Omron R88A-MCW151-E, R88A-MCW151-DRT-E OPERATION MANUAL

Cat. No. I203-E2-02

R88A-MCW151-E
R88A-MCW151-DRT-E

Motion Control Option
Board

OPERATION MANUAL

MCW151 Series
Motion Control Option Board

Models: R88A-MCW151-E

R88A-MCW151-DRT-E

Operation Manual

Produced March 2003

Notice:

OMRON products are manufactured for use according to proper procedu res by a qualified operator
and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed
the information provided with them. Failure to heed precautions can result in injur y to p eople or dam­age to property.

!DANGER

!WARNING

!Caution

Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.

Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.

Indicates a potentially hazardous situation which, if not avoided, may result in minor or
moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to
an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch”, which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PC” means Programmable Controller and is not used a s an abbreviation for any­thing else.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of
information.

Note In dicates information of par ticular interest for efficient and convenient opera-

tion of the product.

1,2,3... Indicates lists of one sort or another, such as procedures, checklists, etc.

Trademarks and Copyrights

DeviceNet is a registered trademark of the Open DeviceNet Vendor Association, Inc.

 OMRON, 2003

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe­less, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information conta ined in this publication.

v

vi

About this Manual:

This manual descri bes the installation and operation o f the R88A-MCW151-E an d R88A-MCW151­DRT-E Motion Control Option Boards (MC Units) and includes the sections described below.

Please read this manual and the related manuals listed in the following table carefully and be sure you
understand the information provided before attempting to install or operate the MC Unit. Be sure to
read the precautions provided in the following section.

Name Cat. No. Contents

MCW151 Series
R88A-MCW151-E
R88A-MCW151-DRT-E
Operation Manual

OMNUC W-series
R88M-W
R88D-W
User’s manual
DeviceNet Operation Manual W267 Describes the conf iguration and construct ion of a DeviceNet net-

DeviceNet Conf igurator Oper­ation Manual

❏ (AC Servomotors)

❏ (AC Servo Drivers)

I203 Describes the instal lation and operation of the R88A-MCW151-E

and MCW151-DRT-E Motion Control Units.
(This manua l)

I531 Describes the inst al lation a nd oper ati on of t he W -seri es Servo Dri ver

and Servomotor.

work, including installation procedures and specifications for cables,
connectors, and other connection devices, as well as information on
the communic ations power supply.

W328 Describes the operation of the DeviceNet Configurator to allocate

remote I/O areas according to application needs, as well as proce­dures to set up a DeviceNet network with more than one master.

Precautions provides general precautions for using the MC Unit and related devices.

Section 1

describes the features and system configuration of the R88A-MCW151-E and R88A-

MCW151-DRT-E Motion Control Units and concepts related to their operation.

Section 2
Section 3

describes the MC Unit components and provides the information for installing the MC Unit.
describes the different Motion Control features of the MCW151. Also the functiona lity of the

Servo Driver related commands are explained.

Section 4

describes the com munication componen ts of the MCW 151-E and MCW151-DRT-E. The

functionality of the serial communication protocols and the DeviceNet interface are explained.

Section 5

provides an overview of the fundamentals of multitasking BASIC progr a ms and the methods

by which programs are managed in the MC Unit.

Section 6

describes all commands, functions and parameters required for programing the motion con-

trol application using the MC Unit.

Section 7

describes the operation of the Motion Perfect programming software package. Motion Per-

fect provides the user a tool to program, monitor and debug motion based applications for the MC Unit.

Section 8

describes error processing and troubleshooting procedures needed to keep the system

operating properly.

Section 9

explains the maintenance and inspec tion procedures that must b e followed to keep the M C

Unit operating in optimum condition. It also includes proper procedures when replacing an MC Unit.
The Appendices provide the required p arameter settings for the Ser vo Driver, the DeviceNet protocol

specification and some general programming examples.

!WARNING

Failure to read and understand the information pro vided in this manual may result in per­sonal injury or death, damage to t he product, or product failure. Pleas e read each section
in its entirety and be sure you unders tand the information provided in the section and
related sections before attempting any of the procedures or operations given.

vii

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

3 General Warnings and Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

4 Storage and Transportation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

5 Installation and Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

6 Operation and Adjustment Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

7 Maintenance and Inspection Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

8 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

SECTION 1

Features and System Configuration . . . . . . . . . . . . . . . . 1

1-1 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1-3 Motion Control Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1-4 Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1-6 Comparison between Firmware Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

SECTION 2

Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2-1 Components and Unit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2-2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2-4 Servo System Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

2-5 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

SECTION 3

Motion Control Functions . . . . . . . . . . . . . . . . . . . . . . . . 43

3-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3-2 System Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

3-3 System Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

SECTION 4

Communication Interfaces. . . . . . . . . . . . . . . . . . . . . . . . 59

4-1 Serial Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4-2 DeviceNe t (MCW151-DRT -E only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

ix

TABLE OF CONTENTS

SECTION 5

Multitasking BASIC Programming . . . . . . . . . . . . . . . . . 85

5-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5-2 BASIC Programming. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5-3 Motion Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5-4 Command Line Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5-5 BASIC Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5-6 Task Operation Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5-7 Error Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

SECTION 6

BASIC Motion Control Programm ing Langua ge . . . . . 97

6-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

6-2 Command Reference List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

6-3 Command, function and parameter description. . . . . . . . . . . . . . . . . . . . . . . . . . . 111

SECTION 7

Motion Perfect Software Package . . . . . . . . . . . . . . . . . . 197

7-1 Features and Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

7-2 Connecting to the MC Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

7-3 Motion Perfect Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

7-4 Desktop Appearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

7-5 Motion Perfect Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

7-6 Suggestions and Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

SECTION 8

Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

8-1 Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

8-2 Error Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

8-3 Problems and Countermeasures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

SECTION 9

Maintenance and Inspection. . . . . . . . . . . . . . . . . . . . . . . 233

9-1 Routine Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

9-2 Replacing a MC Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

Appendices

Appendix A Servo Driver Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

Appendix B Device Protocol (MCW151-DRT-E only). . . . . . . . . . . . . . . . . . . . . . . 239

Appendix C Programming Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

x

PRECAUTIONS

This section provides general precautions for using the Motion Control Unit and related devices.

The information contained in this section is important for the safe and reliable application of the Motio n Control
Unit. You must read this section and u nderstand the information contained before attempting to set up or o perate
a Motion Control Unit and Servo Dri ver.

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

3 General Warnings and Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

4 Storage and Transportation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

5 Installation and Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

6 Operation and Adjustment Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

7 Maintenance and Inspection Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

8 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

8-1 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi

8-1-1 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi

xi

Intended Audience 1

1 Intended Audience

This manual is intended for the following personnel, who must a lso have knowledge of el ectr i­cal systems (an electrical engineer or the equivalent).

• Personnel in charge of installing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of managing FA systems and facilities.

2 General Precautions

The user must operate t he product accordi ng to the perfor mance specifications described in
the operation manuals. You should assume t hat anything not des cribed in this manual is not
possible.

Before using the product under the following conditions, consult your OMRON representative,
make sure the ratings and performance characteristics of the products are good enough for
the systems, machines, or equipment, and be sure to provide the systems, machines, or
equipment with double safety mechanisms.

1. Conditions not described in the manual.

2. The application of the product to nuclear control systems, railroad systems, aviation sys­tems, vehicles, combustion systems, medical equipment, amusement machines, or safety
equipment.

3. The application of the product to systems, machines, or equipment that may have a serious
influence on human life and property if they are used improperly.

!WARNING

It is extremely important that Mot ion Control Units and related devices be used for the
specified purpose and under the specif ied conditions, especially in applications that can
directly or indirectly affect human life. You must consult with your OMRON representative
before applying Motion Control Units an d related devices to the above mentione d appli­cations.

3 General Warnings and Safety Precautions

Observe the following warnings when using the MC Unit and all pheripheral devices.
Consult your OMRON representative when using the product after a long period of storage.

!WARNING

!WARNING

!WARNING

!WARNING

!WARNING

Always connect the frame ground terminals of the S ervo Dr iver and the Servomotor to a
class-3 ground (to 100 Ω or less). Not connecting to a class-3 ground may result in elec­tric shock.

The product contains dangerous high voltage inside. Tur n OF F the power and wait for at
least five minutes to allow power to discharge before handling or working with the prod­uct.

Do not touch the inside of the Servo Driver. Doing so may result in electric shock.
Do not remove the front cover, terminal covers, cables, Parameter Units, or optional

items while the power is being supplied. Doing so may result in electric shock.
Installation, operation, maintenance, or inspection must be performed by authorized per-

sonnel. Not doing so may result in electric shock or injury.

!WARNING

!WARNING

xii

Wiring or inspection must not be performed for at least five minutes after turning OFF the
power supply. Doing so may result in electric shock.

Do not damage, press, or put excessive stress or heavy objects on the cables. Doing so
may result in electric shock, stopping operation of the product, or burning.

General Warnings and Safety Precautions 3

!WARNING

!WARNING

!WARNING

!WARNING

Do not touch the rotating par ts of the Servomotor in operation. Doing so m ay result in
injury.

Do not modify the product. Doing so may result in injury or damage to the product.
Provide safety measures in external control circuits (i.e., not in the MC Unit) to ensure

safety in the system if an abnormality occurs due to malfunction of the MC Unit, incorrect
or unintended configuration and programming of the MC Unit or external factors affecting
the operation of the MC Unit. Not providing sufficient safety measures may result in seri­ous accidents, or property damage.

• The MC Unit ou tputs m ay remain ON or OFF due to deposits on or burning of th e out ­put relays, or destruction of the output transistors. As a counter-measure for such prob­lems, external safety measures must be provided to ensure safety in the system.

• Provide an external em ergency stopping device that allows an i nstantaneous stop of
operation and power interruption. Not doing so may result in injury.

• Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures
must be provided in external control circuits.

• When the 24 -VDC output (service power supply to the Unit) is overloaded or short-cir­cuited, the voltage may drop and result in the output s being turned OFF. As a counter­measure for such problems, external safety measures must be provided to ensure
safety in the system.

It is the nature of high speed motion control and mot ion control language programming
and multi-tasking systems, that it is not always possible for the system to validate the
inputs to the functions or to validate the combination of functions.

!WARNING

!Caution

!Caution

!Caution

!Caution

It is t he responsibi li ty of the prog rammer to e n s u re that the various BASIC statements are
invoked correctly with the correct number of parameters and inputs, that the values are
correctly validated prior to the actual calling of the functions, and that the BASIC pro­gram(s) provide the desired functionality for the application. Failure to do so may result in
unexpected behaviour, loss or damage to the machinery.

When the SERVO_PERIOD parameter has been s et t o change the ser vo cycle pe riod of
the MC Unit, a power down or software reset (using DRV_RESET) must be performed for
the complete system. Not doing so may result in undefined behaviour.

Use the Servomotors and Servo Drivers in a specified combination. Using them incor­rectly may result in fire or damage to the product.

Do not operate the control system in the following locations:

• Locations subject to direct sunlight.

• Locations subject to temperat ures or hum idity out side the ra nge spec ified in th e spec i-

fications.

• Locations subject to condensation due to radical temperature changes.

• Locations subject to corrosive or inflammable gases.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to vibration or shock.

• Locations subject to exposure to water, oil or chemicals.

Do not touch the Servo Driver radiator, Regeneration Resistor, or Servomotor while the
power is being supplied or soon after power is turned OFF. Doing so may result in a skin
burn due to the hot surface.

xiii

Storage and Transportation Precau tions 4

4 Storage and Tran sportation Precautions

!Caution

!Caution

!Caution

Do not hold the product by the cables or motor shaft while transporting it. Doing so may
result in injury or malfunction.

Do not place any load exceeding the figure indicated on the product. Doing so may result
in injury or malfunction.

Use the motor eye-bolts only for transporting the M otor. Using them for transporting the
machine ry may resu lt in in j u ry or malf u nc ti o n .

5 Installation and Wiring Precautions

!Caution

!Caution

!Caution

!Caution

!Caution

!Caution

!Caution

Do not step or place a heavy object on the product. Doing so may result in injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from entering the

product. Doing so may result in fire.
Be sure to install the product in the right direction. Not doing so may result in malfunction.
Provide the specified clearance between the Servo Driver and the control panel or with

other devices. Not doing so may result in fire or malfunction.
Do not apply any strong impact. Doing so may result in malfunction.
Be sure to wire correc tly and sec urely. Not doing so may result in motor r unaway, injury,

or malfunction.
Be sure that all mounting screws, term inal sc rews, and cable connector screws are tight-

ened securely. Incorrect tightening may result in malfunction.

!Caution

!Caution

!Caution

!Caution

!Caution

!Caution

!Caution

Use crimp ter minals for wiring. Do not connect b are stranded wires directly to ter minals.
Connection of bare stranded wires may result in fire.

Always use the power supply voltages specified in the manual. An incorrect voltage may
result in malfunction or burning.

Take appropr iate m eas ures t o en su re that the spec ified power with the rated voltage a nd
frequency is supplied. Be par ticularly careful in places wh ere the power suppl y is unsta­ble. An incorrect power supply may result in malfunction.

Install external breakers and take other safety measures against short-circuiting in exter­nal wiring. Insufficient safety measures against short-circuiting may result in burning.

Take appropriate and sufficient countermeasures when installing systems in the following
locations. Not doing so may result in damage to the product.

• Locations subject to static electricity or other sources of noise.

• Locations subject to strong electromagnetic fields.

• Locations subject to possible exposure to radiation.

• Locations near power supply lines.

Do not reverse the polarity of the battery when connect ing it. Reversing the polarity may
damage the battery or cause it to explode.

Before touching a Unit, be sure to first touch a grounded metallic objec t in order to dis­charge any static build-up. Not doing so may result in malfunction or damage.

xiv

Operation and Adjustment Precautions 6

6 Opera tion an d A djustment Pre c autio ns

!Caution

!Caution

!Caution

!Caution

!Caution

!Caution

!Caution

!Caution

Confirm that no adverse effects will occur in the system before performing the test opera­tion. Not doing so may result in damage to the product.

Check the modified user programs, newly set parameters and switches for proper execu­tion before actually running them. Not doing so may result in damage to the product.

Do not make any extreme adjustment s or s ett ing ch anges. Do ing so m ay result in uns ta­ble operation and injury.

Separate the Servomotor from the ma chine, check for proper operation, and then con­nect to the machine. Not doing so may cause injury.

When an a larm occurs, remove the cau se, reset the alarm after confirming safety, a nd
then resume operation. Not doing so may result in injury.

Do not come close to the machine immediately after resetting momentary power interrup­tion to avoid an unexpected restart. (Take appropriate measures to secure safety against
an unexpected restart.) Doing so may result in injury.

Confirm that no adverse effect will occur in the system before attempting any of the fol­lowing. Not doing so may result in an unexpected operation or damage to the product.

• Changing the present values or set values.

• Changing the parameters.

• Modifying (one of) the application programs.

Do not save data into the flash memory duri ng memory operation or while the motor is
running. Otherwise, unexpected operation may be caused.

!Caution

!Caution

!Caution

Do not turn OFF the power supply to the Unit while data is being written to flash memory.
Doing so may cause problems with the flash memory.

Do not turn OFF the power supply to the Unit while data is being t ransferred. Doing so
may result in malfunction or damage to the product.

Do not download any firmware to the MC Unit that has not been distributed by OMRON or
that has not been authorized and approved by OMRON for downloading into the
MCW151 series. Failure to do so may result in permanent or temporar y malfunction of
the Unit or unexpected behaviour .

7 Maintenance and Inspection Precautions

!WARNING

!Caution

Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may
result in malfunction, fire, electric shock, or injury.

Resume operation only after transferring to the new Unit the contents of the data required
for operation. Not doing so may result in an unexpected operation or damage to the prod­uct.

8 Conformance to EC Directives

Applicable Directives

• EMC Directives

• Low Voltage Directive

xv

Conformance to EC Directives 8

8-1 Concepts

EMC Directives

OMRON devices that comply with EC Directives also conform to the related E MC standards
so that they can be more easil y built into other devices or ma-chines. The actua l products
have been checked for conformity to EMC standards (see the following note). Whether the
products conform to the standards in the system used by the customer, however, must be
checked by the customer. EMC-related performance of th e OMRON devices that comply with
EC Directives will vary depending on the configuration, wiring, and other conditions of the
equipment or con trol panel in which the OMRON devices are installed. The customer must,
therefore, perform final checks to confirm that devices and the over-all machine conform to
EMC standards.

Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN61000-6-2, EN50082-2
EMI (Electromagnetic Interference): E N55011 Class A Group 1

Low Voltage Directive

Always ensure that devices operating at voltages of 50 to 1,000 VAC or 75 to 1,500 VDC meet
the required safety standards.

8-1-1 Conformance to EC Directives

The W-series Servo Driver complies with EC Directives. To ensure that the machine or device
in which a Ser vo Dr iver and MC Unit are used complies with EC directives, the Servo System
must be installed as follows (refer to OMNUC W-series User’s manual (I531)):

1,2,3... 1. The Servo Driver must be mounted in a metal case (control box). (It is not necessary to

mount the Servomotor in a metal box.)

2. Noise filters and surge absorbers must be inserted in power supply lines.

3. Shielded cable must be used for I/O signal cables and encoder cables. (Use soft steel wire.)

4. Cables leading out from the control box must be enclosed within metal ducts or conduits
with blades.

5. Ferrite cores must be installed for cables with braided shields, an d the shield must be di­rectly grounded to a ground plate.

xvi

SECTION 1

Features and System Configuration

This section describes the features and system configuration of the R88A-MCW151-E and R88A-MCW151-DRT-E
Motion Control Units and concepts related to their operation.

1-1 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-1-2 Description of Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1-3 Motion Control Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1-3-1 PTP-control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-3-2 CP-control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1-3-3 EG-Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-3-4 Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1-4 Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1-4-1 Servo System Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1-4-2 Encoder Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1-5 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1-5-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1-5-2 Functional Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1-5-3 DeviceNet Specifications (MCW151-DRT-E only) . . . . . . . . . . . . . 21

1-6 Comparison between Firmware Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1

Features Section 1-1

1-1 Features

MCW151-E MCW151-DRT-E

1-1-1 Overview

MCW151

RUN STS

SD RD

1

25

PORT0 ,1

PORT2

2

I/O

26

+24V

0V

MCW151-DRT

RUNMSSTS

1

25

NS

PORT0,1

2

I/O

26

+24V

0V

The R88A-MCW151 is a 1.5-axis Motion Control (MC) Unit which is con­nected to the W-series Servo Driver. The MC Unit provides direct control of
the Servo Driver, enables both speed and torque control and has ac cess to
detailed Servo Driver data. To support a multi-axis control application, the MC
Unit features both an encoder input and output connection.

