Isel iCU-DC, iCU-EC Operating Instructions Manual

isel Germany AG, D-36124 Eichenzell, Bürgermeister-Ebert-Str. 40 (06659)981-0 [phone]

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.: [phone]
Fax: [phone]
Email: [e-mail]
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.

iCU-DC / iCU-EC Operating Instructions

Page - 10

In automatic mode, you can only open the machine’s hood or
door when the axles are not moving and the connected milling
spindle is switched off.

In setup mode, you can only open the machine’s hood or door
when the working spindle is switched off. In this mode you can

also drive the axles with the hood open, if you press the
Acknowledge button “ACK” to do so.

Ensure that only trained personnel

are allowed operate the machine when

it is in setup mode (key switch set to TEST)!

4 - Start button

Pressing the Start button will open either the user program (ISO, PAL or NCP file)
within the operating interface ProNC, or the user application (ISO, NCP or CNC file)
within the remote control program.

If no user program is open when you press the Start button, ProNC or
Remote will request you to select a user program.

5 - Stop button

Pressing the interrupts a running user program / axle movement. You can then
resume the user program / axle movement by pressing the Start button.

6 - Cover button

This button is used to open the hood (if there is one). The hood can only be opened

when the conditions are fulfilled as described under “Mode Selection Switch”. The

button will light up in white when the hood is released for opening.

7 - Fault signal
The fault signal shows that there is a fault in the safety circuit.

8 - ACK (ACKnowledge button)

You must press this button in order to move the axles in setup mode with the hood
open.

9 - PC Start button

Press this button to switch on the integrated control computer.

10 - USB 2.0 connections

USB devices (data sticks, external CD/DVD drives) can be connected to these
sockects.

iCU-DC / iCU-EC Operating Instructions

Page - 11

4.2 Back side of iCU-DC / iCU-EC

➀ Connections for motor and encoder signal cables

iCU-DC - Motor, Encoder and Signal Cables

Motor connection (X, Y, Z, A, B, C), 8+1 pole M23 socket

Pin

Signal

Wire number

Name

1 1 1

Motor phase 1*

2 2 2

Motor phase 2*

3 1 3

Motor phase 1*

4 2 4

Motor phase 2*

5

Brake

brown

Motor brake

6

Brake_GND

white

Motor brake GND

7

--- 8 --- 9 PE

yellow / green

grounding conductor

* Each motor phase is connected via two wires.

Encoder/ Signal connection, 15 pole Sub-D socket

Pin

Signal

Cable wire colour

Name

1

n/a 2 VCC_Encoder

red

Digital +5V DC

3

/ENC_Z

orange / black

Encoder track /Z

4

/ENC_B

brown / black

Encoder track /B

5

/ENC_A

Grey / black

Encoder track /A

6

VCC_Logic

Logic +24V DC

7

LIMIT_SW1

End position switch 1

8

GND_24V

Logic GND

9

n/a

10

D_GND

black

Digital GND

11

ENC_Z

orange

Encoder track Z

12

ENC_B

brown

Encoder track B

13

ENC_A

grey

Encoder track A

14

REF_SW

green

Reference switch

15

LIMIT_SW2

End position switch 2

iCU-DC - Motor, Encoder and Signal Cables

iCU-DC / iCU-EC Operating Instructions

Page - 12

Motor connection (X, Y, Z, A, B, C), 8+1 pole M23 socket

Pin

Signal

Cable wire colour

Name

1 U black 1

Motor phase U

2 V black 2

Motor phase V

3 W black 3

Motor phase W

4

--- 5 Brake

brown

Motor brake

6

Brake_GND

white

Motor brake GND

7

--- 8 --- 9 PE

yellow / green

grounding conductor

Encoder/ Signal connection, 15 pole Sub-D socket

Pin

Signal

Cable wire colour

Name

1

HALL_A _IN

yellow

Hall Signal A

2

VCC_Encoder

red

Digital +5V DC

3

/ENC_Z

orange / black

Encoder track /Z

4

/ENC_B

brown / black

Encoder track /B

5

/ENC_A

Grey / black

Encoder track /A

6

VCC_Logic

Logic +24V DC

7

LIMIT_SW1

End position switch 1

8

GND_24V

Logic GND

9

HALL_B_IN

white

Hall Signal B

10

D_GND

black

Digital GND

11

ENC_Z

orange

Encoder track Z

12

ENC_B

brown

Encoder track B

13

ENC_A

grey

Encoder track A

14

HALL_C_IN

green

Hall Signal C

15

LIMIT_SW2

End position switch 2

iCU-DC / iCU-EC Operating Instructions

Page - 13

➁ Manual operating console - 25 pole Sub-D (optional model)

This connection is only used for controllers that do not have the integrated function
keys in the front of the housing.

