Home

User`s manual （1577KB）

1. Please refer to Drive Speed Designation Driving pulses are output to each axis in each direction while the input signal below is ON Axis and Direction for Scan Driving Input Signal to turn ON X axis Direction SCANX 6 X axis Direction SCANX 7 Y axis Direction SCANY 4 Y axis Direction SCANY 5 Note Do not perform a home search by HOME 2 signal when scan driving 2 is selected 5 4 Continuous Driving Continuous driving outputs pulses in the direction when RUN 6 input signal is ON and in the direction when RUN 7 input signal is ON which keeps output until STOP 11 input signal turns ON When LIMIT input signal in the current direction becomes active it stops Drive speed can be selected from Drive Speed 1 4 by SPDO 1 8 9 input signals If drive speed is changed during driving it immediately shifts to the changed speed Designation Item Input Signal Setting of CN3 Operation Mode Continuous Mode MODE0 12 OFF MODE 1 13 ON Axis X 4 Y 5 Turn On the axis which the user want to execute continuously Drive Speed SPDO 8 SPD1 9 Please refer to Drive Speed Designation in chapter 5 3 5 5 Program Driving Registered driving programs are executed Set the following three items by the input signal of P I F connector CN3 and turn STROBE 3 drive start strobe ON and driving will start Designation Item Input Signal Setting o
2. Other side of the accessory Connector cable D sub 9p CN3 Parallel I F 20P MIL Standard 2 54mm 20P MIL Standard 2 54mm Connector Ribbon Connector Ribbon Connector CNS CN4 X axis I O 16P MIL Standard 2 54mm 16P MIL Standard 2 54mm Connector Ribbon Connector Ribbon Connector CNS Y axis I O 16P MIL Standard 2 54mm 16P MIL Standard 2 54mm Connector Ribbon Connector Ribbon Connector CN6 USB Connector Mini USB B Connector Other side of the accessory cable USB A Connector Fig 8 1 MR220AU Front Panel MR210AU does not have CNS 8 1 CN Power Connector Connect the DC24V power supply to the terminal in accordance with the polarity Pin Number Signal 1 24V 2 GEX 0V 8 2 CN2 RS232C Serial I F Connector AN Caution RS232C serial communication connector Connect the accessory cable to the port of PC or the remote box and the user can perform program edit or manual operation through PC or the remote box MR200RB Pin Number Signal VO Contents 1 TXD Output Send data 2 RXD Input Received data 3 GND Signal ground 4 nothing is connected AN 5 nothing is connected Caution 6 nothing is connected For reference the internal wiring diagram of the accessory RS232C cable is as follows 55 MR220W210A Side PC Side Length 1 5m ial cid TXI 1 2 RX RX 2 3 TX GND 3 4 DIR 4 5 GND te 5
3. Irregular 1 Irregular 2 Irregular Operation 1 Near home signal nSTOPO is already active before Step 1 starts Proceed with Step 2 2 Limit signal in the detection direction is already active before Step 1 starts Proceed with Step 2 3 Limit signal in the detection direction is activated during execution Stops driving and proceed with Step 2 E Step 2 Low speed Home Search Driving pulse is output in the specified direction at the speed which is set in the parameter of home search Over Run Limit in the e STOP1 Search Direction low speed until home signal nSTOP1 becomes active Adi z E 2 Irregular 1 Adie To perform low speed search operation set the lower Section Y Section SE Normal Operation Irregular 3 value for home search low speed than initial speed Specified Search gt l gt l Constant speed driving is performed and when home Direction Le Eit o lt To Normal Operation Le Exit a Stop1 Search in the e d gt Opposite Direction Irregular 2 signal nSTOP1 becomes active it stops instantly Irregular Operation 1 Home signal nSTOP1 is already active before Step 2 starts The motor drives the axis in the opposite direction of the specified search direction at home search low speed until home signal nSTOP1 becomes inactive When home signal nSTOP1 becomes inactive the function executes Step 2 from the beginning 2 Limit signal in the search direc
4. REGSL3 9 REGSL4 10 REGSL5 11 0 OFF OFF OFF OFF OFF OFF 1 ON OFF OFF OFF OFF OFF 2 OFF ON OFF OFF OFF OFF 16 OFF OFF OFF OFF ON OFF 63 ON ON ON ON ON ON The example for execution of X axis index driving is shown as follows 10msec or more STROBE CN3 3 Input OFF ON X CN3 4 Input OFF ON Y CN3 5 Input a MODEO CN3 12 Input OFF MODE CN3 13 Input DT REGSLO 5 CN3 6 11 Input_ Setting Value _ XDRIVE END CN3 14 Output F ON Start Driving YDRIVE END CN3 15 Output OFF STROBE signal must keep ON for more than 10msec In MR210AU signal of Y axis Y axis Input CN3 5pin Y axis Drive CN3 15pin is disabled 5 3 Scan Driving Scan driving outputs pulses in the or direction while the input signal is ON Drive speed can be selected from Drive Speed 1 4 by SPDO 1 8 9 input signals Scan driving has two operational modes one is the Scan Driving 1 which cannot drive 2 axes individually and another is the Scan Driving 2 which can drive 2 axes individually E Scan Driving 1 Scan driving 1 drives in the or direction respectively with axis designation signal X 4 Y 5 while RUN 6 7 input signals are ON Therefore the user cannot drive X and Y axes individually Set the following four items by the input signal and driving pulse is output in the direction while RUN 6 is ON and in the direction while RUN 7 is ON Designation Item Input Signal Setting of CN3
5. Step 3 Direction vit X Step 4 Enable Disable Y Disable Step 4 Direction w X Position Clear Enable y Enable z Using Limit Signal Disable Y Disable x DCC Erable Disable Y Disable DCC Level 0 io DOC Watt GE 10 10 Setting items in Home Search Mode tab are as follows See chapter 3 3 for more details on each mode Display Contents Option Default a Signal Level an STOPO Low High Low Level GE signal STOP1 logical Low High Low Zsimaltewinsrepa VE 2 phase signal Low High Low STOP2 logical level Step 1 Enable Step 1 enable disable Disable Enable Disable Step 1 Direction Step 1 search direction Step 2 Enable Step 2 enable disable Disable Enable Disable Step 2 Direction Step 2 search direction Step 3 Enable Step 3 enable disable Disable Enable Disable Step 3 Direction Step 3 search direction f Step 4 Enable Step 4 enable disable Disable Enable Disable Step 4 Direction Step 4 search direction Position Clear Position counter clear Disable Enable Enable Using Limit Signal Using over limit signal Disable Enable Disable DCC Enable Deviation counter clear enable Disable Enable Disable DCC Level Deviation counter clear level 0 1 0 a Ad 41 6 4 Program Edit Screen Program edit screen is to display and edit the driving programs of X and Y axes Programs are registered in 0 63 of the register File e
6. A A nn r AIR Display area O Tr een cl REG Command Data Speed Timer E Mn O Input area D DE X as y 3 000 fx fo I i mas Y ABS zl 300 BJ pz Parameter display area Program edit screen consists of three areas program display area in upper part program input area in lower left part and parameter display area in lower right part The user can input and edit a program in the input area If some register is clicked and selected in the display area the values of the selected line is reflected in the input area E Program Input and Edit Method Concerning the displayed register input each item as shown below Click Enter button and the input data is written and the register number is incremented by one When online mode the data is automatically downloaded to the motor control unit Input Item Command Contents Command Select command by click W ABS Absolute position move OUT Output port ON OFF IJP Input condition jump INC Relative position move OTP Output port ON Pulse JMP Jump HOM Home search REP Repetition start TIM Timer NOP No operation RPE Repetition end END Program end Data ABS Absolute position INC Relative position OUT Output port number 0 OFF 1 ON OTP Output port number ON time 0 65 535msec IJP Input port number register number to jump JMP Register number to jump REP Repetition numbers 1 255 TIM Waiting time 0 65 53
7. On the Start menu point to Programs then click Motion Controller gt MR220A gt MR220A W AB case ma d Windows Update BARNES If the connection is correctly established all the data registered in the motor control unit driving mode parameters and driving programs will be uploaded onto your PC and main screen appears If the connection is not established the following message appears 34 MR210A 220AU ES Communication Open Error Click OK and the operating program starts in Off Line Select either MR210A or 220A and main screen appears Note When the operating program is first started after installation it may be offline mode occasionally even though the cable is connected In this case click Option menu on the upper left of the main screen then check V COM option connected with the motor control unit then exit the operating program and restart it When connecting with the USB cable click Control Panel gt System Hardware tab Device Manager the user can find the COM port number after USB device driver name USB to Serial Port under Ports COM amp LPT 6 2 Main Screen When starting the operating program the following main screen appears In this screen e Jog mode for each axis Scan Continuous Preset e Home search Index driving Program execution H Save and Load of Operating mode Parameters and Program files the user can perform operations as above File
8. Select command Select any of HOM1 byt keys HOM4 Press WRT Display flushes twice to inform registration completion Note When Y axis HOM3 4 cannot be selected Press WRT Status becomes command input and ABS blinks Select command byt keys Press WRT Command is determined Input values by 10 keys Input numbers are displayed from the right side of DATA Press WRT Display flushes twice to inform registration completion Press WRT Status becomes command input and ABS blinks Select command byt keys Press WRT Command is determined Input the first left side digit by 10 keys 49 RPE NOP END When the user wants to abort the input press REG key and the data returns to the one before input Note When using the remote box set the pulse width of OTP command within the range from 0 to 99 msec If the number beyond the range is already registered on PC the pulse width is not displayed RRE rPE NP MOP END End Press key Waits for input of the second right side digit Input the second right side digit by 10 keys Press WRT Display flushes twice to inform registration completion Press WRT Status becomes command input and ABS blinks Select command byt keys Press WRT Display flushes twice to inform registration completion Note Position data must be inp
9. 6 DSR el 6 A A 7 RTS 6P Modular Plug 6P Plug Code 8 CTS 9 RI DE 9S Fig 8 2 RS232C Serial Communication Cable included 8 3 CN3 Parallel I F Connector Connect this parallel interface to a PLC or mechanical contacts the user can drive the program registered in MR220AU 210AU or index data See chapter 5 for more details on driving In this manual Turning ON OFF is used for input output signals Turning an input signal ON means the signal is short circuited with GEX by a mechanical contact or open collector output And turning an output signal ON means the output transistor of an open collector turns ON Pin No Signal 1 0 Contents Circuit Description 1 RESET Input Reset A1 1 2 HOME Input Home search start strobe A1 2 3 STROBE Input Drive start strobe A1 3 4 X ISCANY Input X axis designation Scan2 Y A1 4 5 Y ISCANY Input Y axis designation Scan2 Y A1 4 6 REGSLO RUN SCANX Input Register designation O Run Scan2 X A1 5 7 REGSL1 RUN SCANX Input Register designation 1 Run Scan2 X A1 5 8 REGSL2 SPDO Input Register designation 2 Drive speed 0 A1 5 9 REGSL3 SPD1 Input Register designation 3 Drive speed 1 A1 5 10 REGSL4 ISCAN Input Register designation 4 Scan A1 5 11 REGSL5 STOP Input Register designation 5 Drive stop A1 5 12 MODEO Input Driving mode designation 0 A1 6 13 MODE1 Input Driving mode designation 1 A1 6 14 XDRIVE EN
10. Category General Purpose SES 0 CN4 5 XOUTO Output X axis 0 X axis Signal G IP 10 CN5 5 YOUTO a Y axis Signal Output Y axis O 30 When using MR210AU 10 is not available 5 Driving by parallel I F Parallel I F connector is the P I F connector CN3 on front panel See chapter 8 3 for details on I O pin assignments or I O circuit Connect this parallel interface and a PLC or mechanical contacts and the user can operate MR220AU 210AU as shown in the table Each drive except for home search execution can be selected by MODEO 1 12 13 signals Driving Operation MODE1 MODEO Home Search Executes home search according to configured home Execution search mode u E d i Specifies the register number and then executes Index ONNIN registered ABS INC commands SE OH Scan Driving Drives the axis while input signal is ON OFF ON Continuous Driving Drives the axis continuously ON OFF Program Driving Executes the registered driving program ON ON Hereinafter each operation will be described In this manual input signal ON means that the signal is short circuited with GEX and OFF means that the signal is open Output signal ON OFF means that open collector transistor turns ON OFF The number in after the signal indicates the pin number 5 1 Home Search Execution Home search starts when the user turns ON the axis designation signal X 4 Y 5 and HOME 2 input signal is ON for mo
11. Operation Mode Scan Mode MODE0 12 ON MODE 1 13 OFF Scan Driving 1 SCAN 10 OFF Axis X 4 Y 5 Turn On the axis which the user want to execute Drive Speed SPDO 8 SPD1 9 Please refer to Drive Speed Designation 32 Drive Speed Designation Drive Speed SPD1 9 SPDO 8 Drive Speed 1 OFF OFF Drive Speed 2 OFF ON Drive Speed 3 ON OFF Drive Speed 4 ON ON Note If drive speed designation is changed during driving Drive Speed changes immediately Drive Speed can be Changed with Serial Communication Command or from Main Operation Window during driving with Parallel Interface So if Drive Speed is changed with Parallel Interface and Serial Communication Command the actual Driving Speed is different from the commanded one with Parallel Interface The example is as follows Set Drive Speed 1 with Parallel Interface and start driving It drives at Drive Speed 1 Set Drive Speed 3 from Main Operation Window It drives at Drive Speed 3 Set Drive Speed 3 with Parallel Interface once in order to return Drive Speed 1 It drives at Drive Speed 3 Set Drive Speed 1 with Parallel Interface It drives at Drive Speed 1 E Scan Driving 2 Scan driving 2 can operate X and Y axes individually Set the following three items by the input signal Designation Item Operation Mode Scan Mode Scan Driving 2 Drive Speed Input Signal Setting of CN3 MODE0 12 ON MODE1 13 OFF SCAN 10 ON SPDO 8 SPD1 9
12. Parameter Mode screen Program Edit Open Program Edit screen Input Output Open Input Output screen Current Position Set The current position displayed in Position is set to REG of the program execution frame in the form of ABS command Only the axis checked in the program execution frame is applied D Drive speed sets the value selected by Drive Speed Select However if speed 5 is selected it sets Speed 4 D 0 is setto TIM and END P e 1 is set to Both when X and Y axes are selected together otherwise 0 is set If the current position set completes REG in the program execution frame is incremented by one File Control and Connection Settings File control has the following functions The transferred data is setting values in Parameter Mode screen and programs in Program Edit screen The user can transfer all the data or some of the data to the motor control unit File Menu Function Contents Open File Readout Data is read from the file on disc When in online reading data is written to the motor control unit automatically File extension is nvd Save File Save Data is saved on disc with a file name File extension is nvd Upload Reads from Data is read from the motor control unit MR210AU MR220AU All All the data Program All All the programs Program Xaxis X axis program data Program Yaxis Y axis program data Parameter All All the data of Parameter Mode Parameter Xaxis X axis Pa
