Datasheet:QCI-DS016 QuickSilver Controls, Inc. SilverDust D2
Contents
1. DRIVER ENABLE V Proccessor V or PGND QuickSilver Controls Inc Termination FP2 Serial Comm FP3 ba Power FP4 Page 7 of 17 Datasheet QCI DS016 QuickSilver Controls Inc Front Panel FP FP1 CAN Interface Breakout FP2 Termination FP3 Communication Interface Breakout FP4 Power Interface Breakout Top Panel TP TP1 Processor Switch Bottom Panel BP BP1 CAN Daisy Chain Interface BP2 SMI Interface BP3 Motor Interface FP1 CAN Interface Breakout Controller Area Network CAN This high speed up to 1 megabit s bus allows for register and I O sharing as well as interface to 3rd party CANopen devices i e encoders I O modules 5 CAN SHIELD CAN 12 24 VDC CAN L CAN H CANO VDC NOTE CAN requires firmware rev 29 and QuickControl Rev 4 5 See SilverLode CANopen User Manual Note CAN V only connects to BP1 and is provided for external wiring convenience only FP2 Termination Interface CAN requires termination at both ends of the bus H SAN TERM Jumper CAN TERM to terminate the bus Jumper both 485 TERM for RS 485 termination This provides a biased termination for the bus 3 485 TERM QuickSilver Controls Inc Page 8 of 17 Datasheet QCI DS016 QuickSilver Controls Inc FP3 Communica2. The QCI BO B from QuickSilver provides inexpensive way to breakout all the TTL I O Another version is the QCI BO B52 which allows 5 isolated 24Volts inputs and 2 Open Drain outputs See QCI TD046 for more details QuickSilver Controls Inc Page 13 of 17 Datasheet QCI DS016 QuickSilver Controls Inc 6 Din Rail Mount Optional The DIN Rail Bracket QCI DIN is an optional kit for din mountable applications See below QCI DIN1 8 32 Screws 2 Q 1 90 48 26 mm Provided 1 78 45 10 mm C 0 37 9 32 mm 1 82 46 13 mm QuickSilver Controls Inc Page 14 of 17 Datasheet QCI DS016 QuickSilver Controls Inc Multi Axis Setup Serial and CAN U U U U U U CAN terminate EH E at the end only re i EK CAN terminate Serial Bus Ex at the end only RS485 terminate Los at the end only om a i RS 485 terminate perro E EK
3. E at the end only f f f TH E l A A iH it 2 it g Ug Q Q Q i i E nu 2 qu 2 qu 2 Wd a al Q W O a la l Ls 6 io o Oj eese O D 90000 C OJ esee O Oj 00000 O Oj eevee O 00000 S J o0000 o oo oo oo Serial amp CAN QCI C RJ12 RJ12 A This configuration provides communications between an external PC HMI PLC via serial communications The 485 terminations are shown jumpered for 485 operation These jumpers should be removed for multi drop RS 232 operation The serial port is used to command and monitor the individual units The CAN bus provides a CANopen link between the multiple axis This may be used to coordinate axes and to share data and or IO the axes may be configured as peer to peer or master slave or a mix as desired The CAN bus termination is shown jumpered only at both ends of the CAN bus QuickSilver Controls Inc Page 15 of 17 Datasheet QCI DS016 QuickSilver Controls Inc CANopen Networks True real time servo data sent and received in a multi axis network must be deterministic QuickSilver CANopen provides the real time data transmission capabilities to the network CANopen uses an arbitration method to send and receive messages instead of collision detection Each time data is sent all units having data to send start by sending their message Identifier information while monitoring to see if their message is the highest priority message being asserted If a higher priori
4. Datasheet QCI DS016 QuickSilver Controls Inc Date 5 November 2008 www QuickSilverControls com SilverDust D2 IGC Datasheet Servo controller driver for QuickSilver s NEMA 11 17 and 23 frame servomotors These SilverDust controllers have a compact DIN mount designed to save cabinet space and come standard with the CANopen bus They are great for multi axis systems QCI D2 IGC Property of QuickSilver Controls Inc Page 1 of 17 This document is subject to change without notice QuickControl and QCI are Registered Trademarks of QuickSilver Controls Inc SilverLode SilverNugget SilverDust PVIA QuickSilver Controls and AntiHunt are trademarks of QuickSilver Controls Inc Datasheet QCI DS016 System Overview Point to Point Moves e Relative or Absolute e Velocity or Time Based e S Curve Advanced Motion Profile Moves e Profile Move Commands e Register Based o Position Accel Decel Vel o Modify On the Fly Multi Axis Linear Interpolation e XYZ Coords Contained in Text File e CANopen used for local bus e 1000 Points Stored In NV Memory Built In Voltage Clamp e Regenerative Braking Resistor Input Output e 7 TTL Digital I O o Use for QCI BO B52 24V I O e 4 Analog Inputs Joystick e Analog Output Option e Programmable Limit Switch PLS e Secondary Encoder In Program and Data Storage e 32K Non Volatile Memory e 2000 3000 Program Lines e User Data Examples o CAM Tables o Motion Profiles o
