Rhein Tech Laboratories, Inc. 360 Herndon Parkway Suite 1400 Herndon, VA 20170 http://www.rheintech.com Appendix L: Client: Model: Standards: FCC ID: Report #: IKUSI – Angel Iglesias TR800CE-MCX FCC 90/IC RSS-119 PVTTR800CE-MCX 2011071 Manual Please see the following pages.
OPERATION & INSTALLATION MANUAL TM70 CONSOLE BOX TRANSMITTER T70/3/4/5/6/7/8 MODELS i-KONTROL TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to modify this information without prior notification..
INDICE Pág. 1.- DECLARATION OF CONFORMITY (870MHZ ISM BAND) ........................................................................1 2.- DECLARATION OF CONFORMITY (433MHZ ISM BAND) ........................................................................2 3.- SYSTEM DESCRIPTION .............................................................................................................................3 4.- SAFETY INSTRUCTIONS...................................................................................
11.- LA70 & LA70M RANGE LIMITER OPTION..............................................................................................41 11.1.1- SYSTEM DESCRIPTION .............................................................................................................................42 11.1.2- INFRARED SENSOR .................................................................................................................................42 11.2.1- LA70 INFRARED TRANSMITTER ................................
23.- I-KONTROL CONSOLE BOX………………………................................................................................101 23.1- FUNCTIONAL CHARACTERISTICS………………………………………………………………… .........................................102 23.2- TECHNICAL SPECIFICATIONS……… ................................................................……………………………………………104 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to modify this information without prior notification.
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3.- SYSTEM DESCRIPTION The TM70/3, TM70/4, TM70/5, TM70/6, TM70/7, and TM70/8 console type transmitter radio remote control systems, are designed for the remote control of hoists and cranes (overhead cranes, tower cranes, hydraulic loader cranes, concrete pumps, driverless vehicles, etc) and are particularly suitable for applications when the operator needs to be able to choose the est location from which to carry out an operation.
4.- SAFETY INSTRUCTIONS These instructions must be read carefully in order to install and use the set properly and to keep it in perfect working condition and to reduce the risks of misuse. Do not use this set on machines in potentially explosive atmospheres. Any use other than that specified in this manual is dangerous. The following instructions must be strictly adhered to. 4.
4.3 - FCC RECOMENDATIONS (Only valid for equipment that works in 915MHz ISM band) This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: 1. This device may not cause harmful interference, and 2. This device must accept any interference received, including interference that may cause undesired operation.
5.- INSTALLATION 5.1 - CB70 (BC70K) BATTERY CHARGER The battery charger CB70 has two charging compartments that can simultaneously charge battery types BT06, BT12 (TM60 series) and BT06K, BT20K (TM70 series). Connect the charger to the mains using the power source and cable supplied. On installing the battery charger, bear in mind that the batteries must be charged at temperatures over 0ºC and that the power supply must be left on all night. Place the batteries in the charger.
5.2 - RECEIVER Make sure that the crane is stopped for the entire duration of the assembly process, keep the work area free and wear protective clothing. Park the crane and position stop-ends (if these are not available use appropriate signs) at a suitable distance so that other cranes on the same runway do not hit it. Check the power-supply voltage and turn off the mains switch, disconnecting the wiring and connector between the receiver and the electrical cabinet of the machine.
Connect the power supply and the receiver outputs on the corresponding relay board plug-in terminals. Do this following the outputs diagram, which is supplied with the set. This diagram indicates the correspondence between the transmitter commands and the receiver outputs. The STOP relays KSTOP1 y KSTOP2 are in series and must be connected to the main contactor coil circuit. The K2/START is activated once the start-up command is held down.
5.3 - STARTING UP Proceed with caution; the equipment may not be connected correctly which may lead to unforeseeable movements on starting-up. Once the receiver has been connected, disconnect the power supply to the motors, (for example, by removing the fuses) and power on the receiver.
Next, turn transmitter ON to OPERATION mode, as follows: Place a charged battery in the transmitter. Turn the contact key. Push and pull out the STOP button, (LED flashes orange-green). If the transmitter has LCD, it displays the identification of the machine, as well as the battery level. Press the start button. The green LED should now light indicating that the transmitter is transmitting.
6.- USING THE SET To ensure correct use of the equipment, follow the instructions below: Make sure the transmitter you are going to use is the right one, identifying the machine on the identification label. In the case of transmitters with LCD display, you are able to edit the machine identification label, (ANNEX B). It will allow to the operator to identify the machine before the starting of the equipment.
