Ormec SMLC 30 Installation & Operation Manual

Category
Chassis components
Type
Installation & Operation Manual

This manual is also suitable for

SMLCModel30,80&160
HardwareRev2Installation& Operat ionManual
SMLC004b
Copyright©2011
ORMECSystemsCorp.
AllRightsReserved
19Li ndenPark
Rochester,NY14625
(585)3853520
October21, 2011
ServoWireMotion&LogicControllerManual GeneralDescription
iiSMLC004a
CopyrightNotice
Copyright©2011ORMECSystemsCorp.Allrightsreserved.Thismanualandanysoftwarethatitmay
describe,remaintheexclusivepropertyofORMECSystemsCorp.Nopartofeithermaybereproduced
inanyformwithoutthepriorwrittenpermissionofORMEC.
TrademarkNotices
ServoWire™andServoWirePro™aretrademarksofORMECSystemsCorp.
Formoreinformation,visitwww.ORMEC.com
QNX®andNeutrino®areregisteredtrademarksofQNXSoftwareSystemsLtd.
WAGO®isaregisteredtrademarkofWAGOCorporation.
MODBUS®isaregisteredtrademarkofSchneiderElectric.
Warranty
ORMECextendsnowarrantywithrespecttothemerchantabilityorfitnessofthisproductforany
particularpurpose.Itisthecustomer’sresponsibilitytodeterminewhetheritissuitableforthespecific
applicationandwhetheritmeetsperformance,reliabilityandsafetyrequirementswhenusedinthat
application.ORMECreservestherighttomakeimprovementstotheproductaswellasthis
documentationatanytimewithoutnotice.
TermsandConditions
AllhardwareandsoftwaresoldorotherwiseprovidedbyORMECismadeavailablesubjecttoORMEC's
publishedStandardTermsandConditionsofSale.
ServoWireMotion&LogicControllerManual TableofContents
SMLC004a i
TableofContents
Welcome......................................................................................................................1
SMLCGeneralSystemDescription....................................................................3
Features..................................................................................................................................... 3
SMLC Models ............................................................................................................................ 4
Hardware Features .................................................................................................................... 4
So ftware Features ..................................................................................................................... 5
SM LC Support Software ............................................................................................................ 5
CoDeSys‐DevelopmentSoftware.................................................................................................................................................5
ServoWirePro‐SystemConfigurationSoftware...................................................................................................................6
WAGOEthernetI/O.............................................................................................................................................................................6
Ser
voWireMotion&LogicControllerInstallation....................................7
SafetyRelatedGuidelinesforInstallationintheEuropeanUnion.................................................................................7
ReceivingandInspection..................................................................................................................................................................8
PanelMountingandEnvironment................................................................................................................................................8
SM
LCSystemComponents...................................................................................9
J9–ServoWireIEEE1394InterfacePort...............................................................................................................................11
J10–ServoWireIEEE1394InterfacePort.............................................................................................................................11
J11–ServoWireIEEE1394InterfacePort(SMLC‐160only)........................................................................................11
J12–Keyboard/MouseInterfaceConnector.........................................................................................................................12
J13–DigitalI/OConnector...........................................................................................................................................................13
J14–USBPort.....................................................................................................................................................................................14
J15–USBPort.....................................................................................................................................................................................14
J16–EthernetPortEN1..................................................................................................................................................................15
J17–EthernetPortEN0..................................................................................................................................................................15
J19–VGAConnector........................................................................................................................................................................16
J20–DevelopmentSerialPortCOM1‐RS232......................................................................................................................17
J21–SMLCHMISerialPortCOM2‐RS232............................................................................................................................17
J22–SMLCUserSerialPortsCOM3‐RS232.........................................................................................................................17
J23–SMLCUserSerialPortsCOM4‐RS232(SMLC‐160only)....................................................................................17
TB1–24VDCConnector.................................................................................................................................................................18
TB2–AnalogI/OConnector.........................................................................................................................................................18
TB3–InputACPowerConnector................................................................................................................................................18
LEDs.........................................................................................................................................................................................................18
ResetPushbutton...............................................................................................................................................................................19
SystemCard..........................................................................................................................................................................................19
Sys
temPowerWiring&Interlocks................................................................21
Em ergency-Stop / Quick-Stop and Drive Ready Configuration ............................................... 22
EmergencyStopInput:....................................................................................................................................................................22
QuickStopInput:...............................................................................................................................................................................22
Se rvoWire Drive Input / Output ................................................................................................ 23
SDMServodriveI/O.........................................................................................................................................................................23