5. Lookup Tables Electronic Slip Clutch Brake e Variable Torque e Wind Unwind Applications Anti Hunt e Optionally use Open Loop While Holding e No Servo Dither While At Rest QuickSilver Controls Inc Page 2 of 17 QuickSilver Controls Inc Electronic Gearing Camming e Follow Encoder A B Quadrature or Step and Direction e Dynamic Gear Ratios o Integer Ratios 32767 1 to 1 32767 o Decimal Ratios to 7 Places e Electronic Cam o Import Tables From Text File o Over 2500 Points o Multiple Tables Communications e RS 485 RS 232 230K Baud e ASCII Binary Modbus DMX512 e CANopen e Host Control While Servo in Motion Programming Language e Easy Menu Driven Interface e Command Parameter Prompts e No Syntax Errors e User Namable I O and Registers Advance PVIA Servo Loop e 100 1 Inertial Mismatch e Direct Drive Oversized Inertial Loads o Flywheels Belt Drives o Typically Without Gearheads e More Stable Than PID Digital 4 Quadrant Vector Drive e DSP Driven for Reduced Noise Multi Task Multi Thread Compatible with QCI Motor Encoders e NEMA 11 Frame o 4000 Counts Rev Encoder o Up To 9 oz in continuous e NEMA 17 Frame o 8000 Counts Rev Encoder o Up To 43 oz in continuous o IP50 or IP65 e NEMA 23 Frame o 8000 Counts Rev Encoder o Up To 300 oz in continuous o IP50 or IP65 UL CUL CE Datasheet QCI DS016 QuickSilver Controls Inc Electrical Specifications Input Power Voltage 12 VDC to 48 VDC regulated Th
6. e controller must be initialized for the actual operating voltage using Initialization Wizard Over Voltage Protection Voltages exceeding 55 VDC will permanently damage the controller driver electronics All controllers include an onboard clamp circuit and braking resistor to dissipate excess current developed during re generative braking stopping Reverse Polarity Protection Reverse polarity protection is provided Note however if the power supply is not floating connecting the V input to Ground will cause this potential to be present at the communications and I O lines which may damage these lines or that to which they are connected Input Current 4 Amps maximum for any input voltage 12 VDC to 48 VDC Output Power Output Driver Current Amps Per Phase 3 5 Continuous 4 5 Peak with adequate heat dissipation heat sink Maximum Output Power 150 Watts continuous power with adequate heat dissipation Encoder Interface From Motor Encoder Quadrature Differential Ended From External Secondary Encoder Quadrature Single Ended Note CANopen encoders may also be used through the CANopen communication bus CANopen and CiA are registered community trade marks of CAN in Automation e V QuickSilver Controls Inc Page 3 of 17 Datasheet QCI DS016 QuickSilver Controls Inc Inputs amp Outputs Standard I O 7 VO 1 7 Digital Inputs 0 to 3 3 VDC LVTTL level compatible Effective internal 200K ohm impedanc
7. e to 3 3 V Digital Output Voltage 0 3 3 VDC Digital Output Current Sinking or Sourcing I O 1 4 5 7 outputs 4 mA MAX I O 2 and 3 outputs 2 mA MAX I O 6 outputs 8 mA MAX I O Over Voltage Protection An over voltage limiter protects each standard I O line up to 30 volts Applying voltages greater than 30 volts will permanently damage the I O Analog Inputs 0 to 3 3 VDC input signal range 10 bit ADC resolution single 11 bit ADC resolution differential Analog inputs 1 to 4 are mapped to share digital I O lines 4 to 7 Each input has an effective internal 200K ohm impedance to 3 3 VDC Analog signals are read every servo cycle 120 usec and the converted analog data is processed through a 5 ms filter to reduce noise amp transients Analog Output Available on I O 2 but requires Basic Breakout w Analog Output QCI BO B1A See technical document QCI TD048 Driver Enable Inputs 10 48 Volts optically isolated differential inputs QuickSilver Controls Inc Page 4 of 17 Datasheet QCI DS016 QuickSilver Controls Inc Communications Hardware Interfaces RS 232 RS 232 multi drop RS 485 multi drop software selectable Protocols 8 bit ASCII 9 bit binary or Modbus RTU Hardware Configuration Settings Available Baud Rates 2400 4800 9600 19 2k 28 8k 57 6k 115 2k or 230 4k Data Bits 8 Stop Bits 1 5 or 2 Parity Bit None Controller Area Network CAN Software Required Firmware Rev 29 Q
