Yaskawa SMC-4000 User Manual

SMC–4000 Installation Guide

SMC–4000 Installation Guide

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

SMC–4000 Installation Guide

SMC–4000 Installation Guide

WARNING

YASKAWA manufactures component parts that can be used in a wide variety of industrial
applications. The selection and application of YASKAWA products remain the responsibili ty
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 YASKAW A must be suppli ed 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, prop erty damage, losses or claims arising from misapplication of its products.

SMC–4000 Installation Guide

SMC–4000 Installation Guide

Introduction

The SMC–4000 is a multi-axis Ethernet motion controller
designed for use with Yaskawa’s SIGMA series and
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, the Ethernet function allows multiple
devices to communicate with the controller using a
TELNET or MODBUS protocol.

1

SMC–4000 Installation Guide

Part Numbers

Description Part Number

a) Two axis motion controller SMC4020

Two axis motion controller w/ absolute encoder option SMC4020W
Four axis motion controller SMC4040

Controller

Four axis motion controller w/ absolute encoder option SMC4040W

b) Pigtail (5 feet) SMCCBL005

Pigtail (10 feet) SMCCBL010
Pigtail (15 feet) SMCCBL015
Prewired for SGD, SGDA, or SGDG (2 feet) SMCCBL102
Prewired for SGD, SGDA, or SGDG (5 feet) SMCCBL105
Prewired for SGD, SGDA, or SGDG (10 feet) SMCCBL110
Prewired for SGD, SGDA, or SGDG (15 feet) SMCCBL115
Prewired for SGDB or SGDH (2 feet) SMCCBL202
Prewired for SGDB or SGDH (5 feet) SMCCBL205
Prewired for SGDB or SGDH (10 feet) SMCCBL210
Prewired for SGDB or SGDH (15 feet) SMCCBL215
Prewired for SGDB or SGDH (2 feet) Includes Alarm & Reset SMCCBLH02
Prewired for SGDB or SGDH (5 feet) Includes Alarm & Reset SMCCBLH05
Prewired for SGDB or SGDH (10 feet) Includes Alarm & Reset SMCCBLH10
Prewired for SGDB or SGDH (15 feet) Includes Alarm & Reset SMCCBLH15

Encoder Cables

Prewired for SGD, SGDA, or SGDG (2 feet) with additional
pigtail

Prewired for SGD, SGDA, or SGDG (5 feet) with additional
pigtail

Prewired for SGD, SGDA, or SGDG (10 feet) with additional
pigtail

Prewired for SGD, SGDA, or SGDG (15 feet) with additional
pigtail

Prewired for SGDB or SGDH (2 feet) with additional pigtail SMCCBLB02
Prewired for SGDB or SGDH (5 feet) with additional pigtail SMCCBLB05
Prewired for SGDB or SGDH (10 feet) with additional pigtail SMCCBLB10
Prewired for SGDB or SGDH (15 feet) with additional pigtail SMCCBLB15

SMCCBLA02

SMCCBLA05

SMCCBLA10

SMCCBLA15

2

SMC–4000 Installation Guide

Description Part Number

c) 1.0m pigtail cable JZSP-CKIO1-

2.0m pigtail cable JZSP-CKIO1-

3.0m pigtail cable JZSP-CKIO1-

1.0m cable with OMRON terminal block JUSP TA50P

I/O

0.5m 50 pin I/O cable to DSUB JZSP-CKIOD-

1.0m 50 pin I/O cable to DSUB JZSP-CKIOD-

2.0m 50 pin I/O cable to DSUB JZSP-CKIOD-

CN5 Connector Kit (same as SGDH 1CN kit) JZSP-CKI9

d) 2.0m CN6 serial port cable (included with YTerm software) SMCCBL7

Serial

e) YTerm Integrated Development Environment SMCGUI1

1(A)

2(A)

3(A)

D50

01

02

SMCComm serial & ethernet driver for application development
for all SMC products

Software

f) Replacement power supply connector UFS-0118

SMCOCX1

Other

3

SMC–4000 Installation Guide

Start-up

Front Panel Descriptio

No. Name Description

(1) Power

ON

(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 button. Causes the controller to reboot, and load the application

(6) Ethernet

status

(7) Ethernet

status

(8) CN4 10 BaseT Ethernet RJ45 Connector
(9)

A green LED that indicates power is being applied to the SMC–4000.

