3604 4185 13 Acsi Hard+install Guide
User Manual:
Open the PDF directly: View PDF 
.
Page Count: 41
| Download | |
| Open PDF In Browser | View PDF |
ACSI Servo HARDWARE & INSTALLATION GUIDE ACSI – Actuator Control Solutions Integrated Servo Drive/Motor Models: ACSI23-1Q1 ACSI34-1Q1 3604-4185_13_ACSI-Hard+ LINEAR SOLUTIONS MADE EASY Tolomatic reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Information in this document is subject to change without notice. Copyright © 2018 Tolomatic, Inc. All rights Reserved. All brand and product names are trademarks of their respective owners. Information in this document is believed to be accurate at time of publication. 201812171222 Contents Safety Symbols.................................................................................................... 7 EMC Wiring Guidelines......................................................................................... 7 Proper and Safe Use of Product............................................................................ 8 Handling and Unpacking....................................................................................... 8 Product Warnings................................................................................................ 8 Product Overview........................................................................... 9 1.1 The ACSI Motor/Drive/Controller..................................................................... 9 1.2 Capabilities ACSI Motor/Drive/Controller:......................................................... 9 1.3 Additional Capabilities ACSI Motor/Drive/Controller:........................................ 10 1.4 Optional Accessories:................................................................................... 10 Environment, Dimensions & Mounting...................................... 11 2.1 Operating Environment................................................................................. 11 ACSI Operating Conditions........................................................................... 11 2.2 ACSI Motor/Drive/Controller Dimensions........................................................ 11 2.3 Mounting the ACSI Motor/Drive/Controller..................................................... 12 CD & USB Cable........................................................................... 13 3.1 CD & USB Cable.......................................................................................... 13 ACSI Drive Setup.......................................................................... 14 4.1 ACSI Motor/Drive/Controller Basic Setup....................................................... 14 Connections & Cables................................................................. 15 5.1 Connections and Cables Overview................................................................ 15 5.2 Connecting Cables to Motor......................................................................... 16 5.3 I/O Connections and Cables......................................................................... 17 5.4 USB 2.0 Connection..................................................................................... 17 5.5 Ethernet Connection..................................................................................... 18 5.6 Cable Routing.............................................................................................. 18 Specifications & Wiring................................................................ 20 6.1 Digital Inputs............................................................................................... 20 Opto-isolated Digital Input Specifications...................................................... 20 6.2 Digital Outputs............................................................................................. 22 6.3 Analog Input................................................................................................ 23 6.4 Analog Output............................................................................................. 24 6.5 Brake Output............................................................................................... 25 6.6 Input Power................................................................................................. 26 Tolomatic Hardware & Installation Guide: • 3 • ACSI Motor / Drive / Controller CONTENTS I / O Timing Diagrams................................................................... 30 7.1 I/O Timing Diagrams................................................................................... 30 Move Select Logic........................................................................ 32 8.1 Move Select Logic Table.............................................................................. 32 4 Move Commands Mode Logic Table.......................................................... 32 LED Codes and Faults................................................................. 33 9.1 LED Codes................................................................................................. 33 LED Indicators............................................................................................ 33 9.2 Fault Descriptions and Recovery.................................................................. 33 Safety Faults Table...................................................................................... 33 Critical Faults Table..................................................................................... 34 Troubleshooting............................................................................ 35 10.1 Troubleshooting......................................................................................... 35 Troubleshooting Table.................................................................................. 35 Appendix 1.................................................................................... 37 Motor Specs .................................................................................................. 37 Tolomatic Motor Specifications........................................................................... 37 Accessory Parts................................................................................................. 37 Tolomatic ACSI Cables........................................................................................ 37 ACSI Power Supplies.......................................................................................... 38 ACSI Accessories............................................................................................... 38 Appendix 1.................................................................................... 38 Appendix 2.................................................................................... 39 Product Warranty.............................................................................................. 39 CE COMPLIANCE.............................................................................................. 39 Tolomatic Hardware & Installation Guide: • 4 • ACSI Motor / Drive / Controller List of Figures Figure 2-1: ACSI Motor/Drive/Controller Dimensions............................................ 11 Figure 2-2: ACSI may be mounted in any orientation........................................... 12 Figure 2-3: It is important that airflow to the ACSI is unrestricted......................... 12 Figure 4-1: ACSI Motor/Drive/Controller – Basic Setup......................................... 14 Figure 5-1: Input Power Connection.................................................................... 16 Figure 5-2: Shielded wire diagram...................................................................... 16 Figure 5-3: I/O Connection Pinout....................................................................... 