This connects the operating elements (buttons, switches) of:

- an external manual operating console

- an Isel CNC operating panel

with the appropriate socket on the safety circuit module of the controller inside the
controller housing.

Pin

Signal

Name

1

EMERGENCY
STOP_1

Emergency Stop channel 1, connection 1.1

2

EMERGENCY
STOP_1

Emergency Stop channel 1, connection 1.2

3

EMERGENCY
STOP_2

Emergency Stop channel 2, connection 2.1

4

EMERGENCY
STOP_2

Emergency Stop channel 2, connection 2.2

5

24V

+24 V DC

6

POWER BTN

Power button input

7

POWER LAMP

Power light output

8

24V

+24VDC

9

KEY SWITCH Test

Key switch test mode input

10

KEY SWITCH Auto

Key switch automatic mode input

11

24V

+24VDC

12

ACK_1

Acknowledge button channel 1 input

13

24V

+24VDC

14

ACK_2

Acknowledge button channel 2 input

15

COVER SWITCH

Cover button input

16

COVER SWITCH

Cover button output

17

GND

18

19

20

FAULT LAMP

Fault light output for operating console

21

START BTN

Start button input (normally open contact)

22

STOP BTN

Stop button input (normally closed contact)

23

START LAMP

Start llight output

24

STOP LAMP

Stop light output

25

n/a

The length of the connection cable for the manual operating console /
CNC operating panel is max. 5m.

iCU-DC / iCU-EC Operating Instructions

Page - 14

➂ Additional operating console - 15 pole Sub-D (optional model)

We use this connection when an additional Isel operating console is connected.

Pin

Signal

Name

1

EMERGENCY
STOP_1

Emergency Stop channel 1, connection 1.1

2

EMERGENCY
STOP_1

Emergency Stop channel 1, connection 1.2

3

EMERGENCY
STOP_2

Emergency Stop channel 2, connection 2.1

4

EMERGENCY
STOP_2

Emergency Stop channel 2, connection 2.2

5

GND

GND operating console

6

LAMP ACK

ACK light switch output

7

24V

+24VDC

8

ACK_1

Acknowledge button channel 1 input

9

24V

+24VDC

10

ACK_2

Acknowledge button channel 2 input

11

COVER SWITCH 1

Cover button input 1

12

COVER SWITCH 1

Cover button output 1

13

COVER SWITCH 2

Cover button input 2 (optional)

14

COVER SWITCH 2

Cover button output 2 (optional)

15

n/a

The length of the connection cable for the additional operating console is
max. 5m.

➃ Cover - Sub-D 9 pole socket

At this connection, you can integrate the of the attached machine into the controller’s
safety circuit.

Pin

Name

1

+Coil, normally closed contact

2

Switch 1, 1.1

3

Switch 1, 1.2

4

Switch 2, 2.1

5

Switch 2, 2.2

6

-Coil, normally closed contact

7, 8, 9

not used

iCU-DC / iCU-EC Operating Instructions

Page - 15

➄Digital Inputs - 8 pole, left to right E1.1 – E1.4

The installed I/O component group has one digital input port. The inputs E1.5 - E1.8)
are already partially wired internally and occupied by signal inputs and not usable by
the user. The digital inputs E1.1 - E1.4 may be assigned by the user.

Properties

- Optoelectronic coupler inputs

- Input current approx. 8mA

Wiring

Pin

Input

Name

1

In 1

Input E1.1

2

VCC

+24VDC

3

In 2

Input E1.2

4

VCC

+24VDC

5

In 3

Input E1.3

6

VCC

+24VDC

7

In 4

Input E1.4

8

VCC

+24VDC

Note the default assignment of the first input port (E1.5 - E1.8) when

setting the “signalling” in the user interface Remote / ProNC.These inputs

are already wired inside the controller to their modules and can no longer
be used by the operator!

➅ Remote- Safety circuit interface, 8 pole, left to right

Using this interface, you can integrate the emergency stop circuit of the equipment
output unit into a higher-level safety circuit system. Here you can also tap the analog
output signal 0...10V of the integrated I/O module.

