power automation PA 8000 Installation Instructions Manual

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Installaon instrucons

PA 8000

PAMIO

Power Automation GmbH

CNC-Automatisierungstechnik

Gottlieb-Daimler-Str. 17/2

74385 Pleidelsheim

Germany

Telephone: +49-7144-899-0

Fax: +49-7144-899-299

E-mail: info@powerautomation.com

Internet: www.powerautomation.com

Original installation instructions

Version 2.0

2 12.01.2017

PA 8000 PAMIO

Table of contents

1 General information............................................................. 7

1.1 Information on this manual.......................................... 7

1.2 Explanation of symbols................................................ 7

1.3 Limitation of liability...................................................... 9

1.4 Copyright..................................................................... 9

1.5 Warranty terms............................................................ 9

1.6 Customer service....................................................... 10

1.7 Glossary..................................................................... 10

2 Safety.................................................................................. 11

2.1 Customer's responsibility........................................... 11

2.2 Personnel requirements............................................. 12

2.2.1 Qualifications........................................................... 12

2.2.2 Unauthorized persons............................................. 12

2.3 Intended use.............................................................. 13

2.4 Unintended use.......................................................... 14

2.5 Personal protective gear............................................ 14

2.6 Specific dangers........................................................ 15

2.7 PAMIO safety devices ............................................... 16

2.8 Machine Safety.......................................................... 17

2.8.1 'CNC ready' signal - Emergency stop interlocking.. 17

2.8.2 'Power ok' signal..................................................... 18

2.8.3 Control Units and associated PAMIO 4ENC4A....... 18

2.9 Conduct in a dangerous situation and in case of

accidents.................................................................... 19

2.10 Environmental protection........................................... 19

2.11 Labels........................................................................ 20

3 Overview............................................................................. 23

4 PAMIO Components.......................................................... 25

4.1 Generality.................................................................. 25

4.1.1 General specifications............................................. 25

4.1.2 Maximum Number of PAMIO Modules.................... 25

4.1.3 PAMIO Boxes and PAMIO Modules........................ 27

4.1.4 Connection to the control unit and interconnection. 29

4.1.5 Bus termination....................................................... 30

4.2 Mechanical Installation.............................................. 30

4.2.1 Dimensions............................................................. 30

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Table of contents

4.2.1.1 PAMIO models 2416 / 4ENC4A / PWM................ 30

4.2.1.2 PAMIO Modell 2ENC4A........................................ 32

4.2.2 DIN rail installation.................................................. 33

4.2.3 Mechanical assembly.............................................. 35

4.2.4 Stopping brackets................................................... 36

4.2.5 Ventilation................................................................ 38

4.2.6 Termination plug...................................................... 39

4.2.7 Superbus cables..................................................... 41

4.2.8 Changing PAMIO modules...................................... 45

4.3 Electrical Installation.................................................. 46

4.3.1 Connection to the CNC........................................... 46

4.3.2 PAMIO On-Board Logic Power Supply................... 47

4.3.3 Protective Grounding.............................................. 50

4.3.4 Ambient Conditions................................................. 51

4.4 PAMIO 2416.............................................................. 52

4.4.1 Technical Data......................................................... 52

4.4.2 Design and Functions............................................. 53

4.4.2.1 Digital Inputs......................................................... 54

4.4.2.2 Digital Outputs...................................................... 57

4.4.2.3 Power Supply....................................................... 62

4.4.2.4 Status LEDs.......................................................... 64

4.5 PAMIO 4ENC4A........................................................ 64

4.5.1 Technical Data......................................................... 64

4.5.2 Design and Functions............................................. 65

4.5.3 Axis Measurement Inputs (RMS)............................ 66

4.5.4 RMS Power Supply................................................. 72

4.5.5 Axes Analog Outputs.............................................. 73

4.5.6 Analog Inputs.......................................................... 77

4.5.7 Power Supply.......................................................... 79

4.5.8 Safety Function....................................................... 81

4.5.9 Status LEDs............................................................ 85

4.6 PAMIO PWM.............................................................. 85

4.6.1 Technical Data......................................................... 85

4.6.2 Design and Functions............................................. 86

4.6.2.1 Digital Outputs...................................................... 87

4.6.2.2 5V to 24V signal converter................................... 90

4.6.2.3 Power Supply....................................................... 94

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Table of contents

4.6.2.4 Wiring Example.................................................... 96

4.6.2.5 Status LEDs.......................................................... 96

4.7 PAMIO 2ENC4A........................................................ 97

4.7.1 Technical Data......................................................... 97

4.7.2 Design and Functions............................................. 98

4.7.3 Axis Measurement Inputs (RMS)............................ 99

4.7.4 RMS Power Supply............................................... 106

4.7.5 Axes Analog Outputs............................................ 107

4.7.6 Analog Inputs........................................................ 110

4.7.7 Power Supply........................................................ 113

4.7.8 Status LEDs.......................................................... 115

5 Troubleshooting............................................................... 117

5.1 Safety notes............................................................. 117

5.2 Malfunction indicators.............................................. 118

5.2.1 PAMIO 2416 LEDs................................................ 119

5.2.2 PAMIO 4ENC4A LEDs.......................................... 121

5.2.3 PAMIO PWM LEDs............................................... 124

5.2.4 PAMIO 2ENC4A LEDs.......................................... 126

6 Service and return process............................................. 129

6.1 Service..................................................................... 129

6.1.1 Service addresses................................................. 130

6.2 Spare parts.............................................................. 131

6.3 Return policy and procedure.................................... 132

6.4 Training.................................................................... 134

7 Proof of Change............................................................... 135

8 Index.................................................................................. 137

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PA 8000 PAMIO

Table of contents

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PA 8000 PAMIO

General informaon

1 General information

1.1 Information on this manual

General Information

Warnings

This installation manual provides important information on how to work with the control unit safely and efficiently.

The installation manual is part of the control unit, must always be kept in the control unit's direct proximity and should be available for the personnel at any time. All personnel working with the control unit are obliged to have read and understood this installation manual before starting any work. Strict compliance with all specified safety notes and instructions is a basic requirement for safety at work.

Moreover, the accident prevention guidelines and general safety regulations applicable at the place of use of the control unit must also be complied with.

Illustrations in this installation manual are intended to facilitate basic understanding, and may differ from the actual design of the control unit.

The enclosed manuals for the installed components apply together with this installation manual.

1.2 Explanation of symbols

Warnings are identified by pictures. These warnings are introduced by signal words, which express the severity of a danger.

Pay attention to these warnings and act cautiously in order to avoid accidents, personal injuries and damage to property.

DANGER!

… indicates an imminently hazardous situation which, if unavoidable, will result in death or serious injury.

WARNING!

… indicates a potentially hazardous situation which, if unavoidable, could result in death or serious injury.

CAUTION!

… indicates a potentially hazardous situation which, if unavoidable, may result in minor or moderate injury.

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PA 8000 PAMIO

NOTICE!

… indicates a potentially hazardous situation which, if unavoidable, may result in property damage.

… emphasizes useful hints and recommendations as well as information for efficient and trouble-free operation.

General informaon

Special Safety Notes

Additional symbols and highlighting

The following symbols are used in connection with the safety notes to highlight particular dangers:

DANGER!

… highlights hazards caused by electric current. There is a danger of serious injury or death if the safety notes are not complied with.

The following symbols and highlights are used to distinguish instructions, descriptions of results, cross-references and other elements inside this manual.

.. Highlights a step as part of a procedure of instructions.

.. Highlights a state or an automatic process as a result of

an instruction.

n .. Highlights single or unordered instructions and lists.

“Additional symbols and highlighting” on page 8.. Highlights

cross-references to chapters or sections of this manual.

[Key].. Highlights captions of buttons, fields and other elements of the software's graphical user interface.

“Menu è Submenu è ”.. Highlights a path to access a menu or submenu in the software's graphical user interface.

Example/Extract.. Highlights verbatim examples and extracts from configuration files.

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PA 8000 PAMIO

1.3 Limitation of liability

General informaon

Liability

All information and notes in this installation manual were compiled under due consideration of valid standards and regulations, the present status of technology and our years of knowledge and experience.

Power Automation can not be held liable for damage resulting from:

n disregarding this installation manual n unintended use n employment of untrained personnel n unauthorized conversions n unauthorized modifications to the software n technical modifications n use of unapproved spare parts n use in conjunction with machines not deemed compatible by

Power Automation

In case of customized versions the actual scope of delivery can vary from the explanations and representations in this installation manual, because of the utilization of additional options or due to the latest technical changes.

Apart from this, the obligations agreed upon in the delivery contract, the general terms and conditions, and the delivery conditions of Power Automation and the legal regulations valid at the time of contract apply.

We reserve the right to make technical modifications in order to improve usability.

Material Warranty

1.4 Copyright

This installation manual is protected by copyright law.

Passing this installation manual on to third parties, duplication of any kind – even in form of excerpts – as well as the use and/or disclosure of the contents without the written consent of Power Automation is not permitted.

Violations oblige to compensation. The right for further claims remains reserved.

1.5 Warranty terms

The material warranty terms are provided in Power Automation's terms and conditions as well as inside the sales documents.

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PA 8000 PAMIO

1.6 Customer service

General informaon

Service

Our Customer Service is always available for technical information.

For information on whom to contact by phone, fax, e-mail or via the internet, see Power Automation's address on page 2.

Additionally, Power Automation staff is always interested in receiving new information and experiences resulting from the use of our products, which could be of great value for future improvements.

1.7 Glossary

CMOS - Complementary metal-oxide-semiconductor

CNC - Computerized Numerical Control

DDU - Delivered Duty Unpaid

HMI - Human Machine Interface

The graphical user interface provided by the PA software.

IPC - Insulating Piercing Connector

MDI - Manual Data Input

MTBP - Machine Tool Builder's Panel

Panel including the basic requirements for a machine tool operator: emergency stop push button, cycle start and stop push buttons, jog plus and minus push buttons, feed rate and spindle speed override pots and a number of auxiliary push buttons.

