Table of Contents
Troubleshooting
Related Manuals for Ormec SMLC-e 15
Summary of Contents for Ormec SMLC-e 15
- Page 1 SMLC-e Model 15, 30, 80 & 160 SMLC-e Motion Controller Installation & Operation Manual SMLC-e-007a Copyright © 2025 ORMEC Systems Corp. All Rights Reserved 19 Linden Park Rochester, NY 14625 (585) 385-3520 January 24, 2025...
- Page 2 SMLC-e Motion Controller Manual General Description SMLC-e-007a...
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Page 3: Copyright Notice
Copyright Notice Copyright © 2025 ORMEC Systems Corp. All rights reserved. This manual and any software that it may describe, remain the exclusive property of ORMEC Systems Corp. No part of either may be reproduced in any form without the prior written permission of ORMEC. -
Page 5: Table Of Contents
CODESYS v3.5 - Development Software ..........................5 CODESYS SoftMotion .................................. 6 ORMEC Libraries for CODESYS v3.5............................6 MotionSet EC – ORMEC-EC Servodrive Commissioning Software ................7 SMLCConfig – Utilities for configuring and upgrading SMLC-e ................... 7 SMLC-e Motion Controller Installation ............9 Safety Related Guidelines for Installation in the European Union .......... - Page 6 Default SMLC-e Ethernet Port Addressing........................33 Changing the SMLC-e’s IP address using SMLCConfig ....................33 Installing CODESYS .................................. 34 Installing the ORMEC SMLC-e Packages ........................... 34 Creating a CODESYS project..............................35 Creating a global variable list ............................... 44 Enabling a servo drive ................................45 Commanding motion ................................
- Page 7 Table 13, SMLC-e Serial Prt COM1......................23 Table 14, WAGO LEDs ..........................26 Table 15, WAGO parts list ........................30 Table 16, ORMEC motor cable color code....................32 List of Figures Figure 1, SMLC-e System .......................... 3 Figure 2, SMLC-e System Components ....................11 Figure 3, SMLC-e - Ethernet Connector (J16 &...
- Page 8 SMLC-e Motion Controller Manual Table of Contents Figure 9, SMLC-e mounting dimensions............Error! Bookmark not defined. SMLC-e-007a...
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Page 9: Chapter 1 Welcome
Welcome Welcome This manual covers the ORMEC's Servo Motion & Logic Controller EtherCAT (SMLC-e) and accessories used with it. It provides a detailed description of the SMLC-e hardware and the necessary information for installing, operating and "getting started" with an SMLC-e system. - Page 10 EtherCAT drives to an SMLC-e can be found in the on-line MotionSet EC Help. Detailed information on servo interfacing can be found in the ORMEC-EC drive manuals. To obtain the latest version of any of the ORMEC documentation visit ORMEC's site on the World Wide Web at http://www.ormec.com.
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Page 11: Chapter 2 General Description
SMLC-e Motion Controller Manual General Description Chapter 2 General Description Figure 1, SMLC-e System SMLC-e-007a... -
Page 12: Smlc-E General System Description
MotionSet EC provides a commissioning and diagnostic support for ORMEC EtherCAT drives. ORMEC-EC D I/O: RIVE High speed ORMEC-EC Drive I/O is used to capture axis position (example: registration) and control (start / stop) motion. I/O - WAGO, E CAT:... -
Page 13: Hardware Features
DC brush motors and voice coils. Software Features ORMEC has selected the highly reliable QNX Neutrino as the SMLC-e real time operating system (RTOS). The use of a RTOS in the SMLC-e facilitates the integration of new functionality and eases product lifecycle maintenance by allowing for easy migration to new and more powerful hardware platforms, as they become available. -
Page 14: Codesys Softmotion
• Configuration of the drives as standard field devices ORMEC Libraries for CODESYS v3.5 ORMEC Libraries provide additional functionality for both general purpose use as well as providing ORMEC specific functionality. • CmpOrmecUtilties o Miscellaneous utility functions and functions blocks •... -
Page 15: Motionset Ec - Ormec-Ec Servodrive Commissioning Software
Function block for transferring MotionSet setup files (.mset) from the SMLC’s system disk to Ormec XD drives MotionSet EC – ORMEC-EC Servodrive Commissioning Software MotionSet EC is the commissioning tool for ORMEC EC-Series Servo Drives. SMLCConfig – Utilities for configuring and upgrading SMLC-e •... - Page 16 SMLC-e Motion Controller Manual General Description SMLC-e-007a...
