Ormec SMLC 30 User manual

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SMLCModel30,80&160
HardwareRev2Installation&OperationManual
SMLC‐004b
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Copyright©2011
ORMECSystemsCorp.
AllRightsReserved

19LindenPark
Rochester,NY14625
(585)385‐3520
October21,2011

ServoWireMotion&LogicControllerManual GeneralDescription
iiSMLC‐004a
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CopyrightNotice
Copyright©2011ORMECSystemsCorp.Allrightsreserved.Thismanualandanysoftwarethatitmay
describe,remaintheexclusivepropertyofORMECSystemsCorp.Nopartofeithermaybereproduced
inanyformwithoutthepriorwrittenpermissionofORMEC.
TrademarkNotices
ServoWire™andServoWirePro™aretrademarksofORMECSystemsCorp.
Formoreinformation,visitwww.ORMEC.com
QNX®andNeutrino®areregisteredtrademarksofQNXSoftwareSystemsLtd.
WAGO®isaregisteredtrademarkofWAGOCorporation.
MODBUS®isaregisteredtrademarkofSchneiderElectric.
Warranty
ORMECextendsnowarrantywithrespecttothemerchantabilityorfitnessofthisproductforany
particularpurpose.Itisthecustomer’sresponsibilitytodeterminewhetheritissuitableforthespecific
applicationandwhetheritmeetsperformance,reliabilityandsafetyrequirementswhenusedinthat
application.ORMECreservestherighttomakeimprovementstotheproductaswellasthis
documentationatanytimewithoutnotice.
TermsandConditions
AllhardwareandsoftwaresoldorotherwiseprovidedbyORMECismadeavailablesubjecttoORMEC's
publishedStandardTermsandConditionsofSale.

ServoWireMotion&LogicControllerManual TableofContents
SMLC‐004a i
TableofContents
Welcome......................................................................................................................1
SMLCGeneralSystemDescription....................................................................3
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Features.....................................................................................................................................3
SMLC Models............................................................................................................................4
Hardware Features....................................................................................................................4
So ftware Features .....................................................................................................................5
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SM LC Support Software............................................................................................................5
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CoDeSys‐DevelopmentSoftware.................................................................................................................................................5
ServoWirePro‐SystemConfigurationSoftware...................................................................................................................6
WAGOEthernetI/O.............................................................................................................................................................................6
Ser 
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voWireMotion&LogicControllerInstallation....................................7
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SafetyRelatedGuidelinesforInstallationintheEuropeanUnion.................................................................................7
ReceivingandInspection..................................................................................................................................................................8
PanelMountingandEnvironment................................................................................................................................................8
SM 
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LCSystemComponents...................................................................................9
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J9–ServoWireIEEE1394InterfacePort...............................................................................................................................11
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J10–ServoWireIEEE1394InterfacePort.............................................................................................................................11
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J11–ServoWireIEEE1394InterfacePort(SMLC‐160only)........................................................................................11
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J12–Keyboard/MouseInterfaceConnector.........................................................................................................................12
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J13–DigitalI/OConnector...........................................................................................................................................................13
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J14–USBPort.....................................................................................................................................................................................14
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J15–USBPort.....................................................................................................................................................................................14
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J16–EthernetPortEN1..................................................................................................................................................................15
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J17–EthernetPortEN0..................................................................................................................................................................15
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J19–VGAConnector........................................................................................................................................................................16
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J20–DevelopmentSerialPortCOM1‐RS232......................................................................................................................17
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J21–SMLCHMISerialPortCOM2‐RS232............................................................................................................................17
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J22–SMLCUserSerialPortsCOM3‐RS232.........................................................................................................................17
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J23–SMLCUserSerialPortsCOM4‐RS232(SMLC‐160only)....................................................................................17
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TB1–24VDCConnector.................................................................................................................................................................18
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TB2–AnalogI/OConnector.........................................................................................................................................................18
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TB3–InputACPowerConnector................................................................................................................................................18
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LEDs.........................................................................................................................................................................................................18
ResetPushbutton...............................................................................................................................................................................19
SystemCard..........................................................................................................................................................................................19
Sys 
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temPowerWiring&Interlocks................................................................21
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Em ergency-Stop / Quick-Stop and Drive Ready Configuration...............................................22
EmergencyStopInput:....................................................................................................................................................................22
QuickStopInput:...............................................................................................................................................................................22
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Se rvoWire Drive Input / Output................................................................................................23
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SDMServodriveI/O.........................................................................................................................................................................23
SMMServodriveI/O........................................................................................................................................................................24
SWMServodriveI/O.......................................................................................................................................................................24
Sys 
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temOperation...................................................................................................25
LC Status LED's.................................................................................................................25
Power‐up...............................................................................................................................................................................................26
SM 
SMLC Non-volatile memory.....................................................................................................26
Specifications...........................................................................................................................27