NC-Start - Numerical Control Start Button

NC-Stop - Numerical Control Stop Button

PA - Power Automation

PAMIO - Power Automation Modular Input Output

Extendable Superbus based interface allowing connection of additional I/O modules.

PASIO - Power Automation Slot Input Output

Extendable EtherCATâ based interface allowing connection of additional I/O modules.

PC - Personal Computer

PCI - Peripheral Component Interconnect

Personal computer extension for periphery devices connected to the motherboard.

PLC - Programmable Logic Controller

POU - Program Organization Unit PLC functions, function

blocks and programs are POUs

RMS - Rotating Measuring Systems (Encoder)

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PA 8000 PAMIO

Safety

2 Safety

2.1 Customer's responsibility

The control unit is used for commercial purposes. The operating company is thus subject to the legal obligations concerning industrial safety.

The safety, accident prevention and environmental protection regulations applicable for the area of application of the machine must be complied with, along with the safety notes specified in this installation manual. The following applies in particular:

n The customer must become familiar with the industrial safety

regulations and identify additional dangers which may arise due to the specific working conditions at the place of use of the control unit, by means of a risk analysis. These must be converted into operating instructions for operation of the control unit.

n Throughout the time of use of the control unit the customer

must check whether the operating instructions created by him correspond to the current status of regulations and standards. Whenever changes in regulations and standards occur, instructions must be adapted accordingly.

n The customer must clearly specify the responsibilities for

installation, operation, maintenance, and cleaning.

n The customer must make sure that all employees who have to

work with the control unit have read and understood these operating instructions.

In addition, the customer must train and inform his personnel about potential dangers at regular intervals.

Moreover, the customer is also responsible for keeping the control unit in technically good condition, and therefore the following applies:

n The customer must make sure that the maintenance intervals

specified in these operating instructions are complied with.

n The customer must regularly check all safety features for func-

tion and completeness.

n The customer must supply his personnel with the necessary

protective equipment.

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PA 8000 PAMIO

Safety

2.2 Personnel requirements

2.2.1 Qualifications

WARNING! Danger of injury in case of insufficient qualifi-

cation!

Improper operation can lead to severe personal injuries and/or material damage.

– Only those persons who have been specified in

the corresponding chapters of this installation manual should be entrusted with the listed types of work.

– Employ certified experts, if in doubt.

The following qualifications are specified for different areas of activity listed in the installation manual.

Qualified personnel

are able to carry out assigned work and to recognize possible dangers due to professional training, knowledge, and experience as well as profound knowledge of applicable regulations.

Skilled electrician

A skilled electrician is able to carry out assigned work and to recognize and avoid possible dangers due to professional training, knowledge, and experience as well as profound knowledge of applicable regulations.

The skilled electrician has been trained specially for his working environment and he has profound knowledge of relevant standards and regulations.

2.2.2 Unauthorized persons

WARNING! Danger for unauthorized persons!

Unauthorized persons, who do not meet the requirements described in this installation manual, are not aware of the dangers in the working area.

– Keep unauthorized persons away from the

working area.

– If in doubt, address such persons and ask

them to leave the working area.

– Interrupt your work as long as unauthorized

persons are in the working area.

Only persons who are expected to perform their tasks reliably are permitted as personnel. Persons whose reaction capability is impaired, e.g. through drugs, alcohol or medication are not permitted.

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PA 8000 PAMIO

Safety

n When selecting personnel, ensure that the personnel can work

with the control unit in terms of technical and content aspects.

2.3 Intended use

Intended Use

Dangers

The control unit is exclusively intended and built for the use described in this installation manual.

The control unit is to be used exclusively to control CNC machines of a supported number of axes which are in accordance with the types cleared by Power Automation. Prerequisite for the intended use of the control unit is proper configuration as described in the installation manuals provided by Power Automation.

WARNING! Beware of unintended use!

Any use exceeding the scope of intended use and/or different application of the control unit can result in hazardous situations.

– Operate the control unit as intended only. – Observe all instructions in this installation

manual.

– Observe the permissible ambient conditions

and electromagnetic compatibility mentioned in the technical data.

Claims of any kind for damage resulting from unintended use are void.

The operator is solely responsible for all damage resulting from unintended use.

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Unintended Use

PA 8000 PAMIO

Safety

2.4 Unintended use

WARNING! Beware of unintended use!

– In particular, avoid using the control unit for the

following purposes as these are regarded as not intended:

– Operation using software not approved by

Power Automation.

– Operation connected to machines/drives

not deemed compatible by

Power Automation. – Operation using wrong number of axes – Wrong or missing execution of the mainte-

nance intervals – Operation by not instructed personnel

2.5 Personal protective gear

Wearing of personal protective gear is required to minimize health hazards and damage when working with the control unit.

n Always wear the protective equipment that is necessary for the

respective task when working.

n Follow the instructions on personal protective equipment that

are listed in this installation manual and other installation manuals provided by Power Automation.

n The environment in which the control unit is installed may

require users to wear additional personal protective gear. Observe the instructions on personal protective gear provided

by the operating company.

Antistatic gloves

for protection of the hands during the work. Wear the antistatic gloves always until the work is finished.

ESD clothing

for protection of components susceptible to electrostatic discharge. Wear the ESD clothing during the work on electrostatic components.

ESD safety pad

for protection of components susceptible to electrostatic discharge. Put the ESD safety pad on the floor before starting to work.

ESD safety shoes

for protection of components susceptible to electrostatic discharge. Wear the ESD safety shoes to protect electrostatic-discharge-sensitive devices due to inadequate derivative electrostatic energy.

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PA 8000 PAMIO

Safety

Ear protection

for protection of the ears during the work. Wear the ear protection always until the work is finished.

Ground strap

for protection of components susceptible to electrostatic discharge. Wear the ground strap on your wrist and connect it to a suitable equipotential bonding.

Protective glasses

for protection of the eyes during the work. Always wear the protective glasses until the work is finished.

2.6 Specific dangers

The following section lists the residual risks.

n Observe the safety instructions listed here, and the warnings in

subsequent chapters of this installation manual, to reduce health hazards and to avoid dangerous situations.

DANGER! Danger to life caused by electric current!

Touching conductive parts causes a direct danger to life. Damage to insulations or individual components can cause danger to life.

n In the event of damage to insulation, switch off the power

supply immediately and have the defective parts repaired.

n Work on the electric system must be carried out only by skilled

electricians.

n Before maintenance, cleaning or repair work, switch off the

power supply and secure it against being switched on again.

n Do not bridge fuses or make them ineffective. When changing

fuses make sure you use the correct amperage.

n Keep moisture away from conductive parts. This can cause

short-circuits.

n De-energize the machine for all work on the electrical system.

WARNING! Risk of injury due to improper handling of bat-

teries!

Batteries must be handled with special care.

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Safety

PA 8000 PAMIO

Safety

n Do not throw batteries into fire or expose to high temperature.

Explosion hazard!

n Do not charge batteries. Explosion hazard! n Battery fluid leaking due to wrong usage may cause skin irrita-

tion. Avoid contact with the battery fluid. In case of contact, flush the battery fluid with large amounts of water. If the battery fluid enters the eyes, flush immediately with water for 10 min. and consult a physician without delay.

2.7 PAMIO safety devices

DANGER!

Malfunctioning safety devices may pose a fatal risk!

Safety devices must be intact and properly integrated into the control unit and the PAMIO components configuration in order to guarantee safety.

Hardware

n Before initial commissioning of the machine, ensure that all

safety devices are fully functional and correctly installed.

n Ensure that safety related inputs/outputs of the PAMIO compo-

nents and the CNC control unit are fully functional and perform as intended.

n Never disable safety devices. n Heed regulations concerning hardwiring of safety circuits.

External CNC machine

For information on required connections between the PA PAMIO components and safety devices integrated into the CNC machine see the documentation provided by the machine's manufacturer.

Safety connector

For information on the safety connector's purpose, specification and wiring see Ä Chapter 4.5.8 “Safety Function” on page 81.

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Further Applicable Documents

Personal Injury

PA 8000 PAMIO

Safety

2.8 Machine Safety

The PAMIO module type 4ENC4A (and only this one) provides specific safety connectors. The following instructions apply only when these modules are part of the PAMIO components configuration.

For information on the machine's safety devices and emergency stop chain see the manual provided by the CNC machine's manufacturer. The manufacturer of the CNC machine is responsible for the proper installation of the emergency stop.

2.8.1 'CNC ready' signal - Emergency stop interlocking

DANGER! Injuries due to uncontrolled operation!

An inactive 'CNC Ready' signal represents a safety related situation. The "CNC Ready" relay is switched off when the PA CNC control unit is in a situation where the axes' movements are not controlled.

As the axes may continue to move in an uncontrolled manner, the contacts of the "CNC Ready" relay must be used to disconnect the machine's emergency stop safety chain. All actions necessary for safety must be executed in the same way as when the Emergency Stop button is pushed.

n Properly integrate the 'CNC ready' relay into the machine's

emergency stop chain.

All safety related actions must ensure that at least all axes movements and spindle rotation (or beam power) are stopped as quickly as possible.

n Refer to the drive manufacturer manual, to determine the best

way of stopping movements and other dangerous power on the machine.

n If drive capability does not exist, the use of external braking

resistors might be necessary. Unbalanced axes have to execute with the mechanical brake.

The contacts for 'CNC Ready' and 'Power OK' are available on connector X19.

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PA 8000 PAMIO

Safety

2.8.2 'Power ok' signal

The "Power ok" relay is triggered by the hardware monitoring of the internal supply voltages and the temperature sensor.

The "Power ok" relay is switched off when the power supplies do not match the allowed range or the internal temperature is too high.

n Use the contacts of the "Power ok" relay to switch off the main

power supply of the control unit to avoid any unexpected damages to the control unit.