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Page 17: Chapter 3 Smlc-E Installation
SMLC-e Motion Controller Installation Safety Related Guidelines for Installation in the European Union General: ORMEC product manuals are written to provide information required for the proper use of the equipment in the intended operation. They are written for technically qualified personnel such as engineers, programmers and maintenance specialists who have been trained in the application of automation control systems. -
Page 18: Receiving And Inspection
Receiving and Inspection ORMEC SMLC-e motion controllers and their associated accessories are put through rigorous tests at the factory before shipment. After unpacking, however, check for damage, which may have been sustained in transit. Check the SMLC-e and any of the accessories for bent or broken components, loose bolts or screws and any other physical damage before installing. -
Page 19: Smlc-E System Components
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation Chapter 4 SMLC-e System Components SMLC-e System Components SMLC-e System Components LEDs -Power, Run, Watchdog, User, EtherCAT J16 – EN1 J17 – EN0 J19 – HDMI connector J20 – Development Serial Port – COM1 J22 –... -
Page 20: J14 - Usb Port
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation J14 – USB Port J15 – USB Port The USB ports are not supported by CODESYS in the current release of SMLC-e firmware. J16 – Ethernet Port EN1 J17 – Ethernet Port EN0 J21 –... -
Page 21: Table 3, Ethernet Cables & Accessories Part Numbers
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation Ethernet Cables & Accessories 405TX Ethernet Switch, 10BASE-T, 5 port, 24 VDC input, rail mount CBL-ENET/3 Cable, Ethernet, RJ45, 3 ft. CBL-ENET/7 Cable, Ethernet, RJ45, 7 ft. CBL-ENET/10 Cable, Ethernet, RJ45, 10 ft. CBL-ENET/25 Cable, Ethernet, RJ45, 25 ft. -
Page 22: J19 - Hdmi Connector
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation J19 – HDMI Connector The HDMI connector is capable of supporting a wide range of flat panel, CRT and LCD displays. Note that there is no CODESYS support for the HDMI display in the initial release of these SMLC-e models. NOTE: The IP addresses assigned to the Ethernet ports are displayed on the monitor port at power-up. -
Page 23: J20 - Serial Port Com1 - Rs232
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation J20 – Serial Port COM1 - RS232 The SMLC-e User serial port COM1 uses a DB9 connector that provides access to asynchronous serial RS- 232 communications. This port can be used for general purpose serial communications with terminals, computers or programmable controllers by using the CODESYS Library SysLibCom.lib. -
Page 24: Tb1- Input Ac Power Connector For Ac Models
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation TB1– Input AC Power Connector for AC Models AC versions of the SMLC-e operate on either 115 VAC or 230 VAC power (50/60 Hz), without the need to configure the unit for the desired input power. The SMLC-e power connector is pluggable. -
Page 25: Chapter 5 System Power Wiring & Interlocks
There are many acceptable variations of these System Wiring Diagrams. If using a variation, it should incorporate the primary features as described above and as shown in the Appendix. Contact the ORMEC Service Department with any questions you may have in this area. -
Page 26: Emergency-Stop And Drive Ready Configuration
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation Emergency-Stop and Drive Ready Configuration Located on the ORMEC EC-Series Servo Drive is an Emergency-Stop OK input and Drive Ready output, allowing fail-safe control. Emergency Stop OK Input: A discrete input can be configured to operate as Emergency Stop input. When unasserted, this input causes the servo drive to generate a drive fault and disable output power to the motor, as well as generating an OP_FAULT condition in the application program. -
Page 27: Servo Drive Input / Output
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation Servo Drive Input / Output EC-Series Servo drive I/O Rotary encoder Sets the node ID on the EtherCAT bus ASEN+ 1 OUT1a (optional) ASEN- 2 OUT1b BSEN+ 3 OUT2a 8 Discrete Inputs: BSEN- 4 OUT2b 5 OUT3a... - Page 28 SMLC-e Motion Controller Manual WAGO I/O Installation & Operation SMLC-e-007a...