SMMServodriveI/O........................................................................................................................................................................24
SWMServodriveI/O.......................................................................................................................................................................24
Sys
temOperation...................................................................................................25
LC Status LED's ................................................................................................................. 25
Power‐up...............................................................................................................................................................................................26
SM
SMLC Non-volatile memory ..................................................................................................... 26
Specifications........................................................................................................................... 27
ServoWireMotion&LogicControllerManual TableofContents
SMLCMechanicalandEnvironmentalSpecifications........................................................................................................27
InputACPowerRatings..................................................................................................................................................................27
BatteryPowerSpecifications.......................................................................................................................................................27
DigitalI/OPowerrequirements.................................................................................................................................................28
DigitalInputSpecifications...........................................................................................................................................................28
DigitalOutputSpecifications........................................................................................................................................................28
AnalogInputSpecifications...........................................................................................................................................................28
AnalogOutputSpecifications.......................................................................................................................................................28
DevelopmentportCOM1Specifications..................................................................................................................................29
HMISerialPortCOM2Specifications........................................................................................................................................29
SerialPortCOM3andCOM4Specifications...........................................................................................................................29
WAGOI/OInstallation&Operation...............................................................31
Ge neral Purpose I/O ................................................................................................................ 31
AGO Installation ................................................................................................................... 32
W
SettingtheWAGOIPAddress.......................................................................................................................................................32
W AGO Part List ....................................................................................................................... 34
WAGOAnalogInputModules.......................................................................................................................................................35
WAGOAnalogOutputModules....................................................................................................................................................36
WAGOSpecialtyModules...............................................................................................................................................................36
WAGOPowerSuppliesandAccessories..................................................................................................................................37
Get
tingStarted........................................................................................................39
Pr eparation for Test Run ......................................................................................................... 39
ServoWireMotion&LogicControllerChecklist..................................................................................................................39
ServomotorChecklist.......................................................................................................................................................................40
ApplyingSystemControlPower.................................................................................................................................................40
Se tting up SMLC Serial communications ................................................................................ 41
InitializingtheCommunicationsConnection........................................................................................................................41
DisconnectingserialcommunicationsfromSMLCandyourPC...................................................................................41
TroubleshootingConnectionProblems...................................................................................................................................41
LC Ethernet Configuration .................................................................................................. 41
SM
DefaultSMLCEthernetPortAddressing.................................................................................................................................42
ServoWire Pro Development Software .................................................................................... 42
TestRunningYourSMLCSystem...............................................................................................................................................42
ProductHistory.......................................................................................................43
Determining Hardware Revision Numbers .............................................................................. 43
SMLC Model History ................................................................................................................ 43
Ma
intenance&Troubleshooting.....................................................................45
OR MEC Product Support ........................................................................................................ 45
ProductSupport.................................................................................................................................................................................45
24‐HourProductSupport..............................................................................................................................................................45
SMLC Troubleshooting ............................................................................................................ 46
NoLEDsLitonSMLC........................................................................................................................................................................46
SMLCDoesNotCompletethePowerUpSequence............................................................................................................46
Terms&Mnemonics.............................................................................................47
AppendixA‐SMLCInstallationDiagrams...................................................51
SMLC – Installation Dimensions .............................................................................................. 51
