Control Technologies 2646 MultiPro Bedienungsanleitung
25 South Street, Hopkinton, MA 01748
This guide contains installation and applications information for the
MultiPro MC Dual Servo Automation Controller.
You program the MultiPro MC Dual Servo controller using CTCs state
programming language, uickstep for Windows. Using either an
RS-232 interface, you can run all programming and diagnostic functions
for the controller from your PC, as well as using them as a computer
communications port.
This guide is divided into the following sections:
Dimensions and Mounting Instructions for the MultiPro Controllers .... 2
Controller Description and Connections ................................................. 3
MultiPro MC Dual Servo Specifications ................................................. 6
MultiPro MC Dual Servo Power Connections ...................................... 10
Status Light Description......................................................................... 11
Connecting Digital Inputs ...................................................................... 12
Connecting Digital Outputs ................................................................... 13
Connecting and Programming Analog Inputs ........................................ 16
Connecting and Programming Analog Outputs ..................................... 20
Setting-up RS-232 Controller Communications .................................... 21
Programming a Servo ............................................................................. 23
Setting Up Registration for a Servo ....................................................... 30
Setting Up Electronic Following for a Servo ........................................ 36
Servo Hardware Considerations ............................................................ 39
Sample uickstep Programs .................................................................. 41
Special Purpose Registers for Servos .................................................... 46
Model 2646 MultiPro MC Dual
Servo Automation Controller
Copyright 1997 Control Technology Corporation. All rights reserved. Printed in USA.
This document is current as of the following revision levels:
Controller Firmware - 2.12
Controller Hardware - A
Control
Technology
Corporation
Installation Guide
2Model 2646 MultiPro MC Dual Servo Installation
Guide
Dimensions and Mounting Instructions for the MultiPro Controllers
The MultiPro has mounting ears, allowing it to be easily mounted to a flat surface (for
example, an NEMA-rated electrical enclosure) with four mounting bolts. You should
follow the guidelines described in this installation guide to ensure a successful design.
Mounting Considerations
When selecting a mounting location for the controller, care should be taken to provide
protection against various environmental factors:
The controller should not be exposed to flying metal chips (be careful during instal-
lation and subsequent machine construction work.), conductive dusts, liquids or
condensing humidity. In environments where these hazards may be present, the
controller should be housed in an NEMA 4 or NEMA 12 rated enclosure, as appro-
priate.
The controller is not intended for mounting in an environment requiring explosion
proof practices.
If possible, the controller should be mounted physically distant from devices produc-
ing electromagnetic interference (EMI) or radio frequency interference (RFI). This
includes motor starters, relays, large power transformers, ultrasonic welding appara-
tus, etc.
The following illustration shows the dimensions of your MultiPro controller
4.70 in
(119.4 mm)
5.90 in
(149.9 mm)
5.30 in
(134.6 mm)
4.00 in
(101.6 mm)
5.50 in
(139.7 mm)
MPDIMS
R0.10 in (2.54 mm)
Ref Point
R0.19 in (4.83 mm)
0.30 in
(7.62 mm)
Mounting Ear Detailed View
(use 4 mounting bolts)
3
Control Technology Corporation
+24V
+5V
STAT
24 VDC IN
GND
1
5
9
13
INPUTS
1
5
9
13
OUTPUTS
COMM
RS-232
REF
GND
1+
GND
2+
3+
GND
4+
5+
GND
6+
7+
GND
8+
GND
01
03
05
07
GND
REF
GND
1-
GND
1-
3-
GND
4-
5-
GND
6-
7-
GND
8-
GND
02
04
06
08
GND
ANALOG I/O
1
5
DEDICATED
OUTPUTS
1-2
3-4
5-6
7-8
RET
RET
+24
+24
1
2
C
O
M
M
A
N
D
S
E
N
C
O
D
E
R
S
1
2
1
2
I
N
P
U
T
S
KILL
FLIM
RLIM
STOP
HOM
REG
KILL
FLIM
RLIM
STOP
HOM
REG
TM
MultiPro MC Dual Servo
2646F1
Controller Description and Connections
Po er connector: Provides
24 VDC to the controller.
Po er indicator: This light
is lit hen the po er is on
hether or not the
controller is in operation. It
also indicates that the logic
supply is present.
