DMCNET Remote Module User Manual
Contents
1. um a n E E E E on a R Tole tet LIR EGL SL I ee ge L IS E O 0 AA AN EN GI y er 3 Boo a a aA E E TFT A gioid daraga Ba f Y A E e 7 HR Q indd 193917234345 Smarter Greener Together O 1 PA f E LD A ee POH PIL Industrial Automation Headquarters Delta Electronics Inc Taoyuan Technology Center No 18 Xinglong Rd Taoyuan City Taoyuan County 33068 Taiwan TEL 886 3 362 6301 FAX 886 3 371 6301 N r cel Lal alla aa Asia Delta Electronics Jiangsu Ltd Wujiang Plant 3 1688 Jiangxing East Road Wujiang Economic Development Zone Wujiang City Jiang Su Province P R C 215200 TEL 86 512 6340 3008 FAX 86 769 6340 7290 MM ARENA eee AUR _ BAH A EA PiL i m lus d 4 gt adi k Si Delta Greentech China Co Ltd 238 Min Xia Road Pudong District ShangHai P R C 201209 TEL 86 21 58635678 FAX 86 21 58630003 Delta Electronics Japan Inc Tokyo Office 2 1 14 Minato ku Shibadaimon Tokyo 105 0012 Japan TEL 81 3 5733 1111 FAX 81 3 5733 1211 Delta Electronics Korea Inc 1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 DMCNET Remote Module N User Manual Plot No 43 Sector 35 HSIIDC Gurgaon PIN 122001 Haryana India TEL 91 124 4874900 FAX 91 122. Figure 2 10 RM64NT Control Interface RM64NT module s firmware version RM64NT module information In this example the module is Node 1 connected to Card O 6 Error handling option Whether this setting is retained after power off Check to keep record Active option Outputs the set output signal to connected devices O Shows each bit of the RM64NT module s output signal This lists Port0 bit 0 15 as ON 2 6 July 2014 Chapter 2 Using EZDMC 2 3 5 ASD DMC RMO04PI MODE 1 RM O4PI Model PCT Card No 12 Slave No 1 Information AU Command FeedBack Speed Length O E le pos CH pwn AB Balm L BIL By IO Status Modeli es O Model O Target O Mode O MAR O Modes O MDS LI O SLD O MES F O PEL Q 7 MEL Information Axis Command FeedBack Speed Length 0 DI a DO x Reset la CMD Stop POS AB Ram CH pwn CH PAAR L al A IO Status Model er O Model O Target Q Mode O MAR O Modes O MDO O SLD O MDS Fi PEL O FP MEL TG Q DI O TG O DI Pw RON O DIE O PR ON O SOO Operation Index SubType DO DI D2 D3 spo a ARE IG see Read DIE O PR CIN O Information Axis Command Feedback Speed Length 0 pi DO lw Reset ta CMD Stop C POS IT IO Status Model er O Model O Target Q Modez O Ha O Mode O MESO O SLO Q MES O WA Ar O DA o a TG DI DIZ O NewSpeed sec 5000 01 Y Change DMCNET Re
3. 5 em De nn a s ns 4 CN1 SLL na a SO 69 N N m AA eet e 3 CN10 CNTT cn12 July 2014 CN13 CN9 Figure 1 65 Connector diagram CN5 CN6 CN7 CN8 CN4 1 28 Chapter 1 Installation Environment DMCNET Remote Module User Guide ASD DMC RMO4PI Module and Connectors Label Description Pin Node Number Starting Node ID RSW1 Node Number End Node ID RSW2 lt When DSW1 is switched to 1 mode 1 since RMO4PI only takes up one node at this time dials RSW1 and RSW2 must be set to the same value x When DSW1 is set to ON mode 2 as one RMO4PI can take up to 4 nodes Axis O Axis 3 the interval between RSW1 and RSW2 must not exceed 3 RSW1 must also be set as the starting Node and RSW2 set as the end Node ex Change RSW1 to 5 change RSW2 to 8 Figure 1 66 RSW1 and RSW2 Description ELE MODE 1 Operation mode 1 Figure 1 67 MODE 2 Operation mode 2 DSW1 Pin Description E24V SINK type X Set SINK type for 04PI module based on the type of circuit connection Figure 1 68 DSW2 Description RS485T_1 18 RS485T_2 s Figure 1 69 6 RS485T 2 ON1 and CN2 pin definitions 8 EGND RS48Sgroundsignal July 2014 1 29 DMCNET Remote Module User Guide 123 Figure 1 70 CN3 pin definition Figure 1 71 CN4 pin definition A R ML 06 6 4 E 3 hm ii j Figure 1 72 CN5 pin definition Chapter 1 Installation Environment Pin L
4. LA 18999 Li k Terminal resistor 1 i L Es ae eer errr i E gt soe IE Figure 1 2 Overview of physical connection architecture servo drive RM64 module 1 2 July 2014 DMCNET Remote Module User Guide Chapter 1 Installation Environment LE me aud YND E a a S Hs re a JO SISOJ euluus Figure 1 3 Overview of physical connection architecture servo drive RMO4PI module 1 3 July 2014 DMCNET Remote Module User Guide 1 2 Electrical Specifications General RM32 module MN NT PT dimensions 100mm x 75mm x 43mm RM64 module MN MN1 NT NT1 dimensions 168mm x 75mm x 43mm RMO4PI module dimensions 168mm x 75mm x 40mm RMO4DA module dimensions 100mm x 75mm x43mm RMO4AD module dimensions 100mm x 75mm x43mm Supply voltage 24VDC 15 20 ESD 8KV Air Discharge EFT Power Line 2KV Digital I O 1KV RS 80MHz 1GHz 10V m Operating temperature 0 C 50 C Digital input module RM32MN RM64MN RM32PT RM64MN1 Input circuit type single common port input Input signal type SINK SOURCE Input signal voltage 24VDC 5mA Response time 0 to 3ms adjustable Trigger level OFF gt ON gt 16 5VDC Trigger level ON OFF lt 8VDC High speed Pulse Module Pulse Interface Input Port RMO4PI Input Input circuit type single common port input Input signal type SINK SOURCE Input signal voltage Sensor 24VDC 5mA
5. is baul N13 pin definition GND July 2014 1 25 DMCNET Remote Module User Guide Chapter 1 Installation Environment Description Figure CN14 pin definition Label Description 24V dii CN15 pin definition GND 126 aly 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide SL MO TESO CR ooo AA ET RR CRONO TOR H E ID FY TY YA E POO A A ON A CR CIC Ch ET To AAA FO LD Y LDT CY YD Figure 1 63 LED definition Label Description DMC DMC communication indicator PO 0 15 PO 0 15 signal output indicator P2 0 15 P2 0 15 signal output indicator P3 0 15 P3 0 15 signal output indicator P1 0 15 P1 0 15 signal output indicator July 2014 1 27 Chapter 1 Installation Environment DMCNET Remote Module User Guide 1 7 ASD DMC RMO4API ASD DMC RMOAPI Overview KELL LE DNA IE LU NT En im TE am rw El mm Em me a o Dail BE RR H Bb rd A 06 1 100 KG TI 20 100 mell LTT ROTTI h AIII AEL gt F LITT DO wa 209 wa Ds oem um os ss wean nanl ee e LI LEA EL TOS O Y Ss E A We Yd Ai L ES i IA En F Figure 1 64 Front view m ASD DMC RMO4PI Connection Diagram DSW2 RSW2 DSW1 RSW1 En am ma rw ab gt En Em me k ox Zi ENETH LOT EN UU Uu BD BO H RAB o D D o oom w O NNEHENNNE 08 O MO He DO u Do 100 vo BTT gt BRS i HL DO wa am a 00 n 100 me F ii gt
6. Label Description POWER Voltage status indicator RUN Operation indicator DMC DMC communication indicator PO 0 15 PO 0 15 signal input indicator P1 0 15 P1 0 15 signal input indicator 1 9 DMCNET Remote Module User Guide Chapter 1 Installation Environment 1 4 ASD DMC RM32NT ASD DMC RM32NT Overview Figure 1 16 Front view m ASD DMC RM32NT Connection Diagram RSW1 CN4 0000000000000 AE LEE LE EN DWI EP DF OH ELO LDL CN1 CN2 CN3 CNS CN6 CN7 CN8 CN9 Figure 1 17 Connector diagram 1 10 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide m Module and Connectors Label Description Node Number Node ID Figure 1 18 2 Invalid when dial is turned to 0 D F RSW x Each module takes up one Node ID Description EE RS4851_1 1 RS485 transmission signal a 2 RS485T_1 1 RS485 transmission signal 1 8 ES RS485T 2 2 RS485 transmission signal Figure 1 19 o RS485T 2 2 RS485 transmission signal GRH EM EGND RS485 ground signal pin definitions NN EGND RS485 ground signal Label Description m E24V 24V voltage input 2 GND Powerground Figure 1 20 ibn Case ground earth CN3 pin definition Label Description Figure 1 21 July 2014 1 11 DMCNET Remote Module User Guide Chapter 1 Installation Environment Description 24V voltage output 24V voltage output 24V voltage output Power ground Power ground F