The contacts for 'CNC Ready' and 'Power OK' are available on connector X19.

– When an external 5V power supply (RMS) is

necessary to supply incremental measuring systems, use the corresponding entry in the control unit's drive configuration file (DriveCfg.ini) to activate the monitoring of the correct range of these 5 V.

When the monitoring is activated, an error on this power supply will cause the "Power ok" relay to drop.

2.8.3 Control Units and associated PAMIO 4ENC4A

DANGER!

Use all CNC Ready contacts!

When a Power Automation control unit is used in association with PAMIO components of type 4ENC4A it is necessary to use both the CNC Ready contacts of the control unit and those of these PAMIO components in the Emergency Stop Chain.

DANGER!

Use all Power OK contacts!

When a Power Automation control unit is used in association with PAMIO components of type 4ENC4A it is necessary to use both the Power OK contacts of the control unit and those of these PAMIO components in the Emergency Stop Chain.

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PA 8000 PAMIO

Safety

2.9 Conduct in a dangerous situation and in case of accidents

Preventive Measures

In Case Of Accidents

n Stay informed about locations of first aid equipment (first aid

kit, covers, etc.) and fire extinguishers at the site of installation.

n Instruct personnel about accident reporting, first aid and rescue

facilities at the site of installation.

n Disconnect power supply immediately. n Initiate first aid measures. n Inform responsible persons at the site. n Call for rescue service if applicable.

2.10 Environmental protection

CAUTION! Environmental hazard caused by incorrect han-

dling!

Incorrect handling of environmentally hazardous substances, especially incorrect waste disposal, can cause considerable damage to the environment.

The following environmentally hazardous components or substances are contained in the control unit:

Electronic Components

Electronic components are considered special waste. They must be properly disposed of.

Power Automation will accept the control unit to properly dispose of its components upon decommissioning.

n Follow the standard return procedure, as described in

Chapter 6.3 “Return policy and procedure” on page 132.

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Label - Overview

PA 8000 PAMIO

Safety

2.11 Labels

NOTICE! Readability Of Labels

Over the course of time labels may become dirty or nonreadable for any other reason. Improper input voltages applied due to readability of labels can damage the control unit.

– Keep labels in readable condition at all times. – Replace damaged labels (not including mate-

rial warranty seals).

– Replacements can be obtained from

Power Automation.

Fig. 1: PAMIO box labels

The following labels are attached on the back of each PAMIO box:

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PA 8000 PAMIO

Safety

Fig. 2: PAMIO article label

This label shows the model of the PAMIO box (type code) and its article number (Fig. 2).

Fig. 3: PAMIO ArtNo+SNo label

This label shows the serial number of the PAMIO box (Fig. 3).

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PA 8000 PAMIO

Safety

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PA 8000 PAMIO

3 Overview

Table 1: The following products belong to the PA PAMIO-Accessories:

Product Code Description See

Overview

PAMIO module boxes PAMIO 2416 PAMIO module box

2416 / faceplate

PAMIO 4ENC4A PAMIO module box

4ENC4A / faceplate

PAMIO PWM PAMIO module box

PWM / faceplate

PAMIO 2416-2416 PAMIO module box

2416 / 2416

PAMIO 4ENC-4ENC

PAMIO 2416-4ENC PAMIO module box

PAMIO PWM-2416 PAMIO module box

PAMIO PWM-4ENC PAMIO module box

PAMIO 2ENC4A PAMIO module box

PAMIO Accessories PAMIO PWM

CONV

PAMIO module box 4ENC4A / 4ENC4A

2416 / 4ENC4A

PWM / 2416

PWM / 4ENC4A

2ENC4A

PAMIO PWM 5V to 24V signal converter

“PAMIO Combi-

nations” on page 27

“PAMIO Combi-

nations” on page 27

“PAMIO Combi-

nations” on page 27

“PAMIO Combi-

nations” on page 27

“PAMIO Combi-

nations” on page 27

“PAMIO Combi-

nations” on page 27

“PAMIO Combi-

nations” on page 27

“PAMIO Combi-

nations” on page 27

“Special PAMIO Component” on page 28

Chapter 4.6.2.2 “5V to 24V signal converter” on page 90

PAMIO STOPPER PAMIO set of lat-

eral rail stoppers

PAMIO TERM PAMIO termination

plug

PAMIO cables CAB PAMIO 0.5 PAMIO cable 0.5m

CAB PAMIO 2 PAMIO cable 2m

CAB PAMIO 5 PAMIO cable 5m

CAB PAMIO 10 PAMIO cable 10m

Chapter 4.2.4 “Stopping brackets” on page 36

Chapter 4.2.6 “Termination plug” on page 39

“Available Superbus Cables” on page 47

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PA 8000 PAMIO

Product Code Description See

Overview

CAB PAMIO 20 PAMIO cable 20m

CAB PAMIO 25 PAMIO cable 25m

PAMIO plug sets PLUG 2416 Plug set for 24/16

I/O

PLUG 4ENC4A Plug set for PAMIO

4ENC4A

PLUG PWM Plug set for PAMIO

PWM

PLUG 2ENC4A Plug set for PAMIO

2ENC4A

“Available Superbus Cables” on page 47

Chapter 4.4 “PAMIO 2416” on page 52

Chapter 4.5 “PAMIO 4ENC4A” on page 64

Chapter 4.6 “PAMIO PWM” on page 85

Chapter 4.7 “PAMIO 2ENC4A” on page 97

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General

Number Of PAMIO Modules

PA 8000 PAMIO

PAMIO Components

4 PAMIO Components

4.1 Generality

4.1.1 General specifications

The Power Automation Modular Input Output (PAMIO) components are extension modules that allow a Power Automation control unit to add more PLC digital input/output, PLC and/or NC analog outputs, NC analog axes.

PAMIO components are not stand-alone components. They can only be used in conjunction with a Power Automation control unit.

PAMIO boxes can be snapped onto DIN-rails and plugged side by side, or connected through optional cables.

4.1.2 Maximum Number of PAMIO Modules

All the control units of Power Automation are able to control up to 31 I/O modules. The total number of 31 includes the axis and I/O modules built in the control unit.

Calculation

Build-In modules

– Power Automation control units are available

with build-in axes and I/O modules.

– Control units with analog axis interface have

one axis module built in.

– One or two I/O modules (depending) on control

unit model are built in every control unit.

Refer to the installation manual of your specific control unit to check the number of built-in modules!

The Power Automation software attributes a fixed number of 8 bytes to each module, without consideration of how many bytes are effectively required by each module.

The following formula applies for the calculation of the maximum configuration of a PAMIO system rack:

Build-In

+ N

2416

+ N

4ENC4A

+ N

2ENC4A

+ N

PWM

= 31

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Example 1

Example 2

PA 8000 PAMIO

If there are only 2416 modules on the PAMIO rack, the maximum number of I/Os is:

As an example with a control unit PA 8000 LW

with analog axes:

=> Max. number of PAMIO 2416: N

Max. number of digital I/Os:

– 28 x 24 Inputs = 672 inputs + (build-in inputs) =

– 28 x 16 Outputs = 448 outputs + (build-in out-

If a system rack requires 1 box with 2 modules 4ENC4A and 1 box with 1 module PWM, the maximum number of modules 2416 is:

As an example with a control unit PA 8000 E2 with SDI axes:

=> Max. number of PAMIO 2416: N

Max. number of digital I/Os:

– 26 x 24 Inputs = 624 inputs + (build-in inputs) =

– 26 x 16 Outputs = 416 outputs + (build-in out-

PAMIO Components

= 3 (one axis module and two I/O modules)

Build-In

2416

720 inputs

puts) = 480 inputs

= 31 - N

2416

= 31 - N

2416

= 2 (no axis module and two I/O modules)

Build-In

672 inputs

puts) = 448 inputs

Build-In

- N

4ENC4A

- 2 - 1

- N

PWM

2416

= 28

= 26

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Hardware Configuration

PA 8000 PAMIO

PAMIO Components

4.1.3 PAMIO Boxes and PAMIO Modules

With the exception of the PAMIO module 2ENC4A (which has a unique hardware construction), the PAMIO boxes have flexible and adaptable hardware configuration.

Each PAMIO Box is constituted of:

– one PAMIO backplane – one or two PAMIO single module(s) – one cover plate (or face plate) when only one

single module is mounted in the backplane

There are 3 different models of PAMIO single modules

– 2416 (24 digital inputs + 16 digital outputs) – 4ENC4A (4 encoder in + 4 analog out + 4

analog in)

– PWM (2 digital outputs)

PAMIO Combinations

The PAMIO boxes are available either in the form of predefined configuration or as individual components. In case of ordering individual components, the customer is responsible for the correct assembly of these components.

Table 2: There are 9 different predefined possible combinations:

Code Designation

PAMIO 2416 PAMIO box with one 2416 and

a faceplate

PAMIO 4ENC4A PAMIO box with one 4ENC4A

and a faceplate

PAMIO PWM PAMIO box with one PWM and

a faceplate

PAMIO 2416-2416 PAMIO box with two 2416

PAMIO 4ENC-4ENC PAMIO box with two 4ENC4A

PAMIO 2416-4ENC PAMIO box with one 2416 and

one 4ENC4A

PAMIO 2416-PWM PAMIO box with one 2416 and

one PWM

PAMIO 4ENC-PWM PAMIO box with one 4ENC4A

and one PWM

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PA 8000 PAMIO

PAMIO Components

Individual Components

Special PAMIO Component

Table 3: There are 4 individual components:

Code Designation

PAMIO MB PAMIO Backplane with 2 slots

for single modules

PAMIO 2416 PAMIO module with 24 digital

inputs and 16 digital outputs

PAMIO 4ENC4A PAMIO module with 4 encoder

inputs, 4 analog outputs and 4 analog inputs

PAMIO PWM PAMIO module with 1 PWM

output and 1 Fast Output

PAMIO Faceplate PAMIO cover plate for unused

slot

Table 4: There is one special PAMIO component:

Code Designation

PAMIO 2ENC4A PAMIO module with 2 encoder

inputs, 4 analog outputs, 4 analog inputs and integrated bus termination

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Connection

PA 8000 PAMIO

PAMIO Components

4.1.4 Connection to the control unit and interconnection

The first PAMIO box of the configuration in use must be connected to the control unit with a Superbus cable. The corresponding 50pins connector on the control unit side is numbered X13.