7.- MAINTENANCE 7.1 - WARRANTY IKUSI guarantees the TM70 remote control sets for a period of up to one year after the date of delivery. This guarantee covers repairs and the replacement of defective pieces at our Technical Service Department. Both the transmitter and receiver will be necessary if any repairs or replacements need to be carried out. The guarantee does not cover damage resulting from the following: Transport. Incorrect installation.
7.3 - TROUBLESHOOTING The transmitter and receiver have status monitoring LED’s, which help to identify irregularities. The most common signals are contained in the tables below: TRANSMITTER LED MEANS Solid green Transmitter transmitting normally. OPERATION mode. Green pulses. Transmitter ready for start-up. STAND BY mode. Red slow flashing Battery level low Red fast flashing Probably, EEPROM module is not plugged in.
There are also two LEDs in the received which will describe the status of the CAN-BUS.
ANNEX A - PROGRAMMING A SPARE TRANSMITTER. In case of damage to the transmitter, it is quickly possible to restore service, if a spare transmitter is available. To achieve this we have to install into the spare transmitter the exact parameters of that to be replaced. These parameters are stored in an EEPROM memory module EP70, accessible from the exterior of the transmitter.
ANNEX B.- PROGRAMMING THE MACHINE IDENTIFICATION IN LCD TRANSMITTERS. Transmitters with the LCD display option allow the operator to program a machine identification label of up to 24 text characters. This identification is displayed on transmitter starting-up. This text must identify the machine with a name that is commonly known by the workmen. When first starting the transmitter you can edit/introduce this text as follows: 11.
ANNEX C.- BASE CHANNEL CHANGING. Console box transmitters with software version V2.4 have implemented the base channel changing functionality in a standard way (assigning symbols to mechanisms). 8) Identify the “▲” symbol associated to the corresponding maneuver (base channel tens modification) and the “■” symbol associated to the corresponding maneuver (base channel units modification), preferably associated to the following mechanisms: pushbuttons, selectors, joysticks, etc.
8.- CAN OPEN INTERFACE V 2.4 CANopen INTERFACE V2.4 TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
8.1 - INTRODUCTION The TM70 system with CANopen interface is integrated in CANopen networks where it will work in slave mode. It handles the Bus the state of the Pushbuttons of the TM70 transmitter, such that any external device can react consequently. The functionality of the system is according the CiA DS-301 v4.0.2. specification. The implemented profile is described in CiA DS-401 v2.1 (Input/Output standard), where the pushbutton manoeuvres are considered as digital inputs.
The LED signalling is the one recommended by the CiA (CAN in Automation) Organisation in its document DR-303-1: Bus Termination Next to the connector, there is one jumper that allows to connect/disconnect the bus termination. It is important for a correct bus operation that bus terminations are connected in both ends, and disconnected in the intermediate nodes. 8.
1018.0: number of entries 1018.1: Vendor ID 1018.2: Product Code 1018.3: Revision Number 1018.4: Serial number 1800: TRANSMIT PDO COMMUNICATION PARAMETER 1800.0: number of entries 1800.1: COB-ID 1800.2: Transmission type 1800.3: Inhibit time 1800.4: Event timer 1801: TRANSMIT PDO COMMUNICATION PARAMETER 1800.0: number of entries 1800.1: COB-ID 1800.2: Transmission type 1800.3: Inhibit time 1800.4: Event time 1A00: TRANSMIT PDO MAPPING PARAMETER 1A00.0: number of entries 1A00.1: PDO mapping entry 1A00.
8.4 - PUSHBUTTONS AND CONSOLE BOX PDOs PUSHBUTTONS The system is provided with a 4 byte configured transmission PDO (bytes with information): 1st byte Object 6000.1 Start1 Start2 Stop 0 0 0 0 0 2nd byte Object 6000.2 M1 M2 M3 M4 M5 M6 M7 M8 3rd byte Object 6000.3 M9 M10 M11 M12 M13 M14 M15 M16 4th byte Object 6000.4 M17 M18 M19 M20 A1 A2 0 0 The PDO transmission is configured by default as “event driven”, this is, it is sent every time there is a change on any input.
8.5 - RECEIVER DATA DICTIONARY NumRPDO: it is a variable which must be configured to use CAN return or not. The value to activate CAN return is 2. The value to deactivate CAN return is 0. 1400: RECEIVE PDO1 COMMUNICATION PARAMETER 1400.0: number of entries 1400.1: COB-ID 1400.2: Transmission type 1400.3: Inhibit time 1400.4: Event timer 1401: RECEIVE PDO2 COMMUNICATION PARAMETER 1401.0: number of entries 1401.1: COB-ID 1401.2: Transmission type 1401.3: Inhibit time 1401.
