Motion controllers. Type of controller? Servo option with advanced motion control? Which fieldbus connectivity? Which motion architecture do you need?

Transcription

1 Motion controllers hich motion architecture do you need? ingle-axis controller Type of controller? Option unit ervo option with advanced motion control? Embedded into the drive o hich fieldbus connectivity? o PROFIBU Deviceet JUP-600 JUP-500 JUP-300 M5 XtraDrive Page Page 05 Page 99 Page 93 Page 8

2 Table of contents election table 0 Multi-axes controllers ontrol via MEHATROLIK Trajexia M6 3 J-F7 9 Motion controllers -F7 35 J-MH7 -MH7 9 MP MP MP ontrol via analogue output ontrol via pulses 00H-M0-E 85 -M@ 87 J-@@ 89 (00H)-@@ 9 ingle-axis controllers ervo based controllers R88A-M5-@ 93 JUP JUP Multi-axis controller JUP-600 ontroller inside the Omron PL? tand-alone controller ontrol over Mechatrolink? ontroller flexible and intuitive to use ontroller up to 56 axes o ontrol method? ith synchronisation? Pulse train Analog output o Trajexia MP000 s Ms F7 MH7 Page 3 Page 57 / 67 / 77 Page 89 / 9 Page 85 / 87 Page 9 / 35 Page / 9 9

3 election table Multi-axes motion controllers Axes control method Trajexia _-MH7 _-F7 Flexible concept of advanced motion control over MEHATROLIK-II motion bus and traditional interfaces MEHATROLIK-II motion bus, analogue output and pulse-train Advanced motion controller over MEHATROLIK-II motion bus MEHATROLIK-II motion bus Point-to-point positioning controller over MEHATROLIK-II motion bus MEHATROLIK-II motion bus umber of axes 6 servos + 8 inverters 30 real and virtual axes 6 Applicable servo drive igma II igma II igma II Application Advanced motion, e-cam, e-gearbox, phase shift, registration Advanced motion, e-cam, EL, phase shift, registration From simple PTP to multi axis PTP coordinated systems. ervo control mode Position, speed and torque Position, speed and torque Position, speed and torque PL series tand alone motion solution. Ethernet, PROFIBU-DP and Deviceet connectivity Advanced motion controller over MEHATROLIK-II motion bus Page 3 / 9 9 / 35 J and PLs ervo-based motion controllers M5 XtraDrive Advanced motion in a compact package All in one! ervo drive and motion controller integrated Axes control method Direct connection to servo drive Integrated into the servo drive onnectivity Deviceet, PROFIBU, Hostlink PROFIBU Digital I/O 8 DI, 6 DO, registration inputs, ervo inputs + expansion available encoder I pulse OUT + ervo IOs Application Advanced motion, e-cam, e-gearbox, Advanced motion phase shift, registration ervo control mode Position, speed and torque. Position, speed and torque. Open loop pulse train for additional axis Applicable servo drive igma-ii XtraDrive Page 93 0

4 Motion controllers Multi-axes motion controllers Motion controllers Ms s MP000 solution for advanced motion control Point-to-point positioning controller High performance motion controller for a wide array of applications Axes control method Analogue output Pulse train output MEHATROLIK-II motion bus, analogue output, and pulse-train umber of axes,, up to 56 Applicable servo drive igma II marttep, igma II igma-ii Application Advanced motion, e-cam, EL, phase shift, registration Point-to-point applications Advanced motion, e-cam, EL, phase shift, registration ervo control mode lose loop position and speed Open loop position with linear interpolation Position, speed and torque PL series J and PLs tand-alone and P-based controllers Page 85 / / 9 57 / 67 / 77 ervo-based motion controllers JUP-300 JUP-500 JUP-600 Position controller over Deviceet Position controller over PROFIBU-DP Position controller over serial link Axes control method Direct connection to servo drive Direct connection to servo drive Direct connection to servo drive onnectivity Deviceet PRIFIBU R-85/R- Digital I/O Uses the servo I/O and adds additional DO and DI Uses the servo I/O and adds additional DO and DI Uses the servo I/O and adds 8 additional DI and 6 DO Application Point-to-point with registration capability Poin- to-point with registration capability Point-to-point with registration capability ervo control mode Position, speed Position, speed Position, speed Applicable servo drive igma-ii igma-ii igma-ii Page 99 05

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6 TJ- Trajexia motion controller Motion controllers tand-alone advanced motion controller using MEHATROLIK-II motion bus 6 axes advanced motion controller over a robust and fast motion link MEHATROLIK-II upports position, speed and torque control Each axis can run complex interpolation moves, e-cams and e-gearboxes Advanced debugging tools including trace and oscilloscope functions Hardware registration input for each servo axis ontrol of servos, inverters and I/Os over a single motion network Multi-tasking controller capable of running up to tasks simultaneously Open communication - ethernet built-in, PROFIBU-DP and Deviceet as options ystem configuration J-series PL -series HMI Ethernet X-One Trajexia tool PROFIBU-DP Digital I/Os Host link PROFIBU-DP Motion controller 6 axes max. Total lenght: 50 m MEHATROLIK-II I/O module igma-ii series ervo Drive Frequency inverter Input Terminator Fast registration input, home igma-ii series ervo Motors JUP-5 MEHATROLIK-II unit M igma-ii series Linear Motors Trajexia motion controller 3

7 pecifications General specifications Item Details Ambient operating temperature 0 to 55 Ambient operating humidity 0 to 90% RH Ambient storage temperature -0 to 70 Ambient storage humidity 90% max. (with no condensation) Atmosphere o corrosive gases Vibration resistance 0 to 57 Hz: (0.075 mm amplitude) 57 to 00 Hz acceleration: 9.8 m/s, in X, Y and Z directions for 80 minutes. hock resistance 3 m/s, 3 times each X, Y and Z directions. Insulation resistance 0 MΩ Dielectric strength 500 Volt Protective structure IP0 International standards E, E 63- and RO (approval pending for culus and Lloyds) Motion control unit Item Details TJ-M6 umber of axes 6 umber of inverters and I/O modules 8 maximum umber of MEHATROLIK-II master units Up to MEHATROLIK-II master units (TJ-ML6, see below) can be connected ycle time electable 0.5 ms, ms or ms Programming language BAI-like motion language Multi-tasking Up to tasks running simultaneously Digital I/O 6 inputs and 8 outputs freely configurable Measurement units User definable Available memory for user programs 500 KB Data storage capacity Up to MB flash data storage aving program data, motion controller RAM with battery backup and Flash-ROM aving program data, personal computer Trajexia motion perfect software manages a backup on the hard disk of the personal computer. ommunication ports ethernet port and serial ports Firmware update Via Trajexia tools software Ethernet port Electrical characteristics onform to IEEE 80.3 (00BaseT) onnector RJ5 ethernet connector erial port Electrical characteristics onform port to R3 and port to R85/RA (selectable by switch) onnector UB-D9 connector (counterpart included in the package) ynchronization tart-stop synchronization (asynchronous) Baud rate 00 / 00 / 800 / 9600 / 900 / 3800 bps Transmission format Databit length 7 or 8 bit top bit or bit Parity bit Even/odd/none Transmission mode Point-to-multipoint (:) Transmission protocol R-3 (:) Host link master protocol, Host link slave protocol, AII general-purpose R-A (:) Host link master protocol, Host link slave protocol, AII general-purpose R-85 (:) Hostlink master protocol, Hostlink slave protocol, AII general-purpose Galvanic isolation RA port ommunication buffers 5 bytes Flow control one Terminator, selectable by switch able length 5 m for R3 and 500 meter for R/85 MEHATROLIK-II master unit Item ontrolled devices with MEHATROLIK-II interface Electrical characteristics ommunication ports Transmission speed ommunication cycle tations slave types umber of stations per master/cycle time Transmission distance pecifications TJ-ML6 igma- and igma-3 servo drives, various I/O units and V7, F7 and G7 frequency inverters onform to MEHATROLIK standard MEHATROLIK-II master 0 Mbps 0.5 ms, ms or ms Axes or servo drives Frequency inverters I/O modules Max.6 stations / ms Max.8 stations / ms Max. stations / 0.5 ms (only igma-3 servo drives) Max. 50 meters without using repeater Motion controllers

8 PROFIBU slave unit Items pecifications TJ-PRT PROFIBU standard onform to PROFIBU-DP standard E5070 (DP-V0) ommunication ports PROFIBU-DP slave Transmission speed 9.6, 9., 5.5, 93.75, 87.5, 500, 500, 3000, 6000 and 000 kbits/s ode numbers 0 to 99 I/O size For both directions a configurable size of 0 to words(6 bit) Galvanic isolation Motion controllers Flexible axis unit Items pecifications TJ-FL0 umber of axes ontrol method ±0 V analogue output in closed loop or pulse train output in open loop Encoder Position/speed feedback incremental and absolute encoders Absolute encoder standards supported I, EnDat and Tamagawa Encoder input maximum frequency 6 MHz Encoder/pulse output max. frequency MHz Auxiliary I/Os fast registration inputs per axis, definable inputs, enable output, configurable outputs Galvanic isolation omenclature Trajexia motion controller unit - TJ-M6 LEDs Display Battery compartment Ethernet port R-A/R-85 switches Digital I/O connector R-3 and R-A/-85 serial ports Trajexia MEHATROLIK-II master unit - TJ-ML6 Unit LEDs MEHATROLIK-II master port Trajexia motion controller 5

9 Trajexia PROFIBU-DP slave unit - TJ-PRT Unit LEDs PROFIBU node selection PROFIBU-DP slave port Dimensions Trajexia motion controller - TJ-M6 Trajexia modules - TJ-ML6, TJ-PRT, TJ-FL Trajexia system - J-PA0 + TJ-M6 + one module + TJ-TER 65 PA Motion controllers

10 Ordering information Motion controllers Power supply Motion controller Axes control ommunication slave End cover (Included into the motion controller) Trajexia motion controller ame Trajexia motion controller unit. (Trajexia end cover unit TJ-TER is included) Power supply for Trajexia system, 00-0 VA Power supply for Trajexia system, VD Trajexia - axes control modules ame Trajexia MEHATROLIK-II master unit (up to 6 axes) Trajexia flexible axis unit (for axes) Trajexia - communication modules ame Trajexia PROFIBU-DP slave unit TJ-M6 J-PA0 J-PD0 TJ-ML6 TJ-FL0 TJ-PRT MEHATROLIK-II - related devices ame Remarks Distributed I/O modules 6-point digital input and 6-point digital output ( VD) JEPM-IO30 Analogue input: -0 V to +0 V, channels JEPM-A900 Analogue output: -0 V to +0 V, channels JEPM-A90 MEHATROLIK-II cables 0.5 meter JEPM-6003-A5 meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM MEHATROLIK-II terminator Terminating resistor JEPM-60 MEHATROLIK-II interface For igma-ii series servo drives. (Firmware version 39 or later) JUP-5 unit For Varispeed V7 inverter I-T/V7 (for inverter s version supported contact your OMRO sales office) For Varispeed F7, G7 inverter (for inverter s version supported contact your OMRO sales office) I-T I/O cables Remarks Lenght m I/O cable for JEPM-IO30 ith connector on the IO30 side 0.5 JEPM JEPM JEPM ervo system & frequency inverters ote: Refer to motion & drives catalogue for detailed specs and ordering information omputer software pecifications Trajexia motion perfect and X-drive V. or higher TJ-tools Trajexia motion controller 7

11 ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I53E-E-0 In the interest of product improvement, specifications are subject to change without notice. 8 Motion controllers

12 Ver. HARGE 3 ERVOPAK POER A R Ver. HARGE 3 ERVOPAK POER A R Ver. HARGE 3 ERVOPAK POER A R Ver. HARGE 3 ERVOPAK POER A R J-F7 - MEHATROLIK-II Position control unit Motion controllers Multi-axes position controller via high-speed MEHATROLIK-II Up to 6 axes controlled with minimum wiring. Only one cable between devices is needed. High-speed bus MEHATROLIK-II is specially designed for motion control upports position, speed and torque control. Programming languages: ladder, function blocks. mart active parts for OMRO HMIs terminals reduce engineering time. Access to the complete system from one point. etwork setup, servo drives configuring and monitoring, and PL programming. ystem configuration J series Position control unit J-F7 Personal computer software: X-One MEHATROLIK-II 6 axes max. Input 00V igma-ii series ervo Drive 5 6A 00V 5 6A 00V 5 6A GDH- GDH- GDH- GDH- 00V 5 6A Limit switches contact sensors 6B JUP-5 MEHATROLIK-II unit 6B 6B 6B Terminator igma-ii series Linear Motor igma-ii series ervo Motor Position control unit 9

13 pecifications Position control unit J-F7 lassification J-series PU bus unit Applicable PLs J-series J-series V. 3.0 or later in order to use function blocks (recomended JG-PU5 or Possible unit number settings 0 to F ontrol method MEHATROLIK-II (position, speed and torque control) ontrolled devices igma-ii series servo drives (ver. 38 or later) with MEHATROLIK-II interface ontrolled axes 6 maximum I/O allocations ommon operating memory area ords allocated in PU bus unit area: 5 words (5 output words, 0 input words) Axis operating memory area Allocated in one of the following areas (user-specified): IO, work, auxiliary, holding, DM, or EM area. umber of words allocated: 50 words (5 output words, 5 input words) highest axis o. used ontrol units Position command unit ommand unit: depends on the electronic gear setting in the servo parameters. Default setting: pulses peed command unit for position control ommand units/s Acceleration/deceleration speeds for 0,000 command units/s position control peed command unit for speed control 0.00% of the motor's maximum speed Torque command unit for torque control 0.00% of the motor's maximum torque ontrol command Position command range -,7,83,68 to,7,83,67 (command units) range peed command range for position control 0 to,7,83,67 (command units/s) Acceleration/deceleration speeds for to 65,535 (0,000 command units/s ) position control peed command range for speed control % to % The upper limit is restricted by the maximum speed of the servo motor. Torque command range for torque control % to % The upper limit is restricted by the maximum torque of the servo motor. ontrol functions ervo lock/unlock Locks and unlocks the servo driver. Position control Positions to an absolute position or relative position according to the specified target position and target speed specified from the ladder program. Origin determination Origin search: establishes the origin using the specified search method. Present position preset: changes the present position to a specified position to establish the origin. Origin return: returns the axis from any position to the established origin. Absolute encoder origin: establishes the origin using a servo motor that has an absolute encoder, without having to use an origin search. Jogging Outputs a fixed speed in the or direction. Interrupt feeding Performs positioning by moving the axis a fixed amount when an external interrupt input is received while the axis is moving. peed control Performs speed control by sending a command to the servo driver speed loop. Torque control Performs torque control by sending a command to the servo driver current loop. top functions Deceleration stop: decelerates the moving axis to a stop. Emergency stop: positions the moving axis for the number of pulses remaining in the deviation counter and then stops the axis. Linear interpolation Up to 8 axes can be interpolated by using two interpolators ( axes per interpolator) Available in unit version. or higher Auxiliary functions Acceleration/deceleration curves ets either a trapezoidal (linear) curve, an exponential curve, or an -curve (moving average). Torque limit Restricts the torque upper limit during position control. Override Multiplies the axis command speed by a specified ratio. Override: 0.0% to 37.67% ervo parameter transfer Reads and writes the servo driver parameters from the ladder program in the PU unit. Monitoring function Monitors the control status of the servo driver's command coordinate positions, feedback position, current speed, torque, etc. oftware limits Limits software operation for controlling positioning. Backlash compensation ompensates for the amount of play in the mechanical system according to a set value. External I/O Position control unit One MEHATROLIK-II interface port ervo driver I/O / limit inputs, origin proximity inputs, external interrupt inputs to 3 (can be used as external origin inputs) Programming tandard ladder Directly over F unit memory area methods Function blocks Using standard PL open function blocks mart active parts Internal current consumption eight Use of OMRO HMIs smart active parts optimizes PU usage and engineering time 360 ma or less for 5 VD 95 g 30 Motion controllers

14 JUP-5 - MEHATROLIK-II interface unit Item Details Type JUP-5 Applicable servo drive GDH-@@@E 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 MEHATROLIK -II Baud rate/transmission cycle 0 MHz / 0.5 ms or more. MEHATROLIK-II communications communications ommand format Operation specification Positioning using MEHATROLIK-I/II communications. Reference input MEHATROLIK-I/II communications ommands: position, speed, torque, parameter read/write, monitor output Position control Acceleration/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 EIA standard R-A) specifications Fully closed encoder pulse signal A quad B line-driver Maximum receivable frequency for Mpps servo drive Power supply for fully closed 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 A: alarm, R: MEHATROLIK-I/II communicating Motion controllers omenclature J-F7 - position control unit LED indicators MLK - MEHATROLIK-II network status RU - ontroller in RU ER - Position control unit error ERH - PL PU unit error ERM - MEHATROLIK-II slave unit error UIT no. setting switch MEHATROLIK-II communications connectors: onnects to MEHATROLIK-II nodes Position control unit 3

