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GE Fanuc Intelligent Platforms Programmable Control Products

VersaMax®Micro PLCMicroMotion Modules , GFK-2471A

December, 2008


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GFL-002

Warnings, Cautions, and Notesas Used in this Publicat ion

WarningWarning notices are used in this publication to emphasize that hazardous voltages,currents, temperatures, or other conditions that could cause personal injury exist in thisequipment or may be associated with its use.

In situations where inattention could cause either personal injury or damage to equipment,a Warning notice is used.

Caution

Caution notices are used where equipment might be damaged if care is not taken.

NoteNotes merely call attention to information that is especially significant to understanding andoperating the equipment.

This document is based on information available at the time of its publication. While effortshave been made to be accurate, the information contained herein does not purport to cover alldetails or variations in hardware or software, nor to provide for every possible contingency inconnection with installation, operation, or maintenance. Features may be described hereinwhich are not present in all hardware and software systems. GE Fanuc Automation assumes noobligation of notice to holders of this document with respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutorywith respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, orusefulness of the information contained herein. No warranties of merchantability or fitness forpurpose shall apply.

The following are trademarks of GE Fanuc Automation, Inc.

Alarm Master Genius ProLoop Series SixCIMPLICITY Helpmate PROMACRO Series ThreeCIMPLICITY 90–ADS Logicmaster PowerMotion VersaMaxCIMSTAR Modelmaster PowerTRAC VersaPointField Control Motion Mate Series 90 VersaProGEnet PACSystems Series Five VuMaster

Proficy Series One Workmaster

©Copyright 2008 GE Fanuc Intelligent PlatformsAll Rights Reserved


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Contents

iv VersaMax® Micro PLC MicroMotion Modules – December, 2008 GFK-2471A

Terminal Assignments.....................................................................................................2-18 I/O Signal Wiring..................................................................................................... 2-18 I/O Signals ..............................................................................................................2-19 Output Wiring to a Servo Amplifier ......................................................................... 2-20

Adding an Emergency Stop Circuit ........................................................................ 2-21 Starting Up the Module ...................................................................................................2-22

Normal Powerup Sequence....................................................................................2-22 LEDs on the MicroMotion Module .......................................................................... 2-22

Chapter 3 Port Option Modules.............................................................................. 3-1

Types of Port Option Modules........................................................................................... 3-2 Port Option Modules for MODBUS Communications............................................... 3-2

RS232 Port Option Module ............................................................................................... 3-3 RS422/485 Port Option Module ........................................................................................ 3-4 USB / RS232 Conversion Option Module .........................................................................3-5 Ethernet Option Module .................................................................................................... 3-6

Ethernet Option Module Status LEDs ...................................................................... 3-6 Ethernet Option Module Specifications .................................................................... 3-6 Ethernet Communications Drivers............................................................................ 3-7 Setting the IP Address.............................................................................................. 3-7

Port Option Module Installation ......................................................................................... 3-8 Communications Setup .....................................................................................................3-9

DIP Switch Setting for Communications................................................................... 3-9 Communications Parameters: Setup Tool.............................................................. 3-10

Communications Parameters: VersaMax Micro PLC CPU ....................................3-11 Communications Parameters: Host Controller .......................................................3-12

Chapter 4 Memory Pack Option Module................................................................ 4-1

Memory Pack Description ................................................................................................. 4-2 Write Protect Switch on the Memory Pack ...............................................................4-2

MicroMotion Module Memory Protect Switch.................................................................... 4-3 Memory Pack Installation .................................................................................................. 4-4

Using a Memory Pack with –AA MicroMotion Modules ............................................ 4-4 Reading Data from a Memory Pack..................................................................................4-5

Writing Data to a Memory Pack ........................................................................................ 4-6 Writing Data to a Memory Pack: Setup Tool ............................................................ 4-7 Writing Data to a Memory Pack: VersaMax Micro PLC CPU ...................................4-8 Writing Data to a Memory Pack: Host Controller...................................................... 4-9

Chapter 5 Homing Mode ......................................................................................... 5-1

Homing Mode Overview.................................................................................................... 5-2 Input Pulse Homing .................................................................................................. 5-2


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Free Homing...................................................................................................................... 5-3 Low-Speed Homing........................................................................................................... 5-4

Low-Speed Homing when Home Position Limit Switch is Off ..................................5-4

Low-Speed Homing when Home Position Limit Switch is On ..................................5-5 High-Speed Homing [Off-Edge] ........................................................................................ 5-6

Home Position Limit Switch is Off at the start of High-Speed Homing [Off Edge] ... 5-6 Home Position Limit Switch is On at the start of High-Speed Homing [Off Edge] ... 5-7

High-Speed Homing [Marker]............................................................................................ 5-8 Home Position Limit Switch is Off at the start of High-Speed Homing [Marker] ...... 5-8 Home Position Limit Switch is On at the start of High-Speed Homing [Marker] ...... 5-9

Effects of External Inputs on Homing.............................................................................. 5-10 Setting Up, Controlling, and Monitoring Homing .............................................................5-12

Homing Summary: MicroMotion Setup Tool........................................................... 5-12 Homing Summary: VersaMax Micro PLC CPU ......................................................5-13 Homing Summary: Host Controller......................................................................... 5-14

Chapter 6 Manual Mode .......................................................................................... 6-1

Overview of Manual Mode ................................................................................................ 6-2 Operations in Manual Mode ..................................................................................... 6-2

Additional Features in Manual Mode........................................................................ 6-2 Operation by Command ....................................................................................................6-3

Jogging Operation by Command.............................................................................. 6-3 Inching Operation by Command............................................................................... 6-4 Effect of External Inputs During Manual Operation by Command ...........................6-5

Manual Mode Operation Controlled by External Inputs .................................................... 6-6 Operation in External Input Mode............................................................................. 6-7 Executing Commands During External Inputs Manual Mode...................................6-9 Effect of External Inputs During Manual Operation by External Inputs ..................6-10

Setting Up, Controlling, and Monitoring Manual Mode ...................................................6-12 Manual Mode Summary: MicroMotion Setup Tool ................................................. 6-12 Manual Mode Summary: VersaMax Micro PLC CPU ............................................6-13 Manual Mode Summary: Host Controller ...............................................................6-14

Chapter 7 Auto Mode Operation ............................................................................ 7-1

Auto Mode Operation........................................................................................................ 7-2 Additional Features of Auto Mode ............................................................................ 7-2

Profiles for Auto Mode.......................................................................................................7-3 Using the Same Profiles for Both Axes .................................................................... 7-3

Sequence Tables .............................................................................................................. 7-4 Registered and Specified Sequence Tables ............................................................7-4 Breakpoints in a Registered Sequence Table .......................................................... 7-5 Parameters of Profile Instances in a Sequence Table .............................................7-7


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Effects of External Inputs in Auto Mode .......................................................................... 7-15 Jog Forward Input in Auto Mode ............................................................................ 7-15 HSR Input in Auto Mode.........................................................................................7-15

Setting Up, Controlling, and Monitoring Auto Mode........................................................ 7-16 Auto Mode Summary: MicroMotion Setup Tool...................................................... 7-16 Auto Mode Summary: VersaMax Micro PLC CPU................................................. 7-18 Auto Mode Summary: Host Controller.................................................................... 7-20 Data Format of a Sequence Table .........................................................................7-22 Data Format of a Profile ......................................................................................... 7-23 Data Format of a Dwell........................................................................................... 7-23

Chapter 8 Follower Operation ................................................................................ 8-1

Follower Operation............................................................................................................ 8-2 Manual Mode Example of a Follower Axis ............................................................... 8-2

Auto Mode Example of a Follower Axis.................................................................... 8-3 Homing Mode Operation of a Follower Axis ............................................................. 8-4 Windowing Operation with a Follower Axis .............................................................. 8-4

