Summary of Contents for Hivertec motionCAT Series
- Page 1 Motion Network System series motionCAT User's Manual <Introduction> Hivertec,inc. http://www.hivertec.co.jp/...
- Page 2 Other company and product names are the trademarks or registered trademarks of the respective companies. Hivertec Inc. 1-8-11 Shin-Ohashi, Koto-Ku, Tokyo 135-0007, Japan Taijuseimei Shin-Ohashi Bldg. TEL +81-3-3846-3801 FAX +81-3-3846-3773 sales@hivertec.co.jp Revision 2.31 July 12, 2019 released Copyright Hivertec Inc.
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Page 4: Table Of Contents
Limitations to Liability ................................... 2 Important Safety Instructions ................................3 motionCAT Installation ................................9 1.1 What is motionCAT?................................10 1.2 Advantages of motionCAT Series Products .......................... 10 1.3 Connection Rules ..................................11 1.4 Communication Specifications ..............................12 1.5 Calculating the Communication Time ............................ 13 1.6 Communication Cable Disconnection Detection/Monitoring Function ................. - Page 5 motionCAT Slaves ................................38 3.1 Types of Slaves and Configurations ............................39 3.1.1 Types of Slaves ................................. 39 3.1.2 Base Slaves ..................................39 3.1.3 Modules ..................................... 40 3.1.4 Slave Configuration ................................41 3.2 Communication Module HM-GN00G ..........................42 3.2.1 Specifications ..................................42 3.2.2 External Appearance ..............................
- Page 6 3.9.4 Connector Terminal Electrical Requirements ......................... 80 3.9.5 Input Circuit ..................................80 3.9.6 Output Circuit ..................................80 3.10 A Module HM-A4401C ............................... 81 3.10.1 Specifications .................................. 81 3.10.2 External Appearance ..............................81 3.10.3 Connectors ..................................82 3.11 B Module HM-A4199C ............................... 83 3.11.1 Specifications ..................................
- Page 7 9.4 Hitachi Industrial Equipment Systems AD3 ........................154 9.5 Oriental Motor αSTEP ................................ 155 9.6 Standard-type Stepping Motor Drivers (Oriental Motor PMU, UMK, SD51xx, DFC etc.) ..............156 9.7 Connection to Hivertec Microstepping Motor Driver (5-phase HSD515M, 2-phase HSD415M) ..............156 Revision History ................................. 157...
- Page 8 Table of Figures Table 1.2-1 motionCAT transmission times ..........................10 Figure 1.3-1 motionCAT connection rules ..........................11 Table 1.4-1 Communication specifications ..........................12 Table 1.5-1 motionCAT communication times ......................... 13 Figure 1.6-1 Disconnection detection ............................14 Table 1.7-1 Master board types ..............................15 Table 1.7-2 Base slave types ..............................
- Page 9 Table 2.4-5 RJ45 (J2) connector signals ..........................36 Figure 2.4-6 Receiving terminal wiring ............................36 Table 3.1-1 Base slaves ................................39 Table 3.1-2 List of modules ............................... 40 Table 3.1-3 Sequential order of modules ..........................40 Figure 3.1-1 Example of module disposition ..........................40 Figure 3.1-2 Slave configuration of HMG type .........................
- Page 10 Figure 3.7-1 External appearance of I module, HM-DI320C ....................71 Table 3.7-2 DI32 connector signals ............................72 Table 3.7-3 Connector terminal electrical requirements ......................73 Figure 3.7-2 Input circuit ................................73 Figure 3.7-3 Fuse and LED positions ............................73 Table 3.8-1 O module, HM-DO320C specifications ........................ 74 Figure 3.8-1 External appearance of O module, HM-DO320C ....................
- Page 11 Figure 9.4-1 Hitachi Industrial Equipment Systems AD3 ...................... 154 Figure 9.5-1 Oriental Motor αSTEP ............................155 Figure 9.6-1 Example of connection to a standard-type stepping motor driver ..............156 Figure 9.7-1 Example of connection to Hivertec microstepping motor driver ..............156...
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Page 12: Warnings And Precautions
Warnings and Precautions... -
Page 13: Extent Of Warranty
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. -
Page 14: Important Safety Instructions
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. - Page 15 Environmental Conditions Warning Store and use the motionCAT series products only under the following environmental conditions. ⚫ Ambient operating temperature: 0 to +50C ⚫ Ambient operating humidity: 20 to 85% RH (without dew condensation) ⚫ Ambient storage temperature: -15 to +75C ⚫...
- Page 16 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.
- Page 17 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.
- Page 18 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.
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Page 19: Manual Configuration
(5) Driver function (6) Information on ports Accompanying Software The following software for Windows is attached to the master board of the motionCAT series. Device drivers for Windows Program for operation checking, “Getting Started” Sample program for Microsoft Visual Studio... -
Page 20: Motioncat Installation
1. motionCAT Installation... -
Page 21: What Is Motioncat
*1. Motionnet is a registered trademark of Nippon Pulse Motor Co.,Ltd. motionCAT uses the G9000 series manufactured by Nippon Pulse Motor, and controls the motors and I/Os by high-speed communications via LAN cable. 1.2 Advantages of motionCAT Series Products ⚫ Motion network system → Reduced cost wiring, Generic LAN cables are used. -
Page 22: Connection Rules
1.3 Connection Rules The motionCAT system should observe the following connection rules. (1) Cables to be used ... Between master and slaves, and between slaves: Shielded LAN cables CAT5e or CAT6 (2) Modules that can be stacked per slave ... Up to 6 per base slave (3) Total number of modules per line ... -
Page 23: Communication Specifications
1.4 Communication Specifications Item Specifications Reference clock 40 or 80 MHz (depends on the system) Transmission speed 2.5M, 5M, 10M, 20Mpbs Communication code Communication protocol Motionnet (Local network system by Nippon Pulse Motor) Communication system Half-duplex communication Communication I/F RS-485, pulse transformer Connection method Multi-dropped Transmission distance... -
Page 24: Calculating The Communication Time
1.5 Calculating the Communication Time The communication time is classified into: ⚫ Amount of time for a cyclic communication ⚫ Amount of time for one data communication ⚫ Total amount of time for a cyclic communication including data communications <Abbreviations> N: Number of connected local devices B: Number of bytes of transmitted data (in case of two-byte data transmission: B = 2) K: Transmission speed coefficient... -
Page 25: Communication Cable Disconnection Detection/Monitoring Function
(3) Total amount of time for a cyclic communication including data communications This is calculated by adding data communication times to a cyclic communication time. Example 1: Total communication time required for a cyclic communication that includes data communications (reading from a motion device register) four times, each with 2-byte sending and 6-byte responding, where 32 local devices are connected with the transmission speed = 20 Mbps: Total communication time = a cyclic communication time + (a data communication time) ×... -
