Ormec SMLC 30 Installation & Operation Manual

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SMLCModel30,80&160

HardwareRev2Installation& Operat ionManual

SMLC‐004b

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ORMECSystemsCorp. 

AllRightsReserved 

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19Li ndenPark

Rochester,NY14625

(585)385‐3520

October21, 2011

ServoWireMotion&LogicControllerManual GeneralDescription

iiSMLC‐004a

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describe,remaintheexclusivepropertyofORMECSystemsCorp.Nopartofeithermaybereproduced

inanyformwithoutthepriorwrittenpermissionofORMEC.

TrademarkNotices

ServoWire™andServoWirePro™aretrademarksofORMECSystemsCorp.

Formoreinformation,visitwww.ORMEC.com

QNX®andNeutrino®areregisteredtrademarksofQNXSoftwareSystemsLtd.

WAGO®isaregisteredtrademarkofWAGOCorporation.

MODBUS®isaregisteredtrademarkofSchneiderElectric.

Warranty

ORMECextendsnowarrantywithrespecttothemerchantabilityorfitnessofthisproductforany

particularpurpose.Itisthecustomer’sresponsibilitytodeterminewhetheritissuitableforthespecific

applicationandwhetheritmeetsperformance,reliabilityandsafetyrequirementswhenusedinthat

application.ORMECreservestherighttomakeimprovementstotheproductaswellasthis

documentationatanytimewithoutnotice.

TermsandConditions

AllhardwareandsoftwaresoldorotherwiseprovidedbyORMECismadeavailablesubjecttoORMEC's

publishedStandardTermsandConditionsofSale.

ServoWireMotion&LogicControllerManual TableofContents

SMLC‐004a i

TableofContents

Welcome......................................................................................................................1

SMLCGeneralSystemDescription....................................................................3

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Features..................................................................................................................................... 3

SMLC Models ............................................................................................................................ 4

Hardware Features .................................................................................................................... 4

So ftware Features ..................................................................................................................... 5

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SM LC Support Software ............................................................................................................ 5

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CoDeSys‐DevelopmentSoftware.................................................................................................................................................5

ServoWirePro‐SystemConfigurationSoftware...................................................................................................................6

WAGOEthernetI/O.............................................................................................................................................................................6

Ser 

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voWireMotion&LogicControllerInstallation....................................7

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SafetyRelatedGuidelinesforInstallationintheEuropeanUnion.................................................................................7

ReceivingandInspection..................................................................................................................................................................8

PanelMountingandEnvironment................................................................................................................................................8

SM 

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LCSystemComponents...................................................................................9

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J9–ServoWireIEEE1394InterfacePort...............................................................................................................................11

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J10–ServoWireIEEE1394InterfacePort.............................................................................................................................11

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J11–ServoWireIEEE1394InterfacePort(SMLC‐160only)........................................................................................11

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J12–Keyboard/MouseInterfaceConnector.........................................................................................................................12

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J13–DigitalI/OConnector...........................................................................................................................................................13

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J14–USBPort.....................................................................................................................................................................................14

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J15–USBPort.....................................................................................................................................................................................14

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J16–EthernetPortEN1..................................................................................................................................................................15

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J17–EthernetPortEN0..................................................................................................................................................................15

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J19–VGAConnector........................................................................................................................................................................16

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J20–DevelopmentSerialPortCOM1‐RS232......................................................................................................................17

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J21–SMLCHMISerialPortCOM2‐RS232............................................................................................................................17

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J22–SMLCUserSerialPortsCOM3‐RS232.........................................................................................................................17

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J23–SMLCUserSerialPortsCOM4‐RS232(SMLC‐160only)....................................................................................17

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TB1–24VDCConnector.................................................................................................................................................................18

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TB2–AnalogI/OConnector.........................................................................................................................................................18

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TB3–InputACPowerConnector................................................................................................................................................18

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LEDs.........................................................................................................................................................................................................18

ResetPushbutton...............................................................................................................................................................................19

SystemCard..........................................................................................................................................................................................19

Sys 

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temPowerWiring&Interlocks................................................................21

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Em ergency-Stop / Quick-Stop and Drive Ready Configuration ............................................... 22

EmergencyStopInput:....................................................................................................................................................................22

QuickStopInput:...............................................................................................................................................................................22

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Se rvoWire Drive Input / Output ................................................................................................ 23

