Page 1
ALLIN1DC Revision 100316 User Guide
Updated 4/22/13
Overview
processing. Centroid’s DC3IOB and MPU11 technology have been integrated into one unit to provide a highly
functional, yet compact motion control product. Communication with a host PC is performed over Ethernet.
Six encoder inputs are available for motor control or scale input. A range of motor drive currents are selectable
with jumper blocks. The integrated PLC includes 16 digital inputs, 9 relay outputs, one analog input, and one
analog output for general purpose use (see “PLC Section” for details).
The ALLIN1DC is a three axis DC brush motor drive with an integrated PLC and motion control
Features
Function: Motion Control Processor, PLC, and Servo Drive
Maximum number of Axes: 8
6 Incremental Encoders Encoder and Scale Inputs:
(A, B, and Z channels)
PLC Protocol Support PLCbus protocol up to 768in / 768 out
miniPLC protocol with 4 expansion ports
Drive Protocol Support DriveBus Protocol
Jog Panel Protocol Support JogLink Protocol
MPG Support Differential encoder and discrete inputs (no serial
MPG support)
Control Interface: 100 Mb/s Ethernet to PC
Drive Application: DC Brush Motors
Number of Axes: 3
Current rating per axis: 6 to 15 Amps
Motor Voltage: 20 to 180 Volts
Digital PLC Inputs: 34
Digital PLC Outputs: 12
Analog Output resolution: 12 bits
Analog Input resolution: 12 bits
Dimensions (W*D*H): 16 * 8 * 5.25 inches
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Page 2
Typical Connections
Pin 1
ALLIN1DC
091117
Pin 1
Logic Power Connection
An ATX style PC power supply provides voltage for ALLIN1DC logic circuits. The power supply
connector may have 20 pins or 24 pins on units equipped with an ATX 2.2 compatible supply. The -5V and
+5VSB pins are not used by the ALLIN1DC, but all other pins should be checked if troubleshooting a supply
problem.
ATX 2.0 Power Connector (H14) Optional ATX 2.2 Power Connector (H14)
-12V
COMMON
/POWER ON
COMMON
COMMON
COMMON
-5V
+5V
+5V
+3.3V+3.3V
11
12
13
14
15
16
17
18
19
20
1
2
3
4
5
6
7
8
9
10
+3.3V
COMMON
+5V
COMMON
+5V
COMMON
POWER OK
+5VSB
+12V
+3.3V
-12V
COMMON
/POWER ON
COMMON
COMMON
COMMON
+5V
+5V
+5V
COMMON
13
14
15
16
17
18
19
20
21
22
23
24
1
2
3
4
5
6
7
8
9
10
11
12
+3.3V
+3.3V
COMMON
+5V
COMMON
+5V
COMMON
POWER OK
+5VSB
+12V
+12V
+3.3V
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Servo Drive Section
built in features allow for easy integration with a variety of hardware.
hardware. Current ratings of 6, 9, 12, and 15 amps can be provided on the ALLIN1DC. The following chart
shows the various current settings available by changing settings on DIP switch block SW1.
connector. LED1 status display will show the base or first axis number for the drive. For example, an
ALLIN1DC that is running as axes 2, 3, and 4 will display 2 on LED1 as long as no error codes are present.
The axis farthest from the ALLIN1DC in the communication chain will always be axis 1. Axis numbers
increase along the chain toward the ALLIN1DC. To find the axis number of a particular motor connector on
ALLIN1DC, add the base axis number to the labeling for the motor connector. If LED1 displays 2, “0+” and
“0-“ motor terminals are for motor 2, “1+” and “1-“ go to motor 3, and “2+” and “2-“ go to axis 4. These axis
numbers correspond to software parameters that can be used to rearrange the order of display on the DRO.
Error Codes” chart for information on error codes.
