Isel iMC Series User manual

isel Germany AG, D-36124 Eichenzell, Bürgermeister-Ebert-Str. 40 (06659)981-0 (06659)981-776
CNC-Servo-Controller
iMC-B
iMC-V
Operating Instruction

iMC-B / iMC-V Operating Instruction
All information, technical data and dimensions contained in this booklet correspond to
the technical state at the moment of publication. However, possible misprints or
mistakes cannot be ruled out. We will appreciate all suggestions for improvement and
error notes.
We would like to point out that all used software and hardware names of the respective
companies generally are subject to protection by brand, trademark and patent law.
All rights reserved. It is prohibited to process, duplicate or reproduce this booklet
partially or on the whole in any form (print, copy, or other procedure) without written
permission of isel Germany AG.
This booklet has been translated from the original German version into English
language. It does not lay claim to completeness nor flawlessness. In case of doubt the
German original has validity.
isel controllers are concurrent with CE norms and marked accordingly. Commissioning
of all other parts or components, for which CE safety regulations apply, is prohibited
until all respective requests are met.
isel Germany AG as the manufacturer cannot take over guarantee if you change the
controller in any way.
The EMC test is valid only for the controllers original configuration ex works, i.e. the
delivery state.
Manufacturer: isel Germany AG
Bürgermeister-Ebert-Straße 40
D-36124 Eichenzell
Tel.: [phone]
Fax: [phone]
Email: [email protected]
http://www.isel.com
Status: 08/2011
Technical specifications subject to change.
Up to date Operating instructions and manuals for download you
can find here:
www.isel-data.de/manuals

iMC-B / iMC-V Operating Instruction
Table of contents
1Introduction ..........................................................................................................4
1.1 Safety symbols ................................................................................................ 4
1.2 Safety instructions............................................................................................ 5
2Controller types....................................................................................................6
3Technical data ......................................................................................................7
4Hardware description...........................................................................................8
4.1 Controller front side iMC-B / iMC-V.................................................................. 8
4.2 Controller back side iMC-B / iMC-V ................................................................10
4.3 Assembly iMC-B / iMC-V ................................................................................16
5Initial operation...................................................................................................17
6Software..............................................................................................................18
6.1 Installing setup software .................................................................................18
6.2 ProNC / Remote installation and first steps ....................................................20
7EC - Declaration of Conformity .........................................................................23
8Bibliography .......................................................................................................24
9Index....................................................................................................................24

iMC-B / iMC-V Operating Instruction
page - 4
1Introduction
The iMC series CAN-controllers are compact, powerful drive controllers for 2 up to 6
linear or rotational axes. The shapely table housing integrates all control components
that are needed for most different automation tasks. They include the control
computer, motor power amplifiers, I/O module and security circuit module.
Additionally a 10,2” LC-Display and a keyboard are integrated. A CANopen PCI-card
that works as interface is mounted into the control computer. This card works as
CAN-master to communicate with the power amplifiers for the axes and other CAN
peripheral devices such as I/O-module. The CNC Motion control allows the
interpolation of up to 6 axes (linear, circular and helix), on-line and look ahead
continuous path (CP) machining as well as the control of up to 6 handling axes.
The CAN-controllers series iMC-B are able to drive up to 6 brushed DC-servo-
motors. The used power amplifiers type iMD10 have a jerk limit and standstill
monitoring (till safety category 3).
Controller’s series iMC-V are able to drive up to 6 brushless DC-servo-motors. The
used power amplifiers type iMD20 have a jerk limit and standstill monitoring (till
safety category 3).
1.1 Safety symbols
Warning!
This symbol indicates dangers that cause damages for person’s health,
physical injury or death.
Warning! Dangerous voltage!
Warning of danger from electricity. Ignoring can lead to serious injury or
death.
Attention!
This Symbol indicates important notes. Ignoring this symbol leads to
damages and malfunctions of the machinery
Information:
This symbol indicates important information and notes.

