1. Manuals
  2. Brands
  3. Performance Motion Devices Manuals
  4. DC Drives
  5. DD331D0-056/15
  6. User manual

Performance Motion Devices DD331D0-056/15 User Manual

Ion/cme digital drive
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
ION/CME Digital Drive
User's Manual
Performance Motion Devices, Inc.
80 Central Street
Boxborough, MA 01719
Revision 1.1 April 18, 2012

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the DD331D0-056/15 and is the answer not in the manual?

Questions and answers

Summary of Contents for Performance Motion Devices DD331D0-056/15

  • Page 1 ION/CME Digital Drive User’s Manual Performance Motion Devices, Inc. 80 Central Street Boxborough, MA 01719 Revision 1.1 April 18, 2012...
  • Page 2 NOTICE This document contains proprietary and confidential information of Performance Motion Devices, Inc., and is pro- tected by federal copyright law. The contents of this document may not be disclosed to third parties, translated, copied, or duplicated in any form, in whole or in part, without the express written permission of PMD.
  • Page 3 Performance Motion Devices, Inc. (PMD) reserves the right to make changes to its products or to discontinue any product or service without notice, and advises customers to obtain the latest version of relevant information to verify, before placing orders, that information being relied on is current and complete.
  • Page 4 Related Documents Magellan Motion Processor User’s Guide Complete description of the Magellan Motion Processor features and functions with detailed theory of its operation. Magellan Motion Processor Programmer’s Command Reference Descriptions of all Magellan Motion Processor commands, with coding syntax and examples, listed alphabetically for quick reference.

  • Page 5: Table Of Contents

    Table of Contents Table of Contents 1. Introduction ..........9 ION Digital Drive Overview ................
  • Page 6 Table of Contents /Enable and FaultOut Signals ..............74 General Purpose Digital Inputs and Outputs .........76 Analog Inputs ..................77 7. ION/CME Specifications ............. 79 ION/CME Drive Ratings ..............79 ION/CME Controller Performance ............80 ION/CME Electrical ................81 ION/CME Protection Circuits ..............83 ION/CME Connectors and Pinouts ............83 ION/CME Mechanical ................86 ION/CME Environmental ..............87 ION/CME Safety and Compliance ............87...
  • Page 7 List of Figures List of Figures Figure 2-1: Connector locator ............14 Figure 2-2: Typical power wiring .
  • Page 8 List of Figures This page intentionally left blank. viii ION/CME Digital Drive User’s Manual...

  • Page 9: Introduction

    1. Introduction In This Chapter  ION Digital Drive Overview  Features and Functions 1.1 ION Digital Drive Overview The ION Digital Drives are a family of single-axis motion controllers with integrated power electronics and network commu- nications. Various models are available to drive DC brush, brushless DC, and step motors. In addition, two overall power levels are available: The ION 500, providing up to 500 watts of power output, and the ION 3000, providing up to 3,000 watts of pow- er output.

  • Page 10: Features And Functions

    Introduction Introduction 1.2 Features and Functions At the heart of ION/CME are the Magellan Motion Processor and the C-Motion Engine (CME). This member of the ION family provides an extensive list of control functions, including: Host communications over Ethernet, RS232, or RS485 ...

  • Page 11: Installation

    DIN rail mounting options. One power level is provided, which can drive up to 500W output. 2.1.1 ION/CME Part Numbers The following table shows the base part number configurations for the ION/CME. Communications Model Number Motor Type Port DD331D0-056/15 Brushless DC Ethernet & Serial DD311D0-056/15 DC Brush Ethernet & Serial DD341D0-056/15 Step Motor Ethernet &...

  • Page 12: Ion/Cme Developer's Kits

    Installation 2.2 ION/CME Developer’s Kits To facilitate initial system development and integration, ION/CME is offered in a Developer’s Kit version. A model number beginning with DK instead of DD specifies the Developer’s Kit version. The following software and accessory products are included in the ION Developer’s Kit: Pro-Motion CD and User’s Guide ...

  • Page 13: Ion/Cme Hardware Configuration And Mounting

    Installation 2.4 ION/CME Hardware Configuration and Mounting There are no user-settable switches, jumpers, or potentiometers within the ION/CME module. All hardware features are configurable from the host computer via the communications port. Mount the module firmly in the desired orientation with adequate space to allow it to be effectively cooled. ION/CME is designed to allow maximum mounting flexibility.