The ALLIN1DC drive section is based on Centroid’s proven DC brush motor drive technology. Several
Each axis can be built with a range of current ratings determined by DIP switch settings and drive
Drive Current Settings
Axis 0 Axis 1 Axis 2
Current Setting Switch 1 Switch 2 Switch 3 Switch 4 Switch 5 Switch 6
6 OFF OFF OFF OFF OFF OFF
9 OFF ON OFF ON OFF ON
12 ON OFF ON OFF ON OFF
15 ON ON ON ON ON ON
Additional axis drives may be connected to the ALLIN1DC through the “Drive Communication Out”
If error codes exist, the decimal point on LED1 will light and an error number will flash. See the “LED1
Drive Communication Connection for ALLIN1DC and DC1
ALLIN1DC DC1
Drive
Communication Out
Drive
Communication In
Communication Out
Axis 1Axis 2 - Axis 4
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Drive
Page 4
PLC Section
The ALLIN1DC has 34 digital inputs, 12 digital outputs, one analog input, and one analog output.
Some I/O is dedicated to a particular function. Inputs 1 through 6 are axis limit switch inputs that inhibit
motion at the hardware level. Four inputs are dedicated to supporting the digitizing probe, and 11 inputs and 3
outputs are used for MPG support. The remaining 10 configurable, optically isolated inputs and 9 fused relay
outputs are available for general purpose use. Check the “ALLIN1DC I/O Map” and “ALLIN1DC
Specifications” sections to determine I/O type and capability. Accessory boards can be connected to increase
I/O capacity. See the “PLC Expansion” section for details.
Digital Outputs
Two SPDT and 7 SPST fused outputs are available on board, as well as 3 open collector outputs
designed to connect to the MPG.
Internal Circuitry
Open Collector Output
+5 VDC
Internal Circuitry
Fused SPST Output
Internal Circuitry
Fused SPDT Output
4.7k
Output Commo n
Output
Out put Common
NC
NO
5V Return
Output
Configurable Inputs
VDC sensors or switches. Compare the specifications of sensors to the “ALLIN1DC Specifications” chart to
ensure reliable operation. Inputs are arranged into banks of 4 that can be individually configured for voltage
and polarity. Resistor packs SIP1, SIP2, SIP3, and SIP4 must be changed to match the input voltage for each
bank of inputs. Sinking or sourcing operation is determined by the wiring configuration.
Configurable inputs are used for general purpose inputs. These inputs can be used with 5, 12, or 24
Internal Circuitry
12VDC Opto Input
+12 VDC
F13
1.1k
Internal Circuitry
5VDC Input
+5 VDC
Internal Circuitry
Configurable Input
COMMON
4.7k
INP UT
INP UT
INP UT
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Page 5
Configurable Input Connection Examples
Sinking (NPN) Sensor Wiring Example
External Power Supply
+24 VDC
+24 VDC
ALLIN1DC Configurable Inputs
+24 COM
Sensor
+24 COM
Sourcing (PNP) Sensor Wiring Example
External Power Supply
+24 VDC
+24 COM
+24 VDC
Sensor
10
SIP 3
9
8
7
6
5
SIP 4
4
3
2
1
H11
+24 COM
SIP Identification – XXX Indicates Value SIP Internal Wiring / Pinout
4308R- 102
- XXX
SIP Input Reference SIP Resistor Values
SIP Designator Related Inputs
SIP1 13,14,15,16
SIP2 9,10,11,12
SIP3 5,6,7,8
SIP4 1,2,3,4
SIP Value Marking Resistor Value (Ohms) Input Voltage
471 470 5
102 1.0k 12
222 2.2k 24
Dedicated I/O
Several inputs and outputs are dedicated to particular functions and route directly into the MPU11
processor section of the ALLIN1DC. As can be seen in the “ALLIN1DC I/O Map” section, these I/Os are
mapped after normal PLC space, and start at location 769. Probing and MPG functions use the dedicated I/O.
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Analog Output
Four voltage output ranges are available on the analog output. A block of five DIP switches (SW3)
must be set according to the following chart to get the desired output range.
Internal Circuitry
Analog Output
+12 VDC
-
+
-12 VDC
DAC
GROUND
Analo g Output
Analo g Ground
Analog Output Range Selection
Voltage
Range
0 TO 5 OFF ON ON ON ON
0 TO 10 OFF ON OFF ON OFF
-5 TO 5 ON ON OFF ON OFF
-10 TO 10 ON OFF OFF OFF OFF
1 2 3 4 5
Switch Number
Analog Output Calculations
Analog outputs use a 12 bit digital to analog converter (DAC) to generate analog from the DAC request
sent from the PLC program. The 12 bit value allows a DAC request of 0 to 4095, which corresponds to 0 to
9.998 volts in the 0 to 10V range.
