MN-2091U Series User`s Manual
Contents
1. n RJ1 RJ45 phone jack only available in MN 2091U RJ1 is the snap in connector for Motionnet communication signals Table below shows the detailed description of these signal No Name T O Note 1 2 N C 7 Positive line of the differential 3 Data I O communicaiton signal pair 4 5 N C Negative line of the differential 6 Data I O os communicaiton signal pair 7 8 N C n CNI 5 pin Removable Terminal block Pitch 5 08 only available in MN 2091U T CNI is the screw terminal for Motionnet communication signals Table below shows the detailed description of these signal No Name I O Note Positive line of the differential 1 Data I O a f communicaiton signal pair Negative line of the differential 2 Data I O DE communicaiton signal pair 3 FGND GND Frame Ground Positive line of the differential 4 Data I O oe f communicaiton signal pair Negative line of the differential 5 Data I O communicaiton signal pair ICP DAS 11 MN 2091U Series User s Manual Rev1 0 2015 08 07 4 Switch Setting n SW3 This switch is used to set the on board termination resistor The on board termination resistor is enabled when the switch is set to ON Please be sure to enable the termination resistor only on OFF gt ON the last slave module of each line n SWI Users2. Connected to Pin No Pin Name Pin No Pin Name Motion ASIC 37 ALM 17 OUT3 ALMb Motion ASIC 39 COIN AT SPEED 16 OUT2 PSET Motion ASIC 15 OUT1 RDY COIN AT SPEED S RDY ALM COM Please refer to the user s For A4 servo driver PrNo 40 should be set to 1 the default value is 0 For A5 servo driver Pr0 05 should be set to 1 the default value is 0 manual of servo driver to modify the setting below a Set CONT4 as 7 deviation clear b Set CONT3 as 5 EMG ICP DAS 8 MN 20910U Series User s Manual Rev1 0 2015 08 07 Delta ASDA A2 Delta ASDA B2 CA26 DAA2 xx 50pin CA26 DAB2 xx 44pin Connected to Pin No Pin Name Pin No Pin Name Motion ASIC DO5 ALRM DO5 Alarm DO4 TPOS DO4 TPOS BRKR BRKR Motion ASIC DO1 SRDY DO1 SRDY Motion ASIC Digit D of P1 00 source Digit D of P1 00 source of of pulse command must pulse command must be set be set as 1 line driver las 1 line driver ICP DAS 9 MN 20910U Series User s Manual Rev1 0 2015 08 07 n CNIO1I Dual row 10 pin removable terminal block These connectors contain the input signal of mechanical switch LMT HOME Slow Down Emergency Stop input and Position Compare Trigger output The main power of this module i
3. PETEN Unit mm I I j il a l J l mR l I WN a I e ie i Left Side View Front View Bottom View Dimension of MN 2091U ICP DAS 1 MN 2091U Series User s Manual Rev1 0 2015 08 07 2 Internal Circuit of MN 2091U Series n Pulse Output The pulse output signals are located at pin 5 6 23 and 24 of CNMI Thes signals are differential line Driver output and the maximum output current of each pin is 20mA The connection can be Differential Line Driver or Single Ended Current Sinking depending on external device 1 Differential Line Driver connection CW CCW 7 7 EGND EGND Inside of Module lt 2 Single Ended Current Sinking connection 5V_o On CNIO1 O EGND Inside of Module lt _ Motor Driver ICP DAS 2 MN 2091U Series User s Manual Rev1 0 2015 08 07 n Encoder Pulse Input The encoder pulse input signals are located at pin 7 8 16 17 25 and 26 of CNM1 These signals are high speed photo coupler input with internal resistor of about 550 Ohms and the suggested input operating current is about 1 6 8mA As a result the suggested input voltage should be within 2 2V 5 5V A B Z l l A B Z lt 2 2V 5 5V 1 A B Z I Inside of Module From Encoder The connection can be Differential Line Driver or Open Collector depending on external device 1 Differential Line Driver connection Direct connection is pos