  • Page 14: Connector Pinouts And Wiring

    Installation 2.5 Connector Pinouts and Wiring 2.5.1 ION/CME Connector Locator Indexer Feedback Auxiliary Motor Module Status LED Power Figure 2-1: Connector locator Comm- 10/100 Ethernet Comm - Serial RS232/RJ45 Connector Comm Status LED ION/CME Digital Drive User’s Manual...
  • Page 15 Installation 2.5.2 Motor/Module Type Quick Reference The following table summarizes the recommended connections for the various motor types and the corresponding ION/CME modules: Module Type Connector Required Signals Optional Signals Power +HV, Pwr_Gnd AuxV DC brush Motor Motor+, Motor-, Case/Shield Feedback Main encoder (Quad A+, Quad A-, Quad IO_5V...

  • Page 16: Figure 2-2: Typical Power Wiring

    Installation 2.5.3 Power Connector Signal AuxV Pwr_Gnd Pin 1 This connector supplies the main DC power to the ION/CME module. ION/CMEs should be wired with 16 AWG wire. ION/CME has a built-in DC/DC converter that derives all required internal voltages from the main DC bus. A separate logic supply is not required.

  • Page 17: Figure 2-3: Typical Motor Wiring

    Installation 2.5.4 Motor Connector DC Brush Brushless DC Step Motor+ Motor A (U) Motor A+ No connect Motor B (V) Motor A- Motor- Motor C (W) Motor B+ No connect No connect Motor B- Case/Shield Case/Shield Case/Shield Pin 1 This connector is used to connect the ION module to the motor. Depending on the type of motor being driven, up to five connections are required.
  • Page 18 Installation 2.5.5 Feedback Connector Pin 2 Pin 1 DC Brush Brushless DC Step Shield Shield Shield IO_Gnd IO_Gnd IO_Gnd IO_5V IO_5V IO_5V Not used Hall A Not used Not used Hall B Not used Not used Hall C Not used Quad A+ Quad A+ Quad A+...

  • Page 19: Figure 2-4: Recommended Feedback Wiring

    Installation Differential Differential Encoder Encoder & Halls & Halls Figure 2-4: Recommended feedback wiring Single- Single- ended ended Encoder Encoder & Halls & Halls The shield drain wire should be connected at the ION module connector end only. ION/CME Digital Drive User’s Manual...

  • Page 20: Figure 2-5: Recommended Auxiliary Encoder Wiring

    Installation 2.5.6 Auxiliary Connector Pin 2 Pin 1 Signal Shield IO_Gnd IO_5V No connect Quad A+ or Pulse+ Quad A- or Pulse- Quad B+ or Direction+ Pin 8 Quad B- or Direction- ION provides a second quadrature encoder port for use as a master in master-slave and electronic gearing applications or a pulse and direction input for use in electronic gear applications.

  • Page 21: Figure 2-6: Single Encoder Mode Connections

    Installation Figure 2-6: Single encoder mode connections Connection from Encoder ION Connector ION Pin Quadrature A+ Feedback Quad A+ Quadrature A- Feedback Quad A- Quadrature B+ Feedback Quad B+ Quadrature B- Feedback Quad B- Index+ Feedback Index+ Index- Feedback Index- Hall A* Feedback Hall A...

  • Page 22: Figure 2-7: Dual Encoder Mode Connections

    Installation 2.5.6.2 Dual Encoder Connections Summary In a two-encoder connection, one encoder measures the load position and is the primary encoder. The second (auxiliary) encoder is located on the motor shaft, measures the motor position, and is used for stabilization. Figure 2-7 and the table that follows show how to connect two encoders to the ION.

  • Page 23: Figure 2-8: Pulse & Direction Input Connections

    Installation 2.5.6.3 Pulse & Direction Input Connections Summary With ION/CME, it is possible to command the position of the drive using pulse & direction input signals. Refer to Figure 2-8.This mode can be used with all motor types, DC Brush, Brushless DC, and step motor, and allows the ION to interface to any general purpose motion controller that outputs pulse &...

  • Page 24: Figure 2-9: Typical I/O Wiring

    Installation 2.5.7 I/O Connector Pin 2 Pin 1 Signal Signal Shield +Limit IO_Gnd -Limit IO_5V Home IO_Gnd High Speed Capture IO_5V AxisIn IO_Gnd AxisOut Pin 14 FaultOut /Enable This connector is used to wire motion-specific I/O signals such as overtravel limits, home reference, and high speed capture input as well as the general-purpose AxisIn and AxisOut signals.

