Control Techniques AXIMA 2000, AXIMA 4000 Installation Manual

AXIMA 2000/4000
Multi-Axis Controller

Installation Manual

P/N 400266-00

Revision: A8

Date: December 8, 2005

© Control Techniques Drives, Inc. 1997, 2001, 2005

AXIMA 2000/4000

Multi-Axis Controller

Installation Manual

Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be
accurate and reliable. However, no responsibility is assumed by Control Techniques for its use.
Control Techniques reserves the right to change the design or operation of the equipment described
herein and any associated motion products without notice. Control Techniques also assumes no
responsibility for any errors that may appear in this document. Information in this document is subject
to change without notice.

P/N 400266-00

Revision: A8

Date: December 8, 2005

© Control Techniques Drives, Inc. 1997, 2001, 2005

© Control Techniques Drives, Inc. 1997, 2001, 2005

Part Number: 400266-00

Revision: A8

Date: December 2005

Printed in United States of America

Information in this document is subject to change without notice. No part of this document may be
reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose,
without the express written permission of Control Techniques.

The following are trademarks of Control Techniques and may not be reproduced in any fashion
without written approval of Control Techniques: EMERSON Motion Control,
EMERSON Motion Control PowerTools, AXIMA, “Motion Made Easy.”

Control Techniques is a division of EMERSON Co.

Control Techniques Drives, Inc. is not affiliated with Microsoft Corporation, owner of the Microsoft,
Windows, and Windows NT trademarks.

IBM is a registered trademark of International Business Machines Corporation.
Modbus is a registered trademark of Gould, Inc.
Data Highway Plus is a trademark of Allen-Bradley

Littelfuse is a trademark of Littelfuse, Inc.

This document has been prepared to conform to the current released version of the product. Because
of our extensive development efforts and our desire to further improve and enhance the product,
inconsistencies may exist between the product and documentation in some instances. Call your
customer support representative if you encounter an inconsistency.

ii

Customer Support

Control Techniques
12005 Technology Drive
Eden Prairie, Minnesota 55344-3620
U.S.A.

Telephone: [phone] or [phone]

It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation
of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is
why we offer you so many ways to get the support you need. Whether it’s by phone, fax or
modem, you can access Control Techniques support information 24 hours a day, seven days
a week. Our wide range of services include:

FAX [phone]

You can FAX questions and comments to Control Techniques. Just send a FAX to the number
listed above.

Website and Email www.emersonct.com

Website: www.emersonct.com

Email: [e-mail]

If you have Internet capabilities, you also have access to technical support using our website.
The website includes technical notes, frequently asked questions, release notes and other
technical documentation. This direct technical support connection lets you request assistance
and exchange software files electronically.

Technical Support [phone] or [phone]

Email: [e-mail]

Control Techniques’ “Motion Made Easy” products are backed by a team of professionals
who will service your installation. Our technical support center in Eden Prairie, Minnesota is
ready to help you solve those occasional problems over the telephone. Our technical support
center is available 24 hours a day for emergency service to help speed any problem solving.
Also, all hardware replacement parts, if needed, are available through our customer service
organization.

When you call, please be at your computer, with your documentation easily available, and be
prepared to provide the following information:

• Product version number, found by choosing About from the Help menu

• The type of controller or product you are using

iii

• Exact wording of any messages that appear on your screen

• What you were doing when the problem occurred

• How you tried to solve the problem

Need on-site help? Control Techniques provides service, in most cases, the next day. Just call
Control Techniques’ technical support center when on-site service or maintenance is
required.

Training Services [phone] or [phone]

Email: [e-mail]

Control Techniques maintains a highly trained staff of instructors to familiarize customers
with Control Techniques’ “Motion Made Easy” products and their applications. A number of
courses are offered, many of which can be taught in your plant upon request.

Application Engineering [phone] or [phone]

Email: [e-mail]

An experienced staff of factory application engineers provides complete customer support for
tough or complex applications. Our engineers offer you a broad base of experience and
knowledge of electronic motion control applications.

Customer Service (Sales) [phone] or [phone]

Email: [e-mail]

Authorized Control Techniques distributors may place orders directly with our Customer
Service department. Contact the Customer Service department at this number for the
distributor nearest you.

Document Conventions

Manual conventions have been established to help you learn to use this manual quickly and
easily. As much as possible, these conventions correspond to those found in other Microsoft®
Windows® compatible software documentation.

Menu names and options are printed in bold type: the File menu.

Dialog box names begin with uppercase letters: the Axis Limits dialog box.

Dialog box field names are in quotes: “Field Name.”

Button names are in italic: OK button.

Source code is printed in Courier font: Case ERMS.

iv

In addition, you will find the following typographic conventions throughout this manual.

This Represents

bold

italic

ALL CAPITALS Directory names, file names, key names, and acronyms.

SMALL CAPS Non-printable ASCII control characters.

KEY1+KEY2
example: (Alt+F)

KEY1,KEY2
example: (Alt,F)

Characters that you must type exactly as they appear. For example, if you are directed to type
a:setup, you should type all the bold characters exactly as they are printed.

Placeholders for information you must provide. For example, if you are directed to type
filename, you should type the actual name for a file instead of the word shown in italic type.

A plus sign (+) between key names means to press and hold down the first key while you press
the second key.

A comma (,) between key names means to press and release the keys one after the other.

Note

For the purpose of this manual and product, “Note” indicates essential information about
the product or the respective part of the manual.

“Warning” indicates a potentially hazardous situation that, if not avoided, could result in
death or serious injury.

“Caution” indicates a potentially hazardous situation that, if not avoided, may result in
minor or moderate injury.

“Caution” used without the safety alert symbol indicates a potentially hazardous situation
that, if not avoided, may result in property damage.

Safety Instructions

General Warning

Failure to follow safe installation guidelines can cause death or serious injury. The voltages
used in the product can cause severe electric shock and/or burns and could be lethal. Extreme
care is necessary at all times when working with or adjacent to the product. The installation
must comply with all relevant safety legislation in the country of use.

v

Qualified Person

For the purpose of this manual and product, a “qualified person” is one who is familiar with
the installation, construction and operation of the equipment and the hazards involved. In
addition, this individual has the following qualifications:

• Is trained and authorized to energize, de-energize, clear and ground and tag circuits and
equipment in accordance with established safety practices.

• Is trained in the proper care and use of protective equipment in accordance with
established safety practices.

• Is trained in rendering first aid.

vi

AXIMA® 2000/4000 Multi-axis Controller

CE Declaration of Conformity

The AXIMA 2000/4000 Multi-axis Controllers are marked with the “Conformite Europeenne
Mark” (CE mark) after passing a rigorous set of design and testing criteria. This label
indicates that this product meets safety and noise immunity and emmisions (EMC) standards
when installed according to the installation guidelines and used within the product
specifications.

Installation Manual

vii

AXIMA® 2000/4000 Multi-axis Controller Installation Manual

Declaration of Conformity

Manufacturer’s Name:

Manufacturer’s Address:

Control Techniques

12005 Technology Drive
Eden Prairie, MN 55344
USA

Declares that the following products:

Products Description:

Model Number:

System Options:

AXIMA 2000/4000 Multi-axis Controller

AXIMA 2000 and AXIMA 4000

This declaration covers the above products with the stepper axis, source mode expanded I/O,
analog inputs, Modbus and Data Highway Plus.

Conforms to the following product specification:

Electomagnetic Compatibility (EMC):

EN 55011/1991 Class A Group 1, CISPR 11/1990 Class A Group 1

EN 50082-2/1995: IEC 1000-4-2/1995; EN 61000-4-2, 4kV CD

IEC 1000-4-3/1995; EN 61000-4-3, ENV 50140/1993, 80% AM, 10V/m @ 3 m
IEC 1000-4-4/1995; EN 61000-4-4, 2 kV ALL LINES
IEC 1000-4-8/1993; EN 61000-4-8, 30 A/m
ENV 50141/1993, 80% AM, 10V, .15-80 MHz
ENV 50204/1995, Pulse, 900 MHz, 50% DTY, 200 Hz

Supplementary information:

The products herewith comply with the requirements of the Low Voltage Directive (LVD) 73/23/EEC and EMC Directive 89/336/EEC

This electronic drive product is intended to be used with an appropriate motor, electrical protection components and other equipment to form a complete end
product or system. It must only be installed by a professional assembler who is familiar with requirements for safety and electromagnetic compatibility
(“EMC”). The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used.
Refer to the product manual for installation guidelines.

February 24, 1999

Bradley Schwartz/ VP Engineering Date

European Contact:

Sobetra Automation
Langeveldpark Lot 10
P. Dasterleusstraat 2
1600 St. Pieters Leeuw, Belgium

viii

AXIMA® 2000/4000 Multi-axis Controller

Installation Manual

Table of Contents

Introduction 1

Connections and Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Installation 5

Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Environmental Concerns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Basic Installation Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

System Grounding Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Connections and Cabling 17

Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

COM Port 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

COM Port 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Controller ID Number/Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Axis Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Encoder 1 or 3 Output Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Input/Output Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Diagnostics Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Analog Input Option 51

Axis Inputs Connector Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Expanded I/O Option 55

Sinking Versus Sourcing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Direct Wiring Option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Connectivity Options 69

Modbus Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Data Highway Plus Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

ix

AXIMA® 2000/4000 Multi-axis Controller Installation Manual

Stepper Option 75

Specifications 77

AXIMA® 2000/4000 Controller Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Heat Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Dimensions and Clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Cable Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Glossary 87

Index 91

x

AXIMA® 2000/4000 Multi-Axis Controller

Installation Manual

Introduction

The AXIMA® 2000 or AXIMA 4000 multi-axis controller from Control Techniques provides
a fully integrated solution for servo control motors. It also provides a simple operator
interface, machine I/O and host communications in one unit. Housed in an industrial hardened
chassis, AXIMA 2000/4000 controller combines digital servo control and 41 optically
isolated I/O lines to create a powerful tool for solving motion control applications that require
coordinated control of up to four axes.

Figure 1: AXIMA 2000 and 4000 Multi-Axis Controllers

The AXIMA 2000/4000 controller uses a 32-bit floating point Digital Signal Processor
(DSP). The DSP gives the AXIMA 2000/4000 controller the processing power, flexibility and
functionality to handle the wide range of multi-axis applications found in plant automation
and industrial machinery.

1

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

With AXIMA 2000/4000 controller, as many as four Motion, eight PLC and eleven Auxiliary
Programs can be operating simultaneously and control up to four separate coordinate systems,
with one axis of motion each, one coordinate system with up to four axes of motion, or any
combination of up to four coordinate systems and up to four axes of motion.

The onboard executive program allows axis assignments to be made to create one or multiple
coordinate systems. Each coordinate system operates from an independent program. This
allows the programmer to concentrate on one coordinate system at time.

2

Connections and Features

Introduction

Figure 2: AXIMA 2000/4000 Controller Front Panel Connections

3

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

4

AXIMA® 2000/4000 Multi-Axis Controller

Safety Considerations

The AXIMA® multi-axis controller is intended for professional incorporation into a complete
system. If installed incorrectly, it may present a safety hazard. The product uses high voltages
and is used to control mechanical equipment which can cause injury. Close attention is
required to the electrical installation and the system design to avoid hazards either in normal
operation or in the event of equipment malfunction. System design, installation,
commissioning and maintenance must be carried out by personnel who have the necessary
training and experience. They must read this safety information and the instruction manual
carefully.

It is your responsibility to comply with the safety requirements of your system. This includes
installing the system with an appropriate master interlock switch for emergency shutdown
that will remove AC power from the system any time the equipment is not running or the
emergency stop is activated. This reduces the possibility of electrocution or unwanted motion.

