SPiiPlus CM Hardware Guide (V5-20)

SPiiPLUS CM
Rev i si o n B
Control Module
Hardware Guide
Version 5.20
V e r s i o n 5 . 2 0 , October 30, 2006
Copyright ® 1999 - 2005 ACS MotionControl Ltd.

Changes are periodically made to the information in this document. Changes are published as release
notes and are be incorporated into future revisions of this document.
No part of this document may be reproduced in any form without prior written permission from ACS
MotionControl.
TRADEMARKS
ACS MotionControl, PEG and SPii are trademarks of ACS MotionControl Ltd.
Visual Basic and Windows are trademarks of Microsoft Corporation.
Any other companies and product names mentioned herein may be the trademarks of their respective
owners.
Website: http://www.AcsMotionControl.com
Information: [email protected]
Tech Support: [email protected]
ACS MotionControl, Inc.
14700 28th Avenue North, Suite 25
Plymouth, MN 55447
USA
Tel: (1) (763) 559-7669
(800-545-2980 in USA)
Fax: (1) (763) 559-0110
ACS MotionControl, Ltd.

Ramat Gabriel Industrial Park
POB 5668
Migdal HaEmek, 10500
ISRAEL
Tel: (972) (4) 6546440
Fax: (972) (4) 6546443
NOTICE
The information in this document is deemed to be correct at the time of publishing. ACS MotionControl
reserves the right to change specifications without notice. ACS MotionControl is not responsible for
incidental, consequential, or special damages of any kind in connection with using this document.
October 30, 2006 ii Hardware Guide

Changes in Version 5.20
Page Change
Page 6 Figure 1 – Updated.
Page 8 Overview – Low-voltage option 24Vdc-60Vdc added to the list of available
digital drive supply voltages.
Page 10 Table 6 – Table layout modified
Page 11 Specifications – Specifications updated to reflect changes in the SPiiPlus CM
Revision B
Page 15 Power Supplies – Note added: If the input power is above 4000W, user-
supplied external air flow cooling is required on the heat sink.
Page 23 Section 2.8, Additional Products – Clamping yoke and description added
Page 24 Figure 13, SPiiPlus CM Revision B Label – Updated.
Page 26 Section 3.1, Certifications – Updated
Page 26 Section 3.2, General Safety Guidelines – 16A branch circuit over current
protection fuse guidelines updated.
Page 32 Figure 18, System Grounding – Updated.
Page 33 Chapter 4, Electrical Interface – Chapter organization updated. Description
of electrical interfaces by group added to Table 8.
Page 34 Section 4.1, Figure 19 – Updated
Page 36 Section 4.3, Control and Brake Supply Connector - J17
Table 15 - Names of pin 4 and pin 5 updated
Page 34 Section 4.2, Drive Supply Connector - J18
• Low Voltage option added.
• Table 9, Drive Supply Connector J18 - Components – Updated.
• Table 10, J18 Single-phase 17-85Vdc or 90-125Vdc Supply Pin Out
– Updated.
• Table 11, J18 Single-phase 100-240Vac Supply Pin Out – Updated.
• Table 12, J18 Two-phase 230Vac (phase to phase) Pin Out –
Updated.
Page 38 Section 4.4.1, Regeneration Overview – Formula 5 corrected and explanation
added for the calculation of C.
Page 38 Section 4.4.2, Calculating External Regeneration Resistor Requirements –
Table 16 - Updated information about internal resistor
Page 43 Section 4.4.3, Regeneration Interface – Figure 24 - Updated information
about internal resistor
Page 52 Section 4.7, Incremental Digital Encoder + Hall Connectors J11, J13, J15 –
Note about Hall commutation support from SPiiPlus Firmware Version 5.0
added
October 30, 2006 iii Hardware Guide

Hardware Guide
Page 57 Section 4.8, Sin-Cos Encoder and Analog Input Connectors - J12, J14, J16
• Introduction to chapter corrected
• Note updated.
• Table 34 - Pin 5 description updated
Page 59 Section 4.8.1, Sin-Cos Encoder Interface – Table 35 updated with SNR
value, input voltage corrected.
Page 65 Section 4.9.1, Digital Inputs – Table 41 Input amperage updated
Page 69 Table 43, Digital Outputs – Explanation about digital output to ground
protection added, total output amperage updated.
Page 72 Section 4.9.5, Digital Brake Outputs – Table 45
Page 73 Section 4.9.6, Analog Outputs – SNR value added to Table 46 – Current
output, overload, and accuracy values updated.
Page 76 Section 4.10.2, Analog Inputs for Joystick Implementation – Section added
Page 78 Section 4.11.1, Left and Right Limit Inputs – Table 52, Input current updated
Page 80 Section 4.11.2, Emergency Stop Input – Table 53, Input current updated
Page 83 Section 4.13, COM Connectors - J7, J23
• Availability of RS422 on J23 updated
• CAN protocol removed from note.
Page 88 Section 6.1, Drive Input Supply Protection - Drive not Ready explanation
changed.
Page 91 Figure 64 - Updated figure.
October 30, 2006 iv Hardware Guide

SPiiPlus CM Revision B Version 5.20 Hardware Guide
Table of Contents
1 About this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Related SPiiPlus Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 The SPiiPlus Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Conventions Used in this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3.1 Statement Text and Icons Used in this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Introduction and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1 Notification to ACS MotionControl Customers . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Axis Configurations and Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4.1 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4.2 Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4.3 Position and Velocity Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4.4 Integrated Digital Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4.5 Signals to Direct-connected P/D Stepper Drives . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4.6 I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4.7 Multi-processor Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4.8 Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4.9 Communication Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.4.10 Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.4.11 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.6 SPiiPlus CM Revision B Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.7 Ordering Options and Content of Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.8 Additional Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.8.1 SPiiPlus CM-ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.8.2 HSSI-IO16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.8.3 HSSI-ED2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.9 How to Determine the Product Features from the Product Label . . . . . . . . . . . . . 24
3 Safety and EMC Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.1 Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.2 General Safety Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.2.1 Emergency Stop Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2.2 Fail-Safe Logic Recommendation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2.3 Electrical Separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2.4 Protective Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2.5 Power Supply and Motor Cable Ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.3 General Wiring and Electromagnetic Compatibility (EMC) Guidelines . . . . . . . 29
3.3.1 External AC Line Filters and Circuit Breakers . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.3.2 Routing Signal and Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3.3 Cable Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3.4 Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3.5 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4 Electrical Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
October 30, 2006 v

4.1 Electrical Interface Component Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

4.2 Drive Supply Connector - J18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.3 Control and Brake Supply Connector - J17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.4 Regeneration Connector - J19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.4.1 Regeneration Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.4.2 Calculating External Regeneration Resistor Requirements . . . . . . . . . . . . . . . . 38
4.4.3 Regeneration Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.5 Servo Motor and Brake Output Connectors - J20, J21, J22 . . . . . . . . . . . . . . . . . 44
4.5.1 Mechanical Brake Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.6 Stepper Drive Commands Connector - J10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.6.1 Stepper Drive Pulse and Direction Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.6.2 Stepper Drive Enable Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.6.3 Stepper Drive Fault (Alarm) Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.7 Incremental Digital Encoder + Hall Connectors J11, J13, J15 . . . . . . . . . . . . . . . 52
4.7.1 Incremental Digital Encoder + Hall Interface . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.7.2 Motor Temperature Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.8 Sin-Cos Encoder and Analog Input Connectors - J12, J14, J16 . . . . . . . . . . . . . . 57
4.8.1 Sin-Cos Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.8.2 Motor Temperature Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.9 Digital I/O and Analog Outputs - J9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.9.1 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.9.2 Fast Digital Inputs (MARK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.9.3 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.9.4 Fast Digital Outputs (PEG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
4.9.5 Digital Brake Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.9.6 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.10 PEG Connector J26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.10.1 PEG States Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.10.2 Analog Inputs for Joystick Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.11 Safety Connector - J8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.11.1 Left and Right Limit Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
4.11.2 Emergency Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.12 HSSI Network Connectors - J1, J2, J3, J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.12.1 HSSI Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4.13 COM Connectors - J7, J23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4.14 Ethernet Connector - J5 (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5 LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6 Protection Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
6.1 Drive Input Supply Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
6.2 Internal Integrated Drive Protection Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6.3 Control and Brake Supply Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
6.4 Configuration of Sink or Source by Jumpers – JP5, JP7, JP8 . . . . . . . . . . . . . . . . 90
6.5 Recovery Mode Jumper JP2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
7 External Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
8 Sin-Cos Module Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
8.1 Physical Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
October 30, 2006 vi

8.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
8.2.1 Hardware Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
8.2.2 Software Settings Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
9 Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
October 30, 2006 vii

List of Figures
Figure 1 SPiiPlus CM Revision B Control Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 2 SPiiPlus CM Revision B Control Module - Front Panel. . . . . . . . . . . . . . . . . . . 7
Figure 3 SPiiPlus CM Revision B Control Module - Right Panel. . . . . . . . . . . . . . . . . . . 7
Figure 4 SPiiPlus CM Revision B Control Module - Left Panel. . . . . . . . . . . . . . . . . . . . 8
Figure 5 SPiiPlus CM-1 Revision B Front Panel Dimensions . . . . . . . . . . . . . . . . . . . . 17
Figure 8 Bottom Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 9 SPiiPlus CM Revision B Side Views and Bracket Locations . . . . . . . . . . . . . . 21
Figure 10 SPiiPlus CM Revision B Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 11 SPiiPlus CM Revision B Ordering Code Elements. . . . . . . . . . . . . . . . . . . . . . 22
Figure 12 SPiiPlus CM Revision B Clamping Yoke F . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 13 SPiiPlus CM Revision B Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 14 Standards Organization Marks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Figure 15 Cable Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 16 Shielded Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 17 Improved Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 18 System Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Figure 19 Front Panel Connectors - SPiiPlus CM Revision B . . . . . . . . . . . . . . . . . . . . . 34
Figure 20 J18 Drive Supply Connector Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 21 J17 Control and Brake Supply Connector Pin Out . . . . . . . . . . . . . . . . . . . . . . 37
Figure 22 Example of Velocity, Force and Power Curves . . . . . . . . . . . . . . . . . . . . . . . . 40
Figure 23 J19 Regeneration Connector Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Figure 24 Regeneration Circuit with the Internal Resistor . . . . . . . . . . . . . . . . . . . . . . . . 44
Figure 25 Motor Output Connectors J20, J21, J22 Pin Out. . . . . . . . . . . . . . . . . . . . . . . . 45
Figure 26 Mechanical Brake Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 27 Connector J10 - Location of Pin 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 28 Pin J10 - Stepper Drive Pulse and Direction Interface (Y axis) . . . . . . . . . . . . 50
Figure 29 Connection To Stepper Drive With Enabled Source Output (Y axis). . . . . . . . 51
Figure 30 Connection To Stepper Drive With Enable Sink Output (Y axis) . . . . . . . . . . 51
Figure 31 Connection To Drive With Source Fault Input (Y axis) . . . . . . . . . . . . . . . . . . 52
Figure 32 Connection To Drive With Sink Fault Output (Y axis) . . . . . . . . . . . . . . . . . . 52
Figure 33 Encoder + Hall Connectors J11, J13, J15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Figure 34 Incremental Digital Encoder and Hall Interface . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 35 Connection to Motor Temperature Input (Y axis). . . . . . . . . . . . . . . . . . . . . . . 56
Figure 36 Sin-Cos Encoder Connectors J12, J14, J16 . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Figure 37 Sin-Cos Encoder Interface (X Axis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Figure 38 Connection of AIN0 Differential Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Figure 39 Connection to Motor Temperature Input (Y axis). . . . . . . . . . . . . . . . . . . . . . . 62
Figure 40 Digital I/O and Analog Output Connector J9 . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Figure 41 Source (Switched) Connection for Digital Input 0 . . . . . . . . . . . . . . . . . . . . . . 66
Figure 42 Source (PNP) Connection for Digital Input 0 . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Figure 43 Sink (Switched) Connection for Digital Input 0 . . . . . . . . . . . . . . . . . . . . . . . . 67
Figure 44 Sink (NPN) Connection for Digital Input 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Figure 45 Differential Connection for MARK1 Input (X Axis) . . . . . . . . . . . . . . . . . . . . 68
October 30, 2006, Version 5.20 viii List of Figures.

Figure 46 Single-End (NPN) Connection for MARK1 Input (X Axis). . . . . . . . . . . . . . . 69

Figure 47 Source Connection for Digital Output 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Figure 48 Sink Connection for Digital Output 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Figure 49 Example of X PEG Pulse Output Connection. . . . . . . . . . . . . . . . . . . . . . . . . . 72
Figure 50 Sink Connection for Using Brake_X as a General Purpose Output . . . . . . . . . 73
Figure 51 Connection for AOUT0 Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Figure 52 PEG States Connector J26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Figure 53 Single-axis Joystick Through AIN6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Figure 54 Source (Switched) Limit Input Connection (X Axis) . . . . . . . . . . . . . . . . . . . . 79
Figure 55 Source (PNP) Limit Input Connection (X Axis) . . . . . . . . . . . . . . . . . . . . . . . . 79
Figure 56 Sink (Switched) Limit Input Connection (X Axis) . . . . . . . . . . . . . . . . . . . . . . 80
Figure 57 Sink (NPN) Limit Input Connection (X Axis) . . . . . . . . . . . . . . . . . . . . . . . . . 80
Figure 58 Source Connection for Emergency Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . 81
Figure 59 Sink Connection for Emergency Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Figure 60 HSSI Connectors J1, J2, J3, J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Figure 61 COM Connectors J7, J23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Figure 62 Ethernet Connector J5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Figure 63 Configuration of Sink or Source by Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Figure 64 SPiiPlus CM-2/3 Revision B: Recovery Mode Jumper – JP2. . . . . . . . . . . . . . 91
Figure 65 Sin-Cos Module Sides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Figure 66 Location of J24 and Sin-Cos Module Slots. . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Figure 67 Sin-Cos Module in Place . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
October 30, 2006, Version 5.20 ix List of Figures.

