DAINCUBE CG4300-DMC Instructions for use

Embedded based teaching pendant optimized for industrial robots.
CG4300-DMC
Hardware user’s manual
(Preliminary) Version
DAINCUBE Corp.
ARM Cortex-A9 Linux system
CG4300-DMC Hardware user’s manual
Form 180612A —November, 2018
DAINCUBE Corp.
Web: www.daincube.com
E-mail: [e-mail]
Tel: [phone]~4
Fax: [phone]
#401-701, Bucheon TechnoPark 4-Danji,
655 Pyeongcheon-ro, Wonmi-gu, Bucheon-Si,
Gyeonggi-Do, Republic of Korea
Copyright © 2005–2018 Daincube co.ltd. All rights reserved. Printed in the Republic of Korea

Preface
Copyright notice
Copyright © 2005–2018 Daincube. All rights reserved.
Copying of this document, and giving it to others and the use or communication of the Contents thereof, is
forbidden without express authority. Offenders are liable to the payment of damages.
All rights are reserved in the event of the grant of a patent or the registration of a utility model or design.
Important information
This documentation is intended for qualified audience only. The product described herein is not an end user
product. It was developed and manufactured for further processing by trained personnel.
Disclaimer
Although this document has been generated with the utmost care no warranty or liability for correctness or
suitability for any particular purpose is implied. The information in this document is provided “as is” and is
subject to change without notice.
Trademarks
All used product names, logos or trademarks are property of their respective owners.
Product support
DAINCUBE Corp.
Web: www.daincube.com
E - MAIL: sa[email protected]om
Safety precautions
Be sure to observe all of the following safety precautions.
Strict observance of these warning and caution indications are a MUST for preventing accidents, which
could result in bodily injury and substantial property damage. Make sure you fully understand all definitions
of these terms and related symbols given below, before you proceed to the manual.
Symbols
The following symbols may be used in this specification:
⚠Warning
Warnings indicate conditions that, if not observed, can cause personal injury.
⚠Caution
Cautions warn the user about how to prevent damage to hardware or loss of data.
✏Note
Notes call attention to important information that should be observed.

Revision history
Revision
Data
Comment
Version 0.1
2018.06.12
Initial version
Version 0.2
2018.11.26
Preliminary version

Contents
1. Introduction ...................................................................................................................5
1.1. General precautions................................................................................................................5
2. Safety information.........................................................................................................5
3. Warranty and warranty coverage.................................................................................6
3.1. Warranty period ......................................................................................................................6
3.2. Scope of the warranty.............................................................................................................6
3.3. Service coverage ....................................................................................................................6
4. Description.....................................................................................................................7
4.1. Product overview ....................................................................................................................7
4.2. System structure.....................................................................................................................7
5. Product Specification ...................................................................................................8
5.1. Specifications..........................................................................................................................8
5.2. Dimensions.............................................................................................................................9
6. Feature Description.....................................................................................................10
6.1. Interface configuration...........................................................................................................10
6.2. Detailed description...............................................................................................................11
7. Install the product .......................................................................................................12
7.1. Product opening and inspection............................................................................................12
7.2. Product installation................................................................................................................12
8. Wiring...........................................................................................................................14
8.1. Power....................................................................................................................................14
8.2. Noise Filter............................................................................................................................15
8.3. Method wiring........................................................................................................................16
8.4. Earth.....................................................................................................................................18
8.5. Ethernet wiring......................................................................................................................19
8.5.1. Ethernet cable..................................................................................................................................19
9. Installation example....................................................................................................21
10. Package........................................................................................................................24
10.1. Packing list ........................................................................................................................24
10.2. Packaging & Labels...........................................................................................................25
11. General care and maintenance ..................................................................................26
11.1. Cleaning ............................................................................................................................27
12. EC directives and standards......................................................................................27
12.1. EC directives......................................................................................................................27
12.2. Standards..........................................................................................................................27
13. Reference list...............................................................................................................28

