Omron R88A-MCW151-DRT-E User manual

Cat. No. I203-E2-02 Note: Specifications subject to change without notice.
OPERATION MANUAL
Motion Control Option
Board
R88A-MCW151-E
R88A-MCW151-DRT-E
Cat. No. I203-E2-02
Authorised Distributor:
Printed in Europe

MCW151 Series
Motion Control Option Board
Models: R88A-MCW151-E
R88A-MCW151-DRT-E
Operation Manual
Produced March 2003

v
Notice:
OMRON products are manufactured for use according to proper procedures by a qualified operator
and only for the purposes described in this manual.
The following conventions are used to indicate and classify precautions in this manual. Always heed
the information provided with them. Failure to heed precautions can result in injury to people or dam-
age to property.
!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.
!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.
OMRON Product References
All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to
an OMRON product, regardless of whether or not it appears in the proper name of the product.
The abbreviation “Ch”, which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for any-
thing else.
Visual Aids
The following headings appear in the left column of the manual to help you locate different types of
information.
Note Indicates information of particular interest for efficient and convenient opera-
tion of the product.
1,2,3... Indicates lists of one sort or another, such as procedures, checklists, etc.
Trademarks and Copyrights
DeviceNet is a registered trademark of the Open DeviceNet Vendor Association, Inc.
OMRON, 2003
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe-
less, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.

vi

vii
About this Manual:
This manual describes the installation and operation of the R88A-MCW151-E and R88A-MCW151-
DRT-E Motion Control Option Boards (MC Units) and includes the sections described below.
Please read this manual and the related manuals listed in the following table carefully and be sure you
understand the information provided before attempting to install or operate the MC Unit. Be sure to
read the precautions provided in the following section.
Precautions provides general precautions for using the MC Unit and related devices.
Section 1 describes the features and system configuration of the R88A-MCW151-E and R88A-
MCW151-DRT-E Motion Control Units and concepts related to their operation.
Section 2 describes the MC Unit components and provides the information for installing the MC Unit.
Section 3 describes the different Motion Control features of the MCW151. Also the functionality of the
Servo Driver related commands are explained.
Section 4 describes the communication components of the MCW151-E and MCW151-DRT-E. The
functionality of the serial communication protocols and the DeviceNet interface are explained.
Section 5 provides an overview of the fundamentals of multitasking BASIC programs and the methods
by which programs are managed in the MC Unit.
Section 6 describes all commands, functions and parameters required for programing the motion con-
trol application using the MC Unit.
Section 7 describes the operation of the Motion Perfect programming software package. Motion Per-
fect provides the user a tool to program, monitor and debug motion based applications for the MC Unit.
Section 8 describes error processing and troubleshooting procedures needed to keep the system
operating properly.
Section 9 explains the maintenance and inspection procedures that must be followed to keep the MC
Unit operating in optimum condition. It also includes proper procedures when replacing an MC Unit.
The Appendices provide the required parameter settings for the Servo Driver, the DeviceNet protocol
specification and some general programming examples.
Name Cat. No. Contents
MCW151 Series
R88A-MCW151-E
R88A-MCW151-DRT-E
Operation Manual
I203 Describes the installation and operation of the R88A-MCW151-E
and MCW151-DRT-E Motion Control Units.
(This manual)
OMNUC W-series
R88M-W❏(AC Servomotors)
R88D-W❏(AC Servo Drivers)
User’s manual
I531 Describes the installation and operation ofthe W-series Servo Driver
and Servomotor.
DeviceNet Operation Manual W267 Describes the configuration and construction of a DeviceNet net-
work, including installation procedures and specifications for cables,
connectors, and other connection devices, as well as information on
the communications power supply.
DeviceNet Configurator Oper-
ation Manual W328 Describes the operation of the DeviceNet Configurator to allocate remote I/O areas according to application needs, as well as proce-
dures to set up a DeviceNet network with more than one master.
!WARNING Failure to read and understand the information provided in this manual may result in per-
sonal injury or death, damage to the product, or product failure. Please read each section
in its entirety and be sure you understand the information provided in the section and
related sections before attempting any of the procedures or operations given.

