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User Manual M3000® Automation System / MSC II (Moog Servo

1. Task reaction time approx 20 us Task calculation time Max 70 task cycle time Depending on application QAIO 2 2 start sample 45 us inputs t Basetick cycle time Basetick cycle time Basetick cycle time can be adjusted within MACS development environ ment The module parameter Basetick index 2 of the root module may be adjusted within the range of 100 to 3000 This value equals the basetick cycle time in us t E bus start time E bus start time Start of E bus communication cycle depends on E bus frequency When QAIO 16 4 modules are used within the E bus group E bus frequency is shifted down to 5 MHz Then a single E bus communication cycle takes 84 us By default 10 MHz E bus frequency is used which halves the communication cycle tz SSI Sensor start time SSI Sensor start time Start of SSI sensor communication cycle depends on Sensor clock fre quency and number of data bits Sensor communication time must be smaller than basetick cycle time Maximum time calculation 32 bit at 78 kHz gt 1 78000 32 410 us O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 91 10 MSC II Moog Servo Controller Basetick SSI sensors need a recovery time of typically 10 us to 20 us During this time no communication to with the sensor is possible This should be considered when adjusting basetick and SSI sensor set tings t4 Task reaction time Task reaction time Time u
2. QDIO 16 16 0 5 1 0 1OGroupt 1 0i 37 TUp wo N 39 gt E gt o 0 N o 24 V OV 24V L2 M1 L2 M1 L2 Actuator Sensor Figure 32 Wrong Power Supply Connection of Sensors via a QDIO The attached sensors must be supplied with power from a permanently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply Power must not as shown here be supplied from switched power circuits O The sensors within an I O group must always be supplied with power from the same power supply that supplies the relevant I O group They must not as shown here be supplied from a separate power sup ply due to the danger of reverse energization Moog GmbH Wrong Power Supply Connection of Sensors via a QDIO User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 45 6 Project Planning and Installation Connecting Signal Cables 6 3 Connecting Signal Cables WARNING No work of any kind such as mounting removing wir ing or repairs to the M3000 automation system or M3000 modules may be performed while the automa tion system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M3000 automation sys tem or M30009 modules it is essential that the
3. Part 6 4 Generic Standards Emission Standard for Industrial Environments DIN EN 60204 Safety of Machinery Electrical Equipment of Machines 12 3 4 IEC IEC 60068 Quoted Standards IEC Environmental Testing IEC 60068 2 6 Environmental Testing Part 2 Tests Test Fc Vibration Sinusoidal IEC 60068 2 27 Environmental Testing Part 2 Tests Test Ea and Guidance Shock IEC 60068 2 31 Environmental Testing Part 2 Tests Test Ec Drop and Topple Primarily for Equipment Type Specimens IEC 60364 4 44 Electrical Installations of Buildings Part 4 44 Protection for Safety Protection against Voltage Disturbances and Electromagnetic Distur bances IEC 60529 Degrees of Protection Provided by Enclosures IP Code IEC 60664 Insulation Coordination for Equipment within Low Voltage Systems IEC 60801 2 Electromagnetic Compatibility for Industrial Process Measurement and Control Equipment Part 2 Electrostatic Discharge Immunity Require ments IEC 61131 Programmable Controllers IEC 61131 1 Programmable Controllers Part 1 General Information IEC 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests IEC 61131 3 Programmable Controllers Part 3 Programming Languages IEC 61131 4 Programmable Controllers Part 1 User Guidelines 12 3 5 ISO DIS ISO DIS 11898 Quoted Standards Road Vehicles Controller Area Network CAN ISO DIS Moog GmbH User Manual
4. Wire Fault Monitoring of MSC II s Digital Sensor Interfaces Wire Fault Display LEDs of MSC II s Digital Sensor interfaces Connecting SSI Sensors to the MSC II Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 102 10 MSC II Moog Servo Controller Digital Sensor Interfaces 10 13 3 1 SSI Master Mode In SSI master mode the MSC II generates the SSI clock internally sensor 1 CLK1 sensor 2 CLK2 sensor 3 CLK3 sensor 4 CLK4 with adjustable fre quencies in the range between 78 kHz and 5 MHz The frequencies are set in the PLC configuration of the MACS development environment The clock signal is generated synchronous to the adjusted basetick MSC Il calculates duration of a SSI data transmission depending on frequency and number of data bits SSI communication is started exact that necessary time before each basetick Make sure That the SSI communication time does not exceed the baset ick period When idle the clock signal will be in the 1 state The first falling edge of the clock signal triggers the SSI sensor to hold its actual value The clock signal s subsequent rising edge starts the data transmission of the SSI sensor The output begins with the most significant bit MSB After a complete data set has been transmitted the SSI sensor holds the data signal in the 0 state until the SSI sensor is ready for another transmission The return of the data signal to the 1 state simultaneously
5. 10 V gt 3 3 3 Q Modules on page 17 QEBUS CAN CAN extension module which can be D137 001 010 used to make available the LocalCAN bus of an E bus group for external CAN bus network stations over a D sub front panel connector gt 3 3 3 2 QEBUS CAN on page 19 Table 25 Product Range Q Modules O The plug in terminal strips that may be needed for connection of power and signal cables are not included in delivery The plug in terminal strips are available from Moog as accessories Only the MSD Motion Controller is delivered with the necessary plug in terminal strips for power supply and digital I O gt 11 8 Plug In Terminal Strips on page 121 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 116 11 Product Range Power Supply for M3000 Modules 11 2 3 R Modules Remote Modules RDIO 16 16 0 5 Remote module with digital I Os and D137 002 001 CANopen interface connection over CAN bus 16 inputs and 16 I Os Positive switching gt 3 3 4 R Modules Remote Modules on page 19 RDISP 22 Display and operating terminal with D137 004 001 TIA EIA 232 and CANopen interface and 22 keys connection over CAN bus gt 3 3 4 R Modules Remote Modules on page 19 The CPRDISP software needed to program and configure the RDISP is not included with RDISP CPRDISP is available from Moog as an accessory gt 11 5 2 Software for R Mod ules on page 119 DialogCon
6. 7 3 3 3 Number of Network Stations Profibus networks with M30009 modules can only include a maximum of Number of Network 32 Profibus network stations With repeater stations the network can be ex Stations panded to a maximum of 126 stations within the address range of 0 to 125 Each repeater reduces the maximum number of network stations as a re peater is a passive network station without any address IEC 61158 EN 50170 specifies networks with up to 126 Profibus network sta tions The performance to the Profibus master may limit the maximum num ber of slaves The number of network stations also influences the reaction time that can be achieved by the bus Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 51 7 Networking M3000 Modules Profibus 7 3 4 Profibus Interface Cable 7 3 4 1 Terminal Assignment Connector RxD TxD N RxD TxD P 5 6 3 8 Pin No of 9 Pole D sub Con Figure 40 9 Pole D sub Mating Connector with switchable termination according to IEC 61158 EN 50170 Connector RxD TxD P RxD TxD N RxD TxD P RxD TxD N 5 6 3 8 Pin No of 9 Pole D sub Con Figure 41 Profibus Interface Connector with internal longitudinal inductivity according to IEC 61158 EN 50170 Terminal assignment of the Profibus connectors on the front panel of the MSC II control module gt 10 4 1 Terminal Assignment on page 78 7 3 4 2 Connector Pin out Signal Function Shield
7. CONTROL MODULE FOR DIN TOP HAT RAIL MOUNTING WHAT MOVES YOUR WORLD MOO C3 Copyright 2008 Moog GmbH Hanns Klemm Strasse 28 71034 B blingen Germany Telephone 49 7031 622 0 Fax 49 7031 622 100 E Mail Info germany moog com M3000 Support moog com Internet http www moog com industrial All rights reserved Neither this manual nor parts of it may be reproduced in any form print photocopy microfilm or any other process or processed duplicated or distributed through the use of electronic systems without Moog s written approval Offenders will be held liable for the payment of damages Subject to changes without prior notice All M3000 modules comply with the standards specified in their relevant declaration of conformity C CE labeling of the M3000 modules is based on proper installation of the automation system with proven electromagnetic compatibility EMC Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 A Table of Contents Table of Contents EiSbot Tables cacti ca aha ot ke eas Dd vi A leet cecal M viii 1 General Information 1 5 err iaa 1 1 1 About this Manuwual ire Lien etr aca 1 1 1 1 Reservation of Changes and Validity sse 1 1 4 2 Exclusion of Elability 2 1 2 11 111 Lcid ILLI erre end dde ide ae 1 1 1 3 Comnpleteness 2 fete eo de e ae t Eee a es
8. 0 25 mm 23 AWG n environments with a high amount of disturbance use cables with twisted pair wires 10 13 1 Termination Resistors Each sensor interface of the MSC II is equipped with switchable termination resistors one for each channel The default state of the switches is ON This means termination resistor is active for each differential pair When using more sensor interfaces together with one sensor the additional termination resistors need to be switched off e g in SSI Slave mode Activation deactivation of the resistors are controlled by the DIP switches on the MSC II mainboard Digital Sensor Interfaces of the MSC Il Termination Resistors of MSC II s Digital Sensor Interfaces O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 101 10 MSC II Moog Servo Controller Digital Sensor Interfaces 10 13 2 Wire Fault Monitoring The inputs A B and Z of the digital sensor interfaces of the MSC II are moni tored for wire faults regardless of which type of sensor is attached The signals supplied by the wire fault monitoring function are available in the application program The user is responsible for evaluating these signals and defining the appropriate reaction to the appearance of a wire fault The status of wire fault monitoring is displayed by 12 front panel error LEDs of the MSC II Each of the 12 TIA EIA 422 485 inputs is assigned to one LED gt 10 13 2 1 Wire Fault Disp
9. 10 MSC Il Moog Servo Controller eee sss 72 10 1 Performance Characteristics riisiin ieina nennen nenne nnne nnne nnne nnn 72 10 171 Interfaces oin eee Lea dete nd as ees adde tede e na oed 72 10 1 2 VOS Inputs Outputs aaar a da a epa ie a nc ener nennen enne 73 10 1 3 Safety Functions nesin eed a O a E edd e s vd ice 73 10 2 General Specifications erecti tierna de 73 10 2 1 DIMENSIONS civic ee eles A dine see atte ide aaa 74 10 2 2 Environmental Conditions sssssssssssesseeeeeeeeenee eer eene nennen nennen 74 1033 Block Diagrami iarsi ERR 76 10 4 View of the Module and Terminal Assignment eese nnn nnn 77 10 4 1 Terminal Assignment ipt pene Ete ede eO ee a pe eis 78 10 42 LEDS testi uide Rs 81 10 5 Programming and Configuration eeeeeeeseeeeeeeen eene enne nnne nin nnnnn nnne ner rra 84 10 5 1 Communication Between MSC ll and MACS ssssssssssessee eene 84 10 6 License CA 85 10 6 1 Run Time License and Accessible Libraries ssssssssesee 85 10 6 2 CANopen Node ID and IP AddresS oooccccncconccconconccoccnnccnccnncnnnnnnnnnnnonnnnnnnnnnnnnnannnnnnnnnns 86 10 6 3 Mounting and REMOVING arreen a ea a e a r aerate 86 10 7 Run Stop Reset Switcli 1er trit rene trennt inta rne ane Ero aiana niaaa aaraa 88 10 8 Power Suppl
10. 118 M3000 Starter Kits 114 MSC II 115 MSD Motion Controller 115 plug in terminal strips for DIN rail modules 121 power supply device 117 Q modules 116 R modules 117 software MACS 119 software for R modules 119 software maintenance contract 119 training programs 123 Peer to peer connection of 2 network stations Ethernet 47 Performance characteristics of the MSC II 73 interfaces see interfaces of the MSC II l Os see I Os of the MSC II Outputs Enabled output see I Os of the MSC II Outputs Enabled output watchdog see watchdog of the MSC II Personnel selection and qualification only qualified users may work with and on M3000 2 Pin assignment see terminal assignment Place of storage for manuals 1 Plug assignment see terminal assignment Plug in terminal strips for DIN rail modules connection methods 46 connectors for plug in terminal strips front view of the DIN rail module 29 X2 X4 X6 X7 X9 X10 connectors of the MSC II 77 part numbers 121 required number 122 side view of DIN rail modules with plug in terminal strips 29 spring loaded terminals 46 Potential equalization in CAN bus networks see CAN bus networks potential equalization Power consumption by DIN rail modules 40 Power supply 39 45 characteristics 39 connecting M30009 modules 41 digital I Os of the MSC II 93 maximum admissible current 43 MSC II 75 89 90 L1 L
11. 122 F For transportation and storage in the original packaging 25 C to 70 C 13 F to 158 F Relative air humidity IEC 61131 2 For operation 10 to 95 non condensing For transportation and storage in the original packaging 5 to 95 non condensing Contamination level IEC 60664 2 Resistance to corrosion IEC 60068 No protection Operating Elevation IEC 61131 2 lt 2 000 m 2 187 yd above MSL Air pressure for transportation IEC 61131 2 gt 70 kPa corresponds to an elevation of lt 3 000 m 3 280 yd 10 2 2 2 Mechanical Conditions and Requirements Sinusoidal oscillations IEC 60068 2 6 Environmental 10 Hz lt f lt 57Hz 0 0357 mm 0 0014 in continuous amplitude Conditions o 0 075 mm 0 00295 in random amplitude Mechanical Conditions 57 Hz lt f lt 150 Hz 0 5 g continuous constant acceleration mn 1 0 g random constant acceleration f gt 150 Hz not defined Shock IEC 60068 2 27 Random peaks up to 15 g longer than 11 ms half sine wave in each of the three orthogonal axes Drop height free fall in the original packaging IEC 60068 2 31 lt 1 m 39 in Protection class IEC 60529 IP20 10 2 2 3 Electrical Conditions and Requirements Power supply Environmental 24 V DC Conditions Safety Extra Low Voltage SELV according to DIN EN 60950 1 Electrical Conditions Specified voltage range 18 36 V DC and Requirements gt 6 2 Power Supply on page 39 Insulation re
12. 38 signal grounding of DIN rail modules 38 42 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 131 13 Index Identification of M30009 modules 23 Incremental sensors connecting to the MSC II 105 107 connection diagram of the MSC II with an incremental sensor 105 incremental encoder frequency modulation negative logic 107 incremental encoder frequency modulation positive logic 107 incremental encoder pulse train negative logic 107 incremental encoder pulse train positive logic 106 incremental encoder standard 105 terminal designations on sensors of various manufacturers 105 Inputs of the MSC Il see I Os of the MSC II Insensitivity to corrosion M3000 modules 71 MSC II 75 Installation 37 safety instructions 8 31 33 35 40 43 Insulation resistance digital inputs of the MSC II 97 digital outputs of the MSC II 99 MSC II 75 Interface cables CAN bus interface cables 59 part numbers 120 permissible cable lengths in CAN bus networks 59 permissible stub cable lengths in CAN bus networks 59 suitable cables 60 EtherCAT interface cables 49 Ethernet interface cables 48 part numbers 120 Null Modem Cable 54 Profibus interface cables 52 maximum cable lengths in Profibus networks 53 permissible stub cable lengths in Profibus networks 53 suitable cables 53 serial interface cables 54 Interfaces of the MSC Il 72 CAN bus interfaces see CAN bus inte
13. 7 6 1 E Bus Interface The E bus interface is set up as a serial cyclic shift register Every communi E Bus Interface cation cycle reserves for each extension module four bytes each in the send and receive messages The 40 pole Q connectors are located laterally on the DIN rail modules that Q Connector have an E bus interface When the modules are joined with no gaps and are locked on the DIN top hat rail the E bus connection will be properly established over the Q connectors Views of DIN rail modules gt 5 1 1 Views of the Module on page 29 Mounting DIN rail modules gt 5 1 4 1 Mounting DIN Rail Modules on page 33 E bus interface of the MSC ll gt 10 14 E Bus Interface on page 108 O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 60 7 Networking M3000 Modules E Bus 7 6 2 E Bus Communication Communication within E bus groups takes place exclusively between the E bus master and the E bus slaves The master sends E bus messages with output data to the slaves within its E bus group and receives from the slaves E bus messages with input data Direct communication between the slaves of an E bus group over the E bus is not possible 7 6 2 1 E Bus Master and E Bus Slaves The following M3000 modules can be employed as E bus master in an E bus group MSC land MSC II RDIO Permissible Permissible Slaves Masters Number Modules MSC II I O extension modules such E bus
14. Dm P 131 pobre ce ads nl MM MM NUM MESI aa 132 o 133 eh lp ER 134 Su Dione aiuti E due d tcu uu dte taU Ld LN 135 pec mainte 136 Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 V List of Tables List of Tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Table 33 Table 34 Table 35 Dimensions of DIN Rail Modules eroria E EA nc cnc nn nnn nennen nennen nene 30 Power CONSUMPIION tnui a ed ee de oa ree de dd dida cada da 40 Power Supply Conditions of the Module s Internal Electronics and the Sensors 41 Connector PII out dee eee ee ue eH de diee t utet ten ber ds 52 Maximum Cable Lengths in Profibus Networks Depending on the Transmission Rate 53 Maximum Permissible Stub Cable Length in Profibus Networks Depending on the Transmission Rate iecit id HU eden 53 Suitable Cables for Profibus Interface Cables sssssssssse emnes 53 M3000 Modules with CAN Bus Interfaces oooocccconocccoccncconncccnanoncnncccanon
15. Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 Figure 37 MSG all Starner Kit ct de tato oma diode stevia that aes 15 MSG I Control Module andini ace ied daga de eb dada a du dud 16 MSGIIControl Module ici t aite eet tirao tangs 17 ODIO 16 16 aaa 18 QAIO 2 2 S OR CA BON deed 18 een iis unten iad eae aA A eee eee eee 18 QEBUS CAN Extension Modan crrr a a A dada 19 RDIO 16 16 0 5 Remote I O Module cceccceceeeceeeeeeeeeeeeececeeeceseaeececaeeessaeeseeeeeseaeeseeieeeseeaeeees 20 RDISP 22 Display and Operating Terminal enne 20 DialogController 2 cct nicer pi Y duae A Y idu A Ed dada 21 MSD Motion Controller coccion eniti a iet t e C qe b M RE D E E qe Mate LER dia 22 MSD ServodriVe uf e ERE e e diede e e eb rs HE ud 23 License Koy cic su iit aes et eb bte Emma e nbn etn 24 Front View of DIN Rail Modules ssssseseeee m nennen ennemi en nennen nnns 29 Side View of DIN Rail Modules recare A eene nnnm cnn nr 29 Dimensions of DIN Rail Modules ooonooccccnnnnocccinonnconcccnnnanoc conan ano me nennen rr cnn nar nnne 30 Arrangement of DIN Rail Modul
16. Where technical requirements lead to deviations from the standard these are specified in this manual or in the documentation of the relevant M3000 modules Environmental conditions for the MSC ll gt 10 2 2 Environmental Conditions on page 74 Refer to the relevant documentation for the specified environmental con ditions for the other M3000 modules O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 27 4 Environmental Conditions Use in Special Environments 4 2 Use in Special Environments In the following cases M3000 modules must not be used without taking ad ditional measures At sites with difficult operating conditions like those caused by Large amounts of dust Elevated air humidity Aggressive vapors or gases Corrosive atmospheres Potentially explosive environments In these cases the suitable additional measures to be taken may in clude for example installation in specially designed cabinets e In systems that require special monitoring such as Elevators Electrical systems located in particularly potentially hazardous environments In residential commercial and light industrial environments In medical environments Examples of suitable additional measures in these cases may include Installation in grounded shielded metal cabinets Installation of filters in the power supply cables Use of shielded cables outside of cabinets Lim
17. etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors gt table 3 on page 41 Reverse energization from sensor to module Invalid sensor data Power Supply Power Supply for the A Module s Internal Internal Electronics Sensors Eleetranics and the Module and sensors are in operation Sensors Reverse energization from sensor to module Invalid sensor data Module and sensors are not in operation Table 3 Power Supply Conditions of the Module s Internal Electronics and the Sensors Power supply terminals of the MSC II gt 10 4 1 Terminal Assignment on page 78 Refer to the relevant documentation for information about the power supply terminals of the other M3000 modules O Internal module capacities might cause power spikes of up to 50 A when switching on the power supply for the internal electronics of the M30009 module The duration of these spikes is strongly dependent on the inter nal resistance of the power supply O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 41 6 Project Planning and Installation Power Supply 6 2 3 1 Connecting to Several Power Supplies Correct Connection of DIN Rail Modules to Several Power Supplies Figure 29 Correct Connection of DIN Rail Modules to Several Power Supplies DIN rail modules do not have any protective earth c
18. modules will not work WARNING No work of any kind such as mounting removing wir ing or repairs to the M3000 automation system or M3000 modules may be performed while the automa tion system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M3000 automation sys tem or M30009 modules it is essential that the system is stopped and the power supply is disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc WARNING M3000 modules must be protected from overvoltages and or reverse energization from the sensor to the mod f N ule There is a danger of Permanent damage by overheating or fire Malfunctions M30009 modules must have the correct voltage polarity and terminal assignments Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 40 6 Project Planning and Installation Power Supply WARNING The internal electronics of M30009 modules and at tached sensors must be supplied with power from a per manently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators
19. mounting and operation must read understand and follow all points covered in this manual This ap plies especially to the safety instructions Following the safety instructions helps to avoid accidents faults and material damage The following items must be observed as fundamental elements of safety when using the M3000 automation system and M3000 modules All safety instructions contained in this manual All safety instructions contained in the documentation of the M3000 modules All safety instructions contained in the product related hardware and software documentation required for the relevant application All relevant nationally and internationally applicable safety and accident prevention regulations and standards 1 1 1 Reservation of Changes and Validity The information contained in this manual is valid at the time of this version s release See footer for version number and release date of this manual Moog reserves the right to make changes to this manual at any time without specified reasons 1 1 2 Exclusion of Liability This manual was prepared with great care and the contents reflect the au thors best knowledge However the possibility of error remains and improve ments are possible Please feel free to submit any comments regarding errors or incomplete infor mation to Moog Moog does not offer any guarantee that the contents conform to applicable legal regulations nor does Moog accept any liability fo
20. 1 Wiring on page 50 12 000 kBit s no stub cable allowed 1 500 kBit s lt 1 5m 500 kBit s lt 6 6m Table 6 Maximum Permissible Stub Cable Length in Profibus Networks Depending on the Transmission Rate 7 3 4 4 Suitable Cables Parameters Cable Type A Loop resistance at 3 20 MHz 135 165 Q 150 Q 10 Capacity lt 30 pF m Impedance lt 110 Q km Wire diameter gt 0 64 mm Wire Cross Section gt 0 34 mm Table 7 Suitable Cables for Profibus Interface Cables The selection of a suitable cable also depends on site conditions towing ap plication environmental considerations etc O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 Maximum Cable Lengths in Profibus Networks Permissible Stub Cable Lengths in Profibus Networks Suitable Cables for Profibus Interface Cables 53 7 Networking M3000 Modules Serial TIA EIA Interface Cables 7 4 Serial TIA EIA Interface Cables The following variants of serial TIA EIA interface cables are possible Null modem cables gt 7 4 1 TIA EIA 232 Interface Cables on page 54 Interface cables with 1 1 connection For example when connecting terminals or displays gt 7 4 1 TIA EIA 232 Interface Cables on page 54 7 4 1 TIA EIA 232 Interface Cables A TIA EIA 232 null modem cable can be used as a cable to connect the MSC II and PC MSC II PC Mating Connector Mating Connector socket contacts pin conta
21. 3 3 5 MSD Motion Controller Figure 11 MSD Motion Controller Motion control module for MSD Servodrives The MSD Motion Controller digital control module is a fully programmable multi axis controller It can coordinate and synchronize multiple axis e g of MSD Servodrives and handle the communication to host computers and other PLC s The MSD Motion Controller is programmed and configured with the MACS development environment complies with IEC 61131 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 MSD Motion Controller 22 3 Short M3000 System Overview M3000 Modules 3 3 6 MSD Servodrive MSD Servodrive 3 Figure 12 MSD Servodrive Modular Multi Axis Programmable Motion Control Servodrive A family of electrical servo drives available in 6 sizes for currents from 4 to 170A Main features are Controls synchronous motors asynchronous motors and linear motors Controls current loops PWM frequencies 4 8 12 and 16 kHz Can close velocity and position control loops Communicates with the MSD Motion Controller via EtherCAT Supports different sensor interfaces e Digital I O s 3 3 7 Identification M3000 modules can be identified by their nameplate Identification of Nameplate of the MSC Il gt 10 18 Nameplate on page 113 M3000 Modules The module s I O designations are located on the front panel Terminal assignment of the MSC ll gt 10 4 View
22. 6 2 3 Connecting the Power Supply on page 40 O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 94 10 MSC II Moog Servo Controller Digital I Os 10 10 3 Digital Outputs The following digital output circuits are available Open emitter outputs switches to 24 V L2 Open Emitter Output Figure 57 Basic Wiring Diagram of a Digital Open Emitter Collector Output of the MSC II O Protective circuit with a limiting voltage of 50 V as protection against in duced voltage spikes when there are inductive loads c 10 10 3 2 Current Limiting and Overload Protection on page 95 A digital open emitter output in the 1 state conductive connects the at tached load R to the power supply terminal L2 O The output Outputs Enabled is always an open emitter output gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 10 10 3 1 Dependence on the Outputs Enabled Signal If the digital output Outputs Enabled is in the 0 state LED OutEN does not illuminate all other outputs are disabled In this case although the internal states of the digital outputs are shown on the front panel status LEDs l O1 I O4 of the MSC Il control module they are not connected through to the output gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 10 10 3 2 Current Limiting and Overload Protection All digital outputs are protected by an integrated p
23. Bit SSI Sensor Example ssessessss 104 Figure 64 Connection Diagram of the MSC II with an Incremental Sensor ssee 105 Figure 65 Timing requirements of incremental encoder signals sess 106 Figure 66 Timing of Standard Incremental Encoder ssssssssssseeee enm enne 106 Figure 67 Timing of Pulse Train Incremental Encoder with positive logic ene 107 Figure 68 Timing of Pulse Train Incremental Encoder with negative logic sssnee 107 Figure 69 Timing of Frequency Modulation Incremental Encoder with positive logic 107 Figure 70 Timing of Frequency Modulation Incremental Encoder with negative logic 107 Figure 71 CAN Bus Interfaces of the MSC ll ooonnniccnnnncoconononaccccnananonc araa nc cn nana cc nana rn r cnn rr nr 109 Figure 72 Position of the Nameplate on the MSC ll ssssssseee emm eee 113 O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 ix 1 General Information About this Manual 1 General Information 1 1 About this Manual This manual is valid only for the M3000 automation system and M3000 modules It contains most important instructions that must be observed in or der to operate the M3000 automation system and M3000 modules in a safe manner Every person responsible for machinery planning
24. Bus Interface Cable with 9 Pole D sub Mating Connectors according to DIN 41652 To ensure disturbance free operation it is required that a CAN_GND wire is used in the cable Terminal assignment of the CAN connectors on the front panel of the MSC II control module gt 10 4 1 Terminal Assignment on page 78 7 5 6 2 Cable Lengths The maximum expansion of a CAN bus network will be determined by a vari ety of variables such as cable length transmission rate and resistance in the cable 1 000 kBit s 25 m 27 yd 800 kBit s 50 m 54 yd 500 kBit s 100 m 109 yd 250 kBit s 250 m 273 yd 125 kBit s 500 m 546 yd 100 kBit s 650 m 710 yd 50 kBit s 1 000 m 1 093 yd 20 kBit s 2 500 m 2 734 yd 10 kBit s 5 000 m 5 468 yd Table 9 Maximum Cable Lengths in CAN Bus Networks Depending on the Transmission Rate Maximum Stub Cable Length Transmission Rate Maximum Cumulated 1 000 kBit s 2 m 2 1 yd 20 m 21 8 yd 250 kBit s 6 m 6 5 yd 78 m 85 3 yd 6 m 6 5 yd 156 m 170 6 yd Table 10 Maximum Permissible Stub Cable Lengths in CAN Bus Networks The guiding values in tables 9 and 10 are valid only for CAN bus net works that were established in compliance with the requirements in 7 5 5 1 Wiring on page 57 CAN Bus Interface Cable Maximum Cable Lengths in CAN Bus Networks Permissible Stub Cable Lengths in CAN Bus Networks Moog GmbH User Manual M30009 and MSC I
