REVISION HISTORY VERSION DESCRIPTION DATE APPVD 초판작성 제품 Dimension 세분화 (A Type, B-Type으로분리 ) 부가 2축 I/F Board 추가 전원 Cable

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1 Setup Manual CEM-Clipper (Turbo PMAC2-Eth-Lite) 4Axis Motion Controller Dec 18, 2014 (REV 1.0.0) CEM-Clipper 4AXIS 1

2 REVISION HISTORY VERSION DESCRIPTION DATE APPVD 초판작성 제품 Dimension 세분화 (A Type, B-Type으로분리 ) 부가 2축 I/F Board 추가 전원 Cable 사양추가및 5V Range설정추가 Yaskawa Sigma Series 절대치엔코더 I/F Option 추가 AxisLink Master For Clipper Option 추가 오타수정 (Ixx24변수설정관련 ) Yaskawa Sigma Series 절대치엔코더레퍼런스도면첨부 기구도면삭제 (Type B) 및추가 (Type C, Type D) I10 파라메터변경 IP Config. Dip Switch 내용추가 (2011년 4월출하분부터적용 ) 출하시에는 IP 변경불가상태로설정이됩니다. ADC(Option 12) 관련설정파라메터추가 ACC-51SK Connector 관련사항추가 J8(JTHW) 관련사항변경 Encoder Loss Detection 관련사항추가 본매뉴얼은필요에따라수시로업데이트될수있으며, 본사홈페이지에서 최신항목을다운받아사용하시기바랍니다. 매뉴얼에관련된문의사항이나 요청사항은델타타우코리아로연락바랍니다. 델타타우코리아홈페이지 : 델타타우코리아연락처 : 031) CEM-Clipper 4AXIS 2

3 Table of Contents 1. INTRODUCTION HARDWARE SETUP Electronic Specification Dimension Option Board Switch & Connector Switch Jumper Connector Circuit Connection Clipper Ethernet IP 변경법 Encoder Loss Detection SOFTWARE SETUP Stepping Motor Setup ADC Input Address Setup Setup Sequence True DAC Option Stepper Setup Non-True DAC Option.. 36 CEM-Clipper 4AXIS 3

4 1. INTRODUCTION CEM-CLIPPER는경제형콘트롤러인당사의 Cliiper를기반으로개발된고속모션콘트롤러입니다. 외관및열전달이우수한알류미늄케이스를사용하였으며, 서보앰프및 IO 배선에편리한인터페이스를제공합니다.. Turbo PMAC2 Firmware를사용하여다양한고급기능을제공하기때문에다양한어플리케이션에대응가능합니다. 특히, 18Bit True Dual DAC을사용하여고속, 고정도모션제어에도경제적으로사용가능합니다. 주요특징 80Mhz Motorola DPS563xx을사용한 High Speed Controller (Standalone 사용가능 ) Turbo PMAC2 Firmware를사용하여고가의 Turbo PMAC2와동일한기능제공 4축아나로그 (+/-10V) 출력서보 ( 토크및속도모드 ) 제어및스텝핑모터제어가능 부가적인 2채널펄스출력또는엔코더입력가능 ( 선택해서사용 ) 스텝핑모터제어에사용하는경우 HOME 및 +/-LIM 기능은자동으로제공되지않습니다. 레이저장치및기타 Programmable Pulse출력이필요한경우에유용합니다. 서보앰프와연결에필요한신호를한개의 Dsub 콘넥터로처리하여배선이간편합니다. 리미트및원점스위치인터페이스를 UMAC 과같은방식으로처리하여연결이편리합니다. 일반 PMAC과동일한 IO구성을가지고있습니다. 외부에 GENI16( 고속용 )/GENI32( 시리얼입출력 ) 를사용하여소규모및대규모 IO를구성할수있습니다. RS232 통신을이용하여터치판넬과인터페이스가가능합니다. Eth.10Base-T (Eth.100Base-T) 를사용하여호스트 PC와의고속통신이가능합니다. 2ch. 12Bit ADC( 내장형 ) 및 2/4ch. 고정밀 16Bit ADC( 외장형 ) 를사용하여아나로그데이터수집및 Feedback 제어가가능합니다. ( 선택사양 ) 제어축수가 4+2 채널이하인모든어플리케이션에경제적으로사용이가능합니다. JTHW Port를이용하여최대 2048점까지확장이가능합니다. CEM-Clipper 4AXIS 4

5 2. HARDWARE 2.1. Electronic Specification 입력전원 DC 5[V], 7[A] (4-channel configuration, with a typical load of encoders) +/-12[V], 1[A] +24[V], 1[A] 이하 (Flag 용 ) 전원설정및 Cable 굵기 +5VDC는 P/S 출력단에서 +5.2VDC ~ +5.3VDC(P/S 에서 Clipper까지의길이 1m 이내 ), Clipper 입력단에서 +4.9VDC ~ +5.1VDC 전원 Cable 최소 AWG #16번이상을사용하십시오 Dimension - Type은 A, C, D가있으며 Option에따라결정됩니다. - Type A : 80 x 289 x 157mm (W * H * D) - Type C : 85 x 289 x 157mm (W * H * D) - Type D : 105 x 289 x 157mm (W * H * D) TYPE A (80 x 289 x 157) CEM-Clipper 4AXIS 5

