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1. j 1 00 25 4 T TRUNNION ss CLEVIS 66 8 EN I L 1 10 28 0 fm iil 180 1 PNo2 STROKE 274 8 sus STROKE 808 STROKE 205 2 STROKE ou 1 06 27 0 175 REAR CLEVIS MOUNT Fico rmm 275 u 0 E 0 47 TRUNNION MOUNT TEN 1 200120 7 4 Tolomatic User Guide ICR Rod Style Integrated Control Actuator APPENDIX 7 E 7 6 ICR SV1B Basic and SV1P Plus Rod End and Switch Dimensions OPTIONAL Spherical Rod Eye End SRE 0 945 24 00 36 0 457 18 0 354 9 00 0 157 4 00 JAM NUT OPTIONAL Alignment Coupler Rod End ALC INTERNALLY THREADED END SPECIFIED EXTERNALLY THREADED END SPECIFIED 0 15 3 8 JAM 075 240 2 0 15 3 8 JAM NUT M8 x 1 25 MET OPTION 0 15 3 8 JANNUT 01 25 31 7 2 79 70 8 2 SPHERICAL MOTION 0 0625 1 6 RADIAL FLOAT OPTIONAL External Threaded Rod End MET THE ALIGNMENT COUPLER COMES WITH AN INTERNAL THREAD IF AN EXTERNAL THREAD IS PREFERRED THE ADDITION OF a THE MET OPTION IS REQUIRED 0 50 0 50 0 394 E 10 0 M8 x 1 25 OPTIONAL Clevis Rod End CLV 0 51 0 319 8 10 0 0 318 8 07 INCLUDED 13 0 330 0 10 0 237 6 01 0242 6 14 0 63 16 0 SWITCH DIMENSIONS MOUNTING DIMENSION
2. STROKE mm 17 254 381 508 635 27 1 1686 BNO2 24 1 21 1 1533 3 Big ms Haia a a a 12 1 305 5 BN05 e 1 5 9 YE 1 1 e 6 152 3 176 0 00 25 10 15 STROKE in Figure 1 4 ICR SystemCritical Speed 1 1 9 ICR Side Load Considerations Rod screw actuators are designed to push guided and supported loads and are not designed for applications that require significant side loading Contact Tolomatic for details regarding side loading capabilities 1 1 10 Brake Considerations An unpowered ICR will require a brake to maintain its position if the force on the actuator exceeds 02 screw 7 5 Ibf 33 4 N 5 screw 12 5 55 6 A brake can be used with the actuator to keep it from backdriving typically in vertical applications A brake may be used for safety reasons or for energy savings allowing the actuator to hold position when unpowered Add s A B to the ordering code for the optional Spring Applied Electronically Released Brake not available for service part ordering NOTE The optional Spring Applied Electronically Released Brake requires 24V power It has a input current rating of 0 414 Amps 1 1 11 ICM Plus Mechanical Specs Unit ICM in Ib 17 Peak Torque N m 1 92 Cont Torque N m 0 9 Ib 6 50 Base Weight in Ib 8 0 kg 2 95 degF 50 Min temp
3. 6 6 CVM Control Program Indexer 2 Program and I O Line States 6 7 2 Basic Setup Operating Mode for Analog Command Source 6 8 CME 29 Basic Setup Operating Mode for Digital Input Command Source 6 9 29 Tool Control Panel Location 6 10 29 Control Panel Features 6 11 29 Tool Bar Scope Tool Location 6 11 29 Scope Tool 5 0 0 0 6 6 12 Health and Safety Regulations Read completely through the applicable sections of the manual before the equipment is unpacked installed or operated Pay careful attention to all of the dangers warnings cautions and notes stated in the manual Serious injury to persons or damage to the equipment may result if the information in the manual is not followed Safety Symbols Items that are specifically marked DANGER WARNING CAUTION or NOTE are arranged in a hierarchical system and have the following meaning DANGER Indicated a very hazardous situation which if not avoided could result in death or serious injury This signal word is limited to the most extreme situations WARNING Indicates a potentially hazardous situation which if not avoided could result in death or s
4. 1 8 1 1 12 ICM Plus Motor Speed vs TOIQUE 1 8 2 ICR SV1B Basic Electrical Interface Specs amp Wiring 2 1 2 1 Cabling and Connectors ICR SV1B Basic Actuator 2 1 2 1 1 Power Cables and Pin outs 2 1 2 1 2 Cables and 2 2 2 13 G ble rm 2 4 2 2 Digital Inputs ICR SV1B Basic Actualor a 2 4 2 2 1 Typical Wiring Connections 2 5 2 3 Digital Outputs ICR SV1B Basic 1 2 7 2 4 Optional Electronic Brake ICR SV1B Basic Actuator 2 8 2 5 Input Power ICR SV1B Basic Actuator eene 2 9 2 6 Environmental Conditions 2 11 2 7 ICR SV1B Basic Actuator Setup ann rende dax aded 2 11 3 SVIP Plus Electrical Interface Specs amp Wiring 3 1 3 1 Cabling and Connectors ICR ICM SV1P 3 1 3 1 1 Power Cables and 3 1 3 1 2 1 0 Cables and 3 2 3 1 3 Optional Communications 3 4 3 2 Digital Inputs ICR ICM SV1P PluS 3 5 Tolomatic User Guide ICR Rod Style Integrated Control Actuator i CONTENTS 3 2 1 Isolated Digital ceo o S 3
5. 5 2 ICR SV1B Basic Actuator Extend Input 5 3 ICR SV1B Basic Actuator Retract Input Command 5 4 ICR SV1B Basic Actuator Velocity and Force Controls 5 6 ICR SV1B Basic Actuator Extend Velocity Potentiometer 5 6 ICR SV1B Basic Actuator Retract Velocity Potentiometer 5 7 ICR SV1B Basic Actuator Force Control Potentiometer 5 7 ICR SV1B Basic Velocity and Force Controls SvtB Manufactured before 4 2013 5 8 ICR SV1B Basic Extend Velocity Potentiometer Sv1B Manufactured before 4 2013 5 8 ICR SV1B Basic Retract Velocity Potentiometer sv1B Manufactured before 4 2013 5 9 ICR SV1B Basic Force Control Potentiometer sv1B Manufactured before 4 2013 5 9 Copley Motion Explorer 29 Shortcut 6 2 Communication Wizard Device Selection Screen 6 3 Communication Wizard Serial Port Screen 6 3 Communication Wizard Configure Serial Ports Screen 6 4 Communication Wizard Configure CAN Network Screen 6 4 29 User Interface Features 6 5 29 Save Amplifier Data to Disk ICON
6. 2 3 Cable Routing for and Side Mounted Connectors 2 4 ICR SV1B Basic Actuator Interface Circuit Diagram 2 4 ICR SV1B Basic Actuator Input Source switched Connection 2 5 ICR SV1B Basic Actuator Input Source PNP Connection 2 6 ICR SV1B Basic Actuator Input Sink switched Connection 2 6 ICR SV1B Basic Actuator Input Sink NPN Connection 2 6 ICR SV1B Basic Actuator Output Interface Circuit Diagram 2 7 ICR SV1B Basic Actuator Optional Electronic Brake Connection 2 8 ICR SV1B Basic Actuator Logic and Main Power Supplies 2 9 ICR SV1B Basic Actuator Single Supply Main Power 2 10 ICR SV1B Basic Actuator Single Supply External Cut off Switch for Emergency 2 10 ICR SV1B Basic Actuator 5 2 11 ICR ICM SV1P Plus Standard Power Cable 3604 1641 3 1 ICR ICM SV1P Plus IP65 Power Cable 3604 1649 3 1 ICR ICM SV1P Plus Standard 1 0 Cable 3604 1640 3 3 ICR ICM SV1P Plus IP65 1 0 Cable 3604 1648 3 3 ICR ICM SV1P Plus Optional Communications Cable 3 4 ICR ICM SV1P Pl
7. Electronic Brake Power and Specifications Input Voltage minimum 21 6 Vdc Input Voltage nominal 24 Vdc Input Voltage maximum 26 4 Vdc Input Current Maximum at input voltage maximum 0 414 Amps Static Torque 12 5 in lbs maximum gt gt BRAKE POWER 24V POWER SUPPLY 1 BRAKE POWER GROUND Figure 3 20 ICR ICM SV1P Plus Optional Electronic Brake Connection Tolomatic User Guide ICR Rod Style Integrated Control Actuator 3 11 3 ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING mu 3 7 ICR ICM Plus Setup CAUTION When cabling multiple actuators be sure to use the appropriate genders of terminators and cable connectors The ICR actuator has a female and male communication connector The ICR ICM SV1P Plus actuator can be used as a single drive setup for optional CANopen position control It can also be used in a multi drop RS 232 RS 232 to optional CANopen operation or in a multi drive setup for optional CANopen DeviceNet operation The following illustrations show cabling setup examples of each configuration 3 7 1 Single Device Setup for optional CANopen Position Control In a single actuator setup for optional CANopen the actuator operates as a CAN node All commands are passed on the CAN bus The CAN Master must have a CAN address of 0 The actuator CAN address can be any number between 1 and 127 Before installing the actuator as
8. deg C 10 deg F 122 Max temp deg C 50 NOTE Performance de rating will be necessary at ambient temperatures greater than 25 deg 77 deg IP rating std 40 IP rating option 65 RoHs Compliant Components C Approval Pending 1 1 12 ICM Plus Motor Speed vs Torque PEAK 2 00 e pe l aa a 4 Y 175 x 1 50 512 B T has E A Y y CONTINU N 5 Vous 0 75 5 5 TT 4 484050 0 25 24 0 10 E crc 9 N N N SPEED RPM Figure 1 5 ICM Plus Motor Speed vs Torque Test conditions Motor operated at rated temperature mounted to an aluminum heatsink Aluminum heatsink 11 x11 Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR SV1B Basic Electrical Interface Specs amp Wiring EN 2 1 Cabling and Connectors ICR SV1B Basic Actuator CAUTION Reversing polarity of the input power will damage the actuator drive mechanism Tolomatic User Guide ICR Rod Style Integrated Control Actuator Tolomatic cables are available in standard and IP65 classifications When using cables other than those provided by Tolomatic reference the cable mating connector style to ensure the proper cabling is supplied to the ICR actuator 2 1 1 Power Cables and Pin outs
9. 3 NORCOMP P N 171 009 203L001 NORCOMP P N 979 009 030R121 171 025 203L001 979 025 030R121 RED BLK WHT ORG GRN GRN Mid I NORCOMP P N REF 171 025 203L001 NORCOMP P N CAROL P N 979 025 030R121 979 009 030R121 381 WIRE TIE mE EF j 118 50 Figure 3 3 ICR ICM SV1P Plus Standard 1 0 Cable 3604 1640 H NORCOMP P N AMPHENOL P N NORCOMP P N AMPHENOL P N 171 009 20 19 5138 1 20 6 269 476 979 009 030R121 p C RED BLKWHT 5 B 21 5 P N CO748A m g L 5 0 Figure 3 4 ICR ICM SV1P Plus IP65 1 0 Cable 3604 1648 Tolomatic User Guide ICR Rod Style Integrated Control Actuator 3 3 3 ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING 3 1 3 Optional Communications Cable communications cable is available as an option with the ICR ICM SV1P Plus actuator and can be used for daisy chaining a series of actuators together to a PLC PC HMI or other intelligent device CABLE TOLOMATIC PART NO Communication Cable 1 Meter 3604 1659 Communication Cable 5 Meter 3604 1660 8 1M AND 5M LENGTHS MALE 145 ien 2 1 202 5 2 b Z lt lis Cw nin gt Y n
10. 6 3 6 5 Configure CAN Network 6 4 6 6 29 User Interface and Tool Bar 6 5 6 7 ICR ICM SV1P Plus Amplifier Files 6 6 6 7 1 Loading the Amplifier FileS 6 6 6 7 2 Saving Amplifier Fi eS_ 6 6 Command SOLIDE e A 6 7 Programmable Command atas 6 7 6 8 2 Analog 6 8 6 8 3 Digital Input Command 6 9 6 8 4 Communication Commands 6 9 6 10 6 9 1 Control oI u 6 10 6 9 2 Scope 6 11 7 i c or 7 1 7 1 SV1B Basic and SV1P Plus Actuator Dimensions 7 1 7 2 RP SV1B Basic and SV1P Plus Actuator Dimensions 7 2 Za CM Plus 7 2 7 4 SV1B Basic and SV1P Plus Options Dimensions 7 3 7 5 RP SV1B Basic and SV1P Plus Options Dimensions 1 4 7 6 ICR SV1B Basic and SV1P Plus Rod End and Switch Dimensions 7 5 7 17 Maintenance and Inspeclion 7 6 T8 Produc
11. 467 184 MEL Figure 3 5 ICR ICM SV1P Plus Optional Communications Cable When cutting these cables for CANopen or DeviceNet connections follow these wiring guidelines Wiring for CANopen Wiring for DeviceNet 3 Black V CAN Ground 1 Drain Shield 4 White CAN High 2 Red V 5 Blue CAN Lo 3 Black V CAN Ground 4 White CAN High 5 Blue CAN Lo Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING 3 mu 3 2 Digital Inputs ICR ICM SV1P Plus CAUTION The E stop input is software controlled it is highly recommended to have an external E stop hardware measure to ensure safely Tolomatic User Guide ICR Rod Style Integrated Control Actuator 3 2 1 Isolated Digital Inputs The ICR ICM SV1P Plus actuator has a total of 8 isolated digital inputs which are programmable The isolated digital inputs can be configured to be either sinking or sourcing All of the isolated digital inputs have a common return and are isolated from the internal circuitry Figure 3 6 shows the circuit diagram for the isolated interface INPUT Dt 3 92K INPUT COMMON lt Figure 3 6 ICR ICM SV1P Plus Isolated Interface Circuit Diagram AN TO INTERNAL CIRCUITRY ICR ICM SV1P Plus Isolated Digital Input Specifications Input
