Inovance IMC30-6G Series User manual

IMC30-6G Series
Axis Control Module Hardware Manual
IMC30-6G Series Axis Control Module Hardware Manual
A00
Data code 19010954
Shenzhen Inovance Technology Co., Ltd.
Add.: Building E, Hongwei Industry Park, Liuxian Road, Baocheng No. 70 Zone, Bao’an District, Shenzhen
Tel: [phone]
Fax: [phone]
Service Hotline: [phone]
http: //www.inovance.com
Suzhou Inovance Technology Co., Ltd.
Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China
Tel: [phone]
Fax: [phone]
Service Hotline: [phone]
http: //www.inovance.com
Copyright Shenzhen Inovance Technology Co., Ltd.
User Guide

- 1 -
Contents
Contents
Safety Instructions ............................................................................................................ 2
Safety Precautions......................................................................................................... 2
Safety Levels and De󶍾nitions........................................................................................ 2
Safety Instructions......................................................................................................... 2
1 Product Information....................................................................................................... 7
1.1 Nameplate and Models ........................................................................................... 7
1.2 Components............................................................................................................. 7
1.3 Overall Dimensions.................................................................................................. 8
1.4 Technical Speci󶍾cations.......................................................................................... 9
1.5 Product Models........................................................................................................ 10
2 System Connection ........................................................................................................ 13
3 Hardware Connection.................................................................................................... 14
3.1 Description and Wiring of High-Speed Position Comparison Output Interface.. 14
3.2 Description and Wiring of PWM Output Interface.................................................. 16
3.3 Description and Wiring of Encoder Output Interface............................................ 17
3.4 Description and Wiring of Pulse Control Output Interface................................... 19
3.5 Description and Wiring of General Output/Low-Speed Position Comparison
Output Interface....................................................................................................... 21
3.6 Description and Wiring of General Input Interface................................................ 25
3.7 Description and Wiring of Mechanical Limit and Home ....................................... 28
3.8 Description and Wiring of Power Interface ............................................................ 30
3.9 Wiring of Control Modes.......................................................................................... 31
3.9.1 Wiring of Servo Control Mode....................................................................... 32
3.9.2 Wiring of Stepper Control Modes................................................................. 33
Appendix: Power Supply Mode of Terminal Board......................................................... 34
Revision History................................................................................................................. 35

- 2 -
Safety Instructions
Safety Instructions
Safety Precautions
1 ） Before installing, using, and maintaining this equipment, read the safety
information and precautions thoroughly, and comply with them during
operations.
2 ） To ensure the safety of humans and equipment, follow the signs on the
equipment and all the safety instructions in this user guide.
3 ） "CAUTION", "WARNING", and "DANGER" items in the manual do not indicate all
safety precautions that need to be followed; instead, they just supplement the
safety precautions.
4 ） Use this equipment according to the designated environment requirements.
Damage caused by improper usage is not covered by warranty.
5 ） Inovance shall take no responsibility for any personal injuries or property
damage caused by improper usage.
Safety Levels and De󶍾nitions
DANGER
indicates that failure to comply with the notice will result in
severe personal injuries or even death.
WARNING
indicates that failure to comply with the notice may result in
severe personal injuries or even death.
CAUTION
indicates that failure to comply with the notice may result in
minor personal injuries or damage to the equipment.
Safety Instructions
Unpacking
CAUTION
◆Check whether the packing is intact and whether there is damage, water
seepage, damp, and deformation.
◆Unpack the package by following the package sequence. Do not hit the
package with force.
◆Check whether there are damage, rust, or injuries on the surface of the
equipment or equipment accessories.
◆Check whether the number of packing materials is consistent with the packing
list.

