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85 

3.12   R Module    HM-R100C 

The R module is for receiving serial data from an absolute encoder-type servo driver to acquire absolute data. 

This module connects the input and output signals for the servo driver one to one to extract the serial data from 

the absolute encoder. The signals that come in from the servo driver are relayed through this module and output 

to the controller from the other connector. 

 

3.12.1   Specifications 

Category 

Item 

Specifications 

Remarks 

Basic 

specification 

ASIC for Motionnet control 

G9004A 

by Nippon Pulse Motor 

Number of ABS encoder serial   

 

 

data communication channels 

1ch 

 

Supported servo drivers 

[Recommended] 

・

 

, 

II, 

III, 

V series by Yaskawa Electric   

  (ABS-cum A-phase type) 

[Others] 

・

  MINAS A, AIII, A4, A4F, A5 by Panasonic 

・

  AC Servo System R/Type S by Sanyo Denki 

・

  DC Servo System T/Type S by Sanyo Denki 

・

 

, 

II series (S-phase type) by Yaskawa Electric 

 

Communication protocol 

RS-422/485 

Automatic switching of 

settings by type of connected 

servo driver 

(Some manual setting 

necessary depending on the 

servo driver) 

Baud rate (bps) 

9600 

Data length (bits) 

Binary    8 bits / ASCII    7 bits 

Start bit 

1 bit 

Parity 

Even 

Stop bit 

1 bit 

 

Flow control 

Disabled 

 

ABS encoder control signal output  Absolute encoder clear signal / 1-bit general-purpose output 

 

 

SEN signal 

When using a servo driver by 

Yaskawa Electric. 

Environment 

requirements 

Power supply 

DC +12V to DC +24V 

Consumption current 

Model no. 

Consumption 

current of the 

communication 

board 24V terminal 

 

HMG-R1 

 

 

HMG-R2 

 

 

Temperature requirement 

0 to 50 degrees Celsius without dew condensation 

Module dimensions 
(Excluding the connector’s 

projecting part) 

Module: Depth 85mm × Height 105mm   

Outer dimensions of the frame: Depth 110mm × Height 115mm × Width 14.2mm 

Table 3.12-1 R module, HM-R100C specifications 

Содержание motionCAT HCPCI-MNT720M

Страница 1: ...Motion Network System motionCAT series User s Manual Introduction Hivertec inc http www hivertec co jp...

Страница 2: ...find any problems with the contents of this manual Windows is a registered trademark of Microsoft Corporation in the United States of America and other countries Other company and product names are t...

Страница 3: ......

Страница 4: ...cifications 19 2 1 2 Block Diagram 19 2 1 3 Board Settings 20 2 1 4 Master Board Panel Layout 21 2 1 5 Connector Signal Table 21 2 1 6 Emergency Stop Input Detection 22 2 2 HCPCI MNT720M 23 2 2 1 Spec...

Страница 5: ...gnals 54 3 4 10 Machine Interface 56 3 5 W Module HM W200C 58 3 5 1 Specifications 58 3 5 2 External Appearance 60 3 5 3 Indicator 60 3 5 4 Connectors 61 3 5 5 Driver Control Signal 64 3 5 6 Machine I...

Страница 6: ...ystem Wiring 103 4 2 1 Power Supply System Wiring for Slaves 103 4 2 2 Explanation on Power Supply System 105 5 Device Driver Installation 107 5 1 HPCI MCAT520M HCPCI MNT720M 108 5 1 1 Installation on...

Страница 7: ...xes 138 8 1 4 Control Command Units 138 8 1 5 Coordinate and Travel Distance Command 139 8 1 6 Command Counter and Machine Counter 139 8 1 7 Constant Speed and Acceleration Deceleration Operations 139...

Страница 8: ...oard ID setting 24 Figure 2 2 4 Communication speed setting switch 24 Figure 2 2 5 HCPCI MNT720M connector positions 25 Table 2 2 2 RJ45 J2 J3 connector signals 25 Table 2 2 3 J1 connector general pur...

Страница 9: ...3 4 8 Machine I F connector signals 51 Figure 3 4 4 Receiving terminal wiring 51 Table 3 4 9 Connector terminal electrical requirements 51 Table 3 4 10 Command pulse output circuits 52 Table 3 4 11 E...

Страница 10: ...onnecting servo driver setting table 86 Table 3 12 3 Communication protocol according to the selected servo driver 87 Table 3 12 4 Data code setting table 87 Table 3 12 5 Connector signals for servo d...

Страница 11: ...ocating positioning operation 126 Figure 6 4 16 T module operation screen 127 Figure 6 4 17 Detailed T module operation screen 127 Figure 6 4 18 D module start screen 128 Figure 6 4 19 Detailed D modu...