12. CABLE TOLOMATIC CONNECTOR ON MATING CONNECTOR PART NO ACTUATOR ON CABLE Power Std 5 meter 3604 1641 Conec 3003W3PXX99A10X Conec 3003W3SXX99A10X Power IP65 5 meter 3604 1649 Amphenol 02 12 3 027 Amphenol 12 35 476 Socket contacts Std NA Conec 131C10029X Conec 132C10029X or customer designed cables This type of mating connection is used on Tolomatic supplied cables Reference this type of mating connector PIN NUMBERS STD IP65 DESCRIPTION CABLE WIRE COLOR A1 A 24 48 Power Red A2 B Case Shield Ground Bare Wire A3 C Power Ground Black CONEC P N 3003W3SXX99A10X P N 0 OF CONEC PIN gt TN D TIE SHIELD WIRE TO PIN A2 76 30 5 0 M Figure 2 1 ICR SV1B Basic Actuator Standard Power Cable 3604 1641 s RED 6 AMPHENOL P N PTOGE 12 35 476 AMPHENOL P N NEN 97 79 513 6 BEIDEN P N 9314 Mio 2 a 400 50M Figure 2 2 ICR SV1B Basic Actuator IP65 Power Cable 3604 1649 2 ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING 2 1 2 1 0 Cables and Pin outs CABLE TOLOMATIC CONNECTOR ON MATING CO
13. ICR SV1B Basic Actuator Digital Input Functionality SIGNAL NAME DESCRIPTION Extend Command Commands the actuator to move in the extend direction Forward is defined as extend Retract Command Commands the actuator to move in the retract direction Reverse is defined as retract Enable Enables the drive Disabling the drive will turn off the amplifier and engage the brake if installed E stop Emergency stop Removal of this signal will disable the drive and engage the brake if installed The remaining spare inputs and any designated inputs can be programmed at Tolomatic for custom applications Please consult Tolomatic for custom applications 2 2 1 Typical Wiring Connections pih o gt 24V SUPPLY INPUT gt INPUT COMMON GND Figure 2 7 ICR SV1B Basic Actuator Input Source switched Connection Tolomatic User Guide ICR Rod Style Integrated Control Actuator 2 5 2 ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING 2 2 1 Typical Wiring Connections cont zs gt INPUT T gt INPUT COMMON 24V POWER SUPPLY GND Figure 2 8 ICR SV1B Basic Actuator Input Source PNP Connection gt INPUT COMMON 24V POWER SUPPLY GND Figure 2 9 ICR SV1B Basic Actuator Input Sink switched Connection gt INPUT COMMON 24V POWER SUPPLY EN 4
14. Note The ICM is intended to be mounted to Tolomatic Actuators It does NOT have a NEMA or IEC standard mount 7 2 Tolomatic User Guide ICR Rod Style Integrated Control Actuator APPENDIX 7 EN 7 4 ICR LMI SV1B Basic and SV1P Plus Options Dimensions BRAKE TRUNNION STROKE BNOS BNO2 14 60 122 2 416 5 370 8 STROKE m STROKE STROKE 05 13 70 348 0 STROKE 0 TRUNNION MOUNT MRN 0 4717 11 981 0 4728 12 009 Tolomatic User Guide ICR Rod Style Integrated Control Actuator 7 3 7 APPENDIX E 7 5 RP SV1B Basic and SV1P Plus Options Dimensions BRAKE 2 07 52 6 1 00 25 4 BNO2 971 246 6 1093 STROKE 277 7 BNOS 7 06 179 3 STROKE kL H 0 5 13 5 IP65 4 MOUNTING PLATE
15. 4 1 1 Power Supply Sizing Guidelines Use the following tables to help determine the proper power source voltage for an application or call Tolomatic at 1 800 328 2174 or 763 478 8000 for assistance NOTE Green numbers indicate power supply required in Watts for the given speed and thrust indicated at outside margins 05 1 1 RATIO Required Power Watts THRUST Ibf 02 1 1 RATIO Required Power Watts THRUST Ibf 4 60 80 100 120 140 150 70 SPEED in sec 50 100 150 200 250 300 350 400 N e 66 MESE 118 199 300 25 0 26 47 95 123 154 186 204 57 Som 66 88 132 208 271 102 8 51 2 64 91 124 164 212 265 326 394 57 4 6 8 78 116 160 210 266 329 398 473 76 4 86 170 263 88 339 752 94 142 196 255 320 390 465 546 702 61 109 158 210 264 319 377 406 203 111 170 9233 300 372 448 528 613 127 10 77 133 191 251 313 376 441 475 254 130 198 270 345 422 503 587 152 12 94 159 226 294 363 434 506 543 305 150 228 308 389 472 556 178 14 113 187 262 338 415 493 572 612 356 171 259 346 433 519 203 16 134 217 300 383 468 552 638 681 406 194 290 384 476 229 18 5 206 306 404 241 20 222 445 667 890 1112 1334 1557 1779 as 22 157 248 8339 430 522 613 457 182 281 380 479 577 508 209 316 423 528 559 89 178 267 356 445 534 623 667 28 THRUST SPEE mm s THRUST SPEE mm s 4 1 4 POWER SUPPLY RECO
16. Figure 5 2 ICR SV1B Basic Actuator Home Position Tolomatic User Guide ICR Rod Style Integrated Control Actuator HOW TO USE THE ICR 5 1 BASIC ACTUATOR 5 EN 5 3 Extend Input Command The Extend input command extends the rod of the actuator and is activated by an external logic device such as a PLC Rod extension will continue until the Extend input command is de activated or the actuator reaches the rod extend limit set in the firmware If the Extend input command is deactivated during rod extension the actuator will decelerate to a stop and hold its position If the Retract input command is activated during rod extension the actuator will decelerate to a stop hold its position and activate a Fault output signal VELOCITY ACCELERATION 2 turn per inch ball screw 3 333 in sec 2 turn per inch ball screw 55 5 in sec 5 turn per inch ball screw 1 333 in sec 5 turn per inch ball screw 22 2 in sec Actuator receives Extend command from logic device TO POWER SOURCE o9 Actuator begins rod extension until Extend command is deactivated or rod extension limit is met Extend command is e deactivated during rod extension Actuator decelerates to stop and holds position Activating a Retract input command during rod extension will bring the actuator to a stop hold its position and activate a Fault output signal Figure 5 3 ICR SV1B Basic Actuator Extend Inp
17. SV1B Manufactured before 4 2013 The Force control potentiometer is used to set the actuator s force limit allowing it to stop and hold also known as push and hold in position The potentiometer setting must be between 10 100 of the actuator s capable Force output for the setting to be activated Settings of less than 1096 disable the Force control feature For example when the actuator makes contact and starts to build up force it keeps building force to threshold levels At that point the actuator stops and holds its position Push force for locating is best used under low velocity less than 3 76mm sec conditions to us the actuator time to react RETRACT FORCE fef Figure 5 12 ICR SV1B Basic Actuator Force Control Potentiometer Tolomatic User Guide ICR Rod Style Integrated Control Actuator 5 9 5 HOW TO USE THE ICR SV1B BASIC ACTUATOR This page intentionally left blank 5 10 Tolomatic User Guide ICR Rod Style Integrated Control Actuator How Use the ICR ICM SV1P Plus The Tolomatic ICR ICM SV1P Plus actuator incorporates Copley Controls Corporation drive and control components and utilizes their software to communicate to logic devices References to software programs and manuals are provided where applicable and are on the Tolomatic CD ROM that shipped with the actuator The manuals and software are also available online Web addresses are provided where appropriate through
18. Figure 5 10 Figure 5 11 Figure 5 12 Figure 6 1 Figure 6 2 Figure 6 3 Figure 6 4 Figure 6 5 Figure 6 6 Figure 6 7 Figure 6 8 Figure 6 9 Figure 6 10 Figure 6 11 Figure 6 12 Figure 6 13 Figure 6 14 Tolomatic User Guide ICR Rod Style Integrated Control Actuator LIST OF FIGURES f r Emerge ius orent ete tenen da 3 10 ICR ICM SV1P Plus Optional Electronic Brake Connection 3 11 ICR ICM SV1P Plus Single Device Setup for Optional Optional CANopen Position Control 3 12 ICR ICM SV1P Plus Multi drop RS 232 Setup RS 232 to Optional 3 13 ICR ICM SV1P Plus Multiple Device Setup for Optional CANopen DeviceNet 3 14 Maximum Load Velocity of System without a Voltage Control Device 4 2 Unregulated Power Supply Configuration with Shunt Regulator 4 3 Regulated Power Supply Configuration with Blocking Diode and Added cn ttr tene dett 4 3 Regulated Power Supply with Blocking Diode and Shunt Regulator 4 3 Shunt Regulator Input Wiring 4 4 Diode Wiring Diagram eene 4 4 ICR SV1B Basic Actuator Enable Input 5 1 ICR SV1B Basic Actuator Home 5
19. actuator Instead there are three potentiometers located on the top face of the actuator Controls are limited to Extend velocity Retract velocity and Force control Potentiometer adjustments can be made easily and simply by the use of a small screwdriver Figure 5 5 ICR SV1B Basic Actuator Velocity and Force Controls 5 8 1 Extend Velocity Potentiometer The Extend velocity potentiometer is used to set the Extend velocity of the actuator s rod The velocity range is stated from 2 100 of maximum velocity Changes made to the Extend velocity potentiometer setting will only take effect after the actuator is stopped and before the next motion is commanded Turn the potentiometer screw clockwise to increase the actuator s rod Extend velocity and counter clockwise to decrease the Extend velocity REAR FRC Figure 5 6 ICR SV1B Basic Actuator Extend Velocity Potentiometer Tolomatic User Guide ICR Rod Style Integrated Control Actuator HOW TO USE THE ICR SV1B BASIC ACTUATOR 5 5 8 2 Retract Velocity Potentiometer The Aetract velocity potentiometer is used to set the Retract velocity of the actuator s rod The velocity range is stated from 2 100 of maximum velocity Changes made to the Retract velocity potentiometer setting will only take effect after the actuator is stopped and before the next motion is commanded Turn the potentiometer screw clockwise to increase the actuator s rod Retract velocity and counter clo
20. 5 3 2 2 High Speed Digital 3 5 3 2 3 Typical Wiring Connections 3 6 3 3 Analog Inputs ICR ICM SVTP 3 7 3 4 Digital Outputs ICR ICM SV1P 3 7 3 5 Input Power ICR ICM SV1P PluS haies pni 3 9 3 6 Optional Electronic Brake ICR ICM SV1P 3 11 3 7 ICR ICM Plus SetuD 3 12 3 7 1 Single Device Setup for Optional CANopen Position Control 9 12 3 7 2 Multi drop RS 232 RS 232 to Optional CANopen Setup 3 12 3 7 3 Multiple Device Setup for Optional CANopen and DeviceNet 3 14 3 8 Environmental Conditions 3 14 Power Supply Recommendations 4 1 Regulated and Unregulated Power Supplies 4 1 4 1 1 Power Supply Sizing Guidelines concinit tenens 4 1 4 1 2 System Power Overloading Considerations 4 2 4 1 3 Suggested Power Supplies anas 4 3 RE ES eU ci aaa 4 4 Rm 4 4 How to Use the ICR SV1B Basic 5 1 5 1 Enable Input Command 5 1 5 2 L Rd 5 2 5 3 Extend Input Command 5 3 5 4 Retract Input Command sss 5 4 E 5 5 s C 5
21. 5 08 Screw 10 21 000 6 250 Static Load 93 413 27 801 Screw lbf 3 400 825 Dynamic Load 15 124 3 670 Back Drive 7 5 12 5 Force 33 4 55 6 in ft 0 003 0 003 0 02 0 02 in 0 015 0 015 Backlash wem 0 38 0 38 b 150 400 m N 667 1779 bf 142 5 360 N 633 9 1601 b 285 720 n und W 1267 7 3202 7 LMI1 1 b 80 215 356 956 RP 1 1 b 76 193 5 N 338 860 7 e b 152 387 rer N 676 1721 5 in 24 24 M trok ed 609 6 609 6 Base Weight b 9 31 7 77 LMI kg 4 22 852 Base Weight 0 11 79 10 25 1 1 209 4 65 Base Weight 0 11 99 10 45 n vertical applications an 2 1 kg 5 44 4 74 unpowered ICR actuator will Weight unit Ib in 0 345 0 313 require brake to maintain of stroke kg mm 0 0062 0 0056 position if the load on the deg F 50 50 actuator exceeds this value The Min temp PEU 10 10 brake option must be requested d 9 122 122 the time the actuator is Max temp eg ordered as it requires factory O installation See page 2 8 for NOTE Performance de rating will be necessary at ambient the ICR SV1B Basic and page temperatures greater than 25 deg C 77 deg F 3 11 for the ICR ICM SV1P Plus rating Sid 40 40 for brake specifications and IP rating option 65 65 requirements Max degrees 0 25 to 1 25 Performance de rating will be necessary at ambient RoHs Compliant Components greater 77 5 0 Approval Pen
22. IP65 5 meter 3604 1648 Amphenol 02 16 26 027 Amphenol 06 16 265 476 This type of mating connection is used on Tolomatic supplied cables Reference this type of mating connector for customer designed cables PIN NUMBERS STD IP65 DESCRIPTION CABLE WIRE COLOR 1 A 5232 Red Black White 2 B 5232 TX Orange Green 3 C Pulse White 4 D Direction Orange 5 E Reference Blue 6 F Reference in Blue Black 7 G Digital Ground Green 8 H Analog Ground White Black 9 J In 1 Orange Black 10 K In 2 Red White 11 L In 3 Green White 12 M In 4 Blue White 13 N Input Common White Black Red 14 P In 6 White Red 15 R In 5 Orange Red 16 S In 8 Blue Red 17 T In 7 Red Green 18 U Digital Out 1 Green Black White 19 V Digital Out 1 Green Black 20 W Digital Out 2 Black White Red 21 X Digital Out 2 Black White 22 Y 24 V Brake Power Input Red Black 23 2 Brake Power Input Ground Black Red 24 a 24 V Keep Alive Red 25 b Ground Black Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING
23. T gt INPUT GND Figure 2 10 ICR SV1B Basic Actuator Input Sink NPN Connection 2 6 Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING 2 E 2 3 Digital Outputs ICR SV1B Basic Actuator The ICR SV1B Basic actuator has 3 digital outputs 2 of them are implemented The outputs are both sinking and sourcing and are protected against over current and short circuit conditions Once an over current condition is present the output turns off until the load is removed The power is generated internally 24VDC A OUTPUT ot 10 Figure 2 11 ICR SV1B Basic Actuator Output Interface Circuit Diagram ICR SV1B Basic Actuator Digital Output Specifications Output high minimum 10 mA source 24 V power 20V Output low maximum 10 mA sink 2V Maximum continuous current 20 mA Fold back current 85 mA Maximum output sink source voltage 24V Update rate 2 ms ICR SV1B Basic Actuator Digital Output Functionality SIGNAL NAME DESCRIPTION In Position Output will go high when the actuator is not moving Fault Output will go high when an error is present The spare and any designated outputs can be programmed at Tolomatic for custom applications Please consult Tolomatic for custom applications Tolomatic User Guide ICR Rod Style Integrated Control Actuator 2 7 2 ICR SV1B BASIC EL
24. Voltage Range 0 to 26 Vdc On State Voltage Range 10 to 26 Vdc Off State Voltage Range 0 to 4 Vdc On State Current 10 Vdc minimum 1 5 mA 24 Vdc nominal 5 mA 26 Vdc maximum 5 5 mA Nominal input impedance 24V 4 8K Ohm Off State Current maximum 0 4 mA Update rate maximum 0 3 ms 3 2 2 High Speed Digital Inputs The ICR ICM SV1P Plus actuator has two high speed digital inputs for pulse direction These inputs are not isolated accept TTL levels and are referenced to digital ground ICR ICM SV1P Plus High Speed Digital Input Specifications Input Voltage Range 0 to 5 5 Vdc Positive Going Threshold 3 5 Vdc Negative Going Threshold 0 9 Vdc Nominal Input Impedance 24V 4 8K Ohm Off State Current maximum 0 4 mA Input Filter 100ns 3 5 3 ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING HIGH SPEED INPUT gt ANV 1k 100p Figure 3 7 ICR ICM SV1P Plus High Speed Digital Input Circuitry 3 2 3 Typical Wiring Connections MEN 24V POWER SUPPLY 9 INPUT gt INPUT COMMON GND Figure 3 8 ICR ICM SV1P Plus Source switched Connection gt 24V POWER SUPPLY T gt COMMON GND Figure 3 9 ICR ICM SV1P Plus Source PNP Connection gt INPUT COMMON 24V POWER SUPPLY Figure 3 10 ICR ICM SV1P Plus Sink switched Connection
25. a CAN node use the CME 29 software for setup and configuration The software is furnished on the CD shipped with the Tolomatic ICR actuator You may also download 2 software from the Tolomatic web site at www tolomatic com resources Make these selections from the drop down menus Product Line Electric Linear Motion Resource Type Software Communication Cable To CAN Master 1m 3604 1659 5m 3604 1660 or purchase appropriate flying lead CAN DeviceNet cable ser Signal 1 0 Cable 24V to Power Switch Std 3604 1640 IP65 3604 1648 2 lt SS CAN MASTER PLC HMI or PC CAN Address 0 required sS b 0 ss Power Cable Power Source Std 3604 1641 IP65 3604 1649 ACTUATOR 1 CAN Node Terminator b CAN Address 1 Male 3604 1653 required Female 3604 1654 Figure 3 21 ICR ICM SV1P Plus Single Actuator Setup for optional CANopen Position Control 3 7 2 Multi drop RS 232 RS 232 to optional CANopen Setup The RS 232 specification does not support multi drop multiple device connections as does RS 485 CAN However it is possible to address multiple CAN enabled ICR Plus actuators from a single RS 232 port First an RS 232 connection is made between a computer and actuator 1 which must have the CAN address of 0 Normally this address is not allowed for CAN nodes but in this case a ctuator 1 Tolomatic User Guide ICR Rod Style I
26. and Line States screens The Indexer 2 Program in the amplifier s flash memory will be displayed The numbers of sequences which have been programmed with steps will be displayed with a green background as some of the sequences shown below The Line States screen shows real time status of the amplifier s digital inputs and outputs Copley Virtual Machine Indexer Program E e ni x File View Run Tools Help 1 0 Line States ____ zici xd Program setup Debug Inputs Outputs 123456 7 8 9101112 43 44 12 3 4 ame 5 Priority Lo Lo Lo Hi Hi Lo Hi Lo Hi Hi Hilo X X Lo Hi Hi Isable Amp Lift Arm Drop Arm Move Forward 5 Sequence 5 6 Sequence 6 7 Sequence 7 1 Disable Amplifier This step will disable the amplifier Error Handling Sequence 20 1 Sequence 21 Action abort Sequence 7 2 Sequence 22 23 Sequence 23 a Sequence E 4 Sequence 24 memory usage 25 Control Program Not Running Decoded BCD pins 24 Figure 6 8 CVM Control Program Indexer 2 Program and 1 0 Line States For complete information on programming functions ASCII commands over serial homing and loading configurations from files using the indexer program refer to the Indexer 2 Program User Guide Indexer user on the Tolomatic CD ROM that shipped with the ICR Plus actuator Tolomatic
27. and loaded by Tolomatic at the factory The amplifier file contains setup motor and tuning information allowing the actuator to operate once it is powered The default mode of operation is in a position mode via a program Input 1 is predefined as enable Input 11 internal is the motor temperature switch Digital output 4 is predefined as the brake output If the actuator becomes inoperable for any reason it can be returned to factory defaults by copying the amplifier data Follow steps 1 though 5 in the procedure outlined in CME 29 User Guide Appendix A Copy Amplifier Data then load the ICRSVIP ccx file provided with the ICR ICM SV1P Plus IN1 Enable IN11 Motor Temp Switch 6 7 2 Saving Amplifier Files If any changes to setup motor or tuning have been made a new amplifier can be saved to the disk with the following procedure Click on the Save amplifier data to disk icon on the tool bar Figure 6 7 2 Save Amplifier Data To Disk Icon d av Tolomatic User Guide ICR Rod Style Integrated Control Actuator HOW TO USE THE ICR ICM SV1P PLUS ACTUATOR 6 EN 6 8 Command Sources 6 8 1 Programmable Command The Indexer programming environment can be used to develop and execute programs to operate the ICR Plus actuator To access the Indexer 2 program click on the CVM Copley Virtual Machine Control Program button on the CME 29 main screen to open the ndexer 2 Program
28. means The manufacturer takes no protecting against over voltage conditions should be implemented with a shunt responsibility whatsoever regulator or sufficient bulk capacitance if the equipment is modified or 4 the Fail Safe e Stop Recommendations equipmentss usen In any A means for a fail safe e stop is highly recommended to ensure equipment and way beyond performance iin personal safety The e stop should provide a means to remove main power from the specifications actuator to cease and prevent any unwanted motion Unauthorized modifications or changes to the t are strictly Device Damage Prevention forbidden and voids all To prevent permanent damage to the device proper care should be taken not to exceed published voltage current temperature and load ratings In addition proper wiring should be verified and safety measures checked before applying power Tolomatic User Guide ICR Rod Style Integrated Control Actuator vii HEALTH AND SAFETY REGULATIONS viii Personal Safety During normal operation the actuator can become hot especially the motor housing It is highly recommended to display proper safety notices and implement proper safety measures to prevent contact with hot surfaces In addition the case ground should be tied to an earth ground to prevent the presence of case voltage Handling and Unpacking When unpacking and handling the actuator care should be taken not to drop the actuator as
29. or sized for application Logic Power Fuse 2 Amp 125V or equivalent FUSE 4 gt KEEP ALIVE FUSE E STOP 4 t gt 24 48VDC POWER 24 to 48VDC SHUNT UNREGULATED REGULATOR POWER SUPPLY 7 POWER GROUND gt CASE SHIELD GROUND 77 Figure 4 2 Unregulated Power Supply Configuration with Shunt Regulator FUSE KEEP ALIVE FUSE DIODE E STOP oN O gt gt 24 48VDC POWER 24 to 48VDC NE REGULATED 1 CAPACITOR POWER SUPPLY 7 gt POWER GROUND gt CASE SHIELD GROUND 777 Figure 4 3 Regulated Power Supply Configuration with Blocking Diode and Added Capacitance FUSE gt KEEP ALIVE DIODE E STOP FUSE 7 24 48vDC POWER 24 to 4806 SHUNT REGULATED REGULATOR POWER SUPPLY E 7 POWER GROUND gt CASE SHIELD GROUND 77 Figure 4 4 Regulated Power Supply with Blocking Diode and Shunt Regulator Tolomatic User Guide ICR Rod Style Integrated Control Actuator 4 3 4 POWER SUPPLY RECOMMENDATIONS WARNING Do not reverse polarity of the power input AAA CAUTION The resistor and the heat plate can become hot during operation CAUTION Do not apply continuous voltage over the trip voltage to the regulator as this will cause excessive heating 4 1 4 Shunt Regulators Shunt regulators work with the ICR Plus and Basic actuators to prevent over volt
30. this can damage the connectors internal electronics or knock the actuator out of alignment Since this is an electromechanical device proper ESD measures should be taken to avoid static electricity from contacting the signal and power lines of the device Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR Basic and ICR Plus Product Overview 1 1 The ICR SV1B Basic and ICR ICM SV1P Plus SmartActuators Tolomatic s ICR rod style SmartActuators offer all in one control with a controller drive and motor integrated in one compact easy to use component Both SV1B Basic and SV1P Plus actuators provide 10096 duty cycle for continuous operation W 1 1 1 SV1B Basic Overview Capabilities e 2 position extend retract e 4 inputs Enable E Stop Fwd Rev e Independent extend retract speed e 2 outputs 24V line driver fault control in position Mid stroke positioning with sensors e 24 Vdc opto isolated inputs NPN PNP Force control limiting P65 option For protection against 100 duty cycle for continuous water and dust ingress operation Modes of Operation The ICR Basic needs only a 24 or 48 Vdc power supply and a logic device for operation Setup Procedure 1 Mount the ICR Basic actuator to suit the application requirements 2 Wire the 24 or 48 Vdc power supply to the actuator See Section 4 Power Supply Recommendations 3 Wire Extend Retract Enable E Stop i
31. 0 158 10 70 C Humidity 0 95 non condensing IP Rating 40 standard 65 optional EN 2 7 ICR SV1B Basic Actuator Setup Figure 2 16 shows the simple setup of the ICR Basic and the necessary cables and power source PLC HMI or PC Signal 1 0 Cable Connects to Logic Device 24 10 Power Switch Std 3604 1640 IP65 3604 1648 Logic Device Signals Actuator and Sensing Power Cable To Power Source Devices Std 3604 1641 IP65 3604 1649 Figure 2 16 IGR SV1B Basic Actuator Setup Tolomatic User Guide ICR Rod Style Integrated Control Actuator 2 11 2 ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING This page intentionally left blank 2 12 Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR ICM SV1P Plus Electrical Interface Specs amp Wiring i EN 3 1 Cabling and Connectors ICR ICM SV1P Plus CAUTION Reversing polarity of the input power will damage the actuator s internal drive mechanism Tolomatic User Guide ICR Rod Style Integrated Control Actuator Tolomatic cables are available in standard and IP65 classifications When using cables other than those provided by Tolomatic reference the cable mating connector style to ensure the proper cabling is supplied to the ICR actuator 3 1 1 Power Cables and Pin outs CABLE TOLOMATIC CONNECTOR ON MATING CONNECTOR PART NO ACTUATOR ON CABLE Power St