6 TYPE C (85 x 289 x 157) TYPE D (105 x 289 x 157) AxisLink 와 Acc-51S Option 을동시에사용하실수는없습니다. CEM-Clipper 4AXIS 6

7 2.3. Option Board Flag( 리미트, 홈스위치 ) 연결터미널보드 (CEM-Flag, 91 X 78): Rail mount 로취부됩니다. 핀배치는 2.4. Connector 항목의 Falg(20 pin IDC Connector) 를참조하세요. CEM-Clipper 4AXIS 7

8 AUX I/F( 부가 2 축 ) 터미널보드 (Clipper AUX, 171 X 78): Rail mount 로취부됩니다. 당 Option 사용시 Clipper 의 JOPTO Port 는사용할수없습니다. - 자세한핀배열은본매뉴얼 CEM AUX Terminal Pin Description 부분을참고하시기 바랍니다. CEM-Clipper 4AXIS 8

9 ABS Option (4 축기본 / 4 축추가 Option) Yaskawa Sigma Series 절대치엔코더 I/F Board 당 Option 은주문시 Clipper 내에장착됩니다. AxisLink - M Option ( 반드시1,2 중하나를선택하셔야합니다.(Opt 1/2동시선택가능 ) Opt-1 : Remote I/O Opt-2 : Memory Share 당 Option은주문시 Clipper 내에장착됩니다. CEM-Clipper 4AXIS 9

10 2.4. Switch & Connector Switch - Init Switch : Clipper 공장초기화 Slide Switch Jumper 보드의안정된동작에관련된중요한내용입니다. 반드시이해가필요합니다. JUMPER Description DEFAULT Note DAC Output 선택 ADAC1(+)~4(+) 옵션에따라출하시반드시 +/- Pair 2-3 : Filtered DAC ADAC1(-) ~ 4(-) 설정됩니다. 설정합니다 1-2 : True DAC JUMPER Description DEFAULT Note Step Output, HUn/HVn Hall Sensor Input선택 n은축번호를의 1-2 : Stepper HWn/HPn 1-2 : Stepper 미합니다 (n:1 ~4) 2-3:Hall Sensor입력 Connector - FLAG : 1~4축의리미트및원점스위치를연결하는터미널블록입니다. USER1~4 핀의범용입력으로사용할수있습니다. - EQU_HW: 각채녈별 Position Compare출력을사용,2채널내장형 12bit ADC입력, 2채널펄스출력또는엔코더입력을위한 Connector 입니다. 펄스출력또는엔코더입력을사용할것인지는출하시에하드웨어적으로설정합니다. 두가지기능을동시에사용할수없습니다. - L_PWR/IO_PWR : 시스템 DC전원을출력하는터미널블록입니다. 단, 24V 전원은서보-온신호및앰프에러신호를사용하기위해외부에서입력합니다. - AMP1~4 : 서보앰프와연결되는신호를연결하는 Mini IDC 콘넥터입니다. - JRS232 : Serial Port Connector - JTHW : Multiplexer Port Connector - JOPT : I/O Port Connector CEM-Clipper 4AXIS 10

11 FLAG(20 Pin IDC Connector) - 편리한 I/F 위해 Option 사양으로 CEM-Flag+ Board를사용하실수있습니다. Pin Symbol Functio Description Note A1(1) USER1 Input General Capture Flag Sinking or sourcing A2(3) PLIM1 Input Positive Limit Flag Sinking or sourcing A3(5) MLIM1 Input Negative Limit Flag Sinking or sourcing A4(7) HOME1 Input Home Flag Sinking or sourcing A5(9) FLRT1 Input Return For All Flags 1 +V (12 to 24V) or 0V A6(11) USER2 Input General Capture Flag Sinking or sourcing A7(13) PLIM2 Input Positive Limit Flag Sinking or sourcing A8(15) MLIM2 Input Negative Limit Flag Sinking or sourcing A9(17) HOME2 Input Home Flag Sinking or sourcing A10(19) FLRT2 Input Return For All Flags 2 +V (12 to 24V) or 0V B1(2) USER3 Input General Capture Flag Sinking or sourcing B2(4) PLIM3 Input Positive Limit Flag Sinking or sourcing B3(6) MLIM3 Input Negative Limit Flag Sinking or sourcing B4(8) HOME5 Input Home Flag Sinking or sourcing B5(10) FLRT3 Input Return For All Flags 4 +V (12 to 24V) or 0V B6(12) USER4 Input General Capture Flag Sinking or sourcing B7(14) PLIM4 Input Positive Limit Flag Sinking or sourcing B8(16) MLIM4 Input Negative Limit Flag Sinking or sourcing B9(18) HOME4 Input Home Flag Sinking or sourcing B10(20) FLRT4 Input Return For All Flags 4 +V (12 to 24V) or 0V JEQU(10 pin IDC Connector) - 편리한 I/F 위해 Option 사양으로 EQU I/F Board를사용하실수있습니다. - ADC 관련 Parameter 설정은 Page33을참조하십시오. Pin Symbol Function Description Note A1(1) EQU1 Output Encoder Comp-Equal 1 B1(2) EQU3 Output Encoder Comp-Equal 3 A2(3) EQU2 Output Encoder Comp-Equal 2 B2(4) EQU4 Output Encoder Comp-Equal 4 A3(5) +5VDC Output B3(6) +5VDC Output A4(7) DGND Output B4(8) DGND Output A5(9) ADCIN1 Input Analog Input 1 Option-12 required B5(10) ADCIN2 Input Analog Input 2 Option-12 required CEM-Clipper 4AXIS 11