iMC-B / iMC-V Operating Instruction
page - 5
1.2 Safety instructions
The CNC-controllers iMC-B and iMC-V are designed in conformability
to current technical and recognized rules.
The device may only be used if it is in correct condition. Any faults
have to be eliminated immediately. Neither children nor non-
authorized persons are allowed to put the device into operation.
The device may only be used for the intended purpose: control of 2
up to 6 linear or rotational axes with brushed DC Servo (iMC-B) or
brushless DC servo motors (iMC-V), both motor types with integrated
incremental measurement system (encoder).
All work with the controllers iMC-B and iMC-V, especially initial
operation, installation as well as external wiring must be executed by
authorized personal regarding electrical industry rules and accident
prevention regulations.
Assembly and use of operating material has to be according to
Machine directive 98/37/EC (valid until 28/12/2009) resp. 2006/42/EC
(becomes operative from 29/12/2009) and Low voltage directive
73/23/EWC. In case of in proper use even the observation of the
respective rules and standards does not protect against physical
damages and damage to property.
Do not expose the device to high humidity or high vibrations.
Please take care of the instruction manual. Be sure that all users
know the instructions.
Ignoring the instruction manual can lead to damage, heavy physical
damage or to death.

iMC-B / iMC-V Operating Instruction
page - 6
2Controller types
Controller
type
Motor type
power
amplifier
max. axis
iMC-B
Brushed isel - DC-servo-motors (BDC)
iMD10
6
iMC-V
Brushless isel - DC-servo-motors (BLDC)
iMD20
6
All controllers have to be used only with the compatible motor type.
Please read this operation instruction manual carefully before first use of the
controller.
Scope of delivery - iMC-B (Part.-No. 354000 10X10)
Servo-controller iMC-B as desk device with the following components:
o2 - 6 integrated power amplifiers iMD10 for brushed DC-servo-motors
(B-DC) /1/
oControl PC iSR10 with CAN PCI card iCC10
oCAN IO 16/16 module
oSecurity circuit module iSM5 (not useable on CAN bus)
10,2” LCD with touch screen and mini keyboard in the case front
Main cable (protection contact plug, IEC-60320 power connector)
RS232-communication cable, 9-pin Sub-D (plug) to RJ45 (plug)
Connector package
Control software Remote (option: ProNC)
Operating instruction in printed form
Option: frequency inverter 750W for working spindle,
max. 4 axis possible
Scope of delivery - iMC-V (Part.-No. 354000 20X10)
Servo-controller iMC-V as desk device with the following components:
o2 - 6 integrated power amplifiers iMD20 for brushless DC-servo-
motors (BL-DC) /2/
oControl PC iSR10 with CAN PCI card iCC10
oCAN IO 16/16 module
oSecurity circuit module (not useable on CAN bus)
10,2” LCD with touch screen and mini keyboard in the case front
Main cable (protection contact plug, IEC-60320 power connector)
RS232-communication cable, 9-pin Sub-D (plug) to RJ45 (plug)
Connector package
Control software Remote (option: ProNC)
Operating instruction in printed form
Option: frequency inverter 750W for working spindle,
max. 4 axis possible
1X-number of power amplifiers, 2 - 6