Pin

Signal

Name

1

EMERGENCY
STOP_1

External emergency stop channel 1, connection 1.1

2

EMERGENCY
STOP_1

External emergency stop channel 1, connection 1.2

3

EMERGENCY
STOP_2

External emergency stop channel 2, connection 2.1

4

EMERGENCY
STOP_2

External emergency stop channel 2, connection 2.2

5

ANA_GND

Analog GND

6

ANA_0_10V

Analog 0…10V DC

7

----

8

----

iCU-DC / iCU-EC Operating Instructions

Page - 16

➆ Digital electrical outputs - 8 pole, left to right A1.1 – A1.4

The installed I/O component group has two digital output ports, each with eight
digital switching outputs. The first output port (A1.1 - A1.8) is already partially wired
internally and occupied by switching outputs. The outputs A1.1 - A1.4 may be
assigned by the user.

Properties

- 4 x digital electronic outputs

- Imax < 350mA, 24VDC

- Thermal protection

- Short-circuit protection

Wiring

Pin

Output

Name

1

Out1

Output A1.1

2

GND

GND

3

Out2

Output A1.2

4

GND

GND 5 Out3

Output A1.3

6

GND

GND 7 Out4

Output A1.4

8

GND

GND

Note the default assignment of the first output port (A1.1 - A1.8) when

setting the “signalling” in the user interface Remote / ProNC. The outputs

A1.5 - A1.8 are already wired inside the controller to their modules and
can no longer be used by the operator!

When using intuctance, an free-wheeling diode is necessarily.

➇ Digital Relay Outputs - 8 pole, left to right A2.1 – A2.4

The installed I/O component group has a second digital output port, with four more
digital relay switching outputs. The second output port (A2.1 - A2.8) is already
partially wired internally and occupied by switching outputs. The outputs A2.1 - A2.4
may be assigned by the user.

Properties

- 4 x digital relay outputs

- Imax < 5 A, 24VDC

- Thermal protection

- Short-circuit protection

Wiring

Pin

Output

Name

1

Out1

Output A2.1

2

GND

GND 3 Out2

Output A2.2

4

GND

GND

5

Out3

Output A2.3

6

GND

GND 7 Out4

Output A2.4

8

GND

GND

iCU-DC / iCU-EC Operating Instructions

Page - 17

➈AC Input – 115/230 VAC, 50 …60 Hz

The power input module includes these components: appliance connector socket,
filter, fuse holder, fuses and power switch. The supplied power cable must be
connected with the appliance connector socket and the power socket before
initialisation. After that, the controller can be switched on using the main switch.

! Neutral Conductor Fuse !

➉Spindle -115V/ 230V connection

Here at this output, you can directly connect a milling spindle without RPM control if
you use the supplied mating plug. Maximum switching at the relay output is
115V/230VAC / 6A. The signal for the spindle to start (output +24V) is switched via
the CAN I/O module, analysed via the SK module (iSM5), and then the power supply
of 115/230V is switched to the working spindle (e.g. UFM 500, 750, 1050) via a
relay.

Take note of the CAN I/O module table defining assigned spindle start
signals, in section 4.2.

⑪ Connection for main spindle drive (optional)

Here at this connection, a processing spindle with RPM control is attached
(asynchronous motor). The (optional) frequency converter is located in the controller
and is operated via the safety circuit and I/O module.

Pin

Name

1

Motor phase U

4

Motor phase V

3

Motor phase W

PE

PE

A

-

B - C

Fan 230V AC-L

D

Fan 230V AC-N

Housing

⑫ Ethernet connection for the integrated control computer, IPC15

1x RJ45 socket for network integration (100MBit, LAN, Ethernet)

⑫ VGA connection for the integrated control computer, IPC15

15 pole connection socket for a VGA monitor

⑭ USB 2.0 connections

USB devices (data sticks, external CD/DVD drives) can be connected to these
sockects.

iCU-DC / iCU-EC Operating Instructions

Page - 18

4.3 Structure of iCU-DC / iCU-EC

iSM 5 Safety circuit module

iPC25 control computer

with integrated CAN PCI

Function keys module

for operating elements
(buttons, switches) on the
front side of the controller

iMD10 / iMD20 output
stages for brushed DC

servo motors /

brushless DC servo

motors

Powerpack

115/230VAC,

24V DC 100W for

Logic

Powerpack 115/230VAC,

12V DC 60W for PC

Powerpack 115/230VAC,
48V DC 1000W for motors

CAN I/O-16/16

I/O module

Frequency converter

SKC (optional)

iCU-DC / iCU-EC Operating Instructions

Page - 19

5 Initialisation

Preparation

Before you first start up the controller, please check the scope of delivery. The
following parts should be included:

- Power cable

- Operating Instructions

If all these are present, then you can begin with commi.