12 JOPTO(34Pin IDC Connector) J9 (JOPT): I/O Port Connector (34-Pin Connector) Front View Pin# Symbol Function Description Notes A1(1) MI8 Input Machine Input 8 Direction selectable B1(2) GND Common PMAC Common A2(3) MI7 Input Machine Input 7 Direction selectable B2(4) GND Common PMAC Common A3(5) MI6 Input Machine Input 6 Direction selectable B3(6) GND Common PMAC Common A4(7) MI5 Input Machine Input 5 Direction selectable B4(8) GND Common PMAC Common A5(9) MI4 Input Machine Input 4 Direction selectable B5(10) GND Common PMAC Common A6(11) MI3 Input Machine Input 3 Direction selectable B6(12) GND Common PMAC Common A7(13) MI2 Input Machine Input 2 Direction selectable B7(14) GND Common PMAC Common A8(15) MI1 Input Machine Input 1 Direction selectable B8(16) GND Common PMAC Common A9(17) MO8 Output Machine Output 8 Direction selectable B9(18) GND Common PMAC Common A10(19) MO7 Output Machine Output 7 Direction selectable B10(20) GND Common PMAC Common A11(21) MO6 Output Machine Output 6 Direction selectable B11(22) GND Common PMAC Common A12(23) MO5 Output Machine Output 5 Direction selectable B12(24) GND Common PMAC Common A13(25) MO4 Output Machine Output 4 Direction selectable B13(26) GND Common PMAC Common A14(27) MO3 Output Machine Output 3 Direction selectable B14(28) GND Common PMAC Common A15(29) MO2 Output Machine Output 2 Direction selectable B15(30) GND Common PMAC Common A16(31) MO1 Output Machine Output 1 Direction selectable B16(32) GND Common PMAC Common A17(33) +5 Output +5 Power I/O B17(34) GND Common PMAC Common CEM-Clipper 4AXIS 12

13 JTHW(Multiplexer Port -26Pin IDC Connector) J8 (JTHW): Multiplexer Port Connector (26-Pin Connector) Pin# Symbol Function Description Notes A1(1) GND Common PMAC Common B1(14) GND Common PMAC Common A2(2) DAT0 Input Data-0 Input Data input from multiplexed B2(15) SEL0 Output Select-0 Output Multiplexer select output A3(3) DAT1 Input Data -1 Input Data input from multiplexed B3(16) SEL1 Output Select -1 Output Multiplexer select output A4(4) DAT2 Input Data -2 Input Data input from multiplexed B4(17) SEL2 Output Select -2 Output Multiplexer select output A5(5) DAT3 Input Data -3 Input Data input from multiplexed B5(18) SEL3 Output Select -3 Output Multiplexer select output A6(6) DAT4 Input Data -4 Input Data input from multiplexed B6(19) SEL4 Output Select -4 Output Multiplexer select output A7(7) DAT5 Input Data -5 Input Data input from multiplexed B7(20) SEL5 Output Select -5 Output Multiplexer select output A8(8) DAT6 Input Data -6 Input Data input from multiplexed B8(21) SEL6 Output Select -6 Output Multiplexer select output A9(9) DAT7 Input Data -7 Input Data input from multiplexed B9(22) SEL7 Output Select -7 Output Multiplexer select output A10(10) N.C. N.C. No Connection B10(23) GND Common PMAC Common A11(11) N.C. N.C. No Connection B11(24) GND Common PMAC Common A12(12) N.C. N.C. No Connection B12(25) GND Common PMAC Common A13(13) +5V Output +5VDC Supply Power supply out B13(26) INIT- Input PMAC Reset Low is Reset CEM-Clipper 4AXIS 13