iMC-B / iMC-V Operating Instruction
page - 7
3Technical data
controller
iMC-B
iMC-V
servo-motor type
BDC-servo-motors (brushed DC)
BLDC-servo-motors (brushless DC, EC)
maximum number of axis
6
6
power supply
115-230 VAC, 50 … 60 Hz
115-230 VAC, 50 … 60 Hz
power supply output
1000 W
1000 W
motor power amplifier
iMD10
iMD20
intermediate circuit power supply
48 VDC
48 VDC
rated current
12 A
12 A
peak current
25 A
25 A
safety category
3
additional safety functions
integration in higher ranked security circuit , safety door control, working spindle control
I/O-extension-board
16 x digital inputs (8 inputs useable, 8 inputs internal used)
16 x digital outputs (8 outputs useable, 8 outputs internal used)
1 x 115-230V relais output (max. 6 A)
option: 1 x analog output (8 Bit, 0 …10 V)
TFT-display
10,2 “ TFT-display with touchscreen
Integrated keyboard
mini keyboard
control PC
1,6 GHz-processor
RAM ≥ 1 GB
hard disk 2,5“ SATA ≥ 80 GB^
2 x USB 2.0 in case front
operation
function keys, emergency stop
operating system
WEPOS®2009
software
Remote (option: ProNC, isyCAD/CAM)
Dimensions W x H x D
625 x 225 x 375
625 x 225 x 375

iMC-B / iMC-V Operating Instruction
page - 8
4Hardware description
4.1 Controller front side iMC-B / iMC-V
1 - emergency-stop-switch
Turns off the power supply for the motor power amplifiers and the working spindle in
case of any danger. This means dangers for the users health or machine safety. The
integrated security circuit is applicable till safety category 3 (DIN EN945-1).
2 - power-button
Use this button to switch on motor power supply voltage for the motor power
amplifiers.
Conditions for switch on:
- Main power switch on the controller back side is switched on
- Emergency stop button is pulled out
If power supply voltage is successfully switched on the power button is lighted green.
If you push the emergency stop switch any axes motion will be slow
down controlled and the motor power supply will be time lag
switched off (stop category 1).
The main power supply voltage of 115/230VAC lies still on the
device, only the motor power supply voltage for the amplifiers is
switched off.

iMC-B / iMC-V Operating Instruction
page - 9
3 - operation mode switch (key switch)
Use this switch to choose between automatic- and setup-mode.
In automatic-mode you can only open the cover or safety door of
the machine if no axis is in motion and the mounted working
spindle is switched off (means that spindle does not turn).
In the setup-mode you can only open the cover or safety door of
the machine if the mounted working spindle is switched off
(means that spindle does not turn). You can just move the axes at
opened cover or safety door if you press the ACK button.
Ensure that in setup-mode (key switch on TEST) only authorized
personal operates on the machine.
4 - start-button
If you press the start button an opened user program in the operator software ProNC
(ISO-, PAL- or NCP-file) resp. user program in control software Remote (ISO-, NCP-
or CNC-file) will be started.
If there is no user program opened a dialog window is shown where you
can select an user program.
5 - stop-button
With the stop button you can stop a running user program / axis motion. By pressing
the start button you can continue the execution of the user program.
6 - cover-button
Use this button to open the machines cover or safety door. This is possible only if the
conditions from point “3 – operation mode switch“ are complied. An enable for
opening of the cover or safety door is signalized by a white lighted cover button.
7 - fault-lamp
The fault lamp indicates an error within the safety circuit.
8 - ACK (ACKnowledge-button)
Press this button to move the axes when the machine is in setup-mode and the
cover or safety door is open.

iMC-B / iMC-V Operating Instruction
page - 10
4.2 Controller back side iMC-B / iMC-V
➀iMC-B connectors for motor-, encoder- and signal lines
motor connector (X, Y, Z, A, B, C), 6-pin M23 socket
pin
signal
line color
description
1
1
brown /green
motor phase 1
2
2
white / yellow
motor phase 2
3
PE
yellow/green
protected earth (PE)
5
Brake
brown
motor brake
6
Brake_GND
white
motor brake GND
encoder/ signal connector, 15-pin Sub-D socket
pin
signal
line color
description
1
n.c
2
VCC_Encoder
red
digital +5V DC
3
/ENC_Z
orange / black
encoder line /Z
4
/ENC_B
brown / black
encoder line /B
5
/ENC_A
grey / black
encoder line /A
6
VCC_Logik
logic +24V DC
7
LIMIT_SW1
limit switch 1
8
GND_24V
Logik GND
9
n.c
white
Hall signal B
10
D_GND
black
digital GND
11
ENC_Z
orange
encoder line Z
12
ENC_B
brown
encoder line B
13
ENC_A
grey
encoder line A
14
REF_SW
reference switch
15
LIMIT_SW2
limit switch 2

