Multi-Axis Controllers and Drives High Performance Computing and Control SEC-AC-SMLC Multi-Axis Controllers Integrated PLC functionality and OPC server Control up to 16 axes Ethernet connectivity and optional Profibus® master variant IEC 61131-3 applications programming PLCopen and enhanced motion function blocks SEC-SDD ServoWire® Digital Drives IEEE 1394 ServoWire® drive network Simplified servo system tuning 115 VAC single phase and 230 VAC single/three phase Supports both resolver and
System Overview Multi-Axis Controllers and Drives Typical System Overview Plant Floor Ethernet Network Development PC/SCADA Software Festo VipWIN/OPC EasyClient HMI (FED) Ethernet and Serial Ethernet and Serial (Modbus TCP and RTU) ServoWire Digital Drives Remote I/O – Festo CPX ServoWire Ethernet (Modbus TCP) (FireWire) and Profibus DP Festo Motors Festo Electromechanical Actuators (see page 42) ServoWire® is a registered trademark of ORMEC Systems Corporation.
Contents Multi-Axis Controllers and Drives Introduction Product Overview ...................................... 4 Features and Benefits ................................ 6 Online Literature Literature in PDF format is available for download at www.festo.com/us/m&c/smlc. 1 Page 4 SEC-AC-SMLC Multi-Axis Controllers Technical Data Electrical .................................................... 8 Dimensions ..............................................
Product Overview SEC-AC-SMLC Multi-Axis Controllers and SEC-SDD ServoWire® Digital Drives A Complete Motion Control Solution 1 Control of up to 16 Axes The SEC-AC-SMLC with the ServoWire® Drive Network and Modbus TCP communications provide state-of-the-art I/O and motion control, all programmed using the CoDeSys IEC 61131-3 standard languages, controlling up to a maximum of 16 axes.
Product Overview SEC-AC-SMLC Multi-Axis Controllers and SEC-SDD ServoWire® Digital Drives Multi-Axis Controller, Type SEC-AC-SMLC 1 Power connector Profibus Master Sub-D connector (Profibus variants only) IEEE 1394 FireWire ports Status indicators Keyboard connector Digital I/O USB ports* System card Ethernet (RJ45) ports Analog I/O VGA port RS232 serial ports * Currently not supported ServoWire Digital Drive, Type SEC-SDD Drive ID setting switch Bus power indicator Main control power and motor
Features and Benefits SEC-AC-SMLC Multi-Axis Controllers and SEC-SDD ServoWire® Digital Drives Integration 1 The SEC-AC-SMLC multi-axis controller and CoDeSys development software combine to provide flexible and effective networking solutions for interfacing machine I/O, HMIs and factory data networks. The controller seamlessly integrates with HMI devices using Modbus RTU and Modbus TCP communications.
SEC-AC-SMLC Multi-Axis Controllers 2 SEC-AC-SMLC Controllers Three models available with two variants each – 3-Axis – 8-Axis – 16-Axis An integrated Profibus master variant is available for all three controller models 12/2006 – Subject to change – Multi-Axis Controllers and ServoWire® Digital Drives 7
Technical Data – Electrical SEC-AC-SMLC Multi-Axis Controllers Integrated Features PLC functionality OPC Server Digital and Analog inputs and outputs Three RS232 serial ports (four on the M16 model) Drive Network High bandwidth synchronous, all digital servo drive network based on IEEE 1394 (2 ports) 2 Networking Two Ethernet 10/100 base T, RJ45 ports supporting Ethernet TCP/IP for connection to factory data networks. Modbus TCP for connecting up to 16 CPX-FEC valve terminals and HMI devices.
Technical Data – Electrical SEC-AC-SMLC Multi-Axis Controllers Serial Interface Specifications Development Port COM1 Connector Standards Default configuration 9-pin male Sub-D EIA RS-232C 8 data bits 1 stop bit no parity 9600, 4800, 2400, 1200 Baud; 115.2 kB, 57.6 kB, 38.4 kB, 19.2 kB (Default) Baud rate HMI Serial Port COM2 Connector Standards Default configuration 9-pin Male Sub-D EIA RS-232C 8 data bits 1 stop bit no parity 9600, 4800, 2400, 1200 Baud; 115.2 kB, 57.6 kB, 38.4 kB, 19.