CONSOLE BOX: The receiver can accept a maximun of 2 frames of data; the first frame contains 2 bytes of data. The first byte controls the led status and the second byte controls the buzzer state. The second frame contains 8 bytes of data. These bytes contains the information that can be displayed in the display using VT100 commands which control the editing format of the data in the display.
The received display commands will be 8 bytes grouped frames. If the length of the frame is higher the radio remote receiver will split the data in 8 bytes data frames. For the radio remote receiver the received data are transparent; the receiver does not process the information. 8.
Connections scheme : Receiver’s dimensions in milimeters: It is also available the option Ref. IKUSI 3302620 “Fast fixation kit”, including a set of 4 magnets and 4 shock absorbers TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
Maintenance and troubleshooting / LED’s signaling RECEIVER’S LED SIGNALING LED POWER COLOUR GREEN HARDOK GREEN RED HARDOK SIGNAL DATA ID RELAY ORDER Internal LEDS signaling GREEN GREEN GREEN GREEN GREEN STATUS Switch On if powered Solid green LED if no error detected REMARKS Power supply OK PROPOSED ACTION Check the power supply Receiver hardware OK OK Blinking during start up process Please wait to finish the start up process Solid red LED if one of these errors appears: Electronic b
9.- LCD70 DISPLAY OPTION LCD70 DISPLAY OPTION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
9.1 - INTRODUCTION and FUNCTIONAL DESCRIPTION The LCD70 is a 102x80 dot matrix display that can be configured as follows: 4 function customized keyboard and a 4 function standard keyboard (ENTER/ESC/UP/DOWN), both with 4 bicoloured LEDS. LCD70 MODULE: The LCD70 has a configuration of 120x80 points and supports the following representation format : 2 lines x12 characters / line + icons KEYBOARD: The hardware of the LCD70 is ready to connect to 4 functions keyboard.
9.2 - INTERNAL CONNECTION POWER SUPPLY and I2C BUS The LE73/74/7EF card provides 3V3 and GND signals to power on the display module through P6 connector marked as “LCD” in the PCB, as well as the SDA and SCL I2C bus signals, using a 4 wire coloured braid cable, code IKUSI 1095083. PIN 1 2 3 4 NAME 3V3 SCL SDA GND DESCRIPTION 3.
9.3 - T70 TRANSMITTER and LCD70 DISPLAY ASSEMBLY TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
9.4 - LCD70 DISPLAY OPERATING MODES. OPERATING MODES: The LCD70 display allows entering in these operating or special modes: EDIT CRANE LABEL: To edit the crane’s name. INPUT CALIBRATION: To calibrate the analogue voltage feedback 0–10v. OUTPUT CALIBRATION: To adjust through Tele Alignment option, the analogue outputs. To enter to special operating modes, like “Programming a spare transmitter” (with the “copy EEPROM” functionality) and “Base channel changing” (see Annex A and Annex C).
9.5 - DATA FEEDBACK OPERATING MODE The data feedback selection (returned information), can be performed by (a) software or by (b) hardware (i.e. using a rotatory selector). (a) Software selection (by default): with the ▲ “UP” and ▼ “DOWN” options, the desire feedback information can be sequentially selected. (b) Hardware selection: the remote’s technical datasheet must include and to identify, the mechanism that will allow this selection.
9.5.1 CHARACTERS MAP The characters of the table correspond to ASCII standard. Also, you can build big numeric characters combining four of them: two in the upper line and another two in the lower line. The characters that have been used to build the bigger one are beginning from B0h direction. Therefore, for write a big ‘1’ we will write consecutively the character of the B0h and B1h directions on the upper line and the character of the B2h and B3h directions on the lower line.
9.5.2 AVAILABLE ICONS: The available icons for the display are: - - Battery: 43h direction. This icon is composed by other 4 icons o Cover of the battery o Left cell o Central cell o Right cell NEW: 2h direction. If the level is different from zero, will appear 9.5.3 DISPLAY CONTROL BY VT100 CONTROL CHARACTERS The VT100 control characters recognized by the LCD70 display are: - ESC (1Bh): Control character that initialises a control sequence. - NUL (00h): Ignored on input (not stored in input buffer).
All other control sequences or wrong sequences cause no action to be taken. Example: Control Sequence to turn off all character attributes, and then turn on underscore and blink attributes simultaneously.
