Trio Motion Coordinator Euro 205, Technical Reference Manual

Page: 23 / 566

Motion Coordinator Technical Reference Manual
Introduction 1-13
System Building
Example 3 MC206 - 5½ Axis Servo System
Utilising the four internal axis as servo
axes, an optional servo daughter board and
the reference encoder input to provide a
total of 5 servo axes plus the reference
(master) encoder.
The MC206 has 16 channels of 24v I/O as
standard, this is expanded up to 32
channels with the addition of a CAN-16 I/O
module. 8 Analog Inputs (+/- 10v) are
provided by the CAN Analog Inputs module.
• 5 servo / stepper axes
• 32 Channels of 24v I/O
- 8 in + 8 I/O on MC206, plus
- 16 I/O on CAN-16 I/O expander
• 8 Analog Input Channels
Example 4
MC216 - 7 Axis System
The system comprises an MC216 Master
with and additional three axes in the
optional Axis Expander module. The
axes can be any combination of servo
and stepper drives determined by the
daughter boards used.
The MC216 has 16 channels of 24v Digital
I/O as standard, this is expanded up to
32 with the addition of a CAN-16 I/O
module. 8 Analog Inputs (+/- 10v) are
provided by the CAN Analog Inputs
module.
• 7 axes
- 4 on MC216 Master, plus
- 3 on Axis Expander
• 32 Channels of 24v I/O
- 8 in + 8 I/O on MC204, plus - 16 I/O on CAN-16 I/O expander
• 8 Analog Input Channels
0
1 8
9
OFF
PR
DR
NODE
ADDRESS
CAN Analog
Inputs
7 6 5 4 3 2 1 0 0v 24v
1
2
4
8
16
32
MS NS
Trio
P325
CAN Analog Inputs CAN-16 I/O
5 4 3 2 1
9 8 7 6
5 4 3 2 1
9 8 7 6
5 4 3 2 1
9 8 7 6
5 4 3 2 1
9 8 7 6
Axis 0
Axis 1
Axis 2
Axis 3
STATUS
OK
0
1
2
3
4
5
6
7
MC206
Motion
Coordinator
P135
Trio
0v A 0 1 2 3 4 5 6 7 0v 24v 8 9 10 11 12 13 14 15 E- A /A B /B Z /Z V- V0 V1 V2 V3
SERIAL A
SERIAL B
PR
DR
16
32
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1
2
4
8
16
32
OFF
MS NS
PR
DR
10 11 12 13 14 15 24v Ov 9 8
7 6 5 4 3 2 1 0 0v 24v
NODE
ADDRESS
CAN16 -I/O
Trio
MC206 + Daughter Board
0
1 8
9
OFF
PR
DR
NODE
ADDRESS
CAN Analog
Inputs
7 6 5 4 3 2 1 0 0v 24v
1
2
4
8
16
32
MS NS
Trio
P325
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1
2
4
8
16
32
OFF
MS NS
PR
DR
10 11 12 13 14 15 24v Ov 9 8
7 6 5 4 3 2 1 0 0v 24v
NODE
ADDRESS
CAN16 -I/O
Trio
Axis
Expander
IO8
IO9
IO10
IO11
IO12
IO13
IO14
IO15
I 0
I 1
I 2
I 3
I 4
I 5
I 6
I 7
24v
0v
Trio
24v
0v
OK
24v
04 - 07
08 - 11
12 - 15
ENCODER V+ V- R 0v
5 4 3 2 1
9 8 7 6
ENCODER V+ V- R 0v
5 4 3 2 1
9 8 7 6
ENCODER V+ V- R 0v
5 4 3 2 1
9 8 7 6
ENCODER V+ V- R 0v
5 4 3 2 1
9 8 7 6
CAN Analog Inputs
ENCODER V+ V- R 0v
5 4 3 2 1
9 8 7 6
ENCODER V+ V- R 0v
5 4 3 2 1
9 8 7 6
IO8
IO9
IO10
IO11
IO12
IO13
IO14
IO15
I 0
I 1
I 2
I 3
I 4
I 5
I 6
I 7
24v
0v
Trio
8
9
10
11
12
13
14
15 0
OK NET
0
1
ST ATUS
1
2
3
4
5
6
7
CAN-16 I/O
ENCODER V+ V- R 0v
5 4 3 2 1
9 8 7 6
MC216