7. Mi L E F r 1 di ae H ui Y L 2 i d r eK pr wr i 12 4 I d A r L gt Wr e dde de _e o Ai E s i Z 4 e 7 Dd si LILI 090000000 nm E u k l i 2 9 a L E IF Lam E 1 ona n t dr nr i be je i T i dl F yi a 4 m la Y E CH L A Y d a dd i all iu ar Y F EET v i F i LEJ LE x d a a l I I a Y Le i 4 q 5 F rn rm k a PA s 5 EN WE HE Ti 7 man Bm m J E HE 4 L ER d DD L 7 T q gt im i CN3 CNS CNG CN7 CN8 CN9CN11 CN12 CN13 CN14 CN15 Figure 1 29 Connector diagram July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide m ASD DMC RM64MN Module and Connectors Label Description Node Number Node ID Figure 1 30 RSW1 X Invalid when dial is turned to 0 D F x Each module takes up one Node ID Pin Label Description RS485T 1 1 RS485 transmission signal ERE UE 1 RS485 transmission sl 1 8 Da astas 2 RS485 transmission Elle o CN1 and CN2 RS485 ground signal pin definitions Pin Label Description Figure 1 32 CN3 pin definition Label Description x This connector is used with input signal common point for Pull high or Pull low x COM connection with 24V Low active Pull high this is the default option XCOM connec
8. motion command Why does the error light and lO status light in the control window blink when using EZDMC to control the RMO4PI module This indicates a signal anomaly in the connected Slave module Please cut the power then check the CAT5e cable connection for the Slave devices Make sure that the module server at the last stop node has a terminal resistor attached to the RJ45 port If SLD port is enabled on RMO4PI module with EZDMC why does SLD enable stop working if soft limit is enabled during motion displacement To use the soft limit function please set and enable the soft limit function before executing any motion commands There is no restriction on whether SLD port is enabled or not during operation July 2014 Appendix A G amp A DMCNET Remote Module User Guide O10 Q11 Q12 July 2014 If SLD port is enabled on RMO4PI module with EZDMC during multi axis motion how come one axis can t move backwards when it comes into contact with SLD port signal In the situation use the Line motion mode to reverse away from the SLD port signal Please check the direction first This can be confirmed by the N A light Why does an error occur with the Gear function when using EZDMC to control the RM04PI module The gear function is the originally set position value Numerator value denominator value the result of this operation is final and it must be walked to the position value In other words the value of the P
9. Change field in EZDMC is the original Position value The new position will be the calculated target position Even if the distance of the final position is longer than the original distance it must still be completed in the same amount of time Motion velocity will be automatically increased but if this exceeds the module limit AB 500K pps CW 200K pps an error is thrown The above limitations must be taken into account when setting motion parameters to avoid errors x When Gear is changed from enabled to disabled make sure that the value of Position is Reset to zero as well How come DMC 01 set command API functions sometimes don t work and return error messages like Alarm 9 and Driver Error If this function is not working correctly please check that the value of Position is correct If it is not in the right position please use the DMC 01 set position function to adjust the position before using the DMC 01 set command function again DMCNET Remote Module User Guide Appendix A G amp A This page is intentionally left blank 4 July 2014
10. Guide Chapter 2 Using EzDMC Generate verify key Step1 Click on Read SerialNO button read the product serial number This gives two sets of 1 8 bit values made up of hexadecimal values between O F Step2 User enters a custom User Key then click on Make Verify Key to generate a verify Key The input and output will be 1 8 bits made up hexadecimal values between 0 F Step3 Click on Write Verify Key to write the generated Verify Key to the module If write is successful block s status will display Done Failed is displayed otherwise 2 16 July 2014 Chapter 2 Using EZDMC DMCNET Remote Module User Guide 2 3 9 ASD DMC RM04DA at EM 04DA Model PCI Card No 12 Slave Mo 1 Channel 0 Mode 3 10 Offset Appro 0024 Read 0 0024 iu el m E Apply OverRange Set Clear Error Channel 1 Appro 10 0024 Yo Read 0 0024 y Mode E 107104 Diet Apply DOverhange Mode 3 10 10 gt Apply OverRange Errar Handle Mode 3 10710 F Apply OverRange Clear Error Figure 2 20 RMO4DA Control Interface The voltage current return values and output mode percentage settings for each Appro Approximate output voltage current based on the percentage setting Read Actual output voltage current Must click on Apply button to sync with Appro The values will differ slightly amp The settings and returned status for each Channel A detailed description is provided on the
11. HEI EEEE E E I DD DE Da J MPG ASD DMC RM64IMN i Anis H Ale Y exis ts LI RATEN RATE SUD AA TET 00 1 60 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Wiring Diagram for RM04DA Output Point Voltage output 10V 10V CHI V na VFD recorder COM proportional valves FG a Current output CH2 OmA 20mA V COM VED recorder Shielded cable 1 Es proportional valves Wiring Diagram for RMO4AD Output Point Voltage input 40V 10 V Hu V 250 2 Ir WMA Shielded cable 1 FG AGND Current input CHA 20mA 20mA to q Va 2500 COM FG an a Shielded cable 1 AGND July 2014 1 61 DMCNET Remote Module User Guide Chapter 1 Installation Environment This page is intentionally left blank 1 62 July 2014 Chapter 2 Using EZDMC 2 1 Launching the Program The connected device gateway module and motion controller card must first be connected using CAT5e networking cables The gateway module must also be provided with a 24VDC power supply When the connected remote DI module RM32MN RM64MN device is low active connect the COM port on DI module with 24V power Pin2 and Pin3 on CN4 to ens
12. July 2014 Chapter 2 Using EZDMC DMCNET Remote Module User Guide O Verify key confirmation field and status display Enter the 4 sets of Verify Key in Figure 2 19 block amp into the 4 fields of Check Verify Key then click on Check Verify Key If verification is successful then Pass is displayed on the status bar below Lock is displayed otherwise Data Read Write Page 0 E Data Read Change Password Password Confirmation White Password Data Write Save Verify Key Serial Ma User key Read Serialo j ll Er Tie 4 Lent y K Eu Figure 2 19 RMO4PI Slave Encryption User Post Login Interface O User login and status display field Data Read Select Page then click on Read to read data Data Write Select Page to write to input data click on Write to write to register then click on Save to save data to the 04PI module amp Change password field Step1 Enter two new passwords in the Password field Each is 1 8 bits in length and takes hexadecimal values between 0 F Step2 Enter the same password from Password in Confirmation again for verification Stepa If the two passwords in Password and Confirmation match clicking on Write will change the password lf the passwords do not match then block s status will show the error message Confirmation Error The change password procedure must now be repeated again July 2014 DMCNET Remote Module User
