2 Table of contents
Page 4 Installation manual for PMCtendo DD5/PMCprimo Drive3
9.3.1 Mains electrical supply connection (X0) ................................................. 42
9.3.2 24V auxiliary supply (X4)........................................................................ 43
9.3.3 24V supply (X10).................................................................................... 44
9.3.4 Master encoder supply (X10).................................................................. 45
9.3.5 DC bus link (X8) ..................................................................................... 46
9.4 Motor connection with brake (X9) ............................................................ 47
9.5 External regen restistor (X8) .................................................................... 48
9.6 Feedback ................................................................................................. 49
9.6.1 Resolver (X2).......................................................................................... 49
9.6.2 ComCoder (X1) ...................................................................................... 50
9.6.3 Incremental or Sine Encoder with hall sensors (X1) ............................... 51
9.6.4 Sine Encoder with EnDat or HIPERFACE (X1) ...................................... 52
9.6.5 Acuro Encoder, BISS Interface (X1) ....................................................... 53
9.6.6 Incremental encoder (X5) ....................................................................... 54
9.6.7 Sine Encoder without data channel (X1) ................................................ 55
9.7 Digital and analog inputs and outputs ...................................................... 56
9.7.1 Analog inputs (X3) .................................................................................. 56
9.7.2 Digital Inputs (X3/X4).............................................................................. 58
9.7.3 Digital Inputs I1:1 - I1:8 (X10)................................................................. 60
9.7.4 Digital outputs (X3) ................................................................................. 61
9.7.5 Digital outputs (X10) ............................................................................... 63
9.8 Encoder emulation ................................................................................... 64
9.8.1 Incremental encoder output - A quad B (X5) .......................................... 64
9.8.2 SSI output (X5)....................................................................................... 65
9.9 Master-slave operation, encoder master control ...................................... 66
9.9.2 Connection to a PMCtendo DD5 master, 5V signal level (X5)............... 66
9.9.3 Connection to incremental encoder master with 24V signal level (X3) ... 67
9.9.4 Connection to a sine encoder master (X1) ............................................. 68
9.10 Interface for stepper motor controllers (step and direction).................... 69
9.10.1 Speed profile and signal diagram ........................................................... 69
9.10.2 Connection to a stepper controller with 5V signal level (X5)................... 70
9.10.3 Connection to a stepper controller with 24V signal level (X3)................. 71
9.11 RS232 interface, PC connection (X6) .................................................... 72
9.11.1 Interface cable between the PC and servo amplifier .............................. 72
9.12 CANopen Interface (X6)......................................................................... 73
9.12.1 CAN-bus cable ....................................................................................... 73
9.13 CAN bus Interface (X11/1,X11/2)........................................................... 75
9.13.1 General................................................................................................... 75
9.13.2 Connecting PMCprimo Drive3 systems .................................................. 75
9.13.3 Speciality 1st node ................................................................................ 76
9.13.4 Speciality last node................................................................................. 76
9.13.5 Fault detection ........................................................................................ 76
9.13.6 Connecting external CANopen bus devices ........................................... 76
9.14 CAN bus Interface (X11/4) ..................................................................... 77
9.15 Master encoder interface (X11/4)........................................................... 78
9.15.1 Incremental encoder (ROD).................................................................... 78
9.15.2 Absolute encoder (SSI) .......................................................................... 79
9.16 Panel interface - Modbus (X11/3)........................................................... 80
9.16.1 General................................................................................................... 80
9.16.2 Interface ................................................................................................. 80
9.17 Profibus DP Slave interface (X11/3)....................................................... 81
9.17.1 General................................................................................................... 81
9.17.2 Using the Profibus interface with PMCprimo .......................................... 81
9.17.3 Example using Profibus DP.................................................................... 82
9.18 Ethernet Interface (X11/5)...................................................................... 83
9.18.1 General................................................................................................... 83
9.18.2 Interface ................................................................................................. 83
9.18.3 Configuration IP address ........................................................................ 83
9.19 Compact Flash Interface (X11/5) ........................................................... 84
9.19.1 General................................................................................................... 84
9.19.2 Interface ................................................................................................. 84
9.20 Personnel safe restart lock -AS- ............................................................ 85
9.20.1 Technical data and pinning..................................................................... 85
9.20.2 Environment ........................................................................................... 85
9.20.3 Wiring ..................................................................................................... 85
9.20.4 Functional description............................................................................. 86
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