There are two types of the MCW151 Motion Controllers, according to the
communication interface which is integrated into the Unit.

Communication Interface Model

RS-422A/485 Serial Communication R88A-MCW151-E
DeviceNet R88A-MCW151-DRT-E

The multi-tasking BASIC motion control language provides an easy to use
tool for programming advanced motion control applications.

Three types of motion control are possible: point-to-point, continuous path
and electronic gearing.

Point-to-point Control Point-to-point (PTP) control enables positioning independently for each axis.

Axis specific parameters and c ommands are us ed to determi ne the p aths for
the axes.

Continuous Path Control Continuous path (CP) control enables the user not only to control the start and

end positions, but also the path between those points. Possible multi-axis
paths are linear interpolation and circular interpolation. Also user defined
paths can be realized with the CAM control.

Electronic Gearing Electronic gearing (EG ) enables controlling an axis as a direct li nk to another

axis. The MC Units supports electronic gear boxing, linked moves and CAM
movements and adding all movements of one axis to another.

2

Features Section 1-1

1-1-2 Descr iption of Features

The MC Unit provides the following features.

Motion Control The direct connection to the Servo Driver provides a high performance / high

precision control system. Operation will be processed in optimal synchroniza­tion.

• Suppor t s both speed and torque co ntrol modes of the Servo Dr iver.

• Supports switching between the modes during operation.

• Suppor t s speed limit during torque con trol using the speed reference.

• Selectable MC Unit servo period cy cle which can be set to either 0.5 ms

or 1.0 m s.

Servo Driver Access Apart from the motion control operation with the Servo Driver, the MC Unit

provides the following features:

• Monitor the detailed Servo Driver alarm status.

• Monitor various monitor signals (rotation speed, command torque).

• Monitor the Servo Driver digital inputs and a nalog input to i nclude in the

application.

• Read and write of the Servo Driver Parameters.

• Execution of several Driver functions from the MC Unit. Examples are

Print Registration, Origin Search, Driver Alarm Reset and Driver Reset.

Easy Programming with
BASIC Motion Control
Language

Encoder Input and Output To achieve a solution for multi-axis applications, the M C Unit is provided wi th

DeviceNet Interface
(MCW151-DRT-E only)

Serial Communications The MC Unit has three (MCW151-E ) or two (MCW151-DRT-E ) seri al ports for

The multi-task BASIC motion control language is used to program the MC
Unit. A total of 14 programs can be held in the Unit and up to 3 tasks can be
run simultaneously. The MC Unit is programmed using a Windows-based
application called
programming and debugging.

an encoder axis. This axis provides either to have an encoder input for exter­nal encoders or to have an encoder output to cascade position data to
another MC Unit.

The MCW151-DRT-E can be connected easily in an existing DeviceNet net­work. The DeviceNet network has a maximum communication distance of
500 m, so an MC Unit in a remote location can be controlled from the Master.

The MC Unit supports both remote I/O and explicit message communications.

• Remote I/O communications
Remote I/O communications can exchange data (4 input words and 4 out­put words max.) with the MC Unit at high speed and without program­ming, just like regular I/O.

• Explicit message commun ications
Large data transfers to a nd from t he M C Unit m emor y can be perform ed
by sending explicit messages from the Master when required.

communication to several external devices. Next to the connection to th e Per­sonal Computer for configuring, the MC Unit can be connected with PCs, Pro­gramming Ter minals (PTs) and other MC Units. The serial ports suppor t the
Host Link Master and Slave protocols.

1

Motion Perfect. Motion Perfect allows extremely flexible

Absolute Encoder
Support

By using a S ervomotor with absol ute encoder, the motor position is updat ed
automatically in the MC Unit at start-up of the system. No origin search
sequence will be necessary in the system initiation phase.

1.Motion Perfect is a product of Trio Motion Technology Limited.

3

Features Section 1-1

Virtual Axes The MC Unit contains a total of 3 axes, of which two can be configured as vir-

tual axis. The virtual axes are internal axes and are used for computational
purposes. They act as perfect servo axes and are very useful for creating pro­files. They can be linked directly to the servo axes.

Hardware-based
Registration Inputs

There is a high-speed registration input for the encoder inp ut and out put axis.
On the rising or falling edge of a regi stration input, th e MC Unit will store the
current position in a register. The registered position can then be used by the
BASIC program as required. T he registered positions are captured in hard­ware.

General-purpose Input
and Output Signals

Starting, st opping, limit switching, origin sea rches and many other f unctions
can be controlled by the MC Unit. The general I/O can have specific functions
(such as the registration, limit switches), but also can be freely used.

Reduced Machine Wear The traditional trap ezoidal speed prof ile is provided t o ge nerate sm oot h st art-

ing and stopping. The trapezoidal corners can be rounded off to S-curves.

Trapezoidal Speed Profile with
Square Corners

Time

Trapezoidal Speed Profile with
S-curveCorners

SpeedSpeed

Time

4

System Configuration Section 1-2

1-2 System Configuration

Basic Configuration

W-series Servo Driver MCW151

Personal Computer running Motion Perfect

MCW151

STS

RUN

SD

RD

PORT2 PO RT0 ,1

1

2

I/O

25

26

+24V

0V

Typical applicable Sensors for Servo
Driver Digital I nputs

Print Registration

Personal

Computer

1

Typicalapplicable Units for Serial Comm. Ports

PC

2

Programmable

Terminal (PT)

General-purpose

device

Typical applicable Actuators for Digital O utputs

Relais

Lamp

Limit Switches

Power Supply connection

24 V Power supply

Typicalapplicable Pulse Generators for
Encoder Input

MCW151 Unit

Servo Driver

Note 1. The RS-422A/485 Serial Port 2 is only available on the MCW151-E Unit.

2. The MC Unit has one encoder axis. Either the encoder input or the encoder

Typical applicable Sensors for Digital Inputs

Print Registration

Proximity Sensor

Typical applicable Units f or Encoder Output

MCW151 Unit

output can be used.

5

System Configuration Section 1-2

The equipment and models which can be used in the system configuration
are shown in the following table.

Device Model

Motion Control Unit R88A-MCW151-E

R88A-MCW151-DRT-E
Servo Driver (see note) R88D-WT
Servomotor

Control De vices (using
Host Link)

Personal Computer (for
Motion Perfect)

Motion Perfect Version 2.0 or later

R88M-W

Prog ramma bl e Terminals

CPU Units

IBM Pers onal Computer or 100% compatible

Note The MC Unit must be used with a Servo Driver with software version 14 or

later. The MC Unit cannot be used with software version 8.

❏

❏

DeviceNet Configuration
(MCW151-DRT-E only)

A DeviceNet system can be constructed in two ways: fixed allocation or free
allocation.

Fixed Allocation

A DeviceNet system can be constructed easily without the Configurator. With
fixed allocation, predetermined words are allocated to each node for the
Slave’s I/O.

An OMRON Master must be used in order to perform fixed allocation. More­over, with fixed allocation only one M aster Unit can be u sed in a DeviceNet
network and only one Master Unit may be mounted to a PC.

Master Unit

CPU Unit

Remote I/O communications

Slave Slave MC Unit

Free Allocatio n

The Configurator can be used to freely allocate the words used by each
Slave. With free allocation, more than one Master Unit can be connected in a
DeviceNet network and each Master’s Slave I/O can be set independently.
More than one Master Unit may be mounted to each PC and those Masters
can be used independently. Furthermore, other compan ies’ Masters can be

6

Motion Control Concepts Section 1-3

used. For details, refer to the DeviceNet Configurator Operation Manual
(W328).

Master Unit Master Unit

CPU Unit

Remote I/O communications

MC Unit

Slave

Master Unit

Message
communications

Slave

MC Unit

The following OMRON Master Units can be used.

Appli c able P C Ma s te r Un it mo d e l

number

CS1 Series CS1-DRM21 CPU Rack or Expansion I/O Rack

(Classified as Special I/O Units)

C200HZ/HX/HG/HE C200HW-DRM21-V1 CPU Rack or Expansion I/O Rack

(Classified as Special I/O Units)

Mounting position Max. number of Units

Note S om e CPUs can control 16 Master Units and other CPUs can control 10.

With

Configurator

16 1

10 or 16 (see
note)

Configurator

ISA Board

Without

Configurator

1

1-3 Motion Control Concepts

The MC Unit offers the following types positioning control operations.

1. Point-to-point control

2. Continuous Path control

3. Electronic Gearing
This section will introduce some of the commands and parameters as used in

the BASIC programming of the motion control application. Refer to
SECTION 6 BASIC Motion Control Programming Language for details.

Coordinate S ys te m Positioning operations performed by the MC Unit are based on an axis coordi-

nate system. The MC Unit converts the position data from either the con­nected Servo Driver or the connected encoder into an internal absolute
coordinate system.

The engineering unit which specif ies the distances of travelling can be freely
defined for each axis separately. The conversion is performed through the
use of the unit conversion factor, which is defined by the UNITS axis parame­ter. The origin point of the coordinate system can be det ermined using the
DEFPOS command. Thi s command re-de fines the current position to zero or
any other value.

A move is defined in either absolute or relative terms. An absolute move takes
the axis to a specific predefined position with respect to the origin point. A rel­ative move takes the axis from the current position to a position that is defined
relative to this current position. The following diagram shows gives an exam-

7

Motion Control Concepts Section 1-3

ple of relative (command MOVE) and absolute (command M OVEABS) linear
moves.

MOVEABS(30)

MOVE(60)

MOVEABS(50)

MOVE(50)

MOVE(30)

1-3-1 PTP-control

In point-to-point positioning, each axi s is moved independently of the other
axis. The MC Unit supports the following operations.

• Relative m o ve

• Absolute move

• Continuous move forward

• Continuous move reverse

Relative and Absolute Moves

To move a single axis either t he command MOVE for a relative move or the
command MOVEABS for an absolute move is used. Each axis has its own
move characteristics, which are defined by the axis parameters.

Suppose a control program is executed to move from the origin to an axis
no. 0 coordinate of 100 and axis no. 1 coordinate of 50. If the speed parame­ter is set to be the s ame for both axes and the acceleration and dec eleration
rate are set sufficiently high, the m ovements for axis 0 and axis 1 will be as
illustrated below.

Axis 1

0

50

50 100

MOVEABS(100) AXI S(0)
MOVEABS(50) AXIS(1)

Axis position

0

50

100

Axis 0

At start, both the axis 0 and axis 1 will move to a coordinate of 50 over the
same duration of time. At this point, axis 1 will stop and the axis 0 will con­tinue to move to a coordinate of 100.

Relevant Axis Parameters As mentioned before the move of a certain axis is determined by the axis

parameters. Some relevant parameters are given in the next table.

Parameter Description

UNITS Unit conver sion factor
ACCEL Acceleration rate of an axis in units/s
DECEL Deceleration rate of an axis in units/s
SPEED Demand speed of an axis in units/s

2

2

8

Motion Control Concepts Section 1-3

D

d

Defining moves The speed profile below shows a simple MOVE operation. The UNITS param-

eter for this axis has been defined for example as meters. The required maxi­mum speed has been set to 10 m/s. In order to reach this speed in one
second and also t o decelerate to zero speed again i n one second, both the
acceleration as the deceleration rate have been set to 10 m/s
tance travelled is the sum of distances travelled during the acceleration, con­stant speed and decel eration segm ents. Suppose the di stance moved by the
MOVE command is 40 m, the speed profile will be given by the following
graph.

Speed

10

2

. The total dis-

ACCEL=10
DECEL=10
SPEED=10
MOVE(40)

0

12345

6

Time

The following two speed profiles show the same movement with an accelera­tion time respectively a deceleration time of 2 seconds.

Speed

ACCEL=5

6

DECEL=10
SPEED=10
MOVE(40)

Time

ACCEL=10
DECEL=5
SPEED=10
MOVE(40)

10

Speed

10

0

12345

0

12345

6

Time

Move Calculations The following equations are used to calculate the total time for the motion of

the axes. Consider the moved distance for the MOVE command as , the
demand speed as , the acceleration rate and deceleration rate .

V

a

9

Motion Control Concepts Section 1-3

Continuous Moves

Acceleration time

V

---=

a

2

Acceleration dist a nc e

V

------=
2a

Deceleratio n time

V

---=

d

2

Deceleration distance

V

------=
2d

Constant speed distance

V2ad+()

D=

-----------------------–
2ad

D

Total time

The FORWARD and REVERSE commands can be used to start a continuous
movement with constant speed on a cert ain axis. The FORWARD command
will move the axis in positive direction and the REVERSE comman d in nega­tive direction. For these commands also the axis parameters ACCEL and
SPEED apply to specify the acceleration rate and demand speed.

Both movements can be canceled by using either the CANCEL or RAPID­STOP command. The CANCEL command will cancel the m ove for one axis
and RAPIDSTOP will cancel m oves on all axes. The de celeration rate is set
by DECEL.

Va d+()

--- -=

-------------------- -+

V

2ad

1-3-2 CP-control

Linear Interpolation

Continuous Path control enables to control a specif ied p ath bet ween t he st art
and end position of a movement for one or multiple axes. The MC Unit sup­ports the following operations.

• Linear interpolation

• Circular interpolation

• CAM control

In applications it can be required for a set of motors to perform a move opera­tion from one position to another in a straight line. Linearly interpolated moves
can take place among several axes. The commands MOVE and MOVEABS
are also used for the linear int erpola ti on . I n t h is c as e t h e c o m ma nds will h ave
multiple arguments to specify the relative or absolute move for each axis.
Consider the following three axis move in a 3-dimensional plane.

MOVE(50,50,50)

Axis 2

Axis 1

Speed

Time

10

Axis 0

Motion Control Concepts Section 1-3

The speed profile of the motion along the path is given in the diagram. The
three parameters SPEED, ACCEL and DECEL which determine the multi axis
movement are taken from the corresponding parameters of the base axis.
The MOVE command computes the various components of speed demand
per axis.

Circular Interpolation

It may be required that a tool travels from the starting point to the end point in
an arc of a circle. In this instance the motion of two axes is related via a circu­lar interpolated move using the MOVECIRC command. Consider the following
diagram.

CAM Control

MOVECIRC(-100,0,-50,0,0)

-50

The centre point and desired en d point of the trajectory relative to the start
point and the direction of movement are specified. The MOVECIRC command
computes the radius and the angle of rotation . Like the linearly inter polated
MOVE command, the ACCEL, DECEL and SPEED variables associated with
the base axis determine the speed profile along the circular move.

Additional to the standard move profiles the MC Unit also provides a way to
define a position profile for the axis to move. The CAM command will move an
axis according to position values stored in the MC Unit Table array. The
speed of travelling through the profile is determined by the axis parameters of
the axis.

CAM(0,99,100,20)

Axis 1

0

50

50

Axis 0

1-3-3 EG-Control

Position

Time

Electronic Gearing control allows you to create a direct gearbox link or a
linked move between two axes. The MC Unit supports the following opera­tions.

1. Electronic gearbox

2. Linked CAM

3. Linked move

4. Adding axes

11

Motion Control Concepts Section 1-3

Electronic Gearbox

The MC Unit is able to have a gearbox link from one axis to another as if there
is a physical gearbox connecting them. This can be done using the C ON­NECT command in the program. In the command the ratio and the axis to link
to are specified.

CONNECT Axis

2:1

Axes Ratio CONNECT command

01

1:1 CONNECT(1,0) AXIS(1)

2:1 CONNECT(2,0) AXIS(1)

1:1

1:2

Master Axis

Linked CAM control

Linked Move

1:2 CONNECT(0.5,0) AXIS(1)

Next to the standard CAM profiling tool the MC Unit also provides a tool to link
the CAM profile to another axis. The command to create the link is called
CAMBOX. The travelling speed through the profile is not deter mined by the
axis parameters of the a xis but by the position of t he linked axis. This is like
connecting two axes through a cam.

CAMBOX(0,99,100,20,0) AXI S(1)

CAMBOX Axis (1) Position

Master Axis (0) Position

The MOVELINK command provides a way to link a specified move to a mas­ter axis. The move is divided into an acceleration, dece leration and constant

12

Motion Control Concepts Section 1-3

speed part and they are specified in master link distances. This can be partic­ularly useful for synchronizing two axes for a fixed period.

MOVELINK(50,60,10,10,1) AXIS(0)

Speed

Master Ax is (1)

Synchronized

MOVELINK Axis (0)

Time

Adding Axes

It is very useful to be able to add all movements of one axis to another. One
possible application is for instance changing the offset between two axes
linked by an electronic gearbox. The MC Unit provides this possibility by using
the ADDAX command. The movements of the linked ax is will consists of all
movements of the actual axis plus the a dditional movements of the master
axis.

Speed axis 0*

BASE(0)
ADDAX(2)
FORWARD
MOVE(100) AXIS(2)
MOVE(-60) AXIS(2)

Speed axis 2

Time

+

Speed axis 0

Time

=

Time

1-3-4 Other Operations

Canceling Moves In normal operation or in case of emergency it can be necessary to cancel the

current movement from the buffers. When the CANCEL or RAPIDSTOP com­mands are given, the selected axis respectively all axes will cancel their cur­rent move.

Orig in Sea rch The encoder feedback for controlling the position of the motor is incremental.

This means that all movement must be defined with respect to an origin point.
The DATUM comm and is used to set up a procedure whereby the MC Unit
goes through a sequence and searche s for the origin based on digital inputs
and/or Z-marker from the encoder signal.

13

Control System Configuration Section 1-4

Print Registration The MC Unit can capture t he position of an axis in a regi ster when an event

occurs. The event is referred to as the print registration input. On the risin g or
falling edge of an input signal, which is either the Z-marker or an input, the MC
Unit captures the position of an axis in hardware. This position can then be
used to correct possible error between the actual position and the desired
position. The print registration is set up by using the REGIST command.

The position is captured in hardware, and therefore there is no software over­head and no interrupt service routines, eliminating the nee d to deal with the
associated timing issues.