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SDMServodriveI/O.........................................................................................................................................................................23

SMMServodriveI/O........................................................................................................................................................................24

SWMServodriveI/O.......................................................................................................................................................................24

Sys 

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temOperation...................................................................................................25

LC Status LED's ................................................................................................................. 25

Power‐up...............................................................................................................................................................................................26

SM 

SMLC Non-volatile memory ..................................................................................................... 26

Specifications........................................................................................................................... 27

ServoWireMotion&LogicControllerManual TableofContents

SMLCMechanicalandEnvironmentalSpecifications........................................................................................................27

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InputACPowerRatings..................................................................................................................................................................27

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BatteryPowerSpecifications.......................................................................................................................................................27

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DigitalI/OPowerrequirements.................................................................................................................................................28

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DigitalInputSpecifications...........................................................................................................................................................28

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DigitalOutputSpecifications........................................................................................................................................................28

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AnalogInputSpecifications...........................................................................................................................................................28

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AnalogOutputSpecifications.......................................................................................................................................................28

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DevelopmentportCOM1Specifications..................................................................................................................................29

HMISerialPortCOM2Specifications........................................................................................................................................29

SerialPortCOM3andCOM4Specifications...........................................................................................................................29

WAGOI/OInstallation&Operation...............................................................31

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Ge neral Purpose I/O ................................................................................................................ 31

AGO Installation ................................................................................................................... 32

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W 

SettingtheWAGOIPAddress.......................................................................................................................................................32

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W AGO Part List ....................................................................................................................... 34

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WAGOAnalogInputModules.......................................................................................................................................................35

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WAGOAnalogOutputModules....................................................................................................................................................36

WAGOSpecialtyModules...............................................................................................................................................................36

WAGOPowerSuppliesandAccessories..................................................................................................................................37

Get 

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tingStarted........................................................................................................39

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Pr eparation for Test Run ......................................................................................................... 39

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ServoWireMotion&LogicControllerChecklist..................................................................................................................39

ServomotorChecklist.......................................................................................................................................................................40

ApplyingSystemControlPower.................................................................................................................................................40

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Se tting up SMLC Serial communications ................................................................................ 41

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InitializingtheCommunicationsConnection........................................................................................................................41

DisconnectingserialcommunicationsfromSMLCandyourPC...................................................................................41

TroubleshootingConnectionProblems...................................................................................................................................41

LC Ethernet Configuration .................................................................................................. 41

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SM 

DefaultSMLCEthernetPortAddressing.................................................................................................................................42

ServoWire Pro Development Software .................................................................................... 42

TestRunningYourSMLCSystem...............................................................................................................................................42

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ProductHistory.......................................................................................................43

Determining Hardware Revision Numbers .............................................................................. 43

SMLC Model History ................................................................................................................ 43

Ma 

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intenance&Troubleshooting.....................................................................45

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OR MEC Product Support ........................................................................................................ 45

ProductSupport.................................................................................................................................................................................45

24‐HourProductSupport..............................................................................................................................................................45

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SMLC Troubleshooting ............................................................................................................ 46

NoLEDsLitonSMLC........................................................................................................................................................................46

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SMLCDoesNotCompletethePowerUpSequence............................................................................................................46

Terms&Mnemonics.............................................................................................47

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AppendixA‐SMLCInstallationDiagrams...................................................51

SMLC – Installation Dimensions .............................................................................................. 51

AppendixB–SystemWiringDrawings........................................................53

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ServoWire SDM Drives 120 ~ 460 VAC System Wiring .......................................................... 53

ServoWire SMM Drives 120 ~ 460 VAC System Wiring .......................................................... 54

iiSMLC‐004a

ServoWireMotion&LogicControllerManual TableofContents

ServoWire SMM Drive 12 ~ 96 VDC System Wiring ............................................................... 55

AppendixC–SMLCInterfaceCables&Accessories................................56

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Serial Communications Null Modem Cable to PC ................................................................... 56

Profibus Cable Drawing

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ListofTables

........................................................................................................... 57

Table1,SMLCModels...................................................................................................................................4

Table2,DevelopmentSoftwarePartNumber..............................................................................................6

Table3,ServoWire:IEEE1394Cablepartnumbers....................................................................................11

Table4,Keyboard/MouseConnector(J12)pin‐out....................................................................................12

Table5,DigitalI/Oconnector(J13)pin‐out................................................................................................13

