User Manual M3000® Automation System / MSC II (Moog Servo ...
User Manual M3000® Automation System / MSC II (Moog Servo ... User Manual M3000® Automation System / MSC II (Moog Servo ...
Table of Contents 3.4 License Key................................................................................................................................ 24 3.5 Application Programs ............................................................................................................... 25 3.6 MACS Development Environment ........................................................................................... 25 3.6.1 MACS HMI Visualization Package ............................................................................... 26 4 Environmental Conditions .....................................................................27 4.1 Requirements of IEC 61131-2 ................................................................................................... 27 4.2 Use in Special Environments ................................................................................................... 28 5 Mechanical Installation...........................................................................29 5.1 DIN Rail Modules ....................................................................................................................... 29 5.1.1 Views of the Module..................................................................................................... 29 5.1.2 Dimensions................................................................................................................... 30 5.1.3 Arrangement on DIN Top-Hat Rails ............................................................................. 31 5.1.4 Mounting and Removing .............................................................................................. 33 6 Project Planning and Installation ..........................................................37 6.1 Grounding Concept................................................................................................................... 38 6.1.1 Front Panel Connectors' Grounding............................................................................. 38 6.2 Power Supply............................................................................................................................. 39 6.2.1 Power Supply Characteristics ...................................................................................... 39 6.2.2 Power Consumption..................................................................................................... 40 6.2.3 Connecting the Power Supply...................................................................................... 40 6.2.4 Connecting Sensors..................................................................................................... 43 6.3 Connecting Signal Cables ........................................................................................................ 46 6.3.1 Plug-In Terminal Strips................................................................................................. 46 7 Networking M3000 ® Modules .................................................................47 7.1 Ethernet ...................................................................................................................................... 47 7.1.1 Peer-to-Peer Connections............................................................................................ 47 7.1.2 Networking of More Than 2 Network Stations.............................................................. 48 7.1.3 Ethernet Interface Cables............................................................................................. 48 7.2 EtherCAT .................................................................................................................................... 49 7.2.1 Bus Topology ............................................................................................................... 49 7.2.2 EtherCAT Interface Cables .......................................................................................... 49 7.3 Profibus ...................................................................................................................................... 50 7.3.1 Overview ...................................................................................................................... 50 7.3.2 M3000 ® Modules with Profibus DP Interfaces ............................................................. 50 7.3.3 Profibus Networks ........................................................................................................ 50 7.3.4 Profibus Interface Cable............................................................................................... 52 7.4 Serial TIA/EIA Interface Cables ................................................................................................ 54 7.4.1 TIA/EIA 232 Interface Cables....................................................................................... 54 7.5 CAN Bus and CANopen ............................................................................................................ 55 7.5.1 CAN Bus....................................................................................................................... 55 7.5.2 CAN Bus Characteristics.............................................................................................. 55 7.5.3 CANopen...................................................................................................................... 56 7.5.4 M3000 ® Modules with CAN Bus Interfaces.................................................................. 56 7.5.5 CAN Bus Networks....................................................................................................... 57 7.5.6 CAN Bus Interface Cable ............................................................................................. 59 © Moog GmbH User Manual M3000 ® and MSC II (CA65865-001; Version 1.1, 08/08) ii
Table of Contents 7.6 E-Bus .......................................................................................................................................... 60 7.6.1 E-Bus Interface............................................................................................................. 60 7.6.2 E-Bus Communication.................................................................................................. 61 7.6.3 MSC II as E-Bus Master............................................................................................... 61 7.7 Networking DIN Rail Modules................................................................................................... 64 7.7.1 CAN and E-Bus Interfaces ........................................................................................... 64 7.7.2 E-Bus Groups............................................................................................................... 65 7.7.3 LocalCAN Bus Groups ................................................................................................. 66 7.7.4 WideCAN Bus Groups.................................................................................................. 67 8 Shutdown and Service............................................................................69 8.1 Shutdown ................................................................................................................................... 69 8.2 Service........................................................................................................................................ 70 8.2.1 Maintenance/Servicing................................................................................................. 70 8.2.2 Repair........................................................................................................................... 70 9 Transportation and Storage ...................................................................71 9.1 Environmental Conditions........................................................................................................ 71 10 MSC II (Moog Servo Controller) .............................................................72 10.1 Performance Characteristics.................................................................................................... 72 10.1.1 Interfaces...................................................................................................................... 72 10.1.2 I/Os (Inputs/ Outputs).................................................................................................... 73 10.1.3 Safety Functions........................................................................................................... 73 10.2 General Specifications.............................................................................................................. 73 10.2.1 Dimensions................................................................................................................... 74 10.2.2 Environmental Conditions ............................................................................................ 74 10.3 Block Diagram ........................................................................................................................... 76 10.4 View of the Module and Terminal Assignment ....................................................................... 77 10.4.1 Terminal Assignment.................................................................................................... 78 10.4.2 LEDs............................................................................................................................. 81 10.5 Programming and Configuration ............................................................................................. 84 10.5.1 Communication Between MSC II and MACS............................................................... 84 10.6 License Key................................................................................................................................ 85 10.6.1 Run-Time License and Accessible Libraries ................................................................ 85 10.6.2 CANopen Node-ID and IP Address.............................................................................. 86 10.6.3 Mounting and Removing .............................................................................................. 86 10.7 Run/Stop/Reset Switch ............................................................................................................. 88 10.8 Power Supply............................................................................................................................. 89 10.8.1 Behavior at Switching on and Switching off ................................................................. 89 10.9 Basetick...................................................................................................................................... 90 10.9.1 Characteristics.............................................................................................................. 90 10.9.2 Timing Diagram............................................................................................................ 91 10.10 Digital I/Os.................................................................................................................................. 93 10.10.1 Display of the Operational State................................................................................... 93 10.10.2 Power Supply ............................................................................................................... 93 10.10.3 Digital Outputs.............................................................................................................. 95 10.10.4 Digital Inputs................................................................................................................. 97 © Moog GmbH User Manual M3000 ® and MSC II (CA65865-001; Version 1.1, 08/08) iii
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- Page 3: Table of Contents Table of Contents
- Page 7 and 8: Table of Contents 13 Index.........