AppendixB–SystemWiringDrawings........................................................53
ServoWire SDM Drives 120 ~ 460 VAC System Wiring .......................................................... 53
ServoWire SMM Drives 120 ~ 460 VAC System Wiring .......................................................... 54
iiSMLC004a
ServoWireMotion&LogicControllerManual TableofContents
ServoWire SMM Drive 12 ~ 96 VDC System Wiring ............................................................... 55
AppendixC–SMLCInterfaceCables&Accessories................................56
Serial Communications Null Modem Cable to PC ................................................................... 56
Profibus Cable Drawing
ListofTables
........................................................................................................... 57
Table1,SMLCModels...................................................................................................................................4
Table2,DevelopmentSoftwarePartNumber..............................................................................................6
Table3,ServoWire:IEEE1394Cablepartnumbers....................................................................................11
Table4,Keyboard/MouseConnector(J12)pinout....................................................................................12
Table5,DigitalI/Oconnector(J13)pinout................................................................................................13
Table6,EthernetPort(J16&J17)pinout..................................................................................................15
Table7,EthernetCables&Accessoriespartnumbers................................................................................15
Table8,CRTConnector(J19)pinout..........................................................................................................16
Table9,RS232SerialPortConnector(J20,J21,J22,andJ23)pinout.......................................................17
Table10,24VDCconnector(TB1)pinout...................................................................................................18
Table11,AnalogI/Oconnector(TB2)pinout............................................................................................18
Table12,Powerconnector(TB3)pinout...................................................................................................18
Table13,SMLCStatusLED's.......................................................................................................................25
Table14,SMLCControllerGeneralSpecifications......................................................................................27
Table15,SMLCControllerMechanicalandEnvironmentalSpecifications.................................................27
Table16,SMLCInputPower.......................................................................................................................27
Table17,SMLCBatteryPower....................................................................................................................27
Table18,DigitalI/OPowerrequirements..................................................................................................28
Table19,Digitalinputspecifications..........................................................................................................28
Table20,Digitaloutputspecifications........................................................................................................28
Table21,Analoginputspecifications.........................................................................................................28
Table22,Analogoutputspecifications.......................................................................................................28
Table23,SMLCDevelopmentSerialPort....................................................................................................29
Table24,SMLCHMISerialPorts.................................................................................................................29
Table25,SMLCSerialPortsCOM3&COM4...............................................................................................29
Table26,WAGOpartslist...........................................................................................................................37
Table27,ORMECmotorcablecolorco de...................................................................................................40
Table28,SMLCSerialCommunicationscable............................................................................................56
SMLC004a iii
ServoWireMotion&LogicControllerManual TableofContents
ivSMLC004a
ListofFigures
Figure1,SMLCSystem..................................................................................................................................3
Figure3,SMLC160SystemComponents......................................................................................................9
Figure4,SMLC30/80SystemComponents................................................................................................10
Figure5,KeyboardConnector(J12)connector...........................................................................................12
Figure6,SchematicofDiscreteInputsIN1'IN8'.........................................................................................14
Figure7,SchematicofDiscreteOutputsOUT1'OUT8'...............................................................................14
Figure8,SMLC‐EthernetConnector(J16&J17)connector.......................................................................15
Figure9,SMLC‐CRTConnector(J19)connector........................................................................................16
Figure10,RS232SerialPortConnector(J20,J21,J22,andJ23)Pinout...................................................17
Figure11,SACSDMServodriveI/O............................................................................................................23
Figure12,SACSMMServodriveI/O...........................................................................................................24
Figure13,SACSWMServodriveI/O...........................................................................................................24
Figure14,WAGObuscoupler.....................................................................................................................31
Figure15,WAGOLaunchBootPserver.......................................................................................................32
Figure16,WAGOLaunchNotepad.............................................................................................................32
Figure17,WAGO‐editBootPtab.txt..........................................................................................................33
Figure18,WAGO‐StartBootPServer........................................................................................................33
Figure19,ServoWireProIPAddress...........................................................................................................41
Figure20,SMLCProductRevisionLabel.....................................................................................................43
Figure21,SMLCmountingdimensions‐heightandwidth........................................................................51
Figure22,SMLCmountingdimensionsdepth ..........................................................................................52

ServoWireMotion&LogicControllerManual Welcome
Chapter1
Welcome
Welcome
ThismanualcoverstheORMEC'sServoWireMotion&LogicController(SMLC)andaccessoriesusedwith
it.Itprovidesadetaileddescriptionof theSMLChardwareandneededinformationforinstalling,
operatingand"gettingstarted"withaSMLCsystem.
What’snewinSMLChardwarerevision2?
SMLChardwarerev2supportslockingServoWirecables.
TheexpansionbusisnowPCI104
Someoftheconnectorsandterminalblockshavebeenmovedand/orrenamed.
IMPORTANT:IfyouhaveSMLChardwarerev1 pleaserefe rtomanualSMLC002SMLC30,
80&160Installation&OperationManual.