Standby/Run Status of the Follower Axis..........................................................................8-5 Standby/Run Indications in Manual Mode (Inching + Jog )...................................... 8-5 Standby/Run Indications in Auto Mode .................................................................... 8-6

Using a Gear Ratio for Follower Operation ....................................................................... 8-7 Automatic Adjustments Based on the Gear Ratio .................................................... 8-8 Velocity Limits in Follower Operation ....................................................................... 8-9 Initial Velocity of the Master Axis in Manual Mode ................................................. 8-10 Position Limits for Rotary Axes in Follower Operation ........................................... 8-11

Timing Considerations for Follower Operation................................................................8-12 Timing for Velocity Correction ................................................................................ 8-12

Axis Stops in Manual or Auto Mode (Speed Control)............................................. 8-13 Auto Mode (Position Control) .................................................................................8-13 Changing Directly from Acceleration to Deceleration............................................. 8-14

Effects of External Inputs on Follower Operations.......................................................... 8-15 Positioning Complete Input..................................................................................... 8-15 Forward or Reverse Overtravel Input ..................................................................... 8-16 Drive Ready Input ................................................................................................... 8-16 Emergency Stop Input ............................................................................................ 8-17 Feedrate Override Input ......................................................................................... 8-17 High-Speed Registration Input ............................................................................... 8-18 Jog Forward / Jog Reverse Inputs.......................................................................... 8-18

Setting Up, Controlling, and Monitoring Follower Operation........................................... 8-19 Follower Operation Summary: MicroMotion Setup Tool ........................................ 8-19 Follower Operation Summary: VersaMax Micro PLC CPU....................................8-20 Follower Operation Summary: Host Controller....................................................... 8-22


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Chapter 9 Windowing .............................................................................................. 9-1

Overview of Windowing..................................................................................................... 9-2 Monitoring Windowing .............................................................................................. 9-2

Parameters of Windowing ................................................................................................. 9-3 The Windowing Base Point ...................................................................................... 9-4 The Windowing Interval ............................................................................................ 9-4 Band (CW and CCW) ............................................................................................... 9-4 Velocity Override Ratio............................................................................................. 9-5 Choosing Windowing Parameters Correctly............................................................. 9-6

Starting Position for Windowing ........................................................................................9-8 Using the High-Speed Registration Input in Windowing ................................................... 9-9

Enabling / Disabling the HSR Input .......................................................................... 9-9 Interval Auto-Adjustment ........................................................................................ 9-12

Windowing for a Rotary Axis ........................................................................................... 9-15 Windowing Operation in Manual Mode ........................................................................... 9-16

Windowing Operation during Inching ..................................................................... 9-16 Windowing Operation during Inching + Jog ........................................................... 9-16 Windowing Operation during Jogging .................................................................... 9-16

Windowing Operation in Auto Mode ...............................................................................9-17 Single Cycle of a Sequence Table ......................................................................... 9-17 Continuous Cycles of a Sequence Table ............................................................... 9-17

Windowing and Follower Mode ....................................................................................... 9-18 Effects of External Inputs on Windowing ........................................................................9-19

Setting Up, Controlling, and Monitoring Windowing........................................................ 9-20 Enabling and Disabling Windowing ........................................................................9-20 Windowing Summary: MicroMotion Setup Tool ..................................................... 9-21 Windowing Summary: VersaMax Micro PLC CPU................................................. 9-22 Windowing Summary: Host Controller ................................................................... 9-23

Chapter 10 External Inputs ..................................................................................... 10-1

External Inputs of the MicroMotion Module..................................................................... 10-2 The Marker Input.............................................................................................................10-3 High-Speed Registration Input ........................................................................................ 10-4

Operation of High-Speed Registration ................................................................... 10-4 Positioning Complete Input ............................................................................................. 10-6

Effect of a Stop on Positioning Complete............................................................... 10-6 Home Position Limit Input ............................................................................................... 10-7 Forward and Reverse Overtravel Inputs ......................................................................... 10-8

Restarting Operation After an Overtravel Occurs...................................................10-8 Feedrate Override Input ................................................................................................ 10-10

Operation of Feedrate Override............................................................................ 10-10


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Feedrate Override Percentage............................................................................. 10-10 Turning Feedrate Override On ............................................................................. 10-11 Turning Feedrate Override Off ............................................................................. 10-11 Combined Action of the FE Input and Feedrate Override Commands ................10-12

Jog Forward and Jog Reverse Inputs ........................................................................... 10-13 JF / JR Input in Manual Mode............................................................................... 10-13 JF Input in Auto Mode ..........................................................................................10-15 JF / JR Input in Follower Mode............................................................................. 10-15

Drive OK/Ready Input ...................................................................................................10-16 Emergency Stop Input................................................................................................... 10-17 Setting Up and Monitoring External Inputs ................................................................... 10-18

External Inputs Summary: MicroMotion Setup Tool ............................................. 10-18 External Inputs Summary: VersaMax Micro PLC CPU ........................................ 10-19 External Inputs Summary: Host Controller ........................................................... 10-20

Chapter 11 The Common Parameters ................................................................... 11-1

Common Parameters Reference Table .......................................................................... 11-2 Common Parameter Descriptions...................................................................................11-5

Common Parameter Word 1: Setup Bits for Outputs ............................................. 11-5 Common Parameter Word 2: Setup Bits for Input Feedback ............................... 11-10 Common Parameter Word 3: Setup Bits for External Inputs................................11-14 Common Parameter 4: Pulses per Motor Rotation for Outputs ...........................11-19 Common Parameter 5: User Units per Motor Rotation for Outputs ..................... 11-19 Common Parameter 6: Velocity Limit .................................................................. 11-20 Common Parameter 7: Initial Velocity for Auto Mode .......................................... 11-20 Common Parameter 8: Find Home Velocity (Low, High) .....................................11-20 Common Parameter 9: Final Home Velocity ........................................................ 11-20 Common Parameter 10: Acceleration Rate.......................................................... 11-20 Common Parameter 11: Deceleration Rate ......................................................... 11-20 Common Parameter 12: Maximum Velocity......................................................... 11-21 Common Parameter 13: Initial Velocity ................................................................11-21 Common Parameter 14: Acceleration Rate.......................................................... 11-21 Common Parameter 15: Deceleration Rate ......................................................... 11-21 Common Parameter 16: Inching Distance ........................................................... 11-21 Common Parameter 17: Backlash Compensation ............................................... 11-22 Common Parameter 18: Feedrate Override Percentage .....................................11-23 Common Parameter 19: Gear Ratio in Follower Mode ........................................ 11-23 Common Parameter 20: Upper Position Limit for Outputs ................................... 11-24 Common Parameter 21: Lower Position Limit ......................................................11-24 Common Parameter 22: Home Position............................................................... 11-25 Common Parameter 23: Home Position Offset .................................................... 11-25 Common Parameter 24: Registration Move Distance .......................................... 11-25 Common Parameter 25: Pulses per Motor Rotation for Input Feedback ............. 11-26 Common Parameter 26: User Units per Motor Rotation for Input Feedback ....... 11-26


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Common Parameter 27: Upper Position Limit for Input Feedback.......................11-27 Common Parameter 28: Free-form Units for Outputs .......................................... 11-28 Common Parameter 29: Free-form Units for Input Feedback.............................. 11-28 Common Parameter 30: Window Interval ............................................................ 11-29 Common Parameter 31: Window Band, CW........................................................ 11-29 Common Parameter 32: Window Band, CCW ..................................................... 11-30 Common Parameter 33: Windowing Velocity Override ........................................ 11-30 Common Parameter 34: Windowing Base Point .................................................. 11-30

Guidelines for Changing Parameters............................................................................ 11-31 Changing Common Parameters when the User Units are Pulses ....................... 11-32 Changing Common Parameters when the User Units are NOT Pulses............... 11-33