Installation Manual

Installation

Enclosure

The controller is intended to be mounted in an enclosure which prevents access except by
trained and authorized personnel, and which prevents the ingress of contamination.

The controller was designed for use in an environment classified as pollution degree 2 in
accordance with IEC 664-1, meaning that only dry, non-conducting contamination is
acceptable.

Selecting an Enclosure

The AXIMA 2000/4000 multi-axis controller is designed for most industrial environments.
However, no sophisticated electronic system can tolerate atmospheric contaminants such as
moisture, oils, conductive dust, chemical contaminants and metallic particles. If the AXIMA
2000/4000 controller is going to be subject to this type of environment, it must be mounted
in a metal enclosure with a minimum rating of NEMA 12.

The temperature inside the enclosure should not exceed 40° C (104° F).

If the ambient temperature exceeds 40° C (104° F) active cooling must be installed.

Setting Up, Commissioning and Maintenance

It is essential that changes to the controller settings are given careful consideration.
Depending on the application, a change could have an impact on safety. Appropriate
precautions must be taken against inadvertent changes or tampering.

5

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Restoring default parameters set in certain applications may cause unpredictable or hazardous
operation.

Safety of Machinery

Within the European Union all machinery in which this product is used must comply with
Directive 89/392/EEC, Safety of Machinery.

The AXIMA 2000/4000 hardware and PowerTools software are designed and tested to a high
standard, and failures are very unlikely. However the level of integrity offered by an AXIMA
2000/4000 control function – for example stop/start, forward/reverse and maximum speed –
is not sufficient for use in safety-critical applications without additional independent channels
of protection. All applications where malfunction could cause injury or loss of life must be
subject to a risk assessment, and further protection provided where needed.

Electromagnetic Compatibility (EMC)

The AXIMA 2000/4000 controllers are designed to the high standards of EMC. Under
extreme conditions an AXIMA 2000/4000 controller might cause or suffer from disturbances
due to electromagnetic interaction with other equipment. It is the responsibility of the installer
to ensure that the equipment or system into which the drive is incorporated complies with the
relevant EMC legislation in the country of use.

The following instructions provide you with installation guidance designed to help you meet
the requirements of the EMC Directive 89/336/EEC.

Although Control Techniques cannot guarantee your system will meet tested emission or
immunity requirements, adhering to the following guidelines will greatly improve the
electromagnetic compatibility of your system.

• Choose an enclosure made of a conductive material, such as carbon steel, aluminum or
stainless steel.

• Devices mounted to the enclosure mounting plate, which depend on their mounting
surfaces for grounding, must have the paint removed from their mounting surfaces and the
mating area on the mounting plate to ensure a good ground. The AXIMA 2000/4000
controller does not require removal of paint.

• If grounding is required for cable grommets, connectors and/or conduit fittings at
locations where cables are mounted through the enclosure wall, paint must be removed
from the enclosure surface at the contact points.

• AC line filter input and output wires and cables should be shielded, and all shields must
be grounded to the enclosure.

Although final responsibility for EMC compliance rests with the machine builder, we are
including the following installation suggestions. They describe the components that were
used and how they were installed during the EMC compliance testing.

6

Installation

Achieving Low Impedance Connections

Immunity can be improved and emissions reduced by maintaining the components of the
installation at the same ground potential. Establishing zero potential difference between
components requires a low impedance connection between the components.

This can be achieved by bringing the conductive surfaces of the components into direct
contact. Over the short term this can be very effective. Over an extended period of time,
degradation of the connection may occur due to corrosion. Corrosion can occur when a
material reacts with the atmosphere or when two dissimilar materials react with each other.
Therefore component materials should be conductive, compatible and exhibit good
atmospheric corrosion resistance.

Bringing components into direct contact cannot always be achieved. In these situations a
conductor must be relied upon to provide a low impedance path between components. The
impedance of the conductor is dependent on conductivity and frequency. Conductors that
provide a low impedance path at low frequencies may not provide a low impedance path at
higher frequencies.

A good rule to follow when specifying conductors for high frequency applications is to use a
metal strap with a length to width ratio that is less than 3:1.

A low impedance connection should exist between the following components, but not limited
to:

• Enclosure and mounting plate

• Servo amplifier chassis and mounting plate

• EMI/RFI AC line filter chassis and mounting plate

• Other interface equipment chassis and mounting plate

• Other interface equipment chassis and electrical connectors

• Enclosure and conduit fittings or electrical connectors

• Enclosure mounting plate and earth ground

• Motor chassis and conduit fittings or electrical connectors

• Encoder chassis and electrical connector

• Cable shields when and where they should be grounded

Note

It is critical that you keep the filter inputs routed away from any electrical noise sources
to prevent noise from being induced into them and carried out of the enclosure.

7

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Environmental Concerns

If your AXIMA 2000/4000 controller will be subjected to atmospheric contaminants such as
moisture, oils, conductive dust, chemical contaminants and metallic particles, you must
mount it vertically in a metal NEMA type 12 enclosure.

If the ambient temperature inside the enclosure will exceed 40° C (104° F), you must consider
forced air cooling. The amount of cooling depends on the size of the enclosure, the thermal
transfer of the enclosure to the ambient air and the amount of power being dissipated inside
the enclosure.

Basic Installation Notes

You are required to follow all safety precautions during start-up, such as providing proper
equipment grounding, correctly fused power and an effective Emergency Stop circuit which
can immediately remove power in the case of a malfunction.

• To avoid problems associated with Electromagnetic Interference (EMI), you should route
high power lines (AC input power and motor power) away from low power lines (encoder
feedback, serial communications, etc.).

• You should consider future troubleshooting and repair when installing all wiring. All
wiring should be either color coded and/or tagged with industrial wire tabs.

• As a general rule, the minimum cable bend radius is ten times the cable outer diameter.

• All wiring and cables, stationary and moving, must be protected from abrasion.

• Ground wires should not be shared with other equipment. Also ensure that metal to metal
contact is made between the enclosure ground lug and the metal enclosure.

• All inductive coils must be suppressed with appropriate devices, such as diodes or
resistor/capacitor (RC) networks.

General Warning

Failure to follow safe installation guidelines can cause death or serious injury. The
voltages used in the unit can cause severe electric shock and/or burns, and could be lethal.
Extreme care is necessary at all times when working with or adjacent to it. The installation
must comply with all relevant safety legislation in the country of use.

AC supply Isolation device

The AC supply must be removed from the controller using an approved isolation device
or disconnect before any servicing work is performed, other than adjustments to the
settings or parameters specified in the manual.

Grounding (Earthing, equipotential bonding)

The controller must be grounded by a conductor sufficient to carry the prospective fault

8

current in the event of a fault. The ground connections shown in the manual must be
adhered to.

Fuses

Fuses or over-current protection must be provided at the input in accordance with the
instructions in the manual. Failure to observe the instructions closely may cause a fire
hazard.

Isolation of control circuits

The control circuits are isolated from the power circuits in the controller by basic
insulation only. The installer must ensure that the external control circuits are isolated
from human contact by at least one layer of insulation rated for use at the applied AC
supply voltage.

Mounting Requirements

The AXIMA 2000/4000 controller should be back mounted vertically in a metal NEMA
enclosure. A minimum spacing of four inches must be maintained above and below the
controller for ventilation. The following diagram shows the dimensions of the AXIMA 2000/
4000 controller.

Installation

9

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

11.70

(297.18)

0.9

(22.86)

3.0

(76.20)

1.25

(31.75)

5.5

(139.70)

3.68

(98.30)

3.0

(76.20)

7.1

(183.00)

0.25

(6.35)

11.19

(284.23)

0.20 (5.08) typ. 4 places

Dimensions in ( ) are in millimeters.

Figure 3: Mounting Dimensions

System Grounding Requirements

AXIMA 2000/4000 Controller Grounding

The PE terminal of the AXIMA 2000/4000 controller is internally bonded to the chassis. The
enclosure PE and the AXIMA 2000/4000 controller PE should have a common signal point
that ultimately is a continuous path to earth ground. These ground wires of the AXIMA 2000/
4000 controller should not be shared with other equipment in the enclosure.

The TE terminal is connected to the internal digital ground of the AXIMA. The TE
connection should be tied to the PE connection in the enclosure. Do not jumper the connection
to the PE terminal on the AC input connector.

10

Installation

Figure 4: AXIMA 2000/4000 Controller Grounding Point

The AXIMA 2000/4000 controller PE terminal must be connected to the equipment
grounding conductor of the AXIMA’s AC supply circuit and bonded to the enclosure. This
should be accomplished with a short wire from the PE terminal to a grounding block in the
enclosure. All other equipment in the enclosure must use its own connection to this grounding
block.

11

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

AXIMA/E Series Drives Grounding Example

Figure 5: E Series Drive and AXIMA System Grounding Diagram

12

AXIMA/MX Drives Grounding Example

Enclosure

Installation

AC Power Supply

DC I/O
Supply

Single Point Ground
(Bonded to Enclosure)

TE Connection

PE Connection

+ VDC Power

Jumper from

AMP GND to

"Y" Terminal

3 Phase Line

Power

Transformer

Neutral

Fuses

Control

Output

Hot

Convenience

Outlet

Pin 11

AXIMA Multi-axis

Controller

MX Digital

Servo Drive

Figure 6: MX Drive and AXIMA System Grounding Diagram

13

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

AXIMA/LX Drives Grounding Example

Figure 7: LX Drive and AXIMA System Grounding Diagram

Power Requirements

Rated AC power input is 120 VAC at 1 A or 240 VAC at 0.5 A, single phase, 50 or 60 Hz.
AC power must be between 96 and 204 VAC.

The AC power connects to a removable connector on the top of the AXIMA 2000/4000
chassis. The AC power input must be between 96 and 264 VAC, single phase, and 50 to 60
Hertz. At 115 VAC, 1.0 Amps RMS is required, or at 230 VAC, 0.5 Amps RMS is required.
However, at power-up the unit has an inrush current that is typically 20 Amps at 115 VAC

14

Installation

and 40 Amps at 230 VAC for 2 milliseconds. This inrush current must be considered when
choosing AC power fusing.

Note

The AC Power removable connector terminals are to be torqued 6 to 7 inch pounds at
installation of wiring.

Figure 8: AC Power Connector

AC Supply

Volt age

115 VAC 1 Amp 20 Amps FLM-2 or equivalent

230 VAC 0.5 Amp 40 Amps 2 Amp Slo-Blo

Current

Inrush Current

(2 ms)

External Fusing Requirement

The AC power supply must be fused with a 2 amp fuse in each ungrounded line. A grounded
line (neutral) must not be fused. Littelfuse

can be used.

®

’s FLM-2 SLO-BLO type fuse, or an equivalent,

Fusing Frequency (Hz) AC Supply Limit

50/60 96 to 264 VAC

15

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Grounded Supply Requirement

A significant AC power problem occurs when the secondary of the AC distribution
transformer is not electrically referenced to earth ground (i.e., left floating). In this case, the
voltages that develop between the AC power lines and earth ground can continuously exceed
the voltage limit of 264 VAC. When this happens the protection circuit in the AXIMA 2000/
4000 controller will try to suppress this excess voltage. If the condition is prolonged, the
AXIMA 2000/4000 controller protection circuits will fail.

The voltage limit of 264 VAC applies from L1 to PE and L2 to PE as well as from L1 to L2.
Use a ground referenced AC supply.

