Omron R88A-MCW151 Series User manual

931.5 axis motion controller
R88A-MCW151-@
1.5 axis motion controller
Advanced motion made perfectly intuitive
• Connects directly to the Sigma-II series drive
• Controls 1 real axis, 1 virtual axis and a configurable
third axis
• Provides an additional encoder input/output to the
servo drive
• Simple to develop and modify using BASIC
• Built-in local I/O for easy operation
• Provides two additional hardware registration inputs
to the drive
• Electronic CAM profiles and axes synchronization
• Multi-tasking functionality
• Friendly and powerful Windows-based software
• Network connectivity via HostLink or DeviceNet
• Supports HMI connection without the need of a PLC
System configuration
PORT0
,1
,1
RUN STS
I
/O
/O
+
24V
24V
0V
0V
25
25
1
26
26
2
000000
000000
RD SD
MCW151
PORT2
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
PORT0
,1
,1
RUN STS
I
/O
/O
+
24V
24V
0V
0V
25
25
1
26
26
2
000000
000000
RD SD
MCW151
PORT2
Sigma-II series
Servo Drive
R88A-MCW151_
Motion controller unit
Sigma-II series
Servo Motor
Sigma-II
series
Servo Drive
R88A-MCW151
Motion controller unit
(Port 0) Computer connecting cable
(I/O) External I/O
(Port 2) HostLink or DeviceNet network
Limit switches
contact sensors
(CN10)
Cable connection
Input
External
encoder
- Host link network
- DeviceNet network
- PROFIBUS-DP network
Fast
registration
input
Rotary
cutter
NS/NT terminals
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94 Motion controllers
General specifications
Specifications
Item Details
Type R88A-MCW151-E, R88A-MCW151-DRT-E
Applicable servo drive SGDH-@@@E models (software version 14 or later)
Installation method Mounted on the SGDH servo drive side: CN10.
Basic
specifications Power supply method 24 VDC (supplied from external power supply)
5 VDC (supplied from the servo drive control power supply)
Power consumption 4.0 W
External dimensions 20x142x128 mm (HxWxD)
Approx. mass 200 g
Current consumption 170 mA for 24 VDC
Output power supply 5 VDC, maximum 160 mA (to external encoder)
Environment Operating temperature 0 … +55 °C
Storage temperature -20 … +75 °C
Operating and storage humidity 90% RH max. (no condensation)
Vibration resistance 0.5 G (4.9 m/s2)
Shock resistance 2 G (19.6 m/s2)
Functional specifications Number of axes - 1 controlled servo drive axis
- 1 master axis, encoder output axis or virtual axis
- 1 virtual axis
Servo loop cycle Selectable to 0.5 ms or 1.0 ms.
Registration inputs 2x MCW151 unit for encoder input axis
1x Sigma-II servo drive axis
Measurement units User definable
Programming Programming language BASIC
Number of tasks Up to 3 tasks running simultaneously plus the command line task
Max. number of programs 14
Available memory for user programs 128 KB
Data storage capacity 251 (VR) + 8000 (table)
Saving program data,
motion controller Random access memory (RAM) and flash memory backup.
Saving program data,
personal computer Motion perfect software manages a backup on the hard disk of the personal computer.
Motion control Speed control Inferred closed loop with PID, output speed and speed feed forward gains
Speed reference (open loop)
Possible torque limit operation
Torque control Torque reference (open loop)
Possible speed limit operation
Control switch Speed / torque control switching during operation
Positioning operations Linear interpolation
Circular interpolation
CAM profile movement
Electronic gearbox link
Linked CAM profile movement
Linked move for any two axes
Adding axes
Acceleration/deceleration curves Trapezoidal or S-curve
Servo drive access Motion control Speed control
Torque control
Position feedback
Driver enable
Driver print registration
Monitoring Driver alarm and warning status
General driver status
Driver digital input
Driver analogue input
Driver limit switches
General control Driver alarm reset
Driver reset
Parameter access Read and write Pn parameters
Read Un parameters
External I/O Encoder input Line receiver input; maximum response frequency: 1500 kHz pulses (before multiplication)
Pulse multiplication: x4
Encoder output Line receive output; maximum frequency: 500 kHz pulses
Internal counts to output pulse ratio: 64:1
Digital inputs Total of 8 digital inputs can be wired and used for instance for limit switches, emergency stop and
proximity inputs. Two inputs can be used for registration of the encoder input/output axis.
