Maxon MicroMACS6 Application guide

MicroMACS6 master controller | P/N 001794
Hardware Reference
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Hardware Reference
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Table of Contents
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1 ABOUT 5
1.1 About this document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 About the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 About the safety precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 SPECIFICATIONS 9
2.1 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Limitations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Dimensional drawings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3 SETUP 13
3.1 Generally applicable rules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3.1 Power Supply (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3.2 Digital output (X8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3.3 Digital and analog input (X7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3.4 CAN1, CAN2 (X11 / X12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3.5 Ethernet (X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3.6 USB (X13) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3.7 Option connector (X701) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4 Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.4.1 DIP switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.5 Status indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
TABLE OF CONTENTS
READ THIS FIRST
These instructions are intended for qualified technical personnel. Prior commencing with any activities…
• you must carefully read and understand this manual and
• you must follow the instructions given therein.
The MicroMACS6 master controller is considered as partly completed machinery according to EU Directive 2006/42/EC, Arti-
cle 2, Clause (g) and is intended to be incorporated into or assembled with other machinery or other partly completed
machinery or equipment.
Therefore, you must not put the device into service,…
• unless you have made completely sure that the other machinery fully complies with the EU directive’s requirements!
• unless the other machinery fulfills all relevant health and safety aspects!
• unless all respective interfaces have been established and fulfill the herein stated requirements!
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Table of Contents
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4 MAIN WIRING DIAGRAM 29
4.1 Main wiring diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
LIST OF FIGURES 31
LIST OF TABLES 32
INDEX 33
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Table of Contents
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About
About this document
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1 ABOUT
1.1 About this document
1.1.1 Intended purpose
Use the docu-
ment to…
–stay safe,
–be fast,
–end up with set
up and ready-to-
go equipment.
The purpose of the present document is to familiarize you with the MicroMACS6 motion controller. It will
highlight the tasks for safe and adequate installation and/or commissioning. Follow the described instruc-
tions …
• to avoid dangerous situations,
• to keep installation and/or commissioning time at a minimum,
• to increase reliability and service life of the described equipment
The present document is part of a documentation set and contains performance data and specifications,
information on fulfilled standards, details on connections and pin assignment, and wiring examples. The
below overview shows the documentation hierarchy and the interrelationship of its individual parts:
Figure 1-1 Documentation structure
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About
About this document
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1.1.2 Target audience
The present document is intended for trained and skilled personnel. It conveys information on how to under-
stand and fulfill the respective work and duties.
1.1.3 How to use
Throughout the document, the following notations and codes will be used.
Table 1-1 Notation used
1.1.4 Symbols & signs
In the course of the present document, the following symbols and signs will be used.
Table 1-2 Symbols and signs
Notation Meaning
(n) refers to an item (such as part numbers, list items, etc.)
denotes “see”, “see also”, “take note of” or “go to”
Type Symbol Meaning
Safety alert
(typical)
DANGER Indicates an imminent hazardous situation. If not
avoided, it will result in death or serious injury.
WARNING Indicates a potential hazardous situation. If not
avoided, it can result in death or serious injury.
CAUTION
Indicates a probable hazardous situation or calls the
attention to unsafe practices. If not avoided, it may
result in injury.
Prohibited
action
(typical)
Indicates a dangerous action. Hence, you must not!
Mandatory
action
(typical)
Indicates a mandatory action. Hence, you must!
Information
Requirement /
Note / Remark
Indicates an activity you must perform prior continuing,
or gives information on a particular item you need to
observe.
Best practice Indicates an advice or recommendation on the easiest
and best way to further proceed.
Material
Damage
Indicates information particular to possible damage of
the equipment
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About
About this document
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1.1.5 Trademarks and brand names
For easier legibility, registered brand names are listed below and will not be further tagged with their respec-
tive trademark. It must be understood that the brands (the list below is not necessarily concluding) are pro-
tected by copyright and/or other intellectual property rights even if their legal trademarks are omitted in the
later course of this document.
Table 1-3 Brand names and trademark owners
1.1.6 Copyright
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© 2022 maxon. All rights reserved. Any use, in particular reproduction, editing, translation and copying with-
out prior written approval is not permitted (contact: maxon international ltd., Brünigstrasse 220, CH-6072
Sachseln, [phone], www.maxongroup.com). Infringements will be prosecuted under civil and crim-
inal law. The mentioned trademarks belong to their respective owner and are protected under trademark
laws. Subject to change without prior notice.
Brand Name Trademark owner
Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
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About
About the device
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1.2 About the device
Capabilities of the
device, included
features, and sup-
ported motors.
