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R88A-MCW151-DRT-E
Omron R88A-MCW151-DRT-E - User Manual
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Cat. No. I203-E2-02
Note: Specifications subject to change without notice.
OPER
ATION MANUAL
Motion Control Option
Board
R88A-MCW151-E
R88A-MCW151-DR
T-E
Cat. No. I203-E2-02
Authorised Distributor:
Printed in Europe
2
Table of Contents
Main Page
Table of Contents
8
Precautions
10
Intended Audience
11
General Precautions
11
General Warnings and Safety Precautions
11
Storage and Transportation Precautions
13
Installation and Wiring Precautions
13
Operation and Adjustment Precautions
14
Maintenance and Inspection Precautions
14
Conformance to EC Directives
14
Concepts
15
Conformance to EC Directives
15
Section 1 Features and System Configuration
16
Features and System Configuration
16
Features
17
Overview
17
Description of Features
18
System Configuration
20
Motion Control Concepts
22
PTP-Control
23
CP-Control
25
EG-Control
26
Other Operations
28
Control System Configuration
29
Servo System Principles
29
Encoder Signals
32
Specifications
34
General Specifications
34
Functional Specifications
34
Comparison between Firmware Versions
36
Devicenet Specifications (MCW151-DRT-E Only)
36
Installation
38
Components and Unit Settings
39
Installation
43
Wiring
45
Servo System Precautions
54
Wiring Precautions
55
Section 3 Motion Control Functions
58
Motion Control Functions
58
Overview
59
System Set-Up
61
System Functions
62
Servo Driver Control
62
Digital I/O
65
Monitoring Data
67
Absolute Encoder
69
Other Servo Driver Commands
72
Section 4 Communication Interfaces
74
Communication Interfaces
74
Serial Communications
75
Host Link Master
75
Host Link Slave
80
General-Purpose
82
Devicenet (MCW151-DRT-E Only)
83
Remote I/O Communications
83
Explicit Devicenet Messages
87
Section 5 Multitasking Basic Programming
100
Multitasking BASIC Programming
100
Overview
101
BASIC Programming
101
Axis, System and Task Statements
101
Data Structures and Variables
102
Mathematical Specifications
103
Motion Execution
104
Command Line Interface
105
BASIC Programs
105
Managing Programs
106
Program Compilation
106
Program Execution
107
Task Operation Sequence
108
Error Processing
109
Section 6 Basic Motion Control Programming Language
112
BASIC Motion Control Programming Language
112
Overview
117
Command Reference List
118
Motion Control Commands
118
I/O Commands and Functions
118
Loop and Conditional Structures
119
Program Commands and Functions
119
System Commands and Parameters
120
Mathematical and Logical Functions
121
Constants
122
Motion Perfect Commands, Functions and Parameters
122
Axis Parameters
122
Task Commands and Parameters
124
Servo Driver Commands and Parameters
125
Host Link Commands and Parameters
125
Devicenet Commands and Parameters
125
Command, Function and Parameter Description
126
Multiply
126
Power
126
Add
126
Subtract
127
Divide
127
Is Less than
127
Is Less than or Equal to
127
Is Not Equal to
128
Is Equal to
128
Is Greater than
128
Is Greater than or Equal to
128
Hexadecimal Input
129
Statement Separator
129
Comment Field
129
Abs
129
Accel
130
Acos
130
Add_Dac
130
Addax_Axis
131
Addax
132
Ain
132
And
133
Asin
134
Atan
134
Atan2
134
Atype
134
Autorun