25. Concept on page 38 Information about mounting removing DIN rail modules gt 5 1 4 Mounting and Removing on page 33 Maintain the minimum distances shown in figure 18 on page 32 to ensure e Sufficient room for connecting the supply and signal cables e Sufficient room for mounting or removing the DIN rail modules Convection cooling If operational reasons force the selection of other arrangements the perfor mance ratings of the DIN rail modules will decrease or forced cooling mea sures will be needed Additional information about arranging DIN rail modules gt 7 7 2 E Bus Groups on page 65 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 31 5 Mechanical Installation DIN Rail Modules Arrangement of DIN Rail Modules ET 2 30 mm 1 18 in 2 30 mm 1 18 in Eo e 97 between Cable Conduits A Cable Conduit Y E A 3 S o o a o oO Y A 230mm 1 18 in Detail Enlargement gt Figure 19 Figure 18 Arrangement of DIN Rail Modules between Cable Conduits If shielding is required for the signal cables make sure the distance between the DIN rail modules and the cable conduit is sufficiently large Using a Shieldi
26. Copyrights 2 Safety Instructions Typographical Conventions 2 Safety Instructions This chapter summarizes the most important safety instructions When han dling the M3000 automation system or M3000 modules the safety instruc tions in the other chapters of this manual must be followed as well as the safety instructions in the product related hardware and software documenta tion required for the specific application Following the safety instructions helps to avoid accidents faults and material damage 2 1 Typographical Conventions The following symbols and styles are used for identifying the different types of safety instructions DANGER WARNING CAUTION D Identifies safety instructions that are intended to warn of an immediate and impending danger to life and limb or major property damage Failure to observe these safety instructions will lead in evitably to death serious personal injury disablement or major property damage Identifies safety instructions that are intended to warn of potential danger to life and limb or the potential for ma jor property damage Failure to observe these safety instructions might lead to death serious personal injury disablement or major property damage Identifies safety instructions that are intended to warn of slight personal injury or minor property damage Failure to observe these safety instructions might lead to slight personal injury or minor property dam
27. DIN Rail Module 2 If you wish to attach the module next to the right of a previously mounted DIN top hat rail then follow step 1 to also unlock the module that is al ready located on DIN top hat rail Additional information about arranging the modules c 5 1 3 Arrangement on DIN Top Hat Rails on page 31 gt 7 7 2 E Bus Groups on page 65 CAUTION To avoid damaging the locating pins of the DIN rail mod ules make sure the modules are at least 1 cm apart when placing them on the DIN top hat rail Mounting DIN Rail Modules Safety Instructions Mounting DIN Rail Modules Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 33 5 Mechanical Installation DIN Rail Modules 3 Place the module to be mounted on the DIN top hat rail and carefully Mounting push the module towards the DIN top hat rail until the module engages DIN Rail Modules Do not yet push the red locking slides back into the module If you do push them back in you will no longer be able to slide the module on the DIN top hat rail Figure 21 Placing a DIN Rail Module onto a DIN Top Hat Rail DIN top hat rails Metal mounting plate 4 Additional modules can be attached to the right as needed Follow step 1 through step 3 to attach the additional modules 5 Slide the modules to the left on the DIN top hat rail until the modules are joined with no gaps This e
28. If an error occurs during the communication or if the digital output Outputs Enabled of the MSC II is switched to the O state the E bus communication will be terminated and the LED Ebus will be turned off gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 E Bus Communication Permissible Masters and Slaves in E Bus Groups Starting the E Bus Communication Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 61 7 Networking M3000 Modules E Bus 7 6 3 2 Update Rate of E Bus Messages WARNING The I O extension modules QDIO and QAIO monitor the E bus activity and disable their outputs if they do not re ceive an E bus message more frequently than 50 ms To avoid this set the value of the system basetick or the value of UpdateRate so that the product of the two values is less than 50 ms The update rate setting of the E bus depends on the system basetick The system basetick is the time base for the operating system tasks used in the application program Task time bases of tasks can be set to integer multiples of the system basetick The update rate is defined by setting the E bus module parameter Update Rate in the PLC configuration of the MACS development environment UpdateRate can be set so that an E bus message will always be sent at the end of this task s cycle or after 2 3 5 10 15 or 20 cycles MSC II Module Parameter E Bus Module Parameter Basetick
29. SSI sensor signal 4 data TIA EIA 422 input incremental sensor signal 4 B or SSI sensor signal 4 slave clock TIA EIA 422 input incremental sensor signal 4 B or SSI sensor signal 4 slave clock Sensor 4 TIA EIA 422 input incremental sensor signal 4 Z Digital Sensor Interface 4 TIA EIA 422 input incremental sensor signal 4 Z olo NI oaJ a AJ JN 5 V Power supply for sensor o Ground for the digital sensor interface 5 V Power supply for slaves Data Data Digital Ground 5 V Power supply for slaves Data Data Digital Ground Transmit data Transmit data Receive data Receive data Ethernet LAN Table 16 Terminal Assignment of MSC II s Connectors Section 3 of 4 O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 80 10 MSC II Moog Servo Controller View of the Module and Terminal Assignment No Assignment Circuit X14 RT ETH1 X15 RT ETH2 10 4 2 LEDs Transmit data Transmit data Receive data Receive data Transmit data Ethernet RT ETH1 Transmit data Receive data Receive data Ethernet RT ETH2 Table 16 Terminal Assignment of MSC II s Connectors Section 4 of 4 Display L1 M1 and internal 5 V ok Explanation Illuminates when the power supply for the MSC II s internal electronics is OK
30. Shield grounding M24 24 V output voltage ground RxD TxD P 1 Receive transmission data positive potential CNTR P Control signal for repeater direction control DGND Potential of transmission data ground to 5 V VP Power supply of the terminators 5 V P24 24 V output voltage RxD TxD N 1 Receive transmission data negative potential Control signal for repeater direction control Table 4 Connector Pin out 1 These signals are mandatory and must be provided by the user 9 Pole D sub Mating Connector with switchable termination according to IEC 61158 EN 50170 Profibus Interface Connector with internal longitudinal inductivity according to IEC 61158 EN 50170 Connector Pin out Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 52 7 Networking M3000 Modules Profibus 7 3 4 3 Cable Lengths 12 000 kBit s 100 m 109 yd 6 000 kBit s 100 m 109 yd 3 000 kBit s 100 m 109 yd 1 500 kBit s 200 m 219 yd 500 kBit s 400 m 437 yd 187 5 kBit s 1 000 m 1 094 yd 93 75 kBit s 1 200 m 1 312 yd 45 45 kBit s 1 200 m 1 312 yd 19 2 kBit s 1 200 m 1 312 yd 9 6 kBit s 1 200 m 1 312 yd Table 5 Maximum Cable Lengths in Profibus Networks Depending on the Transmission Rate The guiding values in table 5 are valid only for Profibus networks that were established in compliance with the requirements in 7 3 3
31. The digital inputs are current consuming inputs of the type 1 according to IEC 61131 2 They are designed for an input voltage rating of 24 V The input values 0 1 state are read cyclically An open input is interpreted as the 0 state 10 10 4 1 Basic Wiring Diagram Opto Decoupling Figure 58 Basic Wiring Diagram of a Digital Input of the MSC II Current Consuming 10 10 4 2 Pulse Detection and Disturbance Suppression The digital inputs are read cyclically The sampling time corresponds to the task interval of the application program that reads the input O The task interval and thereby the sampling time of the inputs is set in the task configuration of the MACS development environment For input pulses to be reliably detected they must be longer than the task in terval specified in the application program When defining the minimum pulse duration that can be detected by digital I Os the following differentiation is made Pulses that are never detected pulse duration lt 50 us Pulses that can be detected if the system reads the input when the pulse appears pulse duration gt 50 us Pulses that are always detected pulse duration gt the set task interval The user may implement multiple sampling in the application program in or der to suppress disturbance impulses In doing so the user must consider the tradeoff between the desired level of disturbance suppression and the re quired reaction time of
32. UpdateRate Update Rate of E Bus Messages 1ms every third cycle An E bus message is started cyclically every 3 ms 1 ms 3 3 ms every twentieth cycle An E bus message would be started cyclically every 60 ms 3 ms 20 However since no E bus message is sent more frequently than 50 ms the I O extension modules will disable their outputs The out puts will be re enabled with the next E bus message Table 13 Update Rate of E Bus Messages 7 6 3 3 Duration of Transmission of E Bus Messages The duration of transmission of the E bus message i e the length of time re quired to transmit the E bus message is determined by the E bus clock fre quency The E bus clock frequency is defined by setting the E bus module parameter Frequency in the PLC configuration of the MACS development environment e Clock frequency 10 MHz gt Duration of transmission 42 us e Clock frequency 5 MHz gt Duration of transmission 84 us The selected E bus clock frequency does not influence the time required to execute the tasks When the E bus group contains QAIOs 16 4 the clock frequency must be set to 5 MHz When the E bus group contains QAIOs 2 2 the clock frequency must be set to 10 MHz O The duration of transmission of E bus messages is not influenced by the number of DIN rail modules in the E bus group E Bus Communication Message Update Rate E Bus Communication Duration of Message Transmission
33. Warranty and liability claims for personal or material damage will be excluded when they are the result of among other things storing or transporting M30009 modules or accesso ries outside of their original packaging gt 1 4 Warranty and Liability on page 3 9 1 Environmental Conditions Ambient temperature IEC 61131 2 Transportation 25 C to 70 C 13 F to 158 F and Storage Environmental Conditions Relative air humidity IEC 61131 2 5 to 95 non condensing Contamination level IEC 60664 2 Resistance to corrosion IEC 60068 No protection Air pressure IEC 61131 2 gt 70 kPa corresponds to an elevation of lt 3 000 m 3 280 yd Drop height free fall in the original packaging IEC 60068 2 31 lt 1 m 39 in Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 71 10 MSC II Moog Servo Controller Performance Characteristics 10 MSC Il Moog Servo Controller The MSC ll is a programmable multi axis controller that facilitates rapid and MSC II Programmable precise control of process variables such as position speed and power It is Multi Axis Controller suitable for use with both electric and hydraulic drives The MSC Il is programmed and configured with the MACS development envi ronment complies with IEC 61131 gt 3 5 Application Programs on page 25 10 1 Performance Characteristics 10 1 1 Interfaces The MSC II provides the following interfaces Interf
34. and MSC II CA65865 001 Version 1 1 08 08 100 10 MSC II Moog Servo Controller EtherCAT 10 12 EtherCAT MSC ll is optionally available with dual EtherCAT interface The configuration of the network nodes is done in the PLC Configuration of the development environment MACS WARNING Do not connect EtherCAT to any other Ethernet networks The high rate of telegrams which are transmitted by Ether CAT will prevent other devices like computers and servers on the network from transmitting data There is a danger of Network overload breakdown Malfunction of connected devices Data loss at connected devices It is strongly recommended to use cables of a special color only for EtherCAT connections 10 13 Digital Sensor Interfaces The MSC II provides 4 digital sensor interfaces according to TIA EIA 422 485 previously RS 422 485 that can be used with devices such as position transducers or shaft encoders with an SSI interface or incremental sensor signals in different formats such as pulse train or frequency modulation gt 10 13 3 Connecting SSI Sensors on page 102 gt 10 13 4 Connecting Incremental Sensors on page 105 O The sensor interfaces are configured in the PLC configuration of the MACS development environment Recommended cable types Use only shielded cables The shield must be made of copper braiding with at least 80 coverage The wire must be made of copper with a cross section of at least
35. and the internal power pack is supplying 5 V gt 6 2 Power Supply on page 39 Termination resistor on LocalCAN lIlluminates when the termination resistor of the LocalCAN interface is switched on gt 10 15 1 CAN Bus Termination Resistor on page 110 Internal status of the digital I O 1 Internal status of the digital I O 2 Internal status of the digital I O 3 Internal status of the digital I O 4 gt 10 10 1 Display of the Operational State on page 93 WideCAN transmission activity Flashes in synchronization with the data that the MSC ll is sending over the WideCAN interface gt 10 15 CAN Bus Interfaces on page 109 LocalCAN transmission activity Flashes in synchronization with the data that the MSC ll is sending over the LocalCAN interface gt 10 15 CAN Bus Interfaces on page 109 E bus transmission activity Illuminates when the MSC II is sending data over the E bus gt 7 6 3 MSC ll as E Bus Master on page 61 SIO receiver activity llluminates when the MSC II is receiving data over the SIO interface SIO transmission activity Activated by application program Activated by application program Activated by application program O Moog GmbH Activated by application program llluminates when the MSC II is sending data over the SIO interfaces gt Table 18 on page 83 llluminates when the application program activates the LED Table 17 LEDs
36. display and operating terminal with TIA EIA 232 and CANopen interface connection over CAN bus Reference voltage Reduced Instruction Set Computer Real Time Ethernet Interface Receive Data Safety Extra Low Voltage according to DIN EN 60950 1 Sequential Function Chart programming language for creating PLC programs Shield Moog GmbH Serial I O serial interface of the MSC II Table 37 Abbreviations Section 2 of 3 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 Table 37 Abbreviations 126 12 Appendix Quoted Standards Abbreviation Explanation Table 37 Abbreviations Synchronous Serial Interface digital interface for transferring positioning information like with position transducers Structured Text programming language for creating PLC programs Telecommunications Industry Association http www tiaonline org Time Processing Unit programmable microprocessor that processes time functions independently of the CPU Technischer Uberwachungsverein German agency performing technical inspections Transmit Data Universal Serial Bus Volt Direct Current unit of direct voltage Verband der Elektrotechnik Elektronik Informationstechnik Association for Electrical Electronic amp Information Technologies http www vde de Verband Deutscher Maschinen und Anlagenbau e V Federation of Engineering Industries http www
37. for creating or editing application programs O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 26 4 Environmental Conditions Requirements of IEC 61131 2 4 Environmental Conditions WARNING Maintain under all circumstances the required environ Environmental mental conditions specified for the M3000 automation Conditions system or M3000 modules Safety Instructions This ensures fault free reliable and safe operation WARNING The PC on which tools such as MACS development envi ronment are installed must be suitable for the environ mental conditions in which it will operate This ensures fault free reliable and safe operation gt WARNI zZ O It is not permissible to operate the M3000 automation system or M3000 modules in a potentially explosive environment gt WARNING The M3000 automation system and M3000 modules must not come into direct contact with liquids except where explicitely specified Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician gt 4 1 Requirements of IEC 61131 2 The M3000 automation system and M3000 modules comply with the re Environmental quirements of IEC 61131 2 Conditions Requirements of IEC 61131 2
38. fulfills the condition the SSI interface needs to trigger a new read in cycle SSI Master Mode SSI Sensor Figure 61 Connection Diagram of the MSC II in Master Mode MSC Il in SSI Master Mode Connection Diagram of the MSC Il in Master Mode Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 103 10 MSC II Moog Servo Controller Digital Sensor Interfaces 10 13 3 2 SSI Slave Mode When in SSI slave mode the MSC II does not generate its own SSI clock in stead it reads the data in synchronization with an externally generated clock signal The MSC II influences neither the SSI clock frequency nor the update rate with which new data is requested from the SSI sensor In this mode the MSC II reads the data signal with every falling edge of the clock With a symmetrical clock the sensor interface can evaluate signals in the fre quency range of 78 kHz to 5 MHz When the clock signal is asymmetrical the width of the positive pulse must be smaller than 6 3 us so that the sensor interface that is configured as an SSI slave will not perceive prematurely that the data transmission is concluded The clock signal must be in the 1 state for longer than 6 5 us so that the sen sor interface will save the value that has been read Data Signal SSI Sensor SSI Master SSI Clock CLK SSI Slave Mode Figure 62 Connection Diagram of the MSC II in Sla
39. groups with MSC Ils as mas as QAIO and QDIO ters function as stand alone groups E bus must be carried Configuration of the E bus interface through on the Q connector of the MSC II and the slaves gt 10 14 1 Configuration of the E Bus Interface on page 108 QDIOs E bus groups with RDIOs as master Other M30009 mod must be actuated over the CAN bus ules must not be at tached to an RDIO Table 12 Permissible Masters and Slaves in E Bus Groups The duration of transmission of E bus messages is not influenced by the number of DIN rail modules in the E bus group gt 7 6 3 3 Duration of Transmission of E Bus Messages on page 62 7 6 3 MSC Il as E Bus Master 7 6 3 1 Starting the E Bus Communication At program download from the MACS development environment the E bus configuration contained in the PLC configuration will be transferred to the MSC Il If slaves are set in the E bus configuration the MSC Il checks whether the configured slaves are actually attached Communication over the E bus is possible only when the slaves actually attached correspond with the arrangement set in the PLC configuration Otherwise an error message will be displayed in the MACS development environment The E bus communication will be started automatically after an application program is started If communication over the E bus is successful the LED EBus will illuminate on the front panel of the MSC Il gt 10 4 2 LEDs on page 81
40. in al mo 170 mm 6 69 in Figure 51 Dimensions of the MSC II 10 2 2 Environmental Conditions WARNING WARNING gt WARNING Moog GmbH Maintain under all circumstances the required environ mental conditions specified for the M3000 automation system or M3000 modules This ensures fault free reliable and safe operation It is not permissible to operate the M3000 automation system or M30009 modules in a potentially explosive environment The M3000 automation system and M3000 modules must not come into direct contact with liquids except where explicitely specified Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician Dimensions of the MSC II Environmental Conditions Safety Instructions User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 74 10 MSC II Moog Servo Controller General Specifications 10 2 2 1 Climatic Conditions Ambient temperature IEC 61131 2 Environmental For operation when installed properly 5 C to 55 C Conditions 41 F to 131 F Climatic Conditions Average temp over 24 hours max 50 C
41. l Os power supply CAN Ground for the CAN bus interface 6 WCAN WCAN WideCAN Digital I Os Digital output Outputs Enabled gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 Digital 1 O 1 gt 10 10 Digital I Os on page 93 Digital 1 O 2 Digital 1 O 3 Digital I O 4 Ground for the digital l Os power supply Ground for the digital l Os power supply Ground for the digital l Os power supply Ground for the digital I Os power supply Table 16 Terminal Assignment of MSC II s Connectors Section 1 of 4 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 78 10 MSC II Moog Servo Controller View of the Module and Terminal Assignment No Assignment Circuit X5 TIA EIA 232 receive data TIA EIA 232 send data Ground for the TIA EIA 232 interface B SIO TIA EIA 232 olol NI OD on BR w nN TIA EIA 485 output SSI sensor signal 1 clock gt 10 13 Digital Sensor Interfaces on page 101 TIA EIA 485 output SSI sensor signal 1 clock TIA EIA 422 input incremental sensor signal 1 A or SSI sensor signal 1 data TIA EIA 422 input incremental sensor signal 1 A or SSI sensor signal 1 data TIA EIA 422 input incremental sensor signal 1 B or SSI sensor signal 1 slave clock TIA
42. line B leads the counter is decremented with every rising and fall ing edge of line A and line B e if Z input is enabled the counter is always reset to zero when a pulse oc curs on Z input Reversal Point B t L t Porte UNUL UUL Counter 5 32 10 1 2 4 0 12 4 8 16 20 24 28 32 36 40 Figure 66 Timing of Standard Incremental Encoder 10 13 4 2 Incremental Encoder Pulse Train positive logic On the left side of the dotted line while B signal is low the counter be comes decremented On the right side while B signal is high the direction has changed Now the counter becomes incremented O Please make sure that any changes at B signal happen at least 100 ns before a rising edge at A signal Timing requirements of incremental encoder signals Timing of Standard Incremental Encoder O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 106 10 MSC II Moog Servo Controller Digital Sensor Interfaces Reversal Point Timing of Pulse Train a Incremental Encoder B Counter 6 5 6 7 8 1011 12 13 14 15 16 Figure 67 Timing of Pulse Train Incremental Encoder with positive logic 10 13 4 3 Incremental Encoder Pulse Train negative logic On the left side of the dotted line while B signal is high the counter be comes decremented On the right side while B signal is low the direction has changed Now the counter becomes in
43. nnns 106 Product Range M3000 Starter Kite 4 arose tee Date tier paa d on b bd Db epe 114 Product Range Motion Controller ssessssesseeneeeeeen nennen nnne 115 Product Range Q Modules iat dae badass iii 116 Product Range R Modules Remote Modules ssssssee en 117 Product Range Power Supply for M30009 Modules sss 117 Product Range License Keys sssssssssessseeene nee nennen nen 118 Features Provided by the License Keys ener 118 Product Range Software MACS sssssssssssseee eee eee enne nennen enne nennen nnne nen 119 Product Range Software for R Modules sess 119 Product Range Interface Cables ssssssssssssseeeeeeeeeeee enne 120 Product Range CAN Bus Accessories sssssssee emen meer nennen 120 Product Range Plug In Terminal Strips ese eem 121 Number of Plug In Terminal Strips oooooconnnnoccccnnnnacccccinononcnncnonannncncnonnnnnnnn EAA 122 O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 vi List of Tables Table 36 Product Range Training Programs sse eene nennen nennen nnns 123 Table 37 Abbreviations dente ach ented ademas dele call E 125 Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 vii List of Figures List of Figures Figure 1 Figure 2
44. of the Module and Terminal Assignment on page 77 Refer to the relevant documentation for detailed information about the nameplate and terminal assignment of the other M3000 modules Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 23 3 Short M3000 System Overview License Key 3 4 License Key License Key Figure 13 License Key The license key has to be inserted into the license key slot LK of the MSC II The MSC II control module does not work without license key gt 10 6 License Key on page 85 The following information is saved in the license key Run time license of the MSC II and list of accessible MACS libraries gt 10 6 1 Run Time License and Accessible Libraries on page 85 e CANopen node ID of the MSC II s CAN bus interfaces gt 10 6 2 CANopen Node ID and IP Address on page 86 IP address subnet mask and gateway address of the MSC II s Ethernet interface gt 10 6 2 CANopen Node ID and IP Address on page 86 If the MSC Il is replaced this information will remain saved in the license key If the license key is inserted into a different MSC Il the run time license CANopen node ID and IP address can be used from that MSC Il O The extent of the MSC II s features depends on the license key used gt 11 4 License Keys on page 118 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 24 3 Short M3000 System Overview Application Pr
45. rail establishes an electrical connec tion with the top hat rail and locks the modules together with a secure contact Figure 24 Fixing and Locking a DIN Rail Module 5 1 4 2 Removing DIN Rail Modules WARNING No work of any kind such as mounting removing wir ing or repairs to the M3000 automation system or DIN rail modules may be performed while the automation system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M3000 automation sys tem or DIN rail modules it is essential that the system is stopped and the power supply is disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc No tools are needed to remove DIN rail modules Moog GmbH Mounting DIN Rail Modules Removing DIN Rail Modules Safety Instructions User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 35 5 Mechanical Installation DIN Rail Modules Procedure for removing DIN rail modules Removing DIN Rail Modules 1 Unlock the module to be removed and if needed adjacent modules by pulling out the two red locking slides Figure 25 Unlocking a DIN Rail Module 2 Pull the
46. such as Profibus Flash EEPROM High speed EEPROM FPGA Field Programmable Gate Array programmable logic component GUI Graphical User Interface HF High Frequency Human Machine Interface MACS HMI Visualization package which can be run without MACS Identifier International Electrotechnical Commission http www iec ch Institute of Electrical and Electronics Engineers Inc http www ieee org Instruction List programming language for creating PLC programs Input Output International Protection protection type Internet Protocol International Organization for Standardizing http www iso org O Moog GmbH Local Area Network Table 37 Abbreviations Section 1 of 3 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 Table 37 Abbreviations 125 12 Appendix Abbreviations Abbreviation Explanation Liquid Crystal Display Ladder Diagram programming language for creating PLC programs Light Emitting Diode Least Significant Bit Moog Automation System Moog Axis Control Software Development environment according to IEC 61131 for solving complex control tasks Megabits per second MSC I Most Significant Bit Moog Servo Controller Control module for DIN top hat rail mounting MSC II Moog Servo Controller Il Control module for DIN top hat rail mounting MSD Modular Multi Ax
47. the system Insulation Resistance of MSC II control module s Digital Outputs Digital Inputs of the MSC II control module Basic Wiring Diagram of a Digital Input of the MSC II Current Consuming Pulse Detection and Disturbance Suppression of MSC II s Digital Inputs Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 97 10 MSC II Moog Servo Controller Digital I Os 10 10 4 3 Specifications Number of the digital inputs Specifications of Maximum 4 MSC II control gt 10 10 Digital I Os on page 93 module s Digital Inputs Type Type 1 according to IEC 61131 2 current consuming Wire lengths In the control cabinet The voltage drop must be taken into consideration when choosing the wire cross section there are no other practical limitations Field wiring All relevant national regulations as well as the re quirements of IEC 61131 3 must be fulfilled Load rated voltage L2 24 V DC safety extra low voltage SELV according to DIN EN 60950 1 Reverse polarity protection Digital inputs are protected against reverse polarity Potential isolation Achieved with optocouplers Status display One status LED per I O gt 10 10 1 Display of the Operational State on page 93 Alarms Can be implemented in the application program Input delay hardware From 0 to 1 max 100 us From 1 to 0 max 100 us Sampling time The sampling time corresponds to the task interval of the application progr
48. there is a defect in an output stage the Outputs En abled signal will not necessarily shut down all of the outputs securely More on this subject gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 O Moog GmbH Safety Instructions Run Stop Reset Safety Instructions Switching Back on or Resetting the MSC Il Safety Instructions Outputs Enabled Output of the MSC II User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 12 3 Short M3000 System Overview 3 Short M3000 System Overview The M3000 automation system comprises the following hardware and soft Short M3000 ware components System Overview MSC II starter kit Complete package including everything needed to get started with MSC II gt 3 2 MSC II Starter Kit on page 15 M3000 modules MSC I Moog Servo Controller Control module for DIN top hat rail mounting gt 3 3 1 MSC on page 16 MSC II Moog Servo Controller Control module for DIN top hat rail mounting gt 3 3 2 MSC II on page 17 QDIO 16 16 Digital I O extension module for local extension of the inputs and outputs of MSC I or MSC II connection over E bus gt 3 3 3 1 QDIO and QAIO on page 18 QAIO 2 2 Analog I O extension module for local extension of the inputs and outputs of MSC or MSC II connection over E bus gt 3 3 3 1 QDIO and QAIO on page 18 QAIO 16 4 Analog I O extension module for local extension of the inp
49. to CIA DS 201 207 CAN CAN_GND Controller Area Network CAN Ground CAN_H CAN High CAN bus signal dominant high CAN_L CAN_SHLD CAN Low CAN bus signal dominant low CAN Shield optional shield CFC Continuous Function Chart random graphics functional chart editor programming language for creating PLC programs CiA CAN in Automation e V international organization of manufacturers and users for CAN users http www can cia org CLK Clock CPU Central Processing Unit DAC Digital to Analog Converter DC Direct Current DGND Digital Ground Ground for the digital l Os power supply of the MSC II DIN Deutsches Institut fur Normung e V German Institute for Standardization http www din de DIS Draft International Standard preliminary standard DS Draft Standard draft standard E bus Extension bus of DIN rail modules EEPROM Electrically Erasable Programmable Read Only Memory EIA Electronic Industries Alliance http www eia org EMC Electromagnetic Compatibility EN Europa Norm European Standard EPROM Erasable Programmable Read Only Memory ESD Electrostatic Discharge EtherCAT Ethernet based industrial real time communication system FBD Function Block Diagram programming language for creating PLC programs F Bus Fieldbus an industrial communication system