4. MN 2091U Series User s Manual Version 1 0 Distributed Motionnet Single axis Universal Motion Control Module CPS ICP DAS CO LTD DD HA FHERD A RAT MN 2091U Series Motion Control Module The MN 2091U and MN 2091U T are used to expand the number of axes for distributed motion control on a Motionnet field bus These extension slave modules are serially connected to the controller using a simple and affordable Cat 5 LAN cable and one serial line can support up to 64 single axis modules The 26 pin HD D Sub connector can be used to easily connect with various servo drivers and stepper drivers ICP DAS also provides a variety of cables suitable for a range of brands of servo drivers which further reduces the amount of wiring required between the drivers and the controller making this an ideal solution for highly integrated machine automation applications This manual mainly describes the signal definition and instruction of operation The content is divided into 6 parts 1 Dimensions 2 Internal circuit 3 I O Signal connectors 4 Switch setting 6 LED function description 1 Dimensions of MN 2091U B als
5. can set the slave address of this module Please refer below for detailed description LL SO mm ANA A nn L I lt q LI Position Name Function Description 1 AO 5 Al Every slave module should be assigned a unique address in a Motionnet communication line and up to 64 slave 3 A2 Address modules can be connected in one line AO is the least 4 A3 Setting Se ve R 5 N significant represent 1 when it is set to ON while AS is KE the most significant represent 32 when it is set to ON ICP DAS 12 MN 2091U Series User s Manual Rev1 0 2015 08 07 n SW2 Users can set the communication speed the action of watch dog timer and the polarity of limit switch of this module Please refer below for detailed description Speed Clear EL_NC SPDO SPDI Keep 4 Z m Position Name Function Description Every slave module should use the same communicaiton speed as the one set in the master card in a Motionnet 1 SPDO communication line for proper operation Table below shows the setting of communicaiton speed a SPDO SPD1 Communication Speed Selection OFF OFF 20 Mps default 2 SPD1 ON OFF 10 Mbps OFF ON 5 Mbps ON ON 2 5 Mbps Watch This bit is used to set the action when the WDT expired 3 Clear Dog expire time is 20 ms Keep Timer Keep All output will be holded default Setting Clear All output wi
6. ll be cleared Limit This bit is used to set the polarity of LMT and LMT EL_NC on CNIO1 4 Switch EL_NO Setting EL_NO Normally open or Form A contact default EL_NC Normally closed or Form B contact ICP DAS 13 MN 20910U Series User s Manual Rev1 0 2015 08 07 5 LED function description The LEDs are used to indicate meaningful status Please refer below for the detailed description of LEDs LMT Red It shows the minus end limit signal of motion control on the machine The minus end limit signal of motion axis is to decide the end point of minus moving If this signal is on the LED will be turned on HOME Yellow It shows the home signal of motion control on the machine The LED will be turned on when the motion control is moved to the home signal LMT Red It shows the plus end limit signal of motion control on the machine The plus end limit signal of motion axis is to decide the end point of plus moving If this signal is on the LED will be turned on SD Slow Down Yellow It shows the slow down signal of motion control on the machine The LED will be turned on when the motion control is moved to the slow down signal EMG EMG OK Green It shows the state of EMG signal of motion module on CNIO1 The motion module can driver the motors only when this LED is turned on PWR Power OK Yellow It shows the status of internal power of this module This LED will be turned on when the power is good ERR Co
7. mmunication Error Red This LED will be turned on when the slave module receives an error frame such as a CRC error which means the the communication quality has been influenced by external noise LNK Link Green This LED will be turned on when the communication is successfully established TER Terminator On Yellow It shows the status of on board termination resistor This LED will be turned on when the termination resistor is enabled 6 Rivision History Rev 1 0 2015 08 07 Initial version ICP DAS 14 MN 2091U Series User s Manual Rev1 0 2015 08 07
