the correct interface. Failure to comply may
result in module and external equipment fault.
◆ Tighten bolts on the terminal block in the specified torque range. If the terminal is not
tight, short-circuit, fire or malfunction may be caused. If the terminal is too tight, fall-
off, short-circuit, fire or malfunction may be caused.
◆ If the connector is used to connect with external equipment, perform correct crimping
or welding with the tool specified by manufacturer. If connection is in poor contact,
short-circuit, fire or malfunction may be caused.
◆ A label on the top of the module is to prevent foreign matters entering the module. Do
not remove the label during wiring. Remember to remove it before system operation,
facilitating ventilation.
◆ Do not bundle control wires, communication wires and power cables together. They
must be run with distance of more than 100 mm. Otherwise, noise may result in mal-
function.
◆ Select shielded cable for high-frequency signal input/output in applications with
serious interference so as to enhance system anti-interference ability.
Operation and Maintenance
WARNING
◆ Maintenance & inspection must be carried out by personnel who have the necessary
electrical training and experience.
◆ Do not touch the terminals while the power is on. Failure to comply may result in elec-
tric shock or malfunction.
◆ Disconnect all external power supplies of the system before cleaning the module or
re-tightening screws on the terminal block or screws of the connector. Failure to com-
ply may result in electric shock.
◆ Disconnect all external power supplies of the system before removing the module or
connecting/removing the communication wirings. Failure to comply may result in
electric shock or malfunction.
CAUTION
◆ Get with the guide and ensure safety before online modification, forcible output, and
RUN/STOP operation.
◆ Disconnect the power supply before installing/removing the extension card.
Disposal
CAUTION
◆ Treat scrapped module as industrial waste. Dispose the battery according to local laws
and regulations.
2

III. Product Information

■ Model Number and Nameplate
MODEL GR10-2PHE
POWER INPUT 24VDC 250mA
OUTPUT 5VDC 150mA DIFF LOAD
VER:XXXXX
XXXXXXXXXXXXXXXX
XXXXXXXXXXXXXXXX
Figure 1 Description of model and nameplate
Model Category Description
EtherCAT high-speed Supports 2-channel high-
GR10-2PHE differential pulse speed differential output
positioning module pulse and 8 inputs
■ External Interface
No. Interface Name Function
PWR Power indicator Green
Running status
RUN Green
indicator
① State indicator
SF Fault indicator Red
State machine
ERR Red
error indicator
CH0/1 Indicator Green
Pulse+direction
② Signal indicator A/B Green
Indicator
Digital input
X0-X3 Green
indicator
Address DIP 16-bit station address rotary switch. Decimal slave
③
switch address = ADDR1*16+ADDR0 (address 0–255)
EtherCAT X1 IN: EtherCAT input
④ communication X2 OUT: EtherCAT output for connecting back-end
port EtherCAT slaves
24 V power input
⑤ For module power supply input
terminal
User output
⑥ See "Electrical Design Reference" for details
terminals
3
■ General Specifications
Item
Power supply
24 VDC (20.4 VDC to 28.8 VDC) (–15% to +20%)
specifications
Input current Max. 0.25 A
Number of
positioning 2
channels
Ordinary output
Sink output: 24 V, response time: 0.5 ms
signal
Differential pulse
Pulse+direction, CW/CCW, A/B (output frequency: 4 MHz)
output
Digital input 8 (sink and source)
System program
USB firmware upgrade
upgrade method
Absolute pulse positioning, relative pulse positioning, speed
Positioning
control, multiple homing methods
Communication
EtherCAT industrial real-time bus protocol, 100 Mbps
protocol
Network port/ Standard network port with Cat 5e network cables below 100
network cable meters
1–255 if set by DIP switch
Station number
range
0–65535 if automatically allocated through a network bus.
Operating
-5–55℃
temperature
Storage
-25–70℃
temperature
Humidity 10–95%, no-condensation
IP rating IP20
Applicable
The specific performance indicators are as follows:
Model
Item
Communication protocol EtherCAT protocol
Service supported CoE (PDO, SDO)
AM600 series
Min. sync period 500 us (TYP)
Input and output synchronization or DC-distributed
Synchronization mode
clock
Physical layer 100BASE-TX
Baud rate 100 Mbit/s (100Base-TX)
Duplex mode Full duplex
Topological structure Linear topological structure
Transmission medium Network cables, see "Electrical Design Reference"
Transmission distance Less than 100 m between two nodes
EtherCAT frame length 44–1,498 bytes
Process data Max. 1486 bytes per frame
Synchronization jitter of
< 1us
two slave stations
Update time Approx. 500 us
■ Output specification
Item SINK output
Output type Transistor NPN
ON response
Less than 0.5 ms
ON when power
time
supply is switched on
Insulation Optocoupler isolation
ON when the
module is in normal
Open-circuit
operation
leakage Less than 0.1 mA/30 VDC
ON when the module
current
is faulty
Min. load 5 mA (DC5V–24V)
ON when an error
occurs in the state
Resistive load: 0.5 A/point
machine
Max. load Inductive load: 7.2 W/24 V
On when channel 0/1
Lamp load: 0.9 W/24 V
is ready to output
/ ■ Input specification
On when the input
Item
signal is active
Input type SINK/SOURCE input
Input voltage DC 24 V
Input resistance 3.3KΩ
Input is ON Input current is above 3.5 mA
Input is OFF Input current is below 1.5 mA
4
Specifications
Specifications
Item Differential output
Output type 5 V differential output
Insulation Optocoupler isolation
Max. output
4 MHz
frequency
Pulse+direction, A/B
Output
phase single frequency,
mode
CW/CCW
Number of
2
channels
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Specifications