List of Tables
Table 1 Related SPiiPlus Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table 2 Collateral Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Table 3 Document Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Table 4 Changes in Existing Functionality and Outward Appearance. . . . . . . . . . . . . . . 5
Table 5 New Features or Enhanced Capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 6 Axis Assignment Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 7 SPiiPlus Ordering Code Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 8 Electrical Interfaces by Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Table 9 Drive Supply Connector J18 - Components . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Table 10 J18 Single-phase 17-85Vdc or 90-125Vdc Supply Pin Out . . . . . . . . . . . . . . . 35
Table 11 J18 Single-phase 100-240Vac Supply Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . 36
Table 12 J18 Two-phase 230Vac (phase to phase) Pin Out . . . . . . . . . . . . . . . . . . . . . . . 36
Table 13 J18 Three-phase 230Vac (phase to phase) Pin Out . . . . . . . . . . . . . . . . . . . . . . 36
Table 14 J17 Control and Brake Supply Connector J17 - Components. . . . . . . . . . . . . . 36
Table 15 J17 Control and Brake Supply Pin Out Description . . . . . . . . . . . . . . . . . . . . . 37
Table 16 Regeneration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Table 17 J19 Regeneration Connector - Components . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Table 18 J19 Regeneration Connector Pin Out Description. . . . . . . . . . . . . . . . . . . . . . . 43
Table 19 J19 Regeneration Connector - Components . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 20 J20, J21, J22 Motor Output Connectors Pin Out Description . . . . . . . . . . . . . . 45
Table 21 Mechanical Brake Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 22 J10 Drive Commands Connector - Components . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 23 J10 Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 24 Stepper Drive Pulse and Direction Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 25 Stepper Drive Enable Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 26 Stepper Drive Fault Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 27 Incremental Digital Encoder + Hall Connectors J11, J13, J15 - Components . 53
Table 28 Incremental Digital Encoder + Hall Connectors J11, J13, J15 - Pin Out . . . . . 54
Table 29 Hall Sensor Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Table 30 Power Supply for Encoder and Hall Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Table 31 Motor Temperature Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Table 32 Analog Inputs J12, J14, J16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 33 Sin-Cos Encoder Connectors J12, J14, J16 - Components . . . . . . . . . . . . . . . . 58
Table 34 Sin-COS Encoder Connector (J12) X Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Table 35 Sin-Cos Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 36 Power Supply for Sin-Cos Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 37 Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 38 Motor Temperature Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 39 Digital I/O and Analog Outputs Connector J9 - Components. . . . . . . . . . . . . . 63
Table 40 Digital I/O and Analog Output Connector J9 – Pin Out . . . . . . . . . . . . . . . . . . 64
Table 41 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Table 42 Fast Digital Inputs (MARK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Table 43 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Table 44 Fast Digital Outputs (PEG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Table 45 Digital Brake Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Table 46 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
October 30, 2006 x

Table 47 PEG States Connector J26 - Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Table 48 PEG States Connector J26 – Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Table 49 Single-ended Joystick Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Table 50 Safety Connector J8 - Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Table 51 Safety Connector J8 - Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Table 52 Limit Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Table 53 Emergency Stop Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Table 54 HSSI Connectors J1, J2, J3, J4 - Components . . . . . . . . . . . . . . . . . . . . . . . . . 82
Table 55 25 Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Table 56 HSSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Table 57 COM Connectors J7 J23 - Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Table 58 COM-1 Connector J7 – Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Table 59 COM-2 Connector J23 – Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Table 60 Ethernet Connector J5 - Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Table 61 25 Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Table 62 LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Table 63 Drive Input Supply Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Table 64 Internal Drive Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Table 65 One and Two Phase SPiiPlus CM . . . . . . . . . . . . . . . . . . . 1 Axis2 Axis3 Axis 92
Table 66 Three Phase SPiiPlus CM . . . . . . . . . . . . . . . . . . . . . . . . . 1 Axis2 Axis3 Axis 92
October 30, 2006 xi

1 About this Guide

This guide provides detailed hardware information concerning the SPiiPlus CM Revision B
motion control module, including.
• Ηow to install the SPiiPlus CM Revision B
• Ηow to connect the electrical interface with the system (motors, feedback, I/O, etc.)
For a setup procedure of the SPiiPlus CM Revision B, refer to the SPiiPlus Setup Guide. It
includes:
• Ηow to establish communication
• Ηow to configure the drive, motor, feedback for an axis
• Ηow to adjust (tune) the parameters of an axis
1.1 Related SPiiPlus Tools
Table 1 Related SPiiPlus Tools

Tool Description
SPiiPlus MMI A multipurpose user interface with the controller
including: Program management, Motion management,
Communication terminal, Four channel digital
oscilloscope, Safety and I/O signals monitor, Signal tuning
and adjustment, and a fully interactive simulator. Program
and SPii debugging tools and FRF are also included.
SPiiPlus Utilities The SPiiPlus Upgrader allows upgrading or downgrading
of the controller firmware.
The SPiiPlus Emergency Wizard allows firmware
recovery in case of damage or loss of communication to
the controller.
SPiiPlus C Library A DLL (Dynamic Link Library) that supports host
application programming in a variety of languages
including C/C++. The library introduces a new level of
application support with a built-in controller simulator and
it also provides outstanding debugging capabilities. All
tools are provided with a full simulator of the controller.
SPiiPlus COM Library A DLL (Dynamic Link Library) that supports host
application programming in a variety of languages
including Visual Basic, LabView, and more. The library
introduces a new level of application support with a built-
in controller simulator and it also provides outstanding
debugging capabilities. All tools are provided with a full
simulator of the controller.
October 30, 2006 1 About this Guide

1.2 The SPiiPlus Documentation
Table 2 Collateral Documentation

Document Description
SPiiPlus PCI Series Hardware Installation and hardware connection with the SPiiPlus PCI 4
Guide or 8 axes
SPiiPlus CM Hardware Guide Installation and hardware connection with the SPiiPlus
Control Module
HSSI Expansion Modules High-Speed Synchronous Serial Interface (HSSI) for
Guide expanded I/O, distributed axes, and nonstandard devices.
SPiiPlus Setup Guide Communication, configuration and adjustment procedures
for SPiiPlus motion control products.
SPiiPlus ACSPL+ Command set and high level language for programming
Programmer's Guide SPiiPlus controllers.
SPiiPlus Utilities User’s Guide Firmware upgrade and recovery procedures.
SPiiPlus C Library Reference C++ and Visual Basic® libraries for host PC applications.
This guide is applicable for all the SPiiPlus motion control
products
SPiiPlus COM Library COM Methods, Properties, and Events for Communication
Reference Guide with the Controller
SPiiPlus FRF Analyzer User’s The SPiiPlus FRF (Frequency Response Function)
Guide Analyzer™ is a powerful servo analysis GUI for ACS
MotionControl SPiiPlus motion controllers.
SPiiPlus Modbus User’s Guide Describes Modbus setup and register address.
SPiiPlus SA Hardware Guide Installation and hardware connection with the SA and SA-LT
controller.
SPiiPlus 3U Hardware Guide Installation and hardware connection with the 3U controller.
1.3 Conventions Used in this Guide

Several text formats and fonts, illustrated in Table 3, are used in the text to convey information
about the text.
Table 3 Document Conventions (page 1 of 2)

Bold ACSPL+ command names. Software tool menus, menu
items, dialog box names, and dialog box elements.
Italic Emphasis or an introduction to a key concept. In a command
syntax, specifies a variable name or other information that the
user provides.

Table 3 Document Conventions (page 2 of 2)

Monospace Code examples.
Italic monospace Information in code examples that the user provides.
ALL CAPS Names of keys on the keyboard. For example, SHIFT.
blue italic Names of other documents.
blue Cross references, web pages, and e-mail addresses.
| Symbol used in nested menu items and dialog box options
leading to a final action. For example, the sequence
Debug | New Watch | Real-time |
directs the user to open the Debug menu, choose the New
Watch command, and select the Real-time option.
1.3.1 Statement Text and Icons Used in this Guide
Note
Highlights an essential operating or maintenance procedure,
condition, or statement
Model
Model Dependent Text Here!
CAUTION
Caution describes a condition that may result in damage to
equipment.
A warning describes a condition that may result in serious

bodily injury, or death!

2 Introduction and Specifications
2.1 Notification to ACS MotionControl Customers

With almost two years in the market, SPiiPlus CM (Revision A) sales performance proves that
the product is a great success. At ACS MotionControl we see a lot of continued interest in the
unique concept of an integrated controller for up to three digital drives and HSSI networking
options.
ACS MotionControl is planning to release the SPiiPlus CM Revision B during July 2005. The
SPiiPlus CM Revision B incorporates changes based on customer feedback, and fall into two
categories:
• Changes in existing functionality over Revision A, and outward appearance
• New features and enhancements, while leaving existing Revision A functionality intact.
In any case, ACS MotionControl will continue to provide complete repair and technical support
for Revision A.
The SPiiPlus CM Revision B is CE certified for single phase power supply, with additional
certifications pending, and CSA certified for single-phase and three phase power supplies.
Note
The SPiiPlus CM Revision B is designed to work with the current
release of the SPiiPlus SW tools (Version 4.20) and with firmware
Version 4.50 or higher.
The SPiiPlus CM Revision B will be shipped with:
• Firmware Version 4.50
• SPiiPlus ADK CD-ROM including the SPiiPlus Software tools
version 4.20, until we release Version 5.0 which will replace SW
Version 4.20, and FW Version 4.5.
The SPiiPlus CM Hardware Manual Version 4.6 includes the latest technical data and details
about using the SPiiPlus CM Revision B. Click here to download the manual from our web site.
The SPiiPlus CM data sheet Version 1.6 includes the latest technical data and details about the
SPiiPlus CM Revision B.
Table 4 and Table 2 summarize the differences between Revision A and B, and describe the
reasons for the change.
October 30, 2006 4 Introduction and Specifications

Table 4 Changes in Existing Functionality and Outward Appearance

Status in Revision A Change in Revision B
The user could plug the drive supply input The Drive Supply Input connector was modified
(J18) by mistake into the Motor Output to eliminate the possibility of such a mistake, as
connectors, thereby damaging the product. follows:
• Connector Type: Weidmuller SV 7.62/4/90F
P/N1822410000
• Mating Connector Type: Weidmuller BVZB
7.62/4F P/N 1821650000
Since the type of connector was changed, each
SPiiPlus CM Revision B will be equipped with
the new drive supply input user mating connector
of as part of the standard package.
The CM could not be horizontally mounted The SPiiPlus CM Revision B provides two
- as originally planned. mounting L brackets mounts that can be used for
vertical (factory default) or horizontal mounting.
The motor shielding could not be easily The SPiiPlus CM-ACC optional accessories kit
connected to the ground (PE). includes three dedicated, spring-loaded clamping
yokes for improved shielding and better
performance.
See Section 2.8.1, SPiiPlus CM-ACC for
complete details.
The analog inputs range was 1V ptp. Analog inputs range is modified to 1V ptp to
provide better dynamic range and performance
while working with sin-cos encoders.
External regeneration fuse house was External regeneration fuse house was removed. If
provided. external regeneration is required, apply an
external fuse as a part of the shunt resistor
apparatus.
The signal to noise ratio on analog inputs The signal to noise ratio was significantly
was too low. improved to 62dB (3 sigma) equivalent to ±6
AIN counts.
The COM1 serial port was characterized Sensitivity to noise was improved on COM1 to
by a greater sensitivity to electrical noise provide same performance as COM2.
than COM2.
CAN option label on front panel in CAN label removed from front panel.
anticipation of future CAN
implementation.

Table 5 New Features or Enhanced Capabilities

Reason for the Change The Change in Revision B
Single-end analog inputs for joystick were In the Version B, two single-end analog inputs for
required by customers. joystick implementation were added. These
signals exist in the PEG and Analog Inputs (J26)
connector.
Hall sensor commutation support for Hall sensor commutation support for brushless
brushless motors was required by motors was implemented and will be available in
customers. SPiiPlus software version 5.00 and higher.
Customers request While using a Sin-Cos encoder, the squared
(quadrature) signals of channels A and B are
routed to the incremental digital encoder
(connector J11, J13, J15). Based on these squared
signals, the user can get the axis' non-interpolated
position reading for his needs.
Figure 1 illustrates the SPiiPlus CM Revision B Motion Control Module.
Figure 1 SPiiPlus CM Revision B Control Module

Figure 2 SPiiPlus CM Revision B Control Module - Front Panel
Figure 3 SPiiPlus CM Revision B Control Module - Right Panel

Figure 4 SPiiPlus CM Revision B Control Module - Left Panel
2.2 Overview
SPiiPlus motion controllers and control modules are designed to meet the requirements of the
most demanding applications including semiconductor manufacturing and inspection,
electronic assembly and testing, medical imaging and digital printing equipment. SPiiPlus
products handle complex demands without compromising accuracy or throughput.
The SPiiPlus Control Module (CM) combines an advanced programmable motion controller,
up to three digital drives, and a power supply in a single standalone package. The integrated
drives are software configured for AC servo/DC brushless or DC brush motors. Two external
stepper indexers can be added to bring the total number of controlled axes to five.
The following digital drive supply voltages are available:
• 90-125Vdc or 100-240Vac, single phase
• 230Vac phase-to-phase
• Low-voltage option 24Vdc-60Vdc
The drive output current can be 5A continuous/10A peak or 10A continuous/20A peak (sine
wave amplitude).
SPiiPlus CM Revision B supports both Sin-Cos and high-speed incremental encoders. An
internal programmable multiplier (4x to 65,536x) can be ordered for any axis with Sin-Cos
feedback. The SPiiPlus CM Revision B can operate standalone module, or can be connected to
a host computer via an RS-232 serial port, an RS-232/422 serial port, or an Ethernet 10/100
BaseT port. All ports can be used simultaneously.
The SPiiPlus CM Revision B features a versatile implementation of general purpose I/Os.
Digital inputs can be used for hardware-based position registration and digital outputs can be
used to trigger position-based events with sub-microsecond delays. Special high power outputs
are provided for activating mechanical brakes.

Complex applications are easy to develop with ACSPL+, a powerful, compiled, true
multitasking, high-level language that is optimized for motion control applications. ACSPL+
enables implementation of highly complex motion-time-event sequences with accurate
positioning and timing. Up to ten ACSPL+ programs can run simultaneously on the controller.
Programs can also be implemented by a host PC application running under Windows
90/2000/ME/NT/XP using the DLL or the COM libraries provided for C, C++, Visual Basic
and LabView and more. In addition, extensive C/C++ DLL libraries are available for On-time
and Venturecom RTX real-time operating systems.
A powerful suite of software tools are provides for easy setup, tuning, and programming.
Application development is particularly easy with the integrated four-channel soft scope and
multi-axis motion controller simulator.
The servo control algorithm executes at a steady rate of 20kHz per axis, regardless of the
number of axes in use, providing very large bandwidth, exceptional dynamic tracking, fast
settling, and excellent smoothness at low velocities.
The controller is manufactured under an ISO 9001:2000 certified quality management system,
meeting stringent safety and EMC standards.
2.3 Axis Configurations and Options

The SPiiPlus CM Revision B can control up to eight axes, depending on the model, the number
of SPii processors, and the motor types. For example:
• One to three direct-connected motors for servo motors (DC Brush, DC Brushless/AC
Servo).
• One to three direct-connected drives for stepper motors in open loop (without position
feedback)
• One to six HSSI-networked drives for remote servo motors (DC Brush, DC Brushless/AC
Servo).
The specific number and type of motors supported depends on the number of internal drives
(one to three) and the number of SPii processors (one to four) specified in the product order.
Table 6 describes the available axis assignments and configurations.
In general, each SPii processor supports up to two servo axes or one stepper axis.
Axis assignment as a Direct-Connected Motor is preset at the factory and can not be changed
by the user.
Axis assignment as a Direct-Connected Drive is done by the user as a part of the Setup process.
see – Setup Guide Servo Drives (DC Brush, DC Brushless).
Axis assignment as a HSSI-Networked Axes is done by the user as a part of the Setup process.
see – Setup Guide, Servo Drives (DC Brush, DC Brushless).

.
Table 6 Axis Assignment Configurations
Axis Type Total Number of
Axes
Motors Drives HSSI Axes (2 x # of SPiis)
# of Internal # of SPii DC Brush Stepper DC Brush
Drives Processors DC Brushless (open loop) DC Brushless
One drive - One SPii X - A 2
SPiiPlus CM processor
Revision B-1 (default)
Four SPii X Y, Z, T A, Y, B, Z, C, 8
processors T, D
(SpiiPlus CM-
1-x-x-xx-H4)
Two Drives- One SPii X, A - 2
SPiiPlus CM processor
Four SPii X, A Y, Z, T Y, B, Z, C, T, 8
processors D
(SpiiPlus CM-
2-x-x-xx-H4)
Three Drives - Two SPii X,Y, A B 4
SPiiPlus CM processors
Four SPii X, Y, A Z, T B, Z, C, T, D 8
processors
(SpiiPlus CM-
3-x-x-xx-H4)
For example:
The product order code SPiiPlus CM-3-x-x-xx-H4 delivers three internal digital drives and
four SPii motion control processors. Since each SPii processor controls up to two motors, the
following axis assignments are possible:
• Axes X, A, Y will be taken by the internal drive and can be DC brush or DC brushless
motors.
• Axes B,C,D can be assigned to an external digital drive for DC brush or DC brushless
motor, networked to the control module from a HSSI-ED2 distribution module or a HSSI-
SA-1 drive.
• Axes Z and T can be:
– Assigned to an external digital drive for DC brush or DC brushless motors, networked to
the control module from a HSSI-ED2 distribution module or a HSSI-SA-1 drive (like B,C
axes).
Or
– Connected directly to a stepper motor drive.

