Advanced motion controls mc4xdzp01
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The mounting card MC4XDZP01 mounts up to four DigiFlex Performance digital servo drives in a 'DxM' configuration, allowing control of up to four axes from a single EtherCAT connection. It provides signal, feedback, and communication connections between the drives. The card supports various drive models and feedback types, and includes status LEDs to indicate power and drive states.
Advanced motion controls mc4xdzp01
- 1. Mounting Card MC4XDZP01 Description Drive Compatibility The MC4XDZP01 mounting card is designed to host up to four DZE series DigiFlex® PerformanceTM digital servo drives in the following configuration: ‘DxM’ Configuration – ADVANCED Motion Controls exclusive ‘DxM’ technology allows connectivity of up to 3 DZSANTU drives (sub-nodes) to a single DZEANTU (node) on an EtherCAT® network. DZSANTU drives receive commands from a DZEANTU over a high-speed communication interface, allowing for up to 4 axes of servo drive control from a single EtherCAT connection. The MC4XDZP01 offers convenient quick-disconnect signal, feedback, and communication connectors. This mounting card is ideal for prototyping and integrating DZE digital servo drives into your machine. DZE and DZS Drive Models 80V Drive Models 175V Drive Models 40A 20A 20A Features Mounts one DZEANTU and up to three DZSANTU DigiFlex® PerfomanceTM Digital Servo Drives in an ADVANCED Motion Controls ‘DxM’ Configuration DRIVES SUPPORTED ‘DxM’ Configuration (EtherCAT) o DZEANTU-020B080 o DZSANTU-020B080 o DZEANTU-040B080 o DZSANTU-040B080 o DZEANTU-020B200 o DZSANTU-020B200 FEEDBACK SUPPORTED (DRIVE FIRMWARE DEPENDENT) Incremental Encoder Auxiliary Incremental Encoder Hall Sensors 1Vp-p Sine/Cosine Encoder Absolute Encoder (Heidenhain EnDat® or Stegmann Hiperface®) ±10 VDC Position Tachometer (±10 VDC) COMPLIANCES & AGENCY APPROVALS RoHS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 2. Mounting Card MC4XDZP01 BLOCK DIAGRAM AND SPECIFICATION SUMMARY I/O Axis 3I/O Axis 2I/O Axis 0AuxFeedbackAxis 3AuxFeedbackAxis 2AuxFeedbackAxis 0USBCANopenEtherCATFeedbackAxis 3FeedbackAxis 2Motor PowerAxis 3Motor PowerAxis 2FeedbackAxis 1FeedbackAxis 0Motor PowerAxis 1Motor PowerAxis 0Logic DZEANTUGNDHVMOTOR AMOTOR BMOTOR CGROUNDDC POWER INPUTLOGIC SUPPLY INPUTGROUNDTX+ TX- RX+ RX- CAN_LOWGROUNDCAN_HIGHVBUSDATA- USB GNDDATA+ PDI-1,2,3PDI-4,5 + PDI-4,5 – PDO-1,2,3,4,5PAI-1 + (REF+) PAI-1 – (REF-) AUX ENC A,B,I- AUX ENC A,B,I+ MOT ENC A,B,I+ / SIN+ / COS+ MOT ENC A,B,I- / SIN - / COS- HALL A,B,CMOT ENC DATA+ / CLOCK+ MOT ENC DATA- / CLOCK- MOTOR THERMISTORMC4XDZP01 MOUNTING CARDAXIS 1AXIS 0AXIS 2AXIS 3AUX ENC A,B,I- AUX ENC A,B,I+ PDI-1,2,3PDI-4,5 + PDI-4,5 – PDO-1,2,3,4,5PAI-1 + (REF+) PAI-1 – (REF-) PDI-1,2,3PDI-4,5 + PDI-4,5 – PDO-1,2,3,4,5PAI-1 + (REF+) PAI-1 – (REF-) AUX ENC A,B,I- AUX ENC A,B,I+ MOTOR AMOTOR BMOTOR CMOTOR AMOTOR BMOTOR CMOTOR AMOTOR BMOTOR CMOT ENC A,B,I+ / SIN+ / COS+ MOT ENC A,B,I- / SIN - / COS- HALL A,B,CMOT ENC DATA+ / CLOCK+ MOT ENC DATA- / CLOCK- MOTOR THERMISTORMOT ENC A,B,I+ / SIN+ / COS+ MOT ENC A,B,I- / SIN - / COS- HALL A,B,CMOT ENC DATA+ / CLOCK+ MOT ENC DATA- / CLOCK- MOTOR THERMISTORMOT ENC A,B,I+ / SIN+ / COS+ MOT ENC A,B,I- / SIN - / COS- HALL A,B,CMOT ENC DATA+ / CLOCK+ MOT ENC DATA- / CLOCK- MOTOR THERMISTOR AuxFeedbackAxis 1 AUX ENC A,B,I- AUX ENC A,B,I+ I/O Axis 1 PDI-1,2,3PDI-4,5 + PDI-4,5 – PDO-1,2,3,4,5PAI-1 + (REF+) PAI-1 – (REF-) DZSANTUDZSANTUDZSANTU CAN BITRATE01 0123456789ABCDEF Mechanical Specifications Mounting Signal Connectors (4): Mates Directly to Drive 96-port (Axis 0) / 68-port (Axis 1/2/3), 1.27mm spaced, dual-row socket Mounting Power Connector (4): Mates Directly to Drive 50-pin, 2.0mm spaced, dual-row socket Motor Power Connectors: MOTOR POWER 0/1/2/3 4-port screw terminal Power Connector: HV 2 Individual threaded terminals Auxiliary Logic Connector: LOGIC 2-port, 5.08 mm spaced, enclosed, friction lock header EtherCAT Communication Connector: ETHERCAT IN/OUT Shielded, dual RJ-45 socket with LEDs CANopen Communication Connector: CANOPEN Shielded, dual RJ-45 socket with LEDs USB Connector: USB 5-pin, Mini USB B Type port I/O Connectors: I/O 0/1/2/3* 20-pin, dual-row, 2.00 mm spaced plug terminal, horizontal mount Auxiliary Feedback Connectors: AUX 0/1/2/3* 10-pin, dual-row, 2.00 mm spaced plug terminal, horizontal mount Feedback Connectors: FB 0/1/2/3* 20-pin, dual-row, 2.00 mm spaced plug terminal, horizontal mount Bus Capacitance 500 μF / 200V Size (L x W x H) mm (in) 241.30 x 190.50 x 25 (9.5 x 7.5 x 0.98) Weight TBD *Mating Connector Kit Mating connector housing and crimp pins can be ordered as a kit using ADVANCED Motion Controls part number KC-MC4XDZP01. This includes mating connector housing and crimp style contacts for the I/O, Feedback, and Auxiliary Feedback connectors. The KC-MC4XDZP01 kit includes mating hardware for 1 axis only; to order mating hardware for all 4 axes, kit order quantity should be 4. The recommended tool for crimping the contacts is Molex part number 63811-6300. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 3. Mounting Card MC4XDZP01 Network Configurations and Axis Population The table below shows the configuration options and axis population requirements for the MC4XDZP01. Note that populating axes 1, 2, and 3 is not required. The MC4XDZP01 can operate as a node in an EtherCAT network with only a DZEANTU drive installed in the Axis 0 slot if desired. When operating the MC4XDZP01 in a multi-axis configuration, note that only Axis 0 and Axis 1 are used for two-axis control; Axis 0, Axis 1, and Axis 2 are used for three-axis control; and Axis 0, Axis 1, Axis 2, and Axis 3 are used for four-axis control. Single-Axis Two-Axis Three-Axis Four-Axis Network Axis 0 (required) Axis 1 (optional) Axis 2 (optional) Axis 3 (optional) ‘DxM’ Configuration (EtherCAT) DZEANTU DZSANTU DZSANTU DZSANTU Single-Axis Two-Axis Three-Axis Four-Axis Status LED Functions The MC4XDZP01 contains status LEDs that indicate DC Power Supply status, Logic Power Supply status, and the drive Bridge status. The Power LED will light up green when power is applied to P5-Power Connector, and the Logic LED will light up green when the Logic Power is applied to P6-Auxiliary Logic Connector. The Bridge Status LED indicates the servo drive’s power bridge state, and will be green when the drive is enabled, and red when the drive is in a fault state. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 4. Mounting Card MC4XDZP01 PIN FUNCTIONS Mounting Signal Connectors These connectors mate directly to the drive. Use caution when inserting/removing drive to avoid damaging drive pins! For pin functions refer to the drive datasheet. Mounting Power Connectors These connectors mate directly to the drive. Use caution when inserting/removing drive to avoid damaging drive pins! For pin functions refer to the drive datasheet. MOTOR POWER 0/1/2/3 - Motor Power Connectors Pin Name Description / Notes I/O 1 MOTOR A Motor Phase Outputs (16 A continuous maximum per axis) O 2 MOTOR B O 3 MOTOR C O 4 CHS0 or CHS1 Shield Connection. CHS0 connected to Chassis 0 mounting hole, CHS1 connected to Chassis 1 mounting hole. - HV - Power Connector Pin Name Description / Notes I/O 1 HIGH VOLTAGE DC Power Input (67 A continuous maximum) I 2 GND Ground GND LOGIC - Auxiliary Logic Connector Pin Name Description / Notes I/O 1 AUX LOGIC Logic Supply Input I 2 GND Ground GND ETHERCAT IN/OUT - EtherCAT Communication Connectors Pin Name Description / Notes I/O 1 TX+ Transmit Line (100 Base TX) I/O 