14 JHW(26PIN IDC CONNECTOR) - 첫번째 Channel Address : X:$78411,0,24,S ex) M4000-> X:$78411,0,24,S - 두번째 Channel Address : X:$78419,0,24,S ex) M4001-> X:$78419,0,24,S J10 (JHW) Handwheel Encoder Connector Pin# Symbol Function Description A1(1) GND Common Reference voltage B1(2) +5V Output Supply voltage A2(3) HWA1+ Input HW1 channel A+ B2(4) HWA1- Input HW1 channel A- A3(5) HWB1+ Input HW1 channel B+ B3(6) HWB1- Input HW1 channel B- A4(7) HWA2+ Input HW2 channel A+ B4(8) HWA2- Input HW2 channel A- A5(9) HWB2+ Input HW2 channel B+ B5(10) HWB2- Input HW2 channel B- A6(11) PUL1+ Output PULSE1+ output B6(12) PUL1- Output PULSE1- output A7(13) DIR1+ Output DIRECTION1+ output B7(14) DIR1- Output DIRECTION1- output A8(15) PUL2+ Output PULSE2+ output B8(16) PUL2- Output PULSE2- output A9(17) DIR2+ Output DIRECTION2+ output B9(18) DIR2- Output DIRECTION2- output A10(19) N.C B10(20) N.C A11(21) N.C B11(22) N.C A12(23) HWANA+ Output OPT12 Filtered PWM DAC+ B12(24) HWANA- Output OPT12 Filtered PWM DAC- A13(25) GND Common Reference voltage B13(26) +5V Output Supply voltage CEM-Clipper 4AXIS 14

RS-232C JRS232 Serial Port Connector (10-Pin Connector) Front View Pin# Symbol Function Description Notes A1(1) PHASE Output Phasing Clock B1(2) DTR Bidirect Data Terminal Ready Tied to "DSR" A2(3)

Bidirect Data Set Ready Tied to "DTR" B4(8) SERVO Output Servo Clock A5(9) GND Common Digital Common B5(10) +5V Output +5Vdc Supply Power supply out L_PWR(4 PIN TERMINAL B LK) Pin Symbol Function

15 RS-232C JRS232 Serial Port Connector (10-Pin Connector) Front View Pin# Symbol Function Description Notes A1(1) PHASE Output Phasing Clock B1(2) DTR Bidirect Data Terminal Ready Tied to "DSR" A2(3) TXD/ Input Receive Data Host transmit data B2(4) CTS Input Clear to Send Host ready bit A3(5) RXD/ Output Send Data Host receive data B3(6) RTS Output Request to Send PMAC ready bit A4(7) DSR Bidirect Data Set Ready Tied to "DTR" B4(8) SERVO Output Servo Clock A5(9) GND Common Digital Common B5(10) +5V Output +5Vdc Supply Power supply out L_PWR(4 PIN TERMINAL B LK) Pin Symbol Function Description Note 1 M12V Input -12V SUPPLY 2 P12V Input +12V SUPPLY 3 P5V Input +5V SUPPLY 4 DGND Input Ground ( 적색부분이 Pin 1임 ) EXT_IO(2 PIN TERMINAL B LK) Pin Symbol Function Description Note 1 P24V Input +24V Supply 2 P24G Input +24V Ground ( 적색부분이 Pin 1 임 ) CEM-Clipper 4AXIS 15

16 AMP1 (PCB_Side : DSUB 25Pin Female,Cable_Side DSUB 25pin Male) Pin Symbol Function Description Note 1 CHA1 Input ENCODER A CH.POSITIVE 2 CHB1 Input ENCODER B CH.POSITIVE 3 CHC1 Input ENCODER C CH.POSITIVE 4 DAC1A Output ANA.OUT POS.1 +/-10V TO DGND 5 DAC1B Output True DAC Option Required 6 AE1 Output AMP1 ENABLE 7 AFAULT1- Input AMP1-FAULT Low is true. 8 DIR1+/CHU1 Output/Input Direction Output+/Hall U1 Input Default - Direction+ 9 PUL1+/CHW1 Output/Input Pulse Output +/Hall W1 Input Default Pulse VDC Output 11 SEN1/AE1_NC Output Yaskawa 절대치엔코더 Request Default SEN VDC Output 13 P24V Output +24V SUPPLY For AMP. 14 CHA1/ Input ENCODER A CH.NEGATIVE 15 CHB1/ Input ENCODER B CH.NEGATIVE 16 CHC1/ Input ENCODER C CH.NEGATIVE 17 /DAC1A Output ANA.OUT NEG.1 +/-10V TO DGND 18 /DAC1B Output True DAC Option Required 19 AE1_COM Output AMP1 ENABLE COMMON 20 AFAULT1+ Input 21 DIR1 - /CHV1 Output Direction Output - /Hall V1 Input Default Direction- 22 PUL1 -/+5VDC Output Pulse Output -/Hall 1용전원 Default Pulse- 23 DGND Output 24-12VDC Output 25 P24G Output CEM-Clipper 4AXIS 16

