SMAC CBC-EIP Manuale utente

CBC-EIP

USER MANUAL

Version 1.1

Disclaimer

The contents of this user manual are intended to be as accurate as possible, but may be subject to

change without prior notification. SMAC shall not be liable for any damages that may arise as a

consequence of the use of information presented in this user manual.

Document Version

Note

Date

1.0.3

STO and I/O connections updated

10/16/2019

1.0.4

List of software troubleshooting is added

12/04/2019

1.0.5

Motor quick stop section has been added

01/02/2020

1.0.6

Implicit message data lengths are altered

03/09/2020

1.1

Corrected the STO and implicit message tables,

modified the appendices to be more compact

5/4/2021

 

 
Content 
Introduction ....................................................................................................................................4 
Setup guide .....................................................................................................................................6 
1 Hardware ................................................................................................................................6 
1.1 Power/signal/communication connectors......................................................................6 
1.2 STO..................................................................................................................................8 
1.3 I/O and STO electrical schematics.................................................................................10 
1.4 Deactivating the STO (OPTIONAL).................................................................................12 
2 Software................................................................................................................................13 
2.1 CBC-EIP basic configuration ..........................................................................................13 
2.2 Modification of IP (Internet Protocol) settings.............................................................14 
2.3 Connecting with a PLC...................................................................................................15 
2.4 Explicit messaging .........................................................................................................15 
2.5 Implicit (IO) messaging..................................................................................................15 
Add-On Instructions (AOI) for STUDIO5000/RSLogix5000 PLC software......................................17 
1 Position move .......................................................................................................................17 
2 Softland.................................................................................................................................19 
3 Homing..................................................................................................................................21 
4 Velocity move........................................................................................................................22 
5 Force Move ...........................................................................................................................24 
6 Fault Status ...........................................................................................................................25 
6.1 Performing a fault reset................................................................................................25 
7 Motor halt.............................................................................................................................28 
8 Motor On...............................................................................................................................30 
9 Motor Off ..............................................................................................................................31 
10 Motor Quick Stop..................................................................................................................32 
A PLC Software Configuration..........................................................................................................33 
A.1 Allen-Bradley PLCs ................................................................................................................33 
A.2 Other PLCs.............................................................................................................................38 
B Common Software Issues Troubleshooting..................................................................................39 
 
 
 

1Introduction

The CBC-EIP, shown in Figure 1.1, is an Ethernet/IP servo drive with specifications as presented in

Table 1.1. An example of Ethernet/IP network architecture involving CBC-EIPs can be seen in Figure

1.2.

Table 1.1. CBC-EIP specifications.

Description

Single axis servo motor controller/driver

Supported motor types

3-phase brushless rotary/linear, 1-phase rotary/linear

Control loop update rate

•Position loop: 1 kHz

•Current loop: 10 kHz

Power supply voltage

8 VDC –48 VDC

Power supply current

2 A –7 A

Continuous current

3 Arms

Peak current

6 Arms (for 1 s)

Power stage PWM frequency

20 kHz

Available feedback inputs

Differential digital encoder with index, analog input

Memory

1024 kB of program memory, 512 kB of EEPROM

memory

Digital inputs

4 x PLC level isolated digital inputs

Digital outputs

4 x SSR (solid-state relay) isolated digital outputs

Output supply

1 x 5V output supply for powering external circuitry

Analog input

1 x 0 –5V single ended analog input

Protections

•Driver overtemperature warning at 125 ⁰C

•Driver overtemperature at 150 ⁰C

•Overcurrent

•Reverse polarity protection

STO (Safe Torque Off)

SIL 3 compliant:

•2 x STO inputs, 5 V to 30 V isolated inputs

•1 x STO feedback output (optional)

•External diagnostics capability

•Abnormal operation detection

Communications

•RS232

•Ethernet/IP (2-port):

oODVA certified

oUp to 6 simultaneous Class 3 connections

(explicit messaging)

o1 simultaneous class Class 1 connection

(implicit messaging) of type exclusive owner

oRequested Packet Interval rate: 1 –3200 ms

oDevice Level Ring

Figure 1.1.CBC-EIP.

Figure 1.2. Typical Ethernet/IP network architecture with CBC-EIPs.

Ethernet/IP

master device, e.g. PLC

CBC-EIPs

Actuators

2Setup guide

2.1 Hardware

2.1.1 Power/signal/communication connectors

Figure 2.1 shows the connectors and status LED indication of the CBC-EIP. Further details

about these connectors are presented in Table 2.1.

Figure 2.1. Connectors and status LED indication on the CBC-EIP.

ETH 2

ETH 1

POWER

FAULT

RS232

I/O AND STO

POWER

ENCODER

GND

V+

GND

Table 2.1.Details of connectors in Figure 2.1.