13. Search Program S s eng USB device driver name USB to Serial Port xo Y wo p r ARA E 9 oi ProgramEdit under Ports COM amp LPT O V ERR ce Ja REES mmm see ref ze ll omas beutOutput_ 2 3 Setup with RS232C cable 1 Connect the motor control unit and PC with the RS232C cable 2 Turn on both equipment power 3 Start the operating program from Start menu On the Start menu point to Programs then click Motion Controller gt MR220A gt MR220A 4 In the first connection the following error message appears MR210A 220AU x Error No 8002 Invalid port number After clicking OK communication open error message appears MR210A 220AU X Communication Open Error Click OK 5 Select Style dialog box appears click the type MR220AU or MR210AU which the user uses m Select Style 6 The operating program is invoked in offline mode Click Option menu then check V the COM port connected with the RS232C cable ET MR220AU 2Axis Mortion Controller Option Position Speed Preset Value Speed5 Speed5 Rate xo OP al tomy wen ol eme Sf ef w r Off Line Mode Display Parameter Mode ProgramEdit 7 Exit the operating program once and restart it Make sure that the operating program is invoked in online mode 3 Driving Mode and Parameters Configuration To operate MR210AU 220AU it is first necessary to configure driving mode and parameters for
14. Soft Ware Limit Disable Disable Power On Home Search Start Power On Program Start Disable Disable Disable Disable ll e le Le fhe Le iLe Le ILe Le Mno REG Mo63 ProgramEdit Input Output Fun Step ABS Position Set Main Screen Parameter Mode screen Parameter Mode screen has three tabs Mode Parameter and Home Search Mode Hereinafter describe how to configure in each tab based on the user system 3 1 Mode Setting Click Mode tab to change Mode screen if not displayed MR210AU has X axis only AR r FP Limit Stop Mode p Limit Stop Mode and Logical Level Bees G e Servo Inposition Erabi i Servo Inposition Enable and Logical Level See Disab L__ Servo Inposition Level Low gt Servo Alarm Erabi i Servo Alarm Enable and Logical Level BE L__ LOW Driving End Pulse gt Disab Deceleration Value Selecting p gt Deceleration Value Accal Software Limit B gt Soft Ware Limit Disab Power On Home Search Start p gt Power On Home Search Start Disab Power On Program Start gt HEBEN Disab Disab E Limit Stop Mode and Logical Level Selects either instant stop or deceleration stop for driving when a limit signal becomes active and specify a logical level either hi or low Display Option Default Limit Stop Mode Instant Instant stop Slow Deceleration
15. connector See chapter 8 When driving end pulse END Pulse is disabled the nDRIVE END signal will be ON during drive of each axis or execution of the program and will be OFF at the end of driving When enabled the nDRIVE END signal will be OFF during index driving of ABS INC which are specified as End Pulse Enable in commands or home search driving And ON pulses will be output for the period of the End Pulse Width which is specified by the parameter at the end of driving While executing the program ON pulses are also output after execution of ABS INC HOM commands which are specified as End Pulse Enable in commands 11 HM Deceleration Value Selecting Selects either acceleration value symmetry acceleration deceleration or deceleration value individually non symmetry acceleration deceleration as a deceleration speed at deceleration in trapezoidal driving Display Option Default Deceleration Value Accel Acceleration Decel Deceleration Accel MR210AU 220AU can perform not only symmetry 4 Acceleration Deceleration A Acceleration Deceleration Speed a La gt Speed ab o acceleration deceleration driving where the l l acceleration and the deceleration are same but also non symmetry acceleration deceleration driving e Deceleration Rate w Same as AcceleratiomRate Acceleration Rate where the acceleration and the deceleration are Acceleration Rate different When selecting Accel
16. control Connection settings and Help Jog Mode Select Drive Speed Select R AU Axis Mortion Controller File E Option Help Connection Status p Jog Mode Speed Select C Scan si A Continuous C2 DJog Operations Position E Preset Value Speed5 Speed5 Ratd xoll H SEHR AE 1000 roH i d al O Sal al ee Open Subscreens Drive Status Current Position Set DMR210A 220A Reset Error Code 7 7 Home Search Execution Program Execution 35 Connection Status When On Line is displayed the connection is established with the motor control unit by serial communication When Off Line is displayed the connection is not established however the user can also create driving programs in off line In this case use Open Save on the File menu for file reading and saving from to hard disc Jog Mode Select There are three modes can be set in main screen Display Contents Scan Drives omly while pressing the direction button Continuous Starts to drive when the direction button is pressed and keeps driving until Stop button is pressed Preset Drives for Preset Value when the direction button is pressed Drive Speed Select Select drive speed for jog mode Speed 1 4 are the drive speed 1 4 configured by parameter screen Speed 5 is the speed configured in Speed5 of main screen The user can change Speed Select
17. decelerating within the home signal active section Start Speed 50 Start speed for trapezoidal driving Home Search Low Speed 20 200pps set the smaller value than the start speed Home Search High Speed 2000 20 000pps Home Search Offset 3500 Home search mode setting Item Setting Remark Value Near Home Signal Level nSTOPO Low GEX short circuited and active logical level Home Signal Level nSTOP1 The same signal as STOPO so the logical level is also a Low logical level the same as STOPO Z Signal Level nSTOP2 er Not used logical level Step 1 Enable enable disable Enable Enable Step 1 Direction search direction direction Step 2 Enable enable disable Enable Enable Step 2 Direction search direction direction Step 3 Enable enable disable Disable Disable 22 Step 3 Direction search direction _ Step 4 Enable enable disable Enable Enable Step 4 Direction search direction direction Position Clear Enable Position counter clear after finishing home search Using Limit Signal Disable Disable DCC Enable Disable not used en Disable deviation counter clear enable DCC Level 0 deviation counter clear level DCC Width u sec 10 deviation counter clear width E Example of executing home search by only limit signal For a simple home search the limit signal of one side is used as an alternative to home signal However the following
18. during driving Note Although driving is commanded from Main Operation Window or Serial Communication Command Drive Speed can be changed with the command of Parallel Interface So if Drive Speed is changed with Parallel Interface and Main Operation Window the actual Driving Speed is different from the commanded one from Main Operation Window The example is as follows Set Drive Speed 1 from Main Operation Window and start driving It drives at Drive Speed 1 Set Drive Speed 3 with Parallel Interface It drives at Drive Speed 3 Jog Operations Display Operation button Clicking the button outputs drive pulses in the direction Z button Clicking the button outputs drive pulses in the direction El button Clicking the button stops driving Preset Value Set the driving pulse for Preset This value depends on the scaling function See Pulse Scale Numeration in chapter 3 2 Speed 5 Set the speed for Speed5 Setting range 1 8000 Clicking AW button on the right increases and decreases the setting value depending on Speed5 Rate Actual speed for drive pulse output is the value which multiplies this setting value by speed multiplier See Parameter Setting When speed 5 is selected by Speed Select the user can change drive speed by changing the value of Speed5 during driving Speed 5 Rate Select the rate for Speed5 For instance if 10 is selected clicking A W button incre
19. en En S ml 100 Te aa I al 20 Ten en mn nn Te en ET EEE Speed Multiplier is the parameter which decides the multiplication of the speed parameter such as drive speed or acceleration deceleration speed Setting Range Default 1 500 10 Display Speed multiplier Speed parameters such as drive speed start speed and acceleration deceleration speed can be set within the range from 1 to 8 000 If the user sets the larger value than that the speed multiplier must be raised When raising the speed multiplier the user can drive at high speed but speed resolution becomes rough Set the minimum value which covers the range of drive speed E Acceleration Rate Acceleration Rate is the parameter used as acceleration rate at acceleration in acceleration driving When setting Deceleration Value to Accel default value in mode setting this acceleration rate will also be used at deceleration Display Setting Range Default Acceleration Rate 1 8000 400 If the value for acceleration rate is A actual acceleration rate is as follows Speech Acceleration Rate pps sec A x 125 x Speed Pive Speedi oana Multiplier Deceleration Rate To perform acceleration driving as shown in the diagram four EE EES parameters initial speed drive speed acceleration rate and Initial SRS SS se ee een gt deceleration rate must be set However if performing symmetry trapezoidal driving no need to set deceleration rate Speed Parameter
20. new or existing folder enter one below or click Browse Folder HAProgram Files NOVAS Browse You can install the software on the following drives Volume SH lt N gt 6 On the Confirm Installation screen click Next 3 MR220A Confirm Installation The installer is ready to install MR2204 on your computer Click Next to start the installation 7 On the user s account control click Yes Only on Windows 7 Z G r MRPAGYMR220A usi Se Ke Dr TOMER TODA EDN FFSTF V REPEAT SIO FR 8 MR220A is now installed if MR220A Installing MR220A HUTT RG if MR2204 Installation Complete St 2 1 2 Uninstallation Usually this removal process is not needed Please follow these steps when updating the operating program to the latest version or removing from your hard disc 1 To uninstall the program use Add Remove Programs utility in the Windows Control Panel Or on windows 7 use Program Program and function and Uninstallation or change of program 2 Select the MR220A program from the list then click Add Remove button The operating program will be uninstalled BB Add or Remove Programs Currently installed programs Cd Adobe Download Manager 1 2 Remove Only Gh Adobe Photoshop Album 2 0 Starter Edition Adobe Reader 6 0 1 Adobe Reader Japanese Fonts Y EPSONIBOVAAR lt 2Eb SeA
21. of drive pulse in the direction driving stops by decelerating or instantly After stop driving in the opposite direction can be performed even though these signals are active Decelerating stop Instant stop for limit stop or active logical level can be selected by mode setting A connection example for over limit signals and home signal is shown as follows MR220A side CN4 Limit in direction ed Limit in direction XSTOP 1 Home GEX EE SX670 Omron ON at light interception Description 15 EMG Pin14 Input Emergency stop Turn EMG input signal ON and the user can stop all the driving axes instantly This signal cannot select the logical level Normally turn it OFF open To operate emergency stop turn it ON GEX short circuited Description 16 VEX Pin16 Power output for a sensor 24V power output for a limit or home sensor to supply power Be sure to use under 100mA VEX power output is each output to CN3 4 5 connectors which must be under total of 300mA 60 9 Package Dimensions E Motor control unit The following is the package dimension of MR210AU and MR220AU Unit mm A NOVA RS232C 35mm width DIN rail installing hook Y S Y S 36 Le 60 LED Indicator Operations of LED indicator on the upper left corner are shown as follows LED Name Contents Number LED1 POWER Turns on a light during power on LED2 RXD Blinks during data rece
22. of each axis are the 10 pins in CN4 5 connectors See chapter 8 When an active logical level is set to low detection operation of step 2 starts and when the signal becomes short circuiting with GEX the operation takes the signal as active and then it stops When set to high and when the signal becomes open the operation takes it as active and then it stops mM Encoder Z phase Signal Level STOP2 Sets an active logical level for encoder Z phase signal nSTOP2 detected in step 3 Display Option Default Z Signal Level nSTOP2 Low GEX Short circuited High Open Low Encoder Z phase signals nSTOP2 of each axis are the 9 pins in CN4 5 connectors See chapter 8 When an active logical level is set to low detection operation of step 3 starts and when the signal becomes short circuiting with GEX the operation takes the signal as active and then it stops When set to hi and when the signal becomes open the operation takes it as active and then it stops HM Step 1 4 Enable Disable Sets to either Enable or Disable for each step Display Option Default Step1 4 Enable Disable Non execution Enable Execution Disable When selecting Disable non execution the step is not executed and proceeds with next step When selecting Enable execution search operations for each step are executed in the specified direction See chapter 3 3 1 for more details on search operations HM Step 1 4 Search Direction Specifies a det
23. pe Step 2 Direction Step 3 Enable Disable Step3 Enable Enable y Enable Step 3 Search Direction Steps Direction ER Step 4 Enable Disable p Step 4 Enable Enable v Enable Step 4 Search Direction gt Sten 4 Direction v Position Counter Clear gt Position Clear Enable y Enable Using Over Limit Signal gt Using Limit Signal Disable y Disable Deviation Counter Clear Enable Disable gt LZ Enable Disable y Disable Deviation Counter Clear Level U Level 0 vo Deviation Counter Clear Pulse Width e DOC WEE 10 10 EM Near Home Signal Level STOPO Sets an active logical level for near home signal nSTOPO detected in step 1 Display Option Default Near Home Signal Level nSTOPO Low GEX Short circuited High Open Low Near home signals nSTOPO of each axis are the 11 pins in CN4 5 connectors See chapter 8 19 When an active logical level is set to low detection operation of step 1 starts and when the signal becomes short circuiting with GEX the operation takes the signal as active and then it stops by decelerating When set to high and when the signal becomes open the operation takes it as active and then it stops by decelerating EM Home Signal Level STOP1 Sets an active logical level for home signal nSTOP1 detected in step 2 Display Option Default Home Signal Level nSTOP1 Low GEX Short circuited High Open Low Home signals nSTOP1