Страница 12: ...1 Warnings and Precautions...

Страница 13: ...achine tools instrumentation FA devices OA devices and communications equipment They are not designed conceived approved for or warranted for application in devices for which faulty operation or failu...

Страница 14: ...ly hazardous situation which if not avoided could result in death or serious injury Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or p...

Страница 15: ...on System Warning Do not connect a communication cable to any product incompatible with Motionnet Use shielded LAN cables CAT5e or above as communication cables The use of a cable other than these may...

Страница 16: ...isconnect the power supply cable before installing HCPCI MNT720M in or removing it from the computer Installing the product without removing the power supply cable may cause a failure or the device ma...

Страница 17: ...g may cause a failure or burning Always keep external power supply within ratings Using circuits that are not within ratings may cause a failure burning or operating error Always keep circuits connect...

Страница 18: ...operation When using sample programs provided with the products to operate devices always start at low speed and be sure that settings match the mechanical system before attempting operation Operatin...

Страница 19: ...ly intended for developers in charge of the installation connection and wiring motionCAT series User s Manual Operation This manual provides information required for software development common to all...

Страница 20: ...9 1 motionCAT Installation...

Страница 21: ...in different types is enabled A quick response in expansion of device and additional specifications is achieved Up to 32 modules can be connected to one line 32 axes 32 modules 1 line or 64 axes 32 mo...

Страница 22: ...order Figure 1 3 1 motionCAT connection rules F 1 2 B A C D E 6 5 7 89 0 3 4 BDID Di4 Do4 Line1 Line2 SW1 J1 J2 J3 ON ON 2 5Mbps OFF ON 5Mbps ON OFF 10Mbps OFF OFF 20Mbps SPD0 SPD1 520 a b c d e 1 5...

Страница 23: ...distance 50m Number of local devices connected 32 Time per cyclic communication At 20Mbps 8 local devices on one line 0 12ms 16 local devices on one line 0 24ms 32 local devices on one line 0 49ms Dat...

Страница 24: ...ied into the following two types When data is present in a response from the local device variable length data When data is absent in a response from the local device Send time ST B 0 6 3 25 K Respond...

Страница 25: ...ction Detection Monitoring Function This is a function to stop motion in the event of an accident in the Motion Network LAN cable disconnection A disconnection is detected by each slave that monitors...

Страница 26: ...4V receiving terminal HUG base slave HM GU00G USB communication connector LAN connector for lower slave connection Switch for setting the first module ID for the slave Communication indicator LED ON O...

Страница 27: ...1 3 axis motion 40DI 24DO DIO only HM U G D6 D 6 96DI 96DO HU M G T1D2 T 1 D 2 56DI 40DO Others HM U G P4D1A1 P 4 D 1 A 1 4 axis motion 16DI 16DO 4AI 4AO HM U G P3T1R3 P 3 T 1 R 3 3 axis motion 40DI 2...

Страница 28: ...12 in 4 out x 2 T module side ACB side 60pin 32pin 2 Straight type cable for ACB TH1204 HCL 046W 2m at standard Connects ACB TH1204 1 12 in 4 out T module side ACB side 60pin 32pin Straight type cabl...

Страница 29: ...18 2 motionCAT Master Boards Motionnet communication master devices for each type of bus There are master boards for PCI CompactPCI USB and PC 104...

Страница 30: ...ecification Rev 2 2 Emergency stop input When emergency stop input is enabled all motion modules connected are reset by emergency stop ON Environment requirements Power supply DC 5V 5 Consumption curr...

Страница 31: ...erent ID Changing the setting is unnecessary when using only one Figure 2 1 3 Rotary DIP switch for board ID setting 2 Communication setting If communication errors occur frequently due to the install...

Страница 32: ...in to enable emergency stop input Figure 2 1 5 Emergency stop setting 2 1 4 Master Board Panel Layout Figure 2 1 6 Connector positions on HPCI MCAT520M 2 1 5 Connector Signal Table 1 J1 Connector for...

Страница 33: ...rame ground Table 2 1 3 RJ45 J2 J3 connector signals 2 1 6 Emergency Stop Input Detection When an emergency stop is input all connected motion modules are reset and a cyclic communication error occurs...

Страница 34: ...t Input logic 1 when input photocoupler is ON Rated input voltage DC 12 24V Working input voltage range DC 12 25V Rated input current 5mA point Output port Output logic Output ON when 1 is written Rat...

Страница 35: ...with a different ID Changing the setting is unnecessary when using only one board Figure 2 2 3 Rotary DIP switch for board ID setting 2 Communication setting If communication errors occur frequently d...

