Leadshine SMC6480 Assembly instructions

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HWMN-SMC6-R20120417
Leadshinereservestherighttomakechangeswithoutfurthernoticeto
anyproductshereintoimprovereliability,functionordesign. Leadshine
doesnotassumeanyliabilityarisingoutoftheapplicationoruseofany
productorcircuitdescribedherein;neitherdoesitconveyanylicense
underitspatentrightsofothers.
Leadshine sgeneralpolicydoesnotrecommendtheuseofitsproducts
inlifesupportoraircraftapplicationswhereinafailureormalfunction
oftheproductmaydirectlythreatenlifeorinjury.According to
Leadshine stermsandconditionsofsales,theuserofLeadshine s
products inlifesupportoraircraftapplications assumes allrisks ofsuch
useandindemnifiesLeadshineagainstalldamages.
©2012byLeadshineTechnology, All Rights Reserved
ChangeLog
RevisionDate Changes Version
2011-4-17 OriginCreate HWMN-SMC6-R20120417
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SafetyItems
!
Notice
Readthismanualcarefullybeforetryingtoinstallthemotion controller
intoyoursystem.Thepersonwhosetupsthecontrollershouldhavea
betterunderstandingonelectronics and mechanics.ContactLeadshine
technicalguyswhen youhavequestionson thisdocument.
!
Warning
Beforerunningexecutemotionprogram,makesuretheaxes willnot
impactanything. It isrecommendedtouncouplethemotorfromtheload
beforeyouarefamiliarwithLeashinemotioncontroller.Otherwise,
unexpecteddamagetothemachinemayoccur.
!
Warning
Ensurethatthepowersupplyvoltagedosenotexceedthecontroller s
inputrange.Doublechecktheconnectionsandmakesurethepower
leadpolarityiscorrect.
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TableofContents
1.FamilyOverview.........................................................................................................................................................1
1.1Introduction.......................................................................................................................................................1
1.2ProductCovered................................................................................................................................................2
1.3Applications.......................................................................................................................................................2
1.4OrderInformation..............................................................................................................................................3
2.ControllerInterfaceandPinAssignment....................................................................................................................4
2.1ControllerInterface...........................................................................................................................................4
2.1.1.SMC6480Interface...............................................................................................................................4
2.1.2.SMC6490andPMC6496Interface.......................................................................................................4
2.1.3. WiringNotes..........................................................................................................................................5
2.2PinAssignment..................................................................................................................................................5
2.1.1.PowerConnector...................................................................................................................................5
2.1.2.ControlSignalConnectorJ21...............................................................................................................6
2.1.3.I/OConnectorJ11..................................................................................................................................6
2.1.4.ExpansionI/O Connector......................................................................................................................7
2.1.5.SerialPortCOM1..................................................................................................................................8
2.1.6.SerialPortCOM2..................................................................................................................................9
2.1.7.Power-uplevelDIPSwitchFunction....................................................................................................9
2.1.8.E-StopConnector(SMC6480)............................................................................................................10
2.1.9.D/AOutputConnector(SMC6480).....................................................................................................10
2.1.10.EncoderConnector(SMC6490andPMC6496).................................................................................10
2.1.11.ManualPulseConnector(SMC6490 and PMC6496)........................................................................11
2.3IsolatedandNon-isolatedPowerOutput.........................................................................................................12
2.4USBDiskInterface.........................................................................................................................................12
Chapter3InterfaceCircuit............................................................................................................................................13
3.1ControlSignalOutput.....................................................................................................................................13
3.2OriginInputORG............................................................................................................................................13
3.3EndLimit inputEL..........................................................................................................................................14
3.4E-StopInputEMG...........................................................................................................................................14
3.5GeneralPurposeDigitalInput.........................................................................................................................15
3.5.1.IsolatedGeneralPurposeDigitalInputs..............................................................................................15
3.5.2.Non-isolatedGeneralPurposeDigitalInputs......................................................................................15
3.6GeneralPurposeDigitalOutput......................................................................................................................16
3.6.1.IsolatedGeneralPurposeDigitalOutputs...........................................................................................16
3.6.2.Non-isolatedGeneralPurposeDigitalOutputs...................................................................................18
3.7ExpansionI/O TerminalBoardACC37-7480..................................................................................................18
3.8PWMOutput...................................................................................................................................................21
3.9D/AOutput......................................................................................................................................................21
3.10EncoderInputEA, EBand EZ......................................................................................................................21
Chapter4TypicalConnection.......................................................................................................................................23
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4.1StepperDriveConnection...............................................................................................................................23
4.1.1.Single-endedStepperDriveConnection.............................................................................................23
4.1.2.DifferentialInputStepperDriveConnection.......................................................................................23
4.2ServoDriveConnection..................................................................................................................................24
4.3ProximitySensorConnection..........................................................................................................................24
4.4PhotoelectricSensorConnection.....................................................................................................................25
4.5RelayConnections...........................................................................................................................................25
4.6ConnectionTroubleshooting...........................................................................................................................26
Chapter5MechanicalSpecifications............................................................................................................................27
5.1MechanicalSpecificationofSMC6480...........................................................................................................27
5.1MechanicalSpecificationofSMC6490andSMC64596.................................................................................27
ContactUs.....................................................................................................................................................................28
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SMC6000 SeriesMotionController HardwareInstallationManual
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Chapter 1FamilyOverview
1.1Introduction
LeadshineSMC6000is10/100MEthernet-basedgeneralpurposemotioncontroller.Itprovides1to4axesmotion
controltostepper/servomotorsforvariousoperations.ItcanworkinstandalonemodewithoutPCorworkasa
slaverinanEthernetnetwork.Thecontrollernumberinthenetworkhas no limitation.