The Superbus cable is not included in the control unit's basic scope of delivery. It has to be ordered separately (see Ä Chapter 6.1.1 “Service addresses” on page 130).

One application may require more than one PAMIO box. The PAMIO backplanes have 50-pins connectors on each side, a male connector on the left side (front view) as input and a female connector on the right side as output. Thus it is possible to simply press two boxes together to establish a full bus connection between the boxes (Fig. 4).

PAMIO System With Two Racks

Fig. 4: Assembling PAMIO boxes

When the total number of required PAMIO boxes is too big, it can make sense to create two system racks, connected one to the other by a Superbus cable (Fig. 5).

Fig. 5: PAMIO system with two racks

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Bus Termination

General

PA 8000 PAMIO

PAMIO Components

4.1.5 Bus termination

As with other fast bus systems, the PA Superbus requires a termination to avoid line reflections that could disturb the data transmission.

The last PAMIO box of a system rack must carry a bus termination plug on its Superbus output connector. In the particular case of a PAMIO of model 2ENC4A, there is no Superbus output connector and the bus termination is integrated in the module (by the way, it is not possible to use more than one such a module per system rack!).

4.2 Mechanical Installation

4.2.1 Dimensions

4.2.1.1 PAMIO models 2416 / 4ENC4A / PWM

Property Value Unit

Dimensions 112 x 123 x 181.5 mm

4.4 x 4.84 x 7.15 inch

Weight of the backplane

Max. weight 1.36 kg

The weight of a PAMIO box depends on the model and the number of single modules mounted on the backplane. The example here above gives the weight of a box including two modules 4ENC4A. Refer to the specific technical data of each single module to determine the exact weight of your box.

0.66 kg

1.46 lb

3.00 lb

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PA 8000 PAMIO

PAMIO Components

Fig. 6: PAMIO box dimensions

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Allgemeine Daten

PA 8000 PAMIO

PAMIO Components

4.2.1.2 PAMIO Modell 2ENC4A

Eigenschaft Wert Einheit

Abmessungen 107 x 177 x 14 mm

4,21 x 6,97 x 0,55 Zoll

Gewicht der Rückenwandplatine

0,55 kg

1,21 lb

Fig. 7: Abmessungen des PAMIO 2ENC4A

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Specification

PA 8000 PAMIO

PAMIO Components

4.2.2 DIN rail installation

The PAMIO components are designed for DIN rail installation.

For the DIN rail specification see Fig. 8.

Fig. 8: Din rail for PAMIO mounting

Because of the weight of the boxes, due to their rugged construction with metal cases, it is necessary to ensure a correct and a safe fixation of the DIN rail to avoid any torsion.

For the suggested installation of the rail see Fig. 9.

Fig. 9: DIN rail fixation

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PA 8000 PAMIO

PAMIO Components

M6 Fixation

Place M6 fixation screws every 105.3 mm (4.16 inches) (see Fig. 10).

Fig. 10: M6 fixation

In this way the DIN rail fixation screws are placed right in the middle of the PAMIO boxes (Fig. 11). So, optimum fixation is guaranteed and the user can install and/or remove PAMIO boxes without any problem.

Fig. 11: DIN rail fixation

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Mounting Of The PAMIO Boxes

PA 8000 PAMIO

PAMIO Components

4.2.3 Mechanical assembly

The PAMIO boxes must always be mounted on the rail in such a way that the power supply connector of the modules is on the top side.

Snap the back of the PAMIO box onto the DIN rail by inserting the top on the rail and then pressing simultaneously down and in at the bottom of the box. Be sure to hold the box absolutely horizontally when pressing down. Also make sure that a fastening screw of the DIN rail is located right in the middle of the PAMIO box bracket.

Shift the boxes together. The box should slide on the DIN rail. If it does not slide then slightly press the box down while moving the box.

The total length of a PAMIO box rack is given by the formula:

– Total length = N x 105.3 mm + 5 mm – Total length = N x 4.16 inches + 0.20 inches

where N stands for the number of PAMIO boxes

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Risk Of Disconnection

PA 8000 PAMIO

PAMIO Components

4.2.4 Stopping brackets

Stopping bracket sets are available as options from Power Automation (see Ä Chapter 6.1.1 “Service addresses” on page 130).

Ordering code for one set:

– PAMIO STOPPER (each set = one pair of

stopping brackets)

As the boxes are fixed one to the other only by the way of the plugged connectors, there is always a risk of disconnection (due to any vibration) that would prevent the entire control unit from working.

To avoid accidental disconnection of the PAMIO boxes be sure to fix the entire rack of interconnected boxes with stopping brackets on each side (Fig. 12). This is always necessary if a system rack consists of more than one module box plugged into each other.

Space

Fig. 12: Stopping brackets disposition

Each stopping bracket requires a space of 50 mm (1.97 inches) on the DIN rail (Fig. 13).

Fig. 13: Stopping bracket size

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PA 8000 PAMIO

PAMIO Components

The stopping brackets are fixed on the DIN rail with a screw M4x20 (Fig. 14).

Fig. 14: Stopping bracket fixation

When another rail than the one specified is used, the length of the stopping bracket fixation screw may have to be adapted. However it has to be selected in such a way that this screw does not collide with the Superbus connector or the termination plug!

If a rail in accordance with DIN-EN 50022 is used, for example, the screw must be changed for M4x12.

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Minimum Vertical Distance

PA 8000 PAMIO

PAMIO Components

4.2.5 Ventilation

To ensure proper heat dissipation, PAMIO system racks must always be mounted horizontally.

There must be a minimum vertical distance of 100 mm (3.94 inches) between a PAMIO system rack and other devices in the electrical cabinet (Fig. 15).

It is recommended not to place devices with high power dissipation (like transformers or drive units) close below the PAMIO system rack.

When the number of PAMIO boxes is so large that it requires an assembly of two (or more) system racks, the same rules applies: there must be a distance of at least 100 mm (3.94 inches) between the two racks.

Fig. 15: PAMIO rack mounting for correct ventilation

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Termination

PA 8000 PAMIO

PAMIO Components

4.2.6 Termination plug

Termination plugs are available as options from Power Automation (see Ä Chapter 6.1.1 “Service addresses” on page 130).

Ordering code: PAMIO TERM

The PAMIO termination plug (Fig. 16) is used to terminate the Superbus. As with other fast bus systems, the PA Superbus requires a termination to avoid line reflections that could disturb the data transmission.

Fig. 16: PAMIO termination plug

The last PAMIO box of an application must carry a bus termination plug on its output Superbus connector (50 pin Sub-D) (Fig. 17).

Fig. 17: Position of PAMIO termination plug

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PA 8000 PAMIO

PAMIO Components

Bus Termination (PAMIO 2ENC4A)

In the particular case of a PAMIO of model 2ENC4A, there is no Superbus output connector and the bus termination is integrated in the module (Fig. 18). It is not possible to use more than one such module per system rack, and this module must be the last module of the system rack!

Fig. 18: PAMIO system rack with ending PAMIO 2ENC4A

NOTICE!

Be sure that the termination plug is always plugged in the output connector of the last PAMIO box (or that the last box is a PAMIO 2ENC4A), and that the termination plug is fixed against accidental disconnection.

For the fixation of the termination plug, the screws that fix the 50 pin Sub-D output connector of the last PAMIO box must be replaced by studs! These studs are delivered with the PAMIO backplane.

If there is a need to install a new supplementary PAMIO box in an existing system rack, it is suggested to place it between the first and the last module.

Otherwise, the termination plug and the corresponding studs of the last module have to be replaced with the corresponding screws (i.e. those from the new module) because when studs are mounted, the connection from box to box is not possible. After adding the new module as new last module, the studs and the termination plug must be tightened on its right side.

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Connection

PA 8000 PAMIO

PAMIO Components

4.2.7 Superbus cables

The first PAMIO box of the configuration in use must be connected to the control unit by a Superbus cable (Fig. 19).

Fig. 19: Superbus cable

The Superbus cable is not included in the control unit's basic scope of delivery. It has to be ordered separately.

Superbus PAMIO Connector

The corresponding 50-pins connector on the control unit side is numbered X13 (Fig. 20).

Fig. 20: Superbus PAMIO Connector

NOTICE!

It is highly recommended to use a cable that has been tested and certified by Power Automation, as well as between the control unit and the system rack, as (if required) between several racks. -If non-adapted cables are used, there is a high risk of data transmission errors!

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PA 8000 PAMIO

PAMIO Components

Cable Specification

Property Value

Cable type round twisted pair, shielded

Number of leads 50 (25 x 2)

Lead cross section

Outside diameter 8 - 9 mm (0.3 ")

Maximum length 30 m (98 ft)

Connector types sub-D, case shielded

Connector genders male/female

Connector pins 50 (3 rows)

Connector attachment 4-40/UNC screws

NOTICE!

All cables connected to the control unit are intended for stationary use only.

The cable shield is connected to both connector casings.

0.09 mm2 (AWG 28)

Pin Assignment

Table 5: The one-to-one wiring between the cable's connectors is set up as follows:

Pair Pins Pair Pins

1 = 1/34 14 = 26/10

2 = 18/2 15 = 43/27

3 = 35/19 16 = 11/44

4 = 3/36 17 = 28/12

5 = 20/4 18 = 45/29

6 = 37/21 19 = 13/46

7 = 5/38 20 = 30/14

8 = 22/6 21 = 47/31

9 = 39/23 22 = 15/48

10 = 7/40 23 = 32/16

11 = 24/8 24 = 49/33

12 = 41/25 25 = 17/50

13 = 9/42

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Cable Fixation

PAMIO Systems With Several Racks

PA 8000 PAMIO

PAMIO Components

NOTICE!