Страница 36: ...Table 2 2 2 RJ45 J2 J3 connector signals 2 J1 Connector for general purpose input output of master board Pin Signal name Pin Signal name 1 EXTPOW 24V input 8 EXTPOW 24V input 2 IN1 9 IN2 3 IN3 10 IN4...

Страница 37: ...nnection example of an output circuit Figure 2 2 8 Connection example of an output circuit EXTPOW IN 1 IN 4 R 3k R 3k Vcc R Vcc R TLP280 4 TLP280 4 F F Board side External circuit Switch Open collecto...

Страница 38: ...12 24V Working input voltage range DC 12 25V Rated input current 5mA point Output port Output logic Output ON when 1 is written Rated load voltage DC 12 24V Load current 80mA point or less Emergency s...

Страница 39: ...sure that each slave to connect is also configured with the same communication speed Normally this setting does not need to be changed Figure 2 3 4 Communication speed switch The default of jumper con...

Страница 40: ...h the address using ALE Note that some CPU board may not be able to output ALE signal Enabled Disabled A9 A5 Address A9 A5 Valid only with 8 byte access 1 0 A15 A10 Address A15 A10 1 0 A19 A16 Address...

Страница 41: ...J2 7 SD2 12V Pin Row D ROW C 8 SD1 SRDY 0 GND GND 9 SD0 12V 1 MEMCS16 SBHE 10 I OCHRDY KEY 2 I OCS16 LA23 11 AEN SMEMW 3 IRQ10 LA22 12 SA19 SMEMR 4 IRQ11 LA21 13 SA18 I OW 5 IRQ12 LA20 14 SA17 I OR 6...

Страница 42: ...ls 3 J3 Connector for general purpose input output Pin Signal name Pin Signal name 1 EMG 2 EMG 3 EXTPOW 24V input 4 EXTPOW 24V input 5 IN1 6 IN2 7 IN3 8 IN4 9 IN5 10 IN6 11 IN7 12 IN8 13 EXTPOW 24V in...

Страница 43: ...Emergency stop input EXTPOW External power 24V standard Input S 5 OFF 6 External Connection Emergency stop switch input Table 2 3 5 General purpose input output and emergency stop input circuits 3 6k...

Страница 44: ...Number of control modules 32 Number of modules that can be stacked 0 to 6 This is the number of modules that can be directly stacked on this device for use Communication specification Refer to 1 4 Com...

Страница 45: ...accordance with the order in which slaves are connected Note that the value set with this rotary switch will also be the master board ID Rotary switch value ID of the slave s first module Hex 0 00 1 0...

Страница 46: ...error during cyclic communication Red ON Green OFF POW ON indicator While voltage is applied to the receiving terminal ON Green While power supply is not connected to the receiving terminal or current...

Страница 47: ...6 S 7 Resistance to frame ground 8 Resistance to frame ground Table 2 4 5 RJ45 J2 connector signals 3 P24 IN Module s DC 24V receiving terminal Connect 24V power supply to the receiving terminal Match...

Страница 48: ...r occurs resulting in function failure Returns a value other than 0 In such case confirm safety and quit the application immediately Then turn OFF the power of the device and connect again Arbitrarily...

Страница 49: ...38 3 motionCAT Slaves Slave devices of Motionnet communication with various functions A slave is composed of one to six modules Up to 32 modules can be connected per one line of the master board...

Страница 50: ...d master board or between slaves On the other hand the communication module of HUG base slave is provided with functions to convert the USB communication data into Motionnet protocol and transfer it t...

Страница 51: ...4401C 4AI 4AO module Voltage type B module HM A4199C 4AI 1AO module Current type R module HM R100C Serial encoder input module Servo interface signal relay type S module HM S100C Serial encoder input...

Страница 52: ...n module is placed on the leftmost position and up to 6 modules are stacked to its right PC USB communication Motionnet communication Figure 3 1 3 Slave configuration of HUG type HMG type slave Module...

Страница 53: ...switch cuts the current when the current flowing through its receiving terminal exceeds a certain amount Environment requirements Power supply DC 12V to DC 24V Consumption current Max Typical Tempera...

Страница 54: ...or Red Green While cyclic communication is stopped Red ON Green OFF OFF At disconnection of communication cable or communication error during cyclic communication Red ON Green OFF POW ON indicator Whi...

Страница 55: ...ID settings 3 2 5 Communication Settings Switch Termination TR on Turn this ON only when the slave is on the very end of the LAN cable Communication cable disconnection detection DBG Normally ON commu...

Страница 56: ...e 3 2 3 RJ45 J1 J2 connector signals 2 P24 IN Module s DC 24V receiving terminal Connect 24V or 12V power supply to the receiving terminal Match the connection polarity to the one indicated on the plu...

Страница 57: ...ration control Automatic acceleration deceleration system S curve acceleration deceleration partial s curve acceleration deceleration and linear acceleration deceleration All with triangular drive pea...