Page 26: Product Configuration And Model Number
1.7 Product Configuration and Model Number 1.7.1 motionCAT Master Boards A motionCAT communication system requires one or more motionCAT master boards. Number Number of Model no. Additional port Safety functions of lines modules Disconnection HPCI-MCAT520M 64 (322 lines) detection, emergency stop CompactPCI HCPCI-MNT720M... -
Page 27: Slave Types
1.7.4 Slave Types Model numbers HMG - (Pn) (Wn) (Cn) (Tn) (Dn) (In) (On) (An) (Bn) (Sn) Module specification General-purpose slave n: Number of modules (Total of n is 1 to 6) HUG - (Pn) (Wn) (Cn) (Tn) (Dn) (In) (On) (An) (Bn) (Sn) Module specification General-purpose slave for USB connection n: Number of modules (Total of each n is 1 to 6) -
Page 28: Cables
1.7.6 Cables Product name Model no. Features Overview T module side ACB side HCL-045Y Connects Y type cable ACB-TH1204 2 2m at 32pin 2 for ACB-TH1204 60pin standard (12-in/4-out x 2) HCL-046W Connects T module side ACB side Straight type cable ACB-TH1204 ... -
Page 29: Motioncat Master Boards
2. motionCAT Master Boards Motionnet communication master devices for each type of bus. There are master boards for PCI, CompactPCI, USB, and PC/104. -
Page 30: Hpci-Mcat520M
2.1 HPCI-MCAT520M A motionCAT master board compliant with PCI bus. It is provided with two communication lines. 2.1.1 Specifications Category Item Specifications ASIC for Motionnet control G9001A (by Nippon Pulse Motor) Number of lines 2 lines Basic Number of control modules 64 (32×2 lines) specification Communication specification Refer to "1.4 Communication Specifications". -
Page 31: Board Settings
2.1.3 Board Settings The following diagram shows HPCI-MCAT520M settings to be configured. Configure the board ID, communication speed, and emergency stop circuit settings. SPD0 SPD1 2.5Mbps 5Mbps BDID 10Mbps 20Mbps Rotary DIP switch for board Line2 ID setting Line1 Communication speed switch SW12 Emergency stop Input enabled (Short: Disabled) -
Page 32: Master Board Panel Layout
Emergency stop setting Cut the short pin with a pincher to enable emergency stop input. Also configure the "Emergency stop 12V/24V switching" switch to the voltage of the external power to use for emergency stop input. Emergency stop power-voltage switching switch When using 24V: OFF When using 12V: ON Cut short pin to enable emergency stop input... -
Page 33: Emergency Stop Input Detection
Connection diagram of emergency stop input To use the emergency stop function, cut the short pin labeled "EMG" on the circuit board. As to 12V external power, turn ON the "SW12" switch on the circuit board. Emergency stop SW 非常停止ＳＷ MCAT520M側... -
Page 34: Hcpci-Mnt720M
2.2 HCPCI-MNT720M A motionCAT master board compliant with CompactPCI. It is provided with two communication lines. 2.2.1 Specifications Category Item Specifications ASIC for Motionnet control G9001A (by Nippon Pulse Motor) Number of lines 2 lines Basic specification Number of control modules 64 (32×2 lines) Communication specification Refer to "1.4 Communication Specifications". -
Page 35: Board Settings
2.2.3 Board Settings The following diagram shows HCPCI-MNT720M settings to be configured. Configure the board ID and communication speed settings. SPD0 SPD1 2.5Mbps 5Mbps BDID 10Mbps Rotary DIP switch for board 20Mbps Line2 ID setting Communication Line1 speed switch Di4/Do4 Figure 2.2-2 Setting positions Board ID setting When using two or more motionCAT master boards, each must be configured with a different ID. -
Page 36: Master Board Panel Layout
2.2.4 Master Board Panel Layout Lit during communication error Pin 7 (RED) Lit during cyclic communication Pin 1 (GREEN) LINE1 (J2) DI4/DO4 (J1) Pin 14 LINE2 (J3) Figure 2.2-5 HCPCI-MNT720M connector positions 2.2.5 Connector Signal Table J2, J3 Connectors for Motionnet communication (RJ45) J2 (Line 1): Motionnet communication line 1 J3 (Line 2): Motionnet communication line 2 Function... -
Page 37: Input And Output Port Circuit Types
2.2.6 Input and Output Port Circuit Types EXTPOW TD62084AF TLP280-4 R TLP281-4 EXTPOW OUT 1 IN 1 33kΩ 3kΩ TD62084AF TLP280-4 R TLP281-4 OUT 4 IN 4 33kΩ EXTGND 3kΩ Input circuit Output circuit Rated input voltage: DC12V-24V Rated load voltage: DC12V-24V Rated input current: 5mA/point Rated load current: 30mA/point or less Figure 2.2-6 Input and output port circuits... -
Page 38: Hpc104-Mcat110M
2.3 HPC104-MCAT110M A motionCAT master board compliant with P/C104 bus. It is provided with one communication line. 2.3.1 Specifications Category Item Specifications Remarks ASIC for Motionnet control G9001A (by Nippon Pulse Motor) by Nippon Pulse Motor Number of lines 1 line Basic specification Number of control modules Communication specification Refer to "1.4 Communication Specifications". -
Page 39: Board Settings
2.3.3 Board Settings The following diagram shows HPC104-MCAT110M settings to be configured. Configure the access space, bus width, address, interrupt selection, communication speed, and emergency stop circuit settings. Communication Emergency stop speed setting voltage setting switch switch Bus width of Emergency stop access space and address... -
Page 40: Figure 2.3-5 Address, Bus Width, Space Mode To Use, And Address Space Setting Switch
Address, bus width, space mode to use, and address space setting ＳＷ３ ＳＷ２ ＳＷ１ Name Function Bus width 16 bits/8 Sets the bus access from the CPU board. bits 16 bits 8 bits (Set according to the CPU board to use) (SW1-8) Sets the access mode to G9001A. -
Page 41: Connector Signal Table
2.3.4 Connector Signal Table J1, J2 PC/104 Bus connectors The following is the PC/104 connector signal table. Blue cell in the signal table: Indicates a signal which is constantly used. Green cell in the signal table: Indicates a signal which is changed by DIP switch setting. Red cell in the signal table: Indicates a signal which is changed by jumper setting. -
Page 42: Table 2.3-3 Rj45 (J4) Connector Signals
J4 Connector for Motionnet communication (RJ45) Function Resistance to frame ground Resistance to frame ground Reserved Reserved Resistance to frame ground Resistance to frame ground Table 2.3-3 RJ45 (J4) connector signals J3 Connector for general-purpose input/output Signal name Signal name EMG + EMG - EXTPOW (+24V input) -
Page 43: External Connections
2.3.5 External Connections The following table shows general-purpose input/output and emergency stop input circuits. Item Contents EXTPOW端子 EXTPOW terminal (+24V input) (+24V入力) General-purpose input Input terminal 入力端子 3.6k (IN1-IN8) EXTPOW: External power 24V standard Input terminal MCAT110M side ＭＣＡＴ１１０Ｍ側 センサー Sensor EXTPOW 入力端子... -
Page 44: Hm-Gu00G
2.4 HM-GU00G HM-GU00G is a master module that connects to the controller (such as a PC or single-board computer) via USB. This device functions as a motionCAT master that converts USB communication into Motionnet communication, as well as a communication module that controls modules stacked within the same slave, or relays Motionnet communication data to another slave via cable. -
Page 45: Module Settings
2.4.3 Module Settings 24V receiving terminal P24-IN １ Communication settings USB connector (J1) switch Rotary switch for module ID setting RJ45 connector (J2) Figure 2.4-2 HM-GU00G module setting positions Module ID setting Set the module ID (MID) of the modules within the slave. The MID of each module stacked within the slave is automatically assigned based on the MID set in the rotary switch for module ID setting. -
