SPiiPlusECNetwork Manager

Installation GuideNovember2014

Document Revision: 02

SPiiPlusECReleaseDate: November2014

Copyright

©ACSMotion 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 intorevisions 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, NetworkBoost and NanoPWN are trademarks of ACSMotion Control Ltd.Windows and Visual Basic are trademarks ofMicrosoft Corporation.EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.Any other companies and product namesmentioned herein may be the trademarks of their respective owners.www.acsmotioncontrol.comsupport@acsmotioncontrol.comsales@acsmotioncontrol.com

Notice

The information in this document is deemed to be correct at the time of publishing. ACS Motion Control reserves the right to changespecificationswithout notice. ACS Motion Control is not responsible for incidental, consequential, or special damages of any kind inconnection with using this document.

Revision History

Date Revision Description

Oct-2014 01 First Release

Nov-2014 02 Din rail mounting kit added to Package content.

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SPiiPlusEC Installation Guide

Conventions Used in this GuideText Formats

Format DescriptionBold Names of GUI objects or commands.BOLD+ UPPERCASE ACSPL+ variables and commandsMonospace + 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

Note - 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 theproduct model.

Advanced - indicates a topic for advanced users.

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SPiiPlusEC Installation Guide

Related DocumentsDocuments listed in the following table provide additional information related to this document.

The most updated version of the documents can be downloaded by authorized users fromwww.acsmotioncontrol.com/downloads.

Document DescriptionSPiiPlus ACSPL+ Programmer's Guide Provides practical instruction on how to use ACSPL+ to program your

motion controller.SPiiPlus Command & Variable ReferenceGuide

Describes all of the variables and commands available in the ACSPL+programming language.

SPiiPlus MMI Application Studio UserGuide

Explains how to use the SPiiPlus MMI Application Studio andassociated monitoring tools.

EtherCAT Network Diagnostics An application note describing how to perform diagnostics of theEtherCAT network.

SPiiPlusNT Setup Guide Provides guidance on how to configure and adjust the SPiiPlusNTsystems to work with supported types of motors and feedbackdevices.

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SPiiPlusEC Installation Guide

Table of Contents

1. Introduction 7

2. Overview 7

2.1 Description 7

2.2 Communication Channels 8

2.3 Connectors 8

2.4 Indicators 9

2.5 Ordering Part Number 10

2.6 Package Content 10

3. Mounting the SPiiPlusEC 10

3.1 Location Planning 10

3.2 Mounting Procedure 12

4. Connections 12

4.1 Safety, EMC and Wiring Guidelines 12

4.1.1 General Safety Guidelines 13

4.2 Connecting the SPiiPlusEC 13

4.3 Powering the Unit 14

4.4 Connector Descriptions 14

4.4.1 J1 EtherCAT Primary (A) 14

4.4.2 J2 EtherCAT Secondary (B) 14

4.4.3 J3 Ethernet 15

4.4.4 J4, J5 COM1, COM2 16

4.4.5 J6 Control Supply 16

5. Specifications 17

5.1 Communication 17

5.1.1 Control Supply Input 17

5.1.2 EtherCAT Ports (Primary and Secondary) 17

5.1.3 Ethernet 17

5.1.4 RS232 Serial Communication 18

5.2 Performance 18

5.3 Environmental 18

5.4 Dimensions 18

5.5 Compliance with Standards 18

5.5.1 RoHS 18

List Of Figures

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SPiiPlusEC Installation Guide

Figure 1SPiiPlusEC Interface 7

Figure 2Connectors on Front and Top Panel 8

Figure 3Indicators on Front and Top Panel 9

Figure 4SPiiPlusEC Dimensions and Mounting Preparation Diagram 11

Figure 5SPiiPlusEC Vertical Mounting Diagram 12

Figure 6 J6 Connections 16

List of Tables

Table 1SPiiPlusEC Connectors 8

Table 2SPiiPlusEC Indicators 9

Table 3Wiring Guidelines 13

Table 4SPiiPlusEC J1 EtherCAT Primary (A) Pinout 14

Table 5SPiiPlusEC J2 EtherCAT Secondary (B) Pinout 15

Table 6SPiiPlusEC J3 Ethernet Pinout 15

Table 7SPiiPlusEC J4, J5 COM1, COM2 Pinout 16

Table 8SPiiPlusEC J6 Control Supply Pinout 16

Table 9SPiiPlusECControl Supply Input 17

Table 10SPiiPlusECEtherCAT Ports (Primary and Secondary) 17

Table 11SPiiPlusECEthernet 17

Table 12SPiiPlusEC RS232 Serial Communication 18

Table 13SPiiPlusEC processing rate 18

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SPiiPlusEC Installation Guide

1. IntroductionThis document describes the installation information for the SPiiPlusEC (SPiiPlus External Controller), includingelectrical interfacing, device compatibility, mounting, and ventilation.