16

AXIMA® 2000/4000 Multi-Axis Controller

Serial Communications

The AXIMA® 2000/4000 controller has two optically isolated serial ports (COM 1 and COM

2). COM 1 is a RS232 port. COM 2 can be configured for RS232, RS422 or RS485 using DIP
switches located behind the removable access panel on the top front of the AXIMA 2000/
4000 controller.

Installation Manual

Connections and Cabling

Figure 9: AXIMA 2000/4000 Controller Communication Ports, Com 1 and Com 2

COM Port 1

The AXIMA 2000/4000 controller COM 1 connection is a RS232 serial communication port.
The COM 1 port is activated and will automatically detect the baud rate by receiving one
carriage return after power up. Both serial ports, COM 1 and COM 2, can be open
simultaneously and attached to different programs. For example, one port could be used as a
programming and diagnostics port while the second port is communicating with an operator
interface panel such as the Control Techniques T-60 panel.

Pin Number Description

1 Shield

2Rx

3Tx

4 Not connected

17

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Pin Number Description

5 Common

6 Not connected

7 Not connected

8 Not connected

9 Not connected

Note

The COM 1 port is supplied through a DC-to-DC convertor which is isolated from the
main board’s 5 VDC supply. All communications signals are isolated using optoisolators.

Serial Port and Cable Specifications

It is recommended that all communication lines be twisted pair shielded cable. Cables should
be routed away from motor power and other high voltage or noisy wiring.

Serial Communication Setup

Max baud rate 38.4 K

Stop bit 1

Data bits 8

Parity none

The RS232 serial communication cables should be no longer than 50 feet to comply with
RS232 specifications. However, longer cables may be used at slower baud rates (less than

9600). The wiring diagrams on the next page show the TIX and TIA serial cables which are

available from Control Techniques in 10, 25 and 50 foot lengths. Non-standard lengths can
be special ordered.

18

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

25 PIN

"D" CONNECTOR

FEMALE

COMPUTER

Tx

2

Rx

3

GND

7

PIN

NUMBER

TIX-XXX CABLE

TIA-XXX CABLE

COM 1

Rx

Tx

GND

SHLD

Connections and Cabling

2

3

5

1

PIN

NUMBER

5

9

4

8

3

7

2

6

1

9 PIN

"D" CONNECTOR

MALE

5

9

4

8

3

7

2

6

1

9 PIN

"D" CONNECTOR

FEMALE

Figure 10: RS232C Serial Communication Cables Wiring Diagram

COM Port 2

To communicate with more than one AXIMA 2000/4000 controller, and using the AXIMA
Software or other host controller, you must use COM 2 configured as an RS485. The COM 2
serial communication port is shipped as a RS232 as default.

DIP Switch Settings

COM 2 can be configured for RS232, RS422 or RS485 using switches located behind the
removable access panel on the top front of the AXIMA 2000/4000 controller.

COMPUTER

Tx

3

Rx

2

GND

5

PIN

NUMBER

COM 1

Rx

Tx

GND

SHLD

2

3

5

1

PIN

NUMBER

5

9

4

8

3

7

2

6

1

9 PIN

"D" CONNECTOR

MALE

19

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Figure 11: AXIMA 2000/4000 Controller DIP Switches Location

RS232 DOWN

RS422 UP DOWN DOWN DOWN

RS485 (2 wire/SD) UP UP UP UP

RS485 (4 wire/SD) UP DOWN UP UP

RS485 (4 wire/RTS) UP DOWN DOWN UP

20

DIP Switch Settings

1 2 3 4

Mode Selection

RS232C Mode (Default Mode)

The AXIMA 2000/4000 controller is shipped with COM 2 in RS232 mode.

RS232C
DEVICE

Figure 12: COM 2, RS232 Configuration

Tx
Rx

GND

Com 2

1

2

3

4

5

6

7

8

Connections and Cabling

Shld

Rx

Tx

Com

Tx+
Tx-

Rx+
Rx-

232 485

Note

The COM 2 port is supplied through a DC-to-DC convertor which is isolated from the
main board’s 5 VDC supply. All communications signals are isolated using optoisolators.

RS422 Mode

With COM 2 in RS422 mode, the transmitter is not put into a tri-state mode. The Tx
(Transmit) lines of multiple AXIMA 2000/4000 controllers CAN NOT be wired together.
The receive line of the last AXIMA should be terminated with a 100 ohm ½ watt resistor. See
Figure 13.

RS485 Mode

RS422 and RS485 modes are similar because they both use differential drivers and receivers.
RS485 mode adds the ability to enable and disable the receivers and transmitters as required
for multidrop installations. See Figure 14 and 15.

The enable and disable operations of the AXIMA 2000/4000 controller serial port can be
selected to operate in two different transmission methods. These methods are selectable with
a DIP switch behind the access panel on the top front of the controller. It is labeled, SD (Send
Data) or RTS (Ready to Send). See Figure 11.

SD (Send Data) Method:

This is the simplest mode. Whenever the AXIMA 2000/4000 controller serial port senses that
data is present the transmitter is enabled. The transmitter stays enabled long enough to assure
the last bit has been sent then it disables or tri-states the transmission. It does this for baud

21

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

rates down to 9600 baud. The transmitter is in tri-state mode or disabled when data is not
being sent so it can receive data.

RTS (Ready to Send) Method:

This method enables the transmitter under two conditions.

1. When a particular AXIMA 2000/4000 controller has been chosen by the host to be

online, the command, CTRL A - “Axis ID #” - Enter, is issued. The transmitter stays
enabled until a “CTRL B” command is received.

2. When the AXIMA Software Application executes an Open Com Instruction, the

transmitter is enabled. The transmitter goes back to tri-state mode when a Close Com
Instruction is issued. See the AXIMA Software User’s Guide (P/N 400263-00) for more
information.

The Echo On/Off DIP switch controls the enable/disable function of the AXIMA receiver.
With the switch “On”, the receiver is always enabled. This switch should be “On” for RS422
and RS485 four wire operation. With the switch “Off”, the receiver is disabled whenever the
transmitter is enabled. This is needed for two wire mode. This is to prevent the AXIMA 2000/
4000 controller from receiving the same characters it just transmitted.

The figure below shows a wiring diagram for serial communications of a RS422
configuration.

22

Connections and Cabling

GND

NC

NC

NC

100

Ω

½ WATT

TYPICALLY

UP TO 10

SLAVES

SEE NOTE

BELOW

NC

15

E

Figure 13: RS422 Two Wire Muli-Drop Wiring Diagram

Note

A standard RS-422 host transmitter can drive up to 10 slaves. However, the AXIMA
transmitter can drive up to 15 slaves in RS-422 mode.

The figure below shows a wiring diagram for serial communications in an RS485 four wire
multi-drop configuration.

23

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

GND

UP TO 15

SLAVES

24

15

E

Figure 14: RS485 Four Wire Multi-Drop Wiring Diagram

The figure below shows a wiring diagram for serial communications of a RS485 two wire
termination connection.

GND

Connections and Cabling

UP TO 15

SLAVES

15

E

Figure 15: RS485 Two Wire Termination Connection Wiring Diagram

RS485 termination

Two 120 ohm, ½ watt resistors must be installed on an RS-485 network, one at the node (RS­485 port) physically at the beginning of the cable and one on the node at the end.

25

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Com 2

Shld

1

Rx

2

Tx

3

Isolated Com *

4

Tx+

5

Tx-

6

Rx+

7

Rx-

8

* Isolated from the rest of the
AXIMA Controller through a

DC-to-DC convertor.

RS485

or
RS422
Device

GND
Rx +
Rx -

Tx +
Tx -

Figure 16: COM 2, RS485 Configuration

Serial Port Grounding

The AXIMA 2000/4000 controller provides an isolated logic supply for its communication
circuitry. COM is the circuit common for both COM port circuits. COM 1 and COM 2
devices, such as PC serial ports, typically have signal ground connected to earth ground
internally in the PC.

If your COM devices do not have signal grounds that are common with respect to each
other (such as both connected to earth ground) then you must connect them together.
Failure to connect device grounds together could cause damage to the device or the
AXIMA 2000/4000 controller.

26

INTERNALLY
CONNECTED

COM 1

5

9

4

8

3

7

2

6

1

9 PIN

"D" CONECTOR

COM 2

Shld

1

Rx

2

Tx

3

Com

4

Tx+

5

Tx-

6

Rx+

7

Rx-

8

232 485

COM 1 DEVICE

(RS232C)

SIGNAL

COMMON

COM 2 DEVICE

(RS422 OR RS485)

SIGNAL

COMMON

Connections and Cabling

GROUND

GROUND

Figure 17: Serial Communications Grounding Diagram

Serial Port and Cable Specifications

It is recommended that all communication lines be twisted pair shielded cable. Low
capacitance shielded twisted pair cable will deliver optimum performance especially with
long cable lengths and high baud rates. Cables should be routed away from motor power and
other high voltage or noisy wiring.

Serial Communication Setup

Max baud rate 38.4 K

Stop bit 1

Data bits 8

Parity none

Note

As baud rates increase or cable lengths get longer your susceptibility to noise increases.
Therefore, if you are experiencing communication problems, it is recommended that you
install a ½ watt terminating resistor, 100 ohm for RS422 and 120 ohm for RS485.

27

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Controller ID Number/Address

The following table shows how the Address DIP switch positions relate to the AXIMA 2000/
4000 controller axis ID number. The DIP switches are located behind the top front access
panel of the AXIMA 2000/4000 controller.

Figure 18: AXIMA 2000/4000 Controller Address DIP Switch Location

AXIMA ID Address DIP Switch Settings

1 2 3 4

0 OFF OFF OFF OFF

1 OFF OFF OFF ON

2OFFOFFONOFF

28

Connections and Cabling

AXIMA ID Address DIP Switch Settings

3OFFOFFONON

4 OFF ON OFF OFF

5 OFF ON OFF ON

6 OFF ON ON OFF

7 OFF ON ON ON

8 ON OFF OFF OFF

9ONOFFOFFON

A ON OFF ON OFF

B ON OFF ON ON

CONONOFFOFF

DONONOFFON

EONONONOFF

Reserved ON ON ON ON

Note

The following procedure is needed if a corrupted program is run on power-up or in making
communications.

The reserved address setting is used for bypassing the flash memory and ignoring the run on
power-up command for programs in the Application. This is needed if the flash memory
becomes corrupted. Corrupted flash can lock-up communications and load the corrupted
program into RAM on power-up. This requires revision A7 or later firmware. The
instructions for using this function are as follows:

1. Turn the AXIMA 2000/4000 controller power “Off”.

2. Set the DIP switches to the reserved positions. (All switches in the “On” position).

3. Turn the AXIMA 2000/4000 controller power “On”.

4. Set the DIP switches back to the address being used.

5. Download the AX-WIN Application.

Multi-Drop Installations

If your application uses more than one AXIMA 2000/4000 controller (up to 15 can be linked
serially), each must have a different ID number. This allows each AXIMA 2000/4000
controller to be addressed individually over the same multi-drop serial cable in the RS422 and
RS485 modes.

29

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Axis Connections

The front panel of the AXIMA 2000/4000 controller has four, 25 pin female “D-sub”
connectors. The AXIMA 2000 has two axes and two auxiliary encoder connections, while the
AXIMA 4000 has four axes connections.

Figure 19: AXIMA 2000/4000 Controller Connectors (4 Axes)

30

Connections and Cabling

These axis connectors are used to connect the AXIMA 2000/4000 controller to the individual
amplifiers (E Series, MX, LX, etc.). The following table shows the pinout of the 25-pin
female “D-sub” connectors.