17 Figure 5-4: USB 2.0 Connection......................................................................... 17 Figure 5-5: Ethernet Connection for ACSI............................................................ 18 Figure 5-6: Ethernet cable pinouts and connections............................................. 18 Figure 5-7 Cable routing loops for top and side facing connectors....................... 18 Figure 6-1: Digital Input Circuit........................................................................... 20 Figure 6-2: Input Source (switched) Connection................................................... 21 Figure 6-3: Input Source (PNP) Connection......................................................... 21 Figure 6-4: Input Sink (switched) Connection....................................................... 21 Figure 6-5: Input Sink (NPN) Connection............................................................. 21 Figure 6-7: Digital Output Sinking Connection..................................................... 22 Figure 6-8: Digital Output Sourcing Connections................................................. 22 Figure 6-9: Analog Input Equivalent Circuit.......................................................... 23 Figure 6-10: Analog Output Equivalent Circuit..................................................... 24 Figure 6-11: Brake output wiring diagram........................................................... 25 Figure 6-13: Keep Alive wiring diagram............................................................... 26 Figure 6-14: Unregulated Power Supply Configuration with Shunt Regulator......... 29 Figure 7-1: Input Requirement............................................................................ 30 Figure 7-2: System Startup Timing...................................................................... 30 Figure 7-3: Jog Move Timing.............................................................................. 30 Figure 7-4: Absolute & Incremental Move Timing................................................. 31 Figure 7-5: Brake Subsystem Timing.................................................................. 31 Tolomatic Hardware & Installation Guide: • 5 • ACSI Motor / Drive / Controller List of Tables Table 2-1: ACSI operating conditions................................................................... 11 Table 3-1: ACSI Servo Drive Accessories ............................................................ 13 Table 6-7: Input Power pinouts.......................................................................... 16 Table 5-1: I/O Connection Pinout....................................................................... 17 Table 6-1: Controller specifications..................................................................... 20 Table 6-2: Opto-Isolated digital input specifications............................................. 20 Table 6-3: Digital Output Specifications............................................................... 22 Table 6-4: Analog Input Specifications................................................................. 23 Table 6-5: Analog Output Specifications.............................................................. 24 Table 6-6: Brake Output Specifications............................................................... 25 Table 6-8: ACSI Internal Drive Specifications....................................................... 25 Table 6-9: Software Faults Trigger Values............................................................ 26 Table 6-10: ACSI Internal Drive Specifications..................................................... 28 Table 8-1: 4 Move Commands Mode Logic......................................................... 32 Table 9-1: LED Indicators................................................................................... 33 Table 9-2: Safety Faults..................................................................................... 34 Table 9-3: Critical Faults.................................................................................... 34 Table 10-1: Troubleshooting Descriptions............................................................ 36 Table A-1: Tolomatic ACSI Motor Specifications.................................................... 37 Table A-2: Tolomatic ACSI Cables........................................................................ 37 Table A-3: Tolomatic ACSI Power Supplies........................................................... 38 Table A-4: Tolomatic ACSI Accessories................................................................ 38 Table A-5: Tolomatic ACSI motors with brakes & gearboxes.................................. 38 Tolomatic Hardware & Installation Guide: • 6 • ACSI Motor / Drive / Controller Health & Safety Regulations Read through the applicable sections of the manual before the equipment is unpacked, installed or operated. Pay attention to all of the dangers, warnings, cautions and notes stated in the manual. Serious injury to persons or damage to the equipment may result if the information in the manual is not followed. Safety Symbols Items that are specifically marked DANGER!, WARNING!, CAUTION! or NOTE! are arranged in a hierarchical system and have the following meaning: DANGER! Indicates a very hazardous situation which, if not avoided, could result in death or serious injury. This signal word is limited to the most extreme situations. WARNING! Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. CAUTION! Indicates a potentially hazardous situation which, if not avoided, may result in property damage, minor or moderate injury. CAUTION! Indicates hot surfaces. Avoid contact. NOTE! Information that requires special attention is stated here. WARNING! The manufacturer takes no responsibility whatsoever if the equipment is modified or if the equipment is used in any way beyond performance specifications. Unauthorized modifications or changes to the equipment are strictly forbidden and void all warranties. EMC Wiring Guidelines Cable routing It is recommended that the power and signal cables for the ACSI Motor/Drive/Controller be routed as far apart as possible to minimize system noise. NOTE! The standard cables from Tolomatic are not flex rated and have a minimum bend radii of 3.75 inches. Any repeated flexing or excessive bending can result in broken conductors and intermittent faults. Tolomatic Hardware & Installation Guide: • 7 • ACSI Motor / Drive / Controller H E A LT H & S A F E T Y R E G U L AT I O N S Shielding and grounding When cabling the system, high quality braided or foil with braided shielded cables are recommended. The standard cables provided by Tolomatic have a braided shield with drain wires. To minimize EMI and ensure system reliability, all shield drain wires from all cables should be tied to a common earth ground. Proper and Safe Use of Product Protection circuits and external fuses A fuse should be added to the input power line to protect the drive/controller and power supply from any potential over current conditions that may occur. (See Section 6: Specifications & Wiring) Fail Safe Emergency Stop Recommendations A means for a fail safe e-stop is highly recommended to ensure equipment and personal safety. The e-stop should provide a means to remove main power from the actuator to cease and prevent any unwanted motion. Device Damage Prevention To prevent permanent damage to the device, proper care should be taken not to exceed published voltage, current, temperature, and load ratings. In addition, proper wiring should be verified and safety measures checked before applying power. Cables should be de-energized before plugging into the motor to prevent “hot plugging” the cables. Personal