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SPiiPlusCMnt-1/2-320 Dual Axis Drive Module

Installation Guide

May 2014 Document Revision NT2.25

SPiiPlusCMnt-1/2-320 Installation Guide Conventions Used in this Guide

SPiiPlusCMnt-1/2-320

Release Date: April 2014

COPYRIGHT

© ACS Motion Control Ltd. 2014. All rights reserved.

Changes are periodically made to the information in this document. Changes are published as release notes and later incorporated into revisions of this document.

No part of this document may be reproduced in any form without prior written permission from ACS Motion Control.

TRADEMARKS

ACS Motion Control, SPiiPlus, PEG, MARK, ServoBoost, MotionBoost, NetworkBoost and NanoPWN are trademarks of ACS Motion Control Ltd.

Windows and Visual Basic are trademarks of Microsoft Corporation.

EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Any other companies and product names mentioned herein may be the trademarks of their respective owners.

ACS Motion Control Ltd 1 Hataasia St Ramat Gabriel Industrial Park Migdal Ha’Emek 2307037 Israel T +972 4 654 6440 F +972 4 654 6443 www.acsmotioncontrol.com

[email protected]

[email protected]

NOTICE

The information in this document is deemed to be correct at the time of publishing. ACS Motion Control reserves the right to change specifications without notice. ACS Motion Control is not responsible for incidental, consequential, or special damages of any kind in connection with using this document.

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http://www.acsmotioncontrol.com/

mailto:[email protected]

mailto:[email protected]

SPiiPlusCMnt-1/2-320 Installation Guide Conventions Used in this Guide

Revision History

Date Revision Description April 2014 Accessory kit changes, Feedback & I/O according to

number of axis Feb 2014 Remove horizontal mounting Feb 2014 Converted to new document template April 2014 MPU fan addition

Conventions Used in this Guide

Text Formats

Format Description Bold Names of GUI objects or commands. BOLD+ UPPERCASE ACSPL+ variables and commands Monospace + grey background Code example. Italic Names of other documents. Blue Web pages and e-mail addresses. [ ] In commands indicates optional item(s) | In commands indicates either/or items

Flagged Text

The following symbols are used in flagging text:

Notes - includes additional information or programming tips.

Caution - describes a condition that may result in damage to equipment.

Warning - describes a condition that may result in serious bodily injury or death.

Model - highlights a specification, procedure, condition, or statement that depends on the product model.

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SPiiPlusCMnt-1/2-320 Installation Guide Related Documents

Related Documents

Documents listed in Table 1 provide additional information related to this document. The most updated version of the documents can be downloaded by authorized users from www.acsmotioncontrol.com/downloads.

Table 1. Related Documents Document Description

SPiiPlus Command & Variable Reference Guide Describes all of the variables and commands available in the ACSPL+ programming language.

SPiiPlus C Library Programmer's Guide C++ and Visual Basic® libraries for host PC applications. This guide is applicable for all the SPiiPlus motion control products

SPiiPlus COM Library Programmer's Guide COM Methods, Properties, and Events for Communication with the Controller.

SPiiPlus MMI Application Studio User Guide Explains how to use the SPiiPlus MMI Application Studio and associated monitoring tools.

SPiiPlus Utilities User Guide A guide for using the SPiiPlus User Mode Driver (UMD) for setting up communication with the SPiiPlus motion controller.

SPiiPlus ACSPL+ Programmer's guide Provides practical instruction on how to use ACSPL+ to program your motion controller.

SPiiPlus HSSI Modules Product Guide High-Speed Synchronous Serial Interface (HSSI) for expanded I/O, distributed axes, and nonstandard devices.

AN SPiiPlus NT PEG and MARK Operations Provides detailed description, specification and operation instructions for PEG capabilities

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http://www.acsmotioncontrol.com/downloads

SPiiPlusCMnt-1/2-320 Installation Guide Table of Contents

Table of Contents

Conventions Used in this Guide ..................................................................................... 3

Related Documents ..................................................................................................... 4

Table of Contents ........................................................................................................ 5

List of Figures ............................................................................................................. 9

List of Tables ............................................................................................................ 10

1 Product Overview ................................................................................................ 12

1.1 Kits and Accessories .................................................................................... 13

2 Operation ........................................................................................................... 14

2.1 2 Axes Control Module Operation ................................................................... 14

2.2 Network Master Operation ............................................................................ 14

3 Connectivity and Interfaces ................................................................................... 15

3.1 Motor Connection ........................................................................................ 15

3.2 Electro-Magnetic Immunity and Interference Considerations .............................. 17

3.3 Regeneration .............................................................................................. 17

3.4 Mechanical Motor Braking ............................................................................. 18

4 Feedback ........................................................................................................... 18

4.1 Encoder Types and Assignment ..................................................................... 18

4.2 Encoder Power Supply .................................................................................. 19

4.3 Incremental Digital AqB Encoder.................................................................... 19

4.4 Sin-Cos Encoders ........................................................................................ 20

4.5 Absolute Encoder Interface ........................................................................... 20

4.6 Position Event Generator (PEG) ..................................................................... 22

5 Power Supplies .................................................................................................... 23

6 Digital Inputs and Outputs .................................................................................... 23

6.1 Digital Outputs ............................................................................................ 23

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6.2 Digital Inputs .............................................................................................. 24

6.3 HALL Sensors ............................................................................................. 24

6.4 Registration MARK Inputs ............................................................................. 25

7 Analog Inputs and Outputs ................................................................................... 26

7.1 General Purpose Analog Inputs ...................................................................... 26

7.2 General Purpose Analog Outputs.................................................................... 26

8 Safety ................................................................................................................ 26

8.1 Safe Torque Off (STO) ................................................................................. 26

8.1.1 STO Module Connector Type and Pinout .............................................. 28

8.2 Right and Left Limits .................................................................................... 28

8.3 Emergency Stop .......................................................................................... 29

9 Fault Indications .................................................................................................. 29

9.1 Motor Over Temperature Fault ...................................................................... 30

9.2 LED Indicators ............................................................................................ 30

9.3 CMnt-1/2-320 Jumper .................................................................................. 31

10 Communication ................................................................................................... 31

10.1 Host Communication .................................................................................... 31

10.1.1 Network (EtherCAT) Communication ................................................... 31

10.1.2 HSSI – Serial Interface to ACS Peripherals ........................................... 32

11 Thermal Considerations ........................................................................................ 32

11.1 Output Power and Current ............................................................................ 34

11.2 Motor Filter ................................................................................................ 34

12 Grounding and Shielding....................................................................................... 35

13 Personnel Safety Guidelines .................................................................................. 35

14 Dimensions and Installation .................................................................................. 36

14.1 Dimensions ................................................................................................ 36

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14.2 Installation ................................................................................................. 38

14.2.1 Vertical Installation with Cooling Fan .................................................. 39

15 CMnt-1/2-320 Specifications ................................................................................. 39

15.1 General ...................................................................................................... 39

15.2 Drive Supply ............................................................................................... 40

15.3 Drives........................................................................................................ 40

15.4 Communication ........................................................................................... 40

15.5 Network Nodes ........................................................................................... 41

15.6 Encoders .................................................................................................... 41

15.7 Digital Inputs/Outputs .................................................................................. 41

15.8 Analog Inputs/Outputs ................................................................................. 42

15.9 PEG Outputs ............................................................................................... 42

15.10 Safety and Faults ........................................................................................ 42

15.11 Environment ............................................................................................... 43

15.12 Applicable Standards ................................................................................... 43

16 CMnt-1/2-320 Connectors ..................................................................................... 43

16.1 J1 – Input Connector ................................................................................... 43

16.2 J2 – Output Connector ................................................................................. 44

16.3 J3 – Input/Output Connector ......................................................................... 45

16.4 J4 & J5 – Encoder Connectors ....................................................................... 46

16.5 J6 – Control Supply Connector ...................................................................... 47

16.6 J7 – 24V Output Supply Connector ................................................................. 48

16.7 J8 & J9 – Motor Connectors .......................................................................... 48

16.8 J10 – Drive Supply Connector ....................................................................... 49

16.9 J11 – General Purpose Connector .................................................................. 50

16.10 J12 – HSSI Connector .................................................................................. 51

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16.11 J13 - COM1 Port Connector ........................................................................... 52

16.12 J14 - STO Input Connector (optional) ............................................................. 52

17 Encoder Configurations......................................................................................... 53

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SPiiPlusCMnt-1/2-320 Installation Guide List of Figures

List of Figures

Figure 1: CMnt-1/2-320 ............................................................................................. 12

Figure 2: J11 Cable Kit ............................................................................................... 13

Figure 3: CMnt-2-320 Connector Schematic .................................................................. 15

Figure 4: 3-Phase Motor Connection ............................................................................. 16

Figure 5: DC Brush Motor Connection ........................................................................... 16

Figure 6: 2-Phase Step Motor Connection ..................................................................... 17

Figure 7: Regeneration Connection .............................................................................. 18

Figure 8: Mechanical Brake ......................................................................................... 18