17 AMP2 (PCB_Side : DSUB 25Pin Female,Cable_Side DSUB 25pin Male) Pin Symbol Function Description Note 1 CHA2 Input ENCODER A CH.POSITIVE 2 CHB2 Input ENCODER B CH.POSITIVE 3 CHC2 Input ENCODER C CH.POSITIVE 4 DAC2A Output ANA.OUT POS.2 +/-10V TO DGND 5 DAC2B Output True DAC Option Required 6 AE2 Output AMP2 ENABLE 7 AFAULT2- Input AMP2-FAULT Low is true. 8 DIR2+/CHU2 Output/Input Direction Output+/Hall U2Input Default - Direction+ 9 PUL2+/CHW2 Output/Input Pulse Output +/Hall W2 Input Default Pulse VDC Output 11 SEN2/AE2_NC Output Yaskawa 절대치엔코더 Request Default SEN VDC Output 13 P24V Output +24V SUPPLY For AMP. 14 CHA2/ Input ENCODER A CH.NEGATIVE 15 CHB2/ Input ENCODER B CH.NEGATIVE 16 CHC2/ Input ENCODER C CH.NEGATIVE 17 /DAC2A Output ANA.OUT NEG.2 +/-10V TO DGND 18 /DAC2B Output True DAC Option Required 19 AE2_COM Output AMP2 ENABLE COMMON 20 AFAULT2+ Input 21 DIR2 - /CHV2 Output Direction Output - /Hall V2 Input Default Direction- 22 PUL2 - Output Pulse Output -/Hall 2용전원 Default Pulse- 23 DGND Output 24-12VDC Output 25 P24G Output CEM-Clipper 4AXIS 17

18 AMP3 (PCB_Side : DSUB 25Pin Female,Cable_Side DSUB 25pin Male) Pin Symbol Function Description Note 1 CHA3 Input ENCODER A CH.POSITIVE 2 CHB3 Input ENCODER B CH.POSITIVE 3 CHC3 Input ENCODER C CH.POSITIVE 4 DAC3A Output ANA.OUT POS.3 +/-10V TO DGND 5 DAC3B Output True DAC Option Required 6 AE3 Output AMP3 ENABLE 7 AFAULT3- Input AMP3-FAULT Low is true. 8 DIR3+/CHU3 Output/Input Direction Output+/Hall U3 Input Default - Direction+ 9 PUL3+/CHW3 Output/Input Pulse Output +/Hall W3 Input Default Pulse VDC Output 11 SEN3/AE3_NC Output Yaskawa 절대치엔코더 Request Default SEN VDC Output 13 P24V Output +24V SUPPLY For AMP. 14 CHA3/ Input ENCODER A CH.NEGATIVE 15 CHB3/ Input ENCODER B CH.NEGATIVE 16 CHC3/ Input ENCODER C CH.NEGATIVE 17 /DAC3A Output ANA.OUT NEG.3 +/-10V TO DGND 18 /DAC3B Output True DAC Option Required 19 AE3_COM Output AMP3 ENABLE COMMON 20 AFAULT3+ Input 21 DIR3 - /CHV3 Output Direction Output - /Hall V3 Input Default Direction- 22 PUL3 - Output Pulse Output -/Hall 3용전원 Default Pulse- 23 DGND Output 24-12VDC Output 25 P24G Output CEM-Clipper 4AXIS 18

19 AMP4 (PCB_Side : DSUB 25Pin Female,Cable_Side DSUB 25pin Male) Pin Symbol Function Description Note 1 CHA4 Input ENCODER A CH.POSITIVE 2 CHB4 Input ENCODER B CH.POSITIVE 3 CHC4 Input ENCODER C CH.POSITIVE 4 DAC4A Output ANA.OUT POS.4 +/-10V TO DGND 5 DAC4B Output True DAC Option Required 6 AE4 Output AMP4 ENABLE 7 AFAULT4- Input AMP4-FAULT Low is true. 8 DIR4+/CHU4 Output/Input Direction Output+/Hall U4 Input Default - Direction+ 9 PUL4+/CHW4 Output/Input Pulse Output +/Hall W4 Input Default Pulse VDC Output 11 SEN4/AE4_NC Output Yaskawa 절대치앤코더 Request Default SEN VDC Output 13 P24V Output +24V SUPPLY For AMP. 14 CHA4/ Input ENCODER A CH.NEGATIVE 15 CHB4/ Input ENCODER B CH.NEGATIVE 16 CHC4/ Input ENCODER C CH.NEGATIVE 17 /DAC4A Output ANA.OUT NEG.4 +/-10V TO DGND 18 /DAC4B Output True DAC Option Required 19 AE4_COM Output AMP4 ENABLE COMMON 20 AFAULT4+ Input 21 DIR4 - /CHV4 Output Direction Output - /Hall V4 Input Default Direction- 22 PUL4 - Output Pulse Output -/Hall 4용전원 Default Pulse- 23 DGND Output 24-12VDC Output 25 P24G Output CEM-Clipper 4AXIS 19

