008 HW 0 GB

Kvara 6
Hardware Manual (HW)

Manufacturer's Documentation
Valid for:
Product: KVR.0006
Edition: June 2001

Code: 00008.HW.0.GB
Esa/Gv s.r.l.
15 via Zamboni, CP 43
41011 Campogalliano Modena Italy
tel. +39 059 851414 - fax +39 059 851313
http://www.esagv.it - E-mail: info@esagv.it
Restrictions Duplication, transmission and use of this document or its contents shall be considered
prohitibed unless prior authorization has been received from Esa/Gv. All rights are
reserved.
Even when authorized, modification of this document (either by computer or on paper)
voids the guarantees specified below.
Guarantees The product may offer performances that are not described in these manuals. Esa/Gv
shall neither be obliged to maintain these functions in new versions of the product nor
to guarantee the relative assistance.
Checks have been carried out in order to ensure that the contents of these manuals
correspond to the documented product. Despite this fact, there may be discrepancies.
Esa/Gv therefore offers no guarantees as to the full compliance and completeness of the
texts.
The information in this document is periodically revised and new editions are issued
when necessary.
This manual has been compiled in partial compliance with ANSI/IEEE std 1063-1987
“IEEE Standard for software User Documentation”.
Editions This document is liable to be modified without prior notice. These modifications may
involve further editions or revisions of the document.
Further editions imply complete substitution of the document.
Revision involves replacement/addition/elimination of pages of the document.
Each page is identified by the code of the document at the bottom.
Notes
MS-DOS® Trademark registered by Microsoft Corporation.
ii 00008.HW.0.GB Esa/Gv
The chronological list of editions of this document is given in the following table:
Evolution of the document

Edition Document Code Release Type of edition
15/06/2001 00008.HW.0.GB 0 New document
Modifications
Release Chapters - Pages Description
Esa/Gv 00008.HW.0.GB iii

iv 00008.HW.0.GB Esa/Gv
HW Hardware Manual
Hardware Manual
Notes for the reader....................................................................................................... i

Explanation of the symbols............................................................................................................ ii
Printer’s conventions .................................................................................................................... iii
Glossary ....................................................................................................................................... iv
1 General information ................................................................................................ 1.1

1.1 Description of the product ..................................................................................................... 1.1
1.2 Identification label............................................................................................................... 1.13
1.3 Accessories ........................................................................................................................ 1.15
2 Installation ............................................................................................................... 2.1

2.1 Assembling the equipment.................................................................................................... 2.1
2.1.1 Overall dimensions .................................................................................................. 2.1
2.1.2 Fixing....................................................................................................................... 2.3
2.1.3 Location ................................................................................................................... 2.4
2.2 Environmental conditions...................................................................................................... 2.5
2.2.1 Working climactic conditions.................................................................................... 2.5
2.2.2 Transportation and storage conditions...................................................................... 2.6
2.2.3 Electromagnetic compatibility................................................................................... 2.7
2.2.4 Exposure to external contaminating substances....................................................... 2.8
2.3 Electrical requirements ......................................................................................................... 2.9
2.3.1 Power supply ........................................................................................................... 2.9
2.4 Custom functions................................................................................................................ 2.10
2.4.1 Customising the Jumpers....................................................................................... 2.10
2.4.2 Offset calibration.................................................................................................... 2.21
2.5 Connections........................................................................................................................ 2.24
2.5.1 Wiring instructions and standards........................................................................... 2.24
2.5.2 Earth connections .................................................................................................. 2.25
2.5.3 Power supply ......................................................................................................... 2.26
2.5.4 Bit analog inputs .................................................................................................... 2.30
2.5.5 Analog outputs ....................................................................................................... 2.32
2.5.6 Digital inputs .......................................................................................................... 2.36
2.5.7 Outputs .................................................................................................................. 2.42
2.5.8 Fast digital inputs................................................................................................... 2.47
Esa/Gv 00008.HW.0.GB i
Hardware Manual HW
2.5.9 Encoder inputs ....................................................................................................... 2.51

2.5.10 Axes analog outputs............................................................................................. 2.58
2.5.11 Remote I/O interface (optional) ............................................................................ 2.64
2.5.12 MECHATROLINK interface (optional) .................................................................. 2.68
2.5.13 Serial lines ........................................................................................................... 2.71
2.5.14 An example of connecting the screen................................................................... 2.74
2.5.15 Parallel interface .................................................................................................. 2.75
3 Diagnostics.............................................................................................................. 3.1
3.1 LED ...................................................................................................................................... 3.1
3.1.1 LEDs card power supply unit .................................................................................... 3.1
3.1.2 I/O remote expansion LED card ............................................................................... 3.6
3.2 Serial lines............................................................................................................................ 3.8
3.3 Equipment debug.................................................................................................................. 3.8
4 Service and maintenance ....................................................................................... 4.1

4.1 Spare parts list...................................................................................................................... 4.1
4.2 WARNING ............................................................................................................................ 4.2
4.3 Replacing the fuse ................................................................................................................ 4.3
4.3.1 Power supply card fuses .......................................................................................... 4.3
4.4 Replacing the battery ............................................................................................................ 4.4
4.5 Identifying the parts .............................................................................................................. 4.7
4.6 Replacing the cards .............................................................................................................. 4.8
4.6.1 64 I/O expansion card .............................................................................................. 4.8
4.6.2 2 axes expansion card ........................................................................................... 4.12
4.6.3 Remote I/O expansion card.................................................................................... 4.15
END OF SUMMARY
HW Notes for the reader
Notes for the reader
General information The information in this manual only applies to the software versions indicated on the
frontispiece.
Not all the available functions may be described in this manual. In these cases, Esa/Gv
shall be obliged to neither guarantee these functions nor include them in future
versions.
Purpose This document contains information allowing technicians to correctly service the
product described on the frontispiece.
Users This document contains information for:

ù Specialized installer technicians/specialized test technicians with a good working
knowledge of the numeric control and machine. Basic knowledge of
electromechanics and indusCNl control panels.
Use of the document The document is divided into chapters that describe a well defined characteristic of
the product.
Notification of Please contact Esa/Gv if any difficulties should arise when this manual is used.
difficulties
Esa/Gv 00008.HW.0.GB i
Notes for the reader HW
Explanation of the symbols
Graphic symbols may appear beside the text. These are used to emphasize information
of particular importance.
Attention
This symbol is used when failure to take the appropriate precautions could cause
slight damage to persons and property.
Danger
This symbol appears when failure to take the appropriate precautions or
accomplishment of incorrect manoeuvres could cause serious damage to persons
and/or property.
Important
This symbol appears in the manual to indicate information of particular importance. It
is essential to read these sections in order to fully understand the manual.
Option
This symbol indicates sections of the manual that describe optional functions or parts.
Use of optional performances must be established with the machine manufacturer.
Manufacturer
This symbol indicates those sections of the manual reserved to the machine
manufacturer.
Password
This symbol indicates sections of the manual that describe functions access to which is
safeguarded by software passwords.
CN
This symbol indicates sections of the manual that describe functions only available in
CN and not in the PC.
PC
This symbol indicates sections of the manual that describe functions only available in
the PC and not in CN.
HW Notes for the reader
Printer’s conventions
Particular printer’s conventions are used to make it easier to identify the information in
this manual. These conventions are illustrated below.
Keyboard and video The following conventions are used.

ù The names of the screen-printed keys are indicated in boldface and are enclosed
within square brackets. If the name of the key is preceded by “button”, reference is
being made to a key on the push button panel.
− [ENTER]. Identifies the key that bears the word ENTER.
− [+] indicates the + key of the keyboard, while button [+] indicates the + key of
the push button panel.
ù The names of the function keys are indicated in boldface italics and are enclosed
within square brackets.
− [Plc Menu]. Identifies the function key that bears the words Plc Menu.
ù References to fields and/or messages on the video are written in boldface italics.
ù The specific text to be digitized by the user is underlined.
− If the manual indicates “digitize ok, the user must digitize exactly “ok”.
ù DIRECTION or DIRECTIONAL keys is the collective name used to indicate the
UP, DOWN, LEFT and RIGHT keys.
ù Pressure, in sequence, on a series of keys is written by separating the identifiers of
the required keys with the “>“ character.
− [Manual] > [START]. Describes pressure, in sequence, on the [Manual] and
[START] keys.
ù Pressure on several keys at the same time is indicated by separating the identifiers
of the keys themselves with the “+” character.
− à] Describes contemporaneous pressure on the [SHIFT] and [à
[SHIFT] + [à à]
keys.
Text The following conventions are used.