24. phase in step 3 and starts step 4 after finishing clear pulse output E Deviation Counter Clear Level Specifies a logical level for deviation counter clear pulse signal Display Option Default DCC Level 0 ON 1 OFF 0 When setting to 0 OUTO output signal turns usually OFF and deviation counter clear pulse which turns ON is output When setting to 1 OUTO output signal turns usually ON and deviation counter clear pulse which turns OFF is output Note1 To turn OUTO output signal ON means the output transistor of the open collector turns ON Note2 The logical level is the opposite of OUT command for the driving program HM Deviation Counter Clear Pulse Width Sets pulse width for deviation counter clear pulse output Display Option Default DCC Width u sec 10 20 100 200 1000 2000 10 10000 20000 Selects from 10 20 100 200 1000 2000 10000 20000 u sec 21 3 3 3 Example for Home Search Mode Setting EM Example for execution of home search using a home signal only Inputting a home signal to both pins STOPO and STOPI the user can perform a home search at high speed by one home signal Examples are as MR210A 220A X axis Home Sensor CN4 follows Operation dur Input Signal and Logical Level Search Detection Direction Speed Step 1 STOPO Low GEX Short circuited 20 000pps Step 2 STOP1 Low GEX Short circuited 200pps Step 3 Non execution 3500 pulse offset driving in the direct
25. 0 1 000 000 m Rang of Value 1500 Setting items in Parameter tab are as follows See chapter 3 2 for more details on each parameter Display Range Default Speed Multiplier 1 500 10 Acceleration Rate 1 8000 400 Deceleration Rate 1 8000 400 Start Speed 1 8000 50 Drive Speed 1 1 8000 10 Drive Speed 2 1 8000 100 Drive Speed 3 1 8000 1000 Drive Speed 4 1 8000 8000 Post Timer 1 1 65535 msec 10 Post Timer 2 1 65535 msec 100 Post Timer 3 1 65535 msec 1000 Home Search Low Speed 1 8000 20 Home Search High Speed 1 8000 1000 Home Search Offset bowa 100 Note1 Soft Ware Limit oO 08285907 8388607 Note1 Soft Ware Limit a 8388608 Note1 End Pulse Width msec 1 65535 msec 100 Pulse Scale Numeration 1 65535 1000 Pulse Scale Denomination 1 65535 1000 Notel when pulse scale denomination pulse scale numeration 40 6 3 3 Home Search Mode Tab Configures modes for home search Each mode can be selected from a list by click W When each value is written or changed in online mode data is automatically downloaded to the motor control unit 1 MR220AU Parameter Mode I Parameter Near Home Signal Level rST OPO Home Signal Level nSTOP1 Z Signal Level rST OP Step1 Enable Enable Disable bd Step 1 Direction S Step 2 Enable Enable Y Disable hd Step 2 Direction v x Step 3 Erable Disable Y Disable F
26. 1 2 Axes Motor Control Unit MR210AU MR220AU User s Manual 2004 02 18 Ver 1 0 2007 04 04 Ver 1 1 2008 12 12 Ver 3 3 2010 06 30 Ver 3 4 NOVA electronics Introduction Thank you for purchasing MR210AU MR220AU motion control unit EM Checking the contents When you unpack the package check for the following accessories If something is missing or broken contact the place of purchase Model MR210AU MR220AU MR210AU 1 MR220AU 1 RS232C Cable 1 RS232C Cable 1 USB Cable 1 USB Cable 1 __ 24V Power Connector CN1 1 24V Power Connector CN1 1 Accessories 20P MIL Connector CN3 1 20P MIL Connector CN3 1 16P MIL Connector CN4 1 16P MIL Connector CN4 5 2 User s Manual User s Manual with CD ROM 1 with CD ROM 1 Me This mark indicates the user that improper use may cause death or injury of the user or people in the vicinity or material damages AN Caution This mark indicates the user that improper use may cause damage to the equipment or the loss of valuable data M General Safety Instructions IN Do not use the equipment in locations subject to oil fumes Do not disassemble repair or modify the Vvaming equipment Otherwise fire or electric shock may result and cause death or serious injury Prior to use read this operation manual carefully to fully understand for correct use and follow all the Caution instructions given in this manual We shall be exempted from taking respo
27. 3 an error occurs and home search operation ends Therefore adjust the mechanical system for step 3 to always start from inactive state with a stable encoder Z phase signal nSTOP2 2 If the limit signal in the search direction is already active before Step 3 starts an error occurs and home search operation ends 3 If the limit signal in the search direction is activated during execution search operation aborts and home search operation ends E Step 4 High speed Offset Drive At the speed which is set in the parameter of home search high speed driving pulses set in home search offset are output in the specified direction This is used when the user wants to move the axis from mechanical home position to operational home position After finishing Step 4 position counter is reset to 0 can be disabled in mode setting and home search operation ends 3 3 2 Home Search Mode Setting Click Home Search Mode tab to change Home Search Mode screen if not displayed MR210AU has X axis only Xaxis Yaxis Near Home Signal Level STOPO Near Home Signal LevelnSTOPO Low v lLow Home Signal Level STOP1 Home Signal LeveltnSTOP1 Low v Low Encoder Z phase Signal Level STOP2 gt 2 Signal LevelinsTOR2 Low Low Step 1 Enable Disable gt Step Enable Enable v Enable Step 1 Search Direction p Stept Direction ER Step 2 Enable Disable pm Step 2 Enable Disable y Disable Step 2 Search Direction
28. 34 6 1 Start Eege Re e EE 34 6 2 Main Screen diana aa 35 6 3 Parameter Mode SCreen ceecesceesseesseeneceeeeseceseeeseceseceseceneceseceaeceaeeeaeceseceaeeeseceaeceseeeaeeeaeeeeeeneeeaeeeate 39 6 3 1 A EE 39 6 3 2 Parameter TaD ME 40 6 33 Home Search Mode Tab NN 41 6 4 Program Edit Se Mii kann ta RE at Ee a ad 42 6 5 Input Output Green 44 OR ENEE Ciel i CC E 45 7 Remote Box Operations ccccccccnnnnnnnananananonononos 46 LS Wl e Cell E 48 7 1 1 Register Geet 48 GAZ TREGISTS TG OMIM A cok cece a chaste ee ee ee de eases sheen ee cheeses 48 7 1 3 Writing Of Driving PrograWS iii inicia ii 49 7 1 4 Writing of Driving Mode and Parameiers ron nn cnn nr non nn carro nnnnnnnninnos 51 7 1 5 One Command Execution 0 eeeeceeceeseesceeseessecssesseceseeseeeeeeecseececeseceeeeseesseeeeeceeeseeeeeceseaeeeeeeeeeseseeeeneseaeeats 52 1 2 DO E AT 52 7 2 1 A EE 52 A NOG FCC RE 53 1 2 3 Program e e EE 53 7 2 4 Current Position Wrttinmg aiaiai iaai iaaii aiaa ia 54 8 Input Output Signal Connection 55 81 CNEPROWEr C ONMECIO namere hehe 55 8 2 CN2 RS232C Serial I F Conneclor 55 8 3 CNS Parallel I F Connechor nono ono nono non nn nnnnnnnnnnnnnnnnnnnnnnnnonononononinon nos 56 8 4 CN S ite ll O CONNECIT een cias 59 9 Package Dmensions 61 10 Specifications romana din da 62 iv 1 Outline MR210AU 220AU is a motion control unit which can control one o
29. 5 PHOENIX or equivalent 1 CN3 20P MIL standard 2 54mm connector 1 CN4 5 16P MIL standard 2 54mm connector 2 RS 232C cable 1 5m 1 USB cable 1 8m 1 System Requirements for the Operating Program OS Windows 2000 XP Vista 7 62
30. 5msec Other Commands No required Speed ABS INC Select drive speed 1 4 Other Commands No required Timer ABS INC Select post timer 1 3 If not needed select 0 Other Commands No required 42 End P ABS INC HOM Select 1 to output end pulse and select 0 not to output end pulse after the completion of the command Note When selecting 1 End Pulse must be enabled in mode setting Other Commands No required Both X Axis ABS INC HOM When the user drives the same command of Y axis simultaneously select 1 Other Commands No required See chapter 4 1 and 4 2 for more details on each command and I O port numbers Reset If Reset button is pressed before Enter button input data is reset and previous data is displayed Note Be sure to press Enter button after input or the data is not written E File Menu File F menus in the upper left corner of the screen can save and open driving programs to from disc The functions of file menus are same as main screen so please refer to Main Screen E Edit Menu Edit E menus in the upper left corner of the screen are shown as follows The user can cut copy and paste a selection in the display area Item Function Contents Cut Clear a selection Copies a selection in the display area to clip board and clears the selection When online mode changed program data of the register is written to the motor contro
31. A 13 EpsonNet Print i 0 01MB Pi Intel R Extreme Graphics Driver i 2 16MB y Microsoft Office 2000 SR 1 Premium 191 00MB 90 Microsoft Visual Studio 6 0 Professional Edition ize 274 00MB Z Microsoft Web Publishing Wizard 1 53 0 14MB MR220A Click here for support information To change this program or remove it from your computer click Change or Remove 19 Realtek AC 97 Audio 13 Windows XP Hotfix KB828741 3 windows XP Hotfix KB835732 13 Windows XP Hotfix KB842773 3 windows XP Service Pack 1a 3 On the user s account control click Yes Only on Windows 7 4 Select MR220A program from the list then click Remove button The operating program will be uninstalled On Windows 7 unistallation of MR220A is operated automatically 2 2 Setup with USB cable 2 2 1 USB device driver installation Connect the motor control unit and PC with the USB cable then turn on both equipment power If this is first connection with the USB cable new hardware will be detected Insert MR200 Series CD ROM into the CD drive and install USB device driver Please specify the folders driver which is downloaded in the CD ROM After installation verify it using Windows Device Manager as follows Click Control Panel System Hardware tab Device Manager if USB device driver USB to Serial port is found under Ports COM amp LPT Please note listed below the installation is succe
32. Acceleration the gt Time Time acceleration parameter is used as a deceleration speed Symmetry Trapezoidal Driving Non Symmetry Trapezoidal Driving at deceleration and driving becomes symmetry trapezoidal When selecting Decel Deceleration the deceleration parameter is used as a deceleration speed and driving becomes non symmetry trapezoidal Note Please note that the following 1 2 for when non symmetry trapezoidal acceleration deceleration driving is performed 1 In the case of acceleration gt deceleration the following condition is applied to the ratio of the acceleration and the deceleration v D Deceleration rate pps sec D gt AX EES A Acceleration rate pps sec V Drive speed pps For instance if driving speed V 100kps deceleration D must be greater than 1 40 of acceleration A The value must not be less than 1 40 of the acceleration 2 If acceleration gt deceleration the greater the ratio of acceleration A to deceleration D becomes the greater the number of creep pulses outputs of specified driving pulses are not completed at deceleration of index driving even if the speed reaches the initial speed and remaining driving pulses are output at initial speed becomes Approximately maximum of 10 pulses when A D 10 times E Software Limit Selects either Disable or Enable for software limit Display Option Default Soft Ware Limit Disable Enable Disable Software Limit is the over run limi
33. D Output X axis driving Driving end pulse B1 7 15 YDRIVE END Output Y axis driving Driving end pulse B1 7 16 XERROR Output X axis error B1 8 17 YERROR Output Y axis error B1 8 18 GEX Ground 19 GEX Ground 20 VEX Power output DC24V under 100mA Input Signal Circuit A1 CN3 control input signal Output Signal Circuit B1 CN3 conrtol output signal 24V TD62083AF Toshi ba To internal circuit Input signal TLP281 or equivalent ze ON is when the input signal is short circuited with GEX internal circuit Output signal Darlington output inn output voltage output current output saturation voltage 56 0 24V 70mA max 1 1V max Description 1 RESET Pin1 Input Reset All the internal operations are reset Turns ON for 20msec or more It can also be used as an emergency stop signal Description 2 Home Pin2 Input Home search start strobe Turning on starts home search When both X 4 and Y 5 axes are ON home search simultaneously starts for X and Y axes When only one axis is ON home search starts for the one axis This strobe signal must be ON for more than 10msec or return back to OFF after the confirmation of nDRIVE END signal ON However if the user uses nDRIVE END signal as driving end pulse HOME signal must be ON for more than 10msec See chapter 5 1 Note When using scan driving 2 do not turn this signal ON Description 3 STROBE Pin3 Input Drive Start Strob
34. MP REP TIM OUT IJP OTP Display ass A 1800 ABS Display Absolute Position Ne A 1300 INC Display Relative Position Mode OG 110 AAAAA ABS INC O INC 1 ABS Drive Speed 1 2 3 4 Post Timer O 1 2 3 End P O Disable 1 Enable Both O Disable 1 Enable In mode display decimal point lights in all the digits Select any of HOM1 4 commands depends on disable enable of EndP End Pulse or Both Y axis simultaneously Display End P Both HOM Hon l Disable Disable PIONIE H om d Enable Disable Homa Hong Disable Enable SE H on yq Enable Enable Ar doa re EP 09 REG to Jump IO Repetition Numbers m din 300 or oud 10 Output Port O OFF 1 ON e PL P Input Port REG to Jump op oP 18 50 Output Port Pulse Width Input Procedure Input Operation Press WRT Description Status becomes command input and ABS blinks Select command ABS AlbS byt keys INC Inc Press WRT Command is determined Input the Negative value can be input position data by keys pulse value by 10 keys Press WRT The position data is determined and mode is displayed Set each mode key switches the blinking by and value keys key shifts the selected item Press WRT Position data flushes twice to inform registration completion Press WRT Status becomes command input and ABS blinks
35. MR210AU 220AU based on the user system Connect MR210AU MR220AU and PC with the RS232C or USB cable and start the operating program on Windows the user can configure driving mode and parameters in Mode Parameter screen In addition driving mode and parameters can be configured using an optional remote box MR200RB which connects to the RS232C port of the motor control unit See chapter 7 for details on how to configure by the remote box E Start Operating Program Connect MR210AU 220AU and PC with the cable and then start the operating program See chapter 6 1 for details on how to start the operating program When the main screen appears click Parameter Mode button Parameter Mode screen appears 1 MR220AU 2Axis Mortion Controller File E Option Help H 2 MR220AU Parameter Mode Home Search Mode Parameter Jog Mode Speed Select Scan ca CA Continuous ca G5 Preset Ca Xaxis Yaxis Limit Stop Mode Limit Active Level Instant Instant Low Low Position x el 6 Y cl 6 Speed Preset Value Speed5 Speed5 Rate ee 1 000 1001 ro je one Program 1 000 100 4 1 Click Servo Inposition Enable Disable Disable Servo Inposition Level Low Low Servo Alarm Enable Disable Disable Servo Alarm Level Low Low End Pulse Deceleration Value Disable Disable Accel Accel
36. ROM RS 232C Cable USB Cable included In addition driving parameter mode and programs can be set through the optional remote box MR200RB which connects to the RS232C port ofthe motor control unit Ne MR200RE The cable comes with MR200RB E REMOTE BOX RST CS up MR220AU La 3 Connection of Motor Driver and Sensor Connect a motor driver to a driving pulse signal and input from a sensor to over limit signals or a home signal of each axis In position and alarm input signals are prepared for the servo motor Stepping Servo Motor praz EE 777 FF FF FF EFF EEE 8 Ou Limit Home Limit gt e Fi gt Direction Driving Pulse a Direction Driving Pulse Motor Driver In position gt Alerm gt EC Z gt Fig 1 3 Connection Example of Axis I O Signals See chapter 8 for more details on input output signals and connection examples of a motor driver or a sensor 4 Drive Activation There are four methods to activate MR210AU 220AU as follows a d a Activation from Parallel 1 F The method to activate by connecting a PLC or switches to parallel I F connector See chapter 5 b Activation from PC Connect PC with the communication cable and start the operating program the us