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1. Introduction
Thank you very much for purchasing our product.
Improper usage or mishandling may result in a product not only being unable to deliver full functions but also
produce unexpected troubles or shorten the product’s life.
Please read this manual carefully, and operate the product properly by paying attention to its handling. When
operating the product, always keep this manual at hand and read the relevant items as required.
1.1.General precautions
Be sure to read this Instruction Manual for proper use of this product.
Part or all of this Instruction Manual may not be used or reproduced without permission.
Please take note that we shall not be liable for any effects resulting from using this Instruction manual.
This manual may be modified when necessary because of improvement of the product, modification or
changes in specifications.
Some drawings in this manual are shown as a typical example and may differ from the shipped product.
2. Safety information
Before unpacking and installing the product or adding devices on it, carefully read all the manuals that
came with the package.
Avoid using product in extreme dust, humidity and temperature conditions. Do not place the product in
wet area.
Before carrying out assembly and adjustment work or maintenance and inspection work of the machine,
be sure to disconnect the power cord. Otherwise, electric shock may result.
After turning OFF power, wait at least five minutes before servicing the product. Otherwise, residual
electric charges may result in electric shock.
⚠Warning
Be sure to check grounding before you use the unit. Danger of personal injury due to electric shock!
Be sure to use the unit within the voltage range indicated.
The operator must have a sufficient educational level and must know details of intended use described in
the user’s manual.
Be sure to check the wiring to the main unit.
When the user (customer) extends wiring, malfunction may occur due to faulty wiring. In this case,
inspect wiring thoroughly and check it for properness before turning on the power.
Before operating the unit, be sure to check that there is no danger in or around the operating range.
Do not allow water or oil to get on the unit and the power cord.
Install the unit in a place which can endure its weight and conditions while running.
Take care not to squeeze and thus damage the cable with any object.
Do not lay the cable over sharp edges to avoid damaging the cable sheath.
Check the mounting screws regularly so that they are always firmly tightened.
Never touch terminals directly or internal parts of controller.
Do not disassemble or modify the product.
Before carrying out assembly and adjustment work or maintenance and inspection work of the machine,
be sure to disconnect the power cord.
Connect the power supply after completing the adjustment of all the cables and switches.
⚠Caution
After the shutdown window, turn off the power supply. Otherwise the components could be destroyed or
undefined signals could occur.
To prevent the equipment from falling to the ground.
Never lay the device onto unstable surfaces. It could fall to ground and thus be damaged.
It is recommended to use the unit in an environment where no electrical noise is present.
In noisy environments, use a filter fitted.
Never lay the device close to heat sources or into direct sunlight.

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Avoid exposing the device to mechanical vibrations, excessive dust, and humidity or to strong magnetic
fields.
Make sure that no foreign objects or liquids can penetrate into the device.
Wipe the power plug with a clean, dry cloth periodically to eliminate dust.
Always pay special attention to the robot’s movement in the Teaching Mode.
3. Warranty and warranty coverage
The Teaching pendant you purchased has been delivered upon completion of our strict shipping test.
3.1.Warranty period
The warranty period is as follows:
12 months after our shipment.
3.2.Scope of the warranty
Where a defective condition occurs during proper use conditions and obviously under the responsibility of
the manufacturer, within the term above, we shall repair the product without charge.
However, any items that apply to the following are excluded from the warranty coverage.
The warranty is not valid if the defect is due to accidental damage, mishandling, misuse, voltage
fluctuation, high/low voltage or natural disaster.
If the product is repaired or tried to repair from unauthorized personal/Repair Shop.
If the product serial number is tempered.
The product is defective due to wear of parts, which can be considered as consumable parts by the
nature. (such as a cable)
Defects resulting from changes over time such as natural color fading of paint.
Defects resulting from mishandling or improper use.
Defects resulting from an inadequacy or error in maintenance and inspection.
Defects resulting from the use of any part other than our genuine parts.
Defects resulting from a modification not approved by us or our dealers.
Only a delivered product shall be singly warranted, and no damage induced by the defect of the delivery
product can be warranted. For repair, transport the product to our factory.
3.3. Service coverage
The cost of a delivered product does not include expenses for program creation and engineer dispatching.
Therefore, the following are charged separately even within the warranty term:
Maintenance and inspection.
Technical guidance and technical training in the operating instructions.
Technical guidance and technical training on program-related matters such as program creation.