2.4 Specifications
This section describes the following specifications:
• Position Control
• Velocity Control
• Position and Velocity Feedback
• Integrated Digital Drives
• Signals to Direct-connected P/D Stepper Drives
2.4.1 Position Control

• Sampling Rate: 20kHz.
• Control Algorithms: P type, automatic velocity feed-forward, acceleration feed-forward,
integrator anti-reset windup
• Trajectory Calculation Rate: Programmable 0.5, 1, 2kHz.
• Position Range: ±4x1015 counts
• Accuracy: ±1 encoder count
2.4.2 Velocity Control

• Sampling Rate: 20kHz.
• Control Algorithm: PI type, second order low pass and notch filters
• Velocity Programming Range: Up to 160x109 counts/second.
• Velocity Accuracy:
– Long term: 0.005%.
– Short term: 0.01%-0.5% (system-dependent).
• Acceleration Programming Range: Up to ±4x1015 counts/second2.
2.4.3 Position and Velocity Feedback

• Feedback Types: Any combination of incremental digital encoders, sin-cos encoders
(optional), analog inputs or custom HSSI feedback modules.
• Incremental Digital Encoder:
– Quantity: One per direct-connected or HSSI-networked motor.
– Type: Three-channel, differential, incremental, RS-485. A&B,I; UP-DN,I; CLK-DIR,I.
– Maximum rate: 20 million encoder counts/second.
– Index pulse duration: >200nsec.
– A&B type requirements: A, B line cycle >200nsec; A, B low and high states >100nsec;
A to B edge separation >25nsec.
– UP-DN, CLK-DIR types requirements: Pulse width >100nsec.
• Sin-Cos Analog Encoder (optional):
– Quantity: One per direct connected motor. Each sin-cos encoder uses two analog inputs
– Type: Three channel, differential, incremental, 1Vptp.
– Programmable multiplication factor: 4x to 65,536x.

– Maximum rate: Up to 250,000 sine periods/second. Higher rates are available on

request.
– Maximum acceleration with Sin-Cos encoder: 108 sine periods/second2.
2.4.4 Integrated Digital Drives

• Quantity: One, two or three.
• Type: PWM, digital current control with space vector modulation
• PWM Frequency: 20kHz.
• Current Loop Sampling rate: 20kHz.
• Control Algorithm: PI
• Current Resolution: 14 bit
• Drive short circuit capability: 5kA
• Phase Current (sine wave amplitude):
– SPiiPlus CM-1/2/3-A: 5A continuous; 10A peak (1 second). Maximum power per axis is
1370W continuous, 2740W peak.
– SPiiPlus CM-1/2/3-B: 10A continuous; 20A peak (1 second). Maximum power per axis
is 2740W continuous, 5480W peak.
• Total Power Consumption for all Axes:
– SPiiPlus CM-1/2/3-A: 4800W continuous, 7200W peak. (1 second)
– SPiiPlus CM-1/2/3-B: 4800W continuous, 7200W peak. (1 second)
2.4.5 Signals to Direct-connected P/D Stepper Drives

• P/D Stepper Drive Commands:
– Quantity: Two or three, depending on the model.
– Type: Pulse/Direction commands, differential, RS-485.
– Maximum Rate: Four million pulses/second.
• Drive Enable Output:
– Quantity: One per stepper drive.
– Type: Two terminal, may be used as source (open emitter) or sink (open collector).
– Output Voltage Range: 5Vdc to 24Vdc.
– Output Current: 50mA.
– Propagation Delay:<1msec.
• Drive Fault Input:
– Quantity: One per stepper drive.
– Type: Two terminal, may be used as source (open emitter) or sink (open collector).
– Input Voltage: 5Vdc (±10%) or 24Vdc (±20%), automatic detection.
– Propagation Delay:<1msec.
2.4.6 I/O
• Safety Inputs:
– Quantity: One dedicated E-stop. Left limit and right limit per axis.
– Type: Single-ended, Opto-isolated, can be configured as sink or source.

– Input safety voltage range: 5Vdc (±10%) or 24Vdc (±20%), automatic detection.
– Propagation delay: <1msec.
• General Purpose Digital Inputs:
– Quantity: Eight.
– Type: Single-ended, opto-isolated, can be configured as sink or source.
– Input Voltage: 5Vdc (±10%)or 24Vdc (±20%), automatic detection
– Propagation Delay: <1msec.
• Registration Mark (Position Capture) Digital Inputs:
– Quantity: Two per X axis and two per Y axis.
– Type: Differential, RS-485.
– Propagation Delay: <0.1 µsec.
Note
These inputs can be configured for general purpose use.
• General Purpose Digital Outputs:

– Quantity: Eight
– Type: Single-ended, opto-isolated. Can be configured as sink or source.
– Outputs Voltage: 5Vdc (±10%) or 24Vdc (±20%).
– Propagation Delay: <1msec.
– Maximum Current per Single Output: <350mA
– Maximum current per all Outputs: <350mA
Note
All outputs are protected against overload and short circuit.
• Position Event Generator (PEG) Digital Outputs:

– Quantity: One PEG pulse per each X and Y axis. Four PEG states per each X and Y axis.
– Type: Differential, RS-485.
– Propagation Delay: <0.1 µsec.
– PEG Position Compare Accuracy: ±1 quadrature count up to 5,000,000 counts/second.
– PEG Generated Pulse Width Range: 25nsec to1.6msec.
– Edge Separation Between Two Peg Events: Minimum 200nsec.
– Number of PEG Pulses in Random (table based) Mode: Up to 30,000.
– Number of PEG Events in Incremental Mode: Unlimited.
• Mechanical Brake Outputs:

– Quantity: Three.
– Type: Single-ended, opto-isolated, source type
– Outputs Voltage: 5-30Vdc (±10%)
– Maximum current per Output: 1A
Note
Mechanical break outputs can be used for general purposes.
• Analog Inputs:
– General: Analog inputs also serve as sin-cos encoder inputs. Each sin-cos encoder uses
two analog inputs.
– Type and Quantity:
• In SPiiPlus CM-1/2/3–two/four/six analog inputs, respectively; differential 10V ptp, 14-
bit resolution, signal to noise ration equal to 62dB (3 sigma) equivalent to ±6 AIN counts.
• The SPiiPlus CM-3 includes two single-ended 10V ptp14-bit resolution analog inputs
for joystick implementation
• Analog Outputs:
– Quantity: One (with one HSSI channel) or two (with more than one HSSI channel).
– Signal-to-Noise Ratio: 46dB (3 sigma) equivalent to ±50mV or ±3 AOUT counts.
– Type: Single ended, 10V ptp, 10-bit resolution.
• Expanded Digital I/O:
– Quantity: Up to 256 inputs and 252 outputs using 16 optional HSSI-IO16 modules
– Type: Opto-isolated, 5Vdc or 24Vdc
• HSSI Expansion Bus:
– Quantity: Up to four HSSI channels (optional).
– Type: Differential, RS-485. Each channel provides 64 input bits and 64 output bits,
sampled and updated at 20kHz.
2.4.7 Multi-processor Architecture

• Motion Processor Unit (MPU): PC104+.
• Real-time Controllers: 120MHz SPii Servo
• Processors: one per two axes.
• Controller Power-up Time: 25sec.
2.4.8 Memory
• RAM: 16Mb.
• Flash Memory: 16Mb.

2.4.9 Communication Channels

• RS-232: One channel, up to 115,200 bps
• RS-232/422: One channel, up to 115,200 bps
• Ethernet Channel: TCP/IP 10/100 Mbits/sec (10/100 BaseT)
Note
Simultaneous communications through all channels is supported.
2.4.10 Power Supplies

• Control Section:
– Voltage: 24Vdc (±20%).
– Current: Up to 4A.
• Mechanical Brake:
– Voltage: 5-30Vdc (±10%).
– Current: Up to 3A.
• I/O Section:
– Voltage: 5Vdc (±10%) or 24Vdc (±20%).
– Current: Up to 0.8A.
• Safety Inputs Section:
– Voltage: 5Vdc (±10%) or 24Vdc (±20%).
– Current: Up to 0.2A.
• Drive Power Section:
– Single phase supply: Voltage 90Vdc to 125Vdc, 100Vac to 240Vac, or Low Voltage
option 17Vdc-85Vdc, current up to 18A RMS-up to 4800W continuous, 7200W peak. (1
second).
– Three phase supply: Voltage 230Vac phase-to-phase. Current per phase up to 18A RMS
for a total of 8200W continuous, 12,300W peak. (1 second).for all phases.
Note
If the input power is above 4000W, user-supplied external air flow
cooling is required on the heat sink.
– Regeneration: Module provides an internal regeneration shunt resistor rated at

100Ω/100W (continuous). If required, an external shunt resistor (rated >13Ω) can be
connected.

2.4.11 Environment
• Operating Temperature: 0 Cº to 40 Cº.
• Storage Temperature: -40 Cº to 85 Cº.
• Humidity: 90% RH, non-condensing.
2.5 Dimensions
Figure 2 illustrates the SPiiPlus CM Revision B front panel dimensions.

Figure 5 SPiiPlus CM-1 Revision B Front Panel Dimensions



Figure 8 Bottom Dimensions

Figure 9 SPiiPlus CM Revision B Side Views and Bracket Locations
2.6 SPiiPlus CM Revision B Mounting Options
Note
The fans of the controller exhaust air into the controller. To allow
proper air flow into the controller, mount the controller at least 5cm
away from any object that may obstruct air flow.

The SPiiPlus CM Revision B can be mounted vertically or horizontally as follows:

• The SPiiPlus CM Revision B is equipped with holes for vertical mounting
• Two metal brackets are provided for horizontal mounting
Figure 5 illustrates these mounting options.
Front
panel
SPiiPlus CM
Front
panel
SPiiPlus CM Bracket
Vertical mounting option Horizontal mounting option

mount _op
Figure 10 SPiiPlus CM Revision B Mounting Options
2.7 Ordering Options and Content of Products

Figure 11 illustrates the SPiiPlus CM Revision B ordering code elements. These elements and
options are described in Table 7.
SPiiPlus CM - 2 - A - E - M2 - H4 - LV
example
Figure 11 SPiiPlus CM Revision B Ordering Code Elements
Table 7 SPiiPlus Ordering Code Options

Options Element and Description
N/A SPiiPlus CM Revision B - Product name
[1], [2], or [3] 2 - Represents the number of integrated drives
[A] = 5 Ampere continuous/10 Ampere A - Represents the integrated drives’ current level
peak (sine amplitude)
[B] = 10 Ampere continuous/20 Ampere
peak
[E] = RS-232, RS-422 and Ethernet E - Represents the communications options
10/100BaseT channels
[0], [1], [2], or [3] M2 - Represents the number of optional encoder
sine/cosine multipliers

Table 7 SPiiPlus Ordering Code Options

Options Element and Description
No code = one or two channels (default) H4 - Optional field, represents the number of
[H4] = four HSSI channels optional HSSI channels and SPii processors
No code = for standard high-voltage LV - Optional field, represents Low Voltage
drive supply option for 17–85Vdc single phase drive supply
[LV] for 17–85Vdc single-phase drive
supply
The SPiiPlus CM Revision B is designed to work with the current release of the SPiiPlus SW
tools (Version 4.20) and with firmware Version 4.50 or higher.
The SPiiPlus CM Revision B will be shipped with:
• Firmware Version 4.50
• SPiiPlus ADK CD-ROM including the SPiiPlus Software tools version 4.20, until we
release Version 5.0 which will replace SW Version 4.20, and FW Version 4.5.
The SPiiPlus ADK (Advanced Development Kit) CD is intended for programmers who develop
ACSPL+ based applications and host-based programs. The CD includes:
• SPiiPlus MMI - for axis configuration, servo tuning, programming and viewing parameters
• SPiiPlus Library - for host programming in C/C++ or Visual Basic
• SPiiPlus Utilities -for upgrading firmware and recovering from errors
• SPiiPlus Simulator - for fast application development and debugging
• SPiiPlus FRF - for analyzing motion frequency response
• Hardware, software, setup, and programming guides in PDF format
• ACSPL+ and C/C++ training files and programming examples
• MATLAB/Simulink servo algorithm models
2.8 Additional Products
2.8.1 SPiiPlus CM-ACC
Note
The SPiiPlus CM Revision B does NOT come with user-side
connectors, with the exception of the J18 drive supply mating
connector.
The SPiiPlus CM-ACC includes the following items:

• All mating (user-side) connectors, except for J18 drive supply, which supplied with each
unit. The manufacturer and part number for each mating connector is described under each
connector in the manual.

• Three spring-loaded clamping yokes, illustrated in Figure 12. The clamp yoke
manufacturer designation and part number are: Weidmuller Clamping Yoke F, P/N CC-
KLBU4-135.
Figure 12 SPiiPlus CM Revision B Clamping Yoke F

The screw terminal includes a pressnut (PEM P/N CLS-M4-2) that allows the use of M4 screws.
2.8.2 HSSI-IO16
The HSSI-IO16 is an I/O expansion module that provides16 additional opto-isolated digital
inputs and 16 opto-isolated digital outputs per module. Up to four HSSI-IO16 units can be daisy
chained to an HSSI channel, providing a total of 64 inputs and 63 outputs per channel. For more
information, refer to the HSSI-IO16 data sheet.
2.8.3 HSSI-ED2
The HSSI-ED2 module provides a convenient and cost-effective way to interface the SPiiPlus
controller with two distributed axes. The module includes two motor drive interfaces with the
following characteristics:
• 10V ptp torque command
• two three-channel quadrature (A & B, I) encoder inputs
• Four limit switches
• Eight/eight general purpose digital I/Os
For more information, refer to the HSSI-ED2 data sheet.
2.9 How to Determine the Product Features from the

Product Label
Support features are listed on the product label, which appears on the side of the SPiiPlus CM
Revision B.
Figure 13 illustrates an example of a SPiiPlus CM Revision B label:

Figure 13 SPiiPlus CM Revision B Label

3 Safety and EMC Guidelines
3.1 Certifications
The SPiiPlus CM Revision B is CE certified as follows:
• CE certified for single phase power supplies, with additional certifications pending
• CSA certified for single phase and three phase power supplies
The following certificates have been issued to ACS MotionControl for the SPiiPlus CM
Revision B:
• CE, Safety of Machinery report: Directive 98/37/EC according to IEC 60204: 1997.
Download the full report from our web site.
• CE, EMC report: Directive 89/336/EEC, Article 7(1) according to EN 61326:1997 + A1(98)
+ A2(01), equipment intended for use in industrial locations. Download the full CE report
from our web site.
• CSA Standard C22.2 No. 0: General Requirements – Canadian Electrical Code, Part II.
• CSA Standard C22.2 No. 14: Industrial Control Equipment
• ANSI/UL 508C: Power Conversion Equipment
Figure 14 shows the standards organization marks that appear on the SPiiPlus CM Revision B.
Figure 14 Standards Organization Marks
The SPiiPlus CM Revision B is for use in restricted access

locations and by qualified personnel only.
3.2 General Safety Guidelines
Read and understand the following precautions before

operating the SPiiPlus CM Revision B!
October 30, 2006 26 Safety and EMC Guidelines

Before connecting the SPiiPlus CM Revision B to the power line, make sure that the protective
ground terminal is connected to the safety ground conductor of the mains power cord. See
Section 3.3.1, External AC Line Filters and Circuit Breakers.
CAUTION
ACS MotionControl recommends using a 16A branch circuit
overturned protection fuse for each phase–to protect AC and DC
power sources. Use one fuse for each phase and place the fuses as
close to the controller as possible.
This precaution is designed to protect the internal 20A fuses.
• This SPiiPlus CM Revision B comes with a connection between the grounded conductor of
the DC supply circuit and the grounding conductor. The protective ground conductor shall
be connected before the supply conductors and disconnect only after disconnect the supply
conductors.
• The SPiiPlus CM Revision B shall be connected directly to the DC supply system, there
shall be no switching or disconnecting devices in the grounded circuit conductor between
the DC source and the point of connection of grounding electrode conductor.
• Under emergency situations the SPiiPlus CM Revision B should be completely
disconnected from any power supply. The E-Stop Inputs and Left/Right Limits on ACS
MotionControl products are designed for use in conjunction with customer-installed devices
to protect driver load. The end user is responsible for complying with all electrical codes.