Chapter 12 Using the MicroMotion Setup Tool ..................................................... 12-1

Opening the MicroMotion Setup Tool ............................................................................. 12-2

Setup Tool Main Window ................................................................................................ 12-3 Accessing Basic Setup Tool Functions .................................................................. 12-3 Operating Online or Offline..................................................................................... 12-5 Monitoring a MicroMotion Module .......................................................................... 12-6 Initializing Motion Module Parameters ................................................................. 12-11 Read and Writing Parameter Data .......................................................................12-11 Setting Up Serial Communications Parameters................................................... 12-15 Setting Up Communications Parameters for the Setup Tool ............................... 12-16

Setting Up Common Parameters ..................................................................................12-17 Changing the Common Parameters in Online Mode ........................................... 12-19 Motion Parameters ............................................................................................... 12-20 Input Parameters .................................................................................................. 12-21 Homing Mode Parameters.................................................................................... 12-22 Manual Mode Parameters .................................................................................... 12-23

Auto Mode Parameter .......................................................................................... 12-24 Follower Operation Parameter ............................................................................. 12-24 Checking the Common Parameters ..................................................................... 12-25 Writing Parameters to the MicroMotion Module ................................................... 12-25

Setting Up Profiles for Auto Mode................................................................................. 12-26 Defining Profiles in Offline or Online Mode .......................................................... 12-26 Profile Numbers....................................................................................................12-27 Teaching Profiles Window .................................................................................... 12-29

Setting Up a Sequence Table ....................................................................................... 12-30 Setting Up a Sequence Table to Verify Axis Position ..........................................12-33

Chapter 13 Configur ing a MicroMotion Expansion Module ................................. 13-1

Module Configuration Using Machine Edition ................................................................. 13-2 Configure the Motion I/O Settings for a VersaMax CPU ........................................ 13-3 Configure the Wiring Information............................................................................13-3


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Open the MicroMotion Setup Tool .................................................................................. 13-4 Using the MicroMotion Setup Tool with Version –AA MicroMotion Modules ......... 13-4

Chapter 14 Exchanging Data wi th a VersaMax Micro PLC CPU.......................... 14-1

Expansion Operation in a VersaMax Micro PLC.............................................................14-2 Data Exchange Between the CPU and MicroMotion Module ......................................... 14-3 Output Control Data Sent by the VersaMax Micro PLC CPU ......................................... 14-4

Commands .............................................................................................................14-5 Storing Operating Data to Backup Memory............................................................ 14-5 Error Status when Sending Commands ............................................................... 14-13 Sending Commands ............................................................................................. 14-14

Input Status Data Sent by a MicroMotion Module......................................................... 14-29 Input Status Data Word 1: Handshaking and Axis Status.................................... 14-30 Input Status Data Word 2: External Input States.................................................. 14-31 Input Status Data Words 3 and 4: Axis Data........................................................ 14-32 Input Status Data Words 5 to 8: Axis Status or Requested Data......................... 14-33

Chapter 15 Exchanging Data wi th a Host Controller............................................ 15-1

Host Controller Overview ................................................................................................ 15-2 Host Controller in a VersaMax Micro PLC System................................................. 15-2 Host Controller in a Standalone Motion Application ............................................... 15-2 Port Option Module Selection................................................................................. 15-3 MODBUS Data Types for MicroMotion Modules .................................................... 15-4 MODBUS Commands for MicroMotion Modules....................................................15-4 Writing and Storing Data to the Module ................................................................. 15-5

MODBUS Communications Sequences ......................................................................... 15-8 Setting Up Parameters ........................................................................................... 15-8 Reading Module Data............................................................................................. 15-9 Controlling the Module............................................................................................ 15-9

MODBUS Data Formats for MicroMotion Modules .......................................................15-10 Coils Table............................................................................................................ 15-10 Input Status Bits ...................................................................................................15-15 Input Registers...................................................................................................... 15-17 Holding Registers ................................................................................................. 15-26

MODBUS Function Code Descriptions .........................................................................15-32

Function Code 0x01 (Read Coil Status)............................................................... 15-32 Function Code 0x02 (Read Input Status) .............................................................15-33 Function Code 0x03 (Read Holding Registers) ....................................................15-34 Function Code 0x04 (Read Input Registers) ........................................................ 15-35 Function Code 0x05 (Force Single Coil) .............................................................. 15-36 Function Code 0x06 (Force Single Register) .......................................................15-37 Function Code 0x0F (Force Multiple Coils) .......................................................... 15-38 Function Code 0x10 (Force Multiple Registers) ................................................... 15-39


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GFK-2471A 1-1

Introduction

This manual describes the specifications, installation, and operation of the VersaMaxMicro PLC’s MicroMotion Modules, IC200UMM002 and IC200UMM102.

Chapter 1 lists general, functional, and I/O specifications, and gives an overview ofmodule operation.

Chapter 2: Inst allation , gives basic information for installing and wiring MicroMotion

Modules. For VersaMax Micro PLC installation instructions, please refer to theVersaMax Micro PLC User’s Manual, GFK-1645.

Chapter 3: Port Option Modules , describes the use of a Port Option module with aMicroMotion Module. A Port Option module is required for communications with a hostcontroller.

Chapter 4: Memory Pack Mod ules , describes the use of a Memory Pack module witha MicroMotion Module.

Chapter 5: Homing Mod e , describes options for establishing the Home Position of anaxis.

Chapter 6: Manual Mode , explains how inching and jog movements can be controlledusing external input signals or commands from the controller.

Chapter 7: Auto Mode , explains how a MicroMotion Module can use a sequence ofpre-defined profile and dwell data to perform automatic operations.

Chapter 8: Foll ower Operation, describes the Follower feature of MicroMotionModules IC200UMM002/102-BB or later. In this mode, one axis acts as a master thatcontrols the operation of the other axis.

Chapter 9: Window ing Operation, describes the Windowing feature of MicroMotionModules IC200UMM002/102-BB or later. In Windowing, axis position is coordinated toan input signal that occurs at regular intervals.

Chapter 10: External Inpu ts, describes the external input signals to a MicroMotionModule.

Chapter 11: The Common Parameters, is a detailed reference to the basicparameters that define the operation of a MicroMotion Module.

Chapter 12: Using the MicroMoti on Setup Tool , describes the MicroMotion SetupTool, and explains how to use it to set up, monitor, and control a MicroMotion Module.

Chapter1


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1-2 VersaMax® Micro PLC MicroMotion Modules – December, 2008 GFK-2471A

1

Chapter 13: Configurin g a MicroMotion Expansion Modul e, describes the steps toconfigure a MicroMotion Module as an expansion module in a VersaMax Micro PLCsystem.

Chapter 14: Exchanging Data with a VersaMax Micro PLC CPU, explains how aVersaMax Micro PLC CPU can set up, monitor, and control a VersaMax MicroMotionexpansion module.

Chapter 15: Exchanging Data with a Host Controll er, explains how a host controllercan use MODBUS RTU or TCP/IP communications to set up, monitor, and control aVersaMax MicroMotion Module.

Chapter 16: Erro r Codes , defines error codes that are associated with Axis Errorsand System Errors.

Appendi x A: Fl oat in g Po in t Dat a, provides reference information about the formatand use of floating point data.

For More Information

For MicroMotion Modules that are part of a VersaMax Micro PLC system, please referto the VersaMax Nano and Micro PLCs Manual (document GFK-1645), whichprovides additional information about installation, configuration, programming, andoperation.


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GFK-2471A Chapter 1 Introduction 1- 3

1

Module DescriptionVersaMax MicroMotion Modules provide independent motion control in a VersaMaxMicro PLC or host controller system. MicroMotion Modules can be DIN-rail or panel-mounted. Modules are available for 24VDC or 110/220VAC power:

! IC200UMM002: MicroMotion Module, 24VDC

! IC200UMM102: MicroMotion Module, 110/220VAC

Both are standard VersaMax Micro PLC modules, with removable protective doors,hinged terminal covers and connector covers.

