ACS Motion Control MC4U-19-Piano-enc, MC4U-9-Piano-enc, MC4U-22-Piano-enc, MC4U-11-Piano-enc, MC4U-13-Piano-AX7 Hardware Manual

MP4U

Control Module

Hardware Guide

December 2017

Document Revision: 2.50.D

MC4UHardwareGuide

MC4U
ReleaseDate: December2017

Copyright

© ACSMotionControlLtd.2017.Allrightsreserved.
Changesareperiodically madetotheinformationinthisdocument.Changesarepublished asreleasenotesandlater

incorporatedintorevisionsof thisdocument.
Nopart of thisdocumentmay bereproducedinanyformwithoutpriorwritten permissionfromACSMotionControl.

Trademarks

ACSMotionControl, SPiiPlus,PEG, MARK, ServoBoost,NetworkBoost and NanoPWMare trademarksof ACS MotionControlLtd.
Windows andVisualBasicare trademarksof MicrosoftCorporation.
EtherCAT is registeredtrademark and patentedtechnology,licensedbyBeckhoff AutomationGmbH,Germany.
Anyother companies and product namesmentioned hereinmaybe thetrademarks of theirrespectiveowners.

Patents

ACS MotionControlLtd.NanoPWMproducts areprotectedunderthefollowingpatents:
IsraelPatent No.235022

US Patent ApplicationNo. 14/532,023

EuropePatentapplication No.15187586.1

JapanPatentApplication No.: 2015-193179

ChinesePatentApplication No.:201510639732.X

Taiwan(R.O.C.)PatentApplication No.104132118

KoreanPatent ApplicationNo.10-2015-0137612

www.acsmotioncontrol.com
[e-mail]
[e-mail]

Notice

Theinformationinthisdocument isdeemedto be correctat thetime ofpublishing.ACSMotionControlreservestherightto

changespecifications withoutnotice.ACSMotionControlis not responsiblefor incidental,consequential,or special damagesof

anykindinconnectionwithusingthisdocument.

Version 2.50.D

2

RevisionHistory

Date Revision Description

MC4UHardwareGuide

December

2017
July2017 2.40.D Removed SPiiPlusADKSuitesoftwarediscshipping withMC4U.
November

2016
August

2016
May2016

November

2015
June2015 2.29.01

2.50.D Reformatted

2.30.01.

D

2.30.D

2.29.20.

D

2.29.10.

D

Returned motherboardsectionsnot includedin Version2.30.D
Updated forSPiiPlusADK Suitev2.30.

Updated RelatedDocumentslist.

Addedminimumhardware revisionandSPiiPlusFirmware

versionrequirements.
Updated absoluteencoderbidirectionalschematicdiagram

Updated STOnote

Addednote concerningSTO certification.
Majordocument update:removalof unsupported modules,

informationrevised,documentrestructuredfor usability.

March

2015

2.29 Updated forVersion2.29features.

Version2.50.D

3

ConventionsUsedinthisGuide

TextFormats

Format Description

Bold Namesof GUI objects orcommands.

BOLD+UPPERCASE ACSPL+variablesandcommandss

MC4UHardwareGuide

FlaggedText

Monospace + grey
background

Italic Namesof other documents.

Blue Web pages,ande-mailaddresses.

[ ] InGUIsindicatesoptional item(s)
| InGUIsindicateseither/or items

Note -includesadditional information orprogrammingtips.
Caution -describes aconditionthat mayresult indamageto equipment.

Warning -describes acondition thatmayresult inserious bodily injuryor death.
Model -highlightsaspecification, procedure, condition, orstatement that depends

on the product model.

Code example.

Version 2.50.D

Advanced -indicatesatopic for advanced users.

4

MC4UHardwareGuide

RelatedDocuments

Documents listed inthe following table provide additionalinformationrelated to this document.
The most updated versionof the documents can be downloaded by authorized users from

www.acsmotioncontrol.com/downloads.

Document Description

Provides communication,configurationand

SPiiPlus Setup Guide
SPiiPlus Utilities User Guide

adjustment procedures for the MC4U Control

Module motion controller.
A guide for usingthe SPiiPlusUser ModeDriver

(UMD) for setting up communicationwith the

SPiiPlusmotion controller.

ACSPL+ Programmer’s Guide
SPiiPlus Command and Variable

Reference Guide
SPiiPlus CLibrary Programmer

Guide
SPiiPlus COMLibrary

Programmer Guide
SPiiPlus .NET Library

Programmer Guide
SPiiPlus MMI Application Studio

User Guide

Guide for usingthe ACSPL+high level

programminglanguage.
Provides complete details ofthe ACSPL+

programminglanguage command andvariable

set for programming SPiiPluscontrollers.
Provides C++andVisual Basic®libraries for host

PCapplications. Thisreference isspecifically

applicable for the MC4UControl Module motion

controller.
Provides COMMethods,Properties, and Events

for Communication with the MC4U Control

Module motion controller.
Provides .NET Methods,Properties,andEvents

for Communication with the MC4U Control

Module motion controller.
A complete guide for using the SPiiPlusMMI

Application Studio and associated monitoring

tools

SPiiPlusNT/DC Motion Controller
Hardware Guide

SPiiPlus PDMnt Product Guide
SPiiPlus SDMnt Product Guide

Version 2.50.D

Provides detailsfor the SPiiPlusNT-LT/HPand

SPiiPlusDC-LT/HPmotion controllers, one of

which isinstalled in the MC4UControl Module.
Technical descriptionof the SPiiPlusPDMnt

Network Interface.
Technical descriptionof the SPiiPlusSDMntStep

Motor DriveModule.

5

Document Description

MC4UHardwareGuide

SPiiPlus UDMnt Product Guide
PEGand MARKOperations

Application Notes
Using Absolute Encoderswith

ACS Products AN3.00
HSSIExpansion Modules Guide

SPiiPlus ADK Suite v2.50
Release Notes

Technical descriptionof the SPiiPlusUDMnt

UniversalDrive Module.

Provides detailsonusing the PEG commandsin

SPiiPlussystems.
Addressesthe physicalconnections,

configurationandoperationof absolute

encoderswith ACSMotionControl networking

products.
High-SpeedSynchronousSerialInterface(HSSI)

for expanded I/O, distributed axes, and

nonstandard devices.
Describesnewfeatures andchanges thatwere

introduced sincethe last SPiiPlusNTSuite

version 2.40 release.

