MX2000 Multi-Axis Motion Controller ® SLO-SYN Model MX2000 Programmable Multi-Axis Controller SERVO CONTROLS STEPPER CONTROLS VOLTAGE CONDITIONING ENGINEERED SYSTEMS AC/DC DRIVES 1 2000 Features • Full Coordinated motion control including linear interpolation of up to 8 axes, circular interpola- tion and polynomial splining among any two axes. Programmable using WIN- DOWS based BASIC-like cod- ing software (included) or one of the optional software utilities, Motion Workbench or CAD-to- Motion Full math functions including Trig, Logs, and Square roots MX-6 6 axes configuration MX-2 2 axes configurationSubroutine capability (up to 16 nested levels) MX2000 Programmable Multi-Axis Motion Controller The high performance, built-in power This fully programmable, powerfulMulti-tasking of up to 7 concur- supply is AC line operated with a built- DSP-based motion controller features rent tasks in line filter and MOV, and features its own built-in power supply and, in flexible input power from 90 to 265 most cases, can serve as the only Up to 8 axes of stepper pulse controller necessary even in complex Vac, 50/60 Hz. and direction outputs, with and sophisticated machine control MX2000 optional input/output boards Boost & Reduce systems. are available to suit your specific ap- plications. Depending on which model you Up to 8 axes of Encoder inputs choose, the MX2000 can simulta- • Digital Input/Output Board — This and analog I/O neously operate up to 8 step motor or board features a "bulletproof" design servo axes while performing up to 7 while providing 24 optically isolated Optical isolation, with built-in 24 concurrent tasks. It has been designed and filtered inputs along with 16 for use with all SLO-SYN step motor Vdc 0.75 amp power supply for short-circuit proof outputs. Sinking drives (up to 50,000 micro-steps per I/O power or sourcing operation is switch-se- revolution) and any analog or digital lectable, and the board provides ter- servo amplifier. minal-strip access to the system'sUpto 352 I/O points available isolated, built-in 24 Vdc power sup- The MX2000 WINDOWS-based soft- using optional boards ply. ware simplifies programming from a host computer through a serial data Expansion Input/Output BCDEasy to connect removable port. The software contains numerous Board — Two 50-pin headers allow screw clamp terminations screens so you can quickly and eas- you to connect up to 48 industry- ily establish your system parameters. standard, high-powered, OPTO-22 Flash Memory enhances ease Plus, with built-in subroutine and loop- style input or output modules. Each of programming and firmware ing (nestable up to 16 levels), your pro- header also can accommodate up gramming flexibility is greatly en- updates to 4 BCD switch banks. hanced. Dual-Axis Interface Board — For 2 serial ports, operating at up For ease of communicating with the your increased operating efficiency, to 38 Kbaud controller, two serial ports are pro- the Dual-Axis board provides stan- vided. The host port is switch-select- dard signals for most stepper drives able for RS232 or RS485 protocol.Flexible 90-265 Vac 50/60 hertz and servo amplifiers along with in- There's also an auxiliary serial port puts for two incremental encoders. input including built in line filter that's factory set for RS232, and is This board also provides two sets with MOV. jumper configurable for RS485. of connections for limit, home, and mark registration sensors. With full servo and following capabili- MX-2 and MX-6 Units UL Rec- ties, the MX2000 facilitates easy-to- The MX2000 series of Programmable ognized program servo gains and on-screen Multi-Axis Motion Controllers. Your servo tuning while providing a com- first choice when there's no substitute plete selection of following commands. for flexible and reliable performance. 