Page 46: External Appearance
2.4.4 External Appearance Connector for USB communication (J1) Cyclic communication indicator Connector for Motionnet communication (J2) Rotary switch for module ID setting DIP switch for communication setting Module POW ON indicator Module's receiving terminal (P24-IN) Figure 2.4-4 External appearance of HM-GU00G -- USB master module 2.4.5 Indicators HM-GU00G is provided with LEDs that indicate the communication and power supply status. -
Page 47: Connector Signal Table
2.4.6 Connector Signal Table J1 Connector for USB communication (USB type B) Function VBUS Table 2.4-4 USB type B (J1) connector signals J2 Connector for Motionnet communication (RJ45) Function Resistance to frame ground Resistance to frame ground Reserved Reserved Resistance to frame ground Resistance to frame ground Table 2.4-5 RJ45 (J2) connector signals P24-IN Module's DC 24V receiving terminal... -
Page 48: Board Recognition, Connection, And Disconnection
2.4.7 Board Recognition, Connection, and Disconnection ● Board (device) recognition is executed when DLL is activated (when library for driver I/F is activated). ● A device connected after the application is activated is not recognized. ● A device disconnected after the application is activated cannot be controlled. →... -
Page 49: Motioncat Slaves
3. motionCAT Slaves Slave devices of Motionnet communication with various functions. A slave is composed of one to six modules. Up to 32 modules can be connected per one line of the master board. -
Page 50: Types Of Slaves And Configurations
3.1 Types of Slaves and Configurations 3.1.1 Types of Slaves There are two types of slaves: HMG type and HUG type slaves. The HMG type slave is based on an HMG base slave and is used to connect the master board (such as a PC or single-board computer) mounted on the controller and a slave, or connect the second and succeeding slaves. -
Page 51: Modules
3.1.3 Modules The module types below can be combined with the base slave. The modules can be used with either the HMG base slave or HUG base slave. The maximum number of modules that can be stacked onto a base slave is 6. The maximum number of modules that can connect to one line is 32. -
Page 52: Slave Configuration
3.1.4 Slave Configuration Slave configuration of HMG type In an HMG type slave, the communication module is placed on the leftmost position, and up to 6 modules are stacked to its right. HMG type slave PC + motionCAT master board Motionnet Communication Module A... -
Page 53: Communication Module Hm-Gn00G
3.2 Communication Module HM-GN00G There must always be one HM-GN00G communication module per HMG type slave to send and receive Motionnet communication, and relay communication data to modules stacked within the same slave or other slaves. Refer to "2.4 HM-GU00G" for the communication module of HUG base slaves. 3.2.1 Specifications Category Item... -
Page 54: Indicators
3.2.3 Indicators The communication module is provided with LEDs that indicate the communication and power supply status. Cyclic communication indicator (Top: Red, Bottom: Green) Communication module POW ON indicator (Green) Figure 3.2-2 Indicator LED positions Indicator When communication Display item Status Except the left module is followed by... -
Page 55: Module Id Setting
3.2.4 Module ID Setting Set the module ID (MID) of the modules within the slave. The MID of each module stacked within the slave is automatically assigned based on the MID set in the rotary switch for module ID setting. The MID of each module is given by incrementing the MID set to the module stacked next to the communication module by 1 for each displacement in the stacking position from that module. -
Page 56: Connector Signal Table
3.2.6 Connector Signal Table J1, J2 Connectors for Motionnet communication (RJ45) Function Resistance to frame ground Resistance to frame ground Reserved Reserved Resistance to frame ground Resistance to frame ground Table 3.2-3 RJ45 (J1, J2) connector signals P24-IN Module's DC 24V receiving terminal ●... -
Page 57: P Module Hm-P100C
3.3 P Module HM-P100C 3.4 C Module HM-C100C The P module is for single axis positioning. The C module, like the P module, is for single axis positioning but it is provided with linear interpolation function of multiple axes and circular interpolation of two axes. In the subsequent explanation, functions and use common to P and C modules are described as P/C module. -
Page 58: Table 3.4-1 P/C Module, Hm-P100C/Hm-C100C Specifications
ELS, OLS, DLS (all insulated with photocouplers), encoder A, B, Z-phase Machine interface Command-pulse output (differential) Servo interface Servo alarm, in-position, servo-ready inputs Servo reset, servo ON, clear servo error counter outputs (all insulated with photocouplers) Communication cable Upon detection, motion control is reset (with power ON). Safety disconnection detection When the communication settings switch (the 2nd switch) is OFF. -
Page 59: External Appearance
3.4.2 External Appearance Servo I/F connector (J2) Machine I/F connector (J1) Module POW ON indicator Module's receiving terminal (P24-IN) Figure 3.4-1 External appearance of P/C module, HM-P100C/HM-C100C 3.4.3 Indicators The P/C module is provided with an LED that indicates the power supply status. P/C module external power POW ON indicator (Green) Figure 3.4-2 Indicator LED position... -
Page 60: Switch Settings
3.4.4 Switch Settings On the top face of the module, there are switches for selecting the operation. Front face direction DIP SW1 DIP SW2 Figure 3.4-3 DIP switches for module setting Encoder A-phase/B-phase method selection DIP SW1-1, 2 Open collector Default Differential setting... -
Page 61: Cable Connectors
3.4.5 Cable Connectors J2 Servo I/F connector Cable-side connector Plug: 10136-6000EL (crimp type) Shell: 10336-A200-00 (by Sumitomo 3M) Module-side connector Socket: 10236-52A2PL (by Sumitomo 3M) Signal Contents name 5V photocoupler input CW pulse differential output + CW pulse differential output - CCWP CCW pulse differential output + CCWN... -
Page 62: Connector Terminal Electrical Requirements
J1 Machine I/F cable connector Cable-side connector Flat cable connector Socket: XG4M－1030－T (with strain relief) (by Omron) Module-side connector Plug: XG4A－1034 (by Omron) Signal Signal Contents Contents name name 1 EXTPOW +24V output EXTPOW +24V output CW-side end-limit 3 +ELS -ELS CCW-side end-limit input input... -
Page 63: Command Pulse Output And Connection To Drivers
3.4.7 Command Pulse Output and Connection to Drivers The following table shows the requirements for the command pulse output circuits. Signal name Item Contents 1. Output element: Differential driver (26LS31 or equivalent) Command pulse [Electrical condition] 2. Command pulse width: 50% duty width of command frequency CWP, CWN However, in the case of 2.4Kpps or less: 200μs width CCWP, CCWN... -
Page 64: Encoder Signal Input And Connection
3.4.8 Encoder Signal Input and Connection The following table shows the requirements for the encoder signal input circuits. Signal name Item Contents SW1: encoder type setting A-phase: SW1-1 (OFF) B-phase: SW1-2 (OFF) Z-phase: SW1-3 (OFF) Module side Encoder side [Input circuit form] AP（BP, ZP) Photocoupler input 4.7K... -
Page 65: Other Servo Interface Signals
If ELS signals (over travel) input to the machine connector need to be (+OT, -OT) [ELS signal output to servo] input to the servo driver as well, contact the Hivertec sales representative. Table 3.4-12 Output signal circuits and settings of the servo interface... -
Page 66: Table 3.4-13 Input Signal Circuit Settings For The Servo Interface
