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Axis controller
Installation Manual
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Contents
Important information _________________________________________________________________________________________ 4 Documentation structure_______________________________________________________________________________________ 5 Introduction _________________________________________________________________________________________________ Presentation _____________________________________________________________________________________________ Description of LMC10/LMC20________________________________________________________________________________ Description of LMC20Apppp _________________________________________________________________________________ 6 6 6 7
Hardware setup _____________________________________________________________________________________________ 8 On receipt _______________________________________________________________________________________________ 8 Mounting ________________________________________________________________________________________________ 8 Connecting the power supply ________________________________________________________________________________ 9 Characteristics of the power supplies __________________________________________________________________________ 9 Connection to a master encoder_____________________________________________________________________________ 10 Connecting the Motion bus 9-way SUB-D connector _____________________________________________________________ 13 Connecting the I/O _______________________________________________________________________________________ 16 I/O connection example ___________________________________________________________________________________ 17 Connecting the CANopen 9-way SUB-D connector ______________________________________________________________ 18 Connecting the RJ45 Ethernet connector______________________________________________________________________ 18 Connecting the Modbus RJ45 connector or graphic display terminal_________________________________________________ 19 Connecting the PROFIBUS bus 9-way SUB-D connector (LMC20A1307) ____________________________________________ 19 Connecting the DeviceNet terminals (LMC20A1309) _____________________________________________________________ 19 Diagnostics ________________________________________________________________________________________________ 20 LEDs __________________________________________________________________________________________________ 20
While every precaution has been taken in the preparation of this document, Schneider Electric SA assumes no liability for any omissions or errors it may contain, nor for any damages resulting from the application or use of the information herein. The products and options described in this document may be changed or modified at any time, either from a technical point of view or in the way they are operated. Their description can in no way be considered contractual.
Important information
PLEASE NOTE
Please read these instructions carefully and examine the equipment in order to familiarize yourself with the device before installing, operating or carrying out any maintenance work on it. The following special messages that you will come across in this document or on the device are designed to warn you about potential risks or draw your attention to information that will clarify or simplify a procedure.
The addition of this symbol to a "Danger" or "Warning" safety label indicates that there is an electrical risk that will result in injury if the instructions are not followed.
This is a safety warning symbol. It warns you of the potential risk of injury. You must comply with all safety messages that follow this symbol in order to avoid the risk of injury or death.
DANGER
DANGER indicates an imminently hazardous situation which, if not avoided, will result in death, serious injury or equipment damage.
WARNING
WARNING indicates a potentially hazardous situation which, if not avoided, can result in death, serious injury or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation which, if not avoided, can result in injury or equipment damage.
PLEASE NOTE:
Only qualified staff are authorized to carry out maintenance work on electrical equipment. Schneider Electric accepts no responsibility for the consequences of using this device. This document does not constitute an instruction manual for inexperienced personnel. 2008 Schneider Electric. All rights reserved.
Documentation structure
Installation Manual
This manual describes: How to install the controller How to connect the controller
Introduction
Presentation
The Lexium Controller performs axis synchronization and coordination, via fieldbuses, for applications requiring control of up to 8 synchronized axes. It includes the following standard motion control functions: Speed control Relative and absolute positioning Cam profiles Electronic gearing function for speed and position Linear and circular interpolation (2D) Master axis via external encoder Distance measurement and position capture on high-speed discrete input (30 s) It can be easily integrated into the standard architectures available on the market. It can be connected directly via the Modbus, CANopen, Ethernet, PROFIBUS DP, and DeviceNet communication ports.
Models
References Number of logic inputs 8 24 V c 8 24 V c 8 24 V c 8 24 V c Number of logic outputs 8 24 V c 8 24 V c 8 24 V c 8 24 V c Modbus Yes Yes Yes Yes Integrated communication CANopen Ethernet network Yes Yes Yes Yes Yes Yes Third-party bus PROFIBUS DeviceNet
Description of LMC10/LMC20
1 3 2
1 Signaling and diagnostic LEDs 2 Ethernet connector (LMC 20 only) 3 Encoder power supply 4 4 Reset button
5 Master encoder input 6 Modbus or graphic display terminal connector 7 Motion bus connector 6 8 Connector for logic I/O 9 Equipment grounding conductor connection 7 10 24 V power supply terminals 11 CANopen connector (LMC 20 only)
8 9 10 11
Introduction
Description of LMC20Apppp
1 Signaling and diagnostic LEDs 1 3 2 2 Ethernet connector 3 Encoder power supply 4 Reset button 4 5 5 Master encoder input 6 Modbus or graphic display terminal connector 7 LEDs for: - PROFIBUS on LMC20A1307 - DeviceNet on LMC20A1309 8 Motion bus connector 9 Connector for logic I/O 8 9 10 11 13 12 14 10 Equipment grounding conductor connection 11 24 V power supply terminals 12 Connector for: - PROFIBUS on LMC20A1307 - DeviceNet on LMC20A1309 13 CANopen connector 14 Address configuration switches
6 7
Hardware setup
On receipt
Check that the device reference marked on the label is the same as that on the delivery note corresponding to the purchase order. Open the packaging and check that the device has not been damaged in transit. Check that the device is complete. The packaging must contain: - The Lexium Controller - A bag containing three removable connectors (24 V power supply, encoder power supply, I/O) - A CD-ROM containing the documentation - A quick reference guide
CAUTION
DAMAGED EQUIPMENT
Do not install or operate any controller that appears damaged. Failure to follow this instruction can result in equipment damage.