13. NewSpeed and the new acceleration deceleration time sec Click on V Change button to change to the new velocity settings This changes the moving position First set the new position NewPos then click on P Change to apply the new setting O Sets the SLD First select emg stop or sd stop mode then set the Logic O is always on Normal high and 1 is always off Normal low July 2014 2 9 DMCNET Remote Module User Guide Chapter 2 Using EzDMC 2 10 2 3 6 ASD DMC RMO04PI MODE 2 Single Axis Control Interface eo oe oo 0 Be R D4PI Mode PCT Card No 12 Slave No 1 velocity Profile Position Command O Distance 0 Puke O o FeedBack T Start Wel 0 pps Speed PPS 0 May Wel O ppc Torque T TAcc T Buffer T TDec O Uperate Mode x PtoP Homing Velocity C Continue Torque IP Mode Liperation JL Index SubType DO DI p2 pa SPOOP pead 6060 PO 1 2 1 I JO TO ML 6041 CHAD So LLIBID EZDD Data 000000000 U Figure 2 14 RMO4PI MODE 2 1 Axis Control Interface Display the counter values of motion These include position velocity torque number of buffered commands position reset and sync motion this function matches the values of Command and Feedback Sets the motion command This includes motion distance starting velocity maximum velocity and acceleration deceleration time Operating motion mode selection Operate Mode Execute motion commands such as
14. Remote Module User Guide Chapter 2 Using EzDMC This page is intentionally left blank 2 22 July 2014 Q1 Q2 Q3 Q4 July 2014 Appendix A O amp A How come I can t find a Remote module after changing its Node ID or mode when use the Search Slave function of EZDMC again If the Node ID or mode of a Remote module RM32 64 04PI is changed please turn off the power before making the changes then use the search slave function again after turning on the power again How come other connected servo drivess stop working when power to a RMP04PI module is cut If servo drives and RMO4PI modules are connected as slaves and power is cut to one module other slave modules will not be able to continue performing motion commands How come the value of motion command that currently being executed disappears when I open another EZDMC window You must open all control viewing windows before executing any motion commands for single or multi axis Performing any other actions opening another window while motion commands are being executed may lead to the loss of all command values I have set and executed the motion commands for RMO4PI module in EZDMC Instead of executing the motion command it stops and generates the alarm indicator 9 Please stop the execution of the motion command then check the settings for initial velocity and maximum velocity When output phase is in AB mode please set velocity to less than 500K
15. Response time 1ms Action level OFF ON gt 16 5VDC Action level ON OFF lt 8VDC Input signal is 5VDC and only SINK Type Max input pulse freguency OA OB QZ 200KHz 5mA 1 point DI1 DI2 1KHz 5mA 1 point Chapter 1 Installation Environment Digital outout module RM32NT RM64NT RM32PT RM64NT1 Output circuit type transistor Output signal type SINK Response frequency 1KHz Current specifications 0 1A 1 point Voltage specifications 24VDC Response time OFF ON 20us Response time ON OFF 30us Pulse Interface Output Port RMO4PI Output Output circuit type transistor Output signal type SINK Output signal voltage 5 24VDC 30mA 1 point Max output pulse frequency CW CCW 200KHz 30mA 1 point DO1 DO2 1KHz 30mA 1 point July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Digital to Analog Output Point RMO4DA m Channel 4 channel unit m Voltage output range 10 10 V 5 5V 0 10V 0 5V m Current output range 0 24mA 0 20mA 4 20mA m Excess limit voltage 10 B Maximum output current voltage 24mA m Allowable load resistance current 0 5000 m Digital data range 0 65535 m Resolution 16bits m DC output resistance 0 30 m Response time 1ms m Digital data format effectively 16 bits m Isolation method internal circuit and analog output are isolated with an optical coupler m Protection voltage output circuit has short circuit prot
16. clockwise rotation CCW rotation and stop includes S curve reference coordinates selection and repeat option Firmware version of connected RMO4PI Set CANOpen command User can control the module by using this to read send CANOpen commands Displays the status indicators of the IO port for that axis on RMO4PI Set the excite reset alarm and motion status functions for that axis Instructions are the same as those for section 2 3 5 block a Set the homing mode and offset value Display error indicator See following table July 2014 Chapter 2 Using EZDMC DMCNET Remote Module User Guide o Open Slave Encryption interface Please see section 2 3 7 Indicator Normal Velocity limit exceeded Collision with machine negative limit Multi axis Control Interface Up to 3 axes can currentl Description How to clear the indicator None Indicator does not come ON Reset the velocity Press the RALM button Move away from negative limit Indicator Description Collision with machine positive limit Collision with software positive limit Collision with software negative limit Invalid operation How to clear the indicator Move away from positive limit Move away from software positive limit Move away from software negative limit Press the RALM button be controlled simultaneousl Please see section 3 7 of the User Manual for instructions on switching
17. definition 1 axis digital signal output 2 Description 24V voltage output 24V voltage output Figure 1 76 24V voltage output CN9 pin definition 24V voltage output Description as 2 ani Encoder B phase signal input Power ground cr m e wO AD OR P L ML MD AO MEL 2 axis negative limit signal input PRL 2 axis positive limit signal input M d nd Figure 1 77 O 2 axis home limit signal input CN10 pin definition SD 2 axis slow down signal input EL PEL RG SLD 1 32 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Description 2 axis motor clockwise rotation signal input 2 axis motor CCW rotation signal input Figure 1 78 2 axis digital signal output 1 CN11 pin definition 2 axis digital signal output 2 Description 3 axis Encoder A phase signal input OB 3 axis Encoder B phase signal input 3 axis Encoder Z phase signal input 5V voltage output GND Power ground MEL 3 axis negative limit signal input PEL 3 axis positive limit signal input d rd 3 ji i i m a E a E a kt mi i T toh f 7 sli a axis positive limit signal input MEL PEL bnd gt 3 Description gid gid axis motor clockwise rotation signal input axis motor CCW rotation signal input CN13 pin definition July 2014 1 33 ym n on 06 an cx 00 DMCNET Remote Module User Guide Chapter 1 I
18. from single axis to multi axis operating interface servo Mult Ass Select Information Slave Command FeedBack Speed Modell 6 Swan o Mode o Driver cC Modez Q Target O wA o MOST DR 3 PEL 9 TG JO Figure 2 15 RMO4PI MODE 2 Multi Axis Operating Interface July 2014 Model YA Mode o DriverErr Q MEL O Information Slave Command FeedBack Speed Target Syon gd Modez a Target CJ ER Wa ms 6 DA FEL o TG O MEL 6 Operate Setting Dist Distr A ist Command Start Vel FeedBack l Speed Max Wel Target TAce T Dec ll Operate Mode Model o Son o Model o DriverErr dd Made CJ Target Q Circle Modes O NYA O Dia O oso WE O MDS O DR O PEL O TG O MEL O Repeat Leal o Pulse T 5 Curve PPS PPS ec Sec r Pulse Linear Lineara Heli Co Circle 7 Circle Abs DMCNET Remote Module User Guide Chapter 2 Using EzDMC O Select the operating axis displays counter values of motion including excite function position reset and the status indicators for that axis lO port Motion parameter settings The selection mode in Block O will change the parameters displayed Operating motion mode selection Operate Mode Execute motion commands such as clockwise rotation CCW rotation and stop including S curve reference coordinates selection repeated implementation selection Checking Repeat will implement co