LeadshineSMC6000usesembeddedmicroprocessorandFPGAtoimplementalgorithmformulti-axesinterpolation,
pulsegeneration,acceleration/decelerationcontrolandprocessingofdigitalinput/outputinthehardwarelevel,
offeringhigh speed,highprecisionandstablefeaturestomotioncontrol.Itcanoutputmaximum5MHzpulseand
supportsupto4-axeslinearinterpolation,any2-axescirculationinterpolation,continuousinterpolationandS-curve
velocityprofile.Programmingofmotionprogramissimpleand itsupportsmanylanguageincludingLeadshine
BASIC,G-Code,VisualBasicandVisualC++.What smore,LeadshineSMC6000integratesisolatedI/O,D/A
output, PWMoutput,encodercounterandmanualinputinonesinglepackage.
CPU
FPGA
EthernetInterfaceSerialPort
D/AOutput
Expansion I/O MPGInterface
PWMOutput
ControlSignalOutputandIsolatedDigitalInputs/Ouputs
USBDiskInterface
EncoderInterface
IsolatedPower Ferroelectric
Memory
Figure1-1:ControllerArchitecture
TheserialportCOM1/COM2andtheRJ45 Ethernetportcanbeusedformotioncontroloruploading/downloading
configuration data. ProgrammingorconfigurationtoSMC6000 requires onlyonePC withEthernetinterfaceorserial
port.LeadshineSMC6000 providesoptionaltouchscreenforeasyoperationinthefield.Itsbuilt-inferroelectric
memorycanbeusedtostorethedynamicmotionparameterduring execution ofmotion program.You canrestore
theseparameters incaseofunexpectedpower-off.
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1.2Product Covered
Thismanualtriestospecifythefunctionality,structure,connectorpinassignmentandconnectionsofLeadshine
SMC6480,SMC6490and PMC6496.Table1-1illustratesthekeyfeatures ofLeadhineSMC600.
Table1-1SMC6000 Motion ControllerSpecifications
SMC6480 SMC6490 PMC6496
Number of ControllableAxes 4 4 4
Pulse Output Frequency(MAX)
5.0MHz 5.0MHz 5.0MHz
PositionRange -2,147,483,647to+2,147,483,648 (32BIT)
InterpolationCycle 300 us 300 us 300 us
General Purpose
DigitalInputs 24 inputsinclude 8isolated inputsand16non-isolatedinputs
General Purpose
Digital Outputs 32 inputsinclude 16 isolatedinputsand16non-isolated inputs
D/AOutputs 2Channels,0.07~4.45V,8bit
- -
Encoder Counter - 4Channels,Max4MHzbandwidth, 32bitcounter
ManualPulse Input 1Channel,Max 1MHzbandwidth
PWMOutput 2Channels, Max1MHzbandwidth,duty-cycle0~100%,32-bitresolution
FlashMemory 32MBytes 32MBytes 8MBytes
FerroelectricMemory - 32KByteOptional 32KBytes
NetworkInterface 10M/100MEthernet
SerialPort RS-232,2D-Shell 9-pinconnector
USBDiskInterface USB1.1, 12Mbytes / s
ExternalPowerSupply 24VDC, 1100mA
OperatingTemperature 0~500~500~50
StorageTemperature -20~80 -20~80 -20~80
Size 208mm*116mm*42mm 186mm*147mm*42mm
Programming GCode,BASIC,VB/VC library
1.3Applications
•Electronicassemblyandmeasurementequipments
•SemiconductorandLCDmanufacturing&measurementequipments
•Lasercutting/engraving/markingequipments
•Vision&measurementautomationequipments
•Biotechsamplingandhandingdevices
•Robotics
•SpecialCNC machines
•Otherautomationsystemusingstepperandservo
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1.4Order Information
Table1-2OrderInformation
PartNumber Description
SMC6480 MotionControllerSMC6480,BASIC
SMC6480G MotionControllerSMC6480, G-Code
