Yaskawa LEGEND-MC User Manual

LEGEND-MC Installation Guide

LEGEND-MC Installation Guide

Upon receipt of the product and prior to initial operation, read these
instructions thoroughly and retain for future reference.

LEGEND-MC Installation Guide

LEGEND-MC Installation Guide

WARNING

YASKAWA manufactures component parts that can be used in a wide variety of industrial
applications. The selection and application of YASKAW A products remain the responsibility
of the equipment designer or end user. YASKAWA accepts no responsibility for the way its
products may be incorporated into the final system design.

Under no circumstances should any YASKAWA product be incorporated into any product or
design as the exclusive or sole safety control. Without exception, all controls should be
designed to detect faults dynamically under all circumstances. All products designed to
incorporate a component part manufactured by Y ASKAWA must be supplied to the end user
with appropriate warnings and instructions as to that part’s safe use and operation. Any
warnings provided by Yaskawa must be promptly provided to the end user.

YASKAWA offers an express warranty only as to the quality of its products in conforming to
standards and specifications published in YASKAWA’S manual. NO OTHER WARRANTY,
EXPRESS OR IMPLIED, IS OFFERED. YASKAWA assumes no liability for any personal
injury, property damage, losses or claims arising from misapplication of its products.

LEGEND-MC Installation Guide

LEGEND-MC Installation Guide

TABLE OF CONTENTS

Introduction .......................................................................... 1

Part Numbers ....................................................................... 2

Startup ................................................................................. 3

Mounting the LEGEND-MC to the LEGEND Amplifier.... 3

Mounting Orientation ...................................................... 3

Front Panel Description ....................................................... 4

Power/Connections Wiring - Single Phase .......................... 5

Power/Connections Wiring - Three Phase ........................... 6

Cable Shielding, Segregation and Noise Immunity .............7

I/O Connections (50-pin CN5) ............................................. 8

Analog I/O ............................................................................ 9

Analog Input ................................................................... 9

Analog Output .............................................................. 10

Digital I/O ... .. .. ............... ... ............... .. ................ .. ............... 11

Digital Input .................................................................. 11

Digital Outpu t ............ ............... .. ................ .. .. ............. 12

Emergency Stop Chain....................................................... 13

Serial Communication ........................................................ 14

External encoder Specifications ......................................... 15

Dedicated Inputs...................... .. ......................... ................ 16

Physical Specifications ....................................................... 17

Hardware Specifications ..................................................... 17

Cable Diagram and Dimensional Drawings........................ 18

LEGEND-MC Installation Guide

NOTES:

LEGEND-MC Installation Guide

Introduction

The LEGEND-MC is a single axis Ethernet motion
controller designed for use exclusively with
Yaskawa’s LEGEND Digital Torque Amplifier.

It provides a structured text programming environ­ment and the ability to perform many modes of
motion including camming, gearing, and contour­ing. High speed product registration is also avail­able as a standard feature.

Additionally, point-to-point control and communica­tions over the Ethernet connections are standard
features. The Ethernet functi on allo ws mu l ti ple
handles or devices to communicate with the con­troller.

1

LEGEND-MC Installation Guide

Part Numbers

Description Part Number

Motion Controller with Ethernet Interface SMC3010

a)

SMC3010

1.0m 50 Pin I/O Cable JZSP-CKI01-1 (A)

2.0m 50 Pin I/O Cable JZSP-CKI01-2 (A)

b)

I/O

Serial

3.0m 50 Pin I/O Cable JZSP-CKI01-3 (A)

1.0m 50 Pin I/O Cable (w ith terminal block) JUSP-TA50P

3.0m Port #1 Cable SMCCBL7

c)

YTe r m P r og r am m in g S of t w ar e SM CGUI1

d)

Software

2

LEGEND-MC Installation Guide

Startup

Mounting the LEGEND-MC to the LEGEND Amplifier

1. Insert the lower two mounting notches of the LEGEND-MC into the

mounting holes at the bottom of the right side of the LEGEND.