Version 2.50.D

6

MC4UHardwareGuide

TableofContents

1. Introduction 24

1.1 Document Scope 24

1.2 Product Overview 24

1.2.1 MC4U-9-Piano-enc 24

1.2.2 MC4U-11-Piano-enc 25

1.2.3 MC4U-13-Piano-AX7 26

1.2.4 MC4U-19-Piano-enc 27

1.2.5 MC4U-22-Piano-enc 28

1.3 Software Package 29

2. MC4USpecifications 30

2.1 MC4U PhysicalSpecifications 31

2.1.1 MC4UDimensions 31

2.1.1.1 MC4U-9-Piano-enc Dimensions 31

2.1.1.2 MC4U-11-Piano-encDimensions 32

2.1.1.3 MC4U-13-Piano-AX7 Dimensions 33

2.1.1.4 MC4U-19-Piano-enc Dimensions 34

2.1.1.5 MC4U-22-Piano-enc Dimensions 35

2.1.2 MC4U Weight 36

2.1.3 MC4U PowerDissipation 36

2.1.4 MC4U EnvironmentalParameters 37

2.1.5 MC4U CoolingVents 38

2.2SPiiPlusNT/DC MotionControllers 38

2.2.1 SPiiPlusNT/DC MotionControllersFeatures 40

2.2.2SPiiPlusNT/DC Indicators 46

2.3PSM3UPower Supplies 48

2.3.1 PSM3U Specifications 54

2.3.1.1 PSM3U-48V-XXkW Power Supply 54

2.3.1.2 PSM3U-320V-8kW Power Supply 56

2.4 Motor Drives 64

Version 2.50.D

2.3.1.3 PSM3U-320V-20KWPowerSupply 62

2.4.1 PWM Drives 64

2.4.1.1 DDM3U-X-60V-4A Low-Power Motor Drive 65

2.4.1.1.1 DDM3U-X-60V-4A Specifications 66

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MC4UHardwareGuide

2.4.1.2 DDM3U-1-320V-XX-SRMotor Drive 69

2.4.1.2.1 DDM3U-1-320V-XX-SRSpecifications 70

2.4.1.2.2 DDM3U-1-320V-XX-SRPWMPower Bridge Specification 72

2.4.1.2.3 DDM3U-1-320V-XX-SRDrive Protection Circuits 73

2.4.1.3 DDM3U-2-320V-XA High-PowerMotor Drive 75

2.4.1.3.1 DDM3U-2-320V-XASpecifications 75

2.4.1.3.2 DDM3U-2-320V-XA PWM PowerBridge Specification 81

2.4.1.4 DDM3U-4-320V-XAMotor Drive 86

2.4.1.4.1 DDM3U-4-320V-XA Power SupplyInput Specification 88

2.4.1.4.2 DDM3U-4-320V-XAControl Supply Input Specification 89

2.4.1.4.3 DDM3U-4-320V-XA PWMPowerBridge Specification 90

2.4.1.4.4 DDM3U-4-320V-XADrive Protection Circuits 91

2.4.2 LDM3USingle AxisLinear Drive 92

2.4.2.1 LDM3USpecifications 94

2.5MC4UMotherboards 96

2.5.1 MB4U-ZZW-AX7 96

2.5.1.1 MB4U-ZZW-AX7 Functionality 96

2.5.1.2 J1 -24VLogic & I/OSupply Connector 96

2.5.1.3 J2 -EtherCAT® OUTConnector 97

2.5.1.4 J3 -Ether Cat INConnector 98

2.5.1.5 J4 -Encoder Connector 98

2.5.1.6 J5 -EncoderConnector 102

2.5.1.7 J6 -DriveSupply Connector 105

2.5.1.8 J7-J10 -Motor Connectors 106

2.5.1.9 J11-J14-Motor Connectors 107

2.5.2MB5U-CONT-PS 108

2.5.2.1 MB5U-CONT-PSFunctionality 108

2.5.2.2Encoder andHallConnectors 109

2.5.2.3J7-Squared SIN-COS Connector 111

2.5.2.4J8-Digital and Analog I/OConnector 112

Version 2.50.D

2.5.2.5J9 -Regeneration Connector 114

2.5.2.6J21 -Fast I/O(PEGand Mark) Connector 115

2.5.2.7 J22-Motor LimitsConnector 117

2.5.2.8J4,J5,andJ6-HSSIConnectors 118

2.5.2.9J2andJ3-Ethernet Connectors 119

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MC4UHardwareGuide

2.5.2.10J19 and J20RS-232 CommunicationConnectors 120

2.5.2.11 J14 -Drive Supply Voltage Connector 120

2.5.2.12J1 -24V LogicSupply Connector 121

2.5.2.13MB5U-CONT-PSJumpers 121

2.5.3MB5U-CONT-PS2 124

2.5.3.1 MB5U-CONT-PS2Functionality 124

2.5.3.2J1 -24V Logic Supply Connector 125

2.5.3.3Encoder andHallConnectors 125

2.5.3.4J7 -Squared SIN-COS Connector 127

2.5.3.5J8 -Digital and Analog I/OConnector 128

2.5.3.6J14, J114 -Drive SupplyVoltage Connector 131

2.5.3.7 J21 -Fast I/O(PEGand Mark) Connector 132

2.5.3.8J22-MotorLimitsConnector 134

2.5.3.9J4,J5,andJ6-HSSIConnectors 135

2.5.3.10J2andJ3-Ethernet Connectors 136

2.5.3.11 J19 andJ20RS-232 CommunicationConnectors 137

2.5.3.12J9, J109- Regeneration Connector 137

2.5.3.13J145 -60V Drive SupplyConnector 138

2.5.3.14 MB5U-CONT-PS2Jumpers 138

2.5.4MB5U-Lin 140

2.5.4.1 MB5U-LinMFunctionality 141

2.5.4.2J130(D0)-DriveMotor 141

2.5.4.3MB5U-LinJumpers 142

2.5.5MB5U-LinM 143

2.5.5.1 MB5U-LinMFunctionality 143

2.5.5.2J130(D0) -Drive Motor 143

2.5.5.3MB5U-LinM Jumpers 144

2.5.6MB5U-YYYY 145

2.5.6.1 MB5U-YYYY Functionality 145

2.5.6.2Encoder andHallConnectors 146

Version 2.50.D

2.5.6.3J7 -Squared SIN-COSConnector 148

2.5.6.4 J8 -DigitalandAnalogI/O Connector 149

2.5.6.5J9-Regeneration Connector 151

2.5.6.6J21 -Fast I/O(PEG& Mark)Connector 152

2.5.6.7 J22-Motor LimitsConnector 154

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MC4UHardwareGuide

2.5.6.8J4, J5, andJ6-HSSI Connectors 155

2.5.6.9J2andJ3-Ethernet Connectors 156

2.5.6.10J19 and J20RS-232 CommunicationConnectors 157

2.5.6.11 J14-Drive Supply VoltageConnector 157

2.5.6.12 J1 -24VLogic Supply Connector 158

2.5.6.13 J40-External DriveControl Signals 158

2.5.6.14 J152_$ - Motor DriveOutput Connectors 160

2.5.6.15MB5U-YYYY Jumper Configuration 161

2.5.7 MB5U-Z 164

2.5.7.1 MB5U-Z Functionality 165

2.5.7.2 Encoder and Hall Connectors 166

2.5.7.3 J10 -DigitalandAnalogI/O Connector 167

2.5.7.4 J20-Safety & Fast I/O InputsConnector 170

2.5.7.5J3,J4-Drive Motor Connectors 171

2.5.7.6 J6 and J7 -Ethernet Connectors 172

2.5.7.7 J8 -HSSIConnector 173

2.5.7.8 J19 -RS-232 CommunicationConnector 174

2.5.7.9 J13 -ExternalDrive Control Signals 174

2.5.7.10 J11 -External Regeneration 176

2.5.7.11 J12 -Drive SupplyConnector 176

2.5.7.12 J5 -24V LogicSupply Connector 177

2.5.7.13 MB5U-Z Jumper Configuration 177

2.5.8MB5U-ZV 179

2.5.8.1 MB5U-ZVFunctionality 180

2.5.8.2Encoder andHallConnectors 181

2.5.8.3J10-Digital and Analog I/OConnector 182

2.5.8.4J20-Safety &FastI/OInputs Connector 185

2.5.8.5J1, J3, J21,J22-DriveMotor Connectors 187

2.5.8.6J2andJ4-Drive Motor Connectors 187

2.5.8.7 J8, J9 andJ30-HSSI Connectors 189

Version 2.50.D

2.5.8.8J6andJ7 -Ethernet Connectors 189

2.5.8.9J19 -RS-232CommunicationConnector 190

2.5.8.10J23-Z&CSafety Connector 190

2.5.8.11 J11-External Regeneration 191

2.5.8.12 J12 -DriveSupply Input 191

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MC4UHardwareGuide

2.5.8.13 J5-24VLogicSupply 192

2.5.8.14 MB5U-ZVJumpers 192

2.5.9MB5U-ZZ 195

2.5.9.1 MB5U-ZZFunctionality 196

2.5.9.2Encoder andHallConnectors 196

2.5.9.3J10-Digital and Analog I/OConnector 198

2.5.9.4 J20-Safety &FastI/OInputs Connector 200

2.5.9.5J1, J2, J3,J4-DriveMotor Connectors 202

2.5.9.6J6and J7 -Ethernet Connectors 203

2.5.9.7 J8 and J9-HSSIConnectors 204

2.5.9.8J19 -RS-232CommunicationConnector 204

2.5.9.9J11 -ExternalRegeneration 205

2.5.9.10J12 -DriveSupply Connector 205

2.5.9.11 J5 -24V LogicSupply Connector 206

2.5.9.12 MB5U-ZZJumpers 206

2.5.10MB5U-ZZW 208

2.5.10.1 MB5U-ZZWFunctionality 209

2.5.10.2Encoder andHallConnectors 210

2.5.10.3J7 -Squared SIN-COS Connector 212

2.5.10.4 J8 -DigitalandAnalogI/O Connector 213

2.5.10.5J9-Regeneration Connector 215

2.5.10.6J21 -Fast I/O(PEG& Mark)Connector 216

2.5.10.7 J22 -Motor LimitsConnector 218

2.5.10.8J4, J5, andJ6-HSSIConnectors 219

2.5.10.9J2andJ3-Ethernet Connectors 220

2.5.10.10 J19 andJ20RS-232CommunicationConnectors 221

2.5.10.11 J14-Drive Supply VoltageConnector 221

2.5.10.12 J1 -24VLogic Supply Connector 222

2.5.10.13 J40 -ExternalDriveControl Signals 222

2.5.10.14 J152_$ - Motor DriveOutput 223

Version 2.50.D

2.5.10.15 J125 -ExternalDC Drive Supply Input 225

2.5.10.16 J121 -J124 Low-Power Motor Connectors 226

2.5.10.17 MB5U-ZZW Jumpers 227

2.5.11 MB5U-ZZZ 230

2.5.11.1 MB5U-ZZZFunctionality 230

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MC4UHardwareGuide

2.5.11.2 Encoder and HallConnectors 231

2.5.11.3 J7 -Squared SIN-COS Connector 233

2.5.11.4 J8-Digital and Analog I/OConnector 234

2.5.11.5 J9 -Regeneration Connector 236

2.5.11.6 J21 -FastI/O(PEG& Mark) Connector 237

2.5.11.7 J22-Motor Limits Connector 239

2.5.11.8 J4, J5,andJ6-HSSIConnectors 241

2.5.11.9 J2 andJ3-Ethernet Connectors 241

2.5.11.10 J19andJ20RS-232CommunicationConnectors 242

2.5.11.11 J14 -Drive Supply VoltageConnector 243

2.5.11.12 J1 -24V LogicSupply Connector 243

2.5.11.13 J40-ExternalDrive Control Signals 244

2.5.11.14 J152_$ -Motor DriveOutput 245

2.5.11.15 MB5U-ZZZ Jumpers 246

2.5.12 MB5U-2-45 249

2.5.12.1 J152-0,J152-1-Servo MotorDrive 249

2.5.12.2B5U-2-45Jumpers 250

2.5.13 MB5U-2-20 250

2.5.13.1 J152 -ServoMotor Drive 251

2.5.13.2MB5U-2-20 Jumpers 252

2.5.14 MB5U-4-XX 253

2.5.14.1 MB5U-4-XXFunctionality 254

2.5.14.2 ServoMotor Drive Connectors 254

2.5.14.3 MB5U-4-XXJumpers 256

2.6 MC4U Accessories 256

2.6.1 MC4U-MF-560V MotorFilter 257

2.6.1.1 Motor Filter Operational Specifications 258

2.6.1.2 J1 -Drive Connector 259

2.6.1.3 J2 -Motor Connector 259

2.6.1.4 MotorFilter PhysicalSpecifications 259

3. SafetyandEMCGuidelines 262

3.1 Certification 262

3.2General Safety Guidelines 262

Version 2.50.D

2.6.1.5 Connecting the Motor Filter 261

2.6.2MC4U-REGEN-600 Regeneration Module 261

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MC4UHardwareGuide

3.2.1 MC4U Handling& Maintenance 263

3.2.2Safe Torque Off (STO) 263

3.2.2.1 STO Module Connector Type andPinout 265

3.2.3EmergencyStop Device 265

3.2.4 FailSafe LogicRecommendation 265

3.2.5InitialLogicState of Outputs 265

3.2.6Electrical Separation 266

3.2.7 Over-Travel Protection 266

3.2.8ThermalDetection 266

3.2.9Power Supply and Motor Cable Ground 266

3.3General Wiring and EMCGuidelines 266

3.3.1 ExternalACLineFilters 266

3.3.2ACS Motor Filters 267

3.3.3Routing SignalandPowerCables 267

3.3.4 Cable Length 267

3.3.5Grounding 268

3.3.5.1 SafetyGrounding 268

3.3.5.2High Frequency Grounding 268

4. Circuit Protection 269

4.1 InternalIntegratedDrive Protection Circuits 269

4.1.1 Soft Start Circuit 269

4.1.2 MotorRegenerationCircuit 269

4.1.3 PSM3U Low-Power PS 269

4.1.4 PSM3UHigh-PowerPS 270

4.1.5 DDM3U Low-Power Motor Drive 270

4.1.6 DDM3UHigh-Power Motor Drive 271

4.2 Fuses 271

4.2.1 PSM3U Power Supply Fuses 271

4.2.1.1 PSM3ULow-Power AC InputPower Fuses 271

4.3 Fault Handling 273

Version 2.50.D

4.2.1.2 PSM3U Low-Power 24VdcLogicSupply Input Fuses 272

4.2.1.3 PSM3U High-Power ACInputPower Fuses 272

4.2.2 DDM3U Motor DrivesFuses 272

4.2.2.1 DDM3U-X-60V-4A Low-Power Motor DriveFuses 272

4.2.2.2DDM3U-2-320V-YY High-PowerMotor Drive Fuses 272

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MC4UHardwareGuide

5. MC4UConnectivity 276

5.1 MC4U I/ONaming Conventions 276

5.2Incremental Digital Encoder Interface 277

5.3Sin-CosEncoder Input 277

5.4 AbsoluteEncoder Interface 278

5.5I/O Interface 280

5.6HallInterface 281

5.7 Motor Temperature Input 282

5.8EmergencyStop Input 283

5.9MARK1 Registration DigitalInput 283

5.10PEGPulseOutput 284

5.11 JoystickInput Interface 284

6. InstallationandMaintenance 286

6.1 Installing the MC4U 286

6.1.1 Panel-Mountingthe MC4U 286

6.1.2 Rack-Mounting the MC4U-19-Piano-enc andMC4U-22-Piano-enc 287

6.2 Maintenance 288

6.2.1 Replacing MC4UComponents 288

6.2.2Replacing CoolingVents 288

Version 2.50.D

14

MC4UHardwareGuide

ListOfFigures

Figure 1-1. MC4U-9-Piano-enc 25
Figure 1-2. MC4U-11-Piano-enc 26
Figure 1-3. MC4U-13-Piano-AX7 27
Figure 1-4. MC4U-19-Piano-enc 28
Figure 1-5. MC4U-22-Piano-enc 29
Figure 2-1. MC4U Components 30
Figure 2-2.MC4U-9-Piano-enc Dimensions 32
Figure 2-3.MC4U-11-Piano-enc Dimensions 33
Figure 2-4.MC4U-13-Piano-AX7 Dimensions 34
Figure 2-5.MC4U-19-Piano-enc Dimensions 35
Figure 2-6.MC4U-22-Piano-encDimensions 36
Figure 2-7. SPiiPlusNT GeneralView 39
Figure 2-8.SPiiPlusNT/DC Indicators(SPiiPlusNTshown) 47
Figure 2-9.DDM3U-4-320V-XAMotor Drive 87
Figure 2-10.LDM3U Single AxisLinearAmplifier 92
Figure 2-11. MB4U-ZZW-AX7 Connectors 96
Figure 2-12. MB5U-CONT-PS Connectors 108
Figure 2-13.MB5U-CONT-PS Jumpers andPinNumbers 122
Figure 2-14. MB5U-CONT-PS2 Connectors 124
Figure 2-15.MB5U-CON-PS2 Motherboard Jumpers andPinNumbers 139
Figure 2-16. MB5U-Lin 141
Figure 2-17. MB5U-LinM 143
Figure 2-18. MB5U-YYYY Connectors 145
Figure 2-19. Source-Type Drive Enable Output (D Axis) 160
Figure 2-20.MB5U-YYYY Motor Drive Connections 161
Figure 2-21. MB5U-YYYY Jumpers 162
Figure 2-22.MB5U-ZConnectors 165
Figure 2-23.MB5U-ZMotor Drive Connections 172
Figure 2-24.Source -Type DriveEnable Output (B Axis) 176
Figure 2-25.MB5U-Z MotherboardJumpers andPinNumbers 178
Figure 2-26.MB5U-ZVConnectors 180
Figure 2-27.MB5U-ZVMotor Drive Connections 188
Figure 2-28.MB5U-ZVJumpers 193
Figure 2-29.MB5U-ZZConnectors 195

Version 2.50.D

15

MC4UHardwareGuide

Figure 2-30.MB5U-ZZ Motor DriveConnections 203
Figure 2-31.MB5U-ZZJumpers and PinNumbers 207
Figure 2-32.MB5U-ZZW Connectors 209
Figure 2-33.MB5U-ZZW J152Motor Drive Connections 225
Figure 2-34.MB5U-ZZWJ121-J124Motor DriveConnections 227
Figure 2-35.MB5U-ZZW Motherboard Jumpersand Pin Numbers 228
Figure 2-36.MB5U-ZZZ Connectors 230
Figure 2-37.MB5U-ZZZMotor Drive Connections 246
Figure 2-38.MB5U-ZZZ Jumpers and Pin Numbers 247
Figure 2-39.MB5U-2-45 Connectors 249
Figure 2-40.MB5U-2-20 Connectors 251
Figure 2-41. MB5U-2-20 Motor DriveConnections 252
Figure 2-42.MB5U-4-XXConnectors 254
Figure 2-43.MB5U-4Motor DriveConnections 255
Figure 2-44. MC4U-MF-560V Motor Filter 258
Figure 2-45.Motor Filter ExternalDimensions 260
Figure 2-46.RegenerationModule 261
Figure 3-1. StandardsOrganization Marks 262
Figure 3-2.STO Wiring Scheme 264
Figure 3-3.STO Implementation 264
Figure 3-4.Cable Spacing 267
Figure 3-5.Shielded Cable 267
Figure 3-6.MC4UGrounding Post 268
Figure 5-1. Incremental DigitalEncoder Interface (X-axis) 277
Figure 5-2.Sin-CosEncoder Interface 278
Figure 5-3.Absolute Encoder HiperfaceSchematic Diagram 279
Figure 5-4.Absolute Encoder Schematic Diagram 279
Figure 5-5.Absolute Encoder BidirectionalSchematic Diagram 280
Figure 5-6.I/OInterfaceSchematic Diagram 281
Figure 5-7.HallInterface Schematic Diagram 282
Figure 5-8.Connection to Motor Temperature Input (X-axis) 283
Figure 5-9.Connection for Emergency Stop Input 283
Figure 5-10.Differential Connection for MARK1 Input (X-axis) 284
Figure 5-11. PEGPulse DigitalOutput Connection (X-axis) 284
Figure 5-12.Analog Inputswith 0-10V Configuration 285

Version 2.50.D

16

MC4UHardwareGuide

Figure 5-13.A ±5V Differential Joystick through AIN 285
Figure 6-1. MC4U-9-Piano-enc and MC4U-11-Piano-encPanel-Mounting 286
Figure 6-2.MC4U-19-Piano-enc andMC4U-22-Piano-encPanel-Mounting 287
Figure 6-3.MC4U-19-Piano-enc andMC4U-22-Piano-encRackMount 287

Version 2.50.D

17

MC4UHardwareGuide

ListofTables

Table 2-1.MC4U-9-Piano-enc Dimensions 31
Table 2-2. MC4U-11-Piano-encDimensions 33
Table 2-3. MC4U-13-Piano-AX7 Dimensions 33
Table 2-4.MC4U-19-Piano-enc Dimensions 34
Table 2-5. MC4U-22-Piano-encDimensions 35
Table 2-6.MC4U Power Dissipation @NominalLoad 37
Table 2-7.MC4UEnvironmental Specification 38
Table 2-8. CTIMEValuesfor MC4UntSPiiPlusNT-LT/HP/LD/NP(Rev. D and later) Controller 41
Table 2-9.SPiiPlusNT/DC-LT/HP/LD AdditionalFeatures 42
Table 2-10.SPiiPlusNT/DCIndicators 47
Table 2-11. PSM3U Power Supplies-General 49
Table 2-12.PSM3U-48V-XXkWLow-Power PSSpecifications 54
Table 2-13.PSM3U-320V-8kWHigh-PowerPS Specifications 57
Table 2-14.Maximum Input Power @Single Phase Input 85 -265Vac 59
Table 2-15.Maximum InputPower @Three PhaseInput 195-265Vac 59
Table 2-16.Maximum Input Current @Single Phase Input 85- 265Vac 60
Table 2-17.Maximum Input Current @ThreePhaseInput 195-265Vac 60
Table 2-18.Output Voltage @SinglePhaseInput 85- 130Vac 60
Table 2-19.Output Voltage @SinglePhaseInput 195-265Vac 60
Table 2-20. Output Voltage @Three PhaseInput 195- 265Vac 61
Table 2-21.Output Power @Single Phase Input 85-130Vac 61
Table 2-22. Output Power @SinglePhaseInput 195-265Vac 61
Table 2-23. Output Power @Three PhaseInput 195-265Vac 61
Table 2-24. PSM3U-320V-10KWPSSpecifications 62
Table 2-25. Maximum Input Power @ Three PhaseInput 195-265Vac 63
Table 2-26. Maximum Input Current @Three Phase Input 195- 265Vac 63
Table 2-27.Output Voltage @Three PhaseInput 195-265Vac 64
Table 2-28. Output Power @Three PhaseInput 195-265Vac 64
Table 2-29. DDM3U-X-60V-4A Power Block Assembly Options 66
Table 2-30. DDM3U-X-60V-4ASpecifications 66
Table 2-31.DDM3U-X-60V-4AMaximum Input Current andInput Power 68
Table 2-32. DDM3U-X-60V-4ATotal Output Current andOutput Power 68
Table 2-33. DDM3U-X-60V-4APower Motor Output Parameters 69
Table 2-34. DDM3U-1-320V-XX-SRSpecifications 70

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Table 2-35. PWMPower Bridge Specifications 72
Table 2-36. DDM3U-2-320V-XA Power Supply Input Specifications 75
Table 2-37.Maximum Input Power[W] @Continuous/PeakCurrent for115Vac+15%, Single

PhaseMainSupply 78

Table 2-38. Maximum Input Power[W] @Continuous/PeakCurrent for 230Vac+15%, Single

PhaseMainSupply 78

Table 2-39. Maximum Input Power [W] @Continuous/Peak Current for 230Vac +15%, Three

PhaseMainSupply 79

Table 2-40. Maximum Input Current (Continuous/Peak) [A] for 115Vac +15%, Single Phase Main

Supply 79

Table 2-41.Maximum Input Current (Continuous/Peak) [A] for 230Vac+15%, Single Phase Main

Supply 80

Table 2-42. Maximum Input Current (Continuous/Peak) [A] for 230Vac+15%, Three PhaseMain

Supply 81

Table 2-43. PWMPowerBridge Specifications 81
Table 2-44.Maximum Phase Output Current (Continuous/Peak) [A] 82
Table 2-45. MinimumOutput Voltage (Phase-to-Phase) [Vrms]@Continuous/Peak Current for

115Vac+15%, Single Phase MainSupply 83

Table 2-46.MinimumOutput Voltage(Phase-to-Phase) [Vrms] @Continuous/PeakCurrent

for 230Vac +15%,Single PhaseMain Supply 83

Table 2-47.MinimumOutput Voltage (Phase-to-Phase) [Vrms]@ Continuous/Peak Current

for 230Vac +15%,Three Phase MainSupply 84

Table 2-48.Maximum Output Power[W] @Continuous/PeakCurrent for115Vac+15%, Single

PhaseMainSupply 84

Table 2-49.Maximum Output Power[W] @Continuous/PeakCurrent for230Vac +15%,Single

PhaseMainSupply 85

Table 2-50. Maximum Output Power[W] @Continuous/PeakCurrent for230Vac +15%,Three

PhaseMainSupply 86

Table 2-51.DDM3U-4-320V-XAPowerSupply Input Specifications 88
Table 2-52. DDM3U-4-320V-XAControl Supply InputSpecifications 89
Table 2-53. 24VLogic Supply Connector Pinout 97
Table 2-54. EtherCAT OutConnector Pinout 97
Table 2-55. EtherCAT In Pinout 98
Table 2-56. J4-Encoder Pinout 99
Table 2-57. J5-Encoder Pinout 102
Table 2-58. J6-DriveSupply Pinout 106
Table 2-59. J7-J10-DriveSupply Pinout 107
Table 2-60. J11-J14 -DriveSupply Pinout 107
Table 2-61.Encoder/Hall Pinout 109

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Table 2-62. J7 -Squared Sin-Cos Pinout 111
Table 2-63. J8-Digital and Analog I/OPinout 112
Table 2-64.J9-Regeneration Pinout 115
Table 2-65. J21-PEGand MarkFastI/O Pinout 115
Table 2-66. J2andJ3-Ethernet Pinout 119
Table 2-67.J19andJ20-RS-232Communication Pinout 120
Table 2-68. J14 -DriveSupply Voltage Pinout 121
Table 2-69. J1 -24V LogicSupply Pinout 121
Table 2-70.I/OJumpers 122
Table 2-71.Encoder Supply 123
Table 2-72.Default Jumper Settings 123
Table 2-73.I2C Address 123
Table 2-74.GeneralPurpose AnalogInput Jumpers 123
Table 2-75.J1 -24VLogicSupply Pinout 125
Table 2-76.Encoder/Hall Pinout 126
Table 2-77.J7 -Squared Sin-CosPinout 127
Table 2-78.J8-DigitalandAnalog I/OPinout 129
Table 2-79.J14, J114 -DriveSupply VoltagePinout 131
Table 2-80. J21-PEGand MarkFastI/O Pinout 132
Table 2-81.J22-Motor Limits Pinout 134
Table 2-82. J4,J5,andJ6-HSSIPinout 135
Table 2-83. J2andJ3-Ethernet Pinout 136
Table 2-84. J19 and J20-RS-232 CommunicationPinout 137
Table 2-85. J9,J109-Regeneration Pinout 137
Table 2-86. J145 -60VDrive Supply Pinout 138
Table 2-87.I/O Jumpers 139
Table 2-88. Encoder Supply 140
Table 2-89. I2CAddress 140
Table 2-90. GeneralPurpose AnalogInput Jumpers 140
Table 2-91.J130(D0)- Drive Motor Pinout 141
Table 2-92. MB5U-Lin Jumper Settings 142
Table 2-93. J130(D0)-DriveMotor Pinout 143
Table 2-94.MB5U-LinM Jumper Settings 144
Table 2-95. Encoder/Hall Pinout 146
Table 2-96. J7 -Squared Sin-Cos Pinout 148

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Table 2-97.J8-DigitalandAnalog I/OPinout 149
Table 2-98. J9-Regeneration Pinout 152
Table 2-99. J21 -Fast I/OPinout 152
Table 2-100. J2andJ3-Ethernet Pinout 156
Table 2-101.J19 and J20- RS-232 CommunicationPinout 157
Table 2-102. J14 -DriveSupply Voltage Pinout 158
Table 2-103. J1 -24V LogicSupply Pinout 158
Table 2-104.J40- ExternalDrive Control SignalsPinout 159
Table 2-105. J152_$ -MotorDrive Output Pinout 161
Table 2-106.MB5U-YYYY Jumper Settings 162
Table 2-107.I/OJumper Setup 163
Table 2-108.Encoder Supply 164
Table 2-109.Default Jumper Settings 164
Table 2-110.Encoder/Hall Connector Pinout 166
Table 2-111. J10-DigitalandAnalog I/OPinout 168
Table 2-112.J20-Safety and FastI/O Pinout 170
Table 2-113.J3andJ4-Drive Motor Pinout 171
Table 2-114. J6 andJ7 -Ethernet Pinout 173
Table 2-115.J8-HSSIPinout 173
Table 2-116.J19 -RS-232CommunicationPinout 174
Table 2-117. J13-ExternalDrive Control Signals Pinout 175
Table 2-118.J11 -ExternalRegenerationPinout 176
Table 2-119. J12-DriveSupply Pinout 176
Table 2-120. J5-24VLogic Supply Pinout 177
Table 2-121.I/O Jumpers 178
Table 2-122.Encoder Supply 179
Table 2-123.Default Jumper Settings 179
Table 2-124.Encoder/Hall Pinout 181
Table 2-125. J10-Digital and Analog I/OPinout 183
Table 2-126.J20- Safety andFast I/O InputsPinout 186
Table 2-127.J1, J3, J21andJ22- Drive Motor Pinout 187
Table 2-128.J2and J4-Drive Motor Pinout 188
Table 2-129.J8,J9and J30-HSSIPinout 189
Table 2-130. J6andJ7 -Ethernet Pinout 189
Table 2-131.J19 -RS-232CommunicationPinout 190

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Table 2-132.J23 Pinout 191
Table 2-133.J11 Pinout 191
Table 2-134.J12Pinout 192
Table 2-135. J5Pinout 192
Table 2-136.Safety andI/OSupply Configuration 193
Table 2-137.I/O Jumpers 194
Table 2-138.Encoder Supply 195
Table 2-139.Default Jumper Settings 195
Table 2-140.Encoder/Hall Connector Pinout 197
Table 2-141. J10-DigitalandAnalog I/OPinout 198
Table 2-142.J20- Safety andFast I/O Pinout 201
Table 2-143.J1,J2,J3andJ4-Drive MotorPinout 202
Table 2-144.J6andJ7 -Ethernet Pinout 203
Table 2-145.J8and J9 -HSSI Pinout 204
Table 2-146.J19 -RS-232CommunicationPinout 205
Table 2-147. J11 -ExternalRegeneration Pinout 205
Table 2-148.J12-Drive Supply Pinout 206
Table 2-149.J5-24V LogicSupply Pinout 206
Table 2-150. I/O Jumpers 207
Table 2-151.Encoder Supply 208
Table 2-152. Default Jumper Settings 208
Table 2-153. Encoder/HallPinout 210
Table 2-154.J7-Squared Sin-CosPinout 212
Table 2-155. J8-Digital and Analog I/OPinout 213
Table 2-156.J9 -Regeneration Pinout 216
Table 2-157.J21-Fast I/O Pinout 216
Table 2-158.J4, J5,andJ6-HSSIPinout 220
Table 2-159.J2and J3-Ethernet Pinout 220
Table 2-160.J19andJ20- RS-232 CommunicationPinout 221
Table 2-161.J14 -DriveSupply Voltage Pinout 222
Table 2-162.J1-24VLogicSupply Pinout 222
Table 2-163.J40- ExternalDrive Control SignalsPinout 223
Table 2-164.J152_$ -Motor Drive Pinout 224
Table 2-165.J125- ExternalDC DriveSupport Pinout 226
Table 2-166.J121-J124-Low-Power Motor Pinout 226