To avoid unexpected disconnections, it is necessary to fix the cable on both sides as well on the control unit, as on the first PAMIO box.

For the fixation of the Superbus cable, the screws that fix the 50 pin Sub-D input connector of the first PAMIO box must be replaced by studs! These studs are delivered with the PAMIO backplane.

Fig. 21: PAMIO system with two racks

NOTICE!

In case of interconnection between racks, the screws that fix the 50 pin Sub-D output connector of the last PAMIO box in the first rack and those of the input connector of the first PAMIO box in the following rack must be replaced by studs! These studs are delivered with the PAMIO backplane.

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Bending Radius

PA 8000 PAMIO

PAMIO Components

NOTICE!

The cables delivered from Power Automation are only intended for stationary use!

They must not be used in moving cable chains!

Fig. 22: Superbus cable bending radius

NOTICE!

Do not bend the cable more than with a radius of 30 mm (1.18 inches) to avoid permanent damage!

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Location Of The PAMIO Modules

PA 8000 PAMIO

PAMIO Components

4.2.8 Changing PAMIO modules

Any of the different types of PAMIO modules available can be located in any available slot of the system rack of PAMIO boxes.

Therefore it is not necessary to replace the entire module box in case of a system change. It is enough to change the respective module.

Each module is fixed in the PAMIO box by means of six screws, 3 located on the top side and 3 on the bottom side. The location of these screws differs slightly depending if the module is located on the left side or on the right side of the PAMIO box.

Fig. 23: Location of mounting screws

NOTICE!

Before changing a module, always switch off the 24V power supply!

NOTICE!

When inserting a new module, be sure that the module is connected properly in the backplane connector.

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PA 8000 PAMIO

PAMIO Components

4.3 Electrical Installation

4.3.1 Connection to the CNC

The first PAMIO box of the configuration in use must be connected to the control unit by a Superbus cable. The corresponding 50-pins connector on the control unit side is numbered X13.

The Superbus cable is not included in the control unit's basic scope of delivery. It has to be ordered separately.

Fig. 24: Superbus cable

NOTICE!

It is highly recommended to use a cable that has been tested and certified by Power Automation, between the control unit and the system rack (if required), as well as between several racks.

If cables that don't meet the required specification are used, there is a high risk of data transmission errors!

NOTICE!

Do not connect or disconnect PAMIO boxes when the control unit is under power. The control unit software has to initialize the input/output system during the start-up process.

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Available Superbus Cables

PA 8000 PAMIO

PAMIO Components

Superbus cables are available as options from Power Automation (see Ä Chapter 6.1.1 “Service addresses” on page 130).

Ordering code: see on page 47

Length in m Length in ft Ordering code

0.5 1.6 CAB PAMIO 0.5

2 6.5 CAB PAMIO 2

5 16.5 CAB PAMIO 5

10 33 CAB PAMIO 10

20 66 CAB PAMIO 20

25 82 CAB PAMIO 25

“Available Superbus Cables”

On-Board Logic Power Supply

The PAMIO cable (0.5m / 1.6 ft) is only usable with a PAMIO box mounted on the left side of the CNC.

4.3.2 PAMIO On-Board Logic Power Supply

Every PAMIO module requires a 24V DC power supply for its OnBoard logic. The backplane in which the module is mounted is supplied as well from this input.

Depending on the model, there can be more than one power supply connector on a PAMIO module. But all models use he same connector X30 for the On-Board logic power supply.

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PA 8000 PAMIO

PAMIO Components

Each module has a 5 pin connector (X30) with the following pin assignment (see Fig. 25).

Fig. 25: X30 – Power supply pins

Pin Assignment

Pin 1 Used depending on model

Pin 2 + 24 V DC power supply for

on-board logic

Pin 3 0 V

Pin 4 Used depending on model

Pin 5 Used depending on model

Technical Specifications

Depending on the modules, the pins 1, 4 and 5 of this connector can be used for other power supply inputs. Refer to individual characteristics of the model!

The 0V connection is always common to the different power supplies that have to be applied on this connector.

Property Value Unit

Operating voltage +24 V DC

Tolerances -15 / +12.5 %

Effective range 20.4 - 27.0 V DC

Reference Pin 3 (0 V)

NOTICE!

Remember that every PAMIO module must be supplied with 24V DC separately!

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PA 8000 PAMIO

PAMIO Components

Power Requirement

Power Requirement Of Standard PAMIO Configurations

PAMIO model Value Unit

Backplane 0.1 A

2416 0.1 A

4ENC4A 0.5 A

2ENC4A 0.2 A

PAMIO PWM 0.1 A

The 24V power supply necessary for the on-board logic of the complete I/O rack system has to be determined by making the sum of all the components in use.

The following table shows the requirements of the standard predefined combinations available from Power Automation.

PAMIO model Calculation Total Unit

PAMIO with 1x 2416

PAMIO with 1x 4ENC4A

0.1+0.1 0.2 A

0.1+0.5 0.6 A

PAMIO with 1x PWM

PAMIO with 2x 2416

PAMIO with 2x 4ENC4A

PAMIO with 1x 2416 + 1x 4ENC4A

PAMIO with 1x 2416 + 1x PWM

PAMIO with 1x 4ENC4A + 1x PWM

NOTICE!

When the same power supply is used for the OnBoard logic and the digital inputs/outputs, remember to add to the above values the output currents required by the digital outputs.

0.1+0.1 0.2 A

0.1+0.1+0.1 0.3 A

0.1+0.5+0.5 1.1 A

0.1+0.1+0.5 0.7 A

0.1+0.1+0.1 0.3 A

0.1+0.5+0.1 0.7 A

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Grounding

PA 8000 PAMIO

PAMIO Components

4.3.3 Protective Grounding

To ensure the best noise immunity, each PAMIO module comes with at least one connection (X2) for the protective grounding.

Fig. 26: X30 - Power supply pins

NOTICE!

Remember that every PAMIO module must be connected to the protective grounding separately!

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Technical Data

PA 8000 PAMIO

PAMIO Components

4.3.4 Ambient Conditions

Property Value Unit

Operating temperature

Storage temperature

Relative humidity (non-condensing)

Maximum acceleration (non-operating)

Maximum acceleration (operating)

Protection class (EN

60529)

Do not expose the PAMIO components to the following conditions:

– corrosive gases – high variation of temperature – extremely or salt laden air – metal chip or metal dust - splash water or other

chemicals

+5 - +55 °C

+32 - +131 °F

-20 - +75 °C

-4 - +167 °F

80 %

4.0 G

3.5 G

IP20

NOTICE!

Functional defects!

The PAMIO casing does not provide sufficient protection against environmental influences. Dust and moisture may cause malfunctions.

– Only operate the PAMIO components inside a

cabinet that ensures at least a protection class IP 54!

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PA 8000 PAMIO

4.4 PAMIO 2416

PAMIO Components

Connections Of The PAMIO 2416

General

Connection Values

The PAMIO module 2416 has connections for:

n 24 digital inputs (3 bytes) n 16 digital outputs (2 bytes)

All the signals are 24V DC.

Each output byte can be supplied separately. Each output can drive up to 0.7A, each byte being limited to 4A maximum.

The status of the inputs, the outputs and the monitor is displayed via LEDs.

4.4.1 Technical Data

Property Value Unit

Weight 0.29 kg

0.64 lb

Property Value Unit

Input voltage 24 V DC

Tolerance -15 / +12.5 %

Frequency 20.4 - 27.0 V DC

Max. current 0.1 A

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Overview

PA 8000 PAMIO

PAMIO Components

4.4.2 Design and Functions

Fig. 27: PAMIO 2416 overview

1 Output byte 2 (X41) 2 Power connector +24 V (X30) 3 Output byte 1 (X40) 4 Protective grounding tab (X2) 5 Input byte 3 (X47) 6 Input byte 2 (X46) 7 Input byte 1 (X45) 8 Status LEDs output byte 1 9 Status LEDs output byte 2 10 Module status LEDs 11 Status LEDs input byte 1 12 Status LEDs input byte 2 13 Status LEDs input byte 3

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PA 8000 PAMIO

4.4.2.1 Digital Inputs

PAMIO Components

Connection

Fig. 28: PAMIO 2416 inputs

5 Input byte 3 (X47) 6 Input byte 2 (X46) 7 Input byte 1 (X45)

n Each byte is connected with an 8 pole terminal block (Fig. 29). n The conductor cross-section of the wire must be 0.3 to 1.75

mm2 (AWG 22 to 15).

n The inputs are always referenced against 0 V, located in the

power connector (X30 pin 3).

Fig. 29: Input terminal block

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PA 8000 PAMIO

PAMIO Components

Pin Assignment

Input Status LEDs

Byte 1 +24 V

input

pin 1 1. in bit pin 1 9. in bit pin 1 17. in bit

pin 2 2. in bit pin 2 10. in bit pin 2 18. in bit

pin 3 3. in bit pin 3 11. in bit pin 3 19. in bit

pin 4 4. in bit pin 4 12. in bit pin 4 20. in bit

pin 5 5. in bit pin 5 13. in bit pin 5 21. in bit

pin 6 6. in bit pin 6 14. in bit pin 6 22. in bit

pin 7 7. in bit pin 7 15. in bit pin 7 23. in bit

pin 8 8. in bit pin 8 16. in bit pin 8 24. in bit

The input LEDs are located in the input path and therefore show the real state of the 24V inputs

n a HIGH input signal causes the corresponding LED to turn ON n a LOW input signal causes the corresponding LED to turn OFF

Byte 2 +24 V

input

Byte 3 +24 V

input

Fig. 30: PAMIO 2416 inputs status LEDs

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PA 8000 PAMIO

PAMIO Components

Input Characteristics

Property Value Unit

Number of inputs 24

Maximum DC voltage

Input current at 24V (typical)

Power dissipation at 24V per input

Input impedance 2.2 kΩ

Operating DC voltage OFF

Operating DC voltage ON

Input ON delay (typical)

Input OFF delay (typical)

Isolation By opto-coupler

Input ON display LED

27 V DC

7 mA

0.17 W

5 V max

11 V min

5 μs

35 μs

Input Schematic

External connection 1 block per byte

The following figure (Fig. 31) shows how the inputs are realized on each PAMIO 2416 module.