Figure 9: External Power Connection ............................................................................ 19

Figure 10: Incremental Digital AqB Encoder Connections ................................................. 19

Figure 11: Sin-Cos Encoder Connections ....................................................................... 20

Figure 12: Absolute Encoder Hiperface Schematic Diagram ............................................. 21

Figure 13: Absolute Encoder Schematic Diagram ........................................................... 22

Figure 14: Absolute Encoder Bidirectional Schematic Diagram ......................................... 22

Figure 15: Digital Output Connections .......................................................................... 24

Figure 16: Digital Input Connections ............................................................................ 24

Figure 17: HALL Sensor Connection ............................................................................. 25

Figure 18: General Purpose Analog Inputs .................................................................... 26

Figure 19: STO Wiring Scheme .................................................................................... 27

Figure 20: STO Implementation .................................................................................. 28

Figure 21: Limit Connections....................................................................................... 29

Figure 22: Emergency Stop Input ................................................................................ 29

Figure 23: Motor Over Temperature Connection ............................................................. 30

Figure 24: Jumper Location ........................................................................................ 31

Figure 25: EtherCAT Network Connections .................................................................... 32

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SPiiPlusCMnt-1/2-320 Installation Guide List of Tables

Figure 26: Dissipated Power vs Current ........................................................................ 33

Figure 27: Dissipated Power vs Temperature ................................................................. 33

Figure 28: ACS Motor Filter ......................................................................................... 34

Figure 29: Grounding and Shielding ............................................................................. 35

Figure 30: CMnt-1/2-320 Dimensions ........................................................................... 36

Figure 31: Heat Sink – Back Panel Dimensions .............................................................. 37

Figure 32: Heat Sink – Base Panel Dimensions .............................................................. 37

Figure 33: Heat Sink – Side Dimensions ....................................................................... 37

Figure 34: Retaining Screw Locations ........................................................................... 38

Figure 35: Grounding Screw ....................................................................................... 38

Figure 36: Airflow...................................................................................................... 39

List of Tables

Table 1. Related Documents ......................................................................................... 4

Table 2: Absolute Encoder Reference ........................................................................... 21

Table 3: Input Current vs. Output Power ...................................................................... 23

Table 4: Registration MARK Sources per Encoder ........................................................... 25

Table 5: STO Connector Type ...................................................................................... 28

Table 6: STO Pinout ................................................................................................... 28

Table 7: CMnt-1/2-320 LED Indicators ......................................................................... 30

Table 8: Power Output vs. Current ............................................................................... 34

Table 9: J1 Connector Pinout ...................................................................................... 43

Table 10: J2 Connector Pinout ..................................................................................... 44


Table 12: J4 & J5 Connectors Pinout ............................................................................ 46


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SPiiPlusCMnt-1/2-320 Installation Guide List of Tables


Table 15: J8 & J9 Connectors Pinout ............................................................................ 49

Table 16: J10 Connector Pinout ................................................................................... 49





Table 21: CMnt Encoder Configurations with Resolver ..................................................... 53

Table 22: CMnt Encoder Configurations without Resolver ................................................ 54

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SPiiPlusCMnt-1/2-320 Installation Guide Product Overview

1 Product Overview The CMnt-1/2-320 (Figure 1) is a state-of-the-art line of EtherCAT® network multi-axis machine and motion controllers with two built-in universal drives. Its open architecture operates in conjunction with ACS’ line of EtherCAT servo and step motor drives and I/Os modules, as well as with any certified EtherCAT module that complies with the CAN application protocol over EtherCAT (CoE).

Figure 1: CMnt-1/2-320

All drives are highly synchronized by a distributed clock with accuracy better than 0.1 microseconds, and execute the control algorithms at a 20 kHz rate. As an EtherCAT Master, it can manage up to 32 axes and practically an unlimited number of I/Os. The product supports 1 or 2 kHz EtherCAT cycle rates. The CMnt-1/2-320 is complemented by the SPiiPlus suite of software tools (such as the SPiiPlus MMI Application Studio) with a built-in simulator. As network master, it supports all ACS drives and devices, as well as ACS-certified network devices made by other vendors.

The CMnt-1/2-320 is offered with two current levels:

• 5A/10A (continuous/peak)

• 7.5A/15A

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SPiiPlusCMnt-1/2-320 Installation Guide Product Overview

The product can be provided with an optional Safe Torque Off (STO) module that prevents the moving of the motors without removing the power source.

The product is powered by a single phase 85 to 230Vac and by a separate 24Vdc control supply that keeps all low voltage signals alive during emergency conditions.

1.1 Kits and Accessories

The SPiiPlusCMnt-1/2-320 has several associated kits and accessories. Each kit has a specific function as detailed below.

• Cable Mating kit (PN SPiiPlusCMnt-1/2-320-ACC1) provides a set of mating connectors for the product which enables you to prepare the various cables required, the kit includes:

• 1 x PHOENIX screw terminal connector, MC 1,5/3-STF-3,81 for DRIVE SUPPLY (J2)

• 2 x PHOENIX screw terminal connectors, MC 1,5/4-STF-3,81 for MOTOR OUTPUT (J3,J4)

• 2 x 3M Wiremount sockets, 20 contacts, 891 series with strain relief for ENCODER (J6,J7)

• 1 x 3M Wiremount socket, 16 contacts, 891 series with strain relief for DIGITAL,ANALOG AND Limit I/O (J5)

• 1 x JST housing, 10 pin 2mm pitch PADP-10V-1-S for PEG (J10)

• 10 x crimping pins SPND-001T-C0.5 for PEG (J10)

• STO Cable Mating kit (PN STO-ACC1), provides a cable with flying leads used to connect the optional STO module.

• J11 Cable kit (PN SPiiPlusCMnt-1/2-320-ACC2) provides a prepared cable with one end open and the other with a SCSI connector.

Figure 2: J11 Cable Kit

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SPiiPlusCMnt-1/2-320 Installation Guide Operation

2 Operation The product can be operated as a standalone 2 axes control module, or as network master supporting up to 32 axes, of which 2 are internal to the product. For out-of-the-box operation, follow the stages detailed below, referring to the detailed information provided in this manual and to the referred ACS documents. The product's operation depends on ordered features.

2.1 2 Axes Control Module Operation

Product set up consists of the following stages:

Follow the safety instructions in section 8 on page 26.

1. Supply and control cable connection (refer to Figure 3) using pre-wired cables. For cable pin out and connector details, refer to CMnt-1/2-320 Connectors.

2. Apply control and drive supply voltages and observe LEDs. If STO is included in the product, apply control supply to both STO1 and STO2 inputs to enable drives operation.

3. Establish communication with control module by using SPiiPlus MMI Application Studio and SPiiPlus User Mode Driver, using either the connection via J1 connector or the serial connection via J13. Refer to the SPiiPlusNT Setup Guide for details.

4. Set up the product: refer to the SPiiPlusNT Setup Guide.

5. Operation and programming: refer to the SPiiPlusNT Programmer’s Guide.

2.2 Network Master Operation

Setting up the product as a network EtherCAT master, when ordered for up to 32 axes, IOs and Non-ACS network elements, requires additional stages in addition to those described above for 2 axes control module operation. All network elements must be powered and interfaced according to their hardware guides. CAT5 cables have to be connected in a daisy chain mode from the CMnt-2-320 EtherCAT Out (J2) connector to the first element's EtherCAT In port, and further connected from the first element's EtherCAT Out port to the next in line element's EtherCAT In port.

For all (ACS or non-ACS devices) connected network elements:

1. Connect to power supply and to relevant interfaces, according to each product's installation and operation guides.

2. Apply control and bus voltages as needed, and verify defined operation.

Setup of CMnt-2-320 as network master:

1. Establish communication with the CM-2-320 control module by using SPiiPlus MMI Application Studio and SPiiPlus User Mode Driver, using either the connection via J1 connector or the serial connection via J13. Refer to SPiiPlusNT Setup Guide for details.

2. Setup CM-2-320: refer to SPiiPlusNT Setup Guide.

3. Setup of EtherCAT network: use the SPiiPlus MMI Application Studio EtherCAT Configurator module to define the network according to ordered elements and needed network configuration. Refer to the SPiiPlus MMI Application Studio User Guide for details.

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SPiiPlusCMnt-1/2-320 Installation Guide Connectivity and Interfaces

4. Configure the network elements, axes, and IOs: use the SPiiPlus MMI Application Studio System Configuration Wizard module to configure all network elements, numbering and configuration. Refer to the SPiiPlus MMI Application Studio User Guide for details.

5. CMnt-2-320 operation and programming: refer to the SPiiPlusNT Programmer’s Guide, and SPiiPlus Command & Variable Reference Guide.

3 Connectivity and Interfaces

J1 J2

EtherCAT In

EtherCAT Out

J3DB44 RJ45RJ45

Inpu

ts/O

utpu

ts

Lim

its/ E

stop

Mar

k/PE

G

Ana

log

I/O

Lim

its

J4(axis 1) J5(axis 0)DB26 DB26

Inc.

