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Connectors and signals

The purpose of this chapter is to describe in detail the pin-outs of the connectors mounted at the rear of the UCC2 controller and to show examples of relevant circuit diagrams for the input and output circuits.

The connectors on the rear panel of the UCC2 controller enclosure are shown below:

UCC2 instal guide - page 35

The pin-out of each connector, and its purpose, is described in the following sections.

CMM readhead input connections

The X, Y, Z and “4th axis” measuring scale readhead input connectors are high density 15-way ‘D' sockets.

The X, Y and Z axis scale readheads of the CMM must be connected to the relevant socket on the rear panel of the UCC2 enclosure.

Similarly the 4th axis scale readhead (dual axis or rotary table capability), if required, must be connected to the socket (marked 4th axis) on the rear panel of the UCC2 enclosure.

Suggestion: Label all readhead connectors to avoid cross connection, if removed and replaced in the future.

The four CMM readhead sockets are wired to the same pin-out, suitable for direct connection to Renishaw RGH22 and RGH24 scale readhead wiring.

NOTE: Other manufacturers' readheads and interpolators may require an external adapter to enable them to use the Renishaw standard readhead connector wiring. They may also not produce an error signal to the RS-422 specification.

The UCC2 supplies a servoed 5 Vdc power supply for the readheads. See "Electrical power requirements" for details.

If standard Renishaw cables are used, the recommended cable sizes are 3 m of head cable and 15 m of extension cable, or an equivalent combination. That the head cable is 5 times the resistance of the extension cable, e.g. 4 m of head cable and 10 m of extension cable.

Even with the servoed 5 V supply it is still important that the cable resistance is kept to less than 2 ohms.

CAUTION: The connection of the cabling should be such that the CMM's movements, as reported by the UCC2, are of the correct polarity i.e. machine movement in a positive direction along any axis should give positive change of position as reported to the host computer by the UCC2 controller. Adjust this, if required, by reversing the inputs of the scale readhead signal (change over +A with +B and -A with -B).

UCClite install - figure 3

Pin numberFunctionPin numberFunction

1

External set up

9

0 V sensing

2

0 V supply from UCC2

10

Limit switch Q*

3

- Error

11

+ Error / limit switch P

4

- Reference mark

12

+ Reference mark

5

- B signal

13

+ B signal

6

- A signal

14

+ A signal

7

+5 V supply from UCC2

15

Inner screen

8

+5 V sensing

Shell

Screen

* The UCC2 is capable of supporting both single and dual limit-switch RG22 readheads. The electronic circuits can interface either type without any intervention but the correct type must be set in the machine “ini” file. If dual limit types are fitted pin 11 functions as the second limit switch.

NOTE: The 0 V supply and the 0 V sensing leads are connected together at the readhead. The +5 V supply and +5 V sensing leads are similarly connected at the readhead. It is important that all the cable cores are connected to ensure the voltage drop is compensated for.

CMM readhead interface circuit

The signals from a readhead or interpolator should be to EIA specification RS-422.
UCC2 installation guide - figure 4

NOTE: If error inputs are not used or the readhead type is RGH24, connect the –Error input to +5 V.

UCC2 installation guide - figure 5 UCC2 installation guide - figure 6

Adjusting readhead supply voltage

It is strongly recommended that the sense lines are connected to the readhead so that the adjustment of the supply voltage, to compensate for cable drop, is automatic. However, there are some circumstances where this is not practical and we have provided a manual method of boosting the supply voltage.

In the .ini file there is a section called ReadHeadPSU which contains three parameters per axis.

These parameters are termination type, enable and voltage.

Termination type - controls the controller readhead circuits to provide either ac termination (0) or dc termination (1) [recommended].

Enable - This is set to 0 as a default which allows the normal automatic voltage servo to operate. If it is set to 1, then the readhead supply voltage can be manually set.

Voltage - This is the manual readhead voltage setting. It is only read when the enable is set to 1 and the allowable range is 5 V to 7.5 V. 

NOTE: You must ensure that the voltage at the readhead is within the range 5 V ± 5% (i.e. must not exceed 5.25 V).

SPA2 connector A and B

This is a pair of standard RJ45 connectors that support the high speed communication links to and from the SPA2-2 servo power amplifier. See SPA2-2 installation guide (Renishaw part number H-1000-5234) for details.

UCC2 aux comms

This connector is reserved for future use, no connections should be made to it.