Status light: Indicates
soft are or hard are
faults. Refer to the section
Status Light Description for
additional information.
Digital input connector:
Provides access to the 16
inputs. Inputs are numbered
1 through 16.
Digital output connector: Provides
access to 16 of the controllers 24
outputs. The outputs are
numbered 1 thought 16.
Led indicators: Each
digital input and output has
an LED indicator. An LED
indicator lights up hen its
associated input or output
is active.
Servo command connector: Provides
access to the analog output for
commanding a servo drive and the relay
outputs for enabling a servo drive.
Servo encoder connectors:
Provides a connection to
the quadrature encoders.
Dedicated input connectors:
Provides access to the 6
dedicated inputs on the servo
board as ell as, providing
+24 for po ering external
sensors.
RS-232 channels: Provides
both programming and
data communications via a
personal computer using
Quickstep and CTCMON.
Refer to the section,
Setting up RS-232
Controller Communications
for more information
Dedicated digital output
connector: Provides
access to the digital
outputs. The dedicated
digital outpus are mapped
one-to one ith the analog
inputs.
Analog input/output
connector: Provides
access to the analog inputs
and outputs.
Led indicators: Each
digital input and output has
an LED indicator. An LED
indicator lights up hen its
associated input or output
is active.
4Model 2646 MultiPro MC Dual Servo Installation
Guide
Controller Description and Connections
Pin 1 Pin 2
Pin 25 Pin 26
2647P2
Pin 1 Pin 2
Pin 33 Pin 34
2647P1
Pin No. Signal Pin No. Signal
1 Input 1 2 Return
3 Input 2 4 Return
5 Input 3 6 Return
7 Input 4 8 Return
9 Input 5 10 Return
11 Input 6 12 Return
13 Input 7 14 Return
15 Input 8 16 Return
17 Input 9 18 Return
Pin No. Signal Pin No. Signal
1 Output 1 2 Output 14
3 Output 2 4 Output 15
5 Output 3 6 Output 16
7 Output 4 8 Return
9 Output 5 10 Return
11 Output 6 12 Return
13 Output 7 14 Return
Pin No. Signal Pin No. Signal
19 Input 10 20 Return
21 Input 11 22 Return
23 Input 12 24 Return
25 Input 13 26 Return
27 Input 14 28 Return
29 Input 15 30 Return
31 Input 16 32 Return
33 +24 VDC 34 Return
Digital Input Connector Wiring
Pin No. Signal Pin No. Signal
15 Output 8 16 No pin
17 Output 9 18 +24 VDC
19 Output 10 20 +24 VDC
21 Output 11 22 +24 VDC
23 Output 12 24 +24 VDC
25 Output 13 26 N/C
Digital Output 1-16 Connector Wiring
Pin 1
Pin 39
Pin 2
Pin 40
2644P2
2644P1
Pin 1
Pin 15
Pin 2
Pin 16
Pin No. Signal Pin No. Signal
1 10 V ref 2 10 V ref
3 Return 4 Return
5 A input 1+ 6 A input 1-
7 Return 8 Return
9 A input 2+ 10 A input 2-
11 A input 3+ 12 A input 3-
13 Return 14 Return
15 A input 4+ 16 A input 4-
17 A input 5+ 18 A input 5-
19 Return 20 Return
Dedicated Digital Outputs 1-8 Connector Wiring
Pin No. Signal Pin No. Signal
1 D output 1 2 D output 2
3 D output 3 4 D output 4
5 D output 5 6 D output 6
7 D output 7 8 D output 8
9 Return 10 Return
11 Return 12 Return
13 +24 VDC 14 +24 VDC
15 +24 VDC 16 +24 VDC
Pin No. Signal Pin No. Signal
21 A input 6+ 22 A input 6-
23 A input 7+ 24 A input 7-
25 Return 26 Return
27 A input 8+ 28 A input 8-
29 Return 30 Return
31 A output 1 32 A output 2
33 A output 3 34 A output 4
35 A output 5 36 A output 6
37 A output 7 38 A output 8
39 Return 40 Return
Analog Input/Output Connector Wiring
5
Control Technology Corporation
2219P3
