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- [. . . ] 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. [. . . ] I14E-EN-01A In the interest of product improvement, specifications are subject to change without notice. 98 Motion controllers [. . . ]