Table of Contents

Specialization card 1MG6F

Rear view SLOT 3 - Card 1MG6F

Informations

Document: MIM1MG6F02
Description: Installation and maintenance manual
Editor: Riccardo Furlato
Approver Gabriele Bazzi
Link: http://www.qem.eu/doku/doku.php/en/strumenti/qmoveplus/mim1mg6f02
Language: English
Document release Hardware release Description Note Date
01 02 Fixed the problem of the power supply commons to the digital outputs O17-O24 24/03/2015

1. Description

The 1MG6F specialization card for the Qmove+ series.

1.1 Equipment

32 Standard digital inputs (+12 alternative inputs to 6 counters)
4 analog inputs
4 rapid digital inputs
6 bidirectional counters
2 SSI absolute counters
32 digital outputs
8 analog outputs
4 step-direction outputs

2. Connettori

2.1 Ingressi digitali

2.1.1 32 standard digital inputs + 4 rapid inputs

:tip:The electrical features are given in paragraph Electrical Features.
The wiring examples are given in paragraph Connection examples
CN11 TerminalSymbolDescriptionAddress
1 I01(PNP) PNP type fast input I01 External terminal configuration1) FREQ12)
2 I01(NPN) PNP type fast input I01
3 0V Common for digital inputs
4 I1 Input I1 3.INP01
5 I2 Input I2 3.INP02
6 I3 Input I3 3.INP03
7 I4 Input I4 3.INP04
8 I5 Input I5 3.INP05
9 I6 Input I6 3.INP06
10 I7 Input I7 3.INP07
11 I8 Input I8 3.INP08
12 0V Common for digital inputs
1) NPN type fast input configuration:
Terminal 1: connect to 12-24Vdc of the power unit
Terminal 2: input
PNP type fast input configuration:
Terminal 1: input
Terminal 2: connect to 0V (terminal 3)
2) can be used as frequency input for a FREQ device, indicating 1 in the device declaration
CN12 TerminalSymbolDescriptionAddress
1 I02(PNP) PNP type fast input I02 External terminal configuration1) FREQ22)
2 I02(NPN) NPN type fast input I02
3 0V Common for digital inputs
4 I9 Input I9 3.INP09
5 I10 Input I10 3.INP10
6 I11 Input I11 3.INP11
7 I12 Input I12 3.INP12
8 I13 Input I13 3.INP13
9 I14 Input I14 3.INP14
10 I15 Input I15 3.INP15
11 I16 Input I16 3.INP16
12 0V Common for digital inputs
1) NPN type fast input configuration:
Terminal 1: connect to 12-24Vdc of the power unit
Terminal 2: input
PNP type fast input configuration:
Terminal 1: input
Terminal 2: connect to 0V (terminal 3)
2) can be used as frequency input for a FREQ device, indicating 2 in the device declaration
CN13 TerminalSymbolDescriptionAddress
1 I03(PNP) PNP type fast input I03External terminal configuration1) 1.INT09
2 I03(NPN) NPN type fast input I03
3 0V Common for digital inputs
4 I17 Input I17 3.INP17
5 I18 Input I18 3.INP18
6 I19 Input I19 3.INP19
7 I20 Input I20 3.INP20
8 I21 Input I21 3.INP21
9 I22 Input I22 3.INP22
10 I23 Input I23 3.INP23
11 I24 Input I24 3.INP24
12 0V Common for digital inputs
1) NPN type fast input configuration:
Terminal 1: connect to 12-24Vdc of the power unit
Terminal 2: input
PNP type fast input configuration:
Terminal 1: input
Terminal 2: connect to 0V (terminal 3)
CN14 TerminalSymbolDescriptionAddress
1 I04(PNP) PNP type fast input I04External terminal configuration1) 1.INT10
2 I04(NPN) NPN type fast input I04
3 0V Common for digital inputs
4 I25 Input I25 3.INP25
5 I26 Input I26 3.INP26
6 I27 Input I27 3.INP27
7 I28 Input I28 3.INP28
8 I29 Input I29 3.INP29
9 I30 Input I30 3.INP30
10 I31 Input I31 3.INP31
11 I32 Input I32 3.INP32
12 0V Common for digital inputs
1) NPN type fast input configuration:
Terminal 1: connect to 12-24Vdc of the power unit
Terminal 2: input
PNP type fast input configuration:
Terminal 1: input
Terminal 2: connect to 0V (terminal 3)