32. 1 3 979 025 030R121 s RED BLK WHT 5 ORG GRN GRN Mid NORCOMP P N REF 171 025 203L001 NORCOMP P N CAROL P N 979 025 030R121 REF 171 009 203L001 4 79 009 030R121 J 38 1 WIRE TIE BA 71 NS Figure 2 3 ICR SV1B Basic Actuator Standard Cable 3604 1640 __ 101 400 NORCOMP PIN AMPHENOL P N I NORCOMP P N AMPHENOLP N 171 009 20 LL PIT PTOGEI6 26S 476 979 000 030R121 E RED BLK WHT prem P N C0748A mE 1016 400 L 5 0 Figure 2 4 ICR SV1B Basic Actuator IP65 Cable 3604 1648 Tolomatic User Guide ICR Rod Style Integrated Control Actuator 2 3 2 ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING 2 1 3 Cable Routing Over time liquid contaminants such as oil and cleaning solutions may accumulate on the cables and in the connectors if they are an exposed type To minimize the introduction of contaminants into the connector route the cables so that there is a loop in the cable just prior to its attachment to the connector Two examples are shown below depending on the
33. 3604 1660 CAN address can be saved in flash CAN OUT ACTUATOR 3 CAN Node memory or set by digital inputs 27 CAN Address 2 optional Terminator Male 3604 1653 Female 3604 1654 All actuators must have different CAN addresses in network e Last and first actuator must have 120 O terminating resistor Figure 3 22 ICR ICM SV1P Plus Multi drop RS 232 Setup RS 232 to optional CANopen Tolomatic User Guide ICR Rod Style Integrated Control Actuator 3 13 3 ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING 3 7 3 Multiple Device Setup for optional CANopen and DeviceNet This multiple actuator setup configuration is cabled similar to the Multi drop RS 232 setup with the addition of a CAN IN cable from actuator 1 routed to a CAN Master device such as a HMI PLC or PC Signal 1 0 Cable ep am 24V to Power Switch Std 3604 1640 Communication Cable To CAN Master 65 3604 1648 1m 3604 1959 5m 3604 1660 or purchase appropriate flying lead CAN DeviceNet cable PLC HMI or PC CAN Address 0 required Power Cable To Power Source Std 3604 1641 65 3604 1649 ACTUATOR 1 CAN OUT E CAN Node fs CAN Address 1 required Communication Cable 1m 3604 1959 5m 3604 1660 ACTUATOR 2 CAN Node CAN Address 2 optional Communication Cable 1m 3604 1959 CANopen DeviceNet Rules 5m 3604 1
34. 5 Nar Os IO Rm 5 5 MT aus 5 6 5 8 1 Extend Velocity 5 6 5 8 2 Retract Velocity 5 7 5 8 3 Force Control Potentiometer 5 7 5 9 User Interface SV1B Manufactured before 4 2013 5 8 5 9 1 Extend Velocity Potentiometer 5 8 5 9 2 Retract Velocity 5 9 5 9 3 Force Control Potentiometer ioci ta qain emen 5 9 Tolomatic User Guide ICR Rod Style Integrated Control Actuator CONTENTS 6 How to Use the ICR ICM SVIP Plus 6 1 6 1 Host Computer Requirements sss 6 1 6 1 1 Hardware Requirements 2 6 1 6 1 2 Operating Systems 5 6 1 63 SOMWA RES 6 1 6 2 Install the 2 Software 6 2 6 2 1 Web Download Install ne 2 6 2 6 2 2 CD ROM Install 6 2 6 3 Start the 29 SoflWare o toa quado 6 2 6 3 1 Initial Communication Selup tee tette 6 2 6 4 Configure Serial Port Parameters RS 232 and DeviceNet
35. 660 CAN Master must have CAN address 0 ACTUATOR 3 CAN address can be saved in flash CAN QUT CAN Node t by digital input memory or set by digital inputs Terminator 2 3 All actuators must have different Male 3604 1653 p CAN addresses in network Female 3604 1654 Last actuator must have 120 Q terminating resistor Figure 3 23 ICR ICM SV1P Plus Multiple Actuator Setup for optional CANopen DeviceNet Operation 3 8 Environmental Conditions ICR ICM SV1P Plus Operating Environment Ambient Temperature 77 F 25 C Nominal Operating Temperature 50 122 10 50 de rate performance above 77 F 25 C Storage Temperature 50 158 F 10 70 C Humidity 0 95 non condensing IP Rating 40 standard 65 optional 3 14 Tolomatic User Guide ICR Rod Style Integrated Control Actuator Power Supply Recommendations 4 4 EN 4 1 Regulated and Unregulated Power Supplies WARNING All installations should provide a means for a hardware emergency stop that removes power from the actuator in an emergency condition The actuator emergency stop function should not be relied on when safety is required It is recommended to disconnect only the bus power and keep the power ground line connected Tolomatic User Guide ICR Rod Style Integrated Control Actuator Both unregulated and regulated power supplies can be used to power the ICR actuator Unregulated supplies can b
36. Bar contains 11 icons Their description and functions are explained in the table below CME 2 User Interface Tool Bar Icons and Functions Basic Setup Icon Opens the Basic Setup Screen Control Panel Icon Opens Control Panel Not required because the ICR actuator is pre set at Auto Phase Icon Tolomatic Not required because the ICR actuator is pre tuned Auto Tune Icon at Tolomatic Scope Icon Opens the Scope window Tolomatic User Guide ICR Rod Style Integrated Control Actuator 6 5 6 HOW TO USE THE ICR ICM SV1P PLUS ACTUATOR CME 2 User Interface Tool Bar Icons and Functions con t Amplifier Properties Icon Displays basic amplifier properties call Save Amplifier Data to Disk Icon Saves contents of amplifier RAM to a disk file Restore Amplifier Data From Restores an amplifier file from disk to amplifier Disk RAM Save Amplifier Data to Flash Saves contents of amplifier RAM to flash memory i Restore Amplifier Data from Restores contents of flash memory to amplifier Flash RAM For complete details on the File Amplifier Tools and help menu choices and functional diagram refer to the CME 29 User Guide furnished on the CD ROM that shipped with the ICR Plus actuator Emu 6 7 ICR ICM SV1P Plus Amplifier Files 6 7 1 Loading the Amplifier Files The amplifier file for the ICR ICM SV1P Plus actuator is configured
37. CR Rod Style Integrated Control Actuator 1 3 1 ICR BASIC AND ICR PLUS PRODUCT OVERVIEW Brake Option Tolomatic offers a spring applied electronically released brake at the time of ordering for applications with vertical orientation heavy load requirements and energy savings when the actuator is not in use Refer to page 2 8 for the ICR Basic and page 3 11 for the ICR Plus brake option details Cable Options Tolomatic also provides 5 meter signal and power cables for both the ICR Basic and ICR Plus An additional communication cable is available in either 1 meter or 5 meter lengths for the ICR Plus All cables are available in either standard or IP65 Starter Kit ICR Plus Only Tolomatic offers a Starter Kit Part No 2180 9100 for use with optional CANopen USB computer connections and multi actuator applications The kit includes USB to CAN converter 3604 1627 Adapter cable for USB to CAN converter 3604 1626 Male terminator resistor 3604 1653 Switches Switches are available in reed solid state PNP or NPN in normally open or normally closed 1 4 Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR BASIC AND ICR PLUS PRODUCT OVERVIEW 1 1 1 4 ICR Mechanical Specifications Unit 02 BN05 Screw Type Ball Ball Screw Pitch tpi 2 5 in 0 75 0 63 Screw Diameter p 191 159 in rev 0 500 0 200 Screw Lead mm rev 12 70
38. ECTRICAL INTERFACE SPECS amp WIRING EN 2 4 Optional Electronic Brake ICR SV1B Basic Actuator Tolomatic offers an optional spring applied electronically released brake that can CAUTION be used with the actuator to keep the actuator from back driving typically in vertical applications It can also be used for safety reasons or for energy savings allowing Operating an ICR actuator actuator to hold position when unpowered The drive is signaled to apply the with a brake installed brake which holds the actuator s position prior to disabling the actuator The brake without providing brake option is not a service part and must initially be ordered with the actuator as it is power can damage the internally configured with the drive brake and the actuator If a brake is installed in the actuator a 24V power source is needed The brake power is on pin 22 for the standard cable and on pin Y for IP65 cable The return is on pin 23 for the standard cable and on pin Z for IP65 cable See 1 0 Cable outs on page 2 2 The controller will automatically engage disengage the brake using this power An unpowered ICR actuator will require a brake to maintain its position if the force on the actuator exceeds the following requirements BNO2 screw 7 5 lbf 33 4 BNO5 screw 12 5 Ibf 55 6 Electronic Brake Power and Specifications Input Voltage minimum 21 6 Vdc Input Voltage nominal 24 V
39. MMENDATIONS 05 2 1 RATIO Required Power Watts 02 2 1 RATIO Required Power Watts Required Power Watts 4 1 2 System Power Overloading Considerations For applications with large load requirements care should be taken to prevent the system from generating adverse amounts of power resulting in overloading and possible failure of the actuator Speeds and loads that exceed the amounts indicated in the graph will require a means to control regen energy Use the shunt regulator Part No 2180 1163 for preventing over voltage conditions Screw terminals are marked with and and should be connected to the regulated bus see page 4 4 LOAD N 22 6 80 1112 25 635 20 508 8 2 15 381 gt 910 254 5 127 BN02 BN05 0 0 100 150 200 250 LOAD Ib Figure 4 1 Maximum Load Velocity of System without a Voltage Control Device 4 2 Tolomatic User Guide ICR Rod Style Integrated Control Actuator POWER SUPPLY RECOMMENDATIONS 4 __ _ x 4 1 3 Suggested Power Supplies Switching Power Supply Lambda SWS600 48 Unregulated Power Supply International Power 500036 Bus Fuse 15 Amp 125V or equivalent
40. NNECTOR PART NO ACTUATOR ON CABLE 0 Std 5 meter 3604 1640 Norcomp 171 025 103L001 Norcomp 171 025 203L001 1 0 IP65 5 meter 3604 1648 Amphenol 02 16 26 027 Amphenol 16 265 476 This type of mating connection is used on Tolomatic supplied cables Reference this type of mating connector or customer designed cables PIN NUMBERS TECHNICAL INFO STD IP65 DESCRIPTION CABLE WIRE COLOR PAGE NO 1 A 2 B 3 C 4 D 5 E 6 F 7 G 8 H 9 J Enable Orange Black T 10 K E Stop Red White 11 L 12 M Extend Command Blue White 13 N Input Common White Black Red 2 5 14 P Retract Command White Red 15 R 16 5 17 T 18 U In Position Output Green Black White 19 V Ground Green Black 557 20 W Fault Output Black White Red 21 X Ground Black White 22 Y 24 V Brake Power Input Red Black 2 8 23 Z Ground Black Red 24 a 24 V Keep Alive Red 2 9 25 b Ground Black Signal grounds not needed for operation Grounds on signal connector are common to ground or power connector It is recommended to leave thee unconnected unless specifically required or the application Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING 2 NORCOMP P N 171 009 203L001 NORCOMP P N 979 009 030R121 171 025 203L00
41. S direct connect ER E LID POINT REED ICR20 gt E SWITCHES SIT BELOW se uBE EXTRUSION PROFILE 31 8 51 13 197 5000 1 10 27 9 QD Quick disconnect switch M8x1 C x LN tz j E B 13 35 339 8100 9180 QD Cable 1 26 32 1 95 24 1 M8x1 0 35 9 LI 0 28 7 197 5000 gt Tolomatic User Guide ICR Rod Style Integrated Control Actuator 7 5 7 APPENDIX E 7 7 Maintenance and Inspection The ICR Basic and Plus SmartActuators are lubricated for the life of the actuator No additional lubrication is required Due to the Controller Drive Motor assembly process integral to the ICR actuator there are no user serviceable components in the SmartActuator Disassembly of the actuator is not recommended ICR SmartActuators should be returned to Tolomatic for evaluation and repair Should the return of the actuator be necessary call our customer service department and ask for a Return Authorization Number Package the product securely and return to Tolomatic Tolomatic Inc 3800 County Road 116 Hamel MN 55340 1 800 328 2174 763 478 8000 E 7 8 Product Warranty Tolomatic Inc warrants all products manufactured by it to be free from defects in material and workmanship for a period of one year from date of shipment by Tolomatic If within this period any product is proven to be de