15 JUP-5 - MEHATROLIK-II interface unit Rotary switch () Used to set the MEHATROLIK-II station address 5 LED(A) Alarm status LED(R) MEHATROLIK-II communication status DIP switch () Used to for MEHATROLIK-II communications setting MEHATROLIK-II communications 6A and 6B connectors: onnects to the MEHATROLIK-II system fully closed encoder signal connector Used for fully closed signal connection Ground wire onnected to ground mark on the servo drive Dimensions J-F7 - position control unit JUP-5 - MEHATROLIK-II interface unit Units: mm Approx. weight: 0. kg FG terminal M onnector to ERVOPAK 6A 6B 5 A R 00 6A 6B ame plate Motion controllers

16 Installation MEHATROLIK-II interface connections ervo drive type GDH Motion controllers (For ERVOPAK connection, see sigma-ii chapter) To other MEHATROLIK-II station Backup battery*.8 to.5 V Zero point return deceleration L* with /DE O Forward run prohibit with P-OT OFF Reverse 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. BAT (+) P BAT (-) +VI /DE P-OT -OT /EXT /EXT /EXT 3 6A MEHATROLIK 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 B represents shield. 3.3k Ω PG0V PA /PA PB /PB P /P ,, AL 0 AL 0 AL 03 G External power supply Fully-closed encoder for speed/position detection Alarm code output Maximum operating voltage 30 VD Maximum output current 0 mad 5 /OI+ Positioning completed 6 (O when positioning is completed) /OI- 7 /BK+ BK output* 8 /BK- (O when brake is released) 9 /-RDY+ ervo ready output 30 /-RDY- (O when ready) 3 ALM+ ervo alarm output 3 ALM- (OFF with an alarm) Photocoupler output Maximum operating voltage 30 VD onnector shell Maximum output current 50 mad FG onnect shield to connector shell. PG Ordering information Position controller unit ame MEHATROLIK-II position controller unit J-F7 MEHATROLIK-II related devices ame Remarks MEHATROLIK-II For igma-ii series servo drives. JUP-5 interface unit (Firmware version 38 or later) MEHATROLIK-II Terminating resistor JEPM-60 terminator MEHATROLIK-II cables 0.5 meter JEPM-6003-A5 meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM ervo system ote: Refer to servo systems section for more information omputer software pecifications X-One version. or higher X-One Position control unit 33

17 ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I09E-E-0 In the interest of product improvement, specifications are subject to change without notice. 3 Motion controllers

18 Ver. HARGE 3 ERVOPAK POER A R Ver. HARGE 3 ERVOPAK POER A R Ver. HARGE 3 ERVOPAK POER A R Ver. HARGE 3 ERVOPAK POER A R -F7 - MEHATROLIK-II Position control unit Motion controllers Multi-axes position controller over high-speed MEHATROLIK-II Up to 6 axes controlled with minimum wiring. Only one cable between devices is needed. High-speed bus MEHATROLIK-II is specially designed for motion control. upports position, speed and torque control. Programming languages: ladder, function blocks. mart active parts for OMRO HMIs terminals reduce engineering time. Access to the complete system from one point. etwork setup, servo drives configuring and monitoring, and PL programming. ystem configuration Personal computer software: X-One series Position control unit -F7 MEHATROLIK-II 6 axes max. Input 00V igma-ii series ervo Drive 5 6A 00V 5 6A 00V 5 6A GDH- GDH- GDH- GDH- 00V 5 6A Limit switches contact sensors 6B JUP-5 MEHATROLIK-II unit 6B 6B 6B Terminator igma-ii series Linear Motor igma-ii series ervo Motor Position control unit 35

19 pecifications Position control unit -F7 lassification -series PU bus unit Applicable PLs -series -series (V. 3.0 or later if use of function blocks is needed) Possible unit number settings 0 to F ontrol method MEHATROLIK-II (position, speed and torque control ) ontrolled devices igma-ii series servo drives (ver. 38 or later) with MEHATROLIK-II interface ontrolled axes 6 maximum I/O allocations ommon operating memory area ords allocated in PU bus unit area: 5 words (5 output words, 0 input words) Axis operating memory area Allocated in one of the following areas (user-specified): IO, ork, Auxiliary, Holding, DM, or EM Area. umber of words allocated: 50 words (5 output words, 5 input words) highest axis o. used ontrol units Position command unit ommand unit: Depends on the electronic gear setting in the servo parameters. Default setting: Pulses peed command unit for position control ommand units/s Acceleration/deceleration speeds for 0,000 command units/s position control peed command unit for speed control 0.00% of the motor's maximum speed Torque command unit for torque control 0.00% of the motor's maximum torque ontrol command Position command range -,7,83,68 to,7,83,67 (command units) range peed command range for position control 0 to,7,83,67 (command units/s) Acceleration/deceleration speeds for position control to 65,535 (0,000 command units/s ) peed command range for speed control % to % The upper limit is restricted by the maximum speed of the servo motor. Torque command range for torque control % to % The upper limit is restricted by the maximum torque of the servo motor. ontrol functions ervo lock/unlock Locks and unlocks the servo driver. Position control Positions to an absolute position or relative position according to the specified target position and target speed specified from the ladder program. Origin determination Origin search: Establishes the origin using the specified search method. Present position preset: hanges the present position to a specified position to establish the origin. Origin return: Returns the axis from any position to the established origin. Absolute encoder origin: Establishes the origin using a ervomotor that has an absolute encoder, without having to use an origin search. Jogging Outputs a fixed speed in the or direction. Interrupt feeding Performs positioning by moving the axis a fixed amount when an external interrupt input is received while the axis is moving. peed control Performs speed control by sending a command to the servo driver speed loop. Torque control Performs torque control by sending a command to the servo driver current loop. top functions Deceleration stop: Decelerates the moving axis to a stop. Emergency stop: Positions the moving axis for the number of pulses remaining in the deviation counter and then stops the axis. Linear interpolation Up to 8 axes can be interpolated by using two interpolators ( axes per interpolator) Available in unit version. or higher Auxiliary functions Acceleration/deceleration curves ets either a trapezoidal (linear) curve, an exponential curve, or an -curve (moving average). Torque limit Restricts the torque upper limit during position control. Override Multiplies the axis command speed by a specified ratio. Override: 0.0% to 37.67% ervo parameter transfer Reads and writes the servo driver parameters from the ladder program in the PU unit. Monitoring function Monitors the control status of the servo driver's command coordinate positions, feedback position, current speed, torque, etc. oftware limits Limits software operation for controlling positioning. Backlash compensation ompensates for the amount of play in the mechanical system according to a set value. External I/O Position control unit One MEHATROLIK-II interface port ervo driver I/O / limit inputs, origin proximity inputs, external interrupt inputs to 3 (can be used as external origin inputs) Programming tandard ladder Directly over F unit memory area methods Function blocks Using standard PL open function blocks mart active parts Internal current consumption eight Use of OMRO HMIs smart active parts optimizes PU usage and engineering time 360 ma or less for 5 VD 88 g 36 Motion controllers

20 JUP-5 - MEHATROLIK-II interface unit Item Details Type JUP-5 Applicable servo drive GDH- E 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 MEHATROLIK-II Baud rate / transmission cycle 0 MHz / 0.5 ms or more. MEHATROLIK-II communications communications ommand format Operation specification Positioning using MEHATROLIK-I/II communications. Reference input MEHATROLIK-I/II communications ommands: position, speed, torque, parameter read/write, monitor output Position control Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, -curve functions Fully closed control Position control with fully closed feedback is possible. Fully closed Encoder pulse output in the 5 V differential line-driver output (complies with EIA standard R-A) system specifications servo drive Fully closed encoder pulse signal A quad B line-driver Maximum receivable frequency for Mpps servo drive Power supply for fully closed 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 A: Alarm, R: MEHATROLIK-I/II communicating Motion controllers omenclature J-F7 - position control unit LED indicators MLK - MEHATROLIK-II network status RU - ontroller in RU ER - Position control unit error ERH - PL PU unit error ERM - MEHATROLIK-II slave unit error UIT o. setting switch MEHATROLIK-II communications connectors: onnects to MEHATROLIK-II nodes Position control unit 37

21 JUP-5 - MEHATROLIK-II interface unit Rotary switch () Used to set the MEHATROLIK-II station address 5 LED(A) Alarm status LED(R) MEHATROLIK-II communication status DIP switch () Used to for MEHATROLIK-II communications setting MEHATROLIK-II communications 6A and 6B connectors: onnects to the MEHATROLIK-II system fully closed encoder signal connector Used for fully closed signal connection Ground wire onnected to groung mark on the servo drive Dimensions -F7 - position control unit F7 RU ER ERH ERM MLK UIT o. 30 MLK JUP-5 - MEHATROLIK-II interface unit Units: mm FG terminal M onnector to ERVOPAK Approx. mass: 0. kg 6A 6B 5 A R 6A 6B 00 ame plate Motion controllers

22 Installation MEHATROLIK-II interface connections ervo drive Type GDH Motion controllers (For ERVOPAK connection, see sigma-ii chapter) To other MEHATROLIK-II station Backup battery*.8 to.5 V Zero point return Deceleration L* with /DE O Forward run prohibit with P-OT OFF Reverse 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. BAT (+) P BAT (-) +VI /DE P-OT -OT /EXT /EXT /EXT 3 6A MEHATROLIK 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 B represents shield. 3.3k Ω PG0V PA /PA PB /PB P /P ,, AL 0 AL 0 AL 03 G External Power upply Fully-closed encoder for speed/position detection Alarm code output Maximum operating voltage 30 VD Maximum output current 0 mad 5 /OI+ Positioning completed 6 (O when positioning is /OI- completed) 7 /BK+ BK output* 8 (O when brake is /BK- released) 9 /-RDY+ ervo ready output 30 /-RDY- (O when ready) 3 ALM+ ervo alarm output 3 ALM- (OFF with an alarm) Photocoupler output Maximum operating voltage 30 VD onnector hell Maximum output current 50 mad FG onnect shield to connector shell. PG Ordering information Position controller unit ame MEHATROLIK-II position controller unit -F7 MEHATROLIK-II related devices ame Remarks MEHATROLIK-II For igma-ii series servo drives. JUP-5 interface unit (Firmware version 38 or later) MEHATROLIK-II Terminating resistor JEPM-60 terminator MEHATROLIK-II 0.5 meter JEPM-6003-A5 cables meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM ervo system ote: Refer to servo systems section for more information. omputer software pecifications X-One version. or higher X-OE Position control unit 39

23 ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I0E-E-0 In the interest of product improvement, specifications are subject to change without notice. 0 Motion controllers

24 Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R RUTX DDI GDH- GDH- GDH- GDH- Ver. HARGE 3 ERVOPAK POER 00V A R J-MH7 - MEHATROLIK-II Motion control unit Motion controllers Multi-axes motion control via high-speed MEHATROLIK-II Up to 30 axes controlled with minimum wiring High-speed bus MEHATROLIK-II is specially designed for motion control upports position, speed and torque control Electronic AM 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 OMRO HMIs Access 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 MEHATROLIK-II, motion programs, system parameters, system data, and servo drive parameters can be set and read from the software tool. ystem configuration Personal computer software: X-One J series Motion control unit J-MH7 MEHATROLIK-II 30 axes max. Total length: 50 m igma-ii series ervo Drive I/O module Input 6A 6A 6A 6A 6B 6B 6B 6B Limit switches contact sensors JUP-5 MEHATROLIK-II unit Terminator igma-ii series Linear Motor igma-ii series ervo Motor Motion control unit

25 pecifications Motion control unit J-MH7 lassification J-series PU bus unit Applicable PLs J-series V..0 or later ontrol method MEHATROLIK-II (position, speed and torque control) ontrolled devices igma-ii series servo drives (ver. 38 or later) with MEHATROLIK-II interface, various I/O units and inverters V7, F7, G7 with MEHATROLIK-II interface (for inverter version support contact your OMRO sales office) Programming language BAI type motion control language ontrolled axes 3 max, including 30 physical or virtual axes and virtual axes Automatic/manual mode Automatic 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 by ervo lock/unlock Locks and unlocks the servo driver. 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. Absolute 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 AM, synchronized electronic AM, link operation, electronic gear, follow-up synchronization, speed reference, torque reference Acceleration/deceleration curve, Trapezoidal or -curve, 60,000 ms max. (-curve: constant 30,000 ms max.) acceleration/deceleration time External I/O One port for MEHATROLIK-II servo communications, one deceleration stop input, two general inputs, two general outputs Feed rate Rapid, interpolation feed rate: to,7,83,67 (command units/min) Override 0.00% to 37.67% (setting unit: 0.0%; an be set for each axis or task.) Motion programs umber of tasks, Up to 8 tasks and 56 programs/unit (8 parallel branches per task max.) 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) Axes BIT area Axes: 0 to 6 words (depending on the maximum axis number used). User configurable. Axes data area Axes: 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, RAM check, etc. Error detection functions Deceleration stop inputs, unit number errors, PU errors, software limit errors, etc. Error log function Read by IORD 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 0.6 A or less for 5 VD eight (not including connectors) 300 g max. Motion controllers

26 MEHATROLIK-II, ervo drive interface unit (JUP-5) Item Details Type JUP-5 Applicable 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 MEHATROLIK -II Baud rate/transmission cycle 0 Mbps / ms or more. MEHATROLIK-II communications communications ommand format Operation specification Positioning using MEHATROLIK-I/II communications. Reference input MEHATROLIK-I/II communications ommands: position, speed, torque, parameter read/write, monitor output Position control Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, -curve functions Fully closed control Position control with fully closed feedback is possible. Fully closed system specifications Encoder pulse output in the servo drive 5 V differential line-driver output (complies with EIA standard R-A) Fully closed encoder pulse signal A quad B line-driver Maximum receivable frequency Mpps for servo drive Power supply for fully closed 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 A: alarm, R: MEHATROLIK-I/II communicating 5 Motion controllers MEHATROLIK-II, 6 Point I/O module (IO30) Items pecifications Appearance JEPM-IO30 I/O signals Input: 6 points, VD, 5mA, sink/source mode input Output: 6 points, VD, 50mA when all points O,(the max. rating is 00mA per point) sink mode output (P) ignal connection method: connector (F360 series) Module power supply VD (0. V to 8.8 V) Rated current: 0.5 A Inrush current: A eight 590 g MEHATROLIK-II, counter module (PL900) Items pecifications Appearance JEPM-PL900 umber of input ( can be used with MH) channels Functions Pulse counter, notch output Pulse input method ign (/ multipliers), A/B (// multipliers), UP/DO (/ multipliers) Max. counter speed 00 kpps (x multiplier) Pulse input voltage 3/5// VD External power supply VD, 0 ma or less eight 300 g MEHATROLIK-II, pulse output module (PL90) Items pecifications Appearance 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 5VD, 0mA/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 3

27 MEHATROLIK-II Repeater Items pecifications Appearance JEPM-REP000 ommunication type MEHATROLIK-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)) Restrictions 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. After 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 ma eight 30 g Dimensions (mm) 30x60x77 (HxxD) MEHATROLIK-II, frequency inverter interface units Item Details Type I-T/V7 I-T Applicable inverter IMR-V7 / 3G3-MV (firmware 570 or newer) IMR-G7 / IMR-F7 (firmware 656x/for G7 / 0 or newer for F7) ontact your OMRO sales office for information about firmware compatibility Installation method Mounted on the inverter Power supply upplied from the inverter MEHATROLIK-II communications 0 MHz, 0.5 ms to 8 ms for MEHATROLIK-II Operation Read and write registers, read monitors, inverter operation, speed reference, torque reference (G7/F7 only). Inputs and outputs The inputs and outputs in the inverter can be read and set by the MLII master onnectors ML-II bus connector. DPRAM connector for the inverter witches Rotary 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 J-MH7 - motion control unit UIT no. setting switch LED indicators MEHATROLIK-II communications connectors: onnects to the MEHATROLIK-II nodes I/O connector For future use JUP-5 - MEHATROLIK-II interface unit Rotary switch () Used to set the MEHATROLIK-II station address 5 LED(A) Alarm status LED(R) MEHATROLIK-II communication status DIP switch () Used to for MEHATROLIK-II communications setting MEHATROLIK-II communications 6A and 6B connectors: onnects to the MEHATROLIK-II system fully closed encoder signal connector Used for fully closed signal connection Ground wire onnected to ground mark on the servo drive Motion controllers

28 Dimensions J-MH7 - motion control unit MH7 RU ER ER ER ERH ER3 ER MLK I J Motion controllers UIT O. MLK 90 m m I/ O I m m 65 m m IO30 I/O module Mounting hole diagram 0. -tapped holes M I/O modules PL900, PL RU TX DDI RU TX DDI Motion control unit 5

29 JUP-5 - MEHATROLIK-II interface unit Units: mm FG terminal M onnector to ERVOPAK Approx. weight: 0. kg 6A 6B 5 A R 6A 6B 00 ame plate 0 8 Installation MEHATROLIK-II interface connections To other MEHATROLIK-II station Backup battery*.8 to.5 V Zero point return Deceleration L* with /DE O Forward run prohibit* with P-OT OFF Reverse 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. BAT (+) P BAT (-) + VI /DE P-OT -OT /EXT /EXT /EXT 3 6A MEHATROLIK 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 B represents shield. 3.3 kω ervo drive Type GDH (For ERVOPAK connection, see sigma-ii chapter) PG0V PA /PA PB /PB P /P ,, AL 0 AL 0 AL 03 G External power supply Fully-closed encoder for speed/position detection Alarm code output Maximum operating voltage 30 VD Maximum output current 0 mad 5 /OI+ Positioning completed* 6 (O when positioning is completed) /OI- 7 /BK+ BK output* 8 /BK- (O when brake is released) 9 /-RDY+ ervo ready output* 30 /-RDY- (O when ready) 3 ALM+ ervo alarm output 3 ALM- (OFF with an alarm) Photocoupler output Maximum operating voltage 30 VD onnector shell Maximum output current 50 mad FG onnect shield to connector shell. PG 6 Motion controllers