MCU connector

This is a 9 pin D plug suitable for direct connection to the MCU1 / MCU5 or MCUlite joystick unit.

UCC2 instal guide - figure 8 

Pin numberFunction

Pin number

Function

1

Ground

6

+15 V

2

RX_B

7

TX_B

3

RX_A

8

E-STOP_B

4

TX_A

9

E-STOP_A

5

Reserved

Shell

Screen

SCR200 connector

This is a 6 pin miniature DIN socket suitable for direct connection to the SCR200 stylus change rack.

UCC2 instal guide - figure 9 

Pin numberFunction

Pin number

Function

1

Remote reset

5

0 V

2

Error

6

Not connected

3

Inhibit

Shell

Screen

4

Rack power

  

PICS connector

This socket is intended for use with any of the range of Renishaw touch-trigger probes, including the TP200. The connector is a 9 pin miniature D socket, pinout as follows:

UCC2 instal guide - figure 10 

Pin numberFunctionPin numberFunction

1

PICS STOP

6

Reserved

2

PICS probe power off (PPOFF)

7

PICS probe damping (PDAMP)

3

0 V

8

PICS LED off (LEDOFF)

4

PICS LED anode

9

Probe common

5

Probe signal

Shell

Screen

Scanning probe connector

The plug on the cable from the analogue probe connects to the 15-way high-density ‘D' socket on the rear panel of the UCC2.

This socket is intended for use with the Renishaw TP2, TP6, TP20 and TP200 touch-trigger probes and the SP25 and SP600 series of analogue scanning probes.

The pin-out of the socket is as follows:

UCC2 instal guide - figure 11 

Pin numberFunctionPin numberFunction

1

+5 V supply

9

Not connected

2

Not connected

10

Overtravel

3

Probe common

11

A signal

4

B signal

12

0 V reference

5

C signal

13

Touch-trigger probe signal

6

+12 V supply

14

Fixed probe head LED cathode

7

-12 V supply

15

Fixed probe head LED anode

8

Probe identification

Shell

Screen

Servo power amplifier connector

The UCC2 has the ability to connect a 3rd party servo power amplifier system through this 25-way D-type socket on its rear panel. A 24 Vdc supply is also provided by the UCC2 through this connector to energise the CMM status switch.

UCC2 instal guide - figure 12 

Pin number

Function

Description

Refer to section

1

+24 Vdc

Supply provided for use with CMM status switches

"+24 V dc"

2

Contactor (active low)

Output signal to control motor contactor (active low)

"Contactor"

3

E-STOP_C

E-STOP system - reset signal

"ESTOP_C"

4

Enable amps (active low)

Command to SPA to enable amplifiers (active low)

"Enable amps"

5

Contactor (active high)

Output signal to control motor contactor (active high)

"Contactor"

6

E-STOP_A

E-STOP signal from MCU1 / joystick

"E-STOP_A and E-STOP_B"

7

E-STOP_B

E-STOP signal from MCU1 / joystick

"E-STOP_A and E-STOP_B"

8

-X command

Differential output to CMM X drive motor

"Axis command signals"

9

X command

Differential output to CMM X drive motor

"Axis command signals"

10

-Y command

Differential output to CMM Y drive motor

"Axis command signals"

11

Y command

Differential output to CMM Y drive motor

"Axis command signals"

12

-Z command

Differential output to CMM Z drive motor

"Axis command signals"

13

Z command

Differential output to CMM Z drive motor

"Axis command signals"

14

-4th axis command

Differential output to CMM 4th axis drive motor

"Axis command signals"

15

4th axis command

Differential output to CMM 4th axis drive motor

"Axis command signals"

16

Command common

Reference line for power amplifiers

"Command common"

17

Reserved

 

"Reserved"

18

Reserved

 

"Reserved"

19

Reserved

 

"Reserved"

20

Reserved

 

"Reserved"

21

Enable amps (active high)

Command to SPA to enable amplifiers (active high)

"Enable amps"

22

Contactor feedback

Confirmation of contactor operation

"Contactor feedback"

23

Amps OK

Confirmation from the servo amplifiers that they are ready

"AMPs OK"

24

E-STOP tripped

Indication from the SPA that the ESTOP signal is asserted

"E-STOP tripped"

25

24 V return

Common reference line for supply and contactor signals

"0 V (24 V return)"

Shell

Screen

  

+24 Vdc

+24 Vdc supply provided for the use of contactors, relays and other motor control circuits. Current limit 1 A.