Pin1 Pin 2
2219P1
Pin 1
Pin 5
2219P2
Pin 9
Pin 1
Servo Command Connector Wiring
Pin No. Connection
5 An log comm nd output
4 An log comm nd return
3 Drive kill rel y (norm lly open)
2 Drive kill rel y common
1 Shield
Servo Encoder Connector Wiring
Pin No. Connection
1 Ch nnel A+
2 Ch nnel A-
3 Not used
4 Not used
5 Index -
6 5 VDC return
7 +5 VDC for encoder
8 Ch nnel B+
9 Ch nnel B-
10 Index +
Servo Dedicated Input Connector Wiring
Pin No. Connection
1Strt
2 Kill comm nd
3 Forw rd limit
4 Reverse limit
5 Home
6 Registr tion input
7 +24 VDC
8 +24 V return
Contact shape
for command
input connector
CNT1
Contact shape
for encoder
connector
CNT3
Contact shape
for dedicated
input connector
CNT2
6Model 2646 MultiPro MC Dual Servo Installation
Guide
C U Specifications
CPU Characteristics Min Typ Max
Ambient Temperature
operating 0 50 °C
storage -20 80 °C
Voltage Range 22 24 27 VDC
Current Requirement@ 24VDC .2 .3 Amp
CPU Power Requirements (5V) 0.2 0.25 Amp
User Memory Capacity (11 yr. Lithium-cell RAM) 24K Bytes
These controllers use a 80C196 processor running at 18.432 MHz
CPU Typical Performance Specifications Typ
Sense input, jump to new step, change output 1 ms
Perform multiplication (between volatile registers) 1 ms
Time delay duration, 10 ms programmed 11.0 ms
Time delay duration, 1 . programmed 1.002 sec
Internal count rate
up to 3 inputs being counted 500 Hz
4 to 6 inputs being counted 250 Hz
7 to 9 inputs being counted 166 Hz
Note: Performance specifications shown are with one task running. RS-232 communications may
degrade count by up to 10%.
Controller Resource Summary
Multi-Tasking (number of tasks) 28
Volatile Registers (32-bit) 488
Non-Volatile Registers (32-bit) 500
Data Table Elements (16-bit, Nonvolatile) 8000
Input-linkable Counters 8
Flags 32
Program Steps 1024
Servo Specifications
Abosolute Maximum Ratings Min Max
Command load resistance 2 kΩ
Encoder input voltage 0.0 +5.0 VDC
Encoder (+5 V.) supply output current 500 mA
(total - both axes)
Ambient temperature (operating) 0 50 °C
Specifications Min Typ Max
Command outputs nominal voltage range -10.0 +10.0 VDC
Differential encoder inputs
Nominal input range 0.0 +5.0 VDC
Open-circuit voltage (Ii = 0 mA) 5.0 5.38 VDC
Logic-low current (Vi = 0 V.) 1.1 1.2 mA
Auxiliary Inputs (except Registration)
Off voltage (Ii = 0 mA) - Note 2 24.0 26.4 VDC
On current (Vi = 0 V.) 2.12 mA
MultiPro MC Dual Servo Specifications
7
Control Technology Corporation
Servo Specifications cond.)
Threshold
low-to-high 14.0 VDC
high-to-low 12.5 VDC
Registration Auxiliary Input
Off voltage (Ii = 0 mA) 24.0 26.4 VDC
On current (Vi = 0 V.) 2.28 mA
Threshold
low-to-high 5.1 VDC
high-to-low 4.9 VDC
Performance Specifications Min Typ Max
Maximum velocity setting 1 4,000,000 Steps/sec
Resolution of max. velocity setting 1 Steps/sec
Accel and decel settings 1 130,000,000 Steps/sec2
Resolution of accel/decel setting 1 Steps/sec2
Position range (absolute mode) -2,147,483,648 2,147,483,647 Steps
Relative motion command range -2,147,483,648 2,147,483,647 Steps
Position registration accuracy +1 Count
Notes:
1. Specifications shown above are at 25° C., unless otherwise noted.
2. Dependent on controller auxiliary supply voltage (24 V. typ).
3. PID parameters are programmed as relative values in the range of 0 to 255. Acceleration (Aff) and
Velocity feedforward (Vff) range from 0 to 32767.