2 MX2000 Multi-Axis Motion Controller is available for OEM type applications. !"Reliability Superior. By Design. The MX2000-1C is a complete 1 or 2 axis controller providing all the preci- Each MX2000 is fully tested and !"High Performance sion and reliability of our stand-alone burned in before shipment for maxi- systems in a single card. mum reliability. These fully programmable, multi-axis motion controllers can perform up to 7 All MX2000 models offer ease of pro- Optically isolated inputs and outputs tasks concurrently with a subroutine grammability with WINDOWS-based, provide immunity from noise along and looping capability, nestable up to development software through a host with an added margin of safe and reli- 16 levels. And, depending on which computer and two alternative serial able operation. Plus, the built-in input/ model you select, you can control up ports. The host port is switch-select- output 24 Vdc power source is short- to 8 axes simultaneously. The able for either RS232 or RS485 proto- circuit protected. MX2000-2 controls one or two axes, col, with a switch-selectable baud rate the MX2000-6 controls up to 6, or, for of 4800, 9600, 19.2K, or 38.4K. The There's also a "power" indicator lamp up to 8- axes control, choose the auxiliary serial port is factory set for on the MX-6 and MX-8 power supply model MX2000-8. The latter two mod- RS232 protocol, and is jumper config- boards, a "fault" indicator on the DSP els can be used with optional boards urable for RS485. This port has a fac- board, and a "busy" indicator on the while providing more than 350 input/ tory set baud rate of 9600 but can be Dual-Axis interface board. output points. The MX-6 and MX-8 software adjusted up to 38.4 Kbaud. configurations provide two (MX-6) or In addition the MX2000 family of con- five (MX-8) expansion slots. Page 163 The WINDOWS format provides nu- trols meets IEC 801-4 Standard for defines which optional boards can be merous screens for ease of establish- immunity against electrical interfer- used in each expansion slot. ing system parameters. The develop- ence ("noise") in industrial environ- ment software further provides simpli- ments. These stand-alone units include their fied servo gain programmability, on- own built-in power supply and feature screen servo tuning with oscilloscope the industry-standard Texas Instru- !"Easy to Install & Maintain simulation, and a complete selection ments TMS320C31 floating point, 32- of following commands. bit, 33 MHz Digital Signal Processor Built with a powerful DSP-based con- (DSP). troller, an MX2000 Motion Controller All MX2000 models feature flexible in- usually can operate as the only con- put/output control, including switch- This high performance hardware en- troller, even in highly complex and so- selectable sinking or sourcing. For ables the MX2000 to operate in a PLC phisticated motion control systems. even greater flexibility and perfor- emulation type mode by multi-task- For added economy and ease of in- mance, three optional input/output ing up-to 7 complex motion control pro- stallation, each unit also includes its boards are available. The Digital Board grams while still monitoring all of its own built-in power supply. features a "bulletproof" design; the 352 possible I/O points. Expansion - BCD Board provides con- Programming is a simple task when nections for up to 48 OPTO 22 style The base system