Pin Number Signal Name Pair Number

13 A Encoder Input Signal

25 A/ Encoder Input Signal

12 B Encoder Input Signal

24 B/ Encoder Input Signal

11 Z Encoder Input Signal

23 Z/ Encoder Input Signal

10 +5 VDC for Encoder Feedback

22 VDC Common (0 VDC Common for Encoder Feedback

- Pulse Output

5 Pulse/ Output

17 Direction Output

- Direction/ Output

8 Analog Command Output -

20 Analog Command Output +

9 Enable Contact

21 Enable Contact

14 Ø VDC I/O Supply Common

2 +24 VDC I/O Supply

3 Discrete Input (CCW Travel Limit)

16 Discrete Input (CW Travel Limit)

15 Discrete Input (Drive Status)

18 Low Current Mode Output

7 Analog Input 1

19 Analog Input 2

6 Analog Common 13

4 Overall Shield

1

2

3

4

5

6

7

8

9

10

11

12

* Grayed-out Pin Numbers are NOT available in the AXIMA 2000’s Encoder Connection 3 and 4.

31

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Analog Inputs

Note

These are only active if the factory Analog Input option is installed.

Pin 7 Pin 19

Axis 1 Analog Input 1 Analog Input 2

Axis 2 Analog Input 3 Analog Input 4

Axis 3 Analog Input 5 Analog Input 6

Axis 4 Analog Input 7 Analog Input 8

Encoder Inputs

Encoder signals are low voltage, high frequency signals susceptible to noise if not properly
shielded. For reliable operation it is important that encoder cables be shielded and routed
away from motor power or other high voltage signals. Shields should be connected at the
controller end.

Specifications

Input Signal Quadrature square wave

Maximum Rate 8 MHz

Type Differential Receiver, DS26LS32

Voltage 5 VDC maximum, 2 VDC minimum

Supply 5 VDC, 250 mA maximum per axis

The encoder signals may come from an encoder or from the encoder simulation output of a
brushless servo drive (see wiring diagrams below).

32

Connections and Cabling

ENCODER

SIMULATION

FROM

SERVO DRIVE

A

A/

B

B/

Z

Z/

Figure 20: Encoder Simulation Wiring Diagram

AXIS

CONNECTION

A

13

A/

25

B

12

B/

24

Z

11

Z/

SHLD

23

4

PIN

NUMBER

"D" CONNECTOR

25 PIN

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

AXIS 1 (FOR 4000)

ENCODER 3 (FOR 2000)

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

SHIELD

LOGIC

COMMON

EARTH

GROUND

A

A/

B

B/

Z

Z/

N/C

N/C

13

25

12

24

11

23

4

PIN

NUMBER

ENCODER 1 OUTPUT (FOR 4000)
ENCODER 3 OUTPUT (FOR 2000)

RED/WHT

YEL/WHT

BLU/WHT

BLK/WHT

YEL

BLU

BLK

RED

5

9

4

8

3

7

N/C

N/C

6

PIN

NUMBER

A/

B

B/

Z

Z/

A

9 PIN

"D" CONNECTOR

EARTH

GROUND

5

4

3

2

1

9

8

7

6

LOGIC

COMMON

Figure 21: AX4-ED Encoder Cable Wiring Diagram

33

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Shown below is the wiring diagram for the AX4-ENC-XXX cable which is available from
Control Techniques in 15, 25 and 50 foot lengths for connection to Control Techniques’
SCSLD encoders.

AXIMA 2000/4000

CONTROLLER

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

LOGIC

COMMON

EARTH

GROUND

ENC COM 0V

ENC SUP +5V

SHIELD

A

A/

B

B/

Z

Z/

13

25

12

24

11

23

22

10

4

PIN

NUMBER

RED/WHT

YEL/WHT

BLU/WHT

BLK/WHT

YEL

BLU

BLK

RED

ENCODER

A

A

H

A/

B

B

I

B/

C

Z

J

Z/

F

ØV

D

5V

10 PIN

"MS" CONNECTOR

HBA

IG

FJ

DE

C

Figure 22: AX4-ENC Encoder Cable Wiring Diagram

Encoder Power Supply

The AXIMA 2000/4000 controller can be used to provide the 5 Volt power source for external
encoders. Connections are provided on each axis I/O connector. The current on the 5 Volts
must be limited to 250 milliAmps per axis and the maximum current for 4 encoders must be
limited to 1 Amp.

Each 5 volt Encoder Supply has a PTC switch in line thus excessive currents will open the
switch. The switch will close if it is allowed to cool down. Removing the load for a few
seconds will reset the fuse.

Analog Outputs

The AXIMA 2000/4000 controller’s analog command output to the servo amplifier is a
precision 16 bit output. These signals are susceptible to noise if not properly shielded. For
reliable operation it is important that command cables be shielded and routed away from
motor power or other high voltage signals. Shields should be connected at the AXIMA 2000/
4000 controller end. The input stage of the amplifier should be a differential circuit. The
output voltage is ±10 VDC, output current is 5 milliAmps maximum.

34

Figure 23: Analog Command Output

Drive Enable (Enable Contact)

Each axis has an Enable Relay Contact. The contact has a rating of 30 VDC and is capable of
switching 0.5 Amps for a resistive load. All Enable relays are interlocked with the Watchdog
relay as well as the Enable Drives input. Each relay is also individually controlled by the pre­defined Drive Enable output.

Connections and Cabling

20

8

9

ENABLE

CONTACT

21

Figure 24: Drive Enable (Enable Contact) Circuit

Note

It is recommended that the Enable Contact be used. If these contacts are not used,
physically connecting a drive (E Series, MX, LX or other) to the controller while that
drive is enabled may cause unwanted motion.

In the event the Enable Contact is not used, the following power sequence must be followed:

1. Apply power to the AXIMA 2000/4000 controller

2. Apply power to the drives

3. Enable the drives

4. Normal machine operation

5. Disable or power down the drives

6. Power down the AXIMA 2000/4000 controller

35

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Drive Status and Overtravel

Drive Status or Overtravel inputs do not perform any pre-defined action in the controller.
They are available as pre-defined bits and may be used in the AXIMA Software’s PLC,
Motion or Auxiliary Programs to perform desired logic.

LED

INPUT

0 VDC I/O Supply

2.21K

1.2K

2.21K

Figure 25: Drive Status and Overtravel Input Circuit

Example Axis Connections

If desired, the AXIMA 2000/4000 controller can be used to generate a torque or current
command instead of a speed command. When the drives are used in torque mode, the drive
velocity loop gain adjustments no longer need to be considered. This can simplify the tuning
procedure for some applications.

E Series Drives

All command and I/O signals are accessed using the 44 pin command connector located on
the front of the E Series drive.

The wiring diagram below shows the typical command connections between the AXIMA
2000/4000 controller and an E Series drive using the AX4-CEN-XXX cable.

+ 5

AXIMA INPUT

COM

36

Connections and Cabling

AXIMA 2000/4000

CONTROLLER

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

ANALOG CMD OUT -

20

7

19

ANALOG CMD OUT +

6

18

5

17

DRV ENABLE

4

16

3

15

2

14

1

DIRECTION CMD OUT

I/O COM -

I/O SUPPLY +

CCW LIMIT

CW LIMIT

DRIVE STATUS

ANALOG IN 1

ANALOG IN 2

ANALOG COM

LOGIC COMMON

PULSE/ CMD OUT

E SERIES DRIVE

13

A

25

A/

12

B

24

B/

11

Z

23

Z/

14

2

8

20

9

21

3

16

15

N/C

7

19

6

N/C

5

17

PRP/BLU

BLU/PRP

PRP/ORG

ORG/PRP

PRP/BRN

BRN/PRP

BRN/YEL

YEL/BRN

WHT/BLU

BLU/WHT

BLK/GRN

GRN/BLK

BRN/BLK

BLK/BRN

YEL/GRY

GRY/YEL

WHT/GRN

GRN/WHT

WHT/RED

RED/WHT

GRN/PRP

PRP/GRN

8

A

9

A/

23

B

24

B/

37

Z

38

Z/

31

I/O COM -

33

I/O SUPPLY +

14

ANALOG CMD IN -

15

ANALOG CMD IN +

16

DRV ENABLE IN

34

I/O SUPPLY +

17

OUTPUT #3

18

OUTPUT #2

19

OUTPUT #1

N/C

43

ANALOG OUT 1

44

ANALOG OUT 2

29

ANALOG COM

N/C

20

OPEN COLLECTOR PULSE/

36

OPEN COLLECTOR DIRECTION

"D" CONNECTOR

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

44 PIN

30

44

29

43

28

42

27

41

26

40

25

39

24

38

23

37

22

36

21

35

20

34

19

33

18

32

17

31

16

4

PIN

NUMBER

PIN

NUMBER

10

Ω

PE

LOGIC

COMMON

EARTH

GROUND

SHIELD

Figure 26: AX4-CEN Cable

Note

See Figure 5 , E Series Drive and AXIMA System Grounding Diagram.

MX Drives

To operate an MX drive in torque mode, set the command selector bit bØ6 in the MX drive,
to 1. Refer to the MX Drives Setup and Programming Operator’s Manual (P/N 400268-00)
for detailed information on setting and saving this bit status.

AXIMA 2000/4000 Controller to MX Drive Connections (Torque Mode)

The wiring diagram below shows the typical command connections between the AXIMA
2000/4000 controller and an MX amplifier.

37

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

A

AXIMA 2000/4000

CONTROLLER

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

ANALOG CMD OUT -

20

7

19

ANALOG CMD OUT +

6

18

5

DRV ENABLE

17

4

16

3

15

2

14

1

LOGIC

COMMON

GROUND

ENC COM ØV

CCW LIMIT

CW LIMIT

DRIVE STATUS

ANALOG IN 1

ANALOG IN 2

ANALOG COM

LOGIC

COMMON

EARTH

13

A

25

A/

12

B

24

B/

11

Z

23

Z/

22

N/C N/C

8

20

9

21

3

16

15

PRP/BLU

BLU/PRP

PRP/ORG

ORG/PRP

PRP/BRN

BRN/PRP

BLU/RED

RED/BLU

WHT/BLU

BLU/WHT

BLK/GRN

GRN/BLK

BRN/BLK

BLK/BRN

YEL/GRY

GRY/YEL

WHT/GRN

GRN/WHT

WHT/RED

RED/WHT

SHIELD

N/C

NUMBER

7

19

6

4

PIN

TO PANEL

GROUND

MX

MPLIFIER

1

A

2

A/

3

B

4

B/

5

Z

6

Z/

RESERVED

"B" CONNECTOR STRIP

9

CMD -

10

CMD +

14

ENABLE

13

+10V

4

PROG INPUT (CCW)

5

PROG INPUT (CW)

15

DR OK

N/CN/C

17

TACH OUT

16

ANALOG OUT

RESERVED

N/C

11

PIN

NUMBER

9 PIN

"D" CONNECTOR

5

9

4

8

3

7

2

6

1

Figure 27: AXIMA 2000/4000 Controller to MX Amplifier Connections Using The

AX4-MX cable (Torque Mode)

Note

Make sure AXIMA Logic Common is connected to the same point in the cabinet as the
MX Logic Common. See Figure 5 , E Series Drive and AXIMA System Grounding
Diagram.

LX Drives

AXIMA 2000/4000 Controller to LX Drive Connections (Torque Mode)

To operate an LX drive in torque mode, connect the AXIMA 2000/4000 controller command
wires to the Current CMD and Common inputs on the LX drive (terminal pins 2 and 3) as
shown in the wiring diagram below.