The MicroMACS6 Hardware Reference is a compact and programmable master controller with limited inter-
faces and functionality. It is a pure CANopen master controller without any amplifiers and able to command
up to 6 axes. Further extensions to the SDK with templates and examples specifically for the MicroMACS6
are available license-free. The product is primarily a cheaper and smaller sized alternative to the Master-
MACS and is lowering the entry barrier to the programming environment ApossC/ApossIDE for the maxon
group.
The device is designed to be configured via simple DIP switch settings for several functions.
1.3 About the safety precautions
Keep in mind:
Safety first!
Always!
• Make sure that you have read and understood the note “READ THIS FIRST” on page A-2!
• Do not engage with any work unless you possess the stated skills (chapter “1.1.2 Target audi-
ence” on page 1-6)!
• Refer to chapter “1.1.4 Symbols & signs” on page 1-6 to understand the subsequently used indi-
cators!
• You must observe any regulation applicable in the country and/or at the site of implementation with
regard to health and safety/accident prevention and/or environmental protection!
Requirements
• Make sure that all associated devices and components are installed according to local regulations.
• Be aware that, by principle, an electronic apparatus cannot be considered fail-safe. Therefore, you must
make sure that any machine/apparatus has been fitted with independent monitoring and safety equip-
ment. If the machine/apparatus should break down, if it is operated incorrectly, if the control unit breaks
down or if the cables break or get disconnected, etc., the complete drive system must return – and be
kept – in a safe operating mode.
• Be aware that you are not entitled to perform any repair on components supplied by maxon.
Electrostatic sensitive device (ESD)
• Wear working cloth and use equipment in compliance with ESD protective measures.
• Handle device with extra care.
DANGER
High voltage and/or electric shock
Touching live wires causes death or serious injuries!
• Consider any power cable as connected to live power, unless having proven the opposite!
• Make sure that neither end of cable is connected to live power!
• Make sure that power source cannot be engaged while work is in process!
• Obey lock-out/tag-out procedures!
• Make sure to securely lock any power engaging equipment against unintentional engagement and tag
it with your name!
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Specifications
Technical data
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2 SPECIFICATIONS
2.1 Technical data
MicroMACS6 master controller (001794)
Electrical
Rating
Nominal power supply voltage +VCC 10 ...24 VDC
Absolute power supply voltage +Vmin / +Vmax 8 VDC / 28 VDC
Supply current without I/O loads typically 35 mA @ 24 V
Memory Program memory 16 Mbyte Flash
Inputs
&
output
Digital Input 1 (general purpose)
DIP Switch-selectable levels:
• Logic: +2.0…+30 VDC
• PLC: +9.0…+30 VDC
Digital Input 2 (general purpose)
Digital Input 3 (general purpose)
Digital Input 4 (general purpose)
Digital Input 5 (general purpose)
Digital Input 6 (general purpose)
Digital Output 1 (general purpose)
25 kHz; PWM duty cycle range 2 ... 98 %
Digital Output 2 (general purpose)
Digital Output 3 (general purpose)
Digital Output 4 (general purpose)
Analog Input 1
Resolution 12-bit, 0…+10 V
Analog Input 2
Interfaces
Ethernet Ethernet TCP/IP max. 100 MBaud
CAN 1 max. 1 MBaud,
master/slave
DIP switch-selectable termination
resistor
CAN 2 max. 1 MBaud,
master
DIP switch-selectable termination
resistor and CAN ID
USB 2.0 High speed
BLE Prepared mounting a BLE option
Configuration DIP switches
SMD type, 8 position, setting of:
CAN2 ID, CAN1, CAN2 termination resistor, digital inputs
DigIN 1-3 logic or PLC mode, digital inputs DigIN 4-6 logic
or PLC mode
Status
indicator Device Status
Operation (green)
Error (red)
Status (yellow)
Physical
Weight approximate 26 g
Dimensions (L x W x H) 53.8 mm x 38.8 mm x 20.65 mm
Mounting Flange for M 2.5 screws
Continued on next page.
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Specifications
Limitations
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Table 2-4 Technical data
2.2 Limitations
Table 2-5 Limitations
Environment
Temperature
Operation −30…+55 °C
Storage −40…+85 °C
Altitude [a] Operation 0…6’000 m MSL
Humidity 5…90 % (condensation not permitted)
[a] Operating altitude in meters above mean sea level, MSL
MicroMACS6 master controller (001794)
Protection functionality Switch-off threshold Recovery threshold
Undervoltage 7.5 V 8.0 V
Overvoltage 32 V 29 V
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Specifications
Dimensional drawings
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2.3 Dimensional drawings
2.3.1 MicroMACS6 (001794)
Figure 2-2 MicroMACS6 (001794) – dimensional drawing [mm]
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Specifications
Standards
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2.4 Standards
The described device is successfully tested for compliance with the below listed standards. In practical
terms, only the complete system (the fully operational equipment comprising all individual components,
such as motor, servo controller, power supply unit, EMC filter, cabling etc.) can undergo an EMC test to
ensure interference-free operation.