Fig. 31: Inputs equivalent schematic

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PA 8000 PAMIO

4.4.2.2 Digital Outputs

PAMIO Components

Fig. 32: PAMIO 2416 outputs

1 Output byte 2 (X41) 3 Output byte 1 (X40)

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PA 8000 PAMIO

PAMIO Components

Connection

n Each byte is connected with an 8 pole terminal block. n Each output byte has its own power supply connection. This

feature can be used to turn off a whole byte by means of a unique external switch.

n The outputs are always referenced against 0 V, located in the

power connector (X30 pin 3)

Fig. 33: Input terminal block

The current limitation of each output is 0.7 - 2.5A per pin in case of short circuits.

– Consider that the power supply cable for one

output byte has to be chosen accordingly.

Each output has a nominal output capability of 0.7 A. Nevertheless each output byte is globally limited to 4 A.

– Take care of this specification by appropriate

output definition toward the external actuator.

Pin Assignment

Outputs are monitored for faults. In case of errors, the according output is switched off.

Since every 4 adjacent outputs have a common status signal, the onboard monitor always switches off 4 outputs in such a case (1 - 4, 5 - 8, 9 - 12, 13

- 16).

Byte 1 +24 V output Byte 2 +24 V output

pin 1 1. out bit pin 1 9. out bit

pin 2 2. out bit pin 2 10. out bit

pin 3 3. out bit pin 3 11. out bit

pin 4 4. out bit pin 4 12. out bit

pin 5 5. out bit pin 5 13. out bit

pin 6 6. out bit pin 6 14. out bit

pin 7 7. out bit pin 7 15. out bit

pin 8 8. out bit pin 8 16. out bit

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PA 8000 PAMIO

PAMIO Components

Output Status LEDs

The output LEDs are located in the input path and therefore show the real state of the 24V outputs.

n if an output is HIGH, the corresponding LED is ON n if an output is LOW, the corresponding LED is OFF

Fig. 34: PAMIO 2416 outputs status LEDs

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PA 8000 PAMIO

PAMIO Components

Output Characteristics

Property Value Unit

Number of outputs 16

Max. continuous output per bit

Max. continuous output per byte

Power dissipation per bit at 24V for

0.5A

Power dissipation per bit at 24V for

0.7A

Output ON delay (typical)

Output OFF delay (typical)

Watchdog (max.) 64 ms

Short circuit outputDC0.7 A

Delay time current limitation (max.)

0.7 A

4 A

0.27 W

0.37 W

175 μs

100 μs

Isolation By opto-coupler

Input ON display LED

External connection 1 block per byte

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PA 8000 PAMIO

PAMIO Components

Output Schematic

The following figure shows how the outputs are realized on each PAMIO 2416 module.

Fig. 35: Outputs equivalent schematic

1 Supplied from PCI Superbus board 2 Output supply input (-15 % - +12.5 %) 3 Output n + 1 4 Output n 5 Logic 6 Internal serial bus

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PA 8000 PAMIO

PAMIO Components

4.4.2.3 Power Supply

Each of the output bytes on the PAMIO 2416 needs a separate +24V DC power supply. This is done on the power supply connector X30 (Fig. 36).

Connection

Fig. 36: PAMIO 2416 power connection

2 Power connection (X30)

Each module has a 5 pin connector (X30) with the following pin assignment (Fig. 37):

Fig. 37: X30 – Power supply pins

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PA 8000 PAMIO

PAMIO Components

Pin Assignment

Pin 1 + 24 V DC power supply for

output byte 1

Pin 2 + 24 V power supply for on-

board logic

Pin 3 0 V

Pin 4 Not used

Pin 5 + 24 V DC power supply for

output byte 2

The 0V connection is common to the different power supplies that have to be applied on this connector.

The power supply of the output bytes being independent from the on-board logic power supply allows i.e. disconnecting the output byte(s) in case of emergency stop, setting all of the output bytes to a safe state.

Technical Data

Property Value Unit

Operating voltage +24 V DC

Tolerances -15 / +12.5 %

Effective range 20.4 - 27.0 V DC

Max. current for the on-board logic

Max. current for the output bytes

Reference Pin 3 (0 V)

0.1 A

4 A / byte

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Overview

PA 8000 PAMIO

PAMIO Components

4.4.2.4 Status LEDs

The PAMIO 2416 has four LEDs for diagnostic purposes.

Connections Of The PAMIO 4ENC4A

General

Fig. 38: PAMIO 2416 module status LEDs

1 Status 2 Access 3 Bustest 4 Monitor

For a detailed assignment of the LEDs' states see Ä Chapter 5.2.1 “PAMIO 2416 LEDs” on page 119.

4.5 PAMIO 4ENC4A

The PAMIO module 4ENC4A has connections for:

n 4 analog axes (4 analog command outputs +/-10V DC / 16 bit) n 4 incremental measurement systems n 4 additional analog inputs (+/-10V DC / 12 bit)

The status of the monitor is displayed via LEDs.

4.5.1 Technical Data

Property Value Unit

Weight 0.35 kg

0.77 lb

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PA 8000 PAMIO

PAMIO Components

Connection Values

Overview

Property Value Unit

Input voltage 24 V DC

Tolerance -15 / +12.5 %

Frequency 20.4 - 27.0 V DC

Max. current 0.5 A

4.5.2 Design and Functions

Fig. 39: PAMIO 4ENC4A overview

1 RMS input 1. axis (X31) 2 Power supply input for RMS encoders (X35) 3 Analog out axes 1 to 4 (X37) 4 Protective grounding tab (X2) 5 Power connector +24 V (X30) 6 RMS input 2. axis (X32) 7 Module status LEDs 8 RMS input 3. axis (X33) 9 Safety function connector (X38) 10 Analog inputs 1 to 4 (X36) 11 RMS input 4. axis (X34)

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4.5.3 Axis Measurement Inputs (RMS)

Fig. 40: PAMIO 4ENC4A RMS inputs

1 RMS input 1st axis (X31) 6 RMS input 2nd axis (X32) 8 RMS input 3rd axis (X33) 11 RMS input 4th axis (X34)

Connection

Each axis measurement input has a 15 pin Sub-D connector female (Fig. 41).

Fig. 41: RMS Input Connector

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Pin Assignment

RMS Input Characteristics

Pin Assignment

Pin 1 Track A+

Pin 2 Track A-

Pin 3 Track B+

Pin 4 Track B-

Pin 5 Track R+

Pin 6 Track R-

Pin 7 Probe input

Pin 8 Probe ground

Pin 9/11/13/15 RMS grounding

Pin 10/12/14 +5 V RMS

Property Value Unit

Interface type RS 422

Track common mode range

-7 - +7 V

Max. track input voltage

Min. track input voltage

Track input impedance

Max. track frequency (no filter)

Max. count frequency (no filter)

External connector 15 pin Sub-D female / axis

Each probe input is referenced against its probe ground.

-11 - +14 V

+/- 500 mV

150 Ω

5 MHz

20 MHz

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Probe Input

Property Value Unit

Max. probe input voltage

Probe input current (at 24 V)

Probe input impedance

Probe operating voltage OFF

Probe operating voltage ON

Probe input ON delay

Probe input OFF delay

Probe isolation Opto coupler

Interface type digital input 24 V

Probe wiring

When the probe input is used in an application, each input of all used axes must be wired in parallel.

27 v

7 mA

2200 Ω

5 V DC max.

11 V DC min.

200 ns

300 ns

Input Equivalent Schematic

The following figure (Fig. 42) shows how the axis measurement inputs are realized on each PAMIO 4ENC4A module.

Fig. 42: RMS input equivalent schematic

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RMS Encoder Wiring Example

The following schematic demonstrates the recommended way of connecting the CNC RMS inputs to the encoders (or any other device with incremental output).

Fig. 43: RMS encoder wiring example

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Precondition

PA 8000 PAMIO

PAMIO Components

The distance between the measuring systems and the power supply can be relatively long. The ohmic resistance of the power supply cable and the RMS' current consumption generate a voltage drop.

Fig. 44: Schematic encoder power supply voltage drop

1 Power supply 2 Rotating measurement system (RMS) UASupply output voltage

U1Voltage drop U2Voltage at the RMS U3Voltage drop

As shown in the figure, the voltage U2 equals the difference between the output voltage UA and the voltage drop U1+U3.

Adjusted voltage U2 = UA - (U1 + U3)

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Examples

The voltage drop depends on the cable length and the conductor's cross section.

The following table shows some cable examples. The values are typical and only offered as guidelines.

n For proper compensation, calculate the actual values as shown

in the following section.

Conductor cross section [mm2]/[AWG]

Specific resistance [Ω/m]

Cable length [m]

Voltage drop at 100 mA [V]

0.08 / AWG 28 0.235 10 0.47

20 0.94

35 1.65

0.14 / AWG 25 0.131 10 0.26

20 0.52

35 0.92

0.25 / AWG 23 0.075 10 0.15

20 0.30

Calculation

35 0.53

0.5 / AWG 20 0.040 10 0.08

20 0.16

35 0.28

0.75 / AWG 18 0.025 10 0.05

20 0.10

35 0.18

n Use the actual data obtained from the cable's technical

specifications.

n Double the cable's physical length.