Safety During normal operation the motor can become hot. It is highly recommended to display proper safety notices and implement proper safety measures to prevent contact with hot surfaces. CAUTION! Proper ESD measures should be taken to avoid static electricity from contacting the signal and power lines of the integrated motor. Handling and Unpacking When unpacking and handling, care should be taken not to drop the drive/controller as this can damage the motor, connectors and internal electronics. Product Warnings The following precautions should be observed to prevent erratic behavior or damage: • Do not reverse bias the drive power. • Do not apply voltages above the maximum rated voltage. • Do not expose drive to excessive pressure wash or excessive temperature. • Do not disassemble or modify the drive/controller. • Do not plug and unplug cables while the drive is energized. Tolomatic Hardware & Installation Guide: • 8 • ACSI Motor / Drive / Controller Product Overview 1.1 The ACSI Motor/Drive/Controller 1 The ACSI is an all-in-one solution (motor/drive/controller) for cost-effective servo control. Mount to a Tolomatic (or any) electric actuator for a complete motion system. The ACSI can be controlled with simple digital I/O, analog input or robust industrial ethernet. Features: DIGITAL DIGITALI/O I/O • 24 VDC Digital I/O control for flexible easy operating modes • Opto-isolated ANALOG IN/OUT IN/OUT ANALOG M12 CONNECTORS CONNECTORS SUPPLY INPUT SUPPLY • 10 VDC to 60 VDC • Logic & Drive Power • Industry standard connectors USB CONFIGURATION PORT • 0-10VDC or • 4-20 mA QUALITY TESTED • Each ACSI is performance tested at Tolomatic before shipping • Mounted, configured and tested on Tolomatic electric actuators DUAL DUAL ETHERNET PORTS IP65 • Supports Star, Daisy Chain and Ring Topologies Protected against dust and low pressure water jets, limited ingress ETHERNET/IP ETHERNET/IP • AOP: Add on profile • AOI: Add on Instructions • DLR: Device Level Ring PROFINET VIBRATION TESTED TESTED MODBUS TCP • 0 - 500 Hz, 2 G, 3 - Axis, 1 - hour ETHERCAT NEMA 23 & NEMA 34 NEMA • Industry standard NEMA frame sizes 1.2 Capabilities ACSI Motor/Drive/Controller: Modes of Operation: EtherNet/IP, PROFINET, EtherCAT and ModbusTCP – Ethernet based protocols allow controllers to command infinite positioning. Dual Ethernet ports with integral switch for daisy-chaining. Analog Control – one analog input sets motion for a position or velocity move. Configurable for 0-10Vdc or 4-20mA. One analog output gives feedback for the actuator’s position or velocity. Pneumatic – replaces pneumatic valve logic for simple motion using 1-3 digital inputs. Index Move – up to 4 moves selectable with 2 digital inputs. Absolute, force, incremental, jog, velocity, and home move types available. Tolomatic Hardware & Installation Guide: • 9 • ACSI Motor / Drive / Controller 1 : PRODUCT OVERVIEW 1.3 Additional Capabilities ACSI Motor/Drive/Controller: Rotary Actuator setup allows velocity moves and infinite moves in one direction Adjustable motion profile parameters (velocity, accel/decel, force) independently configurable for each move. Zone digital output based on position Force limiting capability Configurable Digital I/O (24Vdc Opto-Isolated, sinking or sourcing) Brake output logic - controlled by drive (low current, 20mA) Ethernet status lights visible for network setup. 1.4 Optional Accessories: Cable Options Tolomatic offers power, I/O, and ethernet cables with circular M12 style connectors. Cables are available in either 3 m, 5 m or 10 meter lengths. Disc and Cable Tolomatic software is always available online at www. tolomatic.com. For your convenience a software CD and optional USB computer connections are available: Tolomatic Motion Interface Software CD (3604-9526) and a 2 meter USB Type micro-B cable (3604-2145) Brake Cable Tolomatic offers a 10 meter brake power cable with drive and brake mating connectors Power Supply Tolomatic offers 2.5, 5 and 10 Amp 48 Vdc power supplies Tolomatic Hardware & Installation Guide: • 10 • ACSI Motor / Drive / Controller Environment, Dimensions & Mounting 2.1 Operating Environment WARNING! 2 Do not expose the drive to pressurized wash-downs or exceed temperature ratings. The ACSI Motor/Drive/Controller is designed to be operated in ambient conditions from 0° – 40°C (32° – 104°F), and humidity from 0 – 90% non-condensing. IP Rating Protection Description Test Method ACSI Operating Conditions IP65 Enclosures Ambient Temperature 77° F, 25° C Nominal Operating Temperature 32°-104° F, 0°-40° C Non Freezing Storage Temperature 32°-158° F, 0°-70° C Humidity 0-90% non-condensing Vibration 0 - 500 Hz, 2G, 3-axis, 1-hour Able to protect against water jets Water projected Test duration: at by a nozzle least 15 minutes (6.3 mm) against enclosure from Water volume: 12.5 litres per minute any direction shall have no Pressure: 30 kPa at harmful effects. distance of 3 m Table 2-1: ACSI operating conditions NOTE! In order to maintain IP65 rating on motor/drive the protective sealing cover must be used on all unused connections. For connections that are used, the cable must be properly be torqued down to 0.6 Nm (5.31 in-lbs) to provide sealing. If the cable can be removed by hand with no tools the cable connection is not properly connected at the proper torque. All caps must be present and properly installed for unused ports to maintain IP65 rating. A B 2.2 ACSI Motor/Drive/Controller Dimensions C D E F A G H J M K E D J (4) B F C N P K B.C. H G L M N L H P in mm in mm in mm in mm in mm in mm in mm in mm in mm in mm in mm in mm in mm in mm ACSI23 2.50 63.5 4.05 102.8 5.73 145.4 0.20 5.2 0.900 22.86 Ø.2500 6.350 0.059 1.50 2.22 56.3 Ø.20 5.2 Ø2.625 66.68 Ø1.500 38.10 1.70 43.1 0.14 3.5 6.63 168.26 Figure 2-1: ACSI Motor/Drive/Controller Dimensions Tolomatic Hardware & Installation Guide: • 11 • ACSI Motor / Drive / Controller ACSI34 2.50 63.5 4.49 113.9 5.92 150.4 0.39 10.0 1.25 31.8 Ø.5000 12.700 0.063 1.60 3.38 85.8 Ø.22 5.5 Ø3.875 98.43 Ø2.875 73.03 1.11 28.3 0.00 0.0 7.17 182.20 2 : E N V I R O N M E N T, D I M E N S I O N S & M O U N T I N G 2.3 Mounting the ACSI Motor/Drive/Controller The ACSI Motor/Drive/Controller can handle mounting in any orientation. Avoid mounting multiple ACSI units with reduced motor-to-motor spacing, airflow may be reduced causing over-temperature conditions. A 2-inch head space is recommended from the drive vents to another surface to ensure the proper ambient temperature ratings are maintained. It is recommended to have a minimum of 1-inch spacing between ACSI motors. This spacing may be relaxed provided the ambient temperature is kept within limits and the motor is mounted to a metal surface suitable enough to heat sink the motor. Figure 2-2: ACSI may be mounted in any orientation Figure 2-3: It is important that airflow to the ACSI is unrestricted Tolomatic Hardware & Installation Guide: • 12 • ACSI Motor / Drive / Controller CD & USB Cable 3.1 CD & USB Cable 3 NOTE: The most current version of software and firmware is always available at www.tolomatic.com Tolomatic offers a CD with Tolomatic Motion Interface software, drive firmware and firmware upgrade utility. A USB type A to micro B cable is also available for connecting your computer to the ACSI drive. ACS Servo Drive Accessories ITEM TOLOMATIC PART NUMBER Tolomatic Motion Interface Software CD 3604-9526 2 meter USB Cable 3604-2145 Table 3-1: It may be convenient to order the CD and USB cable. Tolomatic Hardware & Installation Guide: • 13 • ACSI Motor / Drive / Controller ACSI Drive Setup 4.1 ACSI Motor/Drive/Controller Basic Setup 4 Figure 4-1 shows the simple setup of the ACSI Drive and the necessary cables and power source. USB Type Micro B Cable to PC UR SO ER W PO Power Cable to Power Input on Drive CE I/O Cable from Drive to PLC 10 0 -6 C VD Figure 4-1: ACSI Motor/Drive/Controller – Basic Setup Please refer to the following sections for cable part numbers and wiring specifications: Power Cable: Section 5 USB Cable: Section 5 I/O Cable: Section 5 Ethernet Cable: Section 5 For recommended power supplies: Section 6 Setup Procedures 1. Install drive/controller and actuator into appropriate fixtures. 