Analog Output Wiring
Analog outputs should be wired using a shielded twisted pair for best results. The analog output
terminal is paired with a common terminal for direct wiring of the signal, common, and shield. In most cases, it
is best to connect the shield to the common only at the ALLIN1DC. Routing analog cables away from power
wires and other noise sources is also critical for good performance. See “ALLIN1DC Connections” section for
terminal locations.
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Analog Output Trim
The analog output is factory trimmed for the 0 to 10V scale. If a different output range is used, it will be
necessary to trim the output for best results. The following procedure is used to trim the analog output:
1. Request 0V
2. Adjust offset POT until 0V is output
3. Request maximum output
4. Adjust gain POT until maximum is output (depends on range)
5. Repeat steps 1-4 until readings are consistent and correct
Analog Input
switches (SW2) according to the following chart to accept the required input range.
Like the analog output, the input has four ranges available. Set the corresponding block of five DIP
Internal Circuitry Equivalent
Analog Input
+12 VDC
-
Analog Input
>10k
Analog Ground
ADC
GROUND
+
-12 VDC
Analog Input Range Selection
Voltage
Range
0 TO 5 OFF OFF OFF X X
0 TO 10 OFF ON OFF X X
-5 TO 5 ON ON OFF X X
-10 TO 10 ON ON ON X X
1 2 3 4 5
Switch Number
X = don’t care
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Analog Input Calculations
The analog input uses a 12 bit analog to digital converter (ADC) to generate a digital ADC result from
an analog signal. The 12 bit result allows an ADC result of 0 to 4095, which corresponds to 0 to 9.998 volts in
the 0 to 10V range.
Analog Input Wiring
The analog input should be wired using a shielded twisted pair for best results. The analog input
terminal is paired with a common terminal for direct wiring of the signal, common, and shield. In most cases, it
is best to connect the shield to the common only at the ALLIN1DC. Routing analog cables away from power
wires and other noise sources is also critical for good performance. See “ALLIN1DC Connections” section for
terminal locations.
Analog Input Trim
The analog input is factory trimmed for the 0 to 10V scale. If a different input range is used, it will be
necessary to trim the input for best results. The following procedure is used to trim the analog input:
1. Input 0V in bipolar modes, or slightly above 0V in unipolar modes
2. Adjust offset POT until the reported voltage matches the actual voltage
3. Input a voltage slightly below the maximum (depends on range)
4. Adjust gain POT until the reported voltage matches the actual voltage
5. Repeat steps 1-4 until readings are consistent and correct
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PLC Expansion
PLC I/O expansion is possible through the four “PLC ADD” connectors. Each PLC expansion port can
accept 16 – 128 inputs, outputs, or inputs and outputs in 16 bit increments. This allows for digital I/O, DACs,
ADCs, or other devices to be added to the system as needed.
PLC ADD 1 – 4 Connector Pinouts
DATA TO EXPANSION CARD +
DATA TO PLC +
CLOCK +
+12V
+5V
5V RETURN *
1 2
3 4
5 6
7 8
9 10
11 12
DATA TO EXPANSION CARD DATA TO PLC CLOCK -
-12V
+12V AND -12V RETURN *
5V RETURN *
* +12V AND -12V RETURN and 5V RETURN are connected on the ALLIN1DC
PLC Expansion Memory Assignments
PLC I/O is arranged in 16 bit groups or slots. As a general rule, slots 0-14 are used for individual I/Os
such as switches and have a programmable debounce time for the inputs. Slots 15-47 are reserved for ADCs,
DACs, or other devices that do not require debounce. Every device using I/O space must use space in 16 bit
multiples by reserving slots. An ALLIN1DC uses 2 slots for its inputs and 2 slots for outputs.
Assignment of I/O slots occurs in a linear fashion starting at the ALLIN1DC, then “PLC ADD” port 1,
“PLC ADD” port 2, etc. In the following general example, the ALLIN1DC I/O is shown in its fixed location,
which can not be changed. Devices plugged into the “PLC ADD” ports that require debounce will be assigned
starting at the slots marked “A”, while devices that do not require debounce will start being assigned at the slots
marked “B”.