2. Push the LEGEND-MC in the direction indicated by the arrow in the

figure below, and insert the upper mounting notches of the LEGEND­MC into the upper mounting holes on the right side of the LEGEND.

Mounting Orien tat ion

Mount the LEGEND-MC and LEGEND vertically for proper cooling, as
shown below. Allow a minimum spacing of 10mm around the left and right
sides and 30mm around the top and bottom of the LEGEND-MC/LEGEND
unit.

3

LEGEND-MC Installation Guide

Front Panel Description

No. Name Description

(1) Power ONA green LED that indicates +5 VDC power is

(2) Alarm/

Error

(3) CN6 9 pin male D-Sub serial port connector
(4) CN5 3M 50 pin high density I/O connector
(5) RST Reset switch. Causes the controller to reboot, and

(6) Ethernet

status

(7) Ethernet

status

(8) CN4 10 BaseT Ethernet RJ485 Connector
(9) FG Frame ground spade terminal. Connect to ground

applied properly from the LEGEND-MC
amplifier to the controller.

A red LED that will flash on initially at power up
and stay lit for approximately 1-8 seconds. A fter
power up, the LED will illuminate for the
following reasons:

•The axis has a position error greater than the error
limit. The error limit is set by using the command
ER.

•The reset line on the contr oller is held low or is
being affected by noise.

•There is a failure in the cont rol ler and the
processor is resetting itself.

•There is a failure in the ou tput IC which drives
the error signal.

load the application program and parameters from
flash. If the program contains an #AUTO label, it
will automatically execute.

A green LED that is lit when there is an Ether n et
connection to the controller. This LED tests only
for the physical connection, not for an active or
enabled link.

The yellow LED indicates tr affic across the
Ethernet connection. This LED will show both
transmit and rece ive activity across the
connection. If the re is no Ethernet connection or
IP address assigned, the LED wil l flash at regular
intervals to sh ow that the BOOTP pa ckets are
being broadcast.

terminal on LEGEND Amplifier

(2)

(3)

(4)

(5)

(7)

(8)

(9)

(1)

(6)

4

LEGEND-MC Installation Guide

Power/Connections Wiring - Single Phase

R

1MCCB

T

Noise Filter

Control

Power

ON

1MC

Servo ON

Control

Power

OFF

Servo
Power

OFF

Emergency

Stop

1MC

SUP

1MC 2MC

2MC

1MC

2MC

YASKAWA

LEGEND01

CHARGE POWER

L1
L2
L3

1
2

L1C
L2C

B1
B2
B3

U
V
W

C

SUP

C
N
6

C
N
5

N
1

C
N
2

R
S
T
C
N
4

F
G

Notes: The LEGEND-MC receives its power from the LEGEND amplifier
through the side interface connector, however, the digital I/O receives its power
from pins 46, 47, 48, and 49 on the I/O connector.

For maximum noise immunity, connect the FG to a ground terminal on the
sub panel or to the ground terminal on the LEGEND.

5

LEGEND-MC Installation Guide

Power/Connections Wiring - Three Phase

R

T

1MCCB

S

Noise Filter

Control

Power

ON

1MC

Servo ON

Control

Power

OFF

Servo
Power

OFF

Emergency

Stop

1MC

1MC

SUP
2MC

2MC

1MC

2MC

CHARGE

L1
L2
L3

1
2

L1C
L2C

B1
B2
B3

U
V
W

YASKAWA

LEGEND01

POWER

C

N
1

C
N
2

SUP

C
N
6

C
N
5

R
S
T
C
N
4

F
G

Notes: The LEGEND-MC receives its power from the LEGEND amplifier
through the side interface connector, however, the digital I/O receives its power
from pins 46, 47, 48, and 49 on the I/O connector.

For maximum noise immunity, connect the FG to a ground terminal on the
sub panel or to the ground terminal on the LEGEND.

6

LEGEND-MC Installation Guide

P

P

P

Cable Shielding, Segregation and Noise
Immunity

Proper

SMC 3010

a)

Connector Case

b)

Wrong

a)

Connector

Connector

Case

ROPER

Shield tied back at

terminal block.