2. Wire the 10-60 VDC power supply to the drive. See Section 6: Power Supply Selection. 3. Wire input and output signals to the desired logic device. See Section 5: Connections and Cables. 4. Attach USB programming cable and install the Tolomatic Motion Interface software. 5. Configure ACSI Drive. 6. Program the logic device. CAUTION! Motor tuning is required based on the attached load, the default inertia setting is for a medium size load. Running the motor with no load attached requires tuning. Tolomatic Hardware & Installation Guide: • 14 • ACSI Motor / Drive / Controller Connections & Cables 5.1 Connections and Cables Overview 5 All cables for the ACSI Motor/Drive/Controller can be ordered through Tolomatic. When using cables other than those provided by Tolomatic, reference the cable mating connector style to ensure the proper cabling is supplied. WARNING: Cables should be hand tightened only. Do not use tools during installation or over torque cables to connectors. Visually align keys before inserting cable into connector. Maximum install torque allowed is 0.79 N-m (7 in-lbs). USB Micro B for configuration • 3604-2145 I/O Cable Circular M12, A-Code, 12 pin to flying leads: • 3604-2089, 3m • 3604-2090, 5m • 3604-2091, 10m Analog I/O • 1 analog input • 1 analog output • 0-10Vdc or 4-20mA • 12 bit resolution Power Cable Circular M12, T-Code, 4 pin to flying leads: • 3604-2100, 3m • 3604-2101, 5m • 3604-2102, 10m Ethernet Cable Circular M12, D Code to RJ45 • 3604-2092, 3m • 3604-2093, 5m • 3604-2094, 10m Circular M12, D Code to M12, D Code • 3604-2109, 1m • 3604-2095, 3m • 3604-2096, 5m • 3604-2097, 10m Tolomatic Hardware & Installation Guide: • 15 • ACSI Motor / Drive / Controller 5 : CONNECTIONS & CABLES 5.2 Connecting Cables to Motor When coupling the cables (Power, I/O, & Ethernet) the key must be aligned. Do not apply force and rotate to align connector to the key. WARNING: Cables should be hand tightened only. Do not use tools during WARNING! installation or over torque cables to Damage may occur to device if force connectors. Visually align keys before inserting is applied while rotating to align cable into connector. Maximum install torque connector to key on the motor. allowed is 0.79 N-m (7 in-lbs) PIN NUMBERS SIGNAL 1 2 3 4 Drain Wire Main Power 10 to 60 VDC Keep Alive 10 to 60 VDC NC Ground Earth Ground CABLE WIRE COLOR Brown White Blue Black Bare Table 6-7: Input Power pinouts Figure 5-1: Input Power Connection To take advantage of Keep Alive, and not be required to re-home after power up, a second supply is required that is a minimum of 10 VDC with 200mA current capability connected between pin 2 and 4. Mating connector type is M12, T-Code, 4 Position, Female pin NOTE! Keep Alive voltage is not required for the drive to function and may be left disconnected. CONDUCTOR JACKET COPPER CONDUCTOR FOIL WRAP BRAIDED WIRE SHIELD CORE INSULATION OUTER JACKET DRAIN WIRE Figure 5-2: Shielded wire diagram CAUTION! Voltage above the absolute maximum can result in permanent damage to the ACSI internal drive components. WARNING! Do not reverse bias the power inputs. Doing so will result in instant permanent damage to the drive. WARNING! Do not connect or disconnect power cable while drive or power supply is energized. Doing so may cause damage to the drive. Tolomatic Hardware & Installation Guide: • 16 • ACSI Motor / Drive / Controller 5 : CONNECTIONS & CABLES 5.3 I/O Connections and Cables WARNING: Cables should be hand tightened only. Do not use tools during installation or over torque cables to connectors. Visually align keys before inserting cable into connector. Maximum install torque allowed is 0.79 N-m (7 in-lbs) Figure 5-3: I/O Connection Pinout PIN NUMBERS 1 2 3 4 5 6 7 8 SIGNAL Input ISO 1 Input ISO 2 Input ISO 3 Input ISO 4 ISO COM Analog In Analog Out Output 1+ CABLE WIRE COLOR Blue Orange Green Brown Grey White Red Black PIN NUMBERS 9 10 11 12 Shell SIGNAL Output 1Output 2+ Output 2*Analog GND Braid CABLE WIRE COLOR Yellow Purple Pink Light Blue Bare Table 5-1: I/O Connection Pinout Mating connector type is M12, A-Code, 12 Position, Male pin NOTE! The analog GND is shared with the power cable GND internal to the ACSI, it should be connected to a high impedance or isolated source. Failing to do so will sink current from the motor driver potentially causing a noisy signal. 5.4 USB 2.0 Connection The USB port connector is a standard micro B type connector. Figure 5-4: USB 2.0 Connection NOTE! If access to this connector is limited in the application environment a 90° angle connector can be used for USB micro B. Tolomatic Hardware & Installation Guide: • 17 • ACSI Motor / Drive / Controller 5 : CONNECTIONS & CABLES NOTE! To maintain IP65 rating, always replace the protective cover when the micro USB connector is not in use. 5.5 Ethernet Connection The following parts have two Ethernet ports with a built-in switch to be used for daisy chaining. ACSI Servo Drive/Controller, EtherNet/IP (AMI3) ACSI Servo Drive/Controller, Modbus TCP (AMI4) ACSI Servo Drive/Controller, PROFINET (AMI6) ACSI Servo Drive/Controller, EtherCAT (AMI5) Figure 5-5: Ethernet Connection for ACSI NOTE! LED functions are described in section 9.1 LED codes and also in the EtherNet/IP guide (3600-4168), PROFINET guide (3600-4196) and Modbus TCP guide (3600-4169). DRIVE VIEW PIN NUMBER 1 2 3 4 FUNCTION Transmit Port (+) Data Terminal RX (+) Data Terminal TX (-) RX (-) Figure 5-6: Ethernet cable pinouts and connections Mating connector type is M12, D-Code, 4 Position, Male pin NOTE: Internal testing has shown that unmanaged switches are unreliable in PROFINET topologies. Tolomatic recommends only using managed switches when required. 5.6 Cable Routing Over time, liquid contaminants such as oil and cleaning solutions may accumulate on the cables and in the connectors if they are an exposed type. To minimize the introduction of contaminants into the connector, route the cables so that there is a loop in the cable just prior to its attachment to the connector. Tolomatic Hardware & Installation Guide: • 18 • ACSI Motor / Drive / Controller 5 : CONNECTIONS & CABLES In Figure 5-7 proper cable looping is shown for connectors located on the top or side of the unit. Units mounted with connectors on the bottom surface require no cable looping. Top Mount Loop Side Mount Loop Bottom Mount No Loop Required Figure 5-7 Cable routing loops for top and side facing connectors Ethernet Cable The selection of cables has a profound impact on network performance and reliability. Selecting the correct cable requires an understanding of the environment where the cable is installed. Due to high data rate and reliability considerations, at the minimum, Cat5e cables should be used with the ACSI Drive. If the cables are made on site, they must be tested to meet performance criteria set according to TIA/EIA -568-B standard. This cable definition is the general cable requirements for copper and fiber cabling installations. Ethernet Cable Length The following information regarding cable length is from commercial building telecommunications cabling standard ANSI/TIA/EIA-568-B.1. The maximum length of a cable segment is 100 meters (328 ft). Category 5e cable is capable of transmitting data at speeds up to 1000 Mbps – 1Gbps (ACSI has a maximum speed of 100 Mbps). The