Enc

oder

Hal

ls

Sin-

Cos

Enc

oder

Supp

lies

Lim

its

Inc.

Enc

oder

Hal

ls

Supp

lies

Lim

its

J6 J7PHOENIX 5 pin

PHOENIX 2 pin

24V

supp

ly

Enc.

supp

ly

24V

Out

put

J8(1)

Mot

or R

,S,T

Mec

h. b

rake

PHOENIX 6 pin J9(0)

Mot

or R

,S,T

Mec

h. b

rake

PHOENIX 6 pin J10

Dagson7 pin

AC

supp

ly

Vbu

s out

J11Amtek36 pin

Ana

log

In. 2

,3

Inc.

Enc

oder

2,3

Stat

e ou

tput

s

Res

olve

r 0,1

Sin-

Cos

Enc

oder

J12

HSS

I

RJ45

J13

CO

M1

RS2

32

RJ11

HSS

I

J14

STO

JST 5

STOCOMHSSIGeneral Purpose

Drive Supply

Motor 0Motor 124V Output

Control Supply

Encoder 1 Encoder 0Input/Output

Ethe

rCAT

In

Ethe

rCAT

Out

Figure 3: CMnt-2-320 Connector Schematic

3.1 Motor Connection

The built-in universal drives support 2- and 3-phase AC synchronous, AC induction, 2 and 3-phase step and DC brush motors. Selection of motor and parameter setting is done using the Adjuster Wizard of the SPiiPlus MMI Application Studio (refer to SPiiPlus MMI Application Studio User Guide).

A 3-phase motor connection is shown in Figure 4. An optional motor filter is shown in series between the drive and the motor. A shielded cable should be used, terminated in the EGND pin which is internally connected to the chassis (PE). If needed, the shield/GND may be connected to the motor’s chassis to provide a seamless common ground reference.

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1

2

3

4

5

6

Motor R

Motor S

Motor TJ9 – Motor 0J8 - Motor 1 $ - 0,1

R_$

S_$

T_$

EGND

RBK_$+

BRK_$-

Motor

Motor Brake

Shield/GND

ACS Motor Filter

PE

Figure 4: 3-Phase Motor Connection

For DC brush motor connections, do NOT connect phase T (refer to Figure 5).

1

2

3

4

5

6

Motor R

Motor S

J9 – Motor 0J8 - Motor 1 $ - 0,1

R_$

S_$

T_$

EGND

RBK_$+

BRK_$-

M

Shield/GND

PE

CMnt-2-320 DC motor connection

Figure 5: DC Brush Motor Connection

For 2-phase step motors, connect the motor phases between S-R and between T-R as shown in Figure 6.

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1

2

3

4

5

6

Motor R

Motor S

Motor T

J9 – Motor 0J8 - Motor 1 $ - 0,1

R_$

S_$

T_$

EGND

RBK_$+

BRK_$-

Shield/GND

PE

Figure 6: 2-Phase Step Motor Connection

3.2 Electro-Magnetic Immunity and Interference Considerations

Follow the recommendations below to minimize electromagnetic interference to power supply and neighboring equipment, and to improve electromagnetic immunity.

• Use AC line filter and surge protection.

• Use motor filters, such as the MC4U-MF, between the drive and the motor. The filters should be connected as close as possible to the drive’s output connectors. Note that the filters require air flow cooling.

• Use an EPCOS B84142-B25-R filter (or equivalent) for AC supply interference protection.

• For motor cables, use shielded (meshwork of tinned, copper wire with high optical covering), high voltage and very low capacitance cables. ACS specifies and tests its products using motor cable lengths of up to 10m lengths. Motor cables should be routed as far as possible from sensitive-signal carrying cables such as encoder cables. Encoder cables should be according to manufacturer’s recommendation. The motor cables’ shield should be connected to motor connector pin 4.

• Lightning protection on the supply AC lines should be provided in the cabinet/machine where the ACS product is being used. It is recommended to install power surge lightning arrestors (varistors) between the AC terminals (L-N, L-PE, N-PE). ACS recommends using the MNF Wurth Electronic MNF varistor, P/N 820422711.

3.3 Regeneration

To absorb excess mechanical reverse energy translated into electrical energy during deceleration, and to avoid a voltage rise beyond the drive’s overvoltage protection level, an external active regeneration device should be used. A connection diagram is shown in Figure 7. The rectified voltage bus (VBUS) is provided in the J10 connector. An external Regeneration unit (such as, Copley’s Model 125 & 145) should be used, selected based on peak and continuous current, power, energy and bus voltages.

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SPiiPlusCMnt-1/2-320 Installation Guide Feedback

CMnt-2-320V power section

RST

Input fuse

L1

NPWM

inverterAC

RegenerationDevice (active)

Vp(-)

Vp(+)

PE

J10

J10

J101 3

7

61

2

3

4

Figure 7: Regeneration Connection

3.4 Mechanical Motor Braking

Two 24V/1A mechanical brake control outputs are available, one output per axis. These outputs are powered by the 24V logic supply. The outputs are opto-isolated, and protected against shorts.

Figure 8: Mechanical Brake

4 Feedback

4.1 Encoder Types and Assignment

The CMnt-1/2-320 supports multiple feedback types per each axis: Incremental digital (1 or 2 per axis), Sin-Cos analog (optional 1 per axis), Resolver (optional 1 per axis), Hall sensors (1 set per axis) and a variety of absolute encoders (optional 1 per axis, both axes having the same type). The type of encoder and the number of encoders per axis have to be specified when ordered, and cannot be modified at field level.

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Certain constraints result from sharing internal resources and connector pins; detailed data for the CMnt-1/2-320 is provided in the Encoder Configurations tables.

Dual feedback (dual loop) topology per axis is supported. The number of utilized network axes is identical to the number of digital encoders used. For example, when a dual feedback scheme is implemented for both axes, 4 network axes are consumed out of the total number of network axes supported and ordered for the specific CMnt-2-320 master.

4.2 Encoder Power Supply

The unit includes a built-in 5V/250mA encoder supply. Optional special factory setup: If more current is needed or if the encoder (such as the Hiperface encoder) requires a different supply voltage level, an external supply can be connected to connector J6 (pins 5V_ENC_EXT and 5V_ENC_EXT_RTN). Note that this arrangement replaces the internal 5V/250mA supply, yet must be pre-ordered from ACS since it involves an internal hardware setup. Figure 9 shows the external supply's connection to the product.

8 wire encoder cable

CMnt-2-320

MotorHiperface encoder

External encoder supply (7..12Vdc)

5V/250mAInternal encoder supply

J6

Default: Internal encoder supply.By pre-ordered factory setup: optional assembly for external encoder supply

Figure 9: External Power Connection

4.3 Incremental Digital AqB Encoder

Each internal drive supports one or two incremental digital AqB encoders. The number of supported incremental encoders is factory installed and cannot be changed in the field.

The interface of each of the encoder’s A, B and Index signal is shown in Figure 10.

Figure 10: Incremental Digital AqB Encoder Connections

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The connection is a protected RS-422 differential line with 120Ω termination.

• Maximum rate: 12.5MHz, which equals 50 million qadrature counts/sec.

• Fault detection: Encoder error (due to noise), and encoder not connected.

Encoders are fed by a 5V±5% 250mA supply (the total available current to all encoders) referenced to a digital ground. By special factory order, an additional encoder current supply of 5V/1A can be provided through the same line by connecting an external supply to the J6 connector and by an appropriate internal jumper setting.

A, B, I and Clk/Dir modes of operation are supported.

4.4 Sin-Cos Encoders

Optionally, the product supports one Sin-Cos encoder per axis. This option is factory installed and cannot be changed afterwards. The interface for the Sine, Cosine and Index signals (Figure 11) is differential, 1Vptp±10% with 52dBm SNR. The maximum input frequency is 250 kHz.

Figure 11: Sin-Cos Encoder Connections

Sin and Cos inputs are sampled at 20kHz, 12 bit resolution. A multiplication factor of 4 up to 16,384 (practically measured to be better than 4,096) is supported. A software based Offset, Gain and Phase compensation can be set using the MMI Application Studio Sin Cos Encoder Compensation tool which optimizes and sets the compensation values, stores the optimized values and displays the results graphically. ‘Encoder error’ and ‘Encoder Not Connected’ are reported as faults.

4.5 Absolute Encoder Interface

Absolute encoder's interfaces (pins and electrical circuitry) are shared with Digital Incremental (AqB) and with Sin-Cos encoder's interfaces, according to the following table:

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Table 2: Absolute Encoder Reference

Absolute encoder type Encoder's Interface Controller's interface

Endat 2.2 RS485 bidirectional Data CHA

RS422 Clock (encoder input) CHB (controller's output)

SmartABS/ Panasonic RS485 bidirectional Data CHA

BiSS C/ SSI RS485 bidirectional Data CHA

RS422 Clock (encoder input) CHB (controller's output)

Hiperface RS485 bidirectional Data CHA

Sin output Cos input

Cos output Sin input

The digital bidirectional communication data channel is shared with CHA (data).