Input signals Signal name Item Contents Module side Servo I/F connector EXTPOW Servo-side output 4.7K SVRDY-INPOS EXTGND SVALM [Input circuit form] INPOS These signals are input from +24V SVRDY the servo driver. +24V Power supply terminal [+24V power supply connection Normally, connected to the external +24V terminal of the servo driver. -
Page 67: Machine Interface
(2) The other is PCS function. (The software setting must be: operation mode register RMD b13 = ‘1’) As for details on the function and operation, see “motionCAT series User’s Manual <Operation>”. 2. About cable wiring for the use of PCS function PCS signals are input as sensor signals. -
Page 68: Figure 3.4-6 Circuit For The Dls/Clr/Ltc Threefold Function
(2) Counter clear signals as well as (3) counter latch signals are set by the DIP switch 2-1, 2. As for details on the function and operation, see “motionCAT series User’s Manual <Operation>”. 2. The following figure shows the circuit for the function above. -
Page 69: W Module Hm-W200C
3.5 W Module HM-W200C The W module is a dedicated 2-axis positioning module for stepping motors. It is provided with stepping motor driver I/F and motor sensor inputs (the four pins: ±ELS, OLS, and DLS) for two axes. It does not have an encoder FB signal input. 3.5.1 Specifications Category Item... -
Page 70: Table 3.5-1 W Module, Hm-W200C Specifications
Consumption current Model no. Consumption current of the communication board’s 24V Consumption current of the Px module’s terminal 24V power supply terminal HMG-W1 (When power is supplied by a (With the maximum load currents of the single 24V power supply, the servo I/F part and machine I/F part) consumption current is the total of the right and left columns) -
Page 71: External Appearance
3.5.2 External Appearance Connector for axis 1 pulse-motor signals (J1/Motor1) Connector for axis 2 pulse-motor signals (J2/Motor2) Sensor connector (J3/Sensor) Module POW ON indicator Module's receiving terminal (P24-IN) Figure 3.5-1 External appearance of W module HM-W200C 3.5.3 Indicator The W module is provided with an LED that indicates the power supply status. W module external power POW ON indicator (Green) Figure 3.5-2 Indicator LED position... -
Page 72: Connectors
3.5.4 Connectors The input and output signals of this module are as follows. Signal Connector Name Voltage Explanation Remarks name Clockwise pulse Connector for Counterclockwise pulse axis 1 (2) Excitation OFF pulse-motor Step angle switching (Motor1/Motor2) Automatic current-down signals CD_INH prohibition Excitation timing input Signals... -
Page 73: Table 3.5-4 J1, J2 Connectors
J1, J2 Connectors for pulse-motor signals (Motor1, 2) Cable-side housing: 51353-1200, Contact: 56134-9000 (by Molex) Module-side connector: 55959-1230 (by Molex) Signal name Contents Timing input １ 5V output Forced automatic current-down CD_INH prohibition 5V output Step angle switching output (O.C.) 5V output Excitation OFF output (O.C.) 5V output... -
Page 74: Figure 3.5-4 Receiving Terminal Wiring
P24-IN Module's DC 24V receiving terminal ● Connect +24V (or 12V) power supply to the receiving terminal. ● Match the connection polarity to the one indicated on the plug (24/G). ● Recommended wire material: AWG20 - 18 (0.5 to 0.9mm stranded wire) ●... -
Page 75: Driver Control Signal
Command Pulse Output and Connection to Drivers The following table shows the requirements for the command pulse output circuits. Signals Item Contents involved 1. Output element: High-speed photocoupler (TLP115A or Command equivalent) pulse [Electrical condition] 2. Command pulse width: 50% duty width of command frequency However, in the case of 2.4Kpps or less: 200μs width In the case of 5Mpps or above: 30% duty width... -
Page 76: Machine Interface Signal
3.5.6 Machine Interface Signal Signals Item Contents involved Machine I/F connector Module side Axis sensor EXTPOW 4.4K +/-ELS-OLS +/-ELS [Input circuit form] EXTGND Input from servo driver +24V +24V Power supply terminal EXTPOW, [[Power supply connection for Connected to the sensor’s +24V, GND terminals. EXTGND sensor] Signal polarity is set by G9003 initial setting (RENV1-b9) (Initial value:... -
Page 77: D Module Hm-D1616C
3.6 D Module HM-D1616C The D module is a DIO (Digital Input/Output) module with 16 input points and 16 output points. 3.6.1 Specifications Category Item Specifications Remarks ASIC for Motionnet control G9002 by Nippon Pulse Motor Input count 16 points Input method Photocoupler-isolated input (TLP280-4 or equivalent) Rated input voltage... -
Page 78: External Appearance
3.6.2 External Appearance DIO 16/16 connector (J1) Module POW ON indicator Module's receiving terminal (P24-IN) Figure 3.6-1 External appearance of D module, HM-D1616C 3.6.3 Indicators The D module is provided with an LED that indicates the power supply status. D module external power POW ON indicator (Green) Figure 3.6-2 Indicator LED position Display item... -
Page 79: Connectors
3.6.4 Connectors J1 DIO 16/16 connector Cable-side connector type Socket: FX2B-80SA-1.27R (with lock) (by Hirose Electric) Module-side connector type Plug: FX2B-80PA-1.27DSL (by Hirose Electric) Signal Signal Contents Contents name name EXTPOW External +24V output for output port EXTPOW External +24V output for output port OUT 16 Generic output 16 OUT 8... -
Page 80: Connector Terminal Electrical Requirements
P24-IN Module's DC 24V receiving terminal ● Connect +24V (or 12V) power supply to the receiving terminal. ● Match the connection polarity to the one indicated on the plug (24/G). ● Recommended wire material: AWG20 - 18 (0.5 to 0.9mm stranded wire) ●... -
Page 81: Input/Output Circuits
3.6.6 Input/Output Circuits Signals Item Contents involved Power supply EXTPOW, connection for external Allowable total supply current of all EXTPOW terminals: 1A or less EXTGND load Module side DIO I/F connector EXTPOW 1kΩ INx ON current: 8mA/point 3.3kΩ EXTGND EXTPOW Input circuit form 1kΩ... -
Page 82: I Module Hm-Di320C
3.7 I Module HM-DI320C The I module is a DI (Digital Input) module with 32 input points. 3.7.1 Specifications Category Item Specifications Remarks by Nippon Pulse ASIC for Motionnet control G9002 Motor Input count 32 points Input method Photocoupler-isolated input (TLP280-4 or equivalent) Rated input voltage DC +12V to DC +24V Working input... -
Page 83: Connectors
3.7.3 Connectors J1 DI32 connector Cable-side connector type Socket: XG4M-4030-T (by Omron) Module-side connector type Plug: XG4A-4034 (by Omron) Signal name Signal name EXT-P0 (24V) IN-01 IN-02 IN-03 IN-04 IN-05 IN-06 IN-07 IN-08 EXT-G0 EXT-P1 (24V) IN-09 IN-10 IN-11 IN-12 IN-13 IN-14 IN-15... -
Page 84: Connector Terminal Electrical Requirements
3.7.4 Connector Terminal Electrical Requirements The following table shows the electrical requirements of connector signals described in the table above. DI32 connector Contents Per input Consumption current: Approximately 8mA/point Table 3.7-3 Connector terminal electrical requirements 3.7.5 Input Circuit (1) 12-24V is externally supplied to EXT-P. 5V cannot be used. (2) When using sensors that require multiple power supply voltages, the voltage can be divided in units of 8 bits. -
Page 85: O Module Hm-Do320C
3.8 O module HM-DO320C The O module is a DO (Digital Output) module with 32 output points. 3.8.1 Specifications Category Item Specifications Remarks ASIC for Motionnet control G9002 by Nippon Pulse Motor Output count 32 points Photocoupler-isolated, open collector output (TD62084AP or Output method equivalent) Rated load voltage... -
Page 86: Connectors