SPiiPlusEC is supported by ACS Motion Control' firmware SPiiPlusNT-SC Ver. 2.27 and higher.

2. OverviewThis section provides an overview of the SPiiPlusEC (SPiiPlus External Controller), the available product options andassociated kits and accessories.

2.1 DescriptionThe SPiiPlusEC is the next generation of the existing SPiiPlusNTM. It is equipped with a powerful MPU (Intel®Atom™N2600 1.6 GHz) and provides enhanced processing power. The unit consists of a plastic enclosure and youcan mount it using a panel or a din-rail.

The SPiiPlusEC main features includes:

Processing power for 8 axes at 5kHz.

Two EtherCAT ports to support network failure detection and recovery (NetworkBoost™).

One Ethernet host communication, up to 1GbE.

Two RS232 serial communication ports.

Panel and Din-rail mounting options.

LEDs indicators.

See "SPiiPlusEC Interface" shows the main blocks and interfaces of the SPiiPlusEC:

Figure 1SPiiPlusEC Interface

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SPiiPlusEC Installation Guide1. Introduction

2.2 Communication ChannelsThe SPiiPlusEC supports the following Ethernet communication ports:

connection to host computer using TCP/IP protocol.

connection to real-time network components using EtherCAT protocol.

Optionally, you can use RS232 serial communication port for communications with the host.

2.3 ConnectorsSee "Connectors on Front and Top Panel" and See "SPiiPlusEC Connectors" show the location and description of theSPiiPlusEC connectors.

Figure 2Connectors on Front and Top Panel

Connector Name Type Mating ConnectorJ1 EtherCAT primary (A) RJ45 Ethernet plugJ2 EtherCAT secondary (B) RJ45 Ethernet plugJ3 Ethernet RJ45 Ethernet plugJ4 COM1 D-type 9 pin male D-type 9 pin femaleJ5 COM2 D-type 9 pin male D-type 9 pin femaleJ6 Control supply Phoenix MC 1,5/ 3-GF-3,

81 – 1827871Phoenix MC 1,5/ 3-STF-3,81 - 1827716

Table 1SPiiPlusEC Connectors

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SPiiPlusEC Installation Guide2. Overview

2.4 IndicatorsSee "Indicators on Front and Top Panel" and See "SPiiPlusEC Indicators" show the location and description of theSPiiPlusEC indicators.

Figure 3Indicators on Front and Top Panel

LED DescriptionControl supply Green LED:

Off – Logic supply doesn’t function. On – Power supply is OK.

Link Act 3 green LEDs (one per Ethernet/EtherCAT port):

Off – No cable is connected. Blinking – Link and activity On – Link without activity

Speed Three dual color LEDs (one per Ethernet/EtherCAT port):

Amber – 100Mbit Green – 1000Mbit

Table 2SPiiPlusEC Indicators

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SPiiPlusEC Installation Guide2. Overview

2.5 Ordering Part Number

SPiiPlusEC Ordering Options FieldExampleUser

SelectionAvailable Ordering Option Values

Maximum number of axes 1 04 2,4,8,16,32,64ECAT 3rd party Servo Drive 2 00 Up to the maximum number of axesECAT 3rd party Step Motor Drive (open &closed loop)

3 00 Up to the maximum number of axes

ECAT 3rd party IO EtherCAT node 4 04 4 (included automatically FOC), 8,16,32,64PLC (IEC-61131-3), G-Code, or both 5 N None (N), PLC only (Y), G-code only (G),

Both (B)ServoBoost, number of axes supported 6 A 0(N), 4(A), 8(B), 12(C),…60(P), 64(Q)Input shaping 7 Y Yes (Y), No (N)Maximum MPU cycle rate (kHz) 8 D Default (D), 4kHz (4), 5kHz (5)NetworkBoost (ring topology, cablefailure detection and recovery)

9 N None (N), NetworkBoost (A)

An example Part Number of SPiiPlusEC04000004N04YDN, would be set for the configuration described in thefollowing table:

Field 1 2 3 4 5 6 7 8 9PN SPiiPlusEC 04 00 00 04 N A Y D N

2.6 Package ContentThe SPiiPlusEC package contains the following items:

SPiiPlusEC Module

Software disc with SPiiPlusNT Suite ADK, latest available version.