The Clock line interfaces to the controller's CHB.

In addition to the digital bidirectional data channel, Hiperface uses the analog Sin and Cos interfaces (see Figure 12).

Figure 12: Absolute Encoder Hiperface Schematic Diagram

Bi-directional RS485 data channels uses CHA of the digital incremental encoder, and when the clock is provided to the encoder, then CHB of the corresponding digital incremental encoder is used, See Figure 13 and Figure 14 on page 22.

The setting is performed by software.

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Figure 13: Absolute Encoder Schematic Diagram

Figure 14: Absolute Encoder Bidirectional Schematic Diagram

4.6 Position Event Generator (PEG)

The CMnt-1/2-320 supports advanced Position Event Generator (referred to also as Output Compare) output signals for synchronous random and incremental timing generation. The two PEG pulses and two PEG STATE signals can be associated with any of the incremental or Sin-Cos encoders, to be used by any of the two axes, and can be programmed for polarity and shape. Their functionality is determined by three independent PEG engines.

The Incremental PEG mode provides the ability to generate a fixed width pulse whenever a fixed position interval has passed, starting at a predefined start point and ending at a predefined end point.

Version NT2.25 22

SPiiPlusCMnt-1/2-320 Installation Guide Power Supplies

The Random PEG mode provides the ability to control a PEG pulse and a two-bit STATE vector at pre-defined positions, which are stored as a 256 member user-defined array.

Refer to the NT PEG and MARK Operations Application Notes for more details.

5 Power Supplies The CMnt-1/2-320 is fed by two supply sources: an 85-265Vac from an AC power supply to the motors and a 24Vdc supply to the logic and control circuitry.

The AC supply is rectified and the DC voltage feeds the motor drives.

The AC supply (range of 85 to 265Vac single motor drive supply) is internally rectified to 120 to 370Vdc bus voltage.

The DC supply: 24Vdc (±10%, maximum rating 4A/100W) serves for control. Regular operation consumes 2A. Maximum of an additional 1A per axis is needed during motor mechanical brake activation.

Maximum continuous/peak Input currents as functions of maximum continuous/peak Output power (at a given AC voltage input) are listed in Table 3:

Table 3: Input Current vs. Output Power Cont./Peak Current Cont./Peak Power AC Voltage

11.7/11.7A 1007/1007W @85Vac 12.9/17.4A 1485/2005W @115Vac 16/32A 3676/ 7350W @230Vac 16.3/34A 4304/ 8977W @265Vac

6 Digital Inputs and Outputs

6.1 Digital Outputs

CMnt-1/2-320 provides 8 opto-isolated, current driving outputs, with 0.5A per output, up to 3A per 8 outputs. 24V (±20%) is externally user-provided, common to all signals. The digital output connection is shown in Figure 15.

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SPiiPlusCMnt-1/2-320 Installation Guide Digital Inputs and Outputs

Figure 15: Digital Output Connections

Over current protection (per pin) is activated above 0.7 to 1.7A, causing the output to enter a protected mode, without any message displayed to the user. The output recovers on returning to specified performance values.

6.2 Digital Inputs

CMnt-1/2-320 provides 8 single ended, opto-isolated, 24V±20%, ‘source’ current driving inputs.

The digital input connection is shown in Figure 16.

Figure 16: Digital Input Connections

Digital inputs 6,7 are available in parallel as non-isolated fast inputs, shared with MARK#2 and MARK#3 inputs. A 5V and ‘sink’ option is available by special order. Note that the RTN line is common for all Digital Inputs.

6.3 HALL Sensors

One HALL sensor per drive (set of 3 single ended, current driving lines) is available.

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SPiiPlusCMnt-1/2-320 Installation Guide Digital Inputs and Outputs

The lines are opto-isolated with current sensitivity of 7mA. The connection for a HALL sensor is shown in Figure 17.

Figure 17: HALL Sensor Connection

6.4 Registration MARK Inputs

The following MARK inputs are supported: MARK0 and MARK1 (RS422), two shared opto-isolated interfaces (IN6 and IN7, referred to as MARK2 and MARK3), and two regular digital inputs: IN4 and IN5. Each of the two encoders available per axis can be latched independently to two latching-registers (A and B, used as variables "MARK" and "MARK2", respectively) by the above MARK input signal sources, as detailed in Table 4.

Table 4: Registration MARK Sources per Encoder Axis/Encoder Latching

Register Dedicated Opto-

Isolated RS422 Source Shared Opto-

Isolated Source Shared

Regular Input Axis 0 Encoder 0

A MARK0 IN6 B MARK1 IN7

Axis 0 Encoder 1

A MARK0 MARK1

IN6 IN4

B MARK1 IN7 IN5 Axis 1 Encoder 0

A MARK0 IN6 B MARK1 IN6

IN7

Axis 1 Encoder 1

A MARK0 MARK1

IN6

B MARK1 IN7

Latching register A is associated with the ACSPL+ variable: MARK; and latching register B is associated with the ACSPL+ variable: M2ARK. See Command & Variable Reference Guide for details on these variables.

Encoder 1 of axis 0 has two latching registers (A,B). Latching register A can be triggered by either MARK0, MARK1, IN4 or IN6.

For the circuit description, refer to the digital input opto-isolated interface description in Digital Inputs.

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SPiiPlusCMnt-1/2-320 Installation Guide Analog Inputs and Outputs

The opto-isolated MARK inputs have a propagation delay of up to 200 ns. Regular Input MARK signals have a propagation delay of 50 ns.

The selection of the specific MARK signal is done by using the ACSPL+ ASSIGNFINS command for setting input pins assignment and mapping between FGP_IN signals to the bits of the IN variable (refer to the Command & Variable Reference Guide).

7 Analog Inputs and Outputs

7.1 General Purpose Analog Inputs

CMnt-1/2-320 provides four differential, ±10 V ±5%, 12bit accuracy, 100 mV compensated offset, bandwidth of 10kHz. The General Purpose Analog Input connections are shown in Figure 18.

Figure 18: General Purpose Analog Inputs

The user should ensure that the analog input's signal range does not exceed 20% of the specified range of ±10 V. Higher signals may cause abnormal behavior of the drive and affect its performance.

7.2 General Purpose Analog Outputs

CMnt-1/2-320 provides two General Purpose Analog Outputs. The outputs are characterized by 10 bit resolution, differential ±10V±10%, 50mV maximum offset, with 50mVp_p maximum ripple, and linearity better than 1%. Minimum 10KΩ load required.

8 Safety

8.1 Safe Torque Off (STO)

Optional feature that needs to be ordered specifically.

STO (The Safe Torque Off) is the fundamental safety capability needed to prevent moving of motors upon a safety event.

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SPiiPlusCMnt-1/2-320 Installation Guide Safety

The STO is designed to comply with EN 954-1 (new ISO 13849, EN 62061) and IEC 61508 standards. It enables the machine builder to implement machine safety level SIL 3 and Ple E.

STO capability prevents the moving of the motor using two hardware inputs, STO1 and STO2, that block the PWM signals to the power stage of the drive. A 24V supply (18Vdc to 33Vdc) must be connected to both inputs to enable the drive's regular operation. When the 24V supply is removed from one or both STO inputs, the PWM signals are blocked for at least 50msec afterwards but not more than 200msec afterwards. In addition, the controller is informed about this event. This delay (between informing the controller and blocking of the PWM signals of the drive) provides the controller the ability to bring all axes to a complete stop (or low velocity movement) in an orderly manner. The implementation of the STO guarantees that under any foreseen circumstances, failure or damage, any of following types of motors will not move:

• AC synchronous (DC brushless)

• Step motor

• AC asynchronous (AC induction)

For DC brush motor, removing the 24V from both STO inputs guarantees that under any foreseen circumstances, failure or damage, the motor will not move.

Usually, STO1 and STO2 are connected to a 24V source via an industry-standard safety switch. This device disconnects the 24V on opening a door, a light current tripping or other safety-related events.

Figure 19 describes a wiring scheme of a safety relay, controlled in this example by a PLC safety device.

Safety relay

STO1

STO2

PLC safety control

ACS Drive

18-33Vdc

Figure 19: STO Wiring Scheme

The STO inputs can be also fed from a door switch, a light-curtain or any other safety related controller.

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SPiiPlusCMnt-1/2-320 Installation Guide Safety

Figure 20 describes a schematic STO implementation: the STO inputs feed the power (through additional circuitry which is not shown in the figure) to the upper and lower PWM drivers of the corresponding transistors.

The STO circuit is implemented on a dedicated module that plugs into all ACS products that support this functionality.