20 AENC1(PCB_Side : DSUB 15Pin Female,Cable_Side DSUB 15pin Male-ACC -51SK OPTION 선택시 ) Pin Symbol Function Description Note 1 N.C 사용안함 2 N.C 사용안함 3 N.C 사용안함 4 DGND Output Digital Ground 5 ENC_PWR Output Encoder Power +5VDC 6 INDEX1+ Input Index+ Input Analog or TTL Levels 7 COS1+ Analog Input Cosine+ Input 8 SIN1+ Analog Input Sinusoidal+ Input 9 VREF1 2.5V Output A-D Reference Output 10 N.C 사용안함 11 N.C 사용안함 12 DGND Output Digital Ground 13 INDEX1- Input Index- Input Analog or TTL Levels 14 COS1- Analog Input Cosine- Input 15 SIN1- Analog Input Sinusoidal- Input+ AENC2(PCB_Side : DSUB 15Pin Female,Cable_Side DSUB 15pin Male-ACC -51SK OPTION 선택시 ) Pin Symbol Function Description Note 1 N.C 사용안함 2 N.C 사용안함 3 N.C 사용안함 4 DGND Output Digital Ground 5 ENC_PWR Output Encoder Power +5VDC 6 INDEX2+ Input Index+ Input Analog or TTL Levels 7 COS2+ Analog Input Cosine+ Input 8 SIN2+ Analog Input Sinusoidal+ Input 9 VREF2 2.5V Output A-D Reference Output 10 N.C 사용안함 11 N.C 사용안함 12 DGND Output Digital Ground 13 INDEX2- Input Index- Input Analog or TTL Levels 14 COS2- Analog Input Cosine- Input 15 SIN2- Analog Input Sinusoidal- Input+ CEM-Clipper 4AXIS 20

21 AENC3(PCB_Side : DSUB 15Pin Female,Cable_Side DSUB 15pin Male-ACC -51SK OPTION 선택시 ) Pin Symbol Function Description Note 1 N.C 사용안함 2 N.C 사용안함 3 N.C 사용안함 4 DGND Output Digital Ground 5 ENC_PWR Output Encoder Power +5VDC 6 INDEX3+ Input Index+ Input Analog or TTL Levels 7 COS3+ Analog Input Cosine+ Input 8 SIN3+ Analog Input Sinusoidal+ Input 9 VREF3 2.5V Output A-D Reference Output 10 N.C 사용안함 11 N.C 사용안함 12 DGND Output Digital Ground 13 INDEX3- Input Index- Input Analog or TTL Levels 14 COS3- Analog Input Cosine- Input 15 SIN3- Analog Input Sinusoidal- Input+ AENC4(PCB_Side : DSUB 15Pin Female,Cable_Side DSUB 15pin Male-ACC -51SK OPTION 선택시 ) Pin Symbol Function Description Note 1 N.C 사용안함 2 N.C 사용안함 3 N.C 사용안함 4 DGND Output Digital Ground 5 ENC_PWR Output Encoder Power +5VDC 6 INDEX4+ Input Index+ Input Analog or TTL Levels 7 COS4+ Analog Input Cosine+ Input 8 SIN4+ Analog Input Sinusoidal+ Input 9 VREF4 2.5V Output A-D Reference Output 10 N.C 사용안함 11 N.C 사용안함 12 DGND Output Digital Ground 13 INDEX4- Input Index- Input Analog or TTL Levels 14 COS4- Analog Input Cosine- Input 15 SIN4- Analog Input Sinusoidal- Input+ CEM-Clipper 4AXIS 21

22 Aux I/F Board Terminal Block Pin Symbol Function Description Note A1 USER1 Input General Capture Flag Sinking or sourcing A2 PLIM1 Input Positive Limit Flag Sinking or sourcing A3 MLIM1 Input Negative Limit Flag Sinking or sourcing A4 HOME1 Input Home Flag Sinking or sourcing A5 FLRTN1 Input Return For All Flags 1( 반드시결선할것 ) +V (12 to 24V) or 0V A6 SHIELD A7 SHEILD A8 HWA1 Input Encoder Input A+ Channel 1 A9 HWB1 Input Encoder Input B+ Channel 1 A10 +5VDC Output A11 +5VDC Output A12 HWA2 Input Encoder Input A+ Channel 2 A13 HWB2 Input Encoder Input B+ Channel 2 A14 PUL1 Output Pulse1 Output + A15 DIR1 Output Direction1 Output+ A16 PUL2 Output Pulse2 Output + A17 DIR2 Output Direction2 Output+ A18 +5VDC Output A19 +5VDC Output A20 HWANA Input B1 USER2 Input General Capture Flag Sinking or sourcing B2 PLIM2 Input Positive Limit Flag Sinking or sourcing B3 MLIM2 Input Negative Limit Flag Sinking or sourcing B4 HOME2 Input Home Flag Sinking or sourcing B5 FLRTN2 Input Return For All Flags 2( 반드시결선할것 ) +V (12 to 24V) or 0V B6 SHIELD B7 SHEILD B8 HWA1- Input Encoder Input A- Channel 1 B9 HWB1- Input Encoder Input B- Channel 1 B10 GND Output B11 GND Output B12 HWA2- Input Encoder Input A- Channel 2 B13 HWB2- Input Encoder Input B- Channel 2 B14 PUL1- Output Pulse1 Output - B15 DIR1- Output Direction1 Output- B16 PUL2- Output Pulse2 Output - B17 DIR2- Output Direction2 Output- B18 GND Output B19 GND Output B20 GND Output CEM-Clipper 4AXIS 22