iMC-B / iMC-V Operating Instruction
page - 11
iMC-V connectors for motor-, encoder- and signal lines
motor connector (X, Y, Z, A, B, C), 6-pin M23 socket
pin
signal
line color
description
1
U
black 1
motor phase U
2
V
black 2
motor phase V
3
W
black 3
motor phase W
5
Brake
brown
motor brake
6
Brake_GND
white
motor brake GND
9
PE
yellow / green
protected earth (PE)
encoder/ signal connector, 15-pin Sub-D socket
pin
signal
line color
description
1
HALL_A _IN
yellow
Hall signal A
2
VCC_Encoder
red
digital +5V DC
3
/ENC_Z
orange / black
encoder line /Z
4
/ENC_B
brown / black
encoder line /B
5
/ENC_A
grey / black
encoder line /A
6
VCC_Logic
logic +24V DC
7
LIMIT_SW1
limit switch 1
8
GND_24V
Logik GND
9
HALL_B_IN
white
Hall signal B
10
D_GND
black
digital GND
11
ENC_Z
orange
encoder line Z
12
ENC_B
brown
encoder line B
13
ENC_A
grey
encoder line A
14
HALL_C_IN
green
Hall signal C
15
LIMIT_SW2
limit switch 2

iMC-B / iMC-V Operating Instruction
page - 12
➁hand control unit - 25-pin Sub-D (optional version)
This connector is only available on controller without integrated function keys in the
case front.
It is possible to connect function keys (switches, buttons) from:
- an external hand control unit
- an isel CNC control panel
with the corresponding connectors on the security circuit module inside the controller
case.
pin
signal
description
1
E-STOP_1
Emergency stop channel 1, 1.1
2
E-STOP _1
Emergency stop channel 1, 1.2
3
E-STOP _2
Emergency stop channel 2, 2.1
4
E-STOP _2
Emergency stop channel 2, 2.2
5
24V
+24 V DC
6
POWER BTN
Input power button
7
POWER LAMP
Output power button lamp
8
24V
+24VDC
9
KEY SWITCH Test
Input key switch test mode
10
KEY SWITCH Auto
Input key switch automatic mode
11
24V
+24VDC
12
ACK_1
Input acknowledge button channel1
13
24V
+24VDC
14
ACK_2
Input acknowledge button channel 2
15
COVER SWITCH
Input cover button
16
COVER SWITCH
Input cover button
17
GND
18
19
20
FAULT LAMP
output FAULT lamp
21
START BTN
Input START button (make contact)
22
STOP BTN
Input STOP button (break contact)
23
START LAMP
Output START lamp
24
STOP LAMP
Output STOP lamp
25
n.v.
The maximum length of the connection cable for the hand control
unit / CNC control panel should not exceed 5m.

iMC-B / iMC-V Operating Instruction
page - 13
➂External additional control console connector - 15-pin Sub-D (optional)
This connector is used if an additional isel control console is used.
pin
signal
description
1
EM_STOP_1
Emergency stop channel 1, connector 1.1
2
EM_STOP_1
Emergency stop channel 1, connector 1.2
3
EM_STOP_2
Emergency stop channel 2, connector 2.1
4
EM_STOP_2
Emergency stop channel 2, connector 2.1
5
GND
GND control console
6
LAMP ACK
Output ACK lamp
7
ACK_1
Acknowledge channel 1, connector 1.1
8
ACK_1
Acknowledge channel 1, connector 1.2
9
ACK_2
Acknowledge channel 2, connector 2.1
10
ACK_2
Acknowledge channel 2, connector 2.2
11
COVER_1
Connector for cover button, connector 1.1
12
COVER_1
Connector for cover button, connector 1.2
13
COVER_2
Connector for cover button, connector 2.1 (option)
14
COVER_2
Connector for cover button, connector 2.1 (option)
15
n.v.
The maximum length of the connection cable for the hand control
unit / CNC control panel should not exceed 5m.
➃Cover connector- 9-pin Sub-D- socket
Use this connector to integrate a cover or door control in the security circuit of the
controller.
pin
description
1
+ coil break contact
2
switch 1.1
3
switch 1.2
4
switch 2.1
5
switch 2.2
6
- coil break contact
7, 8, 9
not used