The diagram below shows the accessible components of the module with theprotective doors removed, and the hinged terminal covers and connector covers open.

Removable Terminal Strips

DIN Rail Release

ExpansionConnector

Status LEDS

Battery Compartment withDIP Switches

Removable Terminal Strips

!"!#$%

&'()

"*&+"*&+

ExpansionConnector

Option Module Connector


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MicroMotion Module FeaturesVersaMax MicroMotion Modules provide the following features:

! Two independent axes

! All the inputs and outputs needed for motion control

! Ability to store up to 256 profiles in the module

! Up to 499 sequence steps

! Standalone motion functionality independent of a controller

! Profiles can be executed individually or continuously

! No motion programming required in PLC

! Motion setup tool integrated into Proficy Machine Edition.

! Servo or Stepper Control! Speed Range: 1 to 2Mhz pulses per second! Move types: Absolute/Incremental moves, blended and Jog moves! Position rollover: Linear, rotary mode! Positioning units: Pulse, µm, inch, degree, free-form! Acceleration and deceleration: Linear, S-curve! Dwell time: 0 to 32,768 ms (1 ms units)! Acc/Dec rate: 1 to 50,000,000 (pulse/s 2, µm/s 2, inch/s 2, degree/s 2, Free form/s 2 )

! Backlash Compensation: 0 to 65,535 ( pulses, µm, inch, degree, Free-form )! Range: +2,147,483,647 to - 2,147,483,648 pulses! Pulse output method: Line driver output! Pulse output type: (1) Pulse and direction (2) CW/CCW! Homing function: Free homing, low-speed homing, high-speed homing (Off Edge

and Marker Stop)! Manual (JOG) operation: Manual input signal or pulse output by command! Feedrate override function: 1 to 100% (Speed scale rate) ! Axis Follower Mode (requires MicroMotion Modules IC200UMM002/102-BB or

later). ! Windowing (requires MicroMotion Modules IC200UMM002/102-BB or later). ! Multiple program sequences in Sequence Table (requires MicroMotion Modules

IC200UMM002/102-BB or later) ! Flash Memory! Support of RS232, RS485, and Ethernet Port Option Modules.


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1

SpecificationsGeneral Specifications

Item Specifications

Power supply type AC DCPower voltage 100/110/120 V AC (50/60 Hz),

200/220/240 V AC (50/60 Hz)24VDC

Power voltagefluctuation range

85 to 264 V AC wide range 19.2 to 30V DC

Allowable momentarypower failure

85 to 100 V AC: for amomentary power failure of lessthan 10ms, operation continues100 to 264 V AC: for amomentary power failure of lessthan 20ms, operation continues.See Adding an Emergency StopCircuit in chapter 2.

A momentary power failure ofless than 10ms,operation continues

Operating ambienttemperature

0 to 55 ºC (Storage ambient temperature –10 to 75 ºC)

Operating ambienthumidity

5 to 95 % RH (no condensation) (Storage ambient humidity 5 to95 % RH (no condensation)

Vibration resistance Conforms to JIS C 0911

Noise resistance - Noise voltage 1500 Vpp Noise pulse 100 ns, 1 micro sec- Static noise: 3000 V at metal exposed area

Insulation resistance 20 M " or more between the AC external terminal and theprotection earth (PE) terminal (based on 500V DC mega)

Dielectric withstandvoltage

1500 VAC for 1 minute betweenthe AC terminal and theprotection earth (PE) terminal

500 VDC

Grounding Class D dedicated grounding (grounded by a power supplymodule)

Environment used No corrosive gases and no excessive dirt

Structure Attached on an open wall

Cooling Natural air cooling

I type device Anti-electric shockprotection Open device


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I/O Specifications

Item Specifications

Pulse output Pulse signal (CW/CCW)

Pulse + Direction signal (PLS/SIGN)

Line driver

High level voltage at Power ON 2.4 V or more

Low level voltage at Power OFF 0.4 V or less

Pulse input High level voltage at Power ON 2.4 V or more

Low level voltage at Power OFF 0.4 V or less

Control input Input voltage 20.4 to 28.8 V DC

Input impedance Approx. 5.6 k "

Input electric current Approx. 4.3 mA (24 V DC)

Operating voltage Minimum ON voltage 15 V

Minimum OFF voltage 5 V

Input lag ON to OFF 1ms or less

OFF to ON 1ms or less

Polarity None

Insulate method Photocoupler


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1

Expansion or Standalone Operation A VersaMax MicroMotion Module can operate as an expansion module in a VersaMaxMicro PLC system, or it can be used in standalone mode. In standalone mode, themodule is controlled by a host using standard MODBUS commands.

Expansion Operation in a VersaMax Micro PLC

A VersaMax Micro PLC system can include up to two MicroMotion Modules asexpansion modules controlled by the PLC CPU. The VersaMax Micro PLC CPU mustbe version 3.81 or later.

Programming and configuration of the Micro PLC itself are done using the ProficyMachine Edition software.

The VersaMax Micro PLC can set up, control, and monitor MicroMotion expansionmodules in two different ways:

! Using the MicroMotion Setup and Monitoring tool that is integrated into theMachine Edition software. See chapter 12 for information about the Setup Tool.

! By reading and writing data using the module’s eight Input Status Data words andeight Output Control Data words. See chapter 14 for details.

For additional flexibility, motion operations can also be set up, monitored andcontrolled by a host controller using the integrated Machine Edition MicroMotion SetupTool, or by using MODBUS commands. See chapter 15 for information about theMODBUS interface to a MicroMotion Module.

. VersaMax Micro PLC CPU 1 or 2 MicroMotion Expansion Modules

Machine Editionsoftware with integratedMicroMotion Setup tool

Host Computer

Standalone Operation of MicroMotion ModulesVersaMax MicroMotion Modules can be used without a VersaMax Micro PLC, instandalone mode.


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In standalone mode, a host controller can be used to set up, monitor, and control up to32 MicroMotion Modules. The host controller communicates with the MicroMotionModules via the Port Option Modules described in chapter 3.

If a MicroMotion Module communicates via an RS232 or RS485 serial communicationsmodule, it acts as a MODBUS Slave, and any device having MODBUS RTU Mastercan be used as host controller. If a MicroMotion Module communicates via an EthernetOption Module, it acts as Modbus TCP/IP Server, and any device having MODBUSTCP/IP Client functionality can be used as the host controller.

From the host controller, operation of MicroMotion expansion modules can be done intwo different ways:

! Using the MicroMotion Setup and Monitoring tool that is integrated into theMachine Edition software.

! By reading and writing the module’s internal data memories using standardMODBUS commands. See chapter 15 for information about the MODBUSinterface to a MicroMotion Module.

Host Controller

Up to 32 MicroMotion Modules


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MicroMotion Setup ToolThe MicroMotion Setup Tool provides an easy-to-use interface for setting up themotion parameters of a MicroMotion Module. In addition, the host controller orVersaMax Micro PLC CPU can use the MicroMotion Setup Tool to monitor andexecute motion operations in real time.

The MicroMotion Setup tool is integrated into Proficy Machine Edition version 5.7 SIM3 or later. Use of the features provided by MicroMotion Modules IC200UMM002/102-BB or later firmware requires Machine Edition version 5.9 SIM1 or later.

See chapter 11 for information about using the MicroMotion Setup Tool.


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1

Operating Mode SummaryVersaMax MicroMotion Modules can perform the following motion operations:

! Homing mode : establishes a Home Position for an axis, and writes the homeposition data to the axis position (see chapter 5 for information about Homing).The Home Position can be established using:! Free Homing .! Low-speed Homing .! High-Speed Homing (Off Edge) ! High-Speed Homing (Marker Pulse) :

The Homing operations listed above result in the current axis output positionbeing set to the Home Position when homing is complete. The position of theinput pulse depends on the count of the feedback pulse. MicroMotion ModulesIC200UMM001/102-BB or later can be set up to change the current position ofboth the output pulse and the input pulse to the Home Position.