Themanualisdividedintothefollowingchapters:
Chapter1 Welcomeintroducesyoutothismanualanditsorganization
Chapter2 GeneralDescription‐OverviewoftheSMLCproductfamily.
Chapter3 SMLCInstallationprovidesinstructionsforinstallingtheSMLCanddetailed
descriptionsofallthehardwareinterfaces.Itexplainsthepowerupandinitial
configurationoperationaswellastheLEDstatusindicators.Thischapteralso
providesdetailedenvironmental,mechanical,andelectricalinterface
specificationsfortheSMLCController
Chapter4 SMLCSystemComponentsprovidesanoverviewofalloftheconnectorsand
terminalblocksonanSMLC,includingthepinouts.
Chapter5 SystemPowerWiring&Interlocksexplainshowtomakepowerandinterlock
connectionsbetweentheSMLCandtheServoWiredrives.AlsoseeAppendixB.
Chapter6 SystemOperationexplainsthepowerupsequenceoftheSMLCincludingLED
operation.ThissectionalsoincludesthespecificationsfortheSMLC,includingall
ofthelocalI/Oandcommunicationports.
SMLC004a 1
ServoWireMotion&LogicControllerManual Welcome
2SMLC004a
Chapter7 WAGOI/OInstallation&Operationprovidesinstructionsforinstallingthe
WAGOanddetaileddescriptionsofallthehardwareinterfaces,aswellasan
explanationoftheLEDstatusindicators.
Chapter8 GettingStartedprovidesdetailedinstructionsonhowtocommunicateandrun
yourSMLCunitforthefirsttime
Chapter9 ProductHistoryprovidesachronologicalrevisionhistoryfortheServoWire
Motion&LogicControllerhardware
Chapter10 Maintenance&Troubleshootingprovidestipsformaintainingand
troubleshootingyourSMLCsystem
Chapter11 Terms&Mnemonicsprovidesdefinitions forterm 'sspecifictoMotionControl
and/orORMEC'sMotionControlproducts
Appendices Appendicescontaindetaileddrawings,whichdocumenttheSMLCdimensions,
systeminterface,aswellasassociatedinterfacecablesandaccessories.Seethe
TableofContentsfordetails
ThismanualconcentratesonprovidingSMLChardwareandcablingdocumentation.Detailed
informationonORMEC'sSMLCprogramminglanguageisfoundintheonlineSMLCHelp.Detailed
informationoncommissioningServoWiredrivestoanSMLCcanbefoundintheonlineServoWirePro
Help.DetailedinformationonservodriveinterfacingcanbefoundintheServoWiredrivemanuals.
ToobtainthelatestversionofanyoftheORMECdocumentationvisitORMEC'ssiteontheWorldWide
Webathttp://www.ormec.com
.
Note:thefunctionalityofcertainportionsoftheSMLChardwareisdependentonthefirmwareandSMLC
hardwareversionused.
ServoWireMotion&LogicControllerManual GeneralDescription
Chapter2
GeneralDescription
Figure1,SMLCSystem
SMLCGeneralSystemDescription
Features
APPLICATIONDEVELOPMENTCO DESYSIEC611313PROGRAMMING:
IEC611313isaopenstandarddevelopingapplicationprogramsformotionandI/Ocontrol,runningon
asingleprocessor.See:www.3ssoftware.com
&www.PLCopen.org
O
PERATINGSYSTEMQNXNEUTRINOREALTIMEOPERATINGSYSTEM(RTOS ):
InQNXNeutrino,onlythemostfundamentalOSprimitives(e.g.signals,timers,scheduling)arehandled
inthekernelitself.Allothercomponentsdrivers,filesystems,protocolstacks,userapplicationsrun
outsidethekernelasseparate,memoryprotectedprocesses.Faultresilienceisbuiltrightin.See:
www.QNX.com
SMLC004a 3
ServoWireMotion&LogicControllerManual GeneralDescription
S
YSTEMCONFIGURATION&DIAGNOSTIC'SSER VOWIREPRO:
ServoWireProprovidesanintegratedsuiteofconfiguration,diagnosticandmaintenanceutilitiesthat
assistinthedevelopmentandongoingsupportofServoWireSMsystems.