50. 001 Version 1 1 08 08 11 2 Safety Instructions Safety Instructions 2 2 9 Run Stop Reset WARNING If the most recent status in the online mode MACS logged in was Run before the MSC Il control module was switched off or reset the boot project will always be started after the MSC II control module is switched back on or reset This will occur regardless of which application program was previously running In other words the application program that will be started automatically after the MSC II control module is switched on or reset might be different from the application program that was executing immediately prior More on this subject gt 10 7 Run Stop Reset Switch on page 88 2 2 10 Switching Back on or Resetting the MSC Il WARNING If the most recent status in the online mode MACS logged in was Run before the MSC Il control module was switched off or reset the boot project will always be started after the MSC II control module is switched back on or reset This will occur regardless of which application program was previously running In other words the application program that will be started automatically after the MSC II control module is switched on or reset might be different from the application program that was executing immediately prior More on this subject gt 10 8 1 Behavior at Switching on and Switching off on page 89 2 2 11 Outputs Enabled Output of the MSC Il WARNING If
51. 01 terface bus DP slave interface gt 3 3 2 MSC II on page 17 MSC II with EtherCAT inter As D136 002 002 additional dual Ether D136 002 003 face CAT master interface gt 3 3 2 MSC II on page 17 MSD Motion Controller Multi axis high performance motion con G391 001 001 troller with PLC functionality 128 MB RAM 32 MB Flash 4 Digital 1 O 1 USB 1 Ethernet 1 CAN 2 EtherCAT master gt 3 3 5 MSD Motion Controller on page 22 MSD Motion Controller with As G391 001 001 additional Profi G391 001 002 Profibus DP interface bus DP slave interface gt 3 3 5 MSD Motion Controller on page 22 MSC Motion Controller Multi axis high performance motion con D136 001 008 troller with PLC functionality 4 MB RAM 4 MB Flash 8 Digital I O 8 Analog In 16bit 2 Analog Out 16bit 2 Position transducer interface 2 CAN Controller 1 TIA EIA 232 MSC Motion Controller with As D136 001 008 additional Profibus D136 001 007 Profibus DP interface DP slave interface Table 24 Product Range Controller O The plug in terminal strips that may be needed for connection of power and signal cables are not included in delivery The plug in terminal strips are available from Moog as accessories Only the MSD Motion Controller is delivered with the necessary plug in terminal strips for power supply and digital I O gt 11 8 Plug In Terminal Strips on page 121 O The MSC II control module does not
52. 1 CAN extension module see Q modules QEBUS CAN CANopen 56 CANopen node ID of the MSC II 86 110 profiles for various device classes 56 CE labeling of the M30009 modules A 4 Cleaning safety instructions 9 69 Communication between MSC Il and MACS 84 MACS communication parameters Ethernet interface 84 safety instructions 11 84 Configuration of the MSC II 84 Connector assignment see terminal assignment Contamination level M30009 modules 71 MSC II 75 Control groups E bus groups 65 LocalCAN bus groups 66 WideCAN bus groups 67 Control module see MSC II Control system see M30009 Copying prohibition for this manual A Copyright for software that is installed on M3000 products 5 for this manual A Corrosion insensitivity to see insensitivity to corrosion CPRDISP see R modules software for R modules Current maximum admissible current for the power supply terminals of M30009 modules 43 Cycle time 90 92 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 130 13 Index D Data retention of the MSC II 73 Development environment see MACS Dialog Controller 21 Dimensions DIN rail modules 30 MSC II 73 74 DIN rail modules arrangement between cable conduits 32 on a vertical mounting plate 31 dimensions 30 front view 29 minimum distances between control groups 32 mounting on DIN top hat rails 33 networking 64 68 control groups E bus groups 65 Loca
53. 2 10 13 4 Connecting Incremental Sensors ssssssssessseee eee 105 10 14 E Bus lriterface 5o Der Rer iria 108 10 14 1 Configuration of the E Bus Interface ooooconnnncccnnnnocccccconaoncccccnnnoncnccnnn nano emen 108 10 15 CAN Bus Interfaces coincida ii inline did cana 109 10 15 1 CAN Bus Termination Resistor ooooooocccccnncncccccoconconoonnonccnncnnnnnnnnnnnnnn ono nnnnnnnnnnnnnnnannnnns 110 10 15 2 Setting the CANopen Node ID sssesssseene eene ener nenne 110 10 15 3 Setting the CAN Bus Baud Rate ooooocoocccccccnconcccccononnnccnonanncnnnnnnonccnnnnnnnnncccnnnannccncnnnns 110 10 16 Serial Interfaces cional lies rene redet Den eei ln datado 111 10 17 Safety FUN COS Sorraia ea e ENa EAN EN AAA AE E AAAA TEE 111 TOTANA id a la 111 10 17 2 Outputs Enabled Output LED OutEN se emn 111 10 17 3 Stopping the Application Program sssssssssseeeeemm mene 112 JUSEADEIIDTIECHER PCR 113 11 Product Ralige dioe oti rone RRE 114 14 1 M3000 Starter Kia cas ces c etr agb Ea carr ec b E Fo 114 14 2 M3000 Modules oci dati e a dator va Cub el Da t elu dr RR Fes 115 11 24 Gontroller n tte eet t darem toe e e epe eee 115 11 2 2 Q Modules rette eee pr Uer eee quidve cr EA 116 11 2 3 R Modules Remote Modules occccciccnccnnocconconcccccccccncnnnnnnonnononnncnnnnnnnnnnnnnnnnnnnnnnnnos 117 11
54. 2 2 QAIO 16 4 QEBUS CAN RDIO RDISP DialogController Table 35 Number of Plug In Terminal Strips The MSD Motion Controller is delivered with the necessary plug in terminal strips for power supply and digital I O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 122 11 Product Range Training Programs 11 9 Training Programs Software training English Content of the training B95992 MACS and IEC 61131 Programming testing optimizing and documenting IEC 61131 appli cation programs Visualization of IEC 61131 applica tion programs Product Range Training Programs Software training German Content of the training B95993 MACS and IEC 61131 Programming testing optimizing and documenting IEC 61131 appli cation programs Visualization of IEC 61131 applica tion programs Hardware training English Content of the training B95994 MSC II and extension mod e Configuring and using MSC II and ules extension modules Using control engineering libraries Knowledge about creating IEC 61131 ap plication programs is required to partici pate in the hardware training This knowl edge is imparted in the MACS and IEC 61131 software training Hardware training German Content of the training B95995 MSC II and extension mod e Configuring and using MSC II and ules extension modules Using control engineering libraries Knowledge about creat
55. 3 Power Supply for M30009 Modules s sssssssssesssssssssssesseceeeesesesesesececececesseseseseeesecetenensess 117 11 4 License KOYS iii cites orienter enne eren a os 118 TTD SOTWANC GNE I 119 11 5 1 MACS Moog Axis Control Software eee 119 11 5 2 Software for R Modules ssssssssssssssseseeneeee eene n nnne 119 11 6 Interface Cables ciencias ara A a aaa e a DX ERR PN RR VERRE RR AERE RR RAE 120 11 7 CAN BUS Accessories err teret Erden eere cedures LITE MEE Pe kx re ba Tes roue dS eR rs 120 11 8 Plug In Terminal Strips cion ttn cai Ex Hanna E edi 121 11 8 1 Number of Required Plug In Terminal Strips oooooococcnnnncnnnnnonccccononcccncnncnncnnnannnnnnnnns 122 11 9 Training Programs sessirnar a t 123 12 AppendiX i is O 124 12 1 Typographical Conventions eese eene nennen nennen nnn nien nnn inni n nni rnit 124 12 2 NN OTYIEIDIL LM D A A ia 125 12 3 Quoted Standards eene scada Re 127 12 9 T CIA IDS o nde tee Dae et e am i E 127 12 9 2 DIIN x 5 is skins titi eec ime idt ico Meteo dea cages in end etc ibd 127 12 39 DIN EN Cuca di UGENmRe ue ISDEM 127 12 94 IEQ i eed ete nete edite etie tie te banat leet a RN ERR Red 128 12 3 5 90 DIS 2o c ttti uu EL ME 128 12 3 6 TIAE cii tette ci estet eie ID Heated d t en ie Ei i diede 129 Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 iv Table of Contents Nhi eU 130 ge Herb P r E 130
56. 45 Mating RJ45 Mating 100BaseT Cable Connector Connector with Non Crossed JE acl om p se I RD i Twisted Pair Wires imee ar Patch Cable 1 1 I 1 2 I l I 1 2 3 RD TD 3 RD 1 1 1 1 TD 6 6 Figure 38 100BaseT Cable with Non Crossed Twisted Pair Wires Patch Cable with 8 Pole RJ45 Mating Connectors Cable Category 5 Wire Cross Section 0 22 mm 24 AWG For the terminal assignment of the EtherCAT front panel connector of the MSC II control module see gt EtherCAT connector on page 81 Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 49 7 Networking M3000 Modules Profibus 7 3 Profibus 7 3 1 Overview The Profibus is a differential two wire bus The transmission physics of the serial bus system is defined by the TIA EIA 485 specification Shielded twisted pair copper cable with one conductor pair is typically used The bus structure allows addition or removal of stations or the step by step commis sioning of the system without influencing other stations Various transmission rates Uniform speed for all devices on the bus Connection of up to 32 stations without additional repeater possible 7 3 2 M30009 Modules with Profibus DP Interfaces Information about the Profibus interface cable gt 7 3 4 Profibus Interface Cable on page 52 Information about the Profibus interface of the MSC ll gt 10 11 Profibus DP Interface on page 100 The M3000 modules mentioned h
57. 5 QAIO 2 2 Figure 6 QAIO 16 4 QDIO and QAIO O extension modules can be used to locally extend the in puts and outputs of an MSC or MSC Il They have no internal intelligence Instead the MSC I or MSC II actuates them via I O operation directly over the internal E bus QDIO 16 16 0 5 is a digital I O extension module with 16 digital inputs and 16 individually configurable digital I Os QDIO 16 16 0 5 provides positive switching inputs and I Os QDIO 16 16 0 5N provides zero switching inputs and I Os QAIO 2 2 is an analog I O extension module with 2 analog inputs each con figurable as 10 V 10 mA 4 20 mA and 2 analog voltage outputs 10 V additionally each configurable as 10 mA 4 20 mA 50 mA QAIO 16 4 is an analog I O extension module with 16 analog inputs and 4 analog voltage outputs 10 V QAIO 16 4 V provides 16 voltage inputs 10 V QAIO 16 4 A provides 16 current inputs 0 20 mA QDIO and QAIO QDIO 16 16 0 5 QAIO 2 2 QAIO 16 4 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 18 3 Short M3000 System Overview M3000 Modules 3 3 3 2 QEBUS CAN QEBUS CAN Figure 7 QEBUS CAN Extension Module QEBUS CAN is a CAN extension module which can be used to make the LocalCAN bus of an E bus group available for external CAN bus network sta tions over a D sub front panel connector 3 3 4 R Modules Remote Modules R Modules are extension modules with CA
58. 6 in x 4 72 in x 2 2 in The CPRDISP software needed to program and configure the RDISP CPRDISP is not included with RDISP CPRDISP is available from Moog as an ac cessory gt 11 5 2 Software for R Modules on page 119 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 20 3 Short M3000 System Overview M3000 Modules 3 3 4 3 DialogController DialogController Figure 10 DialogController The DialogController is freely programmable with the Moog Axis Control Soft ware MACS development environment The predefined visualization ele ments such as buttons bar graphs meters tables and histograms makes it easy to create visualization screens In addition it offers TFT technology for brilliant colors fanless operation Ethernet communication for programming and operation It is available in three sizes DialogController 5 7 Color TFT VGA resolution 320 x 240 pixels with touch screen Dimensions W x D x H 194 x 172 x 52 mm 7 6 x 6 8 x 2 0 inch DialogController 10 4 Color TFT VGA resolution 640 x 480 pixels with touch screen Dimensions W x D x H 360 x 260 x 77 mm 14 2 x 10 2 x 3 0 inch Display 12 1 Color TFT SVGA resolution 800 x 600 pixels with touch screen Dimensions W x D x H 440 x 300 x 77 mm 17 3 x 11 8 x 3 0 inch Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 21 3 Short M3000 System Overview M3000 Modules
59. 77 Z Z1 Z4 see LEDs of the MSC II User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 136 MOOG COM INDUSTRIAL For the location nearest you contact moog com industrial globallocator Argentina Australia Austria Brazil China Finland France Germany Hong Kong India Ireland Italy NETTO Korea Luxembourg Netherlands Norway Russia Singapore South Africa Spain Sweden Switzerland United Kingdom USA Moog GmbH 54 61 43 55 86 358 33 49 852 91 353 39 81 82 352 31 47 7 65 27 34 46 41 44 1 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 All rights reserved Subject to change without notice 11 4326 5916 3 9561 6044 664 144 65 80 11 5523 8011 21 2893 1600 9 2517 2730 1 4560 7000 7031 622 0 2 635 3200 80 4120 8799 21 451 9000 0332 421 111 463 55 3615 31 764 6711 40 46 401 252 462 000 64 94 19 48 31713 1811 6773 6238 12 653 6768 902 133 240 31 680 060 71 394 5010 1684 296600 716 652 2000 WHAT MOVES YOUR WORLD info argentina MUmoog com info australia Qmoog com info austria MQmoog com info brazilQmoog com info chinaQWmoog com info finlandOmoog com info france moog com info germany moog com info hongkong moog com info india moog com info ireland moog com info italy moo0og com info japan moog com info korea moog com info luxembourg moog com info netherlands0moog com info norway moog com inf
60. 93 e 1 Digital output Outputs Enabled gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 O The I Os are configured in the PLC Configuration of the MACS develop ment environment 10 1 3 Safety Functions The MSC II provides the following safety functions Safety Functions e Watchdog for monitoring the functionality of the software of the MSCI c 10 17 1 Watchdog on page 111 Output Outputs Enabled for signaling the activation of all outputs as well as EtherCAT communication c 10 17 2 Outputs Enabled Output LED OutEN on page 111 10 2 General Specifications Dimensions General Specifications Overall W x H x D in mm in of the MSC II 124 x 170 x 85 5 4 88 x 6 69 x 3 37 gt Figure 51 on page 74 Dimensions of the other DIN rail modules c 5 1 2 Dimensions on page 30 Weight Approx 1 kg 2 2 Ib without plug in terminal strips with license key Processor PowerPC CPU 400 MHz 32 Bit RISC architecture with floating point unit Memory 32 MB flash EEPROM 128 MB RAM Data retention gt 10 Years for all data that is saved in the flash EEPROM i e boot project error messages Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 73 10 MSC II Moog Servo Controller General Specifications 10 2 1 Dimensions 102 mm 4 02 in _ 113 mm 4 44 in Module Width 124 mm 4 88 in Overall Width 85 5 mm 3 37 in 5 5 mm 0 22 in 5 5 mm 0 22
61. 989 E oo0o000000000000000 0 SS999999999999999698 pipsuaagaagaagaagagagagua utu t 170 mm 6 69 in H 1paaggagagagagagauaaduaauaaut Lu SENSO pp4g90000000000009000 0 Y Figure 16 Dimensions of DIN Rail Modules O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 30 5 Mechanical Installation DIN Rail Modules 5 1 3 Arrangement on DIN Top Hat Rails WARNING The vent holes of DIN rail modules facilitate convection cooling and must never be covered Covered vent holes might result in overheating and fire DIN rail modules must be arranged next to each other on a DIN top hat rail TH 35 7 5 in accordance with DIN EN 60715 Arrangement of DIN Rail Modules ona Vertical Mounting Plate L pingmnnnaanngannaganrn S9595999999999999958 linanananananananar Figure 17 Arrangement of DIN Rail Modules on a Vertical Mounting Plate The DIN top hat rail must be attached to a vertical metal mounting plate and connected to the protective earth conductor Additional information about the grounding concept for DIN rail modules gt 6 1 Grounding
62. ANopen 7 5 3 CANopen CANopen is a standardized communication profile that makes it easy to es tablish a network of CANopen compatible devices from a variety of manufac turers CANopen is based on CAN bus The communication profile complies with the standard CiA DS 301 Various device profiles have been defined by the CiA in order to facilitate the connection of various devices classes such as drives controllers angle transmitters valves etc These device profiles enable uniform control of sev eral devices with the same functionality regardless of manufacturer and model 7 5 4 M3000 Modules with CAN Bus Interfaces Number of CAN Bus CAN Bus Termination M3000 Module Number of Connectors Controllers Resistor MSD 2 D sub front panel connectors 1 Motion Controller MSC land LocalCAN 2 Q connectors lateral switchable MSC II WideCAN 2 D sub front panel connectors 2 RDIO 2 D sub front panel connectors 2 1 D sub connector on the rear switchable LocalCAN 1 Q connector lateral switchable 1 D sub connector front Table 8 M3000 Modules with CAN Bus Interfaces 1 The WCAN front panel connectors are connected internally 1 1 with each other As a result the MSC II control module can be connected directly to the CAN bus without a T adapter 2 The WCAN or CAN front panel connectors are connected internally 1 1 with each other As a result the M30009 modules can be connected directl
63. As long as the Outputs Enabled output is in the 1 state the application pro gram will control all outputs the E bus communication and the fieldbus com munication If the Outputs Enabled output is switched to the O state LED OutEN does not illuminate all outputs will be disabled the E bus communication and the fieldbus communication will be stopped In this case although the internal states of the digital outputs are shown on the front panel status LEDs l O1 I O4 of the MSC II control module they are not connected through to the output The digital output Outputs Enabled will be switched to the 1 state only if the following conditions are fulfilled simultaneously e An error free application program has been loaded onto the MSC II con trol module and will be started once after every reset of the MSC II con trol module e A valid license key is inserted e The M WATCHDOOG function block is not used or the M WATCHDOG function block is used in the application program enabled and triggered cyclically within the set time If any one of these conditions is not fulfilled the Outputs Enabled output will be switched to the 0 state thereby disabling all of the MSC II control module s other outputs In addition the E bus and the fieldbus communication will be stopped 10 17 2 1 OutEN LED The front panel LED OutEN located of the MSC II control module indi OutEN LED of the cates the status of the
64. C II can be extended locally by attaching Q modules The MSC II and the attached modules then form an E bus group MSC Ils and Q modules within E bus groups communicate over the internal E bus gt 7 7 2 E Bus Groups on page 65 The MSC Il is programmed and configured with the MACS development envi ronment complies with IEC 61131 gt 3 5 Application Programs on page 25 O Detailed information about the MSC II c 10 MSC II Moog Servo Controller on page 72 3 3 3 Q Modules Q Modules are I O extension modules for MSC and MSC Il Q Modules The following Q modules are available from Moog e QDIO 16 16 digital I O extension module c 3 3 3 1 QDIO and QAIO on page 18 e QAIO 2 2 analog I O extension module c 3 3 3 1 QDIO and QAIO on page 18 QAIO 16 4 analog I O extension module c 3 3 3 1 QDIO and QAIO on page 18 QEBUS CAN CAN extension module c 3 3 3 2 QEBUS CAN on page 19 Q modules can be used only as E bus slaves within E bus groups gt 7 7 2 E Bus Groups on page 65 When using an RDIO as E bus master only QDIOs can be used as E bus slaves gt 7 6 2 1 E Bus Master and E Bus Slaves on page 61 O Refer to the Q modules documentation for more detailed information Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 17 3 Short M3000 System Overview M3000 Modules 3 3 3 1 QDIO and QAIO QAIO 2 2 Ay Mooc ce Figure 4 QDIO 16 16 Figure
65. Ds of the MSC II Basetick 90 92 cycle time 91 E bus start time 91 SSI sensor start time 91 task reaction time 92 timing diagram 91 Basic wiring diagram digital input of the MSC II 97 digital output of the MSC II 95 Block diagrams Block Diagram of the MSC II 76 Booting the MSC Il see resetting the MSC II Brands see trademarks C CAN bus 55 60 characteristics 55 linear structure 58 CAN bus accessories part numbers 120 CAN bus interface cables see interface cables CAN bus interface cables Moog GmbH CAN bus interfaces MSC II 56 64 109 110 CANopen node ID 86 110 LCAN LED of the MSC II for displaying LocalCAN transmission activity 81 109 WCAN LED of the MSC II for displaying WideCAN transmission activity 81 109 WCAN MSC II front panel connectors 77 109 terminal assignment 78 Q modules 56 64 R modules 56 64 CAN bus network node see CAN bus network stations CAN bus networks permissible cable lengths 59 permissible number of network stations 58 permissible stub cable lengths 59 potential equalization 57 58 suitable cables 60 wiring 57 CAN bus network stations permissible number of network stations 58 CAN bus termination resistors 57 58 part numbers 120 termination resistor of the MSC II switchable termination resistor of the LocalCAN interface 110 TRM LED of the MSC II indicates that the resistor is switched on 8
66. ED for displaying the state of the power supply for the internal electronics 81 power supply device part number 117 rated voltage 39 safety extra low voltage SELV 39 sensors 43 45 switching on off the power supply behavior of the MSC II 89 terminal assignment 78 Processor of the MSC Il 73 Product range 114 123 Moog GmbH Profibus 50 53 9 pole D sub connector 52 connector with internal logitudinal inductivity 52 connector with switchable termination 52 maximum cable lengths 53 modules with Profibus DP interface 50 number of network stations 51 permissible stub cable lengths 53 Profibus interface of the MSC II terminal assignment of the F Bus connector 79 suitable cables 53 topology 51 wiring 50 Profibus DP interface MSC II 100 Programming languages in MACS 25 Programming the MSC II 84 Project planning 37 safety instructions 8 40 43 Proper operation see proper use Proper use 2 safety related systems 2 Protection class of the MSC II 75 Pulse detection of digital inputs 97 Q QAIO 16 4 see Q modules QAIO 16 4 Q connector 40 pole connector of the E bus interface 60 front and side views of DIN rail modules 29 front view of the MSC II 77 QDIO see Q modules QDIO QEBUS CAN see Q modules QEBUS CAN Q modules 17 part numbers 116 power consumption 40 QAIO 16 4 18 QDIO 18 QEBUS CAN 19 Qualified users see personnel selection and qualific
67. EIA 422 input incremental sensor signal 1 B or SSI sensor signal 1 slave clock TIA EIA 422 input incremental sensor signal 1 Z TIA EIA 422 input incremental sensor signal 1 Z olo NI oaJ a AJ OJN 5 V Power supply for sensor X6 Sensor 1 o Ground for the digital sensor interface TIA EIA 485 output SSI sensor signal 2 clock gt 10 13 Digital Sensor Interfaces on page 101 TIA EIA 485 output SSI sensor signal 2 clock TIA EIA 422 input incremental sensor signal 2 A or SSI sensor signal 2 data TIA EIA 422 input incremental sensor signal 2 A or SSI sensor signal 2 data TIA EIA 422 input incremental sensor signal 2 B or SSI sensor signal 2 slave clock TIA EIA 422 input incremental sensor signal 2 B or SSI sensor signal 2 slave clock TIA EIA 422 input incremental sensor signal 2 Z TIA EIA 422 input incremental sensor signal 2 Z olo NI oaJ a AJ OJN 5 V Power supply for sensor X7 Sensor 2 X8 o Ground for the digital sensor interface gt RxD TxD P Receive transmission data positive potential CNTR P Control signal for repeater direction control DGND Potential of transmission data ground to 5 V VP Power supply of the terminators 5 V F Bus RxD TxD N Receive transmission data negative potential Moog GmbH olol NI OD Oo BR
68. I CA65865 001 Version 1 1 08 08 59 7 Networking M3000 Modules E Bus 7 5 6 3 Suitable Cables rabia CAN Bus Interface Cables Number of Wires gt 4 twisted pairs Wire Cross 0 22 0 34 mm When the network is spread out over a Section for Cu 24 22 AWG greater distance a larger wire cross section will provide a better signal to noise ratio Cable Structure 2 twisted pairs Electrically connect the shield to the mating with shielding connector s housing and the shielding shroud of the plug in devices Impedance 1200 If different cables are used make sure they 1 MHz have the same impedance Table 11 Suitable Cables for CAN Bus Interface Cables The selection of a suitable cable also depends on site conditions towing ap plication environmental considerations etc For normal use Moog recommends the CAN bus data cable UNITRONIC BUS LD supplied by LAPP KABEL http www lapp de or 577 FlexLife Thin Cable or the 5710 FlexLife Mid Cable or the 575 FlexLife Thick Cable supplied by Hans Turck GmbH amp Co KG http www turck com O CAN bus interface cables are available from Moog as accessories in a variety of lengths gt 11 6 Interface Cables on page 120 7 6 E Bus Communication within E bus groups is done over the E bus E Bus Notes on establishing E bus groups gt 7 7 2 E Bus Groups on page 65 Examples of E bus groups gt 7 7 2 1 Examples on page 66
69. ING Moog GmbH The internal electronics of M30009 modules and at tached sensors must be supplied with power from a per manently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors gt table 3 on page 41 Reverse energization from sensor to module Invalid sensor data Sensors that are connected to digital inputs of M30009 modules with several I O groups such as MSC I QDIO or RDIO must under all conditions be supplied from the same power supply as the corresponding I O group to which the sensor is connected Otherwise if the power supply for the internal electronics of the module is switched off there might be reverse energiza tion from the sensor to the module There is a danger of Uncontrolled movements Fault or failure of a manual control Permanent damage to the module Malfunctions Digital I Os of MSC Il and MSD Motion Controller are pro tected against reverse energization Maximum Admissible Current for M3000 Modules Connecting Sensors Safety Instructions User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 43 6 Project Planning
70. If the M3000 module is connected to other devices and or facilities always consider the full consequences and take ap propriate precautions before switching off the module Shutdown and Service Safety Instructions Shutdown Safety Instructions User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 69 8 Shutdown and Service Service 8 2 Service WARNING To avoid damage to M3000 modules or accessories Maintenance Repair cleaning maintenance and repair tasks may be per Safety Instructions formed only by Moog or Moog s authorized service agents Warranty and liability claims for personal and material dam age are excluded when among other reasons they are due to unauthorized repairs or other unauthorized interventions gt 1 4 Warranty and Liability on page 3 CAUTION To avoid damage to the internal components never attempt Q to open M3000 modules 8 2 1 Maintenance Servicing M3000 modules are maintenance free They do not contain any compo Maintenance Servicing nents such as batteries that must be maintained or replaced 8 2 2 Repair Only Moog and Moog s authorized service stations perform Moog Authentic Repair Repairs Only Moog and Moog s authorized service agents can access the required and most up to date specifications These specifications make it possible to restore the M3000 modules original performance and ensure the same high reliability and long service life of the M3000
71. M3000 and MSC II CA65865 001 Version 1 1 08 08 128 Quoted Standards 12 Appendix 12 3 6 TIA EIA TIA EIA 232 previously RS 232 Quoted Standards Interface Between Data Terminal Equipment and Data Circuit Termi TIA EIA nating Equipment Employing Serial Binary Data Interchange TIA EIA 422 previously RS 422 Electrical Characteristics of Balanced Voltage Digital Interface Circuits TIA EIA 485 previously RS 485 Electrical Characteristics of Generators and Receivers for Use in Bal anced Digital Multipoint Systems Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 129 13 Index 13 Index A A1 A4 see LEDs of the MSC II Abbreviations used 125 Accessories see product range Air humidity relative permissible for operating the MSC II 75 permissible for transportation and storage M3000 modules 71 MSC II 75 Air pressure permissible for transportation and storage M30009 modules 71 MSC II 75 Ambient temperature permissible for operating the MSC II 75 permissible for transportation and storage M3000 modules 71 MSC II 75 Application programs creating with MACS 25 Arrangement of DIN rail modules between cable conduits 32 minimum distances between control groups 32 on a vertical mounting plate 31 Attachment screws for the license key see license key attachment screws Aux1 Aux4 see LEDs of the MSC II B B1 B4 see LE
72. M3000 and MSC II CA65865 001 Version 1 1 08 08 87 10 MSC II Moog Servo Controller Run Stop Reset Switch 10 7 Run Stop Reset Switch The behavior of the Run Stop Reset switch controlling the Run state of the application program MACS 1 Run Stop Reset switch Application program Table 19 Behavior of the Run Stop Reset Switch 1 Most recent state in the online mode MACS logged on Regardless of the logging in to the MSC Il with MACS if the Run Stop Reset switch is at Stop position the application program does not run Ifthe switch is in position Run then the execution state depends on the last state when MACS was logged in WARNING If a boot project is stored at the MSC Il and you perform a reset or power up then take care that the application program run state is not only influenced by the last state of MACS but also by the Run Stop Reset switch If you switch from Stop to Run then a previously stopped application program may start operating again WARNING Moving the Run Stop Reset switch into position Stop stops a running application program of the MSC Il con trol module The application program will continue execution after switch ing back the Run Stop Reset switch to position Run Moving the Run Stop Reset switch into position Reset will reset the MSC II The processor will stop as soon as the Run Stop Reset switch is moved to position Reset No variables will be saved
73. M3000 modular automation system is suitable for control applications in Proper Use the medium to high end performance ranges M3000 is designed for use within the overvoltage category defined by IEC 60364 4 44 for controlling machines and industrial processes in low volt age systems in which the rated supply voltage does not exceed 1 000 V alter nating current 50 60 Hz or 1 500 V direct current Qualified project planning and design proper transportation storage installa tion and use are required to ensure fault free reliable and safe operation of M3000 M3000 and M3000 modules must not be brought into operation until it has been ensured that the equipment in which they are installed complies with the current version of the EU machinery directive The M3000 automation system and M3000 modules may be used only un der the conditions and situations specified in this manual and in the docu mentation of the M3000 modules Any other or more extensive use is not permissible The following are also required for proper use Compliance with the requirements detailed in this manual Compliance with the requirements of individual M30009 module docu mentation Compliance with all of the product related hardware and software docu mentation required for the relevant application Compliance with the relevant nationally and internationally applicable regulations standards and directives e g the regulations specifi