Mounting
Fasten using M5 screws, or on 5 rail (35 mm) Dimensions in mm (in) LMC10, LMC20
136 (5.35) 40 (1.57)
LMC20Apppp
74 (2.91) = =
(1)
5 (0.20)
75 (2.95)
25,6 (1.01)
Installation recommendations
Install the unit vertically. u 50 mm (2 in) Leave at least 50 mm (2 in) free space above and below the device to allow for cooling. Max. ambient temperature: LMC10: 60C LMC20: 50C Protect from condensation and keep away from any heat sources.
u 50 mm (2 in)
(1)
2 x 5,5 (0.22)
20 20 (0.79) (0.79)
3 x 5,5 (0.22)
6 (0.24)
Hardware setup
Terminal 3 2 1
Example circuit
100 ... 240 V AC
N +
L -
24 V
0V
PWS
Note: If the LMCppp controller is left without a power supply for around 20 days, the clock will have to be reset.
Hardware setup
ENCODER
15 10 5
Incremental encoder
11 6
Absolute encoder
10
Hardware setup
ENC
Example circuits
Incremental encoder 5 V - RS422 or Push-Pull output
24V
0V
Terminal 1 2 3
Function + 24 V +5V 0V
5V
Power Supply
110..240V AC to 5V DC
L N 5V 0V
LMC
A+ 1 A- 2 B+ 10 B- 11 Z+ 4 Z- 5 24V 1 5V 2 0V 3 5V 15 return 13 0V 8
Encoder
A+ AB+ BZ+ Z5V return option 0V
Shield 0V
Power Supply
110..240V AC to 24V DC
L N 24V 0V
LMC
A+ 1 A- 2 B+ 10 B- 11 Z+ 4 Z- 5 5V 2 24V 1 0V 3 5V 15 return 13 0V 8
Encoder
A B Z 5V return option 0V
Shield 0V
11
Hardware setup
Power Supply
110..240V AC to 24V DC
L N 24V 0V
LMC
A+ 1 A- 2 B+ 10 B- 11 Z+ 4 Z- 5 5V 2 24V 1 0V 3 24V 7 return 13 0V 8
Encoder
A+ AB+ BZ+ Z24V return option 0V
Shield 0V
Power Supply
110..240V AC to 24V DC
L N 24V 0V
LMC
SSI data+ 1 SSIdata- 2 SSI clk+ 6 SSI clk- 14
Encoder
data+ dataclk+ clk-
5V 2 24V 1 0V 3
24V 7 return 13 0V 8
Shield 0V
12
Hardware setup
The CANopen connection dedicated to the Motion bus provides the option of connecting up to 8 Lexium 05, Lexium 15 and SD328 servo drives. The Motion bus is used to control the movement of these 8 axes. The network cycle ensures the position setpoints are updated for axis synchronization. LMC 10, LMC 20 and LMC 20A130p Lexium Controllers integrate the CANopen protocol dedicated to the Motion bus as standard. To guarantee the performance of the Motion bus, it is advisable to set it up in a daisy-chain formation, without any tap-offs; our range of connection accessories has been extended with this in mind.