PLC Expansion Location Assignment General Example
The remaining examples show how specific devices will map into the PLC under certain conditions.
PLC Expansion devices have a variety of memory requirements, which are summarized in the following chart
for devices used in the examples.
PLC I/O Slot Requirements
Function Input Debounce
Slots Used
Total Available 15 33 15 33
ALLIN1DC Digital and Analog I/O 1 1 1 1
DC3IOB as expansion Digital and Analog I/O 4 0 4 0
PLCADD1616 Digital I/O 1 0 1 0
ADD4AD4DA Analog I/O 0 4 0 4
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Input Non-Debounce
Slots Used
Output Debounce
Slots Used
Ouput NonDebounce Slots Used
Page 10
Example 2 illustrates I/O assignments on a system that has an ALLIN1DC main PLC, a DC3IOB plugged into
“PLC ADD 1”, a PLCADD1616 to “PLC ADD 2”, and an ADD4AD4DA expansion card plugged into PLC
ADD 3. Note that the ADD4AD4DA is and ADC/DAC expansion card and is assigned starting at slot 16 since
it does not require debounce.
PLC Expansion Example 2
Input Space
Slot 0 Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6
ALLIN1DC DC3IOB PLCADD1616
Slot 0 Slot 1 Slot 2 Slot 3 Slot 4
ALLIN1DC DC3IOB PLCADD1616
Slot 5 Slot 6
Output Space
Slot 15 Slot 16
ALLIN1DC
Slot 15 Slot 16
ALLIN1DC
Slot 17 Slot 18 Slot 19
ADD4AD4DA
Slot 17 Slot 18 Slot 19
ADD4AD4DA
Slot 47
Slot 47
Example 3 shows the results of plugging an ADD4AD4DA into “PLC ADD 1”, a PLCADD1616 into “PLC
ADD 2”, and a DC3IOB into “PLC ADD 3”. The location of the ADD4AD4DA expansion card I/O is
unaffected since it is the only expansion device in the example that does not require debounce. The
PLCADD1616 and DC3IOB have changed locations since the PLCADD1616 is plugged into a lower number
“PLC ADD” port and is therefore assigned I/O locations before the ALLIN1DC.
PLC Expansion Example 3
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ALLIN1DC I/O Map
Input Specification Input Location
Number Function Type Connector Pin
1 Axis Limit 02 Axis Limit 0+
3 Axis Limit 14 Axis Limit 1+
5 Axis Limit 26 Axis Limit 2+
7 General Purpose
8 General Purpose
9 General Purpose
10 General Purpose
11 General Purpose
12 General Purpose
13 General Purpose
14 General Purpose
15 General Purpose
16 General Purpose
241-252 Analog in 12 bit ADC
253-256 Forced to 0
769 Mechanical Probe
770 DSP Probe
771 Probe Detect
772 Probe Auxiliary
773 MPG x1
774 MPG x10
775 MPG x100
776 MPG Axis 1
777 MPG Axis 2
778 MPG Axis 3
779 MPG Axis 4
780 MPG Axis 5
781 MPG Axis 6
782 MPG Axis 7
783 MPG Axis 8
784 MPG Aux 1
785 MPG Aux 2
786 MPG Aux 3
*Open Collector outputs are pulled up to 5V
*5 VDC inputs are not isolated
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
Configurable
12VDC Opto
12VDC Opto
12VDC Opto
12VDC Opto
5VDC
5VDC
5VDC
5VDC
5VDC
5VDC
5VDC
5VDC
5VDC
5VDC
5VDC
5VDC
5VDC
5VDC
H11 1
H11 2
H11 3
H11 4
H11 6
H11 7
H11 8
H11 9
H10 1
H10 2
H10 3
H10 4
H10 6
H10 7
H10 8
H10 9
H9 1
H13 6
H13 4
H13 8
H13 10
H19 9
H19 11
H19 13
H19 4
H19 6
H19 8
H19 10
H19 12
H19 14
H19 16
H19 18
H19 15
H19 20
H19 22
Number Function Type Connector Pin
241-252 Analog out 12 bit DAC H9 6
253-256 Forced to 0
769 MPG LED Open Collector H19 17
770 MPG Aux 1 Open Collector H19 19
771 MPG Aux 2 Open Collector H19 21
1 General Purpose Relay SPST H6 1,2
2 General Purpose Relay SPST H6 3,4
3 General Purpose Relay SPST H6 5,6
4 General Purpose Relay SPST H6 7,8
5 General Purpose Relay SPST H6 9,10
6 General Purpose Relay SPST H6 11,12
7 General Purpose Relay SPST H6 13,14
8 General Purpose Relay SPDT H6 15,16,17
9 General Purpose Relay SPDT H6 18,19,20
Output Specification Output Location
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Page 12
ALLIN1DC Specifications
Characteristic Min. Typ. Max. Unit