- 3 -
Safety Instructions
WARNING
◆Do not install the equipment if you 󶍾nd damage, rust, or indications of use on
the equipment or accessories.
◆Do not install the equipment if you 󶍾nd water seepage, component missing or
damage upon unpacking.
◆Do not install the equipment if you 󶍾nd the packing list does not conform to
the equipment you received.
Storage and Transportation
CAUTION
◆Store and transport this equipment based on the storage and transportation
requirements for humidity and temperature.
◆Avoid transporting the equipment in environments such as water splashing,
rain, direct sunlight, strong electric 󶍾eld, strong magnetic 󶍾eld, and strong
vibration.
◆Avoid storing this equipment for more than three months. Long-term storage
requires stricter protection and necessary inspections.
◆Pack the equipment strictly before transportation. Use a sealed box for long-
distance transportation.
◆Never transport this equipment with other equipment or materials that may
harm or have negative impacts on this equipment.
WARNING
◆Use professional loading and unloading equipment to carry large-scale or
heavy equipment.
◆When carrying this equipment with bare hands, hold the equipment casing
󶍾rmly with care to prevent parts falling. Failure to comply may result in
personal injuries.
◆Handle the equipment with care during transportation and mind your step to
prevent personal injuries or equipment damage.
◆Never stand or stay below the equipment when the equipment is lifted by
hoisting equipment.
Installation
WARNING
◆Thoroughly read the safety instructions and user guide before installation.
◆Do not modify this equipment.
◆Do not rotate the equipment components or loosen 󶍾xed bolts (especially
those marked in red) on equipment components.
◆Do not install this equipment in places with strong electric or magnetic 󶍾elds.
◆When this equipment is installed in a cabinet or 󶍾nal equipment, protection
measures such as a 󶍾reproof enclosure, electrical enclosure, or mechanical
enclosure must be provided. The IP rating must meet IEC standards and local
laws and regulations.

- 4 -
Safety Instructions
DANGER
◆Equipment installation, wiring, maintenance, inspection, or parts replacement
must be performed by only professionals.
◆Installation, wiring, maintenance, inspection, or parts replacement must
be performed by only experienced personnel who have been trained with
necessary electrical information.
◆Installation personnel must be familiar with equipment installation
requirements and relevant technical materials.
◆Before installing equipment with strong electromagnetic interference, such as
a transformer, install an electromagnetic shielding device for this equipment
to prevent malfunctions.
Wiring
DANGER
◆Equipment installation, wiring, maintenance, inspection, or parts replacement
must be performed by only professionals.
◆Never perform wiring at power-on. Failure to comply will result in an electric
shock.
◆Before wiring, cut o󶍽 all equipment power supplies. Wait at least 10 minutes
before further operations because residual voltage exists after power-o󶍽.
◆Make sure that the equipment is well grounded. Failure to comply will result
in an electric shock.
◆During wiring, follow the proper electrostatic discharge (ESD) procedures,
and wear an antistatic wrist strap. Failure to comply will result in damage to
internal equipment circuits.
WARNING
◆Never connect the power cable to output terminals of the equipment. Failure
to comply may cause equipment damage or even a 󶍾re.
◆When connecting a drive with the motor, make sure that the phase sequences
of the drive and motor terminals are consistent to prevent reverse motor
rotation.
◆Wiring cables must meet diameter and shielding requirements. The shielding
layer of the shielded cable must be reliably grounded at one end.
◆After wiring, make sure that no screws are fallen and cables are exposed in the
equipment.

- 5 -
Safety Instructions
Power-on
DANGER
◆Before power-on, make sure that the equipment is installed properly with
reliable wiring and the motor can be restarted.
◆Before power-on, make sure that the power supply meets equipment
requirements to prevent equipment damage or even a 󶍾re.
◆At power-on, unexpected operations may be triggered on the equipment.
Therefore, stay away from the equipment.
◆After power-on, do not open the cabinet door and protective cover of the
equipment. Failure to comply will result in an electric shock.
◆Do not touch any wiring terminals at power-on. Failure to comply will result in
an electric shock.
◆Do not remove any part of the equipment at power-on. Failure to comply will
result in an electric shock.
Operation
DANGER
◆Do not touch any wiring terminals during operation. Failure to comply will
result in an electric shock.
◆Do not remove any part of the equipment during operation. Failure to comply
will result in an electric shock.
◆Do not touch the equipment shell, fan, or resistor for temperature detection.
Failure to comply will result in heat injuries.
◆Signal detection must be performed by only professionals during operation.
Failure to comply will result in personal injuries or equipment damage.
WARNING
◆Prevent metal or other objects from falling into the device during operation.
Failure to comply may result in equipment damage.
◆Do not start or stop the equipment using the contactor. Failure to comply may
result in equipment damage.
Maintenance
DANGER
◆Equipment installation, wiring, maintenance, inspection, or parts replacement
must be performed by only professionals.
◆Do not maintain the equipment at power-on. Failure to comply will result in
an electric shock.
◆Before maintenance, cut o󶍽 all equipment power supplies and wait at least 10
minutes.

