Hivertec motionCAT Series User manual

Motion Network System
motionCAT series
User's Manual
<Introduction>
Hivertec,inc.
http://www.hivertec.co.jp/

..
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Hivertec Inc.
1-8-11 Shin-Ohashi, Koto-Ku, Tokyo 135-0007, Japan
Taijuseimei Shin-Ohashi Bldg.
TEL [phone]
FAX [phone]
[email protected]
Revision 2.31 July 12, 2019 released
Copyright Hivertec Inc.

CONTENTS
WarningsandPrecautions..................................................................................................................................................................1
ExtentofWarranty...............................................................................................................................................................................2
LimitationstoLiability...........................................................................................................................................................................2
ImportantSafetyInstructions...............................................................................................................................................................3
1. motionCATInstallation..........................................................................................................................................................9
1.1What ismotionCAT?................................................................................................................................................................10
1.2 AdvantagesofmotionCATSeriesProducts..........................................................................................................................10
1.3 Connection Rules....................................................................................................................................................................11
1.4 Communication Specifications................................................................................................................................................12
1.5 CalculatingtheCommunication Time....................................................................................................................................13
1.6 Communication CableDisconnectionDetection/MonitoringFunction.................................................................................14
1.7 Product Configuration and ModelNumber............................................................................................................................15
1.7.1motionCATMasterBoards...............................................................................................................................................15
1.7.2BaseSlaves......................................................................................................................................................................15
1.7.3motionCATModules.........................................................................................................................................................15
1.7.4Slave Types.......................................................................................................................................................................16
1.7.5ConnectorBoards.............................................................................................................................................................16
1.7.6Cables................................................................................................................................................................................17
2. motionCATMasterBoards.................................................................................................................................................18
2.1 HPCI-MCAT520M...................................................................................................................................................................19
2.1.1Specifications....................................................................................................................................................................19
2.1.2BlockDiagram...................................................................................................................................................................19
2.1.3BoardSettings...................................................................................................................................................................20
2.1.4Master BoardPanel Layout.............................................................................................................................................21
2.1.5ConnectorSignalTable....................................................................................................................................................21
2.1.6EmergencyStopInputDetection.....................................................................................................................................22
2.2 HCPCI-MNT720M...................................................................................................................................................................23
2.2.1Specifications....................................................................................................................................................................23
2.2.2BlockDiagram...................................................................................................................................................................23
2.2.3BoardSettings...................................................................................................................................................................24
2.2.4Master BoardPanel Layout.............................................................................................................................................25
2.2.5ConnectorSignalTable....................................................................................................................................................25
2.2.6InputandOutputPort Circuit Types................................................................................................................................26
2.3 HPC104-MCAT110M..............................................................................................................................................................27
2.3.1Specifications....................................................................................................................................................................27
2.3.2BlockDiagram...................................................................................................................................................................27
2.3.3BoardSettings...................................................................................................................................................................28
2.3.4ConnectorSignalTable....................................................................................................................................................30
2.3.5ExternalConnections........................................................................................................................................................32
2.4 HM-GU00G..............................................................................................................................................................................33
2.4.1Specifications....................................................................................................................................................................33
2.4.2BlockDiagram...................................................................................................................................................................33
2.4.3Module Settings................................................................................................................................................................34
2.4.4ExternalAppearance........................................................................................................................................................35
2.4.5Indicators...........................................................................................................................................................................35
2.4.6ConnectorSignalTable....................................................................................................................................................36
2.4.7BoardRecognition,Connection,and Disconnection......................................................................................................37
Make sure to read "Warnings and Precautions" in this
manual before using this product.