37. X Y key Press 10 keys to Input the register number 0 63 to start execution by 10 keys 3 input the register number 4 Press EXC key Program execution starts Example Execute X axis from the register number 10 EXC gt XY gt 1 gt O gt EXC If the user wants to abort program execution press STOP key X 9 Y 4 While running the current position of X axis is displayed however when X axis ends and Y axis is running the current position of Y axis is displayed 53 7 2 4 Current Position Writing The current position writing teaching functions to register the current position as ABS command in the register ABS command is written to the register number which is displayed in data edit before drive operation dp display Therefore it is necessary for current position writing to display the register which the user wants to register in data edit in advance Operations for current position writing are as follows Input Operation Description Display the register which the The current position is written to the displayed 1 user wants to register the register current position in data edit Press DP key to switch drive operation Drive the axis to the position Drive speed can be switched 3 to be written by key of each axis Press X Y key to select the The light of the selected axis turns on 4 axis Current position writing performs each axis and cannot p
38. age 0 24V output current 70mA max output saturation voltage nP N AM26C31C TI or equivelant nP P nP N VOH VOL 3 4Vtyp at 10 20mA 1 1V max 0 2Vtyp at 10 20mA TLP281 or eqhivalent ON is when the input signal is short circuited with GEX Description 9 nP P Pin1 nP N Pin2 nP P Pin3 nP N Pind Output Output Output Output Driving pulse positive output in the direction n X Y Driving pulse negative output in the direction Driving pulse positive output in the direction Driving pulse negative output in the direction Driving pulse output signal is output from differential line drive AM26C31 or equivalent output nP N is the reverse output of nP P and nP N is the reverse output of nP P At resetting positive output nP P nP P becomes low level and reverse output nP N nP N becomes hi level A connection example with a motor driver is shown as follows MR220A side xP PO 2 XP Ni XP P 3 4 XP N Motor driver side CW cw st CCW a vi Cow 59 Description 10 nOUTO Pin5 Output General output 0 Deviation counter clear output n X Y This general output can be turned ON OFF in the driving program OUT command output port ON OFF and OTP command output port ON pulse are prepared When deviation counter clear operation is enabled Enable in home search mode setting after completion of home search at step 3 Z phase search the pulse output sele
39. ases and decreases the value of Speed5 ten at a time Position Displays the current position It is indefinite at power on When completing the home search 0 is displayed Clicking clear button C clears the current position at any position This value depends on the scaling function See Pulse Scale Numeration in chapter 3 2 Speed Displays the current speed during driving button Clicking resets Position the current position to 0 36 mM JOY Stick Click JOY Stick button on main screen and the following window appears The JOY Stick can configure the placement of X X Y Y keys In addition the user can drive X and Y axes simultaneously JOY Stick Pa 2 axes Driving Keys Horizontal Axis Select Horizontal Axis Selects horizontal axis either X or Y Select STOP X SC Horizontal Right Selects horizontal right direction z Horizontal Right Direction Select either or Direction Select Vertical Down Selects vertical down direction either Direction Select or 2 axes Driving Drives X and Y axes simultaneously if Keys D Stops driving of 1 axis Vertical Down Direction Select STOP Stops driving of all axes Home Search Execution The frame of home search execution for each axis Home search mode and speed must be set in Parameter Mode screen in advance Display Operati
40. cnnn nico nn con nn non nrnnn nro nn ran nn ran nr nn rra nn ran nnninns 4 2 1 2 HEET E 7 2 2 Setup with USB Cable EE 8 2 21 USB device driver EE LI 8 2 2 2 Check Operating Program Gtartup cc cccccccssccssscssscesseeceseeceeecseeesseecnseeceeeesseesseeeeeeenseeeeseessssessaeenseeenseees 8 2 3 Setup With RS232C AAA EE A E EE A ETEEN ENNS 9 3 Driving Mode and Parameters Configuration 10 3 1 Mode Set uri sidad 10 3 2 Parameter Setting secies n E EES etek 14 3 3 Home Search Mode Setting ce ceccescsscsneceseeeeeeeceseceseceseceseceaeeeaeeeaeceaeeeaeeeaeceseceaeeeaeeeeeeeeeneeeeeeaes 18 3 3 1 The Description of Home Search Operation 18 3 3 2 Home Search Mode Setting cc ee cccccccsccsseceseesseeceseecsseeesecsseeesseecsseeesseesseeesseeceseeeeeesessesseseseeeeeeeeeesages 19 3 3 3 Example for Home Search Mode Setting ooooooooccoococoncononccnonccoonaconcnnonccnonocnonncnnnncononnonncnonncnonnconnos 22 A Driving Programi een 25 4 1 Driving program Commande 25 42 le TE RI 110181 0d melo Gsscosssseccosssnacvasessaccossanscconsssneebaesenevcnnscvavvassesavensecuaveusecaavenas VEENRE ENNE EIEEE EENE 30 5 Driving DY parallel I F een nn 31 e ENNER lu TR e EE EN 5 2 e E de le BE EN 5 3 Scan DIVING E 32 5 4 Continuous Driving esssiscrierserissrerrirreiererrntke itari ENE EIEEE TEENETE RERET RESENDE EEEE AEREE EENET EEEEE RAS 33 55 Program DVINO ssepe A Se EEE ernennen 33 6 Operation Dy PC enter
41. cted by deviation counter clear pulse width is output from nOUTO signal in the level selected by deviation counter clear level Description 11 nINPOS Pin6 Input Servo Positioning Completion n X Y Input signal for a servo motor driver to connect Inposition output When the user needs to wait for inposition connect this When using the signal inposition for servo driver must be enabled in driving mode and the logical level must be set For more details on operation see chapter 3 1 Servo Inposition Enable and Logical Level Description 12 nALARM Pin7 Input Servo Alarm n X Y Input signal for a servo motor driver to connect Alarm output When using the signal servo alarm must be enabled in driving mode and the logical level must be set For more details on operation see chapter 3 1 Servo Alarm Enable and Logical Level Description 13 nSTOP2 Pin9 Input Encoder Z phase n X Y nSTOP1 Pin10 Input Home nSTOPO Pin11 Input Near home Input signal for home search See chapter 3 3 Home Search Mode Setting for home search operation Description 14 nLMT Pin12 Input Limit in the direction n X Y nLMT Pin13 Input Limit in the direction nLMT input signal is the over limit signal in the direction When the signal is activated during output of drive pulse in the direction driving stops by decelerating or instantly nLMT input signal is the over limit signal in the direction When the signal is activated during output
42. e Strobe signal in index mode and program mode Select a register number and X Y axis then turn this signal ON and driving starts This strobe signal must be ON for more than 10msec or return back to OFF after the confirmation of nDRIVE END signal ON However if the user uses nDRIVE END signal as driving end pulse this STROBE signal must be ON for more than 10msec See chapter 5 2 5 5 Description 4 X SCANY Pin4 Input X axis designation Scan Drive 2 Y X ISCANY Pin 5 Input X axis designation Scan Drive 2 Y Specifies an axis when in index mode or program mode Turning the specified axis ON selects the axis This axis designation signal must be ON before STROBE signal turns ON When in scan driving 2 mode turning SCANY 4 ON outputs drive pulses in Y direction and turning SCANY 5 outputs drive pulses in Y direction See chapter 5 3 Description 5 REGSLO RUN SCANX Pin6 Input Register designation 0 Run Scan Drive 2 X REGSL1 RUN SCANX Pin 7 Input Register designation 1 Run Scan Drive 2 X REGSL2 SPDO Pin8 Input Register designation 2 Drive Speed 0 REGSL3 SPD1 Pin9 Input Register designation 3 Drive Speed 1 REGSL4 ISCAN Pin 10 Input Register designation 4 Scan REGSL5 STOP Pin 11 Input Register designation 5 Drive Stop Specifies a register number to be executed in index mode or program mode from REGOO to 63 REGSLO is the lowest bit and REGSLS is the highest bit See chapter 5 2 for more details on
43. e both X and Y axes simultaneously If the user wants to abort home search press STOP key of each axis Note Driving mode parameters and home search mode must be configured before execution of home search Or home search can fail to perform 52 7 2 2 Jog Feed Jog feed by the remote box operates to drive in the specified direction while pressing the key In addition drive speed can be switched Display in Yellow Input Key Operation x 6 X Axis Jog Feed in the direction X 7 X Axis Jog Feed in the direction Y 1 Y Axis Jog Feed in the direction Y 2 Y Axis Jog Feed in the direction Drive speed switches 1 2 3 4 by each pressing X SPD 8 the key Drive speed 1 4 is the values set in REG79 82 Drive speed 0 outputs single pulse Press the key the current registered speed is displayed first then press again the speed is switched Y SPD 3 7 2 3 Program Execution Registered driving programs are executed from the specified register number Program execution can perform for only X axis only Y axis and for both X and Y axes simultaneously While driving X axis Y axis cannot be executed and while driving Y axis X axis cannot be executed Operations for program execution are as follows Input Operation Description 1 Press EXC key Program execution starts Press X Y key to A selection indicator switches from X axis gt Y axis gt X Y axes specify the axis by each pressing
44. e refer to chapter 6 4 for operating details on program edit screen This chapter describes each command of the program 4 1 Driving program commands 12 commands for the driving program are prepared as follows Command Type Code Contents Drive Commands ABS Absolute Position Move INC Relative Position Move HOM Home Search 1 0 Commands IJP Input Condition Jump OUT Output Port ON OFF OTP Output Port ON Pulse Program Control JMP Jump Commands REP Repetition Start RPE Repetition End END Program End Other Commands TIM Timer NOP No Operation 25 Each command is described as below ABS Absolute Position Move CMD Data SPD TIM END P Both ABS Absolute Position 8388608 8388607 1 4 0 3 0 1 0 1 The axis moves from the current position to the absolute position specified by Data Data SPD TIM END P Both Specifies the destination position by absolute value This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 3 2 are set Factory default is pulse scale numeration denomination so it is pulse value The setting range in pulse value is from 8388608 8388607 Selects drive speed for moving Drive speed 1 4 are registered by the parameter see chapter 3 2 Specifies the waiting time until the next register is executed after completion of moving When 1 3 is assigned to TIM t
45. ect MR210AU 220AU and your PC at this time Although the user can install while being connected if using the USB cable operating system will ask for the driver in the first connection In this case the user should install the USB device driver in advance according to chapter 2 2 1 2 Windows 2000 users double click the installer to build on your hard disc Windows 2000 users Execute InstMsiW exe in InstMS folder Windows XP users don t need to do anything for this step 3 Double click MR220A msi program file in MRPRG folder In a while setup screen will be invoked and then installation will start Follow the on screen instructions below 4 When the Setup Wizard appears click Next i MR220A Welcome to the MR220A Setup Wizard T A On ES The installer will guide you through the steps required to install MR 2204 on your computer Click Next to continue WARNING This computer program is protected by copyright law and international treaties Unauthorized duplication or distribution of this program or any portion of it may result in severe civil or criminal penalties and will be prosecuted to the maximum extent possible under the law Cancel 5 On the Select Installation Folder screen click Next which uses the default settings i MR220A Select Installation Folder The installer will install MA 220 in the following folder To install in this folder click Next To install to a different
46. ection direction for each step Display Option Default Step1 4 Direction TA Step 1 2 Step 3 4 When selecting as the detecting direction driving pulses of direction are output and when selecting driving pulses of direction are output In high speed offset driving of step 4 if the home offset drive value of the parameter is positive the operation will drive in this search direction and if the home offset drive value is negative it will drive in the opposite direction of this search direction 20 H Position Counter Clear Clears position counter at the end of home search Display Option Default Position Clear Disable Enable Enable E Using Over Limit Signal To execute home search using a direction limit signal or a direction limit signal set to enable See chapter 3 3 3 for example of executing home search using a limit signal only Display Option Default Using Limit Signal Disable Enable Disable EM Deviation Counter Clear Enable Disable The function for deviation counter clear pulse to output when encoder Z phase rises to active in home search operation of step 3 Display Option Default DCC Enable Disable Enable Disable Deviation counter clear pulse is output from OUTO output signal 5 pin of CN4 5 connectors If this mode is enabled OUTO output signal cannot be used as general purpose output Deviation counter clear output becomes active at the same time as detection of Z
47. el O ee Low High Low logical level Servo Alarm Enable Servo alarm enable Disable Enable Disable Servo Alarm Level Servo alarm enable logical level Low High Low End Pulse 100msec Driving end pulse Disable Enable Disable Deceleration Value Deceleration value select Accel Decel Accel Soft Ware Limit Software limit enable Enable Disable Disable oo On Home Search da on home search automatically Enable Disable Disable Power On Program Start Power on program automatically start Enable Disable Disable 39 6 3 2 Parameter Tab Configures parameters for driving The user can set parameters for X and Y axes respectively A configurable range is each displayed in Range of Value When each value is written or changed in online mode data is automatically downloaded to the motor control unit 1 MR220AU Parameter Mode Parameter Home Search Mode Speed Multiplier Acceleration Rate Deceleration Rate Start Speed Drive Speed 1 Drive Speed 2 Drive Speed 3 Drive Speed 4 Post Timer 1 Post Timer 2 Post Timer 3 Hore Search Low Speed Home Search High Speed Horre Search Offset Soft Ware Limit Soft Ware Limit End Pulse Widthimse Pulse Scale Numeration Pulse Scale Denomination 100 1 000 8 000 1000 2000 3 000 1000 101 7 000 7 000 000 1 000 000 1 000 1 000 1000 400 400 50 10 m m m 000 2 000 3 000 000 1 001 000 7 000 000 1 000 000 00