  • Page 25: Figure 2-10: Indexer I/O Wiring

    Installation 2.5.8 Indexer Connector Signal Signal Pin 2 Pin 1 Shield DigitalIn1 IO_Gnd DigitalIn2 IO_5V DigitalIn3 AnalogIn- DigitalIn4 AnalogIn+ DigitalIO5 IO_Gnd DigitalIO6 Pin 16 DigitalOut1 DigitalIO7 DigitalOut2 DigitalIO8 The Indexer connector is used to access general purpose I/O signals and a differential input analog signal. The analog input wire pair should be run as a twisted-pair for noise minimization.
  • Page 26 Installation 2.5.9 Ethernet Connector Pin 1 10/100 Ethernet Serial RS232/ Port RS485 Port Green LED (link) Amber LED (speed) Signal Unused Unused Unused Unused ION/CME has a standard, 8-pin RJ45 connector for Ethernet connection. Standard UTP (unshielded twisted pair) CAT5 Ethernet cabling can be used in most applications. For added noise immunity, use shielded cable. 2.5.10 Serial RS232/485 Connector Pin 1 Serial RS232/...

  • Page 27: Figure 2-11: Rs232/485 Wiring

    Installation For RS232, pin 8 must be left floating. For RS485, pin 8 must be connected to IO_Gnd. For connecting to an RS232 serial port on a host machine, an adapter is needed to interface between DB9 and RJ45 connectors (PMD P/N Adapter-1010-01).

  • Page 28: Software Installation

    Installation 2.6 Software Installation Each ION/CME developer’s kit provides several major software packages for motion system development: Pro-Motion, an interactive Windows-based exerciser and software development tool.  C-Motion, a C-language library that allows the developer to create motion applications using the C pro- ...

  • Page 29: Applying Power

    Installation First-time communication with an ION cannot be accomplished using RS485 half-duplex. To configure an ION for RS485 half-duplex (multi-drop), use either RS232 or RS485 (point-to-point). Changing the state of the Select pin on the fly is not recommended. Doing so will change the hardware configuration without changing the active set of communication parameters and will most likely result in loss of communications.

  • Page 30: Status Leds

    Installation 2.9 Status LEDs ION has two bi-color LEDs to indicate the basic operational status of the module and the communications link. The location of these LEDs is shown in Figure 2-1. 2.9.1 Module Status LED Upon powerup or reset, the module Status LED should either be solid green or blinking green, depending on the state of the /Enable input.

  • Page 31: First-Time System Verification

    Installation 2.10 First-Time System Verification The first time system verification procedure summarized below has two overall goals. The first is to connect the ION with the PC so that they are communicating properly, and the second is to initialize the axis and bring it under stable control capable of making trajectory moves.
  • Page 32 Installation If communication is correctly established, a set of object graphics loads into the Project window to the left, as shown in the following figure. ION/CME Digital Drive User’s Manual...
  • Page 33 Installation For example, for an ION, you see the ION name next to an icon of an ION, and below that you see two axes icons. Highlighting (single clicking) either the ION icon or the axis icon with the mouse is used to select specific modules or axes, and is useful later on in the first time system verification.
  • Page 34 Installation 2.10.2 Changing the Ethernet Parameters of the ION If you are using Ethernet communications, the next step is to change the Ethernet parameters as follows: 1 With serial communications functioning properly, click the Device toolbar button. The Device window appears.
  • Page 35 Installation 2.10.3 Establishing Ethernet Communications The ION's IP Address has now been set, but Pro-Motion does not know what IP address it should use for Ethernet communications to the ION. To establish Ethernet communications: 1 Click the Connect toolbar button. 2 Select Ethernet, and then click OK.
  • Page 36 Installation 2.10.5 Initializing Motion Axes The next step to verify the correct operation of the system is to initialize the axis, thereby verifying correct encoder feedback connections (if an encoder is used), and other motion functions. All of this can be conveniently accomplished using Pro-Motion’s Axis Wizard function.
  • Page 37 Installation Upon a normal completion of the Axis Wizard, the axis will be ready to make a controlled move. Depending on the signals connected, this may also mean that limit switches, and other hardware connections are functioning properly. The most common reasons for the Axis Wizard to not complete normally are an inability to auto-tune the servo motor, or problems determining the correct commutation sequence for Brushless DC motors when commutated by the Magellan Motion Processor.
  • Page 38 Installation 4 In the Profile mode list, select Trapezoidal. 5 Enter motion profiles for deceleration, acceleration, velocity, and destination position (Position 1) that are safe for your system and will demonstrate proper motion. Pro-Motion provides various selectable units for distance and time, but defaults to units of encoder counts (or pulses for step motors) for distance and seconds for time.