ServoWireMotion&LogicControllerManual TableofContents
SMLCMechanicalandEnvironmentalSpecifications........................................................................................................27
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InputACPowerRatings..................................................................................................................................................................27
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BatteryPowerSpecifications.......................................................................................................................................................27
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DigitalI/OPowerrequirements.................................................................................................................................................28
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DigitalInputSpecifications...........................................................................................................................................................28
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DigitalOutputSpecifications........................................................................................................................................................28
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AnalogInputSpecifications...........................................................................................................................................................28
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AnalogOutputSpecifications.......................................................................................................................................................28
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DevelopmentportCOM1Specifications..................................................................................................................................29
HMISerialPortCOM2Specifications........................................................................................................................................29
SerialPortCOM3andCOM4Specifications...........................................................................................................................29
WAGOI/OInstallation&Operation...............................................................31
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Ge neral Purpose I/O................................................................................................................31
AGO Installation...................................................................................................................32 W
SettingtheWAGOIPAddress.......................................................................................................................................................32
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WAGO Part List.......................................................................................................................34
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WAGOAnalogInputModules.......................................................................................................................................................35
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WAGOAnalogOutputModules....................................................................................................................................................36
WAGOSpecialtyModules...............................................................................................................................................................36
WAGOPowerSuppliesandAccessories..................................................................................................................................37
Get 
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tingStarted........................................................................................................39
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Pr eparation for Test Run .........................................................................................................39
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ServoWireMotion&LogicControllerChecklist..................................................................................................................39
ServomotorChecklist.......................................................................................................................................................................40
ApplyingSystemControlPower.................................................................................................................................................40
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Se tting up SMLC Serial communications ................................................................................41
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InitializingtheCommunicationsConnection........................................................................................................................41
DisconnectingserialcommunicationsfromSMLCandyourPC...................................................................................41
TroubleshootingConnectionProblems...................................................................................................................................41
LC Ethernet Configuration..................................................................................................41 SM 
DefaultSMLCEthernetPortAddressing.................................................................................................................................42
ServoWire Pro Development Software....................................................................................42
TestRunningYourSMLCSystem...............................................................................................................................................42
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ProductHistory.......................................................................................................43
Determining Hardware Revision Numbers ..............................................................................43
SMLC Model History................................................................................................................43
Ma 
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intenance&Troubleshooting.....................................................................45
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OR MEC Product Support ........................................................................................................45
ProductSupport.................................................................................................................................................................................45
24‐HourProductSupport..............................................................................................................................................................45
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SMLC Troubleshooting............................................................................................................46
NoLEDsLitonSMLC........................................................................................................................................................................46
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SMLCDoesNotCompletethePowerUpSequence............................................................................................................46
Terms&Mnemonics.............................................................................................47
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AppendixA‐SMLCInstallationDiagrams...................................................51
SMLC – Installation Dimensions..............................................................................................51
AppendixB–SystemWiringDrawings........................................................53
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ServoWire SDM Drives 120 ~ 460 VAC System Wiring..........................................................53
ServoWire SMM Drives 120 ~ 460 VAC System Wiring..........................................................54
iiSMLC‐004a