A
LLDIGITALIEEE1 394NE TWORKEDSERVODRIVES:
Connectionofupto24ServoWireDriveswithuptoa2.67kHzloopupdaterate,withouttheneedto
purchaseadditionalhardwareorsoftware.AlldigitalservodrivenetworkusingopenstandardIEEE
1394(FireWire)interfacehardwareandcabling.
S
ERVOWIREDRIVEI/O:
HighspeedServoWireDriveI/Oisusedtocaptureaxisposition(example:registration)andcontrol(start
/stop)motion.
G
ENERALPURPOSEI/OWAGO,ETHERNET(MODBUS/TCP&PROFIBUS):
Compact,highlyreliableandcosteffective,withawidevarietyofInput/Outputmodules.Seesection0
SMLCModels
ThismanualcoversSMLCModels30,80and160.
Model Motor
Axes
Pacer
Axes
1
VirtualAxes
2
Ethernet
Ports
RS232
Ports
LocalDIO LocalAIO Expansion
Slots
SMLC30 3 3 Upto3 2 3 8in/8out 1in/1out 1PCI104
SMLC80 8 8 Upto8 2 3 8in/8out 1in/1out 1PCI104
SMLC160 16 16 Upto16 2 3 8in/8out 1in/1out 2PCI104
Table1,SMLCModels
1
Paceraxesrequireadditionaldrivehardware;eitherapaceroptionorasecondaryfeedbackadapteron
thedrive.Assumingthateachdrivehastherequiredpacerinterfaceyoucanhaveonepacerforeach
driveinthesystem.
2
BeginningwithSMLCfirmwareversion2.6.0(whichisrequiredforrev2hardware),thefirstvirtualaxis
is“free”anddoesnotapplytothemaximummotoraxiscountforthatSMLCmodel.E.g.anSMLC30
canhave3realmotoraxes+1virtualaxis;anSMLC80canhave8realmotoraxes+1virtualaxis,etc.
AnyvirtualaxesafterthefirstoneDOapplytothemaximummotoraxiscount.
HardwareFeatures
ORMEC'sServoWireMotion&LogicControllerusesaPCbasedsystempackagedusingoffthe
shelfhardwareinawallmountchassisforeasyinstallation.
SMLChardwareincludes:
CPU‐CeleronorPentiumClassprocessors
EthernetPorts10/100baseT(/1000baseTonModels80&160).
FireWire(IEEE1394b)networkinterface.
serialports(4onModel160)
Development,HMI,Keyboardconnectors.
OptionalPCI104expansion
4SMLC004a
ServoWireMotion&LogicControllerManual GeneralDescription
BuiltindigitalandanalogI/O
SMLCmemoryincludes:
128MbDynamicRAM‐RandomAccessMemory(volatile)
128MbRemovableCompactFlashmemoryforapplicationprogramanddatastorage.
32KbBatterybackedstaticRAMusedfornonvolatiledatastorage.
ThealldigitalServoWireservodriveprovidessupportforavarietyofactuatortechnologies,including
brushlessrotaryandlinearmotors,DCbrushmotorsandvoicecoils.Thedrivesareconfiguredoverthe
ServoWire1394network,eliminatingallmanualconfigurationandofflineconfigurationutilities,
reducingthecostandcomplexityofmaintainingthemotioncontrolsystem.
SoftwareFeatures
ORMEChasselectedthehighlyreliableQNXNeutrinoastheSMLCrealtimeoperatingsystem(RTOS).
TheuseofaRTOSintheSMLCfacilitatestheintegrationofnewfunctionalityandeasesproductlifecycle
maintenancebyallowing foreasymigrationtonew andmorepowerfulhardwareplatforms,asthey
becomeavailable.
ToimplementtheServoWireController’sprogramming,ORMEChaspartneredwith3Stointegratehigh
performanceServoWireSoftMotiontechnology withCoDeSysIEC611313software.CoDeSyscoversall
fiveIEC611313standardcompliantlanguages,andisincorporatedinoveronehundredOEMpartner
products.AllapplicationmotionandI/Ocontrolisimplementedinasingleprogramrunningonone
processor,withoutthedelaysandtimingissuesassociatedwithseparateprocessorcardsinPCsandPLC
racks.
