OMRON R88A-MCW151-DRT-E Manuals

OMRON R88A-MCW151-DRT-E Manuals

Manuals and User Guides for OMRON R88A-MCW151-DRT-E. We have 1 OMRON R88A-MCW151-DRT-E manual available for free PDF download: Operation Manual

OMRON R88A-MCW151-DRT-E Operation Manual

OMRON R88A-MCW151-DRT-E Operation Manual (276 pages)

MCW151 Series Motion Control Option Board

Brand: OMRON | Category: Computer Hardware | Size: 3.38 MB

Table of Contents

Table of Contents

8
- Precautions
  10
Section 1 Features and System Configuration

16
- Features and System Configuration
  
  16
  - Features
    17
    
    Overview
    17
    
    Description of Features
    18
  - System Configuration
    20
  - Motion Control Concepts
    22
    
    PTP-Control
    23
    
    CP-Control
    25
    
    EG-Control
    26
    
    Other Operations
    28
  - Control System Configuration
    29
    
    Servo System Principles
    29
    
    Encoder Signals
    32
  - Specifications
    34
    
    General Specifications
    34
    
    Functional Specifications
    34
  - Comparison between Firmware Versions
    36
    
    Devicenet Specifications (MCW151-DRT-E Only)
    36
- Installation
  
  38
  - Components and Unit Settings
    39
  - Installation
    43
  - Wiring
    45
  - Servo System Precautions
    54
  - Wiring Precautions
    55
Section 3 Motion Control Functions

58
- Motion Control Functions
  58
  - Overview
    59
  - System Set-Up
    61
  - System Functions
    62
    
    Servo Driver Control
    62
    
    Digital I/O
    65
    
    Monitoring Data
    67
    
    Absolute Encoder
    69
    
    Other Servo Driver Commands
    72
Section 4 Communication Interfaces

74
- Communication Interfaces
  74
  - Serial Communications
    75
    
    Host Link Master
    75
    
    Host Link Slave
    80
    
    General-Purpose
    82
  - Devicenet (MCW151-DRT-E Only)
    83
    
    Remote I/O Communications
    83
    
    Explicit Devicenet Messages
    87
Section 5 Multitasking Basic Programming

100
- Multitasking BASIC Programming
  100
  - Overview
    101
  - BASIC Programming
    101
    
    Axis, System and Task Statements
    101
    
    Data Structures and Variables
    102
    
    Mathematical Specifications
    103
  - Motion Execution
    104
  - Command Line Interface
    105
  - BASIC Programs
    105
    
    Managing Programs
    106
    
    Program Compilation
    106
    
    Program Execution
    107
  - Task Operation Sequence
    108
  - Error Processing
    109
Section 6 Basic Motion Control Programming Language

112
- BASIC Motion Control Programming Language
  112
  - Overview
    117
  - Command Reference List
    118
    
    Motion Control Commands
    118
    
    I/O Commands and Functions
    118
    
    Loop and Conditional Structures
    119
    
    Program Commands and Functions
    119
    
    System Commands and Parameters
    120
    
    Mathematical and Logical Functions
    121
    
    Constants
    122
    
    Motion Perfect Commands, Functions and Parameters
    122
    
    Axis Parameters
    122
    
    Task Commands and Parameters
    124
    
    Servo Driver Commands and Parameters
    125
    
    Host Link Commands and Parameters
    125
    
    Devicenet Commands and Parameters
    125
  - Command, Function and Parameter Description
    126
    
    Multiply
    126
    
    Power
    126
    
    Add
    126
    
    Subtract
    127
    
    Divide
    127
    
    Is Less than
    127
    
    Is Less than or Equal to
    127
    
    Is Not Equal to
    128
    
    Is Equal to
    128
    
    Is Greater than
    128
    
    Is Greater than or Equal to
    128
    
    Hexadecimal Input
    129
    
    Statement Separator
    129
    
    Comment Field
    129
    
    Abs
    129
    
    Accel
    130
    
    Acos
    130
    
    Add_Dac
    130
    
    Addax_Axis
    131
    
    Addax
    132
    
    Ain
    132
    
    And
    133
    
    Asin
    134
    
    Atan
    134
    
    Atan2
    134
    
    Atype
    134
    
    Autorun
    135
    
    Axis
    135
    
    Axisstatus
    136
    
    Base
    136
  - Basicerror
    137
  - Cam
    138
  - Cambox
    139
  - Cancel
    140
  - Checksum
    141
  - Clear
    141
  - Clear_Bit
    141
  - Close_Win
    141
  - Clutch_Rate
    141
  - Commserror
    142
  - Compile
    142
  - Connect
    142
  - Control
    143
  - Copy
    143
  - Cos
    143
  - Creep
    144
  - D_Gain
    144
  - Datum
    144
  - Datum_In
    145
  - Decel
    146
  - Defpos
    146
  - Del
    146
  - Demand_Edges
    147
  - Dir
    147
  - Dpos
    147
  - Drv_Clear
    148
  - Drv_Read
    148
  - Drv_Reset
    149
  - Drv_Status
    149
  - Drv_Write
    150
  - Edit
    150
  - Encoder
    151
  - Endmove
    151
  - Eprom
    151
  - Error_Axis
    151
  - Error_Line
    151
  - Errormask
    152
  - Exp
    152
  - False
    152
  - Fast_Jog
    152
  - Fb_Set
    153
  - Fb_Status
    153
  - Fe_Limit
    153
  - Fe_Range
    154
  - Fhold_In
    154
  - Fhspeed
    154
  - Flashvr
    154
  - For to Step Next
    155
  - Forward
    156
  - Frac
    156
  - Free
    156
  - Fs_Limit
    157
    