ix
TABLE OF CONTENTS
PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
3 General Warnings and Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
4 Storage and Transportation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
5 Installation and Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
6 Operation and Adjustment Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
7 Maintenance and Inspection Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
8 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . . 1
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1-3 Motion Control Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1-4 Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1-6 Comparison between Firmware Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
SECTION 2
Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2-1 Components and Unit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2-2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2-4 Servo System Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2-5 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
SECTION 3
Motion Control Functions . . . . . . . . . . . . . . . . . . . . . . . . 43
3-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3-2 System Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3-3 System Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
SECTION 4
Communication Interfaces. . . . . . . . . . . . . . . . . . . . . . . . 59
4-1 Serial Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4-2 DeviceNet (MCW151-DRT-E only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

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TABLE OF CONTENTS
SECTION 5
Multitasking BASIC Programming. . . . . . . . . . . . . . . . . 85
5-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
5-2 BASIC Programming. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
5-3 Motion Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5-4 Command Line Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5-5 BASIC Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5-6 Task Operation Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
5-7 Error Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
SECTION 6
BASIC Motion Control Programming Language . . . . . 97
6-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6-2 Command Reference List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6-3 Command, function and parameter description. . . . . . . . . . . . . . . . . . . . . . . . . . . 111
SECTION 7
Motion Perfect Software Package . . . . . . . . . . . . . . . . . . 197
7-1 Features and Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
7-2 Connecting to the MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
7-3 Motion Perfect Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
7-4 Desktop Appearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
7-5 Motion Perfect Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
7-6 Suggestions and Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
SECTION 8
Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
8-1 Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
8-2 Error Handling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
8-3 Problems and Countermeasures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
SECTION 9
Maintenance and Inspection. . . . . . . . . . . . . . . . . . . . . . . 233
9-1 Routine Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
9-2 Replacing a MC Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Appendices
Appendix A Servo Driver Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Appendix B Device Protocol (MCW151-DRT-E only). . . . . . . . . . . . . . . . . . . . . . . 239
Appendix C Programming Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

xi
PRECAUTIONS
This section provides general precautions for using the Motion Control Unit and related devices.
The information contained in this section is important for the safe and reliable application of the Motion Control
Unit. You must read this section and understand the information contained before attempting to set up or operate
a Motion Control Unit and Servo Driver.
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
3 General Warnings and Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
4 Storage and Transportation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
5 Installation and Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
6 Operation and Adjustment Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
7 Maintenance and Inspection Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
8 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
8-1 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi
8-1-1 Conformance to EC Directives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi

xii
Intended Audience 1
1 Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electri-
cal systems (an electrical engineer or the equivalent).
•Personnel in charge of installing FA systems.
•Personnel in charge of designing FA systems.
•Personnel in charge of managing FA systems and facilities.
2 General Precautions
The user must operate the product according to the performance specifications described in
the operation manuals. You should assume that anything not described in this manual is not
possible.
Before using the product under the following conditions, consult your OMRON representative,
make sure the ratings and performance characteristics of the products are good enough for
the systems, machines, or equipment, and be sure to provide the systems, machines, or
equipment with double safety mechanisms.
1. Conditions not described in the manual.
2. The application of the product to nuclear control systems, railroad systems, aviation sys-
tems, vehicles, combustion systems, medical equipment, amusement machines, or safety
equipment.
3. The application of the product to systems, machines, or equipment that may have a serious
influence on human life and property if they are used improperly.
!WARNING It is extremely important that Motion Control Units and related devices be used for the
specified purpose and under the specified conditions, especially in applications that can
directly or indirectly affect human life. You must consult with your OMRON representative
before applying Motion Control Units and related devices to the above mentioned appli-
cations.
3 General Warnings and Safety Precautions
Observe the following warnings when using the MC Unit and all pheripheral devices.
Consult your OMRON representative when using the product after a long period of storage.
!WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor to a
class-3 ground (to 100 Ωor less). Not connecting to a class-3 ground may result in elec-
tric shock.
!WARNING The product contains dangerous high voltage inside. Turn OFF the power and wait for at
least five minutes to allow power to discharge before handling or working with the prod-
uct.
!WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock.
!WARNING Do not remove the front cover, terminal covers, cables, Parameter Units, or optional
items while the power is being supplied. Doing so may result in electric shock.
!WARNING Installation, operation, maintenance, or inspection must be performed by authorized per-
sonnel. Not doing so may result in electric shock or injury.
!WARNING Wiring or inspection must not be performed for at least five minutes after turning OFF the
power supply. Doing so may result in electric shock.
!WARNING Do not damage, press, or put excessive stress or heavy objects on the cables. Doing so
may result in electric shock, stopping operation of the product, or burning.