iMC-B / iMC-V Operating Instruction
page - 14
➄Digital output port - 8-pin, left to right A2.1 –A2.8
The mounted I/O board has two digital output ports each with 8 digital switches. The
first output port (A1.1 –A1.8) is internal used for signalization. The second output
port can free configured by the user
Properties
- 8 x electronic outputs
- Imax < 350mA, 24VDC
- Thermic protection
- short circuit proof
Wiring
pin
output
description
1
Out1
output A2.1
2
Out2
output A2.2
3
Out3
output A2.3
4
Out4
output A2.4
5
Out5
output A2.5
6
Out6
output A2.6
7
Out7
output A2.7
8
Out8
output A2.8
Please note the default connection of the first output –port (A1.1
–A1.8) in the control software Remote / ProNC under the menu
entry „Signalization“.
These outputs are directly wired with the modules inside the
controller. You cannot longer use these outputs in the user
program!
➅Digital input port - 8-pin, left to right E1.1 –E1.8
The mounted I/O board has two digital input ports each with 8 digital inputs. The
second input port (E2.1 –E2.8) is internal used for signalization. The first input port
can free configured by the user.
Properties
- opt coupled inputs
- input current ca. 8mA
Wiring
pin
input
description
1
In 1
Input E1.1
2
In 2
Input E2.2
3
In 3
Input E2.3
4
In 4
Input E2.4
5
In 5
Input E2.5
6
In 6
Input E2.6
7
In 7
Input E2.7
8
In 8
Input E2.8

iMC-B / iMC-V Operating Instruction
page - 15
Please note the default connection of the second input –port (E2.1
–E2.8) in the control software Remote / ProNC under the menu
entry „Signalization“.
These inputs are directly wired with the modules inside the
controller. You cannot longer use these inputs in the user
program!
➆GND - 8-pin
➇+24VDC- 8-pin
➈AC-Input –net input module 115/230 VAC, 50 …60 Hz
The net input module consists of net input socket, net filter, fuse holder and net main
switch. Connect the controller via delivered net cable to a free receptacle. After that
you can switch on the controller with the net main switch.
➉Spindle -115V/ 230V connector
Use this output connector to directly tap a working spindle without speed control.
Use the delivered mating connector. Maximum load of the relay output is 115/230 V
AC / 6A. The spindle start signal is switched by the integrated CAN-I/O-module and
will be analyzed by the security-circuit-module (iSM5). If all safety related conditions
are complied the 115/230 V AC voltage is switched on the connector.
Please note the pin assignment for the spindle start signal in
the table for the CAN-I/O-module in chapter 4.2.
The net input module consists of net input socket, net filter, fuse holder und net main
switch. Connect the controller via delivered net cable to a free receptacle. After that
you can switch on the controller with the net main switch.
⑪Main spindle drive connector (optional)
Use this connector to tap speed controlled working spindle (asynchronous motor).
The (optional) frequency inverter is mounted inside the controller and will be
controlled over the security-circuit- and I/O-module.