ù Italics are used to identify specialistic terms.
ù Boldface is used to emphasize words of particular importance.
Esa/Gv 00008.HW.0.GB iii

Notes for the reader HW
Glossary
CNC This is an abbreviation of Computerized Numerical Control and indicates the

instrument that governs the machine, i.e. the electronic device through which the
machining cycles are programmed, the axes moved, etc..
It corresponds to one of the devices whose operation is described in this manual.
NC Represents the Normally Closed status of an input or an output.
NO Represents the Normally Open status of an input or an output.
END OF PREFACE
iv 00008.HW.0.GB Esa/Gv
HW General information
1 General information
1.1 Description of the product
The kvara 6 is a compact, high performance CNC based on a standard open PC

platform. It is a blind unit (it doesn't have a monitor or a display, or keyboard) and it
can be interfaced with a personal computer using a serial line or other types of
peripheral devices (parallel, fibre optic, etc.), it has digital inputs/outputs, analog
inputs/outputs, analog axes management, digital axes management, serial lines and
can be expanded towards the Remote I/O system.
It is also equipped with an integrated PLC and ISO interpreter.
For more details on the characteristics of the control, read the following manual and
the software manual of your application.
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General information HW
The product consists of the following parts:

Microprocessor AMD 5x86 133MHz.
Memory 16 Mbytes DRAM FPM/EDO SIMM72, used by the
microprocessor.
1Mbyte of buffered SRAM memory, which can be expanded
to 2Mbytes, used for the machine parameters.
4Mbytes of FLASH memory, which can be expanded to
8Mbytes and contains the application.
LED 4 LEDs (green) for signalling the power supply voltages
generated by the power supply unit card.
1 LED (green) for the RUN signal of the CNC.
1 LED (red) for the STOP signal of the CNC.
One 7-segment DISPLAY (red) used as a System Monitor.
Analog inputs 2 analog inputs 0 - 10V 8bit.
Analog outputs 2 analog outputs 0 - 10V 8bit.
Communications lines COM1 serial line, RS232C standard.
COM2 serial line, RS232C standard.
LPT1 parallel port, SPP standard.
Axes interface 4 customisable encoder inputs NPN/PUSH-
PULL/DIFFERENTIAL at +5V and +12V.
4 analog outputs +/-10V 16bit.
Digital I/O 32 PNP inputs, 32 protected PNP outputs.
4 fast inputs used for micro calibration.
Custom functions Jumpers for internal settings
Battery Lithium 3.6V AA battery for buffering the data in the
SRAM memory
Other functions RESET, PWF, and WATCHDOG TIMER circuit
Expansions Expansion of 2 axes complete with encoder inputs and
analog outputs with the same characteristics as the axes
interface on board the machine.
Expansion of 32 PNP inputs, 32 protected PNP outputs.
Expansion to Remote I/O system.
Mechatrolink Bus Expansion.
1.2 00008.HW.0.GB Esa/Gv

Front view
Figure 1.1 -Front view of the product
Esa/Gv 00008.HW.0.GB 1.3

1) Expansion connector n° 2
2) Expansion connector n° 1
3) Analog inputs 0-10V 8bit
4) Axes analog outputs
5) Encoder power supply voltage label
6) Encoder 1
7) Encoder 2
8) Encoder 3
9) Encoder 4
10) Digital inputs 1 -:- 16
12) Digital outputs 1 -:- 16
14) Digital I/O common (GND)
15) Earth connection screw
16) Power supply socket
17) Fuses
18) System Monitor display
19) Custom jumpers
20) NC state and power supply LEDs
21) Screen connection bolts
22) Fast digital inputs
23) Analog outputs 0-10V 8bit.
1.4 00008.HW.0.GB Esa/Gv

Right side view
Figure 1.2 -Right side view of the product
1) Cooling fan
2) Backup battery
3) CE mark
4) Product identification label
Esa/Gv 00008.HW.0.GB 1.5

Left side view
Figure 1.3 -Left side view of the product
1) COM1 serial interface

2) Air vent grill
3) NC CPU card
4) COM2 serial interface
5) LPT1 parallel interface
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Rear view
Figure 1.4 - Rear view of the product
1) Fixing slots of the product

2) Cover fixing screws.
3) Cover
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Front view with I/O

expansion
Figure 1.5 -Front view of the product with I/O expansion
1.8 00008.HW.0.GB Esa/Gv

1) 64 I/O BRD.007.0401 expansion card

2) I/O expansion card fixing screws
3) GND common
Esa/Gv 00008.HW.0.GB 1.9

Front view with axes

expansion and
Remote I/O
Figure 1.6 - Front view of the product with axes expansion and Remote I/O
1.10 00008.HW.0.GB Esa/Gv

1) Remote I/O BRD.019.0402 expansion card

2) I/O remote expansion card fixing screws
3) Analog outputs for axes 5 and 6
4) Encoder 5
5) Encoder 6
6) Analog outputs offset adjustment for axes 5 and 6
7) Expansion card for BRD.021.421 axes
8) Axes expansion card fixing screws
Left side view with

axes expansion and
Remote I/O
Figure 1.7 -Left side view of the product with axes expansion and Remote I/O
1) Remote I/O LINK LED

2) Remote (RX) I/O receiver
3) Remote (TX) I/O transmitter
Esa/Gv 00008.HW.0.GB 1.11

Left side view with

MECHATROLINK
expansion (optional)
Figure 1.8 -Left side view of the product with MECHATROLINK expansion
1) MECHATROLINK USB interface
1.12 00008.HW.0.GB Esa/Gv

1.2 Identification label
Below you will find a list of the labels on the product which identify it in the case of
calls for assistance or when ordering spare parts.
Product identification
label
Figure 1.9 -Product identification label
1) Model (Ex. KVARA 6)

2) Code (Ex. KVR.0006.R0041)
3) Serial number (Ex. 20003114)
4) Date of production (Ex. 01/01)
5) Power supply voltage (Ex. 24V)
6) Absorption (Ex. 3A)
7) Power input (Ex. 72W)
Esa/Gv 00008.HW.0.GB 1.13

CE mark
Figure 1.10 - CE mark
1) CE mark
Encoder power
supply voltage label
Figure 1.11 - Encoder power supply voltage label
1) Encoder power supply voltage label (Ex. +5V or +12V)
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1.3 Accessories
The following list contains the accessories supplied with the product for the correct
installation.
CODE QUANTITY DESCRIPTION

CNC.007.004 1 RS232 9-pin FM FM 2m cable
OPF.005.001 Note 2 Fibre optic cable
CNN.020.012 Note 2 9-pin female recess Sub-D connector
CNN.020.006 Note 2 25-pin male recess Sub-D connector
CNN.020.027 Note 1 9-pin metal cap recess Sub-D connector
CNN.020.027 Note 1 15-pin metal cap recess Sub-D connector
MRS.005.030 Note 1 18-pin FM p5.08 terminal block
MRS.007.022 1 3-pin FM p5.08 terminal block
VTR.007.031 4 Flat washer M6 screw
VTR.001.053 4 Convex head M6X10 zinc plated slotted screw
Note 1: The quantity varies depending on the number of peripheral devices the
equipment can manage.
Note 2: Available on request.
END OF CHAPTER
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HW Installation
2 Installation
2.1 Assembling the equipment
2.1.1 Overall dimensions
Equipment
Specifications Value
Height 217 mm
Width (overall width) 411 mm
Depth (overall depth) 196 mm
Weight 4Kg
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Installation HW
Figure 2.1 Dimensions of the equipment
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HW Installation
2.1.2 Fixing
Equipment The equipment is designed to be fixed to a wall, to install the equipment you should:
ù drill the four holes as shown in the figure;
ù screw in the four screws supplied as accessories;
ù mount the equipment inserting the wide part of the slot in the screws, then sliding
the equipment towards the narrow part of the slot;
ù fix the equipment to the wall screwing down the four screws.
Figure 2.2 - Equipment fixing template
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Installation HW
2.1.3 Location
The position of the equipment in the electrical cabinet must be chosen carefully,
making sure that the components and power cables (contactors, drives, inverters, etc.),
have a gap of at least 50cm between them.
If this distance cannot be respected, metal screens should be installed to separate the
equipment from the components and power cables.
Having powered components near the equipment in most cases will cause disturbance
or, in the time, the possible malfunction of the same.
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HW Installation
2.2 Environmental conditions
The product has been designed to work in the environmental conditions indicate in the
present chapter.
For the equipment to work properly you should:
ù respect the environmental conditions during operation and also during
transportation and storage;
ù install the product correctly.
Information and For any information and/or assistance contact Esa/Gv “Technical Service”.
assistance
2.2.1 Working climactic conditions

The product is equipped with forced cooling with an internal +12V fan.
We recommend leaving a gap of roughly 10 cm around the equipment to favour the

airflow.
If these limit values cannot be respected you should use a heat exchanger or air
conditioning unit.
Specifications Limit value

Operating temperature:
Minimum 5°C
Maximum 55°C
Average in 24h 50°C
Relative humidity:
Minimum 5%
Maximum 95%
Condensate None
Maximum working altitude 2000m
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Installation HW
2.2.2 Transportation and storage conditions

The following specifications only apply to the product in its original packing.

Storage temperature:
Minimum -25°C
Maximum 70°C
Relative humidity:
Minimum 5%
Maximum 95%
Condensate None
Atmospheric pressure (above or equal to) 70Kpa (3000m)
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HW Installation
2.2.3 Electromagnetic compatibility
Emission Standard for industrial environments: EN50081-2.

Basic standard: EN55011.
Test Limit
Conducted interference on power supply cables Class A
Radiated interference Class A
Immunity Standard for industrial environments: EN50082-2.