STO1

STO2

18-33Vdc To motor

phase

ACS Drive

Vbus+

Vbus-

PWMControl

Output stage(1 of 3 phases)

PWM H

PWM L

Safety device

Figure 20: STO Implementation

8.1.1 STO Module Connector Type and Pinout

Table 5: STO Connector Type Connector Name STO Input

Connector type JST 5 PIN 2mm male SM05B-PASS-1

Mating connector type JST 5 PIN 2mm female PAP-05V-S Pin: SPHD-001T-P0.5

Table 6: STO Pinout Pin Name Description

1 STO1- Safety torque input 1 inverted input 2 STO1+ Safety torque input 1 non inverted input 3 EGND Electrical ground 4 STO2+ Safety torque input 2 non inverted input 5 STO2- Safety torque input 2 inverted input

8.2 Right and Left Limits

Right Limit and Left Limit per axis are provided. The limit connections are shown in Figure 21.

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SPiiPlusCMnt-1/2-320 Installation Guide Fault Indications

Figure 21: Limit Connections

The inputs are single-ended, fed by a 24V ±20% driving ‘source’, referenced to a common return signal, and opto-isolated. The input current is limited to 14mA. The internal resistor is 5.6kΩ. The ‘sink’ configuration and 5V feed are available by special order.

8.3 Emergency Stop

The Emergency Stop input is a two line, opto-isolated signal, fed from a 24V supply and activated above 14mA as shown in Figure 22:

Figure 22: Emergency Stop Input

9 Fault Indications The CMnt-1/2-320 supports hardware- and software-based fault indications for:

• Bus Over Voltage (442…467V)

• Bus Under Voltage (76…84V)

• AC Power Down

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SPiiPlusCMnt-1/2-320 Installation Guide Fault Indications

• Power Supply Not Ready (4.5…5.5 sec during transitional powering up, ‘soft start’)

• Over Temperature - measured on the heat sink and activated at 85-90°C

• Motor Phase faults: Phase-to-Phase Short and Short-to-Ground

• Over Current - measured per axis and reported to the user’s application by software.

• Motor Over Temperature

9.1 Motor Over Temperature Fault

The CMnt-1/2-320 provides one input signal per axis for connecting Motor Over Temperature fault sensors. The signal is single-ended, opto-isolated and referenced to a common ground for all faults as shown in Figure 23.

Figure 23: Motor Over Temperature Connection

Indication is ON when the motor PTC is > 10kΩ, and is OFF when motor PTC impedance is < 1kΩ.

9.2 LED Indicators

Table 7 summarizes the meaning of the CMnt-1/2-320 LED indicators.

Table 7: CMnt-1/2-320 LED Indicators

Indication Description Control Supply Green

• On – power is applied Link/Activity Green

• Off – No link • On – Link exists, no data transferred • Blinking – Data being transferred

Run Yellow • Off – INIT state • On - Normal operation

System Bicolor • Red – Communication Fault • Green – Communication ok • Blinking – SW command

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SPiiPlusCMnt-1/2-320 Installation Guide Communication

Indication Description Axis Bicolor, one per axis, indicates axis’ status.

• Off – Disabled • Green – Enabled • Red – Fault

DC drive supply Red, voltage bus indication. • On – voltage applied • Off – no voltage applied.

9.3 CMnt-1/2-320 Jumper

The CMnt-1/2-320 has one jumper: JP1, the location of which is shown in Figure 24.

Figure 24: Jumper Location

The JP1 jumper is employed when running the MMI Application Studio Upgrade and Recovery Wizard Recovery Task (see the MMI Application Studio User Guide for details).

10 Communication

10.1 Host Communication

Host communication with the CMnt-1/2-320 can be via RS-232 or by Ethernet. The Ethernet connection may be either a direct connection (host to controller using a cross cable) or over a network. Selection of the communication channel and its parameters is done using the MMI Application Studio (refer to the Setup Guide for details). Whenever possible, a connection is preferred over RS232 because of the communication rate.

10.1.1 Network (EtherCAT) Communication

Being an EtherCAT master, the CMnt-1/2-320 has a single EtherCAT OUT port which connects to the first network element in the network (see Figure 25).

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SPiiPlusCMnt-1/2-320 Installation Guide Thermal Considerations

CMnt-2-320EtherCAT

OUTEtherCAT

IN OUTHost EtherCAT

IN OUT

EtherCAT Master EtherCAT Slave EtherCAT Slave

EtherCATIN OUT

EtherCAT Slave

EtherCAT Slave: Any ACS network product or 3rd party certified EtherCAT device

Figure 25: EtherCAT Network Connections

Cable type – use CAT5 or higher high quality cables. ACS provides such cables at varying lengths of 30 cm to 50 m.

Cable lengths – all ACS products have been tested with 50 m cables between adjacent nodes. At lengths of up to 100 m one should carefully test performance as function of network complexity and operating environment.

When employing the CMnt-1/2-320 in an EtherCAT network, the MMI Application Studio EtherCAT Configurator tool is used for setting it up (refer to the MMI Application Studio User Guide for details).

10.1.2 HSSI – Serial Interface to ACS Peripherals

One port is provided for communication with ACS peripherals such as HSSI-IO-16.

11 Thermal Considerations CMnt-1/2-320 should be operated with forced air ventilation.

Heat dissipated by the CMnt negatively affects the operation of the MPU and the operation of the entire EtherCAT network controlled by it.

To increase the unit's maximum ambient operating temperature, it can be ordered with an additional fin-based heat sink. As a guideline, use Table 5 to determine the maximum operating ambient temperature at maximum power.

To generate maximum power in ambient temperatures of up to 47°C (3.5Arms each axis in 5A model) and 36°C (5.3Arms each axis in 7A model), 115CFM air flow is recommended.

The addition of an optional heat sink allows operation in all defined temperature ranges of up to 50°C.

To determine the need and amount of air flow and the need for the optional heat sink, use the charts shown in Figure 26 and Figure 27.

Figure 26 displays the losses (Watts) for 5A and 7.5A (peak sine Amps) drives as a function of rms current (Amps).

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Figure 26: Dissipated Power vs Current

Figure 27 displays the maximum allowable ambient temperature (°C) at which the CMnt-1/2-320 can operate with and without an additional optional heat-sink, with and without forced air flow (CFM) of various values.

Figure 27: Dissipated Power vs Temperature

For example, to determine the overall power losses of both axes as a function of their rms current: from the chart in Figure 26, if the two 7.5A drives operate at 3.2Arms, a total of 2x50=100W has to be dissipated. From the chart in Figure 27, with a minimum forced air flow of 24CFM with the standard provided heat-sink (24CFM, no HS) the CMnt-1/2-320 can be operated at its maximum ambient temperature rating of 50°C. Note that Figure 27 also

0102030405060708090

0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5

Diss

ipat

ed p

ower

loss

es p

er a

xis

[W]

Current per axis (Cont.sine amplitude) [A] (Irms=sine_amplitude/1.4)

5A drive 7.5A drive

Version NT2.25 33


displays the maximum operational temperature as function of dissipated power when no ventilation is applied: curves 0CFM w HS, 0CFM no HS.

11.1 Output Power and Current

The power bridge output voltage [Vrms] and maximum output power [W] per current rating and per axis, as function of single phase AC input voltage, is listed in Table 8.

Table 8: Power Output vs. Current

Cont/Peak No. Axes 85Vac 115Vac 230Vac 265Vac 5/10A 1 62V/

380W 86V/ 529W

184V/ 1128W

214V/ 1307W

52V/ 637W

76V/ 936W

174V/ 2134W

204V/ 2493W

2 52V /637W

76V/ 936

174V/ 2134W

204V/ 2493W

52V /637W

76V/ 936W

154V/ 3778W

184V/ 4496W

7.5/ 15A

1 57V/ 524W

81V/ 748W

179V/ 1646W

209V/ 1915W

42V/ 772W

66V/ 1221W

164V/ 3017W

194V/ 3555W

2 51V/ 656W

75V/ 970W

172V/ 2366

201V/ 2770W

42V/ 772W

66V/ 1221W

134V/ 4932W

164V/ 6010W

11.2 Motor Filter

For dv/dt noise reduction, it is recommended connecting the ACS Motor Filter (shown in Figure 28) in series between the drive and the motor. The motor filter is designed for 20/40A (RMS Continuous/Peak) current, 440/620Vac (RMS/Peak) voltage. For further details, refer to the MC4U Control Module Hardware Guide.

Figure 28: ACS Motor Filter

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SPiiPlusCMnt-1/2-320 Installation Guide Grounding and Shielding

12 Grounding and Shielding Figure 29 shows the recommended scheme for shielding, cable connections and type of grounding.

Input fuse

L1

N

CMnt-2-320V

PWM inverter

AC

Isolated control

RegenerationDevice (active)

RST

Motor1

2

3

4

Digital GND

PE

24Vdc

24V RTN

Encoder supply & signals

Analog circuitry

Digital circuitry

Analog GND

Enc . supply

Sin-CosAqB

PE

Functional earth

Protective Earth

Digital GND

Analog GND

Analog signals

DC/DC

Vp(-)

Vp(+)

PESupply to PWR module control

Figure 29: Grounding and Shielding

13 Personnel Safety Guidelines Make sure that the following guidelines and procedures are addressed and observed prior to powering and while handling any of the network elements. Observing these procedures is crucial to achieve safe and optimal operation of ACS networking provisions.

