DC1 120112 User Guide
4/22/13
systems. This drive is designed to add axes to existing three axis systems. Up to six axis operation can be
achieved before running out of encoder feedback ports on MPU11. Revision 120112 and newer DC1 drives
have fiber communication connections to allow direct connection to an MPU11 or connection to legacy
systems.
Typical wiring of the DCSINGLE requires only logic power, motor power, motor, communication, and
drive fault connections. Logic power typically comes from a PC style power supply. A shielded, twisted pair
cable is used for communication. Fault relay terminals RLY1 and RLY2 are wired in series with the emergency
stop power loop to cut motor power in the case of a fault.
The DC1 is a single axis DC brush motor drive. DC1 works with MPU11 motion control card based
DC1 Features
Drive Application: DC Brush Motors
Number of Axes: 1
Current rating per axis: 6 to 15 Amps
Motor Voltage: 20 to 180 Volts
Limit Inputs: 2
Control Interface: Shielded, twisted pair cable to DriveBus expansion port, or fiber
optic DriveBus connection, or legacy DC fiber optic protocol
Dimensions (W*D*H): 5.5 * 5.3 * 1.5 Inches
Connection Overview
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Drive Protocol Features
Each DC1 drive is connected to another drive through the “Drive Communication In” connector. The
“Drive Communication Out” connector goes to drives further away from the MPU11 in the communication
chain. The “Drive Communication In” connector gets data from drives closer to MPU11. Fiber optic
communication is also available. Fiber connections “5” and “4” perform communication toward MPU11, while
“5RPT” and “4RPT” connect to additional drives. A mix of fiber and wire communication can be selected
using on board jumper blocks.
LED1 status display will show the axis number for the drive as long as no error codes are present. The
axis farthest from the MPU11 in the communication chain will always be axis 1. Axis numbers increase along
the chain toward the MPU11, up to a maximum axis number of 8. If a DC1 is connected to a DC3IOB, the DC1
will be axis 1, and the DC3IOB will be axes 2, 3, and 4. In this example, if a second DC1 is connected to the
first, it will be axis 1, the DC1 connected to the DC3IOB will be axis 2, and DC3IOB will be axes 3, 4, and 5.
If error codes exist, the decimal point on LED1 will light and an error number will flash. See the “LED1
Error Codes” chart for information on error codes.
Connection Type Setup
DC1 drives may be configured for a variety of communication arrangements. The “WIRED INPUT”
and “FIBER RPT” jumpers are used to select the communication mediums. When the “WIRED INPUT”
jumper block is installed, a cable connection is expected at the “DRIVE COMM. IN” header, otherwise fiber
optic connectors “4” and “5” will be used to communicate with MPU11. The “FIBER RPT” jumper block can
be installed to communicate with additional drives over fiber optic connectors “4RPT” and “5RPT”. If the
jumper block is removed, the “Drive Comm. Out” header will be used to communicate with other drives in the
chain. The following example illustrates some possible DC1 configurations.
DC1
Axis 1
Motor Output
MPU11
Fiber Repeat
Wired Input
Fiber 4
Fiber 5
Drive
Communication In
Drive
Communication Out
DC1
Axis 3
Motor Output
DC1
Axis 2
Motor Output
Communication In
Communication Out
Fiber Repeat
Wired Input
Communication In
Communication Out
Fiber Repeat
Wired Input
Drive
Drive
Drive
Drive
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Drive Section
features allow for easy integration with a variety of hardware.
Current ratings of 6, 9, 12, and 15 amps can be provided on the DC1. The following examples show the various
current settings. The 15 amp setting is only available on drives built with heavy duty components. If the drive
is set for 15 amps, but is not capable of this current rating, an error code will display on the LED readout.
The DC1 drive section is based on Centroid’s proven DC brush motor drive technology. Several built in
Each axis can be built with a range of current ratings determined by jumper settings and drive hardware.
6 Amp Setting 9 Amp Setting 12 Amp Setting 15 Amp Setting
J1J1 J2J2J1 J2J2 J1
A drive fault relay output is provided for connection of the E-stop power loop. The relay contacts stays
closed as long as communication is valid and no serious faults exist.
Axis limit inputs are provided on the DC1. These inputs inhibit motion in the direction of a tripped limit
switch. If limits are required, it will also be necessary in most cases to run the limit switches in parallel to PLC
inputs to provide feedback to the control. If limits are not required, the limit defeat DIP switches may be
pushed down toward the PCB to ignore the external limit inputs.
Limit Input Overview
Typical Limit Input Wiring Example
Axis Limit Switch
DC1 Limit Inputs
LIM+
COM
+5 VDC
LIMIT DEFE AT
SWIT CH (+)
LIM-
+5 VDC
COM
Axis Limit Switch
Pin 1
+5V RE T URN
LIMIT DEFE AT
SWIT CH (-)
H7
+5V RE T URN
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DC1 Fault Output
Fault Output Overview
Typical Estop Wiring Example
H7
External Power Supply
CNT 2
CNT 1
Estop Switch
Pin 1
Estop Contactor
24 VAC 1
24 VAC 2
Legacy Mode
A legacy DC protocol compatibility mode is available to allow the DC1 to replace the older
DCSINGLE. To activate legacy mode, a jumper block must be installed on the “LEGACY” jumper pins (J9)
before applying power to the DC1. When the DC1 is operating in legacy mode, LED1 will display “L” rather
than an axis number. The DC1 is always the fourth axis in legacy mode.