Example: VT100 data feedback Write messages on display The texts are sent in 8 packages of 8 bytes each, preceded by an identifier COB_ID=0x300+node_ID. Inside these packages, you can send texts by different modes for view the same message.
b) We can write the same message like this: Text Shift command Position Message (Hex) Meaning LCD1 49 I LCD2 4B K LCD3 55 LCD4 53 LCD5 49 LCD6 00 LCD6 48 LCD7 00 LCD7 6D LCD8 00 LCD8 00 Text Text Position Message (Hex) Meaning Position Message (Hex) Meaning LCD1 49 I LCD1 55 U LCD2 4B K LCD2 53 S Line 2 LCD3 55 U LCD3 49 I ; LCD4 53 S LCD4 20 Space Column 1 LCD5 49 I LCD5 00 LCD6 20 Space LCD6 00 Final command 'm’ LCD7 49 I LCD7
Once that we have completed the 24 characters, we have to write the command for send the cursor to line 1column 1. Otherwise, we will lose everything we write. We have still used only 4 packages of 8 bytes; therefore, we have other 4 available for example to send the state of LEDs and Buzzer. Switching-on the LEDs & Buzzer For establish the state of the LEDs and the buzzer we have to send a package of 2 data. This package have to be preceded by an identifier COB_ID=0x200+node_ID.
10.- “FIRST COME – FIRST SERVED” “FIRST COME – FIRST SERVED” OPERATION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
TM70 – “FIRST COME – FIRST SERVED” OPERATION 10.1 - INTRODUCTION This option allows the operation of one crane individually by using two transmitters with two different ID codes, which determine which transmitter is governing the crane at a certain time. For First come – First served applications the receiver is required to scan the radio channels in order to receive radio signals from different transmitters.
11.- LA70 & LA70M RANGE LIMITER OPTION LA70 & LA70M RANGE LIMITER OPTION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
11.1.1 - SYSTEM DESCRIPTION TM70 radio remote control systems can be equipped with a range limitation option for overhead cranes, through which, the system is able to determine if the transmitter is located outside of a zone, defined as a working area, and deactivates the controls when these situations arise. The system consists of one or more Infrared transmitters LA70, installed either in fixed positions or on the controlled crane, oriented in such a way that it covers the targeted working zone.
In order to return to the operating mode, all the worker has to do is move back into the working zone. Movement orders must be disabled in order to restart movement. Once the transmitter enters the working area, movement orders will not be ready to be used unless they have gone to zero. This is to make movements start in first speed. If the remote control is provided with a Display, whenever the transmitter is out of range, the message “Out of Range” will be displayed.
11.2.2 – LA70 INSTALLATION Make sure that the crane is switched off during the assembly operation. Clear the work area and use security clothing. Check the power supply and disconnect the power supply to the crane. Do not forget to connect the earth cable. Use flame resistant cables for the connections. Find a suitable place for the installation of the infrared transmitter, away from elements, which could generate intense electrical disturbances and obstacles to the transmission of light.
In cases in which the area covered by a transmitter is not sufficient, other LA70 transmitters can be connected in series, programmed as slaves in the selector. In this case the code emitted corresponds with the selector in the master transmitter. The communication connection between transmitters must be done with shielded wires. 11.2.3 – LA70 TECHNICAL CHARACTERISTICS Infrared Transmitter Power supply 48, 115, 230 Vac ± 10%; 50/60 Hz Operating temperature -20 a +65ºC Protection IP55 TM70Pi V3.
11.3.1 – LA70M INFRARRED TRANSMITTER The new LA70M range limiter is a modular and more compact re-styling of the current LA70 range limiter; fully compatible with TM60 and TM70 IKUSI’s radio remote control systems References and descriptions of the modules and slave (expansions) connection cable. S.A. Cod. 7505 DESCRIPTION LA70M MODULE WITH DC PS LA70M MODULE WITH AC PS LA70M EXPANSION MODULE (SLAVE) 70GU101 CABLE CONEX-M12 10MT LA70M AC / LA70M DC CODE 2305228 2305229 2305230 2301234 COM. REF.
Module: LA70M EX DC power supply Operating temperatura range IP ingress protection rating Maximum range External connections Maximum number of expansions LA70M XX / LA70M EX connection cable LED signalling Fast assembly External dimensions SPECIFICATIONS Provided by the Master module -20/+70 ºC IP67 50 meters 2 x M12 connectors -5 poles- (male - female) 2 (for each Master module) 10 meters M12 –female/male- (supplied as spare part) Hardware OK –green blinking- / ERROR –switched offBy magnets (standard conf
Infrared emission for an Ellíptical covered zone (D≠d) ALL LEDs in wide assembly mode h (m) D (m) ±20º d (m) ± 0º 6 7 2 8 9 3 10 12 4 12 14 4 14 16 5 16 18 6 18 21 6 20 23 7 Jumper’s configuration and ID selector for the Master modules I3: ID selector / Allowed range “2,3…..8,9,A,B….F” -> 14 positions.