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Table 2-167.MB5U-ZZWJumpers 228
Table 2-168.Default Jumper Settings 229
Table 2-169.Encoder/Hall Pinout 231
Table 2-170.J7-Squared Sin-CosPinout 233
Table 2-171. J8- Digital and Analog I/OPinout 234
Table 2-172.J9-Regeneration Pinout 237
Table 2-173.J21-FastI/OPinout 237
Table 2-174. J22 -MotorLimitsPinout 239
Table 2-175.J4,J5,andJ6-HSSI Pinout 241
Table 2-176.J2andJ3-Ethernet Pinout 241
Table 2-177. J19andJ20- RS-232 CommunicationPinout 242
Table 2-178.J14 -DriveSupply Voltage Pinout 243
Table 2-179.J1 -24V LogicSupply Pinout 243
Table 2-180.J40 -ExternalDrive Control Signals Pinout 244
Table 2-181.J152_$ -Motor DrivePinout 245
Table 2-182.MB5U-ZZZ Jumpers 247
Table 2-183.Default Jumper Settings 248
Table 2-184.J152-0, J152-1Servo MotorDrive Pinout 249
Table 2-185.MB5U-2-45A Jumper Settings 250
Table 2-186.J152-ServoMotor DrivePinout 251
Table 2-187.MB5U-2-20 Jumper Settings 253
Table 2-188.J121-J124-Low-Power Motor Pinout 255
Table 2-189.MB5U-4-XX Jumper Settings 256
Table 2-190.MC4U Optional Accessories 256
Table 2-191. MotorFilter OperationalSpecifications 258
Table 2-192.J1-Drive Connector Pinout 259
Table 2-193.J2- Motor Connector Pinout 259
Table 3-1.International Standards& Certificates Applicable to MC4U 262
Table 3-2. STO Connector Type 265
Table 3-3. STO Pinout 265
Table 3-4.Line Filtersfor Single Phase AC Input 266
Table 3-5. LineFilters for ThreePhaseAC Input 266
Table 4-1.Fault Handling 273
Table 5-1.Absolute Encoder Reference 278

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MC4UHardwareGuide

1. Introduction

1. Introduction

1.1 DocumentScope

The guide covers all versionsof the MC4U Control Module, andprovides detailed hardware

information.For eachversion thisguide includes the following information:

> Detailed mechanicalandelectricaldescriptionsof the components making up the MC4U

Control Module

> Installationinstructions

For asetup procedure of the MC4U Control Module,refer tothe SPiiPlus Setup Guide. It includes:

> Howto establishcommunication
> Howto configure the drive, motor, feedbackfor anaxis
> Howto adjust(tune) the parameters of an axis

The remaining tasksinvolved in operating the MC4Uare described in the SPiiPlus Programmer’s

Guide, including:

> Howto program motion
> Howto program I/Oevents
> Additionalproduct features

1.2 Product Overview

The MC4UControl Module isa multi-axis machineand motioncontrol module. The MC4Ucontainsa

motion controller,power supply, and motor drives allintegrated in asingle unit. All components are

housed in“upright piano”enclosure that can be either panel- orrack-mounted.
The specific components,controller,drives, and power supplies can be tailored to the needs ofthe

application, thusoptimizing the performance-to-cost ratio.
The MC4Ufamily includesthe following models:

> MC4U-9-Piano-enc
> MC4U-11-Piano-enc
> MC4U-13-Piano-AX7
> MC4U-19-Piano-enc
> MC4U-22-Piano-enc

1.2.1 MC4U-9-Piano-enc

MC4U-9-Piano-enc candirectly control two axes and containsthe following plug-in components:

> A SPiiPlusNT/DCcontroller
> A power supply
> One high-power dualaxisDDM3U-2-320V-YY motor drive
> A specific motherboard thataccommodatesthe plug-in components and external

interfaceconnectors

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The unit canonly be panel-mounted.

1.2.2 MC4U-11-Piano-enc

MC4UHardwareGuide

1. Introduction

Figure 1-1. MC4U-9-Piano-enc

MC4U-11-Piano-enccandirectly control up tofour axesandcontainsthe following:

> A SPiiPluscontroller
> A power supply
> Two high-power dualaxis DDM3U-2-320V-YY motor drives
> A specific motherboard thataccommodatesthe plug-in components and external

interfaceconnectors

The unit canonly be panel-mounted.

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1. Introduction

Figure 1-2. MC4U-11-Piano-enc

1.2.3 MC4U-13-Piano-AX7

MC4U-13-Piano-AX7 cancontrol 4or 8axes,dependingon the SPiiPlusMotion Controllerthat is

installed. Itcancontain:

> A SPiiPlusNT/DCmotion controller
> A PSM3U-320V-4kW(inthe 4 axes version)or aPSM3U-320V-8kW (inthe 8axesversion)

power supply

> Two multi-axis motor drives
> MB4U-ASMB motherboard

The unit caneither rack-or panel-mounted.

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Figure 1-3. MC4U-13-Piano-AX7

MC4UHardwareGuide

1. Introduction

1.2.4 MC4U-19-Piano-enc

MC4U-19-Piano-enc cancontrol up to8axes.Itprovides the mostflexibilitywith regards totype of

drives (PWM, linear), matching powersupplies andaccessories.It can containthe following:

> A SPiiPlusNT/DCmotion controller
> A power supply withone or two motor voltages
> Up to four multi-axis motor drives
> One ormore motherboards thataccommodate the plug-incomponents andthe external

interfaceconnectors.

The unit caneither rack-or panel-mounted.

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1. Introduction

Figure 1-4. MC4U-19-Piano-enc

1.2.5 MC4U-22-Piano-enc

MC4U-22-Piano-enc can control up to8axes.Itisdesigned to support PWMdriveswith matching

power supplies and accessories. It cancontainthe following:

> A SPiiPlusNT/DCmotion controller
> One PSM3U-320V-10KW320V, 20kW power supply
> Up to four DDM3U-1-320V-XX-SR single-axis digital PWM motor drives320V, 30/45A
> Motherboard:

- MB5U-CON-PS2 -Motherboard for SPiiPlusNT/DC controller andtwo PSM3U-320V-

10KW powersupplies

- MB5U-2-90A -Motherboardfor DDM3U-1-XXX-XX drivers

The unit caneither rack orpanel-mounted.

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MC4UHardwareGuide

1. Introduction

Figure 1-5. MC4U-22-Piano-enc

1.3 SoftwarePackage

The MC4Uissupported bythe SPiiPlusADK (AdvancedDevelopment Kit) which isintended for

aiding programmers indeveloping ACSPL+ basedapplications and host basedprograms.

The latest versionsof all software are downloadable (for registered customers)from

https://www.acsmotioncontrol.com/downloads.

The kit contains:

> SPiiPlusMMIApplication Studio -a fullyintegrated GUI providing allthe toolsneeded for

programmingandmonitoring motion

> SPiiPlusCLibrary -for hostprogramminginC/C++
> SPiiPlusCOMLibrary -for hostprogramminginC#, C++, Visual Basic™, VBScript,LabView

andother programming languagesthat support the use ofCOMcomponents

> SPiiPlusUtilities -containing the SPiiPlus User Mode Driver (UMD) for establishing the

communication between the host computer andthe MC4U

> SPiiPlusSimulator -controller simulator for fast application development
> ACSPL+and C/C++ training filesandprogrammingexamples.

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2.MC4U Specifications

2. MC4USpecifications

This sectionprovidesdetailed specifications of the MC4U family and its components. The

componentsconsist of:

> SPiiPlusMotion Controller
> PSM3UPowerSupply
> Motor Drive(up to amaximumof 3units)
> MC4UInterface(Motherboard) Connectors

The functionalityof anyspecific MC4UControl Moduleisdetermined by the motherboard thatis

installed. See MC4U Motherboardsfor detailsof thevariousmotherboardsincorporated inthe

MC4UControl Module models.

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Figure 2-1. MC4U Components

30

MC4UHardwareGuide

2.MC4U Specifications

2.1 MC4UPhysicalSpecifications

2.1.1 MC4U Dimensions

2.1.1.1 MC4U-9-Piano-enc Dimensions

The following table provides the mechanical dimensions ofthe MC4U-9-Piano-enc.

Table 2-1.MC4U-9-Piano-enc Dimensions

Height 221.5 ±1mm
Width 273.8 ±1mm(with extractors 287.3mm)

Length

The following figuredisplaysthe overalldimensions of the MC4U-9-Piano-encunit.

211 ±1mm (withmounting-bracket

250.7±1mm)

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2.MC4U Specifications

Figure 2-2.MC4U-9-Piano-enc Dimensions

2.1.1.2 MC4U-11-Piano-enc Dimensions

The following table provides the mechanical dimensions ofthe MC4U-11-Piano-enc.

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MC4UHardwareGuide

2.MC4U Specifications

Table 2-2. MC4U-11-Piano-encDimensions

Height 221.5±1mm
Width 273.8±1mm (withextractors287.3mm)
Length 276.7±1mm(with mounting-bracket 316.7±1mm)

The following figuredisplaysthe overalldimensions of the MC4U-11-Piano-enc unit.

Figure 2-3.MC4U-11-Piano-enc Dimensions

2.1.1.3 MC4U-13-Piano-AX7Dimensions

The following table provides the mechanical dimensions ofthe MC4U-13-Piano-AX7.

Table 2-3. MC4U-13-Piano-AX7 Dimensions

Height 185 ±0.2mm
Width

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MC4UHardwareGuide

2.MC4U Specifications

brackets)

> 383±0.2mm(withmounting

brackets)

Length 292±1mm

The following figuredisplaysthe overalldimensions of the MC4U-13-Piano-AX7unit.

Figure 2-4.MC4U-13-Piano-AX7 Dimensions

2.1.1.4 MC4U-19-Piano-enc Dimensions

Table 2-4.MC4U-19-Piano-enc Dimensions

The following table provides the mechanical dimensions ofthe MC4U-19-Piano-enc.

Height 221.5±1mm

> 483±1mm (withfront

bracket)

Width
Length 292±1mm

The following figuredisplaysthe overalldimensions of the MC4U-19-Piano-encunit.

Version 2.50.D

> 476 ±1mm(with rear

bracket)

> 436±1mm (withno

bracket)

34

MC4UHardwareGuide

2.MC4U Specifications

Figure 2-5.MC4U-19-Piano-enc Dimensions

2.1.1.5 MC4U-22-Piano-enc Dimensions

The following tableprovides the mechanical dimensions ofthe MC4U-22-Piano-enc.

Table 2-5. MC4U-22-Piano-encDimensions

Height 221.5±1mm

> 542±1mm (with rear

Width
Length 292±1mm

The following figuredisplaysthe overalldimensions of the MC4U-22-Piano-encunit.

bracket)

> 502±1mm(with no

bracket)

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2.MC4U Specifications

Figure 2-6.MC4U-22-Piano-encDimensions

2.1.2 MC4U Weight

The MC4U-9-Piano-enc hasa maximum weight of 5.2kg.
The MC4U-11-Piano-enchasa maximum weight of 6.5kg.
The MC4U-13-Piano-AX7 hasamaximum weight of 9.1kg.
The MC4U-19-Piano-enc hasamaximum weight of 11.5 kg.
The MC4U-22-Piano-enc has amaximum weight of 17kg.

2.1.3 MC4U Power Dissipation

The following table provides the power dissipationof the modules for both the lowand high-

power versionsof the MC4U.

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Table 2-6.MC4U Power Dissipation @NominalLoad

Component HeatDissipation

SPiiPlusNT-LT Motion Controller 14W
SPiiPlusNT-HP Motion Controller 18W
SPiiPlusDC-LT Motion Controller 9W
SPiiPlusDC-HPMotion Controller 13W
PSM3U-48V-0.7kW PowerSupply 85W

PSM3U-100V-3KwPowerSupply 100W
PSM3U-320V-4kWPower Supply 70W

PSM3U-320V-8kWPower Supply 135W

MC4UHardwareGuide

2.MC4U Specifications

PSM3U-320V-10kWPower Supply 235W
PSM3U-320V-11kW PowerSupply 186W

PSM3U-320V-20kWPowerSupply 470W
DDM3U-4-06-02Motor Drive 25W
DDM3U-2-320V-5A Motor Drive 87W (for 2axes)
DDM3U-2-320V-10AMotor Drive 138W (for 2axes)
DDM3U-2-320V-15AMotor Drive 226W (for 2axes)
DDM3U-2-30-20Motor Drive 212W(for axis1-nominalload,andaxis2 -halfload)
DDM3U-4-320V-1A Motor Drive 25W
DDM3U-4-320V-2AMotor Drive 45W
DDM3U-4-320V-3AMotor Drive 62W
DDM3U-1-320V-30A-SRMotor Drive 235W
DDM3U-1-320V-45A-SRMotorDrive 346W

2.1.4 MC4UEnvironmental Parameters

The following table provides the environmentalparametersfor MC4Uoperation.

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2.MC4U Specifications

Table 2-7.MC4UEnvironmental Specification

Parameter Value

Ambient Temperature Rated range of operation from 0to +40°C
Environmental conditions:Storage IEC 60721-3-1(class 1K3 and 1M3)
Environmental conditions:Transportation IEC60721-3-2(class2K4and 2M3)
Environmental conditions:Operating IEC60721-3-3 (class 3K3and 3M4)

2.1.5 MC4U Cooling Vents

The number of MC4Ucoolingv ventsdependsonthe MC4Umodel asfollows:

> MC4U-9-Piano-enc -onecooling vent
> MC4U-11-Piano-enc-twocooling vents
> MC4U-13-Piano-AX7 -twocooling vents
> MC4U-19-Piano-enc -threecooling vents
> MC4U-22-Piano-enc -four coolingvents

Eachvent providesamaximum of 120CFMairflow for the internalcooling of the circuit boards

within the mechanicalhousing. The coolingventsoperate off the24Vlogic supply. The cooling

ventscurrent consumption is1Aor less(dependingon the number of vents).
For information regarding cooling vent periodical maintenance, see Replacing Cooling Vents.

2.2SPiiPlusNT/DC MotionControllers

This sectionprovidestechnical detailsof the SPiiPlusNT/DCmotion controllers.For

completedetails, refer tothe SPiiPlusNT/DC Motion Controller Hardware Guide.
The minimum SPiiPlusNT/DC-LT/HP/LDhardware revisionisD and SPiiPlusNT-SC FW

v2.29.04.00.

The MC4Uisavailable inthe following configurations:

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2.MC4U Specifications

Figure 2-7. SPiiPlusNT GeneralView

The SPiiPlusNTandSPiiPlusDCcontrollersdiffer bytheir networking capabilities:

> The SPiiPlusNTservesasa network master:in addition toits regular control ofthe MC4U

axes,itsupportsanEtherCAT port and the control softwarerequired to expandthe

network. Network expansionisprovided by the addition of network elements suchas

otherMC4Us(which containa SPiiPlusDCcontroller), UDMnt, PDMnt,SDMnt and others.

> The SPiiPlusDCservesasa slave controller in aEtherCAT network, serving the local MC4U

axes.Inthisslave role, the MC4Uisanetwork element, being part of larger network

wherebyamaster MC4U (containing aSPiiPlusNT controller) oranNTMcontrolsthe overall

network. The SPiiPlusDChasanincomingport fromaprevious network element from

which itreceives the profilesandcommandsintended for its axes,and outgoing portto

connect the next network element (if exists)andmaintainthe communicationnetwork.

The SPiiPlusDCisphysicallysimilarto the SPiiPlusNT, except that it doesnot have anMPU

board anddoes notinclude EtherCATconnector J3.

A network mustcontainone master and canhave any number ofslaves.

Both motion controller versionshave the following features:

> Controller -the servocontrol algorithm executes atanuncompromising rate of20kHzfor

each axis regardless ofthe number of axes,providing verylarge bandwidth, exceptional

dynamic tracking, fast settling,andexcellent smoothness at low velocities.

The controller ismanufactured under ISO9001 certified quality management system, meeting

stringentsafety andEMCstandardsandisCEmarked.

> Communication Channels-communicationwith the controller through all channelscanbe

done simultaneously:

Version 2.50.D

39

MC4UHardwareGuide

2.MC4U Specifications

- The controller communicateswith acomputer hostviaan RS-232 serialchannelor

Ethernet 10/100BaseT channel.

- Inaddition it can communicate withother computers via asecond RS-232 serial

channel (115,200baud)or Ethernet 10/100BaseTchannel.

- The SPiiPlusNTandSPiiPlusDChave 1/2EtherCAT channels, operating at100Mbs.The

EtherCAT connectors are located on the controllers front panel.

> Discrete InterfaceSignals-the controllerscome with digitalandanalog I/Os used for

generalpurpose andfor functional anddedicated purposes.These signalsare accessible

to the user from the MC4U’sconnector panel only.Inaddition, digital inputscanbe used

for hardware-based position registration andoutputs canbe usedto trigger position-

based eventswith sub-µSecdelay accuracy.

Configurationof the digital I/Osare byjumpers onthe SPiiPlusNT/DC controller. See the

appropriate SPiiPlusNT/DCMotionController Hardware Guide for detailed information.

> ACSPL+-complex applicationsareeasyto develop withACSPL+,apowerful,true

multitasking, high-level languagethat isoptimized for motion control applications. Ten

programscan run simultaneously,enabling multiple interacting andsynchronized

processes.ACSPL+enablesimplementationof highly complex motion-time-event

sequences with accurate positioning and timing. The program can run directly on the

controller orcanbe implemented in ahostPCapplication using librariesprovided for C,

C++, COM,and .NET.

> Suite of Tools-powerfulsoftware toolsare provided for setup, tuning, and programming.

Application development isparticularlyeasywith the integrated four-channelsoft scope

andmulti-axismotion simulator.

The SPiiPlusNT/DC controllers are availablein the followingmodels:

> High PerformanceControllers:

- SPiiPlusNT/DC-HP-a high performancedrive controller with 16-bit A2Dfor motor

currentand analog SIN-COS encoder measurements.

- SPiiPlusNT/DC-LD-a high performancedrive controller based onthe SPiiPlusNT/DC-HP

with an additional module for 16-bit analog commandstolinear drives.