SMC6490-FM MotionControllerSMC6490,BASIC,FerroelectricMemory
SMC6490 MotionControllerSMC6490,BASIC
SMC6490-FM MotionControllerSMC6490, G-Code,FerroelectricMemory
SMC6490G MotionController, SMC6490, G-Code
PMC6496 MotionController, PMC6496
Table1-3AccessoriesInformation
PartNumber Description
CALBE37-DP-20 CableforexpansionI/OterminalboardACC37-7480,37pin,2000mm
ACC37-7480 TerminalboardACC37-7480for expansionI/O,isolatedamplifier
TK6070iH Touchscreen, 7inchscreen
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Chapter 2ControllerInterfaceand PinAssignment
2.1Controller Interface
2.1.1.SMC6480Interface
LeadshineSMC6480hasonecontrolsignalconnectorJ21,oneisolatedI/O connectorJ11,oneD/Aoutputconnector,
twoserialportconnectorCOM1&COM2,onenon-isolatedexpansionI/Oconnector,onepower-up levelsetting
switchfordigitaloutput1-24,oneRJ45connectorforEthernetcommunication,oneUSB portforUSBdiskand one
powersupplyconnector., asshowninfigure2-1.
Figure2-1:SMC6480Interface
2.1.2.SMC6490and PMC6496Interface
LeadshineSMC6490/PMC6496has onecontrolsignalconnectorJ21, oneisolatedI/O connectorJ11,twoserialport
connectorCOM1&COM2,onemanualpulseconnector,onenon-isolatedexpansionI/Oconnector,oneencoder
connector, onepower-up levelsettingswitchfordigitaloutput1-24, oneRJ45 connectorforEthernetcommunication,
oneUSBportforUSB diskand onepowersupplyconnector., asshowninfigure2-2.
Ethernet
USBDisk
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
IN16
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
PWM1
PWM2
VDD
EGND
EGND
EGND
EGND
EGND
Power
-
+
COM2
COM1
D/AOutput
E-Stop
Expansion IO
Power
-up LevelSwitch
1
32
EGND
EGND
EGND
ORGU
ORGZ
ORGY
ORGX
ELU-
ELU+
ELZ
-
ELZ+
ELY
-
ELY+
ELX
-
ELX+
+5V
DIR4-
DIR4+
PUL4-
PUL4+
DIR3-
DIR3+
PUL3-
PUL3+
DIR2-
DIR2+
PUL2-
PUL2+
DIR1-
DIR1+
PUL1-
PUL1+
1
32
POWER
RUN/LED1
LED2
J21
J11
EXGND
EMG
24V
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Figure2-2:SMC6490/PMC6496Interface
2.1.3.WiringNotes
1)Makesuresupplyvoltageis24VDC and connectingpolarityiscorrect.
2)UsenormalRJ45 cablefornetworkconnectionsviaRouterorHUB. Ifit isdirectconnectionto
PC, exchanges transmit andreceivewireforoneoftheRJ45connectors inthecable.
3)Pleasestudythepinassignmentandinterfacecircuit ofeachconnectorinthismanualcarefully.
Makesureyouunderstandthembeforetryingtoconnectthem.
2.2PinAssignment
2.1.1.PowerConnector
TheSMC6000needsonlyone24VDCregulatedpowersupplyfornormaloperation.Recommendedpowersupply
currentrating is1100Amp. .
Table2-1PowerConnectorPinAssignment(SMC6480, SMC6490andPMC6496)
PowerConnectorPinAssignment(SMC6480,SMC6490and PMC6496)
Pin
Name
I/O
Description
1 24V+
I PowerSupplyInput (Positive),24VDC.
2 24V-
I PowerGround(Negative)
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
IN16
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
PWM1
PWM2
VDD
EGND
EGND
EGND
EGND
EMG
EGND
EGND
EGND
ORG4
ORG3
ORG2
ORG1
EL4-
EL4+
EL3-
EL3+
EL2-
EL2+
EL1-
EL1+
+5V
DIR4-
DIR4+
PUL4-
PUL4+
DIR3-
DIR3+
PUL3-
PUL3+
DIR2-
DIR2+
PUL2-
PUL2+
DIR1-
DIR1+
PUL1-
PUL1+
EncoderConnector
Power
-
+
COM1
Expansion I/O
Ethernet
1
32
USBDisk
1
32
POWER
RUN/LED1
LED2
J21
J11
COM2
MPG
Power-upLevelSwitch
S1
24V
!