38

Connections and Cabling

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

LOGIC

COMMON

AXIMA 2000/4000

CONTROLLER

ENC COM ØV

ENC SUP +5V

ANALOG CMD OUT -

ANALOG CMD OUT +

DRV ENABLE

CCW LIMIT

CW LIMIT

DRIVE STATUS

(STEPPER) LOW CURR MODE

ANALOG IN 1

ANALOG IN 2

ANALOG COM

LOGIC COMMON

DIRECTION CMD OUT

PULSE/ CMD OUT

I/O COM -

I/O SUPPLY +

SHIELD

EARTH

GROUND

A

A/

B

B/

Z

Z/

N/C

N/C

N/C

13

25

12

24

11

23

22

10

8

20

9

21

3

16

15

18

7

19

6

17

5

14

2

4

PIN

NUMBER

PRP/BLU

BLU/PRP

PRP/ORG

ORG/PRP

PRP/BRN

BRN/PRP

BLU/RED

RED/BLU

WHT/BLU

BLU/WHT

BLK/GRN

GRN/BLK

BRN/BLK

BLK/BRN

YEL/GRY

GRY/YEL

WHT/GRN

GRN/WHT

WHT/RED

RED/WHT

GRY/PRP

PRP/GRY

GRN/PRP

PRP/GRN

BRN/YEL

YEL/BRN

LX AMPLIFIER

38

A

37

A/

40

B

39

B/

42

Z

41

Z/

3

COMMON

2

CUR CMD

4

ENABLE

5

+10V

12

HIGH IRMS

10

DRIVE OK

9

DRIVE OK

Figure 28: AXIMA 2000/4000 Controller to LX Amplifier Connections Using The AX4-

GP Cable (Torque Mode)

Note

Make sure AXIMA Logic Common is connected to the same point in the cabinet as the
LX Logic Common. See Figure 5 , E Series Drive and AXIMA System Grounding
Diagram.

The current command input of the LX amplifier is a single ended input not a differential input.
Refer to the LX Drives Setup and Programming Operator’s Manual (P/N 400272-00) for
more detailed information.

39

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

If the CMD output of the AXIMA 2000/4000 controller is mistakenly connected to the
common input of the LX drive, this could damage the AXIMA 2000/4000 controller
analog output signal.

Because the input is single ended, it will be more susceptible to noise. Be sure the LX
common pin number 11 is connected to a single point ground as shown in the system
grounding illustration.

When the LX amplifier is used in current mode, the LX I

2

t (high RMS) circuitry is bypassed

and does not fold back the current to the motor.

To prevent damage to the amplifier or motor, the high RMS output of the LX must be
connected to an AXIMA 2000/4000 controller input. This input would then be programmed
to limit the AXIMA 2000/4000 controller command voltage using the command limit
instruction to decrease or shut off the analog command. This input could also be used to turn
off the drive enable output.

When using the LX drive in current mode the LX limit switch inputs are inactive.

AXIMA 2000/4000 Controller to LX Drive Connections (Velocity Mode)

The wiring diagram below shows the typical command connections between the AXIMA
2000/4000 controller and an LX amplifier operating in velocity mode.

40

Connections and Cabling

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

LOGIC

COMMON

AXIMA 2000/4000

CONTROLLER

ENC COM ØV

ENC SUP +5V

ANALOG CMD OUT -

ANALOG CMD OUT +

DRV ENABLE

CCW LIMIT

CW LIMIT

DRIVE STATUS

(STEPPER) LOW CURR MODE

ANALOG IN 1

ANALOG IN 2

ANALOG COM

LOGIC COMMON

DIRECTION CMD OUT

PULSE/ CMD OUT

I/O COM -

I/O SUPPLY +

SHIELD

EARTH

GROUND

A

A/

B

B/

Z

Z/

N/C

N/C

N/C

13

25

12

24

11

23

22

10

8

20

9

21

3

16

15

18

7

19

6

17

5

14

2

4

PIN

NUMBER

PRP/BLU

BLU/PRP

PRP/ORG

ORG/PRP

PRP/BRN

BRN/PRP

BLU/RED

RED/BLU

WHT/BLU

BLU/WHT

BLK/GRN

GRN/BLK

BRN/BLK

BLK/BRN

YEL/GRY

GRY/YEL

WHT/GRN

GRN/WHT

WHT/RED

RED/WHT

GRY/PRP

PRP/GRY

GRN/PRP

PRP/GRN

BRN/YEL

YEL/BRN

LX AMPLIFIER

38

A

37

A/

40

B

39

B/

42

Z

41

Z/

8

SPEED CMD -

7

SPEED CMD +

4

ENABLE

5

+10V

43

CCW LIMIT

45

CW LIMIT

10

DRIVE OK

9

DRIVE OK

Figure 29: AXIMA 2000/4000 Controller to LX Amplifier Connections using the AX4-

GP Cable (Velocity Mode)

Note

Make sure AXIMA Logic Common is connected to the same point in the cabinet as the
LX Logic Common. See Figure 5 , E Series Drive and AXIMA System Grounding
Diagram.

Encoder 1 or 3 Output Connection

An encoder output port is provided to allow easy cable connections between multiple
AXIMA 2000/4000 controllers for line shafting type applications using the AX4-ED-XXX
cable.

41

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

AXIS 1 (for 4000)

OR

ENCODER 3 (for 2000)

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

25 PIN

"D" CONNECTOR

13

A/

25

12

B/

24

11

Z/

23

PIN

NUMBER

AXIMA INTERNAL CONNECTIONS

A

B

Z

ENCODER 1 OUTPUT (for 4000)

OR

ENCODER 3 OUTPUT (for 2000)

A

5

A/

B

B/

Z

Z/

NUMBER

9

4

8

3

7

PIN

5

9

4

8

3

7

2

6

1

9 PIN

"D" CONNECTOR

Figure 30: Internal Encoder Connections for AXIMA 2000/4000 Controller

AXIMA 4000

AXIMA 2000

ENCODER
1 OUTPUT

AXIS 1

ENCODER 1 OUTPUT

ENCODER
3 OUTPUT

ENCODER 3 OUTPUT

TO

AXIS 1 CONNECTION

ENCODER 3 CONNECTION

Figure 31: Front Panels of AXIMA 2000/4000 Controllers

ENCODER 3

TO

42

Input/Output Connections

Dedicated I/O

Connections and Cabling

Figure 32: Enable Drives and Watchdog Output Locations on the Front Panel of the

AXIMA 2000/4000 Controller

Enable Drives Input

The Enable Drives input provides the +24 VDC supply to one side of all the drive enable
relays. The + Enable Drives input is connected to the +24 V terminal.

Watchdog Output

This relay contact is closed and the LED is ON under normal conditions. The contact is rated
for +30 VDC and .5 Amps maximum.

43

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

FUSE F103 (Located Under the Access Panel)
Littlefuse 451002
EMERSON P/N 212132-02

24 V

SUPPLY

Enable Drives

Customer

Contact or PLC

Output

Watchdog

Output

+

2 A

24 V
LED

-

+

Enable

Drives

LED

-

+ 5 V

Pre-defined AXIMA Output

(See Software Manual)

+ 5 V

WD

Enable

Drive

LED

Drive Enable

Relay

Watchdog Output

Relay

WD

+ 24 VDC

0 VDC I/O Supply

EN

WD

Predefined AXIMA Input

Typical Drive Enable CKT

2 for AXIMA 2000
4 for AXIMA 4000

Enable Contacts on

Axis Connector

Watchdog LED

Pin 2

Pin 14

+ 24 V

Controller Watchdog

Output

Figure 33: Watchdog, Drive Enable Circuit

+ 24 Common

Diagnostic

Status LED

Decimal

Point

44

User Defined I/O

Inputs

Connections and Cabling

Figure 34: Inputs Location on the Front Panel of the AXIMA 2000/4000 Controller

The inputs can be wired for either sink or source mode in groups of eight. The inputs are rated
at 24VDC and the input voltage operating limit is +10 to 30 VDC. Each input line requires a
minimum of 5 milliAmps at 10 VDC to be recognized as a valid input.

+ 5 V

2K

+ 5 V

+ 5 V

+ 5 V

0 VDC

I/O SUPPLY

1.33K

2K

1.33K

2K

1.33K

2K

1.33K

+ 24 VDC

Figure 35: Sinking Mode Input Diagram

45

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

+ 5 V

+ 24 VDC

0 VDC

I/O SUPPLY

2K

1.33K

2K

1.33K

2K

1.33K

2K

1.33K

+ 5 V

+ 5 V

+ 5 V

Figure 36: Sourcing Mode Input Diagram

Special Purpose Inputs

Inputs 13 through 16 can be assigned to trigger the high speed hardware encoder position
capture function. These inputs and the Z encoder channels have direct connection to the
encoder DSP gate arrays. If your application requires accurate positioning or measurements
based on inputs from sensors or switches, inputs 13 through 16 should be used. See position
capture input table below. See the Encoder Capture Instruction Registration Move in the
AXIMA Software Reference Manual (P/N 400262-00) for more information.

Encoder Input Number Position Capture Input #

Since these inputs go through filtering and optoisolation, there is up to10 microsecond delay
from the time the input is turned on until the position is captured. The capture can be
programmed to trigger on rising or falling edge of the input. Due to the switching
characteristics of the opto-isolators, faster triggering speeds can be obtained by using the
rising edge rather than the falling edge. The encoder Z channel time delay is significantly less
at 0.1 microsecond.

46

1 13 or 14

2 13 or 14

3 15 or 16

4 15 or 16

Connections and Cabling

Outputs

Figure 37: Outputs Location on the Front Panel of the AXIMA 2000/4000 Controller

Outputs can be operated in source mode only. Maximum allowable output voltage is 18 to 30
VDC, maximum current is 150 milliAmps per output continuously.

Note

It is your responsibility to limit the current to 150 milliAmps or less.

AXIMA

OUTPUT

LED

+ 5 V

CONTROLLER

OUTPUT

SIGNAL

TO ALL

OUTPUT

CIRCUITS

Figure 38: Output Circuit Diagram

+ 24

1 - 12

MACHINE

0 VDC I/O

SUPPLY

DIODE REQUIRED
FOR ALL INDUCTIVE
LOADS

47

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

I/O Power Supply

The AXIMA requires a customer supplied I/O power supply, usually +24 VDC. This power
supply must be connected to the 24V ± terminals. The +24 VDC are protected against reverse
polarity. If the polarity is reversed the +24 VDC fuse blows. The fuse is located under the
front access panel. This supply is the "machine side" of the inputs and outputs and also
provides power for the Enable Drive relay coils. The system is designed to operate from a 24
VDC power supply but will function between 18 and 30 VDC.

Figure 39: I/O Power Supply Location on the Front Panel of the AXIMA 2000/4000

Controller

Note

For situations where all 16 inputs, 12 outputs at full load and 4 relays are being used
simultaneously, your power supply must supply at least 2.5 Amps @ 24 Volts.

Each input requires 12 mA @ 24 VDC (5 mA @ 10 VDC).

Each output can source up to 150 mA to drive a load.

Your power supply must be capable of supplying enough current for the dedicated load
requirements. (Enable Drive, Drive Status, Overtravel L.S.) as well as the input and output
load requirements.