  • Page 39: Operation

    3. Operation In This Chapter  ION/CME Block Diagram  Communication Port PWM Power Stage   DC Bus  Trace Buffer  Operational and Fault Modes 3.1 ION/CME Block Diagram ION/CME combines the function of a user code execution platform, motion controller, and amplifier. It directly interfaces to a host computer using an Ethernet or serial interface, and connects to all power and feedback signals required to drive a DC Brush, Brushless DC, or step motor.

  • Page 40: Communication Port

    Operation 3.2 Communication Port 3.2.1 Ethernet The ION/CME features a standard 10/100Mbps Ethernet interface. An RJ45 connector with link lights is provided for the connection. 3.2.2 RS232/485 The ION/CME supports both the RS232 and RS485 protocols. A simplified transceiver circuit diagram is shown in Figure 3-2.
  • Page 41 Operation ION/CME uses an advanced PWM switching scheme that minimizes the ripple current on the motor windings while maximizing the current loop performance. The PWM frequency is selectable between 20 kHz and 40 kHz to cover a broad range of motor inductance. The fundamental frequency of the ripple current is at twice the PWM frequency and well out of the audible range in all cases.
  • Page 42 Operation 3.3.3.1 ION/CME Power Stage Scaling Parameters Parameter Commands Scaling Example Current GetCurrentLoopValue 1.296 mA/count A value of 12,345 from the command GetFOCValue GetCurrentLoopValue for the ActualCurrent parameter corresponds to a current of 12,345 counts * 1.296 mA/count = 15.999A. Step motor &...

  • Page 43: Dc Bus

    Operation For the ION/CME, default values and limits for the Foldback Continuous Current Limit and Foldback Energy Limit are designed to be safe for operation in the drive's highest output mounting option, namely, horizontal to cold plate. See Section 2.4, ION/CME Hardware Configuration and Mounting, for information on ION/CME mounting options.

  • Page 44: Trace Buffer

    Operation 3.4.3 IO_5V Monitor ION/CME features a separate 5V supply for powering external encoders, Hall sensors, and other I/O devices. This supply is monitored to detect overloading or out-of-tolerance operation and if either condition occurs, ION/CME goes into the hard fault state. See Section 3.6.1, Hard Fault State, for a description of this state. 3.4.4 Motion Processor 3.3V Supply Monitor and Reset Circuit The 3.3V supply for the motion processor automatically forces the processor into the reset state if the supply voltage...

  • Page 45: Operational And Fault Modes

    Operation 3.6 Operational and Fault Modes The ION/CME is commanded by the host controller to perform various motion control functions. During the course of these operations it is possible for the ION/CME to enter various fault states based on operational conditions within the power stage, the motor, the electrical bus, or based on the state of the Enable input signal.
  • Page 46 Operation The following sequence should be used to recover from the hard fault state: 1 Unless the failure is clearly caused by external circumstances, the ION/CME module should be disconnect- ed from the serial network, as well as disconnected from all external hardware such as the motor, motor encoder, power supply, etc.

  • Page 47: Ion/Cme Control

    4. ION/CME Control In This Chapter  Communication Protocols  ION/CME Access Basics Magellan Motion Processor Functions   General Purpose Digital I/O  Analog Input  C-Motion Engine Functions  Communications Functions  ION/CME Reset  Non-volatile Memory  Setting Module Defaults ION/CME Command Summary ...

  • Page 48: Ion/Cme Access Basics

    ION/CME Control 4.2 ION/CME Access Basics Access to the ION/CME from the Ethernet or serial port is provided by a protocol called the PMD Resource access Protocol (PRP). This easy-to-use yet powerful system utilizes actions, resources, and addresses to access the ION/ CME’s functions.

  • Page 49: Figure 4-1: Ion/Cme Block Diagram

    ION/CME Control Figure 4-1: ION/CME block diagram The Magellan Motion Processor interfaces with motion hardware components such as feedback encoders, signal generation hardware, and others through various signal conditioning circuitry. The Magellan instruction set is very flexible and powerful. The following example, which would be used to set up and execute a simple trapezoidal profile, illustrates just a small part of the overall command set: SetProfileMode Axis1, trapezoidal // set profile mode to trapezoidal for axis 1...