> Light Controllers

- SPiiPlusNT/DC-LT-aneconomicaldrive controller that uses12-bit A2Dfor motor

currentand analog SIN-COS encoder measurements.

2.2.1 SPiiPlusNT/DC Motion ControllersFeatures

The SPiiPlusNT/DC features aredescribed inthe following tables:
The CTIMEvalues inare for aSPiiPlusNT systemwith additionalslave drives, including MC4U slave

drives with SPiiPlusDC controllers.

Version 2.50.D

40

SPiiPlusADK Suite 2.50 Hardware Guide

2.MC4U Specifications

Table 2-8. CTIMEValuesfor MC4UNT SPiiPlusNT-LT/HP/LD/NP (Rev. D and later) Controller

Maximum

Number of

Controller

(tobe insertedinto MC4UNT)

SPiiPlus NT-LT-4 4 4 10 4 10 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-4 4 8 10 8 10 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-4 4 16 16 16 16 √⁽⁴⁾ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-4 4 32 32 32 32 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-4 4 64 64 64 64 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-8 8 8 10 8 10 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-8 8 16 16 16 16 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-8 8 32 32 32 32 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-LT-8 8 64 64 64 64 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 -
SPiiPlus NT-HP-4 /NT-LD-4 /NT-NP-2 4 4 10 4 10 √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ 0.5 √
SPiiPlus NT-HP-4 /NT-LD-4 /NT-NP-2 4 8 10 8 10 √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾⁾ √ ⁽³⁾ ⁽⁵⁾ 0.5 √
SPiiPlus NT-HP-4 /NT-LD-4 /NT-NP-2 4 16 16 16 16 √⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽³⁾ ⁽⁵⁾ - 0.5 √
SPiiPlus NT-HP-4 /NT-LD-4 /NT-NP-2 4 32 32 32 32 √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ - - 0.5 √
SPiiPlus NT-HP-4 /NT-LD-4 /NT-NP-2 4 64 64 64 64 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 √
SPiiPlus NT-HP-8/ NT-LD-8/ NT-NP-4 8 8 10 8 10 √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽³⁾ ⁽⁵⁾ 0.5 √
SPiiPlus NT-HP-8/ NT-LD-8/ NT-NP-4 8 16 16 16 16 √⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽³⁾ ⁽⁵⁾ - 0.5 √
SPiiPlus NT-HP-8/ NT-LD-8/ NT-NP-4 8 32 32 32 32 √ ⁽⁴⁾ ⁽⁵⁾ √ ⁽⁴⁾ ⁽⁵⁾ - - 0.5 √
SPiiPlus NT-HP-8/ NT-LD-8/ NT-NP-4 8 64 64 64 64 √ ⁽⁴⁾ ⁽⁵⁾ - - - 1 √

⁽¹⁾Ifthe MPU processing power is not sufficient,thenuse the MC4Udc version with an externalSPiiPlusNTM-yy-xx-xx-xx-xxx-H-xor SPiiPlusEC-yy-xx-xx-xx-xxx-x-xtypecontroller.

⁽²⁾Ifthe MPU processing power is not sufficient,thenuse the UDMpm /UDMba /UDMhp / UDMhv versionwith anexternal SPiiPlusNTM-yy-xx-xx-xx-xxx-H-xor SPiiPlusEC-yy-xx-xx-xx-xxx-x-xtype

controller.

⁽³⁾2-axes Extended Segmented Motion(XSEG) with limitations: a.Segment length> 5ms,b. IMM VEL =… command shouldn't be used

⁽⁴⁾6-axes Extended Segmented Motion(XSEG) with limitation: Segment length >1ms. Theuser's responsibilityis to ensure that theUSAGEdoesn't exceed 80%.

⁽⁵⁾NetworkBoost (RingTopology) with limitations: a.CTIME=1 msec -up to64 axes b.CTIME=0.50msec -up to 24axes c.CTIME=0.25msec - upto 8axes d. CTIME =0.20 msec -up to 4axes

*Supported orderingoption.

**Upto64 buffers supported with ordering option.

Number

ofBuilt-

inDrives

Maximum

Number

ofAxes

DefaultNumberof

AvailableACSPL+

Buffers**

Simultaneously

Running

Motors

ACSPL+

Buffers

1(msec)

2(msec)

Controller CycleTime

0.50

(msec)

0.25

(msec)*

0.20
(msec)*

Default

Value

(msec)

ServoBoost

Supported

Version 2.50.D

41

Table 2-9.SPiiPlusNT/DC-LT/HP/LD AdditionalFeatures

HWFeature SPiiPlusNT/DC-LT/HP/LD Remarks
ProfileGeneration

Motion Profile

generation

rate

Feedback

Incremental

Digital Encoder

1, 2,4or 5kHz

One per axis: A&B,I;UP/DN,I;

CLK/DIR,I.
Type:RS-422
Max. rate: 40millionencoder

counts/sec.

MC4UHardwareGuide

2.MC4U Specifications

Sin-Cos

Encoder

(optional)

One per axis

SPiiPlusNT/DC-HP/LD:

Multiplication factor: Fromx4to

x65,536.

Rate:HPversion:Up to500*10³ sine

periods/sec;

LDversion:4*10⁶sine periods/sec.

Sin-Cosoffset,gain,phase

compensation: programmable with

automatic calibration.Offset is

hardware compensated, +/-50%of

signalrange.

Maximum acceleration: 4x10⁸sine

periods/sec².

SPiiPlusNT/DC-LT:

Multiplication factor: Fromx4to

x4,096Sin-Cosoffset gain,phase

compensation: programmable with

automatic calibration.Rate:250*10³

sine periods/sec.

Maximum acceleration: 4x10⁸sine

periods/sec².

Hallinputs
Absolute

encoder

Version 2.50.D

Set of three per axis.

Single-ended, 5V, source, opto-

isolated.

Input circuit current: <7mA.
SupportsEnDat2.1/2.2 (Digital

only), Smart-ABS, Panasonic, Biss-C,

SSI,Hiperface,SanyoDanki.

42

HWFeature SPiiPlusNT/DC-LT/HP/LD Remarks

Indices:X(0),Y(1), (Z(4) and T(5).

DriveInterface

MC4UHardwareGuide

2.MC4U Specifications

Analog

commands

(SPiiPlusNT/DC-

LDonly):
PWMdrive

commands

Drive Current

Feedback

External drives

Two phasesper axis.

Type:±10V,differential, 16bit

resolution.

Offsetcompensation:

programmable, 0.3mV resolution.
Three phasesper axis.

Control algorithm: digital PIfilters

with field oriented control and

spacevector modulation.

PWMfrequency:40kHz onthe

motor.
Two phasesper axis.

Current loop sampling rate:20kHz.

Current feedback resolution:

SPiiPlusNT/DC-HP/LD:16bit.

SPiiPlusNT/DC-LT:12bit.

SPiiPlusNT/DC-LD:twophasesper

axis

Drive command analogoutputs

are supported onlyby the

SPiiPlusNT/DC-LDproduct.

Supported only byfollowing

motherboards:

> MB5U-Z
> MB5U-YYYY

DigitalI/O
SafetyInputs:

Emergency

stop input
Left andright

limit inputs

DigitalInputs:

> MB5U-ZZZ
> MB5U-ZZW

One per controller.

Type:two-terminal,sink orsource,

opto-isolated.
One pairper axis.

Type:single-ended, sink (default)

or source, configurable by jumper,

opto-isolated.

Supply: 5Vor 24V.

Input current: <15mA.

Version 2.50.D

43

HWFeature SPiiPlusNT/DC-LT/HP/LD Remarks

Eight.

MC4UHardwareGuide

2.MC4U Specifications

General

Purpose Inputs

MARK(position

capture) inputs

DigitalOutputs

General

purpose

outputs

Type:single-ended, 5Vor24V,sink

(default)or source,opto-isolated.
Input current: <15mA.

Up to four.

Type:RS-422.

Propagation delay:<0.1 μsec.

Eight.

Type:single-ended, 5Vor24V,sink

(default)or source,opto-isolated.

Output current:100mA per output.
One per axis.

Four additionalMARKinputs

(MARK2),single-ended and opto-

isolated, are availablethrough

generalpurpose digital inputs

IN4,IN5, IN6 andIN7
Refer to PEGand MARK

Operations Application Notesfor

detailed information.
Dependsoncontroller

configuration.
Dualusage,canbe usedas

MechanicalBrake.

Mechanical

Brake Outputs:

General purpose digital outputs can be configured asMechanicalBrake Outputs.
Dynamicbrake signalisavailable onlyfor internal MC4Udrivers and isnot accessibleasan

externalsignal.

PEGpulse

outputs:

PEGstate

outputs

Type:single-ended, 5V,source

only, opto-isolated
Output current:7mA per output.

Six.
Type:RS-422.
Propagation delay:<0.1μsec.

PEGpulsewidth: 25nsec to 1.7msec.

PEGposition accuracy: ±1count at

speeds up to18x10⁶ counts/sec.
Up to six.

Type:RS-422.
Propagation delay:<0.1μsec.

Default configurationisdynamic

brake.

Refer to PEGand MARK

Operations Application Notesfor

detailed information.
Refer to PEGand MARK

Operations Application Notesfor

detailed information.

Version 2.50.D

44

HWFeature SPiiPlusNT/DC-LT/HP/LD Remarks

Up to three.

HSSIExpansion

Channels

AnalogI/O

Analog Inputs

General

Purpose Inputs

Eachchannel provides64 inputbits

and64 output bits per channel,

sampled and updatedevery

50μsec.Type: RS-422.
Up to 16.

Type:1Vptp, differential.

Resolution and SNR:

SPiiPlusNT-HP/LD:16bit, SNR>72db.

SPiiPlusNT-LT: 12bit, SNR>52db.
SPiiPlusNT-HP/LD:

Four dedicated generalpurpose

inputs.

Type:±10V,differential.

Resolution: 16bits.

SPiiPlusNT-LT:

Up to four (whenaxesnumber 3

and/ or 7Sin-Cosencoders arenot

used.

Type:±10V,differential.

Resolution: 12bits.

Unused Sin-Cosencoder inputs

canbe usedasgeneral purpose

analoginputs.

MC4UHardwareGuide

2.MC4U Specifications

General

Purpose

Outputs

CommunicationChannels

Serial

Ethernet

EtherCAT

2,4.

Type:±10V,PWM filtered.

Resolution: 10bit.
SPiiPlusNTonly:

Two.

RS-232.

Up to 115,200bps
SPiiPlusNTonly:

One.

TCP/IP, 10/100Mbits/sec.
SPiiPlusNT:Oneor twomaster

ports.

SPiiPlusDC:Oneinput, one output.

SPiiPlusNTonly:Simultaneous

communication through all

channelsisfully supported.

Modbus protocol asmaster or

slave issupported via all

channels
SPiiPlusNTonly:Optional

network failure detection and

recovery with ring topology.

Version 2.50.D

45

HWFeature SPiiPlusNT/DC-LT/HP/LD Remarks
MPU(SPiiPlusNTonly)

Processor Intel® Atom™ N26001.6 GHz

MC4UHardwareGuide

2.MC4U Specifications

Memory
Powerup Time

Environment& Standards

Operating

Temperature
Storage

Temperature
Humidity 90%RH,non-condensing

Standards

RAM:1GB

FlashNVmemory:1GB
25-100sec. according to system

andnetwork configuration
0˚Cto 55˚C

40˚Cto 70˚C
CE(EMC),ULcertified and RoHS

compliant

2.2.2 SPiiPlusNT/DC Indicators

The indicators arelocated onthe front panel of the module and indicate the statusof the power

supplies andaxesas showninthe example giveninFigure 2-8

Version 2.50.D

46

MC4UHardwareGuide

2.MC4U Specifications

Figure 2-8.SPiiPlusNT/DC Indicators(SPiiPlusNTshown)

The indicators aredetailed in Table2-10.

Table 2-10.SPiiPlusNT/DCIndicators

Label Description Remarks

EtherCAT status

IN
OUT

Axis#

(Axis)

MPU_

ON

Two yellowLEDs:

> On:Linkconnected 100MHzspeed

> Blink: transmitter isactive

> Off:not connected

AxisStatus
Four -onefor each axis
Bicolor (Green/Red)LEDs:

> Green On:axis enabled

> Red On:axis failed

> Off:axis disabled

MPUStatus
Bicolor (Green/Red)LED

> Red LED

Version 2.50.D

47

Label Description Remarks

- On:Communication fault

> Green LED

- On:Control Unit functioning

properly

- Blink: Processor and

communicationsfunctioning

properly

- Off:Noconnection with MPU

-5VStatus

MC4UHardwareGuide

2.MC4U Specifications

-5V

+12V

-12V

IO_PWR

SFTY_

PWR

Green LED

> On:-5Vavailable

> Off:No-5V

+12V Status
Green LED

> On:+12V available

> Off:No+12V

-12VStatus
Green LED

> On:-12Vavailable

> Off:No-12V

I/O Power Status
Green LED

> On:voltage isavailable

> Off:Novoltage

Safety Power Status
Green LED

> On:voltage isavailable

> Off:Novoltage

Two LEDs:Green andYellow

Green LED

J3

> On:Linkpresent

> Blink: Linkactive

Yellow LED

> ON:communicationat100MHz

SPiiPlusNT-LT/HP/LDRevD and

later only.

2.3PSM3UPower Supplies

There are sixtypesof PSM3U power supplies. These powersupplies mustbe matched tothe

motherboard installedin the MC4U Control Module (seeTable 2-11). Allpower suppliesneed two

Version 2.50.D

48

input voltage supplies:

> 24Vdc inputsupply for internal logiccircuit
> AC drivesupply for motor operation

The 24Vdc inputpower supply should notbe connected to aDC distribution network;

anexternal AC/DC supply witha24Vdc,5Aoutput must be used.
Whenever anyMC4Umaintenance has to beperformed and aPSM3U-48V-xx power

supply isinstalled,after disconnectingthe unit from external power, awaiting period

of 30minutes mustbe observed inorderto allowcomplete voltagedischarge before

disassembling any of the MC4Ucomponents. Otherwise damage couldoccur to the

unit.

Table 2-11. PSM3U Power Supplies-General

Nominal
Input

Power
Supply

Number
ofInput
Phases

Voltage
Range
[Vrms]

-15%
+10%

MaxCont.
InputCurrent
PerPhase
[Arms]

MaxCont.
InputPower
[W]

MC4UHardwareGuide

2.MC4U Specifications

Applicable
Motherboard

PSM3U-

48V-

0.5kW
PSM3U-

48V-

0.7kW
PSM3U-

48V-

1.4KW

100-

240

1

1

1

phase

to

neutral
100-

240

phase

to

neutral
100-

240

phase

to

neutral

3.2 600

3.1 900

6.2 1800

MB5U-CONT-

PSMB5U-

YYYYMB5U-

ZZZMB5U-

ZVMB5U-ZZ
MB5U-CONT-

PSMB5U-

YYYYMB5U-

ZZZMB5U-

ZVMB5U-ZZ
MB5U-CONT-

PSMB5U-

ZZWMB5U-

ZVMB5U-ZZ

Version 2.50.D

49

Power
Supply

Number
ofInput
Phases

Nominal
Input
Voltage
Range
[Vrms]

-15%
+10%

MaxCont.
InputCurrent
PerPhase
[Arms]

MaxCont.
InputPower
[W]

MC4UHardwareGuide

2.MC4U Specifications

Applicable
Motherboard

PSM3U-

48V-4KW

PSM3U-

320V-

8kW

100-

240

1

3

1

3

phase

to

neutral
100-

240

phase

to

phase

100-

240

phase

to

neutral

100-

240

phase

to

phase

13 3000

11 4200

25.8with

MB5U-CONT-

PS2,MB5U-ZZ,

MB5U-ZV,

MB5U-Z
24 with

MB5U-CONT-

PS, MB5U-

YYYY, MB5U-

ZZZ,MB5U-

ZZW

25.8with

MB5U-CONT-

PS2,MB5U-ZZ,

MB5U-ZV,

MB5U-Z
24 with

MB5U-CONT-

PS, MB5U-

YYYY, MB5U-

ZZZ,MB5U-

ZZW

6200with

MB5U-CONT-

PS2,MB5U-ZZ,

MB5U-ZV,

MB5U-Z
5760with

MB5U-CONT-

PS, MB5U-

YYYY, MB5U-

ZZZ,MB5U-

ZZW
10730with

MB5U-CONT-

PS2,MB5U-ZZ,

MB5U-ZV,

MB5U-Z
9977 with

MB5U-CONT-

PS, MB5U-

YYYY, MB5U-

ZZZ,MB5U-

ZZW

MB5U-CONT-

PS

MB5U-CONT-

PS2

MB5U-Z

MB5U-ZV

MB5U-ZZ

MB5U-YYYY

MB5U-ZZZ

MB5U-ZZW

MB5U-CONT-

PS

MB5U-CONT-

PS2

MB5U-Z

MB5U-ZV

MB5U-ZZ

MB5U-YYYY

MB5U-ZZZ

MB5U-ZZW

Version 2.50.D

50

Power
Supply

Number
ofInput
Phases

Nominal
Input
Voltage
Range
[Vrms]

-15%
+10%

MaxCont.
InputCurrent
PerPhase
[Arms]

MaxCont.
InputPower
[W]

MC4UHardwareGuide

2.MC4U Specifications

Applicable
Motherboard

PSM3U-

320V-

10kW

32with

MB5U-CONT-

PS2,MB5U-ZZ,

100-

240

1

3

phase

to

neutral

100-

240

phase

to

phase

MB5U-ZV,

MB5U-Z
24 with

MB5U-CONT-

PS, MB5U-

YYYY, MB5U-

ZZZ,MB5U-

ZZW
32with

MB5U-CONT-

PS2,MB5U-ZZ,

MB5U-ZV,

MB5U-Z
24 with

MB5U-CONT-

PS, MB5U-

YYYY, MB5U-

ZZZ,MB5U-

ZZW

7680with

MB5U-CONT-

PS2,MB5U-ZZ,

MB5U-ZV,

MB5U-Z
5760with

MB5U-CONT-

PS, MB5U-

YYYY, MB5U-

ZZZ,MB5U-

ZZW
13300with

MB5U-CONT-

PS2,MB5U-ZZ,

MB5U-ZV,

MB5U-Z
9980with

MB5U-CONT-

PS, MB5U-

YYYY, MB5U-

ZZZ,MB5U-

ZZW

MB5U-CONT-

PS

MB5U-CONT-

PS2

MB5U-Z

MB5U-ZV

MB5U-ZZ

MB5U-YYYY

MB5U-ZZZ

MB5U-ZZW

PSM3U-

320V-

11kW

Version 2.50.D

100-

240

1

3

phase

to

neutral
100-

240

phase

to

phase

30(24

depending on

motherboard

setup)
30(24

depending on

motherboard

setup)

51

6900(5500

depending on

motherboard

setup)

MB5U-CONT-

PSMB5U-Z

12000(9600

depending on

motherboard

setup)

Power
Supply

Number
ofInput
Phases

Nominal
Input
Voltage
Range
[Vrms]

-15%
+10%

MaxCont.
InputCurrent
PerPhase
[Arms]

MaxCont.
InputPower
[W]

MC4UHardwareGuide

2.MC4U Specifications

Applicable
Motherboard

PSM3U-

320/48V-

8/0.7kW

PSM3U-

320V-

20kW

100-

240

1

3

1

3

phase

to

neutral
100-

240

phase

to

phase
100-

240

phase

to

neutral
100-

240

phase

to

phase

28.5(24with

the applicable

motherboard)

24.4 (24with

the applicable

motherboard)

54 10600

76 30000

6700(5500

with the

applicable

motherboard)
9400(9200

with the

applicable

motherboard)

MB5U-CONT-

PSMB5U-

ZZWMB4U-

ZZW-AX7

The following isabrief description ofeach power supply:

> PSM3U-48V-0.7kW

The PSM3U-48V-0.7kW isalow-power, regulated powersupply andsupplies:

- One 51VdcnominalBUS voltage,up to700W(motor supply), providing power for

motor drivers suchasDDM3U-4 drive and the like. (If 700Wis not enough power, use

the PSM3U-48V-1.4kWpower supply.)