Each Input: (# of inputs) * (12 mA)

Each Output: (# of outputs) * (Load Current)

Dedicated Circuits:

Inputs:

CW Limits SW 5 mA

48

Connections and Cabling

CCW Limit SW 5 mA

Status 5 mA

Output:

Enable Drives 8 mA

For example, suppose you had four axes of dedicated I/O, four inputs (# 1 through 4), and
four outputs (# 1 through 4) with a 150 mA load, and your power supply was 24 VDC, in the
worst case scenario (all inputs and outputs are being used simultaneously) the current load on
the power supply would be 0.74 Amps. This value was found using the following formula:

(12 mA * 4 IN) + (150 mA * 4 OT) + (8 mA * 4 R) + 4 axis (5 mA * 3 D) = 0.74 Amps

Where:

IN = inputs
OT = outputs
R = relays for Enable Drives
D = dedicated inputs

Diagnostics Status Display

The Diagnostic Status display on the top front of the AXIMA 2000/4000 controller is
controlled by the programmer and can be used to display machine status or fault codes.
During the download of an AXIMA Software Application an asterisk (*) is displayed.

The decimal point is lit when the controller Watchdog is “On”.

Note

The very first time power is applied to the AXIMA controller the diagnostic status will
display a random character.

49

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

50

AXIMA® 2000/4000 Multi-Axis Controller

Installation Manual

Analog Input Option

An Analog Input feature is available as a factory option only. It allows the AXIMA® 2000/
4000 controller to accept single-ended and differential inputs with 12 bit resolution. You can
configure these inputs with up to eight single-ended inputs, four differential inputs or
combinations of single and differential inputs.

Quantity 8

Resolution 12 bits

Configuration Single-ended or differential

Input Voltage Range ±10 VDC

Note

If you wish to add the Analog Input option to an existing AXIMA 2000/4000 controller,
it must be returned to the factory.

The source of each analog input can be selected to be either from the analog input connector
on the left side of the unit or the axis connector on the front of the unit. This is done by setting
a DIP switch located behind the left side panel, of the AXIMA 2000/4000 controller. This
selection is provided to allow easy interface to the analog signals from an E Series drive.

NOTE:

DIP SWITCHES ARE MOUNTED BEHIND

THE LEFT PANEL OF THE AXIMA CONTROLLER

S3

4

12

12341234

AXIS INPUTS (Up Position)

EXTERNAL INPUTS

3

S4

12

4

3

Figure 40: Analog DIP Switch Location Behind the Left-Side Panel of the AXIMA

2000/4000 Controller

51

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Switch Analog Input

S3-1 Analog Input 1

S3-2 Analog Input 2

S3-3 Analog Input 3

S3-4 Analog Input 4

S4-1 Analog Input 5

S4-2 Analog Input 6

S4-3 Analog Input 7

S4-4 Analog Input 8

The AXIMA 2000/4000 controller takes raw voltage (±10 Volts) from the analog input
terminal and, with the AXIMA Software, converts it to user units. Each analog input channel
can be assigned to a Pre-defined Variable, within the AXIMA Software, which can be used
in a Motion or an Auxiliary Program.

11.70

(297.18)

0.9

(22.86)

3.0

(76.20)

1.25

(31.75)

5.5

(139.70)

3.68

(98.30)

3.0

(76.20)

7.1

(183.00)

0.25

(6.35)

11.19

(284.23)

Figure 41: AXIMA and Cable Dimensions and Clearances

52

0.20 (5.08) typ. 4 places

Dimensions in ( ) are in millimeters.

Axis Inputs Connector Wiring

Using the AXIMA Software, any software channel can be attached to any hardware channel
or pair of hardware channels. This gives you the flexibility to determine how the channel
attachments are configured.

Analog Input Option

AXIMA Left Side

ANALOG INPUTS

3

12 45678C

AXIMA Front

ANALOG INPUTS

1 2 3 4 5 6 7 8 C

Axis Connection

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

Pin #6 Analog Common
Pin #7 Analog Input #1
Pin #19 Analog Input #2

Figure 42: Location of Analog Inputs

The following diagrams show single-ended and differential configurations. Single-ended
wiring configurations are with respect to the common “C” terminal. For example, voltages
between input terminals 1 and C, input terminals 2 and C, etc. Differential wiring means that
the resultant analog value is the difference in voltage measured between a pair of input
terminals. For example, voltage between input terminals 1 and 2, 3 and 4.

Note

All signals, single-ended or differential, must be referenced to Pin “C”.

The maximum voltage between any input terminal and "C" is ±10 VDC. Voltage in
excess of this maximum could cause damage to the controller.

53

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Figure 43: Single Ended Versus Differential Wiring

Figure 44: Analog Input Circuit Diagram

When using a differential configuration, the AXIMA 2000/4000 A/D converter measures the
difference between two hardware channels and directs the value to a software channel. The
AXIMA 2000/4000 controller does not allow you to assign terminal number 1 as the negative
input. To measure differential values between terminal 1 and another terminal, the polarity
must be reversed by connecting the positive input to terminal 1, and connecting the negative
input to the desired terminal.

54

S

AXIMA® 2000/4000 Multi-Axis Controller

Two options are available for wiring the expanded I/O; by using direct wiring or external
components. The direct wiring option is exactly that. All connections are directly wired from

the AXIMA

®

2000/4000 controller. The external components option uses the XIOR-32

mounting rack and digital input and output modules to control the I/O connections.

Sinking Versus Sourcing

A sourcing input configuration allows the current to flow from the external source to the input
terminal. The input terminal voltage is high. In a sinking input configuration the current flows
from the input terminal to the external circuit. The input terminal voltage is low.

A sinking output configuration allows the current to flow from the external circuit into the
output terminal. The output terminal voltage is low. In a sourcing output configuration the
current can flow from the terminal to the external circuit. The output terminal voltage is high.

Installation Manual

Expanded I/O Option

OPTICAL

ISOLATION

1.5K

INPUT
TERMINAL

COMMON

+24 VDC

Figure 45: Sinking Inputs and Outputs

24V

OPTICAL

ISOLATION

+24 VDC

24V

COMMON

+24 VDC

OUTPUT
TERMINAL

LOAD

NOTE:

DIODE REQUIRED

FOR ALL INDUCTIVE LOAD

55

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

OPTICAL

ISOLATION

1.5K

24V

COMMON

+24 VDC

INPUT
TERMINAL

Figure 46: Sourcing Inputs and Outputs

5.5

0.9

(22.86)

(139.70)

3.68

(98.30)

OPTICAL

ISOLATION

3.0

(76.20)

+24 VDC

24V

COMMON

(183.00)

7.1

OUTPUT
TERMINAL

24V

COMMON

NOTE:

DIODE REQUIRED

FOR ALL INDUCTIVE LOADS.

LOAD

0.25

(6.35)

11.70

(297.18)

3.0

(76.20)

1.25

(31.75)

11.19

(284.23)

0.20 (5.08) typ. 4 places

Dimensions in ( ) are in millimeters.

Figure 47: AXIMA and Cable Dimensions and Clearances

56

Direct Wiring Option

These components must be assembled and wired by the user. Components include STI-32s or
STI-50s and connectorized ribbon cables, all of which are available from Control Techniques.

Expanded I/O Option

AXIMA 2000/4000

CONTROLLER

INPUTS

STI-32

CABLE

AX4-XIOC-XXX

CABLE

AX4-XIOC-XXX

INPUTS BANK 0

± 24 VDC

OUTPUTS BANK 0

OUTPUTS

STI-32

Figure 48: AXIMA 2000/4000 Controller Direct Wiring Option Using STI-32’s

AXIMA 2000/4000

CONTROLLER

INPUTS

STI-50

CABLE

AX4-XIOC-XXX

INPUTS BANK 0

OUTPUTS

STI-50

Figure 49: AXIMA 2000/4000 Controller Direct Wiring Option Using STI-50’s

CABLE

AX4-XIOC-XXX

± 24 VDC

OUTPUTS BANK 0

57

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Components of the Direct Wiring Option

Quantities of the components required for the direct wiring option depend on the number of
I/O used.

For example:

For the full use of 32 expanded inputs and 32 expanded outputs, the required quantities are:

(1) AXIMA 2000/4000 controller with X-IO option

(2) STI-32 or STI-50 for digital I/O

(2) Connectorized ribbon cables (50 pin) (P/N AX4-XIOC-XXX)

Dimensions of STI-50 and STI-32 Components

STI-50

5.28

(134.11)

Figure 50: STI-50 and STI-32 Components (DIN Rail Mountable)

I/O Setup and Wiring

Using the direct wiring option, the inputs and outputs can be wired directly to the STI-32
(sourcing only) or STI-50 (sinking or sourcing) using ribbon cables. Sourcing mode is
recommended for the direct wiring option.

To use the direct wiring option, you must meet the following criteria:

For Inputs:

3.00

(76.2)

Dimensions in () are millimeters

STI-32

3.53

(89.76)

7.423

(188.54)

Electrical specifications of 24 VDC and a minimum of 11 mA of current.

Expanded I/O Current Draws

Input Value 18 VDC 27 VDC

Current Draw 5.5 mA 7.5 mA

58

Minimum Maximum

Expanded I/O Option

For Outputs:

Electrical specifications of +24 VDC X-I/O Supply and less than 50 mA of current.

All 32 outputs can supply 50 mA continuously or 12 outputs supply 125 mA continuously if
distributed across the four output drives as follows:

up to 3 outputs between #1 through #8

up to 3 outputs between #9 through #16

up to 3 outputs between #17 through #24

up to 3 outputs between #25 through #32

Specifications for Direct Wiring Option

The equivalent circuits of the I/O, electrical specifications and the pin assignments are shown
on the next page. You are responsible for determining if your 24 VDC supply can handle the
additional current load.

59

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

AXIMA 2000/4000

OPTICAL

ISOLATION

AXIMA 2000/4000

+24 VDC

0 VDC

X-I/O

Supply

RIBBON

CABLE

AX4-XIOC-XXX

RIBBON

CABLE

AX4-XIOC-XXX

LED

0 VDC

Supply

STI-32

X-I/O

STI-32

OUTPUT
TERMINAL

0 VDC

X-I/O

Supply

+24 VDC

60

1.5K

OPTICAL

ISOLATION

0 VDC

X-I/O

Supply

Figure 51: Outputs and Inputs Equivalent Circuit (Sourcing)

INPUT
TERMINAL

LED

0 VDC

X-I/O

Supply

Expanded I/O Option

Use the table below to determine the pin assignments of the STI-50 inputs and outputs.

Inputs Pin Assignments Outputs Pin Assignments

Input Number Pin Number Output Number Pin Number

037037

139139

238238

340340

435435

542542

636636

741741

847847

950950

10 44 10 44

11 48 11 48

12 49 12 49

13 43 13 43

14 46 14 46

15 45 15 45

16 14 16 14

17 12 17 12

18 13 18 13

19 11 19 11

20 16 20 16

219219

22 15 22 15

23 10 23 10

244244

251251

267267

273273

282282

298298

305305

316316

24V Common

17, 19, 21, 22, 23, 25, 26, 28,

30, 31, 32, 34

24V Common

17, 19, 21, 22, 23, 25, 26, 28,

30, 31, 32, 34

61

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

External Components Option

Note

When using the External Components option, the AXIMA must be equipped with the
sinking option for the expanded I/O.

If your I/O devices do not meet the criteria established for the direct wiring option, then
external components are required. These components must be assembled and wired by the
user. External components include; I/O mounting rack(s), digital input modules, digital
output modules and connectorized ribbon cables, all of which are available from Control
Techniques.

With the external components option your electrical specifications are determined by the
module you select. These modules allow you to wire the I/O for sinking or sourcing. Some
time delay is inherent in these devices that should be accounted for in time critical
applications.

DIGITAL INPUTS

XIOR-32 WITH IDC-24-G4's

AXIMA 2000/4000

CONTROLLER

INPUTS BANK 0

CABLE

AX4-XIOC-XXX

± 24 VDC

OUTPUTS BANK 0

CABLE

AX4-XIOC-XXX

DIGITAL OUTPUTS

XIOR-32 WITH ODC-24-G4's

Figure 52: AXIMA 2000/4000 Controller External Components Option

62

Expanded I/O Option

Components of the External Components Option

Quantities of the external components required depend on the number of expanded I/O used.