  • Page 50: General Purpose Digital I/O

    ION/CME Control 4.3.1 Accessing the Magellan Motion Processor To send and receive command packets to the Magellan Motion Processor the PRP action Command is used. The Magellan command packet is loaded into the PRP message body, and the return PRP message body contains the return packet provided by the Magellan.
  • Page 51 ION/CME Control 4.4.1 Digital Inputs The eight digital inputs are read via the Peripheral Read function and are contained in the lower 8 bits of the returned 16-bit word. Signal Name Pin No. Bit No. DigitalIn1 DigitalIn2 DigitalIn3 DigitalIn4 DigitalIO5 DigitalIO6 DigitalIO7 DigitalIO8...

  • Page 52: Analog Input

    ION/CME Control 4.4.2.1 Bi-directional Signal Considerations The four bi-directional digital signals are accessed via separate peripheral addresses: One for reading the digital inputs and one for reading and writing the digital outputs. The digital outputs are open-collector logic. When an output pin is set to 1 (high), the output transistor is off and the pin can be used as an input.

  • Page 53: Figure 4-2: Analog Inputs Simplified Diagrams

    ION/CME Control Figure 4-2: Analog inputs simplified diagrams ION/CME Digital Drive User’s Manual...

  • Page 54: C-Motion Engine Functions

    ION/CME Control 4.6 C-Motion Engine Functions The C-Motion Engine on the ION/CME allows C-Motion code to be downloaded and executed on the ION/CME. The C-Motion Engine is a powerful and flexible engine that can be used to: • Operate ION/CMEs in a standalone mode •...
  • Page 55 ION/CME Control 4.6.2 Powerup & Operation Upon reset or power up the C-Motion Engine initializes itself and checks to see whether execution of user application code, if downloaded, should automatically begin. If the factory default settings have not been changed, the C-Motion Engine will hold in a wait state, and code execution will not occur.
  • Page 56 ION/CME Control For a detailed description of the supported ION/CME commands, see the PMD Remote Access Protocol Programmer’s Reference. 4.6.4 Sending Messages To/From User Application Code A common function of user application code running on the C-Motion Engine is to parse command messages sent to it by a host controller.

  • Page 57: Communications Functions

    ION/CME Control 4.6.6 Debug Console Window During development, the user can use procedure calls similar to printf() from the downloaded application on the C- Motion Engine to send messages to the PC Development Environment for display in a special console window. These console messages may be useful for checking code progress, displaying internal variables, or for other code development-related purposes.
  • Page 58 ION/CME Control 4.7.1 Ethernet Communications The ION/CMEs support two different Ethernet protocols, TCP (Transmission Control Protocol) and UDP (User Datagram Protocol). TCP is typically used for primary Ethernet communications to the ION/CME, while UDP is typically used for non-critical applications such as data logging, or for the Pro-Motion console window. See Section 4.6.6, Debug Console Window, for more information on the C-Motion Engine console window.

  • Page 59: Ion/Cme Reset

    ION/CME Control 4.7.2 Serial Communications ION/CME provides asynchronous serial communications in either RS232 or RS485 mode. Access to the serial port controller is managed using peripheral connections. In RS485 mode, the serial port may be operated in either half duplex or full duplex mode. Pin #8 of the Serial Connector selects whether RS232 or RS485 communications mode is used.

  • Page 60: Non-Volatile Memory

    ION/CME Control 4.8.1 Software Commanded ION/CME Reset A reset occurs automatically during power-up, however it is sometimes desirable to reset the ION/CME explicitly through a user-initiated software command. This can be done via the PRP action Reset sent to the Device resource. Note that this command can only be performed when the ION/CME is not in a hard fault condition.

  • Page 61: Setting Module Defaults

    ION/CME Control 4.10 Setting Module Defaults The ION/CME utilizes an onboard NVRAM (non-volatile RAM) to hold a number of user-settable parameters that are saved while power is off. The following table shows these parameters as well as their factory default values: Parameter Factory default value Ethernet Communications...

  • Page 62: Ion/Cme Command Summary

    ION/CME Control 4.11 ION/CME Command Summary The following table summarizes all PRP commands provided by the ION/CME. Action Resource Sub-action C Procedure Device PMDDeviceNoOperation MotionProcessor PMDNoOperation Reset Device Reset PMDDeviceReset MotionProcessor Reset PMDReset Command CMotionEngine Flash PMDDeviceStoreUserCode Task PMDCMETaskStart PMDCMETaskStop MotionProcessor Various Open...

  • Page 63: Options And Accessories

    5. Options and Accessories In This Chapter Stub Cable Set Development Kit Cable and Plug Specifications Optional Heat Sink Optional DIN Rail Adapter 5.1 Stub Cable Set The following tables summarize the cables and other accessories that come with each ION/CME Developer’s Kit. See the next section for detailed information on each cable type.