74. MSC II as E Bus Master O Number of slaves that may be attached to the MSC II gt Table 12 on page 61 Master Slave Slave Slave Slave Slave Additional Slaves eec Figure 47 E Bus Group RDIO as E Bus Master O Number of slaves that may be attached to the RDIO gt Table 12 on page 61 7 7 3 LocalCAN Bus Groups LocalCAN bus groups are formed by joining MSC Ils together at the Q con nectors The modules within LocalCAN bus groups communicate over the in ternal LocalCAN bus Observe the following when establishing LocalCAN bus groups The number of modules in a LocalCAN bus group is limited to 64 be cause CAN bus networks can only include a maximum of 64 network stations c 7 5 5 3 Number of Network Stations on page 58 The switchable CAN bus termination resistor of the MSC II can be used as a termination resistor for the LocalCAN bus group gt 10 15 1 CAN Bus Termination Resistor on page 110 Ifa QEBUS CAN is attached to the right then the LocalCAN bus can be made available using the QEBUS CAN for other CAN bus network sta tions that do not belong to the LocalCAN bus group Information about arranging DIN rail modules gt 5 1 3 Arrangement on DIN Top Hat Rails on page 31 E Bus Group MSC Il as E Bus Master E Bus Group RDIO as E Bus Master LocalCAN Bus Groups Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 66 7 Networking M3000 Modules Networki
75. Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 108 10 MSC II Moog Servo Controller CAN Bus Interfaces 10 15 CAN Bus Interfaces The MSC ll is equipped with the following independent CAN bus interfaces that can be operated within CAN bus networks e WideCAN 2 WCAN front panel connectors of the MSC II e LocalCAN 2 internally on the lateral Q connectors of the MSC II A separate CAN bus controller is included for every CAN bus interface j a CAN Bus i i i Controller i i CAN Bus l A Controller l Figure 71 CAN Bus Interfaces of the MSC II WideCAN LocalCAN Q Connector Although both CAN bus interfaces are equally fast and have equal priority WideCAN is typically used for communication between all the network sta tions of a wide area automation system while LocalCAN is preferred for rapid local communication between fewer network stations The WCAN and LCAN front panel status LEDs of the MSC II flash synchronously to the flow of data that the MSC II is sending over the WideCAN or LocalCAN interface respectively The WCAN front panel connectors are connected internally 1 1 with each other As a result the MSC II control module can be connected directly to the CAN bus without a T adapter The functionality of the CAN bus interfaces is defined in the application program Information about CAN bus and CANopen gt 7 5 CAN Bus and CANopen on p
76. Nopen interface R Modules Remote Modules The following R modules are available from Moog e RDIO remote module with digital l Os and CANopen interface c 3 3 4 1 RDIO on page 20 RDISP display and operating terminal c 3 3 4 2 RDISP on page 20 IEC 61131 application programs cannot run on R modules R modules connect to other network stations over the CAN bus gt 7 4 1 TIA EIA 232 Interface Cables on page 54 O Refer to the R modules documentation for more detailed information O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 19 3 Short M3000 System Overview M3000 Modules 3 3 4 1 RDIO RDIO Figure 8 RDIO 16 16 0 5 Remote I O Module RDIO is a remote module with digital I Os and CANopen interface RDIOs can be parameterized as a CANopen slave according to CiA DS 401 RDIO 16 16 0 5 provides 16 positive switching digital inputs and 16 positive RDIO 16 16 0 5 switching digital I Os 3 3 4 2 RDISP EA RDISP Figure 9 RDISP 22 Display and Operating Terminal RDISP is a versatile display and operating terminal with TIA EIA 232 and CANopen interface as well as a graphical LCD display and function keys which can be labelled A slip of paper can be inserted below the keys for la beling purposes RDISP 22 provides 22 function keys and a display with max 8 lines of RDISP 22 40 characters each or random graphics Dimensions of RDISP 22 187 mm x 120 mm x 56 mm 7 3
77. O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 62 7 Networking M3000 Modules E Bus 7 6 3 4 Scope of E Bus Messages The scope of the E bus message depends on the slave types attached to the E Bus Communication master Scope of Messages Communication with digital I O extension modules such as QDIO All input and output data of every digital I O extension module is trans mitted during every E bus cycle Communication with analog I O extension modules QAIO 16 4 The data for one output and one input from each analog I O extension module will be transmitted during every E bus cycle Only the input and output data that is used in the application program will be transmitted Communication with analog I O extension modules QAIO 2 2 All input and output data of every analog I O extension module is trans mitted during every E bus cycle 7 6 3 5 Example One analog and one digital I O extension module is connected to an MSC Il E Bus Communication The E bus interface of the MSC II and the inputs and outputs of the I O Example extension modules are configured in the PLC configuration of the MACS development environment gt 10 14 1 Configuration of the E Bus Interface on page 108 The following inputs and outputs are used in the application program QAIO 16 4 7 analog inputs QAIO IN1 to QAIO IN7 3 analog outputs QAIO OUT1 to QAIO OUT3 QDIO 3 digital inputs QDIO IN5 to QDIO IN7 3 digital outpu
78. Outputs Enabled output The LED OutEN illumi MSC II control module nates when the Outputs Enabled output is in the 1 state 10 17 3 Stopping the Application Program An application program executed in the MSC Il control module can be Stopping the stopped in the MACS development environment Application Program After an application program stops all analog and digital outputs will automat ically be switched to a secure state This secure value can be set for each output individually by modifying the Secure channel parameter in the PLC Configuration O If the OutEN LED does not illuminate when the Outputs Enabled output is in the 0 state this secure value will not be at the outputs be cause the outputs will be disabled gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 112 10 MSC II Moog Servo Controller Nameplate 10 18 Nameplate Nameplate of the MSC Il Part number MOOG Mod Deen Serial number Moog GmbH D 71034 B blingen _S N D101 Made in Germany ID Revision Date in the format MM YY month year Figure 72 Position of the Nameplate on the MSC II Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 113 11 Product Range M3000 Starter Kits 11 Product Range O The following chapter describes only a small part of Moog s exte
79. T optional RJ45 X11 X12 10 100 MBit s 1 License Run Stop Reset Key Slot Switch USB USB1 USB2 Link 100MB s Link 100MB s Link 100MB s I Ethernet Speed Interfaces MOOG NASSC IL CE k P xj Ethernet Link Activity SIO F Bus 1 2 3 4 5 6 7 8 9 10 X6 X7 X5 x9 CLK CLK A A B B Z Z 5V DGND X10 x8 4 4 0000000000002 Wire Fault Display for Digital Sensor Inputs Moog GmbH Figure 54 Front Panel of the MSC II User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 Activated by Application Program or Error Display 77 10 MSC II Moog Servo Controller View of the Module and Terminal Assignment 10 4 1 Terminal Assignment Assignment Circuit CAN Ground for the CAN bus interface WCAN WCAN WideCAN olo NI aJ aj AJ wo Nj Power supply for the MSC II s internal electronics 24 V DC SELV gt 6 2 Power Supply on page 39 Power supply for the MSC II s internal electronics 24 V DC SELV Ground for the internal electronics power supply Power Supply Ground for the internal electronics power supply Power supply for the MSC II s digital I Os 24 V DC SELV gt 10 10 2 Power Supply on page 93 Power supply for the MSC II s digital I Os 24 V DC SELV Digital I Os Ground for the digital l Os power supply Ground for the digital l Os power supply Ground for the digital
80. US CAN Q modules see Q modules RDIO see R modules RDIO RDISP see R modules RDISP remote modules see R modules R modules see R modules M30009 modules 16 21 M3000 Starter Kits 114 MACS 25 communication between MSC ll and MACS 84 communication parameters Ethernet interface 84 configuration of the MSC II 84 MACS HMI visualization package 26 119 part number 119 programming languages 25 programming the MSC II 84 scope of functionality 25 software maintenance contract 119 MACS HMI see MACS MACS HMI Maintenance 70 safety instructions 9 69 Maintenance contract for MACS see MACS software maintenance contract Moog GmbH Manual see user manual M3000 and MSC II Maximum admissible current for the power supply terminals of M30009 modules 43 Memory of the MSC Il 73 Module width of an M3000 module see dimensions Moog Authentic Repairs see repair Moog Authentic Repairs Moog Authentic Repair seal see repair repair seal Mounting DIN rail modules on DIN top hat rails 33 license key of the MSC II 87 required tool 86 MSC I 16 MSC II 17 72 113 as master of E bus groups 61 dimensions 73 74 environmental conditions for operation 75 climatic conditions 75 electrical conditions and requirements 75 mechanical conditions and requirements 75 front panel 77 front view 77 part numbers 115 view of the module 77 MSC II Starter Kit 15 MSD Motion Controller 22 par
81. USB1 connector 80 terminal assignment of the USB2 connector 80 User manual M3000 and MSC II abbreviations used see abbreviations used copyright A date of release 1 duplication prohibition A exclusion of liability 1 place of storage 1 reproduction prohibition A reservation of changes A 1 styles and symbols used see typographical conventions typographical conventions see typographical conventions version number 1 Users qualified see personnel selection and qualification V Version number of this manual 1 View of the module DIN rail modules 29 MSC Il 77 Visualization package see MACS MACS HMI Moog GmbH W Warranty exclusion of warranty 3 Watchdog of the MSC II 111 WCAN front panel connectors of the MSC Il see CAN bus interfaces MSC II WCAN LED see LEDs of the MSC II Weight of the MSC Il 73 WideCAN 14 WideCAN bus groups 67 WideCAN bus interface of the MSC II 56 64 109 terminal assignment of the WCAN connectors 78 Wire fault display LEDs of the MSC II A1 B1 Z1 A4 B4 Z4 wire fault display LEDs for digital sensor interfaces 82 102 Wire fault monitoring sensor interfaces digital e 102 wire fault display LEDs 82 102 Wiring of CAN bus networks 57 X X2 X4 X6 X7 X9 X10 Plug in terminal strip connectors of the MSC II front view of the MSC II with plug in terminal strip connectors
82. aces nnns 56 7 5 5 CAN BUS NetWorkS iii di 57 7 5 0 CAN Bus Interface Gable 5 ertet Ie dne Mad setate ta Ee load 59 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 ii Table of Contents gine MM 60 7 0 1 E Bus Interface nae e re ea dee eee aed e Ye eara e ende dd c TO ER ann 60 7 6 2 E Bus COMMUNICAtION ooooooocccccccccccccccononnnononnonnnnnnnnnnnnnnnnnnnnn nn erre en nnns nennen nens 61 7 6 3 MSC Il as E Bus Master sssssssssssssssssssese nensem eee rrerrn nennen nennen 61 7 7 Networking DIN Rail Modules eene nennen ercer 64 7 7 1 CAN and E Bus Interfaces oooooccccnnnnnononcccnccnncnnncnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnn nn nnnnncnnnnnnnnins 64 7 72 E BUS GIOUpS 3 o eee a e d dti le ee etl idest lad teat instead 65 7 7 3 LocalCAN Bus OOU PS a a a a a nnn n nnn n nennen rrerr nnne nnne 66 ITA WIdeCAN Bus Groups s td e pte e e te e Tt ed ead 67 8 Shutdown and Service eeeeeeeeeeeeeeeeeeeeeeeeee nennen 69 8 1 Shutdown 56e da 69 BE 2 SOV ICS T 70 8 2 1 Maintenance Servicing errre ranir ATEA EAE ennt tnter REEE REINER nnne ener 70 SEPA VIDE 70 9 Transportation and Storage ccoooonnncccccccnnnnncononconnnnnenenenananancnnnnnnanancnnnns 71 9 1 Environmental Conditions rrr terere tranne n nnn ERE thun nun oa eaaa mora ua Rn eaa Aaina anaa 71
83. aces of the MSC II 1 Serial interface SIO connector for use as a free user interface gt 10 16 Serial Interfaces on page 111 e 1 E bus interface on both lateral Q connectors for establishing E bus groups c 10 14 E Bus Interface on page 108 2CAN bus interfaces WideCAN 2 connectors WCAN connected internally 1 1 LocalCAN 2 internally on both lateral Q connectors c 10 15 CAN Bus Interfaces on page 109 1 Ethernet interface on the front panel LAN front panel connector c 10 5 1 1 Ethernet Communication Interface on page 84 e 2 RT ETH Real Time Ethernet interfaces optional RT ETH1 and RT ETH2 front panel connectors e 2 USB 1 1 Host interfaces with USB A connector USB1 and USB2 connector 1 Fieldbus interface F Bus connector provided for optional fieldbus extension such as Profibus 4 Digital sensor interfaces according to TIA EIA 422 485 previously RS 422 485 for position transducers or shaft encoders with SSI inter face or incremental sensor signals c 10 13 Digital Sensor Interfaces on page 101 Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 72 10 MSC II Moog Servo Controller General Specifications 10 1 2 I Os Inputs Outputs The MSC II provides the following I Os I Os Inputs Outputs 4 Digital I Os ofthe MSC Il each individually configurable as an input or an output gt 10 10 Digital I Os on page
84. afety All safety and accident prevention regulations applicable to the specific application such as machinery directives safety instructions contained in documentation etc Emergency stop The emergency stop devices DIN EN 60204 must remain in effect dur ing all of the system s or facility s operational modes Restarting Unlocking of the emergency stop devices must not lead to uncontrolled or undefined restarting Dangerous operational conditions of any kind must not arise following in terruption or failure of the power supply Voltage Deviations and fluctuations of the supply and load voltages must not fall below or exceed the specified tolerances Deviations outside the specified operating range might lead to danger ous conditions and functional disturbances in the automation system Power supply 24 V DC M3000 modules must be supplied only with 24 V DC SELV Safety Ex tra Low Voltage according to DIN EN 60950 1 gt 6 2 1 Power Supply Characteristics on page 39 Wire fault A cable or wire fault must not lead to undefined conditions All necessary safety precautions must be taken in the hardware and software Connection All connection and signal cables must be installed in such a way that in ductive or capacitive interferences will not impair the M30009 automa tion system Project Planning and Installation User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 37 6 Project Planning and Insta
85. age Additional typographical conventions 12 1 Typographical Conventions on page 124 2 2 Safety Instructions 2 2 1 Safety Related Systems WARNING As with any electronic automation system the failure of certain components when using M3000 or M30009 mod ules might lead to an uncontrolled and or unpredictable operational condition The user should take into consid eration the system level effects of all types of failures and implement corresponding safety measures More on this subject gt 1 3 1 Safety Related Systems on page 2 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 Safety Instructions Typographical Conventions Safety Instructions Safety Related Systems 2 Safety Instructions Safety Instructions 2 2 2 Environmental Conditions WARNING gt 5 a z z gt WARNING gt 5 a z z gt Maintain under all circumstances the required environ mental conditions specified for the M3000 automation system or M3000 modules This ensures fault free reliable and safe operation The PC on which tools such as MACS development envi ronment are installed must be suitable for the environ mental conditions in which it will operate This ensures fault free reliable and safe operation It is not permissible to operate the M3000 automation system or M3000 modules in a potentially explosive environment The M3000 automation syste
86. age 55 Information about the CAN bus interface cable gt 7 5 6 CAN Bus Interface Cable on page 59 CAN Bus Interfaces of the MSC II control module CAN Bus Interfaces of the MSC Il Status LEDs WCAN and LCAN of the MSC Il O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 109 10 MSC II Moog Servo Controller CAN Bus Interfaces 10 15 1 CAN Bus Termination Resistor The LocalCAN interface of the MSC II is equipped with a switchable CAN bus CAN Bus Termination termination resistor The termination resistor can be switched on by a MACS Resistor of the MSC Il function block in the application project The TRM front panel status LED of the MSC II illuminates when the termination resistor of the LocalCAN interface is switched on gt 10 4 2 LEDs on page 81 The switchable CAN bus termination resistor of the MSC II can be used as a termination resistor only on LocalCAN bus groups gt 7 7 3 LocalCAN Bus Groups on page 66 In WideCAN bus groups the switchable CAN bus termination resistor of the MSC II cannot be used as a termination resistor Separate pluggable CAN termination resistors must be used for this gt 7 7 4 WideCAN Bus Groups on page 67 D sub connectors with CAN bus termination resistors are available from Moog gt 11 7 CAN Bus Accessories on page 120 10 15 2 Setting the CANopen Node ID The CANopen node ID of the CAN bus interface of the MSC II control modul
87. am that reads the input gt 10 10 4 2 Pulse Detection and Disturbance Suppression on page 97 The task interval and thereby the sampling time of the inputs is set in the task configuration of the MACS development environment Input capacitance Max 10 nF Power consumption for the internal control circuit L2 M2 lt 100 mA O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 98 10 MSC II Moog Servo Controller Digital I Os 10 10 4 4 U I Working Ranges A Type 1 U I Working Ranges of MSC II control module s Digital Inputs Current Consuming NE 20 4 E 3 fl 10 3 jLL N 540 T TTTT TTTT TTTTTTTTTTTTTT 5 10 15 20 25 30 V V IN Figure 59 U I Working Ranges of MSC II control module s Digital Inputs Current Consuming Input voltage DC of the external power supply L2 rated voltage Ue 24V upper limit Ue max 36 V lower limit Ue min 18 V Limits for the 1 state upper limit UHmax 30V lHmax 15 mA lower limit UH min 15V IHmin 2 mA Limits for the O state upper limit ULmax 15 5 V ILmax 0 5 15 mA lower limit UL min 3 V ILmin ND Table 20 U I Working Ranges of MSC II control module s Digital Inputs Current Consuming 10 10 4 5 Insulation Resistance Insulation resistance Insulation Resistance Rated voltage 0 50 V DC of MSC Il control Test voltage for 2 000 m 2 187 yd operating elevation 500 V DC module s Digi
88. and Installation Power Supply Correct Power Supply 24 V switched Connection of Sensors via O e 24 V not switched a QDIO o ov QDIO 16 16 0 5 1 0 Group 1 1 0 Group 2 1 0 Group 3 1 01 1 02 1 013 3 21 39 14 32 50 gt E gt E 2 j a l5 0 o u0 e t a el 5 4 5 2 Actuator z Actuator 7 A Q Sensor Sensor Figure 31 Correct Power Supply Connection of Sensors via a QDIO The attached sensors must be supplied with power from a permanently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply Power must not as shown in figure 32 on page 45 be supplied from switched power circuits 2 The sensors within an I O group must always be supplied with power from the same power supply that supplies the relevant I O group They must not as shown in figure 32 on page 45 be supplied from a separate power supply due to the danger of reverse energization O Outputs may be supplied with power from a switched power supply for example with intermediate devices emergency stop manual operation etc O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 44 6 Project Planning and Installation Power Supply 24 V switched or 4 24 V not switched a o ov Not this Way Not this Way O Reverse Energization Switched Circuit
89. ann conan o nn nr nano nn arranca rca 56 Maximum Cable Lengths in CAN Bus Networks Depending on the Transmission Rate 59 Maximum Permissible Stub Cable Lengths in CAN Bus Networks see 59 Suitable Cables for CAN Bus Interface Cables ssssssssssseee eene 60 Permissible Masters and Slaves in E Bus Groups ssssssssssssseeeeeme 61 Update Rate of E Bus Messages cccccesesecccceeteecceeeeteeeccaceeseeceeeeeeneccadeeeeeacaeenseecaeeeetnenceneneeaes 62 Update Order for Inputs and Outputs of QDIO and QAIO 16 4 ssssssssssssse 63 DIN Rail Modules with CAN and E Bus Interfaces ssssse een 64 Terminal Assignment of MSC II s Connectors sssssssssseeemm nene 78 EEDS ofthe MSG ll zione Eee rimi pape e oh etd ane rra 81 LEDs for Displaying Elementary Operational States and Errors after Switching on or Resetting the MSC II tdeo a da dd 83 Behavior of the Run Stop Reset Switch 0 ccceeeeeececccee cece cece eee eeeeeeceaeaaeeeeeeeeeeseeseesececeneeeeeeeeeees 88 U I Working Ranges of MSC II control module s Digital Inputs Current Consuming 99 Designations of Incremental Sensor Terminals MSC Il and Incremental Sensors from Various Manufacturers ses een e ere ee E Debe aee sime rhe os PERIERE DEP RR ge ER 105 Timing of incremental encoders ssssssssssseeeeee eene nennen menn en eer nn nennen nnne
90. arter kit Storing M3000 modules environmental conditions 71 air pressure permissible 71 ambient temperature permissible 71 contamination level 71 75 insensitivity to corrosion 71 75 relative air humidity permissible 71 safety instructions 10 71 Storing manuals place of storage 1 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 135 13 Index Symbols and styles used in this manual see typographical conventions System see M3000 System architecture see M3000 system architecture System overview see M3000 system overview T Table of Contents i Tables list of vi Task reaction time 92 Terminal assignment M3000 modules 23 MSC II 78 81 Termination resistors see CAN bus termination resistors TIA EIA interface cable see interface cables serial interface cables Timing diagram 91 Top hat rail see DIN top hat rail TH 35 7 5 Trademarks 5 Training programs part numbers 123 Transporting M3000 modules environmental conditions 71 air pressure permissible 71 ambient temperature permissible 71 contamination level 71 75 insensitivity to corrosion 71 75 relative air humidity permissible 71 safety instructions 10 71 TRM see LEDs of the MSC II Tx see LEDs of the MSC II Type plate see nameplate Typographical conventions 124 U U I working ranges of digital inputs 99 USB USB interface of the MSC II terminal assignment of the
91. at that time When the Run Stop Reset switch is released from position Reset then the MSC II will behave as if the power supply has been switched on gt 10 8 1 1 Switching on the Power Supply on page 90 In addition the MSC II control module can be reset with the MACS develop ment environment Refer to the documentation of the MACS development en vironment for detailed information about this O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 Run Stop Reset Switch of the MSC Il 88 10 MSC II Moog Servo Controller Power Supply 10 8 Power Supply DANGER The 24 V power supply terminals of all M3000 modules are Power Supply of the protected against reverse polarity ED If the polarity of these power supply terminals is reversed the modules will not work WARNING M3000 modules must be protected from overvoltages and or reverse energization from the sensor to the mod f N ule There is a danger of Permanent damage by overheating or fire Malfunctions M3000 modules must have the correct voltage polarity and terminal assignments Additional information about the power supply gt 10 2 2 3 Electrical Conditions and Requirements on page 75 gt 6 2 Power Supply on page 39 10 8 1 Behavior at Switching on and Switching off The following internal data resides in the flash EEPROM of the MSC II control module Boot projects Error messages There is no battery buffered
92. ation R Rated voltage of the power supply 39 RDIO see R modules RDIO RDISP see R modules RDISP Rebooting the MSC ll see resetting the MSC II Release date of this manual 1 Remote modules see R modules Removing DIN rail modules from the DIN top hat rail 36 license key of the MSC II 87 required tool 86 Repair 70 Moog Authentic Repairs 70 repair seal 70 safety instructions 9 69 Reproduction prohibition for this manual A Reservation of changes for this manual A 1 Reset button of the MSC II 77 88 safety instructions 12 88 Resetting the MSC Il 88 reset button see reset button of the MSC II safety instructions 12 89 Restarting the MSC ll see resetting the MSC II User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 134 13 Index Retain the original packaging 3 Reverse energization is to be avoided 40 43 45 93 R modules 19 part numbers 117 power consumption 40 RDIO 20 as master of E bus groups 61 RDISP 20 software for R modules CPRDISP 20 119 part numbers 119 RT ETH RT ETH interface of the MSC II terminal assignment of the RT ETH1 connector 81 terminal assignment of the RT ETH2 connector 81 Run time license of the MSC II in license key 85 Rx see LEDs of the MSC II S Safety extra low voltage SELV 39 Safety instructions arrangement of DIN rail modules 31 cleaning 9 69 communication between MSC Il and MACS 11 84 e
93. cense key during opera tion might damage the license key or the MSC II control mod ule permanently If an M30009 module is to be taken out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M30009 module must be protected against uninten tional restarting If the M30009 module is connected to other devices and or facilities always consider the full consequences and take ap propriate precautions before switching off the module When using a screwdriver use caution to avoid slipping and causing personal injury or damage to the MSC Il control module License Key of the MSC II control module CANopen Node ID and IP Address License Key of the MSC II control module with Attachment Screws License Key of the MSC II control module Tool required for Mounting and Removing Mounting the License Key Safety Instructions User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 86 10 MSC II Moog Servo Controller License Key Procedure for mounting the license key 1 Switch off the MSC II control module power supply 2 Insert the license key into the slot labeled LK 3 Fix the license key in place by carefully tightening the attachment screws Incorrectly tightened attachment sc
94. ched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors gt table 3 on page 41 Reverse energization from sensor to module Invalid sensor data WARNING Sensors that are connected to digital inputs of M3000 modules with several I O groups such as MSC I QDIO or RDIO must under all conditions be supplied from the same power supply as the corresponding I O group to which the sensor is connected Otherwise if the power supply for the internal electronics of the module is switched off there might be reverse energiza tion from the sensor to the module There is a danger of Uncontrolled movements Fault or failure of a manual control Permanent damage to the module Malfunctions Digital I Os of MSC Il and MSD Motion Controller are pro tected against reverse energization The power supply for the digital I Os of the MSC II control module is indepen dent of the power supply for the MSC II control module s internal electronics L1 M1 and is established over the terminals L2 and M2 Power supply characteristics gt 6 2 1 Power Supply Characteristics on page 39 Connecting sensors to the power supply gt 6 2 4 Connecting Sensors on page 43 Connecting the power supply for the internal electronics gt
95. cremented Please make sure that any changes at B signal happen at least 100 ns before a rising edge at A signal Reversal Point Timing of Pulse Train Incremental Encoder A i t t t t uu Ut t Lut with negative logic Counter 6 5 6 7 8 1011 12 13 14 15 16 Figure 68 Timing of Pulse Train Incremental Encoder with negative logic 10 13 4 4 Incremental Encoder Frequency Modulation positive logic On the left side of the dotted line while B signal is low any rising edges of A signal decrements the counter state On the right side while A signal is low the direction has changed Now any rising edges of B signal increments the counter state Reversal Point Timing of Frequency Modulation Incremental A Sg y lL Encoder with positive logic B i I EO UGOLELO LIL Counter 6 5 6 T 8 910 11 12 13 14 15 Figure 69 Timing of Frequency Modulation Incremental Encoder with positive logic 10 13 4 5 Incremental Encoder Frequency Modulation negative logic Onthe left side of the dotted line while B signal is high any falling edges of A signal decrements the counter state Onthe right side while A signal is high the direction has changed Now any falling edges of B signal increments the counter state Reversal Point Timing of Frequency Modulation Incremental A EJ t l Encoder with negativ
96. cts Wire Cross Section 0 22 mm 24 AWG Rx a cg og i NE Rx 2 m 2 3 Tx i 1 i Tx 3 RES 1 1 I 1 I 5 GND GND 5 NEN Nie wees Beene IA The other pins are not connected Figure 42 TIA EIA 232 Null Modem Cable with 9 Pole D sub Mating Connectors according to DIN 41652 TIA EIA interface cables with 1 1 connection can be used to connect termi nals or displays Serial TIA EIA Interface Cables TIA EIA 232 Null Modem Cable MSC Il Display TIA ElA 232 Mating Connector Mating Connector Interface Cable socket contacts pin contacts with 1 1 Connection O Wire Cross Section gt 0 22 mm 24 AWG 2 Rx Rx 2 RE Tx 3 l 1 I l I 5 GND GND 5 AP ES A The other pins are not connected Figure 43 TIA EIA 232 Interface Cable with 1 1 Connection with 9 Pole D sub Mating Connectors according to DIN 41652 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 54 7 Networking M3000 Modules CAN Bus and CANopen 7 5 CAN Bus and CANopen 7 5 1 CAN Bus The CAN bus is a differential two wire bus that was originally developed to fa CAN Bus cilitate rapid and reliable networking of components in motor vehicles The many advantages and high reliability of the CAN bus have also made it suitable for use in automation systems and have contributed to it becoming a widespread standard 7 5 2 CAN Bus Characteristics CAN bus exhibits the following characteri
97. digital I Os 81 93 power supply 93 terminal assignment 78 IP address of the MSC II 84 86 Item number see part numbers L L1 see LEDs of the MSC II LAN LAN interface of the MSC II terminal assignment of the LAN connector 80 LAN see LEDs of the MSC II LCAN see LEDs of the MSC II LED1 LED3 see LEDs of the MSC II LEDs of the MSC Il 77 81 82 A1 A4 wire fault display for digital sensor interfaces 82 102 Aux1 Aux4 activated by application program 81 B1 B4 wire fault display for digital sensor interfaces 82 102 EBus displays E bus transmission activity 81 Error error display 82 83 I O1 I O4 display the operational state of the digital I Os 81 93 L1 displays the state of the power supply for the internal electronics 81 LCAN displays LocalCAN transmission activity 81 109 LED1 LED3 activated by application program or error display 82 83 Link displays Ethernet link pulse and activity 82 OutEN displays the states of all outputs and E bus communication 82 Rx and Tx displays receive transmission activity of the SIO interface 81 Speed displays Ethernet connection speed 82 TRM indicates that the LocalCAN interface s termination resistor is switched on 81 110 Tx and Rx displays receive transmission activity of the SIO interface 81 WCAN d