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4. Description
4.1.Product overview
[Figure 4-1] CG4300-DMC
CG4300-DMC is an industrial EtherCAT motion controller with a built-in high-performance Cortex-A9 (ARM
Cortex-A9 1GHz) processor. DMC supports the popular industrial fieldbus EtherCAT Master, which enables
various types of motion control without any limit on the number of motors. Especially, it provides various
communication interfaces for industrial robot control. It has built-in developer interface for user S/W Update
and Debugging, and user interface screen configuration is possible by connecting HDMI Port to monitor.
The USB2.0 port located on the front allows connection of various USB devices such as mouse, keyboard,
and USB memory. The LAN has a 2 port configuration that can be used by connecting a host controller,
server, or robot teaching pendant. The embedded OS has Linux without any licenses. Development tools are
available to most of the Linux tools known to engineers, making it easier to develop applications. In addition,
most of the drivers and sample programs for the devices included in the product are provided through
customer support.
4.2.System structure
DUAL
USB 2.0
Mini
USB
LAN1
Micro
SD Card
CAN
Micro USB
(Debug)
LAN2
HDMI
EtherCAT
PCIe Bus
USB OTG
HS PHY
USB 2.0 Hub
(4 Port)
HDMI 1.4
eSDHC3 :
SD/MMC
Debug Serial
CAN0
Gigabit
Ethernet
RTC Batt
CG4300 Q7 Module
UART 4Port
Cortex-A9
Core
DDR3 1GB
eMMC 8GB
RS485
Stat LED
POWER
RUN
ERROR
M-RAM Cortex-M3
SUB MCU
Serial
Flash
PMIC
Power
protection
circuit
[Figure 4-2] Function block diagram
The CG4300-DMC is the ultimate motion controller with the latest advanced features for a variety of applications

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Key Features
Intuitive and elegant aluminum design
Compact controller optimized for industrial robots and motion control
Various mounting methods, slim and compact size requiring small mounting space
New high performance embedded controller with 4 ARM cores
Built-in eMMC 8GB memory
m-RAM (nonvolatile memory): non volatile variables and status, logo can be saved
Support for various Linux application software.
USB 2.0 HOST 2 port provided.
Micro SD Memory Card interface.
Ethernet 2 Port: 10/100-Mbps (Sockets interface, TCP / IP, DHCP, UDP).
Optional RS-485.
Optional CAN: FLEXCAN compatible.
Built-in reverse voltage, overcurrent, overvoltage (surge) protection circuit.
Xenomai: Built-in real-time operating system.
5. Product Specification
The used processor module was "CG4300" developed by DainCube Co., Ltd.
i.MX6 Developed using high performance, low power industrial processors.
It is an ARM core that integrates ARM architecture V7-A and various peripherals.
5.1.Specifications
List
Contents
Processor
i.MX6Q:1.0GHz Cortex-A9 Quad core
i.MX6S: 800MHz Cortex-A9 Single core (option)
Memory
DDR3 800 MHz 1GB
Internal Storage
MLC type eMMC 4GB or 8GB Flash
SPI flash
4MB NOR Flash (Booting)
4MB NOR Flash (user area)
M-RAM
2MByte or 512KByte (option)
RTC
Lithium 3 years (Min)
Graphics
Display interface HDMI 1.4
Resolution 19201080 at 60Hz
Communications
EtherCAT Master 100 Base-T
2 x Ethernet 10/100Base-T
Isolated RS-485
Isolated CAN(Controller Area Network)
External Interfaces
2 x USB 2.0 host
Micro SD Card
Mini USB device(USB OTG)
Micro USB : Debug Serial Port (USB to Serial dongle option)
General
LED X 3 : power , Error , Run
Power
Power Consumption : 300mA (Max) @ 24VDC
Power Input : +24VDC ±5%
Reverse Protection
Appearance
Enclosure : TOP Cover- EGI Coating Ivory color
:Base Aluminum 6061 - Anodizing natural Color
Dimensions : 168102.530 mm
Weight : 500g (Max)

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Environment
Operating temperature: 0℃to +45℃(Fanless)
Storage temperature: -20℃to +70℃
Humidity : 10% to 85% (Non-condensing)
Cooling method: Ambient
Altitude: Max. 2000 meters
Pollution Degree 2
Indoor Use Only
[Table 5-1] H/W specifications
⚠Operation beyond the operating limits may result in damage to the product.
5.2.Dimensions
Appearance dimensions: 168 mm x 102.5 mm x 30 mm (L x W x H)
[Figure 5-1] Product dimensions

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6. Feature Description
6.1.Interface configuration
Front side
1 2 3 4 5 6 7 8
[Figure 6-1] Front Side Configuration
1. Status LED
ERR: red
RUN LED: Green
Power LED: Orange
2. USB Type B
Used for program update etc.
3. USB Type A
USB 2.0: Usb Memory, Keyboard, Mouse, etc.
4. Terminal Block 3.5mm pitch (top)
RS-485 :NC, RS-485_D+, RS-485_D-, GND
5. Terminal Block 3.5mm Pitch (bottom)
CAN :NC, CANH, CANL, GND
6. RJ45
LAN1 : Ethernet 10/ 100Base-T
LAN2 : Ethernet 10/ 100Base-T
7. RJ45
EtherCAT Master Port
8. Terminal Block 3pin/3.5mm pitch
Power input
✏Note: Use shielded CAT5e/6 cables for Ethernet and EtherCAT communication.
Left side
910 11 12
[Figure 6-2] Left Side Configuration
9. Micro SD Card
Micro SD Memory
10. Reset
System Reset Switch
11. HDMI
Video Out Port
12. Micro USB
Debugging Serial (Use a dedicated dongle)
✏Note: These ports are used for software development and testing.

