Motion control unit CS1W-MCH71 - MECHATROLINK-II. Function. System configuration

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1 Ver. HGE 3 EVOPK POE 00V Ver. HGE 3 EVOPK POE 00V Ver. HGE 3 EVOPK POE 00V UTX DDI GDH- GDH- GDH- GDH- Ver. HGE 3 EVOPK POE 00V -MH7 - MEHTOLIK-II Motion control unit Multi-axes motion control via high-speed MEHTOLIK-II Up to 30 axes controlled with minimum wiring High-speed bus MEHTOLIK-II is specially designed for motion control upports position, speed and torque control Electronic M profiles and axes synchronization Hardware registration input for every axis Program control commands, like multi-task, parallel programming and various arithmetic operations for maximum program efficiency mart active parts for OMO HMIs ccess to the complete system from one point Function Multi-axes control is made easy by freely combining control axes. Up to 3 axes can be used, including 30 physical axes and two virtual axes, and each axis can be set individually. Position control, synchronized control (electronic gear, electronic cam, follow-up), speed control, and torque control are all supported, enabling a wide range of applications. By using the high-speed servo communications MEHTOLIK-II, motion programs, system parameters, system data, and servo drive parameters can be set and read from the software tool. ystem configuration Personal computer oftware: X-One series Motion control unit -MH7 MEHTOLIK-II 30 axes max. Totel length: 50 m igma-ii series ervo Drive I/O module Input Limit switches contact sensors JUP-5 Mechatrolink-II unit Terminator igma-ii series Linear Motor igma-ii series ervo Motor Motion control unit 9

2 pecifications Motion control unit -MH7 lassification -series PU bus unit pplicable PLs -series, Backplanes on which M unit can be mounted PU backplane or -series expansion I/O backplane ontrol method MEHTOLIK-II (position, speed and torque control) ontrolled devices igma-ii series servo drives (ver. 38 or later) with MEHTOLIK-II Interface, various I/O units and inverters V7, F7, G7 with MEHTOLIK-II interface (for inverter version support contact your OMO sales office) Programming language BI type motion control language ontrolled axes 3 max, including 30 physical or virtual axes and virtual axes Operating modes U mode, PU mode, Tool mode/system (depending on tool) utomatic/manual mode utomatic mode: mode for executing programs in the unit Manual mode: mode for executing commands from the PU unit (via allocated words) Minimum setting unit, 0., 0.0, 0.00, (unit: mm, inch, degree, pulse) Maximum command value -,7,83,68 to,7,83,67 pulses (3 bits with sign); infinite axis feed mode supported. Example: 6,38 pulses/rev after multiplication, a minimum setting unit of 0.00 mm and mm/rev would result in -,30,70,000 to,30,79,999 command units. ontrol functions ervo lock/unlock Locks and unlocks the servo driver. by command from Jogging Executes continuous feeding for each axis independently at selectable speed. PU unit Origin search Determines the machine origin in the direction set in the system parameters. an be executed with an absolute encoder. bsolute origin setting ets the origin for when an absolute encoder is used. (Offset value: 3 bits [pulses] with sign) Machine lock tops the output of move commands to axes. ingle block Executes motion programs one block at a time. ontrol functions by motion program Positioning (PTP) Executes positioning independently for each axis at a specified speed or the speed system parameter. (imultaneous specification: up to eight axes/block, simultaneous execution: up to 3 blocks/unit) Linear interpolation Executes linear interpolation for up to eight axes at a time at the specified interpolation feed speed. (imultaneous specification: up to eight axes/block, simultaneous execution: up to 3 blocks/system) ircular interpolation Executes circular interpolation for two axes in either clockwise or counterclockwise at the specified interpolation feed speed. Helical circular interpolation is also possible with single-axis linear interpolation added. (imultaneous specification: two or three axes/block, simultaneous execution: up to 6 blocks/system) Other functions Origin searches, interrupt feeding, timed positioning, traverse positioning, independent electronic M, synchronized electronic M, link operation, electronic gear, follow-up synchronization, speed reference, torque reference cceleration/deceleration curve, Trapezoidal or -curve, 60,000 ms max. (-curve: constant 30,000 ms max.) acceleration/deceleration time External I/O One port for MEHTOLIK-II servo communications, one deceleration stop input, two general inputs, two general outputs Feed rate apid, interpolation feed rate: to,7,83,67 (command units/min) Override 0.00% to 37.67% (setting unit: 0.0%; can be set for each axis or task.) Motion umber of tasks, Up to 8 tasks and 56 programs/unit (8 parallel branches per task max.) programs number of programs Program numbers 0000 to 099 for main program; 0500 to 0999 for subroutine Program capacity In motion program conversion, 8,000 blocks/unit max. ( Mbytes); number of blocks: 800 per program Data capacity Position data: 0,0 points/unit; cam data: 3 max.; 6,000 points/unit ubroutine nesting Five levels max. tart Programs in other tasks can be started from a program or from the PL Deceleration stop Decelerates to a stop regardless of the block. Block stop Decelerates to a stop after the block being executed is ended. ingle block Executes the program one block at a time. Data exchange Unit BIT area Uses one unit number (5 words). Used for unit and tasks: to 5 words (depending on the number of tasks) with PU unit Unit data area Uses one unit number (00 words). Used for unit and tasks: 3 to 7 words (depending on the number of tasks) xes BIT area xes: 0 to 6 words (depending on the maximum axis number used). User configurable. xes data area xes: 0 to 8 words (depending on the maximum axis number used). User configurable. General purpose General I/O: 0 to,80 words (depending on the settings). User configurable. aving programs and data Memory card backup (in PU unit, 00,000 times max.) elf-diagnostic functions atchdog, M check, etc. Error detection functions Deceleration stop inputs, unit number errors, PU errors, software limit errors, etc. Error log function ead by IOD instruction from PU unit. upport software Microsoft indows 000 or T.0 (Processor: Pentium, 00 MHz min., with at least 6 MB of memory) External power supply voltage VD (.6 to 6. VD) Internal current consumption 0.8 or less for 5 VD; 0.3 or less for VD eight (not including connectors) 300 g max. 50 Motion controllers