This is necessary as there are two lines: one line to the RMS (+5 V) and one line from the RMS (grounding).

n Calculate the voltage drop as follows:

Voltage drop [V] = 2 x L x CR x P

L - Cable length [m]

C - CR Specific resistance per meter [Ω/m]

P - PC Power consumption [A]

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Compensation

PA 8000 PAMIO

PAMIO Components

Personnel:

1. Install a power supply with adjustable output voltage to supply the RMS supply input.

This is a requirement for voltage drop compensation.

2. Calculate the actual voltage drop between RMS power supply and RMS.

3. Adjust the external RMS power supply to feed a slight overvoltage of 5.1 V to 5.5 V depending on the measured drop.

A measurement system contains integrated electronic components. Relating to the current consumption Power Automation only indicates mean values. Current peaks of a multiple of the mean value may occur for several microseconds during operation.

– Select a conductor cross-section which guar-

antees a maximum voltage drop of 0.2 V.

– Set the power supply to the upper limit of the

RMS supply voltage.

These steps guarantee that the RMS' supply voltage does not drop below the required minimum.

Skilled electrician

Overview

4.5.4 RMS Power Supply

Fig. 45: PAMIO 4ENC4A RMS power supply

2 Power supply input for RMS encoders (X35)

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Connection

Pin Assignment

Technical data

Voltage Drop

The power supply for encoders is connected with a 2 pole terminal block (Fig. 46).

Fig. 46: RMS power terminal block

Pin Voltage Assignment

1 +5 V RMS supply

2 0 V RMS ground

Property Value Unit

Tolerance 0 - +20 %

The distance between the measuring systems and the power supply can be relatively long. The resistance of the power supply cable and the RMS' current consumption generate a voltage drop (see

“Precondition” on page 70).

Overview

4.5.5 Axes Analog Outputs

Fig. 47: PAMIO 4ENC4A axes analog outputs

3 Analog outputs axes 1 to 4 (X37)

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Connection

Pin Assignment

The analog outputs are connected with an 8 pole terminal block (Fig. 48).

Fig. 48: Axes output terminal block

Pin Description

Pin 1 +/- output channel 1

Pin 2 reference channel 1

Pin 3 +/- output channel 2

Pin 4 reference channel 2

Pin 5 +/- output channel 3

Pin 6 reference channel 3

Pin 7 +/- output channel 4

Pin 8 reference channel 4

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Output Characteristics

Property Value Unit

Number of analog output points

Output signal range (max.)

Output current load (max.)

Output capacitive load (max.)

Bipolar zero error (max.)

Full scale error (max.)

Channel to channel mismatch (max.)

Linearity error (max.)

Resolution 305 μV

Conversion time (max.)

+/- 10 V

+/- 15 mA

350 pF

+/- 40 mV

+/- 1 1 %

+/- 1 %

+/- 2.44 mV

10 μs

Output slew rate (typ.)

Watchdog (max.) 64 ms

External connector 8 pole terminal block

0.4 μV/s

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Output Schematic

PA 8000 PAMIO

PAMIO Components

Fig. 49: Analog axis output equivalent schematic

Analog output wiring

The wiring of the analog output command voltages to the drive depends on the type of drive analog inputs.

– During drive installation take into consideration

whether the drive's analog inputs are grounded or not.

– If the analog inputs are grounded, connect the

drives according to the schematic for non-differential inputs.

– If the analog inputs are not grounded, connect

the drives according to the schematic for differential inputs.

Drives With Non-Differential Inputs (Unipolar)

The following schematics demonstrate the recommended way of connecting the CNC analog outputs to the analog inputs of the drives, depending on the analog input type of the drive.

Fig. 50: Schematic non-differential inputs (unipolar)

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Drives With Differential Inputs

Overview

PA 8000 PAMIO

PAMIO Components

Fig. 51: Schematic differential inputs

4.5.6 Analog Inputs

Connection

Fig. 52: PAMIO 4ENC4A analog inputs

10 Analog inputs 1 to 4 (X36)

The analog inputs are connected with a 9 pole terminal block (Fig. 53).

Fig. 53: Analog inputs terminal block

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Pin Assignment

Input Characteristics

Pin Description

Pin 1 + input channel 1

Pin 2 - input channel 1

Pin 3 + input channel 2

Pin 4 - input channel 2

Pin 5 + input channel 3

Pin 6 - input channel 3

Pin 7 + input channel 4

Pin 8 - input channel 4

Pin 9 analog ground (ACOM)

Property Value Unit

Input signal range -10 - +10 V

Common mode range

Max. input voltage -15 - +15 V

-15 - +15 V

Input impedance 16 kΩ

Max. bipolar zero error

Max. full scale error +/- 1 %

Max. channel to channel mismatch

Max. linearity error +/- 4.88 mV

Resolution 4.88 mV

Conversion time 160 μs

+/- 10 mV

+/- 1 %

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Input Schematic

PA 8000 PAMIO

PAMIO Components

Fig. 54: Analog input equivalent schematic

A/D

= (U

+IN

- U

ACOM

) - (U

-IN

- U

ACOM

)

Overview

n U n U n U n U

= A/D Converter Output

A/D

= + Differential input

+IN

= - Differential input

-IN

= Analog ground ACOM

ACOM

4.5.7 Power Supply

Fig. 55: PAMIO 4ENC4A power connection

5 Power connector +24 V (X30)

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Connection

Pin Assignment

Technical Data

Each module has a 5 pin connector (X30) with the following pin assignment (Fig. 56).

Fig. 56: Power terminal block

Pin Assignment

Pin 1 Not used

Pin 2 + 24 V power supply for on-

board logic

Pin 3 0 V

Pin 4 Not used

Pin 5 Not used

Property Value Unit

Operating voltage + 24 V DC

Tolerances -15 / +12.5 %

Effective range 20.4 - 27.0 V DC

Max. current for the on-board logic

Max. current for the output bytes

Reference Pin 3 (0 V)

0.5 A

4 A / byte

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Overview

PA 8000 PAMIO

PAMIO Components

4.5.8 Safety Function

Fig. 57: PAMIO 4ENC4A safety function

9 Safety function connector (X38)

Connection

Pin Assignment

Each module has a 6 pin connector (X38) with the following pin assignment (Fig. 58).

Fig. 58: Safety function terminal block

Pin Assignment

Pin 1 Power OK, common

Pin 2 Power OK, normally closed

Pin 3 Power OK, normally open

Pin 4 CNC ready, common

Pin 5 CNC ready, normally closed

Pin 6 CNC ready, normally open

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Technical Data

Relay "Power OK"

Property Value Unit

Number of relays 2

Max. switching voltage

Max. switching current

Typical switch on time

Typical switch off time

The first relay is called "Power OK" and switches when the following conditions are met:

n The power supply voltages are in operating range. n The operating temperature is below +60 °C (+140 °F).

Logic Condition Result

+ 5 V OK Power OK relay

AND +15 V OK

30 V DC

1 A

4 ms

3 ms

active

AND -15 V OK

AND T < 60 °C (140 °F)

NOTICE! Damage to the control unit!

Voltage faults and/or temperatures above the allowed specification can cause damage to the control unit.

Properly wire the "Power OK" relay to protect the control unit from damaging voltages and temperatures.

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Relay "CNC Ready"

The second relay is called "CNC Ready" and switches to active state when the following conditions are met:

n The control unit is ready when:

– The "Power OK" relay is in active state.

– The watchdog is re-triggered. This means the software is

monitored as working properly.

– All axes measurement signals are correct.

– All axes position loops are under control.

n The RMS power supply voltage is within operation range. n The operating temperature is below +55°C (+131°F).

Logic Condition Result

+ 5 V RMS OK CNC Ready relay

AND Control unit ready

AND T < 55 °C (131 °F)

NOTICE! Damage to the machine!

If the "CNC ready" relay is not wired properly to the machine's emergency stop circuit, the machine may be damaged upon operation.

– Ensure that the "CNC ready" relay is wired

properly to the machine's emergency stop circuit.

active

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Fig. 59: Safety relays equivalent schematic

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Overview

PA 8000 PAMIO

PAMIO Components

4.5.9 Status LEDs

The PAMIO 4ENC4A has ten LEDs for diagnostic purposes.

Fig. 60: PAMIO 4ENC4A module status LEDs

1 Status 2 Access 3 Bustest 4 Monitor 5 Axis 1 6 Axis 2 7 Axis 3 8 Axis 4 9 Power OK 10 CNC Ready

Connections Of The PAMIO PWM

General

For a detailed assignment of the LEDs' states see Ä Chapter 5.2.2 “PAMIO 4ENC4A LEDs” on page 121.

4.6 PAMIO PWM

The PAMIO module PWM has connections for:

n 1 opt. isolated output for PWM signal n 1 opt. isolated fast output n opt. isolated output with inverted PWM signal

The status of the monitor is displayed via LEDs.

4.6.1 Technical Data

Property Value Unit

Weight 0.35 kg

0.77 lb

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Connection Values

Overview

Property Value Unit

Input voltage 24 V DC

Tolerance -15 / +12.5 %

Frequency 20.4 - 27.0 V DC

Max. current 0.5 A

4.6.2 Design and Functions

Fig. 61: PAMIO PWM overview

1 Power connector +24 V (X30) 2 Output byte 3 Protective grounding tab (X2) 4 Status LEDs output byte 5 Module status LEDs

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PA 8000 PAMIO

4.6.2.1 Digital Outputs

Fig. 62: PAMIO PWM outputs

2 PWM and Fast Output (X25)

PAMIO Components

Connection

Pin Assignment

n Each byte is connected with an 8 pole terminal block. n The PWM and Fast Output have their own power supply con-

nection (X30, Pin1). This makes it possible to turn off the output function by using an external switch.

n The outputs are always referenced against 0 V, located in the

power connector (X30, pin 3).