ServoWireMotion&LogicControllerManual TableofContents
ServoWire SMM Drive 12 ~ 96 VDC System Wiring ...............................................................55
AppendixC–SMLCInterfaceCables&Accessories................................56
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Serial Communications Null Modem Cable to PC...................................................................56
Profibus Cable Drawing
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ListofTables
...........................................................................................................57
Table1,SMLCModels...................................................................................................................................4
Table2,DevelopmentSoftwarePartNumber..............................................................................................6
Table3,ServoWire:IEEE1394Cablepartnumbers....................................................................................11
Table4,Keyboard/MouseConnector(J12)pin‐out....................................................................................12
Table5,DigitalI/Oconnector(J13)pin‐out................................................................................................13
Table6,EthernetPort(J16&J17)pin‐out..................................................................................................15
Table7,EthernetCables&Accessoriespartnumbers................................................................................15
Table8,CRTConnector(J19)pin‐out..........................................................................................................16
Table9,RS‐232SerialPortConnector(J20,J21,J22,andJ23)pin‐out.......................................................17
Table10,24VDCconnector(TB1)pin‐out...................................................................................................18
Table11,AnalogI/Oconnector(TB2)pin‐out............................................................................................18
Table12,Powerconnector(TB3)pin‐out...................................................................................................18
Table13,SMLCStatusLED's.......................................................................................................................25
Table14,SMLCControllerGeneralSpecifications......................................................................................27
Table15,SMLCControllerMechanicalandEnvironmentalSpecifications.................................................27
Table16,SMLCInputPower.......................................................................................................................27
Table17,SMLCBatteryPower....................................................................................................................27
Table18,DigitalI/OPowerrequirements..................................................................................................28
Table19,Digitalinputspecifications..........................................................................................................28
Table20,Digitaloutputspecifications........................................................................................................28
Table21,Analoginputspecifications.........................................................................................................28
Table22,Analogoutputspecifications.......................................................................................................28
Table23,SMLCDevelopmentSerialPort....................................................................................................29
Table24,SMLCHMISerialPorts.................................................................................................................29
Table25,SMLCSerialPortsCOM3&COM4...............................................................................................29
Table26,WAGOpartslist...........................................................................................................................37
Table27,ORMECmotorcablecolorcode...................................................................................................40
Table28,SMLCSerialCommunicationscable............................................................................................56
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SMLC‐004a iii

ServoWireMotion&LogicControllerManual TableofContents
ivSMLC‐004a
ListofFigures
Figure1,SMLCSystem..................................................................................................................................3
Figure3,SMLC‐160SystemComponents......................................................................................................9
Figure4,SMLC‐30/80SystemComponents................................................................................................10
Figure5,KeyboardConnector(J12)connector...........................................................................................12
Figure6,SchematicofDiscreteInputsIN1'‐IN8'.........................................................................................14
Figure7,SchematicofDiscreteOutputsOUT1'‐OUT8'...............................................................................14
Figure8,SMLC‐EthernetConnector(J16&J17)connector.......................................................................15
Figure9,SMLC‐CRTConnector(J19)connector........................................................................................16
Figure10,RS‐232SerialPortConnector(J20,J21,J22,andJ23)Pin‐out...................................................17
Figure11,SAC‐SDMServodriveI/O............................................................................................................23
Figure12,SAC‐SMMServodriveI/O...........................................................................................................24
Figure13,SAC‐SWMServodriveI/O...........................................................................................................24
Figure14,WAGObuscoupler.....................................................................................................................31
Figure15,WAGOLaunchBootPserver.......................................................................................................32
Figure16,WAGOLaunchNotepad.............................................................................................................32
Figure17,WAGO‐editBootPtab.txt..........................................................................................................33
Figure18,WAGO‐StartBootPServer........................................................................................................33
Figure19,ServoWireProIPAddress...........................................................................................................41
Figure20,SMLCProductRevisionLabel.....................................................................................................43
Figure21,SMLCmountingdimensions‐heightandwidth........................................................................51
Figure22,SMLCmountingdimensions–depth..........................................................................................52


ServoWireMotion&LogicControllerManual Welcome
Chapter1
Welcome
Welcome
ThismanualcoverstheORMEC'sServoWireMotion&LogicController(SMLC)andaccessoriesusedwith
it.ItprovidesadetaileddescriptionoftheSMLChardwareandneededinformationforinstalling,
operatingand"gettingstarted"withaSMLCsystem.
What’snewinSMLChardwarerevision2?
•SMLChardwarerev2supportslockingServoWirecables.
•TheexpansionbusisnowPCI‐104
•Someoftheconnectorsandterminalblockshavebeenmovedand/orrenamed.
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