3 MEHTOLIK-II, servo drive interface unit (JUP-5) Item Details Type JUP-5 pplicable servo drive models (version 38 or later) Installation method Mounted on the GDH servo drive side: 0. Basic Power supply method upplied from the servo drive control power supply. specifications Power consumption MEHTOLIK -II Baud rate / transmission cycle 0 Mbps / ms or more. MEHTOLIK-II communications communications ommand format Operation specification Positioning using MEHTOLIK-I/II communications. eference input MEHTOLIK-I/II communications ommands:position, speed, torque, parameter read/write, monitor output Position control cceleration/deceleration method Linear first/second-step, asymmetric, exponential, -curve functions Fully closed control Position control with fully closed feedback is possible. Fully closed system Encoder pulse output in the servo drive 5 V differential line-driver output (complies with EI standard -) specifications Fully losed Encoder Pulse ignal quad B line-driver Maximum eceivable Frequency Mpps for ervo Drive Power upply for Fully losed To be prepared by customer. Encoder Input signals in the servo drive ignal allocation changes possible Forward/reverse run prohibited, zero point return deceleration L External latch signals,, 3 Forward/reverse torque control Internal functions Position data latch function Position data latching is possible using phase, and external signals,, 3 Protection Parameters damage, parameter setting errors, communications errors, DT errors, fully closed encoder detecting disconnection LED indicators : alarm, : MEHTOLIK-I/II communicating 5 MEHTOLIK-II, 6 point I/O module (IO30) Items pecifications ppearance JEPM-IO30 I/O signals Input: 6 points, VD, 5 m, sink/source mode input Output: 6 points, VD, 50 m when all points O, (the max. rating is 00 m per point) sink mode output (P)) ignal connection method: connector (F360 series) Module power supply VD (0. V to 8.8 V) ated current: 0.5 Inrush current: eight 590 g MEHTOLIK-II, counter module (PL900) Items pecifications ppearance JEPM-PL900 umber of input ( can be used with MH) channels Functions Pulse counter, notch output Pulse input method ign (/ multipliers), /B (// multipliers), UP/DO (/ multipliers) Max. counter speed 00 kpps (x multiplier) Pulse input voltage 3/5// VD External power supply VD, 0 m or less eight 300 g MEHTOLIK-II, pulse output module (PL90) Items pecifications ppearance JEPM-PL90 umber of output channels Functions Pulse positioning, JOG run, zero-point return Pulse output method, pulse, sign Max. output speed 500 kpps Pulse output voltage 5 VD Pulse interface circuit Open collector output 5 VD, 0 m/circuit External control signal Digital input: 8 points/module, 5 VD x points, VD x points Digital output:6 points/module, 5 VD x points, VD x points eight 300 g Motion control unit 5