specifications for 10BASE-T networking specify a 100-meter length between active devices. This allows for 90 meters of fixed cabling, two connectors, and two patch leads of 5 meters, one at each end. Tolomatic Hardware & Installation Guide: • 19 • ACSI Motor / Drive / Controller Specifications & Wiring MOTOR CONTROL SECTION Communication ports Commutation Method Field Oriented Commutation USB 6 Ethernet USB Type USB device only PWM Mode Centered USB Speed USB Full Speed PWM Efficiency >90% Ethernet Speed 10/100M (Auto Negotiate) PWM Switching Frequency 12 KHz Ethernet Duplex Full/Half-Duplex (Auto PWM Ripple Frequency 24 KHz Minimum PWM pulse duration 4.16uS Negotiate) Dead Band 50ns - 500ns Velocity Loop Frequency 1.2 KHz ENCODER SECTION Type Magnetic Counts 4096 COMMUNICATION SECTION Table 6-1: Controller specifications 6.1 Digital Inputs Specifications The ACSI Motor/Drive/Controller has a total of 4 opto-isolated digital inputs. These digital inputs are optoisolated from the controller’s drive circuitry and can be wired either as sinking or sourcing. All of the digital inputs have a common return. NOTE: ACSI supports configuration of a digital input as a limit switch. This configuration requires the use of ‘Normally Open’ switches INPUT ACSI DRIVE DRIVE ACS 5K 2K INPUT COMMON Figure 6-1: Digital Input Circuit INPUT CIRCUIT DIAGRAM Opto-isolated Digital Input Specifications Parameter Value Units Input Voltage Range 0 to 28 VDC On State Voltage Range 16 to 28 VDC Off State Voltage Range 0 to 5 VDC On State Current: 16VDC (minimum) 1.9 24VDC (nominal) 3.4 28VDC (maximum) 4.2 mA Nominal Input Impedance (24V) 7 KΩ Off State Current (maximum) 0.4 mA Update Rate (maximum) 2 ms Table 6-2: Opto-Isolated digital input specifications Tolomatic Hardware & Installation Guide: • 20 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G Typical Wiring Diagrams + INPUT 24V POWER SUPPLY - ACSI DRIVE INPUT COMMON Figure 6-2: Input Source (switched) Connection + INPUT - INPUT COMMON 24V POWER SUPPLY ACSI DRIVE Figure 6-3: Input Source (PNP) Connection + INPUT COMMON ACSI DRIVE 24V POWER SUPPLY - INPUT Figure 6-4: Input Sink (switched) Connection + INPUT COMMON - INPUT ACSI DRIVE 24V POWER SUPPLY Figure 6-5: Input Sink (NPN) Connection Tolomatic Hardware & Installation Guide: • 21 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G 6.2 Digital Outputs 6.2.1 Specifications The ACSI Drive has two digital outputs. These digital outputs are opto-isolated from the drive circuitry and can be configured for sinking or sourcing. The outputs are protected against over current and short circuit conditions. If an over current condition is present, the output current is limited to 80 mA. ACSI DRIVE DRIVE ACS 33 OUT + OUT - Figure 6-6: Output Circuit OUTPUT CIRCUIT Digital Output Specifications Parameter Value Switched Voltage (nominal) 24 Output Voltage drop (20mA) 2 Continuous Current (max) 20 Fold Back Current 80 Update Rate (10KOhm Load) 2 Output Leakage Current 30 Units V V mA mA ms uA Table 6-3: Digital Output Specifications 6.2.2 Typical Wiring Diagrams + OUTPUT + LOAD 24V POWER SUPPLY OUTPUT - ACSI DRIVE - Figure 6-7: Digital Output Sinking Connection + OUTPUT + OUTPUT - 24V POWER SUPPLY - ACSI DRIVE LOAD Figure 6-8: Digital Output Sourcing Connections Tolomatic Hardware & Installation Guide: • 22 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G 6.3 Analog Input Specifications The ACSI Drive comes with one analog input. The input is configurable through software to be 0-10V or 4-20mA input. The analog input is referenced to the analog ground pin. Parameter Voltage Mode Input Voltage (min) Voltage Mode Input Voltage (max) Current Mode Input Current (min) Current Mode Input Current (max) Current Mode Input impedance (nom) Resolution Value 0 10 0 25 500 12 Units V V mA mA Ohm Bits Table 6-4: Analog Input Specifications Equivalent Circuit ANALOG DEVICE + - ANALOG INPUT ANALOG GND POWER CABLE GND DO NOT CONNECT TO POWER GND TO REDUCE SIGNAL NOISE Figure 6-9: Analog Input Equivalent Circuit IMPORTANT! Devices sharing analog inputs and outputs must have their grounds connected together for proper and reliable operation. Tolomatic Hardware & Installation Guide: • 23 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G 6.4 Analog Output Specifications The ACS Drive can have one analog output capable of 0-10V or 4-20mA operation (on selected models). The analog output is referenced to the analog ground pin. Parameter Output Voltage (min) Output Voltage (max) Output Current (min) Output Current (max) Resolution Value 0 10 0 20 12 Units V V mA mA Bits Table 6-5: Analog Output Specifications Equivalent Circuit ANALOG DEVICE + ANALOG OUTPUT - ANALOG GND POWER CABLE GND Figure 6-10: Analog Output Equivalent Circuit IMPORTANT! Devices sharing analog inputs and outputs must be referenced to the analog GND pin for proper and reliable operation. IMPORTANT! The analog GND is shared with the power cable GND internal to ACSI it should be connected to a high impedance or isolated source or else it will sink current from the motor driver potentially causing a noisy signal. Tolomatic Hardware & Installation Guide: • 24 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G 6.5 Brake Output The brake output is a 20mA low current output with braking logic controlled by the drive. It obeys the timing configured using Tolomatic Motion Interface Software. The brake output requires hardware to interface it to the higher currents required to operate a brake. Specifications Parameter Value Input Voltage 24 Continuous Current (max.) 20 Output Voltage Drop (20 mA) 2 Units V mA V Table 6-6: Brake Output Specifications Brake Output Wiring Diagram CABINET Brake + 24V BRAKE CABLE Out + BRAKE ACSI I / O CABLE (20 mA max) 24V RELAY Out - Brake - 24V 24V, > 500 mA 0V 0V Figure 6-11: Brake output wiring diagram 6.6 Input Power Drive Specifications ACSI Internal Drive Specifications Parameter Value Current - Continuous (max) 10 Current - Peak (max) 20 1 Over Voltage 65 2 9 Under Voltage 1 60 Maximum Operating Voltage Logic Current Draw Maximum (24V) 200 Units APK APK V V V mA Table 6-8: ACSI Internal Drive Specifications 1 Drive will fault at 65V; any voltage above the absolute max voltage can result in permanent damage. 2 Drive will fault below 9V. Tolomatic Hardware & Installation Guide: • 25 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G Software Fault - Overvoltage and Undervoltage Trigger Values Configured Motor Voltage Undervoltage Trigger Value Overvoltage Trigger Value 12 *10 18 24 14.4 36 36 21.6 54 48 28.8 *65 *NOTE: The absolute minimum/maximum voltage will over-ride the calculated voltage threshold of 0.6x for undervoltage and 1.5 for overvoltage Table 6-9: Software Faults Trigger Values Keep Alive not required Providing 10 to 60Vdc to keep alive maintains the drive logic memory when main power is de-energized; which stops all motion; the drive keeps all control logic active and position information. Keep Alive Wiring Diagram 10 - 60 AC KEEP ALIVE 10 - 60 AC MAIN POWER + + - DIGITAL CIRCUITRY & LOGIC MOTOR DRIVE Figure 6-13: Keep Alive wiring diagram Power Supply Sizing Guidelines Both unregulated and regulated power supply can be used to power the ACSI Drive. Unregulated supply can be a better choice depending on the application as they have a larger output capacitance. This characteristic makes an unregulated power supply a better energy absorption source. Unregulated power supply is a good choice for applications that require aggressive acceleration it can provide peak currents without faulting and will not trip on high voltage. However, unregulated power supply does not have over voltage protection and care must be taken not to exceed the maximum voltage of the