Isel iCU-DC, iCU-EC Operating Instructions Manual
isel Germany AG, D-36124 Eichenzell, Bürgermeister-Ebert-Str. 40 (06659)981-0 (06659)981-776
CNC Servo Controller
iCU-DC
iCU-EC
Operating Instructions
iCU-DC / iCU-EC Operating Instructions
The information, technical data and measurements in these printed materials conform
to the latest technological advances at the time of publication. However, the possibility
of printing errors and mistakes cannot be excluded. We would be grateful if you
suggest improvements or point out errors.
We note that the software and hardware brand names used in our printed materials
are generally subject to trademark, brand name or patent protection belonging to each
respective company.
All rights reserved. No part of our printed materials may be reproduced in any form
(print, photocopy or any other process) or processed, duplicated or disseminated via
electronic systems without written permission from isel Germany AG.
Manufacturer: isel Germany AG
Bürgermeister-Ebert-Straße 40
D-36124 Eichenzell
Tel.: +49 (0)6659 981-0
Fax: +49 (0)6659 981-776
Email: automation@isel.com
http://www.isel.com
Revisions
Date of
change
Reason for change
Changed by
b
04/07/2018
Page 15 changed, E/A ports
CB
a
05/01/2015
Serial number
RL 2014
First print
We reserve the right to make technical changes.
Current operating instructions and manuals can be downloaded at:
www.isel-data.de/manuals
iCU-DC / iCU-EC Operating Instructions
Contents
1 Introduction .......................................................................................................... 4
1.1 Safety symbols ................................................................................................ 4
1.2 Safety information ............................................................................................ 5
2 Variants ................................................................................................................. 7
3 Technical data ...................................................................................................... 8
4 Hardware description ........................................................................................... 9
4.1 Front side ......................................................................................................... 9
4.2 Back side of iCU-DC / iCU-EC ........................................................................11
4.3 Structure of iCU-DC / iCU-EC .........................................................................18
5 Initialisation ........................................................................................................ 19
6 Software .............................................................................................................. 20
6.1 Installation of the initialisation software ...........................................................20
6.2 Installing ProNC / Remote and first steps .......................................................22
7 EC Declaration of Conformity ........................................................................... 26
8 List of sources .................................................................................................... 27
9 Index .................................................................................................................... 27
iCU-DC / iCU-EC Operating Instructions
Page - 4
1 Introduction
The CAN Controllers of the iCU Series are compact, high-performance drive
controllers for 2 to 6 linear or rotational axles. The table housing integrates all control
components required for solving various automation tasks.
The table housing integrates all control components required for solving widely
varying automation tasks. These range from the output stage to the I/O component
group to safety controlling.
The control computer interface is a CANopen PCI card which serves as a CAN
master for the drive regulators and the I/O component group. External expansions
for up to 128 CAN nodes are also easily possible. The connections on the back side
of the control computer make it possible to easily connect a monitor, among other
things. USB sockets are available for attaching various peripheral equipment such as
mouse and keyboard. A LAN connection allows for integration into an existing
network and can also be used for remote maintenance.
The NC controller core makes it possible to interpolate up to 6 axles (linear, circular,
or helix), and online and Lock Ahead belt processing are also available. Using the
software ProNC, individual axles can be controlled as handling axles (besides the
interplating axles).
The iCU-DC CAN Controllers can drive up to 6 brushed DC servo motors. The
iMD10 output stages in use have automatic jerk limitation and standstill monitoring
(up to safety category 3).
Controllers in the iCU-EC Series can drive up to 6 brushless DC servo motors. The
iMD20 output stages in use have automatic jerk limitation and standstill monitoring
(up to safety category 3).
1.1 Safety symbols
Warning!
Warning of dangers which can lead to adverse effects on health, physical
injury, or death.
Warning! Life-threatening voltage
Warning of danger from electrical current. Non-compliance can result in
severe injury or death.
Attention!
This symbol is for notices, non-observance of which can lead to damage
or faults.
Information:
This symbol is for important information and notices.
iCU-DC / iCU-EC Operating Instructions
Page - 5
1.2 Safety information
▪ The iCU-DC and iCU-EC CNC Controllers are constructed according
to current technological advances and recognised safety regulations.
▪ The machine must only be operated when it is in perfect technical
condition. Faults must be dealt with immediately. Children, and
anyone who has not been trained, are not permitted to operate the
machine.
▪ The machine must only be used according to its intended purpose.
Control of 2 to 6 linear or rotational axles with brushed DC servo
motors (iCU-DC) or brushless DC servo motors (iCU-EC) and
incremental measurement system (encoder).
▪ All work must only be done by authorised specialist personnel with
regard to the regulations of the electrical industry as well as accident
prevention regulations. Before opening the housing or doing any work
on the electrical installation, you must unplug the power cable.
▪ Assembly and use of equipment must be carried out according to the
norms of the Declaration of Conformity. The regulations and
threshold values observed by the manufacturer are not sufficient to
protect from improper use of the equipment.
▪ The device must not be exposed to high air humidity or high levels of
vibration.
▪ Keep this manual in a safe place and oblige each user to comply with
it!
