Omron MECHATROLINK-II MP2100 User manual

77PC motion controller
MP2100 - MECHATROLINK-II
PC motion controller
PC based solution for advanced
motion control
• Up to 32 axes controlled with minimum wiring
• Motion APIs are available for customised control
aplications. Motion commands can be input from either
the PC application or the MP2100 program
• Self configuration of nodes for an easy setup
• Supports position, speed and torque control
• Electronic CAM profiles and axes synchronization
• The high-speed bus MECHATROLINK-II is specially
designed for motion control
• Support for I/Os locally and over the network
• Access to the complete system from one point
System configuration
NS115
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
NS115
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
NS115
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
NS115
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
C
N
1
C
N
2
RUNTX 1 2 3 4 5 6 7 8 120 DDI 343 30
Sigma-II series
Servo Drive
JUSP-NS115
Mechatrolink-II
unit
Sigma-II series
Servo Motor
Sigma-II series
Linear Motor
Terminator
Personal computer
Software: MPE720 tool
MECHATROLINK-II
21 nodes max.
16 servo axes max. + I/O stations
Totel length: 50 m
Limit switches
contact sensors
Input
I/O module
Local I/Os Motion API
Motion controller MP2100
(The MP2100M can
handle up to 2
Mechatrolink-II network)
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78 Motion controllers
Specifications
General specifications
Hardware specifications
Sequential function specifications
Items Specifications
Environmental
conditions Ambient operating temperature 0 to 55 °C
Ambient storage temperature -25 to 85 °C
Ambient operating humidity 30% to 95% (with no condensation)
Ambient storage humidity 5% to 95% (with no condensation)
Pollution level Pollution level 1 (conforming to JIS B 3501)
Corrosive gas There must be no combustible or corrosive gas.
Operating altitude 2,000 m above sea level or lower
Mechanical operating
conditions Vibration resistance Conforming to JIS B 3502:
10 to 57 Hz with single-amplitude of 0.075 mm
57 to 150 Hz with fixed acceleration of 1 G
10 sweeps each in X, Y, and Z directions (sweep time: 1 octave/min)
Shock resistance Conforming to JIS B 3502:
Peak acceleration of 147 m/s2(15 G) twice for 11 ms each in the X, Y, and Z directions
Electrical operating
conditions Noise resistance Conforming to EN 61000-6-2, EN 55011 (Group 1, Class A)
Installation
requirements Ground Ground to 100 Ωmax.
Cooling method Natural cooling
Items Specifications
Control method Sequence: High-speed and low-speed scan methods
Programming language Ladder diagram: Relay circuit
Text-type language: Numeric operations, logic operations, etc.
Scanning Two scan levels: High-speed scan and low-speed scan
High-speed scan time setting: 1 to 32 ms (Integral multiple of MECHATROLINK communication cycle)
Low-speed scan time setting: 2 to 300 ms (Integral multiple of MECHATROLINK communication cycle)
User drawings, functions
and motion programs Startup drawings (DWG.A):
Interrupt processing drawings (DWG.I):
High-speed scan process drawings (DWG.H):
Low-speed scan process drawings (DWG.L):
Number of steps:
User functions:
Motion programs:
Revision history of drawings and motion programs
Security function for drawings and motion programs
64 drawings max. up to three hierarchical drawing levels
64 drawings max. up to three hierarchical drawing levels
200 drawings max. up to three hierarchical drawing levels
500 drawings max. up to three hierarchical drawing levels
Up to 1,000 steps per drawing
Up to 500 functions
Up to 256
Data memory Common data (M) registers:
System (S) registers:
Drawing local (D) registers:
Drawing constant (#) registers:
Input (I) registers:
Output (O) registers:
Constant (C) registers:
64 Kwords
8 Kwords
Up to 16 Kwords per drawing
Up to 16 Kwords per drawing
5 Kwords (including internal input registers)
5 Kwords (including internal output registers)
16 Kwords
Trace memory Data trace: 128 Kwords (32 Kwords / 4 groups), 16 points defined
Memory backup Program memory: Flash memory: 8 MBytes (User area: 5.5 MBytes) definition files, ladder programs, motion programs, etc.
Data memory: Battery backup: 256 Kbytes, M registers, S registers, alarm history, trace data
Data types Bit (relay): ON/OFF
Integer: -32768 to +32767
Double-length integer: -2147483648 to [phone]
Real number: ± (1.175E-38 to 3.402E+38)
Register designation
method Register number: Direct designation of register number
Symbolic designation: Up to 8 alphanumeric characters (up to 200 symbols per drawing)
With automatic number or symbol assignment
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PC motion controller 79
Motion control function specifications.