actuator by using a shunt regulator and proper fusing to prevent excessive loading of the supply. Regulated supply can be used to power the ACSI drive, but additional measures may need to be taken. To prevent regenerative energy from reaching the supply, a blocking diode and capacitor, appropriately sized for the application, should be installed. In addition, a shunt regulator may be needed to dissipate excess energy. A shunt regulator is available Part Number 2180-1163. The ACSI Drive is intended to run off of an isolated DC power source. The power supply required will depend on the application. A 48V supply will allow the actuator to operate at maximum speed. A 24V supply will Tolomatic Hardware & Installation Guide: • 26 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G result in approximately half the rated velocity. Input current will depend on the actuator power needed in the installation. If operating more than one actuator on the same power supply, add the required power supply rating for each actuator. Use the following tables to find the required power for a supply. These are measured values, please add 15 - 25% margin for implementation. SPEED (RPM) 200 400 600 800 1000 1200 1400 1600 1800 2000 2200 2400 2600 2800 3000 3200 3400 3600 3800 SPEED (RPM) SPEED (RPM) 200 400 600 800 1000 1200 1400 1600 1800 SPEED (RPM) ACSI Nema 23 - Input Power Supply WATTS TORQUE (in-lb) 1.7 3.5 5.2 6.9 8.6 10.4 11 20 36 58 77 106 15 23 26 31 37 42 46 54 60 62 69 76 80 90 100 102 108 130 0.19 29 42 49 58 69 77 86 99 108 115 127 134 144 157 165 173 197 49 66 77 91 106 118 132 149 163 173 192 197 216 230 240 254 269 0.40 0.59 72 93 108 126 145 163 180 197 221 235 255 269 293 307 331 360 96 125 144 168 189 211 233 259 284 300 326 346 374 389 418 0.78 0.97 TORQUE (N-m) 12.1 137 13.8 173 125 158 182 206 235 264 293 312 348 370 403 427 456 480 514 168 206 230 262 293 326 355 389 418 451 490 514 552 590 202 250 288 322 341 384 418 456 490 528 566 600 634 1.18 1.37 1.56 21 139 24 182 158 211 254 302 370 427 451 197 259 312 374 437 504 254 322 374 446 542 590 2.03 2.37 2.71 ACSI Nema 34 - Input Power Supply WATTS TORQUE (in-lb) 3 6 9 12 15 18 19 29 48 67 82 110 26 38 48 58 72 82 96 110 0.34 48 62 82 96 120 139 154 173 0.68 72 96 120 149 182 206 230 269 1.02 101 139 163 202 235 274 307 120 163 206 250 293 348 394 1.36 1.69 TORQUE (N-m) Calculating Wattage of Power Supply Watts = I(amps-rms) x V(volts) / Motor Efficiency Tolomatic Hardware & Installation Guide: • 27 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G Where I = Peak Application Torque (in-lbs) / Kt (in-lbl/Arms) And V = Ke(V/krpm) x Peak Application Speed(rpm) / 1000 Motor Efficiency ~= 0.7 Watts = (Peak Application Torque / Kt) x (Ke x Peak Application Speed) / (1000 x 0.7) Tolomatic Motor Part Number Config. Code Max Speed Peak Torque Kt Ke RPM in-lbs in-lb/amp-rms Vp/krpm Max Peak Supply Power* 3604-9740 3604-9746 3604-9752 AMI2C1A1 AMI3C1A1 AMI4C1A1 3850 13.8 0.836 10 825 3604-9770 3604-9776 3604-9782 AMI2D1A1 AMI3D1A1 AMI4D1A1 2050 25.0 1.39 16.55 744 *Calculation uses peak torque and rated speed Table 6-10: ACSI Internal Drive Specifications Example: If we size a power supply for an AMI2C1A1 motor where the max application speed is 2000rpm and max torque reached in the application is 7 in-lbs, we can calculate the power supply watts needed: Watts = (7/0.836)x(10x2000)/(1000*0.7) = 239W It is never a good idea to buy a power supply that just meets the drive’s wattage requirements. To avoid nuisance over-current shut downs a power supply power rating should be at least 25% greater than the calculated value. WARNING! All installations should provide a means for a hardware emergency stop that removes power from the drive in an emergency condition. The drive emergency stop function should not be relied on when safety is required. It is recommended to disconnect only the + bus power and keep the power ground line connected. Suggested Power Supplies: Switching Power Supply: Manufacturer Tolomatic Part No. Specs Meanwell 3604-2147 48V, 2.5A, 120 W 3604-2148 48V, 5A, 240 W 3604-2149 48V, 10A, 480 W Unregulated Power Supply: Bus Fuse: International Power IP500U48 15 Amp, 125V or equivalent or sized for application Logic Power Fuse: 2 Amp, 125V or equivalent Tolomatic Hardware & Installation Guide: • 28 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G A shunt regulator (#2180-1163) may be needed to dissipate excess energy. FUSE KEEP ALIVE POWER SUPPLY 24 to 48VDC UNREGULATED POWER SUPPLY KEEP ALIVE + - FUSE E-STOP SHUNT REGULATOR + - +24-48VDC POWER POWER GROUND MOTOR FLANGE OR CABLE SHIELD / SHIELD GROUND Figure 6-14: Unregulated Power Supply Configuration with Shunt Regulator Tolomatic Hardware & Installation Guide: • 29 • ACSI Motor / Drive / Controller 6 : S P E C I F I C AT I O N S & W I R I N G Tolomatic Hardware & Installation Guide: • 30 • ACSI Motor / Drive / Controller I / O Timing Diagrams 7.1 I/O Timing Diagrams 7 The opto-isolated digital inputs require a minimum of 2ms of time to guarantee that the input signal is registered by the drive. This is an important consideration to take into account, especially if limit switches are used. If limit switches are used, careful consideration should be used to prevent missed triggering due to high velocities. Output timing assumes 10K Ω load. Additional software filtering of digital inputs as configured by TMI will increase response time. 1.15ms Avg 1.15ms Avg INPUT Figure 7-1: Input Requirement INPUT REQUIREMENT INPUT MAIN POWER 2.67s max SYSTEM STATUS SYSTEM STARTUP SYSTEM READY Figure 7-2: System Startup Timing SYSTEM STARTUP TIMING SOFTWARE - STOP H L 1.15 ms Avg ENABLE 1.49 ms INPUT START MOTION MOTION SELECT LINES 1.15 ms Avg 1.15 ms Avg 1.15 ms Avg OUTPUT MOTION COMPLETE Figure 7-3: Jog Move Timing JOG TIMING Tolomatic Hardware & Installation Guide: • 31 • ACSI Motor / Drive / Controller 7 : I / O TIMING DIAGRAMS H SOFTWARE L - STOP 1.15 ms Avg 1.15 ms Avg ENABLE INPUT 1.15 ms Avg START MOTION 1.15 ms Avg 1.15 ms Avg MOTION SELECT LINES 1.15 ms Avg MOTION COMPLETE OUTPUT Figure 7-4: Absolute & Incremental Move MOTION Timing TIMING START DRIVE DISABLED Max. Brake Delay DISABLE DETECTED VELOCITY Max. Decel. Max. Brake Velocity BRAKE ENABLED OUTPUT MOTOR ENABLED Enable Brake Response Delay DRIVE ENABLED ENABLE DETECTED Max. Brake Delay BRAKE ENABLED OUTPUT MOTOR ENABLED Disable Brake Response Delay Figure 7-5: Brake Subsystem Timing Move Timing Rules 1. While the Motion Complete signal is low, the drive will ignore Start Motion pulses and Motion Selection lines. 2. If the enable signal is low or Software Stop signal is high, the drive will ignore start motion pulses. Tolomatic Hardware & Installation Guide: • 32 • ACSI Motor / Drive / Controller Move Select Logic 8.1 Move Select Logic Table 8 The Index Move Mode require digital inputs to select the desired move for execution. The digital inputs are called Move Select 1 and Move Select 2 in the digital input map. To select the desired move command refer to the logic table below. NOTE 1: MS# stands for Move Select # NOTE 2: 1 = On; 0 = Off 4 Move Commands Mode Logic Table MOVE MS1 MS2 1 2 3 4 0 1 0 1 0 0 1 1 Table 8-1: 4 Move Commands Mode Logic Tolomatic Hardware & Installation Guide: • 33 • ACSI Motor / Drive / Controller LED Codes and Faults 9.1 LED Codes LED Indicators 9 Off Motor is not powered Green, On Motor is powered Red, On and Solid A critical fault has occurred Red, On and Blinking A safety fault has occurred Green / Red toggling Firmware Upgrade Mode Table 9-1: LED Indicators RUN / NET ERR / MOD Protocol Specific. Information can be found in protocol user guides To clear a fault, the enable input needs to be lowered, and then raised. Faults can also be cleared by the PC software. Faults that result in a blinking red LED indicator, are cleared automatically once the fault condition is no longer present. 