98. e logic B i 1 t EUU TS 3 Wu Counter 6 5 6 7 8 910 11 12 13 14 15 Figure 70 Timing of Frequency Modulation Incremental Encoder with negative logic O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 107 10 MSC II Moog Servo Controller E Bus Interface 10 14 E Bus Interface The MSC II s inputs and outputs can be extended locally by establishing an E Bus Interface E bus group by attaching up to 7 E bus slaves to the E bus interface of the MSC II Examples After 7 QDIO 16 16 0 5 extension modules are attached an additional 112 digital inputs and 112 individually configurable digital I Os will be available After attaching 4 QAIO 16 4 extension modules and 3 QDIO 16 16 0 5 extension modules an additional 64 analog inputs 16 analog outputs 48 digital inputs and 48 individually configurable digital I Os will be available Additional information about the E bus interface and E bus groups gt 7 6 1 E Bus Interface on page 60 gt 7 6 2 E Bus Communication on page 61 gt 7 7 2 E Bus Groups on page 65 10 14 1 Configuration of the E Bus Interface The E bus interface of the MSC II is configured in the PLC configuration of Configuration of the the MACS development environment The number and type of attached E Bus Interface E bus slaves must be specified in the configuration The inputs and outputs of the attached E bus slaves are also configured in the PLC configuration
99. e SELV The safety extra low voltage is a voltage that will not under any operating Safety Extra Low Voltage conditions exceed 25 V AC or 60 V DC peak or direct voltage as measured SELV between conductors or between a conductor and ground The circuit in which SELV is used must be separated from the mains power supply by a safety transformer or something of equal functionality Always observe national reg ulations when choosing the rated insulation voltage Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 39 6 Project Planning and Installation Power Supply 6 2 2 Power Consumption Power Consumption Power Consumption 1 DIN Rail Module From 24 V DC No Load 2 From 24 V DC Full Load MSC Il Internal about 0 3 A max 0 8A Electronics Digital Outputs max 2A RDIO max 0 3A max 10A QDIO max 10A QAIO 16 4 about 0 15 A max 0 3 A Table 2 Power Consumption 1 These values are provided only as guidelines for estimating the amount of current required Refer to the relevant documentation for the exact power consumption by DIN rail modules 2 No load i e there are no loads external to the module drawing current 6 2 3 Connecting the Power Supply DANGER The 24 V power supply terminals of all M30009 modules are Connecting the protected against reverse polarity Power Supply If the polarity of these power supply terminals is reversed the Safety Instructions
100. e up to max 2 5 mm 14 AWG B95907 008 wire cross section 9 pole up to max 2 5 mm 14 AWG B95907 009 wire cross section 18 pole up to max 2 5 mm 14 AWG B95907 018 wire cross section Labels for plug in terminal For labeling plug in terminal strips B95885 001 strips Printed with the numbers 1 108 Includes six labels Insertion bridge For connecting adjoining terminals of the A69102 plug in terminal strips Coding tab For coding plug in terminal strips C43145 001 Coding profile For coding plug in terminal strip connec C43146 001 tors of M30009 modules Spring power clamp 10 pins Spring latch terminal for max 0 5 mm CA45260 010 wires 20 AWG Connector kit for MSD Motion 2 x FMC 1 5 7 ST 3 5GY CA65115 001 Controller 2 x MSTB 2 5 2 ST GY Mating connectors for the MSD Motion Controller X3 X9 and X10 Table 34 Product Range Plug In Terminal Strips The various DIN rail modules require different numbers of plug in terminal strips gt 11 8 1 Number of Required Plug In Terminal Strips on page 122 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 121 11 Product Range Plug In Terminal Strips 11 8 1 Number of Required Plug In Terminal Strips Number of Plug In Terminal Strips Required Number of Required Plug In Terminal Strips DIN Rail Module 2 Poles 9 Poles 10 Poles 18 Poles MSCI MSC II MSD Motion Controller QDIO QAIO
101. e Setting Modifying MSC II can be set or modified in the following places control module s ere CANopen Node ID e In the application program With the PLC Browser in the MACS development environment The CANopen node ID is saved in the license key gt 10 6 2 CANopen Node ID and IP Address on page 86 10 15 3 Setting the CAN Bus Baud Rate The CAN bus baud rate is set in the application program Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 110 10 MSC II Moog Servo Controller Serial Interfaces 10 16 Serial Interfaces The MSC II provides the following serial interface SIO interface with SIO front panel connector SIO interface according to TIA EIA 232 previously RS 232 The SIO interface s communication parameters are set in the appli cation program Terminal assignment of the serial interfaces gt 10 4 1 Terminal Assignment on page 78 Serial interface cables gt 7 4 Serial TIA EIA Interface Cables on page 54 10 17 Safety Functions 10 17 1 Watchdog The MSC II control module provides a function for monitoring whether the software is working properly When there is a fault this function switches all digital outputs to zero potential condition and stops fieldbus communication As a result the user can set up systems that have a greatly reduced risk of fatal malfunctions In the MSC II control module this function is implemented in the M_WATCHDOG function bloc
102. e directly derived from the adjusted basetick value The basetick can be adjusted in steps of 1 gs within the range of 100 microseconds up to 3 milliseconds The cycle time of several application tasks must be a multiple of the adjusted basetick The basetick value is also significantly involved in the timing of all hardware accesses Basetick cycle time can be adjusted within the PLC Configuration of the MACS development environment The module parameter Basetick index 2 of the root module may be adjusted within the range of 100 to 3000 This value equals the basetick cycle time in us The default value is 1000 1 ms Switching on the Power Supply Safety Instructions MSC II control module s Behavior at Switching on the Power Supply Basetick Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 90 10 MSC II Moog Servo Controller Basetick 10 9 2 Timing Diagram Timing diagram of the MSC II control module Basetick interrupt E bus protocol SSI Sensor Read inputs from process map start scheduler Calculate application task Write result to process map feed inputs I MSC E bus slaves write outputs Figure 56 Timing diagram of the MSC II control module Kind of time period Explanation Basetick cycle time 100 3000 us E bus start time 42 84 us SSI Sensor start time 410 us Depending on application
103. ectors gt figure 36 on page 48 CAN bus interface cable gt 7 5 6 CAN Bus Interface Cable on B95863 001 3 m 3 28 yd page 59 CAN bus interface cable gt 7 5 6 CAN Bus Interface Cable on B95863 002 10 m 10 94 yd page 59 Table 32 Product Range Interface Cables 11 7 CAN Bus Accessories Product Range CAN Bus Accessories USB CAN adapter Adapter USB1 1 to CAN bus with C43094 001 for PC only 9 pole D sub mating connector with pin contacts CAN bus termination resistor 9 pole D sub mating connector with B95864 001 120 Q socket contacts CAN bus termination resistor 9 pole D sub mating connector with pin B95865 001 120 Q GND contacts CAN_GND internally con nected to signal ground Table 33 Product Range CAN Bus Accessories Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 120 11 Product Range Plug In Terminal Strips 11 8 Plug In Terminal Strips ada f f UE Plug In Terminal Strips Plug in terminal strip with 2 pole up to max 2 5 mm 14 AWG VK055 002 for DIN Rail Modules Screw terminals wire cross section 8 pole up to max 2 5 mm 14 AWG VK055 008 wire cross section 9 pole up to max 2 5 mm 14 AWG VK055 009 wire cross section 18 pole up to max 2 5 mm 14 AWG VK055 018 wire cross section Plug in terminal strip with 2 pole up to max 2 5 mm 14 AWG B95907 002 spring loaded terminals wire cross section 8 pol
104. ed by a professional organization such as T V or VDE 1 3 1 Safety Related Systems WARNING As with any electronic automation system the failure of Safety Related Systems certain components when using M3000 or M30009 mod ules might lead to an uncontrolled and or unpredictable operational condition The user should take into consid eration the system level effects of all types of failures and implement corresponding safety measures Special measures are required to use control technology in safety related systems When planning to use control technology in a safety related system the user should seek detailed advice in addition to any available standards or guide lines for safety installations Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 2 1 General Information Warranty and Liability 1 4 Warranty and Liability Moog s standard delivery and payment conditions apply The owner operator will have access to these by the time the contract is closed at the latest Warranty and liability claims for personal and material damage will be ex Exclusion of Warranty and cluded when they are the result of the following among others Liability Improper use of the M3000 automation system or M3000 modules gt 1 3 Proper Use on page 2 Use of the M3000 automation system or M3000 modules in a technically imperfect condition Use of the M3000 automation system or M3000 modules by un
105. ere represent only a part of Moog s current product range In addition to other M30009 modules Moog s product range includes a large variety of accessories gt 11 Product Range on page 114 Refer to the relevant documentation for detailed information about the Profi bus interfaces of the other M30009 modules 7 3 3 Profibus Networks 7 3 3 1 Wiring Always observe the following when wiring Profibus networks EC 61158 EN 50170 The cables mating connectors and termination resistors used in Profi bus networks must comply with IEC 61158 EN 50170 It is recom mended to use only connections of cable type A to use the full band width of 12 Mbaud Specifications for interface cables c 7 3 4 4 Suitable Cables on page 53 Linear structure of Profibus Avoid branching Short stub cables with a T adapter or special Profibus connectors with internal T adapter are permitted c 7 3 3 2 Bus Structure of the Profibus on page 51 Stub cables as short as possible Maximum length of all stub cables 6 6 m at baud rates 1500 kbit s No stub cables recommended at higher baud rates Profibus termination resistors At both ends of the Profibus network termination resistors must be con nected to guarantee specified signal levels Adapt transmission rate to cable length It is necessary to adapt the transmission rate to the length of the Profi bus interface cable c 7 3 4 3 Cable Lengths on page 53 Overview M30009 Mod
106. es on a Vertical Mounting Plate 31 Arrangement of DIN Rail Modules between Cable ConduitS ooocconoocccccnnncoccccccnnconcncnananancnrcnnnn nn 32 Using a Shielding Bar when Connecting a Signal Cable to the MSC Il 32 Unlocking a DIN Rail Module eresien earan aaa NAE en nnn nennt nnns 33 Placing a DIN Rail Module onto a DIN Top Hat Rail e me 34 Sliding a DIN Rail Module on a DIN Top Hat Rail ssssssseeee emen 34 DIN Rail Modules Joined Without Gaps on a DIN Top Hat Rail sss 34 Fixing and Locking a DIN Rail Module sssseem emm e enne nnns 35 Unlocking a DIN Rail Module roncin a a TA a 36 Pulling apart DIN Rail Moquiles ooooononccccnnnnocccccnnncconcccnonononc cono nano cnn nana r cnn narran 36 Lifting off a DIN Rail Module from the DIN Top Hat Rail ooooonnnccccnnnnocccoconanoncccnonananccc conan acc ncncnnnns 36 Grounding Concept ubi ete n Gite ir 38 Correct Connection of DIN Rail Modules to Several Power Supplies eeseeeeeeeeeeeeeeeeeeees 42 Correct Connection of DIN Rail Modules to a Single Power Supply seseeeees 42 Correct Power Supply Connection of Sensors via a QDIO ooooconccoconccoconononcnnncnnnnnnnannnnnnnnnnnnnnnno 44 Wrong Power Supply Connection of Sensors via a QDIO ssssee en 45 Ethernet Network with exactly 2 Network Stations oooonoonccccnnnociccccconoccccccconcancnn nana n emen 47 Etherne
107. for the environ mental conditions in which it will operate This ensures fault free reliable and safe operation MACS must be installed on a personal computer PC This PC then repre sents the PADT programming and diagnostic tool specified in IEC 61131 Scope of functionality of MACS Programming testing and optimization of IEC 61131 application programs Documentation of IEC 61131 application programs Visualization of IEC 61131 application programs Hardware configuration of M30009 modules MACS supports the following programming languages Instruction List IL Structured Text ST Ladder Diagram LD Function Block Diagram FBD Sequential Function Chart SFC Continuous Function Chart CFC Application Programs Scope of Functionality of MACS Programming Languages of MACS Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 25 3 Short M3000 System Overview MACS Development Environment Refer to the documentation for the MACS development environment for more detailed information The MACS development environment is available from Moog as an accessory gt 11 5 Software on page 119 3 6 1 MACS HMI Visualization Package MACS is also available from Moog as a MACS HMI visualization package MACS HMI gt 11 5 Software on page 119 Visualization Package MACS HMI can be used only for the visualization of an application program It does not include any functionality
108. g for CAN bus networks c 7 5 5 CAN Bus Networks on page 57 Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 67 7 Networking M3000 Modules Networking DIN Rail Modules 7 7 4 1 Example CAN Bus CAN Bus CAN Bus WideCAN Bus Group Network Network Network Station Station Station CAN Bus Termination Resistor with Signal Grounding CAN Bus O Network Station Additional CAN Bus Net work Stations eee Figure 49 WideCAN Bus Group MSC IIs and R Modules as CAN Bus Network Stations D sub connectors with CAN bus termination resistors are available from Moog 11 7 CAN Bus Accessories on page 120 CAN bus networks with M3000 modules can include a maximum of 64 CAN bus network stations gt 7 5 5 3 Number of Network Stations on page 58 CAN bus interface cable gt 7 5 6 CAN Bus Interface Cable on page 59 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 68 8 Shutdown and Service Shutdown 8 Shutdown and Service WARNING WARNING WARNING To avoid damage to M3000 modules or accessories cleaning maintenance and repair tasks may be per formed only by Moog or Moog s authorized service agents Warranty and liability claims for personal and material dam age are excluded when among other reasons they are due to unauthorized repairs or other unauthorized interventions gt 1 4 Warranty and Liability on page 3 No
109. g s product range includes a large variety of accessories gt 11 Product Range on page 114 Number of DIN Rail Modules with DIN Rail Module Connectors and Controllers CAN and E Bus Interfaces LocalCAN bus 2 Q connectors lateral E bus WideCAN bus LocalCAN LocalCAN 2 D sub front panel Oo connectors CAN bus controller 2 E bus 2 Q connectors lateral CAN bus 2 Q connectors lateral CAN bus controller 0 E bus 2 Q connectors lateral QAIO 16 4 QAIO 16 4 CAN bus 2 Q connectors lateral CAN bus controller 0 E bus 2 Q connectors lateral Table 15 DIN Rail Modules with CAN and E Bus Interfaces Section 1 of 2 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 64 7 Networking M3000 Modules Networking DIN Rail Modules Number of DIN Rail Module Connectors and Controllers CAN bus 2 D sub front panel connectors CAN bus controller 1 E bus 1 Q connector right QEBUS CAN CAN bus 2 Q connectors lateral 2 D sub connector front CAN bus controller 0 CAN Bus CAN Bus Table 15 DIN Rail Modules with CAN and E Bus Interfaces Section 2 of 2 7 7 2 E Bus Groups E bus groups are formed by joining DIN rail modules together at the Q con E Bus Groups nectors The modules within E bus groups communicate over the internal E bus gt 7 6 E Bus on page 60 Observe the following when establishing E bus groups A
110. gnetic Compatibility EMC M3000 modules comply with the requirements and protection targets of the EU directive 89 336 EEC Electromagnetic Compatibility EMC directive and comply with the harmonized European standards EN that were pub lished in the Official Journals of the European Union for programmable con trollers Especially important are the rules for proper EMC wiring in cabinets and buildings according to IEC 61131 4 Installation in metal grounded cabinets is preferred M3000 modules are designed for use under normal operating conditions in industrial environments and comply with the following standards DIN EN 61000 6 2 DIN EN 61000 6 4 If suitable additional measures are taken M3000 modules may also be em ployed in residential commercial and light industrial environments in compli ance with the following standards DIN EN 61000 6 1 DIN EN 61000 6 3 Suitable additional measures gt 4 2 Use in Special Environments on page 28 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 Environmental Protection Emissions Environmental Protection Disposal CE Labeling of M30009 Modules M3000 and M30009 Modules Comply with IEC 61131 2 Electromagnetic Compatibility EMC 1 General Information Trademarks If the system does not comply with the requirements of DIN EN 61000 6 1 and DIN EN 61000 6 3 despite the additional measures M3000 modules m
111. gnment of the Ethernet front panel connector of the MSC II control module see gt Ethernet connector on page 80 Ethernet Network with more than 2 Network Stations 100BaseT Cable with Crossed Twisted Pair Wires Crossover Cable 100BaseT Cable with Non Crossed Twisted Pair Wires Patch Cable Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 48 7 Networking M3000 Modules EtherCAT 7 2 EtherCAT WARNING Do not connect EtherCAT to any other Ethernet networks EtherCAT The high rate of telegrams which are transmitted by Ether CAT will prevent other devices like computers and servers on the network from transmitting data There is a danger of Network overload breakdown Malfunction of connected devices Data loss at connected devices It is strongly recommended to use cables of a special color only for EtherCAT connections Technical data 100 Mbit s transfer rate Maximal cable length between two devices 100 m Termination device internally 7 2 1 Bus Topology The network physical topology is line Bus Topology The connection between two devices is a point to point connection Thus each slave device has an input and an output connector which relays the data to the next slave device in the line EtherCAT Bus Topology EtherCAT EtherCAT EtherCAT EtherCAT Master Slave 1 Slave 2 Slave 3 in in in Figure 37 EtherCAT Bus Topology 7 2 2 EtherCAT Interface Cables RJ
112. go noei ererat aea AEAEE NIERET KEEA EE EE LETARA 10 2 2 7 Communication Between MSC ll and MACS 2 000 co cc ceeee eee eeceecceccaeeeeeeeeeeeeeeeeteneseaaees 11 2 2 8 License Key of the MSC Ula eee cnet eene enne 11 2 2 9 Run Stop Reset eere te Ei LE de i det b Eee cid decia 12 2 2 10 Switching Back on or Resetting the MSC ll sssssseeem no 12 2 2 11 Outputs Enabled Output of the MSC ll sssssssssssssseeeeeeeee 12 3 Short M3000 System Overview essent tenete 13 3 1 M3000 System Architecture sess eerte tete tete tena ttn tratta sesta setate sese sa nasa sa asse spia 14 3 2 MSC II Starter Kit cional eee terea Denn tet viaa cdo dd 15 3 3 M3000 Modules cucuta sake due inia cR ii as 16 SI MSC lada raid n 16 3 9 2 MS Clica ta i adds 17 32323 O eU E 17 3 3 4 R Modules Remote Modules sse nene 19 3 3 5 MSD Motion Controller nennen eene nnn nnne nnne nenne 22 3 3 0 MSD Servodrive arte ede Level cete ede Mauls Eoo esae Sue edam reete 23 E A ea dee m t e cete d et doeet 23 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 i Table of Contents En gc 24 3 5 Application Programs eir reiten cierre soot rie ara aasa aeaaaee aika iaaea Eunana 25 3 6 MACS Development Environment eeeeeesessseeseeseeeeee ee
113. gram has started The states that these LEDs will indicate while the application program is running are set in the application program If Error illuminates or flashes in addition to these LEDs this indicates MSC II s elementary operational states or errors gt Table 18 on page 83 Error display Ethernet link activity Illuminates when there is an error The type of error is specified in LED1 LED2 and LED3 gt Table 18 on page 83 Illuminates when the Ethernet link pulse is available and blinks at activity Ethernet On 100 Mbit s Ethernet connection speed Table 17 LEDs of the MSC II Section 2 of 2 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 82 Moog GmbH 10 MSC II Moog Servo Controller View of the Module and Terminal Assignment 10 4 2 1 Display of Elementary Operational States and Errors User LEDs N e a a W W 2 2 0 0 Explanation Ready The MSC ll was started successfully The user LEDs LED1 LED2 and LED3 are now available for the application program Booting Boot process is running 0 Firmware up The update process of the firmware is running 1 blinking date running The firmware update process can take up to several minutes The MSC II must not be switched off or reset during the update pro cess If it is switched off or reset during the update process the firmware must be reloaded Firmware up The update p
114. iately notify Moog or the responsible supplier In addition the packaging should be retained The packaging might be needed to enforce damage compensation claims on the transport company After taking the delivery please check whether all items listed on the delivery docket are present If anything is missing immediately notify Moog or the re sponsible supplier It is advisable to retain the original packaging for any future transport or stor Retain the Original age needs Packaging Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 3 1 General Information Environmental Protection 1 6 Environmental Protection 1 6 1 Emissions M3000 modules do not have any harmful emissions when used properly 1 6 2 Disposal The applicable disposal regulations must be observed when disposing of M3000 modules 1 7 Standards 1 7 1 CE Labeling of M3000 Modules CE 1 7 2 IEC 61131 2 The M3000 automation system and M3000 modules comply with the re quirements of IEC 61131 2 All M30009 modules comply with the standards specified in their relevant declaration of conformity CE labeling of the M3000 modules is based on proper in stallation of the automation system with proven electromag netic compatibility EMC Where technical requirements lead to deviations from the standard these are specified in this manual or in the documentation of the relevant M3000 modules 1 7 3 Electroma
115. ibrary Library with hardware related functions M HW MSC II Lib Library for control engineering M Control Lib Library for the TIA EIA 232 and CAN bus interface M SIO Lib Support for OPC and DDE interfaces Ethernet and TIA EIA 232 communication with the MACS development environment Library for motion control according to PLCopen M PLCopen Lib Library with transfer functions Z functions M Transfer Functions Lib Libraries for CANopen Profibus DP Feature included Table 29 Features Provided by the License Keys The MSC II control module does not work without license key gt 3 4 License Key on page 24 gt 10 6 License Key on page 85 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 118 11 Product Range 11 5 Software 11 5 1 MACS Moog Axis Control Software Item Designation Remarks Part Number Development environment according to IEC 61131 for solving complex control tasks 1 license gt 3 5 Application Programs on page 25 MACS development environment D138 001 001 1 additional license D138 001 002 5 licenses 10 licenses D138 001 005 D138 001 010 MACS HMI Visualization package which can be run D138 003 001 Product Range Software MACS without MACS Run time license for 1 system gt 3 6 1 MACS HMI Visualization Pack age on page 26 D138 003 010 Run time license for 50 systems D138 003 050 S
116. igure 64 Connection Diagram of the MSC II with an Incremental Sensor 10 13 4 1 Incremental Encoder Standard The adjustable 32 bit actual value in the MSC II is varied dependent on the leading or lagging sequence of A and B signals Only 4 edges evaluation is used for this Example With 4 edges evaluation a sensor with 1 024 dashes per revolution will sup ply to the application program 4 096 increments per revolution A check will be performed with every rising and falling edge of the A and B signals to determine whether the B signal is lagging behind the A signal If this is the case the actual value will be increased by 1 If the A signal lags behind the B signal the actual value will be decreased by 1 The signal levels comply with the standard TIA EIA 422 485 previously RS 422 485 The terminal designations will vary depending on the manufacturer of the in cremental sensor tal Sensor Terminals MSC II A B B Z Sensor supplied by Heidenhain Sensor supplied by Hengstler Sensor supplied by Stegmann Sensor supplied by Allen Bradley Table 21 Designations of Incremental Sensor Terminals MSC II and In cremental Sensors from Various Manufacturers Figure 65 shows the signals to a standard incremental encoder interface The given timings are valid for all operation modes Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 105 10 MSC II Moog Servo Con
117. ing IEC 61131 ap plication programs is required to partici pate in the hardware training This knowl edge is imparted in the MACS and IEC 61131 software training Hardware and Software Content of the training CA67627 training English MSD Servo Drive Hardware MSD Servodrives and MSD MSD Servo Drive Software Motion Controller MSD Motion Controller Knowledge about creating IEC 61131 ap plication programs is recommended to participate in the hardware training This knowledge is imparted in the MACS and IEC 61131 software training Hardware and Software Content of the training CA67628 training German e MSD Servodrive Hardware MSD Servodrives and MSD MSD Servodrive Software Motion Controller MSD Motion Controller Knowledge about creating IEC 61131 ap plication programs is recommended to participate in the hardware training This knowledge is imparted in the MACS and IEC 61131 software training Table 36 Product Range Training Programs O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 123 12 Appendix Typographical Conventions 12 Appendix 12 1 Typographical Conventions DANGER WARNING CAUTION blue text O WCAN Frequency O Moog GmbH Identifies safety instructions that are intended to warn of an immediate and impending danger to life and limb or major property damage Failure to observe these safety instructions will lead in evitab
118. ires for MSC ll and MSD Motion Controller 10BaseT crossover cable with twisted pair wires for MSC O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 47 7 Networking M3000 Modules Ethernet 7 1 2 Networking of More Than 2 Network Stations A hub or switch is needed for Ethernet networks that have more than 2 sta tions The hub transfers the signals sent from one of the stations to every other station in the network O Network Station 1 e g PC Hub Switch Network Station 2 e g MSC II Network Station N e g MSC II Figure 34 Ethernet Network with more than 2 Network Stations O 100BaseT patch or crossover cable with twisted pair wires for MSC ll and MSD Motion Controller 10BaseT patch cable with twisted pair wires for MSC 7 1 3 Ethernet Interface Cables RJ45 Mating RJ45 Mating Connector Connector Figure 35 100BaseT Cable with Crossed Twisted Pair Wires Crossover Cable with 8 Pole RJ45 Mating Connectors Cable Category 5 Wire Cross Section gt 0 22 mm 24 AWG RJ45 Mating RJ45 Mating Connector Connector TDE QT ce RR y RD 1 1 TD RD 2 i wc 2 3 I 1 l 1 3 RD 1 1 1 TD 6 6 s Vg Vd 7 LN E NNER EEES AE E EEA EA E EN EE A A AT AA Figure 36 100BaseT Cable with Non Crossed Twisted Pair Wires Patch Cable with 8 Pole RJ45 Mating Connectors Cable Category 5 Wire Cross Section gt 0 22 mm 24 AWG For the terminal assi
119. is Programmable Motion Control Servodrive MSD Motion Controller Multi Axis High Performance Motion Controller MSD Servodrive A modular family of electrical servo drives to run permanent magnet syn chronous linear and asynchronous motors MSL Mean Sea Level NC Not Connected ND Not Defined Programming And Diagnostic Tool programming and diagnostic tool in IEC 61131 here PC on which the MACS development environment is installed PC Personal Computer PE Protective Earth PLC Programmable Logic Control ler Q Modules DIN rail modules for local extension of MSC IIs connected over E bus Q Connector 40 pole lateral connector of DIN rail modules QAIO Analog I O extension module for local extension of the inputs and outputs of MSC I or MSC II connection over E bus QEBUS CAN CAN extension module which can be used to make available the LocalCAN bus of an E bus group for external CAN bus network stations over a D sub front panel connector QDIO Digital I O extension module for local extension of the inputs and outputs of MSC I or MSC II connection over E bus R Modules Remote modules such as RDIO and RDISP connection over CAN bus RAM Random Access Memory read and write memory that loses its contents when power is removed Remote module with digital I Os and CANopen interface connection over CAN bus Remote Display
120. isplays WideCAN transmission activity 81 109 Z1 Z4 wire fault display for digital sensor interfaces 82 102 Liability exclusion of liability 3 exclusion of liability for this manual 1 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 132 13 Index License key of the MSC Il 24 85 86 attachment screws 86 features provided by the various license keys 118 license key slot LK 77 87 mounting 87 required tool 86 part numbers 118 removing 87 required tool 86 run time license 85 safety instructions 11 85 86 87 Link see LEDs of the MSC II List of figures viii List of tables vi LK on the front panel of the MSC Il see license key of the MSC II license key slot LK Load connection of digital outputs 96 LocalCAN 14 LocalCAN bus groups 66 LocalCAN bus interface of the MSC II 56 64 109 make LocalCAN bus available over QEBUS CAN 19 Locating pin DIN rail modules 29 MSC II 77 Locking slide DIN rail modules 29 MSC II 77 M_WATCHDOG see watchdog of the MSC II M30009 M30009 modules see M30009 modules network topology with CAN bus 14 System architecture 14 System overview 13 M30009 modules DIN rail modules see DIN rail modules identification 23 I O extension modules see Q modules QAIO and QDIO MSC ll see MSC II networking 64 68 QAIO 16 4 see Q modules QAIO 16 4 QDIO see Q modules QDIO QEBUS CAN see Q modules QEB