Contactor

This command is issued by the UCC2, to the SPA, to engage the motor contactor. This output signal can drive the contactor directly providing its current consumption is within the output specification. This output signal is available in both an active low on pin 2 and an active high on pin 5.

E-STOP_C

This is the E-STOP reset line from the servo power amplifier. It is made available to the UCC2 plug in daughter-card slots for incorporation by products that need to be aware or pass on this signal's status. It is part of the “category 2” E-STOP system supported by the UCC2 and SPA2 controller system.

Enable amps

This is a command from the UCC2 to the SPA requesting it to enable its amplifiers. This output signal is provided as both an active low signal on pin 4 and as an active high signal on pin 21.

E-STOP_A and E-STOP_B

These are the connections from the SPA E-STOP system to the joystick / MCU mounted emergency stop switch. E-STOP_A is the high end and E-STOP_B is the return. The E-STOP_B signal is also made available to the UCC2 plug in daughter-card slots for incorporation by products that need to be aware or pass on this signal's status. A rotary table is a good example of where it needs to be incorporated as part of the E-STOP system.

Axis command signals

These outputs (pins 8 to 15) are the velocity demand signals for each axis from the UCC2 to the servo power amplifiers. They vary over the range +10 V to –10 V.

Command common

An analogue reference zero is available to the servo power amplifiers but this signal is not used by our SPA1 and SPA2 amplifiers although some third party units do require this reference. It is important that this is not used as a 0 V return for digital signals because this will inject noise into the velocity demands. This pin (16) should be left open circuit if not required.

Reserved

These pins (17 to 20) have high-speed serial communication driver / receivers connected to them, they are intended for future development. It is important that these pins should be left open circuit.

Contactor feedback

This is a confirmation signal from the motor contactor to the UCC2 that is has successfully operated and the motors are now engaged. This signal was on the I/O connector (pin 24) for the UCC1 and is still available on that connector on the UCC2 for backwards compatibility reasons.

AMPs OK

This is a confirmation signal (pin 23) from the servo amplifiers that they on and ready. It is produced as a response to the Enable Amps command. This signal was on the I/O connector (pin 19) for the UCC1 and is still available on that connector on the UCC2 for backwards compatibility reasons.

E-STOP tripped

This input (pin 24) is used to inform the UCC2 of the CMM ‘Emergency Stop' condition (E-STOP). If the input pin is pulled down to 0 V (24 V return) the UCC2 will assume that there is no emergency stop active and allow the servo motors to be energised. This input is also on the I/O connector pin 21.

If the input pin is open-circuit or near +24 V the UCC2 will assume that the emergency stop is active and will disable all motors and inform the host computer of the event.

NOTE: No motor can be enabled while this input is high or open-circuit.

0 V (24 V return)

This is the 0 V reference connection for all the digital and switching signals, unless otherwise stated the 0 V connections from all external devices should be connected to this line. This signal line is available on pin 25 on the SPA connector and pins 37 and 44 of the I/O connector. It is taken to a star point within the UCC2 controller where it is connected to protective ground, cable screens and all the internal supply 0 V lines. The star point must be the only point that these different 0 V and ground connections are made.

Machine I/O connector

The plug on the cable from the CMM connects to the 44 way miniature (high density) socket on the rear of the panel of the UCC2.

The input/output (I/O) signals to/from the UCC2 controller are:

  • Air solenoid output
  • X, Y and Z brake outputs
  • Emergency stop switch
  • Machine air pressure switch
  • Crash switch
  • Contactor feedback
  • X+ and X-, Y+ and Y-, 4th axis- and 4th axis+, Z+ and Z- inner and outer limit switches of the CMM
  • General purpose outputs and inputs
  • 24 Vdc supply and return

UCC2 instal guide - figure 13 

Pin number

Function

Description

Refer to section

1

+24 Vdc

Supply provided for use on CMM switches

"+24 Vdc"

2

Air solenoid

CMM air solenoid output signal

"Air solenoid"

3

X brake

CMM X brake output signal

"X, Y, Z brake"

4

Y brake

CMM Y brake output signal

"X, Y, Z brake"

5

Z brake

CMM Z brake output signal

"X, Y, Z brake"

6

Output 0

General purpose output signal

"UCC2 general purpose outputs"

7

Output 1

General purpose output signal

"UCC2 general purpose outputs"