consists of 3 major using the included WINDOWS com- inputs, 8 BCD switch bank, or a com- boards; the DSP Controller, Dual-Axis patible software utility program. bination of both; and, the Dual-Axis Interface, and Power Supply/Expan- Interface Board contains all the input/ sion, which communicate through a Installed mounting slots and brackets output connections you need to con- passive backplane. The MX-8 has a facilitate ease of flat-wall mounting and trol two stepper/servo axes simulta- built-in power supply and does not uti- service. In addition, all system inputs neously. lize the power supply/expansion and outputs employ single-point, re- board. movable, screw-clamp terminations. Each unit is AC line operated with a built-in line filter and MOV, and pro- vides a flexible range of input voltage: 90-265 Vac, 50/60 Hz. In addition to the above systems a card level version of the MX2000 controller 3 2000 Specifications General Processor Texas Instruments TMS 320C31, 32 bit, Floating Point, Digital Signal Processor Speed 33 Mhz Flash EPROM 4 Mbit (512K x 8 bit), 2 Mbit (256K x 8 bit) available for user programs RAM 4 Mbit (128K x 32 bit), zero wait state, volatile Multi-Tasking Up to 7 concurrent tasks Physical Characteristics MX2000-2 Size (Inches) 5.34 wide X 7.48 deep X 10.63 high Size (mm) 136 wide X 190 deep X 270 high Weight 8.25 Lbs (3.75 Kg) MX2000-6 Size (Inches) 9.34W x 10.63H x 7.48D Size (mm) 237.3W x 270H x 190D Weight 11.0 lbs (5.0 kg) MX2000-8 Size (Inches) 19.0W x 10.63H x 7.54D Size (mm) 482.6W x 270H x 191.6D Weight 12.0 lbs (5.45 kg) Input Power MX2000-2, -6 Power requirement 90-265 VAC, 50/60 Hertz Current <0.5 Ampere at 115 VAC Fuse 2A (normal blow), 250 VAC, 3AG type, (2 required) MX2000-8 Power requirement 90 - 132 VAC or 175 - 264 VAC, 50/60 Hz. Current < 3 A at 115 VAC Fuse 3A (slow blow), 250 VAC Analog Output Output Range - 10 Vdc to + 10 Vdc Output Loading 5 milliamps maximum (2 Kohm) Resolution 12 bits Accuracy Zero Output Error ± 0.03 Vdc Full Scale Output Error ± 0.11 Vdc Axis Inputs Sink Input On-State Voltage 0-3 Vdc On-State Current 10.5 mA with Vin=0 Off-State Voltage 24 Vdc Source Input On-State Voltage 12-24 Vdc On-State Current 10.5 mA with Vin=24Vdc Off-State Voltage 0-3 Vdc Analog Inputs Resolution 12 bits Sample Rate 1950 samples/sec. Voltage Range(IN+ to IN-) -10 to +10 Vdc Input Impedance (IN+/IN- to AGND) 20 Kohm Continued next page ... 4 MX2000 Multi-Axis Motion Controller Specifications (cont'd) Stepper Drive Interface Output Signals Open Collector drivers (TTL types 7406 or 7407) Off-State Voltage Rating 30 Vdc On-State Current Rating 40 mA Input Signal Input Signal Loading 10 Kohm ("Ready") High Level Input Voltage 3.5 to 5.0 Vdc Low Level Input Voltage 0.0 to 0.9 Vdc Encoder Interface High Level Current 7.3 mA typ. at Vin = 5 Vdc (A+,B+, I+) 0.0 mA typ. at Vin = 0 Vdc (A-, B-, I-) Low Level Current -7.3 mA typ. at Vin = 0 Vdc Expansion I/O - BCD Port (MX2000-2 and MX2000-6) Input Characteristics On-State Input Voltage 0 - 1.5 Vdc On-State Input Current 1 mA max. (Vin=0) Input Voltage 2.9 - 30 Vdc or open circuit Output Characteristics Load Voltage 30 Vdc maximum On-State Voltage 0.5 Vdc (15 mA load current) On-State Current 15 mA maximum Digital I/O Port (MX2000-2A and MX2000-6A) Input Signals (Sink Mode) On-State Voltage Range 0 - 12 Vdc Input Current @ 12V 2.3 mA Input Current @ 0V 6.5 mA (Source Mode)On-State Voltage Range 10 - 24 Vdc Input Current @ 10V 2.3 mA Input Current @ 24V 6.5 mA Output Signals (Sink Mode) Load Power Supply Built-in 24 Vdc or external 12 - 24 Vdc Current Rating 50 mA Voltage Rating 24 