Case

WRONG

Shield grounded at

more than one point.

Terminal Block

Terminal Block

Terminal Block

Shields ti e d

back at device

ROPER

Shield connected across
terminal block.

Shields ti e d

back at device

ROPER

Shields of field

cables grounded at

one point

Shields tied

back at device

b)

Connector

Case

Terminal Block

Shields tied

back at device

WRONG

Shields of field

cables ungrounded

7

LEGEND-MC Installation Guide

I/O Connections (50-pin CN5)

CN5

1

1

2
3

4
5
6
7
8
9

10

11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28

29
30
31
32
33
34
35
36
37
38
39
40
41
42

43
44
45
46
47
48

49
50

Analog 1
Analog 2
+5 Filtered Output power

-12 Filtered Output power
+12 Filtered Output power

Output compare
External encoder A­External encoder A+
External encoder B­External encoder B+
Abort Input
Reverse li mi t switch
Home Input
Forward limit switch
Reset Input
Digital Input 2
Digital Input 1
Digital Input 7
Digital Input 8
Digital Out put 4
Digital Ou tput 3

Digital Out put 2
Digital Ou tput 1
E STOP2
Analog Output

Digital Input 6
Digital Input 5

Digital Input 4
Digital Input 3
24V GND Input
24V Power Input
24V GND Input
24V Power Input
E STOP1

LEGEND-MC Signal Ground

8

LEGEND-MC Installation Guide

Analog I/O

Analog Input

Item Specifications

Input Voltage ± 10 V
Input Impedance Approximately 10k Ω

Resolution 12 bits over a ± 10V range or 4.88 mV per bit

Internal Circuitry

12V

-12V

DG403

MUX

VCC

-12V

12V

SMC Signal

Ground

Legend-MC I/O
Connector CN5

4

1

2

5

28

Field Wiring

-12V

Analog 1

Analog 2

+12V

9

LEGEND-MC Installation Guide

Analog Output

Item Specifications

D/A Output Resolution 16 bit over a ± 10 V range or 328 µV/bi t

Output short circuit duration Infinite

Maximum output current 60 mA

Internal Circuitry Field Wiring

TL084CN

Legend-MC I/O
Connector CN5

26

28

Analog

Output

Signal

Ground

External Device

-10~10V

L

10

LEGEND-MC Installation Guide

Digital I/O

Digital Input

Item Specifications

Number of Input Points 8
Input Format Sinking
Isolation Optical
Vo lt age 24 VDC ± 20%
Current Rating (ON) 5.3 mA to activate
Input Impedance 2.2k Ω
Operation Voltage Logic 0 <5V

Logic 1 >15V
OFF Current 0.9 mA or less
Response Time OFF to ON: <0.5 ms

Latch response time Less than 25 µsec
Minimum latch width 9 µsec

ON to OFF: <1.5 ms

Internal Circuitry

2.2k

Legend-MC I/O
Connector CN5

47

49

18

17

45

44

43

42

19

20

Field Wiring

Digital Input 1

(Main Latch)

Digital Input 2

(External Latch)

Digital Input 3

Digital Input 4

Digital Input 5

Digital Input 6

Digital Input 7

Digital Input 8

24VDC

11

LEGEND-MC Installation Guide

Digital Output

Item Specifications

Number of Output Points 4
Output Format Sinking
Output Classification Transistor Output
Isolation Optical
Load Voltage 24 VDC ± 20%
Load Current 200 mA/Output (600 mA if acti va te d individually)
Response Time OFF to ON <0.25 ms

ON to OFF <0.5 ms
External Common Power 24 VDC ± 20% 15 mA
Common User Fuse Rating 1A
Individual User Fuse Rating 200 mA recommended

Note: The ULN 2803 output chip is capable of 600 mA at a single output, or
800mA for the four outputs simultaneously.