48. emark Value Near Home Signal Level nSTOPO Lew The same logical level as the limit signal since the limit logical level signal is used Home Signal Level nSTOP1 SC same as above logical level Z Signal Level nSTOP2 Not used e Low logical level Step 1 Enable enable disable Enable Enable Step 1 Direction search direction e direction Step 2 Enable enable disable Enable Enable Step 2 Direction search direction direction Step 3 Enable enable disable Disable Disable Step 3 Direction search direction Step 4 Enable enable disable Enable Enable escape from the limit Step 4 Direction search direction T direction Position Clear Enable Position counter clear after finishing home search Using Limit Signal Enable Enable DCC Enable Disable not used Be Disable deviation counter clear enable DCC Level 0 deviation counter clear level DCC Width u sec 10 deviation counter clear pulse width DA 4 Driving Program The user can program to a maximum of 64 steps in REGO 63 of X and Y axes in MR220AU and MR210AU MR210AU has only X axis Programs can be executed by any register number therefore the user can make multiple programs in 64 registers To write the driving program connect MR210AU MR220AU and PC with the RS232C or USB cable and start the operating program on Windows then open the program edit screen In addition the user can use an optional remote box MR200RB which connects to the RS232C port o
49. en 3 Inposition 0 Disable 1 Enable 4 Inposition Signal Level 0 GEX Short circuited 1 Open 5Alarm 0 Disable 1 Enable 6 Alarm Signal Level 0 GEX Short circuited 1 Open Display Contents of each digit in DATA 1 Near Home Signal STOPO Level 0 GEX Short circuited 1 Open 2 Home Signal STOP1 Level 0 GEX Short circuited 1 Open 3 Z phase Signal STOP2 Level 0 GEX Short circuited 1 Open 4 Driving End Pulse 0 Disable 1 Enable 5 Deceleration Rate 0 Acceleration Value 1 Deceleration Value 6 Software Limit 0 Enable 1 Disable Note Level is opposite 7 Power On Home Search Start 0 Disable 1 Enable 8 Power On Program Start 0 Disable 1 Enable Display Contents of each digit in DATA 1 Step 1 Enable 0 Disable 1 Enable 2 Step 1 Direction 0 1 3 Step 2 Enable 0 Disable 1 Enable 4 Step 2 Direction 0 1 5 Step 3 Enable 0 Disable 1 Enable 6 Step 3 Direction 0 1 7 Step 4 Enable 0 Disable 1 Enable 8 Step 4 Direction 0 1 Display Contents of each digit in DATA 1 Position Counter Clear 0 Disable 1 Enable 2 Fixed to 0 3 Using Limit Signal 0 Disable 1 Enable 4 DCC 0 Disable 1 Enable 5 DCC Level 0 ON Pulse 1 OFF Pulse 51 DATA Digits DCC Pulse Width 8 7 u sec 0 O 10 O o 1 20 0 1 o 100 0 1 1 200 1 O 0 1000 1 O 1 2000 1 1 0 10000 1 1 1 20000 7 1 5 One Command Execution Only o
50. en inputting a certain position data by keys the coefficient shown in the left formula is multiplied and then the value will be stored as pulse value in MR210AU 220AU Also when position data is displayed the coefficient shown in the right formula is multiplied and then the value will be displayed For example if 1 pulse of driving pulses is equivalent to 0 01mm of moving distance to display position data in a unit of mm set 100 1 to scale numerator scale denominator If input value 1 is written it will convert to 100 pulses and 100 pulses will be displayed as 1 00 If calculation result is after the decimal point it is rounded off up to the valid decimal place for 1 pulse and then it will be displayed Position data which scaling is performed is as follows Screen Position Data Performed Scaling Main Screen Position Preset Value Parameter Screen Home Search Offset Software Limit Program Edit Screen Position data of ABS Command and INC Command Note The values of pulse scale numerator and denominator affect all the position data Configure them at the beginning of system development based on circumstances such as motor rotation step angles or ball screw pitch Once configure values do not change them on the way The factory default of pulse scale numerator denominator is 1000 1000 which indicates input display equal to pulse value E Pulse Scale Denomination Pulse Scale Denomination is the denominator value to perfo
51. er can perform manual operations such as jog feed of each axis home search and program execution from main operational panel See chapter 6 c Activation from Remote Box Connect with the cable that comes with a remote box the user can perform jog feed home search and program execution by drive operation of the remote box See chapter 7 d Control by Serial Communications MR210AU 220AU has serial communication commands separate book Connect MR210AU 220AU and your PC or a PLC with the USB or RS232C cable the user can control axes on your own program 2 Setup Operating Program The operating program is the tool to write driving parameter mode or driving programs from PC to MR210AU 220AU The accessory CD ROM contains the operating program which is composed of three directories as follows InstMS Folder Installer for OS before Windows XP e MRPRG Folder MR210AU 220AU Operating program Driver Folder USB device driver The latest version is available on our web site http www novaelec co jp eng index html First install the operating program from MR200 Series CD ROM according to chapter 2 1 Then to make connection with the motor control unit if using USB communication follow steps in chapter 2 2 If using RS232C communication follow steps in chapter 2 3 2 1 Operating Program Installation 2 1 1 Operating Program Installation 1 Insert MR200 Series CD ROM into the CD drive Note Do not conn
52. erform X and Y axes simultaneously Press WRT key The current position data blinks to confirm the 5 writing if DP key is pressed at this time the writing is canceled Press WRT key again It returns to data edit register display and data flushes twice to inform the current position is written as ABS command When the user tries to write another axis repeat 2 6 Mode Change Current position writing is written as ABS command at this time the mode is automatically set to ABS Drive speed 1 Post timer 0 End P 0 and Both 0 Please change the mode when needed Press T key then press WRT key while the mode is displayed the user can change each bit of the currently configured mode Mode 000 11 AL ALIA ABS INC 1 ABS fixed Drive Speed 1 2 3 4 Post Timer 0 1 2 3 End P 0 Disable 1 Enable Both O Disable 1 Enable 54 8 Input Output Signal Connection Each connector position and pin number of MR220AU are shown below Please be careful not to connect a wrong pin number Reverse connection of power connector CN1 or supplying any voltage current other than specified to each signal may cause the destruction of the internal circuit CN2 CNG CN1 IN Caution Connector Connector Type Other Side Connector Type CN3 CN4 CN1 Power Connector MC1 5 2 G 3 5 PHOENIX or equivalent MC1 5 2 ST 3 5 PHOENIX or equivalent CN2 RS 232C 6P Modular Connector
53. f CN3 Operation Mode Program Mode MODE0 12 ON MODE 1 13 ON Axis X 4 Y 5 Turn On the axis which the user want to execute Register Number REGSLO 6 REGSL5 11 Please refer to Register Number Designation in chapter 5 2 33 6 Operation by PC Connect MR210AU 220AU and PC with the accessory cable and start the operating program the user can perform the following operations NN Y Z Y Z A A EE 79 2 Ww WY 07 WA 07 67 Screen Operation Jog mode for each axis Scan Continuous Preset Home search Index driving Program execution Main Screen Save and Load of Operating mode Parameters and Program files Parameter Mode Screen Mode Parameter Home search mode Program Edit Screen Driving program editing Input Output Screen Status display of input signals setting of output signals These operations will be described below in order of screen on Windows 6 1 Start Operating Program Start the operating program on your PC according to the following steps 1 Connect the motor control unit and PC with the RS232C or USB cable Be sure not to connect with both cables 2 Turn on both equipment power If this is first connection with the USB cable new hardware will be detected Insert MR210A 220A CD ROM into the CD drive and install USB device driver See chapter 2 3 Start the operating program from Start button
54. f the motor control unit See chapter 7 for details on how to write by the remote box To execute the user program 1 Execute from main screen operating program on PC See chapter 6 2 2 Execute from parallel I F See chapter 5 5 3 Execute from the remote box there are three ways as above Please refer to each chapter See chapter 7 2 E Start Operating Program Connect MR210AU 220AU and PC with the cable and then start the operating program See chapter 6 1 for details on how to start the operating program When the main screen appears click Program Edit button Program Edit screen appears ZC MR220AU 2Axis Mortion Controller File E Option Help GC MR220AU Program Edit Kaxis Data Speed Indv Both Command Speed iwer 1 HOM Jog Mode C Scan gt Continuous Position Speed Preset Value Speed5 Speed5 Rate o D mj 1 000 fi Bl 25 3 1 100 1 000 20 16 0 100 EEEEBEEEE o o a 1 000 fi Pe Click Home Search Program Mno REG 0 De 250 100 1 x Y v D y Input Output BE oe fun am ABS Position Set A Command Speed Timer End P Indv Both Ss mo y A fake 15 EMA Mass Y zi Y Y y Bes 210 Ren Der Error Code I J Er Main Screen Program Edit screen Pleas
55. formed In this case the parameter of acceleration deceleration rate must be set When drive speed is smaller than the start speed constant speed driving starts instead of acceleration deceleration Home search at high speed is as well E Drive Speed 1 4 Drive speed is the speed of constant speed period in acceleration deceleration driving Display Setting Range Default Drive Speed 1 1 8000 10 Drive Speed 2 1 8000 100 Drive Speed 3 1 8000 1000 Drive Speed 4 1 8000 8000 Each axis can set four types of drive speed The user selects one drive speed from four types for driving Actual drive speed is the value which multiplies the drive speed value by speed multiplier Drive Speed pps V x Speed Multiplier When drive speed is larger than the start speed acceleration deceleration driving is performed In this case the parameter of acceleration deceleration rate must be set When drive speed is smaller than the start speed constant speed driving starts instead of acceleration deceleration E Post Timer 1 3 Post timer is the waiting time until next command starts after execution of drive commands such as ABS INC for program operation Three types of post timer can be registered 15 Display Setting Range Default Post Timer 1 1 65535 Unit msec 10 Post Timer 2 1 65535 100 Post Timer 3 1 65535 1000 HM Home Search Low Speed Sets search speed for step 2 step 3 of home search Display Setting Ran
56. from a servo motor driver Serial communication port has two interfaces RS232C and USB Connect the serial communication port and PC or a remote box option then set data such as driving parameter mode position data and program data In addition serial communication commands are prepared so that the user can freely control the axis by programming on Windows Parallel interface port performs actual drive activation stop position and program selection which connects to a PLC or switches MH Appearance Fig 1 2 shows the appearance of the MR220AU its package dimensions are 90mm H X 36mm W X 60mm D Input output connectors are placed on front panel and rear panel is equipped with DIN rail installing hook A CN1 Power Source DC24V Input CNA X Axis Input Output CN3 Parallel I F CN5 Y Axis Input Output M A omm Fig 1 2 MR220AU Appearance E Operational Procedures MR210AU 220AU operations are performed by following procedures 1 4 1 Operating Program Installation 90mm Operating program is the tool to write driving parameter mode or driving programs from PC to MR210AU 220AU which the user can install from the accessory CD ROM See chapter 2 2 Setting of Driving Parameter Mode and Program Connect PC and MR210AU 220AU with the cable that comes with the package then set driving parameter mode and programs by the operating program installed in step 1 These setting data will be written in a built in EEP
57. ge Default Home Search Low Speed 1 8000 20 Actual speed is the value which multiplies the setting value by speed multiplier Home Search Low Speed pps Setting Value x Speed Multiplier Note Home search low speed must set smaller value than start speed HM Home Search High Speed Sets search speed for step 1 step 4 of home search Display Setting Range Default Home Search High Speed 1 8000 1000 Actual speed is the value which multiplies the setting value by speed multiplier Home Search High Speed pps Setting Value x Speed Multiplier Home search high speed usually sets larger value than start speed to perform acceleration deceleration driving E Home Search Offset Sets offset drive for home search If 0 is set offset drive is not performed Display Setting Range Default Home Search Offset 8388608 8388607 100 This value depends on pulse scale numeration denomination This range is for when pulse scale numeration denomination is 1000 1000 E Software Limit Sets the value of Software Limit for direction Display Setting Range Default Software Limit 8388608 8388607 8388607 This value depends on pulse scale numeration denomination This range is for when pulse scale numeration denomination is 1000 1000 To function Software Limit Software Limit must be enabled in mode setting For more details see Software Limit of chapter 3 1 Mode Setting E Software Limit Sets t
58. h speed near home search Step1 Low speed home search Step2 Low speed Z phase search Step3 High speed offset drive Step4 Search direction for each step and enable disable can be specified Program Function Memory media EEPROM Steps 64 Commands 12 commands Drive ABS Absolute Position Move INC Relative Position Move HOM Home Search 1 0 IJP Input Condition Jump OUT Output Port ON OFF OTP Output Port ON Pulse Program JMP Jump Control REP Repetition Start RPE Repetition End END Program End TIM Timer NOP No Operation Power On Program Start Function Remote Box Optional Extra MR200RB Driving mode Parameter and Program Writing Driving operations Jog Program execution and Home search are available Control Interface Parallel I F Parallel I F RS 232C RS 232C USB USB Standard 2 0 compliant USB USB Standard 2 0 compliant General Output 1 point 2 points 1 point for each axis Power Input DC24V Consumption Current Max 0 25A when input output signal is open Temperature Range for Driving 0 45 C No Condensation Package Dimensions 90mm Height x 36mm Width x 64mm Depth Mass 96g 102g Accessory CN1 MC1 5 2 ST 3 5 PHOENIX or equivalent 1 CN3 20P MIL standard 2 54mm connector 1 CN4 16P MIL standard 2 54mm connector 1 RS 232C cable 1 5m 1 USB cable 1 8m 1 CN1 MC1 5 2 ST 3
59. he time of post timer 1 3 which is registered in the parameter see chapter 3 2 is used When setting without the waiting time set 0 to TIM When 1 is set after moving the driving end pulse will be output to nDRIVE END output signal of the parallel I F However Driving End Pulse must be set to Enable in mode setting and End Pulse Width must be set in parameter setting Set 0 when operating X axis independently Set 1 when starting X and Y axes together and waiting for drive stop together This Both is applied to ABS INC and HOM commands of X axis only When setting Both 1 write the same command to the same register number of Y axis and write the position data for Y axis Notes for Both Both is the function to move X and Y axes simultaneously Even if one axis finishes moving first next register step will be executed after another axis finishes moving To use Both function please note the following When Both 1 is set by ABS INC and HOM commands of X axis the same command as X axis must be set to the same register number of Y axis When the drive of Y axis is activated by Both function during execution of the program and if Y axis is already driven by the independent driving program of Y axis a runtime error occurs Therefore when using Both function be careful not to occur the conflict to driving of Y axis Basically do not start the program of Y axis when using Both function INC Relati