iMC-B / iMC-V Operating Instruction
page - 16
4.3 Assembly iMC-B / iMC-V
CAN I/O 16/16
I/O module
iSM 5 security
circuit-module
iSR11 (3)
control computer with
integrated CAN-PCI-card
and CAN-I/O-module
Function keys-module
for control elements
(buttons, switches) on the
controllers front side
10,2 “ TFT-display
with touchscreen
mini-keyboard
iMD10/ iMD20 power
amplifiers
for brushed DC
servo-motors /
brushless
DC-servo-motors
Power supply unit
115/230VAC,
24V DC 60W for logic
Power supply unit
115/230VAC, 48VDC
1000W for motors
Power supply unit 100-
230VAC, 12V DC 60W for pc
PC start button
USB 2.0
connectors

iMC-B / iMC-V Operating Instruction
page - 17
5Initial operation
Preparation
Before power up of the controller please check the scope of delivery.
Following parts should be included:
- net cable
- operating instruction
Make all necessary connections:
- connect net cable
- connect motor- and encoder-lines (motors) with the connectors on the back
side of the controller
- Check all other connected cables
Initial operation
- switch on controller main switch (back side)
- switch on control computer via green computer start button on the back side
of the controller (control computer start button will be green lighted) control
computer is booting the installed operating system
- install control software (if not preinstalled)
ProNC (1) or Remote
- install setup software (if not preinstalled)
DCSetup (1)
ACSetup (2)
- check if Emergency stop switch is pulled
- push Power button on the controller front side –motor power amplifier voltage
should be switched on
- parameterize power amplifiers with ACSetup.exe / DCSetup.exe
- setup axes kinematic of your machine/system with CANSet.exe
- Control/operate the connected axes with the control- and programming
software ProNC or Remote

iMC-B / iMC-V Operating Instruction
page - 18
6Software
6.1 Installing setup software
Setup / initial operation of the integrated power amplifiers inside the controller’s iMC-
B, iMC-V and iMC-VP takes place by the following setup software
DCSetup.exe (1)
for:
- BDC-servo-motors (brushed-DC-servos) with motor power
amplifiers iMD10
or
ACSetup.exe (2)
for:
- BLDC-servo-motors (brushless-DC-servos) with motor power
amplifiers iMD20
Do the following steps to install setup software additional:
1. Connect ProNC/Remote install medium (delivered CD or USB stick) with the
control computer.
2. Following Auto-start-window will be shown (when installing from CD):
If Auto-Start-window is not shown start the Windows Explorer
and open the root directory of the CD/DVD- or USB-drive.
Double click on the file “Autorun.exe“.

iMC-B / iMC-V Operating Instruction
page - 19
3. Click on the entry “Installation of control software“. The following window will be
shown:
Choose now the setup software depending on your motor type and click on the
entry to start the installation. (in this example “Installation of ACSetup“)
Follow the instructions of the setup assistant.
After finishing the installation click on button “Exit“ to close the Auto-Start-menu.
Start DCSetup.exe / ACSetup.exe via the desktop shortcut or via the start menu
entry:
Start Programs ACSetup ACSetup / DCSetup
Information on parameterization of motor power amplifiers iMD10 you
will find in the manual /1/ DC-Servo positioning module with
CANopen interface UVE8112 / iMD10. Therefore open the file
“dcsetup_eng.pdf “ via shortcut in the start menu.
Information on parameterization of motor power amplifiers iMD20 you
will find in the manual /2/AC-Servo positioning module with
CANopen interface iMD20 / iMD40. Therefore open the file
“acsetup_eng.pdf “via shortcut in the start menu.

iMC-B / iMC-V Operating Instruction
page - 20
6.2 ProNC / Remote installation and first steps
Operation of the controller iMC-B / iMC-V takes place either with the control software
Remote or with the control / programming software ProNC.
If there is no operation software installed ex factory do the following steps to install
the software later:
1. Connect ProNC / Remote install medium (delivered CD or USB stick) with the
control computer.
2. Following Auto-start-window will be shown (when installing from CD):
If Auto-Start-window is not shown start the Windows Explorer
and open the root directory of the CD/DVD- or USB-drive.
Double click on the file “Autorun.exe“.