3. motionCATSlaves..............................................................................................................................................................38
3.1 Typesof Slaves and Configurations.......................................................................................................................................39
3.1.1TypesofSlaves.................................................................................................................................................................39
3.1.2BaseSlaves......................................................................................................................................................................39
3.1.3Modules.............................................................................................................................................................................40
3.1.4Slave Configuration...........................................................................................................................................................41
3.2 Communication Module HM-GN00G..................................................................................................................................42
3.2.1Specifications....................................................................................................................................................................42
3.2.2 ExternalAppearance.....................................................................................................................................................42
3.2.3Indicators...........................................................................................................................................................................43
3.2.4Module IDSetting.............................................................................................................................................................44
3.2.5CommunicationSettingsSwitch......................................................................................................................................44
3.2.6ConnectorSignalTable....................................................................................................................................................45
3.3 PModule HM-P100C...........................................................................................................................................................46
3.4 CModule HM-C100C...........................................................................................................................................................46
3.4.1Specifications....................................................................................................................................................................46
3.4.2 ExternalAppearance.....................................................................................................................................................48
3.4.3Indicators...........................................................................................................................................................................48
3.4.4Switch Settings..................................................................................................................................................................49
3.4.5Cable Connectors.............................................................................................................................................................50
3.4.6ConnectorTerminalElectrical Requirements.................................................................................................................51
3.4.7Command PulseOutputand Connectionto Drivers......................................................................................................52
3.4.8EncoderSignalInputand Connection.............................................................................................................................53
3.4.9OtherServoInterfaceSignals..........................................................................................................................................54
3.4.10Machine Interface...........................................................................................................................................................56
3.5W Module HM-W200C.........................................................................................................................................................58
3.5.1Specifications....................................................................................................................................................................58
3.5.2ExternalAppearance........................................................................................................................................................60
3.5.3Indicator.............................................................................................................................................................................60
3.5.4Connectors........................................................................................................................................................................61
3.5.5 DriverControlSignal......................................................................................................................................................64
3.5.6MachineInterface Signal..................................................................................................................................................65
3.6 DModule HM-D1616C.........................................................................................................................................................66
3.6.1Specifications....................................................................................................................................................................66
3.6.2 ExternalAppearance.....................................................................................................................................................67
3.6.3Indicators...........................................................................................................................................................................67
3.6.4Connectors........................................................................................................................................................................68
3.6.5ConnectorTerminalElectrical Requirements.................................................................................................................69
3.6.6Input/OutputCircuits.........................................................................................................................................................70
3.7IModule HM-DI320C............................................................................................................................................................71
3.7.1Specifications....................................................................................................................................................................71
3.7.2 ExternalAppearance.....................................................................................................................................................71
3.7.3Connectors........................................................................................................................................................................72
3.7.4ConnectorTerminalElectrical Requirements.................................................................................................................73
3.7.5Input Circuit........................................................................................................................................................................73
3.7.6FusesandLEDs...............................................................................................................................................................73
3.8 Omodule HM-DO320C........................................................................................................................................................74
3.8.1Specifications....................................................................................................................................................................74
3.8.2ExternalAppearance........................................................................................................................................................74
3.8.3Connectors........................................................................................................................................................................75
3.8.4ConnectorTerminalElectrical Requirements.................................................................................................................76
3.8.5Output Circuit.....................................................................................................................................................................76
3.8.6FusesandLEDs...............................................................................................................................................................76
3.9 TModule HM-2408T.............................................................................................................................................................77
3.9.1Specifications....................................................................................................................................................................77
3.9.2ExternalAppearance........................................................................................................................................................78
3.9.3CableConnectors.............................................................................................................................................................79

3.9.4ConnectorTerminalElectrical Requirements.................................................................................................................80
3.9.5Input Circuit........................................................................................................................................................................80
3.9.6Output Circuit.....................................................................................................................................................................80
3.10 AModule HM-A4401C.......................................................................................................................................................81
3.10.1Specifications..................................................................................................................................................................81
3.10.2ExternalAppearance......................................................................................................................................................81
3.10.3Connectors......................................................................................................................................................................82
3.11 BModule HM-A4199C.......................................................................................................................................................83
3.11.1Specifications..................................................................................................................................................................83
3.11.2ExternalAppearance......................................................................................................................................................83
3.11.3Connectors......................................................................................................................................................................84
3.12 RModule HM-R100C.........................................................................................................................................................85
3.12.1Specifications..................................................................................................................................................................85
3.12.2ExternalAppearance......................................................................................................................................................86
3.12.3SwitchSettings................................................................................................................................................................86
3.12.4Connectors......................................................................................................................................................................88
3.12.5 Input/OutputCircuit......................................................................................................................................................90
3.12.6Exampleof ConnectionConfiguration...........................................................................................................................91
3.13 SModule HM-S100C.........................................................................................................................................................92
3.13.1Specifications..................................................................................................................................................................92
3.13.2ExternalAppearance......................................................................................................................................................93
3.13.3SwitchSettings................................................................................................................................................................93
3.13.4Connectors......................................................................................................................................................................95
3.13.5Input/Output Circuits.......................................................................................................................................................96
3.13.6Exampleof ConnectionConfiguration...........................................................................................................................97
4. InstallationGuide.................................................................................................................................................................98
4.1 PreparingCables.....................................................................................................................................................................99
4.1.1Device InterfaceCables.................................................................................................................................................100
4.1.2Installingwith aDINRail.................................................................................................................................................100
4.1.3InstallingontheFloorwithScrews.................................................................................................................................101
4.2 ConnectionsbetweenComponentsand Power SupplySystemWiring...........................................................................103
4.2.1PowerSupplySystemWiringforSlaves.......................................................................................................................103
4.2.2Explanationon PowerSupplySystem..........................................................................................................................105
5. DeviceDriver Installation...................................................................................................................................................107
5.1 HPCI-MCAT520M, HCPCI-MNT720M................................................................................................................................108
5.1.1InstallationonWindows7 orlater(32bit)......................................................................................................................108
5.1.2InstallationonWindows7 orlater(64bit)......................................................................................................................108
5.1.3InstallationonWindowsXP............................................................................................................................................108
5.1.4InstallationonWindows2000........................................................................................................................................108
5.1.5UninstallingtheDeviceDriver forWindowsXP orlater (DriverVersion2.0.0.0orLater)..........................................109
5.1.6Uninstalling theDeviceDriverforWindows2000(DriverVersion1.0.0.1orEarlier).................................................109
5.1.7HowtoCheck the DeviceDriverVersion......................................................................................................................109
5.2 HM-GU00G............................................................................................................................................................................110
5.2.1InstallationonWindows7 orlater(32bit)......................................................................................................................110
5.2.2InstallationonWindows7 orlater(64bit)......................................................................................................................110
5.2.3InstallationonWindowsXP............................................................................................................................................110
5.2.4Uninstallation...................................................................................................................................................................110
6. TrialOperation...................................................................................................................................................................111
6.1 Before Turning ONthe Power..............................................................................................................................................112
6.2 Tuning ONthePower............................................................................................................................................................112
6.3 Using “Getting Started”..........................................................................................................................................................112
6.3.1 About “Getting Started”...................................................................................................................................................112
6.3.2 Precautions on Running “Getting Started”....................................................................................................................112
6.4 “Getting Started” for HPCI-MCAT520M,HM-GU00T.........................................................................................................113
6.4.1 Installing “Getting Started”..............................................................................................................................................113
6.4.2 Updating “Getting Started”..............................................................................................................................................113
6.4.3 Starting “Getting Started”................................................................................................................................................114

