Oriental motor MRCU Series Operating Manual
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Oriental motor MRCU Series Operating Manual

Oriental motor MRCU Series Operating Manual

Integrated robot controller & drivers
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Integrated Robot Controller &
Drivers
MRCU Series
Operating Manual
Thank you for purchasing an Oriental Motor product. This manual describes product handling pro-
cedures and safety precautions. Please read the manual thoroughly to ensure safe operation.
Use the product correctly after thoroughly reading the section
l
be sure to observe the contents described in warning, caution, and note in this manual.
This manual mainly describes the hardware of the product. For the control method, parameters,
l
I/O signals, etc., refer to the "MRC01 User Manual."
"Safety
Precautions." In addition,
WM-0006E

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Summary of Contents for Oriental motor MRCU Series

  • Page 1 MRCU Series Operating Manual WM-0006E Thank you for purchasing an Oriental Motor product. This manual describes product handling pro- cedures and safety precautions. Please read the manual thoroughly to ensure safe operation. Use the product correctly after thoroughly reading the section “Safety...

  • Page 2: Table Of Contents

    Connecting a Power Supply Connecting the EtherNet/IP Cable Connecting the USB Cable Connecting the I/O Signals Noise Elimination Measures Measures to Eliminate Electrical Noise Noise Suppression Products Oriental Motor Noise Suppression Products Setup Maintenance Inspection Warranty Disposal Table of Contents...
  • Page 3 Troubleshooting Alarms Information Cable Connection Cables / Flexible Connection Cables (For cable type) Connection Cables / Flexible Connection Cables (For connector type) Extension Cables / Flexible Extension Cables Power Supply Cable Specifications Product Specifications General Specifications Table of Contents...

  • Page 4: Providing The Eds File

    Net/IP compatible products. By importing the EDS file into the configuration tool of the scanner, set- tings of EtherNet/IP can be made before the controller is in your hand. For details, contact your nearest Oriental Motor sales office. Providing the EDS File...

  • Page 5: Safety Precautions

    Safety Precautions The precautions described below are intended to ensure the safe and proper use of the product and to prevent the user and other personnel from exposure to the risk of injury. Use the product only after carefully reading and fully understanding these instructions. In regard to a controller, it is prohibited to start operating the robot (i.e., to operate the device in accordance with the specified purpose) when the machine in which the controller is incorporated does not meet the relevant safety standards.

  • Page 6: Installation And Wiring

    Assign qualified personnel having expert knowledge on electrical and mechanical engineering as well as safety to the task of installing, wiring, operating/controlling, inspecting and troubleshoot- ing the product. Handling by unqualified personnel may result in fire, injury, or damage to equip- ment.

  • Page 7: Caution

    Take appropriate safety measures when placing the motor in a non-excitation state. Failure to do so may result in injury or damage to equipment. Do not turn off the power or input a signal to place the motor in a non-excitation state during oper- ation.

  • Page 8: Precautions For Use

    Precautions for Use Saving data to non-volatile memory Do not turn off the control power supply while writing data to non-volatile memory, and do not turn off the control power supply for five seconds after writing has been completed. Doing so may abort writ- ing the data and cause an alarm of EEPROM error to generate.

  • Page 9: Preparation

    How to Identify the Product Model Verify the model name of the purchased product against the model shown on the nameplate of the product. MRCU 6 A K Series MRCU Series 3A: 3 Axes 4A: 4 Axes 5A: 5 Axes Number of Axes...

  • Page 10: Information About Nameplate

    Product Type Series Example of Product Model EAC Series EACM2E05AZAK EAS Series EASM4NXD005AZAK EZS Series EZSM6D005AZAK DR Series DR28G2.5B03-AZAKU Motorized Actuator DRS2 Series DRSM60-05A4AZAK DGM85R-AZAK DGII Series DGB85R12-AZAKR EH Series EH4-AZAKH L Series LM4F150AZAK-1 Information About Nameplate The figure shows an example. The position describing the information may vary depending on the product.
  • Page 11 Preparation...