3.3 Volt Supply Current 1.9 - - A
5 Volt Supply Current 2.4 - - A
12 Volt Supply Current 0.5 - - A
-12 Volt Supply Current 0.1 - - A
Input Pullup Voltage (Vinp) 4 - 30 VDC
Input On Voltage Vinp-1.25 - - VDC
Input Off Voltage - - 1.25 VDC
Relay Output Current 0.1 - 10 A @ 125VAC
Relay Output Current 0.1 - 5 A @ 30VDC
Open Collector Output Current - 10 90 mA
Open Collector Output Voltage - 5 5 VDC
Input Operating current 9 11 15 mA
Motor Output Current Settings 6 12 15 A
Motor Supply Voltage 20 115 180 VDC
Analog Output Current 0 1 10 mA
Analog Output Voltage -10 - 10 V
Analog Output Resolution - 12 - bits
Analog Output Error - < 0.2 - %
Analog Input Current - - 1 mA
Analog Input Voltage -10 - 10 V
Analog Input Resolution - 12 - bits
Analog Input Error - < 0.1 - %
PLC ADD Port 5V Current Output* 0 - 0.5 A
PLC ADD Port 12V Current Output* 0 - 1 A
PLC ADD Port -12V Current Output* 0 - 1 A
Size: 16 * 8 * 5.25 (W*D*H) Inches
*PLC ADD Port Current is a total for all 4 ports in any combination. Voltage drop may increase
too much beyond this rating, requiring external power wiring to the expansion boards.
LED1 Error Codes
Error
Number Meaning Cause Corrective Action
1 Power Failure the logic power supply is indicating to
the DC3IOB that it is operating out of
specification
Check power supply wiring
(the grey wire and AC input
in particular), replace power
supply
2 15A Not Available current selection jumpers on any axis are
set to 15A, but the drive is not equipped
with the appropriate FETs for long term
Select 12A or lower current
settings or use a high power
DC3IOB
use at 15A, so the drive will drop back to
12A
3 Null Error the self adjust routine has detected too
large an offset on the current feedback
Send the drive back for
repair. There is likely an
internal failure causing the
large offset
4 Limit Tripped any limit switch is tripped move away from the limit,
check limit switch wiring, or
use the limit defeat switches
if a limit switch is not
required
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Page 13
ALLIN1DC Troubleshooting
Symptom Possible Cause Corrective Action
All status LEDs out Logic power not applied Measure AC coming into power
supply, correct wiring or supply
problems
5, 3.3, 12, or -12 LED out Power supply or
connection problem
AN +12V or AN -12V
LED out
FPGA LED not lit
DSP LED not lit MPU11 is booting up Wait for MPU11 to detect hardware
DSP DEBUG LED
flashing fast
DSP DEBUG LED
flashing one time per
second
DSP DEBUG LED
flashing two times per
second
Encoder connection bad Bad encoder or wiring Check or replace encoder and cable
DF LED out Motion control processor
"Servo Power Removed"
PLC OK LED out Motion control processor
LED1 display flashing
with decimal point lit
LEDs on, but motor
doesn't run
Limits tripped Check limit switch wiring or pull up
Input doesn't work with
sensor
Voltage drop across
Analog section power
loss
MPU11 not ready Wait for MPU11 to start and enter
Internal Fault Return for repair
MPU11 is detecting
hardware
New drive protocols
active
Legacy drive protocols
active
Return not connected Connect return line. If the encoder
section hasn't booted up
due to fault
section hasn't booted up
An error condition has
been detected
Axis Fuse blown Check fuses with a meter, replace as
Incorrect wiring Correct wiring for sensor type
sensor is too high
Measure AC coming into power
supply, correct wiring or supply
problems
If other power LEDs are lit, the
analog section has probably been
damaged by incorrect connection,
return for repair
run mode
and start run mode
Wait for MPU11 to detect hardware
and start run mode
None
Internal fault, only new protocols
should be in use, return for repair
is not powered by ALLIN1DC's
+5V, this is sometimes overlooked.