Merging Move s If the MERGE axis parameter is set to 1, a movement will always be followed

by a subsequent movement without stopping. The following illustrations will
show the transitions of two moves with MERGE value 0 and value 1.

Speed

MERGE=0

Time

Speed

MERGE=1

Time

Jogging Jogging moves the axes at a constant speed forward or reverse by manual

operation of the digital in puts. Different speeds are also selectable by input.
Refer to the FWD_JOG, REV_JOG and FA ST_JOG axis parameters.

1-4 Control System Configuration

1-4-1 Servo System Principles

The servo system used by and the internal operation of the MC Unit are
briefly described in this section. Refer to 2-4 Servo System Precautions fo r
precautions related to servo system operation.

Semi-closed Loop System The servo system of the MC Unit uses a semi-closed or inferred closed loop

system. This system detects actua l m ac hin e movements b y th e ro tation of the
motor in relation to a t arget value. It calculates the error between the target
value and actual movement, and reduces the error through feedback.

14

Control System Configuration Section 1-4

Internal Operation of the
MC Unit

1,2,3... 1. The MC Unit performs actual position c ontrol. The main inpu t of the con-

MC Unit

Servo System

2

3

Demand
position

1

+

-

Position
Control

Speed
reference

Speed
Control

Motor

4

Measured
speed

Encoder

Measured
position

Inferred closed loop systems occupy the mainstream in modern servo sys­tems applied to positioning devices for industrial applications. The following
graph shows the basic principle of the Servo System as used in the MC Unit.

troller is the following error, which is the calculated difference between the
demand position and the actual measured position.

2. The Position Controller calculates the required speed reference output de­termined by the following error and possibly the dema nded position and
the measured position. The speed reference is provided to the Servo Driv­er.

3. The Servo Driver controls the rotational speed of the Servomotor corre­sponding to the speed reference. The rotational speed is proportional to
the speed reference.

4. The rotary encoder wil l generate the feedback pulses for both the speed
feedback within the Servo Driver speed loop and the position feedback
within the MC Unit position loop.

Motion Control Algorithm The servo system controls the m otor by continuously ad justing t he s pee d ref -

erence to the Servo Driver. The speed reference is calculated by the MC
Unit’s Motion Control algorithm, which is explained in this section.

The Motion Control algorithm uses th e demand position, the measured posi ­tion and the following error to determine the speed reference. The following
error is the difference between the d emanded and measured position. The
demand position, me asured position and following error are represented by
axis parameters MPOS, DPOS and FE. Five gain values have been imple­mented for the user to be able to configure the correct control operation for
each application.

15

Control System Configuration Section 1-4

The Motion Control algorithm of the MC Unit is shown in the diagram below.

K

∆

vff

K

p

K

ov

Output
signal

∆

Measured
position

Demand
position

Proportional Gain The proportional gain creates an output that is proportional to the

foll owing er ror .

O

All practical systems use proportional gain. For many just using this gain
parameter alone is sufficient. The proportional gain axis parameter is called
P_GAIN.

Integral Gain The integral gain creates an output that is proportional to the sum of

the following errors that have occurred during the system operation.

O

Integral gain can cause overshoot and so is usually used only on systems
working at constant speed o r with slow accelerations. The integral gain axis
parameter is called I_GAIN.

KpE⋅=

p

K

i

Following
error

+

K

Σ

K

i

∆

d

-

K

p

++

O

p

E

K

i

O

i

E

E

⋅=

i

å

Derivative Gain The derivative gain produces an output that is proportional to the

change in the following error and speeds up the response to changes in
error while maintaining the same relative stability.

d

ov

vff

K

K

K

d

ov

vff

O

Derivative gain may create a smoother response. High values may lead to
oscillation. The derivative gain axis parameter is called D_GAIN.

Output Speed Gain The output speed gain produce s an output that is proportional to

the change in the measured position and increases system damping.

O

The output speed gain can be us eful for smoothing motions but will gene rate
high following errors. The output speed gain axis parameter is called
OV_GAIN.

Speed Feedforward Gain The speed feedforward gain produces an output that is propor-

tional to the change in dem and position and minimizes the following error
at high speed.

O

The parameter can be set to minimise the following error at a constant
machine speed after ot her gai ns have been set. Th e speed feed forward gain
axis parameter is called VFF_GAIN.

K

d

O

d

E

E∆⋅=

K

ov

P

m

O

ov

Pm∆⋅=

K

vff

P

d

O

vff

Pd∆⋅=

16

Control System Configuration Section 1-4

De faul t Val u es The default settings are given below along with the resulting profiles. Frac-

tional values are allowed for gain settings.

Gain Default

Proportional Gain 0.1
Integral Gain 0.0
Derivative Gain 0.0
Output Speed Gain 0.0
Speed Feedforward Gain 0.0

1-4-2 Encoder Signals

Standard OMRON equipment is designed for an advanced phase-A for for­ward rotation and an advanced phase-B for reverse rotation. For the encoder

input and output signals, the MC Unit is designe d to comply with this phase
definition, allowing the M C Unit to be connect ed to other equipment without
problems.

With this arrangement, the direction of rotation can be easily detected by
monitoring the relative phase of both signals. If channel A leads channel B,
indicating clockwis e (CW ) movement, th e counter w ill increm ent. Co nversely,
if channel B leads channel A, indicating counterclockwise (CCW) movement,
the counter will decrement.

Typically, rotar y en coders also provide an addi tional Z-marker as a reference
pulse within each revolution. By properly decoding and counting these
encoder signals, the direction of motion, speed, and relative position can be
determine d.

Encoder input For the MC Unit encoder input, the pulse ratio is 4. Ev ery encoder edge (pulse

edge for either A or B phase) is one internal count.

Forward rotation (CW) Reverse rotation (CCW)

Phase A

Phase B

01 423 567 76 354 210

Counts (x4)

The signals A, B and Z appear physically as A+ and A-, B+ and B- and Z+ and
Z-. These appear as differential signals on twisted-pair wire inputs, ensuring
that common m odes are rejected and that the noise level is kept to a mini­mum.

When using encoders by other makers, check carefully the encoder specifica­tion for phase advancement. If the definition differs from the ones given
above, reverse the B-phase wiring between the MC Unit and the Servo Driver.
In most case, this should resolve the problem.

17

Control System Configuration Section 1-4

Encoder ou tput For encoder output, the pulse ratio is 64. For every 16 inter nal counts one

encoder edge for one of the two phases will be produced.

Phase A

Phase B

Phase Z

016 6432 48 80 96

Internal Counts

The Z-phase signal has the following specification:

• The Z-marker has a period of 4096 generated edges.

• The pulse has a width of a quarter pulse period length (when both phase

A and B are low).

• The Z-phase signal is active after power-on.

The generated frequency is limited to the maximum allowable frequency. If
the internal speed would result in a frequenc y above this maximum, an axis
status flag will be set. See 8-2-1 MC Unit Error Handling for details.

18

Specifications Section 1-5

1-5 Specifications

1-5-1 General Specifications

The MC Unit provides the following general specifications.

Item Contents

Applicable Servo Driver R88D-W Series (software version 14 or later, see note)
Servomotors Type R88M-W Series

Encode r Incremental / Absolute

Installati on M ethod Mounted on the CN10 connector on the Servo Driver

side.

Basic Specificat ions Power Supply Method 5 VDC (supplied from the control power supply of the

Servo Driver)

24 VDC (supplied from ext ernal power supply)
Total Power Consumption 4.0 W
External Dimensions 20 x 142 x 128 mm (H x W x D)
Approx. Mass 200 g
Current Consumption 170 mA for 24 VDC
Output Power Supply 5 VDC, maximum 160 mA (to external encoder)

Environment Ambient Operating Tem-

perature
Ambient Operating

Humidity
Ambient Atmosphere Free from corrosive gasses
Ambient Storage Temper-

ature
Ambient Storage Humi dity 90 % RH or less (non-condensing)
Vibration Resistance 4.9 m/s
Impact Resistance Acceleration 19.6 m/s2 or less (when the impact is

0 to 55

°C

90 % RH or less (non-condensing)

-20 to 75

applied three times in each X, Y, Z direction )

°C

2

Note T he MC Unit cannot be used with software version 8.

1-5-2 Functional Specifications

The MC Unit provides the following functional specifications.

Item Contents

Type of Unit Optional board for W-series Servo Driv er
Motion Control Speed Control Inferred closed loop with PID , out put speed and speed

Torque Control Torque referen ce

Control Switch Speed / Torque control switching during operation

Configuration Maximum No. of axes 3

No. of contr olled servo
axes

Maximum No. of encoder
in- or output axes

Maximum No. of virtual
axes

Servo Loop Cycle Selectable to 0.5 ms or 1.0 ms.
Measurement Units User definabl e

feed forward gains

Speed reference (open loop)

Possi ble torque limit oper ation

Possi ble speed limit operation

1

1

2

19

Specifications S ecti on 1-5

Item Contents

Positioning operations Linear interpolation Linear interpolation for any num ber of axes

Circular interpolation Circular interpolation for any two axes
CAM profile CAM profile movement for any axis
Electronic gearbox Electronic gearbox link between any two axes
Linked CAM Linked CAM profile movement for any two axes
Linked mo ve Linked move for any two ax es
Adding axes Adding any two axes

Acceleration/decelerati on curves Trapezoidal or S-curve
Servo Driver Access Motion Control Speed Control

Torque Control
Pos ition Feed-back
Driver Enable
Driver Print Registration

Monitoring Driver Alarm and Warning Status

General Driver Status
Driver Digital Input
Driver Analogue Input
Driver Limit Switches

General C o ntrol D r ive r A larm Reset

Driver Reset

Par am eter Access Read and Write Pn-paramet ers

Read U n p arameters

External connected devices Personal Computer with Motion Perfect Programming

Software

Serial Communications RS-232C Port 0:

Connection to PC (Motion Perfect Software)
Port 1:

Host Link Master pr otocol
Host Link Slave protocol
General-purpose

RS-422A/485 (MCW151­E only)

External
I/O

Switch setting DeviceNet settings (MCW151-DRT-E only)

Power supply for general and axis I/O Provided externally

Encoder Input Line receiver input; maximum response frequency:

Encoder Output Line recei ve output; maximum frequency:

Digital Input s Total of 8 digital inputs can be wired and used for

Digital Outputs Total of 6 digital outputs can be wired and used for

Registrat ion inputs Two registration input s can be used (s imu ltaneo usly) t o

Port 2:
Host Link Master pr otocol

Host Link Slave protocol
General-purpose

1500 kHz pulses (before multip li cation)
Pulse multip l ic at io n :

x4

500 kHz pulses
Internal counts to output pulse ratio:

64 : 1

instance for limit switches, emergency stop and prox­imity inputs. Two inputs can be used for registration of
the encoder input /output axis.

position dependent switching or other general pur­poses.

capture the position in hardware .

General purpose (MCW151-E onl y)

20

Comparison between Firmware Versions Section 1-6

Item Contents

Task program manage­ment

Saving program data MC Unit Random Access Memory (RAM) and Flash memory

Self diagnostic functions Detection of memory corruption via checksum

Programming language BASIC
Number of tasks Up to 3 tasks running simultaneously plus the Com-

mand Line task
Max. number of programs 14
Data storage capac it y 251 (VR) + 8000 (Table) max.

backup. (See note)
Personal Computer Motion Perfect software manages a backup on the

hard disk of the personal computer.

Detection of error counter overrun

Note The service life for the flash memory is 100,000 writing operations.

1-5-3 DeviceNet Specifications (MCW151-DRT-E only)

The MC Unit provides the following DeviceNet specifications.

Item Contents

Communications protocol DeviceNet
Supported connections (comm unications) Master-Slave: Remote I/O and explicit messages

Both conform to DeviceNet specifications

Connection forms (see note) Combination of multi-drop and T-branch connections

(for trunk or drop lines)

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

Communications power supply 11 to 25 VDC (Supplied from the communications con-

500 kbps Network l ength: 100 m max. (100 m max.)

Drop line length: 6 m max.

Total drop li ne length: 39 m max.
250 kbps Network l ength: 250 m max. (100 m max.)

Drop line length: 6 m max.

Total drop li ne length: 78 m max.
125 kbps Network l ength: 500 m max. (100 m max.)

Drop line length: 6 m max.

Total drop li ne length: 156 m max.
Parentheses indicate the length when Thin Cables are used.

nector)

Note Terminating resistors are required at both ends of trunk line.

Refer to the DeviceNet Operation Manual (W267) for other communication
specifications, such as communication cycle times.

1-6 Comparison between Firmware Versions

The following table shows a comparison between the two current versions of
the R88A-MCW151-E and R88A-MCW151-DRT-E Motion Control Units. The
changes are only related to firmware (not hardware) and the firmware is com­mon for both types. Verify the current version of the MC Unit using the VER­SION parameter.

21

Comparison between Firmware Versions Section 1-6

!Caution

Commands and
instructions

DeviceNet
(MCW151-DRT-E
only)

The R88A-MCW151-E FW 1.62 is fully backward compatible with the previ­ous version FW 1.61. For the R88A-MCW151-DRT-E FW 1.62 many
DeviceNet implementation changes have been done. For both Units caution
must be taken when upgrading.

Item FW 1.61 FW 1.62

ADD_DAC No. Yes.

Command to enable dual feed­back control.

Softwa re reset of
MC Unit

Explicit message s
(read and write)

Device object s - Update of Device objects.

Possible by either bit in
Remote I/O O u tp u t word 1 or
Explicit Message command
RESET.

Different maximum transfer
amount for re ad and writ e.

Po ssibl y o n ly by Ex p licit Mes­sage command RESET.

Maximum amount of el em ents
to transfer (read/write) is 39
(three-word format) and 119
(one-word format).

See 4-2-2 Explicit DeviceNet
Messages.

See Appendix B Devi ce Proto-
col (MCW151-DRT-E only).

22

SECTION 2

Installation

This sectio n des cribes the MC Unit componen ts and provides the information required for installing the MC Unit.

2-1 Components and Unit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2-2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2-2-1 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2-2-2 Installation Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2-2-3 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2-3-1 Control Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2-3-2 Serial Port Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

2-3-3 DeviceNet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

2-3-4 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

2-3-5 Connection examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

2-4 Servo System Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

2-5 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

23

Components and Unit Settings Secti on 2-1

2-1 Compone nts and Unit Sett ings

The following diagram shows the main components of the MC Unit.

Indicators

MCW151

RUN ST S

SD RD

Indicators

MCW 15 1 -DRT

RUNMSSTS

NS

RS-232C Ports

PORT 0 , 1

Connector

PORT 0 , 1

RS-422A/485 Port

Connector

25126

PORT2

2

I/O

+ 24V

0V

DeviceNet
Connector

I/O Connector

Power Connector

25126

2

I/O

+ 24V

0V

The following table describes the indicators on the front of the MC Unit.

■ Motion Control

Indicator Color Status Meaning

RUN Green ON The MC Unit is operating normally.

OFF The M C Unit did not s tart properly or is not pow-

ered on.

Flashing with
STS

STS Red ON The axis has been disabled. The Servo Enable

OFF The axis is enabled.
Flashing alone A motion error has occurred. The Servo Driver

Flashing with
RUN

An error occ urred in th e commu nicati on wit h the
Servo Driver.

is not ON.

has been disabled.
An error occ urred in th e commu nicati on wit h the

Servo Driver.

24

■ RS-422A/485 (MCW 151-E only)

Indicator Color Status Meaning

SD Green ON Transmitting data.

OFF No co mmunication.

RD Green ON Receiving data.

OFF No co mmunication.

Components and Unit Settings Section 2-1

■ D eviceNet (MCW151-DRT-E only)

Indi

Color Status Definition Meaning
ca­tor

MS Green ON Device

Operational

Flashing Device in

Standby

Red ON Unrecover-

able Fault

Flashing Minor Fault Switch settings incor rect.

--- OFF No Unit
Power

NS Green ON Link OK.

Online, Con­nected.

Flashing Online, Not

connected

Red ON Cr itical Link

Failure

Flashing Connection

Timeout

--- OFF No Fieldbus
Power / Not
Online

Normal operating status.

Reading switch settings.

Unit hardware error: Watchdog timer error.

Unit power is not supplied, waiting for initial
processing to st art, or the Unit is being reset.

Network is operating normally (communica­tions established).

Network is operating normally, but communi ­cations have not yet been established.

A fatal communications error has occurred.
Network communications are not possible.

Communications timeout.

Checking for node address duplication on the
Master, switch sett ings are incorrect, or field­bus powe r is not supplied.

Switch Settings

The MCW151 Units are equipped with the following DIP-switches.

■ D eviceNet Switch Settings (MCW151-DRT-E only)

The external switch settings will set the Slaves’ node address setting and
baud rate setting.

ON

1 2

1 NA0

NA1

2

3

NA2
NA3

4

NA4

5

NA5

6

MD0

7

NC

8

DR0

9

DR1

10

ON

3
4
56

7
8910

Node address

The node addres s of the slave is set with pins 1 through 6 o f the DIP switch.
Any node address within the setting range can be used as long as it is not
already set on another node.

25

Components and Unit Settings Section 2-1

DIP sw itch settin g Nod e ad dress

Pin 6 Pin 5 Pin 4 Pin 3 Pin 2 Pin 1

0000000 (default)
0000011
0000102

... ...

11110161
11111062
11111163

0: OFF, 1: ON

Baud rate

Pins 9 and 10 are used to set the baud rate as shown in the following table.

Pin 10 Pin 9 Baud rate

OFF OFF 125 kbps (default)
OFF ON 250 kbps
ON OFF 500 kbps
ON ON Not allowed

Note 1. Always turn OFF the MC Unit’s power supply (including the commu nica-

tions power supply) before changing the baud rate setting.

2. Set the same baud rate on all of the nodes (master and slaves) in t he Net­work.

Other settings

Pin 7 is used to select the I/O Slave Messaging mode. This determine s the
allocation of the I/O Slave Messaging mode area.

Pin 7 I/O Slave Messaging Mode

OFF Mode I (default)
ON Mode II

Pin 8 is not used.

■ General Switch Settings (MCW151-E only)

ON

1

1SW1

SW22
SW33
SW44

5

SW5
SW66
SW77
SW88

9

SW9
SW1010

2
3
4
56

7
8910

ON

For the MCW151-E the external DIP switch can be used for general purpose.
The value of the switch can be accessed using the SWITCH_STATUS param­eter.