30 Ordering information Motion controller ame MEHATROLIK-II motion control unit MEHATROLIK-II - related devices J-MH7 ame Remarks Distributed I/O modules 6 point input and 6-point output JEPM-IO30 Reversible counter: channels JEPM-PL900 Pulse output: channels JEPM-PL90 MEHATROLIK-II cables 0.5 meter JEPM-6003-A5 meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM MEHATROLIK-II terminator Terminating resistor JEPM-60 MEHATROLIK-II interface For igma-ii series servo drives. (Firmware version 38 or later) JUP-5 units For Varispeed V7 inverter I-T/V7 (for inverter version support contact your OMRO sales office) For Varispeed F7, G7 inverter I-T (for inverter version support contact your OMRO sales office) MEHATROLIK-II repeater hen 7 or more axes are connected to the MEHATROLIK-II the repeater is required JEPM-REP000 Motion controllers I/O cables Remarks Length m I/O cable for IO30 ith connector on the IO30 side 0.5 JEPM JEPM JEPM ervo system ote: Refer to servo systems section for detailed information Frequency inverters ote: Refer to frequency inverters section for detailed information omputer software pecifications X-One version. or higher X-One Motion control unit 7

31 ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I33E-E-0 In the interest of product improvement, specifications are subject to change without notice. 8 Motion controllers

32 Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R RUTX DDI GDH- GDH- GDH- GDH- Ver. HARGE 3 ERVOPAK POER 00V A R -MH7 - MEHATROLIK-II Motion control unit Motion controllers Multi-axes motion control via high-speed MEHATROLIK-II Up to 30 axes controlled with minimum wiring High-speed bus MEHATROLIK-II is specially designed for motion control upports position, speed and torque control Electronic AM 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 OMRO HMIs Access 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 MEHATROLIK-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 MEHATROLIK-II 30 axes max. Totel length: 50 m igma-ii series ervo Drive I/O module Input 6A 6A 6A 6A 6B 6B 6B 6B Limit switches contact sensors JUP-5 Mechatrolink-II unit Terminator igma-ii series Linear Motor igma-ii series ervo Motor Motion control unit 9

33 pecifications Motion control unit -MH7 lassification -series PU bus unit Applicable PLs -series, Backplanes on which M unit can be mounted PU backplane or -series expansion I/O backplane ontrol method MEHATROLIK-II (position, speed and torque control) ontrolled devices igma-ii series servo drives (ver. 38 or later) with MEHATROLIK-II Interface, various I/O units and inverters V7, F7, G7 with MEHATROLIK-II interface (for inverter version support contact your OMRO sales office) Programming language BAI type motion control language ontrolled axes 3 max, including 30 physical or virtual axes and virtual axes Operating modes RU mode, PU mode, Tool mode/system (depending on tool) Automatic/manual mode Automatic 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. Absolute 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 AM, synchronized electronic AM, link operation, electronic gear, follow-up synchronization, speed reference, torque reference Acceleration/deceleration curve, Trapezoidal or -curve, 60,000 ms max. (-curve: constant 30,000 ms max.) acceleration/deceleration time External I/O One port for MEHATROLIK-II servo communications, one deceleration stop input, two general inputs, two general outputs Feed rate Rapid, 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) Axes BIT area Axes: 0 to 6 words (depending on the maximum axis number used). User configurable. Axes data area Axes: 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, RAM check, etc. Error detection functions Deceleration stop inputs, unit number errors, PU errors, software limit errors, etc. Error log function Read by IORD 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 A or less for 5 VD; 0.3 A or less for VD eight (not including connectors) 300 g max. 50 Motion controllers

34 MEHATROLIK-II, servo drive interface unit (JUP-5) Item Details Type JUP-5 Applicable 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 MEHATROLIK -II Baud rate / transmission cycle 0 Mbps / ms or more. MEHATROLIK-II communications communications ommand format Operation specification Positioning using MEHATROLIK-I/II communications. Reference input MEHATROLIK-I/II communications ommands:position, speed, torque, parameter read/write, monitor output Position control Acceleration/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 EIA standard R-A) specifications Fully losed Encoder Pulse ignal A quad B line-driver Maximum Receivable 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 A: alarm, R: MEHATROLIK-I/II communicating 5 Motion controllers MEHATROLIK-II, 6 point I/O module (IO30) Items pecifications Appearance JEPM-IO30 I/O signals Input: 6 points, VD, 5 ma, sink/source mode input Output: 6 points, VD, 50 ma when all points O, (the max. rating is 00 ma per point) sink mode output (P)) ignal connection method: connector (F360 series) Module power supply VD (0. V to 8.8 V) Rated current: 0.5 A Inrush current: A eight 590 g MEHATROLIK-II, counter module (PL900) Items pecifications Appearance JEPM-PL900 umber of input ( can be used with MH) channels Functions Pulse counter, notch output Pulse input method ign (/ multipliers), A/B (// multipliers), UP/DO (/ multipliers) Max. counter speed 00 kpps (x multiplier) Pulse input voltage 3/5// VD External power supply VD, 0 ma or less eight 300 g MEHATROLIK-II, pulse output module (PL90) Items pecifications Appearance 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 ma/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

35 MEHATROLIK-II repeater Items pecifications Appearance JEPM-REP000 ommunication type MEHATROLIK-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) Restrictions 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. After 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 ma eight 30 g Dimensions (mm) 30x60x77 (HxxD) MEHATROLIK-II, frequency inverter interface units Item Details Type I-T/V7 I-T Applicable inverter IMR-V7 / 3G3-MV (firmware 570 or newer) IMR-G7 / IMR-F7 (firmware 656x/for G7 / 0 or newer for F7) ontact your OMRO sales office for information about firmware compatibility Installation method Mounted on the inverter Power supply upplied from the inverter MEHATROLIK-II communications 0MHz, 0.5ms to 8ms for MEHATROLIK-II Operation Inputs and outputs onnectors witches Read 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. DPRAM connector for the inverter Rotary 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 MEHATROLIK-II communications connectors: onnects to the MEHATROLIK-II nodes I/O connector JUP-5 - MEHATROLIK-II interface unit Rotary switch () Used to set the Mechatrolink-II station address 5 LED(A) Alarm status LED(R) MEHATROLIK-II communication status DIP switch () Used to for MEHATROLIK-II communications setting MEHATROLIK-II communications 6A and 6B connectors: onnects to the MEHATROLIK-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

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

37 JUP-5 - MEHATROLIK-II interface unit Units: mm FG terminal M onnector to ERVOPAK Approx. weight: 0. kg 6A 6B 5 A R 6A 6B 00 ame plate 0 8 Installation MEHATROLIK-II interface connections To other MEHATROLIK-II station Backup battery*.8 to.5 V Zero point return deceleration L* with /DE O Forward run prohibit* with P-OT OFF Reverse 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. BAT (+) P BAT (-) +VI /DE P-OT -OT /EXT /EXT /EXT 3 6A MEHATROLIK 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 B represents shield. 3.3 kω ervo drive type GDH (For ERVOPAK connection, see sigma-ii chapter) PG0V PA /PA PB /PB P /P ,, AL 0 AL 0 AL 03 G External power supply Fully-closed encoder for speed/position detection Alarm code output Maximum operating voltage 30 VD Maximum output current 0 mad 5 /OI+ Positioning completed* 6 (O when positioning is completed) /OI- 7 /BK+ BK output* 8 /BK- (O when brake is released) 9 /-RDY+ ervo ready output* 30 /-RDY- (O when ready) 3 ALM+ ervo alarm output 3 ALM- (OFF with an alarm) Photocoupler output Maximum operating voltage 30 VD onnector shell Maximum output current 50 mad FG onnect shield to connector shell. PG 5 Motion controllers

38 Ordering information Motion controller ame MEHATROLIK-II motion control unit MEHATROLIK-II - related devices -MH7 ame Remarks Distributed I/O modules 6 point input and 6 point output JEPM-IO30 Reversible counter: channels JEPM-PL900 Pulse output: channels JEPM-PL90 MEHATROLIK-II cables 0.5 meter JEPM-6003-A5 meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM MEHATROLIK-II terminator Terminating resistor JEPM-60 MEHATROLIK-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 OMRO sales office) For Varispeed F7, G7 inverter I-T (for inverter version support contact your OMRO sales office) MEHATROLIK-II repeater hen 7 or more axes are connected to the MEHATROLIK-II the repeater is required JEPM-REP000 Motion controllers I/O cables Remarks Length m I/O cable for IO30 ith connector on the IO30 side 0.5 JEPM JEPM JEPM ervo system ote: Refer to servo systems section for detailed information Frequency inverters ote: Refer to frequency inverters section for detailed information omputer software pecifications X-One version. or higher X-One Motion control unit 55

39 ALL DIMEIO HO ARE I MILLIMETER. 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

40 Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R RUTX DDI GDH- GDH- GDH- GDH- Ver. HARGE 3 ERVOPAK POER 00V A R MP00 - MEHATROLIK-II Motion controller Motion controllers tand-alone solution for advanced motion control Up to 56 axes controlled with minimum wiring elf configuration of nodes for an easy setup Deviceet, PROFIBU and ethernet network interfaces provide easy connectivity to any system upports position, speed and torque control Electronic AM profiles and axes synchronization The high-speed bus MEHATROLIK-II is specially designed for motion control upport for I/Os and pulse inputs locally and over the network Access to the complete system from one point. ystem configuration Deviceet PROFIBU-DP Ethernet R-3, R-/85 Personal computer oftware: MPE70 tool Terminator Local I/Os Motion controller MP00 (one can handle up to 6 Mechatrolink-II networks) MEHATROLIK-II nodes max. 8 servo axes max. + I/O stations Totel length: 50 m igma-ii series ervo Drive I/O Module 5 Input 6A 6A 6A 6A 6B 6B 6B 6B Limit switches contact sensors JUP-5 Mechatrolink-II unit Terminator igma-ii series Linear Motor igma-ii series ervo Motor Motion controller 57

41 pecifications General specifications Hardware specifications Items pecifications Environmental conditions Ambient operating temperature 0 to 55 Ambient storage temperature -5 to 85 Ambient operating humidity 30% to 95% (with no condensation) Ambient storage humidity 5% to 95% (with no condensation) Pollution level Pollution level (conforming to JI B 350) orrosive gas There must be no combustible or corrosive gas. Operating altitude,000 m above sea level or lower Mechanical operating conditions Vibration resistance onforming to JI B 350: 0 to 57 Hz with single-amplitude of mm 57 to 50 Hz with fixed acceleration of G 0 sweeps each in X, Y, and Z directions (sweep time: octave/min) hock resistance onforming to JI B 350: Peak acceleration of 7 m/s (5 G) twice for ms each in the X, Y, and Z directions Electrical operating oise resistance onforming to E , E 550 (Group, lass A) conditions Installation Ground Ground to 00 Ω max. requirements ooling method atural cooling equential function specifications Items pecifications ontrol method equence: High-speed and low-speed scan methods Programming language Ladder diagram: Relay circuit Text-type language: umeric operations, logic operations, etc. canning Two scan levels: High-speed scan and low-speed scan High-speed scan time setting: 0.5 to 3 ms (integral multiple of MEHATROLIK communication cycle) Low-speed scan time setting: to 300 ms (integral multiple of MEHATROLIK communication cycle) User drawings, functions and motion programs Data memory Trace memory Memory backup tartup drawings (DG.A): Interrupt processing drawings (DG.I): High-speed scan process drawings (DG.H): Low-speed scan process drawings (DG.L): umber of steps: User functions: Motion programs: Revision history of drawings and motion programs ecurity function for drawings and motion programs ommon data (M) registers: ystem () registers: Drawing local (D) registers: Drawing constant (#) registers: Input (I) registers: Output (O) registers: onstant () registers: 6 drawings max. up to three hierarchical drawing levels 6 drawings max. up to three hierarchical drawing levels 00 drawings max. up to three hierarchical drawing levels 500 drawings max. up to three hierarchical drawing levels Up to,000 steps per drawing Up to 500 functions Up to 56 6 Kwords 8 Kwords Up to 6 Kwords per drawing Up to 6 Kwords per drawing 5 Kwords (including internal input registers) 5 Kwords (including internal output registers) 6 Kwords Data trace: 8 Kwords (3 Kwords, groups), 6 points defined Program memory: Flash memory: 8 MBytes (User area: 5.5 MBytes) definition files, ladder programs, motion programs, etc. Data memory: Battery backup: 56 Kbytes, M registers, registers, alarm history, trace data Data types Bit (relay): O/OFF Integer: to Double-length integer: to Real number: ± (.75E-38 to 3.0E+38) Register designation method Register number: ymbolic designation: Direct designation of register number Up to 8 alphanumeric characters (up to 00 symbols per drawing) ith automatic number or symbol assignment 58 Motion controllers

42 Motion control function specifications Item pecifications Interface MEHATROLIK-I, MEHATROLIK-II umber of controlled axes/module Up to 6 axes ontrol PTP control Linear, rotary, and infinite-length specifications Interpolation Up to 6 linear axes, circular axes, and 3 helical axes peed reference output Torque reference output Phase control Position Positioning control External positioning Zero point return Interpolation Interpolation with position detection function JOG operation TEP operation Parameter changes during motion command execution Reference unit mm, inch, deg, or pulse Reference unit minimum setting, 0., 0.0, 0.00, 0.000, Maximum programmable value to (signed 3-bit value) peed reference unit Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min Percentage designation: Percentage of rated speed Acceleration/deceleration type Linear, asymmetric, -curve, exponent Acceleration/deceleration reference unit Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s Acceleration/deceleration time constant: Time from 0 to rated speed (ms) Override function Positioning: 0.0% to 37.67% by axis oordinate system Rectangular coordinates Zero point return DE+ phase- pulse ZERO signal DE+ ZERO signal Phase- pulse Only phase- pulse POT and phase- pulse POT Home limit switch and phase- pulse HOME OT and phase- pulse OT IPUT and phase- pulse IPUT Applicable servo drives GDH-@@@E-OY + 5 Applicable frequency inverters Varispeed V7, F7, G7 with MEHATROLIK-II interface (for inverter version support contact your OMRO sales office) Encoders Incremental encoder Yaskawa absolute encoder Motion controllers MP00 base units Items pecifications Appearance JEPM-BU00 (MBU-0) JEPM-BU0 (MBU-0) Power supply Input power voltage: 85 VA to 76 VA Input power voltage: VD±0% urrent consumption:.5 A or less with I/O rating urrent consumption: 3.0 A or less with I/O rating Inrush current: 0 A or less when completely discharged, 00 VA input, output rating Inrush current: 0 A or less when completely discharged, output rating Motion network ot available for the base unit I/O signals ot available for the base unit lot for optional modules 9 slots Expansion configuration Maximum of base units can be connected using the EXIOIF. Dimensions (mm) 30x0x08 (HxxD) eight 665 g 60 g PU module (PU-0) Items pecifications Appearance JAPM-P00 Max. number of 56 axes controlled axes High-speed scan 0.5 ms to 3 ms (in units of 0.5 ms) Low-speed scan.0 ms to ms (in units of 0.5 ms) User memory capacity 8 MB eight 80 g Motion controller 59