Digital outputs Total of 6 digital outputs can be wired and used for position dependent switching or other general
purposes.
Registration inputs Two registration inputs can be used (simultaneously) to capture the position in hardware.
Serial communications RS-232C Port 0: Connection to PC (motion perfect software)
Port 1: Host link master protocol
Host link slave protocol
General-purpose
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1.5 axis motion controller 95
RS-422A/485 interface specifications (R88A-MCW151-E only)
DeviceNet specifications (R88A-MCW151-DRT-E only)
Item Details
Electrical characteristics Conform to EIA RS-422A/485
Synchronization Start-stop synchronization (asynchronous)
Baud rate 1200 / 2400 / 4800 / 9600 / 19200 / 38400 bps
Transmission format Databit length 7 or 8 bit
Stop bit 1 or 2 bit
Parity bit Even/odd/none
Transmission mode Point-to-multipoint (1:N)
Transmission protocol RS-422A Host link master protocol,
Host link slave protocol,
ASCII general-purpose
RS-485 ASCII general-purpose
Galvanic isolation Yes
Connector type Phoenix MSTB 2.5/5-ST-5.08 (included in package).
Communication buffers 254 bytes
Flow control None
Terminator Yes, internal 220 Ωselectable by DIP-switch SW2
Cable length 500 m max.
Item Details
Communications protocol DeviceNet
Supported connections
(communications) Remote I/O polling messages Explicit messages
Both conform to DeviceNet specifications
Baud rate 500 kbps, 250 kbps, 125 kbps (switchable)
Communications media Special 5-wire cables (2 signal lines, 2 power lines, 1 shield line)
Communications distances
500 kbps Network length: 100 m max. (thin cable: 100 m max.)
Drop line length: 6 m max.
Total drop line length: 39 m max.
250 kbps Network length: 250 m max. (thin cable: 100 m max.)
Drop line length: 6 m max.
Total drop line length: 78 m max.
125 kbps Network length: 500 m max. (thin cable: 100 m max.)
Drop line length: 6 m max.
Total drop line length: 156 m max.
Nomenclature
Port 0 and Port 1 RS-232C
- Port 0 > Motion perfect software
- Port 1 > ASCII Hostlink master/slave and general purpose
Indicator LEDs
-RUN
-STS
-SD & -RD (R88A-MCW151-E model)
-MS & -NS (R88A-MCW151-DRT-E model)
Communications connector
- Hostlink (RS422/485) > R88A-MCW151-E model
- DeviceNet > R88A-MCW151-DRT-E model
I/O signal connector
Power connector
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96 Motion controllers
R88A-MCW151-(DRT)-E - 1.5 axes motion controller unit
I/O connector
Connector pin arrangement I/O connector pin functions
Dimensions
Installation
Units: mm Approx. weight: 0.2 kg
1
1SW1
SW2
2SW33SW44SW5
5SW66SW7
7SW88 SW99SW1010
2345678910
ON
ON
128
142
PORT0,1
RUN STS
I/O
+24V
0V
25
1
26
2
000000
RD SD
MCW151
PORT2
20
I/O
25
1
26
2A+ 1 2 A-
B+ 3 4 B-
Z+ 5 6 Z-
0V_ENC 7 8 5V_ENC
I0 / R0 9 10 FG
I2 11 12 I1 / R1
I4 13 14 I3
I6 15 16 I5
0V_IN 17 18 I7
O8 19 20 O9
O102122O11
O122324O13
0V_OP 25 26 24V_OP
Pin Signal
Name Function
1 A+ Encoder phase A+ (input / output)
2 A- Encoder phase A- (input / output)
3 B+ Encoder phase B+ (input / output)
4 B- Encoder phase B- (input / output)
5 Z+ Encoder phase Z+ (input / output)
6 Z- Encoder phase Z- (input / output)
7 0V_ENC Encoder 0V common
8 5V_ENC Encoder 5 V power supply output
9 I0 / R0 (Registration) Input 0
10 FG Frame ground
11 I2 Input 2
12 I1 / R1 (Registration) Input 1
13 I4 Input 4
14 I3 Input 3
15 I6 Input 6
16 I5 Input 5
17 0V_IN Inputs 0 V common
18 I7 Input 7
19 O8 Output 8
20 O9 Output 9
21 O10 Output 10
22 O11 Output 11
23 O12 Output 12
24 O13 Output 13
25 0V_OP Outputs 0 V common
26 24V_OP Outputs 24 V power supply input
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1.5 axis motion controller 97
Power connector
The power connector is used to connect the 24 V power supply to the controller unit
RS-232C connections (port 0 and port 1)
The controller unit has two serial RS-232C ports for communication with external devices.