! Manual Mode : controls axis movement using external input signals orcommands from the controller (see chapter 6 for information about ManualMode). An axis can perform the following operations in Manual Mode:! Inching .! Jogging ! Combined Inching plus Jogging

Manual Mode operations can be controlled either by commands from theVersaMax Micro PLC or host controller, or by external input signals

! Au to mat ic mode : controls axis movement using position (profile) data that hasbeen set up in advance. Complex positioning operations can be performed bycombining multiple profiles in a Sequence Table (see chapter 7 for informationabout Automatic mode). For MicroMotion Modules IC200UMM002/102-BB orlater, a Sequence Table stored in the MicroModule module can include groups ofprofiles separated by breakpoints. Using these breakpoints, the application canexecute individual sections of the table once, or repeatedly.

! Follower operation : In Follower operation (see chapter 8), in Manual or AutoMode, either of the module’s two axes can be set up as a master and the otheras a follower.

! Windowing operation : Windowing operation in Manual or Auto Modecoordinates the position of an axis with a registration input that occurs at regularintervals. See chapter 9 for information about Windowing.


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1

External Inputs to a MicroMotion ModuleExternal inputs to a MicroMotion Module can be used to trigger, control, and stopmotion operations. Each axis has terminals for several external inputs:

Home Position Limit Input Forward Overtravel and Reverse Overtravel Inputs

Feedrate Override Input

Jog Forward and Jog Reverse Inputs

Inputs for Axi s A

High-Speed Registration Input

!"!#$%

&'()

"*&+"*&+

Marker (Z) Input

Positioning Complete Input

Drive OK / Ready Input

Emergency Stop Input

Inputs for Axi s B

The functions of some inputs can alternatively be provided by the PLC CPU or hostcontroller. For those applications, the external input signals can be disabled in the axissetup. See chapter 10 for information about the external inputs.

! Marker (Z) Input: used for High-Speed Homing with a Marker Pulse.! High-Speed Registr ation Input : used to move the axis by a specified number of

pulses. Use of this input can be disabled in the module setup.

! Positioning Complete Input: used to connect the position complete output of theservo drive. This input goes On when the axis has completed its motion. Use ofthis input can be disabled in the axis setup.

! Home Position Limit Input: used in Homing mode, use of this input is alwaysenabled.

! Forward and Reverse Overtravel Inputs : stop the axis if its position exceeds aspecified limit. Use of these inputs can be disabled in the axis setup.

! Feedrate Override Input : can be used to start a Feedrate Override in Manual or Auto Mode. Use of this input can be disabled in the axis setup.

! Jog Forward and Jog Reverse Inputs: can be used to control the axis pulse inManual Mode. Jog Foreward can also be used to switch profiles during speed-controlled Auto Mode operation. Use of these inputs is always enabled.

! Drive OK / Ready Input: can be used to monitor the status of an external devicecontrolled by the axis. Use of this input can be disabled in the axis setup.

! Emergency Stop : stops the axis, either immediately or by deceleration. This inputis always enabled.


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GFK-2471A 2-1

Installation

This chapter describes the procedures for installing a VersaMax MicroMotion Module.

! Preinstallation check! Agency Approvals, Standards, and General Specifications! Installation Guidelines! Installing a MicroMotion Module on a DIN Rail or Panel! Connecting a MicroMotion Module to a Micro PLC! System Wiring Guidelines! I/O Installation and Wiring! Terminal Assignments! DIP Switch Settings! Starting Up the Module! Communications Setup

For information about installing other VersaMax Micro PLC equipment, please refer tothe VersaMax Nano and Micro PLCs Manual , GFK- " 645.

Preinstallation CheckCarefully inspect all shipping containers for damage during shipping. If any part of thesystem is damaged, notify the delivery service immediately. The damaged shippingcontainer should be saved as evidence for inspection by the delivery service. As theconsignee, it is your responsibility to register a claim with the delivery service fordamage incurred during shipment. However, GE Fanuc will fully cooperate with you,should such action be necessary. After unpacking the equipment, record all serialnumbers. Serial numbers are required if you should need to contact Product Serviceduring the warranty period of the equipment. All shipping containers and all packingmaterial should be saved should it be necessary to transport or ship any part of thesystem.

Keep MicroMotion Modules in their boxes during storage and transport.

Chapter2


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2

Agency Approvals, Standards, and General SpecificationsThe VersaMax Micro PLC products supplied by GE Fanuc are global productsdesigned and manufactured for use throughout the world. They should be installed andused in conformance with product-specific guidelines as well as the following agencyapprovals, standards and general specifications:

Agency Approvals Comments

Industrial Control Equipment[Safety]

UL508,CSA C22 .2 No 142-M1987

Certification by Underwriters Laboratories forRevision B and later models

Hazardous Locations [Safety]Class I, Div II, A, B, C, D

UL1604CSA C22 .2 No 142-M1987

Certification by Underwriters Laboratories forRevision B and later models

European EMC & LVDDirectives

CE Mark All models

Environmental ConditionsVibration IEC68-2-6, JISC0911 1G @57-500Hz, 0.15mm p-p @10-57Hz

Shock IEC68-2-27, JISC0912 15G, 11ms

Operating Temperature 0deg C to 55deg C [ambient]

Storage Temperature –10deg C to +75deg C

Humidity 5% to 95%, non-condensing

Enclosure Protection IEC529 Enclosure per IP54; protection from dust &splashing water

Isolation: Dielectric Withstand UL508, UL840,IEC664

1.5KV for modules rated from 51V to 250V

Immunity and Emissions, Relevant Standards, and Level PassedDescript ion Standards SpecificationsElectrostatic Discharge EN 61000-4-2 ± 4.0 kV (Contact); ± 8.0 kV (Air)RF Susceptibility EN 61000-4-3 10 V/m (unmodulated), 80-1000 MHz, 80% AM,

1 kHz sine waveRF Susceptibility fromDigital Radio Telephones

ENV 50204 10 V/m (unmodulated), 900 ±5Mhz, 100% AM (200 Hzsquare wave, 50% duty cycle)

Fast Transient EN 61000-4-4 ± 2.2 kV (PS); ± 1.1 kV (I/O)Voltage Surge EN 61000-4-5 ± 2.2 kV, common mode (PS)

± 1.1 kV, differential (PS)Conducted RF EN 61000-4-6 10 V rms , 0.15-80 MHz, 80% AM, 1 kHz sine wave (PS,

I/O)Voltage DipVoltage Interrupt

Voltage Variation

EN 61000-4-11 30% Nom., 10 ms>95% Nom., 10ms

20% Nom. 10 sec.Radiated Emissions EN 55011* 30 dB µV/m, 30 – 230 MHz (measured @ 30m)37 dB µV/m, 230 – 1000 MHz (measured @ 30m)

Conducted Emissions EN 55011* 79/66 dB µV, 0.15 – 0.5 MHz73/60 dB µV, 0.5 – 30 MHz

* EN 550 "" limits are equivalent to limits specified in EN 55022, CISPR "" , CISPR 22, and 47 CFR " 5.


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GFK-2471A Chapter 2 Installation 2-3

2

Installation GuidelinesThis equipment is intended for use in typical industrial environments that utilize anti-static materials such as concrete or wood flooring. If the equipment is used in anenvironment that contains static material such as carpets, personnel should dischargethemselves by touching a safely-grounded surface before accessing the equipment.