- All voltagesfor the SpiiPlusMotion Controller.

The PSM3U-48V-0.7kW issupplied from:

- Single AC externalpower supply within the voltage fluctuation range:85-265Vac

- 24Vdc±10% for logicsupply

> PSM3U-320V-8kW

The PSM3U-320V-8kWisahigh-power, non-regulated power supply andsupplies:

Version 2.50.D

52

MC4UHardwareGuide

2.MC4U Specifications

- VACinx1.4 nominalBUS voltage,up to8.3kW (motor supply), providing power for the

motor drivers suchasDDM3U-2 and the like.(If 8.3kWisnot enough power,use the

PSM3U-320V-11kW power supply.)

- All voltagesfor SpiiPlusMotion Controller.

The PSM3U-320V-8kWissupplied from:

- Single or three-phase AC external powersupply within the voltagefluctuation range

85-265Vac

- 24Vdc ±10%for logic supply

> PSM3U-48V-1.4kW

The PSM3U-48V-1.4kWisalow-powerregulated powersupply, withdual DCbusvoltageoutputs

(up to 1.4kW), and supplies:

- Two 51VdcnominalBUS voltageoutputs,upto 700W(motor supply), for each output

for the motor driverssuch asDDM3U-4 or the like.

- All voltagesfor the SpiiPlusMotion Controller.

The PSM3U-48V-1.4kWissupplied from:

- Single AC externalpower supply within the voltage fluctuation range85-265Vac

- 24Vdc ±10%for logic supply

> PSM3U-320V-11kW

The PSM3U-320V-11kW isahigh-power, non-regulated power supply, withdualDC busvoltage

outputs(up to11 kW)andsupplies:

- Two outputs, VACin x1.4 nominalBUS voltageup to8.3kW for each outputand upto

12kW for both outputs simultaneously,for the motor drivers suchasDDM3U-2 orthe

like.

- All voltagesfor SpiiPlusMotion Controller.

The PSM3U-320V-11kW issupplied from:

- Single or three-phase AC external powersupply within the voltagefluctuation range

85-265Vac

- 24Vdc ±10%for logic supply

> PSM3U-320/48V-0.7/8kW

The PSM3U-320/48V-0.7/8kW isrequired ifDDM3U-2and DDM3U-4motor drivers are

installed together inthe 19” MC4U.

The PSM3U-320/48V-0.7/8kW isadualoutput, mixed voltagespower supply, high (upto 8kW)and

low-power (upto 0.7 kW) andsupplies:

- VACinx1.4 nominalBUS voltage,up to8 kW(motor supply), for the DDM3U-2 orthe

- 320VdcnominalBUS voltage,up to 8kW(motor supply), for the DDM3U-2

- 48Vdc nominal BUS voltage, upto 700W (motor supply), for the DDM3U-4 drive or the

- All voltagesfor SpiiPlusMotion Controller

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The PSM3U-320/48V-0.7/8kW issupplied from:

- Single or three-phase AC external powersupply within the voltagefluctuation range

85-265Vac.

- 24Vdc ±10%for logic supply.

When usingboth lowandhigh-power suppliesinthe same unit, the lowvoltageis

connectedto J30(V2) onthe motherboard, and the high voltage isconnected to J29

(V1) onthe motherboard.

> PSM3U-320V-20kW

The PSM3U-320V-20kWisanunregulated power supply (it isa combinationof twoPSM3U-320V-

10KW powersupplies). This supply isused to generate the two separateDC BUSvoltages(motor

supply) for the motor drivers (PWMor linear).
The PSM3U-320V-20kWissupplied from aone-or three-phase AC external power supply withinthe

voltage rangeof 100-230Vacnominaland generatestwoseparate DCBUS output voltagesof

140Vdc to320Vdc nominal.

2.3.1 PSM3U Specifications

2.3.1.1 PSM3U-48V-XXkWPowerSupply

The following table liststhe PSM3U-48V-XXkWspecifications.

Table 2-12.PSM3U-48V-XXkWLow-Power PSSpecifications

Parameter Description Remarks

AC Input voltage (drivesupply):

> Fluctuation Range:single phase 85-

265Vac

Input frequency:

> Nominalfrequency:50Hz

Power Input

> Minimumfrequency: 47Hz

> Maximum frequency: 63Hz

Inrush current: 50A peak
Maximum input current:

> 10.67A @85Vac (for 700W unit)

> 21.3A @85Vac(for 1400Wunit)

Efficiency:81%

Power

Output

Version 2.50.D

Maximum output current:
For 700Wunit:

> 14A (continuous and peak) @

Vin=265Vac

> 10A continuous14A peak @

Vin=85Vac

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MC4UHardwareGuide

2.MC4U Specifications

Parameter Description Remarks

Output voltage:

> Nominalvoltage:51Vdc

> Minimumvoltage:45Vdc

> Maximum voltage:57Vdc

Output power:

> Maximum output power: 700W

(continuous and peak) for 700Wunit

@Vin=265Vac and500W continuous

@Vin=85Vac

The Logic Supply isused to generate all

necessary lowvoltages for the SPiiPlus

Motion Controller.
The Logic Supply ispowered from an

Logic Supply

external24Vdc control supply, andhasthe

following characteristics:

> Input voltage:

- Nominalvoltage:24Vdc

- Minimumvoltage:

21.6Vdc

- Maximum voltage:

26.4Vdc

> Input power: 55W, max.

> Input current: 2.9A, max., @21.6V

control supply input voltage

> Supply inrush current

- Maximum inrush

currentvalueisless

than 4Armsmeasured

within first 400ms after

logic supply input

voltage isapplied.

- After the first 400ms,

the inrush current value

continuously decreases

anddropsbelow2.9A

within 1sec.

> Supply input voltage ripple:

- Maximum input voltage

rippleamplitude: 5V

peak-to-peak at100Hz

frequency

- Inanycondition: the

input voltage level

including the voltage

rippleamplitude must

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2.MC4U Specifications

Parameter Description Remarks

not be lower than21.6V

andnot greater than

26.4V

I2C Circuit
±12Vsupply

for third

party drive

(DC/DC unit)
Power

Supply Fault

output

signal

See I2CCircuit.
The PSM3U-48V-0.7kW PowerSupply

provides the option for supportingadditional

±12Vfor third party drives.
This signal goes to“0” logiclevel and remains

in thislevelif one ofthe power supply

protection circuits isactivated.

2.3.1.2 PSM3U-320V-8kW Power Supply

The following table liststhe PSM3U-320V-8kWspecifications.

For overvoltage fault

recovery,the AC input

must beremoved and

reapplied.

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Table 2-13.PSM3U-320V-8kWHigh-PowerPS Specifications

Parameter Description Remarks

Input voltagefluctuation range:

> Single phase 85-265Vac input

(phase-to-neutral)

> Three phase 85-265Vac input

(phase-to-phase)

Input frequency:

> Nominalfrequency:50Hz

> Minimumfrequency: 47Hz

Power Input

> Maximum frequency: 63Hz

Inrush current:

> Maximum inrush current valueis

3.75Arms measured for the first

20msafter power supply input

voltage isapplied.

> After the first 20ms, the inrush

currentvaluecontinuously

decreasesanddrops below

1.3Armswithin 5sec.

Efficiency:

The maximuminput

currentfor the AC

input (drive supply)

must notbe more

than 30A due to the

AC input in

connector J14 of the

MC4UInterface(see

J14 -DriveSupply

Voltage Connector)

> 68% -for 85 -265Vac single phase

supply

> 68% -for 195- 265Vac three

phase supply

Input Power:see Table 2-14 andTable 2-15.
Input Current: see Table 2-16 andTable 2-

17.

Parameter Description Remarks

Maximum output current:

> 16A continuous, 32A peak for 85-

130Vac single phaseinput supply

> 15.5A continuous,31A peakfor

Power Output

195 -265Vacsinglephase input

supply

> 23Acontinuous, 62Apeak for 195

-265Vac three phase input

supply

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Parameter Description Remarks

Output Voltage: see Table2-18,Table 2-19

andTable 2-20.
Output Power: see Table2-21,Table 2-22,

andTable 2-23.
The Logic Supply isused to generate all

necessary lowvoltages for the SPiiPlus

Motion Controller.
The Logic Supply ispowered from an

external24Vdc control supply, andhas

the following characteristics:

> Input voltage:

- Nominalvoltage:24Vdc

- Minimumvoltage:21.6Vdc

- Maximum voltage:26.4Vdc

> Input power: 55W, max.

> Input current: 2.9A, max., @21.6V

control supply input voltage

> Supply inrush current

- Maximum inrush current

Logic Supply

> Supply input voltage ripple:

valueislessthan4Arms

measured within first 400ms

after logic supply input

voltage isapplied.

- After the first 400ms, the

inrush current value

continuously decreases and

dropsbelow2.9A within

1sec.

- Maximum input voltage

rippleamplitude: 5Vpeak-to-

peak at100Hzfrequency

- Inanycondition: the input

voltage levelincluding the

voltage ripple amplitude

must notbe lower than21.6V

andnot greater than 26.4V.

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2.MC4U Specifications

Parameter Description Remarks

The internal

regeneration

resistor must be

disconnected from

Power Supply J9

connector;

otherwiseit will

work inparallelwith

the externalresistor

andheat the power

supply heatsink for

no reason.
This signal issent to

the SPiiPlusMotion

Controller over the

I2C bus.

External

Regeneration

Power Supply Fault

output signal

Regenerationcircuit activateswhenDC

BUS output voltage exceeds 400V±3%

(388-412V)
External regenerationresistor >15Ω

This signal goes to“0” logiclevel and

remains inthislevel ifone of the power

supply protection circuit isactivated.
A self-reset circuit generatesa pulse

every 130mSecto reset the signalto “1”

logic levelwhen the faultcondition

disappears.

Discharge time

Paramet
er

Input

power

nominal

(Pin), [W]
Input

power

peak (Pin

peak),

[W]

Parameter 195Vac 230Vac 265Vac

The 320vsupplieshave anactivedumper

that discharges the voltageto below50v

within lessthan3seconds.

Table 2-14.Maximum Input Power @Single Phase Input 85 -265Vac

85Vac

1858.2

6

1732.2

6

Table 2-15.Maximum InputPower @Three PhaseInput 195-265Vac

100Va
c

2240.

83

2455.0

8

115Vac 130Vac

2814.

93

3539.

31

3388.9

4

4623.5

4

195Va
c

5350.4

3

8437.

97

230Vac 265Vac

6462.5

7

10538.

67

7574.7

0

12639.

37

Version 2.50.D

Input power nominal (Pin), [W] 8601.73 10251.99 11902.26
Input power peak(Pin peak),[W] 19100.49 23301.88 27503.27

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2.MC4U Specifications

Table 2-16.Maximum Input Current @Single Phase Input 85- 265Vac

Paramete
r

Input

current

nominal

(Iin),

[Arms]
Input

current

peak (Iin

peak),

[Arms]

85Va
c

21.55 22.93 24.48 25.63 27.37 28.10 28.64

20.08 25.12 30.78 34.96 43.16 45.82 47.79

Table 2-17.Maximum Input Current @ThreePhaseInput 195-265Vac

Parameter 195Vac 230Vac 265Vac

Input current nominal(Iin),[Arms] 25.40 25.73 25.98
Input current peak

(Iinpeak), [Arms]

100Va
c

115Va
c

130Va
c

56.41 58.49 60.03

195Va
c

230Va
c

265Va
c

Table 2-18.Output Voltage @SinglePhaseInput 85- 130Vac

Parameter 85Vac 100Vac 115Vac 130Vac

Maximum output voltage
(Vout_max),[Vdc]

Nominaloutput voltage@nominaloutput

current16A (Vout_nom), [Vdc]
Minimumoutput voltage @peakoutput

current32A (Vout_peak), [Vdc]

Table 2-19.Output Voltage @SinglePhaseInput 195-265Vac

Parameter 195Vac 230Vac 265Vac

Maximum output voltage
(Vout_max),[Vdc]

Nominaloutput voltage@nominaloutput current 15.5A

(Vout_nom), [Vdc]

118.98 135.24 159.63 184.03

78.98 95.24 119.63 144.03

38.98 55.24 79.63 104.03

273.48 322.27 371.06

234.73 283.52 332.31

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2.MC4U Specifications

Parameter 195Vac 230Vac 265Vac

Minimumoutput voltage @peakoutput current 31A

(Vout_peak),[Vdc]

Table 2-20. Output Voltage @Three PhaseInput 195- 265Vac

Parameter 195Vac 230Vac 265Vac

Maximum output voltage
(Vout_max),[Vdc]

Nominaloutput voltage@nominaloutput current 23A

(Vout_nom), [Vdc]
Minimumoutput voltage @peakoutput current 62A

(Vout_peak),[Vdc]

Table 2-21.Output Power @Single Phase Input 85-130Vac

Parameter 85Vac 100Vac 115Vac 130Vac

Nominaloutput power @nominaloutput

current16A (Pout_nom), [W]

1263.61 1523.83 1914.15 2304.48

195.98 244.77 293.56

273.48 322.27 371.06

254.31 303.10 351.89

221.81 270.60 319.39

Peak output power @peakoutput current

32A(Pout_peak),[W]

Table 2-22. Output Power @SinglePhaseInput 195-265Vac

Parameter 195Vac 230Vac 265Vac

Nominaloutput power @nominaloutput current 15.5A

(Pout_nom), [W]
Peak output power @peakoutput current 31A(Pout_

peak), [W]

Table 2-23. Output Power @Three PhaseInput 195-265Vac

Parameter 195Vac 230Vac 265Vac

Nominaloutput power @nominaloutput current

23A(Pout_nom), [W]
Peak output power @peakoutput current 62A

(Pout_peak),[W]

1247.23 1767.66 2548.31 3328.95

3638.30 4394.55 5150.80

6075.34 7587.84 9100.34

5849.18 6971.36 8093.53

13752.35 16777.35 19802.35

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2.3.1.3 PSM3U-320V-20KWPowerSupply

A setof twoPSM3U-320V-10KWpower suppliesare usedto construct the PSM3U-320V-

20KWpower supply. Therefore, the specifications that followapply tothe PSM3U-

320V-10KW.

Table 2-24. PSM3U-320V-10KWPSSpecifications

Parameter Description Remarks

Input voltagerange:

> Single phase 85-265Vac input (phase-to-neutral)

> Three phase 85-265Vac input(phase-to-phase)

Input frequency:

> Nominalfrequency:50Hz

> Minimumfrequency: 47Hz

> Maximum frequency: 63Hz

Power

Input

Power

Output

Inrush current:

> Maximum inrush current valueis3.75Armsmeasured

for the first20msafter power supply inputvoltage is

applied.

> After the first 20ms, the inrush current value

continuously decreases and dropsbelow1.3Arms

within 5sec.

Maximum input power: seeTable 2-25
Maximum input current:see Table 2-26
Efficiency:68%-for 195 -265Vacthree phase supply.

Maximum output current: 34A continuous, 70Apeak for 195-

265Vac three phase input supply.
Output voltage: seeTable 2-27
Output power: see Table 2-28

The Logic Supply isused to generate allnecessarylowvoltages

for the SPiiPlusMotion Controller.
The Logic Supply ispowered from anexternal 24Vdc control

supply, andhasthe following characteristics:

Logic

Supply

Version 2.50.D

> Input voltage:

- Nominalvoltage:24Vdc

- Minimumvoltage:21.6Vdc

- Maximum voltage:26.4Vdc

> Input power: 55W, max.

> Input current: 2.9A, max., @21.6Vcontrol supply input

voltage

> Supply inrush current

62

MC4UHardwareGuide

2.MC4U Specifications

Parameter Description Remarks

- Maximum inrush current valueislessthan4Arms

measured within first 400ms after logic supply

input voltage isapplied.

- After the first 400ms, the inrush current value

continuously decreases and dropsbelow2.9A

within 1sec.

> Supply input voltage ripple:

- Maximum input voltage ripple amplitude: 5Vpeak-

to-peak at100Hzfrequency

- Inanycondition: the input voltage levelincluding

the voltage ripple amplitude mustnot be lower

than 21.6Vand not greater than 26.4V.

Signal designator:PS_FLT
Goesto “0”logic levelandremainsin thisstagein case of oneof

the power supply protectioncircuit isactivated.

Power

Supply

Fault

output

signal

Discharge

time

The self-reset circuit will generate pulse every 130msto reset

this stagewhen the faultcondition hasdisappeared. Inthis case

the power supply fault signal goes to“1” logic level
Propagation delay-time from the moment when oneof the

power supply fault conditionshasoccurred to switching power

supply fault signalto“0” logiclevel:

> For the Phase Lostprotection: 80-120 ms

> For the PowerSupply Missingprotection:550-650ms

> For the Regeneration Faultprotection: lessthan10µS

> For the PowerSupply Temperature Too High

protection: 5-15 ms

The 320vsupplieshave anactivedumper thatdischarges the

voltage tobelow 50v withinlessthan 3seconds.