4. In Performance Specifications, the term Step refers to one edge transition on either encoder input for
that axis.
5. Ratio Range for both axis following and ratio control is +1 to 32767 minimum and +32767 to 1
maximum. Depending on the application, high ratios may result in
instability.
Analog Input/Output Specifications
Absolute Maximum Ratings Min Max
Maximum analog input voltage +15 VDC
Minimum analog output load resistance 2.0 kΩ
Maximum output current
Precision 10 volt reference output 25 mA
Digital outputs (per output 500 mA
Analog isolation - voltage withstand (one minute duration max.) 1500 volts
Analog Output Specifications Min Typ Max
Output voltage range -10.000 10.000 VDC
Output resolution 2.44 mV
Output settling time
-10.000 to +10.000 V .2 ms
0 to 5.000 V .1 ms
8Model 2646 MultiPro MC Dual Servo Installation
Guide
Analog Input/Output Specifications cond.)
Analog Input Specifications Min Typ Max
Differential input range -10.000000 +10.000000 VDC
Common mode voltage range -10 +10 VDC
Input resistance 10 MW
Input resolution (15 bit) .00305 %FS
Input accuracy .00305 %FS
(25 °C, 8-sample filtering)
Input conversion time 2.083 ms
(asynchronous)
Input filter settings 2.083 533.248 ms
(default = 1 sample)
Threshold triggering response 2.25 ms
(Analog input to digital output response)
Dedicated Digital Output Specifications Typ Max
On voltage (Io = 500 mA) .6 1.2 VDC
Off leakage (applied V = 24 VDC) 1 100 µA DC
Maximum output current*500 mA DC
*All digital outputs are short circuit and over-current protected.
Digital Input/Output Specifications
Input/Output Absolute Maximum ratings Min Typ Max
Applied input voltage 0 27.0 VDC
Applied output voltage 0 24.0 VDC
Output Current
Single output 500 mA DC
Total limit 5 Amp DC
Digital Output Specifications Outputs 1 -16) Typ Max
Output on voltage (Io = 500 mA) 0.8 1.8 VDC
Output off leakage (applied V = 24 V) - Note 3 0.01 0.75 µA
Digital Input Specifications Min Typ Max
Input off voltage (Ii = 0 mA) 24.0 26.4 VDC
Input on current (Vi = 0 V) -2.10 -2.85 mA
Input on current threshold (Vi = 8 V typ) -1.0 -1.85 mA
Input off current -250 µA
(typ leakage current allowable)
Notes:
1. Under normal operation, no external input voltage is applied inputs should be externally switched
to the input common.
2. An on-board protection diode returns to +24 V from each output.
3. In the off state, unconnected outputs are internally pulled to +5 V through a diode and an LED
indicator.
4. All Power Requirements are worst-case, with all inputs and/or outputs activated.
5. Specifications shown above are at 25° C., unless otherwise noted.
MultiPro MC Dual Servo Specifications
9
Control Technology Corporation
RS-232 Specifications
Absolute Maximum Ratings Max
Current draw from on-board +5 V supply 110 mA (DC)
Operating Characteristics Min Typ Max
RS-232 Transmitters 9 12 V DC
RS-232 Receivers 3 12 V DC
Notes: Specifications shown above are at 25° C., unless otherwise noted.
10 Model 2646 MultiPro MC Dual Servo Installation
Guide
MultiPro MC Dual Servo Power Connections
Connecting DC ower
The MultiPro MC Dual Servo contains an internal power supply which provides a +5
VDC isolated voltage for the operation of the controller.
The controllers power supply requires 24 VDC for proper operation. Power is applied
to the controller via the power connector on the top of the controller. The controllers
power system derives its operating voltage from the external 24 volt supply.
GND
PW1
Internal
24V
Power
Supply
Line
External
300 mA + Output
Load Requirements
24 VDC In
The Importance of roper Grounding
As with any electronic equipment, the controllers ground should follow a direct, low-
impedance path to the plants power source. If possible, this path should not be share by
any machinery which injects a large amount of electrical noise into the ground.
For further consideration regarding noise protection, refer to the Application Note,
Re ucing Noise Susceptibility. Application notes may be obtained at no charge from
your distributor or directly from CTC.
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