Table6,EthernetPort(J16&J17)pin‐out..................................................................................................15

Table7,EthernetCables&Accessoriespartnumbers................................................................................15

Table8,CRTConnector(J19)pin‐out..........................................................................................................16

Table9,RS‐232SerialPortConnector(J20,J21,J22,andJ23)pin‐out.......................................................17

Table10,24VDCconnector(TB1)pin‐out...................................................................................................18

Table11,AnalogI/Oconnector(TB2)pin‐out............................................................................................18

Table12,Powerconnector(TB3)pin‐out...................................................................................................18

Table13,SMLCStatusLED's.......................................................................................................................25

Table14,SMLCControllerGeneralSpecifications......................................................................................27

Table15,SMLCControllerMechanicalandEnvironmentalSpecifications.................................................27

Table16,SMLCInputPower.......................................................................................................................27

Table17,SMLCBatteryPower....................................................................................................................27

Table18,DigitalI/OPowerrequirements..................................................................................................28

Table19,Digitalinputspecifications..........................................................................................................28

Table20,Digitaloutputspecifications........................................................................................................28

Table21,Analoginputspecifications.........................................................................................................28

Table22,Analogoutputspecifications.......................................................................................................28

Table23,SMLCDevelopmentSerialPort....................................................................................................29

Table24,SMLCHMISerialPorts.................................................................................................................29

Table25,SMLCSerialPortsCOM3&COM4...............................................................................................29

Table26,WAGOpartslist...........................................................................................................................37

Table27,ORMECmotorcablecolorco de...................................................................................................40

Table28,SMLCSerialCommunicationscable............................................................................................56

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SMLC‐004a iii

ServoWireMotion&LogicControllerManual TableofContents

ivSMLC‐004a

ListofFigures

Figure1,SMLCSystem..................................................................................................................................3

Figure3,SMLC‐160SystemComponents......................................................................................................9

Figure4,SMLC‐30/80SystemComponents................................................................................................10

Figure5,KeyboardConnector(J12)connector...........................................................................................12

Figure6,SchematicofDiscreteInputsIN1'‐IN8'.........................................................................................14

Figure7,SchematicofDiscreteOutputsOUT1'‐OUT8'...............................................................................14

Figure8,SMLC‐EthernetConnector(J16&J17)connector.......................................................................15

Figure9,SMLC‐CRTConnector(J19)connector........................................................................................16

Figure10,RS‐232SerialPortConnector(J20,J21,J22,andJ23)Pin‐out...................................................17

Figure11,SAC‐SDMServodriveI/O............................................................................................................23

Figure12,SAC‐SMMServodriveI/O...........................................................................................................24

Figure13,SAC‐SWMServodriveI/O...........................................................................................................24

Figure14,WAGObuscoupler.....................................................................................................................31

Figure15,WAGOLaunchBootPserver.......................................................................................................32

Figure16,WAGOLaunchNotepad.............................................................................................................32

Figure17,WAGO‐editBootPtab.txt..........................................................................................................33

Figure18,WAGO‐StartBootPServer........................................................................................................33

Figure19,ServoWireProIPAddress...........................................................................................................41

Figure20,SMLCProductRevisionLabel.....................................................................................................43

Figure21,SMLCmountingdimensions‐heightandwidth........................................................................51

Figure22,SMLCmountingdimensions–depth ..........................................................................................52



ServoWireMotion&LogicControllerManual Welcome

Chapter1

Welcome

ThismanualcoverstheORMEC'sServoWireMotion&LogicController(SMLC)andaccessoriesusedwith

it.Itprovidesadetaileddescriptionof theSMLChardwareandneededinformationforinstalling,

operatingand"gettingstarted"withaSMLCsystem.

What’snewinSMLChardwarerevision2?

• SMLChardwarerev2supportslockingServoWirecables.

• TheexpansionbusisnowPCI‐104

• Someoftheconnectorsandterminalblockshavebeenmovedand/orrenamed.



IMPORTANT:IfyouhaveSMLChardwarerev1 pleaserefe rtomanualSMLC‐002–SMLC‐30,

80&160Installation&OperationManual. 

Themanualisdividedintothefollowingchapters:

Chapter1 Welcomeintroducesyoutothismanualanditsorganization

Chapter2 GeneralDescription‐OverviewoftheSMLCproductfamily.

Chapter3 SMLCInstallationprovidesinstructionsforinstallingtheSMLCanddetailed

descriptionsofallthehardwareinterfaces.Itexplainsthepowerupandinitial

configurationoperationaswellastheLEDstatusindicators.Thischapteralso

providesdetailedenvironmental,mechanical,andelectricalinterface

specificationsfortheSMLCController

Chapter4 SMLCSystemComponentsprovidesanoverviewofalloftheconnectorsand

terminalblocksonanSMLC,includingthepin‐outs.

Chapter5 SystemPowerWiring&Interlocksexplainshowtomakepowerandinterlock

connectionsbetweentheSMLCandtheServoWiredrives.AlsoseeAppendixB.

Chapter6 SystemOperationexplainsthepower‐upsequenceoftheSMLCincludingLED

operation.ThissectionalsoincludesthespecificationsfortheSMLC,includingall

ofthelocalI/Oandcommunicationports.

SMLC‐004a 1

ServoWireMotion&LogicControllerManual Welcome

2SMLC‐004a

Chapter7 WAGOI/OInstallation&Operationprovidesinstructionsforinstallingthe

WAGOanddetaileddescriptionsofallthehardwareinterfaces,aswellasan

explanationoftheLEDstatusindicators.

Chapter8 GettingStartedprovidesdetailedinstructionsonhowtocommunicateandrun

yourSMLCunitforthefirsttime

Chapter9 ProductHistoryprovidesachronologicalrevisionhistoryfortheServoWire

Motion&LogicControllerhardware

Chapter10 Maintenance&Troubleshootingprovidestipsformaintainingand

troubleshootingyourSMLCsystem

Chapter11 Terms&Mnemonicsprovidesdefinitions forterm 'sspecifictoMotionControl

and/orORMEC'sMotionControlproducts

Appendices Appendicescontaindetaileddrawings,whichdocumenttheSMLCdimensions,

systeminterface,aswellasassociatedinterfacecablesandaccessories.Seethe

TableofContentsfordetails

ThismanualconcentratesonprovidingSMLChardwareandcablingdocumentation.Detailed

informationonORMEC'sSMLCprogramminglanguageisfoundintheon‐lineSMLCHelp.Detailed

informationoncommissioningServoWiredrivestoanSMLCcanbefoundintheon‐lineServoWirePro

Help.DetailedinformationonservodriveinterfacingcanbefoundintheServoWiredrivemanuals.

ToobtainthelatestversionofanyoftheORMECdocumentationvisitORMEC'ssiteontheWorldWide

Webathttp://www.ormec.com

.

Note:thefunctionalityofcertainportionsoftheSMLChardwareisdependentonthefirmwareandSMLC

hardwareversionused.



ServoWireMotion&LogicControllerManual GeneralDescription

Chapter2

GeneralDescription



Figure1,SMLCSystem

SMLCGeneralSystemDescription

Features

APPLICATIONDEVELOPMENT‐CO DESYSIEC61131‐3PROGRAMMING:

IEC61131‐3isaopenstandarddevelopingapplicationprogramsformotionandI/Ocontrol,runningon

asingleprocessor.See:www.3s‐software.com

&www.PLCopen.org

PERATINGSYSTEM‐QNXNEUTRINOREALTIMEOPERATINGSYSTEM(RTOS ):

InQNXNeutrino,onlythemostfundamentalOSprimitives(e.g.signals,timers,scheduling)arehandled

inthekernelitself.Allothercomponents–drivers,filesystems,protocolstacks,userapplications–run

outsidethekernelasseparate,memory‐protectedprocesses.Faultresilienceisbuiltrightin.See:

www.QNX.com



SMLC‐004a 3

ServoWireMotion&LogicControllerManual GeneralDescription

YSTEMCONFIGURATION&DIAGNOSTIC'S‐SER VOWIREPRO:

ServoWireProprovidesanintegratedsuiteofconfiguration,diagnosticandmaintenanceutilitiesthat

assistinthedevelopmentandon‐goingsupportofServoWireSMsystems.

LLDIGITAL‐IEEE‐1 394NE TWORKEDSERVODRIVES:

Connectionofupto24ServoWireDriveswithuptoa2.67kHzloopupdaterate,withouttheneedto

purchaseadditionalhardwareorsoftware.AlldigitalservodrivenetworkusingopenstandardIEEE

1394(FireWire)interfacehardwareandcabling.

ERVOWIREDRIVEI/O:

HighspeedServoWireDriveI/Oisusedtocaptureaxisposition(example:registration)andcontrol(start

/stop)motion.

ENERALPURPOSEI/O‐WAGO,ETHERNET(MODBUS/TCP&PROFIBUS):

Compact,highlyreliableandcosteffective,withawidevarietyofInput/Outputmodules.Seesection0

SMLCModels

ThismanualcoversSMLCModels30,80and160.

Model Motor

Axes

Pacer

Axes



VirtualAxes

Ethernet

Ports

RS‐232

Ports

LocalDIO LocalAIO Expansion

Slots

SMLC‐30 3 3 Upto3 2 3 8in/8out 1in/1out 1PCI‐104

SMLC‐80 8 8 Upto8 2 3 8in/8out 1in/1out 1PCI‐104

SMLC‐160 16 16 Upto16 2 3 8in/8out 1in/1out 2PCI‐104

Table1,SMLCModels

Paceraxesrequireadditionaldrivehardware;eitherapaceroptionorasecondaryfeedbackadapteron

thedrive.Assumingthateachdrivehastherequiredpacerinterfaceyoucanhaveonepacerforeach

driveinthesystem.

BeginningwithSMLCfirmwareversion2.6.0(whichisrequiredforrev2hardware),thefirstvirtualaxis 

is“free”anddoesnotapplytothemaximummotoraxiscountforthatSMLCmodel.E.g.anSMLC‐30

canhave3realmotoraxes+1virtualaxis;anSMLC‐80canhave8realmotoraxes+1virtualaxis,etc.

AnyvirtualaxesafterthefirstoneDOapplytothemaximummotoraxiscount.

HardwareFeatures

ORMEC'sServoWireMotion&LogicControllerusesaPC‐basedsystempackagedusingoffthe

shelfhardwareinawall‐mountchassisforeasyinstallation.

SMLChardwareincludes:

• CPU‐CeleronorPentiumClassprocessors

• EthernetPorts–10/100baseT(/1000baseTonModels80&160).

• FireWire(IEEE1394b)networkinterface.

• serialports(4onModel160)

• Development,HMI,Keyboardconnectors.

• OptionalPCI‐104expansion



4SMLC‐004a

ServoWireMotion&LogicControllerManual GeneralDescription

• Built‐indigitalandanalogI/O

SMLCmemoryincludes:

• 128MbDynamicRAM‐RandomAccessMemory(volatile)

• 128MbRemovableCompactFlashmemoryforapplicationprogramanddatastorage.

• 32KbBatterybackedstaticRAMusedfornon‐volatiledatastorage.

Theall‐digitalServoWireservodriveprovidessupportforavarietyofactuatortechnologies,including

brushlessrotaryandlinearmotors,DCbrushmotorsandvoicecoils.Thedrivesareconfiguredoverthe

ServoWire1394network,eliminatingallmanualconfigurationandofflineconfigurationutilities,

reducingthecostandcomplexityofmaintainingthemotioncontrolsystem.

SoftwareFeatures

ORMEChasselectedthehighlyreliableQNXNeutrinoastheSMLCrealtimeoperatingsystem(RTOS).

TheuseofaRTOSintheSMLCfacilitatestheintegrationofnewfunctionalityandeasesproductlifecycle

maintenancebyallowing foreasymigrationtonew andmorepowerfulhardwareplatforms,asthey

becomeavailable.

ToimplementtheServoWireController’sprogramming,ORMEChaspartneredwith3Stointegratehigh

performanceServoWireSoftMotiontechnology withCoDeSysIEC61131‐3software.CoDeSyscoversall

fiveIEC61131‐3standardcompliantlanguages,andisincorporatedinoveronehundredOEMpartner

products.AllapplicationmotionandI/Ocontrolisimplementedinasingleprogramrunningonone

processor,withoutthedelaysandtimingissuesassociatedwithseparateprocessorcardsinPCsandPLC

racks.