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6.2.Detailed description
Status LED
The power LED automatically increases when the power is turned on.
The RUN and ERROR LEDs are controlled by the user program via the supplied S/W API.
Power: (Yellow) Turns on when the power input is normal.
RUN: (Green) Displayed when the system is operating normally.
ERROR: (RED) System alarm and error indication.
USB OTG
It is basically used as a USB device for S/W upgrade.
Connect it to USB port of PC.
For details, refer to S/W Manual.
USB Host
USB 2 port is used to connect USB Device such as Mouse, Keyboard, USB Memory.
Please contact the customer center to inquire about the USB device that you want to use specially.
RS-485
Industrial isolated RS-485 driver is used to increase communication reliability.
The wiring cable must be shielded twisted pair type RS-485 cable.
CAN
Improved communication reliability with industrial isolated CAN transceiver IC.
Ethernet
MDI (Copper) standard IEEE 802.3 Ethernet 100BASE-T, and 10BASE-T support
Micro USB
Debugging Serial Port for developers.
Debug Serial dongles are available for developers only.
⚠CAUTION: Never connect a regular USB product.
Developer's dongle
Serial to USB dongle for development engineers.
USB Host
Debug Serial
To PC
USB A
Micro
USB
[Figure 6-3] Dongle connection
Connect the plug of the dongle to the USB port of the computer and the USB socket to the Debug Serial Port
(Micro USB Connector) of the CG4300-DMC via the cable.
Installing the driver for USB to Serial on the computer activates the virtual Uart Port.

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7. Install the product
7.1. Product opening and inspection
This product has passed the performance test and defect inspection before shipment.
As soon as you receive the product, check for physical damage or defective product during shipment.
If any damage or defect is found, contact the place of purchase or our company immediately.
✏NOTE: If repackaging is required, please keep the original packing materials.
7.2. Product installation
Before installing the product, please consider the electrical specifications and environment for safe operation
The input power (DC + 24V) should be separated from the driving power of the equipment and use a noise-free
control power supply.
Be sure to maintain a constant distance from the strong noises and motors.
The installation of the CG4300-DMC should be firmly secured so that it will not fall or fall.
Floor Installation
4ea M3 sized tapped holes are required for mounting.
161mm
86.5mm
102.5mm
[Figure 7-1] Floor installation
Wall installation
Install 2ea M3 tap holes on the wall to match the hole on the back of the product.
168mm
30mm
161mm
[Figure 7-2] Wall installation

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Din Rail installation
Use with DIN Rail adapters for each installation purpose.
Back side (vertical installation): DM-A35-20mm (Contact customer support)
[Figure 7-3] Din-rail adapter for vertical use
For floor (horizontal installation): PHOENIX 1201578
[Figure 7-4] Din-rail adapter for horizontal use

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DM-A35-20mm
First, hang part 1 of the Dain-rail adapter on the Dain-rail. Pull 2 down and push.
1
2
[Figure 7-5] DM-A35-20mm
8. Wiring
8.1.Power
The power supply is DC24V. Voltage regulation should be within ± 5%.
Power lines must be tightly twisted as closely as possible to minimize noise impact.
Please use power with less Noise between lines and ground.
If Noise is more or larger, use an isolation transformer or Noise Filter.
Use a thick wire (2mm or more) as possible to prevent the voltage fluctuation.
Separate the motor wiring and the DC power and signal line wiring as far as possible. Please drop as
possible over 100mm.
Please separate the DC24V line from the motor line.
Use a surge absorber to prevent lightning from surge such as lightning. Install the surge protector.
[Figure 8-1] Surge absorber
✏Note: Surge absorber should be selected to allow the voltage is higher than the maximum input
voltage.