26

Components and Unit Settings Section 2-1

DIP switch setting Parameter

Pin 10Pin 9Pin 8Pin 7Pin 6Pin 5Pin 4Pin 3Pin 2Pin

1

00000000000 (default)
00000000011
00000000102

... ...

11111111011021
11111111101022
11111111111023

0: OFF, 1: ON

■ Internal Switches

value

SW2

123ON4

SW3

ON

3

4

12

SW2

123ON4

SW3

123ON4

Switch SW2 (MCW151-E only)

Pin 1 and 2 select the serial communication for port 2.

Pin 2 Pin 1 Selection

OFF OFF RS-422A (defaul t)
ON ON RS-485
Other not allowed

Pin 3 selects the ter mination resistor between receive pins (RD+ / RD -) for
port 2.

Pin 3 Selection

OFF Termination disabled (default)
ON Termination enabled

Pin 4 is not used.

Switch SW3

Pin 1 through 3 enable the ter mination resistor for the encoder channel A, B
and Z.

Pin 3

(channel Z)

Pin 2

(channel B)

Pin 1

(channel A)

Selection

OFF Termination disabled for channel

(default)

ON Termination enabled

Pin 4 is not used.

27

Installation Section 2-2

2-2 Installation

2-2-1 Installation Condi tions

Follow the procedure below to install multiple Servo Drivers side by side in a
control panel.

Fan Fan

MCW151

STS

RUN

SD

RD

PORT2 PORT 0 ,1

1

2

I/O

25

26

+24V

0V

MCW151

STS

RUN

SD

RD

PORT2 PORT 0 ,1

1

2

I/O

25

26

+24V

0V

MCW151

STS

RUN

SD

RD

PORT2 PORT 0 ,1

1

2

I/O

25

26

+24V

0V

RUN

SD

1

25

MCW151

STS

RD

PORT2 PORT 0 ,1

2

I/O

26

+24V

0V

50 mm min.

30 mm min. 10 mm min. 50 mm min.

■ Servo Driver Orientation

Install the Servo Driver perpen dicular to the wall so that the front panel (dis­play and setting section) faces forward.

■ Cooling

As shown in the figure above, provide sufficient space around each Ser vo
Driver for cooling by cooling fans or natural convection.

■ Side-by-side Installation

When installing Ser vo Dr ivers side-by-side as shown i n t he figure above, pro­vide at least 10 mm between and at least 50 mm above and below each
Servo Driver. Install cooling fans above the Servo Drivers to avoid excessive
temperature rise and to maintain even temperature inside the control panel.

■ Environmental Conditions

• Ambient operating temperature: 0 to 55°C

• Ambient operating humidity: 20% to 90% RH (no condensation)

• Vibration: 4.9 m/s

2

2-2-2 Installation Method

When installing the MC Unit

1,2,3... 1. Insert the lower two extensions into the bottom mounting holes on the right

side of the Servo Driver.

2. Move the upper side of the MC Unit towards the Driver and verify the Servo
Driver connector will directly fit into the MC Unit connector. Click the higher
extension into the upper mounting hole.

28

Installation Section 2-2

M

C

W

1

5

1

R

U

N

S

T

S

S

D

R

D

1

,

0
T
R

O
P

2
T
R

O

P

1

2

I

/

O

2

5

2

6

+

2

4

V

0

V

When removing the MC Unit, press down the top of the MC Unit case and
remove the upper extension from the Driver.

2-2-3 Dimensions

The basic dimensions of the MC Unit are shown below .

MCW151

STS

RUN

SD RD

PORT0, 1

PORT2

2

I/O

25126

+ 24V

0V

SW11
SW2

2
3SW3
4SW4

SW5

5
6

SW6

7

SW7

8

SW8

9

SW9

10

SW10

ON

ON

132

81097654

29

Wiring Section 2-3

2-3 Wiring

2-3-1 Control Connections

I/O Connector

The I/O Connector is used for wiring to the digital I/O and the conne ction for
the encoder input or encoder output. Refer to 2-3-4 I/O Specifications for elec­trical specifications.

Connector pin
arrangement

1

25

2

26

I/O

A+ 1 2 A­B+ 3 4 B­Z+ 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

I/O Connec tor Pin
Functions

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 5V power supply output
9 I0 / R0 (Registration) Input 0
10 FG Frame Ground
11 I2 Input 2
12 I1 / R1 (Registrat ion) Input 1
13 I4 Input 4
14 I3 Input 3
15 I6 Input 6
16 I5 Input 5
17 0V_IN Inputs 0V common
18 I7 Input 7
19 O8 Output 8
20 O9 Output 9
21 O10 Out put 10
22 O11 Out put 11
23 O12 Out put 12
24 O13 Out put 13
25 0V_OP Outputs 0V common
26 24V_OP Outputs 24V power supply input

30

Wiring Section 2-3

I/O Connector Type Weidmüller B2L 3.5/26 SN SW (included in package)
Wiring Instruc t ions

1

2

3

Power Connect or

The Power Connector is used to connect the 24V power supply to the MC
Unit.

Connector pin
arrangeme nt

+24V

0V

Pin Name Function

1 +24 V Power Supply 24V
2 0 V Power Supply 0V
3 FG Frame Ground

Power Connector Type Phoenix MSTB 2.5/3-ST-5.08 (included in package)

2-3-2 Serial Port Connect ions

RS-232C Connections

The MC Unit has t wo serial RS-232C por ts for communication with external
devices.

Pin Symbol Name Port Direction

1- Not used ­2 RS-1 Request to send 1 Output

3

6

1

4

7

2

8

5

PORT0,1

RS-232C Interface Specifications

Item Specifications

Electrical char acteristics Conform to EIA RS-232C
Synchronization Start-stop synchronization (asynchronous)
Baud rate 1200 / 2400 / 4800 / 9600 / 19200 / 38400 bps
Transmission Format Databit Length 7 or 8 bit

Transmission Mode Point-to-poi nt (1:1)

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

Stop Bit 1 or 2 bit
Parit y B it Even/ O dd/None

31

Wiring Section 2-3

Item Specifications

Transmission Protocol Port 0 Motion Perfect Protocol

Port 1 Host Link Protocol (Master / Slave)

General-purpose
Galvanic Isolation No
Connector type 8-pi n mini DIN
Communication buffers 254 bytes (port 1)
Recommended Cables R88A-CCM002P4 Programming Por t 0 Connection Cable to Personal

Computer

R88A-CCM001P5-E Splitter cable for serial ports 0 and 1

Cable length 15 m max.

RS-422A/485 Connection (MCW151-E only)

The MCW151-E has one serial RS-422A/485 port for communication with
external devices.

Pin Symbol Name Port Direction

1 RD- Recei ve data (-) 2 Input
2 RD+ Receive data (+) 2 Input

PORT2

3 FG Frame Ground 2 ­4 SD- Send da ta (-) 2 Outp u t
5 SD+ Send data (+ ) 2 Ou t p ut

RS-422A/485 Interface Specifications (MCW151-E only)

Item Specifications

Elec trical ch aract er istics Conform to EIA RS - 422A/485
Synchronizati on 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-mu ltipoint (1:N)
Transmission Protocol RS-422A Host Link Protocol (Master / Slave)

General Purpose

RS-485 General Purpose
Galvanic Isolation Y es
Connector type Phoenix MSTB 2.5/5-ST-5.08 (included in package).
Communication buffers 254 bytes
Flow control None
Terminator Yes, internal 220 selectable by DIP-switch SW2
Cable length 500 m max.

Ω

32

Wiring Section 2-3

Connection Examples

■ D irect Connections Using RS-232C Port 0

IBM PC/AT or Compatible Computer s

Computer

RD 2

RS-232C
Interface

SD 3
GND 5
RS 7
CS 8
FG Shell

D-sub 9-pin
connector (male)

■ D irect Connections Using RS-232C Port 1

MC Unit

RS-1 2

RS-232C
Interface

SD-1 6
SG-1 7
RD-1 8
FG Shell

Signal Pin

Programming Terminal (PT)

Signal Pin

MC Unit

Pin Signal

3SD-0
4SG-0

RS-232C
Interface

5 RD-0

Shell FG

mini-DIN 8-pin
connector (male)

Programmable Terminal (PT)

Pin Signal

2SD
3RD
4RS

RS-232C
Interface

5CS
9SG

mini-DIN 8-pin
connector (male)

Note M C Unit Communication Mo de: Host Link Slave

PC

MC Unit

Signal Pin

RS-1 2

RS-232C
Interface

SD-1 6
SG-1 7
RD-1 8
FG Shell

mini-DIN 8-pin
connector (male)

Note M C Unit Commu nication Mo de: Host Link Master

D-sub 9-pin
connector (male)

PC

Pin Signal

2SD
3RD
4RS
5CS
9SG

Shell FG

D-sub 9-pin
connector (male)

RS-232C
Interface

33

Wiring Section 2-3

■ 1:N Connections Using RS-232C Port 1

Use the NT-AL001-E Converter Link Adapter

NT-AL001

MC Unit

Signal Pin

Pin Signal

Signal Pin

General Device

Signal

RS-1 2

RS-232C
Interface

SD-1 6
SG-1 7
RD-1 8
FG Shell

mini-DIN 8-pin
connector (male)

MC Unit

Power
Supply
(5V)

Signal

+

-

MC Unit

RS-422A
Interface

COMBICON
Plug

2SD
3RD
4RS
5CS
6+5V
9SG

RS-232C
Interface

RS-422A
Interface

FG 1
SG 2
SDB 3
SDA 4
RDB 5
RDA 6

Frame ground
Signal ground
Receivedata(+)
Receivedata(-)
Send data (+)
Send data (-)

CSB 7
CSA 8

D-sub 9-pin
connector (male)

TerminalBlock

■ 1:1 Connections Using RS-422A/ 485 Port 2 (MCW151-E only)

Programming Terminal (PT)

Programmable Terminal (PT)

Signal Pin

RD- 1
RD+ 2
FG 3
SD- 4
SD+ 5

Signal

SDA
SDB

-

RS-422A
Interface

RDA
RDB

Terminal Block

RS-422A
Interface

34

Note MC Unit Communication Mode: Host Link Slave

PC (Serial Communi cation Board)

MC Unit

Signal Pin

RD- 1

RS-422A
Interface

RD+ 2
FG 3
SD- 4
SD+ 5

COMBICON
Plug

Note MC Unit Communication Mode: Host Link Master

PC

Pin Signal

1SDA
2SDB

Shell FG

6RDA
8 RDB

D-sub 9-pin
connector (male)

RS-422A
Interface

Wiring Section 2-3

1:N, 4-wire Connections Using RS-422A/485 Port 2 (MCW151-E only)

MC Unit

Signal Pin

RD- 1

RS-422A
Interface

RD+ 2
FG 3

MC Unit

SD- 4
SD+ 5

COMBICON
Plug

DIP switch SW2
Pin 1 OFF
Pin 2 OFF
Pin 3 ON

COMBICON
Plug

MC Unit

COMBICON
Plug

DIP switch SW2
Pin1 OFF
Pin2 OFF
Pin3 ON

Note M C Unit Commu nication Mo des: Host Link Master and Slave

1:N, 2-wire Connections Using RS-422A/485 Port 2 (MCW151-E only)

Pin Signal

1 RD­2 RD+
3FG
4SD­5SD+

Pin Signal

1 RD­2 RD+
3FG
4SD­5SD+

DIP switch SW2
Pin 1 OFF
Pin 2 OFF
Pin 3 OFF

RS-422A
Interface

RS-422A
Interface

MC Unit

Signal Pin

RD- 1

RS-485
Interface

RD+ 2
FG 3
SD- 4
SD+ 5

COMBICON
Plug

DIP switch SW2
Pin 1 ON
Pin 2 ON
Pin 3 ON

COMBICON
Plug

DIP switch SW2
Pin 1 ON
Pin 2 ON
Pin 3 ON

Note 1. MC Unit Communication Mode: General-purpose

2. For the 2-wire system (Switch SW2: pin 1,2 =ON), the RD- and SD- resp.
the RD+ and SD+ are interconnected within the MC Unit.

MC Unit

Pin Signal

1 RD­2 RD+
3FG
4SD­5SD+

COMBICON
Plug

MC Unit

Pin Signal

1 RD­2 RD+
3FG
4SD­5SD+

RS-485
Interface

DIP switch SW2
Pin 1 ON
Pin 2 ON
Pin 3 OFF

RS-485
Interface

35

Wiring Section 2-3

2-3-3 DeviceNet Connection

This section explains the pin allocation of the DeviceNet connector for the
DeviceNet network. For fur ther details on how to connect the DeviceNet net­work, refer to DeviceNet Operation Manual (W267).

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

2-3-4 I/O Specifications

The following tables provide specifications and circuits for the I/O and
Encoder connections.

Digital Inputs

Digital inputs: I0 to I7

Item Specification Circuit Configuration

Type PNP

Motion Control Unit

Maximum voltage

24 VDC + 10

%

I0/R0 9

3.3kΩ

Input curren t 7.0 mA at 24 VDC

ON voltage 11 V min.

OFF voltage 1 V max.

Input Response times

The response tim es given in the following table are the times between the
change in the input voltage and the c orresponding chan ge in t he IN pa rame­ter.

These times are depending on the MC Uni t’s Servo Period and the priority of
the corresponding BASIC task and they include the physical delays in the
input circuit.

Task Priority \ Servo Period 0.5 ms 1.0 ms

Print Registration delay time

The print registration is used to capture position data in hardware triggered by
either a digital input or the Z-mar ker encoder signal. For the encoder axis 1
the print registration delay times are given by

External power

supply 24V

0V_IN 17

0V common for input circuits

High Priority 1.8 ms (max.) 2.3 ms (max.)

Low Priority 2.8 ms (max.) 3.3 ms (max.)

3.3Ω

36

Wiring Section 2-3

µµµ

µ

Description Delay Time

Digital Input I0/R0 and I1/R1 (rising edge) 50 s
Digital Input I0/R0 and I1/R1 (falling edge) 150 s
Z-marker (rising edge) 2 s
Z-marker (falling edge) 2 s

Digital Outputs

Digital outputs: O8 to O13

Item Specification Circuit Configuration

Type PNP

Motion Control Unit

Current capacity 100 mA each output

(600 mA total f or
group of 6)

Maximum vo lt age 24 V + 10%

Protection Over current, over

temperature and 2 A
fuse on common

Output response times

The response times given in the following table are the times between a
change in the OP parameter an d the corresponding change in the digital out­put circuit.

These times are mainly depending on the MC Unit’s Servo Period and they
include the physical delays in the output circuit.

Servo Period Response time

0.5 ms 0.8 ms (max.)

1.0 ms 1.3 ms (max.)

Encoder Input

Item Specification Circuit Configuration

Signal level EIA RS-422A Stan-

dards

Input impedance 48 k min.

Response frequency 1500 kp/s

Ter mination Yes, 220 select-

Galvanic isolation No

Ω

Ω

able by switch

Equivalent

circuit

isolated from system)

Internal Circuitry (galvanically

To other output circuits

Motion Control Unit

1

A+

2

A-

3

B+

4

B-

5

Z+

6

Z-

Line receiver

+5V

0V
+5V

0V
+5V

0V

2A Fuse

26

19

25

Phase A axis 1

Phase B axis 1

Phase Z axis 1

24V_OP

O8

0V_OP

LOAD

External power

supply 24V

37

Wiring Section 2-3

Encoder Output

Item Specification Cir cuit Configuration

Signal level EIA RS-422A Stan-

dards

Maximum frequency 500 kp/s

Galvanic is ola tio n No

Motion Control Unit

1

A+

2

A-

3

B+

4

B-

5

Z+

6

Z-

+5V

+5V

+5V

Line transmitter

Phase A axis 1

0V

Phase B axis 1

0V

Phase Z axis 1

0V

2-3-5 Conn ec tio n exam pl es

Cascading encoder signal (MCW151 to MCW151)

MCW1 51 (output )

A+ 1
A- 2
B+ 3
B- 4
Z+ 5
Z- 6
0V_ENC 7
5V_ENC 8
FG 10

W-series Servo Driver

A+ 33
A- 34
B+ 36
B- 35
Z+ 19
Z- 20
FG

Shell

MCW151 (input)

1A+
2A­3B+
4B­5Z+
6Z­7 0V_ENC
8 5V_ENC

10 FG

Connecting master encoder input signal from W-series Servo Driver

MCW151 (input)

1A+
2A­3B+
4B­5Z+
6Z­7 0V_ENC
8 5V_ENC

10 FG

38

Servo System Precautions Section 2-4

Connecting master external encoder signal

MCW151 (input)

Encoder

Line Driver output
Example: E6B2-CWZ1X

Black: Phase A+
Black/red: PhaseA­White: PhaseB+
White/red: Phase B­Orange: Phase Z+
Orange/red: Phase Z­Blue: 0V (COM)
Brown: 5V DC

1A+
2A­3B+
4B­5Z+
6Z­7 0V_ENC
8 5V_ENC

2-4 Servo System Precautions

The following precautions are directly related to the operation of the servo
system. Refer t o 1-4-1 Servo System Principles for a description of servo sys­tem operation.

The direct connection of the MC Unit to the Servo Driver provides a safe inter­face without the risk of disconnected or faulty wiring. The interface provides
the MC Unit good monitoring operation to check the state of the Servo Driver
at any given time. The S er vo Dr iver Alarm s a nd War nin gs c an be quickly dis­tinguished and appropriate action can be taken.

If the communications between the MC Unit and Servo Driver fail, this is
detected by either of the Units. The system will be halted into a fail-safe state.

For any details about the MC Unit and Servo Driver error handling and alarm
definitions, refer to SECTION 8 Troub leshooting.

Precautions for safe
operation

In a servo system employing a Servomotor, an unforeseen event may cause
the Servomotor to run out of control. Therefore, careful attention must be paid
to include sufficient safety measures into the system design.

To guarantee fail-safe operation for any circumstances or occurrences, the
following precautions must be taken.

Following Error Limit Setting

An impor tant motion control safety precaution of the MC Unit is the following
error limit checking. When the Servomotor is controlled to follow a specific
demanded motion profile, this will always produce a following error between
the demanded and actual measured position.

The maximum allowable value for this following error can be set with the
FE_LIMIT axis parameter. When the following error at one moment exceeds
the limi t, a Motio n Error will occur. The Se rvo Driver will be disa bled and all
motion will come to a halt. The user must be sure that this does not have an
adverse effect on the machine. Determine the value of following error limit
carefully according to the operating conditions of the applica tion. See 6-3-74
FE_LIMIT for details.

External Limit Switches

The second safety precaution which is required is t he use of limit switches.
Monitoring sensors are installed at the edges of the workpiece’s range of
movement to detect abnor mal workpiece movement and stop o peration if a
runaway occurs.

Although the limit switches can be connected either to the MC Unit as to the
Servo Driver, it is strongly recommended to connect the limit switches to the

39

Wiring Precautions Section 2-5

Servo Driver. This will ach ieve a fast response of both th e Servo Driver and
MC Unit.

For the Servo Driver, the limit switches should be connected to pins CN1-42
(FWD) and CN1-43 (REV). When using the MC Unit, the switches can be con­nected to any of the inputs. In both cases the axis parameters FWD_IN and
REV_IN for axis 0 are used to assign the limit switch inputs for the MC unit.
When the Servo Driver inputs are used, define FWD_IN=18 and REV_IN=19.

When the limits are connected to the Servo Driver and the correct settings are
set, the Driver will apply the dynamic brake to stop the Servomotor. Also the
appropriate bit of the AXISSTATUS axis parameter will be set.

2-5 Wiring Precautions

Electronically controlled equipment may malfunction bec ause of noise gener­ated by power supply lines or external loads. Such malfunctions are difficult to
reproduce, and determining the cause often requires a great deal of time. The
following precautions will aid in avoiding noise malfunctions and improving
system reliability .

• Use electrical wires and cables of the designated sizes as specified in the
operation manual for the Servo Driver. Use larger size cables for FG lines
of the Servo Driver and ground them over the shortest possible distances.

• Separate power cables (AC power supply lines and motor power supply
lines) from control cables (encode r lines and exter nal input signal line s).
Do not group power cables and control cables together or place t hem in
the same conduit.

• Use shielded cables for control lines.

• Use the ready-made cables desig ned for MC Unit to reduce connec tivity

problems.

• Connect a surge absorbing diode or surge absorber close to relays. Use a
surge-absorbing diode with a voltage tolerance of at least five times
greater than the circuit voltage.

AC

AC relay

Surge
absorber

RY

Surge
absorber

+

DC

-

DC relay

RY

Surge
absorbing
diode

Solenoid

SOL

• Noise may be generated on the power supply line if the sam e p ower sup­ply line is used for an electric welder or electri ca l discharge unit. Connect

40

Wiring Pr ecau tions Section 2-5

an insulating transformer and a line filter in the power supply section to
remove such noise.

• Use twisted-pair cables for power supply lines. Use adequate grounds

2

(i.e., to 100 Ω or less) with wire cross sections of 1.25 mm

• Use twisted-pair sh ielded cables for control voltage output signals, input
signals and encoder signals.

• The maximum distance for the encoder signal from an encoder to the MC
Unit must not exceed 20 m.

• The input ter m ina ls th at operate the 24 V system are isolated with opt ical
couplers to reduce external noise effects on the control system.

or greater.

41

SECTION 3

Motion Control Func tions

This section describes the different Motion Control functions of the MC Unit. Also the functionality of the Servo Driver
related commands are explained.

3-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3-2 System Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

3-3 System Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3-3-1 Servo Driver Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3-3-2 Digital I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

3-3-3 Monitoring Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

3-3-4 Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

3-3-5 Other Servo Driver Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

43

Overview Section 3-1

3-1 Overview

The MC Unit together with the Servo Driver combine into one complete Servo
System which is able to control the application. All Motion Control com m ands
and data transfers are directly com municated between the MC Un it and the
Servo Driver.

MCW151

Axis 0: Servo

Axis 1: Enc In/ Out

Axis 2: Virtual

Digital

I/O

Encoder

I/O

RUN (Servo ON)

MING

TVSEL

Alarm Reset

Speed Reference

Torque Reference

Position Data

Print RegistrationData

Monitor Data

I/O Status Data

Control Status Data

Servo Driver

Servo
Control

DigitalInputs

Analog Input

MC Axis Configuration The MC Unit has 3 axes in tota l, which can be used for different motion con-

trol purposes depend ing on the applica tion. The following table lists the differ­ent available axis types. The type of each axis is set by using the ATYPE axis
parameter.

Axis

number

Axis type ATYPE

value

0Servo 13
1 Virtual 0

Servo 2
Encoder input (default) 3
Encoder output 14

2 Virtual 0

■ Servo Axis

The servo axis for axis 0 cont rols the movement of the connected s ervo sys­tem. The Servomotor can be controlled in both speed control as in torque con­trol.

Speed control can be achieved in closed loop and in open loop. In closed
loop, the speed reference to the Servo Driver based on the calculated

44

Overview Section 3-1

(demanded) movement profile in the MC Unit and the actual (measured) posi­tion feedback from the Ser vomotor according to the control gain s ettings. In
open loop, a set speed reference value is outputted to the Servo Driver.

The torque control i s achieved by outputting a set torque reference value to
the Driver. The axis is capable of switching between torque and speed control
during operation.

The servo axis for axis 1 can provide a second servo control loop to enable
dual feed-back control. More details can be found at the ADD_DAC command
description.

■ Encoder Input Axis

The encoder input axis provides an axis which counts the position data from a
connected pulse generator such as a Servo Driver or an external encoder.
The encoder input axis can be used for for measurement, regi stration and/or
synchronisation functions.

Item Specification

Input pulse multiplication x4

■ Encoder Output Axis

The encoder output axis provides a way of generating an encoder signal
which is cascaded t o anot her device. The encoder s ignal is c ontrolled by the
internal position of this axis.

All move commands and axis parameters available for the servo axis are
available.

Item Specification

Output pulse ratio 64 : 1 (internal counts : output encoder pulses)
Z-marker period 4096 generated encoder edges

Using the Paramet er Uni t
or Front Panel

■ Virtual Axis

A virtual axis is used for computational purposes to create a move profile with­out physical movement on any actual Servo Driver.

The vir tual ax is be haves like a perfect servo axis (measured position is equal
to the demand position). All move commands and axis parameters available
for the servo axis are available.

Apart from the MC Unit there are three ways of accessing the Servo Driver:

• Using the Front Panel on the Servo Driver.

• Using the Hand-held Parameter Unit of the Servo Driver.

• Using Servo Driver Monitoring Software on the personal computer.

These three methods enables the user to perform parameter settings, speed
and current monitoring, I/O monitoring, autotuning, jogging and other opera­tions.

■ Limitations on using Parameter Unit together with the MC Unit

If the MC Unit is mounted to the Servo Driver, it is not allowed to have the
Parameter Unit or the Servo Driver Software connected to the Servo Driver
when performing the following operations:

• During start-up of the system (either by power-up or software reset).

• During reading or writing Servo Driver parameters using commands

DRV_READ and DRV_WRITE.

• During execution of any Driver Command in the MC Unit such as
DRV_RESET and DRV_CLEAR.

■ Front Panel Display Area

The Front Panel Display Area of the Servo Driver will not be lit in the following
circumstances.

45

Syst e m Set- up Secti on 3-2

µ

µ

• The Display will not be lit for some seconds during start-up (either by
power-up or software reset).

• The Display will not be lit for some time when the following commands are
executed in the MC Unit:

• Reading and writing Ser vo Driver parameters.

• Clearing the alarm status of the Ser vo Driver.

3-2 System Set-up

Servo Driver Settings

The Servo Driver is required to have the following settings. Refer to the
OMNUC W-series User’s manual (I531) for details.

Param-

eter No.

Pn000.1 Control Mode

Pn002.0 Torque command

Pn002.1 Speed command

Pn003.0 M onitor 1 2 Torque Reference M onitor
Pn003.1 M onitor 2 0 Motor Speed Monitor
Pn50A.0 Input Signal Allo-

Pn50A.1 RUN Signal Input

Pn50A.2 MING Signal Input

Pn50A.3 POT Signal Input

Pn50B.0 NOT Signal Input

Pn50B.1 RESET Signal

Pn50C.3 TVSEL Signal

Pn511.0 - 8 Always disabled
Pn511.1 - 8 Always disabled
Pn511.2 - 8 Always disabled
Pn511.3 /EXT3 (Print Reg-

Param eter Name Required

Setting

0 Speed Control

Selection

input (during
speed control)

input (during
torque contro l)

cation Mode

Allocation

Allocation

Allocation

Allocation

Input Allocati on

Input Allocati on

istration) Signal
Input Allocati on

9 Torque / Speed Control
0 Not used
1 Use TREF as analog torque

0 Not used
1 Use (S)REF as analog speed

1 User-defined

8 Alwa ys disabled Switch is controlle d b y th e MC

8 Alwa ys disabled Switch is controlle d b y th e MC

2 Assigned to CN1, pin 42 (val id

8 Always disabled
3 Assigned to CN1, pin 43 (val id

8 Always disabled
8 Alwa ys disabled Switch is controlle d b y th e MC

8 Alwa ys disabled Switch is controlle d b y th e MC

6 Assigned to CN1, pin 46 (val id

F Assigned to CN1, pin 46 (valid

Explanation Remark

limit in put

limit in put

for low inpu t)

for low inpu t)

for low inpu t)

for high input)

Unit.

Unit.

Unit.

Unit.

Print registration on rising
edge.

Print registration on falling
edge.

Servo Cycle Period
Setting

The MC Unit SERVO_PERIOD system parameter can be used to set the MC
Unit Servo Cycle and the Servo Driver communication access tim e. The fol­lowing values are valid:

SERVO_PERIOD = 500 s (default)
SERVO_PERI OD = 10 00 s

46

System Functions Section 3-3

!Caution

When the parameter ha s been set, a power down or software reset (using
DRV_RESET) must be performed for the complete system. Not doing so may
result in undefined behaviour.

3-3 System Functions

This section explains all different functions of the MC Unit. The BASIC com­mands, functions and parameters can also be found in SECTION 6 BASIC
Motion Control Programming Language.

3-3-1 Serv o Driver Control

Speed Control T he Speed Control mode is the main operation of the m otion controller. The

speed control mode enables all different speed profiles determined by the
motion command s and possibly input encoder data. For an overview of the
available motion control commands which can be used, refer to 6-2-1 Mot ion
Control Commands.

For setting up a Motion Application with Speed Control, use one of the follow­ing settings in the Servo Driver.

Param-

eter No.

Pn000.1 Control Mode

The following BASIC parameters need to be considered to set up the applica­tion in the MC Unit.

Parameter Description

WDOG The WDOG parameter is the software switch used to control the

SERVO The SERVO parameter determines whether the base axis runs

S_REF The S_REF parameter contains the speed reference value which

P_GAIN The P_GAIN parameter contains the proportional gain for the

I_GAIN The I_GAIN parameter cont ains the integral gai n for the axis.
D_GAIN The D_GAIN par am eter contains the deriv ative gain f or the axis.
VFF_GAIN The VFF_GAIN parameter contains the speed feed forward gain

OV_GAIN The OV_GAIN parameter contains the output speed gain for t he

Parameter Name Required

Setting

0 Speed Control

Selection

Driver’s Servo ON input, which enables the driver.

under position control (ON) or open loop (OFF). When in open
loop the output spe ed reference voltage is determined by the
S_REF parameter.

is applied to the Servo Driv er when the base axis is in open loop.

axis.

for the axis.

axis.

9 Torque / Speed Control

Explanation

47

Syst e m Functions Section 3-3

■ Speed Reference

The Servomotor rotational s peed is proportional to the speed reference value
resulting from either servo control or open loop (S_REF parameter). The
speed reference characteristics are given in the following graph.

Rotational

Speed [RPM]

Overspeed (+)

Rated speed (+)

S_RATE

1

-15000

Ratedspeed(-)

Overspeed (-)

Speed

reference

15000

The speed characteristics are Servomotor dependent. The S_RATE axis
parameter specifies the speed reference rate of the attached motor. This rate
is defined as the amount of Rotational speed (in RPM) per unit of speed refer­ence.

Rotational Speed [RPM] Speed Reference S_RATE⋅=

■ Programming Example

In the following example a simple motion application including initiation for a
single axis is shown.

init:

BASE(0)
P_GAIN=.5: I_GAIN=0: D_GAIN=0
VFF_GAIN=0: OV_GAIN=0
ACCEL=1000
DECEL=1000
SPEED=500
WDOG=ON
SERVO=ON

loop:

MOVE(500)
WAIT IDLE
WA(250)
MOVE(-500)
WAIT IDLE
WA(250)
GOTO loop

■ Torque Limit Settings

During speed control, it is possible to limit the torque applied by the Ser vo
Driver by using the torque reference. The required Servo Driver setting is
Pn002.0=1 and refer to the Torque control section below for details on the
torque reference.

48

System Functions Section 3-3

Torque Co ntro l The Torque Control mode is used t o apply a fixed torque, independent o f the

travelling speed. This mode can be used for specific applications which
require a constant pressure.

To set up a Motion Application with T orque Control, the following setting in the
Servo Driver is required.

Param-

eter No.

Pn000.1 Control Mode

The output no. 16 is used to con trol the switch between speed and torque
control during operation. Speed control will be applied when OP(16)=OFF,
and torque control will be enabled when OP(16)=ON. The torque control ref­erence value is set by the T_REF axis parameter.

Parameter Name Required

Setting

9 Torque / Speed Control

Selection

Explanation

OP(16)

Speed

Control

Torque
Control

ONOFF OFF

Speed

Control

Time

■ Torque Refe rence

The torque applied to th e Servomotor is propor tional to the torque reference
value defined by the T_REF axis param eter. The torque reference character­istics are given in the following graph.

Applied Torque

[% of rated torque]

Max. torque (+)

T_RATE

Rated torque

(+ 100%)

-15000

1

Torque

reference

15000

Rated torque

(- 100%)

Max. torque (-)

The torque characteristics are Servomotor dependent. The actual applied
torque of the Servomotor as percentage of the rated torque can be deter­mined by using the T_RATE axis parameter.

Applied Torque [% of rated torque] T_REF T_RATE⋅=

49

Syst e m Functions Section 3-3

■ Speed Limit Settings

During torque control, it is adv isable to limit the Servomotor speed by using
the speed reference. The required Servo Driver setting is Pn002.1=1 and
please refer to the Speed Control section above for details on the speed refer­ence in open loop.

3-3-2 Digital I/O

The MC Unit has two different types of digital I/O. These are the digital I/O o n
the MC Unit and the mapping of t he Ser vo Driver digital I/O. The inputs and
outputs are accessible by using the IN and OP commands in BASIC.

T ype Description Range (amount)

Input mapping MC Unit Digital Inputs 0 - 7 (8)

Servo Driver Digital Inputs 16 - 22 (7)
Servo Driver Output Signals 24 - 31 (8)

Output mapping MC Unit Digital Outputs 8 - 13 (6)

Servo Driver Control Si gnals 16 - 17 (2)

Input Mapp in g

■ MC Unit Digital Inputs

The MC Unit inputs are freely allocable to different functions. Some of the
functions are origin search, limit switches, jog inputs and so on. The MC Unit
uses axis parameters to allocate a certain function to an input. The following
table introduces the related axis parameters.

Parameters Description

DATUM_IN Selection origin switch input
FAST_JOG Selection of fast jog input
FHOLD_IN Selection of feedhold input
FWD_IN Selection of forward limit input
FWD_JOG Selection of forward jog input
REV_IN Selection of revers e limit input
REV_JOG Selection of reverse jog input

50

■ Servo Driver Digital Inputs

The digital inputs of the Servo Driver (CN1-40 to CN1-46) can be directly
accessed from the MC Unit. The mapp ing of the inputs is spec ified in the fol­lowing table.

Input

nr.

16 CN1-40 General purpose 1
17 CN1-41 General purpose 2
18 CN1-42 Forward drive prohibit (POT) / General purpose 3
19 CN1-43 Reverse drive prohibit (NOT) / General purpose 4
20 CN1-44 General purpose 5
21 CN1-45 General purpose 6
22 CN1-46 Registrat ion input / General purpose 7

Servo Driver

Input

Description (according to required Servo Driver

settings)

■ Serv o D river Output Si gnals

The relevant Servo Driver output signals can be monitored in the MC Unit.
The mapping of the output signals is specified in the following table.

Input

nr.

24 ALM Alarm output
25 WARN Overload or regenerative overload warning output

Servo Driver

Signal

Description

System Functions Section 3-3

Input

nr.

26 VCMP Speed conformity output
27 TGON Ser vomotor rotation detection output
28 READY Servo ready output
29 CLIMT Current limit detection output
30 VLIMT Speed limit detection output
31 SVON Servo ON complete

Servo Dri ver

Signal

Description

Print Registration For both the Servo Driver axis 0 as the encoder input / output axis 1 the REG-

IST command can be us ed to perform print registration on t he ax is. Prin t reg­istration captures an axis position a s soon as a regist ration event occurs. The
registration event can be defined to be the m oment wh en a regist ration input
or the Z-marker has been detected. Check the description of the REGIST
command for further details on print registration.

■ Print reg istra tion axis 0

Print registration on axis 0 is done by using the mechanism of the Servo
Driver. The registration can be triggered by either the Servomotor encoder Z­marker or by the CN1-46 input of the Servo Driver. When the input is used,
one of the following settings is required.

Param-

eter No.

Pn511.3 /EXT3 (Print Reg-

Parameter Name Required

Setting

6 Assigned to CN1, pin 46 (valid
istration) Signal
Input Allocatio n

F Ass igned to CN1, pi n 46 (valid

Explanation Remark

for low input)

for low input)

Print registra ti on on ris ing
edge.

Print registra ti on on falling
edge.

■ Print reg istra tion axis 1

Print registration on axis 1 is do ne by using the MC Unit registration mecha­nism. The registration can be triggered by either the input I0/R0, input I1/R1 or
the encoder input Z-marker of the MC Unit.

Two registration registers are provided for the axis. This allows for two simul­taneous registration events for which the difference in positions can be deter­mined.

Driver Limit Switches The li mit switches should be connect ed to the Ser vo Driver. In this case both

the Servo Driver and the MC Unit are able to put the system into a safe state.
In order to use the Driver POT and NOT signals also in the MC Unit, the fol­lowing settings are required:

FWD_IN=18 and REV_IN=19

If one of the limits is reached, appropriate countermeasures will be performed.
See SECTION 8 Troubleshooting for details.