42. User Guide ICR Rod Style Integrated Control Actuator 6 7 6 HOW TO USE THE ICR ICM 5 1 PLUS ACTUATOR 6 8 2 Analog Command The ICR Plus actuator can be driven by an analog voltage signal through the Analog Command input The amplifier can convert the signal to a current torque velocity or position mode When using the ICR Plus actuator select the position operating mode The encoder on the ICR Plus is not exposed through the connectors and requires a factory modification in order to utilize the current and velocity mode scaling parameters Contact Tolomatic if current or velocity modes of operation are required To program the ICR Plus actuator using the analog input as the command source 1 In the Basic Setup screen navigate to the Operating Mode Options screen 2 Select Position for the Operating Mode 3 Select Analog for the Command Source Basic Setup Operating Mode Options Operating Position Command Source Figure 6 9 2 Basic Setup Operating Mode for Analog Command Source 4 Referto the 2 User Guide Section 7 1 Analog Command Settings supplied on the CD ROM shipped with the ICR Plus actuator for complete information on using the analog command setting parameters 6 8 Tolomatic User Guide ICR Rod Style Integrated Control Actuator HOW TO USE THE ICR ICM SV1P PLUS ACTUATOR 6 6 8 3 Digital Input Command digital input can be used to command the actuator in a pul
43. ad The recommended margin for servo motors is 15 Where Tyg TY RMS Thrust sum t Vays RMS Velocity T Thrust during interval i Vee sum 2 x t V Velocity during interval i sum t t Time interval 1 1 7 ICR Screw Life The 10 expected life of a ball screw linear actuator is expressed as the linear travel distance that 90 of properly maintained ball screws manufactured are expected to meet or exceed This is not a guarantee and the graph in Figure 1 3 should be used for estimation purposes only All curves represent properly lubricated and maintained actuators The underlying formula that defines this value is Where L Dynamic load rating lbf Cubic mean applied load 16 L millions of inches LMI amp RP 1 1 Ratio RP 2 1 Ratio THRUST N THRUST N 890 1 000 000 6 445 1334 1779 25 400 1 000 000 890 1334 2 669 3 559 25 400 2 54 8 100 000 N 5 100 000 10 000 10 000 a 000 1 000 zg LIFE millions of meters e e 100 LIFE millions of meters LIFE millions of inches LIFE millions of inches 254 10 m BN05 1 400 0 400 600 THRUST Ibf 00 200 300 THRUST Ibf Figure 1 3 ICR Ball Screw Life Tolomatic User Guide ICR Rod Style Integrated Control Actuator 1 7 1 ICR BASIC AND ICR PLUS PRODUCT OVERVIEW 1 1 8 ICR System Critical Speed
44. add serial ports select them from the Available Ports list then press Add To remove serial ports selectthem from the Selected Ports list then press Remove Available Ports Selected Ports COMS lt Remove Back Cancel Figure 6 3 Communication Wizard Serial Port Screen Tolomatic User Guide ICR Rod Style Integrated Control Actuator 6 3 6 HOW TO USE THE ICR ICM 5 1 PLUS ACTUATOR 2 To add ports from the Available Ports list select the serial ports to be used for amplifiers and click Add 3 To remove ports from the Selected Ports list select the serial ports and click Remove 4 Click Next to save selections and open the Communications Wizard Configure Serial Ports screen Configure Serial Ports Select one or more serial ports from the list then select the baud rate Selected Ports 5 Baud Rate 15200 Back i Cancel Figure 6 4 Communication Wizard Configure Serial Ports Screen 5 From the Selected Ports list highlight the port desired and select a Baud Rate Repeat for each port selected and click Finish to save changes EN 6 5 Configure CAN Network Parameters A CAN port can be used to connect the host PC to one or more amplifiers Use the following instructions to configure CAN Network settings 1 In the Communications Wizard Device Selection screen select CAN Network Click Next to open the Communications Wizard Configure CAN Netw
45. age conditions The shunt regulator has screw terminals marked with and which should be connected to the regulated bus Shunt Regulator Specifications 2180 1163 Voltage Range 24 80 VDC Shunt Resistance 50 Ohms Continuous Power Dissipation 50 Watts Peak Power Dissipation 800 Watts Continuous power dissipation will vary based on installation and ambient conditions Power at nominal trip voltage If additional power dissipation is needed additional regulators may be paralleled 24 48VDC POWER SHUNT REGULATOR POWER GROUND lt Figure 4 5 Shunt Regulator Input Wiring Diagram 4 1 5 Diodes A diode with a minimum blocking voltage of 50V is suggested with a forward current rating of 1 5X peak current rating of the application ANODE CATHODE gt 2 TO SHUNT REGULATOR AND ACTUATOR 24 to 48VDC HIGH POWER POWER SUPPLY I gt TO SHUNT REGULATOR AND ACTUATOR Figure 4 6 Diode Wiring Diagram Tolomatic User Guide ICR Rod Style Integrated Control Actuator How to Use the ICR SV1B Basic Actuator EN 5 1 Enable Input Command The Enable input command allows the user to enable and disable the internal drive mechanism with a digital signal In the Enabled state the actuator will hold its current position without back driving When the Enable input command is de activated the actuator is free to back dr
46. ailable on the Tolomatic CD ROM that shipped with the ICR Plus actuator It is also available on the Tolomatic web site TOLOMATIC SOFTWARE CHANGE HISTORY Date Firmware CME 2 Software Release 1 90 5 3 11 10 2011 3 12 6 0 2 21 2013 3 26 6 0 6 2 1 Web Download Install Choose or create a folder location to download the software installation file Navigate to http www tolomatic com resources index cfm Make these selections Click on product line Electric Linear Motion then click on resource tab Software Choose the CR Plus SmartActuator Setup Software v6 0 link Click and save the nstaller zip file to the selected folder Extract the contents of the zip file to the same location The folder should contain the Setup exe file Run the setup exe file 6 2 2 CD ROM Install ie Insert the Tolomatic CD ROM supplied with the ICR Plus actuator Inserting the CD will cause the installation script to launch and a CME 2 installation screen appears If not navigate to the root directory and double click on the Setup exe file Respond to the prompts on the CME 2 installation screens to complete the installation It is recommended to accept all the default installation values If using Windows Vista reference the installation notes on page 6 1 6 3 Start the CME 29 Software 6 3 1 Initial Communication Setup 6 2 Double click the 29 shortcut icon on the Windows desktop
47. ain drive power The keep alive input voltage and the main power inputs have independent power supplies and do not require the same voltage for operation FUSE gt KEEP ALIVE FUSE 24 48VDC POWER _ 24 to 48VDC 24 to 48VDC HIGH POWER POWER SUPPLY POWER GROUND CASE SHIELD GROUND lt EE Figure 2 13 ICR SV1B Basic Actuator Logic and Main Power Supplies Tolomatic User Guide ICR Rod Style Integrated Control Actuator 2 9 2 ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING FUSE 24 48VDC POWER lt 24 to 48VDC HIGH POWER POWER SUPPLY POWER GROUND lt 7 CASE SHIELD GROUND lt 77 Figure 2 14 ICR SV1B Basic Actuator Single Supply Power EMERGENCY STOP EXTERNAL SWITCH FUSE 24 48VDC POWER FUSE KEEP ALIVE T 24 to 48VDC HIGH POWER POWER SUPPLY POWER GROUND lt CASE SHIELD GROUND lt Figure 2 15 ICR SV1B Basic Actuator Single Supply External Cut off Switch for Emergency Stop 2 10 Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING 2 ENS 2 6 Environmental Conditions ICR SV1B Basic Actuator Operating Environment Ambient Temperature 7T F 25 C Nominal Operating Temperature 50 122 E 10 50 C de rate performance above 77 F 25 C Storage Temperature 5
48. ckwise to decrease the Retract velocity EXT GREASE RC Figure 5 7 ICR SV1B Basic Actuator Retract Velocity Potentiometer 5 8 3 Force Control Potentiometer The Force control potentiometer is used to set the actuator s force limit allowing it to stop and hold also known as push and hold in position The potentiometer setting must be between 10 100 of the actuator s capable Force output for the setting to be activated Settings of less than 10 disable the Force control feature For example when the actuator makes contact and starts to build up force it keeps building force to threshold levels At that point the actuator stops and holds its position Push force for locating is best used under low velocity less than 3 sec 76mm sec recommended conditions to give the actuator time to react EXT RET FRE r gt Figure 5 8 ICR SV1B Basic Actuator Force Control Potentiometer Tolomatic User Guide ICR Rod Style Integrated Control Actuator 5 7 5 HOW TO USE THE ICR SV1B BASIC ACTUATOR 5 9 User Interface SV1B Manufactured before 4 2013 CAUTION Do NOT overturn potentiometers Each potentiometer has a 240 range of motion Exceeding the mechanical limits of the potentiometer will result in permanent damage 5 8 There is no software or graphical user interface GUI for the ICR SV1B Basic actuator Instead there are three potentiometers located on the front face of the actuator Contro
49. current Achievable continuous current will depend on temperature Drive will shut down at 56V any voltage above the absolute max voltage can result in permanent damage 3 Drive will turn off below this voltage Logic current for keep alive no outputs active The drive and logic keep alive power share the same ground Drive logic circuitry can be powered from the keep alive input or the main drive power The keep alive input voltage and the main power inputs have independent power supplies and do not require the same voltage for operation FUSE KEEP ALIVE FUSE 24 48VDC POWER lt 24 to 48VDC 24 to 48VDC HIGH POWER SUPPLY POWER GROUND e CASE SHIELD GROUND lt En Figure 3 17 ICR ICM SV1P Plus Logic and Main Power Supplies Tolomatic User Guide ICR Rod Style Integrated Control Actuator 3 9 3 ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING FUSE 24 48VDC POWER lt 4 24 to 48VDC HIGH POWER POWER SUPPLY POWER GROUND lt 7 CASE SHIELD GROUND lt Figure 3 18 ICR ICM SV1P Plus Single Supply Power EMERGENCY STOP EXTERNAL SWITCH FUSE 424 48VDC POWER lt FUSE KEEP ALIVE lt 24 to 48VDC HIGH POWER POWER SUPPLY POWER GROUND lt lt CASE SHIELD GROUND lt 77 Figure 3 19 ICR ICM SV1P Plus Single Supply E
50. d 5 meter 3604 1641 Conec 3003W3PXX99A10X Conec 3003W3SXX99A10X Power IP65 5 meter 3604 1649 Amphenol 02 12 3 027 Amphenol 06 12 35 476 Socket contacts Std NA Conec 131C10029X Conec 132 10029 or customer designed cables This type of mating connection is used on Tolomatic supplied cables Reference this type of mating connector PIN NUMBERS STD IP65 DESCRIPTION CABLE WIRE COLOR A1 A 24 48 Vdc Power Red A2 B Case Shield Ground Bare Wire A3 C Power Ground Black CONEC P N 3003W3SXX99A10X P N or ae OF CONEC PIN 132010029 gt m TIE SHIELD WIRE TO PIN A2 76 30 5 0M Figure 3 1 ICR ICM SV1P Plus Standard Power Cable 3604 1641 e s RED x AMPHENOL P N PTOGE 12 35 476 AMPHENOL P N Ll P 97 79 513 6 BEIDEN P N 9314 s 101 6 4 00 50M Figure 3 2 ICR ICM SV1P Plus IP65 Power Cable 3604 1649 3 1 2 1 0 Cables and Pin outs ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING CABLE TOLOMATIC CONNECTOR ON MATING CONNECTOR PART NO ACTUATOR ON CABLE 0 Std 5 meter 3604 1640 Norcomp 171 025 103L001 Norcomp 171 025 203L001 1 0
51. dc Input Voltage maximum 26 4 Vdc Input Current Maximum at input voltage maximum 0 414 Amps Static Torque 12 5 in lbs maximum gt BRAKE POWER 24V POWER SUPPLY 1 BRAKE POWER GROUND Figure 2 12 ICR SV1B Basic Actuator Optional Electronic Brake Connection 2 8 Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING 2 E 2 5 Input Power ICR SV1B Basic Actuator The ICR SV1B Basic actuator has the following drive ratings ICR SV1B Basic Actuator Internal Drive Specifications Current Continuous maximum 10A Current Peak 20A Voltage Nominal 24 48 V Over Voltage 56V Under Voltage 20 V Absolute Maximum Voltage 59V Logic Current Draw Maximum 24V 0 11A Logic Current Draw Maximum 48V 0 09 Continuous and peak current ratings are actual motor current and input power supply current Achievable continuous current will depend on temperature T CAUTION ne shut down at 56V any voltage above the absolute max voltage can result in permanent Voltage above the absolute Drive will turn off below this voltage maximum can result in Logic current for keep alive no outputs active permanent damage to the ICR SV1B internal drive The drive and logic keep alive power share the same ground The actuator s drive components logic circuitry can be powered from the keep alive input or the m