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8.2.Noise Filter
EMI: Electro Magnetic Interference
EMS: Electro Magnetic Susceptibility
DC24V
AC 220V
CG4300-DMC
SMPSAC Line Filter
[Figure 8-2] Apply a noise filter
Noise Filter must be installed on AC 220V line. Motor noise so that it does not directly affect.
Electronic components are caused the problems such as short lifetime or a deterioration or malfunction
because of intense noise.
[Figure 8-3] AC noise filter
⚠
Warning
Make sure the AC filter capacitor safety (PE) ground and connected
correctly.
You can avoid injury and / or damage to the equipment.
✏Note: A surge absorber whose allowable voltage is higher than the maximum input voltage is
selected. The filter is one of the important parts to prevent the inflow and outflow of interference such as
noise or electromagnetic waves on the power line..

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AC
Noise filter
SMPS
AC/DC
Power
AC Line
No Shield cables
Long distance
Narrow gap
[Figure 8-4] Noise filter incorrect installation
Do not route the input power line and the output power line of the Noise Filter so that they cross each
other. (Figure 8-4)
Below is an example of using the servo motor and CG4300-DMC filter. (Figure 8-5)
+24V
AC/DC
AC
Noise Filter
AC 220~230V
Isolation
Drive filter
AC
Noise Filter
AC Servo Motor part
Drive
power
Control
power
Controller
filter
CG4300-DMC
[Figure 8-5] Example: AC 220V line noise filter used
8.3.Method wiring
(1) Input / output signals and communication lines should be at least 10cm away from
high voltage line or power line so that they are not affected by noise or magnetic field
change.
(2) Separate the control line and signal line from the AC line or motor line.
(3) Use all shielded cables as much as possible.
✏
Note
According to the NFPA79 approved by the United States, when the shielded wire is not
used for wiring between a servo amplifier and a servo motor, the wiring must be
insulated from wiring of other control or signal circuits.
(Example: 100 mm or more for 20 A or less)

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(4) Minimizing the loops
[Figure 8-6] Avoiding loops in wiring designs
✏Note:
The wiring that forms the loop acts as an antenna. Wire the signal and return lines together to
reduce loop formation. Twisted pair wires significantly reduce antenna effects and EMI.
(5) Excess cable
Better solution Good solution Not recommended
[Figure 8-7] Remaining cable handling
(6) Cabling instructions:
Do not detect different types of extra cables. It can work like a good high frequency transformer.
It is ideal to adjust the cable length appropriately for your application.
Handle the cable as shown below only if it is difficult to adjust the cable length.
(7) Ferrite core
Ferrite core turn
[Figure 8.8] Ferrite core turn
✏Note: Increasing the number of turns when using ferrite core core increases the low frequency cut-
off range.

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Servo drive wiring for conformity to EC directives and UL standards.
Ferrite core
Noise filter
[Figure 8-9] Panasonic AC Servo drive Installation manual
✏Note: Install the noise filter and ferrite core in the power input part of the servo drive as shown in the
figure and install the ferrite core only in the motor output part. For details, refer to the motor drive manual.
It is recommended to use the following Ferrite core.
[Figure 8-10] TDK ferrite core
NEC TOKIN: ESD-SR-250, SEIWA ELECTRIC: E04SRM563218: It's possible to use.
8.4.Earth
Connect F.G pin of 26pin connector to SMPS and common ground.
Earth pin of LAN1 and LAN2 are signal line shield.
Use a ground wire of 2mm or more.
Make the length of the ground wire as short as possible.
Separate the power ground and the control system ground separately.
Master Slave Master Slave
√
[Figure 8-11] Earth wiring methods

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8.5.Ethernet wiring
An Ethernet PIN is assigned as shown in the table below.
RJ45
26pin receptacle pin
name
Description
1
14
Tx+
Transmit Data +
2
15
Tx-
Transmit Data -
3
23
Rx+
Receive Data +
6
24
Rx-
Receive Data -
shield
21
Cable shield
Functional earth
[Table 8-1] Ethernet connector map
8.5.1. Ethernet cable
CG4300-DMC Ethernet communication cable recommended specification
Cable minimum specification : CAT.5e STP
Recommended specification : over CAT.5e/6 STP
Plug: STP CAT.7 RJ-45 8P8C (metal material) used
(※you should connect the shield between the cable and the plugs. )
When using FTP / STP cable: You must use a metal plug because you need to connect the ground wire
to the plug.
[Figure 8-12] FTP metal cable plug
[Figure 8-13] Cat 5e, Cat 6 cable
⚠
CAUTION
Risk of communication faults!
Malfunctions in communications may happen when using inappropriate cables.
Use only network cables of the categories 5 (Cat 5e, Cat 6 or Cat 7) or higher
within EtherCAT ® networks.

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Straight through patch cable is recommended.
[Figure 8-14] Straight cable pin map