6.4.4SelectingaModule.........................................................................................................................................................115
6.4.5PModule HM-P100C (1-axisMotionModule)....................................................................................................116
6.4.6W Module HM-W200C(2-axisMotion Module)..................................................................................................116
6.4.7CModule HM-C100C (1-axis Motion Module with InterpolationFunction)......................................................116
6.4.8TModule HM-D2408T(24-In/8-OutDIOModule).............................................................................................127
6.4.9DModule HM-D1616C(16-In/16-Out DIOModule)..........................................................................................128
6.4.10I Module HM-DI320C(32-InDI Module)...........................................................................................................129
6.4.11O Module HM-DO320C(32-OutDOModule)...................................................................................................130
6.4.12A Module HM-A4401C(4-In/4-OutVoltage-type AnalogModule)...................................................................131
6.4.13B Module(4-In/1-Out)...................................................................................................................................................132
6.5 CheckingtheOperation.........................................................................................................................................................133
6.5.1 P/W/CModule.................................................................................................................................................................133
6.5.2T/D/I/O/A/B Module.........................................................................................................................................................133
7. Accessories........................................................................................................................................................................134
7.1 ConnectorBoard ACB-TH2408...................................................................................................................................135
7.2 ConnectorBoard ACB-TH1204...................................................................................................................................135
8. Glossary.............................................................................................................................................................................136
8.1 TermsUsedinMotion Control..............................................................................................................................................137
8.1.1ExampleofMotion ControlConfiguration.....................................................................................................................137
8.1.2Pulse CommandandMotorRotation............................................................................................................................137
8.1.3Controlled AxisandtheNames ofAxes........................................................................................................................138
8.1.4Control CommandUnits.................................................................................................................................................138
8.1.5CoordinateandTravel DistanceCommand.................................................................................................................139
8.1.6CommandCounterand MachineCounter....................................................................................................................139
8.1.7ConstantSpeedandAcceleration/DecelerationOperations.......................................................................................139
8.1.8OperationSpeedandBaseSpeed...............................................................................................................................140
8.1.9TypesofAxisOperations...............................................................................................................................................140
8.1.10Input/OutputSignal.......................................................................................................................................................142
8.1.11Others............................................................................................................................................................................145
8.2 TermsUsedfor motionCAT..................................................................................................................................................147
8.2.1MotionnetCommunicationLSI.......................................................................................................................................147
8.2.2Master Board...................................................................................................................................................................147
8.2.3Line..................................................................................................................................................................................147
8.2.4Slave................................................................................................................................................................................147
8.2.5Module.............................................................................................................................................................................147
8.2.6Module ID........................................................................................................................................................................147
8.2.7System Communication and Local Device Information...............................................................................................147
8.2.8Cyclic Communication....................................................................................................................................................148
8.2.9Data Communication......................................................................................................................................................149
9. ConnectionstoDriversSuppliedbyManufacturers........................................................................................................150
9.1 Yaskawa Electric Servo Pack ΣIII......................................................................................................................................151
9.2 MitsubishiElectric MELSERVOMR-J3.............................................................................................................................152
9.3 Matsushita ElectricIndustrial MINAS-A4...........................................................................................................................153
9.4 HitachiIndustrialEquipmentSystems AD3......................................................................................................................154
9.5 Oriental Motor αSTEP ........................................................................................................................................................155
9.6Standard-typeSteppingMotorDrivers(OrientalMotorPMU,UMK,SD51xx,DFCetc.) ..................................................................156
9.7ConnectiontoHivertecMicrosteppingMotorDriver(5-phaseHSD515M,2-phaseHSD415M) ..................................................................156
10. RevisionHistory.................................................................................................................................................................157