121. itations of Using M3000 Modules Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 28 5 Mechanical Installation DIN Rail Modules 5 Mechanical Installation M3000 modules are divided according to their mechanical construction into the following categories e DIN rail modules such as MSC I MSC II QAIO or QDIO Other M3000 modules such as RDISP Information about the DIN rail modules gt 5 1 DIN Rail Modules on page 29 Refer to the relevant documentation for the dimensions of the other M30009 modules and information about their mounting removing 5 1 DIN Rail Modules 5 1 1 Views of the Module Locking Slide SS99999999999999995 OOOOOOOOOOO0000000 SSeoeooeoooococoosoos OOOUUOUUOOOO00000 SSS KSHV HHHH9H9N9Nggs OOOOOOOOO0O0000000 Connectors for Plug In Terminal Strips D S D 8 D Locating Pin _ Front Panel Q Connector E bus LocalCAN Bus Q Connector E bus LocalCAN Bus Locating Pin OOOOOOOOO0OOO000000 SSSSSSSSSSSSSSSSSS oo0000000000000000 SYSSPPVSVNgggggggsgsT pap gon gon oo pg 0000000 Connectors for Plug In Terminal Strips Locking Slide Connectors with Plug In ____ Terminal Strips Q Connector E bus LocalCAN Bus Locking Slide Locating Pin Connectors ae 2 with Plug In Terminal Strips Figu
122. k which can be used in the application program to be monitored If this function block is used it must be enabled and trig gered cyclically in order to keep the outputs enabled When there is a fault when the application program can no longer trigger the function block within the set time period the outputs will be disabled If the M_WATCHDOG function block is not used in the application program the MSC II control module s watchdog will not operate In this case the out puts will always be enabled and they will output the value calculated in the application program The digital output Outputs Enabled indicates the enabled state of all digital outputs and the MSC Il s E bus and fieldbus communication 10 17 2 Outputs Enabled Output LED OutEN WARNING If there is a defect in an output stage the Outputs En abled signal will not necessarily shut down all of the outputs securely The digital output Outputs Enabled indicates the enabled state of all digital outputs and the MSC II s E bus and fieldbus communication It can be used to signalize another controller that all of the MSC II control module s outputs were disabled Serial Interfaces of the MSC Il Watchdog of the MSC II control module Outputs Enabled Output LED OutEN of the MSC II control module Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 111 10 MSC II Moog Servo Controller Safety Functions
123. lCAN bus groups 66 WideCAN bus groups 67 removing from the DIN top hat rail 36 views of the module 29 DIN top hat rail TH 35 7 5 31 Disclaimer liability see liability exclusion of liability warranty see warranty exclusion of warranty Display and operating terminal see R modules RDISP Disposing M3000 modules 4 Disturbance suppression of digital inputs 97 Drop height permissible M30009 modules 71 MSC II 75 Duplication prohibition for this manual A E E bus 60 63 clock frequency 62 configuration in the PLC configuration of MACS 108 EBus see LEDs of the MSC II E bus communication duration of message transmission 62 example 63 message update rate 62 safety instructions 62 Scope of the E bus messages 63 starting the communication within E bus groups 61 E bus groups 65 permissible masters 61 permissible slaves 61 E bus interfaces MSC II 64 108 EBus LED of the MSC II for displaying E bus transmission activity 81 Q modules 64 R modules 64 E bus start time 91 Electromagnetic Compatibility 4 EMC 4 Emissions see environmental protection Moog GmbH Environmental conditions for operating M30009 modules 27 for operating the MSC Il 75 climatic conditions 75 electrical conditions and requirements 75 mechanical conditions and requirements 75 for transporting and storing M30009 modules 71 limitations of using M3000 modules 28 req
124. lay LEDs on page 102 10 13 2 1 Wire Fault Display LEDs The 12 front panel error LEDs A1 B1 Z1 A2 B2 Z2 A3 B3 Z3 A4 B4 and Z4 of the MSC II will illuminate if No sensor is attached to the corresponding sensor interface input There is a wire break 10 13 3 Connecting SSI Sensors An SSI sensor supplies an absolute position signal or angle signal that can be read through the MSC II s sensor interface The current value is available in the application program continuously If an SSI sensor is attached to the sensor interface of the MSC II the MSC II can be used as a master or a slave The sensor interface must then be in serted and configured as a master or slave respectively in the PLC configu ration of the MACS development environment If the MSC II is used as a master the terminal assignment of the SSI in terface will be different than if it is used as a slave MSC II connection diagram master mode gt figure 61 on page 103 MSC II connection diagram slave mode gt figure 62 on page 104 O If the MSC ll interface is used as a SSI master the Bx and Zx wire fault LEDs of the relevant interface will illuminate even if the sensor is connected and no wire fault is existent O If the MSC II interface is used as a SSI slave the Zx wire fault LEDs of the relevant interface will illuminate even if the sensor is connected and no wire fault is existent
125. library that is not released by the li Libraries cense key used the application program will not be able to start Detailed information about the MACS libraries accessible with the vari ous license keys gt Table 29 on page 118 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 85 10 MSC II Moog Servo Controller License Key 10 6 2 CANopen Node ID and IP Address The CANopen node ID of the MSC II control module s CAN bus interfaces and the IP address of the MSC II control module s Ethernet interface are saved in the license key The CANopen node ID and IP address can be set or modified in the following places n the application program With the PLC Browser in the MACS development environment The IP address is read from the license key only when the power supply is switched on or when the MSC II control module is reset The default license key settings are P address 10 49 40 1 CANopen node ID 127 10 6 3 Mounting and Removing Attachment Screw Attachment Screw Figure 55 License Key of the MSC II control module with Attachment Screws 10 6 3 1 Required Tool The following tool is required to mount and remove the license key e 3mm screwdriver 10 6 3 2 Mounting the License Key UA WARNING CAUTION D Moog GmbH The license key may be inserted or removed only when the MSC II control module is powered down Attempting to insert or remove the li
126. llation Grounding Concept 6 1 Grounding Concept L1 L2 L3 N e PE Control Cabinet DIN Top Hat Rail Grounding Bar within Control Cabinet L1 L2 L3 N PE Figure 28 Grounding Concept For reasons of functional safety all circuits must be grounded at a cen tralized point The DIN top hat rail must have a low resistance connection to the pro tective earth conductor PE It is essential that the DIN top hat rail is grounded over a connection with the largest possible cross section O Every circuit must be fused maximum 12 A Load controlled distribution of the circuits U1 U3 6 1 1 Front Panel Connectors Grounding The metal housings of all front panel connectors of the MSC II and the exten sion modules are connected internally to the grounding of the DIN top hat rail Grounding Concept Front Panel Connectors Grounding Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 38 6 Project Planning and Installation Power Supply 6 2 Power Supply The internal electronics of M3000 modules is usually supplied with power Power Supply for via the power supply terminals of the connectors of the M3000 modules M3000 Modules Connecting the power supply for the internal electronics gt 6 2 3 Connecting the Power Supply on page 40 Power supply terminals of the MSC II gt 10 4 1 Te
127. lled movements Permanent damage Malfunctions Before performing any work on the M3000 automation sys tem or M30009 modules it is essential that the system is stopped and the power supply is disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc M30009 modules must be protected from overvoltages and or reverse energization from the sensor to the mod ule There is a danger of Permanent damage by overheating or fire Malfunctions M3000 modules must have the correct voltage polarity and terminal assignments The internal electronics of M30009 modules and at tached sensors must be supplied with power from a per manently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a switched power supply is used such as when there are intermediate switching devices emergency stops manual operators etc the following problems might arise depend ing on the state of the power supply for the internal electron ics of the module and sensors gt table 3 on page 41 Reverse energization from sensor to module Invalid sensor data Safety Instructions Project Planning and Installation User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 8 2 Safety Instructions Safety Instructions WARNING Sensors
128. lug In Terminal Strips of M3000 Modules Spring Loaded Terminals Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 46 7 Networking M3000 Modules Ethernet 7 Networking M3000 Modules 7 1 Ethernet WARNING Do not connect EtherCAT to any other Ethernet networks The high rate of telegrams which are transmitted by Ether CAT will prevent other devices like computers and servers on the network from transmitting data There is a danger of Network overload breakdown Malfunction of connected devices Data loss at connected devices It is strongly recommended to use cables of a special color only for EtherCAT connections Refer to the following for information about using the Ethernet interface to fa cilitate communication between the MSC II control module and the MACS de velopment environment c 3 1 M3000 System Architecture on page 14 gt 10 5 1 Communication Between MSC II and MACS on page 84 gt 10 5 1 1 Ethernet Communication Interface on page 84 7 1 1 Peer to Peer Connections To establish a peer to peer connection between 2 stations in an Ethernet net Peer to Peer Connection work 100BaseT cables with twisted pair wires are needed of 2 Network Stations gt Figure 35 on page 48 Network Station 1 O Network Station 2 e g PC e g MSC II Figure 33 Ethernet Network with exactly 2 Network Stations O 100BaseT patch or crossover cable with twisted pair w
129. ly to death serious personal injury disablement or major property damage Identifies safety instructions that are intended to warn of potential danger to life and limb or the potential for ma jor property damage Failure to observe these safety instructions might lead to death serious personal injury disablement or major property damage Identifies safety instructions that are intended to warn of slight personal injury or minor property damage Failure to observe these safety instructions might lead to slight personal injury or minor property damage Identifies listings Identifies references to another chapter another page table or figure in this manual Identifies a hyperlink within the PDF file Identifies important information Identifies steps in a procedure that should be performed in consecutive order Identifies items in a figure that are explained separately Identifies terminals or connectors such as WCAN and light emitting diodes such as l 01 of an M3000 module Identifies parameters of the MACS development environment such as Frequency and outputs of M30009 modules such as Outputs Enabled Typographical Conventions User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 124 12 Appendix Abbreviations 12 2 Abbreviations Abbreviation AC Explanation Alternating Current ADC Analog to Digital Converter CAL CAN Application Layer according
130. m and M3000 modules must not come into direct contact with liquids except where explicitely specified Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician More on this subject gt 4 Environmental Conditions on page 27 gt 10 2 2 Environmental Conditions on page 74 2 2 3 ESD WARNING gt Moog GmbH Protect the M3000 automation system M3000 mod ules and the license key from electrostatic discharges Electrostatic discharges might damage the device s internal components or delete the device s internal memory Safety Instructions Environmental Conditions Safety Instructions ESD User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 7 2 Safety Instructions Safety Instructions 2 2 4 Project Planning and Installation WARNING WARNING WARNING WARNING Moog GmbH The vent holes of M3000 modules facilitate convection cooling and must never be covered Covered vent holes might result in overheating and fire No work of any kind such as mounting removing wir ing or repairs to the M3000 automation system or M3000 modules may be performed while the automa tion system or the modules are in operation There is a danger of Uncontro
131. m stub cable length gt table 10 on page 59 CAN bus termination resistors At both ends of the CAN bus a termination resistor of 120 2 10 must be connected between CAN_L and CAN_H Adapt transmission rate to cable length It is necessary to adapt the transmission rate to the length of the CAN bus interface cable c Table 9 on page 59 Sources of interference Do not lay CAN bus interface cables in direct proximity to sources of in terference If this cannot be avoided double shielded interface cables must be used Potential equalization at only one point The CAN_GND and CAN_SHLD reference potential may be connected to the signal ground at only one point at a CAN bus termination resistor for example gt Figure 44 on page 58 Grounding The power supply for M3000 modules must be grounded at the same point as the CAN_GND wire O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 57 7 Networking M3000 Modules CAN Bus and CANopen 7 5 5 2 Bus Structure of the CAN Bus The CAN bus has a linear structure Avoid branching Short stub cables with a T adapter are permitted CAN Bus CAN Bus CAN Bus Network Network Network Station Station Station CAN Bus Termination Resistor with Signal Grounding CAN Bus O Network Station Additional CAN Bus Net work Stations eee Figure 44 Linear Structure of the CAN Bus with CAN Bus Termination Resistors and Po
132. memory area The MSC II control module is maintenance free WARNING If the most recent status in the online mode MACS logged in was Run before the MSC Il control module was switched off or reset the boot project will always be started after the MSC II control module is switched back on or reset This will occur regardless of which application program was previously running In other words the application program that will be started automatically after the MSC II control module is switched on or reset might be different from the application program that was executing immediately prior Application programs can be saved and executed in the MSC II in the follow ing manner As a boot project in the flash EEPROM n RAM An application program saved as a boot project will be loaded into RAM whenever the MSC II s power supply is switched on or when the MSC II is re set MSC II control module Safety Instructions Contents of the Flash EEPROM Switching Back on or Resetting the MSC II Safety Instructions Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 89 10 MSC II Moog Servo Controller Basetick An application program that is only executed in RAM without being saved as a boot project will not be saved in the MSC II when it is switched off or when the power supply fails or the Run Stop Reset switch is moved to the Reset position After the power supply is switched back on or
133. modules MSC II and QDIO are mounted together with the power supply on a single mounting plate A suitable power cord is the only additional item required to facilitate connec tion to the power source MSC II Starter Kit Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 3 Short M3000 System Overview M3000 Modules 3 3 M3000 Modules O The M3000 modules mentioned here represent only a part of Moog s current product range In addition to other M3000 modules Moog s product range includes a large variety of accessories gt 11 Product Range on page 114 3 3 1 MSC I MSC LI o LI ve o v o Figure 2 MSC Control Module The MSC digital control module is a fully programmable multi axis controller The inputs and outputs of the MSC can be extended locally by attaching Q modules The MSC I and the attached modules then form an E bus group MSC and Q modules within E bus groups communicate over the internal E bus The MSC is programmed and configured with the MACS development envi ronment complies with IEC 61131 gt 3 5 Application Programs on page 25 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 16 3 Short M3000 System Overview M3000 Modules 3 3 2 MSC Il MSC II Figure 3 MSC II Control Module The MSC II digital control module is a fully programmable multi axis control ler The inputs and outputs of the MS
134. modules after re pairs are completed Repair Seal REPAIR gt Figure 50 Repair Seal Moog s repair seal is the guarantee that a Moog Authentic Repair has been carried out If Moog receives a repair order for defective M3000 modules Moog and Moog s authorized service agents reserve the right to repair the de fective module or alternatively to replace the defective module with a module of identical or compatible specifications O If Moog receives a repair order for defective M3000 modules Moog and Moog s authorized service agents accept no liability for software and data installed by the customer Like new modules repaired modules or replacement modules are delivered only with a bootloader Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 70 9 Transportation and Storage Environmental Conditions 9 Transportation and Storage WARNING Maintain under all circumstances the required environ Transportation mental conditions specified for transportation and stor and Storage age of the M3000 automation system or M3000 mod Safety Instructions ules gt 9 1 Environmental Conditions on page 71 This ensures fault free reliable and safe operation CAUTION To avoid condensation do not start M3000 modules until O they have reached ambient temperature CAUTION To avoid damage M3000 modules and accessories must n be transported and stored in their original packaging
135. modules at least 1 cm apart CAUTION To avoid damaging the locating pins of the modules make sure the DIN rail modules are at least 1 cm apart when removing them from the DIN top hat rail I sssesssessseosssss EIS 3 puocgonsnnuounngnnt t ssosossosossoscoss HET p punacunnpununnuudnr t sssesssescesesessss s anuaunnauanuunaur 0000 L pagununnaunnuunant ppesssesssesssessss pnounmnongononnunund ol S9959595699999595556 9999999999999999 ur Q xs gp Q E s 5 EM s s ae m Figure 26 Pulling apart DIN Rail Modules FE 3 Lift off the module from the DIN top hat rail Figure 27 Lifting off a DIN Rail Module from the DIN Top Hat Rail Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 36 6 Project Planning and Installation 6 Project Planning and Installation The following instructions must be observed in order to ensure that the M3000 automation system will be safely integrated into its application envi ronment Moog GmbH IEC 61131 Especially the information contained in IEC 61131 4 S
136. n E bus group can have only one master to which the slaves attach gt Table 12 on page 61 The module located farthest to the left of an E bus group must be the master The number of slaves that may be attached to a master is limited c Table 12 on page 61 QEBUS CANSs can be attached only at the far right or far left QEBUS CANSs are not slaves and may therefore be attached additionally at the left or right regardless of the number of slaves Only the master can communicate with the slaves Direct communication between the slaves of an E bus group over the E bus is not possible gt 7 6 2 E Bus Communication on page 61 Slaves must be attached to the master in direct succession Modules that do not belong to this E bus group must not be connected to this E bus group by the Q connector RDIOs are not permissible slaves in E bus groups and therefore must not be attached to the right of an MSC II Q module or R module QAIO 16 4 and QAIO 2 2 can not be used on one E bus group QAIO 2 2 must be connected directly to the E bus master or an other QAIO 2 2 module nformation about arranging DIN rail modules gt 5 1 3 Arrangement on DIN Top Hat Rails on page 31 Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 65 7 Networking M3000 Modules Networking DIN Rail Modules 7 7 2 1 Examples Master Slave Slave Slave Slave Slave Additional Slaves Figure 46 E Bus Group
137. nd take ap propriate precautions before switching off the module More on these subjects 8 Shutdown and Service on page 69 2 2 6 Transportation and Storage WARNING Maintain under all circumstances the required environ Safety Instructions mental conditions specified for transportation and stor Transportation age of the M30009 automation system or M3000 mod and Storage ules c 9 1 Environmental Conditions on page 71 This ensures fault free reliable and safe operation More on this subject gt 9 Transportation and Storage on page 71 Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 10 2 Safety Instructions Safety Instructions 2 2 7 Communication Between MSC Il and MACS WARNING The MSC II control module s operational state can be al Safety Instructions tered with the MACS development environment when the Communication Between MSC II control module is connected online with MACS MSC Il and MACS This can be done by means of the following actions for ex ample Stopping or resetting the program Setting breakpoints Activating the single step mode Downloading application programs Writing or forcing values Therefore the operator must always consider the effects and take appropriate precautions before altering the operational state of the MSC II control module with MACS More on this subject gt 10 5 Programming and Configuration on page 84 2 2 8 License Key of
138. ne nnnenn nnn nnn nnn t nn tnnr nnn nnna 25 3 6 1 MACS HMI Visualization Package sese 26 4 Environmental Conditions 11eceeeeeeeee eese eene nennen nnne 27 4 1 Requirements of IEC 61131 2 ooococoncccconcooccccccncccnccnnnnnnnnnnnonenennnnnnnnnnrnnnnn nana nn nn cnn nnn n nnn nnn anni nnn 27 4 2 Use in Special Environments s is a aa ea er a aAa eaa aa aa aaa Ar aAa eN a Eaa kasap nnn Naaa de nn nenne 28 5 Mechanical Installati n iiie creen denen cetutecssecceeibeeseeseees 29 5 1 DIN Rail Modules iiiaae araa a a 29 5 1 1 Views of the Module 2 ccccceecececeeeceaeceececeeeeeeeeeeeaaaaeaaneeceeeeeeeeesaesegseceieeaeeeeeeeeeeeeees 29 5 12 Dimensions a eR ee ee ee de mie e ini 30 5 1 3 Arrangement on DIN Top Hat Rails seseeee emen 31 5 1 4 Mounting and REMOVING sssssseseeeee een eene nennen nennen nennen nnns 33 6 Project Planning and Installation eese 37 6 1 Grounding Concept 2 noire eee terit EIER a a 38 6 1 1 Front Panel Connectors Grounding esssese eene nenne 38 6 2 Power Supply dd reete dieere lt idad 39 6 2 1 Power Supply Characteristics sssssssssssssesesseeeeenneneee em ener nennen 39 06 2 2 Power Consumption iti eiie tl etae etie eo ra Dra iaa e dead ene gin din cae dau ke e ded qaa 40 6 2 3 Connecting the Power Sup
139. nee e a EYE ER e EE ERE enden 1 1 1 4 Place of Storage ciere Leite idad 1 1 2 Selection and Qualification of Personnel esee ener nnns 2 13 dOIUIBUIPIP CP 2 1 3 1 Safety Related Systems os oriri ierre Ea r NATE E A LAEE EIERE AAEE E ASTA 2 1 4 Warranty and Liability isiin aeaaee acid 3 1 5 Inspection Of Delvery coco a aaa aa 3 1 6 Environmental Protection retener tnr Lk ce aaan aaaeaii annaa na NEEE 4 1 01 EMISSIONS ciclo da e E Ee ceed etd See ara 4 1 6 2 Disposal eii A ce TE evenit Pe Ade dev eagle 4 ty Standards 5e cete d reco tide capa toca aa a re dadas 4 1 7 1 CE Labeling of M30009 Modules 5 32 0 tace tic rtt dardo 4 1 72 1EC 61191 2 recs teens te deett ER eee eet ce Ad taste Gace dened een ste 4 1 7 3 Electromagnetic Compatibility EMC oooooconnnnccccnnnnccccccnnnannncno canon cnn cc nano emn 4 1 8 Trademarks casio E 5 1 9 Software Copyrights nier rrt ac de ena 5 2 Safety INStrUCHONS S 6 2 1 Typographical Conventions nmmccccnnnocnnnnnnnnnnnnnnnnnnnrrrrnnn nr 6 2 2 Satety INStTUCIONS ae ran 6 2 2 1 Safety Related Systems rosie ran oria E E RE E A R 6 2 2 2 Environmental Conditions oooooocccccccccccccocononcoononncnnnnnnnnnnnnnnnnnnnn non nn nnnnnnnnn nn rra nnne nennen 7 22 3 NS 7 2 2 4 Project Planning and Installation seseee nme menn 8 2 2 5 Shutdown and Service nta ee eei redde M idi eed 9 2 2 6 Transportation and Stra
140. negative logic 107 incremental encoder frequency modulation positive logic 107 incremental encoder pulse train negative logic 107 incremental encoder pulse train positive logic 106 incremental encoder standard 105 Service cleaning see cleaning maintenance see maintenance repair see repair safety instructions 9 69 servicing see maintenance Servicing see maintenance Shock permissible for MSC Il 75 Shutdown safety instructions 9 69 Signal cables connection over plug in terminal strips 46 connection to MSC II 32 Signal grounding CAN bus termination resistor with signal grounding see grounding CAN bus termination resistor with signal grounding DIN rail modules see grounding signal grounding of DIN rail modules SIO front panel connector of the MSC Il see interfaces of the MSC ll serial SIO interface SIO interface of the MSC Il see interfaces of the MSC Il serial SIO interface Software copyright 5 development environment MACS see MACS MACS see MACS software for R modules see R modules software for R modules Software maintenance contract for MACS see MACS software maintenance contract Spring loaded terminals see plug in terminal strips for DIN rail modules SSI sensor connecting to the MSC Il 102 104 connection diagram MSC II in master mode 103 MSC II in slave mode 104 SSI sensor start time 91 Standards overview of quoted standards 127 129 Starter kit see MSC II st
141. ng Bar when Connecting a Signal Cable to the MSC Il Shield Shield Connection Terminals e g Phoenix Type SK 8 Shielding Bar Insulating Insulating Bar Holder Bar Holder Signal Cable Figure 19 Using a Shielding Bar when Connecting a Signal Cable to the MSC II Detail from figure 18 O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 32 5 Mechanical Installation DIN Rail Modules 5 1 4 Mounting and Removing 5 1 4 1 Mounting DIN Rail Modules WARNING No work of any kind such as mounting removing wir ing or repairs to the M3000 automation system or DIN rail modules may be performed while the automation system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M3000 automation sys tem or DIN rail modules it is essential that the system is stopped and the power supply is disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc No tools are needed to mount DIN rail modules Procedure for mounting DIN rail modules 1 Unlock the module to be mounted by pulling out the two red locking slides H El d y c PAL Figure 20 Unlocking a
142. ng DIN Rail Modules 7 7 3 1 Example O O O LocalCAN Bus Group CAN Bus CAN Bus CAN Bus Network Network Network Station CAN Bus CAN Bus Network Network Station Station Station Station Additional CAN Bus Net work Stations eee Figure 48 LocalCAN Bus Group MSC IIs as CAN Bus Network Stations O The internal CAN bus termination resistor is switched on for MSC Ils that are used as the first or last CAN bus network station of a LocalCAN bus group c 10 15 1 CAN Bus Termination Resistor on page 110 The internal CAN bus termination resistor is not switched on for MSC IIs that are located between the first and final CAN bus network stations of a LocalCAN bus group CAN bus networks with M30009 modules can include a maximum of 64 CAN bus network stations c 7 5 5 3 Number of Network Stations on page 58 7 7 4 WideCAN Bus Groups WideCAN bus groups are formed by connecting the WideCAN terminal of the WideCAN Bus Groups MSC II to additional CAN bus network stations CAN bus network stations use the internal WideCAN bus to communicate within WideCAN bus groups Observe the following when establishing WideCAN bus groups The switchable CAN bus termination resistor of the MSC II cannot be used as a termination resistor for the WideCAN bus group Separate pluggable CAN termination resistors must be used for this c 10 15 1 CAN Bus Termination Resistor on page 110 Notes on project plannin
143. nge between the control groups and operating stations of a ma chine or system gt 3 3 4 R Modules Remote Modules on page 19 gt 7 7 4 WideCAN Bus Groups on page 67 In addition the WideCAN network can integrate other components with a CAN bus or CANopen interface such as motor controllers hydraulic valves and radial piston pumps LocalCAN connects the DIN rail modules within a LocalCAN bus group and if applicable the QEBUS CAN to the connected LocalCAN bus groups or CAN sensors actuators c 3 3 3 2 QEBUS CAN on page 19 gt 7 7 3 LocalCAN Bus Groups on page 66 M30009 System Architecture Ethernet CAN Bus WideCAN LocalCAN Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 14 3 Short M3000 System Overview MSC II Starter Kit 3 2 MSC II Starter Kit Figure 1 MSC II Starter Kit The MSC II starter kit is available in two versions MSC II with Profibus DP slave MSC II with dual EtherCAT master It includes everything needed to get started e MSC II Power supply 24 V 10A License key green QDIO 16 16 0 5 MACS development environment Software maintenance contract Crossed Ethernet interface cable 10 m 10 94 yd CAN bus interface cable 3 m 3 28 yd 6 Plug in terminal strips with screw terminals 18 pole 2 Plug in terminal strip with screw terminals 9 pole 4 Plug in terminal strips with spring power clamp 10 pole The included DIN rail
144. nsive product range In addition to the many different M3000 modules Moog s current product range includes a large variety of accessories 11 1 M3000 Starter Kits O M3000 Starter Kits MSC starter kit including Complete package including everything D147 001 005 MSC with Profibus DP slave needed to get started MSC II starter kit including Complete package including everything D147 002 001 MSC II with Profibus DP needed to get started slave interface gt 3 2 MSC II Starter Kit on page 15 MSC II starter kit including Complete package including everything D147 002 002 MSC II with dual EtherCAT needed to get started master interface gt 3 2 MSC II Starter Kit on page 15 MSD starter kit including one Complete package including everything Ordering number MSD Motion Controller and needed to get started not assigned yet one 4A MSD Servodrive gt 3 2 MSC II Starter Kit on page 15 Table 23 Product Range M3000 Starter Kits Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 114 11 Product Range M3000 Modules 11 2 M3000 Modules 11 2 1 Controller i Multi axis high performance motion con D136 002 002 troller with PLC functionality 128 MB RAM 32 MB Flash 4 Digital I O 4 Position transducer interfaces 2 USB 1 Ethernet 2 CAN 1 TIA EIA 232 gt 3 3 2 MSC II on page 17 MSC II with Profibus DP in As D136 002 002 additional Profi D136 002 0