For example:

For the full use of 32 expanded inputs and 32 expanded outputs, the required quantities are:

(1) AXIMA 2000/4000 controller with X-I/O option

(2) XIOR-32 I/O mounting racks

(32) Digital input modules (P/N IDC-24-G4 or IAC-24-G4)

(32) Digital output modules (P/N ODC-24-G4 or OAC-24-G4)

(2) Connectorized ribbon cables (50 pin) (P/N AX4-XIOC-XXX)

Dimensions of the XIOR-32 Component

10.00 [254.0]

9.500 [241.30]

Figure 53: XIOR-32 Component

0.25 [6.4]

6.00

[152.4]

[165.1]

2.32 [58.9]

.62

[15.7]

6.50

I/O Setup and Wiring

You need to supply +24 VDC to the XIOR-32 for the digital I/O modules.

63

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Specifications for Digital Modules

From these specifications you can choose the type of module needed for your particular
application. Additional Digital I/O modules are also available from Opto-22 Corporation in a
variety of specifications.

Digital Input and Output Module Specifications

IDC-24-G4 IAC-24-G4

Digital DC input module Digital AC input module

Input voltage range 10-32 VDC 90-140 VAC

Input voltage nominal 24 VDC 120 VAC

Input current @ nominal 16 mA 9 mA rms

Logic voltage nominal 24 VDC 24 VDC

Logic current @ 24 VDC 18 mA 18 mA

Turn on time 5 msec 20 msec

Turn off time 5 msec 20 msec

ODC-24-G4 OAC-24-G4

Digital DC output module Digital AC output module

Output voltage range 5-60 VDC 12-140 VAC

Output voltage maximum 60 VDC 120 VAC

Output current @ max voltage 3 Amps 3 Amps RMS

Off state leakage @ max voltage 1 mA 5 mA RMS

Logic voltage nominal 24 VDC 24 VDC

Logic current @ 24 VDC 18 mA 18 mA

Logic pickup voltage 19.5 VDC 19.5 VDC

Logic dropout voltage 1 VDC 1 VDC

Turn on time 50 usec 8.3 msec

Turn off time 50 usec 8.3 msec

24 VDC Power Supply Loading

You are responsible for determining if your +24 VDC supply can handle the additional
current load.

When using +24 VDC modules:

Inputs (on): 64 mA per input.

Outputs (on): (Load current + 21 mA) per output.*

Outputs (off): 3 mA per output.

When using 120 VAC modules:

Inputs (on): 39 mA per input.

64

Expanded I/O Option

Outputs (on): 21 mA per output.

Outputs (off): 2.4 mA per output.

*The load current for the output modules must be limited to no more than 3 Amps.

SINGLE POINT

GROUND

POWER
SUPPLY

GND

INPUT

MOUNTING

RACK

+

-

OUTPUT

AXIMA

+ 24 VDC X-I/O SUPPLY

0 VDC X-I/O SUPPLY

Figure 54: Power Wiring for External I/O Mounting Racks

Control Techniques recommends that you use twisted pairs for the +24 VDC power wiring.

Connection Diagrams for Mounting Rack

Input Connections

MOUNTING

RACK

Figure 55: +24 VDC Digital Input Module Connection Diagram

For Sinking Inputs

Switch on the +24 VDC common as shown in the diagram above and wire +24 VDC to the
other terminal.

65

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

For Sourcing Inputs

Switch +24 VDC as shown in the diagram above, and wire +24 VDC common to the other
terminal.

When wiring inputs, you can wire the switch to either the Odd or Even Terminal.

Figure 56: 120 VAC Digital Input Module Connection Diagram

For Sinking Inputs

Switch on the neutral as shown in the diagram above and wire 120 VAC to the other terminal.

For Sourcing Inputs

Switch 120 VAC as shown in the diagram above, and wire neutral to the other terminal.

When wiring inputs, you can wire the switch to either the Odd or Even Terminal.

66

Output Connections

Figure 57: 24 VDC Digital Output Module Connection Diagram

For Sinking Outputs

Expanded I/O Option

Wire the load to the Odd # Terminal on the mounting rack. Tie the other side of the load to
+24 VDC. The 24 volt common should be wired to the Even # Terminal.

For Sourcing Outputs

Wire 24 VDC to the Odd # Terminal on the mounting rack. Wire the load to the Even #
Terminal. Tie the other side of the load to +24 volt common.

If your load is inductive, it is recommended to use a commutating diode across the load to
clamp any voltage transients during switching.

Figure 58: 120 VAC Digital Output Module Connection Diagram

67

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

For Sinking Outputs

Wire the load to the Odd # Terminal on the mounting rack. Tie the other side of the load to
120 VAC. Neutral should be wired to the Even # Terminal.

For Sourcing Outputs

Wire 120 VAC to the Odd # Terminal on the mounting rack. Wire the load to the Even #
Terminal. Tie the other side of the load to Neutral.

68

AXIMA® 2000/4000 Multi-Axis Controller

Installation Manual

Connectivity Options

Modbus® and Data Highway Plus (DH+) are factory options that allow the AXIMA® 2000/
4000 controller to communicate with the Modicon Modbus serial communication protocol or
Allen Bradley’s Data Highway Plus.

Note

AXIMA 2000/4000 controllers can be equipped with either Modbus or DH+. They cannot
be used simultaneously.

AXIMA 2000/4000 controllers equipped with the Modbus option have two serial connectors
on the left-side of the front panel. The 9-pin DB connector is a RS-232C and RS-485
connector. The six-pin connector is used for multi-drop systems and is configured for RS-

485.

AXIMA 2000/4000 controllers equipped with the DH+ option are equipped with one serial
connector on the left-side of the AXIMA 2000/4000 controller. The six-pin connector is
configured for DH+ is RS-485.

69

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

RS-232C
CONNECTOR

PIN 1

PIN 1

RS-485
CONNECTOR

MODBUS RS-232/485

COM 3

MODBUS MULTIDROP
1 2 3 4 5 6 RS-485

COM 4

Figure 59: Left-side of AXIMA 2000/4000 Controller

The previous figure shows the Modbus configuration with the connectors. When equipped
with the DH+ option, only the six-pin connector would be available.

70

Connectivity Options

11.70

(297.18)

0.9

(22.86)

3.0

(76.20)

1.25

(31.75)

5.5

(139.70)

3.68

(98.30)

3.0

(76.20)

7.1

(183.00)

0.25

(6.35)

11.19

(284.23)

0.20 (5.08) typ. 4 places

Dimensions in ( ) are in millimeters.

Figure 60: AXIMA and Cable Dimensions and Clearances

71

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

Modbus Connection

RS-232/485MODBUS

DATA HIGHWAY PLUS

2SH1 2SH1

The RS-232C/485 serial port (9-pin DB connector) pin-out is shown below.

Pin Signal

1 Shield

2 RX (Receive)

3 TX (Transmit)

4 485 Data (+)

5 Signal Ground

6 NC (No Connect)

7 RTS (Request to Send)

8 CTS (Clear to Send)

9 485 Data (-)

The RS-485 serial port (6-pin connector) pin-out is shown below. Pin 1 is internally
connected to 4, pin 2 is connected to pin 5, and pin 3 is connected to pin 6. These are also
connected to the 9-pin connector’s 485 terminals.

Pin Signal

1 485 Data (+)

2 Signal Ground

3 485 Data (-)

4 485 Data (+)

5 Signal Ground

6 485 Data (-)

72

Data Highway Plus Connection

MODBUS MULTIDROP
1 2 3 4 5 6 RS-485

The DH+ network connections are available using the six-pin Phoenix connector (Com 4).
The connector pin-out is shown below.

Pin Signal "Blue Hose" wires

1 Line 1 (485 Data +) Blue

SH Shield (bare)

2 Line 2 (485 Data -) Clear

Note

Connectivity Options

The nodes at the two physical ends of the network should have terminating resistors. All
other nodes should not. Every network should have exactly two terminators. The AXIMA
controller does not have an internal terminator. If you require a terminator, it consists of
a resistor between the blue and clear wires. The Data Highway Plus specifications
recommend a 150 ohm resistor at 57.6 and 115.2 kbaud and an 82 ohm resistor at 230.4
kbaud.

Note

If your DH+ network does not use blue on pin 1 and clear on pin 2, connect the clear on
pin 1 and blue on pin 2.

73

AXIMA® 2000/4000 Multi-Axis Controller Installation Manual

74

AXIMA® 2000/4000 Multi-axis Controller

Installation Manual

Stepper Option

The AXIMA® 2000/4000 stepper command output is an open collector providing a frequency
of Ø to 4 MHz, with a varying pulse width based on frequency (< 6kHz = 167 µs, > 6kHz =
50% duty cycle). No pull-up resistor is internal to the AXIMA 2000/4000 controller. For
reliable operation it is important that command cables be shielded and routed away from
motor power or other high voltage signals. Shields should be connected at the AXIMA 2000/
4000 controller end.

POWER SUPPLY

+5 VDC

10

22

PULSE

INPUT +

+

5-30 VDC

PULSE

INPUT -

DIR

INPUT +

DIR

INPUT -

AMPLIFIER

MAX SINK CURRENT

MAX OUTPUT

VOLTAGE RATING

OUTPUT VOLTAGE

(LOW)

OUTPUT LEAKAGE

40 mA

30 V

@16 mA = .4 V

@40 mA = .7V

40 µA

PULSES

OUT

DIR

IN

MAXIMUM SINK

CURRENT OF

40mA

THIS OUTPUT

DRIVER IS A

SN7406

5

17

Figure 61: Stepper Command Output Connected to Differential Amplifier

75

AXIMA® 2000/4000 Multi-axis Controller Installation Manual

MAX SINK CURRENT

MAX OUTPUT

VOLTAGE RATING

OUTPUT VOLTAGE

(LOW)

OUTPUT LEAKAGE

40 mA

30 V

@16 mA = .4 V

@40 mA = .7V

40 µA

+5 VDC

PULSES

OUT

DIR

OUT

THIS OUTPUT

DRIVER IS A

SN7406

10

22

Ohm

5

RESISTOR SIZE IS

BASED ON CABLE

CAPACITANCE

(1K Ohm recommended)

17

IMPORTANT:

DO NOT TWIST THESE

WIRES TOGETHER

POWER SUPPLY

+

5-30 VDC

120

AMPLIFIER

Figure 62: Stepper Command Output Connected to a Single Ended Amplifier

76

AXIMA® 2000/4000 Multi-axis Controller

Installation Manual

AXIMA® 2000/4000 Controller Options

Specifications

77

AXIMA® 2000/4000 Multi-axis Controller Installation Manual

78

Specifications

Feature AXIMA 2000 AXIMA 4000

Maximum Axis 2 4

Maximum Coordinate Systems 8 * 8 *

Maximum Motion Programs 8 8

Maximum Auxiliary Programs

(minus the number of Motion Programs)

Maximum PLC Programs 8 8

Analog Inputs

Eight analog inputs, ±10V, 12 bit, single ended
or 4 differential mode

Encoder Inputs Each Axis plus 2 Each Axis

Standard Inputs 16 16

Pre-defined Outputs 7 13

Standard Outputs 12 12

Pre-defined Inputs

Expanded I/O Banks (Optional)

(32 Inputs/32 Outputs)

Data Highway Plus® (Optional) Yes Yes

Modbus® (Optional) Yes Yes

Stepper Axis (Optional) 2 4

Power Requirements 96 to 264 VAC, 50/60 Hz single phase, 2 Amps max.