43 onnection module between racks (EXIOIF) Items pecifications Appearance JAPM-EX00 umber of expansion racks racks max. Rack o. Automatically identified eight 70 g General-purpose serial communication module (7IF-0) Items pecifications Appearance JAPM-M30 Port For R-3 communication For R-/85 communication Interface One port One port (R- or -85) onnector D-sub 9 pins (female) MDR pins (female) Max. transmission 5 m 300 m distance Transmission speed 76.8 kbps 76.8 kbps Access mode Asynchronous (start-stop synchronization) Asynchronous (start-stop synchronization) ommunication protocols MEMOBU (master or slave) MELE, HostLink, or non-protocol MEMOBU (master or slave) MELE, HostLink, or non-protocol Media access control : : (R-), : (R-85) method Transmission format (can be set) Data bit length: 7 or 8 bits top bits: or bits Parity bits: even, odd, or none Ethernet communication module (8IF-0) Deviceet communication module (60IF-0) Data bit length: 7 or 8 bits top bits: or bits Parity bits: even, odd, or none Items pecifications Appearance JAPM-M300 Port For ethernet communication Port For R-3 communication Interface One port (0BaseT) Interface One port (RJ-5 modular jack) Max. segment length 00m onnector D-sub 9 pins (female) Transmission speed 0 Mbps Max. transmission 5 m distance Access mode IEEE80.3 Transmission 76.8 kbps speed Flame format Ethernet ver. (conforming to DIX) Access mode Asynchronous (tart-stop synchronization) onnections TP/UDP/IP/ARP ommunication protocols MEMOBU (master or slave) MELE, HostLink, or non-protocol Max. number of words in transmission 5 words (0 bytes) Media access control method : ommunication protocols Extended MEMOBU, Transmission Data bit length: 7 or 8 bits MEMOBU, MELE-A, format top bits: or bits non-protocol, or MODBU/TP (can be set) Parity bits: Even, odd, or none Max. number of 0 stations connections Items pecifications Appearance JAPM-M30 Port For Deviceet communication Port For R-3 communication umber of circuits Interface One Port Applicable onforms to Deviceet master or slave onnector D-sub 9 pins (female) communication - I/O transmission (polled I/O and bisstrobed I/O) - Explicit messaging I/O communication Max. number of slaves 63 odes Max. transmission 5m distance Max. I/O bytes 0 bytes, 56 bytes per node Message Max. number ommunication of nodes Max. message (only for length master) Executed functions witches on the front 63 odes (ynchronous communications possible: 8 nodes) 56 bytes Transmission speed 76.8kbps MG-D function Access mode Asynchronous (start-stop synchronization) Two rotary switches: ode address settings DIP switch: ettings for transmission speed and switching master or slave ommunication protocols Indicators LEDs: M or Media access control method Power voltage for VD±0% Transmission communication (Using the specially designed cable) format (can be set) Max. current consumption ommunication power: 5 ma (supplied by transmission connectors) MEMOBU (master or slave) MELE, HostLink, or non-protocol : Data bit length: 7 or 8 bits top bits: or bits Parity bits: Even, odd, or none 60 Motion controllers

44 PROFIBU communication module (6IF-0) Items pecifications Appearance JAPM-M330 Port For PROFIBU communication Port For R-3 communication Functions DP slave Interface One port yclic communication (DP standard function) onnector D-sub 9 pins (female) Transmission speed M/6M/M/3M/.5M/750k/500k/ Max. transmission 5 m 87.5k/93.75k/9.k/9.6kbps (automatic detection) distance onfiguration By PROFIBU master lave address to 6 Transmission 76.8 kbps I/O processing Diagnostic functions Total capacity of I/O registers: 6 words Max. I/O allocation (I and OUT each): 6 words Display for status and slave status using the E. I/O error display for registers speed Access mode ommunication protocols Media access control method Transmission format (can be set) Asynchronous (start-stop synchronization) MEMOBU (master or slave) MELE, HostLink, or non-protocol : Data bit length: 7 or 8 bits top bits: or bits Parity bits: Even, odd, or none Motion controllers Analogue reference motion control module (VA-0) Items pecifications Appearance JAPM-M300 umber of axes axes ( & ) analogue output and encoder input. Digital inputs (per axis) 6 inputs, PP or P (including alarm, ready, zero and latch) Digital outputs (per axis) 6 outputs, (including servo_on, alarm_reset, control_mode_select and E) Encoder input (per axis) Differential line-driver (A,/A,B,/B,Z,/Z). Mpps (before multiplication). Analog outputs (per axis) outputs ±0 V 6 bits (typically speed and torque references) Analog inputs (per axis) inputs ±0 V 6 bits External supply VD (in 3) LED's RU (green) ERR(red) MEHATROLIK-II motion control module (VB-0) Items pecifications Appearance JAPM-M30 ommunication circuits circuit ommunication ports ports Terminator External resistor (JEPM-60 required) Transmission speed 0 Mbps ommunication cycle 0.5 ms, ms,.5 ms, ms umber of connecting stations stations (6 axes for servo drives and inverters) /ms, 5 stations (5 axes for servo drives) /.5 ms, 9 stations (9 axes for servo drives) / ms, stations ( axes for servo drives) /0.5 ms Retry function Available with MEHATROLIK-II lave function Available with MEHATROLIK-II Transmission distance ee MEHATROLIK-II repeater I/O modules (LIO-0/-0) Items pecifications Appearance s JAPM-IO300 (P output), JAPM-IO30 (PP output) Digital I/O Input signals 6 points (all connected) and VD±0%, 5 ma (TYP) ink mode or source mode input and photocoupler isolation Min. O voltage/current: 5 V/.6 ma Max. OFF voltage/current: 5 V/.0 ma Max. response time: OFF O ms and O OFF ms Interruption (DI-00): DI-00 can be used for interruptions. If an interruption is enabled, the interrupt drawing is started when DI-00 is set to O. Pulse latch (DI-0): DI-0 can be used for pulse latching. If pulse latching is enabled, the pulse counter is latched when DI-0 is set to O. Output signals 6 points (all connected) and VD±0%, 00 ma max. Open collector: ink mode output (LIO-0 module) ource mode output (LIO-0 module) Photocoupler isolation and max. OFF current: 0. ma Max. response time: OFF O ms and O OFF ms Output protection: Fuse (for protection against fires caused by an overcurrent when outputting after a short circuit occurred) If circuit protection is required, provide a fuse for each output circuit. Pulse input umber of channels (phase A, B, or Z input) Input circuit Phase A/B: 5 V differential inputs, no insulation, and max. frequency MHz Phase Z: 5 V/ V photocoupler inputs and max. frequency 500 khz Input method A/B (,, or multipliers), sign ( or multipliers), UP/DO ( or multipliers) Latch input Pulse latch with phase Z or DI-0 Min. response time: 5 µs when input with phase Z; 60 µs when input with DI-0 Others oincident detection; preset and clear functions for counter values Motion controller 6

45 I/O modules (LIO-0) Items pecifications Appearance JAPM-IO303 Input signals 3 points (8 points common) and VD±0%, 5 ma (TYP) ink mode or source mode input and photocoupler isolation (%) 00 Min. O voltage/current: 5 V/.6 ma 90 Max. OFF voltage/current: 5 V/.0 ma 80 Max. response time: OFF O 0.5 ms and 70 points O enabled O OFF 0.5 ms 60 at V 50 Interruption (DI-00, DI-0, DI-6, DI-7): 0 DI-00, DI-0, DI-6, and DI-7 can be 30 points O enabled at 8.8V used for interruptions. If an interruption is enabled, the interrupt drawing is started when DI-00, DI-0, DI-6, or DI-7 is ( ) Ambient Temperature set to O. umber of Input O Points Temperature Derating ote: ee right for the derating conditions Output signals 3 points (8 points common) and VD±0%, 00 ma max. Open collector: ink mode output (P) and photocoupler isolation Max. OFF current: 0. ma Max. response time:off O 0.5 ms and O OFF ms Output protection: Fuse (for protection against fires caused by an overcurrent when outputting after a short-circuit occurred) If circuit protection is required, provide a fuse for each output circuit. MEHATROLIK-II, 6 point I/O module (IO30) Items pecifications Appearance JEPM-IO30 I/O signals Input: 6 points, VD, 5mA, sink/source mode input Output: 6 points, VD, 50mA when all points O,(The Max. rating is 00 ma per point) sink mode output (P) ignal connection method: onnector (F360 series) Module power supply VD (0. V to 8.8 V) Rated current: 0.5 A Inrush current: A eight 590 g Input O Ratio MEHATROLIK-II, counter module (PL900) Items pecifications Appearance JEPM-PL900 umber of input channels Functions Pulse counter, notch output, registration input Pulse input method ign (/ multipliers), A/B (// multipliers), UP/DO (/ multipliers) Max. counter speed 00 kpps ( multipliers) Pulse input voltage 3/5// VD External power supply VD, 0 ma or less eight 300 g MEHATROLIK-II, pulse output module (PL90) Items pecifications Appearance 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 5VD Pulse interface circuit Open collector output 5 VD, 0 ma/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 MEHATROLIK-II, analog input module (A900) Items pecifications Appearance JEPM-A900 umber of input channels Input voltage range -0 V to +0 V Input impedance MΩ min. Data format Binary, to Input delay time ms max. Error ± 0.5% F.. (at 5 ), ±.0% F.. (at 0 to 60 ) External power supply VD (0. VD to 6. VD), 0 ma max. eight 300 g 6 Motion controllers

46 MEHATROLIK-II, analog output module (A90) Items pecifications Appearance JEPM-A90 umber of output channels Output voltage range -0 V to +0 V Max. allowable load current ± 5 ma ( kω) Data format Binary, to Output delay time ms Error ± 0.% F.. (at 5 ), ± 0.5% F.. (at 0 to 60 ) External power supply VD (0. VD to 6. VD), 0mA max. eight 300 g Motion controllers MEHATROLIK-II repeater Items pecifications Appearance JEPM-REP000 ommunication type MEHATROLIK-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., stations for the MP300 series) Restrictions Between controller and repeater - Total cable length 30m: 5 stations max. including I/O and servo, etc. - 30m < total cable length 50m: stations max. including I/O and servo, etc. After repeater: - Total cable length 30m: 6 stations max. including I/O and servo, etc. - 30m < total cable length 50m: 5 stations max. including I/O and servo, etc. Power supply VD, 00mA eight 30 g Dimensions (mm) 30x60x77 (HxxD) MEHATROLIK-II servo drive interface unit Item Details Type JUP-5 Applicable servo drive GDH-@@@E 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 MEHATROLIK -II Baud rate/transmission cycle 0 Mbps / ms or more. MEHATROLIK-II communications communications ommand format Operation specification Positioning using MEHATROLIK-I/II communications. Reference input MEHATROLIK-I/II communications ommands: position, speed, torque, parameter read/write, monitor output Position control Acceleration/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 EIA tandard R-A) specifications Fully closed encoder pulse signal A quad B line-driver Maximum receivable frequency Mpps for servo drive Power supply for fully closed To be prepared by customer. encoder Input signals in the ignal allocation changes possible Forward/reverse run prohibited, zero point return deceleration L servo drive 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 A: Alarm, R: MEHATROLIK-I/II communicating 5 MEHATROLIK-II, frequency inverter interface units Item Details Type I-T/V7 I-T Applicable inverter IMR-V7 / 3G3-MV (firmware 570 or newer) IMR-G7 / IMR-F7 (firmware 656x/for G7 / 0 or newer for F7) ontact your OMRO sales office for information about firmware compatibility Installation method Mounted on the inverter Power supply upplied from the inverter MEHATROLIK-II communications 0 MHz, 0.5 ms to 8 ms for MEHATROLIK-II Operation Read and write registers, read monitors, inverter operation, speed reference, torque reference (G7/F7 only). Inputs and outputs The inputs and outputs in the inverter can be read and set by the MLII master onnectors ML-II bus connector. DPRAM connector for the inverter witches Rotary 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. Motion controller 63

47 Dimensions MP00 basic unit Mounting hole diagram tapped holes M IO30 I/O module Mounting hole diagram 0. -tapped holes M I/O modules PL900, PL90, A900, A RU TX DDI RU TX DDI Motion controllers

48 MEHATROLIK-II servo drive interface unit Units: mm Approx. weight: 0. kg FG terminal M onnector to ERVOPAK 6A 6B 5 A R 6A 6B 00 ame plate Motion controllers 0 8 Ordering information MP00 - motion controller base unit ame name MP00 base unit, 00 VA/00 VA input base unit MBU-0 JEPM-BU00 MP00 base unit, VD input base unit MBU-0 JEPM-BU0 MP00 - PU module ame name PU for MP00 PU-0 JAPM-P00 MP00 - motion control modules ame name Analogue reference motion control module ( axes) VA-0 JAPM-M300 channel for MEHATROLIK-II communication VB-0 JAPM-M30 MP00 - communication modules ame name General-purpose serial communication module (R-3 / R communication) 7IF-0 JAPM-M30 Ethernet communication module (R-3 / ethernet communication) 8IF-0 JAPM-M300 Deviceet communication module (R-3 / Deviceet communication) 60IF-0 JAPM-M30 PROFIBU communication module (R-3 / PROFIBU communication) 6IF-0 JAPM-M330 MP00 - I/O and expansion modules ame name 6-point input, 6-point output (sink mode output / P), and -point pulse input LIO-0 JAPM-IO300 6-point input, 6-point output (source mode output / PP), and -point pulse input LIO-0 JAPM-IO30 3-point input and 3-point output LIO-0 JAPM-IO303 Expansion interface for MP00 EXIOIF JAPM-EX00 MEHATROLIK-II - elated devices ame Remarks Distributed I/O modules 6-point input and 6-point output JEPM-IO30 Reversible counter: channels JEPM-PL900 Pulse output: channels JEPM-PL90 Analog input: -0 V to +0 V, channels JEPM-A900 Analog output: -0 V to +0 V, channels JEPM-A90 MEHATROLIK-II cables 0.5 meter JEPM-6003-A5 meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM MEHATROLIK-II terminator Terminating resistor JEPM-60 MEHATROLIK-II interface unit For igma-ii series servo drives (firmware version 38 or later) JUP-5 For Varispeed V7 inverter (for inverter s version supported contact your OMRO sales office) I-T/V7 For Varispeed F7, G7 inverter I-T (for inverter s version supported contact your OMRO sales office) MEHATROLIK-II repeater MEHATROLIK-II repeater JEPM-REP000 Motion controller 65

49 I/O cables Remarks Length m I/O cable for LIO-0, 0 ith connector on the LIO-0, -0 side 0.5 JEPM-06-A5.0 JEPM JEPM I/O cable for LIO-0 ith connector on the LIO-0 side 0.5 JEPM JEPM JEPM I/O cable for IO30 ith connector on the IO30 side 0.5 JEPM JEPM JEPM EXIOIF cable ith connector on both sides 0.5 JEPM-09-A5.0 JEPM JEPM-09-A5 Accessories ame Battery ER3V 3.6V Empty slot cover Brackets for DI rail omputer software pecifications Programming software support from system design to maintenance. Intuitive ladder programming and editing functions. AM data generation. indows-based (indows 95/98/T.0/000/XP) JZP-BA0 JEPM-OP300 JEPM-OP300 PM-MPE70 ervo system ote: Refer to servo systems section for detailed information Frequency inverters ote: Refer to frequency inverters section for detailed information ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I36E-E-0 In the interest of product improvement, specifications are subject to change without notice. 66 Motion controllers

50 Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R RUTX DDI GDH- GDH- GDH- GDH- Ver. HARGE 3 ERVOPAK POER 00V A R MP300 - MEHATROLIK-II Motion controller Motion controllers tand-alone solution for advanced motion control Up to 8 axes controlled with minimum wiring elf configuration of nodes for an easy setup Deviceet, PROFIBU and ethernet network interfaces provide easy connectivity to any system upports position, speed and torque control Electronic AM profiles and axes synchronization The high-speed bus MEHATROLIK-II is specially designed for motion control upport for I/Os and pulse inputs locally and over the network Access to the complete system from one point. ystem configuration Deviceet PROFIBU-DP Ethernet R-3, R-/85 Personal computer oftware: MPE70 tool Local I/Os Motion controller MP300 (one can handle up to 3 Mechatrolink-II networks) Terminator MEHATROLIK-II nodes max. 8 servo axes max. + I/O stations Totel lenght: 50 m igma-ii series ervo Drive I/O module 5 Input 6A 6A 6A 6A 6B 6B 6B 6B Limit switches contact sensors JUP-5 Mechatrolink-II unit Terminator igma-ii series Linear Motor igma-ii series ervo Motor Motion controller 67

51 pecifications General specifications Hardware specifications Items pecifications Environmental conditions Ambient operating temperature 0 to 55 Ambient storage temperature -5 to 85 Ambient operating humidity 30% to 95% (with no condensation) Ambient storage humidity 5% to 95% (with no condensation) Pollution level Pollution level (conforming to JI B 350) orrosive gas There must be no combustible or corrosive gas. Operating altitude,000 m above sea level or lower Mechanical operating conditions Vibration resistance onforming to JI B 350: 0 to 57 Hz with single-amplitude of mm 57 to 50 Hz with acceleration of G 0 sweeps each in X, Y, and Z directions (sweep time: octave/min) hock resistance onforming to JI B 350: Peak acceleration of 7 m/s (5 G) twice for ms each in the X, Y, and Z directions Electrical operating oise resistance onforming to E , E 550 (Group, lass A) conditions Installation Ground Ground to 00 Ω max. requirements ooling method atural cooling equential function specifications Items pecifications ontrol method equence: High-speed and low-speed scan methods Programming language Ladder diagram: Relay circuit Text-type language: umeric operations, logic operations, etc. canning Two scan levels: High-speed scan and low-speed scan High-speed scan time setting: to 3 ms (Integral multiple of MEHATROLIK communication cycle) Low-speed scan time setting: to 300 ms (Integral multiple of MEHATROLIK communication cycle) User drawings, functions and motion programs Data memory tartup drawings (DG.A): Interrupt processing drawings (DG.I): High-speed scan process drawings (DG.H): Low-speed scan process drawings (DG.L): umber of steps: User functions: Motion programs: Revision history of drawings and motion programs ecurity function for drawings and motion programs ommon data (M) registers: ystem () registers: Drawing local (D) registers: Drawing constant (#) registers: Input (I) registers: Output (O) registers: onstant () registers: 6 drawings max. up to three hierarchical drawing levels 6 drawings max. up to three hierarchical drawing levels 00 drawings max. up to three hierarchical drawing levels 500 drawings max. up to three hierarchical drawing levels Up to,000 steps per drawing Up to 500 functions Up to 56 6 Kwords 8 Kwords Up to 6 Kwords per drawing Up to 6 Kwords per drawing 5 Kwords (including internal input registers) 5 Kwords (including internal output registers) 6 Kwords Trace memory Data trace: 8 Kwords (3 Kwords, groups), 6 points defined Memory backup Program memory: Flash memory: 8 MBytes (user area: 5.5 MBytes) definition files,ladder programs, motion programs, etc. Data memory: Battery backup: 56 Kbytes, M registers, registers, alarm history, trace data Data types Bit (relay): O/OFF Integer: to Double-length integer: to Real number: ± (.75E-38 to 3.0E+38) Register designation Register number: Direct designation of register number method ymbolic designation: Up to 8 alphanumeric characters (up to 00 symbols per drawing) ith automatic number or symbol assignment 68 Motion controllers