xiii
General Warnings and Safety Precautions 3
!WARNING Do not touch the rotating parts of the Servomotor in operation. Doing so may result in
injury.
!WARNING Do not modify the product. Doing so may result in injury or damage to the product.
!WARNING Provide safety measures in external control circuits (i.e., not in the MC Unit) to ensure
safety in the system if an abnormality occurs due to malfunction of the MC Unit, incorrect
or unintended configuration and programming of the MC Unit or external factors affecting
the operation of the MC Unit. Not providing sufficient safety measures may result in seri-
ous accidents, or property damage.
•The MC Unit outputs may remain ON or OFF due to deposits on or burning of the out-
put relays, or destruction of the output transistors. As a counter-measure for such prob-
lems, external safety measures must be provided to ensure safety in the system.
•Provide an external emergency stopping device that allows an instantaneous stop of
operation and power interruption. Not doing so may result in injury.
•Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures
must be provided in external control circuits.
•When the 24-VDC output (service power supply to the Unit) is overloaded or short-cir-
cuited, the voltage may drop and result in the outputs being turned OFF. As a counter-
measure for such problems, external safety measures must be provided to ensure
safety in the system.
!WARNING It is the nature of high speed motion control and motion control language programming
and multi-tasking systems, that it is not always possible for the system to validate the
inputs to the functions or to validate the combination of functions.
!WARNING It is the responsibility of the programmer to ensure that the various BASIC statements are
invoked correctly with the correct number of parameters and inputs, that the values are
correctly validated prior to the actual calling of the functions, and that the BASIC pro-
gram(s) provide the desired functionality for the application. Failure to do so may result in
unexpected behaviour, loss or damage to the machinery.
!Caution When the SERVO_PERIOD parameter has been set to change the servo cycle period of
the MC Unit, a power down or software reset (using DRV_RESET) must be performed for
the complete system. Not doing so may result in undefined behaviour.
!Caution Use the Servomotors and Servo Drivers in a specified combination. Using them incor-
rectly may result in fire or damage to the product.
!Caution Do not operate the control system in the following locations:
•Locations subject to direct sunlight.
•Locations subject to temperatures or humidity outside the range specified in the speci-
fications.
•Locations subject to condensation due to radical temperature changes.
•Locations subject to corrosive or inflammable gases.
•Locations subject to dust (especially iron dust) or salts.
•Locations subject to vibration or shock.
•Locations subject to exposure to water, oil or chemicals.
!Caution Do not touch the Servo Driver radiator, Regeneration Resistor, or Servomotor while the
power is being supplied or soon after power is turned OFF. Doing so may result in a skin
burn due to the hot surface.