Vdc On State Voltage @ 50mA 2.0 Vdc maximum Off State Leakage @ 24 Vdc 0.6 mA maximum (Source Mode)Current Rating 50 mA On State Voltage @ 50mA 20 Vdc minimum Off State Leakage @ 24 Vdc 0.6 mA maximum Environmental Constraints Operating Temperature +32°F to +122 °F (0 to +50 °C) Storage Temperature Range -40 °F to +167 °F (-40°C to +75 °C) Humidity 95% maximum, noncondensing Altitude 10,000 feet (3048m) above sea level Design Features Wall mountable Removable printed circuit boards Removable clamp terminations Advanced programming capability Input/Output Expansion - BCD port Advanced DSP-based Machine control circuitry Expansion capability in the MX-6 and MX-8 configurations Optional I/O boards available for MX-6 and MX-8 5 2000 MX2000 THE COMPLETE SOLUTION FOR MACHINE AND MOTION CONTROL MX2000-6 Modular Rack System OPERATOR INTERFACE PANEL IWS 30/120/127SE 6 Expansion I/O-BCD R Dedicated I/O Digital I/O MX2000 Multi-Axis Motion Controller Host Computer (Optional) 7 Motor Power Control Signals 2000 5.14 (130.58) Dimensions, 3.250 0.93 9.84 (82.55) (23.74) (250.03) 0.37 0.12 MX2000-2 (MX-2) (3.05) OVER CONNECTORS (9.35) 0.219 0.50 (5.56) 7.48 (12.70) (189.88) TYP 10.63 (269.88) 12.00 (304.80) MX2000 (MX-2) TWO AXES 5.34 MOTION CONTROLLER (135.66) OVER HARDWARE Dimensions in ( ) are millimeters. 9.14 (232.18) 9.84 Dimensions, 3.250 (250.03) 2.935 (82.55) OVER CONNECTORS (74.54) MX2000-6 (MX-6) 7.48 0.219 0.500 (189.88) (5.56) (12.70) 0.37 TYP (9.35) 10.63 (269.88) 12.00 (304.80) 934 (237.26) OVER HARDWARE Dimensions in ( ) are millimeters. 8 MX2000 Multi-Axis Motion Controller Dimensions, MX2000-8 (MX-8) The MX2000-8 (MX-8) can be mounted as shown in the above dia- gram or it can be mounted in a standard 19 inch rack. To mount the MX-8 in a 19 inch rack simply remove the side mounting panels, one at a time, and rotate them 180°, then reattach them to the unit. The mounting hole pattern is compatible with a standard 19 inch rack in this configuration. 9 2000 General Application Overview MX2000 BASE CONTROLLER AXIS DSP P/S - I/0 ENCODER AC Input (90-265 Vac) INPUTS Limit Switches Operator 123ABC AXIS AUX RS-232 or Home Switches Interface INPUTS PORT RS-485 Mark Registration Panel Sensor RS-232 or HOST Host Computer (PC) RS-485 PORT MX2000-2,-6 MX2000-2A,-6A STEPPER 4 BCD'S 24 Digital Inputs INTERFACE OR And 24 Opto-22 I/O 16 Digital Outputs Temperature ANALOG Pressure or I/O System Shutdown Flow Sensors, etc. ("Motion Clear") Switch and Program Select Switches DRIVE MOTOR 1 Pulse + Direction (etc.) 1 Encoder Lines 1 DRIVE MOTOR 2 2 Encoder 2 Expansion I/O - BCD Port CONNECTION TO BCD SWITCH BANKS (USING S.E. COMPONENTS) S. E. P/N 221157-002 MX2000 INCLUDES 18 INCH, 14 CONDUCTOR INTERFACE CABLE CONTROLLER BCD BANK # 1 7 DIGITS + SIGN 50 CONDUCTOR MX2000 RIBBON CABLE (3 FT) BCD BANK # 2 BCD 7 DIGITS + SIGN SWITCH BCD BANK # 3 INTER- S.E. P/N 223264-001 7 DIGITS + SIGN FACE BCD BANK # 4 7 DIGITS + SIGN S.E. P/N 223263-001 14 CONDUCTOR RIBBON CABLE 18 INCHES 10 EXPANSION I/O-BCD PORT MX2000 Multi-Axis Motion Controller Programming Commands Grouped By Function Motion Input-Output Control ABSPOS Sets or returns the absolute position. ANALOG Sets or returns the analog voltage on axis ACCEL Sets or returns the acceleration rate. card. ARC Initiate a coordinated motion to move in an arc. BCD Returns the value on the BCD port. BUSY Returns the motion status of the axis. DRVREADY Enables or disables checking of the drive DECEL Sets or returns the deceleration rate. ready (READY) signal on the axis board DIST Returns the incremental distance moved. EXIN Returns expansion board