Internal Circuitry

PS2505-4

12

10k

ULN2803

Legend-MC I/O
Connector CN5

47
49

4.7k

24
23

22
21

46
48

Field Wiring

Digital Output 1
Digital Output 2
Digital Output 3
Digital Output 4

L

L

L

L

Fuse

24VDC

LEGEND-MC Installation Guide

Emergency Stop Chain

Internal Circuitry

-EROUT
1k

VCC

Q1

2N7002

U17

Legend-MC I/O
Connector CN5

50
25

Field Wiring

E STOP1
E STOP2

The LEGEND-MC closes the relay contact under normal operating conditions.

13

LEGEND-MC Installation Guide

Serial Communication

Item Specifications

Baud Rate 9600 or 19200 settable by jumper JP1, defau lt is 19200

Data Bits 8

Parity None

Stop Bits 1

Internal Circuitry

C1+

.1 UF

C1­C2+

.1 UF

C2­T1IN

T2IN

A1OUT

A2OUT

MAX232A

T1OUT

T2OUT

A1IN

A2IN

Legend-MC Serial

Port Connector CN6

U7
V+

V-

VCC

.1 UF

.1 UF

1
6

8
2

3
7

4
9
5

Field Wiring

CTS Output
CTS Output

CTS Output

Transmit Output

Receive Input
RTS Input

RTS Input
N/C
Signal Ground

Note: Hardware handshaking must be used with the LEGEND-MC. If it is
impossible to implement hardware handshaking, us e a jumpe r betwe en pins 1
and 4 in the connector.

Note: Do not connect pin 5 to a 24V ground.

14

LEGEND-MC Installation Guide

External Encoder Specifications

Item Specifications

Input Format Quadrature

Pulse and Direc ti o n

Maximum Frequency 12 MHz

Legend-MC I/O

Digital

Ground

Digital

2.4k

Ground

Connector CN5

9
8
34
10

11
34

Shield

Field Wiring

External Encoder

A+phase
A-phase

B-phase

B+phase

Frame
Ground

+5V or +12V

0V

Internal Circuitry

4.7k

3486

3486

VCC

6.8k

4.7k

6.8k

2.4k

Standard voltage leve ls are TTL (0V to 5V), however, voltage levels up to 12V are
acceptable. If using differential 12V si gnals, no modification is required. Single
ended 12V signals require a bias voltage applied to the complimentary input, i.e.; use
two 10k resistors, one connected to +12V and the other connected to the LEGEND
signal ground to hold the /A phase and /B phase at 6VDC. Do not use a 24VDC
encoder.

15

LEGEND-MC Installation Guide

Dedicated Inputs

Item Specifications

Number of Input Points Forward limit, Reverse limit, Home, Abort, Reset

Input Format Sinking

Isolation Optical

Vo lt age 24 VDC ± 20%

Current Rating (ON) 5.3 mA to activate
Input Impedance 2.2k Ω

Operation Voltage Logic 0 <5V

Logic 1 >15V

OFF Current 0.9 mA or less

Limit Switch Response
Time

Internal Circuitry

OFF to ON: <0.5 ms
ON to OFF: <1.5 ms

2.2k

Legend-MC I/O
Connector CN5

47

49

15

13

14

12

16

Field Wiring

Forward Limit Switch

Reverse Limit Switch

Home Input

Abort Input

Reset Input

24VDC

External Input Signal

16

LEGEND-MC Installation Guide

Physical Specifications

Description Specifications

Depth: 130mm (5.12 in)

Width: 20 mm (.79 in)

Height: 142 mm (5.6 in)

Weight: .18 kg (.4 lb.)

Vibration:

Ambient temper ature: 0 ~ 70° C (32 ~ 158° F)

Humidity: Less than 95%

Noise: IEC Level 3

9.8 msec

2

(1.0g)

Hardware Specifications

Description Specifications

CPU: 25 mHz Motorola

Servo update: 1000 µs default, 250 µs minimum

Digital inputs: (8), +24VDC

Dedicated inputs: (5), +24VDC

Digital Outputs: (4), +24VDC

Analog inputs: (2) +/- 10 V 12 bit resolution

Analog outputs: (1) +/- 10 V 16 bit resolution

Serial port: (1) 9600 or 19200 baud

Ethernet: (1) 10-base-T

17

LEGEND-MC Installation Guide

Cable Diagram and Dimensional Drawings

I/O Cable with Terminal Block JUSP-TA50P

8 8 8 88

CN5

1
2

Connector Terminal Block Converter Unit
JUSP-TA 5 0P* (cable included)