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
IMPORTANT:IfyouhaveSMLChardwarerev1pleaserefertomanualSMLC‐002–SMLC‐30,
80&160Installation&OperationManual.
Themanualisdividedintothefollowingchapters:
Chapter1Welcomeintroducesyoutothismanualanditsorganization
Chapter2GeneralDescription‐OverviewoftheSMLCproductfamily.
Chapter3SMLCInstallationprovidesinstructionsforinstallingtheSMLCanddetailed
descriptionsofallthehardwareinterfaces.Itexplainsthepowerupandinitial
configurationoperationaswellastheLEDstatusindicators.Thischapteralso
providesdetailedenvironmental,mechanical,andelectricalinterface
specificationsfortheSMLCController
Chapter4SMLCSystemComponentsprovidesanoverviewofalloftheconnectorsand
terminalblocksonanSMLC,includingthepin‐outs.
Chapter5SystemPowerWiring&Interlocksexplainshowtomakepowerandinterlock
connectionsbetweentheSMLCandtheServoWiredrives.AlsoseeAppendixB.
Chapter6SystemOperationexplainsthepower‐upsequenceoftheSMLCincludingLED
operation.ThissectionalsoincludesthespecificationsfortheSMLC,includingall
ofthelocalI/Oandcommunicationports.
SMLC‐004a 1

ServoWireMotion&LogicControllerManual Welcome
2SMLC‐004a
Chapter7WAGOI/OInstallation&Operationprovidesinstructionsforinstallingthe
WAGOanddetaileddescriptionsofallthehardwareinterfaces,aswellasan
explanationoftheLEDstatusindicators.
Chapter8GettingStartedprovidesdetailedinstructionsonhowtocommunicateandrun
yourSMLCunitforthefirsttime
Chapter9ProductHistoryprovidesachronologicalrevisionhistoryfortheServoWire
Motion&LogicControllerhardware
Chapter10Maintenance&Troubleshootingprovidestipsformaintainingand
troubleshootingyourSMLCsystem
Chapter11Terms&Mnemonicsprovidesdefinitionsforterm'sspecifictoMotionControl
and/orORMEC'sMotionControlproducts
AppendicesAppendicescontaindetaileddrawings,whichdocumenttheSMLCdimensions,
systeminterface,aswellasassociatedinterfacecablesandaccessories.Seethe
TableofContentsfordetails
ThismanualconcentratesonprovidingSMLChardwareandcablingdocumentation.Detailed
informationonORMEC'sSMLCprogramminglanguageisfoundintheon‐lineSMLCHelp.Detailed
informationoncommissioningServoWiredrivestoanSMLCcanbefoundintheon‐lineServoWirePro
Help.DetailedinformationonservodriveinterfacingcanbefoundintheServoWiredrivemanuals.
ToobtainthelatestversionofanyoftheORMECdocumentationvisitORMEC'ssiteontheWorldWide
Webathttp://www.ormec.com.
Note:thefunctionalityofcertainportionsoftheSMLChardwareisdependentonthefirmwareandSMLC
hardwareversionused.


ServoWireMotion&LogicControllerManual GeneralDescription
Chapter2
GeneralDescription

Figure1,SMLCSystem
SMLCGeneralSystemDescription
Features
APPLICATIONDEVELOPMENT‐CODESYSIEC61131‐3PROGRAMMING:
IEC61131‐3isaopenstandarddevelopingapplicationprogramsformotionandI/Ocontrol,runningon
asingleprocessor.See:www.3s‐software.com&www.PLCopen.org
OPERATINGSYSTEM‐QNXNEUTRINOREALTIMEOPERATINGSYSTEM(RTOS):
InQNXNeutrino,onlythemostfundamentalOSprimitives(e.g.signals,timers,scheduling)arehandled
inthekernelitself.Allothercomponents–drivers,filesystems,protocolstacks,userapplications–run
outsidethekernelasseparate,memory‐protectedprocesses.Faultresilienceisbuiltrightin.See:
www.QNX.com
SMLC‐004a 3