Страница 58: ...r supply DC 12V to DC 24V Consumption current Model no Consumption current of the communication board s 24V terminal When power is supplied by a single 24V power supply the consumption current is the...

Страница 59: ...LED position Display item Status Indicator POW ON indicator While voltage is applied to the receiving terminal Green ON Green While power supply is not connected to the receiving terminal or current...

Страница 60: ...ial OFF Table 3 4 4 DIP SW for encoder Z phase method selection 3 CMP STA DIP SW1 4 SW1 4 Enable ON Disable OFF Table 3 4 5 DIP SW for CMP STA switching 4 Counter clear CLR Counter latch LTC selection...

Страница 61: ...12 SVON O Servo ON output 13 SVGAIN O Servo gain switching output 14 EXTGND O 24V GND 15 INPOS I Positioning completion input 16 SVBRK I Brake release input 17 EXTGND O 24V GND 18 O Reserved in OT 19...

Страница 62: ...re material AWG20 18 0 5 to 0 9mm2 stranded wire For fixing cables Crimp tool YC 630 JST Figure 3 4 4 Receiving terminal wiring 3 4 6 Connector Terminal Electrical Requirements The following tables sh...

Страница 63: ...put Note When using a motor driver that is not the differential input type be especially careful about the speed and the cable length A standard is 500Kpps cable length 3m or shorter for drivers with...

Страница 64: ...ch between module and driver sides Multiplication setting Set by G9003 initial setting RENV2 b10 b9 Initial value x4 Phase advancement delay setting Set by G9003 initial setting RENV2 b11 Initial valu...

Страница 65: ...for ELS polarity switching NO by 0 NC by 1 Initial value NC 3 SVCTRCL Connection method Standard method Connection method II III servo pack by Yaskawa Electric CLR terminal connection method Clear se...

Страница 66: ...g SVRDY the mode register initial setting must be set to RMD b13 0 6 SVBRK Using brake release signals See the next page Note 1 As for brake release signals SVBRK refer to the document for the driver...

Страница 67: ...face Note 1 SVRDY signal Servo ready PCS 1 Twofold function is assigned to the SVRDY signal pin as follows 1 The default setting is SVRDY signals The software setting must be operation mode register R...

Страница 68: ...1 2 As for details on the function and operation see motionCAT series User s Manual Operation 2 The following figure shows the circuit for the function above Figure 3 4 6 Circuit for the DLS CLR LTC...

Страница 69: ...oped acceleration deceleration possible Acceleration deceleration range during the slope of acceleration deceleration Example of accelerating from 50pps to 1Mpps Linear acceleration deceleration 0 5ms...

Страница 70: ...left columns Consumption current of the Px module s 24V power supply terminal With the maximum load currents of the servo I F part and machine I F part HMG W2 0 74A Max 1 6A Max HMG W3 1 16A Max 3 2A...

Страница 71: ...ON indicator While voltage is applied to the receiving terminal Green ON Green While power source is not connected to the receiving terminal or current is cut off by poly switch OFF Table 3 5 2 LED i...

Страница 72: ...left ELS I 12 to 24V side end limit input one set for each of the two axes DLS I 12 to 24V Deceleration sensor input OLS I 12 to 24V Origin sensor input Table 3 5 3 Connector input and output signals...

Страница 73: ...lse output O C 11 5V O 5V output 12 CW O CW pulse output O C Table 3 5 4 J1 J2 connectors 3 J3 Sensor connector Sensor Cable side housing 51103 1200 Contact 50351 8100 by Molex Module side connector 5...

Страница 74: ...atch the connection polarity to the one indicated on the plug 24 G Recommended wire material AWG20 18 0 5 to 0 9mm2 stranded wire For fixing cables Crimp tool YC 630 JST A Post B Housing Fixed to the...

Страница 75: ...NH Output circuit form Output to driver 2 MF Excitation OFF output G9003 generic port bit 0 output ON by 1 As for MF conditions refer to the document for the driver C S Step angle switching output G90...

Страница 76: ...Initial value NC DLS Deceleration sensor signal Counter clear Counter latch See the next page Note 2 Signal polarity is set by G9003 initial setting RENV1 b6 Initial value NC OLS Sensor origin signal...

Страница 77: ...V or less Output current of 40mA or less 1 0V or less Output current of 80mA or less Response time 50 s or less Output count Common count 16 points 1 common internally shared by the input side common...

Страница 78: ...dicator LED position Display item Status Indicator POW ON indicator While voltage is applied to the receiving terminal Green ON Green While power supply is not connected to the receiving terminal or c...