The legacy protocol uses two fiber optic cables labeled “4” and “5” or “DATA” and “SYNC” to send
data to drives. No data returns to the CPU7, CPU10, or CPU10B motion control card. This requires the fiber
cables from the motion control card to be connected to the blue receivers on DC1. Signals are repeated to
another drive over the gray transmitters. The following example shows the proper connection of DC1 fibers in
legacy mode.
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LED1 Error Codes
Error
Number Meaning Cause Corrective Action
1 Not Used
2 15A Not Available Current selection jumpers are set to
15A, but the drive is not equipped with
the appropriate FETs for long term use
at 15A, so the drive will drop back to
12A
Select 12A or lower current settings or use a high
power DC1
3 Null Error The self adjust routine has detected too
large an offset on the current feedback
4 Limit Tripped Any limit switch is tripped move away from the limit, check limit switch wiring,
5 Not Used
6 Not Used
7 Not Used
8 Not Used
9 Not Used
L Legacy mode Legacy jumper block J9 is installed See "Legacy Mode" section or remove jumper
Send the drive back for repair. There is likely an
internal failure causing the large offset
or use the limit defeat switches if a limit switch is not
required
DC1 specifications
Characteristic Min. Typ. Max. Unit
5 Volt Supply Current 0.3 - - A
12 Volt Supply Current - - 0 A
Input Pullup Voltage (Vinp) - 5 - VDC
Input On Voltage 3.75 - - VDC
Input Off Voltage - - 1.25 VDC
Input Operating current 9 11 15 mA
Fault Relay Output Current 0.01 - 10 A @ 125VAC
Fault Relay Output Current 0.01 - 5 A @ 30VDC
Motor Output Current Settings 6 12 15 A
Motor Supply Voltage 20 115 180 VDC
Communication Cable Length - - 20 feet
Communication Fiber Optic Length - - 100 feet
Size: 5.5 * 5.3 * 1.5 (W*D*H) Inches
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DC1 Troubleshooting
Symptom Possible Cause Corrective Action
DF LED not lit Motion control card hasn't booted up Start software, wait for the main screen to load
Drive communication cable
connected incorrectly or faulty
Incorrect jumper settings
"Servo Power Removed" due to fault Restart system to reset runaway or other
Incorrect PLC program Check for PLC program that handles DC1
Axis ? Communication Out Fault Communication to DC1 is faulty Check or replace fiber 4 (or communication
Axis ? Communication In Fault Communication to MPU11 is faulty Check or replace fiber 5 (or communication
5V and 3.3V LEDs not lit Logic power missing Measure DC voltage between +5V and +5V
3.3V LED not lit, but 5V LED lit Internal problem Return for repair
LED1 display flashing with
decimal point lit
LEDs on, but motor doesn't run Limits tripped Check limit switch wiring or push the limit
No motor voltage Measure between +Vm and -Vm for correct
Axis Fuse blown Check fuse F1 with a meter, replace as
An error condition has been detected See the "LED1 Error Codes" section for
See "Connection Type Setup" section.
Replace cables if correctly conencted.
See "Connection Type Setup" section
serious fault condition
faults properly
cable), see "Connection Type Setup" section
cable), see "Connection Type Setup" section
return pins on "LOGIC POWER" connector.
Replace or repair wiring or supply if voltage is
not 5V +-0.5V
details on the error
defeat switches down toward the board
motor voltage and polarity, correct wiring
necessary
DC1 Jumper Functions
Designator Jumper Name Function with jumper block in place Function with jumper block in removed
J1 Current select high bit set Current select high bit clear
J2 Current select low bit set Current select low bit clear
Communicate with another drive over
wires (this DC1 is not connected directly to
J7 WIRED INPUT
J8 FIBER RPT
J9 LEGACY Use legacy DC protocol Use DriveBus protocol
J10 AUX None None
MPU11)
Drivebus out to another drive connects
with fiber optics 4RPT and 5RPT
Communicate with MPU11 or another drive
through fiber connectors 4 and 5
Drivebus out connects to another drive over
wires
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DC1 Connections
6.225"
(158mm)
0.188"
(5mm)
5.85"
(149mm)
5.55"
(141mm)
4.0"
(102mm)
Motor Return
-Vm
Motor Voltage
+Vm EGND
Shield
EGND
Motor +
MTR+
5
4
5RPT
AUX
LEGACY
FIBER RPT
WIRED INPUT
4RPT
Motor -
MTR-
Shield
LED1
DF
3.3V
5V
0.775"
(20mm)
Logic Power
NC
+5V Return
Drive
Communication
Out
+5V
+5V Return
Drive Out TX-
Drive Out TX+
Pin 1
+5V Return
Drive Out RX-
Drive Out RX+
Drive
Communication
In
Drive In TX+
Drive In TX-
Drive In RX-
Drive In RX+
Pin 1
- Limit
+ Limit
- Limit Defeat
+ Limit Defeat
+5V Return
+5V Return
+5V Return
Fault Contact 2
Fault Contact 1
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