xiv
Storage and Transportation Precautions 4
4 Storage and Transportation Precautions
!Caution Do not hold the product by the cables or motor shaft while transporting it. Doing so may
result in injury or malfunction.
!Caution Do not place any load exceeding the figure indicated on the product. Doing so may result
in injury or malfunction.
!Caution Use the motor eye-bolts only for transporting the Motor. Using them for transporting the
machinery may result in injury or malfunction.
5 Installation and Wiring Precautions
!Caution Do not step or place a heavy object on the product. Doing so may result in injury.
!Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering the
product. Doing so may result in fire.
!Caution Be sure to install the product in the right direction. Not doing so may result in malfunction.
!Caution Provide the specified clearance between the Servo Driver and the control panel or with
other devices. Not doing so may result in fire or malfunction.
!Caution Do not apply any strong impact. Doing so may result in malfunction.
!Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury,
or malfunction.
!Caution Be sure that all mounting screws, terminal screws, and cable connector screws are tight-
ened securely. Incorrect tightening may result in malfunction.
!Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals.
Connection of bare stranded wires may result in fire.
!Caution Always use the power supply voltages specified in the manual. An incorrect voltage may
result in malfunction or burning.
!Caution Take appropriate measures to ensure that the specified power with the rated voltage and
frequency is supplied. Be particularly careful in places where the power supply is unsta-
ble. An incorrect power supply may result in malfunction.
!Caution Install external breakers and take other safety measures against short-circuiting in exter-
nal wiring. Insufficient safety measures against short-circuiting may result in burning.
!Caution Take appropriate and sufficient countermeasures when installing systems in the following
locations. Not doing so may result in damage to the product.
•Locations subject to static electricity or other sources of noise.
•Locations subject to strong electromagnetic fields.
•Locations subject to possible exposure to radiation.
•Locations near power supply lines.
!Caution Do not reverse the polarity of the battery when connecting it. Reversing the polarity may
damage the battery or cause it to explode.
!Caution Before touching a Unit, be sure to first touch a grounded metallic object in order to dis-
charge any static build-up. Not doing so may result in malfunction or damage.

xv
Operation and Adjustment Precautions 6
6 Operation and Adjustment Precautions
!Caution Confirm that no adverse effects will occur in the system before performing the test opera-
tion. Not doing so may result in damage to the product.
!Caution Check the modified user programs, newly set parameters and switches for proper execu-
tion before actually running them. Not doing so may result in damage to the product.
!Caution Do not make any extreme adjustments or setting changes. Doing so may result in unsta-
ble operation and injury.
!Caution Separate the Servomotor from the machine, check for proper operation, and then con-
nect to the machine. Not doing so may cause injury.
!Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety, and
then resume operation. Not doing so may result in injury.
!Caution Do not come close to the machine immediately after resetting momentary power interrup-
tion to avoid an unexpected restart. (Take appropriate measures to secure safety against
an unexpected restart.) Doing so may result in injury.
!Caution Confirm that no adverse effect will occur in the system before attempting any of the fol-
lowing. Not doing so may result in an unexpected operation or damage to the product.
•Changing the present values or set values.
•Changing the parameters.
•Modifying (one of) the application programs.
!Caution Do not save data into the flash memory during memory operation or while the motor is
running. Otherwise, unexpected operation may be caused.
!Caution Do not turn OFF the power supply to the Unit while data is being written to flash memory.
Doing so may cause problems with the flash memory.
!Caution Do not turn OFF the power supply to the Unit while data is being transferred. Doing so
may result in malfunction or damage to the product.
!Caution Do not download any firmware to the MC Unit that has not been distributed by OMRON or
that has not been authorized and approved by OMRON for downloading into the
MCW151 series. Failure to do so may result in permanent or temporary malfunction of
the Unit or unexpected behaviour.
7 Maintenance and Inspection Precautions
!WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may
result in malfunction, fire, electric shock, or injury.
!Caution Resume operation only after transferring to the new Unit the contents of the data required
for operation. Not doing so may result in an unexpected operation or damage to the prod-
uct.
8 Conformance to EC Directives
Applicable Directives
•EMC Directives
•Low Voltage Directive