19. next page 6 Offset setting 128 127 Clear error status When an error occurs set Offset to O then click on Clear Error to clear the error RMO4DA module information July 2014 DMCNET Remote Module User Guide Chapter 2 Using EZDMC Below is a more detailed description of block in Figure 2 20 1 5 Apply Overange 2 Error DE 4 Handle hs 3 Figure 2 21 RMO4DA block function description 1 Mode Set voltage current output mode 2 OverRange Increase the maximum value by 10 based on output mode 3 Display field for returned status 4 Error handle Choose whether to keep the record after power off or not Click to keep record 5 Apply Change actual voltage current output to Appro value 2 18 July 2014 Chapter 2 Using EZDMC DMCNET Remote Module User Guide 2 3 10 ASD DMC RMO4AD sa FM 04AD PCI Card No 12 Slave No 12 E Po Mow ColumFatio foo o Figure 2 22 RMO4AD Control Interface RMO4AD module information amp Display current voltage Clear all Clear the voltage display Pause Pause to get the current voltage using coordinate position r Measure crane Figure 2 23 RMO4AD pause and measurement interface amp Set AD conversion time Function settings A detailed description is provided on the next page O Zero calibration Zero Zero calibration Only the selected Channel will be calibrated Full Full scale
20. pin definition Pin Label mi 3 2 Current Mi 4 Case ground earth Figure 1 100 CN7 pin definition Figure 1 101 LED definition Label Description POWER Voltage status indicator RUN Operation indicator DMC DMC communication indicator July 2014 AA DMCNET Remote Module User Guide Chapter 1 Installation Environment 1 10 ASD DMC RM32PT m ASD DMC RM32PT Overview Figure 1 102 Front view m ASD DMC RM32PT Connection Diagram RSW1 CN4 CN1 CN2 CN5 CN6 CN7 CN8 CN9 CN3 Figure 1 103 Connector diagram 1 42 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide m Module and Connectors Label Description Node Number Node ID Invalid when dial is turned to 0 D F Figure 1 104 RSWI Each module takes up one Node ID Pin Label Description asta zinao nr 1 8 ER TH 2 RS485 transmission ana pin definitions Pin Label Description Rae E24V 24V voltage input CN3 pin definition Description E24V 24V voltage output Common input signal x This connector is used with common point for Pull high or Figure 1 107 Pull low CN4 pin definition COM connection with 24V Low active Pull high this is the default option XCOM connection with GND High active Pull low July 2014 1 43 DMCNET Remote Module User Guide Chapter 1 Installation Environment Description CN5 pin definition PO GPIO 6 input 7 a PO GPIO 7
21. pps when output phase is CW please set velocity to less than 200K pps If the initial settings exceed the above limits then current motion will be stopped Driver Error light will light up and the alarm indicator 9 shown DMCNET Remote Module User Guide Appendix A G amp A O5 O6 O7 Q8 Q9 How come the current velocity for each axis is the same even though they have different settings of moving distance during multi axis linear interpolation In EZDMC the velocity displayed for each axis is the resultant velocity During this multi axis linear interpolation motion the actual velocity will be less than or egual to the displayed velocity depending on the distance set for each axis During arc interpolation or spiral interpolation motions however the displayed velocity will be the actual velocity of that axis How come only the Command value moves while Feedback fluctuates in single digits after setting and executing motion commands for RMO4PI through EZDMC Please cancel the current motion command then check the fields of the output and input modes AB phase CW CCW to make sure they have been properly selected Next check to see if wires OA and OB are properly connected Why does the current motion command being executed stop when motion mode is changed in the EZDMC single axis control window i e servo drive and MODE2 of RMO4PI This is normal Manually changing the motion mode will interrupt the current
22. 1 Pin Label Description 1 RS485T_1 1 RS485 transmission signal EBEN AUS 1 RS485 transmission signal RS485T 204 2 RS485 transmission ner o 8 LS astra 25RS405 wanemiesion sgnal O baid 7 EGND RS485ground signal CN1 and CN2 8 EGND RS485 ground signal pin definitions Pin Label Description E24V 24V voltage input CN3 pin definition Label Description E24V 24V voltage output JN Common input signal x This connector is used with input signal common point for Figure 1 9 Pull high or Pull low CN4 pin definition COM connection with 24V Low active Pull high this is the default option x COM connection with GND gt High active Pull low July 2014 1 7 DMCNET Remote Module User Guide Chapter 1 Installation Environment Label Description 24V voltage output 24V voltage output Power ground Total voltage output at 24V is 1 5A Max 24V voltage output eo Power ground Figure 1 10 CN5 pin definition Label Description 24V 24V voltage output Label Description le Figure 1 12 CN7 pin definition 1 8 July 2014 Figure 1 11 CN6 pin definition Chapter 1 Installation Environment Figure 1 13 CNB pin definition Figure 1 14 CN9 pin definition a M l de de Mi di a d di d Figure 1 15 LED definition July 2014 1 o BL Ay Bj Ba F 6 Da ME i DMCNET Remote Module User Guide Label Description Label Description
23. 1 47 Connector diagram July 2014 CC AM DMCNET Remote Module User Guide Chapter 1 Installation Environment ASD DMC RM64NT Module and Connectors Pin Label Description 0 9 Node Number Node ID A F Invalid when dial is turned to 0 D F x Each module takes up one Node ID Label Description 1 8 pin definitions Pin Label Description Case ground earth 24V voltage input Figure 1 50 NS pin definition Label Description 24V voltage output CN4 pin definition 1 22 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Description 24V voltage output 24V voltage output CNS pin definition Total voltage output at 24V is 1 5A Max Description Label Description ae is Figure 1 54 CN7 pin definition GND July 2014 1 23 DMCNET Remote Module User Guide Figure 1 55 CN8 pin definition PIH Figure 1 56 CN9 pin definition NT F EI L LI gi Wi U i Figure 1 57 CN10 pin definition Chapter 1 Installation Environment Description Label Description Description 24V voltage output N A July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Description 24V voltage output 24V voltage output 24V voltage output definition Description CN12 pin definition Label Description AN 24V voltage output 24V YO8 P2 GPIO 9 output YO9 P2 GPIO 10 output P2 GPIO 11 output
24. 4 4874945 Americas Delta Products Corporation USA Raleigh Office P O Box 12173 5101 Davis Drive Research Triangle Park NC 27709 U S A TEL 1 919 767 3800 FAX 1 919 767 8080 Delta Greentech Brasil S A Sao Paulo Office Rua ltapeva 26 3 andar Edificio ltapeva One Bela Vista 01332 000 S o Paulo SP Brazil TEL 55 11 3568 3855 FAX 55 11 3568 3865 Europe Deltronics The Netherlands B V Eindhoven Office De Witbogt 15 5652 AG Eindhoven The Netherlands TEL 31 40 2592850 FAX 31 40 2592851 We reserve the right to change the information in this manual without prior notice A E T DELTA IA ASD DMCNET Remote Module UM EN 20140702 N L A www deltaww com Smarter Greener Together About this Manual User Information Please store this manual in a safe location This manual is subject to change without notice due to the release of new products improvements and changes in technologies or modifications to data and forms Do not copy or reproduce any part of this manual without the written permission of Delta Electronics Co Ltd Trademarks Windows 2000 XP Visual Studio Visual C and Visual BASIC are all registered trademarks owned by Microsoft BCB Borland C Builder is a registered trademark owned by Borland The names of other products are only used for identification purposes and the registered trademarks remain the property of their respective owners Technical Support and Serv
