User manual OMRON R88A-MCW151 DATASHEET

[. . . ] R88A-MCW151-@ 1. 5 axis motion controller Advanced motion made perfectly intuitive · Connects directly to the Sigma-II series drive · Controls 1 real axis, 1 virtual axis and a configurable third axis · Provides an additional encoder input/output to the servo drive · Simple to develop and modify using BASIC · Built-in local I/O for easy operation · Provides two additional hardware registration inputs to the drive · Electronic CAM profiles and axes synchronization · Multi-tasking functionality · Friendly and powerful Windows-based software · Network connectivity via HostLink or DeviceNet · Supports HMI connection without the need of a PLC System configuration Cable connection SERVOPACK SGDHVer. 200V CHARGE POWER Sigma-II series Servo Drive (CN10) MCW151 RUN RD STS SD PORT0, 1 , 1 R88A-MCW151 Motion controller unit (Port 2) HostLink or DeviceNet network (I/O) External I/O 1 2 CN1 I/O /O PORT2 CN3 25 26 +24V 24V 0V (Port 0) Computer connecting cable CN2 R88A-MCW151_ Motion controller unit PORT0, 1 , 1 000000 Sigma-II series Servo Drive Input SERVOPACK SGDHMCW151 Ver. 200V RUN RD STS SD CHARGE POWER 1 2 CN1 I/O /O Limit switches contact sensors 25 26 PORT2 CN3 +24V 24V 0V NS/NT terminals CN2 000000 Sigma-II series Servo Motor Rotary cutter Fast registration input External encoder - Host link network - DeviceNet network - PROFIBUS-DP network 1. 5 axis motion controller 93 Specifications General specifications Details R88A-MCW151-E, R88A-MCW151-DRT-E SGDH-@E models (software version 14 or later) Mounted on the SGDH servo drive side: CN10. [. . . ] number of programs 14 Available memory for user programs 128 KB Data storage capacity 251 (VR) + 8000 (table) Saving program data, Random access memory (RAM) and flash memory backup. motion controller Saving program data, Motion perfect software manages a backup on the hard disk of the personal computer. personal computer Motion control Speed control Inferred closed loop with PID, output speed and speed feed forward gains Speed reference (open loop) Possible torque limit operation Torque control Torque reference (open loop) Possible speed limit operation Control switch Speed / torque control switching during operation Positioning operations Linear interpolation Circular interpolation CAM profile movement Electronic gearbox link Linked CAM profile movement Linked move for any two axes Adding axes Acceleration/deceleration curves Trapezoidal or S-curve Servo drive access Motion control Speed control Torque control Position feedback Driver enable Driver print registration Monitoring Driver alarm and warning status General driver status Driver digital input Driver analogue input Driver limit switches General control Driver alarm reset Driver reset Parameter access Read and write Pn parameters Read Un parameters External I/O Encoder input Line receiver input; maximum response frequency: 1500 kHz pulses (before multiplication) Pulse multiplication: x4 Encoder output Line receive output; maximum frequency: 500 kHz pulses Internal counts to output pulse ratio: 64:1 Digital inputs Total of 8 digital inputs can be wired and used for instance for limit switches, emergency stop and proximity inputs. Two inputs can be used for registration of the encoder input/output axis. Digital outputs Total of 6 digital outputs can be wired and used for position dependent switching or other general purposes. Registration inputs Two registration inputs can be used (simultaneously) to capture the position in hardware. Serial communications RS-232C Port 0: Connection to PC (motion perfect software) Port 1: Host link master protocol Host link slave protocol General-purpose Item Type Applicable servo drive Installation method Basic specifications 94 Motion controllers RS-422A/485 interface specifications (R88A-MCW151-E only) Item Electrical characteristics Synchronization Baud rate Transmission format Details Conform to EIA RS-422A/485 Start-stop synchronization (asynchronous) 1200 / 2400 / 4800 / 9600 / 19200 / 38400 bps Databit length 7 or 8 bit Stop bit 1 or 2 bit Parity bit Even/odd/none Point-to-multipoint (1:N) RS-422A Host link master protocol, Host link slave protocol, ASCII general-purpose RS-485 ASCII general-purpose Yes Phoenix MSTB 2. 5/5-ST-5. 08 (included in package). 