Start software, wait for the main
screen to load
Restart system to reset runaway or
other serious fault condition
Start software, wait for the main
screen to load
See the "LED1 Error Codes" section
for details on the error
necessary
the limit defeat switches
(sinking or sourcing), check that
SIP values are appropriate for the
input voltage
Use 3-wire sensors with lower
voltage drop spec.
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Page 14
ALLIN1DC Connections
Output 1 COM
Output 2
Output 1
Output 2 COM
Output 3
Output 3 COM
Output 6
Output 4
Output 5 COM
Output 4 COM
Output 6 COM
Output 5
Output 8 NC
Output 7 COM
Output 7
Output 9 NC
Output 8 COM
Output 8 NO
Output 9 COM
Output 9 NO
ADC
SETTINGS
OFFSET
DAC Ground
DAC Output
ADC Ground
ADC Input
Common 13-16
Input 16
Input 15
Input 14
Input 13
Common 9-12
Input 12
Input 11
Input 10
Input 9
Common 5-8
Input 8
Input 7
Input 6
Input 5
Common 1-4
Input 4
Input 3
Input 2
Input 1
1
2
3
4
5
6
7
8
2+ Limit Defeat
2- Limit Defeat
1+ Limit Defeat
1- Limit Defeat
0- Limit Defeat
0+ Limit Defeat
GAIN
-12 AN
+12 AN
GAIN
Pin 1
Pin 1
Pin 1
SIP1
SIP2
SIP3
SIP4
DAC
SETTINGS
OFFSET
3.3 V
5 V
12 V
-12 V
FPGA OK
DSP OK
DSP DEBUG
PLC OK
DF
ATX Power Supply Connection
Pin 1
Motor Ground
Motor Voltage
Chassis Ground
Motor 2+
Motor 2-
Chassis Ground
Probe +12V
Probe +12V
Probe +12V Return
Probe +12V Return
Chassis
Chassis
N/C
Data to Jog Panel Data to Jog Panel +
Data from Jog Panel Data from Jog Panel +
+5V Return
MPG Axis 1
MPG Axis 2
MPG Axis 3
MPG Axis 8
MPG AUX In 2
MPG AUX In 3
Chassis
Probe AUX Input
Probe Detect Input
DSP Mechanical Input
DSP Probe Input
Chassis
+12V Return
+12V
N/C
N/C
+5V Return
+5V
MPG Wheel +B
MPG Wheel -B
MPG Wheel +A
MPG Wheel -A
MPG x1MPG Axis 4
MPG x10MPG Axis 5
MPG x100MPG Axis 6
MPG AUX In 1MPG Axis 7
MPG LED
MPG AUX Out 1
MPG AUX Out 2
+5V
Ethernet
Probe
PLC Expansion 4
PLC Expansion 3
PLC Expansion 2
PLC Expansion 1
Jog Panel
MPG
+5V Return
-Index
Chassis Ground
Motor 1+
Motor 1-
Chassis Ground
Chassis Ground
Motor 0+
LED1
Status Display
Drive Communication Out
N/C
+Index
+A
+B
-A
+5V
-B
Pin 1
Drive Out TX-
Drive Out RX+
Drive Out TX+
Logic GND
Drive Out RX-
Motor 0 -
Chassis Ground
ALLIN1DC
100316
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Page 15
2.0"
(50mm)
Minimum clearance
from fan outlet
ALLIN1DC Mounting Footprint
8.000"
(203.2mm)
7.250"
(184.2mm)
Top
Air Flow
Pin 1
16.000"
(406.4mm)
15.625"
(396.9mm)
1.0"
(25mm)
Minimum clearance from PCB
ALLIN1DC
100316
Pin 1
1.0"
(25mm)
Minimum clearance from PCB
Minimum clearance from PCB
1.0"
(25mm)
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