Table of Figures
Table1.2-1motionCATtransmission times.............................................................................................................................10
Figure1.3-1motionCATconnection rules................................................................................................................................11
Table1.4-1Communicationspecifications...............................................................................................................................12
Table1.5-1motionCATcommunication times.........................................................................................................................13
Figure1.6-1Disconnectiondetection.......................................................................................................................................14
Table1.7-1Master boardtypes................................................................................................................................................15
Table1.7-2Baseslavetypes....................................................................................................................................................15
Table1.7-3Moduletypes..........................................................................................................................................................15
Table1.7-4Slaveconfigurationexamples...............................................................................................................................16
Table1.7-5Connectorboards...................................................................................................................................................16
Table1.7-6Cables.....................................................................................................................................................................17
Table2.1-1HPCI-MCAT520Mspecifications..........................................................................................................................19
Figure2.1-1Block diagram........................................................................................................................................................19
Figure2.1-2Positionsoftheconnectorsandswitcheson HPCI-MCAT520M......................................................................20
Figure2.1-3RotaryDIPswitchforboardID setting.................................................................................................................20
Figure2.1-4Communicationspeedsettingswitch..................................................................................................................20
Figure2.1-5Emergencystopsetting........................................................................................................................................21
Figure2.1-6ConnectorpositionsonHPCI-MCAT520M.........................................................................................................21
Table2.1-2Pinassignmentofemergencystopinput part (J1)..............................................................................................21
Figure2.1-7Connectionexampleofemergencystopinputandinternalcircuit....................................................................22
Table2.1-3RJ45(J2, J3)connectorsignals............................................................................................................................22
Figure2.1-8Communicationsettingsswitch...........................................................................................................................22
Table2.2-1HCPCI-MNT720Mspecifications..........................................................................................................................23
Figure2.2-1HCPCI-MNT720Mblock diagram.......................................................................................................................23
Figure2.2-2Settingpositions....................................................................................................................................................24
Figure2.2-3RotaryDIPswitchforboardIDsetting.................................................................................................................24
Figure2.2-4Communicationspeedsettingswitch..................................................................................................................24
Figure2.2-5HCPCI-MNT720Mconnectorpositions..............................................................................................................25
Table2.2-2RJ45(J2, J3)connectorsignals............................................................................................................................25
Table2.2-3J1connector(general-purposeI/O)signals.........................................................................................................25
Figure2.2-6Inputand outputportcircuits................................................................................................................................26
Figure2.2-7Connectiontosink type........................................................................................................................................26
Figure2.2-8Connectionexampleofanoutput circuit.............................................................................................................26
Table2.3-1HPC104-MCAT110Mspecifications.....................................................................................................................27
Figure2.3-1HPC104-MCAT110Mblock diagram..................................................................................................................27
Figure2.3-2HPC104-MCAT110Mconnector andswitchpositions......................................................................................28
Figure2.3-3Interruptionjumpers..............................................................................................................................................28
Figure2.3-4Communicationspeedswitch..............................................................................................................................28
Figure2.3-5Address,buswidth,spacemode touse, andaddressspacesettingswitch....................................................29
Figure2.3-6SettingexampleofI/Omapped andmemorymappedI/O access...................................................................29
Table2.3-2J1,J2(PC/104)connectorsignals........................................................................................................................30
Table2.3-3 RJ45(J4) connectorsignals..................................................................................................................................31
Table2.3-4J3connector(general-purposeI/O)signals.........................................................................................................31
Table2.3-5General-purposeinput/outputand emergencystopinputcircuits......................................................................32
Table2.4-1HM-GU00Gspecifications.....................................................................................................................................33
Figure2.4-1Block diagram........................................................................................................................................................33
Figure2.4-2HM-GU00Gmodulesettingpositions..................................................................................................................34
Table2.4-2ModuleIDsettings.................................................................................................................................................34
Figure2.4-3Communicationsettingsswitch...........................................................................................................................34
Figure2.4-4ExternalappearanceofHM-GU00G-- USBmastermodule............................................................................35
Figure2.4-5IndicatorLEDpositions.........................................................................................................................................35
Table2.4-3LED indicators........................................................................................................................................................35
Table2.4-4USBtypeB(J1)connectorsignals.......................................................................................................................36