The following basic regulations are used.
Test Limit
Conducted electromagnetic radio Test voltage: 10 V rms
frequency field ENV50141
Frequency: 0.15÷80 MHz
80% modulation AM 1 KHz
Radiated electromagnetic radio frequency Field intensity: 10 V/m
field ENV50140
Frequency: 80-1000 MHz
80% modulation AM 1 KHz
Magnetic field at the mains frequency Field intensity: 30A/m
EN61000-4-8
Frequency: 50 Hz
Fast transients (burst) EN61000-4-4 Test voltage: 2 KV
Electrostatic discharges (EN61000-4-2) Contact test voltage: 4 KV
Air test voltage: 8 KV
Duration of the test: 10 discharges
Repeats: 1 discharge
The suppression of radio interference must be taken into account for the correct
installation of the product. You should pay particular attention to placing the cables.
For any information please contact Esa/Gv. To install the equipment in accordance
with the relevant EMC regulations and standards in force please refer to the manual
“Installation guide according to EMC and LVD directives” available from Esa/Gv.
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Installation HW
2.2.4 Exposure to external contaminating substances

The presence of dust (iron shavings, sawdust, etc.) or earth in the work area of the
equipment can make it malfunction. The equipment must work in an electrical board
with an adequate, filtered air circulation to guarantee the necessary cooling.
Periodically check the filters and if necessary change them.
Degree of protection The equipment is guaranteed for the following class of protection (IP )
Specifications Limit
PRODUCT IP 20 (Note 1)
Note 1: Protection against solid bodies over Ø 12mm, no protection against liquids.
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HW Installation
2.3 Electrical requirements
2.3.1 Power supply
Electrical The power supply of the equipment must respect the following values:
specifications

Typical power supply voltage 24V AC / DC
Maximum power supply voltage 26.4V AC or
28.8V DC
Minimum power supply voltage 20.4V AC / DC
Frequency 45 -60Hz
Maximum power supply current 3A
Maximum power used 72VA
AC/DC/EARTH input isolation voltage The equipment
should be supplied
with power by an
insulated
transformer and
secondaries which
are not earthed, or
by an insulated
and stabilized DC
power supply unit.
Protection against over-voltage YES with varistor
Hold up Time >10 mSec
The power of the transformer must be equal to or greater than the absorption of the
equipment. If the power supply voltage drops below the nominal values, the equipment
will shut down; if the power supply voltage is not stable enough, we recommend using
an uninterruptible power supply to supply the equipment with power. When choosing
the uninterruptible power supply allow for the power absorbed by the equipment and
the technical characteristics of the same. We recommend using uninterruptible power
supplies with a time of intervention equal to zero and without stabilisers, also
electronic, that supply an output voltage, guaranteed as stable, but which in blackouts
of even a brief duration cannot guarantee output continuity.
The power supply voltage must not be generated by an autotransformer because this
solution does not guarantee the galvanic separation between the primary and secondary
circuits and therefore the insulation safety.
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Installation HW
2.4 Custom functions
The incorrect customising of the jumpers and dip-switches can damage the equipment
or any sensors connected to the same. Therefore any custom settings should be done by
specialised personnel taking care not to damage the components through electrostatic
discharges. For this purpose it is possible to buy special bracelets which prevent the
body from being charged with a voltage which is dangerous for the electronic
components.
2.4.1 Customising the Jumpers

To customise the equipment you may have to set some jumpers present on the front
panel and/or some internal jumpers on the cards. Below you will find the position of
the jumpers on the cards and the relevant meanings. Refer to the chapter
“maintenance” for instructions on how to reach the cards of the equipment.
Position of the
system jumpers
Figure 2.3 - Position of the system jumpers on the power supply unit card
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HW Installation
ù JP1: Enable DEBUG

ù JP2: GUI Application Disable
ù JP3: Reserved
ù JP4: BIOS Disable
JP1 Enable DEBUG This jumper enables DEBUG. To enable this function insert the jumper with the
machine turned off and then turn the equipment on.
JP1
DEBUG DISABLED (default) ENABLED
JP2 GUI Application This jumper lets you disable loading the graph applications (GUI).
Disable
JP2
GUI ENABLED DISABLED

(default)
JP4 BIOS Disable This jumper lets you disable loading the BIOS from FLASH.
JP4
BIOS ENABLED DISABLED

(default)
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Installation HW
Position of the power

supply unit card
jumpers
Figure 2.4 - Position of the power supply unit card jumpers
ù JP5: Encoder power supply selection
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JP5 Encoder power This jumper lets you customise the encoder power supply voltage. There are two
supply selection available voltages, +5V and +12V. Warning, before customising this jumper, check
the power supply voltage of the encoder (or optic lines) to avoid causing permanent
damage.
JP5
Encoder power supply +5V (default) +12V
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Installation HW
Position of the multi-

function card jumpers
Figure 2.5 - Position of the multi-function card jumpers
ù JP1, JP2, JP3: Encoder 4 differential input enabling

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HW Installation
JP1, JP2, JP3: These jumpers let you enable the differential input of encoder 4.
Encoder 4 differential
output enabling
The differential input can only be enabled with an encoder power supply voltage of
+5V. Don't enable these jumpers when the encoder power supply is +12V.
JP1, JP2, JP3
Encoder 4 differential input DISABLED ENABLED

(default)
JP4, JP5, JP6 These jumpers let you enable the differential input of encoder 3.
input enabling
JP4, JP5, JP6

(default)
input enabling
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Installation HW
JP7, JP8, JP9

(default)
input enabling
JP10, JP11, JP12

(default)
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HW Installation
Position of the 2 axes The jumpers described below are inside the expansion card, therefore you will have to
expansion card dismantle the expansion from the kvara 6 and customise the jumpers on the visible side
jumpers of the card (L.S.).
Figure 2.6 - Position of the 2 axes expansion card jumpers

JP1, JP2, JP3: These jumpers let you enable the differential input of encoder 5 which is only available
Encoder 5 differential on the axes expansion card.
input enabling
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Installation HW
JP1, JP2, JP3

(default)
JP4, JP5, JP6: These jumpers let you enable the differential input of encoder 6 which is only available
Encoder 6 differential on the axes expansion card.
input enabling
JP4, JP5, JP6

(default)
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Position of the
MECHATROLINK card
jumpers
SW2
SW3
SW1
Figure 2.7 - Position of the MECHATROLINK card jumpers
ù SW1: Memory address selection

ù SW2: Interrupt selection
ù SW3: Interrupt time selection
SW1 These jumpers let you select the memory address to map the card to, this address is
Memory address fixed and must be mapped to DE000H -:- DEFFFH, therefore dip switch SW1 must be
selection switched to F.
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Installation HW
SW1
Memory address selection F

(DE000H-:-DEFFFH)
(default)
SW2 These jumpers let you select the interrupt of the BUS, this is fixed and must be set to
Interrupt selection IRQ11, therefore jumper 3 must be inserted.
SW2
Interrupt selection 3
(IRQ11)
(default)
SW3 These jumpers let you select the interrupt scanning time for adjusting the digital axes,
Interrupt time this is fixed and must be set to 2ms, therefore dip switch SW3 must be switched to 0.
selection
SW3
Interrupt time selection 0

(2mS)
(default)
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HW Installation
2.4.2 Offset calibration
There is a trimmer inside the equipment for calibrating the analog outputs offset of the
axes. The calibration is always done internally, therefore adjust the trimmer only if this
is absolutely necessary. All the outputs are calibrated at the same time, therefore it is
possible to find unbalanced outputs offset, with a maximum difference of 1 mV. To
reach the calibration trimmer you should remove the cover of the equipment; please
refer to the chapter “General Information". If the 2 axes expansion has also been fitted,
there will be another trimmer for adjusting the offset of axes 5 and 6 on the expansion
card and this can be reached from the outside.
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Installation HW
Position of the offset

calibration trimmer
Figure 2.8 - Position of the offset calibration trimmer on the multi-function card
ù T1: Analog outputs offset calibration
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HW Installation
Position of the 2 axes

expansion card offset
calibration trimmer
Figure 2.9 - Position of the axes expansion card offset calibration trimmer
ù T1: Calibrating the analog outputs offset for axes 5 and 6
Esa/Gv 00008.HW.0.GB 2.23

Installation HW
2.5 Connections
2.5.1 Wiring instructions and standards

To make sure that the equipment will be interference free during operation you should
pay particular attention to the position of the cables in the electrical board.
Definition of the Signal cables:

cables
ù Serial lines
ù +24V DC ON/OFF inputs/outputs
ù Encoder inputs
ù Analog inputs
ù Analog outputs
ù Field bus
Power cables:
ù Power supply cables (380 V AC, 230 V AC).
ù Drive - motor connection cables.
ù Connection cables for inductive loads supplied with voltages equal to or higher
than 110 V AC.
Installation rules To guarantee the greatest possible immunity to disturbance you should observe the
following rules:
ù Install the signal cables as far as possible from the power cables.
ù Don't install the signal cables near strong magnetic fields generated, for example,
by motors or transformers.
ù Install the signal cables away from neon lamps as these cause interference.
ù Cables transmitting impulse signals with rapid voltage and current variations must
be kept completely separated from all the others. If this is impossible, the signal
cables must be installed in screened metal conduits.
ù Install the equipment far from strong electromagnetic fields, neon lamps or power
cables.
If the following rules are not complied with this may cause the equipment to
malfunction.
Disturbance To eliminate disturbance generated by coils, solenoid valves, hydraulic valves,

suppression filters contactors, motors and other inductive loads, you can use filters installed directly on
the source producing the disturbance or as near as possible to the same. Fix the filter
solidly to avoid mechanical breakages.
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HW Installation
In order to install the equipment correctly please follow the instructions in the manual
“Guide and installation in accordance with EMC and LVD Directives” available from
Esa/Gv.
2.5.2 Earth connections

To guarantee safe working conditions and keep the equipment free of disturbance it
should be earthed.
The equipment must be connected to the central earth point of the electrical board
(PE), using the earth screw identified by the relevant label.
A bad earth connection in the system can be dangerous for the operator and cause
the equipment to malfunction.
Esa/Gv 00008.HW.0.GB 2.25

Installation HW
Examples of
connections
Figure 2.10 - Earth connection of the equipment
2.5.3 Power supply
ù The power supply voltage must not be generated by an autotransformer because

this solution does not guarantee the galvanic separation between the primary and
secondary and therefore the insulation safety.
ù The earth pin of the power supply socket of the equipment must be connected to
the central earth point of the electrical board.
ù The transformer should have the primary and secondary screened with the screen
connected to the central earth point of the electrical board.
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HW Installation
Connector type
Figure 2.11 - Power supply socket
Pin Name Type

1 AC or DC + terminal VI
2 GND FIELD VI
3 AC OR DC + TERMINAL VI
Signal name:
AC TERMINAL Power supply voltage
GND FIELD Earth reference
Signal type:
VI Input voltage
Esa/Gv 00008.HW.0.GB 2.27

Installation HW
Examples of
connections
Figure 2.12 - Correct 24V AC power supply
Figure 2.13 - Correct 24V AC power supply
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HW Installation
Figure 2.14 - 24V AC power supply, with one earth phase
Figure 2.15 - 24V AC power supply, with autotransformer
Esa/Gv 00008.HW.0.GB 2.29

Installation HW
2.5.4 Bit analog inputs
ù The potentiometer must be connected with a screened cable, the screen must only
be connected from the side of the CNC.
ù If the cable is sectioned with a removable connector, never use the same connector
for the analog inputs cable and the power cables; in fact, in the part of the cable
with the contact the braiding is broken and therefore no-longer screens the cable
from false signals.
ù If the cable is sectioned with a removable connector, connect the screen from both
sides of the connector, so that the screen is not broken.
Electrical
specifications
Static characteristics Value

Number of inputs 2
Input impedance in the signal field 1 M Ohm
Input voltage range 0 - 10 V
Digital resolution 8 bit
Value of the least significant bit 39.2mV
Maximum permanent overload allowed (without damage) -12V
+12V
Output digital value in an overload = F.S.
Input type Single ended
Potentiometer power supply:
ù Power supply voltage + 10V DC.
ù Maximum power supply current 5 mA
Short-circuit protection YES (not
permanent)
Dynamic characteristics Value

Total duration of input transfer 2.5 mS
Sampling period Can be programmed
Input filter characteristics:
ù Order First
ù Transition frequency (-3 dB) 400 Hz
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HW Installation
General Characteristics Value

Type of protection RC
Insulation potential in normal working conditions:
ù between channel and BUS +12V / -12V
ù between channel and channel +12V / -12V
Connector type 4-pin male terminal board
Figure 2.16 - Analog input terminal board
Pin Name Type

1 INPUT 1 I
2 INPUT 2 I
3 VAL VO
4 GND VO
Signal name:
GND Ground power supply
INPUT 1÷2 Signal input
VAL + 10V power supply
Signal type:
I Input signal
VO Output voltage
Esa/Gv 00008.HW.0.GB 2.31

Installation HW
Examples of
connections
Clamp the braiding in the terminal

screw it down in the insert beside
the connector
Figure 2.17 - Potentiometers.
2.5.5 Analog outputs
ù The connection should be made with a screened cable, the screen must only be
connected on the side of the CNC.
for the analog outputs cable and the power cables; in fact, in the part of the cable
with the contact the braiding is broken and therefore no longer screens the cable
from false signals.
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Electrical
specifications

Number of outputs 2
Output voltage range 0 - 10 V
Maximum output current 5 mA
Output ripple 20 mV
Value of the least significant bit 39.2mV

Total duration of the output transfer 1 uS

Type of protection NO
ù between channel and power supply 0V DC
Common points between channels GND
Type of load allowed Insulated
EARTH
Effect of the incorrect connection of the output terminals Breakage
Connector type 4-pin male terminal board.
Figure 2.18 - Analog outputs terminal board
Esa/Gv 00008.HW.0.GB 2.33

Installation HW
Pin Name Type

1 OUTPUT 1 O
2 GND REF
3 OUTPUT 2 O
4 GND REF
Signal name:
OUTPUT 1÷2 Signal output
GND Ground
Signal type:
O Output signal
REF Signal reference
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Examples of
connections
Clamp the braiding in the terminal

screw it down in the insert beside
the connector
Figure 2.19 - Analog outputs
Esa/Gv 00008.HW.0.GB 2.35

Installation HW
2.5.6 Digital inputs
General information The input voltage can come from a three-phase transformer with diodes and a
capacitor. The value of the residual alternating voltage (ripple) must comply with the
minimum and maximum values in the following table.
The contact of a limit switch or relay connected to the input terminal of the card must
be absolutely free of other connections with voltages relevant to the auxiliary circuit of
the machine.
Don't use a limit switch with a double contact if one of the two is connected to an
auxiliary voltage of 110V AC or higher. In damp conditions a spark may jump between
the two sections.
If these indications are not respected this may damage the input circuit of the card.
Parallel inputs If you have to use the same contact in common with another similar input (for example
an external PLC or another input of the control), insert a decoupling diode in series as
indicated in the paragraph “Examples of connections”.
Characteristics of the When choosing the characteristics of the contact, for example of the relay or the limit
contact switch, note the minimum switchable voltage and current: the switching voltage is 24V
DC and the current is roughly 12 mA.
Section of the cables When choosing the section of the connection cables, allow for the mechanical traction
caused by the weight of the cables connected to the terminal board. A section of 1mm²
will not entail any particular problems. Bigger sections can make fixing the cables
difficult. The biggest section that can be wired to the terminal boards is 1.5 mm².
Common input Connect 1 common input for each input, or a common input for all the inputs. At least
connection (M.0V) a pair of common inputs should be connected.
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Electrical
specifications
Number of inputs Min.32
Max.64
Typical input voltage +24V DC
Maximum input voltage +27.5V DC
Minimum input voltage +19V DC
Typical input current 12 mA
Maximum input current 16 mA
Hardware filter (RC) 10 ms
Maximum switching frequency 40 Hz
Excitement delay time 16 ms
Drop-out delay time 15 ms
Protection against polarity inversion YES
Protection against over-voltage NO
Decoupled inputs with respect to I/O BUS YES
Connector type 18-pin male terminal board with extractor.
Figure 2.20 - Inputs terminal board
Esa/Gv 00008.HW.0.GB 2.37

Installation HW
Pin Name Type

1 INPUT 1 I
2 INPUT 2 I
3 INPUT 3 I
4 INPUT 4 I
5 INPUT 5 I
6 INPUT 6 I
7 INPUT 7 I
8 INPUT 8 I
9 INPUT 9 I
10 INPUT 10 I
11 INPUT 11 I
12 INPUT 12 I
13 INPUT 13 I
14 INPUT 14 I
15 INPUT 15 I
16 INPUT 16 I
17 NC
18 NC
Signal name:
INPUT 1÷16 Input signal
Signal type:
I Input signal
NC Not connected
Figure 2.21 - Common I/O terminal board
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HW Installation
Pin Name Type

1 GND FIELD VI
2 GND FIELD VI
3 GND FIELD VI
4 GND FIELD VI
5 GND FIELD VI
6 GND FIELD VI
7 GND FIELD VI
8 GND FIELD VI
9 GND FIELD VI
10 GND FIELD VI
11 GND FIELD VI
12 GND FIELD VI
13 GND FIELD VI
14 GND FIELD VI
15 GND FIELD VI
16 GND FIELD VI
17 GND FIELD VI
18 GND FIELD VI
Signal name:
GND FIELD Common inputs reference
Signal type:
VI Input voltage
Esa/Gv 00008.HW.0.GB 2.39

Installation HW
An example of
connection for the
limit switch or relay
contact
Figure 2.22 - Limit switch or relay contact
An example of
connection for the
PNP collector open
sensor
Figure 2.23 - PNP collector open sensor
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HW Installation
An example of
connection for the
push pull sensor
Figure 2.24 - Push pull sensor
An example of
connection for the
parallel inputs
Figure 2.25 - Parallel inputs
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Installation HW
2.5.7 Outputs
Section of the cables The section of the connection cables depends on the value of the output current (1A)
and on the mechanical traction caused by the weight of the cables connected to the
terminal board. A section of 1mm² will not entail any particular mechanical or
electrical problems. Bigger sections can make fixing the cables difficult. The biggest
section that can be wired to the terminal boards is 1.5 mm².
Common output Connect 1 common output for each output, or one common output for all the outputs.
connection (M.0V) At least a pair of common outputs should be connected.
Electrical
specifications
Number of outputs Min. 32
Max. 64
Typical outputs power supply voltage +24 V DC
Maximum outputs power supply voltage +28 V DC
Minimum outputs power supply voltage +20 V DC
Decoupled outputs with respect to the BUS YES
Maximum continuous output current 1 A (Note 1)
Typical output current 10 mA÷700 mA
Maximum continuous output current (2 outputs in parallel) 1.5 A
Maximum continuous output current (4 outputs in parallel) 3A
Maximum current at common outputs 4A
Maximum switching frequency for Io=0.7 A 3 KHz
Short-circuit protection YES
Overload protection YES
Protection against over-voltage Max. +36V
Maximum energy that can be dissipated due to the degaussing of 60 mJ
an inductive load
Minimum output voltage ON for Io=0.7 A with +24V DC power 23.8 V
supply
Maximum output voltage OFF with +24V DC power supply 0.1 V
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HW Installation
Note 1: This is the maximum possible value before the intervention of the current limits or the
protection against short circuits. Some devices used at 1A can activate the thermal
protector as a result of the manufacturing tolerance of the same.
Connector type 18-pin male terminal board with extractor.
Figure 2.26 - Outputs terminal board
Pin Name Type

1 OUTPUT 1 O
2 OUTPUT 2 O
3 OUTPUT 3 O
4 OUTPUT 4 O
5 OUTPUT 5 O
6 OUTPUT 6 O
7 OUTPUT 7 O
8 OUTPUT 8 O
9 OUTPUT 9 O
10 OUTPUT 10 O
11 OUTPUT 11 O
12 OUTPUT 12 O
13 OUTPUT 13 O
14 OUTPUT 14 O
15 OUTPUT 15 O
16 OUTPUT 16 O
17 +24V DC Ext VI
18 +24V DC Ext VI
Esa/Gv 00008.HW.0.GB 2.43

Installation HW
Signal name:
OUTPUT Output signal
1÷16
+24V DC Ext Common outputs (+24V DC power supply)
Signal type:
I Output signal
VI Input voltage
Figure 2.27 - Common I/O terminal board
Pin Name Type

1 GND FIELD VI
2 GND FIELD VI
3 GND FIELD VI
4 GND FIELD VI
5 GND FIELD VI
6 GND FIELD VI
7 GND FIELD VI
8 GND FIELD VI
9 GND FIELD VI
10 GND FIELD VI
11 GND FIELD VI
12 GND FIELD VI
13 GND FIELD VI
14 GND FIELD VI
15 GND FIELD VI
16 GND FIELD VI
17 GND FIELD VI
18 GND FIELD VI
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HW Installation
Signal name:
GND FIELD Outputs power supply reference
Signal type:
VI Input voltage
An example of +24V
DC solenoid valve
connection
Figure 2.28 - +24V DC solenoid valve
Esa/Gv 00008.HW.0.GB 2.45

Installation HW
An example of +24V
DC relay connection
Figure 2.29 - +24V DC relay
N.B. The protector indicated with the asterisk * is not always necessary to dissipate the
demagnetisation energy of an inductive load; this device is however necessary
considering the aspects of electromagnetic compatibility. The protector notably reduces
the disturbances emitted by the load during the switching of the same.
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HW Installation
An example of
external PLC
connection
Figure 2.30 - External PLC
2.5.8 Fast digital inputs
ù The connection must be made with a screened cable, the screen must only be
connected on the side of the CNC.
for the fast inputs cable and the power cables; in fact, in the part of the cable with
the contact the braiding is broken and therefore no longer screens the cable from
false signals.
General information The input voltage can come from a three-phase transformer with diodes and a
capacitor. The value of the residual alternating voltage (ripple) must comply with the
minimum and maximum values in the following table.
The contact of a limit switch or relay connected to the input terminal of the card must
be absolutely free of other connections with voltages relevant to the auxiliary circuit of
the machine.
Don't use a limit switch with a double contact if one of the two is connected to an
auxiliary voltage of 110V AC or higher. In damp conditions a spark may jump between
the two sections.
If these indications are not respected this may damage the input circuit of the card.
Esa/Gv 00008.HW.0.GB 2.47

Installation HW
Parallel inputs If you have to use the same contact in common with another similar input (for example
an external PLC or another input of the control), install a decoupling diode in series as
indicated in the paragraph “Examples of connections”.
Characteristics of the When choosing the characteristics of the contact, for example of the relay or of the
contact limit switch, note the minimum switchable voltage and current: the switching voltage
is 24V DC and the current is roughly 12 mA.
Section of the cables When choosing the section of the connection cables, allow for the mechanical traction
caused by the weight of the cables connected to the terminal board. A section of
0.22mm² will not entail any particular problems. Bigger sections can make fixing the
cables difficult. The biggest section that can be wired to the terminal boards is 1 mm².
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HW Installation
Electrical
specifications
Number of inputs 4
Typical input voltage +24V DC
Maximum input voltage +27.5V DC
Minimum input voltage +19V DC
Typical input current 12 mA
Maximum input current 16 mA
Hardware filter NO
Maximum switching frequency 20 KHz
Excitement delay time 0.10 ms
Drop-out delay time 0.15 ms
Protection against polarity inversion YES
Decoupled inputs with respect to I/O BUS YES
Connector type 6-pin male terminal board.
Figure 2.31 - Fast inputs terminal board
Pin Name Type

1 INPUT 1 I
2 INPUT 2 I
3 INPUT 3 I
4 INPUT 4 I
5 GND FIELD VI
6 GND FIELD VI
Esa/Gv 00008.HW.0.GB 2.49

Installation HW
Signal name:
INPUT 1÷4 Input signal
GND FIELD Common inputs reference
Signal type:
I Input signal
VI Input voltage
Examples of
connections
Clamp the braiding in the terminal and

screw it down in the insert beside the
connector
Figure 2.32 - Limit switch or relay contact
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HW Installation
2.5.9 Encoder inputs
ù The encoder must be connected with a screened cable; the screen must only be
connected on the side of the CNC and not on the side of the encoder, if this is fixed
to an earthed metal support; otherwise, if the encoder is insulated from earth you
should connect the screen to the encoder too. The screen should be clamped in the
metal cap of the connector.
for the encoder cable and the power cables; in fact, in the part of the cable with the
contact the braiding is broken and therefore no longer screens the cable from false
signals.
Encoder inputs 2 The same connections in this paragraph are valid for connecting the encoder inputs of
axes expansion card the 2 axes expansion card.
(optional)
Encoder inputs in To connect the encoder inputs in parallel refer to the paragraph “Examples of
parallel connection”, making sure you respect the connection of the screen and being careful
not to exceed the maximum current limit that can be supplied by the encoder outputs.
Don't connect the encoder power supply of both the inputs or of both the machines,
only connect one power supply to the encoder (the nearest). The erroneous connection
of the power supply can break the power supply units in the CNC.
Characteristics of the Use the connector and the relevant cap supplied with the card, if you use other
connector connectors, make sure that the contact has the following characteristics:
ù Contact resistance <= 10 mOhm.
ù Insulation resistance >= 5,000 MOhm.
ù Operating temperature from -55 to +125 °C.
ù Gold plated contact.
ù Performance level 2 guaranteed for a minimum of 200 switching on/off contacts,
in accordance with DIN41652 part 2 standard.
Furthermore the cap should be metal or metallic to provide a suitable screen.
Esa/Gv 00008.HW.0.GB 2.51

Installation HW
Section of the cables The section of the connection cables not must be less than 0.2 mm² and in any case the
section should be chosen allowing for the distance and the absorption of the load
(normally a cable with 0.22 mm² wires is used); the maximum connection distances,
in the “Electrical specifications” tables, can be doubled if you use cables of double the
section.
If these instructions are not respected, this may damage the input circuit of the card
and cause the whole system to malfunction.
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HW Installation
Electrical
specifications
Number of inputs Min. 4
Max. 6
Maximum input voltage +14V DC
Minimum input voltage -0.3V DC
Typical input current 2.3 mA @ 5V
5.5 mA @ 12V
Maximum input current 5.0 mA @ 5V
6.0 mA @ 12V
Input impedance in the input single-ended signal field 2.2 Kohm
Input impedance in the differential inputs signal field equal to 1 Kohm

+5V (Line driver)
Differential input impedance in the differential inputs signal 120 ohm
field equal to +5V (Line driver)
Hardware filter 50 nS
Maximum switching frequency 500 KHz
Protection against polarity inversion NO
Decoupled inputs with respect to I/O BUS NO
Type of cable to use for connecting the encoder 0.2mm² double
screened cable
Maximum length of cable for encoder connection 20m max
Esa/Gv 00008.HW.0.GB 2.53

Installation HW
Connector type 9-pin female Sub-D.
Figure 2.33 - Encoder inputs connector
Pin Name Type

1 ERROR I
2 +VE VO
3 GND VO
4 PHASE /A I
5 PHASE A I
6 PHASE /B I
7 MARK /0 I
8 MARK 0 I
9 PHASE B I
Cap SCREEN SCH
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HW Installation
Signal name:
+VE Selectable +5V or +12V encoder power supply
GND GND - power supply
PHASE /A Phase A negated
PHASE A Phase A
PHASE /B Phase B negated
PHASE B Phase B
MARK /0 Mark 0 negated
MARK 0 Mark 0
ERROR Input encoder error (only if envisaged on the encoder)
SCREEN Screen to clamp between the two metal caps of the recess
connector.
Signal type:
VO Output voltage
I Input signal
SCH Screen
An example of single
ended encoder
connection
Clamp the braiding between

the metal caps of the connector
Figure 2.34 - Single ended encoder connection.
Esa/Gv 00008.HW.0.GB 2.55

Installation HW
An example of
differential encoder
connection
Clamp the braiding between the

metal caps of the connector
Figure 2.35 - Differential encoder connection
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HW Installation
An example of
encoder inputs
connection in parallel
Figure 2.36 - Encoder inputs connection in parallel.
Esa/Gv 00008.HW.0.GB 2.57

Installation HW
An example of screen
connection
Clamp the screen in the

cable clamp and between
the metal caps of the
connector
Figure 2.37 - Screen connection.
2.5.10 Axes analog outputs
ù The connection must be made with a screened cable, the screen must be connected
on the side of the CNC. In general it is a good idea to connect it to the side of the
drives too, even if this sometimes makes things worse in the presence of different
potentials between the various earth connections. In the cases in which you are
unsure of how to make the connections, please contact Esa/Gv Technical Service.
for the analog cable and the power cables; in fact, in the part of the cable with the
contact the braiding is broken and therefore no-longer screens the cable from false
signals.
2 axes expansion The same connections in this paragraph are valid for connecting the analog outputs of
card analog outputs the 2 axes expansion card. Therefore, on the 15-pin recess connector, only analog
(optional) outputs 1 and 2 (corresponding to axes 5 and 6) are available.
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HW Installation
Characteristics of the Use the connector and the relevant cap supplied with the card; if you use other
connector connectors, make sure that the contact has the following characteristics:
ù Contact resistance <= 10 mOhm.
ù Insulation resistance >= 5,000 MOhm.
ù Operating temperature from -55 to +125 °C.
ù Gold plated contact.
ù Performance level 2 guaranteed for a minimum of 200 switching on/off contacts,
in accordance with DIN41652 part 2 standard.
Furthermore the cap should be metal or metallic to provide a suitable screen.
If these instructions are not respected, the whole system may malfunction.
Electrical
specifications

Number of outputs Min. 4
Max. 6
Output voltage range -10 -:- +10 V
Maximum output current 5 mA
Output impedance in the signal field 68 Ohm
Output ripple 610 uV
Analog output error
ù Maximum error at 25°C +/- 0.03% F.S.
ù Temperature coefficient +/- 0,001% F.S./°C
Maximum error over the entire temperature field +/- 0.1% F.S.
Value of the least significant bit 305 uV
Esa/Gv 00008.HW.0.GB 2.59

Installation HW

Total duration of the output transfer 10 uS
Maximum momentary deviation for electromagnetic
disturbances
+/- 0.03% F.S
ù ENV50140 (radiated electromagnetic fields)
+/- 0.03% F.S
ù ENV50141 (conducted electromagnetic fields)
+/- 0.003% F.S
ù EN61004-8 (magnetic fields at the mains frequency)
ù EN61004-2 (electrostatic discharges)
ù EN61004-4 (Burst)

Type of protection NO
ù between channel and power supply 0V DC
Common points between channels GND
Type of load allowed Insulated
EARTH
Effect of the incorrect connection of the output terminals Breakage
Connector type 15-pin female Sub-D
Figure 2.38 - Axes analog outputs terminal board
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HW Installation
Pin Name Type

1 OUTPUT 1 O
2 NC
3 OUTPUT 2 O
4 NC
5 NC
6 OUTPUT 3 O
7 NC
8 OUTPUT 4 O
9 GND REF
10 NC
11 GND REF
12 NC
13 GND REF
14 NC
15 GND REF
Cap SCREEN SCH
Signal name:
OUTPUT 1÷4 Signal output
GND Ground
SCREEN Screen to clamp between the two metal caps of the recess connector
Signal type:
O Output signal
SCH Screen
Esa/Gv 00008.HW.0.GB 2.61

Installation HW
Examples of
connections
Drive
or
Inverter
Drive
or
Inverter
Figure 2.39 - Drive analog outputs connection ó Drive
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HW Installation
An example of screen
connection

connector
Esa/Gv 00008.HW.0.GB 2.63

Installation HW
2.5.11 Remote I/O interface (optional)

Only available with the remote I/O expansion card
BRD.019.402 card Remote I/O interface card.
Figure 2.41 - Remote I/O BRD.019.0402 interface card
Fibre optic
specifications
Fibre optic specifications Value

Type Plastic
Diameter 2.2 mm
Maximum attenuation 0.27 dB/m
Maximum extension force 1N
Maximum curvature radius 35 mm
Maximum length on TX output 20 m
Maximum transmission speed 2 Mb/s
Storage temperature -55÷85°C
Installation and operating temperature -20÷85°C
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HW Installation
Fibre optic To connect the fibre optics to the TX transmitter and RX receiver modules, proceed as
connection follows:
ù cut the ends using a sharp instrument such as a “cutter” or knife;
ù insert the fibre optic cable inside the modules as far as possible;
ù to remove the fibre optic cable, push the external ring and pull the fibre optic cable
as shown in the figure.
External ring
Press
Pull
Press
Fibre-optic-
cable
Figure 2.42 - An example of how to remove the fibre optic cable
Don't remove the fibre optic cable from the TX or RX modules without pressing
the external ring because the cable may break inside the module
To use the fibre optics properly, proceed as follows:

ù avoid getting dirt or dust in the TX or RX modules;
ù don't use acids or alkaline solvents on the modules and don't inject them into the
fibre optic hole. If this should happen, dry using a small stick and some cotton;
ù don't bend or stretch the fibre optic cable beyond the values in the specifications.
This could break the cable.
When installing the fibre optic cable be careful not to break it. There are no particular
problems with disturbance given the optical nature of the signal in the cable. For
further information on connecting the Remote I/O, please refer to the relevant manual
“Remote I/O System” available from Esa/Gv services.
Esa/Gv 00008.HW.0.GB 2.65

Installation HW
Examples of
connections
Remote I/O BUS
Figure 2.43 - CNC connection ó Remote I/O (1 module)
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HW Installation
Figure 2.44 - CNC connection ó Remote I/O (2 or more modules)
Esa/Gv 00008.HW.0.GB 2.67

Installation HW
2.5.12 MECHATROLINK interface (optional)

Available only with the MECHATROLINK expansion card in the CNC. This manages
the digital axes with the MECHATROLINK interface.
ù The connection cable must be a USB type with the following characteristics.
ù The cable must not be sectioned.
Characteristics of the We recommend using the cables supplied by the manufacturers of the peripheral
cable devices; if this is impossible, use a USB cable with the following characteristics:
ù Diameter = 11 mm.
ù Number of wires = 2 pairs.
ù Impedance = 120 Ohm.
ù Maximum attenuation <= 14dB/Km
Electrical
specifications
MECHATROLINK specifications Value

Number of channels 1
Maximum number of nodes 15
Cycle scanning time 2ms
Characteristic impedance of the BUS 120 Ohm
Maximum cable length 50m max. (total)
Maximum reception/transmission frequency 4Mbps
2.68 00008.HW.0.GB Esa/Gv

HW Installation
Connector type 4-pin USB.
Figure 2.45 - MECHATROLINK interface
Pin Name Type

1 NC
2 /S IO
3 S IO
4 NC
Cap SCREEN SCH
Signal name:
/S BUS signal negated
S BUS signal
SCREEN Screen to clamp between the two metal caps of the connector
Signal type:
IO Input/output signal(BUS)
SCH Screen
Esa/Gv 00008.HW.0.GB 2.69

Installation HW
An example of
MECHATROLINK BUS
connection
Figure 2.46 - Drives CNC connection óDrives
2.70 00008.HW.0.GB Esa/Gv

HW Installation
2.5.13 Serial lines
ù The connection between the CNC and the peripheral device must be made with the
equipment turned off; connection with even one live device could damage the line
driver or the line receiver.
on both sides of the CNC.
for the signal cable and the power cables; in fact, in the part of the cable with the
signals.
Electrical
specifications
RS232 standard specifications Value

Minimum input voltage ±3V
Maximum input voltage ±30V
Minimum input resistance 30K
Minimum output voltage ±9V
Typical output voltage ±10.5V
Maximum cable length 10m
Maximum reception/transmission frequency 115000 Baud
Esa/Gv 00008.HW.0.GB 2.71

Installation HW
Connector type 9-pin male Sub-D.
Figure 2.47 - Serial lines connector
RS232C standard
Pin Name Type

1 DCD I
2 RX I
3 TX O
4 DTR O
5 GND REF
6 DSR I
7 RTS O
8 CTS I
9 RI I
Cap SCREEN SCH
2.72 00008.HW.0.GB Esa/Gv

HW Installation
Signal name:
DCD Data Carrier Detect
RX Receive
TX Transmit
DTR Data Terminal Ready
GND Ground
DSR Data Set Ready
RTS Request To Send
CTS Clear To Send
RI Ring Indicator
SCREEN Screen to clamp between the two metal caps of the recess connector.
Signal type:
I Input signal
O output signal
SCH Screen
N.B.: The RI signal may not be available in some versions. If you have to use this
signal, please contact Esa/Gv.
Examples of RS232C
standard connection
Clamp the braiding between

therThe metal caps of the
connector
conn connector
Figure 2.48 - CNC, → PC DTE, with 25-pin connector; RS232C
Esa/Gv 00008.HW.0.GB 2.73

Installation HW
Clamps the braiding

between the metal caps
of the connector
Figure 2.49 - CNC, → PC DCE, with 9-pin connector; RS232C
2.5.14 An example of connecting the screen

connector
2.74 00008.HW.0.GB Esa/Gv

HW Installation
2.5.15 Parallel interface
ù The connection between the CNC and the peripheral device must be made with the
equipment turned off; the connection with one live device could damage the
interfaces.
on both sides of the CNC.
for the signal cable and the power cables; in fact, in the part of the cable with the
signals.
Esa/Gv 00008.HW.0.GB 2.75

Installation HW
Electrical
specifications
Parallel Standard Specifications Value

Minimum input voltage 0.3V
Maximum input voltage +5.3V
Minimum input resistance 4.7K Ohm
Minimum output voltage +0.3V
Typical output voltage +5V
Maximum cable length 3m
Configuration SPP
Connector type 25-pin female Sub-D.
Figure 2.51 - Parallel connector
2.76 00008.HW.0.GB Esa/Gv

HW Installation
Parallel Standard
Pin Name Type

1 STB OC
2 DATA 0 I
3 DATA 1 I
4 DATA 2 I
5 DATA 3 I
6 DATA 4 I
7 DATA 5 I
8 DATA 6 I
9 DATA 7 I
10 ACK I
11 BUSY I
12 PE I
13 SLCT I
14 AFD OC
15 ERR I
16 INIT OC
17 SLIN OC
18 GND REF
19 GND REF
20 GND REF
21 GND REF
22 GND REF
23 GND REF
24 GND REF
25 GND REF
Cap SCREEN SCH
Esa/Gv 00008.HW.0.GB 2.77

Installation HW
Signal name:
STB Strobe
DATE Data Bus bi-directional
ACK Acknowledge
BUSY Busy
PE Paper Empty
SLCT Select
AFD Auto Feed
ERR Error
INIT Init Printer
SLIN Select Input
GND Ground
SCREEN Screen to clamp between the two metal caps of the recess connector
Signal type:
I Input signal
IO Input/output signal
OC Open collector output signal
SCH Screen
END OF CHAPTER
2.78 00008.HW.0.GB Esa/Gv

HW Diagnostics
3 Diagnostics
3.1 LED
3.1.1 LEDs card power supply unit
Figure 3.1 -LEDs card power supply unit
ù LED 1: CNC on signal led (RUN) (green led)

ù LED 2: CNC off signal led (STOP) (red led)
ù LED 3: Internal power supply signal led +5V (green led)
ù LED 4: Internal power supply signal led +12V (green led)
ù LED 5: Internal power supply signal led -12V (green led)
ù LED 6: Internal power supply signal led +Ve (green led)
ù LED 7: System state signal led (SYSTEM MONITOR)
Esa/Gv 00008.HW.0.GB 3.1

Diagnostics HW
LEDs power supply The 4 LEDs (LED 3, 4, 5 and 6) indicate the state of the voltages generated by the
power supply unit card and used by the equipment. The following conditions may arise.
ù All of the LEDs are on: the card is working properly.
ù All the LEDs are off: the card is not supplied with power correctly. The causes can
be:
− no power supply voltage 24V AC/DC;
− one or both of the fuses F = 6.3A T to the side of the power supply sockets are
blown;
− there is a fault in the equipment; please contact Esa/Gv Technical Assistance.
ù LED 6 (+Ve) is off but all the others are on: the card is not working properly. The
causes can be:
− one of the sensors connected to the CNC (encoder, lines optics, etc.) causes a
short circuit on the encoder power supply; turn the power of the CNC off,
disconnect all the connectors of the encoder and turn the power of the CNC on;
if LED 6 lights, one of the sensors is faulty or the wiring is wrong, repeat the
operation connecting each encoder separately and then check the wiring and
the sensors. If LED 6 does not light, the card is faulty.
− the power supply unit card is faulty, replacing the card requires in-depth
knowledge of the CNC, therefore we recommend replacing the part;
− there is a fault in the equipment, please contact Esa/Gv Technical Assistance.
ù Any other configuration different from the above but with at least one led off: the
card is not working properly. The causes of this can be:
− A card inside the equipment is faulty and trips the power supply voltage cutout.
In this case finding the fault requires in-depth knowledge of the CNC, therefore
we recommend replacing the part;
− the card power supply unit is faulty, replacing the card requires in-depth
knowledge of the CNC, therefore we recommend replacing the part;
− there is a fault in the equipment, please contact Esa/Gv Technical Assistance.
RUN/STOP LEDs LED 1 and LED 2 indicate the operational state of the machine, when it is powered
correctly. The following conditions may arise.
ù LED 1 (RUN) is on and LED 2 (STOP) is off: the card is working properly.
ù LED 1 (RUN) is on and LED 2 (STOP) is also on: impossible state, the card is not
working properly. In this case finding the fault requires in-depth knowledge of the
CNC, therefore we recommend replacing the part;
ù LED 1 (RUN) is off and LED 2 (STOP) is on: the CNC is not working, the card is
not working properly. In this case finding the fault requires in-depth knowledge of
the CNC, therefore we recommend replacing the part.
3.2 00008.HW.0.GB Esa/Gv

HW Diagnostics
System Monitor The 7-segment display LED 7, indicates the state of the system. The following
display conditions may arise.
ù The display is on and displays 8:

− If the operating system version is earlier than version 3.5 (firmware version
3.5) the display is not managed and therefore the card can work properly;
− If the operating system is version 3.5 or later, the display is managed and
below you will find the list and description of the messages.
ù The display is off: the causes can be:
− the display is not working properly but the CNC is, in this case, if necessary
replace the CNC;
− there is a fault in the equipment, please contact Esa/Gv Technical Service.
System Monitor Below you will find the list of the LED 7 messages. There are other types of messages
display diagnostics that appear on the display called “exceptions”, these exceptions are described in the
software manual of the operating system.
ù 0 - OK.
− CNC working.
ù 1 - Reserved.
ù 2 - Reserved.
ù 3 - Kvara install CNC.
− The ISO or the SLAVE or the PLC have not been installed. After executing the
application, if the display shows 3, this means that the PLC has not started or
has not been loaded or I/O are missing or are wrong. The I/O configuration
file, IOREDIR, on the disk H of the CNC may also be wrong, recover and
install the application correctly with autosetup.
ù 4 - Kvara application.
− After executing STARTCN the display indicates 4 if the file KVARA.GZ is on
disk H of the CNC.
ù 5 - Kvara loader.
− When the CNC is turned on, the display indicates 5 if both BIOSEXT and
LOADER are in the FLASH memory of the CNC, while waiting for the
execution of STARTCN.
ù 6 - Kvara biosext.
− When the CNC is turned on the display indicates 6 if only BIOSEXT is in the
FLASH memory of the CNC; you will have to recover LOADER and run
autosetup.
Esa/Gv 00008.HW.0.GB 3.3

Diagnostics HW
ù 7 - Power Fail.
− Drop in of the power supply voltage for a time below the system RESET; this
means that the power supply is unstable. In this case, turn the CNC off and
check the power supply before turning the equipment on again.
ù 8 - Power ON.
− This appears when the CNC is turned on, but must disappear and leave 0 on
the screen when the CNC is running, 8 will be displayed when the CNC is not
operating.
ù 9 - User interface DLL not present.
− The file GUIAPP.DLL in KVARA6 A and B is missing, recover the file.
ù A - Diagnostic menu.
− After executing STARTCN the display indicates A if the file KVARA.GZ is
missing on disk H of the CNC or PERMISSION=LOADER is present in the
file KVARA.INI of the PC, run autosetup.
− Autosetup in progress.
− Recovery in progress.
− Loader, problems with decompressing KVARA.GZ or check the memory or
that the applications are loaded.
ù B - CPU NC battery fail.
− CMOS SETUP backup battery flat, contact Esa/Gv Technical Assistance to
replace the NC card.
ù C - Shut Down.
− You can turn the CNC off without loosing any machine data.
ù D - Reserved.
− Debug.
ù E - Reserved.
− Not used
ù F - MFB reset.
− CNC in reset mode, CNC reset command has been sent, wait for the CNC to
reset.
− Loader has problems when opening File System disks.
System Monitor In operating systems that manage the System Monitor display, once the CNC is
display start-up supplied with power, the following messages will appear in sequence (after a few
sequence seconds).
ù Power ON.
− Messages: 8 à 5 à 4 à 3 à 0.
3.4 00008.HW.0.GB Esa/Gv

HW Diagnostics
System Monitor
display orientation
Figure 3.1 - System Monitor display orientation
Esa/Gv 00008.HW.0.GB 3.5

Diagnostics HW
3.1.2 I/O remote expansion LED card
Figure 3.2 - I/O Remote LEDs card
ù LED LINK: Remote I/O BUS state signal led (green led)
Remote I/O Link LED The following conditions may arise.

ù LED lit: the fibre optic serial connection with the transmitter node is present. The
module is working properly.
ù LED off: no connection with the transmitter node is present. The numeric control
displays an error message. The causes can be:
− The receiver node is not addressed by the transmitter node in the numeric
control;
− The position of the rotary dip for selecting the address of the receiver node is
wrong;
− The fibre optic (of both the RX and the TX) is not connected or is faulty, or cut
wrong;
− The receiver node is faulty;
− The transmitter node is faulty;
ù Blinking LED: the connection with the transmitter node fails occasionally. The
numeric control displays an error message. The causes can be:
− Disturbances that connect directly on the modules or transmitter or receiver;
3.6 00008.HW.0.GB Esa/Gv

HW Diagnostics
− Fibre optic with false contacts inside the TX and/or RX connectors;

− fibre optic damaged, or cut wrong;
− receiver module faulty;
− transmitter module faulty;
The LED LINK off implies resetting all the outputs of the output modules connected to
the BUS I/O. The intervention time of the RESET signal of the outputs is 50 ms as
there is no longer a fibre optic serial connection and the LED LINK shuts down.
Esa/Gv 00008.HW.0.GB 3.7

Diagnostics HW
3.2 Serial lines
In the case of malfunction of the serial transmission the only thing to do is check the
wiring and see if there are high intensity electromagnetic disturbances; in every other
case you will have to replace the CNC.
3.3 Equipment debug
Equipment debug To debug the equipment (test of the serial lines, the inputs, the outputs and the encoder
inputs, etc.); please refer to the “Diagnostics Manual” where you will find all of the
necessary instructions.
END OF CHAPTER
3.8 00008.HW.0.GB Esa/Gv

HW Service and maintenance
4 Service and maintenance
4.1 Spare parts list
Below you will find some of the codes for ordering equipment and spare parts.
For ordering equipment and the relevant codes, please contact the Esa/Gv Orders
Office.

KVR.0006.R0001 1 (Note 1) KVARA 6 remote rack
MBR.002.437 1 (Note 2) CPU card
BRD.023.421 1 (Note 2) Multifunction card (MFB)
BRD.006.403 1 (Note 2) Power supply unit card
BRD.019.402 1 (Note 2) I/O remote expansion card
BRD.021.421 1 (Note 2) 2 axes expansion card
BRD.007.401 1 (Note 2) 64 I/O expansion card
BTT.003.006 1 3.6V lithium battery, Size AA
VNT.001.006 1 (Note 2) 80x80 12VDC fan, h20mm
Note 1: Complete equipment consisting of: 3 axes 5V Line Driver 64 I/O.
Note 2: These components must be replaced by specialised, trained personnel, to avoid

damaging the CNC.

KVR.0006.R0033 1 (Note 1) KVARA 6 remote rack
MBR.002.437 1 (Note 2) CPU card
BRD.023.421 1 (Note 2) Multifunction card (MFB)
BRD.006.403 1 (Note 2) Power supply unit card
BRD.019.402 1 (Note 2) I/O remote expansion card
BRD.021.421 1 (Note 2) 2 axes expansion card
BRD.007.401 1 (Note 2) 64 I/O expansion card
BTT.003.006 1 3.6V lithium battery, Size AA
VNT.001.006 1 (Note 2) 80x80 12VDC fan, h20mm
Note 1: Complete equipment consisting of: 3 axes 5V Line Driver 128 I/O.
Note 2: These components must be replaced by specialised, trained personnel, to avoid

damaging the CNC.
Esa/Gv 00008.HW.0.GB 4.1

Service and maintenance HW
4.2 WARNING
There are dangerous voltages in certain parts of the electrical board when the
equipment is on.
Any improper maintenance work done may damage the control.
The work must be done as follows:

ù The maintenance must only be carried out by qualified personnel.
ù Before starting any maintenance job, the CNC must be disconnected from the
power supply.
ù Follow the instructions in this chapter below.
4.2 00008.HW.0.GB Esa/Gv

4.3 Replacing the fuse
4.3.1 Power supply card fuses
Figure 4.1 - Power supply card fuses
ù F1: Mains protection fuse = 6.3A T (delayed)

ù F2: Mains protection fuse = 6.3A T (delayed)
Replacing the fuses ù Turn the equipment off.

ù Unscrew the fuse carrier by turning the cap left (anticlockwise).
ù Replace the fuse.
ù Plug the equipment in again and turn it on.
Warning! If the fuse blows repeatedly, do not replace it with a fuse that has a
higher amperage rating as this could damage the equipment.
Esa/Gv 00008.HW.0.GB 4.3

4.4 Replacing the battery
The backup battery for the machine data and the work programs, saved in the Shared
memory and on disks G and F of the Multifunction card, is a LITHIUM 3.6V AA
battery (STILO) and lasts roughly 3 years if the control is turned off regularly.
If the voltage drops below the limit value required to guarantee the data storage, the
equipment activates a battery low message. From when this message appears you have
roughly 2 weeks to replace the battery; at the end of this period the battery will be flat
and the entire memory will be lost if the machine is turned off for more than 8 hours.
Replace the battery with the machine turned off; once you have removed the flat
battery, install the new one within 8 hours.
Figure 4.2 - Replacing the battery
1) Battery holder cover fixing screws.

2) Battery holder cover
4.4 00008.HW.0.GB Esa/Gv

1 2
Figure 4.3 - Replacing the battery
1) Battery holder cover

2) Battery
Procedure ù Turn the CNC off

ù Unscrew the screws and remove the cover of the battery holder
ù The battery holder is fixed inside the cover
ù Replace the battery being careful not to invert the polarity
ù Close the cover of the battery holder again
ù Turn the CNC on.
ù Check that the battery low message has disappeared
Esa/Gv 00008.HW.0.GB 4.5

Spare battery ù The spare battery can be ordered from Esa/Gv using the code in the paragraph
“Spare parts list”.
ù The following batteries can be installed:
MANUFACTURER MODEL
VARTA ER AA
SAFT LS6
TADIRAN TL2100 AA/S
ELECTROCHEM 3B1065
SONNENSCHEIM SL 160/S
4.6 00008.HW.0.GB Esa/Gv

4.5 Identifying the parts
To identify the parts, please refer to chapter 1.
Identification label All of the cards in the equipment are identified by an adhesive label on the card (see
chapter 1). The expansion cards are identified by the label in the following figure.
Figura 4.4 - Identification label
1) Identification code of the card

2) Overhauling the card
Esa/Gv 00008.HW.0.GB 4.7

4.6 Replacing the cards
Erroneous operations can damage the equipment or any sensors connected to the same.
Therefore, any cards should be replaced by specialised personnel taking care not to
damage the components through electrostatic discharges. For this purpose, it is
possible to buy special bracelets which prevent the body from being charged with a
voltage which is dangerous for the electronic components.
Take the following precautions when handling the cards:
ù When handling a card, always use the original packing or in any case some form
of protection against ESD (electrostatic discharges).
ù Avoid touching the pins of the components and the connectors to prevent leaving
traces of grease or dirt on them.
ù Do not lay the cards on each other because this will damage them.
ù Be careful not to bend the feet of the connectors, as these are very delicate.
4.6.1 64 I/O expansion card
Procedure ù Turn the equipment off.

ù Disconnect all the cables from the electrical board connected to the card.
ù Unscrew the 6 fixing screws.
Figure 4.5 - Replacing the 64 I/O expansion card, fixing screws
4.8 00008.HW.0.GB Esa/Gv

ù Pull the card out at a right angle to the CNC.
Figure 4.6 - Replacing the 64 I/O expansion card, extracting the card
ù Insert the new card in the connector making sure you insert the contacts of the
card in the connector of the CNC, aligning pins 1 and 2 indicated by the arrows.
Esa/Gv 00008.HW.0.GB 4.9

1 1
2 2
Figura 4.7 - Replacing the 64 I/O expansion card, inserting the card
ù Press firmly home.
4.10 00008.HW.0.GB Esa/Gv

Figure 4.8 - Replacing the 64 I/O expansion card, aligning the contacts
ù Once you have inserted the card check that the card support is flush with the frame
of the CNC.
ù Use a screwdriver to tighten the fixing screws of the board.
ù Connect the power supply plug and supply the equipment with power.
Esa/Gv 00008.HW.0.GB 4.11

4.6.2 2 axes expansion card
Procedure ù Turn the equipment off.

ù Unscrew the 4 fixing screws of the axes expansion card; the arrows indicate the
fixing screws of the remote I/O expansion card.
Figura 4.9- Replacing the axes expansion card, fixing screws
4.12 00008.HW.0.GB Esa/Gv

Figure 4.10 - Replacing the axes expansion card, extracting the card
card in the connector of the CNC, aligning pins 1 and 2 indicated by the arrows.
1 1
2 2
Figura 4.11 - Replacing the axes expansion card, inserting the card
Esa/Gv 00008.HW.0.GB 4.13

Figure 4.12 - Replacing the axes expansion card, aligning the contacts
of the CNC.
4.14 00008.HW.0.GB Esa/Gv

4.6.3 Remote I/O expansion card
Procedure ù The same images for replacing the axes expansion card are valid.
ù Turn the equipment off.
ù Unscrew the fixing screws.
card in the connector of the CNC.
of the CNC.
END OF CHAPTER
Esa/Gv 00008.HW.0.GB 4.15

4.16 00008.HW.0.GB Esa/Gv

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You can send this form via FAX, our number is +39-059-851313, or post it to our address: Esa-Gv - Ufficio
Documentazione Tecnica - 15 via Zamboni, Cp 43 - 41011 Campogalliano (Italy)
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Kvara 6

Hardware Manual (HW)

Edition: June 2001

Evolution of the document

Esa/Gv 00008.HW.0.GB iii

Notes for the reader....................................................................................................... i

1 General information ................................................................................................ 1.1

2 Installation ............................................................................................................... 2.1

2.5.9 Encoder inputs ....................................................................................................... 2.51

4 Service and maintenance ....................................................................................... 4.1

Notes for the reader

Users This document contains information for:

Explanation of the symbols

Keyboard and video The following conventions are used.

Text The following conventions are used.

Esa/Gv 00008.HW.0.GB iii

CNC This is an abbreviation of Computerized Numerical Control and indicates the

NC Represents the Normally Closed status of an input or an output.

NO Represents the Normally Open status of an input or an output.

1.1 Description of the product

The kvara 6 is a compact, high performance CNC based on a standard open PC

Esa/Gv 00008.HW.0.GB 1.1

The product consists of the following parts:

1.2 00008.HW.0.GB Esa/Gv

Figure 1.1 -Front view of the product

Esa/Gv 00008.HW.0.GB 1.3

1.4 00008.HW.0.GB Esa/Gv

Right side view

Figure 1.2 -Right side view of the product

Esa/Gv 00008.HW.0.GB 1.5

Left side view

Figure 1.3 -Left side view of the product

1) COM1 serial interface

1.6 00008.HW.0.GB Esa/Gv

Figure 1.4 - Rear view of the product

1) Fixing slots of the product

Esa/Gv 00008.HW.0.GB 1.7

Front view with I/O

Figure 1.5 -Front view of the product with I/O expansion

1.8 00008.HW.0.GB Esa/Gv

1) 64 I/O BRD.007.0401 expansion card

Esa/Gv 00008.HW.0.GB 1.9

Front view with axes

1.10 00008.HW.0.GB Esa/Gv

1) Remote I/O BRD.019.0402 expansion card

Left side view with

1) Remote I/O LINK LED

Esa/Gv 00008.HW.0.GB 1.11

Left side view with

1) MECHATROLINK USB interface

1.12 00008.HW.0.GB Esa/Gv

1.2 Identification label

Figure 1.9 -Product identification label

1) Model (Ex. KVARA 6)

Esa/Gv 00008.HW.0.GB 1.13

Figure 1.10 - CE mark

Figure 1.11 - Encoder power supply voltage label

1) Encoder power supply voltage label (Ex. +5V or +12V)

1.14 00008.HW.0.GB Esa/Gv