  • Page 12: Indication Of Leds

    Position Type Name Description Motor/Encoder/Electromagnetic Connects the motor, the encoder, Brake Connector (CN2) and the electromagnetic brake. EtherNet/IP Connectors (CN3, Connects the EtherNet/IP cable. CN4) Connector Connect when using direct I/O or I/O Signal Connector (CN5) sensors. Connects a PC in which the MRC USB Port Studio software has been installed.
  • Page 13 LED status Description Green No Light No Light The power supply is not turned on. Light No Light The power supply is on. An alarm is being generated. The alarm item generated can be No Light Blinking checked by counting the number of times the LED blinks. The LED is lit in green when the alarm is reset.
  • Page 14 NS LED This LED indicates the communication status with the scanner via EtherNet/IP. LED Status Description Green This is in an offline state. No Light No Light The power supply of the controller is not turned on. This is in an online state. Connection has not been established with the scan- Blinking No Light ner.
  • Page 15 Description status This is in an online state. Blinking The frame of EtherNet/IP is sent and received. This is in an online state. Light The frame of EtherNet/IP is not sent and received. Preparation...

  • Page 16: Installation And Connection

    Installation and Connection Installation Location The product described in this manual is designed and manufactured to be incorporated into general industrial equipment. Install it in a well-ventilated location that provides easy access for inspection. The location must also satisfy the following conditions: Inside an enclosure installed indoors (provide ventilation holes) Operating ambient temperature: 0 to +40 °C [+32 to 104 °F] (non-freezing) Operating ambient humidity: 85 % or less (non-condensing)

  • Page 17: Connection Example

    Maintain 10 m (32.8 ft.) or less for wiring distance between a motor and driver. *1 These are Oriental motor cables. Purchase is required separately. *2 It is recommended that a circuit breaker or a circuit protector is connected because incorrect wir- ing may cause the internal input circuit to short-circuit.

  • Page 18: Recommended Connectors

    Note Make sure the polarity of the power supply before connecting. Connecting the power supply with reversed polarity may damage the controller. Recommended Connectors Type Part number Manufacturer Straight Plug N/MS3106B20-29S Japan Aviation Electronics Industry, Ltd. Right Angle Plug N/MS3108B20-29S Japan Aviation Electronics Industry, Ltd. Pin assignment The figure shows the view from the insert side of the contacts.

  • Page 19: Voltage Specifications

    Since the main power supplies 1 through 3 are internally independent, wire the power to all of them. Voltage specifications The power supply input voltage specifications include the rated voltage and the allowable operating voltage. Rated Voltage Allowable Operating Voltage 24 VDC±5 ％...
  • Page 20 Product Type Series Model Power Supply Current Capacity AZM14 0.4 A or more AZM15 0.5 A or more AZM24, AZM26 1.4 A or more Stepping Motor AZ Series AZM46 1.6 A or more AZM48 2.1 A or more AZM66 3.7 A or more AZM69 3.5 A or more AZM24...

  • Page 21: Connecting The Ethernet/Ip Cable

    Power Supply Current Capacity Number of Axes Without electromagnetic brake With electromagnetic brake 5 Axes 1.05 A or more 2.3 A or more 6 Axes 1.2 A or more 2.7 A or more 7 Axes 1.35 A or more 3.1 A or more 8 Axes 1.5 A or more 3.5 A or more...
  • Page 22 Pin Assignment Pin Number Signal Name Description Initial Value IN-COM Common for IN0 to IN7 inputs − Control input 0 STOP Control input 2 ETO-CLR-DRV Control input 4 PAUSE Control input 6 PRG-DIN0 OUT-COM Common for OUT0 to OUT7 outputs − OUT0 Control output 0 READY...

  • Page 23: Connector Wiring Method

    Connector Wiring Method Applicable lead wire: AWG 24 to 16 (0.2 to 1.25 mm Stripping length of wire insulation: 10 mm (0.39 in.) 1. Strip the insulation of the lead wires. 2. Insert the lead wire while pressing the orange button with a screwdriver. 3.
  • Page 24 Connection Example with a Current Source Output Circuit Installation and Connection...

  • Page 25: Noise Elimination Measures

    I/O signal cables that include a ground wire are available in Oriental Motor products. To ground a shielded cable, use a metal cable clamp that can maintain contact with the entire cir- cumference of the shielded cable, and ground as close to the product as possible.