Страница 79: ...t for input port 20 EXTGND External power supply GND for input port 60 EXTGND External power supply GND for input port 21 IN 15 Generic input 15 61 IN 7 Generic input 7 22 EXTPOW External 24V output f...

Страница 80: ...al Electrical Requirements The following table shows the electrical requirements of connector signals described in the table above DIO 16 16 connector IN OUT Contents Total of all EXTPOW terminals O A...

Страница 81: ...put circuits Load current under OUTx ON Max 80mA point Allowable total supply current of all EXTPOW terminals 1A or less However total load current when all 8 points are ON must be 500mA or less DIO I...

Страница 82: ...when the current flowing through its external power supply connector terminal exceeds a certain amount Environment requirements Power supply DC 12V to DC 24V Consumption current Model no Consumption...

Страница 83: ...10 11 14 IN 11 12 15 IN 12 13 16 IN 13 14 17 IN 14 15 18 IN 15 16 19 IN 16 17 20 EXT G1 21 EXT P2 24V 22 IN 17 20 23 IN 18 21 24 IN 19 22 25 IN 20 23 26 IN 21 24 27 IN 22 25 28 IN 23 26 29 IN 24 7 30...

Страница 84: ...its of 8 bits 3 Fuses are provided by units of 8 bits Figure 3 7 2 Input circuit 3 7 6 Fuses and LEDs This module is provided with a fuse for every unit of 8 bits to prevent burnout by overcurrent Whe...

Страница 85: ...ction the current output port status is maintained Overcurrent protection A PTC thermistor poly switch cuts the current when the current flowing through its external power supply connector terminal ex...

Страница 86: ...12 18 OUT 12 13 19 OUT 13 14 20 OUT 14 15 21 OUT 15 16 22 OUT 16 17 23 EXT G1 24 EXT G1 25 EXT P2 24V 26 EXT P2 24V 27 OUT 17 20 28 OUT 18 21 29 OUT 19 22 30 OUT 20 23 31 OUT 21 24 32 OUT 22 25 33 OUT...

Страница 87: ...8 2 Output circuit 3 8 6 Fuses and LEDs This module is provided with a fuse for every unit of 8 bits to prevent burnout by overcurrent When a fuse blows the corresponding P0 to P3 LED Green located a...

Страница 88: ...TD62084AP or equivalent Rated load voltage DC 12V to DC 24V Recommended load current 10mA or less Maximum load current 100mA Output ON residual voltage 0 5V or less Output current of 40mA or less 1 0V...

Страница 89: ...odule HM 2408T 1 Use in the default setting jumper wired to the upper pin DIO 24 8 connector J1 24V power switching jumper pin for DI 24 side I F DI_P 1 Module s receiving terminal P24 IN Module POW O...

Страница 90: ...19 22 B8 P4_DLS IN_20 23 A9 P1_OLS B9 P2_OLS A10 P3_OLS B10 P4_OLS A11 GND B11 GND A12 OUT_1 30 B12 OUT_2 31 A13 OUT_3 32 B13 OUT_4 33 A14 DO_POW B14 DO_POW A15 B15 A16 DI_POW B16 DI_POW A17 P5_ ELS I...

Страница 91: ...4V is supplied from the receiving terminals as power for the DI I F 5V cannot be used 2 The power for the sensors can be provided from the DI_POW terminals 3 The fuses are located immediately after th...

Страница 92: ...ommunication cable disconnection detection Upon detection the output voltage is maintained Overcurrent protection A PTC thermistor poly switch cuts the current when the current flowing through its rec...

Страница 93: ...EXT GND 23 EXT POW Shared with DC input 24 A D CH2 input 0 to 10V 25 EXT GND 26 EXT GND 27 EXT POW Shared with DC input 28 A D CH3 input 0 to 10V 29 EXT GND 30 EXT GND 31 EXT POW Shared with DC input...

Страница 94: ...on cable disconnection detection Upon detection the output current is maintained Overcurrent protection A PTC thermistor poly switch cuts the current when the current flowing through its receiving ter...

Страница 95: ...input 24 A D CH2 input 0 to 20mA 25 EXT GND 26 EXT GND 27 EXT POW Shared with DC input 28 A D CH3 input 0 to 20mA 29 EXT GND 30 EXT GND 31 EXT POW Shared with DC input 32 A D CH4 input 0 to 20mA 33 EX...

Страница 96: ...nyo Denki DC Servo System T Type S by Sanyo Denki II series S phase type by Yaskawa Electric Communication protocol RS 422 485 Automatic switching of settings by type of connected servo driver Some ma...

Страница 97: ...vo driver When connecting another servo driver set by following the table below Setting no SW2 1 SW2 2 SW2 3 Manufacturer and model no Serial data output type 0 OFF OFF OFF Panasonic A AIII A4 A4F A5...