3.8.3 Connectors J1 DO32 connector Cable-side connector type Socket: XG4M-5030-T (by Omron) Module-side connector type Plug: XG4A-5034 (by Omron) Signal name Signal name EXT-P0 (24V) EXT-P0 (24V) OUT-01 OUT-02 OUT-03 OUT-04 OUT-05 OUT-06 OUT-07 OUT-08 EXT-G0 EXT-G0 EXT-P1 (24V) EXT-P1 (24V) OUT-09 OUT-10 OUT-11... -
Page 87: Connector Terminal Electrical Requirements
3.8.4 Connector Terminal Electrical Requirements DIO I/F connector Contents Load current per OUT output Allowable output: 80mA/point or less Table 3.8-3 Connector terminal electrical requirements 3.8.5 Output Circuit (1) 12-24V is externally supplied to EXT-P. 5V cannot be used. (2) When multiple output voltages are required, the voltage can be divided in units of 8 bits. (3) Fuses are provided by units of 8 bits. -
Page 88: T Module Hm-2408T
3.9 T Module HM-2408T The T module is a module that allows all sensor inputs to the motion module (P module) be combined into one cable to reduce wiring. The sensor inputs to the P module (ELS, OLS, DLS) are output from the 60-pin connector of this module. -
Page 89: External Appearance
3.9.2 External Appearance 24V power switching jumper pin for DI 24-side I/F (DI_P) *1 DIO 24/8 connector (J1) 24V power switching jumper pin for DO 8-side I/F (DO_P) *1 Module POW ON indicator Module's receiving terminal (P24-IN) Figure 3.9-1 External appearance of T module, HM-2408T *1 Use in the default setting (jumper-wired to the upper pin). -
Page 90: Cable Connectors
3.9.3 Cable Connectors J1 DIO 24/8 connector Cable-side connector type Socket: HIF6-60D-1.27R(05) (by Hirose Electric) Module-side connector type Pin header: HIF6-60PA-1.27DS(71) (by Hirose Electric) Signal name Signal name DI_POW DI_POW P1_+ELS / IN_01 P2_+ELS / IN_02 P3_+ELS / IN_03 P4_+ELS / IN_04 Row A Row B... -
Page 91: Connector Terminal Electrical Requirements
3.9.4 Connector Terminal Electrical Requirements 24 among the 30 input points, that is, excluding those for the origin sensors can be used for general-purpose input/output. Switching by software is required to use as general-purpose input/output. Switching to Allowable Points general-purpose current Possible Common use with +ELS, -ELS, DLS sensors of 6 axes. -
Page 92: A Module Hm-A4401C
3.10 A Module HM-A4401C The A module is an analog, voltage input/output module with 4 input points and 4 output points. 3.10.1 Specifications Category Item Specifications Remarks ASIC for Motionnet control G9002 by Nippon Pulse Motor Input count 4 points Input mode Input voltage 0 to +10V... -
Page 93: Connectors
3.10.3 Connectors J1 AD/DA connector Cable-side connector type Socket: XG4M-3430-T (by Omron) Module-side connector type Plug: XG4A-3434 (by Omron) Signal name Signal name Remarks EXT-POW (Shared with DC input) DA/-CH1 output 0 to 10V EXT-GND EXT-GND EXT-POW (Shared with DC input) DA/-CH2 output 0 to 10V EXT-GND... -
Page 94: B Module Hm-A4199C
3.11 B Module HM-A4199C The B module is an analog, current input/output module with 4 analog input points and 1 analog output point. 3.11.1 Specifications Category Item Specifications Remarks ASIC for Motionnet control G9002 by Nippon Pulse Motor Input count 4 points Input mode Input current... -
Page 95: Connectors
3.11.3 Connectors (1) J1 AD/DA connector Cable-side connector type Socket: XG4M-3430-T (by Omron) Module-side connector type Plug: XG4A-3434 (by Omron) Signal name Signal name Remarks EXT-POW (Shared with DC input) DA/-CH1 output 4 to 20mA EXT-GND EXT-GND EXT-POW (Shared with DC input) EXT-GND EXT-GND EXT-POW (Shared with DC input) -
Page 96: R Module Hm-R100C
3.12 R Module HM-R100C The R module is for receiving serial data from an absolute encoder-type servo driver to acquire absolute data. This module connects the input and output signals for the servo driver one to one to extract the serial data from the absolute encoder. -
Page 97: External Appearance
3.12.2 External Appearance Connector for servo driver connection (J2) Connector for motion module P100/C100 connection (J1) Internal logic circuit indicator (Green) inside the module (ON by internal +5V logic circuit POW Figure 3.12-1 External appearance of R module, HM-R100C 3.12.3 Switch Settings Switches to set the manufacturer and type of the servo driver to connect are located on the top face of the module. -
Page 98: Table 3.12-3 Communication Protocol According To The Selected Servo Driver
The encoder serial data communication protocol settings become as follows depending on the servo driver selected with DIP SW2. Servo driver Yaskawa Electric Yaskawa Electric (ABS-cum A-phase Sanyo Denki Panasonic (S-phase type) Item type) AC/DC Servo System A, AIII, A4, A4F, A5 , II , II, III, V (When binary is... -
Page 99: Connectors
3.12.4 Connectors J2 Connector for servo driver connection (Upper connector in the front view) Cable-side connector type Plug: 10136-6000EL (crimp type) Shell: 10336-A200-00 or 10336-A500-00 (by Sumitomo 3M) Module-side connector type Socket: 10236-52A2PL (by Sumitomo 3M) Signal Contents Remarks name For 5V photocoupler input CW pulse differential output + CW pulse differential output -... -
Page 100: Table 3.12-6 Connector Signals For Controller Connection
(2) J1 Connector for controller connection (Lower connector in the front view) J1 uses the same connector model as J2 for servo driver connection. As for pin assignment, it is partially different. (The portions used for relaying signals between J1 and J2 are equal) Signal Contents... -
Page 101: Input/Output Circuit
3.12.5 Input/Output Circuit Item Contents Ｊ２ ＣＰＵ ２７ ＳＥＮ ＳＥＮ_ＯＮ ２６ ＧＮＤ １３ DOUT １４ ＧＮＤ ＲＳ－４８５／４２２ RX/TX switching RX／TX切替 １８ ＰＳP ＴｘＤ ３６ ＰＳN ＲｘＤ ＧＮＤ セレクタ Selector ＲＳ－４２２ ２０ ２１ ＧＮＤ ６，７，８，１７， [RS-422/ ３１，３５ RS-485] サーボドライバ入出力信号の サーボドライバより ← Servo driver input/output From the servo driver サーボドライバ⇔コントローラ間... -
Page 102: Example Of Connection Configuration
3.12.6 Example of Connection Configuration The following cables are necessary for connecting each slave and module. Power supply cable This module is not directly connected to an external power supply; it shares the power supply connected to the communication module. The power cable is used to not only connect to the communication module, but to the receiving terminal of each of the stacked modules as well. -
Page 103: S Module Hm-S100C
3.13 S Module HM-S100C The S module is for receiving serial data from an absolute encoder-type servo driver to acquire absolute data. As an added function, it provides connection to devices and modules with RS-232C interface to enable the remote use (via Motionnet) of RS-232C serial communication. 3.13.1 Specifications Category Item... -
Page 104: External Appearance
3.13.2 External Appearance Connector for absolute encoder serial communication (J4) Connector RS232C serial communication (J3) Internal logic circuit POW ON indicator (Green) (ON by internal +5V logic circuit POW ON) Figure 3.13-1 External appearance of S Module, HM-S100C 3.13.3 Switch Settings Switches to select the settings below are located on the top face of the module. -
Page 105: Table 3.13-3 Connecting Servo Driver Setting Table
(2) Connecting servo driver settings DIP SW2 (SW2-1 to SW2-3) Set the manufacturer and model number of the servo driver to connect, as well as the output signal type of the encoder serial data. Setting Manufacturer and model no. Serial data output type RS485 ENQ-ACK Panasonic A, AIII, A4, A4F, A5 series communication... -
Page 106: Connectors
3.13.4 Connectors (1) J4 Connector for absolute encoder serial communication Cable-side connector type Housing: 51103-0600, Contact: 50351-8100 (by Molex) Module-side connector: 53426-0610 (by Molex) Signal Contents name Encoder serial data input + Encoder serial data input - SEN signal output DOUT 1-bit general-purpose output Table 3.13-5 Connector signals for absolute encoder serial communication... -