input states. DONE Returns the motion status of the axis. EXOUT Sets, resets, or returns the state of the ENCERR Returns the encoder error count. expansion outputs. ENCMODE Sets or returns the encoder mode of operation. FILTER Sets the filter value for the defined analog ENCPOS Returns the encoder absolute position. input. EVENT1 Returns the EVENT1 state of an axis. IN Returns the state of the inputs on the I/O EVENT2 Returns the EVENT2 state of an axis. board. FEEDRATE Sets the feedrate override for a path motion. OUT Sets, resets, or returns the state of the HARDLIMIT Enable/disable/return HARDLIMIT state of an axis. specified outputs. HARDLIMNEG Returns the HARDLIMNEG state of an axis. Mathematics HARDLIMPOS Returns the HARDLIMPOS state of an axis. ABS Returns the absolute value of an expression. JOGSTART Run continuously in the specified direction. LOG Returns the natural logarithm of x. JOGSTOP Stop continuous run. MOD Returns the divide remainder. JOYSTICK SIGN Returns the sign of the expression. ..JOYSTICK END Enables/disables Joystick inputs. SQRT Returns the square root. LINE Initiates a coordinated motion in a straight line. Trigonometry LOWSPD Sets or returns the low speed (starting speed). MAXSPD Sets or returns the maximum allowed speed. ATN Returns the arctangent of the angle. MOVE Initiates an indexed move. ATN2 Returns the arctangent of y/x. MOVEHOME Run until the home input is activated. COS Returns the cosine of the angle. MOVEREG Run until the registration input is activated. SIN Returns the sine of the angle. PATH..PATH END Begin a continuous motion path. TAN Returns the tangent of the angle. POINT Specify coordinates, which the motor will move Boolean Logic through in a path. POSMODE Sets or returns the positioning mode. AND Logical conjunction operator. PROFILE Sets/returns the acceleration/deceleration profile. NOT Logical complement operator. RADIUS Sets the arc radius for Path blending. OR Logical inclusive or operator. SOFTLIMIT Enable/disable/eturn SOFTLIMIT state of an axis. XOR Logical exclusive or operator. SOFTLIMNEG Sets or returns the absolute negative travel limit & Bitwise AND operator. distance. | Bitwise inclusive or operator. SOFTLIMPOS Sets or returns the absolute positive travel limit ^ Bitwise exclusive or operator. distance. ~ Bitwise complement operator. SPEED Sets/returns the speed used for coordinated >> Bitwise shift bits right. motion. << Bitwise shift bits left. VELOCITY Sets or returns the target velocity. Timing Functions WAITDONE Waits for motion to be done/completed for the TIMER Sets or reads Task Timer. specified axes. WAIT Wait for the period of time to expire. Following String Manipulation FOLANALOG Selects the analog input and following axes for ASC Returns the ASCII code of character. the task. Enables Analog following. CHR$ Returns a one character string for the given FOLDEVIATION Master deviation velocity of a task in units/sec ASCII code. for a 10 volt analog input voltage. FORMAT Enables or disables the formatting of the FOLENCODER Selects the encoder axis and following axes for STR$ returned string the task. Enables Encoder or Pulse and Direc- GETCHR Wait for a character to be received via the tion (Digital) following. serial port. FOLEND Terminates the analog following mode of a task. HEX$ Returns the HEX character equivalent of the FOLMAXRATIO Axis velocity clamp for a advance cycle, must be argument. greater than the FOLRATIO HVAL Returns the hex value of a string. FOLMINRATIO Axis velocity clamp for a recede cycle, must be INCHAR Returns a character from the serial port. less than the FOLRATIO