Fig. 63: Output terminal block

Byte 1 +24 V output

pin 1 PWM out 5V

pin 2 Fast Out 5V

pin 3 Not used

pin 4 PWM OUT 5V Inverted

pin 5 Not used

pin 6 Not used

pin 7 Not used

pin 8 Not used

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Output Status LEDs

The output LEDs are located on the front side of the PAMIO PWM and show the current state of the PWM and Fast Output.

n if an output is HIGH, the corresponding LED is ON n if an output is LOW, the corresponding LED is OFF

Fig. 64: PAMIO PWM Output LEDs

1 PWM Out 5V 2 FAST Out 5V

Output Characteristics

Property Value Unit

Number of outputs 2

Max. continuous output per bit

Output ON delay (typical)

Output OFF delay (typical)

Isolation By opto-coupler

Input ON display LED

External connection 1 block per byte

0.5 mA DC

100 ns

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Output Schematic

The following figure shows how the outputs are realized on each PAMIO PWM module.

Fig. 65: Outputs equivalent schematic

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Overview

PA 8000 PAMIO

PAMIO Components

4.6.2.2 5V to 24V signal converter

The 5V to 24V converter is available as an option from Power Automation (see Ä Chapter 6.1.1 “Service addresses” on page 130).

Ordering code for one set:

– PAMIO PWM CONV

The 5V to 24V signal converter module is intended to convert 5V signals into 24V signals.

This converter has been developed especially for the PAMIO PWM module, because the 24V output drivers of this module are not able to switch at high frequencies.

Fig. 66: Signal Converter overview

1 Input Connector 2 Status LED 3 Power Supply Connector 4 Output Connector

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Input Connector (5V Signals)

PA 8000 PAMIO

PAMIO Components

Fig. 67: Input Connector

1 Input Connector

Table 6: The eight pin input connector has the following pinning:

Pin Description

Pin 1 5V signal IN

Pin 2 5V signal IN

Pin 3 5V signal IN

Pin 4 5V signal IN

Pin 5 Any signal IN

Pin 6 Any signal IN

Pin 7 Any signal IN

Pin 8 Any signal IN

Fig. 68: Eight pin input connector

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Output Connector (24V Signals)

PA 8000 PAMIO

PAMIO Components

Fig. 69: Output Connector

4 Eight pin Output Connector

Table 7: The eight pin output connector has the following pinning:

Pin Description

Pin 1 24V signal OUT

Pin 2 24V signal OUT

Pin 3 24V signal OUT

Pin 4 24V signal OUT

Pin 5 Any signal OUT

Pin 6 Any signal OUT

Pin 7 Any signal OUT

Pin 8 Any signal OUT

Fig. 70: Eight pin output connector

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Power Supply Connector

PA 8000 PAMIO

PAMIO Components

Fig. 71: Power Supply Connector

3 Two pin Power Supply Connector

Table 8: The two pin power supply connector has the following pinning:

Pin Description

Status LED

Pin 1 +24V

Pin 2 0V

Fig. 72: Two pin Power Supply Connector

There is a LED which gives information whether the 24V power is applied or not.

Fig. 73: Status LED

LED state Module status

ON +24V power supply is applied

OFF +24V power supply is not

applied

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4.6.2.3 Power Supply

The output byte on the PAMIO PWM needs a separate +24V DC power supply. This is done on the power supply connector X30 (Fig. 74).

Connection

Fig. 74: PAMIO PWM power connection

1 Power connection (X30)

Each module has a 5 pin connector (X30) with the following pin assignment (Fig. 75):

Fig. 75: X30 – Power supply pins

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Pin Assignment

Pin 1 + 24 V DC power supply for

PWM and Fast Output function

Pin 2 + 24 V power supply for on-

board logic

Pin 3 0 V

Pin 4 Not used

Pin 5 Not used

The 0V connection is common to the different power supplies that have to be applied on this connector.

The power supply of the PWM and Fast output function is independent from the on-board logic power supply allows e.g. disconnecting the output byte in case of emergency stop, making the whole byte in a safe situation.

Technical Data

Property Value Unit

Operating voltage +24 V DC

Tolerances -15 / +12.5 %

Effective range 20.4 - 27.0 V DC

Max. current for the on-board logic

Max. current for the PWM and Fast output function

Reference Pin 3 (0 V)

0.1 A

4 A / byte

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Wiring Example

PA 8000 PAMIO

PAMIO Components

4.6.2.4 Wiring Example

Fig. 76: PAMIO PWM Wiring example

n Number of inputs

Overview

NOTICE!

The outputs of PAMIO PWM must be connected to a shielded twisted pair cable. The shield is applied to the housing of the connected device.

4.6.2.5 Status LEDs

The PAMIO PWM has four LEDs for diagnostic purposes.

Fig. 77: PAMIO PWM module status LEDs

1 Status 2 Access 3 Bustest 4 Monitor

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For a detailed assignment of the LEDs' states see Ä Chapter 5.2.3 “PAMIO PWM LEDs” on page 124.

4.7 PAMIO 2ENC4A

Connections Of The PAMIO 2ENC4A

General

The PAMIO module 2ENC4A has connections for:

n 2 analog axes (4 analog command outputs +/- 10 V DC / 16 bit) n 4 incremental measurement systems) n 2 supplementary analog inputs (+/-10V DC / 12 bit)

This special module has an integrated bus termination. Because of its internal bus termination, there can be only one such PAMIO model in a system rack, and it must be the last module of the rack.

The status of the monitor is displayed via LEDs.

4.7.1 Technical Data

Property Value Unit

Weight 0.55 kg

1.21 lb

Connection Values

Property Value Unit

Input voltage 24 V DC

Tolerance -15 / +12.5 %

Frequency 20.4 - 27.0 V DC

Max. current 0.2 A

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Overview

PA 8000 PAMIO

PAMIO Components

4.7.2 Design and Functions

Fig. 78: PAMIO 2ENC4A overview

1 RMS input 1. axis (X31) 2 Protective grounding tab (X2) 3 Power connector +24 V (X30) 4 RMS input 2. axis (X32) 5 Power supply input for RMS encoders (X35) 6 Module status LEDs 7 Analog outputs 1 to 4 (X37) 8 Analog inputs 1 to 4 (X36)

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4.7.3 Axis Measurement Inputs (RMS)

Connection

Fig. 79: PAMIO 2ENC4A RMS inputs

1 Measurement input 1st axis (X31) 4 Measurement input 2nd axis (X32)

Each axis measurement input has a 15 pin Sub-D connector female (Fig. 80).

Fig. 80: RMS Input Connector

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Pin Assignment

RMS Input Characteristics

Pin Assignment

Pin 1 Track A+

Pin 2 Track A-

Pin 3 Track B+

Pin 4 Track B-

Pin 5 Track R+

Pin 6 Track R-

Pin 7 Probe input

Pin 8 Probe ground

Pin 9/11/13/15 RMS grounding

Pin 10/12/14 +5 V RMS

Property Value Unit

Interface type RS 422

Track common mode range

-7 - +7 V

Max. track input voltage

Min. track input voltage

Track input impedance

Max. track frequency (no filter)

Max. count frequency (no filter)

External connector 15 pin Sub-D female / axis

Each measurement input is referenced against its measurement reference.

-11 - +14 V

+/- 500 mV

150 Ω

5 MHz

20 MHz

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power automation PA 8000 Installation Instructions Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of contents

1 General information

1.1 Information on this manual

1.2 Explanation of symbols

1.3 Limitation of liability

1.4 Copyright

1.5 Warranty terms

1.6 Customer service

1.7 Glossary

2 Safety

2.1 Customer's responsibility

2.2 Personnel requirements

2.2.1 Qualifications

2.2.2 Unauthorized persons

2.3 Intended use

2.4 Unintended use

2.5 Personal protective gear

2.6 Specific dangers

2.7 PAMIO safety devices

2.8 Machine Safety

2.8.2 'Power ok' signal

2.8.3 Control Units and associated PAMIO 4ENC4A

2.9 Conduct in a dangerous situation and in case of accidents

2.10 Environmental protection

2.11 Labels

3 Overview

4 PAMIO Components

4.1 Generality

4.1.1 General specifications

4.1.2 Maximum Number of PAMIO Modules

4.1.3 PAMIO Boxes and PAMIO Modules

4.1.5 Bus termination

4.2 Mechanical Installation

4.2.1 Dimensions

4.2.1.1 PAMIO models 2416 / 4ENC4A / PWM

4.2.1.2 PAMIO Modell 2ENC4A

4.2.2 DIN rail installation

4.2.3 Mechanical assembly

4.2.4 Stopping brackets

4.2.5 Ventilation

4.2.6 Termination plug

4.2.7 Superbus cables

4.2.8 Changing PAMIO modules

4.3 Electrical Installation

4.3.1 Connection to the CNC

4.3.2 PAMIO On-Board Logic Power Supply

4.3.3 Protective Grounding

4.3.4 Ambient Conditions

4.4 PAMIO 2416

4.4.1 Technical Data

4.4.2 Design and Functions

4.4.2.1 Digital Inputs

4.4.2.2 Digital Outputs

4.4.2.3 Power Supply

4.4.2.4 Status LEDs

4.5 PAMIO 4ENC4A

4.5.1 Technical Data

4.5.2 Design and Functions

4.5.3 Axis Measurement Inputs (RMS)

4.5.4 RMS Power Supply

4.5.5 Axes Analog Outputs

4.5.6 Analog Inputs

4.5.7 Power Supply

4.5.8 Safety Function

4.5.9 Status LEDs

4.6 PAMIO PWM

4.6.1 Technical Data

4.6.2 Design and Functions

4.6.2.1 Digital Outputs

4.6.2.2 5V to 24V signal converter

4.6.2.3 Power Supply

4.6.2.4 Wiring Example

4.6.2.5 Status LEDs

4.7 PAMIO 2ENC4A

4.7.1 Technical Data

4.7.2 Design and Functions