Installation and maintenance must be performed by qualified personnel only. Such a person must be trained and certified to install and maintain high power electrical and electro-mechanical equipment, servo systems, power conversion equipment and distributed networks. Prior to powering up the system, ensure that all network components are properly installed mechanically, properly grounded and that all attached power and signal cables are in good operating conditions. Maintenance should be performed only after the relevant network element has been powered down, and all associated and surrounding moving parts have settled in their safe mode of operation. Certain drives require longer times to fully discharge.

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SPiiPlusCMnt-1/2-320 Installation Guide Dimensions and Installation

To ensure that the internally stored energy has been fully discharged to a safe level that will not harm personnel exposed to the energy, allow a minimum of 5 minutes after powering down the CMnt-1/2-320 until handling or touching the unit. Special care should be provided while applying, removing or touching connector J10 that contains bus voltage carrying wires (VBUS+ and VBUS- ).

Follow the hardware guide of each element and observe the residual discharge time specified. Avoid contact with electrostatic-sensitive components and take the required precautions.

All power terminals remain live for at least 5 minutes after the mains have been disconnected.

The CMnt-1/2-320 is powered up as long as an ACS inlet is connected to it. Therefore it is the responsibility of the user to provide an in-series switch or circuit breaker that disconnects all power-carrying signals which is readily and rapidly accessible to the operator. The disconnecting device must meet the requirements of IEC60947-1 or IEC60947-3 and the current rating must be not more than 20A. The disconnecting device must be in close proximity to the equipment and within easy reach of the operator and be clearly marked as the disconnecting device for the CMnt-2-320. A power cord with conductor area of not less than 0.75mm², with a voltage rating of not less than 300V, rated to 105ºC or more, and complying with IEC60227 or IEC60245 must be used for the AC drive supply input. Only the Green –Yellow wire of the cable is to be used for connection to the protective conductor terminal.

14 Dimensions and Installation

14.1 Dimensions

The dimensions of the CMnt-1/2-320 are shown in Figure 30.

Figure 30: CMnt-1/2-320 Dimensions

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Figure 31: Heat Sink – Back Panel Dimensions

Figure 32: Heat Sink – Base Panel Dimensions

Figure 33: Heat Sink – Side Dimensions

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14.2 Installation

The CMnt-1/2-320 can be mounted on a wall vertically, using four M4 retaining screws, two on each side (as shown in Figure 34).

Figure 34: Retaining Screw Locations

When installing the CMnt-2-320, An Earth-ground must be connected to the Heat Sink as shown in Figure 35.

Figure 35: Grounding Screw

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SPiiPlusCMnt-1/2-320 Installation Guide CMnt-1/2-320 Specifications

14.2.1 Vertical Installation with Cooling Fan

Airflow is provided by an external device, such as a fixed cooling fan.

The device should be positioned to ensure a continuous airflow thorough the bottom and top ventilation holes, as shown in the following figure.

Figure 36: Airflow

15 CMnt-1/2-320 Specifications This section presents the specifications for the CMnt product line.

15.1 General Part Number

X – number of axes YY – special options

CMnt-X-320-002-YY

CMnt-X-320-005-YY

CMnt-X-320-007- YY

Number of internal axes 1 or 2 MPU MPU Cycle update rate:

• For 2,4,6,8,16 axes: 2kHz • For 32 axes: 1kHz

MPU-User Memory: RAM: 128Mb. Non-volatile memory (Flash): 128Mb. Power up Time: 25sec.

Drive supply voltage range [Vac] 85 to 265 Phase Current Cont./Peak, sine amplitude [A]

2.5 / 5 5 / 10 7.5 / 15

Phase Current Cont./Peak, RMS [A] 1.8 / 3.6 3.6 / 7.1 5.3 / 10.6 Peak current time [sec] 1 Max. output voltage [Vdc] (Vac in) x1.41 x 88%

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Part Number X – number of axes YY – special options

CMnt-X-320-002-YY

CMnt-X-320-005-YY

CMnt-X-320-007- YY

Max. Input Cont./Peak power per axis @ at 230Vac [kVA]

0.9/1.8 1.8/3.6 2.5/5

Max. output power (Cont./Peak) per axis @ 230Vac [kW]

0.55/1.1 1.1/2.1 1.6/3

Minimum load Inductance, at maximum motor voltage [mH]

0.05

Max. Heat dissipation per axis @ 230Vac [W]

25 50 75

Weight without / with additional heat sink [gram]

2,000 / 2,750

Dimensions without / with additional heat sink [mm]

270 x 157 x 67 / 270 x 157 x 78

15.2 Drive Supply Control DC Power

24Vdc ± 10% Maximum input current / power: 4A / 100W (2A (50W) during regular operation, plus an additional 2A during external motor brake activation) During emergency conditions there is no need to remove the 24Vdc control supply.

Input AC Power 85-265Vac. 11.7 to 34A peak current, 1000 to 9000Watt. Efficiency of 68% at continuous and 66% at peak current performance. 3.75Arms in rush current for first 20ms following power-up. The current is limited by a protective fuse and connector to 15A. The drive supply input fuse is rated 20A at 250Vac or 125Vdc. When supplying DC voltages higher than 125Vdc, an appropriate external protection device (voltage and current ratings) must be used.

15.3 Drives Control Type: digital current control with field-oriented control and space

vector modulation. Current ripple frequency: 40 kHz Current loop sampling rate: 20 kHz Programmable Current loop bandwidth up to 5 kHz. Commutation type: sinusoidal. Initiation with and without hall sensors. Switching method: advanced unipolar PWM.

Protection Over voltage, Phase-to-phase short circuit, Short to ground, Over-current, Over-temperature supply

Motor types 2- and 3-phase DC brush motors 2- and 3-phase DC Brushless (AC servo) 3-phase AC induction.

Motor brake Two, 1 per axis. 24V, 1A, opto-isolated. Powered by external 24Vdc Control Supply.

15.4 Communication EtherCAT® Node-to-node connectivity w/o redundancy. Two In & Out ports,

100 Mbit/sec, CoE and FoE protocols. 100m between adjacent nodes using ACS EtherCAT cables.

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Ethernet port 100 Mbps standard. TCP/IP, 10/100 Mbps. Cable length of up to 100m between adjacent network elements.

RS-232 port Up to 115,200 baud serial communication for host communication. Rx, Tx and GND cross cable. Supports Modbus protocol as master or as slave.

HSSI port One. Used for IO-16 accessory connectivity. RS-422 differential. Up to 10m length. ACS proprietary protocol. Check support of HSSI modules with ACS.

15.5 Network Nodes Supported axes Being an EtherCAT network master, the product is ordered with

the maximum number of supported network axes, whether ACS or non-ACS products (that have been approved by ACS). The profile update rate is a function of this number:

For up to 16 axes a profile update rate of 1 kHz and 2 kHz is provided. For 17 to 32 axes an update rate of 1 kHz is provided.

Number of I/O nodes does not impact the update rate.

15.6 Encoders Sin-Cos Up to 2 Sin-Cos differential (depending on number of internal

axes, 1 or 2), 120Ω termination, consisting of Sine, Cosine and Index signals, 1Vptp±10%, 250kHz bandwidth and better than 52dBm SNR. 12 bit resolution. Multiplication factor From x4, to -x4096 4. Offset, Gain and Phase compensation supported. Fault detection: Encoder error, Encoder No Connected.

Sin-Cos digital The Sin-Cos inputs are available as digital (after filtering and limiting) outputs via STATE and PEG outputs

Incremental digital AqB

One or two per axis, as function of configuration, supporting A&B,I and Clk/Dir modes of operation. Differential RS-422 with 120Ω termination interface. Max. rate: 50 million encoder counts/sec. Fault detection : Encoder error, and encoder not connected.

HALL A set of three per axis. Single-ended, 5V, source, opto-isolated. Input current: <7mA. Consists of HA, HB and HC lines per axis

Resolver Two sensor inputs are available, 1 per axis. 12bit resolution (4,096 counts/rev). Excitation provided by a differential 10Vp-p ±5%/20KHz 35mA signal (RSV_EXT). Inputs are 2 Sin-Cos differential 3.15V±25% signals.

Absolute encoders EnDat 2.1/ 2.2, Smart-Abs, Panasonic, BiSS-C, Hiperface 5V feedback supply

Total current available for feedback devices: 250mA

15.7 Digital Inputs/Outputs Inputs 8 per product, single ended, opto-isolated, 24V±20%, source

current driving inputs. Consult ACS for 5V and ‘sink’ options.

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Outputs 8 per product, Single ended, opto-isolated, ‘source’ (current driving) outputs, 0.5A max per output, up to a total of 3A for all outputs, fed from external user supplied 24V±20% power source.

Registration MARK Inputs

Four. Two are RS-422 differential, and two single ended, 24V opto-isolated current-driving signals. 120Ω termination. The 2 differential signals, when used, are at the expense of digital inputs 6 and 7. For further information, see Command & Variables Reference Guide.

