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manual de instalação e utilização transmissor console ... - Usicontrol

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MANUAL DE INSTALAÇÃO E<br />

UTILIZAÇÃO<br />

TM70<br />

TRANSMISSOR CONSOLE<br />

MODELOS TM70/3/4/5/6/7/8<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

i


I N D I C E<br />

1.- DECLARAÇÃO DE CONFORMIDADE (BANDA ISM 870MHZ)................................................................. 1<br />

2.- DECLARAÇÃO DE CONFORMIDADE (BANDA ISM 433MHZ)................................................................. 2<br />

3.- DESCRIÇÃO DO SISTEMA ......................................................................................................................... 3<br />

4.- INSTRUÇÕES DE SEGURANÇA ................................................................................................................ 4<br />

4.1.- O QUE SE DEVE FAZER .................................................................................................................................. 4<br />

4.2.- O QUE NÃO SE DEBE FAZER ........................................................................................................................... 4<br />

4.3.- RECOMENDAÇÕES FCC……………………………………………………………………………… ................ ….5<br />

5.- INSTALAÇÃO .............................................................................................................................................. 6<br />

5.1.- CARREGADOR DE BATERIAS CB70 .................................................................................................................. 6<br />

5.2.- RECEPTOR ................................................................................................................................................... 7<br />

5.3.- POR EM MARCHA ........................................................................................................................................... 9<br />

6.- UTILIZAÇÃO .............................................................................................................................................. 11<br />

7.- MANUTENÇÃO ......................................................................................................................................... 12<br />

7.1.- GARANTIA .................................................................................................................................................. 12<br />

7.2.- PRECAUÇÕES ............................................................................................................................................. 12<br />

7.3.- LOCALIZAÇÃO DE AVARÍAS .......................................................................................................................... 13<br />

ANEXO A.- PROGRAMAÇÃO DO EMISSOR RESERVA. ............................................................................ 15<br />

ANEXO B.- EDIÇÃO DA IDENTIFICAÇÃO DA MÁQUINA NO DISPLAY LCD. ........................................... 16<br />

ANEXO C.- MUDANÇA DE FRECUENCIA (CANAL BASE)..………………………………………..………....17<br />

8.- INTERFACE CAN OPEN V 2.4. ................................................................................................................. 18<br />

8.1.- INTRODUÇÃO .............................................................................................................................................. 19<br />

8.2.- CONEXÃO DO BUS CAN ................................................................................................................................ 19<br />

8.3.- DICIONÁRIO DE DADOS ................................................................................................................................ 20<br />

8.4.- PDOS BOTOEIRA E CONSOLE ........................................................................................................................ 22<br />

8.5.- DICIONÁRIO DE DADOS DO RECEPTOR .......................................................................................................... 23<br />

8.6.- SINALIZAÇÃO .............................................................................................................................................. 25<br />

8.7.-RECEPTORES CAN TM70 .............................................................................................................................. 25<br />

9.- DISPLAY LCD70 ....................................................................................................................................... 28<br />

9.1.- INTRODUÇÃO E DESCRIÇÃO FUNCIONAL ........................................................................................................ 29<br />

9.2.- CONEXÕES INTERNAS ................................................................................................................................. 30<br />

9.3.- EXPLODIDO DE MONTAGEM T70 E LCD70 ...................................................................................................... 31<br />

9.4.- MODOS DE TRABALHO DO DISPLAY ............................................................................................................... 32<br />

9.5.- MODO RETORNO DE INFORMAÇÃO ................................................................................................................ 33<br />

10.- MODO DE FUNCIONAMENTO “FIRST COME – FIRST SERVED” ........................................................ 40<br />

10.1- INTRODUÇÃO ............................................................................................................................................. 41<br />

10.2- SISTEMAS COM DOIS TRANSMISSORES ........................................................................................................ 41<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

Pág.<br />

i


11.- OPÇÃO LIMITADOR DE ALCANCE LA70 E LA70M ............................................................................... 42<br />

11.1.1- DESCRIÇÃO DO SISTEMA ......................................................................................................................... 43<br />

11.1.2- SENSOR INFRAVERMELHO ....................................................................................................................... 43<br />

11.2.1- EMISOR INFRAVERMELHO LA70 ................................................................................................................ 44<br />

11.2.2- INSTALAÇÃO E CONEXÕES LA70 ............................................................................................................... 45<br />

11.3.2- CARACTERÍSTICAS TÉCNICAS LA70 ......................................................................................................... 46<br />

11.3.1- EMISOR INFRAVERMELHO LA70M ............................................................................................................. 47<br />

11.3.2- INSTALAÇÃO E CONEXÕES LA70M ............................................................................................................ 50<br />

12.- MODO DE FUNCIONAMENTO “PITCH & CATCH” ................................................................................ 51<br />

12.1- INTRODUÇÃO ............................................................................................................................................. 52<br />

12.2- SISTEMAS COM DOIS EMISSORES ................................................................................................................ 52<br />

13.- SISTEMAS MULTIPONTES: MODO DE FUNCIONAMENTO EM TANDEM .......................................... 54<br />

13.1- INTRODUÇÃO ............................................................................................................................................. 55<br />

13.2- SISTEMA COM UM EMISSOR MESTRE ............................................................................................................ 56<br />

13.3- SISTEMA COM DOIS EMISSORES MESTRE ..................................................................................................... 57<br />

14.- RETORNO ANALÓGICO / OPÇÃO IN 0-10V / CALIBRAÇÃO ................................................................ 58<br />

14.1- INTRODUÇÃO ............................................................................................................................................. 59<br />

14.2- CALIBRAÇÃO DA VIA DE RETORNO ANALÓGICA NO DISPLAY LCD70 ................................................................. 59<br />

14.3- MONTAGEM DE EXPANSÃO 0-10V CON LR71/LR72 ....................................................................................... 61<br />

15.- OPÇÃO IN0450P ...................................................................................................................................... 62<br />

15.1- INTRODUÇÃO E DESCRIÇÃO FUNCIONAL ....................................................................................................... 63<br />

15.2- EXPLODIDO DAS CONEXÕES CON LR71/LR71 ............................................................................................... 64<br />

16.- OPÇÃO IN4D ............................................................................................................................................ 65<br />

16.1- INTRODUÇÃO E DESCRIÇÃO FUNCIONAL ....................................................................................................... 66<br />

16.2- EXPLODIDO DAS CONEXÕES COM LR71 Y LR72 ............................................................................................ 69<br />

17.- OPÇÃO INCAN ......................................................................................................................................... 70<br />

17.1 INTRODUÇÃO E DESCRIÇÃO FUNCIONAL ........................................................................................................ 71<br />

17.2- CONEXÕES E JUMPERS DE CONFIGURAÇÃO ................................................................................................ 72<br />

18.- OPÇÃO A1P4RCAN ................................................................................................................................. 73<br />

18.1 INTRODUÇÃO E DESCRIÇÃO FUNCIONAL ........................................................................................................ 74<br />

18.2- CONEXÕES E JUMPERS DE CONFIGURAÇÃO ................................................................................................. 74<br />

19.- OPÇÃO A2ICAN ....................................................................................................................................... 77<br />

19.1 INTRODUÇÃO E DESCRIÇÃO FUNCIONAL ........................................................................................................ 78<br />

19.2- CONEXÕES E JUMPERS DE CONFIGURAÇÃO ................................................................................................. 79<br />

22.- RECEPTORES R70/XX – COMPATÍVEIS COM SOFTWARE VERSÃO SW 3.2…………..…………….96<br />

22.1- CARACTERÍSTICAS PRINCIPAIS…………………………………………………………………………………………..97<br />

22.2- OBSERVAÇÕES PARA O CABEAMENTO INTERNO……………………………………………………………………101<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

ii


20.- OPÇÃO A2VCAN ..................................................................................................................................... 82<br />

20.1 INTRODUÇÃO E DESCRIÇÃO FUNCIONAL ........................................................................................................ 83<br />

20.2- CONEXÕES E JUMPERS DE CONFIGURAÇÃO ................................................................................................. 84<br />

20.3- CARTÃO DE ALIMENTAÇÃO DE EXPANSÕES POT70V4 .................................................................................... 87<br />

21.- OPÇÃO TELEAJUSTE ............................................................................................................................. 88<br />

21.1 INTRODUÇÃO .............................................................................................................................................. 89<br />

21.2- PROCESSO DE TELEAJUSTE ....................................................................................................................... 89<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

iii


1.- DECLARAÇÃO DE CONFORMIDADE (BANDA ISM 870MHZ)<br />

DECLARACION DE CONFORMIDAD<br />

CONFORMITY DECLARATION<br />

KONFORMITÄTSERKLÄRUNG<br />

DECLARATION DE CONFORMITE<br />

DICHIARAZIONE DI CONFORMITA'<br />

DECLARAÇAO DE CONFORMIDADE<br />

VERKLARING VAN GELIJK VORMIGHEID<br />

El Fabricante<br />

The Manufacturer<br />

Der Hersteller<br />

Le Fabricant<br />

Il Fabbricante<br />

O Fabricante<br />

De Fabrikant<br />

Declara que el producto: Telemando IKUSI<br />

Declares that the product: Remote Control IKUSI<br />

Erklärt, dass das Produkt: Funkfernsteuerung IKUSI<br />

Déclare que le produit: Télécomman<strong>de</strong> IKUSI<br />

Dichiara che il prodotto: Radiocomando IKUSI<br />

Declara que o produto: Controle Remoto IKUSI<br />

Verklaart dat het product: Radiobesturing IKUSI<br />

Cumple con las Directivas <strong>de</strong> Consejo:<br />

Complies with the provisions of Council:<br />

Erfüllt die Richtlinien <strong>de</strong>s Rates:<br />

Accompli les Directives du Conseil:<br />

E´conforme alle Direttive <strong>de</strong>l Consiglio:<br />

Cumpre as Diretivas do Conselho:<br />

Conform is met <strong>de</strong> richtlijnen van <strong>de</strong> Raad:<br />

Normas armonizadas utilizadas:<br />

Applied harmonized standards:<br />

Angewen<strong>de</strong>te harmonisierte Normen:<br />

Normes harmonisées utilisées:<br />

Norme armonizate utilizzate:<br />

Normas harmonizadas aplicadas:<br />

Volgens geharmoniseen<strong>de</strong> normen:<br />

02/07/2007<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

ANGEL IGLESIAS, S.A.<br />

Paseo Miramón 170<br />

SAN SEBASTIAN - SPAIN<br />

NIF: A-20-036.018<br />

Tel : (+34) 943 448800<br />

Fax: (+34) 943 448819<br />

www.ikusi.com<br />

TM70/3/4/5/6/7/8 - 870<br />

TM70/3/4/5/6/7/8 - 870<br />

2006/42 EEC MACHINERY<br />

1999/5 EEC R&TT<br />

ETSI EN 300220-1 V1.3.1<br />

ETSI EN 300220-3 V1.1.1<br />

ETSI EN 301489-1 V1.6.1<br />

ETSI EN 301489-3 V1.4.1<br />

EN 55022 : 1994<br />

EN 61000-4-2 : 1995<br />

EN 61000-4-3 : 1996<br />

EN 61000-4-4 : 1995<br />

EN 61000-4-5 : 1995<br />

EN 61000-4-6 : 1996<br />

EN 61000-4-11 : 1994<br />

EN 61000-3-2 : 1995<br />

EN 61000-3-3 : 2001<br />

EN 60950-1 : 2001<br />

EN 50178 : 1998<br />

EN 60204-32 : 2001<br />

EN 60529 : 2000<br />

EN 13557 : 2004<br />

EN-954-1 o EN 13849 : 2004<br />

prEN 280:2009<br />

1


2.- DECLARAÇÃO DE CONFORMIDADE (BANDA ISM 433MHz)<br />

DECLARACION DE CONFORMIDAD<br />

CONFORMITY DECLARATION<br />

KONFORMITÄTSERKLÄRUNG<br />

DECLARATION DE CONFORMITE<br />

DICHIARAZIONE DI CONFORMITA'<br />

DECLARAÇAO DE CONFORMIDADE<br />

VERKLARING VAN GELIJK VORMIGHEID<br />

El Fabricante<br />

The Manufacturer<br />

Der Hersteller<br />

Le Fabricant<br />

Il Fabbricante<br />

O Fabricante<br />

De Fabrikant<br />

Declara que el producto: Telemando IKUSI<br />

Declares that the product: Remote Control IKUSI<br />

Erklärt, dass das Produkt: Funkfernsteuerung IKUSI<br />

Déclare que le produit: Télécomman<strong>de</strong> IKUSI<br />

Dichiara che il prodotto: Radiocomando IKUSI<br />

Declara que o produto: Controle Remoto IKUSI<br />

Verklaart dat het product: Radiobesturing IKUSI<br />

Cumple con las Directivas <strong>de</strong> Consejo:<br />

Complies with the provisions of Council:<br />

Erfüllt die Richtlinien <strong>de</strong>s Rates:<br />

Accompli les Directives du Conseil:<br />

E´conforme alle Direttive <strong>de</strong>l Consiglio:<br />

Cumpre as Diretivas do Conselho:<br />

Conform is met <strong>de</strong> richtlijnen van <strong>de</strong> Raad:<br />

Normas armonizadas utilizadas:<br />

Applied harmonized standards:<br />

Angewen<strong>de</strong>te harmonisierte Normen:<br />

Normes harmonisées utilisées:<br />

Norme armonizate utilizzate:<br />

Normas harmonizadas aplicadas:<br />

Volgens geharmoniseen<strong>de</strong> normen:<br />

02/07/2007<br />

ANGEL IGLESIAS, S.A.<br />

Paseo Miramón 170<br />

SAN SEBASTIAN - SPAIN<br />

NIF: A-20-036.018<br />

Tel : (+34) 943 448800<br />

Fax: (+34) 943 448819<br />

www.ikusi.com<br />

TM70/3/4/5/6/7/8 - 433<br />

TM70/3/4/5/6/7/8 - 433<br />

2006/42 EEC MACHINERY<br />

1999/5 EEC R&TT<br />

ETSI EN 300220-1 V1.3.1<br />

ETSI EN 300220-3 V1.1.1<br />

ETSI EN 301489-1 V1.6.1<br />

ETSI EN 301489-3 V1.4.1<br />

EN 55022 : 1994<br />

EN 61000-4-2 : 1995<br />

EN 61000-4-3 : 1996<br />

EN 61000-4-4 : 1995<br />

EN 61000-4-5 : 1995<br />

EN 61000-4-6 : 1996<br />

EN 61000-4-11 : 1994<br />

EN 61000-3-2 : 1995<br />

EN 61000-3-3 : 2001<br />

EN 60950-1 : 2001<br />

EN 50178 : 1998<br />

EN 60204-32 : 2001<br />

EN 60529 : 2000<br />

EN 13557 : 2004<br />

EN-954-1 o EN 13849 : 2004<br />

prEN 280:2009<br />

TM70Pe V3.2 (02/11) 120021.pdf 2<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


3.- DESCRIÇÃO DO SISTEMA<br />

Os controles remotos via rádio configurados com emissor do tipo <strong>console</strong> TM70/3, TM70/4, TM70/5,<br />

TM70/6, TM70/7 e TM70/8, foram <strong>de</strong>senhados para o comando remoto <strong>de</strong> máquinas <strong>de</strong> acionamento<br />

elétrico ou eletrohidráulico utilizadas na elevação e manipulação <strong>de</strong> cargas e/ou materiais (pontes<br />

rolantes, talhas, gruas <strong>de</strong> construção civil, gruas hidráulicas, bombas <strong>de</strong> concreto, veículos sem<br />

condutor, etc.), e são aplicáveis em todos os casos on<strong>de</strong> resulte vantajoso ao operador po<strong>de</strong>r<br />

escolher a posição mais conveniente para executar a operação. Os equipamentos consistem <strong>de</strong> um<br />

emissor para a seleção das or<strong>de</strong>ns <strong>de</strong> comando e <strong>de</strong> um receptor que se conecta ao sistema elétrico<br />

da máquina a comandar. Além, conta com um carregador <strong>de</strong> baterias e duas baterias recarregáveis.<br />

Suas características principais são as seguintes:<br />

Sistema TM70<br />

Frequências 869,700 a 870,000 MHz; ERP


4.- INSTRUÇÕES DE SEGURANÇA<br />

É imperativo ler atentamente estas instruções. Elas permitirão instalar, utilizar e<br />

manter o equipamento em correto estado, diminuindo os riscos <strong>de</strong> mau uso.<br />

Não instalar o equipamento em ambientes explosivos.<br />

Toda <strong>utilização</strong> contrária à preconizada neste <strong>manual</strong> apresenta perigos, motivo<br />

pelo qual <strong>de</strong>vem ser respeitadas as instruções seguintes.<br />

4.1 – O QUE SE DEVE FAZER<br />

Seguir escrupulosamente as instruções <strong>de</strong> <strong>instalação</strong> <strong>de</strong>ste <strong>manual</strong>.<br />

Assegurar-se <strong>de</strong> que a instalación seja realizada por pessoal formado e competente.<br />

Impor o respeito às regras <strong>de</strong> segurança próprias do local <strong>de</strong> trabalho, assim como às normas<br />

<strong>de</strong> segurança exigidas pelas autorida<strong>de</strong>s competentes.<br />

A <strong>instalação</strong> elétrica na qual se conectará o equipamento <strong>de</strong>ve estar protegida mediante<br />

interruptor automático magnético/térmico (com capacida<strong>de</strong> <strong>de</strong> corte unipolar: F+N) e diferencial<br />

com características <strong>de</strong> acordo com as Normas <strong>de</strong> Baixa Tensão.<br />

Deixar sempre este <strong>manual</strong> à disposição do operador e do pessoal encarregado da<br />

manutenção.<br />

Guardar o <strong>transmissor</strong> fora do alcance <strong>de</strong> pessoas não autorizadas ao seu uso.<br />

Retirar a chave <strong>de</strong> contato nos períodos fora <strong>de</strong> utilizacão.<br />

Ao início <strong>de</strong> cada jornada, comprovar o funcionamento do botão <strong>de</strong> stop, assim como das<br />

condições <strong>de</strong> segurança da máquina.<br />

Ante qualquer anomalía, acionar o botão <strong>de</strong> stop.<br />

No caso <strong>de</strong> existirem vários equipamentos instalados, assegurar-se <strong>de</strong> que o <strong>transmissor</strong><br />

correspon<strong>de</strong> à máquina que se <strong>de</strong>seja comandar. I<strong>de</strong>ntifique a máquina que correspon<strong>de</strong> ao<br />

<strong>transmissor</strong>, na etiqueta ou display LCD previstos para este fim.<br />

Realizar revisões periódicas.<br />

Em caso <strong>de</strong> reparações, utilizar únicamente peças originais.<br />

4.2 - O QUE NÃO SE DEVE FAZER<br />

Não modificar nunca o equipamento sem o estudo e aprovação do fabricante e/ou distribuidor.<br />

Não utilizar o equipamento com alimentação diferente da indicada.<br />

Não permitir o uso do equipamento a pessoas não qualificadas.<br />

Depois <strong>de</strong> sua <strong>utilização</strong>, não <strong>de</strong>ixar o emissor em uso sem ter acionado o botão <strong>de</strong> stop a fim<br />

<strong>de</strong> evitar que alguém possa efetuar uma manobra involuntariamente.<br />

Não manejar o equipamento sem visibilida<strong>de</strong>.<br />

Não provocar golpes sobre o equipamento.<br />

Não utilizar o equipamento se este apresenta sintomas <strong>de</strong> falha.<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

4


4.3 - RECOMENDACIONES FCC (Sólo válido para equipos que trabajan en la banda ISM <strong>de</strong> 915MHz)<br />

Este dispositivo cumple la normativa recogida en la Parte 15 <strong>de</strong>l estándar FCC. El funcionamiento<br />

<strong>de</strong>l dispositivo está sujeto a las siguientes dos condiciones:<br />

1. este dispositivo pue<strong>de</strong> no causar interferencias nocivas, y<br />

2. este dispositivo <strong>de</strong>be aceptar cualquier interferencia recibida, incluyendo interferencias que<br />

puedan originar operaciones no <strong>de</strong>seadas.<br />

Los cambios o modificaciones que no hayan sido aprobadas y autorizadas por el fabricante <strong>de</strong>l<br />

equipo podrían anular cualquier tipo <strong>de</strong> autorización <strong>de</strong> uso, para utilizar dicho equipo.<br />

Con el objeto <strong>de</strong> cumplir con los requerimientos <strong>de</strong> emisión <strong>de</strong> radiofrecuencia según FCC, el<br />

equipo y su antena no <strong>de</strong>ben ser utilizados con otro tipo <strong>de</strong> antenas o transmisores, diferentes a<br />

los suministrados por el fabricante.<br />

Este equipo ha pasado los tests y cumple con los límites establecidos para dispositivos digitales<br />

<strong>de</strong> Clase A, según lo establecido en la parte 15 <strong>de</strong> la normativa FCC.<br />

Estos límites están establecidos y diseñados para proporcionar una protección razonable contra<br />

interferencias nocivas, para el uso <strong>de</strong> dicho equipo, en un entorno comercial.<br />

Este equipo genera, utiliza, y pue<strong>de</strong> radiar señal <strong>de</strong> radiofrecuencia, <strong>de</strong> modo que si no se instala<br />

o utiliza <strong>de</strong> acuerdo con las instrucciones recogidas en el Manual <strong>de</strong> Usuario, pue<strong>de</strong> ocasionar<br />

interferencias nocivas en las comunicaciones por radio.<br />

El uso <strong>de</strong> este equipo en áreas resi<strong>de</strong>nciales, pue<strong>de</strong> provocar interferencias nocivas a su<br />

alre<strong>de</strong>dor, en cuyo caso, será el propio usuario, el responsable <strong>de</strong> subsanar el daño ocasionado,<br />

incluyendo sus costes asociados.<br />

REMOVER ESTA PÁGINA<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

5


5.- INSTALAÇÃO<br />

5.1 - CARREGADOR DE BATERIAS CB70 (BC70K)<br />

O carregador <strong>de</strong> baterias CB70 dispõe <strong>de</strong> dois alojamentos que permitem a recarga simultânea<br />

<strong>de</strong> duas baterias mo<strong>de</strong>los BT06, BT12 (linha TM60) y<br />

BT06K, BT20K (linha TM70).<br />

Conectar o carregador à re<strong>de</strong> mediante a fonte com cabo<br />

fornecida; o LED vermelho se acen<strong>de</strong>rá. Ao instalar o<br />

carregador <strong>de</strong> baterias, levar em conta que a operação<br />

<strong>de</strong> carga <strong>de</strong>ve realizar-se a temperaturas superiores a<br />

0ºC, e assegurar-se <strong>de</strong> que a alimentação se mantém<br />

durante a noite.<br />

Introduzir as baterias nos alojamentos do carregador.<br />

Esperar um tempo <strong>de</strong> aproximadamente 5 segundos<br />

entre inserções consecutivas <strong>de</strong> uma bateria num<br />

mesmo alojamento.<br />

Cada alojamento dispõe <strong>de</strong> um LED ver<strong>de</strong> associado à sua posição.<br />

1) Led ver<strong>de</strong> intermitente: indica bateria excessivamente <strong>de</strong>scarregada; quando o LED passa a<br />

aceso contínuo, indica que começa a carga normal;<br />

2) Led ver<strong>de</strong> permanentemente aceso indica carga normal;<br />

3) Led ver<strong>de</strong> apagado, indica fim da carga.<br />

A capacida<strong>de</strong> das baterias <strong>de</strong>cresce com o uso. Sua vida se estima em 500 ciclos <strong>de</strong> carga,<br />

mas <strong>de</strong>pen<strong>de</strong>m em gran<strong>de</strong> parte das condições <strong>de</strong> <strong>utilização</strong>, pelo que recomendamos:<br />

Não recarregar a bateria até que se encontre totalmente <strong>de</strong>scarregada. O emissor<br />

indicará quando se chega a essa situação.<br />

Carregar as baterias a temperaturas entre 0º e 45ºC (em temperatura superior as<br />

baterias não alcançam a carga completa). Evitar a <strong>instalação</strong> do carregador sob ação<br />

direta do sol.<br />

Carregar as baterias ao menos uma vez a cada seis meses.<br />

Evitar curto-circuitos entre os contatos das baterias. Não leve baterias carregadas na<br />

caixa <strong>de</strong> ferramentas ou nos bolsos junto com outras peças metálicas, (chaves, moedas,<br />

etc.).<br />

Mantenha limpos os contatos.<br />

Não exponha as baterias ao sol.<br />

Aviso: Se o carregador se alimenta com uma tensão inferior a 10,3v DC, sinaliza bateria em<br />

carga na ausência <strong>de</strong> baterias nos alojamentos.<br />

Utilizar únicamente baterias do fabricante<br />

As baterias esgotadas <strong>de</strong>vem ser recicladas <strong>de</strong> acordo com as normas locais<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

CB70<br />

As baterias ATEX – IKUSI (BT06K-ATEX e BT20K-ATEX), somente po<strong>de</strong>m ser carregadas nos<br />

carregadores BC70K ou CB70. Nota: se for utilizado o carregador CB60, ficam inutilizadas.<br />

6


5.2 - RECEPTOR<br />

Promover a parada total da máquina durante todo o tempo estimado <strong>de</strong> <strong>instalação</strong>,<br />

<strong>de</strong>sobstruir a zona <strong>de</strong> trabalho e utilizar os aparatos <strong>de</strong> segurança.<br />

No caso <strong>de</strong> pontes rolantes, estacionar a ponte e calçá-la, (sinalizando-a<br />

a<strong>de</strong>cuadamente), a uma distancia conveniente para evitar que seja atingida por<br />

outras pontes no mesmo caminho <strong>de</strong> rolamento.<br />

Verificar a tensão <strong>de</strong> alimentação e <strong>de</strong>sconectar a seccionadora geral,<br />

<strong>de</strong>sconectando o cabo <strong>de</strong> interface entre o receptor e o quadro elétrico da máquina.<br />

Recor<strong>de</strong> que o receptor tem mais <strong>de</strong> um circuito sob tensão. Mesmo com a<br />

alimentação do receptor <strong>de</strong>sconectada, existe risco <strong>de</strong> <strong>de</strong>scargas elétricas.<br />

Localizar uma posição para o receptor, <strong>de</strong> fácil acesso, em lugar <strong>de</strong>sobstruído para facilitar a<br />

recepção do sinal <strong>de</strong> rádio do emissor, e afastado <strong>de</strong> elementos geradores <strong>de</strong> perturbações<br />

elétricas intensas.<br />

Fixar a caixa mediante 4 amortecedores elásticos (M8), com a saída <strong>de</strong> cabos virada para<br />

baixo.<br />

Figura 1. Dimensões do receptor e kit prolongador <strong>de</strong> antena<br />

Caso não seja possível um posicionamento a<strong>de</strong>quado do receptor, que permita a <strong>utilização</strong> <strong>de</strong><br />

sua antena interna, utilizar o kit prolongador com antena exterior.<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

7


Proce<strong>de</strong>r às conexões <strong>de</strong> alimentación e das saídas do receptor, com os correspon<strong>de</strong>ntes<br />

bornes encaixáveis. Utilize o diagrama <strong>de</strong> saídas que acompanha o equipamento; nele se<br />

<strong>de</strong>talha a correspondência entre os comandos do emissor e as saídas do receptor.<br />

Os relês <strong>de</strong> STOP, KSTOP1 e KSTOP2 estão em série e <strong>de</strong>vem ser conectados ao circuito da<br />

bobina do contator geral.<br />

O relê K2/START está associado à ação <strong>de</strong> enlace, po<strong>de</strong>ndo ser utilizado para comando <strong>de</strong><br />

sirene.<br />

O relê K1/SAFETY é um relê <strong>de</strong> segurança que se aciona juntamente com as or<strong>de</strong>ns que,<br />

quando da configuração do equipamento, foram <strong>de</strong>finidas como or<strong>de</strong>ns ativas, ou seja, or<strong>de</strong>ns<br />

que dão lugar a movimentos.<br />

Figura 2. Circuito do Receptor<br />

Não esqueça <strong>de</strong> conectar o cabo terra.<br />

Utilize cabos antichama para as conexões.<br />

Observe a tensão a<strong>de</strong>quada do receptor, (230, 115 ou 48 Vca - 12 ou 24 Vcc).<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

8


5.3- INÍCIO DE OPERAÇÃO<br />

Seja precavido! Po<strong>de</strong> ser que o equipamento não tenha sido conectado<br />

corretamente, o que po<strong>de</strong> dar lugar a movimentos imprevistos no início <strong>de</strong><br />

operação.<br />

Uma vez realizadas as conexões do receptor, <strong>de</strong>sconectar a alimentação <strong>de</strong> potência dos<br />

motores (por exemplo, retirando os fusíveis <strong>de</strong> potência), e conectar a alimentação do receptor.<br />

Inicialmente os LEDs se acen<strong>de</strong>rão um instante para comprovação <strong>de</strong> que todos funcionam<br />

corretamente, <strong>de</strong>pois o receptor entrará em modo RASTREAMENTO e se acen<strong>de</strong>rão os<br />

seguintes LEDs no receptor:<br />

POWER (1): ON, indica que a alimentação é a<strong>de</strong>quada.<br />

HARDOK (2): ON, indica que não se <strong>de</strong>tectam <strong>de</strong>feitos no circuito.<br />

SIGNAL (3): OFF, no caso <strong>de</strong> que todos os canais se encontrem livres. Destellos<br />

ON si existen canales con señales RF.<br />

DATA (4): OFF; não se encontra nenhum outro equipamento TM70 ativo na<br />

área. Destellos ON en caso contrario.<br />

ID(5): OFF<br />

CAN_RUN (6): ON, Indica que as comunicações com os circuitos <strong>de</strong> expansão<br />

CAN estão OK.<br />

CAN_ERR (7): OFF<br />

ORDER (8): OFF<br />

RELAY (9): OFF<br />

Figura 3. Posição dos LEDs <strong>de</strong> sinalização no receptor<br />

1.- Etiqueta para i<strong>de</strong>ntificação da<br />

máquina.<br />

2.- LED.<br />

3.- Elementos <strong>de</strong> comando.<br />

4.- Chave <strong>de</strong> contato.<br />

5.- Pulsador <strong>de</strong> marcha.<br />

6.- Pulsador <strong>de</strong> parada.<br />

7.- Opcional: Limitador <strong>de</strong> área <strong>de</strong><br />

trabalho LA70<br />

8.- Opcional: Display LCD70 + LA70<br />

(ativado por EEPROM)<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

3<br />

8<br />

Figura 4. Elemento <strong>de</strong> sinalização e controle do <strong>transmissor</strong><br />

1<br />

2<br />

6<br />

7<br />

5<br />

4<br />

9


Para por o <strong>transmissor</strong> em operação, seguir a seguinte sequência:<br />

Instalar uma bateria carregada no <strong>transmissor</strong><br />

Girar a chave <strong>de</strong> contato<br />

Pulsar e extrair o botão <strong>de</strong> parada. O LED emitirá um pulso laranja-ver<strong>de</strong>. Se dispõe da<br />

opção display, este apresentará o nível <strong>de</strong> bateria e a i<strong>de</strong>ntificação da máquina.<br />

Acionar o pulsador <strong>de</strong> marcha. Se iluminará o LED ver<strong>de</strong> indicando que o <strong>transmissor</strong> está<br />

transmitindo.<br />

Ao receber o sinal proce<strong>de</strong>nte do <strong>transmissor</strong>, o receptor entra em modo OPERAÇÃO; os LEDs<br />

indicarão:<br />

POWER: ON, indica que a alimentação está a<strong>de</strong>quada.<br />

HARDOK: ON, indica que não se <strong>de</strong>tectan <strong>de</strong>feitos no circuito.<br />

SIGNAL: ON, que indica recepção <strong>de</strong> sinal RF na frequência <strong>de</strong> trabalho.<br />

DATA: Flashes ON cada vez que se recebe uma salva correta.<br />

ID: Flashes ON cada vez que se <strong>de</strong>tecta uma salva correta em que se<br />

reconhece o código ID.<br />

CAN_RUN: ON, indica que as comunicações com os circuitos <strong>de</strong> expansão CAN<br />

estão OK.<br />

CAN_ERR: OFF<br />

ORDER: ON, indica a ativação <strong>de</strong> alguma manobra digital<br />

RELAY: ON, indica a ativação dos relês <strong>de</strong> STOP<br />

Nesta situação, se ativarão os relês <strong>de</strong> KSTOP1 e KSTOP2. O relê K2/START se ativa enquanto se<br />

mantém pulsada a or<strong>de</strong>m <strong>de</strong> marcha.<br />

Acionar uma manobra qualquer no <strong>transmissor</strong>; se ativará o relê associado àquela manobra. Se se tratar <strong>de</strong><br />

uma manobra ativa, se ativará também o relê <strong>de</strong> segurança K1/SAFETY.<br />

Comprovar que o resto <strong>de</strong> manobras se comporta da mesma forma.<br />

Desligar o <strong>transmissor</strong> acionando o pulsador <strong>de</strong> parada, e comprovar que se <strong>de</strong>sativam os relés e os LEDs<br />

DATA, ID, SIGNAL e CAN_RUN se comportam como no modo RASTREAMENTO.<br />

Conectar a alimentação <strong>de</strong> potencia dos motores, posicionar-se em distância normal <strong>de</strong> trabalho e<br />

comprovar o correto funcionamento <strong>de</strong> todas as manobras.<br />

NOTA IMPORTANTE:<br />

IKUSI NÃO se responsabiliza por <strong>instalação</strong> incorreta, interferencias produzidas por colisão <strong>de</strong><br />

frequencias, nem pela gestão das frequencias <strong>de</strong> trabalho em instalações fixas, on<strong>de</strong> vários controles<br />

remotos via rádio compartilhem ou possam compartilhar uma mesma zona ou área <strong>de</strong> trabalho.<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

10


6.- UTILIZAÇÃO<br />

Para uma correta <strong>utilização</strong> do equipamento, proce<strong>de</strong>r como segue:<br />

Assegurar-se <strong>de</strong> que se vai manipular o transmisor apropriado, i<strong>de</strong>ntificando a máquina que lhe<br />

corresponda na etiqueta prevista para este fim. No caso <strong>de</strong> <strong>transmissor</strong>es com display LCD,<br />

editar neste a i<strong>de</strong>ntificação da máquina, conforme <strong>de</strong>scrito no ANEXO B. Isso permitirá ao<br />

operador i<strong>de</strong>ntificar a máquina antes <strong>de</strong> pô-la em marcha.<br />

Los datos <strong>de</strong> matrícula modificados en el emisor no son actualizados en la EEPROM<br />

<strong>de</strong>l receptor. Para hacerlo, copiar los nuevos datos <strong>de</strong> la EEPROM <strong>de</strong>l emisor en la<br />

<strong>de</strong>l receptor.<br />

Enganchar o cinturão <strong>de</strong> fixación no <strong>transmissor</strong>. Se recomenda seu uso para evitar quedas do<br />

equipamento.<br />

Introduzir uma bateria carregada, girar a chave <strong>de</strong> contato e por em marcha o <strong>transmissor</strong>.<br />

Para por em marcha o <strong>transmissor</strong>, <strong>de</strong>ve-se puxar o pulsador <strong>de</strong> parada, esperar um pulso<br />

laranja-ver<strong>de</strong> do LED e pulsar o botão <strong>de</strong> marcha. Se o pulsador <strong>de</strong> parada já se encontrar<br />

puxado, é preciso pulsá-lo e puxá-lo novamente; esta sequencia é necessária para permitir ao<br />

<strong>transmissor</strong> comprovar o correto funcionamento do circuito <strong>de</strong> STOP. Por outro lado, quando o<br />

enlace do <strong>transmissor</strong> se auto-interrompe por tempo, não é neceasria a sequencia <strong>de</strong><br />

comprovação, bastando pulsar o botão <strong>de</strong> marcha durante 1 segundo.<br />

A partir <strong>de</strong>ste momento se acen<strong>de</strong>rá o LED ver<strong>de</strong>, indicando que o <strong>transmissor</strong> começou a<br />

transmitir. Nesta situação o acionamento <strong>de</strong> qualquer dispositivo <strong>de</strong> comando do <strong>transmissor</strong><br />

<strong>de</strong>terminará a ativação da manobra correspon<strong>de</strong>nte.<br />

Para a por em marcha o <strong>transmissor</strong>, <strong>de</strong>vem se encontrar em repouso todos os elementos <strong>de</strong><br />

comando associados a manobras ativas. Não é preciso que as or<strong>de</strong>ns <strong>de</strong> seleção se<br />

encontrem <strong>de</strong>sativadas.<br />

Transcorridos 4 minutos sem ativar nenhuma manobra ativa, o <strong>transmissor</strong> passa<br />

automáticamente ao modo LATENCIA. Este modo é sinalizado no LED ver<strong>de</strong> mediante flashes<br />

a cada 3 segundos. Para reativá-lo, pulsar o botão <strong>de</strong> marcha.<br />

O <strong>transmissor</strong> dispõe <strong>de</strong> um circuito <strong>de</strong> vigilancia do nível <strong>de</strong> carga da bateria. Quando este<br />

nível é inferior a um limite preestablecido, o LED do emissor começa a piscar em vermelho e 5<br />

minutos mais tar<strong>de</strong> <strong>de</strong>sliga o <strong>transmissor</strong>, <strong>de</strong>sativando-se o contator geral da máquina. Durante<br />

este tempo, se <strong>de</strong>ve <strong>de</strong>positar a carga em posição segura. Se durante este intervalo se aciona<br />

o pulsador <strong>de</strong> parada, o <strong>transmissor</strong> não po<strong>de</strong>rá ser posto em marcha, a menos que seja<br />

sustituída a bateria por outra carregada.<br />

Em <strong>transmissor</strong>es com LCD, o nível <strong>de</strong> carga da batería se representa como segue: Três<br />

segmentos: carga superior a 50%. Dois segmentos: carga entre 50 e 10%. Um segmento:<br />

carga entre 10 e 5%. Nenhum: carga inferior a 5%.<br />

Para <strong>de</strong>sligar o <strong>transmissor</strong>, pressionar o pulsador <strong>de</strong> parada ou girar a chave <strong>de</strong> contato.<br />

Lembre-se que vai telecomandar uma máquina móvel. Respeite escrupulosamente as<br />

instruções <strong>de</strong> segurança <strong>de</strong>scritas no capítulo 3 <strong>de</strong>ste <strong>manual</strong>.<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

11


7.- MANUTENÇÃO<br />

7.1 - GARANTIA<br />

7.2 – PRECAUÇÕES<br />

IKUSI garante os equipamentos TM70 por um período <strong>de</strong> 1 ano <strong>de</strong>s<strong>de</strong> a sua expedição. Esta<br />

garantia cobre a reparação e reposição <strong>de</strong> componentes <strong>de</strong>feituosos através dos Serviços <strong>de</strong><br />

Assistencia Técnica oferecidos por seu distribuidor local, para o que será preciso dispor tanto<br />

do <strong>transmissor</strong> como do receptor.<br />

A garantia não cobre os <strong>de</strong>feitos resultantes <strong>de</strong>:<br />

- transporte;<br />

- <strong>instalação</strong> incorreta;<br />

- modificações sobre os equipamentos feitas por pessoal não autorizado pela IKUSI;<br />

- manifesto mau uso ou manutenção incorreta do equipamento.<br />

Correspondiendo exclusivamente a nuestros servicios técnicos la calificación <strong>de</strong> averías.<br />

Em nenhum caso serão admitidas responsabilida<strong>de</strong>s nem encargos por paradas nas<br />

instalações, aci<strong>de</strong>ntes, ou gastos que possam advir <strong>de</strong> mal funcionamento.<br />

Os Controles Remotos IKUSI foram <strong>de</strong>senhados para suportar as condições <strong>de</strong> trabalho em<br />

ambiente industrial. Recomendamos, entretanto, tomar as seguintes precauções, que<br />

prolongarão a vida útil do equipamento:<br />

Utilizar o cinturão <strong>de</strong> fixação do emissor para evitar quedas.<br />

Não limpar o <strong>transmissor</strong> com solventes nem água sob pressão. Utilice para isso um<br />

pano úmido ou um pincel.<br />

Submeter as baterias a ciclos <strong>de</strong> carga e <strong>de</strong> <strong>de</strong>scarga regulares.<br />

Verificar diariamente o funcionamento do pulsador <strong>de</strong> parada.<br />

Desconectar os cabos do receptor se forem realizar trabalhos <strong>de</strong> soldagem elétrica na<br />

ponte.<br />

Verificar periódicamente o estado <strong>de</strong> los cierres <strong>de</strong> las protecciones <strong>de</strong> caucho dos<br />

mecanismos <strong>de</strong> comando do emissor. Sustituí-los em caso <strong>de</strong> <strong>de</strong>terioração, para evitar<br />

falhas <strong>de</strong> estanqueida<strong>de</strong>.<br />

Limpar os contatos da bateria.<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

12


7.3 – LOCALIZAÇÃO DE AVARIAS<br />

O emissor e receptor dispõem <strong>de</strong> LEDs <strong>de</strong> controle <strong>de</strong> estado, que facilitam o diagnóstico <strong>de</strong><br />

situações irregulares. A seguir se <strong>de</strong>screvem as sinalizações mais comuns:<br />

EMISSOR<br />

LED SIGNIFICADO<br />

Ver<strong>de</strong> contínuo O emissor emite normalmente. Modo OPERACIÓN<br />

Ver<strong>de</strong> pulsos Emissor pronto para se por em marcha. Modo LATENCIA<br />

Vermelho pulsos lentos Nível <strong>de</strong> carga da bateria baixo<br />

Vermelho pulsos rápidos Provavelmente falta módulo <strong>de</strong> personalização EEPROM<br />

Vermelho pulsos duplos Or<strong>de</strong>m ativa presente ao por em marcha<br />

Vermelho continuo Avaria do emissor<br />

RECEPTOR<br />

No modo OPERAÇÃO os 7 LEDs do receptor <strong>de</strong>vem acen<strong>de</strong>r como se <strong>de</strong>screveu<br />

anteriormente (5.3 Início <strong>de</strong> Operação). Nesta situação ativar manobras no <strong>transmissor</strong> e<br />

observar a resposta dos relês <strong>de</strong> saída. Se estiver correta, a avaria é alheia ao controle remoto<br />

e se <strong>de</strong>verá revisar a <strong>instalação</strong>. Se algum dos relês não se ativa, nos encontramos ante uma<br />

avaria do equipamento. Neste caso, observar o estado dos LEDs:<br />

LED ACESO FLASHES APAGADO<br />

POWER Alimentação OK -- Alimentação não OK<br />

HARDOK Placa OK<br />

Lentos: falha na placa<br />

Rápidos: erro EEPROM<br />

Falha na placa<br />

SIGNAL Sinal RF correto Detecção sinais RF. Modo<br />

RASTREAMENTO<br />

DATA -- Se recebe sinal correto <strong>de</strong><br />

um equipamento TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

O receptor não recebe sinal<br />

RF<br />

Não se <strong>de</strong>tecta sinal correto<br />

ID -- Código ID OK Não reconhece o código ID<br />

ORDER<br />

Alguma manobra<br />

digital ativada<br />

RELAY Relês <strong>de</strong> STOP<br />

ativados<br />

-- Nenhuma manobra digital<br />

ativada<br />

-- Relés <strong>de</strong> STOP <strong>de</strong>sativados<br />

13


Se o receptor possui expansões CAN, existem mais dois LED‘s que indicam o estado do CAN-<br />