Страница 98: ...4 Data code setting table 3 DIP SW1 Not used in this module Item Servo driver Yaskawa Electric ABS cum A phase type II III V Sanyo Denki AC DC Servo System Yaskawa Electric S phase type II Panasonic A...

Страница 99: ...serial data input PS S phase 19 5V For 5V photocoupler input 20 AP Encoder A phase input Encoder serial data 21 AN Encoder A phase input Encoder serial data 22 BP Encoder B phase input 23 BN Encoder B...

Страница 100: ...SVCTRC L Error counter clear output 12 SVON Servo ON output 13 Unused 14 EXTGND 24V GND 15 INPOS Positioning completion input 16 SVBRK Servo break output 17 EXTGND 24V GND 18 Unused 19 5V For 5V photo...

Страница 101: ...TX P N AP AN 5V PNP _ DOUT DO CWP CWN CCWP CCWN AP AN BP BN ZP ZN SVRDY SVALM SVCTRCL INPOS SVRST SVON SVTL SVBRK EXTPOW EXTGND P5V P5V 220 GND Servo driver input output signals are relayed between t...

Страница 102: ...e Connects the interface signal input output signal for PC control connector on the servo driver and the J2 connector on the module Relay cable Connects the J1 connector on the module and the motion m...

Страница 103: ...ntrol Disabled ABS encoder control signal output Absolute encoder clear signal 1 bit general purpose output SEN signal When using a servo driver by Yaskawa Electric RS 232C serial data sending and rec...

Страница 104: ...3 2 DIP SW positions 1 RS 232C Baud rate setting DIP SW1 When using RS 232C set the baud rate to communicate with the remote device Settings other than the baud rate must be changed by command Default...

Страница 105: ...I A4 A4F A5 Sanyo Denki AC DC Servo System Yaskawa Electric S phase type II Yaskawa Electric ABS cum A phase type II III V When binary is selected When ASCII is selected DIP SW2 setting No 0 No 1 No 3...

Страница 106: ...EN O SEN signal output 5 DOUT O 1 bit general purpose output 6 GND O GND Table 3 13 5 Connector signals for absolute encoder serial communication 2 J3 Connector for RS232C serial communication Cable s...

Страница 107: ...96 3 13 5 Input Output Circuits Item Contents RS 422 RS 485 RS 232C Table 3 13 7 Input output circuits P N 5V PNP _ DO DOUT SG External device...

Страница 108: ...ects the encoder serial data signal and encoder control output signal from the servo driver to the J4 connector on the module RS 232C cable Connects a remote device and the J3 connector on the module...

Страница 109: ...98 4 Installation Guide...

Страница 110: ...le 3 Motion module device interface connection cables 2 cables are required per module 4 DIO module device interface connection cable 1 cable is required per module Table 4 1 1 Connection cables The f...

Страница 111: ...3 4 5 The slave is mounted on the DIN rail off center As shown above there is one or two DIN rail mounts depending on the number of frames 1 DIN rail installation position 2 Number of DIN rail mounts...

Страница 112: ...the hook slot of the rightmost frame and the hook slot and screw hole of the leftmost frame when looked from above How to install on the floor Base frame Figure 4 1 5 How to install on the floor Down...

Страница 113: ...he screw through the hook slot Figure 4 1 6 Holes for installation Recommended screws M3 binding head screws or M3 truss head screws Recommended screws M3 binding head screws or M3 truss head screws 4...

Страница 114: ...connection polarity to the one indicated on the plug 24 G Recommended wire material AWG20 18 0 5 to 0 99mm2 stranded wire For fixing cables Crimp tool YC 630 JST Figure 4 2 1 Power receiving terminals...

Страница 115: ...ated from other modules In the figure below power supply 2 and power supply 1 are completely independent The power supply terminal of the module provides power to the output side of the photocoupler S...

Страница 116: ...y separate power sources on the next page Figure 4 2 5 Power supply system by a single power source GND GND 24V GND Filter GND GND 24V 24V Control logic power supply circuit Control logic power supply...

Страница 117: ...wer supply 1 Internal connector Internal con nec tor Control logic power supply circuit Control logic power supply circuit DIO I F connector EXTGND EXTPOW EXTPOW 24V output EXTPOW 24V output R y R y 2...

Страница 118: ...107 5 Device Driver Installation...

Страница 119: ...stallation on Windows XP 1 Before connecting the board to the PC turn ON the PC to start Windows 2 Start CD drive x86 dpinst exe 3 When dpinst exe is started click Next to proceed 4 After completing t...

Страница 120: ...dicates the version 5 1 6 Uninstalling the Device Driver for Windows 2000 Driver Version 1 0 0 1 or Earlier Insert the accompanying CD into the CD drive Start Explorer to execute CD drive mn520uin exe...