135
Axis
135
Axisstatus
136
Base
136
Basicerror
137
Cam
138
Cambox
139
Cancel
140
Checksum
141
Clear
141
Clear_Bit
141
Close_Win
141
Clutch_Rate
141
Commserror
142
Compile
142
Connect
142
Control
143
Copy
143
Cos
143
Creep
144
D_Gain
144
Datum
144
Datum_In
145
Decel
146
Defpos
146
Del
146
Demand_Edges
147
Dir
147
Dpos
147
Drv_Clear
148
Drv_Read
148
Drv_Reset
149
Drv_Status
149
Drv_Write
150
Edit
150
Encoder
151
Endmove
151
Eprom
151
Error_Axis
151
Error_Line
151
Errormask
152
Exp
152
False
152
Fast_Jog
152
Fb_Set
153
Fb_Status
153
Fe_Limit
153
Fe_Range
154
Fhold_In
154
Fhspeed
154
Flashvr
154
For to Step Next
155
Forward
156
Frac
156
Free
156
Fs_Limit
157
Fwd_In
157
Fwd_Jog
157
Get
157
Gosub Return
158
Goto
158
Halt
159
Hlm_Command
159
Hlm_Read
161
Hlm_Status
162
Hlm_Timeout
162
Hlm_Write
163
Hls_Model
164
Hls_Node
164
I_Gain
165
If then else Endif
165
Indevice
166
Input
167
Int
167
Jogspeed
168
Key
168
Last_Axis
168
Link_Axis
169
Linput
169
List
169
Lock
170
Mark
170
Markb
171
Merge
171
Mod
171
Motion_Error
171
Move
172
Moveabs
173
Movecirc
174
Movelink
175
Movemodify
178
Mpos
178
Mspeed
178
Mtype
178
New
179
Nio
179
Not
179
Ntype
180
Off
180
Offpos
180
Open_Win
182
Outdevice
183
Outlimit
183
Ov_Gain
183
P_Gain
184
Pmove
184
Pp_Step
184
Print
185
Proc
186
Proc_Line
186
Proc_Status
187
Process
187
Procnumber
187
Pswitch
187
Rapidstop
188
Read_Bit
189
Reg_Pos
189
Reg_Posb
189
Regist
189
Remain
192
Rename
192
Rep_Dist
192
Rep_Option
193
Repeat until
193
Reset
194
Rev_In
194
Rev_Jog
194
Reverse
194
Rs_Limit
195
Run
195
Run_Error
195
Runtype
196
S_Rate
196
S_Ref
197
S_Ref_Out
197
Scope
197
Scope_Pos
198
Select
199
Servo
199
Servo_Period
199
Set_Bit
200
Setcom
200
Sgn
200
Sin
201
Speed
201
Sqr
201
Sramp
201
Stepline
201
Stop
202
Switch_Status
202
T_Rate
203
T_Ref
203
Table
203
Tan
204
Ticks
204
Trigger
205
Troff
205
Tron
205
True
206
Tsize
206
Units
206
Version
206
Vff_Gain
207
Vp_Speed
207
Wait Idle
208
Wait Loaded
209
Wait until
209
Wdog
210
While Wend
210
Xor
210
Section 7 Motion Perfect Software Package
212
Motion Perfect Software Package
212
Features and Requirements
213
Connecting to the MC Unit
213
Motion Perfect Projects
214
Project Manager
214
Desktop Appearance
216
Creating a Project for the First Time
216
Control Panel
217
Editing and Running Simple Programs
218
Motion Perfect Tools
219
Terminal
219
Editor
220
Axis Parameters
223
Controller Configuration
224
VR and Table Editors
224
I/O Status Window
225
Full Controller Directory
226
Jog Screen
226
Oscilloscope
227
Suggestions and Precautions
232
Section 8 Troubleshooting
234
Troubleshooting
234
Error Indicators
235
Error Handling
236
MC Unit Error Handling
236
Servo Driver Alarms
240
Problems and Countermeasures
242
General Problem Solving
242
Devicenet Slave Problem Solving
245
Maintenance and Inspection
248
Routine Inspections
249
Replacing a MC Unit
250
Appendix A Servo Driver Parameter List
252
Appendix B Device Protocol (MCW151-DRT-E Only)
254
Appendix C Programming Examples
260
Index
270
Revision History
276
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Omron R88A-MCW151-DRT-E Specifications
General
Brand
Omron
Model
R88A-MCW151-DRT-E
Category
Computer Hardware
Language
English
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