ServoWireMotion&LogicControllerManual GeneralDescription
SYSTEMCONFIGURATION&DIAGNOSTIC'S‐SERVOWIREPRO:
ServoWireProprovidesanintegratedsuiteofconfiguration,diagnosticandmaintenanceutilitiesthat
assistinthedevelopmentandon‐goingsupportofServoWireSMsystems.
ALLDIGITAL‐IEEE‐1394NETWORKEDSERVODRIVES:
Connectionofupto24ServoWireDriveswithuptoa2.67kHzloopupdaterate,withouttheneedto
purchaseadditionalhardwareorsoftware.AlldigitalservodrivenetworkusingopenstandardIEEE
1394(FireWire)interfacehardwareandcabling.
SERVOWIREDRIVEI/O:
HighspeedServoWireDriveI/Oisusedtocaptureaxisposition(example:registration)andcontrol(start
/stop)motion.
GENERALPURPOSEI/O‐WAGO,ETHERNET(MODBUS/TCP&PROFIBUS):
Compact,highlyreliableandcosteffective,withawidevarietyofInput/Outputmodules.Seesection0
SMLCModels
ThismanualcoversSMLCModels30,80and160.
ModelMotor
Axes
Pacer
Axes1
VirtualAxes2Ethernet
Ports
RS‐232
Ports
LocalDIO LocalAIOExpansion
Slots
SMLC‐3033Upto32 3 8in/8out 1in/1out1PCI‐104
SMLC‐8088Upto82 3 8in/8out 1in/1out1PCI‐104
SMLC‐1601616Upto16 2 3 8in/8out 1in/1out2PCI‐104
Table1,SMLCModels
1Paceraxesrequireadditionaldrivehardware;eitherapaceroptionorasecondaryfeedbackadapteron
thedrive.Assumingthateachdrivehastherequiredpacerinterfaceyoucanhaveonepacerforeach
driveinthesystem.
2BeginningwithSMLCfirmwareversion2.6.0(whichisrequiredforrev2hardware),thefirstvirtualaxis
is“free”anddoesnotapplytothemaximummotoraxiscountforthatSMLCmodel.E.g.anSMLC‐30
canhave3realmotoraxes+1virtualaxis;anSMLC‐80canhave8realmotoraxes+1virtualaxis,etc.
AnyvirtualaxesafterthefirstoneDOapplytothemaximummotoraxiscount.
HardwareFeatures
ORMEC'sServoWireMotion&LogicControllerusesaPC‐basedsystempackagedusingoffthe
shelfhardwareinawall‐mountchassisforeasyinstallation.
SMLChardwareincludes:
•CPU‐CeleronorPentiumClassprocessors
•EthernetPorts–10/100baseT(/1000baseTonModels80&160).
•FireWire(IEEE1394b)networkinterface.
•serialports(4onModel160)
•Development,HMI,Keyboardconnectors.
•OptionalPCI‐104expansion

4SMLC‐004a

ServoWireMotion&LogicControllerManual GeneralDescription
•Built‐indigitalandanalogI/O
SMLCmemoryincludes:
•128MbDynamicRAM‐RandomAccessMemory(volatile)
•128MbRemovableCompactFlashmemoryforapplicationprogramanddatastorage.
•32KbBatterybackedstaticRAMusedfornon‐volatiledatastorage.
Theall‐digitalServoWireservodriveprovidessupportforavarietyofactuatortechnologies,including
brushlessrotaryandlinearmotors,DCbrushmotorsandvoicecoils.Thedrivesareconfiguredoverthe
ServoWire1394network,eliminatingallmanualconfigurationandofflineconfigurationutilities,
reducingthecostandcomplexityofmaintainingthemotioncontrolsystem.
SoftwareFeatures
ORMEChasselectedthehighlyreliableQNXNeutrinoastheSMLCrealtimeoperatingsystem(RTOS).
TheuseofaRTOSintheSMLCfacilitatestheintegrationofnewfunctionalityandeasesproductlifecycle
maintenancebyallowingforeasymigrationtonewandmorepowerfulhardwareplatforms,asthey
becomeavailable.
ToimplementtheServoWireController’sprogramming,ORMEChaspartneredwith3Stointegratehigh
performanceServoWireSoftMotiontechnologywithCoDeSysIEC61131‐3software.CoDeSyscoversall
fiveIEC61131‐3standardcompliantlanguages,andisincorporatedinoveronehundredOEMpartner
products.AllapplicationmotionandI/Ocontrolisimplementedinasingleprogramrunningonone
processor,withoutthedelaysandtimingissuesassociatedwithseparateprocessorcardsinPCsandPLC
racks.
Forthemotioncontrolprogramming,ORMEChasimplementedPLCopenMotionControlfunction
blocks.Powerfulfeatureshavebeenaddedtotheopenstandardmotioncontrolfunctionblocks,
allowingmotionstobeloadedintoamotionqueueforsequentialoperationinitiatedindependentof
theI/Oscanrate.Motionsinthequeuecanbeautomaticallyrepeated,simplifyingapplication
programming,andtriggeredbyhigh‐speedsensorinputsattheservocommandLoopRate(fasterthan
theI/Oscanrate).Itisalsopossibletoeasilysuperimposeincrementaltime‐basedandgearedmotions
ontopofaconstantmotiongearratio,withouttheneedtodevelopcamprofiles.Formoredetails,read
theSMLConlinehelpfileincludedwithORMEC’sCDS‐SDK,CoDeSysSoftwareDevelopmentKit.The
latestversionoftheCDS‐SDKaswellasademoversionisavailablefordownloadonORMEC’swebsite
atwww.ormec.com.
SMLCSupportSoftware
CoDeSys‐DevelopmentSoftware
CoDeSysIEC61131‐3programmingwithPLCopenmotionfunctionblocksprovidesopenstandardtools
fordevelopingapplicationprogramsformotionandI/Ocontrol.General‐purposeI/Ooptionsarefully
supportedusingWAGO's750SeriesandFESTOCPXSeries.
TheIEC61131‐3standardsuiteofprogramminglanguagesprovidesanintegratedsetofsoftwaretools
andgraphicalinterfacestomeetawiderangeofsoftwaredevelopmentneeds:
•RelayLadderLogic(LD)
•StructuredText(ST)
SMLC‐004a 5