145. ntil the system has free resources to react on the interrupt inter rupt latency Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 92 10 MSC II Moog Servo Controller Digital I Os 10 10 Digital I Os Each of the 4 digital terminals 1 01 1 04 of the MSC II can be used as either an input or an output Each digital output is internally connected back to a digital input This enables the application program to read the status of the digital outputs and compare it to the requested value Whether a terminal will be used as an input or an output is set in the PLC Configuration of the MACS development environment The following digital output circuits are available e Open emitter outputs switches to 24 V L2 Basic wiring diagrams gt figure 57 on page 95 10 10 1 Display of the Operational State The status LEDs l O1 l O4 on the front panel of the MSC II control module show the internal operational state of the digital l Os These status LEDs are activated only when the application program is running If a terminal is configured to be an input the associated LED will illuminate when it is internally detected that the input is in the 1 state and the input is used in the application program When a terminal is configured to be an output the associated LED will illumi nate if the output in the application program is in the 1 state As MSC II control modules have open emitter outpu
146. nts Permanent damage Malfunctions Before performing any work on the M3000 automation sys tem or M30009 modules it is essential that the system is stopped and the power supply is disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 Safety Instructions Shutdown and Service 2 Safety Instructions Safety Instructions WARNING The M3000 automation system and M3000 modules must not come into direct contact with liquids except where explicitely specified Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician WARNING If an M3000 module is to be taken out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M3000 module must be protected against uninten tional restarting If the M30009 module is connected to other devices and or facilities always consider the full consequences a
147. nvironmental conditions 7 27 74 ESD 7 installation 8 31 33 35 40 43 license key of the MSC II 11 85 86 87 maintenance 9 69 mounting DIN rail modules 33 license key of the MSC II 86 Outputs Enabled output of the MSC II 12 111 project planning 8 40 43 removing DIN rail modules 35 license key of the MSC II 87 repair 9 69 reset button of the MSC II 12 88 resetting the MSC II 12 89 safety related systems 2 6 service 9 69 shutdown 9 69 storing M30009 modules 10 71 transporting M30009 modules 10 71 typographical conventions 6 124 update rate of E bus messages 62 Safety related systems 2 safety instructions 2 6 SELV see safety extra low voltage SELV Sensor interfaces of the MSC Il digital 101 107 connecting incremental sensors 105 107 connecting SSI sensors 102 104 connection diagram MSC II in master mode 103 MSC II in slave mode 104 terminal assignment 79 80 wire fault monitoring 102 wire fault display LEDs 82 102 Sensor interfaces of the MSC Il termination resistors 101 Moog GmbH Sensors connecting incremental sensors to the MSC II 105 107 termination resistors 101 wire fault monitoring 102 connecting signal cables over plug in terminal strips 46 connecting SSI sensors to the MSC II 102 104 termination resistors 101 wire fault monitoring 102 connecting to the power supply 43 45 incremental encoder frequency modulation
148. o russia moog com info singapore moog com info southafrica moog com info spain moog com info sweden moog com info switzerland 4moog com info unitedkingdomWmoog com info usa moog com
149. of the MSC II Section 1 of 2 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 81 10 MSC II Moog Servo Controller View of the Module and Terminal Assignment Display Outputs enabled Wire fault in the digital sensor input A1 Wire fault in the digital sensor input B1 Wire fault in the digital sensor input Z1 Wire fault in the digital sensor input A2 Wire fault in the digital sensor input B2 Wire fault in the digital sensor input Z2 Wire fault in the digital sensor input A3 Wire fault in the digital sensor input B3 Wire fault in the digital sensor input Z3 Wire fault in the digital sensor input A4 Wire fault in the digital sensor input B4 Wire fault in the digital sensor input Z4 Activated by application program or error display Activated by application program or error display Activated by application program or error display Explanation Illuminates when all outputs and the E bus communication are under the control of the application program gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 llluminates when no receiver is attached to the corresponding digital sensor interface or when there is a wire fault gt 10 13 2 1 Wire Fault Display LEDs on page 102 As long as LED Error does not illuminate the application program can activate these LEDs provided that the MSC II has successfully started and that the application pro
150. oftware maintenance Support and MACS updates for 1 year B95914 001 001 contract for 1 license Run time license for 10 systems 1 additional license B95914 001 002 5 licenses B95914 001 005 B95914 001 010 10 licenses Table 30 Product Range Software MACS 11 5 2 Software for R Modules CPRDISP Software for programming and configur D138 006 001 Product Range Software for R Modules ing RDISP gt 3 3 4 2 RDISP on page 20 Table 31 Product Range Software for R Modules Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 119 11 Product Range Interface Cables 11 6 Interface Cables ee Interface Cables Crossed TIA EIA 232 Null modem cable which can be used as B95884 001 interface cable 5 m 5 47 yd programming cable for connecting the MSC and PC MACS with 9 pole D sub mating connectors gt figure 42 on page 54 Crossed Ethernet interface 100BaseT Cable with Crossed Twisted B95909 001 cable 10 m 10 94 yd Pair Wires Crossover Cable with 8 pole RJ45 mating connectors gt figure 35 on page 48 Non crossed Ethernet 100BaseT Cable with Non Crossed B95909 004 interface cable Twisted Pair Wires Patch Cable 1 m 1 09 yd with 8 pole RJ45 mating connectors gt figure 36 on page 48 Non crossed Ethernet 100BaseT Cable with Non Crossed B95909 002 interface cable Twisted Pair Wires Patch Cable 10 m 10 94 yd with 8 pole RJ45 mating conn
151. ograms 3 5 Application Programs Application programs have to be downloaded onto the MSC II and started to be executed by the MSC Il The MACS development environment is needed to create executable IEC 61131 application programs for the MSC II With MACS the application program can be programmed compiled downloaded and started gt 3 6 MACS Development Environment on page 25 gt 10 5 1 Communication Between MSC Il and MACS on page 84 Application programs can be saved and executed in the MSC II in the follow ing manner As a boot project in the flash EEPROM n RAM An application program saved as a boot project will be loaded into RAM whenever the MSC II s power supply is switched on or when the MSC II is re set An application program that is only executed in RAM without being saved as a boot project will not be saved in the MSC II when it is Switched off or when the power supply fails or the Run Stop Reset switch is moved to the Reset position After the power supply is switched back on or the Run Stop Reset switch is released from the Reset position the application program must be downloaded again from the MACS development environment Behavior of the MSC II at switching on and switching off the power supply gt 10 8 1 Behavior at Switching on and Switching off on page 89 3 6 MACS Development Environment WARNING The PC on which tools such as MACS development envi ronment are installed must be suitable
152. ol module c 7 1 Ethernet on page 47 c 10 5 1 1 Ethernet Communication Interface on page 84 O The Ethernet interface is configured in the PLC Configuration of the MACS development environment Refer to the documentation of the MACS development environment for detailed information about this 10 5 1 1 Ethernet Communication Interface Settings in the MACS development environment communication parameters IP address at delivery 192 168 1 2 identical for all MSC II control modules without license key Port 1200 Target Id 0 Motorola Byteorder Yes O Each IP address may be used only once within a network Therefore when operating the MSC II control module within a net work the IP address should be changed only after consulting with the responsible system administrator IP address in the license key gt 10 6 License Key on page 85 Interface cables gt 7 1 3 Ethernet Interface Cables on page 48 Programming and Configuration of the MSC II control module Communication Between MSC Il and MACS Communication Parameters of the Ethernet Interface Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 84 10 MSC II Moog Servo Controller License Key 10 6 License Key WARNING The license key of the MSC Il control module must be License Key of the MSC Il protected from electrostatic discharges control module Electrical discharges might damage the license key or delete Safety Instr
153. onductor terminals However they are conductively connected to the DIN top hat rail after they are engaged and locked onto it The DIN rail modules thereby re ceive signal grounding gt 6 1 Grounding Concept on page 38 6 2 3 2 Connecting to a Single Power Supply Assuming that the power limits are observed the internal electronics of DIN rail modules and the attached sensors may also be supplied from a single power supply Correct Connection of DIN Rail Modules to a Single Power Supply ur 9 O Li M1 L2 M2 QAIO 16 4 Figure 30 Correct Connection of DIN Rail Modules to a Single Power Supply O DIN rail modules do not have any protective earth conductor terminals However they are conductively connected to the DIN top hat rail after they are engaged and locked onto it The DIN rail modules thereby re ceive signal grounding gt 6 1 Grounding Concept on page 38 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 42 6 Project Planning and Installation Power Supply 6 2 3 3 Maximum Admissible Current All of the power supply terminals of M30009 modules and the associated in ternal connections are designed for a maximum current of 12 A If the current is greater than the maximum current the following must be em ployed Several separately fused circuits or Several separate power supplies in separated circuits 6 2 4 Connecting Sensors WARNING WARN
154. ower limiter and a thermal overload protection device In an overload condition the affected output will be automatically disabled After the output stage has been finished thermal cooling it returns to normal operation If the overload is still connected then the disable will happen again A protective circuit with a limiting voltage of 50 V with respect to 24 V L2 for open emitter outputs protects all outputs against induced voltage spikes when there are inductive loads Moog GmbH Digital Outputs of the MSC II control module Basic Wiring Diagram of a Digital Output of the MSC II control module Open Emitter Output Dependence of MSC II control module s Digital Outputs on the Outputs Enabled Signal Current Limiting and Overload Protection for Digital Outputs of the MSC II control module User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 95 10 MSC II Moog Servo Controller Digital I Os 10 10 3 3 Specifications Number of digital outputs Maximum 4 gt 10 10 Digital I Os on page 93 Type of outputs Semiconductor non capacitive Protective circuitry for inductive loads Limiting voltage of 50 V typ with respect to 24 V L2 Power dissipation of protection devices when limiting Max 0 5 W per output Max 2 W per MSC II Status display One status LED per I O gt 10 10 1 Display of the Operational State on page 93 Diagnosis function The operational state of the digital I O
155. ply een eene ener nenne 40 6 2 4 Connecting Sensors eriei sd eee eedem coast ee aee end au ned 43 6 3 Connecting Signal Cables esee nennen nennen nnne nennen nnne nennen 46 6 3 1 Plug In Terminal Strips ennemi NEE 46 7 Networking M30009 Modules eren nnns 47 A O E 47 74 1 Peer to Peer Connections sis io ett ee eese tetigere ec ben dece Rebate andes 47 7 1 2 Networking of More Than 2 Network Stations sssseen n 48 74 3 Ethernet Interface Cables eR endete artes 48 TA e A A a PI 49 7 2 1 BUS Topology ied nice eet e de e ra d EV eee Pod DE Leer eae oa LE ROERH 49 7 2 2 EtherCAT Interface Cables sse enne 49 TAM Lol etc 50 SVS QVORVIGW AAEE E ade NS 50 7 3 2 M3000 Modules with Profibus DP Interfaces sss 50 13 3 Profibus Networks 2 9 nud e HU ee di 50 7 3 4 Profibus Interface Cable ssssssssssssssssssssseseeneneeneen eene nennen 52 7 4 Serial TIA EIA Interface Cables nro 54 7 4 1 TIA EIA 232 Interface Cables cccccccccccececeeeeeeeeececccneaeeeeeeeeeeeeeeseeseccsaceeaeeeeeeeeeess 54 7 5 GAN Bus and CANoOpen cotidiana cai 55 1 5 A CAN BUSC zit ei o aie ANM 55 7 5 2 CAN Bus Characteristles 3 ton et ier pude aedi dle do a I egest Tea qd 55 1 9 9 GANODOTDZ ziehe iudei ee ete as dataset ace oleh ndisse I ddr ce Pierce 56 7 5 4 M30009 Modules with CAN Bus Interf
156. pplication Programs on page 25 MACS HMI Moog Axis Control Software Human Machine Interface Visualization package which can be run without MACS gt 3 6 1 MACS HMI Visualization Package on page 26 O The M3000 modules mentioned here represent only a part of Moog s current product range In addition to other M3000 modules Moog s product range includes a large variety of accessories gt 11 Product Range on page 114 3 1 M3000 System Architecture The M3000 automation system has the hardware and software structure necessary for modular and flexible automation solutions with distributed intel ligence The MSC II control module can use an Ethernet connection LAN company network peer to peer connection to communicate with another controller development environment or visualization package gt 7 1 Ethernet on page 47 gt 10 5 1 Communication Between MSC Il and MACS on page 84 gt 10 5 1 1 Ethernet Communication Interface on page 84 To create real time capable applications even in distributed systems and to give the application a better structure M3000 can also be divided hierarchi cally gt 7 5 CAN Bus and CANopen on page 55 WideCAN and LocalCAN are two equal mutually independent CAN bus inter faces In a typical application they are used as follows WideCAN can be used for networking of individual control groups or re mote modules Usually WideCAN is used for synchronization and data excha
157. qualified users c 1 2 Selection and Qualification of Personnel on page 2 Failure to comply with this manual the documentation of the M3000 modules or the product related hardware and software documentation required for the relevant application Failure to comply with the relevant nationally and internationally applicable regulations such as the regulations of a professional association the T V or the VDE Improper deployment of the M3000 automation system or M3000 modules such as in a potentially explosive excessively warm or excessively cold environment Improper storage transportation mounting removing connection bringing into operation operation cleaning or maintenance of the M3000 automation system or M30009 modules Storage or transportation of M30009 modules or accessories outside of the original packaging c 9 Transportation and Storage on page 71 Unauthorized or improperly executed structural changes to the M3000 automation system or M30009 modules Unauthorized or improperly executed repairs on the M3000 automation system or M3000 modules c 8 2 2 Repair on page 70 Damage due to the intrusion of foreign objects or acts of God 1 5 Inspection of Delivery After receiving the delivery please check the original packaging and its con Inspection of Delivery tents for any damage If the packaging or contents exhibit any damage do not bring the items into operation In this case immed
158. r incorrect or incom plete information and the consequences thereof 1 1 3 Completeness This manual is complete only when used in conjunction with the product re lated hardware and software documentation required for the relevant applica tion 1 1 4 Place of Storage This manual and all other associated documentation for hardware and soft ware must always be kept in a location where they will be readily accessible and close to the M3000 automation system and M3000 modules or the equipment in which they are installed Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 About this Manual Using M3000 Safely Prerequisites Reservation of Changes and Validity for this Manual Exclusion of Liability for this Manual Completeness of this Manual Place of Storage for this Manual 1 General Information Selection and Qualification of Personnel 1 2 Selection and Qualification of Personnel Only qualified users may work with and on the M3000 automation sys Qualified Users tem or M3000 modules Qualified users are properly trained experts with the required knowledge and experience In particular these experts must have the authorization to bring into operation ground and label devices systems and power circuits in ac cordance with safety engineering standards Those people working on a project must be familiar with safety concepts common in automation 1 3 Proper Use The
159. re 15 Side View of DIN Rail Modules Moog GmbH Categories of M3000 Modules Front View of DIN Rail Modules Side View of DIN Rail Modules User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 29 5 Mechanical Installation DIN Rail Modules 5 1 2 Dimensions Due to the lateral locating pins the DIN rail module s installation width will de Dimensions of pend on whether it will be installed as a single module row module or end DIN Rail Modules module Installed As Individual Module Row Module End Module Installation Module width Module width Module width Width 11 mm 0 43 in locating pins disappear 5 5 mm 0 22 in locating pins protrude into the adjacent modules locating pins protrude at the left and right on only one side Height 170 mm 6 69 in Depth 85 5 mm 3 37 in without accessories like mating connectors or plug in terminal strips When accessories like mating connectors or plug in terminal strips are used an installation depth of 50 mm 2 in is usually required Table 1 Dimensions of DIN Rail Modules O Refer to the relevant documentation for the overall widths of the various DIN rail modules Dimensions of the MSC II gt 10 2 General Specifications on page 73 Overall Width Module Width 5 5 mm 0 22 in a D 85 5 mm 3 37 in 5 5 mm 0 22 in d al SS999999999999999686 1d E MOOOOOOOOO0OO0O0O000 o S9999999999999996
160. rews might cause license key errors 10 6 3 3 Removing the License Key WARNING CAUTION The license key may be inserted or removed only when the MSC II control module is powered down Attempting to insert or remove the license key during opera tion might damage the license key or the MSC II control mod ule permanently If an M3000 module is to be taken out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M3000 module must be protected against uninten tional restarting If the M3000 module is connected to other devices and or facilities always consider the full consequences and take ap propriate precautions before switching off the module When using a screwdriver use caution to avoid slipping and causing personal injury or damage to the MSC Il control module Procedure for removing the license key 1 If it is running stop the application program in the MACS development environment 2 Switch off the power supply for the MSC II control module 3 Loosen the license key s attachment screws 4 Remove the license key from the slot labeled LK Moog GmbH Mounting the License Key Removing the License Key Safety Instructions Removing the License Key User Manual
161. rfaces MSC II E bus interfaces see E bus interfaces MSC II Ethernet interface see Ethernet Ethernet interface of the MSC II fieldbus interface see fieldbus interface of the MSC II sensor interfaces digital see sensor interfaces of the MSC ll digital serial interfaces see interfaces of the MSC Il serial terminal assignment 78 81 Interfaces of the MSC II serial 111 MACS interface 111 MACS MSC II front panel connector 77 SIO interface 111 Rx and Tx LEDs for displaying receive transmission activity 81 SIO MSC II front panel connector 77 terminal assignment 79 I O extension modules see Q modules QAIO and QDIO 1 01 1 04 see LEDs of the MSC II I Os of the MSC II 73 digital I Os see I Os of the MSC Il digital Outputs Enabled output 111 OutEN LED of the MSC II for displaying the states of all outputs and E bus communication 82 112 safety instructions 12 111 Moog GmbH I Os of the MSC Il digital 73 93 99 digital inputs 97 99 basic wiring diagram 97 disturbance suppression 97 insulation resistance 99 pulse detection 97 specifications 98 U I working ranges 99 digital outputs 95 97 basic wiring diagram 95 insulation resistance 97 load connection 96 open collector outputs 95 open emitter outputs 95 overload protection 95 specifications 96 I O1 I O4 LEDs of the MSC II for displaying the operational state of the
162. rminal Assignment on page 78 Refer to the relevant documentation for the exact designations of the power supply terminals of the other M3000 modules 6 2 1 Power Supply Characteristics Output voltage Power Supply Rated voltage 24 V DC operates at no load Characteristics of SELV according to DIN EN 60950 1 M3000 Modules gt 6 2 1 1 Safety Extra Low Voltage SELV on page 39 Run up time 10 90 lt 0 2 sec To ensure compatibility with other components Moog recommends maintaining the power supply tolerance band specified in IEC 61131 2 19 2 V to 30 V Refer to the relevant documentation for the specified voltage ranges of the M3000 modules Besides the specified voltage ranges a total alternating voltage component with a peak value of 5 of the rated voltage is also permitted Output current If the output current of the power supply is greater than 12 A the power cable to each M3000 module must be fused to x 12 A or the current must be limited in another way Maximum permissible duration of power interruptions Under full load PS1 intensity lt 1 ms duration of interruption during voltage drops and interruptions to the in put voltage During primary side voltage drops that are 1 ms or shorter in dura tion the output voltage must not fall under 19 2 V when under full load In addition the interval between the primary side drops must not be shorter than 1 s 6 2 1 1 Safety Extra Low Voltag
163. rocess of the firmware is finished blinking blinking blinking date finished Error Error no firmware loaded 1 LED illuminates 0 LED does not illuminate Table 18 LEDs for Displaying Elementary Operational States and Errors after Switching on or Resetting the MSC II Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 83 10 MSC II Moog Servo Controller Programming and Configuration 10 5 Programming and Configuration The MACS development environment is needed to create IEC 61131 applica tion programs and configure the MSC II control module gt 3 5 Application Programs on page 25 10 5 1 Communication Between MSC Il and MACS WARNING The MSC II control module s operational state can be al tered with the MACS development environment when the MSC II control module is connected online with MACS This can be done by means of the following actions for ex ample Stopping or resetting the program Setting breakpoints Activating the single step mode Downloading application programs Writing or forcing values Therefore the operator must always consider the effects and take appropriate precautions before altering the operational state of the MSC II control module with MACS The MSC II control module can use the following interface to communicate with the PC on which MACS is installed Ethernet interface with LAN front panel connector of the MSC II contr
164. s can be queried with the aid of function blocks in the application program Power consumption for the internal control circuit L2 M2 lt 100 mA 10 10 3 4 Load Connection Total load 100 2 A 4 x 0 5 A when all 4 terminals are used as outputs Overload protection Electronic current limiting and thermal overload protection Max short circuit current lt 8A Reverse energization protection Digital outputs are protected against reverse energization Output delay hardware From 0 to 1 max 100 us From 1 to 0 max 100 us Update time The update time corresponds to the task interval of the application pro gram that actuates the output The task interval and thereby the update time of the outputs is set in the task configuration of the MACS development environment Output capacitance lt 20 nF Rated voltage 24 V DC Voltage loss at rated current lt 2V Rated current in 1 state 0 5A Leakage current in 0 state Max 0 1 mA Specifications of MSC II control module s Digital Outputs Load Connection of MSC II control module s Digital Outputs Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 96 10 MSC II Moog Servo Controller Digital I Os Parallel connection of outputs Not permissible 10 10 3 5 Insulation Resistance Insulation resistance Rated voltage 0 50 V DC Test voltage for 2 000 m 2 187 yd operating elevation 500 V DC 10 10 4 Digital Inputs
165. sistance Rated voltage 0 50 V DC Test voltage for 2 000 m 2 187 yd operating elevation 500 V DC Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 75 10 MSC II Moog Servo Controller Block Diagram 10 3 Block Diagram WCAN LAN ETH Ethernet 1 K J q 100 Mbit s In Sensor 1 gt Sensor 2 Sensor 3 Sensor 4 I XK Digl O 1 USB 1 USB 2 RS232 o L J PowerPC CPU XK Digl O 2 gt Digl O 3 I y Digl O 4 n TU 9 gt Out EN l N INININIA MPC5200B 400 MHz LR License Key Profibus Fieldbus 5 EtherCAT NG A Interface optional 32 MByte la 128 MByte DDR RAM K TN EEPROM 4 CalData COP E Y G F B Power 24V DC Supply M 7 LCAN KY AA r L gt Figure 52 Block Diagram of the MSC II 1 Hardware option When ordering the MSC ll the type of the fieldbus interface must be specified O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 76 10 MSC II Moog Servo Controller View of the Module and Terminal Assignment 10 4 View of the Module and Terminal Assignment Connectors ___ for Plug In Terminal Strips WideCAN X1 X3 internally e connected 1 1 66666000006 Locating Pin LE O 000000 x2 ue uc m ms uz P O
166. stablishes contact between the Q connectors and pushes the lo cating pins into their mating sockets sssssssoscesessssss ponacpopnaboapnabanpag gno D sssssossseeosesss nananananannnannnt dl sssssseesssessssss jjiocaranonuanannonnr pocuangponucnnunundg 999559599959955955 PODODODO cOn 00000000 psssssoossesssssss P slob gt 999090000909999990 sssesssesssessssss CUORE UD 5 Oo0ooo000o0o0oo00y bsssssssososococos OOS ppunnnunnnuunnunant sssesssesssessssss b punuanununu nunununr l punannannunannadnr pSsesssesssessssss io pagagaggaggaangaanr ssesssesssessssss 000 9999999999999999 Figure 23 DIN Rail Modules Joined Without Gaps on a DIN Top Hat Rail Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 34 5 Mechanical Installation DIN Rail Modules 6 Push the two red locking slides back into all of the modules This fixes the modules onto the DIN top hat
167. stics CAN Bus Characteristics Linear topology that can be structured hierarchically Message oriented protocol Prioritization of messages Multi master capability Zero loss bus arbitration Short block length High security of data transmission with very short error recovery times Network data consistency Detection and disconnection of defective network stations Short reaction time for high priority messages e Standardization ISO DIS 11898 Cost effective protocol implementation CAN bus network stations can exchange messages between each other in real time over the CAN bus For example set points actual values control messages status messages as well as configuration and parameter data can be transmitted over the CAN bus Identifiers act as message labels in the CAN protocol The messages can be received by all network stations simultaneously which is very important for consistency of the data in the network and synchronization of the applica tions The identifier determines the message s bus access priority CAN bus is a multi master system i e every station in the network can send messages If several stations attempt to send messages at the same time the highest priority messages will be sent first This method guarantees bus assignment without destroying the contents of the messages Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 55 7 Networking M3000 Modules CAN Bus and C
168. system is stopped and the power supply is disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc The signal cables of M3000 modules are connected over plug in terminal strips that are inserted into the relevant connectors on the front of the module 6 3 1 Plug In Terminal Strips Plug in terminal strips for the following methods are available from Moog Screw terminals Spring loaded terminals All plug in terminal strips are suitable for wire cross sections of up to 2 5 mm 14 AWG c 11 8 Plug In Terminal Strips on page 121 6 3 1 1 Spring Loaded Terminals CAUTION When connecting a wire insert the screwdriver only into the rectangular opening of the spring loaded terminal Q If a screwdriver is inserted into the round opening for the wire the spring loaded terminal might be destroyed Spring loaded terminals make it easy to rapidly connect supply and signal cables Procedure for connecting a wire 1 Insert the tip of a screwdriver into the rectangular opening of the spring loaded terminal and press the screwdriver downward 2 Insert the wire into the corresponding round opening 3 Remove the screwdriver from the opening The spring will hold the wire in place Connecting Signal Cables Safety Instructions Connecting Signal Cables over Plug In Terminal Strips Connection Methods for P
169. t Network with more than 2 Network Stations ooooooooconnnncccnnnnoccccccnnnoncccccnanannccccnnnnnccnnnanns 48 100BaseT Cable with Crossed Twisted Pair Wires Crossover Cable sssseessss 48 100BaseT Cable with Non Crossed Twisted Pair Wires Patch Cable sss 48 EtherCAT Bus TOpology doit enne 49 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 viii List of Figures Figure 38 Figure 39 100BaseT Cable with Non Crossed Twisted Pair Wires Patch Cable ssesssssssss 49 Linear Structure of the Profibus with Termination Resistors esee 51 Figure 40 9 Pole D sub Mating Connector with switchable termination according to IEC 611 58 EN 50170 iii A i a A taeda 52 Figure 41 Profibus Interface Connector with internal longitudinal inductivity according to IEC 61158 EN 50170 5 tone A AA een 52 Figure 42 TIA EIA 232 Null Modem Cable sse nemen enne n nn cnn naar nnne en 54 Figure 43 TIA EIA 232 Interface Cable with 1 1 Connection ssssssee eem 54 Figure 44 Linear Structure of the CAN Bus ssssssessseee ene eene eene nennen rnnt nennen nennen 58 Figure 45 CAN Bus Interface Cable eeesieeeseeeeeeeee tete tte netten senten ndn hne inten 59 Figure 46 E Bus Group MSC II as E Bus Master ssssssseeenm eem ennemis 66 Figure 47 E B
170. t numbers 115 MSD Servodrive 23 N Nameplate M30009 modules 23 MSC II 113 Networking M3000 modules CAN bus networks see CAN bus networks Ethernet networks see Ethernet networks networking DIN rail modules see DIN rail modules networking Network nodes see CAN bus network stations Networks CAN bus networks see CAN bus networks Ethernet networks see Ethernet networks networking DIN rail modules see DIN rail modules networking Profibus networks see Profibus O Open collector output of the MSC Il see I Os of the MSC II digital digital outputs Open emitter output of the MSC Il see I Os of the MSC ll digital digital outputs Operating elevation 75 Operating instructions see user manual M3000 and MSC II Order number see part numbers Original packaging is to be retained 3 Oscillations permissible for MSC II 75 OutEN see LEDs of the MSC II Outputs Enabled see I Os of the MSC II Outputs Enabled output Outputs of the MSC Il see I Os of the MSC II Overall width of an M3000 module see dimensions Overload protection of digital outputs 95 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 133 13 Index P Packaging Original packaging is to be retained 3 Part number MSC II Starter Kit 114 MSD Motion Controller Starter Kit 114 Part numbers CAN bus accessories 120 CAN bus termination resistors 120 interface cables 120 license key of the MSC Il