Technical Data – Dimensions SEC-AC-SMLC Multi-Axis Controllers Multi-Axis Controllers (3-Axis and 8-Axis) SEC-AC-SMLC-M3-SA, SEC-AC-SMLC-M8-SA 2 All dimensions are shown in millimeters [mm] 10 Multi-Axis Controllers and ServoWire® Digital Drives – Subject to change – 12/2006
Technical Data – Dimensions SEC-AC-SMLC Multi-Axis Controllers Multi-Axis Controllers (16-Axis) SEC-AC-SMLC-M16-SA 2 All dimensions are shown in millimeters [mm] 12/2006 – Subject to change – Multi-Axis Controllers and ServoWire® Digital Drives 11
Programming Software SEC-AC-SMLC Multi-Axis Controllers CoDeSys Development Software Developing Motion control and I/O programming using a standard set of software tools streamlines software development and creates application programs that are more effective and easier to support in the field.
Programming Software SEC-AC-SMLC Multi-Axis Controllers CoDeSys Development Software The PLCopen standard Motion Control Library, plus powerful ORMEC extensions, bring new levels of motion performance for electronic gearing, camming, registration control and coordinated, multi-axis applications.
Ordering Data SEC-AC-SMLC Multi-Axis Controllers Order Code Example Examples: 8-Axis controller without Profibus master – Order: 13039604 SEC-AC-SMLC-M8-SA Festo multi-axis controllers are ordered with an order code. The order code consists of the part number and type as shown below. Part No.
SEC-SDD ServoWire® Digital Drives SEC-SDD ServoWire Drives Four models available with two variants each – 2A drive with integrated resolver feedback module – 4A drive with integrated resolver feedback module – 8A drive with integrated resolver feedback module – 14A drive with integrated resolver feedback module Variant with encoder feedback for all four models is available 12/2006 – Subject to change – Multi-Axis Controllers and ServoWire® Digital Drives 15 3
Technical Data – Electrical SEC-SDD ServoWire® Digital Drives Drive Power / Output Current: Range: 290 W to 3.3 kW Range: 2.5 A rms to 13.
Technical Data – Electrical SEC-SDD ServoWire® Digital Drives I/O Specifications All Models I/O Power Supply (V+S and V-S) Externally supplied voltage For high speed sensor inputs, digital inputs, and digital outputs Max voltage between V+S and V-S +27 VDC maximum High-speed Sensor Inputs Input current depends on software configuration NPN type sensor – 8.9 mA at 24 VDC (with 2.
Technical Data – Electrical SEC-SDD ServoWire® Digital Drives Motor Feedback Specifications Motor Encoder Interface Channels A and B – Differential Digital Inputs Common mode input –15 VDC to +15 VDC maximum Absolute maximum input voltage ± 25 VDC Maximum encoder counts per rev 1,000,000 (after 4x decode) Maximum encoder data rate 4 MHz Quadrature specification 90°, ± 45° Differential turn on voltage: Receiver output: VID > 0.7 V –H – Not defined –0.7 V > VID > 0.7 V –L VID < –0.
Technical Data – Dimensions SEC-SDD ServoWire® Digital Drives ServoWire Drives with Encoder Feedback (2 A, 4 A and 8 A) SEC-SDDE-2/4-SA, SEC-SDDE-4/7-SA, SEC-SDDE-8/14-SA All dimensions are shown in millimeters [mm] 3 12/2006 – Subject to change – Multi-Axis Controllers and ServoWire® Digital Drives 19
Technical Data – Dimensions SEC-SDD ServoWire® Digital Drives ServoWire Drives with Encoder Feedback (14 A) SEC-SDDE-14/24-SA All dimensions are shown in millimeters [mm] 3 20 Multi-Axis Controllers and ServoWire® Digital Drives – Subject to change – 12/2006
Technical Data – Dimensions SEC-SDD ServoWire® Digital Drives ServoWire Drives with Resolver Feedback (2 A, 4 A and 8 A) SEC-SDDR-2/4-SA, SEC-SDDR-4/7-SA, SEC-SDDR-8/14-SA All dimensions are shown in millimeters [mm] 3 12/2006 – Subject to change – Multi-Axis Controllers and ServoWire® Digital Drives 21
Technical Data – Dimensions SEC-SDD ServoWire® Digital Drives ServoWire Drives with Resolver Feedback (14 A) SEC-SDDR-14/24-SA All dimensions are shown in millimeters [mm] 3 22 Multi-Axis Controllers and ServoWire® Digital Drives – Subject to change – 12/2006
Drive Configuration Software SEC-SDD ServoWire® Digital Drives ServoWire Pro Software ServoWire Pro provides an integrated suite of configuration, diagnostic and maintenance utilities that assist in the development and ongoing support of SEC-SDD ServoWire digital drive systems. ServoWire Setup provides menus and software wizards to simplify the configuration of SEC-SDD ServoWire digital drives. ServoWire Upgrade provides tools for upgrading the SEC-SDD drives to latest firmware.