BUS. Se a conexão CAN não funciona, revisar o estado dos seguintes LED:<br />

LED ACESO FLASHES APAGADO<br />

CAN_RUN<br />

(Ver<strong>de</strong>)<br />

CAN_ERR<br />

(Rojo)<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

Estado operacional Estado pré-operacional Comunicação CAN não<br />

ativa<br />

Erro no BUS CAN<br />

Erro <strong>de</strong> comunicação Comunicação OK<br />

No caso <strong>de</strong> avaria do equipamento, enviar o <strong>transmissor</strong> e o receptor ao Serviço <strong>de</strong> Assistencia<br />

Técnica do distribuidor local, junto com a <strong>de</strong>scrição da falha e o estado do LED.<br />

Se a avaria estiver no emissor e se dispõe <strong>de</strong> um emissor reserva, se po<strong>de</strong> sustituir fácilmente<br />

o equipamento avariado segundo se <strong>de</strong>screve no ANEXO A.<br />

14


ANEXO A - PROGRAMAÇÃO DO EMISSOR RESERVA.<br />

Em caso <strong>de</strong> avaria do emissor, é possível uma restauração rápida do equipamento quando se<br />

dispõe <strong>de</strong> um emissor reserva. Para isso, é preciso incorporar ao emissor reserva os parâmetros <strong>de</strong><br />

personalização do equipamento avariado.<br />

Estes parâmetros se encontram armazenados num módulo <strong>de</strong> memória EEPROM EP70,<br />

acessível no interior do emissor. O processo consiste em abrir o <strong>console</strong>, soltando os quatro<br />

parafusos <strong>de</strong> fixação da parte inferior da caixa, extrair o módulo EP70 do emissor avariado, e<br />

incorporar esse módulo ao emissor reserva.<br />

No caso do emissor avariado ter sofrido danos que impeçam a recuperação do módulo EP70,<br />

se po<strong>de</strong> programar o emissor reserva utilizando o módulo EP70 do receptor. Para isso, proce<strong>de</strong>r<br />

como segue:<br />

- Entrada em modo especial duplicador <strong>de</strong> EEPROM<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

QUADRADO: Associado ao acionamento correspon<strong>de</strong>nte, representará a<br />

entrada no Duplicado <strong>de</strong> EEPROM e incremento das unida<strong>de</strong>s no modo<br />

<strong>de</strong> Mudança <strong>de</strong> Canal Base.<br />

1. Na parte superior do <strong>console</strong> se especificará o mecanismo ou atuador <strong>de</strong>signado para a função<br />

―Duplicado <strong>de</strong> EEPROM‖, mediante o símbolo associado: QUADRADO. I<strong>de</strong>ntificar o mecanismo.<br />

2. Com o emissor <strong>de</strong>sligado, insertar o módulo EP70 do<br />

receptor no emissor reserva.<br />

3. Conectar a CHAVE <strong>de</strong> contacto e puxar o botão <strong>de</strong> STOP.<br />

O LED emitirá um pulso <strong>de</strong> cor laranja seguido <strong>de</strong> pulsos<br />

ver<strong>de</strong>s durante 15 segundos.<br />

4. Copiar seu conteúdo na memória interna acionando o<br />

mecanismo i<strong>de</strong>ntificado como ―Duplicado <strong>de</strong> EP‖ e em<br />

seguida MARCHA, mantendo ambos acionados<br />

simultaneamente durante 5‖. O LED pulssará em laranja<br />

durante o processo <strong>de</strong> cópia; (no caso <strong>de</strong> que o emissor disponha <strong>de</strong> LCD, êste indicará<br />

―Reading.....‖).<br />

5. Uma vez finalizada a cópia, extrair o módulo EP70 e colocá-lo <strong>de</strong> novo no receptor. Em seguida,<br />

insertar no emissor reserva seu módulo EP70 e acionar <strong>de</strong> novo o mecanismo “Duplicado <strong>de</strong> EP”;<br />

o LED pulssará <strong>de</strong> novo em laranja, para indicar que se está proce<strong>de</strong>ndo à gravação do módulo<br />

EP70, (no caso <strong>de</strong> que o emissor disponha <strong>de</strong> LCD, êste indicará ―Writting...‖).<br />

6. Em seguida, acionar STOP. O emissor reserva se encontra agora programado.<br />

15


ANEXO B – EDIÇÃO DA IDENTIFICAÇÃO DA MÁQUINA NO DISPLAY LCD.<br />

Os emissores com opção display LCD, permitem ao operador a i<strong>de</strong>ntificação da máquina que se vai<br />

ativar antes do início da operação, mediante a apresentação <strong>de</strong> um texto <strong>de</strong> até 24 caracteres.<br />

Este texto <strong>de</strong>ve i<strong>de</strong>ntificar a máquina com o nome pelo qual é conhecida pelos operarios. Ao iniciar o<br />

uso do controle remoto pela primeira vez, <strong>de</strong>ve-se editar esse nome da seguinte forma:<br />

1. I<strong>de</strong>ntificar na Ficha Técnica do equipamento a <strong>de</strong>signação dos atuadores associados às<br />

funções ―Configuración”, “ENTER”, “UP”, “DOWN” e “ESC”.<br />

2. Introduzir uma bateria carregada e girar a chave <strong>de</strong> contato para a posição ON.<br />

3. Acionar e puxar o botão <strong>de</strong> STOP. Se observará no LED um pulso <strong>de</strong> cor laranja seguido <strong>de</strong><br />

pulsos ver<strong>de</strong>s.<br />

4. Acionar ―Configuración‖ e em seguida botão START. Manter ambos acionados durante 2<br />

segundos para entrar no modo ―configuración‖. No display se visualizará ―CONFIG MODE‖<br />

5. Acionar “ENTER” para entrar no menú.<br />

6. Para mover-se pelo menú, utilizar “UP” ou “DOWN” até chegar ao menú EDIT LABEL.<br />

7. Acionar “ENTER”<br />

8. Uma vez atingido o modo EDIT LABEL, se apresenta no display o texto ―CRANE??‖, no qual<br />

pulsa o primeiro caracter. A partir <strong>de</strong>ste momento, se po<strong>de</strong> editar o nome da máquina<br />

mediante:<br />

“DOWN”: Para mover a lista <strong>de</strong> caracteres estabelecida em or<strong>de</strong>m <strong>de</strong>scen<strong>de</strong>nte.<br />

“UP”: Para mover a lista <strong>de</strong> caracteres estabelecida em or<strong>de</strong>m ascen<strong>de</strong>nte.<br />

“ESC”: Para voltar ao caracter anterior no display.<br />

“ENTER”: Para validar o caracter editado e passar ao seguinte (à direita).<br />

9. Acionar START para memorizar o texto editado. No display aparecerá ―SAVED‖ durante 2<br />

segundos.<br />

10. Uma vez editado o último caracter, se abandona o modo EDICIÓN acionado STOP.<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

16


ANEXO C - MUDANÇA DE CANAL BASE.<br />

Os <strong>transmissor</strong>es mo<strong>de</strong>lo <strong>console</strong> com versão <strong>de</strong> software 2.4 tem habilitada a funcionalida<strong>de</strong> <strong>de</strong> mudança<br />

<strong>de</strong> canal base, <strong>de</strong> forma padronizada (associação <strong>de</strong> símbolos a mecanismos).<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

1) I<strong>de</strong>ntificar na serigrafia da parte superior do <strong>console</strong> o ícone ―▲‖<br />

associado à manobra correspon<strong>de</strong>nte (modificação das <strong>de</strong>zenas do<br />

canal base) e o ícone ―■‖ associado à manobra correspon<strong>de</strong>nte<br />

(modificação das unida<strong>de</strong>s do canal base). Preferivelmente<br />

associados aos seguintes mecanismos: botões, seletores, joystick,<br />

etc.)<br />

2) Liberar o botão <strong>de</strong> STOP (com o <strong>transmissor</strong> alimentado). Acionar o mecanismo que i<strong>de</strong>ntifica o<br />

símbolo ―▲‖ (botão, seletor, joystick, etc.) e em seguida o botão <strong>de</strong> ―Marcha‖. Mesmo que o<br />

<strong>transmissor</strong> indique ―or<strong>de</strong>n presente‖ (led vermelho pulsando e zumbido ativo), esperar até que o<br />

led bicolor sinalize na cor laranja <strong>de</strong> forma contínua. Deixar <strong>de</strong> acionar ambas as manobras.<br />

3) O LED bicolor indicará em seguida o canal base atual, mediante pulsos (ver<strong>de</strong>s e vermelhos):<br />

Nº <strong>de</strong> pulsos na cor ver<strong>de</strong> = Número correspon<strong>de</strong>nte às <strong>de</strong>zenas do canal;<br />

Nº <strong>de</strong> pulsos na cor vermelha = Número correspon<strong>de</strong>nte às unida<strong>de</strong>s do canal.<br />

4) Em seguida o LED ficará aceso na cor laranja permanente.<br />

5) Para mudar ao novo canal base:<br />

Unida<strong>de</strong>s do canal: acionar tantas vezes o símbolo ―■‖ quantas unida<strong>de</strong>s tiver o novo canal base.<br />

Dezenas <strong>de</strong> canal: acionar tantas vezes o símbolo ―▲‖ quantas <strong>de</strong>zenas tiver o novo canal base.<br />

6) O LED bicolor volta a sinalizar o novo canal base seguindo o mesmo critério <strong>de</strong> pulsos <strong>de</strong>scrito no<br />

ítem 3).<br />

7) Pressionar o botão <strong>de</strong> STOP; o novo canal base fica memorizado e o <strong>transmissor</strong> preparado para<br />

trabalhar com o novo canal, quando voltar a ser ligado.<br />

17


8.- INTERFAZ CAN OPEN V 2.4<br />

INTERFAZ CANopen V 2.4<br />

TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf.<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

18


8.1 - INTRODUCCIÓN<br />

El equipo TM70 con interfaz CANopen se integra en re<strong>de</strong>s CANopen don<strong>de</strong> funciona como esclavo. Pone a<br />

disposición <strong>de</strong>l bus el estado <strong>de</strong> los pulsadores, <strong>de</strong> modo que cualquier equipo externo pueda actuar en<br />

consecuencia.<br />

El funcionamiento <strong>de</strong>l equipo es acor<strong>de</strong> a a la especificación CiA DS-301 v4.0.2. El perfil implementado es<br />

el <strong>de</strong>scrito en CiA DS-401 v2.1 (entradas/salidas estándar), don<strong>de</strong> las maniobras <strong>de</strong> los pulsadores son<br />

consi<strong>de</strong>radas como entradas digitales.<br />

Las características implementadas son:<br />

Funcionamiento NMT: esclavo.<br />

No<strong>de</strong>ID: configurable por EEPROM, <strong>de</strong> 1 a 127.<br />

Baudrate: configurable por EEPROM. Velocida<strong>de</strong>s soportadas: 10, 20, 50, 100, 125, 250, 500, 800<br />

y 1000 Kbps.<br />

Control <strong>de</strong> errores: se soporta tanto ―Heartbeat‖ como ―No<strong>de</strong>/life guarding‖. Configurados por<br />

EEPROM.<br />

Número <strong>de</strong> PDO‘s: 2 TPDO (estado <strong>de</strong> maniobras).<br />

o Objetos 1800 – 1A00<br />

o Objetos 0x1801 – 0x1A01<br />

Grabación <strong>de</strong> parámetros en EEPROM: no soportado.<br />

8.2 - CONEXIÓN DEL BUS CAN<br />

Para conectar el bus CAN a la tarjeta LR72, ésta dispone <strong>de</strong> una borna enchufable (P4) <strong>de</strong> 5 polos:<br />

TM70Pe V3.2 (02/11) 120021.pdf. 19<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


La asignación <strong>de</strong> señales es la recomendada por el organismo CiA (CAN in Automation) en su documento<br />

DR-303-1:<br />

Terminación <strong>de</strong>l bus<br />

Al lado <strong>de</strong>l conector, hay un jumper que permite conectar o <strong>de</strong>sconectar la terminación <strong>de</strong>l bus. Es<br />

importante para un correcto funcionamiento <strong>de</strong>l bus que las terminaciones estén conectadas en los<br />

extremos y <strong>de</strong>sconectadas en puntos intermedios.<br />

8.3 - DICCIONARIO DE DATOS<br />

Los objetos <strong>de</strong>l diccionario <strong>de</strong> datos soportados por el TM70 son:<br />

1000: DEVICE TYPE<br />

1001: ERROR REGISTER<br />

1002: STATUS REGISTER<br />

1003: PREDEFINED ERROR FIELD<br />

1003.0: number of errors<br />

1003.x: standard error field<br />

1005: COB-ID SYNC<br />

1006: COMMUNICATION CYCLE PERIOD<br />

1007: SYNCHRONOUS WINDOW LENGTH<br />

1008: MANUFACTURER DEVICE NAME<br />

1009: MANUFACTURER HARDWARE VERSION<br />

100A: MANUFACTURER SOFTWARE VERSION<br />

100C: GUARD TIME<br />

TM70Pe V3.2 (02/11) 120021.pdf. 20<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


100D: LIFE TIME FACTOR<br />

1014: COB-ID EMCY<br />

1015: INHIBIT TIME EMERGENCY<br />

1017: PRODUCER HEARTBEAT TIME<br />

1018: IDENTITY OBJECT<br />

1018.0: number of entries<br />

1018.1: Vendor ID<br />

1018.2: Product Co<strong>de</strong><br />

1018.3: Revision Number<br />

1018.4: Serial number<br />

1800: TRANSMIT PDO COMMUNICATION PARAMETER<br />

1800.0: number of entries<br />

1800.1: COB-ID<br />

1800.2: Transmission type<br />

1800.3: Inhibit time<br />

1800.4: Event timer<br />

1801: TRANSMIT PDO COMMUNICATION PARAMETER<br />

1800.0: number of entries<br />

1800.1: COB-ID<br />

1800.2: Transmission type<br />

1800.3: Inhibit time<br />

1800.4: Event time<br />

1A00: TRANSMIT PDO MAPPING PARAMETER<br />

1A00.0: number of entries<br />

1A00.1: PDO mapping entry<br />

1A00.2: PDO mapping entry<br />

1A00.3: PDO mapping entry<br />

1A00.4: PDO mapping entry<br />

1A01: TRANSMIT PDO MAPPING PARAMETER<br />

1A01.0: number of entries<br />

1A01.1: PDO mapping entry<br />

1A01.2: PDO mapping entry<br />

1A01.3: PDO mapping entry<br />

1A01.4: PDO mapping entry<br />

6000: DIGITAL INPUT 8 BITS<br />

6000.0: number of entries<br />

6000.1: start and stop buttons (start1, start2, stop)<br />

6000.2: Inputs 1-8<br />

6000.3: Inputs 9-16<br />

6000.4: Inputs 17-24<br />

6000.5: Inputs 25-32<br />

6000.6: Inputs 33-40<br />

6000.7: Inputs 41-48<br />

6000.8: Inputs 49-56<br />

6000.9: Inputs 57-64<br />

6000.10: Inputs 65-72<br />

6000.11: Inputs 73-80<br />

6000.12: Display status (para el retorno CAN)<br />

TM70Pe V3.2 (02/11) 120021.pdf. 21<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


8.4 - PDOS BOTONERAS Y PUPITRES<br />

El equipo se suminstra con un PDO <strong>de</strong> transmisión configurado con 4 bytes:<br />

1 er byte 2º byte 3 er byte 4º byte<br />

Objeto 6000.1 Objeto 6000.2 Objeto 6000.3 Objeto 6000.4<br />

Start1 M1 M9 M17<br />

Start2 M2 M10 M18<br />

Stop M3 M11 M19<br />

0 M4 M12 M20<br />

0 M5 M13 A1<br />

0 M6 M14 A2<br />

0 M7 M15 0<br />

0 M8 M16 0<br />

La transmisión <strong>de</strong>l PDO está por <strong>de</strong>fecto configurada como ―event driven‖, es <strong>de</strong>cir, se envía cada vez que<br />

cambia el estado <strong>de</strong> cualquier entrada.<br />

PUPITRES<br />

PDO <strong>de</strong> transmisión compuesto por 12 bytes. El byte 12 está compuesto por un sólo bit: 0 o 1 en función <strong>de</strong>l<br />

status <strong>de</strong>l display (para el retorno CAN).<br />

1 er byte 2º byte 3 er byte 4º byte 5º byte 6º byte 7º byte<br />

Objeto Objeto Objeto Objeto Objeto Objeto Objeto<br />

6000.1 6000.2 6000.3 6000.4 6000.5 6000.6 6000.7<br />

Start1 I1 I9 I17 I25 I33 I41<br />

Start2 I2 I10 I18 I26 I34 I42<br />

Stop I3 I11 I19 I27 I35 I43<br />

0 I4 I12 I20 I28 I36 I44<br />

0 I5 I13 I21 I29 I37 I45<br />

0 I6 I14 I22 I30 I38 I46<br />

0 I7 I15 I23 I31 I39 I47<br />

0 I8 I16 I24 I32 I40 I48<br />

8 º byte 9º byte 10 er byte 11º byte 12º bit<br />

Objeto 6000.8 Objeto 6000.9 Objeto 6000.10 Objeto 6000.11 Objeto 6000.12<br />

I49 I57 I65 I73 ―0‖ o ―1‖<br />

I50 I58 I66 I74<br />

I51 I59 I67 I75<br />

I52 I60 I68 I76<br />

I53 I61 I69 I77<br />

I54 I62 I70 I78<br />

I55 I63 I71 I79<br />

I56 I64 I72 I80<br />

La transmisión <strong>de</strong>l PDO está por <strong>de</strong>fecto configurada como ―event driven‖, es <strong>de</strong>cir, se envía cada vez que<br />

cambia el estado <strong>de</strong> cualquier entrada.<br />

TM70Pe V3.2 (02/11) 120021.pdf. 22<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


8.5 - DICCIONARIO DE DATOS DEL RECEPTOR<br />

NumRPDO: Es una variable que <strong>de</strong>be ser configurada para que se pueda, o no, utilizar el retorno CAN. El<br />

valor para activar el retorno CAN es 2. El valor para <strong>de</strong>sactivar el retorno CAN es 0.<br />

1400: RECEIVE PDO1 COMMUNICATION PARAMETER<br />

1400.0: Número <strong>de</strong> entradas<br />

1400.1: COB-ID<br />

1400.2: Tipo <strong>de</strong> transmisión<br />

1400.3: Tiempo <strong>de</strong> inhibición<br />

1400.4: Temporizador <strong>de</strong> eventos<br />

1401: RECEIVE PDO2 COMMUNICATION PARAMETER<br />

1401.0: Número <strong>de</strong> entradas<br />

1401.1: COB-ID<br />

1401.2: Tipo <strong>de</strong> transmisión<br />

1401.3: Tiempo <strong>de</strong> inhibición<br />

1401.4: Temporizador <strong>de</strong> eventos<br />

1600: RECEIVE PDO1 MAPPING PARAMETER<br />

1600.0: Número <strong>de</strong> entradas<br />

1600.1: Entrada mapeada <strong>de</strong> PDOs<br />

1600.2: Entrada mapeada <strong>de</strong> PDOs<br />

1601: RECEIVE PDO2 MAPPING PARAMETER<br />

1601.0: number of entries<br />

1601.1: Entrada mapeada <strong>de</strong> PDOs<br />

1601.2: Entrada mapeada <strong>de</strong> PDOs<br />

1601.3: Entrada mapeada <strong>de</strong> PDOs<br />

1601.4: Entrada mapeada <strong>de</strong> PDOs<br />

1601.5: Entrada mapeada <strong>de</strong> PDOs<br />

1601.6: Entrada mapeada <strong>de</strong> PDOs<br />

1601.7: Entrada mapeada <strong>de</strong> PDOs<br />

1601.8: Entrada mapeada <strong>de</strong> PDOs<br />

6200: DIGITAL OUTPUT 8 BITS<br />

6200.0: Número <strong>de</strong> entradas<br />

6200.1: LEDs<br />

6200.2: Buzzer<br />

6411: ANALOGUE OUTPUT 16 BITS<br />

6411.0: Número <strong>de</strong> entradas<br />

6411.1: LCD1<br />

6411.2: LCD2<br />

6411.3: LCD3<br />

6411.4: LCD4<br />

6411.5: LCD5<br />

6411.6: LCD6<br />

6411.7: LCD7<br />

6411.8: LCD8<br />

TM70Pe V3.2 (02/11) 120021.pdf. 23<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


Cuando el receptor se configure como ESCLAVO en un bus estándar CANOpen, éste pue<strong>de</strong> comunicarse<br />

con otros dispositivos en el bus CAN.<br />

EJEMPLO DE RETORNO DE INFORMACION<br />

Transmision y recepción <strong>de</strong> datos<br />

El dispositivo externo y el receptor se comunicarán a través <strong>de</strong>l bus CAN. Se intercambiarán<br />

paquetes <strong>de</strong> datos <strong>de</strong>nominados PDOs.<br />

El dispositivo externo enviará al receptor dos paquetes <strong>de</strong> este tipo con los datos a enviar al emisor.<br />

Al ser <strong>de</strong> recepción <strong>de</strong> datos se <strong>de</strong>nominará RPDO (<strong>de</strong>s<strong>de</strong> el punto <strong>de</strong> vista <strong>de</strong>l receptor). A su vez, el<br />

receptor enviará la confirmación <strong>de</strong> los datos enviados al dispositivo externo. Para ello utiliza un paquete <strong>de</strong><br />

transmisión <strong>de</strong> datos, TPDO.<br />

RPDO<br />

El usuario <strong>de</strong>pendiendo <strong>de</strong>l equipo emisor que tenga podrá controlar los mensajes a editar en el<br />

display como los leds y zumbador que lo componen.<br />

En el caso <strong>de</strong> trabajar con un pupitre será posible controlar todas las funcionalida<strong>de</strong>s. Sin embargo, si<br />

se trabaja con una botonera, sólo se podrá controlar el display.<br />

Se recibirán dos PDOs:<br />

RPDO1:<br />

En este paquete <strong>de</strong> datos recibido, el receptor obtendrá información sobre el estado <strong>de</strong> los leds y<br />

zumbador, recepción <strong>de</strong> datos digitales.<br />

COB-ID = RPDO1_ID + No<strong>de</strong>_ID = 0x200 + 100<br />

Se recibirán dos datos:<br />

RPDO2:<br />

Objeto 6200, subíndice 1 (LEDs)<br />

Objeto 6200, subíndice 2 (zumbador)<br />

Este paquete contiene información a enviar al display. Serán ocho bytes <strong>de</strong> datos, los cuales pue<strong>de</strong>n<br />

ser comandos <strong>de</strong> VT100, o datos a representar en el LCD.<br />

COB-ID = RPDO2_ID + No<strong>de</strong>_ID = 0x300 + 100<br />

Se recibirán 8 datos:<br />

Objeto 6410, subíndices 1 – 8 (8 bytes con comandos VT100)<br />

Los comandos <strong>de</strong> display que el receptor recibirá serán paquetes <strong>de</strong> 8bytes. Si la longitud es<br />

superior, el receptor tendrá que encargarse <strong>de</strong> dividir los datos en paquetes <strong>de</strong> 8bytes.<br />

Para el receptor los datos recibidos son transparentes. No trata la información.<br />

TM70Pe V3.2 (02/11) 120021.pdf. 24<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


8.6 - SEÑALIZACIÓN<br />

El receptor dispone <strong>de</strong> dos LED‘s para señalización, controlados según la recomendación CiA DR-303-3:<br />

CAN-RUN (ver<strong>de</strong>): indica el estado <strong>de</strong>l equipo <strong>de</strong>ntro <strong>de</strong> la máquina <strong>de</strong> estados CANopen:<br />

- Parpa<strong>de</strong>a cada 200 ms. en estado preoperacional<br />

- Encendido permanentemente en estado operacional<br />

- Un <strong>de</strong>stello por segundo en estado <strong>de</strong> parada<br />

CAN-ERR (rojo): indica error si encendido; en condiciones normales <strong>de</strong>be estar apagado.<br />

8.7 - RECEPTORES CAN TM70<br />

Ref. 3302750 (7503 70GR401 RX R70CANC3 433)<br />

Ref. 3302751 (7504 70GR903 RX R70CANC3 915)<br />

RECEPTOR R70CANC3 Especificaciones<br />

Frecuencias disponibles (bandas ISM) 915MHz (Certificado FCC)<br />

433MHz<br />

Alimentación / Consumo máximo 9-35v DC / 5W máximo<br />

Interfaz Salidas / Entradas CAN:Protocolo CAN Open Estándar 401 (CIA DS401)<br />

Grado <strong>de</strong> estanqueidad IP67 / NEMA-6<br />

Antena Externa: NEARSON S325TR-915 o equivalente<br />

Selección <strong>de</strong> la frecuencia <strong>de</strong> trabajo Automático (oír antes <strong>de</strong> transmitir)<br />

Peso 430 gr.<br />

Dimensiones Largo = 151mm / Ancho = 129mm (160mm con PG) /<br />

Alto = 61mm<br />

EEPROM Extraíble EP70<br />

Señalizaciones MultiLED:<br />

7 LED externos (6 ver<strong>de</strong>s + 1 bicolor)<br />

2 LED internos (1 rojo + 1 ver<strong>de</strong>)<br />

Conexiones Mediante bornas con salidas/entrada con<br />

prensaestopas M16.<br />

1) Prensaestopas Alimentación: M16 / IP67<br />

2) Prensaestopas para Interfaz Entradas / Salidas: M16<br />

/ IP67<br />

Función STOP Cat. 3 EN-954-1 / 2 relés STOP: 250V / 6A máximo<br />

Tiempo <strong>de</strong> respuesta función STOP = 50 ms<br />

Terminación <strong>de</strong> BUS CAN (120 Ohm) Mediante conector ―jumper‖ ON / OFF (interno)<br />

Tiempo <strong>de</strong> STOP pasivo Programable: entre 0,5 segundos y 2 segundos (máx)<br />

Protección a la entrada Fusible PTC / 0,3A<br />

Protecciones en las salidas (STOP) VDR en contactos<br />

Temperatura <strong>de</strong> funcionamiento -20ºC / +70ºC (-4ºF / 158ºF)<br />

Temperatura <strong>de</strong> almacenamiento (24h) -25ºC / +75ºC (-13ºF / 167ºF)<br />

Temperatura <strong>de</strong> almacenamiento –largos<br />

periodos-<br />

-25ºC / +55ºC (-13ºF / 131ºF)<br />

Transmisores soportados en la gama TM70 T70/1/2; T70/3/4; T70/5/6; T70/7/8<br />

TM70Pe V3.2 (02/11) 120021.pdf. 25<br />

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Esquema <strong>de</strong> conexionado:<br />

Dimensiones <strong>de</strong>l receptor en milímetros:<br />

Existe la opción <strong>de</strong> suministro <strong>de</strong> un ―kit <strong>de</strong> fijación rápida‖ compuesto por un<br />

juego <strong>de</strong> 4 imanes y 4 amortiguadores, Ref. IKUSI 3302620<br />

TM70Pe V3.2 (02/11) 120021.pdf 26<br />

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Mantenimiento y localización <strong>de</strong> errores y averías / Señalizaciones <strong>de</strong> los LEDS:<br />

SEÑALIZACION EXTERNA DE LOS LEDS DEL RECEPTOR<br />

LED COLOR CONDICIONES COMENTARIOS ACCION A TOMAR<br />

POWER VERDE Encendido si hay alimentación. Fuente <strong>de</strong> alimentación OK. Verificar la alimentación.<br />

HARDOK VERDE Encendido si no existe error. Hardware equipo OK. Todo es correcto.<br />

HARDOK<br />

ROJO<br />

SIGNAL VERDE<br />

DATA VERDE<br />

ID<br />

RELAY<br />

ORDER<br />

Señalización<br />

Interna <strong>de</strong><br />

los LEDS<br />

Intermitente durante la<br />

inicialización.<br />

Encendido si existe algún error <strong>de</strong>:<br />

- Watchdog activo / oscilador<br />

parado / checksum ROM<br />

<strong>de</strong>fectuoso.<br />

- Reset activado.<br />

- Intermitente si checksum<br />

EEPROM erróneo / datos<br />

incoherentes, corruptos /<br />

error <strong>de</strong>tectado en el bus<br />

CAN -> CAN-ERR<br />

Apagado si no <strong>de</strong>tecta señal <strong>de</strong><br />

radio (Squelch).<br />

Apagado si salva recibida<br />

<strong>de</strong>fectuosa.<br />

Destello si salva recibida correcta.<br />

VERDE Destello si recibe una ID correcta.<br />

Avería <strong>de</strong>l hardware en la<br />

placa..<br />

Esperar a terminar la<br />

inicialización.<br />

Sustituir placa.<br />

---------------- Reprogramar EEPROM.<br />

- LED encendido con el<br />

emisor apagado indica<br />

canal radio ocupado.<br />

- Encendido y DATA<br />

apagado indica canal radio<br />

ocupado por equipo no<br />

IKUSI.<br />

Apagado y LED SIGNAL<br />

encendido: radio<br />

<strong>de</strong>fectuosa.<br />

Apagado y LED DATA<br />

encendido: ID no válida.<br />

SIGNAL, DATA e ID<br />

encendidos, Salva correcta<br />

proveniente <strong>de</strong> su<br />

transmisor. Enlace<br />

correcto.<br />

Verificar radio y batería <strong>de</strong>l<br />

transmisor.<br />

Sustituir radios.<br />

Si canal no ocupado: Verificar<br />

ID seleccionada en emisor o<br />

resetear ID receptor.<br />

Todo es correcto.<br />

VERDE Relé <strong>de</strong> STOP activado ---------------- ----------------<br />

VERDE ---------------- ---------------- ----------------<br />

CAN-RUN (ver<strong>de</strong>): indica el estado <strong>de</strong>l equipo <strong>de</strong>ntro <strong>de</strong> la máquina <strong>de</strong> estados CANopen:<br />

Parpa<strong>de</strong>a cada 200 ms. en estado pre-operacional<br />

Encendido permanentemente en estado operacional<br />

Un <strong>de</strong>stello por segundo en estado <strong>de</strong> parada<br />

CAN-ERR (rojo): indica error si encendido; en condiciones normales <strong>de</strong>be estar apagado.<br />

TM70Pe V3.2 (02/11) 120021.pdf 27<br />

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9.- OPCION DISPLAY LCD70<br />

OPCION DISPLAY LCD70<br />

TM70<br />

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9.1 - INTRODUCCIÓN y DESCRIPCION FUNCIONAL<br />

El LCD70 consiste en un display LCD matricial <strong>de</strong> 102x80 puntos, un teclado <strong>de</strong> hasta seis teclas (4<br />

funciones <strong>de</strong> serie: ENTER/ESC/UP/DOWN) y cuatro LED-s bicolores. Este dispositivo se comunica<br />

mediante el bus I2C siempre en modo esclavo, <strong>de</strong> manera que otro dispositivo (maestro) realiza las<br />

funciones <strong>de</strong> control <strong>de</strong>l LCD70.<br />

LCD:<br />

El LCD tiene una configuración <strong>de</strong> 102x80 puntos y soporta el siguiente formato <strong>de</strong> representación: 2x12<br />

caracteres + iconos.<br />

TECLADO:<br />

El hardware <strong>de</strong>l LCD70 está preparado para po<strong>de</strong>r conectar un teclado <strong>de</strong> 4 funciones.<br />

LEDS y BACKLIGHT:<br />

El LCD70 dispone <strong>de</strong> cuatro LED-s bicolores y soporte backlight para la iluminación <strong>de</strong>l LCD <strong>de</strong> 15 seg.<br />

Cada LED tiene dos colores: rojo y ver<strong>de</strong>, siendo el control <strong>de</strong> cada color in<strong>de</strong>pendiente. El color naranja se<br />

consigue encendiendo ambos colores en un mismo LED.<br />

DIAGRAMA DE BLOQUES:<br />

TM70Pe V3.2 (02/11) 120021.pdf 29<br />

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9.2 - CONEXIONADO INTERNO<br />

ALIMENTACIÓN y BUS I2C<br />

La alimentación para el módulo LCD70 se proporciona <strong>de</strong>s<strong>de</strong> la lógica maestro (pupitre <strong>de</strong>l TM70) mediante<br />

dos hilos: 3V3 y GND. Se conecta a la LE73/74/7EF mediante el conector P6, serigrafiado como ―LCD‖<br />

utilizando el latiguillo código 1095083 (cable trenzado <strong>de</strong> 4 colores).<br />

PIN NOMBRE DESCRIPCIÓN<br />

1 3V3 Tensión continua a 3.3 V<br />

2 SCL Clock I2C<br />

3 SDA Datos I2C<br />

4 GND Masa<br />

LIMITADOR DE ALCANCE<br />

El LCD70 dispone <strong>de</strong> conexión para el Limitador <strong>de</strong> Alcance. Los cables que transmiten las señales <strong>de</strong>l<br />

Limitador <strong>de</strong> Alcance son 5V, DATA y GND. Se conecta a la LE73/74/7EF mediante el conector P8,<br />

serigrafiado como ―LAL‖ utilizando el latiguillo código 1095082 (cable trenzado <strong>de</strong> 3 colores).<br />

PIN NOMBRE DESCRIPCIÓN<br />

1 5VIR Tensión continua a 5 V<br />

2 DATOS Datos <strong>de</strong>l Limitador<br />

3 GROUND Masa<br />

TM70Pe V3.2 (02/11) 120021.pdf 30<br />

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9.3 - EXPLOSIONADO DE ENSAMBLAJE T70 y LCD70<br />

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9.4 - MODOS DE TRABAJO DEL DISPLAY<br />

Modo CONFIGURACION:<br />

Este modo permite, entre otras, realizar las siguientes funciones seleccionables por Menú:<br />

EDICIÓN MATRÍCULA: Editar el nombre <strong>de</strong> la grúa en el display.<br />

CALIBRACIÓN ENTRADA: Calibrar la opción <strong>de</strong> retorno analógico 0-10v.<br />

CALIBRACIÓN SALIDA: Ajustar mediante Teleajuste las salidas analógicas.<br />

Entrada a modos especiales: duplicado <strong>de</strong> EEPROM y Cambio <strong>de</strong> Canal Base utilizando los<br />

diferentes mecanismos y accionamientos en los pupitres.<br />

TRIANGULO: Asociado al accionamiento correspondiente, representará la entrada al Cambio <strong>de</strong> Canal<br />

Base e incremento <strong>de</strong> las <strong>de</strong>cenas.<br />

CUADRADO: Asociado al accionamiento correspondiente, representará la entrada al Duplicado <strong>de</strong><br />

EEPROM e incremento <strong>de</strong> las unida<strong>de</strong>s en el modo <strong>de</strong> Cambio <strong>de</strong> Canal Base.<br />

Entrar en modo configuración:<br />

Entrada al Modo <strong>de</strong> Cambio <strong>de</strong> Canal Base:<br />

Pulsar accionamiento con el símbolo <strong>de</strong> Cambio <strong>de</strong> Canal<br />

Base (Triángulo) y luego pulsar Marcha.<br />

Entrada al Modo <strong>de</strong> Cambio <strong>de</strong> Duplicado <strong>de</strong> EEPROM:<br />

Pulsar accionamiento con el símbolo <strong>de</strong> Duplicado <strong>de</strong><br />

EERPOM (Cuadrado) y luego pulsar Marcha.<br />

Para acce<strong>de</strong>r al Menú <strong>de</strong> Teleajuste hay que presionar <strong>de</strong> manera secuencial las funciones<br />

―ENTER‖ (configuración por <strong>de</strong>fecto) + ―START‖.<br />

Las funciones ▲ ―UP‖ y ▼ ―DOWN‖ permiten navegar por el Menu <strong>de</strong>l software y seleccionar las<br />

opciones <strong>de</strong>seadas.<br />

La función ―ENTER‖ valida la función seleccionada con las funciones ▲ ―UP‖ y ▼ ―DOWN‖ (p.e.<br />

seleccionar un valor <strong>de</strong>terminado o entrar en un nivel inferior <strong>de</strong>l menú <strong>de</strong>l software).<br />

La función ―ESC‖ aborta cualquier selección y permite retornar a un nivel superior en el menú <strong>de</strong>l<br />

software.<br />

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IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


9.5 - MODO RETORNO DE INFORMACION<br />

La selección <strong>de</strong>l retorno <strong>de</strong> la información pue<strong>de</strong> ser por software o por hardware (p.e. utilizando un selector<br />

rotativo)<br />

Selección por software (por <strong>de</strong>fecto): con las funciones ▲ ―UP‖ y ▼ ―DOWN‖ se selecciona en modo <strong>de</strong><br />

funcionamiento normal la información <strong>de</strong> retorno que se <strong>de</strong>sea, <strong>de</strong> todas las disponibles, y <strong>de</strong> forma<br />

secuencial.<br />

Selección por hardware: <strong>de</strong>berá figurar en la ficha técnica <strong>de</strong>l equipo, cual es el accionamiento que permite<br />

dicha selección.<br />

Nota informativa para Retornos Múltiples:<br />

El emisor podrá trabajar con retornos múltiples aunque en cada momento sólo se podrá visualizar en el<br />

display uno <strong>de</strong> los retornos.<br />

Existen dos escenarios en los que se pue<strong>de</strong> implementar el retorno múltiple:<br />

1. Retorno CAN + entrada directa en receptor<br />

En este caso el receptor tendrá una tarjeta analógica (IN010V o IN0450P) o digital (IN4D) conectada. No se<br />

podrá tener la expansión INCAN configurada. Des<strong>de</strong> el punto <strong>de</strong> vista <strong>de</strong>l CAN el receptor actúa como<br />

esclavo.<br />

2. Tarjeta INCAN + entrada directa en receptor<br />

En este caso se podrán tener tantas tarjetas analógicas y digitales conectadas o directamente o mediante la<br />

tarjeta INCAN, pero el retorno CAN no podrá existir. Des<strong>de</strong> el punto <strong>de</strong> vista CAN el receptor actúa como<br />

maestro.<br />

Hasta la revisión TM70 2.4 inclusive, el retorno lo proporciona exclusivamente la entrada conectada<br />

directamente al receptor. Sin embargo, <strong>de</strong>bido al <strong>de</strong>sarrollo <strong>de</strong> la tarjeta INCAN, se van a po<strong>de</strong>r manejar<br />

varios retornos <strong>de</strong> forma simultánea, soportada en la versión 3.1 y versiones superiores, ya que la tarjeta<br />

INCAN proporciona la posibilidad <strong>de</strong> conectar hasta cinco entradas diferentes.<br />

Será el propio usuario quien seleccione el retorno que <strong>de</strong>sea que se visualice en el LCD. Para la selección<br />

<strong>de</strong>l retorno se utilizará un selector software o hardware. Caso <strong>de</strong> selector SW, al pulsar una maniobra, se<br />

incrementará la posición <strong>de</strong>l selector-SW pasando al siguiente retorno configurado (mediante otra maniobra<br />

se podrá retroce<strong>de</strong>r en la posición <strong>de</strong>l selector, así se podrá avanzar en ambos sentidos).<br />

Dependiendo <strong>de</strong> la posición <strong>de</strong>l selector, el emisor visualizará un retorno u otro, avanzando al siguiente<br />

retorno configurado, y modificando los mensajes que se presentan en el display.<br />

El primer retorno será el perteneciente a la tarjeta INxxx conectada directamente al receptor, <strong>de</strong>spués se<br />

consi<strong>de</strong>rarán todos los retornos posibles asociados a las Inxxx conectadas en la INCAN, según el or<strong>de</strong>n en<br />

el que estén conectadas, <strong>de</strong> menor a mayor. En EEPROM, en el fichero <strong>de</strong> la tarjeta INCAN se configurarán<br />

todos los parámetros que especifican la edición <strong>de</strong> los retornos en el display.<br />

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IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


9.5.1 MAPA DE CARACTERES<br />

Los caracteres <strong>de</strong> la tabla correspon<strong>de</strong>n a los <strong>de</strong>l estándar ASCII. Utilizando el juego <strong>de</strong><br />

caracteres se pue<strong>de</strong>n construir caracteres numéricos <strong>de</strong> tamaño gran<strong>de</strong>. Se componen<br />

escribiendo cuatro caracteres: dos en la línea superior y otros dos en la inferior.<br />

Los caracteres que <strong>de</strong>ben utilizarse para crear números <strong>de</strong> tamaño gran<strong>de</strong> están a partir <strong>de</strong> la<br />

dirección B0h. Por tanto, para escribir un ‗1‘ <strong>de</strong> tamaño gran<strong>de</strong> se escribirán consecutivamente<br />

los caracteres <strong>de</strong> las direcciones B0h y B1h en la línea superior y los caracteres <strong>de</strong> las<br />

direcciones B2h y B3h en la línea inferior.<br />

Por otro lado existen los siguientes caracteres especiales:<br />

- km/h en 3 caracteres: 0x83, 0x84, 0x85<br />

- ft en 1 carácter: 0x86<br />

- lbs en 2 caracteres separados: 0x8A, 0x8B<br />

TM70Pe V3.2 (02/11) 120021.pdf 34<br />

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9.5.2 ICONOS DISPONIBLES<br />

Los iconos que dispone el display LCD son los siguientes:<br />

- Batería: dirección en el LCD 43h. El icono <strong>de</strong> la batería se compone <strong>de</strong> otros cuatro iconos:<br />

o Cubierta <strong>de</strong> la batería<br />

o Celda <strong>de</strong> la izquierda<br />

o Celda central<br />

o Celda <strong>de</strong> la <strong>de</strong>recha<br />

- NEW: dirección 2h. Si el nivel es distinto <strong>de</strong> cero, se encien<strong>de</strong>.<br />

9.5.3 CONTROL DEL DISPLAY MEDIANTE VT100<br />

Caracteres <strong>de</strong> control<br />

Los caracteres <strong>de</strong> control VT100 reconocidos por el display LDC70 son:<br />

- ESC (1Bh): Carácter <strong>de</strong> control que inicializa la secuencia <strong>de</strong> control<br />

- NUL (00h): Entrada ignorada (no almacenado en el buffer <strong>de</strong> entrada)<br />

El resto <strong>de</strong> caracteres <strong>de</strong> control no causarán acción alguna.<br />

Secuencias <strong>de</strong> control válidas<br />

Definiciones:<br />

El siguiente listado <strong>de</strong>fine los elementos básicos <strong>de</strong> las secuencias <strong>de</strong> control <strong>de</strong>l modo ASCII.<br />

1. Introductor <strong>de</strong> secuencia <strong>de</strong> control (CSI): en VT100 el CSI es ESC [<br />

2. Ca<strong>de</strong>na <strong>de</strong> parámetros: ca<strong>de</strong>na <strong>de</strong> parámetros separados por un punto y coma (3Bh)<br />

3. Carácter final: carácter cuyo combinación <strong>de</strong> bits termina una secuencia <strong>de</strong> control („m‟, 6Dh)<br />