Forthemotioncontrolprogramming,ORMEChasimplementedPLCopenMotionControlfunction
blocks.Powerfulfeatureshavebeenaddedtotheopenstandardmotioncontrol functionblocks,
allowingmotionstobeloadedintoamotionqueueforsequentialoperationinitiatedindependentof
theI/Oscanrate.Motionsinthequeuecanbeautomaticallyrepeated,simplifyingapplication
programming,andtriggeredbyhighspeedsensorinputsattheservocommandLoopRate(fasterthan
theI/Oscanrate).Itisalsopossibletoeasilysuperimposeincrementaltimebasedandgearedmotions
ontopofaconstantmotiongearratio,withouttheneedtodevelopcamprofiles.Formoredetails,read
theSMLConlinehelpfileincludedwithORMEC’sCDSSDK,CoDeSysSoftwareDevelopmentKit.The
latestversionoftheCDSSDKaswellasademoversionisavailablefordownloadonORMEC’swebsite
atwww.ormec.com
.
SMLCSupportSoftware
CoDeSys‐DevelopmentSoftware
CoDeSysIEC611313programmingwithPLCopenmotionfunctionblocksprovidesopenstandardtools
fordevelopingapplicationprogramsformotionandI/Ocontrol.GeneralpurposeI/Ooptionsarefully
supportedusingWAGO's750SeriesandFESTOCPXSeries.
TheIEC611313standardsuiteofprogramminglanguagesprovidesanintegratedsetofsoftwaretools
andgraphicalinterfacestomeetawiderangeofsoftwaredevelopmentneeds:
RelayLadderLogic(LD)
StructuredText(ST)
SMLC004a 5
ServoWireMotion&LogicControllerManual GeneralDescription
6SMLC004a
SequentialFunctionChart(SFC)
FunctionBlockDiagram(FBD)
InstructionList(IL)tools
CoDeSysalsoincludesasixthlanguage,ContinuousFunctionChart(CFC)
DevelopmentSoftwarePartNumber:
CDSSDK/C CoDeSysDevelopersKit,CDROM,incl.CoDeSys,ServoWirePro,
onlinedocumentation,WAGOBootPserver,serialcommunication
cable
Table2,DevelopmentSoftwarePartNumber
ServoWirePro‐SystemConfigurationSoftware
ServoWireProprovidesanintegratedsuiteofconfiguration,diagnosticandmaintenanceutilitiesthat
assistinthedevelopmentandongoingsupportofServoWiresystems.Thesoftwareisdesignedtorun
onthedevelopmentPC.ServoWireProisusedtocreateaprojectfilecontainingall ofthemotorand
driveconfigurationinformation,whichisthendownloadedtotheSMLC.ServoWireProincludesthe
followingutilities:
SWSetup Menusandsoftwarewizardstosimplifydriveconfiguration&setup
SWMonitor Diagnosticutilitiesformonitoringdriveandnetworkperformance
SWTune Tuningscopeandsoftwareforoptimizingmotionperformance
SWUpgrade Tools forupgradingServoWireSMMdrivestolatestfirmware
SMLCUpgrade ToolforupgradingSMLCfirmware
SMLCutilities ManagefilesontheSMLCandconfiguretheSMLCEthernetports
WAGOEthernetI/O
WAGOBootPserverisusedtoconfiguretheIPaddressofWAGOEthernetbuscouplers.
ServoWireMotion&LogicControllerManual SMLCSystemComponents
Chapter3
SMLCInstallation
ServoWireMotion&LogicControllerInstallation
SafetyRelatedGuidelinesforInstallationintheEuropeanUnion
General:ORMECproductmanualsarewrittentoprovideinformationrequiredfortheproperuseofthe
equipmentintheintendedoperation.Theyarewrittenfortechnicallyqualifiedpersonnelsuchas
engineers,programmersandmaintenancespecialistswhohavebeentrainedintheapplicationof
automationcontrolsystems.
ProperUse:Theequipmentand/orsystemorcomponentsmayonlybeusedasdescribedintheproduct
manuals.
Guidelines:ORMECmotioncontrolproductsgenerallyformapartofalargersystemorinstallation.
TheseguidelinesareintendedtohelpintegrateORMECproductsintothesystem.
Sincetheseproductsarecomponentdevices,overallautomatedsystemsafetyisbeyondthe
scopeoftheproductmanualsandistheresponsibilityoftheintegrator.