CE Mark Installation Requirement

For compliance to the Low Voltage Directive, VersaMax MicroMotion Modules areconsidered ‘open equipment’ (i.e. live electrical parts may be accessible to users) andmust be installed in an enclosure. IEC "" 3" -2: " 99 " (sect. 4.2, item 2) states: “Openequipment is not required to meet IP2x requirement…. Opening of the enclosure shall

only be possible by means of a key or tool.” The module should be installed in alocation that meets the specifications listed on the previous page.

UL Requirements for Class I Div 2 Installations! Warning - explosion hazard - substitution of components may impair suitability

for class I, division 2.

! Warning - explosion hazard – do not replace modules unless power has beenswitched off or the area is known to be nonhazardous.

! Warning - explosion hazard - do not connect or disconnect equipment unlesspower has been switched off or the area is known to be nonhazardous.

! Warning - explosion hazard - do not connect or disconnect cable unlesspower has been switched off or the area is known to be nonhazardous.


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2

Addi tional Environmental Guidelines

! The temperature must not change so rapidly that condensation could form onor inside the unit.

! There should be no combustible, corrosive or flammable gases.! The environment should not have excessive dust, salty air, or conductive

materials (iron powder, etc.) that could cause internal shorts.! The module should not be installed where it will be exposed to direct sunlight.! The module should not be exposed to water, oil or chemicals.! Provide adequate ventilation space. Recommended minimum space

allowances are approximately: (50 mm ( " .97 in. or more) at top and bottom," 0mm (0.39 in. or more to the left and right).

50 mm ( " .97 in.) or more

50 mm ( " .97 in.) or more

50 mm ( " .97 in.) or more

50 mm ( " .97 in.) or more

Wiring duct

" 0 mm (0.39 in.) or more

! The module should not be installed above equipment that generates a largeamount of heat.

! If the ambient temperature exceeds 55°C, provide a ventilation fan or airconditioner.

! The equipment should not be installed within 300mm ( "" .8 " in.) of any highvoltage (more than " 000V) or high current (more than " A) line.

! For ease of maintenance and safety, locate the module as far away from highvoltage equipment and power generation equipment as possible.! Take appropriate measures when installing systems in locations:! subject to static electricity or other forms of noise.! subject to strong electromagnetic fields.! close to power supplies.


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2

Installing a MicroMotion Module on a DIN Rail or Panel

A VersaMax MicroMotion Module can be mounted on a 35mm DIN rail, or mounted ona metal panel using screws. The equipment must be mounted on a vertical surface. Donot mount it on a horizontal surface.

Proper Mounting Improper Mounting

Mounting Dimensions" 40mm (5.46in.)

8 0 m m

( 3 . "

2 i n

. )


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2

Mounting a Module on a DIN Rail

The DIN rail must be electrically grounded to provide EMC protection as described onthe next page. DIN rails compliant with DIN EN50032 are preferred. For vibrationresistance, the DIN rail should be installed on a panel using screws spacedapproximately 5.24cm (6 inches) apart.

Modules mount on a 35 mm DIN rail as shown below. Using a small flat screwdriver orsimilar tool, pull out the retaining clip on the bottom of the unit. Press the unit back andrelease the retaining clip. Be sure the clip is holding the unit on the DIN rail securely.

DINRail

1 2

pull clip releaseclip

Secure the module by installing DIN rail brackets from both sides. (The module mayshift on the DIN rail if it is not secured with mounting brackets.)


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2

Removing a Module from a DIN Rail

Pull down the retaining clips on the bottom of the module, then pull it away from theDIN rail.

"

2

Panel-Mounting

For greatest resistance to mechanical vibration and shock, a MicroMotion Moduleshould be installed on a metal panel.

Following the dimensions shown previously in this chapter or using the module itself asa template, mark the location of the module’s panel-mount holes on the panel. Drill thehole in the panel. Install the module using 65x70 M4 (#8-32) screws at least 20mm(0.79 in.) long in the panel-mount holes.

" ." to " .4Nm ( " 0 to " 2 in/lbs) of torque should be applied to M4 (#8-32) steel screwsthreaded into material containing internal threads and having a minimum thickness of2.4mm (0.093in).

Grounding the Metal Panel or DIN Rail

To prevent the risk of electric shock, the metal panel on which the module is installedmust be properly grounded to protective earth.

Connect the ground wire to the metal panel using a star washer. Where connectionsare made to a painted panel, the paint should be removed so clean, bare metal isexposed.

Connect the metal plate, duct, pipe, door and side board etc. to protective earth.


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2

Connecting a MicroMotion Module to a Micro PLCUp to two MicroMotion Modules can be used as expansion units connected in series toa Micro PLC.

Caution

Power down the Micro PLC before connecting any expansion unit.Connecting an expansion unit with t he Micro PLC powered up wi ll damage theunit.

NOTE

The Micro PLC and expansion uni t(s) should be wired to a commo n powersource and pow ered up together. If an attached expansion u nit is left

unpowered, the Micro PLC may not power up properly.

The Expansion Cable

Ribbon cables are available in 0. " -meter (IC200CBL50 " ), 0.5 meter (IC200CBL505),and " meter (IC200CBL5 " 0) lengths. The maximum total overall length for all units inthe VersaMax Micro PLC system is 2 meters. Connect expansion units as shownbelow. The ribbon cable has keyed connectors to prevent incorrect installation.Powering up the system with the cable improperly installed can damage theMicroMotion Module. Do not substitute a different cable.

Micro PLC

ExpansionUnit

ExpansionCable

ExpansionConnector (behind door)

The Micro PLC and MicroMotion Module(s) must be connected in the same orientation.

Connecting any expansion unit “upside down” will damage the DC input circuit whenthe system is powered up.

After installing the ribbon cable on a module, close the hinged door on the module.


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DIP Switch SettingsThe DIP switches located behind the removable door on the front of a MicroMotionModule are factory-set to OFF (down position) as shown below.

1 2 3 4

Use of the DIP switches is described below.

Switch Description

" Communication SpeedON Set to use communications parameters that have been supplied

from the Setup Tool, VersaMax PLC CPU, or host controller.

OFF Use the default communications parameters: 57.6 kbps / 8 bits –EVEN parity – " Stop bit.

2 Standalone or Expansion Module Operation

ON Standalone mode (not as expansion unit to Micro PLC).

OFF Controlled by a Micro PLC. (Be sure this switch is Off beforeconnecting to a Micro PLC.)

3 Memory Pack Module Operation

DIP swit ch 3 should always be Off if a Memory Pack is notinstalled. If DIP swit ch 3 is in t he On position when a MemoryPack is not inst alled, the data in backup memory coul dbecome corrupted.

ON Allows parameters from a Memory Pack to be written into thebackup memory of a MicroMotion Module.

OFF When the power supply is on, the MicroMotion Module startswithout reading parameters from the Memory Pack module.

If parameters already stored to the MicroMotion Module should bemaintained, this switch should be turned off while installingMemory Pack module on the MicroMotion Module.

If this switch is off, parameters will not be read from the Memory

Pack module into the backup memory of the MicroMotion Module.4 Firmware Update

ON Permit firmware update with Winloader. Update instructions areprovided with the update kit.

OFF Normal operating position.


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Communications Setup All MicroMotion Modules that will communicate with a host controller must be equippedwith one of the port option modules described in chapter 3. This applies to MicroMotionexpansion modules in a VersaMax Micro PLC system, and to MicroMotion Modulesthat will operate in standalone mode.

If there are two MicroMotion Expansion Modules in a VersaMax Micro PLC system andboth must communicate with a host controller, both must be equipped with similar portoption modules. Please see chapter 3 for port connection details.

If there are multiple MicroMotion Expansion Modules operating in standalone mode, allof the modules must be equipped with similar port option modules.

All MicroMotion Modules that will communicate with a host controller must be set up

with the same serial communications parameters, except for their Device ID. Eachmodule’s Device ID can be set using the Setup Tool, or commands from the PLC CPUor host controller.