25. Hard Ware H About Version Fi Cardio Node Slot as PCI DMC A0T CardiD 0 3002 me Et EN he RM 64Mn DIO Slave 0 1 Input Port 0 xO X1 x2 X3 X4 X5 XE x7 XB XI AID A11 X12 X13 X14 A15 X2 HI x4 x5 XE x7 XB XJ MIO XII X12 X13 X14 X15 2 ES 4 ded o x id e 10 XT iz x13 Al x15 00000000000000090 Axis Select v Select hd Select hd Felect nm Bato hh ln N Slop 10 10 10 10 el a oe 1280000 _ 1280000 _ 1280000 _ 1280000 ec DI 0 1 0 1 0 1 fifo 1 134 Protocal 3 0 Retry 0 En 0 PCI OMBox 0 1 21821 M 0 DO 0FF DI 4 Figure 2 5 RM64MN display interface includes MPG mode controlled Servo Drive alrc Card No O Slave No 1 DIO Card o Node Slot xg KID ATI KIZ HIJ KIA 15 o 0000000000000000 Ma al ne 3 o Au a AE I 10 pul Ale a Ex ais input Port 3 770 Edi 2 3 fod ME Ae a a 10 a 12 ala 14 SE Amis FES Select aim b Speed 12enn00 1280000 1280000 1280000 Sec Figure 2 6 Description of RM64MN display interface 2 4 July 2014 Chapter 2 Using EZDMC DMCNET Remote Module User Guide Eang Cardio Mode Slot O 1002 E st sde a a Ad AID All Ald Ald Ald 15 mw me cd AID AM AIA 13 14 15 dos q O a md ID alto ia 13 Ald A15 mo S AB AW eo AID STI ale 13 14 15 0000000000000000 Figure 2 7 RM64MN a Description of block functions O RM64MN module s firmware version Checkbox for enabling RM64MN MPG interface RM64M
26. Installation Environment Iet RN CM ETL NN CH CH HEN LE E AI LE EI A HU DYD EF ER ERE ED OOC CHER CH a E PF O DD TY DY LE ADA e Figure 1 123 LED definition Label Description POWER Voltage status indicator RUN Operation indicator 1 50 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide 1 12 ASD DMC RM64NT1 ASD DMC RM64NT1 Overview 806 6 6 6 60 6 6 6 6 6 amp Pe 0660 0 0 06 0 0 8 6 4 uu q o 0 0 6 a 6 6 6 6 8 6 Ba amp 6 6 DR 0 6 8 ABA a z KA tal ASD DMC RN y WW pen WIU NN Y y A 64 CH DIGITAL OUTPUT Figure 1 124 Front view m ASD DMC RM64NT1 Connection Diagram RSW1 CN6 CN7 80 6 OSO 6 6 6 60 0 6 PB 8 q ue 9 0 0 0 4 0 0 0 8 6 4 u CN1 6 0 00 86 B e 0 0 6 alato a BA amp 6 6 0 A 8 8 8 8 8 8 8 5 M64NT1 CN2 0 ASD DMC R er g GAITA AE _ 64 CH DIGITAL OUTPUT CN3 DSWI CN29 CN30 Figure 1 125 Connector diagram July 2014 TT Tr DMCNET Remote Module User Guide Chapter 1 Installation Environment ASD DMC RM64NT1 Module and Connectors Label Description Node Number Node ID x Invalid when dial is turned to 0 D F X Each module takes up one Node ID Label Description ESA 2 RS485 transmission signal 1 8 2 RS485 transmission signal pin definitions Label Description Pin Case ground earth 123 i 3 24V voltage input Figure 1 128 REM ge mp CN3 pin definition Label Descrip
27. Mode Slave 0 1 ie dU RM D4PI Mode2 Slave D 2 seed RM D4PI Mode2 Slave 0 3 Lun dT RM 04PI Mode Slave D 4 ml xl e ss PCI DMC AD1 CardlD O E RM 32PT Slave 0 1 Figure 2 2 Finding the connected Remote module RM32 RM64 RMO4PI 2 2 July 2014 Chapter 2 Using EZDMC DMCNET Remote Module User Guide 2 3 Gateway Module Interface 2 3 1 ASD DMC GE16MN ASD DMC GE16NT PCI Card No O Slave No 2 DIO 32In We 29 AID 11 MIE 13 14 15 Y A FWA du A HA ao 89 AID AIT 12 13 Ald 15 Figure 2 3 RM32MN digital input signal display RM32MN module s firmware version amp RM32MN module information In this example the module is Node 2 connected to Card 0 RM32MN module s software filter In this example it is set to 1ms RM32MN module s input signal display 2 3 2 ASD DMC RM32NT PCI Card No 0 Slave No 1 DIO 320 nt E u ja EA Y Yn pes pps pao rija Figure 2 4 RM32NT digital output signal control O RM32NT module s firmware version amp RM32NT module information In this example the module is Node 1 connected to Card 0 6 Error handling option Whether this setting is retained after power off Check to keep record Active option Output the selected output signal to the connected device G Shows each bit of the RM32NT module s output signal July 2014 2 3 DMCNET Remote Module User Guide Chapter 2 Using EZDMC 2 3 3 ASD DMC RM64MN 1 File F
28. N module information In this example the module is Node 12 connected to Card 0 RM64MN module s software filter In this example it is set to 1ms amp RM64MN module s input signal display Figure 2 8 RM64MN b Block function description O Select servo drive node to control using RM64MN module s MPG mode Max 4 amp RM64MN MPG enable MPG mode operation information the following is a description from left to right Encoder increment Target position for selected axis ID Output pulse ratio for each click of MPG Set ratio of one full MPG turn to pulse output motor rotations When ratio is set to 1 this means 1 click of MPG is equal to 1 100 of motor rotation O Set maximum allowable MPG speed PPS sec Max 1000 July 2014 2 5 DMCNET Remote Module User Guide Chapter 2 Using EzDMC pri _H_ Figure 2 9 RM64MN c block function description O RM64MN JOG function enable or not amp Set JOG operation mode Mode 0 Each JOG corresponding to each axis X3J1 J1 Y3J2 J2 Z3J3 J3 Mode 1 Axis selection X Y Z and the corresponding J14 J1 Maximum velocity used by each axis during operation Acceleration deceleration time used by each axis during operation 2 3 4 ASD DMC RM64NT 1 rc Card No O Slave No 1 DIO 64Nut Cardio Node Ol ri ral Output Port 2 YO YI Y NW ye Y YB YS YO YIT Ma Mid Dutput Port 3 YA Yi YA eV Yr ch YA YA 3 Yo WH vie Wis 7114 Y15
29. abel Description RS232 TX Serial port TX port RS232_RX serial port RX port x DSUB9 female port is used here cable side This port is used for updating the module firmware program Pin Label Description E24V 24V voltage input Power ground Case ground earth Label Description 0 axis Encoder A phase signal input 08 0 axis Encoder B phase signal input 0 axis Encoder Z phase signal input 5V voltage output July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Label Description 0 axis motor clockwise rotation signal input on axis motor CCW rotation signal input E E E 3 E 8 E EJ 0 axis digital signal input 1 0 axis digital signal input 2 Figure 1 73 CN6 pin definition 0 axis digital signal output 1 0 axis digital signal output 2 0 Label Description 1 axis Encoder A phase signal input 1 axis Encoder B phase signal input 1 axis Encoder Z phase signal input 5V voltage output Kas GAS PEL ME ODD YW GI DD DA 1 axis negative limit signal input 1 axis positive limit signal input 1 axis home limit signal input 18 Figure 1 74 CN7 pin definition axis slow down signal input o July 2014 TT DMCNET Remote Module User Guide Chapter 1 Installation Environment Description ow cow 2 axis digital signal input 2 g amp E EN 5 A LE D D 18 AL 1 axis digital signal output 1 CN8 pin
30. calibration Only the selected Channel will be calibrated G Set the display time for each click of X axis Set the voltage difference for each click of the Y axis July 2014 2 19 DMCNET Remote Module User Guide Chapter 2 Using EzDMC Below is a more detailed description of block in Figure 2 26 Figure Description Figure 2 24 Select the Channel to display and RMO4 AD select check to enable Channel Input Channel operating Input is disabled otherwise interface Total Check all Channels Figure 2 25 Set the average mode RMO4 AD Avg Control Total Set all channels Interface Figure 2 26 RMO4 AD Data Read Value Display Interface Display current voltage Figure 2 27 Operating Interface of Set AD voltage read range RMO4 AD Mode 2 20 July 2014 Chapter 2 Using EZDMC DMCNET Remote Module User Guide 2 3 11 ASD DMC RM32PT Ad ATO AI SE EM 32PT Model PCI Card Mo O Slave Mo 1 ID Ale Ala A14 15 Y Ya YJ MIO YIT 12 vis YT4 YB Figure 2 28 RM32PT digital input signal display O RM32PT module information In this example the module is Node 1 connected to Card O amp RM32PT module s firmware version 6 Error handling option Whether this setting is retained after power off Check to keep record Active option Output the selected output signal to the connected device RM32PT module s input signal display G One bit of the RM32PT module s output signal July 2014 2 21 DMCNET