DSP Speed 50 MHz 50 MHz

Communications

(1) 9-pin, D-sub, RS-232C serial port.
(1) RS-232C/422/485 terminal block

38.4k max baud rate

Memory 128K, 128k Flash 128K, 128k Flash

Noise Immunity Designed to meet IEC801.2 standard

Environmental

Operating Temperature
Relative Humidity

Weight 5 lbs 5 lbs

15 15

Ye s Yes

Axis enable - (1) per axis, dry contact

(1) Watchdog timer, dry contact

22

Ye s
Ye s
Ye s

32° to 133° F (0 to 40° ambient)

0 to 90%, non-condensing

Specifications

Ye s
Ye s
Ye s

* Although you can enter up to eight coordinate systems for the AXIMA 2000/4000 controllers, the

AXIMA 2000 will only use the first two coordinate systems and the AXIMA 4000 will only use the
first four coordinate systems.

79

AXIMA® 2000/4000 Multi-axis Controller Installation Manual

Heat Dissipation

Base Unit 27W

1 X-I/O 16

2 X-I/O 32

Modbus 1

DH+ 2

Note

It using double expanded I/O and DH+ the total maximum encoder supply must not
exceed 800mA.

Dimensions and Clearances

11.70

(297.18)

0.9

(22.86)

3.0

(76.20)

1.25

(31.75)

5.5

(139.70)

3.68

(98.30)

3.0

(76.20)

7.1

(183.00)

0.25

(6.35)

11.19

(284.23)

80

0.20 (5.08) typ. 4 places

Dimensions in ( ) are in millimeters.

Cable Diagrams

AX4-CEN

Specifications

AXIMA 2000/4000

CONTROLLER

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

7

6

5

4

3

2

1

ANALOG CMD OUT -

20

19

ANALOG CMD OUT +

18

17

DRV ENABLE

16

15

14

DIRECTION CMD OUT

I/O COM -

I/O SUPPLY +

CCW LIMIT

CW LIMIT

DRIVE STATUS

ANALOG IN 1

ANALOG IN 2

ANALOG COM

LOGIC COMMON

PULSE/ CMD OUT

A/

B/

A

B

Z

Z/

N/C

N/C

13

25

12

24

11

23

14

20

21

16

15

19

17

E SERIES DRIVE

PRP/BLU

BLU/PRP

PRP/ORG

ORG/PRP

PRP/BRN

BRN/PRP

BRN/YEL

2

8

YEL/BRN

WHT/BLU

BLU/WHT

9

BLK/GRN

GRN/BLK

3

BRN/BLK

BLK/BRN

YEL/GRY

GRY/YEL

7

WHT/GRN

GRN/WHT

6

WHT/RED

RED/WHT

5

GRN/PRP

PRP/GRN

8

A

9

A/

23

B

24

B/

37

Z

38

Z/

31

I/O COM -

33

I/O SUPPLY +

14

ANALOG CMD IN -

15

ANALOG CMD IN +

16

DRV ENABLE IN

34

I/O SUPPLY +

17

OUTPUT #3

18

OUTPUT #2

19

OUTPUT #1

N/C

43

ANALOG OUT 1

44

ANALOG OUT 2

29

ANALOG COM

N/C

20

OPEN COLLECTOR PULSE/

36

OPEN COLLECTOR DIRECTION

"D" CONNECTOR

15

14

13

44 PIN

12

11

10

9

8

7

6

5

4

3

2

1

30

44

29

43

28

42

27

41

26

40

25

39

24

38

23

37

22

36

21

35

20

34

19

33

18

32

17

31

16

SHIELD

LOGIC

COMMON

EARTH

GROUND

4

PIN

NUMBER

PIN

NUMBER

10

Ω

PE

81

AXIMA® 2000/4000 Multi-axis Controller Installation Manual

AX4-ED

AXIS 1 (FOR 4000)

ENCODER 3 (FOR 2000)

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

SHIELD

LOGIC

COMMON

EARTH

GROUND

A

A/

B

B/

Z

Z/

13

25

12

24

11

23

N/C

N/C

PIN

NUMBER

ENCODER 1 OUTPUT (FOR 4000)
ENCODER 3 OUTPUT (FOR 2000)

RED/WHT

YEL/WHT

BLU/WHT

BLK/WHT

YEL

BLU

BLK

RED

4

5

9

4

8

3

7

6

PIN

NUMBER

N/C

N/C

A

A/

B

B/

Z

Z/

9 PIN

"D" CONNECTOR

EARTH

GROUND

5

4

3

2

1

9

8

7

6

LOGIC

COMMON

82

AX4-ENC

A

Specifications

AXIMA 2000/4000

CONTROLLER

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

A/

B/

ENC COM 0V

ENC SUP +5V

SHIELD

A

B

Z

Z/

NUMBER

13

25

12

24

11

23

22

10

PIN

ENCODER

RED/WHT

YEL/WHT

BLU/WHT

BLK/WHT

YEL

BLU

BLK

RED

4

A

A

H

A/

B

B

I

B/

C

Z

J

Z/

F

ØV

D

5V

10 PIN

"MS" CONNECTOR

H

IG

FJ

DE

B

C

LOGIC

COMMON

EARTH

GROUND

83

AXIMA® 2000/4000 Multi-axis Controller Installation Manual

AX4-GP

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

AXIMA 2000/4000

CONTROLLER

ENC COM ØV

ENC SUP +5V

ANALOG CMD OUT -

ANALOG CMD OUT +

DRV ENABLE

CCW LIMIT

CW LIMIT

DRIVE STATUS

(STEPPER) LOW CURR MODE

ANALOG IN 1

ANALOG IN 2

ANALOG COM

LOGIC COMMON

DIRECTION CMD OUT

PULSE/ CMD OUT

I/O COM -

I/O SUPPLY +

SHIELD

A/

B/

Z/

A

B

Z

N/C

N/C

N/C

22

10

18

19

17

14

13

25

12

24

11

23

20

21

16

15

LX AMPLIFIER

PRP/BLU

BLU/PRP

PRP/ORG

ORG/PRP

PRP/BRN

BRN/PRP

BLU/RED

RED/BLU

8

WHT/BLU

BLU/WHT

9

BLK/GRN

GRN/BLK

3

BRN/BLK

BLK/BRN

YEL/GRY

GRY/YEL

7

WHT/GRN

GRN/WHT

6

WHT/RED

RED/WHT

GRY/PRP

PRP/GRY

5

GRN/PRP

PRP/GRN

BRN/YEL

2

4

YEL/BRN

38

A

37

A/

40

B

39

B/

42

Z

41

Z/

8

SPEED CMD -

7

SPEED CMD +

4

ENABLE

5

+10V

43

CCW LIMIT

45

CW LIMIT

10

DRIVE OK

9

DRIVE OK

LOGIC

COMMON

EARTH

GROUND

84

PIN

NUMBER

TIX-XXX

R

U

13

12

11

10

Specifications

25

24

23

22

9

21

8

20

7

19

6

18

5

17

4

16

3

15

2

14

1

COMPUTER

Tx

2

Rx

3

GND

7

PIN

NUMBER

COM 1

Rx

Tx

GND

SHLD

2

3

5

1

PIN

NUMBER

5

9

4

8

3

7

2

6

1

9 PIN

"D" CONNECTO

MALE

"D" CONNECTOR

FEMALE

TIA-XXX

"D" CONNECTOR

25 PIN

5

4

3

2

1

9 PIN

FEMALE

COMPUTER

9

8

7

6

NUMBER

3

2

5

PIN

Tx

Rx

GND

COM 1

Rx

Tx

GND

SHLD

N

2

3

5

1

PIN

MBER

5

9

4

8

3

7

2

6

1

9 PIN

"D" CONNECTOR

MALE

85

AXIMA® 2000/4000 Multi-axis Controller Installation Manual

A

AX4-MX

AXIMA 2000/4000

CONTROLLER

25 PIN

"D" CONNECTOR

13

25

12

24

11

23

10

22

9

21

8

7

6

5

4

3

2

1

LOGIC

COMMON

ANALOG CMD OUT -

20

19

ANALOG CMD OUT +

18

17

16

15

14

DRV ENABLE

EARTH

GROUND

ENC COM ØV

CCW LIMIT

CW LIMIT

DRIVE STATUS

ANALOG IN 1

ANALOG IN 2

ANALOG COM

LOGIC

COMMON

SHIELD

13

A

25

A/

12

B

24

B/

11

Z

23

Z/

22

N/C N/C

8

20

9

21

3

16

15

PRP/BLU

BLU/PRP

PRP/ORG

ORG/PRP

PRP/BRN

BRN/PRP

BLU/RED

RED/BLU

WHT/BLU

BLU/WHT

BLK/GRN

GRN/BLK

BRN/BLK

BLK/BRN

YEL/GRY

GRY/YEL

7

19

6

N/C

4

PIN

NUMBER

WHT/GRN

GRN/WHT

WHT/RED

RED/WHT

TO PANEL

GROUND

MX

MPLIFIER

1

A

2

A/

3

B

4

B/

5

Z

6

Z/

RESERVED

"B" CONNECTOR STRIP

9

CMD -

10

CMD +

14

ENABLE

13

+10V

4

PROG INPUT (CCW)

5

PROG INPUT (CW)

15

DR OK

N/CN/C

17

TACH OUT

16

ANALOG OUT

RESERVED

N/C

11

PIN

NUMBER

9 PIN

"D" CONNECTOR

5

9

4

8

3

7

2

6

1

86

AXIMA® 2000/4000 Multi-axis Controller

µs

Microsecond.

A

Amps.

ARMS

Amps (RMS).

AWG

American Wire Gauge.

Baud Rate

Installation Manual

Glossary

The number of binary bits transmitted per second on a serial communications link such as RS-

232. (1 character is usually 10 bits.)

CRC

Cyclical Redundancy Check.

DIN Rail

Deutsche Industrie Norm Rail

EEPROM

An EEPROM chip is an Electrically Erasable Programmable Read-Only Memory; that is, its
contents can be both recorded and erased by electrical signals, but they do not go blank when
power is removed.

EMC

Electromagnetic Compatibility

EMI - Electro-Magnetic Interference

EMI is noise which, when coupled into sensitive electronic circuits, may cause problems.

Firmware

The term firmware refers to software (i.e., computer programs) that are stored in some fixed
form, such as read-only memory (ROM).

87

AXIMA® 2000/4000 Multi-axis Controller Installation Manual

Hysteresis

For a system with an analog input, the output tends to maintain it’s current value until the
input level changes past the point that set the current output value. The difference in response
of a system to an increasing input signal versus a decreasing input signal.

I/O

Input/Output. The reception and transmission of information between control devices. In
modern control systems, I/O has two distinct forms: switches, relays, etc., which are in either
an on or off state, or analog signals that are continuous in nature generally depicting values
for speed, temperature, flow, etc.

Inertia

The property of an object to resist changes in rotary velocity unless acted upon by an outside
force. Higher inertia objects require larger torque to accelerate and decelerate. Inertia is
dependent upon the mass and shape of the object.

Input Function

A function (i.e., Stop, Preset) that may be attached to an input line.

Input Line

The actual electrical input, a screw terminal.

Least Significant Bit

The bit in a binary number that is the least important or having the least weight.

LED

Light Emitting Diode.

mA

Milliamp.

MB

Mega-byte.

Most Significant Bit

The bit in a binary number that is the most important or that has the most weight.

ms

Millisecond.

88