11.3.2.- LA70M INSTALLATION AND CONNECTIONS Make sure that the machine is switched off during the assembly operation. Clear the work area and use security clothing. Check the power supply and disconnect the power supply to the crane. Do not forget to connect the earth cable. Use only cables supplied by the manufacturer for the connections between the Master module and the Slaves (or expansions).
12.- “PITCH & CATCH” OPERATION “PITCH & CATCH” OPERATION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
TM70 – “PITCH & CATCH” OPERATION 12.1 - INTRODUCTION This option allows the operation of one crane by two transmitters, through the selection of ID codes, which determine the mode of operation. For this application, the SCAN option for the receivers is required in order to receive transmitters in different channels. This mode of operation consists of the use of a crane by two different transmitters.
Transmitters do not need selectors. The receiver is the one that Frees its ID code. When a Pitch & Catch operation needs to be performed, the user of the transmitter that wants to Catch the crane must ask the user holding the crane to release the crane. The procedure is the following: The owner of the crane must press the STOP button while the user that wants to Catch the crane must be pressing the START button.
13.- TANDEM OPERATION TANDEM OPERATION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
TM70 – TANDEM OPERATION 13.1 - INTRODUCTION This option allows the operation of two cranes individually or in tandem by using one transmitter by the selection of ID codes, which determines the mode of operation. For tandem applications both receivers are required to scan the radio channels in order to receive radio signals from different transmitters.
13.2 - ONE MASTER TRANSMITTER SYSTEMS RECEIVER 2 RECEIVER 1 F2 F1 F2 ID1 ID2 ID2 SLAVE F1 F2 ID1 MASTER F2 ID2 The Master Transmitter has got a crane selector “1 / 1+2 / 2”, while the slave transmitter has only got a release “R” push button. When a tandem operation is needed, the operator of the master transmitter must require the slave transmitter operator the liberation of receiver 1. In order to do it, it has to be pressed simultaneously the release “R” push button and the Start button.
13.3 - TWO MASTER TRANSMITTERS SYSTEMS RECEIVER 1 RECEIVER 2 F1 F2 F1 F2 ID1 ID2 ID1 ID2 F2 F1 F1 F2 ID2 ID1 MASTER I MASTER II In the event of push button systems in tandem operation, with two Master transmitters, both of them will have a “1 / 1+2 / 2” selector and a release pushbutton “R”. When one of the transmitters must work in tandem, the operator must require his workmate the use of the crane.
14.- ANALOGUE FEEDBACK / IN 0-10V OPTION / CALIBRATION ANALOGUE FEEDBACK IN 0-10v OPTION CALIBRATION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
TM70 – ANALOGUE FEEDBACK CALIBRATION 14.1 - INTRODUCTION Systems with analogue feedback need to have the options Display and Analogue Feedback. Systems with analogue feedback need at startup the calibration of the analogue input by the distributor or the user. The following steps need to be done: 14.
9. In CAL.ENTER mode, choose one of the following options: 2.1- > VALUE 1; 2.2 -> VALUE 2 and 2.3 -> UNITS. Pressing “ENTER” function the required option is selected. “DOWN” function (▼) : To move through the character list in a descending order. “UP” function (▲) : To move through the character list in an ascending order. “ESC” function: To return to the previous character or previous menu in the display. “ENTER” function: To validate the edited character and move to the next character. 10.
14.3 - LR71/72 and IN0-10V ASSEMBLY IN0-10V (Ref. 2303755) Cod-2303755 Cod-1131026(x4) Cod-1135024(x2) TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
15.- IN0450P OPTION IN0450P OPTION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
15.1 - INTRODUCTION and FUNCTIONAL DESCRIPTION The IN0450P electronic card can be conected to the LR70, 0-3V analogue input and it allows to measure the frequency coming from a pulse generator operating between 0 - 450 Hz range. This electronic card is a frequency voltage converter and it can be used, for example, as an interface between an anemometer (sensor) that provides a pulsed signal, in order to show in the transmitter’s display the speed of the wind, in real time mode, using the feedback option.
15.2 - IN0450P and LR70 ASSEMBLY Cod. 1131026 (x4) IN0450P Cod. 1135024 (x2) TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
16.- IN4D OPTION IN4D OPTION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
16.1 - INTRODUCTION AND FUNCTIONAL DESCRIPTION The IN4D electronic card provides 4 digital inputs interface to the TM70 receiver. This card can be connected as an expansion -as single card- in the LR70 receiver card through P16 connector. The IN4D card can also be used as a multi-digital input using the INCAN option (multiple IN4D inputs option), as an alternative to the single one. The IN4D card is basically a four digital to analogue signal converter.