2.1.2 6 bidirectional counter inputs 200KHz

:tip:The electrical features are given in paragraph Electrical features.
The wiring examples are given in paragraph Connection examples
CN15 TerminalSymbolDescription Address
1A Internal bridge 1A -1B
2A PHA1 Phase A count 1 PNP Push-Pull1) 3.INP333.CNT01
3A PHB1 Phase B count 1 3.INP34
4A Z1 Z count 1 1.INT01
5A 0V Common for count inputs
6A 0V
7A 0V
1B Internal bridge 1A -1B
2B PHA1+ + PHA count 1 Line Driver 3.INP33 3.CNT01
3B PHB1+ + PHB count 13.INP34
4B Z1+ + Z count 1 1.INT01
5B PHA1- - PHA count 1
6B PHB1- - PHB count 1
7B Z1- - Z count 1
1) PNP/Push-Pull type count input configuration:
Terminal 5B: connect to terminal 5A
Terminal 6B: connect to terminal 6A
Terminal 7B: connect to terminal 7A
CN16 TerminalSymbolDescription Address
1A Internal bridge 1A -1B
2A PHA2 Phase A count 2 PNP Push-Pull1) 3.INP353.CNT02
3A PHB2 Phase B count 2 3.INP36
4A Z2 Z count 2 1.INT02
5A 0V Common for count inputs
6A 0V
7A 0V
1B Internal bridge 1A -1B
2B PHA2+ + PHA count 2 Line Driver 3.INP35 3.CNT02
3B PHB2+ + PHB count 23.INP36
4B Z2+ + Z count 2 1.INT02
5B PHA2- - PHA count 2
6B PHB2- - PHB count 2
7B Z2- - Z count 2
1) PNP/Push-Pull type count input configuration:
Terminal 5B: connect to terminal 5A
Terminal 6B: connect to terminal 6A
Terminal 7B: connect to terminal 7A
CN17 TerminalSymbolDescription Address
1A Internal bridge 1A -1B
2A PHA3 Phase A count 3 PNP Push-Pull1) 3.INP373.CNT03
3A PHB3 Phase B count 3 3.INP38
4A Z3 Z count 3 1.INT03
5A 0V Common for count inputs
6A 0V
7A 0V
1B Internal bridge 1A -1B
2B PHA3+ + PHA count 3 Line Driver 3.INP37 3.CNT03
3B PHB3+ + PHB count 33.INP38
4B Z3+ + Z count 3 1.INT03
5B PHA3- - PHA count 3
6B PHB3- - PHB count 3
7B Z3- - Z count 3
1) PNP/Push-Pull type count input configuration:
Terminal 5B: connect to terminal 5A
Terminal 6B: connect to terminal 6A
Terminal 7B: connect to terminal 7A
CN18 TerminalSymbolDescription Address
1A Internal bridge 1A -1B
2A PHA4 Phase A count 4 PNP Push-Pull1) 3.INP393.CNT04
3A PHB4 Phase B count 4 3.INP40
4A Z4 Z count 4 1.INT04
5A 0V Common for count inputs
6A 0V
7A 0V
1B Internal bridge 1A -1B
2B PHA4+ + PHA count 4 Line Driver 3.INP39 3.CNT04
3B PHB4+ + PHB count 43.INP40
4B Z4+ + Z count 4 1.INT04
5B PHA4- - PHA count 4
6B PHB4- - PHB count 4
7B Z4- - Z count 4
1) PNP/Push-Pull type count input configuration:
Terminal 5B: connect to terminal 5A
Terminal 6B: connect to terminal 6A
Terminal 7B: connect to terminal 7A
CN19 TerminalSymbolDescription Address
1A Internal bridge 1A -1B
2A PHA5 Phase A count 5 PNP Push-Pull1) 3.INP413.CNT05
3A PHB5 Phase B count 5 3.INP42
4A Z5 Z count 5 1.INT05
5A 0V Common for count inputs
6A 0V
7A 0V
1B Internal bridge 1A -1B
2B PHA5+ + PHA count 5 Line Driver 3.INP41 3.CNT05
3B PHB5+ + PHB count 53.INP42
4B Z5+ + Z count 5 1.INT05
5B PHA5- - PHA count 5
6B PHB5- - PHB count 5
7B Z5- - Z count 5
1) PNP/Push-Pull type count input configuration:
Terminal 5B: connect to terminal 5A
Terminal 6B: connect to terminal 6A
Terminal 7B: connect to terminal 7A
CN20 TerminalSymbolDescription Address
1A Internal bridge 1A -1B
2A PHA6 Phase A count 6 PNP Push-Pull1) 3.INP433.CNT06
3A PHB6 Phase B count 6 3.INP44
4A Z6 Z count 6 1.INT06
5A 0V Common for count inputs
6A 0V
7A 0V
1B Internal bridge 1A -1B
2B PHA6+ + PHA count 6 Line Driver 3.INP43 3.CNT06
3B PHB6+ + PHB count 63.INP44
4B Z6+ + Z count 6 1.INT06
5B PHA6- - PHA count 6
6B PHB6- - PHB count 6
7B Z6- - Z count 6
1) PNP/Push-Pull type count input configuration:
Terminal 5B: connect to terminal 5A
Terminal 6B: connect to terminal 6A
Terminal 7B: connect to terminal 7A