- 6 -
Safety Instructions
WARNING
◆Perform daily and periodic inspection and maintenance for the equipment
according to maintenance requirements and keep a maintenance record.
Repair
DANGER
◆Equipment installation, wiring, maintenance, inspection, or parts replacement
must be performed by only professionals.
◆Do not repair the equipment at power-on. Failure to comply will result in an
electric shock.
◆Before inspection and repair, cut o󶍽 all equipment power supplies and wait at
least 10 minutes.
WARNING
◆Require for repair services according to the product warranty agreement.
◆When the equipment is faulty or damaged, require professionals to perform
troubleshooting and repair by following repair instructions and keep a repair
record.
◆Replace quick-wear parts of the equipment according to the replacement
guide.
◆Do not operate damaged equipment. Failure to comply may result in worse
damage.
◆After the equipment is replaced, perform wiring inspection and parameter
settings again.
Disposal
WARNING
◆Dispose of retired equipment by following local regulations or standards.
Failure to comply may result in property damage, personal injuries, or even
death.
◆Recycle retired equipment by following industry waste disposal standards to
avoid environmental pollution.

- 7 -
1 Product Information
1 Product Information
1.1 Nameplate and Models
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1.2 Components
①
②
③ ④ ⑤ ⑥ ⑦
⑧
⑨
⑩⑪⑫⑬
No. Component Name Function Description Quantity
1 ENC Encoder input 6
2 AXIS Pulse control output 6
3 ENC silkscreen Encoder pin de󶍾nition 1
4 AXIS silkscreen Pulse output control pin de󶍾nition 1
5 Power terminal 24 VDC power input 1
6 CMP Position comparison output 1

- 8 -
1 Product Information
No. Component Name Function Description Quantity
7 PWM PWM output 2
8 LED Indicating the status of 24V, 5V, and
CPU signals respectively 3
9 LOGO Inovance logo 1
10 LocalBUS LocalBUS interface 1
11 EX-O Common DO 16
12 EX-I Common DI 16
13 LMT&&HM Positive and negative limits 12
Home signal 6
1.3 Overall Dimensions
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Figure 1-1 IMC30-6G series axis control module (unit: mm)

- 9 -
1 Product Information
1.4 Technical Speci󶍾cations
Function Speci󶍾cations
Pulse axis control 6 channels
Maximum output frequency: 4 MHz
High-speed position
comparison output
4 channels
Maximum output frequency: 4 MHz
Low-speed position
comparison output
4 channels
Maximum output frequency: 10 kHz
PWM output 2 channels
Maximum output frequency: 1 MHz
Encoder sampling 6 channels
Maximum input frequency: 4 MHz
Common DO
16 channels
Rated voltage: 24 V
(Input voltage range: 19 V to 29 V)
Maximum output impedance: < 0.1 Ω
Maximum output load current (typical 24V): 0.35 A
Maximum leakage current at OFF: < 10 μA
Output mode: Equivalent OC output
Isolation mode: optocoupler isolation
Protection: Overload, short-circuit protection
Maximum output frequency: 4 kHz
Common DI
16 channels
Input voltage range: 19 V to 30 V
Input current: 4 mA
Input impedance: > 4.7 kΩ
Isolation mode: optocoupler isolation
Input mode: PNP/NPN
Maximum input frequency (Bit0-14): 4 kHz
Input frequency (Bit15): 500 kHz

- 10 -
1 Product Information
Function Speci󶍾cations
Mechanical zero, limit
input
16 channels
Rated voltage: 24 V
(Input voltage range: 19 V to 29 V)
Input current: 4 mA
Input impedance: > 4.7 kΩ
Isolation mode: optocoupler isolation
Input mode:NPN
Maximum input frequency: 4 kHz
1.5 Product Models
Name Model Description Remarks
Motion
control
card
IMC30G-E-
032PCI
EtherCAT general-purpose motion
control card based on the PCI bus,
supporting control of a maximum of 32
axes
Mandatory
IMC30G-E-
016PCI
EtherCAT general-purpose motion
control card based on the PCI bus,
supporting control of a maximum of 16
axes
IMC30G-E-
008PCI
EtherCAT general-purpose motion
control card based on the PCI bus,
supporting control of a maximum of 8
axes
Axis
control
module
IMC30-6G Axis control module for IMC30G-E-
032PCI (terminal board)
Mandatory
if the
position
comparison
output
function is
required
Optional
for other
conditions