Example of architecture with the CANopen machine bus dedicated to the Motion bus
Lexium 05
MOTION BUS
Lexium 05
SD328
SD328
Lexium 15 Lexium 15
13
Hardware setup
Lexium 05
SD328
Lexium 15
Lexium 05
Lexium 05
SD328
14
Hardware setup
Connection accessories
Connectors and junction boxes
Description Connector, 9-way female SUB-D with line terminator Tap (3) with 3 RJ45 connectors Use Connection of Lexium 15 No. Reference VW3 M3 802 TCS CTN023F13M03
0.3
14
50 100 300 TSX CAN CA 50 TSX CAN CA 100 TSX CAN CA 300 TSX CAN CB 50 TSX CAN CB 100 TSX CAN CB 300 TSX CAN CD 50 TSX CAN CD 100 TSX CAN CD 300
14
50 100 300
Cable for harsh environment (2) or mobile installation, e marking Low smoke emission, halogen-free Flame retardant (IEC 60332-1)
14
50 100 300
(1) Please refer to the catalog (2) Harsh environment: - Resistance to hydrocarbons, industrial oils, detergents, solder splashes - Relative humidity up to 100% - Saline atmosphere - Significant temperature variations - Operating temperature between - 10C and + 70C (3) Available 4th quarter 2007
15
Hardware setup
25 23 21 19 17 15 13 11 9 7 5 3 1
26 24 22 20 18 16 14 12 10 8 6 4 2
26 24
25 23 21 19 17 15 13 11 9 7 5 3 1
INPUTS/OUTPUTS
22 20 18 16 14 12 10 8 6 4 2
Input characteristics
Type of base Number of channels Nominal voltage Voltage limits Nominal input current Impedance Filtering time "Position capture" input filtering time Isolation At state 1 At state 0 At state 1 At state 0 LMC10 8 24 V c (positive logic) 19 V ... 30 V c 7 mA 3 k 15 s 70 s 1 s 0.5 s No isolation between channels, isolation with internal logic via opto-isolators LMC20
Output characteristics
Type of base Number of channels LMC10 LMC20 8 x 24 V c open collector (source) logic outputs, compatible with level 1 PLC, standard IEC 65A-68 Maximum switching voltage: 30 V 24 V c (positive logic) 19 V ... 30 V c 0.2 A per channel At state 1 At state 0 150 s 250 s
16
Hardware setup
J1_26
J1_25
J1_24
J1_23
J1_22
J1_21
J1_20
J1_19
J1_18
J1_17
J1_16
J1_15
J1_14
J1_13
J1_12
J1_11
J1_10
J1_8
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 J1_6 BJ2_13 21
BJ2_15
BJ2_16
BJ2_17
BJ2_18
BJ2_19
BJ2_20
BJ2_21
BJ2_10
BJ2_22
BJ2_11
BJ2_12
BJ 2 1 2 BJ 3 1 0 V + 24 V I0 BJ 2 1 2 1 CI0 3 2 4 5 3 6 4 7 5 8 6 9 7 10 8 11 9 12 10 13 1 14 15 2 3 16 4 17 5 18 6 19 7 20 21 8 22 23 BJ 4 24 2 I1 3 I2 4 I3 5 I4 6 I5 7 I6 8 I7 9 I8 10 I9 1 2 3 Q0 4 Q1 5 Q2 6 Q3 7 Q4 8 Q5 9 Q6 10 Q7 0 V + 24 V 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 22 23 BJ 4 24
I10 I11
BJ 3
9 10
CI1 CI2 CI3 CI4 CI5 CI6 CI7 CI8 CI9 CI10 CI11 CQ0 CQ1 CQ2 CQ3 CQ4 CQ5 CQ6 CQ7
(1)
(1)
A prefabricated connection cable with two HE10 connectors can be used to connect the Lexium Controller and the Telefast sub-base: ABF T26B050 0.5 m ABF T26B100 1 m ABF T26B200 2 m
BJ2_14
BJ2_3
BJ2_4
BJ2_5
BJ2_6
BJ2_7
BJ2_8
BJ2_9
J1_4
17
Hardware setup
CANopen
Terminal 1 2 3 4 5 6 7 8
Description TD+ TDRD+ not connected not connected RDnot connected not connected
ETHERNET
18
Hardware setup
Terminal 1 2 3 4 5 6 7
Description not connected not connected not connected B signal (RS485) = V1 signal (Modbus) A signal (RS485) = V0 signal (Modbus) not connected Modbus VP signal 12 V DC power supply provided by the Motion Controller (only for supplying an RS485/RS232 converter or a graphic display terminal) Modbus common signal 0V
MODBUS 8
Terminal 1 2 3 4 5
19
Diagnostics
LEDs
Lexium Controller status RUN Run Green ERR Fault Red PWS On Yellow
The Motion bus is in initialization phase 1 flash per second The Motion bus is stopped On The Motion bus is operational ERR Red Off Flashing No Motion bus fault Motion bus fault
20
Diagnostics
The CANopen bus is in initialization phase 1 flash per second The CANopen bus is stopped On The CANopen bus is operational ERR Red Off Flashing No CANopen fault CANopen configuration not valid
1 flash per second Alarm threshold exceeded (too many errors) 2 flashes per second A "Node Guarding" or "Heartbeat" event has occurred On The CANopen bus is stopped (BUS OFF)
Meaning The Lexium Controller is not configured (application missing, invalid or incompatible) The Lexium Controller is in STOP state or locked by a software error. The application program is not executed. The Lexium Controller is in RUN state. The application program is executed. No fault Minor Lexium Controller fault or application fault (event-triggered task cycle time too long, encoder supply fault, etc.). Lexium Controller hardware fault or serious application fault (watchdog, etc.) Lexium Controller off Lexium Controller on
ERR
Red
Off Flashing On
PWS
Yellow
Off On
21
Lexium_Controller_EN_V2 2008-03