2.1.3 2 SSI absolute counters

CN22 Terminal Symbol Description Address
1A Internal bridge 1A-2A-1B-2B
2A
3A DATA1+ DATA in SSI1 1
4A DATA1-
5A CLOCK1+ CLOCK out SSI1
6A CLOCK1-
7A 0V Common for count inputs
1B Internal bridge 1A-2A-1B-2B
2B
3B DATA2+ DATA in SSI2 2
4B DATA2-
5B CLOCK2+ CLOCK out SSI1
6B CLOCK2-
7B 0V Common for count inputs

2.2 Analog inputs

2.2.1 4 potentiometric, voltmetric snd amperometric analog inputs 12bit



:tip:The electrical features are given in paragraph Electrical features.
The wiring examples are given in paragraph Connection examples
CN28 TerminalSymbolDescriptionAddress
1 GAI Common for analog inputs
2 IA1 analog input 1 3.AI01
3 SEL1V Analog input selector 1 voltmetric 0-10V1)
4 SEL1C Analog input selector 1 amperometric 0-20mA2)
5 GAI Common for analog inputs
6 IA2 analog input 2 3.AI02
7 SEL2V Analog input selector 2 voltmetric 0-10V3)
8 SEL2C Analog input selector 2 amperometric 0-20mA4)
9 VREF Reference voltage
1), 3) Connecting this terminal to GAI, the input functions as voltmetric 0-10V
2), 4) Connecting this terminal to GAI, the input functions as amperometric 0-20mA
CN29 TerminalSymbolDescriptionAddress
3 GAI Common for analog inputs
2 IA3 analog input 3 3.AI03
3 SEL3V Analog input selector 3 voltmetric 0-10V1)
4 SEL3C Analog input selector 3 amperometric 0-20mA2)
5 GAI Common for analog inputs
6 IA4 analog input 4 3.AI04
7 SEL4V Analog input selector 4 voltmetric 0-10V3)
8 SEL4C Analog input selector 4 amperometric 0-20mA4)
9 VREF Reference voltage
1), 3) Connecting this terminal to GAI, the input functions as voltmetric 0-10V
2), 4) Connecting this terminal to GAI, the input functions as amperometric 0-20mA

2.3 Digital outputs

2.3.1 32 protected digital outputs

:tip:The electric features are listed on the paragraph Electric features.
The example of the connections are listed on the Connection examples
CN7 TerminalSimbolDescriptionAddress
1 V1+ Input for outputs power supply O1÷O8 (12÷28V dc)
2 O1 Digital output 1 3.OUT01
3 O2 Digital output 2 3.OUT02
4 V1- Input for outputs power supply O1÷O8 (0V dc)
5 O3 Digital output 3 3.OUT03
6 O4 Digital output 4 3.OUT04
7 V1- Input for outputs power supply O1÷O8 (0V dc)
8 O5 Digital output 5 3.OUT05
9 O6 Digital output 6 3.OUT06
10 O7 Digital output 7 3.OUT07
11 O8 Digital output 8 3.OUT08

CN8 TerminalSimbolDescriptionAddress
1 V2+ Input for outputs power supply O9÷O16 (12÷28V dc)
2 O9 Digital output 9 3.OUT09
3 O10 Digital output 10 3.OUT10
4 V2- Input for outputs power supply (0V dc)
5 O11 Digital output 11 3.OUT11
6 O12 Digital output 12 3.OUT12
7 V2- Input for outputs power supply O9÷O16 (0V dc)
8 O13 Digital output 13 3.OUT13
9 O14 Digital output 14 3.OUT14
10 O15 Digital output 15 3.OUT15
11 O16 Digital output 16 3.OUT16