CONNECTOR

PIN DEFINITION

POWER (Terminal block header, 5 mm pitch)

1: Ground (DC power Return)

2: +24VDC/+48VDC supply

3: Actuator winding phase U

4: Actuator winding phase V

5: Actuator winding phase W

6: Ground

ENCODER (Standard D-SUB 15 pin, female)

1: A+

2: I+

3: B+

4: +5V

5: +5V

6: +5V

9: A-

10: I-

11: B-

12: Ground

13: Ground

I/O AND STO

(Manufacturer: Phoenix Contact, P/N:

1790357)

1: Digital input 1

2: Digital input 2

3: Digital input 3

4: Digital input 4

5: Digital input common

6: Analog input 1

7: Ground

8: +5VDC supply

9: Digital output 1

10: Digital output 2

11: Digital output 3

12: Digital output 4/STO Feedback (only

available by special request)

13: Digital output common

14: STO 1

15: STO 2

16: STO common

RS232 (RJ-25 Jack)

1: NC

2: NC

3: RS232 RX

4: RS232 TX

5: Ground

6: NC

ETH 1 & ETH 2 (Standard Ethernet jacks for

Ethernet/IP connection)

2.1.2 STO

The STO (Safe Torque Off) is a safety system that prevents motor from delivering torque in

an emergency event while the CBC-EIP remains connected to the power supply. When STO

is activated, the drive’s power stage is disabled regardless of what the CBC- EIP is doing and

the motor shaft will slow down until it stops under its own inertia and frictional forces.

The STO of CBC- EIP has been designed to be compliant with Safety Integrity Level 3 (SIL3)

according to IED 61800-5-2. To meet the requirements, the STO reliability has been

increased by means of the following characteristics:

•2x fully independent STO channels

•STO feedback output for external diagnostics. Note that by default this is not available

in the CBC- EIP, please ask SMAC to have this enabled when required.

•Detection of abnormal STO operation

Figure 2.2 depicts the schematic of the STO circuit in the CBC- EIP. The STO works with

negative logic: power stage is deactivated by default and in this state, a software fault (error

code 0xFF60) with will be generated if there is an attempt to activate the power stage. To

allow the activation of the power stage (by turning on the power stage transistors), STO

inputs 1 and 2 must be energized by supplying them with a DC voltage (see Figure. 2.7 for

the detailed electrical schematic). Alternatively, the STO inputs can be disabled by applying

jumper connections as described in section 2.1.4.

Figure 2.2. STO circuit schematic.

Figure 2.3 shows the behavior of STO_FB in relation to one of the STO inputs. The objective

of STO_FB is to provide external diagnostics of the STO circuit, to allow an increased system

reliability. A common practice in the diagnostics is to delay the stop of the power stage from

the deactivation of STO_FB and the STO inputs. This way, short pulses can be applied for

testing the STO circuit without stopping the system operation.

When only one of the STO input channels is energized, the STO operation is viewed as

abnormal. If only one channel is energized for more than the latching time (0.6 s < Tlatching <

2.6 s), a dangerous failure in the system is considered and the STO is activated in latching

STO1

STO2

STO_FB

Feedback

Logic

+12 V

DC/DC

+SUPPLY

PH. U

PH. V

PH. W

Power stage

mode. The generated software fault cannot be reset until a power supply reset is performed.

Figure 2.4 illustrates the abnormal STO operation.

Table 2.2 summarizes the STO modes that are previously described.

Figure 2.3. Timing diagram of CBC-ECT STO.

Figure 2.4. Illustration of the abnormal STO operation.

Table 2.2. Summary of STO modes.

Mode

Status

STO1

input

STO2

input

Power

stage

STO

Drive function

Normal

operation

STO ACTIVE

Disabled

Drive cannot start or

provide power to motor

STO

INACTIVE

Enabled

Drive is enabled to run

under firmware control

Diagnostic

STO ACTIVE

PULSE (1 ms

< t < 23 ms)

Enabled

A short STO ACTIVE (“0”)

pulse does not stop the

motor operation.

However, it activates STO

FB. It can be used for

performing system

diagnosis.

STO ACTIVE

PULSE (1 ms

< t < 23 ms)

Enabled

Time

STOx

input

STO_FB

output

Power

stage state

800 ns

23 ms

Logic level

Time

STO1

input

STO2

input

Power

stage state

23 ms

0.6 s < Tlatching < 2.6 s

Logic level

Abnormal

operation

Abnormal

STO ACTIVE

Disabled

Drive cannot start or

provide power to the

motor. STO trip reported to

MCU. If this persists for

latching time the STO will

lock in FAULT state. To

reset this fault a power

cycle is needed (Toff > 3.2

s).

0.6 s < TLatching< 2.6 s

Abnormal

STO ACTIVE

Disabled

STO FAULT

Disabled

AND

(STO1,

STO2)

After exceeding latching

time of abnormal STO the

driver will stay latched in

this state until power

cycle (Toff > 3.2 s).

2.1.3 I/O and STO electrical schematics

For the purpose of interfacing I/Os and STOs between the CBC-EIP and external devices,

electrical schematics are given in Figures 2.5 –2.8.

Figure 2.5. Digital inputs electrical schematic.

+3.3 V

GPI_COM

GPI1

10KΩ

(5 –24 VDC)

(5C –24 VDC)

(5–24 VDC)

To μC

10KΩ

GPI2

GPI4

GPI3

To μC

Internal to CBC

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