52 Motion control function specifications Item pecifications Interface MEHATROLIK-I, MEHATROLIK-II umber of controlled axes/module Up to 6 axes ontrol PTP control Linear, rotary, and infinite-length specifications Interpolation Up to 6 linear axes, circular axes, and 3 helical axes peed reference output Torque reference output Phase control Position Positioning control External positioning Zero point return Interpolation Interpolation with position detection function JOG operation TEP operation Parameter changes during motion command execution Reference unit mm, inch, deg, or pulse Reference unit minimum setting, 0., 0.0, 0.00, 0.000, Maximum programmable value to (signed 3-bit value) peed reference unit Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min Percentage designation: Percentage of rated speed Acceleration/deceleration type Linear, asymmetric, -curve, exponent Acceleration/deceleration reference unit Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s Acceleration/deceleration time constant: Time from 0 to rated speed (ms) Override function Positioning: 0.0% to 37.67% by axis oordinate system Rectangular coordinates Zero point return DE+ phase- pulse ZERO signal DE+ ZERO signal Phase- pulse Only phase- pulse POT and phase- pulse POT Home limit switch and phase- pulse HOME OT and phase- pulse OT IPUT and phase- pulse IPUT Applicable servo drives GDH-@@@E-OY + 5 Applicable frequency inverters Varispeed V7, F7, G7 with MEHATROLIK-II interface (for inverter version support contact your OMRO sales office) Encoders Incremental encoder Yaskawa absolute encoder Motion controllers MP300 PU (basic module) Items pecifications Appearance JEPM-MP300 Power supply Input power voltage: VD±0% urrent consumption: A Inrush current: 0 A or less Motion network One channel for MEHATROLIK-II: Twenty-one stations, including servo drives and I/O equipment, can be connected. (6 axes for servo drives and inverters) Transmission speed: 0Mbps (MEHATROLIK-II) Transmission distance: ee MEHATROLIK-II repeater I/O signals Digital input: 8 points (one point can be used for interrupts), VD, ma, and source mode or sink mode input Digital output: points, VD, 00 ma, open collector, and sink mode output (P) lot for optional modules 3 slots Dimensions (mm) 30x0x08 (HxxD) eight 500 g Motion controller 69

53 General-purpose serial communication module (7IF-0) Items pecifications Appearance JAPM-M30 Port For R-3 communication For R-/85 communication Interface One port One port (R- or -85) onnector D-sub 9 pins (female) MDR pins (female) Max. transmission 5 m 300 m distance Transmission speed 76.8 kbps 76.8 kbps Access mode Asynchronous (start-stop synchronization) Asynchronous (start-stop synchronization) ommunication protocols MEMOBU (master or slave) MELE, HostLink, or non-protocol MEMOBU (master or slave) MELE, HostLink, or non-protocol Media access control : : (R-), : (R-85) method Transmission format (can be set) Data bit length: 7 or 8 bits top bits: or bits Parity bits: even, odd, or none Ethernet communication module (8IF-0) Deviceet communication module (60IF-0) Data bit length: 7 or 8 bits top bits: or bits Parity bits: even, odd, or none Items pecifications Appearance JAPM-M300 Port For ethernet communication Port For R-3 communication Interface One port (0BaseT) Interface One port (RJ-5 modular jack) Max. segment length 00 m onnector D-sub 9 pins (female) Transmission speed 0 Mbps Max. transmission 5 m distance Access mode IEEE80.3 Transmission 76.8 kbps speed Flame format Ethernet ver. (conforming to DIX) Access mode Asynchronous (tart-stop synchronization) onnections TP/UDP/IP/ARP ommunication protocols MEMOBU (master or slave) MELE, HostLink, or non-protocol Max. number of words 5 words Media access : in transmission (0 bytes) control method ommunication protocols Extended MEMOBU, MEMOBU, MELE-A, Max. number of connections non-protocol, or MODBU/TP 0 stations Transmission format (can be set) Data bit length: 7 or 8 bits top bits: or bits Parity bits: even, odd, or none Items pecifications Appearance JAPM-M30 Port For Deviceet communication Port For R-3 communication umber of circuits Interface One port Applicable onforms to Deviceet master or slave onnector D-sub 9 pins (female) communication - I/O transmission (polled I/O and bisstrobed I/O) - Explicit messaging I/O communication Max. number of slaves 63 nodes Max. transmission 5 m distance Max. I/O bytes 0 bytes, 56 bytes per node Message Max. number 63 nodes (synchronous communications Transmission 76.8 kbps possible: 8 nodes) speed communication of nodes Max. message 56 bytes (only for master) length Executed MG-D function Access mode Asynchronous (start-stop synchronization) functions witches on the front Two rotary switches: ode address settings ommunication MEMOBU (master or slave) protocols MELE, HostLink, or non-protocol DIP switch: ettings for transmission speed and switching master or slave Indicators LEDs: M or Media access control method : Power voltage for communication Max. current consumption VD±0% (using the specially designed cable) ommunication power: 5 ma (supplied by transmission connectors) Transmission format (can be set) Data bit length: 7 or 8 bits top bits: or bits Parity bits: even, odd, or none 70 Motion controllers

54 PROFIBU communication module (6IF-0) Items pecifications Appearance JAPM-M330 Port For PROFIBU communication Port For R-3 communication Functions DP slave Interface One port yclic communication (DP standard function) onnector D-sub 9 pins (female) Transmission speed M/6M/M/3M/.5M/750k/500k/ Max. transmission 5 m 87.5k/93.75k/9.k/9.6kbps (automatic detection) distance onfiguration By PROFIBU master lave address to 6 Transmission 76.8 kbps I/O processing Diagnostic functions Total capacity of I/O registers: 6 words Max. I/O allocation (I and OUT each): 6 words Display for status and slave status using the E. I/O error display for registers speed Access mode ommunication protocols Media access control method Transmission format (can be set) Asynchronous (start-stop synchronization) MEMOBU (master or slave) MELE, HostLink, or non-protocol : Data bit length: 7 or 8 bits top bits: or bits Parity bits: even, odd, or none Motion controllers Analogue reference motion control module (VA-0) Items pecifications Appearance JAPM-M300 umber of axes axes ( & ) analogue output and encoder input. Digital inputs (per axis) 6 inputs, PP or P (including alarm, ready, zero and latch) Digital outputs (per axis) 6 outputs (including servo_on, alarm_reset, control_mode_select and E) Encoder input (per axis) Differential line-driver (A,/A,B,/B,Z,/Z). Mpps (before multiplication). Analog outputs (per axis) outputs ±0 V 6 bits (typically speed and torque references) Analog inputs (per axis) inputs ±0 V 6 bits External supply VD (in 3) LED's RU (green) ERR(red) MEHATROLIK-II motion control module (VB-0) Items pecifications Appearance JAPM-M30 ommunication circuits circuit ommunication ports ports Terminator External resistor (JEPM-60 required) Transmission speed 0 Mbps ommunication cycle 0.5ms, ms,.5ms, ms umber of connecting stations stations (6 axes for servo drives and inverters) / ms, 5 stations (5 axes for servo drives) /.5 ms, 9 stations (9 axes for servo drives) /ms, stations ( axes for servo drives) /0.5 ms Retry function Available with MEHATROLIK-II lave function Available with MEHATROLIK-II Transmission distance ee MEHATROLIK-II repeater I/O modules (LIO-0/-0) Items pecifications Appearance s JAPM-IO300 (P output), JAPM-IO30 (PP output) Digital I/O Input signals 6 points (all connected) and VD±0%, 5 ma (TYP) ink mode or source mode input and photocoupler isolation Min. O voltage/current: 5V/.6 ma Max. OFF voltage/current: 5V/.0 ma Max. response time: OFF O ms and O OFF ms Interruption (DI-00): DI-00 can be used for interruptions. If an interruption is enabled, the interrupt drawing is started when DI-00 is set to O. Pulse latch (DI-0): DI-0 can be used for pulse latching. If pulse latching is enabled, the pulse counter is latched when DI-0 is set to O. Output signals 6 points (all connected) and VD±0%, 00 ma max. Open collector: ink mode output (LIO-0 module) ource mode output (LIO-0 module) Photocoupler isolation and max. OFF current: 0. ma Max. response time:off O ms and O OFF ms Output protection: Fuse (for protection against fires caused by an overcurrent when outputting after a short circuit occurred). If circuit protection is required, provide a fuse for each output circuit. Pulse input umber of channels (Phase A, B, or Z input) Input circuit Phase A/B: 5V differential inputs, no insulation, and max. frequency MHz Phase Z: 5 V/ V photocoupler inputs and max. frequency 500 khz Input method A/B (,, or multipliers), sign ( or multipliers), UP/DO ( or multipliers) Latch input Pulse latch with phase Z or DI-0 Min. response time: 5 µs when input with phase Z; 60 µs when input with DI-0 Others oincident detection; preset and clear functions for counter values. Motion controller 7

55 I/O modules (LIO-0) Items pecifications Appearance JAPM-IO303 Input signals 3 points (8 points common) and VD±0%, 5 ma (TYP) ink mode or source mode input and photocoupler isolation (%) 00 Min. O voltage/current: 5 V/.6 ma 90 Max. OFF voltage/current: 5 V/.0 ma 80 Max. response time: OFF O 0.5 ms and 70 points O enabled O OFF 0.5 ms 60 at V 50 Interruption (DI-00, DI-0, DI-6, DI-7): 0 DI-00, DI-0, DI-6, and DI-7 can be 30 points O enabled at 8.8V used for interruptions. If an interruption is enabled, the interrupt drawing is started when DI-00, DI-0, DI-6, or DI-7 is set to O. ote: ee right for the derating conditions ( ) Input O Ratio Ambient Temperature umber of Input O Points Temperature Derating Output signals 3 points (8 points common) and VD±0%, 00 ma max. Open collector: ink mode output (P) and photocoupler isolation Max. OFF current: 0. ma Max. response time: OFF O 0.5 ms and O OFF ms Output protection: Fuse (for protection against fires caused by an overcurrent when outputting after a short circuit occurred) If circuit protection is required, provide a fuse for each output circuit. MEHATROLIK-II, 6 point I/O module (IO30) Items pecifications Appearance JEPM-IO30 I/O signals Input: 6 points, VD, 5 ma, sink/source mode input Output: 6 points, VD, 50 ma when all points O, (the max. rating is 00 ma per point) sink mode output (P) ignal connection method: onnector (F360 series) Module power supply VD (0. V to 8.8 V) Rated current: 0.5 A Inrush current: A eight 590 g MEHATROLIK-II, counter module (PL900) Items pecifications Appearance JEPM-PL900 umber of input channels Functions Pulse counter, notch output, registration input Pulse input method ign (/ multipliers), A/B (// multipliers), UP/DO (/ multipliers) Max. counter speed 00 kpps ( multipliers) Pulse input voltage 3/5// VD External power supply For input signal: VD, For dividing load: VD, For module: VD (0. V to 6. V), 0 ma or less eight 300 g MEHATROLIK-II, pulse output module (PL90) Items pecifications Appearance JEPM-PL90 umber of output channels Functions Pulse positioning, JOG run, zero-point return Pulse output method, pulse, sign Max. output speed 500kpps Pulse output voltage 5VD Pulse interface circuit Open collector output 5VD, 0mA/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 MEHATROLIK-II, analog input module (A900) Items pecifications Appearance JEPM-A900 umber of input channels Input voltage range -0 V to +0 V Input impedance MΩ min. Data format Binary, to Input delay time ms max. Error ± 0.5% F.. (at 5 ), ±.0% F.. (at 0 to 60 ) External power supply VD (0.VD to 6.VD), 0mA max. eight 300 g 7 Motion controllers

56 MEHATROLIK-II, analog output module (A90) Items pecifications Appearance JEPM-A90 umber of output channels Output voltage range -0V to +0V Max. allowable load current ± 5 ma ( kω) Data format Binary, to Output delay time ms Error ± 0.% F.. (at 5 ), ± 0.5% F.. (at 0 to 60 ) External power supply VD (0. VD to 6. VD), 0 ma max. eight 300 g Motion controllers MEHATROLIK-II, repeater Items pecifications Appearance JEPM-REP000 ommunication type MEHATROLIK-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., stations for the MP300 series)) Restrictions Between controller and repeater - Total cable length 30 m: 5 stations max. including I/O and servo, etc m < total cable length 50 m: stations max. including I/O and servo, etc. After repeater: - Total cable length 30 m: 6 stations max. including I/O and servo, etc m < total cable length 50 m: 5 stations max. including I/O and servo, etc. Power supply VD, 00 ma eight 30 g Dimensions (mm) 30x60x77 (HxxD) MEHATROLIK-II, servo drive interface unit Item Details Type JUP-5 Applicable servo drive GDH-@@@E 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 MEHATROLIK -II Baud rate/transmission cycle 0 Mbps / ms or more. MEHATROLIK-II communications communications ommand format Operation specification Positioning using MEHATROLIK-I/II communications. Reference input MEHATROLIK-I/II communications ommands: position, speed, torque, parameter read/write, monitor output Position control Acceleration/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 EIA tandard R-A) specifications Fully closed encoder pulse signal A quad B line-driver Maximum receivable frequency Mpps for servo drive Power supply for fully closed To be prepared by customer. encoder Input signals in the ignal allocation Forward/reverse run prohibited, zero point return deceleration L servo drive changes possible 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 A: alarm, R: MEHATROLIK-I/II communicating 5 MEHATROLIK-II, frequency inverter interface units Item Details Type I-T/V7 I-T Applicable inverter IMR-V7 / 3G3-MV (firmware 570 or newer) IMR-G7 / IMR-F7 (firmware 656x/for G7 / 0 or newer for F7) ontact your OMRO sales office for information about firmware compatibility Installation method Mounted on the inverter Power supply upplied from the inverter MEHATROLIK-II communications 0 MHz, 0.5 ms to 8 ms for MEHATROLIK-II Operation Read and write registers, read monitors, inverter operation, speed reference, torque reference (G7/F7 only). Inputs and outputs The inputs and outputs in the inverter can be read and set by the MLII master onnectors ML-II bus connector. DPRAM connector for the inverter witches Rotary 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. Motion controller 73

57 RDY ALM TX TOP UP IIT FG MO TET OFF O RU ERR BAT RU TRX TX IIT TET OFF O ERR OL RX LD LD LD3 LD MODE LD5 LD LD6 LD LD7 LD3 LD8 LD MODE LD5 LD6 LD7 LD8 Dimensions MP300 basic module Mounting hole diagram 8IF-0 LIO-0 LIO tapped holes M PORT I/O I/O BATTERY DV D 0V POER M-/0 PU I/O 0Base-T IO30 I/O module Mounting hole diagram 0. -tapped holes M I/O modules PL900, PL90, A900, A RU TX DDI RU TX DDI MEHATROLIK-II servo drive interface unit Units: mm Approx. weight: 0. kg FG terminal M onnector to ERVOPAK 6A 6B 5 A R 6A 6B 00 ame plate Motion controllers

58 Ordering information MP300 - motion controller main unit ame name MP300 basic module (PU module included), channel for MEHATROLIK-II, I/O MP300 JEPM-MP300 Motion controllers MP300 - motion control modules ame name Analogue reference motion control module ( axes) VA-0 JAPM-M300 additional MEHATROLIK-II communication channel VB-0 JAPM-M30 MP300 - communication modules ame name General-purpose serial communication module (R-3 / R communication) 7IF-0 JAPM-M30 Ethernet communication module (R-3 / ethernet communication) 8IF-0 JAPM-M300 Deviceet communication module (R-3 / Deviceet communication) 60IF-0 JAPM-M30 PROFIBU communication module (R-3 / PROFIBU communication) 6IF-0 JAPM-M330 MP300 - I/O modules ame name 6-point input, 6-point output (sink mode output / P), and -point pulse input LIO-0 JAPM-IO300 6-point input, 6-point output (source mode output / PP), and -point pulse input LIO-0 JAPM-IO30 3-point input and 3-point output LIO-0 JAPM-IO303 MEHATROLIK-II - related devices ame Remarks Distributed I/O modules 6-point input and 6-point output JEPM-IO30 Reversible counter: channels JEPM-PL900 Pulse output: channels JEPM-PL90 Analog input: -0 V to +0 V, channels JEPM-A900 Analog output: -0 V to +0 V, channels JEPM-A90 MEHATROLIK-II cables 0.5 meter JEPM-6003-A5 meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM MEHATROLIK-II terminator Terminating resistor JEPM-60 MEHATROLIK-II For igma-ii series servo drives. (Firmware version 38 or later) JUP-5 interface unit For Varispeed V7 inverter I-T/V7 (for inverter version support contact your OMRO sales office) For Varispeed F7, G7 inverter I-T (for inverter version support contact your OMRO sales office) MEHATROLIK-II repeater MEHATROLIK-II repeater JEPM-REP000 I/O cables Remarks Lenght m I/O cable for LIO-0, 0 ith connector on the LIO-0, -0 side 0.5 JEPM-06-A5.0 JEPM JEPM I/O cable for LIO-0 ith connector on the LIO-0 side 0.5 JEPM JEPM JEPM I/O cable for MP300 ith connector on the MP300 side 0.5 JEPM-060-A5.0 JEPM JEPM I/O cable for IO30 ith connector on the IO30 side 0.5 JEPM JEPM JEPM Accessories ame Battery ER3V 3.6V Empty slot cover Brackets for DI rail JZP-BA0 JEPM-OP300 JEPM-OP300 Motion controller 75