Caution
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2.1.2.ControlSignalConnectorJ21
Controlsignalconnectorprovidespulseanddirection outputsforpositionandvelocitycontrol.Endlimitandorigin
inputareassignedinthisconnector. See table2-2forthedetail.
Table2-2ControlsignalconnectorJ21 pinassignment(SMC6480,SMC6490and PMC6496)
ControlSignalConnectorPinAssignment(SMC6480,SMC6490andPMC6496)
Pin
Signal I/O
Description Pin
Signal I/O Description
1 PUL1+ O Axis1Pulse+ 17 +5V O +5VPower
2 PUL1- O Axis1Pulse- 18 ELx+ I Axis1EndLimit+,referencetoEXGND
3 DIR1+ O Axis1Direction+ 19 ELx- I Axis1EndLimit-, referencetoEXGND
4 DIR1- O Axis1Direction- 20 Ely+ I Axis2EndLimit+,referencetoEXGND
5 PUL2+ O Axis2Pulse+ 21 Ely- I Axis2EndLimit-, referencetoEXGND
6 PUL2- O Axis2Pulse- 22 ELz+ I Axis3EndLimit+,referencetoEXGND
7 DIR2+ O Axis2Direction+ 23 ELz- I Axis3EndLimit-, referencetoEXGND
8 DIR2- O Axis2Direction- 24 Elu+ I Axis4EndLimit+,referencetoEXGND
9 PUL3+ O Axis3Pulse+ 25 Elu- I Axis4EndLimit-, referencetoEXGND
10 PUL3- O Axis3Pulse- 26 ORGx I Axis1OriginInput
11 DIR3+ O Axis3Direction+ 27 ORGy I Axis2OriginInput
12 DIR3- O Axis3Direction- 28 ORGz I Axis3OriginInput
13 PUL4+ O Axis4Pulse+ 29 ORGu I Axis4OriginInput
14 PUL4- O Axis4Pulse- 30 EXGND GND
PowerGround
15 DIR4+ O Axis3Direction+ 31 EXGND GND
PowerGround
16 DIR4- O Axis3Direction- 32 EXGND GND
PowerGround
2.1.3.I/OConnectorJ11
I/O connectorJ11provides16isolatedgeneralpurposedigitalinputsand8isolatedgeneralpurposedigitaloutputs.
Alldigitalinputsinthisconnectorcanbeconfiguredasdedicatedorspecialpurposeinputs.See table2-3formore
detail.
Table2-3I/OConnectorJ11pinassignment(SMC6480, SMC6490 andPMC6496)
I/OConnectorJ11PinAssignment(SMC6480, SMC6490 and PMC6496)
Pin Name I/O Description
1 IN1 I* Isolated General-purpose Digitalinput1/ Run
2 IN2 I* Isolated General-purpose Digitalinput2/ Pause
3 IN3 I* Isolated General-purpose Digitalinput3/ Stop
4 IN4 I* Isolated General-purpose Digitalinput4/ Home
5 IN5 I* Isolated General-purpose Digitalinput5/ X++(JOGAxis1inpositivedirection)
6 IN6 I* Isolated General-purpose Digitalinput6/ X-- (JOGAxis1innegative direction)
7 IN7 I* Isolated General-purpose Digitalinput7/Y++((JOGAxis2inpositive direction)
8 IN8 I* Isolated General-purpose Digitalinput8/Y--(JOGAxis2innegativedirection)
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9 IN9 I* Isolated General-purpose Digitalinput9/ Z++(JOGAxis3inpositivedirection)
10 IN10 I* Isolated General-purpose Digitalinput10 / Z--(JOGAxis3innegativedirection)
11 IN11 I* Isolated General-purpose Digitalinput11/ U++(JOGAxis4inpositive direction)
12 IN12 I* Isolated General-purpose Digitalinput12 / U--(JOGAxis4innegativedirection)
13 IN13/INP1 I* Isolated General-purpose Digitalinput13 /Axis1In-positionSignalInput
14 IN14/INP2 I* Isolated General-purpose Digitalinput14 / Axis2In-positionSignalInput
15 IN15/INP3 I* Isolated General-purpose Digitalinput15 / Axis3In-positionSignalInput
16 IN16/INP4 I* Isolated General-purpose Digitalinput16 / Axis4In-positionSignalInput
17 OUT1 O Isolated General-purpose Digitaloutput 1
18 OUT2 O Isolated General-purpose Digitaloutput 2
19 OUT3 O Isolated General-purpose Digitaloutput 3
20 OUT4 O Isolated General-purpose Digitaloutput 4
21 OUT5 O Isolated General-purpose Digitaloutput 5
22 OUT6 O Isolated General-purpose Digitaloutput 6
23 OUT7 O Isolated General-purpose Digitaloutput 7
24 OUT8 O Isolated General-purpose Digitaloutput 8
25 PWM1 O Isolated PWMoutput1
26 PWM2 O Isolated PWMoutput2
27 VDD O 5VPower Output
28 EXGND GND External PowerGround
29 EXGND GND External PowerGround
30 EXGND GND External PowerGround
31 EXGND GND External PowerGround
32 EXGND GND External PowerGround(SMC6480)
32 EMG I EmergencyStop(SMC6490, PMC6496)
*Note:Theseinputswithasterisk(I*)canbeconfiguredasspecialpurposeinput.