- 11 -
1 Product Information
Name Model Description Remarks
AM600-
ECAT
module
AM600-RTU-
ECTA
AM600-RTU-ECTA EtherCAT
communication module Optional
AM600-0016ETP AM600-0016ETP 16-channel DO
module Optional
AM600-1600END AM600-1600END 16-channel DI module Optional
AM600-0016ER AM600-0016ER 16-channel DO module Optional
AM600-0032ETN AM600-0032ETN 32-channel DO
module Optional
AM600-3200END AM600-3200END 32-channel DI module Optional
AM600-4DA AM600-4DA AO module Optional
AM600-4AD AM600-4AD AI module Optional
AM600
EtherCAT
slave
module
AM600-
1616ETNE
AM600-1616ETNE EtherCAT slave
16-input 16-output module Optional
AM600-
0808ETNE
AM600-0808ETNE EtherCAT slave
8-input 8-output module Optional
AM600-4PME AM600-4PME EtherCAT slave
positioning module Optional
Stepper
ECAT
drive
SS-EC MOONS SS-EC EtherCAT stepper servo
drive Optional
SSDC-EC MOONS SSDC-EC EtherCAT stepper
servo drive Optional
SSDC-EC-MW01 MOONS SSDC-EC-MW01 EtherCAT
stepper servo drive Optional
DM3E-556 LEADSHINE DM3E-556 EtherCAT
stepper drive Optional
DM3E-870 LEADSHINE DM3E-870 EtherCAT
stepper drive Optional
DM3E-522 LEADSHINE DM3E-522 EtherCAT
stepper drive Optional
DM3E-542 LEADSHINE DM3E-522 EtherCAT step
drive Optional
MS-MiniE YAKO MS-MiniE EtherCAT hybrid
stepper servo drive Optional

- 12 -
1 Product Information
Name Model Description Remarks
Servo
drive
IS620N series
servo drive
Inovance IS620N series network-type
servo drive Optional
SV820N series
servo drive
Inovance multi-axis SV820N series
servo drive Optional
IS510N series
servo drive
Inovance IS510N customized press
servo drive Optional
Servo
control
cable
IMC30-L-C00-1.5 Pulse servo control cable, shielded, 1.5
m (RoHS) Optional
IMC30-L-C00-3.0 Pulse servo control cable, shielded, 3.0
m (RoHS) Optional
Stepper
control
cable
IMC30-L-C10-1.5 Stepper control cable, shielded, 1.5 m
(RoHS) Optional
IMC30-L-C10-3.0 Stepper control cable, shielded, 1.5 m
(RoHS) Optional
NOTE
◆The motion control card is necessary for building the IMC30G series
motion control system. The axis control module is necessary if
the position comparison output function is required. Select other
modules according to requirements.
◆For selection of Inovance servo drives (IS620P, IS620N, SV820N),
refer to the servo drive selection guide.

- 13 -
2 System Connection
2 System Connection
The axis control module (IMC30-6G series), motion control card (IMC30G-E series),
servo system, and expansion modules constitute the IMC30G series motion control
system to implement pulse control, network control, and network & pulse hybrid
control. This system supports EtherCAT bus expansion, connection to the servo drive
such as Inovance SV820N and IS620N, and expansion of EtherCAT modules including
AM600-RTU-ECATA, AM600-0016ETP, AM600-1600END, AM600-4DA, AM600-4AD,
AM600-0808ECTNE, AM600-1616ECTNE, and AM600-4PME, meeting applications of
various industrial automation sites.
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Figure 2-1 Wiring diagram of the motion control system