Din rail mounting kit: Part Number DINM-15-ACC

3. Mounting the SPiiPlusEC

3.1 Location PlanningWhen planning the mounting location of the SPiiPlusEC, take into account the following:

unit dimensions (158 x 45 x 124 mm (6.22 x 1.771 x 4.881 in) - see .See "SPiiPlusEC Dimensions and MountingPreparation Diagram".

sufficient clearance of 25 millimeters on all open sides for cable routing and free air flow.

the SPiiPlusEC operates in a temperature range of 0-50⁰C.

a 10 CFM velocity-controlled fan in the unit starts operating when the ambient temperature exceeds 28⁰C.

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SPiiPlusEC Installation Guide3. Mounting the SPiiPlusEC

Figure 4SPiiPlusEC Dimensions and Mounting Preparation Diagram

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SPiiPlusEC Installation Guide3. Mounting the SPiiPlusEC

3.2 Mounting ProcedureUse two M3 screws as shown in See "SPiiPlusEC Vertical Mounting Diagram" to mount the SPiiPlusEC on a verticalsurface.

Figure 5SPiiPlusEC Vertical Mounting Diagram

4. ConnectionsThis section describes how to interface with the SPiiPlusEC while following proper safety, EMC and wiringguidelines.

4.1 Safety, EMC and Wiring GuidelinesRead this section carefully before beginning the installation process.

Make sure that the following guidelines and procedures are addressed and observed prior to powering up andwhile handling any of the EtherCAT network elements.

Installation and maintenance must be performed only by qualified personnel who have been trained and cer-tified to install and maintain high power electrical and electro-mechanical equipment, servo systems, powerconversion equipment and distributed networks.

Prior to powering up the system, ensure that all EtherCAT network devices are properly installed and groun-ded. Further ensure that all of the attached power and signal cables are in good operating condition. Main-tenance should be performed only after the relevant network devices have been powered down, and allassociated and surrounding moving parts have settled in their safe mode of operation. Certain drives, in the net-work, require a longer time to fully discharge.

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SPiiPlusEC Installation Guide4. Connections

To avoid electric arcing and hazards to personnel and electrical contacts, avoid connecting and disconnectingthe SPiiPlusEC while the power source is on.

When connecting the SPiiPlusEC to an approved isolated control supply, connect it through a line that is sep-arated from hazardous live voltages using reinforced or double insulation, in accordance with approved safetystandards.

The SPiiPlusEC is not intended for use in safety-critical applications (such as life supportingdevices) where a failure of the SPiiPlusEC can lead to severe personal injury or death.

Perform the following instructions to ensure safe and proper wiring:

Whenever possible, use shielded cables with braided shield of at least 80%-95% coverage.

Proper wiring, grounding and shielding are essential for ensuring safe, immune and optimal servo performance.After completing the wiring, carefully inspect all wires to ensure tightness, good solder joints and generalsafety.

See "Wiring Guidelines" details the recommended wiring based on the current rating of theSPiiPlusEC:

Item Gauge Twisted pair Remarks

Control Power Supply 18AWG No Length should be as short as possibleEtherCAT CAT6 - For 1GbE Ethernet host communication

Table 3Wiring Guidelines

4.1.1 General Safety Guidelines

In an emergency, disconnect the unit from the power supply.

Ensure that you comply with all electrical regulations.

4.2 Connecting the SPiiPlusECConnect the SPiiPlusEC as follows:

1. Ensure that all supplies are off when preparing the unit.

2. Connect the 24Vdc control supply to J6.

3. Connect the PE ground to J6 pin 3.

4. Connect the EtherCAT primary cable from the input port of the first slave module in the EtherCAT network toJ1.

5. If the EtherCAT network is configured for ring topology, connect the EtherCAT secondary cable from the out-put port of the last slave module in the EtherCAT network to J2.

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SPiiPlusEC Installation Guide4. Connections

6. Connect the Ethernet cable from the host computer to J3.

7. If required, connect RS-232 cables to J4 and J5.

4.3 Powering the Unit1. Turn on the 24Vdc control supply and verify communication with the SPiiPlusEC.

4.4 Connector DescriptionsThe following sections describe the specifications of each connector (see Section 2.3 , Connectors for connectorlocations).

4.4.1 J1 EtherCAT Primary (A)

Connector name EtherCAT primary (A)Connector assignment J1Manufacturer part number or type RJ45Mating type Ethernet plug

Pin Signal Description1 TD+ Positive transmit signal2 TD- Negative transmit signal

3 RD+ Positive receive signal4 NC Not connected5 NC Not connected6 RD- Negative receive signal7 NC Not connected8 NC Not connected

Table 4SPiiPlusEC J1 EtherCAT Primary (A) Pinout

4.4.2 J2 EtherCAT Secondary (B)

Connector name EtherCAT secondary (B)Connector assignment J2Manufacturer part number or type RJ45Mating type Ethernet plug

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SPiiPlusEC Installation Guide4. Connections

Pin Signal Description1 TD+ Positive transmit signal2 TD- Negative transmit signal

3 RD+ Positive receive signal4 NC Not connected5 NC Not connected6 RD- Negative receive signal7 NC Not connected8 NC Not connected9 NC Not connected

Table 5SPiiPlusEC J2 EtherCAT Secondary (B) Pinout

The cable shield must be connected to the connector body.