xvi
Conformance to EC Directives 8
8-1 Concepts
EMC Directives
OMRON devices that comply with EC Directives also conform to the related EMC standards
so that they can be more easily built into other devices or ma-chines. The actual products
have been checked for conformity to EMC standards (see the following note). Whether the
products conform to the standards in the system used by the customer, however, must be
checked by the customer. EMC-related performance of the OMRON devices that comply with
EC Directives will vary depending on the configuration, wiring, and other conditions of the
equipment or control panel in which the OMRON devices are installed. The customer must,
therefore, perform final checks to confirm that devices and the over-all machine conform to
EMC standards.
Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN61000-6-2, EN50082-2
EMI (Electromagnetic Interference): EN55011 Class A Group 1
Low Voltage Directive
Always ensure that devices operating at voltages of 50 to 1,000 VAC or 75 to 1,500 VDC meet
the required safety standards.
8-1-1 Conformance to EC Directives
The W-series Servo Driver complies with EC Directives. To ensure that the machine or device
in which a Servo Driver and MC Unit are used complies with EC directives, the Servo System
must be installed as follows (refer to OMNUC W-series User’s manual (I531)):
1,2,3... 1. The Servo Driver must be mounted in a metal case (control box). (It is not necessary to
mount the Servomotor in a metal box.)
2. Noise filters and surge absorbers must be inserted in power supply lines.
3. Shielded cable must be used for I/O signal cables and encoder cables.(Use soft steel wire.)
4. Cables leading out from the control box must be enclosed within metal ducts or conduits
with blades.
5. Ferrite cores must be installed for cables with braided shields, and the shield must be di-
rectly grounded to a ground plate.

1
SECTION 1
Features and System Configuration
This section describes the features and system configuration of the R88A-MCW151-E and R88A-MCW151-DRT-E
Motion Control Units and concepts related to their operation.
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-1-2 Description of Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1-3 Motion Control Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1-3-1 PTP-control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1-3-2 CP-control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1-3-3 EG-Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1-3-4 Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1-4 Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1-4-1 Servo System Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1-4-2 Encoder Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1-5-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1-5-2 Functional Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1-5-3 DeviceNet Specifications (MCW151-DRT-E only) . . . . . . . . . . . . . 21
1-6 Comparison between Firmware Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2
Features Section 1-1
1-1 Features
1-1-1 Overview The R88A-MCW151 is a 1.5-axis Motion Control (MC) Unit which is con-
nected to the W-series Servo Driver. The MC Unit provides direct control of
the Servo Driver, enables both speed and torque control and has access to
detailed Servo Driver data. To support a multi-axis control application, the MC
Unit features both an encoder input and output connection.
There are two types of the MCW151 Motion Controllers, according to the
communication interface which is integrated into the Unit.
The multi-tasking BASIC motion control language provides an easy to use
tool for programming advanced motion control applications.
Three types of motion control are possible: point-to-point, continuous path
and electronic gearing.
Point-to-point Control Point-to-point (PTP) control enables positioning independently for each axis.
Axis specific parameters and commands are used to determine the paths for
the axes.
Continuous Path Control Continuous path (CP) control enables the user not only to control the start and
end positions, but also the path between those points. Possible multi-axis
paths are linear interpolation and circular interpolation. Also user defined
paths can be realized with the CAM control.
Electronic Gearing Electronic gearing (EG) enables controlling an axis as a direct link to another
axis. The MC Units supports electronic gear boxing, linked moves and CAM
movements and adding all movements of one axis to another.
PORT0,1
RUN STS
I/O
+24V
0V
25
1
26
2
SD RD
MCW151
PORT2
PORT0,1
MCW151-DRT
RUN
MS
STS
NS
I/O
+24V
0V
25
1
26
2
MCW151-E MCW151-DRT-E
Communication Interface Model
RS-422A/485 Serial Communication R88A-MCW151-E
DeviceNet R88A-MCW151-DRT-E