Page 107: Input/Output Circuits
3.13.5 Input/Output Circuits Item Contents Ｊ４ ＣＰＵ ４ ＳＥＮ_ＯＮ ＳＥＮ ３ ＧＮＤ ５ DOUT ６ ＧＮＤ ＲＳ－４８５／４２２ RS-422 /RS-485 ＲＤ／ＷＲ １ ＰＳP／（ＡＰ） ＴｘＤ０ ２ ＰＳN／（ＡＮ） ＲｘＤ０ ＧＮＤ ＣＰＵ ＲＳ－２３２Ｃ External device 外部機器 Ｊ３ １ Ｒｘ Ｒｘ ＲｘＤ RS-232C ２ Ｔｘ Ｔｘ... -
Page 108: Example Of Connection Configuration
3.13.6 Example of Connection Configuration The following cables are necessary for connecting each slave and module. Power supply cable This module is not directly connected to an external power supply; it shares the power supply connected to the communication module. The power cable is used to not only connect to the communication module, but to the receiving terminal of each of the stacked modules as well. -
Page 109: Installation Guide
4. Installation Guide... -
Page 110: Preparing Cables
4.1 Preparing Cables Relevant cables are necessary for the slave modules. Type Contents Communication cable LAN cable: shielded CAT5e or shielded CAT6 Connects the external DC 24V to the receiving terminal of each Power supply cable module Motion module device interface connection 2 cables are required per module cables DIO module device interface connection... -
Page 111: Device Interface Cables
4.1.1 Device Interface Cables Encoder connector The I/F cable input part of the DIO slave is designed to provide signals, power supply, and GND systems compatible with e-CON sensors. (1) Servo I/F cable A set of 3 conductors is available for one sensor. Conductors 1 to 40 Conductors 41 to 80 Driver... -
Page 112: Installing On The Floor With Screws
Mounting and demounting a slave on/off the DIN rail With the slave hooked at The mount surface fits the edge of the rail, push along the wall surface. Push upward the unit toward the wall. Downward Fulcrum Mounting Appearance of the mounted slave Demounting (Using a flathead screwdriver) Figure 4.1-4 Mounting and demounting a slave on/off the DIN rail... -
Page 113: Figure 4.1-6 Holes For Installation
M3 φ3.5 Recommended screws: M3 binding head screws or M3 truss head screws ４５mm Recommended screws: M3 binding head screws M3 φ3.5 or M3 truss head screws Space to allow 14.2mm for the connector etc. Hole positions on the floor Height of the screw through the hook slot Figure 4.1-6 Holes for installation... -
Page 114: Connections Between Components And Power Supply System Wiring
4.2 Connections between Components and Power Supply System Wiring 4.2.1 Power Supply System Wiring for Slaves Single piece of slave A slave is equipped with +24V power receiving terminals on the communication board and each of the modules. ⚫ Connect the power receiving terminals to the +24V power supply. ⚫... -
Page 115: Figure 4.2-3 Using Separate Power Supplies For Modules
Using separate power supplies for modules ... Power feeding method suited for DIO modules This method is effective under the following conditions: When preparing another power supply based on the current capacity (DIO slave etc.); When the output load power of this module including its GND system must be completely isolated from other modules. -
Page 116: Explanation On Power Supply System
4.2.2 Explanation on Power Supply System When a single power supply is used for a slave As shown in the figure below, the output side of each module is isolated by a photocoupler. As for control logic power, its power source is the 24V supplied to the communication board which converts and distributes to the modules. -
Page 117: Figure 4.2-6 Power Supply System By Separate Power Sources
Isolation of the output system by separate power sources DIO I/F connector DIO module EXTPOW (+24V output) Sensor etc. EXTPOW (+24V output) EXTGND EXTPOW Relay etc. POW indicator +24V power +24V2 supply GND2 +24V Communication 通信ﾎﾞｰﾄﾞ board 論 理 系 内... -
Page 118: Device Driver Installation
5. Device Driver Installation... -
Page 119: Hpci-Mcat520M, Hcpci-Mnt720M
5.1 HPCI-MCAT520M, HCPCI-MNT720M 5.1.1 Installation on Windows 7 or later (32 bit) (1) Before connecting the board to the PC, turn ON the PC to start Windows. (2) Start CD drive:\x86\dpinst.exe. (3) When "dpinst.exe" is started, click [Next] to proceed. (4) After completing the installer, turn OFF the PC. -
Page 120: Uninstalling The Device Driver For Windows Xp Or Later (Driver Version 2.0.0.0 Or Later)
(1) On the Windows start menu, select "Setting" → "Control Panel" → "Add or Remove Programs". (2) Select Windows driver package - Hivertec HPCI-MCAT520M(zzz) (mm/dd/yy yy x.x.x.x), and start uninstalling by selecting "Change/Remove". (zzz: "x64" with 64 bit, "x86" with 32 bit, and mm/dd/yy yy x.x.x.x indicates the version.) -
Page 121: Hm-Gu00G
(1) On the Windows start menu, select "Setting" → "Control Panel" → "Add or Remove Programs". (2) Select Windows driver package - Hivertec HM-GU00G(zzz) (mm/dd/yy yy x.x.x.x), and start uninstalling by selecting "Change/Remove". (zzz: "x64" with 64 bit, "x86" with 32 bit, and mm/dd/yy yy x.x.x.x... -
Page 122: Trial Operation
6. Trial Operation... -
Page 123: Before Turning On The Power
6.1 Before Turning ON the Power (1) Reconfirm the connections to the power supply: ⚫ Is the positive/negative polarity of the +24V power supply correct? ⚫ Be especially careful with the 24V connection to the 24V power receiving terminals and GND of the modules. -
Page 124: Getting Started" For Hpci-Mcat520M, Hm-Gu00T
6.4 “Getting Started” for HPCI-MCAT520M, HM-GU00T Note "Quick Start" for HPCI-MCAT520M and HM-GU00T runs on Windows XP SP2 or later, Windows Vista, and Windows 7 (32 bit in all cases). Also, Microsoft .NET Framework Version 2.0 (x86) or later must be installed. “Getting Started”... -
Page 125: Starting "Getting Started
6.4.3 Starting “Getting Started” For HPCI-MCAT520M, start "tmct5204.exe". For HM-GU00T, start "tgu00t04.exe". When the application is started, it automatically detects the modules and displays a screen similar to that shown below. Module Selection TreeView (Hereinafter "TreeView") Figure 6.4-1 Start screen Warning Make sure that the actually connected modules are correctly displayed on the screen. -
Page 126: Selecting A Module
6.4.4 Selecting a Module All the master boards connected to the PC and all modules connected to each master board are displayed on the TreeView. Click the node of each module to display the module operation screen. The master board icons are different for HPCI-MCAT520M and HM-GU00T. Also, two lines: Line 1 and Line 2 are displayed for HPCI-MCAT520M. -
Page 127: P Module Hm-P100C (1-Axis Motion Module)
6.4.5 P Module HM-P100C (1-axis Motion Module) 6.4.6 W Module HM-W200C (2-axis Motion Module) 6.4.7 C Module HM-C100C (1-axis Motion Module with Interpolation Function) Functions ⚫ Set operation parameters for the specified P/W/C module. ⚫ Display the status of the specified P/W/C module. ⚫... -
Page 128: Table 6.4-1 Initial Values Of "Getting Started" Registers
Register initial values The following shows the initial values of each axis register in “Getting Started”. Register Contents Initial value Remarks Travel 10000 10000 pulses distance Base speed 200pps Operation 2000 2000pps speed Acceleration Linear acceleration time from 200pps to 2000pps: 1387 rate about 500ms, Acceleration distance: about 550 pulses... -
Page 129: Figure 6.4-5 Selecting Operation Mode, Speed Pattern, And Acceleration/Deceleration System
Selecting operation mode, speed pattern, and acceleration/deceleration system Select the operation mode from the 4 patterns: ⚫ Continuous feed ⚫ Homing ⚫ Positioning ⚫ Reciprocating operation Select the speed pattern from the 3 patterns: ⚫ FL constant speed operation ⚫ FH constant speed operation ⚫... -
Page 130: Figure 6.4-6 Setting Signal Input Polarity