MP2100, MP2100M boards
Item Specifications
Interface MECHATROLINK-I, MECHATROLINK-II
Number of controlled axes/module Up to 16 axes
Control
specifications PTP control Linear, rotary, and infinite-length
Interpolation Up to 16 linear axes, 2 circular axes, and 3 helical axes
Speed reference output Yes
Torque reference output Yes
Phase control Yes
Position
control Positioning Yes
External positioning Yes
Zero point return Yes
Interpolation Yes
Interpolation with position
detection function Yes
JOG operation Yes
STEP operation Yes
Parameter changes during
motion command execution Yes
Reference unit mm, inch, deg, or pulse
Reference unit minimum setting 1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Maximum programmable value -2147483648 to [phone] (signed 32-bit value)
Speed reference unit Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s
Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min
Percentage designation: Percentage of rated speed
Acceleration/deceleration type Linear, asymmetric, S-curve, exponent
Acceleration/deceleration reference unit Reference unit/s2designation: mm/s2, inch/s2, deg/s2, pulse/s2
Acceleration/deceleration time constant: Time from 0 to rated speed (ms)
Override function Positioning: 0.01% to 327.67% by axis
Coordinate system Rectangular coordinates
Zero point re-
turn DEC1+ phase-C pulse Yes
ZERO signal Yes
DEC1+ ZERO signal Yes
Phase-C pulse Yes
Only phase-C pulse Yes
POT and phase-C pulse Yes
POT Yes
Home limit switch and phase-C pulse Yes
HOME Yes
NOT and phase-C pulse Yes
NOT Yes
INPUT and phase-C pulse Yes
INPUT Yes
Applicable servo drives SGDH-@@@E-OY + NS115
Applicable frequency inverters Varispeed V7, F7, G7 with MECHATROLINK-II Interface
(for inverter’s version supported contact your OMRON sales office)
Encoders Incremental encoder
Yaskawa absolute encoder
Items Specifications Appearance
Model JAPMC-MC2100, JAPMC-MC2140
Power supply Input supply voltage: 5 VDC±5%
Dimensions 106.68x174.63 mm half the size of a standard PCI
Motion network MECHATROLINK-II: One channel with MP2100, two channels with MP2100M
Twenty-one stations, including servo drives, inverters and I/O equipment, can be
connected. (16 axes for servo drives and inverters)
Transmission speed: 10Mbps (MECHATROLINK-II)
Transmission distance: See “MECHATROLINK-II repeater”
I/O signals Digital input: 5 points (one point can be used for interrupts),
24 VDC, 4 mA, and source mode or sink mode input
Digital output: 4 points, 24 VDC, 100 mA, open collector, and sink mode output
Electrical
operating
conditions
Noise
resistance Radiation noise (FT noise): 1 kV or more for 1 min.
Static noise (contact discharging method): 6 kV or more for 10 times
Other noise: Not specified
Mechanical operating
conditions Vibration resistance Not specified
Shock resistance Not specified
Installation requirements Ground Follows the personal computer’s requirements
Environmental conditions Same as the general specifications
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80 Motion controllers
Host computer specifications
MECHATROLINK-II, 64 point I/O module (IO2310)
MECHATROLINK-II, counter module (PL2900)
MECHATROLINK-II, pulse output module (PL2910)
MECHATROLINK-II, analog input module (AN2900)
Items Specifications
Hardware Model PC/AT compatible
CPU Pentium 200 MHz or more (Pentium 400 MHz or more recommended)
Memory capacity 64 MB or more
Hard disk drive capacity Free space 500 MB or more
Display resolution 800x600 or more (1024x768 recommended)
Expansion slot1Half the size of a standard PCI slot
Interrupts1First-level use (IRQ sharing is possible)
I/O memory1
1. These specifications are applicable if using one MP2100s board. If using two or more boards in the same host personal computer, expanasion slots, inter-
rupts and I/O memory resources needs to be increased per each board.