▪ Failure to observe these operating instructions can cause property
damage, severe physical injuries, and death.
iCU-DC / iCU-EC Operating Instructions
Page - 6
▪ Warning! High earth leakage current (ground discharge current,
protection conductor current). Before connecting to the AC supply
network, it is necessarily required an additional protective
grounding. Before connecting the CNC controller to the AC supply
network, an additional protective grounding (cross section: 2.5 mm2
or 4 mm2, see below) has to be connected! Before the electrical startop of the controllers a protective grounding of 2.5 mm2 (protected
installation) or a protective conductor of 4 mm2 (unprotected
installation) has to be connected durably to the marked clamping point
at the back of the housing where the cross section of the protective
grounding shall not be less than 10 mm2 copper or 16 mm2 aluminum
has (e.g. electrical distribution of the building). Please instruct an
electrician with these implementation. When using the Residual
Current circuit Device (RCD) for line fuses/fault current delimitation: Do
not use an RCD with AC characteristics. Using a frequency inverter
and choppered power stages in the power units may cause
superimposed AC fault units with pulsating direct current and direct
current apart from AC fault currents. Please consult your electrician.
▪ The term leakage is understood here as grounding discharge
current. This is defined in the standard EN 60204-1:2006 section
8.2.8, note 1
▪ If the CNC machine (ideal) is set up isolated from the reference
potential, the grounding discharge current is equal to the
protective grounding stream.
iCU-DC / iCU-EC Operating Instructions
Page - 7
2 Variants
Type
Motor
Output
stages
max. Number of
axles
iCU-DC
BDC Servo motors (brushed)
iMD10
6
iCU-EC
BLDC Servo motors (brushless)
iMD20
6
Scope of delivery iCU-DC (Art.-No. 354002 10X10)
• iCU-DC servo controller as a tabletop device with the following components:
o max. 6 integrated iMD10 performance output stages for brushed DC
servo motors /1/
o Control computer iPC25 with CAN PCI card iCC10
o CAN IO 8/12-4/1 Module
o Safety circuit module iSM5
• Power cable 230VAC (Safety contact plug, IEC-60320 appliance connector
plug)
• RS232 communications cable for firmware updates, 9 pin sub-D (socket) to
RJ45 (plug)
• Accessories kit (appliance plug connector, strapping plug, etc.)
• Remote control software from Version 1.46.6.6 (optional: ProNC)
• Operating Instructions
• Optional: Frequency converter SKC750, SKC1500 for main spindle drive,
max. 4 axles possible
Scope of delivery iCU-EC (Art.-No. 354002 20X10)
• iCU-EC servo controller as a tabletop device with the following components:
o max. 6 integrated iMD20 performance output stages for brushless DC
servo motors /2/
o Control computer iPC25 with CAN PCI card iCC10
o CAN IO 8/12-4/1 Module
o Safety circuit module iSM5
• Power cable 230VAC (Safety contact plug, IEC-60320 appliance connector
plug)
• RS232 communications cable for firmware updates, 9 pole sub-D (socket) to
RJ45 (plug)
• Accessories kit (appliance plug connector, strapping plug, etc.)
• Remote control software from Version 1.46.6.6 (optional: ProNC)
• Operating Instructions
• Optional: Frequency converter SKC750, SKC1500 for main spindle drive,
max. 4 axles possible
1
X … Number of axles, 2-6
iCU-DC / iCU-EC Operating Instructions
Page - 8
3 Technical data
Controller
iCU-DC
iCU-EC
Servo motor type
BDC Servo motors (DC brushed)
BLDC Servo motors (DC brushless, EC)
Max. Number of axles
6
Power input
115 - 230 VAC, 50 … 60 Hz
Fuses
2 x 6.3A (inert)
Power supply performance
1000 W
Performance output stage
iMD10
iMD20
Intermediate circuit voltage
48 VDC
Max. Nominal motor current
12 A
Max. Peak motor current
25 A
Descriptive code for safety data
EN ISO 13849-1:2006 Category 3, PL d
Protection type
IP20
Environment temperature
0°C to 50°C
Storage temperature
-20°C to +65°C
Air humidity
max. 90%, non-condensating
Safety functions
Can be integrated into higher-level emergency stop circuits, hood control, spindle control
I/O component group
4 digital inputs
8 digital outputs (4 relay outputs, 4 electrical outputs
1 x 115-230 V relay output (max. 6A)
Control computer
1.8 GHz processor
RAM ≥ 1 GB
Hard drive 2.5” SATA ≥ 120 GB
2 x USB 2.0 on the front
Operation
Function keys, emergency stop
Operating system
Windows Embedded standard 7 (64Bit)
Control software
Remote (Optional: ProNC, isyCAD/CAM)
Measurements, W x H x D
630 x 230 x 400
630 x 230 x 400
iCU-DC / iCU-EC Operating Instructions
Page - 9
4 Hardware description
4.1 Front side
1 - Emergency stop switch
The emergency stop switch is for switching off the power supply to the stepping
motor output stage in case of danger.
By this we are referring to dangers which could affect the health of the operator or
the safety of the machine.
2 - Power button
Using the you can switch on the voltage supply to the output stages. The prerequirements for this are:
- The power source must be switched on using the backwards “on” switch.
- The emergency stop switch must be “pulled out”.
When the main voltage is successfully switchted on, this is signalled by the lighted
power button.
3 - Mode Selection Switch (Key switch)
This key switch selects Automatic or Setup mode.
When the emergency stop switch is activated, axle movement is
braked in a controlled manner and the main voltage is switched off
according to Stop Category 1 with a time delay (DIN EN 60204-1).
The 115/230VAC power supply is still connected to the machine.
Only the power supply to the output stage is switched off.
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