Output Mappin g

■ MC Unit Digital Outputs

The physical outputs are freely allocable to any user defined functions. An
output can be set and reset depending on the current axis position by using
the command PSWITCH.

51

Syst e m Functions Section 3-3

■ Servo Driver Control Signals

Two output signals are implemented as Ser vo Driver control signals. The con­trol signals are the TVSEL and MING s ignals and they are specified as fol­lows:

Output

nr.

16 TVSEL Control Mode Switch OFF: Speed control

17 MING Gain reduction Input OFF: Speed control by PI control

Signal

Name

Description States

ON: Torque control

ON: Speed control by P control

3-3-3 Monitoring Data

The Servo Driver speed command (REF) analog input of the Servo Driver
provides the system an analog input which can be used for general pur pose.
Further more, detailed Servo Driver speed and torque signals can be moni­tored in the MC Unit.

■ AIN0: Analog Input

The analog input is connected to CN1-5 and 6 and uses the Servo Driver
input circuit.

Servo

Driver

MCW151

5

ADC

6

Item Specification

Input Voltage Range: (-12 V, 12 V)
Resolution 16-bit over (- 15 V, 15 V)

26213

-12 V

-26214

12 V

52

System Functions Section 3-3

■ AIN1: Torque Command Value

Analog input 1 contains the torque command data from the Servo Driver.

Item Specification

Output Range (-15000, 15000)
Resolution Given by T_RATE axis parameter.

15000

-Max. torque

-15000

Torque command [% of rated torque] = AIN1*T_RATE

Max. torque

■ AIN2: Servomotor Rotation Speed

Analog input 2 cont ains the actual Ser vomotor Rotat ion Speed dat a from the
Servo Driver.

Item Specification

Output Range (-15000, 15000)
Resolution Given by S_RATE axis parameter.

15000

-Overspeed
Overspeed

-15000

Rotation Speed [RPM] = AIN2*S_RATE

53

Syst e m Functions Section 3-3

■ AIN3: Torque Monitor Value

Analog input 3 contains the Torqu e Monitor Value from the Servo Driver.

Item Specification

Output Range (-15000, 15000)
Resolution Given by T_RATE axis parameter.

15000

3-3-4 Absolute Encoder

If the Servo Driver uses a Servomotor with an absolute encoder, the MC Unit
will obtain the absolute encoder position each start-up.

As a result, operation can be performed immediately without any origin search
operation at start-up. Use one of the following Servomotors with absolute
encoder.

Single-phase 100 V A C
Single-phase 200 V A C
Three-phase 400 V AC

A backup battery is required when using an absolute encoder. Install the bat­tery into the Servo Driver’s battery holder.

R88A-BAT01W Absolute Encoder Backup Batt ery Unit

-Max. torque

-15000

Torque Monitor [% of rated torque] = AIN3*T_RATE

Servo Driver Servomotor Model Encoder Resolution

R88M-W
R88M-W
R88M-W

Item Specification

❏❏S-❏
❏❏T-❏
❏❏C-❏

Battery: Toshiba ER3V, 3.6 V, 1000 mA

Max. torque

16-bit
16-bit
17-bit

54

■ Setting up the encoder

Set-up the use of the absolute encoder by performing the following setting.

Param-

eter No.

Pn002.2 O peration swi tch

Param eter Name Required

Setting

0 Use as absolut e encoder
when using abso­lute encoder

Explanation

■ Multi-turn limit setting

If an absolute encoder is used, the counte r counts the number of rotations
from the setup po sition and ou tput the number of rotations from the Servo
Driver to the MC Unit. For some applications it is conveni ent to reset t he multi­turn data back to 0 after a certain amount of turns.

System Functions Section 3-3

The multi-turn limit settings will set this amount of multi-turn rotations

Param-

eter No.

Pn205 Absolute encoder

With the default setting (Pn205=65535), the Servomotor multi-turn data will be
as follows:

Multi-turn data

+32767

Param eter Name Setting

Range

0 - 65535 Rotation 65535 Yes

multi-turn limit setting

Unit Default

Setting

Restart

Power?

0

-32768

Servomotor rotations

With any other setting than 65535, the Servomotor multi-tu rn data will be as
follows:

Multi-turn data

Pn205

0

Servomotor rotations

When the value is other than the default setting, the maximum value sup­ported by the MC Unit is 32767.

Absolute Encoder Data The abs olute encoder position will be determ ined at star t-up by retrieving the

following infor mation

Variable Description

M
R
P

i

P

e

P

s

P

m

Numbe r o f rotatio n s
Resolution of the encoder
Incremental position within one rotat ion
Current position read by the encoder and

updated in MC Unit at start-up
Incremental position within one rotat ion read at

setup (to be determined by user)
Current position required for system

M=0 M=1 M=2 M=3M=-1

MR⋅

P

m

0+1 +3+4+2-1

P

s

P

i

P

e

Position

55

Syst e m Functions Section 3-3

At start-up the intern al measured position of the MC Unit wi ll be determ ined
by using the following formula.

Absolute Encoder Setup
Procedure

P

As the relevant position for the application is the current position read by the
encoder relative to the origin point determined at setup, the following opera­tion needs to be applied.

Perform the setup operation for the absolute encoder in the following cases:

• When using the machine for the first time.

• When the backup alarm (A.81) is generated.

• When the Ser vo Driver’s power is turned OFF and the encoder cable is

removed.

The operation can be done by using the Parameter Unit, the front panel on
the Servo Driver, or using the personal computer monitoring software. Be
sure to follow the procedure carefully. Any mistakes in performing the proce­dure may lead to faulty operation.

■ Absolute Encoder Setup

At the setup of the application the incremental position of the ori gin needs
to be determined. Perform the following actions:

• Set the correct Servo Driver settings. When the Servo Driver is set up for
absolute encoder, the MC Unit position will be automatically updated.

• Put the Servomotor into the origin position for the system.

• Execute the Servo Driver absolute encoder setup function (Fn008) to

reset the multi-turn data. Note that performing this operation will stop
communication between Servo Driver and MC Unit.

• Power down the system and put the power back on. The MC Unit mea­sured position of axis 0 has now been set and is equal to the . The
measured position is represented by the MPOS axis parameter. The
value can be used in the start-up routine of the application.

e

P

m

MR P

+⋅=

i

PePs–=

P

s

P

s

Determining abso lute
position

56

At every startup the measu red position will be updated to the actual po sition
of the Servomotor. This position is the position as read by the encoder and
will need to be compensated for the origin point position . The application
initiation routine should contain the following steps.

• Define the current pos ition relative to the origin point position. Thi s pos si­ble by using the OFFPOS axis parameter or the DEFPOS command.

• During the parameter setting the UNITS axis parameter is used determin­ing the unit conversion factor. The absolute position is modified accord­ingly.

Note The coordinate system of the MC Unit is not synchronized to the coordinate

system of the Servo Driver. The user must verify that the range of the Servo­motor position falls into t he MC Unit range. If not, the positio n w ill be adjusted
within range and the position data is invalid.

P

e

P

s

System Functions Section 3-3

3-3-5 Other Servo Driver Commands

Access Servo Driver
Parameters

Reset Servo Driver and
MC Unit

For applications which require online Servo Driver parameter changes or to
set-up a new Servo Driver, the MC Unit provides the BASIC commands
DRV_READ and DRV_WRITE. Using these commands it i s possible to read
from and write t o all Servo Driver parameters directly from the MC Unit user
program.

The DRV_RESET command will software reset both the Servo Driver and the
MC Unit. Th is may be necessar y for instance after a Ser vo Driver parameter
write using DRV_WRITE or for clearing a Servo Driver Alarm.

57

SECTION 4

Commu n ication I nt e rf a ces

This section des cribes the communication components of the MCW151-E and MCW151-DRT- E. The functionality of the
serial communic ation protocols (including Host Link Master and Slave) and the De viceNet interface are explained.

4-1 Serial Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4-1-1 Host Link Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4-1-2 Host Link Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

4-1-3 General-purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

4-2 DeviceNe t (MCW151-DRT -E only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

4-2-1 Remote I/O Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

4-2-2 Explicit DeviceNet Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

59

Serial Communications Section 4-1

4-1 Serial Communications

Both the MCW151-E as the MCW151 -DRT-E provide serial p orts for commu­nication with host-computers, PCs, Programmable Ter minals (PTs) and ot her
general-purpose devices. The MC Units are provided with the following proto­cols.

• Motion Perfect protocol:
For connection to personal computer

• Host Link:
For connection to PCs, Programmable Terminals, other MC Units

• General-purpose:
For connection to general-purpose external devices

MC Unit Serial Ports Motion Perfect

Protocol

MCW151-E Port 0: RS-232C (See

note 1)
Port 1: RS-232C No Yes Yes Yes
Port 2: RS-422A/485

(See note 2)

MCW151­DRT-E

Devices to connect Personal Com-

Port 0: RS-232C (See
note 1)

Port 1: RS-232C No Yes Yes Yes

YesNoNoNo

No Yes Yes Yes

YesNoNoNo

puter

Host Link Master

(note 3)

PCs, MCW151s Programmable

Host Link Slave

(note 3)

Terminals,
MCW151s

General Purpose

General-purpose
external devices

Note 1. The programming por t 0 (RS-232C) can o nly be used for connection to a

2. A 4-wire RS-422A connection must be used when using Host Link Com-

3. For connection to a PC (Host Link S la ve), configure the MC Unit as a Host

4-1-1 Host Lin k Master

In Host Link Master mode, Host Link commands can be sent from the MC Unit
to a Host Link Slave such as a PC by using BASIC commands. The BASIC
task execution will be paused until the response has been rec eived from the
other device. The following BASIC commands can be used:

SETCOM SETCOM configures t he serial co mmuni cation port,

HLM_READ HLM_READ reads data from the Host Link Slave to

HLM_WRITE HLM_WRITE writes data to the Host Link Slave

HLM_COMMAND HLM_COMMAND executes a specific Host Link

HLM_STATUS HLM_STATUS represents the status of the last

HLM_TIMEOUT HLM_TIMEOUT defines the Host Link Master time-

personal computer with the Motion Perfect configuration software.

munication.

Link Master. For connection to a Programmable Terminal (Host Link Mas­ter), configure the MC Unit as a Host Link Slave. When using the Host Link
protocol to communicate between two (or more) MCW151, configure one
MC Unit as Host Link Master and the others as Host Link Slave.

BASIC Command Descript ion

including enabling the Host Link protocols.

either VR or Table memory.

from either VR or Table memory .

command to the Slave.

Host Link Master command.

out tim e.

60

Serial Communications Section 4-1

Refer to SECTION 6 BASIC Mot ion Control Programming Language fo r fur­ther details on the commands.

Host Link Master
Commands

The following Host Link commands are suppor ted for Host Link Master. A full
description of the Ho st Link protocol can be found in SYSMAC CS/CJ Series

Communications Commands Reference Manual (W342).

Type H eader

Code

I/O memory reading RR CIO AREA READ Reads the specified number of words beginning with

RL LR AREA READ Reads the specified number of wor ds beginning with

RH HR AREA READ Reads the specified number of words beginn ing with

RD DM AREA READ Reads the specified number of words beginn ing with

RJ AR AREA READ Reads the specified num ber of words beginning with

RE EM AREA READ Reads the specified number of words beginning with

I/O memory writing WR CIO AREA WRITE Writes the specified data in word units beginning with

WL LR AREA WRITE Writes the specified data in word units beginning with

WH HR AREA WRITE Writes the specified data in word units beginning with

WD DM AREA WRITE Writes the specified data in word units beginning with

WJ AR AREA WRITE Writes the specified data in word units beginning with

WE EM AREA WRITE Writes the specified data in word units beginning with

CPU Unit status SC STATUS WRITE Changes the CPU Unit’s operating mode.
Testing TS TEST Returns, unaltered, a single block that was sent fro m

PC model code
reading

Host Link commun i­cations processing

MM PC MODEL READ Reads the model code of the CPU Unit

XZ ABORT (command only) Aborts the operation bei ng performed by a Host Link

** INITIALIZE (command only) Initializes the transfer contro l procedures for all Host

IC Undefined command

(response only)

Name Function

the designated CIO/IR word.

the designated LR word.

the designated HR word.

the designated DM word.

the designated AR word.

the designated EM word.

the designated CIO/IR word.

the designated LR word.

the designated HR word.

the designated DM word.

the designated AR word.

the designated EM word.

the Master

command, and returns to the initial status.

Link Units.
This is the response when the command header code

is invalid.

The Host Link M aster protocol suppor ts the commands only in single frame
and can be used with the BASIC commands as shown in the next table. The
table also shows for which operating mode of a CPU Unit (Slave) the com­mand is valid.

Header

Code

RR CIO AREA READ HLM_READ Val id Valid Valid
RL LR AREA READ HLM_READ Valid Valid Valid
RH HR AREA READ HLM_READ Valid Valid Valid
RD DM AREA READ HLM_READ Valid Valid Valid
RJ AR AREA READ HLM_READ Valid Val id V al id
RE EM AREA READ HLM_READ Valid V alid Valid

Name BASIC Command

required

CPU Unit Operating Mode

RUN MON PRG

61

Serial Communications Section 4-1

Header

Code

WR CIO AREA WRITE HLM_WRITE Not

WL LR AREA WRITE HLM_WRITE Not

WH HR AREA WRITE HLM_WRITE Not

WD DM AREA WRITE HLM_WRITE Not

WJ AR AREA WRITE HLM_WRITE Not

WE EM AREA WRITE HLM_WRITE Not

SC STATUS CHANGE HLM_COMMAND Valid Valid Valid
TS TEST HLM_COMMAND Valid Valid Valid
MM PC MODEL READ HLM_COMMAND Valid Valid Valid
XZ ABORT (command

** INITIALIZE (com-

IC Undefined com-

Name BASIC Command

HLM_COMMAND Valid Valid Valid

only)

HLM_COMMAND Valid Valid Valid

mand only)

- V alid Valid Valid
mand (response
only)

required

CPU Unit Operating Mode

RUN MON PRG

Valid Valid

Valid

Valid Valid

Valid

Valid Valid

Valid

Valid Valid

Valid

Valid Valid

Valid

Valid Valid

Valid

End Code Su m m ary The se are the end codes as they can be defined in the HLM_STAT US param-

eter.

End

code

00 Normal completion No problem e xists --­01 Not executable in RUN mode The command that was sent cannot

13 FCS error The FCS is wrong Most likely influence from nois e,

14 Format error The command format is wrong, or a

15 Entry number data error The data is outside the specified

18 Frame length err or The maximum frame length of 131

19 Not executable Access right was not obt ained. Obtain access rights.
21 Not executable due to CPU Unit

CPU error

Contents Probably cause Corrective measures

Check the rela tion between the com­be exe cuted when the PC is in RUN
mode.

command that cann ot be divided has
been divided, or the fr am e length is
smaller than the minimum length for
the applicable command.

range or too long.

bytes was exceeded.

The command cannot be executed
because a CPU error has occurred
in the CPU Unit.

mand and the PC mode.

transfer the command again.

Check the format and transf er the

command again.

Correct the command arguments

and transfer the command again.

Check the command and transfer

the command again.

Cycle the CPU Unit’s power supply.

Set-up Host Link Master The SETCOM is required to set-up the serial communication port for the Host

Link Master protocol. After setting the following command:

62

SETCOM(baudrate,data_bits,stop_bits,parity,port,6)

the HLM_READ, HLM_WRITE and HLM_COMMAND commands can be
used to read and write data using Host Link.

Serial Communications Section 4-1

Host Link Master Timeout The timeout mechanism is implemented to avoid the BASIC task is paused for

a long time due t o b ad or no communication. The timeout tim e i s sp ecified by
the HLM_TIMEOUT parameter and is defined as the maximum amount of
time the program task will be paused to send the command and receive the
response.

Command Response

Characters

@ .... *↵

Timeout

@ .... *↵

In case the total timeo ut time has elap sed, the cor rect status will be defined
using HLM_STATUS an d the BASIC task will continue. The HLM_TIMEOUT
parameter specifies the timeout time for all commands and for all ports.

Host Link Master Status In the process of sending a Host Link command and receiving a response

se veral problems may occur:

1. The Slave detects an error within the command and will send a corre­sponding end code indication.

2. The Slave cannot decode the comm and header code and sends a IC re­sponse.

3. The Master detects an error wi thin the response. The correspondi ng end
code will be defined in the status.

4. The timeout time has elapsed for the Master.

The HLM_STAT US BASI C parameter represents the H ost Link M aster status
on the specific port.

HLM_STATUS status bits

987 0

Programming
Precautions:

End code (case 1 or case 3)
Timeout error (case 4)
Command not recognized (case 2)

If no error did occur the H LM_STATUS will have value 0. In case of a non­zero value, any appropriate action such as a re-tr y or emergency stop need s
to be programmed in the user BASIC program.

Consider the following precautions when programming the Host Link commu­nications.

1. The Host Link Master commands are required to be executed from one
program task only to avoid any multi-task timing problems.

2. The Host Link Ma ster commands provide the tools to exchange data wi th
the Host Link Slave. The user program should contain proper error han­dling routines to deal with communication failure and perform retries if nec­essary.

63

Serial Communications Section 4-1

Examples: Consider the following operations for a MC Unit connected to a PC using

port 2 (RS-422A). The Slave PC has node address 13.

■ Reading data from PC using HLM_READ

BASIC program:

‘ Set up Host Link Master for port 2

SETCOM(9600,7,2,2,2,6)

‘ Source address: CIO/IR 002
‘ Amount of data: 2 words
‘ Destination address: VR(0)

HLM_READ(2,13,PLC_IR,2,2,MC_VR,0)

Host Link Communication:

HLM -> HLS: @13RR0002000242*
HLS -> HLM: @13RR000101010241*

Result:

VR address value

0 257.0000
1 258.0000

■ Wri t in g data to PC usi ng H L M_ WRITE

BASIC program:

‘ Source address: Table(18)
‘ Amount of data: 2 words
‘ Destination address: LR 014
TABLE(18,$0701,$0702)

HLM_WRITE(2,13,PLC_LR,14,2,MC_TABLE,18)

Host Link Communication:

HLM -> HLS: @13WL0014070107025F*
HLS -> HLM: @13WL0059*

Result:

LR address value

0 701 (Hex)
1 702 (Hex)

■ Send TS (test) command to PC using HLM_COMMAND

BASIC program:

HLM_COMMAND(HLM_TEST,2,13)

Host Link Communication:

HLM -> HLS: @13TSMCW151 TEST STRING2A*
HLS -> HLM: @13TSMCW151 TEST STRING2A*

Result:
HLM_STATUS PORT(2) = 0, which implies correct communication.