  • Page 64: Development Kit Cable And Plug Specifications

    Options and Accessories 5.2 Development Kit Cable and Plug Specifications Signal Pairing Color PMD Part #: Cable-RS23203-R Description: RS232 Comm cable Select None Black* Length: 2m White Cable: 4P, 24AWG, foil shield, Alpha 5474C, or equiv. No connect Notes: Shield connected to shells at both ends. Black *Grounded jumper wire included inside DB9M backshell to use for Green...
  • Page 65 Options and Accessories Signal Color PMD Part #: Cable-1004-02-R Description: I/O stub cable Drain Length: 2m IO_Gnd Black Cable: 13C, 22AWG, foil shield, Alpha 1299C/15 or equiv. IO_5V IO_Gnd Blue IO_5V Red/Yel IO_Gnd Brown FaultOut Pink +Limit White -Limit Green Home Orange Yellow...
  • Page 66 Options and Accessories Signal Color PMD Part Number: CABLE-1010-01 Description: Indexer stub cable Case Shield Bare Length: 1m IO_Gnd Black Cable: Multiconductor shielded, ALPHA 6308 or equivalent IO_5V AnalogIn- Black Cable-1010-01 is split into 2 shielded cable sections. One section AnalogIn+ carries twisted pair conductors connected to the analog input.

  • Page 67: Optional Heat Sink

    Options and Accessories 5.3 Optional Heat Sink The optional heat sink can be used to increase the continuous output current and power in applications where the ION module is not cold-plate mounted or is operating in high ambient environments. It is especially effective when forced air cooling is available.

  • Page 68: Optional Din Rail Adapter

    Options and Accessories 5.4 Optional DIN Rail Adapter The optional DIN rail adapter fits on the back of the ION module and allows ION to be mounted to a standard 35mm DIN rail. To install the adapter, place the tab into the large hole in the enclosure and rotate the adapter clockwise as shown in Figure 5-3 and Figure 5-4.

  • Page 69: Electrical Signal Interfacing

    6. Electrical Signal Interfacing In This Chapter  Motor Feedback  Auxiliary Position Input Limit and Home Inputs   Position Capture Sources  AxisIn and AxisOut Signals  /Enable and FaultOut Signals  General Purpose Digital Inputs and Outputs ...

  • Page 70: Figure 6-2: Encoder Phasing Diagram

    Electrical Signal Interfacing For full functionality, ION requires a three channel (with Index) incremental encoder for the main feedback. The required index alignment is shown in Figure 6-2. ION qualifies the Index with the page 70A and B quadrature inputs and recognizes an Index event when all signals (A, B and Index) are low.

  • Page 71: Auxiliary Position Input

    Electrical Signal Interfacing The Hall signals are only used with brushless DC motors. They are used to directly commutate the motor in 6-step commutation mode or to provide an absolute phase reference for sinusoidal commutation. 6.2 Auxiliary Position Input The differential input circuitry for the auxiliary position input signals is shown in Figure 6-4. This circuit accepts both differential and single-ended signals in the range of 0–5V.

  • Page 72: Limit And Home Inputs

    Electrical Signal Interfacing 6.3 Limit and Home Inputs The input buffer for the end-of-travel limit and home signals is shown in Figure 6-5. This circuit accepts signals in the range of 0–24V and has TTL compatible, Schmidt trigger thresholds. It has a pull-up to 5V to allow direct interfacing to open collector sources without the need for an external pull-up resistor and a 1.3 kHz R-C low pass filter to reject noise.

  • Page 73: Axisin And Axisout Signals

    Electrical Signal Interfacing Figure 6-6: High Speed Capture circuit 6.5 AxisIn and AxisOut Signals The input buffer for the AxisIn signal is shown in Figure 6-7. This circuit accepts signals in the range of 0–24V and has TTL compatible, Schmidt trigger thresholds. It has a pull-up to 5V to allow direct interfacing to open collector sources without the need for an external pull-up resistor and a 13 kHz R-C low pass filter to reject noise.

  • Page 74: Enable And Faultout Signals

    Electrical Signal Interfacing Figure 6-8: AxisOut circuit AxisIn and AxisOut are versatile I/O signals. They are not dedicated to any particular motion control function but can be programmed to implement a wide array of system integration functions. See the Magellan Motion Processor User’s Guide for more information on configuring and programming these signals.