ServoWireMotion&LogicControllerManual GeneralDescription
6SMLC‐004a
•SequentialFunctionChart(SFC)
•FunctionBlockDiagram(FBD)
•InstructionList(IL)tools
•CoDeSysalsoincludesasixthlanguage,ContinuousFunctionChart(CFC)
DevelopmentSoftwarePartNumber:
CDS‐SDK/C CoDeSysDevelopersKit,CD‐ROM,incl.CoDeSys,ServoWirePro,
onlinedocumentation,WAGOBootPserver,serialcommunication
cable
Table2,DevelopmentSoftwarePartNumber
ServoWirePro‐SystemConfigurationSoftware
ServoWireProprovidesanintegratedsuiteofconfiguration,diagnosticandmaintenanceutilitiesthat
assistinthedevelopmentandon‐goingsupportofServoWiresystems.Thesoftwareisdesignedtorun
onthedevelopmentPC.ServoWireProisusedtocreateaprojectfilecontainingallofthemotorand
driveconfigurationinformation,whichisthendownloadedtotheSMLC.ServoWireProincludesthe
followingutilities:
•SWSetup Menusandsoftwarewizardstosimplifydriveconfiguration&set‐up
•SWMonitor Diagnosticutilitiesformonitoringdriveandnetworkperformance
•SWTune Tuningscopeandsoftwareforoptimizingmotionperformance
•SWUpgrade ToolsforupgradingServoWireSMMdrivestolatestfirmware
•SMLCUpgradeToolforupgradingSMLCfirmware
•SMLCutilitiesManagefilesontheSMLCandconfiguretheSMLCEthernetports
WAGOEthernetI/O
WAGOBootPserverisusedtoconfiguretheIPaddressofWAGOEthernetbuscouplers.


ServoWireMotion&LogicControllerManual SMLCSystemComponents
Chapter3
SMLCInstallation
ServoWireMotion&LogicControllerInstallation
SafetyRelatedGuidelinesforInstallationintheEuropeanUnion
General:ORMECproductmanualsarewrittentoprovideinformationrequiredfortheproperuseofthe
equipmentintheintendedoperation.Theyarewrittenfortechnicallyqualifiedpersonnelsuchas
engineers,programmersandmaintenancespecialistswhohavebeentrainedintheapplicationof
automationcontrolsystems.
ProperUse:Theequipmentand/orsystemorcomponentsmayonlybeusedasdescribedintheproduct
manuals.
Guidelines:ORMECmotioncontrolproductsgenerallyformapartofalargersystemorinstallation.
TheseguidelinesareintendedtohelpintegrateORMECproductsintothesystem.
•Sincetheseproductsarecomponentdevices,overallautomatedsystemsafetyisbeyondthe
scopeoftheproductmanualsandistheresponsibilityoftheintegrator.
•CompliancewithEN292‐1andEN292‐2(SafetyofMachinery)aswellasEN60204(Electrical
EquipmentofIndustrialMachines)mustbeobservedduringthedesignphase.
•Onlyqualifiedpersonnelshouldbeallowedaccesstotheequipment.
•Openingthehousingorprotectivecoversmayexposedangerousvoltages.
•EmergencytrippingdevicesinaccordancewithEN60204mustbeeffectiveinalloperating
modesoftheautomationequipment.
•Measuresmustbetakenwheninterfacingtheinputsandoutputsoftheautomationequipment
topreventanundefinedstatefrombeingassumedinthecaseofawirebreakinthesignallines.
•Themotioncontrollerisaprogrammabledevicewiththeapplicationprogrambeingwrittenby
thepersonintegratingitintothemachine.Aqualifiedpersonshouldwritethisprogram.
Measuresmustbetakentoverifythattheprogramwrittendoesnotcausedangerousand
unwantedmachineoperation.
•Thesesystemsareofruggeddesignandintendedforgeneral‐purposeservice.However,aswith
anyequipment,themorestressingtheserviceconditionstheworseisthereliabilityandsome
benefitmaybeexpectedwhenrealserviceconditionsarebetterthantheworstservice
SMLC‐004a 7