8. s also connected via this connector Table below shows the detailed description of these signal Left Right No Name T O Note No Name I O Note NPN home input signal NPN negative limit input 11 HOME In N C or N O are 1 LMT In signal N C or N O are software selectable selectable by SW2 NPN slow down input NPN positive limit input 12 SD In signal N C or N O are 2 LMT In signal N C or N O are software selectable selectable by SW2 13 EGND GND GND of external power 3 EMG In eee come BOE input signal N C only 14 5V o PWR 5V power output see 4 CMP Out Position compare trigger note output Directly connected to the Directly connected to internal signal ground of pin 20 of CNMI These 15 AGND servo driver Not 5 RSV signal is reserved and not connected to any internal connected to any internal circuit of this module circuit of this module 16 FGND Frame ground 6 GND Frame ground 17 EGND GND GND of external power 7 EGND GND GND of external power 18 EGND GND GND of external power 8 EGND GND GND of external power 19 E24V PWR 24V external power input 9 E24V PWR 24V external power input 20 E24V PWR 24V external power input 10 E24V PWR 24V external power input ICP DAS Note The maximum outpu current of 5V_o is 200mA 10 MN 2091U Series User s Manual Rev1 0 2015 08 07
9. sible l l l l A B Z l A B Z Phase A B Z I I I I Inside of Module C Motor Driver l 2 Open Collector External resistor is required VPP VPP R i 0 Ohm I A B Z 2 2K Ohm i EA EB EZ lt Ww 5 1K Ohm 1 A B Z i A B Z Phase i i Inside of Module lt EGND Motor Driver ICP DAS 3 MN 2091U Series User s Manual Rev1 0 2015 08 07 n Position Compare Trigger Output The position compare trigger output signal is located at pin 4 of CNIOI This signal is high speed photo coupler output and the maximum output current is 40mA This signal equipped with a protection diode and a internal pull high resistor of about 1k Ohms to 5V It can be used to directly drive either a TTL input or a 24V NPN input 5V_o 1k Ohm 43 3V JL i CMP Yy I Pulse IL l EGND Inside of Module n Digital Input The digital input signals including INP RDY ALARM on CNM1 and LMT HOME SD EMG on CNIOI These signals are low speed 24V NPN photo coupler input Please refer to figure below for detailed connection information NPN Connection Internal Circuit 24V Power Source ICP DAS 4 MN 2091U Series User s Manual Rev1 0 2015 08 07 n Digital Output The digital output signals including SRV_ON RESET and ERC on CNMI These signals are open collector output of low speed photo coupler with internal flywheel diode and
10. the maximum output current of each is 50mA Please refer to figure below for detailed connection information NPN Connection Internal Circuit E24V Internal Power e ICP DAS 5 MN 2091U Series User s Manual Rev1 0 2015 08 07 3 I O Signal connectors of MN 2091U series n CNM1 Female HD D Sub 26 pin This connector contain the commonly used control singals and I O signals to the servo driver ICP DAS provide various cables for easily snap on connection between different servo drivers and the MN 2091U series DIN IR So IN Note Do not use signals marked as N C Table below shows the internal I O connection when using different cable to connect with respective servo driver ICP DAS 6 MN 2091U Series User s Manual Rev1 0 2015 08 07 Mitsubishi Yaskawa CNM1 MELSERVO J3 J4 Sigma I II V CA26 MJ3 xx 50pin CA26 YSV xx 50pin Signal Name Connected to Pin No Signal Name Pin No Signal Name ALARM Motion ASIC 48 ALM 31 ALM INPOS Motion ASIC 24 25 COIN Motion ASIC 29 S RDY DICOM DOCOM To use the CLR clear function SG signal on the servo driver should be connected to E GND externally ICP DAS 7 MN 20910U Series User s Manual Rev1 0 2015 08 07 Fuji FALDIC W ALPHAS Smart CA26 PA4 xx 50pin CA26 FFW xx 26pin Panasonic MINAS A4 A5
Download Pdf Manuals
Related Search