15.8 Analog Inputs/Outputs Inputs 2 per axis. Differential, ±10V, 12bit accuracy, 100mV

compensated offset, maximum sampling rate 250kHz Outputs 1 per axis. 10 bit resolution, differential ±10V±10%, 50mV

maximum offset, 50mVp_p maximum ripple, linearity better than 1%. Minimum 10KΩ load required.

15.9 PEG Outputs Signals Two differential RS-422 outputs (PEG0 and PEG1), and two

PEG state TTL signals. Supports incremental and random (256 events per burst) modes.

GP Outputs Two GP opto-isolated outputs can be programmed to be used as the PEG Pulse outputs. Pulse width (RS-422): 26nSec to 1.75mSec. at maximum rate of 10MHz. Pulse width (GP outputs): 0.75mSec to 1.75mSec. at maximum rate of 1kHz. In random mode the maximum burst rate of the 256 pulses is 10Mhz. For further information, see NT PEG and MARK Operations Application Notes.

15.10 Safety and Faults Limit Switches Right Limit and Left Limit per axis. Opto-isolated, single-ended

24V± 20%, referenced to a common return signal. Activation at above 14mA.

Emergency Stop One opto-isolated, 24V, 2-teminal signal. Activation above 14mA. Return line is common to Over-Temperature indication and Hall signals.

STO 2 signals per product, 24V and GND lines each, activated at 27mA min. Provides a standard, SIL-3 level delayed PWM drive discontinuation when activated. STO1 deactivates lower bridge and STO2 deactivates upper bridge of both drives.

Mechanical Brake One output per axis. 24V ±20%, opto-isolated current driving signals, 1A each. Protection against short circuit is provided. Power is provided internally from the 24V logic supply without additional protection.

Over temperature Single-ended, opto-isolated, reference to 5U_RTN. Measured on the product heat sink, activated at 85-90 ºc.

Over current A per axis software indication when within the range below or higher:

• 5A model: 15A ±5% (14 – 16A) • 7.5A model: 22A ±5% (21 – 23A)

Bus over voltage A software indication at 442 – 467V

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SPiiPlusCMnt-1/2-320 Installation Guide CMnt-1/2-320 Connectors

Bus under voltage A software indication at 76 – 84V Power Supply Not Ready

A software indication, active during the initial phase following power-up (soft start) for 4.5 – 5.5s

Motor short circuit Phase-to-phase or phase-to-ground short detection by software.

• 5A model: 20A ±5% (19 – 21A) • 7.5A model: 30A ±5% (28 – 32A)

15.11 Environment Operating 0 to + 50°C. Refer to operating condition section. Storage -25 to +70°C Humidity 5% to 90% non-condensing

15.12 Applicable Standards

The CMnt-1/2-320 Dual Axis Control Module meets the requirements of the following standards:

EN 61326-1:2006 Industrial locations equipment, class A standard, under article 6(2) of EMC Directive 2004/108/EC (ACSEMC_EN.22513C)

IEC 61010-1:2001 Safety conformance, 2nd edition. SEMI F42-0999:1999 SEMI F47-0200:2000

Voltage sag immunity

IEC 60068-2-6 Class 4M4 IEC 60068-2-29 Class 4M4 IEC 60068-2-56 Class 4K3

Sine vibration during operation (5-150 Hz, 3 axes, 10 m/s^2) 600 shocks, 150m/s2, 6ms 93%, 30C

16 CMnt-1/2-320 Connectors

16.1 J1 – Input Connector

Label: J1

Connector Type: RJ45

Mating Type: plug

Table 9: J1 Connector Pinout

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Pin Name Description

1 TD+ Positive transmit signal

2 TD- Negative transmit signal

3 RD+ Positive receive signal

4 N/C Not connected

5 N/C Not connected

6 RD- Negative receive signal

7 N/C Not connected

8 N/C Not connected

16.2 J2 – Output Connector

Label: J2


Mating Type: plug



1 TD+ Positive transmit signal

2 TD- Negative transmit signal

3 RD+ Positive receive signal

4 N/C Not connected

5 N/C Not connected

6 RD- Negative receive signal

7 N/C Not connected

8 N/C Not connected

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16.3 J3 – Input/Output Connector

Label: J3 I/O

Connector Type: DB44 high density male

Mating Type: DB44 high density female



1 OUT1 Digital Output 1



4 OUT7/IN9 Digital Output 7 or Digital Input 9

5 IN1 Digital Input 1


7 0_LL Axis 0 Left Limit

8 1_LL Axis 1 Left Limit

9 ES+ E-STOP non-inverted input

10 AIN0- Analog Input 0 inverted

11 AOUT0+ Analog Output 0 non-inverted

12 MARK1+ MARK 1 non-inverted

13 PEG0+ PEG 0 Output non-inverted

14 PEG1+ PEG 1 Output non-inverted

15 DGND Digital ground




19 OUT6/IN8 Digital Output 6 or Digital Input 8



22 0_RL Axis 0 Right Limit

23 1_RL Axis 1 Right Limit

24 ES- E-STOP inverted input

25 AIN0+ Analog Input 0 non-inverted


Version NT2.25 45



27 AOUT0- Analog Output 0 inverted

28 MARK1- MARK 1 inverted

29 PEG0- PEG 0 Output inverted

30 PEG1- PEG 1 Output inverted

31 V_SUP_IO IO supply

32 V_RTN_IO IO supply return



35 IN6/MARK2 Digital Input 6 or MARK 2

36 IN7/MARK3 Digital Input 7 or MARK 3

37 V_SUP_SFTY Safety Supply

38 V_RTN_SFTY Safety Supply Return

39 ANGD Analog ground


41 AOUT1+ Analog Output 1 non-inverted

42 AOUT1- Analog Output 1 inverted

43 MARK0+ MARK 0 non-inverted

44 MARK0- MARK 0 inverted

16.4 J4 & J5 – Encoder Connectors

Label: J4 1(Y)

J5 0(X)

Connector Type: DB26 high density female

Mating Type: DB26 high density male

The dollar sign ($) in the table refers to the axis designations which can be 0 or 1 depending on the connector.

Table 12: J4 & J5 Connectors Pinout


1 $_CHA- $ Encoder A inverted input

2 $_CHB- $ Encoder B inverted input

Version NT2.25 46



3 $_CHI- $ Encoder Index inverted input

4 $_HB $ Motor Hall B

5 V_SUP_SFTY Supply for limits input

6 $_RL $ Right Limit

7 $_SIN- $ Encoder SIN inverted input

8 $_COS- $ Encoder COS inverted input

9 $_SC_I- $ Encoder SIN-COS Index inverted input

10 $_CHA+ $ Encoder A non-inverted input

11 $_CHB+ $ Encoder B non-inverted input

12 $_CHI+ $ Encoder Index non-inverted input

13 $_HA $ Motor Hall A

14 $_HC $ Motor Hall C

15 $_LL $ Left Limit

16 $_SIN+ $ SIN non-inverted input

17 $_COS+ $ COS non-inverted input

18 $_SC_I+ $ Encoder SIN-COS Index non-inverted input

19 5U 5V user supply for Digital Encoder and HALL

20 5U_RTN 5V return user supply for Digital Encoder, a return for $ Motor temperature sensor, and return for HALL

21 Shield Shield

22 $_MTMP $ Motor Over-Temperature

23 V_RTN_IO Return supply IO (not used)

24 V_RTN_SFTY A return for Right and Left Limits input

25 5F 5V user supply for Analog Encoder and HALL

26 5F_RTN 5V return user supply for Analog Encoder and HALL

16.5 J6 – Control Supply Connector

Label: J6 CONTROL SUPPLY

Connector Type: PHOENIX 5 pin, MC-1.5/5 GF 3.81

Mating Type: PHOENIX 5 pin, MC-1.5/5 STF 3.81

Version NT2.25 47




1 24V_SUP 24V control supply

2 24V_RTN 24V control supply return

3 5V_ENC_EXT External 5V supply for Encoder

4 5V_ENC_EXT_RTN External 5V supply return for Encoder

5 EGND Shield

16.6 J7 – 24V Output Supply Connector

Label: J7 24V OUTPUT SUPPLY

Connector Type: PHOENIX 2 pin, MC-1.5/2 GF 3.81

Mating Type: PHOENIX 2 pin, MC-1.5/2 STF 3.81



1 24V_SUP_OUT 24V logic supply output (up to 5A)

2 24V_RTN 24V logic supply return

16.7 J8 & J9 – Motor Connectors

Label: J8- MOTOR1

J9 –MOTOR0

Connector Type: PHOENIX 6 pin, MC 1,5/ 6-GF-5,08

Mating Type: PHOENIX 6 pin, MC-1.5/6 STF 5,08

The dollar sign ($) in the table refers to the axis designations which can be 0 or 1 depending on the connector.