Mounting Hole Diagram

0.61 (15.5)

0.27 (7.0)

Length of cable supplied: 19.69 (500)

50-pin connector plug
MR-50RMD2

50-pin terminal block
M3.5 screws

9.74 (247.5)

10.01 (254.2)

0.14 (3.5)0.14 (3.5)

10.28 (261.2)

0.27 (7.0)

+10%

-0%

49
50

1.16

(29.5)

1.77 (45)

1.77 (45)

*Terminal specifications : see I/O connections, page 8

18

(0.79)

20

LEGEND-MC Installation Guide

MOUNTING CLIPS

LEGEND MOUNTING

CLIP

20

(O.79)

(5.12)

130

SIDE PIN CONNECTOR

19

LEGEND MOUNTING

CLIP

SERIAL PORT

ETHERNET LED'S

ETHERNET

STATUS LED'S

C
N
6

C
N

I/O

5

R

S

RESET

T
C
N
4

F

GROUND

G

142

(5.59)

MODEL NP

CLIP ATTACHMENT TO LEGEND AMP

APPROX. MASS: 0.18kg

DIMENSIONS: MM (IN)

LEGEND-MC Installation Guide

NOTES:

20

LEGEND-MC Installation Guide

YASKAWA ELECTRIC AMERICA, INC.

Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.

Phone: [phone] Fax: [phone] Internet: http://www.yaskawa.com
MOTOMAN INC.
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone: [phone] Fax: [phone] Internet: http://www.motoman.com

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South T ower, 1-1 6-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan
Phone: [phone] Fax: [phone] Internet: http://www.yaskawa.co.jp

YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.

Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000
Phone: [phone] Fax: [phone] Internet: http://www.yaskawa.com.b r

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone: [phone] Fax: [phone] Int ernet: http://www.yaskawa.de

MOTOMAN ROBOTICS AB

Box 504 S38525, Torsas, Sweden
Phone: [phone] Fax: [phone]

MOTOMAN ROBOTEC GmbH

Kammerfeldstrabe 1, 85391 Allersh ausen, Germany
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF , Scotland, United Kingdom
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC KOREA CORPORATION

Paik Nam Bldg. 901 188- 3, 1-Ga Euljiro, Joong-Gu, Seoul, Korea
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
Head Office: 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SINGAPO RE

Phone: [phone] Fax: [phone]

TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)

10F 146 Sung Chiang Road, Taipei, Taiwan
Phone: [phone] Fax: [phone]

YASKAWA JASON (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone: [phone] Fax: [phone]

BEIJING OFFICE

Room No. 301 Office Building of Beijing International Club,
21 Jianguomanwai Avenue, Beijing 100020, China
Phone: [phone] Fax: [phone]

SHANGHAI OFFICE

27 Hui He Road Shanghai 200437 China
Phone: [phone] Fax: [phone]

SHANGHAI YASKAWA-TONJI M & E CO., LTD.

27 Hui He Road Shanghai 200437 China

Phone: [phone] Fax: [phone]

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

30 Xue Yuan Road, Haidian, Beijing 100083 China
Phone: [phone] Fax: [phone]
SHOUGANG MOTOMAN ROBOT CO., LTD.
7, Yongchang-North Street, Beijing Economic & Technological Development Area,
Beijing 100076 China
Phone: [phone] Fax: [phone]

YEA, TAICHUNG OFFICE IN TAIWAN

B1, 6F, No. 51, Section 2, Kung-Yi Road, T aichung City, Taiwan, R.O.C.Phone: [phone] Fax: [phone]
Phone: [phone] Fax: [phone] Internet: http://www.yaskawa.com.b r

Yaskawa Electric America, Inc., August 2001 YEA-TOA-SMC-1.3A Printed in U.S.A.