8

Output 2

General purpose output signal

"UCC2 general purpose outputs"

9

Output 3

General purpose output signal

"UCC2 general purpose outputs"

10

Output 4

General purpose output signal

"UCC2 general purpose outputs"

11

Output 5

General purpose output signal

"UCC2 general purpose outputs"

12

Output 6

General purpose output signal

"UCC2 general purpose outputs"

13

Input 0

General purpose input signal

"UCC2 general purpose inputs"

14

Input 1

General purpose input signal

"UCC2 general purpose inputs"

15

Input 2

General purpose input signal

"UCC2 general purpose inputs"

16

Input 3

General purpose input signal

"UCC2 general purpose inputs"

17

Input 4

General purpose input signal

"UCC2 general purpose inputs"

18

Input 5

General purpose input signal

"UCC2 general purpose inputs"

19

Amplifier OK

 

"Amplifier OK input"

20

CMM declutch

 

"CMM declutch"

21

E-STOP tripped

 

"ESTOP tripped"

22

Air pressure

Machine air pressure switch input

"Air pressure switch"

23

Crash

Crash detector switch input

"Crash switch"

24

Contactor feedback

Contactor input signal

"Contactor feedback"

25

X axis outer limit

CMM X axis limit switch input

"Limit switches"

26

-X axis outer limit

CMM X axis limit switch input

"Limit switches"

27

Y axis outer limit

CMM Y axis limit switch input

"Limit switches"

28

-Y axis outer limit

CMM Y axis limit switch input

"Limit switches"

29

Z axis outer limit

CMM Z axis limit switch input

"Limit switches"

30

-Z axis outer limit

CMM Z axis limit switch input

"Limit switches"

31

X axis inner limit

CMM X axis limit switch input

"Limit switches"

32

-X axis inner limit

CMM X axis limit switch input

"Limit switches"

33

Y axis inner limit

CMM Y axis limit switch input

"Limit switches"

34

-Y axis inner limit

CMM Y axis limit switch input

"Limit switches"

35

Z axis inner limit

CMM Z axis limit switch input

"Limit switches"

36

-Z axis inner limit

CMM Z axis limit switch input

"Limit switches"

37

24 V return (0 V)

Common reference line for input and output signals

 

38

4th axis brake

Reserved for future use

 

39

+4th axis outer limit

CMM 4th axis limit switch input

"Limit switches"

40

-4th axis outer limit

CMM 4th axis limit switch input

"Limit switches"

41

+4th axis inner limit

CMM 4th axis limit switch input

"Limit switches"

42

-4th axis inner limit

CMM 4th axis limit switch input

"Limit switches"

43

Reserved

Reserved for future use

"Air pressure switch"

44

24 V return (0 V)

Common reference line for input and output signals

"24 V return"

Shell

Screen

  

+24 Vdc

+24 Vdc supply provided for the use of contactors, relays and other motor control circuits. Current limit 1 A.

UCC2 general purpose outputs

These 7 transistor output signals (pins 6 to 12) are switched on and off by commands from the host computer (See the UCC programmers guide, command number 318). The outputs are active low.

UCC2 instal guide - figure 14 When the output is not activated the transistor is not switched on and the output pin is lightly pulled high (+24 V) via a 100K resistor. When the output is activated, by sending a ‘1' to the relevant control bit the transistor will turn on, pulling the output pin down to the 0 V (24 V return) line.

UCC2 general purpose inputs

These 6 opto-isolated LED inputs (pins 13 to 18) to the UCC2 can be used to send signals from the CMM to the CMM host computer via the UCC2 (see the UCC programmers guide, command number 279). Pulling an input pin low, towards the 0 V (24 V return line) will cause the controller to return a ‘0' in reply to the read command.

UCC2 instal guide - figure 15

Air solenoid

This output signal (pin 2) is used to activate the CMM main air supply solenoid (if fitted). The output becomes active as soon as a downloadable is sent to the UCC2 controller. The output is active low.

X, Y and Z brakes

These outputs (pins 3,4 and 5) are used to disengage the CMM axis brakes (if fitted). The outputs become active as soon as the CMM servos are engaged. During the commissioning process it is possible to invert the output from the brake connections from active low to an active high.

Amplifier OK input

This signal (pin 19) is produced by the servo power amplifier to inform the connected UCC2 controller that ALL the servo power amplifiers have been successfully enabled, it is an active low signal i.e. pulled to 0 V (+24 return) to indicate success. This signal is a response to an active ‘amp control' signal from the controller. This signal is also available on the SPA connector pin 23.