CN9 TerminalSimbolDescriptionAddress
1 V3+ Input for outputs power supply O17÷O24 (12÷28V dc)
2 O17 Digital output 17 3.OUT17
3 O18 Digital output 18 3.OUT18
4 V3- Input for outputs power supply O17÷O24 (0V dc)
5 O19 Digital output 19 3.OUT19
6 O20 Digital output 20 3.OUT20
7 V3- Input for outputs power supply O17÷O24 (0V dc)
8 O21 Digital output 21 3.OUT21
9 O22 Digital output 22 3.OUT22
10 O23 Digital output 23 3.OUT23
11 O24 Digital output 24 3.OUT24

CN10 TerminalSimbolDescriptionAddress
1 V4+ Input for outputs power supply O25÷O32 (12÷28V dc)
2 O25 Digital output 25 3.OUT25
3 O26 Digital output 26 3.OUT26
4 V4- Input for outputs power supply O25÷O32 (0V dc)
5 O27 Digital output 27 3.OUT27
6 O28 Digital output 28 3.OUT28
7 V4- Input for outputs power supply O25÷O32 (0V dc)
8 O29 Digital output 29 3.OUT29
9 O30 Digital output 30 3.OUT30
10 O31 Digital output 31 3.OUT31
11 O32 Digital output 32 3.OUT32

2.3.2 5 STEP-DIRECTION outputs

:tip:The electrical features are given in paragraph Electrical features.
The wiring examples are given in paragraph Connection examples
CN23 TerminalSymbolDescriptionAddress
1A - n.c.
2A DIR1+ DIRECTION output 1Push-Pull Line Driver3.PULSE01
3A STEP1+ STEP output 1
4A DIR2+ DIRECTION output 2 3.PULSE02
5A STEP2+ STEP output 2
6A 0V Common for stepper outputs
1B - n.c.
2B DIR1- Complementary output DIRECTION 1Complementary outputs for use
in drivers with Line-Driver inputs
3B STEP1- Complementary output STEP 1
4B DIR2- Complementary output DIRECTION 2
5B STEP2- Complementary output STEP 2
6B 0V Common for stepper outputs
CN24 TerminalSymbolDescriptionAddress
1A - n.c.
2A DIR1+ DIRECTION output 3Push-Pull Line Driver3.PULSE03
3A STEP1+ STEP output 3
4A DIR2+ DIRECTION output 4 3.PULSE04
5A STEP2+ STEP output 4
6A 0V Common for stepper outputs
1B - n.c.
2B DIR1- Complementary output DIRECTION 3Complementary outputs for use
in drivers with Line-Driver inputs
3B STEP1- Complementary output STEP 3
4B DIR2- Complementary output DIRECTION 4
5B STEP2- Complementary output STEP 4
6B 0V Common for stepper outputs
CN25 TerminalSymbolDescriptionAddress
1A - n.c.
2A DIR5+ DIRECTION output 5Push-Pull Line Driver3.PULSE05
3A STEP5+ STEP output 5
4A - n.c.
5A - n.c.
6A 0V Common for stepper outputs
1B - n.c.
2B DIR5- Complementary output DIRECTION 5Complementary outputs for use
in drivers with Line-Driver inputs
3B STEP5- Complementary output STEP 5
4B - n.c.
5B - n.c.
6B 0V Common for stepper outputs

2.4 Analog outputs

2.4.1 8 analog outputs +/-10V, 16bit

:tip:The electrical features are given in paragraph Electrical features.
The wiring examples are given in paragraph Connection examples
CN26 TerminalSymbolDescriptionAddress
1 GAO Common for analog outputs
2 AO1 Analog output 13.AN01
3 AO2 Analog output 23.AN02
4 GAO Common for analog outputs
5 AO3 Analog output 33.AN03
6 AO4 Analog output 43.AN04
CN27 TerminalSymbolDescriptionAddress
1 GAO Common for analog outputs
2 AO5 Analog output 53.AN05
3 AO6 Analog output 63.AN06
4 GAO Common for analog outputs
5 AO7 Analog output 73.AN07
6 AO8 Analog output 83.AN08

3. Connection examples

3.1 Digital inputs

Standard and PNP rapid inputs connection examples

3.2 Line Driver counter inputs

Line Driver counter inputs connexction examples

3.3 PNP / Push Pull counter inputs

PNP / Push Pull counter inputs connection examples

3.4 SSI absolute counters

SSI absolute counter connextion examples

3.5 Voltmetric ans amperometric analog inputs

Voltmetric ans amperometric analog inputs connection examples

3.6 Voltmetric and potentiometric analog inputs

Voltmetric and potentiometric analog inputs connection examples

3.7 Protected digital outputs

Protected digital outputs connection examples

3.8 STEP - DIRECTION outputs

STEP - DIRECTION outputs connected examples

3.9 Analog outputs

Analog outputs connection examples

4. Electrical features

The following are the electrical hardware features.
The maximum and minimum frequency values and actual acquisition times, can still depend on any additional software filters, see the system variable “QMOVE:sys004”.