2.1.4.ExpansionI/OConnector
Expansion I/O providesyou withadditional16 non-isolatedgeneralpursedigitalinputsand16non-isolatedgeneral
purposedigitaloutputs.Somedigitalinputsinthisconnectorcanbeconfiguredasdedicatedorspecialpurpose
inputs. See table2-4formoredetail.
Table2-4ExpansionI/O ConnectorPinAssignment(SMC6480,SMC6490and PMC6496)
ExpansionI/O ConnectorPinAssignment(SMC6480,SMC6490andPMC6496)
Pin Name I/O Description
1 IN17 I Non-isolated General-purpose Digitalinput17
2 IN18 I Non-isolated General-purpose Digitalinput18
3 IN19 I Non-isolated General-purpose Digitalinput19
4 IN20 I Non-isolated General-purpose Digitalinput20
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5 IN21/ALM1
I* Non-isolated General-purpose Digitalinput21 / Axis1AlarmSignalInput
6 IN22/ALM2
I* Non-isolated General-purpose Digitalinput22 / Axis2AlarmSignalInput
7 IN23/ALM3
I* Non-isolated General-purpose Digitalinput23 / Axis3AlarmSignalInput
8 IN24/ALM4
I* Non-isolated General-purpose Digitalinput24 / Axis4AlarmSignalInput
9 IN25 I* Non-isolated General-purpose Digitalinput25 / Active Levelconfiguredby bit0of S1
10 IN26 I* Non-isolated General-purpose Digitalinput26 / Active Levelconfiguredby bit0of S1
11 IN27 I* Non-isolated General-purpose Digitalinput27 / Active Levelconfiguredby bit0of S1
12 IN28 I* Non-isolated General-purpose Digitalinput28 / Active Levelconfiguredby bit0of S1
13 IN29 I* Non-isolated General-purpose Digitalinput29 / Active Levelconfiguredby bit1of S1
14 IN30 I* Non-isolated General-purpose Digitalinput30 / Active Levelconfiguredby bit1of S1
15 IN31 I* Non-isolated General-purpose Digitalinput31 / Active Levelconfiguredby bit1of S1
16 IN32 I* Non-isolated General-purpose Digitalinput32 / Active Levelconfiguredby bit1of S1
17 VCC3.3 O 3.3VPowerOutput
18 VCC3.3 O 3.3VPowerOutput
19 GND GND
5V/3.3VPower Ground
20 GND GND
5V/3.3VPower Ground
21 OUT9 GND
Non-isolated General-purpose Output 9
22 OUT10 O Non-isolated General-purpose Output 10
23 OUT11 O Non-isolated General-purpose Output11
24 OUT12 O Non-isolated General-purpose Output 12
25 OUT13 O Non-isolated General-purpose Output 13
26 OUT14 O Non-isolated General-purpose Output 14
27 OUT15 O Non-isolated General-purpose Output 15
28 OUT16 O Non-isolated General-purpose Output 16
29 OUT17 O Non-isolated General-purpose Output 17
30 OUT18 O Non-isolated General-purpose Output 18
31 OUT19 O Non-isolated General-purpose Output 19
32 OUT20 O Non-isolated General-purpose Output 20
33 OUT21 O Non-isolated General-purpose Output 21
34 OUT22 O Non-isolated General-purpose Output 22
35 OUT23 O Non-isolated General-purpose Output 23
36 OUT24 O Non-isolated General-purpose Output 24
37 GND GND
5V/3.3VPower Ground
*Note:Theseinputswithasterisk(I*)canbeconfiguredasspecialpurposeinputs.