31. de 2 Deceleration Start It is triggered when deceleration begins This event can only be used in Mode 2 Sdo Finish This function is not yet available DMC Cycle Start lt is triggered when entering DMC Cycle July 2014 2 13 DMCNET Remote Module User Guide Chapter 2 Using EZDMC RMO4PI FIFO It is triggered when entering 04PI FIFO This event can only be used in Mode 1 User define This function is not yet available 2 3 8 ASD DMC RM04PI Slave Encryption Operating Interface Data Read Winte Page EH me Login Status Fiead Data o Write Save Check Verify Key Check Verh Key Figure 2 18 RMO4PI Slave Encryption User Login Interface Input fields in Blocks O O are all 1 8 bits and take hexadecimal values between 0 F User login and status display field Default password Password2 abcd e If login is successful status will display Pass and grant access to the functions in Figure 2 19 Blocks O If login fails then Error is displayed User must attempt to login again If password is incorrect the correct password must be entered twice to login After logging in user must change password or change verify key before they can leave this page amp Data Read Select Page then click on Read to read data Data Write Select Page to write to input data click on Write to write to register then click on Save to save data to the 04PI module 2 14
32. e 1 39 tO ASB DMG RM32PT sli 1 42 1 11 ASD DMC RMG4MNT i 1 46 1412 AS D DMC MBA NI HNN ANED ENI FREE FF 1 51 1 13 VMRG EXA ainia 1 56 Chapter 2 USING EZDME lt a 2 1 2 1 EAN NS OGI 11 ca adas datada 2 1 2 2 Connecting to Gateway Module 2 2 2 3 Gateway Module Interface 2 3 2 3 1 ASD DMC GE16MN ASD DMC GE1TG6NT i 2 3 2327 ASOMAN uses 2 3 2 3 3 ASD BMEERMIEMN essen 2 4 234 ASD BME RMEANT aaa 2 6 July 2014 i DMCNET Remote Module User Guide Table of Contents 2 3 5 ASD DMC RMOAPI MODE Vi 2 7 230 ASD DMG RMOA4PI MODE 2 10 2 3 7 ASD DMC RMOAPI Interrupt Factor Operating Interface 2 13 2 3 8 ASD DMC RMO4PI Slave Encryption Operating Interface 2 14 2 9 ASD DMC RMO4 R srcrrrorerire erosione cesena nasa eresse seosaiza 2 17 23 10 AS DMC RMOAAD SR hei 2 19 2 311 ASD DMC RM PT ne a n E E iS 2 21 ADDENODCA RS RER a RER 1 2 July 2014 Chapter 1 Installation Environment 1 1 Physical Architecture LL bb Terminal ALL LL si U b 1 1 L L o Y LI E a rss L ba FH eo l di j nn ill re 0006 Figure 1 1 Overview of physical connection architecture servo drive RM32 module July 2014 1 1 DMCNET Remote Module User Guide Chapter 1 Installation Environment e E FEE EEFKES EFE EN A P u Pen L mn a a A AR nn TN L 1 LA A
33. ection but extended short circuits may damage the internal circuit Digital to Analog Input Point RMO4AD Channel 4 channel unit Voltage analog input range 10 10V 5 5V 0 10V 0 5V Current analog input range 0 20mA Digital conversion range 0 65535 Resolution 16bits Voltage input resistance 140KO Current input resistance 2490 Overall precision 0 5 at full scale within range 25C 7 F 1 0 55C 32 131 F at full scale Response time smallest 1ms the largest 3ms x number of channel Isolation method internal circuit and analog input are isolated with an optical coupler Current absolute input range 15 15 Voltage absolute input range 32mA Digital data format effectively 16 bits Averaging function provides 2 4 8 16 32 modes July 2014 1 5 DMCNET Remote Module User Guide Chapter 1 Installation Environment 13 ASD DMC RM32MN m ASD DMC RM32MN Overview 6 D 9 8 B 8 2 O 0 B B O B BR A SR WE Figure 1 4 Front view m ASD DMC RM32MN Connection Diagram RSW1 CN4 BoB 8 8 8 0 OD Ty 0 ie nd CN1 co p d Y CN3 CNS CN6 CN7 CN8 CN9 Figure 1 5 Connector diagram 1 6 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide m ASD DMC RM32MN Module and Connectors Pin Label Description 1 12 Node Number Node ID Invalid when dial is turned to 0 D F x Each module takes up one Node ID Figure 1 6 RSW
34. ed in greater detail below EM OAPT Model information Asai Sd 4 Bac O Figure 2 12 RMO4PI MODE 1 a block function description O Display the motion commands for each axis and other information amp Clear all current motion commands amp Set module s output level when SVON button is pressed Select H for High active Select L to set output as Low active O Display current motion status G Buffer Length counter If more data is being added when the buffer is full the value 299 is displayed O Set the module s input output phase The phase can be changed according to user requirements AB phase Speed may not be set at more than 500Kpps CW phase speed may not be set at more than 200Kpps Reset IO error on module Control the second set of Digital Outputs V Change PChange NewSpeed sec MewPos 5000 1 1 5000 TT Logic OR Y Change P Change ema stop emg stop Figure 2 13 RMO4PI MODE 1 d block function description O Set software limit First set the positive limit PLimit and negative limit NLimit then click on SoftLimit button to set the software limit 2 8 July 2014 Chapter 2 Using EZDMC DMCNET Remote Module User Guide amp Gear function is similar to an electronic gear ratio function When set moving distance originally set moving distance x numerator value denominator value This function is used to set the new velocity value
35. ground earth Figure 1 90 CN7 pin definition July 2014 1 37 DMCNET Remote Module User Guide Chapter 1 Installation Environment Figure 1 91 LED definition Label Description POWER Voltage status indicator RUN Operation indicator DMC DMC communication indicator 1 38 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide 1 9 ASD DMC RMO4AD m ASD DMC RMO4AD Overview Figure 1 92 Front view m ASD DMC RMO4AD Connection Diagram RSW CN3 CN4 CN5 CN6 CN7 Figure 1 93 Connector diagram July 2014 1 39 DMCNET Remote Module User Guide Chapter 1 Installation Environment ASD DMC RMO4AD Module and Connectors Pin Label Description 1 12 Node Number Starting Node ID Figure 1 94 RSW Pin Label Description AS485T_1 1 RS485 transmission signal RS485T_2 277 RS485 transmission signal FRON YR 6 RS485T_2 2 RS485 transmission signal oN are pin definitions i 8 EGND RS485groundsignal Description E24V 24V voltage input Figure 1 96 Case ground earth CN3 pin definition Description COM Common point Figure 1 97 CN4 pin definition Case ground earth T G Description Case ground earth Pin Figure 1 98 CN5 pin definition 1 40 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Description Voltage input 3 Current di 3 Case ground earth Figure 1 99 CN6
36. ice If you require technical support service and related information or have any questions during the use of this product please visit our website http www delta com tw industrialautomation or contact us We look forward to providing the best possible support and service for your needs Our contact details are provided below ASIA DELTA ELECTRONICS INC Taoyuan Plant 1 31 1 XINGBANG ROAD GUISHAN INDUSTRIAL ZONE TAOYUAN COUNTY 33370 TAIWAN R O C TEL 886 3 362 6301 FAX 886 3 362 7267 NORTH SOUTH AMERICA DELTA PRODUCTS CORPORATION USA Raleigh Office P O BOX 12173 5101 DAVIS DRIVE RESEARCH TRIANGLE PARK NC 27709 U S A TEL 1 919 767 3813 FAX 1 919 767 3969 JAPAN DELTA ELECTRONICS JAPAN INC Tokyo Office DELTA SHIBADAIMON BUILDING 2 1 14 SHIBADAIMON MINATO KU TOKYO 105 0012 JAPAN TEL 81 3 5733 1111 FAX 81 3 5733 1211 EUROPE DELTRONICS THE NETHERLANDS B V Eindhoven Office DE WITBOGT 15 5652 AG EINDHOVEN THE NETHERLANDS TEL 31 40 259 2850 FAX 31 40 259 2851 Table of Contents Chapter 1 Installation Environment sese esse cesses enen ennenen 1 1 1 1 Physical Architecture Y YAA nano nenn nenn LLA LLA LLA erre HR LLun nawa 1 1 12 El ciical Spec IN o GY 1 4 13 AS D DMC RMS2MN sisas 1 6 14 ASD DMERMZN Tess 1 10 t5 ASD DMGERMOEMN anne 1 14 6 ASBEPMEG RMO4NI nee 1 21 1 7 ASEMA MDA Pi 1 28 18 ASD DME RMOIDA zen im 1 35 19 A AA e PI se