    Fwd_In
    157
    
    Fwd_Jog
    157
    
    Get
    157
    
    Gosub Return
    158
    
    Goto
    158
    
    Halt
    159
    
    Hlm_Command
    159
    
    Hlm_Read
    161
    
    Hlm_Status
    162
    
    Hlm_Timeout
    162
    
    Hlm_Write
    163
    
    Hls_Model
    164
    
    Hls_Node
    164
    
    I_Gain
    165
    
    If then else Endif
    165
    
    Indevice
    166
    
    Input
    167
    
    Int
    167
    
    Jogspeed
    168
    
    Key
    168
    
    Last_Axis
    168
    
    Link_Axis
    169
    
    Linput
    169
    
    List
    169
    
    Lock
    170
    
    Mark
    170
    
    Markb
    171
    
    Merge
    171
    
    Mod
    171
    
    Motion_Error
    171
    
    Move
    172
    
    Moveabs
    173
    
    Movecirc
    174
    
    Movelink
    175
    
    Movemodify
    178
    
    Mpos
    178
    
    Mspeed
    178
    
    Mtype
    178
    
    New
    179
    
    Nio
    179
    
    Not
    179
    
    Ntype
    180
    
    Off
    180
    
    Offpos
    180
    
    Open_Win
    182
    
    Outdevice
    183
  - Outlimit
    183
  - Ov_Gain
    183
  - P_Gain
    184
  - Pmove
    184
  - Pp_Step
    184
  - Print
    185
  - Proc
    186
  - Proc_Line
    186
  - Proc_Status
    187
  - Process
    187
  - Procnumber
    187
  - Pswitch
    187
  - Rapidstop
    188
  - Read_Bit
    189
  - Reg_Pos
    189
  - Reg_Posb
    189
  - Regist
    189
  - Remain
    192
  - Rename
    192
  - Rep_Dist
    192
  - Rep_Option
    193
  - Repeat until
    193
  - Reset
    194
  - Rev_In
    194
  - Rev_Jog
    194
  - Reverse
    194
  - Rs_Limit
    195
  - Run
    195
  - Run_Error
    195
  - Runtype
    196
  - S_Rate
    196
  - S_Ref
    197
  - S_Ref_Out
    197
  - Scope
    197
  - Scope_Pos
    198
  - Select
    199
  - Servo
    199
  - Servo_Period
    199
  - Set_Bit
    200
  - Setcom
    200
  - Sgn
    200
  - Sin
    201
  - Speed
    201
  - Sqr
    201
  - Sramp
    201
  - Stepline
    201
  - Stop
    202
  - Switch_Status
    202
  - T_Rate
    203
  - T_Ref
    203
  - Table
    203
  - Tan
    204
    
    Ticks
    204
    
    Trigger
    205
    
    Troff
    205
    
    Tron
    205
    
    True
    206
    
    Tsize
    206
    
    Units
    206
    
    Version
    206
    
    Vff_Gain
    207
    
    Vp_Speed
    207
    
    Wait Idle
    208
    
    Wait Loaded
    209
    
    Wait until
    209
    
    Wdog
    210
    
    While Wend
    210
    
    Xor
    210
Section 7 Motion Perfect Software Package

212
- Motion Perfect Software Package
  212
  - Features and Requirements
    213
  - Connecting to the MC Unit
    213
  - Motion Perfect Projects
    214
    
    Project Manager
    214
  - Desktop Appearance
    216
    
    Creating a Project for the First Time
    216
    
    Control Panel
    217
    
    Editing and Running Simple Programs
    218
  - Motion Perfect Tools
    219
    
    Terminal
    219
    
    Editor
    220
    
    Axis Parameters
    223
    
    Controller Configuration
    224
    
    VR and Table Editors
    224
    
    I/O Status Window
    225
    
    Full Controller Directory
    226
    
    Jog Screen
    226
    
    Oscilloscope
    227
  - Suggestions and Precautions
    232
Section 8 Troubleshooting

234
- Troubleshooting
  
  234
  - Error Indicators
    235
  - Error Handling
    236
    
    MC Unit Error Handling
    236
  - Servo Driver Alarms
    240
  - Problems and Countermeasures
    242
    
    General Problem Solving
    242
  - Devicenet Slave Problem Solving
    245
- Maintenance and Inspection
  
  248
  - Routine Inspections
    249
  - Replacing a MC Unit
    250
- Appendix A Servo Driver Parameter List
  
  252
- Appendix B Device Protocol (MCW151-DRT-E Only)
  
  254
- Appendix C Programming Examples
  
  260
- Index
  
  270
- Revision History
  
  276

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