CompliancewithEN2921 andEN2922(SafetyofMachinery)aswellasEN60204(Electrical
EquipmentofIndustrialMachines)mustbeobservedduringthedesignphase.
Onlyqualifiedpersonnelshouldbeallowedaccesstotheequipment.
Openingthehousingorprotectivecoversmayexposedangerousvoltages.
EmergencytrippingdevicesinaccordancewithEN60204mustbeeffectiveinalloperating
modesoftheautomationequipment.
Measuresmustbetakenwheninterfacingtheinputsandoutputsoftheautom ationequipment
topreventanundefinedstatefrombeingassumedinthecaseofawirebreakinthesignallines.
Themotioncontrollerisaprogrammabledevicewiththeapplicationprogrambeingwrittenby
thepersonintegratingitintothemachine.Aqualifiedpersonshouldwritethisprogram.
Measuresmustbetakentoverifythattheprogramwrittendoesnotcausedangerousand
unwantedmachineoperation.
Thesesystemsareofruggeddesignandintendedforgeneralpurposeservice.However,aswith
anyequipment,themorestressingtheserviceconditionstheworseisthereliabilityandsome
benefitmaybeexpectedwhenrealserviceconditionsarebetterthantheworstservice
SMLC004a 7
ServoWireMotion&LogicControllerManual SMLCSystemComponents
conditionsspecifiedintheproductmanualandStandards.Someapplicationsmayrequire
considerationofspecialpackaging,cooling,electricalnoiseprotection,etc.forreliable
operation.
ReceivingandInspection
ORMECServoWireMotion&LogicControllerandtheirassociatedaccessoriesareputthroughrigorous
testsatthefactorybeforeshipment.Afterunpacking,however,checkfordamage,whichmayhave
beensustainedintransit.ChecktheSMLCandanyoftheaccessoriesforbentorbroken components,
looseboltsorscrewsandanyotherphysicaldamagebeforeinstalling.
NOTE:Savethe originalSMLCpackagingma terialfo rshippingreturnedunits.
IncludedwithyourSMLCisaCDpackage,whichcontainsinstallationdisks,User sGuide,license
agreement,andregistrationcard.Pleaseopenthispackage,readthelicenseagreement,andfilloutand
returntheregistrationcard.SMLCoperatesontheQNXoperatingsystem,withtheRUNTIMELicense
preinstalledonyourSMLC
.
PanelMountingandEnvironment
PanelmountingdataisavailableintheSMLCMechanicalandEnvironmentalSpecificationssectionof
thischapter.Thecontroller'senvironmentshouldbemaintainedasfollows:
Operatingtemperatureshouldbebetween0and50C(32
o
Fto122
o
F).
TheSMLCshouldbemounted inagroundedmetalenclosure
Iftheelectricalpanelissubjecttovibration,mounttheunitonshockabsorbingmaterial.
Avoiduseincorrosiveatmospheres,whichmaycausedamageovertime.
Selectalocationwithminimumexposuretooil,water,hotair,highhumidity,excessivedustor
metallicparticles.
ThepropermountingorientationfortheSMLCisverticalonapanelusingthemountingholes(3)
providedonthebaseplate.