59 omputer software pecifications Programming software to support from system design to maintenance. Intuitive ladder programming and editing functions. AM data generation indows-based (indows 95/98/T.0/000/XP) PM-MPE70 ervo system ote: Refer to servo systems section for detailed information Frequency inverters ote: Refer to frequency inverters section for detailed information ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I3E-E-0 In the interest of product improvement, specifications are subject to change without notice. 76 Motion controllers

60 Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R Ver. HARGE 3 ERVOPAK POER 00V A R RUTX DDI GDH- GDH- GDH- GDH- Ver. HARGE 3 ERVOPAK POER 00V A R MP00 - MEHATROLIK-II P motion controller Motion controllers P based solution for advanced motion control Up to 3 axes controlled with minimum wiring Motion APIs are available for customised control aplications. Motion commands can be input from either the P application or the MP00 program elf configuration of nodes for an easy setup upports position, speed and torque control Electronic AM profiles and axes synchronization The high-speed bus MEHATROLIK-II is specially designed for motion control upport for I/Os locally and over the network Access to the complete system from one point ystem configuration Motion controller MP00 (The MP00M can handle up to Mechatrolink-II network) Local I/Os Personal computer oftware: MPE70 tool Motion API MEHATROLIK-II nodes max. 6 servo axes max. + I/O stations Totel length: 50 m igma-ii series ervo Drive I/O module 5 Input 6A 6A 6A 6A 6B 6B 6B 6B Limit switches contact sensors JUP-5 Mechatrolink-II unit Terminator igma-ii series Linear Motor igma-ii series ervo Motor P motion controller 77

61 pecifications General specifications Hardware specifications Items Environmental conditions Mechanical operating conditions Electrical operating conditions Installation requirements equential function specifications pecifications Ambient operating temperature 0 to 55 Ambient storage temperature -5 to 85 Ambient operating humidity 30% to 95% (with no condensation) Ambient storage humidity 5% to 95% (with no condensation) Pollution level Pollution level (conforming to JI B 350) orrosive gas There must be no combustible or corrosive gas. Operating altitude,000 m above sea level or lower Vibration resistance onforming to JI B 350: 0 to 57 Hz with single-amplitude of mm 57 to 50 Hz with fixed acceleration of G 0 sweeps each in X, Y, and Z directions (sweep time: octave/min) hock resistance onforming to JI B 350: Peak acceleration of 7 m/s (5 G) twice for ms each in the X, Y, and Z directions oise resistance onforming to E , E 550 (Group, lass A) Ground ooling method Ground to 00 Ω max. atural cooling Items pecifications ontrol method equence: High-speed and low-speed scan methods Programming language Ladder diagram: Relay circuit Text-type language: umeric operations, logic operations, etc. canning Two scan levels: High-speed scan and low-speed scan High-speed scan time setting: to 3 ms (Integral multiple of MEHATROLIK communication cycle) Low-speed scan time setting: to 300 ms (Integral multiple of MEHATROLIK communication cycle) User drawings, functions and motion programs Data memory tartup drawings (DG.A): Interrupt processing drawings (DG.I): High-speed scan process drawings (DG.H): Low-speed scan process drawings (DG.L): umber of steps: User functions: Motion programs: Revision history of drawings and motion programs ecurity function for drawings and motion programs ommon data (M) registers: ystem () registers: Drawing local (D) registers: Drawing constant (#) registers: Input (I) registers: Output (O) registers: onstant () registers: 6 drawings max. up to three hierarchical drawing levels 6 drawings max. up to three hierarchical drawing levels 00 drawings max. up to three hierarchical drawing levels 500 drawings max. up to three hierarchical drawing levels Up to,000 steps per drawing Up to 500 functions Up to 56 6 Kwords 8 Kwords Up to 6 Kwords per drawing Up to 6 Kwords per drawing 5 Kwords (including internal input registers) 5 Kwords (including internal output registers) 6 Kwords Trace memory Data trace: 8 Kwords (3 Kwords / groups), 6 points defined Memory backup Program memory: Flash memory: 8 MBytes (User area: 5.5 MBytes) definition files, ladder programs, motion programs, etc. Data memory: Battery backup: 56 Kbytes, M registers, registers, alarm history, trace data Data types Bit (relay): O/OFF Integer: to Double-length integer: to Real number: ± (.75E-38 to 3.0E+38) Register designation Register number: Direct designation of register number method ymbolic designation: Up to 8 alphanumeric characters (up to 00 symbols per drawing) ith automatic number or symbol assignment 78 Motion controllers

62 Motion control function specifications. Item pecifications Interface MEHATROLIK-I, MEHATROLIK-II umber of controlled axes/module Up to 6 axes ontrol PTP control Linear, rotary, and infinite-length specifications Interpolation Up to 6 linear axes, circular axes, and 3 helical axes peed reference output Torque reference output Phase control Position Positioning control External positioning Zero point return Interpolation Interpolation with position detection function JOG operation TEP operation Parameter changes during motion command execution Reference unit mm, inch, deg, or pulse Reference unit minimum setting, 0., 0.0, 0.00, 0.000, Maximum programmable value to (signed 3-bit value) peed reference unit Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min Percentage designation: Percentage of rated speed Acceleration/deceleration type Linear, asymmetric, -curve, exponent Acceleration/deceleration reference unit Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s Acceleration/deceleration time constant: Time from 0 to rated speed (ms) Override function Positioning: 0.0% to 37.67% by axis oordinate system Rectangular coordinates Zero point return DE+ phase- pulse ZERO signal DE+ ZERO signal Phase- pulse Only phase- pulse POT and phase- pulse POT Home limit switch and phase- pulse HOME OT and phase- pulse OT IPUT and phase- pulse IPUT Applicable servo drives GDH-@@@E-OY + 5 Applicable frequency inverters Varispeed V7, F7, G7 with MEHATROLIK-II Interface (for inverter s version supported contact your OMRO sales office) Encoders Incremental encoder Yaskawa absolute encoder Motion controllers MP00, MP00M boards Items pecifications Appearance JAPM-M00, JAPM-M0 Power supply Input supply voltage: 5 VD±5% Dimensions 06.68x7.63 mm half the size of a standard PI Motion network MEHATROLIK-II: One channel with MP00, two channels with MP00M Twenty-one stations, including servo drives, inverters and I/O equipment, can be connected. (6 axes for servo drives and inverters) Transmission speed: 0Mbps (MEHATROLIK-II) Transmission distance: ee MEHATROLIK-II repeater I/O signals Digital input: 5 points (one point can be used for interrupts), VD, ma, and source mode or sink mode input Digital output: points, VD, 00 ma, open collector, and sink mode output Electrical oise Radiation noise (FT noise): kv or more for min. operating resistance tatic noise (contact discharging method): 6 kv or more for 0 times conditions Other noise: ot specified Mechanical operating Vibration resistance ot specified conditions hock resistance ot specified Installation requirements Ground Follows the personal computer s requirements Environmental conditions ame as the general specifications P motion controller 79

63 Host computer specifications Items pecifications Hardware P/AT compatible PU Pentium 00 MHz or more (Pentium 00 MHz or more recommended) Memory capacity 6 MB or more Hard disk drive capacity Free space 500 MB or more Display resolution 800x600 or more (0x768 recommended) Expansion slot Half the size of a standard PI slot Interrupts First-level use (IRQ sharing is possible) I/O memory 3 kb shared memory used oftware O indows T.0 orkstation P5 or later indows 000 Professional P or later indows XP eb browser Microsoft IE 5.5 P or later Language Microsoft Visual / P5 or later. These specifications are applicable if using one MP00s board. If using two or more boards in the same host personal computer, expanasion slots, interrupts and I/O memory resources needs to be increased per each board. MEHATROLIK-II, 6 point I/O module (IO30) Items pecifications Appearance JEPM-IO30 I/O signals Input: 6 points, VD, 5 ma, sink/source mode input Output: 6 points, VD, 50 ma when all points O, (The max. rating is 00 ma per point) sink mode output (P) ignal connection method: onnector (F360 series) Module power supply VD (0. V to 8.8 V) Rated current: 0.5 A Inrush current: A eight 590 g MEHATROLIK-II, counter module (PL900) Items pecifications Appearance JEPM-PL900 umber of input channels Functions Pulse counter, notch output, registration input Pulse input method ign (/ multipliers), A/B (// multipliers), UP/DO (/ multipliers) Max. counter speed 00 kpps ( multipliers) Pulse input voltage 3/5// VD External power supply For input signal: VD, for dividing load: VD, for module: VD (0. V to 6. V), 0 ma or less eight 300 g MEHATROLIK-II, pulse output module (PL90) Items pecifications Appearance 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 5VD Pulse interface circuit Open collector output 5 VD, 0 ma/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 MEHATROLIK-II, analog input module (A900) Items pecifications Appearance JEPM-A900 umber of input channels Input voltage range -0 V to +0 V Input impedance MΩ min. Data format Binary, to Input delay time ms max. Error ± 0.5% F.. (at 5 ), ±.0% F.. (at 0 to 60 ) External power supply VD (0. VD to 6. VD), 0 ma max. eight 300 g 80 Motion controllers

64 MEHATROLIK-II, analog output module (A90) Items pecifications Appearance JEPM-A90 umber of output channels Output voltage range -0V to +0V Max. allowable load current ± 5 ma ( kω) Data format Binary, to Output delay time ms Error ± 0.% F.. (at 5 ), ± 0.5% F.. (at 0 to 60 ) External power supply VD (0. VD to 6. VD), 0 ma max. eight 300 g Motion controllers MEHATROLIK-II repeater Items pecifications Appearance JEPM-REP000 ommunication type MEHATROLIK-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., stations for the MP300 series) Restrictions Between controller and repeater - Total cable length 30 m: 5 stations max. including I/O and servo, etc m < total cable length 50 m: stations max. including I/O and servo, etc. After repeater: - Total cable length 30 m: 6 stations max. including I/O and servo, etc m < total cable length 50 m: 5 stations max. including I/O and servo, etc. Power supply VD, 00 ma eight 30 g Dimensions (mm) 30x60x77 (HxxD) MEHATROLIK-II servo drive interface unit Item Details Type JUP-5 Applicable servo drive GDH-@@@E 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 MEHATROLIK -II Baud rate/transmission cycle 0 Mbps / ms or more. MEHATROLIK-II communications communications ommand format Operation specification Positioning using MEHATROLIK-I/II communications. Reference input MEHATROLIK-I/II communications ommands: position, speed, torque, parameter read/write, monitor output Position control Acceleration/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 EIA tandard R-A) specifications Fully closed encoder pulse signal A quad B line-driver Maximum receivable frequency Mpps for servo drive Power supply for fully closed To be prepared by customer. encoder Input signals in the ignal allocation Forward/reverse run prohibited, zero point return deceleration L servo drive changes possible 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 A: Alarm, R: MEHATROLIK-I/II communicating 5 MEHATROLIK-II, frequency inverter interface units Item Details Type I-T/V7 I-T Applicable inverter IMR-V7 / 3G3-MV (firmware 570 or newer) IMR-G7 / IMR-F7 (firmware 656x/for G7 / 0 or newer for F7) ontact your OMRO sales office for information about firmware compatibility Installation method Mounted on the inverter Power supply upplied from the inverter MEHATROLIK-II communications 0 MHz, 0.5 ms to 8 ms for MEHATROLIK-II Operation Read and write registers, read monitors, inverter operation, speed reference, torque reference (G7/F7 only). Inputs and outputs The inputs and outputs in the inverter can be read and set by the MLII master onnectors ML-II bus connector. DPRAM connector for the inverter witches Rotary 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. P motion controller 8

65 RU TX DDI RU TX DDI B Dimensions MP00, MP00M boards IO30 I/O module Mounting hole diagram 0. -tapped holes M I/O modules PL900, PL90, A900, A MEHATROLIK-II servo drive interface unit Units: mm Approx. weight: 0. kg FG terminal M onnector to ERVOPAK 6A 6B 5 A R 6A 00 ame plate Motion controllers

66 Ordering information MP00 - motion controller main units ame name MP00 board, channel for MEHATROLIK-II communication, MP00 JAPM-M00 5-point input and -point output MP00M board, channels for MEHATROLIK-II communication, 5-point input and -point output MP00M JAPM-M0 Motion controllers MEHATROLIK-II - related devices ame Remarks Distributed I/O modules 6-point input and 6-point output JEPM-IO30 Reversible counter: channels JEPM-PL900 Pulse output: channels JEPM-PL90 Analog input: -0 V to +0 V, channels JEPM-A900 Analog output: -0 V to +0 V, channels JEPM-A90 MEHATROLIK-II cables 0.5 meter JEPM-6003-A5 meter JEPM meters JEPM meters JEPM meters JEPM meters JEPM meters JEPM MEHATROLIK-II terminator Terminating resistor JEPM-60 MEHATROLIK-II For igma-ii series servo drives. (Firmware version 38 or later) JUP-5 interface unit For Varispeed V7 inverter I-T/V7 (for inverter version support contact your OMRO sales office) For Varispeed F7, G7 inverter I-T (for inverter version support contact your OMRO sales office) MEHATROLIK-II repeater MEHATROLIK-II repeater JEPM-REP000 I/O cables ame Remarks Lenght m I/O cable for MP00 ith connector on the MP00 side 0.5 JEPM-06-A5.0 JEPM JEPM I/O cable for IO30 ith connector on the IO30 side 0.5 JEPM JEPM JEPM Accessories ame Battery ER3V 3.6V Extended cable for battery with connectors on both sides Brackets for DI rail omputer software pecifications Programming software to support from system design to maintenance. Intuitive ladder programming and editing functions. AM data generation indows-based (indows 95/98/T.0/000/XP) Motion API. Header file, library, DLL, driver, and manual JZP-BA0 JEPM JEPM-OP300 PM-MPE70 PM-MPA70 ervo system ote: Refer to servo systems section for detailed information Frequency inverters ote: Refer to frequency inverters section for detailed information P motion controller 83

67 ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I35E-E-0 In the interest of product improvement, specifications are subject to change without notice. 8 Motion controllers

68 HARGE POER 3 ERVOPAK 00V HARGE POER 3 ERVOPAK 00V GDH- Ver. GDH- Ver. GDH- Ver. HARGE POER 3 ERVOPAK 00V GDH- Ver. HARGE POER 3 ERVOPAK 00V 00H-M0-E Motion control unit Motion controllers Advanced multi-axes motion control made perfectly intuitive Advanced motion control of real axes and virtual axes per unit. Up to 6 modules can be installed in one PL Analogue outputs for close loop position and speed control imple to develop and modify using BAI Multi-tasking programing Hardware registration input for every axis Electronic AM profiles and axes synchronization Friendly motion perfect indows-based programming and debugging software. Provides versatile test and monitoring functions including a -channel software oscilloscope. Function The advanced motion control unit provides closed-loop control of up to axes, it is programmed in a multi-task BAI type language and supported by the powerful software tool. The unit provides a complete command set, allowing applications such as flying saws, rotaring knives, any synchronization and electronic AM profile to be easily programmed. ystem configuration Personal computer oftware: Motion perfect series Motion control unit 00H-M0-E I/O cable Axes cable ontrol cable axes igma-ii series ervo Drive ervo Motor igma-ii series ervo Drive Input ervo Motor Limit switches contact sensors ontrol cable axes igma-ii series ervo Drive ervo Motor ontrol cable axes 3 igma-ii series ervo Drive ontrol cable axes Linear Motor Motion control unit 85