  • Page 75: Figure 6-9: /Enable Input Circuit

    Electrical Signal Interfacing Figure 6-9: /Enable input circuit The output driver for FaultOut is shown in Figure 6-10. This circuit can continuously sink over 100 mA and source 4mA from a pull-up resistor to 5V. The diode in series with the pull-up resistor allows loads powered from up to 24VDC to be switched.

  • Page 76: General Purpose Digital Inputs And Outputs

    Electrical Signal Interfacing 6.7 General Purpose Digital Inputs and Outputs There are four bidirectional general purpose I/Os (GPIO), four Inputs, and two Outputs, available to the ION/CME user. Use of these General Purpose Signals is optional. The signals provide a TTL interface to the application environment of the ION/CME.

  • Page 77: Analog Inputs

    Electrical Signal Interfacing Figure 6-12: Digital outputs circuit Figure 6-13: Digital I/O circuit 6.8 Analog Inputs The High Resolution Analog Input has a voltage range of ±10V. The ION/CME receives both single-ended and differential analog inputs as shown in the following table and Figure 6-14. When used in single ended configuration, AnalogIn- should be connected to Ground of the transmitter.

  • Page 78: Figure 6-14: Analog Inputs Simplified Diagram

    Electrical Signal Interfacing Figure 6-14: Analog inputs simplified diagram ION/CME Digital Drive User’s Manual...

  • Page 79: Ion/Cme Specifications

    7. ION/CME Specifications In This Chapter  ION/CME Drive Ratings  ION/CME Controller Performance ION/CME Electrical   ION/CME Protection Circuits  ION/CME Connectors and Pinouts  ION/CME Mechanical  ION/CME Environmental  ION/CME Safety and Compliance  ION/CME Thermal Operating Curves 7.1 ION/CME Drive Ratings Motor Model Specification...

  • Page 80: Ion/Cme Controller Performance

    ION/CME Specifications 7.2 ION/CME Controller Performance Supported motor type DC brush, Brushless DC, Step motor Communications options Ethernet, RS232/485, CANbus Profile modes S-curve point-to-point Position, velocity, acceleration, deceleration, jerk parameters Trapezoidal point-to-point Position, velocity, acceleration, deceleration Velocity-contouring Velocity, acceleration, deceleration Electronic gearing Using auxiliary encoder Position loop filter...

  • Page 81: Ion/Cme Electrical

    ION/CME Specifications 7.3 ION/CME Electrical AuxV input voltage 12–56VDC range AuxV maximum current 0.5A IO_5V supply output 5V ±2%, 150 mA (total max.), short circuit protected Differential/single-ended Signals Main encoder (A+, A-, B+, B-, Index+, encoder inputs Index-) Auxiliary encoder (A+, A-, B+, B-) Voltage range 0–5 VDC Logic threshold...
  • Page 82 ION/CME Specifications General purpose Available I/Os bidirectional digital Signals DigitalIO5-8 Input/output Digital Input Type Single Ended TTL with internal 4.7Kohms pull up to 5V Digital Output Type Open collector with internal 4.7k pull-up to 5V Low Pass Filter Frequency 6 KHz Maximum Sink Current 100mA Overvoltage Protection...

  • Page 83: Ion/Cme Protection Circuits

    ION/CME Specifications 7.4 ION/CME Protection Circuits Overtemperature User programmable between 0°–70°C Overvoltage User programmable between 20–60V Undervoltage User programmable between 10–56V Overcurrent Fixed at <= 200% of drive peak rating Short circuit protection Line-to-line, line-to-power supply, and line-to-case ground 7.5 ION/CME Connectors and Pinouts 7.5.1 High Power Connectors Connector: Power Signal...
  • Page 84 ION/CME Specifications Connector: Auxiliary Signal Mating connector mfg/type: Molex MicroFit 3.0 plug Shield Mating connector P/N: 43025-0800 IO_Gnd Wire range, AWG: 20-24 IO_5V Recommended crimp terminal: 43030-0009 No connect Alternate wire range, AWG: 26-30 Quad A+ Alternate crimp terminal: 43030-0012 Quad A- Quad B+ Quad B-...
  • Page 85 ION/CME Specifications 7.5.3 Communications Connectors Connector: Serial RS232/485 RS232 RS485 Unused Unused Mating Connector: Generic RJ45 8-P 8-C Unused Unused Unused Unused IO_Gnd IO_Gnd Select = Float/High Select = low Connector: Ethernet Signal Transmit+ Mating Connector: Generic RJ45 8-P 8-C Transmit- Receive+ Unused...