If there is no external voltage range available, the card provides through pin number 1 (+VI), a voltage between 12 and 20 volts, to activate the inputs as shown in the figure 2. I3 +VI 1 IN4D I1 1 IN1 2 2 IN2 3 3 IN3 4 4 5 5 6 6 IN4 GND Figure 2 Block diagram of the signals (see figure 3): LR70 I3 +VI IN1 1 IN4D 2 IN2 3 IN3 I1 P16 1 2 GND 1 +VI 2 3 3.3V 3 4 4 GND 4 IN4 5 5 GND 5 GND 6 6 IN 6 Figure 3 TM70Pi V3.2 (11/03) 120021.pdf.
Electronic card top view (see figure 4). I1 6 5 1 3 5 2 4 6 3 4 2 1 I3 Figure 4 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
16.2 - IN4D AND LR71/LR72 ASSEMBLY Cod- 1131026(x4) pin 1 Cod- 1135024(x2) TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
17.- INCAN OPTION INCAN OPTION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
17.1- INTRODUCTION and FUNCTIONAL DESCRIPTION The INCAN interface allows to increase (until N*5 +1) the capacity of analogue and digital inputs in the LR72 electronic card. ( N = number of INCAN cards; maximum = 2 units). INCAN Input 1 CANH LR72 CANL Input 2 μC CAN Input 3 3.3V GND +VI 10-20V Input 4 Input 5 POWER SUPPLY Each INCAN interface can support 5 (maximum) digital/analogue input micro-modules. IN4D: 4 digital inputs module (0 - 24VDC).
RL4 Pin + RL3 Pin 1 2 3 4 5 Name +VI GND Name GNDCAN CANL SHLCAN CANH VCAN Function DC power supply between 8 and 30V. Ground Function CAN Ground CANL bus signal (CAN low signal) Shielding CANH bus signal (CAN High signal) Power supply The positioning of the 5 analogue/digital input micro-modules will be consecutively from left to right as shown in the picture below: +VI GND CANLCANH BUS TERMINATION CAN ADRESS TM70Pi V3.2 (11/03) 120021.pdf.
18. - A1P4RCAN OPTION A1P4RCAN OPTION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
18.1.- INTRODUCTION and FUNCTIONAL DESCRIPTION The A1P4RCAN CAN expansion module provides to the TM70 receiver, 4 relays output and an analogue output at the same time. The analogue output simulates a digital potentiometer with 64 steps available in each semiaxis of the power supply.
RL1 RL2 1 +VI GND 5 RL3 RL4 RL3 +VI GND 1 5 RL4 Cod. 1141684: TM70 1M abatable base Cod. 1184005: UNEX 2221-0 clip Cod. 1095040: CAN RC70 1 expansion cable Cod. 1131030: M3x6 C/R DIN84 screw Cod. 2303908: A1P4RCAN electronic board RELAY OUTPUTS The following connections are available for each relay: normally open (NO), normally closed (NC) and common, in the RL1 connector as shown in the following table. Disposition of 4 manoeuvre relays of 250V/8A.
ANALOGUE OUTPUT The analogue output is connected through RL2 connector with the following signals (Imax=15mA): Pin 1 2 3 4 Name VOUT GND -V +V Function Analogue Output Potentiometer’s middle point Negative power supply (Minimun: -50V) Positive power supply (Maximun: 50V) TELE-TEACHING (V3.1 OF SOFTWARE OR HIGHER VERSIONS) Through Tele-Alignment can set the maximum and minimum values, the polarity inversion, acceleration or deceleration ramp and curve type of the analogue output.
19.- A2ICAN OPTION A2ICAN OPTION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
19.1- INTRODUCTION & FUNCTIONAL DESCRIPTION The A2VCAN electronic board gives to the modular TM70 systems an analogue output in current (PWM), allow the government of electro-hydraulic proportional valves with input reference in current. The electronic board contains two output stages galvanically each other separated and from the control common logic.
The ramp speed is defined for each semiaxis by a parameter that can take a value between 0 and 15, by default 0.
OUTPUTS Each analogue output has two serial relays that switch the output signal to one of two ways, the direct or the inverse. If not activate any of the relays, both outputs (the direct and inverse) are disconnected.