3
Features Section 1-1
1-1-2 Description of Features
The MC Unit provides the following features.
Motion Control The direct connection to the Servo Driver provides a high performance / high
precision control system. Operation will be processed in optimal synchroniza-
tion.
•Supports both speed and torque control modes of the Servo Driver.
•Supports switching between the modes during operation.
•Supports speed limit during torque control using the speed reference.
•Selectable MC Unit servo period cycle which can be set to either 0.5 ms
or 1.0 ms.
Servo Driver Access Apart from the motion control operation with the Servo Driver, the MC Unit
provides the following features:
•Monitor the detailed Servo Driver alarm status.
•Monitor various monitor signals (rotation speed, command torque).
•Monitor the Servo Driver digital inputs and analog input to include in the
application.
•Read and write of the Servo Driver Parameters.
•Execution of several Driver functions from the MC Unit. Examples are
Print Registration, Origin Search, Driver Alarm Reset and Driver Reset.
Easy Programming with
BASIC Motion Control
Language
The multi-task BASIC motion control language is used to program the MC
Unit. A total of 14 programs can be held in the Unit and up to 3 tasks can be
run simultaneously. The MC Unit is programmed using a Windows-based
application called 1Motion Perfect. Motion Perfect allows extremely flexible
programming and debugging.
Encoder Input and Output To achieve a solution for multi-axis applications, the MC Unit is provided with
an encoder axis. This axis provides either to have an encoder input for exter-
nal encoders or to have an encoder output to cascade position data to
another MC Unit.
DeviceNet Interface
(MCW151-DRT-E only) The MCW151-DRT-E can be connected easily in an existing DeviceNet net- work. The DeviceNet network has a maximum communication distance of
500 m, so an MC Unit in a remote location can be controlled from the Master.
The MC Unit supports both remote I/O and explicit message communications.
•Remote I/O communications
Remote I/O communications can exchange data (4 input words and 4 out-
put words max.) with the MC Unit at high speed and without program-
ming, just like regular I/O.
•Explicit message communications
Large data transfers to and from the MC Unit memory can be performed
by sending explicit messages from the Master when required.
Serial Communications The MC Unit has three (MCW151-E) or two (MCW151-DRT-E) serial ports for
communication to several external devices. Next to the connection to the Per-
sonal Computer for configuring, the MC Unit can be connected with PCs, Pro-
gramming Terminals (PTs) and other MC Units. The serial ports support the
Host Link Master and Slave protocols.
Absolute Encoder
Support By using a Servomotor with absolute encoder, the motor position is updated
automatically in the MC Unit at start-up of the system. No origin search
sequence will be necessary in the system initiation phase.
1.Motion Perfect is a product of Trio Motion Technology Limited.

4
Features Section 1-1
Virtual Axes The MC Unit contains a total of 3 axes, of which two can be configured as vir-
tual axis. The virtual axes are internal axes and are used for computational
purposes. They act as perfect servo axes and are very useful for creating pro-
files. They can be linked directly to the servo axes.
Hardware-based
Registration Inputs There is a high-speed registration input for the encoder input and output axis.
On the rising or falling edge of a registration input, the MC Unit will store the
current position in a register. The registered position can then be used by the
BASIC program as required. The registered positions are captured in hard-
ware.
General-purpose Input
and Output Signals Starting, stopping, limit switching, origin searches and many other functions
can be controlled by the MC Unit. The general I/O can have specific functions
(such as the registration, limit switches), but also can be freely used.
Reduced Machine Wear The traditional trapezoidal speed profile is provided to generate smooth start-
ing and stopping. The trapezoidal corners can be rounded off to S-curves.
Trapezoidal Speed Profile with
Square Corners Trapezoidal Speed Profile with S-curve Corners
Time
SpeedSpeed
Time

5
System Configuration Section 1-2
1-2 System Configuration
Basic Configuration
Note 1. The RS-422A/485 Serial Port 2 is only available on the MCW151-E Unit.
2. The MC Unit has one encoder axis. Either the encoder input or the encoder
output can be used.
25
1
0V
+24V
26
I/O
2
MCW151
SD
RUN
PORT2 POR T0 , 1
RD
STS
Typical applicable Units for Serial Comm. Ports
Personal
Computer
PC
Relais
Lamp
Programmable
Terminal (PT)
General-purpose
device
Typical applicable Actuators for Digital Outputs
Print Registration
Proximity Sensor
Typical applicable Sensors for Digital Inputs
MCW151 Unit
Typical applicable Units for Encoder Output
Print Registration
Limit Switches
Typical applicable Sensors for Servo
Driver Digital Inputs
24 V Power supply
Power Supply connection
MCW151 Unit
Servo Driver
Typical applicable Pulse Generators for
Encoder Input
Personal Computer running Motion Perfect
1
2
W-series Servo Driver MCW151