60. he value of Software Limit for direction Display Setting Range Default Software Limit 8388608 8388607 8388607 16 This value depends on pulse scale numeration denomination This range is for when pulse scale numeration denomination is 1000 1000 To function Software Limit Software Limit must be enabled in mode setting For more details see Software Limit of chapter 3 1 Mode Setting E Driving End Pulse Width Sets end pulse width for end pulse output from nDRIVE END signal of I F connecter at the end of driving Display Setting Range Default End Pulse Width msec 165535 msec 100 To function End Pulse Width End Pulse must be enabled in mode setting For more details see End Pulse of chapter 3 1 Mode Setting M Pulse Scale Numeration Pulse Scale Numeration is the numerator value to perform scaling for position data Display Setting Range Default Pulse Scale numerator 1 65535 1000 Scaling function of position data is to convert to pulse value by multiplying the input display position data by the specified coefficient This function allows the user to handle position data in a unit of mm or inch MR210AU 220AU converts to pulse value by multiplying the input display position data by the following coefficient Pulse Scale Numerator Pulse Scale Denominator Pulse Value Input Value x Displayed Value Pulse Value x Pulse Scale Denominator Pulse Scale Numerator Wh
61. how to specify RUN 6 and RUN 7 are used in scan driving 1 SCAN 10 OFF or continuous driving Specify 4 5 the axis to drive and turns RUN 6 ON and drive pulses are output in direction or turn RUN 7 ON and drive pulses are output in direction Drive speed can be specified by SPDO 1 8 9 for this time Drive Speed Designation Note If drive speed designation is changed during driving Drive Speed SPD1 9 SPDO 8 Drive Speed changes mare Drive Speed E be a changed with Serial Communication Command during Drive Speed 1 OFF OFF e A driving with Parallel Interface So if Drive Speed is change Drive Speed 2 OFF ON See Drive S J3 ON OFF with Parallel Interface and Serial Communication me pee Command the actual Driving Speed is different from the Drive Speed 4 ON ON commanded one with Parallel Interface When using scan driving 2 SCAN 10 ON turning SCANX 6 ON outputs drive pulses in X direction and turning SCANX 7 ON outputs drive pulses in X direction See chapter 5 3 STOP 11 drive stop signal is the function to stop driving by turning this signal ON with the axis designation As shown in the table below the operation differs depending on driving mode To function STOP signal turn the signal ON for more than 10msec Driving mode Operation in STOP signal ON ne Aborts driving of ABS INC commands while running Index driving Note1 Scan drivi
62. ion Step 4 F 20 000pps Over Run Limit in the As shown in the table above set the same logical level and STOPO STOP1 Search Direction search direction for step 1 and step 2 M BENE S Search a home at high speed 20 000pps in step 1 when the Step1 Ditection mp home signal becomes active it stops by decelerating If the stop position is within the home signal active section the function m controls to escape in the opposite direction by the irregular Step2 ee A B D e operation 1 of step 2 and then searches a home by operation of step 2 If the stop position of step 1 passed through the home signal active section the limit in the search direction is set in step 2 in this case irregular operation 3 will be performed When home search starting position is in point A as shown in the diagram irregular operation 1 of step 2 is performed without step 1 When starting position is in point B as shown in the diagram irregular operation 2 of step 2 is performed after the limit is set in the search direction in stepl Note 1 Make sure to set an over run limit ahead of detection direction and connect the signal to the limit input LMT 2 Since the same signal is used in Step 1 and Step 2 the same logical level and detection direction must be applied Parameter setting Item Setting Remark Value Speed Multiplier 10 Acceleration Rate 400 Can stop by
63. irection by irregular operation 2 of Step 2 and stops operation when Limit Signal Active is detected at low speed in the search direction When the home search starting position is within the limit point A in the diagram above the function starts from Step 2 without execution of Step 1 The function finishes at the out of the limit active section by offset driving in the opposite direction in Step 4 Note 1 The same search direction must be applied for Step 1 and Step 2 2 Step 4 must be enabled and applied to the direction opposite to Step 1 and 2 Make sure that home search operation finishes at the out of the limit active section 3 When enabling Step 3 apply the direction opposite to Step 1 and 2 4 Limit stop mode should be set to decelerating stop 23 Mode setting Item Setting Remark Value Limit Stop Mode Slow Selects a decelerating stop Limit Active Level limit signal logical level Low Parameter setting Item Setting Remark Value Speed Multiplier 10 Acceleration Rate 400 Can stop by decelerating within the limit signal active section Start Speed 50 Start speed for trapezoidal driving Home Search Low Speed 20 200pps set the smaller value than the start speed Home Search High Speed 1000 10 000pps Home Search Offset 500 Need the distance to escape from the limit active section Home search mode setting Item Setting R
64. is already driving now SE button to drive Y axis is pressed during driving of Y 503 Planes select Anis Each button of Home Search or Index Program is pressed when an axis is not selected in main screen 504 ES InpBknhniber mam tas The number other than 0 63 is input in register number for REG 505 Please input number Other than number is input 506 nr So ape number Es The number beyond the input range is input limits When an error occurs online mode may change to offline mode occasionally In this case offline is caused by a communication fault Try out connections like File F gt Upload gt Parameter gt X Axis it may returns to online 45 7 Remote Box Operations Remote box MR200RB is the tool to write driving mode parameters and programs to MR210AU 220AU without PC In addition program execution home search and jog feed can be performed Connect the cable 1 5m included to RS232C connector CN2 of the motor control unit and power on the motor control unit the user can operate the remote box 7 NVA MR200RB SES SE The cable included in MR200RB Ao REMOTE BOX VDC spb gagaan oP PRG SET HOME SPD STOP Li x t exces ei 7 8 9 i vil 7 leo 1121 siya MI Remote box mainly performs two operations as shown below data edit and drive operation Register number is di
65. it signal nLMT turns on a light when the signal is short circuited with GEX The input signal of CN3 parallel I F turns on a light when the input signal is short circuited with GEX The output signal turns on a light when the output signal is ON output transistor is ON The user can alter ON OFF by double click on an output signal name 44 6 6 Error List Errors displayed at the bottom of main screen are as follows Code Error Massage Contents 208 SOFTWARE LIMIT ERROR Software limit occurs 209 SOFTWARE LIMIT ERROR Software limit occurs 210 HARDWARE LIMIT ERROR nLMT signal is active 211 HARDWARE LIMIT ERROR nLMT signal is active 212 ALARM ERROR nALARM signal is active in Enable 213 EMG ERROR EMG is low level GEX short circuited 214 PROGRAM ERROR Program error 215 HOME ERROR Home search error of the motor control unit 401 Break signal was received Break signal was received 402 Frame error Frame error 403 Port Overrun error Port overrun 404 Recive buffer Overflow Receive buffer overflow 405 Parity error Parity error 406 Send buffer Full Send buffer is full 407 Device control block of Port was Unexpected error that device control block DCB of port received was received 408 There is no response Command cannot be received 501 X Axis is already driving now el button to drive X axis is pressed during driving of X 502 Y Axis
66. iving by serial communication RS232C USB LED3 TXD Blinks during data sending by serial communication RS232C USB LED4 x Turns on a light during driving of X axis and blinks at the error LED5 Y Turns on a light during driving of Y axis and blinks at the error LED4 5 turn on a light for 0 2 seconds for a indicator test at power on or resetting HM Remote box MR200RB Optional extra Unit mm There are installing MR200RB taps on the back side REMOTE BOX S M4x2 depth 10mm ONI e Tap spacing 75mm e L La A SPD STOP 819 62 3 4 150 23 61 10 Specifications Specifications MR210AU MR220AU Control Axis 1 axis 2 axes independently programmable for each axis Controllable Motor Stepper motor or pulse type servo motor Index Pulse Registration Numbers 64 for each axis Index Pulse Setting Range 8388608 8388607 Relative Absolute value can be specified with Pulse Scaling Function Drive Speed Registration Numbers 4 Drive Speed Setting Range 1pps 4Mpps 1 8000 x multiplier 1 500 Acceleration Deceleration Curve Constant speed Linear Acceleration Trapezoid Driving Mode Home search Scan driving Continuous driving Index driving Program driving Home Search Driving Mode Automatically executes Hig
67. l unit Copy Copy a selection Copies a selection in the display area to clip board Paste Paste Pastes from clip board to a selection in the display area When online mode changed program data of the register is written to the motor control unit Delete Delete lines Selected register in the display area is deleted by the axis or the line Following lines are moved up When online mode the program data in lines under the deleted line is written to the motor control unit Insert Insert lines Blank lines the number of lines currently selected are inserted onto a selection in the display area If lines are over 63 after insertion the lines over 63 are deleted When online mode the program data in lines under the inserted line is written to the motor control unit 43 6 5 Input Output Screen Input Output screen displays the current status of an input signal during driving In addition output signal can be manually set This screen works only when in online mode ET MR220AU Input Output EIER CNS Parallel Output o Home X Drive O Strobe Y Drive o x X Error ON Y Error Output o Out Input Output r ONS Yaxis o Inpos oO Stop2 o Limit o OutO o Alarm o Diop o Limit o Stopt o EMG Input signal status of each axis in CN4 5 turns on a light when the signal is active For instance if Limit Active Level is low in mode setting lim
68. n for active set high and when selecting GEX Short circuited for active set low If the inposition input signal nINPOS is not used like in the case of a stepping motor set default values MH Servo Alarm Enable and Logical Level Selects action for an alarm input signal from a servo motor driver Display Option Default Servo Alarm Enable Disable Enable Disable Servo Alarm Level Low GEX Short circuited High Open Low Servo alarm input signals nALARM of each axis are the 7 pins in CN4 5 connectors See chapter 8 When Servo Alarm Enable is enabled and when the servo alarm input signal nALARM becomes active during driving pulse output of its axis immediately stops and then turn on the nERROR output signal Logical level Servo Alarm Level selects for active either when the servo alarm input signal is open or when the servo alarm input signal is short circuited with GEX When selecting open for active set high and when selecting GEX Short circuited for active set low To clear an error after the error occurs make the servo alarm input signal inactive and then reset the motor control unit If the servo alarm input signal nALARM is not used set default values E Driving End Pulse Outputs End Pulse from the nDRIVE END signal of the parallel I F connector at the end of driving Display Option Default End Pulse Disable Enable Disable DRIVE END output signals of X and Y axes are 14 15 pins in CN3 of the parallel I F
69. ne command of the register commands which is displayed in data edit is performed Select an axis by X Y key and press EXC key the command of the currently displayed register is executed however the executable commands are only ABS INC OUT OTP and HOM1 4 When other command is registered no operation is performed by EXC key Although this function usually performs for only one axis if Both is set in X axis ABS INC or HOM1 4 command is simultaneously performed for both X and Y axes by EXC key of X axis 7 2 Drive Operation Drive operation performs jog feed home search and program execution When dp is displayed in REG it is drive operation When the register number is displayed press DP key to switch to drive operation In drive operation the current position of the selected axis is displayed in DATA vo dP 10503 Current position of selected axis As shown on the left side of input keys in yellow the upper row of keys is for X axis and the lower is for Y axis Each key function is shown on the top of input keys in yellow However DP key has only the function to switch data edit and drive operation REMOTE BOX cuca aaa electronics um Key dsdayfar Input keys dive operation 7 2 1 Home Search Keys for home search are as follows Display in Yellow Input Key Operation X HOME 5 X axis Home Search Execution Y HOME 0 Y axis Home Search Execution It is possible to operat
70. ng 1 2 not available Continuous driving Stops continuous driving Stops the program When drive command is running it Program driving aborts the driving Note1 Home search Aborts home search 57 Note1 This STOP signal shares with the register designation signal REGSL5 When the signal is ON for register designation before driving starts turn STROBE signal OFF and turn REGSL5 STOP signal 11 OFF and again turn it ON and driving will stop as shown in the diagram below When driving stops turn back STOP signal to OFF X 4 STROBE 3 REGSLO 4 610 Input REGSL5 STOP 11 Input XDRIVE END 14 Output OFF ON Driving strat ___ OFF Driving stop Al OFF ON REGSL5 operation Turn back to OFF Input OFF ON Input OFF ON e ON STOP operation Fig 8 3 Example of the REG32 index drive and aborting the drive by STOP signal Description 6 MODEO Pin12 Input Driving mode designation O MODE1 Pin13 Input Driving mode designation 1 Specifies driving mode for parallel I F MODE1 13 MODEO 12 Driving Mode For reference OFF OFF Index driving Chapter 5 2 Scan driving OFF ON Scan driving 1 SCAN 10 OFF Chapter 5 3 Scan driving 2 SCAN 10 ON ON OFF Continuous driving Chapter 5 4 ON ON Program driving Chapter 5 5 Description 7 XDRIVE END YDRIVE END Pin14 Output Pin15 Output mode setting registered in the motor control unit it differs as follows DRIVE END 14 15 Outpu
71. nsibility and held harmless for damage or losses incurred by the user if the user fails to observe the instructions AN Caution Use the following environmental conditions Ambient Temperature 0 45 C Humidity 20 90 no condensation Floating dust Not to be excessive Corrosive gases None Electric supply source DC24V 10 IN Caution EM Handling Precautions When connecting the power cable or connection cable turn off the equipment power Otherwise breakdown or operation error may result Do not disassemble repair or modify the equipment When using serial communication instead of the provided software refer to serial communication commands book RS232C and USB cables are prepared as communication cables MR210AU MR220AU can connect with the USB cable however it can select only one cable either RS232C or USB Otherwise it does not work correctly When connecting the O When using the provided software connect a cable first and then turn on power and start the software O O cable turn off the equipment power Information in this manual is subject to change without notice Microsoft and Windows are registered trademarks of Microsoft Corporation ef We EE 1 2 Setup Operating Program 4 2 1 Operating Program Installatton ceceeceeccesseceecececeeeceeecesecceceeceeeceeeceeeceeeceeeceeeceaeenaeeneeceeeeeeeeneeeneees 4 2 1 1 Operating Program Installation oooooooccnnccnnncnionoconocconnconnncnonoconn nono n