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Page 29: Chapter 6 System Operation
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation Chapter 6 System Operation System Operation SMLC-e Status LED's A total of eight status LEDs are provided on the face of the SMLC-e for indicating system status. Name Color Description Green The SMLC-e is in run mode. -
Page 30: Power-Up
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation Power-up The SMLC-e is a user-programmable device and operation is dependent on the CODESYS program present on the System Card. Whenever AC power is applied to the SMLC-e, it executes its power-up sequence, which can last up to 45 seconds. -
Page 31: Specifications
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation Specifications Total controller memory At least 2Gb bytes DRAM SMLC-e program memory At least 8Gb bytes SSD Table 9, SMLC-e Controller General Specifications SMLC-e Mechanical and Environmental Specifications Dimensions 9.0” High x 1.75" Wide x 7.23"Deep (228.6mm H x 69.8mm W x 183.6mm D) Weight 3.3lb... - Page 32 SMLC-e Motion Controller Manual WAGO I/O Installation & Operation SMLC-e-007a...
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Page 33: Chapter 7 Wago I/O Installation & Operation
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation Chapter 7 WAGO I/O Installation & Operation WAGO I/O Installation & Operation General Purpose EtherCAT I/O General-purpose I/O options are supported using EtherCAT I/O from WAGO (750 Series). The I/O system offers a Fieldbus independent node design, even though the Fieldbus couplers may be utilizing different protocols. -
Page 34: Wago Installation
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation mix and match a wide variety of I/O modules including digital I/O with up to eight points each and analog I/O in several resolutions and signal types. A selection of specialty modules are also available – including a selection of thermocouples that can be used to implement PID control, up/down counters and an incremental encoder interface WAGO Installation... -
Page 35: Wago Part List
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation Red Cyclical Up to three successive flahing Evaluate the flashing sequences flashing sequences indicate local bus errors. based on the blink code table in the There are short intervals between WAGO 750-354 Product Manual. the sequences The blinking indicates an error message comprised of an error... -
Page 36: Wago Analog Input Modules
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation WAGO-750-502 2-Ch DC Output, Sourcing (high-side switch), 24 VDC, 2.0 A WAGO-750-504 4-Ch DC Output, Sourcing (high-side switch), 24 VDC, 0.5 A WAGO-750-506 2-Ch DC Output, Sourcing (high-side switch), 24 VDC, 0.5A, w/ diagnostics WAGO-750-507 2-Ch DC Output, Sourcing (high-side switch), 24 VDC, 2.0 A, w/ diagnostics WAGO-750-509... -
Page 37: Wago Analog Output Modules
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation WAGO-750-469/000-002 2-Ch Analog Input for Thermocouple, Type T, w/ diagnostics (see note 3) WAGO-750-469/000-003 2-Ch Analog Input for Thermocouple, +/-120 mV, w/ diagnostics (see note 3) WAGO-750-469/000-006 2-Ch Analog Input for Thermocouple, Type J, w/ diagnostics (see note 3) WAGO-750-469/000-008 2-Ch Analog Input for Thermocouple, Type E, w/ diagnostics (see note3) WAGO-750-469/000-012... -
Page 38: Wago Power Supplies And Accessories
SMLC-e Motion Controller Manual WAGO I/O Installation & Operation WAGO-750-654 Data Exchange Module WAGO-750-655 AS-i interface module WAGO-750-670 Stepper Motor interface module WAGO-750-671 Stepper Motor interface module WAGO-750-672 Stepper Motor interface module WAGO Power Supplies and Accessories WAGO-787-602 Power Supply 1.3A, 24 VDC output WAGO-787-612 Power Supply 2.5A, 24 VDC output WAGO-787-622... -
Page 39: Chapter 8 Getting Started
• Complete the appropriate System Wiring. • Configure the EtherCAT drives using their commissioning software. If the drives are ORMEC EC- Series Servo Drives the commissioning tool is MotionSet EC. • The default IP address of Ethernet port EN0 is 192.168.0.253. If this address, or any of the other port addresses need to be changed, use SMLCConfig to change the IP address of any or all Ethernet ports. -