Страница 121: ...he power of HM GU00G 6 Installation of the device is executed automatically 5 2 3 Installation on Windows XP 1 Before connecting HM GU00G to the PC USB port turn ON the PC to start Windows 2 Start CD...

Страница 122: ...111 6 Trial Operation...

Страница 123: ...settings switches SPD1 0 6 2 Tuning ON the Power 1 First turn ON the power of the PC and start Getting Started 2 Turn ON the power of the slaves to test 3 Turn ON the power of the motor drivers involv...

Страница 124: ...st folder of the accompanying CD Then follow the directions to complete the installation 6 4 2 Updating Getting Started From Control Panel Add or Remove Programs or Programs and Features uninstall HPC...

Страница 125: ...Warning Make sure that the actually connected modules are correctly displayed on the screen If the information on connected modules is incorrect there is a problem such as a slave without power suppl...

Страница 126: ...ing Started for HM GU00T supports neither the S module nor R module As for the C module it is displayed as P100C P because no distinction is made between C and P module In this case the C module can b...

Страница 127: ...specified P W C module execute basic operations continuous feed positioning homing and or reciprocating 2 P W C module operation screen The P module and W module are both displayed as P100 P on the T...

Страница 128: ...o calculation FH correction ON RENV1 Environment setting 1 00034004h Command pulse output format CW CCW Pulse Input polarity of DLS OLS SVALM INPOS SVRDY NC DLS latch disabled Immediate stop upon ELS...

Страница 129: ...lect the acceleration deceleration system from the 2 patterns Linear acceleration deceler ation S curve acceleration deceler ation Select the operation mode from the 4 patterns Continuous feed Homing...

Страница 130: ...119 5 Setting signal input polarity Figure 6 4 6 Setting signal input polarity Set the polarity of each input NC setting Normal close NO setting Normal open...

Страница 131: ...sing Z phase Origin search or homing Select to enable origin search Amount of escape origin SVCTLCL automatic output Enable Disable SVCTRCL output width ORGmode Homing direction using Z phase homing Z...

Страница 132: ...ings Select the command pulse format from the following CW CCW CW CCW Pulse PULSE DIR Pulse Direction A B A phase advanced phase phase difference output Select the encoder input format from the follow...

Страница 133: ...122 8 Comparator settings Figure 6 4 9 Comparator settings Select the comparator comparison counter Set the comparator comparison value Set the comparator comparison condition...

Страница 134: ...ELS and SVALM Red When detected White When undetected Others Green When detected White When undetected When only CMP is output Green When photocoupler ON White When photocoupler OFF Displays the outpu...

Страница 135: ...ulse Used as the base speed for FL constant speed operation and acceleration deceleration operation Unit pps Used as the operation speed for FH constant speed operation and acceleration deceleration o...

Страница 136: ...decelerated continuous feed FL constant speed continuous feed FH constant speed continuous feed accelerated decelerated continuous feed The operation stops when the mouse is released Figure 6 4 12 Co...

Страница 137: ...0 Decelerates to stop Stops immediately Figure 6 4 14 Positioning operation 14 Reciprocating positioning operation Executes reciprocating positioning in direction at the specified speed pattern Execut...

Страница 138: ...T module IN 1 24 Display the output status of the specified T module OUT 1 8 Turn ON OFF the output of the specified T module OUT 1 8 2 T module operation screen Figure 6 4 17 Detailed T module opera...

Страница 139: ...module IN 1 16 Display the output status of the specified D module OUT 1 16 Turn ON OFF the output of the specified D module OUT 1 16 2 D module operation screen Figure 6 4 19 Detailed D module operat...

Страница 140: ...I is selected on the TreeView Figure 6 4 20 I module operation screen 1 Functions Display the input status of the specified I module IN 1 32 2 I module operation screen Figure 6 4 21 Detailed I module...

Страница 141: ...tion screen 1 Functions Display the output status of the specified O module OUT 1 32 Turn ON OFF the output of the specified O module OUT 1 32 2 O module operation screen Figure 6 4 23 Detailed O modu...

Страница 142: ...ecified A module A D CH 1 4 input value Display the analog voltage output from the specified A module D A CH 1 4 output value Set the analog voltage value to be output from the specified A module D A...

Страница 143: ...ule A D CH 1 4 input value Display the analog current output from the specified B module D A CH1 output value Set the analog current value to be output from the specified B module D A CH1 output value...

Страница 144: ...ities for ELS NO and NC Move the axis to the direction by operating Getting Started and check whether ELS moves to the direction For your safety check operation at a low speed when running the system...

Страница 145: ...134 7 Accessories...