8. ections on signal pairs 1 6 2 5 3 4 reversing connections and preventing proper operation of the system Proper cables will have the same color signal wire connected to the same pin on both ends of the cable QuickSilver s 6 patch cable QCI C RJ12 RJ12 A is recommended QuickSilver Controls Inc Page 9 of 17 Datasheet QCI DS016 QuickSilver Controls Inc BP2 SilverLode Multi function Interface SMI Port Pin Signal 7 7 7 Patea These signals provide power communications V Input Power and 3 3v IO signals digital and analog RS 485 B RS 232 Tx NOTE QCI has many modules capable of breaking out these signals For example e Basic Breakouts QCI BO B QCI BO B1 RS 485 A RS 232 Rx Logic Ground 5 Volts 100mA e Basic Breakout w Analog Out QCI BO B1A bine me e Breakout w 24V IO 5in 2out QCI BO B52 e 24V Optical I O Module QCI OPTMC 24 Requires QCI EC SMI cable See technical documents on our website for details This port provides QuickSilver s basic Power Communication standard I O for easy connectivity in large systems The SMI port is standard on all our controllers which helps make new products backward compatible with older ones See above sections for details on these signals Power inputs are diode OR ed into power inputs from the Power Interface Breakout Apply power from either port is OK Note Encoder Inputs described in SSI Por
9. en the motor and the controller The motors and cables are IP65 but not the controller driver The generic part number is QCI C D15P T14S nn Replace the last two digits nn with length of cable in feet i e 10 for 10 feet 3 Motor The SilverDust D2 is capable of driving any A 17 or 23 l Grade motor encoder See the following datasheets for more information QuickSilver Controls Inc Page 12 of 17 Datasheet QCI DS016 QuickSilver Controls Inc QCI DS007 NEMA 17 I Grade Motor Encoder QCI DS008 NEMA 23 I Grade Motor Encoder QCI DS002 NEMA 17 IP65 Motor Encoder QCI DS001 NEMA 23 IP65 Motor Encoder 4 Power Supply Power supply selection is motor dependent but the following will work with all the 17 and 23 frame motors S 210 48 48V 4 4A 210 Waitt 5 Breakout Module optional Optional equipment QCI BO B Pluggable terminal blocks j provided s A E i S 3 CAN terminate x e at the end only S a 9 e RS 485 terminate N Ok at the end only Do not jumper gt E for RS 232 2 foon E amp H
10. ower supply and a motor encoder you will have everything you need to get started See technical document QCI TDO60 on our website for details The system detailed below uses the QCI SKB D2 IGC QuickSilver Controls Inc Page 11 of 17 Datasheet QCI DS016 QuickSilver Controls Inc SilverDust IGC System CPU POWER ON _ _ __ QCI D2 IGC m snt E7 V ON 3 He ofl canes A 2 0 485 TERM ill oa ce oo o o 485 TERM UK QCI C D9M9F 6 Cc cS QCI BO B ee ee eee cig Pl E QCI D15P D15S nn j h P FT 1 Controller Driver Standard controller driver is a QCI D2 IGC with CAN 17 23 FRAME MOTOR ENCODER 2 Motor I F Cable For standard systems this D sub type cable goes between the motor and the controller The generic part number is QCI C D15P D15S nn Replace the last two digits nn with length of cable in feet i e 10 for 10 feet For IP65 system a special IP65 cable goes in betwe
11. s Inc Page 17 of 17
12. t uses I O 4 5 and 6 listed here If these I O are used for electronic gearing they are NOT available for general purpose I O function Note Communication lines RS 485A RS 232 RX RS 485B RS 232 TX and LOGIC GROUND are all internally connected between the SMI port and the respective pins on the front side connector FP4 BP3 Motor Interface Chassis Ground 5V Encoder Power Encoder A Encoder B Motor A Motor B Encoder Z Encoder A Encoder Z Motor A Chassis Ground Encoder B Encoder Ground Motor Memory Access QCI recommends our QCI C D15P D15S nn nn length in feet cable to interface between the motor and the controller QuickSilver Controls Inc Page 10 of 17 Datasheet QCI DS016 QuickSilver Controls Inc The Motor I F Breakout QCI BO M1 can be used to breakout these signals See Technical Document QCI TD057 Motor I F Breakout QCI BO M1 Recommended Components SilverDust IGC Start Up Kit QCI SKB D2 IGC For first time users QCI recommends purchasing the QCI SKB D2 IGC Start Up Kit which includes e SilverDust D2 QCI D2 IGC amp Datasheet QCI DS016 e QuickControl Software CD User Manual amp Command Reference QCI SLM Communication Cable QCI C D9M9F 6 4 DB15HD Motor I F Cable QCI C D15P D15S 4 DIN Rail Bracket QCI DIN1 Basic Breakout QCI BO B Start Up Kit Setup Instructions QCI TD060 With this Start Up kit a p