Table 2-25. Maximum Input Power @ Three PhaseInput 195-265Vac

Parameter 195Vac 230Vac 265Vac

Input power nominal (Pin), [W] 12533.38 14972.90 17412.42
Input power peak

21939.91 26683.42 31426.93

(Pin peak),[W]

Version 2.50.D

Table 2-26. Maximum Input Current @Three Phase Input 195- 265Vac

Parameter 195Vac 230Vac 265Vac

Input current nominal(Iin),[Arms] 37.01 37.59 38.01
Input current peak 64.79 66.98 68.60

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2.MC4U Specifications

Parameter 195Vac 230Vac 265Vac

(Iinpeak), [Arms]

Table 2-27.Output Voltage @Three PhaseInput 195-265Vac

Parameter 195Vac 230Vac 265Vac

Maximum output voltage (Vout_max),[Vdc] 274 323 372
>(Vout_nom), [Vdc] 251 300 348
Minimumoutput voltage @peakoutput current 70A

(Vout_peak),[Vdc]

Table 2-28. Output Power @Three PhaseInput 195-265Vac

Parameter 195Vac 230Vac 265Vac

Nominaloutput power @nominaloutput current 34A

(Pout_nom), [W]
Peak output power @peakoutput current 70A(Pout_

peak), [W]

226 275 323

8523 10182 11840
15797 19212 22627

2.4Motor Drives

The motor drives supplythe driving power for the motors connected to the MC4U.The following

typesof motor drivesareavailable:

> PWMdrives
> LinearDrives

This sectionprovidesspecifications for all types of motor drives.

2.4.1 PWM Drives

The MC4Uline of universal digitalPWM drivemodules arespecifically designed to provide high

performance and cost effectivesolution for demanding multi-axis applications.The drives are

optimized for lownoise, providing the best possible jitter andvelocity smoothnessandare fully

programmable for easy setup anddiagnostics.The low-power modulesinclude up tofour drives

andhigh-powermodules include twodrivesfor optimal costsandperformance.
The PWMdrive modulessupport linear androtary motors covering awide power range of 100W to

19kW. Eachdrive can be programmed to control anytype of single,two orthree phase motor.
The PWMdrivesare supplied inthe following versions:

> DDM3U-X-60V-4A (for low-power motors;suitable only for MC4U-19-Piano-enc.)

- DDM3U-2-60V-4A -2 drivesmodule, 24-60V,4/5A

- DDM3U-4-60V-4A -4 drives module, 24-60V,4/5A

> DDM3U-1-320V-XX

- DDM3U-1-320V-30A-SR- 1drive 24–320V, 30/60A

Version 2.50.D

64

- DDM3U-1-320V-45A-SR- 1 drive24–320V, 45/90A

> DDM3U-X-320V-YY (for high-power motors)

- DDM3U-1-320V-5A-1 drivemodule, 24–320V, 5/10A

- DDM3U-1-320V-10A -1 drive module, 24–320V, 10/20A

- DDM3U-1-320V-15A -1 drive module, 24–320V, 15/30A

- DDM3U-1-320V-20A-1 drivemodule, 24–320V, 20/40A

- DDM3U-2-320V-1A-2drives module, 24 –320V, 1/2A, 250W

- DDM3U-2-320V-1A-2drives module, 24 –320V, 1/2A, 250W

- DDM3U-2-320V-2A- 2drivesmodule, 24–320V, 2/4A, 500W

- DDM3U-2-320V-3A -2drives module, 24–320V,3/6A, 750W

- DDM3U-2-320V-5A -2drives module, 24 –320V, 5/10A

- DDM3U-2-320V-10A-2drivesmodule, 24–320V, 10/20A

- DDM3U-2-320V-15A-2drivesmodule, 24–320V, 15/30A

MC4UHardwareGuide

2.MC4U Specifications

- DDM3U-2-320V-20A -2drives module,24 –320V,20/40A

- DDM3U-2-560V-5A -2drives module, 560V, 5/10A

- DDM3U-2-560V-10A-2drivesmodule, 560V, 10/20A

- DDM3U-2-560V-15A-2drivesmodule, 560V, 15/30A

- DDM3U-4-320V-1A -4 drives module, 24 –320V, 1/2A, 250W

- DDM3U-4-320V-2A-4drives module, 24 –320V, 2/4A, 500W

- DDM3U-4-320V-3A-4drives module, 24 –320V, 3/6A, 750W

> LDM3U-XX-YY-D

- LDM3U-28V-8A-D-Linear Drive, 28Vdc,4A/8A digitallycontrolled

- LDM3U-28V-16A-D -Linear Drive,28Vdc,4A/16A digitallycontrolled

- LDM3U-55V-8A-D- LinearDrive, 55Vdc, 4A/8A digitally controlled

- LDM3U-55V-16A-D-Linear Drive, 55Vdc, 4A/16A digitallycontrolled

2.4.1.1DDM3U-X-60V-4A Low-PowerMotorDrive

The DDM3U-X-60V-4A has 2or 4PulseWidth Modulation(PWM)PowerBridges (amplifiers) for 2or

4 Servo(DCBrushless, DC Brush) and/or 2or4 Step motors. There are twodifferent assembly

options available for DDM3U-X-60V-4Apower block, as detailed in the followingtable:

Version 2.50.D

65

Power
Block
Name

Table 2-29. DDM3U-X-60V-4A Power Block Assembly Options

PWMBridge

Number of
PWM
Bridges

Number
ofAxes

Continuous/
3SecPeak

Output
Current [A]

InputPowerSupply
NominalVoltageRange
[Vdc]

MC4UHardwareGuide

2.MC4U Specifications

2DC

Brushless

DDM3U-

2-60V-

2A

DDM3U-

4-60V-

2A

2.4.1.1.1 DDM3U-X-60V-4A Specifications

2

Brush
2Step 2.8/3.5
4 DC

Brushless

4

All power for the DDM3U-X-60V-4A is supplied throughthe PSM3U-48V-0.7kW Power

Supply.

Table 2-30. DDM3U-X-60V-4ASpecifications

4 DC

Brush
4 Step 2.8/3.5

4/5

2.8/5

4/5

2.8/5

18 -602DC

18 -60

Motor

types

supported
Number

of axes

supported

Input

Power

Version 2.50.D

Description Remarks

Brush, Brushlessor Step
Four for Brush/Brushless ortwofor

Step motors
NominalInputSupply Voltage: 18-

60Vdc
Input Current & Power-see Table2-

31.

Inrush current:

> Maximum inrush current

valueislessthan1Arms

66

The drive supply voltagemayreach

66Vduring motor regeneration.
If the voltagerippleduring

regeneration exceeds the specified

value(72V),then the over voltage

protection isactivated.

Description Remarks

measured within first 10ms

after drive supply input

voltage isapplied

> After the first 10ms,the

inrush current valuewill

gradually decrease tobelow

0.2Armswithin1 sec

Control supply input voltage:

> Nominalvoltage:24Vdc

> Minimumvoltage:19Vdc

> Maximum voltage:29Vdc

Control supply input power: 15.8W

max.
Control supply input current: 0.83A

max.@19Vcontrol supply input

voltage

MC4UHardwareGuide

2.MC4U Specifications

Input

Control

Supply

Total

Output

Power

Control supply inrush current:

> Maximum inrush current

valueislessthan32Arms

measured within first

500µSec after drive supply

input voltage isapplied.

> After the first 500µSec, the

inrush current gradually

decreasesto below0.83A

within 1sec.

Control supply input voltageripple:

> Maximum input voltage

rippleamplitude: 5Vpeak-

to-peak at100Hzfrequency.

> Under anycondition, the

instantaneousinput voltage

level (including voltage

rippleamplitude) must be

between19Vand 29V.

See Table 2-32.

Output

Power to

Motor

Version 2.50.D

See Table 2-33

67

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2.MC4U Specifications

Table 2-31.DDM3U-X-60V-4AMaximum Input Current andInput Power

DDM3U-

2-60V-

4A
DDM3U-

4-60V-

4A
DDM3U-

2-60V-

4A
DDM3U-

4-60V-

4A

Maximum

Number
ofAxes

2DC

Brushless
4 DC

Brushless
2DC

Brush
2Step 3.4 4.2 222 276
4 DC

Brush
4 Step 6.7 8.4 444 552

Continuous
Input
Current
[Arms]

5.5 6.8 362 452

10.9 13.7 723 904

5.2 9.2 341 608

10.3 18.4 682 1216

Maximum
Peak
Input
Current

(3Sec)
[Arms]

Maximum
ContinuousInput
Power[W]

Maximum
Peak
Input
Power

(3Sec)
[W]

DDM3U-

2-60V-

4A
DDM3U-

4-06V-

4A
DDM3U-

2-60V-

4A

Table 2-32. DDM3U-X-60V-4ATotal Output Current andOutput Power

Maximum
Peak

Maximum
Number
ofAxes

2DC

Brushless
4 DC

Brushless
2DC

Brush
2Step 4/5.6 7.1/10 212 264

ContinuousTotal

Output Current

[Arms/SinPeak]

5.6/8 7.1/10 352 440

11.2/16 14.1/20 704 880

5.6/NA 10/NA 336 600

Total
Output
Current

(3Sec)
[Arms/Sin
Peak]

Maximum
Continuous
Total
Output
Power

[W]

Maximum
Peak
Total
Output
Power

(3Sec)[W]

Version 2.50.D

68

Number
ofAxes

Maximum

ContinuousTotal

Output Current

[Arms/SinPeak]

Maximum
Peak
Total
Output
Current

(3Sec)
[Arms/Sin
Peak]

MC4UHardwareGuide

2.MC4U Specifications

Maximum
Continuous
Total
Output
Power

[W]

Maximum
Peak
Total
Output
Power

(3Sec)[W]

DDM3U-

4-60V-

4A

Type of
Connected
Motor

DC

Brushless
DC Brush 2.8/NA 5/NA 52 168 300

Step 2/2.8 2.8/3.5

4 DC

Brush
4 Step 8/11.2 14.2/20 424 528

Table 2-33. DDM3U-X-60V-4APower Motor Output Parameters

Maximum
Continuous
PhaseOutput
Current
[Arms/Sine
Peak]

2.8/4 3.5/5 36 176 220

11.2/NA 20/NA 672 1200

Maximum
Peak
Phase
Output
Current
(3Sec)
[Arms/Sin
Peak]

Maximum
Phase-to­Phase
Output
Voltage[V]

52(see

note)

Maximum
Continuous
Output
Power[W]

106 132

Maximum
Peak
Output
Power
(3Sec)
[W]

The maximumoutput voltage for aStep motor Phase S toPhaseT is52V;but for Phase

S orPhaseT toPhaseRitis36V.
The power output parametersarebased on40°Cambient temperature.

2.4.1.2DDM3U-1-320V-XX-SRMotor Drive

The DDM3U-1-320V-XX-SRis arackmounted dualaxismotor drive,driving one PWM (pulse width

modulation) axis or onedigital axis. There are twodifferent configurationsavailable for the

DDM3U-1-320V-XX-SRdual axis digital driver:

> DDM3U-1-320V-30A-SR
> DDM3U-1-320V-45A-SR

Version 2.50.D

69

MC4UHardwareGuide

2.MC4U Specifications

The SPiiPlusNT/DC motioncontroller,viathe Controller- Drive interface, controls the drive output

current.
The following motor types canbe connected to drive:

> DC Brushless
> AC Induction
> DC Brush

2.4.1.2.1 DDM3U-1-320V-XX-SR Specifications

Table 2-34. DDM3U-1-320V-XX-SRSpecifications

Description Remarks

Supported motor

types
Number of axes

supported
Axisdesignations

Input Voltage

Input Power

Brush, Brushlessor Induction.
One

19” MC4Uand22”MC4U:
X

Drive supply inputvoltage range:

> Nominal:24Vdc -320Vdc

> Minimal:21Vdc(24Vdc-10%)

> Maximum: 370Vdc(320Vdc +15%)

Drive supply nominal input power for

230Vac3-phase supply:

> 7021 Wcontinuousand13423W

peak for DDM3U-1-320V-30A-SR

> 10243Wcontinuous and 19097 W

peak for DDM3U-1-320V-45A-SR

Drive supply inputpower for 265Vac

3-phasesupply:

> 8089Wcontinuous and 15578 W

peak for DDM3U-1-320V-30A-SR

> 11859 Wcontinuousand 22329 W

peak for DDM3U-1-320V-45A-SR

During motor

regeneration arapid

increase inthe input

voltage upto 420V is

allowed. If the voltage

rippleduring

regeneration exceeds

this 420V, then the

over voltage

protection isactivated.

Version 2.50.D

70

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2.MC4U Specifications

Description Remarks

Bus voltageissupplied viaPSM3U-320V-

10kW power supply after the DDM3U-1-

320V-XX-YY driver hasbeen installed in

the MC4U:

There isno

regenerati

on circuit

implement

ed inthe

DDM3U-1-

320V-XX-

SRdrive. It

ispart of

the power

supply

module.

Inrush Current

Input Current

> Maximum inrush current valueis

lessthen 1 Armsmeasured within

first 10 msafter drive supply

input voltage isapplied.

> After the first 10ms,the inrush

currentvaluecontinuously

decreasesanddrops below0.2

Arms within1 sec.

Drive supply inputcurrentfor 230Vac

3-phasesupply:

> 22.85Acontinuous and 46.18 A

peak for DDM3U-1-320V-30A-SR

> 34.28A continuousand69.58A

peak for DDM3U-1-320V-45A-SR

Drive supply inputcurrentfor 265Vac

3-phasesupply:

> 22.74 Acontinuous and 45.89A

peak for DDM3U-1-320V-30A-SR

> 34.12 Acontinuous and 69.07 A

peak for DDM3U-1-320V-45A-SR

Input Control Supply

Version 2.50.D

Control supply input voltage:

> Nominalvoltage:24Vdc

> Minimumvoltage:19 Vdc

> Maximum voltage:29Vdc

Control supply input power: 15W max.

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2.MC4U Specifications

Description Remarks

Control supply input current: 0.8Amax.@

19Vcontrol supply inputvoltage

2.4.1.2.2 DDM3U-1-320V-XX-SRPWMPower Bridge Specification

There isone PWMPower Bridge on the DDM3U-1-320V-XX-SR-NPboard. The PWM power bridge is

digitallycontrolled with 20kHzsamplingrate and20kHzPWM.

Table 2-35. PWMPower Bridge Specifications

Item Description Remarks

Power Bridge

architecture
Supported motor

types

PWMPowerBridge

Output

> Three phase PWMbridge

> Sixpower transistors
> DC Brush Step Motor

> DC Brushless

> AC Induction

Drive supply nominal output power for 230Vac

3-phasesupply:
Output voltage phase-to-phase:

> 185 Vrms continuous and 175 Vrmspeakfor

DDM3U-1-320V-30A-SR

> 180 Vrms continuous and 165 Vrms peak for

DDM3U-1-320V-45A-SR

Output current sine amplitude:

> 30Acontinuous and60Apeak for DDM3U-1-

320V-30A-SR

> 45A continuousand90A peakfor DDM3U-1-

320V-45A-SR

Output power

> 6784 Wcontinuousand12853Wpeak for

DDM3U-1-320V-30A-SR

> 9913 Wcontinuousand18202Wpeak for

DDM3U-1-320V-45A-SR

PWMPowerBridge

Output
(Continued)

Version 2.50.D

Drive supply nominal output power for 265Vac

3-phasesupply:
Output voltage phase-to-phase:

> 214 Vrmscontinuousand204Vrmspeak for

DDM3U-1-320V-30A-SR

> 209Vrmscontinuousand195 Vrmspeak for

DDM3U-1-320V-45A-SR

Output current sine amplitude:

72

MC4UHardwareGuide

2.MC4U Specifications

Item Description Remarks

> 30Acontinuous and60Apeak for DDM3U-1-

320V-30A-SR

> 45A continuousand90A peakfor DDM3U-1-

320V-45A-SR

Output power

> 7863 Wcontinuousand15017 Wpeakfor

DDM3U-1-320V-30A-SR

> 11533 Wcontinuousand21458Wpeak for

DDM3U-1-320V-45A-SR

2.4.1.2.3 DDM3U-1-320V-XX-SRDrive Protection Circuits

The following protection devicesandcircuits areincorporated inthe DDM3U-1-320V-XX-SRboard:

> Fuses

- Control supply input fuse

- Type:subminiature, very fast action

- Ampere rating:2A

- Voltage rating:125Vdc

- Agency approvals:UL

> Drive Supply TooHigh (OverVoltage Protection)

- Disable byinternal HWprotectioncircuit two driverswhen DCBUS voltage ismore

than 445±5% (422-467V)

- The message:“Drive Alarm:Powersupply too high” isgenerated by controller for

display.

- Propagation delaytime -from the time whenthe drive supply voltagecrossesthe

over voltagelevel tothe time of disablingthe PWMsignals: lessthan5mS.

> Drive Supply Missing

- Disable byinternal HWprotectioncircuit two driverswhen the drivepower supply is

missingor drive supply input fusehasblown.

- The protection isactivated whenthe drive power supply voltage islessthan 19.5V±5%

(18.5 -20.5V)

- The message:“Drive Alarm:Powersupply ismissing”isgenerated bycontroller for

display.

- Propagation delay-from the time when the drivesupply voltagecrossesthe under

> Drive 24VdcControl Supply Missing

- Disable byinternal HWprotectioncircuit two driverswhen the drive24Vdccontrol

- The protection isactivated whenthe drive 24Vdccontrol supply voltageislessthan

Version 2.50.D

voltage levelto the timeof disabling the PWM signals: lessthan5mS.
supply ismissing or 24Vdccontrol supply input fuse has blown.

8V±10%

73

MC4UHardwareGuide

2.MC4U Specifications

- The message:“Drive Alarm:5019”isgenerated bycontroller for display.

- Propagation delaytime -from the time whenthe drive supply voltagecrossesthe

under voltage levelto the time ofdisabling the PWMsignals:150-250µS.

> Drive Phase-to-Phase Short Circuit

- When the current through oneof the threeoutputsof PWMPower Bridge exceeds

the short circuit maximumlevelasdefined below, the corresponded drive isdisabled.

- Maximum short circuit current level:

- 135A ±5% (128 -142A)for DDM3U-1-320V-30A-SRdriver

- 200A±5%(190-210A)for DDM3U-1-320V-45A-SRdriver

- The message:“Drive Alarm:Short circuit” isgenerated bycontrollerfor display.

- Propagation delaytime -from the moment when the current viaone of the motor

phasescrossesthe short circuit current limit level tothe time of disabling the PWM

signals:lessthan2µS.

> Drive Short to Ground

- When the current fromone ofthe three outputs of PWM Power Bridge to the ground

exceedsthe short toground maximumlevelasdefinedbelow, the corresponded

drive isdisabled.

- Short to ground maximumlevel:

- 135A ±5% (128 -142A)for DDM3U-1-320V-30A-SRdriver

- 200A±5%(190-210A)for DDM3U-1-320V-45A-SRdriver

- The message:“Drive Alarm:Short circuit” isgenerated bycontrollerfor display.

- Propagation delaytime -from the moment when the current to ground via oneof the

PWMPowerBridge outputs crossesthe short toground current limitlevel tothe time

of disabling the PWM signals: lessthan2µS

> Drive OverCurrent

- When the current through oneof the threeoutputsof PWMPower Bridge exceeds

the over current maximumlevelasdefined below,the corresponded driveisdisabled.

- Maximum over current level:

- 90A±5%(85-95A)for DDM3U-1-320V-30A-SRdriver

- 120A ±5% (114 -126A) for DDM3U-1-320V45A-SRdriver

- The message:“Drive Alarm:Over current” isgenerated bycontroller fordisplay.