RS-422A/485 connections (R88A-MCW151-E only)
DeviceNet connections (R88A-MCW151-DRT-E only)
Pin Name Function
1 +24 V Power supply 24 V
2 0 V Power supply 0 V
3 FG Frame ground
+ 24V
0V
Pin Symbol Name Port Direction
1 - Not used -
2 RS-1 Request to send 1 Output
3 SD-0 Send data 0 Output
4 SG-0 Signal ground 0 -
5 RD-0 Receive data 0 Input
6 SD-1 Send data 1 Output
7 SG-1 Signal ground 1 -
8 RD-1 Receive data 1 Input
PORT0,1
1
3
64
7
852
Pin Symbol Name Port Direction
1 RD- Receive data (-) 2 Input
2 RD+ Receive data (+) 2 Input
3 FG Frame ground 2 -
4 SD- Send data (-) 2 Output
5 SD+ Send data (+) 2 Output
PORT2
Pin Symbol Signal Color of cable
1 V+ Power line, positive voltage Red
2 CAN-H Communications line, high White
3 Shield Shield -
4 CAN-L Communications line, low Blue
5 V- Power line, negative voltage Black
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98 Motion controllers
System configuration
Motion controller unit
PROFIBUS connectivity
Serial cables (for port 0, 1)
Connectors
Note: For a complete view of DeviceNet network accessories, refer to
automation systems catalogue or contact your OMRON repre-
sentative.
Computer software
Servo system
Note: Refer to the servo systems section for more information
Ordering information
Sigma-II series
Servo Drive
HostLink Network or DeviceNet network
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
Sigma-II series
Servo Motor
Computer connecting cable
(Port 0)
(Port 2)
External I/O
(CN10)
Motion
Perfect
Personal
computer
R88A-MCW151-@
Motion controller
PORT0,1
RUN STS
I/O
+24V
0V
25
1
26
2
000000
000000
RD SD
MCW151
PORT2
(I/O)
Name Model
1.5 axis advanced motion controller with
Host Link interface R88A-MCW151-E
1.5 axis advanced motion controller with
DeviceNet interface R88A-MCW151-DRT-E
Name Model
PROFIBUS-DP module interface for
R88A-MCW151-E motion controllers PRT1-SCU11
Name Model
Programing cable, 2 m. (Port 0) R88A-CCM002P4-E
Spliter cable, 1 m (Port 0 & 1). Combined with
R88A-CCM002P4-E cable allows using motion perfect
and a general purpose application.(e.g. terminal)
R88A-CCM001P5-E
Specification Model
I/O connector (Included in package) B2L 3.5/26 SN SW
(Weidmüler)
Power connector (Included in package) MSTB 2.5/3-ST-5.08
(Phoenix)
Port 2 connector (Included in package) MSTB 2.5/5-ST-5.08
(Phoenix)
Specifications Model
Motion perfect MOTION TOOLS CD
EDS file
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. I14E-EN-01A
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