9.2 Fault Descriptions and Recovery Faults are divided into Safety Faults and Critical Faults. Note: To clear faults; PLC needs to lower/raise the enable digital input or TMI software user must press the Enable button on the motion manager Safety Faults are configurable. If the fault is configured as a stop motion, the fault will be cleared automatically once the fault condition is no longer present. If a safety fault is enabled and configured for disable motor, the fault will be latched until it is cleared in the same manner as the critical faults described at left. All Critical Faults will disable the motor when they occur. To clear these faults, the fault condition cannot be present and the enable input line must be lowered and then raised to proceed with motion. Safety Faults Table Positive Limit Switch Positive limit switch has been reached. If configured to stop motion, motion will be allowed in the reverse direction. The fault will be cleared once the positive limit switch input is no longer active and there is motion in the negative direction. Tolomatic Hardware & Installation Guide: • 34 • ACSI Motor / Drive / Controller 9 : L E D I N D I C AT O R S & FA U LT S Safety Faults Table Negative Limit Switch The negative limit switch has been reached. If configured as stop motion, motion will be allowed in the positive direction. The fault will be cleared once the negative limit switch input is no longer active and there is motion in the positive direction. Position Error If an encoder is present, the position error fault can be enabled. If encoder position and commanded position differ by a larger magnitude than the defined position error, the position error fault will be activated. If fault is configured as a stop motion, fault will be cleared on next move command. Software Stop If an input is configured as an Software Stop and fault is enabled, this fault will be activated when the signal level on the pin is high. This fault is configured as a stop motion, it will be cleared once the Software Stop input is lowered. Motion will not be allowed until Software Stop has been cleared. I2T Limit Drive power usage greater than max allowed Table 9-2: Safety Faults Critical Faults Table Feedback Error Feedback device is malfunctioning. Over Current If a short circuit occurs from output to ground, this fault will be triggered. Drive Over Temp Drive temperature is greater than the maximum allowed temperature (75˚C). Drive Over Voltage Main power voltage exceeds the threshold defined in hardware manual: “Input Power” section.. Drive Under Voltage Main power voltage below the threshold defined in hardware manual: “Input Power” section. Flash Error Flash memory checksum error or firmware version mismatch Short Circuit Short circuit to ground condition on motor Watchdog Timeout Firmware did not respond in time Table 9-3: Critical Faults Tolomatic Hardware & Installation Guide: • 35 • ACSI Motor / Drive / Controller Troubleshooting 10.1 Troubleshooting 10 Troubleshooting the ACSI Motor / Drive / Controller Troubleshooting Table SYMPTOM / TROUBLE No communication to drive POSSIBLE CAUSE / RESOLUTION 1. Check power connection. 2. Verify that the communication cable is plugged in securely. 3. Verify that USB drivers are up-to-date. (TMI → Help → Install Drivers) 4. Try a different computer. 5. If communication fails when enabling the motor, then the motor tuning needs to be adjusted. Actuator cannot move load 1. The load is too large. 2. There is too much friction. 3. Side load is excessive. 4. Power supply does not have enough current capability. 5. Current limits are set too low. Drive is overheating 1. Ambient temperature is too high. 2. Cooling is insufficient. 3. Operating point is above where it was sized in Tolomatic sizing software. I2T Fault 1. Graph I2T accumulator value using the TMI scoping tool. 2. Graph actual current using TMI scoping tool. 3. Adjust acceleration, deceleration and velocity of move curing spikes in I2T accumulator and actual current. 4. Adjust dwells between moves to allow for I2T accumulator to reset to 0. Actuator is operating erratically 1. Determine if power supply has enough current. 2. Check to see if any faults are being generated, controller logic may be powering through faults. 3. Verify that the drive has been configured properly for the actuator. 4. Adjust tuning (bus voltage and inertia slider bar). No response from drive in I/O 1. Verify the enable signal is on. mode 2. Verify that all of the I/O are configured properly. 3. Verify wiring to the actuator and drive. 4. Disconnect from software or select digital input controlled radio button on mode setup tab. Red and Green LEDs blink 1. Cycle power to drive. alternately 2. Verify Firmware Upgrade completed without interruption. No Network Communication 1. Check Network cables. 2. Verify Network cable is plugged in securely. 3. Incorrect combination of IP address, subnet mask & gateway. Check with your network administrator. Tolomatic Hardware & Installation Guide: • 36 • ACSI Motor / Drive / Controller 10 : T R O U B L E S H O O T I N G Troubleshooting Table SYMPTOM / TROUBLE Audible noise from motor when TMI is connected over USB POSSIBLE CAUSE / RESOLUTION 1. Running TMI and connecting using a virtual server has been known to cause USB connection issues. It is not recommended to control ACS drives using a virtual machine 2. Check different USB ports. 3. Check different computers. 4. Check different USB cables. Drive fails to connect to PLC 1. Verify no unmanaged switch in topology. 2. Try daisy-chaining drives instead of star topology. 3. Switch Ethernet ports on drive that is failing to connect. Table 10-1: Troubleshooting Descriptions Tolomatic Hardware & Installation Guide: • 37 • ACSI Motor / Drive / Controller Appendix 1 Motor Specs There are currently 2 different motor frame sizes (Nema 23, and Nema 34) available from Tolomatic for the ACSI Motor / Drive / Controller, each available in 2 torque ratings. Each motor has an integrated 1024 line (4096 count) encoder with A/B, index and hall signals. Tolomatic Motor Specifications ACSI N23 ACSI N23 ACSI N34 ACSI N34 Description Ethernet Basic Ethernet Basic Motor Codes AMI3C1A1 AMI4C1A1 AMI2C1A1 AMI4D1A1 AMI2D1A1 AMI3D1A1 Holding Torque in-lbs 6.5 7.8 15.6 17.9 Peak Torque in-lbs 13.8 13.8 25.0 25.0 No Load Speed, 48V RPM 3850 3850 2050 2050 Rated Torque in-lbs 4.9 5.4 12.0 13.6 Rated Speed RPM 3500 3500 1750 1750 KT in-lbs/A 0.836 0.836 1.39 1.39 KE V/kRPM 10 10 16.55 16.55 lb-in 0.075 0.075 0.546 0.546 8 8 8 8 Rotor inertia 2 Motor poles Table A-1: Tolomatic ACSI Motor Specifications Accessory Parts Tolomatic ACSI Cables PART NUMBER DESCRIPTION LENGTH CONNECTOR 1 CONNECTOR 2 3604-2089 CABLE, 3M, M12 A Code 12P/M, Digital I/O 3 Meter M12, 12 Pin Flying leads 3604-2090 CABLE, 5M, M12 A Code 12P/M, Digital I/O 5 Meter M12, 12 Pin Flying leads 3604-2091 CABLE, 10M, M12 A Code 12P/M, Digital I/O 10 Meter M12, 12 Pin Flying leads 3604-2092 CABLE, 3M, M12 D Code 4P/M TO ETHERNET RJ45 3 Meter M12, Ethernet RJ45, Ethernet 3604-2093 CABLE, 5M, M12 D Code 4P/M TO ETHERNET RJ45 5 Meter M12, Ethernet RJ45, Ethernet 3604-2094 CABLE, 10M, M12 D Code 4P/M TO ETHERNET RJ45 10 Meter M12, Ethernet RJ45, Ethernet 3604-2109 CABLE, 1M, M12 D Code 4P/M TO ETHERNET M12 1 Meter M12, Ethernet M12, Ethernet 3604-2095 CABLE, 3M, M12 D Code 4P/M TO ETHERNET M12 3 Meter M12, Ethernet M12, Ethernet 3604-2096 CABLE, 5M, M12 D Code 4P/M TO ETHERNET M12 5 Meter M12, Ethernet M12, Ethernet 3604-2097 CABLE, 10M, M12 D Code 4P/M TO ETHERNET M12 10 Meter M12, Ethernet M12, Ethernet 3604-2100 CABLE, 3M, M12 T