Important notice
The device’s compliance with the mentioned standards does not imply its compliance within the final, ready
to operate setup. In order to achieve compliance of your operating system, you must perform EMC testing
of the involved equipment as a whole.
Table 2-6 Standards
Electromagnetic compatibility (under development
Generic
IEC/EN 61000-6-2 Immunity for industrial environments
IEC/EN 61000-6-3 Emission standard for residential, commercial and light-
industrial environments
Applied
CISPR11:2015 Terminal distrubance voltages / Electromagnetic radiation
distrubance
IEC/EN 61000-4-3 Radiated, radio-frequency, electromagnetic field immunity test
>10 V/m
IEC/EN 61000-4-4 Electrical fast transient/burst immunity test ±2 kV
IEC/EN 61000-4-6 Immunity to conducted disturbances, induced by radio-
frequency fields 10 Vrms
Reliability MIL-HDBK-217F
Reliability prediction of electronic equipment
Environment: Ground, benign (GB)
Ambient temperature: 298 K (25 °C)
Component stress: Nominal power
Mean Time Between Failures (MTBF)
• MicroMACS6: 907'067 hours
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Setup
Generally applicable rules
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3 SETUP
IMPORTANT NOTICE: PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION
The MicroMACS6 master controller is considered as partly completed machinery according to EU Direc-
tive 2006/42/EC, Article 2, Clause (g) and intends to be Incorporated into or assembled with other
machinery or other partly completed machinery or equipment.
3.1 Generally applicable rules
Maximal permitted supply voltage
• Make sure that supply power is between 10…24 VDC.
• Supply voltages above 28 VDC will destroy the unit.
Hot plugging the USB interface may cause hardware damage
If the USB interface is being hot-plugged (connecting while the power supply is on), the possibly high poten-
tial differences of the two power supplies of controller and PC/Notebook can lead to damaged hardware.
• Avoid potential differences between the power supply of controller and PC/Notebook or, if possible, bal-
ance them.
• Insert the USB connector first, then Switch on the power supply of the controller.
Hot plugging/hot swapping the extension slots may cause hardware damage
• Switch off the controller’s power supply before removing or inserting an extension card.
WARNING
Risk of injury
Operating the device without the full compliance of the surrounding system with the EU directive
2006/42/EC may cause serious injuries!
• Do not operate the device, unless you have made completely sure that the other machinery fully com-
plies with the EU directive’s requirements!
• Do not operate the device, unless the other machinery fulfills all relevant health and safety aspects!
• Do not operate the device, unless all respective interfaces are established and fulfill the requirements
stated in this document!
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Setup
Cabling
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3.2 Cabling
PLUG&PLAY
Take advantage of maxon’s prefab cable assemblies. These cables come as ready-to-use parts and will
help to reduce commissioning time to a minimum.
a) Check the following table and find the part number of the cable assembly that matches the
setup you will be using.
b) Follow the cross-reference to get the cable’s pin assignment.
Table 3-7 Prefab maxon cables
MAKE&BAKE YOUR OWN
If you decide not to employ maxon’s prefab cable assemblies, you might wish to use the prepackaged kit
that contains all connectors required to make up your own cabling.
Table 3-8 MicroMACS6 Connector Set - Content
TOOLS
Table 3-9 Recommended tools
Connector
Prefab cable assembly
Designation Part
number Page
X2 Ethernet cable 422827 3-23
X7 Digital and analog input cable 520854 3-18
X8 Digital output cable 786774 3-18
X11 / X12 CAN1, CAN2 cable 520858 3-26
X13 Ethernet cable 403968 3-23
MicroMACS6 connector set (786794)
Connector Specification Quantity
Connectors
X7 Molex CLIK-Mate, single row, 7 poles (502578-0700) 1
X8 Molex CLIK-Mate, single row, 5 poles (502578-0500) 1
X11 / X12 Molex CLIK-Mate, single row, 4 poles (502578-0400) 2
Crimp terminal
Molex CLIK-Mate Crimp terminal (502579-0100) 20
Tool Manufacturer Part number
Hand crimper for CLIK-Mate crimp terminals Molex 2002187400
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Setup
Connections
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3.3 Connections
The actual connection will depend on the overall configuration of your drive system and the type and num-
ber of motors you will be using. For each connector you will find detailed information on the pin assignment.
Available accessories and prefab cable assemblies, circuitry, and requirements that must be met, if any.
How to read pin assignment tables
In the later course of the document you will find tables containing information on the hardware connectors,
their wired signals and assigned pins as well as details on the available prefab cables.