- Propagation delaytime -from the moment when the current viaone of the motor

phasescrossesthe over current limit levelto the time ofdisabling the PWMsignals:

lessthan 5mS.

> Drive OverTemperature Protection

- Disable byinternal HWprotectioncircuit the corresponded drive whenthe

- The message:“Drive Alarm:Temperature toohigh” is generated by controller for

Version 2.50.D

temperature onheat sinkinPWMPowerBridge areawillbe more then 100±5ºC.
display.

74

MC4UHardwareGuide

2.MC4U Specifications

- Propagation delaytime -from the moment whenthe temperature onthe heat sink

crossthe temperature limit levelto the time ofdisabling the PWMsignals:1-5mS.

2.4.1.3DDM3U-2-320V-XA High-Power MotorDrive

The DDM3U-2-320V-XA(where “X”relates to the Amperage) isadualaxis PulseWidth Modulation

(PWM)digital universaldriver for the following types of motors:

> DC Brushless
> AC Induction
> DC Brush Step Motor

The number of motors connected to the driver canbe oneor two.The SPiiPlusMotionController,

viathe Controller -Driver interface,controls the output current for each of twoPWMdigitaldrivers.
There are four different optionsavailable for DDM3U-2-320V-XA dual axis digitaldriver:

> DDM3U-2-320V-5A
> DDM3U-2-320V-10A
> DDM3U-2-320V-15A
> DDM3U-2-320V-20A

2.4.1.3.1 DDM3U-2-320V-XA Specifications

All power for the DDM3U-2-320V-XA issupplied through the PSM3U PowerSupply

Table 2-36. DDM3U-2-320V-XA Power Supply Input Specifications

Description Remarks

Supported

motor types
Number of

axes

supported

Brush, Brushlessor Step.
Two

MC4U-9-Piano-enc:
X(0),A(2)
MC4U-11-Piano-encand

MC4U-19-Piano-enc:

Axis

designations

Version 2.50.D

X(0),Y(1)
(alsoA(2)andB(3) if two

Motor Drivesare installed)
MC4U-13-Piano-AX7:
X(0),Y(1)
(alsoZ(4)andT(5) iftwo

Motor Drivesare installed)

75

Input Power

Description Remarks

Drive supply inputvoltage

range:

> Nominal:24 Vdc-

320Vdc

> Minimal:21 Vdc (24

Vdc -10%)

> Maximum: 370Vdc

(320Vdc+15%)

Inrush current:

> Maximum inrush

currentvalueisless

than 1Arms

measured within

first 10 msafter

drive supply input

voltage isapplied.

> After the first 10

ms,the inrush

currentvaluewill

continuously

decrease and drop

below 0.2Arms

within 1sec.

During motor regeneration arapid

increase inthe input voltageup to 420Vis

allowed. If the voltage ripple during

regeneration exceeds this420V, then the

over voltageprotection isactivated.
It should benoted that the maximum

input power cannotbe more than11,102 W

due to the maximum input current that is

limited by the maximumavailable PCB

fuse size:30A/600Vdc

MC4UHardwareGuide

2.MC4U Specifications

Input

Current

For maximum input power

with a115Vac, single phase

supply see Table2-37.
For maximum input power

with a230Vac,single phase

supply see Table2-38.
For maximum input power

with a230Vac,three phase

supply see Table2-39.
For maximum input current

with a115Vac, single phase

supply see Table2-40.
For maximum input current

with a230Vac,single phase

supply see Table2-41.
For maximum input current

with a230Vac,three phase

supply see Table2-42.

Version 2.50.D

76

Description Remarks

Control supply input

voltage:

> Nominalvoltage:

24 Vdc

> Minimumvoltage:

19 Vdc

> Maximum voltage:

29Vdc

Control supply input power:

15 Wmax.
Control supply input

current:0.8A max. @19V

control supply input voltage
Control supply inrush

current:

MC4UHardwareGuide

2.MC4U Specifications

Input

Control

Supply

> Maximum inrush

currentvalueisless

than 2Arms

measured within

first 200msafter

drive supply input

voltage isapplied.

> After the first 200

ms,the inrush

currentvaluewill

continuously

decrease and drop

below 1.25Awithin

1 sec.

Control supply input voltage

ripple:

> Maximum input

voltage ripple

amplitude: 5V

peak-to-peak at

100Hzfrequency.

> Inanycondition:

the input voltage

level including the

voltage ripple

amplitude must

not be lower than

19Vand not

greater than29V

Version 2.50.D

77

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2.MC4U Specifications

Table 2-37.Maximum Input Power[W] @Continuous/PeakCurrent for115Vac+15%, Single Phase

MainSupply

DDM3U-2-320V-XA # ofAxes 85Vac 100Vac 115Vac 130Vac

DDM3U-2-320V-5A (5/10A)

DDM3U-2-320V-10A(10/20A

DDM3U-2-320V-15A(15/30A

DDM3U-2-320V-20A (20/40A)

1

2

1

2

1

2

1

1.5 cont./

2peak

427

777
782

1268

775

1260
1264

1374
1060

1468
1476

117

1268

1382
1472

140

487

898
902

1509

895

1500
1505

1854

1241

1828
1837

938

1508

1862
1833

140

578

1078
1084

1870
1076

1860
1866

2574

1512

2369

2379

2161

1869

2582
2374

278

668

1258
1265

2231
1256

2231

2227

3294

1783

2909

2921

3241

2230

3302

2915

1926

Table 2-38. Maximum Input Power[W] @Continuous/PeakCurrent for 230Vac+15%, SinglePhase

MainSupply

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

DDM3U-2-320V-5A (5/10A)

DDM3U-2-320V-10A(10/20A

DDM3U-2-320V-15A(15/30A

1
2
1
2
1
2

1001

1920
1930

3554

1918

3540
3550

5935

2777

4890
4909

7204

1182

2281

2292

4276
2279

4260

4272

7375

3319

5971

5993

9366

1363

2642
2655

4998
2640

4980
4994

8815
3861

7052
7077

11527

Version 2.50.D

78

MC4UHardwareGuide

2.MC4U Specifications

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

1

DDM3U-2-320V-20A (20/40A)

1.5 cont./

2peak

Table 2-39. Maximum Input Power [W] @Continuous/Peak Current for 230Vac +15%, Three Phase

MainSupply

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

1

DDM3U-2-320V-5A (5/10A)

2
1

DDM3U-2-320V-10A(10/20A

2
1

DDM3U-2-320V-15A(15/30A

2

3553

5942

4900

7303

1025

2016

2026

3936

2014

3922
3932

7462

2991

5749
5768

10640

4274

7381

5982

10182

1206

2376
2388

4657
2374

4642
4654

8902

3533

6830

6852

12801

4996

8821

7064

13062

1387

2737

2751

5379

2735

5362
5376

10342

4075

7911

7936

14963

1

DDM3U-2-320V-20A (20/40A)

1.5 cont./

2peak

Table 2-40. Maximum Input Current (Continuous/Peak) [A] for 115Vac +15%, Single Phase Main

Supply

DDM3U-2-320V-XA # ofAxes 85Vac 100Vac 115Vac 130Vac

1

DDM3U-2-320V-5A (5/10A)

2

3934

7469

5759

13411

3.9

7.8

7.9

15.8

3.9

7.8

7.8

15.7

4656

8908

6841

16290

3.9

7.7

7.7

15.5

5378

10348

7923

19170

3.8

7.7

7.7

15.4

Version 2.50.D

79

MC4UHardwareGuide

2.MC4U Specifications

DDM3U-2-320V-XA # ofAxes 85Vac 100Vac 115Vac 130Vac

1

DDM3U-2-320V-10A(10/20A

2

1

DDM3U-2-320V-15A(15/30A

2

1

DDM3U-2-320V-20A (20/40A)

1.5 cont./

2peak

Table 2-41.Maximum Input Current (Continuous/Peak) [A] for 230Vac+15%, Single Phase Main

Supply

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

1

DDM3U-2-320V-5A (5/10A)

2

7.8

15.7

15.8

33.4

11.8

24.2

24.3

50.8

15.8

33.6

24.3

70.1

3.8

7.6

7.6

15.2

7.7

15.6

15.6

32.3

11.7

23.8

23.9

50.5

15.7

32.4

23.8

70.0

3.8

7.5

7.6

15.1

7.7

15.4

15.5

31.5

11.6

23.4

23.5

50.3

15.5

31.5

23.4

68.3

7.6

15.3

15.3

31.0

11.5

23.1

23.2

48.1

15.4

31.1

23.2

67.7

3.8

7.5

7.6

15.1

DDM3U-2-320V-10A(10/20A

DDM3U-2-320V-15A(15/30A

DDM3U-2-320V-20A (20/40A)

1
2
1
2
1

1.5 cont./

2peak

7.6

15.1

15.1

30.3

11.4

22.7

22.8

45.9

15.1

30.4

22.8

61.9

7.5

15.0

15.1

30.2

11.3

22.6

22.7

45.6

15.1

30.2

22.7

61.1

7.5

15.0

15.0

30.1

11.3

22.6

22.6

45.3

15.1

30.1

22.6

60.6

Version 2.50.D

80

MC4UHardwareGuide

2.MC4U Specifications

Table 2-42. Maximum Input Current (Continuous/Peak) [A] for 230Vac+15%, Three PhaseMain

Supply

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

DDM3U-2-320V-5A (5/10A)

DDM3U-2-320V-10A(10/20A

DDM3U-2-320V-15A(15/30A

DDM3U-2-320V-20A (20/40A)

1
2
1
2
1
2
1

1.5 cont./

2peak

3.8

7.6

7.6

15.1

7.5

15.1

15.1

30.1

11.3

22.6

22.7

45.4

15.1

30.2

22.7

60.5

3.8

7.5

7.6

15.1

7.5

15.0

15.1

30.0

11.3

22.6

22.6

45.2

15.1

30.1

22.6

60.2

3.8

7.5

7.6

15.0

7.5

15.0

15.0

30.0

11.3

22.5

22.6

45.1

15.0

30.0

22.5

60.1

2.4.1.3.2 DDM3U-2-320V-XAPWM Power Bridge Specification

There are two identical PWM PowerBridges onthe DDM3U-2-320V-XA board. Four types with

different current levels(Cont/Peak) are available:

> 5/10A –DDM3U-2-320V-5A
> 10/20A –DDM3U-2-320V-10A
> 15/30A –DDM3U-2-320V-15A
> 20/40A –DDM3U-2-320V-20A

Table 2-43. PWMPowerBridge Specifications

Description Remarks

Power Bridge

architecture
Supported Motor

types
Output Current See Table 2-44.

Three phase PWMbridge
Brush, Brushlessor Step.

Version 2.50.D

81

MC4UHardwareGuide

2.MC4U Specifications

Description Remarks

For minimumoutput voltage for 115Vac,single phase

see Table2-45.

Output Voltage

Output Power

DDM3U-2-320V-XA # ofAxes SineAmplitude rmsValue

DDM3U-2-320V-5A (5/10A)

For minimumoutput voltage for 230Vac,single phase

see Table2-46.
For minimumoutput voltage for 230Vacthree phase

see Table2-47.
For maximum output power for 115Vac,single phase

see Table2-48.
For maximum output power for 230Vac, singlephase

see Table2-49.
For maximum output power for 230Vac three phase

see Table2-50.

Table 2-44.Maximum Phase Output Current (Continuous/Peak) [A]

1

2

5

10
10

20

3.5

7.1

7.1

14.1

DDM3U-2-320V-10A(10/20A

DDM3U-2-320V-15A(15/30A

DDM3U-2-320V-20A (20/40A)

1

2

1

2

1

1.5 cont./

2peak

10

20
20

40

15

30
30

60
20

40
30

80

7.1

14.1

14.1

28.3

10.6

21.2

21.2

42.4

14.1

28.3

21.2

56.6

Version 2.50.D

82

MC4UHardwareGuide

2.MC4U Specifications

Table 2-45. MinimumOutput Voltage (Phase-to-Phase) [Vrms]@Continuous/Peak Current for

115Vac+15%, Single Phase MainSupply

DDM3U-2-320V-XA # ofAxes 85Vac 100Vac 115Vac 130Vac

DDM3U-2-320V-5A (5/10A)

DDM3U-2-320V-10A(10/20A

DDM3U-2-320V-15A(15/30A

DDM3U-2-320V-20A (20/40A)

1

2

1

2

1

2

1

1.5 cont./

2peak

66

60
60

48
60

48
48

25

54

36
36

0

48

25

36

0

75

70
70

58
70

58
58

35

64

46
46

11

58

35

46

0

90

84
84

73

84

73
73

49
78

61
61

26

73

49

61

1

105

99
99

87
99

87
87

64
93

76
76

40
87

64
76

17

Table 2-46.MinimumOutput Voltage(Phase-to-Phase) [Vrms] @Continuous/PeakCurrent for

230Vac +15%,Single PhaseMain Supply

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

DDM3U-2-320V-5A (5/10A)

DDM3U-2-320V-10A(10/20A

DDM3U-2-320V-15A(15/30A

1
2
1
2
1
2

159

153
153

141

153

141
141

118

147

129
129

94

188

182
182

170
182

170
170

147
176

159
159

124

217

211
211

200

211

200
200

176

205

188
188

153

Version 2.50.D

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MC4UHardwareGuide

2.MC4U Specifications

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

1

DDM3U-2-320V-20A (20/40A)

1.5 cont./

2peak

Table 2-47.MinimumOutput Voltage (Phase-to-Phase) [Vrms]@ Continuous/Peak Current for

230Vac +15%,Three Phase MainSupply

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

1

DDM3U-2-320V-5A (5/10A)

2
1

DDM3U-2-320V-10A(10/20A

2
1

DDM3U-2-320V-15A(15/30A

2

141

118

129

71

162

160
160

157

160

157
157

149

159

153
153

141

170

147
159

100

192

190
190

186
190

186
186

178
188

182
182

170

200

176
188

130

221

219
219

215
219

215
215

207

217

211
211

200

1

DDM3U-2-320V-20A (20/40A)

1.5 cont./

2peak

Table 2-48.Maximum Output Power[W] @Continuous/PeakCurrent for115Vac+15%, Single Phase

MainSupply

DDM3U-2-320V-XA # ofAxes 85Vac 100Vac 115Vac 130Vac

1

DDM3U-2-320V-5A (5/10A)

2

1857

149

153

133

402

733
733

1179

462

852
852

1418

186

178
182

163

552

1032
1032

1778

215

207

211

192

642

1212
1212

2137

Version 2.50.D

84

MC4UHardwareGuide

2.MC4U Specifications

DDM3U-2-320V-XA # ofAxes 85Vac 100Vac 115Vac 130Vac

1

DDM3U-2-320V-10A(10/20A

2

1

DDM3U-2-320V-15A(15/30A

2

1

DDM3U-2-320V-20A (20/40A)

1.5 cont./

2peak

Table 2-49.Maximum Output Power[W] @Continuous/PeakCurrent for230Vac +15%,Single Phase

MainSupply

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

DDM3U-2-320V-5A (5/10A)

733

1179
1179

1213
992

1339
1339

0

1179

1213

1339

0

1
2

1870
1870

3454

971

852

1418
1418

1692

1171

1698
1698

820

1418

1692

1698

0

1150

2229
2229

4172

1032

1778
1778

2410

1441

2237
2237

1898
1778

2410
2237

98

1212

2137
2137

3128

1710

2776
2776

2975

2137

3128

2776

1676

1330

2588
2588

4890

DDM3U-2-320V-10A(10/20A

DDM3U-2-320V-15A(15/30A

DDM3U-2-320V-20A (20/40A)

1
2
1
2
1

1.5 cont./

2peak

1870

3454
3454

5762

2698

4751
4751

6926

3454

5762

4751

6944

2229

4172
4172

7199
3236

5829
5829

9081

4172

7199
5829

9817

2588

4890
4890

8636

3775

6906
6906

11236
4890

8636
6906

12691

Version 2.50.D

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2.MC4U Specifications

Table 2-50. Maximum Output Power[W] @Continuous/PeakCurrent for230Vac +15%,Three Phase

MainSupply

DDM3U-2-320V-XA # ofAxes 195Vac 230Vac 265Vac

DDM3U-2-320V-5A (5/10A)

DDM3U-2-320V-10A(10/20A

DDM3U-2-320V-15A(15/30A

DDM3U-2-320V-20A (20/40A)

1
2
1
2
1
2
1

1.5 cont./

2peak

995

1965
1965

3835

1965

3835
3835

7289

2912

5610
5610

10361

3835

7289

5610

13051

1174

2325
2325

4554
2325

4554
4554

8726

3451

6687
6687

12516

4554

8726

6687

15925

1354

2684
2684

5272

2684

5272
5272

10162
3990

7765
7765

14671

5272

10162

7765

18798

2.4.1.4DDM3U-4-320V-XA MotorDrive

The DDM3U-4-320V-XA(where “XA” relates toAmperage)isarackmounted two and four axes

PWM(pulse width modulation)digital driver. Itcansupport anytwo-andthree-phasemotor.

Version 2.50.D

86

MC4UHardwareGuide

2.MC4U Specifications

Figure 2-9.DDM3U-4-320V-XAMotor Drive

There are three different models available for DDM3U-4-320V-XA motor driver:

> DDM3U-4-320V-1A
> DDM3U-4-320V-2A
> DDM3U-4-320V-3A

The DDM3U-4-320V-XAmotor drive canbe connected to the Controller, Power Supply and motors

viathe MB5U-V(installed in the MC4U-9-Piano-enc), orviathe MB5U-4-320Vor the MB5U-ZZV

(installed inthe MC4U-19-Piano-enc) motherboards.
It isdesigned to operate from nominalvoltagesup to320Vdc andthree current levelsare

available: 1A continuous/2A peak,2A continuous/4A peak,and 3A continuous/6A peak.

Version 2.50.D

87

2.4.1.4.1 DDM3U-4-320V-XA Power SupplyInput Specification

Inorder to comply with the EN61326 safety standard,aline filter andvaristorsmust be

employed.

Varistorsthat areused musthave adiameter of 20mm,with aworkingvoltage of275

Vac,and aclampingvoltage of 710V@100A.

The varistorsmustbe installed between protectiveearth andline filter inputs, aswell

asbetween line filter inputs.

Recommended varistor manufacturers are:Wurth electronic,Littlefuse, Nippon

Chemicon.
All power for the DDM3U-4-320V-XA issupplied through the PSM3U-320V-XkW Power

Supply.

Table 2-51.DDM3U-4-320V-XAPowerSupply Input Specifications

MC4UHardwareGuide

2.MC4U Specifications

Item Description Remarks

Drive supply input

voltage range:

> Nominal:24

Input power

Drive supply

input voltage

rippleduring

regeneration

The input voltage can

be increased upto

420Vdc during the

motor regeneration.
If, however,the

voltage ripple during

regeneration exceeds

420Vdc,then the over

voltage protectionis

activated.