Setting signal input polarity Set the polarity of each input. NC setting (Normal close) NO setting (Normal open) Figure 6.4-6 Setting signal input polarity... -
Page 131: Figure 6.4-7 Setting Homing
Setting homing ORGmode Homing direction Z-phase counts of homing using Z-phase Origin search or homing (Select to enable origin search) Amount of escape origin SVCTLCL automatic output Enable/Disable SVCTRCL output width ORGmode Homing direction using Z-phase homing Z-phase counts of the Origin search Figure 6.4-7 Setting homing Homing... -
Page 132: Figure 6.4-8 Command Pulse And Encoder Input Settings
Command pulse output format and encoder input method Select the command pulse format from the following: ⚫ CW/CCW (CW/CCW Pulse) ⚫ PULSE/DIR (Pulse/Direction) ⚫ A/B (A-phase advanced-phase phase difference output) Select the encoder input format from the following: 4 (4 count) ⚫... -
Page 133: Figure 6.4-9 Comparator Settings
Comparator settings Select the comparator comparison counter. Set the comparator comparison value. Set the comparator comparison condition. Figure 6.4-9 Comparator settings... -
Page 134: Figure 6.4-10 Signal Input Status, Counter Display Etc
Signal input display, counter display, counter reset, SVON output control, SVRST output control etc. Displays the status of Displays each each input. counter. ELS and (Unit: pulse) SVALM Red: When detected Resets each White: When counter. undetected Others Displays the Green: When current detected... -
Page 135: Figure 6.4-11 Operation Parameter Settings
(10) Operation parameter settings For your safety, check operation at a low speed when running the system for the first time. Used for positioning or reciprocating operation. Set the travel distance with an absolute value. (Unit: pulse) Used as the base speed for FL constant speed operation and acceleration/deceleration operation. -
Page 136: Figure 6.4-12 Continuous Feed Operation
(11) Continuous feed operation Specify the continuous feed operation to perform by holding the mouse down on the desired button: [+FL constant speed continuous feed], [+FH constant speed continuous feed], [+accelerated/decelerated continuous feed], [-FL constant speed continuous feed], [-FH constant speed continuous feed], [-accelerated/decelerated continuous feed]. -
Page 137: Figure 6.4-14 Positioning Operation
(13) Positioning operation Executes positioning in (+) direction at the specified speed pattern. Executes positioning in (-) direction at the specified speed pattern. Positions to command position 0. Decelerates to stop. Stops immediately. Figure 6.4-14 Positioning operation (14) Reciprocating positioning operation Executes reciprocating positioning in (+) direction at the specified speed pattern. -
Page 138: T Module Hm-D2408T (24-In/8-Out Dio Module)
6.4.8 T Module HM-D2408T (24-In/8-Out DIO Module) The following operation screen displays when D2408(T) is selected on the TreeView. Figure 6.4-16 T module operation screen Functions ⚫ Display the input status of the specified T module (IN 1-24) ⚫ Display the output status of the specified T module (OUT 1-8) ⚫... -
Page 139: D Module Hm-D1616C (16-In/16-Out Dio Module)
6.4.9 D Module HM-D1616C (16-In/16-Out DIO Module) The following operation screen displays when D1616(D) is selected on the TreeView. Figure 6.4-18 D module start screen Functions ⚫ Display the input status of the specified D module (IN 1-16) ⚫ Display the output status of the specified D module (OUT 1-16) ⚫... -
Page 140: I Module Hm-Di320C (32-In Di Module)
6.4.10 I Module HM-DI320C (32-In DI Module) The following operation screen displays when DI320(I) is selected on the TreeView. Figure 6.4-20 I module operation screen Functions ⚫ Display the input status of the specified I module (IN 1-32) I module operation screen DI input status of the specified I module White: Without input, Green: With input Figure 6.4-21 Detailed I module operation screen... -
Page 141: O Module Hm-Do320C (32-Out Do Module)
6.4.11 O Module HM-DO320C (32-Out DO Module) The following operation screen displays when DO320(O) is selected on the TreeView. Figure 6.4-22 O module operation screen Functions ⚫ Display the output status of the specified O module (OUT 1-32) ⚫ Turn ON/OFF the output of the specified O module (OUT 1-32) O module operation screen DO output and output status of the specified O module... -
Page 142: A Module Hm-A4401C (4-In/4-Out Voltage-Type Analog Module)
6.4.12 A Module HM-A4401C (4-In/4-Out Voltage-type Analog Module) The following operation screen displays when A4401(A) is selected on the TreeView. Figure 6.4-24 A module operation screen Functions ⚫ Display the analog voltage input to the specified A module (A/D CH 1-4 input value) ⚫... -
Page 143: B Module (4-In/1-Out)
6.4.13 B Module (4-In/1-Out) The following operation screen displays when A4199(B) is selected on the TreeView. Figure 6.4-26 B module operation screen Functions ⚫ Display the analog current input to the specified B module (A/D CH 1-4 input value) ⚫ Display the analog current output from the specified B module (D/A CH1 output value) ⚫... -
Page 144: Checking The Operation
6.5 Checking the Operation Using the “Getting Started” functions, follow the procedure below to perform basic testing of each module. However, note that depending on the used master board, there may be modules that cannot be operated or connected due to lack of support by “Getting Started”. 6.5.1 P/W/C Module (1) Check the machine sensor (±ELS, OLS, DLS) input polarity. -
Page 145: Accessories
7. Accessories... -
Page 146: Connector Board Acb-Th2408
7.1 Connector Board ACB-TH2408 ACB-TH2408 is a 24-in/8-out relay connector board for T module. It provides e-CON connector for each sensor to enable wiring with ease. The connectors for output are JST XA type. The input status can be confirmed with the LED for each input. The power for the sensors and output load are supplied from the module side. -
Page 147: Glossary
8. Glossary... -
Page 148: Terms Used In Motion Control
8.1 Terms Used in Motion Control 8.1.1 Example of Motion Control Configuration Pulse command Current control Motion controller Motor driver motor Motor 8.1.2 Pulse Command and Motor Rotation Stepping (pulse) motor A stepping motor is a motor which rotates by a constant angle (step angle) each time a pulse signal is input. It is also referred to as a pulse motor. -
Page 149: Controlled Axis And The Names Of Axes
8.1.3 Controlled Axis and the Names of Axes A control axis originally refers to a coordinate which is controlled by the device. The motion controller control axis and the device axis must correspond. ID 0 1 2 3 Motion controller Motion Control axis (of the software) controller... -
Page 150: Coordinate And Travel Distance Command
8.1.5 Coordinate and Travel Distance Command Device coordinate The position of the device’s movable part is normally managed at the position on the coordinate in which homing completion position is the origin. A controlled axis includes the linear axis 1000 Current position (2000,1000) and the rotation axis. -
Page 151: Operation Speed And Base Speed
8.1.8 Operation Speed and Base Speed Operation speed A command speed for positioning, interpolation, homing, and continuous feed. Speed Base speed A speed reached directly from the stopped state when an Operation acceleration operation is started. And in a deceleration stop, speed the speed to reach to stop immediately. - Page 152 Homing An operation to return the work to the base position (origin). It is used for matching the position on the machine with the position on the software. ⚫ OLS (origin sensor) homing The position in which OLS is turned ON is the origin.