If the environmental temperature is less than 0°C, you should leave
the controller at room temperature for at least two hours before use,
to prevent damage to the electronic components.

To do this, first make all the necessary connections:

- Connect the power cable

- Connect the motor and encoder cables from the axles (motors) to the back of
the controller

- Check that all the other cables are correctly attached to the controller

Initialisation

- Use the power switch (on the back) to turn on the controller.

- Turn on the control computer using the green button on the back, this button
should now light up in green  the computer will now boot up the installed
operating system

- Installing the control software (if not already installed)

▪ Remote or ProNC (1) (from Version 1.46.6.6)

- Installing the initialisation software (if not already installed)

▪ DCSetup (2)
▪ ACSetup (3)

- Check that the emergency stop switch is pulled out

- Press the power button - The power supply to the output stages
should now be activated

- Parameterisation of the performance output stages using the program
DCSetup.exe / ACSetup.exe

- Setting up the system’s axle kinematics using CANSet.exe

- Operating the controller and the connected axles using the ProNC or Remote
operating and programming interface

iCU-DC / iCU-EC Operating Instructions

Page - 20

6 Software

6.1 Installation of the initialisation software

Initialisation / parameterisation of the motor output stages integrated in the
controller’s iCU-DC / iCU-EC is done using the initialisation programs

DCSetup.exe (2)
for:

brushed DC servo motors with motor output stage iMD10

or

ACSetup.exe (3)

for:

brushless DC servo motors with motor output stage iMD20 and

Please proceed as follows to install the initialisation programs after the fact:

1. Connect the ProNC/Remote installation medium (supplied CD or USB stick) to
the control computer.

2. The following auto-start window will appear (when installing from CD).

If the auto-start window does not appear, please open Windows Explorer
and open the main directory of the installation medium. Double-click on
the file “Autorun.exe”.

iCU-DC / iCU-EC Operating Instructions

Page - 21

3. Click on the option “Install control software” and then the following window will
appear on the screen:

Now choose the appropriate initialisation software for your motor type and click
on the option (e.g. “ACSetup installation“) to begin the installation.

Follow the instructions in the installation wizard.

After installation is complete, click on “Finish” to close the auto-start menu.

Start the initialisation program DCSetup.exe / ACSetup.exe either via the
shortcut on the Windows Desktop or via the start menu item:
Start Programs ACSetup  DCSetup / ACSetup

You can find information about the parameterisation of the iMD10
performance output stage in the handbook /1/ DC servo positioning
module with CanOpen Interface UVE 8112 / iMD10. Open the file
“dcsetup_ger.pdf” using the start menu option.

You can find information about the parameterisation of the iMD20 and
iMD40 performance output stages in the handbook /2/ AC servo
positioning module with CanOpen Interface iMD20 / iMD40. Open the
file “acsetup_ger.pdf” using the start menu option.

iCU-DC / iCU-EC Operating Instructions

Page - 22

6.2 Installing ProNC / Remote and first steps

The iCU-DC / iCU-EC controller is operated either via the control software, Remote,
or the programming software, ProNC.

If the factory has not installed any software yet, please proceed as follows to install
the programs after the fact:

1. Connect the ProNC/Remote installation medium (supplied CD or USB stick) to
the control computer.

2. The following auto-start window will appear (when installing from CD).

If the auto-start window does not appear, please open Windows
Explorer and open the main directory of the installation medium.
Double-click on the file “Autorun.exe”.

iCU-DC / iCU-EC Operating Instructions

Page - 23

3. Click on the option “ProNC installation“

Follow the instructions in the installation wizard.

In the “Control Selection” window, select the item “CAN Bus Control” to install the

CAN bus software module.

After installation is complete, click on “Finish” to close the auto-start menu.

4. Use the configuration program CANSet.exe (shortcut on the Windows Desktop or
via the start menu option: Start  Programs  isel CAN CNC Control
CANSet), to set up machine-specific parameters (CAN interface, axles used, axle
type, etc.).

iCU-DC / iCU-EC Operating Instructions

Page - 24

Save your configuration in an (*.ini file). You must then later use this file in the
ProNC/Remote operating interface as the motion control module DLL initialisation
file.