37. igure 1 22 Power ground CN5 pin definition x Total voltage output at 24V is 1 5A Max Description NO N 24V voltage output 24V voltage output GND Power ground Output from one GPIO is 0 1 A Max Description 24V voltage output PO GPIO 9 output PO GPIO 10 output PO GPIO 11 output PO GPIO 12 output PO GPIO 13 output PO GPIO 14 output PO GPIO 15 output PO GPIO 16 output Power ground Figure 1 24 CN7 pin definition PO yoa Chapter 1 Installation Environment DMCNET Remote Module User Guide Description PR Figure 1 25 CN8 pin ES Seip definition Label Description Lr ELD definition GND Label Description POWER Voltage status indicator RUN Operation indicator ERROR Error indicator Mi Ja Mimo a B Le UL UL UDD B B IT LF Cr to do ED I ER EN CENT DMC DMC communication Waua indicator Figure 1 27 LED definition PO 0 15 PO 0 15 signal output indicator P1 0 15 P1 0 15 signal output indicator July 2014 1 13 DMCNET Remote Module User Guide Chapter 1 Installation Environment 1 5 ASD DMC RM64MN m ASD DMC RM64MN Overview L 1 5 1 5 1 91 51 US DY L TE HWER HY TIR Figure 1 28 Front view m ASD DMC RM64MN Connection Diagram RSW1 CN4 CN10 UR NE AE LE LESE DY L TE WED HI TIR Lu IE BEAT HERE EAR LE HY HI EF Hl CN1 CN2 a i P Em me m s N a NT E mu F Fm a A rd Y
38. ing HN signal fn RMO4PI Corresponding RMO4PI Corresponding PIN PIN Signal mark step number signal mark step number sp ow O 4 m 0 8 09000 The table for external power supply and corresponding series resistor is shown below External power voltage Vo External series resistor R1 External resistor not needed If the wiring environment has more ambient noise or involves longer wiring distances a 24V DC external power supply is recommended instead 1 58 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Diagram of connection to 2 phase stepping drive ASD DMC RMO4PI 2 phase Microstep CMK type VN DCSW 24V Twisted pair cable CCW pulse signal operating direction _ Wr Es Output current Off signal a RMOAPI Corresponding PIN RMO4PI Corresponding Signal mark Step number Signal mark Step number BIL PIN The table for external power supply and corresponding series resistor is shown below External power voltage Vo External series resistor R1 H External resistor not needed If the wiring environment as more ambient noise or involves longer wiring distances a 24V DC external power supply is recommended instead July 2014 1 59 DMCNET Remote Module User Guide Chapter 1 Installation Environment RM04PI Connection to Encoder ASD DMC RMO4P1 ROE ES EH ETA 5V LED LO SIGNAL PROCESSING CIRCUTRY coco Dd
39. input Figure 1 109 PO GPIO 8 input CN pin definition Description 4 4 O ya Chapter 1 Installation Environment DMCNET Remote Module User Guide Description EU 2evvotageoiput FIL CN6 pin definition x Output from one GPIO is 0 1 A Max Description lre Figure 1 112 CN7 pin definition Label Description POWER Voltage status indicator Operation indicator do Ro E FETE Nie TA A TOST 1 000 AAA B A A A o HE F EE ed DMC DMC communication indicator Figure 1 113 LED definition PO 0 15 P00 15 signal input indicator P1 0 15 P1 0 15 signal input indicator July 2014 1 45 DMCNET Remote Module User Guide Chapter 1 Installation Environment 1 11 ASD DMC RM64MN1 E ASD DMC RM64MN1 Overview UA RAe 8 ene I 5 8 8 ENS EU a MA NA GL O OU SR AES SA A ASC 19 19 1 CDU MA A OW z 2 ya O 2 o D lt Figure 1 114 Front view ASD DMC RM64MN1 Connection Diagram RSW1 CN6 CN7 5 8 amp 8 8 N TH DC EI EL ER 5 8 8 U HA K A A FA A Se CN1 Jet d 7 VIA 12 NA RI 8 ANA A A A CH IA NA qo A AAA L CN2 ASD DMC RM64MN 1 CNS Dswi CN29 CN30 Figure 1 115 Connector diagram 1 46 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide ASD DMC RM64MN1 Module and Connectors Label Description Node Number Node ID Figure 1 116 RSW1 X Invalid when dial is turned to 0 D F gt lt Each module take
40. input P3 GPIO 6 input P3 GPIO 7 input P3 GPIO 8 input Power ground x x Z Figure 1 43 CN14 pin definition Description Label GPIO mode MPG mode E24V 24V voltage output D rr EE si d gt e u Wi E Sa a F P3 GPIO 11 input P3 GPIO 12 input P3 GPIO 13 input EALO P3 GPIO 14 input Figure 1 44 P3 GPIO 15 input CN15 pin definition P3 GPIO 16 input Power ground July 2014 A AO DMCNET Remote Module User Guide Chapter 1 Installation Environment NEAR RN CWM UF CY YT DC CH CH CH DY O N E EEE E UU Pl POO TO HS A 9 N I A AA ET E B YND DY R TY UR FD CY TD en Figure 1 45 LED definition Description POWER Voltage status indicator RUN Operation indicator DMC DMC communication indicator PO 0 15 PO 0 15 signal input indicator P2 0 15 P2 0 15 signal input indicator P3 0 15 P3 0 15 signal input indicator P1 0 15 P1 0 15 signal input indicator 1 20 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide 16 ASD DMC RM64NT ASD DMC RMGANT Overview a i Ti mie et i Fr ii u 3 Figure 1 46 Front view m ASD DMC RM64NT Connection Diagram RSW1 CN4 CN10 VANA RAN LONDEN KANADA FE LAMA AAA TL LIR EIT KRAJ IDR KERS NN AR TY RABAT FY HWNT LUE 0000 F U e WWW rr uei I gt UE h T e U LL A E a CN3 CNS CNG CN7 CN8 CN9CN11 CN12 CN13 CN14 CN15 Figure
41. mote Module User Guide Information Axis Command FeedBack Speed Operate Setting Distance Pulse Length FT D DU 0141 Reset ta CMD Stop C POS IO Status Start Vel l PPS TAcc sec T Der ol sec Model ee O Model amp Target O Mode O Modes O MOSO O SLD N A O f Line Continue Homing Linear Am Arc C Arc MEOS O Linear T Heli C Lineard WR re e DR me SL _ __ _ TG DI PWRON O SCurve Abs Repeat 0 Figure 2 11 RMO4PI MODE 1 Control Interface a Displays the status values excite and reset of each axis during operation b Displays the status indicators of each IO port on RMO4PI c Set CANOpen command User can control the module by using this to read send CANOpen commands d Set the motion and software limit settings for motion e Motion parameter settings Parameters will vary depending on the mode selected in block F f Operating axis and operating motion mode selection Operate Mode g Open Slave Encryption interface Please see section 2 3 7 h Execute motion commands such as clockwise rotation CCW rotation and stop includes S curve reference coordinates selection and repeat option i Error return value and the firmware version of the connected RMO4PI module j Set SLD port functions July 2014 2 7 DMCNET Remote Module User Guide Chapter 2 Using EZDMC Blocks a and d are describ
42. mote Module User Guide Chapter 1 Installation Environment 1 13 Wiring Example m Wiring of RM32MN RM32PT RM64MN RM64MN1 Digital Input Connection Type Type 1 SINK Current flows into common Type 2 SOURCE current flows from point common point rm 24V ICOM CN4 0 T Internal ICOM Internal GND DO Circit m ER Circit SINK type wiring SOURCE type wiring Eguivalent circuit Digital Input Eguivalent circuit Digital Input Power Supply Internal Circuit m Wiring of RM32NT RM32PT RM64NT RM64NT1 Digital Output Connection type transistor T Internal Circuit 1 56 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide m Wiring of RMO4PI Digital Input MEL PEL ORG SLD Connection Type SINK SINK type connection Input point loop SINK Current flows into common point MU eguivalent circuit Power Supply GND EN en J Wiring of RMO4PI Digital Input DI1 DI2 SINK type connection equivalent circuit digital input Wiring of RMO4PI Digital Output CW CCW D01 D02 Connection type transistor T Internal Circuit July 2014 1 57 DMCNET Remote Module User Guide Chapter 1 Installation Environment RMO4PI Connection to Stepping Drive Diagram of connection to 5 phase stepping drive Twisted pair cable O E CW pulse signal A A USS Signa LC V Brake release signal e 10 y Overheat