8SMLC004a
ServoWireMotion&LogicControllerManual SMLCSystemComponents
Chapter4
SMLCSystemComponents
SMLCSystemComponents
SMLC160 SystemComponents
LEDs‐ WatchdogOK,Run,User,Fault,System,24vpower,5v
power,Diskactivity
J9/J10/J11
ServoWire1394bports
ResetPushbutton
J12
Keyboardport
J13
DigitalI/Oconnector
J14/15
USBports
J16
EN1
J17
EN0
SystemCard
CompactFlash
J19
VGAconnector
J20
DevelopmentSerialPort
COM1
J21
HMI/UserSerialPort‐ COM2
J22
Userserialport‐ COM3(J22)
J23
Userserialport
COM4
TB1
24VDCconnector
TB2
AnalogI/Oconnector(ontop,notshown)
TB3
InputACPowerconnector(ontop,notshown)
Figure2,SMLC160SystemComponents
SMLC004a 9
ServoWireMotion&LogicControllerManual SMLCSystemComponents
SMLC30,SMLC80SystemComponents
LEDs‐ WatchdogOK,Run,User,Fault,System,24vpower,5v
power,Diskactivity
J9/J10/J11
ServoWire1394bports
ResetPushbutton
J12
Keyboardport
J13
DigitalI/Oconnector
J14/15
USBports
J16
EN1
J17
EN0
SystemCard
CompactFlash
J19
VGAconnector
J20
DevelopmentSerialPort
COM1
J21
HMI/UserSerialPort‐ COM2
J22
Userserialport‐ COM3(J22)
J23
Userserialport
COM4
TB1
24VDCconnector
TB2
AnalogI/Oconnector(ontop,notshown)
TB3
InputACPowerconnector(ontop,notshown)
Figure3,SMLC30/80SystemComponents
10SMLC004a
ServoWireMotion&LogicControllerManual SMLCSystemComponents
J9ServoWireIEEE1394InterfacePort
J10ServoWireIEEE1394InterfacePort
J11ServoWireIEEE1394InterfacePort(SMLC160only)
TheSMLCServoWireinterfaceuses9pinbilingualIEEE1394bconnectors.SACSDMdrives areavailable
withlockingandnonlockingconnectors.ConnectionsmadetoSA CSDMdriveswithlockingconnectors
areCBLSWBL##.ConnectionsmadetoSACSDMwithoutlockingconnectorsaremadewithCBLSWB
#.NotethatCBLSWB##cablescanbeusedwitheitherlockingornonlockingSACSDMdrives.CBL
SWBL##maybeusedonnonlockingSACSDMdriveswithsomerestrictions.
ConnectionsfromtheSMLCtotheServoWireDriveswith6pinIEEE1394aconnectors(SACSWMand
SACSMM)aremadeusingbilingualServoWirecables(CBLSWBA##).
ServoWireCables Description
CBLSWBL3 ServoWireCable,9pinto9pin,locking,3.3ft
CBLSWBL6 ServoWireCable,9pinto9pin,locking,6.6ft
CBLSWBL14 ServoWireCable,9pinto9pin,locking,14.8ft
CBLSWBL25 ServoWireCable,9pinto9pin,locking,25.0ft
CBLSWBL33 ServoWireCable,9pinto9pin,locking,33.3ft

CBLSWB3 ServoWireCable,9pinto9pin,3.3ft
CBLSWB6 ServoWireCable,9pinto9pin,6.6ft
CBLSWB14 ServoWireCable,9pinto9pin,14.8ft
CBLSWB25 ServoWireCable,9pinto9pin,25.0ft
CBLSWB33 ServoWireCable,9pinto9pin,locking,33.3ft


CBLSWBA3 ServoWireCable,9pinto6pin,3.3ft
CBLSWBA6 ServoWireCable,9pinto6pin,6.6ft
CBLSWBA14 ServoWireCable,9pinto6pin,14.8ft
CBLSWBA33 ServoWireCable,9pinto6pin,33.3ft
Table3,ServoWire:IEEE1394Cablepartnumbers.
SMLC004a 11
ServoWireMotion&LogicControllerManual SMLCSystemComponents
J12Keyboard/MouseInterfaceConnector
TheKeyboardInterface,standardonallSMLCcontrollers,isa6pinminiDINconnector.Itiscompatible
withallIBMPCATcompatiblekeyboards.Thekeyboardisonlyrecognizedatpowerup.
TheKeyboardinterfaceisnotsupportedbyCoDeSysinthecurrentreleaseofSMLCfirmware.
Figure4,KeyboardConnector(J12)connector.
Pin Signal Description
1 KDA
T
BidirectionalserialdatalineusedtotransferdatafromorcommandstothePCAT
keyboard.
2 MDAT BidirectionalserialdatalineusedtotransferdatafromorcommandstothePS/2
mouse.
3 GND Ground
4 VCC Power
5 KCLK Bidirectionalclocksignalusedtostrobedata/commandsfrom/tothePCATkeyboard.
6 MCLK Bidirectionalclocksignalusedtostrobedata/commandsfrom/tothePS/2mouse.
Table4,Keyboard/MouseConnector(J12)pinout
12SMLC004a
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Ormec SMLC 30 Installation & Operation Manual

Category
Chassis components
Type
Installation & Operation Manual
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