23 Circuit USER, + Limit, -Limit, Home - Limit Switch 는반드시 Normal Close Type 을사용하시기바랍니다. CEM-Clipper 4AXIS 23

24 Amp Fault Amp Enable CEM-Clipper 4AXIS 24

25 Connection - Yaskawa Drive 속도 ( 토크 ) 모드일때배선도입니다. CEM-Clipper 4AXIS 25

2.4.6. Clipper Ethernet IP 변경법 2011 년 4 월이전버전 E8 JUMPER USB/EtherNet CPU write protect jumper 를 install 하여 IP Address 를변경합니다.

26 Clipper Ethernet IP 변경법 2011 년 4 월이전버전 E8 JUMPER USB/EtherNet CPU write protect jumper 를 install 하여 IP Address 를변경합니다. IP Address 변경후 E8 JUMPER 제거합니다. IP 변경이끝난후 E8 JUMPER 를제거하지않은경우에는외부노이즈나쇼크가 발생했을때 USB/EtherNet 의통신과관련하여영향을받을가능성이있습니다. CEM-Clipper 4AXIS 26

IP Address 를변경후 EtherNet 통신이잘되면스위치를 OFF 상태로변경합니다. CLIPPER 8XIS SW1 의 10 번째스위치를 ON( 밑으로내리면 ON ) 상태로변경합니다.

27 2011 년 4 월이후버전 - 현재는 CLIPPER 4AXIS TYPE2,3 와 CLIPPER 8AXIS TYPE2,3 에적용되었으며 CLIPPER TYPE 1 과몇몇의 CLIPPER 모델에는아직적용이되지않았음을알려드립니다. 4AXIS 8AXIS CLIPPER 4XIS SW1 의 6 번째스위치를 ON( 밑으로내리면 ON ) 상태로변경합니다. IP Address 를변경후 EtherNet 통신이잘되면스위치를 OFF 상태로변경합니다. CLIPPER 8XIS SW1 의 10 번째스위치를 ON( 밑으로내리면 ON ) 상태로변경합니다. IP Address 를변경후 EtherNet 통신이잘되면스위치를 OFF 상태로변경합니다. IP 변경이끝난후스위치를 OFF 하지않은경우에는외부노이즈나쇼크가발생 했을때 USB/EtherNet 의통신과관련하여영향을받을가능성이있습니다. CEM-Clipper 4AXIS 27

28 Encoder Loss Detect - Encoder loss detection 기능을사용할경우차동라인드라이브방식의 Encoder 사용시에만가능하며 Single-ended 방식의 Encoder 사용시에는 Encoder loss detection 기능을사용할수없습니다. - Encoder 입력의각각의 A 상, /A 상의입력을 XOR(exclusive-or) 하여상태를확인합니다. Encoder 의연결상태가정상적이라고한다면입력두상의상태가항상반대이며 XOR gate 의출력이항상 1 을유지합니다. <PMAC Encoder 입력회로 > CEM-Clipper 4AXIS 28

Switch Setup Clipper 4axis 의 SW1 Switch 의 1 번 ~4 번이 OFF 상태 (Default 상태 ) 이면 USER 입력으로사용합니다. Clipper 4axis 의 SW1 Switch 의 1 번 ~4 번이 ON 상태 ( 아래로내려진상태 ) 이면 Encoder Loss Detection 기능으로사용합니다.