JUMPERS CONFIGURATION Size ¼ of LR72 Connections with the LR72 P5: “Jumper” for configuration of the CAN direction of the expansion. “Jumper” = ON “1” logic. Programmable addresses: 1…63 max P6: “Jumper” to enable or disable the Tele-Alignment process. Enabled Tele-Alignment = “jumper” placed or ON. P6 Disabled Tele-Alignment = “jumper” eliminated or OFF. P6 1 = VPP (channel power) 2 = GND (Channel ground) 3 = VO (DIRECT analogue PWM output) 4 = VR (INVERSE analogue PWM output) TM70Pi V3.
20.- A2VCAN OPTION A2VCAN OPTION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
20.1- INTRODUCTION & FUNCTIONAL DESCRIPTION The A2VCAN electronic board gives to the modular TM70 systems an analogue output in voltage option, allow the government of variable frequency drives with voltage control, electro-hydraulic proportional valves with input reference in voltage, etc. The electronic board contains two output stages galvanically each other separated and from the control common logic.
The ramp speed is defined for each semiaxis by a parameter that can take a value between 0 and 15, by default 0.
OUTPUT 1 (VO1) The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment: Output 1 connector Pin Name Function VPP1 Power of channel 1 GND1 Ground of channel 1 VO1 Analogue output of channel 1 VR1 Zero position signal signal to get through the output 1 when the relay is inactive OUTPUT 2 (VO2) The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment: Output 2 connector Pin name Function VPP2 Power of channel 2 GND2 Ground of chan
JUMPERS CONFIGURATION Size ¼ of LR72 Connections with the LR72 P5: “Jumper” for configuration of the CAN direction of the expansion. “Jumper” = ON “1” logic. Programmable addresses: 1…63 max P6: “Jumper” to enable or disable the Tele-Alignment process. Enabled Tele-Alignment = “jumper” placed or ON. P6 Disabled Tele-Alignment = “jumper” eliminated or OFF.
20.3- EXPANSIONS POWER SUPPLY ELECTRONIC BOARD POT70V4 POT70V4 is an independent and isolated electronic board with 4 power supplies, which are used to supply the output stage of the A2VCAN electronic board’s analogue outputs. This expansion is mounted as datasheet; only the number of required DC/DCs (power supplies) will be mounted. Each DC/DC can supply the outputs of two A2VCAN; 4 analogue outputs in voltage. The energy for POT70V4 module is provided by the LR72 board.
21.- TELEALIGNMENT OPTION TELEALIGNMENT OPTION TM70 TM70Pi V3.2 (11/03) 120021.pdf. IKUSI reserves the right to change this information without prior notice.
21.1 - INTRODUCTION Access to this option can be activated or deactivated by EEPROM, by EEPROM recorder and/or TM70Config, if it is connected in the expansion the Jumper which enables Tele-alignment.
CONFIG MODE 1. EDIT CRANE LABEL 2. INPUT CALIBRATION 3. OUTPUT CALIBRATION 4. SAVE SAVING PLEASE WAIT PLEASE WAIT 3.1 5. SELECT LANGUAJE 3.2 RESET 3.3 FORB CAL MEN PLEASE WAIT RESETING VALUES CONFIRM MENU DISABLE GEN. ERROR CONFIG MODE MOVE ERROR 1 X1 EXP_TYPE Y1 X2 EXP_TYPE Y2 ERROR 2 OUTPUT X EXP_TYPE Y 3.1.1 LIMIT VALUES 3.1.2 POLARITY INV 3.1.1.1 MAX VALUES 3.1.1.2 MIN & CERO 3.1.1.3 ZERO RELE ON GETTING POLARITY ERROR 3 POSITIVE MAX NN% NEGATIVE MAX NN% GEN.
(** (* (*) IF PWM FREQ. = 0 (HIGH FREQUENCY) GEN. ERROR (**) ONLY FOR A2ICAN (ONLY IN 1ST OUTPUT OF THE EXPANSION) GEN ERROR 3.1.6.1.1 %: NNN 3.1.5.1 PWM: NNN 3.1.6.1 3.1.5 PWM FREQ 3.1.6.2.1 HZ: NNN 3.1.6.2 FREQUENCY 3.1.6 DITHER 3.1.7 RESET OUTPUT 3.1.4 RAMPS 3.1.3 CURVE TYPE 3.1.3.1 TYPE: N RESETING OUTPUT 3.1.4.1 ACCEL RAMP 3.1.4.2 RAMPA DECEL GEN. ERROR GEN. ERROR 3.1.4.1.1 ACCEL RAMP + 3.1.4.1.2 ACCEL RAMP – 3.1.4.2.1 DECEL RAMP + 3.1.4.1 RAMP: NN 3.1.4.2 RAMP: NN GEN.