2.1.5.SerialPortCOM1
COM1isaDshell 9pinmaleconnectorwhichhasthetransmitting andthereceivepinforRS232communication.
Thisportisusedforconfigurationanduploading/downloadingmotionprogram.Seetable2-5forthedetail.
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Table2-5SerialportCOM1pinassignment(SMC6480,SMC6490andPMC6496)
SerialPortCOM1PinAssignment(SMC6480,SMC6490andPMC6496)
Pin Name I/O Description
1 NC N/A Notconnected
2 RXD0 I RS232receive
3 TXD0 O RS232transmit
4 NC N/A Notconnected
5 EXGND GND Externalpowerground
6 NC N/A Notconnected
7 NC N/A Notconnected
8 NC N/A Notconnected
9 NC N/A Notconnected
2.1.6.SerialPortCOM2
COM2isaDshell 9pinfemaleconnectorwhichhas thetransmittingandthereceivepinforRS232communication.
Thisportisusedforcontrollerconfigurationordownloading/downloadingmotionprogram.Seetable2-6forthe
detail.
Table2-6SerialportCOM2Pinassignment(SMC6480, SMC6490andPMC6496)
SerialPortCOM2PinAssignment(SMC6480,SMC6490andPMC6496)
Pin Name I/O Description
1 NC N/A Notconnected
2 RXD0 I RS232receive
3 TXD0 O RS232transmit
4 NC N/A Notconnected
5 EXGND GND Externalpowerground
6 NC N/A Notconnected
7 NC N/A Notconnected
8 NC N/A Notconnected
9 NC N/A Notconnected
2.1.7.Power-up levelDIPSwitchFunction
Thereis a4bit DIPswitchforsettingofpower-up levelfordigitaloutputs1-24.Seetable2-7forthedetail.
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Table2-7DIPSwitchFunction(SMC6480, SMC6490 and PMC6496)
Power-upLevelDIPSwitchFunction (SMC6480,SMC6490andPMC6496)
SWITCH
ON/OFF Description
ON Power-uplevelofdigitaloutputs17-24is0
1 OFF Power-uplevelofdigitaloutputs17-24is1
ON Power-uplevelofdigitaloutputs9-16is0
2 OFF Power-uplevelofdigitaloutputs9-16is1
ON Power-uplevelofdigitaloutputs5-8is0
3 OFF Power-uplevelofdigitaloutputs5-8is1
ON Power-uplevelofdigitaloutputs1-4is0
4 OFF Power-uplevelofdigitaloutputs1-4is1
2.1.8.E-Stop Connector(SMC6480)
WhentheE-Stopinputisactivated,alltheaxeswillstopandnopulseoutput.See table2-8forthepinassignment.
Figure3-5illustrates howtoconnectanE-stepswitchtothecontroller.
Table2-8E-StopConnectorPinAssignment(SMC6480)
E-Stop ConnectorPinAssignment(SMC6480)
Pin Name I/O Description
1 EMG I E-stopInput
2 EXGND GND Externalpowerground.
2.1.9.D/AOutputConnector(SMC6480)
TheD/AoutputisreferencetoAGND.Itsswingrangisfrom0.07-4.45V. Theoutputcircuit isshowninfigure3-18.
See thepinassignmentintable2-9.