52. ding Tolomatic User Guide ICR Rod Style Integrated Control Actuator 1 5 1 ICR BASIC AND PLUS PRODUCT OVERVIEW 1 1 5 ICR Speed and Thrust Curves Refer to the charts below for the continuous and peak thrust and speed capabilities of the screw selections NOTE ICR rod style SmartActuators are designed to push guided and supported loads and are not designed for applications that require significant side loading Please contact Tolomatic at 1 800 328 2174 or 763 478 8000 for details regarding side loading capabilities BN05 SPEED mm sec 0 51 THRUST Ibf SPEED mm sec SPEED mm sec 102 152 23 24 0 51 102 152 23 24 3000 51 102 600 600 600 299 1 4 tz CONTINUOUS 5 cuia R 400 PEAK 400 48V 1 779 CONTINUOUS 200 200 890 48V 48V 24V 0 0 4 6 8 10 0 2 4 6 8 10 0 2 4 SPEED in sec SPEED in sec SPEED in sec Figure 1 1 5 Ball Nut Continuous and Peak Speed vs Thrust BN02 LMI 1 1 SPEED
53. e Tool The Scope is used for monitoring signals and values in the ICR Plus actuator while testing motion sequences It can also be used for fine tuning the actuator To access the Scope Tool click on the Scope Tool icon located on the CME 29 Tool Bar r di ub di Figure 6 13 CME 2 Tool Bar Scope Tool Location Tolomatic User Guide ICR Rod Style Integrated Control Actuator 6 11 6 HOW TO USE THE ICR ICM SV1P PLUS ACTUATOR Highlighted below are features of the Scope Tool Trace Status Trace Canceled Ready To Start New Trace Scope Trace Function Generator profile _ Settings Gains Trajectory Limits Position Params Velocity Params Measurement Trigger Setup Post x o Function Profile L Scope settings and Generation Function Square Wave Auto 5 control loop parameters Amplitude 8000 counts Frequency 1 Hz Scope controls Status message bar Figure 6 14 CME 2 Scope Tool Screen For more details on features function generator and profile tabs trace channels trigger setup display and control loop parameters refer to Section 15 Scope Tool on the CME 2 User Guide provided on the CD ROM shipped with the ICR Plus actuator 6 12 Tolomatic User Guide ICR Rod Style Integrated Control Actuator Appendix E 7 1 SV1B Basic SV1P Plus Actuator Dimensions ICR P
54. e a better choice depending on the application as they have a larger output capacitance which makes them better energy absorption sources They are a good choice for applications that require aggressive acceleration as they can supply peak currents without faulting and will not trip on high voltage However unregulated power supplies do not have over voltage protection and care must be taken not to exceed the maximum voltage of the actuator by using a shunt regulator and proper fusing to prevent excessive loading of the supply Regulated supplies can be used but additional measures may need to be taken To prevent regenerative energy from reaching the supply a blocking diode and Capacitor appropriately sized for the application should be installed In addition a shunt regulator may be needed to dissipate excess energy The shunt regulator available from Tolomatic see page 4 4 has the appropriate bus capacitance requiring only the use of a blocking diode The ICR SV1B Basic and SV1P Plus actuators are intended to run off of an isolated DC power source The power supply that is required will depend on the application A 48V supply will allow the actuator to operate at maximum speed A 24V supply will result in approximately half the rated velocity Input current will depend on the actuator power needed in the installation If operating more than one actuator the same power supply add the required power supply rating for each actuator
55. e rolomatic EXCELLENCE IN MOTION USER GUIDE SmartActuator Series Integrated Control Rod Style Actuator amp Motor TICIIRISIVITIB BASIC DERISA PLUS PLUS 2100 4001 04 LINEAR SOLUTIONS MADE EASY Tolomatic reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice Information in this document is subject to change without notice 201503261442 Contents List of FIQUTOS m RC T iv Health and Safety Regulations sss vii Proper and Safe Use of Product vii 1 ICR Basic and ICR ICM Plus Product Overview 1 1 1 1 The SV1B Basic and SV1P Plus SmartActuators 1 1 EN cm 1 1 1 2 DN ES MP 1 3 1 1 4 ICR Mechanical Specifications a a 1 5 1 1 5 ICR Speed and Thrust CurveS asas 1 6 1 1 6 RMS Thrust and Velocity Considerations 1 7 EP 1 7 1 1 8 ICR System Critical 1 8 1 1 9 Side Load Considerations o s 1 8 1 1 10 Brake Considerations tanc nuu dn neu 1 8 1 1 11 ICM Plus Mechanical SpecsS
56. erious injury CAUTION Indicates a potentially hazardous situation which if not avoided may result in property damage minor or moderate injury Indicates hot surfaces Avoid contact NOTE Information that requires special attention is stated here vi Tolomatic User Guide ICR Rod Style Integrated Control Actuator HEALTH AND SAFETY REGULATIONS Wiring Guidelines Cable routing It is recommended that the power and signal cables for ICR actuators be routed as far apart as possible to minimize system noise NOTE The standard cables from Tolomatic are not flex rated and have a minimum bend radius of 3 75 inches Any repeated flexing or excessive bending can result in broken conductors and intermittent faults Shielding and grounding When cabling the system shielded cables are recommended The standard cables provided by Tolomatic have an overall shield with drain wires and the case ground of the actuator is tied to a pin on the power connector To minimize EMI and ensure system reliability all shield drain wires from all cables should be tied to a common earth ground Proper and Safe Use of Product Protection circuits and external fuses A fuse should be added to the input power line to protect the actuator and power WARNING supply from any potential over current conditions that may occur In addition if regenerative energy will be present especially in vertical applications a
57. fective by Tolomatic the product will either be repaired or replaced at Tolomatic s option This warranty shall not apply to 1 Products not manufactured by Tolomatic Warranty of these products will conform and be limited to the warranty actually extended to Tolomatic by its supplier 2 Damage to the product caused by circumstances beyond the control of Tolomatic such as negligence improper maintenance or storage 3 This warranty shall be void in the case of any repairs or alterations made to the product by parties other than Tolomatic The foregoing warranties are exclusive and in lieu of all other express and implied warranties Tolomatic is not subject to any other obligations or liabilities for consequential damages 7 6 Tolomatic User Guide ICR Rod Style Integrated Control Actuator APPENDIX 7 EN 7 9 Troubleshooting 7 9 1 Troubleshooting the ICR SV1B Basic Actuator SYMPTOM TROUBLE POSSIBLE CAUSE RESOLUTION No response from actuator 1 Check power connection for proper cable connection and bus voltage 2 Verify that the E stop and Enable are both active 3 Verify that direction commands are being sent 4 Verify that the input return is connected to signal ground 5 Check signal cable for proper connection and wiring Actuator cannot move load The load is too large There is too much friction 1 2 3 Side load is excessive 4 Push force is set too low 5 Power suppl
58. gt INPUT COMMON 24V POWER SUPPLY ne T gt INPUT GND Figure 3 11 ICR ICM SV1P Plus Sink NPN Connection 3 6 Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING 3 EN 3 3 Analog Inputs ICR ICM SV1P Plus The ICR ICM SV1P Plus actuator has one programmable analog input ICR ICM SV1P Plus Analog Input Specifications Input Voltage Maximum 15V Input Voltage Full Scale nominal 10V Input Impedance nominal 5K Ohm Input Offset Voltage Maximum 10mV Input Bias Current 1uA Update Rate 62 5uS REFIN 37K 5 36K REFIN gt 37 Figure 3 12 ICR ICM SV1P Plus Analog Input Circuit SIGNAL _ gt REFIN DAC id gt REFIN Figure 3 13 ICR ICM SV1P Plus Analog Input Typical Wiring Eu 3 4 Digital Outputs ICR ICM SV1P Plus The ICR ICM SV1P Plus actuator has two digital outputs which are programmable The outputs are opto isolated from the drive circuitry and can be configured for sinking or sourcing The outputs are protected against over current and short circuit conditions Once an over current condition is present the output turns off until the load is removed ICR ICM SV1P Plus Digital Output Specifications Maximum Switched Voltage 30 V Output low maximum 20 mA sink 4V Maximum continuous current 20 mA Fold back current 80 mA Maximum output sin
59. he tool bar al Figure 6 11 CME 2 Tool Bar Control Panel Location 6 10 Tolomatic User Guide ICR Rod Style Integrated Control Actuator HOW TO USE THE ICR ICM SV1P PLUS ACTUATOR 6 Highlighted below are the Control Panel features Status indicators Monitor real time amplifier values and operational mode ENSIS Status 1 Monitor Red if fault Motor Output Active Limited Position Y HEZ counts isaciv n Hardware Enabled Enabled Software Enabled Enabled Sess za Positive Limit Not Active Moe ees Yellow warning gt A Negative Limit Not Active is active Software Limits Mot Active actua Motor Velacity v rpm gt Motor Phase OK Display error log Error tog g 2 Motion Abort Input Not Active Mode Position Digital Input lt Control Program Not Running 2 Home Not Referenced CAN Status oe Gain Scheduling velocity Message bx Acceleration 212 rps Control ERG a Set Zero Position Control ftunctions p Disable Clear Faults Reset Enable Jog Move Jog mode controls Figure 6 12 CME 2 Control Panel Features For details on using the Control Panel stats indicators monitor channels and functions refer to Section 14 Control Panel on the CME 2 User Guide provided on the CD ROM shipped with the ICR Plus actuator 6 9 2 Scop
60. hipped with the ICR Plus actuator For constructing ASCII strings to send serially refer to 45 ProgrammersGuide pdf contained on the same CD ROM Tolomatic User Guide ICR Rod Style Integrated Control Actuator 6 9 6 HOW TO USE THE ICR ICM SV1P PLUS ACTUATOR 2 Optional CANopen Optional CANopen can be used to communicate with single or multiple ICR Plus actuators This command can be received from a PC PLC HMI or other device For illustrations on setting up the ICR Plus actuator using optional CANopen refer to page 3 14 For complete details on CANopen networks refer to Section 8 CAN Network Configuration on the CME2 User Guide paf and the CANopenProgrammersManual pdf provided on the CD ROM shipped with the ICR Plus actuator 3 DeviceNet DeviceNet can be used to communicate to single or multiple ICR Plus actuators This command can be received from a PC PLC HMI or other device For illustrations on setting up the ICR Plus actuator using DeviceNet refer to page 3 14 For complete programming details and instructions refer to the DeviceNetProgrammersGuide paf provided on the CD ROM shipped with the ICR Plus actuator EN 6 9 Diagnostics 6 9 1 Control Panel The Control Panel is used for general status and control of the ICR Plus actuator Use this diagnostic tool to quickly check faults monitor position enable disable and initiate simple moves To access the Control Panel click on the Control Panel icon in t
61. ive unless an electronic brake option is installed Using this option when the Enable input command is de activated signals the drive to apply the brake to the actuator holding its position before the actuator is disabled Enable must be maintained for all motion Actuator receives Enable command from logic device Enable command is deactivated Actuator is free to backdrive unless an electronic brake option is installed Figure 5 1 ICR SV1B Basic Actuator Enable Input Command Tolomatic User Guide ICR Rod Style Integrated Control Actuator 5 1 5 HOW TO USE THE ICR SV1B BASIC ACTUATOR EN 5 2 Home Position CAUTION Make sure actuator is free to move for homing so a false home is not detected 5 2 The home position is the retract hard stop plus a small offset BN02 022 56 05 009 23mm away from the hard stop The actuator will home when the first input command Extend or Retract is given to the actuator after initial power up Velocity and Acceleration Homing Sequence Hard Codes VELOCITY ACCELERATION 2 turn per inch ball screw 3 333 in sec 5 turn per inch ball screw 1 333 in sec 2 turn per inch ball screw 55 5 in sec 5 turn per inch ball screw 22 2 in sec Actuator Receives 0 First Input Command o9 Actuator moves into the Retract Hard stop Position Actuator moves into the HOME Position