Table2.4-5RJ45(J2)connectorsignals..................................................................................................................................36
Figure2.4-6Receivingterminalwiring......................................................................................................................................36
Table3.1-1Baseslaves............................................................................................................................................................39
Table3.1-2Listof modules.......................................................................................................................................................40
Table3.1-3Sequentialorderofmodules.................................................................................................................................40
Figure3.1-1Exampleofmoduledisposition............................................................................................................................40
Figure3.1-2Slaveconfigurationof HMG type.........................................................................................................................41
Figure3.1-3SlaveconfigurationofHUGtype..........................................................................................................................41
Table3.2-1HM-GN00Gcommunicationmodulespecifications............................................................................................42
Figure3.2-1ExternalappearanceofHM-GN00Gcommunicationmodule..........................................................................42
Figure3.2-2IndicatorLED positions.........................................................................................................................................43
Table3.2-2LED indicators........................................................................................................................................................43
Figure3.2-3ModuleID settings................................................................................................................................................44
Figure3.2-4Communicationsettingsswitch...........................................................................................................................44
Table3.2-3RJ45(J1, J2)connectorsignals............................................................................................................................45
Figure3.2-5Receivingterminalwiring......................................................................................................................................45
Table3.4-1P/Cmodule, HM-P100C/HM-C100Cspecifications............................................................................................47
Figure3.4-1 ExternalappearanceofP/Cmodule, HM-P100C/HM-C100C..........................................................................48
Figure3.4-2IndicatorLED position...........................................................................................................................................48
Table3.3-2LED indicator..........................................................................................................................................................48
Figure3.4-3DIPswitchesfor modulesetting...........................................................................................................................49
Table3.4-3 DIP SW for encoder A-phase/B-phasemethodselection...................................................................................49
Table3.4-4 DIP SW for encoder Z-phase method selection..................................................................................................49
Table 3.4-5 DIP SW for CMP →STAswitching......................................................................................................................49
Table3.4-6 DIP SW for Counter clear/ Counter latch selection..............................................................................................49
Table3.4-7ServoI/Fconnectorsignals...................................................................................................................................50
Table3.4-8 MachineI/Fconnectorsignals............................................................................................................................51
Figure3.4-4Receivingterminalwiring......................................................................................................................................51
Table3.4-9Connectorterminalelectricalrequirements..........................................................................................................51
Table3.4-10Commandpulseoutput circuits...........................................................................................................................52
Table3.4-11Encodersignalinput circuits................................................................................................................................53
Table3.4-12Outputsignalcircuits andsettingsoftheservointerface..................................................................................54
Table3.4-13Inputsignal circuitsettingsfortheservointerface..............................................................................................55
Table3.4-14Machineinterface.................................................................................................................................................56
Figure3.4-5HowtoimplementPCS........................................................................................................................................56
Figure3.4-6CircuitfortheDLS/CLR/LTCthreefold function..................................................................................................57
Table3.5-1W module,HM-W200C specifications..................................................................................................................59
Figure3.5-1 External appearanceofW module HM-W200C.................................................................................................60
Figure3.5-2IndicatorLED position...........................................................................................................................................60
Table3.5-2LED indicator..........................................................................................................................................................60
Table3.5-3Connectorinput andoutputsignals......................................................................................................................61
Figure3.5-3Connectionconfiguration......................................................................................................................................61
Table3.5-4J1,J2connectors...................................................................................................................................................62
Table3.5-5J3connector...........................................................................................................................................................62
Figure3.5-4Receivingterminalwiring......................................................................................................................................63
Table3.5-6Commandpulse outputcircuit...............................................................................................................................64
Table3.5-7Drivercontrolsignalcircuits...................................................................................................................................64
Table3.5-8MachineI/Fcircuit..................................................................................................................................................65
Table3.6-1Dmodule,HM-D1616Cspecifications.................................................................................................................66
Figure3.6-1ExternalappearanceofDmodule,HM-D1616C...............................................................................................67
Figure3.6-2IndicatorLED position...........................................................................................................................................67
Table3.6-2LED indicator..........................................................................................................................................................67
Table3.6-3DIO16/16connectorsignals.................................................................................................................................68
Figure3.6-3Receivingterminalwiring......................................................................................................................................69
Table3.6-4Connectorterminalelectricalrequirements..........................................................................................................69
Table3.6-5DIOmoduleinput/outputcircuits...........................................................................................................................70
Table3.7-1I module, HM-DI320Cspecifications....................................................................................................................71