Table2-9D/AOutputConnectorPinAssignment(SMC6480)
D/AOutputConnectorPinAssignment
Pin Name I/O Description
1 AnalogA O D/Aoutputchannel A
2 AnalogB O D/AoutputchannelB
3 AGND GND D/Aoutputground
4 AGND GND D/Aoutputground
2.1.10. EncoderConnector(SMC6490and PMC6496)
Theencoderinputcanbeusedforpulsecountingofpositionfeedback.Thereareup to4channelABphaseandZ
indexinputs withlatchedsignalforcaptureofposition.Alloftheinputs areTTLcompatible
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Table2-10 EncoderConnectorPinAssignment(SMC6490 and PMC6496)
EncoderConnectorPinAssignment(SMC6490andPMC6496)
Pin
Name I/O Description Pin
Name I/O Description
1 5V O +5VPower Output 20 GND GND 5VPower Ground
2 GND GND 5VPowerGround 21 EA2+ I Axis2EncoderPhaseA+
3 EA1+ I Axis1Encoder Phase A+ 22 EA2- I Axis2EncoderPhaseA-
4 EA1- I Axis1Encoder Phase A- 23 EB2+ I Axis2EncoderPhaseB+
5 EB1+ I Axis1Encoder Phase B+ 24 EB2- I Axis2EncoderPhaseB-
6 EB1- I Axis1EncoderPhaseB- 25 EZ2+ I Axis2Encoder IndexZ+
7 EZ1+ I Axis1EncoderIndex Z+ 26 EZ2- I Axis2Encoder IndexZ-
8 EZ1- I Axis1EncoderIndex Z- 27 LTC2+ I Axis2LatchSignalInput +
9 LTC1- I Axis1LatchSignalInput + 28 LTC2- I Axis2LatchSignalInput-
10 5V O +5VPower Output 29 GND GND 5VPower Ground
11 GND GND 5VPowerGround 30 EA4+ I Axis4EncoderPhaseA+
12 EA3+ I Axis3Encoder Phase A+ 31 EA4- I Axis4EncoderPhaseA-
13 EA3- I Axis3Encoder Phase A- 32 EB4+ I Axis4EncoderPhaseB+
14 EB3+ I Axis3Encoder Phase B+ 33 EB4- I Axis4EncoderPhaseB-
15 EB3- I Axis3Encoder Phase B- 34 LTC1+ I Axis1LatchSignalInput +
16 EZ3+ I Axis3EncoderIndex Z+ 35 EZ4- I Axis4Encoder IndexZ-
17 EZ3- I Axis3EncoderIndex Z- 36 NC N/A NotConnected
18 EZ4+ I Axis4EncoderIndex Z+ 37 NC N/A NotConnected
19 5V O +5VPower Output
2.1.11. ManualPulseConnector(SMC6490andPMC6496)
ManualpulsefromtheMPGcanbeusedtojoytheaxesduringprocessing.LeadshineSMC6400B accepts ABphase
inputsignals.Thatis,AphaseisleadorlagBphaseby90 degree andit representsthemovedirection.Thepulse
frequencycanbemultipliedby10timesor100times.You needtoselectwhichaxistobeoperatedbypullingthe
SELpintogroundbeforesendingthepulse. Seetable2-11forthepinassignments.
DonotconnecttheGND toEXGNDSeechapter2.3formoreinformation.
Table2-11ManualPulseConnectorPinAssignment(SMC6490andPMC6496)
ManualPulseInputConnectorPinAssignment(SMC6490 andPMC6496)
Pin
Name
I/O
Description Pin
Name I/O Description
1 PA I Manualpulse inputphaseA 9 GND GND
Internal5VPower Ground
2 PB I Manualpulse inputphaseB 10 GND GND
Internal5VPower Ground
!
Caution
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3 X10 I 10×Pulse Frequency, active Low. 11 SELy I SelectAxisY,activelow.
4 X100
I 100×PulseFrequency,active low.12 SELz I SelectAxisZ, activelow.
5 SELx
I SelectAxisX,activelow. 13 SELu I SelectAxisU,activelow.
6 GND
GND
Internal5VPower Ground 14 +5V O Internal+5Vpower outputf
7 GND
GND
Internal5VPower Ground 15 +5V O Internal+5Vpower output
8 GND
GND
Internal5VPower Ground
Note:TheManualPulseInputofSMC6490/PMC6496isnon-isolatedbuttheinsidecircuitispoweredbyinternal
isolatedpowersupply..
2.3IsolatedandNon-isolatedPowerOutput
TherearemanypowersupplyvoltagesoutputfromSMC6000 controller.Figure2-3illustratetherelationship
betweenthem.
Figure2-3:SMC6000isolatedandnon-isolatedpower output
Infigure2-3,the24VexternalpowerisconvertedintoVDD(5V)directly.The+5Vand+3.3Varecompletely
isolatedfromtheexternalpowertoensuretheinternalcircuitworkindependently.TheAGND isreferenceofthe
D/Aoutputand the+3.3VisusedintheexpansionI/O outputs. TheVDD (5V)canbeusedforperipheralequipment
anditsreturngroundiscommon withEXGND.
Note:1)NeverconnectAGND orGNDtoEXGND.Otherwisetheelectronicinterferencewill
coupledintotheinternalcircuit.
2)Insteadof24V,theVDDoutputis5VwhichisdifferentfromtheotherLeadshinecontrollers.
2.4USBDiskInterface
LeadshineSMC6000usesUSB1.1standardfortheUSB diskand cansupportany2Gor4GUSBdiskinthemarket.
MAXtransmissionspeedis12Mb/s.
Isolated24Vto
5VConverter
5Vto3V
Converter
24Vto5V
Converter
VDD(5V)
EXGND
AGND
+5V
+3.3V
GND
Power
Filter
+24V
EXGND
!