171. tal Inputs O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 99 10 MSC II Moog Servo Controller Profibus DP Interface 10 11 Profibus DP Interface The MSC II can optionally be equipped with a Profibus DP Slave interface Profibus DP Interface of the MSC Il X8 i i Profibus 1 F Bus ARO ish Controller 1 Figure 60 Profibus DP Interface of the MSC II The configuration of the Profibus interface is defined in the application pro gram Information about Profibus gt 7 3 Profibus on page 50 Information about the Profibus interface cable gt 7 3 4 Profibus Interface Cable on page 52 10 11 1 Profibus Termination At the beginning and the end of any Profibus network termination resistors must be connected to guarantee specified signal levels These termination resistors are integrated in most common connectors 10 11 2 Shielding When connecting the stations always use shielded cables to ensure high in terference immunity of the system against electromagnetic emissions The shield should be grounded on both sides where possible 10 11 3 Profibus Slave Address The slave station address of the Profibus interface of the MSC II can be set in the application program 10 11 4 Profibus Baud Rate The Profibus baud rate is defined by the Profibus master station The MSC Il Profibus slave interface is able to detect the baud rate and synchronize to it Moog GmbH User Manual M3000
172. tential Equalization O D sub connectors with CAN bus termination resistors are available from Moog gt 11 7 CAN Bus Accessories on page 120 CAN bus networks with M3000 modules can include a maximum of 64 CAN bus network stations gt 7 5 5 3 Number of Network Stations on page 58 CAN bus interface cable gt 7 5 6 CAN Bus Interface Cable on page 59 7 5 5 3 Number of Network Stations CAN bus networks with M3000 modules can include a maximum of 64 CAN bus network stations ISO DIS 11898 only specifies networks with up to 30 CAN bus network sta tions As a result when integrating other devices than M3000 modules into a CAN bus network with M3000 modules the maximum number of CAN bus net work stations might be limited by any existing older CAN bus drivers Linear Structure of the CAN Bus CAN Bus Networks with M30009 Modules max 64 Network Stations Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 58 7 Networking M3000 Modules CAN Bus and CANopen 7 5 6 CAN Bus Interface Cable 7 5 6 1 Terminal Assignment Mating Mating Connector Connector socket contacts pin contacts O Wire Cross Section gt 0 22 mm 24 AWG CAN_L D MESE C A AE PN CAN L 2 I i I 1 2 CAN_H w A CAN H f l I 1 7 CAN GND CAN GND 3 1 1 1 T 3 i M1 1 CAN_GND a o vr optional cee al Ne aio A eee cee 1 O The other pins are not connected Figure 45 CAN
173. that are connected to digital inputs of M3000 modules with several I O groups such as MSC I QDIO or RDIO must under all conditions be supplied from the same power supply as the corresponding I O group to which the sensor is connected Otherwise if the power supply for the internal electronics of the module is switched off there might be reverse energiza tion from the sensor to the module There is a danger of Uncontrolled movements Fault or failure of a manual control Permanent damage to the module Malfunctions Digital I Os of MSC Il and MSD Motion Controller are pro tected against reverse energization More on these subjects gt 5 Mechanical Installation on page 29 or gt 6 Project Planning and Installation on page 37 2 2 5 Shutdown and Service WARNING WARNING Moog GmbH To avoid damage to M3000 modules or accessories cleaning maintenance and repair tasks may be per formed only by Moog or Moog s authorized service agents Warranty and liability claims for personal and material dam age are excluded when among other reasons they are due to unauthorized repairs or other unauthorized interventions c 1 4 Warranty and Liability on page 3 No work of any kind such as mounting removing wir ing or repairs to the M30009 automation system or M3000 modules may be performed while the automa tion system or the modules are in operation There is a danger of Uncontrolled moveme
174. the MSC Il WARNING The license key of the MSC Il control module must be Safety Instructions protected from electrostatic discharges License Key of the Electrical discharges might damage the license key or delete MSC II the contents of the license key s memory WARNING The license key may be inserted or removed only when the MSC II control module is powered down Attempting to insert or remove the license key during opera tion might damage the license key or the MSC II control mod ule permanently gt WARNING The license key must always remain inserted while the MSC Il control module is in operation Otherwise the MSC II control module will not work If the license key is removed during operation the application program will stop after a few minutes If the MSC II control module is connected online to the MACS development envi ronment a corresponding error message will appear in MACS In addition the digital output Outputs Enabled will be switched to the 0 state thereby disabling all of the MSC Il control module s digital outputs and terminating fieldbus com munication and E bus communication gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 After switching off the MSC II control module and inserting the license key the MSC II control module can be brought back into operation More on this subject gt 10 6 License Key on page 85 O Moog GmbH User Manual M3000 and MSC II CA65865
175. the Run Stop Reset switch is released from the Reset position the application program must be downloaded again from the MACS development environment 10 8 1 1 Switching on the Power Supply WARNING If the most recent status in the online mode MACS logged in was Run before the MSC Il control module was switched off or reset the boot project will always be started after the MSC II control module is switched back on or reset This will occur regardless of which application program was previously running In other words the application program that will be started automatically after the MSC II control module is switched on or reset might be different from the application program that was executing immediately prior After the power supply for the MSC II control module s internal electronics is switched on the MSC II control module will perform the following actions 1 The boot project if one exists is loaded into RAM 2 The values of the RETAIN variables are loaded assuming that variables of this type are used 3 The boot project starts if one exists and the most recent status in the on line mode MACS logged in was Run After these actions are complete the MSC II control module is ready to com municate with the MACS development environment 10 9 Basetick 10 9 1 Characteristics The basetick is the global clock source of the MSC II control module All tim ings such as task cycle times or hardware access ar
176. troller Digital Sensor Interfaces Reversal Point Hb E Hb tor pra Ul Minimum pulse high time Minimum pulse low time Edge to edge minimum delay time Table 22 Timing of incremental encoders The incremental encoder provides relative position information The position value is incremented or decremented depending on the lead lag relationship of the two signals A and B delivered by the incremental encoder These sig nals may vary in frequency The implemented interface can react on frequen cies up to 8 MHz The position data is counted in a 32 bit free running counter Each A B signal edge triggers a 32 bit counter This counter is overflowing to 0x0000 0000 or underflowing to OXFFFF FFFF depending on direction Each pulse on the Z input may reset the counter to zero This function must be enabled by a MACS function block By default the counter is free running and Z input is ignored On the left side of the dotted line B signal is leading On the right side of the dotted line the direction of the incremental encoder has changed Now A is leading Following relations between counter update and lead lag of signals is imple mented while line A leads the counter is incremented with every rising and fall ing edge of line A and line B while
177. troller Displays with TFT technology and touch screen Programmable with MACS de velopment environment Data exchange via Ethernet with MSC or MSD Motion Controller Display 5 7 D137 004 004 Display 10 4 D137 004 005 Display 12 1 D137 004 006 Table 26 Product Range R Modules Remote Modules O The plug in terminal strips that may be needed for connection of power and signal cables are not included in delivery The plug in terminal strips are available from Moog as accessories Only the MSD Motion Controller is delivered with the necessary plug in terminal strips for power supply and digital I O gt 11 8 Plug In Terminal Strips on page 121 11 3 Power Supply for M3000 Modules Power supply 24 V 10 A Power supply for mounting on D137 003 001 DIN top hat rails with short circuit protection Input 230 V AC or 115 VAC Output 24 V DC 10 A max Table 27 Product Range Power Supply for M3000 Modules Product Range R Modules Remote Modules Product Range Power Supply for M3000 Modules Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 117 11 Product Range License Keys 11 4 License Keys i tel a License Keys License key Controls gray D138 002 001 License key Motion green D138 002 002 Table 28 Product Range License Keys License Key License Keys Features Controls Run time license of the MSC II CoDeSys operators and standard IEC 61131 l
178. ts the LED will illuminate if the terminal is connected through to 24 V L2 Basic wiring diagrams of the digital outputs gt figure 57 on page 95 The status LEDs 1 01 1 04 will illuminate also if L2 or M2 are not connected The operational state of the digital I Os can be queried with the aid of function blocks in the application program 10 10 2 Power Supply DANGER The 24 V power supply terminals of all M3000 modules are protected against reverse polarity STOP If the polarity of these power supply terminals is reversed the modules will not work WARNING M30009 modules must be protected from overvoltages and or reverse energization from the sensor to the mod f N ule There is a danger of Permanent damage by overheating or fire Malfunctions M3000 modules must have the correct voltage polarity and terminal assignments Digital I Os 1 01 1 04 of the MSC II control module Status LEDs 1 01 1 04 Power Supply of the Digital I Os of the MSC Il control module Safety Instructions Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 93 10 MSC II Moog Servo Controller Digital I Os WARNING The internal electronics of M30009 modules and at tached sensors must be supplied with power from a per manently connected unswitched power supply that cannot be individually switched off without switching off the module s power supply If a swit
179. ts QDIO 1 013 to QDIO I O15 The basetick is set to 1 ms The module parameter UpdateRate is set to each cycle Accordingly the E bus message starts cyclically every millisecond gt 7 6 3 2 Update Rate of E Bus Messages on page 62 The digital inputs and outputs of the QDIO are updated in every E bus cycle once every millisecond in this example However only one analog input and one analog output of the QAIO 16 4 will be updated with each E bus cycle For this reason each analog input is up dated only every 7 ms and every analog output is updated only every 3 ms in this example Cycle No Outputs Inputs Message No QDIO QAIO 16 4 QDIO QAIO 16 4 2 3 4 5 6 7 8 9 Table 14 Update Order for Inputs and Outputs of QDIO and QAIO 16 4 Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 63 7 Networking M3000 Modules Networking DIN Rail Modules 7 7 Networking DIN Rail Modules When networking DIN rail modules a distinction is made between the follow Networking ing control groups DIN Rail Modules E Bus Groups gt 7 7 2 E Bus Groups on page 65 LocalCAN Bus Groups gt 7 7 3 LocalCAN Bus Groups on page 66 WideCAN Bus Groups gt 7 7 4 WideCAN Bus Groups on page 67 7 7 1 CAN and E Bus Interfaces O The M3000 modules mentioned here represent only a part of Moog s current product range In addition to other M3000 modules Moo
180. uctions the contents of the license key s memory WARNING The license key may be inserted or removed only when the MSC II control module is powered down Attempting to insert or remove the license key during opera tion might damage the license key or the MSC II control mod ule permanently WARNING The license key must always remain inserted while the MSC II control module is in operation Otherwise the MSC II control module will not work If the license key is removed during operation the application program will stop after a few minutes If the MSC II control module is connected online to the MACS development envi ronment a corresponding error message will appear in MACS In addition the digital output Outputs Enabled will be switched to the 0 state thereby disabling all of the MSC Il control module s digital outputs and terminating fieldbus com munication and E bus communication gt 10 17 2 Outputs Enabled Output LED OutEN on page 111 After switching off the MSC II control module and inserting the license key the MSC II control module can be brought back into operation 10 6 1 Run Time License and Accessible Libraries The run time license of the MSC II control module is saved in the license key License Key of the MSC II i 2 control module Run Time The accessible MACS libraries also depend on the license key If the applica License and Accessible tion program attempts to access a MACS
181. uirements from IEC 61131 2 27 safety instructions 7 27 74 Environmental protection disposing M3000 modules 4 no harmful emissions from M30009 modules when used properly 4 Error see LEDs of the MSC II ESD safety instructions 7 EtherCAT 49 Bus topology 49 interface cable 49 Ethernet communication between MSC II and MACS communication parameters of the Ethernet interface 84 Ethernet interface of the MSC II 72 communication parameters 84 terminal assignment 80 IP address of the MSC II 84 86 LEDs of the MSC II Link displays Ethernet link pulse and activity 82 Speed displays Ethernet connection speed 82 networks with exactly 2 network stations 47 with more than 2 network stations 48 Ethernet interface cables see interface cables Ethernet interface cables Ethernet LAN connector 80 Ethernet RT ETH1 connector 81 Ethernet RT ETH2 connector 81 Extension modules CAN extension module see Q modules QEBUS CAN I O extension modules see Q modules QAIO and QDIO F F Bus front panel connector of the MSC Il see fieldbus interface of the MSC II F Bus Fieldbus interface of the MSC Il 72 F Bus MSC II front panel connectors 77 Figures list of viii Front panel DIN rail modules 29 MSC Il 77 Front view DIN rail modules 29 MSC Il 77 G Grounding CAN bus networks 57 CAN bus termination resistor with signal grounding 57 58 grounding concept
182. ules with Profibus DP Interfaces Wiring Profibus Networks Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 50 7 Networking M3000 Modules Profibus Sources of interference Do not lay Profibus interface cables in direct proximity to sources of in terference 7 3 3 2 Bus Structure of the Profibus All devices are connected in a linear bus structure Up to 32 stations master or slaves can be connected in a single segment The beginning and the end of each segment is fitted with an active bus terminator Both bus terminators have a permanent power supply to ensure error free operation The bus ter minator is usually switched in the connectors If more than 32 stations are im plemented or there is a need to expand the network area repeaters must be used to link the individual bus segments Active stations master devices Linear Structure of the Profibus with Termination Resistors Profibus DP Slave 1 Slave 2 Slave 3 Slave 4 Termination Termination enabled enabled Passive stations slave devices are polled Figure 39 Linear Structure of the Profibus with Termination Resistors D sub connectors with Profibus termination resistors are available from Moog Profibus networks with M30009 modules can include a maximum of 126 Profibus network stations gt 7 3 3 3 Number of Network Stations on page 51 Profibus interface cable gt 7 3 4 Profibus Interface Cable on page 52
183. us Group RDIO as E Bus Master eene eene nnne nnns 66 Figure 48 LocalCAN Bus Group MSC IIs as CAN Bus Network Stations 67 Figure 49 WideCAN Bus Group MSC Ils and R Modules as CAN Bus Network Stations 68 Figure 50 Repair Seal eiiis reed ceder ad dt 70 Figure 51 Dimensions of the MSC ll eene cnn narrar rr 74 Figure 52 Block Diagram of the MSC ll enne nennen nnne nennen nnne 76 Figure 53 Front View of the MSC Wo isses entente nnn nennt nnne nr nn rear rr nenes 77 Figure 54 Front Panel of the MSCI nesretan ene eren nnne e a i iaaa i i 77 Figure 55 License Key of the MSC II control module with Attachment Screws sse 86 Figure 56 Timing diagram of the MSC II control module ssssee eme 91 Figure 57 Basic Wiring Diagram of a Digital Open Emitter Collector Output of the MSC ll 95 Figure 58 Basic Wiring Diagram of a Digital Input of the MSC II Current Consuming 97 Figure 59 U I Working Ranges of MSC II control module s Digital Inputs Current Consuming 99 Figure 60 Profibus DP Interface of the MSC II sssssssssssenm eem eem nennen nnns 100 Figure 61 Connection Diagram of the MSC Il in Master Mode sme 103 Figure 62 Connection Diagram of the MSC II in Slave Mode ssse mee 104 Figure 63 Signals Between the MSC II and a 16
184. ust not be used in residential commercial and light industrial environments EMC conformity may be presumed only under the following conditions e Sufficient shielding Mounting of the DIN rail module onto a DIN top hat rail that is attached to an electrically conductive grounded mounting plate gt figure 17 on page 31 MSC II and extension modules must be powered from a power supply with SELV Safety Extra Low Voltage according to DIN EN 60950 1 Therefore the EU low voltage directive is not relevant for the M30009 automation sys tem because the specified voltage levels lie below the limits 1 8 Trademarks Moog and Moog Authentic Repair are registered trademarks of Moog Inc and its subsidiaries M3000 is a trademark of Moog GmbH that is registered in the EU All product and company names mentioned in this manual might be pro tected trademarks or brands of the relevant manufacturer The absence of the symbols or does not indicate that the name is free from trademark protection 1 9 Software Copyrights The software that is installed on M3000 products at the time of delivery is the property of the manufacturer At the time of delivery every piece of in stalled software is covered by copyright protection It may be reproduced only with the approval of the manufacturer or in accordance with the license agreements Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 Trademarks Software
185. utEn vor voz vos vos aT E WCAN WCAN AOS Front Panel xau xm2 ies Q Connector UsB UsB2 MOOG Link 100MB S Link 10 E Bus LocalCAN Bus sio MSCI OMB s Link 100MB S CE k F Bus wl alele s X6 cue cur a sa Locking Slide 00090090099 Serial Interface TIA EIA 232 Connectors for Plug In Terminal Sttrips Xs pe x5 H __ WideCAN X1 X3 internally connected 1 1 _ Terminal Assignment of Connectors X2 X4 Q Connector E Bus LocalCAN Bus Terminal Assignment of Connectors X6 X7 X9 X10 Locating Pin Profibus optional Connectors for Plug In Terminal Sttrips Figure 53 Front View of the MSC II Termination Resistor to LocalCAN WideCAN Transmission Activity LocalCAN State of Transmission L1 and 5 V OK Digital I Os Activity ae E Bus Transmission Activity SIO Receiver Ac tivity SIO Transmission Activity Activated by Application Program 6666666666666606 1 2 3 4 5 6 7 8 9 gt E x1 Li L1 M1 M1 L2 L2 M2 M2 M2 X2 of OutEn 1 01 1 02 1 03 1 04 M2 M2 M2 M2 X4 gt WCAN WCAN LAN and X TT Realtime Ethernet Programming AN R RT ETH1 RT ETH2 RJ45 10 100 MBit s Interface
186. uts and outputs of MSC I or MSC II connection over E bus gt 3 3 3 1 QDIO and QAIO on page 18 QEBUS CAN CAN extension module for MSC II which can be used to make avail able the LocalCAN bus of an E bus group for external CAN bus net work stations over a D sub front panel connector gt 3 3 3 2 QEBUS CAN on page 19 RDIO Remote module with digital I Os and CANopen interface connec tion over CAN bus gt 3 3 4 1 RDIO on page 20 RDISP Display and operating terminal with TIA EIA 232 and CANopen in terface connection over CAN bus gt 3 3 4 2 RDISP on page 20 DialogController Displays with TFT technology and touch screen Programmable with MACS development environment Data exchange via Ethernet with MSC II or MSD Motion Controller gt 3 3 4 3 DialogController on page 21 MSD Motion Controller Motion control module for MSD Servodrives c 3 3 5 MSD Motion Controller on page 22 MSD Servodrive Modular Multi Axis Programmable Motion Control Servodrive gt 3 3 6 MSD Servodrive on page 23 License keys Hardware keys necessary for the operation of the MSC I MSC II and MSD Motion Controller gt 3 4 License Key on page 24 O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 3 Short M3000 System Overview M3000 System Architecture MACS Moog Axis Control Software Development environment according to IEC 61131 for solving complex control tasks gt 3 5 A
187. vdma org WideCan Wire Fault Table 37 Abbreviations Section 3 of 3 12 3 Quoted Standards 12 3 1 CiA DS CiA DS 201 207 Quoted Standards CiA DS CiA Draft Standard CAN Application Layer CAL CiA DS 301 CiA Draft Standard CANopen Communication Profile for Industrial Systems Based on CAL CiA DS 401 CiA Draft Standard CANopen Device Profile for Generic I O Modules 12 3 2 DIN DIN 41652 Quoted Standards DIN Rack and Panel Connectors Trapezoidal Round Contacts 1 mm 12 3 3 DIN EN DIN EN 60715 Quoted Standards DIN EN Dimensions of Low Voltage Switchgear and Controlgear Standardized Mounting on Rails for Mechanical Support of Electrical Devices in Switchgear and Controlgear Installations DIN EN 60950 1 Information Technology Equipment Safety Part 1 General Require ments DIN EN 61000 6 1 Electromagnetic Compatibility EMC Part 6 1 Generic Standards Im munity for Residential Commercial and Light Industrial Environments Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 127 12 Appendix Quoted Standards DIN EN 61000 6 2 Electromagnetic Compatibility EMC Part 6 2 Generic Standards Im munity for Industrial Environments DIN EN 61000 6 3 Electromagnetic Compatibility EMC Part 6 3 Generic Standards Emission Standard for Residential Commercial and Light Industrial Environments DIN EN 61000 6 4 Electromagnetic Compatibility EMC
188. ve Mode CLK a Figure 63 Signals Between the MSC II and a 16 Bit SSI Sensor Example The signal levels comply with the standard TIA EIA 422 485 previously RS 422 485 SSI sensors can be used that supply either gray code or binary coded data The maximum possible resolution is 32 bits Coding of data and number of data bits can be adjusted in the PLC Configu ration of the MACS development environment The external SSI master must be capable of driving two TIA EIA 422 485 inputs including the termination resistors O Moog GmbH MSC Il in SSI Slave Mode Connection Diagram of the MSC II in Slave Mode Signals Between the MSC ll and a 16 Bit SSI Sensor Example User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 104 10 MSC II Moog Servo Controller Digital Sensor Interfaces 10 13 4 Connecting Incremental Sensors Incremental sensors supply a relative position or angle signal that the MSC II Connecting Incremental can read In doing so it can detect and evaluate impulse sequences with fre Sensors to the MSC Il quencies up to 8 MHz Three different interfaces are supported by MSC II Standard Pulse Train and Frequency Modulation interfaces The adaptation for the application program is done in the MACS development environment Connection Diagram of the MSC II with an Incremental Sensor Signal A Incremental Signal E Incremental Sensor Mode Sensor Signal Z F
189. wl nh CNTR N Control signal for repeater direction control Table 16 Terminal Assignment of MSC II s Connectors Section 2 of 4 User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 SIO TIA EIA 232 Digital Sensor Interface 1 Digital Sensor Interface 2 Profibus F Bus 79 10 MSC II Moog Servo Controller View of the Module and Terminal Assignment No Assignment Circuit X9 TIA EIA 485 output SSI sensor signal 3 clock gt 10 13 Digital Sensor Interfaces on page 101 TIA EIA 485 output SSI sensor signal 3 clock TIA EIA 422 input incremental sensor signal 3 A or SSI sensor signal 3 data TIA EIA 422 input incremental sensor signal 3 A or SSI sensor signal 3 data TIA EIA 422 input incremental sensor signal 3 B or SSI sensor signal 3 slave clock Sensor 3 TIA EIA 422 input incremental sensor signal 3 B or SSI sensor signal 3 slave clock TIA EIA 422 input incremental sensor signal 3 Z TIA EIA 422 input incremental sensor signal 3 Z 5 V Power supply for sensor Ground for the digital sensor interface X10 TIA EIA 485 output SSI sensor signal 4 clock gt 10 13 Digital Sensor Interfaces on page 101 TIA EIA 485 output SSI sensor signal 4 clock TIA EIA 422 input incremental sensor signal 4 A or SSI sensor signal 4 data O O A O OI AJOJN Digital Sensor Interface 3 zx o TIA EIA 422 input incremental sensor signal 4 A or
190. work of any kind such as mounting removing wir ing or repairs to the M3000 automation system or M3000 modules may be performed while the automa tion system or the modules are in operation There is a danger of Uncontrolled movements Permanent damage Malfunctions Before performing any work on the M3000 automation sys tem or M3000 modules it is essential that the system is stopped and the power supply is disconnected Therefore all power supplies must be switched off including those from attached peripherals such as externally supplied transmitters programming devices etc The M3000 automation system and M3000 modules must not come into direct contact with liquids except where explicitely specified Danger of short circuit If they do come into direct contact with a liquid immediately disconnect the power supply Before bringing the system back into operation it is essential that all affected compo nents are completely dry and have been inspected by a suit ably qualified technician 8 1 Shutdown WARNING Moog GmbH If an M3000 module is to be taken out of operation the entire system must always be shut down and discon nected from all power supplies Therefore all power supplies must be switched off in cluding those from attached peripherals such as exter nally supplied transmitters programming devices etc The M3000 module must be protected against uninten tional restarting
191. work without license key This li cense key is not included in the standard delivery It is available from Moog as an accessory gt 11 4 License Keys on page 118 O Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 115 11 Product Range M3000 Modules 11 2 2 Q Modules PT Q Modules QDIO 16 16 0 5 Digital 1 O extension module for local D137 001 005 extension of the inputs and outputs of MSC I MSC II or RDIO connection over E bus 16 inputs and 16 I Os Positive switching gt 3 3 3 Q Modules on page 17 QDIO 16 16 0 5N Digital I O extension module for local D137 001 004 extension of the inputs and outputs of MSC I or MSC II connection over E bus 16 inputs and 16 I Os Zero switching gt 3 3 3 Q Modules on page 17 QAIO 2 2 AV Analog I O extension module for local ex D137 001 011 tension of the inputs and outputs of MSC I or MSC II connection over E bus 2 inputs 10 V 10 mA 4 20 mA 2 outputs 10 V 10 mA 4 20 mA 50 mA gt 3 3 3 Q Modules on page 17 QAIO 16 4 V Analog I O extension module for local D137 001 007 extension of the inputs and outputs of MSC I or MSC II connection over E bus 16 voltage inputs 10 V 4 voltage outputs 10 V gt 3 3 3 Q Modules on page 17 QAIO 16 4 A Analog I O extension module for local D137 001 006 extension of the inputs and outputs of MSC I or MSC II connection over E bus 16 current inputs 0 20 mA 4 voltage outputs
192. y etta etae Sonate o ia anan 89 10 8 1 Behavior at Switching on and Switching off sss 89 TIUS SET A MP 90 10 971 Characteristics 3 dd nite tlm o 90 10 9 2 Timing DIagraim er eR Ret pap RR REA i ren 91 10 10 Digital VOS 5 5 eere ia EHE EROS er i 93 10 10 1 Display of the Operational State oooooccnnnnicinnocccnncncncnncnncnnnnnonnnnncnnnnnnnnnnnnnnnnnnnnnnnno 93 10 10 2 Power Supply evoca a hee ete lee a cee doa Da ponds 93 10 10 3 Digital Outputs tret ederet amer pet tia 95 10 10 4 Digital INputs comida on Leo eed hah dee eode c tree bee e di nds 97 Moog GmbH User Manual M30009 and MSC II CA65865 001 Version 1 1 08 08 iii Table of Contents 10 11 Profibus DP Interface nere ii at es cias 100 10 11 1 Profibus Termination oiii ic dd aaa 100 10241 2 SNICIGING 4 3 A ete eee eee 100 10 11 3 Profibus Slave Address 2 ccceccecceeeeeeeeeeeeeeceeeeaeceeeeeeeeeeeeeecenccacaeeeeeeeeeeeeereeeteee 100 10 11 4 Profibus Baud Rate eene ade etie etre e ea oe ta nt e d do ee 100 jdpAIa Ju M 101 10 13 Digital Sensor Interfaces esses eene erre 101 10 13 1 Termination RESiStOrS ie t epe deett tdi tpe iia 101 10 13 2 Wire Fault Monitoring scii corie a ni nan nemen nennen enne nnn 102 10 13 3 Connecting SSI Sensors eese eene teneret te nette nete inen e 10
193. y to the CAN bus without a T adapter O The M3000 modules mentioned here represent only a part of Moog s current product range In addition to other M3000 modules Moog s product range includes a large variety of accessories gt 11 Product Range on page 114 Information about the CAN bus interface cable gt 7 5 6 CAN Bus Interface Cable on page 59 Information about the CAN bus interfaces of the MSC II gt 10 15 CAN Bus Interfaces on page 109 Refer to the relevant documentation for detailed information about the CAN bus interfaces of the other M3000 modules CANopen CANopen Device Profiles M3000 Modules with CAN Bus Interfaces Moog GmbH User Manual M3000 and MSC II CA65865 001 Version 1 1 08 08 56 7 Networking M3000 Modules CAN Bus and CANopen 7 5 5 CAN Bus Networks 7 5 5 1 Wiring Always observe the following when wiring CAN bus networks Wiring CAN Bus Networks ISO DIS 11898 The cables mating connectors and termination resistors used in CAN bus networks must comply with ISO DIS 11898 Specifications for interface cables When connecting CAN bus network stations always use shielded ca bles with 4 twisted pair wires and an impedance of 120 Q gt 7 5 6 CAN Bus Interface Cable on page 59 Linear structure of CAN bus Avoid branching Short stub cables with a T adapter are permitted gt 7 5 5 2 Bus Structure of the CAN Bus on page 58 Stub cables as short as possible Maximu

User Manual M3000® Automation System / MSC II (Moog Servo

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User Manual M3000® Automation System / MSC II (Moog Servo