Figure3.7-1ExternalappearanceofI module, HM-DI320C..................................................................................................71
Table3.7-2DI32connectorsignals..........................................................................................................................................72
Table3.7-3Connectorterminalelectricalrequirements..........................................................................................................73
Figure3.7-2Inputcircuit.............................................................................................................................................................73
Figure3.7-3Fuseand LEDpositions.......................................................................................................................................73
Table3.8-1Omodule,HM-DO320Cspecifications................................................................................................................74
Figure3.8-1ExternalappearanceofOmodule,HM-DO320C..............................................................................................74
Table3.8-2DO32connectorsignals........................................................................................................................................75
Table3.8-3Connectorterminalelectricalrequirements..........................................................................................................76
Figure3.8-2Outputcircuit..........................................................................................................................................................76
Figure3.8-3Fuseand LEDpositions.......................................................................................................................................76
Table3.9-1Tmodule, HM-D2408Tspecifications..................................................................................................................77
Figure3.9-1ExternalappearanceofTmodule, HM-2408T...................................................................................................78
Table3.9-2DIO24/8connectorsignals...................................................................................................................................79
Table3.9-3Connectorterminalelectricalrequirements..........................................................................................................80
Figure3.9-2Inputcircuit.............................................................................................................................................................80
Figure3.9-3Outputcircuit..........................................................................................................................................................80
Table3.10-1Amodule,HM-A4401Cspecifications................................................................................................................81
Figure3.10-1ExternalappearanceofAmodule, HM-A4401C..............................................................................................81
Table3.10-2AD/DAconnectorsignals....................................................................................................................................82
Figure3.10-2Receivingterminalwiring....................................................................................................................................82
Table3.11-1B module,HM-A4199Cspecifications................................................................................................................83
Figure3.11-1ExternalappearanceofBmodule, HM-A4199C..............................................................................................83
Table3.11-2AD/DAconnectorsignals....................................................................................................................................84
Figure3.11-2Receivingterminalwiring....................................................................................................................................84
Table3.12-1Rmodule, HM-R100Cspecifications.................................................................................................................85
Figure3.12-1ExternalappearanceofRmodule,HM-R100C...............................................................................................86
Figure3.12-2 DIPSW positions................................................................................................................................................86
Table3.12-2Connectingservodriversettingtable..................................................................................................................86
Table3.12-3Communicationprotocolaccordingtotheselectedservo driver......................................................................87
Table3.12-4Datacode settingtable........................................................................................................................................87
Table3.12-5Connectorsignalsfor servo driverconnection...................................................................................................88
Table3.12-6Connectorsignalsfor controllerconnection.......................................................................................................89
Table3.12-7Input/outputcircuit................................................................................................................................................90
Figure3.12-3Exampleofcableconnection.............................................................................................................................91
Table3.13-1SModule, HM-S100Cspecifications..................................................................................................................92
Figure3.13-1ExternalappearanceofS Module, HM-S100C................................................................................................93
Figure3.13-2 DIPSW positions................................................................................................................................................93
Table3.13-2RS-232Cbaudratesettingtable.........................................................................................................................93
Table3.13-3Connectingservodriversettingtable..................................................................................................................94
Table3.13-4Communicationprotocolaccordingtotheselectedservodriver......................................................................94
Table3.13-5Datacode settingtable........................................................................................................................................94
Table3.13-5Connectorsignalsfor absoluteencoderserialcommunication........................................................................95
Table3.13-6Connectorsignalsfor RS-232Cserialcommunication.....................................................................................95
Table3.13-7Input/outputcircuits..............................................................................................................................................96
Figure3.13-3Exampleofcableconnection.............................................................................................................................97
Table4.1-1Connectioncables..................................................................................................................................................99
Figure4.1-1Connectionexample.............................................................................................................................................99
Figure4.1-2Deviceinterfacecables.......................................................................................................................................100
Figure4.1-3DINrailinstallation...............................................................................................................................................100
Figure4.1-4Mountingand demountingaslaveon/offtheDINrail......................................................................................101
Figure4.1-5Howtoinstallonthefloor....................................................................................................................................101
Figure4.1-6Holesforinstallation............................................................................................................................................102
Figure4.2-1Powerreceivingterminals (ExampleofHMG1-axismotionslave,HMG-P1)...............................................103
Figure4.2-2Onepowersupply foraslave.............................................................................................................................103
Figure4.2-3Usingseparatepowersupplies formodules.....................................................................................................104
Figure4.2-4Powersupplysystemconnections withslaves.................................................................................................104

Figure4.2-5Powersupplysystem bya single powersource...............................................................................................105
Figure4.2-6Powersupplysystem byseparatepowersources...........................................................................................106
Figure5.1-1Versionofthedevicedriver................................................................................................................................109
Figure6.4-1Startscreen.........................................................................................................................................................114
Figure6.4-2Moduleselection-ExampleofHPCI-MCAT520M...........................................................................................115
Figure6.4-3Moduleselection-ExampleofHM-GU00T......................................................................................................115
Figure6.4-4P/W/Cmoduleoperationscreen........................................................................................................................116
Table6.4-1 Initial values of “Getting Started” registers..........................................................................................................117
Figure6.4-5Selectingoperationmode,speedpattern,andacceleration/decelerationsystem.........................................118
Figure6.4-6Settingsignalinputpolarity.................................................................................................................................119
Figure6.4-7Settinghoming....................................................................................................................................................120
Figure6.4-8Commandpulseand encoderinputsettings....................................................................................................121
Figure6.4-9Comparatorsettings...........................................................................................................................................122
Figure6.4-10Signalinput status,counterdisplayetc...........................................................................................................123
Figure6.4-11Operationparametersettings..........................................................................................................................124
Figure6.4-12Continuous feed operation...............................................................................................................................125
Figure6.4-13Homingoperation.............................................................................................................................................125
Figure6.4-14Positioningoperation........................................................................................................................................126
Figure6.4-15Reciprocatingpositioningoperation.................................................................................................................126
Figure6.4-16Tmoduleoperationscreen..............................................................................................................................127
Figure6.4-17DetailedTmoduleoperationscreen...............................................................................................................127
Figure6.4-18Dmodulestartscreen......................................................................................................................................128
Figure6.4-19DetailedDmoduleoperationscreen...............................................................................................................128
Figure6.4-20Imoduleoperationscreen................................................................................................................................129
Figure6.4-21DetailedImoduleoperationscreen.................................................................................................................129
Figure6.4-22Omodule operationscreen..............................................................................................................................130
Figure6.4-23DetailedOmoduleoperation screen...............................................................................................................130
Figure6.4-24Amoduleoperationscreen..............................................................................................................................131
Figure6.4-25DetailedAmoduleoperationscreen...............................................................................................................131
Figure6.4-26Bmoduleoperationscreen..............................................................................................................................132
Figure6.4-27DetailedBmoduleoperationscreen...............................................................................................................132
Figure7.1-1ExternalappearanceofACB-TH2408..............................................................................................................135
Figure7.2-1ExternalappearanceofACB-TH1204..............................................................................................................135
Figure9.1-1 Yaskawa Electric Servo Pack ΣIII......................................................................................................................151
Figure9.2-1MitsubishiElectric MELSERVOMR-J3series.................................................................................................152
Figure 9.3-1Matsushita ElectricIndustrial MINASA4...........................................................................................................153
Figure9.4-1HitachiIndustrialEquipmentSystemsAD3......................................................................................................154
Figure9.5-1 Oriental Motor αSTEP ........................................................................................................................................155
Figure9.6-1Exampleofconnectionto a standard-type steppingmotordriver...................................................................156
Figure9.7-1Exampleofconnectionto Hivertecmicrosteppingmotordriver......................................................................156