Page 40: Servomotor Checklist
Verify proper motor mounting and that the shaft is not connected to the machine. • Verify that the encoder cables and motor cables are properly installed. Note: ORMEC manufactured motor cables are color-coded. Motor Cable Color Servo drive Connection WHITE BLACK GREEN &... -
Page 41: Ormec Ec Drive Communications
SMLC-e Motion Controller Manual Product History ORMEC EC Drive communications SMLC-e Ethernet Configuration Default SMLC-e Ethernet Port Addressing The SMLC-e assigns the default IP Address of 192.168.0.253 to EN0 (J17). The SMLC-e assigns the default IP Address of 192.168.1.253 to EN1 (J16). -
Page 42: Installing Codesys
Installing CODESYS The recommended minimum version of the CODESYS Integrated Development Environment (IDE) is 3.5 Service Pack 20 Patch 3. This version is available on the ORMEC website in the Support Library. Installing the ORMEC SMLC-e Packages The SMLC-e package is available on the ORMEC website in the Support Library. This package contains the current version of all the ORMEC libraries and devices. -
Page 43: Creating A Codesys Project
SMLC-e Motion Controller Manual Product History Figure 11, Installing CODESYS Add-ons Figure 12, Installing the ORMEC Package Creating a CODESYS project Go to File | New to create a new project Figure 13, Creating a new project SMLC-e-007a... -
Page 44: Figure 14, Selecting The Smlc Device
Select the ORMEC Device and choose the programming language for the PLC_PRG, which will be the main body of the program. Typically this will either be Sequential Function Chart (SFC), Ladder Logic (LD) or Structured Text (ST) Figure 14, Selecting the SMLC device... -
Page 45: Figure 16, Selecting The Ethercat Master Device
SMLC-e Motion Controller Manual Product History Figure 16, Selecting the EtherCAT Master device Press Add Device to add the EtherCAT Master SoftMotion We can continue to add another device without closing the Add Device dialog Click on the EtherCAT Master in the tree and then select EtherCAT | Slave | Allient | Drives | SAC-EC Figure 17, Adding an EtherCAT Servo Drive Press Add Device SMLC-e-007a... -
Page 46: Figure 18, Scanning The Network For Controllers
Pressing OK attempts to connect to the selected SMLC-e. CODESYS v3.5SP18 and later requires user authentication. The default username is admin and the default password is ormec. Note that these are case sensitive. Figure 20, Logging in, default username and password... -
Page 47: Figure 21, Locating The Ethercat Master In The Device Tree
SMLC-e Motion Controller Manual Product History Once communication has been established the EtherCAT port needs to be selected. Double-click on the EtherCAT_Master_SoftMotion in the project tree. Figure 21, Locating the EtherCAT Master in the device tree It is recommended to choose Select network by name vs Select network by MAC. If the MAC address is selected then the MAC address will have to be selected each time this project is loaded onto a different SMLC-e. -
Page 48: Figure 23, Configuring The Ethercat Bus Cycle Time
Set the Distributed Clock Cycle time to 1000 usec. Note that setting this value also sets the task time for the task that is doing the EtherCAT communications (by default this is called EtherCAT_Task). Expand Options and check ‘Automatically restart slaves’ to have the master automatically attempt to restart communications to slave devices after an error occurs. -
Page 49: Figure 25, Scanning For Ethercat Slaves
SMLC-e Motion Controller Manual Product History Figure 25, Scanning for EtherCAT slaves After the scan is complete select Copy All Devices to Project Figure 26, EtherCAT network scan results Next add axes to all of the servo drives by right-clicking on each drive. For standard CiA402 axes select Add SoftMotion CiA402 axis. - Page 50 Figure 27, Adding a motor axis Ignore any warning about the CiA402 axis not being verified. This is a standard CODESYS disclaimer. Figure 28, CiA402 Axis Warning Dialog After inserting the axis rename it to something more meaningful. Right-click on SM_Drive_GenericDSP402 in the project tree and select Refactoring | Rename ‘SM_Drive_GenericDSP402’.