Forthemotioncontrolprogramming,ORMEChasimplementedPLCopenMotionControlfunction

blocks.Powerfulfeatureshavebeenaddedtotheopenstandardmotioncontrol functionblocks,

allowingmotionstobeloadedintoamotionqueueforsequentialoperationinitiatedindependentof

theI/Oscanrate.Motionsinthequeuecanbeautomaticallyrepeated,simplifyingapplication

programming,andtriggeredbyhigh‐speedsensorinputsattheservocommandLoopRate(fasterthan

theI/Oscanrate).Itisalsopossibletoeasilysuperimposeincrementaltime‐basedandgearedmotions

ontopofaconstantmotiongearratio,withouttheneedtodevelopcamprofiles.Formoredetails,read

theSMLConlinehelpfileincludedwithORMEC’sCDS‐SDK,CoDeSysSoftwareDevelopmentKit.The

latestversionoftheCDS‐SDKaswellasademoversionisavailablefordownloadonORMEC’swebsite

atwww.ormec.com

.

SMLCSupportSoftware

CoDeSys‐DevelopmentSoftware

CoDeSysIEC61131‐3programmingwithPLCopenmotionfunctionblocksprovidesopenstandardtools

fordevelopingapplicationprogramsformotionandI/Ocontrol.General‐purposeI/Ooptionsarefully

supportedusingWAGO's750SeriesandFESTOCPXSeries.

TheIEC61131‐3standardsuiteofprogramminglanguagesprovidesanintegratedsetofsoftwaretools

andgraphicalinterfacestomeetawiderangeofsoftwaredevelopmentneeds:

• RelayLadderLogic(LD)

• StructuredText(ST)

SMLC‐004a 5

ServoWireMotion&LogicControllerManual GeneralDescription

6SMLC‐004a

• SequentialFunctionChart(SFC)

• FunctionBlockDiagram(FBD)

• InstructionList(IL)tools

• CoDeSysalsoincludesasixthlanguage,ContinuousFunctionChart(CFC)

DevelopmentSoftwarePartNumber:

CDS‐SDK/C CoDeSysDevelopersKit,CD‐ROM,incl.CoDeSys,ServoWirePro,

onlinedocumentation,WAGOBootPserver,serialcommunication

cable

Table2,DevelopmentSoftwarePartNumber

ServoWirePro‐SystemConfigurationSoftware

ServoWireProprovidesanintegratedsuiteofconfiguration,diagnosticandmaintenanceutilitiesthat

assistinthedevelopmentandon‐goingsupportofServoWiresystems.Thesoftwareisdesignedtorun

onthedevelopmentPC.ServoWireProisusedtocreateaprojectfilecontainingall ofthemotorand

driveconfigurationinformation,whichisthendownloadedtotheSMLC.ServoWireProincludesthe

followingutilities:

• SWSetup Menusandsoftwarewizardstosimplifydriveconfiguration&set‐up

• SWMonitor Diagnosticutilitiesformonitoringdriveandnetworkperformance

• SWTune Tuningscopeandsoftwareforoptimizingmotionperformance

• SWUpgrade Tools forupgradingServoWireSMMdrivestolatestfirmware

• SMLCUpgrade ToolforupgradingSMLCfirmware

• SMLCutilities  ManagefilesontheSMLCandconfiguretheSMLCEthernetports

WAGOEthernetI/O

WAGOBootPserverisusedtoconfiguretheIPaddressofWAGOEthernetbuscouplers.



ServoWireMotion&LogicControllerManual SMLCSystemComponents

Chapter3

SMLCInstallation

ServoWireMotion&LogicControllerInstallation

SafetyRelatedGuidelinesforInstallationintheEuropeanUnion

General:ORMECproductmanualsarewrittentoprovideinformationrequiredfortheproperuseofthe

equipmentintheintendedoperation.Theyarewrittenfortechnicallyqualifiedpersonnelsuchas

engineers,programmersandmaintenancespecialistswhohavebeentrainedintheapplicationof

automationcontrolsystems.

ProperUse:Theequipmentand/orsystemorcomponentsmayonlybeusedasdescribedintheproduct

manuals.

Guidelines:ORMECmotioncontrolproductsgenerallyformapartofalargersystemorinstallation.

TheseguidelinesareintendedtohelpintegrateORMECproductsintothesystem.

• Sincetheseproductsarecomponentdevices,overallautomatedsystemsafetyisbeyondthe

scopeoftheproductmanualsandistheresponsibilityoftheintegrator.

• CompliancewithEN292‐1 andEN292‐2(SafetyofMachinery)aswellasEN60204(Electrical

EquipmentofIndustrialMachines)mustbeobservedduringthedesignphase.

• Onlyqualifiedpersonnelshouldbeallowedaccesstotheequipment.

• Openingthehousingorprotectivecoversmayexposedangerousvoltages.