Secuencias <strong>de</strong> control:<br />

- ESC [ 0 (1Bh 5Bh 30h): Secuencia <strong>de</strong> control para quitar todos los atributos <strong>de</strong> caracteres (‗0‘ es lo<br />

opcional, valor por <strong>de</strong>fecto)<br />

- ESC [Pn ; Pn H (1Bh 5Bh línea 3Bh columna 48h): mueve la posición activa <strong>de</strong>l cursor a la posición<br />

especificada por los parámetros. La condición por <strong>de</strong>fecto sin parámetros presentes es equivalente<br />

a la acción <strong>de</strong> cursor a posición <strong>de</strong> origen. Las líneas se enumeran consecutivamente, siendo el<br />

origen línea 1-columna 1. No está permitido posicionar el cursor fuera <strong>de</strong> los márgenes (línea 1 a 4,<br />

columna 1 a 12). La secuencia con un parámetro Pn numérico con un pre<strong>de</strong>terminado (0)<br />

parámetro será interpretado como secuencia errónea. Ejemplo: ESC [ 2 ; 0 H o ESC [ 2 ; H son<br />

secuencias erróneas.<br />

- ESC [ 2 J (1Bh 5Bh 32h 4Ah): todas las líneas son borradas, y el cursor no se moverá<br />

- ESC [ 4 (1Bh 5Bh 34h): Todos los siguientes caracteres trasmitidos son subrayados hasta recibir la<br />

secuencia <strong>de</strong> escape ESC [ 0 m<br />

- ESC [ 5 (1Bh 5Bh 35h): Todos los siguientes caracteres trasmitidos estarán parpa<strong>de</strong>ando hasta<br />

recibir la secuencia <strong>de</strong> escape ESC [ 0 m<br />

- ESC [ 7 (1Bh 5Bh 37h): Todos los siguientes caracteres trasmitidos serán la imagen inversa hasta<br />

recibir la secuencia <strong>de</strong> escape ESC [ 0 m<br />

El resto <strong>de</strong> secuencias <strong>de</strong> control o secuencias erróneas no causarán acción alguna.<br />

Ejemplo: Secuencia <strong>de</strong> control para borrar todos los atributos <strong>de</strong> caracteres, y luego subrayar y hacer<br />

parpa<strong>de</strong>ar simultáneamente. Secuencias alternativas que lograrán el mismo objetivo:<br />

TM70Pe V3.2 (02/11) 120021.pdf 35<br />

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En una sola secuencia:<br />

ESC [ ; 4 ; 5 ; m (1Bh 5Bh 3Bh 34h 3Bh 35h 3Bh 6Dh)<br />

Lo mismo pero dividido en tres secuencias in<strong>de</strong>pendientes:<br />

ESC [ m (1Bh 5Bh 6Dh)<br />

ESC [ 4 m (1Bh 5Bh 34h 6Dh)<br />

ESC [ 5 m (1Bh 5Bh 35h 6Dh)<br />

Mensajes almacenados<br />

Cuando en la aplicación interesa refrescar toda la pantalla, o una línea, solo <strong>de</strong>spués <strong>de</strong> recibir<br />

completamente dos caracteres <strong>de</strong> control, STX y EXT, permitirá almacenar el texto parcialmente recibido en<br />

un búfer interno hasta completar la recepción, y luego será escrito en el LCD.<br />

Códigos <strong>de</strong> carácter <strong>de</strong> control implementados ASCII<br />

- STX (02h): Comienzo <strong>de</strong> texto. Comienzo <strong>de</strong> introducción <strong>de</strong>l texto en el búffer <strong>de</strong> entrada.<br />

- ETX (03h): Final <strong>de</strong> texto. Final <strong>de</strong> introducción <strong>de</strong> datos en el buffer <strong>de</strong> entrada y escritura <strong>de</strong>l<br />

contenido <strong>de</strong>l búfer en el LCD.<br />

Si no son usados estos códigos <strong>de</strong> caracteres ASCII, los datos serán inmediatamente representados tan<br />

pronto como sea recibido por el display. Los caracteres <strong>de</strong> control ASCII STX y ETX no pue<strong>de</strong>n ser usados<br />

como parámetros <strong>de</strong> secuencias <strong>de</strong> control VT100. Los mensajes almacenados pue<strong>de</strong>n incluir secuencias<br />

<strong>de</strong> control con matrices <strong>de</strong> caracteres.<br />

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Ejemplo: Retorno CAN VT100<br />

Escribir mensajes en display<br />

Los textos son enviados en 8 paquetes <strong>de</strong> 8 bytes cada uno, precedidos <strong>de</strong>l i<strong>de</strong>ntificador COB_ID=0x300+no<strong>de</strong>_ID. Dentro <strong>de</strong> estos paquetes, se pue<strong>de</strong><br />

enviar textos <strong>de</strong> diferente manera para visualizar el mismo mensaje. Por ejemplo, el siguiente mensaje:<br />

Línea<br />

Po<strong>de</strong>mos escribir el siguiente mensaje <strong>de</strong> diferentes modos:<br />

Columna<br />

1 2 3 4 5 6 7 8 9 10 11 12<br />

1 I K U S I<br />

2 I K U S I I K U S I<br />

a) Primero, aparecerá el texto ‗IKUSI‘, luego moveremos la posición <strong>de</strong>l cursor a línae2-columna1, y finalmente visualizaremos el texto ‗IKUSI IKUSI‘ el al<br />

segunda línea.<br />

Texto Desplazamiento Texto Texto<br />

Posición Mensaje (Hex) Signif Posición Mensaje (Hex) Signif Posición Mensaje (Hex) Signif Posición Mensaje (Hex) Signif<br />

LCD1 49 I LCD1 1B ESC LCD1 49 I LCD1 49 I<br />

LCD2 4B K LCD2 5B [ LCD2 4B K LCD2 4B K<br />

LCD3 55 U LCD3 32 Línea 2 LCD3 55 U LCD3 55 U<br />

LCD4 53 S LCD4 3B ; LCD4 53 S LCD4 53 S<br />

LCD5 49 I LCD5 31 Columna 1 LCD5 49 I LCD5 49 I<br />

LCD6 00 LCD6 48 LCD6 20 Espacio LCD6 20 Espacio<br />

LCD7 00 LCD7 6D Comando final 'm‘ LCD7 00 LCD7 00<br />

LCD8 00 LCD8 00 LCD8 00 LCD8 00<br />

TM70Pe V3.2 (02/11) 120021.pdf 37<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


) También po<strong>de</strong>mos escribir el mensaje <strong>de</strong> la siguiente manera:<br />

Texto Desplazamiento Texto Texto<br />

Posición Mensaje (Hex) Signif Posición Mensaje (Hex) Signif Posición Mensaje (Hex) Signif Posición Mensaje (Hex) Signif<br />

LCD1 49 I LCD1 1B ESC LCD1 49 I LCD1 55 U<br />

LCD2 4B K LCD2 5B [ LCD2 4B K LCD2 53 S<br />

LCD3 55 U LCD3 32 Línea 2 LCD3 55 U LCD3 49 I<br />

LCD4 53 S LCD4 3B ; LCD4 53 S LCD4 20 Espacio<br />

LCD5 49 I LCD5 31 Columna 1 LCD5 49 I LCD5 00<br />

LCD6 00 LCD6 48 LCD6 20 Espacio LCD6 00<br />

LCD7 00 LCD7 6D Comando final 'm‘ LCD7 49 I LCD7 00<br />

LCD8 00 LCD8 00 LCD8 4B K LCD8 00<br />

c) O po<strong>de</strong>mos visualizar el texto <strong>de</strong> una vez:<br />

Texto Desplazamiento Texto Texto<br />

Posición Mensaje (Hex) Signif Posición Mensaje (Hex) Signif Posición Mensaje (Hex) Signif Posición Mensaje (Hex) Signif<br />

LCD1 02 Inicio ‗STX‘ LCD1 1B ESC LCD1 49 I LCD1 49 I<br />

LCD2 49 I LCD2 5B [ LCD2 4B K LCD2 4B K<br />

LCD3 4B K LCD3 32 Línea 2 LCD3 55 U LCD3 55 U<br />

LCD4 55 U LCD4 3B ; LCD4 53 S LCD4 53 S<br />

LCD5 53 S LCD5 31 Columna 1 LCD5 49 I LCD5 49 I<br />

LCD6 49 I LCD6 48 LCD6 20 Espacio LCD6 20 Espacio<br />

LCD7 00 LCD7 6D Comando final 'm‘ LCD7 00 LCD7 03 Final ‗ETX‘<br />

LCD8 00 LCD8 00 LCD8 00 LCD8 00<br />

TM70Pe V3.2 (02/11) 120021.pdf 38<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


Una vez completados los 24 caracteres, <strong>de</strong>bemos escribir el comando para enviar el cursor a línea1columna1.<br />

De lo contrario, per<strong>de</strong>remos todo lo que hayamos escrito. Todavía hemos usado 4 paquetes <strong>de</strong> 8<br />

bytes; por lo tanto, disponemos <strong>de</strong> otros 4 paquetes por ejemplo para enviar el estado <strong>de</strong> los LED y el<br />

Zumbador.<br />

Encendido <strong>de</strong> LEDs y Zumbador<br />

Para establecer el estado <strong>de</strong> los LED y el zumbador tenemos que enviar un paquete <strong>de</strong> dos datos. Este<br />

paquete tiene que estar precedido <strong>de</strong>l i<strong>de</strong>ntificador COB_ID=0x200+no<strong>de</strong>_ID.<br />

LEDs Valor <strong>de</strong> 0 a 255<br />

Zumbador Valor 0 o 1<br />

Este primer dato dice si los LED están encendidos en ver<strong>de</strong>, rojo o ámbar (combinando rojo y ver<strong>de</strong>). Es un<br />

código binario que se interpreta <strong>de</strong> la siguiente manera, por ejemplo:<br />

El Segundo dato dice si el zumbador está ON (1) u OFF (0). Este es el mensaje completo:<br />

LEDs y Zumbador<br />

Posición Mensaje (Hex) Significado<br />

LCD1 57 Led1=Ver<strong>de</strong>; Led2=Rojo; Led3=Ámbar; Led4=Off<br />

LCD2 01 Zumbador ON<br />

LCD3<br />

LCD4<br />

LCD5<br />

LCD6<br />

LCD7<br />

LCD8<br />

LED 4 LED3 LED 2 LED 1<br />

Rojo Ver<strong>de</strong> Rojo Ver<strong>de</strong> Rojo Ver<strong>de</strong> Rojo Ver<strong>de</strong><br />

128 64 32 16 8 4 2 1<br />

0 0 1 1 1 0 0 1<br />

Dato=57h<br />

Importarte: El último byte <strong>de</strong>l segundo paquete que transmite el sistema, podría tener diferentes valores:<br />

- Si el valor es 1, significa que el mensaje CAN ya ha sido transmitido al transmisor. El receptor podrá<br />

recibir un mensaje más y guardarlo para enviárselo al transmisor más tar<strong>de</strong>.<br />

- Si el valor es 0, significa que el transmisor ya ha recibido el mensaje CAN y el receptor está<br />

preparado para recibir uno nuevo.<br />

- Si el valor es 3, significa que tiene el búfer lleno y está esperando la confirmación <strong>de</strong>l transmisor. Si<br />

en este estado enviamos más mensajes, como no tiene espacio don<strong>de</strong> guardarlo, se per<strong>de</strong>rán.<br />

TM70Pe V3.2 (02/11) 120021.pdf 39<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


10.- MODO DE FUNCIONAMIENTO “FIRST COME – FIRST SERVED”<br />

“FIRST COME – FIRST SERVED”<br />

TM70<br />

MODO DE FUNCIONAMIENTO<br />

TM70Pe V3.2 (02/11) 120021.pdf 40<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


10. TM70 – OPERACIONES EN MODO FIRST COME – FIRST SERVED<br />

10.1 - INTRODUCCION<br />

Esta opción permite la operación individual <strong>de</strong> una grúa con dos transmisores con diferentes<br />

códigos <strong>de</strong> ID, que <strong>de</strong>terminan qué transmisor está gobernando la grúa en un <strong>de</strong>terminado<br />

momento. Para aplicaciones First come – First Served el receptor escaneará los canales <strong>de</strong> radio<br />

para recibir las señales <strong>de</strong> radio <strong>de</strong> ambos transmisores.<br />

El modo First come – First served está <strong>de</strong>finido por EEPROM, y los transmisores no necesitan<br />

poseer selector. El modo First come – First served consiste <strong>de</strong> un receptor que libera el código <strong>de</strong><br />

ID cada vez que el receptor entra en reposo y por tanto escanea los canales buscando los códigos<br />

<strong>de</strong> ID <strong>de</strong>finidos en la lista <strong>de</strong> ID en la EEPROM. La primera ID válida encontrada es la seleccionada<br />

y se engancha a ella hasta que el operador libera la grúa al apretar la seta <strong>de</strong> STOP. Después <strong>de</strong><br />

un tiempo <strong>de</strong>finido en EEPROM (0.1 – 25 segundos, por <strong>de</strong>fecto 4 segundos), el receptor libera la<br />

ID en la que estaba enganchada y comienza a escanear ID y canales <strong>de</strong> radio. El primer transmisor<br />

que envía la or<strong>de</strong>n <strong>de</strong> marcha será el primero en hacerse cargo <strong>de</strong>l control <strong>de</strong> la grúa, y no <strong>de</strong>jará a<br />

ningún otro transmisor el control <strong>de</strong> la misma hasta que dicho transmisor sea apagado.<br />

La operación con grúas modo First Come – First Served siempre es <strong>de</strong>licada, ya<br />

que el receptor queda liberado cada vez que se pulsa la seta <strong>de</strong> STOP o se<br />

produce una pérdida <strong>de</strong> enlace.<br />

10.2 - SISTEMAS CON DOS TRANSMISORES<br />

F1<br />

TRANSMISOR 1<br />

ID1<br />

ID1<br />

ID2<br />

RECEPTOR 1<br />

Los transmisores 1 y 2 tienen dos códigos <strong>de</strong> ID diferentes y transmiten en dos canales <strong>de</strong><br />

radio diferentes. Una vez que el receptor entra en reposo, apagado por el transmisor que la<br />

tenía en uso, <strong>de</strong>spués <strong>de</strong>l tiempo <strong>de</strong> liberación <strong>de</strong>finido en la EEPROM, el receptor<br />

comienza a escanear nuevos códigos <strong>de</strong> ID y canales <strong>de</strong> radio, buscando una trama con la<br />

or<strong>de</strong>n <strong>de</strong> marcha pulsada. El modo <strong>de</strong> operación First come – First served permite<br />

tener hasta 32 transmisores diferentes gobernando un único receptor.<br />

TM70Pe V3.2 (02/11) 120021.pdf 41<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

F1<br />

F2<br />

ID2<br />

F2<br />

TRANSMISOR 2


11.- OPCION LIMITADOR DE ALCANCE LA70 y LA70M<br />

OPCION LIMITADOR DE ALCANCE<br />

LA70 / LA70M<br />

TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf 42<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


11.1.1- DESCRIPCIÓN DEL SISTEMA<br />

Los equipos <strong>de</strong> telemando vía radio TM70 disponen <strong>de</strong> una opción <strong>de</strong> limitación <strong>de</strong> alcance para<br />

grúas puente, mediante la cual, el sistema es capaz <strong>de</strong> discernir si el emisor se encuentra fuera <strong>de</strong><br />

una zona <strong>de</strong>finida como zona <strong>de</strong> trabajo y <strong>de</strong>sactivar las maniobras cuando esta circunstancia se<br />

produce.<br />

El sistema consiste en uno o varios emisores <strong>de</strong> infrarrojo LA70, instalados en puntos fijos o en la<br />

propia grúa controlada, orientados <strong>de</strong> forma que cubran la zona <strong>de</strong> trabajo que se preten<strong>de</strong> limitar.<br />

Los emisores <strong>de</strong> telemando incorporan en estos casos un sensor que recibe la información<br />

proce<strong>de</strong>nte <strong>de</strong>l emisor LA70; esta información es analizada por el microprocesador <strong>de</strong>l emisor, que <strong>de</strong><br />

esta forma conoce cuando el operario ha abandonado la zona <strong>de</strong> trabajo, y en consecuencia,<br />

<strong>de</strong>sactiva las maniobras.<br />

LA70<br />

Ejemplos <strong>de</strong> aplicación:<br />

11.1.2 - SENSOR INFRARROJOS<br />

Como ya se ha dicho, el elemento sensor se encuentra en el emisor <strong>de</strong> telemando, y su función es<br />

recibir la información infrarroja proce<strong>de</strong>nte <strong>de</strong>l emisor LA70. La ubicación <strong>de</strong> este sensor es la<br />

siguiente:<br />

El microprocesador <strong>de</strong>l emisor recibe la información <strong>de</strong>l sensor y comprueba la i<strong>de</strong>ntidad <strong>de</strong> la grúa.<br />

En el momento en que el sensor <strong>de</strong>ja <strong>de</strong> recibir señal proce<strong>de</strong>nte <strong>de</strong> su grúa, el LED <strong>de</strong>l emisor que<br />

se encontraba encendido en color ver<strong>de</strong>, pasa a emitir pulsos lentos en color rojo, (en los equipos<br />

pupitre, suena a<strong>de</strong>más el zumbador, para avisar al operador que se ha alejado <strong>de</strong>masiado. Si esta<br />

situación se mantiene durante 4 segundos, se retiran todas las ór<strong>de</strong>nes activas, aunque manteniendo<br />

la comunicación con el receptor <strong>de</strong> telemando. De esta forma, se mantienen activados el contactor<br />

general y las ór<strong>de</strong>nes <strong>de</strong> selección.<br />

TM70Pe V3.2 (02/11) 120021.pdf 43<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


Para restablecer la operatividad, basta con regresar a la zona <strong>de</strong> trabajo con las maniobras<br />

<strong>de</strong>shabilitadas. De esta manera al entrar <strong>de</strong>ntro <strong>de</strong> alcance no se podrá activar el mando con ór<strong>de</strong>nes<br />

<strong>de</strong> movimiento pulsadas. Si el Telemando posee display, al salir <strong>de</strong> alcance aparecerá en el Display el<br />

mensaje ―Out of Range‖.<br />

El Telemando posee 4 formas <strong>de</strong> funcionamiento <strong>de</strong>l limitador <strong>de</strong> alcance:<br />

1.- Limitador <strong>de</strong> alcance sólo en el Arranque (Llave electrónica): Para que el emisor arranque es<br />

necesario que el equipo se encuentre <strong>de</strong>ntro <strong>de</strong> una zona <strong>de</strong> trabajo establecida por el Emisor <strong>de</strong><br />

Infrarrojos.<br />

2.- Limitador <strong>de</strong> alcance sólo en Trabajo: El emisor se pue<strong>de</strong> poner en marcha <strong>de</strong>ntro <strong>de</strong> la zona <strong>de</strong><br />

trabajo (<strong>de</strong>ntro o fuera <strong>de</strong> la zona <strong>de</strong> limitación <strong>de</strong> alcance), pero las maniobras <strong>de</strong> movimiento sólo<br />

serán activas una vez estemos <strong>de</strong>ntro <strong>de</strong> la zona <strong>de</strong> limitación <strong>de</strong> alcance.<br />

3.- Limitador <strong>de</strong> Alcance en el Arranque y en el Trabajo: Para funcionar el equipo con todas sus<br />

funcionalida<strong>de</strong>s el equipo <strong>de</strong>be encontrarse <strong>de</strong>ntro <strong>de</strong> la zona <strong>de</strong> trabajo.<br />

4.- Limitador <strong>de</strong> alcance como salida <strong>de</strong> relé: Esta funcionalidad, hace que el emisor no señalice nada<br />

si está fuera <strong>de</strong> Alcance. Tan sólo activará el bit <strong>de</strong> LA en la salva, que posteriormente se procesará<br />

en la tabla según proceda.<br />

11.2.1 - EMISOR INFRARROJO LA70<br />

Es el elemento a instalar en el puente que genera la radiación infrarroja modulada con un código <strong>de</strong><br />

i<strong>de</strong>ntidad, que permite al sensor su i<strong>de</strong>ntificación.<br />

El haz <strong>de</strong> emisión no es simétrico, sino que tiene un ángulo mayor en sentido <strong>de</strong> avance longitudinal<br />

<strong>de</strong>l puente que en el sentido transversal <strong>de</strong>l carro.<br />

h (m) D (m) ± 63º d (m) ± 40º<br />

6 24 10<br />

8 32 13<br />

10 40 17<br />

12 48 20<br />

14 56 23<br />

16 64 26<br />

18 68 29<br />

20 70 32<br />

De esta forma, la zona <strong>de</strong> trabajo cubierta por un emisor tiene una forma similar a una elipse, cuyas<br />

dimensiones <strong>de</strong>pen<strong>de</strong>n <strong>de</strong> la altura <strong>de</strong>l puente sobre el suelo. De forma orientativa, las diagonales <strong>de</strong><br />

la elipse en función <strong>de</strong> la altura, son las siguientes:<br />

Cuando se consi<strong>de</strong>re que la zona cubierta por un emisor no es suficiente para las necesida<strong>de</strong>s,<br />

pue<strong>de</strong>n instalarse más emisores esclavos <strong>de</strong>l emisor maestro.<br />

TM70Pe V3.2 (02/11) 120021.pdf 44<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


11.2.2 – INSTALACION Y CONEXIONADO LA70<br />

Gestionar la parada total <strong>de</strong> la grúa durante todo el tiempo estimado <strong>de</strong> montaje,<br />

<strong>de</strong>spejar la zona <strong>de</strong> trabajo y utilizar las prendas <strong>de</strong> seguridad.<br />

Verificar la tensión <strong>de</strong> alimentación y <strong>de</strong>sconectar el seccionador general.<br />

No olvi<strong>de</strong> conectar el cable <strong>de</strong> tierra.<br />

Utilice cables ignífugos para el conexionado.<br />

Localizar una ubicación a<strong>de</strong>cuada para el emisor <strong>de</strong> infrarrojo, alejado <strong>de</strong><br />

elementos generadores <strong>de</strong> perturbaciones eléctricas intensas y libre <strong>de</strong><br />

obstáculos que perjudiquen la emisión <strong>de</strong> luz.<br />

Seleccionar la tensión <strong>de</strong> alimentación a<strong>de</strong>cuada y proce<strong>de</strong>r al conexionado<br />

<strong>de</strong> la alimentación.<br />

Colocar el jumper <strong>de</strong> selección <strong>de</strong> modo como maestro.<br />

Seleccionar el código programado en la memoria EEPROM <strong>de</strong>l emisor.<br />

TM70Pe V3.2 (02/11) 120021.pdf 45<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


En el caso <strong>de</strong> que la zona cubierta por un emisor no sea suficiente, pue<strong>de</strong>n conectarse otros<br />

emisores LA70 en serie, programados como esclavos en el selector <strong>de</strong> modo. En este caso, el<br />

código emitido correspon<strong>de</strong> con el seleccionado en el emisor maestro.<br />

El conexionado <strong>de</strong> comunicación entre emisores, <strong>de</strong>be realizarse con cable apantallado.<br />

11.2.3 - CARACTERÍSTICAS TÉCNICAS LA70<br />

Emisor Infrarrojo<br />

Alimentación 48, 115, 230 Vca ± 10%; 50/60 Hz<br />

Temperatura <strong>de</strong> trabajo -20 a +65ºC<br />

Protección IP55<br />

TM70Pe V3.2 (02/11) 120021.pdf 46<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


11.3.1 – EMISOR INFRARROJO LA70M<br />

Nuevo re-diseño <strong>de</strong>l limitador <strong>de</strong> alcance LA70 más compacto y modular compatible con telemandos <strong>de</strong> las<br />

gamas TM60 y TM70<br />

Referencias y <strong>de</strong>scripciones <strong>de</strong> los módulos y cable <strong>de</strong> conexión para las expansiones:<br />

Cod S.E. DESCRIPCION CODIGO REF.COM.<br />

MODULO LA70M CON F.A.-DC 2305228 LA70M DC<br />

MODULO LA70M CON F.A.-AC 2305229 LA70M AC<br />

MODULO LA70M EXPANSION ESCLAVO 2305230 LA70M EX<br />

7505 70GU101 CABLE CONEX-M12 10MT 2301234 CABLE CONEX-M12<br />

LA70M AC / LA70M DC<br />

Especificaciones LA70M:<br />

LA70M EX<br />

Modulos: LA70M AC / LA70M DC ESPECIFICACIONES<br />

Alimentación AC 48/115/230v AC +/-20% 50/60Hz<br />

Alimentación DC 8-35v DC<br />

Fusible alimentación AC 0,63A /250v<br />

Fusible alimentación DC 2A/250v<br />

Potencia máxima consumida 20VA<br />

Temperatura <strong>de</strong> funcionamiento -20/+70 ºC<br />

Grado <strong>de</strong> estanqueidad IP67<br />

Alcance máximo 50 metros<br />

Conexión externa Conector M12 -5 polos- (hembra)<br />

Jumper I8 Configura el terminal <strong>de</strong> carga resistiva ON/OFF<br />

Jumper I14 Modo <strong>de</strong> configuración TM60 o TM70<br />

Pre-selector <strong>de</strong> ID -> Jumper I3 Modo expansión / Códigos ID: ―2‖ al ―F‖ / ID por <strong>de</strong>fecto fábrica =‖3‖<br />

Jumper I2 (Funcionalidad no implementada)<br />

Led <strong>de</strong> señalización (STATUS) HARDWARE OK –parpa<strong>de</strong>o en ver<strong>de</strong>- / ERROR –apagado-<br />

Montaje rápido Mediante imanes (configuración estándar)<br />

Dimensiones externas 80 mm x 160 mm x 65 mm (Largo x Ancho x Alto)<br />

TM70Pe V3.2 (02/11) 120021.pdf 47<br />

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Modulo: LA70M EX ESPECIFICACIONES<br />

Alimentación DC Proporcionada por el módulo principal o Maestro<br />

Temperatura <strong>de</strong> funcionamiento -20/+70 ºC<br />

Grado <strong>de</strong> estanqueidad IP67<br />

Alcance máximo 50 metros<br />

Conexión externa 2 conectores M12 -5 polos- (macho - hembra)<br />

Número máximo expansiones 2 (por cada módulo Maestro)<br />

Cable conexión LA70M XX / LA70M EX 10 metros M12 –hembra/macho- (se suministra como repuesto)<br />

Led <strong>de</strong> señalización HARDWARE OK –parpa<strong>de</strong>o en ver<strong>de</strong>- / ERROR –apagado-<br />

Montaje rápido Mediante imanes (configuración estándar)<br />

Dimensiones externas 82 mm x 80 mm x 65 mm (Largo x Ancho x Alto)<br />

Especificaciones <strong>de</strong> la caja:<br />

MATERIALES CARACTERISTICAS<br />

Material Policarbonato Grado estanqueidad IP67 EN 60529<br />

Color base RAL 7035 Resistencia a impactos IK07 EN 62262<br />

Color tapa Transparente Aislamiento eléctrico Totalmente aislado<br />

Tornillos cierre tapa Acero inoxidable Libre <strong>de</strong> Halógenos SI / DIN-VDE 0472 Parte 815<br />

Junta estanqueidad Poliuretano Resistencia UV UL 508<br />

TEMPERATURAS Inflamabilidad UL 746 C 5: UL 94 5V<br />

Régimen transitorio -40…..+120 ºC Test alambre incan<strong>de</strong>scente IEC (695-2-1) ºC:960<br />

Régimen permanente -40…..+ 80 ºC Tipo UL UL tipo 1,4,4X,12,13<br />

El modo <strong>de</strong> funcionamiento es el mismo que queda reflejado en los puntos 11.1 y 11.2 incluidos en<br />

este apartado.<br />

El área <strong>de</strong> cobertura pue<strong>de</strong> ser circular (configuración por <strong>de</strong>fecto) o elíptica (solicitar la opción <strong>de</strong><br />

montaje -> abriendo los LEDs +/-20ª entre sí) para cada módulo LA70M o LA70M EX:<br />

Area <strong>de</strong> cobertura circular <strong>de</strong> la emisión infrarroja (D=d)<br />

TODOS los LEDs en paralelo<br />

h (m) D (m) ± 0º d (m) ±0º<br />

6 2 2<br />

8 3 3<br />

10 4 4<br />

12 4 4<br />

14 5 5<br />

16 6 6<br />

18 6 6<br />

20-35 7 7<br />

TM70Pe V3.2 (02/11) 120021.pdf 48<br />

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Area <strong>de</strong> cobertura elíptica <strong>de</strong> la emisión infrarroja (D≠d)<br />

LEDs abiertos<br />

h (m) D (m) ±20º d (m) ± 0º<br />

6 7 2<br />

8 9 3<br />

10 12 4<br />

12 14 4<br />

14 16 5<br />

16 18 6<br />

18 21 6<br />

20 23 7<br />

Configuración <strong>de</strong> los diferentes Jumpers y selector <strong>de</strong> ID I3 en los módulos maestros:<br />

I3: Selección <strong>de</strong> ID / Rango permitido ―2,3…..8,9,A,B….F‖ -> 14 posiciones. Configuración por <strong>de</strong>fecto,<br />

ID=3 (*)<br />

I14: Selección compatibilidad TM60 o TM70<br />

I2: funcionalidad NO operativa (Posición “Normal” por <strong>de</strong>fecto)<br />

SELECTOR CÓDIGO<br />

I-2<br />

Normal<br />

Expandido<br />

F<br />

0<br />

2<br />

SELECTOR ID<br />

I-3<br />

J-TAG<br />

LED’s IR<br />

CONECTORES<br />

LA60/70<br />

I-14 LA60 LA70<br />

TM70Pe V3.2 (02/11) 120021.pdf 49<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


11.3.2.- INSTALACION y CONEXIONADO LA70M<br />

Gestionar la parada total <strong>de</strong> la máquina durante todo el tiempo estimado <strong>de</strong><br />

montaje, <strong>de</strong>spejar la zona <strong>de</strong> trabajo y utilizar las prendas <strong>de</strong> seguridad.<br />

Verificar la tensión <strong>de</strong> alimentación y <strong>de</strong>sconectar la alimentación general.<br />

No olvi<strong>de</strong> conectar el cable <strong>de</strong> tierra.<br />

Utilice los cables recomendados por el fabricante para el conexionado, entre los<br />

módulos maestros y las expansiones.<br />

Localizar una ubicación a<strong>de</strong>cuada para el emisor <strong>de</strong> infrarrojo, alejado <strong>de</strong><br />

elementos generadores <strong>de</strong> perturbaciones eléctricas intensas y libre <strong>de</strong><br />

obstáculos que perjudiquen la emisión <strong>de</strong> luz.<br />

Seleccionar la tensión <strong>de</strong> alimentación a<strong>de</strong>cuada y proce<strong>de</strong>r al conexionado<br />

<strong>de</strong> la alimentación.<br />

Colocar el jumper <strong>de</strong> selección <strong>de</strong> modo como maestro.<br />

Seleccionar el código programado en la memoria EEPROM <strong>de</strong>l emisor.<br />

Evitar en todo momento que incida luz exterior directamente al emisor <strong>de</strong><br />

infrarrojos (especial atención a lámparas fluorescentes y a los rayos solares)<br />

Colocar el tapón <strong>de</strong> protección, suministrado con los módulos Maestros, al<br />

último módulo <strong>de</strong> expansión (si la instalación lleva módulos <strong>de</strong> expansión)<br />

LA70M AC / LA70M DC LA70M EX<br />

ID=3 (*)<br />

ALIMENTACION AC/DC<br />

Número máximo <strong>de</strong> expansiones (por módulo Maestro) = 2<br />

LA70M EX<br />

TAPON<br />

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12.- MODO DE FUNCIONAMIENTO “PITCH & CATCH”<br />

“PITCH & CATCH”<br />

TM70<br />

MODO DE FUNCIONAMIENTO<br />

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12. TM70 – OPERACIONES EN MODO PITCH & CATCH<br />

12.1 - INTRODUCCION<br />

Esta opción permite la operación <strong>de</strong> una grúa por dos emisores, mediante la selección <strong>de</strong> códigos<br />

ID, que <strong>de</strong>terminan el modo <strong>de</strong> operación. Para esta aplicación, se requiere que los receptores<br />

dispongan <strong>de</strong> escáner, para po<strong>de</strong>r recibir señal <strong>de</strong> radio <strong>de</strong> distintos transmisores.<br />

Este modo <strong>de</strong> operación consiste en el uso indistinto por parte <strong>de</strong> los transmisores <strong>de</strong> una misma<br />

grúa. Es <strong>de</strong>cir, el primero <strong>de</strong> los transmisores que se hace cargo <strong>de</strong> la grúa mantiene el mando <strong>de</strong><br />

la misma hasta que ésta se apague (en un principio igual que el modo First Come, First Served ).<br />

Ahora bien, si en el momento <strong>de</strong> <strong>de</strong>jar libre la grúa (aprieta la seta <strong>de</strong> STOP), el otro transmisor se<br />

encuentra encendido y con MARCHA pulsada, dicho emisor se hace cargo automáticamente <strong>de</strong> la<br />

grúa, sin que caigan los relés <strong>de</strong> STOP. De esta forma los usuarios <strong>de</strong> una misma grúa con<br />

transmisores distintos pue<strong>de</strong>n pasarse la misma en movimiento. Al ser necesario tener MARCHA<br />

pulsada, si el relé <strong>de</strong> marcha/claxon tiene una sirena conectada, se producirá un sonido <strong>de</strong> la<br />

misma en el momento <strong>de</strong> producirse el cambio <strong>de</strong> un transmisor a otro.<br />

Una operación en modo Pitch & Catch es una operación <strong>de</strong>licada, ya que el<br />

receptor queda liberado cada vez que se pulsa la seta <strong>de</strong> STOP o se produce una<br />

pérdida <strong>de</strong> enlace.<br />

12.2 - SISTEMAS CON DOS EMISORES<br />

F1<br />

ID1<br />

ID2<br />

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F1<br />

F2<br />

ID1 ID2<br />

TRANSMISOR 1<br />

RECEPTOR 1<br />

F2<br />

TRANSMISOR 2


Los emisores no disponen <strong>de</strong> ningún tipo <strong>de</strong> selector. Es el receptor el que libera su código <strong>de</strong><br />

i<strong>de</strong>ntificación <strong>de</strong> ID.<br />

Cuando se precisa realizar una operación Pitch & Catch, el operador <strong>de</strong>l emisor que no tiene la grúa<br />

activada <strong>de</strong>be solicitar al operador <strong>de</strong>l emisor que trabaja el apagado <strong>de</strong> dicho emisor. Para ello,<br />

dicho usuario <strong>de</strong>be pulsar la seta <strong>de</strong> STOP. Con ello, el receptor quedará liberado <strong>de</strong> dicha ID, y el<br />

segundo emisor, ya emitiendo y con MARCHA pulsada se podrá hacer cargo <strong>de</strong>l receptor sin que<br />

caigan los relés <strong>de</strong> STOP.<br />

En el evento <strong>de</strong> que el transmisor que gobierna la grúa pare con el segundo emisor apagado, el<br />

equipo parará normalmente y quedará liberado hasta que el primer emisor que pulse MARCHA se<br />

haga cargo <strong>de</strong>l equipo.<br />

Cuando la operación Pitch & Catch ha finalizado, el primer emisor que pulse MARCHA se hará<br />

cargo <strong>de</strong>l gobierno <strong>de</strong> la grúa.<br />

Este modo <strong>de</strong> funcionamiento se personaliza en la EEPROM <strong>de</strong>l equipo y <strong>de</strong>be ser grabado en<br />

Fábrica.<br />

TM70Pe V3.2 (02/11) 120021.pdf 53<br />

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13.- SISTEMAS MULTIGRUA: MODO DE FUNCIONAMIENTO EN TANDEM<br />

SISTEMAS MULTIGRUA<br />

TANDEM<br />

TM70<br />

MODO DE FUNCIONAMIENTO<br />

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IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


13. TM70 – OPERACIONES EN TANDEM<br />

13.1 - INTRODUCCION<br />

Esta opción permite la operación <strong>de</strong> dos grúas individualmente o en tán<strong>de</strong>m <strong>de</strong>s<strong>de</strong> un emisor,<br />

mediante la selección <strong>de</strong> códigos ID, que <strong>de</strong>terminan el modo <strong>de</strong> operación. Para esta aplicación,<br />

se requiere que los receptores dispongan <strong>de</strong> escáner, para po<strong>de</strong>r recibir señal <strong>de</strong> radio <strong>de</strong> distintos<br />

transmisores.<br />

Una vez realizada una selección, el acceso al receptor o receptores seleccionados queda<br />

bloqueado a otros emisores hasta no ser liberados por el emisor que tiene el control. Este bloqueo<br />

se mantiene incluso en caso <strong>de</strong> que el equipo sea <strong>de</strong>sconectado sin previa liberación.<br />

Cuando se realiza una selección con el emisor <strong>de</strong>sconectado, el equipo no se pone en marcha e<br />

indica mediante pulsos rojos <strong>de</strong> 0.4 s en el LED que la selección no es correcta. Debe entonces<br />

restablecerse la selección en el momento en que el emisor fue <strong>de</strong>sconectado.<br />

Una operación con grúas en tán<strong>de</strong>m es una operación <strong>de</strong>licada.<br />

Recuer<strong>de</strong> que existen dispositivos <strong>de</strong> seguridad, (limitadores <strong>de</strong> recorrido,<br />

sistemas <strong>de</strong> anticolisión, etc.), que pue<strong>de</strong>n afectar a una sola <strong>de</strong> las grúas, y por<br />

consiguiente a la parada <strong>de</strong> la misma, en tanto que la otra grúa mantiene íntegra<br />

su operatividad.<br />

En los sistemas tán<strong>de</strong>m con display, en la línea 1 <strong>de</strong>l display aparecerá la matrícula <strong>de</strong> la grúa 1 y<br />

en la línea 2 aparecerá la matrícula <strong>de</strong> grúa 2. Con el selector en la posición 1+2 aparecerán ambas<br />

matrículas.<br />

Se pue<strong>de</strong>n personalizar las matriculas <strong>de</strong> las dos grúas siguiendo la <strong>de</strong>scripción <strong>de</strong>l ANEXO A en<br />

este <strong>manual</strong>.<br />

Los datos <strong>de</strong> matrícula modificados en el emisor no son actualizados en la<br />

EEPROM <strong>de</strong>l receptor. Para hacerlo, copiar los nuevos datos <strong>de</strong> la EEPROM <strong>de</strong>l<br />

emisor en la <strong>de</strong>l receptor.<br />

NOTA IMPORTANTE:<br />

La configuración por <strong>de</strong>fecto <strong>de</strong> las frecuencias utilizadas en los equipos tán<strong>de</strong>m suministrados <strong>de</strong>s<strong>de</strong><br />

fabrica son F1= CB y F2= CB+4. Por <strong>de</strong>fecto CB = CT.<br />

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IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.


13.2 - SISTEMAS CON UN EMISOR MAESTRO<br />

ID1<br />

ID2<br />

RECEPTOR 1<br />

F1<br />

F1<br />

F2<br />

ID1 ID2<br />

ESCLAVO<br />

El emisor maestro dispone <strong>de</strong> un selector <strong>de</strong> Grúa ―1 / 1+2 / 2‖, en tanto que el emisor esclavo tiene<br />

únicamente un pulsador <strong>de</strong> liberación ―L‖.<br />

Cuando se precisa realizar una operación en tán<strong>de</strong>m, el operador <strong>de</strong>l emisor maestro <strong>de</strong>be solicitar<br />

al operador <strong>de</strong>l emisor esclavo la liberación <strong>de</strong>l receptor 1. Para ello, pulsar simultáneamente<br />

durante 5‖ el pulsador <strong>de</strong> liberación ―L‖ y el pulsador <strong>de</strong> Marcha. Con ello, el emisor enviará al<br />

receptor 1 la or<strong>de</strong>n <strong>de</strong> liberación, quedando así <strong>de</strong>sconectado y habilitado para aceptar un nuevo<br />

código ID.<br />

A continuación, en el emisor maestro podrá seleccionarse la posición ―1+2‖ y pulsar Marcha hasta<br />

que se encienda el LED ver<strong>de</strong>. Al hacerlo, el emisor enviará la or<strong>de</strong>n <strong>de</strong> liberación <strong>de</strong>l receptor 2 y a<br />

continuación enviará la or<strong>de</strong>n <strong>de</strong> marcha, con lo que quedarán habilitados los receptores 1 y 2 para<br />

operar en tán<strong>de</strong>m.<br />

Cuando la operación en tán<strong>de</strong>m ha finalizado, se <strong>de</strong>be seleccionar <strong>de</strong> nuevo la posición 2 en el<br />

emisor maestro y pulsar Marcha. De este modo, el receptor 1 queda <strong>de</strong> nuevo disponible para ser<br />

utilizado por el emisor esclavo, y el emisor maestro pasa a controlar únicamente el receptor 2.<br />

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IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

F2<br />

ID2<br />

RECEPTOR 2<br />

F2<br />

MAESTRO<br />

F2


13.3.- SISTEMAS CON DOS EMISORES MAESTROS<br />

ID1<br />

ID2<br />

ID1<br />

RECEPTOR 1 RECEPTOR 2<br />

F1<br />

F2<br />

F1 F1 F2 F2<br />

En el caso <strong>de</strong> sistemas <strong>de</strong> botonera en tán<strong>de</strong>m, con dos emisores Maestros, ambos <strong>de</strong>ben tener un<br />

selector ―1 / 1+2 / 2‖ y a<strong>de</strong>más un pulsador <strong>de</strong> liberación ―L‖.<br />

Cuando uno <strong>de</strong> los emisores <strong>de</strong>be operar en tán<strong>de</strong>m, el operador <strong>de</strong>be solicitar a su compañero la<br />

disponibilidad <strong>de</strong> la grúa, para lo cual, éste <strong>de</strong>be pulsar ―L‖ y Marcha simultáneamente en su emisor.<br />

De este modo, el receptor queda disponible para aceptar otro código ID y el emisor se <strong>de</strong>sconecta.<br />

A continuación, en el emisor que va a realizar la operación en tán<strong>de</strong>m, se <strong>de</strong>be seleccionar ―1+2‖ y<br />

pulsar Marcha hasta que se encienda el LED ver<strong>de</strong>, con lo que se acce<strong>de</strong> a ambos receptores.<br />

Cuando la operación ha finalizado, se <strong>de</strong>be pulsar ―L‖ y Marcha simultáneamente, para liberar<br />

ambos receptores y realizar una nueva selección.<br />

Cuando se trata <strong>de</strong> emisores <strong>de</strong> tipo pupitre, la función ―L‖ se incluye en un selector rotativo <strong>de</strong><br />

cuatro posiciones ―L / 1 / 1+2 / 2‖. Por lo <strong>de</strong>más, la operatividad es la misma en ambos casos.<br />

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ID1<br />

ID2<br />

MAESTRO 1 MAESTRO<br />

2<br />

ID2<br />

F1<br />

F2


14.- RETORNO ANALOGICO / OPCION IN 0-10v / CALIBRACION<br />

RETORNO ANALOGICO<br />

OPCION IN 0-10v<br />

CALIBRACION<br />

TM70<br />

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14. TM70 – OPERACIONES CON VIA DE RETORNO ANALOGICO<br />

14.1 - INTRODUCCION<br />

Los equipos con vía <strong>de</strong> retorno analógica precisan <strong>de</strong> la opción display y la opción retorno<br />

analógico.<br />

Los equipos con vía <strong>de</strong> retorno analógico precisan, en el momento <strong>de</strong> la puesta en Marcha <strong>de</strong> la<br />

calibración <strong>de</strong> la entrada analógica por parte <strong>de</strong>l Distribuidor o <strong>de</strong>l operario. Para ello será necesario<br />

realizar las siguientes operaciones:<br />

14.2 - CALIBRACIÓN DE LA VIA DE RETORNO ANALÓGICA EN DISPLAY LCD70<br />

Los emisores con opción display LCD, permiten al operador la calibración <strong>de</strong> la vía <strong>de</strong> retorno que se<br />

va a activar, mediante la presentación <strong>de</strong> un valor <strong>de</strong> 3 dígitos y una unidad <strong>de</strong> medida <strong>de</strong> hasta tres<br />

caracteres.<br />

Los datos <strong>de</strong> calibración <strong>de</strong> la vía <strong>de</strong> retorno modificados en el emisor no son<br />

actualizados en la EEPROM <strong>de</strong>l receptor. Para hacerlo, copiar los nuevos datos <strong>de</strong> la<br />

EEPROM <strong>de</strong>l emisor en la <strong>de</strong>l receptor.<br />

En la puesta en marcha <strong>de</strong>l telemando, la calibración se realiza <strong>de</strong> la siguiente forma:<br />

1. Introducir una batería cargada y girar la llave <strong>de</strong><br />

contacto a la posición ON.<br />

2. Pulsar y extraer el pulsador <strong>de</strong> STOP. Se observará<br />

en el LED un pulso <strong>de</strong> color naranja seguido <strong>de</strong><br />

pulsos ver<strong>de</strong>s y luego se apaga.<br />

3. Colocar una carga conocida en la grúa para<br />

introducir el primer valor en el modo Calibración.<br />

4. Apagar el equipo y arrancar en modo<br />

CALIBRATION. Para ello es necesario:<br />

5. Pulsar la función ENTER (valor por <strong>de</strong>fecto) <strong>de</strong>l<br />

display LCD70, y a continuación el pulsador START.<br />

Mantener ambos pulsados durante 2 segundos para<br />

entrar en modo CONFIG.<br />

Nota: se pue<strong>de</strong> asignar por TMConfig cualquier<br />

maniobra diferente <strong>de</strong> la función ENTER, pero<br />

esta opción <strong>de</strong>be quedar reflejada en la Ficha<br />

Técnica <strong>de</strong>l equipo, para su gestión posterior<br />

6. Pulsar la función ENTER para entrar en el<br />

MENU.<br />

7. Para <strong>de</strong>splazarse por el Menú, utilizar las funciones ―UP‖ (▲) y ―DOWN‖ (▼) hasta llegar al<br />

menú CAL. ENTRADA<br />

8. Pulsar ENTER<br />

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9. Una vez se ha entrado en modo CAL. ENTRADA, existe otro submenú en el que se pue<strong>de</strong>n<br />

seleccionar las opciones <strong>de</strong> Menú: 2.1 -> VALOR 1 ; 2.2 -> VALOR 2 y 2.3 -> UNIDADES<br />

<strong>de</strong>splazándose con los pulsadores ―UP‖ y ―DOWN‖. Con la función ENTER se entra en el modo<br />

seleccionado.<br />

Función ―DOWN‖ (▼): Para moverse por la lista <strong>de</strong> caracteres establecida en<br />

or<strong>de</strong>n <strong>de</strong>scen<strong>de</strong>nte.<br />

Función ―UP‖ (▲): Para moverse por la lista <strong>de</strong> caracteres establecida en or<strong>de</strong>n<br />

ascen<strong>de</strong>nte.<br />

Función ―ESC‖ : Para volver al carácter o submenú anterior, en el display.<br />

Pulsador ―ENTER‖: Para validar el carácter editado y pasar al siguiente (hacia la<br />

<strong>de</strong>recha).<br />

10. Una vez asignado el valor correspondiente a la carga suspendida, el valor a representar en el<br />

display será <strong>de</strong> 3 dígitos más un punto. Habrá que ajustar las unida<strong>de</strong>s para que los datos<br />

representados sean coherentes con la unidad editada. Validar dicho valor pulsando MARCHA.<br />

Se memorizará el valor <strong>de</strong> VALOR 1.<br />

11. Pulsar la función ―ESC‖ para volver al menú anterior para la edición <strong>de</strong> las unida<strong>de</strong>s. Las<br />

unida<strong>de</strong>s <strong>de</strong>ben tener no más <strong>de</strong> tres caracteres.<br />

12. Pulsar STOP para volver a arrancar la grúa <strong>de</strong> nuevo. Sustituir la carga y colocar otra carga<br />

conocida.<br />

13. Volver a realizar el proceso (puntos 4 a 8) seleccionando el segundo valor para la calibración -<br />

> VALOR 2.<br />

14. Una vez finalizado el proceso la vía <strong>de</strong> retorno ya se encontrará calibrada.<br />

A partir <strong>de</strong> este momento ya se pue<strong>de</strong> funcionar normalmente con el equipo. Hasta que no se han<br />

introducido los dos valores <strong>de</strong> la calibración, el display no presentará datos correctos.<br />

La calibración genera una interpolación lineal <strong>de</strong> todos los <strong>de</strong>más valores. Esto quiere <strong>de</strong>cir que<br />

podrá ser utilizado con todos aquellos equipos que generen salidas analógicas lineales. En otro<br />

caso el calibrado llevado a cabo para dos puntos no será correcto. La calibración permite obtener<br />

valores negativos.<br />

Ejemplo <strong>de</strong> calibración <strong>de</strong> una célula <strong>de</strong> carga:<br />

Entrar en modo calibración e introducir el valor correspondiente al gancho sin carga.<br />

Validar el valor pulsando START. Apagar el equipo.<br />

Arrancar <strong>de</strong> nuevo el equipo y colocar una carga conocida.<br />

Apagar el equipo y entrar <strong>de</strong> nuevo en modo calibración para la edición <strong>de</strong>l valor 2.<br />

Validar el valor pulsando START<br />

Seleccionar la opción correspondiente para editar las unida<strong>de</strong>s.<br />

Validar las unida<strong>de</strong>s pulsando START.<br />

Apagar el equipo.<br />

El equipo ya está preparado para funcionar normalmente.<br />

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14.3- MONTAJE EXPANSION IN0-10V CON LR71/72<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

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IN0-10V (Ref. 2303755)<br />

Cod-2303755<br />

Cod-1131026(x4)<br />

Cod-1135024(x2)<br />

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15.- OPCION IN0450P<br />

OPCION IN0450P<br />

TM70<br />

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15.1 - INTRODUCCIÓN y DESCRIPCION FUNCIONAL<br />

La tarjeta IN0450P se conecta a la entrada analógica 0-3V <strong>de</strong> la LR70, y permite medir la<br />

frecuencia <strong>de</strong> los impulsos presentes en su entrada en el rango <strong>de</strong> frecuencias <strong>de</strong> 0 a 450 Hz.<br />

Se trata <strong>de</strong> un convertidor frecuencia-tensión y una <strong>de</strong> las aplicaciones <strong>de</strong> esta tarjeta<br />

electrónica es la <strong>de</strong> interfaz entre un sensor anemométrico, que proporcione una señal <strong>de</strong> pulsos y la<br />

lógica <strong>de</strong>l receptor, para po<strong>de</strong>r medir, procesar y visualizar, por ejemplo, la velocidad <strong>de</strong>l viento en<br />

tiempo real, en el display <strong>de</strong>l transmisor, utilizando la opción vía <strong>de</strong> retorno, tanto en versión botonera<br />

como pupitre.<br />

A través <strong>de</strong> dicha tarjeta se pue<strong>de</strong> alimentar la etapa <strong>de</strong> entrada (sensor), con una tensión <strong>de</strong><br />

+12v DC.<br />

Las características técnicas <strong>de</strong> esta tarjeta interfaz, son las siguientes:<br />

Resolución máxima: 8 bits.<br />

Rango <strong>de</strong> frecuencias para la medida <strong>de</strong> pulsos: 0 – 450 Hz.<br />

Aislada galvánicamente <strong>de</strong> la lógica.<br />

Rango <strong>de</strong> temperatura: –20ºC a +70ºC<br />

Diagrama <strong>de</strong> conexiones y señales:<br />

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+12v DC<br />

ENTRADA PULSOS<br />

PULSED SIGNAL INPUT<br />

GND<br />

63


15.2 - EXPLOSIONADO DE CONEXIÓN CON LR71 y LR72<br />

IN0450P<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

Cod. 1131026 (x4)<br />

Cod. 1135024 (x2)<br />

64


16.- OPCION IN4D<br />

OPCION IN4D<br />

TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

65


16.1.- INTRODUCCIÓN y DESCRIPCION FUNCIONAL<br />

La expansión IN4D proporciona al receptor TM70, una interfaz <strong>de</strong> 4 entradas digitales. Esta expansión<br />

pue<strong>de</strong> conectarse tanto en la tarjeta <strong>de</strong>l receptor LR70 en el conector P16 como en cualquiera <strong>de</strong> los<br />

módulos <strong>de</strong> entrada <strong>de</strong> la expansión INCAN (opción <strong>de</strong> múltiples entradas IN4D), como alternativa a la<br />

entrada unitaria en la LR71 y LR72.<br />

La expansión es básicamente un convertidor digital-analógico que convierte las 4 señales <strong>de</strong> entrada<br />

(IN1, IN2, IN3 e IN4) a un valor analógico <strong>de</strong> 0 a 3V y lo pone a disposición <strong>de</strong> la tarjeta don<strong>de</strong> va<br />

alojada (que pue<strong>de</strong> ser la tarjeta LR70 como se muestra en el diagrama funcional o en la tarjeta <strong>de</strong><br />

expansión INCAN).<br />

Las 4 entradas digitales IN1, IN2, IN3 e IN4 <strong>de</strong>berán tener los siguientes valores <strong>de</strong> tensión con respecto<br />

al pin 6 (GND) <strong>de</strong>l conector I3 (ver figura 1):<br />

0 a 4V equivale a estado <strong>de</strong>sactivado o estado lógico ‗0‘<br />

8 a 28V equivale a estado activado o estado lógico ‗1‘<br />

+VI<br />

IN1<br />

IN2<br />

IN3<br />

IN4<br />

GND<br />

Se indican mediante serigrafía los pines 1 y 6 <strong>de</strong>l conector I3.<br />

Nota importante: No se <strong>de</strong>be conectar una tensión superior a 28V a las entradas<br />

para evitar daños a la tarjeta IN4D.<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

I3<br />

IN4D<br />

Figura 1<br />

I1<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

66


En caso <strong>de</strong> no disponer una tensión externa en este rango, se ofrece la posibilidad <strong>de</strong> emplear el pin 1<br />

(+VI) <strong>de</strong>l conector I3 (que garantiza una tensión entre 12 y 20V) para activar las entradas mediante la<br />

siguiente conexión (ver figura 2):<br />

Esquema <strong>de</strong> señales (figura 3):<br />

+VI<br />

IN1<br />

IN2<br />

IN3<br />

IN4<br />

GND<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

+VI<br />

IN1<br />

IN2<br />

IN3<br />

IN4<br />

GND<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

I3<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

I3<br />

IN4D<br />

Figura 3<br />

IN4D<br />

Figura 2<br />

I1<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

I1<br />

GND<br />

+VI<br />

3.3V<br />

GND<br />

GND<br />

IN<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

LR70<br />

P16<br />

67


Vista superior <strong>de</strong> la tarjeta electrónica (figura 4):<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

6<br />

5<br />

1<br />

2<br />

4<br />

I1<br />

3<br />

4<br />

I3<br />

3<br />

Figura 4<br />

5<br />

6<br />

2<br />

1<br />

68


16.2.- CONEXIÓN CON LR71 y LR72<br />

2.- CONEXIÓN CON LR71 y LR72<br />

IN4D<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

Cod- 1131026(x4)<br />

pin 1<br />

Cod- 1135024(x2)<br />

69


17.- OPCION INCAN<br />

OPCION INCAN<br />

TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

70


17.1- INTRODUCCION y DESCRIPCION FUNCIONAL<br />

La interfaz electrónica INCAN permite incrementar hasta (N*5 +1) el número <strong>de</strong> entradas analógicas y digitales<br />

en la tarjeta LR72 <strong>de</strong>l receptor. (N = número <strong>de</strong> tarjetas INCAN; N_max = 2).<br />

LR72<br />

CANH<br />

CANL<br />

GND<br />

+VI<br />

CAN<br />

10-20V<br />

Cada tarjeta INCAN pue<strong>de</strong> albergar hasta un máximo <strong>de</strong> 5 micro-módulos o tarjetas <strong>de</strong> entradas para señales<br />

analógicas y digitales:<br />

IN4D: Módulo con 4 entradas digitales (0 - 24VDC)<br />

IN010V: Entrada analógica en tensión (rango: 0 - 10 VDC).<br />

IN0450P: Entrada <strong>de</strong> pulsos (rango: 0 – 450pps; pulsos por segundo). (Ejemplo: uso con<br />

sensores anemométricos).<br />

Un receptor <strong>de</strong> la gama modular TM70 pue<strong>de</strong> soportar hasta un máximo <strong>de</strong> 2 tarjetas interfaz INCAN, con lo<br />

que se pue<strong>de</strong>n soportar:<br />

40 + (4) Tarjeta IN4D conectada directamente a LR72 máx. 44 entradas digitales.<br />

10 + (1) Tarjeta IN010V conectada directamente a LR72 máx. 11 entradas analógicas (resolución<br />

8 bits).<br />

10 + (1) Tarjeta IN450P conectada directamente a LR72 máx. 11 entradas <strong>de</strong> señal a pulsos (0-<br />

450 pps).<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

INCAN<br />

μC<br />

3.3V<br />

FUENTE<br />

ALIMENTACION<br />

Entrada1<br />

Entrada2<br />

Entrada3<br />

Entrada4<br />

Entrada5<br />

71


17.2- CONEXIONES Y JUMPERS DE CONFIGURACIÓN CONEXIÓN A LA LR72<br />

La expansión INCAN se conecta al módulo LR72 usando los conectores RL4 (2 señales: +VI y GND) y RL3 (5<br />

señales) para la comunicación CAN. las señales SHLCAN y GNDCAN está unidas físicamente.<br />

RL4<br />

Pin Nombre Función<br />

+ +VI Alimentación DC; rango <strong>de</strong>s<strong>de</strong> 8 a 30V.<br />

- GND Masa<br />

RL3<br />

Pin Name Function<br />

1 GNDCAN CAN masa<br />

2 CANL CANL señal <strong>de</strong> bus (nivel bajo)<br />

3 SHLCAN Apantallamiento CAN<br />

4 CANH CANH señal <strong>de</strong> bus (nivel alto)<br />

5 VCAN Alimentación<br />

El posicionamiento <strong>de</strong> los 5 micro-módulos <strong>de</strong> entradas analógico/digitales se hará consecutivamente <strong>de</strong><br />

izquierda a <strong>de</strong>recha como se muestra en la imagen siguiente:<br />

+VI GND CANL CANH<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

TERMINACIÓN BUS<br />

DIRECCIÓN CAN<br />

72


18.- OPCION A1P4RCAN<br />

OPCION A1P4RCAN<br />

TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

73


18.1- INTRODUCCIÓN y DESCRIPCION FUNCIONAL<br />

La expansión A1P4RCAN proporciona al TM70 una expansión con 4 relés <strong>de</strong> salida y una salida analógica. La<br />

salida analógica simula un potenciómetro digital, con 64 pasos disponibles en cada semieje <strong>de</strong> alimentación.<br />

Diagrama <strong>de</strong> bloques (tamaño ½ <strong>de</strong> LR72):<br />

La expansión pone a disposición <strong>de</strong>l usuario las siguientes salidas:<br />

Una salida analógica consistente en un potenciómetro digital <strong>de</strong> 128 pasos, galvánicamente aislado.<br />

Cuatro salidas <strong>de</strong> relés para uso libre, K1, K2, K3 y K4.<br />

Estas salidas se controlan <strong>de</strong>s<strong>de</strong> el bus CAN <strong>de</strong>l sistema mediante la escritura a su dirección <strong>de</strong> tramas<br />

CANopen. La dirección CAN <strong>de</strong> la tarjeta es configurable a través <strong>de</strong> los 7 jumpers <strong>de</strong> P1. El jumper en la<br />

posición 1 se correspon<strong>de</strong> con el primer bit <strong>de</strong> la dirección CAN. De esta forma, insertando los<br />

correspondientes puentes es posible seleccionar <strong>de</strong>s<strong>de</strong> la dirección 1 hasta 127 (2 7 ).<br />

Muy importante: Siempre <strong>de</strong>be haber 1 puente colocado, pues la dirección 0 no es válida. Con un solo jumper<br />

se pue<strong>de</strong>n direccionar hasta 7 direcciones diferentes.<br />

18.2- CONEXIONES y “JUMPERS” DE CONFIGURACIÓN<br />

CONEXIÓN A LR72<br />

CAN<br />

11k2<br />

La expansión se conecta a la tarjeta LR72 a través <strong>de</strong> dos conectores RL4 y RL3 presentes en la tarjeta<br />

A1P4RCAN; (RL4) <strong>de</strong> 2 pines para las alimentaciones 8-30V (+VI y GND); (RL3) <strong>de</strong> 5 pines para el bus CAN<br />

con las siguientes señales:<br />

Pin Nombre Función<br />

1 GNDCAN Masa<br />

2 CANL Pin CANL <strong>de</strong>l bus<br />

3 SHLCAN Apantallamiento<br />

4 CANH Pin CANH <strong>de</strong>l bus can<br />

5 VCAN Alimentación<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

+V<br />

VOUT<br />

-V<br />

GND<br />

K1<br />

K2<br />

K3<br />

K4<br />

74


SALIDAS DE RELÉS<br />

RL2<br />

RL3<br />

+VI<br />

GND<br />

1<br />

5<br />

RL4<br />

Cod. 1141684: Ban<strong>de</strong>ja abatible receptor TM70 1M<br />

Cod. 1184005: Brida UNEX 2221-0<br />

Cod. 1095040: Latiguillo CAN RC70 1 expansión<br />

Cod. 1131030: Tornillo M3x6 C/R DIN84<br />

Cod. 2303908: Tarjeta A1P4RCAN<br />

Para cada uno <strong>de</strong> los relés se aportan las conexiones normalmente abierto, normalmente cerrado y común en<br />

la borna RL1 tal y como se muestra en la siguiente tabla. Disposición <strong>de</strong> 4 relés <strong>de</strong> maniobra <strong>de</strong> 250V/8 A.<br />

Pin Función<br />

1 Contacto normalmente cerrado <strong>de</strong> K1<br />

2 Contacto común <strong>de</strong> K1<br />

3 Contacto normalmente abierto <strong>de</strong> K1<br />

4 Contacto normalmente cerrado <strong>de</strong> K2<br />

5 Contacto común <strong>de</strong> K2<br />

6 Contacto normalmente abierto <strong>de</strong> K2<br />

7 Contacto normalmente cerrado <strong>de</strong> K3<br />

8 Contacto común <strong>de</strong> K3<br />

9 Contacto normalmente abierto <strong>de</strong> K3<br />

10 Contacto normalmente cerrado <strong>de</strong> K4<br />

11 Contacto común <strong>de</strong> K4<br />

12 Contacto normalmente abierto <strong>de</strong> K4<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

RL1<br />

5<br />

+VI<br />

GND<br />

RL4<br />

1<br />

RL3<br />

75


SALIDA ANALÓGICA<br />

La salida analógica sale al exterior mediante la borna RL2 con las siguientes señales (Imax=15mA):<br />

Pin Nombre Función<br />

1 VOUT Salida analógica<br />

2 GND Punto medio <strong>de</strong>l potenciómetro<br />

3 -V Alimentación negativa (Mínimo: -50V)<br />

4 +V Alimentación positiva (Máximo: 50V)<br />

JUMPERS DE CONFIGURACIÓN<br />

A través <strong>de</strong>l teleajuste se pue<strong>de</strong>n fijar los valores máximo y mínimo, una inversión <strong>de</strong> polaridad, rampa <strong>de</strong><br />

aceleración o <strong>de</strong>saceleración y tipo <strong>de</strong> curva <strong>de</strong> la salida analógica. Para pasar al modo <strong>de</strong> teleajuste es<br />

necesario introducir un puente en el ―jumper‖ correspondiente. Sólo disponible para pupitre TM70 a partir <strong>de</strong><br />

la versión 3.1 <strong>de</strong> software o versiones superiores.<br />

CAN<br />

L<br />

CANH<br />

+VI GN<br />

D<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

Salidas relés Salida<br />

analógica<br />

TELEAJUST<br />

E<br />

76


19.- OPCION A2ICAN<br />

OPCION A2ICAN<br />

TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

77


19.1- INTRODUCCIÓN Y DESCRIPCIÓN FUNCIONAL<br />

La tarjeta A2ICAN dota al telemando TM70 modular la opción <strong>de</strong> salidas analógicas en corriente (PWM) que<br />

permiten el gobierno <strong>de</strong> electroválvulas hidráulicas proporcionales alimentadas en corriente. Cada tarjeta<br />

contiene dos etapas <strong>de</strong> salida galvánicamente separadas entre sí y <strong>de</strong> la lógica común <strong>de</strong> control.<br />

A2ICAN<br />

LR72<br />

LOGICA<br />

RECEPTOR<br />

CAN bus<br />

Protocolo<br />

CANopen<br />

+ Vi<br />

La tarjeta A2ICAN consiste en una expansión <strong>de</strong> dos salidas analógicas en corriente controlada mediante el<br />

interfaz CANopen.<br />

La tarjeta A2ICAN implementa para su integración en el sistema TM70 un software propio resi<strong>de</strong>nte en su<br />

microprocesador que realiza las siguientes funciones:<br />

- Comunicación con la LR72 mediante protocolo CANOpen, utilizándose el perfil estándar 401, <strong>de</strong><br />

entradas/salidas digitales/analógicas (CiA DS401 - CANopen Device Profile for Generic I/O Modules).<br />

- Genera dos salidas analógicas en corriente <strong>de</strong> acuerdo con las consignas recibidas y los parámetros<br />

<strong>de</strong> configuración <strong>de</strong> cada salida.<br />

Existen dos tipos <strong>de</strong> curvas <strong>de</strong> respuesta para cada una <strong>de</strong> las salidas:<br />

Lineal: respuesta <strong>de</strong> la salida analógica proporcional a la consigna<br />

No lineal: la respuesta <strong>de</strong> la salida analógica es <strong>de</strong> forma exponencial respecto a la consigna.<br />

Variaciones <strong>de</strong> consigna <strong>de</strong>l combinador al comienzo <strong>de</strong> su recorrido resultarán en pequeñas<br />

variaciones <strong>de</strong> la tensión <strong>de</strong> salida, mientras que las mismas variaciones <strong>de</strong> consigna <strong>de</strong>l combinador<br />

al final <strong>de</strong> su recorrido resultarán en gran<strong>de</strong>s variaciones <strong>de</strong> la tensión <strong>de</strong> la salida.<br />

La elección <strong>de</strong> uno u otro perfil se <strong>de</strong>ci<strong>de</strong> mediante un Parámetro <strong>de</strong> personalización P (personalizable por<br />

EEPROM o por Teleajuste), que vale 0 para una curva lineal y 1, 2 o 3 para curvas exponenciales <strong>de</strong> menor a<br />

mayor grado.<br />

Asimismo pue<strong>de</strong>n <strong>de</strong>finirse rampas <strong>de</strong> salida programables en subida o/y bajada por cada semieje. La forma<br />

<strong>de</strong> respuesta <strong>de</strong> las rampas es conforme al tipo <strong>de</strong> salida <strong>de</strong>finido: Lineal o No lineal.<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

LOGICA DE CONTROL (uP)<br />

ISP<br />

VPP1<br />

GND1<br />

VO1<br />

VR1<br />

VPP2<br />

GND2<br />

VO2<br />

Vr2<br />

PWM1 VO1<br />

PWM2 VO2<br />

78


La velocidad <strong>de</strong> rampa se <strong>de</strong>fine para cada semieje mediante un parámetro que pue<strong>de</strong> tomar un valor entre 0 y<br />

15, por <strong>de</strong>fecto 0. Cada uno <strong>de</strong> estos valores correspon<strong>de</strong> a un tiempo <strong>de</strong> rampa <strong>de</strong>s<strong>de</strong> valor mínimo a máximo<br />

dado por la siguiente tabla:<br />

0 sin rampa 4 0,4 seg. 8 1,0 seg. 12 2,0 seg.<br />

1 0,1 seg. 5 0,5 seg. 9 1,2 seg. 13 2,5 seg.<br />

2 0,2 seg. 6 0,6 seg. 10 1,5 seg. 14 3,5 seg.<br />

3 0,3 seg. 7 0,8 seg. 11 1,7 seg. 15 5,0 seg.<br />

Cada salida es una señal PWM con realimentación en corriente en la que es posible el control y<br />

compensación tanto <strong>de</strong> la frecuencia <strong>de</strong> conmutación como <strong>de</strong> la anchura <strong>de</strong>l pulso. A<strong>de</strong>más se implementa<br />

una señal <strong>de</strong> ―dither‖ (rizado) superpuesta a la salida, con frecuencia y amplitud variable, con el objeto <strong>de</strong><br />

suavizar la respuesta <strong>de</strong> <strong>de</strong>terminadas electroválvulas hidráulicas. El ―dither” solo está disponible cuando la<br />

frecuencia <strong>de</strong> conmutación PWM <strong>de</strong> la salida es <strong>de</strong> 5 kHz.:<br />

Rango <strong>de</strong> frecuencia PWM: 33,35,40,45…1275 y 5000 Hz<br />

Rango <strong>de</strong> frecuencia Dither: 33…255 Hz<br />

Rango <strong>de</strong> amplitud <strong>de</strong> Dither: 0…50%<br />

A través <strong>de</strong>l teleajuste se pue<strong>de</strong>n fijar los valores máximo y mínimo, una inversión <strong>de</strong> polaridad, rampa <strong>de</strong><br />

aceleración o <strong>de</strong>saceleración y tipo <strong>de</strong> curva <strong>de</strong> la salida analógica. Para pasar al modo <strong>de</strong> teleajuste es<br />

necesario introducir un puente en el jumper P6 (ver apartado ―Jumpers <strong>de</strong> configuración‖). Sólo disponible<br />

para pupitre TM70 a partir <strong>de</strong> la versión 3.1 <strong>de</strong> software o versiones superiores.<br />

Otras características <strong>de</strong> las salidas PWM en corriente:<br />

Rango <strong>de</strong> alimentación <strong>de</strong> la expansión 8-30V, y <strong>de</strong> salidas 5-35V.<br />

Cada canal <strong>de</strong> salida dispone <strong>de</strong> 2 salidas <strong>de</strong> las cuales sólo una estará conectada, <strong>de</strong> acuerdo al<br />

signo <strong>de</strong> la consigna <strong>de</strong> entrada. Las 2 salidas PWM son idénticas e in<strong>de</strong>pendientes.<br />

Resolución <strong>de</strong> salida: 128 escalones por semieje (256 máx–8 bits), correspondiendo el escalón 0 a una<br />

salida nula y el escalón 127 a la obtenida por salida permanente <strong>de</strong>l positivo <strong>de</strong> la alimentación.<br />

Corriente máxima = 5A (cada salida).<br />

Salidas protegidas frente a cortocircuito.<br />

19.2- CONEXIONADOS Y “JUMPERS” DE CONFIGURACIÓN<br />

CONEXIÓN A LA LR72<br />

La expansión se conecta a la tarjeta LR72 a través <strong>de</strong> dos conectores, uno <strong>de</strong> dos pines para las<br />

alimentaciones (+VI y GND) y el otro <strong>de</strong> 5 pines para el bus CAN con las siguientes señales:<br />

Conector <strong>de</strong> alimentación<br />

Nombre Función<br />

GND Masa<br />

+VI Tensión continua entre 8 y 30V<br />

Conector bus CAN<br />

Nombre Función<br />

VCAN Alimentación<br />

CANH Pin CANH <strong>de</strong>l bus can<br />

SHD Masa (―SHIELDING‖)<br />

CANL Pin CANL <strong>de</strong>l bus can<br />

GNDCAN Masa<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

79


SALIDAS<br />

Cada salida analógica dispone <strong>de</strong> dos relés en serie que conmutan la señal <strong>de</strong> salida hacia uno <strong>de</strong> los dos<br />

sentidos, el directo o el inverso. En caso <strong>de</strong> no activarse ninguno <strong>de</strong> los relés, ambas salidas (la directa y la<br />

inversa) quedan <strong>de</strong>sconectadas.<br />

SALIDA PWM1<br />

El conexionado <strong>de</strong> la Salida 1 consiste en una borna enchufable <strong>de</strong> 4 polos, con la siguiente asignación <strong>de</strong> los<br />

pines:<br />

SALIDA PWM2<br />

Conector salida PWM1<br />

Nombre pin Función<br />

VPP1 Alimentación <strong>de</strong>l canal 1<br />

GND1 Masa <strong>de</strong>l canal 1<br />

VO1 Salida analógica PWM sentido DIRECTO <strong>de</strong>l canal 1<br />

VR1 Salida analógica PWM sentido INVERSO <strong>de</strong>l canal 1<br />

El conexionado <strong>de</strong> la Salida 2 consiste en una borna enchufable <strong>de</strong> 4 polos, con la siguiente asignación <strong>de</strong> los<br />

pines:<br />

Conector salida PWM2<br />

Nombre pin Función<br />

VPP2 Alimentación <strong>de</strong>l canal 2<br />

GND2 Masa <strong>de</strong>l canal 2<br />

VO2 Salida analógica PWM sentido DIRECTO <strong>de</strong>l canal 2<br />

VR2 Salida analógica PWM sentido INVERSO <strong>de</strong>l canal 2<br />

CONECTOR ISP (PROGRAMACION IN CIRCUIT)<br />

La expansión dispone <strong>de</strong> un conector para grabación In-System. Este conector consta <strong>de</strong> 10 pines:<br />

Conector ISP<br />

Nombre pin Función<br />

ISP2 Entrada a masa para colocar el microcontrolador en modo <strong>de</strong> grabación<br />

TX2 No utilizado<br />

RX2 Señal <strong>de</strong> recepción <strong>de</strong> datos<br />

GND Masa<br />

RX1 Señal <strong>de</strong> recepción <strong>de</strong> datos<br />

TX1 Señal <strong>de</strong> transmisión <strong>de</strong> datos<br />

ISP No utilizado<br />

VCC Salida <strong>de</strong> alimentación a 3,3 V<br />

MRNOT Entrada <strong>de</strong> reset, activa si se pone a masa<br />

+VI Salida <strong>de</strong> alimentación <strong>de</strong> 12 V (no estabilizada, pue<strong>de</strong> variar entre 8 y 22 V)<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

80


JUMPERS DE CONFIGURACION<br />

Tamaño ¼ <strong>de</strong> LR72<br />

Conexión a la LR72<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

P5: ―Jumper‖ para configuración <strong>de</strong> la<br />

dirección CAN <strong>de</strong> la expansión.<br />

―Jumper‖ = ON ―1‖ lógico.<br />

Direcciones programables: 1…63<br />

máx.<br />

P6: ―Jumper‖ para habilitar o<br />

<strong>de</strong>shabilitar el proceso <strong>de</strong> Teleajuste.<br />

Teleajuste habilitado = ―jumper‖<br />

colocado o activado<br />

P6<br />

Tele-ajuste <strong>de</strong>shabilitado = ―jumper‖<br />

eliminado o <strong>de</strong>sactivado<br />

P6<br />

1 = VPP (Alimentación <strong>de</strong>l canal)<br />

2 = GND (Masa <strong>de</strong>l canal)<br />

3 = VO (Salida analógica PWM sentido directo)<br />

4 = VR (Salida analógica PWM sentido inverso)<br />

81


20.- OPCION A2VCAN<br />

OPCION A2VCAN<br />

TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

82


20.1- INTRODUCCIÓN Y DESCRIPCIÓN FUNCIONAL<br />

La tarjeta A2VCAN dota al telemando TM70 modular la opción <strong>de</strong> salidas analógicas en tensión que a modo <strong>de</strong><br />

referencia <strong>de</strong> la magnitud externa a controlar, permiten el gobierno <strong>de</strong> variadores <strong>de</strong> frecuencia controlados en<br />

tensión, electroválvulas hidráulicas proporcionales con entrada <strong>de</strong> referencia <strong>de</strong> tensión, etc. Cada tarjeta<br />

contiene dos etapas <strong>de</strong> salida galvánicamente separadas entre sí y <strong>de</strong> la lógica común <strong>de</strong> control.<br />

A2VCAN<br />

LR72<br />

LOGICA<br />

RECEPTOR<br />

CAN bus<br />

Protocolo<br />

CANopen<br />

+ Vi<br />

La tarjeta A2VCAN consiste en una expansión <strong>de</strong> dos salidas analógicas controlada mediante el interfaz<br />

CANopen. Permite generar dos salidas analógicas (<strong>de</strong>pendientes <strong>de</strong> la tensión <strong>de</strong> alimentación) con una<br />

resolución <strong>de</strong> 10 bits (1024 pasos).<br />

La tarjeta A2VCAN implementa para su integración en el sistema TM70 un software propio resi<strong>de</strong>nte en su<br />

microprocesador, que realice las siguientes funciones:<br />

Comunicación con la tarjeta LR72 mediante protocolo CANOpen, utilizándose el perfil estándar 401, <strong>de</strong><br />

entradas/salidas digitales/analógicas (CiA DS401 - CANopen Device Profile for Generic I/O Modules)<br />

Genera dos salidas analógicas en tensión <strong>de</strong> acuerdo con las consignas recibidas y los parámetros <strong>de</strong><br />

configuración <strong>de</strong> cada salida.<br />

Existen dos tipos <strong>de</strong> curvas <strong>de</strong> respuesta para cada una <strong>de</strong> las salidas:<br />

Lineal: respuesta <strong>de</strong> la salida analógica proporcional a la consigna<br />

No lineal: la respuesta <strong>de</strong> la salida analógica es <strong>de</strong> forma exponencial respecto a la consigna.<br />

Variaciones <strong>de</strong> consigna <strong>de</strong>l combinador al comienzo <strong>de</strong> su recorrido resultarán en pequeñas<br />

variaciones <strong>de</strong> la tensión <strong>de</strong> salida, mientras que las mismas variaciones <strong>de</strong> consigna <strong>de</strong>l combinador<br />

al final <strong>de</strong> su recorrido resultarán en gran<strong>de</strong>s variaciones <strong>de</strong> la tensión <strong>de</strong> la salida.<br />

La elección <strong>de</strong> uno u otro perfil se <strong>de</strong>ci<strong>de</strong> mediante un Parámetro <strong>de</strong> personalización P (personalizable por<br />

EEPROM o por Teleajuste), que vale 0 para una curva lineal y 1, 2 o 3 para curvas exponenciales <strong>de</strong> menor a<br />

mayor grado.<br />

Asimismo pue<strong>de</strong>n <strong>de</strong>finirse rampas <strong>de</strong> salida programables en subida o/y bajada por cada semieje. La forma<br />

<strong>de</strong> respuesta <strong>de</strong> las rampas es conforme al tipo <strong>de</strong> salida <strong>de</strong>finido: Lineal o No lineal.<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

LOGICA DE CONTROL (uP)<br />

ISP<br />

Vpp1<br />

Vnn1<br />

Vo1<br />

Vr1<br />

Vpp2<br />

Vnn2<br />

Vo2<br />

Vr2<br />

SALIDA1 VO1<br />

SALIDA2 VO2<br />

83


La velocidad <strong>de</strong> rampa se <strong>de</strong>fine para cada semieje mediante un parámetro que pue<strong>de</strong> tomar un valor entre 0 y<br />

15, por <strong>de</strong>fecto 0. Cada uno <strong>de</strong> estos valores correspon<strong>de</strong> a un tiempo <strong>de</strong> rampa <strong>de</strong>s<strong>de</strong> valor mínimo a máximo<br />

dado por la siguiente tabla:<br />

0 sin rampa 4 0,4 seg. 8 1,0 seg. 12 2,0 seg.<br />

1 0,1 seg. 5 0,5 seg. 9 1,2 seg. 13 2,5 seg.<br />

2 0,2 seg. 6 0,6 seg. 10 1,5 seg. 14 3,5 seg.<br />

3 0,3 seg. 7 0,8 seg. 11 1,7 seg. 15 5,0 seg.<br />

A través <strong>de</strong>l teleajuste se pue<strong>de</strong>n fijar los valores máximo y mínimo, una inversión <strong>de</strong> polaridad, rampa <strong>de</strong><br />

aceleración y <strong>de</strong>saceleración y tipo <strong>de</strong> curva <strong>de</strong> la salida analógica. Para pasar al modo <strong>de</strong> teleajuste es<br />

necesario introducir un puente en el jumper P6 (ver apartado ―Jumpers <strong>de</strong> configuración‖). Sólo disponible<br />

para pupitre TM70 a partir <strong>de</strong> la versión 3.1 <strong>de</strong> software o versiones superiores.<br />

Otras características <strong>de</strong> la tarjeta <strong>de</strong> expansión:<br />

Rango <strong>de</strong> alimentación <strong>de</strong> la expansión 8-30V, y <strong>de</strong> las salidas 5-35V.<br />

Corriente máxima = 10 mA (cada salida)<br />

Salidas protegidas frente a cortocircuito<br />

20.2- CONEXIONES Y “JUMPERS DE CONFIGURACION”<br />

CONEXIÓN CON LA LR72<br />

La expansión se conecta a la tarjeta LR72 a través <strong>de</strong> dos conectores, uno <strong>de</strong> dos pines para la alimentación<br />

(+VI y GND) y el otro <strong>de</strong> 5 pines para el bus CAN con las siguientes señales:<br />

SALIDAS<br />

Conector alimentación<br />

Nombre pin Función<br />

GND Masa<br />

+VI Tensión contínua entre 8 y 30V<br />

Conector bus CAN<br />

Nombre Función<br />

VCAN Alimentación<br />

CANH Pin CANH <strong>de</strong>l bus can<br />

GNDCAN Masa<br />

CANL Pin CANL <strong>de</strong>l bus can<br />

GNDCAN Masa<br />

Las salidas en tensión se generan a partir <strong>de</strong> pulsos PWM que posteriormente se filtran dando lugar a salidas<br />

en tensión radiométrica (<strong>de</strong>pendientes <strong>de</strong> la tensión <strong>de</strong> alimentación). Las dos salidas están eléctricamente<br />

aisladas con respecto a la lógica y entre sí.<br />

El control <strong>de</strong> los relés se realiza mediante las señales VREL1 y VREL2. Asimismo, es necesario que esté<br />

activado el común <strong>de</strong> ambos relés mediante la señal VCOMREL. Cuando los relés están <strong>de</strong>sactivados las<br />

tensiones <strong>de</strong> salida VO1 y VO2 son los valores <strong>de</strong> las tensiones <strong>de</strong> referencia VR1 y VR2 conectadas en cada<br />

una <strong>de</strong> las salidas.<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

84


El rango <strong>de</strong> los valores <strong>de</strong> salida oscila <strong>de</strong>s<strong>de</strong> el 0 al 100% <strong>de</strong> las tensiones <strong>de</strong> alimentación VPP1 y VPP2<br />

conectadas a cada unas <strong>de</strong> las salidas y tienen una resolución <strong>de</strong> 10 bits (1024 valores).<br />

SALIDA 1 (VO1)<br />

El conexionado <strong>de</strong> la Salida 1 se realiza mediante una borna enchufable <strong>de</strong> 4 polos, siendo la asignación <strong>de</strong><br />

los pines la siguiente:<br />

SALIDA 2 (VO2)<br />

Conector salida1<br />

Nombre pin Función<br />

VPP1 Alimentación <strong>de</strong>l canal 1<br />

GND1 Masa <strong>de</strong>l canal 1<br />

VO1 Salida analógica <strong>de</strong>l canal 1<br />

VR1 Señal <strong>de</strong> reposo a sacar por la salida 1 cuando el relé esté inactivo<br />

El conexionado <strong>de</strong> la Salida 2 se realiza mediante una borna enchufable <strong>de</strong> 4 polos, siendo la asignación <strong>de</strong><br />

los pines la siguiente:<br />

Conector salida2<br />

Nombre pin Función<br />

VPP2 Alimentación <strong>de</strong>l canal 2<br />

GND2 Masa <strong>de</strong>l canal 2<br />

VO2 Salida analógica <strong>de</strong>l canal 2<br />

VR2 Señal <strong>de</strong> reposo a sacar por la salida 2 cuando el relé esté inactivo<br />

ISP (PROGRAMACION “IN CIRCUIT” / “IN SYSTEM”)<br />

La expansión dispone <strong>de</strong> un conector para grabación ―In-System‖ (p.e. actualización <strong>de</strong>l software <strong>de</strong>l<br />

microprocesador). Este conector consta <strong>de</strong> 10 pines:<br />

Conector ISP<br />

Nombre pin Función<br />

ISP2<br />

TX2 No utilizado<br />

Entrada que <strong>de</strong>be ponerse a masa para colocar el microcontrolador en modo <strong>de</strong><br />

grabación<br />

RX2 Señal <strong>de</strong> recepción <strong>de</strong> datos<br />

GND Masa<br />

RX1 Señal <strong>de</strong> recepción <strong>de</strong> datos<br />

TX1 Señal <strong>de</strong> transmisión <strong>de</strong> datos<br />

ISP No utilizado<br />

VCC Salida <strong>de</strong> alimentación a 3,3 V<br />

MRNOT Entrada <strong>de</strong> reset, activa si se pone a masa<br />

+VI Salida <strong>de</strong> alimentación <strong>de</strong> 12 V (no estabilizada, pue<strong>de</strong> variar entre 8 y 22 V)<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

85


JUMPERS DE CONFIGURACION<br />

Tamaño ¼ <strong>de</strong> LR72<br />

Conexiones con la LR72<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

P5: ―Jumper‖ para configuración <strong>de</strong> la<br />

dirección CAN <strong>de</strong> la expansión.<br />

―Jumper‖ = ON ―1‖ lógico.<br />

Direcciones programables: 1…63<br />

máx.<br />

P6: ―Jumper‖ para habilitar o<br />

<strong>de</strong>shabilitar el proceso <strong>de</strong> Teleajuste.<br />

Teleajuste habilitado = ―jumper‖<br />

colocado o activado<br />

P6<br />

Tele-ajuste <strong>de</strong>shabilitado = ―jumper‖<br />

eliminado o <strong>de</strong>sactivado<br />

P6<br />

1 = VPP (Alimentación <strong>de</strong>l canal)<br />

2 = GND (Masa <strong>de</strong>l canal)<br />

3 = VO (Salida analógica <strong>de</strong>l canal en tensión)<br />

4 = VR (Tensión <strong>de</strong> reposo cuando el relé K<br />

correspondiente al canal, está inactivo)<br />

86


20.3- TARJETA DE ALIMENTACIÓN DE EXPANSIONES POT70V4<br />

La tarjeta POT70V4 es una tarjeta con 4 fuentes <strong>de</strong> alimentación in<strong>de</strong>pendientes y aisladas, que se utiliza para<br />

alimentar las etapas <strong>de</strong> salida <strong>de</strong> la tarjeta <strong>de</strong> salidas analógicas A2VCAN.<br />

Esta expansión se montará según ficha técnica, es <strong>de</strong>cir, se montarán únicamente el número <strong>de</strong> DC/DCs<br />

(fuentes <strong>de</strong> alimentación) requeridas. Cada DC/DC es capaz <strong>de</strong> alimentar las salidas <strong>de</strong> 2 A2VCAN, es<br />

<strong>de</strong>cir, 4 salidas analógicas en tensión.<br />

La energía para el módulo POT70V4 es proporcionada por la tarjeta LR72.<br />

Características técnicas:<br />

Tamaño ¼ <strong>de</strong> LR72<br />

2 tipos <strong>de</strong> fuentes DC/DCs disponibles:<br />

o 12V/0/-12V, 85mA<br />

o 15V/0/-15V, 65mA<br />

Rango <strong>de</strong> alimentación <strong>de</strong> los DC/DCs: 9 a 18V<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

87


21- OPCION TELEAJUSTE<br />

OPCION TELEAJUSTE<br />

TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

88


21.1- INTRODUCCIÓN<br />

El acceso a esta opción pue<strong>de</strong> activarse o <strong>de</strong>sactivarse por EEPROM, por grabador <strong>de</strong> EEPROM y/o<br />

TM70Config, siempre y cuando esté conectado correctamente en la expansión el ―Jumper‖ que habilita el<br />

teleajuste. Las tarjetas que soportan Teleajuste son las siguientes:<br />

A1P4RCAN (tarjeta con 1 salida potenciométrica a base <strong>de</strong> relés)<br />

A2VCAN ( tarjeta con 2 salidas analógicas en tensión)<br />

A2ICAN (tarjeta con 2 salidas analógicas en corriente PWM)<br />

Las tarjetas <strong>de</strong> expansión A2ICAN y A2VCAN son intercambiables, eso si, la posición y el número <strong>de</strong> salidas<br />

tendrán que ser las mismas, a<strong>de</strong>más será necesario una modificación <strong>de</strong> EEPROM <strong>de</strong>bido a las diferencias<br />

en los parámetros <strong>de</strong> salida. La nueva expansión será automáticamente reconocida por el equipo. En el<br />

momento <strong>de</strong> acce<strong>de</strong>r al Menú <strong>de</strong>l Teleajuste, el sistema realiza un reconocimiento <strong>de</strong> todas las expansiones<br />

conectadas en el bus CAN y las salidas soportadas. Toda la información se sincronizará entre el transmisor y<br />

el receptor.<br />

El proceso <strong>de</strong> Teleajuste requiere el uso <strong>de</strong> la opción display LCD70 (versión soft. 3.1 o superiores) o el<br />

Módulo soporte Teleteaching TM70 (Ref. IKUSI 2305120-00A) <strong>de</strong>stinado para tal efecto.<br />

20.2- PROCESO DE TELEAJUSTE<br />

La navegación por el software se realizará con las teclas ▲ ―UP‖ (arriba), ▼ ―DOWN‖ (abajo), ―ENTER‖ (validar<br />

selección) y ―ESC‖ (abortar selección), aunque son configurables por EEPROM y/o TM70Config. En<br />

situaciones don<strong>de</strong> se tenga que pulsar ―UP‖ o ―DOWN‖ en repetidas ocasiones, existe un avance progresivo<br />

manteniendo pulsada la tecla correspondiente.<br />

Para acce<strong>de</strong>r al Menú <strong>de</strong> Teleajuste hay que presionar <strong>de</strong> manera secuencial las funciones ―ENTER‖<br />

(configuración por <strong>de</strong>fecto) + ―START‖.<br />

Esta configuración está <strong>de</strong>finida por EEPROM y la función ―ENTER‖ pue<strong>de</strong> ser sustituida por otra maniobra<br />

cualquiera <strong>de</strong>s<strong>de</strong> TMConfig para modificar la secuencia <strong>de</strong> acceso al Menú <strong>de</strong> Tele-ajuste.<br />

Los Menús saldrán por <strong>de</strong>fecto en inglés, pero por EEPROM y/o TM70Config o por opción Menú (5. SEL<br />

LENGUAJE) se podrá seleccionar entre inglés o castellano.<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

89


3.1.1 VALORES LIMIT<br />

3.1.1.1 VAL<br />

MAXIMOS<br />

POSITIVO MAX<br />

NN%<br />

1. EDIT MATRIC<br />

ERROR GEN.<br />

ERROR 3<br />

NEGATIVO MAX<br />

NN%<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

2. CAL. ENTRADA<br />

3.1<br />

AJUSTAR<br />

ESPERE POR FAVOR<br />

MUEVA JOYSTICK<br />

X1 EXP_TYPE Y1<br />

X2 EXP_TYPE Y2<br />

SALIDA<br />

X EXP_TYPE Y<br />

POSITIVO MIN<br />

NN%<br />

MODO CONFIGURAR<br />

ERROR 1<br />

ERROR 2<br />

3.2 VAL. FÁBRICA<br />

RESTAURANDO VALORES<br />

ERROR GEN.<br />

3.1.1.2 MIN Y CERO 3.1.1.3 CERO RELE ON<br />

VALOR CERO<br />

NN%<br />

3. CAL. SALIDA<br />

ESPERE POR FAVOR<br />

NEGATICO MIN<br />

NN%<br />

4. GUARDAR<br />

TODO<br />

GUARDANDO<br />

ESPERE<br />

ERROR GEN. ERROR 4<br />

ERROR GEN.<br />

VALOR CERO<br />

NN%<br />

ERROR 5<br />

5. SEL LENGUAJE<br />

3.3 ANUL ENT<br />

MEN<br />

INHABILITAR MENU CALIB ?<br />

MODO CONFIGURAR<br />

POL DIRECTA<br />

CAMBIAR?<br />

INVIRTIENDO<br />

POLARIDAD<br />

3.1.2 INVER<br />

POL<br />

OBTENIENDO POLARIDAD<br />

ERROR GEN.<br />

POL INVERSA<br />

CAMBIAR?<br />

ELIMINANDO<br />

INVERSION<br />

90


(*) SI FREQ. PWM = 0 (ALTA FRECUENCIA)<br />

(**) SOLO PARA A2ICAN<br />

(SOLO EN 1 RA SALIDA DE LA EXPANSIÓN)<br />

3.1.3 TIPO<br />

CURVA<br />

3.1.3.1 TIPO: N<br />

ERROR GEN.<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

(**<br />

)<br />

ERROR GEN.<br />

3.1.5.1 PWM: NNN<br />

3.1.5 FREC PWM<br />

3.1.4 RAMPAS<br />

3.1.4.1 RAMPA ACEL 3.1.4.2 RAMPA DECEL<br />

3.1.4.1.1 RAMPA ACEL + 3.1.4.1.2 RAMPA ACEL – 3.1.4.2.1 RAMPA DECEL + 3.1.4.2.2 RAMPA DECEL –<br />

3.1.4.1 RAMPA: NN 3.1.4.2 RAMPA: NN<br />

ERROR GEN.<br />

(*<br />

)<br />

3.1.6.1.1 %: NNN 3.1.6.2.1 HZ: NNN<br />

3.1.6.1<br />

AMPLITUD<br />

ERROR GEN.<br />

3.1.6<br />

RIZADO<br />

3.1.6.2 FRECUENCIA<br />

3.1.7 REST SALIDA<br />

RESTAURANDO SALIDA<br />

ERROR GEN.<br />

91


21.2.1- MENU 3.1 AJUSTAR<br />

IMPORTANTE: Al finalizar el ajuste <strong>de</strong> cada parámetro en cada semieje, validar el parámetro<br />

seleccionado antes <strong>de</strong> volver hacia atrás en el menú, <strong>de</strong> lo contrario no quedará registrado. Esta validación<br />

siempre se realiza pulsando “START”. Finalmente y <strong>de</strong>spués <strong>de</strong> ajustar todos los parámetros requeridos<br />

validar el menú “4. GUARDAR TODO” para grabar en EEPROM los valores ajustados.<br />

En la siguiente imagen po<strong>de</strong>mos ver los diferentes parámetros que pue<strong>de</strong>n ser configurables y que<br />

<strong>de</strong>scribiremos a continuación:<br />

Al entrar en este menú, se pi<strong>de</strong> al usuario que accione la maniobra asociada a la salida que se quiera<br />

ajustar. Las salidas asociadas a la maniobra aparecerán en pantalla con el siguiente formato:<br />

X EXP_TYPE Y<br />

X: nº <strong>de</strong> la expansión analógica<br />

Y: nº <strong>de</strong> salida <strong>de</strong> la expansión<br />

EXP_TYPE: Tipo <strong>de</strong> expansión analógica (A1P4RCAN, A2VCAN, A2ICAN)<br />

El usuario tendrá que seleccionar cual <strong>de</strong> las salidas quiere teleajustar. Para ello la salida que le interesa<br />

<strong>de</strong>berá estar parpa<strong>de</strong>ando. Si aparecen dos salidas en pantalla, mediante las teclas UP/DONWN podrá<br />

seleccionar la salida <strong>de</strong>seada. Para confirmar la selección pulsar START. En ese momento y durante un<br />

tiempo aparecerá en pantalla la salida que ha seleccionado.<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

92


VALORES LIMIT:<br />

Ajuste <strong>de</strong> los valores límite <strong>de</strong> la salida analógica (Smin+, Smin-, Smax+, Smax- y Scero) ATENCIÓN:<br />

¡Estas acciones conllevan movimiento <strong>de</strong> la maniobra a ajustar!<br />

El ajuste <strong>de</strong> los valores MAX y MIN se realiza con el accionamiento <strong>de</strong>splazado para saber que<br />

salida y que semieje se va a ajustar<br />

A medida que se vayan pulsando las teclas UP/DOWN se irá actualizando el valor en pantalla.<br />

El valor CERO <strong>de</strong> la salida se ajustará con el accionamiento en reposo.<br />

La pantalla LCD servirá <strong>de</strong> guía en todo momento informando <strong>de</strong> qué parámetro <strong>de</strong> los cinco<br />

posibles se está ajustando <strong>de</strong>pendiendo <strong>de</strong> la posición <strong>de</strong> la maneta.<br />

CERO RELE ON: Al entrar en este submenú se activa la salida <strong>de</strong> la expansión<br />

permanentemente en ausencia <strong>de</strong> consigna. Esto pue<strong>de</strong> ser utilizado para localizar posibles<br />

errores que originen movimientos in<strong>de</strong>seados.<br />

INVER POL:<br />

Se permite la inversión <strong>de</strong> polaridad <strong>de</strong> las salidas, como por ejemplo:<br />

TIPO CURVA:<br />

Cuatro tipos <strong>de</strong> curva disponibles:<br />

Tipo 0: Respuesta lineal<br />

Tipos 1, 2 y 3: Respuestas exponenciales<br />

RAMPAS:<br />

La velocidad <strong>de</strong> rampa <strong>de</strong> aceleración y/o <strong>de</strong>celeración se <strong>de</strong>fine para cada semieje mediante un<br />

parámetro que pue<strong>de</strong> tomar un valor entre 0 y 15, por <strong>de</strong>fecto 0. Cada uno <strong>de</strong> estos valores correspon<strong>de</strong> a<br />

un tiempo <strong>de</strong> rampa <strong>de</strong>finido por la siguiente tabla:<br />

0 sin rampa 4 0,4 seg. 8 1,0 seg. 12 2,0 seg.<br />

1 0,1 seg. 5 0,5 seg. 9 1,2 seg. 13 2,5 seg.<br />

2 0,2 seg. 6 0,6 seg. 10 1,5 seg. 14 3,5 seg.<br />

3 0,3 seg. 7 0,8 seg. 11 1,7 seg. 15 5,0 seg.<br />

Estos valores son modificables por grabador <strong>de</strong> EEPROM.<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

93


FRECUENCIA PWM:<br />

Solo disponible para salidas con regulación en corriente (A2ICAN). Se <strong>de</strong>fine mediante un parámetro que<br />

pue<strong>de</strong> tomar un valor entre 0 y 255 y que equivale a los siguientes valores <strong>de</strong> frecuencia PWM:<br />

Parámetro Frecuencia PWM<br />

0 5000 Hz<br />

1…5 Ajuste no válido<br />

6 33 Hz<br />

7…255 35…1275 Hz (Parámetro x 5)<br />

No se permitirá el teleajuste <strong>de</strong> estos valores a otra salida que no sea la primera <strong>de</strong> cada módulo <strong>de</strong><br />

expansión.<br />

RIZADO:<br />

Solo disponible para salidas con regulación en corriente (A2ICAN) y si ―FREQ. PWM = 0 (5000 Hz)”.<br />

Rango <strong>de</strong> frecuencia <strong>de</strong> rizado: 33...255 Hz<br />

Rango <strong>de</strong> Amplitud <strong>de</strong> rizado: 0...50%<br />

No se permitirá el teleajuste <strong>de</strong> estos valores a otra salida que no sea la primera <strong>de</strong> cada<br />

módulo <strong>de</strong> expansión.<br />

REST SALIDA:<br />

Permite al usuario restablecer los datos <strong>de</strong> la salida analógica seleccionada con los valores<br />

pre<strong>de</strong>terminados en EEPROM en IKUSI (solamente una salida).<br />

SIGNIFICADO DE ERRORES:<br />

TIPO ERROR DESCRIPCIÓN EN PANTALLA SIGNIFICADO<br />

ERROR 1 HARDWARE NO DETECTADO<br />

ERROR 2<br />

ERROR 3<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

Se ha movido más <strong>de</strong> un joystick simultáneamente.<br />

No tiene salida asociada.<br />

Más <strong>de</strong> dos salidas asociadas (máximo 2 salidas analógicas asociadas<br />

por maniobra)<br />

HARDWARE NO DETECTADO Expansión no inicializada (salida asociada ausente)<br />

JUMPER AUSENTE Expansión inicializada, jumper <strong>de</strong> Teleajuste no conectado.<br />

DEMASIADOS EJES SELECC<br />

JOYSTICK DIFERENTE<br />

ERROR 4 AJUSTE NO POSIBLE<br />

ERROR 5<br />

ERROR GEN.<br />

Si al mover el joystick para ajustar la salida se seleccionan más <strong>de</strong> un<br />

eje/joystick.<br />

Si se mueve un joystick distinto al seleccionado al inicio <strong>de</strong>l menú <strong>de</strong><br />

Teleajuste.<br />

Si el relé <strong>de</strong> salida <strong>de</strong> las expansiones solo se activa cuando se supera<br />

Cmin.<br />

AJUSTE NO POSIBLE Cuando el relé <strong>de</strong> salida está activado siempre que haya enlace.<br />

PONGA MANETA EN REPOSO Si el ajuste es posible y se mueve la maneta.<br />

SIN ACCESO A MEMORIA No se tiene acceso a memoria para actualizar datos.<br />

AJUSTE NO VÁLIDO La expansión indica valores no válidos.<br />

FREQ./RESP. NO VÁLIDO Comunicación errónea entre Rx y expansiones.<br />

EXPANSIÓN NO RESPONDE Comunicación errónea porque la expansión no respon<strong>de</strong>.<br />

ERROR Otro error.<br />

94


21.2.2- MENU 3.2 VAL. FÁBRICA:<br />

Implica restablecer en todas las salidas que soportan Teleajuste los valores pre<strong>de</strong>terminados por IKUSI.<br />

21.2.3- MENU 3.3 ANUL ENT MEN:<br />

Para <strong>de</strong>shabilitar o anular la entrada al menú <strong>de</strong> Teleajuste. A partir <strong>de</strong> este momento, si se <strong>de</strong>sea activar<br />

otra vez se <strong>de</strong>berá <strong>de</strong> usar el grabador y/o TM70Config.<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

95


22.- RECEPTORES R70/XX / COMPATIBLES CON SOFTWARE VERSION SW 3.2<br />

Receptores R70/XX compatibles con<br />

Software Versión SW 3.2<br />

TM70<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

96


22.1 – CARACTERISTICAS PRINCIPALES<br />

Software versión 3.2:<br />

Debido a la evolución <strong>de</strong> la familia modular TM70, surge la necesidad <strong>de</strong> que el SW TM70 soporte las<br />

siguientes funcionalida<strong>de</strong>s:<br />

- Soporte software para un máximo <strong>de</strong> 5 x R8CAN -> permite aplicaciones <strong>de</strong> mas <strong>de</strong> 29 relés y hasta<br />

un máximo <strong>de</strong> 53 relés en un mismo receptor.<br />

- Soporte software para un máximo <strong>de</strong> 10 salidas analógicas: 5 x A2VCAN o 5 x A2ICAN, 5 x<br />

A1P4RCAN o un MIX <strong>de</strong> ellas, hasta un máximo <strong>de</strong> 5 unida<strong>de</strong>s o ―slots‖/ban<strong>de</strong>jas, combinando las 3<br />

tarjetas.<br />

- Soporte software para la entrada <strong>de</strong> lazo <strong>de</strong> corriente IN 0-4/20mA (cuando esté disponible).<br />

- IN4D sin retorno <strong>de</strong> información y como condición <strong>de</strong> enlace en equipos multi-receptor.<br />

- Escalados in<strong>de</strong>pendientes para las salidas analógicas; hasta un máximo <strong>de</strong> 8 escalados diferentes,<br />

para cada salida configurada.<br />

Hardware versión 3.2 (Mecánica):<br />

Observación importante: esta versión <strong>de</strong> software es sólo compatible con tarjetas LR72 Ver.E o<br />

versiones superiores.<br />

La nueva mecánica permite alojar las tarjetas <strong>de</strong> expansión <strong>de</strong>finidas y soportadas por la versión SW 3.2<br />

con las siguientes posibles OPCIONES y/o configuraciones máximas:<br />

OPCION 1:<br />

½ BANDEJA (x4)<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

½ BANDEJA (x1) + F.A. (x1) + LR72 (x1)<br />

97


OPCION 2:<br />

OPCION 3:<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

½ BANDEJA (x1) + ¼ BANDEJA (x6)<br />

½ BANDEJA (x1) + F.A. (x1) + LR72 (x1)<br />

½ BANDEJA (x2) + ¼ BANDEJA (x4)<br />

½ BANDEJA (x1) + F.A. (x1) + LR72 (x1)<br />

98


OPCION 4:<br />

Relación <strong>de</strong> tipos <strong>de</strong> expansión y tamaños que ocupan en las ban<strong>de</strong>jas/”slots”:<br />

TIPO EXPANSION<br />

TARJETA ELECTRONICA<br />

R8CAN 1/2<br />

A1P4RCAN 1/2<br />

INCAN 1/2<br />

TAMAÑO BANDEJA/”SLOT”<br />

IN 0-10V Montaje directo sobre tarjeta LR72 o tarjeta INCAN<br />

IN 0-450P Montaje directo sobre tarjeta LR72 o tarjeta INCAN<br />

IN-4D Montaje directo sobre tarjeta LR72 o tarjeta INCAN<br />

A2ICAN 1/4<br />

A2VCAN 1/4<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

½ BANDEJA (x3) + ¼ BANDEJA (x2)<br />

½ BANDEJA (x1) + F.A. (x1) + LR72 (x1)<br />

99


Características eléctricas y mecánicas:<br />

R70/XX Especificaciones<br />

Frecuencias disponibles (bandas ISM) 915MHz<br />

870MHz/433MHz<br />

419MHz<br />

Alimentación AC 48V/115/230v AC 50/60Hz (+15% / -20% Vin)<br />

Alimentación DC 8-32v DC<br />

Grado <strong>de</strong> estanqueidad IP65 / NEMA-4<br />

Antena Externa (estándar)<br />

Selección <strong>de</strong> la frecuencia <strong>de</strong> trabajo Fija o automática (oír antes <strong>de</strong> transmitir; configurable<br />

por EEPROM)<br />

Peso Máximo = 7 Kg (53 relés)<br />

Dimensiones Largo = 350 mm / Ancho = 250 mm / Alto = 150mm<br />

EEPROM Interna y extraíble (EP70)<br />

Señalizaciones MultiLED: LEDs visibles <strong>de</strong>s<strong>de</strong> el interior<br />

Conexiones Mediante bornas con salidas/entradas exteriores para<br />

uso con prensaestopas o conectores base panel.<br />

Corriente máxima sobre carga resistiva 6A<br />

Temperatura <strong>de</strong> funcionamiento -20ºC / +70ºC (-4ºF / 158ºF)<br />

Temperatura <strong>de</strong> almacenamiento -25ºC / +75ºC (-13ºF / 167ºF)<br />

Temperatura <strong>de</strong> almacenamiento –largos periodos- -25ºC / +55ºC (-13ºF / 131ºF)<br />

Consumo máximo 40 VA<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

100


22.2 – OBSERVACIONES PARA EL CABLEADO INTERNO<br />

- Los cables <strong>de</strong> potencia siempre <strong>de</strong>berán ir guiados por el centro <strong>de</strong> la ban<strong>de</strong>ja<br />

- El resto <strong>de</strong> las conexiones <strong>de</strong>l bus CAN pue<strong>de</strong>n cablearse sin tener ninguna<br />

precaución especial<br />

F.A.<br />

R8CAN<br />

BANDEJA SUPERIOR<br />

BANDEJA INFERIOR<br />

LR72<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

Cables <strong>de</strong> potencia<br />

Conexionado bus CAN<br />

101


SEDE CENTRAL - SPAIN<br />

IKUSI - Ángel Iglesias S.A.<br />

Pº Miramón, 170<br />

20009 San Sebastián<br />

SPAIN<br />

Tel.: +34 943 44 88 00<br />

Fax: +34 943 44 88 20<br />

ikusi@ikusi.com<br />

www.ikusi.com<br />

AUSTRALIA – NUEVA ZELANDA<br />

IKUSI ANZ PTY LTD<br />

Tel.: +61 3 9720 7022<br />

Fax: +61 3 9720 7422<br />

ika@ikusi.com<br />

CHILE<br />

INGENIERÍA IKUSI CHILE, LTDA.<br />

Tel.: +56 2 335 9661<br />

Fax: +56 2 233 7511<br />

ikc@ikusi.com<br />

FRANCIA<br />

IKUSI FRANCE SARL<br />

Tel.: +33 1 43 03 52 22<br />

Fax: +33 1 43 03 52 42<br />

ikf@ikusi.com<br />

MÉXICO<br />

IKUSI MÉXICO, S.A. DE C.V.<br />

Tel.: +52 55 5663 8600<br />

Fax: +52 55 5663 8684<br />

contacto@ikusi-gs.com.mx<br />

ALEMANIA<br />

IKUSI GmbH<br />

Tel.: +49 8464602420<br />

Fax: +49 8464602423<br />

ikd@ikusi.com<br />

PORTUGAL<br />

IKUSI ELECTRÓNICA, LDA.<br />

Tel.: +351 22 947 8240<br />

Fax: +351 22 947 8249<br />

ikp@ikusi.com<br />

RUSIA<br />

IKUSI, LLC.<br />

Tel.: +7 495 583 93 41<br />

Fax: +7 495 586 17 71<br />

ikr@ikusi.com<br />

ORIENTE MEDIO<br />

IKUSI MIDDLE EAST FZE<br />

Tel.: +971 4 204 5606<br />

Fax: +971 4 204 5610<br />

ikme@ikusi.com<br />

COLOMBIA<br />

IKUSI COLOMBIA, S.A.<br />

Tel.: +57 1 638 63 54<br />

Fax: +57 1 621 15 65<br />

airports@ikusi.com<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

102


CHINA<br />

北京市朝阳区望京阜通东大街方恒国际中心C座902室。<br />

电话:+86-10-84674931<br />

传真:+86-10-84674931-811<br />

TM70Pe V3.2 (02/11) 120021.pdf<br />

IKUSI se reserva el <strong>de</strong>recho <strong>de</strong> modificar esta información sin previo aviso.<br />

103


OPERATION & INSTALLATION<br />

MANUAL<br />

TM70<br />

CONSOLE BOX TRANSMITTER<br />

T70/3/4/5/6/7/8 MODELS<br />

TM70Pi V3.2 (11/02) 120021.pdf.<br />

IKUSI reserves the right to modify this information without prior notification..


I N D I C E<br />

1.- DECLARATION OF CONFORMITY (870MHZ ISM BAND) ........................................................................ 1<br />

2.- DECLARATION OF CONFORMITY (433MHZ ISM BAND) ........................................................................ 2<br />

3.- SYSTEM DESCRIPTION ............................................................................................................................. 3<br />

4.- SAFETY INSTRUCTIONS ............................................................................................................................ 4<br />

4.1.- WHAT YOU MUST DO ...................................................................................................................................... 4<br />

4.2.- WHAT YOU MUST NOT DO ............................................................................................................................... 4<br />

4.3.- FCC RECOMENDATIONS.. ............................................................................................................................... 5<br />

5.- INSTALLATION… ........................................................................................................................................ 6<br />

5.1.- CB70 BATTERY CHARGER .............................................................................................................................. 6<br />

5.2.- RECEIVER .................................................................................................................................................... 7<br />

5.3.- STARTING UP ................................................................................................................................................ 9<br />

6.- USING THE SET ........................................................................................................................................ 10<br />

7.- MAINTENANCE ........................................................................................................................................ 11<br />

7.1.- WARRANTY ................................................................................................................................................. 11<br />

7.2.- PRECAUTIONS ............................................................................................................................................ 11<br />

7.3.- TROUBLESHOOTING .................................................................................................................................... 12<br />

ANNEX A.- PROGRAMMING A SPARE TRANSMITTER. ............................................................................ 14<br />

ANNEX B.- PROGRAMMING THE MACHINE IDENTIFICATION IN LCD TRANSMITTERS. ...................... 15<br />

ANNEX C.- FREQUENCY CHANNEL CHANGING.........................................................................................16<br />

8.- CAN OPEN INTERFACE ........................................................................................................................... 17<br />

8.1.- INTRODUCTION ........................................................................................................................................... 18<br />

8.2.- CAN BUS CONNECTION ................................................................................................................................ 18<br />

8.3.- TRANSMITER‘S DATA DICTIONARY ................................................................................................................. 19<br />

8.4.- PUSHBUTTONS AND CONSOLE BOX PDO‘S ..................................................................................................... 21<br />

8.5.- RECEIVER DATA DICTIONARY ....................................................................................................................... 22<br />

8.6.- RECEIVER‘S SIGNALLING .............................................................................................................................. 24<br />

8.7.- TM70 CAN RECEIVERS ................................................................................................................................. 24<br />

9.- LCD70 DISPLAY OPTION ........................................................................................................................ 27<br />

9.1.- INTRODUCTION AND FUNCTIONAL DESCRIPTION ............................................................................................ 28<br />

9.2.- INTERNAL CONNECTION ............................................................................................................................... 29<br />

9.3.- T70 TRANSMITTER AND LCD70 DISPLAY ASSEMBLY ....................................................................................... 30<br />

9.4.- LCD70 DISPLAY OPERATING MODES ............................................................................................................. 31<br />

9.5.- DATA FEEDBACK OPERATING MODE .............................................................................................................. 32<br />

10.- “FIRST COME – FIRST SERVED” OPERATION .................................................................................... 39<br />

10.1- INTRODUCTION .......................................................................................................................................... 40<br />

10.2- TWO TRANSMITTER SYSTEMS ..................................................................................................................... 40<br />

TM70Pi V3.2 (11/02) 120021.pdf. i<br />

IKUSI reserves the right to modify this information without prior notification.<br />

Pág.


11.- LA70 & LA70M RANGE LIMITER OPTION.............................................................................................. 41<br />

11.1.1- SYSTEM DESCRIPTION ............................................................................................................................. 42<br />

11.1.2- INFRARED SENSOR ................................................................................................................................. 42<br />

11.2.1- LA70 INFRARED TRANSMITTER ................................................................................................................. 43<br />

11.2.2- LA70 INSTALLATION ................................................................................................................................ 44<br />

11.2.3- LA70 TECHNICAL CHARACTERISTICS ........................................................................................................ 45<br />

11.3.1- LA70M INFRARRED TRANSMITTER ........................................................................................................... 46<br />

11.3.2- LA70M INSTALLATION AND CONNECTIONS ................................................................................................. 49<br />

12.- “PITCH & CATCH” OPERATION ............................................................................................................. 50<br />

12.1- INTRODUCTION .......................................................................................................................................... 51<br />

12.2- TWO TRANSMITTER SYSTEMS ..................................................................................................................... 51<br />

13.- TANDEM OPERATION............................................................................................................................. 53<br />

13.1- INTRODUCTION .......................................................................................................................................... 54<br />

13.2- ONE MASTER TRANSMITTER SYSTEM ........................................................................................................... 55<br />

13.3- TWO MASTER TRANSMITTER SYSTEMS ......................................................................................................... 56<br />

14.- ANALOGUE FEEDBACK CALIBRATION ............................................................................................... 57<br />

14.1- INTRODUCTION .......................................................................................................................................... 58<br />

14.2- CALIBRATION OF THE ANALOGUE FEEDBACK WITH LCD DISPLAY .................................................................... 58<br />

14.3 - LR71/LR72 AND 0-10V CARD ASSEMBLY ..................................................................................................... 60<br />

15.- IN 0450P OPTION ..................................................................................................................................... 61<br />

15.1- INRTODUCTION AND FUNCTIONAL DESCRIPTION ........................................................................................... 62<br />

15.2- IN 0450P AND LR70 ASSEMBLY ................................................................................................................... 63<br />

16.- IN4D OPTION ........................................................................................................................................... 64<br />

16.1- INTRODUCTION AND FUNCTIONAL DESCRIPTION ........................................................................................... 65<br />

16.2- IN4D AND LR71/LR72 ASSEMBLY ................................................................................................................. 68<br />

17.- INCAN OPTION ........................................................................................................................................ 69<br />

17.1.- INTRODUCTION & FUNCTIONAL DESCRIPTION .............................................................................................. 70<br />

17.2.- CONNECTIONS & JUMPERS CONFIGURATION ............................................................................................... 70<br />

18.- A1P4RCAN OPTION ................................................................................................................................ 72<br />

18.1.- INTRODUCTION & FUNCTIONAL DESCRIPTION .............................................................................................. 73<br />

18.2.- CONNECTIONS & JUMPERS CONFIGURATION ............................................................................................... 73<br />

19.- A2ICAN OPTION ...................................................................................................................................... 76<br />

19.1.- INTRODUCTION & FUNCTIONAL DESCRIPTION .............................................................................................. 77<br />

19.2.- CONNECTIONS & JUMPERS CONFIGURATION ............................................................................................... 78<br />

20.- A2VCAN OPTION .................................................................................................................................... 81<br />

20.1.- INTRODUCTION & FUNCTIONAL DESCRIPTION .............................................................................................. 82<br />

20.2.- CONNECTIONS & JUMPERS CONFIGURATION ............................................................................................... 83<br />

20.3.- EXPANSIONS POWER SUPPLY ELECTRONIC BOARD POT70V4 ....................................................................... 86<br />

21.- TELEALIGNMENT OPTION .................................................................................................................... 87<br />

21.1.- INTRODUCTION ......................................................................................................................................... 88<br />

21.2.- TELEALIGNMENT PROCESS ........................................................................................................................ 88<br />

22.- R70/XX RECEIVERS / SW 3.2 VERSION COMPATIBLE....................................................................... 95<br />

22.1.- MAIN CHARACTERISTICS ............................................................................................................................ 96<br />

22.2.- REMARKS FOR THE INTERNAL WIRINGS ..................................................................................................... 100<br />

TM70Pi V3.2 (11/02) 120021.pdf. ii<br />

IKUSI reserves the right to modify this information without prior notification.


TM70Pi V3.2 (11/02) 120021.pdf. iii<br />

IKUSI reserves the right to modify this information without prior notification.


1.- DECLARATION OF CONFORMITY (870MHz ISM BAND)<br />

DECLARACION DE CONFORMIDAD<br />

CONFORMITY DECLARATION<br />

KONFORMITÄTSERKLÄRUNG<br />

DECLARATION DE CONFORMITE<br />

DICHIARAZIONE DI CONFORMITA'<br />

DECLARAÇAO DE CONFORMIDADE<br />

VERKLARING VAN GELIJK VORMIGHEID<br />

El Fabricante<br />

The Manufacturer<br />

Der Hersteller<br />

Le Fabricant<br />

Il Fabbricante<br />

O Fabricante<br />

De Fabrikant<br />

Declara que el producto: Telemando IKUSI<br />

Declares that the product: Remote Control IKUSI<br />

Erklärt, dass das Produkt: Funkfernsteuerung IKUSI<br />

Déclare que le produit: Télécomman<strong>de</strong> IKUSI<br />

Dichiara che il prodotto: Radiocomando IKUSI<br />

Declara que o produto: Radiocomando IKUSI<br />

Verklaart dat het product: Radiobesturing IKUSI<br />

Cumple con las Directivas <strong>de</strong> Consejo:<br />

Complies with the provisions of Council:<br />

Erfüllt die Richtlinien <strong>de</strong>s Rates:<br />

Accompli les Directives du Conseil:<br />

E´conforme alle Direttive <strong>de</strong>l Consiglio:<br />

Cumpre as Directivas <strong>de</strong>l Consello:<br />

Conform is met <strong>de</strong> richtlijnen van <strong>de</strong> Raad:<br />

Normas armonizadas utilizadas:<br />

Applied harmonized standards:<br />

Angewen<strong>de</strong>te harmonisierte Normen:<br />

Normes harmonisées utilisées:<br />

Norme armonizate utilizzate:<br />

Normas harmonizados aplicados:<br />

Volgens geharmoniseen<strong>de</strong> normen:<br />

02/07/2007<br />

ANGEL IGLESIAS, S.A.<br />

Paseo Miramón 170<br />

SAN SEBASTIAN - SPAIN<br />

NIF: A-20-036.018<br />

Tel : (+34) 943 448800<br />

Fax: (+34) 943 448819<br />

www.ikusi.com<br />

TM70/3/4/5/6/7/8 - 870<br />

TM70/3/4/5/6/7/8 - 870<br />

2006/42 EEC MACHINERY<br />

99/5 EEC R&TT<br />

ETSI EN 300220-1 V1.3.1<br />

ETSI EN 300220-3 V1.1.1<br />

ETSI EN 301489-1 V1.6.1<br />

ETSI EN 301489-3 V1.4.1<br />

EN 55022 : 1994<br />

EN 61000-4-2 : 1995<br />

EN 61000-4-3 : 1996<br />

EN 61000-4-4 : 1995<br />

EN 61000-4-5 : 1995<br />

EN 61000-4-6 : 1996<br />

EN 61000-4-11 : 1994<br />

EN 61000-3-2 : 1995<br />

EN 61000-3-3 : 2001<br />

EN 60950-1 : 2001<br />

EN 50178 : 1998<br />

EN 60204-32 : 2001<br />

EN 60529 : 2000<br />

EN 13557 : 2004<br />

EN-954-1 o EN 13849 : 2004<br />

prEN 280:2009<br />

TM70Pi V3.2 (11/02) 120021.pdf 1<br />

IKUSI reserves the right to change this information without prior notice.


2. - DECLARATION OF CONFORMITY (433MHz ISM BAND)<br />

DECLARACION DE CONFORMIDAD<br />

CONFORMITY DECLARATION<br />

KONFORMITÄTSERKLÄRUNG<br />

DECLARATION DE CONFORMITE<br />

DICHIARAZIONE DI CONFORMITA'<br />

DECLARAÇAO DE CONFORMIDADE<br />

VERKLARING VAN GELIJK VORMIGHEID<br />

El Fabricante<br />

The Manufacturer<br />

Der Hersteller<br />

Le Fabricant<br />

Il Fabbricante<br />

O Fabricante<br />

De Fabrikant<br />

Declara que el producto: Telemando IKUSI<br />

Declares that the product: Remote Control IKUSI<br />

Erklärt, dass das Produkt: Funkfernsteuerung IKUSI<br />

Déclare que le produit: Télécomman<strong>de</strong> IKUSI<br />

Dichiara che il prodotto: Radiocomando IKUSI<br />

Declara que o produto: Radiocomando IKUSI<br />

Verklaart dat het product: Radiobesturing IKUSI<br />

Cumple con las Directivas <strong>de</strong> Consejo:<br />

Complies with the provisions of Council:<br />

Erfüllt die Richtlinien <strong>de</strong>s Rates:<br />

Accompli les Directives du Conseil:<br />

E´conforme alle Direttive <strong>de</strong>l Consiglio:<br />

Cumpre as Directivas <strong>de</strong>l Consello:<br />

Conform is met <strong>de</strong> richtlijnen van <strong>de</strong> Raad:<br />

Normas armonizadas utilizadas:<br />

Applied harmonized standards:<br />

Angewen<strong>de</strong>te harmonisierte Normen:<br />

Normes harmonisées utilisées:<br />

Norme armonizate utilizzate:<br />

Normas harmonizados aplicados:<br />

Volgens geharmoniseen<strong>de</strong> normen:<br />

02/07/2007<br />

ANGEL IGLESIAS, S.A.<br />

Paseo Miramón 170<br />

SAN SEBASTIAN - SPAIN<br />

NIF: A-20-036.018<br />

Tel : (+34) 943 448800<br />

Fax: (+34) 943 448819<br />

www.ikusi.com<br />

TM70/3/4/5/6/7/8 - 433<br />

TM70/3/4/5/6/7/8 - 433<br />

2006/42 EEC MACHINERY<br />

99/5 EEC R&TT<br />

ETSI EN 300220-1 V1.3.1<br />

ETSI EN 300220-3 V1.1.1<br />

ETSI EN 301489-1 V1.6.1<br />

ETSI EN 301489-3 V1.4.1<br />

EN 55022 : 1994<br />

EN 61000-4-2 : 1995<br />

EN 61000-4-3 : 1996<br />

EN 61000-4-4 : 1995<br />

EN 61000-4-5 : 1995<br />

EN 61000-4-6 : 1996<br />

EN 61000-4-11 : 1994<br />

EN 61000-3-2 : 1995<br />

EN 61000-3-3 : 2001<br />

EN 60950-1 : 2001<br />

EN 50178 : 1998<br />

EN 60204-32 : 2001<br />

EN 60529 : 2000<br />

EN 13557 : 2004<br />

EN-954-1 o EN 13849 : 2004<br />

prEN 280:2009<br />

TM70Pi V3.2 (11/02) 120021.pdf 2<br />

IKUSI reserves the right to change this information without prior notice.


3.- SYSTEM DESCRIPTION<br />

The TM70/3, TM70/4, TM70/5, TM70/6, TM70/7, and TM70/8 <strong>console</strong> type transmitter radio remote<br />

control systems, are <strong>de</strong>signed for the remote control of hoists and cranes (overhead cranes, tower<br />

cranes, hydraulic loa<strong>de</strong>r cranes, concrete pumps, driverless vehicles, etc) and are particularly suitable<br />

for applications when the operator needs to be able to choose the est location from which to carry out<br />

an operation.<br />

The system consists of a transmitter for selecting commands and a receiver, which is connected to the<br />

electrical system of the machine to be operated. The system also comes with a battery charger and<br />

two rechargeable batteries. Main technical characteristics:<br />

TM70 System<br />

Frequency band 869,700 to 870,000 MHz; ERP


4.- SAFETY INSTRUCTIONS<br />

These instructions must be read carefully in or<strong>de</strong>r to install and use the set properly<br />

and to keep it in perfect working condition and to reduce the risks of misuse.<br />

Do not use this set on machines in potentially explosive atmospheres.<br />

Any use other than that specified in this <strong>manual</strong> is dangerous. The following<br />

instructions must be strictly adhered to.<br />

4.1 - WHAT YOU MUST DO<br />

Strictly adhere to the instructions for installation contained in this <strong>manual</strong><br />

Make sure that professional and competent personnel carry out the installation.<br />

Ensure that all site and prevailing safety regulations are fully respected.<br />

Make sure that this <strong>manual</strong> is permanently available to the operator and maintenance<br />

personnel.<br />

Keep the transmitter out of reach of unauthorised personnel.<br />

On starting each working day, check to make sure that the STOP button and other safety<br />

measures are working.<br />

When in doubt, press the STOP button.<br />

Whenever several sets have been installed, make sure the transmitter you are going to use is<br />

the right one. I<strong>de</strong>ntify the machine controlled on the label for this purpose on the transmitter.<br />

Service the equipment periodically.<br />

When carrying out repairs, only use spare parts supplied by IKUSI <strong>de</strong>alers.<br />

4.2 - WHAT YOU MUST NOT DO<br />

Never make any changes to the set, which have been studied and approved by manufacturer.<br />

Never power the equipment other than with the specified power supply.<br />

Never allow unqualified personnel to operate the equipment.<br />

After use, never leave the equipment ON. Always use the contact key or the STOP button to<br />

avoid acci<strong>de</strong>ntally activating manoeuvres.<br />

Do not use the set when visibility is limited.<br />

Avoid knocking or dropping the set.<br />

Do not use the set if failure is <strong>de</strong>tected.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 3<br />

IKUSI reserves the right to change this information without prior notice.


4.3 - FCC RECOMENDATIONS (Only valid for equipment that works in 915MHz ISM band)<br />

This <strong>de</strong>vice complies with Part 15 of the FCC Rules. Operation is subject to the following two<br />

conditions:<br />

1. This <strong>de</strong>vice may not cause harmful interference, and<br />

2. This <strong>de</strong>vice must accept any interference received, including interference that may cause<br />

un<strong>de</strong>sired operation.<br />

Changes or modifications not expressly approved by the manufacturer could void the user's<br />

authority to operate the equipment.<br />

To comply with FCC RF exposure compliance requirements, this <strong>de</strong>vice and its antenna must<br />

not be co-located with, or operating in conjunction with, any other antenna or transmitter.<br />

This equipment has been tested and found to comply with the limits for a Class A digital <strong>de</strong>vice,<br />

pursuant to Part 15 of the FCC Rules.<br />

These limits are <strong>de</strong>signed to provi<strong>de</strong> reasonable protection against harmful interference when<br />

the equipment is operated in a commercial environment.<br />

This equipment generates, uses, and can radiate radio frequency energy and, if not installed<br />

and used in accordance with the instruction <strong>manual</strong>, may cause harmful interference to radio<br />

communications.<br />

Operation of this equipment in a resi<strong>de</strong>ntial area is likely to cause harmful interference in which<br />

case the user will be required to correct the interference at his own expense.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 4<br />

IKUSI reserves the right to change this information without prior notice.


5.- INSTALLATION<br />

5.1 - CB70 (BC70K) BATTERY CHARGER<br />

The battery charger CB70 has two charging compartments that can simultaneously charge<br />

battery types BT06, BT12 (TM60 series) and BT06K, BT20K (TM70 series).<br />

Connect the charger to the mains using the power<br />

source and cable supplied. On installing the battery<br />

charger, bear in mind that the batteries must be charged<br />

at temperatures over 0ºC and that the power supply must<br />

be left on all night.<br />

Place the batteries in the charger. Please wait about 5<br />

seconds between consecutive insertions of batteries in<br />

their locations.<br />

Each battery location has a green led indicator<br />

associated.<br />

Green led indications:<br />

1) Green led blinking: it indicates that the battery is excessively unloa<strong>de</strong>d ; when the led finishes<br />

blinking it indicates that the normal loading operation mo<strong>de</strong> has begun.<br />

2) Green led permanently lightning: it indicates normal loading operation mo<strong>de</strong>.<br />

3) Green led extinguished: it indicates that the battery loading process has finished.<br />

The capacity of the batteries <strong>de</strong>creases with use. Their life span is estimated to be 500<br />

recharging cycles, but this <strong>de</strong>pends largely on the conditions of use, for which the following is<br />

recommen<strong>de</strong>d:<br />

Do not recharge the battery until it is completely flat. The transmitter indicates this moment.<br />

Always charge the batteries at temperatures between 0º and 45ºC (the batteries will not<br />

become fully charged at temperatures exceeding 45ºC). Remember that the charger must<br />

not be left in direct sunlight.<br />

Charge the batteries at least once every six months.<br />

Avoid short-circuits between the battery contacts. Do not carry charged batteries in<br />

toolboxes or next to other metal objects (keys, coins, etc.).<br />

Always keep contacts clean.<br />

Never leave batteries in direct sunlight.<br />

Warning: if the battery charger is powered with lower voltage than 10,3v DC, the green led<br />

indicates battery in charging process, even if there is no battery placed in the charger.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 5<br />

IKUSI reserves the right to change this information without prior notice.<br />

CB70<br />

Only use IKUSI manufactured batteries<br />

The exhausted batteries must be disposed of or recycled safely according to local standards<br />

The IKUSI - ATEX batteries (BT06K-ATEX and BT20K-ATEX), only can be re-charged with the<br />

BC70K or CB70 battery charger. Remark: these batteries will damage when using IKUSI’s CB60<br />

battery charger.


5.2 - RECEIVER<br />

Make sure that the crane is stopped for the entire duration of the assembly process,<br />

keep the work area free and wear protective clothing.<br />

Park the crane and position stop-ends (if these are not available use appropriate<br />

signs) at a suitable distance so that other cranes on the same runway do not hit it.<br />

Check the power-supply voltage and turn off the mains switch, disconnecting the<br />

wiring and connector between the receiver and the electrical cabinet of the machine.<br />

Remember that the receiver has several voltage-powered circuits. Even when the<br />

power has been cut off, there is still a risk of electrical shocks.<br />

Find a suitable location for the receiver with easy access, in a place <strong>de</strong>signated for reception of the radio<br />

transmitter signal, and away from any intense radio electric disturbance sources.<br />

Install the receiver cabinet using 4 elastic absorbers (M8).<br />

Figure 5. Receiver, external antenna and cable extension cables kit.<br />

If necessary, it is possible to improve signal reception, by using the extension cables and external antenna<br />

kit. This kit is applicable only for non-transmitting receivers<br />

.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 6<br />

IKUSI reserves the right to change this information without prior notice.


Connect the power supply and the receiver outputs on the corresponding relay board plug-in terminals. Do<br />

this following the outputs diagram, which is supplied with the set. This diagram indicates the correspon<strong>de</strong>nce<br />

between the transmitter commands and the receiver outputs.<br />

The STOP relays KSTOP1 y KSTOP2 are in series and must be connected to the main<br />

contactor coil circuit.<br />

The K2/START is activated once the start-up command is held down.<br />

The K1/SAFETY relay is a safety relay, which is activated when certain commands pre<strong>de</strong>fined<br />

as ―active‖ on configuration of the set, (i.e. commands which give rise to manoeuvres), are<br />

activated.<br />

.<br />

Figure 6. Receiver‟s electronic card<br />

Remember to connect the ground cable.<br />

Only use fireproof cables for connections.<br />

Select the appropriate voltage on the receiver, (230, 115 or 48 Vac – 12 or 24 Vcc)<br />

TM70Pi V3.2 (11/02) 120021.pdf. 7<br />

IKUSI reserves the right to change this information without prior notice.


5.3 - STARTING UP<br />

Proceed with caution; the equipment may not be connected correctly which may<br />

lead to unforeseeable movements on starting-up.<br />

Once the receiver has been connected, disconnect the power supply to the motors, (for example, by<br />

removing the fuses) and power on the receiver. First of all the LEDs will light on an instant to test that all are<br />

all right, after this the receiver will enter into a ‗SCANNING‘ mo<strong>de</strong> and the following LED‘s will be lit in the<br />

receiver;<br />

1.-Label for crane<br />

i<strong>de</strong>ntification.<br />

2.-LED.<br />

3.-Command elements.<br />

4.-Contact key.<br />

5.-Start button.<br />

6.-STOP button.<br />

7.-Option: LA70 Range<br />

Limitation.<br />

POWER (1): ON, indicates that the power supply is correct.<br />

HARDOK (2): ON, indicates the absence of faults on the boards.<br />

SIGNAL (3): OFF, in the case of the channels being signal free. Blinks ON when<br />

there is a RF signal on the channels.<br />

DATA (4): OFF, when there is not another TM70 system active in the area.<br />

Blinks ON in the opposite case.<br />

ID (5): OFF<br />

CAN_RUN (6): ON, Indicates that CAN communications with expansion boards are<br />

OK.<br />

CAN_ERR (7): OFF<br />

ORDER (8): OFF<br />

RELAY (9): OFF<br />

8.-Optional: LCD70 Display +<br />

LA70 (able to be activated by<br />

EEPROM).<br />

Figure 7. Signalling LEDs in the receiver.<br />

3<br />

8<br />

Figure 8. Command and signalling elements in the transmitter<br />

TM70Pi V3.2 (11/02) 120021.pdf. 8<br />

IKUSI reserves the right to change this information without prior notice.<br />

1<br />

2<br />

6<br />

7<br />

5<br />

4


Next, turn transmitter ON to OPERATION mo<strong>de</strong>, as follows:<br />

Place a charged battery in the transmitter.<br />

Turn the contact key.<br />

Push and pull out the STOP button, (LED flashes orange-green). If the transmitter has LCD,<br />

it displays the i<strong>de</strong>ntification of the machine, as well as the battery level.<br />

Press the start button. The green LED should now light indicating that the transmitter is<br />

transmitting.<br />

On receiving a signal from the transmitter, the receiver enters in OPERATION mo<strong>de</strong>; the<br />

following LED‘s will light up on the receiver:<br />

POWER: ON, indicates that the power supply is correct.<br />

HARDOK: ON, indicates that <strong>de</strong>fects have not been <strong>de</strong>tected on the board.<br />

SIGNAL: ON, indicates that it is receiving a RF signal at the working frequency.<br />

DATA: When ON indicates that the data received has a correct format.<br />

ID: When ON indicates that the receiver has recognised the transmitter‘s<br />

i<strong>de</strong>ntification co<strong>de</strong>.<br />

CAN_RUN: ON, Indicates that communications with CAN expansion boards are OK.<br />

CAN_ERR: OFF<br />

ORDER: ON, Indicates the activation of any digital manoeuvre<br />

RELAY: ON, Indicates the activation of STOP relays<br />

Now, the STOP relays KSTOP1 and KSTOP2 will be activated. The K2/START relay is<br />

activated once the start button is pushed.<br />

Press on any of the transmitter‘s manoeuvre buttons and its corresponding relay will be<br />

activated. In case of an active manoeuvre, the safety relay K1/SAFETY will also activate.<br />

Check to make sure all the other manoeuvres work in this way.<br />

Turn off the transmitter using the STOP button, and make sure that on doing so the relays are<br />

<strong>de</strong>activated and the DATA, ID and SIGNAL LED‘s go out. They behave exactly as in<br />

‗SCANNING‘ mo<strong>de</strong>.<br />

Reconnect the power supply to the motors, move to the usual work position and check to see if<br />

all the manoeuvres and the stop button are functioning correctly.<br />

IMPORTANT REMARK:<br />

IKUSI does not take responsibility of an incorrect installation, interferences produced by collision of<br />

frequencies, nor of the management of the working frequencies in fixed facilities, where several radio<br />

remotes systems, share or can share, the same zone or working area.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 9<br />

IKUSI reserves the right to change this information without prior notice.


6.- USING THE SET<br />

To ensure correct use of the equipment, follow the instructions below:<br />

Make sure the transmitter you are going to use is the right one, i<strong>de</strong>ntifying the machine on the<br />

i<strong>de</strong>ntification label. In the case of transmitters with LCD display, you are able to edit the<br />

machine i<strong>de</strong>ntification label, (ANNEX B). It will allow to the operator to i<strong>de</strong>ntify the machine<br />

before the starting of the equipment.<br />

When modified the Machine I<strong>de</strong>ntification Label in the transmitter, it do not get<br />

updated in the receiver‟s EEPROM. To do so proceed to copy the transmitter‟s<br />

EEPROM into the receiver‟s EEPROM.<br />

Attach the belt to the transmitter unit. Its use is recommen<strong>de</strong>d to prevent the equipment from<br />

falling.<br />

Introduce a charged battery, turn the contact key and activate the transmitter.<br />

To activate the system, you must first pull out the STOP button, the LED should then give an<br />

orange-green pulse; then press the START button. If you find that the STOP button has already<br />

been pulled out, it is necessary to push it in and then pull it out again, as this sequence will<br />

allow the check in of the STOP circuit. If the unit has experienced a time-out autodisconnection,<br />

it is not necessary to repeat the STOP button procedure, simply push the<br />

START button for 1 second.<br />

The green LED should light up, indicating that the transmitter has started transmitting. From<br />

now on, if any of the transmitter‘s command buttons are pressed, the corresponding manoeuvre<br />

will be activated.<br />

To be able to start up the transmitter, all the command controls associated with active<br />

manoeuvres must be in the neutral position (not activated). This is not the case for the selection<br />

functions.<br />

When 4 minutes have passed and no active manoeuvre command has been activated, the<br />

transmitter automatically goes to STAND BY mo<strong>de</strong>, indicated by green pulses each 3 seconds.<br />

To start it up once more, press the START button.<br />

The transmitter is equipped with a circuit for monitoring the battery level. When this level drops<br />

below a pre-established limit, the transmitter LED starts to flash in red; 5 minutes later the<br />

transmitter switches off, and the machine‘s main contactor is <strong>de</strong>activated. During this time, the<br />

load has to be located on a safe position. If the STOP button is activated during this time,<br />

transmitter will not start again, unless battery is replaced.<br />

In transmitters with LCD, the battery power level is indicated as follows:<br />

3 segments: charge greater than 50%.<br />

2 segments: charge between 50 and 10%.<br />

1 segment: charge between 10 and 5%.<br />

Nothing: charge lower than 5%.<br />

To switch off the transmitter, press the STOP button or turn off the contact key.<br />

Remember that you are going to remote control a moving piece of machinery. The<br />

safety instructions <strong>de</strong>scribed in chapter 3 of this <strong>manual</strong> must be strictly adhered to.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 10<br />

IKUSI reserves the right to change this information without prior notice.


7.- MAINTENANCE<br />

7.1 - WARRANTY<br />

7.2 - PRECAUTIONS<br />

IKUSI guarantees the TM70 remote control sets for a period of up to one year after the date of<br />

<strong>de</strong>livery. This guarantee covers repairs and the replacement of <strong>de</strong>fective pieces at our<br />

Technical Service Department. Both the transmitter and receiver will be necessary if any repairs<br />

or replacements need to be carried out.<br />

The guarantee does not cover damage resulting from the following:<br />

- Transport.<br />

- Incorrect installation.<br />

- Repairs or alterations ma<strong>de</strong> to the equipment by personnel other than from IKUSI.<br />

Obvious misuse or incorrect maintenance of the equipment<br />

Our Technical Service reserves the right to evaluate breakdowns and damage.<br />

Un<strong>de</strong>r no circumstances will IKUSI be held responsible for hold-ups at work, acci<strong>de</strong>nts or<br />

expenses incurred as a result of equipment malfunctioning.<br />

This equipment is <strong>de</strong>signed for use in an industrial environment. However, we recommend you<br />

follow the instructions below to extend the life span of your remote control set:<br />

Use the belt provi<strong>de</strong>d with the transmitter to prevent the transmitter from falling.<br />

Do not clean the transmitter with solvents or pressurised water. Use a damp cloth or soft<br />

brush.<br />

Use and recharge the battery regularly.<br />

Check every day that the STOP pushbutton is working.<br />

Disconnect the receiver cables if sol<strong>de</strong>ring/welding work is going to be carried out on the<br />

crane.<br />

Periodically check the condition of the transmitter rubber seals. Change these over if they<br />

show signs of <strong>de</strong>terioration to ensure they remain watertight.<br />

Clean the battery contacts.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 11<br />

IKUSI reserves the right to change this information without prior notice.


7.3 - TROUBLESHOOTING<br />

The transmitter and receiver have status monitoring LED‘s, which help to i<strong>de</strong>ntify irregularities.<br />

The most common signals are contained in the tables below:<br />

TRANSMITTER<br />

LED MEANS<br />

Solid green Transmitter transmitting normally. OPERATION mo<strong>de</strong>.<br />

Green pulses. Transmitter ready for start-up. STAND BY mo<strong>de</strong>.<br />

Red slow flashing Battery level low<br />

Red fast flashing Probably, EEPROM module is not plugged in.<br />

Red double flashing Transmitter cannot start up because a manoeuvre command is<br />

present.<br />

Solid red Transmitter failure<br />

RECEIVER<br />

In OPERATION mo<strong>de</strong> the 5 LED‘s must be lit as has been previously <strong>de</strong>scribed in section 4.3<br />

Starting. If this is so, press the transmitter manoeuvre buttons and observe the response of the<br />

output relays. If the response is normal, the problem is not related to the remote control<br />

equipment and the installation must be checked. If any of the relays is not activated, the<br />

problem is associated with the remote control equipment. If this happens, observe the<br />

appearance of the LED‘s:<br />

LED LIT FLASHING OFF<br />

POWER Power Supply OK -- Power Supply not OK<br />

HARDOK Board OK<br />

Slow: fault in the board<br />

Fast: error in EEPROM<br />

SIGNAL RF signal OK RF signal <strong>de</strong>tection in<br />

SCANNING mo<strong>de</strong><br />

DATA -- Is receiving the correct data<br />

from a TM70<br />

Fault in the board<br />

The receiver is not receiving<br />

RF signals<br />

Signal received is not<br />

correct<br />

ID -- ID Co<strong>de</strong> OK ID not recognised<br />

ORDER<br />

Any digital<br />

manoeuvre ON<br />

TM70Pi V3.2 (11/02) 120021.pdf. 12<br />

IKUSI reserves the right to change this information without prior notice.<br />

--<br />

No digital manoeuvre ON<br />

RELAY STOP relays ON -- STOP relays OFF


There are also two LEDs in the received which will <strong>de</strong>scribe the status of the CAN-BUS. If the<br />

CAN connection is not working, check the status of next LEDs:<br />

LED LIT FLASHING OFF<br />

CAN_RUN Operating status Pre-operating status CAN<br />

active<br />

communication non<br />

CAN_ERR Communication OK<br />

Communication error<br />

CAN controller disconnected<br />

If the problem is associated with the equipment, please send both the transmitter and the<br />

receiver to the your Technical Assistance Service Agent, together with a <strong>de</strong>scription of the<br />

problem and the status of the LED‘s.<br />

If the transmitter becomes so damaged that a spare has to be arranged, it can be quickly<br />

substituted by following the instructions in ANNEX A.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 13<br />

IKUSI reserves the right to change this information without prior notice.


ANNEX A - PROGRAMMING A SPARE TRANSMITTER.<br />

In case of damage to the transmitter, it is quickly possible to restore service, if a spare transmitter is<br />

available. To achieve this we have to install into the spare transmitter the exact parameters of that to<br />

be replaced.<br />

These parameters are stored in an EEPROM memory module EP70, accessible from the exterior of<br />

the transmitter. Switch off the damaged transmitter and extract the EP70 module by unloosening the<br />

four screws, as shown, and then incorporate this module into the spare transmitter.<br />

In cases where the damage to the transmitter prevents removal of the EP70 module, the spare<br />

transmitter can be programmed with the memory module EP70 found insi<strong>de</strong> the receiver.<br />

To achieve this, proceed as follows:<br />

SQUARE: The actuator or mechanism associated to this symbol<br />

will be used to copy the EEPROM.<br />

7. Please in<strong>de</strong>ntify in the <strong>console</strong> upper part the symbol associated<br />

to the special function―Copy EP‖ (SQUARE).<br />

8. Being the spare transmitter off, remove its empty EP70 module as<br />

<strong>de</strong>scribed above, and insert the EP70 module from the receiver.<br />

9. Introduce a charged battery, turn on the ON/OFF key, push and extract the STOP button. The LED<br />

will pulse green for around 15 seconds.<br />

10. To copy its contents into the internal memory of the transmitter<br />

press the actuator or mechanism i<strong>de</strong>ntified as ―Copy EP‖<br />

followed by START, keeping both buttons pressed together while<br />

LED blinks red. Once the LED start to blink orange, release the<br />

pushbuttons and LED will lit green. In the LCD display mo<strong>de</strong>ls<br />

the words ―Reading...‖ and ―Reading ok Change EEP‖ will be<br />

indicated. In case the LED remains in red colour, (or the LCD<br />

displays ―Reading nok‖), repeat the process.<br />

11. When the copying process has completed, extract the EP70 and<br />

replace it into the receiver. Insert a new EP70 module into the spare transmitter and again press the<br />

actuator or mechanism i<strong>de</strong>ntified as “Copy EP”. The LED will flash orange, which indicates that the<br />

empty EP70 is being written with the stored parameters In the LCD display mo<strong>de</strong>ls the words<br />

―Writing...‖ and ―Writing ok‖ will be indicated. In case the LED remains in red colour, (or the LCD<br />

displays ―Writing nok‖), repeat the process.<br />

12. Afterwards press the STOP. This completes the programming processes.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 14<br />

IKUSI reserves the right to change this information without prior notice.


ANNEX B.- PROGRAMMING THE MACHINE IDENTIFICATION IN LCD TRANSMITTERS.<br />

Transmitters with the LCD display option allow the operator to program a machine i<strong>de</strong>ntification label<br />

of up to 24 text characters. This i<strong>de</strong>ntification is displayed on transmitter starting-up.<br />

This text must i<strong>de</strong>ntify the machine with a name that is commonly known by the workmen.<br />

When first starting the transmitter you can edit/introduce this text as follows:<br />

11. I<strong>de</strong>ntify in the Technical Data Sheet supplied with your system the actuator assigned to the<br />

functions ―Configuration”, “ENTER”, “UP”, “DOWN” y “ESC”<br />

12. Introduce a battery and turn the ON/OFF key to ON .<br />

13. Push in and then extract the STOP button and you will observe the LED pulse orange-green.<br />

14. Press pushbutton ―Configuration followed by START button and keep both pressed together<br />

for 2 seconds and then you will enter the CONFIG mo<strong>de</strong>.<br />

15. Push “ENTER” to get into the Menu.<br />

16. Move through the menu with pushbuttons “UP” y “DOWN” until reaching the EDIT LABEL<br />

menu.<br />

17. Push “ENTER”<br />

18. Once you have entered into EDITING mo<strong>de</strong>, there appears in the display the text "CRANE ??"<br />

in which the first character blinks. From this point you can edit the name of the machine by<br />

means of the push buttons ―Down‖, ―Up‖, ―Enter‖ and ―Escape‖, whose functions are <strong>de</strong>scribed<br />

as follows:<br />

“DOWN”: To move for the list of established characters in <strong>de</strong>scending or<strong>de</strong>r<br />

“UP”: To move for the list of characters established in ascending or<strong>de</strong>r<br />

“ESC”: To return to the previous character in the display.<br />

“ENTER”: To validate the published character and move to the following one, (towards<br />

the right hand)<br />

19. Push START to store the edited text. LCD will show the message ―SAVED‖ for 2 seconds.<br />

20. You exit the EDITING mo<strong>de</strong> by pressing the STOP.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 15<br />

IKUSI reserves the right to change this information without prior notice.


ANNEX C.- BASE CHANNEL CHANGING.<br />

Console box transmitters with software version V2.4 have implemented the base channel changing<br />

functionality in a standard way (assigning symbols to mechanisms).<br />

8) I<strong>de</strong>ntify the ―▲‖ symbol associated to the corresponding maneuver<br />

(base channel tens modification) and the ―■‖ symbol associated to<br />

the corresponding maneuver (base channel units modification),<br />

preferably associated to the following mechanisms: pushbuttons,<br />

selectors, joysticks, etc.<br />

9) With the transmitter switched on, release the STOP button. Press the<br />

mechanism i<strong>de</strong>ntified with the symbol ―▲‖ (pushbutton, selector, joystick, etc.) and then the ―Start‖<br />

pushbutton. Although the ―active or<strong>de</strong>r‖ status is signalized (red LED blinking and buzzer active),<br />

wait until the LED is signaling orange continously.<br />

10) The LED wiil show the current base channel information, using red and green pulses:<br />

Number of green pulses = number of tens of the current base channel.<br />

Number of red pulses = number of units of the current base channel.<br />

11) Then the LED will light in orange colour continously.<br />

12) Changing to the new base channel:<br />

New channel ―units‖: press the ―■‖ symbol as many times as the number of units of the new base<br />

channel.<br />

New channel ―tens‖: press the ―▲‖ symbol as many times as the number of tens of the new base<br />

channel.<br />

13) The LED will show the new base channel information following the procedure of point 3).<br />

14) Press STOP pushbutton; the new base channel will be recor<strong>de</strong>d and the transmitter will be ready to<br />

work in the new channel.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 16<br />

IKUSI reserves the right to change this information without prior notice.


8.- CAN OPEN INTERFACE V 2.4<br />

CANopen INTERFACE V2.4<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 17<br />

IKUSI reserves the right to change this information without prior notice.


8.1 - INTRODUCTION<br />

The TM70 system with CANopen interface is integrated in CANopen networks where it will work in slave<br />

mo<strong>de</strong>. It handles the Bus the state of the Pushbuttons of the TM70 transmitter, such that any external <strong>de</strong>vice<br />

can react consequently.<br />

The functionality of the system is according the CiA DS-301 v4.0.2. specification. The implemented profile is<br />

<strong>de</strong>scribed in CiA DS-401 v2.1 (Input/Output standard), where the pushbutton manoeuvres are consi<strong>de</strong>red as<br />

digital inputs.<br />

The implemented characteristics are:<br />

NMT Functioning: slave.<br />

No<strong>de</strong>ID: EEPROM configurable, from 1 to 127.<br />

Baud rate: EEPROM configurable. Supported speeds: 10, 20, 50, 100, 125, 250, 500, 800 and 1000 Kbps.<br />

Error control: it can work ―Heartbeat‖ as well as ―No<strong>de</strong>/life guarding‖. EEPROM configurable.<br />

Number of PDO‘s: 2 TPDO (manoeuvres state).<br />

Objects 1800 – 1A00<br />

Objects 0x1801 – 0x1A01<br />

2 RPDO (receiver PDOs)<br />

EEPROM parameters recording: not supported.<br />

8.2 - CAN BUS CONNECTION<br />

In or<strong>de</strong>r to connect the CAN bus to the LR72 pcb, it contains a 5 poles connector (P4).<br />

TM70Pi V3.2 (11/02) 120021.pdf. 18<br />

IKUSI reserves the right to change this information without prior notice.


The LED signalling is the one recommen<strong>de</strong>d by the CiA (CAN in Automation) Organisation in its document<br />

DR-303-1:<br />

Bus Termination<br />

Next to the connector, there is one jumper that allows to connect/disconnect the bus termination. It is<br />

important for a correct bus operation that bus terminations are connected in both ends, and disconnected in<br />

the intermediate no<strong>de</strong>s.<br />

8.3 - TRANSMITTER DATA DICTIONARY<br />

The dictionary objects supported by the TM70 are:<br />

1000: DEVICE TYPE<br />

1001: ERROR REGISTER<br />

1002: STATUS REGISTER<br />

1003: PREDEFINED ERROR FIELD<br />

1003.0: number of errors<br />

1003.x: standard error field<br />

1005: COB-ID SYNC<br />

1006: COMMUNICATION CYCLE PERIOD<br />

1007: SYNCHRONOUS WINDOW LENGTH<br />

1008: MANUFACTURER DEVICE NAME<br />

1009: MANUFACTURER HARDWARE VERSION<br />

100A: MANUFACTURER SOFTWARE VERSION<br />

100C: GUARD TIME<br />

100D: LIFE TIME FACTOR<br />

1014: COB-ID EMCY<br />

1015: INHIBIT TIME EMERGENCY<br />

1017: PRODUCER HEARTBEAT TIME<br />

1018: IDENTITY OBJECT<br />

TM70Pi V3.2 (11/02) 120021.pdf. 19<br />

IKUSI reserves the right to change this information without prior notice.


1018.0: number of entries<br />

1018.1: Vendor ID<br />

1018.2: Product Co<strong>de</strong><br />

1018.3: Revision Number<br />

1018.4: Serial number<br />

1800: TRANSMIT PDO COMMUNICATION PARAMETER<br />

1800.0: number of entries<br />

1800.1: COB-ID<br />

1800.2: Transmission type<br />

1800.3: Inhibit time<br />

1800.4: Event timer<br />

1801: TRANSMIT PDO COMMUNICATION PARAMETER<br />

1800.0: number of entries<br />

1800.1: COB-ID<br />

1800.2: Transmission type<br />

1800.3: Inhibit time<br />

1800.4: Event time<br />

1A00: TRANSMIT PDO MAPPING PARAMETER<br />

1A00.0: number of entries<br />

1A00.1: PDO mapping entry<br />

1A00.2: PDO mapping entry<br />

1A00.3: PDO mapping entry<br />

1A00.4: PDO mapping entry<br />

1A01: TRANSMIT PDO MAPPING PARAMETER<br />

1A01.0: number of entries<br />

1A01.1: PDO mapping entry<br />

1A01.2: PDO mapping entry<br />

1A01.3: PDO mapping entry<br />

1A01.4: PDO mapping entry<br />

6000: DIGITAL INPUT 8 BITS<br />

6000.0: number of entries<br />

6000.1: start and stop buttons (start1, start2, stop)<br />

6000.2: Inputs 1-8<br />

6000.3: Inputs 9-16<br />

6000.4: Inputs 17-24<br />

6000.5: Inputs 25-32<br />

6000.6: Inputs 33-40<br />

6000.7: Inputs 41-48<br />

6000.8: Inputs 49-56<br />

6000.9: Inputs 57-64<br />

6000.10: Inputs 65-72<br />

6000.11: Inputs 73-80<br />

6000.12: Display status (CAN return)<br />

TM70Pi V3.2 (11/02) 120021.pdf. 20<br />

IKUSI reserves the right to change this information without prior notice.


8.4 - PUSHBUTTONS AND CONSOLE BOX PDOs<br />

PUSHBUTTONS<br />

The system is provi<strong>de</strong>d with a 4 byte configured transmission PDO (bytes with information):<br />

1st byte 2nd byte 3rd byte 4th byte<br />

Object 6000.1 Object 6000.2 Object 6000.3 Object 6000.4<br />

Start1 M1 M9 M17<br />

Start2 M2 M10 M18<br />

Stop M3 M11 M19<br />

0 M4 M12 M20<br />

0 M5 M13 A1<br />

0 M6 M14 A2<br />

0 M7 M15 0<br />

0 M8 M16 0<br />

The PDO transmission is configured by <strong>de</strong>fault as ―event driven‖, this is, it is sent every time there is a<br />

change on any input.<br />

CONSOLE BOX<br />

The system is provi<strong>de</strong>d with 12 byte configured transmission PDO (bytes with information). The 12th byte<br />

inclu<strong>de</strong>s one bit ( ―0‖ or ―1‖), corresponding with the display status -> Ready (0) Busy (1)<br />

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte<br />

Objeto Objeto Objeto Objeto Objeto Objeto Objeto<br />

6000.1 6000.2 6000.3 6000.4 6000.5 6000.6 6000.7<br />

Start1 I1 I9 I17 I25 I33 I41<br />

Start2 I2 I10 I18 I26 I34 I42<br />

Stop I3 I11 I19 I27 I35 I43<br />

0 I4 I12 I20 I28 I36 I44<br />

0 I5 I13 I21 I29 I37 I45<br />

0 I6 I14 I22 I30 I38 I46<br />

0 I7 I15 I23 I31 I39 I47<br />

0 I8 I16 I24 I32 I40 I48<br />

8th byte 9th byte 10th byte 11th byte 12th byte<br />

Objeto 6000.8 Objeto 6000.9 Objeto 6000.10 Objeto 6000.11 Objeto 6000.12<br />

I49 I57 I65 I73 ―0‖ o ―1‖<br />

I50 I58 I66 I74<br />

I51 I59 I67 I75<br />

I52 I60 I68 I76<br />

I53 I61 I69 I77<br />

I54 I62 I70 I78<br />

I55 I63 I71 I79<br />

I56 I64 I72 I80<br />

The PDO transmission is configured by <strong>de</strong>fault as ―event driven‖, this is, it is sent every time there is a<br />

change on any input.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 21<br />

IKUSI reserves the right to change this information without prior notice.


8.5 - RECEIVER DATA DICTIONARY<br />

NumRPDO: it is a variable which must be configured to use CAN return or not. The value to activate CAN<br />

return is 2. The value to <strong>de</strong>activate CAN return is 0.<br />

1400: RECEIVE PDO1 COMMUNICATION PARAMETER<br />

1400.0: number of entries<br />

1400.1: COB-ID<br />

1400.2: Transmission type<br />

1400.3: Inhibit time<br />

1400.4: Event timer<br />

1401: RECEIVE PDO2 COMMUNICATION PARAMETER<br />

1401.0: number of entries<br />

1401.1: COB-ID<br />

1401.2: Transmission type<br />

1401.3: Inhibit time<br />

1401.4: Event timer<br />

1600: RECEIVE PDO1 MAPPING PARAMETER<br />

1600.0: number of entries<br />

1600.1: PDO mapping entry<br />

1600.2: PDO mapping entry<br />

1601: RECEIVE PDO2 MAPPING PARAMETER<br />

1601.0: number of entries<br />

1601.1: PDO mapping entry<br />

1601.2: PDO mapping entry<br />

1601.3: PDO mapping entry<br />

1601.4: PDO mapping entry<br />

1601.5: PDO mapping entry<br />

1601.6: PDO mapping entry<br />

1601.7: PDO mapping entry<br />

1601.8: PDO mapping entry<br />

6200: DIGITAL OUTPUT 8 BITS<br />

6200.0: number of entries<br />

6200.1: LEDs<br />

6200.2: Buzzer<br />

6411: ANALOGUE OUTPUT 16 BITS<br />

6411.0: number of entries<br />

6411.1: LCD1<br />

6411.2: LCD2<br />

6411.3: LCD3<br />

6411.4: LCD4<br />

6411.5: LCD5<br />

6411.6: LCD6<br />

6411.7: LCD7<br />

6411.8: LCD8<br />

When the receiver is configured as an SLAVE in the CANOpen standard bus it can communicate with other<br />

<strong>de</strong>vices in the CAN bus. In this operating mo<strong>de</strong> (CAN return) the receiver can trasnmitt information to control<br />

for example leds, the buzzer and the messages to show in the LCD70 display for the <strong>console</strong> box and only<br />

messages in the pushbutton mo<strong>de</strong>ls.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 22<br />

IKUSI reserves the right to change this information without prior notice.


CONSOLE BOX:<br />

The receiver can accept a maximun of 2 frames of data; the first frame contains 2 bytes of data. The first<br />

byte controls the led status and the second byte controls the buzzer state.<br />

The second frame contains 8 bytes of data. These bytes contains the information that can be displayed in<br />

the display using VT100 commands which control the editing format of the data in the display.<br />

PUSHBUTTON:<br />

In this case, the VT100 commands are different from the <strong>console</strong> box because the display layout and the<br />

functionality are also different.<br />

RETURN IFORMATION MANAGEMENT EXAMPLE<br />

Data transmission and reception:<br />

The external <strong>de</strong>vice and the remote control receiver can communícate through the CAN bus. Both<br />

<strong>de</strong>vices can interchange data frames called PDOs (Programming Device Objects)<br />

The external <strong>de</strong>vice will send to the remote control receiver 2 data frames to be sent to the remote<br />

transmitter. There will be two different data frames: RPDOs (Reception Programming Device Object) input<br />

data frames from the external <strong>de</strong>vice to the radio remote receiver; TPDOs (Transmission Programming<br />

Device Object) from the radio remote receiver to the external <strong>de</strong>vice.<br />

RPDO<br />

The user, <strong>de</strong>pending on the external <strong>de</strong>vice can control the messages to edit in the LCD display as<br />

well as the LEDs and the internal buzzer.<br />

In case of handheld pushbutton transmitters the system only can send messages to the display. In<br />

case of <strong>console</strong> box transmitters, the system can managed messages, LEDs and internal buzzer. Two<br />

RPDOs will be received<br />

RPDO1:<br />

In this data frame, the receiver will obtain the information about the LEDs status and the buzzer<br />

status, as digital data input.<br />

COB-ID = RPDO1_ID + No<strong>de</strong>_ID = 0x200 + 100<br />

Two data will be received:<br />

RPDO2:<br />

6200 object, sub-in<strong>de</strong>x 1 (LEDs)<br />

6200 object, sub-in<strong>de</strong>x 2 (buzzer)<br />

This data frame contains the information to be shown in the display. This data package contains 8<br />

byes: VT100 commands or data to be shown in the display<br />

COB-ID = RPDO2_ID + No<strong>de</strong>_ID = 0x300 + 100<br />

Eight data will be received:<br />

6410 object, sub-in<strong>de</strong>x 1 to 8 (8 bytes with VT100 compatible commands)<br />

TM70Pi V3.2 (11/02) 120021.pdf. 23<br />

IKUSI reserves the right to change this information without prior notice.


The received display commands will be 8 bytes grouped frames. If the length of the frame is higher<br />

the radio remote receiver will split the data in 8 bytes data frames. For the radio remote receiver the<br />

received data are transparent; the receiver does not process the information.<br />

8.6 -RECEIVER‟S SIGNALLING<br />

The receiver is furnished with two signalling LEDs, controlled according to CIA DR-303-3 recommendation:<br />

CAN-RUN (green): indicates the system state insi<strong>de</strong> the CANopen machine state:<br />

Blinking every 200 ms. In preoperational state.<br />

Solid green permanently in operational state.<br />

One blink every second in stop state.<br />

CAN-ERR (red): indicates error if switched on; in normal conditions it must be switched off.<br />

8.7 - TM70 CAN RECEIVERS<br />

Ref. 3302750 (7503 70GR401 RX R70CANC3 433)<br />

Ref. 3302751 (7504 70GR903 RX R70CANC3 915)<br />

70GR902 RX-RCANNOCE Ref. 3302626 Specifications<br />

Available frecuencies (ISM bands) 915MHz (FCC certified)<br />

433MHz<br />

Power supply / Maximum consumption 9-35v DC / 5W maximum<br />

Inputs / Outputs interface CAN:Standard CAN Open protocol 401 (CIA DS401)<br />

Ingress protection IP67 / NEMA-6<br />

Antenna External: NEARSON S325TR-015 or equivalent<br />

Working frequency selection Automatic: LBT (listen before talking)<br />

Weight 430 gr.<br />

Dimensions Long = 151mm / Width = 129mm (160mm with PG) /<br />

Height = 61mm<br />

EEPROM Extractable EP70 module<br />

Signalling MultiLED:<br />

7 external LEDS (6 green + 1 bicoloured)<br />

2 internal LEDS (CAN status: 1 red + 1 green)<br />

Connexions Fast PLUG-IN plugs and 2 x M16 cable glands<br />

1) Power supply cable gland: M16 / IP67<br />

2) Inputs / Outputs interface cable gland: M16 / IP67<br />

STOP function Cat. 3 EN-954-1 / 2 STOP relays: 250V / 6A maximum<br />

STOP response time = 50 miliseconds<br />

CAN BUS termination (120 Ohm) ON / OFF jumper (internal)<br />

Passive STOP time Programmable: 0,5 to 2 seconds (máx)<br />

Input protection PTC / 0,3A fuse<br />

Output protections (STOP) VDR in contacts<br />

Operating mo<strong>de</strong> temperatura range -20ºC / +70ºC (-4ºF / 158ºF)<br />

Storage temperatura (24h) -25ºC / +75ºC (-13ºF / 167ºF)<br />

Storage temperature –long periods- -25ºC / +55ºC (-13ºF / 131ºF)<br />

TM70 range supported transmitters T70/1/2; T70/3/4; T70/5/6; T70/7/8<br />

TM70Pi V3.2 (11/02) 120021.pdf. 24<br />

IKUSI reserves the right to change this information without prior notice.


Connections scheme :<br />

Receiver‟s dimensions in milimeters:<br />

It is also available the option Ref. IKUSI 3302620 ―Fast fixation kit‖, including a<br />

set of 4 magnets and 4 shock absorbers<br />

TM70Pi V3.2 (11/02) 120021.pdf. 25<br />

IKUSI reserves the right to change this information without prior notice.


Maintenance and troubleshooting / LED‟s signaling<br />

RECEIVER’S LED SIGNALING<br />

LED COLOUR STATUS REMARKS PROPOSED ACTION<br />

POWER GREEN Switch On if powered Power supply OK Check the power supply<br />

HARDOK GREEN<br />

Solid green LED if no error<br />

<strong>de</strong>tected<br />

Receiver hardware OK OK<br />

Blinking during start up process<br />

Please wait to finish the<br />

start up process<br />

HARDOK<br />

RED<br />

SIGNAL GREEN<br />

DATA GREEN<br />

ID<br />

RELAY<br />

ORDER<br />

Internal<br />

LEDS<br />

signaling<br />

Solid red LED if one of these errors<br />

appears:<br />

- Watchdog activated /<br />

Oscillator breakdown /<br />

wrong ROM checksum<br />

- Reset activated<br />

Blinking fast : wrong EEPROM<br />

checksum / Data corrupted / CAN<br />

Bus error<br />

LED Off if no radio signal <strong>de</strong>tected<br />

(Squelch)<br />

LED Off if a wrong frame is<br />

received<br />

Blinking if receiving good frames<br />

GREEN Blinking if a correct ID is received<br />

Electronic board hardware<br />

breakdown<br />

Replace the electronic<br />

board<br />

---------------- Reprogramme EEPROM<br />

- LED On and the transmitter<br />

switched Off indicates occupied<br />

radio channel<br />

- LED On and DATA switched<br />

Off indicates radio channel<br />

occupied by a non IKUSI<br />

system<br />

LED Off and SIGNAL LED On:<br />

Radio breakdown<br />

Switched Off and DATA LED<br />

switched On: no valid ID<br />

SIGNAL; DATA and ID LED<br />

On, indicates valid frames from<br />

the transmitter. Correct link.<br />

Verify transmitter’s radio<br />

and battery<br />

Replace radios<br />

If the radio channel is not<br />

busy: verify transmitter’s<br />

selected ID or reset<br />

receiver ID<br />

GREEN STOP relay activated ---------------- ----------------<br />

GREEN<br />

----------------<br />

TM70Pi V3.2 (11/02) 120021.pdf. 26<br />

IKUSI reserves the right to change this information without prior notice.<br />

OK<br />

---------------- ----------------<br />

CAN-RUN (green): indicates the system state insi<strong>de</strong> the CANopen machine state:<br />

Blinking every 200 ms. In preoperational state.<br />

Solid green permanently in operational state.<br />

One blink every second in stop state.<br />

CAN-ERR (red): indicates error in the field-bus; if switched on; in normal conditions it must be switched off.


9.- LCD70 DISPLAY OPTION<br />

LCD70 DISPLAY OPTION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 27<br />

IKUSI reserves the right to change this information without prior notice.


9.1 - INTRODUCTION and FUNCTIONAL DESCRIPTION<br />

The LCD70 is a 102x80 dot matrix display that can be configured as follows: 4 function<br />

customized keyboard and a 4 function standard keyboard (ENTER/ESC/UP/DOWN), both with<br />

4 bicoloured LEDS.<br />

LCD70 MODULE:<br />

The LCD70 has a configuration of 120x80 points and supports the following representation<br />

format : 2 lines x12 characters / line + icons<br />

KEYBOARD:<br />

The hardware of the LCD70 is ready to connect to 4 functions keyboard.<br />

LEDS and BACKLIGHT<br />

The LCD70 display has 4 bicoloured LEDS (red, green and orange colours) and it also<br />

supports a backlight of 15 seconds.<br />

BLOCK DIAGRAM:<br />

TM70Pi V3.2 (11/02) 120021.pdf. 28<br />

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9.2 - INTERNAL CONNECTION<br />

POWER SUPPLY and I2C BUS<br />

The LE73/74/7EF card provi<strong>de</strong>s 3V3 and GND signals to power on the display module<br />

through P6 connector marked as ―LCD‖ in the PCB, as well as the SDA and SCL I2C bus<br />

signals, using a 4 wire coloured braid cable, co<strong>de</strong> IKUSI 1095083.<br />

PIN NAME DESCRIPTION<br />

1 3V3 3.3 V DC Power Supply<br />

2 SCL I2C Clock<br />

3 SDA I2C Data<br />

4 GND Ground<br />

RANGE LIMITER<br />

The LCD70 display provi<strong>de</strong>s a connector for the range limit option; the used cables and<br />

signals are as follows: 5V, DATA y GND. These cables are connected to the LE73/74/7EF card<br />

through P8 connector, ―LAL‖ marked in the PCB, using a 3 colour braid cable co<strong>de</strong> IKUSI<br />

1095082.<br />

PIN NAME DESCRIPTION<br />

1 5VIR 5 V DC power supply<br />

2 DATA Range Limiter Data<br />

3 GROUND Ground<br />

TM70Pi V3.2 (11/02) 120021.pdf. 29<br />

IKUSI reserves the right to change this information without prior notice.


9.3 - T70 TRANSMITTER and LCD70 DISPLAY ASSEMBLY<br />

TM70Pi V3.2 (11/02) 120021.pdf. 30<br />

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TM70Pi V3.2 (11/02) 120021.pdf. 31<br />

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TM70/3/4 UPPER PART


9.4 - LCD70 DISPLAY OPERATING MODES.<br />

OPERATING MODES:<br />

The LCD70 display allows entering in these operating or special mo<strong>de</strong>s:<br />

EDIT CRANE LABEL: To edit the crane‘s name.<br />

INPUT CALIBRATION: To calibrate the analogue voltage feedback 0–10v.<br />

OUTPUT CALIBRATION: To adjust through Tele Alignment option, the analogue<br />

outputs.<br />

To enter to special operating mo<strong>de</strong>s, like ―Programming a spare transmitter‖ (with the<br />

―copy EEPROM‖ functionality) and ―Base channel changing‖ (see Annex A and Annex<br />

C).<br />

TRIANGLE: Associated with the corresponding mechanism, it allows to enter to the base<br />

channel changing mo<strong>de</strong> and to increase the number of ―tens‖ of the new base channel.<br />

SQUARE: Associated with the corresponding mechanism, it allows to enter to the ―Copy<br />

EEPROM‖ functionality, and to increase the number of ―units‖ of the new base channel.<br />

Entering in configuration mo<strong>de</strong>:<br />

Entering to the “Base channel changing” mo<strong>de</strong>:<br />

Press the mechanism associated with the triangle symbol ―▲‖ (see the<br />

icon in the <strong>console</strong> box front plate), and then press ―Start‖ button.<br />

Entering to the “Copy EEPROM” mo<strong>de</strong>:<br />

Press the mechanism associated with the square symbol ―■‖ (see the<br />

icon in the <strong>console</strong> box front plate), and then press ―Start‖ button.<br />

1. To access the Tele-Alignment menu must be pressed in sequence the "ENTER" (<strong>de</strong>fault<br />

configuration) + "START".<br />

2. The buttons ▲ ―UP‖ and ▼ ―DOWN‖ allow to navigate in the software and to select the<br />

required option.<br />

3. The ―ENTER‖ function validates the selected option and with the ▲ ―UP‖ and ▼ ―DOWN‖. It<br />

also allows choosing the required value If there is a range of values available or for going to<br />

a lower level of the software‘s menu.<br />

4. The ―ESC‖ function aborts any selected option of the menu and it also allows returning to an<br />

upper level of the software‘s menu.<br />

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9.5 - DATA FEEDBACK OPERATING MODE<br />

The data feedback selection (returned information), can be performed by (a) software or by (b)<br />

hardware (i.e. using a rotatory selector).<br />

(a) Software selection (by <strong>de</strong>fault): with the ▲ ―UP‖ and ▼ ―DOWN‖ options, the <strong>de</strong>sire<br />

feedback information can be sequentially selected.<br />

(b) Hardware selection: the remote‘s technical datasheet must inclu<strong>de</strong> and to i<strong>de</strong>ntify, the<br />

mechanism that will allow this selection.<br />

Remarks (for multiple returns / multiple feedback):<br />

The transmitter can process multiple feedbacks but only one information can be displayed at the<br />

same time.<br />

There are two possibilities for the multiple feedback:<br />

1) CAN return + one direct input in the receiver.<br />

In this case the receiver must have an analogue electronic card (IN010V or IN0450P) or a digital<br />

electronic card (IN4D) connected to the LR70 card. The INCAN configuration is not allowed in<br />

this case.<br />

In the CAN bus the receiver works as a slave.<br />

2) INCAN electronic board + one direct input in the receiver.<br />

In this case any amount of analogue or digital cards can be connected directly or using the<br />

INCAN expansion card; the CAN return will be disabled.<br />

In the CAN bus the receiver works as a master.<br />

Systems including software revision 2.4.x., will only support the feedback signal directly<br />

connected to the LR70 electronic card. Nevertheless, and due to the INCAN card option the<br />

system will be able to manage several feedback information at the same time with software<br />

revision 3.1.x. or greater.<br />

The user will be able to select the feedback information he wants to show in the LCD70 display.<br />

For this purpose a software or hardware selector will be used. With the software selector and<br />

after pressing the corresponding manoeuvre (Mi) –mechanism or any display function assigned-<br />

, the position of the selector will increase showing the next configured feedback information and<br />

pressing another manoeuvre (Mi) the position will <strong>de</strong>crease. Thus the selection will be in both<br />

senses. Depending on the position of the selector the transmitter will show a feedback or<br />

another configured one and the display‘s message will change sequentially.<br />

The first feedback will be the information corresponding to the INxxxx card connected directly to<br />

the receiver LR70 board, and then the following INxxxx associated to the INCAN inputs,<br />

<strong>de</strong>pending in the or<strong>de</strong>r they are connected, from the lower to the higher position.<br />

Into the EEPROM, and the INCAN file all the parameters will be configured to specify the<br />

LCD70 display feedback edition.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 33<br />

IKUSI reserves the right to change this information without prior notice.


9.5.1 CHARACTERS MAP<br />

The characters of the table correspond to ASCII standard. Also, you can build big numeric<br />

characters combining four of them: two in the upper line and another two in the lower line.<br />

The characters that have been used to build the bigger one are beginning from B0h direction.<br />

Therefore, for write a big ‗1‘ we will write consecutively the character of the B0h and B1h<br />

directions on the upper line and the character of the B2h and B3h directions on the lower line.<br />

On the other hand, it exist the following special characters:<br />

- km/h in 3 characters: 0x83, 0x84, 0x85<br />

- ft in 1 character: 0x86<br />

- lbs in 2 separated characters: 0x8A, 0x8B<br />

TM70Pi V3.2 (11/02) 120021.pdf. 34<br />

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9.5.2 AVAILABLE ICONS:<br />

The available icons for the display are:<br />

- Battery: 43h direction. This icon is composed by other 4 icons<br />

o Cover of the battery<br />

o Left cell<br />

o Central cell<br />

o Right cell<br />

- NEW: 2h direction. If the level is different from zero, will appear<br />

9.5.3 DISPLAY CONTROL BY VT100<br />

CONTROL CHARACTERS<br />

The VT100 control characters recognized by the LCD70 display are:<br />

- ESC (1Bh): Control character that initialises a control sequence.<br />

- NUL (00h): Ignored on input (not stored in input buffer).<br />

All the other control characters cause no action to be taken.<br />

VALID CONTROL SEQUENCES<br />

Definitions:<br />

The following listing <strong>de</strong>fines the basic elements of the ANSI mo<strong>de</strong> control sequences.<br />

1. Control Sequence Introducer (CSI): in the VT100 the CSI is ESC [<br />

2. Parameter string: a string of parameters separated by a semicolon (3Bh)<br />

3. Final character: a character whose bit combination terminates an escape or control<br />

sequence („m‟, 6Dh)<br />

Control Sequences<br />

- ESC [ 0 (1Bh 5Bh 30h): Control sequence to turn off all character attributes (‗0‘ is the<br />

optional, <strong>de</strong>fault value)<br />

- ESC [Pn ; Pn H (1Bh 5Bh line 3Bh column 48h): moves the active position of the cursor to<br />

the position specified by the parameters. The <strong>de</strong>fault condition with no parameters present<br />

is equivalent to a cursor to home action. Lines are numbered consecutively, with the origin<br />

being line 1, column 1. The cursor is not allowed to be positioned outsi<strong>de</strong> the margins<br />

(lines 1 to 4, columns 1 to 12). A sequence with one Pn numeric parameter with a <strong>de</strong>fault<br />

(0) parameter will be interpreted as wrong sequence. Example: ESC [ 2 ; 0 H or ESC [ 2 ;<br />

H are wrong sequences !<br />

- ESC [ 2 J (1Bh 5Bh 32h 4Ah): all lines are erased, and the cursor does not move<br />

- ESC [ 4 (1Bh 5Bh 34h): All following characters transmitted are un<strong>de</strong>rscored until receiving<br />

an escape sequence ESC [ 0 m<br />

- ESC [ 5 (1Bh 5Bh 35h): All following characters transmitted are blink until receiving an<br />

escape sequence ESC [ 0 m<br />

- ESC [ 7 1Bh 5Bh 37h): All following characters transmitted are negative (reverse) image until<br />

receiving an escape sequence ESC [ 0 m<br />

TM70Pi V3.2 (11/02) 120021.pdf. 35<br />

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All other control sequences or wrong sequences cause no action to be taken.<br />

Example: Control Sequence to turn off all character attributes, and then turn on un<strong>de</strong>rscore and blink<br />

attributes simultaneously. Alternative sequences which will accomplish the same thing:<br />

In only one sequence:<br />

ESC [ ; 4 ; 5 ; m (1Bh 5Bh 3Bh 34h 3Bh 35h 3Bh 6Dh)<br />

Same but divi<strong>de</strong>d in three in<strong>de</strong>pen<strong>de</strong>nt sequences:<br />

ESC [ m (1Bh 5Bh 6Dh)<br />

ESC [ 4 m (1Bh 5Bh 34h 6Dh)<br />

ESC [ 5 m (1Bh 5Bh 35h 6Dh)<br />

BUFFERED MESSAGES<br />

When the application interest is refreshing a full screen, or a line, only after completely received, two<br />

control charters, STX and ETX, allow to store the partially received text in a internal buffer until<br />

complete reception, and then it will be written in the LCD.<br />

ASCII Control Character Co<strong>de</strong>s Implemented<br />

- STX (02h): start of text. Init entering text in the input buffer<br />

- ETX (03h): end of text. Finish entering data in the input buffer and writes the buffer contents<br />

in the LCD display<br />

If these ASCII Character Co<strong>de</strong>s are not used, data will be immediately represented as soon as it is<br />

received by the display. STX and ETX ASCII control characters can not be used as parameters of<br />

a VT100 control sequence. Buffered messages can inclu<strong>de</strong> control sequences with arrays of<br />

characters.<br />

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Example: VT100 data feedback<br />

Write messages on display<br />

The texts are sent in 8 packages of 8 bytes each, prece<strong>de</strong>d by an i<strong>de</strong>ntifier COB_ID=0x300+no<strong>de</strong>_ID. Insi<strong>de</strong> these packages, you can send texts by different<br />

mo<strong>de</strong>s for view the same message. For example, the next text:<br />

We can write the next message differently:<br />

Column<br />

1 2 3 4 5 6 7 8 9 10 11 12<br />

TM70Pi V3.2 (11/02) 120021.pdf. 37<br />

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File<br />

1 I K U S I<br />

2 I K U S I I K U S I<br />

a) First, will appear ‗IKUSI‘ text, then we will move the position of the cursor to line2-column 1, and finally we will visualize the text ‗IKUSI IKUSI‘ on the second<br />

line.<br />

Text Shift command Text Text<br />

Position Message (Hex) Meaning Position Message (Hex) Meaning Position Message (Hex) Meaning Position Message (Hex) Meaning<br />

LCD1 49 I LCD1 1B ESC LCD1 49 I LCD1 49 I<br />

LCD2 4B K LCD2 5B [ LCD2 4B K LCD2 4B K<br />

LCD3 55 U LCD3 32 Line 2 LCD3 55 U LCD3 55 U<br />

LCD4 53 S LCD4 3B ; LCD4 53 S LCD4 53 S<br />

LCD5 49 I LCD5 31 Column 1 LCD5 49 I LCD5 49 I<br />

LCD6 00 LCD6 48 LCD6 20 Space LCD6 20 Space<br />

LCD7 00 LCD7 6D Final command 'm‘ LCD7 00 LCD7 00<br />

LCD8 00 LCD8 00 LCD8 00 LCD8 00


) We can write the same message like this:<br />

Text Shift command Text Text<br />

Position Message (Hex) Meaning Position Message (Hex) Meaning Position Message (Hex) Meaning Position Message (Hex) Meaning<br />

LCD1 49 I LCD1 1B ESC LCD1 49 I LCD1 55 U<br />

LCD2 4B K LCD2 5B [ LCD2 4B K LCD2 53 S<br />

LCD3 55 U LCD3 32 Line 2 LCD3 55 U LCD3 49 I<br />

LCD4 53 S LCD4 3B ; LCD4 53 S LCD4 20 Space<br />

LCD5 49 I LCD5 31 Column 1 LCD5 49 I LCD5 00<br />

LCD6 00 LCD6 48 LCD6 20 Space LCD6 00<br />

LCD7 00 LCD7 6D Final command 'm‘ LCD7 49 I LCD7 00<br />

LCD8 00 LCD8 00 LCD8 4B K LCD8 00<br />

c) Or we can visualize all the text at once:<br />

Text Shift command Text Text<br />

Position Message (Hex) Meaning Position Message (Hex) Meaning Position Message (Hex) Meaning Position Message (Hex) Meaning<br />

LCD1 02 Start ‗STX‘ LCD1 1B ESC LCD1 49 I LCD1 49 I<br />

LCD2 49 I LCD2 5B [ LCD2 4B K LCD2 4B K<br />

LCD3 4B K LCD3 32 Line 2 LCD3 55 U LCD3 55 U<br />

LCD4 55 U LCD4 3B ; LCD4 53 S LCD4 53 S<br />

LCD5 53 S LCD5 31 Column 1 LCD5 49 I LCD5 49 I<br />

LCD6 49 I LCD6 48 LCD6 20 Space LCD6 20 Space<br />

LCD7 00 LCD7 6D Final command 'm‘ LCD7 00 LCD7 03 End ‗ETX‘<br />

LCD8 00 LCD8 00 LCD8 00 LCD8 00<br />

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Once that we have completed the 24 characters, we have to write the command for send the cursor to line 1-<br />

column 1. Otherwise, we will lose everything we write. We have still used only 4 packages of 8 bytes;<br />

therefore, we have other 4 available for example to send the state of LEDs and Buzzer.<br />

Switching-on the LEDs & Buzzer<br />

For establish the state of the LEDs and the buzzer we have to send a package of 2 data. This package have<br />

to be prece<strong>de</strong>d by an i<strong>de</strong>ntifier COB_ID=0x200+no<strong>de</strong>_ID.<br />

LEDs From 0 to 255 value<br />

BUZZER 0 or 1 value<br />

The first data says if the LEDs are lit in green, red or amber (combining green and red). It is a binary co<strong>de</strong><br />

that reads as follows, for example:<br />

LED 4 LED3 LED 2 LED 1<br />

Red Green Red Green Red Green Red Green<br />

128 64 32 16 8 4 2 1<br />

Data 0 0 1 1 1 0 0 1<br />

= 57h<br />

The second data says if the buzzer is ON (1) or OFF (0). This is the complete package:<br />

LEDs & Buzzer<br />

Position Message (Hex) Meaning<br />

LCD1 57 Led1=Green; Led2=Red; Led3=Amber; Led4=Off<br />

LCD2 01 Buzzer ON<br />

LCD3<br />

LCD4<br />

LCD5<br />

LCD6<br />

LCD7<br />

LCD8<br />

Important: The last byte of the second package that the systems transmit could have different values:<br />

- If the value is 1, means that the CAN message from the master is already sent to the transmitter and<br />

the receiver could receive one more message and save it to send later to the transmitter.<br />

- If the value is 0, means that the transmitter has already received CAN message and is ready to<br />

receive another one.<br />

- If the value is 3, means that the buffer is full and is waiting for the confirmation from the transmitter.<br />

If you send a message in this state, because it has nowhere to store it, be lost.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 39<br />

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10.- “FIRST COME – FIRST SERVED”<br />

“FIRST COME – FIRST SERVED”<br />

OPERATION<br />

TM70<br />

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TM70 – “FIRST COME – FIRST SERVED” OPERATION<br />

10.1 - INTRODUCTION<br />

This option allows the operation of one crane individually by using two transmitters with two different<br />

ID co<strong>de</strong>s, which <strong>de</strong>termine which transmitter is governing the crane at a certain time. For First come<br />

– First served applications the receiver is required to scan the radio channels in or<strong>de</strong>r to receive<br />

radio signals from different transmitters.<br />

The First come – First served mo<strong>de</strong> is <strong>de</strong>fined by EEPROM, and the transmitters do not need to<br />

have a selector. The First come – First served mo<strong>de</strong> consists of a receiver which liberates the ID<br />

co<strong>de</strong> every time the receiver is switched off, and hence it starts searching for IDs <strong>de</strong>fined in the<br />

EEPROM ID co<strong>de</strong> list. The first valid ID co<strong>de</strong> found is selected, and locked on to it until the operator<br />

releases the crane by pressing the Stop button. After a time <strong>de</strong>fined in EEPROM (0.1 – 25 seconds,<br />

<strong>de</strong>fault 4 seconds), the receiver liberates the ID to which it was locked and starts scanning IDs and<br />

radio channels. The first transmitter switched on is the First transmitter to hold control of the crane,<br />

and it will not let any other transmitter to have control of the crane until the transmitter is switched<br />

off.<br />

A First Come – First Served operation with cranes is always <strong>de</strong>licate, given that<br />

the receiver is FREE every time the STOP button is pressed or there is a radio link<br />

failure.<br />

10.2 - TWO TRANSMITTERS SYSTEMS<br />

F1<br />

ID1<br />

ID2<br />

TRANSMITTER 1<br />

ID1<br />

RECEIVER 1<br />

Transmitters 1 and 2 have two different IDs and transmit in two different radio channels. Once the<br />

receiver is switched off by any of the transmitters, after the liberation time <strong>de</strong>fined in the EEPROM,<br />

the receiver starts scanning for IDs and radio channels, looking for a frame with the start or<strong>de</strong>r<br />

pressed.<br />

A First come – First served system can have up to 32 different transmitters governing a single<br />

receiver.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 41<br />

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F1<br />

F2<br />

F2<br />

TRANSMITTER 2<br />

ID2


11.- LA70 & LA70M RANGE LIMITER OPTION<br />

LA70 & LA70M RANGE LIMITER<br />

OPTION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 42<br />

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11.1.1 - SYSTEM DESCRIPTION<br />

TM70 radio remote control systems can be equipped with a range limitation option for overhead<br />

cranes, through which, the system is able to <strong>de</strong>termine if the transmitter is located outsi<strong>de</strong> of a zone,<br />

<strong>de</strong>fined as a working area, and <strong>de</strong>activates the controls when these situations arise.<br />

The system consists of one or more Infrared transmitters LA70, installed either in fixed positions or on<br />

the controlled crane, oriented in such a way that it covers the targeted working zone. In these cases<br />

the transmitters of the remote control sets are equipped with a sensor which receives the information<br />

coming from the LA70 transmitter. This information is analysed by transmitter microprocessor, which,<br />

in this way knows when the operator has left the working area. Consequently, outputs are <strong>de</strong>activated.<br />

Application examples:<br />

11.1.2 - INFRARED SENSOR<br />

LA70<br />

As explained in the above, the sensor element is located in the remote control transmitter and its<br />

function is to receive the infrared information coming from the LA70 transmitter. The location of this<br />

sensor is the following:<br />

The transmitter microprocessor receives the information from the sensor and checks the i<strong>de</strong>ntity of the<br />

crane. As soon as the sensor stops receiving the signal coming from the crane, the transmitter LED,<br />

which was green, begins to flash in red, (in case of belly box transmitters, a buzzer also sounds), in<br />

or<strong>de</strong>r to let the operator know that he has moved too far away. If this situation lasts longer than 4<br />

seconds, all the active commands are cancelled, although communication is maintained with the<br />

receiver. In this way the main contactor and the selection or<strong>de</strong>rs are maintained.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 43<br />

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In or<strong>de</strong>r to return to the operating mo<strong>de</strong>, all the worker has to do is move back into the working zone.<br />

Movement or<strong>de</strong>rs must be disabled in or<strong>de</strong>r to restart movement. Once the transmitter enters the<br />

working area, movement or<strong>de</strong>rs will not be ready to be used unless they have gone to zero. This is to<br />

make movements start in first speed. If the remote control is provi<strong>de</strong>d with a Display, whenever the<br />

transmitter is out of range, the message ―Out of Range‖ will be displayed.<br />

The remote control has got 4 mo<strong>de</strong>s of operation <strong>de</strong>fined in the EEPROM:<br />

1.- Range Limiter only at start up (Electronic Key): In or<strong>de</strong>r to make the transmitter work, it is<br />

necessary that the transmitter is insi<strong>de</strong> the starting zone, <strong>de</strong>fined by the position of the infrared<br />

transmitter.<br />

2.- Range Limiter only in operation: The transmitter can be started anywhere insi<strong>de</strong> or outsi<strong>de</strong> of the<br />

working area, but the movement or<strong>de</strong>rs will not work until the transmitter is insi<strong>de</strong> the working zone.<br />

3.- Range Limiter at startup and operation: The transmitter in or<strong>de</strong>r to work must be insi<strong>de</strong> the working<br />

zone always.<br />

4.- Range Limiter only as an output Relay: This functionality makes the transmitter not to show In<br />

range or Out of range situation in the transmitter itself. It will not mask any or<strong>de</strong>r. The information will<br />

be sent to the receiver in or<strong>de</strong>r to process the information as an output relay or a condition to the relay<br />

table.<br />

11.2.1 – la70 INFRARED TRANSMITTER<br />

This is the element installed in the crane, which generates the infrared modulated radiation with an<br />

i<strong>de</strong>ntity co<strong>de</strong>, which permits the sensor its i<strong>de</strong>ntification.<br />

Emission angle in long travel direction is wi<strong>de</strong>r than those of cross travel direction. In this way, the<br />

working area covered by a transmitter is similar in shape to an ellipse, whose dimensions <strong>de</strong>pend on<br />

the height of the bridge over the ground. Approximately, the diagonals of the ellipse according to the<br />

height are the following:<br />

h (m) D (m) ±63º d (m) ±40º<br />

6 24 10<br />

8 32 13<br />

10 40 17<br />

12 48 20<br />

14 56 23<br />

16 64 26<br />

18 68 29<br />

20 70 32<br />

TM70Pi V3.2 (11/02) 120021.pdf. 44<br />

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In cases in which it is believed that the area covered by one transmitter is not enough, more slave<br />

transmitters can be installed.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 45<br />

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11.2.2 – LA70 INSTALLATION<br />

Make sure that the crane is switched off during the assembly operation. Clear the<br />

work area and use security clothing.<br />

Check the power supply and disconnect the power supply to the crane.<br />

Do not forget to connect the earth cable.<br />

Use flame resistant cables for the connections.<br />

Find a suitable place for the installation of the infrared transmitter, away from elements,<br />

which could generate intense electrical disturbances and obstacles to the transmission of<br />

light.<br />

Choose the correct power supply and connect it.<br />

Fit the jumper selector in master position.<br />

Select the co<strong>de</strong> programmed in the EEPROM memory of the transmitter.<br />

POWER SUPPLY COMMUNICATION<br />

WITH OTHER LA60<br />

CODE<br />

SELECTOR<br />

SELECTOR<br />

MODE<br />

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Slave<br />

Master


In cases in which the area covered by a transmitter is not sufficient, other LA70 transmitters can be<br />

connected in series, programmed as slaves in the selector. In this case the co<strong>de</strong> emitted corresponds<br />

with the selector in the master transmitter.<br />

The communication connection between transmitters must be done with shiel<strong>de</strong>d wires.<br />

11.2.3 – LA70 TECHNICAL CHARACTERISTICS<br />

Infrared Transmitter<br />

Power supply 48, 115, 230 Vac ± 10%; 50/60 Hz<br />

Operating temperature -20 a +65ºC<br />

Protection IP55<br />

TM70Pi V3.2 (11/02) 120021.pdf. 47<br />

IKUSI reserves the right to change this information without prior notice.


11.3.1 – LA70M INFRARRED TRANSMITTER<br />

The new LA70M range limiter is a modular and more compact re-styling of the current LA70 range limiter;<br />

fully compatible with TM60 and TM70 IKUSI‘s radio remote control systems<br />

References and <strong>de</strong>scriptions of the modules and slave (expansions) connection cable.<br />

S.A. Cod. DESCRIPTION CODE COM. REF.<br />

LA70M MODULE WITH DC PS 2305228 LA70M DC<br />

LA70M MODULE WITH AC PS 2305229 LA70M AC<br />

LA70M EXPANSION MODULE (SLAVE) 2305230 LA70M EX<br />

7505 70GU101 CABLE CONEX-M12 10MT 2301234 CABLE CONEX-M12<br />

LA70M AC / LA70M DC<br />

LA70M specifications:<br />

LA70M EX<br />

Modules: LA70M AC / LA70M DC SPECIFICATIONS<br />

AC Power Supply 48/115/230v AC +/-20% 50/60Hz<br />

DC Power Supply 8-35v DC<br />

AC Power Supply Fuse 0,63A /250v<br />

DC Power Supply Fuse 2A/250v<br />

Maximum power consumption 20VA<br />

Operating temperatura range -20/+70 ºC<br />

IP ingress protection rating IP67<br />

Maximum range 50 meters<br />

External connection M12 conector -5 poles- (female)<br />

I8 Jumper ON/OFF load resistor terminal<br />

I14 Jumper TM60 or TM70 range compatible selector mo<strong>de</strong><br />

I3 Jumper ID selector co<strong>de</strong> / ID co<strong>de</strong>s: ―2‖ to ―F‖ / ID =‖3‖ by <strong>de</strong>fault<br />

I2 jumper (Not available functioality)<br />

Module LED Status HARDWARE OK –green blinking- / ERROR –switched off-<br />

Fast assembly By magnets (standard configuration)<br />

External dimensions 80 mm x 160 mm x 65 mm (Length x Width x Height)<br />

TM70Pi V3.2 (11/02) 120021.pdf. 48<br />

IKUSI reserves the right to change this information without prior notice.


Module: LA70M EX SPECIFICATIONS<br />

DC power supply Provi<strong>de</strong>d by the Master module<br />

Operating temperatura range -20/+70 ºC<br />

IP ingress protection rating IP67<br />

Maximum range 50 meters<br />

External connections 2 x M12 connectors -5 poles- (male - female)<br />

Maximum number of expansions 2 (for each Master module)<br />

LA70M XX / LA70M EX connection cable 10 meters M12 –female/male- (supplied as spare part)<br />

LED signalling Hardware OK –green blinking- / ERROR –switched off-<br />

Fast assembly By magnets (standard configuration)<br />

External dimensions 82 mm x 80 mm x 65 mm (Length x Width x Height)<br />

PC enclosure specifications:<br />

MATERIALS RATING<br />

Material Polycarbonate Ingress Protection IP67 EN 60529<br />

Base colour RAL 7035 Impact Resistance IK07 EN 62262<br />

Cover colour Clear transparent Electrical Isulation Totally insulated<br />

Cover screws material Stainless steel Halogen free SI / DIN-VDE 0472 Part 815<br />

Gasket material Polyurethane UV resistance UL 508<br />

TEMPERATURES Flammability rating UL 746 C 5: UL 94 5V<br />

Short term -40…..+120 ºC Glow Wire Test IEC (695-2-1) ºC:960<br />

Continous -40…..+ 80 ºC NEMA Class NEMA 1,4,4X,12,13<br />

The operating mo<strong>de</strong> is the same as <strong>de</strong>scribed in points 11.1 and 11.2 inclu<strong>de</strong>d in this chapter.<br />

The covered working zone can be circular (standard configuration) or elliptical (if required as an<br />

option, opening the LEDS about ±20º among them in one direction -> D) for each LA70M or LA70M Ex<br />

module<br />

Infrared emission for a Circular covered zone (D=d)<br />

ALL LEDs in paralell assembly mo<strong>de</strong><br />

h (m) D (m) ± 0º d (m) ±0º<br />

6 2 2<br />

8 3 3<br />

10 4 4<br />

12 4 4<br />

14 5 5<br />

16 6 6<br />

18 6 6<br />

20-35 7 7<br />

TM70Pi V3.2 (11/02) 120021.pdf. 49<br />

IKUSI reserves the right to change this information without prior notice.


Infrared emission for an Ellíptical covered zone (D≠d)<br />

ALL LEDs in wi<strong>de</strong> assembly mo<strong>de</strong><br />

h (m) D (m) ±20º d (m) ± 0º<br />

6 7 2<br />

8 9 3<br />

10 12 4<br />

12 14 4<br />

14 16 5<br />

16 18 6<br />

18 21 6<br />

20 23 7<br />

Jumper‘s configuration and ID selector for the Master modules<br />

I3: ID selector / Allowed range ―2,3…..8,9,A,B….F‖ -> 14 positions. Default configuration, ID=3 (*)<br />

I14: TM60 or TM70 compatibillity selector<br />

I2: NON available functionallity (“Normal” position by <strong>de</strong>fault)<br />

CODE SELECTOR<br />

I-2<br />

Normal<br />

Expan<strong>de</strong>d<br />

F<br />

0<br />

2<br />

ID SELECTOR<br />

I-3<br />

J-TAG<br />

IR LEDS<br />

CONNECTORS<br />

LA60/70<br />

I-14 LA60 LA70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 50<br />

IKUSI reserves the right to change this information without prior notice.


11.3.2.- LA70M INSTALLATION AND CONNECTIONS<br />

Make sure that the machine is switched off during the assembly operation. Clear<br />

the work area and use security clothing.<br />

Check the power supply and disconnect the power supply to the crane.<br />

Do not forget to connect the earth cable.<br />

Use only cables supplied by the manufacturer for the connections between the<br />

Master module and the Slaves (or expansions).<br />

Find a suitable place for the installation of the infrared transmitter, away from elements,<br />

which could generate intense electrical disturbances and obstacles to the transmission of<br />

light.<br />

Choose the correct power supply and connect it.<br />

Fit the jumper selector in master position.<br />

Select the co<strong>de</strong> programmed in the EEPROM memory of the transmitter.<br />

Make sure to put the protection cork supplied with the Master module in the last expansion<br />

module installed.<br />

LA70M AC / LA70M DC LA70M EX<br />

ID=3 (*)<br />

AC/DC POWER SUPPLY<br />

Maximum number of expansions (for each Master module) = 2<br />

TM70Pi V3.2 (11/02) 120021.pdf. 51<br />

IKUSI reserves the right to change this information without prior notice.<br />

LA70M EX<br />

CORK


12.- “PITCH & CATCH” OPERATION<br />

“PITCH & CATCH” OPERATION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 52<br />

IKUSI reserves the right to change this information without prior notice.


TM70 – “PITCH & CATCH” OPERATION<br />

12.1 - INTRODUCTION<br />

This option allows the operation of one crane by two transmitters, through the selection of ID co<strong>de</strong>s,<br />

which <strong>de</strong>termine the mo<strong>de</strong> of operation. For this application, the SCAN option for the receivers is<br />

required in or<strong>de</strong>r to receive transmitters in different channels.<br />

This mo<strong>de</strong> of operation consists of the use of a crane by two different transmitters. The first<br />

transmitter governing the crane gets hold of the crane until it as switched off (in principle exactly as<br />

the First come – First served mo<strong>de</strong> of operation). In the event of pressing the STOP pushbutton, the<br />

other transmitter is switched on and the START or<strong>de</strong>r is being pressed, the second transmitter gets<br />

hold of the crane without falling the STOP relays. This way, users of the same crane with different<br />

transmitters can pass each other the crane without falling the STOP relays. As the START<br />

pushbutton must be pressed when transferring the crane if the START relay has got a connected<br />

Horn, when the transfer is done an audible sound can be produced.<br />

Pitch & Catch operation is always <strong>de</strong>licate, given that the receiver is FREE every<br />

time the STOP button is pressed or there is a radio link failure.<br />

12.2 - TWO TRANSMITTERS SYSTEMS<br />

ID1<br />

F1<br />

ID1<br />

ID2<br />

TRANSMITTER 1<br />

RECEIVER 1<br />

TM70Pi V3.2 (11/02) 120021.pdf. 53<br />

IKUSI reserves the right to change this information without prior notice.<br />

F1<br />

F2<br />

F2<br />

TRANSMITTER 2<br />

ID2


Transmitters do not need selectors. The receiver is the one that Frees its ID co<strong>de</strong>.<br />

When a Pitch & Catch operation needs to be performed, the user of the transmitter that wants to<br />

Catch the crane must ask the user holding the crane to release the crane. The procedure is the<br />

following: The owner of the crane must press the STOP button while the user that wants to Catch<br />

the crane must be pressing the START button. The receiver will free the ID co<strong>de</strong> and will SCAN new<br />

ID co<strong>de</strong>s and new channels, if in the lapse of time of a passive STOP, it encounters the new ID it will<br />

keep on going without falling the STOP relays.<br />

In the event that the transmitter governing the crane stops while the second transmitter is switched<br />

off, the system will STOP normally and will be free until one transmitter with a valid ID presses the<br />

START button.<br />

When a Pitch & Catch operation is finished, the first transmitter to press START will get hold of the<br />

crane.<br />

This mo<strong>de</strong> of operation is personalised in the remote control EEPROM and must be done by IKUSI<br />

personnel only.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 54<br />

IKUSI reserves the right to change this information without prior notice.


13.- TANDEM OPERATION<br />

TANDEM OPERATION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 55<br />

IKUSI reserves the right to change this information without prior notice.


TM70 – TANDEM OPERATION<br />

13.1 - INTRODUCTION<br />

This option allows the operation of two cranes individually or in tan<strong>de</strong>m by using one transmitter by<br />

the selection of ID co<strong>de</strong>s, which <strong>de</strong>termines the mo<strong>de</strong> of operation. For tan<strong>de</strong>m applications both<br />

receivers are required to scan the radio channels in or<strong>de</strong>r to receive radio signals from different<br />

transmitters.<br />

Once a mo<strong>de</strong> has been selected, the access to the selected receiver or receivers will be blocked for<br />

other transmitters, until they have not been liberated by the transmitter having the control. This<br />

blocking is maintained even in case that the equipment is switched off.<br />

When a selection is ma<strong>de</strong> with the transmitter disconnected, the transmitter will not start and shows<br />

in the LED that the selection ma<strong>de</strong> is not correct with 0,4s red pulses. The transmitter must be<br />

switched off and restart it with the selection with which it was switched off.<br />

A Tan<strong>de</strong>m operation with cranes is always <strong>de</strong>licate.<br />

Remember that there are safety <strong>de</strong>vices, (limit switches, anti collision guard<br />

systems, etc.), which can affect and stop one of the cranes, while the other<br />

continues working.<br />

In the tan<strong>de</strong>m systems with LCD Display option, in the 1 st line of the display will be shown the crane<br />

1 name and in the 2 nd line the crane 2 name. With the selector switch in position 1+2 both names will<br />

be shown.<br />

You can personalize the name of the 2 cranes following the <strong>de</strong>scription in ANNEX A in this <strong>manual</strong>.<br />

The modified name of the crane in the transmitter will not be updated in the<br />

receiver EEPROM. In or<strong>de</strong>r to do it, please copy the new information located in<br />

the transmitter EEPROM into the receiver one.<br />

IMPORTANT REMARK:<br />

The frequency set up of tán<strong>de</strong>m systems supplied from IKUSI is by <strong>de</strong>fault F1= CB / F2 = CB+4<br />

By <strong>de</strong>fault CB = CT.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 56<br />

IKUSI reserves the right to change this information without prior notice.


13.2 - ONE MASTER TRANSMITTER SYSTEMS<br />

ID1<br />

ID2<br />

F1<br />

RECEIVER 1<br />

SLAVE<br />

F1<br />

F2<br />

The Master Transmitter has got a crane selector ―1 / 1+2 / 2‖, while the slave transmitter has only<br />

got a release ―R‖ push button.<br />

When a tan<strong>de</strong>m operation is nee<strong>de</strong>d, the operator of the master transmitter must require the slave<br />

transmitter operator the liberation of receiver 1. In or<strong>de</strong>r to do it, it has to be pressed simultaneously<br />

the release ―R‖ push button and the Start button. The transmitter will send receiver 1 the liberation<br />

or<strong>de</strong>r, remaining like that disconnected and ready to accept a new ID co<strong>de</strong>.<br />

When arriving to this stage, the position ―1+2‖ may be selected in the master transmitter and then<br />

press the Start button until the Green LED is switched on. By doing this, the transmitter will send the<br />

liberation or<strong>de</strong>r to receiver 2 and following that, it will send the new ID co<strong>de</strong>. Both receivers, 1 and 2,<br />

will then be started and ready to tan<strong>de</strong>m operation.<br />

When tan<strong>de</strong>m operation has finished, the master transmitter must select position 2 again and press<br />

the Start button. By doing this, receiver 1 is again ready to be used by the slave transmitter, and the<br />

master transmitter only controls receiver 2.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 57<br />

IKUSI reserves the right to change this information without prior notice.<br />

F2<br />

ID1 ID2<br />

ID2<br />

RECEIVER 2<br />

MASTER<br />

F2<br />

F2


13.3 - TWO MASTER TRANSMITTERS SYSTEMS<br />

ID1<br />

ID2<br />

ID1<br />

RECEIVER 1<br />

F1<br />

F1<br />

F2<br />

F1 F2<br />

In the event of push button systems in tan<strong>de</strong>m operation, with two Master transmitters, both of them<br />

will have a ―1 / 1+2 / 2‖ selector and a release pushbutton ―R‖.<br />

When one of the transmitters must work in tan<strong>de</strong>m, the operator must require his workmate the use<br />

of the crane. To liberate the crane the operator will have to press ―R‖ and Start simultaneously in his<br />

transmitter. The receiver in which, the operator was working will be liberated and ready to accept<br />

another ID co<strong>de</strong> within the list, and the transmitter gets disconnected.<br />

Following this, the transmitter that is going to perform the tan<strong>de</strong>m operation, the position ―1+2‖<br />

should be selected and then press the Start button until the green LED light is switched on. Both<br />

receivers will be connected with the transmitter.<br />

When the operation has been finalised, the ―R‖ and Start buttons must be pressed simultaneously, to<br />

liberate both receivers, and be able to do new operations.<br />

With <strong>console</strong> transmitters, the function ―R‖ is inclu<strong>de</strong>d in a four step rotary selector ―R / 1 / 1+2 / 2‖.<br />

The way of operation is the same in both cases.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 58<br />

IKUSI reserves the right to change this information without prior notice.<br />

ID1<br />

ID2<br />

RECEIVER 2<br />

MASTER I MASTER II<br />

F2<br />

F1<br />

F2<br />

ID2


14.- ANALOGUE FEEDBACK / IN 0-10V OPTION / CALIBRATION<br />

ANALOGUE FEEDBACK<br />

IN 0-10v OPTION<br />

CALIBRATION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 59<br />

IKUSI reserves the right to change this information without prior notice.


TM70 – ANALOGUE FEEDBACK CALIBRATION<br />

14.1 - INTRODUCTION<br />

Systems with analogue feedback need to have the options Display and Analogue Feedback.<br />

Systems with analogue feedback need at startup the calibration of the analogue input by the<br />

distributor or the user. The following steps need to be done:<br />

14.2 - CALIBRATION OF THE ANALOGUE FEEDBACK WITH LCD DISPLAY<br />

Transmitters with display option, allow the operator the calibration of the analogue input through the<br />

edition of a three digit value plus a comma and a measurement unit up to three characters.<br />

The modified feedback calibration data will not be updated in the receiver<br />

EEPROM. In or<strong>de</strong>r to do it, please copy the new information located in the<br />

transmitter EEPROM into the receiver one.<br />

At the remote control start up the Calibration must be done as follows:<br />

1. Insert a fully charged battery and turn ON the<br />

contact key.<br />

2. Push and Pull the STOP pushbutton. An orange<br />

blink will be seen on the LED followed by green<br />

pulses and the LED switches off.<br />

3. Place a known load on the crane in or<strong>de</strong>r to<br />

introduce the First value in Calibration mo<strong>de</strong>.<br />

4. Switch off the remote control and start the system<br />

entering in CALIBRATION mo<strong>de</strong>. In or<strong>de</strong>r to do so,<br />

it is necessary to do the following:<br />

5. Press LCD70 push button ―ENTER‖ (<strong>de</strong>fault value)<br />

and press START pushbutton. Keep both<br />

pushbuttons pushed for a couple of seconds until<br />

the CONFIG option appears on the display.<br />

Remark: It is possible using the TMConfig<br />

tool to assign a different function; this<br />

function must <strong>de</strong>fined and written in the<br />

equipment technical datasheet<br />

6. Press the push button ―ENTER‖ to go into<br />

the MENU.<br />

7. To move through the menu, use ―UP‖ (▲) and ―DOWN‖ (▼) functions the CALIBRATION<br />

menu appears.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 60<br />

IKUSI reserves the right to change this information without prior notice.


8. Press ―ENTER‖ function.<br />

9. In CAL.ENTER mo<strong>de</strong>, choose one of the following options: 2.1- > VALUE 1; 2.2 -> VALUE 2<br />

and 2.3 -> UNITS. Pressing ―ENTER‖ function the required option is selected.<br />

―DOWN‖ function (▼) : To move through the character list in a <strong>de</strong>scending or<strong>de</strong>r.<br />

―UP‖ function (▲) : To move through the character list in an ascending or<strong>de</strong>r.<br />

―ESC‖ function: To return to the previous character or previous menu in the display.<br />

―ENTER‖ function: To validate the edited character and move to the next character.<br />

10. Once the corresponding value to the pending load has been assigned, the value in the<br />

display will be of three digits plus a comma. Units must be edited such that the value<br />

represented and the units are coherent. Validate the value inserted pressing START.<br />

VALUE 1 will be memorised.<br />

11. Press ―ESC‖ to return to the previous menu in or<strong>de</strong>r to edit the units. Units must have no<br />

more than three characters.<br />

12. Press STOP and restart the crane again. Replace the load with another known load.<br />

13. Repeat the process again (steps 4 to 8) selecting VALUE 2 in the Calibration menu.<br />

14. Once finished the feedback calibration process, the system will be calibrated.<br />

At this point the system is ready to work normally. Until calibration is performed, data appearing in<br />

the display will be inconsistent.<br />

Calibration generates a linear interpolation of the possible values. This means that it can be used<br />

with all systems that generate a linear analogue outputs. For non linear systems the interpolation will<br />

not produce a correct display value. Calibration allows to obtain negative values.<br />

Example of calibration of a load cell:<br />

Enter into the calibration mo<strong>de</strong> and introduce the value corresponding to the hook without load (1 st<br />

value).<br />

Validate the value pressing START. Extinguish the transmitter.<br />

Start the system again and raise a known load.<br />

Extinguish the transmitter and enter again to the calibration mo<strong>de</strong> for the edition of the 2 nd value.<br />

Press START to validate the value.<br />

Press pushbutton 1 to edit the units.<br />

Press START to validate the units.<br />

Extinguish the transmitter.<br />

The equipment is already ready to work normally.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 61<br />

IKUSI reserves the right to change this information without prior notice.


14.3 - LR71/72 and IN0-10V ASSEMBLY<br />

IN0-10V (Ref. 2303755)<br />

Cod-2303755<br />

TM70Pi V3.2 (11/02) 120021.pdf. 62<br />

IKUSI reserves the right to change this information without prior notice.<br />

Cod-1131026(x4)<br />

Cod-1135024(x2)


15.- IN0450P OPTION<br />

IN0450P OPTION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 63<br />

IKUSI reserves the right to change this information without prior notice.


15.1 - INTRODUCTION and FUNCTIONAL DESCRIPTION<br />

The IN0450P electronic card can be conected to the LR70, 0-3V analogue input and it allows to<br />

measure the frequency coming from a pulse generator operating between 0 - 450 Hz range.<br />

This electronic card is a frequency voltage converter and it can be used, for example, as an<br />

interface between an anemometer (sensor) that provi<strong>de</strong>s a pulsed signal, in or<strong>de</strong>r to show in the<br />

transmitter‘s display the speed of the wind, in real time mo<strong>de</strong>, using the feedback option.<br />

The card supplies a +12v DC voltage output to power the sensor.<br />

Technical characteristics:<br />

Maximum resolution: 8 bits.<br />

Input frequency range: 0 – 450 Hz.<br />

Galvanically isolated from the main logic board (LR70).<br />

Operating temperature range: –20ºC a +70ºC<br />

Signals and connections block diagram:<br />

+12v DC<br />

TM70Pi V3.2 (11/02) 120021.pdf. 64<br />

IKUSI reserves the right to change this information without prior notice.<br />

ENTRADA PULSOS<br />

PULSED SIGNAL INPUT<br />

GND


15.2 - IN0450P and LR70 ASSEMBLY<br />

IN0450P<br />

Cod. 1131026 (x4)<br />

Cod. 1135024 (x2)<br />

TM70Pi V3.2 (11/02) 120021.pdf. 65<br />

IKUSI reserves the right to change this information without prior notice.


16.- IN4D OPTION<br />

IN4D OPTION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 66<br />

IKUSI reserves the right to change this information without prior notice.


16.1 - INTRODUCTION AND FUNCTIONAL DESCRIPTION<br />

The IN4D electronic card provi<strong>de</strong>s 4 digital inputs interface to the TM70 receiver. This card can be<br />

connected as an expansion -as single card- in the LR70 receiver card through P16 connector. The IN4D<br />

card can also be used as a multi-digital input using the INCAN option (multiple IN4D inputs option), as an<br />

alternative to the single one.<br />

The IN4D card is basically a four digital to analogue signal converter. The four digital signals (IN1, IN2,<br />

IN3 and IN4) are converted to a 0 to 3 volts analogue value, available in the LR70 (or in the INCAN card).<br />

See figure 1.<br />

The four digital inputs, IN1, IN2, IN3 and IN4 must have the following analogue values, in reference to the<br />

pin 6 (GND) ; I3 connector:<br />

0 to 4V is equivalent to a <strong>de</strong>activated state or ‗0‘ logic state.<br />

8 to 28V is equivalent to an activated state or ‗1‘ logic state.<br />

See I3 connector: 1 to 6 pins.<br />

Very important remark: Do not apply higher voltages than 28 volts, in or<strong>de</strong>r to prevent card‟s<br />

damage.<br />

+VI<br />

IN1<br />

IN2<br />

IN3<br />

IN4<br />

GND<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

I3<br />

IN4D<br />

Figure 1<br />

TM70Pi V3.2 (11/02) 120021.pdf. 67<br />

IKUSI reserves the right to change this information without prior notice.<br />

I1<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6


If there is no external voltage range available, the card provi<strong>de</strong>s through pin number 1 (+VI), a voltage<br />

between 12 and 20 volts, to activate the inputs as shown in the figure 2.<br />

Block diagram of the signals (see figure 3):<br />

+VI<br />

IN1<br />

IN2<br />

IN3<br />

IN4<br />

GND<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

+VI<br />

IN1<br />

IN2<br />

IN3<br />

IN4<br />

GND<br />

I3<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

IN4D<br />

TM70Pi V3.2 (11/02) 120021.pdf. 68<br />

IKUSI reserves the right to change this information without prior notice.<br />

I3<br />

IN4D<br />

Figure 3<br />

Figure 2<br />

I1<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

I1<br />

GND<br />

+VI<br />

3.3V<br />

GND<br />

GND<br />

IN<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

1<br />

2<br />

3<br />

4<br />

5<br />

6<br />

LR70<br />

P16


Electronic card top view (see figure 4).<br />

6<br />

5<br />

1<br />

2<br />

TM70Pi V3.2 (11/02) 120021.pdf. 69<br />

IKUSI reserves the right to change this information without prior notice.<br />

4<br />

I1<br />

3<br />

4<br />

I3<br />

3<br />

Figure 4<br />

5<br />

6<br />

2<br />

1


16.2 - IN4D AND LR71/LR72 ASSEMBLY<br />

TM70Pi V3.2 (11/02) 120021.pdf. 70<br />

IKUSI reserves the right to change this information without prior notice.<br />

Cod- 1131026(x4)<br />

pin 1<br />

Cod- 1135024(x2)


17.- INCAN OPTION<br />

INCAN OPTION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 71<br />

IKUSI reserves the right to change this information without prior notice.


17.1- INTRODUCTION and FUNCTIONAL DESCRIPTION<br />

The INCAN interface allows to increase (until N*5 +1) the capacity of analogue and digital inputs in the LR72<br />

electronic card. ( N = number of INCAN cards; maximum = 2 units).<br />

LR72<br />

CANH<br />

CANL<br />

GND<br />

+VI<br />

CAN<br />

10-20V<br />

Each INCAN interface can support 5 (maximum) digital/analogue input micro-modules.<br />

IN4D: 4 digital inputs module (0 - 24VDC).<br />

IN010V: Voltage analogue input (range: 0 - 10 VDC).<br />

IN0450P: Pulses input (range: 0 – 450pps; pulses per second). (Example: To use with anemometer<br />

sensors).<br />

A TM70 system can operate with 2 INCAN electronic cards (maximum capacity), so the following<br />

configurations will be supported:<br />

40+ (4) IN4D card directly connected to the LR72 max. 44 digital inputs (0-24VDC).<br />

10+ (1) IN10V card directly connected to the LR72 max. 11 analogue inputs (8 bit resolution).<br />

10+ (1) IN450P card directly connected to the LR72 max. 11 input pulsed signal counter (0-450<br />

pps).<br />

17.2– CONNECTIONS & CONFIGURATION JUMPERS<br />

INCAN<br />

POWER SUPPLY<br />

The INCAN expansion is connected to LR72 electronic card through two connectors: RL4 (2 pins -> +VI and<br />

GND signals) and RL3 (5 pins) for CAN bus signals. in practice GNDCAN and SHLCAN are connected.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 72<br />

IKUSI reserves the right to change this information without prior notice.<br />

μC<br />

3.3V<br />

Input 1<br />

Input 2<br />

Input 3<br />

Input 4<br />

Input 5


RL4<br />

Pin Name Function<br />

+ +VI DC power supply between 8 and 30V.<br />

- GND Ground<br />

RL3<br />

Pin Name Function<br />

1 GNDCAN CAN Ground<br />

2 CANL CANL bus signal (CAN low signal)<br />

3 SHLCAN Shielding<br />

4 CANH CANH bus signal (CAN High signal)<br />

5 VCAN Power supply<br />

The positioning of the 5 analogue/digital input micro-modules will be consecutively from left to right as shown in<br />

the picture below:<br />

+VI GND CANL CANH<br />

BUS TERMINATION<br />

CAN ADRESS<br />

TM70Pi V3.2 (11/02) 120021.pdf. 73<br />

IKUSI reserves the right to change this information without prior notice.


18. - A1P4RCAN OPTION<br />

A1P4RCAN OPTION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 74<br />

IKUSI reserves the right to change this information without prior notice.


18.1.- INTRODUCTION and FUNCTIONAL DESCRIPTION<br />

The A1P4RCAN CAN expansion module provi<strong>de</strong>s to the TM70 receiver, 4 relays output and an analogue output<br />

at the same time. The analogue output simulates a digital potentiometer with 64 steps available in each semiaxis<br />

of the power supply. See the diagram block below (size ½ of LR72):<br />

CAN<br />

This CAN expansion provi<strong>de</strong>s to the user the following outputs :<br />

An analogue output simulated by a digital potentiometer with 128 steps and galvanically isolated.<br />

Free to use four relays outputs, K1, K2,K3 and K4.<br />

These outputs are controlled by CAN BUS, writing in its addresses CANOpen frames. The CAN address of the<br />

electronic card is conformed using the 7 jumpers of P1 connector. Jumper in position 1 corresponds with the<br />

first bit of the CAN address. Thus, inserting several bridges it is possible to select different addresses from «1 »<br />

until «127» (2 7 ), maximum.<br />

Very important : The address « 0 » is not a valid address ; so the board allways must be fitted with at least one<br />

jumper. With one jumper it is possible to configure 7 different addresses.<br />

18.2.- CONNECTIONS & JUMPERS CONFIGURATION<br />

LR72 ELECTRICAL CONNECTION<br />

This expansion is connected to the LR72 board using two connectors; 2 pins connector labeled RL4 for power<br />

supply 8-30V (+VI and GND); 5 pins connector labeled RL3 for CAN Bus connection with the following signals :<br />

Pin Name Function<br />

1 GNDCAN Ground<br />

2 CANL CANL bus signal (CANLow signal)<br />

3 SHLCAN Shielding<br />

4 CANH CANH bus signal (CANHigh signal)<br />

5 VCAN Power Supply<br />

TM70Pi V3.2 (11/02) 120021.pdf. 75<br />

IKUSI reserves the right to change this information without prior notice.<br />

11k2<br />

+V<br />

VOUT<br />

-V<br />

GND<br />

K1<br />

K2<br />

K3<br />

K4


Cod. 1141684: TM70 1M abatable base<br />

Cod. 1184005: UNEX 2221-0 clip<br />

Cod. 1095040: CAN RC70 1 expansion cable<br />

Cod. 1131030: M3x6 C/R DIN84 screw<br />

Cod. 2303908: A1P4RCAN electronic board<br />

RELAY OUTPUTS<br />

RL2<br />

RL3<br />

+VI<br />

GND<br />

1<br />

5<br />

RL4<br />

The following connections are available for each relay: normally open (NO), normally closed (NC) and common,<br />

in the RL1 connector as shown in the following table. Disposition of 4 manoeuvre relays of 250V/8A.<br />

Pin Function<br />

1 K1 contact: normally closed<br />

2 K1 common contact<br />

3 K1 contact: normally opened<br />

4 K2 contact: normally closed<br />

5 K2 common contact<br />

6 K2 contact: normally opened<br />

7 K3 contact: normally closed<br />

8 K3 common contact<br />

9 K3 contact: normally opened<br />

10 K4 contact: normally closed<br />

11 K4 common contact<br />

12 K3 contact: normally opened<br />

TM70Pi V3.2 (11/02) 120021.pdf. 76<br />

IKUSI reserves the right to change this information without prior notice.<br />

RL1<br />

+VI<br />

GND<br />

5<br />

RL4<br />

1<br />

RL3


ANALOGUE OUTPUT<br />

The analogue output is connected through RL2 connector with the following signals (Imax=15mA):<br />

Pin Name Function<br />

1 VOUT Analogue Output<br />

2 GND Potentiometer‘s middle point<br />

3 -V Negative power supply (Minimun: -50V)<br />

4 +V Positive power supply (Maximun: 50V)<br />

TELE-TEACHING (V3.1 OF SOFTWARE OR HIGHER VERSIONS)<br />

Through Tele-Alignment can set the maximum and minimum values, the polarity inversion, acceleration or<br />

<strong>de</strong>celeration ramp and curve type of the analogue output. To change to Tele-Alignment mo<strong>de</strong> is necessary to<br />

introduce a bridge in the jumper P5 (see Jumpers configuration). Only available for TM70 consol box from<br />

3.1 software version or higher.<br />

CAN<br />

L<br />

CAN<br />

H<br />

+VI GN<br />

D<br />

Relay outputs Analogue<br />

output<br />

TM70Pi V3.2 (11/02) 120021.pdf. 77<br />

IKUSI reserves the right to change this information without prior notice.<br />

CAN<br />

ADDRESS<br />

TELEALIGNMENT


19.- A2ICAN OPTION<br />

A2ICAN OPTION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 78<br />

IKUSI reserves the right to change this information without prior notice.


19.1- INTRODUCTION & FUNCTIONAL DESCRIPTION<br />

The A2VCAN electronic board gives to the modular TM70 systems an analogue output in current (PWM), allow<br />

the government of electro-hydraulic proportional valves with input reference in current. The electronic board<br />

contains two output stages galvanically each other separated and from the control common logic.<br />

LR72<br />

RECEIVER<br />

LOGIC<br />

BOARD<br />

CAN bus<br />

CANopen<br />

Protocol<br />

+ Vi<br />

A2ICAN<br />

VPP1<br />

GND1<br />

VO1<br />

VR1<br />

VPP2<br />

GND2<br />

VO2<br />

VR2<br />

PWM1 VO1<br />

A2ICAN electronic board is an expansion of two analogue outputs controlled by the CANopen interface.<br />

The A2ICAN electronic board implement, for integration into the TM70 system, an own resi<strong>de</strong>nt software in its<br />

microprocessor, that performs the following functions:<br />

Communication with the LR72 electronic board through CANOpen protocol, using the standard profile<br />

401, input/output digital/analogue (CIA DS401 - CANopen Device Profile for Generic I/O Modules).<br />

Generates two analogue outputs in current according to the received instructions and the settings for<br />

each output.<br />

There are two types of response curves for each output:<br />

Linear: response of the analogue output proportional to the input<br />

Non-linear: the response of the analogue output is exponentially regarding the input. Variations of the<br />

joystick inputs at the beginning of his movement will result in small changes of the output voltage, while<br />

the same variations of the joystick input at the end of the movement will result in major changes in the<br />

output voltage.<br />

The choice of one or another profile is <strong>de</strong>ci<strong>de</strong>d by a customization parameter P (customizable by EEPROM or<br />

Tele-Alignment), which uses 0 for linear curve and 1, 2 or 3 for exponential curves from low to high gra<strong>de</strong>.<br />

It also can be programmed exit ramps on rise and/or fall per semiaxis. The form of response of the ramps is<br />

un<strong>de</strong>r <strong>de</strong>fined output type: linear or nonlinear.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 79<br />

IKUSI reserves the right to change this information without prior notice.<br />

CONTROL LOGIC BOARD (uP)<br />

ISP<br />

PWM2 VO2


The ramp speed is <strong>de</strong>fined for each semiaxis by a parameter that can take a value between 0 and 15, by<br />

<strong>de</strong>fault 0. Each of these values corresponds to a ramp time from minimum to maximum value given by the<br />

following table:<br />

0 without ramp 4 0,4 s 8 1,0 s 12 2,0 s<br />

1 0,1 s 5 0,5 s 9 1,2 s 13 2,5 s<br />

2 0,2 s 6 0,6 s 10 1,5 s 14 3,5 s<br />

3 0,3 s 7 0,8 s 11 1,7 s 15 5,0 s<br />

Each output is a PWM signal with current feedback in which is possible the control and compensation of the<br />

switching frequency and pulse width. It also implements a superimposed "dither" signal on the output, with<br />

variable frequency and amplitu<strong>de</strong>, to soften the response of certain hydraulic valves. The "dither" is available<br />

only when the switching frequency of the PWM output is 5 kHz:<br />

PWM Frequency range: 33,35,40,45 ... 1275 and 5000 Hz<br />

Dither Frequency range: 33 ... 255 Hz<br />

Dither Amplitu<strong>de</strong> range: 0 ... 50%<br />

Through Tele-Alignment can set the maximum and minimum values, the polarity inversion, acceleration or<br />

<strong>de</strong>celeration ramp and curve type of the analogue output. To change to Tele-Alignment mo<strong>de</strong> is necessary to<br />

introduce a bridge in the jumper P6 (see Jumpers configuration). Only available for TM70 consol box from<br />

3.1 software version or higher.<br />

Other features of the PWM current outputs:<br />

Power supply range of the expansion 8-30V, and of the outputs 5-35V.<br />

Each output channel has 2 outputs only one of which will be connected, according to the sign of the<br />

input. 2 PWM outputs are i<strong>de</strong>ntical and in<strong>de</strong>pen<strong>de</strong>nt.<br />

The output resolution is 128 steps by semiaxis (256 max – 8 bit), corresponding to step 0 a null output<br />

and step 127 to obtained from the permanent exit from the positive supply.<br />

Max current = 5A (each output).<br />

Outputs protected against short-circuit.<br />

19.2- CONNECTIONS & JUMPERS CONFIGURATION<br />

CONNECTIONS WITH THE LR72<br />

The expansion connects to the LR72 electronic board through two connectors, one of 2 pin for power supply (VI<br />

+ and GND) and the other of 5 pin for the CAN bus with the following signals:<br />

Power connector<br />

Pin number Function<br />

GND Ground<br />

+VI DC between 8 y 30V<br />

CAN bus connector<br />

Name Function<br />

VCAN Power supply<br />

CANH CANH pin of the CAN bus<br />

GNDCAN Ground (Shielding)<br />

CANL CANL pin of the CAN bus<br />

GNDCAN Ground<br />

TM70Pi V3.2 (11/02) 120021.pdf. 80<br />

IKUSI reserves the right to change this information without prior notice.


OUTPUTS<br />

Each analogue output has two serial relays that switch the output signal to one of two ways, the direct or the<br />

inverse. If not activate any of the relays, both outputs (the direct and inverse) are disconnected.<br />

OUTPUT PWM1<br />

The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment:<br />

OUTPUT PWM2<br />

Output 1 connector<br />

Pin Name Function<br />

VPP1 Power of channel 1<br />

GND1 Ground of channel 1<br />

VO1 DIRECT analogue PWM output of channel 1<br />

VR1 INVERSE analogue PWM output of channel 1<br />

The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment:<br />

Output 2 connector<br />

Pin name Function<br />

VPP2 Power of channel 2<br />

GND2 Ground of channel 2<br />

VO2 DIRECT analogue PWM output of channel 2<br />

VR2 INVERSE analogue PWM output of channel 2<br />

ISP (PROGRAMACION “IN CIRCUIT” / “IN SYSTEM”)<br />

The expansion has a connector to record ―In-System‖ (eg. Microprocessor software update). This connector has<br />

10 pins:<br />

ISP connector<br />

Pin name Function<br />

ISP2 Input connected to the ground to place the microcontroller in recording mo<strong>de</strong><br />

TX2 Not used<br />

RX2 Receiving data signal<br />

GND Ground<br />

RX1 Receiving data signal<br />

TX1 Transmisión data signal<br />

ISP Not used<br />

VCC Power supply output at 3,3 V<br />

MRNOT Reset input, active when it is connected to ground<br />

TM70Pi V3.2 (11/02) 120021.pdf. 81<br />

IKUSI reserves the right to change this information without prior notice.


ISP connector<br />

Pin name Function<br />

+VI Power supply output at 12 V (not stabilized, can vary between 8 y 22 V)<br />

JUMPERS CONFIGURATION<br />

Size ¼ of LR72<br />

Connections with the LR72<br />

P5: ―Jumper‖ for configuration of the<br />

CAN direction of the expansion.<br />

―Jumper‖ = ON ―1‖ logic.<br />

Programmable addresses: 1…63<br />

max<br />

P6: ―Jumper‖ to enable or disable the<br />

Tele-Alignment process.<br />

Enabled Tele-Alignment = ―jumper‖<br />

placed or ON.<br />

P6<br />

Disabled Tele-Alignment = ―jumper‖<br />

eliminated or OFF.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 82<br />

IKUSI reserves the right to change this information without prior notice.<br />

P6<br />

1 = VPP (channel power)<br />

2 = GND (Channel ground)<br />

3 = VO (DIRECT analogue PWM output)<br />

4 = VR (INVERSE analogue PWM output)


TM70Pi V3.2 (11/02) 120021.pdf. 83<br />

IKUSI reserves the right to change this information without prior notice.


20.- A2VCAN OPTION<br />

A2VCAN OPTION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 84<br />

IKUSI reserves the right to change this information without prior notice.


20.1- INTRODUCTION & FUNCTIONAL DESCRIPTION<br />

The A2VCAN electronic board gives to the modular TM70 systems an analogue output in voltage option, allow<br />

the government of variable frequency drives with voltage control, electro-hydraulic proportional valves with input<br />

reference in voltage, etc. The electronic board contains two output stages galvanically each other separated<br />

and from the control common logic.<br />

A2VCAN<br />

LR72<br />

RECEIVER<br />

LOGIC<br />

BOARD<br />

CAN bus<br />

CANopen<br />

Protocol<br />

+ Vi<br />

VPP1<br />

GND1<br />

VO1<br />

VR1<br />

VPP2<br />

VNN2<br />

VO2<br />

VR2<br />

OUTPUT1 VO1<br />

A2VCAN electronic board is an expansion of two analogue outputs controlled by the CANopen interface. Can<br />

generate two analogue outputs (<strong>de</strong>pen<strong>de</strong>nt on supply voltage) with a resolution of 10 bits (1024 steps).<br />

The A2VCAN electronic board implement, for integration into the TM70 system, an own resi<strong>de</strong>nt software in its<br />

microprocessor, that performs the following functions:<br />

Communication with the LR72 electronic board through CANOpen protocol, using the standard profile<br />

401, input/output digital/analogue (CIA DS401 - CANopen Device Profile for Generic I/O Modules).<br />

Generates two analogue outputs in voltage according to the received instructions and the settings for<br />

each output.<br />

There are two types of response curves for each output:<br />

Linear: response of the analogue output proportional to the input<br />

Non-linear: the response of the analogue output is exponentially regarding the input. Variations of the<br />

joystick inputs at the beginning of his movement will result in small changes of the output voltage, while<br />

the same variations of the joystick input at the end of the movement will result in major changes in the<br />

output voltage.<br />

The choice of one or another profile is <strong>de</strong>ci<strong>de</strong>d by a customization parameter P (customizable by EEPROM or<br />

Tele-Alignment), which uses 0 for linear curve and 1, 2 or 3 for exponential curves from low to high gra<strong>de</strong>.<br />

It also can be programmed exit ramps on rise and/or fall per semiaxis. The form of response of the ramps is<br />

un<strong>de</strong>r <strong>de</strong>fined output type: linear or nonlinear.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 85<br />

IKUSI reserves the right to change this information without prior notice.<br />

CONTROL LOGIC BOARD (uP)<br />

ISP<br />

OUTPUT2 VO2


The ramp speed is <strong>de</strong>fined for each semiaxis by a parameter that can take a value between 0 and 15, by<br />

<strong>de</strong>fault 0. Each of these values corresponds to a ramp time from minimum to maximum value given by the<br />

following table:<br />

0 without ramp 4 0,4 s 8 1,0 s 12 2,0 s<br />

1 0,1 s 5 0,5 s 9 1,2 s 13 2,5 s<br />

2 0,2 s 6 0,6 s 10 1,5 s 14 3,5 s<br />

3 0,3 s 7 0,8 s 11 1,7 s 15 5,0 s<br />

Through Tele-Alignment can set the maximum and minimum values, the polarity inversion, acceleration or<br />

<strong>de</strong>celeration ramp and curve type of the analogue output. To change to Tele-Alignment mo<strong>de</strong> is necessary to<br />

introduce a bridge in the jumper P6 (see Jumpers configuration). Only available for TM70 consol box from<br />

3.1 software version or higher.<br />

Other features of the PWM current outputs:<br />

Power supply range of the expansion 8-30V, and of the outputs 5-35V.<br />

Max current = 10 mA (each output).<br />

Outputs protected against short-circuit.<br />

20.2- CONNECTIONS & JUMPERS CONFIGURATION<br />

CONNECTIONS WITH THE LR72<br />

The expansion connects to the LR72 electronic board through two connectors, one of 2 pin for power supply (VI<br />

+ and GND) and the other of 5 pin for the CAN bus with the following signals:<br />

OUTPUTS<br />

Power connector<br />

Pin number Function<br />

GND Ground<br />

+VI DC between 8 y 30V<br />

CAN bus connector<br />

Name Function<br />

VCAN Power supply<br />

CANH CANH pin of the CAN bus<br />

GNDCAN Ground<br />

CANL CANL pin of the CAN bus<br />

GNDCAN Ground<br />

The voltage outputs are generated from PWM pulses, and them filtered result in radiometric tension outputs<br />

(<strong>de</strong>pen<strong>de</strong>nt on supply voltage). The two outputs are electrically isolated respect to the logic and each other.<br />

The control of relays is done via VREL1 and VREL2 signals. Also, it needs to be activated the common of both<br />

relays by VCOMREL signal. When the relays are off, the output voltage VO1 and VO2 are the values of<br />

reference voltage VR1 and VR2 connected at each output.<br />

The output values range goes from 0 to 100% of power supplies VPP1 and VPP2 connected to each of the<br />

outputs and have a resolution of 10 bits (1024 values).<br />

TM70Pi V3.2 (11/02) 120021.pdf. 86<br />

IKUSI reserves the right to change this information without prior notice.


OUTPUT 1 (VO1)<br />

The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment:<br />

Output 1 connector<br />

OUTPUT 2 (VO2)<br />

Pin Name Function<br />

VPP1 Power of channel 1<br />

GND1 Ground of channel 1<br />

VO1 Analogue output of channel 1<br />

VR1 Zero position signal signal to get through the output 1 when the relay is inactive<br />

The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment:<br />

Output 2 connector<br />

Pin name Function<br />

VPP2 Power of channel 2<br />

GND2 Ground of channel 2<br />

VO2 Analogue output of channel 2<br />

VR2 Zero position signal signal to get through the output 2 when the relay is inactive<br />

ISP (PROGRAMACION “IN CIRCUIT” / “IN SYSTEM”)<br />

The expansion has a connector to record ―In-System‖ (eg. Microprocessor software update). This connector has<br />

10 pins:<br />

ISP connector<br />

Pin name Function<br />

ISP2 Input connected to the ground to place the microcontroller in recording mo<strong>de</strong><br />

TX2 Not used<br />

RX2 Receiving data signal<br />

GND Ground<br />

RX1 Receiving data signal<br />

TX1 Transmisión data signal<br />

ISP Not used<br />

VCC Power supply output at 3,3 V<br />

MRNOT Reset input, active when it is connected to ground<br />

+VI Power supply output at 12 V (not stabilized, can vary between 8 y 22 V)<br />

TM70Pi V3.2 (11/02) 120021.pdf. 87<br />

IKUSI reserves the right to change this information without prior notice.


JUMPERS CONFIGURATION<br />

Size ¼ of LR72<br />

Connections with the LR72<br />

P5: ―Jumper‖ for configuration of the<br />

CAN direction of the expansion.<br />

―Jumper‖ = ON ―1‖ logic.<br />

Programmable addresses: 1…63<br />

max<br />

P6: ―Jumper‖ to enable or disable the<br />

Tele-Alignment process.<br />

Enabled Tele-Alignment = ―jumper‖<br />

placed or ON.<br />

P6<br />

Disabled Tele-Alignment = ―jumper‖<br />

eliminated or OFF.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 88<br />

IKUSI reserves the right to change this information without prior notice.<br />

P6<br />

1 = VPP (channel power)<br />

2 = GND (Channel ground)<br />

3 = VO (Channel voltaje analogue output)<br />

4 = VR (Zero position voltage, when K rely of<br />

each channel is inactive.


20.3- EXPANSIONS POWER SUPPLY ELECTRONIC BOARD POT70V4<br />

POT70V4 is an in<strong>de</strong>pen<strong>de</strong>nt and isolated electronic board with 4 power supplies, which are used to supply the<br />

output stage of the A2VCAN electronic board‘s analogue outputs.<br />

This expansion is mounted as datasheet; only the number of required DC/DCs (power supplies) will be<br />

mounted. Each DC/DC can supply the outputs of two A2VCAN; 4 analogue outputs in voltage.<br />

The energy for POT70V4 module is provi<strong>de</strong>d by the LR72 board.<br />

Technical features:<br />

Size ¼ of LR72<br />

2 DC/DC available:<br />

o 12V/0/-12V, 85mA<br />

o 15V/0/-15V, 65mA<br />

Power supply range of DC/DC: 9 to 18V<br />

TM70Pi V3.2 (11/02) 120021.pdf. 89<br />

IKUSI reserves the right to change this information without prior notice.


21.- TELEALIGNMENT OPTION<br />

TELEALIGNMENT OPTION<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 90<br />

IKUSI reserves the right to change this information without prior notice.


21.1 - INTRODUCTION<br />

Access to this option can be activated or <strong>de</strong>activated by EEPROM, by EEPROM recor<strong>de</strong>r and/or TM70Config, if<br />

it is connected in the expansion the Jumper which enables Tele-alignment. Cards that support Tele-Alignment<br />

are:<br />

A1P4RCAN(1 relay based potentiometric output card)<br />

A2VCAN (2 voltage analogue output card)<br />

A2ICAN (2 PWM current analogue outputs card)<br />

A2ICAN and A2VCAN expansion cards are interchangeable, but the position and number of outputs will be<br />

the same, also will require a modification of EEPROM due to differences in the output parameters. The new<br />

expansion will be automatically recognized by the system. At the time of accessing to the Tele-Alignment menu,<br />

the system makes a recognition of all the expansions connected to the CAN bus and supported outputs. All<br />

information is synchronized between the transmitter and receiver.<br />

The Tele-Alignment process requires the use of display LCD70 option (soft. version 3.1 or higher) or the TM70<br />

Tele-Teaching support module (IKUSI Ref. 2305120-00A) <strong>de</strong>signed for that purpose.<br />

21.2 – TELE-ALIGNMENT PROCESS<br />

The navigation through the software will be done by using the ▲ "UP" ▼ "DOWN", ENTER (validate selection)<br />

and "ESC" (abort selection) keys, but are configurable by EEPROM and/or TM70Config. In situations where you<br />

would press "UP" or "DOWN" repeatedly, there is a progressive move by holding down the key.<br />

To access the Tele-Alignment menu must be pressed in sequence the "ENTER" (<strong>de</strong>fault) + "START".<br />

This configuration is <strong>de</strong>fined by EEPROM, but ENTER function may be replaced by any other manoeuvre by<br />

TM70Config to change the access sequence to the Tele-Alignment menu.<br />

The <strong>de</strong>fault menus are in English, but you can choose between English and Spanish by EEPROM and/or<br />

TM70Config or Menu option (5. SELECT LANGUAGE).<br />

TM70Pi V3.2 (11/02) 120021.pdf. 91<br />

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POSITIVE MAX<br />

NN%<br />

1. EDIT CRANE LABEL<br />

3.1.1 LIMIT VALUES<br />

3.1.1.1 MAX VALUES<br />

GEN. ERROR<br />

ERROR 3<br />

NEGATIVE MAX<br />

NN%<br />

2. INPUT CALIBRATION<br />

3.1<br />

ADJUST<br />

PLEASE WAIT<br />

MOVE<br />

JOYSTICK<br />

X1 EXP_TYPE Y1<br />

X2 EXP_TYPE Y2<br />

OUTPUT<br />

X EXP_TYPE Y<br />

POSITIVE MIN<br />

NN%<br />

CONFIG MODE<br />

ERROR 1<br />

ERROR 2<br />

TM70Pi V3.2 (11/02) 120021.pdf. 92<br />

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3.2 RESET<br />

VALUES<br />

RESETING VALUES<br />

GEN. ERROR<br />

3.1.1.2 MIN & CERO 3.1.1.3 ZERO RELE ON<br />

ZERO ADJUST<br />

NN%<br />

3. OUTPUT CALIBRATION<br />

PLEASE WAIT<br />

NEGATIVE MIN<br />

NN%<br />

4. SAVE<br />

ALL<br />

SAVING<br />

PLEASE WAIT<br />

GEN. ERROR ERROR 4<br />

GEN. ERROR<br />

ZERO ADJUST<br />

NN%<br />

ERROR 5<br />

5. SELECT LANGUAJE<br />

3.3 FORB CAL MEN<br />

CONFIRM MENU DISABLE<br />

INVERTING<br />

POLARITY<br />

CONFIG MODE<br />

3.1.2 POLARITY INV<br />

GETTING POLARITY<br />

DIRECT POLA<br />

CHANGE?<br />

GEN. ERROR<br />

INVERSE POLA<br />

CHANGE?<br />

ELIMINATING<br />

INVERSION


(*) IF PWM FREQ. = 0 (HIGH FREQUENCY)<br />

(**) ONLY FOR A2ICAN<br />

(ONLY IN 1 ST OUTPUT OF THE EXPANSION)<br />

3.1.3 CURVE TYPE<br />

3.1.3.1 TYPE: N<br />

GEN. ERROR<br />

GEN ERROR<br />

3.1.5.1 PWM: NNN<br />

3.1.5 PWM FREQ<br />

3.1.4 RAMPS<br />

3.1.4.1 ACCEL RAMP 3.1.4.2 RAMPA DECEL<br />

3.1.4.1.1 ACCEL RAMP + 3.1.4.1.2 ACCEL RAMP – 3.1.4.2.1 DECEL RAMP + 3.1.4.2.2 DECEL RAMP –<br />

3.1.4.1 RAMP: NN 3.1.4.2 RAMP: NN<br />

GEN. ERROR<br />

TM70Pi V3.2 (11/02) 120021.pdf. 93<br />

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(**<br />

)<br />

(*<br />

)<br />

3.1.6.1.1 %: NNN 3.1.6.2.1 HZ: NNN<br />

3.1.6.1<br />

AMPLITUDE<br />

GEN. ERROR<br />

3.1.6 DITHER<br />

3.1.6.2 FREQUENCY<br />

3.1.7 RESET OUTPUT<br />

RESETING OUTPUT<br />

GEN. ERROR


21.2.1 – MENU 3.1 ADJUST<br />

IMPORTANT: After adjustment for each parameter in each semiaxis, validate the setting before returning<br />

back on the menu, otherwise would not be recor<strong>de</strong>d. This validation is always performed by pressing<br />

START. Finally and after setting all the parameters required, validate the 4. SAVE ALL menu to record in<br />

the EEPROM all the settings.<br />

In the next image we can see the different parameters that can be configured and will be <strong>de</strong>scribed below:<br />

By entering in this menu, the user is asked to activate the manoeuvre associated with the output to be<br />

adjusted. Outputs associated with the manoeuvre will be displayed in the following format:<br />

X EXP_TYPE Y<br />

X: Number of the analogue output<br />

Y: Output Number of the output<br />

EXP_TYPE: Type of analogue output (A1P4RCAN, A2VCAN, A2ICAN)<br />

The user has to select which of the exits wants to teleadjust. To do this, interested output should be flashing.<br />

If there are two exits on screen, using the UP / DONWN can select the <strong>de</strong>sired output. To confirm the<br />

selection press START. At that time, and for a time will display the output you have selected.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 94<br />

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LIMIT VALUES:<br />

Set the limits of the analogue output (+ Smin, Smin, smax + smax and Scero) NOTE: These actions<br />

involve movement of the manoeuvre to adjust!<br />

The adjustment of MAX and MIN values is performed with the manoeuvre moved for know which<br />

output and which semiaxis is going to be adjusted.<br />

As you are pressing UP/DOWN keys, value will be updated on the screen.<br />

ZERO value of the output will be adjusted with the manoeuvre in the neutral position.<br />

The LCD will gui<strong>de</strong> at all times to report that the five possible parameters are adjusted <strong>de</strong>pending on<br />

the position of the paddles.<br />

ZERO RELE ON: By entering this submenu is permanently activated the output of the expansion in<br />

the absence of a or<strong>de</strong>r. This can be used to i<strong>de</strong>ntify potential errors that cause unwanted movements.<br />

POLARITY INV:<br />

It allows the reverse polarity of outlets, such as:<br />

CURVE TYPE:<br />

Tour types of curve available:<br />

Type 0: Linear response.<br />

Type 1, 2 y 3: Exponential responses.<br />

RAMPS:<br />

The acceleration and/or <strong>de</strong>celeration ramp speed is <strong>de</strong>fined for each semiaxis by a parameter that can take<br />

a value between 0 and 15, <strong>de</strong>fault 0. Each of these values is a ramp time <strong>de</strong>fined in seconds by the following<br />

table:<br />

0 without ramp 4 0,4 s 8 1,0 s 12 2,0 s<br />

1 0,1 s 5 0,5 s 9 1,2 s 13 2,5 s<br />

2 0,2 s 6 0,6 s 10 1,5 s 14 3,5 s<br />

3 0,3 s 7 0,8 s 11 1,7 s 15 5,0 s<br />

These values are modified by EEPROM recor<strong>de</strong>r.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 95<br />

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PWM FREQUENCY:<br />

Only available for outputs with current regulation (A2ICAN). Is <strong>de</strong>fined by a parameter that can take a value<br />

between 0 and 255 and equivalent to the following frequency PWM values:<br />

Parameter PWM Frequency<br />

0 5000 Hz<br />

1…5 Adjustment not valid<br />

6 33 Hz<br />

7…255 35…1275 Hz (Parameter x 5)<br />

The Tele-Alignment of these values will not allow to an exit that is not the first of each expansion<br />

module.<br />

DITHER:<br />

Only available for outputs with current regulation (A2ICAN) and if ―PWM FREQ. = 0 (5000 Hz)”.<br />

Dither frequency range: 33...255 Hz<br />

Dither Amplitu<strong>de</strong> range: 0...50%<br />

The Tele-Alignment of these values will not allow to an exit that is not the first of each<br />

expansion module.<br />

RESET OUTPUT:<br />

Allows the user to restore the data of the analogue output selected with the <strong>de</strong>fault values from IKUSI in<br />

EEPROM (only one exit).<br />

TROUBLE SHOOTING<br />

ERROR TYPE DESCRIPTION ON SCREEN COMMENTS<br />

ERROR 1<br />

ERROR 2<br />

ERROR 3<br />

HARDWARE NOT DETECTED<br />

If more than one joystick moves together<br />

If doesn‘t have associated output<br />

More than two associated outputs (maximum 2 associated analogue<br />

outputs per manoeuvre)<br />

HARDWARE NOT DETECTED Expansion is not initialized (output associated absent)<br />

PLACE ENABLE JUMPER Initialized expansion, Tele-Alignment jumper not connected.<br />

TOO JOYSTICK SELECTED<br />

DIFFERENT JOYSTICK<br />

When moving the analogue paddle to adjust the outputs are selected<br />

more than one axis/joystick.<br />

If you move a different joystick than selected when start the Tele-<br />

Alignment menu.<br />

ERROR 4 THIS ADJUST NOT POSSIBLE If the expansions output relay only activates when exceeds Cmin.<br />

ERROR 5<br />

GEN. ERROR<br />

THIS ADJUST NOT POSSIBLE When the output relay is activated whenever link exist.<br />

PUT JOYSTICK TO NEUTRAL If the adjustment is possible and moves any paddle.<br />

NO ACCESS TO MEMORY Not access to memory to update data.<br />

ADJUST NOT VALID The expansion indicates invalid values.<br />

QUEST./ANSW. NOT VALID Erroneous communication between Rx and expansions.<br />

NO ANSWER OF EXPANS. Erroneous communication because the expansion doesn‘t answer.<br />

ERROR Other error.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 96<br />

IKUSI reserves the right to change this information without prior notice


2.2 – MENU 3.2 RESET VALUES:<br />

Restores all outputs that support Tele-Alignment by IKUSI <strong>de</strong>fault values.<br />

2.3 – MENU 3.3 FORB CAL MEN:<br />

To disable or cancel the entry to the Tele-Alignment menu. From this moment if you want to activate again,<br />

you should be using the recor<strong>de</strong>r and/or TM70Config.<br />

TM70Pi V3.2 (11/02) 120021.pdf. 97<br />

IKUSI reserves the right to change this information without prior notice


22.- R70/XX RECEIVERS / SOFTWARE VERSION SW 3.2 COMPATIBLE<br />

R70/XX RECEIVERS<br />

SW 3.2 version compatible<br />

TM70<br />

TM70Pi V3.2 (11/02) 120021.pdf. 98<br />

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22.1 – MAIN CHARACTERISTICS<br />

Software version 3.2:<br />

New TM70 range software features supported:<br />

- Up to 5 R8CAN electronic boards -> it allows to inclu<strong>de</strong> in the same box up to 53 relays<br />

- Up to 10 analogue outputs; maximun: 5 x A2VCAN or 5 x A2ICAN or 5 x A1P4RCAN cards or a MIX<br />

of these cards completing 10 analogue outputs<br />

- The IN 0-4/20mA analogue current input card is supported (when available).<br />

- IN4D without feedback information as a linking condition in multi-receiver systems.<br />

- Analogue outputs with in<strong>de</strong>pen<strong>de</strong>nt and progressive response. Up to 8 different and selectable<br />

progressive responses.<br />

Hardware and mechanics compatible with software version SW 3.2:<br />

Important Remark: This software versión is only compatible with LR72 E version cards or higher<br />

versions.<br />

The new mechanics allows to configure the R70 receiver with these 4 modular OPTIONS (maximun<br />

configurations)<br />

OPTION 1:<br />

½ SIZE SLOT (x4)<br />

½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1)<br />

TM70Pi V3.2 (11/02) 120021.pdf. 99<br />

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OPTION 2:<br />

OPTION 3:<br />

½ SIZE SLOT (x1) + ¼ SIZE SLOT (x6)<br />

½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1)<br />

½ SIZE SLOT (x2) + ¼ SIZE SLOT (x4)<br />

½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1)<br />

TM70Pi V3.2 (11/02) 120021.pdf. 100<br />

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OPTION 4:<br />

List of expansión type and slot size required:<br />

EXPANSION TYPE<br />

ELECTRONIC CARD<br />

R8CAN 1/2<br />

A1P4RCAN 1/2<br />

INCAN ½<br />

SLOT SIZE<br />

IN 0-10V Direct assembly in LR72 or INCAN cards<br />

IN 0-450P Direct assembly in LR72 or INCAN cards<br />

IN-4D Direct assembly in LR72 or INCAN cards<br />

A2ICAN ¼<br />

A2VCAN ¼<br />

½ SIZE SLOT (x3) + ¼ SIZE SLOT (x2)<br />

½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1)<br />

TM70Pi V3.2 (11/02) 120021.pdf. 101<br />

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Electrical and mechanical characteristics:<br />

R70/XX Specifications<br />

Available frequencies (ISM bands) 915MHz<br />

870MHz/433MHz<br />

419MHz<br />

AC current power supply range 48V/115/230v AC 50/60Hz (+15% / -20% Vin)<br />

DC current power supply range 8-32v DC<br />

Ingress protection IP65 / NEMA-4<br />

Antenna External (standard)<br />

Working frequency channel selection Fix or automatic (listen before talking EEPROM)<br />

Weight Maximum = 7 Kg (53 relays)<br />

Dimensions Length = 350 mm / Wi<strong>de</strong> = 250 mm / Heigth = 150mm<br />

EEPROM Internal and extractable (EP70)<br />

Signaling MultiLED: internal LEDs<br />

Connections External input/output terminal plugs for using with<br />

cable glands and base panel connectors<br />

Maximun current over resistive load 6ª<br />

Operating temperature -20ºC / +70ºC (-4ºF / 158ºF)<br />

Storage temperature -25ºC / +75ºC (-13ºF / 167ºF)<br />

Storage temperature –long periods- -25ºC / +55ºC (-13ºF / 131ºF)<br />

Maximun comsumption 40 VA<br />

TM70Pi V3.2 (11/02) 120021.pdf. 102<br />

IKUSI reserves the right to change this information without prior notice


22.2 – REMARKS FOR THE INTERNAL WIRINGS<br />

- The POWER cables MUST be wired and gui<strong>de</strong>d by the center of the slot.<br />

- The rest of the CAN bus wirings can be placed without any restriction<br />

P.S.<br />

R8CAN<br />

UPPER SLOT<br />

BOTTOM SLOT<br />

LR72<br />

POWER wirings<br />

CAN bus wirings<br />

TM70Pi V3.2 (11/02) 120021.pdf. 103<br />

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HEADQUARTER - SPAIN<br />

IKUSI - Ángel Iglesias S.A.<br />

Pº Miramón, 170<br />

20009 San Sebastián, SPAIN<br />

Tel.: +34 943 44 88 00<br />

Fax: +34 943 44 88 20<br />

ikusi@ikusi.com<br />

www.ikusi.com<br />

AUSTRALIA - NEW ZEALAND<br />

IKUSI ANZ PTY LTD<br />

Tel.: +61 3 9720 7022<br />

Fax: +61 3 9720 7422<br />

ika@ikusi.com<br />

CHILE<br />

INGENIERÍA IKUSI CHILE, LTDA.<br />

Tel.: +56 2 335 9661<br />

Fax: +56 2 233 7511<br />

ikc@ikusi.com<br />

FRANCE<br />

IKUSI FRANCE SARL<br />

Tel.: +33 1 43 03 52 22<br />

Fax: +33 1 43 03 52 42<br />

ikf@ikusi.com<br />

MEXICO<br />

IKUSI MÉXICO, S.A. DE C.V.<br />

Tel.: +52 55 5663 8600<br />

Fax: +52 55 5663 8684<br />

contacto@ikusi-gs.com.mx<br />

GERMANY<br />

IKUSI GmbH<br />

Tel.: +49 8464602420<br />

Fax: +49 8464602423<br />

ikd@ikusi.com<br />

PORTUGAL<br />

IKUSI ELECTRÓNICA, LDA.<br />

Tel.: +351 22 947 8240<br />

Fax: +351 22 947 8249<br />

ikp@ikusi.com<br />

RUSSIA<br />

IKUSI, LLC.<br />

Tel.: +7 495 583 93 41<br />

Fax: +7 495 586 17 71<br />

ikr@ikusi.com<br />

UNITED ARAB EMIRATES<br />

IKUSI MIDDLE EAST FZE<br />

Tel.: +971 4 204 5606<br />

Fax: +971 4 204 5610<br />

ikme@ikusi.com<br />

COLOMBIA<br />

IKUSI COLOMBIA, S.A.<br />

Tel.: +57 1 638 63 54<br />

Fax: +57 1 621 15 65<br />

airports@ikusi.com<br />

TM70Pi V3.2 (11/02) 120021.pdf. 104<br />

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CHINA<br />

北京市朝阳区望京阜通东大街方恒国际中心C座902室。<br />

电话:+86-10-84674931<br />

传真:+86-10-84674931-811<br />

TM70Pi V3.2 (11/02) 120021.pdf. 105<br />

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