  • Page 86: Ion/Cme Mechanical

    ION/CME Specifications 7.6 ION/CME Mechanical Specification Value Dimensions See Figure 7-1 Weight - without heat sink 0.6 lb [0.28 kg] - with heat sink 1.1 lb [0.5 kg] Enclosure materials Aluminum base and molded plastic cover Mounting options Coldplate, panel, and DIN rail Recommended mounting screws #6, M3, or M3.5 Protection class...

  • Page 87: Ion/Cme Environmental

    ION/CME Specifications 7.7 ION/CME Environmental Specification Value Operating ambient temperature 0°–60°C Maximum base plate temperature 70°C Storage temperature -20° to 85°C Humidity 0-95%, non-condensing Altitude Up to 2000 meters without derating Contamination Pollution Degree 2 7.8 ION/CME Safety and Compliance Specification Standards LVD: EN60204-1...

  • Page 88: Figure 7-3: Ion/Cme Derating Curves For Brushless Dc Module

    ION/CME Specifications Figure 7-3: ION/CME derating curves for brushless DC module Figure 7-4: ION/CME derating curves for step motor module ION/CME Digital Drive User’s Manual...

  • Page 89: Index

    Index Index Symbols /Enable and FaultOut Signals 74 /Enable input 30 /Enable signal 75 Numerics 3.3V supply monitor44 3-phase bridge 40 4-quadrant operation 40 A and B quadrature inputs 69 auxiliary encoder connector 84 pinouts 20, 84 wiring 20 Auxiliary Voltage (AuxV) input 16 AxisIn and AxisOut signals 24, 73 Block Diagram 39 brushless DC motors...
  • Page 90 Index RS232/485 version 26 communications point-to-point 28 ports 26 status LED 30 commutation, sinusoidal 70 compliance and safety specifications 87 conditions hard fault 45 operational and fault 45 configurable loop modes 80 connectors auxiliary encoder 20, 84 by module type 15 Ethernet 26 feedback 18, 83 I/O 24, 84...
  • Page 91 Index Hall Input circuit 70 High Speed Capture circuit 73 Limit & Home circuit 72 ION/CME mounted on DIN rail 68 ION/CME with heat sink attached 67 main encoder input circuits 69 optional DIN rail adapter 68 optional heat sink 67 simplified serial transceiver 40 differential encoder electrical specifications 81...
  • Page 92 Index Hall signals 20, 22, 70 hard electrical faults 45 hard fault state 45 H-Bridge 40 heat sink, mounting optional 67 High Speed Capture 24, 72 Home inputs 72 I/O connector pinouts 24, 84 wiring 24 t current foldback 41 energy limit 41 incremental quadrature encoders 69 index...
  • Page 93 Index power connector 16 LEDs communications (Comm) status 14 hard electrical faults 45 Module Status 30 operational and fault modes 45 limit input 72 loop rates 80 main encoder input circuits 69 main encoder signals 69 mechanical specifications 86 microstepping drive connection 15 model numbers 11 modes...
  • Page 94 Index operating temperature 41 orientation, recommended 13 outputs differential encoder 20 digital 77 single-ended 20 overcurrent fault 45 overtemperature protection 41 overtravel limits 24, 41 overvoltage threshold 43 packets, communications 30 phase current feedback 41 pinouts 14 auxiliary encoder connector 20, 84 feedback connector 18, 83 I/O connector 24, 84 Indexer connector 25, 84...
  • Page 95 Index R-C lowpass filter bandwidth /Enable and FaultOut signals 74 Hall inputs 70 high speed capture input 72 limit and home inputs 72 reset condition 44 RJ45 connector 26 RS232/485 connector communication ports 26 electrical specifications 81 wiring 27 safety and compliance specifications 87 safety interlocks 74 servo motors 40 shielded cable 15...
  • Page 96 Index trace capture 44 trigger latency 72 trigger sources 72 undervoltage, condition and threshold 43 wiring applying power 29 auxiliary encoder connector 20 feedback connector 18 I/O connector 24 Indexer I/O 25 motor connector 17 power connector 16 recommended auxiliary encoder 20 recommended feedback 19 RS232/485 wiring 27 typical I/O 24...
  • Page 97 For additional information or for technical assistance, please contact PMD at (978) 266-1210. You may also e-mail your request to support@pmdcorp.com Visit our website at http://www.pmdcorp.com Performance Motion Devices 80 Central Street Boxborough, MA 01719 ION/CME Digital Drive User’s Manual...

This manual is also suitable for:

Dd311d0-056/15Dd341d0-056/15

Table of Contents