A red LED that will flash ON at power up and stay lit for ap proximately 2
seconds. After power up, the LED will illuminate for the following
reasons:

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

• The reset input on the controller is held low or is being affected by
noise.

• There is a failure in the controller and the processor is resetting
itself.

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

program and parameters from flash. If the pro gram contains an #A UTO
label, it will automatically execute.

A green LED that is lit when there is an Ethernet connection to the
controller. This LED indicates physical connection, not active
communication.

The yellow LED indicates traffic across the Ethernet connection. This
LED will show both transmit and receive activity across the connection.
If there is no Ethernet connection or IP address assigned, the LED will
flash at regular intervals to show that the BOOTP packets are being
broadcast.

Power Connector (+24VDC, 0VDC, FG

(5)

(8)

(7)

(6)

(9)

(1)

(2)

(3)

(4)

4

SMC–4000 Installation Guide

Axis Connector (20–pin)

SMC Axis Connector SGDH CN1

PIN SIGNAL Reference Pin

1 PA input 33
2 /PA input 34
3 PB input 35
4 /PB input 36
5 PC input 19
6 /PC input 20
7 Motor Command output 9
8 +5 / +12 / -12 Common output 10
9 +5 / +12 / -12 Common output 2

10 +5 / +12 / -12 Common output 6

11 Amplifier Enable output 40
12 Step output 11
13 Sen/Dir output 4
14 +5 / +12 / -12 Common output 1
15 Alarm + input 31
16 Reset output 44
17 ALM - input 32
18 n/c
19 +24 VDC output 47
20 n/c

5

SMC–4000 Installation Guide

I/O Connections (50-pin CN5)

SMC Output Connector CN5 SMC Output Connector CN5

PIN

(Numerical Order)

1 Home W Abort 33
2 Home Z E-Stop1 39
3 Home Y E-Stop2 40
4 Home X Forward Limit W 27
5 Input 1 Forward Limit X 30
6 Input 4 Forward Limit Y 29
7 Input 7 Forward Limit Z 28
8 Output 3 Home W 1

9 Output 5 Home X 4
10 Output 8 Home Y 3
11 X Aux Encoder A+ Home Z 2
12 X Aux Encoder B- Input 1 5
13 Y Aux Encoder B+ Input 2 18
14 Reverse Limit W Input 3 31
15 Reverse Limit Z Input 4 6
16 Reverse Limit Y Input 5 19
17 Reverse Limit X Input 6 32
18 Input 2 Input 7 7
19 Input 5 Input 8 20
20 Input 8 Output 1 34
21 Output 2 Output 2 21
22 Output 7 Output 3 8
23 X Aux Encoder A- Output 4 35
24 Y Aux Encoder A+ Output 5 9
25 Y Aux Encoder B- Output 6 36
26 Reset Output 7 22
27 Forward Limit W Output 8 10
28 Forward Limit Z Reset 26
29 Forward Limit Y Reverse Limit W 14
30 Forward Limit X Reverse Limit X 17
31 Input 3 Reverse Limit Y 16
32 Input 6 Reverse Limit Z 15
33 Abort Spare 1 49
34 Output 1 Spare 2 50
35 Output 4 W Aux Encoder A- 46
36 Output 6 W Aux Encoder A+ 45
37 X Aux Encoder B+ W Aux Encoder B- 48
38 Y Aux Encoder A- W Aux Encoder B+ 47
39 E-Stop1 X Aux Encoder A- 23

6

SIGNAL

SIGNAL

(Alphabetical Order)