• EmergencytrippingdevicesinaccordancewithEN60204mustbeeffectiveinalloperating

modesoftheautomationequipment.

• Measuresmustbetakenwheninterfacingtheinputsandoutputsoftheautom ationequipment

topreventanundefinedstatefrombeingassumedinthecaseofawirebreakinthesignallines.

• Themotioncontrollerisaprogrammabledevicewiththeapplicationprogrambeingwrittenby

thepersonintegratingitintothemachine.Aqualifiedpersonshouldwritethisprogram.

Measuresmustbetakentoverifythattheprogramwrittendoesnotcausedangerousand

unwantedmachineoperation.

• Thesesystemsareofruggeddesignandintendedforgeneral‐purposeservice.However,aswith

anyequipment,themorestressingtheserviceconditionstheworseisthereliabilityandsome

benefitmaybeexpectedwhenrealserviceconditionsarebetterthantheworstservice

SMLC‐004a 7

ServoWireMotion&LogicControllerManual SMLCSystemComponents

conditionsspecifiedintheproductmanualandStandards.Someapplicationsmayrequire

considerationofspecialpackaging,cooling,electricalnoiseprotection,etc.forreliable

operation.

ReceivingandInspection

ORMECServoWireMotion&LogicControllerandtheirassociatedaccessoriesareputthroughrigorous

testsatthefactorybeforeshipment.Afterunpacking,however,checkfordamage,whichmayhave

beensustainedintransit.ChecktheSMLCandanyoftheaccessoriesforbentorbroken components,

looseboltsorscrewsandanyotherphysicaldamagebeforeinstalling.

 NOTE:Savethe originalSMLCpackagingma terialfo rshippingreturnedunits.

IncludedwithyourSMLCisaCDpackage,whichcontainsinstallationdisks,User sGuide,license

agreement,andregistrationcard.Pleaseopenthispackage,readthelicenseagreement,andfilloutand

returntheregistrationcard.SMLCoperatesontheQNXoperatingsystem,withtheRUN‐TIMELicense

pre‐installedonyourSMLC

.

PanelMountingandEnvironment

PanelmountingdataisavailableintheSMLCMechanicalandEnvironmentalSpecificationssectionof

thischapter.Thecontroller'senvironmentshouldbemaintainedasfollows:

• Operatingtemperatureshouldbebetween0and50C(32

Fto122

F).

• TheSMLCshouldbemounted inagroundedmetalenclosure

• Iftheelectricalpanelissubjecttovibration,mounttheunitonshockabsorbingmaterial.

• Avoiduseincorrosiveatmospheres,whichmaycausedamageovertime.

• Selectalocationwithminimumexposuretooil,water,hotair,highhumidity,excessivedustor

metallicparticles.

• ThepropermountingorientationfortheSMLCisverticalonapanelusingthemountingholes(3)

providedonthebaseplate.

8SMLC‐004a

ServoWireMotion&LogicControllerManual SMLCSystemComponents

Chapter4

SMLCSystemComponents

SMLC‐160 SystemComponents

LEDs‐ WatchdogOK,Run,User,Fault,System,24vpower,5v

power,Diskactivity

J9/J10/J11

–

ServoWire1394bports

ResetPushbutton

J12

–

Keyboardport

J13

–

DigitalI/Oconnector

J14/15

–

USBports

J16

–

EN1

J17

–

EN0

SystemCard

–

CompactFlash

J19

–

VGAconnector

J20

–

DevelopmentSerialPort

–

COM1

J21

–

HMI/UserSerialPort‐ COM2

J22

–

Userserialport‐ COM3(J22)

J23

–

Userserialport

–

COM4

TB1

–

24VDCconnector

TB2

–

AnalogI/Oconnector(ontop,notshown)

TB3

–

InputACPowerconnector(ontop,notshown)

Figure2,SMLC‐160SystemComponents

SMLC‐004a 9

ServoWireMotion&LogicControllerManual SMLCSystemComponents



SMLC‐30,SMLC‐80SystemComponents

LEDs‐ WatchdogOK,Run,User,Fault,System,24vpower,5v

power,Diskactivity

J9/J10/J11

–

ServoWire1394bports

ResetPushbutton

J12

–

Keyboardport

J13

–

DigitalI/Oconnector

J14/15

–

USBports

J16

–

EN1

J17

–

EN0

SystemCard

–

CompactFlash

J19

–

VGAconnector

J20

–

DevelopmentSerialPort

–

COM1

J21

–

HMI/UserSerialPort‐ COM2

J22

–

Userserialport‐ COM3(J22)