Version NT2.25 48


Table 15: J8 & J9 Connectors Pinout


1 R_$ Motor $ R phase

2 S_$ Motor $ S phase

3 T_$ Motor $ T phase

4 EGND EGND, protected earth.

5 BRK_$+ Mechanical brake non-inverted output

6 BRK_$- Mechanical brake inverted output

16.8 J10 – Drive Supply Connector

Label: J10 DRIVE SUPPLY

Connector Type: Degson 2EDGRM-5.0 7-pin, male

Mating Type: Degson 2EDGKFM-5.0 7-pin, female



1 VBUS+ DC drive supply positive, for external regeneration circuit, increasing bus capacitance and parallel connection

2 N/C (REG) Not connected (regeneration resistor output in case of internal regeneration version).

3 VBUS- DC drive supply return, for external regeneration circuit, increasing bus capacitance and parallel connection

4 PE EGND, protected earth.

5 N/C (L3) Not connected (AC input phase 3 in case of three phase version)

6 N (L2) AC input neutral (AC input phase 2 in case of three phase version)

7 L1 AC input phase

Version NT2.25 49


16.9 J11 – General Purpose Connector

Label: J11 GP

Connector Type: Amtek 36 pin female 1,27mm

Mating Type: Amtek 36 pin SCSI male (P/N HPCENS-MM36SAB-A6P-L)



1 2_CHA+ Axis 2 Encoder A non-inverted input

2 2_CHA- Axis 2 Encoder A inverted input

3 2_CHB+ Axis 2 Encoder B non-inverted input

4 2_CHB- Axis 2 Encoder B inverted input

5 2_CHI+ Axis 2 Encoder Index non-inverted input

6 2_CHI- Axis 2 Encoder Index inverted input

7 5U 5V user supply for Digital Encoder and Hall

8 STATE0+/ENC_0+

PEG STATE 0 non-inverted output or Encoder 0 non-inverted output

9 STATE0-/ENC_0- PEG STATE 0 inverted output or Encoder 0 inverted output

10 ANGD Analog ground



13 0_RSV_SIN+ Axis 0 Resolver SIN non-inverted input

14 0_RSV_SIN- Axis 0 Resolver SIN inverted input

15 0_RSV_COS+ Axis 0 Resolver COS non-inverted input

16 0_RSV_COS- Axis 0 Resolver COS inverted input

17 0_RSV_EXT+ Axis 0 Resolver EXT non-inverted output

18 0_RSV_EXT- Axis 0 Resolver EXT inverted output

19 3_CHA+ Axis 3 Encoder A non-inverted input

20 3_CHA- Axis 3 Encoder A inverted input

21 3_CHB+ Axis 3 Encoder B non-inverted input

22 3_CHB- Axis 3 Encoder B inverted input

23 3_CHI+ Axis 3 Encoder Index non-inverted input

24 3_CHI- Axis 3 Encoder Index inverted input


Version NT2.25 50



26 STATE1+/ENC_1+

PEG STATE 1 non-inverted output or Encoder 1 non-inverted output

27 STATE1-/ENC_1- PEG STATE 1 inverted output or Encoder 1 inverted output

28 EGND Shield



31 1_RSV_SIN+ Axis 1 Resolver SIN non-inverted input

32 1_RSV_SIN- Axis 1 Resolver SIN inverted input

33 1_RSV_COS+ Axis 1 Resolver COS non-inverted input

34 1_RSV_COS- Axis 1 Resolver COS inverted input

35 1_RSV_EXT+ Axis 1 Resolver EXT non-inverted output

36 1_RSV_EXT- Axis 1 Resolver EXT inverted output

16.10 J12 – HSSI Connector

Label: J12 HSSI


Mating Type: plug



1 CONTROL_#+ Control signal non-inverted output for channel 0

2 CONTROL_#- Control signal inverted output for channel 0

3 SER_DI_#+ Serial data non-inverted input for channel 0

4 SER_DI_#- Serial data inverted input for channel 0

5 SER_DO_#+ Serial data non-inverted output for channel 0

6 SER_DO_#- Serial data inverted output for channel 0



Version NT2.25 51


16.11 J13 - COM1 Port Connector

Label: J13 RS232

Connector Type: Modular jack – 4P4C

Mating Type: RJ11 plug for 4P4C



1 RX232 RS-232 receive signal for communication port 1 (COM1)

2 TX232 RS-232 transmit signal for communication port 1 (COM1)

3 DGND Digital ground.

4 SHIELD Cable shield connection

16.12 J14 - STO Input Connector (optional)

Label: J14 STO

Connector Type: JST 5 pin 2mm male SM05B-PASS-1

Mating Type: JST 5 pin 2mm female PAP-05V-S Pin: SPHD- 001T-P0.5



1 STO1- Safety torque input 1 inverted input

2 STO1+ Safety torque input 1 non-inverted input

3 EGND Electrical ground

4 STO2+ Safety torque input 2 non-inverted input

5 STO2- Safety torque input 2 inverted input

Version NT2.25 52

SPiiPlusCMnt-1/2-320 Installation Guide Encoder Configurations

17 Encoder Configurations Table 21 details all possible encoder configurations for the CMnt-1/2-320 if a Resolver is employed.

Table 21: CMnt Encoder Configurations with Resolver Ordered Possible Combination

Incremental Digital

Encoder

SIN COS Encoder

Resolver Encoder 0 (J5)

Encoder 1 (J4)

Resolver 0 (J11)

Resolver 1 (J11)

Encoder 2 (J11)

Encoder 3 (J11)

2 (1 per axis) 0 0 Incremental Incremental Not used

Not U

sed

2 (1 per axis) 0 1 Incremental Incremental Incremental Resolver Incremental Resolver

2 (1 per axis) 0 2

Incremental Incremental Incremental Resolver Incremental Resolver Resolver Resolver

2 (1 per axis) 1 0 Incremental Incremental Incremental SIN-COS SIN-COS Incremental

2 (1 per axis) 1 1

Incremental Incremental Incremental Resolver Incremental Resolver Incremental SIN-COS SIN-COS Incremental SIN-COS Resolver SIN-COS Resolver

2 (1 per axis) 2 0

Incremental Incremental

Not Used Incremental SIN-COS SIN-COS Incremental SIN-COS SIN-COS

2 (1 per axis) 2 2 Any Any

Resolver if SIN-COS is not used by J5


4 (2 per axis) 0 0 Incremental Incremental

Incremental

Incremental

4 (2 per axis) 0 1

Incremental Incremental Incremental Resolver

Incremental Resolver

4 (2 per axis) 0 2



Resolver Resolver


4 (2 per axis) 1 1



Version NT2.25 53


Ordered Possible Combination Incremental

Digital Encoder

SIN COS Encoder

Resolver Encoder 0 (J5)

Encoder 1 (J4)

Resolver 0 (J11)

Resolver 1 (J11)

Encoder 2 (J11)

Encoder 3 (J11)

Incremental SIN-COS SIN-COS Incremental SIN-COS Resolver

SIN-COS Resolver

4 (2 per axis) 2 0

Incremental Incremental Incremental SIN-COS SIN-COS Incremental SIN-COS SIN-COS




Table 22 details all possible encoder configurations for the CMnt-1/2-320 if a Resolver is not employed.

Table 22: CMnt Encoder Configurations without Resolver Ordered Possible Combination

Incremental Digital

Encoder

SIN COS

Encoder

Absolute Encoder

Encoder 0 (J5)

Encoder 1 (J4)

Encoder 2 (J11)

Encoder 3 (J11)

Resolver 0 (J11)

Resolver 1 (J11)

2 (1 per axis) 0 0 Incremental Incremental

Not U

sed

Not U

sed

2 (1 per axis) 0 1 Incremental Incremental Incremental Absolute Absolute Incremental

2 (1 per axis) 0 2

Incremental Incremental Incremental Absolute Absolute Incremental Absolute Absolute


2 (1 per axis) 1 1

Incremental Incremental Incremental Absolute Absolute Incremental Incremental SIN-COS SIN-COS Incremental SIN-COS Absolute Absolute SIN-COS

2 (1 per axis) 2 0


2 (1 per axis) 2 2 Any

Any

4 (2 per axis) 0 0 Incremental Incremental Increm

ental

Increm

ental

Not

Used 4 (2 per axis) 0 1 Incremental Incremental

Incremental Absolute

Version NT2.25 54


Ordered Possible Combination Incremental

Digital Encoder

SIN COS

Encoder

Absolute Encoder

Encoder 0 (J5)

Encoder 1 (J4)

Encoder 2 (J11)

Encoder 3 (J11)

Resolver 0 (J11)

Resolver 1 (J11)

Absolute Incremental

4 (2 per axis) 0 2

Incremental Incremental Incremental Absolute Absolute Incremental Absolute Absolute


4 (2 per axis) 1 1

Incremental Incremental Incremental Absolute Absolute Incremental Incremental SIN-COS SIN-COS Incremental SIN-COS Absolute Absolute SIN-COS

4 (2 per axis) 2 0



Version NT2.25 55

1 Hataasia St Ramat Gabriel Industrial Park Migdal Ha’Emek 2307037 Israel T +972 4 654 6440 F +972 4 654 6443

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