PIN

SMC–4000 Installation Guide

SMC Output Connector CN5 SMC Output Connector CN5

PIN

(Numerical Order)

40 E-Stop2 X Aux Encoder A+ 11
41 Z Aux Encoder A+ X Aux Encoder B- 12
42 Z Aux Encoder A- X Aux Encoder B+ 37
43 Z Aux Encoder B+ Y Aux Encoder A- 38
44 Z Aux Encoder B- Y Aux Encoder A+ 24
45 W Aux Encoder A+ Y Aux Encoder B- 25
46 W Aux Encoder A- Y Aux Encoder B+ 13
47 W Aux Encoder B+ Z Aux Encoder A- 42
48 W Aux Encoder B- Z Aux Encoder A+ 41
49 Spare 1 Z Aux Encoder B- 44
50 Spare 2 Z Aux Encoder B+ 43

SIGNAL

SIGNAL

(Alphabetical Order)

PIN

7

SMC–4000 Installation Guide

P

P

P

Cable Shielding, Segregation and Noise Immunity

Proper

Shields tied

back at device

ROPER

Shield connected ac ross
terminal block.

a)

SMC 3010

Connector

Case

Terminal Block

Connector Case

b)

Improper

Connector

a)

Connector Case

ROPER

Shield tied back a t

terminal block.

Case

WRONG

Shield grounded at

more than one point.

Terminal Block

Terminal Block

Terminal Block

Shields tied

back at device

ROPER

Shields of field

cables grounded at

one point

Shields tied

back at device

Shields tied

back at device

b)

WRONG

Shields of field

cables ungrounded

8

SMC–4000 Installation Guide

Digital I/O

Digital Input

Item Specifications

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

Logic 1 >15V
OFF Current 0.9mA or less
Response Time

(Hardware)
Latch response time Less than 25µsec
Minimum latch width 9µsec

NOTE: Inputs float high unless the input is held low.

OFF to ON: <0.5ms

ON to OFF: <1.5ms

Internal Circuitry

SMC–4000 CN5 Connector

24VDC

2.2K

5
18
31
6

19
32

7
20

Digital Input 1/Latch X

Digital Input 2/Latch Y
Digital Input 3/Latch Z
Digital Input 4/Latch W

Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8

9

SMC–4000 Installation Guide

Digital Output

Item Specifications

Number of Output Points 8
Output Format Sinking
Output Classification Transistor Output
Isolation Optical
Load Voltage 24VDC ± 20%
Load Current 200mA/Output (600mA if activated individually)
Response Time OFF to ON <0.25ms

ON to OFF <0.5ms
External Common Power 24VDC ± 20% 15mA
Common User Fuse Rating 800mA per bank of four
Individual User Fuse Rating 200mA recommended

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

Internal Circuitry

SMC–4000 CN5 Connector

Field Wiring

PS2504–4

0VDC from power input

10

10k

ULN2803

4.7k

34

Digital Output 1
Digital Output 2

21

Digital Output 3

8

Digital Output 4

35

Digital Output 5

9

Digital Output 6

36

Digital Output 7

22
10

Digital Output 8

L

L

L

L

L

L

L

L

Fuse

SMC–4000 Installation Guide

Emergency Stop Chain

Internal Circuitry

VCC

SMC–4000 CN5 Connector

Field Wiring

-EROUT

39
40

2N7002

1k

E STOP1
E STOP2

The SMC–4000 closes the relay contact under normal operating
conditions. The relay is controlled by the same circuit as the error
LED. The relay will be open if the error LED is ON.

Ratings:

1.0A @ 24VDC

0.5A @ 125VDC
Maximum switching power: 62.5VA, 30W

11

SMC–4000 Installation Guide

Serial Communication

Item Specifications

Baud Rate 9600 or 19200 settable by jumper JP2, default 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

V+
V-

U7

SMC–4000

VCC

.1 UF
.1 UF

Serial Port 6CN

1
6
8
2
3
7
4
9
5

CTS Output
CTS Output
CTS Output
Transmit Input

Receive Input
RTS Input
RTS Input
N/C
Signal Ground

NOTE: Hardware handshaking must be used with the SMC–4000. If it
is impossible to implement hardware handshaking, use a jumper
between pins 1 and 4 in the connector.