21.2.1 – MENU 3.1 ADJUST IMPORTANT: After adjustment for each parameter in each semiaxis, validate the setting before returning back on the menu, otherwise would not be recorded. This validation is always performed by pressing START. Finally and after setting all the parameters required, validate the 4. SAVE ALL menu to record in the EEPROM all the settings.
LIMIT VALUES: Set the limits of the analogue output (+ Smin, Smin, smax + smax and Scero) NOTE: These actions involve movement of the manoeuvre to adjust! The adjustment of MAX and MIN values is performed with the manoeuvre moved for know which output and which semiaxis is going to be adjusted. As you are pressing UP/DOWN keys, value will be updated on the screen. ZERO value of the output will be adjusted with the manoeuvre in the neutral position.
PWM FREQUENCY: Only available for outputs with current regulation (A2ICAN). Is defined by a parameter that can take a value between 0 and 255 and equivalent to the following frequency PWM values: Parameter 0 1…5 6 7…255 PWM Frequency 5000 Hz Adjustment not valid 33 Hz 35…1275 Hz (Parameter x 5) The Tele-Alignment of these values will not allow to an exit that is not the first of each expansion module. DITHER: Only available for outputs with current regulation (A2ICAN) and if “PWM FREQ. = 0 (5000 Hz)”.
2.2 – MENU 3.2 RESET VALUES: Restores all outputs that support Tele-Alignment by IKUSI default values. 2.3 – MENU 3.3 FORB CAL MEN: To disable or cancel the entry to the Tele-Alignment menu. From this moment if you want to activate again, you should be using the recorder and/or TM70Config. TM70Pi V3.2 (11/03) 120021.pdf.
22.- R70/XX RECEIVERS / SOFTWARE VERSION SW 3.2 COMPATIBLE R70/XX RECEIVERS SW 3.2 version compatible TM70 TM70Pi V3.2 (11/03) 120021.pdf.
22.1 – MAIN CHARACTERISTICS Software version 3.2: New TM70 range software features supported: - Up to 5 R8CAN electronic boards -> it allows to include in the same box up to 53 relays - Up to 10 analogue outputs; maximun: 5 x A2VCAN or 5 x A2ICAN or 5 x A1P4RCAN cards or a MIX of these cards completing 10 analogue outputs - The IN 0-4/20mA analogue current input card is supported (when available). - IN4D without feedback information as a linking condition in multi-receiver systems.
OPTION 2: ½ SIZE SLOT (x1) + ¼ SIZE SLOT (x6) ½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1) OPTION 3: ½ SIZE SLOT (x2) + ¼ SIZE SLOT (x4) ½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1) TM70Pi V3.2 (11/03) 120021.pdf.
OPTION 4: ½ SIZE SLOT (x3) + ¼ SIZE SLOT (x2) ½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1) List of expansión type and slot size required: EXPANSION TYPE SLOT SIZE ELECTRONIC CARD R8CAN 1/2 A1P4RCAN 1/2 INCAN ½ IN 0-10V Direct assembly in LR72 or INCAN cards IN 0-450P Direct assembly in LR72 or INCAN cards IN-4D Direct assembly in LR72 or INCAN cards A2ICAN ¼ A2VCAN ¼ TM70Pi V3.2 (11/03) 120021.pdf.
Electrical and mechanical characteristics: R70/XX Available frequencies (ISM bands) AC current power supply range DC current power supply range Ingress protection Antenna Working frequency channel selection Weight Dimensions EEPROM Signaling Connections Maximun current over resistive load Operating temperature Storage temperature Storage temperature –long periodsMaximun comsumption TM70Pi V3.2 (11/03) 120021.pdf.
22.2 – REMARKS FOR THE INTERNAL WIRINGS POWER wirings CAN bus wirings UPPER SLOT - The POWER cables MUST be wired and guided by the center of the slot. The rest of the CAN bus wirings can be placed without any restriction BOTTOM SLOT P.S. LR72 R8CAN TM70Pi V3.2 (11/03) 120021.pdf.
23.- i-KONTROL CONSOLE BOX i-KONTROL CONSOLE BOX TM70 TM70Pi V3.2 (11/03) 120021.pdf.
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i 1 2 6 4 3 8 9 7 5 1-> LA70 Range limiter (optional) 2-> TFT colour display (optional) 3-> Signalling LED 4-> Two axes (step or stepless) joysticks / One or two axis analogue resistive manipulators 5-> Auxiliary functions 6-> STOP push button 7-> EP70 external and removable EEPROM 8-> Rechargeable battery 9-> Cable connection option TM70Pi V3.2 (11/03) 120021.pdf.
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