1
Warnings and Precautions

2
Extent of Warranty
1. The product warranty is valid for a period of ONE year from the date of purchase. If a defect is
acknowledged by Hivertec within the period of warranty, Hivertec will repair or replace the product upon
return of the product to Hivertec.
2. Hivertec is not responsible beyond the purchase price of the product for any damages or loss of profit,
direct, indirect, or secondary, caused by application, delivery, or failure of a Hivertec product either within
or outside of the period of warranty.
Limitations to Liability
1 Hivertec is not responsible for any damages resulting from product installation, connections, settings, or
operation that do not follow the contents of this manual.
2 The motionCAT series products use semiconductor devices manufactured for general electronics
equipment, such as machine tools, instrumentation, FA devices, OA devices, and communications
equipment. They are not designed, conceived, approved for, or warranted for application in devices for
which faulty operation or failure will have a direct effect on human life or result in personal injury or
damage to property.
The safety, quality, and performance of the products are not guaranteed explicitly or implicitly beyond
those given in this manual or related catalogs.
3 Hivertec is not responsible for any damages resulting from modifications or repairs made to the products
without the approval of Hivertec either within or outside of the period of warranty.
4 The contents of this manual do not guarantee or grant rights to patents, copyright, trademark rights, or
any other rights to the intellectual property of Hivertec or any third party.
Hivertec is not responsible for any problems that may occur concerning the rights to intellectual property
of third parties resulting from the application of information provided in this manual.

3
Important Safety Instructions
Thank you for choosing our motionCAT series. This manual contains information that is important for the safe
and reliable operation of the motionCAT products. Read this section and understand the information
contained before attempting to use the products.
Furthermore, save this manual and store it in an easily accessible location near the installed motionCATs, so
that it can be referenced when necessary.
Safety Precautions
Always read this manual and any attached documents completely before attempting to use
the motionCAT series products. Be sure that you understand the information provided and
are using the products correctly. Do not use the products before having a complete
understanding of the products, product safety information, and precautions.
In this manual, safety precautions are classified as either Warnings or Cautions.
Warning
Indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury.
Caution
Indicates a potentially hazardous situation which, if not avoided, may
result in minor or moderate injury, or property damage.
Authorized For
Caution
The motionCAT series products and this manual are designed for those with the
following knowledge.
-A basic knowledge of installing and wiring expansion boards.
- A basic knowledge of electronic control devices and personal computers.
Compatible Bus
Warning
HPCI-MCAT520M is a board compatible with PCI Local Bus Specification Rev.2.2.
Only use it in an environment in which PCI Local Bus Specification Rev.2.2 can operate.
HCPCI-MNT720M is a board compatible with CompactPCI Specification Revision 2.1.
Only use it in an environment in which CompactPCI Specification Revision 2.1 can
operate.
HPC104-MCAT110M is a board compatible with PC/104 Bus Ver2.5. Only use it in an
environment in which PC/104 Bus Ver2.5 can operate.
HM-GU00G is a board compatible with Universal Serial Bus 2.0 High Speed.
Only use it in an environment in which USB2.0 or USB1.1 can operate.

4
Environmental Conditions
Warning
Store and use the motionCAT series products only under the following environmental conditions.
⚫Ambient operating temperature: 0 to +50C
⚫Ambient operating humidity: 20 to 85% RH (without dew condensation)
⚫Ambient storage temperature: -15 to +75C
⚫Ambient storage humidity: 10 to 90% RH (without dew condensation)
⚫Atmosphere: No corrosive gas, inflammable gas, oil mist, or dust
⚫Altitude: 3,000m above sea level max. (Lower upper level of
temperature ranges by 2C for every 300m.)
Compatible Cables and Communication System
Warning
Do not connect a communication cable to any product incompatible with Motionnet.
Use shielded LAN cables, CAT5e or above as communication cables.
The use of a cable other than these may cause an operating error.
The cable length between slaves or between the master and slave must be 60 centimeters
or more.
A too short cable may cause an operating error. The total transmission distance must be
within 50 meters. A too long transmission distance may cause an operating error.
Limit the number of modules per line to 32 or less. Connecting more than 33 modules may
cause an operating error.
Do not use duplicate module IDs (addresses) for modules on the same line.
Duplicate IDs may cause an operating error or a failure.