Drive Configuration Software SEC-SDD ServoWire® Digital Drives ServoWire Pro Software ServoWire Upgrade The ServoWire upgrade utility provides the user with the means to update SEC-SDD ServoWire digital drives with new firmware versions as they become available. Upgrade Utility Features: Display current version of firmware of all connected ServoWire drives. Allow for download of a different firmware version (older or newer), which is burned into the drives’ Flash memory.
Drive Configuration Software SEC-SDD ServoWire® Digital Drives ServoWire Pro Software ServoWire Monitor The ServoWire monitor provides an effective way to view devices on a ServoWire network. This includes the SEC-AC-SMLC controller, all drives and other devices on the 1394 network. Monitor Utility Features: Display drive model and serial numbers, firmware revisions, hardware revisions and modifications. Provide real-time drive performance information.
Ordering Data SEC-SDD ServoWire® Digital Drives Order Code Example Examples: ServoWire digital drive, 4.1/7.1A RMS/peak, with resolver – Order: 13039607 SEC-SDDR4/7-SA Festo ServoWire digital drives are ordered with an order code. The order code consists of the part number and type as shown below. Part No.
Ordering Data SEC-SDD ServoWire® Digital Drives Accessories Description Part No. Type I/O Connector (Crimped) for SEC-SDD Drive I/O Connector (IDC) for SEC-SDD Drive I/O Connector with cable for SEC-SDD Drive Resolver Feedback Module 14/16 bit, 6000 RPM max.
Multi-Axis Controllers and ServoWire® Digital Drives – Subject to change – 12/2006
Engineering Support Function Blocks Motor and I/O Compatibility Festo Servo Motor Performance Data System Selection Sensor Selection Regen Resistor/Drive Compatibility and Line Filter Selection and Sizing Glossary 4 12/2006 – Subject to change – Multi-Axis Controllers and ServoWire® Digital Drives 29
Function Blocks Engineering Support CPX Function Blocks (For Communication Between CPX-FEC and SEC-AC-SMLC Controller via Modbus TCP) CPX_Diagnostic_Read CPX_Status_Read BOOL STRING DWORD Execute IPAddress AdrCPXStatus Done Error ErrorID BOOL BOOL BOOL BOOL STRING DWORD CPX Status Read Block Enable ModuleDiagnosticData Done FaultNumber ChannelNumber OutputFault InputFault ModuleFault Reserved Done Error ErrorID BOOL BOOL BOOL CPX Diagnostic Read Block CPX_Diagnostic_Write CPX_Diagnostic_Data B
Function Blocks Engineering Support Supported PLCopen Function Blocks Administrative Single Axis MC_Power MC_ReadStatus MC_ReadAxisError MC_Read Parameter MC_ReadBoolParameter MC_Write Parameter MC_WriteBoolParameter MC_ReadActualPosition MC_Reset Motion Multiple Axis MC_DigitalCamSwitch Single Axis MC_MoveAbsolute MC_MoveRelative MC_MoveVelocity MC_Home MC_Stop MC_PositionProfile Multiple Axis MC_CamIn MC_CamOut MC_GearIn MC_GearOut Supported PLCopen 2 Function Blocks Multiple Axis MC_CamTableSelect
Function Blocks Engineering Support Rotary Knife Application Function Block This function block makes it easy to implement a full-featured Rotary Knife application with a minimum of programming. Rotary Knives are used to cut, emboss, print or apply other processes to a moving web. The knife axis, which has one or more blades or dies equally spaced around its circumference, matches the web speed while making a cut or impression.
Motor and I/O Compatibility Engineering Support Yaskawa Motors – Sigma II Series (Incremental Encoder Feedback) Listed below are the supported Yaskawa motors and associated ServoWire drives.
Festo Servo Motor Performance Data (110 VAC) Torque as a Function of Speed MTR-AC-40-... MTR-AC-55-... MTR-AC-55-... Torque [Nm] Torque [Nm] Engineering Support Speed [rpm] Speed [rpm] MTR-AC-100-3S-... MTR-AC-100-...-3S Torque [Nm] Torque [Nm] MTR-AC-70-... Speed [rpm] Speed [rpm] Nominal torque Peak torque Note: these are calculated curves, the actual motor performance might vary up to 5%. Note Characteristic curves apply to motors without gear unit.