Caution
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Chapter 3InterfaceCircuit
3.1ControlSignalOutput
LeadshineSMC6000cancontrol4axes stepper/servo motoratthesametime. Bydefault,thecontrolsignalPULand
DIRofeachaxisrepresentspulseanddirectionsignal.TheycanbeconfiguredasCW/CCWsignalinthedemo
software.SeemoreinformationinSMC6000 ssoftwaremanual.
Thecontrolsignaloutputcircuitand itsconnectiontoadifferentialinputstepperdriveisshowninfigure3-1.Ifthe
stepperdriveissingle-endedinput,connectitasfigure3-2.Negativeoutputand+5Vareusedinthesingle-ended
connections. PleasenotethatthePULandDIRcanonlysink/source maximal20mAwhichshouldbeenoughforthe
opto-coupler.
PUL-
DIR-
StepperDrive
PUL
DIR
R
R
DIR+
PUL+
SMC6000
PUL-
DIR-
DIR+
PUL+
ASIC
Figure3-1:DifferentialOutputofControlSignalPULand DIR
PUL
DIR
StepperDrive
PUL
DIR
R
R
SMC6000 +5V
PUL-
DIR-
DIR+
PUL+
ASIC
OPTO
Figure3-2:Single-endedOutputofControlSignalPULand DIR
3.2OriginInput ORG
ORGsignalisusedtodetectthemechanicalhome/originpositioninamachine.SMC6000 sORGinputcircuitis
showninfigure3-3.Thebuilt-inopto-couplerandlow-passfilterpreventelectronicinterferencefromcouplinginto
themotion controllerthusincreasesystemreliability.See table2-2forpinassignmentofORGsignalinthe
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connector.
24V+
Original
Switch
ORGx
EXGND
Filter
SMC6000
EXGND
(ORGy、z、u)
Figure3-3:OriginSignalORGInputCircuit
3.3EndLimitinputEL
ELisusedtolimit axismoverangeandprotectthemachine.Whenitisactivated,thepulseoutputwill beoutput
immediately.EL+canbeusedinCWdirectionandEL-canbeusedinCCWdirection.TheinputcircuitofELis
showninfigure3-4.
24V+
EndLimit
EL+(EL-)
EXGND
Filter
SMC6000
EXGND
Figure3-4:EndLimit SignalELInputCircuit
TheactivelevelofELcanbeconfiguredintheDemo software.SetELbeactivelowiftheendlimit switchis
normalopenandwhenitturnson, ELwill beactivatedandthemovingaxisstopsimmediately.Otherwise, setELbe
activehigh iftheendlimitswitchisnormalclose,andwhenit turnsoff,ELisactivatedandthemovingaxisstops
immediately.
3.4E-StopInputEMG
Inordertoprotectoperatorandequipmentincaseofemergency,LeadshineSMC6000 providesemergencystop
inputEMGtostoptheallaxesimmediatelywhenEMGisactivated.TheEMGinputcircuitisshowninfigure3-5.
See table2-8forthepinassignmentofEMGforSMC6480 ortable2-3forSMC6490/PMC6496.
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24V+
E-stopSwitch
EMG
EXGND
Filter
SMC6400
EXGND
Figure3-5:EmergencyStopSignalEMGInputCircuit
3.5GeneralPurposeDigitalInput
LeadhineSMC6000motion controllerhas16 isolatedand16non-isolatedgeneralpurposedigitalinputswhichcan
beconnectedtoswitch,sensororoutputsignalsformothercontroller.
3.5.1.IsolatedGeneralPurposeDigitalInputs
Theinputcircuit is showninfigure3-6. Seetable2-3forpinassignmentofisolatedgeneralpurposeinputs.
24V+
GeneralPurpose
DigitalInput
IN1(IN2~IN16)
EXGND
Filter
SMC6000
EXGND
Figure3-6:IsolatedGeneralPurposeDigitalInputCircuit
3.5.2.Non-isolated GeneralPurposeDigitalInputs
Thenon-isolatedgeneralpurposedigitalinputsareassignedintheexpansionI/Oconnectorand itisrequiredtoadd
isolateddeviceforthoseinputswhenconnectedtoperipheralequipment.Leadshinealsoprovidesoptionalterminal
boardACC37-7480 touser.Electronicnoisewill coupleintotheinternalcircuitandthecontrollerwillnotfunction
ok whenthereis noisolationappliedtotheseinputs. Figure3-7illustratesthenon-isolatedinputcircuit.
SMC6000
VCC3.3V
IN17
(IN18~32)
GND
EXGND
4.7K
100
0.1uF
24V+
4.7K
Switch
Figure3-7:Non-isolatedGeneralPurposeDigitalInputCircuit
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