254 bytes None Yes, internal 220 selectable by DIP-switch SW2 500 m max. Transmission mode Transmission protocol Galvanic isolation Connector type Communication buffers Flow control Terminator Cable length DeviceNet specifications (R88A-MCW151-DRT-E only) Item Communications protocol Supported connections (communications) Baud rate Communications media Communications distances 500 kbps Details DeviceNet Remote I/O polling messages Explicit messages Both conform to DeviceNet specifications 500 kbps, 250 kbps, 125 kbps (switchable) Special 5-wire cables (2 signal lines, 2 power lines, 1 shield line) Network length: Drop line length: Total drop line length: Network length: Drop line length: Total drop line length: Network length: Drop line length: Total drop line length: 100 m max. 156 m max. 250 kbps 125 kbps Nomenclature Indicator LEDs -RUN -STS -SD & -RD (R88A-MCW151-E model) -MS & -NS (R88A-MCW151-DRT-E model) Port 0 and Port 1 RS-232C - Port 0 > Motion perfect software - Port 1 > ASCII Hostlink master/slave and general purpose Communications connector - Hostlink (RS422/485) > R88A-MCW151-E model - DeviceNet > R88A-MCW151-DRT-E model I/O signal connector Power connector 1. 5 axis motion controller 95 Dimensions R88A-MCW151-(DRT)-E - 1. 5 axes motion controller unit Units: mm MCW151 RUN RD STS SD Approx. weight: 0. 2 kg ON 1 2 3 4 5 6 7 8 9 10 SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 SW9 SW10 1 2 3 4 5 6 7 8 9 10 ON PORT2 PORT0, 1 1 2 I/O 25 26 +24V 0V 000000 20 142 128 Installation I/O connector Connector pin arrangement I/O connector pin functions Pin 1 2 Signal Name Function Encoder phase A+ (input / output) Encoder phase A- (input / output) Encoder phase B+ (input / output) Encoder phase B- (input / output) Encoder phase Z+ (input / output) Encoder phase Z- (input / output) Encoder 0V common Encoder 5 V power supply output (Registration) Input 0 Frame ground Input 2 (Registration) Input 1 Input 4 Input 3 Input 6 Input 5 Inputs 0 V common Input 7 Output 8 Output 9 Output 10 Output 11 Output 12 Output 13 Outputs 0 V common Outputs 24 V power supply input A+ AB+ BZ+ Z0V_ENC 5V_ENC I0 / R0 FG I2 I1 / R1 I4 I3 I6 I5 0V_IN I7 O8 O9 O10 O11 O12 O13 0V_OP 24V_OP I/O A+ B+ Z+ 0V_ENC I0 / R0 I2 I4 I6 0V_IN O8 O10 O12 0V_OP 1 3 5 7 9 11 13 15 17 19 21 23 25 2 4 6 8 10 12 14 16 18 20 22 24 26 ABZ5V_ENC FG I1 / R1 I3 I5 I7 O9 O11 O13 24V_OP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 25 26 15 16 17 18 19 20 21 22 23 24 25 26 96 Motion controllers Power connector The power connector is used to connect the 24 V power supply to the controller unit + 24V 0V Pin 1 2 3 Name +24 V 0V FG Function Power supply 24 V Power supply 0 V Frame ground RS-232C connections (port 0 and port 1) The controller unit has two serial RS-232C ports for communication with external devices. Pin Symbol RS-1 SD-0 SG-0 RD-0 SD-1 SG-1 RD-1 Name Not used Request to send Send data Signal ground Receive data Send data Signal ground Receive data Port 1 0 0 0 1 1 1 Direction Output Output Input Output Input PORT0 , 1 1 2 3 4 5 6 7 8 63 1 74 2 85 RS-422A/485 connections (R88A-MCW151-E only) Pin 1 Symbol RDRD+ FG SDSD+ Name Receive data (-) Receive data (+) Frame ground Send data (-) Send data (+) Port 2 2 2 2 2 Direction Input Input Output Output PORT2 2 3 4 5 DeviceNet connections (R88A-MCW151-DRT-E only) Pin 1 2 3 4 5 Symbol V+ CAN-H Shield CAN-L V- Signal Power line, positive voltage Communications line, high Shield Communications line, low Power line, negative voltage Color of cable Red White Blue Black 1. 5 axis motion controller 97 Ordering information System configuration Sigma-II series Servo Drive SERVOPACK R88A-MCW151-@ Motion controller MCW151 RUN RD STS SD Motion Perfect Personal computer SGDHVer. 200V PORT0, 1 (Port 0) Computer connecting cable HostLink Network or DeviceNet network (CN10) CHARGE POWER CN3 1 2 PORT2 (Port 2) CN1 I/O (I/O) 25 26 External I/O +24V 0V CN2 000000 Sigma-II series Servo Motor Motion controller unit Name 1. 5 axis advanced motion controller with Host Link interface 1. 5 axis advanced motion controller with DeviceNet interface Model R88A-MCW151-E R88A-MCW151-DRT-E Connectors Specification I/O connector (Included in package) Power connector (Included in package) Port 2 connector (Included in package) Model B2L 3. 5/26 SN SW (Weidmüler) MSTB 2. 5/3-ST-5. 08 (Phoenix) MSTB 2. 5/5-ST-5. 08 (Phoenix) PROFIBUS connectivity Name PROFIBUS-DP module interface for R88A-MCW151-E motion controllers Model PRT1-SCU11 Note: For a complete view of DeviceNet network accessories, refer to automation systems catalogue or contact your OMRON representative. Serial cables (for port 0, 1) Name Model Programing cable, 2 m. [. . . ] To convert grams into ounces, multiply by 0. 03527. I14E-EN-01A In the interest of product improvement, specifications are subject to change without notice. 98 Motion controllers [. . . ]