• The first column describes both the pin number of the connector and of the matching prefab maxon
cable’s Head A.
• The second column describes the cable core color of the prefab maxon cable.
• The third column describes the pin number of the prefab maxon cable’s Head B.
Figure 3-3 Connectors overview
X1
X2
X7
X8
X11
X12
X13
X701
Power Supply page 3-16
Ethernet page 3-23
Digital and analog input page 3-18
Digital outputs page 3-18
CAN1 page 3-22
CAN2 page 3-22
USB page 3-24
Option connector page 3-24
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Setup
Connections
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3.3.1 Power Supply (X1)
Basically, any power supply can be used provided that it meets the stated minimum requirements.
Figure 3-4 Power supply connector X1
Table 3-10 Power supply (X1) – pin assignment
Table 3-11 Power supply requirements
Pin Signal Description
1+VCC Power supply voltage (+8…+28 VDC)
2 GND Ground
Power supply requirements
Output voltage +VCC 10…24 VDC
Absolute output voltage min. 8 VDC; max. 28 VDC
Output current Depending on digital outputs load
• continuous max. 0.5 A
1
2
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3.3.2 Digital output (X8)
Figure 3-5 Digital outputs connector X8
Table 3-12 Digital output connector (X8) – pin assignment
Table 3-13 Signal cable 5core
Note: When operating the MicroMACS6 in an EMV contaminated environment, the input and output
cables must be filtered with a ferrite or shielded cables must be used.
Table 3-14 Digital output specification
Head A
Pin
Prefab cable
Color
Head B
Pin Signal Description
1 white 1 DigOUT1 Digital Output 1
2 brown 2 DigOUT2 Digital Output 2
3 green 3 DigOUT3 Digital Output 3
4 yellow 4 DigOUT4 Digital Output 4
5 grey 5 GND Ground
Signal cable 5 core (786774)
Cross-section 5 x 0.14 mm2, grey
Length 3 m
Head A Plug Molex CLIK-Mate, single row, 5 poles (502578-0500)
Contacts Molex CLIK-Mate crimp terminals (502579)
Head B Wire end sleeves 0.14 mm2
Digital Output
Output voltage +VCC
Max. output current 100 mA
Max. output frequency 25 kHz; PWM duty cycle range 2 ... 98 %
1
5
1
5
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Figure 3-6 Digital output circuit
3.3.3 Digital and analog input (X7)
Figure 3-7 Digital input connector X7
Table 3-15 Digital and analog input (X7) – pin assignment
Head A
Pin
Prefab cable
Color
Head B
Pin Signal Description
1 white 1 DigIN1 General purpose
2 brown 2 DigIN2 General purpose
3 green 3 DigIN3 General purpose
4 yellow 4 DigIN4 / AnIN2 Digital input general purpose / analog
input 2
5 grey 5 DigIN5 / AnIN1 Digital input general purpose / analog
input 1
6 pink 6 DigIN6 General purpose
7 blue 7 GND Ground
1
7
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Table 3-16 Signal cable 7core
Note: When operating the MicroMACS6 in an EMV contaminated environment, the input and output
cables must be filtered with a ferrite or shielded cables must be used.
Table 3-17 Digital input specification - logic level settings
Figure 3-8 DigIN 1 circuit (analogously valid for DigIN 2, DigIN 3, DigIN 6) logic level setting
Signal cable 7core (520854)
Cross-section 7 x 0.14 mm2, grey
Length 3 m
Head A Plug Molex CLIK-Mate, single row, 7 poles (502578-0700)
Contacts Molex CLIK-Mate crimp terminals (502579)
Head B Wire end sleeves 0.14 mm2
Digital inputs 1 ... 6 (logic level setting)
Input voltage 0 ... 30 VDC
Max. input voltage ±30 VDC
Logic 0 <0.8 V
Logic 1 >2.0 V
Input current at logic 1 255 μA @ 5 VDC
Switching delay <300 μs @ 5 VDC (Sampling rate firmware 1kHz)
1
7
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Figure 3-9 DigIN 5 / AnIN1 circuit (analogously valid for DigIN 4 / AnIN2) logic level setting
Table 3-18 Digital input specification - PLC level setting
Figure 3-10 DigIN 1 circuit (analogously valid for DigIN 2, DigIN 3, DigIN 6) PLC level setting
Digital inputs 1 ... 6 (PLC level setting)
Input voltage 0 ... 30 VDC
Max. input voltage ±30 VDC
Logic 0 <5.5 V
Logic 1 >9 V
Input current at logic 1 >2 mA @ 9 VDC
typically 3.5 mA @ 24 VDC
Switching delay <300 μs @ 24 VDC (Sampling rate firmware 1kHz)
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