32 kB shared memory used
Software OS Windows NT 4.0 Workstation SP5 or later
Windows 2000 Professional SP1 or later
Windows XP
Web browser Microsoft IE 5.5 SP2 or later
Language Microsoft Visual C/C++ 6.0 SP5 or later
Items Specifications Appearance
Model JEPMC-IO2310
I/O signals Input: 64 points, 24 VDC, 5 mA, sink/source mode input
Output: 64 points, 24 VDC, 50 mA when all points ON,
(The max. rating is 100 mA per point) sink mode output (NPN)
Signal connection method: Connector (FCN360 series)
Module power
supply 24 VDC (20.4 V to 28.8 V)
Rated current: 0.5 A
Inrush current: 1 A
Weight 590 g
Items Specifications Appearance
Model JEPMC-PL2900
Number of input
channels 2
Functions Pulse counter, notch output, registration input
Pulse input method Sign (1/2 multipliers), A/B (1/2/4 multipliers), UP/DOWN (1/2 multipliers)
Max. counter speed 1200 kpps (4 multipliers)
Pulse input voltage 3/5/12/24 VDC
External power supply For input signal: 24 VDC, for dividing load: 24 VDC, for module: 24 VDC (20.4 V to 26.4 V), 120 mA or less
Weight 300 g
Items Specifications Appearance
Model JEPMC-PL2910
Number of output
channels 2
Functions Pulse positioning, JOG run, zero-point return
Pulse output method CW, CCW pulse, sign
Max. output speed 500 kpps
Pulse output voltage 5VDC
Pulse interface circuit Open collector output
5 VDC, 10 mA/circuit
External control signal Digital input: 8 points/module, 5 VDC x 4 points, 24 VDC x 4 points
Digital output: 6 points/module, 5 VDC x 4 points, 24 VDC x 2 points
Weight 300 g
Items Specifications Appearance
Model JEPMC-AN2900
Number of input
channels 4
Input voltage range -10 V to +10 V
Input impedance 1MΩmin.
Data format Binary, -32000 to +32000
Input delay time 4msmax.
Error ± 0.5% F.S. (at 25 °C), ± 1.0% F.S. (at 0 °C to 60 °C)
External power supply 24 VDC (20.4 VDC to 26.4 VDC), 120 mA max.
Weight 300 g
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PC motion controller 81
MECHATROLINK-II, analog output module (AN2910)
MECHATROLINK-II repeater
MECHATROLINK-II servo drive interface unit
MECHATROLINK-II, frequency inverter interface units
Items Specifications Appearance
Model JEPMC-AN2910
Number of output
channels 2
Output voltage range -10Vto+10V
Max. allowable
load current ± 5 mA (2 kΩ)
Data format Binary, -32000 to +32000
Output delay time 1ms
Error ± 0.2% F.S. (at 25 °C), ± 0.5% F.S. (at 0 °C to 60 °C)
External power supply 24 VDC (20.4 VDC to 26.4 VDC), 120 mA max.
Weight 300 g
Items Specifications Appearance
Model JEPMC-REP2000
Communication type MECHATROLINK-II
Cable length Between controller and repeater: 50 m, after repeater: 50 m
Max. connected
stations Total stations on both sides of repeater: 30
(limited to the max. number of connectable stations of the controller (e.g., 21 stations for the MP2300 series)
Restrictions Between controller and repeater
- Total cable length ≤30 m: 15 stations max. including I/O and servo, etc.
- 30 m < total cable length ≤ 50 m: 14 stations max. including I/O and servo, etc.
After repeater:
- Total cable length ≤30 m: 16 stations max. including I/O and servo, etc.
- 30 m < total cable length ≤ 50 m: 15 stations max. including I/O and servo, etc.
Power supply 24 VDC, 100 mA
Weight 340 g
Dimensions (mm) 30x160x77 (HxWxD)
Item Details
Type JUSP-NS115
Applicable servo drive SGDH-@@@E models (version 38 or later)
Installation method Mounted on the SGDH servo drive side: CN10.
Basic
specifications Power supply method Supplied from the servo drive control power supply.
Power consumption 2 W
MECHATROLINK -II
communications Baud rate/transmission cycle 10 Mbps / 1 ms or more. MECHATROLINK-II communications
Command format Operation specification Positioning using MECHATROLINK-I/II communications.
Reference input MECHATROLINK-I/II communications
Commands: position, speed, torque, parameter read/write, monitor output
Position control
functions Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, S-curve
Fully closed control Position control with fully closed feedback is possible.
Fully closed
system
specifications
Encoder pulse output in the
servo drive 5 V differential line-driver output (complies with EIA Standard RS-422A)
Fully closed encoder pulse signal A quad B line-driver
Maximum receivable frequency
for servo drive 1 Mpps
Power supply for fully closed
encoder To be prepared by customer.