CMM declutch

This input on pin 20 should normally be pulled down to the 0 V return line, to signal to the controller that the CMM's drives are mechanically connected to the moving elements of the machine, i.e. in their normal condition. The input should be open circuit, or held high, when a CMM has been temporarily ‘de-clutched' from its drive motors to allow manual positioning. The servo system will not drive the motors in this condition and will resume control at the machine‘s position when he signal again goes low.

E-STOP tripped

This input (pin 21) is used to inform the UCC2 of the CMM ‘emergency stop' condition (E-STOP). This signal is also available on the SPA connector pin 24. If the input pin is pulled down to the 24 V return line, the UCC2 will assume that there is no emergency stop active and will allow the servo motors to be energised. If the input pin is open-circuit or near +24 V the UCC2 will assume that the emergency stop is active and will disable all motors, and inform the host computer of the event.

NOTE: No motor can be enabled while this input is high or open-circuit.

Air pressure switch

The low air pressure signal should be connected to a suitable air pressure switch. This input is monitored by the controller and when activated will remove power from the motors causing a system fatal fault. During commisioning process it is possible to invert this signal from an active low to an active high. If this capability is not required for intergration to the system then it should be connected to the 0 V.

Crash switch

This input signal (pin 23) is used to stop the CMM movement if there is a collision involving parts of the CMM and probe system, as detected by a switching mechanism.

The crash switch should pull the input down to 0V return line. If the input is not pulled down, the UCC2 will disable all motors, and inform the CMM's host computer of this state. During commisioning process it is possible to invert this signal from an active low to an active high.

Contactor feedback

This input signal (pin 24) is used by the UCC2 to monitor the operation of the axes drive motors control contactor. This signal is also available on the SPA connector pin 5.

When the contactor is energised (drive motors enabled), this signal should be pulled down to the 24 V return line to indicate that motor power is available.

If the UCC2 has turned on the ‘contactor' output (servo power amplifier socket, pin 2) and the signal on pin 24 indicates that the contactor has not operated, after a short delay the UCC2 will disable the drive motors and inform the CMM host computer of this fault.

Limit switches

The UCC2 will use these input signals (pins 25 to 36 and 39 to 42) to stop the CMM as programmed by the host computer (See the UCC programmers guide, command number 311).

All outer limit switches have to be closed before the CMM's drives can be engaged. Operation of these switches is interpreted as a fatal fault. If any of them is operated, all the CMM's axes servo drive motors are automatically disengaged. These signals cannot be overridden by a software command. Recovery from an outer limit operation is either by manually pushing the machine “off” the limit switch or by a separate override switch provided by the CMM's manufacturer / retrofitter.

When a CMM actuates an inner limit switch on any of its axes, all CMM axes are decelerated, stopped and backed off in the opposite direction as if it were a touch-trigger event. The inner limit switches can be overridden by a software command for error mapping or collision recovery purposes, see command number 311, control limit switch override, in the programmer's guide.

24 V return (0 V)

This is the 0 V reference for all of the I / O signals and is available on pins 37 and 44.

Reset button

The rear panel reset button has two different functions. Its function depends on what operational state the controller is in.

a) If the unit has just been switched on and is in the stage before it is ready for download i.e. approximately a 15 second window from switch-on, pressing and releasing this button will force the controller into the IP configuration state. See section "Configuration of IP addresses" for details.

b) If the controller is ready for download, or if the control software has been downloaded (in the operational state), operation of this button will force a reset, i.e. the software will restart as if the unit had been switched “off” then “on” again.

If you wish to enter the IP configuration state when the controller is ready for download, or is running the control software, then two presses of this button, with a momentary pause between them, will achieve this state.

Daughtercard slots

Inside the UCC2 controller is a Renishaw proprietary bus system for connecting additional interfaces in the form of plug-in cards. There is a wide range of additional interfaces available such as a PH10 controller, a SP80 interface, an additional axis (rotary table or dual drive), a temperature interface, etc. This allows the UCC2 to be correctly configured for the application for which it is being used, and also allows for the integration future products.

  
PH10 / 50 cardA-1333-0011
PICS RS232 cardA-1333-0012
SP80 cardA-1333-0021
Additional axis / rotary table cardA-1333-0020
Revo cardA-5121-0020
Temperature compensation cardA-1333-0195