ServoWireMotion&LogicControllerManual SMLCSystemComponents
conditionsspecifiedintheproductmanualandStandards.Someapplicationsmayrequire
considerationofspecialpackaging,cooling,electricalnoiseprotection,etc.forreliable
operation.
ReceivingandInspection
ORMECServoWireMotion&LogicControllerandtheirassociatedaccessoriesareputthroughrigorous
testsatthefactorybeforeshipment.Afterunpacking,however,checkfordamage,whichmayhave
beensustainedintransit.ChecktheSMLCandanyoftheaccessoriesforbentorbrokencomponents,
looseboltsorscrewsandanyotherphysicaldamagebeforeinstalling.
NOTE:SavetheoriginalSMLCpackagingmaterialforshippingreturnedunits.
IncludedwithyourSMLCisaCDpackage,whichcontainsinstallationdisks,UsersGuide,license
agreement,andregistrationcard.Pleaseopenthispackage,readthelicenseagreement,andfilloutand
returntheregistrationcard.SMLCoperatesontheQNXoperatingsystem,withtheRUN‐TIMELicense
pre‐installedonyourSMLC.
PanelMountingandEnvironment
PanelmountingdataisavailableintheSMLCMechanicalandEnvironmentalSpecificationssectionof
thischapter.Thecontroller'senvironmentshouldbemaintainedasfollows:
•Operatingtemperatureshouldbebetween0and50C(32oFto122oF).
•TheSMLCshouldbemountedinagroundedmetalenclosure
•Iftheelectricalpanelissubjecttovibration,mounttheunitonshockabsorbingmaterial.
•Avoiduseincorrosiveatmospheres,whichmaycausedamageovertime.
•Selectalocationwithminimumexposuretooil,water,hotair,highhumidity,excessivedustor
metallicparticles.
•ThepropermountingorientationfortheSMLCisverticalonapanelusingthemountingholes(3)
providedonthebaseplate.
8SMLC‐004a

ServoWireMotion&LogicControllerManual SMLCSystemComponents
Chapter4
SMLCSystemComponents
SMLCSystemComponents
SMLC‐160 SystemComponents
LEDs‐ WatchdogOK,Run,User,Fault,System,24vpower,5v
power,Diskactivity
J9/J10/J11
–
ServoWire1394bports
ResetPushbutton
J12
–
Keyboardport
J13
–
DigitalI/Oconnector
J14/15
–
USBports
J16
–
EN1
J17
–
EN0
SystemCard
–
CompactFlash
J19
–
VGAconnector
J20
–
DevelopmentSerialPort
–
COM1
J21
–
HMI/UserSerialPort‐ COM2
J22
–
Userserialport‐ COM3(J22)
J23
–
Userserialport
–
COM4
TB1
–
24VDCconnector
TB2
–
AnalogI/Oconnector(ontop,notshown)
TB3
–
InputACPowerconnector(ontop,notshown)
Figure2,SMLC‐160SystemComponents
SMLC‐004a 9