69 pecifications 00H-M0-E lassification 00H special I/O unit ontrol output signals Analogue Programming language BAI type motion control language Basic specifications Power supply voltage 5 VD (supplied from backplane). VD (supplied from external power supply) Approx. mass 500 g External dimensions 30x3.5x00.5 mm (HxxD) Functional specifications ontrolled axes real axes virtual axes ontrol method losed loop with incremental encoder and with PID and speed command outputs ervo loop cycle.0 ms peed control peed control of up to axes. Up to MHz pulse input frequency after quadrature Measurement units User definable Motion control Linear interpolation axes ircular interpolation For any axes Helical interpolation For any 3 axes Axes synchronization For any axes Axes linked AM profile For any axes Hardware registration interrupt axes Acceleration/deceleration curves Trapezoidal or -curve Task programming capacity umber of tasks Up 5 tasks simultaneous plus interface task umber of programs Data storage capacity 5 (VR) (table) max. External I/O Encoder input Line driver receiver inputs for axes ( MHz after quadrature) ervo drive relationships The following signals are provided per axis Inputs: Drive alarm signal Outputs: Drive enable (RU or ERVO O) Drive alarm reset PEED command Digital inputs Up to 6 digital inputs can be wired to control M unit funtions. These include limit switches, rapid stop switches and proximity inputs. Digital outputs Total of 8 digital outputs can be wired and used for position dependent switching or other general purposes. Registration inputs Each axis has a registration input that can be used to record the current position of the encoder feedback signals in hardware for use within the software enviroment erial communications R-3 onnection to P (motion perfect software) Motion perfect software upported M units Applicable computer Functions Motion perfect 00H-M0-E, R88A-M5-E, R88A-M5-DRT-E indows 95/98/000/T.0 Programming and debugging software tool. Test and moitoring functions including a -channel software oscilloscope. Ordering information Motion controller unit ame axes advanced motion controller 00H-M0-E erial cable ame Programing cable m R88A-M00P-E Terminal block and cables to motion controller unit Description Terminal block for M0 unit - R88A-T0-E PL unit control cable (I/O signals) m R88A-MX00-E PL unit control cable (axes control) m R88A-MX00J-E igma-ii series servo drive cables Description ervo drive connecting cable, axis. (It is required cable for each servo drive) omputer software pecifications Motion perfect software m R88A-MUK00J3-E MOTIO TOOL D ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I07E-E-0 In the interest of product improvement, specifications are subject to change without notice. 86 Motion controllers

70 -M/-M Motion control units Motion controllers High-precision, motion controller with multitasking G-language programming High-speed control of up to axes with one unit and up to 76 axes with one PL (9 units x axes) (assumes that power supply unit capacity is not exceeded). inding operations easily controlled at high-speed using traverse positioning control. High-speed response to commands from PU unit (8 ms for axes, 3 ms for axes). Encoder response of Mpps possible with x frequency multiplication for applications with highspeed, high-precision servo motors. D interrupt code outputs to PU unit at end of positioning or at specified positions (D code output time: 3.3 ms max.). X-motion indows-based support software define user mnemonics to use in place of G codes to simplify M program development and analysis. ervo trace function from X-motion to trace error counter changes or motor speeds. Automatic loading function M programs and positioning data can be automatically downloaded from computer memory when required by the M unit. Function The motion controller provides closed-loop motion control via analog outputs for up to axes, and supports the G language for advanced, high-speed, high-precision position control. Multi-tasking allows you to run the axes independently for a wider range of application. ystem configuration Personal computer oftware: X-One series Motion control unit -M_ HARGEPOER 00V igma-ii series ervo Drives 3 GDH- Ver. GDH- Ver. HARGEPOER 00V igma-ii series ervo Drives 3 Input Terminal block igma-ii series ervo Motor Limit switches contact sensors igma-ii series ervo Motor Motion control units 87

71 pecifications General -M-V -M-V lassification pecial I/O unit ontrol method losed loop with automatic trapezoid or -curve acceleration/deceleration ontrol output signals Analog Internal programming language G language (program started by command sent from PU unit s ladder program.) ontrolled axes axes max. axes max. Maximum position value 39,999,999 to 39,999,999 (for minimum setting unit of ) ynchronous axis control axes max. axes max. Positioning Linear interpolation axes max. axes max. Arc interpolation axes max. in a plane Helical interpolation -axis arc interpolation in a plane + feed axis --- Traverse -axis traverse feeding Infinite feed Infinite feeding of one or more axes Interrupt feed Interrupt feeding for specified axes (positioning can be specified for when there is no interrupt.) Task umber of tasks tasks max. tasks max. programming umber of programs 5 programs when using tasks 50 programs when using tasks capacity Program capacity 500 blocks per task when using tasks,000 blocks per task when using tasks X-Motion: indows-based support software 0-MT-EV@ upported M units -M/, 00H-M, and V500-M/ Applicable computer DO, O: indows 95/98 or indows T Version.0 Functions Functions required for M unit control: creating/editing/saving/printing system parameters, positioning data, and M programs; monitoring M unit operation Ordering information Motion control unit ame axes motion control unit. -M-V axes motion control unit. -M-V igma-ii series servo drive cables Description onnect to Axis control cable ( axis) Axes control cable ( axis) I/O terminal block and cables Motion control units -M ( cable needed) -M ( cables needed) Motion control units -M ( cable needed) -M ( cables needed) m R88A-P00M m R88A-P00M 3 m R88A-P003M 5 m R88A-P005M m R88A-P00M m R88A-P00M 3 m R88A-P003M 5 m R88A-P005M Description onnect to motion control unit Terminal block -M - XB-0J6-6 -M - XB-0J6-7 able form PL unit to terminal block. -M -M m XZ-00J-F omputer software pecifications X-One X-One ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I06E-E-0 In the interest of product improvement, specifications are subject to change without notice. 88 Motion controllers

72 Position control units Motion controllers High-speed, High-precision positioning with,, or axes Positioning can done by direct ladder commands Position and speed control Linear interpolation Interrupt feeding function Positioning of 00 points done from memory -curve acceleration/deceleration, origin search, backlash compensation, and other features are also supported. Positioning data is saved in internal flash memory, eliminating the need to maintain a backup battery. Use indows-based support software (X-position) to easily create positioning data and store data and parameters in files. Function These position control units support positioning control via pulse-train outputs. Positioning is performed using trapezoid al or -curve acceleration and deceleration. s are available with,, or axes control, and can be used in combination with servo drives or stepping motors what accept pulse-train control. ystem configuration Personal computer software: X-One J series Position control unit J-_ GDH- Ver. 00V igma-ii series ervo Drive HARGEPOER 3 Input Limit switches contact sensors ervo relay unit marttep ervo Drive igma-ii series Linear Motor marttep ervo Motor Position control units 89

73 pecifications J-3 J-33 J-3 J-33 J-3 J-33 Unit name Position control unit lassification pecial I/O unit Unit numbers 0 to 95 0 to 9 ontrol method Open-loop control by pulse train output ontrol output interface J-@3: Open-collector output J-@33: Line-driver output ontrolled axes Operating modes Direct operation or memory operation Data format Binary (hexadecimal) Affect on scan time for end refresh 0.9 to 0. ms max./unit Affect on scan time for IOR/IORD 0.6 to 0.7 ms max./instructions tartup time ms max. (refer to operation manual for conditions) Position data -,073,7,83 to +,073,7,83 pulses o. of positions 00 per axis peed data to 500 kpps (in pps units) o. of speeds 00 per axis Acceleration/deceleration times 0 t 50 s (time to max. speed) Acceleration/deceleration curves Trapezoidal or -curve aving data in PU Flash memory indows-based support software X-position (0-T-E) Ambient operating temperature 0 to 55 0 to 50 External power supply VD ±0%, 5 VD ±5% (line driver only) VD ±5%, 5 VD ±5% (line driver only) Ordering information Position control unit ame axis position control unit. Open-collector output. J-3 axes position control unit. Open-collector output. J-3 axes position control unit. Open-collector output. J-3 axis position control unit. Line-driver output. J-33 axes position control unit. Line-driver output. J-33 axes position control unit. Line-driver output. J-33 ervo drive cables ote: Refer the selected servo systems section for cable and servo relay units information. omputer software pecifications X-One X-One ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I0E-E-0 In the interest of product improvement, specifications are subject to change without notice. 90 Motion controllers

74 Position control units Motion controllers High-speed, high-precision positioning with,, or axes Positioning can done by direct ladder commands Position and speed control Linear interpolation Interrupt feeding function Positioning of 00 points done from memory -curve acceleration/deceleration, origin search, backlash compensation, and other features are also supported. Positioning data is saved in internal flash memory, eliminating the need to maintain a backup battery. Use indows-based support software to easily create positioning data and store data and parameters in files. Function These position control units support positioning control via pulse-train outputs. Positioning is performed using trapezoid al or -curve acceleration and deceleration. s are available with,, or axes control, and can be used in combination with servo drives or stepping motors what accept pulse-train control. ystem configuration Personal computer oftware: X-One series Position control unit -_ GDH- Ver. 00V igma-ii series ervo Drive HARGEPOER 3 Input Limit switches contact sensors ervo relay unit marttep ervo Drive igma-ii series Linear Motor marttep ervo Motor Position control units 9

75 pecifications H-3 00H-3 00H Unit name Position control unit lassification special I/O units 00H special I/O units Unit numbers 0 to 95 0 to 5 (0 to F) ontrol method Open-loop, automatic trapezoid acceleration/deceleration ontrol output signals -@3: Open-collector outputs -@33: Line-driver outputs Open-collector ontrolled axes Operating modes Direct operation or memory operation Data format Binary (hexadecimal) BD Affect on scan time for end refresh 0.9 to 0. ms max./unit.6 to.5 ms max./unit Affect on scan time for IOR/IORD 0.6 to 0.7 ms max./instructions.6 to 5.5 ms max./instructions tartup time ms min. (Refer to operation manual for conditions.) 7.5 ms min. (Refer to operation manual for conditions.) Position data -,073,7,83 to +,073,7,83 pulses -9,999,999 to +9,999,999 pulses o. of positions 00 per axis peed data to 500 kpps (in pps units) to 500 kpps (specified as factor) o. of speeds 00 per axis Acceleration/deceleration times 0 to 50 s (time to max. speed) Acceleration/deceleration curves Trapezoidal or -curve aving data in PU Flash memory indows-based support software X-position YMA-T (0-TF-E) Ordering information Position control unit ame axis position control unit. Open-collector output. -3 axes position control unit. Open-collector output. -3 axes position control unit. Open-collector output. -3 axis position control unit. Line-driver output. -33 axes position control unit. Line-driver output. -33 axes position control unit. Line-driver output. -33 axis position control unit. Open-collector output. 00H-3 axes position control unit. Open-collector output. 00H-3 axes position control unit. Open-collector output. 00H-3 ervo drive cables ote: Refer to selected servo systems section for cable and servo relay units information. omputer software pecifications X-One X-One ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. I05E-E-0 In the interest of product improvement, specifications are subject to change without notice. 9 Motion controllers

76 Ver. HARGE POER 3 ERVOPAK RU 5 RD M T D I/O 6 +V 0V GDH- Ver. HARGE 3 ERVOPAK POER 00V M5 RU T RD D I/O 6 +V 0V R88A-M5-@.5 axis motion controller Motion controllers Advanced motion made perfectly intuitive onnects directly to the igma-ii series drive ontrols real axis, virtual axis and a configurable third axis Provides an additional encoder input/output to the servo drive imple to develop and modify using BAI Built-in local I/O for easy operation Provides two additional hardware registration inputs to the drive Electronic AM profiles and axes synchronization Multi-tasking functionality Friendly and powerful indows-based software etwork connectivity via HostLink or Deviceet upports HMI connection without the need of a PL ystem configuration able connection igma-ii series ervo Drive PORT0, PORT R88A-M5 Motion controller unit (Port ) HostLink or Deviceet network (0) (I/O) External I/O (Port 0) omputer connecting cable igma-ii series ervo Drive GDH- 00V R88A-M5_ Motion controller unit PORT0, Input PORT Limit switches contact sensors /T terminals igma-ii series ervo Motor External encoder - Host link network - Deviceet network - PROFIBU-DP network Rotary cutter Fast registration input.5 axis motion controller 93

77 pecifications General specifications Item Details Type R88A-M5-E, R88A-M5-DRT-E Applicable servo drive models (software version or later) Installation method Mounted on the GDH servo drive side: 0. Basic specifications Power supply method VD (supplied from external power supply) 5 VD (supplied from the servo drive control power supply) Power consumption.0 External dimensions 0xx8 mm (HxxD) Approx. mass 00 g urrent consumption 70 ma for VD Output power supply 5 VD, maximum 60 ma (to external encoder) Environment Operating temperature torage temperature Operating and storage humidity 90% RH max. (no condensation) Vibration resistance 0.5 G (.9 m/s ) hock resistance G (9.6 m/s ) Functional specifications umber of axes - controlled servo drive axis - master axis, encoder output axis or virtual axis - virtual axis ervo loop cycle electable to 0.5 ms or.0 ms. Registration inputs x M5 unit for encoder input axis x igma-ii servo drive axis Measurement units User definable Programming Programming language BAI umber of tasks Up to 3 tasks running simultaneously plus the command line task Max. number of programs Available memory for user programs 8 KB Data storage capacity 5 (VR) (table) aving program data, Random access memory (RAM) and flash memory backup. motion controller aving program data, Motion perfect software manages a backup on the hard disk of the personal computer. personal computer Motion control peed control Inferred closed loop with PID, output speed and speed feed forward gains peed reference (open loop) Possible torque limit operation Torque control Torque reference (open loop) Possible speed limit operation ontrol switch peed / torque control switching during operation Positioning operations Linear interpolation ircular interpolation AM profile movement Electronic gearbox link Linked AM profile movement Linked move for any two axes Adding axes Acceleration/deceleration curves Trapezoidal or -curve ervo drive access Motion control peed control Torque control Position feedback Driver enable Driver print registration Monitoring Driver alarm and warning status General driver status Driver digital input Driver analogue input Driver limit switches General control Driver alarm reset Driver reset Parameter access Read and write Pn parameters Read Un parameters External I/O Encoder input Line receiver input; maximum response frequency: 500 khz pulses (before multiplication) Pulse multiplication: x Encoder output Line receive output; maximum frequency: 500 khz pulses Internal counts to output pulse ratio: 6: Digital inputs Total of 8 digital inputs can be wired and used for instance for limit switches, emergency stop and proximity inputs. Two inputs can be used for registration of the encoder input/output axis. Digital outputs Total of 6 digital outputs can be wired and used for position dependent switching or other general purposes. Registration inputs Two registration inputs can be used (simultaneously) to capture the position in hardware. erial communications R-3 Port 0: onnection to P (motion perfect software) Port : Host link master protocol Host link slave protocol General-purpose 9 Motion controllers

78 R-A/85 interface specifications (R88A-M5-E only) Item Details Electrical characteristics onform to EIA R-A/85 ynchronization tart-stop synchronization (asynchronous) Baud rate 00 / 00 / 800 / 9600 / 900 / 3800 bps Transmission format Databit length 7 or 8 bit top bit or bit Parity bit Even/odd/none Transmission mode Point-to-multipoint (:) Transmission protocol R-A Host link master protocol, Host link slave protocol, AII general-purpose R-85 AII general-purpose Galvanic isolation onnector type Phoenix MTB.5/5-T-5.08 (included in package). ommunication buffers 5 bytes Flow control one Terminator, internal 0 Ω selectable by DIP-switch able length 500 m max. Motion controllers Deviceet specifications (R88A-M5-DRT-E only) Item Details ommunications protocol Deviceet upported connections (communications) Remote I/O polling messages Explicit messages Both conform to Deviceet specifications Baud rate 500 kbps, 50 kbps, 5 kbps (switchable) ommunications media pecial 5-wire cables ( signal lines, power lines, shield line) ommunications distances 500 kbps etwork length: 00 m max. (thin cable: 00 m max.) Drop line length: 6 m max. Total drop line length: 39 m max. 50 kbps etwork length: 50 m max. (thin cable: 00 m max.) Drop line length: 6 m max. Total drop line length: 78 m max. 5 kbps etwork length: 500 m max. (thin cable: 00 m max.) Drop line length: 6 m max. Total drop line length: 56 m max. omenclature Indicator LEDs -RU -T -D & -RD (R88A-M5-E model) -M & - (R88A-M5-DRT-E model) Port 0 and Port R-3 - Port 0 > Motion perfect software - Port > AII Hostlink master/slave and general purpose ommunications connector - Hostlink (R/85) > R88A-M5-E model - Deviceet > R88A-M5-DRT-E model I/O signal connector Power connector.5 axis motion controller 95

79 Dimensions R88A-M5-(DRT)-E -.5 axes motion controller unit Units: mm Approx. weight: 0. kg M5 RU T RD D PORT0, O O PORT I/O 5 6 +V 0V Installation I/O connector onnector pin arrangement 5 A+ A- B+ 3 B- Z+ 5 6 Z- 0V_E 7 8 5V_E I0 / R0 9 0 FG I I / R I 3 I3 I6 5 6 I5 I/O 0V_I 7 8 I7 O8 9 0 O9 O0 O O 3 O3 0V_OP 5 6 V_OP 6 I/O connector pin functions Pin ignal ame Function A+ Encoder phase A+ (input / output) A- Encoder phase A- (input / output) 3 B+ Encoder phase B+ (input / output) B- Encoder phase B- (input / output) 5 Z+ Encoder phase Z+ (input / output) 6 Z- Encoder phase Z- (input / output) 7 0V_E Encoder 0V common 8 5V_E Encoder 5 V power supply output 9 I0 / R0 (Registration) Input 0 0 FG Frame ground I Input I / R (Registration) Input 3 I Input I3 Input 3 5 I6 Input 6 6 I5 Input 5 7 0V_I Inputs 0 V common 8 I7 Input 7 9 O8 Output 8 0 O9 Output 9 O0 Output 0 O Output 3 O Output O3 Output 3 5 0V_OP Outputs 0 V common 6 V_OP Outputs V power supply input 96 Motion controllers