■ Set PC in MONITOR mode using HLM_COMMAND

BASIC program:

HLM_COMMAND(HLM_STWR,2,13,2)

64

Host Link Communication:

Serial Communications Section 4-1

HLM -> HLS: @13SC0250*
HLS -> HLM: @13SC0052*

Result:
The PC is running in MON mode. Note that this is necessary for writing data

to the PC using HLM_WRITE.

■ R eading PC model code using HLM_COMMAND (timeout)

BASIC program:

HLM_TIMEOUT=500
‘ Destination address: VR(100)

HLM_COMMAND(HLM_MREAD,2,13,MC_VR,100)

Host Link Communication:

HLM -> HLS: @13MM42*
HLS -> HLM: no response

Result:
As no response has been received from the PC, after 500 servo cycles the

HLM_STATUS PORT(2) will have value 256 (bit 8 is set).

4-1-2 Host Link Slave

In Host Link Slave mode, a Host Link Master such as a Programmable Termi­nal can read data from and write data to the MC Unit . The MC Unit will have
the following mapping for the Host Link Slave.

MCW151 Memory Host Link Mapping Address Range

VR CIO 0 to 250
Table DM 0 to 7999

The following BASIC commands are used:

BASIC Command Description

SETCOM SETCOM configures the seri al comm unicat ion port,

including enabling the Host Link protocols.

HLS_NODE HLS_NODE defines the Slave unit number for the

Host Link Slave protocol.

HLS_MODEL HLS_MODEL defines the MC Unit model code for

the Host Link Slave protocol.

Refer to SECTION 6 BASIC Mot ion Control Programming Language fo r fur­ther details on the commands.

Host Link Sla ve
Commands

The list of Host Link commands that are supported for the Host Link Slave are
listed here below. The protocol supports both sing le frame and multiple frame
transfer. A full description of the Host Link protocol can be found in SYSMAC
CS/CJ Series Communications Commands Reference Manual (W342).

Type H eader

Code

I/O memory reading RR CIO AREA READ Reads the specified number of words from VR mem-

RD DM AREA READ Reads the specified number of words from Table

I/O memory writing WR CIO AREA WRITE Writes the specified data in word unit s to VR memory

WD DM AREA WRITE Writes the specified data in word units to Table mem-

Name Function

ory beginning with the designated word.

memory beginning with the designated word.

beginning with the desi gnated word.

ory beginning with the designated word.

65

Serial Communications Section 4-1

Type Header

Code

Testing TS TEST Returns, unaltered, a single b lock that was sent from

PC model code
reading

I/O memory area
registration and
reading

Host Link communi­cations processing

MM PC MODEL READ Reads the model code of the MC Unit as specified by

QQMR REGISTER I/O MEMORY Registers the I/ O table with the contents of the actual

QQIR READ I/O MEMORY Reads the registered I/O memory words/bits all at

XZ ABORT (command only) Aborts the operation being performed by a Host Link

** INITIALIZE (command only) Initializes the transfer contr ol procedures fo r all Host

IC Undefined command

(response only)

Name Function

the Master.

the HLS_MODEL parameter.

I/O configur ation

once.

command , a n d re tu rns to th e init ia l st at u s.

Link U n i ts.
This is the response when the command header code

is invalid.

End Code Su m m ary These are the response end codes that can be returned in the response

frame.

End

code

00 Normal completion No problem e xists --­13 FCS error The FCS is wrong Check the FCS calculation method.

14 Format error The command format is wrong, or a

15 Entry number data error The data is outside the specified

18 Frame length err or The maximum frame length of 131

19 Not executable An I/O memory batch was executed

A3 Aborted due to FCS error in trans-

mission data

A4 Aborted due to format error in trans-

mission data

A5 Aborted due to entry number data

error in transmission data

A8 Aborted due to frame length error in

transmission data

Contents Probably cause Corrective measures

If there was influence from noise,
transfer the command again.

Check the format and transf er the
command that cann ot be divided has
been divided, or the fr am e length is
smaller than the minimum length for
the applicable command.

range or too long.

bytes was exceeded.

when items to read were not regi s­tered.

An FCS error occ urred i n the seco nd
or lat e r fram e.

The command format did not match
the number of byt es in the sec ond or
later frame.

There was an entry number data
error in the second or later frame or
a data length error.

The length of the second or later
frames exceeded the maximum of
128 bytes.

command again.

Correct the command arguments

and transfer the command again.

Check the data and tr ansfer the

command again.

Register items to read before

attempting bat ch read.

Correct the command dat a and

transfer the command again.

Set-up Host Link Slave The SETCOM is required to set-up the serial communication port for the Host

Link Slave protocol. After setting the following command:

SETCOM(baudrate,data_bits,stop_bits,parity,port,5)

the MC Unit will respond to any Host Link command from the master with the
specified node number as set with the HLS_NODE parameter.

66

Serial Communications Section 4-1

Example: Consider a MCW151-E connected to the NT11S Programmable Terminal

using por t 2 (RS-422A ). The Host Li nk Slave can be configured by usin g the
following program:

‘ Define Host Link Slave node
HLS_NODE = 15
‘ Define Host Link Slave model code
HLS_MODEL = $FA
‘ Set up Host Link Slave for port 2
SETCOM(9600,7,2,2,2,5)

The MC Unit is now set up to communicate with the Programmable Terminal.

4-1-3 General-purpose

The MCW151 provide a set of commands to implement any user-defined pro­tocol. The list of commands is provided here.

BASIC Command Description

SETCOM SETCOM configures the seri al comm unicat ion port,

including enabling the Host Link protocols.

GET GET assigns the ASCII code of a recei ved charac-

ter to a v a riable .

INPUT INPUT will assign n um eric al input string values to

the specified variables.

KEY KEY returns TRUE or FALSE depending on if a

character has been received.

LINPUT LINPUT assigns the ASCII code of the characters to

an array of variables .

PRINT PRINT outputs a series of characters to a serial

port.

Refer to SECTION 6 BASIC Mot ion Control Programming Language fo r fur­ther details on the commands.

Example: Co nsider a MCW151-E connected to a gen eral-purpose device using por t 2

(RS-422A). The following problem will rec eive a series of data elements and
write it to VR variables:

‘ Set up General-purpose protocol for port 2
SETCOM(9600,7,2,2,2,0)
‘ Receive input
FOR i=0 to 99
INPUT#2, VR(i)
NEXT i

67

DeviceNet (MCW151-DRT-E only) Section 4-2

4-2 DeviceNet (MCW151-DRT-E only)

The MCW151-DRT-E is connected to the DeviceNet network as a DeviceNet
Slave. This allows data from any area in the MC Unit to be read or written
from the Master. Through the DeviceNet, the MC Unit memory can be
accessed using one of the following two methods.

Accessing MC Unit
memory through remote
I/O areas

Accessing MC Unit
memory with Explicit
Message Communications

Remote I/O communicat ion enables aut om atic exchange of I/O d ata bet ween
the MC Unit and a PC with DeviceNet Maste r Unit without special program­ming in the PC. For the MC Unit, the input and output areas can each contain
up to 4 words.

Once the MC Unit’s memory input and outpu t areas have been set, the MC
Unit memory can be read and wr itten. The input area is regularly read by the
Master and the output is regularly written from the Master. This process main­tains consistency between the Slave’s input and output areas and the input
and output areas allocated to the Master.

The data is transferred automatically at high speed so it is usef ul to use this
for data which requires regular data transfers with the Master.

When larger amount of data needs to be exchanged with the MC Unit, explicit
message communications can be used.

Transferring data with explicit message communications takes more time than
transferring data with the input and output areas, but all of the MC Unit mem­ory can be accessed.

Use this feature for large data transfers which can be performed when
required, such as transferring position profile data.

Remote I/O

communications

MC Unit

Input Area

Output Area

Master Unit

CPU Unit

VR memory

Tabl e memory

Refer to Appendix B Device Protocol (MCW151-DRT-E only) for th e Devic e
Protocol definition.

4-2-1 Remote I/O Communications

The Master and Slaves can communicate as descr ibed below with DeviceNet
remote I/O comm u n ications.

• Input Area:
Inputs at the Slave are read automatically and mirrored in the Master’s
input area.

• Output Area:
Data written in the output area allocated in the Master’s memory are auto­matically output to the corresponding Slave.

68

Explicit message com­munications (Transfers
data in any area)

DeviceNet Network

DeviceNet (MCW151-DRT-E only) Section 4-2

Note T he nam es of the inp ut and outp ut areas ind icate the dire ction of I/O from the

perspective of the Master.

Allocating Input and
Output Areas to the
Master

The MC Unit’s input and output areas are allocated to the Unit as a DeviceNet
Slave in the Master’s I/O memory.

■ Fixed Allocation

With fixed allocation, words in the CPU Unit are allocated in the order of node
numbers starting from node 00. The words are divided into an output area and
an input area. The spe cific words that are allocated de pend on the model of
PC being used.

Each node addres s is allocated one input and one output word . If a Slave
requires more than one input or one output word, then it is assigned more
than one node add re ss. If a Slave requires less than one word, it sim ply u se s
the rightmost bits in the word allocated to it.

The MC Unit will occupy the number of words (number of node num bers) set
for the input and output areas using the external DIP switch pin 7.

Pin 7 Mode Description

OFF Mode I (default) Input: 2 words

Output: 2 words

ON Mode II Input: 4 words

Output: 4 words

For example when the MC Unit has been selected to Mo de II and the node
number is set to 5, the input area will occu py the words for nodes 5 through 8
and the output area will also occupy the words for nodes 5 through 8.

■ Free Al location

A Configurator can be used to allocate a total of 4 blocks, blocks 1 and 2 in
the output area and input blocks 1 and 2 in the input area in any order.

Slaves and blocks can be allocated in any order. The number of words (num­ber of bytes) that are used depends upon the addresses. The minimum is one
byte and the maximum is 64 bytes (32 words).

69

DeviceNet (MCW151-DRT-E only) Section 4-2

Area Allocation

■ DeviceNet Input

The table below specifies the input data alloca tion of the s tatus of the M C
Unit.

Input

word

1 00 Unit Operating Flag 1: MC Unit is operating.

200 to 15User defined Contents is allocated by using the FB_SET parameter.

Bit Name Function

0: MC Unit is not operating.

01 Servo Driver Enable Flag 1: Servo Driver enabled.

0: Servo Driver disab led.

02 Axis 0 Servo ON 1: Servo is ON for Servo Driver axis 0. The axis is in closed loop .

0: Servo is OFF for Servo Driver axis 0. The axis is in open loop.

03 MC Unit Motion Error

Flag

04 MC Unit Motion Warning

Flag

05 Servo Driver Alarm Flag 1: Servo Driver alarm (ALM) has occu rred.

06 Servo Driver Warning

Flag

07 Servo Driver Communi-

cation Error

08 Axis 0 Forwar d Limi t Flag 1: Forward limit is set for Servo Driver axis 0.

09 Axis 0 Reverse Limit Flag 1: Reverse limit is set for Servo Driver axis 0.

10 Axis 0 Datuming Flag 1: Datuming (origin search) in progress for Servo Driver axis 0.

11 Axis 0 Feedhold Flag 1: Feedhol d input is set for Servo Driver axis 0.

12 Axis 0 Following Error

Limit Flag

13 Task 1 Flag 1: Program is running on task no. 1.

14 Task 2 Flag 1: Program is running on task no. 2.

15 Task 3 Flag 1: Program is running on task no. 3.

1: Motion error has occurred for one of the axes.
0: No motion error.
1: Motion warning has occurred for Servo Driver axis 0. The following

error warning limit is exceeded.
0: No motion warning.

0: No Servo Driver alarm.
1: Servo Driver warning (WARN) has occurred.
0: No Servo Driver warning.
1: Communication error between MC Unit and Servo Driver has

occurred.
0: No communication er ror.

0: No forward limit.

0: No rever se li m it .

0: No datuming.

0: No feedhold.
1: Follo wing error limit is reached for Servo Driver axis 0.
0: No following error limit.

0: No program is running on task.

0: No program is running on task.

0: No program is running on task.

70

3(see
note)

4(see
note)

00 to 15User defined Contents is set by VR(2).

00 to 15User defined Contents is set by VR(3).

Note The input words no. 3 and 4 will only be transferred when I/O Slave messag-

ing mode II is selected.

DeviceNet (MCW151-DRT-E only) Section 4-2

Input word 2

The allocation of input word 2 is deter mined by the FB_SET parameter. The
following settings are supported.

FB_SET

value

0 00 to 15User defined Contents is set by VR(0 )

1 MC Unit I/O Mapping

Bit Name Function

00 (Registration) Input 0 1: Input is ON 0: Inpu t i s OFF
01 (Registration) Input 1 1: Input is ON 0: Inpu t i s OFF
02 Input 2 1: Input is ON 0: Input is OFF
03 Input 3 1: Input is ON 0: Input is OFF
04 Input 4 1: Input is ON 0: Input is OFF
05 Input 5 1: Input is ON 0: Input is OFF
06 Input 6 1: Input is ON 0: Input is OFF
07 Input 7 1: Input is ON 0: Input is OFF
08 Output 8 1: Output is ON 0: Output is OFF
09 Output 9 1: Output is ON 0: Output is OFF
10 Output 10 1: Output is ON 0: Output is OFF
11 Output 11 1: Output is ON 0: Output is OFF
12 Output 12 1: Output is ON 0: Output is OFF
13 Output 13 1: Output is ON 0: Output is OFF
14 to 15Reserved

2 Servo Driver I/O Mapping

00 Input CN1-40 1: Input is ON 0: Input is OFF
01 Input CN1-41 1: Input is ON 0: Input is OFF
02 Input CN1-42 1: Input is ON 0: Input is OFF
03 Input CN1-43 1: Input is ON 0: Input is OFF
04 Input CN1-44 1: Input is ON 0: Input is OFF
05 Input CN1-45 1: Input is ON 0: Input is OFF
06 Input CN1-46 1: Input is ON 0: Input is OFF
07 Reserved
08 ALM 1: Servo Driver alarm occurred

09 WARN 1: Servo Driver warning occurred

10 VCMP 1: Speed match

11 TGON 1: Servomotor rotating

12 READY 1: Servo ready

13 CLIMT 1: Tor que limit

14 VLIMT 1: Speed limi t

15 SVON 1: Servo ON complete

0: No Servo Driver alarm

0: No Servo Driver warning

0: No speed match

0: Servomotor not rotating

0: Servo not ready

0: No torque limit

0: No speed limit

0: Servo ON not complete

71

DeviceNet (MCW151-DRT-E only) Section 4-2

■ DeviceNet Output

The table below specifies the output data allocation of the status of the MC
Unit.

Output

word

1 00 to 15User defined Contents is set at VR(1).

2 00 to 15User defined Contents is set at VR(4).

Bit Name Function

3(see
note)

4(see
note)

00 to 15User defined Contents is set at VR(5).

00 to 15User defined Contents is set at VR(6).

Note The output words no. 3 and 4 will only be transferred when I/O Slave messag-

ing mode II is selected.

4-2-2 Explicit DeviceNet Messages

Explicit DeviceNet messages (commands) can be sent from the Master to
write and read data to and f rom both the VR and Table memory of the MC
Unit.

This section presents the explicit messages support ed by the MC Unit, and
provides usage examples. For further details on using explicit messages on
the Master Unit, refer to the Master Unit’s Operation Manual.

■ MC Unit Explicit Message List

Explicit message Function Page

TABLE DATA READ
(THREE-WORD FOR­MAT)

VR DATA READ
(THREE-WORD FOR­MAT)

VR DATA READ
(ONE-WORD FOR­MAT)

TABLE DATA WRITE
(THREE-WORD FOR­MAT)

VR DATA WRITE
(THREE-WORD FOR­MAT)

VR DATA WRITE
(ONE-WORD FOR­MAT)

RESET Will perform a software reset of both the MC Unit

Reads the specifiedMC Unit’s Table data. The data
is converted into three-word f ormat.

Reads the specified MC Unit’s VR data. The data is
converted into three-word format.

Reads the specified MC Unit’s VR data in wor ds. 76

Writesthe specifiedMC Unit’s Table data. The data
is three-word format and will be converted into float­ing point.

Writes the specifiedMC Unit’s VR data. The data is
three-word format and will be converted into float­ing point.

Writes the specifiedMC Unit’s VR data in words. 79

and the Servo Driver.

75

76

77

78

80

■ Data Formats

The MC Unit explicit messaging supports two data format types.

One-word format The data is transferred word by word from each PC memory location to each

variable in the MC unit and vice versa. The value in the MC Unit is always the
integer equivalent of the hexadecimal value in the PC (no 2's complement).
From the floating-point data in the MC uni t only the intege r par t will be trans­ferred. The valid range is [0,65535].

72

DeviceNet (MCW151-DRT-E only) Section 4-2

Three-word format T he data in the PC is represented by three mem ory elements, in total three

words. The following is the configuration of a BCD position data item.

j+0 0 0 0 A
j+1
j+2

3

x102x101x10

x10

7

x106x105x10

x10

3210bit

s

Sign bit (s)
0: positive
1: negative

x10

7

0
4

Decimal point A = 0 (Indicates 1)

1 (Indicates 0.1)

Position data

2 (Indicates 0.01)
3 (Indicates 0.001)
4 (Indicates 0.0001)

Example 1: The three-word format of value 56143 is given by

j+0 0 0 0 0
j+1 6 1 4 3
j+2 0 0 0 5

Example 2: The three-word format of value -48.89 is given by

j+0 0 0 0 2
j+1 4 8 8 9
j+2 8 0 0 0

One data item uses three words. Therefore the total words for data transfers
should be the amount of data transferred multiplied by three.

4-2-2-1 Message Communications

When sending explicit messages from an OMRON Master Unit, use the
CMND or IOWR instruction to send the message d ata as an E XPLICIT M E S ­SAGE SEND (28 01) FINS command.