Festo Servo Motor Performance Data (230 VAC) Engineering Support Torque as a Function of Speed MTR-AC-40-... Torque [Nm] Torque [Nm] MTR-AC-55-... MTR-AC-55-... Speed [rpm] Speed [rpm] MTR-AC-100-3S-... MTR-AC-100-...-3S Torque [Nm] Torque [Nm] MTR-AC-70-... Speed [rpm] Speed [rpm] Nominal torque Peak torque Note Characteristic curves apply to motors without gear unit. The gear unit data must be taken into consideration for motors with gear unit.
System Selection Engineering Support System Selection Guide Note Selection of drive based on motor usage. – Accelerations, speeds and torque requirements to be considered.
System Selection Engineering Support Example #1 System Description: Three axis linear gantry X axis: Motor: Homing: Motor cables: Over Travel sensors: MTR-AC-3S-70-GA (without brake) To a sensor Motor is stationary so Hi-Flex cables are not required Required at both ends of linear axis Y axis: Motor: Homing: Motor cables: Over Travel sensors: MTR-AC-3S-55-AA (without brake) To a sensor Hi-Flex cables are required Required at both ends of linear axis Z axis: Motor: Homing: Motor cables: Over Travel se
Sensor Selection Engineering Support Recommended Festo Sensors Function Type Code Over Travel Limit Sensors on Drive High Speed Sensor/General Input on Drive General Purpose Inputs on Drive or SMLC Controller SIEN-M8B-PS-K-L SIEN-M8B-PS-S-L SIEN-M8B-NO-K-L SIEN-M8B-NO-S-L SMT-8-PS-K-LED-24-B SMT-8-PS-S-LED-24-B SME-8-K-LED-24 SME-8-S-LED-24 SME-8-O-K-LED-24 SIEN-M8B-PS-K-L SIEN-M8B-PS-S-L SIEN-M8B-PO-K-L SIEN-M8B-PO-S-L SIEN-M8B-NS-K-L SIEN-M8B-NS-S-L SIEN-M8B-NO-K-L SIEN-M8B-NO-S-L SMT-8-PS-K-LED-24-B
Regen Resistor/Drive Compatibility and Line Filter Selection and Sizing Engineering Support Regen Resistor/Drive Compatibility Regen Resistor Model SEC-SDD-RR-55 SEC-SDD-RR-95 SEC-SDD-RR-230 SEC-SDD-RR-650 SEC-SDD-RR-700 SEC-SDD-RR-845 Resistance [Ω] 50 40 81 72 54 40 Rated Power [Watts] 55 95 230 648 700 845 Drives SEC-SDDR8/14-SA SEC-SDDE8/14-SA Drives SEC-SDDR14/24-SA SEC-SDDE14/24-SA *** N/A * *** * * ** N/A * * * ** Key * Compatible ** Peak Regen capacity of the drive *** Limited by the resis
Glossary Engineering Support A E Absolute encoder A position feedback device employed in motion control systems to maintain a given mechanical location. The output of an absolute encoder is representative of the absolute position of the motor shaft within one (or more - in the case of a multi-turn encoder) revolutions. Output is usually a parallel digital word. Electronic cam A technique used to perform non linear motion electronically similar to that achieved with mechanical cams.
Glossary Engineering Support O R OPC OLE for Process Control. A set of open standards for connectivity and interoperability of industrial automation and enterprise systems. RTOS Real-Time Operating System. P Pacer encoder An incremental encoder or device that generates quadrature signals which are used by other servo axes when they operate as followers.
Electromechanical Actuators and Servo Motors ServoWire Digital Drives Multi-Axis Controller Festo servo motors, type MTR-AC and ServoWire digital drives offer tried and tested performance with the SEC-AC-SMLC controllers and Festo electric linear actuators types DGE and SLME. ServoWire (FireWire) DGE Actuator DGE Actuator MTR-AC Motors SLME Actuator DGE Electric Linear Actuators Ball Screw Driven Linear Actuators Sizes: 18, 25, 40, 63 mm Stroke lengths up to 2 m Maximum speed: 1.
Product Range and Company Overview Supporting Advanced Automation... As No One Else Can Festo is a leading global manufacturer of pneumatic and electromechanical systems, components and controls for industrial automation, with 56 national headquarters serving more than 180 countries.
Festo North America United States Customer Resource Center 502 Earth City Expressway, Suite 125 Earth City, MO 63045 Design and Manufacturing Facilities For ordering assistance, or to find your nearest Festo Distributor, Call: 1.800.99.FESTO Fax: 1.800.96.FESTO Email: customer.service@us.festo.com For technical support, Call: 1.866.GO.FESTO Fax: 1.800.96.FESTO Email: product.support@us.festo.com Headquarters Festo Corporation 395 Moreland Road P.O. Box 18023 Hauppauge, NY 11788 www.festo.