- Page 51 SMLC-e Motion Controller Manual Product History Figure 30, Axis feedback scaling configuration In this example the motor has a resolution of 8192 counts/rev. With the remaining values at their default values of 1 the user units will be revs, revs/sec and revs/sec^2. When an EtherCAT Master is added to the project, CODESYS automatically creates a task called EtherCAT_Task from which all EtherCAT communications will occur.
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Page 52: Creating A Global Variable List
Figure 33, Deleting original task Creating a global variable list To create a global variable list right-click on Application in the project tree and select Global Variable List … Figure 34, Creating a Global Variable List The suggested name is GVL. Note that you can create as many global variable lists as you like. It is suggested to create at least two, GVL for global variables and GVC for global constants. -
Page 53: Enabling A Servo Drive
SMLC-e Motion Controller Manual Product History Figure 35, Global variable list name Use of the attribute ‘qualified_only’ is optional but highly recommended so that global variable usage is clear. Figure 36, Creating some global variables Enabling a servo drive The MC_Power function block is used to enable the servo drive. It is important to note that the MC_Power block must be called ever EtherCAT bus cycle, which is every scan of the EtherCAT_Task created earlier. - Page 54 Figure 38, Motions, Jogging and Homing Figure 39, Motions, MoveRelative SMLC-e-007a...
- Page 55 SMLC-e Motion Controller Manual Product History SMLC-e-007a...
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Page 56: Chapter 9 Product History
Chapter 9 Product History Product History Determining Hardware Revision Numbers The hardware revision numbers for the SMLC-e motion controller is located on the left hand side of the unit. SMLC-e Model History Version 1.0 – December 2024 - Initial release SMLC-e-007a... - Page 57 SMLC-e Motion Controller Manual Terms & Mnemonics SMLC-e-007a...
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Page 58: Chapter 10 Maintenance & Troubleshooting
Maintenance & Troubleshooting Maintenance & Troubleshooting ORMEC Product Support ORMEC Product Support relates to the functionality and proper operation of ORMEC supplied software and equipment • Product Service is provided by the ORMEC Service Department at (585) 385-3520. Or contact support@ormec.com... -
Page 59: Smlc-E Troubleshooting
SMLC-e Does Not Complete the Power Up Sequence If the SMLC-e doesn't complete the power up sequence, gather the information listed below and call the ORMEC Service Department. • SMLC-e model number, hardware version number & serial number, available on the sticker on the left side of the unit. - Page 60 SMLC-e Motion Controller Manual Terms & Mnemonics SMLC-e-007a...
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Page 61: Chapter 11 Terms & Mnemonics
Axis-ID (Identification number) from 1 to 16. It is also used to refer to any Master (Pacer) Encoders in the system. Many ORMEC pre-defined variables in the SMLC-e are defined for each axis in the system and are therefore indexed by Axis-ID name. - Page 62 MotionSet – Commissioning software for ORMEC’s XD line of servo based Indexers MotionSet EC – Commissioning software for ORMEC’s EC line of EtherCAT servo drives. OPC – OLE for Process Control. A set of open standards for connectivity and interoperability of industrial automation and enterprise systems.
- Page 63 Resolver - A position transducer used to determine the position of a motor. Resolvers are rotary transformer devices with analog interfaces. However, in ORMEC Motion Control systems which use resolvers, the servo drive decodes the resolver position digitally.
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Page 64: Appendix A - Smlc-E Installation Diagrams
Appendix A - SMLC-e Installation Diagrams SMLC-e – Installation Dimensions Figure 40, SMLC-e mounting dimensions...
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