J23

–

Userserialport

–

COM4

TB1

–

24VDCconnector

TB2

–

AnalogI/Oconnector(ontop,notshown)

TB3

–

InputACPowerconnector(ontop,notshown)

Figure3,SMLC‐30/80SystemComponents

10SMLC‐004a

ServoWireMotion&LogicControllerManual SMLCSystemComponents

J9–ServoWireIEEE1394InterfacePort

J10–ServoWireIEEE1394InterfacePort

J11–ServoWireIEEE1394InterfacePort(SMLC‐160only)



TheSMLCServoWireinterfaceuses9‐pinbilingualIEEE1394bconnectors.SAC‐SDMdrives areavailable

withlockingandnon‐lockingconnectors.ConnectionsmadetoSA C‐SDMdriveswithlockingconnectors

areCBL‐SW‐BL‐##.ConnectionsmadetoSAC‐SDMwithoutlockingconnectorsaremadewithCBL‐SW‐B‐

#.NotethatCBL‐SW‐B‐##cablescanbeusedwitheitherlockingornon‐lockingSAC‐SDMdrives.CBL‐

SW‐BL‐##maybeusedonnon‐lockingSAC‐SDMdriveswithsomerestrictions.

ConnectionsfromtheSMLCtotheServoWireDriveswith6‐pinIEEE1394aconnectors(SAC‐SWMand

SAC‐SMM)aremadeusingbilingualServoWirecables(CBL‐SW‐BA‐##).

ServoWireCables Description

CBL‐SW‐BL‐3 ServoWireCable,9pinto9pin,locking,3.3ft

CBL‐SW‐BL‐6 ServoWireCable,9pinto9pin,locking,6.6ft

CBL‐SW‐BL‐14 ServoWireCable,9pinto9pin,locking,14.8ft

CBL‐SW‐BL‐25 ServoWireCable,9pinto9pin,locking,25.0ft

CBL‐SW‐BL‐33 ServoWireCable,9pinto9pin,locking,33.3ft



CBL‐SW‐B‐3 ServoWireCable,9pinto9pin,3.3ft

CBL‐SW‐B‐6 ServoWireCable,9pinto9pin,6.6ft

CBL‐SW‐B‐14 ServoWireCable,9pinto9pin,14.8ft

CBL‐SW‐B‐25 ServoWireCable,9pinto9pin,25.0ft

CBL‐SW‐B‐33 ServoWireCable,9pinto9pin,locking,33.3ft



CBL‐SW‐BA‐3 ServoWireCable,9pinto6pin,3.3ft

CBL‐SW‐BA‐6 ServoWireCable,9pinto6pin,6.6ft

CBL‐SW‐BA‐14 ServoWireCable,9pinto6pin,14.8ft

CBL‐SW‐BA‐33 ServoWireCable,9pinto6pin,33.3ft

Table3,ServoWire:IEEE1394Cablepartnumbers.

SMLC‐004a 11

ServoWireMotion&LogicControllerManual SMLCSystemComponents

J12–Keyboard/MouseInterfaceConnector

TheKeyboardInterface,standardonallSMLCcontrollers,isa6‐pinmini‐DINconnector.Itiscompatible

withallIBMPC‐ATcompatiblekeyboards.Thekeyboardisonlyrecognizedatpower‐up.



TheKeyboardinterfaceisnotsupportedbyCoDeSysinthecurrentreleaseofSMLCfirmware.



Figure4,KeyboardConnector(J12)connector.



Pin Signal Description

1 KDA

 Bi‐directionalserialdatalineusedtotransferdatafromorcommandstothePC‐AT

keyboard.

2 MDAT Bi‐directionalserialdatalineusedtotransferdatafromorcommandstothePS/2

mouse.

3 GND Ground

4 VCC Power

5 KCLK Bi‐directionalclocksignalusedtostrobedata/commandsfrom/tothePC‐ATkeyboard.

6 MCLK Bi‐directionalclocksignalusedtostrobedata/commandsfrom/tothePS/2mouse.

Table4,Keyboard/MouseConnector(J12)pin‐out



12SMLC‐004a

Ormec SMLC 30, SMLC 160, SMLC 80 Installation & Operation Manual

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