29 Switch Setup Clipper 4axis 의 SW1 Switch 의 1 번 ~4 번이 OFF 상태 (Default 상태 ) 이면 USER 입력으로사용합니다. Clipper 4axis 의 SW1 Switch 의 1 번 ~4 번이 ON 상태 ( 아래로내려진상태 ) 이면 Encoder Loss Detection 기능으로사용합니다. 주의하실점은 USER 입력을사용하면서동시에 Encoder Loss Detection 기능은 사용할수없습니다. Address Setup Encoder Channel 1 Loss Detection Add : X:$78000,19 Encoder Channel 2 Loss Detection Add : X:$78008,19 Encoder Channel 3 Loss Detection Add : X:$78010,19 Encoder Channel 4 Loss Detection Add : X:$78018,19 Suggested M-variables의 Mxx15(User Flag Input Status) 와주소가동일합니다. 정상상태일때의값은 1 이며 Encoder Loss 감지시 0 으로변경됩니다. CEM-Clipper 4AXIS 29

30 Loss Detection 예제 PLC - Encoder Loss Detection 외에도, 기본적으로 Differential Encoder 입력의노이즈에의한신호불량을감지할수있는기능이있습니다. 이와관련한 M변수 (Suggested M-Var) 는 "Mxx18" 이며이변수는정상상태일때 0, 에러가발생하면 1 로변경됩니다. - 아래예제는 Encoder Loss(Mxx15) 또는 Encoder Error(Mxx18) 이발생할경우모터를 Kill 시키는 PLC 예제입니다. open plc 3 clear ; Encoder Loss Detection Flag M115->X:$78000,19 (Clipper SW1의 1번 -> ON) ; ENC1 count error Flag M118->X:$78000,8 IF (M115=0)OR (M118=1) IF ( M139 = 1 ) ;Mxx39: Amp-Enabled bit CMD"#1K" ;Motor Kill ENDIF ENDIF close CEM-Clipper 4AXIS 30

31 3. SOFTWARE SETUP 3.1. Stepping Motor Setup //Channel Activated I100 = 1 I200 = 1 I300 = 1 I400 = 1 //Channel Encoder Setting I7010 = 8 I7020 = 8 I7030 = 8 I7040 = 8 //Channel Mode Select I7016 = 3 I7026 = 3 I7036 = 3 I7046 = 3 //Command OutPut Init. I102 =* I202 =* I302 =* I402 =* //Command Output Setting for Stepper I102 = I I202 = I I302 = I I402 = I CEM-Clipper 4AXIS 31

32 //PID Gain Setting I130 = 700 i131 = 0 I132 = I133 = 0 I134 = 0 I135 = 0 I230 = 700 i231 = 0 I232 = I233 = 0 I234 = 0 I235 = 0 I330 = 700 i331 = 0 I332 = I333 = 0 I334 = 0 I335 = 0 I430 = 700 i431 = 0 I432 = I433 = 0 I434 = 0 I435 = 0 // Number of Commutation Cycle (Internal Computational Reason) I170 = 0 I270 = 0 I370 = 0 I470 = 0 CEM-Clipper 4AXIS 32

33 3.2. ADC Input Address Setup - OPT 12 (12 bit ADC) 추가시 Setup 해야할 Parameter 입니다. I7003 = 1746 ;Set ADC clock frequency at MHz I7006 = $1FFFFF ;Clock strobe set for bipolar inputs M105->Y:$78005,12,12,S ;ADCIN_1 M205->Y:$7800D,12,12,S ;ADCIN_2 CEM-Clipper 4AXIS 33

34 CEM-Clipper 4AXIS 34

CEM-Clipper Stepper Sequence(Motor ) ( ) Tip 1. I70n8 0 1. Paremeter No 2. Micro Step Drive Step Drive( 0.72 / 1 Pulse) Ixx64-8. 1 No Direct PWM ( ) (Turbo Setup Manual ) Yes Jog Mode Test 3.

35 CEM-Clipper Stepper Sequence(Motor ) ( ) Tip 1. I70n Paremeter No 2. Micro Step Drive Step Drive( 0.72 / 1 Pulse) Ixx No Direct PWM ( ) (Turbo Setup Manual ) Yes Jog Mode Test 3. Step Drive Pulse Width 1.52usec I7004. ) Pulse width 5usec i I70n6 = 3 I70n0 = 8 Ix00 = 1 Yes Command Address. Jog Mode Test Pewin No #1J+ + #1J- -. Ix02 = *( ) Ix02 = Ixx Ix70 = 0 Yes Limit check. Limit Check No +/- Limit Normal Close Type. Limit I124 = $20001 (2 I224=$ I324=$ I424=$20001) *. X. Pewin Position Window *. n IC.(n=1 ~4) Yes *. Step Drive Command 1 Pulse ( Pulse/Direction). *. Default PID Parameter. Ixx30 = 700 Ixx31 = 0 Ixx32 = Ixx33 = 0 Ixx34 = 0 Ixx35 = 0 F T F( ) : 280 KHz(max) T(Duty Time): 1.52usec CEM-Clipper 4AXIS 35

36 CEM-Clipper 4AXIS 36

MR-3000A-MAN.hwp

MR-3000A-MAN.hwp ITS Field Emulator for Traffic Local Controller [ MR-3000A ] User's Manual MORU Industrial Systems. www.moru.com - 1 - 1. 개요 MR-3000A는교통관제시스템에있어서현장용교통신호제어기의개발, 신호제어알고리즘의개발및검증, 교통신호제어기생산 LINE에서의자체검사수단등으로활용될수있도록개발된물리적모의시험장치이다.