Code 4P/F, POWER 3 Meter M12, 4 Pin Flying leads 3604-2101 CABLE, 5M, M12 T Code 4P/F, POWER 5 Meter M12, 4 Pin Flying leads 3604-2102 CABLE, 10M, M12 T Code 4P/F, POWER 10 Meter M12, 4 Pin Flying leads Table A-2: Tolomatic ACSI Cables Tolomatic Hardware & Installation Guide: • 38 • ACSI Motor / Drive / Controller Appendix 1 ACSI Power Supplies PART NUMBER DESCRIPTION VOLTAGE 3604-2147 POWER SUPPLY,48VDC,120W,2.5A 48VDC 3604-2148 POWER SUPPLY,48VDC,240W,5A 48VDC 3604-2149 POWER SUPPLY,48VDC,480W,10A 48VDC Table A-3: Tolomatic ACSI Power Supplies ACSI Accessories PART NUMBER DESCRIPTION 2180-1163 SHUNT REGULATOR 50W, 24-80VDC 3604-2157 10 M BRAKE CABLE 3604-2145 CABLE,USB,2M,A MALE-MICRO B MALE Table A-4: Tolomatic ACSI Accessories DESCRIPTION Drive / Controller Integrated Servo Basic (I/O only) EtherNet/IP DLR Modbus/TCP EtherCAT Profinet I/O C1 D1 A B 1 2 3 4 5 6 7 3:1 Gearhead 6 3:1 Gearhead, 23 frame output 5 5:1 Gearhead, 23 frame output 10:1 Gearhead, 23 frame output 4 10:1 Gearhead 3 5:1 Gearhead 2 No redcution I GEARHEAD Incremental encoder AM Nema 34 CODE ENCODER / BRAKE Incremental encoder, inline brake FRAME SIZE PROTOCOL Nema 23 TOLOMATIC MOTOR Table A-5: Tolomatic ACSI motors with brakes & gearboxes Tolomatic Hardware & Installation Guide: • 39 • ACSI Motor / Drive / Controller Appendix 2 Product Warranty Tolomatic, Inc. warrants all products manufactured by Tolomatic to be free from defects in material and workmanship for a period of one year from date of shipment by Tolomatic. If, within this period, any product is proven to be defective by Tolomatic, the product will either be repaired or replaced at Tolomatic’s discretion. This warranty shall not apply to: 1. Products not manufactured by Tolomatic. Warranty of these products will conform and be limited to the warranty actually extended to Tolomatic by its supplier. 2. Damage to the product caused by circumstances beyond the control of Tolomatic, such as negligence, improper maintenance, or storage. 3. This warranty shall be void in the case of: any repairs or alterations made to the product by parties other than Tolomatic. The foregoing warranties are exclusive and in lieu of all other express and implied warranties. Tolomatic is not subject to any other obligations or liabilities for consequential damages. CE COMPLIANCE The ACSI Motor/Drive/Controller is certified to meet CE emission standard EN 55011:2009/A1:2010 Industrial, scientific and medical equipment - Radio-frequency disturbance characteristics - Limits and methods of measurement. CE immunity standard EN 61000-6-1:2007 Electromagnetic compatibility (EMC) -- Part 6-1: Generic standards - Immunity for residential, commercial and light-industrial environments. The above emission and immunity standards can only be guaranteed if high quality shielded cables are used and proper grounding techniques are applied to the installation. Tolomatic recommends that only trained and qualified personnel familiar with sound industrial wiring techniques perform the installation. If the ACSI Motor/Drive/Controller is to be included in a system that intends to have emissions and immunity certification, Tolomatic recommends that ferrite suppression cores such the Fair-Rite 0431164281 (or similar) be attached to all cables leading to and from the ACSI Motor/Drive/Controller. Tolomatic Hardware & Installation Guide: • 40 • ACSI Motor / Drive / Controller The Tolomatic Difference Expect More From the Industry Leader: INNOVATIVE PRODUCTS FAST DELIVERY ACTUATOR SIZING YOUR MOTOR HERE LIBRARY SUPERIOR SERVICE Tolomatic designs and builds the best standard products, modified products & unique custom products for your challenging applications. The fastest delivery of catalog products... Electric products are built-to-order in 15 or 20 days; Pneumatic & Power Transmission products in 5 days. Online sizing that is easy to use, accurate and always up-to-date. Find a Tolomatic electric actuator to meet your requirements. Match your motor with compatible mounting plates that ship with any Tolomatic electric actuator. Easy to access CAD files available in the most popular formats to place directly into your assembly. Our people make the difference! Expect prompt, courteous replies to all of your application and product questions. Also Consider These Other Tolomatic Products: Electric Products Rod & Guided Rod Style Actuators, High Thrust Actuators, Screw & Belt Drive Rodless Actuators, Motors, Drives and Controllers “Foldout” Brochure #9900-9074 3604-4185_13_ACSI-Hard+Install-Guide Pneumatic Products Rodless 201812171222 Cylinders: Band Cylinders, Cable Cylinders, Magnetically Power Transmission Products Coupled Cylinders/Slides; Guided Rod Cylinder Slides Gearboxes: Float-A-Shaft®, Slide-Rite®; Visit www.tolomatic.com for the most up-to-date technical information Disc Cone Clutch; Caliper Disc Brakes “Foldout”http://www.beckhoff.com Brochure #9900-9076 EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. “Foldout” Brochure #9900-9075 All product names are trademarks or registered trademarks of their respective owners Certified site: Hamel, MN USA 3800 County Road 116 Hamel, MN 55340, USA Phone: (763) 478-8000 Fax: (763) 478-8080 Toll-Free: 1-800-328-2174 sales@tolomatic.com www.tolomatic.com CHINA Tolomatic Automation Products (Suzhou) Co. Ltd. (ServoWeld® inquiries only) No. 60 Chuangye Street, Building 2 Huqiu District, SND Suzhou Jiangsu 215011 - P.R. China Phone: +86 (512) 6750-8506 Fax: +86 (512) 6750-8507 ServoWeldChina@tolomatic.com All brand and product names are trademarks or registered trademarks of their respective owners. Information in this document is believed accurate at time of printing. However, Tolomatic assumes no responsibility for its use or for any errors that may EUROPE Tolomatic Europe GmbH Elisabethenstr. 4 & 8 D-65428 Rüsselsheim Germany Phone: +49 6142 17604-0 EuropeSales@tolomatic.com appear in this document. Tolomatic reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Information in this document is subject to change without notice. Visit www.tolomatic.com for the most up-to-date technical information Tolomatic Hardware & Installation Guide: • 41 • ACSI Motor / Drive / Controller
Source Exif Data:
File Type : PDF File Type Extension : pdf MIME Type : application/pdf PDF Version : 1.6 Linearized : Yes Create Date : 2018:12:17 12:22:50-06:00 Creator : Adobe InDesign CC 13.1 (Macintosh) Modify Date : 2018:12:17 13:44:24-06:00 Language : en-US XMP Toolkit : Adobe XMP Core 5.6-c016 91.163616, 2018/10/29-16:58:49 Metadata Date : 2018:12:17 13:44:24-06:00 Creator Tool : Adobe InDesign CC 13.1 (Macintosh) Instance ID : uuid:d9e082bc-17b6-4bc9-bfa7-eec9d01c875b Original Document ID : xmp.did:825c62df-6f5d-4713-8ddf-4423a0e3f7e9 Document ID : xmp.id:a961a4d8-5c9d-4506-9048-af1e2e57342d Rendition Class : proof:pdf Derived From Instance ID : xmp.iid:e98d38d2-8384-4367-9be6-ea3681919c7a Derived From Document ID : xmp.did:f1b22265-a59b-4182-8002-bdc8a844cad0 Derived From Original Document ID: xmp.did:825c62df-6f5d-4713-8ddf-4423a0e3f7e9 Derived From Rendition Class : default History Action : converted History Parameters : from application/x-indesign to application/pdf History Software Agent : Adobe InDesign CC 13.1 (Macintosh) History Changed : / History When : 2018:12:17 12:22:50-06:00 Format : application/pdf Producer : Adobe PDF Library 15.0 Trapped : False Slug Family : Helvetica Neue Slug Version : 13.0 Slug Outline File Size : 0 Slug Kerning Checksum : 0 Slug Foundry : Linotype AG Slug Font Kind : TrueType Collection Slug Checksum : 782961443 Slug Post Script Name : HelveticaNeue-Bold Slug Font Sense 12 Checksum : 782961443 Page Layout : SinglePage Page Mode : UseOutlines Page Count : 41EXIF Metadata provided by EXIF.tools