80 Power connector The power connector is used to connect the V power supply to the controller unit + V 0V Pin ame Function + V Power supply V 0 V Power supply 0 V 3 FG Frame ground Motion controllers R-3 connections (port 0 and port ) The controller unit has two serial R-3 ports for communication with external devices PORT0, Pin ymbol ame Port Direction - ot used - R- Request to send Output 3 D-0 end data 0 Output G-0 ignal ground 0-5 RD-0 Receive data 0 Input 6 D- end data Output 7 G- ignal ground - 8 RD- Receive data Input R-A/85 connections (R88A-M5-E only) PORT Pin ymbol ame Port Direction RD- Receive data (-) Input RD+ Receive data (+) Input 3 FG Frame ground - D- end data (-) Output 5 D+ end data (+) Output Deviceet connections (R88A-M5-DRT-E only) Pin ymbol ignal olor of cable V+ Power line, positive voltage Red A-H ommunications line, high hite 3 hield hield - A-L ommunications line, low Blue 5 V- Power line, negative voltage Black.5 axis motion controller 97

81 Ver. HARGE ERVOPAK POER M5 RU T RD D I/O 6 +V 0V Ordering information ystem configuration igma-ii series ervo Drive ote: For a complete view of Deviceet network accessories, refer to automation systems catalogue or contact your OMRO representative. GDH- 3 00V (0) R88A-M5-@ Motion controller PORT0, PORT (Port 0) (Port ) omputer connecting cable HostLink etwork or Deviceet network Motion Perfect Personal computer (I/O) External I/O igma-ii series ervo Motor Motion controller unit ame.5 axis advanced motion controller with Host Link interface.5 axis advanced motion controller with Deviceet interface PROFIBU connectivity ame PROFIBU-DP module interface for R88A-M5-E motion controllers R88A-M5-E R88A-M5-DRT-E PRT-U onnectors pecification I/O connector (Included in package) Power connector (Included in package) Port connector (Included in package) BL 3.5/6 (eidmüler) MTB.5/3-T-5.08 (Phoenix) MTB.5/5-T-5.08 (Phoenix) erial cables (for port 0, ) ame Programing cable, m. (Port 0) R88A-M00P-E pliter cable, m (Port 0 & ). ombined with R88A-M00P5-E R88A-M00P-E cable allows using motion perfect and a general purpose application.(e.g. terminal) omputer software pecifications Motion perfect ED file MOTIO TOOL D ervo system ote: Refer to the servo systems section for more information ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. IE-E-0 In the interest of product improvement, specifications are subject to change without notice. 98 Motion controllers

82 Ver. HARGE POER 3 ERVOPAK X 0 X D R M GDH- Ver. HARGE POER 3 ERVOPAK 00V Ver. HARGE POER 3 ERVOPAK X 0 X D R M X 0 X D R M Ver. HARGE POER 3 ERVOPAK X 0 X D R M Ver. HARGE POER 3 ERVOPAK X 0 X D R M JUP-300 Deviceet unit Motion controllers Deviceet connectivity with positioning functionality. onnects directly to the igma-ii series drive implifies distributed control and information management o programming languages are required. Various positioning functions including point-topoint mode (with multi-step speed positioning available) and station number mode (indexing function) All parameters are set and maintained by a PL or P. Up to 63 servos can be connected to the Deviceet network upports polling I/O and explicit messages ystem configuration able connection J/ series Deviceet master igma-ii series ervo Drive (0) 300 JUP-300 Deviceet unit () omputer connecting cable (6) Deviceet network () External I/O or fully-closed encoder signal Deviceet 00V igma-ii series ervo Drive 300 JUP-300 Deviceet unit 00V V 300 GDH- GDH- GDH- GDH- 00V 300 Limit switches contact sensors igma-ii series Linear Motor igma-ii series ervo Motor Deviceet unit 99

83 pecifications JUP Deviceet interface unit Item Details Type JUP-300 Applicable servo drive All GDH-@@@E models 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.3 Deviceet Baud rate setting elect from 5 kbps, 50 kbps, or 500 kbps using a rotary switch. communications ode address setting elect the address from 0 to 63 using the rotary switches. ommand format Operation specifications Positioning using Deviceet communications. Reference input Deviceet communications ommands: motion commands (position, speed), and parameter read/write Position control Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, -curve functions Fully-closed control Possible Input signals Fixed allocation to servo drive connector Forward/reverse run prohibited, zero point return deceleration L, zero point signal, external positioning signal 300 unit Emergency stop signal Output signals ervo drive connector ervo alarm, brake interlock, servo ready, positioning completion 300 unit P, P (area signals) Internal functions Position data latch function Position data latching is possible using phase, zero point signals, and external signals. Protection Parameters damage, parameter setting errors, communications errors, etc. LED indicators M: Module status : etwork status ote: *The allocation of the output signals for brake interlock, servo ready, or positioning completion can be changed using parameter settings. Transmission specifications Item pecifications ommunication format Multi-drop, T-branch (:) Transmission speed (kbps) 500, 50, 5 kbps Transmission media 5-wire cables Transmission distance peed Max. network length Branch length Total branch length 500 kbps 00 m or less 39 m or less 50 kbps 50 m or less 6 m or less 78 m or less 5 kbps 500 m or less 56 m or less umber of nodes Up to 6 units Error control R error, node address double checking able Item able Thick Loss of signal Little Much Transmission distance Long hort Advantage/disadvantage Hard (not easy to bend) oft (easy to bend) Thin The maximum network lengths differ in accordance with the cable type as shown below. Transmission speed Max. network length (m) (kbps) Thick cable Thin cable Motion controllers

84 X 0 X D R M omenclature Ground wire onnected to ground mark on the servo drive Rotary switch (x, x0) For node address setting Motion controllers Rotary switch (DR) For transmission speed setting R-3 connector () For setup tool LED (M) Module status LED () Deviceet network status onnector for Deviceet communication (6) onnector for external signals () For connecting external I/O signals or fully-closed encoder signals Dimensions JUP Deviceet interface unit Units: mm Approx. weight: 0. kg FG terminal M () onnector to ERVOPAK (00) ame plate 0 33 Deviceet unit 0

85 Installation tandard connections ervo drive type GDH (for servo drive connection, see igma-ii chapter) Deviceet communication 0 (V) A L HIELD A H V VD 50 ma or more VI 3.3 kω Deviceet I/F unit type JUP side PG0V PA /PA PB /PB P /P,, Fully-closed encoder for speed/position detection PG E-TOP External power supply Backup battery*.8 to.5 V + V Zero point return deceleration L with /DE O Forward run prohibit with P-OT OFF Reverse run prohibit with -OT OFF External positioning signal BAT (+) P BAT (-) +VI ot Used /DE P-OT -OT XT ot Used ot Used k Ω P + P - P + P AL 0 AL 0 AL 03 G P P /OI + 0V /OI - /BK + /BK - /EAR + /EAR - ALM + ALM - D 5 to V Alarm code output Maximum operating voltage 30 VD Maximum output current 0 mad Positioning completed (O when positioning is completed) BK output* (O when brake is released) Positioning near output (O when near) ervo alarm output (OFF with an alarm) Photocoupler output Maximum operating voltage 30 VD P represents twisted-pair wires. represents shield. Maximum output current 50 mad FG onnect shield to connector shell. * onnect when using an absolute encoder and when the battery is not connected to 8. * et the signal assignment with the user constants. ote: onnect the ground cable of the field bus I/F unit to the ground connector of the servo drive. 0 Motion controllers

86 Ver. HARGE ERVOPAK POER X 0 X D R M Ordering information ystem configuration igma-ii series ervo Drive GDH- 00V (0) JUP-300 Deviceet unit 300 () omputer connecting cable Tool Personal computer Motion controllers 3 (6) Deviceet etwork () External I/O or fully-closed encoder signal igma-ii eries ervo Motor Deviceet interface unit ame Deviceet interface unit with point-to-point positioning functionality JUP-300 erial cable (for ) ame omputer connecting cable m R88A-00P onnectors ame onnector for. For connecting external I/O signals or fully-closed encoder signals onnector for 6. Deviceet connector with retaining screws onnector for 6. Deviceet multi-branching onnector with retaining screws onnector for 6. Deviceet multi-branching onnector (without retaining screws) R88A-U0R or DE XB-05-H-D XB-05-TF-D XB-05-T-D ote: For a complete view of Deviceet network accessories, refer to automation systems catalogue or contact your OMRO representative. omputer software ame tool ED file MOTIO TOOL D ervo system ote: Refer to the servo systems section for more information Deviceet unit 03

87 ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. IE-E-0 In the interest of product improvement, specifications are subject to change without notice. 0 Motion controllers

88 Ver. HARGE POER 3 ERVOPAK 6 GDH- Ver. HARGE 3 ERVOPAK POER 00V Ver. HARGE 3 ERVOPAK POER 6 6 Ver. HARGE 3 ERVOPAK POER 6 Ver. HARGE 3 ERVOPAK POER 6 JUP-500 PROFIBU-DP unit Motion controllers PROFIBU-DP connectivity with positioning functionality. onnects directly to the igma-ii series drive implifies distributed control and information management o programming languages are required. Various positioning functions including point-topoint mode (with multi-step speed positioning available) and station number mode (indexing function) All parameters are set and maintained by a PL or P. Up to 6 servos can be connected to the PROFIBU-DP network ystem configuration able connection J series PROFIBU-DP master igma-ii series ervo Drive (0) 500 JUP-500 PROFIBU-DP () omputer connecting cable (6) PROFIBU-DP network () External I/O or fully-closed encoder signal PROFIBU-DP 00V igma-ii series ervo Drive 500 JUP-500 PROFIBU-DP unit 00V V 500 GDH- GDH- GDH- GDH- 00V 500 Limit switches contact sensors igma-ii series Linear Motor igma-ii series ervo Motor PROFIBU-DP unit 05

89 pecifications JUP PROFIBU-DP interface unit Item Details Type JUP-500 Applicable servo drive All GDH-@@@E models 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.3 PROFIBU-DP Baud rate setting The baud rate is automatically set by the master between 9.6 kbps and Mbps. communications tation address setting elect the address from 0 to 7D (0 to 5) using the rotary switches. ommand format Operation specifications Positioning using PROFIBU-DP communications Reference input PROFIBU-DP communications ommands: motion commands (position, speed), parameter read/write Position control Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, -curve functions Fully-closed control Possible Input signals Fixed allocation to ERVOPAK Forward/reverse run prohibited, zero point return deceleration L, zero point signal, connector external positioning signal 500 unit Emergency stop signal Output signals ervo drive connector ervo alarm, brake interlock, servo ready, positioning completion 500 unit P, P (area signals) Internal functions Position data latch function Position data latching is possible using phase, zero point signals, and external signals. Protection Parameters damage, parameter setting errors, communications errors, etc. LED indicators ERR: Module error OMM: ommunications status ote: *The allocation of the output signals for brake interlock, servo ready, or positioning completion can be changed using parameter settings. Transmission specifications Item pecifications ommunication format onforms to PROFIBU-DP Transmission speed (kbps) Transmission distance (m) Transmission media TP cable umber of stations 3 stations (can be extended to 6 stations using repeater.) able Item pecifications able type impedance hielded twisted-pair wire type A 35 to 65 Ω apacity < 30 pf/m Loop resistance 0 Ω/km ire gage 0.6 mm onductor area > 0.3 mm onnector 9-pin D-sub connectors are used. 06 Motion controllers

90 X 0 X D R omenclature Ground wire onnected to ground on the servo drive Rotary switch (x, x0) For node address setting Motion controllers R-3 connector () For setup tool LED (OMM) ommunication status LED for PROFIBU-DP LED (ERR) Module error status LED onnector for PROFIBU-DP communication (6) onnector for external signals () For connecting external I/O signals or fully-closed encoder signals Dimensions JUP PROFIBU-DP interface unit Units: mm Approx. weight: 0. kg FG terminal M () onnector to ERVOPAK (00) ame plate 0 33 PROFIBU-DP unit 07

91 Installation tandard connections ervo drive type GDH (For servo drive connection, see igma-ii chapter) PROFIBU-DP communication PXD/TXD-P PXD/TXD- VP DGD VD 50mA or more VI 3.3 kω PROFIBU-DP I/F Unit Type JUP ide PG0V PA /PA PB /PB P /P,, Fully-closed encoder for speed/position detection PG E-TOP External power supply Backup battery*.8 to.5 V + V Zero point return deceleration L with /DE O Forward run prohibit with P-OT OFF Reverse run prohibit with -OT OFF External positioning signal BAT (+) P BAT (-) +VI ot Used /DE P-OT -OT XT ot Used ot Used kω P + P - P + P AL 0 AL 0 AL 03 G P P /OI + 0V /OI - /BK + /BK - /EAR + /EAR - ALM + ALM - D 5 to V Alarm code output Maximum operating voltage 30 VD Maximum output current 0 mad Positioning completed (O when positioning is completed) BK output* (O when brake is released) Positioning near output (O when near) ervo alarm output (OFF with an alarm) Photocoupler output Maximum operating voltage 30 VD P represents twisted-pair wires. represents shield. Maximum output current 50 mad FG onnect shield to connector shell. * onnect when using an absolute encoder and when the battery is not connected to 8. * et the signal assignment with the user constants. ote: onnect the ground cable of the field bus I/F unit to the ground connector of the servo drive. 08 Motion controllers

92 Ver. HARGE ERVOPAK POER 6 Ordering information ystem configuration igma-ii series ervo Drive GDH- 00V (0) JUP-500 PROFIBU-DP unit 500 () omputer connecting cable Tool Personal computer Motion controllers 3 (6) PROFIBU-DP etwork () External I/O or fully-closed encoder signal igma-ii series ervo motor PROFIBU-DP interface unit ame PROFIBU_DP interface unit with point-to-point positioning functionality JUP-500 erial cable (for ) ame omputer connecting cable m R88A-00P onnectors ame onnector for. For connecting external I/O signals or fully-closed encoder signals omputer software ame tool GD file R88A-U0R or DE MOTIO TOOL D ervo system ote: Refer to the servo systems section for more information PROFIBU-DP unit 09

93 ALL DIMEIO HO ARE I MILLIMETER. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by at. o. IE-E-0 In the interest of product improvement, specifications are subject to change without notice. 0 Motion controllers

94 Ver. HARGE POER 3 ERVOPAK Ver. HARGE 3 ERVOPAK POER Ver. HARGE 3 ERVOPAK POER Ver. HARGE 3 ERVOPAK POER JUP-600 Indexer unit Motion controllers mart and simple positioning solution. o programming languages are required. onnects directly to the igma-ii series drive Allows serial network control and discrete I/O control ervo axis set-up, actuation and monitoring 8 indexing programmed moves Refined methods and functions for smart control like program tables or position and speed tables Up to 6 servos can be connected via serial network ith igmain+ the system can be easily configured ystem configuration Using serial communications Using digital I/O J/ series Host controller ontrols 6 axes through R-85/R- 00V igma-ii series ervo Drive JUP-600 Indexer unit V 00V GDH- GDH- GDH- GDH- 00V Limit switches contact sensors igma-ii series Linear Motor igma-ii series ervo Motor Indexer unit

95 pecifications JUP indexer unit Item Details Type JUP-600 Applicable servo drive All GDH-@@@E ERVOPAKs Installation method Mounted on the GDH servo drive side: 0. Basic specifications Power supply method upplied from the servo drive control power supply Power consumption.6 ontrol specifications Program table Program table positioning by designating the starting step by the contact input (maximum 8 steps) erial communications erial commands in AII codes ommunications specifications: R / R85 (maximum 50 m (6.0 ft)) R3 (maximum 3 m (9.8 ft)) onnection: Multi-drop method (maximum 6 axes) Baud rate: 9600, 900, 3800bps ommand table Positioning by designating the command table by the contact input (maximum 8 points) Zero-point return 3 types Other functions External positioning, JOG speed table operation (maximum 6 speeds) I/O signals Input ervo drive -O (ervo O) P-OT (forward run prohibited), -OT (reverse run prohibited) DE (zero-point return deceleration L) RTRG (external positioning signal) IDEXER module MODE0/ (mode signal) TART/HOME (start signal / zero-point return execution) PGMRE/JOGP (program reset / motor forward rotation) EL0/JOG (program starting step designation / motor reverse rotation) EL to EL / JOG0 to JOG3 (program starting table selection / JOG speed table selection) Output ervo drive ALM (servo alarm) AR (warning) BK (brake interlock) -RDY (servo ready) ALO, ALO, ALO3 (alarm codes) IDEXER module IPOITIO (positioning completed) POUT0 to POUT (programable outputs) Motion controllers

96 omenclature Ground wire onnected to ground on the servo drive Motion controllers LED (T) tatus indicator (green or red) R-3 connector (7) For setup tool Rotary switch For axis address setting I/O signal connector () erial communications connector (6) Dimensions JUP indexer unit Units: mm FG terminal M onnector to ERVOPAK Approx. weight: 0. kg 7 () 600 () (00) ame plate Indexer unit 3