- 14 -
3 Hardware Connection
3 Hardware Connection
3.1 Description and Wiring of High-Speed Position Comparison
Output Interface
CMP
5
4
3
2
1
9
8
7
6
Table 3-1 De󶍾nition of high-speed position comparison output interface
Pin Signal Description Electrical
Speci󶍾cations
1 CMP_0+ Position comparison output channel 0,
twisted pair for this di󶍽erential signal
RS422
di󶍽erential
output
6 CMP_0-
2 CMP_1+ Position comparison output channel 1,
twisted pair for this di󶍽erential signal
7 CMP_1-
3 CMP_2+ Position comparison output channel 2,
twisted pair for this di󶍽erential signal
8 CMP_2-
4 CMP_3+ Position comparison output channel 3,
twisted pair for this di󶍽erential signal
9 CMP_3-
5 DGND Digital ground/Di󶍽erential reference ground

- 15 -
3 Hardware Connection
The wiring is as follows:
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Figure 3-1 Wiring of position comparison output (RS422 level)
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Figure 3-2 Wiring of position comparison output (optocoupler)
If there is no device for receiving RS422 level in the position comparison input circuit,
a level conversion module needs to be added. The wiring of this module is shown in
the following 󶍾gure:
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- 16 -
3 Hardware Connection
NOTE
◆It is recommended to place the di󶍽erential-to-single-ended
module close to the 24 V single-ended triggering device to
make the advantages of the di󶍽erential signal in long-distance
transmission and strong anti-interference.
3.2 Description and Wiring of PWM Output Interface
PWM/AD
5
4
3
2
1
9
8
7
6
Table 3-2 De󶍾nition of PWM output interface
Pin Signal Description Electrical
Speci󶍾cations
1 PWM_0+ PWM di󶍽erential output channel 1, twisted pair
for this di󶍽erential signal
RS422
di󶍽erential
output
6 PWM_0-
2 PWM_1+ PWM di󶍽erential output channel 1, twisted pair
for this di󶍽erential signal
7 PWM_1-
3 DGND Digital ground/Di󶍽erential reference ground
8 DGND Reference digital ground of di󶍽erential signal
4 Reserved Reserved -
9 Reserved Reserved -
5 Reserved Reserved -

- 17 -
3 Hardware Connection
The wiring of PWM output is as follows:
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 18. @
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18.
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Figure 3-3 Wiring of PWM output (RS422 level)
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Figure 3-4 Wiring of PWM output (optocoupler)
3.3 Description and Wiring of Encoder Output Interface
ENC
1
2
3
4
5
6
7
8
9

- 18 -
3 Hardware Connection
Table 3-3 De󶍾nition of encoder output interface
Pin Signal Description Electrical
Speci󶍾cations
1 ENC_A+ Encoder phase A signal, twisted pair for this
di󶍽erential signal
RS422
di󶍽erential
output
6 ENC_A-
2 ENC_B+ Encoder phase B signal, twisted pair for this
di󶍽erential signal
7 ENC_B-
3 ENC_C+ Encoder phase C signal, twisted pair for this
di󶍽erential signal
8 ENC_C-
4 Reserved Reserved -
9 5V 5 V output -
5 DGND Digital ground/Di󶍽erential reference ground -
The wiring of encoder output is as follows:
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&/$@#
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&/$@$
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Figure 3-5 Wiring of encoder output

- 19 -
3 Hardware Connection
3.4 Description and Wiring of Pulse Control Output Interface
AXIS
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Table 3-4 De󶍾nition of pulse control output interface
Pin Signal Description Electrical Speci󶍾cations
1OVCC Internal 24 V output -
2 ALM Servo/Stepper drive alarm signal
input
Optocoupler input,
isolation
3 SON Servo on
Optocoupler output,
isolation, equivalent OC
gate
4 DGND Digital ground -
5 DIR+/CCW+ Pulse direction di󶍽erential signal RS422 di󶍽erential output
6 DGND Digital ground -
7 CW+ Pulse di󶍽erential signal RS422 di󶍽erential output
8 Reserved - -
9 OGND Internal 24 V ground -
10 RESET Controller output reset signal
Optocoupler output,
isolation, equivalent OC
gate
11 SERDY Motor limit signal Optocoupler input,
isolation
12 5V Internal 5 V output -
13 DIR -/CCW- Pulse direction di󶍽erential signal RS422 di󶍽erential output
14 PULSE-/CW- Pulse di󶍽erential signal RS422 di󶍽erential output