INPUT Reads data from the selected serial port. FOLMODE Selects the task following mode and direction. INSTR Returns the first occurrence of a character in a FOLOFFSET Sets the axis offset position in units from the string. initial sync position in velocity following. LCASE$ Converts a string to lower case letters. FOLRATIO Sets a ratio of the following axis to the master axis. LEFT$ Returns the leftmost characters of a string. FOLSYNC Return the following sync status of an axis. LEN Returns the number of characters in the string. FOLTRIG Selects the trigger mode for starting a following MID$ Returns characters from within a string. axis in motion. PRINT Transmit data to the selected serial port. Motor Control PRINT USING Prints string characters as formatted numbers. BOOST Enables or disables the motor boost current RIGHT$ Returns the right most characters from a string. feature, or returns status thereof. STR$ Returns a string representation of a numeric REDUCE Enables or disables the reduce current feature, expression. or returns status thereof. STRING$ Returns a string of characters. WNDGS Enables or disables the motor winding current, UCASE$ Converts a string to upper case letters. or returns status thereof. VAL Returns the value of a string. Continued next page ... 11 2000 Programming Commands Grouped By Function (cont'd) NVR Non volatile storage of a variable (1-64). Program Flow Control READ Reads values into variables or arrays. DO...LOOP Begin a repeatable a block of statements. REM or ' Remark or comment, ignored by the END End of program. compiler. FOR..NEXT...STEP RESET Initializes System to power on condition. ...EXIT FOR Begin a repeatable block of statements. RESTORE Restores data list pointer to beginning. GOSUB...Returns Branch to a subroutine and returns. SETCOM Sets the baud rate and data format of the GOTO Branch unconditionally to the specified label. AUX serial port. IF..THEN SHIFT Shifts an array. ..ELSE..END IF Begin a conditional block of statements. WARNING Sets or returns task warning count. Miscellaneous Servo Gains & Limits COMMON Defines common variables to be shared between INTLIM Sets/returns servo axis integral limit. tasks. KAFF Sets/returns servo axis accel. feed forward DATA Define numeric values. gain. #DEFINE Defines a symbolic name to be a particular string KD Sets/returns servo axis derivative gain. of characters. KI Sets/returns servo axis integral gain. DIM Defines an array. KP Sets/returns servo axis proportional gain. #INCLUDE Includes a file name in a user’s task. KVFF Sets/returns servo axis velocity feed ERR Returns the error number. forward gain. LOF Returns the number of characters in the desig- OUTLIMIT Sets/returns the maximum analog output nated RS232 port. voltage allowed on a servo axis. Base Systems # AXIS 1, 2 MX2000-2 (MX-2) Includes: Enclosure, DSP Board, Power Supply Board BASE 2 AXIS CONTROL SYSTEM with I/O-BCD Interface, and Dual-Axis Interface Board MX2000-2A (MX-2A) Includes: Enclosure, DSP Board, Power Supply Board BASE 2 AXIS CONTROL SYSTEM with Digital Interface, and Dual-Axis Interface Board MX2000-1C (MX-1C) Includes: MX2000 1-2 axis Controller Card for OEM applications 2 TO 6 MX2000-6 (MX-6) Includes: Enclosure, DSP Board, Power Supply Board BASE 5-1/2 SLOT SYSTEM with I/O-BCD Interface, and Dual-Axis Interface Board MX2000-6A (MX-6A) Includes: Enclosure, DSP Board, Power Supply Board BASE 5-1/2 SLOT SYSTEM with Digital Interface, and Dual-Axis Interface Board 2 TO 8 MX2000-8 (MX-8) Includes: Enclosure, DSP Board,Power Supply and 19 INCH SYSTEM ENCLOSURE Dual-Axis Interface Board For the