2 TX- I/O 3 RX+ Receive Line (100 Base TX) I/O 4 RESERVED Reserved - 5 RESERVED Reserved - 6 RX- Receive Line (100 Base TX) I/O 7 RESERVED Reserved - 8 COMM CHASSIS Cable shield. Internally connected to Comm Chassis mounting hole. - CANOPEN - CANopen Communication Connectors Pin Name Description / Notes I/O 1 CAN_H CAN_H bus line (dominant high) I 2 CAN_L CAN_L bus line (dominant low) I 3 CAN_GND CAN Ground GND 4 RESERVED Reserved - 5 RESERVED Reserved - 6 RESERVED Reserved - 7 CAN_GND CAN Ground GND 8 RESERVED Reserved - USB - USB Communication Connector Pin Name Description / Notes I/O 1 VBUS Supply Voltage O 2 DATA - USB Data - I/O 3 DATA + USB Data + I/O 4 RESERVED Reserved - 5 USB GND USB Ground UGND ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 5. Mounting Card MC4XDZP01 I/O 0/1/2/3 - I/O Connectors Pin Name Description I/O 1 COMM CHASSIS Shield Connection. Connected to Comm Chassis mounting hole. - 2 RESERVED Reserved - 3 PDI-1 Programmable Digital Input 1 I 4 PDI-4+ High Speed Differential Programmable Digital Input 4 I 5 PDI-2 Programmable Digital Input 2 I 6 PDI-4- High Speed Differential Programmable Digital Input 4 I 7 PDI-3 Programmable Digital Input 3 I 8 PDI-5+ High Speed Differential Programmable Digital Input 5 I 9 RESERVED Reserved - 10 PDI-5- High Speed Differential Programmable Digital Input 5 I 11 PDO-1 Programmable Digital Output 1 O 12 RESERVED Reserved - 13 PDO-2 Programmable Digital Output 2 O 14 +5V OUT +5V Output from Logic Supply O 15 PDO-3 Programmable Digital Output 3 O 16 GND Ground GND 17 PDO-4 Programmable Digital Output 4 O 18 PAI-1+ Differential Programmable Analog Input or Reference Signal Input (12-bit resolution) I 19 PDO-5 Programmable Digital Output 5 O 20 PAI-1- Differential Programmable Analog Input or Reference Signal Input (12-bit resolution) I AUX 0/1/2/3 - Auxiliary Feedback Connectors Pin Name Description I/O 1 COMM CHASSIS Shield Connection. Connected to Comm Chassis mounting hole. - 2 RESERVED Reserved - 3 AUX ENC I+ Auxiliary Incremental Encoder Channel I or Differential Programmable Digital Input 8 I 4 AUX ENC A+ Auxiliary Incremental Encoder Channel A or Differential Programmable Digital Input 6 I 5 AUX ENC I- Auxiliary Incremental Encoder Channel I or Differential Programmable Digital Input 8 I 6 AUX ENC A- Auxiliary Incremental Encoder Channel A or Differential Programmable Digital Input 6 I 7 +5V USER +5V User Supply Output (current shared with Pin-17 on Feedback Connector) O 8 AUX ENC B+ Auxiliary Incremental Encoder Channel B or Differential Programmable Digital Input 7 I 9 GND Ground GND 10 AUX ENC B- Auxiliary Incremental Encoder Channel B or Differential Programmable Digital Input 7 I FB 0/1/2/3 - Feedback Connectors* Pin Incremental Encoder Absolute Encoder 1Vp-p Sin/Cos Encoder Description / Notes I/O 1 CHS0 or CHS1 CHS0 or CHS1 CHS0 or CHS1 Shield Connection. FB 0 and FB 1 connected to Chassis 0 mounting hole, FB 2 and FB 3 connected to Chassis 1 mounting hole. - 2 RESERVED RESERVED RESERVED Reserved - 3 MOT ENC I+ RESERVED RESERVED Differential Encoder Index I 4 MOT ENC A+ SIN+ SIN+ Differential Encoder A / Differential Sine Input I 5 MOT ENC I- RESERVED RESERVED Differential Encoder Index I 6 MOT ENC A- SIN- SIN- Differential Encoder A / Differential Sine Input I 7 HALL A RESERVED HALL A Commutation sensor input. I 8 MOT ENC B+ COS+ COS+ Differential Encoder B/ Differential Cosine Input I 9 HALL B RESERVED HALL B Commutation sensor input. I 10 MOT ENC B- COS- COS- Differential Encoder B/ Differential Cosine Input I 11 HALL C RESERVED HALL C Commutation sensor input. I 12 RESERVED RESERVED RESERVED Reserved - 13 RESERVED RESERVED RESERVED Reserved - 14 RESERVED MOT ENC CLK+ RESERVED Differential Clock Line I/O 15 MOTOR THERMISTOR MOTOR THERMISTOR MOTOR THERMISTOR Motor Thermal Protection I 16 RESERVED MOT ENC CLK- RESERVED Differential Clock Line I/O 17 +5V USER +5V USER +5V USER +5V User Supply Output (current shared w/ Pin-7 on Aux Feedback Conn.) O 18 RESERVED MOT ENC DATA+ RESERVED Differential Data Line I/O 19 GND GND GND Ground GND 20 RESERVED MOT ENC DATA- RESERVED Differential Data Line I/O *Note: Feedback supported (Incremental Encoder, Absolute Sin/Cos Encoder, or 1Vp-p Sin/Cos Encoder) will be dependent on drive firmware. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 6. Mounting Card MC4XDZP01 BOARD CONFIGURATION EtherCAT Communication LED Functions (on RJ-45 Communication Connectors) LINK/ACTIVITY LED LED State Description Green – On Valid Link - No Activity Green – Flickering Valid Link - Network Activity Off Invalid Link STATUS LED LED State Description Green – On The device is in the state OPERATIONAL Green – Blinking (2.5Hz – 200ms on and 200ms off) The device is in the state PRE-OPERATIONAL Green – Single Flash (200ms flash followed by 1000ms off) The device is in state SAFE-OPERATIONAL Green – Flickering (10Hz – 50ms on and 50ms off) The device is booting and has not yet entered the INIT state or The device is in state BOOTSTRAP or Firmware download operation in progress Off The device is in state INIT ERROR LED LED State Description Example Red – On A PDI Watchdog timeout has occurred. Application controller is not responding anymore. Red – Blinking (2.5Hz – 200ms on and 200ms off) General Configuration Error. State change commanded by master is impossible due to register or object settings. Red – Flickering (10Hz – 50ms on and 50ms off) Booting Error was detected. INIT state reached, but parameter “Change” in the AL status register is set to 0x01:change/error Checksum Error in Flash Memory. Red – Single Flash (200ms flash followed by 1000ms off) The slave device application has changed the EtherCAT state autonomously: Parameter “Change” in the AL status register is set to 0x01:change/error. Synchronization error; device enters SAFE- OPERATIONAL automatically Red – Double Flash (Two 200ms flashes separated by 200ms off, followed by 1000ms off) An application Watchdog timeout has occurred. Sync Manager Watchdog timeout. Mounting Card Address Switch Switch Diagram Description 0123 45678 9ABCDEF Hexadecimal switch settings correspond to the drive Station Alias. Note that drives on an EtherCAT network will be given an address automatically based on proximity to the host. Setting the switches manually is optional, and only necessary if a fixed address is required. Switch Setting Node ID 0 000 1 016 2 032 … … D 208 E 224 F 240 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 7. Mounting Card MC4XDZP01 CONNECTOR INFORMATION Mounting Signal Connectors Connector Information 96-pin (Axis 0) / 68-pin (Axis 1/2/3), 1.27 mm spaced, dual-row socket Mating Connector Example No Mating Connector Required. Mate directly to drive Mounting Power Connectors Connector Information 50-pin, 2.0 mm spaced, dual-row socket Mating Connector Example No Mating Connector Required. Mate directly to drive MOTOR POWER 0/1/2/3 - Motor Power Connectors Connector Information 4-port screw terminal Mating Connector Details Not Applicable Included with Card Not Applicable CHS0 / CHS14MOTOR C3MOTOR B2MOTOR A1 HV - Power Connector Connector Information Bushings with M4 Screw Mating Connector Details Not Applicable Included with Card Not Applicable LOGIC - Auxiliary Logic Connector Connector Information 2-port, 5.08 mm spaced, enclosed, friction lock header Mating Connector Details Phoenix Contact: P/N 1757019 Included with Card Yes AUX LOGIC1GND2 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 8. Mounting Card MC4XDZP01 ETHERCAT IN/OUT - EtherCAT Communication Connectors Connector