13. tion Interface Breakout COMM RS232TX RS485B Standard RS 232 RS 485 connections broken out to RS232RX RS485A D terminals for easy wiring COMM GND S B Tx FP4 Power Interface Breakout The two main items are V amp V normally from the main power supply V Pr is a separate power input to keep the processor alive for certain applications ENA and ENA are inputs to an optically isolated drive enable If Driver Enable is not needed jumper ENA to CLMP V CLAMPED OUT DRIVER ENABLE DRIVER ENABLE V Proccessor V and ENA to V CLMP is a fused 500 mA output CLMP V minus 0 3V _ V or PGND TP1 Processor Switch The Processor Switch turns on and off the power to the processor The main power to the SilverDust should be OFF before connecting or disconnecting the system The Processor Switch does NOT disconnect main power BP1 CAN Daisy Chain Interface Pinout 1 CAN SHIELD 2 CAN V 3 CAN H 4 CAN L 5 CAN GND 6 CAN SHIELD CAN daisy chain using RJ11 connector provides clean and inexpensive cabling solution Any telephone cable works with the RJ11 connector These connections require a straight through UTP RJ12 connector Note signal configuration is compatible with RJ10 connector for standard CANopen pin out if not using CAN Shield lines Warning Standard telephone patch cords swap conn
14. ty message is detected the unit with the lower priority message stops transmitting until the bus is not busy This is done without disrupting the highest priority message The user is able to select the message priority and therefore the order in which the messages will transverse the bus As long as the user takes care to not overload the bus the messages will be delivered in a timely manner QuickSilver Controls Inc Page 16 of 17 Datasheet QCI DS016 QuickSilver Controls Inc Part Number DRIVER CONTROLLER OPTIONS QCI D2 3 5 Amp IGC SilverDust D2 IGC For 23 Frame and e 7 TTL Inputs or Outputs Smaller use QCI BO B52 for 24V I O 3 5 Amps per e 4 Analog Inputs Joystick Phase e Analog Output Option Continuous use QCI BO B1A 4 5 Amp Peak RS 232 or RS 485 4A 12V 48V ASCII Binary Modbus CANopen Voltage Clamp And Resistor Drive Enable Depending on heat DB15HD pin SMI Port sink 25C ambient DB15HD socket Motor I F including motor power and encoder Blank Standard e DIN compatible D DMX512 For multiple options list fields in alphabetical order To create a part number choose one from each column above For a SilverDust IGC with DMX512 amz J e OOOO SSS This selection creates the part number QCI D2 IGC D Contact Information QuickSilver Controls Inc 580 E Arrow Hwy E San Dimas CA 91773 909 447 7417 or 888 660 3801 909 447 7410 FAX www QuickSilverControls com QuickSilver Control
15. uickControl Rev 4 5 See CANopen User Manual for hardware and software details QuickSilver Controls Inc Page 5 of 17 Datasheet QCI DS016 QuickSilver Controls Inc Mechanical Specification QCI D2 IGC lk 3 12 79 1 mm j 2 56 65 0 mm 56 14 2 mm a 4 60 116 7 mm 4 78 121 5 mm 1 90 48 2 mm 1 45 36 8 mm 19 4 7 mm 45 11 4mm n 06 2 0 mm a5 3 18 mm k 08 2 0 mm Hl Note See our website for 2D drawings and 3D models QuickSilver Controls Inc Page 6 of 17 Datasheet QCI DS016 Environmental Specifications Operational Temperature 10 C to 80 C Storage Temperature 40 C to 85 C Humidity QuickSilver Controls Inc Continuous specification is 95 RH non condensing Shock Limitation is approximately 50g 11ms IP Rating IP20 with cables attached Connector Data Top Panel TP Processor Switch TP1 CAN SHIELD Bottom Panel BP Ea i A N a oe 28000 O eee0e O 00000 SMI Interface BP2 Motor Interface BP3 CAN Daisy Chain RJ11 BP1 CAN 12 24 VDC CAN L CAN H CAN 0 VDC RS232TX RS485B z a CAN Breakout FP1 m CAN TERM Jn 485 TERM RS232RX RS485A Comm Ground Vclamp 485 TERM DRIVER ENABLE
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