72. on X Y Selects the axis to execute home search Run Clicking the button starts home search Stop Clicking the button aborts home search Program Execution The frame of the program execution The program must be created in Program Edit screen in advance In addition necessary items must be set in Parameter Mode screen Display Operation REG Set REG number to be executed X Y Set the axis to be executed Run Clicking the button starts programs from the REG number Step Clicking the button executes the step at the REG number Only ABS INC HOM OUT and OTP commands are available Stop When clicking the button after a click of Run the program step now executed becomes PAUSE Then if Stop is clicked again the program is aborted If Run is clicked the program proceeds This Stop button is disabled after a click of Step Note Do not change the program and parameter mode while running the program Drive Status Display Operation n RUN The red light turns on while the axis is driving The light always turns on while the axis is executing a program n ERR The light turns on when limit over or servo alarm occurs When an error occurs the error message is displayed at the bottom of the screen 37 Open Sub screens Display Operation Parameter Mode Open
73. ox is as follows REG Data Type Remark Contents Number Mode Number Data Data 00 Driving programs O 0 63 64 70 Blank 71 Driving mode 1 U 72 Driving mode 2 73 Axis input signal filter cannot be changed 74 Speed multiplier 1 500 O 75 76 Acceleration rata 18000 Oo 77 Deceleration rate 18000 O 78 Start speed 18000 Oo 79 Drive speed 1 18000 O 80 Drive speed 2 18000 81 Drive speed 3 18000 0 82 Drive speed 4 18000 83 Home search high speed 18000 84 Home search low speed 18000 O 85 Home search mode 1 0 86 Home search mode 2 0 87 Home search offset e 8388608 8388607 Software limit 8388608 8388607 S Software limit i 8388608 8388607 8 90 Post timer 1 165535 91 Post timer 2 165535 O 92 Post timer 3 165535 O 93 Driving end pulse width 165535 O 94 Pulse scale numerator 0 cannot be changed 95 Pulse scale denominator O cannot be changed Note Remote box has no scaling function for driving pulse Position data of REG00 63 and parameters of REG87 88 and 89 are all the pulse values The parameters of REG94 95 cannot be changed 48 7 1 3 Writing of Driving Programs Driving programs are registered in the register number 00 63 Each command display and input procedure is described below See chapter 4 for each command detail Command ABS INC HOM J
74. r 0 OFF 1 ON PC programming format Command Data OUT Output Port Number 0 1 Turn the specified output port ON turn open collector transistor ON and OFF turn open collector transistor OFF Data1 Specifies the output port number corresponding to the output signal See chapter 4 2 for output port numbers Data2 When setting 0 the output port turns OFF and when setting 1 it turns ON OTP Output Port ON Pulse CMD Data1 Data2 OTP Output Port Number ON Time msec PC programming format Command Data OUT Output Port Number ON Time Turn the specified output port ON turn open collector transistor ON for specified period Data1 Specifies the output port number corresponding to the output signal See chapter 4 2 for output port numbers 27 Data2 Specifies the time to maintain ON in a unit of msec The range is from 0 to 65535 msec JMP Jump CMD Data JMP Register Number to Jump Jumps to the specified register Data Specifies the register number to jump The range is from 0 to 63 REP Repetition Start CMD Data REP Repetition Numbers Repeat specified times from next register of this command to Repetition End command RPE Data Specifies the repetition numbers The range is from 1 to 255 Repetition End command RPE must be placed under this Repetition Start command REP la
75. r number of Y axis and write the position data for Y axis Please see Notes for Both in ABS HOM Home Search CMD Data SPD TIM END P Both HOM 0 1 0 1 Executes a home search according to the procedures set by home search mode END P When 1 is set driving end pulses are output to nDRIVE END output signal of the parallel I F after completion of the home search However Driving End Pulse must be set to Enable in mode setting and End Pulse Width must be set in parameter setting Both Set 0 when executing a home search to X axis independently Set 1 when starting X and Y axes together then waiting for drive stop together This Both is applied to ABS INC and HOM commands of X axis only When Both is set write the same command to the same register number of Y axis Please see Notes for Both in ABS IJP Input Condition Jump CMD Data1 Data2 IJP Input Port Number Register Number to Jump PC programming format Command Data IJP Input Port Number Register Number to Jump When the specified input port is Low GEX short circuited it jumps to the specified register When not Low Open it moves to next register Data1 Specifies the input port number corresponding to the input signal See chapter 4 2 for input port numbers Data2 Specifies the register number to jump The range is from 0 to 63 OUT Output Port ON OFF CMD Data1 Data2 OUT Output Port Numbe
76. r two axes of either stepper motor or pulse type servo drives for position and speed controls A built in EEPROM can program driving parameter values and position data of up to 64 steps for each axis MR210AU controls 1 axis and MR220AU controls 2 axes Model Axes Serial Communication Port MR210AU 1 equipped with RS 232C USB MR220AU 2 equipped with RS 232C USB DNA Direction Pulse Output Direction Pulse Output CN3 HOME STROBE Dee Y l General Output Output Buffer TD62083A Sind e Chip 2 Axes Motion Photo Coupler D XLNT Microcomputer Control IC Tied rs M l Parallel o I F Direction Limit Direction Limit Near Home Home Encoder Z Phase Servo Positioning XSTOP T89C51ED2 MCX302 DEJ XSTOP 2 XINPOS Builtin a WI EEPROM II i Pe op RS 232C I F l I Y Axis 1 0 Signal no i Same as X Axis USB I F I I I A CNIP E pcza a Note1 MR210AU does not have CN5 I Fig 1 1 MR210AU 220AU Circuit Block Diagram A 2 axes motion control IC MCX302 is equipped with acceleration deceleration drive pulse oscillation of up to 4MHz and a position counter Driving pulse output to a motor driver is differential line drive output which can connect to the motor driver of either photo coupler input or differential line receiver input Sensor input is insulated by photo coupler which can input over run limits a home an in position and alarm signal
77. rameter Mode data Parameter Yaxis Y axis Parameter Mode data Note Data is automatically uploaded when the operating program starts in online mode Download Writes to Data is written to the motor control unit MR210AU MR220AU All All the data Program All All the programs Program Xaxis X axis program data Program Yaxis Y axis program data Parameter All All the data of Parameter Mode Parameter Xaxis X axis Parameter Mode data Parameter Yaxis Y axis Parameter Mode data Note When data is written or changed in Parameter Mode or Program Edit screens in online mode data is automatically written to the motor control unit each time so usually no need to download them In Option menu the user can select a serial communication port or communication speed The communication ports be currently available are displayed by COM number If the COM port connected to the motor control unit is not checked V the connection cannot be established so check it When using USB communication and COM number is unknown confirm COM number with Windows Device Manager as follows Click Control Panel gt System Hardware tab Device Manager and find COM number of USB to Serial Port under Ports COM amp LPT 38 Communication speed can be selected within the range from 9600bps to 38400bps The initial value is 9600bps If the user speeds up the communication speed the motor control unit responds quickly but is affected b
78. re than 10msec The figure below shows an example for a home search of X axis only Once home search starts nDRIVE END 14 15 output signal of running axis turns ON and when finished home search it turns OFF However if driving end pulse is enabled by mode setting nDRIVE END output signal keeps OFF during execution of home search and ON pulses will be output for the period ofthe End Pulse Width at the end of driving 10msec or more HOME CN3 2 Input DE ON X CN3 4 Input OF ON Y CN3 5 Input tr XDRIVE END CN3 14 Output OFF ON Start home search YDRIVE END CN3 15 Output OFF Note Software limit is ignored during execution of home search even if enabled In MR210AU the axis designation specifies X axis X Y DRIVE END signals will be OFF after HOME signal returns to OFF 5 2 Index Driving Index driving functions to execute registered ABS INC commands Set the following three items using the input signal of P I F connector CN3 and turns STROBE 3 drive start strobe ON and the driving will start Designation Item Input Signal Setting of CN3 Operation Mode Index Mode MODE0 12 OFF MODE1 13 OFF Axis X 4 Y 5 Set On the axis which the user wants to execute Register Number REGSLO 6 REGSL5 11 Please refer to Register Number Designation Table 31 Register Number Designation Table REG Number REGSLO 5 Input Signal Setting REGSLO 6 REGSL1 7 REGSL2 8
79. required for Trapezoidal Driving 9 For instance if the initial speed 500pps is raised up to 20 000pps in 0 3 seconds speed parameter should be set as follows Acceleration Rate pps sec 20 000 500 0 3 65 000 pps sec 14 If speed multiplier is 10 Setting value for acceleration rate A 65 000 125x10 52 Setting value for startspeed SV 500 10 50 Setting value for drive speed V 20 000 10 2 000 E Deceleration Rate Deceleration Rate is the parameter used as deceleration rate at deceleration in acceleration driving Display Setting Range Default Deceleration Rate 1 8000 400 If the value for deceleration rate is D actual deceleration rate will be as follows Deceleration Rate pps sec D x 125 x Speed Multiplier In default mode setting Deceleration Value is set to Accel therefore acceleration rate is also used at deceleration and driving becomes symmetry trapezoidal If the user wants to perform non symmetry trapezoidal driving change Deceleration Value to Decel in mode setting and set this deceleration rate E Start Speed This is the speed at the start of acceleration deceleration driving and at the end of driving Display Setting Range Default Start Speed 1 8000 50 Actual start speed is the value which multiplies the start speed value by speed multiplier Start Speed pps SV x Speed Multiplier When drive speed is larger than this start speed acceleration deceleration driving is per
80. rger register number Repetition loop can be nested up to 3 hierarchies 05 REP 5 10 REP 10 15 REP 3 3 times repeat 10 times repeat 20 RPE 25 RPE 30 RPE RPE Repetition End CMD Data RPE Repeat specified times from Repetition Start command REP to this command END Program End CMD Data END Terminates the program This command must be written at the end of the program 28 5 times repeat TIM Timer CMD Data TIM Waiting Time msec Waits for the specified period Data Specifies the waiting time in a unit of msec The range is from 0 to 65535 msec NOP No Operation CMD Data NOP No operation is performed 29 4 2 Input Output Ports Input Ports Input Port Number Connector Pin Number Signal Signal Description Signal Category 0 CN4 11 XSTOPO Near Home 1 CN4 10 XSTOP1 Home 2 CN4 9 XSTOP2 Encoder Z phase X axis Signals 3 CHA 6 XINPOS Servo Positioning Completion 10 CNS 11 YSTOPO Near Home 11 CN5 10 YSTOP1 Home 12 CN5 9 YSTOP2 Encoder Z phase Y axis Signals 13 CN5 6 YINPOS Servo Positioning Completion 20 CN3 6 REGSLO 21 CN3 7 REGSL1 Seaside 22 CN3 8 REGSL2 REGSL Signal on Signals 23 CN3 9 REGSL3 24 CN3 10 REGSL4 When using MR210AU 10 13 is not available E Output Ports Output Port Number Connector Pin Number Signal Signal Description Signal
81. rm scaling for position data Display Setting Range Default Pulse Scale denominator 1 65535 1000 17 3 3 Home Search Mode Setting 3 3 1 The Description of Home Search Operation Home Search for MR210AU MR220AU executes from step 1 to step 4 shown below in turn once it starts For each step it can be configurable for execution non execution a search direction and the logical level of a detection input signal In step 1 and 4 search operation is performed at home search high speed which is set in the parameter In step 2 and 3 search operation is performed at home search low speed Step Number Operation Search Speed Detection Signal Step 1 High speed near home search Home search high speed nSTOPO Step 2 Low speed home search Home search low speed nSTOP1 Step 3 Low speed Z phase search Home search low speed nSTOP2 Step 4 High speed offset drive Home search high speed E Step 1 High speed Near Home Search is Driving pulse is output in the specified direction at the speed STOPO Search Direction which is set in the parameter of home search high speed until Normal Operation Active near home signal nSTOPO becomes active To perform Specified Search Section Irregular 3 high speed search operation set the higher value for home Direction gt search high speed than initial speed Acceleration deceleration driving is performed and when near home signal nSTOPO becomes active 1t stops by decelerating
82. splayed in REG when used in data edit and dp drive operation is displayed when used in drive operation When power is on drive operation is selected dp display Data edit and drive operation can be switched by DP key Operation REG Display Data Edit Driving mode Parameters and Programs writing Register One command execution Number Drive Current Position Display Operation Jog Feed Home Search Program Execution Operation panel of the remote box is as follows MR210A 220A Rest XY Dsday Reg Number Dsday Dita Dspay REMOTE BOX Key dsdayfar Input keys dive operation MR210AU 220AU Reset Resets the MR210AU 220AU X Y Display Displays the currently selected axis Register Number Display The number of the currently selected register is displayed when used in data editor dp is displayed when used in drive operation Data Display The data of each register is displayed when used in data edit or the current position of the selected axis is displayed when used in drive operation 46 Input Keys X Y Switches the axis When inputting numbers it is used to switch signs and when inputting modes it is used to switch values REG Uses to input the register number which the user wants to display When data is written the user can abort data writing by pressing this key and the value returns to the previous one T Increases and decreases the displayed register number EXC Executes