62. k source voltage 24V Update rate 1 ms Output Leakage Current 10 uA Tolomatic User Guide ICR Rod Style Integrated Control Actuator 3 7 3 ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING werna Wow WV OUTPUT CIRCUITRY OUTPUT Figure 3 14 ICR ICM SV1P Plus Digital Output Circuitry 040 gt OUTPUT 24V POWER SUPPLY OUTPUT Figure 3 15 ICR ICM SV1P Plus Digital Output Sinking Wiring Diagram 4 gt OUTPUT lt OUTPUT 24 POWER SUPPLY LOAD Figure 3 16 ICR ICM SV1P Plus Digital Output Sourcing Wiring Diagram 3 8 Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING 3 E 3 5 Input Power ICR ICM SV1P Plus CAUTION Voltage above the absolute maximum can result in permanent damage to the ICR SV1P internal drive components The ICR ICM SV1P Plus actuator has the following drive ratings ICR ICM SV1P Plus Internal Drive Specifications Current Continuous maximum 10A Current Peak 20A Voltage Nominal 24 48 V Over Voltage 56V Under Voltage 20 V Absolute Maximum Voltage 59V Logic Current Draw Maximum 24V 0 11A Logic Current Draw Maximum 48V 0 09 A Continuous and peak current ratings are actual motor current and input power supply
63. ls are limited to Extend velocity Retract velocity and Force control Potentiometer adjustments can be made easily and simply by the use of a small screwdriver Figure 5 9 ICR SV1B Basic Actuator Velocity and Force Controls 5 9 1 Extend Velocity Potentiometer SV1B Manufactured before 4 2013 The Extend velocity potentiometer is used to set the Extend velocity of the actuator s rod The velocity range is stated from 2 100 of maximum velocity Changes made to the Extend velocity potentiometer setting will only take effect after the actuator is stopped and before the next motion is commanded Turn the potentiometer screw clockwise to increase the actuator s rod Extend velocity and counter clockwise to Tolomatic User Guide ICR Rod Style Integrated Control Actuator HOW TO USE THE ICR SV1B BASIC ACTUATOR 5 5 9 2 Retract Velocity Potentiometer SV1B Manufactured before 4 2013 The velocity potentiometer is used to set the Retract velocity of the actuator s rod The velocity range is stated from 2 100 of maximum velocity Changes made to the Retract velocity potentiometer setting will only take effect after the actuator is stopped and before the next motion is commanded Turn the potentiometer screw clockwise to increase the actuator s rod Retract velocity and clockwise velocity Figure 5 11 ICR SV1B Basic Actuator Retract Velocity Potentiometer 5 9 3 Force Control Potentiometer
64. lus 0 701178 2 36 60 0 CAN Open Option x BOTTOM VIEW M5 x 0 8 6H 0 25 6 3 4 i BN02 6 32 160 5 STROKE BN05 BN02 3 62 14 33 92 1 364 0 STROKE mu El 11 63 STROKE fo 7 1 Tolomatic User Guide ICR Rod Style Integrated Control Actuator 7 1 7 APPENDIX E 7 2 RP SV1B Basic and SV1P Plus Actuator Dimensions ICR Plus RP 0 0 0110 28 0 L 2 5 4 M8 x 1 25 6H 27015 19 1 5 x 0 8 6H 0 25 6 4 BN02 6 24 158 4 STROKE BN05 357 90 7 STROKE dot FE 0 59 15 0 231 587 Option 0 984 25 00 Ew 7 3 ICM Plus Dimensions 7 31 1858 Los 6 6 0 70 17 9 0 81 20 6 KEYWAY LENGTH 0 47 1 9 STANDARD CONNECTORS 2 09 53 0 IP65 CONNECTORS ICR Basic RP Ij 127 3 23 0 194 4 93 THRU 4 N 4 40 111 9 092 j 000 N ANE i BOLT m CIRCLE 314 79 8 BRAKE OPTION LENGTH 9 38 238 3 2 07 520
65. mm sec SPEED mm sec SPEED mm sec 127 254 381 508 65 000 127 254 381 58 6 ay 127 254 1 i H 1 P Y 200 200 200 i 11 11 779 __ PEAK CONTINUOUS t 5 n x 00 100 M 100 890 CONTINUOUS 48V 48V 48V 48V 24V 24 24 5 10 15 20 25 0 5 10 15 20 25 0 5 SPEED in sec SPEED in sec 10 SPEED in sec Figure 1 2 BN02 Ball Nut Continuous and Peak Speed vs Thrust Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR BASIC AND ICR PLUS PRODUCT OVERVIEW 1 1 1 6 RMS Thrust and Velocity Considerations Servo motor actuator systems have two speed thrust curves one for continuous duty operation and another for intermittent duty A servo system can be selected according to the total thrust and maximum velocity indicated by the continuous duty curve However by calculating the root mean square RMS thrust based on the application duty cycle you may be able to take advantage of the higher peak thrust available in the intermittent duty range The RMS thrust must fall within the continuous duty region of the motor drive and the application maximum thrust must fall under the peak thrust of the actuator Use the following formulae when calculating the RMS thrust and velocity When selecting an integrated servo actuator system it is necessary to add a margin of safety to the thrust and velocity required to move the lo
66. mmunication hangs 2 Verify that all drivers for the converter are up to date 3 Open CME 29 4 Wait for the error Opening Serial Port message and click OK 5 Plug communication cable into the actuator 6 Click on the designated COM port from the main page 7 Verify all cabling if problems persist ICR ICM is operating erratically Determine if there is regenerative energy Current limit is set too low Following error is set too low Determine if power supply has enough current on wo N Check for irregularities in the load 7 8 Tolomatic User Guide ICR Rod Style Integrated Control Actuator Copyright 2015 Tolomatic Inc All rights Reserved CME 2 is a registered trademark of Copley Controls Incorporated All brand and product names are trademarks of their respective owners Information in this document is believed to be accurate at time of publication 201503261442 Tolomatic EXCELLENCE IN MOTION 3800 County Road 116 Hamel MN 55340 Phone 763 478 8000 Toll Free 1 800 328 2174 Fax 763 478 8080 Email help tolomatic com www tolomatic com
67. nput allows the user to disable the actuator for safety reasons This CAUTION is NOT a fail safe input Until the E Stop input is cleared the actuator cannot be enabled or move in either the extend or retract mode When the input is The E Stop input is NOT a active the Fault output is automatically activated fail safe input EN 5 6 Fault Output The Fault output is a status output for the logic device indicating that a fault has occurred in the actuator Valid faults are for e stop following error over under voltage current limit and over temperature PCB and motor EN 5 7 In Position Output The n Position output is a status output to the logic device indicating when the actuator is in position When a motion begins the n Position output is turned off When the motion is complete the n Position output is turned on ICR SV1B Basic Actuator In Position Window Definitions SCREW DESCRIPTION IN POSITION WINDOW 2 turn per inch ball screw 0125 317 mm 5 turn per inch ball screw 005 127 mm Tolomatic User Guide ICR Rod Style Integrated Control Actuator 5 5 5 HOW TO USE THE ICR SV1B BASIC ACTUATOR EN 5 8 User Interface CAUTION Do NOT overturn potentiometers Each potentiometer has a 2 0 range of motion Exceeding the mechanical limits of the potentiometer will result in permanent damage There is no software or graphical user interface GUI for the ICR SV1B Basic
68. nputs and n Position Fault output cables to the desired logic device See Section 2 ICR SV1B Basic Electrical Interface Specs amp Wiring 4 Program the logic device 5 Adjust the retract extend and force output with a screwdriver via the controls Tolomatic User Guide ICR Rod Style Integrated Control Actuator 1 1 1 ICR BASIC AND ICR PLUS PRODUCT OVERVIEW on the face of the motor drive housing See pages 5 6 and 5 7 1 1 2 SV1P Plus Overview Capabilities e Indexer programming Stand alone operation Infinite positioning Network communication Optional CANopen DeviceNet RS 232 to Optional CANopen Stepper mode Pulse direction e Analog position mode 100 duty cycle for continuous operation 8 inputs 2 outputs opto isolated sinking sourcing 24 Vdc opto isolated input NPN or PNP e P65 option For protection against water and dust ingress Modes of Operation 1 Stand alone mode Logic device or switches sensors send commands to the actuator via digital 1 0 to invoke indexer program for motion or other logic events 2 Communication mode Logic device sends position commands or register changes over RS 232 optional CANopen or DeviceNet Multiple actuators can be controlled simultaneously 127 with CANopen and 63 with DeviceNet via daisy chain The RS 232 port can also be used as a gateway to the optional CANopen bus A Microsoft COM object librar
69. ntegrated Control Actuator ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING 3 will act as CAN Master allowing the address Next CAN connections are made between actuator 1 actuator 2 and so on in daisy chain fashion until the last actuator is addressed The last and first actuator must have the 120 Ohm resistor between the H and CAN 1 signals to act as a line terminator Then the CAN addresses of the actuators downstream from actuator 1 are set to unique numbers other than 0 When ASCII data is exchanged over the serial port the commands are now preceded with the node address of the actuator Actuator 1 converts the data into CAN data which is then sent to all of the actuators in the chain All actuators in the chain appear to be connected to a single RS 232 port in the computer hence the reference to multi drop RS 232 Signal 1 0 Cable RS 232 Port Std 3604 1640 1 65 3604 1648 Power Cable To Power Source Std 3604 1641 1 65 3604 1649 CAN IN Terminator lt 3604 1653 N gt Female 3604 1654 A ACTUATOR 1 A CAN MASTER NG can Address 0 required Communication Cable 1m 3604 1959 5m 3604 1660 CAN OUT ACTUATOR 2 CAN Node P CAN Address 1 optional Communication Cable MULTI DROP RS 232 RULES Actuator 1 must have CAN address 0 sm
70. orientation of the connectors Units mounted in such a way that the connectors are on the bottom surface of the actuator require no looping Top Mount Side Loop Figure 2 5 Cable Routing for Top and Side Mounted Connectors E 2 2 Digital Inputs ICR SV1B Basic Actuator The ICR SV1B Basic actuator has a total of 8 digital inputs 4 are spare and not implemented These digital inputs are opto isolated from the actuator s drive circuitry and can be wired as either sinking or sourcing All of the digital inputs have a common return Figure 2 6 shows the circuit diagram for the interface INPUT lt 4 7K I A TO INTERNAL Naja I CIRCUITRY 1 INPUT COMMON lt l Figure 2 6 ICR SV1B Basic Actuator Interface Circuit Diagram Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR SV1B BASIC ELECTRICAL INTERFACE SPECS amp WIRING 2 CAUTION The E stop input is software controlled it is highly recommended to have an external E stop hardware measure 10 ensure safely ICR SV1B Basic Actuator Digital Input Specifications Input Voltage Range 0 to 30 Vdc On State Voltage Range 16 to 30 Vdc Off State Voltage Range 0 to 5 Vdc On State Current 16 Vdc minimum 1 9 mA 24 Vdc nominal 3 6 mA 30 Vdc maximum 4 9 mA Nominal Input Impedance 24V 6 7K Ohm Off State Current maximum 0 4 mA Update Rate maximum 2 ms
71. ork screen Kd Communications Wizard Configure CAN Network CAN Card Copley Y Channel a Bit Rate iius 7 lt Back P Cancel Figure 6 5 Communication Wizard Configure CAN Network Screen 6 4 Tolomatic User Guide ICR Rod Style Integrated Control Actuator HOW TO USE THE ICR ICM SV1P PLUS ACTUATOR 6 2 Select the appropriate CAN Card Channel Bit Rate and click Finish The CAN Card list shows the manufacturer names of all supported CAN cards that have been connected to the PC and which drivers have been installed All amplifiers must be set to the same bit rate default is 1 Mbit s 6 6 29 User Interface and Tool Bar The CME 29 User Interface features are illustrated in Figure 6 6 below Screen details will vary depending on amplifier model and mode selection Kc 2 5 0 XSL 230 40 xenus 1 File Amplfier Tools Help Main Menu 87 E3 v IE El al lt or DeviceNet E Copley Neighborhood Copley gt 4 Copley Neighborhoo Network Address 13 information Neighborhood WE virtual Amplifier ee nus Input Output Control Program Tree OMS Xenus 1 1 Functional P Loop V Loop Loop MeledFeedback Diagram Status _ y Sine Commutation Rotary Motor Bar Figure 6 6 CME 2 User Interface Features The CME 29 Interface Tool