MicroMotion Modules that will NOT use the default communications parameters (57.6kbps / 8 bits – EVEN parity – " Stop bit) must have DIP switch " set to On to usecommunications parameters supplied by the Setup Tool, VersaMax Micro PLC CPU, orhost controller.

DIP Switcheslocated behindremovable door

Port OptionModule

All MicroMotion Modules that will operate in standalone mode must have DIP switch 2set to On for standalone operation.


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2

System Wiring GuidelinesIn addition to the following wiring suggestions, we strongly urge that you follow allwiring and safety codes that apply to your area or to your type of equipment. Failure todo so could lead to personal injury or death, property damage or destruction, or both.

Four types of wiring may be encountered in a typical factory installation:

! Power wiring – the plant power distribution, and high power loads such ashigh horsepower motors. These circuits may be rated from tens to thousandsof KVA at 220 VAC or higher.

! Control wiring – usually either low voltage DC or " 20 VAC of limited energyrating. Examples are wiring to start/stop switches, contactor coils, andmachine limit switches. This is generally the interface level of discrete I/O.

! Analog wiring – transducer outputs and analog control voltages. This is theinterface level to I/O analog blocks.

! Communications and signal wiring – the communications network that tieseverything together, including computer LANs, MAP, and field busses.

These four types of wiring should be separated as much as possible to reduce thehazards from insulation failure, miss-wiring, and interaction (noise) between signals. Atypical control system may require some mixing of the latter three types of wiring,particularly in cramped areas inside motor control centers and on control panels.

Wiring which is external to equipment and in cable trays should be separated followingNational Electrical Code practices.


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2

Safety Measures

Appropriate emergency-stop circuitry, interlock circuitry and similar safety measuresshould be added to the system in accordance with accepted practices.

Safety measures should be included in the design of the overall system to ensuresafety in the event of incorrect, missing or abnormal signals caused by broken signallines, momentary power interruptions or other causes.

Installing Additional Suppression

External MOV suppression can be installed at the power line input of a system

enclosure (see below). The axial-leaded ZA series of MOVs from Harris is often used.The MOV should be able to handle most line transients. Measurement of actualtransients may be required in extreme cases to decide what MOV is best.

Ideally, MOVs should be used at each cabinet in the system for maximum protection.The following illustration shows suppression on both power lines and acommunications bus entering an enclosure.

Enclosure

Power to

Modules

Short Length of

CommunicationsBus Cable

Periodic Inspection and Replacement of MOVs

MOVs do a good job of absorbing transients on communications, control, and powerlines, provided the total energy of those transients does not exceed the rating of thedevice. However, if the energy of the transient exceeds the rating of the device, theMOV may be either damaged or destroyed. This failure may not be visually orelectrically evident. MOVs should be regularly inspected for signs of damage to assure

continued protection against transients. For some applications, periodic replacement ofcritical MOVs is recommended, even if they do not show signs of damage.


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2

I/O Installation and Wiring

Follow the procedures below when routing and connecting field wiring.

! Turn off power to the module before connecting field wiring.! All low-level signal wires should be run separately from other field wiring.! All channels must be fed from the same phase for AC power lines.! Install AC power cables and data lines in separate cable trays or bunches

from DC field wiring.

! Field wiring should not be routed close to any device that could be a potentialsource of electrical interference.

! Route the signal and data lines as close as possible to grounded surfacessuch as cabinet elements, metal bars and cabinets panels.! If severe noise problems are present, additional power supply filtering or an

isolation transformer may be required.

! Ensure that proper grounding procedures are followed to minimize potentialsafety hazards to personnel.

! Label all wires to and from field devices.! Do not attempt to disassemble, repair or modify any part of the module.! Do not pull on cables or bend cables beyond their natural limit. The lines may

break.! Always use the power supply voltage listed in the module specifications.

Using other voltages may damage the equipment.

! Use shielded cable for analog inputs and outputs, and connect shields to afunctional earth ground.

! Use twisted-pair cable or cable in metal duct for pulse input/outputconnections when using a MicroMotion Module with pulse input/outputfrequencies greater than 500kpps in a noisy environment.


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2

Wiring Connections

6

6

Use copper conductors rated for 75 °C ( " 67 °F) for all wiring.

! When using wiring terminals, be sure to tighten screws adequately, so the wiringterminals will not become loose. The suggested torque for terminal connections is0.6Nm.

! When using a crimp-type connector, use one with an outer diameter of 6mm(0.24in.) or less.

! Do not use more than two crimp-type connectors on the same module terminal.

Alternatively, each module screw can accept:

! One wire, size AWG " 4 to AWG22 (2. " to 0.36 mm 2) or:! Two wires, size AWG " 6 to AWG22 ( " .3 to 0.36 mm 2)

Warning

You should calculate the maximum cur rent for each wire and observeproper wiring practices. Failure to do so could cause injury to personnelor damage to equipment.

! Each terminal can accept solid or stranded wires, but the wires into any giventerminal must be of the same type and size.

CautionWhen connecting stranded conductors, ensure that there are noprojecting strands of wire. These could cause a short circui t, therebydamaging equipment or causing it to malfunction.


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2

Removable Wiring Terminals

The terminal block assemblies of a MicroMotion Module can be removed to performwiring.

Caution

Do not insert or r emove a terminal assembly wi th pow er applied to t he moduleOR TO FIELD DEVICES. Injury to personnel and damage to the equipment mayresult. Potentially dangerous vo ltages from fi eld devices may be present on the

screw terminals even though p ower to th e module is turned off . Care must betaken any ti me you handle the removable termin al assembly or any wires

connected to it

A new MicroMotion Module is shipped with its terminal block assemblies firmlyinstalled. To remove a terminal assembly, use a small Phillips or flat screwdriver toalternately loosen the two captive retaining screws. Hold the terminal assembly; whenthe screws have been backed out of the holes, the terminal assembly is completelydetached from the module.

Loosen alternately

When re-installing terminal assemblies, be sure to place each one in the correctlocation to avoid miss-wiring the module. The terminal assemblies are not keyed orlabeled.

Terminal Screws

Should any of the terminal screws be lost or damaged, they can be replaced with M3 x0.6mm pitch screws of the type shown below.

M3


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2

Power Wiring

! For power supply wiring, use a cable of 2mm 2 (0.003 " in2) or more to prevent avoltage drop from occurring.

! The function ground terminal (PE terminal) should use a cable of 2mm 2 (0.003 " in2) or more and Class D grounding ( " 00 Ω or less). The length of groundcable should not exceed 20m (65.62ft.).

Warning

The MicroMoti on Module must be grounded to mini mizeelectrical shock hazard. Failure to do so cou ld result in

injury t o personnel.

! Avoid joint grounding with equipment that can generate noise.! If the MicroMotion Module is used as a VersaMax Micro PLC expansion

module,it must use the same power supply system as the PLC CPU.

! For module IC200UMM " 02, connect a noise filter to the power cable.

!"!#$%

&'()

"*&+"*&+

Power supply forsensor

Noise filter

Fuses

Isolationtransformer with

shield

"00V AC

,

240V AC


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2

Separation of the Power Supply

The power for the MicroMotion Module, the I/O signals, and the other equipmentshould be separated as much as possible.

When these power supplies are supplied from one main power source, separate thewiring with a transformer or similar device, so that each power supply is a separatesystem. For example:

Power for general equipment

" 00 VAC to240 VAC

Main power supply

Transformer

Transformer

Power for I/O signals

Power for the module

Noise filter

Noise filter

Caution Be sure to separate the signal wiring of the MicroMotion Module from the power line

and the wiring of AC I/O modules as shown below.