Input signals in the
servo drive Signal allocation changes possible Forward/reverse run prohibited, zero point return deceleration LS
External latch signals 1, 2, 3
Forward/reverse torque control
Internal functions Position data latch function Position data latching is possible using phase C, and external signals 1, 2, 3
Protection Parameters damage, parameter setting errors, communications errors,
WDT errors, fully closed encoder detecting disconnection
LED indicators A: Alarm, R: MECHATROLINK-I/II communicating
Item Details
Type SI-T/V7 SI-T
Applicable inverter CIMR-V7 / 3G3-MV
(firmware 5740 or newer) CIMR-G7 / CIMR-F7 (firmware 656x/for G7 / 4011 or newer for F7)
Contact your OMRON sales office for information about firmware compatibility
Installation method Mounted on the inverter
Power supply Supplied from the inverter
MECHATROLINK-II communications 10 MHz, 0.5 ms to 8 ms for MECHATROLINK-II
Operation Read and write registers, read monitors, inverter operation, speed reference, torque reference
(G7/F7 only).
Inputs and outputs The inputs and outputs in the inverter can be read and set by the MLII master
Connectors ML-II bus connector. DPRAM connector for the inverter
Switches Rotary switch for ML-II address (low byte)
Dip switch for: ML-II address (high bit). ML-II/ML-I selection. 17 byte/32 byte data length selection.
NS115
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82 Motion controllers
Dimensions
MP2100, MP2100M boards
IO2310 I/O module
I/O modules PL2900, PL2910, AN2900, AN2910
MECHATROLINK-II servo drive interface unit
174.63
106.68
4-tapped holes M4
121 0.2
111 0.2
Mounting hole diagram
108
4.5 4.5
111
120
121 130
4.5 4.5
4.5 152
RUN TX 1 2 3 4 5 6 7 8 120 DDI 343 30
C
N
1
C
N
2
4.5
161
152
44
RUN TX 1 2 3 4 5 6 7 8 120 DDI 343 30
89.8
79
24
CN6A
Units: mm Approx. weight: 0.2 kg
NS115
S
W
1
20 128
142 100
2
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
Name
plate
CN6B
CN4
FG terminal
Connector
to SERVOPACK
M4
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PC motion controller 83
Ordering information
MP2100 - motion controller main units
MECHATROLINK-II - related devices
I/O cables
Accessories
Computer software
Servo system
Note: Refer to servo systems section for detailed information
Frequency inverters
Note: Refer to frequency inverters section for detailed information
Name Model name Model
MP2100 board, 1 channel for MECHATROLINK-II communication,
5-point input and 4-point output MP2100 JAPMC-MC2100
MP2100M board, 2 channels for MECHATROLINK-II communication,
5-point input and 4-point output MP2100M JAPMC-MC2140
Name Remarks Model
Distributed I/O modules 64-point input and 64-point output JEPMC-IO2310
Reversible counter: 2 channels JEPMC-PL2900
Pulse output: 2 channels JEPMC-PL2910
Analog input: -10 V to +10 V, 4 channels JEPMC-AN2900
Analog output: -10 V to +10 V, 2 channels JEPMC-AN2910
MECHATROLINK-II cables 0.5 meter JEPMC-W6003-A5
1 meter JEPMC-W6003-01
3 meters JEPMC-W6003-03
5 meters JEPMC-W6003-05
10 meters JEPMC-W6003-10
20 meters JEPMC-W6003-20
30 meters JEPMC-W6003-30
MECHATROLINK-II terminator Terminating resistor JEPMC-W6022
MECHATROLINK-II
interface unit For Sigma-II series servo drives. (Firmware version 38 or later) JUSP-NS115
For Varispeed V7 inverter
(for inverter version support contact your OMRON sales office) SI-T/V7
For Varispeed F7, G7 inverter
(for inverter version support contact your OMRON sales office) SI-T
MECHATROLINK-II repeater MECHATROLINK-II repeater JEPMC-REP2000
Name Remarks Lenght m Model
I/O cable for MP2100 With connector on the MP2100 side 0.5 JEPMC-W2062-A5
1.0 JEPMC-W2062-01
3.0 JEPMC-W2062-03
I/O cable for IO2310 With connector on the IO2310 side 0.5 JEPMC-W5410-05
1.0 JEPMC-W5410-10
3.0 JEPMC-W5410-30
Name Model
Battery ER3V 3.6V JZSP-BA01
Extended cable for battery with connectors on both sides JEPMC-W2090-01
Brackets for DIN rail JEPMC-OP300
Specifications Model
Programming software to support from system design to maintenance.
Intuitive ladder programming and editing functions. CAM data generation
Windows-based (Windows 95/98/NT4.0/2000/XP)
CPMC-MPE720
Motion API. Header file, library, DLL, driver, and manual CPMC-MPA70
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84 Motion controllers
In the interest of product improvement, specifications are subject to change without notice.
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I35E-EN-01
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