Страница 146: ...med with the LED for each input The power for the sensors and output load are supplied from the module side Figure 7 1 1 External appearance of ACB TH2408 7 2 Connector Board ACB TH1204 ACB TH1204 is...

Страница 147: ...136 8 Glossary...

Страница 148: ...referred to as a pulse motor Motion controller Motor driver Stepping motor 2 Servo motor An encoder angle detector is mounted on the motor to feedback the motor axis rotation position and speed to the...

Страница 149: ...etermined by the machine design With ball screw driving Screw lead 10 mm with 1000 p r encoder Screw lead 10 mm means the distance moved by a single motor rotation is 10 mm A single motor rotation is...

Страница 150: ...umber of encoder pulses input by the motion controller In the application software the command counter is normally used as the device coordinate 8 1 7 Constant Speed and Acceleration Deceleration Oper...

Страница 151: ...of single axis control and interpolation control With single axis control each axis moves individually without any relation between the axes Interpolation control is a control in which multiple axes...

Страница 152: ...s the origin OLS Z phase homing The Z phase count position specified from the position in which OLS is turned ON is the origin ELS end limit sensor shared homing The position in which the ELS position...

Страница 153: ...Direction signal and pulse train method CW Pulse train CCW Direction signal CW CCW CW Clockwise CCW Counterclockwise SVON Servo ON A signal to turn ON the control of the servo motor SVRST Servo reset...

Страница 154: ...alarm is not turned ON Encoder FB Encoder feedback A FB signal returned from the encoder The motion controller counts the phase difference signals from A phase and B phase to confirm the current posi...

Страница 155: ...rigin sensor near origin sensor Used as the origin sensor of the sensor origin or the deceleration sensor near origin sensor during Z phase homing DLS Deceleration Limit Sensor deceleration sensor Use...

Страница 156: ...n further away during deceleration After the override the motor accelerates again from the position where the override was commanded until it reaches the operation speed and completes the positioning...

Страница 157: ...ht before the commanded operation is inserted This compensation pulse speed is the auxiliary speed 4 Slip compensation The compensation pulse which was set right before the commanded operation is inse...

Страница 158: ...ionCAT system is controlled with this board 8 2 3 Line Lines include the serial communication line communication line and the transmission line of the center device In addition the ID number of the ce...

Страница 159: ...rom the module with the lowest ID when the communication with the module with the last ID finishes is called cyclic communication 1 Data exchanged in cyclic communication Once a cyclic communication i...

Страница 160: ...s extended the data exchange with the target device can be performed promptly In data communication as in cyclic communication a response communication is transmitted to the center device from the loc...

Страница 161: ...150 9 Connections to Drivers Supplied by Manufacturers...

Страница 162: ...VRDY SVALM SVBRK EXTGND Servo I F connector Machine I F connector Other wiring for sensor etc omitted CWP 2 5V 5V 3 4 5 9 11 20 10 12 13 29 32 3 3 15 16 6 7 8 26 SVBRK EXTGND 6 6 10 10 Note SVBRK in t...

Страница 163: ...ence when using brake release function BRA is an auxiliary relay For details see the MELSERVO manual CR DICOM 4 7K 4 7K SON PC RES SVCTRCL SVON EXTPOW 24V SVGAIN SVRST EXTGND EXTGND 11 10 12 13 29 35...

Страница 164: ...6 10 Encoder output Note SVBRK in the diagram is for reference when using brake release function BRA is an auxiliary relay For details see the MINAS A4 manual 4 7K VS SEL SVLTRCL 30 CNX5 connector ZP...

Страница 165: ...is for reference when using brake release function BRA is an auxiliary relay For details see the AD3 series manual CER PLC 4 7K 4 7K SON GCH RS SVCTRCL SVON EXTPOW 24V SVGAIN SVRST EXTGND 11 10 12 13...

Страница 166: ...V 4 7K 4 7K C OFF 10 ACL SVON EXTPOW 24V SVGAIN SVRST 10 12 12 13 13 29 29 GND END ALMARM From GND power supply terminal SVRDY SVALM 32 32 33 33 EXTGND 35 35 GND CN4 connector GND 26 ALM clear Current...

Страница 167: ...nnector OLS EXTPOW 1 2 7 EXTGND 24 V 24 V Vcc Vcc Origin sensor OUT DLS 5 9 10 Deceleration sensor OUT CCWP 5V 5V 14 8 GND From G9003 To G9003 General purpose output port 0 From EXTPOW From EXTGND To...

Страница 168: ...24 2 01 Correction of error Error 3 9 O Module 16 OUT Revised to 3 9 O Module 32 OUT 2012 07 27 2 10 Correction of error Error Table 3 6 1 W module HM W100C Revised to Table 3 6 1 W module HM W200C 20...

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