83. ssfully completed Note1 Installation Wizard appears twice FRA NA Ir Note2 USB driver installation is needed once every FAND IREA RTA ATH e 13982 a Ra BA NOVA amp DVD CD ROM E347 IDE ATA ATAPI ISO 3 USB Universal Serial Bus JY0 3 Ze FRE EE O HOSE EFF BAU TADA EEGEN lt F429 FA B FATA PATR BB 29 7 0 PIDA me Sovet B yovb F4A9 5 03 FOvE FAP F547 HH COM amp LPT Y ECP IYA AR En unit For example if 3 units are connected to PC USB driver should be installed three times ea I ERP CoM Weber RE SEKR EIA 2 2 2 Check Operating Program Start up According to chapter 6 1 check the operating program properly starts when connecting to the motor control unit When the operating program is first started MR220AU ZAxis Mortion Controller after installation it may be offline mode even though the cable is connected In this case click Option menu on the upper left of the main ER window then check V COM option connected DEES with the motor control unit then exit the operating SE Sen 500 program and restart it x El SEN 1 000 fro y o IO Sf af mee Note The COM number using with USB connecting click Control Panel gt System Hardware tab O X RUN gt Dev Manager the user can find it after Den Home
84. stop Instant Limit Active Level Low GEX Short circuited High Open Low 10 Over limit input signals nLMT for direction of each axis are the 12 13 pins in CN4 5 connectors See chapter 8 Limit Stop Mode selects either Instant Stop or Deceleration Stop for when this over limit input signal becomes active Besides Limit Active Level specifies the logical level for active To make active for when the over limit input signal and GEX are short circuited set low to the logical level and to make active for when it is open set high to the logical level E Servo Inposition Enable and Logical Level Selects action for an inposition input signal from a servo motor driver Display Option Default Servo Inposition Enable Disable Enable Disable Servo Inposition Level Low GEX Short circuited High Open Low Inposition input signals nINPOS of each axis are the 6 pins in CN4 5 connectors See chapter 8 When Servo Inposition Enable selects Enable after output of driving pulses driving will terminate after checking the inposition input signal nINPOS becomes active While the program is running after execution of drive commands ABS INC next register will be performed after checking the inposition input signal becomes active Logical level Servo Inposition Level selects for active either when the inposition input signal nINPOS is open or when the inposition input signal is short circuited with GEX When selecting ope
85. t Signal Operation X axis driving Driving end pulse Y axis driving Driving end pulse Basically this output signal turns ON when driving pulses are output However depending on driving mode for parallel I F or Parallel I F Operation Mode When Driving end pulse Invalid in mode setting of the motor control unit When Driving end pulse Valid in mode setting of the motor control unit Home Search Turns ON while running home search and turns OFF after the end of driving Turns OFF while search and outputs driving end pulse after the end of driving runnning home Index Driving Turns ON while outputting driving pulse and turns OFF after the end of driving Outputs driving completion of the command execution which End Pulse is enabled end pulse after Scan Driving Turns ON while outputting driving pulse and turns OFF after the end of driving Turns OFF while driving and outputs driving end pulse after the end of driving Continuous Driving Turns ON while outputting driving pulse and turns OFF after the end of driving Turns OFF while driving and outputs driving end pulse after the end of driving Program Driving Turns ON while executing program and turns OFF after the end of program Outputs driving completion of the command execution which End Pulse is enabled in the program end pulse after Description 8 XERROR YERROR Pin16 Output Pin17 Output X a
86. t function which can internally set as position data it differs from hardware limit signal input such as an external sensor Software limit can be set as parameters for and direction respectively When selecting enable and when the position counter is over the software limit to range during driving decelerating stop will be performed This error condition will be cleared if the user drives in the opposite direction and sets the position counter back within a software limit range For reference While a home search is running the software limit does not function even if enabled E Power On Home Search Start Selects either Disable or Enable for automatic home search at power on Display Option Default Power On Home Search Start Disable Enable Disable Power On Home Search Start is the function to automatically perform home search when the power is on or motor control unit is reset 12 EM Power On Program Start Selects either Disable or Enable for automatic program start at power on Display Option Default Power On Program Start Disable Enable Disable Power On Program Start is the function to perform automatically the registered program from REG00 when the power is on or motor control unit is reset If Power On Home Search Start is also enabled the program will be performed after completion of home search operation Note 1 When using Power On Program Start write timer command to REGOO in advance
87. the displayed command However only ABS INC OUT OTP and HOM1 4 commands are available DP Switches data edit and drive operation WRT Uses to write register a value when used in data edit Key Display for Drive Operation Displays the function of keys for drive operation on the left and top of input keys in yellow The upper row of keys is for X axis and the lower is for Y axis 47 7 1 Data Edit Operation Data edit can write and change driving mode parameters and programs When data edit operation is performed the register number from 00 to 95 is displayed in REG When dp is displayed in REG it is drive operation so press DP key to switch to data edit 7 1 1 Register Select Each axis has registers from 00 to 95 and there are two ways to display the desired register number as follows Press REG key and input the register number in two digits Ex REGJ O 4 e Press ft keys to increase and decrease the register number If the T key is shortly pressed the number is incremented or decremented by one and pressed the keys longer the number is incremented or decremented continuously However when ABS INC commands are registered in the register the position data is first displayed and the mode data is displayed by pressing the key shortly then next register is displayed by each pressing the key 7 1 2 Register Configuration Register configuration displayed by the remote b
88. then make sure that next command is operated after passing the specified period In addition it recommends to embed home search command into the program 2 Do not release Power On Program Start or Power On Home Search Start during driving Make sure to first stop driving in main screen click STOP button and then disable them in parameter mode screen in advance 3 Do not alter the program or mode parameters while executing the program by Power On Program Start Make sure to first stop in main screen click STOP button in advance 13 3 2 Parameter Setting Click Parameter tab to change Parameter screen if not displayed MR210AU has X axis only Speed Multiplier Acceleration Rate Deceleration Rate Start Speed Drive Speed 1 4 Post Timer 1 3 Home Search Low Speed Home Search High Speed Home Search Offset Software Limit Software Limit Driving End Pulse Width Pulse Scale Numeration Pulse Scale Denomination EM Speed Multiplier Y Y VVVVVY Y IT Speed Multiplier Acceleration Rate Deceleration Rate Start Speed Drive Speed 1 Drive Speed 2 Drive Speed 3 Drive Speed 4 Post Timer 1 Post Timer 2 Post Timer 3 Home Search Low Speed Hore Search High Speed Home Search Offset Soft Ware Limit Soft Ware Limit End Pulse Widthimse Pulse Scale Numeration Pulse Scale Denomination Kaxis Yaxis po ap 0 zn m un m 7777 I m 0 LIESCH Ten Ten
89. tion is active before Step 2 starts The motor drives the axis in the opposite direction of the specified search direction at home search low speed until home signal nSTOP2 becomes active When home signal nSTOP1 is active the motor drives in the opposite direction of the specified search direction at home search low speed until home signal nSTOP1 becomes inactive When home signal nSTOP1 becomes inactive the function executes Step 2 from the beginning 3 Limit signal in the search direction is activated during execution Driving stops and the same operation as 2 gt is performed 18 E Step 3 Low speed Z phase Search Driving pulse is output in the specified direction at the speed which is set in the parameter of Sr Runi Limitin the STOP2 Search Direction home search low speed until encoder Z phase A sr signal nSTOP2 becomes active To perform Normal Operation Section Error 3 Section low speed search operation set the lower value Specified gt l gt for home search low speed than initial speed Saaren Direction e e Constant speed driving is performed and when E ah encoder Z phase signal nSTOP2 becomes Error 1 Error 2 active it stops instantly In mode setting deviation counter clear signal shared with nOUTO signal can be output for a servo motor when encoder Z phase signal nSTOP2 rises to active Note 1 If encoder Z phase signal nSTOP2 is already active at the start of Step
90. two conditions are applied e When high speed search operation is performed decelerating stop must sufficiently be performed within the distance from limit signal activation position to mechanical limit position e Home search position cannot be beyond the limit signal active section in the search direction In this example the limit signal in the direction is used as home signal Connect LMT input to STOPO and STOP1 input pins as shown in the diagram MR21 Ce e To perform high speed search of Step 1 set a limit stop mode to decelerating stop XSTOPI e Set the same logical level for the LMT STOPO and STOP1 XSTOPO X Direction signals Over Run Limit xunt F3 gt e Enable Using Limit Signal using over run limit of home search mode e _ Execute Step 4 offset driving to escape from the limit Operation Over Run Limit in the Search Direction Input signal and logical leve Search Search STOPO STOPI LMT e 3 Ge Direction Speed STOPO _ Step 1 Step 1 Low GEX Short circuited 19 000pps STOP1 Step2 Low GEX Short circuited 200Pes Step 2 Step 3 Non execution a a x tep 4 500 pulse offset driving in aopa the direction 19 09Apps The axis drives up to the limit at high speed in the direction in Step 1 When the limit signal becomes active the function stops operation by decelerating and advances to Step 2 The function exits control from the limit in the opposite d
91. ut as pulse value Remote box has no scaling function for driving pulse 50 7 1 4 Writing of Driving Mode and Parameters Driving mode and parameters are registered in the register number 71 95 Display and input procedure is described below See chapter 3 for each mode and parameter display in each register Parameter Input Procedure REG Display A Mode Input Operation Description Parameter 74 Press WRT Status becomes input 2 Input values by 84 10 keys Each parameter is displayed in DATA 3 Press WRT Display flushes twice to 87 inform registration completion 95 Mode 71 DATA Display 1 Press WRT Status becomes input and 87654321 the mode of DATA display 1 Ge 0000000 is selected N E 2 Set each mode key switches the selected 86 Please refer to ll Mode Display regarding by key value items displayed in the 1 8 digits of DATA and key key shifts the selected item 3 Press WRT Display flushes twice to inform completion registration EM Mode Display REG71 Driving Mode 1 G 8 DATA 7654321 5 l 000000 REG72 Driving Mode 2 REG Te REG85 Home Search 1 8 DATA 6543 2 1 00 i00000 REG es a00a 10 10 DATA 6 5 321 Display Contents of each digit in DATA 1 Limit Stop 0 Instant Stop 1 Deceleration Stop 2 Limit Signal Level 0 GEX Short circuited 1 Op
92. ve Position Move CMD Data SPD TIM END P Both INC Relative Position 8388608 8388607 1 4 0 3 0 1 0 1 The axis moves from the current position to the relative position specified by Data Data SPD TIM END P Specifies the destination position by relative value to the current position This value can be placed in a unit of mm or inch when the pulse scale numeration denomination see chapter 3 2 are set Factory default is pulse scale numeration denomination so it is pulse value The setting range in pulse value is from 8388608 8388607 Selects drive speed for moving Drive speed 1 4 are the speed registered by the parameter see chapter 3 2 Specifies the waiting time until next register is executed after completion of moving When 1 3 is assigned to TIM the time of post timer 1 3 which is registered in the parameter see chapter 3 2 is used When setting without the waiting time set 0 to TIM When 1 is set after moving the driving end pulse is output to nDRIVE END output signal of the parallel I F However Driving End Pulse must be set to Enable in mode setting and End Pulse Width must be set in parameter setting 26 Both Set 0 when operating X axis independently as INC Set 1 when starting X and Y axes together then waiting for drive stop together This Both is applied to ABS INC and HOM commands of X axis only When Both 1 is set write the same command to the same registe
93. xis error output Y axis error output Turns ON when error occurs in the control of each axis 58 8 4 CN4 5 Axis I O Connector CNA is for X axis and CNS is for Y axis of input output signals CN4 and CNS are completely the same pin assignments MR210AU does not have CNS n in the table indicates X in CNA and Y in CN5 Pin No Signal VO Contents Circuit Description 1 nP P Output Driving pulse positive output in the direction B2 9 2 nP N Output Driving pulse negative output in the direction B2 9 3 nP P Output Driving pulse positive output in the direction B2 9 4 nP N Output Driving pulse negative output in the direction B2 9 5 nOUTO Output General output 0 Deviation counter clear output B1 10 6 nINPOS Input Servo positioning completion A1 11 7 nALARM Input Servo alarm A1 12 8 GEX Ground 9 nSTOP2 Input Encoder Z phase A1 13 10 nSTOP1 Input Home A1 13 11 nSTOPO Input Near home A1 13 12 nLMT Input Limit in the direction A1 14 13 nLMT Input Limit in the direction A1 14 14 EMG Input Emergency stop A1 15 15 GEX Ground 16 VEX Power output for a sensor 24V 16 Output Signal Circuit B1 CN4 5 General Output Signal TD62083AF Toshiba Internal Circuit 27k Input signal 2 Output Signal Circuit B2 CN4 5 Driving Pulse Output Line drive output nP P Output signal Darlington output GEX San volt
94. y noise Help menu shows the versions of the motor control unit and operating program The upper part indicates the motor control unit Version and the lower part indicates the operating program Version of app MR210AU 220AU Reset Resets the MR210AU 220AU 6 3 Parameter Mode Screen The user can configure mode parameter and home search settings in Parameter Mode screen 6 3 1 Mode Tab Configures modes for driving Each mode can be selected from a list by click W When each value is written or changed in online mode data is automatically downloaded to the motor control unit 1 MR220AU Parameter Mode Parameter Home Search Mode Yaxis Limit Stop Mode Instant Limit Active Level Low Disable Y Disab Servo Inposition Level Low Low Disable r jDisab Servo Alarm Level Low MBA Disable Y Disab Accel y Accel Disable Y Disab Disable y Disab Disable y Disab Servo Inposition Enable Servo Alarm Enable Deceleration Value Soft Ware Limit Power On Horre Search Start Power On Program Start Setting items in Mode tab are as follows See chapter 3 1 for more details on each mode Display Contents Option Default Limit Stop Mode Limit stop mode Instant Slow Instant Limit Active Level Limit signal logical level Low High Low Servo Inposition Enable Servo positioning completion enable Disable Enable Disable Servo Inposition Lev

User`s manual （1577KB）

Contents

Download Pdf Manuals

Related Search

Related Contents