NOTE: Do not connect pin 5 to a 24V ground. This would defeat the
opto isolation.

12

SMC–4000 Installation Guide

External Encoder Specifications

Item Specifications

Number of External

One per Main Axis

Encoders
Input Format Quadrature or

Pulse and Direction

Maximum Frequency 12 MHz
Current Draw 940 µAmp

Internal Circuitry

3486

3486

4.7k

4.7k

6.8k

2.4k

SMC–4000

VCC

6.8k

2.4k

X axis internal encoder shown
See 5CN connector for other axis pin connections.

5CN Connector

Field Wiring

11
23

37
12

A+ phase

A- phase

B+ phase

B- phase

Shield

Frame Ground

External Encoder

+5V or +12V

Standard voltage levels are TTL (0V to 5V), however, voltage levels
up to 12V are acceptable. If using differential 12V signals, 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 encoder signal
ground to hold the /A phase and /B phase at 6VDC. Do not use a
24VDC encoder.

13

SMC–4000 Installation Guide

Dedicated Inputs

Item Specifications

Number of Input Points Forward limit, Reverse limit, Home for all axes; and

Abort, Reset
Input Format Sinking
Isolation Optical
Voltage 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

X axis dedicated inputs shown. Other axes are the
same.

OFF to ON: <0.5 ms

ON to OFF: <1.5 ms

SMC–4000

+24 VDC

2.2k

CN5 Connector

Field Wiring

Forward Limit Switch

30

Reverse Limit Switch

17

4
33

26

External Input Signal

Home Input
Abort Input
Reset Input

0VDC

14

SMC–4000 Installation Guide

Physical Specifications

Description Specifications

Depth 5 inches
Width 2.6 inches
Height 9.1 inches
Weight 3.52lbs (1.6kg)
Vibration

Ambient Temperature 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 25MHz Motorola
Servo Update 1000µs default, 250µs minimum
Digital Inputs (8), +24VDC
Dedicated Inputs (2) +24VDC +3 per axis @24VDC
Digital Outputs (8), +24VDC
Serial port (1) 9600 or 19200 baud
Ethernet (1) 10-base-T
Power Input 24 VDC – 600mA

15

SMC–4000 Installation Guide

Dimensional Drawings

16

SMC–4000 Installation Guide

I/O Cable with Terminal Block JUSP-TA50P

CN5

Length of cable supplied: 19.69 (500)

50-pin connector plug
MR-50RMD2

50-pin terminal block
M3.5 screws

+10%

-0%

1
2

9.74 (247.5)

49
50

Connector Terminal Block Converter Unit
JUSP-TA50P* (cable included)

Mounting Hole Diagram

10.01 (254.2)

0.14 (3.5)0.14 (3.5)

0.61 (15.5)

0.27 (7.0)

* Terminal specifications: see I/O Connections (50-pin CN5), page 6.

10.28 (261.2)

0.27 (7.0)

1.16

1.77 (45)

(29.5)

1.77 (45)

17

SMC–4000 Installation Guide

NOTES

18

SMC–4000 Installation Guide

SMC–4000 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 ELECT R IC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, 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.br

YASKAWA ELECT R IC EU ROPE GmbH

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

MOTOMAN ROBOTICS AB

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

MOTOMAN ROBOTEC GmbH

Kammerfeldstrabe 1, 85391 Allershausen, 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, SINGAPORE

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, Taichung City, Taiwan, R.O.C.Phone: [phone] Fax: [phone]­2239
Phone: [phone] Fax: [phone] Internet: http://www.yaskawa.com.br

Yaskawa Electric America, Inc., January 2004 YEA–TOA–SMC–4.3 Printed in U.S.A.