MX-6(A) and MX-8 add Dual-Axis Boards, I/O Boards and Filler Panels as required Accessories/Options DUAL-AXIS INTERFACE BOARD Part Number: 222420-001 DIGITAL I/O BOARD Part Number: 222421-001 I/O-BCD EXPANSION BOARD Part Number: 222642-001 DSP BOARD WITH 32K RAM Part Number: 221794-003 BLANK FILLER PANELS 1 Inch Wide Part Number: 223145-001 2 Inch Wide Part Number: 223146-001 PROGRAMMING SOFTWARE Motion Workbench Part Number: 224418-001 (WINDOWS) CAD-to-Motion Part Number: MX2000-CTM OPERATOR INTERFACE PANEL IWS 30SE Part Number: 222682-001 IWS 127SE Part Number: 222683-001 BCD SWITCH BCD Switch including 18 inch Cable Part Number: 221157-002 BCD SWITCH INTERFACE Handles up to 4 BCD Switches Part Number: 223263-001 BCD INTERFACE CABLE 50-Conductor Flat Ribbon Cable, Part Number: 223264-001 3 ft. Connects the MX2000 I/O-BCD Port to the BCD Switch Interface 12 MX2000 Multi-Axis Motion Controller Typical Motion Control System OPTIONAL I/O Programmable Operator Interface Panel, Operator Interface Terminal IWS 127SE MOTOR IWS 120SE (terminal version) SS2000D6 Programmable Operator Interface Panel IWS 30SE MX2000 Programmable Other Multi-Axis controller, Serial Input Devices Serial communication RS232/RS485 MOTOR SS2000D6 ADDITIONAL AXES 13 2000 Ordering an MX2000-2,-6,-8 System For a 3 to 8 Axis System order requisite number of Dual-Axis boards (part # 222420-001), digital I/O boards (part # 222421-001), expansion I/O-BCD boards (part # 222642-001), or filler panels as required. MX2000-2(A),-6(A),-8 MX2000-8 EXPANSION MX2000-6(A) EXPANSION BASE SYSTEM SLOT SLOT SLOT SLOT SLOT SLOT SLOT SLOT SLOT 8C 8A 8B 7A 7B 6A 6B 4A 4B* 3 2 5A 5B 1 MX-2 and Contains: Contains Contains Contains Contains Contains Contains: Contains MX-6 1 1 1 1 1 1 Contain: Dual-Axis 32 Bit of the of the of the of the of the of the Interface DSP Power Supply follow- following: following: following: following: following: Controller Board Board ing: Including  Dual-Axis  Dual-Axis • Dual-Axis  Digital I/O  Digital I/O I/O-BCD Interface Interface Interface Board Board  Expan- Interface Board Board Board sion  Expansion  Expansion MX-2A & I/O-BCD  Digital I/O  Digital I/O  Digital I/O I/O-BCD I/O-BCD Board MX-6A Board Board Board Board and Board and Contain: 1 Inch 1 Inch  1 Inch  Expansion Power  Expansion  Expansion Filler Panel Filler Panel Filler I/O-BCD Supply Board I/O-BCD I/O-BCD Panel Board and Including Board and Board and  2 Expansion  2 Expansion 1 Inch Digital I/O 1 Inch 1 Inch I/O-BCD I/O-BCD Interface Filler Panel Filler Panel Filler Panel* Boards Boards MX-8  2 Expan-  2 Expansion  2 Expansion  2 Inch Filler  2 Inch Filler sion Contains: I/O-BCD I/O-BCD Panel Panel I/O-BCD Boards Boards* Power Supply Boards  2 Inch Filler  2 Inch Filler Panel Panel * MX-8 only, MX-6 has only one connector in the slot 4A position. 1. Determine the number of axes to be controlled (2 to 8). 2. Select MX2000 package: MX-2(A), 2 Axis no additional I/O; MX-6(A), 2 or 4 axis with additional I/O or 6 axes with I/O provided on the power supply board; MX-8, 2 to 8 axes with or without additional I/O. 3. Select number of Dual-Axis interface boards. 4. If additional I/O is required (MX-6 or MX-8), determine the number of slots remaining for I/O boards. 5. Select I/O Boards based on I/O requirements and available slots. 6. Select filler panels based on remaining empty slots. 7. Determine the characteristics of the motor loads, take into consideration inertia, torque and speed. 