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.

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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

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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.

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