- Page 9 and 10: List of Tables Table 36: Product Ra
- Page 11 and 12: List of Figures Figure 38: 100BaseT
- Page 13 and 14: 1 General Information Selection and
- Page 15 and 16: 1 General Information Environmental
- Page 17 and 18: 2 Safety Instructions Typographical
- Page 19 and 20: 2 Safety Instructions Safety Instru
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- Page 23 and 24: 2 Safety Instructions Safety Instru
- Page 25 and 26: 3 Short M3000 ® System Overview M3
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- Page 35 and 36: 3 Short M3000 ® System Overview Li
- Page 37 and 38: 3 Short M3000 ® System Overview MA
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- Page 41 and 42: 5 Mechanical Installation DIN Rail
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- Page 49 and 50: 6 Project Planning and Installation
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Table of Contents<br />
7.6 E-Bus .......................................................................................................................................... 60<br />
7.6.1 E-Bus Interface............................................................................................................. 60<br />
7.6.2 E-Bus Communication.................................................................................................. 61<br />
7.6.3 <strong>MSC</strong> <strong>II</strong> as E-Bus Master............................................................................................... 61<br />
7.7 Networking DIN Rail Modules................................................................................................... 64<br />
7.7.1 CAN and E-Bus Interfaces ........................................................................................... 64<br />
7.7.2 E-Bus Groups............................................................................................................... 65<br />
7.7.3 LocalCAN Bus Groups ................................................................................................. 66<br />
7.7.4 WideCAN Bus Groups.................................................................................................. 67<br />
8 Shutdown and Service............................................................................69<br />
8.1 Shutdown ................................................................................................................................... 69<br />
8.2 Service........................................................................................................................................ 70<br />
8.2.1 Maintenance/Servicing................................................................................................. 70<br />
8.2.2 Repair........................................................................................................................... 70<br />
9 Transportation and Storage ...................................................................71<br />
9.1 Environmental Conditions........................................................................................................ 71<br />
10 <strong>MSC</strong> <strong>II</strong> (<strong>Moog</strong> <strong>Servo</strong> Controller) .............................................................72<br />
10.1 Performance Characteristics.................................................................................................... 72<br />
10.1.1 Interfaces...................................................................................................................... 72<br />
10.1.2 I/Os (Inputs/ Outputs).................................................................................................... 73<br />
10.1.3 Safety Functions........................................................................................................... 73<br />
10.2 General Specifications.............................................................................................................. 73<br />
10.2.1 Dimensions................................................................................................................... 74<br />
10.2.2 Environmental Conditions ............................................................................................ 74<br />
10.3 Block Diagram ........................................................................................................................... 76<br />
10.4 View of the Module and Terminal Assignment ....................................................................... 77<br />
10.4.1 Terminal Assignment.................................................................................................... 78<br />
10.4.2 LEDs............................................................................................................................. 81<br />
10.5 Programming and Configuration ............................................................................................. 84<br />
10.5.1 Communication Between <strong>MSC</strong> <strong>II</strong> and MACS............................................................... 84<br />
10.6 License Key................................................................................................................................ 85<br />
10.6.1 Run-Time License and Accessible Libraries ................................................................ 85<br />
10.6.2 CANopen Node-ID and IP Address.............................................................................. 86<br />
10.6.3 Mounting and Removing .............................................................................................. 86<br />
10.7 Run/Stop/Reset Switch ............................................................................................................. 88<br />
10.8 Power Supply............................................................................................................................. 89<br />
10.8.1 Behavior at Switching on and Switching off ................................................................. 89<br />
10.9 Basetick...................................................................................................................................... 90<br />
10.9.1 Characteristics.............................................................................................................. 90<br />
10.9.2 Timing Diagram............................................................................................................ 91<br />
10.10 Digital I/Os.................................................................................................................................. 93<br />
10.10.1 Display of the Operational State................................................................................... 93<br />
10.10.2 Power Supply ............................................................................................................... 93<br />
10.10.3 Digital Outputs.............................................................................................................. 95<br />
10.10.4 Digital Inputs................................................................................................................. 97<br />
© <strong>Moog</strong> GmbH <strong>User</strong> <strong>Manual</strong> M3000 ® and <strong>MSC</strong> <strong>II</strong> (CA65865-001; Version 1.1, 08/08) iii
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