Power line

AC I/O wiring

MicroMotion Module,DC I/O wiring

30 cm("" .8 " in.)or more


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2

Terminal Assignments

24V NC CW " + CCW " + CH " A+ CH " B+ CH " Z+ HSR " + HL" RO " JF " DR " COM " MA" BNC 0V NC CW " - CCW " -NC CH" A - CH" B- CH" Z- HSR " - COIN " FO " FE " JR " ES " MA" A

POW NC CCW2 - CH2A - CH2B - CH2Z - HSR2 - COIN2 FO2 FE2 JR2 ES2 MA2A NC POW FG NC CW2+ CCW2+ CH2A+ CH2B+ CH2Z+ HSR2+ HL2 RO2 JF2 DR2 COM2 MA2B

CW2 -

24-

24+IC200UMM002

IC200UMM102 N

L

I/O Signal Wiring

CW+CW-CCW+CCW-

CHA+CHA-CHB+CHB-CHZ+CHZ-

HSR+HSR-

24V

0V

POW

POW

FG

COIN

HL

FO

RO

FE

JF

JR

DR

ES

CM

Servo driver


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2

I/O Signals

Ax is A Axis B Type Detai lsCW " + (PLSP) CW2+ (PLSP) Output Line driver

CW " - (PLSN) CW2 - (PLSN)

CCW " + (SIGP) CCW2+ (SIGP)

CCW " - (SIGN) CCW2 - (SIGN)

CH " A+ CH2A+ Input Counter phase A

CH " A - CH2A -

CH " B+ CH2B+ Counter phase B

CH " B- CH2B -

CH " Z+ CH2Z+ Counter phase Z

CH " Z- CH2Z -

HSR " + HSR2+

HSR " - HSR2 -

Registered distance shift trigger input.5V differential signal is required.

HL" HL2 Home position limit input

COIN " COIN2 Positioning completion input

FO " FO2 CCW direction limit input

RO " RO2 CW direction limit input

JF " JF2 CCW direction manual operation input

JR " JR2 CW direction manual operation input

FE " FE2 Speed change input

DR " DR2 Operation OK/Ready inputES " ES2 Emergency stop input

COM " COM2 Common Common

MA" A MA2A Input Not used, reserved

MA" B MA2B Not used, reserved


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2

Output Wiring to a Servo Amplifier

Example wiring between the module and a servo amplifier is shown below.

PULS-P

PULS-NP

SIGN-P

SIGN-NP

CW+

CW -

CCW+

CCW - I n t e r n a

l c i r c u

i t

MicroMotionModule

Servo amplifier (Note " )

FG

(Note 3)

(Note 2)

+

-

+

-

Note " : In general, shielded cables should be grounded only on the receiving terminalside (input side). However, it may be better to leave both sides open, or to ground onthe sending terminal side or on both sides, depending on the noise environment andthe ground conditions.

Note 2: If the output wiring cable is long, the output pulse wave is weakened. As aresult, the servo amplifier may not receive signals properly when the output frequencyis high. Keep the cable length as short as possible. Depending on the cable type andthe load on the servo amplifier, cables of 5m ( " 6.40ft.) or less are recommended.

Note 3: Signal names depend on the type of the servo amplifier being used. Check theservo amplifier specifications before connecting it to the MicroMotion Module.


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2

Adding an Emergency Stop Circuit

The DC-powered MicroMotion Module, IC200UMM002, requires at least 20ms to reactwhen power is removed. The AC-powered MicroMotion Module, IC200UMM " 02,requires at least " ." second to react when power is removed. If power is removed forshorter periods of time, motion continues as though no power-down condition hadoccurred.

If the application requires motion to stop immediately upon removal of power to theMicroMotion Module, connect a contactor/relay (EStop) to the power supply input ofthe MicroMotion Module. Use the normally-open contact of this contactor/relay to drivethe Emergency Stop Input of the MicroMotion Module. When power is applied to thiscontactor, the Emergency Stop input of the MicroMotion Module is high, so Emergencystop is not active. When power is removed, the relay is deactivated and the module’s

Emergency Stop input goes Off. The length of time required for motion to then stopwould depend on the deactivation time of the contactor/relay and on the module’ssetup parameter for Emergency Stop (Fast or Decelerated). In this type of installation,power tp the servo amplifier must also be removed when the power to the motioncontroller is removed.

NOTE: When the MicroMotion Module is used in a VersaMax PLC System, the PLCCPU and MicroMotion Module must share the same power source.

Servo A mplifi er

Pulse InputServo Ready (SRDY)

Pulse Clear (CCLR)Servo On (SON)

Mi croMotion M odule

Pulse OutputDR

Emergency Stop (ES)

Home Position

24V Pow er

Q" Q2

ESTOPfrom f ield ES2

ES1

ESTOP


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2

Starting Up the ModuleBefore applying power to the MicroMotion Module:

! Be sure all mounting screws, terminal screws, cables and other items areproperly tightened and secured.

Warning

Be sure the protective covers are installed over terminals wh en poweris applied to th e unit. The covers prot ect against acci dental shockhazard that could cause severe or f atal injury.

! Double-check all wiring. Faulty wiring may result in damage the module.! Do not turn on the power supply to a broken module.! If the MicroMotion Module is part of a VersaMax Micro PLC system, be sure

that all expansion units connected to the Micro PLC are wired to the samepower source and that the PLC and expansion units will power up together. Ifan attached expansion unit is left unpowered, the Micro PLC may not powerup properly.

Normal Powerup Sequence

Apply the required power to the power inputs and observe the module LEDs. See theLED descriptions that follow.

LEDs on the MicroMotion ModuleLEDs on the MicroMotion Module display the status of the module and its inputs andoutputs.

!"!#$%

&'()

"*&+"*&+

ST "

ST2

POW

Status

R U N

S T B

M A N

J F / J R

C M E

O R E

E S

D R

S

Axis A

Axis B


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2

LED Color Descrip tion

POW Green ON indicates the presence of power supply to the module.

StatusOK

Green ON when there is no error in the module.

ST " Green ON when there is no software error in the MicroMotion Module. ThisLED turns off if an error occurs in the system, axis A, or axis B.

ST2 Green ON while various settings are being stored in backup memory. Ifpower is turned off while this LED is ON, the parameters may not bestored correctly.

RUN Green ON when the axis (A or B) is operating, and outputting a pulse.

The RUN LED is OFF during a Dwell in Auto mode.

STB Green ON when the axis (A or B) is standing by.MAN Green ON when the axis (A or B) is being operated manually (external input

mode). Turns OFF if the manual operation is cancelled.

JF /

JR

Green ON when either Jog Forward or Jog Reverse is ON on the axis (A orB). Turns OFF when both Jog Forward and Jog Reverse are OFF.

CME Red ON if a command error occurs on the axis (A or B). Turns OFF if thecommand is performed without error or if error clear operation isperformed.

ORE Red Indicates the status of overrun inputs Forward Overtravel andReverse Overtravel on the axis (A or B). ON when either ForwardOvertravel or Reverse Overtravel is OFF. OFF when ForwardOvertravel and Reverse Overtravel are both ON. The overrun statusmay be retained in the module even if the ORE LED is off.

ES Red Indicates whether there is an emergency stop (ES) on the axis (A orB). ON when the Emergency Stop input is OFF. OFF when theEmergency Stop input is ON. The error must be cleared to restartoperation of the MicroMotion Module.

DR Red Indicates the status of Drive OK/Ready input (COIN) on the axis (A orB). ON when the Drive OK/Ready input is OFF. This LED is turnedOFF if the Drive OK/Ready input turns ON. The error must be clearedto restart the MicroMotion Module.

S Green Indicates Module is operating in Standalone mode.


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GFK-2471A 3-1

Port Option Modules

This chapter describes use of VersaMax Micro PLC port option modules with aMicroMotion Module:

! Types of Port Option Modules

! RS232 Port Option Module

! RS422/485 Po

Download - VersaMax Micro PLC MicroMotion Modules Manual, GFK-2471Agfk2471A.pdf

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