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Page 153: Input/Output Signal
8.1.10 Input/Output Signal NO and NC NO (Normal Open) A contact that is normally open, and closes during an operation. It turns ON when the current is turned ON. Its operation is contrary to NC. NC (Normal Close) A contact that is normally closed, and opens during an operation. It turns ON when the current is turned OFF. - Page 154 Input ⚫ SVALM (Servo alarm) A signal to give a warning that the servo driver has entered into an uncontrollable state due to overload etc. Operation is disabled while this signal is output from the servo driver. ⚫ INPOS (In-position, positioning completion, COIN) A signal to inform that the servo motor reached the specified position.
- Page 155 Machine interface － ＋ -ELS OLS DLS +ELS Input ⚫ ±ELS (Stroke End-Limit Sensor, Over Travel, OT) Allocated at both ends of the direct movement axis. The motion controller automatically stops the command pulse output when the ELS of the traveling direction is detected.
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Page 156: Others
8.1.11 Others Speed override The action to change the operation speed during an operation. Position override The action to change the target position during an operation. There are three operation patterns depending on the override timing. When the target position is changed to a position further away during acceleration or constant-speed operation The operation continues with the same speed pattern, and completes the positioning at the new target position. - Page 157 Backlash compensation Each time the operation direction is changed, the compensation pulse which was set right before the commanded operation is inserted. This compensation pulse speed is the auxiliary speed. Backlash Backlash Slip compensation The compensation pulse which was set right before the commanded operation is inserted regardless of the operation direction.
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Page 158: Terms Used For Motioncat
8.2 Terms Used for motionCAT 8.2.1 Motionnet Communication LSI There are two types of communication LSI; the center device (G9001) and the local device. The local device includes the DIO device (G9002), the motion device (G9003), and CPU emulation device (G9004). Model Device name Functions... -
Page 159: Cyclic Communication
8.2.8 Cyclic Communication In Motionnet communications, the center device always controls the communication line. Each local device can transmit only when allowed by the center device. The center device communicates with each connected local device sequentially, beginning with that having the lowest numbered module ID. -
Page 160: Data Communication
8.2.9 Data Communication Data communication is used to send commands to operate motion devices. Data communication is performed by interrupting the cyclic communication at any time (when a command is sent from the software). The following figure shows an example of cyclic communication sequence. M ID = n M ID = n+1 M ID = n+2... -
Page 161: Connections To Drivers Supplied By Manufacturers
9. Connections to Drivers Supplied by Manufacturers... -
Page 162: Yaskawa Electric Servo Pack Σiii
9.1 Yaskawa Electric Servo Pack ΣIII ΣIII driver side Motion module side CN1 connector Servo I/F connector 6, 7, 8, 26 120 PULS /PULS Command pulse-train From G9003 CCWP SIGN CCWN /SIGN 150 220 SVCTRCL Error pulse clear /CLR From G9003 A-phase /PAO B-phase... -
Page 163: Mitsubishi Electric Melservo Mr-J3
9.2 Mitsubishi Electric MELSERVO MR-J3 MELSERVO side Motion module side Servo I/F connector CN1 connector 6, 7, 8, 26 Command pulse-train From G9003 CCWP CCWN A-phase B-phase Encoder pulse To G9003 Z-phase 4.7K DICOM EXTPOW (+24V) From EXTPOW Servo ON SVON 4.7K General-purpose... -
Page 164: Matsushita Electric Industrial Minas-A4
9.3 Matsushita Electric Industrial MINAS-A4 MINAS A4 driver side Motion module side Servo I/F connector CNX5 connector 6, 7, 8, 26 PULSH1 PULSH2 Command pulse-train From G9003 220 SIGNH1 CCWP CCWN SIGNH2 A-phase B-phase Encoder output To G9003 Z-phase EXTPOW 4.7K From EXTPOW Servo ON... -
Page 165: Hitachi Industrial Equipment Systems Ad3
9.4 Hitachi Industrial Equipment Systems AD3 Motion module side AD3 amplifier side Servo I/F connector I/O connector 6, 7, 8, 26 PLSP PLSN From G9003 Command pulse-train CCWP SIGP SIGN CCWN A-phase To G9003 B-phase Encoder signal output Z-phase 4.7K EXTPOW (+24V) From EXTPOW Servo ON... -
Page 166: Oriental Motor Αstep
9.5 Oriental Motor αSTEP αSTEP driver side Motion module side CN4 connector Servo I/F connector 220 From G9003 Command pulse-train CCWP /CCW CCWN ASG2 A-phase /ASG2 BSG2 To G9003 B-phase Encoder output /BSG2 TIM2 Z-phase /TIM2 4.7K EXTPOW (+24V) Vcc +24V From +24V power supply terminal Current OFF... -
Page 167: Standard-Type Stepping Motor Drivers (Oriental Motor Pmu, Umk, Sd51Xx, Dfc Etc.)
+24V power supply To EXTGND To EXTPOW Figure 9.6-1 Example of connection to a standard-type stepping motor driver To EXTGND 9.7 Connection to Hivertec Microstepping Motor Driver (5-phase HSD515M, 2-phase HSD415M) Motion module side Driver Servo I/F connector Driver connector... -
Page 168: Revision History
10. Revision History Date Version Contents of revision 2010/05/25 The first edition 2010/06/10 Support for Windows7 by HPCI-MCAT520M 2010/06/23 Addition of recognition, connection, and disconnection of HM-GU00T board. Correction of errors in the HM-D2408T specifications. 2010/06/28 Addition of illustration of connector terminal positions for each module. 2011/08/29 Revision of configuration.
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