5. Start the user interface ProNC.exe either via
the shortcut on the Windows Desktop or via the start menu option:
Start  Programs  CNC workbench  ProNC

iCU-DC / iCU-EC Operating Instructions

Page - 25

In the Settings menu (MenuSettingsControl) for Motion Control Module 
Axle system 1, select the initialisation file that you saved before. Click on the

button “Save & Initialise” to save the settings and put the controls into their start

settings.

6. Carry out a “Software Reset” and a “Reference Movement” to check the correct
function of the machine and the system.

For further information on configuring the ProNC / Remote, please refer to
the programs’ online help sections (Help menu or F1 key).

iCU-DC / iCU-EC Operating Instructions

Page - 26

7 EC Declaration of Conformity

The manufacturer

isel Germany AG

Bürgermeister-Ebert-Str. 40
D-36124 Eichenzell

hereby declares that the following product

Device: CAN-Servo-Controller

Type: iCU-DC / iCU-EC

Product No.: iCU-DC: 354002 10X0

iCU-EC: 354002 20X0

Serial no.: ___________

complies with the requirements of the European Directives:

EC-Directive 2004/108/EC

EMC directive

EC-Directive 2006/95/EC

low voltage directive

Following harmonized standards have been applied:

EN 61000-6-2:2006

EMV - Fachgrundnorm - Störfestigkeit für Industriebereich

EMC - Generic standards - Immunity for industrial environments

EN 61000-4-2:2008

EMV - Prüf- und Messverfahren - Prüfung der Störfestigkeit gegen Entladung
statischer Elektrizität (ESD)

EMC - Testing and measurement techniques; Electrostatic discharge immunity test

EN 61000-4-4:2012

EMV - Prüf- und Messverfahren - Prüfung der Störfestigkeit gegen schnelle
transiente elektrische Störgrößen (Burst)

EMC - Testing and measurement techniques - Electrical fast transient/burst immunity test

EN 61000-4-5:2007

EMV - Prüf- und Messverfahren - Prüfung der Störfestigkeit gegen
energiereiche Impulse (Surge)

EMC - Testing and measurement techniques - Surge immunity test

EN 61000-4-11:2005

EMV - Prüf- und Messverfahren - Prüfung der Störfestigkeit gegen
Spannungs-einbrüche / Spannungsunterbrechungen

EMC - Testing and measurement techniques - Voltage dips, short interruptions and voltage
variations immunity tests

EN 61000-6-4:2011

EMV - Fachgrundnorm - Störaussendung Industriebereich

EMC - Generic standards - Emission standard for industrial environments

DIN EN 55011:2011

Industrielle, wissenschaftliche und medizinische Hochfrequenzgeräte (ISM­Geräte) - Funkstörungen - Grenzwerte und Messverfahren

Industrial scientific and medical (ISM) radio-frequency equipment - Electromagnetic
disturbance characteristics - Limits and methods of measurement

EN 60204-1:2006

Sicherheit von Maschinen – Elektrische Ausrüstung von Maschinen –
Teil 1: Allgemeine Anforderungen

Safety of machinery – Electrical equipment of machines – Part 1: General requirements

Dermbach, 16.07.2014

Werner Kister, Vorstand / managing board

Werner Kister, Chairman

iCU-DC / iCU-EC Operating Instructions

Page - 27

8 List of sources

/1/ isel Germany AG.

Positioning module with CanOpen Interface UVE8112 / iMD10. 03/2008.

/2/ isel Germany AG.

Positioning module with CanOpen Interface iMD20 / iMD40. 03/2009.

/3/ isel Germany AG.

ProNC Operating Instructions. 2003.

/4/ isel Germany AG.

iPC25 Operating Instructions. 07/2014

Operating instructions and manuals can be downloaded at:

www.isel-data.de/manuals

9 Index

A

ACK 10

ACSetup 19

B

BLDC Servo motors 7

C

CANSet.exe 19

Cover button 10

D

door lock 14

E

emergency stop switch 9
Encoder 11, 12

I

iMD20 8

initialisation file 24
initialisation software 20
Installation 20

M

Mode Selection Switch 9

Motor connection 11, 12

P

power button 9
Power input module 17
ProNC 19

R

Remote 19

S

Software 20
Start button 10
Stop button 10