Command Block

28 01 32 00 8A 00 01 242 bytes max.

code

Destination node address

Response Block N o rmal Respo nse

28 01 00 00 240 bytes max.

Command

code

Service c ode

Response

code

Class ID

No.ofbytes

received

Source node address

Instance IDCommand

Service Data

Service Data

Service code

Note For a no rmal response, the leftmost bit of t he service code specified in the

command will be tur ned ON and then returned. For example, a command
service code of 32 Hex is returned as B2 Hex in the response.

73

DeviceNet (MCW151-DRT-E only) Section 4-2

Error Response

The following response is returned if an error occurs for the explicit message.

28 01 00 00 94 FF

Command

code

Response

code

No. of bytes

received

Source node address

Parameters Destination node address (command)

The node address of the destination of the explicit message.

Service code (command, respo nse )

A service code defined for DeviceNet. In a normal response, bit 15 of the ser­vice code specified will be turned ON and returned. For an error response, the
service code will always be 94 Hex.

Class ID (command)

The class ID of the destination of the explicit message. The class ID is always
008A Hex when reading or writing the MC Unit memory.

Instance ID (command)

The instance ID of the destination of the explicit message. The instance ID is
always 0001 Hex when reading or writing the MC Unit memory.

Service data (command , respon se)

The data defined for the services codes.

No. of bytes received (response)

The number of bytes received from the destination node address (local node).

Source node address (response)

The node address of the OMRON I/O Slave Unit or slave manufactured by
another company of which the explicit message was sent is returned.

General error code (response)

The following error codes may be returned.

General

error code

08 Hex Service not supported The requested service was not imple-

09 Hex Invalid attribute value Invalid attribute data detected.
11 Hex Reply data too large The data to be transmitted in the

13 Hex Not enough data The service did not supply enough

15 Hex Too much data The service supplied more data than

16 Hex Object does not exist The object does not exist in the

20 Hex Invalid param eter A parameter associated with the

Error name Cause of error

Additional error code FF Hex

General error code

Servicecode94Hex

mented or was not defined for this
Object Class/Instance.

response b uffer is larger t han the allo­cate d response buf fer.

data to perform the specified opera­tion.

was expected.

device.

request was invalid.

74

DeviceNet (MCW151-DRT-E only) Section 4-2

Note 1. Unlike other FINS commands, this command is addressed to the local

node’s DeviceNet Master Unit. The actual destination of the explicit mes­sage is given in the command data, as described above.
Always specify the local node’s DeviceNet Master Unit in the control code
of the CMND or IOWR instruction. An error will occur if another node’s
Master Unit is specified.

2. If the DeviceNet Master Unit re ce ives an explicit message, it will aut om at ­ically return a response.

4-2-2-2 Explicit Messages

TABLE DATA READ
(THREE-WORD FORMAT)

TABLE DATA READ (THREE-WORD FORMAT) will read Table data. The
data will be converted in three-word format.

Command Block

28 01 32 00 8A 00 01

Command

code

Destination node address

Service c ode

Class ID

Instance ID

Address H

Address L

Length L

Length H

Response Block

28 01 00 00 B2 ..

Command

code

Response

code

No.of bytes

received

Source node address

Word data H

Service code

Word data L

Read data
(Maximum 240 bytes)

Parameters
Service code (command, response)

In the command, 32 Hex is specified. In the response, the leftmost bit is
turned ON and B2 Hex is returned.

Address H, Address L (com m and)

The address in hexadecimal of the first word of data to be read.

Address H: Leftmost 2 digits of the address in 4-digit hexadecimal.
Address L: Rightmost 2 digits of the address in 4-digit hexadecimal.

For the Table memory , the maximum value is 7999 (1F3F Hex).

Length H , Length L (com m and)

The number of Table memory elements to read.
Length H: Leftmost 2 digits of the length in 4-digit hexadecimal (ignored for

MC Unit).
Length L: Rightmo st 2 digits of the length in 4-digit hexadecimal.
When an OMRON M aster is being used, the maximum is 39 elemen ts (27

Hex). The 39 T able elements imply 234 bytes to be transferred.

Read data (response)

The specified data i s returned from word H (leftmost byte: bits 08 t o 15) to
word L (rightmost byte: bits 00 to 07).

Note T he user should be aware that the MC Unit does not check if the MC Unit

memory data is within range of the three-word format.

75

DeviceNet (MCW151-DRT-E only) Section 4-2

VR DATA READ (THREE­WORD FORMAT)

VR DATA READ (THRE E-WORD FO RMAT) will read VR data. T he data wil l
be converted in three-word format.

Command Block

28 01 33 00 8A 00 01

Command

code

Destination node address

Service c ode

Class ID

Instance ID

Address H

Address L

Length L

Length H

Response Block

28 01 00 00 B3 ..

Command

code

Response

code

No.of bytes

received

Source node address

Word data H

Service code

Word data L

Read data
(Maximum 240 bytes)

Parameters
Service code (command, respo nse )

In the command, 33 Hex is specified. In the response, the leftmost bit is
turned ON and B3 Hex is returned.

Address H, Address L (command)

The address in hexadecimal of the first word of data to be read.
Address H: Leftmost 2 digits of the address in 4-digit hexadecimal (ignored

for MC Unit).
Address L: Rightmost 2 digits of the address in 4-digit hexadecimal.
For the VR memory, the maximum value is 250 (FA Hex).

Length H, Length L (command)

The number of VR memory elements to read.
Length H : Leftmost 2 digits of the length in 4-digit hexadecimal (ignored for

MC Unit).
Length L: Rightmost 2 digits of the length in 4-digit hexadecimal.
When an OMRON Master is bei ng used, the maximum is 39 elements (27

Hex). The 39 VR elements imply 234 bytes to be transferred.

Read data (response)

The specified data is retur ned from word H (leftmost byte: bits 08 to 15) to
word L (rightmost byte: bits 00 to 07).

Note The user should be aware that the MC Unit does not check if the MC Unit

memory data is within range of the three-word format.

VR DATA READ (ONE­WORD FORMAT)

76

VR DATA READ (ON E-WORD FO RMAT) will read VR data. The data will be
converted in one-word format.

DeviceNet (MCW151-DRT-E only) Section 4-2

Command Block

28 01 34 00 8A 00 01

Command

code

Destination node address

Service c ode

Class ID

Instance ID

Address H

Address L

Length L

Length H

Response Block

28 01 00 00 B4 ..

Command

code

Response

code

No.of bytes

received

Source node address

Word data H

Service code

Word data L

Read data
(Maximum 240 bytes)

Parameters
Service code (command, response)

In the command, 34 Hex is specified. In the response, the leftmost bit is
turned ON and B4 Hex is returned.

Address H, Address L (com m and)

The address in hexadecimal of the first word of data to be read.
Address H: Leftmost 2 digits of the address in 4-digit hexadecimal (ignored

for MC Unit).
Address L: Rightmost 2 digits of the address in 4-digit hexadecimal.
For the VR memory, the maximum value is 250 (FA Hex).

Length H , Length L (com m and)

The number of VR memor y elements to read.
Length H: Leftmost 2 digits of the length in 4-digit hexadecimal (ignored for

MC Unit).
Length L: Rightmo st 2 digits of the length in 4-digit hexadecimal.
When an OMRON M aster is being used, the max imum is 119 elements (77

Hex). The 119 VR elements imply 238 bytes to be transferred.

Read data (response)

The specified data i s returned from word H (leftmost byte: bits 08 t o 15) to
word L (rightmost byte: bits 00 to 07).

TABLE DATA WRITE
(THREE-WORD FORMAT)

Command

TABLE DATA WRITE (THREE-WORD FORMAT) will write Table data. The
Table data will be defined according to the three-word format.

Command Block

28 01 35 00 8A 00 01 ..

code

Destination node address

Service c ode

Class ID

Instance ID

Address H

Address L

Length H

Length L

Word data L

Word data H

Write data
(Max. 238 bytes)

77

DeviceNet (MCW151-DRT-E only) Section 4-2

Response Block

28 01 00 00 00 02 B5

Command

code

Response

code

No. of bytes

received

Service c ode

Source node address

Parameters
Service code (command, respo nse )

In the command, 35 Hex is specified. In the response, the leftmost bit is
turned ON and B5 Hex is returned.

Address H, Address L (command)

The address in hexadecimal of the first word of data to be read.

Address H: Leftmost 2 digits of the address in 4-digit hexadecimal.
Address L: Rightmost 2 digits of the address in 4-digit hexadecimal.

For the Table memory, the maximum value is 7999 (1F3F Hex).

Length H, Length L (command)

The number of Table memory element s to write.
Length H : Leftmost 2 digits of the length in 4-digit hexadecimal (ignored for

MC Unit).
Length L: Rightmost 2 digits of the length in 4-digit hexadecimal.
When an OMRON Master is bei ng used, the maximum is 39 elements (27

Hex). The 39 Table elements imply 234 bytes to be transferred.

Write data (command)

The specified data should be written from word H (leftmost byte: bits 08 to 15)
to word L (rightmost byte: bits 00 to 07).

Note The us er should b e aware that the MC Unit does not check if the PC memory

data complies to the three-word format.

VR DATA WRITE (THREE­WORD FORMAT)

Command

78

VR DATA WRITE (THREE-WORD FORMAT) will write VR data. The VR data
will be defined according to the three-word format.

Command Block

28 01 36 00 8A 00 01 ..

code

Destination node address

Service c ode

Class ID

Instance ID

Address H

Address L

Length H

Length L

Word data L

Word data H

Write data
(Max. 238 bytes)

DeviceNet (MCW151-DRT-E only) Section 4-2

Response Block

28 01 00 00 00 02 B6

Command

code

Response

code

No. of bytes

received

Service c ode

Source node address

Parameters
Service code (command, response)

In the command, 36 Hex is specified. In the response, the leftmost bit is
turned ON and B6 Hex is returned.

Address H, Address L (com m and)

The address in hexadecimal of the first word of data to be read.
Address H: Leftmost 2 digits of the address in 4-digit hexadecimal (ignored

for MC Unit).
Address L: Rightmost 2 digits of the address in 4-digit hexadecimal.
For the VR memory, the maximum value is 250 (FA Hex).

Length H , Length L (com m and)

The number of VR memor y elements to read.
Length H: Leftmost 2 digits of the length in 4-digit hexadecimal (ignored for

MC Unit).
Length L: Rightmo st 2 digits of the length in 4-digit hexadecimal.
When an OMRON M aster is being used, the maximum is 39 elemen ts (27

Hex). The 39 VR elements imply 234 bytes to be transferred.

Write da ta (co m m and)

The specified data should be written from word H (leftmost byte: bits 08 to 15)
to word L (rightmost byte: bits 00 to 07).

Note T he us er shoul d be aware that th e MC Unit does not check if the P C me mory

data complies to the three-word format.

VR DATA WRITE (ONE­WORD FORMAT)

VR DATA WRITE (ONE-WORD FORMAT) will write VR data. The VR data
will be defined according to the one-word format.

Command Block

28 01 37 00 8A 00 01 ..

Command

code

Destination node address

Service c ode

Class ID

Instance ID

Address H

Address L

Length H

Length L

Word data L

Word data H

Write data
(Max. 238 bytes)

79

DeviceNet (MCW151-DRT-E only) Section 4-2

Response Block

28 01 00 00 00 02 B7

Command

code

Parameters
Service code (command, respo nse )

In the command, 37 Hex is specified. In the response, the leftmost bit is
turned ON and B7 Hex is returned.

Address H, Address L (command)

The address in hexadecimal of the first word of data to be read.
Address H: Leftmost 2 digits of the address in 4-digit hexadecimal (ignored

for MC Unit).
Address L: Rightmost 2 digits of the address in 4-digit hexadecimal.
For the VR memory, the maximum value is 250 (FA Hex).

Length H, Length L (command)

The number of VR memory elements to write.
Length H : Leftmost 2 digits of the length in 4-digit hexadecimal (ignored for

MC Unit).
Length L: Rightmost 2 digits of the length in 4-digit hexadecimal.
When an OMRON Master is b eing used, the maximum i s 119 elements (77

Hex). The 119 VR elements imply 238 bytes to be transferred.

Write data (command)

The specified data should be written from word H (leftmost byte: bits 08 to 15)
to word L (rightmost byte: bits 00 to 07).

Response

code

No. of bytes

received

Service c ode

Source node address

RESET RESET will perform a software reset of both the MC Unit and the Servo Driver

(as DR V_ R ESET command).

Command Block

28 01 05 00 8A 00 01

Command

code

Destination node address

Service c ode

Class ID

Instance ID

Address H

Response Block

28 01 00 00 00 02 85

Command

code

Response

code

No.of bytes

received

Source node address

Service code

80

DeviceNet (MCW151-DRT-E only) Section 4-2

Parameters
Service code (command, response)

In the command, 05 Hex is specified. In the response, the leftmost bit is
turned ON and 85 Hex is returned.

4-2-2-3 Sample Programs

Using the CMD(490)
instruction to read data

In the following example, the CMD(490) instruction is u sed to read data (one­word format) from VR(200) to VR (203 ) (4 words ) on the Slave Unit, and store
them to the Master (CS1 PCs) from D02000 onwards. For more information
on explicit messages, refer to the DeviceNet Master Unit Operation Manual or
for information on the CM D(490) instruction, refer to the PCs Operation Man-
ual.

Example Conditions

Master node address: 0
Slave network address: 1
Slave node address: 2

Example: Using CMD(490)

CMD

S
D
C

Command Words (S: First Command word)

Word Contents (Hex) Meaning

S 28 01 EXPLICIT MESSAGE SEND command

S+1 02 34 Slave node address: 2

S+2 00 8A Class ID : 008A Hex
S+3 00 01 Instance ID: 0001 Hex
S+4 00 C8 Read start address VR(200): 00C8 Hex
S+5 00 04 Number of Ta ble elements to write: 0004

code: 28 01 Hex

VR DATA READ (ONE-WORD FORMAT)
command service code: 34 Hex

Hex

D: Response Words (D: First Response Word)

Results are stored as shown in the following table.

Word Contents (Hex) Meaning

D 28 01 EXPLICIT MESSAGE SEND command

code: 28 01 Hex

D+1 00 00 Response code (0000 Hex: Normal com-

pletion)

D+2 00 0A No. of recei ved bytes (data length after

D02003): 10 byte s

D+3 02 B4 Slave node address: 2

VR DATA READ (ONE-WORD FORMAT)
response service code: B4 Hex

D+4 00 0F Data read from the MC Unit’s VR(200).

D+5 00 BF Data read from the MC Unit’s VR(201).

One-word format: 15

One-word format: 191

81

DeviceNet (MCW151-DRT-E only) Section 4-2

Word Contents (Hex) Meaning

D+6 0A 33 Data read from the MC Unit’s VR(202).

One-word format: 2611

D+7 FF FF Data read from the MC Unit ’s VR(203).

One-word format: 65535

Contro l Word s (C: Fi rst C ontrol Word)

Word Contents (Hex) Meaning

C 00 0C No. of byt es o f comma nd data: 12 byte s of

C+1 00 10 No. of byte s of response data: 16 bytes of

C+2 00 01 Destination node network address: 1
C+3 00 FE Maste r’s node address: 0

C+4 00 00 Response returned, communication port

C+5 00 64 Response monitoring time: 10 s

command data, S

response data, D

Master’s Unit address: FE Hex

No.: 0, No. of retries: 0

Using the CMD(490)
instruct ion to write data

In the following e xample, the CMD(490) instruction is used to write data (three
word format) to Table(10) to Table(12) on the Slave Unit, from the Master
(CS1 PCs). For more information on explicit messages, refer to the DeviceNet
Master Unit Operation Manual or for information on the CMD(490) instruct ion,
refer to the PCs Operation Manual.

Example Conditions

Master node address: 0
Slave network address: 1
Slave node address: 2

Example: Using CMND(490)

CMND

S
D
C

Command Words (S: First Command Word)

Word Contents (Hex) Meaning

S 28 01 EXPLICIT MESSAGE SEND command

code: 28 01 Hex

S+1 02 35 Slave node address: 2

TABLE DATA WRITE (THREE-WORD
FORMAT) command service code: 35

Hex
S+2 00 8A Class ID: 008A Hex
S+3 00 01 Instance ID: 0001 Hex
S+4 00 0A Write start address Table(10): 000A Hex
S+5 00 03 Number of Table elements to write: 0003

Hex
S+6 00 00 Data written to the MC Unit’s Table(10).
S+7 92 78
S+8 00 27

Three word format: 279278

82

DeviceNet (MCW151-DRT-E only) Section 4-2

Word Contents (Hex) Meaning

S+9 00 01 Data written to the MC Unit’s Table(11) .
S+10 42 86
S+11 80 01
S+12 00 00 Data written to the MC Unit’s Table ( 12).
S+13 88 24
S+14 00 92

D: Response Words (D: First Response Word)

Results are stored as shown in the following table.

Word Contents (Hex) Meaning

D 28 01 EXPLICIT MESSAGE SEND command

D+1 00 00 Response code (0000 Hex: Normal com-

D+2 00 02 No. of received bytes (data leng th af ter

D+3 02 B5 Slave node address: 2

Control Words (C: First Control Word)

Word Contents (Hex) Meaning

C 00 1E No. of bytes of command data: 30 b ytes of

C+1 00 08 No. of words of response data: 8 bytes of

C+2 00 01 Destination node network address: 1
C+3 00 FE Mast er’s node address: 0

C+4 00 00 Response returned, communications port

C+5 00 64 Response monitoring time: 10 s

Three word format: -1428.6

Three word format: 928824

code: 28 01 Hex

pletion)

D02003): 2 bytes

TABLE DATA WRITE (THREE-WORD
FORMAT) response service code: B5 Hex

command data, S

response data, D

Master’s Unit addres s: FE He x

No.: 0, No. of retries : 0

83

SECTION 5

Multitasking BASIC Programming

This section provides an overview of the fundamentals of multitasking BASIC programs and the methods by which
programs are manage d in the MC Unit.

5-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5-2 BASIC Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5-2-1 Axis, System and Task Statements . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5-2-2 Data Structures and Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5-2-3 Mathematical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5-3 Motion Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5-4 Command Line Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5-5 BASIC Programs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5-5-1 Managing Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

5-5-2 Program Compilation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

5-5-3 Program Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

5-6 Task Operation Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5-7 Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

85