Vdc -320Vdc

> Minimal:21Vdc

(24 Vdc -10%)

> Maximum: 370

Vdc (320 Vdc

+15%)

The drive gets the “drive power supply” dc

voltage from the PSM3U-320V-XkW only, there

isno other option to supply thisvoltage

externallytothe MC4U. Formore detailsabout

power supplies refer to PSM3UPower

Supplies.

There isno regeneration circuit implemented

in DDM3U-4-320V-XA. It ispart of the power

supply.

Inrush

current

Version 2.50.D

> Maximum

inrush current

valueisless

than 1Arms

measured

within the first

10msafter

Bus voltageissupplied via

thePSM3U-320V-XkW power supply after the

DDM3U-4-320V-xxdriver hasbeen installed

into the MC4U.

88

Item Description Remarks

drive supply

input voltage

isapplied.

> After the first

10 ms, the

inrush current

value

decreases

linearly and

dropsbelow

0.2Arms

within 1sec.

For DDM3U-4-320V-1A:

1150 W/2300 W

continuous/peak

MC4UHardwareGuide

2.MC4U Specifications

Maximum

input power

Maximum

input current

2.4.1.4.2 DDM3U-4-320V-XA Control Supply Input Specification

For DDM3U-4-320V-2A:

2200W/4400W

continuous/peak
For DDM3U-4-320V-3A:

3400W/6800W

continuous/peak
For DDM3U-4-320V-1A:

3.3A/6.5 A

continuous/peak
For DDM3U-4-320V-2A:

6.2A/12.5A

continuous/peak
For DDM3U-4-320V-3A:

10 A/20A

continuous/peak

Table 2-52. DDM3U-4-320V-XAControl Supply InputSpecifications

Description

Valuesgivenfor four three-phasemotors

operated simultaneously@265Vac.

Valuesgivenfor four three-phasemotors

operated simultaneously@265Vac.

Control supply

input voltage
Control supply

input power

Version 2.50.D

> Nominalvoltage:24Vdc ±10%

> Minimumvoltage:21.6 Vdc

> Maximum voltage:26.6Vdc

Maximum input power: 20W

89

Description

MC4UHardwareGuide

2.MC4U Specifications

Control supply

input current
Control supply

inrush current
Control supply

input protection

2.4.1.4.3 DDM3U-4-320V-XA PWM Power Bridge Specification

DDM3U-320V-1APowerBridge

Maximum output voltage

(phase-to-phase) @

continuous/peakcurrent
Maximum phase output

current

Maximum input current:0.9A@21.6 Vcontrol supply input voltage

> Maximum inrush current valueislessthan2Arms measured

within first 200msafter drive supply inputvoltage isapplied.

> After the first 200 ms,the inrush current value decreases

linearly anddrops below0.8A within 1sec.

The DDM3U-4-320V-XAhasbuilt-in protectionagainst:

> Inadvertent connection of the control supply toreverse polarity

> Missing24Vdccontrol supply

Description

220Vrms± 5%@265Vac single orthreephase
For one powerbridge:1 A(sine amplitude) continuous and

2A (sineamplitude) peak for 1second.This corresponds to

0.7 A/1.4 Arms.

Maximum output power (±

5%)

DDM3U-320V-2A PowerBridge

Maximum output voltage

(phase-to-phase) @

continuous/peakcurrent
Maximum phase output

current
Maximum output power (±

5%)

DDM3U-320V-3APowerBridge

> For one powerbridge:260Wcontinuous and 520

Wpeak

> Total for drive powerbridges:1040W continuous

and2080W peak

220Vrms±5%@265Vac single or three phase
For one powerbridge:2A (sineamplitude) continuous and

4 A(sineamplitude) peak for 1second. Thiscorrespondsto

1.4 A/2.8 Arms.

> For one powerbridge:510Wcontinuous and 1020

Wpeak

> Total for drive powerbridges:2120Wcontinuous

and4240Wpeak

Version 2.50.D

90

Maximum output voltage

(phase-to-phase) @

continuous/peakcurrent

MC4UHardwareGuide

2.MC4U Specifications

Description

220Vrms± 5%@265Vac single orthreephase

Maximum phase output

current
Maximum output power (±

5%)

2.4.1.4.4 DDM3U-4-320V-XA Drive Protection Circuits

The DD3U-4-320V-XA incorporate the following protectioncircuits:

> Drive Supply TooHigh (OverVoltage Protection)

- Disable byinternal HWprotectioncircuit alldrivers whenDC BUSvoltage ismore than

445 ±5% (422-467V)

- The message:“Drive Alarm:Powersupply too high” isgenerated by the controller.

- Propagation delay-the time from which the drivesupply voltagecrossesthe over

voltage levelto the issuing the disable the PWMsignals:lessthan5ms.

> Drive Supply Missing

- Disable byinternal HWprotectioncircuit alldrivers whenthe drive power supply is

missingor drive supply input fuseisblown.

For one powerbridge:3A (sineamplitude) continuous and

6 A(sineamplitude) peak for 1second.This correspondsto

2.1 A/4.2 Arms.

> For one powerbridge:750Wcontinuous and 1500

Wpeak

> Total for drive powerbridges:3000 Wcontinuous

and6000W peak

- The protection isactivated whenthe drive power supply voltage islessthan 19.5V±5%

(18.5 -20.5V)

- The message:“Drive Alarm:Powerdown” isgenerated by the controller.

- Propagation delay-the time from which the drivesupply voltagecrossesthe under

voltage levelto the issuing of the disable the PWM signals: lessthan5ms.

> Drive 24VdcControl Supply Missing

- Disable byinternal HWprotectioncircuit alldrivers whenthe drive 24Vdccontrol

supply ismissing or 24Vdccontrol supply input fuse isblown.

- The protection isactivated whenthe drive 24Vdccontrol supply voltage isless than

8V±10%

- The message:“Drive Alarm:5019”isgenerated bythe controller.

- Propagation delay-the time from which the drive24 Vdc control supply voltage

crossesthe under voltage levelto the issuing of the disable the PWMsignals:2ms

> Drive Phase-to-Phase Short Circuit

- When the current through oneof the threeoutputsof PWMPower Bridge exceeds

the short circuit maximumlevel:22A ±5%, the corresponding drive isdisabled.

- The message:“Drive Alarm:Short circuit” isgenerated bythe controller.

Version 2.50.D

91

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2.MC4U Specifications

- Propagation delay-time from which the current viaone of the motor phasescrosses

the short circuit current limit level tothe issuingof the disablethe PWMsignals: less

than 2µS.

> Drive Short to Ground

- When the current fromone ofthe three outputs of PWM Power Bridge to the ground

exceedsthe short toground maximumlevel:22A ±5%, the corresponding driveis

disabled.

- The message:“Drive Alarm:Short circuit” isgenerated bythe controller.

- Propagation delay-time from which the current to ground viaone of the PWMPower

Bridge outputs crossesthe short toground current limitlevel tothe issuingof the

disable the PWMsignals:lessthen 2µS

> Drive OverCurrent

- When the current through oneof the threeoutputsof PWMPower Bridge exceeds

the over current maximumlevelasdefined below,the corresponded driveisdisabled.

- Maximum over current level:13A ±5%

- The message:“Drive Alarm:Over current” isgenerated bythe controller.

- Propagation delay-time from the moment when the current viaone of the motor

phasescrossthe over current limit levelto disable the PWM signals: lessthen 5mS

> Drive OverTemperature Protection

- Disable byinternal HWprotectioncircuit the corresponded drive whenthe

temperature onheat sinkinPWMPowerBridge areaismore than100±5oC.

- The message:“Drive Alarm:Temperature toohigh” is generated by the controller.

- Propagation delay-time from which the temperature onthe heatsink crossesthe

temperature limit levelto the issuing of the disable the PWM signals: 1-5ms.

2.4.2 LDM3USingle Axis Linear Drive

The LDM3U isasingle axis linearservodrive with digitallycontrolled current loop.

Version 2.50.D

Figure 2-10.LDM3U Single AxisLinearAmplifier

92

MC4UHardwareGuide

2.MC4U Specifications

The drive canbe usedwith the following type of motors:

> DC Brushless
> DC Brush

The LDM3U canonly beinstalled inthe MC4U-19-Piano-enc. When installed,the LDM3U

requiresthe MB5U-LinorMB5U-LinMmotherboard (MB5U-LinandMB5U-LinM).

The mainfeaturesof the LDM3U are as follows:

> Programmable Digital Current Loopbandwidth: Adjustable up to5kHzCommutation type:

Sinusoidal.Initializationwith and without Hallsensors.

> Fully protected against over and under voltage, over-current,under-current and over

heating

> Built-in motor dynamicbraking isautomaticallyactivated whenthe amplifier isdisabled
> HWidentification and fault diagnosticviaI2C interface

The following additional optionsare available uponrequest:

> Analog current loop control.
> Special digital control algorithm toincrease maximum speed.

The LDM3U issupplied in the following versions:

> LDM3U-28V-8A-D
> LDM3U-28V-16A-D
> LDM3U-55V-8A-D
> LDM3U-55V-16A-D
> LDM3U-55V-16A-S
> LDM3U-55V-25A-S

Version 2.50.D

93

2.4.2.1LDM3U Specifications

MC4UHardwareGuide

2.MC4U Specifications

Specification

Control & Logicsupply (Vl) [Vdc] Received from motor supply
Motor supply (Vm) min. /max.[Vdc]
Motor phasecurrentcont./peak sine

amplitude [A]
Phasecurrent cont./peak RMS [A] 2.83 / 5.66 2.83 / 11.31 2.83 / 5.66 2.83/ 11.31 2.83/ 11.31 4.42 / 17.68
Peak current time [sec] 2 1.5 2 1.5 1.5 1
Max. drive output voltage [Vpeak] 22 22 43 43 49 49
Input power @max. Vm & cont./ peak

current[W]
Max. output power at maximum Vm& cont.

/ peak current [W]
Min.load Inductance[mH] 0 0 0 0 0 0

1

LDM3U­28V-8A-D

24-32 24-32 45-60 45-55 45-55 45-55
4 /8 4 / 16 4 /8 4 /16 4 / 16 6.25/ 25

136 /272 136/ 543 257 / 513 233 /933 233 /933 365 /1458
81 / 162 81 / 324 166 /333 150/ 600 173 /693 271 / 1083

LDM3U­28V-16A-D

LDM3U­55V-8A-D

LDM3U­55V-16A-D

LDM3U­55V-16A-S

LDM3U-55V­25A-S

Min.load resistance per phase [ג „¦] 0 0.075 0.45 0.73 0.73 0.78
Max. heat dissipation,cont / peak[W] 130/ 248 130/ 447 238/ 442 212 /588 212/ 588 312 /615

Version 2.50.D

94

MC4UHardwareGuide

2.MC4U Specifications

Specification

Dimensions:Height, Width, Length [mm] 128 X46X 246
Weight [gr.] 830

1

Motor supply isprovided inthe MC4Uenclosure by PSM3U drive supply module

LDM3U­28V-8A-D

LDM3U­28V-16A-D

LDM3U­55V-8A-D

LDM3U­55V-16A-D

LDM3U­55V-16A-S

LDM3U-55V­25A-S

Version 2.50.D

95

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2.MC4U Specifications

2.5MC4UMotherboards

This sectionprovidesdetailsof the motherboardsinstalled inthe variousMC4UControl Module

models. For eachmotherboard the supported functionsare listed, detailsof eachinterface

connector associated withthe motherboard are provided, along with jumper settings.

2.5.1 MB4U-ZZW-AX7

The MB4U-ZZW-AX7isinstalled inthe MC4U-13-Piano-AX7.
The connectorsassociated with the MB4U--ZZW-AX7 motherboard areshownin the following

figure:.

Figure 2-11. MB4U-ZZW-AX7 Connectors

2.5.1.1 MB4U-ZZW-AX7Functionality

The MB4U-ZZW-AX7accommodatesthe SPiiPlusDC-LT motion controller (4 or 8axes), upto three

DDM3U-X-320V-YY drivesandone PSM3U-320V-4/8kW powersupply. Itsupportsthe following

functionality:

> 4 xDigitalencodersif the 4-axis SPiiPlusDC-LT controller isinstalled

8 xDigitalencoders if the 8-axis SPiiPlusDC-LT controller isinstalled

> 4 xMotor Temperature sensors ifthe 4-axis SPiiPlusDC-LT controller is installed
> 8 xMotor Temperature sensorsif the 8-axis SPiiPlusDC-LT controller isinstalled
> 4 xSafety inputsif the 4-axis SPiiPlusDC-LT controller isinstalled
> 8 xSafety inputssensorsif the 8-axisSPiiPlusDC-LT controller isinstalled
> 4 xDigitaloutputs if the 4-axis SPiiPlusDC-LT controller isinstalled

8 xDigitaloutputs sensorsif the 8-axisSPiiPlusDC-LT controller isinstalled

> 4 xAnaloginputs ifthe 4-axisSPiiPlusDC-LTcontrollerisinstalled

8 xAnalog inputs if the 8-axisSPiiPlusDC-LT controllerisinstalled

> 4 xPEG signals ifthe 4-axisSPiiPlusDC-LTcontroller isinstalled

8 xPEGsignalsif the 8-axisSPiiPlusDC-LT controllerisinstalled

> 2xHSSIchannelsif the 4-axis SPiiPlusDC-LT controller isinstalled

4 xHSSI channelsif the 8-axisSPiiPlusDC-LT controller isinstalled

> 2xRJ-45channels

2.5.1.2 J1- 24V Logic& I/OSupply Connector

Label J1 -24V LOGIC &I/OSUPPLY

Version 2.50.D

96

Connector Type Phoenix MCV1,5/7-GF-3,81, 7-pin header pitch
MatingType PhoenixMC1,5/ 7-STF-3,81,7-pin plugpitch

The pinout for J1 isgiveninthe following table:

Table 2-53. 24V LogicSupply Connector Pinout

Pin# SignalDesignator Description

1 24V_SUP 24Vlogicsupply
2 24V_RTN 24V logic supply return
3 IO_SUP 5/24V supply for I/OandSafety inputs
4 IO_RTN 5/24Vreturn for I/O and Safetyinputs
5 ES+ EmergencyStop non-inverted

MC4UHardwareGuide

2.MC4U Specifications

6 ES- Emergency Stop inverted
7 EGND Shield

2.5.1.3 J2 -EtherCAT®OUT Connector

Label J2-ETHERCATOUT
Connector Type RJ458-pinsocket
MatingType RJ458-pin plug

The pinout for J2isgiven inthe following table:

Table 2-54. EtherCAT OutConnector Pinout

Pin# SignalDesignator Description

1 ETH_OUT_TX+ Positive transmitsignal
2 ETH_OUT_TX- Negative transmitsignal
3 ETH_OUT_RX+ Positivereceive signal

Version 2.50.D

4 - Notconnected
5 - Not connected
6 ETH_OUT_RX- Negativereceive signal
7 - Notconnected

97

Pin# SignalDesignator Description

8 - Notconnected

2.5.1.4 J3 -EtherCatINConnector

Label J3-ETHERCATIN
Connector Type RJ458-pinsocket
MatingType RJ458-pin plug

The pinout for J3isgiven inthe following table:

Table 2-55. EtherCAT In Pinout

Pin# SignalDesignator Description

1 ETH_IN_TX+ Positive transmit signal

MC4UHardwareGuide

2.MC4U Specifications

2 ETH_IN_TX - Negativetransmit signal
3 ETH_IN_RX+ Positive receive signal
4 - Notconnected
5 - Not connected
6 ETH_IN_RX - Negative receivesignal
7 - Notconnected
8 - Notconnected

2.5.1.5 J4 -Encoder Connector

Label J4 -X(0), Y(1), A(2),B(3) ENCODERS &I/O
Connector Type D-SUB HD-type, 78-pin,female
MatingType D-type78-pin HDmale

The pinout for J4 isgiven inthe following table:

Version 2.50.D

98

MC4UHardwareGuide

2.MC4U Specifications

Table 2-56. J4-Encoder Pinout

Pin SignalDesignator Description

1 Shield Shield
2 B_CHA+ Axis 3Encoder A(2)non-inverted input
3 B_CHB+ Axis3 Encoder B(3) non-inverted input
4 B_CHI+ Axis3Encoder index non-inverted input
5 DGND Internaldigital supply return
6 Y_CHA+ AxisY(1) Encoder A(2)non-inverted input
7 Y_CHB+ AxisY(1) Encoder B(3) non-inverted input
8 Y_CHI+ AxisY(1) Encoder indexnon-inverted input
9 AIN14+ Analog input non-inverted
10 AIN11+ Analog input non-inverted
11 AGND Analog ground
12 AIN10+ Analog input non-inverted
13 X_CHI+ Axis X(0) Encoder index non-inverted input
14 X_CHB+ AxisX(0)Encoder B(3) non-inverted input
15 X_CHA+ AxisX(0)Encoder A(2)non-inverted input
16 DGND Internaldigital supply return
17 A_CHI+ AxisA(2)Encoder index non-inverted input
18 A_CHB+ Axis A(2)Encoder B(3) non-inverted input
19 A_CHA+ Axis A(2)Encoder A(2)non-inverted input
20 Shield Shield

Version 2.50.D

21 B_OVER_T AxisB(3)Motor temperature sensorinput.
22 B_CHA- AxisB(3) Encoder A(2)inverted input
23 B_CHB- AxisB(3) Encoder B(3) inverted input
24 B_CHI- AxisB(3)Encoder index inverted input

99

MC4UHardwareGuide

2.MC4U Specifications

Pin SignalDesignator Description

25 Y_OVER_T AxisY(1) Motor temperature sensor input.
26 Y_CHA- Axis Y(1) Encoder A(2)inverted input
27 Y_CHB- Axis Y(1) Encoder B(3)inverted input
28 Y_CHI- Axis Y(1) Encoder indexinverted input
29 AIN14- Analog input inverted
30 AIN11- Analog input inverted
31 AIN10- Analog inputinverted
32 X_CHI- AxisX(0) Encoder index inverted input
33 X_CHB- Axis X(0)Encoder B(3)inverted input
34 X_CHA- AxisX(0)Encoder A(2) inverted input
35 X_OVER_T Axis X(0) Motor temperature sensor input.
36 A_CHI- Axis A(2)Encoder index inverted input
37 A_CHB- AxisA(2) Encoder B(3)inverted input
38 A_CHA- AxisA(2) Encoder A(2)inverted input
39 A_OVER_T AxisA(2) Motor temperaturesensor input.
40 V_SUP_IO Input/OutputSupply+
41 OUT1 DigitalOutput 1
42 OUT2 Digital Output 2
43 IN2 Digital Input2
44 B_RL Axis3 Right Limit
45 SER_DO_1+ HSSI1 serialdatanon-inverted output

Version 2.50.D

46 SER_DI_1+ HSSI1 serialdatanon-inverted input
47 CONTROL_1+ HSSI1 control signal non-inverted output
48 Y_PEG+ PEGDigital output non-inverted

100