72. out this section 6 1 Host Computer Requirements The ICR ICM SV1P Plus actuator is designed to be used with a host computer PLC or HMI device along with a power supply see Section 4 Power Supply Recommendations Before installing the communication software be sure the supplied devices have the minimal host requirements indicated below 6 1 1 Hardware Requirements CPU 400 Mhz RAM 128 MB 6 1 2 Operating Systems Supported Windows NT 2000 XP Vista Notes for Windows Vista users Windows Vista is supported in the CME 29 Software supplied on the Tolomatic CD ROM shipped with the actuator On Installation in Windows Vista When the installer starts a message will be displayed stating that an unidentified program is trying to access the computer Click the button to allow the installer to continue and 2 will be installed properly Program File Storage in Windows Vista Other Windows operating systems store user data for 29 ccx ccm files etc in C Program Files Copley Motion 2 Due to Windows Vista security user data is stored in C Users Public Public Documents Motion CME 29 E 6 1 3 Software Requirements Copley Controls CME 29 Copley Motion Explorer software Version 5 1 or higher Tolomatic User Guide ICR Rod Style Integrated Control Actuator 6 1 6 HOW TO USE THE ICR ICM SV1P PLUS ACTUATOR EN 6 2 Install the 29 Software The CME 29 software is av
73. se direction mode similar to stepper control This command input is received from a PLC a motion controller or other pulse generating device To program the ICR Plus actuator using a digital input as the command source 1 In the Basic Setup screen navigate to the Operating Mode Options screen 2 Select Position for the Operating Mode 3 Select Digital Input for the Operating Mode Operating Mode Options Operating Mode Position Command Source Digital Input Source High Speed Inputs Port lt Back Next gt Cancel Figure 6 10 2 Basic Setup Operating Mode for Digital Input Command Source 4 Refer to the CME 29 User Guide Section 7 3 Digital Position Input Settings for complete information on using the digital position parameter settings 6 8 4 Communication Commands There are three interfaces that can be configured to communicate with the ICR Plus actuator 1 ASCII commands over RS 232 serial port can be used to communicate with the ICR Plus actuator using RS 232 This command can be received from a PC PLC HMI or other device and can be initiated as a single axis or multi drop configuration For illustrations on setting up the ICR Plus actuator using RS 232 refer to pages 3 12 to 3 13 For specifics on the ASCII Command Line Interface refer to Appendix ASCII Commanas Serial Control of the CME2 User Guide pdf provided on the CD ROM s
74. t Waran 7 6 7 7 7 9 1 Troubleshooting the ICR SV1B Basic 1 7 7 9 2 Troubleshooting the ICR ICM SV1P 7 8 Tolomatic User Guide ICR Rod Style Integrated Control Actuator iii List of Figures Figure 1 1 Figure 1 2 Figure 1 3 Figure 1 4 Figure 1 5 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 2 9 Figure 2 10 Figure 2 11 Figure 2 12 Figure 2 13 Figure 2 14 Figure 2 15 Figure 2 16 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 3 10 Figure 3 11 Figure 3 12 Figure 3 13 Figure 3 14 Figure 3 15 Figure 3 16 Figure 3 17 Figure 3 18 Figure 3 19 BNO5 Ball Nut Continuous and Peak Speed vs Thrust 1 6 BNO2 Ball Nut Continuous and Peak Speed vs Thrust 1 6 ICR Ball Screw Life enn 1 7 ICR System Critical SDBed cioe drei ome trade ten te ven de e ed 1 8 ICM Plus Motor Speed vs Torqu e enm 1 8 ICR SV1B Basic Actuator Standard Power Cable 3604 1641 2 1 ICR SV1B Basic Actuator IP65 Power Cable 3604 1649 2 1 ICR SV1B Basic Actuator Standard 1 0 Cable 3604 1640 2 3 ICR SV1B Basic Actuator IP65 1 0 Cable 3604 1648
75. to start the program lt lt leri SUS Figure 6 1 Copley Motion Explorer 2 Shortcut Icon Tolomatic User Guide ICR Rod Style Integrated Control Actuator HOW TO USE THE ICR ICM SV1P PLUS ACTUATOR 6 2 Forinitial communication set up the Communications Wizard will prompt a device selection of either Serial Ports or CAN Network Communications Wizard Select device Serial Ports CAN Network Cancel Figure 6 2 Communication Wizard Device Selection Screen 3 Serial Ports should be selected for RS 232 or DeviceNet control For these selections proceed to 6 4 Configure Serial Port Parameters If CAN Network is selected proceed to 6 5 Configure CAN Network Parameters EN 6 4 Configure Serial Port Parameters RS 232 and DeviceNet One or more serial ports on a PC can be used to connect amplifiers Use the following instructions to add ports for amplifiers choose baud rates for the ports and remove ports for amplifiers This procedure is also used if the amplifier is to run under DeviceNet control For more information on DeviceNet setup refer to the Copley DeviceNet Programmer s Guide located on the CD ROM that shipped with the ICR ICM Plus 1 Select Serial Port as the device see Figure 6 2 in the Communications Wizard Tools Communication Wizard and click the Next button to open the Communications Wizard Select Serial Ports screen communications Wizard Select Ports To
76. us Isolated Interface Circuit Diagram 3 5 ICR ICM SV1P Plus High Speed Digital Input Circuitry 3 6 ICR ICM SV1P Plus Source switched 3 6 ICR ICM SV1P Plus Source PNP Connection 3 6 ICR ICM SV1P Plus Sink switched Connection 3 6 ICR ICM SV1P Plus Sink NPN Connection 3 6 ICR ICM SV1P Plus Analog Input Circuit een 3 7 ICR ICM SV1P Plus Analog Input Typical 3 7 ICR ICM SV1P Plus Digital Output 3 8 ICR ICM SV1P Plus Digital Output Sinking Wiring Diagram 3 8 ICR ICM SV1P Plus Digital Output Sourcing Wiring Diagram 3 8 ICR ICM SV1P Plus Logic and Main Power Supplies 3 9 ICR ICM SV1P Plus Single Supply Main 3 10 ICR ICM SV1P Plus Single Supply External Cut off Switch iv Tolomatic User Guide ICR Rod Style Integrated Control Actuator Figure 3 20 Figure 3 21 Fi gure 3 22 Fi gure 3 23 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 4 5 Figure 4 6 Figure 5 1 Figure 5 2 Figure 5 3 Figure 5 4 Figure 5 5 Figure 5 6 Figure 5 7 Figure 5 8 Figure 5 9
77. ut Command Tolomatic User Guide ICR Rod Style Integrated Control Actuator 5 3 5 HOW TO USE THE ICR SV1B BASIC ACTUATOR EN 5 4 Retract Input Command The Retract input command retracts the rod of the actuator and is activated by an external logic device such as a PLC The rod will retract until the Retract input command is deactivated or the actuator reaches the rod retract limit set in the firmware If the Retract input command is deactivated during rod retract the actuator will decelerate to a stop and hold its position If the Extend input command is activated during rod retract the actuator will decelerate to a stop hold its position and activate a Fault output signal VELOCITY ACCELERATION 2 turn per inch ball screw 3 333 in sec 2 turn per inch ball screw 55 5 in sec 5 turn per inch ball screw 1 333 in sec 5 turn per inch ball screw 22 2 in sec Actuator receives Retract command from logic device Retract command is e deactivated during rod retract Actuator decelerates to stop and holds position Activating an Extend input command during rod retract will bring the actuator to a stop hold its position and activate a Fault output signal Figure 5 4 ICR SV1B Basic Actuator Retract Input Command 5 4 Tolomatic User Guide ICR Rod Style Integrated Control Actuator HOW TO USE THE ICR SV1B BASIC ACTUATOR 5 EN 5 5 E stop Input The Stop i
78. xternal Cutoff Switch for Emergency Stop Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR ICM SV1P PLUS ELECTRICAL INTERFACE SPECS amp WIRING 3 EN 3 6 Optional Electronic Brake ICR ICM SV1P Plus Tolomatic offers an optional spring applied electronically released brake that can CAUTION be used with the actuator to keep the actuator from back driving typically in vertical applications It can also be used for safety reasons or for energy savings allowing Operating an ICR actuator actuator to hold position when unpowered The drive is signaled to apply the with a brake installed brake which holds the actuator s position prior to disabling the actuator The brake without providing brake option is not a service part and must initially be ordered with the actuator as it is power can damage the internally configured with the drive brake and the actuator If a brake is installed in the actuator a 24V power source will be needed The brake power is on pin 22 for the standard cable and on pin Y for IP65 cable The return is on pin 23 for the standard cable and on pin Z for IP65 cable See 1 0 Cable outs on page 2 2 The controller will automatically engage disengage the brake using this power An unpowered ICR actuator will require a brake to maintain its position if the force on the actuator exceeds the following requirements BNO2 screw 7 5 lbf 33 4 BNO5 screw 12 5 Ibf 55 6
79. y does not have enough current capability Actuator is overheating 1 Ambient temperature is too high 2 Operation is outside of the continuous ratings 3 Cooling is insufficient Actuator is operating erratically Determine if there is regenerative energy Determine if push force is set too low 1 2 3 Determine if power supply has enough current 4 Check for irregularities in the load Tolomatic User Guide ICR Rod Style Integrated Control Actuator 7 7 7 APPENDIX 7 9 2 Troubleshooting the ICR ICM SV1P Plus SYMPTOM TROUBLE POSSIBLE CAUSE RESOLUTION No response from actuator Check power connection for proper cable connection and bus voltage 2 Verify that the Enable signal is active 3 Verify that the drive is enabled and no faults are present 4 Verify that the input return is connected to signal ground 5 Check signal cable for proper connection and wiring ICR ICM cannot move load The load is too large There is too much friction Side load is excessive Power supply does not have enough current capability wo N Current limits are set too low ICR ICM is overheating Ambient temperature is too high 2 Operation is outside of the continuous ratings 3 Cooling is insufficient Communication does not work 1 Close CME 29 and disconnect the communication cable with RS232 to USB converter or from the actuator co
80. y is provided to easily utilize the Tolomatic User Guide ICR Rod Style Integrated Control Actuator ICR BASIC AND ICR PLUS PRODUCT OVERVIEW 1 power of optional CANopen through Windows development in VB C NET LabView and other programming languages 3 Stepper mode Logic device sends pulse direction commands to actuator initiating motion 4 Analog position mode Logic device sends 0 10 Vdc analog signal to actuator which equates to an actual position Setup Procedure The mode of operation will determine the proper wiring and cabling of the actuator Refer to the following sections of this manual for details on cabling wiring and setup procedures Section 3 ICR ICM SV1P Plus Electrical Interface Specs amp Wiring Section 4 Power Supply Recommendations The ICR Plus actuator utilizes Copley Controls Corporation drive and control components and their CME 2 User Interface software for programming Refer to Section 6 How to Use the ICR ICM SV1P Plus for setup and programming details 1 1 3 ICR Options Mounting Options ICR SmartActuators can be mounted to an application via tube clamps mounting plates trunnion mounts or front flange The actuator also has threaded holes on the underside of the actuator heads that can be used for direct mounting Rod End Options Both the Basic and Plus models offer externally threaded clevis rod eye and alignment coupler rod end options Tolomatic User Guide I

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