43. nstallation Environment eon nar FAEN AAEE fen ALY A Es AA A AA A TO T LZ La 128 15 VER K UDA Figure 1 81 LED definition Label Description POWER Voltage status indicator RUN Operation indicator Axis 3 OA DO2 3 axis signal output indicator 1 34 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide 1 8 ASD DMC RMO4DA m ASD DMC RMO4DA Overview Figure 1 82 Front view m ASD DMC RMO4DA Connection Diagram RSW CN1 CN2 CN3 CN4 CNS CNG CN7 Figure 1 83 Connector name location map July 2014 1 35 DMCNET Remote Module User Guide Chapter 1 Installation Environment ASD DMC RMO04DA Module and Connectors Pin Label Description Node Number Starting Node ID le 6 1 8 S485T_2 27 RS485 transmission signal Figure 1 85 RS485T_2 2 RS485 transmission signal CN1 and CN EGND RS485 ground signal pin definitions EGND RS485 ground signal Pin Label Description 3 E24V 24V voltage input FF CN3 pin definition Description Voltage Output 1 10 10V Current Output 1 0 24mA Figure 1 87 Case ground earth CN4 pin definition 1 36 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Description E Figure 1 88 CNS pin definition Description Current Output 3 0 24mA Case ground earth Figure 1 89 CN6 pin definition Description Current Output 4 0 24mA Case
44. ntinuous forward and backward operation depending on the Distance value Checking S Curve will use the S curve during acceleration deceleration The T curve is used otherwise Checking Abs means motion commands will use absolute coordinates Relative coordinates will be used otherwise July 2014 Chapter 2 Using EZDMC DMCNET Remote Module User Guide 2 3 7 ASD DMC RM04PI Interrupt Factor Operating Interface About Slave Hardware aa PCI DMC A01 CardlD 12 RM 04DA Slave 12 1 AM O4AD Slave 12 12 Figure 2 16 Open ASD DMC RMO4PI Interrupt Factor Operating Interface a Interrupt Factor Event U U U U U U U U U U U U Count U U U U U U U U U U U U Model U L Normal Stop Nest Buffer Acceleration End Deceleration Start ado Finish DMC Cycle Start FAMOAPI FIFO m m m m m m 8 see 747505 1 e mm m ee see mm m m m a 1 7 m m m m m m m m m m m 1 1 m m m Llzer define 66000 000000 Figure 2 17 RMO4PI Operating Interface Event Type of trigger event Count Event trigger counter 6 Node ID Select Node to enable Interrupt This event can only be used in Mode 2 Normal Stop Triggers at the end of any motion This event can only be used in Mode 2 G Next Buffer It will be triggered when buffer action is performed This event can only be used in Mode 2 G Acceleration End It is triggered when acceleration ends This event can only be used in Mo
45. s up one Node ID Description RS485T_1 7 1 RS485 transmission signal Se 1 RS485 transmission sianal 1 8 INN 2 RS485 transmission n signal CN1 and CN2 RS485 ground signal pin definitions Pin Label Description Case ground earth 123 24V voltage input Figure 1 118 CN3 pin definition Label Description 24V voltage output Common input signal X This connector is used with common point for Pull high or Pull Iow Figure 1 119 DSW1 pin dennen x COM connected with 24V move to location marked 1 gt Low active Pull high x COM connection with GND High active Pull low x Total input voltage is 3 0A Max July 2014 1 47 DMCNET Remote Module User Guide Chapter 1 Installation Environment Figure 1 120 CN29 amp CN30 Figure 1 121 CN6 pin definition 1 48 x This is a metallic fastener used for connecting and securing the customer s own terminal board Pin Description Pin Description POGPOSipu 06 _POGPIOG input PoGPIOT mt 08 POGPIOR input 0 03 05 07 4 13 15 4 19 2 5 7 9 3 D 23 4 4 7 4 4 2 2 2 3 3 3 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Pin Description Pin Description 0 os PZOPIOSiMA 06 P2GPIO6input or PEGPIOTINUI 08 P2GPIOBinput I E 5 peapossnou 16 P2GPIO 16 input July 2014 1 49 DMCNET Remote Module User Guide Chapter 1
46. tion 24V voltage output L DSW1 pin definition 1 52 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide x This is a metallic fastener used for connecting and securing the customer s own terminal board Figure 1 130 CN29 amp CN30 Pin Description Pi Description 01 PO GPIO 2 output PO GPIO 4 output 05 POGPIO5output 06 POGPIO6 output POGPIO7output 08 PO GPIO 8 output PO GPIO 10 output PO GPIO 12 output CO W MS NI PO GPIO 13 output PO GPIO 14 output sk N Power ground 9 24V voltage output P1 GPIO 2 output P1 GPIO 4 output 25 P1 GPIO 6 output 27 P1 GPIO 8 output 29 P1 GPIO 10 output Power ground Power ground 3 24V voltage output 24V voltage output bh n 2 5 PO GPIO 15 output PO GPIO 16 output 2 NO CO July 2014 1 53 DMCNET Remote Module User Guide Pin Chapter 1 Installation Environment Description Pin Description P2 GPIO 1 output P2 GPIO 2 output 03 05 07 11 13 PEGPIOSOUIPUI 06 P2GPIOGOUpU PeGPIOTOUput 08 P2GPIOBoupu 5 PEGPIO 15 output 16 P2GPIO 16 output July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Iet RN CM ETL NN CH CH HEN LE E AI LE EI A HU DYD EF ER ERE ED OOC CHER CH a E PF O DD TY DY LE ADA e Figure 1 133 LED definition Label Description POWER Voltage status indicator RUN Operation indicator July 2014 1 55 DMCNET Re
47. tion with GND High active Pull low x Total input voltage is 3 0A Max Figure 1 33 CN4 pin definition July 2014 AA DMCNET Remote Module User Guide Figure 1 34 CN5 pin definition Figure 1 35 CN6 pin definition Figure 1 36 CN pin definition Chapter 1 Installation Environment Description 24V voltage output 24V voltage output Total voltage output at 24V is 1 5A Max Description Label Description July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Description 11e P1GPIO7input Figure 1 37 CNB pin definition Label Description ci Figure 1 38 CN9 pin definition SND Label Description 24V 24V voltage output e COM Common input signal CN10 pin definition IT DMCNET Remote Module User Guide Chapter 1 Installation Environment Description Figure 1 40 CN11 pin definition Total voltage output at 24V is 1 5A Max Description 24V voltage output X00 e o Figure 1 41 CN12 pin definition When P3H P3L 3rd GPIO is installed in MPG mode Pin9 P2 X00 and Pin8 P2 X01 cannot be used Label Description P2H ND das P2 GPIO 15 input Figure 1 42 P2 GPIO 16 input CN13 pin definition 1 18 July 2014 Chapter 1 Installation Environment DMCNET Remote Module User Guide Description GPIO mode MPG mode 24V voltage output P3 GPIO 1 input P3 GPIO 2 input P3 GPIO 3 input P3 GPIO 4 input P3 GPIO 5
48. ure that the module has a normal display If the device is high active then connect the COM port to GND Only turn on the power once you have checked that all the hardware is connected properly Wait for the power indicators on the device and module to light up before running the program EZDMC exe on the CD to control the module fe ERRE E ScD kj Microsoft Office AR ET Notepad k oo Sn sia ro 3 Cr en IA Windows Live k A 30 WEER ee Outlook Express M O IED 1 SEGGER AC BT Y gt fre or __rTrTrt CO US EM Administrator JC ameo Figure 2 1 Launching the EZDMC program July 2014 2 1 DMCNET Remote Module User Guide Chapter 2 Using EZDMC 2 2 Connecting to Gateway Module After launching the EZDMC program click on the Search Card button When the program has found the PCI DMC 01 interface on the system select the icon for the card and then click on the Scan Slave button to find the connected Remote module For a more detailed description of the EZDMC program interface and operating instructions please refer to the PCI DMC A01 PCI DMC B01 User Guide Slave Hardware PCI DMC A01 CardiD 0 o RM 32NT DIO Slave 0 1 FAEzDMC ow RE RM 32MN DIO Slave 0 2 File HariWare About 7 8 SS PCI DMC A01 CardlD 0 gmn RM 64NT DIO Slave D 1 boc RM B4MN DIO Slave 0 3 aa PCI DMC A01 Card D O M gt gt RM D4PI Model Slave 0 1 s O NO ie BI RM D4PI
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