• To avoid electric arcing and hazards to personnel and electrical contacts, never connect or
disconnect the control module while the power source is on.
• The control module contains hot surfaces and electrically-charged components during
operation.
After power down and removal of the power source from the SPiiPlus CM Revision B, wait
five minutes before touching the unit or disconnecting parts from the SPiiPlus CM Revision
B and other equipment, that are normally loaded with electrical charges, including
capacitors and contacts. Measure and check the electrical contact points for electrical load
to ascertain a safe condition before touching the unit or disconnecting parts from the
SPiiPlus CM Revision B.

3.2.1 Emergency Stop Device
ReRead and understand the following precautions before

1. Locate an emergency stop device at each operator control station and other operating
stations where an emergency stop may be required.
2. The emergency stop device shall disconnect all electrical equipment connected to the
SPiiPlus CM Revision B from their respective power supplies.
3. It will not be possible to restore the circuit until the operator manually resets the emergency
stop.
4. In situations with multiple emergency stop devices the circuit shall not be restored until all
emergency stops devices are manually reset.
3.2.2 Fail-Safe Logic Recommendation

ACS MotionControl recommends connecting all safety inputs (limit inputs and emergency stop
input) with a fail safe logic. The intention is that during normal operation the inputs are active.
When a safety event happens (or the input wire is cut) the input becomes zero and the controller
identifies that as a fault.
3.2.3 Electrical Separation

Electrical separation is required between the control and power supply cables to prevent
electrical shock or damage to the SPiiPlus CM Revision B.
3.2.4 Protective Precautions

• Digital outputs are protected against short circuit with ground. A short circuit on any digital
output will disable ALL digital outputs without any indication by the software. The digital
outputs will become enabled again only after controller power-up.
• Over-travel Protection–Provide over-travel limit protection where over-travel is hazardous.
Design and install the over-travel limiting device to interrupt the power circuit.

• Over-current Protection–Use the software Current/Torque Limit parameters in the MMI

Adjuster to provide over-current protection for the motors.
• Thermal Detection–Suitable thermal detection devices to interrupt the power circuit where
abnormal temperatures can cause a hazardous condition.
• Cooling Fans–Make sure the cooling fan remains unobstructed at all times
• In order to insure good heat dissipation, make sure that the cooling vanes remain clean at all
times.
3.2.5 Power Supply and Motor Cable Ground

The power supply cable and the motor cable must have a ground wire that is connected to the
protective earth terminal located on the motor and power connectors. A connection must also
be made between the protective earth screw (located on the side of the SPiiPlus CM Revision
B) and the equi-potential bar inside electrical enclosure.
3.3 General Wiring and Electromagnetic Compatibility

(EMC) Guidelines
3.3.1 External AC Line Filters and Circuit Breakers

An external AC line filter is required to prevent noise from returning to the line and to insure
the SPiiPlus CM Revision B meets strict RFI European regulations for CE certification. ACS
MotionControl has tested and certified the following Corcom (www.corcom.com) AC line
filters:
• For a single phase AC supply - 16FC10 model
• For 3 x 220Vac (phase - phase) - 16FCD10 model.
Note
The above Corxom filters meet the requirements for CE certification.
Similar products may also meet CE requirements, however these
products have not been tested and certified by ACS MotionControl.
These filters perform best when installed on the line side of the motor drive.
ACS MotionControl recommends using a 16A branch circuit overturned protection fuse for
each phase–to protect AC and DC power sources. Use one fuse for each phase and place the
fuses as close to the controller as possible.
This precaution is designed to protect the internal 20A fuses.

3.3.2 Routing Signal and Power Cables

Power cables (to the motor, mains outlet, etc.) and signal cables (to I/O, encoder, RS-232, etc.)
must be kept as far apart as possible. Keep at least an inch (∼2.5 cm) for each 3 feet (∼1 m) of
parallel run as illustrated in Figure 15. For example, if the motor and encoder cables run
parallel for 6 feet (∼2 m), maintain a 2 inch (∼5 cm) separation between them.
Motor Cable
1 inch (~2.5 cm)
Separation of 1 inch for every 3 feet
Encoder / RS 232 Cable

cable_spacing
Figure 15 Cable Spacing

It is recommended to use completely shielded cables as illustrated in Figure 16.
Cable Sheath Cable Shielding
cable
Figure 16 Shielded Cable
3.3.3 Cable Length

Use short cables runs, and route cables as far from other EMI sources as possible.
3.3.4 Shielding
To reduce EMI radiation, do the following:
• Use shielded cables
• Install a ferrite core around the cable as close to the SPiiPlus CM Revision B as possible as
illustrated in Figure 17.

improved
Figure 17 Improved Shielding

The SPiiPlus CM Revision B comes ready for the installation of three spring-loaded clamps to
facilitate connecting the motor shielding to the ground.
3.3.5 Grounding
Grounding system electrical components is crucial in two aspects:
• Safety grounding
Verify that all electric circuits and electrical components

including motion controllers, power drives, motors, etc. have a
grounding system. Grounding of AC and DC equipment shall
be in accordance with 29 CFR 1910.304(f).
• High frequency grounding:

The primary objective of a high-frequency ground system is to provide a well defined path for
HF currents and to minimize the loop area of the HF current paths. It is also important to
separate HF grounds from sensitive circuit grounds. A single-point, parallel connected ground
system is recommended.
The power supply cable and the motor cable must have a ground wire that is connected to the
protective earth terminal located on the motors. A connection must also be made between the
protective earth screw (located on the side of the SPiiPlus CM Revision B) and the equi-
potential bar inside the electrical cabinet.

October 30, 2006
Figure 18 System Grounding
SPiiPlus CM Revision B Version 5.20
SPiiPlus CM-3
Re ge nera tion
Bus Voltage
TR
TR
1
2
3
RB
OC
+
-
+
-
+
-
(VP)
42 KV_
42 NV_
EP
R (U )
T (W)
R (U )
T (W)
R (U )
T (W)
L1
L2
L3
NOC N_
S (V)
S (V)
S (V)
KRB N_
EP
EP
EP
EP
KRB
KRB
KRB
KRB
KRB
KRB
GER
GER
GER
32
Control & Brake
Bra ke
S upply (J17)
X M otor Output (J20) A Motor Output (J21) Y Motor Output (J22) Regenerati on (J19) Drive Suppl y (J18) Supply
S afety (J8) Stepper Dri ves Control (J10) X Sin-Cos Enc. (J12) A Si n-Cos Enc. (J14) Y Sin-Cos Enc. (J16)
H SSI-1 H SSI-3
(J 2 ) (J 4 ) (J 6 )
M PU _ On A_ O n
H SSI-0 H SSI-2 E the rne t

X_ On Y _ On COM-1 (J7) Digital I/ O & Analog Outputs (J9) X Enc.+Hall (J11) A Enc. +Hal l (J13) Y Enc.+Hall (J15)
(J 1 ) (J 3 ) (J 5 )
Contr ol S upply
Hardware Guide
Safety and EMC Guidelines

4 Electrical Interface
Model
Dependent This chapter describes the interface of the SPiiPlus CM-3 Revision
B. The interfaces of the SPiiPlus CM-1 and the SPiiPlus CM-2 are
identical to those of SPiiPlus CM-3 with the following exceptions:
In the SPiiPlus CM-2 the following connectors are not present:
• Y Motor Output (J20)
• Y Sin-Cos Encoder (J16)
• Y Encoder + Hall (J14)
In the SPiiPlus CM-1 the following connectors are not present:
• Y Motor Output (J20),
• Y Sin-Cos Encoder (J16)
• Y Encoder + Hall (J15)
Table 8 lists the SPiiPlus CM Revision B electrical interfaces by group.
Table 8 Electrical Interfaces by Group (page 1 of 2)

Group Functionality Connector Reference
Supply Control And Brake Supply (24vdc) J17 Page 36
Drive Supply J18 Page 34
Regeneration INternal Or External Regeneration J19 Page 37
I/O General Purpose Digital Inputs J9 Page 62
General Purpose Digital Outputs J9 Page 62
Mark Fast Digital Inputs J9 Page 62
PEG Pulse Fast Outputs J9, J26 Page 62,
Page 74
PEG States Fast Output J26 Page 74
Mechanical Brake High Current Outputs J20, J21, J22 Page 44
General Purpose Differential Analog Inputs J11, J13, J15 Page 52
10V ptp
Joystick Single-ended Analog Inputs ±10V J26 Page 74
General Purpose Single-ended Analog J9 Page 62
Outputs 10V ptp
Digital Encoder Differential Inputs J12, J14, J16 Page 57
I/O Analog Encoder Differential Inputs or 1Vptp J11, J13, J15 Page 52
October 30, 2006 33 Electrical Interface

Table 8 Electrical Interfaces by Group (page 2 of 2)

Group Functionality Connector Reference
Safety Inputs and E Stop J8 Page 77
Motor Motor Output J20, J21, J22 Page 44
Communication RS232/RS422 for J7; RS232 for J7 and J23 J7, J23 Page 83
Ethernet, 10/100BaseT J5 Page 85
High Speed Synchronous Serial Interface J1, J2, J3, J4 Page 82
(HSSI)
4.1 Electrical Interface Component Locations

Figure 19 illustrates the SPiiPlus CM-3 Revision B front panel. (Double-click the image to
open as a PDF.)
Figure 19 Front Panel Connectors - SPiiPlus CM Revision B

Refer to Figure 9 for an illustration of the left end panel, and the right end panel.
4.2 Drive Supply Connector - J18

Connector J18 receives supply power for the integrated digital drives.
The drive power supply is same for all installed digital drives. The following power supplies
are available:
• Single-Phase:
– 90-125Vdc
– 100-240Vac input supply (supply frequency 50/60Hz)
– Low Voltage option 17-85Vdc.
• Two-Phase 230Vac phase to phase

– 230Vac Phase-to-Phase (supply frequency 50/60Hz)
• Three-Phase 230Vac:
– 230Vac Phase-to-Phase (supply frequency 50/60Hz)

Table 9 describes J18 components.
Table 9 Drive Supply Connector J18 - Components
Component Description
Jack on SPiiPlus CM Connector Type: Weidmuller™ SV 7.62/4/90F
Revision B P/N1822410000
Plug from System Mating Connector Type: Weidmuller™ BVZB 7.62/4F
P/N 1821650000
This connector is supplied with each unit.
Recommended Wires Safety Approved 18-14AWG
Note
After powering the drive supply, a soft-start mechanism is activated for
five seconds to limit the inrush current that the SPiiPlus consumes from
the electricity network. During these five seconds the user should not
enable any of the axis (X,A or Y). If any of these axes are being enabled
by the user, an error 5071 will be activated.
Figure 20 illustrates the J18 pin out.
J18
Figure 20 J18 Drive Supply Connector Pin Out

The following tables describe the J18 pin out for various current supplies:
• Table 10 - J18 Single-phase 17-85Vdc or 90-125Vdc Supply Pin Out
• Table 11 - J18 Single-phase 100-240Vac Supply Pin Out
• Table 12 - J18 Two-phase 230Vac (phase to phase) Pin Out
Table 10 J18 Single-phase 17-85Vdc or 90-125Vdc Supply Pin Out (page 1 of 2)

Pin Name Description
1 L1 Phase input for single phase supply
2 L2 Neutral input for single phase supply

Table 10 J18 Single-phase 17-85Vdc or 90-125Vdc Supply Pin Out (page 2 of 2)

3 L3 N/A
4 PE Electrical ground
Table 11 J18 Single-phase 100-240Vac Supply Pin Out

1 L1 Phase input for single phase supply
2 L2 Neutral input for single phase supply
3 L3 N/A
Table 12 J18 Two-phase 230Vac (phase to phase) Pin Out

1 L1 Phase R input
2 L2 Phase S input
3 L3 N/A
4 PE Electrical ground, connected to protective earth wire
Table 13 J18 Three-phase 230Vac (phase to phase) Pin Out

1 L1 Phase R input
2 L2 Phase S input
3 L3 Phase T input
4.3 Control and Brake Supply Connector - J17

The control and mechanical brake supply is a separate circuit from the internal drive supply.
This ensures that control will continue to operate and mechanical brakes will continue to be
supplied even in the event that power to the integrated drives is lost.
Table 14 describes J17 components.
Table 14 J17 Control and Brake Supply Connector J17 - Components
Jack on SPiiPlus CM Part number: MC 1,5/5-GF-3,81 Phoenix Contact™
Type: 5 pin plug connector

Table 14 J17 Control and Brake Supply Connector J17 - Components
Plug from System Part number: MC 1,5/5-STF-3,81 Phoenix Contact™
J17
Figure 21 J17 Control and Brake Supply Connector Pin Out

Table 15 describes the J17 pin out.
Table 15 J17 Control and Brake Supply Pin Out Description

2 BRK_RTN Brake supply return
3 BRK_SUP Brake supply: 5-30Vdc (±10%) up to 3A
4 CON_RTN 24Vdc control supply return
5 24V_CON Control supply: 24Vdc (±20%)/ up to 3A
Note
24V control supply and brake supply are protected by two internal 4A
fuses.
4.4 Regeneration Connector - J19

This section includes the following topics:
• “Regeneration Overview” on Page 38
• “Calculating External Regeneration Resistor Requirements” on Page 38
• “Regeneration Interface” on Page 43

4.4.1 Regeneration Overview

A regeneration circuit with an internal shunt or external shunt resistors can be used to absorb a
motor’s regeneration energy during axis deceleration. Braking the motor causes energy stored
in the moving mechanical mass to be returned to the drive power supply. Since the power
supply is not able to regenerate this energy back to the AC input supply, the power supply
capacitor is charged up beyond its normal level. If the excess braking energy is low, then the
capacitor may be able to absorb the excess energy and simply return it to the motor during the
next motoring period. However, if the excess energy is high, then a clamp circuit is used to limit
the bus voltage to a safe level (400V) and to dissipate the excess energy as heat in an internal
or external power resistor.
The shunt regulator is specified to handle peak power and continuous power instances. If the
peak power is exceeded, the clamp circuit will not be able to limit the voltage to a safe level,
and the drive high voltage protection will be activated.
In practice, if peak shunt power is being exceeded, check to see if the current limit can be
lowered or if the deceleration time can be lengthened.
CAUTION
Applications that frequently stop and start with high inertia and
high speed should be studied closely to see if continuous shunt
power is exceeded.
If the internal shunt resistor value is too low, an over-voltage alarm will be generated during
deceleration of the axis.
Note
In this case, use a higher rated external shunt resistor instead of the
internal shunt resistor.
4.4.2 Calculating External Regeneration Resistor

Requirements
The purpose of the procedure described in this section is to:
• Calculate the regenerated power and energy values during deceleration.
• Identify if an external shunt resistor is required.
• If an external resistor is required, to calculate external shunt resistor and fuse ratings
Table 16 describes the external regeneration resistor parameters and total power.