4.0.1 Standard digital inputs

Type of polarisation PNP
Min. acquisition time (hardware) 3ms
Isolation 1000Vrms
Rated operating voltage 24Vdc
Voltage of logic state 0 0-2 V
Voltage of logic state 1 10.5 - 26.5 V
Internal voltage drop 5V
Input resistance (Ri) 2700Ω
Sink current2mA ÷ 8mA1)
1) CAUTION: If the device connected to the inputs needs a higher minimum current, inputs may not work properly.

Internal diagram of standard digital input.

4.0.2 Rapid digital inputs

Type of polarisation NPN / PNP
Max. frequency 200KHz
Min. acquisition time (hardware) 5µs
Insulation 1000Vrms
Rated operating voltage 24Vdc
Voltage of logic status 0 0-2 V
Voltage of logic status 1 10.5 - 26.5 V
Internal voltage drop 1.2 V
Input resistance 2700Ω

Internal diagram of rapid input

4.0.3 Bidirectional digital inputs 200KHz

The values given in the table refer to input signals A, B and Z.
The max. frequency given in the table refers to A and B phase signals with a DutyCycle = 50%
With count frequencies over 50KHz the use of Line-Driver type encoders is recommended.

Type of polarisation PNP/PP
Max frequency 200KHz
Min. acquisition time 5µs
Insulation 1000Vrms
Rated operating voltage 24Vdc
Voltage of logic status 0 0 - 2 V
Voltage of logic status 1 10.5 - 26.5 V
Internal voltage drop 1.2V
Input resistance 3100Ω

Line-Driver

Type of polarisation Line-Driver
Max. frequency 200KHz
Min. acquisition time 5µs
Insulation 1000Vrms
Rated operating voltage (PHx+ ? PHx-) 5Vdc
Voltage of logic status 0 (PHx+ ? PHx-) 0-1.5 V
Voltage of logic status 1 (PHx+ ? PHx-) 2-5 V
Internal voltage drop 1.2V
Input restistance 150Ω

Internal diagram of count inputs.

4.0.4 SSI absolute counters

Frequency 320KHz
Operation mode Differential
Input impedance >= 12KO
Short circuit current limit >= 35mA

SSI internal diagram

4.0.5 Potentiometric analog inputs

Type of connection Potentiometric 1KΩ-20KΩ
Resolution 12bit/16bit
Reference voltage output 2.5Vdc
Max output current from reference 10mA
Input resistance 10MΩ
Max. linearity error + 0,1% Vfs
Max. offset error + 0,1% Vfs
S.n. 71 dB
Update speed 1ms
Insulation 1000 Vrms

Internal diagram of potentiometric analog inputs

4.0.6 Voltmetric analog inputs



Type of connection Voltmetric
0-10V
Resolution 12bit/16bit
Input resistance (Rin) 20KΩ
Damage value 20V
Max. linearity error + 0.1% Vfs
Max. offset error + 0.1% Vfs
S.n. 71 dB
Update speed 1ms
Insulation 1000 Vrms

Voltmetric analog inputs internal diagram

4.0.7 Amperometric analog inputs

Type of connection Amperometric
(0-20 mA)
Resolution 12bit/16bit
Input resistance 125Ω
Damage value 25 mA
Max. linearity error + 0,1% Vfs
Max. offset error + 0,1% Vfs
S.n. 71 dB
Update speed 1ms
Insulation 1000 Vrms

Internal amperometric analog inputs diagram

4.0.8 Protected digital outputs

Switchable load Dc (PNP)
Max. operating voltage 28V
Insulation 1000Vpp
Max. internal voltage drop 600mV
Max internal resistance @ON 90mΩ
Max. protection current 12A
Max. operating current 2A
Max. current @OFF 5µA
Max switching time from ON to OFF 270µs
Max switching time from OFF to ON 250µs

Internal diagram of protected outputs

4.0.9 Stepper outputs

Type of polarisation Push-Pull / Line-Driver
Max output frequency 50KHz
Insulation 1000Vpp
Max. operating current 20mA

Internal diagram of stepper motor command outputs

4.0.10 Analog outputs

Type of connection Common mode
Insulation 1000Vrms
Voltage range (minimum no load) -9.8V - +9.8V
Max. offset variation depending on temperature* +/- 5mV
Resolution 16bit
Max. current 1mA
Output variation depending on load 100 µV/mA
Output resistence 249Ω

Internal diagram of analog outputs