4 MEHTOLIK-II repeater Items pecifications ppearance JEPM-EP000 ommunication type MEHTOLIK-II able length Between controller and repeater: 50 m., after repeater: 50 m Max. connected stations Total stations on both sides of repeater: 30 (limited to the max. number of connectable stations of the controller (e.g., 30 stations for the J-MH7) estrictions Between controller and repeater - Total cable length 30m: 5 stations max. including I/O and servo, etc m < total cable length 50m: stations max. including I/O and servo, etc. fter repeater: - Total cable length 30m: 6 stations max. including I/O and servo, etc m < total cable length 50m: 5 stations max. including I/O and servo, etc. Power supply VD, 00 m eight 30 g Dimensions (mm) 30x60x77 (HxxD) MEHTOLIK-II, frequency inverter interface units Item Details Type I-T/V7 I-T pplicable inverter IM-V7 / 3G3-MV (firmware 570 or newer) IM-G7 / IM-F7 (firmware 656x/for G7 / 0 or newer for F7) ontact your OMO sales office for information about firmware compatibility Installation method Mounted on the inverter Power supply upplied from the inverter MEHTOLIK-II communications 0MHz, 0.5ms to 8ms for MEHTOLIK-II Operation Inputs and outputs onnectors witches ead and write registers, read monitors, inverter operation, speed reference, torque reference (G7/F7 only). The inputs and outputs in the inverter can be read and set by the MLII master ML-II bus connector. DPM connector for the inverter otary switch for ML-II address (low byte) Dip switch for: ML-II address (high bit). ML-II/ML-I selection. 7 byte/3 byte data length selection. omenclature -MH7 - motion control unit LED indicators UIT no. setting switch For future use MEHTOLIK-II communications connectors: onnects to the MEHTOLIK-II nodes I/O connector JUP-5 - MEHTOLIK-II interface unit otary switch () Used to set the Mechatrolink-II station address 5 LED() larm status LED() MEHTOLIK-II communication status DIP switch () Used to for MEHTOLIK-II communications setting MEHTOLIK-II communications and connectors: onnects to the MEHTOLIK-II system fully closed encoder signal connector Used for fully closed signal connection Ground wire onnected to ground mark on the servo drive 5 Motion controllers

5 Dimensions -MH7 - motion control unit Units: mm pprox. weight: 0.3 kg O30 I/O module ±0. Mounting hole diagram ±0. -tapped holes M I/O modules PL900, PL U TX DDI U TX DDI Motion control unit 53

6 JUP-5 - MEHTOLIK-II interface unit Units: mm FG terminal M onnector to EVOPK pprox. weight: 0. kg 5 00 ame plate 0 8 Installation MEHTOLIK-II interface connections To other MEHTOLIK-II station Backup battery*.8 to.5 V Zero point return deceleration L* with /DE O Forward run prohibit* with P-OT OFF everse run prohibit* with -OT OFF External latch * with /EXT O External latch * with /EXT O External latch 3* with /EXT3 O P / H 0 Ω P H For the terminal station, connect a terminator (JEPM-60) + V P represents twisted-pair wires. BT (+) P BT (-) +VI /DE P-OT -OT /EXT /EXT /EXT 3 MEHTOLIK I/F unit type JUP-5 * onnect when using an absolute encoder and when the battery is not connected to 8. * et the signal assignment with the user constants represents shield. 3.3 kω ervo drive type GDH (For EVOPK connection, see sigma-ii chapter) PG0V P /P PB /PB P /P ,, L 0 L 0 L 03 G External power supply Fully-closed encoder for speed/position detection larm code output Maximum operating voltage 30 VD Maximum output current 0 md 5 /OI+ Positioning completed* 6 (O when positioning is completed) /OI- 7 /BK+ BK output* 8 /BK- (O when brake is released) 9 /-DY+ ervo ready output* 30 /-DY- (O when ready) 3 LM+ ervo alarm output 3 LM- (OFF with an alarm) Photocoupler output Maximum operating voltage 30 VD onnector shell Maximum output current 50 md FG onnect shield to connector shell. PG 5 Motion controllers

7 Ordering information Motion controller ame MEHTOLIK-II motion control unit -MH7 MEHTOLIK-II - related devices ame emarks Distributed I/O modules 6 point input and 6 point output JEPM-IO30 eversible counter: channels JEPM-PL900 Pulse output: channels JEPM-PL90 MEHTOLIK-II cables 0.5 meter JEPM meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM MEHTOLIK-II terminator Terminating resistor JEPM-60 MEHTOLIK-II For igma-ii series servo drives. (Firmware version 38 or later) JUP-5 interface units For Varispeed V7 inverter I-T/V7 (for inverter version support contact your OMO sales office) For Varispeed F7, G7 inverter I-T (for inverter version support contact your OMO sales office) MEHTOLIK-II repeater hen 7 or more axes are connected to the MEHTOLIK-II the repeater is required JEPM-EP000 I/O cables emarks Length m I/O cable for IO30 ith connector on the IO30 side 0.5 JEPM JEPM JEPM ervo system ote: efer to servo systems section for detailed information Frequency inverters ote: efer to frequency inverters section for detailed information omputer software pecifications X-One version. or higher X-One Motion control unit 55

8 LL DIMEIO HO E I MILLIMETE. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I08E-E-0 In the interest of product improvement, specifications are subject to change without notice. 56 Motion controllers