4.4.3 J3 Ethernet

Connector name EthernetConnector assignment J3Manufacturer part number or type RJ45Mating type Ethernet plug

Pin Signal Description1 TX+_D1 Positive transmit signal2 TX-_D1 Negative transmit signal

3 RX+_D2 Positive receive signal4 BI+_D3 Bi-directional+ (for 1000Mb Ethernet only)5 BI-_D3 Bi-directional- (for 1000Mb Ethernet only)6 RX-_D2 Negative receive signal7 BI+_D4 Bi-directional+ (for 1000Mb Ethernet only)8 BI-_D4 Bi-directional- (for 1000Mb Ethernet only)

Table 6SPiiPlusEC J3 Ethernet Pinout

For 1000Mbps you must use CAT6 cable.

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SPiiPlusEC Installation Guide4. Connections

4.4.4 J4, J5 COM1, COM2

Connector name COM1, COM2Connector assignment J4 - COM1

J5 - COM2Manufacturer part number or type D-type 9 pin maleMating type D-type 9 pin female

Pin Signal Description1 NC Not connected2 RXD Receive signal for communication port

3 TXD Transmit signal for communication port4 NC Not connected5 DGND Digital ground6 NC Not connected7 NC Not connected8 NC Not connected

Table 7SPiiPlusEC J4, J5 COM1, COM2 Pinout

4.4.5 J6 Control Supply

Connector name Control supplyConnector assignment J6Manufacturer part number or type Phoenix MC 1,5/ 3-GF-3,81 – 1827871Mating type Phoenix MC 1,5/ 3-STF-3,81 - 1827716

Pin Signal Description1 24VDC +24V dc control supply2 24V_RTN 24V dc control supply return

3 SHIELD SHIELD

Table 8SPiiPlusEC J6 Control Supply Pinout

Figure 6 J6 Connections

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SPiiPlusEC Installation Guide4. Connections

5. Specifications

5.1 Communication

5.1.1 Control Supply Input

Item Description RemarksDesignation 24Vdc 24VRTN. Note: Connect the control supply

via 2A fuse.Input range 24Vdc±20%Maximum Input current 0.8A @ 19VProtection Reverse polarity

Table 9SPiiPlusECControl Supply Input

5.1.2 EtherCAT Ports (Primary and Secondary)

Item Description RemarksDesignation Transmit: ETH_TX±

Receive: ETH_RX±

Line Impedance 100ΩQuantity 2 EtherCAT input and output portsInterface TCP/IP 10/100Mbps or EtherCATSpeed 100Mbps

Table 10SPiiPlusECEtherCAT Ports (Primary and Secondary)

5.1.3 Ethernet

Item Description RemarksDesignation Transmit: ETH1_TX±

Receive: ETH1_RX±

Line Impedance 100ΩQuantity 1Interface Standard Ethernet LAN communicationSpeed TCP/IP 10/100/1000Mbps For 1000Mbps you must use CAT6

cable.

Table 11SPiiPlusECEthernet

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SPiiPlusEC Installation Guide5. Specifications

5.1.4 RS232 Serial Communication

Item Description RemarksDesignation COM1:

RXD1 receive signal TXD1 transmit signal

COM2: RXD2 receive signal TXD2 transmit signal

Quantity 2Speed Up to 115,200 baud

Table 12SPiiPlusEC RS232 Serial Communication

5.2 PerformanceThe following table details the SPiiPlusEC processing rate:

Number of axes Minimum C_Time[ms]

Maximum MPU cycle rate[kHz]

2, 4, 8 0.2 52, 4, 8, 16 0.25 4

2, 4, 8, 16, 32 0.5 22, 4, 8, 16, 32, 64 1 1

Table 13SPiiPlusEC processing rate

5.3 EnvironmentalOperation: 0 to +50⁰C.

Cooling Fan: 10 CFM velocity-controlled fan that starts operating when the ambient temperature exceeds 28⁰C.

5.4 Dimensions158 x 45 x 124 mm (6.22 x 1.771 x 4.881 in).

5.5 Compliance with Standards

5.5.1 RoHS Design complies with ROHS requirements.

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SPiiPlusEC Installation Guide5. Specifications

Contact us: sales@acsmotioncontrol.com | www.acsmotioncontrol.com

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