Table 16 Regeneration Parameters

Continuous Power Peak Power Regeneration
[W] [W] Fuse [A]
With internal shunt 100 W 1000 W There is no internal
resistor regeneration fuse
With external shunt Add and calculate the value of the external fuse on a per case basis,
resistor 13Ω minimum.
Note
If an external resistor is required, add an external fuse like KLKD
series by Littlefuse
1. Define the motion profile parameters, mass and cycle of the motion as follows:
• Maximum linear velocity: v [m/sec] or angular velocity: ω [rad/sec]
• Maximum linear deceleration: a [m/sec2] or angular deceleration: α [rad/sec2]
• Deceleration time of the motion: Td [sec]
• Total mass: M [Kg] (for linear axis) or inertia: J [Kg x m2] (for rotary axis)
• Motor phase current during deceleration: Id [A]
• Motor phase resistance: Rph [Ω]
• Number of motor phases: n (n=1 for DC brush motor)
• Motor Force constant: KF (for linear axis) or torque constant: KT (for rotary axis)
• Line to line supply voltage amplitude: UL-L [V]
• Shunt resistor clamping voltage: Uclamp= 400 [V]
• Total capacitance of the SPiiPlus CM Revision B: C=4000μF
2. Define the motion profile parameters and cycle of the motion as illustrated in Figure 22:

Change of
Vmax
Direction
V or W
Maximum linear
or rotary Velocity
F or T Force or moment
of inertia
P Power
Td
Regenerated Energy
v_f_p_curve
Figure 22 Example of Velocity, Force and Power Curves
(1)
3. Calculate the peak break power for a linear axis:
Peak Power [W] = vmax [m/sec] x M[kg] x a[m/sec2]
(2)
4. Calculate the peak break power for a rotary axis:
Peak Power [W] = ωmax [m/sec] x J[kg] x α[m/sec2]
(3)
5. Calculate the total break energy (triangular area):
PeakPower × T
BreakEnergy [ J ] = -----------------------------------------d-
2

(4)
6. Calculate the motor conductive energy loss during deceleration.
Motor Loss [J] ≈ n x Id 2Rphase x Td
Ma Jα
Id = Id =
KF KT
where is for a linear axis, and is for a rotary axis calculations
(5)
7. Calculate the capacitor charging energy during deceleration (depends of the drive supply
voltage)
1 2
CapacitorEnergy [ J ] ≈ --- C [ U 2 clamp – ( 2U L – L ) ]
2
Note
For example, if the AV mains = 220Vac:
1 –6 2 2
CapacitorEnergy [ J ] ≈ --- ( 4000 ⋅ 10 ) [ 400 – ( 2 ⋅ 220 ) ] = 126.4J
2
(6)
8. Calculate the regeneration shunt resistor energy:
Shunt Energy [J] = Break Energy – Capacitor Energy – Motor Loss
Note
Motor losses may be neglected, giving additional regeneration margins
to the chosen shunt resistor.
In case of a negative result, no energy should be absorbed by the shunt
internal resistor.

(7)
9. Calculate the regeneration shunt resistor power rating:
Shunt Energy
Shunt power[W ] ≈
Td
Note
An external shunt resistor is required in the following cases:
1. If the result is larger than the internal shunt continuous rating
(100W).
2. If the peak power is larger than the peak internal shunt rating
(1000W).
10. If an external shunt resistor is required, calculate the required fuse rating according to the
following formula:
Shunt power[W ]
Fuse[ A] ≈
External shunt [Ω]
Table 17 describes the J19 regeneration Connector components.
Table 17 J19 Regeneration Connector - Components
Jack on SPiiPlus CM Part number: FRONT 2.5-H/SA5 Phoenix Contact™
3-pin terminal block
Plug from System No plug – accepts wires directly

Pin 1
J19
Figure 23 J19 Regeneration Connector Pin Out

Table 18 J19 Regeneration Connector Pin Out Description

1 REG1 Used for internal regeneration only. Connect via external jumper
to pin#3.
2 REG2 Used for external regeneration only. Connect to an external
regeneration resistor lead.
3 REG3 For internal regeneration, connect via external jumper to Pin 1.
For external regeneration, connect to the other lead of the external
regeneration resistor.
Note
The default configuration of the SPiiPlus CM Revision B is with the
internal shunt resistor connected. This means that REG1 and REG3
are connected.
4.4.3 Regeneration Interface

The SPiiPlus CM Revision B regeneration circuit begins to operate when the bus voltage
exceeds 400V. regeneration circuit The regeneration circuit can absorb 100W of regeneration
energy. Since the nominal bus voltage is 160Vdc, part of the regeneration energy charges the
bus capacitors to 400V before the regeneration circuit is activated.
If the regeneration energy is lower then 115 J, then all of this energy is absorbed by the bus
capacitors and the regeneration circuit does not activate.
Since the voltage on the bus capacitors may reach 240V (400V -160V= 240V) during
regeneration, calculations based on the maximum ripple current via used bus capacitors indicate
that the time between regeneration cycles must NOT be <300mS.

Figure 24 illustrates the use of an internal shunt resistor.
SPiiPlus Control Module
External Shunt Fuse
PIN
REG 3
Regeneration
REG 2 Connector J19
Internal REG 1
Shunt
100 R
Drive Bus
regen_cir_ir
Figure 24 Regeneration Circuit with the Internal Resistor
4.5 Servo Motor and Brake Output Connectors - J20, J21,

J22
The motor output connector supplies power from the SPiiPlus CM Revision B internal drive to
a DC brush or three phase DC Brushless (AC servo) motor.
The connectors also include an output command for a mechanical brake device. This high
current output is active when bit 23 in the MFLAGS register of the axis is set and the drive is
enabled.
Table 19 describes the J19 regeneration connector components.
Table 19 J19 Regeneration Connector - Components
Jack on SPiiPlus CM Part Number: PC 4/6-G-7.62, Phoenix Contact™
Type: 5 pin plug connector
Plug from System Part Number: PC 4/6-STF-7,62 Phoenix Contact™

Model
Connector J20 (all product versions) - supplies X axis motor
Connector J21 (in SPiiPlus CM-2/3 only) - supplies A axis motor
Connector J22 (in SPiiPlus CM-3 only) - Supplies Y axis motor
Pin 1
motor_out _connect
Figure 25 Motor Output Connectors J20, J21, J22 Pin Out

Table 20 describes the J20, J21, J22 Motor Output Connectors pin out.
Table 20 J20, J21, J22 Motor Output Connectors Pin Out Description
1 R (U) For DC brush motor phase
For DC brushless motor: phase “R”
Note: current of this phase isn’t measured by the controller.
2 S (S) For DC brush motor phase
For DC brushless motor: phase “S”
3 T (V) For DC brushless motor: motor phase “T”
5 BRK + 5-30Vdc brake output.
6 BRK - Brake return
4.5.1 Mechanical Brake Interface

There is a single ended opto-isolated mechanical brake output on each Motor Output
Connector.
Each mechanical brake output is protected against short circuit, over-current, over-voltage and
reverse polarity.
In event of protection initialization the mechanical brake output will be deactivated.

Note
1. Whenever the mechanical brake output (high current) of an axis is
enabled, the output will be automatically activated when the axis is
disabled. In addition, delays can be defined between the drive
enable command and the mechanical brake output
activation/deactivation.
For more information, refer to the SPiiPlus Setup Guide,
Mechanical Brake section.
2. When the axis is not equipped with a mechanical brake, the
mechanical brake outputs can be used as general purpose outputs.
When the brake outputs should be used as general purpose outputs
with high current, they are used via the Motor Output Connectors
(J20, J21, J22). When the brake outputs are used as general
purpose outputs with low current, they are used via the Digital I/O
and Analog Output Connector (J9)
Table 21 describes the Mechanical Brake output.
Table 21 Mechanical Brake Output

Specification Description
Quantity One in SPiiPlus CM-1, two in SPiiPlus CM-2, three in
SPiiPlus CM-3
Type Opto-isolated, Source type only
Output voltage 5-30Vdc (±10%)
Maximum Current per 1A
mechanical brake output
Remark For testing the brake output (in sink configuration) while the
brake is not connected, a pull-up resistor should be
connected.
Figure 26 illustrates the mechanical brake circuit.


PIN
BRK_RTN
1 Control and
2 Brake Supply
3
24V_ BRK 4 Connector
5 (J17)
Brake
Drive
PIN Motor Output
1 Motor
2 Connector
3 (J20 , J21 , J 22) Brake
4
5 BRK+
6 BRK-
M_b_circuit
Figure 26 Mechanical Brake Circuit
4.6 Stepper Drive Commands Connector - J10

The SPiiPlus CM Revision B can control up to three step motors powered by third party drives
with Pulse-Direction line commands in open loop control. For information about stepper axis
configuration options refer to Section 2.3, Axis Configurations and Options.
For information about the configuration of a stepper axis, refer to the SPiiPlus Setup Guide
Stepper Drives.
Note
In general, a stepper axis can be used only with Y, Z, T axes. The Y axis
can be available for stepper only with SPiiPlus CM-1/2 (where
integrated servo drive is NOT installed for Y axis). The Z and T axes are
available for stepper axes only in the SPiiPlus CM-x-x-x-Mx-H4
(where four SPii DSPs where ordered) – see “Ordering Options and
Content of Products” on Page 22.
Table 22 describes the J10 Drive Commands Connector.
Table 22 J10 Drive Commands Connector - Components
Jack on SPiiPlus CM Type: D-type, 37 pin, female
Plug from System Type: D-type, 37 pin, male
Recommended Wires AWG22 wires with shielding. Twisted pair cable for each
differential signal (+ and -).

Pin 1
J10
Figure 27 Connector J10 - Location of Pin 1

Table 23 J10 Pin Out (page 1 of 2)

1 PULSE_X+ Pulse non-inverted command for X axis step motor driver
2 PULSE_Y+ Pulse non-inverted command for Y axis step motor driver
3 PULSE_Z+ Pulse non-inverted command for Z axis step motor driver
4 PULSE_T+ Pulse non-inverted command for T axis step motor driver
5 DIR_X+ Direction non-inverted command for X axis step motor driver
6 DIR_Y+ Direction non-inverted command for Y axis step motor driver
7 DIR_Z+ Direction non-inverted command for Z axis step motor driver
8 DIR_T+ Direction non-inverted command for T axis step motor driver
9 DGND Digital ground
10 ENA_X+ Drive enable sink output for X axis step motor driver
11 ENA_Y+ Drive enable sink output for Y axis step motor driver
12 ENA_Z+ Drive enable sink output for Z axis step motor driver
13 ENA_T+ Drive fault source input for T axis step motor driver
14 FLT_X+ Drive fault source input for X axis step motor driver
15 FLT_Y+ Drive fault source input for Y axis step motor driver
16 FLT_Z+ Drive fault source input for Z axis step motor driver
17 FLT_T+ Drive fault source input for T axis step motor driver
18 V_SUP_IO Digital I/O supply 5/24Vdc
19 SHIELD Cable shield connection
20 PULSE_X- Pulse inverted command for X axis step motor driver
21 PULSE_Y- Pulse inverted command for Y axis step motor driver
22 PULSE_Z- Pulse inverted command for Z axis step motor driver
23 PULSE_T- Pulse inverted command for T axis step motor driver

Table 23 J10 Pin Out (page 2 of 2)

24 DIR_X- Direction inverted command for X axis step motor driver
25 DIR_Y- Direction inverted command for Y axis step motor driver
26 DIR_Z- Direction inverted command for Z axis step motor driver
27 DIR_T- Direction inverted command for T axis step motor driver
29 ENA_X- Drive enable source output for X axis step motor driver
30 ENA_Y- Drive enable source output for Y axis step motor driver
31 ENA_Z- Drive enable source output for Z axis step motor driver
32 ENA_T- Drive enable source output for T axis step motor driver
33 FLT_X- Drive fault sink input for X axis step motor driver
34 FLT_Y- Drive fault sink input for Y axis step motor driver
35 FLT_Z- Drive fault sink input for Z axis step motor driver
36 FLT_T- Drive fault sink input for T axis step motor driver
37 V_RTN_IO Digital I/O supply return
4.6.1 Stepper Drive Pulse and Direction Outputs

The Stepper drive commands are differential and can be used with a Pulse – Direction stepper
drive with two inputs per command. However, a Pulse – Direction stepper drive with a single-
ended (one input per command) command input can also be used.
Table 24 describes the Stepper Drive Pulse and Direction Outputs.
Table 24 Stepper Drive Pulse and Direction Outputs

Category Value
Quantity One pulse output and one direction output per axis Y, Z, T.
Type Differential, RS-422/485, not isolated
Figure 28 illustrates a Y axis implementation of a differential stepper drive connection.

SPiiPlus Control Module Stepper Drives

Control (J 10 )
5 1R PIN
Fro m 2 Y PU L SE+
SPii 21 Y PU L SE-
IN
51R
2 6C 3 1
Third party
5V
D GN D stepper
28
drive for Y
5 1R Y D IR+
Fro m 6
Y D IR-
axis
SPii 25
IN
51R
19 SH IEL D
2 6C 3 1 5V
J10_PDI_Y
Figure 28 Pin J10 - Stepper Drive Pulse and Direction Interface (Y axis)
Note
If the stepper drive has a single-ended input commands interface (not
differential), use only the DIR+ and the PULSE+ commands.
4.6.2 Stepper Drive Enable Outputs

Table 25 describes the Stepper Drive Enable Outputs.
Table 25 Stepper Drive Enable Outputs

Category Value
Quantity One enable output per axis (Y, Z, T)
Type Source (open emitter) or sink (open collector), opto-isolated
Propagation Delay <1ms
Output Voltage 5Vdc (±10%) or 24Vdc (±20%) – pending on V_SUP_IO or
V_RET_IO voltage
Maximum Current 50mA per enable output.
Output Protection Short circuit, over-voltage and over-current
The following examples illustrate the stepper drive enable interface for a Y axis.
• Figure 29 is an example of a source type enable connection to a stepper drive. When the
drive receives external 5V or 24V, it is enabled.
• Figure 30 is an example of a sink-type enable connection to a stepper drive with an external
power supply. When the drive receives GND, it is enabled.

SPiiPlus CM Power
Digital /I O ( J9) Supply
PIN 20
V_RTN _ IO 5 V or 24 V
+ -
1 V_SUP_ IO
GND
Third party stepper
from PIN
Y ENA + drive for Y axis
SPii 11 GND
30 Y ENA - ENABLE
Stepper Drives
Control (J10)
GND
source_type_ena
Figure 29 Connection To Stepper Drive With Enabled Source Output (Y axis)
Power
SPiiPlus CM Supply
Digital I /O (J9)
5 V or 24V
PIN 20 V_RTN_IO + -
1 V_SUP_IO
Third party
stepper
PIN GND
from Y ENA + drive for Y
SPii 11
axis
Y ENA - ENABLE
30
GND
Stepper Drive Control
(J10)
sink_type_ena
Figure 30 Connection To Stepper Drive With Enable Sink Output (Y axis)
4.6.3 Stepper Drive Fault (Alarm) Inputs

Table 26 describes the Stepper Drive Fault Inputs.
Table 26 Stepper Drive Fault Inputs

Category Value
Quantity One fault input per axis (X, Y, Z, T)
Type Differential, opto- isolated
Input Voltage 5Vdc (±10%) or 24Vdc (±20%), detected automatically
Maximum Current 10mA per output.

The following examples illustrate the stepper drive fault interface for a Y axis.
• Figure 31 is an example of an source-type fault input. When the drive sends 5V/24V, the
controller detects that a drive fault has occurred.
• Figure 32 is an example of a sink fault input. When the drive sends fault signal V_SUP_IO
(5/24V), the controller detects a drive fault has occurred.

Vcc
PIN 15 Y FLT+
to SPii
34 Y FLT-
Third party
Stepper stepper
Drive drive for Y
Control (J10) axis
fault _input
Figure 31 Connection To Drive With Source Fault Input (Y axis)
PIN Y FLT + Vcc Third party

15
stepper
drive for Y
to axis
SPii 34 Y FLT -
Stepper
Drive
Control (J10)
fault_input _sink
Figure 32 Connection To Drive With Sink Fault Output (Y axis)
4.7 Incremental Digital Encoder + Hall Connectors J11,

J13, J15
Axes connected to one of the integrated drives are supported by the following types of digital
incremental encoders:
• A&B, I: Quadrature encoder with index.
• CLK-Dir, I: Clock – direction encoder with index.
• UP–DN, I: Up - down encoder with index.

Note
A DC brushless motor powered by an integrated drive can be
commutated by the control module based on the encoder feedback
(preferred) or based on the motor Hall signals.
Hall commutation support is available from SPiiPlus Firmware
Version 5.0 and up.
For more information, refer to the SPiiPlus Setup Guide, Commutation.
Note
For more information about limitations while using incremental
encoders refer to “Specifications” on Page 11.
Table 27 describes the Incremental Digital Encoder + Hall Connectors J11, J13, J15 -
Components
Table 27 Incremental Digital Encoder + Hall Connectors J11, J13, J15 -

Components
Connector J11 X axis incremental encoder + Hall
Connector J13 A axis incremental encoder + Hall
Connector J15 Y axis incremental encoder + Hall
Jack on SPiiPlus CM Type: D-type, 15 pin, male
Plug from System Type: D-type, 15 pin, female

Pin 1
sin-cos
Figure 33 Encoder + Hall Connectors J11, J13, J15
Table 28 Incremental Digital Encoder + Hall Connectors J11, J13, J15 - Pin Out

1 5D 5.1V user digital supply to the Encoder and Hall, 200mA
maximum
2 CHA+ Encoder A non-inverted input
3 CHA- Encoder A inverted input
4 CHB+ Encoder B non-inverted input
5 CHB- Encoder B inverted input
7 HA Motor Hall A
8 HB Motor Hall B
9 CHI+ Encoder index non-inverted input
10 CHI- Encoder index inverted input
11 MTMP_RT A return for motor temperature sensor. (Internally connected to
N DGND)
13 5U 5.1V user supply to encoder and Hall, 200mA maximum
14 HC Motor Hall C
15 MTMP Motor temperature sensor input. If a temperature sensor is being
used, a normally closed sensor contact should be connected
between pin 15 and pin 11. If temperature sensor is NOT used, pin
15 must be shorted to pin 11 for proper operation.
SHIELD Cable shield connection

4.7.1 Incremental Digital Encoder + Hall Interface

iFigure 34 illustrates the incremental digital encoder interface.

PIN
5.1 V DIGITAL SUPPLY
1 CHA+
2
to SPii AM 26C 32 220R
CHA-
3
CHB+
Incremental
4 Encoder
to SPii AM 26C 32 220R
5 CHB- with
CHI+
to SPii 9 Differential
AM 26C 32
220R CHI- Outputs
10
DGND
6
SHIELD
to SPii SHIELD
13 5.1 V SUPPLY
HA
7
to SPii
Motor Hall
HB and
8
Temprature
to SPii Sensors
14 HC
Encoder and Hall

Connectors J 11,
J13, J15
control _module
Figure 34 Incremental Digital Encoder and Hall Interface
Table 29 Hall Sensor Input

Category Subcategory Values
Inputs Quantity A, B, C
Type Single ended
Table 30 Power Supply for Encoder and Hall Sensor

Category Values
Range of 5U supply 5.1Vdc ±2% (5.0-5.2Vdc)
Max. allowed total current consumption per 200mA
axis (Encoder + Hall)

4.7.2 Motor Temperature Input

The SPiiPlus CM Revision B includes up to three motor temperature inputs, one per axis. These
inputs are single end opto-isolated. A normally closed motor temperate sensor must be
connected between pin J11/15 and pin J11/11 for the X axis.
If no sensor is used, short pin J11/15 (X_MTMP) to pin J11/11 (X_MTMP_RTN) for proper
operation.
Note
Motor temperature is masked in the Firmware by default. See the
SPiiPlus MMI User’s Guide - Motor Faults, for a complete description
of Motor Temperature and other faults.
Table 31 Motor Temperature Inputs

Category Values
Quantity One motor temperature input per integrated axis (X, A,Y)
Type Single end, opto-isolated
Input Voltage None
Logic Whenever the resistance between MTMP (pin 15) and MTMP-
RTN (pin 11) exceeds 2kΩ, the Overheat fault of the SPiiPlus
CM Revision B will become active.
Overheat OFF Resistance to ground that will guarantee that OVERHEAT will
be OFF is <2.4kW.
Overheat ON Resistance to ground that will guarantee that OVERHEAT will
be ON is >46kW
The following example illustrates the motor temperature input for Y axis.
5U PIN 11 MTMP_RTN
Motor
Temperature
to SPii Sensor
MTMP
15
Incremental Digital
encoder Connector
(J15)
motor_temp
Figure 35 Connection to Motor Temperature Input (Y axis)

4.8 Sin-Cos Encoder and Analog Input Connectors - J12,

J14, J16
The SPiiPlus CM Revision B is equipped with six differential and two single-ended analog
inputs. The latter are located in connector J26. All of the six differential analog inputs are
connected in parallel and can be used in either of the following methods:
• Sin-Cos encoder inputs - input voltage of 1Vptpt (-0.5V to 0.5V)
• General purpose inputs - input voltage of 10Vptp (-5V to 5V).
In addition, the connector provides an interface with a motor temperature sensor.
Table 32 describes the available analog inputs.
Table 32 Analog Inputs J12, J14, J16

Axis/Connector General purpose (10Vptp) Sin-Cos (1V ptp) analog
analog input name input name
X axis (J12) AIN0+ (pin5) XSIN+ (pin2)
AIN0- (pin13) XSIN- (pin10)
AIN1+ (pin 6) XCOS+ (pin 3)
AIN1- (pin 14) XCOS- (pin 11)
A axis (J14) AIN2+ (pin5) ASIN+ (pin2)
AIN2- (pin13) ASIN- (pin10)
AIN3+ (pin 6) ACOS+ (pin 3)
AIN3- (pin 14) ACOS- (pin 11)
Y axis (J16) AIN4+ (pin5) YSIN+ (pin2)
AIN4- (pin13) YSIN- (pin10)
AIN5+ (pin 6) YCOS+ (pin 3)
AIN5- (pin 14) YCOS- (pin 11)
Notes
1. Sin-Cos encoder support is not provided as a standard feature. Up to
three Sin-Cos encoder interfaces can be specified in the product
purchase order.
2. While using a Sin-Cos encoder, the squared (quadrature) signals of
channels A and B are routed to the incremental digital encoder
(connector J11, J13, J15). Based on these squared signals, the user
can get the axis' non-interpolated position reading for his needs.

Table 33 Sin-Cos Encoder Connectors J12, J14, J16 - Components

Jack on SPiiPlus CM Type: D-type, 15 pin, female
Plug from System Type: D-type, 15 pin, male
Recommended Wires AWG22 wires with shielding. Twisted pair
cable for each differential signal (+ and -).
Pin 1
sin-cos
Figure 36 Sin-Cos Encoder Connectors J12, J14, J16
Table 34 Sin-COS Encoder Connector (J12) X Axis

1 5F 5.1V field supply (to analog circuit) to the X Sin-Cos encoder 200mA
max
2 XSIN+ X encoder Sin non-inverted input
3 XCOS+ X encoder Cos non-inverted input
4 INDEX+ X encoder index non-inverted input
5 AIN0+ Analog non-inverted input 0 (AIN0)
6 AIN1+ Analog non-inverted input 1 (AIN1)
7 MTMP Motor temperature sensor input. A normally closed sensor contact
must be connected between pin 15 and pin 7. If no sensor is used, pin
15 must be shorted to pin 7 for proper operation.
9 AGND Analog ground for 5F field supply
10 XSIN- X Encoder Sin inverted input
11 XCOS- X Encoder Cos inverted input
12 INDEX- X Sin-Cos encoder index inverted input
13 AIN0- Analog inverted input 0 (AIN0)
14 AIN1- Analog inverted input 1 (AIN1)
15 DGND Digital ground (and return for X motor temperature sensor)

4.8.1 Sin-Cos Encoder Interface
Table 35 Sin-Cos Encoder Input

Category Value
Quantity Up to three interfaces, each comprising two
encoder signals and one index signal
Type 1V ptp differential signals
Restriction Sin-Cos inputs (1V ptp) are connected in
parallel with general purpose analog inputs
(10V ptp). Hence, it is impossible to use both
voltage range of an inputs simultaneously.
Input frequency Up to 250k sine or cosine periods per second
Signal-to-Noise Ratio 62dB (3 sigma) equivalent to ±6 AIN counts
Input Impedance 120Ohm
Digital representation of input voltage –8192…+8192
(AIN variable)
A/D conversion resolution 14 bit
Corresponding ACSPL+ Variables AIN0... AIN5
Figure 37 illustrates the Sin-Cos encoder interface for an X axis.


4R PIN
5 F (5.1 V SUPPLY)
to SPii 1R 1
X Sin+
- 2
+ 120R
AGND 10 X Sin-
4R 1R
4R SIN- COS
to SPii 1R Incremental
4 X INDEX+
- Encoder
+ 120R
AGND 12
X INDEX- with
4R 1R Differential
4R
Outputs
to SPii 1R
3 X COS+
-
+ 120R
X COS-
AGND 11
4R 1R
9 AGND
8 SHIELD
8 SHIELD
15 DGND
X MTMP
Motor
7
X Sin- Cos
Encoder
Connector
(J12)
sin-cos _encoder
Figure 37 Sin-Cos Encoder Interface (X Axis)
Table 36 Power Supply for Sin-Cos Encoders

Category Value
Source onboard
Range 5.1Vdc ±2% (5.0-5.2Vdc)
Max. supply load current per encoder 200mA
Table 37 Analog Inputs

Category Value
Voltage Representation in Controller +10V is equivalent to +8192.
-10V is equivalent to -8192.
Corresponding ACSPL+ Variables AIN0... AIN5

Note
Additional single-ended analog inputs for joystick implementation are
provided via J26.
Figure 38 illustrates the analog input interface for analog input 1 (AIN0).

4R PIN
to SPii 8R
- 5 AIN 0+
+ 120 R
AGND 13 AIN 0-
4R 8R 9 AGND
8 SHIELD
X Sin – COS Encoder

Connector (J12)
ain_0
Figure 38 Connection of AIN0 Differential Input
4.8.2 Motor Temperature Input
Table 38 Motor Temperature Input

Category Value
Quantity One motor temperature input per each integrated axis (X, A,Y)
Type Opto-isolated
Input Voltage None
Logic Whenever the resistance between MTMP (pin7) and DGND (pin 15)
becomes greater than 2kΩ, the Overheat fault of the SPiiPlus CM
Revision B will become active.
Overheat OFF Resistance to ground that will guarantee that OVERHEAT will be
OFF is <2.4kW.
Overheat ON Resistance to ground that will guarantee that OVERHEAT will be
ON is >46kW
1.8.2.1. Motor Temperature Input Example

The following examples illustrate the motor temperature input for Y axis.

5U PIN DGND
15
Motor
temprature
to SPii
MTMP
sensor
7
Sin- Cos
Encoder
Connector
(J16 )
m_temp_input
Figure 39 Connection to Motor Temperature Input (Y axis)
4.9 Digital I/O and Analog Outputs - J9

This section describes:
• Digital Inputs
• Fast Digital Inputs (MARK)
• Digital Outputs
• Fast Digital Outputs (PEG)
• Digital Brake Outputs
• Analog Outputs
The SPiiPlus CM Revision B is supports the following digital inputs:
• Eight Single-ended opto-isolated (Sink or source) digital inputs for general purpose.
• Four fast (<0.1μsec delay), differential, non opto-isolated inputs that can be used for
position capture (MARK) as general purpose inputs.
The SPiiPlus CM Revision B is equipped with the following digital outputs:
• Eight single-ended opto-isolated (Sink or source) digital outputs for general purpose.
• Τwo fast (<0.1μsec delay), differential, non opto-isolated outputs that can be used for
Position Event Generator pulses (PEG) pulses for X and Y axes or as general purpose
outputs.
The PEG states are also provided via the PEG (J26) connector. See Section 4.10, PEG
Connector J26.

• Eight fast (<0.1μsec delay), differential, non opto-isolated outputs that can be used for
Position Event Generator (PEG) states for X and Y axes (four states per axis) or as general
purpose outputs. The PEG states are provided only via the PEG (J26) connector.
• Three high current (up to1A), opto-isolated outputs that can be used for mechanical brake
control for X,Y and A axes (see “Servo Motor and Brake Output Connectors - J20, J21,
J22” on Page 44 in page 44) or as general purpose outputs (sink only!).
Note
The Position Event Generator pulses (PEG) are provided in parallel
also in the PEG (J26) connector (with PEG states signals).
The SPiiPlus CM Revision B is equipped with the following analog outputs:

• One/two single-ended outputs with a range of 10V ptp, 10-bit resolution. Whenever the
controller has one SPii (one HSSI channel), only one analog output will be available.
• Whenever the controller has more than one SPii (one HSSI channel), two analog outputs
will be available.
Table 39 Digital I/O and Analog Outputs Connector J9 - Components

Category Value
Jack on SPiiPlus CM D-type, 37 pin, male
Plug from System D-type, 37 pin, female
Pin 1
Figure 40 Digital I/O and Analog Output Connector J9

Table 40 describes the J9 pinout.

Note
In the description column, for each PEG output and brake output the
variable name that commands the output when it is used as general
purpose output is mentioned.
Table 40 Digital I/O and Analog Output Connector J9 – Pin Out (page 1 of 2)
Pin Name Description ACSPL+ Variable
1 V_SUP_IO Digital I/O supply 5/24Vdc
(use same voltage for
digital brake output - see
“Digital Brake Outputs”
on Page 72.
2 IN0.0 Digital input 0 IN0.0
6 OUT0.0 Digital output 0 OUT0.0
10 BRAKE_X Digital motor brake output OUT1.0
for X axis
11 BRAKE_A Digital motor brake output OUT1.4
for A axis
12 X_MARK1+ Fast non-inverted X IN8.10
MARK1 input for X axis
13 X_MARK2+ Fast non-inverted X IN8.8
MARK2 input for X axis
14 Y_MARK1+ Fast non-inverted Y IN9.10
MARK1 input for Y axis
15 Y_MARK2+ Fast non-inverted Y IN9.8
MARK2 input for Y axis
16 X_PEG_PULSE+ Fast non-inverted PEG OUT8.8
output for X axis
17 Y_PEG_PULSE+ Fast non-inverted PEG OUT9.8
output for Y axis
18 GND Ground

Table 40 Digital I/O and Analog Output Connector J9 – Pin Out (page 2 of 2)
19 AOUT1 Analog output 1 (available
only with two or more SPii
processors)
20 V_RTN_IO Digital I/O supply return
29 BRAKE_Y Digital motor brake output OUT1.1
for Y axis
30 BRAKE_B Digital motor brake output OUT1.5
for B axis
31 X_MARK1- Fast inverted X MARK1 IN8.10
input for X axis
32 X_MARK2- Fast inverted X MARK2 IN8.8
input for X axis
33 Y_MARK1- Fast inverted Y MARK1 IN9.10
input for Y axis
34 Y_MARK2- Fast inverted Y MARK2 IN9.8
input for Y axis
35 X_PEG_PULSE- Fast inverted PEG output OUT8.8
for X axis
36 Y_PEG_PULSE- Fast inverted PEG output OUT9.8
for Y axis
37 AOUT0 Analog output 0 AOUT0
Connector metal case Cable shield connection
(SHIELD)
4.9.1 Digital Inputs
Table 41 Digital Inputs (page 1 of 2)

Category Value
Quantity Eight
Type Single-ended, opto-isolated

Table 41 Digital Inputs (page 2 of 2)

Category Value
Type Single-end
Corresponding ACSPL+ Variables IN0.0... IN0.7
Maximum Propagation Delay < 1msec
External Supply Voltage 5Vdc (±10%) or 24Vdc (±20%), detected
automatically. Must be connected between the
V_SUP_IO and V_RET_IO pins of connector
J9 or J10.
Input Voltage 5Vdc (±10%) or 24Vdc (±20%)
Input Current From 2mA to 14mA per input, depending on
external supply voltage.
Connection Sink/source – jumper configured.
Sink/source jumper configuration See “Configuration of Sink or Source by
Jumpers – JP5, JP7, JP8” on Page 90
Figure 41 illustrates the source-type switched general purpose digital input interface for IN0.0.
Digital I / O and Analog

SPiiPlus Control Module Outputs Connector(J9)
PIN IN 0.0
2
V_ SUP_ IO
1 + 5 V or 24 V
V_ RTN_ IO
Power
20 - Supply
to SPii
3
2 Jumper
1 ( JP7)
switched_d_i_0
Figure 41 Source (Switched) Connection for Digital Input 0

Figure 42 illustrates the source-type PNP general purpose digital input interface for IN0.0.

Digital I/O and Analog

Outputs Connector(J9)
PIN IN0.0
2
V_ SUP_ IO 5 V or 24 V
1 +
V_ RTN_ IO
Power
20 - Supply
to SPii
3
2 Jumper
1 (JP7)
source_pnp
Figure 42 Source (PNP) Connection for Digital Input 0

Figure 43 illustrates the sink-type switched general purpose digital input interface for IN0.0.

SPiiPlus Control Module Outputs Connector (J9)
PIN IN0.0 GND

2
V_SUP_ IO 5 V or 24 V
1 +
Power
V_RTN_ IO
20 - Supply
to SPii
GND
3
2 Jumper
1 (JP7)
sink _type
Figure 43 Sink (Switched) Connection for Digital Input 0

Figure 44 illustrates the sink-type NPN general purpose digital input interface for IN0.0.

Outputs Connector (J9)
PIN IN0.0 GND
2
V_ SUP_ IO
1 + 5 V or 24V
V_RTN_ IO
Power
20 - Supply
GND
to SPii
3
2 Jumper
1 (JP7)
sink _type_npn
Figure 44 Sink (NPN) Connection for Digital Input 0

4.9.2 Fast Digital Inputs (MARK)
Table 42 Fast Digital Inputs (MARK)

Category Value
Quantity Four. Can be configured as MARK inputs or as general
purpose inputs.
Type Differential, not isolated
Interface TI AM26C31 line receiver
MARK Input Voltage 5Vdc (±10%) only
Associated ACSPL+ Variables MARK and M2ARK. The fast input signal latches, with
extremely small delay, the current encoder position to the
associated variable. See the SPiiPlus ACSPL+
Programmer's Guide.
Maximum Propagation Delay < 0.1µsec
Protection ESD Protection
Figure 45 illustrates the MARK/general purpose differential input interface for axis X.
SPiiPlus Control Module Digital I/O and Analog

Output Connector (J9)
PIN
+ 5 V Power
- Supply
X_ MARK1 +
12
to SPii
AM 26C32
Input
220R
31 X_ MARK1 - Sensor
SHIELD
dif_ con_m1
Figure 45 Differential Connection for MARK1 Input (X Axis)

Figure 46 illustrates the MARK/general purpose single-end input interface for axis X.


Digital I/O Analog Output
PIN Connector (J9)
+ 5 V Power
420 ohm - Supply
12
X_ MARK1+ +
to SPii
AM 26C32 120 R
31 X_ MARK 1- Input NPN
DGND
Input
18 200 ohm
- Sensor
s_e_npd _m1
Figure 46 Single-End (NPN) Connection for MARK1 Input (X Axis)
4.9.3 Digital Outputs
Table 43 Digital Outputs

Category Value
Quantity Eight
Type Single-end, opto-isolated
Corresponding ACSPL+ OUT0... OUT7
Variables
External Supply Voltage 5Vdc (±10%) or 24Vdc (±20%), detected automatically.
Must be connected between the V_SUP_IO and
V_RET_IO pins
Maximum Current per Output 350mA
Maximum Current for all 400mA
Outputs
Protection Overload (total current > 400mA) or short circuit with
ground. A short circuit on any digital output will disable
ALL digital outputs without any indication by the
software. The digital outputs will become enabled again
only after controller power-up.
Connection Sink/source – jumper configured.

Note
To test an output in source/sink configuration without a load, connect
a pull-down/pull-up resistor.
Figure 47 illustrates the source-type general purpose digital output interface for OUT0.0.

Overcurrent PIN V_ SUP_ IO
protection 1
+ 5 V or 24 V
OUT0.0
6 Power
User - Supply
from
SPii Load
Overcurrent V_RTN_IO
20
protection
3 Jumper
2 (JP5)
1
s_t_g_p_o
Figure 47 Source Connection for Digital Output 0
Note
When jumper JP5 is set to pins 2 and 3, the circuit shown in a dashed
line is inactive.
Figure 48 illustrates the sink-type general purpose digital output interface for OUT0.0.


Overcurrent PIN V_ SUP_ IO
1
protection
User
Load + 5 V or 24 V
OUT0.0 Power
6
Supply
from
-
SPii
Overcurrent V_RTN_ IO
20
protection
3 Jumper
2
1 (JP5)
sink_g_p
Figure 48 Sink Connection for Digital Output 0
Note
When jumper JP5 is set to pins 1 and 2, the circuit shown in a dashed
line is inactive.
4.9.4 Fast Digital Outputs (PEG)

Configuration of PEG pulses as PEG outputs (default) or as general purpose outputs is done by
the software assignpeg command. Refer to the SPiiPlus ACSPL+ Programmer's Guide.
Table 44 Fast Digital Outputs (PEG)

Category Value
Quantity Four. Can be configured as PEG outputs or as general purpose
outputs.
Type Differential, not isolated. (Requires 220ohm termination resistor.)
Associated ACSPL+ peg_i and peg_r. The fast output signal is generated with extremely
Functions small delay when the encoder position matches a predefined value.
See PEG description in the SPiiPlus ACSPL+ Programmer's Guide.
Maximum < 0.1µsec
Propagation Delay
See Also “PEG Connector J26” on Page 74
Figure 49 illustrates the PEG pulse output interface for axis X.


PIN Outputs Connector (J9)
51R
X_ PEG_ PULSE+
16
from SPii 220 ohm termination
AM26C31
X_ PEG_ PULSE- resistor ( user- supplied)
35
51R SHIELD
peg_pulse_output
Figure 49 Example of X PEG Pulse Output Connection
Note
A user-supplied 220Ω resistor must be installed between the two
differential signals of the PEG outputs
4.9.5 Digital Brake Outputs
Note
When the axis is not equipped with a mechanical brake, the mechanical
brake outputs can be used as general purpose outputs. When the brake
outputs should be used as general purpose outputs with high current,
they are used via the Motor Output Connectors (J20, J21, J22). When
the brake outputs are used as general purpose outputs with low current,
they are used via the Digital I/O and Analog Output Connector (J9).
Table 45 Digital Brake Outputs

Category Value
Quantity Four. Can be configured as motor brake outputs or as general
purpose outputs.
Type Single-end, opto-isolated, sink only!
External Supply Voltage 5-30Vdc (±10%).
Must be connected between the V_SUP_IO
and V_RET_IO pins
Maximum Current per The maximum current for each output is 50mA, for all
Output outputs, 4x50mA.
Maximum Current per All 350mA
Output
Protection Overload (current of any output > 100mA) or short circuit

Analog Outputs illustrates the brake output interface for axis X.

Outputs Connector (J9 )
V_sup_IO
1
PIN Brake X User

10
from Load
SPii
V_ RTN_ IO
20
SHIELD
- +
5V or 24V
Power Supply
brake_output _x
Figure 50 Sink Connection for Using Brake_X as a General Purpose Output
4.9.6 Analog Outputs
Table 46 Analog Outputs

Category Value
Quantity One/ two (Analog output 1 is available only if two or more SPii
processors are present)
Type Single-end
Signal-to-Noise Ratio 46dB (3 sigma) equivalent to ±50mV or ±3 AOUT counts
Voltage Range 10V ptp
D/A Resolution 10 bit
D/A Conversion ±5%
Circuit Accuracy
Voltage Representation -511 to 511
in Controller
Maximum Current 1mA per output
Protection short circuit
Corresponding AOUT0, AOUT1
ACSPL+ Variables
Figure 51 illustrates the analog output interface for AOUT0.


PIN
PWM from SPii AOUT0
37
18 DGND
SHIELD
aout 0
Figure 51 Connection for AOUT0 Output
4.10 PEG Connector J26

The SPiiPlus CM Revision B also provides PEG outputs as described in Section 4.9, Digital
I/O and Analog Outputs - J9.
J26 provides eight fast (<0.1μsec delay), differential, non opto-isolated outputs that can be used
for PEG states for X and Y axes (four states per axis) or as general purpose outputs. PEG states
are provided only through J26.
In the SPiiPlus CM Revision B, two additional single-ended analog inputs are provided through
J26 for joystick implementation. See Section 4.10.2, Analog Inputs for Joystick
Implementation.
Note
Configuration of PEG pulses and states as PEG outputs (default) or as
general purpose outputs is done by software assignpeg command.
Table 47 PEG States Connector J26 - Components

Jack on SPiiPlus CM D-type, 25 pin, female
Plug from System D-type, 25 pin, male

Pin 1
peg_states _con
Figure 52 PEG States Connector J26
Note
In the description column, for each PEG output the variable name that
commands the output when it is used as general purpose output is
mentioned.
Table 48 PEG States Connector J26 – Pin Out (page 1 of 2)

1 X_PEG_PULSE+ Fast non-inverted PEG PULSE OUT8.8
output for X axis
2 X_STATE0+ Fast non-inverted PEG STATE 0 OUT8.0
output for X axis
output for X axis
output for X axis
output for X axis
6 Y_PEG_PULSE+ Fast non-inverted PEG PULSE OUT9.8
output for Y axis
7 Y_STATE0+ Fast non-inverted PEG STATE 0 OUT9.0
output for Y axis
output for Y axis
output for Y axis
output for Y axis
11 GND Digital ground
12 AGND Analog Ground

Table 48 PEG States Connector J26 – Pin Out (page 2 of 2)

13 AGND Analog Ground
14 X_PEG_PULSE- Fast inverted PEG PULSE output for OUT8.8
X axis
15 X_STATE0- Fast inverted PEG STATE 0 output OUT8.0
for X axis
for X axis
for X axis
for X axis
19 Y_PEG_PULSE- Fast inverted PEG PULSE output for OUT9.8
Y axis
20 Y_STATE0- Fast inverted PEG STATE 0 output OUT9.0
for Y axis
for Y axis
for Y axis
for Y axis
24 AIN6 Analog input 6 (single ended) AIN6
25 AIN7 Analog input 7 (single ended) AIN7
4.10.1 PEG States Interface

Refer to “Fast Digital Outputs (PEG)” on Page 71.
4.10.2 Analog Inputs for Joystick Implementation
Model
In SPiiPlus CM Revision B models CM-3 and CM-2...XY two
additional analog inputs are available to implement joystick
operation.

SPiiPlus Control Module PEG States

Connector (J26)
PIN +10V
12
AGND
+ V1
SOURCE VOLTAGE
1
- 2
24
AIN6
-
+
3 AGND + V3
SOURCE VOLTAGE
AGND -
-10V
Figure 53 Single-axis Joystick Through AIN6
Table 49 Single-ended Joystick Analog Inputs

Category Value
Quantity Two
Type Single-ended
Voltage Range ±10V
A/D Resolution 14 bit
Voltage Representation +10V is equivalent to AIN6 or AIN7 = -8192.
in Controller -10V is equivalent to AIN6 or AIN7 = +8192.
Corresponding AIN6, AIN7
ACSPL+ Variables
4.11 Safety Connector - J8
Table 50 Safety Connector J8 - Components

Jack on SPiiPlus CM High density D-type, 15 pin, female
Plug from System High density D-type, 15 pin, male (CHANT SINCERE CO.Ltd
p.n. 101A-15MGTAA*)
Recommended Wires AWG22 wires with shielding.

Table 51 Safety Connector J8 - Pin Out

1 XRL X axis right limit
2 XLL X axis left limit
3 YRL Y axis right limit
4 YLL Y axis left limit
5 ARL A axis right limit
6 ALL A axis left limit
7 BRL Not relevant in SPiiPlus CM Revision B
8 BLL Not relevant in SPiiPlus CM Revision B
9 ZRL Z axis right limit. Relevant for stepper axis controlled via the J10 connector.
10 ZLL Z axis left limit. Relevant for stepper axis controlled via the J10 connector.
11 TRL T axis right limit. Relevant for stepper axis controlled via the J10 connector.
12 TLL T axis left limit. Relevant for stepper axis controlled via the J10 connector.
13 ES Emergency stop
14 V_RTN_SFTY Safety supply return
15 V_SUP_SFTY Safety supply 5/24Vdc
Connector metal Cable shield connection
case (SHIELD)
The SPiiPlus CM Revision B provides the following safety inputs:

• Left and Right Limit Inputs
• Emergency Stop Input
4.11.1 Left and Right Limit Inputs
Table 52 Limit Inputs (page 1 of 2)

Category Value
Quantity One left limit and one right limit per axis: X, Y, Z, T and A
Type Single end, opto-isolated
Corresponding ACSPL+ <AXIS>_FAULT.#LL and <AXIS>_FAULT.#RL (example:
Variables X_FAULT.#LL)
Maximum Propagation 1msec
Delay
Must be connected between the V_SUP_SFTY
and V_RET_SFTY pins

Table 52 Limit Inputs (page 2 of 2)

Category Value
Input Current Maximum input current is 14mA
Connection “Configuration of Sink or Source by Jumpers – JP5, JP7,
JP8” on Page 90
Figure 54 illustrates a source-type switched limit input interface for axis X.
PIN
V_SUP_SFTY
To Safety
Circuit
15 + 5V or 24 V
XRL Power Supply
1 -
14 V_RTN_SFTY GND
to SPii GND
3
2
Jumper
1
(JP8)
sts _x
Safety Connector (J8)
Figure 54 Source (Switched) Limit Input Connection (X Axis)

Figure 55 illustrates a source type PNP limit input interface for axis X.
PIN V_SUP_ SFTY

To Safety 15 + 5 V or 24 V
Circuit Power
XRL
1 - Supply
GND
to SPii V_ RTN_ SFTY

14
GND
3 Jumper
2 (JP8)
1
Safety Connector (J8)
pnp _slic
Figure 55 Source (PNP) Limit Input Connection (X Axis)

Figure 56 illustrates a sink-type switched limit input interface for axis X.
PIN V_SUP_SFTY
To Safety 15 + 5 V or 24V
Circuit Power
XRL
1 - Supply
14 V_RTN_SFTY GND
to SPii GND
3 Jumper
2
1
(JP8)
Safety Connector
(J8) x_switched_slic
Figure 56 Sink (Switched) Limit Input Connection (X Axis)

Figure 57 illustrates a sink-type NPN limit input interface for axis X.
PIN
V_ SUP_ SFTY
To Safety
Circuit
15 + 5 V or 24 V
Power
XRL
1 - Supply
14 GND
to SPii V_ RTN_ SFTY
GND
3 Jumper
2
1 (JP8)
Safety Connector
(J8) npn_slic
Figure 57 Sink (NPN) Limit Input Connection (X Axis)
4.11.2 Emergency Stop Input
Table 53 Emergency Stop Inputs (page 1 of 2)

Category Value
Quantity One
Type Single-end, opto-isolated

Table 53 Emergency Stop Inputs (page 2 of 2)

Category Value
Corresponding ACSPL+ SFAULT.#ES
Variables
Maximum Propagation 1msec
Delay
Must be connected between the V_SUP_SFTY
and V_RET_SFTY pins
Input Current 2mA to 14mA
Connection See “Configuration of Sink or Source by Jumpers – JP5, JP7,
JP8” on Page 90.
Figure 58 illustrates a source emergency stop input interface.
PIN
V_ SUP_ SFTY
Circuit Power
ES
13 - Supply
V_ RTN_ SFTY
14 GND
to SPii GND
3 Jumper
2
(JP8)
1
Safety Connector sc_for_es

(J8)
Figure 58 Source Connection for Emergency Stop Input

Figure 59 illustrates a sink emergency stop input interface.

PIN
V_ SUP_ SFTY
Circuit Power
ES
13 - Supply
V_ RTN_ SFTY
14 GND
to SPii GND
3
2
1 Jumper (JP8)
Safety Connector
(J8) sink_slic
Figure 59 Sink Connection for Emergency Stop Input
4.12 HSSI Network Connectors - J1, J2, J3, J4

The SPiiPlus CM Revision B provides up to four HSSI channels. These channels are used to
communicate with remote HSSI modules (HSSI-IO16, HSSI-ED2, HSSI-SA-1 etc.). Each
HSSI channel is connected with a SPii processor.
Note
The SPiiPlus CM Revision B includes HSSI connectors J1-J4. The
number of available HSSI channels depends on the number of SPii
processors ordered. The number of available HSSI channels appears in
the label on the side of the controller. For example if “HSSI Channels
Available: 0,1” appears on the label, it means that only HSSI0
(connected to J1) and HSSI1 (connected to J2) are available.
The HSSI connectors provide interface with HSSI modules like HSSI-IO16 (IO expansion),
HSSI-ED2 (two remote axes interface module) and HSSI-SA-1 (one remote axis drive). For
more information refer to the HSSI HW and Setup Guide.
Table 54 HSSI Connectors J1, J2, J3, J4 - Components

Jack on SPiiPlus CM RJ-45, 8-pin, socket
Plug from System RJ-45, 8-pin, plug
Recommended Wires Standard “Ethernet” cable FTP type, category 5, 20m maximum

Pin 1
rj45
Figure 60 HSSI Connectors J1, J2, J3, J4
Table 55 25 Pin Description

1 CONTROL+ Control signal non-inverted output. The signal includes START
(synchronization for data transfer) and SER_CLK (data clock)
information.
2 CONTROL- Control signal inverted output
3 SER_DI+ Serial data non-inverted input
4 SER_DI- Serial data inverted input
5 SER_DO+ Serial data non-inverted output
6 SER_DO- Serial data inverted output
7 DGND Digital ground for 5L
8 DGND Digital ground for 5L
4.12.1 HSSI Interface
Table 56 HSSI
Category Value
Quantity 4 connectors:
HSSI channel 0 is connected to SPii0 (exists always)
HSSI channel 1 is connected to SPii1 (if available)
4.13 COM Connectors - J7, J23

The following communication protocols are supported:
• One RS-232/422 serial communication port (COM1) - J7 only
• One RS-232 serial communication port (COM2) - J7 and J23

• One Ethernet 10/100 Base -T communication port (optional)
Note
1. Check the SPiiPlus CM Revision B controller product label for
supported protocols.
2. Refer to the SPiiPlus Setup Guide for how to establish serial
(RS-232/422) and Ethernet communication.
Table 57 COM Connectors J7 J23 - Components

Jack on SPiiPlus CM D-type, 9 pin, male
Plug from System D-type, 9 pin, female
Pin 1
Figure 61 COM Connectors J7, J23
Table 58 COM-1 Connector J7 – Pin Out

2 RX232 RS-232 receive signal
3 TX232 RS-232 transmit signal
4 NC Not connected
5 DGND Digital ground.
6 TX+ RS-422 positive transmit signal
7 TX- RS-422 negative transmit signal
8 RX+ RS-422 positive receive signal
9 RX- RS-422 negative receive signal
case (SHIELD)

Note
Make sure that the RS-232 and RS422 serial communications are by the
same type of 9-pin connector.
This implementation may not comply with some of the standard null-
modem communication cables that can be found.
Table 59 COM-2 Connector J23 – Pin Out

2 RX232 RS-232 receive signal
3 TX232 RS-232 transmit signal
4 NC Not connected
6 NC Not connected
7 NC Not connected
8 NC Not connected
9 NC Not connected
case (SHIELD)
4.14 Ethernet Connector - J5 (Option)
Pin 1
rj45
Figure 62 Ethernet Connector J5
Table 60 Ethernet Connector J5 - Components (page 1 of 2)

Jack on SPiiPlus CM RJ-45, 8-pin, socket

Table 60 Ethernet Connector J5 - Components (page 2 of 2)

Plug from System RJ-45, 8-pin, plug
Recommended Wires Standard “Ethernet” cable FTP type, category 5
Table 61 25 Pin Description

1 TD+ Positive transmit signal
2 TD- Negative transmit signal
3 RD+ Positive receive signal
4 NC Not connected
5 NC Not connected
6 RD- Negative receive signal
7 NC Not connected
8 NC Not connected

5 LED Indicators
Table 62 LED Indicators
LED Indicator Color Description
Control Supply Green 24Vdc (user-supplied) for the control circuits
is present.
MPU_ON Green Potion Processor Unit (MPU) works. This
LED can blink or light steady about 30sec
after connection of control supply.
X_ON Green X motor is enabled
Red X motor is failed
Off X motor is disabled
Y_ON Green Y motor is enabled
(Does not exist in SPiiPlus CM-
1) Red Y motor is failed
Off Y motor is disabled
A_ON Green A motor is enabled
(Does not exist in SPiiPlus CM-
1/2) Red A motor is failed
Off A motor is disabled
VP Green AC/DC drive supply (user-supplied) for the
drives bus circuits is present.
REGEN Green Regeneration circuit in standby mode
Flash Regeneration circuit is active
Off If VP LED is on, the regeneration circuit is
faulty
Brake Supply Green 24Vdc (user-supplied) for the brake circuits is
present.
October 30, 2006 87 LED Indicators

6 Protection Circuits
The SPiiPlus CM Revision B provides the following protection circuits:
• Drive Input Supply Protection
• Internal Integrated Drive Protection Circuits
• Control and Brake Supply Protection
6.1 Drive Input Supply Protection

The Integrated digital drives provide four input supply protection circuits:
• Phase-Loss (for Three-Phase AC input supply only)
• Power Down
• Power Supply Too High (Over Voltage)
• Power Supply Too Low (Under Voltage)
• Drive enable while soft-start mechanism is active.
Note
After powering the drive supply, a soft-start mechanism is activated for
5 seconds to limit the inrush current that the SPiiPlus consumes from
the electricity network. During these 5 seconds the user should not
enable any of the axis (X,A or Y). If any of these axes are being enabled
by the user, an error 5071 will be activated.
Table 63 Drive Input Supply Protection (page 1 of 2)

Protection Specification Value
Phase-Loss (for Action Drive Alarm fault: disables all integrated
Three-Phase AC digital drives
Input Supply Only) Drive Alarm “Phase loss” - MERR variable code 5070
Power Down Action Drive Alarm fault: disables all integrated
digital drives
Drive Alarm “Power Down” - MERR variable code 5069
High (Over Voltage) Triggered by DC bus voltage > 420Vdc
Action Drive Alarm fault: disables all drives
Drive Alarm “Power supply too high” - MERR variable
code 5064
Low (Under Voltage) Triggered by DC bus voltage < 70Vdc
Action Drive Alarm fault: disables all drives
Drive Alarm Power supply too low – MERR variable code
5063
October 30, 2006 88 Protection Circuits

Table 63 Drive Input Supply Protection (page 2 of 2)

Drive not Ready Triggered by If drive enable command is sent within five
seconds of drive power on
Action Sends error message
Drive Alarm Drive not ready– MERR variable code error
5171
6.2 Internal Integrated Drive Protection Circuits

The SPiiPlus integrated digital drives provide four internal protection circuits:
• Short Between Phases or Short between Phase to Ground
• Over Current
• Over Temperature
• Drive not Ready
Table 64 Internal Drive Protection

Short circuit Triggered By Current in one of the integrated digital drive output
Between Phases or phases exceed the maximum value.
Phase to Ground Trigger Level SPiiPlus CM-X-A: 25A
SPiiPlus CM-X-B: 50A
Action Disables drive
Propagation Delay <1µsec
Drive Alarm Short circuit - MERR variable code 5061
Over Current Triggered By Current in one of the integrated digital drive
outputs exceeds the over current protection level
Trigger Level SPiiPlus CM-X-A: 15A
SPiiPlus CM-X-B: 30A
Action Disables drive
Drive Alarm “Over current” - MERR variable code 5026
Over Triggered by Temperature on drive's power bridge >100±5ºC
Temperature Action Disables drive
Drive Alarm “Over temperature” - MERR variable code 5065
Drive not Ready Triggered by At AC ON for a duration of six seconds
Action User cannot enable drive
Drive Alarm

6.3 Control and Brake Supply Protection

The SPiiPlus provides 4A fuse protection for Control and Brake Supply:
6.4 Configuration of Sink or Source by Jumpers – JP5,

JP7, JP8
The factory default configuration of jumpers JP5, JP7 and JP8 is Sink (pin number 1 and pin
number 2 are connected). SPiiPlus CM Revision B provides configuration of digital inputs,
digital outputs and safety inputs.
Output (JP5)
3
2 Safety (JP8)
1
Input (JP7)
sink_config
Figure 63 Configuration of Sink or Source by Jumpers

• To set Sink configurations, install jumper between 1 and 2.
• To set Source configurations, install jumper between 2 and 3.
6.5 Recovery Mode Jumper JP2
JP2 is by default not installed. Do not set JP2 unless instructed

to do so by the SPiiPlus Emergency Wizard during a firmware
recovery. The controller firmware is disabled when JP2 is set.

Figure 64 illustrates the location of the Recovery Mode Jumper JP2.
JP2
sink _config
Figure 64 SPiiPlus CM-2/3 Revision B: Recovery Mode Jumper – JP2

7 External Fuses
To connect to the drive power supply connector (J18), you should use external fuses that
comply with the following specifications. The specifications are for SPiiPlus CM for single,
two and three phase drive supply, for 1, 2 and 3 axis and A, B, C power range.
Table 65 One and Two Phase SPiiPlus CM1 Axis2 Axis3 Axis
SPiiPlus CM 1 Axis 2 Axis 3 Axis
A: 5A cont./10A peak 12A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo
B: 10A cont./15A peak 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo
C: 15A cont./30A peak 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo
Table 66 Three Phase SPiiPlus CM1 Axis2 Axis3 Axis

SPiiPlus CM 1 Axis 2 Axis 3 Axis
A: 5A cont./10A peak 8A, 250Vac, Slo-Bloo 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo
B: 10A cont./15A peak 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo
C: 15A cont./30A peak 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo 15A, 250Vac, Slo-Blo
October 30, 2006 92 External Fuses

8 Sin-Cos Module Installation

If you have ordered a Sin-Cos encoder with your SPiiPlus CM Revision B Control Module, you
can always add this device at your discretion. This chapter describes how to install the Sin-Cos
module.
8.1 Physical Description

Refer to Figure 65 for an illustration of Side A and Side B of the Sin-Cos encoder module.
Figure 65 Sin-Cos Module Sides
CAUTION
The Sin-Cos module is a static sensitive device. Handle the
Sin-Cos module only at a static safe work station.
8.2 Installation
Proper installation of the Sin-Cos module includes two procedures: Hardware Installation and
Software Settings Update. The following sections describe these procedures.
8.2.1 Hardware Installation

Install the Sin-Cos module as follows:
1. Disconnect the SPiiPlus CM Revision B unit from the power source.
2. Locate the J24 Sin-Cos slot on the side of the CM unit. Figure 66 illustrates the location of
J24.
3. Place the Sin-Cos module in the Sin-Cos module slots with Side A facing up and with the
module contacts on Side B facing towards the CM unit.
October 30, 2006 93 Sin-Cos Module Installation

Figure 66 Location of J24 and Sin-Cos Module Slots

4. With a needle nose pliers or similar tool, use hand force and push in the module as illustrated
in Figure 67.
Figure 67 Sin-Cos Module in Place

5. Power on the SPiiPlus CM Revision B unit and check that LED D1 is on.
6. Proceed to Section 8.2.2, Software Settings Update.
Note
To remove a Sin-Cos module, use the needle nose pliers to grab the
module.
CAUTION
Note the location of LED D1, see Figure 65, to avoid damage
with the needle-nose pliers.

8.2.2 Software Settings Update

After installing the Sin-Cos module, update the software settings as follows:
1. Open the SPiiPlus MMI and from the tool bar click Setup>Adjuster.
2. From the Adjuster menu, click Axis Setup. The Axis Setup dialog comes up.
3. From the Type list, select SIN-COS.
4. From the Internal Multiplier Factor list, select the multiplier value as described below.
Note
1. The label on side B of the Sin-Cos module, see Figure 65, indicates
the number of available multipliers as follows:
• M1 = One multiplier
• M2 = Two multipliers
• M3 = Three multipliers
2. If you have made any motor or drive changes, be sure to update
these parameters as well.
5. Click Calculate Parameters and Close.

6. Click OK on the Calculated Parameters summary.

9 Warranty
ACS MotionControl warrants that its products are free from defects in materials and
workmanship under normal use during the warranty period. The warranty period is one (1) year
from receipt by the end user. This warranty does not apply to any product from which the serial
number has been removed or destroyed, or damage as a result of accident, fire, misuse, abuse,
negligence, operation outside the usage parameters, unauthorized modifications, or acts of God.
If the product is provided in an enclosed case, this warranty does not apply if the case has been
opened.
ACS MotionControl is not liable for any damages (material, financial, or physical) caused by
the products or the failure of the products to perform. These limits of liability shall including,
but not limited to: any lost profits, lost savings, lost earnings, loss of programs or other data,
business interruption, incidental damages, consequential damages or personal injury.
These limitations apply whether damages are sought, or a claim made, under this warranty or
as a tort claim (including negligence and strict product liability), or any other claim. These
limitations of liability will be effective even if you have advised ACS MotionControl of the
possibility of any such damages.
ACS MotionControl makes no other warranties, expressed or implied, including any implied
warranties of merchantability or fitness of any product for a particular purpose. ACS
MotionControl expressly disclaims all warranties not stated in this warranty. ACS
MotionControl reserves the right to make changes to this warranty without notice.
October 30, 2006 96 Warranty

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SPiiPLUS CM

Copyright ® 1999 - 2005 ACS MotionControl Ltd.

ACS MotionControl, Ltd.

October 30, 2006 ii Hardware Guide

October 30, 2006 iii Hardware Guide

October 30, 2006 iv Hardware Guide

October 30, 2006 v

4.1 Electrical Interface Component Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

October 30, 2006 vi

October 30, 2006 vii

October 30, 2006, Version 5.20 viii List of Figures.

Figure 46 Single-End (NPN) Connection for MARK1 Input (X Axis). . . . . . . . . . . . . . . 69

October 30, 2006, Version 5.20 ix List of Figures.

October 30, 2006 x

Table 47 PEG States Connector J26 - Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

October 30, 2006 xi

1 About this Guide

1.1 Related SPiiPlus Tools

Table 1 Related SPiiPlus Tools

October 30, 2006 1 About this Guide

1.2 The SPiiPlus Documentation

Table 2 Collateral Documentation

1.3 Conventions Used in this Guide

Table 3 Document Conventions (page 1 of 2)

October 30, 2006 2 About this Guide

Table 3 Document Conventions (page 2 of 2)

1.3.1 Statement Text and Icons Used in this Guide

A warning describes a condition that may result in serious

October 30, 2006 3 About this Guide

2 Introduction and Specifications

2.1 Notification to ACS MotionControl Customers

October 30, 2006 4 Introduction and Specifications

Table 4 Changes in Existing Functionality and Outward Appearance

October 30, 2006 5 Introduction and Specifications

Table 5 New Features or Enhanced Capabilities

Figure 1 illustrates the SPiiPlus CM Revision B Motion Control Module.

Figure 1 SPiiPlus CM Revision B Control Module

October 30, 2006 6 Introduction and Specifications

Figure 2 SPiiPlus CM Revision B Control Module - Front Panel

Figure 3 SPiiPlus CM Revision B Control Module - Right Panel

October 30, 2006 7 Introduction and Specifications

Figure 4 SPiiPlus CM Revision B Control Module - Left Panel

October 30, 2006 8 Introduction and Specifications

2.3 Axis Configurations and Options

October 30, 2006 9 Introduction and Specifications

October 30, 2006 10 Introduction and Specifications

2.4.1 Position Control

2.4.2 Velocity Control

2.4.3 Position and Velocity Feedback

October 30, 2006 11 Introduction and Specifications

– Maximum rate: Up to 250,000 sine periods/second. Higher rates are available on

2.4.4 Integrated Digital Drives

2.4.5 Signals to Direct-connected P/D Stepper Drives

October 30, 2006 12 Introduction and Specifications

• General Purpose Digital Outputs:

• Position Event Generator (PEG) Digital Outputs:

October 30, 2006 13 Introduction and Specifications

2.4.7 Multi-processor Architecture

October 30, 2006 14 Introduction and Specifications

2.4.9 Communication Channels