ServoWireMotion&LogicControllerManual SMLCSystemComponents



SMLC‐30,SMLC‐80SystemComponents
LEDs‐ WatchdogOK,Run,User,Fault,System,24vpower,5v
power,Diskactivity
J9/J10/J11
–
ServoWire1394bports
ResetPushbutton
J12
–
Keyboardport
J13
–
DigitalI/Oconnector
J14/15
–
USBports
J16
–
EN1
J17
–
EN0
SystemCard
–
CompactFlash
J19
–
VGAconnector
J20
–
DevelopmentSerialPort
–
COM1
J21
–
HMI/UserSerialPort‐ COM2
J22
–
Userserialport‐ COM3(J22)
J23
–
Userserialport
–
COM4
TB1
–
24VDCconnector
TB2
–
AnalogI/Oconnector(ontop,notshown)
TB3
–
InputACPowerconnector(ontop,notshown)
Figure3,SMLC‐30/80SystemComponents
10SMLC‐004a

ServoWireMotion&LogicControllerManual SMLCSystemComponents
J9–ServoWireIEEE1394InterfacePort
J10–ServoWireIEEE1394InterfacePort
J11–ServoWireIEEE1394InterfacePort(SMLC‐160only)

TheSMLCServoWireinterfaceuses9‐pinbilingualIEEE1394bconnectors.SAC‐SDMdrivesareavailable
withlockingandnon‐lockingconnectors.ConnectionsmadetoSAC‐SDMdriveswithlockingconnectors
areCBL‐SW‐BL‐##.ConnectionsmadetoSAC‐SDMwithoutlockingconnectorsaremadewithCBL‐SW‐B‐
#.NotethatCBL‐SW‐B‐##cablescanbeusedwitheitherlockingornon‐lockingSAC‐SDMdrives.CBL‐
SW‐BL‐##maybeusedonnon‐lockingSAC‐SDMdriveswithsomerestrictions.
ConnectionsfromtheSMLCtotheServoWireDriveswith6‐pinIEEE1394aconnectors(SAC‐SWMand
SAC‐SMM)aremadeusingbilingualServoWirecables(CBL‐SW‐BA‐##).
ServoWireCablesDescription
CBL‐SW‐BL‐3ServoWireCable,9pinto9pin,locking,3.3ft
CBL‐SW‐BL‐6ServoWireCable,9pinto9pin,locking,6.6ft
CBL‐SW‐BL‐14ServoWireCable,9pinto9pin,locking,14.8ft
CBL‐SW‐BL‐25ServoWireCable,9pinto9pin,locking,25.0ft
CBL‐SW‐BL‐33ServoWireCable,9pinto9pin,locking,33.3ft

CBL‐SW‐B‐3ServoWireCable,9pinto9pin,3.3ft
CBL‐SW‐B‐6ServoWireCable,9pinto9pin,6.6ft
CBL‐SW‐B‐14ServoWireCable,9pinto9pin,14.8ft
CBL‐SW‐B‐25ServoWireCable,9pinto9pin,25.0ft
CBL‐SW‐B‐33ServoWireCable,9pinto9pin,locking,33.3ft


CBL‐SW‐BA‐3ServoWireCable,9pinto6pin,3.3ft
CBL‐SW‐BA‐6ServoWireCable,9pinto6pin,6.6ft
CBL‐SW‐BA‐14ServoWireCable,9pinto6pin,14.8ft
CBL‐SW‐BA‐33ServoWireCable,9pinto6pin,33.3ft
Table3,ServoWire:IEEE1394Cablepartnumbers.
SMLC‐004a 11

ServoWireMotion&LogicControllerManual SMLCSystemComponents
J12–Keyboard/MouseInterfaceConnector
TheKeyboardInterface,standardonallSMLCcontrollers,isa6‐pinmini‐DINconnector.Itiscompatible
withallIBMPC‐ATcompatiblekeyboards.Thekeyboardisonlyrecognizedatpower‐up.

TheKeyboardinterfaceisnotsupportedbyCoDeSysinthecurrentreleaseofSMLCfirmware.

Figure4,KeyboardConnector(J12)connector.

PinSignalDescription
1KDA
T
Bi‐directionalserialdatalineusedtotransferdatafromorcommandstothePC‐AT
keyboard.
2MDATBi‐directionalserialdatalineusedtotransferdatafromorcommandstothePS/2
mouse.
3GNDGround
4VCCPower
5KCLKBi‐directionalclocksignalusedtostrobedata/commandsfrom/tothePC‐ATkeyboard.
6MCLKBi‐directionalclocksignalusedtostrobedata/commandsfrom/tothePS/2mouse.
Table4,Keyboard/MouseConnector(J12)pin‐out

12SMLC‐004a