Information Shielded, dual RJ-45 socket with LEDs Mating Connector Details CAT 5 Cable Included with Card No TX+1RX+3TX+13INOUTRX+ TX-2RX-66RX- 2TX- LINKLINKSTATUS8SHIELDSHIELD8 CANOPEN - CANopen Communication Connectors Connector Information Shielded, dual RJ-45 socket with LEDs Mating Connector Details CAT 5 Cable Included with Card No CAN_H1CAN_GND3CAN_H13CAN_GNDCAN_L2CAN_GND77CAN_GND2CAN_L USB - USB Connector Connector Information 5-pin, Mini USB B Type port Mating Connector Details TYCO: 1496476-3 (2-meter STD-A to MINI-B ASSY) Included with Card No 1VBUS2DATA - 3DATA + 4RESERVED5USB GND ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 9. Mounting Card MC4XDZP01 I/O 0/1/2/3 - I/O Connectors Connector Information 20-pin, dual-row, 2.00 mm spaced plug terminal, horizontal mount Mating Connector Details Molex: P/N 51353-2000 (housing); 56134-9100 (contacts) Included with Card No 1COMM CHASSIS3PDI-15PDI-27PDI-39RESERVED2RESERVED4PDI-4+ 6PDI-4- 8PDI-5+ 10PDI-5- 20PAI-1- 18PAI-1+ 16GND14+5V OUT12RESERVED19PDO-517PDO-415PDO-313PDO-211PDO-1 AUX 0/1/2/3 - Auxiliary Feedback Connectors Connector Information 10-pin, dual-row, 2.00 mm spaced plug terminal, horizontal mount Mating Connector Details Molex: P/N 51353-1000 (housing); 56134-9100 (contacts) Included with Card No 1COMM CHASSIS3AUX ENC I+ 5AUX ENC I- 2RESERVED4AUX ENC A+ 6AUX ENC A- 10AUX ENC B- 8AUX ENC B+ 9GND7+5V USER FB 0/1/2/3 - Feedback Connectors Connector Information 20-pin, dual-row, 2.00 mm spaced plug terminal, horizontal mount Mating Connector Details Molex: P/N 51353-2000 (housing); 56134-9100 (contacts) Included with Card No 1CHS0 / CHS13MOT ENC I+ 5MOT ENC I- 7HALL A9HALL B2RESERVED4MOT ENC A+ 6MOT ENC A- 8MOT ENC B+ 10MOT ENC B- 20RESERVED18GROUND16RESERVED14RESERVED12RESERVED19GND17+5V USER15MOTOR THERMISTOR13RESERVED11HALL C 1CHS0 / CHS13RESERVED5RESERVED7RESERVED9RESERVED2RESERVED4SIN+ 6SIN- 8COS+ 10COS- 20MOT ENC DATA- 18MOT ENC DATA+ 16MOT ENC CLK- 14MOT ENC CLK+ 12RESERVED19GND17+5V USER15MOTOR THERMISTOR13RESERVED11RESERVED 1CHS0 / CHS13RESERVED5RESERVED7HALL A9HALL B2RESERVED4SIN+ 6SIN- 8COS+ 10COS- 20RESERVED18RESERVED16RESERVED14RESERVED12RESERVED19GND17+5V USER15MOTOR THERMISTOR13RESERVED11HALL C Incremental Encoder Absolute Encoder 1Vp-p Sin/Cos Encoder ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 10. Mounting Card MC4XDZP01 MOUNTING DIMENSIONS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 11. Mounting Card MC4XDZP01 PART NUMBERING INFORMATION XDrive Type IndicatorDZP: DZ Digiflex PerformanceAxisNumber of axes supportedProduct TypeMC indicates mounting cardSeriesMounting card seriesMC4DZP01 DigiFlex® Performance™ series of products are available in many configurations. All models listed in the selection tables of the website are readily available, standard product offerings. ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume requests. Our Applications and Engineering Departments will work closely with your design team through all stages of development in order to provide the best servo drive solution for your system. Equipped with on-site manufacturing for quick- turn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and time-to-market while increasing system quality and reliability. Examples of Customized Products Optimized Footprint Tailored Project File Private Label Software Silkscreen Branding OEM Specified Connectors Optimized Base Plate No Outer Case Increased Current Limits Increased Current Resolution Increased Voltage Range Increased Temperature Range Conformal Coating Custom Control Interface Multi-Axis Configurations Integrated System I/O Reduced Profile Size and Weight Feel free to contact Applications Engineering for further information and details. All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: