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6.4.4 Power supply units................................................................................................................. 155

6.4.5 Electromagnetic compatibility................................................................................................. 155

6.4.6 Mechanical data..................................................................................................................... 156

6.4.7 Approvals and certifications................................................................................................... 156

6.5 Installation............................................................................................................................................. 157

6.5.1 Mechanical dimensions.......................................................................................................... 157

6.5.2 Mounting and demounting..................................................................................................... 160

6.5.3 Connection and wiring............................................................................................................ 164

6.5.4 Handling of accessories......................................................................................................... 167

7 Software handling and programming........................................................................................................ 169

8 Simple motion.............................................................................................................................................. 170

8.1 Introduction............................................................................................................................................ 170

8.2 Hardware components for motion control............................................................................................. 171

8.2.1 Basic CPU – PM5012-R-ETH and PM5012-T-ETH............................................................... 171

8.2.2 Standard and Pro CPU - PM5032-x-ETH / PM5052-x-ETH / PM5072-T-2ETH..................... 172

8.3 System technology................................................................................................................................ 172

8.3.1 Use the onboard I/Os as encoder with A and B signals......................................................... 173

8.3.2 Use the onboard I/Os as forward counter.............................................................................. 177

8.3.3 Use the onboard I/Os as interrupt input with dedicated interrupt task................................... 178

8.3.4 Use the onboard I/Os as output limit switch........................................................................... 180

8.3.5 Use the onboard I/Os as PTO (pulse-train output) with 100 kHz frequency (max. 2 PTO

using PTO HW channels)....................................................................................................... 181

8.3.6 Use the onboard I/Os as PTO (pulse-train output) with 200 kHz frequency (max. 2 PTO

using PTO HW channels) and Simple Motion OBIOMotionPTO function block..................... 184

8.3.7 Use the onboard I/Os as PTO (pulse-train output) with 100 kHz frequency (Max. 4 PTO

using PWM HW channels) and Simple Motion OBIOMotionPWM function bloc................... 185

8.3.8 Use the onboard I/Os as output PWM (pulse-width modulation)........................................... 187

8.4 Function block description .................................................................................................................... 188

8.5 AC500-eCo V3 option board slots for processor modules PM50xx...................................................... 190

8.5.1 Option board for serial interface extension............................................................................ 191

8.5.2 Option board for digital I/O extension.................................................................................... 191

8.6 Option board for specific function.......................................................................................................... 192

9 Contact ABB................................................................................................................................................ 193

10 Index............................................................................................................................................................. 194

Table of contents

2021/06/29 3ADR010635, 2, en_US 3