8. Use sizing and selection software (CAMAS) to determine motor/drive amplifier selection for each axis. 9. Select the Superior SLO-SYN packaged or modular motor/drive combination best suited for the particular application of each axis. 10.. Select proper motor/options/cables for each axis. 14 MX2000 Multi-Axis Motion Controller Sample System — 4 Stepper Axes Components, description and quantity requirements for 4 axes with digital I/O and 4 BCD Switches Qty. 1, MX2000-6 (MX-6), Multi-Axis Controller Rack which includes: 1 DSP board, 1 Power Supply Board, and 1 Dual-Axis Interface board Qty. 1, 222420-001, Dual-Axis Interface Board Qty. 1, 222421-001, Digital I/O Board Qty. 4, SS200D6, Packaged Drive Qty. 4, M112-FF206C5, Motor with Encoder Qty. 4, 216022-032, Motor Cable - 25 Feet Qty. 4, 220170-002, Encoder Cable - 25 Feet Qty. 4, 221157-002, BCD Switch including 18 inch cable Qty. 4, 223263-001, BCD Switch Interface (handles up to 4 BCD Switches) Qty. 1, Motion Workbench Programming Software (icon driven) Sample System — 2 Servo Axes and 2 Stepper Axes Components, description and quantity requirements for 2 servo axes and 2 stepper axes Qty. 1, MX2000-6 (MX-6), Multi-Axis Controller Rack which includes: 1 DSP board, 1 Power Supply Board, and 1 Dual-Axis board Qty. 1, 222420-001, Dual-Axis Interface Board Qty. 1, SS2000-S12RE\0922MT, 12 Amp Servo Motor Amplifier Qty. 1, SS2000-S12RE\1151MT, 12 Amp Servo Motor Amplifier Qty. 1, PS12-230, 12 Amp Power Supply Qty. 1, S092-2M, 92 mm, 2 stack, Med Speed Winding Motor Qty. 1, S115-1M, 115 mm, 1 stack, Med Speed Winding Motor Qty. 1, GCSA-M2/R-4/5-03, Motor Cable Set for S092 Motor, Length 3m Qty. 1, GCSA-M4/R-4/5-03, Motor Cable Set for S115 Motor, Length 3m Qty. 2, ACK-10, Amplifier I/O Cable Kit Qty. 1, PSK-1, Servo Power Supply Cable Kit Qty. 2, SS200D6, Packaged Drive Qty. 2, M112-FF206C5, Motor with Encoder Qty. 2, 216022-032, Motor Cable - 25 Feet Qty. 2, 220170-002, Encoder Cable - 25 Feet Qty. 1, CAD-to-Motion Programming Software (converts DXF format CAD file to MX2000 motion commands) 15 Distribution Coast-To-Coast and International 2000 Superior Electric, is a global leader in the engineering, manufacturing, and marketing of precision motion ® and control products for industrial applications. All SLO-SYN step motors, servo motors and controls are backed by highly specialized engineers and service people who can help solve your production challenges. Superior Electric’s capabilities and products have improved operations for companies around the world. Electro Sales provides convenient services by offering technical support, replacement parts, and literature, as well as an extensive inventory of models off-the-shelf for the fastest possible delivery. Call Electro Sales customer service for ordering and application information. Distributed by ELECTRO SALES CO., INC. Customer Service: 1-617-666-0500 Product Application: 1-888-787-0500 Product Literature Request: 1-888-787-0500 Fax: 1-617-628-2800 ® ® SLO-SYN Step/Servo Motors and Controls LUXTROL Lighting Controls Superior Electric ® ® POWERSTAT Variable Transformers STABILINE Power Protection Products ® ® SUPERCON Electrical Connectors 5-WAY Binding Posts ® ® BRONCO AC and DC Drives SECO Adjustable Speed Drives NEXTDRIVE™ Adjustable Frequency Drives Warner Engineered Integrator of Superior Electric, and Warner Linear components as well as Systems components of other manufacturers into complete motion control/drive system solutions. Web Site: www.electrosales.com/warner Distributed by Electro Sales Co., Inc. Tel: 617-666-0500  Fax: 617-628-2800 ELECTRO SALES CO., INC. 100 Fellsway West, Somerville, MA 02145 E-Mail : info@electrosales.com © 1999 Superior Electric C5006 11/99 Printed in U.S.A. 16