5
Transportation and Installation
Warning
Touch a metal object to discharge static electricity from your body before touching a
motionCAT series product.
Static electricity may cause a failure of the product.
Do not wrap the product in any wrapping material that easily carries a static charge, such as
bubble wrap. Static electricity may cause a failure of the product.
Do not touch the edge connector on the product.
Contamination on the edge connector may cause an operating error.
Do not place any heavy object on the product. A heavy object may damage components on
the product, possibly causing a failure of the product.
Set the jumpers (switches) on the products before installing to the computer (or before
stacking). If the jumpers (switches) are set with the power supply turned ON, the settings
may not be recognized correctly, possibly causing an operating error.
Set the jumpers (switches) on the products correctly. Incorrect settings may cause an
operating error.
Always turn OFF the power supply of the computer and disconnect the power supply cable
before installing the product.
Installing the product without removing the power supply cable may cause a failure, or the
device may exhibit an unexpected operation.
HCPCI-MNT720M does not provide hot-swap functionality.
Always turn OFF the power supply to the computer and disconnect the power supply cable
before installing HCPCI-MNT720M in or removing it from the computer. Installing the
product without removing the power supply cable may cause a failure, or the device may
exhibit an unexpected operation.
Though hot plug-in is allowed in USB connectors, refrain from inserting/removing the USB
connector with the power supply ON, when connecting HM-GU00G.
When connecting HM-GU00G to the computer, make sure to insert the connector deeply,
and fix the adjacent part of the cable to prevent the connector from falling off during
operation or poor contact.
Falling during operation or poor contact may cause an operating error or product damage.
When installing HPCI-MCAT520M to the computer, make sure the board is straight to the
connector in the computer and press in the board so that the gold-plated edge connector is
deeply inserted into the connector. If the board is inserted at an angle or not inserted deeply
enough, poor contact may cause an operating error or product damage. Also, fix the
mounting brackets tightly with mounting screws. Improper securing of the board may cause
an operating error.
When stacking HPC104-MCAT110M, make sure the board is straight and press in the board
so that the gold-plated connector pin is deeply inserted. If the board is inserted at an angle
or not inserted deeply enough, poor contact may cause an operating error or product
damage. Also, fix the mounting brackets tightly with mounting screws. Improper securing of
the board may cause an operating error.

6
Caution
Do not drop the product or handle it roughly.
Vibration or shock may cause a failure.
Do not disassemble the product.
It may damage the product or cause an operating error.
Do not touch the solder surface of the product with your hands.
Sharp points on the components may cause injury.
Wiring
Warning
Turn OFF the power supply to the computer and disconnect the power supply cable before
wiring connectors to exterior lines or before connecting or disconnecting such connectors.
Performing this work without removing the power supply cable may cause a failure.
Furthermore, the device may exhibit an unexpected operation.
When wiring connectors to exterior lines, check connector signal tables carefully and wire all
lines correctly. Incorrect wiring may cause a failure or burning.
Always keep external power supply within ratings. Using circuits that are not within ratings
may cause a failure, burning, or operating error.
Always keep circuits connected to the I/O circuits within the rated currents and voltages.
Using circuits that are not within ratings may cause a failure, burning, or operating error.
Use the recommended connectors for external lines. Using any other connector may cause
an operating error because of faulty contact.
Always lock connectors for external lines. A connector that is not locked may come loose,
possibly causing an operating error because of faulty contact.
Do not pull on or place heavy objects on cables for external wiring. The connector may come
loose and faulty contact may cause an operating error.
Separate cables for external wiring as far as possible from AC power cables, motor cables,
or other cables that generate excessive noise. Noise may cause an operating error.

7
Trial Operation and Adjustment
Warning
Always debug the program completely before using the motionCAT series products to drive
devices. Any error in the program may cause unexpected operation.
When using sample programs provided with the products to operate devices, always start
at low speed and be sure that settings match the mechanical system before attempting
operation. Operating with settings that do not match the mechanical system may result in
unexpected operation.
Disposal
Warning
Abide by all applicable laws and ordinances when disposing of the products.

8
Manual Configuration
The motionCAT series products come with the manuals shown below.
⚫motionCAT series User’s Manual <Introduction>
⚫motionCAT series User’s Manual <Operation>
⚫motionCAT series User’s Manual <Operation for each individual modules>
⚫motionCAT series User’s Manuals <Software>
motionCAT series User’s Manual <Introduction>
This manual provides the following information.
(1) motionCAT installation
(2) motionCAT Master board
(3) motionCAT Slaves
(4) Installation
(5) Trial operation
(6) Accessories
(7) Glossary
(8) Connection examples
Contents in (1) and (7) are intended for all motionCAT system users. Make sure to read them before using
the product.
The other contents are mainly intended for developers in charge of the installation, connection, and wiring.
motionCAT series User’s Manual <Operation>
This manual provides information required for software development common to all motionCAT series
products.
(1) Operation of each module
(2) Information on device
motionCAT series User’s Manuals <Software for Windows>
These manuals provide instructions for using the software attached to each master.
(1) Software configuration
(2) Sample program
(3) Preparations for software
(4) Library function
(5) Driver function
(6) Information on ports
Accompanying Software
The following software for Windows is attached to the master board of the motionCAT series.
(1) Device drivers for Windows
(2) Program for operation checking, “Getting Started”
(3) Sample program for Microsoft Visual Studio
Refer to the User’s Manuals <Software> for the contents of the accompanying software.

9
1. motionCAT Installation