  • Page 26: Noise Suppression Products

    When connecting a noise filter in an enclosure, wire the input cable of the noise filter as short as possible. Wiring over a long distance may reduce the noise suppressing effect. Oriental Motor Noise Suppression Products I/O Signal Cables These are shielded cables for good noise immunity to connect the controller and a host controller.

  • Page 27: Surge Suppressors

    Number of Lead Wires Length [m (ft.)] 6 pieces 10 pieces 12 pieces 16 pieces 0.5 (1.6) CC06D005B-1 CC10D005B-1 CC12D005B-1 CC16D005B-1 1 (3.3) CC06D010B-1 CC10D010B-1 CC12D010B-1 CC16D010B-1 1.5 (4.9) CC06D015B-1 CC10D015B-1 CC12D015B-1 CC16D015B-1 2 (6.6) CC06D020B-1 CC10D020B-1 CC12D020B-1 CC16D020B-1 Surge Suppressors This product is effective in suppressing the surge that occurs in a contact part of the relay.

  • Page 28: Setup

    Setup Set the information of the robot with the MRC Studio software. 1. Start the MRC Studio software. 2. Click [Communication port] to select [MRCU]. 3. Click [Setup] on the start screen. 4. On the “Introduction” screen, check “The connection was removed.” and proceed to the next screen.

  • Page 29: Maintenance

    Maintenance It is recommended that the following items be inspected periodically after each operation of the robot. If any abnormality occurs, stop using the product and contact your nearest Oriental Motor sales office. Inspection Inspection Items Check to see if the openings in the controller are clogged.

  • Page 30: Troubleshooting

    Troubleshooting Alarms This controller has an alarm function to protect against temperature rise, poor connection, operating error, and the like. If an alarm is generated, the ALM-A output is turned ON and the ALM-B output is turned OFF to stop the robot.
  • Page 31 Status When Information is Generated Information Bit Output If information is generated, a bit output (INFO-** output) of the corresponding information is turned ON. A desired output signal can be assigned to the INFO-USRIO output among the bit outputs and used.

  • Page 32: Cable

    Cable Connection Cables / Flexible Connection Cables (For cable type) These cables are used to connect the motor and controller. Use a flexible cable if the cable is bent, as in the case of a robot arm. For AZM14, AZM15, AZM24, AZM26 Length [m (ft.)] Connection Cable Model Flexible Connection Cable Model 0.5 (1.6) CCM005Z2AAF...

  • Page 33: Connection Cables / Flexible Connection Cables (For Connector Type)

    Connection Cables / Flexible Connection Cables (For connector type) These cables are used to connect the motor and controller. Use a flexible cable if the cable is bent, as in the case of a robot arm. The connection cable model varies depending on the direction of the cable outlet from the motor. Refer to the figures below.

  • Page 34: Extension Cables / Flexible Extension Cables

    Cable Outlet Direction Length [m (ft.)] Output shaft direction Vertical direction Opposite to output shaft direction 3 (9.8) CCM030Z1EFR CCM030Z1EVR CCM030Z1EBR 5 (16.4) CCM050Z1EFR CCM050Z1EVR CCM050Z1EBR 7 (23.0) CCM070Z1EFR CCM070Z1EVR CCM070Z1EBR 10 (32.8) CCM100Z1EFR CCM100Z1EVR CCM100Z1EBR Extension Cables / Flexible Extension Cables These cables are used to add between the controller and the connection cable to extend the wiring distance.
  • Page 35 Lead Wire Color Name Main Power Supply 1 Black Ground (For main power supply 1) Brown Main Power Supply 2 Gray Ground (For main power supply 2) Purple Main Power Supply 3 Blue Ground (For main power supply 3) Green Frame Ground Orange Control Power Supply...

  • Page 36: Specifications

    Specifications Product Specifications For product specifications, contact your nearest Oriental Motor sales office. General Specifications Operating Environment Ambient Temperature: 0 to +40 °C [+32 to 104 °F] (non-freezing) Humidity: 85 % or less (non-condensing) Altitude: Up to 1,000 m (3,300 ft.) above sea level Atmosphere: No corrosive gas or dust.
  • Page 37 The third- party products mentioned in this manual are recommended products, and references to their names shall not be construed as any form of performance guarantee. Oriental Motor Co., Ltd. is not liable whatsoever for the performance of these third-party products.

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